You are on page 1of 9

I

496

A New EKF-Based Algorithm for Flux


Estimation in Induction Machines
Luigi Salvatore, Silvio Stasi, a n d Lea Tarchioni

Abstract-A new reduced-order algorithm to be used to esti- tion and the flux signal is distorted by slot harmonics. The
mate the rotor flux components of induction motors with schemes direct schemes based on an indirect rotor flux sensing are
such as field-oriented control is described in this paper. The
algorithm is based on the extended Kalman filter theory and
sensitive to variations of motor parameters because the
estimates the desired quantities on line by using only measure- estimators need a machine model. Particularly, the rotor
ments of the stator voltages and currents, and rotor speed. The resistance variations due to temperature have a dominant
on-line adaptation of the inverse rotor time constant makes it negative effect on the estimation accuracy. Analogously,
possible to obtain very accurate estimates of rotor flux compo- the indirect schemes are sensitive to variations of motor
nents, in spite of temperature and magnetic saturation effects.
The algorithm order reduction decreases the computational
parameters, especially to those of the rotor resistance,
complexity and makes the proposed estimator superior to the because the vector controllers require a knowledge of the
other ones based on the EKF theory. rotor time constant [2].
To develop high-performance induction motor drives
the assumptions that the motor parameters are known
I. INTRODUCTION and invariant are not valid. If the position of the rotor flux

I NDUCTION motor drives are now being used more vector cannot be known with high accuracy because of
and more in process industries because of the applica- variations of motor parameters, the transformation of the
tion of the vector control strategy. The induction motors stator current component references, dependent on the
behave like dc machines when vector controllers are used desired values of rotor flux and torque, respectively, into
to maintain a 90" electrical space phase angle between the the instantaneous phase current references is not correct
rotor field and the torque-producing stator current com- and this fact leads to poor dynamic properties and satura-
ponent [l]. This control strategy permits one to obtain tion or under excitation of the machine in the stationary
fast responses to load or speed changes without the dis- point of operation. Therefore, much attention has to be
advantages of slip rings, brushes, and field supply of dc given to rotor flux estimators and rotor time constant
machines. identification schemes.
Generally, two types of field-oriented control schemes In recent years, many papers have been concerned with
are available. In the direct scheme, the instantaneous the on-line identification of the rotor time constant [3]-[5],
position of rotor flux has to be measured using either and many estimators of rotor flux have also been devel-
sensors or estimators. By means of this information, the oped for monitoring and control of induction motors. A
direct and quadrature axis stator current component ref- first lot of estimators in use for control purpose are based
erences, dependent on the desired values of rotor flux and on the observer theory. There are full-order observers
torque, respectively, can be transformed into the instanta- that estimate all the state variables in the model of the
neous phase current references, which are compared to system and reduced observers that only estimate the rotor
the actual ones to generate error signals for hysteresis or flux components. The observer structure and its gain allow
PWM current controllers. In the indirect scheme, a model one to achieve fast convergence rate and reduced sensitiv-
of induction motor is required to calculate the reference ity to parameter variations (see [6]-[lo]), but the error
angular slip frequency that has to be added to the mea- dynamics contains, however, a driving term that is associ-
sured rotor speed. The sum is integrated to calculate the ated with the uncertainty in the rotor resistance and
instantaneous position of the rotor flux. causes a steady-state error. Moreover, the observers are
The direct schemes, which use direct sensing of the air sensitive to any noise in the measurements of currents,
gap flux by Hall probes or search coils, are insensitive to voltages, and speed. A second lot of estimators are based
variations of motor parameters but they suffer from high on the extended Kalman filter theory (EKF) [lll-[14].
cost and unreliability of the measurements because the These estimators have been shown to be the best com-
Hall elements are sensitive to heat and mechanical vibra- puter algorithms for processing noisy discrete measure-
ments and obtaining high-accuracy estimates of dynamic
Manuscript received September 28, 1991; revised November 16,
1992 and March 14, 1993. This work was supported in part by the Italian system states. It is a fairly natural thing to include
Ministry for University, Scientific, and Technological Research unknown parameters, for example, the rotor resistance, in
(MURST). the state vector and once this is done, the designed
The authors are with the Department of Electrotechnics and Electron-
ics, Polytechnic of Bari, Bari 70125, Italy. algorithm also solves the parameter identification prob-
IEEE Log Number 9211425. lem. The EKF-based algorithms described in [11]-[14] are

0278-0046/93$03.00 0 1993 IEEE


SALVATORE et al: A NEW EKF-BASED ALGORITHM 497

very interesting, but they appear to be very complex and the zero variable is zero for balanced conditions. In
because of the high order of the mathematical models. (1), f can represent either voltage, current or flux ( U , i, or
The applicability of the Kalman filter to real-time signal A). This change of variables and the introduction of the
processing problems is generally limited by the complex complex quantity
mathematical operations, for example the matrix inver-
sion, necessary in computing the designed algorithm.
Reducing the order of the mathematical model simpli- yield the following stator and rotor voltage equations 1151:
fies the computational problems and makes it technologi-
cally feasible to implement Kalman filters in real time
with DSP processors. Therefore reduced-order EKF-based
algorithms are highly desirable.
In this paper, a new reduced-order EKF-based estima- where p is the operator d/dt, L , is the stator inductance,
tor is presented. The estimator uses the mathematical L , is the rotor inductance, L,, is the magnetizing induc-
model of the rotor circuit to perform the function of tancc, R , is the stator resistance, R , is the rotor resis-
prediction of the rotor flux components. Moreover the tance, u, = K,/L,, (T = 1 - L',,/L,L,, w, is the electrical
estimator includes a third equation to predict the inverse angular speed of the rotor, and
rotor time constant. The predicted values are adjusted by
adding the product of the Kalman gains and the differ-
ences between the measured quantities and their predic-
tions. The adjustment gives the estimates of the rotor flux
components and inverse rotor time constant. The motion of the mechanical system is described by
The main contributions of this paper may be divided p u r = itZ,,(Te- TI-)/J - R,w,/J (7)
into five parts. In the first part the mathematical model of
an induction machine is recalled to evidence the stator where J is the inertia of the rotor and connected mechan-
and rotor equations and to illustrate the time-domain ical load, R,,, is the damping coeffient, TL is the load
block of the motor in the d - q reference frame. In the torque, and n p is the number of pole pairs. The electro-
second part the system configuration with speed and magnetic torque r,
may be expressed as
flux-regulating loops, Kalman filter, and direct field orien-
tation is presented in conjunction with the transfer func-
tions and the criteria of controller design. The third part If a rotating reference frame d - g, oriented in such a
contains the development of the new algorithm to esti- way that the rotor flux vector h,,, points into d-axis
mate the state variables and parameter of interest. The direction, is defined, a simplification of the mathematical
estimator equations are written in complex form because model is achieved. The transformation of the a - p vari-
the electrical engineers are more familiar with its use. ables to the d - q reference frame is
The fourth part recalls some well established reduced-
order observer equations (see [71 and [9]), which are also (9)
expressed in compact complex form, for sake of compari- wherc
son with the proposed EKF-based algorithm. Finally simu-
lation results of transient and steady-state performances
of both the new estimator and the reduced-order observers
are presented to highlight their effectiveness.
and
11. MATHEMATICAL
MODELOF INDUCTION MOTOR A,. = (AS, + AT,) l/Z .
In this section we recall the mathematical model of a
three-phase induction motor. The voltage equations may In the d - q reference frame, (5) and (8) may be expressed
be written in the stationary reference frame a - p - 0 by as follows
using the following transformation:
PA, = -?Ar + u,L,,i,, (12)

(13)
where

1 - _1 - _1
2 2

K = 6 0 -
2
--
2
Equations (12) and (14) show that i,, and i,, are the
rotor flux and the torque-producing components of the
stator current. Field orientation is accomplished by con-
trolling independently these two current components.
1 1 1
Fig. 1 illustrates the time domain block diagram of a
E E 777 three-phase induction motor in the d - q reference frame.
498 IEEE TRANSACTIONS ON INDUSTKIAL. ELECTRONICS, VOL. 40. NO. 5 , OCTOBEK 1993

Fig. 1. Time-domain block diagram of an induction motor in the ti - q


reference frame.

111. SYSTEM CONFIGURATION


Until today, the field-oriented control has been realized
in many different technical forms. Fig. 2 shows a direct
controlAaccompli;hed by estimating the rotor flux compo-
nents A,, and Arp (where the “hat” denotes estimate)
through Kalman filter-based algorithm using measured
stator voltages uEb,U>:,., stator currents iy:,, i;;, and rotor
speed w,“ (where denotes measurement). The current
references ird,i:q (where * denotes reference quantity)
are supplied by the speed and flux-regulating loops and
transformed in the a /3 reference frame by means Fig. 2. System configuration with speed and flux-regulating loops,
of the transformation M - I . Then, the current references Kalman filter, and direct field orientation using a CRPWM.
iT,,iTp are transformed in the phase current refer-
ences i ~ o , i ~ , , ,by
i ~ cthe transformation K - ‘ . A current
regulated pulse width modulator (CRPWM) is controlled
in purpose that the stator currents i,,,i,,),i,, follow th:
current references i:o, i r h ,iTc. If the estimated matrix M
coincides with the actual matrix M and the performances
of the CRPWM inverter and tachogenerator are ideal,
that is their transfer functions are equal to one, the block
diagram of the system results as shown in Fig. 3. In this
diagram, s is the complex variable of Laplace transforma- Fig. 3. System block diagram under idcal direct field orientation.
tion. The transfer function of the speed loop, with A w,(s)
as its output and Am:($) as its input, is as follows:
where k,,, and k , , are the proportional and integral gains
of the flux controller.
+
If one puts ( k 1 ! $ / k , , R , / k , k , , ) = 26, and J /
k , k , , = 26* according to the absolute value optimum
criterion [161, the time speed response to a speed refer-
(15) ence step Aw; is
where, k , = n;L,,,A,/L,, k , , , and k , , are the propor-
tional and integral gains of the speed controller. The
response of the system to a load disturbance AT,,(s) is
’I
and the time speed response to a load step AT, is
Aw,(s) = ,,
(16)
If one puts k , , = ujk,,, the time flux response to a flux
The transfer function of the flux loop with AA,(s) as its
reference step AA: is
output and AAT(s) as its input is

1 + kpA
-.F

IV. KALMAN FILTER-BASED BUILDING


ALGORITHM
To estimate the a-p components of the rotor flux, an
algorithm based on the extended Kalman filter theory
(17) may be developed. This theory requires that the estima-
SALVATORE et u l : A N E W EKF-BASE11 A L G O K I T H M 499

tion process is described by a state-space mathematical Equation (25) is obtained from (4) and (6) by applying the
model and an observation equation, see [I71 and 1181. classical Euler method to give a discrete form to (4), and
It is possible to assume that the estimation process is +
the term Zap = vCx ju, is the measurement error.
governed by the "current model" that is ( 5 ) [XI. Unfortu- Equation ( 2 5 ) may be written in matrix form as follows:
nately the operational changes in the parameter q , which
depends on temperature and saturation, have negative z'"(n + 1) = Hx(n + 1) + J x ( n ) + v ( n + 1) (28)
influence on the rotor flux estimation. As a consequence, where
the additional parameter a, has to be estimated in con-
junction with the rotor flux components and a further
equation must be appended to (5). The complete mathe-
matical model of the estimation process has to be dis-
cretized when measurements at discrete points in time are
available. It results in
We assume at this point that we have an initial estimate
rcfP (n + 1) = h I (1 p( n ) e ~ ~ r , ~ ~ ~ ~ Tt
+ ~ ~ ~ ~ : " ' ~ ~ ) l of the process at the time ( n ) [181. With this assumption
we now seek to use (21) and (22) to predict the rotor flux
components and the parameter a, at the time ( n + 1).
The prediction equations are
.[e-,r,(ll)?+Jm:"(fl)/ 11 + -
EA(r/j(lz) (21) ( n + 1) = hr u p ( n ) e - e r ( n ) T + l u : ' ( n ) T +
I ap
a,(n + 1) = q ( n ) + E , , ( H ) (22)
where T is the sampling time interval, during which the
measured stator currents, : z :i and rotor speed w:' are .[e f:,irl)r+ i w Y ( n ) T - 11
considered to be constant, F A U P = 4 , + jcA0 and E,,, are
-
(29)
the model errors, and (3;(n + 1) = < ( n ) (30)
1 where (-) denotes prediction. Equations (29) and (30) may
;Tcf,(n)= f i i y i ( n ) +j--[iy:,(n) + 2iY;,(tz)]. (23) be written in a compact form as follows:
0
Equations (21) and (22) may be written in matrix form as
f(n + 1) = f ( i ( n ) , n ) . (31)
follows: Correcting the predicted state variables h,,(n + l), hrp
+ 1) = f ( x ( n ) , n )+ E +
( n + I), and Gr(n 11, by means of the measurements
x(n (24) +
z:'(n + 11, and z$(n l), gives the estimates at the time
where instant ( n + 1) according to the following estimation
equation:
X = [ A , , A,, €=[EAn EA@ E<,,]',

and f = [ f , f2 fill.

It is possible to assume that the estimation process is


governed by the following complex observation equation:

where Zrp(n + 1) = zg'(n + 1) + jz;"(n + 1 ) is the com-


plex measurement at time ( n + 1) given by:
where G is a 3 x 2 matrix called a gain matrix. Equation
2rp:;i(n+ 1) = [G&(n) - R,i3/1)] (32) may be written in a compact form as follows:
P(n + 1 ) = i ( n + 1) + C ( n + 1)
.[z"(n + 1) - Hi(n + 1) -Ji(n)]. (33)
The problem now is to find the optimal gain matrix G .
According to the Kalman filter theory we have to define
the covariance matrices of the estimation and prediction
errors

P ( n ) = E { ( i ( n ) x ( n ) ) ( i ( n >- x ( n > ) 7
- (34)
P ( n ) = E { ( f ( n ) - x ( n ) ) ( i ( n )- x ( n ) I T } (35)
500 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 40, NO. 5, OCTOBER 1993

where E represents the expectation operator. It is pos- where a,* is the reference value of the parameter 0;
sible to choose the gain matrix G so to minimize the subjected to operational changes. Discretizing (41) yields
estimation error variances for the elements of the state
vector being estimated, ?hat is the individual terms along
the major diagonal of P ( n ) . In the hypothesis that v and
E are uncorrelated vectors of random noise, quantities
having zero mean and covariances N and Q , the result is
G ( n + 1) = ( F ( n + l)HT+ @(n)P(n)JT)
.[HF(n + l ) H T + N + Jk(n)JT
+ H @ ( n ) r ; ( n ) J T + Jk(n)@T(n)HT]-'
(36)
where
F(n + 1) = @ ( n ) k ( n ) @ ' ( n +) Q (37)
and @ ( n )is a 3 X 3 matrix having the following elements where

The error covariance matrix associated with the estimate


A straightforward calculation shows that the error in the
may be computed as follows
rotor flux estimate is governed by the following state-space
P(n + 1) = F(n + 1) - G ( n + l ) L ( n + l ) G T ( n + 1) equation:
(39)
where Z is the identity matrix and L ( n + 1) is the brack-
eted term of (36) (not inverted). Equations (31), (33), (36),
(37), and (39) are the recursive equations of "the delayed
state filter algorithm" (see [19] 1.
V. REDUCED-ORDER
OBSERVERS
The a-@ components of the rotor flux may be esti- (44)
mated by means of reduced-order observers. In this sec-
tion we briefly examine some observers, by which we
attempt to estimate the rotor flux components, to com- and that the error dynamics contains a driving term,
pare their effectiveness with that of the Kalman filter which is the second one on the right-hand side of the
based algorithm. above equation and depends on U, variations. The
The mathematical model of the estimation process observer sensitivity to U, variations is 1/(1 - hL,/L,). If
based on the observer theory can be obtained from the one considers the induction motor supplied by sinusoidal
combination of (4) and (5) by introducing the expression voltages, the steady-state error due to U, variations is
of A,,, given by (6). The result is - - a, - U,*
Arm, - 'rap = a,* - jw? + j w S ( 1 IL,/L,)
-

- -(U, - +
j w r m )-h r a p u , L , ~ ' ~ ~ ,

where w, is the - angular frequency of the motor supply


- Em
- Rs c a 8 ) + L a (40) -
voltages and A,,,, ZJap are complex phasors equal to
-

where h is a complex coefficient 161, and E.\, is the model A r u g e - l w ~ ' , is,:
p'uy', respectively.
error. The estimation equation is The choice h = 0 gives the discrete "current model"

(1 - z2)p:ra, - hULspEya,
estimates [81. In this case the error time constant is l / q *
and the "current model" sensitivity to a, variations is
equal to 1. There is evidence that the choice h = Lr/2L,,
suggested by Verghese and Sanders for ease of illustration
[6], gives estimates that converge faster because the error
time constant becomes 1/2a,*, and the observer sensitiv-
ity to a, variations equal to 2.

1
SALVATORE et al: A NEW EKF-BASED ALGORITHM 501

The choice 3) rated voltage 380 V


4) rated speed 1420 rpm
(46) 5) rated frequency 50 Hz
6) pole number 4
suggested by Hori and Umeno 191 gives an error, in the 7) system inertia J = 0.062 kg m2
rotor flux estimate, governed by the following state-space 8) stator resistance R, = 0.728 R
equation 9) rotor resistance R , = 0.706 Cl
- - 10) stator inductance L , = 0.0996 H
p('rap - 'rap) = -'('rep - 'rap)
11) rotor inductance L , = 0.0996 H
12) magnetizing inductance L m = 0.0969 H.

At first, the motor has been supposed to operate in


(47) steady-state condition with a load torque of 50.4 Nm,
rotor flux equal to 1.13 Wb, and electrical angular speed
of 100 rad/s. The dc voltage has been chosen equal to
The error time constant is l/a, and the observer sensitiv- 400 V, and the hysteresis band equal to 10% of the
ity to a, variations is proportional to (a) and its modulus current reference. The speed regulator parameters have
is constant and equal to q if ( a ) is chosen as follows been selected as follows: k , , = 122.8, k,, = 1.86. The flux
regulator parameters have been selected as follows: k , , =
(48)
188.2, k,, = 26.55.
where q has to satisfy the condition The EKF-based algorithm has been started at time
f = 0. The initial estimates of the rotor flux components
a,*
q < l + (49) a-/3 for the recursive estimation process have been
[a,- a,* I, +
assumed to be zero (Arap@)= 0 j 0 ) because the actual
to guarantee the stability at all the operational speeds. In value of the rotor flux ( A r a p ( 0 ) = 1.13) and its compo-
the above expression [a,- a,*Imax is the expected maxi- nents (A,, and &) have been considered to be unknown.
mum increase of a,". The initial value of the inverse rotor time constant has
The choice been assumed to be equal to 50% of the actual value that
was 7.08 s-' (<(O) = 3.5). About the choice of the diago-
(50) a:1 elements of the estimation error covariance matrix
P(O), it is to be noted that large values assigned to the
suggested by Bellini, Figalli, and Ulivi [7] gives initial variances give a fast convergence, but the initial
estimates may have a negative influence on the drive
performance. Small values assigned to the initial vari-
ances, which means to have a some a priori knowledge of
the expected magnitudes of the state variables to be
estimated, give a slow convergence. By using common
sense judgement, the estimation error variances of rotor
flux components have been assumed to be 2 Wb2 and that
(51) of the inverse rotor time constant 100 s - ~ Choice
. of the
variances of the model and measurement errors has been
The above equation shows that the error time constant is based on the random noise, having a normal distribution
aL,/bwT and the observer sensitivity to a, variations is with mean 0.0, added to the estimator inputs (voltage and
equal to b / a L s , where b has to satisfy the condition current components, and electrical angular speed).
Because the voltage component noise-variances have been
(52) selected equal to 4 V2, the current component ones equal
to 0.25 A', and the speed one equal to 1 rad2/s2, as a
consequence we have put Q = lo-' diag(1 1 1) and N =
to guarantee the stability at all the operational speeds.
diag(1 11, where "diag" indicates a diagonal matrix
VI. SIMULATION RESULTS and the argument is the main diagonal. It is to be noted
that the estimates obtained from the EKF-based algorithm
To verify the effectiveness of the proposed EKF-based
have beenn supplied to the flux regulator and coordinate
reduced-order algorithm, some simulations have been car-
changer M - '.
ried out by using the actual parameters of an induction
At the same time, rotor flux has been estimated by the
motor. We have the following:
"current model," the reduced-order observer having h
1) rated power 7.5 kW equal to L,/2L,, the observer proposed by Hori and
2) rated current 16.5 A Umeno, and that suggested by Bellini, Figalli, and Ulivi.
502 IEEE TRANSACTIONSON INDUSTRIAL ELECTRONICS, VOL. 40, NO. 5, OCTOBER 1993

In any case the initial values of the rotor flux components


have been set equal to zero (AraP(O) = 01, and the refer-
ence of the inverse rotor time constant equal to 50% of
the actual value (U,* = 3.5). 1-
,actual actual rotor flux
A speed reference step has been applied at time t =
0.05 s. Fig. 4 shows the rotor flux estimate obtained from 1 / A0 *
= 0.5 Ci
the “current model” with the reference of the inverse
rotor time constant equal to the actual value and to 50%
of it, respectively. Moreover, Fig. 4 shows the actual rotor
flux, which is maintained constant by the flux-regulating
loop and correct application of field-oriented control 0 0.1 0.2 0.3 0.4 0.5
strategy. There is evidence that the incorrect reference time, s
a;* of the inverse rotor time constant causes a large Fig. 4. Rotor flux estimated via “current model” with the reference of
estimation steady-state error. the inverse rotor time constant equal to 50% and 100% of the actual
Fig. 5 shows the rotor flux estimated via reduced-order value (50% increase of speed at t = 0.05 s).
observer having a gain h = L r / 2 L , with the reference of
the inverse rotor time constant equal to the actual value
and to 50% of it, respectively. The comparison between 2.5, 1

the estimates of Figs. 4 and 5 evidences that, with this last


choice of h, the rotor flux estimates converge significantly
faster and the estimation steady-state error is largely
reduced. It has to be noted that the choice of h equal to
L r / 2L , causes a poorer transient performance because
the observer sensitivity to U, variation is doubled.
Figs. 6 and 7 show the rotor flux estimates obtained
from the reduced-order observers proposed by Hori and
0.5 1 ’ actual rotor flux i
Umeno [91, and Bellini, Figalli, and Ulivi [7],respectively, ”
with the reference of the inverse rotor time constant 0 0.1 0.2 0.3 0.4 0.5
equal to the actual value and to 50% of it. The transient time, s
and steady-state performances of these observers appear Fig. 5. Rotor flux estimated via reduced-order observer having a gain
to be very good and similar in spite of the different choice h equal to L , / 2 L , with the reference of the inverse rotor time con-
of 2 (see (46) and (50)). We have chosen q = 1 for the stant equal to 50% and 100% of the actual value (50% increase of
speed at t = 0.05 s).
observer proposed by Hori and Umeno (see 481, and
b = a L , for the observer proposed by Bellini, Figalli, and
Ulivi (see 50). These choices partially justify the perfor-
1.3 I I
mance similitude. When the inverse rotor time constant
is assumed to be equal to 50% of the actual value,
the actual rotor flux is not reached by the estimates
because of the steady-state error due to a; - U,*. Several
steps (over 20) are necessary to reach the steady-state
condition. a
8
Fig. 8 shows the rotor flux estimated via EKF-based actual rotor flux
reduced-order algorithm with the initial value of the
inverse rotor time constant equal to 50% of the actual
value. It is to be noted that the actual rotor flux is reached
0 0.05 0.1 0.15 0.2 0.25 0.3
by the estimated one after four steps, that is the conver-
cence rate is very high. The estimates track the actual time, s
values very well. Fig. 6. Rotor flux estimated via reduced-order observer proposed by
Fig. 9 shows the estimates of the inverse rotor time Hori and Umeno, with the reference of the inverse rotor time constant
equal to 50% and 100% of the actual value (50% increase of speed at
constant. There is evidence that the convergence rate is t = 0.05 s).
high and the estimates are very accurate.
Then another simulation has been carried out by adding
high-level random noise to the estimator inputs to show 6 A2, and the speed one equal to 27 rad2/s2, as a con-
the optimal noise rejection of the EKF-based algorithm. sequence we have put Q = l o p 6diag(1 1 1) and N =
The initial mqtor conditions, speed step, initial filter esti- diag(1 1).
mates, and P(0) have not been modified. Because the Fig. 10 shows the actual rotor flux and estimates carried
voltage component noise variances have been selected out by the EKF-based algorithm, and through the observer
equal to 100 V2, the current component ones equal to proposed by Hori and Umeno. The estimates obtained via
SALVATORE et al: A NEW EKF-EASED ALGORITHM 503

1.3

I
I
rotor flux estimated via Hori and Umeno
1.25
$ 1.3
n/
2
1.2 6: actual rotor flux

\ o = 0.5 o .-28 1.2

1j '
1.15
U
8
l.l actual rotor flux 1.1
.* rotor flux estimated via EKF algorithm
1.os
v1
e,

11
0
I 0.05 0.1 0.15 0.2 0.25 0.3
1
0 0.05 0.1 0.15 0.2 0.25 0.3
time, s
time, s
Fig. 7. Rotor flux estimated via reduced-order observer proposed by Fig. 10. Rotor flux estimates carried out in presence of strong measure-
Bellini, Figalli, and Ulivi, with the reference of the inverse rotor time ment noise: a) via reduced-order observer proposed by Hori and Umeno,
constant equal to 50% and 100% of the actual value (50% increase of with the reference of the inverse rotor time constant equal to 50% of the
speed at t = 0.05 s). actual value, and b) via EKF algorithm, with the initial value of
the inverse rotor time constant equal to 50% of the actual value.

1.3 I I
. . * . .. . .
injectea noise ana nave steaay-state errors wee
. . I ~ I"*\
(44)
..J
anu
g 1.25 1 (45)).
The superior transient and steady-state performances
of the new EKF-based reduced-order algorithm in com-
rotor flux estimated via EKF algorithm parison with the other ones (see Figs. 4-10) are due to the
recursive estimation method of Kalman, and the on-line
updating of the inverse rotor time constant that has been
actual rotor flux considered a further state variable (see (29)-(32)).

I
VII. CONCLUSION
0 0.05 0.1 0.15 0.2 0.25 0.3 This paper has examined the problem of flux compo-
time, s nent and inverse rotor time constant estimation in induc-
tion machines. The new recursive algorithm developed in
Fig. 8. Rotor flux estimated via EKF-based reduced-order algorithm
with the initial value of the inverse rotor time constant equal to 50% of this work is based on the EKF theory. It has shown
the actual value (50% increase of speed at t = 0.05 s). superior behavior to other well known methods. Its advan-
tages may be resumed as follows: reduced order of the
mathematical model, high convergence rate in the estima-
tion of the rotor flux components, high convergence rate
in the contemporaneous estimation of the inverse rotor
time constant, estimates of high accuracy, good perfor-
mance in transient conditions, very low steady-state error,
optimal rejection of measurement noise.

.I
4

31
0 0.05 0.1 0.15 0.2 0.25
In spite of the inverse rotor time constant variation, the
use of the flux estimates in the coordinate changer and
flux-regulating loop has made it possible to keep constant
rotor flux in the machine under direct field orientation.
The high accuracy of the estimate of the "actual" inverse
rotor time constant also suggests the possibility of using
0.3 the new algorithm for correct implementation of indirect
time, s field orientation schemes.
Fig. 9. Inverse rotor time constant estimated via EKF-based reduced-
order algorithm (50% increase of speed at t = 0.05 SI.
ACKNOWLEDGMENT
The authors would like to thank the anonymous review-
ers of this paper; the EKF-based algorithm has been
the observer proposed by Bellini, Figalli, and Ulivi are improved because of their very useful comments.
very similar to those derived from the observer of Hori
and Umeno and, therefore, have not been reported in REFERENCES
Fig. 10. There is evidence that the EKF-based algorithm is [l] W. Leonhard, Control of Electrical DriLm. Berlin: Springer-
Verlag, 1985.
able to reject the strong noise injected into the estimator [2] B. K. Bose, Power Electronics and AC Drices. Englewood Cliffs,
inputs. On the contrary, the observers are sensitive to the
lEEE TRANSACTIONS O N INDUSTRIAL ELECTRONICS, VOL. 40, NO. 5 , OCTOBER 1993

W. Leonhard, “Control of ac-machines with the help of microelec- Luigi Salvatore was born on March 4, 1945, in
tronics,” in IFAC Control in Power Electronics and Electrical Dric~s, Lecce, Italy. He received the degree in electrical
Lausanne, Switzerland, pp. 769-792, 1983. engineering from the University of Bari, Italy, in
T. Matsuo and T. A. Lipo, “A rotor parameter identification 1970.
scheme for vector-controlled induction motor drives,” IEEE Trans. From 1976 to 1983, he worked in the Electri-
on Ind. Applications, vol. IA-21, pp. 624-632, 1983. cal and Electronic Department of the same
G. Andria, A. Dell’Aquila, and L. Salvatore, “On-line identifica- University as a member of the research team on
tion of induction motor parameters,” in Proc. Elecfrical Drii.e electrical machines. From 1983 to 1987, he was
Symp. 1987, Cagliari, Italy, 1987, pp. 201-214. a Researcher of electrical machines in the same
G. C. Verghese and S. R. Sanders, “Observers for flux estimation department. From 1987 to 1991, he was an Asso-
in induction machines,” IEEE Trans. Ind. Electronics, vol. 35, ciate Professor of clectrical machines at the
pp. 85-94, 1988. University of Bari. Since 1991, he has been an Associate Professor of
A. Bellini, G. Figalli, and G. Ulivi, “Analysis and design of a electrical machines at the Polytechnic of Bari He has produced over 50
microcomputer-based observer for an induction machine,” Auto- technical papers, 23 of which have been published in periodic journals.
matica, vol. 24, no. 4,pp. 549-555, 1988. His current research interests include the control, monitoring, and
R. Nilsen and M. P. Kazmierkowski, “Reduced-order observer dignostic of ac drives, and the areas of signal processing and digital
with parameter adaption for fast rotor flux estimation in induction measurements on power electronics systems.
machine,” IEE Proc., vol. 136, pp. 35-43, 1989. Prof. Salvatore is a member of the Italian Electrical and Electronic
Y. Hori and T. Umeno, “Flux observer based field orientation Association (AEI).
(FOFO) controller for high performance torque control,” in Int.
Power Electronics C o n f , Tokyo, Japan, 1990, pp. 1219-1226.
G. Franceschini, C. Tassoni, and A. Vagati, “Flux estimation for
induction servo-motors,” in Int. Power Electron. CO$, Tokyo,
Japan, 1990, pp. 1227-1234. Silvio Stasi was born in Bari, Italy. He received
F. Hillenbrand, “A method for determining the specd and rotor the degree in electrical engineering from the
flux of the asynchronous machine by measuring the terminal University of Bari, in 1989. Currently he is pur-
quantities only,” in IFAC Control in Power Electronics and Electri- suing the doctoral degree at the Polytechnic of
cal Drices, Lausanne, Switzerland, 1983, pp. 55-62. Bari. His research interests are in electrical
L. C. Zai and T. A. Lipo, “An extended Kalman filter approach to machinery, estimation techniques, and adaptive
rotor time constant measurement in PWM induction motor drives,” control.
in Conf: Record IEEE Ind. Applications Sociery Ann. Meeting,
Atlanta, GA, 1987, pp. 177-183.
M. La Cava, C. Picardi, and F. Ranieri, “Application of the
extended Kalman filter to parameter and state estimation of
induction motors,” Int. J. Modelling Simulation, vol. 9. no. 3,
pp. 85-89, 1989.
D. J. Atkinson, P. P. Acarnley, and J. W. Finch, “Application of
estimation techniques in vector-controlled induction motor drives,”
in 4th Int. Conf Power Electron. and Variable Speed Drii.es, London. Lea Tarchioni was born in Bari, Italy. She
1990, pp. 358-363. received the degree in electrical engineering
P. C. Krause and 0. Wasynczuk, Electromechanical Motion Dei,ices. from the University of Bari, in 1990.
New York: McGraw-Hill, 1989. From 1990 to 1991 she worked in the Electri-
L. Szklarski. K. Jaracz, and A. Horodecki, Elecfric D r i i ~Systems cal and Electronic Department of the same
Dynamics. Amsterdam: Elsevier, 1990. University as a member of the research team on
A. H. Jaminski, Stochastic Processes and Filtering Theory. London: electrical machines. From 1991 to 1992, she
Academic, 1970. worked in IBM in Raley R.T.P., N.C., as a
A. Gelb, Applied Optimal Estimation. Cambridge, MA: M.I.T. systems designer. Since 1992, she has worked for
Press, 1988. ENEL the Italian Electrical Company. Her
R. G. Brown and P. Y. C. Hwang, Introduction to Random Signal.5 research interests are in the electrical machin-
and Applied Kalman Filtering. New York: Wiley, 1992. ery, especially induction motor drives and their nonlinear control.

You might also like