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Parameter Sensitivity of Full-Order Flux Observers For IM
Parameter Sensitivity of Full-Order Flux Observers For IM
Abstract—This paper deals with flux estimation for induction flux observer. Based on the analysis, simple methods to
motor drives. The equations of the parameter sensitivity of both determine robust observer gains combining the current model
the rotor flux estimation and the torque production are derived for and the voltage model behavior are proposed. The observer
a full-order flux observer. Based on the parameter sensitivity anal-
ysis, practical methods of designing robust observer gains com- using the proposed gain is studied by means of analysis and
bining the current model and the voltage model are proposed. The experiments.
proposed gains are easy to tune and lead to a simple observer struc-
ture. Experimental results show that for inaccurate parameter es- II. INDUCTION MOTOR MODEL
timates, both the steady-state and dynamic errors in the produced
torque are small as compared to the current model. Furthermore, The parameters of the dynamic inverse- -equivalent circuit
high-speed operation is possible without modeling the magnetic of an induction motor are the stator resistance , the rotor re-
saturation even if motor parameters are highly erroneous. sistance , the stator transient inductance , and the mag-
Index Terms—Full-order flux observer, induction motors, pa- netizing inductance . The electrical angular speed of the
rameter sensitivity. rotor is denoted by , the angular speed of the reference frame
, the stator current space vector , and the stator voltage .
I. INTRODUCTION When the stator flux and the rotor flux are chosen as state
variables, the state-space representation of the induction motor
(1a)
motor parameters. A problem is that actual parameters of the
motor vary with temperature (resistances) and magnetic satu-
ration (inductances). Inaccurate motor parameters may cause
input–output torque nonlinearity and saturation of the motor (1b)
[1]. Consequently, the flux estimator should be as insensitive
to varying parameters as possible. The parameter sensitivity
of both the flux estimation and the torque production for the where the state vector is , and the parameters
conventional indirect field orientation control was analyzed are , , and .
in [1]. The parameter sensitivities of the usual reduced-order The electromagnetic torque is
flux observers used in direct field orientation control were
compared in [2], and an observer combining the current and (2)
voltage models was proposed.
The full-order flux observer [3], [4] is a versatile flux esti- where is the number of pole pairs and the complex conjugate
mator for both speed-sensored and speed-sensorless drives. It is marked by the symbol .
offers good performance and robustness against measurement
noise. An observer gain determines the properties of the ob- III. FULL-ORDER FLUX OBSERVER
server. The selection of the observer gain has a major influence
on the parameter sensitivity of the observer. A. General Reference Frame
This paper presents the steady-state parameter sensitivity Conventionally, the stator current and the rotor flux are
analysis of both the flux estimation and the torque production used as state variables in full-order flux observers. However,
for rotor flux orientation controlled drives using a full-order choosing the stator and rotor fluxes as state variables is
preferred since no inductance derivatives are needed and the
Paper IPCSD 03–067, presented at the 2002 Industry Applications Society modeling of magnetic saturation becomes simpler. In addition,
Annual Meeting, Pittsburgh, PA, October 13–18, and approved for publica- the observer could be used with stator flux orientation control
tion in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Industrial or direct torque control [5] as well as with rotor flux orientation
Drives Committee of the IEEE Industry Applications Society. Manuscript sub-
mitted for review August 1, 2002 and released for publication May 12, 2003. control. The full-order flux observer using the fluxes as state
This work was supported in part by ABB Oy. variables is defined by
The authors are with the Power Electronics Laboratory, Helsinki University
of Technology, FIN-02015 HUT, Finland (e-mail: marko.hinkkanen@hut.fi; (3a)
jorma.luomi@hut.fi).
Digital Object Identifier 10.1109/TIA.2003.814560 (3b)
0093-9994/03$17.00 © 2003 IEEE
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1128 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 39, NO. 4, JULY/AUGUST 2003
where the observer state vector is , and the where is the angular stator frequency. The relation between
system matrix and the observer gain are the stator voltage and the stator current is
(5)
(3c) and between the stator voltage and the rotor flux
respectively, where the estimates are marked by the symbol .
(6)
B. Implementation in the Estimated Flux Reference Frame
where the angular slip frequency is . The ex-
The reference frame of the observer (3) can be selected freely.
pression for the estimated rotor flux is given in (7), shown at the
The full-order flux observers are often implemented in the stator
bottom of the page. The desired relation is obtained by
reference frame, i.e., (direct rotor flux orientation). The
inserting (5) into (7) and then dividing both sides of (7) by (6).
observer can also be implemented in the estimated rotor flux ref-
Relations for other estimators and observers as well as compar-
erence frame, i.e., and , where is the
isons of various observers can be found in [7]–[9].
angular speed of the estimated rotor flux. The observer (3) di-
The relation can also be used in the case of speed-
vided into components in the selected reference frame becomes
sensorless drives, where the observer (3) is augmented with a
speed-adaptation law. The slip frequency in (7) should be
replaced with its estimate , where the speed
(4a) estimate is a steady-state solution of the speed-adaptation
law and can be obtained, e.g., by using iteration [10].
(4b) It is interesting to consider two important flux estimators, the
current model and the voltage model, as two special cases of
(4c) the full-order flux observer (3). A real-valued observer gain is
considered, i.e., and . The current model is
where
obtained by choosing the observer gain
(4d)
(8)
and the entries of the observer gain are divided into real and (9)
imaginary components: and . The
angular speed of the estimated rotor flux is solved from (3) by where the rotor time constant is . Equation (9)
using the fact that the imaginary component of is zero equals the result given in [2] for the current model. The voltage
model behavior is obtained by choosing
(4f) (10)
where the sign of is chosen according to stability conditions.
and the angle of the estimated flux is obtained simply by in-
In practice, it is sufficient to choose considerably smaller than
tegrating . It is worth noting that the implementation (4) of
. In order to avoid pure integration, should be chosen slightly
the observer resembles the conventional indirect rotor flux ori-
larger than . Equation (10) leads to the relation
entation, see also [6]. A computationally efficient digital imple-
mentation of (4) is given in the Appendix.
(11)
IV. PARAMETER SENSITIVITY ANALYSIS
which equals the result given in [2] for the voltage model.
A. Steady State 2) Torque Production: If the drive is operated in the torque
1) Flux Estimation: The parameter sensitivity of the flux mode, i.e., the speed-control loop is disabled, the accuracy of
observers can be analyzed by means of the steady-state expres- the produced torque is crucial. Parameter sensitivities of the flux
sion for [2]. The following steady-state relations are ob- estimation and torque production are closely related as will be
tained by inserting and into (1) and (3), shown. A typical rotor flux orientation control scheme is shown
(7)
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HINKKANEN AND LUOMI: PARAMETER SENSITIVITY OF FULL-ORDER FLUX OBSERVERS FOR INDUCTION MOTORS 1129
TABLE I
PARAMETERS OF THE 2.2-kW FOUR-POLE 400-V 50-Hz MOTOR
Fig. 1. Rotor flux orientation control. The electrical variables shown on the
left-hand side of the coordinate transformations are in the estimated rotor
flux reference frame and the variables on the right-hand side are in the stator
reference frame. If the observer is implemented in the stator reference frame,
the complex-valued inputs of the observer are taken from the right-hand side
of the coordinate transformations.
Fig. 3. Example of the observer gain for combining the current model and
the approximate voltage model. Real-valued gain components (l l= = 0,
l = l ).
Fig. 2. The actual rotor flux of the motor, the estimated flux, and the stator B. Dynamics
current.
The dynamics of the estimation error of the state
in Fig. 1. The magnitude of the rotor flux estimate is controlled vector can be written based on (1) and (3)
by using a flux controller, and the angle of the flux estimate is (15)
used in the coordinate transformation. Consequently, the refer-
ence of the rotor flux is in the steady state. In the where the error matrices are and . In
following, the axis of the reference frame is fixed to the actual practice, dynamic analysis of the system (15) including param-
rotor flux of the motor as shown in Fig. 2. The actual flux is real, eter errors becomes cumbersome. Consequently, the effect of
i.e., . The flux estimate can be written as parameter errors on dynamics are studied using computer sim-
ulations and experiments.
(12) The rotor speed can be assumed to be constant if the mechan-
where is the angle between ical dynamics are much slower than the electrical dynamics. The
the estimated flux and the actual flux. If the current regulation dynamics of the system without parameter errors ( ,
is assumed to be ideal, the reference torque is ) can then be easily analyzed since the system (15) be-
comes linear.
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1130 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 39, NO. 4, JULY/AUGUST 2003
(a) (b)
(c)
Fig. 4. Parameter sensitivities using the observer gain (16) with l = ^ are shown by the continuous lines. (a) R
R ^ = 0:5R . (b) R
^ = 0:5R . (c) L
^ =
0:5L . The parameter sensitivities of the voltage model (a) and the current model (b), (c) are shown by the dashed line. The slip corresponds to the rated-load
torque in perfect field orientation.
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HINKKANEN AND LUOMI: PARAMETER SENSITIVITY OF FULL-ORDER FLUX OBSERVERS FOR INDUCTION MOTORS 1131
(a) (b)
(c) (d)
(e) (f)
Fig. 5. Parameter sensitivities using the observer gain (16) with k = ^ = 0:5R . (b) R
0:8, k = 0:2 are shown by the continuous lines. (a) R ^ = 0:5R .
^ = 0:5L . (d) R
(c) L ^ = 1:5R , (e) R ^ = 1:5R . (f) L ^ = 1:5L . The parameter sensitivities of the voltage model (a), (d) and the current model
(b), (c), (e), (f) are shown by the dashed line. The slip corresponds to the rated-load torque in perfect field orientation.
regeneration and motoring modes are similar as can be seen without causing too much sensitivity to the stator parameters. In
from Fig. 4(b) and (c). the motoring mode operation, good results are obtained simply
selecting , e.g., . However, the regenera-
B. Complex-Valued Gain tion mode operation is more problematic, especially in the case
of small motors. When in the regeneration
If some of the stator dynamics are taken into account also mode and is selected, the sensitivity to the rotor re-
at low speeds, sensitivity to the rotor parameters can be reduced sistance increases compared to the selection .
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1132 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 39, NO. 4, JULY/AUGUST 2003
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HINKKANEN AND LUOMI: PARAMETER SENSITIVITY OF FULL-ORDER FLUX OBSERVERS FOR INDUCTION MOTORS 1133
Fig. 10. Experimental results showing the ratio of the reference torque to the
measured torque for the full-order flux observer under erroneous parameters.
Measurement was similar to that of Fig. 7.
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1134 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 39, NO. 4, JULY/AUGUST 2003
VIII. CONCLUSIONS
The parameter sensitivity of the full-order flux observers can
be analyzed using analytical relations derived in the paper. The
connection between the full-order flux observer and the current
and voltage models was clarified. Based on the parameter sensi-
tivity relations, practical methods of designing robust observer
gains combining the current model and the voltage model are
proposed. Parameter sensitivity studies both in the regeneration
and motoring modes show that the desired combination of the
current and voltage models was achieved. Proposed gains are
easy to tune and lead to a simple structure of the observer.
Fig. 13. Experimental results showing dynamic operation of the observer Experimental results obtained using the observer with the
^
using the proposed gain, R
0:5R . The explanations of the curves are as proposed gain show that both the steady-state and dynamic
in Fig. 11.
errors in the produced torque under erroneous parameters
are small as compared to the current model. Running out of
errors between the measured torque and the reference torque are the voltage at higher speeds (caused by the saturation of the
much smaller than in Fig. 11. The reference speed is achieved motor due to inaccurate flux estimation) was not a problem.
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HINKKANEN AND LUOMI: PARAMETER SENSITIVITY OF FULL-ORDER FLUX OBSERVERS FOR INDUCTION MOTORS 1135
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REFERENCES
[1] R. Krishnan and F. C. Doran, “Study of parameter sensitivity in high- Jorma Luomi (M’92) was born in Helsinki,
performance inverter-fed induction motor drive systems,” IEEE Trans. Finland, in 1954. He received the M.Sc. (Eng.) and
Ind. Applicat., vol. IA-23, pp. 623–635, July/Aug. 1987. D.Sc. (Tech.) degrees from Helsinki University of
[2] P. L. Jansen and R. D. Lorenz, “A physically insightful approach to Technology, Espoo, Finland, in 1977 and 1984,
the design and accuracy assessment of flux observers for field oriented respectively.
induction machine drives,” IEEE Trans. Ind. Applicat., vol. 30, pp. In 1980, he joined Helsinki University of Tech-
101–110, Jan./Feb. 1994. nology, and from 1991 to 1998, he was a Professor at
[3] G. C. Verghese and S. R. Sanders, “Observers for flux estimation in Chalmers University of Technology. Since 1998, he
induction machines,” IEEE Trans. Ind. Electron., vol. 35, pp. 85–94, has been a Professor in the Department of Electrical
Feb. 1988. and Communications Engineering, Helsinki Univer-
[4] H. Kubota, K. Matsuse, and T. Nakano, “DSP-based speed adaptive flux sity of Technology. His research interests are in the
observer of induction motor,” IEEE Trans. Ind. Applicat., vol. 29, pp. areas of electric drives, electric machines, and numerical analysis of electro-
344–348, Mar./Apr. 1993. magnetic fields.
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