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5, SEPTEMBER/OCTOBER 2009
Abstract—We propose a current injection-based estimator to In order to find appropriate parameters, iterative tuning tests
identify accurately standstill induction motor (IM) parameters should be performed in the factory. Experienced personnel
necessary for vector control. A mathematical model that faithfully mainly perform a tuning process based on field observations
represents the general deep bar effect is introduced. Then, two
exciting signals with a different frequency are sequentially injected and by experimenting with different combinations of parameter
to track the parameters based on the frequency function of the values [2].
rotor bar. The proposed methodology employs closed-loop control Modern rolling mill plants, paper winding processes, or
of an injected current due to little knowledge of the unknown hoist crane systems, for example, transfer motor torque to
motor, rather than the open-loop voltage injection approaches loads through complex mechanical connections that produce
commonly used in sensorless control schemes. Subsequently, this
control scheme proactively prevents electrical accidents resulting initial load disturbances on the entire system [3], [4]. Improper
from inadequate open-loop voltage injection. Our developed spe- tension control, due to incorrect IM parameters, often causes
cialized offline commissioning test compensates for the phase delay mechanical and electrical problems in the commissioning stage
resulting from the drive, which significantly affects estimation pre- or tuning process. Those involved in plant operations recognize
cision. The effectiveness of the identification technique is validated that this process may appear to be an intimidating and a time-
by means of experiments performed on three different IMs.
consuming task even to skilled engineers. Therefore, it is worth
Index Terms—Closed-loop control of an injected current, fre- mentioning that the motor must be kept at a standstill during
quency function of the rotor bar, standstill induction motor (IM)
the parameter identification process to avoid potential damage
parameter identification, vector control.
to the system and to minimize scheduled downtimes.
In an attempt to overcome the aforementioned problems,
I. I NTRODUCTION
some procedures have been developed to identify vector-
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KWON et al.: STANDSTILL PARAMETER IDENTIFICATION OF VECTOR-CONTROLLED INDUCTION MOTORS 1611
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1612 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 45, NO. 5, SEPTEMBER/OCTOBER 2009
where slip frequency. Using the same approach for the equivalent
inductance, we obtain
Req_hf = Rs + Rr_hf (7a)
Leq_hf = Lls + Llr_hf . (7b) LP F (vdl − R̂eq_lf · idl )2
L̂eq_lf = (14)
From (6), the equivalent resistance and inductance can be ωl LP F (i2dl )
estimated
where vdl and idl represent the ac voltage and current compo-
LP F (vdh · idh ) nents of the LF current test. ωl is the injection current frequency
R̂eq_hf = (8a)
LP F (i2dh ) in the LF current test.
Then, the LF rotor leakage inductance Llr_lf can be
LP F (vdh − R̂eq_hf · idh )2 described as
L̂eq_hf = . (8b) Klr sinh(2αl d) − sin(2αl d)
ωh LP F (i2dh ) L̂eq_lf − L̂ls = L̂lr_lf = √
fl cosh(2αl d) − cos(2αl d)
By combining (5) and (7a), the HF rotor resistance Rr_hf (15a)
becomes where
R̂r_hf = R̂eq_hf − R̂s . (9)
πfl μ◦
αl = . (15b)
The HF rotor leakage inductance Llr_hf is described using ρ
(2) and (9) as
Then, the value of αl d is simply obtained from (15b)
Xlr_hf R̂r_hf
L̂lr_hf = = . (10) πμ◦
ωh ωh αl d = d fl = Kαd fl . (16)
ρ
Hence, we identify the stator leakage inductance as
By using Kαd in (16) and (2), R̂r_dc is given by
L̂ls = L̂eq_hf − L̂lr_hf . (11)
R̂r_hf
R̂r_dc = √ . (17)
From (1), the HF rotor leakage reactance can be written as Kαd fh
3 sinh 2αd − sin 2αd
Xlr_hf = Xlr_dc (12) From (16) and (34) in the Appendix, L̂lr_dc can be formu-
2αd cosh 2αd − cos 2αd lated as
where Xlr_dc denotes the dc rotor leakage reactance. A com- 2
prehensive mathematical development of (12) is presented in L̂lr_dc = Kαd fh L̂lr_hf . (18)
3
the Appendix for those interested.
By combining (10) and (12), the HF rotor leakage inductance Finally, we uniquely determine the rotor resistance and
can be rewritten as leakage inductance at the rated slip frequency as in (19) and
(20), shown at the bottom of the page, where fslip is the
1 3 Klr rated slip frequency. These results indicate that the proposed
L̂lr_hf = √ Llr_dc = √ (13)
fh 2 πμ◦ d fh identification method can provide a deep-bar-effect curve of the
ρ
effective rotor resistance and leakage inductance over the whole
where Llr_dc denotes the dc rotor leakage inductance and the frequency range.
constant Klr represents a proportional coefficient with respect
to the inverse square root of the frequency. IV. S ELECTION OF I NJECTION F REQUENCY AND THE
C URRENT C ONTROLLER D ESIGN
B. LF Current Test A. Selection of Injection Frequency
The same test with an LF current is performed again to The selection of fh in the HF injection test involves a
find the rotor leakage inductance and resistance at the rated tradeoff between the estimated accuracy, due to a better
sinh 2Kαd fslip + sin 2Kαd fslip
R̂r = Kαd fslip R̂r_dc (19)
cosh 2Kαd fslip − cos 2Kαd fslip
3 sinh 2Kαd fslip − sin 2Kαd fslip
L̂lr = L̂lr_dc (20)
2Kαd fslip cosh 2Kαd fslip − cos 2Kαd fslip
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KWON et al.: STANDSTILL PARAMETER IDENTIFICATION OF VECTOR-CONTROLLED INDUCTION MOTORS 1613
B. Offline Commissioning for Phase Delay Compensation C. Current Controller and Observer Design
In the HF test, a phase delay of the feedback current and For single-phase (d-axis) HF current control, in this pa-
a PWM generation delay can give a detrimental effect on the per, we introduce a simple proportional-integral plus resonant
proposed identification accuracy. In this paper, we propose an (PI + R) controller. This controller achieves infinite gain at
offline commissioning process to find the delay effect coming the resonant frequency of concern. The main objective, here,
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1614 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 45, NO. 5, SEPTEMBER/OCTOBER 2009
Fig. 5. Proposed identification and current control scheme. (a) Block diagram of HF current test. (b) Block diagram of LF current test.
is that dc bias current control is performed through the PI where vdl can be simply obtained by subtracting R̂s Ids
action and the resonant controller is responsible for HF current from Vds .
regulation. In combination with both controllers, this approach Here, we choose the observer which is designed as
can effectively deal with closed-loop control of the single-phase
current with an HF component. The PI + R design method x̂˙ = Ax̂ + LC(x − x̂)
leads to an advantage of easy implementation of the proposed
method. The transfer function of the proposed PI + R controller y = x̂2
can be designed as in ⎡ ⎤
0 0 2ωl
KI KR ωcut s A = ⎣0 0 2ωl ⎦
GAC (s) = KP +
s
+ 2
s + ωcut s + ωl2 (or ωh2 )
(28) 0 −2ωl 0
⎡ ⎤
l1
where ωcut and KR represent the 3-dB cutoff frequency and the L = ⎣ l2 ⎦ , C = [1 0 0] (30)
gain of the resonant controller. l3
Unfortunately, it is not trivial to spectrally separate the
desired signal component from the overall signal using the
low-pass filtering at low frequencies. Therefore, the LF current where L = [l1 l2 l3 ]T is a gain matrix. The observer gain
injection test is performed by a simple linear observer instead selection and the phase delay error effect are not at all critical
of the LPF-based scheme of (14). For the purpose of designing in this test since the state dynamics are much slower compared
an observer, a state-space model can be proposed as to the sampling frequency. Then, we obtain L̂eq_lf as
2
x̂1 = vdl sin(ωl t) L̂eq_lf = − (x̂1 − x̂2 ). (31)
1 1 ωl Im
x̂2 = R̂eq_lf Im sin(2ωl t) + ωl L̂eq_lf Im cos(2ωl t)
2 2
1 1 L̂lr_lf is computed by combining (15) and (31). Fig. 5 shows
x̂3 = R̂eq_lf Im cos(2ωl t) − ωl L̂eq_lf Im sin(2ωl t) (29)
2 2 the overall block diagram of the proposed strategy.
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KWON et al.: STANDSTILL PARAMETER IDENTIFICATION OF VECTOR-CONTROLLED INDUCTION MOTORS 1615
TABLE II
I NVERTER S WITCHING F REQUENCIES AND T EST C ONDITIONS
TABLE I
E STIMATED R ESULTS AND E RRORS W ITH K NOWN VALUES
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1616 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 45, NO. 5, SEPTEMBER/OCTOBER 2009
Fig. 9. Estimation results of the HF current test on IM #1. Fig. 11. Reconstructed deep-bar-effect curves of IM #1 over the frequency.
voltage command at the same time. With the use of the PI + R Combining (15) and (16) yields the bar depth of IM #1 as
control and the proposed observer, it can be observed that the d = 1.6 cm. This value and the obtained rotor parameters were
current controller provides complete control over the LF and used to compute the deep-bar-effect curves of IM #1, as shown
HF injection. in Fig. 11. Note that the resulting curves over 250 Hz indicate a
An HF current injection test was chosen for the first step of perfect match between rotor resistance and leakage reactance
the identification of IM #1, as shown in Fig. 9. In this test, as given in (2). This implies that the proposed method can
the value of Ids was determined based on an inaccurate lm . provide frequency characteristics of rotor bars over the whole
At the instant of t = 0.6 s, the identification algorithm started frequency range. Thus, we expect our main idea to lead to a
while the rotor speed was kept at zero. After 0.2 s, all of the wide cross section of exciting ongoing research efforts such as
estimated parameters were stabilized, resulting in a close fit of fault diagnosis and the condition monitoring of IMs.
their known values. In order to reconfirm how close τ̂r matches the “true” one,
At the end of the first estimation process, an LF current injec- we performed the load test using another motor coupled to the
tion test started at the instant of t = 0.4 s, as shown in Fig. 10. testing IM, as shown in Fig. 12. An SS-201 torque sensor from
The estimated parameter quickly converged to the known value Ono Sokki with a maximum level of 200 N · m and ±0.2%
where we observed that the algorithm was stable at steady accuracy was connected to read the actual load torque. Fig. 13
state. The total time taken for both tests was within 1 s. This shows the load test result for the indirect vector-controlled IM
makes the proposed algorithm very promising for automated #3 (17.5 kW). Here, we observe that the torque error is within
self-commissioning of modern industry plants combined with a 20%. The result indicates that the estimated rotor time constant
huge number of IMs. is reasonably accurate for performing practical vector control.
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KWON et al.: STANDSTILL PARAMETER IDENTIFICATION OF VECTOR-CONTROLLED INDUCTION MOTORS 1617
R EFERENCES
[1] P. Vas, Parameter Estimation, Condition Monitoring, and Diagnosis of
Electrical Machines. London, U.K.: Clarendon, 1993.
Fig. 12. Experimental setup for the load test.
[2] J. K. Seok and S. K. Sul, “Induction motor parameter tuning for high-
performance drives,” IEEE Trans. Ind. Appl., vol. 37, no. 1, pp. 35–41,
Jan./Feb. 2001.
[3] J. K. Seok, D. W. Chung, S. H. Song, S. K. Sul, B. K. Kwon, G. W. Park,
W. C. Shin, E. S. Cho, J. S. Lee, and C. H. Choi, “A new approach to
advanced cold mill drive systems,” in Conf. Rec. IEEE IAS Annu. Meeting,
1997, pp. 2125–2130.
[4] M. A. Valenzuela, J. M. Bentley, and R. D. Lorenz, “Sensorless ten-
sion control in paper machines,” IEEE Trans. Ind. Appl., vol. 39, no. 2,
pp. 294–304, Mar./Apr. 2003.
[5] J. R. Willis, G. J. Brock, and J. S. Edmonds, “Derivation of induction mo-
tor models from standstill frequency response tests,” IEEE Trans. Energy
Convers., vol. 4, no. 4, pp. 608–613, Dec. 1989.
[6] S. I. Moon and A. Keyhani, “Estimation of induction machine parameters
from standstill time-domain data,” IEEE Trans. Ind. Appl., vol. 30, no. 6,
pp. 1609–1615, Nov./Dec. 1994.
Fig. 13. Load torque test results for estimated parameters of IM #3. [7] P. J. Coussens, A. P. Van den Bossche, and J. A. C. Melkebeek, “Parameter
estimation for induction motor field oriented control using a non-linear
motor model,” in Proc. Conf. Power Electron. Variable-Speed Drives,
VII. C ONCLUSION 1994, pp. 198–203.
[8] J. K. Seok, S. I. Moon, and S. K. Sul, “Induction machine parameter iden-
This paper has presented a standstill parameter identification tification using PWM inverter at standstill,” IEEE Trans. Energy Convers.,
method for vector-controlled IMs by means of two simple vol. 12, no. 2, pp. 127–132, Jun. 1997.
current injection tests. A deep-bar model has been presented [9] C. Sukhapap and S. Sangwongwanich, “Auto tuning of parameters and
magnetization curve of an induction motor at standstill,” in Proc. IEEE
and a proper closed-loop current controller design has been ICIT, 2002, pp. 101–106.
incorporated in the process as an injection technique. Using an [10] C. B. Jacobina, J. E. C. Filho, and A. M. N. Lima, “Estimating the param-
offline phase delay correction procedure, an accurate parameter eters of induction machine at standstill,” IEEE Trans. Energy Convers.,
vol. 17, no. 1, pp. 85–89, Mar. 2002.
identification is made available. The proposed algorithm is [11] P. L. Alger, The Nature of Induction Machine. New York: Gordon and
implemented in three different IM systems and verified to be Breach, 1965, pp. 265–272.
appropriate for the vector control of unknown IMs. Since the [12] D. W. Novotny and T. A. Lipo, ECE411 Electromechanical Systems–
Lecture Notes, Univ. Wisconsin, Madison, WI, 1986.
proposed identification method can provide a deep-bar-effect [13] O. M. O. Gatous and J. P. Filho, “Frequency-dependent skin-effect for-
curve over the whole frequency range, the main idea can be mulation for resistance and internal inductance of a solid cylindrical
extended to other applications such as fault diagnosis/detection conductor,” Proc. Inst. Elect. Eng.—Microw., Antennas, Propag., vol. 151,
no. 3, pp. 212–216, Jun. 2004.
and condition monitoring of IMs. [14] J. I. Ha and S. K. Sul, “Sensorless field-orientation control of an induction
machine by high-frequency signal injection,” IEEE Trans. Ind. Appl.,
vol. 35, no. 1, pp. 45–51, Jan./Feb. 1999.
A PPENDIX [15] T. M. Rowan, R. J. Kerkman, and D. Leggate, “A simple on-line adaption
for indirect field orientation of an induction machine,” IEEE Trans. Ind.
For a rectangular rotor bar, the dc resistance and inductance Appl., vol. 27, no. 4, pp. 720–727, Jul./Aug. 1991.
per unit length may be obtained as [11] [16] C. H. Choi, K. R. Cho, and J. K. Seok, “Inverter nonlinearity compensa-
tion in the presence of current measurement errors and switching device
ρ parameter uncertainties,” IEEE Trans. Power Electron., vol. 22, no. 2,
Rr_dc = (32a) pp. 576–583, Mar. 2007.
wd
d
Llr_dc = μ◦ (32b)
3w
where w represents the width of the bar slot. By using (32), the
coefficient of the hyperbolic function in (1) can be modified as Young-Su Kwon received the B.S. and M.S. degrees
in electrical engineering from the School of Electri-
πf μ◦ 2 ρ cal Engineering, Yeungnam University, Gyeongsan,
α2 d2 Rr_dc ρ d wd πf μ◦ d 1 Korea, in 2005 and 2008, respectively.
αdRr_dc = = = He is currently with the Automation R&D
αd αd w αd
Center, LS Industrial Systems Company, Ltd.,
d 3 3 3 Cheonan, Korea. His specific research interests are
= 2πf μ◦ = 2πf Llr_dc = Xlr_dc . high-performance electrical machine drives and sen-
3w 2αd 2αd 2αd sorless control of ac machines.
(33)
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1618 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 45, NO. 5, SEPTEMBER/OCTOBER 2009
Jeong-Hum Lee was born in Korea in 1977. He Chang-Ho Choi (M’01–SM’04) received the B.S.
received the B.S. and M.S. degrees in electrical degree from Ajou University, Suwon, Korea, in 1979,
engineering from Inha Uiversity, Incheon, Korea, in the M.S. degree from Seoul National University,
2003 and 2005, respectively. Seoul, Korea, in 1984, and the Ph.D. degree from
Since 2005, he has been with the R&D Center, Hanyang University, Seoul, in 2000, all in electrical
POSCON Corporation, Seoul, Korea, where he is engineering.
currently a Research Engineer. His current research Since 1991, he has been with the POSCON Cor-
interests are motor drive systems and pulsed power poration, Seoul, as a Director, where he actively
systems. developed the factory automation system for steel
manufacturing. He was a Visiting Research Scholar
at Texas A&M University, College Station, from
June 2003 to September 2004. His research interests include high-voltage
inverters, pulsed power systems, renewable energy systems, and their industrial
Sang-Ho Moon was born in Korea in 1975. He applications.
received the B.S. and M.S. degrees in electrical engi- Dr. Choi is a member of the IEEE Industry Applications Society and
neering from Pukyoung University, Pusan, Korea, in Sigma Xi.
2001 and 2003, respectively.
He is currently with POSCON Corporation, Seoul,
Korea, where he is involved in the development
of pulsed power systems for antipollution of air Jul-Ki Seok (S’94–M’98–SM’09) received the B.S.,
environment using plasma technology. His current M.S., and Ph.D. degrees in electrical engineering
interests are motor drive systems and pulsed power from Seoul National University, Seoul, Korea, in
systems. 1992, 1994, and 1998, respectively.
From 1998 to 2001, he was a Senior Engineer
with the Production Engineering Center, Samsung
Electronics, Suwon, Korea. Since 2001, he has been
Byung-Ki Kwon was born in Korea in 1970. He a member of the faculty of the School of Electri-
received the B.S. and M.S. degrees in electrical engi-
cal Engineering, Yeungnam University, Gyeongsan,
neering from Kwangwoon University, Seoul, Korea,
Korea, where he is currently an Associate Professor.
in 1993 and 1995, respectively.
From February 2008 to February 2009, he was a
Since 1995, he has been with the R&D Center, Visiting Researcher in the Electrical and Computer Engineering Department,
POSCON Corporation, Seoul, where he is currently a
University of Wisconsin, Madison. His specific research interests are in high-
Team Leader. His current research interests are mo-
performance electrical machine drives, sensorless control of ac machines, and
tor drive systems, high-voltage inverters, renewable
nonlinear system identification related to the power electronics field.
energy systems, and pulsed power systems. Dr. Seok is currently a member of the Editorial Board of the Institution of
Engineering and Technology (IET) Electric Power Applications.
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