1296
4, APRIL 2010
Stator-Current-Based MRAS Estimator for a Wide
Range Speed-Sensorless Induction-Motor Drive
Teresa Orlowska-Kowalska, Senior Member, IEEE, and Mateusz Dybkowski
Abstract—This paper deals with an analysis of the vector-
controlled induction-motor (IM) drive with a novel model
reference adaptive system (MRAS)-type rotor speed estimator. A
stability-analysis method of this novel MRAS estimator is shown.
The influence of equivalent-circuit parameter changes of the IM
on the pole placement of the estimator transfer function and the
stability of the whole drive system are analyzed and tested. The
influence of the adaptation-algorithm coefficients of the MRAS-
estimator scheme is also tested. The allowable range of motor-
parameter changes is determined, which guarantees the stable
operation of the sensorless field-oriented IM drive with this speed
and flux estimator. Dynamical performances of the vector-control
system with the current-type MRAS estimator are tested in a
laboratory setup.
Index Terms—Field-oriented control, induction-motor (IM)
drive, model reference adaptive system (MRAS), sensorless drive,
state-variable estimation.
I. I NTRODUCTION
I N RECENT YEARS, remarkable efforts have been made
to develop state-variable reconstruction of the induction
motor (IM), such as rotor- or stator-flux vectors, motor elec-
tromagnetic torque, and rotor speed, in order to obtain speed-
sensorless drive systems [1]–[4].
The rotor speed for sensorless drives can be estimated by var-
ious techniques. The simplest method is based on the angular
velocity of rotor-flux vector and slip calculation, based on the
rotor-flux-vector coordinates obtained using the IM model [1].
This method is quite popular and simple to implement, but the
obtained accuracy is not very good due to the great sensitivity
to motor-parameter uncertainties. Other methods are based
on extended Luenberger observers or extended Kalman filters
(EKFs) [5]–[8], which are more robust to the IM parameter
changes or identification errors but are much more complicated
in practical realization. Another solution for speed estimation
originates in the model reference adaptive system (MRAS)
principle, in which an error vector is formed from the outputs
of two models, both dependent on different motor parameters
[9]–[16]. The error is driven to zero through adjustment of
the parameter that influences one of the models. The MRAS
approach has the advantage in the simplicity of used models, as
Manuscript received August 22, 2008; revised August 12, 2009. First
published September 1, 2009; current version published March 10, 2010. This
work was supported in part by the Ministry of Science and Higher Education,
Poland, under Grant N510 334637.
The authors are with the Wroclaw University of Technology, the Institute
of Electrical Machines, Drives and Measurements, 50-372 Wroclaw, Poland
(e-mail: teresa.orlowska-kowalska@pwr.wroc.pl; mateusz.dybkowski@pwr.
wroc.pl).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2009.2031134
0278-0046/$26.00 © 2010 IEEE
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO.
compared with nonlinear or extended state observers or Kalman
filters. Thus, they are easy in implementation and have direct
physical interpretation.
MRAS-based speed estimators developed so far can be di-
vided into three groups.
1) The rotor-flux-error-based MRAS scheme (MRASF ), de-
veloped by Tamai et al. [9] and Schauder [10], called
a classical MRAS speed estimator, is one of the most
popular methods. This solution is based on the rotor-flux
error calculated using two different IM models, namely,
voltage and current models of the rotor flux. The speed is
determined through the closed-loop signal from the out-
put of the proportional–integral (PI) controller operated
by the flux-error signal.
2) The back electromotive force (back EMF)-error-based
MRAS schemes, where the error vector used for the rotor-
speed correction is obtained from the comparison of the
measured and calculated back EMF of the IM [11], [12].
3) The stator-current-error-based MRAS schemes, where
the stator current is estimated by suitable stator-current
model and compared with the measured value to ob-
tain the speed-error correction signal [13], [14]. These
concepts are not widely known, and, in this paper,
they will be compared in terms of their advantages and
disadvantages.
It is worth mentioning that sometimes the widely known
nonlinear full-order flux observer with a speed-adaptation loop
(NFOA ), described first in [15] and [16], is considered as a
stator-current-error-based MRAS scheme [17], [18]. However,
this concept does not use state-variable simulators, like in
original MRAS schemes. Thus, it requires much more effort on
the design stage because not only the parameters of the speed-
adaptation loop must be chosen but also the gain matrix of the
full-order observer must be designed.
One of the most popular algorithmic methods to the rotor
speed and flux reconstruction is the MRASF estimator intro-
duced by [9] and then modified by other authors [10], [19], [20].
However this estimator is highly sensitive to motor-parameter
changes due to the high sensitivity of the rotor-flux current
and voltage models used for the rotor-flux-vector estimation
[17], [21].
In this paper, a novel MRASCC estimator is developed,
where the measured stator current of the IM, used as a reference
system, is compared with the stator current estimated using the
stator voltage–current model, adjusted with the estimated rotor
speed calculated by an adaptation algorithm. Such a stator-
current model requires the information on the rotor-flux vector.
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE 1297

Fig. 1. Rotor-speed reconstruction using MRASCC system.

In the novel MRASCC estimator, this state variable is calculated The described stator-current model requires information
through the speed-dependent current model of the rotor flux [1], about the rotor-flux vector. In the presented MRASCC estima-
[2], unlike the solution with the voltage-flux model, presented tor, this state variable is calculated on the basis of the speed-
in [13]. Moreover, the adaptation algorithm is also modified in dependent current model of the rotor flux [1], [2], i.e.,
comparison with the classical MRASF solution [9].  
The concept of this estimator was first presented in [14], but d i rr   1
Ψr = xM is − Ψir + jωm
e
Ψir . (2)
only some simulation and experimental tests were shown there. dt xr TN
In this paper, the small signal perturbation-stability-analysis
method of such an estimator is shown. The sensitivity to motor- Both stator-current model (1) and rotor-flux model (2) are ad-
parameter changes of the field-oriented IM drive with the pre- justed by the estimated rotor speed, according to the schematic
sented MRASCC rotor speed and flux estimator is tested. The diagram shown in Fig. 1.
theoretical analysis is confirmed by experimental tests of the In the classical MRAS speed estimator, a PI controller is used
sensorless-drive system under different operating conditions. as an adaptation block [9], [10] which calculates the rotor speed
based on the difference between the rotor-flux vectors estimated
II. M ATHEMATICAL M ODEL OF MRASCC E STIMATOR by two rotor-flux models (voltage and current models).
In the MRASCC estimator, the used adaptation algorithm is
The new MRASCC estimator is based on the comparison different from the classical solution and is based on the error
between the measured stator current of the IM and the es- between estimated and measured stator current, according to
timated current obtained from the stator-current model. The the formula used in the full-order flux observer with speed
mathematical model of the stator current can be calculated from adaptation, developed in [15] and [16] (basing on the minimiza-
the combined voltage- and current-flux models [1], [2] and is tion of the Lyapunov function)
described by the following equation (in per unit [p.u.] system,

according to [2]):    
e
ωm = KP eisα Ψirβ −eisβΨirα +KI eisα Ψirβ −eisβ Ψirα dt
d e rr x2m + x2r rs e 1
is = − 2
is + us (3)
dt σTN xs xr σTN xs
xm rr xm where eisα,β = isα,β − iesα,β is the error between estimated and
+ Ψi − jωm
e
Ψi (1) measured stator current.
σTN xs x2r r σTN xs xr r
The obtained rotor-speed value is used in the current model
where: of rotor flux and stator-current estimators as changeable param-
us , ies , Ψir stator voltage, estimated stator current, eter, as shown in the Fig. 1.
and rotor-flux vectors, respectively; In the classical MRASF speed estimator, the voltage model
e
ωm estimated rotor angular speed; is used as a reference model, and the current model is an
rs , rr , xs , xr , xm stator and rotor resistances, stator and adjustable model [9]. In the new MRASCC estimator, the IM is
rotor leakage reactances, magnetizing used as a reference system, and the current-flux model together
reactance; with the current estimator are adjustable models. The estimated
σ = 1 − x2m /xs xr . leakage factor; stator current (1) is compared with its measured value, and the
TN = 1/2πfsN , fsN nominal stator frequency. signal eis is used in the speed-adaptation mechanism (3).
1298 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 4, APRIL 2010

the rotor flux (2) and in a stator-current estimator (1). These

equations can be written, with the use of Laplace transform, in
the following way:

xm rr Ψirα (s)+xm xr Ψirβ (s)Δωm +x2r usα

iesα (s) =
rr x2m +rs x2r +sσTN xs x2r
xm rr Ψrβ (s)−xm xr Ψirα (s)Δωm +x2r usβ
i
iesβ (s) = (7)
Fig. 2. Simplified block scheme of the MRASCC estimator used for stability 2 2 2
 rr xm +rs xr +sσTN xs xr 
analysis. 1 rr  
sΨirα (s) = xm isα (s)−Ψirα (s) − Δωm Ψirβ (s)
TN xr
A similar solution is presented in [13], but the difference  
consists of the application of the voltage model for the re- i 1 rr  i
 i
sΨrβ (s) = xm isβ (s)−Ψrβ (s) +Δωm Ψrα (s) .
construction of rotor flux, which is used in the stator-current TN xr
estimator. As will be shown later, such a solution is less robust (8)
to motor-parameter uncertainties than the one presented in this
paper. It is evident from the block diagram in Fig. 2 that the signal
eiΨ
Ψ (s) depends on the speed-error value Δωm and input signals
Δu (voltage usα , usβ and current isα , isβ ). It can be assumed
III. S TABILITY A NALYSIS OF MRASCC E STIMATOR that during the system response to the change of one of its
input signals Δu, (e.g. the stator current isα ), changes of other
The stability analysis of the novel MRASCC speed and rotor-
variables (stator current isβ and stator voltage usα , usβ ) are
flux estimator is tested from the point of view of the IM and
equal to zero, and Δωm tends to zero (ωm e
→ ωm = ω0 ), which
PI controller parameter changes, on the basis of the estimator
is evident for a globally stable estimator.
transfer function.
After substituting (7) and (8) to the speed-adaptation mecha-
From the point of view of the rotor-speed estimation, the
nism (4), the signal eiΨ
Ψ (s) is described by (9)–(11), i.e.,
MRASCC estimator can be analyzed as a system controlled
by the signal eiΨ Ψ , which is the combination of the stator-
eiΨ
Ψ (s)
current error and the rotor flux, used in the adaptation loop
rr xm x3r ω0 (rs +sTN σxs )
(Fig. 1), i.e., = i2 (s)
  i ((rr +xr sTN)2 +ω02 x2r) (rr x2m +x2r (rs +sTN σxs )) sα
eiΨ e i e
Ψ (s) = (isα (s)−isα (s)) Ψrβ (s)− isβ t(s)−isβ (s) Ψrα (s). = H(s)u(s) (9)
(4)
where
This can be illustrated as in Fig. 2.
At the output of GR controller (PI type), the estimated rotor rr xm x3r ω0 (rs +sTN σxs )
speed is, hence, obtained H(s) =
((rr +xr sTN )2 +ω02 x2r ) (rr x2m +x2r (rs +sTN σxs ))
e
ωm (s) = GR (s)eiΨ (10a)
Ψ (s) (5)
u(s) = f (Δωm , isα ). (10b)
where the transfer function of the PI controller is presented by
the following equation: The transfer function of the open loop MRASCC estimator
GR (s) = KP (1 + 1/sTI ). (6) (Fig. 2) is described by the following:

For the stator-current-based MRAS speed estimator with the
adaptation algorithm (3), the global asymptotic stability can
be proved through the second Lyapunov method, as in the
case of NFOA estimator [15], [24], [25]. Thus, the estimator
stability to changes of the motor and PI controller parameters
can be checked using small-signal-perturbation analysis. The
difference between the actual and the estimated rotor speed
Δωm = ωm − ωm e
is used in the adjustable current model of
G(s) =H(s)GR (s)
(KP +KP sTI )rr xm x3r ω0 (rs +sTN σxs )
= .
sTI ((rr +xr sTN )2 +ω02 x2r ) (rr x2m +x2r (rs +sTN σxs))
(11)
Therefore, the transfer function of the closed-loop system is
given by (12), which is shown at the bottom of the page.

e
ωm (s) rr ω0 (KP + KP sTI )xm x3r b
W (s) = = 3
ωm (s) rr sTI xm + sTI (ω0 + s2 TN2 ) x4r b + rr2 sTI xr (rs xr + sTN (2x2m + σxs xr ))
2 2
   
+ rr x2r ω02 sTI x2m + KP ω0 (1 + sTI )xm xr b + s2 TI TN 2rs xr + sTN x2m + 2σxs xr
with b = rs + sTN σxs (12)
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE
Fig. 3. Pole placement of the transfer function of the MRASCC speed estimator depending on the coefficients of PI controller in the speed-adaptation loop:
(a) KP change; (b) TI change.
The transfer function W (s) of the MRASCC speed estimator
depends on the IM parameters, the actual rotor speed, and on
the PI controller coefficients (KP , TI ).
In Figs. 3–5, the pole placement of the MRASCC transfer
function is shown, depending on IM parameters and on PI
coefficients (the arrows show the change of pole placement with
the increase of the value of the chosen parameter).
The MRASCC estimator is stable for both PI controller-
parameter changes, i.e. KP [Fig. 3(a)] and TI [Fig. 3(b)].
The pole placement of the estimator is tested for parameter
KP = (0.01 − 5000) [p.u.], making it possible to obtain very
good dynamic properties of the MRASCC estimator. Further
increasing of this parameter does not improve the dynamic
performance of the estimator and does not cause the loss of its
stability.
The change of the TI parameter has a much bigger influence
on the estimator stability. It is changed within the range of
TI = (0.001−5) s. Only TI values between (3–5) s make loss
of stability of the tested speed estimator [Fig. 3(b)].
A chief advantage of the developed rotor flux and speed
estimator is its small sensitivity to the IM parameter changes.
The results of the sensitivity tests of the MRASCC estimator
to incorrect identification of stator and rotor resistances and
reactances, within the range of ±50% of their nominal values
(points corresponding to nominal values of parameters are
marked with cross), are shown in Fig. 4(a)–(d).
Incorrect identification of the stator resistance, to a small
extent, influences the pole moving of the characteristic equation
1299
of the estimator; these poles are located in the left-hand half of
the s-plane, even for an extreme mismatch of this parameter
[Fig. 4(a)].
Poor estimation of the rotor resistance causes bigger changes
in the pole placement of the speed estimator [the characteristic
equation in (12)]; however, it does not bring them to the right-
hand half of the s-plane, even for very big identification errors,
within the range of +50% [Fig. 4(b)].
Similarly, the incorrect identification (or changes) of the
stator and rotor reactances within the range of ±50% of their
nominal value does not involve the loss of stability of the
estimator [Fig. 4(c)–(d)].
The pole placement of the MRASCC estimator in the func-
tion of the rotor-speed changes, in the range 0 → ωmN , is
presented in Fig. 4(e). The change of the speed does not cause
the stability loss.
IV. ROBUSTNESS OF DFOC S YSTEM W ITH MRASCC
E STIMATOR TO PARAMETER U NCERTAINTIES
The robustness of the MRASCC speed estimator to the IM
parameter changes is also tested in the closed-loop operation,
in the field-oriented vector-controlled drive. The estimation
errors of the rotor speed and flux are calculated from simu-
lated transients of a direct field-oriented control (DFOC) drive
equipped with the MRASCC estimator. In the rotor-flux and
speed-control loops, the state-variable values obtained from
the MRASCC estimator are used. A sensitivity analysis is
1300 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 4, APRIL 2010

Fig. 4. Pole placement of the transfer function of the MRASCC speed estimator depending on: (a) stator, and (b) rotor resistance; (c) stator and (d) rotor reactance
changes from −50% to +50% of their nominal values; (e) the speed value ωm in the range 0 → ωmN .

Fig. 6. Sensitivity to motor-parameter changes of the sensorless field-oriented

Fig. 5. Sensitivity to motor-parameter changes of the sensorless field-oriented control with MRASCV [13] estimator.
control with MRASCC estimator.

their nominal values for the respective reference-speed values

performed for the constant coefficients of a PI controller in (columns in Figs. 5–8).
the speed-adaptation mechanism of the MRASCC estimator, The rotor-speed and flux-estimation errors are calculated as
under steady-state operation of the drive system, with chosen follows:
reference speed and nominal load torque.
The sensitivity to the motor-parameter changes has been
N
Ψr −Ψrest
N
ωm −ωest
tested for three reference speeds, namely, 100%, 50%, and 10% i=1
Ψr
i=1
ωm
of the nominal speed (the rows in Figs. 5–8). Parameters rs , ΔΨr = 100% Δω = 100%
N N
xs , rr , and xr have been changed from −50% to +50% of (13)
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE
Fig. 7. Sensitivity to motor-parameter changes of the sensorless field-oriented
control with MRASF [9] estimator.
Fig. 8. Sensitivity to motor-parameter changes of the sensorless field-oriented
control with NFOA scheme [15], [16].
where
Ψr , Ψrest , ωm , ωest actual and estimated rotor flux magni-
tudes and speed in each numerical step;
N number of calculation steps.
To show the advantages of the developed MRASCC estimator
clearly, a similar sensitivity analysis is performed for a current-
based MRAS-type speed estimator [13], which uses the voltage
model for the rotor-flux-vector calculation (referred to here as
MRASCV ) and for a classical rotor-flux model-based MRASF
estimator [9]. The sensitivity results are shown in Figs. 5–7.
It is obvious from the comparison of tables in Figs. 5–7
that the new MRASCC speed estimator, based on the stator-
current estimator and current model of rotor flux, is much less
sensitive to the IM parameter changes or identification errors
1301
than MRASCV and the classical MRASF estimators, and works
well for different speed levels. The MRASCC estimator is much
more robust to parameter uncertainties than the well-known
nonlinear full-order observer with speed adaptation (NFOA )
[15], [16], which is also sometimes considered as a current-
error-based MRAS scheme [17], as shown in Fig. 8.
The MRASCC estimator can reconstruct the rotor flux and
speed with much lower errors for misaligned motor parameters,
both as for the dynamic and for steady-state operation of the
drive-system. For bigger parameter errors, the drive system
with the MRASCV and MRASF estimators, as well as with the
NFOA scheme, can even lose the stability Figs. 6–8), whereas
the new MRASCC estimator works in a stable way in the DFOC
drive system even for ±50% parameter changes (Fig. 5).
V. C HOSEN E XPERIMENTAL R ESULTS
The sensorless IM drive with MRASCC estimator is im-
plemented in a laboratory setup with PC computer using the
dSPACE software. The schematic diagram of the experimental
test bench is shown in Fig. 9.
The experimental setup is composed of the IM motor fed by
the voltage inverter with space vector modulation. The motor
is coupled to a load machine (dc motor supplied from a dc
converter). The driven motor has the nominal power of 1.5 kW.
The speed of the drive is measured by the incremental encoder
(5000 imp/r), only for the comparison with the estimated speed
in the sensorless-drive system. The control and estimation
algorithms are implemented in a DS1103 card. In the following
figures chosen, drive-system transients in different operation
regimes are demonstrated.
Experimental tests of the novel speed estimator are per-
formed for the DFOC structure (Fig. 10).
According to [22], the inverter dead-time compensation can
be obtained from the following equations:
   
4 π isy π π
c
Vx = Ud cos Mod γsψ + + , − γsψ
3 3 isx 6 3
   
4 π isy π π
c
Vy = Ud sin Mod γsψ + + , − γsψ (14)
3 3 isx 6 3
where γsΨ —actual rotor-flux-vector position obtained from the
estimator.
In the first part of the experimental research, the sensitivity
of the whole control structure with MRASCC estimator to the
motor-parameter changes is shown in Fig. 11. The drive is
started with wrong motor parameters used in the MRASCC
model (rs = 1.3rsN , xs = 1.2xsN , and, for rs = 0.7rsN , xs =
0.8xsN ). The estimation of both parameters is started for t =
4 s. It is clearly visible that the sensorless drive works in a stable
way even for relatively big motor-parameter-identification er-
rors. The steady-state error is much smaller than 10% regardless
of simultaneous mismatch of the two parameters (in simulation,
only one parameter was changed). The stator resistance and re-
actance are estimated according to [10] and [27], respectively.
In Fig. 12, the drive-system operation in the field-weakening
region is shown. Transients of the measured and estimated
speed and rotor-flux vector under start-up of IM drive and
1302
Fig. 9. Schematic diagram of the laboratory test bench.
Fig. 10. Schematic diagram of the sensorless DFOC structure with MRAS speed estimator.
operation with 150% of the nominal speed are shown. Sensor-
less IM drive with MRASCC speed and flux estimator works
very well in the field-weakening region.
In Fig. 13, the fast reverse operation of the sensorless
DFOC drive in the low-speed range with simultaneous changes
of the load torque is shown (ωref = ±0.05ωmN ). In this
case, the speed error Δω (calculated between the estimated
and measured rotor speeds) is close to zero, except for tran-
sients resulting from the fast-speed reference or load-torque
changes.
To show the proper operation of the DFOC structure in the
low speed region and under full load torque, not only the speed
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 4, APRIL 2010
transients but also the transients of internal control variables are
shown in Fig. 14.
It can be seen that the rotor-flux magnitude is constant (its
nominal value is equal to ΨrN = 0.68 [p.u.]) and the stator-
current components in the flux and torque control loops, in the
rotating-field coordinate system x–y, as well as the A-phase sta-
tor current, react correctly to the step changes of the load torque.
In Figs. 15–17, the very low speed operation of the loaded
drive system is demonstrated; the motor speed, estimated speed,
and speed error, as well as the phase-stator current and the com-
ponents of the stator-current vector in the field-coordinates, are
presented.
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE 1303

Fig. 11. Experimental transients of the rotor speed and speed error of the sensorless IM drive with MRASCC estimator for start-up to ωref = 0.2ωmN with
wrong motor parameters used in the estimator model.

Fig. 12. Experimental transients of the IM drive with MRASCC estimator for start-up to ωref = 1.5ωmN .

Fig. 13. Experimental transients of the IM drive with MRASCC estimator for the reverse operation at low-speed reference (±0.05ωmN ) and step changes of
the load torque (mL = 0 → mN → 0 → mN → 0).

It is worth mentioning that the design parameters (KP , KI )
of the MRASCC estimator as well as parameters of speed,
flux, and current controllers of DFOC structure do not change
when the reference-speed value decreases. Moreover, motor
parameters are not tuned, which is sometimes necessary in
other speed-estimation solutions [26]. Nevertheless, the esti-
mated speed reconstructs the actual motor speed with good
accuracy, and the transient speed reconstruction error is close
to zero.
The DFOC drive with the MRASCC estimator works prop-
erly for extremely low speed operation with full and very low
load torque (only friction torque).
In Figs. 15–17, we can observe the behavior of the motor
speed and its internal variables, including the stator phase
current [Fig. 15—ωref = 0.0005ωmN (0.05% ≈ 1.41 r/min ≈
0.146 rad/s), Fig. 16—ωref = 0.00025ωmN (0.025% ≈
0.7 r/min ≈ 0.073 rad/s), Fig. 17—ωref = 0.0001ωmN
(0.01% ≈ 0.28 r/min ≈ 0.03 rad/s), respectively].
1304 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 4, APRIL 2010

Fig. 14. Experimental transients of the IM drive with MRASCC estimator ωref = 0.05ωmN , and load-torque change from mL = 0 to mL = mN :
(a) reference, measured, and estimated speed, (b) speed difference, (c) stator-current components, (d) rotor-flux hodograph, and (e) phase current.

Fig. 15. Experimental steady-state operation of the IM drive with MRASCC estimator for constant-speed reference ωref = 0.005wmN , mL = 0.9mN .
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE 1305

Fig. 16. Experimental steady-state operation of the IM drive with MRASCC estimator for constant-speed reference ωref = 0.00025wmN , mL = 0.25mN .

Fig. 17. Experimental steady-state operation of the IM drive with MRASCC estimator for constant-speed reference ωref = 0.0001ωmN , mL ≈ 0 (only friction
torque).
1306 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 4, APRIL 2010

Fig. 18. Experimental results of the IM drive with MRASCC estimator for the reverse operation at low-speed reference (±0.001ωmN ) with constant load
torque mL = 0.2mN .

Fig. 19. Experimental results of the sensorless IM drive with MRASCC estimator for long reverse operation at low-speed reference (±0.0035ωmN ) with
constant load torque mL = 0.25mN .

Fig. 20. Experimental transients of the sensorless IM drive with MRASCC estimator for breaking operation for mL = 0.

For extremely low speed, the digital noises on the measured paper properly, the measured speed is filtered and shown in
speed are visible (see Figs. 15 and 16), connected with encoder Fig. 17. It must be mentioned here that due to a drawback of the
and dSpace card resolution. To present these signals in this laboratory setup, which consists of the difficulty of generating
ORLOWSKA-KOWALSKA AND DYBKOWSKI: MRAS ESTIMATOR FOR SPEED-SENSORLESS IM DRIVE
a nominal load torque under very low speed operation (less
than 0.01ωm ), the experimental results shown in Figs. 15–17
have been made for relatively low values of the load torque.
However, it has been checked in simulation that the developed
estimator works properly in the closed-loop structure under full
load torque within the whole speed range.
To demonstrate that the sensorless IM drive with MRASCC
speed estimator is stable in the low-speed region, the periodic
reverse operation for very low speed is shown in Fig. 18.
Error between the measured and estimated speeds oscillates
around zero. It is visible that the drive works with a small load
torque.
The drive system has been tested also for a very long reverse
operation under load torque in the low-speed region (Fig. 19).
It is clear that the sensorless-drive works properly. Small
speed error is visible only for a speed reference close to zero.
In Fig. 20, the breaking operation of the sensorless IM drive
is displayed. The drive works in a stable way for the very low
speed region and for zero speed operation under no load without
estimation error. Therefore, the relatively simple MRASCC
estimator presented in this paper gives results similar to those
of a much more complicated EKF [28].
In the analyzed sensorless-drive system both speeds, esti-
mated and measured, are close to each other. Not only for the
steady-state operation but also under speed reference and load-
torque changes, the speed-estimation error tends to zero very
fast (Figs. 13–20). The motor speed, measured only for com-
parison, tunes the estimated value in all drive-system operating
conditions. The developed current-based MRASCC speed esti-
mator performs very well in the whole speed range, including
high speed under field weakening and very low speeds.
VI. C ONCLUSION
The new speed estimator based on the MRAS concept, which
uses the rotor-flux current-based model and stator-current es-
timator, has performed very well in the wide range of the
speed reference in the sensorless DFOC drive system. The
application of the real IM as a reference object in this MRAS
estimator concept, as well as the adjustable stator-current
estimator and current-flux model improves the robustness of
the speed reconstruction to motor-parameter uncertainties. The
estimator works in a stable way even for relatively big pa-
rameters’ mismatch (±50%), contrary to the classical rotor-
flux-error-based MRASF estimator [9], other types of the
stator-current-error-based MRASCV [13], or even NFOA [15]
estimators.
The presented speed estimator can be easily implemented in
a microprocessor system and can be used not only for the speed
but also for the simultaneous rotor-flux-vector reconstruction.
The experimental verification confirms the good behavior of the
rotor flux and speed estimation in the closed-loop operation of
the vector-controlled drive, in a wide speed range (including
field-weakening region and very low speed reference). The
drive system works well for very low speed reference with
the load torque. The stability analysis confirms very good
dynamics and robustness of the MRASCC rotor speed and flux
estimator.
1307
A PPENDIX
M OTOR DATA
Rated Values
PN = 1.5 [kW] nN = 2820 [r/min]
UN = 240.5/400 [V] fN = 50 [Hz]
IN = 5.9/3.4 [A] pb = 3
Parameters : TM = 0.0188 [s]
rs rr xs xr xm
3.68 4.033 119.93 119.93 115.77 [Ω]
0.0543 0.0595 1.769 1.769 1.7076 [p.u.]
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Teresa Orlowska-Kowalska (M’93–SM’05) re-

ceived the Ph.D. and D.Sc. degrees from Wroclaw
University of Technology, Wroclaw, Poland, in 1976
and 1990, respectively.
Since 1993, she has been with Wroclaw University
of Technology as a Professor of electrical engineer-
ing and Head of the Division of Electrical Drives
Control, Institute of Electrical Machines, Drives, and
Measurements. She is the author and coauthor of
more than 300 journal and conference papers, two
textbooks, and 14 chapters in monographs. Her re-
search interests include the mathematical modeling and microprocessor control
of electrical drives and power electronic systems, the application of modern
control methods to electrical drives, the state estimation of induction motors
using state observers, Kalman filters, and neural networks, and, in the last few
years, neural networks and fuzzy-logic techniques applied to electrical drive
control.
Prof. Orlowska-Kowalska is a member of the Electrical Engineering Com-
mittee of the Polish Academy of Science, the European Power Electronics As-
sociation, and international steering committees of a few well-known European
conferences. Since 1997, she has been a Reviewer of the IEEE T RANSACTIONS
ON I NDUSTRIAL E LECTRONICS and the IEEE T RANSACTIONS ON
I NDUSTRY A PPLICATIONS. Since 2004, she has been an Associate Editor for
the IEEE T RANSACTIONS ON I NDUSTRIAL E LECTRONICS.