NEW ADAPTIVE FLUX OBSERVER OF INDUCTION MOTOR

FOR WIDE SPEED RANGE MOTOR DRIVES

Hisao Kubota,Member, Kouki Matsuse,Senior Member, and Takayoshi Nakano

Department of Electrical Engineering
Meiji University Fuji Electric Co. R & D
Higashimita, Tama-ku, Kawasaki 214 Fuji, Hino, Tokyo 191
JAPAN JAPAN

Abstract
where
A Flux Observer of an induction motor
w j t h a parameter adaptive scheme will be
proposed. The parameters identified adaptively is=[ida iqsjT : stator current
are stator and rotor resistance which vary #r=[@dr &=jT : rotor flux
with motor temperature. A stability of the v,=[vd, vqSjT : stator voltage
proposed adaptive flux observer will be proved
by the L y a p u n o v ' s t h e o r e m . F u r t h e r m o r e , k l = - { R s / ( aL,) + (1-0)/ ( O r r ) }I=arxlI
robustness of the induction motor drive system k z = M / ( aL,L,) { (1/r,)I-~IJ}=arx21+aixzJ
with the proposed flux observer will be shown. Azl= (M/rr)I=arzlI
A n adaptive scheme can be applied also to es-
timate motor speed without speed sensors. Az2=- ( l/rr) I+orJ=arzzI+aizzJ
Bi=l/ ( ULs)I=biI
Introduction
The indirect field oriented control of an
I= [ y] J= [ -;]
induction motor is widely used. This method
has a disadvantage which is sensitivity to the
n i o l or parameter variation. Especially, resis- The full order state observer which estimates
t ancc varies widely with the motor tempera- the stator current and the rotor flux is writ-
ture. On the other h a n d , the direct field ten by following equations.

I[ I+[ ;
oriented control method is robust against the
motor parameter variation because the measured
motor flux is fed back to the reference. The
disadvantage of this method is that the in-
stallation of a flux sensor is necessary.
Therefore, flux estimation from the terminal
[ is
4ir
]=[ All AlZ
Azl a22
is
4ir
]I_

variables is usually used instead of the flux

mcasurernent. However, flux estimation is also +G(L-L)
sc'nsitive to the motor parameter variation.
Recently, flux observers have been
proposed for flux estimationcl)-ce). The sen- where means the estimated values.
~

sitivity of the flux observers to the rotor The poles of the observer are made propor-
resistance variation is much lower than that tional to those of the induction motor. Then
of' thc conventional flux estimator. However, the gain matrix G is calculated as follows
t t i c sensitivity of these observers cannot be
c-ornplclely zero. The sensitivity becomes high,
cspecially in a low speed range.
To solve these problems, we have proposed
;I rotor flux observer with parameter adaptive
scheme('). Parameters identified adaptively
a r c the stator and rotor resistance which are
clrpcndent upon the motor temperature. In this
p<ipet-,we will propose a new adaptive scheme
, r i i d will prove a stability of the proposed
adaptive flux observer by the L y a p u n o v ' s
t hc.orcm.
b u r t h e r m o r e , the parameter adaptive where c=-(aLsLr)/M,
sc-heme which estimates motor speed will also k is the proportional constant
hc proposed. This scheme can eliminate a speed
sciisor rrom a field oriented induction motor Influence of Parameter Variation on Flux Es-
drive system. timation
Influence of Parameter Variation Stator and rotor resistance vary with the
motor temperature. Therefore, it is hard to
Ijotor Flux Observer of Induction Motor use the exact value in the flux observer for
these parameters. Influence of the parameter
A n induction motor is described by the variations on the flux estimation will be in-
f o l lowing statc equations: vestigated in this section.
Figure 1 shows the actual rotor fluxes
and the estimated ones when the estimated
motor parameters (stator and rotor resistance)
are incorrect. Ratings of the tested induction

087942-6004/90/1100-0921$01.00 0 1990 IEEE

 R, = 1.2~- 'dr 'qr
.5
- .4
-$?2
.3
.2
rl
Ir, .I
Ll
0 0
2 -.I
-.2
-.3
-.4
-.5
(a) Influence of Stator Resistance
Figure 1. Influence of Parameter Variation on State Estimation
Figure 2 . Observer Based Direct Field Oriented
Controller
motor are shown in Table 1. These results were
calculated under the condition that the motor
speed was 30 [rpml with 2 0 [Nml load torque
and the proportional constant k was 1.0. It is
evident that both o f the stator and rotor
resistance exert great influences on the flux
estimation.
Although the m u t u a l i n d u c t a n c e a l s o
varies with the motor condition, it can be
treated as a function of the motor flux.
Therefore, the variation of the mutual induc-
tance is not taken into consideration in this
paper.
Influence of Parameter Variation on Field
Oriented Induction Motor Drive System
Figures 2 and 3 s h o w a d i r e c t f i e l d
oriented controller and a n indirect field
oriented controller, respectively. The most
important performance for motor drives is to
produce the desired torque. Therefore, in-
fluences of the parameter variation on the
produced torque o f two kinds of induction
motor drive systems are investigated. Figure 4
shows the ratio of the produced torque to the
desired value. These results were calculated
under the condition that the load torque was
20 [Nm]. Figure 4(a) is the results of the
case that the only stator resistance is incor-
922
.5
.4
I
-$2 *3
x -2
;;J .I
2 0
2 -.l
-.2
-.3
-.4
-.5
(b) Influence of Rotor Time Constant
Figure 3. Indirect Field Oriented Controller
Table 1. Ratings of Tested Motor
3.7[kWl, 2OO[Vl, 15[Al
50[Hzl, 1420[rpml, 4[polesl
rect. Stator resistance variation does not af-
fect the indirect field oriented controller.
However, it has influence on the direct field
oriented controller with the flux observer. In
a low speed range the influence is especially
significant, which creates a problem.
In Figure 4(b), the only rotor resistance
is incorrect. Rotor resistance variation also
has a great influence o n the direct field
oriented controller in a low speed range. The
influence on the indirect field oriented con-
troller is much more significant than that on
the direct field oriented controller.
In Figure 4(c), the both parameters are
incorrect in the same degree. In this case,
the influence will be restrained with a proper
proportional constant. However, it is dif-
ficult to find the proper constant, because
the degree of the incorrectness for the stator
and rotor resistance varies widely.
Therefore, some compensation for the in-
fluence of the parameter variation is neces-
sary, especially in a low speed range.
 o.6 t
cl,

0 ' 100

(a) R, = 1.2RS
2 0'0
Rotor Speed [rpml
3d0
1-
6

0'
--- - - - - - - - - - - - - ---
--
----
-k=l.O

_____

(b) i,
-k=0.5

-k=1.5
Indirect Field Orientation

ibo 2 ob
Rotor Speed [rpml

= 0 . 8 ~ ~
3 do 1

(c) R, =
J
100

1.2R,,
I
200

fr =
I
300
Rotor Speed Irpml

0 . 8 ~ ~

Figure 4. Ratio of Produced Torque to Desired Torque

Rotor Flux Observer with Parameter Adaption P r o o f o f Stability of Flux Observer with
Parameter Adaption
Adaptive Adjustment Scheme
A stability of the proposed flux observer
We propose the addition of a parameter with the parameter adaption scheme is proved
adaptive scheme to the flux observer described by the Lyapunov's theorem. For the simplifica-
by Eq.(2) in order to solve the problem men- tion of the proof, the induction motor and the
t.i oned above. observer are expressed by the following equa-
We propose the following update law: tions with complex variables and k=1.0.

(3)

= A x + bv,
(4)
x = (A+AA)x+ bv,
where eida=ide-ids,eiqs=iqs-iss
a l , d z : arbitrary positive gain
where A A is an error matrix caused by the
Darameter variation.
'I'he parameters are updated only in a powering An error equation can be expressed by the fol-
operation. lowing equation:
Figure 5 shows a block diagram of the
proposed flux observer with the parameter
adaptive scheme. e=Ae-AAx (7)

where e = x - x
is Now we define a following Lyapunov function
candidate:
I I

Computing the time derivative of V and using

Eqs. (3),(4)gives following equation:

V = e'(A'+A)e (9)

Equation (9) is negative-semi definite, be-

Pigure 5. Block Diagram of Proposed Flux Ob- c a u s e the matrix A is negative definite.
server Therefore the flux observer with the parameter
adaptive scheme. The stability in the case of
k f 1.0 can be proved similarly.

923
 .G

0. 2 L.-
0 3
:
6 9 12 15
I

TIME (sec)
(a) 30[rpml, 20[Nml

1.

CLX .2
- - - a - - 0
0 3 6 9 12 15 0 3 6 9 12 15
TIME (sec) TIME (sec)
(c) 300[rpml, 2uLNml (d) 30[rpmI, 2lNml

Figure 6. S i m u l a t i o n R e s u l t s of Parameter
Adaption (k=1.0)

0 3 6 9 12 15
Simulation Results and Discussion TIME ( s e c )
(e) 30Lrpm1, 10+5sin(2st)[Nm]
Figure 6 shows the simulation results of
the parameter adaption. Initial values of the
estimated stator resistance and rotor time
constant were 1.2 and 0 . 8 times as much as ac-
tual values, respectively. The arbitrary gains
h ;i and k were set to following values:
;i 1=0.01
h 2=0.1
1.0 ' T*=1[PU]
k =1.0
Figures 6(a),6(b) were calculated under the
condition that the induction motor was driven
at a low speed (30 [rpml, 3 [rpml) with an ap- a,
--
0. 7
E 0. --
proximate rating load torque (20 [Nm]). Both
the estimated stator resistance and rotor time 6
c o n s t a n t c o n v e r g e quickly to the actual
values. In the case of a higher speed condi- ?i 0. .. 5
a T*=O . 5 [PU]
tion, the convergence behavior for the stator
resistance identification deteriorates U
--
0. 4
slightly as shown in Fig. 6(c). Furthermore,
the lighter the load torque is, the slower the E 0.3 --
a

0.2-.
convergence speed becomes as shown in Fig. p-i
T*=0.25[PU]
6(d). Figure 6(e) is an example of a transient
state case. The convergence behavior of the
0.1 ' T*=O.1 [PU]

+
parameter a d a p t i o n is s t i l l good w i t h a
sinusoidal load. I I
Figure 7 shows the characteristics of the 0 160 200 300
produced torque when an induction motor is R o t o r Speed [rpml
driven by the direct field oriented controller
with proposed flux observer. We find that the
proposed induction motor drive system can Figure 7 . Produced Torque Characteristics for
produce the desired torque without respect to Proposed Method
the parameter variation.
924
 Furthermore, we investigated the effect The other adaptive scheme is for iden-
oI' the p r o p o r t i o n a l c o n s t a n t k o n t h e tification of the motor speed. Using this
parameter adaption. Figure 8 shows the simula- scheme, a speed sensor can be eliminated from
tion results of the parameter adaption calcu- a field oriented induction motor control sys-
latcd under the same conditions as those of tem. A stability of the proposed adaptive
b i g . 6(a) except the proportional constant k. schemes has been proved by the Lyapunov's
'I'hc smaller the proportional constant is, the theorem and validity have been verified b y
Vaster the convergence speed of the parameter simulation results.
~ r r o rbecomes. Therefore, we had better select
;I small proportional constant to identify the
parameters.
Application of Adaptive Scheme
to Speed Estimation
> I 4-c
The removal of a speed sensor is required
Vor n cheap drive system or a drive system in
hostile environments. The flux observer with
t h c parameter adaptive scheme can be applied
l o the speed estimation when the motor speed 0 - c I
i s regarded as a parameter. In this case, the 0 3 6 9 12 15
I'ollowing adaptive scheme is used. TIME ( s e c )
(a) k=0.5

= urp + urx (10)

wlic~rc K P and KI are arbitrary positive gain.

A stability of this observer also can be
proved by the Lyapunov's theorem. In this o ! I
case, we define a Lyapunov function candidate 0 3 6 9 12 15
;Is ~ollows: TIME (sec)
(b) k=1.5
Figure 8. S i m u l a t i o n R e s u l t s o f Parameter
Adaption ( k f 1 . 0 , 30[rpml, 20[Nml)

'1%~ time derivative of V becomes

V = e'(A'+A)e lOrpm/d i v

I * q n a t ion ( 1 2 ) is negative-semi definite, so

l t r r I'lux observer with the speed adaptive
s r h c v r c is stable.

5pc'ctf
Figure 9 shows a simulation result of a
stcp response. The estimated speed was
f o t l back in stead of the actual speed. An ex-
( ~ ( ~ I L c nresponse
t was obtained and validity of
1
1 depS/, -Actual Reference
Speed

1 quation ( 1 0 ) was verified. 1

II
--- Estimated Speed
Conclusion

Two kinds of parameter adaptive schemes c

I/ : -

l o r ' <i f l u x observer of an induction motor have 5Omsec/div

I , ( ~ ( ~ proposed.
n One adaptive scheme is f\r
itlent if ication of the stator and rotor resis-
( a r t r e . An induction motor drive system with Figure 9. Simulation Results of Speed Step
1 1 1 i s scheme is robust against the parameter Response without Speed Sensor
variation.

925
 Appendix 2. G.Verghese, and S.R.Sanders "Observers
f o r F l u x Estimation in Induction
Symbols Machines" I E E E T r a n s . o n Industrial
Electronics vo1.35 No.1 pp.85-94, 1988
RS Stator Resistance 3. H . K o b a y a s h i , M.Koizumi, H.Hashimoto,
RX- Rotor Resistance S.Kondo, and F.Harashima " A New Control-
L, Stator Self Inductance ler for I n d u c t i o n M o t o r s using F l u x
LX- Rotor Self Inductance Observer" IEEE Pesc '88 Record pp.1063-
M Mutual Inductance 1068, 1988
U Leakage Coefficient 4. Y.Hori, and T.Umeno "Implementation of
rr Rotor Time Constant Robust Flux Observer Based Field Orienta-
& Motor Angular Velocity tion (FOFO) Controller for Induction
&* Angular Velocity Reference Machines" 1989 IEEE IAS Annual Meeting
Oe Slip Angular Frequency pp.523-528
in* Field Current Reference 5. G.Franceschini, C.Tassoni, and A.Vagati
it* Torque Current Reference "Flux Estimation for Induction Servo-
T Produced Torque Motors" Proc. of 1990 International Power
T* Torque Reference Electronics C o n f e r e n c e ( I P E C - T o k y o )
pp.1227-1234
Acknowledgment 6. S.Sangwongwanich, T.Yonemoto, T. Furu-
hashi, and S.Okuma "Design of Sliding Ob-
The authors would like to thank Mr. M. server for Robust Estimation of Rotor
Ozaki of Meiji University for his assistance. Flux of Induction Motors" Proc. of 1990
International Power Electronics Con-
References ference (IPEC-Tokyo) pp.1235-1242
7. H. Kubota, and K.Matsuse "Flux Observer
1. A.Bellini, G.Figalli, and G.Ulivi " A of Induction Motor with Parameter Adapta-
Microprocessor-Based State Observer for tion for Wide Speed Range Motor Drives"
the Feedback Control of Induction Motor P r o c . o f 1 9 9 0 I n t e r n a t i o n a l Power
Drives" Proc. of European Conference on E l e c t r o n i c s C o n f e r e n c e (IPEC-Tokyo)
Power Electronics and Applications, pp. pp.1213-1218
3.45-3.50, 1985

926