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Abstract—This paper proposes a method to estimate the electrical In this paper it is assumed that the electric control system is
parameters of Induction Motors, The electrical parameters are composed of a digital signal processor (TMS 320F2812), a
obtained by solving a least squares minimization problem, the power converter (IPM) and a three phase induction motor.
method conceived to be used estimate parameters with the vector Like the scheme sketched fig 1, the motor drive system is a
control strategy and the M sequence disturbing on the reference
open-loop control system with M sequence disturbing on the
voltage. And experimental results are used to demonstrate the
feasibility of the propose method. voltage reference value. So the voltage and current of IM
include an abundant of harmonics in the large width frequency
Keywords-induction motor, identification, Recursive Least- band if only the M sequence is long enough. However, only
squares Method, vector control the estimation process is considered in this paper without
study the mechanical angular speed changed in the controller
I. INTRODUCTION strategy. After sampling the voltage, current and Mechanical
angular speed of the IM and converting into frame (ICLARK
For many years, many research efforts have been spent in
block), the three order Butterworth filter is designed to filter
developing high performance AC drives for the induction
the discrete signal and the first and second order derivative of
motor, such as Space Vector Control, Direct Torque and Flux
them can be calculated by Improved Euler Method. And then
Control, and it means the amplitude and phase of the rotor or
the Recursive Least squares method is used to estimate the
stator flux required exactly at sampling moment even when
electrical parameters of the Induction Motor.
the system is working. In fact the traditional V/f drive system
also improves torque response at the low speeds if the
accuracy of the motor parameters are exactly known [4].
Sometimes, the direct measurement and identification at II. INDUCTION MOTOR MODEL
standstill are also applied in the electric drives system. But the For the purpose of the present investigation the induction
effect of the gap harmonic , the environment temperature or motor is assumed to be described in the stator reference frame
unknown case may cause the large variations of motor by [1]˖
parameters, the stator resistance particularly. And it could give
ψ sα = ³ (u sα − R s i sα )dt (1)
rise to control system detuning and resulting control actions
become unsatisfactorily.
ψ sβ = ³ (u sβ − Rs isβ )dt (2)
In order to overcome such a problem, a novel method
based the recursive least squares method is proposed to disα ω R L + Rr L s u
1
estimate the electrical parameters of induction motor with = ψ + r ψ − s r isα − ω r i sβ + sα (3)
dt σLs Tr sα σLs sβ σLs Lr σLs
sufficient precision and without delay. However experimental
data of this paper has been got under the system stable without di sβ 1 ωr R L + Rr L s u sβ (4)
= ψ sβ − ψ sα − s r isβ + ω r i sα +
speed and load variations. dt σLs Tr σLs σL s L r σL s
ϕsα , usα , isα are the α components RI the stator flux,
voltage and current; ϕ sβ , usβ , isβ are the β components RI
the stator flux, voltage and current; Rs , Rr are stator and rotor
resistance(rotor resistance referred to the stator); Ls , Lr , Lm are
the stator , rotor and mutual inductance(rotor inductance
referred to the stator, and the stator and rotor are supposed
quite ); ωγ is the mechanical angular speed; σ = 1 − L2m ( Ls Lr )
is the leakage factor; Tr = Lr Rr is the mechanical time
constant.
Figure1. Framework of parameter estimation
Y (N ) is the output of the system are dependent on the sampling period T to a large extent .The
Y ( N ) = [ y (n + 1) y (n + 2) … y (n + N )]
T
more smaller sampling period is, the more accurate the value
ϕ (N ) is the input of the system of the derivative is, and it’s impossible to apply for a
ϕ (k ) = [ϕ (1) ϕ (2) … ϕ ( N )] microcomputer because of it’s slow sampling frequency. In
this paper, the three-order Butterworth filter and improved
θ (N ) is the unknown system parameters
Euler Method is proposed to solve this problem. The three-
θ ( N ) = [a1 … a n b1 … bn ] order Butterworth filter is designed as:
The residual error Re(θ ) between the actual and the estimated b0 (15)
G(s) =
output [4]: s 3 + a 2 s 2 + a1 s + a 0
∂ ¦k =1 y (n) − ϕ (n)θ (n)
2
n T Where:
= 0 (5)
∂θ a0 = b0 = wc3 a1 = 2wc2 a 2 = 2wc , wc is the cutoff
RLS algorithm is exploit: frequency of the filter.
∧ ∧ ∧
θ ( N + 1) = θ ( N ) + K ( N + 1)[ y ( N + 1) − ϕ ( N + 1)θ ( N )] (6) And convert to the station equation:
° . (16)
K ( N + 1) = P ( N )ϕ T ( N + 1)[ J * E + ϕ ( N + 1) P( N )ϕ T ( N + 1)]−1 (7) X = AX + BU
®
°̄ Y = CX
[
P( N + 1) = P( N ) − P( N )ϕ T ( N + 1) ( J * E + ϕ ( N + 1) P( N )ϕ T ( N + 1)) * J ]
−1
(8)
Where:
Where:
J is the forgetting factor, varying between 0 and 1 and ª 0 1 0 º ª0º (17)
∧ A = «« 0 0 1 »» , B = «« 0 »» , C = [1 0 0]
closed to 1.In this paper it is set to 0.99997.And θ ( N ) is the «¬ −a0 −a1 −a2 »¼ «¬b0 »¼
estimated values of the system parameters θ (N ) Supposing: X = [θ θ ' θ '' ]T
Substituting equations (1)and(2) in (3) gives: 2) Discrete station equation (17) using improved Euler Method
disα 1 ω R L + Rr Ls u
σLsTr ³
= [ (u sα − Rs isα )dt ] + r [³ (u sβ − Rs isβ )dt ] − s r isα − ωr isβ + sα
dt σLs σLs Lr σLs X-axis:
(10) Predictors: (18)
X ( k ) = X ( k − 1 ) + T [ AX ( k − 1 ) + BU ( k )]
Derivative on both sides of the equation (10), and the p
where: 1.2
ξ is the filter const ,ranged: 0 ≤ ξ ≤ 1 . 1.1
0.7
2000 4000 6000 8000 10000 12000 14000
IV. EXPERIMENTAL RESULTS Figure2.Estimated stator resistance during experiment (5s)
In this work, experiments were done using motor: a 4kW 1.3
Rr
motor. The IPM power converter was droved by TI
TMS320F2812 a 32 bit microprocessor. The sampling 1.2
frequency in overall system was 3k Hz. However, longer time
were allowed for the estimation algorithm, about as 200 times 1.1
as the sampling period. The input signals (three-phase voltages
and currents) were filtered by hardware filter on the control 1
board with 159Hz . The forgetting factor coefficients were
fixed to 0.9997. The length of the M sequence was 213 − 1 and 0.9
it’s element which superpose on the “ u d ”(Figure 1)as the
voltage reference value was altered one time between 0 and 1 0.8
2000 4000 6000 8000 10000 12000 14000
after 30 sampling periods passed. the electrical parameters of
the induction motor in table 1 which was identification by Figure3.Estimated rotor resistance during experiment (5s)
Siemens inverter was regard as real value. 0.8
Ls
Table 1.Ratings and known parameters of test induction motor 0.7
Rs 1.25003ȍ 0.3
Rr 0.9274ȍ
Lm 0.13272 H 0.2
Figure 2-9 Show, respectively: the estimation of the stator Figure4.Estimated stator inductance during experiment (5s)
resistance, the rotor resistance, stator inductance and rotor 0.8
Lm
inductance for the 4.0kW motor. The experiment was done at 0.7
the constant speed equal to 0 rad/s and 62rad/s. As the
sampling frequency is 3k Hz, there were 1500 and 1000 float 0.6
data were sampled at the 0 and 62 rad/s in 5 and 3.3 seconds.
0.5
Table 2 shows the estimate value and the error percentage at 0.4
the constant speed 0 rad/s. parameters
0.3
0.06
Speed˖ 62 rad/s:
0.04
1
Rs 0.02
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
0.8
Figure9.Estimated mutual resistance during experiment (3.3s)
0.6
Figure 2-5 as show, the resistance estimates converge after
0.4 9000 steps (about 3s), and the estimates’ fluctuations limited
0.2
to f20%.
0
V. CONCLUSION
This paper presented a new method to estimate the
-0.2
induction motor parameters using M sequence signal injection.
-0.4
The method estimates the stator and rotor resistance; Stator ,
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 rotor and mutual inductance of the Induction Motor which are
Figure6.Estimated stator resistance during experiment (3.3s) necessary for motor control .Although the complexity of the
1.5
Rr algorithm is not negligible, the method also reveal some
1.4
inspiration in the estimate aspects.
1.3
1.2 REFERENCES
[1] Chen Boshi. Electric Drive Control System[M]. 3rd
1.1
Edition. Beijing: China Machinery Press, 2003;
1 [2]Cheng Peiqing. Digital Signal Processing. 3rd Edition.
0.9 Beijing: Tsinghua University Press.2001;
[3]Zheng Dazhong Linear System Theory. Second Edition.
0.8
Beijing: Tsinghua University Press.2005 ;
0.7 [4]Carlo Cecati, Nicola Rotondale. On-Line Identification of
Electrical Parameters of the Induction Motor Using RLS
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000
Figure7.Estimated rotor resistance during experiment (3.3s) Estimation. IEEE TRANSACTION ON INDUSTRIAL
0.2 ELECTRONICS, VOL.10, NO.2, FEBRUARY 2006;
0.18
Ls
[5]Jul-Ki Seok, Seung-I11 Moon, Seung-Ki Sul. Induction
0.16
Machine Parameter Identification using PWM Inverter at
Standstill. IEEE TRANSACTION ON INDUSTRIAL
0.14
ELECTRONICS, VOL.12, NO.21, FEBRUARY 1997;
0.12 [6]Alcindo do Prado Jr,Antonio H.de Sousa, Sandro
0.1 M,Ferrari.On-Line Identification of Induction Motors through
0.08 Discrete Models for Sinusoidal Singnals. IEEE
0.06
TRANSACTIONONINDUSTRIAL
ELECTRONICS,VOL.13,NO.3,FEBRUARY 2008;
0.04
[7] Texas Instruments ˊ TMS320x28xx, 28xxx Enhanced
0.02
Pulse Width Modulator (ePWM) Module[J].2007;
0
1000 2000 3000 4000 5000 6000 7000 8000 9000 10000 [8] TMS320x28xx, 28xxx Enhanced Quadrature Encoder
Pulse (eQEP) Module RG (Rev. A);
Figure8.Estimated stator inductance during experiment (3.3s)
[9] TMS320x2833x Analog-to-Digital Converter (ADC)
Reference Guide;
[10] TMS320x2833x Direct Memory Access (DMA)
Reference Guide;