energies

Article
Sensorless Speed Control Based on the Improved
Q-MRAS Method for Induction Motor Drives
Danyang Bao, Hong Wang *, Xiaojie Wang and Chaoruo Zhang
Power Electronics and Electrical Drives Center, Harbin Institute of Technology (Shenzhen), Shenzhen 518055,
China; missingdanyang@163.com (D.B.); hitwxj@163.com (X.W.); zhangchaoruo@163.com (C.Z.)
* Correspondence: hongwang@hit.edu.cn; Tel.: +86-158-8960-3803

Received: 20 December 2017; Accepted: 11 January 2018; Published: 19 January 2018

Abstract: For high-power and high-performance speed control system, speed feedback signals are
generally required. The employment of sensorless control technology makes the installation of
the system easier and lower-cost, while its reliability needs to be improved. The robustness of the
improved instantaneous reactive power based on the quadrature model reference adaptive system
(MRAS) with respect to the variation of the motor inductance parameter is improved by selecting the
appropriate reference model and adjustable model. The improved instantaneous reactive power (Q)
based on model reference adaptive system (Q-MRAS) algorithm is studied by small signal analysis,
and the stability of the control system is verified by the Routh Stability Criterion. The simulation
models and experimental platform for the proposed control are built in the laboratory. The feasibility
and superiority are verified by the corresponding simulation and experimental results.

Keywords: improved instantaneous reactive power (Q) based on model reference adaptive system
(Q-MRAS); sensorless control; small signal analysis, induction motor drives

1. Introduction
The regulation system for the high equality induction motor speed applications are guaranteed
by the precious speed closed-loop control. If the speed encoder, rotary transformer, or other speed
measuring device are used to obtain the speed signal, the difficulty of installation and the related
cost will be problematic. Additionally, the reliability of the speed sensor will be decreased in harsh
environments. Sensorless speed control technology has been introduced to estimate the real-time
speed without the assistance of hardware devices. A series of problems brought by the speed sensor
can be avoided. Therefore, dozens of sensorless speed estimation methods have been studied and
applied [1,2]. Many practical issues need to be considered in the actual application process. Firstly,
sensorless speed estimation could be severely affected by the variations of parameters [3,4]. Meanwhile,
the accuracy of the speed estimation at low speed and the stability through the full speed range are
critical issues of concern [5–7]. Therefore, it has been a challenging task to find an appropriate speed
estimation method to obtain a satisfactory result in actual engineering applications [8–10].
Speed estimation based on the quadrature model reference adaptive system (MRAS) has gained
high popularity [11] in sensorless speed control research because of its simple control and superior
performance, which was first introduced by Schauer [12]. The flux linkages of the voltage model
without a speed variable was used as the reference model of (MRAS), while the flux linkage of the
current model including speed was used as the adjustable model. The estimation accuracy and
anti-interference performance have been greatly improved compared with the conventional method.
It can also ensure the stability of the system. However, there also exist disadvantages for the MRAS
method. Since the MRAS method is based on the voltage model and flux linkage, the precision
influences the accuracy of the speed estimation, which generally involves parameters related to the

Energies 2018, 11, 235; doi:10.3390/en11010235 www.mdpi.com/journal/energies

Energies 2018, 11, 235 2 of 16

stator resistance. This influence could be further deteriorated by the changes in resistance during
the motor operation. Meanwhile, the pure integrator contained in the voltage model leads to the
accumulation of error and zero drift. This will result in a seriously-affected speed estimation precision
for the low-speed operating scenario [13].
To overcome the above-mentioned demerits inherited in the conventional MRAS technique, many
research works have been conducted that focus mainly on selecting appropriate reference models
and adjustable models. For example, Peng and others proposed a new method by using the back
electromotive force (back-EMF) to replace the original flux linkages [14]. In this way, the pure integrator
can be avoided. However, stator resistance parameters still exist in the model, which still affects the
speed estimation performance in the low speed condition [14]. In [15], the instantaneous air gap
reactive power was proposed to replace the back-EMF. The stator resistance parameters are removed
from the reference model, which can eliminate its influence over the system speed estimation. However,
the reference model still has the derivative operation on stator current. This will cause the MRAS to
be extremely sensitive to the noise of the whole system. In addition, other parameters related to the
motor, such as the leakage flux coefficient, are also included in the model.
To solve the problems of the speed estimation technique based on air gap reactive power, a new
method was proposed in [16,17]. The air gap reactive power was replaced with the reactive power
obtained from the induction machine. This method also successfully eliminates the differential term
of the stator current. Meanwhile, the whole MRAS system does not have the parameters of stator
resistance and the pure integrator, which helps improve the performance of the motor speed estimation
significantly. The adjustable model contains motor parameters, such as the flux leakage coefficient,
the parameters of inductance, and so on. This may have a negative influence on the rotational speed
estimation in the running process of the motor. Additionally, this method also fails to solve the unstable
problem of the control system.
In this section, a novel speed estimation scheme based on instantaneous reactive power (Q) based
on model reference adaptive system (Q-MRAS) is proposed. In this method, the reactive power in the
static coordinate system is used as the reference model, which does not contain information about the
rotational speed. However, the reactive power in the rotating coordinate system includes the rotational
speed information. The proposed Q-MRAS method does not have motor parameters, which can
avoid its influence on the performance of rotating-speed estimation. The limitations of conventional
Q-MRAS method and the proposed Q-MRAS method are analyzed in detail. Simulation and the
corresponding hardware experiments are conducted to verify the feasibility and superiority of the
improved algorithm.

2. The Rotational Speed Estimation Based on the Q-MRAS Method

2.1. The Rotational Speed Estimation Based on Conventional Q-MRAS Method

The mathematical voltage model in synchronous rotation coordinate system (d-q frame) can be
expressed as: 
disd Lm dψrd
 usd = Rs isd + σLs dt + Lr dt


−σLs ωe isq − ωe LLmr ψrq


(1)
 usq = Rs isq + σLs disq + Lm dψrq

 dt L r dt
+σL ω i + ω Lm ψ


s e sd e Lr rd

where usd , usq , isd , isq , are the stator voltages and currents, respectively; Rs is the stator resistance; Ls , Lr
are the inductance of stator and rotor and the Lm is the mutual inductance. ω e is the synchronous speed
and ω r is the rotor speed, ω sl is the speed deviation, σ is the magnetic flux leakage factor coefficient.
The instantaneous reactive power of the induction motor can be expressed as:

Q IRP = usq isd − usd isq (2)

 The instantaneous reactive power of the induction motor can be expressed as: 
QIRP  usq isd  usd isq   (2) 

Combining Equations (1) and (2): 
Energies 2018, 11, 235 3 of 16
 disq di 
QIRP  σLs  isd  isq sd   σLs ωe  isd2  isq2 
 dt dt   
(3) 
Lm (2):dψrd
Combining Equations (1) and dψrq  Lm
  isq
Lr  dt
 isd   ωe
dt   Lr
 isqψrq isd ψrd  
disq disd
Q IRP = σLs isd dt − isq dt + σLs ωe i2sd + i2sq
It can be clearly seen in Equation (3) that, compared with the MRAS speed estimation method 

dψ
 (3)
− LLmr isq dψdtrd − isd dtrq + ωe LLmr isq ψrq + isd ψrd


based on the rotor flux error, the most significant feature in this is that there are no parameters of the 
stator resistance. Thus, when the motor is operating, the variation of the stator resistance will not 
It can be clearly seen in Equation (3) that, compared with the MRAS speed estimation method
have any effects on it. Since there is no pure integrator in this system, it also eliminates the integral 
based on the rotor flux error, the most significant feature in this is that there are no parameters of the
drift and other problems. The accuracy of the system will be improved greatly. 
stator resistance. Thus, when the motor is operating, the variation of the stator resistance will not have
any effects on it. Since there is no pure integrator in this system, it also eliminates the integral drift and
Equation (3) is the reactive power when the motor is in transient states. When the motor is in 
other problems. The accuracy of the system will be improved greatly.
steady states, and Equation (3) is modified to Equation (4). In Equation (4), the differential items all 
Equation
become zero:  (3) is the reactive power when the motor is in transient states. When the motor is in
steady states, and Equation (3) is modified to Equation (4). In Equation (4), the differential items all
become zero: L
Q SRP  σLs ω e  isd2  isq2   ω e m  isq ψ rq  isd ψ rd 
 
L L (4) 
r m
QSRP = σLs ωe i2sd + i2sq + ωe


isq ψrq + isd ψrd (4)
Lr
Moreover, because ψrd = Lmisd, ψrq = 0, Equation (4) can be simplified to Equation (5): 
Moreover, because ψrd = Lm isd , ψrq = 0, Equation (4) can be simplified to Equation (5):
L2
 
QSRP  σLs ωe isd2  isq2  ωe m isd22  
L (5) 
QSRP = σLs ωe i2sd + i2sq + ωLer m i2sd (5)
Lr
The  structure  of  conventional  Q‐MRAS  is  shown  in  Figure  1.  The  reference  model  of  the 
The structure of conventional Q-MRAS is shown in Figure 1. The reference model of the estimation
estimation system is built based on Equation (2), and the adjustable model is shown in Equation (5). 
system is built based on Equation (2), and the adjustable model is shown in Equation (5). The design
The ofdesign  of  adaptive  structure  is  mainly  based  on  the  Popov‐hyper  stability  theory.  The 
adaptive structure is mainly based on the Popov-hyper stability theory. The proportional-integral
proportional‐integral (PI) regulator is chosen to realize a reliable sensorless speed estimation design. 
(PI) regulator is chosen to realize a reliable sensorless speed estimation design.

vs
Qref
is QIRP  usq isd  usd isq εω
+
Error
2 - signal
L 2
QSRP = σLs ωe  isd
2 2
+ isq  + ωe m
isd Qad
Lr

ωˆ e ωˆ r Self-
+ adaptive
+
ωsl
 
Figure 1. The structure of the instantaneous reactive power (Q) based on model reference adaptive
Figure 1. The structure of the instantaneous reactive power (Q) based on model reference adaptive 
system (Q-MRAS) speed estimation system.
system (Q‐MRAS) speed estimation system. 

From
From  Figure it 
Figure 1,  1, can 
it can
be befound 
foundthat 
that an 
an error 
error signal processing module
signal processing  is added to the
module is added  to speed
the  speed 
estimation system. This module is used to process the reference module and the error signal of reactive
estimation  system.  This  module  is  used  to  process  the  reference  module  and  the  error  signal  of 
power produced by the adjustable model. The speed error signal in the vector control system can be
reactive power produced by the adjustable model. The speed error signal in the vector control system 
processed in this module as well.
can be processed in this module as well. 
The processing rule is shown in Equation (6). After running through the error signal processing
The processing rule is shown in Equation (6). After running through the error signal processing 
module, the output error is sent to the adaptive structure and, finally, the parameters of rotating speed
module,  the  output  error  is  sent  to  the  adaptive  structure  and,  finally,  the  parameters  of  rotating 
are regulated in the adjustable module.
speed are regulated in the adjustable module. 
Since the whole closed-loop estimation system is strictly positive, the whole system is stable.
Since the whole closed‐loop estimation system is strictly positive, the whole system is stable. 


i f sign ε Q = sign(ε ω ) ⇒ d = ε Q

(6)
i f sign ε Q 6= sign(ε ω ) ⇒ d = −ε Q
2.2. The Rotational Speed Estimation Based on the Improved Q‐MRAS Method 
The  Q‐MRAS  speed  estimation  method  mentioned  above  improves  the  performance  of  the 
motor speed estimation, to some extent, compared with the conventional MRAS method. However, 
there still exist motor parameters that may influence the performance, such as inductance, and so on. 
Energies 2018, 11, 235 4 of 16

To solve the problem of the conventional Q‐MRAS algorithm, the reactive power s expressed under 
the  stationary 
where εQ is reference 
the reactiveframe,  are  used 
power error, and εas  the  reference  model  without  the  rotate  speed  in  this 
w is the rotation speed error. d is the output of the module.
section.  The  reactive  power  s  under  the  rotating  coordinate  system  are  used  as  adjustable  model, 
2.2. The Rotational Speed Estimation Based on the Improved Q-MRAS Method
which contains the rotation speed information. By using this method, there are no motor parameters 
in this MRAS system, which is good for the performance of the system. The basic structure of the 
The Q-MRAS speed estimation method mentioned above improves the performance of the motor
proposed improved MRAS can be illustrated in Figure 2. 
speed estimation, to some extent, compared with the conventional  MRAS method. However, there still
The reactive power can be expressed as: 
exist motor parameters that may influence the performance, such as inductance, and so on. To solve the
problem of the conventional Q-MRAS algorithm, the reactive power s expressed under the stationary
Q  is  vs   (7) 
reference frame, are used as the reference model without the rotate speed in this section. The reactive
power s under the rotating coordinate system are used as adjustable model, which contains the rotation
In two‐phase static coordinates, the reactive power is shown in Equation (8): 
speed information. By using this method, there are no motor parameters in this MRAS system, which
   
ref  isα  jisβ  vsα  jvsβ  vsβ isα  vsαisβ  
is good for the performance ofQthe system. The basic structure of the proposed improved MRAS can be(8) 
illustrated in Figure 2.

*
vsαβ
Qref
isαβ Reference model εω
+
Error
* signal
vsdq Qad -
*
isdq Adjustable model

ωˆ e
+ ωˆ r Self-
adaptive
ωsl +
 
Figure 2. The structure of speed estimation based on the improved Q-MRAS.
Figure 2. The structure of speed estimation based on the improved Q‐MRAS. 

The reactive power can be expressed as:

The stationary coordinate system of voltage and current are shown in Equation (9): 
vsα  Vm cos  ωt
Q = sα v s  I m cos  ωt  φ  
 is i× (7)
v     , i      (9) 
 sβ  Vm sin  ωt    sβ   I m sin  ωt  φ  
In two-phase static coordinates, the reactive power is shown in Equation (8):
where Vm, Im are the amplitude of the voltage and the current respectively. ϕ is the phase difference 



Qre f = isα + jisβ × vsα + jvsβ = vsβ isα − vsα isβ
between voltage and current.  (8)
Combined the two s above, Equation (10) can be illustrated in the following: 
The stationary coordinate system of voltage and current are shown in Equation (9):
" # " Q ref #V" #  φ " 
m I m sin # (10) 
vsα Vm cos(ωt) isα Im cos(ωt − ϕ)
However,  the  reaction  = , = (9)
vsβ power  V
expression 
m sin( ωt ) can isβ
be  shown 
Im in 
sin(Equation 
ωt − ϕ) (11)  under  the  rotating 
coordinates. 
where Vm , Im are the amplitude of the voltage and the current respectively. φ is the phase difference
Qad  vsq isd  vsd isq (11) 
between voltage and current.  
Combined the two s above, Equation (10) can be illustrated in the following:
The  voltage  and  the  current  under  the  rotating  coordinates  can  be  calculated  by  the  Park 
transformation in Equation (12):  Q = V I sin( ϕ) (10)
re f m m

However, the reaction power expression can be shown in Equation (11) under the
rotating coordinates.

Q ad = vsq isd − vsd isq (11)

 Energies 2018, 11, 235 5 of 16

The voltage and the current under the rotating coordinates can be calculated by the Park
transformation in Equation (12):
Energies 2018, 11, 235  5 of 16 
" # " #" #
vsd v   cos cos(θθ ) sinsin ( ) vsα
=
sd    θ   vsα 
θ
vsq  v   −   θ ( θv)sβ #"
sin θ(θ ) coscos
sin
 vsβ
# sq "    (12)
(12) 
cos (θθ) sinsin  θ (θ)isα 
" #
isd isd   cos isα
=  
isq isq  −  sin  θ (θi)sβ 
sin θ(θ ) coscos isβ

Combining Equations (11) and (12), Equation (13) is delivered as follows: 
Combining Equations (11) and (12), Equation (13) is delivered as follows:
Qad  Vm I m sin  φ    (13) 
Q ad = Vm Im sin( ϕ) (13)
The result of Equation (13) is the same as Equation (10), so it is reasonable to build the MRAS 
The result of Equation (13) is the same as Equation (10), so it is reasonable to build the MRAS
system by using this method. Equations (8) and (11) are the reference model and adjustable model, 
system by using this method. Equations (8) and (11) are the reference model and adjustable
respectively. 
In  order 
model, to  ensure  that  the  estimation  system  can  be  reliable  and  correct,  the  adaptation  law 
respectively.
design of the improved Q‐MRAS system in Figure 2 needs to ensure the stability of the closed‐loop 
In order to ensure that the estimation system can be reliable and correct, the adaptation law design
system.  As  a  consequence, 
of the improved Q-MRAS system the  self‐adaption  system 
in Figure 2 needs to ensurecan  also  be  designed 
the stability through  Popov’s 
of the closed-loop system.
hyperstability theory. 
As a consequence, the self-adaption system can also be designed through Popov’s hyperstability theory.

3. Study on the Stability of the Sensorless Speed Vector Control System

3. Study on the Stability of the Sensorless Speed Vector Control System 
The improved Q-MRAS speed estimation method can be applied in the indirect vector control
The improved Q‐MRAS speed estimation method can be applied in the indirect vector control 
system ofthe 
system  of  theinduction 
inductionmotor 
motorto 
to achieve 
achieve the 
the sensorless 
sensorless speed 
speed vector 
vector control. 
control. The 
Theoverall 
overalldesign 
design
diagram is given in Figure 3.
diagram is given in Figure 3. 

r* + Speed
isq* + *
vsq
Current *
regulator regulator    vs
- isq* r1 - isq r2
isd* vs*
ˆ r i*
sd + d q
Current * 3-level space vector
*
1 isq v sd algorithm
sl  *
- r3
Tr isd 
isd
+
+
e  is
 d q
is
vs*  
vs* inverter
is The speed   isa
is estimation based ˆ r  isb
* on the improved
v sq Q-MRAS
* abc
v sd
*
isq
3‐phase 
* asynchro
isd nous 
motor
 
Figure 3. The sensorless speed design diagram based on the three‐level space vector algorithm Space 
Figure 3. The sensorless speed design diagram based on the three-level space vector algorithm Space
Vector Pulse Width Modulation (SVPWM). 
Vector Pulse Width Modulation (SVPWM).

The speed identification structure, based on the Popov super‐stability theory, has ensured the 
The speed identification structure, based on the Popov super-stability theory, has ensured the
stability  of  the  identification  system,  as  well  as  the  stability  of  the  closed‐loop  system  formed  by 
stability of the identification system, as well as the stability of the closed-loop system formed by
nonlinear feedback. To improve the dynamic response ability of the system, small signal model is 
introduced. The state spaces of induction motor are expressed in Equation (14) [17]: 
Energies 2018, 11, 235 6 of 16

nonlinear feedback. To improve the dynamic response ability of the system, small signal model is
introduced. The state spaces of induction motor are expressed in Equation (14) [17]:

disd
      
dt a1 ωe a2 a 3 ωr isd vsd
disq
  − ωe − a 3 ωr
  

dt = L a1 a2  isq  1  vsq 
+ (14)
   
− T1r

dψsd   m 0 0
  

Tr ωsl ψrd  σLs 
dt
   
Lm
dψsq 0 Tr −ωsl − T1r ψrq 0
dt

where:
L2m
 
1 1 Lm 1 Lm
a1 = − Rs + a2 = a3 = (15)
σLs Lr Tr σLs Lr Tr σLs Lr
" # " #
isd 1 0 0 0 h iT
= isd isq ψrd ψrq (16)
isq 0 1 0 0

The standard state spaces are written as follows:

.
x = Ax + Bu
(17)
y = Cx + Du

Combining Equations (14) and (16):

h iT
x= isd isq ψrd ψrq (18)

h iT
u= vsd vsq 0 0 (19)
h iT
y= isd isq (20)

In Figure 3, the speed regulators and two current regulators in the indirect vector control system
employ the common PI controllers, which are shown in the following equations.
Speed regulators:  
∗ = k i1
isq k p1 + s (ωr∗ − ωr ) = r1 (ωr∗ − ωr )
  (21)
r1 = k p1 + ksi1

Current regulators of the q axis:

  
k i2
v∗sq = ∗ −i ∗


k p2 + s isq sq = r2 r1 ( ωr − ωr ) − isq
   (22)
r2 = k p2 + ksi2

Current regulators of the d axis:

 
k i3
v∗sd = ∗ −i ∗



k p3 + s isd sd = r3 isd − isd
  (23)
r3 = k p3 + ksi3

By using Equations (22) and (23), Equation (19) can be expressed as follows:
h iT
∗ −i r2 r1 (ωr∗ − ωr ) − isq



u= r3 isd sd 0 0 (24)

The small signal analysis is presented according to the working statement at x0 point in
Equation (17):
Energies 2018, 11, 235 7 of 16

.
∆x = A∆x + ∆Ax0 + B∆u
(25)
∆y = C∆x
Equation (25) can be modified to Equation (26) by means of the Laplace transform:

∆y = C(sI − A)−1 [∆Ax0 + B∆u] (26)

where: h iT
x0 = isd0 isq0 ψrd0 ψrq0 (27)
h i
∆y = ∆isd ∆isq (28)
 
0 0 0 a3
 0 0 −a 0 
3
∆A =  ∆ωr (29)
 
 0 0 0 −1 
0 0 1 0
h iT
∆u = ∆vsd ∆vsq 0 0
h iT (30)
−r3 ∆isd −r2 r1 ∆ωr + ∆isq


= 0 0

The expressions of (∆isd /∆ω r ) and (∆isq /∆ω r ) are calculated by substituting A, B, C, ∆A, and ∆u
in Equation (26).
The error of the reactive power in the improved Q-MRAS is defined as ε:
   
ε = Qre f − Q ad = v∗sβ isα − v∗sα isβ − v∗sq isd ∗ − v∗ i ∗
sd sq
   
= v∗sq isd − v∗sd isq − v∗sq isd
∗ − v∗ i ∗
 sd sq (31)
∗ −v ∗


= vsq0 isd − isd i
sd0 sq − i sq
∗ −v ∗



= vsq0 isd − isd i
sd0 sq − r 1 ( ωr − ω̂r )

Considering a small disturbance ∆ω r produced by the speed:

∆ε = vsq0 ∆isd − vsd0 ∆isq − vsd0 r1 ∆ω̂r (32)

Equation (33) is obtained by dividing both sides of Equation (32) by ∆ω r .

∆isd ∆i
∆ε
∆ωr = vsq0 ∆ω − vsd0 ∆ωsqr − vsd0 r1 ∆∆ω
ω̂r
r
∆ω̂r
r (33)
= G (s) − vsd0 r1 ∆ω r

Meanwhile, according to the structure based on the improved Q-MRAS, it can be expressed in
Equation (34):  
k imras
k pmras + ∆ε = ∆ω̂r (34)
s
Combining Equations (33) and (34):
 
∆ω̂r G (s) k pmras + kimras
s
= (35)
∆ωr
 
1 + vsd0 r1 G (s) k pmras + kimras
s

Equation (35) illustrates the transfer function of the variation of input rotation rate ∆ωr and
output rotation rate ∆ω̂r . The block diagram representing the structure of the Q-MRAS based state
Energies 2018, 11, 235 8 of 16

space is shown in Figure 4a. The root locus plot of Equation (35) for the forward motoring mode is
Energies 2018, 11, 235  8 of 16 
shown in Figure 4b, which represents stability of the speed estimator.

ε ω̂r
ωr G s kimras
+ k pmras 
s
‐

vsd 0 r1
 

Real Axis (s-1)

(a)  (b) 

Figure 4. (a) The structure of state space based on improved Q‐MRAS system; and (b) the root locus 
Figure 4. (a) The structure of state space based on improved Q-MRAS system; and (b) the root locus
plot of Equation (35) for the forward motoring mode. 
plot of Equation (35) for the forward motoring mode.

When small disturbances are introduced at the actual speed of the induction motor to guarantee 
When small disturbances are introduced at the actual speed of the induction motor to guarantee
the accurate tracking between the dynamical speed estimation value and the variation of the actual 
themotor speed. The sensorless speed vector control system is stable in Equation (35) mentioned above. 
accurate tracking between the dynamical speed estimation value and the variation of the actual
motor speed. The sensorless speed vector control system is stable in Equation (35) mentioned above.
The coefficient of the characteristic changes with the specific working condition, and the state of the 
The coefficient of the characteristic changes with the specific working condition, and the state of
speed regulating system is determined by the given speed and the load torque. Thus, in the torque‐
thespeed area, the whole system’s stability is judged by the Routh Criterion. 
speed regulating system is determined by the given speed and the load torque. Thus, in the
torque-speed area, the whole system’s stability is judged by the Routh Criterion.
In the vector control system simulation platform, the PI parameters of the control system are 
In the vector control system simulation platform, the PI parameters of the control system are
obtained by integrating the transfer function in Equation (35). The induction motor speed changes 
obtained by integrating the transfer function in Equation (35). The induction motor speed changes
from 0 r/min to 1400 r/min, and the load torque changes from 0 Nm to 5 Nm. 
from 0 The Routh Criterion is utilized to judge the stability of the corresponding system. It can be seen 
r/min to 1400 r/min, and the load torque changes from 0 Nm to 5 Nm.
The Routh Criterion is utilized to judge the stability of the corresponding system. It can be seen
that the indirect vector control system using the improved Q‐MRAS speed estimation performs stably 
that the indirect vector control system using the improved Q-MRAS speed estimation performs stably
when the machine load varies. 
when the machine load varies.
4. Simulation Results 
4. Simulation Results
According to the Figures 1 and 2, the Q‐MRAS simulation model and the improved Q‐MRAS 
According to the Figures 1 and 2, the Q-MRAS simulation model and the improved Q-MRAS
simulation model are built according to the Space Vector Pulse Width Modulation (SVPWM) indirect 
simulation model are built according to the Space Vector Pulse Width Modulation (SVPWM) indirect
vector  control  simulation  model.  Different  simulation  experiments  are  set  to  verify  the  dynamic 
vector control simulation model. Different simulation experiments are set to verify the dynamic
performance  and  the  static  performance.  This  model  also  shows  the  effect  of  conventional  and 
performance and the static performance. This model also shows the effect of conventional and
improved algorithms through comparative analysis. 
improved algorithms through comparative analysis.
4.1. The Rotational Speed Estimation Based on Improved Q‐MRAS Method 
4.1. The Rotational Speed Estimation Based on Improved Q-MRAS Method

4.1.1. The Speed Estimation in the Zero‐Load Condition 
4.1.1. The Speed Estimation in the Zero-Load Condition
In In this test, the induction motor speed is first set to 1400 r/min and the loads are set to 0 Nm. The 
this test, the induction motor speed is first set to 1400 r/min and the loads are set to 0 Nm.
Themotor drive is set up at light loads. The results of simulation are shown in Figure 5. In this work, the 
motor drive is set up at light loads. The results of simulation are shown in Figure 5. In this work,
theboth the improved algorithm method and the conventional algorithm are able to follow the actual 
both the improved algorithm method and the conventional algorithm are able to follow the actual
speed value quiet accurately. 
speed value quiet accurately.
The improved Q-MRAS estimation method tracks the actual speed value in the set-up stage of the
1600
induction motor. However,1400this method also has disadvantages, such as containing the delay period
and error signals. 1200
—— The actual speed 实际转速
改进型QMRAS
……Traditional Q-MRAS
Speed (r/min)

QMRAS
----- Improved Q-MRAS
1000

800

600

400

200

0
0 0.05 0.1 0.15
Time(s)  
Figure 5. The speed estimation result in the no‐load condition. 
 4.1.1. The Speed Estimation in the Zero‐Load Condition 
In this test, the induction motor speed is first set to 1400 r/min and the loads are set to 0 Nm. The 
motor drive is set up at light loads. The results of simulation are shown in Figure 5. In this work, the 
both the improved algorithm method and the conventional algorithm are able to follow the actual 
Energies 2018, 11, 235 9 of 16
speed value quiet accurately. 

1600

1400
—— The actual speed
实际转速
1200 改进型QMRAS
……Traditional Q-MRAS

Speed (r/min)
QMRAS
----- Improved Q-MRAS
1000

800

600

400
Energies 2018, 11, 235  9 of 16 
Energies 2018, 11, 235  9 of 16 
200

0
The improved Q‐MRAS estimation method tracks the actual speed value in the set‐up stage of 
0 0.05 0.1 0.15
The improved Q‐MRAS estimation method tracks the actual speed value in the set‐up stage of 
the  induction  motor.  However,  this  method  also  has  disadvantages,  such  as   containing  the  delay 
Time(s)

the  induction  motor.  However,  this  method  also  has  disadvantages,  such  as  containing  the  delay 
Figure 5. The speed estimation result in the no‐load condition. 
period and error signals. 
Figure 5. The speed estimation result in the no-load condition.
period and error signals. 

4.1.2. The Speed Estimation from Zero Load to Full Load 
4.1.2. The Speed Estimation from Zero Load to Full Load
4.1.2. The Speed Estimation from Zero Load to Full Load 
In this work, the induction motor speed is set up at 1400 r/min. When the running time is 0.05 s, 
In this work, the induction motor speed is set up at 1400 r/min. When the running time is 0.05 s,
In this work, the induction motor speed is set up at 1400 r/min. When the running time is 0.05 s, 
the load is changed from 0 Nm to 5.11 Nm. Figure 6 shows the simulation result. When the loads 
the load is changed from 0 Nm to 5.11 Nm. Figure 6 shows the simulation result. When the loads
the load is changed from 0 Nm to 5.11 Nm. Figure 6 shows the simulation result. When the loads 
change instantly, the improved Q‐MRAS algorithm track follows the change of the actual speed of 
change instantly, the improved Q-MRAS algorithm track follows the change of the actual speed of
change instantly, the improved Q‐MRAS algorithm track follows the change of the actual speed of 
the induction motor, which represents stability of the speed estimator. However, the conventional Q‐
the induction motor, which represents stability of the speed estimator. However, the conventional
the induction motor, which represents stability of the speed estimator. However, the conventional Q‐
MRAS estimation algorithm has a greater lag, and the regulation time is very long, so this method 
Q-MRAS estimation algorithm has a greater lag, and the regulation time is very long, so this method
MRAS estimation algorithm has a greater lag, and the regulation time is very long, so this method 
has a poor estimation result. 
has a poor estimation result.
has a poor estimation result. 
1600
1600
1400  
1400   实际转速

1200 —— The actual 改进型QMRAS

speed
实际转速
The actualQMRAS
——Traditional speed
改进型QMRAS
(r/min)

1200 …… Q-MRAS
QMRAS
(r/min)

1000 TraditionalQ-MRAS
……Improved
----- Q-MRAS
1000 ----- Improved Q-MRAS
Speed

800
Speed

800
600
600
400
400
200
200
0
00 0.05 0.1 0.15
0 0.05 Time(s)
Time(s)
0.1 0.15   
Figure 6. The speed estimation result from no‐load condition to full‐load condition. 
Figure 6. The speed estimation result from no-load condition to full-load condition.
Figure 6. The speed estimation result from no‐load condition to full‐load condition. 

4.1.3. The Speed Estimation in the Condition of Speed Mutation 
4.1.3. The Speed Estimation in the Condition of Speed Mutation
4.1.3. The Speed Estimation in the Condition of Speed Mutation 
In this work, the induction motor starts in the zero‐load condition at a rated speed. When the 
In this work, the induction motor starts in the zero-load condition at a rated speed. When the
In this work, the induction motor starts in the zero‐load condition at a rated speed. When the 
running time is 0.05 s, the instruction speed changes from 1400 r/min to 1000 r/min instantly. Figure 7 
running time is 0.05 s, the instruction speed changes from 1400 r/min to 1000 r/min instantly. Figure 7
running time is 0.05 s, the instruction speed changes from 1400 r/min to 1000 r/min instantly. Figure 7 
gives the results of simulation. When the motor speed changes instantly, both the improved Q‐MRAS 
gives the results of simulation. When the motor speed changes instantly, both the improved Q-MRAS
gives the results of simulation. When the motor speed changes instantly, both the improved Q‐MRAS 
algorithm and
algorithm
and  the 
thethe 
conventional 
conventional
estimation 
estimation
method 
method
are 
are able
able 
toable 
to  estimate 
estimate
the 
the actualthe 
actual 
speed
speed 
well.speed 
well. 
However,
algorithm  and  conventional  estimation  method  are  to  estimate  actual  well. 
However, the improved Q‐MRAS method has a good tracking performance in the starting process 
the improved Q-MRAS method has a good tracking performance in the starting process and the
However, the improved Q‐MRAS method has a good tracking performance in the starting process 
and the mutation process. 
mutation process.
and the mutation process. 
1600
1600 —— The actual speed实际转速
改进型QMRAS
1400 —— The
…… actual speed
Traditional
实际转速
Q-MRAS
QMRAS
改进型QMRAS
1400 …… Traditional Q-MRAS
QMRAS
------Improved Q-MRAS
1200 ------Improved Q-MRAS
(r/min)

1200
(r/min)

 
1000  
1000
Speed
Speed

800
800
600
600
400
400
200
200
0
00 0.05 0.1 0.15
0 0.05 Time(s)
Time(s)
0.1 0.15
  
Figure 7. The result of speed estimation in the condition of speed mutation. 
Figure 7. The result of speed estimation in the condition of speed mutation. 
Figure 7. The result of speed estimation in the condition of speed mutation.
4.1.4. The Estimation Result in the Low‐Speed Condition 
4.1.4. The Estimation Result in the Low‐Speed Condition 
In this work, the motor speed is set to 50 r/min, and the induction motor is set up in the zero 
In this work, the motor speed is set to 50 r/min, and the induction motor is set up in the zero 
load condition. The simulation results are shown in Figure 8. 
load condition. The simulation results are shown in Figure 8. 
Energies 2018, 11, 235 10 of 16

4.1.4. The Estimation Result in the Low-Speed Condition

In this work, the motor speed is set to 50 r/min, and the induction motor is set up in the zero load
condition. The simulation results are shown in Figure 8.
Energies 2018, 11, 235  10 of 16 

70

60
Speed (r/min)

50

40 —— The actual实际转速
speed
…… Traditional改进型QMRAS
Q-MRAS
QMRAS
30 ----- Improved Q-MRAS

20

10

0 0.05 0.1 0.15

Time (s)  
Figure 8. The speed estimation result in the low‐speed condition. 
Figure 8. The speed estimation result in the low-speed condition.

During the startup process, the results estimated by the Q‐MRAS algorithm have a significant 
During the startup process, the results estimated by the Q-MRAS algorithm have a significant
difference with the actual speed. The results produced by the improved Q‐MRAS algorithm are much 
difference with the actual speed. The results produced by the improved Q-MRAS algorithm are much
better, but the tracking result in the startup process has a slight decline. By observing the enlarged 
better, but the tracking result in the startup process has a slight decline. By observing the enlarged
figure of the steady state in Figure 8, the estimation results of Q‐MRAS have a high level disturbing, 
figure of the steady state in Figure 8, the estimation results of Q-MRAS have a high level disturbing,
which will have a great influence on the speed estimation accuracy. However, the improved Q‐MRAS 
which will have a great influence on the speed estimation accuracy. However, the improved Q-MRAS
can also follow the actual speed well in the steady state. 
can also follow the actual speed well in the steady state.
According to all the simulation results above, the improved Q‐MRAS algorithm can ensure a 
According to all the simulation results above, the improved Q-MRAS algorithm can ensure a
high‐level accuracy of speed estimation in the speed mutation and low‐speed condition compared 
high-level accuracy of speed estimation in the speed mutation and low-speed condition compared
with the conventional Q‐MRAS estimation method. The improved Q‐MRAS estimation method also 
with the conventional Q-MRAS estimation method. The improved Q-MRAS estimation method also
performs well in the dynamic state. 
performs well in the dynamic state.
4.2. The Influence on the Speed Estimation by Changing the Inductance Parameter 
4.2. The Influence on the Speed Estimation by Changing the Inductance Parameter
By observing the improved Q‐MRAS estimation method and the Q‐MRAS estimation method, 
By observing the improved Q-MRAS estimation method and the Q-MRAS estimation method,
the most significant advantage of these two methods is that both of them have no relationship with 
the most significant advantage of these two methods is that both of them have no relationship with
motor  parameters.  Thus,  it  can  avoid  the  inverse  effect  brought  about  by  the  motor  parameters, 
motor parameters. Thus, it can avoid the inverse effect brought about by the motor parameters,
especially the inductance variation. The motor inductance will be set to the value which is different 
especially the inductance variation. The motor inductance will be set to the value which is different
from  the  rating  before  the  simulation,  in  order  to  observe  the  influence  on  the  speed  estimation 
from the rating before the simulation, in order to observe the influence on the speed estimation
produced by the variation of motor inductance parameters. In this section, the 0.6 times, 0.8 times, 
produced by the variation of motor inductance parameters. In this section, the 0.6 times, 0.8 times,
1.2  times, and 1.4  times  of  the  motor inductance are  chosen as  the  initial  motor  inductance  value, 
1.2 times, and 1.4 times of the motor inductance are chosen as the initial motor inductance value,
respectively. Finally, the simulation results are shown in Figures 9–12. From the estimation curves 
respectively. Finally, the simulation results are shown in Figures 9–12. From the estimation curves
shown in Figures 9 and 10, there is little influence on improve Q‐MRAS method when the inductance 
shown in Figures 9 and 10, there is little influence on improve Q-MRAS method when the inductance
parameters of the motor stator are changed. However, the Q‐MRAS method is sensitive to the motor 
parameters of the motor stator are changed. However, the Q-MRAS method is sensitive to the motor
parameter. When the value of the parameters become larger, the overshoot of the speed estimation 
parameter. When the value of the parameters become larger, the overshoot of the speed estimation
will become larger as well. When the value of the parameters become smaller, the tracking effect of 
will become larger as well. When the value of the parameters become smaller, the tracking effect of the
the speed estimation will become worse in the startup process. 
speed estimation will become worse in the startup process.
In Figures 11 and 12, 1600the variation of the rotator inductance parameters has a great influence
on the Q-MRAS estimation 1400 effect. It is worth mentioning that the tracking effect of the speed
L =L 0L0=1.2Ls
s
1200
estimation method based on the improved Q-MRAS may also be influenced L =1.2L by the variation of 1
L1=Ls
s
L2=0.8Ls
L =1.4L
Speed (r/min)

1000 2L3=1.4Ls
s
induction parameters, but the influence is at a small scale. The estimation L =0.6L system can also track 3
L4=0.6Ls
s
800 L =0.8L 4 s
the speed variation normally.600
From the analysis of the whole motor-controlling system, because of
using the indirect control, 400
theL timeL constant of the motor rotor must be involved when calculating the
2 1

slip frequency. 200

L 0
0 L4
L3

0 0.05 0.1 0.15

Time (s)  
Figure 9. The influence on the Q‐MRAS speed estimation method produced by the stator inductance. 
 respectively. Finally, the simulation results are shown in Figures 9–12. From the estimation curves 
shown in Figures 9 and 10, there is little influence on improve Q‐MRAS method when the inductance 
parameters of the motor stator are changed. However, the Q‐MRAS method is sensitive to the motor 
parameter. When the value of the parameters become larger, the overshoot of the speed estimation 
will become larger as well. When the value of the parameters become smaller, the tracking effect of 
Energies 2018, 11, 235 
Energies 2018, 11, 235 11 of 1611 of 16 
the speed estimation will become worse in the startup process. 
Energies 2018, 11, 235  11 of 16 
1500
1600
1500
1400
LL0=0.8Ls
0=Ls
L1=Ls
LLL=L1=1.2Ls
L2=1.2Ls
=L
L0=0.8Ls
0L0=1.2Ls
s s
0L3=1.4Ls
1200 LL1=Ls
2=1.4Ls

(r/min)
L1=Ls
LL
1=1.2L
=1.2L
1L4=0.6Ls
L2=1.2Ls
L2=0.8Ls
s s
1000 LL 3=0.6L
L=1.4L
L3=1.4Ls s ss

Speed (r/min)
1000 =1.4L
2L3=1.4Ls

(r/min)
2
LLL
3=0.6L
4 =0.8L
L4=0.6Ls
L4=0.6Ls
s s
1000 3=0.6Ls

Speed
800 4=0.8L
LL =0.8Ls
4 s

Speed
600
500
400
L2 L1
500200
L0
0 L4
L3
0
0 0.05 0.1 0.15
0 0.05 0.1 0.15
  
0 Time(s)
0 0.05 Time (s) 0.1 0.15
Time(s)  
Figure 10. The influence on the improved Q‐MRAS speed estimation method produced by the stator 
Figure 9. The influence on the Q‐MRAS speed estimation method produced by the stator inductance. 
Energies 2018, 11, 235  11 of 16 
Figure 9. The influence on the Q-MRAS speed estimation method produced by the stator inductance.
Figure 10. The influence on the improved Q‐MRAS speed estimation method produced by the stator 
inductance. 
inductance. 
1500
In Figures 11 and 12, the variation of the rotator inductance parameters has a great influence on 
L =L L0=0.8Ls
0 s
L1=Ls
In Figures 11 and 12, the variation of the rotator inductance parameters has a great influence on 
L =1.2L
the Q‐MRAS estimation effect. It is worth mentioning that the tracking effect of the speed estimation  L2=1.2Ls
1
L3=1.4Ls
s
L =1.4L
Speed (r/min)

2
L4=0.6Lss
the Q‐MRAS estimation effect. It is worth mentioning that the tracking effect of the speed estimation 
method  based  on  the  1000 improved  Q‐MRAS  may  also  be  influenced  by  L =0.6L
the  variation  of  induction 
3 s
L =0.8L 4 s
method  based  on  the  improved  Q‐MRAS  may  also  be  influenced  by 
parameters,  but  the  influence  is  at  a  small  scale.  The  estimation  system  can  the  variation  of  the 
also  track  induction 
speed 
parameters,  but  the  influence  is  at  a  small  scale.  The  estimation  system  can 
variation normally. From the analysis of the whole motor‐controlling system, because of using the  also  track  the  speed 
500
variation normally. From the analysis of the whole motor‐controlling system, because of using the 
indirect  control,  the  time  constant  of  the  motor  rotor  must  be  involved  when  calculating  the  slip 
indirect 
frequency. control,  the  time  constant  of  the  motor  rotor  must  be  involved  when  calculating  the  slip 
frequency.  0
When the motor inductance changes, the time constant of the rotator will change in the same 
0 0.05 0.1 0.15
Time(s)
When the motor inductance changes, the time constant of the rotator will change in the same 
scale. 
 
So  even  there  are  no  motor  parameters  in  the  estimation  model,  the  change  of  the  rotator 
scale.  So  even 10.
Figure there 
The are  no  motor 
influence on theparameters  in  the speed
improved Q-MRAS estimation  model, 
estimation method the 
Figure 10. The influence on the improved Q‐MRAS speed estimation method produced by the stator 
inductance will also have influences on the whole sensorless speed control system.  change byof the
produced the  rotator 
inductance will also have influences on the whole sensorless speed control system. 
inductance. 
stator inductance.
1600
1400
1600
In Figures 11 and 12, the variation of the rotator inductance parameters has a great influence on 
L =L L0=Lr
1400
1200 0 r
L1=0.6Lr
L =1.2L
the Q‐MRAS estimation effect. It is worth mentioning that the tracking effect of the speed estimation 
L =L 1L0=Lr r
L2=0.8Lr
(r/min)

0 r
1200
1000 L =1.4L 2 L3=1.2Lr
L1=0.6Lrr
L =1.2L L4=1.5Lr
1 L2=0.8Lr
r
L =0.6L
(r/min)

method  based  on  the  improved 

1000
800 L Q‐MRAS  may  also  be  influenced  by 
L the  variation  of  induction 
=1.4L
L =0.8L
3
2 L3=1.2Lr
r
r
Speed

3 4L4=1.5Lrr
L =0.6L 3 r
800
parameters,  but  the  influence 
600 L is  at  a  small  scale.  The  estimation  system 
L =0.8Lcan  also  track  the  speed 
Speed

3 4 r
600
400
variation normally. From the analysis of the whole motor‐controlling system, because of using the 
L 4
400
200
L
indirect  control,  the  time 
2000
constant 
LL
of  the  motor  rotor  must  be  involved  when  calculating  the  slip 
40

1
0
frequency.  0 LL 2
1
L
When the motor inductance changes, the time constant of the rotator will change in the same 
0 0.05
Time (s)
2
0.1 0.15
0 0.05 0.1 0.15  
scale.  So  even  there  are  no  motor  parameters  in  Timethe 
(s) estimation  model,  the  change 
  of  the  rotator 
Figure  11.  The  influence  on  the  Q‐MRAS  speed  estimation  method  produced  by  the  rotator 
inductance will also have influences on the whole sensorless speed control system. 
Figure  11. 
Figure 11.The 
inductance.  The influence 
influence onon 
the the  Q‐MRAS 
Q-MRAS speed  estimation 
speed estimation method 
method produced byproduced  by  the  rotator 
the rotator inductance.
inductance.  1600
1600
1400
1400
1600 L0=LL0=Lr
r
1200 L1=0.6Lr
L1=1.2L r
L0L2=0.8Lr
=L
(r/min)

1400
1200 r
L0=Lr
L2=1.4L
(r/min)

1000 L3=1.2Lr
L =1.2L r
L1=0.6Lr

1200 L031=L
=0.6L
r
L4=1.5Lr
L2=0.8Lr
r
1000 L L0=Lr
=1.4L r
(r/min)

800 L3
L3=1.2Lr
L142=1.2L
=0.8L
r
L1=0.6Lr
Speed

rr
L4=1.4Lr
L3L2=0.8Lr
=0.6L
Speed

r
800
1000
600 L2=1.4L
L3=1.2Lr
=0.8Lrr
L4L4=1.4Lr
L3=0.6Lr
Speed

800
600
400 L4=0.8Lr
L4
600
400
200
L0
400
200
0 L1
2000 L2
0
00 0.05
0.05 0.1
0.1 0.15
0.15
   Time(s)
Time (s)
0 0.05 0.1 0.15
  Time (s)
Figure  11.  The  influence  on  the  Q‐MRAS  speed  estimation  method  produced  by  the  rotator 
Figure 12. The influence on the improved Q‐MRAS speed estimation method produced by the rotator 
Figure 12. The influence on the improved Q-MRAS speed estimation method produced by the
Figure 12. The influence on the improved Q‐MRAS speed estimation method produced by the rotator 
inductance. 
inductance. 
rotator inductance.
inductance. 
1600
5. Experimental Verification 
1400
5. Experimental Verification  L =L
1200 0 L0=Lr
r
Speed (r/min)

In order to further study and identify the actual effect of the control system, a corresponding 
L =1.2L L1=0.6Lr
1 L2=0.8Lr
r
1000 L =1.4L
In order to further study and identify the actual effect of the control system, a corresponding 
experimental platform has been built in this chapter and a software algorithm will also be designed. 
L =0.6L
2 L3=1.2Lr
3
r
L4=1.4Lr
r
800
L =0.8L
experimental platform has been built in this chapter and a software algorithm will also be designed.  4 r
Energies 2018, 11, 235 12 of 16

When the motor inductance changes, the time constant of the rotator will change in the same scale.
So even there are no motor parameters in the estimation model, the change of the rotator inductance
will also have influences on the whole sensorless speed control system.

5. Experimental Verification
In order to further study and identify the actual effect of the control system, a corresponding
experimental platform has been built in this chapter and a software algorithm will also be designed.
Energies 2018, 11, 235 
Energies 2018, 11, 235 
12 of 16 
12 of 16 
Finally, the debugging of the software and hardware has been accomplished. The running time of the
interrupt subroutine is set at 0.0002 s, that is, the frequency is 5 kHz. All the vector control algorithms 
interrupt subroutine is set at 0.0002 s, that is, the frequency is 5 kHz. All the vector control algorithms
interrupt subroutine is set at 0.0002 s, that is, the frequency is 5 kHz. All the vector control algorithms 
of the sensorless speed estimation are finished in this period of time. 
of the sensorless speed estimation are finished in this period of time.   
of the sensorless speed estimation are finished in this period of time. 

5.1. Zero‐Load Startup Experiment 
5.1. Zero-Load Startup Experiment
5.1. Zero‐Load Startup Experiment 
In the zero‐load startup experiment, the given speed of the induction motor is set to 1400 r/min, 
In the zero-load startup experiment, the given speed of the induction motor is set to 1400 r/min,
In the zero‐load startup experiment, the given speed of the induction motor is set to 1400 r/min, 
and the load is set to 0 Nm. 
and the load is set to 0 Nm.   
and the load is set to 0 Nm. 
When the two motors are connected back‐to‐back, and they are used as a test platform, one side 
When the two motors are connected back-to-back, and they are used as a test platform, one side of
When the two motors are connected back‐to‐back, and they are used as a test platform, one side 
of the platform is a synchronous machine, which contains a 2500 wire encoder in it. The actual speed 
the platform is a synchronous machine, which contains a 2500 wire encoder in it. The actual speed of
of the platform is a synchronous machine, which contains a 2500 wire encoder in it. The actual speed 
of the induction motor can be detected by using this encoder. During this work, the output waves of 
the induction motor can be detected by using this encoder. During this work, the output waves of the
of the induction motor can be detected by using this encoder. During this work, the output waves of 
the 
speed speed  estimation 
estimation algorithm
the  speed  estimation  algorithm  are  observed 
are observed
algorithm  are  observed 
by using theby  using  the 
View/Graph
by  using  the  function
View/Graph  function 
in CCS5.5
View/Graph  in  CCS5.5 
CCS5.5 
(TMS320F28335
function  in 
(TMS320F28335 Delfino Microcontroller, Texas Instruments, Inc., Dallas, TX, USA). Meanwhile, the 
Delfino Microcontroller, Texas Instruments, Inc., Dallas, TX, USA). Meanwhile, the PI parameters in the
(TMS320F28335 Delfino Microcontroller, Texas Instruments, Inc., Dallas, TX, USA). Meanwhile, the 
PI parameters in the adaptive structure are adjusted according to the result. The procedure is finished 
adaptive structure are adjusted according to the result. The procedure is finished until the debugging
PI parameters in the adaptive structure are adjusted according to the result. The procedure is finished 
until the debugging has been done. The experiment results are shown below. 
has been done. The experiment results are shown below.
until the debugging has been done. The experiment results are shown below. 
The actual speed of the induction motor is shown in Figure 13, and it is obtained by the encoder 
The actual speed of the induction motor is shown in Figure 13, and it is obtained by the encoder
The actual speed of the induction motor is shown in Figure 13, and it is obtained by the encoder 
in the synchronous motor. Figures 14 and 15 show the speed, which is estimated by the conventional 
in the synchronous motor. Figures 14 and 15 show the speed, which is estimated by the conventional
in the synchronous motor. Figures 14 and 15 show the speed, which is estimated by the conventional 
Q‐MRAS and improved Q‐MRAS algorithm method, respectively. The speed estimated by these two 
Q-MRAS and improved Q-MRAS algorithm method, respectively. The speed estimated by these
Q‐MRAS and improved Q‐MRAS algorithm method, respectively. The speed estimated by these two 
algorithms 
two algorithms
algorithms  is is  almost 
almost  the the
is almost
the  same 
same  as  the 
same
as  the  actual 
as the speed. 
actual
actual  The 
speed.
speed.  tracking 
The
The  performance 
tracking
tracking  performance
performance  of  the 
of  the  improved 
of the improved
improved  Q‐
Q‐
MRAS 
Q-MRAS algorithm 
algorithm is 
isbetter 
betterin 
in the 
the startup 
startup process. 
process. The 
The error 
error comparisons 
comparisons in 
in the 
the static 
static process 
process
MRAS  algorithm  is  better  in  the  startup  process.  The  error  comparisons  in  the  static  process  are  are 
are
shown in Figure 16. The error is greater in the conventional Q‐MRAS algorithm, and the error usually 
shown in Figure 16. The error is greater in the conventional Q-MRAS algorithm, and the error usually
shown in Figure 16. The error is greater in the conventional Q‐MRAS algorithm, and the error usually 
fluctuates between −3% and 4%, while the estimation error in the steady state of the improved Q‐
fluctuates between −3% and 4%, while the estimation error in the steady state of the improved
fluctuates between −3% and 4%, while the estimation error in the steady state of the improved Q‐
MRAS algorithm is controlled within ±0.5%. 
Q-MRAS algorithm is controlled within ±0.5%.
MRAS algorithm is controlled within ±0.5%. 

1600
1600
1400
1400
(r/min)

1200
(r/min)

1200
1000
1000
800
speed

800
speed

600
600
Actual

400
Actual

400
200
200
0
0
0 2 4 6 8 10 12

  
0 2 4 6 (s)
Time 8 10 12
Time (s)

Figure 13. The actual speed of the induction motor in the no‐load condition. 
Figure 13. The actual speed of the induction motor in the no-load condition.
Figure 13. The actual speed of the induction motor in the no‐load condition. 

1600
1600
1400
(r/min)

1400
(r/min)

1200
1200
1000
speed

1000
speed

800
800
Identification

600
Identification

600
400
400
200
200
0
0
0 2 4 6 8 10 12
0 2 4 6Time (s) 8 10 12
Time (s)   
Figure 14. The rotation wave identified by the conventional Q‐MRAS method. 
Figure 14. The rotation wave identified by the conventional Q‐MRAS method. 
Figure 14. The rotation wave identified by the conventional Q-MRAS method.

1600
1600
(r/min)

1400
(r/min)

1400
1200
speed

1200
speed

1000
1000
800
Identification

800
Identification

600
600
400
400
200
200
0
 600

Identificati
400
200
0
0 2 4 6 8 10 12
Time (s)  
Energies 2018, 11, 235 13 of 16
Figure 14. The rotation wave identified by the conventional Q‐MRAS method. 

1600

Identification speed (r/min)

1400
1200
1000
800
600
400
200
0
0 2 4 6 8 10 12
Time (s)  

Energies 2018, 11, 235 Figure 15. The rotation wave identified by the improved Q‐MRAS method. 
Figure 15. The rotation wave identified by the improved Q-MRAS method. 13 of 16 

Energies 2018, 11, 235  ---- Traditional Q-MRAS

13 of 16 
5 —— Improved Q-MRAS
4
3 ---- Traditional Q-MRAS
52
Error percentage %

—— Improved Q-MRAS
4 1
3 0
Error percentage %

2 -1
1 -2
0 -3
-1 -4
6.5 7 7.5 8 8.5 9 9.5 10
-2
Time (s)  
-3
-4
Figure 16. The comparison of the steady‐state error in the no‐load startup condition. 
Figure 16. The comparison of the steady-state error in the no-load startup condition.
6.5 7 7.5 8 8.5 9 9.5 10
Time (s)  
5.2. The Speed Mutation Experiment 
5.2. The Speed Mutation Experiment
Figure 16. The comparison of the steady‐state error in the no‐load startup condition. 
When  the  motor 
When changes 
the motor its  its
changes state  from 
state zero 
from load 
zero condition 
load conditionto 
tothe 
therated 
ratedspeed 
speed condition, 
condition, the 
the instruction speed of the motor is changed from 1400 r/min to 1000 r/min instantly.
instruction speed of the motor is changed from 1400 r/min to 1000 r/min instantly. The actual speed  The actual
5.2. The Speed Mutation Experiment 
speed of the motor is shown in Figure 17.
of the motor is shown in Figure 17. 
When  Figures 18 and 19 show the estimation result in the situation of speed mutation of Q-MRAS
the  motor  changes  its  state  from  zero  load  condition  to  the  rated  speed  condition,  the 
algorithm and improved Q-MRAS method, respectively. From the two figures above, both of the
instruction speed of the motor is changed from 1400 r/min to 1000 r/min instantly. The actual speed 
methods can roughly1300
1400
estimate the actual speed. However, the tracking performance of the improved
of the motor is shown in Figure 17. 
Actual speed (r/min)

algorithm is better in 1200

the steady state condition and the switching state condition.
1100
1000
900
1400
800
1300
700
Actual speed (r/min)

1200
600
1100
500
1000 5 5.05 5.1 5.15 5.2 5.25 5.3
900 Time (s)  
800
Figure 17. The actual speed wave of the induction motor in the speed mutation condition. 
700
600

Figures  18  and  19 500

show 
5 the 5.05estimation 
5.1 result 
5.15in  the  5.2
situation 
5.25of  speed 
5.3 mutation  of  Q‐MRAS 
algorithm  and  improved  Q‐MRAS  method,  respectively. Time (s)  
From  the  two  figures  above,  both  of  the 
methods can roughly estimate the actual speed. However, the tracking performance of the improved 
Figure 17. The actual speed wave of the induction motor in the speed mutation condition. 
Figure 17. The actual speed wave of the induction motor in the speed mutation condition.
algorithm is better in the steady state condition and the switching state condition. 
Figures  18  and  19  show  the  estimation  result  in  the  situation  of  speed  mutation  of  Q‐MRAS 
1400
algorithm  and  improved  Q‐MRAS 
1300
method,  respectively.  From  the  two  figures  above,  both  of  the 
Identification speed (r/min)

methods can roughly estimate the actual speed. However, the tracking performance of the improved 
1200
1100
algorithm is better in the steady state condition and the switching state condition. 
1000
900
800
700
1400
600
1300
500
n speed (r/min)

1200 5 5.05 5.1 5.15 5.2 5.25 5.3

1100
Time (s)  
1000
Figure  18.  The  estimation  result  of  the  conventional  Q‐MRAS  algorithm  in  the  speed  mutation 
 Figures  18  and  19  show  the  estimation  result  in  the  situation  of  speed  mutation  of  Q‐MRAS 
Figures 
algorithm  18 improved 
and  and  19  show  the  estimation 
Q‐MRAS  result  in  the From 
method,  respectively.  situation 
the  of  speed 
two  mutation 
figures  above, of  Q‐MRAS 
both  of  the 
algorithm  and  improved  Q‐MRAS  method,  respectively.  From  the  two  figures  above, 
methods can roughly estimate the actual speed. However, the tracking performance of the improved  both  of  the 
methods can roughly estimate the actual speed. However, the tracking performance of the improved 
algorithm is better in the steady state condition and the switching state condition. 
Energies 2018, 11, 235 14 of 16
algorithm is better in the steady state condition and the switching state condition. 
1400
1300
1400

(r/min)
1200
1300

(r/min)
1100
1200

speedspeed
1000
1100

Identification
900
1000
800

Identification
900
700
800
600
700
500
600
5 5.05 5.1 5.15 5.2 5.25 5.3
500
5 5.05   5.1
Time (s)
5.15 5.2 5.25 5.3
  Time (s)
Figure  18.  The  estimation  result  of  the  conventional  Q‐MRAS  algorithm  in  the  speed  mutation 
Figure 
Figure18. 
18. The 
condition.  estimation 
The estimation result 
result of conventional
of the the  conventional 
Q-MRAS Q‐MRAS 
algorithmalgorithm  in mutation
in the speed the  speed  mutation 
condition.
condition. 
1400
1300
1400
(r/min)

1200
1300
(r/min)

1100
1200
speedspeed

1000
1100
Identification

900
1000
Identification

800
900
700
800
Energies 2018, 11, 235  600
700 14 of 16 
500
600
5 5.05 5.1 5.15 5.2 5.25 5.3
500
condition.  5  
5.05 5.1 Time (s)
5.15 5.2 5.25 5.3
 
Figure 19. The speed estimation result of the improved Q‐MRAS algorithm in the speed mutation 
Time (s)
Figure 19. The speed estimation result of the improved Q-MRAS algorithm in the speed mutation condition.
5.3. The Low‐Speed Estimation Experiment 
Figure 19. The speed estimation result of the improved Q‐MRAS algorithm in the speed mutation 
5.3. The Low-Speed Estimation Experiment
In order test the performance of the two algorithms when running in the low speed condition, 
the zero‐load running condition is set as follows: the speed is 50 r/min and the load is 0 Nm. The 
In order test the performance of the two algorithms when running in the low speed condition,
fluctuation of the actual speed is shown in Figure 20. Figures 21 and 22 show the estimation algorithm 
the zero-load running condition is set as follows: the speed is 50 r/min and the load is 0 Nm.
The fluctuation of the actual speed is shown in Figure 20. Figures 21 and 22 show the estimation
result of the Q‐MRAS method and improved Q‐MRAS method in the low speed condition. Both of 
algorithm
the  results  result
have  of the Q-MRAS
a  greater  method
fluctuation,  andthe 
but  improved Q-MRAS
conventional  method in
Q‐MRAS  the low
speed  speed condition.
estimation  fluctuates 
Both of the results have a greater fluctuation, but the conventional Q-MRAS speed estimation
greatly. The tracking effect declines greatly because of the distortion in the tracking process of the  fluctuates
greatly. The tracking effect declines greatly because of the distortion in the tracking process of the
startup  condition.  However,  the  improved  algorithm  can  track  the  speed  better,  which  has  a 
startup condition. However, the improved algorithm can track the speed better, which has a significant
significant relationship with the variation of the motor parameters. The accuracy of the conventional 
relationship with the variation of the motor parameters. The accuracy of the conventional Q-MRAS
Q‐MRAS algorithm will decline. The fluctuation in the steady state of the improved Q‐MRAS system 
algorithm will decline. The fluctuation in the steady state of the improved Q-MRAS system is related
is related to the variation of the rotator time constant in the indirect vector controlling system. The 
to the variation of the rotator time constant in the indirect vector controlling system. The results of the
results of the error in the steady state are compared and analyzed in Figure 23. The fluctuation of the 
error in the steady state are compared and analyzed in Figure 23. The fluctuation of the conventional
conventional 
Q-MRAS is Q‐MRAS 
within ±is  within 
40%. The ±40%.  The accuracy
estimation estimation  accuracy 
of the of  algorithm
improved the  improved 
in thealgorithm  in  the 
steady state
steady state performs well in the low‐speed condition. 
performs well in the low-speed condition.

60

50
Actual speed (r/min)

40

30

20

10

0 2 4 6 8 10 12
Time (s)  

Figure 20. The actual speed of the induction motor in the low‐speed condition. 
Figure 20. The actual speed of the induction motor in the low-speed condition.

70
ntification speed (r/min)

60
50
40
30
20
 10

A
Actu
10
0
0

0 2 4 6 8 10 12
0 2 4 6Time (s) 8 10 12
 
Time (s)  
Energies 2018, Figure 20. The actual speed of the induction motor in the low‐speed condition. 
11, 235 15 of 16
Figure 20. The actual speed of the induction motor in the low‐speed condition. 

70
70

(r/min)
60

(r/min)
60
50

speed
50
40

speed
40
30

Identification
30

Identification
20
20
10
10
0
0
0 2 4 6 8 10 12
0 2 4 6Time (s) 8 10 12
 
Time (s)  
Figure 21. The speed estimation algorithm result based on the conventional Q‐MRAS in the low‐speed 
Figure 21. The speed estimation algorithm result based on the conventional Q‐MRAS in the low‐speed 
Figure 21. The speed estimation algorithm result based on the conventional Q-MRAS in the
condition. 
condition. 
low-speed condition.

60
60
(r/min)

50
(r/min)

50
40
speed

40
speed

30
Identification

30
Identification

20
20
10
10
0
0
0 2 4 6 8 10 12
0 2 4 6
Time (s) 8 10 12
 
Time (s)  
Figure 22. The speed estimation algorithm result based on the improved Q‐MRAS in the low‐speed 
Figure 22. The speed estimation algorithm result based on the improved Q-MRAS in the
Figure 22. The speed estimation algorithm result based on the improved Q‐MRAS in the low‐speed 
condition. 
low-speed condition.
Energies 2018, 11, 235  15 of 16 
condition. 
60
----Traditional Q-MRAS
40 —— Improved Q-MRAS
Error percentage %

20

-20

-40

-60  

Figure 23. The comparison and analysis of the error in the steady state in the low‐speed condition. 
Figure 23. The comparison and analysis of the error in the steady state in the low-speed condition.

6. Conclusions 
6. Conclusions
An improved
An  improved  Q-MRAS
Q‐MRAS  speedestimation 
speed  estimation is 
is proposed 
proposed according toto 
according  thethe 
problem of parameter
problem  of  parameter 
sensitivity in the conventional Q-MRAS speed estimation method. The reactive power
sensitivity in the conventional Q‐MRAS speed estimation method. The reactive power in the static  in the
static coordinate is used as the reference model in the improved Q-MRAS speed estimation
coordinate  is  used  as  the  reference  model  in  the  improved  Q‐MRAS  speed  estimation  method. 
method. Meanwhile, the reactive power in the rotating coordinate is used as the adjustable model.
Meanwhile,  the  reactive  power  in  the  rotating  coordinate  is  used  as  the  adjustable  model.  The 
The estimation system consisting of these two models can run steadily at the full-speed and full-load
estimation  system  consisting  of  these  two  models  can  run  steadily  at  the  full‐speed  and  full‐load 
scale. In the simulation and experiment results, the tracking performance of the improved algorithm is
scale. In the simulation and experiment results, the tracking performance of the improved algorithm 
better no matter the low-speed condition and the switching state condition.
is better no matter the low‐speed condition and the switching state condition. 
Acknowledgments: This work was supported by the Shenzhen Science and Technology Plan Project (grant No.
JCYJ20150403161923505).
Acknowledgments: This work was supported by the Shenzhen Science and Technology Plan Project (grant no. 
Author Contributions: Danyang Bao, Hong Wang and Xioajie Wang have contributed to developing ideas about
JCYJ20150403161923505). 
energy consumption prediction and collecting the data. Chaoruo Zhang programmed the algorithm and tested it.
All the authors were involved in preparing the manuscript.
Author Contributions: Danyang Bao, Hong Wang and Xioajie Wang have contributed to developing ideas about 
energy consumption prediction and collecting the data. Chaoruo Zhang programmed the algorithm and tested 
Conflicts of Interest: The authors declare no conflicts of interest.
it. All the authors were involved in preparing the manuscript. 

Conflicts of Interest: The authors declare no conflicts of interest. 

References 
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