Proceedings of the 2017 IEEE International Conference on Applied System Innovation

IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

System Identification of an Induction Motor

Rong-Fong Fung1 and Wen-Hao Yang2

1,2
Department of Mechanical and Automation Engineering,
National Kaohsiung First University of Science and Technology,
Kaohsiung 824, Taiwan
Email: 1rffung@nkfust.edu.tw, 2u0314819@nkfust.edu.tw

Abstract problems, the RGA [9, 10] is employed to find the optimal
parameters of an induction motor in this study.
The induction motor system is dynamically formulated by It will be confirmed that the proposed method can perfectly
both the mechanical and electrical equations. In system search for the parameters of an induction motor through the
identification of an induction motor, main objective is to comparison of numerical simulations.
compare parameters between identified by using rotating 2. Dynamic Equations of the Induction Motor
speed and that by both rotating speed and robust observer. The
real-coded genetic algorithm (RGA) is adopted to identify all 2.1 The d-q Transformation of Coordinates
parameters, and the reduced-order robust observer is used to
reconstruct the non-measurable state variables, for examples,
the stator current and rotor flux. From numerical simulations
and experimental results, it is found that the robust observer
association with RGA can be used to identify the
non-measurable state variables for an induction motor.

Key words: Real-Coded Genetic Algorithm (RGA),

Induction Motor, System Identification, Robust observer Fig. 1. The rotating coordinate frame.
Figure 1 shows the relationship among coordinate
1. Introduction frames of stator, rotor and d-q coordinates. Any vectors
can be described in a rotating coordinate as follows:
Induction motors are the most widely used motors in 2
j (  e )
4
j (  e )
(1)
f as e j ( e )  fbs e
fs  3
 fcs e 3
f ds  j f qs .

industry because they are simple to build, rugged, reliable and
have good self-starting capability. Many advanced algorithms According the Euler’s formula:
have been investigated to control induction motors. The most e j = cos(e )  j sin(e ). (2)
used control technique with induction machines is the vector Therefore, we can obtain the relation formula as follows:
control. However, precise decoupling control of an induction 2 4
motor requires accurate motor parameters which must be
fds f as cos(e )  fbs cos(   e )  fcs cos(   e ),

3 3
(3)
measured or estimated [1]. To design controllers, nonlinear f f sin(  )  f sin(
2
   )  f sin(
4
  e ).
motor models must be used for identification and optimization. qs as e bs
3
e cs
3
Several methods have been proposed to tackle the problem of The stator transformation formula between the d-q axis
induction machine parameter estimation [2]. and three-phase coordinate is shown as follows:
The control of an induction motor constitutes a theoretically  2 4 
 cose cos( 3   e ) cos( 3   e )  (4)
challenging problem since the dynamical system is nonlinear,  f ds     f as 
f  2 2 4
the electrical rotor variables are not measurable, and the  sin e sin(   e ) sin(   e )   fbs  .
 qs  3  3 3  
physical parameters are most often imprecisely known [3, 4].  f0 s     fcs 
A number of methods for estimating the state variables and  1 1 1 
 2 2 2 
parameters of the induction motor have been proposed in the
2.2 The Dynamic Modeling of an Induction Motor
literature as the extended Kalman filter [5], and the Luenberger
The voltage equations of the stator in the d-q axis are:
observer [6, 7].
d
The rapidly increasing computational power of personal vqs Rsiqs  qs  ds ,
computers allows researchers to implement several dt (5)
optimization algorithms and verifies their efficiency. d
vds Rsids  ds  qs .
Researchers developed many algorithms imitate natural dt
phenomena, and the real-coded genetic algorithm (RGA) is The voltage equations of the rotor in the d-q axis are:
one of these algorithms. Genetic algorithm was defined by d
vqr  Rsiqr  qr  (  r )dr , (6)
John Holland in 1975 [8]. It is a searching process based on dt
natural selection, and now is used as a tool for searching the d
vdr  Rsidr  dr  (  r )qr .
large, poorly understood spaces that arise in many application dt
areas of science and engineering. In order to solve the arduous where the magnetic fluxes of the stator and rotor are

1068 - ISBN 978-1-5090-4897-7

 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

respectively:  Bm
 J 0 0 0 0


ds 
Ls ids Lmidr , dr 
Lr idr Lmids , (7)  r   0
 m
  Rs Rr (1   )
 e
Lm Rr Lm


r   r 
qs 
Ls iqs Lmiqr , qr 
Lr iqr Lmiqs . i    Ls  Lr  Ls L2r  Ls Lr   
ids
d    Lm Rr   
ds
 Rs Rr (1   ) L
e  m r
The generated torque and rotor angular speed are related by  iqs    0
dt     Ls

 Lr  Ls Lr
i 
 Ls L2r   qs 
dr   

J
d
  B  T  T. (8)  
qr   0
Lm Rr
Lr
0
 Rr
Lr
  dr 
e  r  qr 
m r m r L e  
dt  Lm Rr  Rr 
 0 0 (e  r )
where J m and Bm denote the system inertia constant and  Lr Lr


1 0 0 
damping ratio, respectively. The electrical torque is 
0 1  3L
 3Lm T 
0  m
dr iqs  qr ids  L 
T
3Lm
(i   i  ). (9)   Ls

 2 J m Lr

2 J m Lr Jm

e qs dr ds qr 1  v ,
2Lr 0 0


 Ls  
ds

vqs

  
The electro-mechanical equation is as follows [11]: 0 0 0   
0 0 0 
Rs Rr(1) LR 
e 0 0
L  L (10)
m r
 Bm 
LL 2
 Lm   vds  A11    , A12  0 0 0 0 ,
 s r s r
  LL  r qr  L   Jm 
 Rs Rr(1) LR    s
ids   e  0 m r
0 ids   s r
  Rs Rr (1   )
e
Lm Rr Lm
r 

Ls Lr LL   vqs   L   L
2
i   
i     L  Ls L2r  Ls Lr
s r m
     s r

d   
r dr
qs
 LR Rr
qs
LL Ls . 0   Rs Rr (1   ) L Lm Rr 
dr 
m r
0 e 0 dr s r
 e   m r
dt   Lr Lr       0
0  Ls  Lr  Ls Lr  Ls L2r 
   r qr A21    , A22   ,
qr  LR Rr   qr

   0  Lm Rr  Rr 
0 r    0    0 e  r 
r  0 e
m r r dr
    T 0  Lr Lr 
 Lr Lr  3L 
 m
(iqsdr idsqr)  L  Lm Rr  Rr 
 0 (e  r )
B 2JmLr   Jm

 L Lr


 0 0 0 0  m r

 Jm  1 
0  L 0 

where   1  Lm .
2  s

 1 
 B1 1 0 0 , B2 0 0 .
Ls Lr  Ls 
(13)

0 0 0 
3. Polytopic Reduced-order Robust Observer 
0 0 0 


According to [12], we can write the equation as follows: The reduced-order robust observer to reconstruct the
 d  X1   A11 A12   X1   B1  non-measurable vector ( X2 ) is then provided

         U (11)
 dt  X2   A21 A22   X2   B2  , d ˆ
ˆ
 Y  X1  W  A22 W  Bˆ 2 U  A21 X1 (14)
  dt ,
where X1  [ ids iqs ] is the measured vector, X2  [dr qr ] is
T T  ˆ
 X2 W  LX1
the vector of the observed for the first case and the fitness where
function is set as FF1 . For the second case, X1  [ ]T is the
Aˆ 22 A22  L A12 , Aˆ 21 A21 + A22 L  L A11  L A12 L,
measured vector, X2  [ids iqs dr qr ]T is the vector of the
observed, and the fitness is set as FF2 . Bˆ
2 B 2  L B1 .
Eq. (10) can be regarded as a set of complete
To calculate the gain L of the reduced-order robust observer,
electromechanical equations. For the first case, the system
Tlili and Braiek [12] have solved the problem of the robust
model can be shown as follows:
 Bm
0 0
3Lm
iqs
3Lm 
ids
detectability since the system varies in a convex polytope and
 J
 m
  Rs Rr (1   )
2 J m Lr
Lm Rr
2 J m Lr 
Lm


1 0 0  it must be quadratically detectable, i.e., there exist a matrix
r   r    T
(12) P  R ( n  p )( n p ) positive definite and a matrix R  R ( n  p ) p such
 r   0  e 1  
i    Ls  Lr  Ls L2r  Ls Lr    0 0   L 
ids    Ls  Jm
d    
 
that:
ds
 Rs Rr (1   ) L Lm Rr  
 iqs    0 e   m r i  1   vds  ,
dt     Ls  Lr  Ls Lr  Ls L2r   qs  0 0
dr      Ls   vqs 
(15)
Lm Rr  Rr   dr    ( A12T ( A)  A12T ( A)) RT  R( A12 ( A)  A12 ( A))  0
qr   0 0 e  r  qr  0 0 0   
 
 Lr Lr 
0 0 0   T ,
 ( A22 ( A)  A22 ( A)) P  P( A22 ( A)  A22 ( A))  0
 Lm Rr  Rr  T
 0 0 (e  r ) 
 Lr Lr 
 Bm
 0 0


 3Lm
 iqs
3Lm 
ids 




and
 2 J m Lr
(16)
 Jm  2 J m Lr  1 0 0 

0
 Rs Rr (1   )


,
 Lm Rr Lm


,

0
1
0
 L  P 1R,
A11 
   A12 
  B   ,
 Ls  Lr e
  Ls Lr
2
 Ls Lr r  1   Ls
A is the maximal, and A is the minimal in the feasible
  
  Rs Rr (1   )   Lm Lm Rr   1 
 0 e    r   0 0 
 Ls  Lr    Ls Lr  Ls L2r   Ls 

 Lm Rr    Rr 

domain.
 0 0   e   r
Lr Lr  0 0 0
A21  , A22  , B2   .
 0 0 0
4. The Real-coded Genetic Algorithm
 Lm Rr    Rr 
0 0
Lr  (e  r ) Lr 
 
In this paper, the RGA combined with the polytopic
reduced-order robust observer is adopted to identify the system
parameters. The detailed RGA [10] for parameters
identification can be shown in Fig. 2.
For the second case, the system model can be shown as
follows:

ISBN 978-1-5090-4897-7 - 1069

 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

(22)
1
FF2  n
,
[ ( r  r )2   (iˆds  ids )2   (iˆqs  iqs )2   (ˆdr  dr )2   (ˆqr  qr )2 ]
i 1

where r is the real rotation speed, r is the simulation

rotation speed of the rotor, ids is the real d-axis stator current,
iˆds is the ids to be reconstructed, ids is the simulation d-axis
stator current, iqs is the real q-axis stator current, iˆqs is the to
be reconstructed, iqs is the simulation q-axis stator current, dr
is the real d-axis rotor flux linkage, ˆdr is the dr to be
reconstructed, dr is the simulation d-axis rotor flux linkage,
Fig. 2. The flow chart of RGA.  is the real q-axis rotor flux linkage, ˆ is the  to be
qr qr qr

4.1 Identification of system parameters reconstructed, and qr is the simulation q-axis rotor flux
In this paper, three methods with fitness functions FF , linkage. It is to be noted that          
1 and
FF1 and FF2 are to be compared in identified parameters of
0   ,  ,  ,  ,   1 . Here  ,  , , and  can be
numerical simulations. The fitness function FF contains only
normalized as follows:
the errors of rotating speeds, FF1 contains the errors of rotating
ˆ ˆ ˆ
speeds, the d-q axis stator currents and two reconstruct  = , = , , (23)
ˆ  ˆ +ˆ +ˆ  ˆ ˆ  ˆ +ˆ +ˆ  ˆ ˆ  ˆ +ˆ +ˆ  ˆ
variables dr , qr , and FF2 contains the errors of rotating
ˆ ˆ
speeds and four reconstruct variables ids , iqs , dr , qr . = = , .
ˆ  ˆ +ˆ +ˆ  ˆ ˆ  ˆ +ˆ +ˆ  ˆ
in which ̂ , ˆ , ˆ , ˆ and ˆ are also treated as unknowns,
4.2 The input voltage type
and can be identified by the RGA.
In the system identification, the input voltage type is
There are many studies talked about how to define an
defined as follows:
 V0 optimal stopping time in genetic algorithms. Usually, the
 Vm (t ) T t
 0  t  T1 (17) maximum number of iterations is used to stop the generations,
 1 ,
V (t )  V  V sin  t T1  t  Tp but how big the maximum number should be set is still
 m 0 1
unknown. There is also no effective way to find the most
where   0  (1   0 )t / Tp , a0 and a1 represent the minimum and
optimal stopping time. In this paper, the convergent criteria are
maximum frequencies, respectively, and Tp is the period. defined as follows:
Considering the input voltage Vm (t ) with a frequency f , the [ FF (ti 1 )  FF (ti )]  10 6 , [ FF1 (ti 1 )  FF1 (ti )]  10 6 , (24)
three-phase voltages can be written as [ FF2 (ti 1 )  FF2 (ti )]  10 6
vas  Vm(t ) cos(2 ft ), In this paper, the algorithm ends if Eq. (24) are satisfied
(18) continuously ten times.
2
vbs Vm(t ) cos(2 ft   ),
3
4 5. The numerical result
vcs Vm(t ) cos(2 ft   ).
3 In Eq. (23) of the input voltage [11], it is assigned that
According Eq. (4), the input electrical voltages vqs and vds in V0 = 90 (V), V1 = 20 (V), a0 = 20, a1 = 5 and Tp =15 sec. There
the d-q axis are as follows: are three different methods to do RGA, and the identification
 2 4  results are obtained in Figs.3-5. In Fig.6, it is seen that the
 cos e cos(   e ) cos(   e ) 
3 3 results are bad if only the errors of angular speeds are used in
v
 ds    vas  (19)
v   2 2 4 the fitness function. The fitness function FF1 , containing the
 qs  3  sin e sin(   e ) sin(   e )  vbs 
3 3  errors of rotating speeds, the d-q axis stator currents and two
 v0 s     vcs 
 1 1 1  reconstruct variables dr and qr , is the best result. In Table
 2 2 2 
1, it is found that the identified parameters of an induction
4.3 The fitness function
motor by three different fitness functions.
In this section, three fitness functions corresponding to
FF , FF1 and FF2 are defined as
120 30 20
(a) (b) assign
(c)
100 25 FF
15
80 20

(20)
Voltage (V)

ids (A)

iqs (A)

60 15 10

40 v 10
q v

1
d 5
assign
20 5

FF  .
FF

0 0 0
n 0 5 10 15 0 5 10 15 0 5 10 15

 (
Tims (s) Tims (s) Tims (s)

r  r ) 2
0.35 0 1500
i 1 (d)
assign (e) (f)

(21)
0.3 FF -0.02 assign
FF
0.25 -0.04
1000
r (rad/sec)

0.2 -0.06
dr ( )

qr ( )

0.15 -0.08

1 500

FF1  ,
0.1 -0.1 assign
FF
n 0.05 -0.12

[ ( r  r )2   (ids  ids )2   (iqs  iqs )2   (ˆdr  dr )2   (ˆqr  qr ) 2 ] 0

0 5
Tims (s)
10 15
-0.14
0 5
Tims (s)
10 15
0
0 5
Tims (s)
10 15

i 1

1070 - ISBN 978-1-5090-4897-7

 Proceedings of the 2017 IEEE International Conference on Applied System Innovation
IEEE-ICASI 2017 - Meen, Prior & Lam (Eds)

Fig. 3. The identified results by using the fitness function FF . are not good. In this paper, the non-measurable variables are
(a) The input voltage. (b) The d-axis stator current. (c) The re-constructed by the reduced-order observer and combined
q-axis stator current. (d) The d-axis rotor flux linkage. (e) The with the RGA method to identify the parameters of an
q-axis rotor flux linkage. (f) The motor speed. induction motor. The proposed method makes the identified
150 30 20
(c)
parameters more accurate. It is concluded that if more
measurable variable are employed in the fitness function, the
(a) (b) assign
15
100 20 FF1
Voltage (V)

ids (A)

iqs (A)
10
50 vq
vd 10
5
assign
FF1 induction motor parameters can be identified more accurate.
0 0 0
0 5 10 15 0 5 10 15 0 5 10 15
Tims (s) Tims (s) Tims (s)

3 50 1500
(d) (e) assign FF1 (f)

7. References
assign FF1
2 0
1000
r (rad/sec)
dr ( )

qr ( )

1 -50

[1] R. Krishnan and F. C. Doran, “A study of parameter sensitivity in

500 assign
0 -100
FF1

high performance inverter fed induction motor drive system,” IEEE

-1 -150 0
0 5 10 15 0 5 10 15 0 5 10 15
Tims (s) Tims (s) Tims (s)

Trans. Ind. Application, vol. IA-23, pp. 623-635, 1987.

0.3
(g) =0.284  =0.253
0.25

0.2
= 0.240
0.15

[2] H. A. Toliyat, E. Levi, and M. Raina, “A review of RFO induction

= 0.150
0.1
=0.073
0.05

motor parameter estimation techniques,” IEEE Transactions on

0 5 10 15 20
Generation

Fig. 4. The identified results by using the fitness function FF1 . Energy Conversion, vol. 22, no. 7, pp. 52-52, 2002.

(a) The input voltage. (b) The d-axis stator current. (c) The [3] M. Riccardo, P. Sergei and T. Patrizio, “On-line stator and rotor
q-axis stator current. (d) The d-axis rotor flux linkage. (e) The resistance estimation for induction motors,” IEEE. Trans. Contr.
q-axis rotor flux linkage. (f) The motor speed. (g) The Systems. Tech., vol. 8, pp. 570-579, 2000.
weighting values.
150 20
[4] J. Hu and D. M. Dawson, “Adaptive control of induction motor
system despite rotor resistance uncertainty,“ Automatica, vol. 32, pp.
(a) assign
20 (c) assign FF2
0 (b) FF2 10
100
Voltage (V)

1127-1143, 1996.
0
ids (A)

iqs (A)

-20
-10
50
vq vd
-40 -20

-30
0 -60
0 5 10 15 0 5 10 15 0 5 10 15

[5] T. Kataoka and T. Iwasaki, “Parameter and state estimation of an

Tims (s) Tims (s) Tims (s)

150 60 1500
(d) (e) (f)
100 40
1000
inverter fed induction motor by extended Kalman filter,” In
r (rad/sec)
dr ( )

qr ( )

50 20

0
assign
FF2
0
assign
FF2
500
assign
FF2
proceedings of EPE, Frirnze, 1991.
-50 -20 0
0 5 10 15 0 5 10 15 0 5 10 15
Tims (s) Tims (s) Tims (s)

0.4

0.3
(g) [6] B. R. Barmish and A. R Galmidi, “Robustness of Luenberger
observers: linear systems stabilized via nonlinear control,”
 =0.199 =0.358
=0.322
0.2

Automatica, vol. 22, pp. 413-4253, 1986.

=0.038 = 0.037
0.1

0
0 2 4 6 8 10 12
Generation

[7] T. Du and M. Brdys, “Implementation of extended Luenberger

Fig. 5. The identified results by using the fitness function FF2 . observers for joint state and parameter estimation of PWM induction
(a) The input voltage. (b) The d-axis stator current. (c) The motor drive,” In proceedings of EPE, Bringhton UK, 1993.
q-axis stator current. (d) The d-axis rotor flux linkage. (e) The
q-axis rotor flux linkage. (f) The motor speed. (g) The [8] J. H. Holland, “Adaptation in natural and artificial Systems,” The
weighting values. University of Michigan Press, Ann Arbor, MI, 1975.
0.5

0.4
FF
FF1
FF2 [9] R. L. Haupt and S. E. Haupt, “Practical genetic algorithms,” Wiley
0.3
Interscience, New York, 1998.
0.2
Error of speed(%)

0.1

[10] J. L. Ha, Y. S. Kung, R. F. Fung, and S. C. Hsien, “A comparison

of fitness functions for the identification of piezoelectric hysteretic
0

actuator base on the real-coded genetic algorithm,” Sensors and

-0.1

Actuators, vol. 132, pp. 643-650, 2006.

-0.2
0 5 10 15
Tims (s)

Fig. 6. The errors of rotating speeds for the three different

methods. [11] C. D. Wong, C. H. Wang, and R. F. Fung, “System identification
Table 1. The parameters of the induction motor of an induction motor,” National Ilan University, Proceedings of the
30th National Symposium of Chinese Society of Mechanical
Engineers
Rs
[12] A. S. Tlili and E. B. Braiek, “A reduced-order robust observer
Rr
using nonlinear parameter estimation for induction motors,” IEEE,
Ls vol. 6, pp. 5, 2002
Lr

Lm
Bm

Jm

6. Conclusion
In the previous studies, only rotating speed can be
measured, and used to do system identification, and the results

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