Induction motor parameter estimation algorithm
using spectral analysis
H. Chai
P.P. Acarnley
Indexing terms: Induction motors, Algorithms, Parameter estimations
Abstract: A computationally economic online
parameter estimation algorithm for the induction
motor is described in the paper. The parameters
are derived from only those signal components
most relevant to the parameters being calculated,
to achieve conciseness and good mathematical
stability of the algorithm. Using spectral analysis,
it is shown to be possible to design online test
methods that resemble the standard ofline,
no-load and locked-rotor tests. Computer simula-
tions, as well as experimental results from a 2 kW
induction motor, demonstrate that the algorithm’s
performance is satisfactory over a wide range of
operating conditions.
List of symbols
DFT = discrete Fourier transform operator
At = sampling time
S = slip
wA(t) = sampling window function
W,(o)= Fourier transform of w,(t)
Z, = number of rotor slots
o = angular frequency
w, = angular frequency of the rotor in a two-pole
machine
w1 =angular frequency of the fundamental com-
ponent
0 = convolution operator
k = positive/negativesequence quantities
1 Introduction
With field-oriented control (also referred to as vector
control), the mechanically more robust cage induction
motor is able to replicate the fast transient torque
response of the DC motor. The key feature of the control
scheme is the orientation of the synchronously rotating
d-q reference frame to the rotor flux vector [1, 23. One of
the orthogonal stator current components, namely the
d-axis current, is aligned with the rotor flux vector and
therefore can be regarded as the flux-producing current
component, whereas the other stator current component,
the q-axis current, is solely responsible for torque pro-
duction. Thus, the decoupled control of torque and flux
can be realised. When the flux-producing stator current is
Paper 8611B (Pl), first received 19th December 1990 and in revised
form 5th November 1991
Dr. Acarnley is with the Department of Electrical and Electronic Engin-
eering The University, Newcastle upon Tyne, NE1 7RU, United
Kingdom
Dr. Chai is with Pakcentre Limited, Unit 1, Bittern Place, Coburg
Road, Wood Green, London N22 6TP, United Kingdom
IEE PROCEEDINGS-B, Vol. 139, No. 3, M A Y 1992
orientated to the air gap flux vector, as proposed by
Blaschke [l], the decoupling of flux and torque com-
ponents is not complete. This incomplete decoupling may
cause instability [3], especially when operating at light
load condition. For complete flux and torque decoupling
it is essential to orientate the flux-producing stator
current to the rotor flux vector.
The underlying principles of field-oriented control for
induction motors have been well established, but there is
considerable diversity in the methods used to estimate
the rotor flux vector. The direct method senses the gap
flux with flux sensors or alternatively estimates the rotor
flux vector from observations of the stator electrical con-
ditions; the indirect method synthesises rotor flux posi-
tion by addition of the rotor position and the slip angle,
which is calculated from the commanded stator currents
and motor parameters. Each method has its own merits,
but all have the common feature that they are motor
parameter dependent. Moreover, the motor parameters
may change widely with temperature, frequency and
saturation. The rotor resistance, for example, can change
50% during operation because of temperature variations
arising from changes in duty cycle [4-61. Unless mea-
sures are taken to overcome this difficulty, the per-
formance of field-oriented controlled induction motors
can be degraded.
Various online parameter estimation or adaptation
schemes have been developed. Notable among these is
the one developed by Garces [7], which adapts rotor
time constant from the measurements of stator voltages,
currents and rotor speed, assuming all inductive param-
eters are known. The effects of stator resistance changes
are avoided by formulating a special adaptation function,
which is sometimes referred to as the modified reactive
power function. The limitation for this parameter adapta-
tion scheme is that it only works when both slip fre-
quency and stator frequency are not zero.
Loser and Sattler [8] tried to estimate the rotor
parameters by estimating the rotor temperature. The esti-
mation is based on the fact that for a loaded motor the
fundamental frequency component of the terminal
voltage at given current input level is measurably influ-
enced by heating. The rotor resistance can then be readily
obtained, if the temperature of the winding is known.
Owing to the low voltage-temperature sensitivity,
however, this scheme requires the fundamental frequency
components to be measured with high accuracy.
For rotor parameter estimation purposes, information
is to be collected from the induced rotor currents and
voltages. Through the interaction between the stator and
rotor quantities, this information is to be brought out
through the stator voltages and currents. A number of
algorithms fail to estimate rotor parameters when slip
frequency approaches zero, or in the no-load condition,
165
where rotor induced voltages and currents become zero,
and no information about rotor parameters can be
obtained. Consequently, to estimate rotor parameters
under all load conditions, an estimator in conjunction
with a perturbation method must be used.
A psuedorandom binary sequence (PRBS) signal is
used as a perturbation by Gabriel and Leonhard [9]. A
PRBS signal is injected into the d-axis stator current
demand, and correlated with the response detected on the
q-axis. The sign of the correlation indicates the direction
for rotor time constant correction. However, this algo-
rithm does not work satisfactorily under light load condi-
tions.
An algorithm proposed by Sugimoto and Tamai [lo]
involves the injection of a sinusoidal perturbation on the
flux axis stator current. It is claimed that this algorithm
identifies rotor resistance under any load and speed con-
ditions. The cost for the good performance is high: this
method requires the installation of stator flux search
coils, which are actually a set of duplicates of the stator
windings (identical to the stator windings in shape and
location except for the smaller diameter of the wire), to
avoid the need for stator resistance or stator flux identifi-
cation.
Matsuo and Lip0 Ell] describe a method of injecting
two sets of negative sequence perturbations to identify
the stator, as well as rotor resistances. When a field-
oriented controlled motor equipped with such a param-
eter identifier serves as a torque-producing element in the
heart of a control system, however, the outer control loop
may prevent the perturbation from being injected, unless
special precautions are taken to circumvent the torque-
regulating action.
More recently, the Kalman-filter algorithm has been
introduced to induction motor parameter estimation. Zai
and Lip0 [12] use an extended Kalman filter to estimate
the rotor time constant (actually the reciprocal of rotor
time constant was used) by treating it as the fifth state
variable along with the stator and rotor currents. No
external perturbation is injected, but instead it is claimed
that the wideband harmonics contained in the PWM
voltage serve as an excitation source. However, the way
in which these harmonics can pass through their special
filters (a pair of integrators) and be used for the param-
eter estimation is not described. Besides the requirement
of knowing other parameters, it is reported that varia-
tions in magnetising inductance can introduce significant
error in rotor time constant estimation. In effect, the task
of rotor time constant estimation is partly shifted to the
task of magnetising inductance estimation.
The need for variation of the operating conditions
when estimating parameters is highlighted in the work of
Atkinson et al. [13], who describe the application of the
extended Kalman-filter algorithm to rotor resistance esti-
mation using both full-order and reduced-order motor
models.
Although various online parameter estimation algo-
rithms have been developed, they have not yet received
wide application. This could be due to their common
weaknesses of limited ability at low speed range, and the
excessive computation power requirement for the signal
processing. In addition, there are still other limitations of
the existing algorithms that have not yet received enough
attention. First, the modelling error. It is well known that
the d-q model of an induction motor simulates only the
fundamental space harmonic component interaction
process. The spatial harmonics, prominent among them
are slotting harmonics, are neglected in the standard two-
166
axis model. In those parameter estimation algorithms
where the modelling error is collectively represented as
random error, the actual nonrandomness of the slotting
harmonics reduces the accuracy of the estimation result.
In other parameter estimation algorithms, where the time
harmonics also contribute to parameter estimation, the
relatively weaker signal can be severely corrupted by the
slotting harmonics, which by their nature do not provide
useful information about the fundamental parameters.
Secondly, many rotor resistance or time constant estima-
tors assume other parameters are known accurately.
Although it is true that parameters other than rotor
resistance have less influence on the performance of the
drives, their values could influence the estimator behav-
iour and results significantly. An example of this point is
that with current regulated inverter drives, the stator
resistance has virtually no effect on the behaviour of the
drive, but when the parameter estimator estimates the
rotor resistance from measurements at the stator termin-
als, the error in the assigned stator resistance is trans-
ferred to the rotor resistance.
Many of the existing parameter estimation algorithms
for the induction motor tend to treat the induction motor
as a model in terms of self and mutual inductances
together with resistances. Little attention had been given
to the fact that the motor can behave quite differently
under different operating conditions as a result of param-
eter frequency dependence. Therefore it is not suprising
tha some algorithms, specially tuned to fit one situation,
fail to work satisfactorily under other operating condi-
tions. For the parameter estimation algorithm to yield a
better performance, parameters are best derived from the
most relevant measurable quantities. Consoli et al. Cl41
therefore base their parameter estimation algorithm upon
sets of ‘significant data’ which are the cause-effect pairs
(or transfer functions) that are most sensitive to the
change in parameters being estimated. Also demonstrated
in their work is the principle that estimation of different
parameters requires different data or cause-effect pairs.
Using a different approach, this paper presents a
parameter estimation algorithm that works online in a
similar way to the standard no-load and locked-rotor
tests. By this means, a straightforward analytic solution
for the motor parameters can be obtained, resulting in
both reduced computing power requirements and good
stability of the algorithm.
2 Frequency-domain analysis of an induction
motor
)I)
Consider the parametric form of the induction motor
equations in the stator reference frame:
R , + L,P 0 Lm P 0
0 R , + L,p 0 Lmp
LmP LmWr R r + L r P LrWr
-LmWr LmP - L r ~ r Rr+Lrp tqr
(1)
The estimation of parameters can be achieved by pro-
cessing the measured voltage, current and rotor speed
data, either in the time-domain or in the frequency-
domain, based on this two-axis model. For the cage rotor
induction motor, the rotor currents are not measurable.
The parameters therefore have to be estimated in con-
junction with the estimation of two intermediate vari-
ables id, and i,, . The parameter estimation is interwoven
with the state estimation. If the time-domain approach is
adopted, this situation calls for either an algorithm that
IEE PROCEEDINGS-B, Vol. 139, NO.3, M A Y 1992
runs the parameter estimator in parallel with a state esti-
mator, or an algorithm capable of dealing with the non-
linear estimation problem in which the unknown
parameters are treated as additional states. In both cases,
a large amount of computation is unavoidable. If the
frequency-domain approach is used, the intermediate
states, such as rotor currents, can be calculated simulta-
neously with the parameters by an algebraic method with
considerably less computation. The use of the fast
Fourier transform (FFT) provides the possibility of
further reduction in computation.
Algorithms based on time-domain analysis give the
same weight to all frequency components contained in
the signals measured, thereby incorporating the assump-
tion that the model structure and the parameters of the
plant being studied are frequency independent. However,
for the d-q model of a cage induction motor, represented
by eqn. 1, significant frequency dependence of the rotor
parameters does occur. For this reason, it is important
that rotor parameters should be evaluated at the low fre-
quencies corresponding to the normal operating slip fre-
quency. In the frequency-domain, the weighting function
can be chosen so that only the frequency components
that have effects similar to those of the fundamental are
used for parameter estimation purposes. This is a distinct
advantage of the parameter estimation algorithms based
on frequency-domainanalysis.
Another advantage of applying spectral analysis in
parameter estimation is that the sampling rates required
are potentially lower than those required for time-
domain analysis. Parameter estimation for the induction
motor requires the observation of both the state variables
and their derivatives. For band-limited signals (the signal
measurements are through a low-pass filter), the sampling
theorem states that samples taken at rates larger than
twice the highest frequency in the signal contain all the
information contained in the continuous signal. However,
the parameter or state estimator based on time-domain
analysis calculates the derivative of signals only by
averaging the slope of a few adjacent samples (the
number of samples used depends on the order of the
algorithm), hence the information carried by the samples
is not fully utilised for derivative calculation. Conse-
quently, the sampling rates required for such an estima-
tor to work satisfactorily are much higher than indicated
by the sampling theorem. In algorithms based on
frequency-domain analysis however, the derivative of the
state variables does not appear explicitly: it is expressed
implicitly in terms of the transformation of the signal. By
this means, it is effectively a collective result of infinite
numbers of samples. Therefore if stochastic noise and
other uncertainties are not significant, there is nothing to
prevent the frequency-domain based estimators from
working at sampling rates down to twice the highest fre-
quency present in the signal.
Taking the finite Fourier transform of the voltage and
current variables in eqn. 1, the following is obtained:
x I I
!qs
\:I
IEE PROCEEDINGS-B, Vol. 139, NO.3, M A Y 1992
provided the currents at the beginning (t = - T/2) and
end (t = T/2)of the observation interval are such that
(3)
The conditions given by eqn. 3 are satisfied in two useful
situations:
(a) if both stator and rotor currents are periodic and
the observation interval T is chosen to be equal to an
integer multiple of Tl = 27r/w1,the period of the currents
(b) if the observation time T is sufficiently long so that
the currents at the two end points are zero.
Applying the symmetrical component transformation
cl51
c = ( -i i1)
to eqn. 2, gives
For a specific frequency, four unknown parameters can
be solved from the two complex equations in eqn. 4, pro-
vided that or# 0 and the other parameter is known.
The analysis so far is in terms of the self and mutual
inductance parameters (L,, L, , L,,,).However, Jones [lS]
has shown that it is preferable to work in terms of
parameters that emphasise the small, but dominant,
leakage inductances. Replacing L, and L, in eqn. 4 by
+
L, = 1, + L , L, = I , L,
and let si = (oT o,)/w, gives
which is the equivalent input impedance for the conven-
tional 'T' type equivalent circuit for an induction
machine, with the magnetising loss resistance being
neglected.
3 Choice of perturbation signal
Under steady-state operating conditions without the
injection of a perturbation, negative sequence voltages
and currents do not exist. Only positive sequence imped-
ance Z+(wl) for one single frequency w1 can be estimated
from measurements of voltage and current. The estima-
tion of rotor parameters would fail when w, approaches
wl, because the rotor parameters would not appear in
the expression for Z+(w). The only possible parameters
that can be estimated are the stator resistance and self
inductance. This is generally true for any other parameter
estimator without extra excitation.
For an idealised induction motor (eqn. l), given a time
harmonic current excitation of frequency w, , the
response voltage is of the same frequency. Symbolically,
this relation can be represented in the matrix form as
follows:
From the parameter estimation point of view, the cause
(or excitation) [Z(w,)] and the effect (or response) [V(o,,)]
are related by the parameter matrix [Z(o,,)]. Therefore
167
the data relating to the cause-effect pair [Z(w,)] and for negative sequence components, the projected fre-
[V(033 contains information about the motor param- quency range is from 0 to al.Altogether, the spectrum of
eters. stator currents in the stationary reference frame is
For the practical induction motor, given a time har- numbers of line spectra located in the frequency range
monic current excitation of frequency m,, the response 0-20,.
voltage consists of the main frequency col component as To provide more freedom in the choice of convenient
well as a series of high-frequency time harmonics of fre- frequencies to calculate parameters, a time-limited per-
quency w1 f kz(Z,/P)o,, originating from the spatial slot turbation is utilised. Fig. 1 shows the shape of the flux
harmonics. The voltage harmonics of frequency other perturbation and the sampling window used in this
than w1 do not have a corresponding current component paper. The Fourier transform of the stator voltages and
at the same frequency. Therefore although the cause- currents in eqn. 5 are calculated as follows:
effect pairs do contain information about the parameters
to be estimated, these physical effects cannot be
employed conveniently in the scheme being described.
There are also other classes of spatial harmonics, of order
(6ki1), k = 1, 2, 3, . . ., originating from pitch and dis-
tribution effects in the three-phase winding, but again
these effects are inconvenient sources of parameter infor-
mation in the present scheme.
Where saturation is present in the motor’s magnetic
circuit, a set of sinusoidal components of magnetising
current Z(co,) with angular frequency w1 causes a flat-
topped spatial flux distribution, which can be considered
as a series of odd flux harmonics $(col), $(3w1), $(501),
$(701) . . . . These spatial flux harmonics induce stator
voltage harmonics with components V(w,), V(5w1),
V(7w1) . . . . If, for example, a 5 0 , current component is
flowing at the same time, then I ( 5 0 1 ) and 1/(5W1) are not
a simple cause-effect pair: V ( b 1 ) is a response not only
to 1(5w1) but also to Z(wl). Therefore only current and
voltage pairs with frequency below 5w, are used in the
proposed method, which does not attempt to evaluate
directly the parameter most dependent on saturation
level, magnetising inductance L, .
Another group of harmonics (time harmonics) with a
source external to the motor are the time harmonics
coming from the output of the inverter. These harmonics,
together with the fundamental, form the excitation to the
motor. The response of the motor to this excitation
could, in principle, be used for abstracting parameter
information of the motor. However, in practice, the har-
monics contained in the output of the pulse width modu-
lated (PWM) current regulator are of too high a
frequency to be useful for parameter estimation, due to 1

the frequency dependence of rotor parameters.
Information is most easily obtainable in the frequency
domain by utilising sinusoidal or other periodic test
signals, or, alternatively, by using time-limited signals. As
parameter estimation is based upon only one or two spe-
cific frequency components, the former type of pertur-
bation seems to make better use of the perturbation
energy if the overall perturbation energy for both cases is
the same. In the proposed estimator, a perturbation is
injected to the motor though the commanded flux in a
field-oriented controller, current vectors ids and i, being
regulated such that the torque is not disturbed. Therefore
a periodic perturbation does not necessarily cause
periodic stator currents. Analysis [16] shows that, in the
steady state, it is possible to have both id, and i,, periodic
by introducing a flux perturbation with period T, =
2na/w,, with n an integer ranging from 1 -+ CO.
In the field-oriented reference frame, the perturbation
frequency spectrum of stator currents so introduced is
limited to subharmonics of the fundamental frequencies,
i.e. w Jn. In the stationary reference frame, this frequency
range is projected to different ranges according to the
sequence of the signals. For positive sequence com-
ponents, the projected frequency range is from col to 2 0 , ;
168
Fig. 1 Flux perturbation and window function
4 Online emulation of the standard induction
motor tests
Using eqn. 5, the input-output relation of the machine,
the parameters can be estimated through a selected set of
tests, in which the response is most sensitive to the
change of the parameter to be estimated. Induction
motors of a certain power rating are similar in terms of
per unit parameter value, so that it is possible to analyse
the parameter sensitivity to different frequency and
sequence cause-effect pairs for a typical induction motor,
to devise a stable, well-behaved parameter estimation
algorithm.
In a typical induction motor, L, is far greater than I,
and I,. Further, if the angular frequency concerned is
higher than or close to the main supply frequency, the
magnetising reactance wL, is far greater than R, and R, .
Eqn. 5 shows that when the signal slip s, = 0, or w = w,,
the following cause-effect pair :
1EE PROCEEDINGS-B, Vol. 139, NO.3, M A Y 1992
is a significant test for stator resistance and stator self-
inductance estimation. This is effectively an online,
no-load test on the motor. An additional term R , has
been added to allow for the magnetising losses.
When w = 0, eqn. 5 reduces to
which, in effect, is an online, DC test of the stator resist-
ance.
Similarly, choose o = o1+ a,, such that s + =
(o- o,)/o or s- = (o+ o,)/o is large enough that
R,/s+ -4 oL, or R,/s- -4 o L , then
--
‘+‘+s(~) - r, + j x , = R, + j o l , + R J ~ + , jol,
I+S(4
or
is an online emulation of the standard locked-rotor test.
It has been demonstrated [lS, 161 that the allocation
of locked rotor reactance into x, and x, cannot be identi-
fied by tests at the stator terminals. In common with
many previous authors, it is therefore necessary to make
the assumption that x, = x, . The machine parameters are
calculated as
R, = ~ ~ / ~ ~ C { ~ + + {, ~~ - ~s ~~ o/ ~~/ +~ -, s~~ ~(12)
R , = ro - R,
L , = Lo - I,
Rr = s(rk - R J C ~ L O / ( ~-Lx kO) l
I, = I ,
= LO - (l/o)J{[(oLO - x k ) / o L O l
x C(Rr/S)’ + w Z L @ }
where o = w1 + orand s = (o- o,)/o.
5 Simulation of a field-oriented controlled
induction motor incorporating the proposed
parameter estimator
The conciseness and the simplicity of the proposed
parameter estimation algorithm is partially due to the
predefined features of the perturbation, e.g. its existence is
+ I -
parameters
in - i
4
V
a A--
Fig. 2 ProposedJield-oriented drive system with online parameter estimation
I E E PROCEEDINGS-B, Vol. 139, N O . 3, M A Y 1992
restricted to only the middle part of the data window.
This feature calls for a supervision controller to synchro-
nise and co-ordinate the perturbation generation and the
sampling process, as well as to judge the validity of esti-
mates. The supervision controller also monitors the
motor operating condition and the status of the param-
(9) eter estimator to decide whether a new cycle of the
perturbation-estimation process should be started.
Fig. 2 is a schematic diagram illustrating the way the
proposed parameter estimator is to be incorporated into
a field-oriented controlled drive, consisting of the con-
troller, PWM current regulator (or other type of current
regulator) and induction motor. The estimator hardware
consists of a prefilter, a data acquisition unit and a super-
vision controller. All torque, speed and position control
(10) loops are external to this basic system.
The parameter estimator described works on a batch-
processing basis, no initial parameter setting being
required. The estimation reaches the correct parameter
value on completion of a perturbation-estimation cycle.
However, the field-oriented controller needs initial motor
parameter estimates, which may have nonnegligible
errors. Direct updating of the parameters in the control-
ler, after the first estimation becomes available, inevitably
causes a transient in the drive system response. Apart
from the initial transient caused by direct updating of
erroneous parameter settings, there are inevitably errors
in the parameter estimations due to the existence of
random noise in the data and the finite observation time.
Therefore the parameter estimates can be regarded as
o ~ ~} l being distributed around the correct parameter value
(13) randomly, without bias. So the transient in the drive can
(14) occur on every parameter updating, even when the
parameter settings in the controller are close to their
(15 ) correct values.
Provided variations in the actual motor parameters
occur slowly in comparison with the estimation rate, ran-
domness in the estimates can be attenuated by smoothing
(16) the estimation with a running average filter, or a low-
pass filter. This process is represented in Fig. 2 by the
‘interpolation and filter’ block, which is a combination of
an interpolation algorithm and a low-pass digital filter.
The cut-off frequency is set to 0.1-1.0 Hz, depending on
the possible parameter change rates of the motor. A
lower cut-off frequency improves the precision of the esti-
mation but prolongs the parameter tracking time.
The performance of the system represented in Fig. 2
has been examined using a simulation program with the
169
flowchart shown in Fig. 3. The stochastic contaminating
noise on the measured data is simulated by a data con-
taminator subroutine, in which white noise is generated
and added to the signal samples from the motor. The
sampling and digitising subroutine is used to simulate the
digitising error caused by the A/D conversion. Shown in
parameter settings
update the parameters in
supervision controller
f ield-oriented controller low-pass filter
Y
,
current regulated PWM
latest parameter
,
I sampling and digitising I
no
* _ _ _ _ phase current
parameter estimation
set estimator ready flag
Fig. 3 Flowchart of parameter estimation simulation
Fig. 4 are the simulation results for this system, with the
errors in initial parameter settings randomly assigned to
all parameters. In the case illustrated, the initial settings
are
Rs Rr Lm
-20% +30% +lo% +30% error
The actual flux and torque track the commands in about
1.4 s. The parameter estimates track the motor param-
eters satisfactorily except for the L, estimation, which is
in error due to the aliasing effect of the mains supply
frequency o1 to the adjacent o, frequency. For this
reason, the magnetising inductance cannot be estimated
using a short window length with satisfactory precision.
However, the simulation reveals that the mismatch in
magnetising inductance has little effect on the per-
formance of the field-orented controlled motor. Within a
reasonable error band (in the order of 30%),the influence
of erroneous L, on rotor parameter estimation is not
serious. Therefore L, may even be obtained by the offline
test method and then used by the controller and param-
eter estimator for all later operations.
170
Similar results are obtained for zero rotor speed.
However, the actual flux and torque tracking time
increases to about 14 s, because the stator supply fre-
quency becomes very low to maintain the low slip fre-
quency, and therefore a similar torque production.
Fig. 4 Flux, torque and parameter tracking behaoiour with errors in
initial parameter settings
n - - - command flux
~
~ actualflux
b - - - - command torque
- actual torque
c- phase voltage
rotor s p e d
6 Implementation and experimental results
The aim of the experimental work is to verify the pro-
posed parameter estimation algorithm. Operation of the
data acquisition unit and the parameter estimator (Fig. 2)
is quite independent of the field-oriented controller,
except for the special requirement that the response to
the perturbation signal should be limited within the
middle part of the observation window. This requirement
was met in the general system of Fig. 2 by the field-
oriented controller. In the experimental system described
here, it is met by a specially formulated perturbation [16]
generated by two optical rotor position sensors mounted
60” apart, so that the perturbation response is restricted
within a desired region. The rotor speed is also derived
from these sensor signals.
6.1 Perturbation signal generation in the
experimental system
The impulse function frequently serves as an excitation to
identify a linear network. With a system containing sig-
nificant inductance, such as the induction motor, the
impulse response posseses an exponentially decaying tail
that lasts for a time dependent on the motor time con-
stants. The sampling window for a discrete Fourier trans-
form must be long enough to cover the whole transient
process and may require the acquisition and analysis of
an inconveniently large amount of data. The solution to
the problem is to use a dual perturbation signal, in which
a short time after a magnetising perturbation is intro-
IEE PROCEEDINGS-B, Vol. 139, NO.3, M A Y 1992
duced, a suitable demagnetising perturbation is applied. If the magnetic pole is produced by a perturbation
By this means the duration of the response can be con- current in the A-phase winding, it is aligned with the
siderably shortened. C-phase axis after t , = (x/3)/w, s. If Avc is chosen that
The perturbation is imposed on the steady-state
supply, but, from the superposition principle, the pertur-
bation and its response can be considered separately.
Assume the motor is rotating at an angular speed or, as
shown in Fig. 5. If, at instant t o , a perturbation signal is
-
.
t a

-b
t

Fig. 5 Generation of a rotorfIUx perturbation C

B
applied to the A phase winding, a flux $ A , which is a
function of time, is established in the air gap. According
to Lenz’s law, a flux which is equal in magnitude and Fig. 6 Rotor perturbation magnetisation and subsequent demagne-
opposite in direction to is produced at point a by the tisation
rotor induced current to keep the flux linkage of the
rotor cage unchanged. Because the rotor is rotating with
speed wrr in the next instant point a moves out from the pole is removed t , s after being impressed (DAtl is a
under the A phase axis, and point b moves into the axis factor to allow for the decay effect). However, an ener-
of phase A; therefore a flux linkage t,bb at point b is pro- gised stator winding not only builds up a flux that is
duced. A further instant later, point b moves out and linked with the rotor circuit, it also builds up a flux
point c moves in, and so on. It follows that a flux chang- linkage with the other stator windings. After the excita-
ing with time in the A-phase winding produces a similar tion signal is removed, this flux remains and decays to a
shape flux wave distributed over the surface of the rotor. factor D,, after time 6. Therefore, to eliminate the overall
Suppose the stator excitation signal has a period of T, effect of the initial perturbation, another set of pertur-
the wavelength of the rotor flux distribution is w, T (a bation signals opposite to the first set is applied upon the
constant rotor speed is assumed for this simple same windings but time shifted. It is defined by
relationship). Ausl(t) = Dsa AuA+(t) (18)
From the viewpoint of a rotating reference frame fixed
on the rotor, at every point the rotor flux linkage $,, $ b , AvG(t) = Dstl Au,(t) (19)
$, , ... is linked with rotor induced DC current. Because A complete set of such perturbation signals is shown in
the windings possess resistance in which energy is dissi- Fig. 7a. The perturbation signals need not necessarily be
pated, the rotor currents and therefore fluxes $ b , $, ,
... are attenuated with time. At a specific point on the
rotor, the flux decays with time, and together with the
rotation effect, this appears in the stationary reference
frame as a wave alternating with time and decaying in
space: if the rotor current decays with time constants ttl
and T , ~ ,the rotor flux viewed from the stator alternates
with frequency orand attenuates similarly at rates t g l =
7,1 w, and 7g2 = zt2 w, .
For simplicity, consider a narrow voltage pulse A u i
(Fig. 6 4 is used as the stator excitation signal. Because of
the large inertia of the rotor as well as the connected -1
t. ms
mechanical load, the rotor speed or is taken as constant -2
during the period being considered. From the foregoing
discussion it is apparent that the excitation signal in Fig.
6a induces a magnetic pole on the rotor within the
segment of length 60, (Fig. 6c). Rotation of the induced
rotor pole produces voltages in the three stator windings -1
at frequency U,. To eliminate the decaying response tail -2
t, m s
thus caused, a second stator winding is similarly excited
when the induced rotor pole is aligned with its axis (Fig. Fig. 7 Stator voltage perturbation and corresponding current response
6c). One of the possible ways of removing the induced a- uab (measured)
~ _ _ _uk (measured)
rotor pole is by using a set of perturbation signals, as b - I , (measured)
shown in Figs. 6a and b. c- I , (measured)

I E E PROCEEDINGS-B, Vol. 139, NO.3, M A Y 1992 171

square in shape; it is simply necessary to satisfy condi- obtained from standard tests. In the third case (rotor
tions eqns. 1, 2 and 3. For ease of generation, a set of speed = 2416 rpm), the stator resistance estimate is rela-
pulse perturbation voltages have been chosen in Fig. 7a tively poor. The major reason for this discrepancy is the
to satisfy these conditions, and the current response severe slot harmonic effects present in the particular
obtained experimentally with such perturbation voltages motor used in the tests. In the offline standard test cases,
is shown in Fig. 7b.
three-phase sine
6.2 Experimental results induction motor
Utilising this method of generating perturbation signals,
together wth a three-phase power amplifier, to replace
the field-oriented controller and PWM inverter, the
experimental system is reduced to that shown in Fig. 8.
The block diagram of the data acquisition system (12 bit
resolution, 5 p s conversion time) is shown in Fig. 9. The
interval between two adjacent samples is programmed to
be 64 ps.
The motor set used for the experimental work was a i , v w,
2 kW Mawdsley induction motor equipped with air gap
flux search coils. The stator windings were reconnected to low-pass
filter
form two parallel branches in each phase, and the three
phases were delta-connected. The rated line voltage and
current were 120 V and 11.4 A, respectively.
Fig. 10 shows experimental results for a sinusiodal
supply plus additive perturbation at a rotor speed of
2902 rpm. Experiments have also been carried out at t t
rotor speeds of 2766 rpm and 2416 rpm, corresponding parameter
estimator
to different load conditions. The motor parameters esti-
mated by the algorithm from this data are given in Table Fig. 8 Schematic diagram ofexperimental system
1. Results from standard tests on the machine are also
given in the Table. these effects are far less significant, because the o,related
The parameter estimates in the first two cases shown rotor field slot harmonics give rise to a stator-induced
in Table 1 are in reasonable agreement with those frequency of o1in the case of o,= w1 (no-load) and dis-

3-bit address bus t +++,

H
mu It iplexer

sequencer
generator, Fig. 7.7)

data direction
control and Y
seauencer disable

least significant
bit of the 3-bit 1
address bus

(address generation)
Fig. 9 Data acquisition system

172 IEE PROCEEDINGS-B, Vol. 139, N o . 3, M A Y 1992

I ' I

appear in the case of o,= 0 (locked-rotor). Although the
parameter estimation algorithm has a slot harmonic sup-
pression capability (through the Hann window), the
parameter estimates may still be affected by the harmo-
nics. Nevertheless, these experimental results demonstrate
the effectiveness of the online spectral parameter estima-
4L A tions, are listed in Table 2.
2-
-2
-4 - t, m s
conditions, other sets of parameters may give better rep-
resentation. Since the ultimate purpose of parameter esti-
mation is for flux and torque control of the motor, the
algorithm's effectiveness is better judged in terms of flux
and/or torque performance prediction accuracy in com-
parison to the measured performance.
Fig. 10 shows a comparison of line currents and gap
flux search coil voltage obtained by direct measurement
and by calculation, using the model parameters from the
estimation algorithm. Similar comparison have been
made between measurements and calculations using
parameters obtained from standard tests. The mean
square errors between the predicted and measured data
with different parameter sets, under three load condi-
Table 2: M e a n square errors between predicted and mea-
sured data
~~

b
Speed Parameter Mean square error
(rpm) value test
Lt i.4 ic vg
2902 standard 0.155 0.144 0.37
2902 online o.oa6 0.086 0.37
2766 standard 0.204 0.202 1.02
2766 online 0.259 0.238 1.00
c C
241 6 standard 0.731 0.695 3.02
241 6 online 0.372 0.366 2.93

All these cases show good correlation between the

quantities predicted and measured, but the predictions
based on the estimated parameters frequently give
mean squores mean squares smaller mean square errors than the predictions based on
error 0.8556E-01 error 0.862OE-01 ~ ~ $ 6 ? 3 % ~ 0 0 parameters derived from the standard tests.
Fig. 10 Measured and predicted line currents and air gapflux induced The comparison between the two sets of parameters in
voltage at speed 2902 rpm terms of mean square errors is not intended to declare
a - U, (measured) that the proposed parameter estimator is superior to the
- - _ _ uk (measured) standard test method. However, it does show that given
b- I , (measured)
- - _ _ I , (calculated) an actual motor with a specific operating condition, in
c- I , (measured) which the harmonic content in the air gap is different
_ _ _ ~I , (calculated) from that in the no-load or locked-rotor conditions, it is
- us (measured)
_ _ _ _ _ _ _ U,( calculated) sometimes possible to find a set of five parameters that
would fit this condition better than parameters derived
Table 1 : Parameters estimated from standard tests and the from the standard tests.
online estimator It is known that approximation to a nonsinusoidal
periodic signal by a finite number of terms from a trun-
cated Fourier series gives the minimum mean square
From standard test 0.96 1.76 0.00615 0.237 error, in comparison to other possible approximations of
Estimated at 2902 rpm 0.87 1.59 0.00660 0.237
Estimated at 62766 rpm 1.02 1.78 0.00684 0.237
the same order. Thus, in Fig. 10, where the predicted
Estimated at 241 6 rpm 1.12 1.57 0.00585 0.238 curves are sinusoidal (in the non-perturbation regions), a
smaller mean square error implies that the predicted
curve is closer to the fundamental of the measured curve.
tion method. If the properly defined periodic pertur- Critical to field-oriented control is the accurate determi-
bation is applied, a better estimation can be expected. nation of field angle, so the close correlation between cal-
The very small error in L, estimation in Table 1 arises culated and measured gap flux search coil voltages, in
because the parameters were estimated using prior know- terms of the mean square error criterion, justifies the pro-
ledge of the no-load inductance L, = L, + I , obtained posed on line parameter estimation algorithm as a suit-
from the standard no-load ofline test. This is necessary able candidate for application in field-oriented control.
because the online no-load test emulation in the experi-
ment fails to give a sensible result, due to the aliasing 7 Conclusions
effect caused by the low slip frequency.
Comparison with the parameters derived from the An online parameter estimation algorithm for field-
standard tests may not always be a fair criterion for oriented controlled induction motor has been described.
judging the quality of estimation. Errors may arise in the The parameters are derived from only those components
standard tests and, in any case, the five-parameter model in the signals that are most relevant to the parameters
of an induction machine is no more than an approx- being calculated. Although it is capable of operating
imation to the actual machine. In one operating condi- online, the test procedures resemble the standard offline
tion, one set of parameters may give a better no-load and locked-rotor tests, not only in format, but
representation of the actual machine, whereas, in other also in physical significance.
1EE PROCEEDINGS-B, Vol. 139, N O . 3, M A Y 1992 173
 The presence of a perturbation has been shown to be
necessary for any parameter estimation algorithms to
work satisfactorily under varying conditions. In the
method described here, the shape of the perturbation
signal is carefully chosen to facilitate the parameter esti-
mation and to avoid torque disturbances.
The simulation shows that the algorithm is insensitive
to random noise and similarly insensitive to digitising
errors. Tests on a 2 kW induction motor verified the fea-
sibility of the proposed algorithm. The model with the
estimated parameters has been used to predict the motor
phase currents and the airgap flux with good accuracy.
8 Acknowledgment
The authors would like to thank David Atkinson and
Hamid Fathi of the Department of Electrical Engineer-
ing, Newcastle University, and R. Van Der Post of Pak-
centre Ltd. for their assistance. In addition, Huazhen
Chai would like to express his gratitude for the financial
support provided by the Shanxi Education Commission,
China, and the ORS Awards Scheme.
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