14 4

EL EC TR ICMA CH IN E SAND CON TROL

2010 4

Vol114 No14

Ap r. 2010

, , ,
( , 400044 )

: ,

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: TM 343

: A

: 1007- 449X (2010) 04- 0066- 06

Rotor speed estima tion for in duction motor w ith sta tor and
rotor resistances on lin e iden tif ica tion
WAN G M ing2yu, CHEN Yang2yu, D EN G W ei, WAN G Rui2m iao
( State Key Laboratory of Power Transm ission Equipment & System Security and New Technology,
Chongqing University, Chongqing 400044, China)

Abstract: In view of im p recise rotor speed estim ation caused by parameters variation of induction motor,
a model reference adap tive schem e for rotor speed estim ation based on online identification of stator and
rotor resistances was p roposed. Only stator voltages and currents were needed as inputs, this scheme i2
dentifies stator and rotor resistances during rotor speed estim ation, updating the changing stator and rotor
resistances of rotor speed estim ation system caused by motor temperature rise real2tim e to ensure the accu2
racy of rotor speed estim ation; meanwhile, the identified rotor resistance was app lied to vector control
system to ensure good static and dynam ic performance of the system. The sim ulation and experim ental re2
sults show this scheme have better accuracy for rotor speed estim ation and stronger robustness to parame2
ters variation compared to those methods w ithout resistances identification, and it can be used in sensor2
less vector control system.
Key words: induction motors;

online identification;

model reference adap tive;

vector control

system; sensorless

: 2009 - 07 - 29
: ( CSTC 2007BB3169)
: ( 1960 ) , , , ,

;
( 1983 ) , , ,
;
( 1984 ) , , ,
;
( 1985 ) , , ,

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http://www.cnki.net

67

0
,
,
(model reference adap tive system , MRAS )
[1]

,
, ,
,

MRAS 2
,
,
,
,
,MRAS MRAS,
MRAS
[2]
MRAS
MRAS , 2

Lm

p
r i =

Lm

Tr
Tr

i
s
is -

r
Tr

r
Tr

- r
r ,

( 3)

+r
r

( 4)

:
r ,
r , u, i

; L r ; Lm
; p ; us , us ;
is , is ; R s ; L s
; , = 1 - Lm / ( L s L r ) ; Tr
, Tr = L r /R r ;r
r ,
2

2
r = 2
+
,
r
r
,
,
[4]

, ,

r r

MRA S 1

, ,
, ,
[1]
,
,
,
,
[3]
2 : ,
;
, ,

p
r i =

1 M RA S
F ig. 1 M RA S system block d ia gram

,
MRA S
,
,

,
,
, ,
,

,
MRA S

( P I) ,

R s
,

r u =

Lr
Lm

MRA S , r

MRA S

[6 ]

r = ( kp1 + ki1 / s) (
r
i
r u -
r
i
r u) ,
^

R s = ( kp2 + ki2 / s) (
r u
r i -
r u
r i)

Lr
Lm

[ 5 ] Popov ,

,
P I ,

r u =

R s R s

( u - R i ) d t - L i

( u - R i ) d t - L i

s s

s s

s s

s s

( 1)

( 2)

( 5)
( 6)

:r ; R s ; kp1 ,
kp2 ; ki1 , ki2
, ,
, r ,

1994-2010 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

 14

68

P I (
) , P I
^

r , ,
; ,
, ,
, r ,
^

P I , R s ,

,

Popov ,

F ig. 3 Induction m otor sen sor le ss vec tor con tro l system

block d iagram

,
,
[6 - 7 ]

R s = ( kp3 + ki3 / s) (ru - ri ) isd ,

3
isd

3
Isd

3
isd1

( 7)

( 8)

: R s ;ru
,ri ; kp3 , ki3

3
,
MA TLAB / Sim u link

, : P = 4 kW , p =
2, R s = 1137 , R r = 111 , Lm = 01141 22 H , L ds =
01004 872 611 H , L dr = 01007 957 747 1 H ,n =
3031441 665 rad / s, Idsn = 61756 A , Iqsn = 91406 A ,

m = 01952 596W b, Ten = 261526 N m, J = 0133 kgm2

; isd ; Isd ; isd1

, ode233 P I

, 50 % ,
1 3 H z
,
, 2

kp1 = 5 000, ki1 = 40 000; kp2 = 50,

ki2 = 900; kp3 = 5, ki3 = 100 isd1

= 31373 sin6 ( A )

4 , t = 011 s 200 rad / s

4 ( a )
4 ( b )

,
MRA S ,

,

113 , R s = 113R s0 ,
R r = 113R r0 , 4 ( c ) 4 ( h ) 113

: 4 ( c ) ;
4 ( d )
,

F ig. 2 Speed estim a tion sy stem block d iagram

3 , ,

, ,

, ,

,
4 ( e )

, 4 ( f)

, 3

, ,

1994-2010 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

, 2 s
, ,
011 rad / s ,
,

69

4 ( g)
4 ( h )

, 4 5 s
,

4 113
F ig. 4 S im ula tion re sults of the speed e stim a tion for sta tor and rotor re sistance change in to 113 tim e s of the ra ting

, ,
[8 ]

, ,
- 012 t
),
R s = 1137 + ( 1 - e
R r = 111 + ( 1 - e
3
r

- 012 t

)
, t = 011 s

= 200 rad / s, t = 20 s 300 rad / s, t = 30 s

15 Nm , 50 s
5

, 5 ( a )
5 ( b )

,
, ,

,

, ,

5 ( c)
5 ( d )

, 20 s
300 rad / s , 30 s
15 Nm ,
, 011 rad / s ,
,

,

,
,
,

5
F ig. 5 S im ula tion re sults of the speed e stim a tion for the ac tua l re sistance change

1994-2010 China Academic Journal Electronic Publishing House. All rights reserved.

http://www.cnki.net

 14

70

4
,

, (
,
) ,
,
,

, : Pn = 312 kW , U n =
380 V , p = 2, n = 303 rad / s, Lm = 01078 H, L s =
L r = 01081 9 H, R s = 017, R r = 01926
6
: 6 ( a )
6 ( b)
; 6 ( c )
;
6 ( d )

,

, ,
,

, ,
;
,
,
;
,
,
:
, ;
, ,
; ,

,

,

:
[ 1 ] , , , . U 2N

[ J ]. , 2006, 26 ( 24 ) :
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F ig. 6 Speed estim a tion exper im en ta l re sults

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1994-2010 China Academic Journal Electronic Publishing House. All rights reserved.

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