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Induction Motor
Acknowledgements
This work was supported by Polish Ministry of Science and Higher Education under project R01 010 01.
Keywords
Sensorless control, Induction motor, Non-linear control, Estimation technique, High speed drive.
Abstract
A new adaptive flux observer of induction motor is presented in the paper. The Lyapunov theory is
utilized for derivation of the adaptation law of rotor flux angular speed, which acts as unknown parameter
in an augmented induction motor model. In the field weakening region, where stray fluxes are comparable
with rotor flux magnitude, the air-gap flux stabilization is proposed. An air-gap flux multiscalar model is
derived for stator current and air-gap flux vectors and the multiscalar model based nonlinear control of
induction motor taking advantages of air-gap flux model is applied. The performance of the proposed
sensorless control algorithm is verified experimentally on a DSP-based drive system.
Introduction
Induction motors are widely used in industry both for their properties of reliability and ruggedness and for
their relatively low cost. However, because of their nonlinear behavior, advanced control techniques have
to be applied to meet still-increasing demand of high performance at low cost. Extensive work has been
done to improve performance of induction motor drives concerning the eliminating of rotor speed sensors
[1], particularly at very low speeds [2, 3, 4]. Kubota at al. [1] introduced adaptive scheme for both rotor
flux and rotor speed estimation based on the assumption that during the short time period the rotor speed
is a constant parameter of the induction motor model. The exact speed-adaptation mechanism utilizing
Lyapunov stability theory could make the observer structure more robust and tolerant of noise and
disturbances. However the algorithm proposed by Kubota neglects a term including the actual rotor flux
which is not measurable in a drive system. By this reason in a certain speed regions, especially in
regenerative mode, the precise observer gain selection plays the key-role to achieve system stability [5].
Apart from low speed region special attention should be paid to sensorless operation of induction motor in
the field weakening region [2]. Constant power limit operation plays important role in high speed
applications such as traction, spindle drives and electric vehicles. In the field weakening, while the
lowered flux level strongly depends on estimated speed, the estimation and control algorithms should be
no longer considered separately.
In [2] the modified Kubota's observer has been considered. The rotor flux and stator flux observer
linearization has been proposed for analysis purpose to help selecting the observer gains and to prevent the
risk of instability at higher speeds. Although stator and rotor fluxes are chosen as new state variables in
observer [2], an estimated stator current has to be calculated from estimated fluxes and inductances and
the stator current estimation errors act as observer correction signals.
A sliding mode control scheme combined with closed loop rotor flux observer has been considered in [4]
to make possible rotor flux regulation in the flux weakening region. The electromotive force (EMF)
control has been applied. The unknown real EMF has been replaced with the estimated one from a rotor
flux observer. The proposed observer correction signal in rotor flux equation in [4] consists of the
difference signal between desired rotor flux and estimated rotor flux. Since the adaptation signal in [4] has
the meaning of EMF, the rotor speed can be estimated from an algebraic equation.
As distinction to the above mentioned methods a convenient approach to sensorless control of induction
motor has been introduced in [6], where application of nonlinear controller coupled with high performance
speed observer has been presented. Appropriate change of variables, applied in [6], transforms traditional
vector model of induction motor into so-called ‘multiscalar’ model. The fourth-order multiscalar model of
induction motor consists of state variables, which all are scalars. As it has been shown, the multiscalar
model can be exploited to linearize the control of induction motor in simple way using nonlinear feedback.
The multiscalar variables are: the rotor speed, the electromagnetic torque, the square of rotor flux vector
norm and the scalar product of rotor flux and stator current vectors [7, 8]. Speed observer proposed in [6]
is derived from the induction motor vector model determined in stationary frame. The back EMF signals
are treated in [6] as internal disturbances. Although the disturbance signals vary sinusoidally in steady
state, they have been preliminary assumed to be constant in [6] and estimated in pure integrators. Stator
current error signals have been used as the inputs to these additional integrators. System performances are
guaranteed on a basis of the assumption, that existence of a small sinusoidal stator current error does not
interfere with the performance of control of the multiscalar variables. From the practical point of view
such approximation can be acceptable in speed control region from small to near nominal speeds but it can
be no longer valid for higher speeds, particularly in field weakening region. For higher speeds significant
current errors interfere the whole system stability. Although some improvements to sped observer
structure [6] has been made in [9], the authors of the presented paper will show that application of
simplified disturbance model to the speed observer structure [6] instead of pure integrators and proper
choice of rotor flux speed adaptation law make the multiscalar model based (MMB) sensorless control
system stable in wide speed range. Also for the stability reason the airgap flux control is selected rather
than rotor flux to stabilize the whole system in the field weakening region.
Induction motor model
Under the assumption that in a short time period the rotor speed ωr remains constant, the dynamical
model of the induction motor can be expressed in α-β stationary frame of references in the form:
A B D
T
y = [ I 0] x = isα isβ (2)
C
T
x = isα isβ ψ rα ψ r β (3)
T
u = usα us β (4)
T
ζ = f ( C1x ) = ζ α ζ β (5)
where y is the output vector of stator currents, x is the state vector of stator currents and rotor fluxes, u is
the input vector of stator voltages and ζ is the disturbance vector [6]. Furthermore wσ =Ls Lr -L2m ,
0 −1 1 0
C1 = [ 0 I ] , J = , I= Ls , Lr , Lm are the stator, rotor and mutual inductances, Rs , Rr are the
1 0 0 1
stator and rotor resistances.
dθψ
= ωψ (8)
dτ
the simplified disturbance model can be derived:
dζ α
= −ωψ ωrψ r sinθψ = −ωψ ζ β (9)
dτ
dζ β
= ωψ ωrψ r cos θψ = ωψ ζ α (10)
dτ
where ωψ is the rotor flux vector angular speed, ψ r is the rotor flux amplitude and θψ is the rotor flux
angle. Equations (9) - (10) describe sinusoidal oscillator which is stable when ωψ , ωr and ψ r are bounded.
( ) (i )
T T
e is = eisα eisβ = isα − iˆsα − iˆsβ (11)
sβ
has the same direction that disturbance vector (5) and is orthogonal to calculated disturbance error vector
eζcalc :
( ) ( ωˆ ψˆ )
T T
eζcalc = eζcalc eζcalc ˆ ˆ ˆ − ζˆ β
α β = ωr ψrα − ζ α r rβ (12)
The speed observer [6] consist of two linear decoupled observers of variables iˆsα , ψˆ rα , ζˆβ and iˆsβ , ψˆ rβ , ζˆα
and the rotor speed ωˆ r is estimated from an algebraic equation. The amplified αβ components of the
calculated disturbance error vector eζcalc act as coupling terms instead unobtainable disturbance error
signals. They are added in conjugate form to rotor flux observer equations to eliminate constant
component from estimated rotor speed signal.
Slightly modified disturbance observer can be obtained instead the pure integrators appeared in [6] by
adding amplified stator current errors in conjugate form to disturbance model (9) - (10). The full order
Luenberger type rotor flux and disturbance observer received in this way can be written in the form:
diˆsα R L2 +R L2 RL L L
= − s r r m ˆisα + r m ψˆ rα + m ζˆ β + r usα +k11eisα − k12eisβ (13)
dτ Lr wσ Lr wσ wσ wσ
dψˆ rα Rr Lm ˆ R
= isα − r ψˆ rα − ζˆ β − k3eisα (15)
dτ Lr Lr
dψˆ rβ Rr Lm ˆ R
= isβ − r ψˆ rβ +ζˆ α − k3 eisβ (16)
dτ Lr Lr
dζˆ α
ˆ ψ ζˆ β − k4 eisβ
=−ω (17)
dτ
d ζˆ β
= ωˆ ψ ζˆα + k4 eisα (18)
dτ
where the angular speed of rotor flux ωˆ ψ can be treated as unknown constant parameter estimated with
certain error:
The adaptation law for the angular speed of rotor flux ωˆ ψ can be derived if the disturbance error will be
added to stator current estimation equations (13) and (14):
diˆsα R L2 +R L2 RL L L
= − s r r m ˆisα + r m ψˆ rα + m ζˆ β + r usα +k11eisα − k12eisβ − k13eζβ (20)
dτ Lr wσ Lr wσ wσ wσ
Then the rotor flux speed ωˆ ψ adaptation law can be obtained in the form:
ˆψ
dω
dτ
(
= −γ ζˆ α eζβ − ζˆ β eζα ) (22)
In the proposed observer the rotor speed ω̂r can be estimated from algebraic equation:
ζˆ α ψˆ rα +ζˆ β ψˆ rβ
ω̂r = 2 2
(23)
ψˆ rα +ψˆ rβ
As distinguished from [6] in speed estimation law (23) no additional determination of sign signal is
needed. It is worth noted that in [1] unmeasurable terms have been appeared in observer structure derived
from Lyapunov theory and they have been omitted in practical application. Similar problem appear in
equations (20) - (22). By the reason of the impossible measurement of the disturbance vector in the drive
system, the disturbance errors eζα and eζ β can not be immediately used. Following Krzemiński [6] we
propose to replace unobtainable disturbance errors eζα and eζ β by the calculated ones (12). Calculated
disturbance errors (12) plays the role of unique correction signals and forces the phase coincidence of
estimated rotor fluxes and disturbances. In the proposed structure two linear observers of iˆsα , ψˆ rα , ζˆβ and
iˆsβ , ψˆ rβ , ζˆα are coupled by disturbance model structure and constant component does not appear in the
estimated rotor flux vector components signals.
Air-gap flux vector can be estimated from the rotor flux vector components ψˆ rα , ψˆ rβ and stator current
vector components iˆsα , iˆsβ :
Lm L L
ψˆ mα = ψˆ rα + m σr iˆsα (24)
Lr Lr
Lm L L
ψˆ mβ = ψˆ rβ + m σr iˆsβ (25)
Lr Lr
ˆr
z11 = ω (26) z12 = ψˆ mαˆisβ − ψˆ mβ ˆisα (27)
2
z21 = ψˆ mα 2
+ ψˆ mβ (28) z22 = ψˆ mαˆisα + ψˆ mβ ˆisβ (29)
Multiscalar variables are equal to the estimated rotor speed (26), the estimated electromagnetic torque
(27), the estimated square of air gap flux vector magnitude (28) and an estimated reactive torque (29).
Between the multiscalar variables transformed from the rotor flux model [7] and the air gap flux model
(26) - (29) proceeds:
2 2 2 2
x +x z +z
Iˆs2 =iˆsα2 +iˆsβ2 = 11 12 = 11 12 (30)
x21 z21
z11
Lr
x11 z12
x Lm
12 = L2 Lr Lσr
(31)
x21 r
z −2 2 ˆ2
z22 +Lσr I s
Lm
2 21
Lm
x22
Lm ˆ 2
z22 − Lσr I s
L
r
where Iˆs denotes amplitude of estimated stator current vector. The dynamics of (26) - (29) are:
dz11 1 1
= z12 − TL (32)
dτ J J
dz12 R L +R L L L L − Lm Lσr L L L z 2 +z 2 L
= − r s s r z12 +z11 r z21 − r σs z22 + m σs σr 12 22 + m u z1 (33)
dτ wσ wσ wσ wσ z21 wσ
dz21 2R L R L − Rr Lσs L L L 2L L
= − r σs z21 − 2Lm s σr z22 +2 m σs σr z11 z12 + m σr uz2 (34)
dτ wσ wσ wσ wσ
2 2
dz22 R L +R L L L − Lm Lσr R R L − Rr Lσs z12 +z 22 2L L
= − r s s r z 22 + r σs z11 z12 + r z 21 − Lm s σr + r u z2 − m u x2
dτ wσ wσ wσ wσ z 21 wσ wσ
(35)
where Lσs and Lσr denote stator and rotor stray inductance, TL denotes load torque and J denotes
moment of inertia.
Two control variables uz1, uz 2 appear in differential equations for three multiscalar variables: z12 , z21 and
z22 . That means the variable z21 which is the square of air-gap flux amplitude can be controlled directly.
Such property characterizes multiscalar models of type 2 [10]. It should be noted that the control u x2
which is equal to the control input of the rotor flux multiscalar model has been written in (35) only for
simplification of mathematical notation. It can be shown that between control variables of rotor flux
multiscalar model ux1, ux2 and air-gap flux multiscalar model uz1, uz 2 the following dependencies appear:
L2r
z21 − 2Lr Lσr z22 +Lm L2σr Iˆs2
Lm Lm Lσr z12
u x1 = uz1 (36)p ux2 = uz2 − u z1 (37)
Lr z21 − Lm Lσr z22 Lr z21 − Lm Lσr z22
the problem of input - output linearization of induction motor model is reduced to linearization the
behavior between inputs u z1 , uz2 and outputs z11 , z21 of the multiscalar model (32) - (34). The feedback in
the form:
L L L − Lm Lσr z 2 +z 2 w
uz1 = − z11 r z21 − r σs z22 +Lσs Lσr 12 22 + σ m1 (39)
Lm Lm z21 Lm
fully linearizes the mechanical subsystem (32) - (33) and the feedback in the form:
Rs Lσr − Rr Lσs wσ
uz2 = z22 − Lσs z11 z12 + m2 (40)
Lσr 2Lm Lσr
partially linearizes the electromagnetic subsystem because internal dynamics (35) remains nonlinear.
It can be proved that in the proposed system where two outputs z11 and z21 are controlled with two inputs
u z1 , uz 2 the internal dynamics z22 remains stable after small deviation from the steady state if following
condition is fulfilled:
2
(
− ( Rs Lr + Rr Lm )( Lr z21 − Lm Lσr Z 22 ) + Rr wσ z12
2
)
− 2 Lr Lσr z11 z12 z21 L2m Lσr < 0 (41)
Lr L L
z22 = z21 + m σr I s2 (44)
Lm ( Lr + Lσr ) Lr + Lσr
Equations for steady state inputs of the rotor flux multiscalar models are [7]:
Rr Ls +Rs Lr w + L2m
u x1 = x12 + σ
L L 11 21
x x (45)
Lr r m
Rs w L x2
u x2 = x21 − σ x11 x12 − Rr wσ m2 12 (46)
Lm Lr Lr x21
The maximum limit of the available steady-state electromagnetic torque z12 and the air gap flux square z21
for certain rotor speed z11, current rating Is and voltage constraint Usmax can be obtained by combining
(45), (46) and (42) and applying transformation (31):
4 3 2
H 1 z12 H 2 z12 H 3 z12
+ + + H 4 z12 + H 5 ( H 6 z21 − H7 ) ≤ U sMAX
2
(47)
( H 6 z21 − H7 )3 ( H 6 z21 − H7 )2 ( H 6 z21 − H7 )
where:
H 1=
Rr2 wσ2 L4m
, H 2=
2Rr wσ2 L2m z11
, H3 =
( R L +2R R L +R L
2 2
r s r
2
s m
2 2
s r + wσ2 z11
2
)
L6r L4r L2r
H4 =
(
2 Rr L2s + Rs L2m )z (
L2r L2s z11
2
+ Rs2 ) 2L2 L
H 6 = 1 − r3 σr
2 2Lσr 2
11 , H 5 = , H7 = Lσr 1+ Is
L2m L4m Lm Lr
Current constraint
The multiscalar variables of air-gap flux model should satisfy the following relation:
2 2
z12 +z22 2
≤ I sMAX (48)
z21
Under maximum stator current Ismax the relation of z12 and z21 can be obtained combining (44) and (48):
L2r 2
2 2
(
2
)
2 2 4
2 z21+ Lr +Lσr I sMAX z21 -Lm Lσr I sMAX
L
2
z12 ≤ m 2
(49)
( Lr +Lσr )
Experimental results
Performances of proposed multiscalar model based sensorless drive with 22kW, 4-pole induction motor
have been investigated for four speed regions: normal speed (Fig. 3), enter field weakening (Fig. 4), high
speed region (Fig. 5) and low speed region (Fig. 6). In deep field weakening region the speed signal
determines the lowered flux command and must be filtered. Therefore an increased speed error appears in
transients.
Fig. 3: Constant torque region (half of nominal Fig. 4: Enter field weakening region, Ismax=1,
load), nominal torque z12n=0.837; Usmax=0.78, base speed z11base= 0.748
nominal flux z21n=0.836
Fig.5: High speed region - filtering of rotor speed Fig.6: Performance of proposed flux observer in
signal increases speed error in transients low speed region (half of nominal load)
Conclusion
The proposed sensorless multiscalar model based control system with novel adaptive flux observer
characterizes good performance in wide speed region including low speed and field weakening region.
Application of disturbance model in disturbance observer instead of pure integrators ensures cancellation
of the stator current error in high speed region which distinguishes the observer from the previous one.
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