019 036 PDF

Leonardo Electronic Journal of Practices and Technologies
ISSN 1583-1078
Issue 11, J uly-December 2007
p. 19-36

Parametric Variations Sensitivity Analysis on IM Discrete Speed Estimation

Mohamed BEN MESSAOUD
*
and Abdennaceur KACHOURI

Electronic and Information Technology Laboratory, National Engineering School of Sfax,
Tunisia
M.BenMessaoud@enis.rnu.tn (
*
corresponding author)

Abstract
Motivation: This paper will discuss sensitivity issues in rotor speed estimation
for induction machine (IM) drives using only voltage and current
measurements. A supervised estimation algorithm is proposed with the aim to
achieve good performances in the large variations of the speed. After a brief
presentation on discrete feedback structure of the estimator formulated from
d-q axis equations, we will expose its performances for machine parameters
variations.
Method: Hyperstability concept was applied to the synthesis adaptation low.
A heuristic term is added to the algorithm to maintain good speed estimation
factor in high speeds.
Results: In simulation, the estimation error is maintained relatively low in
wide range of speeds, and the robustness of the estimation algorithm is shown
for machine parametric variations.
Conclusions: Sensitivity analysis to motor parameter changes of proposed
sensorless IM is then performed.
Keywords
Induction Motor; Speed Estimator; Sensitivity; Parametric Variation;
Robustness

http://lejpt.academicdirect.org
19
Mohamed BEN MESSAOUD and Abdennaceur KACHOURI
Introduction

A high degree of sophistication of new control methods as vector control, adaptive or
variable structure control, is reached with the help of special measurement systems (state
observers, reconstruction of mechanical or electromagnetic variables).
During the last decay the speed control of induction machine (IM) requires the
knowledge of rotor speeds values, therefore in order to replace the mechanical sensors,
significant research effort has been devoted to the field of shaft-sensorless control of
induction motors. This research is interest on softwarebased methods of estimating rotor
speed of induction motors using electric measurement of the stator current and voltage. Direct
and indirect methods are developed to avoid magnetic or mechanical sensors mounted in the
motor [1, 2, 3]. It was observed that a speed estimation error can appears when one uses a flux
or state observers and then calculate the rotor speed [4,5].
Less error and less sensitivity on parameter variation are noted if one uses the Model
Reference Adaptive Systems (MRAS) [6] or sliding mode techniques [7, 8, 9].
Recently, neural identification method is applied to estimate motor speed; it seems to
be an interesting solution but it presents some problems in the case of reversal operation of
the motor [10]. A novel parallel adaptive observer has been designed, starting from the series-
parallel Kreis-selmeier observer [11].
This paper deals with a new class for speed estimation of induction motor. The used
structure constitutes the feedback linear time varying structure in its discrete form. The
hyperstability of the loop are demonstrated and the stability is guaranteed.
The adaptation algorithm based on current quantities is deduced. The high-
performances of such estimator are shown in low speeds and when parameter changes, where
the most methods fail.
In the objective of applicability of the algorithm in high speeds, adaptation low is
slowly modified by replacing the current by current error.
In simulation, the robustness of the proposed algorithm is checked for variations of the
stator and rotor parameters (resistances and inductances).

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ISSN 1583-1078
p. 19-36

Feedback structure of the estimator

In order to overcome the stability problem for low speed with parameter variations, we
present the structure of the inverse model of the machine in the form of feedback linear time
varying structure based on electrical equations described below.

Electrical Equations

Equations for induction motor can be expressed in the stationary d-q frame [6] as:
) e v ( i R
dt
di
L
S S S S
S
S
+ = (1)
so m r m
m
i
Tr
1
J i i
Tr
1
dt
di
+ =
where
=
0 1
1 0
J
(2)
dt
di
L e
m
m
= (3)

The signification of parameters and variables appear in appendix I.

Discretization
A discretized version suitable for digital implementation is developed, preserving the
characteristics of the original continuous-time procedure.
The discrete form of equations (1-2 and 3) is given by:
[ ] ) k ( e ) k ( v ) 1 (
R
1
) k ( i . ) 1 k ( i
m S
S
S S
+ = +
(4)
) k ( i
Tr
L
) k ( i
Tr
1
Tr
1
L ) k ( e
S m
r
r
m
+

=
m 2 2 r m
L L
or e (k) .I J i (k) i (k)
Tr Tr

= +

s

(5)
21
) k ( e
L
T
) k ( i ) 1 k ( i
m m m
+ = + (6)
where
=
S
S
R
L
T
exp

Figure 1 illustrates the conventional adaptive structure. The proposed structure is
described by equations (4), (5) and (6). These equations constitute a feedback time varying
parameters system represented by the bloc diagram of the proposed speed estimator of the
figure 2. The input is the vector v
so
=[v
sod
, v
soq
]
T
and the output is the estimated speed of
induction machine.
In counter part of conventional nonlinear structure, the present strategy presents a
dynamic which depends only on the values of a transition state matrix of the feedback system.
Figures 1 and 2 illustrate the difference between conventional adaptive structure and the
proposed structure.

Figure 1. Diagram of conventional Adaptive speed estimator
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ISSN 1583-1078
p. 19-36

Figure 2. Diagram of proposed speed estimator

Hyper-stability of feedback structure
In this section, we briefly review the use of hyperstability concept [12] to the synthesis
of adaptation low. The hyperstability analysis of nonlinear systems requires a linear time
invariant discrete transfer function H(z) in the feedforward path, and a nonlinear block in the
feedback one (figure 3).

Figure 3. Configuration of feedback system

2 2
S
I .
z
) 1 (
R
1
) z ( H

=
Hyperstability Theorem [13]:
The non linear feedback system of the figure 3 is hyperstable if:
The linear time invariant discrete matrix H(z) is real positive; i.e.
o all poles of elements of H(z) lies in unitary circle
23
o the matrix H(z)+H(z*) is a positive semi definite Hermitian matrix for allz=1,
the star indicates the complex conjugate.
In the non-linear feedback part, the following inequality of Popov (7) holds; i.e.
2
o S
T
k k
0 k
) k ( I ). k ( m e
1

=
=
(7)

Synthesis of adaptation low
By substituting equations (4), (5) in inequality (7), one can write:
[ ] [ ] ( )
=
=
+ + +
1
k k
o k
2
o sd mq sq md r r mq sq md sd
2
sq
2
sd
i i i i T i i i i i i (8)

Under steady state and the following approximation:
[ ] [ ] [ ] 0 ) i i ( i ) i i ( i i i i i i i
mq sq sq md sd sd mq sq md sd
2
sq
2
sd
+ = + +
(9)

Equation (7) becomes:
( )
=
=

1
k k
o k
2
o sd mq sq md r
i i i i (10)

Lets take the Integral adaptation law as:
=
+ = + = +
k
0 i
r r r
) i ( ) 0 ( ) k ( ) k ( ) 1 k (
(11)

Without loss of generality, letting
r
(0)=0 and replacing (11) in (10), yields:
( )

=
= =

1
k k
0 k
k
0 i
2
o sd mq sq md
) i ( i i i i (12)

Using the relation (13),
2
c
2
c
x
2
1
c x
2
1
c x x
2 k
0 k
2
2
k
2
k
0 k
k
0 k
k
k
0 i
i k
1 1 1
+
+ =
+

= = = =
(13)

One obtains the particular solution for as follows
( ) ) k ( i ) k ( i ) k ( i ) k ( i ) k (
sd md sq md
=
(14)
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ISSN 1583-1078
p. 19-36

where is a positive and constant.
Finally, the Integral adaptation law is deduced:
) i i i i ( ) k ( ) 1 k (
sd mq sq md r r
+ = +
(15)
where is any positive real.
Taking into account the adaptation mechanism (15), Popov inequality (7) is hold and
the hyperstability is guaranteed for the nominal parameters and in the unloaded motor case.

Performance analysis

The speed estimation algorithm described in Equation (15) is tested in the wide range
of speed and torque variations and the machine parameter variation is also considered to
evaluate the performance of the algorithm.

Simulation conditions

To achieve the following simulation results, Matlab- Simulink software is used to
simulate the hardware and the software parts.
The simulation block diagram is represented in figure 4 where the ideal voltage
inverter is used and the Open loop speed control is applied.
The voltage and current measurement quantities constitute the inputs of the algorithm
to estimate the motor speed.

Figure 4. Simulation scheme
25
The motor is trained by electrical frequency
s
, therefore the correspondent trajectory
of the motor speed is deduced. The reference speed of the motor is changed at different time
instant as illustrated in table 1.
Table 1. Reference speed variation.
Scale of speed Low speed Middle speed Nominal speed Stop position
Time range (s) 0-1 2-2.5 3-3.5 4.5-5
Reference speed value (rad/s) 10 50
150
0

The figure 5 illustrates the detailed diagram of simulation using the Matlab- simulink
blocks.

Figure 5. Matlab- simulink diagram for simulation

Simulation Results

The proposed estimation algorithm generates the estimated speed for a power motor of
1.5 kW, the rated torque 7 Nm and the rated speed 1420 rpm. The open loop control is applied
for the motor, in order to give the profile of the measured speed.
Figures 6 and 7 evaluate the performances of the algorithm in the cases of unloaded
motor and for +50% rotor resistance variations.

26

ISSN 1583-1078
p. 19-36

Remarks
In unloaded torque case, the figure 6(a) presents the evolution of motor speed and
estimating one for different values (low and high speeds). Simulation reveals negligible
steady state errors as illustrated in figure 6 (b).
For unloaded machine the speed is estimated perfectly [14].

Figure.6. Typical parameters: unloaded motor (a) measured and estimated speed.
(b) error on speed estimator

Figure.7. Deviation of +50 % in Rs; unloaded motor (a) measured and estimated speed.
(b) error on speed estimator

Sensitivity of the algorithm to parameter variation
To evaluate the influence of the parametric variation to estimated speed, we introduce
the following performances indexes expressed in percent:
27
The Percent of Root-mean-square Difference (PRD):
[ ]
[ ]
2
N
1 i
mot
N
1 i
2
est mot
) i (
) i ( ) i (
100 (%) PRD
=
=

=
(16)
And the steady state error
s
,:
mot
est mot
t
s
lim 100 (%)

=

(17)
where
mot
is the actual speed of the motor and
est
is its estimation.
Table 2 shows that the estimated speed is not affected by the parameter variations,
than it is obvious that the proposed algorithm gives satisfactory results.

Table 2. Performances of the PI estimation for parametric deviation in the case of unloaded
machine
steady state error (%)
Parameter PRD (%)
mot
=10 rad/s
mot
=50 rad/s
mot
=150 rad/s
Rated 0.45 -0.0032 -0.02 -0.18
0,5 R
s
1,5 R
s
0.97
0.56
-0.0548
-0.0045519
-0.0364
-0.0214
-0.18
-0.18
0,5 L
ls
1,5 L
ls
0.29
0.46
-0.0032419
-0.00317
-0.02
-0.0204
-0.17
-0.19
0,5 R
r
1,5 R
r
1.05
0.56
-0.00395
-0.0044
-0.009
-0.0294
-0.08
-0.28
0,5 L
lr
1,5 L
lr
0.52
0.47
-0.0032
-0.00324
-0.02
-0.02
-0.18
-0.18
0,5 M
1,5 M
0.51
0.70
-0.0059
0.0154
-0.0244
-0.0187
-0.2
-0.18

Load effect on the proposed algorithm
The behavior of the speed estimator of induction motor with a mechanical load equal
to 200% of its nominal value is checked.
Figure 8 shows the influence of the load in the case of nominal parameters and the
figure 9 for +50% variations on the stator resistance referring to its nominal value.
28

ISSN 1583-1078
p. 19-36

Figure 8. Effect of the load torque on the estimation algorithm: (top) measured and estimated
speeds; (bottom) estimation error

Figure 9. Effect of deviation +50% Rs in the case of loaded motor: (top) measured and
estimated speeds; (bottom) estimation error

In the following, table 3 presents the quadratic error and the steady state error for low
and high speeds with the machine parameters variations.

29
Table 3. Performances of the PI estimation for parametric deviation for the case of loaded
machine
steady state error (%)
parameter PRD (%)
mot
=10 rad/s
mot
=50 rad/s
mot
=150 rad/s
nominal 7.8 -0.876 -2.63 -9.37
0,5 R
s
1,5 R
s
7.23
8.7
-0.64
-1.38
-2.52
-2.81
-8.52
-10.5
0,5 L
ls
1,5 L
ls
7.4
8.2
-0.85
-0.9
-2.52
-2.74
-8.87
-9.91
0,5 R
r
1,5 R
r
3.9
11.9
-0.43
-1.32
-1.3
-4.0
-4.47
-14.7
0,5 L
lr
1,5 L
lr
7.8
18.7
-0.876
-0.876
-2.63
-2.63
-9.3
-9.46
0,5 M
1,5 M
8.6
7.56
-2.11
-0.63
-3.12
-2.5
-10.4
-9.05

Referring to the table 3, the simulation results show the dependence of estimation
error and the speed. We note that the relative error increases until 10% in the nominal speed
as shown in figure 8.

Discussion

The analysis of the tables 2 and 3 shows that the parameter variations practically do
not affects the estimated speed. However, the machine load is the preponderant factor which
affects the estimated speed. It is to be noted that the motor load is not considered in the
algorithm. Therefore, the influence of the load appears clearly in high speed.

Modified algorithm
To overcome the error introduced by the load, we introduce a correction signal
depending on the load in the adaptation low. The current components i
s
are replaced by the
current error
s
in the high speed and the adaptation mechanism is described by (18):
) i i i i ( ) i i i i ( ) k ( ) 1 k (
sod mq sod md sd mq sq md r r
+ = +
(18)
where:
is any positive integer parameter which increases with the speed;
i
so
, i
s
are measured and calculated currents.
30

ISSN 1583-1078
p. 19-36

The input vector of the estimation algorithm becomes [v
sod
v
soq
i
sod
i
soq
]
T
.

Parameter Sensitivity and Simulation Results
To study the influence of parameter deviation on the performance of the modified
estimation speed algorithm, we will take a variation of 50% of each machine parameter.
Unloaded motor T
L
=0
Table 4 represents the performance indexes evaluated earlier for different values of the
desired speed and for different variations on motor parameters.

Table 4. Performance of the modified algorithm for parameter variations in the unload motor
case
Steady state error (%) depending on
mot
Parameter PRD (%)
10 rad/s 50 rad/s 150 rad/s
Nominal 2.11 -0.0032 0.0992 0.196
0,5 R
s
1,5 R
s
2.33
1.82
-0.0546
-0.0046
-0.769
0.846
0.0069
0.383
0,5 L
ls
1,5 L
ls
2.24
2.03
-0.0032
-0.0032
0.135
0.065
0.218
0.176
0,5 R
r
1,5 R
r
2.70
1.65
-0.0039
-0.0044
0.115
0.098
0.301
0.098
0,5 L
lr
1,5 L
lr
2.21
2.6
-0.0032
-0.0032
0.097
0.101
0.196
0.196
0,5 M
1,5 M

2.89
2.51
-0.0059
0.0154
2.60
-0.301
1.13
0.052

Referring to table 4, it is obvious that the modified algorithm gives satisfactory results
in the case of unloaded motor. The estimation error does not access 0.3% in most cases.

Overloaded motor: 200 % of rated load
The behavior of the modified speed estimator of the induction motor is checked with a
mechanical load equal to 200% of its nominal value.
Figures 10 and 11 illustrate the measured and the estimated speeds when the stator
resistance varies in the range of -50% to +50% of Rs of nominal value.
The simulation result shows that it is not possible clearly to distinguish between
measured and estimated speed. Thus, the estimation steady state error is less than 0.3 rad/s for
rated speed.

31

Figure 10. Loaded motor: 200% of nominal torque (a) Measured and estimated speed
for -50% variation on Rs (b) Estimation error

Figure 11 (a) Measured and estimated speed for +50% variation on Rs and for 200% motor
nominal load; (b) Estimation error

The table 5 summarizes the performance of the modified estimator in the case of over
loaded motor and for the parameter variations.

32

ISSN 1583-1078
p. 19-36

Table 5. Performance of the modified algorithm for parameter variations in the overload
motor case
Steady state error (%)
Parameter PRD (%)
mot
=10 rad/s
mot
=50 rad/s
mot
=150 rad/s
Nominal 2.08 -0.876 0.427 0.0344
0,5 R
s
1,5 R
s
2.63
1.74
-0.640
-1.38
-1.22
1.96
0.191
-0.30
0,5 L
ls
1,5 L
ls
2.24
1.99
-0.855
-0.897
0.617
0.237
0.453
-0.424
0,5 R
r
1,5 R
r
4.96
3.96
-0.434
-1.32
1.79
-0.857
4.52
-4.88
0,5 L
lr
1,5 L
lr
2.13
2.06
-0.876
-0.876
0.404
0.446
0.0344
0.017
0,5 M
1,5 M
5.03
2.35
-2.12
-0.63
12.4
-0.53
1.09
-0.133

The analysis of the table 5 shows the efficiency of the proposed algorithm with respect
to the variations of Rs, Ls and Lr for all range of speeds; in fact the relative error doesn't
access 0.3%.
Thus, the robustness of the proposed algorithm for all range of speeds is guaranteed.
On the other hand, its sensitivity to the variation of Rr is acceptable for the high speeds; it is
in the order of 4%. The only case where a relatively error appeared is the case of the reduction
of 50% of M for the middle speeds (these error remains limited). Consequently, the
robustness of the modified algorithm to parametric variation is shown for all the range of
speeds.

Conclusions

The feedback structure of estimation speed algorithm is presented. It is fairly general
and would seem to be the natural extensions to nonlinear adaptive structure case of estimation
speed of induction machines.
It is to be noted that the advantages of the previous structures are believed maintained.
In this paper, the discrete form adapted to the implementation purpose is developed and the
stability analysis is performed using the hyper stability theory.
In the case of unloaded motor, simulation results show the robustness of the algorithm
to the motor parameter variations (Rs, Ls, Rr, Lr and M).
33
For torque load, it is shown that estimation errors that are not present in the previous
case occur for high speeds. The presence of load disturbs the estimated speed.
The high-speed problems are remedied by a careful choice of standard relation. This is
done by adding the term 'stator current components', which depending on the torque.
Finally, simulation examples are considered to illustrate the advantages that can be
gained by using the modified algorithm. There was proved that the proposed adjustable low is
able to estimate the proper values of the rotor speed even in the case of parameter and speed
errors.
The estimation speed algorithms have proven to be a powerful tool in order to give the
real induction motor speeds. Special attention must be designed when the mutual inductance
decreases.

Appendix I
L =M
2
/L
r
=Equivalent mutual inductance
=1-M
2
/L
s
L
r
=leakage factor.

Electrical variables
v
s
=[v
sd
v
sq
]
T
=stator voltage vector.
i
s
=[i
sd
i
sq
]
T
=stator current vector.
i
r
=[i
rd
i
rq
]
T
=rotor current vector.
i
m
=[i
md
i
mq
]
T
=magnetizing current vector.

Electrical parameters
R
s
=4.58 , L
s
=253 mH =stator resistance and inductance
R
r
=4.58 , L
r
=253 mH =rotor resistance and inductance
T
r
=L
r
/R
r
=rotor time constant inductance
M =242.3 mH =mutual inductance
L
ls
=L
s
-M =stator leakage inductance
L
lr
=L
r
-M =rotor leakage inductance

Mechanical variable and parameters

r
=rotor electric angular velocity (150 rad/s rated)
34

ISSN 1583-1078
p. 19-36

F =0.0026 kgm
2
/s =friction coefficient.
J =0.023 kgm
2
=moment the inertia

Matrix notation
I
nn
=n
n identity matrix
=orthogonal rotation matrix
=
0 1
1 0
J

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th
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