9th International Conference on Power Electronics-ECCE Asia

June 1 - 5, 2015 / 63 Convention Center, Seoul, Korea

On-line Identification Methods of Parameters

for Permanent Magnet Synchronous Motors
Based on Cascade MRAS
Yanqing Zhang1, Zhonggang Yin1,2, Member, IEEE, Xiangdong Sun1, Member, IEEE, and Yanru Zhong1
1
Department of Electric Engineering, Xi’an University of Technology, Xi’an, 710048, China
2
State Key Lab of Electrical Insulation and Power Equipment, Xi’an Jiaotong University, Xi’an, 710049, China

Abstract-- Motor parameters should be on-line estimated (EKF) based identification approach. 2) Parameter
to realize precise control of PMSM in sensorless vector identification using a recursive least-square method. 3)
control system. In this paper, an on-line identification Advanced intelligent parameter identification algorithm.
method for PMSM parameters based on cascade MRAS is 4) Parameter estimation using model reference adaptive
proposed by analyzing the conventional MRAS. By means of
technique. In the EKF based method, the covariance
Popov’s hyper-stability theory, the model of motor
parameters identification is built in synchronous d-q
matrix of process noise affects the convergence and
coordinates, and PMSM stator voltage, stator current and accuracy of identified results, and the calculation of EKF
their errors are used to obtain the adaptive laws of motor is too massive [6]. In the least-square method, the high
parameters, and it is realizable to estimate rotor speed, order filter designed to filter the noise adds the complex
stator resistance and rotor flux at the same time. The of algorithm [7]. Although the advanced intelligent
simulation results demonstrate the correctness and method can achieve accurate identification results, fast
effectiveness of the proposed method. computing speed of controller is required to implement
the on-line identification method such as artificial neural
Index Terms—permanent magnet synchronous motor network [8].
(PMSM), cascade, model reference adaptive scheme
Hence, in this paper, a cascade MRAS containing two
(MRAS), parameter identification.
MRAS subsystems is proposed to implement a sensorless
field-orientation control (FOC) of a PMSM. Rather than
I. INTRODUCTION
the conventional MRAS identification scheme, there are
Permanent magnet synchronous motors (PMSM) are two basic MRAS module in the cascade MRAS structure.
receiving increased attention for high-performance By constructing the rational adaptive law and the
applications because of their high efficiency, superior identification step, the cascade MRAS can be used to
power density, and high torque to inertia ratio [1]. The identify rotor speed, stator resistance and rotor flux at the
research on the speed sensorless control algorithms for same time. The simulation results demonstrate the
PMSM is motivated by the improved reliability of the correctness and effectiveness of the proposed method.
system and lower price for the hardware. In case of
sensorless drives of PMSM, plenty of techniques have II. PRINCIPLE OF MRAS
been proposed in order to estimate the rotor speed and
Fig.1 shows the principle of the MRAS. Two models,
position, such as open-loop estimator [2], estimator based
which called reference model and adjustable model
on inductance variation due to geometrical and saturation
respectively, are employed in MRAS. They have similar
effect [3], observer-based speed and position estimator
measurable input and output of same physical meaning.
[4], etc. In this paper, a scheme of MRAS method for
According to the difference of the output value, the
PMSM is described to implement the sensorless PMSM
parameters of the adjustable model are regulated in real
drives [5].
time and identified finally by proper adaptive law.
It is known that high performance control of sensorless
PMSM drives can be realized based on accurate
parameters of motor. However, such parameters are x
possibly to make changes due to loss of excitation, high
temperature, etc. With such problems, on-line parameter
identification of PMSM is undoubted to be necessary in
x̂
high performance PMSM sensorless control system.
Different methods for parameter identification of
PMSM have been developed by researchers. However,
neither of them can be directly applied in PMSM
sensorless control system. These methods can be mainly Fig. 1. Structure of model reference adaptive algorithm.
divided into four types, i.e., 1) Extended Kalman filter

2015 KIPE
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 MRAS has the characteristics of clear structure, simple over-modulation algorithms according to the amplitude of
form, guaranteed convergence, relatively small the reference voltage vector. ‘Sampling’ module detects
computation and easy to be implemented on DSP the AC link current when a command signal is received.
platform. Therefore, it is suitable to be applied in the The parameters identification module for PMSM based
occasion of real time on-line parameter identification for on cascade MRAS is within the dashed box, in which
PMSM. ‘MRAS1’ subsystem calculates stator resistance and rotor
Specific to the application of online parameter flux by using the estimated rotor speed in MRAS2,
identification for PMSM, the reference model is in fact meanwhile, ‘MRAS2’ subsystem calculates rotor speed
the actual motor while the state equation of the nonlinear by using the estimated stator resistance and rotor flux in
dynamic d-q model of the PMSM is treated as the MRAS1. In this system, rotor speed estimation by
reference model. Their inputs are the same, that is, the MRAS2 and stator resistance and rotor flux identification
current of d-q axis Ud and Uq, while the outputs are Id and of PMSM are interrelated and interact on each other.
Iq. The adaptive rate is constructed by the same physical
meaning output error of the two models. And eventually,
by adjusting the variables in adjusted model, the
reference model can be tracked by the outputs of the
control object.
Ẑr
R̂s
III. PARAMETERS IDENTIFICATION FOR PMSM BASED ON \ˆr
CASCADE MRAS
In this paper, a cascade MRAS containing two MRAS uD uE
subsystems is proposed to implement a sensorless field- ud id id
D, E a, b, c
orientation control (FOC) of a PMSM. The cascade d, q uq iq d, q
MRAS is analyzed as follows, M and N are supposed as Tˆ Ẑr
two different set of functions with same values. On one iq
Tˆ Ẑr
hand, if N contains P parameters and M does not contain
the same, then M constitutes the reference model, while N Zr
is the adjustable one, the P parameters are identified by Fig. 2. The block diagram of speed sensorless vector control system
for PMSM based on cascade MRAS.
constructing a proper adaptive law. On the other hand, if
M contains Q parameters and N does not contain the same,
then N constitutes the reference model, while M is the A. MRAS Algorithm for Rotor Speed Identification
adjustable one, the Q parameters are identified by The d-q model in the rotating reference frame is used
constructing a proper adaptive law. In addition, identified to analyze the PMSM and the employed method of rotor
parameters in MRAS are calculated with their estimated speed estimation. The stator voltage and flux equations of
values, and P parameters and Q parameters are estimated the PMSM in the rotating d-q frame can be written as
at the same time. below form
It is concluded from the conventional MRAS
identification scheme that the rotor speed must be known ­ di d Rs u
°° dt  id  Z r i q  d
when identifying the stator resistance and the rotor flux; Ls Ls
in addition, the stator resistance and the rotor flux must ® di Rs u q  Z r\ r (1)
° q Z r id  iq 
be known when identifying rotor speed. In this paper, a
¯° dt Ls Ls
cascade MRAS is proposed to achieve the on-line
identification for the parameters of PMSM, the cascade Where id ,iq, ud ,uq are the stator currents and voltages,
MRAS contains two subsystems, firstly the rotor speed is respectively, Rs is the stator resistance, Ȧr is the electrical
identified by using the offline identification values of the rotor speed, Ld , Lq are the d-q axis stator inductances,
stator resistance and the rotor flux. When the rotor speed respectively , ȥr is the rotor flux.
becomes stable and the command speed does not change, It is concluded from (1) that the d-q axis currents id , iq
the speed identification is turned off briefly and the stator are the state variables of the current model of the PMSM,
resistance and the rotor flux are identified by using the and rewrite (1) into matrix form as below
estimated value of the rotor speed. In addition, when
identifying the stator resistance and the rotor flux, the ª Rs º
ª \ º « L Zr »ª \ r º ª Rs\ r º
identified rotor speed should be filtered by a first-order d «id  r » «id  » 1 «ud  L » (2)
filter with a rather large filter time constant, and thus the L « s » Ls 
dt « i s » «Z 
Rs »« » L « s
»
¬« q ¼» « iq ¼» s ¬« uq ¼»
rotor speed can remain smooth and stable. «¬ r Ls »¼¬
The proposed parameters identification control strategy
for PMSM based on cascade MRAS is shown in Fig.2. To be simplified, define
Traditional vector control is proposed for PMSM drives.
The reference voltage vector is obtained by current PI
regulators. As shown in Fig.2, ‘SVPWM (Space Vector
Pulse Width Modulation)’ module realizes SVPWM or

346
­c \r Where Ae A , W Z r  Ẑ r Jiˆsc , W1 W , D is the
° id id 
Ls gain matrix and it is used to handle the estimated error e
°
° i qc iq (3) to another vector v. To be simplified, we choose D I,
® R\ then
° u dc ud  s r
° Ls v Ie e (11)
° u qc uq
¯
According to Popov hyper-stability theory, if
Then (3) can be written as 1) H ( s ) ( sI  A) 1 is a strictly positive matrix.
t1
ª Rs
« L Zr » c
º 2) K ( 0, t1 )
³0
V T Wdt t J 02 , where J 02 is a
d ªidc º ªid º 1 ªudc º (4) limited positive number, then lim e (t ) 0.
« » « s » 
dt ¬iqc ¼ «Z Rs » «¬iqc »¼ Ls «u c »
¬ q¼
tof
 The MARS system will be stable.
«¬ r Ls »¼
Finally, the equation of Ẑ r can be achieved by
(4) can be simplified as below reverse solving the Popov integral inequality
d ª ˆ \r
 º» dt  K ª ˆ \r
 º

t

i sc A i sc  B u cs (5) Zˆ r ³K i1 «id iq  iq iˆd  iq  iˆq p1 «id iq  iq iˆd  iq  iˆq »

dt 0 ¬ Ls ¼ ¬ Ls ¼

ª Rs º (12)
ªidc º ªu dc º « Zr »
Where isc «ic » , u cs ,
«u c » A « Ls .
» In the above equation, id , iq can be obtained by the
¬ q¼ ¬ q¼ «Z 
Rs » transformation of the measured stator currents, iˆd , iˆq
«¬ r Ls »¼
can be calculated through the adjustable model, the
When the estimation value can be taken as a correct adaptive law of rotor speed Ȧr can be described in Fig. 3.
speed, then the adaptation mechanism uses the rotor
speed as corrective information to obtain the adjustable
parameter current error between two models in order to isc
drive the current error to zero. The process of speed HZr
estimation can be described as follows isc u iˆsc

ª Rs º iˆsc
« L Zˆ r » c
d ªidc º ªid º 1 ªu dc º (6)
« s » 
« »
dt ¬iqc ¼ «  Zˆ Rs » «¬iqc »¼ Ls «u c »
¬ q¼
 Zˆ r
«¬ r Ls »¼ KP 
Ki
U
Where Ȧr is to be estimated, (6) can be simplified as
below Fig. 3. Rotor speed adaptive law.
d ˆ
isc Aciˆsc  Bu cs (7) The estimated rotor speed Ẑ r is obtained by PI
dt regulators, and then Ẑr will force the output iˆsc of the
The error of the state variables is adjustable model and the output i sc of the reference
e isc  iˆsc (8) model have the same values. Since the real stator current
can be tracked by the estimated stator current, the real
According to equation (4) and (6), estimation equation rotor speed Zr can be tracked by the estimated rotor
can be written as speed Ẑ r , and thus the speed identification has been
ª Rs º achieved.
« L Zr »
d ªed º ªed º 1 ªidc º (9) B. MRAS Algorithm for Stator Resistance and Rotor
« » « s »  J Zr  Ẑr 
dt ¬ eq ¼ «Z Rs » «¬eq »¼ L
«ic »
¬ q¼ Flux Identification
 s
«¬ r Ls »¼ To the application of online parameter identification
for PMSM, the reference model is also the actual motor
idc  iˆdc , e q ª0  1º . while the voltage equations of the nonlinear dynamic d-q
Where ed i qc  iˆqc , J «1 0 »
¬ ¼ model of the PMSM are treated as the reference model.
(9) can be simplified as below Their input is the same, that is, the voltages of d-q axis Ud
and Uq, while the outputs are id and iq. The block diagram
­ de of parameters identification for PMSM based on MRAS
° Ae e  W Ae e  W (10)
® dt is shown in Fig.4, the parameters expected to be
°̄v De identified are the stator resistance Rs and the rotor flux ȥr.

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 Pole pares 2
Stator resistance 4.96ȍ
Stator inductance 8.5mH
Rotor flux 0.375Wb
The setting frequency in the simulation is rated
d iˆq Rˆ u \ˆ frequency 50Hz. The simulation results of speed
 s iˆq  Z r iˆd  q  r Z r Iˆ comparison based on cascade MRAS are shown in Fig.5.
dt Ls Ls Ls
It indicates that cascade MRAS has good tracking
d iˆd Rˆ u performance and stable state, and the two speeds have a
 s iˆd  Z r iˆq  d
dt Ls Ls good concordance.

1500

Fig. 4. Block diagram of parameters identification for PMSM based

1200
on MRAS.

Speed(r/min)
According to the Popov stability criterion, the 900 1500

following adaptive laws are acquired as below, where

PI(x) represents the PI regulator whose input error is x. 600

Rˆ s
t
 K i 2 ³ u d e1  u q e2 dt  K p 2 u d e1  u q e2  (13)
Rs 300 1200
Measured
0.05 0.15 Estimated
Ls Ls 0
0
0 0.1 0.2 0.3 0.4 0.5
\ˆ r \r t
(14)
 K i 3 ³ Z r e 2 dt  K p 3Z r e 2 t(s)
Ls Ls 0 Fig. 5. Identified and actual value of rotor speed.

Where e1 id iˆd , e2 iq  iˆq .
C. On-line Parameters Identification Steps for PMSM
Based on the Cascade MRAS
According to the equation (12), (13), (14) and the
block diagram of MRAS, it is concluded that the rotor
speed must be known when identifying stator resistance
and rotor flux; on the other hand, the stator resistance and
the rotor flux must be known when identifying rotor
speed. Therefore, the on-line parameters identification
steps for PMSM based on the cascade MRAS theory can
be described as follows,
1) According to (12), the rotor speed is identified
by using the offline identification values of the stator
Fig. 6 and Fig. 7 show the stator resistance and rotor
flux identification by the mutual MRAS. When the rotor
speed becomes stable and the command speed does not
change, the cascade MRAS scheme for stator resistance
and rotor flux identification is started at t=1s. As can be
seen, after a short transient, the identification results are
R̂s = 4.97ȍ with the estimated error of 0.2% and \ˆ r =
0.3753Wb with the estimated error of 0.1%. These
simulation results show the general convergence nature of
the cascade MRAS scheme.
6
5
Stator resistance (ȍ)

resistance and the rotor flux. 4

2) When the rotor speed becomes stable and the 5
3 4.95
command speed does not change, the estimated stator 4.9
2 2.05 2.1
resistance R̂s can be calculated by (13). 2

3) When the rotor speed becomes stable and the 1 Measured

Estimated
command speed does not change, make Z r Zˆ r , then
0
the estimated rotor flux \ˆr can be calculated by (14). 0 1 2 3 4
t(s)
Finally, make Z Zˆ , R Rˆ , \ \ˆ , and
r r s s r r Fig. 6. Identified and actual value of stator resistance
update the identification results.

IV. SIMULATION RESULTS AND ANALYSIS

To verify the proposed cascade MRAS scheme, a
SIMULINK model in MATLAB is built, and the PMSM
data are given in Table I.

TABLE I
PARAMETERS OF PMSM

348
 0.8 0.8
0.3751
0.375
Measured
0.6 0.3749 Estimated
2 2.05 2.1 0.6
Rotor flux(Wb)

Rotor flux(Wb)
0.4
0.4
0.2 0.38

0 Measured
-0.2
0 1
t(s)
Fig.7. Identified and actual value of rotor flux
In order to detect the tracking ability of cascade
MRAS, the motor parameters are handled as follows, the
given speed is 800r/min and the offline identification
values of stator resistance and rotor flux are used at the
starting time. The cascade MRAS scheme for stator
resistance and rotor flux identification is started at t=1s,
then Rs changes to 120% its normal value (4.96ȍ) at t=2s
and the speed command is set to 100r/min at t=4s and
1500r/min at t=6s, and then keeping the speed command
constant subsequently. At t=7s, Rs changes to 80% its
normal value (4.96ȍ) and ȥr changes to 50% its normal
value (0.375 Wb). The simulation results are shown in
Fig. 8, Fig. 9 and Fig. 10, and it is concluded that the on-
line parameters identification for PMSM based on
cascade MRAS has the general convergence nature when
the motor parameters change, and the identification
system has good dynamic and static performance.
1600
1400
Measured
Estimated
1200
1000
Speed(r/min)
0.36
0.2
0.34
Estimated
6.8 7 7.2
2 3 4 0
0 2 4 6 8 10
t(s)
Fig.10 Identified results when stator resistance varies
V. CONCLUSIONS
Cascade MRAS parameters identification scheme is
proposed for speed sensorless FOC of PMSM. By means
of Popov’s hyper-stability theory, the model of motor
parameters identification is built in synchronous d-q
coordinates, and PMSM d, q-axis voltage, current and
their errors are used to obtain the adaptive laws of PMSM
parameters. Furthermore, the cascade MRAS has a simple
structure and clear identification steps. The simulation
results demonstrate that the cascade MRAS has the
general convergence nature when motor parameters
change and the on-line accurate identification of motor
parameters are realized with very small errors.
ACKNOWLEDGMENT
The authors would like to acknowledge the financial
support of National Natural Science Foundation of China
(51307139), Specialized Research Fund for the Doctoral
Program of Higher Education (20126118120010), and
Industrial Research Projects of Shaan Xi Province
1600
(2014K06-29), State Key Laboratory of Electrical

800
1400
Insulation and Power Equipment (EIPEI13206), and Key
1200 Discipline Special Foundation of Shaan Xi Province
600
1000 (105-00X1201).
400 800
6.05 6.15
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