2009 Third International Symposium on Intelligent Information Technology Application
Auto-tuning Rotor Resistance Identification of Induction Motor Considering Iron
Loss
Aiyuan Wang [1, 2]
1. School of Electric Engineering
Shanghai Danji University
Shanghai, China
wang_aiyuan@sohu.com
Abstract—The paper deals with rotor resistance identification
of induction motor considering core loss. The rotor resistance
can not be measured directly and easily varies with the
increasing temperature. The problem of its identification bases
on equivalent circuit. In the equivalent circuit, the equivalent
resistance of core loss is in parallel with mutual inductance of
induction motor in two-phase stationary frame. Based on the
model, an algorithm of auto-tuning rotor resistance
identification has been deduced in steady state. Then a case of
induction motor considering iron loss has been simulated for
rotor resistance identification. In steady-state operation, the
auto-tuning identified result smoothly matches actual value. In
dynamic-state operation, the identification algorithm is
inaccuracy. Due to the large thermal time constant and
temporary dynamic state, some measures have been taken to
hold the identified output result. The rotor resistance
identification is valid and feasible.
Keywords- induction motor; parameter identification; auto-
tuning algorithm; rotor resistance;core loss
I. INTRODUCTION
Three-phase induction motor has the advantages of
simplicity in structure, low cost, and high reliability. It has
been widely applied in high-performance drive system. One
control strategy in commercial induction motor drive is the
field-orientation control (FOC) [1-2]. It decouples torque and
flux control. Another kind of control strategy in application
is the direct torque control (DTC) [3]. It directly controls the
torque and stator flux by inverter voltage space vector
selection through a lookup table. Unfortunately, the
realization of the two control techniques needs real time
precise parameter of the motor. Moreover, energy saving of
induction motor also needs real time precise parameter.
Traditionally, the motor parameter can be calculated
from the nameplate data or obtained by the classical locked-
rotor and no-load tests. But it is not enough accurate for
high-performance drive system. And many industrial sites
have no condition for locked-rotor and no-load tests. In
addition, the motor parameter varies with temperature and
nonlinearities caused by skin effect and saturation at
different operating point. Subsequently, various parameter
identification techniques for IM have been proposed in the
literature. These can be divided into two main classes: the
offline technique [4-5] and the online technique [6].
978-0-7695-3859-4/09 $26.00 © 2009 IEEE
DOI 10.1109/IITA.2009.29
Zhihao Ling[2]
2. School of Information Science and Engineering
East China University of Science & Technology
Shanghai, China
zhhling@vip.sina.com
However, except the classical locked-rotor and no-load
tests, few previous research have investigated parameter
identification with core loss. Moreover, FOC, DTC and some
energy-saving techniques often neglect core loss m in the
motor model. As the rotor resistance can not be measured
directly and easily varies with the increasing temperature,
this paper investigates online rotor resistance identification
considering iron loss.
II. INDUCTION MOTOR MODEL CONSIDERING CORE LOSS
Currents of three-phase induction motor can be equal to
two phase currents in stationary frame. They are α -axis
current and β -axis current. The two mutual-vertical current
generate rotating magnetic field, and produce torque between
stator and rotor. Losses of induction motor include copper
loss, iron loss and mechanical loss. The copper loss and iron
loss are the dominating part and take ninety percent of whole
losses. But they can be controlled by varying the supply
condition. The mechanical loss is hard to control and
measure. The following analysis neglects the mechanical
loss. In circuit model, the equivalent resistance represents the
iron loss. Figure 1 is the equivalent circuit of induction
motor in two-phase stationary frame. In the figure, the
resistances of Rs , Rr and R fe represent stator loss, rotor
loss and iron loss respectively. The Lls , Llr and Lm are
correspondingly to stator leakage inductance, rotor leakage
inductance and mutual inductance between stator and rotor
windings. The ω r is the rotor electrical speed in radian per
second. For branch current or voltage, the first subscript
denotes α -axis or β -axis branch circuit, the second
subscript respectively denotes stator, rotor, magnetization or
core loss branch circuit.
The voltage equations of stator and rotor windings for
cage-rotor motor are:
dϕ α s
uαs = Rs iαs + (1)
dt
dϕ βs
u βs = Rs iβs + (2)
dt
dϕ α r
0 = Rr iαr + + ω rϕ β r (3)
dt
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 dϕ βr In steady satae, we consider the current vary as sine wave.
0 = Rr iβr + − ωrϕαr (4) Thus, we obtain:
dt diαh
The magnetic fluxes of stator and rotor windings are = −ω1iβh for h = s, r , m (14)
expressed: dt
ϕαs = Lls iαs + Lmiαm (5) diβh
= ω1iαh for h = s, r , m (15)
ϕ βs = Lls iβs + Lmiβm (6) dt
where ω1 is the current frequency in radian per second.
ϕαr = Llr iαr + Lmiαm (7)
Inserting (5) to (8) and (14) to (15) into (1) to (4), we obtain:
ϕ βr = Llr iβr + Lmiβm (8) uαs = Rs iαs − Llsω1iβs − Lmω1iβm (16)
The branch currents meet:
u βs = Rs iβs + Llsω1iαs + Lmω1iαm (17)
iαs + iαr = iαfe + iαm (9)
0 = Rr iαr + sω1 (Llr iβr + Lm iβm ) (18)
iβs + iβr = iβfe + iβm (10)
According to the parallel relation between branches, we 0 = Rr iβr − sω1 (Llr iαr + Lmiαm ) (19)
obtain: In (18) and (19), s is the slip of the motor. Inserting (11),
di (12), (14) and (15) into (9) and (10), we obtain:
R feiαfe = Lm αm (11) Lm
dt iαs + iαr = − ω1iβm + iαm (20)
diβm R fe
R feiβfe = Lm (12)
dt L
The developed torque is:
iβs + iβr = m ω1iαm + iβm (21)
R fe
3
Te = n p (ϕ βr iαr − ϕαr iβr ) (13) Combining (16) to (21), we get:
2 uαs − Rs iαs + Llsω1iβs
where n p is the number pair of poles. iαr =
R fe
Rs Lls Llr Rr ω r ϕ βr (22)
− uβs − Rs iβs − Llsω1iαs
+

iαs
iαr
+
uαs iαfe R fe iαm Lm
Lmω1
uβs − Rs iβs − Llsω1iαs
iβ r =
R fe
(23)
(a) α -axis equivalent circuit
uαs − Rs iαs + Llsω1iβs
Rs Lls Llr Rr ω r ϕ αr −
Lmω1
+

iβ s
i βr uαs − Rs iαs + Llsω1iβs
u βs iβfe R fe iβm Lm iβ m = − (24)
Lmω1
Inserting (22) to (24) into (18), we obtain:
[
Rr Lmω1M + R fe ( N − Lmω1iαs ) = ]
(b) β -axis equivalent circuit

Figure 1. Equivalent circuit of induction machine

[
sω1 Llr Lmω1 N − R fe (Ls M + Lm Llsω1iβs ) ] (25)

⎧⎪M = uαs − Rs iαs + Llsω1iβs

III. AUTO-TUNING ROTOR RESISTANCE IDENTIFICATION where ⎨ . By (25), we get:
⎪⎩ N = u βs − Rs iβs − Llsω1iαs
Due to the thermal time constant is much bigger than that
of electromagnetic, the temperature variation has slow effect
Rr =
[
sω1 Llr Lmω1 N − R fe (Ls M + Lm Llsω1iβs ) ] (26)
on rotor resistance. In order to simplify algorithm, we
neglect the dynamic state. For dynamic state, the next Lmω1M + R fe ( N − Lmω1iαs )
section will give simulation and discussion. And we take Equation (26) can be used to calculate rotor resistance.
some measure to keep the output of identified result We call it equation method for identification.
invariable. By (26), we create the following two discrete functions:
[ (
f1 (k ) = sω1 Llr Lmω1 N − R fe Ls M + Lm Llsω1iβs (27) )]

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 f 2 (k ) = Lmω1M + R fe ( N − Lmω1iαs ) (28) Simulation separates the following two aspects. First is
auto-tuning identification in steady-state operation from
where k corresponds to number sequence by measurement different initial values. And the result is compared with that
sample. The residual error is defined as obtained by equation method. Second is auto-tuning
ε (k ) = f1 (k ) − Rr (k ) f 2 (k ) (29) identification in dynamic-state operation, and presents a
The recursive rotor resistance of auto-tuning rational output of identified results.
identification is: B. Identification in steady-state operation
Rr (k + 1) = Rr (k ) + gε (k ) f 2 (k ) (30) When the motor operates at steady state, the results of
where g is parameter recursive gain. The parameter is a auto-tuning rotor resistance identification with different
positive real number. It decides convergence of the initial values show in figure 4. In the figure, the initial values
identification. If g is too big, the identified process will for identification are 2Ω and 3Ωat the zero second. The real
value of rotor resistance is 2.658Ω according to table 1. The
oscillate. For another extreme, the identified process will
take long time. Figure 2 is the auto-tuning identification figure indicates that the identified results can converge at the
real value for different initial values.
scheme for rotor resistance.
Figure 5 is identified comparison of auto-tuning method
f1 ( k )
ε (k ) to equation method in steady-state operation. The initial
uαs , u βs , iαs , iβs , ω1 , s value of rotor resistance sets 3Ω at the zero second for the
two methods. The figure indicates that the equation method
f 2 (k )
quickly near to real value of the rotor resistance, but
Rr (k ) obviously exists noise interference. However, auto-tuning
method smoothly varies to the real value.
Rr (k + 1) This is due to the measured noises of voltage, current,
and speed. The measured noises produce the identified noise
g by equation. The auto-tuning identification with rational
recursive gain accumulates and smoothes the measured
Figure 2. Auto-tuning identification scheme for rotor resistance noises. Thus, it has little affected by the noises.
IV. SIMULATION AND DISCUSSION C. Auto-tuning identification in dynamic-state operation
The dynamic-state operation can be caused by speed
A. Founding the simulation model adjustment, load torque change, or some disturbance. The
Firstly, the simulated model of induction motor is set in deduced auto-tuning identification is based on steady state
Matlab/Simulink according to figure 1. In the model, the for simplicity as in (14) and (15). Thus, the identified result
rotating electromotive force (REMF) controlled by speed and may be inaccuracy in dynamic-state operation. In figure 6,
current connects the corresponding branch circuit. Figure 3 is the load torque changes sharply from full rated torque to half
scheme of induction motor and identification for rotor of that at time of the two second. With the change of load
resistance. Table 1 is the main parameter of the induction torque, the speed has a disturbed process. And the identified
motor. rotor resistance varies obviously. If the identified result
u ,u iαs , iβs directly applies in motor control. It will cause a large
αs βs
disturbance in the dynamic process which is not our expected.
ωr In fact, the rotor resistance has little change as the thermal
ω1 s Rr time constant is big. Thus, we expect the output result varies
little as the dash-dotted line in the figure.
According to figure 6, the absolute margin between two
consecutive identified discrete values changes sharply in
Figure 3. Scheme of induction motor and identification for rotor dynamic state. So we adopt the scheme in figure 7 as output
resistance result. In figure 7, the absolute margin inputs a lagged-loop
comparer. When the absolute margin is less than a little
value, the comparer ensures the online identified data output.
TABLE I. MAIN PARAMETER OF THE INDUCTION MOTOR
And the memory cell tracks the latest identified value. When
Rs 2.876Ω Rr 2.654Ω the absolute margin is bigger than a big value, the comparer
shifts the switch. And the output result is value in memory
Lm 319 MH Lls 10.75 MH
cell which hold the last value until the switch activate again.
Llr 10.75 MH R fe 321Ω The little value and the big value are two different threshold
ϕn 0.896WB nn 1420 R/MIN values. They avoid vibration of output result.
Un 380 V Ten 14.8 N·M
With the same condition as in figure 6, the simulation
result employing the scheme for output result in figure 7
fn 50 HZ J 0.0423 KG·M2 shows in figure 8. The result in fig. 8 is as the expected

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output result in figure 6. Naturally, the scheme for output Rr (k )
ΔRr (k )
result can also be employed in steady process.
3.2
Rr ( k + 1)

3
Rr(0)=3Ω Figure 7. Scheme for result output
2.8

1430
2.6
Rr (Ω)

Speed (r/min)
1420
2.4
1410
Rr(0)=2Ω
2.2 1400

1390
2 0 2 4 6 8 10 12
Time (s)

1.8 2.8
0 0.5 1 1.5 2 2.5 3 3.5 4
Time (s) 2.6

Rr (Ω)
Figure 4. Auto-tuning identification for difference initial values of 2.4

rotor resistance 2.2

2
0 2 4 6 8 10 12

3.2
Time (s)

3 Figure 8. Identified-result output of rotor resistance

Equation Method
Rr (Ω)

2.8

2.6 V. CONCLUSION
0 0.5 1 1.5 2
Time (s)
2.5 3 3.5 4
According to mechanism of iron loss, the induction
3.2 motor model founds in two-phase stationary frame. Based on
3
the model, auto-tuning rotor resistance identification has
been deduced in steady state. Simulation results verify that
Rr (Ω)

Auto Tuning Method

2.8 the identified algorithm is valid in steady process, but invalid
2.6
in dynamic process. Considering the little thermal variation,
0 0.5 1 1.5 2 2.5 3 3.5 4
some measures have been taken for the identified output
Time (s) result in dynamic process. It is also applied in steady process.
Figure 5. Identified comparison of auto tuning to equation REFERENCES
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Speed (r/min)

1420
[2] B. K. Bose, Power Electronics and Variable Frequency Drives.
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1400
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[3] I. Takahashi and T.Noguchi, “A new quich response and high
1390
0 2 4 6 8 10 12 efficiency control strategy of an induction motor,” IEEE
Time (s) Transaction on Industry Applications, vol. 22, no. 5, pp. 820-
2.8 827, Sept./Oct., 1986
2.6
[4] Paolo Castaldi and Andrea Tilli. “Parameter estimation of
induction motor at standstill with magnetic flux monitoring,”
Rr (Ω)

2.4 Expected Output Result IEEE Transactions on Control System Technology, vol. 13,
2.2 Identified Result no. 3, pp. 386-400, 2005
[5] Mohamed A. Awadallah, “Parameter estimation of induction
2
0 2 4 6 8 10 12 machines from nameplate data using particle swarm
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Figure 6. Rotor resistance identification in dynamic-state operation 2008
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