Sensor-less Speed Control Strategy for Induction Motor Drive Incorporating Vector

Controlled Scheme PWM Inverter-Fed with Auto-Tuning Machine Parameter

Estimation
Koji Soshin*, Tarek Ahmed, Prof. Mutsuo Nakaoka** Yukihiko Okamura
Yamaguchi University Matsushita Electric Works, Ltd
2- 16- 1 Tokiwa -dai 1048 Kadoma
Ube City, YAMAGUCHI 755-861 1 Osaka 571-8686
JAPAN JAPAN
*soushin@hkrl.mew.cojp, ** nakaoka@pe-newsl.eee.yamaguchi-u.acjp o!iamura@hkri.mew.coj p

Ab"I - This paper presents a feasible development on a (d-q frame coordinates), in which rotation angle frequency
highly accurate quick response adjustable speed drive denoted as a.

I;]=[
implementation for general purpose induction motor which
operates on the basis of sensorless slip frequency type vector
controlled sine-wave PWM inverter with automatic tuning I' +aLp -0Gw ( M l L J p -(M/L,)w
machine parameter estimation schemes. G m r , + % ~ (M/L,)o (M/L,)P
The dynamic speed response performances for largely -Mr,IL, 0 rJL,+p --w,
changed load torque disturbances as well as steady state speed vs. 0 -Mr,lL, w, +P
torque characteristics of this induction motor control Where,
implementation are illustrated and discussed from an
ill : Exiting c u m n t componentofdaxis
experimental point of view.
4 : Torque current component of w i s
1. INTRODUCTION L,, ; Stator winding inductance
r, : Rotor equivalent inductance
In recent years, a variety of advanced power electronics
r, : Stator winding resistance
control and systems integration technologies relating to the
high performance adjustable-speed drives for induction motor r2 ; Rotorequivalent resistance

applications which are based on the voltagesource type p ; Differential operator (= d/dr )
three-phase current controlled PWM inverter using IGBTs and ~ Rotar angular speed
its associated vector control scheme have attracted special ~ Slip angular frequency
interest in the fields of the industrial, transportation and.
consumer AC motor drives as well as electric vehicle AC
motor drives.
But a is difficult to achieve the sufficient speed regulation
accuracy in steady state as well as the speed settling time in
dynamic state which are required for wide speed setting ranges
and largely changed load torque disturbances.
In order to solve these feasible problems mentioned above,
the authors have developed a simple and practical automatic
auto-tuning method to measure and estimate the stator and
rotor circuit parameters of application specific induction
motors addition to some different types of general purpose
induction motors used from diverse application viewpoints.

11. SYSTEM DESCRIPTION AND CONTROL STRATAGE

In order to perform the'speed sensorless vector control of

the induction motor, Z-axis model which carried out
coordinates conversion at the synchronous rotation rectangular
coordinates system (d-q coordinates ) which rotates in the
angular frequency of secondary magnetic flux from the equal
circuit expressed with 3 phase AC will be treated in this paper.
Fig. 1 shows an adjustahlespeed induction motor drive
system using slip frequency mode vector control based on
three-phase PWM inverter using the latest IGBTs.
Equation (1) gives the general voltage equation of induction
motor described and formulated on rectangular coordinates

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 Equation (3) is the statespace vector equation obtained by In a transient condition, tt.e slip angular frequency W, is
rewriting (I). formulated as (9).

W, = r 2 M l G 4 d . i l q+ u L l A 4 / L , @ 2 d ~ p i l , (9)

111. NOVEL PRACTICAL APPROACH MACHINE

PARAMETERS ESTIMATION

A. Measurement possibility of a machineparameter

In this section, the novel automatic auto tuning scheme ofthe

Torque of the induction motor T-is expressed as ( 4 )
T, =~pM(i,;i,, - i l d , i Z q )
= PM(iiq@2,- i l d @ 2 q ) / L Z
Where
: &axis current component ofthe rotor
izq: d-axis current component of the rotor
@2d: &axis o f magnetic-flux interlinkage of the rotor
induction motor parameters i:; explained.
Fig. 1 depicts the developeddynamic model of the senseless
vector controlled PWM inverter system.
In Fig.1 detecting the stator current by the current sensor,
carries out vector control operation by the microprocessor
based on that stator current value, calculates the voltage
(4) reference value for obtaining instant torque component current
&and as a result the voltage reference value is given to a 3

A,: q-axis of magnetic-flux interlinkageof the rotor

.IO

Rotator interlinkage magnetic flux 4dequal to MI, and -1

A, = o as shown in (9,it is possible to control torque T,

linearlyjust like the DC motor.

gZd = Mi,, (constant). A, = o (5)

The torque of T , shown in (4) is expressed as follows

T, = P M O ~
' l i q 1 L, (6) Fig.2. Relation between error of induction motor
parameters ;and speed change.
Then, reference value a, of slip angular frequency can be
formulated by (7).
-
E
W, = rZM&I L2Q,, = r2ilq = Kmi,q (7) .-0
E
I:
Vector controlled PWM inverter supplies the specific voltage w
expressed by (8) substituting Ad = Mi, (constant) and
-361 -**,-*, 0 6% *' 'U, -
hq= 0 to ( I ) for the induction motor. (4 salor resistance
YJ, ., , . . , ,

Under these conditions, a, is calculated from i,, by

-I*, -a>
-61, 0 A, ib., 1 4
rewriting (3) and the velocity of induction motor could be (c)Sta,tor inductma
coincided with the reference value of the stator frequency
Fig.3. Relationship betweon error of induction motor
adding W , to speed reference U , ' . parameters and speed vanation.

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 phase-voltage type PWM inverter. described as the product of r, and ild*can he obtained by
The vector control operation needs four motor parameters. ~ubstituting,,~= 0 to (8).
They are
Accordingly, adapting this initial value of vU' to the motor,
L, : Stator winding inductance
I, : Leaksge inductance measuring actual exciting current td
and adjusting r, value in
'I : Stator winding order that hd will be equal to i,**. As aresult, stator resistance

r2 : Rotator equivalent resistance r, can he estimated.

Fig. 4 shows the method to estimate the stator resistance
Fig. 2 represents the experimental result of the induction r, .This measuring apparatus consists of the integrator.
motor speed regulation under the conditions of low frequency
at 3Hz and high frequency at 6OHz in case of adapting some C. Estimation of Stator Inductance
errors to four motor parameters.
As a result of Fig.2-(a) ,Fig.2-@) and Fig.2-(c), stator After measuring r,,the stator inductanceL, is measuredafter
winding resistance rI,stator winding inductance L, and rotor rotating the induction motor at constant speed with no-load. In
resistance r2 influence to the speed regulation ofthe induction this case, the deviation of angular velocity m5 and the torque
motor. But, Fig. 2-(d) shows that the leakage inductance I, current component i,g are Zero
does not give much influence.
The above result shows as follows.
If the parameters of stator winding resistancer,, stator
winding inductance L, and rotator equivalent resistance r, can
he estimated, it is possible to control the three phase induction
motor with sufficient accuracy.
Next, in order to judge the possibility of measurement of an
induction motor circuit constants required for vector control
inverter system, the relation between the stator winding
resistance r, ,rotator equivalent resistance r2,stator winding
inductance L,, d-axis current component of the stator i,, ,
q-axis current component of the stator i,, and rotor angular
speed 13, of the induction motor parameter are measured.
Fig. 3 represents the experimental results of the rotor current
rkgulation so as to adapt in accordance with some errors t o
three induction motor types of system circuit parameters. Fig.4. Schematic block diagram to estimate resistancz
Fig. x a ) and 3(c) show that the variations of the stator of induction motor stator.
winding resistance r, and stator inductance L, cause the
variation of stator current i and i,,
IS
. Therefore, it is possible
to estimate its stator winding resistance 4 and stator winding
r,
inductance by measuring the stator current. But Fig. 3 (b)
shows that the speed sensing operation should be necessary to
m,easure the rotor speed of the motor 0,itself because
changing rotor resistance 'I changes the rotor speed ur hut
not the statorcurrent ("and i,,
The novel automatic estimation scheme of these motor
parameters without speed sensor is discussed below.

B. Estimation of Stator Resistance

The rotor winding resistance r, should be estimated when

this motor does not rotate to avoid the influence of the stator
inductance L, . Underthis condition, the induction motor does
not generate the output torque at all, then the torque current Fig.5. Schematic block diagram to detect inductance of stator
component 4 is equal to zero, thus the equationv,, = 54,' winding

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 Substituting i,,= 0 t o (S), (10) are obtained.

.*
'Id = 'I "ld
v 1s = w . @
@ = LI .;'.
!'l

The initial value of i,,, is: j,; = @ / L , (11)

In (1 1) if the stator inductance is A,!, larger more than the
preset value into the inverter, exciting current component ild
issmallerasAi,,.Then ( , = $ / L , will beandeform into(12) b t , -4
Fig.6. Relationship between residual voltage of the
i,; + A i , d = @ / ( L ,+ A L , ) (12) induction motor and output voltage o f the comparator

Equation (13) is obtained by subtracting ( I I ) from (1 2),

IPM

Ai,d = [I /(L, + AL,) - I / 41 .@ (13)

The d-axis voltage V,d is influenced by the error of d-axis

current i,,, from (1 0)-(a) and the error of 1: is included in the
equation of defined as (14).

Avld = r , . A i , d = [ I @ +AL,)-l/L,].r,.@ (14)

Stator winding resistance q has been measured and fixed,

the difference between the reference value and the detected
value of Ai,, depends on the mismatched error of the stator equivalent resistance detection
inductance. Therefore, by adjusting the reference value ild to
~

be the same as the detected i d ,the stator inductance L, will

be exactly set to the actual value.
The stator inductance estimation system is demonstrated in conparator "e I
Fig. 5. I
I I
IL II
AV,, = r , . A i , d = [ I / ( L , + ~ , ) - l / L , ] ~ r , . @(14)
Fig.7. Schematic circuit block diagram of
detecting residual voltag.
Stator winding resistance has been measured and fixed,
the difference between the reference value and the detected
value of Aild depends on the mismatched error of the stator Slip Angula!,Frequency Constant Calculator

inductance. Therefore, by adjusting the reference value i,,

to be the same as the detected(,, the stator inductance L, will
be exactly set to the actual value.
The stator inductance estimation system is demonstrated in
Fig. 5. L-

D. Esrimotion of Roror Resistonce ...: d

When the terminals of the induction motor driven by the
inverter are opened, the terminal voltage v, will decreases
gradually a s shown in Fig. 6. This voltage v,
residual voltage, and represented by (1 5 )
ild axis current reference including the
measured a stator inductance value
K m : Slip angular-h-equencygain
is defined as the
Fig.8. Black diagram of rotor equivalent resistance detector o f
induction m o t a rotor.

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 va =-JL,M.I,~~$O .sin(w,t+e,) (15)

The damping performance of residual voltage is determined

The block diagram for estimating rotor equivalent resistance
r,
by the damping time constant and the motor speed&,. and
its frequency is equal to the motor speed.
r, is shown in Fig. 8.
Fig. 9 shows the experimental results of measuring some
The damping time constant To is constituted of the rotor
kinds of motors by this estimation systemand.
resistance rl and the rotor inductance L,. (ru= L, / r 2 ) The motors constants are as follows;
Therefore, the rotor resistance r2 can be calculated from the
damping time constant which is determined by the motor *Rated voltages are 200 and 400v.
terminal voltage. *Horse powers are from li4hp to 5hp.
Fig. 6 illustrated the relationship between the residual voltage
and the output voltage of its detecting circuit. Fig. 7 also
indicates the schematic block diagram ofthe processing circuit
to detect the residual voltage.
The detecting circuit of residual vokage made up of a
compactor and a photo-coupler, is too simple.
As shown in Fig. 6 and 7,a novel estimation system will he
explained in the following.
Considering the amplitude of the residual voltage alone, the
peak voltage value of the residual voltage v, is defined as
V, =I- &w,M. I,,I ,and then equation (17) can be obtained. Fig.9. Rotor resistance values estimated by digital signal
processor incorporated into invcrter

Where,
M : Mutual inductance between 4 and L2
v c :Voltage value in real time t of the residual-voltage
U , : Rotation angular velocity of the induction motor
Actual rotator current value which flows just before the
power supply terminal of the induction motor is opening.
7 : Damping time constant
(ru= L, / r 2 (16)
e, : Phase angle
1 I
*-.IIY,". */"~.I-..

In Fig. 6 , when t l which is the time for the residhal-voltage U."ll"lnlb

v, to decline and become criteria comparison voltage v , , ~is Fig.10. Block diagram ofcontrol systcm with a novel
substituted in (I 7), (1 8) will be obtained. autcHurning machine parameter estimation scheme.

Calculating the logarithm of both the sides

- 4 1% = (%., 1 vo ) (19)
Molorshdcxpccd N.=%vmI MYlorShlnspEEd #,.U
1")
Substituting (1 6 ) T, = L, / rl , L, 3 L, and (10)-(c) $ = L, . i,, 27,
la)lndvrlionMoloryifh2UUVoltr~cRllni 1h)lnductmn Molorw~lhlOOVoliagcrnting

into (19) and solving about r2 then (20) will be obtained. It

Fig.11. Characteristics between motor speed and torque
will be clear that the rotator equivalent resistance r, can be estimated by novel machine parameter autmuning method
observed from (20).

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 vector control system are able to be measured in short time and
high accuracy, and the validity and practicality of n o v e l
m e a s u r e m e n t s y s t e m w e r e cla.rified.

REFERENCES
[ I ] Toshiaki Okuyama, N O ~ Fuiimoto,
N TakayukiMa~sui;”VectorControl
Scheme of Induction Motor without Speed and Voltage Sensors.”,IEEJ
Transaction on Industry Applications Vol. I07,ppl9 1-198, Feb. I987
[2] Kouhci Ohnisi, Kunio Miyachi, Masnyuki Terashima :“An Approach to
Induction Motor Drive wit11 Controlled Volfage So-”, IEEJ
Transaction on Power and Eno-gy,pp25-30, Nov.1984
[3] Toshiaki Ohy- N O ~ Fujimoto,
N Himshi Fujii : ”Simplified Vector
Control System without Speed and Voltage Sensors-EffectsofSetting
E m n in Control Parameters and their Compensation J‘, IEEl
Transaction on IndustryApplications, Vol. 110. pp.477-486,May.l990.
[4] Nmki Ymamurq Masahiko Iw;iSala, H i m e Sakurai : ”PGless Vector
Contra1 with Estimating Functions of Motor Parameter”, IEEJ
Transaction an Industry Applications. V01.107, NoS. pp.375378,
May. I99 1
(51 Geng Yang, TungHai Chin: “Hyperstability of the Full Oerder
Adaptive Observer far Vector Controlle&lnduction Motor Drive
without SpeedSenso?, IEEJ Transaction an Industry Applications,
Vol. I 12. pp. 1047-1055, Nov.1992
[6] T.Kawamoto,Y . 0 k a m q Y.lslUda and H.Abe: “Blushless lntemational
Conference 1993 (SMIC’93). pp.5 1-58, Marl993
[7] Yukihiko Okamura, Koji S o s h , Himaki Yuasa “High Performance
Adjustabh-Speed Induction IMotor Drive System using %nsodess
Vector Controlbased PWM Inverter with Auto-Tuning
Machine-Operated Estimation Scheme”, IEE Japan Trans. RM.,
RM-94-62,pp.21-30,ldy.199.4
[8] Yukihiko Okamura, b u j l Saushin, rkihiro Yuasa, yisuo Suzuki
Mutsuo Nakaoka, Eiji Hiraki,: “High Performance Adjustable-Speed
Induction Motor Drive System using Sensorless Vector Controlled
PWM Inverter with Auto-Tuning Machine-Opemted Paramefer
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Electmnics and Conference, Intelligent Motion System pp.204-223,
Sept. 1995
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Mutsuo Nakaoka, Eiji Hiraki : “High Perfamlance Adjustable-Speed
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Transaction, p997,Aril 1998.

Motor ri(Q) r@) LI (HI

TypeA 2.50 2.47 0.15
Type B 1.54 I I .97 I 0.11

VI. CONCLUSION

In this paper, the slip angular-frequency control system speed

sensorless v e c t o r control method of t h e induction motor and
t h e proposed automatic parameter m e a s u r i n g method of a
practical induction motor circuit were explained, the trial
production experiment a n d t h e application experiment
performed the property evaluation, and the validity was made
c l e a r f r o m an experimental standpoint.
Stator winding resistance , stator winding inductance
4 and rotor equivalent resistance *., required in the sensorless

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