Reduced-order observer with parameter adaption

for fast rotor flux estimation in induction machines

R. Nilsen, PhD
Prof. M.P. Kazmierkowski, PhD

Indexing terms: Control equipment and applications, Algorithms, Mathematical techniques, Matrix algebra, Induction motors

~ ~~ ~

8 = rotor position with respect to as

Abstract: In the paper a new reduced-order 5 = angle of flux linkages vectors
observer with parameter adaption is presented. o = leakage coefficient
The observer is based on the ‘current’ model in (T, = rotor leakage coeficient
field-oriented co-ordinates. The theoretical prin- t,b = flux linkages
ciples of the developed algorithm are discussed. o = electrical angular velocity
Some results of comparative investigations are
presented, which illustrate the steady-state and Subscripts
dynamic properties of the speed control system e = electromagnetic
with observer and conventional current models. g = limit value
h = main
k = general co-ordinate system
M = model
m = mechanical
Main symbols n =nominal
r =rotor
D, = set of parameter vectors describing the model set ref = reference value
do = coupling matrix ra = a-component of rotor (current, voltage or flux)
fk = frequency of a freely oriented co-ordinate system vector
f, = stator frequency r/3 = 8-component of rotor (current, voltage or flux)
f, =h-n vector
f = frequency of rotor flux vector s =stator
i =current sa = a-component of stator (current, voltage or flux)
k = sample number vector
m = load torque s/3 = /3-component of stator (current, voltage or flux)
me = machine torque vector
n = p.u. rotational speed pr = rotor magnetising
ne = speed limit for calculation of gain factor in the (T =leakage
observer and parameter adaption loop
R = resistor Superscripts
T = sampling interval d = dimension of parameter vector 0
T, = mechanical time constant k = with respect to a common freely oriented co-
T, = rotor time constant ordinate system
x = state-space vector s = stator oriented quantities, fixed in stator
x = reactance T = transpose
z = measurement vector t,br = rotor flux oriented quantities
a = winding axis of the fictitious a-winding, basis - 1 = inverse
vector = estimated value
A

fl = winding axis of the fictitious /3-winding, basis - = predicted value

vector
St, = angle between real and predicted rotor flux vector
St,br = difference between real and predicted rotor flux
amplitude
E = error vector
0 = parameter vector of unknown coefficients
(dimension d x 1)
Paper 6362D (C9, Pl), first received 3rd February and in revised form
11th July 1988
Dr. Nilsen is with the Norwegian Institute of Technology, Trondheim,
Norway
Prof. Kaimierkowski is with the Politechnika Warszawska, Instytut
Sterowania i Elektroniki Przemyslowej, ul. Koszykowa 75 g.E, p. 322,
00-662 Warszawa, Poland
IEE PROCEEDINGS, Vol. 136, Pt. D , No. I , J A N U A R Y 1989
-
= value calculated from measured and predicted
quantities
1 Introduction
Recently, advanced control strategies for inverter-fed
induction motor drives have been based on field-oriented
control philosophy [l, 4, 81. For realisation of such
control systems, it is important to have exact information
about the rotor flux space vector (i.e. amplitude and
angle). Particularly, if the position of the rotor flux vector
cannot be defined with high accuracy, the main idea of
field orientation, the correct decomposition of the stator
current space vector into flux and torque producing com-
ponents, will not be satisfied. This leads to poor dynamic
properties and an incorrect stationary point of operation.
35
 Unfortunately, the rotor flux vector is not measurable
directly and, therefore, has to be calculated from a model
or a state observer. Primarily, the machine models
(voltage model and current model [2, 8, 141) were used,
but they have the disadvantage that operational param-
eter changes have an influence on the estimated rotor flux
vector. Therefore, to compensate for the parameter
changes, an additional parameter correction loop was
applied [3, 6, 8, 131. More recently, observers have been
used in the estimation of rotor flux [ 5 , 7,9, 11, 141.
In this paper, a new algorithm for a reduced-order
observer with parameter adaption is presented. This
observer is based on the 'current' model in field-oriented
co-ordinates.
2 Mathematical description of an induction
machine
In the model given by eqn. 7 the input quantities are
vectors of stator voltage U," and current i,". The model
described by eqn. 6 is called the 'current model' and that
by eqn. 7 the 'voltage model'. These two types of models
are those mostly used in practical implemented drive
systems. Similarly, from eqns. 1-5, some other models for
rotor flux estimation can be obtained [2, 8, 151. Analysis
of eqns. 6 and 7 in stator, rotor or flux-oriented synchro-
nous co-ordinate systems gives different variants of rotor
flux estimators. For microcomputer-based implementa-
tion, a rotor flux-oriented co-ordinate (field co-ordinates)
system is preferable [SI.
In this case, see Fig. 1,
= $r -fk =f#r (8)

The mathematical description of an induction machine is

based on space vectors which can be represented in co-
ordinate system k rotating with speed x
[2, 81. In per
unit the induction machine equations can be written as
follows:
1 d*f
uf = r, . if + -- + do f,+f
on dt
Fig. 1 Representation of the rotor frux $, and stator current is space
uf = r, . if +- 1 -d*f + do(f k - n)+$
wn dt
vectors
a' - 8"= reference frame fixed to stator
a+' - 8*' = reference frame fixed to the rotor flux vector $, which rotates with
11.5 = x , . if + xh . if speed& [P.u.] (field co-ordinates)
#f = x, . if + xh . if
and
dn- - 1
- - (me-4
dt T, (9)

(4) The vector *,

is described by its polar co-ordinates with
respect to the stator:
where *:= [$r, 5 2' (10)
Therefore, the 'current' model given by eqn. 6 can be
written in field co-ordinates a*' - /I*
as,follows
, :

do=[; -3
where
3 Conventional models for rotor flux estimation
5; = 5: +8
Assuming induction motor with squirrel cage rotor, U$ =
0; from eqns. lb and 2b, a differential equation for the
rotor flux vector can be expressed as follows:

where the rotor time constant T, = x,/(r,o,). In the rotor

flux model described in eqn. 6 the input quantities are and
=
cos 5; sin 5;
-sin 5; cos 5; 1
speed n and stator current vector i,".
From eqns. la, 2a and 2b, we obtain 1 d5;
--- speed of rotor flux-oriented
ondt -"' = co-ordinate system

d''
--- -A = rotor frequency
ondt

-1_d8- - n = speed of the machine shaft

where the total leakage factor 0 = 1 - x ~ / ( x s x , ) . ondt
36 IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y 1989
The 'current' model depends on the parameters T, and
xh . However, only the time constant T, influences the cal-
culation of <:.
The magnetising reactance x,, affects the
amplitude of the rotor flux $,. Both parameters should
be adapted online, xh due to saturation effects. T, due to
both saturation effects and temperature changes. For the
'current' model, in field co-ordinates, the classical Euler
method can be used to give a discrete form. This method
guarantees acceptable accuracy for the actual sampling
interval T = 1 ms:
good dynamic behaviour of the observer. In general, the
gain matrix K is chosen so that the observer dynamic is
faster than the dynamic of the system, including control-
lers [ l o ] .
It is possible to design different types of observers,
because an observer essentially is based on the com-
bination of conventional models and corrective predic-
tion error feedback. Some examples are given in
References 5 and 14.
4.1 Rotor flux observer based on the 'current' model
in field co-ordinates
A block scheme of the observer developed by the authors
is shown in Fig. 4 . This observer is based on the discrete

py
l w[kI

The block scheme of a discrete 'current' model in field

co-ordinates is shown in Fig. 2.

I I
L-- _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ - - - - --- - J
I
L
obsever I

Fig. 2 A discrete 'current' model infield co-ordinates e

Fig. 4 System with rotorjux observer
4 Reduced-order observer for rotor flux vector
current model in field co-ordinates (Fig. 2), presented in
When !sing a flux model only, the predicted rotor flux Section 3. It should be noted that the transformed output
vector *,[k] may deviate from the system output *,[k]. vector r?f'[k], from the system, is a function of the pre-
Some error sources can be : dicted state-space vector $ y [ k ] and that g ( ., .) is a func-
(i) an incorrect initial state in the model tion of C [ k ] .
(ii) incorrect model parameters The measurement vector is, then
(iii) unmeasureable inputs exciting the system.
To compensate for these effects an observer can be used.
rCk1 = cm1,
iXk1, nCkllT (14)
In general, an observer can be described as shown in The predicted state vector is chosen as
Fig. 3. i [ k ] = $f'[kl = [$rCkl, CCkllT (15)
Such an observer is called the 'reduced-order observer',
because it does not attempt to estimate all the state vari-
ables in a model of the system (not stator current is).
The prediction error for the observer shown in Fig. 4
system
is given as
e[k] = i i r [ k ] - ii%[k] (16)
The predicted output i i p [ k ] can, because the rotor flux
model is oriented along the predicted rotor flux, be
written as

$[k] = ?$p[k] + WnT [ i r [ k ] - i r [ k - 111

+f*,[k]jZ,d,ip[k] + ii$;[k] (17)
Fig. 3 System with observer where the magnetising voltage is

The prediction error e[k] is used to add a correction

term K e [ k ] in the difference equation. This correction
term is different from zero, as long as the prediction error
is nonzero. Usually, to obtain small prediction errors in
the transformed quantities used in the observer are
the steady state, large gain factors K are required.
However, the gain factors have to be restricted to give iip[k] = T::<[k] ip[k] = Tt:i:[k] (19)
IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y 1989 37
The prediction error may also be interpreted as the differ-
ence between magnetising voltages, where the measured
magnetising voltage is

ii$[k] = i i r [ k ] - i , i r [ k ] - x, where f, =f & . Assuming ?, = r, , 2, = x, and 8, = a, we

WnT
obtain
x [i?[k] - ir[k- l ] ] - f * r [ k ] 2 , d o i r [ k ] (20)

where it is assumed that ii$@ = 0 in the steady state.

From Fig. 5, it can be seen that c1 should be used for
correction of 5; while e2 can be _used for correcting the
amplitude of predicted rotor flux $ r .
The gain coefficient matrix K is given as

=[E: ::1
Before choosing the gain coefficient matrix K , it should
\US -stator be noted that, for incorrect parameter values, the obser-
Fig. 5 Incorrect orientation of the predicted rotorflux ver will always give some transient errors and sometimes
even errors in the steady state. If the observer is ,very
If the observer model parameters 6 = [1/2,i h , %,, ?, sensitive to incorrect model parameters, these parameters
8,]' differ from the real one:

@ =
[:
- 9 xh, r s , ar r
the orientation of the predicted system is incorrect.
(21)
should be adapted online. In inverter-fed induction
motor systems, however, the calculation time needed for
implementation of an observer and parameter adaption
algorithm may be too large compared with the sampling
time needed for the controllers. Therefore, to reduce the
From Fig. 5, we can see the connections between 'real' calculation time needed, a simplified gain matrix can be
and 'predicted' field-oriented quantities : applied. In this case, the gain coefficients are chosen as

C"Ck1 = Tss(dtr)i!"[k] (224

iir[k] = T,~'(dC,)#"[k] (22b)
where 1 8r+
k21 = - f;.I k3
sg, = 5; - = 5; - (23)
k22 = 0
is the orientation angle error.
The correction term in the observer (assuming i s ,2, and
8, are correct) would be :
4.2 Choice of gain coefficient matrix K
It can be made by help of investigation of the prediction
KE=[ 0 ]
error ~ [ k which,
] for the steady state, may be expressed k 3 $ , sindt, .
as The model rotor frequencyi is then given by

I
I
I
I
I
I
"rei I
*-
I
I
I
I
I

'Ldiscrete
- _ _ _ -controller
- - _ - - with
- _ _observer
_ _ _ -/model
-_____ -1
I

Fig. 6 The simulated system

38 IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y 1989

This means that the observer will only besorrecting for
the angle error St,, by help of adjusting f,. The ampli-
tude may, however, be corrected by help of Ah-adaption.
For calculation of the factor kll the speed n is used
1
1 2 -

08-
a .
a,
U
7

-
c

0.4

O /

o o v 00
0 0 02 04 0 6 08
00 02 04 06 00 time, s
lime, s 0
0

O ’I U 0 8
e
..-
x
-
3

L
0
c

2 04
”-
0
-0,
C,
0
0

0.0

t
00 02 Or, 06 08
0.0 02 04 06 08 t1me.s
time,s b
b Fig. 8 Initial oalue for $,CO] = 4/3$,[0]
Fig. 7 Initial valuefor S<,[O] = x / 4 a Amplitude $,
a Amplitude $, b Error angle 65,
b Error angle Sc,
....... model
....... model ~ observer
__ observer

instead of-&, because of large transients in&r. To avoid
incorrect sign of k21,the gain factor is set to zero when
the absolute value of the speed is below n, (in P.u.). The
gain factor kll is thus chosen as
Because of the nonlinearity of the system, the coefficient
k, is found by help of simulation.
5 Fig. 11, the correction term in the observer is kept con-
Comparative investigations of the observer and
current’ model
The block scheme of the simulated field-oriented control
system is shown in Fig. 6. The inner current control loops
are each represented with a first-order system. The
current-controlled inverter and induction machine are
simulated with a time step h = 10 (in ps), while the dis-
crete controllers and observer (or current model) have the
sampling time T = 1.0 (in ms). The controller design is
based on the criterion of symmetrical optimum [Z, 81.
The investigation is performed for different values of
the gain factor k, in the observer, but, in this paper, only
IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y I989
shown in Figs. 7 and 8. It can be seen that the con-
vergence time constant of the observer is considerably
smaller than for the current model alone.
In Fig. 9 the dynamic behaviour of the control system
with the current model and observer is shown, when all
the parameters are correct. The behaviour in both cases
is identical. Results from a worst-case study is shown in
Figs. 10 and 11 for the _current model and for the obser-
ver, respectively, where T, = 0.5 T, and )2h = 1.5 xh.
It can be seen that, if choosing an appropriate gain
factor, the behaviour of the observer is preferable to the
current model. In simulation with observer presented in
stant when entering the speed region I n I n, . -=
When comparing the steady-state errors for incorrect
parameters, the observer was to be preferred instead of
the current model. Because of the applied choice of gain
factors in the observer (simplified algorithm), error in pre-
dicted amplitude $, is not compensated for. This dis-
advantage can be compensated for, if 2, is adapted
online. The sensitivity for error in 2h may, however, be
reduced for other choices of gain factors. Generally,
however, in spite of better stationary and dynamical
behaviour of the observer than the current model, errors
occur for incorrect parameters. Therefore appropriate
39
 parameter adaption is necessary. Both and f h should three basic problems should be considered : criterion
be adapted online. function, search direction and gain sequence.
6.1 Choice of criterion function
6 Reduced-order observer with parameter In parameter identification algorithms for induction
adaption motors, mostly quadratic criterion functions are used.
When designing a recursive online identification algo- o 4 p , ~ - ~ ~ - n ~
rithm based on the reduced-order observer, the following
00
I -n
-0 4 1- - - - - - - -1 - - - - - - --

-1 O F

V'rref
08
08 n'k
04
00

-0 8 F
00 L-. r . - r .
-6kr
- e

, 6 - :
-1 ot
00 IO 20

time, s

Fig. 9 Current model: T = T, andi, = x h

Similar for the observer

20r

6 - a:
-0 4
-0 8 :

-65,
00-

00 IO 2 0
(334
time,s

Fig. 10 Current model: 2 = 0.5 T, and i, = 1.5 x,

40 IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y I989
This can be seen directly from the eqns. 25 and 29 and The gain matrix L[k] is chosen as a diagonal matrix,
Fig. 5. based on physical interpretation :
6.3 Choice of gain factors matrix
For adapting the parameter vector 0, a discretised inte-
grator is applied:
~

L[k] = [L'glkl Lz;k]] (35)

The prediction errors are proportional with the frequency
6[k] = [ 6 [ k - 11 + L[k]&[k]]D, (34) fJlr (eqn. 25). Therefore, to give frequency-independent
correction terms, the gain factors should be inversely pro-
portional to this frequency. To avoid rapid tranients in
the gain factors, motor speed n i's used instead of fJlr when
calculating L , and L, :
L , [k] = - is^ func (T$)n inv (n)k (364
' 0O0 0 L
L,[k] = n inv (n)k, (36b)
-1001 The gain functions are shown in Fig. 12.
L . . I . . I . . [ . .
-08-04 00 0 4 08 -04-02 00 0 2 0 4 6.4 Choice of initial values
PU PU
0 b
For the observer with parameter adaption, the initial
values of X and 6 have to be chosen, i.e.
Fig. 12 Gainfunctions of parameter adaption loop
a n ~ n (n)
v (374
b rsp func (i$)

During magnetising of the machine to $, = the

angle 5; is kept equal to zero :
$,Col = $,ref (384
e=0 (38b)
The choice of initial values for the parameter vector 6
Lz/ ' 40 ' 50 ' $0,' 7'0 ' 8'0 ' 90 should be based on prior knowledge of the system. Good
1 / T, , s initial values for the user can be calculated based on
machine parameters given by the manufacturer. The
Fig. 13 Parameter domain D ,
manufacturer, however, may use initial values based on
physical interpretation, i.e. modelling. The machine data
may also be based on the classical machine tests. From

-4
these classical tests, the set D, is defined. Th_e parameter
?,, is assumed to be witkin (1.5, 3.0), while T, should be
in the range 0.75 T,, < T, < 1.5 T o ,see Fig. 13. The time
constant T,, is the rotor time constant at rated load and
system temperature of 75°C.
(electromagnetic p a r t ) 6.5 Total algorithm for rotor flux estimation
The total recursive algorithm for estimation of the rotor
+,
flux , with the help_ of a reduced-order observer with
online adaption of (l/T,) and 2,,,can be expressed as
ii?[k] = z(4[k], X[k]) (394
@[k] = g(X[k], C[k], 6 [ k - 13) (39W
&[k] = UP[k] - ii?[k] (394
A
LCkl = L(nCk1) (394
6 [kl E [kl
@[k] = [ 6 [ k - 11 -k L(n[k])E[k]]~, (394
- - -- - - - - - -- - __ -1
I
I I i[k + 11 =.mCkl, m1,nCkl, ml)
(39f)

The function z(.,.) performs the transformation between

stator oriented co-ordinate system and the co-ordinate
Fig. 14 Reduced-order observer with parameter adaption system oriented along the predicted rotor flux vector +,,
IEE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y I989 41
 while g(.,.,.)is the function given by eqn. 17. The func- spite of magnetic saturation effects, which makes the
tion f(.,.,.,.) is the flux model in field co-ordinates method superior to those presented in References 8 and
shown in Fig. 2. 13. This is of major importance for large power machines,
A block scheme of the algorithm is shown in Fig. 14.

7 Simulation results

The effect of introducing parameter adaption is clearly

shown in Fig. 15. Until t = 1.1 (in s), where the adaption

"ref

--- Qrref

- : i A
-1 0 65r

O
-0.8 - O 8 18.0 2 . 0 -l'fr ~
- 65r
4.01 , , . . , , , . . . . . . . ,
-.--.-, . ' . " ' * " '

1 .o
0.0
'8 :
0.0 10 2 .o 3 .0 40
0 00
4 ' m p t i o n on f time, s
Fig. 10 Coupling between adaption mechanism: = 0.75T, and P, =
xh
: 1 :0
0

00 10 20 30 40
OdaDtlon on t t1me.s
Fig. 15 Obseroer with adaption: T[O] = OST, andP,[O] = ISx,

mechanism is tyrned on, only an observer is used. As

shown, both 1/T, and ?h converge to correct values and
SY, and St,br go to zero, when the adaption mechanism
is switched on.
To check the coupling between the adaption mecha-
nism for 1/T, and % h , respectively, the simulations shown
in _Fig. 16 were made. No significant influence of the
(l/T,)-adaption on the ?,-estimate is shown. Similarly
(not shown in the Figure) the adaption of t h does not
exert a significant influence on the estimate 1 / T , .
As shown in Fig. 17, an incorrect value of PS will influ-
ence the adaption of parameters and the errors SY, and
S$, . These errors are not tending to zero, but fluctuate
around this value (similar influence has an incorrect
?2,-value).However, the adaption algorithm is stable.

8 Conclusion

The new recursive algorithm, for estimati_onof the rotor 00

flux !br and adaption of the parameters 1/T, and ?h devel-
" -
oped in this work, shows superior behaviour to other
known methods.
: 10
00
:
00 IO 20 30 40
The algorithm is based on a reduced-order observer. adoption on t time , s
This observer is more rapidly correcting for incorrect Parameter sensitioity.' i, = 1.2rs
Fig. 17
initial values of +r, and is less sensitive to incorrect
model parameters than the very often applied current
models [8, 131. which hardly work in saturation at rated magnetising
Because of the adaption of ? h , this algorithm makes it current. The adaption of 1/T, provides correct orientation
possible to keep constant rotor flux in the machine, in of the predicted rotor flux $ r , i.e. S<, = 0.
42 1EE PROCEEDINGS, Vol. 136, Pt. D, No. I , J A N U A R Y 1989
 The parameter adaption mechanism has excellent sta-
bility for the actual initial values of the parameter esti-
mates. The convergence rate of these parameter estimates
can easily be adjusted by appropriate choice of the gain
matrix L [ k ] . However, in practice, it is necessary to con-
sider the noise caused by the measurement systems. In
particular, the stator current and voltage measurements
contain harmonics effected by the switch mode of the
transistor inverter. Nevertheless, the structure of the
observer and the applied sampling time (T = 1 ms) have
some filtering functions. The parameter adaption loop
must be blocked in the region near zero speed I n I <
n, = 0.05, . . ., 0.1 (for stator frequencies If,l < 3, . .., 5
Hz), because of the noise influence that occurs in the
voltage measurement signal.
The described observer with parameter adaption will
be implemented with the help of a signal processor solu-
tion, as a part of a rotor flux-oriented induction machine
drive [lo].
9 References
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new TRANSVECTOR closed loop control system for rotating field
machines’, Siemens Rev., 1972,39, (5), pp. 217-229
2 BUHLER, H.: ‘Einfuhrung in die Theorie geregelter Drehstroman-
triebe. Vol. 1. Grundlagen, Vol. 2. Anwendungen’ (Birkhauser,
Basel-Stuttgart, 1977)
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IA-16, pp. 173-178
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inverter-fed induction motor drive with vector control system’,
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Berlin, 1985)
9 LOSER, F., and SATTLER, P.K.: ‘Identification and compensation
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43