IEEE 1999 International Conference on Power Electronics and Drive Systems, PEDS'99, July 1999, Hong Kong.
A New Speed Observer for Control System of Induction Motor
Zbigniew Krzemihski
Technical University of Gdahk, Electrical and Control Engineering Faculty
ul. Sobieskiego 7, 80-952 Gdahsk, POLAND
Phone +048 058 3472348, fax. +048 058 3410880, e-mail: zkrzem@sparclO.ely.pg.gdapl.
Abstract - A new speed observer for control system of
induction motor is proposed in the paper. Disturbances
are defined, estimated and used in observer instead of
products of rotor angular velocity and rotor flux vector
components. The disturbances and rotor flux vector
components are used to calculate the rotor angular
velocity. Very low errors between the estimated and real
rotor angular velocity in steady states and transients have
been observed in the new observer for values very close or
equal to zero. Properties of the control system with new
speed observer have been investigated and results of
simulations are presented.
I. INTRODUCTION
Measured or estimated rotor angular velocity is required
for control, which linearizes by feedback the drive system
with induction motor. The methods of rotor angular velocity
estimation are known, in which calculation fiom steady state
relationship, application of neural and fizzy systems, sliding
mode and observers with additional variable were proposed
in [ I]-[4].Systems based on each of the known methods work
correctly in the region of medium and high rotor angular
velocity but they are unstable near zero angular velocity.
Errors of the estimated rotor angular velocity appear in
transients. As the estimated rotor angular velocity is used in
the observer or model of the induction motor the additional
errors appear in transients of the estimated rotor flux.
A new structure of the speed observer is proposed in the
paper. The rotor angular velocity is calculated fiom simple
relationship and used in the observer feedback signals.
11. MODEL OF INDUCTION MOTOR AND FLUX
OBSERVER
Differential equations for components of stator current and
rotor flux vectors of the induction motor in the fiame of
references connected to the stator are as follows:
(3)
(4)
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do L, 1
2= --(YmiSy - Tryis,) - -mo , (5)
dz JLr J
where ,,U usy , is,, i,, yrx,wry are components of stator
voltage, stator current and rotor flux vectors, o r is the
angular rotor velocity, J is the moment of inertia, mo is the
load torque and
.
R,, Rr are the stator and rotor resistance, L,, Lr, Lm are
stator, rotor and mutual inductance. All variables are in p.u.
system
On the basis of (1) - (4) the following Luenberger observer
may be derived:
--
disx - alj,, +a30rqry +a4usx +k;(i,, -jsx),
dz
(7)
where A denotes variables estimated in the observer and
ki, k f l , kf2 are the gain coefficients of observer.
A mathematical model of the induction motor is the base of
the Luenberger observer of the induction motor (6) - (9). The
scheme of the observer is presented in Fig. 1. The errors
between measured and set value of the stator current vector
components are used in feedback loops to improve dynamic
properties of the observer. Usually high amplification
coefficients are used in the feedback to achieve fast error
reduction. They are at least six places where the amplified
current errors appear in the observer. The rotor angular
velocity has to be measured or estimated in other structure
and acts as the parameter in the flux observer.
Strong coupling exists in the flux observer because in each
differential equation for the component of current or flux
vector the component of other co-ordinate appears. Usually
high amplification coefficients have to be used in the flux
observer to ensure small errors and stability.
Selection of coefficients in (6) - (9) was proposed in [4].
The observer with such coefficients was split into two parts;
555
 li,
Fig. 1. Structure of the conventional rotor flux observer

Fig. 2. Structureof the proposed rotor flux and rotor speed observer

(6) - (7) form fast part and (8) - (9) form slow part. Linear
combinations of rotor flux vector components
--
dim -a&+a6$oc-zy-k2(&r$ly-~y),
dt
a2Gm + a p r i r y and a2cry - a3arGm in (6) and (7) were
interpreted as disturbances in [4]. Wide investigations were
carried out and it was established that the disturbances are
estimated without errors even if the motor parameters and %=
dt kl(isy -isy),
rotor speed are not exact. This idea is modified in the paper to
derive a new observer of the rotor angular speed. h Y
dt = kl(isx - isx)
- 2

111. STRUCTUREOF NEW SPEED OBSERVER

Differential equations of new observer are as follows:

-=
d'~ a l L + a2cm + a3Zy + a4usx, (10)
dt
dGy where 6, is the calculated rotor angular
-- - alisy + a2Gry - a3zx + a4uv, (1 1)
dt

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Time [ms] 250
Fig. 3. Transients of rotor speed after rapid changes of voltage and
fiequency
flux vector components and zx,zy are the disturbance
vector components.
The structure of the rotor angular velocity observer is
proposed in Fig. 2. Two additional integrators are added to
the base structure. On the outputs of these integrators two
signals appear:
zx = U r $ r x (18)
and
z y =why 3 (19)
which replace products of the rotor angular velocity and
components of the rotor flux vector in all differential
equations of induction motor.
PROPERTIES OF THE NEW OBSERVER
The structure of new observed was designed on a basis of
differential equations of the induction motor for the rotor
angular velocity equal to zero. The differential equations of
each phase form two observers with components of other
phase multiplied by small signal of the rotor angular velocity.
If these components are estimated as disturbances, the
coupling between components of different co-ordinates is
removed. It can be seen in Fig. 2 where no direct connections
between variables of x and y co-ordinates exist.
Errors between the real stator current components and the
stator current components estimated in the observer are used
as inputs to the additional integrators. Meaning of the output
signals of integrators is determined by their position in
equations of the induction motor. From theoretical point of
view the outputs of additional integrators form disturbance
signals in the base structure of the observer. In quasi steady
state the disturbance vector have, on a basis of general
machine theory, the same angular velocity as all other vector
components. The order of full system, which consists of
differential equations of the induction motor and the new
observer, is equal to eleven and its analytical solution is very
complicated. The system was investigated by simulation and
it was found that the phase of disturbance vector is always the
same as the phase of rotor flux vector. The amplitude of
disturbance vector is proportional to the estimated rotor flux
vector. These properties are the reason that the rotor angular
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l
I I
I I
Time [ms] 250 500
500
Fig. 4. Simulation of transients after change to near zero speed
velocity may be calculated ffom (16). Damping in the fully
separated observers is very poor. Properties of the system
may be greatly improved if the errors between the estimated
rotor flux vector components multiplied by the estimated
rotor angular velocity and the disturbance vector components
are used as the feedback as in (12) - (13) to damp and
stabilise the system. Long transients appear in the new
observer for starting point far from equilibrium point. To
avoid such transients the rotor flux vector components are
forced to zero near the point where the disturbance vector
components of the same co-ordinate is crossing by zero.
The rotor angular velocity is estimated with very small
error in steady states in the new observer. The induction
motor supplied fiom the voltage source inverter with P W M
control was used in investigations. Rapid changes of the'
stator voltage amplitude and frequency were applied and
different load torque was simulated. Selected results are
presented in Fig. 3. Difference between real and estimated
rotor speed is shown. Usually the speed error is less than 1%
of rated value. Only great changes of voltage and ffequency
cause error transients of not more than 2%.
The disturbances zx and zy appear on outputs of
integrators working in frame of references connected with
stator. Only amplified errors of stator current vector
components are input to the inverters. If the vectors rotate,
the inputs to the inverters have to be not equal to zero. It
means that even in steady state harmonic current errors exist.
For higher speed the current errors are greater than for low
speed. These errors are compensated for in (10) and (1 1) by
the errors of rotor flux and disturbance vector components. It
means that the errors appear in the rotor flux vector
components in normal steady states. This property has to be
taken into account in project of control system for the
induction motor.
The amplitude of steady state errors of the rotor flux vector
components is a function of the rotor speed. It is impossible
to reduce errors by changing the amplification coefficients.
These errors remain almost the same for the different
amplification coefficients, which can be change in relatively
small range.
The amplification coefficients of the new observer are
small in comparison with conventional flux observer. It is
very convenient in technical realisation because small
measurement errors are not greatly amplified.
557
 0
ijr -0.02 iI

Time [ms] 500 1000 1500 2000 Time [ms] 500 1000 1500 2000

Fig. 5. Transients after step change of rotor resistance in the observer for Fig. 6. Transients after step change of rotor resistance in the observer
small speed for medium speed

The main property of the proposed observer is to estimate been developed based on integration of each component of
the rotor angular velocity of small value. Results are the following equations:
presented in Fig. 4, where speed errors are not greater than
0.5%.

I. INFLUENCE OF VARIABLE ROTOR RESISTANCE

The rotor resistance of induction motor may change up to which have been received taking into account the following
50% due to temperature dependence. The errors of rotor dependence:
resistance used in the new observer results in errors of rotor yJr = - LL W s --
WO *
'S. (22)
speed. Different kinds of errors appear in dependence on Lm Lm
value of the rotor angular velocity. For small rotor angular Integration from 71 to 7 2 of (20) and (21) leads to
velocity higher errors became visible even if small changes of following dependencies:
rotor resistance are applied, as can be seen in Fig. 5. The
transients in Fig. 5 start from exact value of the rotor
resistance. Then consecutively the resistance is increased by
10% and decreased by 10% in the observer. The motor is
loaded with rated torque and works in open loop system.
Errors of estimated rotor angular velocities in transients
presented in Fig. 5 are not greater than 2% of rated value.
Negligible errors remain in steady states in each case of rotor
resistance change.
Change of rotor resistance if the rotor angular velocity is where A denotes integral of variable fiom 71 to 72.
medium or high causes small oscillations of the estimated Differential equations for stator flux vector components are
rotor speed as can be shown in Fig. 6. Consecutively the rotor
resistance, exact, increased by 50% and decreased by 50%, integrated to receive Aysx and Ays,,. Equation (22) is used
was applied in the observer. In this cases the errors of to receive AwrX and Awry. The stator current and voltage
estimated rotor angular velocity are not greater than 3% of vector components have to be integrated separately.
nominal value in transients and not greater than 2.5% in The following dependence for rotor resistance may be
steady states. The motor was loaded with rated torque.
received by multiplication of (23) by AyIx and (24) by
Ayryand some algebraic transformation:
11. ESTIMATION OF ROTOR RESISTANCE

Exact rotor resistance has to be known for proper

estimation of the rotor angular velocity. A new method have where

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 Fig. 7. Scheme of control system with new observer and Luenberger observer for correctionof set value of square of rotor flux

The control system based on the multiscalar model with

limited control variables has been presented in [ 5 ] . The
simplified scheme of control system is presented in Fig. 7.
The rotor flux vector is estimated with exact angle but
B = -Ls(AisxAwIx + AisxAw rx) + AwsxAwrx + AwsxAwrx - error of amplitude in the proposed observer for the high rotor
(27) speed. The errors of rotor flux amplitude may be equal up to
An exact value may be received after averaging a few 20% in transients. The control system is stable in such cases
calculated values of rotor resistance. Proper integration time but the rotor flux is reduced. To avoid this it is possible to
have to be chosen to avoid too small values of integrals. correct the set value of the square of rotor flux. The
Luenberger observer can be used to estimate the rotor flux
exactly and correct the set value for the square of rotor flux
I. APPLICATION TO THE CONTROL SYSTEM as proposed in Fig. 7.
It is better to use the new observer for estimation of rotor
The proposed observer has been applied to the nonlinear
flux because of small amplification coefficients in
control system based on an multiscalar model of induction comparison with Luenberger observer. The control system is
motor. The following variables are used to describe dynamics much less sensitive on disturbances.
of induction motor: Results of simulation of control system without correction
X11=Wr, (28) of set value for square of rotor flux are presented in Fig. 8
x12 = wrxisy - wryi, 7 (29) where Ayrx and bo, denote errors between estimated and
2 2 real rotor flux and rotor speed. Consecutive step change of
x21= wrx +\vry, (30) load torque, change of set rotor speed to zero, negative rated
x22 = wrxisx + wryisy (31) value and positive rated value have been applied. Negligible
Application of the nonlinear feedback results in splitting of errors of the estimated rotor speed may be observed for its
the control system into two decoupled subsystems: small and zero set values. For high rotor speed errors of the
- mechanical subsystem estimated rotor speed up to 4% appear in transients. These
errors are reduced in steady states.
&ll-LIn
--- 1 The rotor flux is estimated with errors up to 20% of rated
x12 - j m o 3
d.r JL, value for higher speed. These errors depend on the value of
--
&I' - -(-1 x12 + ml) , rotor torque and remain in steady states. The square of rotor
d.r T,
(33) flux vector in the motor is not constant because of these
errors.
- electromechanical subsystem In spite of errors appearing for high rotor speed it is better
to use the new observer for estimation of rotor flux than
(34) Luenberger observer because of small amplification
coefficients. The control system is much less sensitive on
(35) disturbances and different method to compensate for the
errors may be developed. Correction of set value for the
where T, is time constant. square of rotor flux has been applied in system in Fig. 7 and

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 Awmo.;
-0.2

Time [ms] Time [ms]

250 500 750 1000 250 500 750 1000

Fig. 8. Transients without correction in control system based on the Fig. 10. Transients with correction in the control system based on the
new observer new observer

0 U I I damped oscillations of the estimated rotor speed may be seen

.-v -1 _ _ _ _ _ J_ _ _ _ _ J - x _ intransients.
_J - - - - - J
le , - - - J ~ _ - + - _ - _ _ _ 2_ _ _ _ J It may be seen fkom Fig. 9 and Fig. 10 that the control
-f’ -_ _-& i - _ _ __i_xr-$
_ _ - -.-U_ system stabilises the proposed observer.

VIII. CONCLUSIONS

The actual problem in theory of control of induction motor

is to estimate the rotor angular velocity for its small values.
I II -- A h I
I - 1
I
Proposal to solve this problem is presented in the paper. The
-_____-_____-_____-_--__-
I I I I results shown in the paper point out the possibility to estimate
the rotor speed for values equal to zero using the observer of
Time [ms] 250 500 750 1000 new structure. The proposed observer acts properly for
loaded and unloaded motor. The control system with
Fig. 9. Transients with correction in the control system based on the
proposed observer is stable and errors even in fast transients
new observer are negligible.
The new structure of observer proposed in the paper differs
transients received fkom simulations are presented in Fig. 9. from known up to now structures. The signal of rotor speed
Smaller errors of square of rotor flux in the motor may be and is calculated fiom the variables estimated in the observer
observed in transients. These errors are fully reduced in and does not appears as parameter in differential equations of
steady states. The errors of estimated rotor speed are smaller observer of the induction motor.
in this case. Further investigations will be made to improve properties
ransients in control system based on real motor variables of the new observer by correction of estimated rotor speed
received fkom simulations are presented for comparison in using filters based on neural networks.
Fig. 10. The new observer acted independently. Small,

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2. T. Orlowska-Kowalska and P. Wojsznis, “Comparative study of rotor
flux estimators sensitivity in the speed sensorless induction motor
drive,” Proc. of IEEE Int. Conf. ISIE‘96, Warsaw, 1996.
with independent speed and rotor magnetic flux control,” J. Electrical
Engineering, Vol. 49, No. 7-8, 1998.
4. Z. Krzemibski, ,Speed and Rotor Resistance Estimation in Observer
System of Induction Motor,” 4th European Conf. on Power
Electronics, Florence, September 3-6, 1991.
5. 2. Krzemibski, “A DSP and FPGA based nonlinear control of
induction motor,” The Second International Power Electrinics and
Motion Control Conference, IPEMC’97, Hangzhou, China, 1997

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