Parallel MRAS Rotor Speed and Stator Resistance
Estimation for DTFC-SVM of a Sensorless IMD
Aenugu Mastanaiah*, &Tejavathu Ramesh and #A.K.Panda
*&
Department of Electrical Engineering, National Institute of Technology, Kurukshetra, Haryana, India
#
Department of Electrical Engineering, National Institute of Technology, Rourkela, Odisha, India
*
mastan665@gmail.com, #tramesh.ee@gmail.com
Abstract— This paper presents, a rotor speed and stator
resistance estimation under very low speed operating
region using parallel rotor speed and stator resistance
estimation scheme. This scheme is an extension of rotor
flux based model reference adaptive system (MRAS)
scheme. In this scheme the rotor speed and parameter
variation is estimated using MRAS technique. The
estimated speed is incorporated as a feedback to the space
vector modulation based direct torque and flux control
(DTFC-SVM) of induction motor drive (IMD). The rotor
flux based MRAS method unable to provide satisfactory
performance under parameter variation whereas this
scheme can cope with the parameter variation and able to
provide satisfactory performance. In order to show the
effectiveness of the proposed method, it is simulated in
MATLAB/SIMULINK environment. The performance of
the IMD is simulated under various operating situations.
Keywords— Direct torque and flux control, induction
motor drive, space vector modulation, model reference
adaptive system, PI Controller.
I. INTRODUCTION
In recent times, the IMD’s are widely used in industrial,
commercial and domestic applications due to their simple
structure, rugged in nature, low cost and easy to implement.
The IMD control schemes are classified as scalar and vector
control schemes. The scalar control scheme offers good
satisfactory performance under steady state condition, but it
shows very poor response at transient conditions. The vector
control scheme which also called as field oriented control
(FOC) scheme offers good satisfactory performance under
dynamic and steady state conditions [1-2], but it requires
coordinate transformations and current controllers,
information of parameters, etc. To overcome with these
drawbacks I. Takahasi invented a new control strategy in mid
of 1980, which is called direct torque and flux control (DTFC)
scheme [3]. The DTFC has fast torque and flux response
compared to FOC. However, the DTFC has some drawbacks
such as large flux and torque ripples and also variable
switching frequency due to the use of hysteresis torque and
flux controllers [4-5]. A superior control scheme is required to
suppress these drawbacks. Therefore, in the past decade the
DTFC-SVM scheme grabbed the attention of researchers due
to its constant switching frequency, low torque and flux
ripples. The DTFC of induction motor drive using space
vector pulse width modulation (SVPWM) offers very less
torque ripple of about 8%. However, it requires accurate rotor
speed information of the induction motor [6-8]. The rotor
speed can be computed through either speed sensor or from an
estimator /observer using voltage and current signals [9]. The
use of speed sensors is linked with some disadvantages such
as reduction of mechanical robustness of the induction motor
drive, shaft extension is needed, reduces the drive reliability
and it increases the cost of the IMD and also not suitable for
hostile environments [10-14]. These drawbacks have made
sensorless DTFC-SVM of IMD very attractive over the
conventional DTFC of IMD.
Over the past years several speed estimation schemes have
been proposed for speed sensor less DTFC-SVM of IMD such
as Direct Calculation Method, MRAS based Estimators,
Observers (Extended Kalman Filter, Luenberger, etc),
Estimators using Artificial Intelligence, etc [13-22]. Among
these MRAS is one of the most popular method to obtain a
precise value of the anticipated speed.
The MRAS estimation schemes are classified into back
emf, rotor flux and reactive power [15-21]. The reactive
power and back emf based rotor speed estimation schemes
gives satisfactory performance at high speed, but it shows
poor response at low and zero sped operation [20]. Among
these, rotor flux based MRAS speed estimation scheme is the
most popular scheme and it is easy to implement [6], [16],
[22]. However, the rotor flux based MRAS estimator unable to
offer satisfactory performance at very low speed under
parameter variations. Therefore, a superior rotor speed
estimation scheme is required in order to operate the IMD at
very low speed under parameter variations. In this paper, the
parallel rotor speed and stator resistance estimation scheme
along with DTFC-SVM of IMD is implemented. The detailed
performance of the proposed scheme is carried out in
MATLAB/SIMULINK software under various operating
conditions and the corresponding results were discussed in
section V.
II. MATHEMATICAL MODEL OF IM
The mathematical model of IMD is developed using stator
flux linkage and voltage equations in d-q axis transformation.
The voltage equations of an induction motor (I.M) in the Figure 1. The calculated reference stator voltage is fed to the
stationary reference frame can be expressed in matrix form as: SVPWM.
⎡Vds⎤ ⎡Rs + Ls p 0 Lmp 0 ⎤ ⎡ids⎤ In a three phase two level voltage source inverter (VSI)
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ eight switching states are possible, in which six are active
⎢Vqs⎥ ⎢ 0 Rs + Ls p 0 Lmp ⎥ ⎢iqs⎥ vectors and two are zero vectors. In SVPWM these eight
⎢ ⎥=⎢ ⎥ ⎢ ⎥ (1)
⎢idr⎥ voltage vectors are used to construct the reference stator
⎢ 0 ⎥ ⎢ Lmp ωrLm Rr + Lr p ωrLr ⎥
⎢ ⎥ ⎢ ⎥ ⎢ ⎥ voltage.
⎢⎣ 0 ⎥⎦ ⎢ − ωrLm Lmp − ωrLr Rr + Lr p⎥⎦ ⎢iqr⎥
⎣ ⎣ ⎦ ψ s*
Eψ
PI V ψ* d − q Vd c

Voltage Source Inverter

+ Vd*s

q − axis
V2
− controller V3
Sa C

ωr is rotor speed.

2
Where ‘p’ is differential operator and ψˆ s

=
n =1

n
Vref

n
=
Sb

3
V4 V1
* G
Vq s d − axis

Te∗
Sc

n
4
ω r* *

=
=

n = 5
The state space model of I.M in stationary reference frame eω VT

6
n
PI PI V5 V6 E
+ + x − y
− controller −
ETe controller SVPWM
can be derived from the Equation (1) as [6-7]: ω̂ r Tˆe θˆe d − q
va

Power Circuit
⎡ − a1 0 a2 a3ω r ⎤ Vds vb

⎡ p i ds ⎤ ⎥ ⎡ i ds ⎤
2 2
ψˆ s = ψ ds + ψ qs
⎢ ⎛ψ qs ⎞
Vqs vc
⎢ ⎥ ⎢ 0 − a1 − a 3 ω r a2 ⎥ ⎢ ⎥ θˆe = tan−1⎜⎜
ψ ⎟
⎝ ds ⎠
⎟
ids ia

⎢ pi ⎥ ⎢ ⎥ ⎢ i ⎥ Tˆe =
3 P
( ) iqs ib

= ⎢ Lm
ψ dsiqs − ψ qsids
⎢ ⎥ 1
− ωr ⎥⎢ ⎥
qs qs 2 2
ic
0 − abc
⎢pψ ⎥ ⎢T r ⎥ ⎢ ψ dr ⎥
Stator Flux & Torque Estimation

⎢ dr ⎥
⎢
T r
⎢ ⎥
DTFC-SVM Algorithm

⎢pψ ⎥ L m ω r − 1 ⎥⎥ ⎢ ψ ⎥ Vds

Induction Motor
⎢ 0 ψ dr
⎢⎣ qr ⎥
⎦ ⎢ qr ⎥ Vqs
T r ⎥⎦ ⎣ ⎦
vds
Reference Model
⎢⎣ Tr
vqs
ωr
(2) ψ qr (Voltage Model) ids
iqs
ids
R̂s
⎡ 1 ⎤ Resistance
iqs
⎢σ 0 ⎥ Estimator

⎢ Ls ⎥ ψˆ dr
⎢ 1 ⎥ ⎡ v ds ⎤ ψˆ qr
AdaptiveMRAS
Model

+⎢ 0 ⎢ ⎥ (Current Model)

σ L s ⎥⎢
⎥ ⎣ v qs ⎥⎦
Adaptive
ω̂ r
⎢ Mechanism

⎢ 0 0 ⎥ Parallel MRAS
⎢ ⎥
⎣⎢ 0 0 ⎦⎥ Figure 1 Schematic model of DTFC-SVM of IMD.
Where In order to construct the reference stator voltage vector, the
R 1− σ Lm Lm volt-sec balance principal is used which is represented in
a1 = s + , a2 = , a3 = , equation (3) as:
σLs σTr σLs LrTr σLs Lr G G G G
L2 L Vref T s= VnTn + Vn +1Tn +1 + VzTz (3)
σ = 1 − m , and Tr = r
Ls Lr Rr G
Where Vz is zero, so equation (3) can be rewritten as:
idqs , idqr : d, q-axis stator and rotor currents, ψ ds , ψ dr : d-axis G G
G VnTn Vn +1Tn +1
stator and rotor flux linkages, ψ qs , ψ qr : q-axis stator and rotor Vref = + (4)
Ts Ts
flux linkages, Ls , Lr : stator and rotor inductances, Lm : mutual Equation (4) represents the vector sum of two quantities which
inductance, Rs , Rr : stator and rotor resistances, P : number of is represented in Figure 2. The dwell times can be calculated
from figure2 and these dwell times are given in equation (5):
poles, and Te : electromagnetic torque.
⎛ nπ ⎞
sin ⎜ − α⎟
Vref ⎝ 3 ⎠T
III. DTFC-SVM Tn = s (5.a)
Vn sin 60D
The generation of reference stator voltage plays an
important role in DTFC-SVM of IMD. The reference stator ⎛ (n − 1)π ⎞
sin ⎜ α − ⎟
voltage is generated according to the requirement of torque Vref ⎝ 3 ⎠
Tn +1 = Ts (5.b)
and flux. For generating reference stator voltage various Vn +1 sin 60D
DTFC-SVM strategies are available such as closed loop flux Tz = Ts − Tn − Tn +1 (5.c)
control, closed loop torque control, closed loop torque and Where n is sector number, Ts is switching time.
flux control in polar coordinates, closed loop torque and flux
2 ⎛ Vqs∗ ⎞
2
control in stator flux coordinates [4-5]. Among these Vref = Vds∗ + Vqs∗ and α = tan −1 ⎜⎜ ∗ ⎟⎟
strategies, the closed loop torque and flux control in stator flux ⎝ Vds ⎠
coordinates is the simple and best method, which is shown in Using these dwell times the gate pulses are constructed.
The generated gate pulses in sector-3 are shown in Figure 3.
 2 used to estimate the rotor flux linkages. The expressions
Vn = Vn +1 = Vdc
G q − axis 3 which are used in reference and adaptive models are given by
Vn
G G
V2
equation (6) and equation (7), respectively.
V3

⎛
⎜α −
(n − 1)π ⎞
⎟
n = 2
L
Lm
(
ψ r = ψ dr + jψ qr = r ∫ Vs − ( Rˆ s + σLs p )is dt (6) )
⎝ 3 ⎠
G
60 D G ⎛L 1 ⎞
⎛ nπ ⎞
− α⎟
Vref VnTn
n =1 ψˆ r = ψ ˆ qr = ∫ ⎜⎜ m is − ψˆ r + jωr ψ
ˆ dr + jψ ˆ r ⎟⎟dt (7)
⎜ Ts
T T
⎝ 3 ⎠ ⎝ r r ⎠
n = 3 G
G 60 D V7
V1 Where Vs = Vds + jVqs and is = ids + jiqs
V n +1 G
V4 G V0
Vn +1Tn +1 d − axis In order to estimate the rotor speed and stator resistance,
Ts
n = 6
these two rotor fluxes are fed to the adaptation mechanism and
n = 4 the stator resistance estimation blocks respectively.
Reference Model
n = 5 + Lr 1 ψ dr
G vds Lm p
G −
V6
V5 ids Rˆ s + σLs p

iqs Rˆ s + σLs p
Figure 2 Switching states represented in vector form and
− ψ qr
construction of reference stator voltage vector when it is in vqs + Lr
Lm
1
p
third sector.
+ ε Rs Ki R̂s
Kp +
p
+
+ ψ qr
Sa − ψˆ qr
+ ψ dr
Stator Resistance Estimation − ψˆ dr

Sb Adaptive Model 1
Tr Adaptation Mechanism
− ψˆ dr +
Lm + 1
Tr p
− −

Sc Kp +
Ki
p

Lm + + 1
Tz Tn Tn +1 Tz Tn +1 Tn Tz Tr
−
p ω̂ r
ψˆ qr
4 2 2 2 2 2 4 1
Tr
ω̂ r

Ts Figure 4 Structure of Rotor Flux based MRAS for parallel

rotor speed and stator resistance estimation.
Figure 3 Three phase gate pulses for upper leg of inverter
In the adaptation mechanism the speed tuning signal is
when the reference stator voltage vector is in third sector.
created using the equation (8) and the signal is fed to the PI
IV. ROTOR-FLUX BASED MRAS controller to acquire the rotor speed.
The schematic model of parallel rotor speed and stator [ ˆr
εω = Im ψ r × ψ
∗
] (8)
resistance estimator is shown in Figure 4. Where * represents the complex conjugate.
It is an extension to the Rotor flux based MRAS speed In the stator resistance estimation block, the stator
estimator, which is presented in [6]. In [6], the Rotor flux resistance tuning signal is generated using the equation (9) and
based MRAS speed estimator is realized using three sub- these error signal is fed into the PI controller to acquire the
blocks (reference/voltage model, Adaptive/Current model, stator resistance.
Adaptation mechanism) whereas in parallel rotor speed and [ ˆr)
ε R̂s = Re is × ( ψ r − ψ ] (9)
stator resistance estimation scheme the stator resistance
estimation block is added in parallel to the rotor flux based V. SIMULATION RESULTS
MRAS speed estimator. The stator resistance estimator block In order to verify the performance of the DTFC-SVM of IMD
is used to estimate the accurate value of rotor speed at very and parallel rotor speed and stator resistance estimation
low speed by suppressing the effect of change in stator scheme, a detailed simulation studies are carried out in
resistance. The reference model is implemented using MATLAB/SIMULINK environment. The machine
measured stator voltage and current quantities whereas parameters, DTFC-SVM parameters and gain values of PI
adaptive model is implemented using measured stator current controllers which are used in the speed controller and MRAS
and estimated rotor speed quantities. These two models are
controller are shown in Table 1. Initially, the performance of between actual and estimated speeds is shown in Figure 5. It is
IMD is simulated under 50% of load with (a) triangular and observed from the results that the estimated rotor speed is
(b) sinusoidal reference speed which is fluctuating between exactly tracking the reference speed.
65rpm and 100rpm is shown in Figure 5. Moreover, the error
150
ωr∗
150
ωr∗
ωr ωr
Speed (rpm)

ω̂r
100 100
ω̂r
50 50 64.5

100.5
100
64
99.5
99
98.5

0 98
9.8 9.85 9.9 9.95 10 10.05 10.1 10.15
0 63.5
9.92 9.925 9.93 9.935 9.94 9.945 9.95 9.955 9.96

0 5 10 15 20 25 0 5 10 15 20 25
5 5
Speed error (rpm)

0 0
0.2

0.1 0.1

0
0.05

-0.1
0
-0.2
-0.05 7 8 9 10 11 12

-0.1
9.6 9.7 9.8 9.9 10 10.1 10.2 10.3 10.4

-5 -5
0 5 10 15 20 25 0 5 10 15 20 25
Time (s) Time (s)
(a) (b)
Figure 5 Simulation response of DTFC-SVM of an IMD under the operating conditions of: (a). Triangular change in speed at
50% load, (b). sinusoidal change in speed at 50% load.
9 9
Stator Resistance (ષ)

R̂s
8
Rs∗ 8

7 7
Rs∗ R̂
6 6
s

5 5
2 2.2 2.4 2.6 2.8 3 2 2.2 2.4 2.6 2.8 3

110 250
ωr
200 ωr∗
Speed (rpm)

100

ωr∗
150

90 ω 100
ω̂r
ω̂rr 50

80 0
2 2.2 2.4 2.6 2.8 3 2 2.2 2.4 2.6 2.8 3

12 15

10
Load (N-m)

Te
10
8
TL Te TL
6
5
4

2 0
2 2.2 2.4 2.6 2.8 3 2 2.2 2.4 2.6 2.8 3
4
Stator Currents (A)

5
2

0 0

-2
-5
-4
2 2.2 2.4 2.6 2.8 3 2 2.2 2.4 2.6 2.8 3
Time (s) Time (s)
(a) (b)
Figure 6 Simulation response of DTFC-SVM of an IMD under stator resistance increment (5.51 to 7.714) at load torque of 50%:
(a) With stator resistance estimation and (b) Without stator resistance estimation.
 The performance of IMD is simulated under sudden t

augmentation of stator resistance (5.51 Rs to 7.714 Rs) at 2.5s IAE = ∫ e(t ) dt (10)
is shown in Figure 6. 0
t
The performance of IMD is simulated under sudden
augmentation of load torque (50% of load to 70% of load) at ITAE = ∫ (t ⋅ e(t ) ) dt (11)
0
3.5s with stator resistance estimation under two different t
speed conditions are shown in Figure 7 (a) & (b), respectively. ISE = ∫ {e(t )} dt
2
(12)
The error analysis of IMD is carried out at various load torque 0
(No load, Half load, Full load) operating conditions when the t
IM is operating at steady state is shown in Figure 8. The ISE = ∫ t ⋅ {e(t )} dt
2
(13)
various error analyses are summarized in Table 2. The 0
presented error analyses are Integral of Absolute Error (IAE), t

∫ ( e(t ) ) dt
2
Integral of Time multiplied by Absolute Error (ITAE),
Integral of squared Error (ISE), Integral of Time multiplied by RMSE = 0
(14)
squared Error (ITSE), and Root Mean Square Errors (RMSE). t
The various error analyses are measured at 4 sec.
150
8 8
TL TL
Load (N-m)

7 7

Speed (rpm)
6 6 100
5 Te 5
Te reference speed
speed at no-load
4
3 3.5 4 4.5 5
4
3 3.5 4 4.5 5
speed at half-load
7.74 7.74 50 speed at full-load
Stator Resistance (ࢹ)

7.73
Rs 7.73
Rs R̂s
7.72 7.72

7.71 7.71 0
0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
R̂s
7.7 7.7

7.69
3 3.5 4 4.5 5
7.69
3 3.5 4 4.5 5 120
12 102

10 100
Speed (rpm)

8
ω∗ 98
ωr∗
6 ωrr 96
ωr
110
4 ω̂r 94
ω̂r
2 92
3 3.5 4 4.5 5 3 3.5 4 4.5 5

4 isa isb isc 4 100

Stator Currents (A)

2 2

0 0
90
-2 -2 0.5 0.6 0.7 0.8 0.9 1 1.1 1.2
-4
3 3.5 4 4.5 5
-4
3 3.5 4 4.5 5
Time (s)
Time (s) Time (s)
Figure 8 The performance of IMD under various load torque
(a) (b)
conditions (reference speed (blue), estimated speeds at no-load
Figure 7 Simulation response of DTFC-SVM of an IMD under
load torque is changed from 50% to 70% at 3.5sec with a (green), half load (black) and full load (red)).
reference speed of: (a) 10 rpm, (b) 100 rpm.
TABLE 1 PARAMETER VALUES
Induction Motor Parameters DTFC-SVM parameters
Rated power 1.5 kW Switching frequency 5 KHz
Rated voltage 400 V DC link voltage, Vdc 400V
Rated current 3.39 A Gain values
Rated speed 1410 rpm Speed PI Controller
Rated torque 10 N-m Kp=6.34, Ti=0.0561
Rated flux 1 Wb Torque PI Controller
Stator resistance 5.5 ohm Kp=49.3, Ti=0.0006511
Rotor resistance 4.51 ohm Flux PI Controller
Stator self-inductance 306.5 mH Kp=2660, Ti=0.00122
Rotor self-inductance 306.5 mH MRAS PI Controllers
Mutual inductance 291.9 mH Kpω=582, Tiω=0.12067
Number of poles 4 Kpr=26.7, Tir= 0.001335
 TABLE 2 ERROR ANALYSES OF IMD UNDER VARIOUS OPERATING CONDITIONS.
Load (N-m) tr (sec.) ts (sec.) Mp (%) ess
0 0.03935 0.65576 10.2592 0.009
4.5 0.04175 0.68627 11.8767 0.01
9 0.04948 0.71901 15.5607 0.011
VI. CONCLUSION
In this paper, rotor-flux based MRAS with parallel rotor
speed and stator resistance estimation for DTFC-SVM of a
sensorless IMD is presented. The parallel rotor speed and
stator resistance estimator is used to magnify the robustness of
DTFC-SVM of sensorless IMD under very low speed
operating region with parameter variation. The performance of
DTFC-SVM of an IMD is simulated under various operating
conditions and corresponding results are presented. It is
observed that estimated speed is exactly tracking the reference
speed even at very low speed operating region under
parameter variations. The error analysis of DTFC-SVM of
IMD is presented under various load torque operating
conditions. In order to show the effectiveness of the parallel
MRAS scheme, the simulation results are presented under no-
load, load and sudden change in speed operating conditions.
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