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Consideration About Problems and Solutions of Speed Estimation Method and Parameter Tuning For Speed-Sensorless Vector Control of IM Drives
Consideration About Problems and Solutions of Speed Estimation Method and Parameter Tuning For Speed-Sensorless Vector Control of IM Drives
5, SEPTEMBER/OCTOBER 2002
Abstract—A classical model-based speed-sensorless field-ori- The latter limitation has pushed many researchers to
ented control method for a general-purpose induction machine abandon the classical methods for speed estimation and try to
is considered. Improved versions of both speed and stator resis- use second-order phenomena, like saturation-induced saliencies
tance online estimators are presented with the aim of extending
control capabilities down to zero speed. Only electrical stator [1]–[4], to make the rotor speed observable regardless of the
measurements are needed, making the method suitable for fundamental excitation frequency. However, the symmetrical
general-purpose inverter applications. Online rotor resistance structure of general-purpose induction machines makes the
tuning is also included to fully compensate for thermal drift. tracking of saturation-induced saliency very critical and, what
Performance of the proposed drive is investigated by simulation is more important, such a saliency has been shown to be not
and experiments.
necessarily oriented along the direction of the main flux. In
Index Terms—Induction motor, parameter tuning, speed particular, closed-slot machines show saturation characteristics
estimation, speed sensorless, vector control. which are significantly load dependent.
The above-mentioned problems make these new methods
I. INTRODUCTION not very suitable for industrial application to general-purpose
inverters because their possible, although still questionable,
Fig. 2. Stator current loci for different operating conditions; ! and ! are expressed in radians per second. The arrows indicate the direction of increasing R
for a given couple (! ; ! ); kv k = 0:5 1 ! ; v = v .
where TABLE I
3.7-kW FOUR-POLE 200-V 50-Hz INDUCTION MOTOR PARAMETERS
(a)
(b)
Fig. 3. Simulation results with fixed R (3.7-kW machine).
(a)
(b)
Fig. 4. Simulation results with R online tuning (3.7-kW machine).
V. IMPROVEMENT OF SPEED ESTIMATION However, the second term of (4) includes the actual rotor flux
which is not measurable. Simply neglecting that term leads to
From (1) and (2), considering the resistances constant and
an algorithm which is widely used for speed estimation
known, and using the Lyapunov’s theorem, a globally stable
speed estimation algorithm can be obtained [5]
(5)
(6)
is the current observation error, is the cross product of vectors, where is a positive gain, and and are magnetizing
and is the time constant of the integrator. and torque current, respectively. Magnetizing current estimation
1286 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 5, SEPTEMBER/OCTOBER 2002
TABLE II
7.5-kW FOUR-POLE 200-V 50-Hz INDUCTION MOTOR PARAMETERS
(a)
(a)
(b)
Fig. 6. Experimental results; zero frequency crossing (7.5-kW machine). Load
+
torque: 80%.
(b) (8)
Fig. 5. Experimental results with R online tuning (3.7-kW machine). Speed
0
reference: 150 r/min; load torque: 100%.
where is the nominal magnetizing current of the motor. Fig. 2
shows the relationship between the point and the stator cur-
rent loci for variations, giving also a graphical explanation
error is used instead of the unmeasurable flux error in (3) as for the convergence of (7).
an attempt to improve the stability margin during regeneration. Convergence of this algorithm has been proved in the case of
Simulation analysis has shown that the sign of this additional measurable speed for any load condition. However, when ap-
term is to be changed according to the direction of rotation of plied to speed-sensorless drives there are some problems if the
the current vector. Variable gain according to the load level of load is not sufficiently high. In fact, if the motor is unloaded,
the machine also improves estimation performance. it is possible to demonstrate that speed and primary resistance
detunings affect the stator current estimated by (2) in exactly
VI. ONLINE RESISTANCES ESTIMATION the same way and, therefore, simultaneous estimation of those
A. Stator Resistance Estimation parameters is not possible. An improved version is, therefore,
A stator resistance estimation algorithm based only on stator developed [9], given by
current measurements was proposed in [6]
(7) (9)
TAJIMA et al.: SPEED-SENSORLESS VECTOR CONTROL OF INDUCTION MOTOR DRIVES 1287
(a) (b)
(c)
Fig. 7. Experimental results; steady-state characteristics (7.5-kW machine). Load torque: +100%.
where the first term inside brackets is the original adaptive law, of the harmonic magnetizing current and the rotor resistance.
while the second term, active at light load ( is the nom- This allows us to write the following simple adaptive law:
inal torque current), is added to increase the stability margin.
Due to the theoretical limitation cited above, the stator resis-
tance cannot be tuned at no load, but the minimum allowable (11)
load for reliable estimation is significantly improved by using
the modified version (9). where is a positive gain and and are, respectively,
the measured and observed harmonic components of the mag-
B. Rotor Resistance Estimation netizing current.
A rotor resistance estimation algorithm was proposed in [8].
Since it is known that rotor resistance cannot be identified inde- VII. SIMULATION RESULTS
pendently from the speed in steady state, an additional harmonic
The system of Fig. 1 has been simulated using SIMULINK.
is added on the magnetizing current command
Motor parameters are those listed in Table I (3.7-kW general-
purpose induction motor).
(10) Fig. 3 shows the result of a 100%, regenerative load impact.
In this simulation, and online tunings are not activated
where is the amplitude of the harmonic component. The and actual stator resistance is 3% bigger than the value used by
injected frequency should be small enough so that the related the controller; speed reference is set to 150 r/min. When the con-
skin effect is negligible. ventional algorithm (5) is used for speed estimation, the system
It may be shown [8] that, by properly choosing the injected is unstable after the load torque is applied [Fig. 3(a)]. However,
frequency, there is a unique relationship between the magnitude using the proposed speed estimator (6), the drive is stable under
1288 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 5, SEPTEMBER/OCTOBER 2002
Zero speed can be successfully controlled regardless of the [10] P. Tiitinen et al., “Synchronous motor drives based on direct flux
load and even zero frequency can be approached without losing linkage control,” in Proc. EPE’97, vol. 1, Trondheim, Norway, 1997,
pp. 434–439.
stability. Persistent operation at zero frequency is not possible,
but stable crossing is very well possible, even at a reasonably
slow rate.
The proposed drive can compete with a speed-sensor- Hirokazu Tajima was born in Tokyo, Japan, in 1967.
equipped drive if continuous operation at ac excitation and He received the B.E. and M.E. degrees in electrical
engineering from The University of Tokyo, Tokyo,
high load is not required and speed control accuracy can be Japan, in 1990 and 1992, respectively.
somewhat loose around standstill. In 1992, he joined Fuji Electric Corporate R&D
Further investigation is going on to increase the speed and Ltd., Tokyo, Japan. Since April 2000, he has been
with Fuji Electric Company, Ltd., Mie, Japan. His re-
torque control accuracy and enhance the overall stability around search interests are control theory and its application
the theoretical unobservable point. to motor drives.
Mr. Tajima is a member of the Institute of Elec-
trical Engineers of Japan.
REFERENCES
[1] P. L. Jansen and R. D. Lorenz, “Transducerless field orientation concepts
employing saturation-induced saliencies in induction machines,” IEEE
Trans. Ind. Applicat., vol. 32, pp. 1380–1393, Nov./Dec. 1996. Giuseppe Guidi (M’00) was born in Rieti, Italy, in
[2] M. Schroedl, “Sensorless control of AC machines at low speed and 1970. He received the “Laurea” degree in electrical
standstill based on the INFORM method,” in Conf. Rec. IEEE-IAS engineering from the University of L’Aquila,
Annu. Meeting, San Diego, CA, 1996, pp. 270–277. L’Aquila, Italy.
[3] A. Consoli, G. Scarcella, and A. Testa, “A new zero frequency flux posi- During 1996, he was a Cooperative Researcher
tion detection approach for direct field oriented control drives,” in Conf. at The University of Tokyo, Tokyo, Japan. In 1998,
Rec. IEEE-IAS Annu. Meeting, Phoenix, AZ, 1999, pp. 2290–2297. he joined Fuji Electric Corporate R&D, Ltd., Tokyo,
[4] J. I. Ha and S. K. Sul, “Sensorless field-orientation control of an in- Japan. Since 2001, he has been with SIEI SpA,
duction machine by high frequency signal injection,” IEEE Trans. Ind. Gerenzano, Italy. His research interests include
Applicat., vol. 35, pp. 45–51, Jan./Feb. 1999. power electronics and control of high-performance
[5] H. Kubota, K. Matsuse, and T. Nakano, “DSP-based speed adaptive drives.
flux observer of induction motor,” IEEE Trans. Ind. Appl., vol. 29, pp.
344–348, Mar./Apr. 1993.
[6] G. Guidi and H. Umida, “A sensorless induction motor drive for low
speed applications using a novel stator resistance estimation method,”
in Conf. Rec. IEEE-IAS Annu. Meeting, Phoenix, AZ, Oct. 1999, pp. Hidetoshi Umida was born in Hiroshima, Japan, in
180–186. 1956. He received the B.E., M.E., and Ph.D. degrees
[7] H. Hofmann and S. Sanders, “Speed sensorless vector control of induc- in electrical engineering from Tokyo Institute of
tion machines using a two-time-scale approach,” IEEE Trans. Ind. Ap- Technology, Tokyo, Japan, in 1979, 1981, and 1984,
plicat., vol. 34, pp. 169–177, Jan./Feb. 1998. respectively.
[8] G. Guidi and H. Umida, “A novel sensorless induction motor drive with Since April 1984, he has been with Fuji Electric
stall torque capabilities,” in Conf. Rec. IEEJ JIASC, Nagasaki, Japan, Corporate R&D, Ltd., Tokyo, Japan. His research in-
Aug. 1999, pp. 279–282. terests are control theory and its application to motor
[9] G. Guidi, H. Tajima, and H. Umida, “Parameter tuning procedure for drives.
low speed operation of general purpose induction motor drives,” in Conf. Dr. Umida is a member of the Institute of Electrical
Rec. IPEC-Tokyo 2000, Tokyo, Japan, Apr. 2000, pp. 1856–1860. Engineers of Japan.