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Abstract—A method of speed identification for sensorless stator is regarded as the system error to estimate rotor speed
induction motor (IM) drives based on a model reference and stator resistance. Different PI adaptive relation that
adaptive system (MRAS) is proposed in this paper. The adaptive deduced from the Lyapunov’s criterion is employed to
full-order observer based on IM equation is used to estimate estimate the rotor speed and stator resistance respectively and
stator currents and rotor flux. Lyapunov’s stability criterion is the stability of the estimation is also proved by it. The
employed to estimate rotor speed. The same algorithm deduced sensorless induction motor drive system of indirect field
from Lyapunov’s stability criterion is given to estimate the
oriented control (FOC) is composed according to the schemes
stator resistance, which results in the speed estimation error.
The results of simulation show that the motor speed is controlled above. The feasibility of the system is verified by simulation
well at very low speeds. The proposed speed and stator results. The torque and speed have good performance at very
resistance identification methods can be believed have high low speeds especially.
possibility in practical applications.
II. MRAS BASED ON INDUCTION MOTOR MODEL
I. INTRODUCTION For an induction motor, if the stator currents is and rotor
235
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ω r is motor angular velocity. us ªi º ªA A12 º ª is º ª B º is
p « s » = « 11 + u
Since rotor speed ωr is included in matrix A12 and A22 , (1) ¬ϕ r ¼ ¬ A21 A22 »¼ «¬ϕ r »¼ «¬ 0 »¼ s
+ e
can be selected as a reference model. If speed estimated value
ωˆ r replaces real speed ω r and motor parameters keep
+ p [ iˆs ϕˆ r ]
T
[iˆ s
ϕˆ r ]
T
iˆs
invariable, the adaptive full-order observer of speed B ³ C
identification system can be expressed as follows: +
FPex dτ + A (0)
T
(12)
A (t ) =
d ³ 0 m d
a speed adaptive control mechanism which gains and adjusts From (7) and (12), we can obtain as follows:
estimated speed ωˆ r . At the same time, the estimated speed {Lm /(σ Ls Lr )} (ω r − ωˆ r )
ωˆ r is introduced in the adjustable model and the estimated t
³ FP (i − iˆ )ϕˆ J dτ + Ad (0)
T T
=
stator current iˆs is changed consequently. While speed
s s r
0
t
adaptive mechanism should guarantee that the system error e = ³ FP{ϕˆ rα
(i − iˆ ) −ϕˆ ( i − iˆ )}dτ + Ad (0)
sβ sβ rβ sα sα
(13)
0
would approach zero if estimated speed ωˆ r is asymptotic to Obviously, (13) can be equivalent as follows by a PI
control equation
real speed ωr . Fig. 3 shows the total MRAS diagram. Where
ωˆ r = f (is − iˆs ) is the expression of the estimated speed. ωˆ r = ( k PS + k IS / s ) {ϕˆ ( iˆ − i ) − ϕˆ ( iˆ − i )} (14)rα sβ sβ rβ sα sα
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236 2008 Asia Simulation Conference — 7 Intl. Conf. on Sys. Simulation and Scientific Computing
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estimate rotor speed conveniently. TABLE I
CONSTRUCTED MOTOR SPECIFICATION
Speed (rad/s)
estimated
Therefore, according to the same Lyapunov’s theory, stator 30
V. SIMULATION RESULTS 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
The proposed above speed adaptive estimation is applied to Time (sec)
the indirect FOC of an IM drive. Fig. 2 shows an overall Fig. 3. Estimated and real of rotor speed waveforms at 50 rad/s
control diagram of the sensorless induction motor drive
system based on slip frequency FOC. 10
*
+ isq +
*
u sq
* ua 5
ωr
*
Speed Current
controller controller Coordinate u *
ωˆ r isq PWM
inverse b
inverter 0
transform
isd +
* *
Current u sd uc
*
Stator current (A)
controller
Slip isd
frequency -5
calculation real
u sa isa
+ + ω1
estimated
θ Park Clark
³ transform transform u sb isb -10
ωˆ r
-20
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (s)
Fig. 2. The overall diagram of sensorless vector controlled system
Fig. 4. Estimated and real stator current waveforms at 50 rad/s
The simulation is performed for the verification of the
above control scheme. It is simulated by a sampling period of
25 μ s .
Table I shows the induction motor specification used in
simulation system. The PI gains of the speed adaptive scheme are:
KPS = 0.02, KIS = 500.
th
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18 2
16
1.6
14
12
1.2
10
Te (N.m)
Te (N.m)
8 0.8
6
0.4
4
2
0
-2 -0.4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec) Time (sec)
Fig. 5. Real torque waveform at 50 rad/s Fig. 8. Real torque waveform at 10 rad/s
Fig. 6, 7 and 8 are simulation results of rotor speed, stator
In the condition of same motor parameters, simulation is
current, and electromagnetic torque at 10 rad/s. From these
carried out for stator resistance estimation. The PI gains of the
figures, estimated and real speeds track each other by almost
stator resistance estimation scheme are: KPR = 0.06, KI R= 50.
zero error at very low speeds.
When the rotor speed is 50 rad/s, the stator resistance is
12 increased by 50% above the nominal value. Fig. 9 and 10
show the rotor speed and stator current waveforms in the case
10
of without stator resistance estimation. Obviously, the
estimated speed and stator current fluctuate because of stator
resistance change. However, Fig. 11 is the simulation results
8
real of rotor speed after adding stator resistance estimation
according to (20). Compared to Fig. 9, Fig. 11 indicates that
Speed (rad/s)
estimated
6
estimated speed can trace the real speed by adding stator
resistance estimation.
4
60
2
50
0 40
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
estimated
Time (sec)
real
Speed (rad/s)
30
Fig. 6. Estimated and real of rotor speed waveforms at 10 rad/s
4 20
3 10
real
estimated
2
0
1
Stator current (A)
-10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0 Time (sec)
-3
-4
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
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238 2008 Asia Simulation Conference — 7 Intl. Conf. on Sys. Simulation and Scientific Computing
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[5] S. D. Huang, Y. N. Wang, J. Gao, et al, “The vector control based on
6 MRAS speed sensorless induction motor drive,” Conference of the 5th
ICA, Hangzhou, China, pp. 4550-4553, 2004.
4 [6] F. J. Lin, R. J. Wai and P. C. Lin, “Robust speed sensorless induction
motor drive,” IEEE Transactions on Industrial Electronics, vol. 35, no.
2
2, pp. 566-578, 1999.
0
[7] R. Cardenas, R. Pena, G. Asher, et al, “MRAS observer for doubly fed
induction machines,” IEEE Transactions on Industrial Energy
Stator current (A)
estimated
30
[14] X. T. Liu, “Applied adaptive control,” Northwestern Polytechnical
University Press (in Chinese), 2003.
20
10
0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
Time (sec)
VI. CONCLUSION
This paper has proposed a method of speed estimation for
sensorless induction motor drives based on MRAS. The
proposed speed and stator resistance identification schemes
are educed from and proved by the Lyapunov’s criterion and
applied to an indirect oriented induction motor control
without speed sensors. The performance of the proposed
scheme is verified by simulation results particularly in very
low speeds.
REFERENCES
[1] G. Griva, F. Profumo, R. Bojoi, et al, “General adaptation law for
MRAS high performance sensorless induction motor drives,” IEEE
Proceedings of PESC’01, pp. 1197-1202, 2001.
[2] C. M. Ta, T. Uchida and Y. Hori, “MRAS-based speed sensorless
control for induction motor drives using instantaneous reactive power,”
IEEE Proceedings of IECON’01, pp. 1417-1422, 2001.
[3] K. Ohyama, G. M. Asher and M. Sumner, “Comparative experimental
assessment for high performance sensorless induction motor drives,”
IEEE Proceedings of ISIE’99, pp. 386-391, 1999.
[4] C. schauder, “Adaptive speed identification for vector control of
induction motors without rotational transducers,” IEEE Transactions
on Industry Applications, vol. 28, no. 5, pp. 1054-1061, 1992.
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2008 Asia Simulation Conference — 7 Intl. Conf. on Sys. Simulation and Scientific Computing 239
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