The 6th International Power Electronics Drive Systems and Technologies Conference (PEDSTC2015)

3-4 February 2015, Shahid Beheshti University, Tehran, Iran

Rotor Speed and Resistance Estimation Using Robust

Extended Kalman Filter for Sensorless Vector
Control of Induction Motor Drives
Pegah Rokhforoz,Javad Poshtan
Faculty of Electrical Engineering
Iran University of Science and Technology
Tehran, Iran
Pegahrokhforoz@iust.ac.ir, jposhtan@iust.ac.ir
Abstract- Nowadays sensorless vector control is used widely

MRAS for rotor flux estimation is presented in [7]. The

authors in [8] use neural networks to estimate rotor speed,
resistance and load torque.

in the induction motor drive systems. The performance of this

method depends on the rotor speed. Also rotor speed estimation
depends on the induction motor parameters, in particular the

Unlike the other methods, EKF takes a stochastic approach

to state estimation. In spite of its computational complexity,
EKF makes the online state estimation possible while
performing identification of parameters in a relatively short time
interval simultaneously, and taking system and measurement
noises directly into account. During recent years EKF has been
studied widely on sensorless vector control of induction motors
[9].

rotor resistance which varies with temperature.

In this paper speed and rotor resistance is estimated online
using a robust extended Kalman filter (REKF). The performance
of this method against external disturbance is studied. Simulation
results show that this method performs better and more robust
than the extended Kalman filter (EKF).

Keywords-component; Induction motor; Vector control;

Speed estimation; Rotor resistance estimation; Robust
extended kalman filter.

Bi input-EKF is proposed to estimate stator and rotor

resistance, rotor speed and load torque in [10]. Multi-rate real
time EKF is presented in [ 1 1] which estimates rotor speed and
load torque. The authors in [12] estimate system states by neural
networks that are trained with an EKF-based algorithm. In [ 13]
an optimized EKF is proposed to estimate rotor speed.

INTRODUCTION

Induction motors are used widely in industry due to their low

cost and high reliability. To increase the efficiency of a motor,
its control plays an important role [1].

Despite the good performance of EKF-based methods, the

filter is not robust against external disturbance. In order to solve
this problem, REKF is used to estimate rotor speed and rotor
resistance in this paper. Simulation results verify the
effectiveness of REKF algorithm.

Among various control methods, vector control without

speed sensor is the main control technique, as in this method the
flux and speed control are separated and also speed sensor
(which increases the cost and complexity of the system
hardware) is replaced by speed estimation. The exact amount of
motor parameters, especially rotor resistance that varies with
temperature, affect the accuracy of the speed estimation.
Therefore, the online estimation of speed and rotor resistance
will enhance the efficiency of the induction motor vector control
system.

INDUCTION MOTOR DYNAMIC MODEL

Induction motor model, regardless of iron losses, can be

represented in the stationary reference frame (uP) by continues
time differential equations of stator currents and rotor flux [ 14]
as follows:

There are various methods such as model reference adaptive

systems (MRAS), observers, spectral analysis, intelligence
techniques and extended Kalman filter (EKF) for the
identification of rotor speed and resistance [2].
Reference [3] proposes a Luenberger-sliding mode observer
to estimate rotor and stator resistance. In [4] sensorless vector
control is used and rotor speed is estimated by a discrete-time
sliding mode observer. Spectral analysis technique and injection
of high frequency signal to estimate rotor speed is proposed in
[5]. In [6] rotor speed, flux and also rotor and stator resistance
are estimated by sliding mode observer.

978-1-4799-7653-9115/$31.00 2015 IEEE

304

The structure of the REKF algorithm is presented as follows.

(2)

Prediction: The one-step prediction of x kIk -I

and its

corresponding error covariance matrixLklk_1 are:

X klk -l=!( X k -l)

(11)

(3)

Pk1k -1 = FkPk_1Fk +Qk

(12)

-I
-2 T
l
L klk -I =(P KIK -I -Y L k Lr
k

(4 )

(x)
Fk = 8f
ax

(5)
Y

where

(13)

I '

(14)

X=Xk-l

Lk is designed as identity matrix 1, and the tuning parameter

is found by searching over y*"O such that:

(15)

Update: The estimate of state x k and the estimation error

covariance matrix Pk are:

In the above, Rr , Rs , Lr , Ls , Lm , j , P ,t, are the rotor

resistance, stator resistance, rotor inductance, stator inductance,
mutual inductance, inertia momentum , pole pairs and load
torque respectively.
i as' i Bs are a-axes and p-axes stator currents,

X k = xklk -I+Kk(Yk-Hk X klk -l)

T
-I
Kk = L klk -I H kP y,k

(16)

Py,k =Hk Lklk -I H k + Rk

(18)

(17)

as , V B s are

Pk =Lklk_I-KkHkLklk_1

a-axes and p-axes stator voltages, <P ar' <PBr are the a-axes and

(19)

p -axes rotor fluxes, cor is the rotor speed.

The structure of the REKF is similar to that of the EKF, and
if y if), the REKF reverts to the EKF.

DESCRIPTION OF ROBUST EXTENDED KALMAN FILTER

ALGORITHM

The design objective of the REKF is to guarantee the norm

of the transfer function between the external disturbances
(modelling errors and system noises) and the estimation error to
be less than a prescribed attenuation level y , that is:

Discrete-time nonlinear system is considered as follows

[15]:
(6)

Where xk and Yk denote the state and measurement

vectors at time instant k. the nonlinear function! (. ) is assumed

(20)

to be continuously differentiable, and H k is the measurement

matrix. IV k and v k are uncorrelated zero-mean white-noise
processes with covariance matrix Q k and Rk , respectively.

E
E

{IV kIV } = Qt5k

{ kV } = R t5k
{IV kV/ } =o
j

Where Ilx II is 2-norm of vector x, x k

X k - X k is the
estimation error and /'"k represents the high order terms of Tylor
series expansion.
=

Q >0

(8)

R >0

(9)

It can be seen from (20) that the tuning parameter y in ( 13)

describes the ability of the filter to minimize the effects of
disturbances on the estimation errors. Decreasing y will
enhance the robustness of the filter. However, when a minimum

(10)

305

possible y is adopted, the mean square error (MSE) of the filter

will be increased.
ROTOR SPEED AND RESISTANCE ESTlMA nON USING

SIMULA nON RESULTS

The proposed estimator was simulated on a 3kW squirrel

cage induction motor (4-pole, three-phase, 50 (Hz), 380 (V), 150
(rad Is) with 15 (Nm) load torque) with the following features in
MA TLAB environment.

REKF

To estimate rotor speed and resistance using REKF,

nonlinear stochastic system given by (6) and (7) for induction
motor is considered.
Where
i psk

= Xk ,1

o/ark

Xk ,2

Uk =

[v ask
[

Y k = iask

INDUCTION MOTOR PARAMETERS

TABLE l.

value

InteriaU)

0.02

stator resistance( Rs )

2.27

rotor resistance( Rr

2.2

Ls )

0.2311

Lr )

0.2311

0.22

(21)

k ,3

Xk ,4

psk

i psk

Xk ,5

Considering Tas the sampling time, f

Xk ,6

]
(22)

stator inductance(

(23)

k ,Uk

) is described

rotor inductance(

as (24).

unit

parameter

mutual inductance(

Lm )

Kg

(m)2

now using the REKF algorithm, the state vector can be

estimated and hence the rotor speed and resistance will be
obtained.
A.

SENSORLESS VECTOR CONTROL

Casel: effect ofrotor resistance change

Simulation was carried out for 30 % (Rr = 1.3* 2.2 = 2.86)

increase of rotor resistance in the motor model and rotor speed
was estimated by both EKF and REKF. Fig.2 shows the response
of the close loop system at no load when the rotor resistance is
not estimated, corresponding to a step reference speed with a
maximum speed of 800 (RPM). Both filters estimate the speed
with steady state errors. However, the error estimation of REKF
is less than EKF.

The block diagram of a sensorless vector control system is

presented in Fig.I. As shown in this block diagram, the voltages
and currents of induction motor are converted to coordinate
system using park's transformation. These are the inputs to the
REKF estimator. The REKF estimates the rotor speed and
resistance. The estimated rotor speed is fed back to the PI
controller. Then control voltages, which are the outputs of PI
controller, are modulated by space vector pulse width
modulation (SVPWM). Finally, the outputs of SVPWM are
loaded to the PWM inverter to produce the input voltages of the
induction motor.

(24)

306

sv
PWM

Induction
Motor

Robust Extended
Kalman
FilterEstimator
Fig. 1. Block diagram of vector control system with REKF estimator
rotor speed estimation

900 ,------:---,=====0
800 ------
: ------------
:
700 ___________ f::::r---:::--:::::::::----- - -rn"asu- re_
600 - - - /-------------i---------------------------i-------------------------- 500
l----------------i-----------------------------------------------------
---l------------------1---------------------------L------------------------
400

error reduced for both filter and the REKF has less error than
EKF. Estimated Rotor resistance based on REKF is shown in
Fig .4.

by EKF

Rotor speed estimatin

900 ,---------;-----_;======
! ----reference
800 -------v-"'.:i:_:::: _ _=_;::===;::__=_==__=__=_,-__-.H
' __
estimated
:
: ------. measured
700 - - - - - -----------r-------------------------r------------------------600 - - - - -------------+--------------------------,-------------------------'
!
!
------- -----------------r---------------------------r--------------------------

-- -- -

i
;

___ __

-- -- -- --

---/-------------------;---------------------------;---------------------------

-- -- --

------------------------l---------------------------L __________________________
!
!
- ------------------------;---------------------------r-------------------------- - - - - - - - - !- - - - - - - - - : - - - - - - - - r

-100 o

-- -- -- -- -- -- -- -- -

1.S

timers}

(a)
rotor speed estimation by

'"'0
a.

:E

!i!.E
e

II

-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

O.s

by EKF

-100 o

900 ,------:---:====
800 ------__------c_
700
600
500
400
300
200
REKF

----------------------- -------------------------- -------------------------- - - - - - - - -T: - - - - - - - - - T: - - - - - - - -- -- -- -- -- -- -- -- -

-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- --

0.5

1.5

timers)

(a)
Rotor speed estimation by REKF
----,---====
900 ,--_;_ I
800 ------_r"-.......
700 ------------- - - - - , - - - - - - - - - , - - ------.
- - - measlJ'ed
- - - :
:
600 - - - --------------:--------------------------r---------------------------------

-- -- -- -

-- -- -- -- -- -- -- -- -

__

-- -- -- -- -- -- -- -- -

-- -- -- -

!: 1 1
-- ----------------------;--------------------------r-------------------------

-100 OL------------="0.'=-5-------------'--------------1.5-:"

time(s)

100 o

(b)
Fig. 2. Estimated rotor speed without rotor resistance estimation a) using EKF,
b) using REKF

-------------------------1--------------------------1-------------------------0.5

timers)

1.5

(b)

Fig.3 shows the response of the close loop system at no load

when the rotor resistance is also estimated and used in the
control loop and speed estimation. In this case the speed control

Fig. 3. Estimated and rotor speed with rotor resistance estimation a) using
EKF. b) using REKF

307

rotor resistance estimction by REKF

3.5
3

-------------------------,--------J == ;:; ;::

Rotor speed estimation by REKF

1000,-----,----:--,---r=====

e estimation

-----.....
.. ..,.,."';.--;..---- ---------- ----;;, -----------------------------------

::I Tr
.

i .

______________-L____

_ 1000 L-

0L-----------OL.5-----------L----------1.5

timers)

____

0.5

Fig. 5. Estimated rotor speed with rotor resistance estimation in the presence
of external disturbance a) using EKF, b) using REKF

B. Case2: External Disturbance

An external disturbance pulse with a value of 5 ampere is
added to ia at the first second in a no load case. Reference speed
is trapezoidal with a maximum speed of 800 (RPM) with speed
reversal. The estimated Rotor speed and resistance based on
REKF and EKF are shown in Fig.5 and Fig.6 respectively.

rotor resistance estimation by EKF

As it can be seen from Fig.5 When the EKF estimator is used

and disturbance occurs at the first second, the rotor speed has a
large error about 120 (RPM), then the error becomes less but it
still large. According to Fig.5 When the REKF is used and
disturbance taking place, the rotor speed has a large estimated
error about 50 (RPM) and 0.4 second later the speed returns to
its reference value.

:1 ]:-: : : : :
" ,,

-2

-------------.--------------

- ---'-------:-1'=-.5---------------='
-,1:
2.5
40:------='0.5=---

It is shown in Fig.6 that the estimated rotor resistance based

on EKF has a large fluctuation at the time of disturbance occurs,
but the fluctuation based on the REKF is smaller.

timers)

(a)

rotor resistance estimation by REKF

Rotor speed estimction by EKF

800

1',

,
,
,
,
,
,
- . - - ,
,
,

200

400
600
800
1000

rotor resistance
......, rotor resistance estimation

, r !\;4r I

400

'"

i.
!nA

600

2.5

(b)

Fig. 4. Estimated Rotor resistance by REKF

1000

1.5

timers)

,
,,,
,,,

,
,,,
,,,

,
,,,
,,,

,
,
- . -
,

,
,,,
,,,

1 -------------::::::::::::::t:::::::::::::::t::::::::::::::t:::::::::::::
!
!
!
- ! \----._-..
0.5

timers)

1.5

2.5

1
T

i.....-.-V:

+
_"

-------------,--------------,--------------,--------------,-------------

-------------,--------------,--------------,--------------,--------------

-1o

0.5

timers)

1.5

2.5

(b)

(a)

Fig. 6. Estimated rotor resistance in the presence of external disturbance a)

using EKF, b) using REKF
CONCLUSION
In this paper sensorless vector control is used when the speed
is estimated by REKF nonlinear filter. The accuracy of the
estimation depends on the exact values of induction motor

308

[11] Song Wangl, Venkata Dinavahi2, and Jian Xiaol,"Multi-rate real-time

model-based parameter estimation and state identification for induction
motors," lET Electric Power Applications,pp. 77 - 86, August 2012.

parameters. Since the rotor resistance changes with temperature,

it is estimated by the REKF too. Simulation results show that
when rotor resistance is not estimated, its variation reduces the
performance of the control system.

[12] Alma Y. Alanis, Edgar N. Sanchez, Alexander G. Loukianov, and Marco

A. Perez, "Real-time recurrent neural state estimation," IEEE
Transactions on Neural Networks, vol. 22, pp. 497 - 505, March 2011.

Also the performances of the estimator and the control

system are studied against external disturbance, results show
that REKF can estimate the speed and rotor resistance more
accurately and robustly than EKF, and the speed can be
controlled with a good performance.

[13] K. L. Shi, T. F. Chan, Y. K. Wong, and S. L. Ho, "Speed estimation of an

induction motor drive using an optimized extended Kalman filter," IEEE
Transactions on Industrial electronics, vol. 49, pp. 124 - 133, Feburry
2002.
[14] K rause, "Analysis of electric machinery," (IEEE Press, Piscataway, NJ,
1995, 2'" end. )

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