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Model Reference Adaptive System MRAS Bas PDF
Model Reference Adaptive System MRAS Bas PDF
Abstract - This paper presents a Model Reference Adaptive System (MRAS) based speed sensorless estimation of vector controlled Induction
Motor Drive. MRAS based techniques are one of the best methods to estimate the rotor speed due to its performance and straightforward
stability approach. Depending on the type of tuning signal driving the adaptation mechanism, MRAS estimators are classified into rotor flux
based MRAS, back e.m.f based MRAS, reactive power based MRAS and artificial neural network based MRAS. In this paper, the performance
of the rotor flux based MRAS for estimating the rotor speed was studied. Overview on the IM mathematical model is briefly summarized to
establish a physical basis for the sensorless scheme used. Further, the theoretical basis of indirect field oriented vector control is explained in
detail and it is implemented in MATLAB/SIMULINK.
Keywords - Model Reference Adaptive System (MRAS), Sensorless Control, Vector Control, Indirect Field Oriented Control.
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1554
IJRITCC | June 2014, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 2 Issue: 6 1554 – 1559
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The paper has been organized as follows: section II briefly III. INDIRECT FIELD ORIENTED CONTROL
explains the mathematical modeling of induction motor,
A. Principle of Vector Control
section III demonstrate the indirect Field Oriented Control of
To explain principle of vector control, an assumption is
the induction motor drive, section IV describes the Rotor Flux
made that the position of rotor flux linkages phasor, Ψr is
based MRAS Speed Observer, and the results of implemented
known. Ψr is at θf from a stationary reference, θf is referred to
Matlab models are shown in section V.
as field angle hereafter, and the three stator currents can be
II. MATHEMATICAL MODELLING transformed into q and d axes currents in the synchronous
reference frame by using the park‘s transformation given
The dynamic behavior of an induction motor is complex
below [7].
due to the coupling effect between the stator and rotor phases. 𝟐𝝅 𝟐𝝅
Fig. 1 shows the dynamic d-q equivalent circuits of an 𝑰𝒆𝒒𝒔 𝒄𝒐𝒔 𝜽𝒇 𝒄𝒐𝒔 𝜽𝒇 − 𝒄𝒐𝒔 𝜽𝒇 + 𝑰𝒂𝒔
𝟑 𝟑
𝟐
induction machine. 𝑰𝒆𝒅𝒔 = 𝟑 𝒔𝒊𝒏 𝜽 𝒔𝒊𝒏 𝜽𝒇 −
𝟐𝝅
𝒔𝒊𝒏 𝜽𝒇 +
𝟐𝝅 𝑰𝒃𝒔 (5)
𝒇
The dynamic model of induction motor represented in 𝑰𝒆𝒐𝒔 𝟑 𝟑 𝑰𝒄𝒔
𝟎. 𝟓 𝟎. 𝟓 𝟎. 𝟓
terms of voltages and currents can be given in matrix form as Stator current phasor, Is can be derived as
[6]: 2
𝑒 𝑒 2
𝑽𝒄𝒒𝒔 𝑹𝒔 + 𝑳𝒔 Þ 𝝎𝒄 𝑳𝒔 𝑳𝒎 Þ 𝝎𝒄 𝑳𝒎 𝒊𝒄𝒒𝒔 𝐼𝑠 = 𝐼𝑞𝑠 + 𝐼𝑑𝑠 (6)
𝑽𝒄𝒅𝒔 −𝝎𝒄 𝑳𝒔 𝑹𝒔 + 𝑳𝒔 Þ −𝝎𝒄 𝑳𝒎 𝑳𝒎 Þ 𝒊𝒄𝒅𝒔
= . 𝐼𝑒
𝒄
𝑽𝒒𝒓 𝑳𝒎 Þ 𝝎𝒄 − 𝝎𝒓 𝑳𝒎 𝑹𝒓 + 𝑳𝒓 Þ 𝝎𝒄 − 𝝎𝒓 𝑳𝒔 𝒊𝒄𝒒𝒓 And stator phase angle is 𝜃𝑠 = tan−1 𝑞𝑠
𝑒 (7)
𝑽𝒄𝒅𝒓 − 𝝎𝒄 − 𝝎𝒓 𝑳𝒎 𝑳𝒎 Þ − 𝝎𝒄 − 𝝎𝒓 𝑳𝒓 𝑹𝒓 + 𝑳𝒓 Þ 𝒊𝒄𝒅𝒓 𝐼𝑑𝑠
e e
These equations are expressed in general reference frame where I qs and I ds are the q and d axes currents in the
denoted by the superscript ‗c‘ and ‗Þ‘ represents the derivative synchronous reference frames that are obtained by projecting
operator, d/dt. The dynamic model of the induction motor can the stator current phasor on q and d axes, respectively. That
also be rearranged with the stator and rotor flux linkages as the the current phasor magnitude remains same regardless of the
state variables [6]. reference frame chosen to view it is evident from Fig. 2.
−𝟏
𝝉′𝒔
−𝝎𝒄
𝑲𝒓
𝝉′𝒔
𝟎 The current phasor Is produces the rotor flux r and torque
𝜳𝒄𝒒𝒔 𝜳𝒄𝒒𝒔
𝝎𝒄
−𝟏
𝟎
𝑲𝒓 𝟏 𝟎
𝒄
Te. The component of current producing rotor flux phasor has
𝜳𝒄𝒅𝒔 𝝉𝒔′ 𝝉𝒔′ 𝜳𝒄𝒅𝒔 𝟎 𝟏 𝑽𝒒𝒔
𝜳𝒄𝒒𝒓
= 𝑲𝒔 −𝟏 𝒄 +
𝜳𝒒𝒓 𝟎 𝟎 𝑽𝒄𝒅𝒔
(2) to be in phase with r. Therefore resolving stator current
𝟎 − 𝝎𝒄 − 𝝎𝒓
𝜳𝒄𝒅𝒓
𝝉′𝒓
𝑲𝒔
𝝉′𝒓
−𝟏
𝜳𝒄𝒅𝒓 𝟎 𝟎 phasor along r reveals the component if is the field
𝟎 𝝎𝒄 − 𝝎𝒓
𝝉𝒓′ 𝝉𝒓′ producing component and it is the torque producing
Where 𝝉′𝒔 = 𝝈 𝑹𝑳𝒔 , 𝝉′𝒓 = 𝝈 𝑹𝑳𝒓 , 𝑲𝒔 = 𝑳𝑳𝒎 , 𝑲𝒓 = 𝑳𝑳𝒎 , 𝝈 = 𝟏 − 𝑲𝒔 𝑲𝒓 component perpendicular to it. By writing rotor flux linkages
𝒔 𝒓 𝒔 𝒓
The speed ωr in the above equations is related to the torque by and torque in terms of these components
the following mechanical dynamic equation, 𝛹𝑟 ∝ 𝑖𝑓 (8)
𝒅𝝎 𝑇𝑒 ∝ 𝛹𝑟 𝑖𝑡 ∝ 𝑖𝑓 𝑖𝑡 (9)
𝑻𝒆 − 𝑻𝑳 = 𝑱 𝒓 + 𝑩𝝎𝒓 (3)
𝒅𝒕
𝟑𝑷 For vector control operation of the induction motor, the
𝑻𝒆 = 𝜳𝒅𝒔 𝒊𝒒𝒔 − 𝜳𝒒𝒔 𝒊𝒅𝒔 (4) arbitrary reference frame must be aligned along the rotor flux
𝟒
iqs iqr linkage space phasor at every instant. It is therefore essential
L1s L1r
+ - - + that the position of the rotor flux linkage space phasor f, be
Rs Rr
accurately known at every instant. From the Fig. 2, the
ωcλds (ωc-ωr)λdr instantaneous rotor flux phasor position, f can be written as
𝜃𝑓 = 𝜃𝑟 + 𝜃𝑠𝑙 (10)
λqs Lm λqr
Vqs Vqr Where r is the rotor position and sl is the slip angle. In
terms of the speeds and time, the field angle is written as
𝜃𝑓 = 𝜔𝑟 + 𝜔𝑠𝑙 𝑑𝑡 = 𝜔𝑠 𝑑𝑡 (11)
This knowledge of rotor flux linkage space phasor
(a) q-axis circuit position can be acquired either by measuring the flux directly
ids idr
or by estimating the flux from terminal variables i.e. by
L1s L1r indirect means. This leads to two possible control techniques
+ - - +
of induction motor namely: Direct field oriented control and
Rs Rr Indirect field oriented control.
ωcλqs (ωc-ωr)λqr
Vs
λds Vqse Is
Vds Lm λdr Vdr
Iqse=iT
Ф θ
T
θf θs Vdse θsl Idse=if
θr
(b) d-axis circuit
Fig. 1 Dynamic d-q equivalent circuits of an IM Rotor Reference
Frame
Stator Reference
Frame
1557
IJRITCC | June 2014, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 2 Issue: 6 1554 – 1559
_______________________________________________________________________________________________
Fig. 11 speed error of the motor for changes in speed and load torque
1558
IJRITCC | June 2014, Available @ http://www.ijritcc.org
_______________________________________________________________________________________
International Journal on Recent and Innovation Trends in Computing and Communication ISSN: 2321-8169
Volume: 2 Issue: 6 1554 – 1559
_______________________________________________________________________________________________
Actual speed of the motor traces the Reference speed [9] R. Saidur, ―A review on electrical motors energy use and
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