First International Conference on Emerging Trends in Engineering and Technology
Model Reference Adaptive Technique for Sensorless Speed Control of
Induction Motor
Pothana Santhosh1, Dr.R.H.Chile2, A.B.Patil2, D.R.Patil 2
1
P.G Student, Dept of Electrical Engg, Walchand College of Engineering, Sangli (M.S), India
2
Dept of Electrical Engg, Walchand College of Engineering, Sangli (M.S.), India
E-mail: santhosh.p243@gmail.com & pothanas@gmail.com
Abstract
This paper describes a Model Reference
Adaptive System (MRAS) for speed control of the
Induction Motor drive (IM) without a speed sensor.
In this scheme an Adaptive Pseudoreduced-order
Flux Observer (APFO) is used instead of the
Adaptive Full-order Flux Observer (AFFO), an
APFO is used for estimate the IM rotor speed and
stator resistance, and these are used as feedback
signals for the Field Oriented Control (FOC), which
is a widely used control method for Induction Motor
drive (IM). Simulation results show that the proposed
scheme can estimate the motor speed under various
adaptive PI gains and estimated speed can replace to
measured speed in sensorless induction motor drives,
this scheme is more efficient at very low speed, and
also observed line currents, torque and speed under
no-load and load conditions.
Keywords - Adaptive speed estimation, Induction
Motor, Model reference adaptive control.
1. Introduction
Indirect field-oriented control (IFOC) method is
widely used for IM drives. Within this scheme, a
rotational transducer such as a tachogenerator, an
encoder, was often mounted on the IM shaft.
However, a speed sensor cannot be mounted in some
cases, such as motor drives in a hostile environment.
Also such sensors lower the system reliability and
require special attention to noise. Therefore,
sensorless induction motor (IM) drives are widely
used in industry for their reliability and flexibility,
particularly in hostile environment [5].
Various sensorless field-oriented control (FOC)
methods for induction motor (IM) drives have been
proposed using software instead of hardware speed
sensor [1-4, 7]. Adaptive full-order flux observers
(AFFO) for estimating the speed of IM were
developed using Popov’s and Lyapunov’s stability
978-0-7695-3267-7/08 $25.00 © 2008 IEEE 893
DOI 10.1109/ICETET.2008.257
criteria [1, 3, 7]. While these schemes are not
computationally intensive, an AFFO with a non-zero
gain matrix may become unstable. However, large
speed errors may occur under heavy loads and
steady-state disturbances affecting light loads. An
adaptive pseudoreduced- order flux observer (APFO)
for sensorless FOC was proposed in using the
Lyapunov’s method [2]. The performance of the
estimator using APFO was shown to be superior
compared to that using AFFO scheme only at
medium speed.
In the MRAS-based technique for sensorless
induction motor drives the rotor speed is estimated
with an APFO and is used as the feedback signal for
the FOC. The rotor flux is estimated through a
closed-loop observer, thus eliminating the need for
auxiliary variables related to the flux and need for the
pure integration for flux calculations. As a result, the
drive has a wider adjustable speed range and can be
operated at zero and very low speeds.
2. Model Reference Adaptive System
The model reference adaptive system (MRAS) is
one of the major approaches for adaptive control [6].
Among various types of adaptive system
configuration, MRAS is important since it leads to
relatively easy to implement systems with high speed
of adaptation for a wide range of applications. The
basic scheme of the MRAS given in Fig. 1 is called a
parallel configuration (output error method) MRAS
in order to differentiate it from other MRAS
configurations where the relative placement of the
reference model and of the adjustable system is not
the same. The MRAS scheme presented above are
characterized by the fact that the reference model was
disposed in parallel with the adjustable system.
The use of parallel MRAS is determined by its
excellent noise-rejection properties that allow
obtaining unbiased parameter estimates, and in this
scheme an error vector is derived using the difference
between the outputs of two dynamic models, i.e. the
reference and adjustable models, where only one of L 1
the models includes the estimated parameter as a A I ωJ a I a J
σL L τ
system parameter, i.e. speed/resistance, and the L
inputs of two models are the same. The error vector, A I a I
e, is driven to zero through an adaptive law. As a τ
result, the estimated parameter will converge to its 1
A I ωJ
true value X [5, 6]. One of the most noted advantages τ
of this type of adaptive system is its high speed of 1
adaptation. The block ‘‘adjustable model’’ has the B I ωJ ; C I0
σL
same structure as the reference one, but with
v v v T is stator voltage
adjustable parameters instead of the unknown ones.
L
σ 1 is the inductance leakage coefficient
L L
1 0 0 1
I &
0 1 1 0
Where R1, R2, and L1, L2 are stator and rotor
resistances and self-inductances, respectively, Lm is
mutual inductance, is the rotor time constant
is electrical motor angular speed.
The APFO flux observer can be written as follows
A ı A B v G ı̂ i 3
Fig 1 Basic configuration of a parallel model
reference adaptive system A A ı̂ 4
Where is and vs are measured values of stator
The main drawback of this algorithm is its sensitivity current vector and stator voltage vector, respectively,
to inaccuracies in the reference model, and G is the reduced-order observer gain matrix which is
difficulties of designing the adaptation mechanism also determined to make eq.(3) stable and ^ denotes
block in MRAS. Selection of adaptive mechanism the estimated values. The observer is a closed-loop
gains is a compromise between achieving a high system, which is obtained by driving the estimated
speed of response and high robustness to noise and model of the induction motor by the residual of the
disturbances affecting the system. With the large PI current measurement ( .
gains for rotor speed identification in adaptive
mechanism,K and K the convergence speed for e i ı̂
speed estimation is fast; however, high order The estimation of stator currents is conducted by a
harmonic components and noises are present in the closed-loop observer with a 2 2 feedback gain
estimated speed. matrix G, as in eq. (3), whereas the estimation of
rotor fluxes is carried out by an open-loop observer
3. Adaptive Flux Observer of eq.(4) without the flux error. Therefore, the real
and estimated rotor fluxes are assumed the same.
For an induction motor, if the stator current and
rotor flux Φ are selected as the state variables, the The observer gain matrix is chosen as:
state equations can be expressed as eq.(1) in the
g g T
stationary reference frame [1]. G 5
g g
d i A A i B
v Where the observer gain matrix G is calculated
dt Φ A A Φ 0 based on the pole placement technique.
Ax Bv 1 Let us choose,
i Cx 2 1
6
Where , 1
i i i T
is stator current Where g1 is proportional to the IM parameters, g2
R 1 σ is an arbitrary gain, k is an arbitrary positive constant
A I a I value, and kp is an arbitrary value (kp -1).
σL στ

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4. Adapttive scheme for speed estimation
e Itt is verified thaat the Popov’s inequality of eq.
e (9)
is sattisfied if the estimate of the resistance is chosen
c
The errror equation off state variabless can be drivenn to bee a linear funnction of an innner product of the
from eq. (11) and eq. (3) as
a follows: curreent estimate and the estiimation error.. The
de estim
mate of the rottor speed is chhosen to be a linear
A G e ∆A
∆ ı̂ ∆A functtion of an inneer product of thhe flux estimaate and
dt the sttator current esstimation errorr. Stating in thee form
A G e W 7
of a theorem
t we geet:
Where W is the nonlin
near block andd is defined as: T
Theorem: If thee estimate of the stator resiistance
W ΔA
A ı̂ ΔA 8 annd the estimatee of the speed satisfy:

The errror matrices Δ Δ arre represented

d R K P eT ı̂ K eT ı̂ dt 10
by:
ΔR ω K P eT K eT dtt 11
ΔA A A ΔA
A ΔR I
σL
L T
Then Popov’s criterion
c of eq. (9) will be sattisfied.
ΔA A A ΔA Δω JΔω KP2, Ki2, KP3 and Ki3 are the stator
s resistancce and
σL L
motoor speed identiffication gains, respectively.
Where Δ is the estimated
e speeed error, and d
Δ is the estimated error of stator resistance, usingg 5. Siimulation Results
R
eq. (7), a MRAS representation of the system iss
shown in Fig. 2, Φ e and Φ e are thee T basic conffiguration of speed
The s estimatiion of
identifyingg mechanisms for the motor speed and d sensoorless inductioon motor drivee is shown in Fig.
F 3.
stator resistance estimaators [5], respectively. Thee All reference orr command preset values are
system is hyper stable, if the forward d path transferr superrscripted with a ‘‘*’’ in thee diagram. IM speed
matrix is strictly positivve real and the
t input and d will be estimated by b eq. (11) annd will be com mpared
output of the nonlineaar feedback block b satisfiess with the set point ini order to creeate speed erroor. The
Popov’s integrality of eq. (9) [6]. errorr between the estimated
e and command values of
speedd drives the speed
s PI contrroller which inn turn
generrates the requiired command value for the torque
t
curreent component ( ).

Fig 2 MRAS
M representtation for identtifying the
speed and sttator resistancee

This secction describess the case wheere the primaryy F 3 Block diaagram of sensoorless IM drivee
Fig
resistance and rotor sp peed are set incorrectly. In n
such a caase, the Popov’s integral inequality ass T
The current coontrolled voltaage source innverter
follows: with field orientattion control provides
p a fastt time
respoonse and a smoother inverrter current output. o
eT W dt
d γ 9 Althoough many currrent control algorithms
a havee been
propoosed in recennt years, hysteresis band current c
L contrrol is still a prreferred methood. This algoritthm is
Where ρ an
nd γ is a finite
f positivee especcially suitable for impleementing the field
σL L
constant, which
w is indepeendent of . orienntation control.. As a result, thhis control algoorithm
offerrs a higher quality
q dynamiical torque coontrol.

895
Estimated rotor speed and estimaated rotor fluxx have high order haarmonic compoonents and noiises in
angle arre achieved by the MRAS-basedd o speed identtifier. In all above
largeer PI gains of
pseudoreduuced- order flux observer. And aree simuulations the esstimation proccess of speed starts
the magnetizing and torq que componentts of the statorr after 0.15 s.
current, reespectively. These
T componnents are thee
equivalent dc values in the synchronnously rotatingg
reference frame.
f By the application
a of inverse Clarkee
and Park trransformationss in ‘‘Vector Rotator’’
R block,
the commaand values and caan be obtained.
These reall time values will be comppared with thee
measured or sensed currrents ia, ib andd ic to generatee
proper pullsating sequencce in order to fire the IGBT T
switching devices
d of the inverter.
Figs. 4–6
4 show th he behavior of IM speedd
estimation under variouss values of addaptive schemee
PI gains. These
T figures show that witth the large PII
gains for the adaptive scheme, Kp3 and Ki3, thee
convergencce for the speed estimaation is fast;
however, a lot of high orrder harmonicss are present inn
the estimatted speed. In Fig.
F 4 where thhe IM rotates att
a constant speed (200 rp pm) under no load conditionn
and initial value of the estimated speeed is zero, thee
estimated speed
s reaches the real one inn less than 0.355
s. With larrger PI gains th he convergence time reducess F 5 Behaviouur of speed estiimation at kp3=5,
Fig =
to 0.25 s as
a in Fig. 5. By y increasing thhe PI gains forr ki3=250
adaptive sccheme this con nverging time reduces
r (to lesss
than 0.15 s), however, the estimatedd speed showss
high overshoots as show wn in Fig. 6. Fiig. 7 shows thee
real, commmand and estim mated rotor fluux. When twoo
speeds connverge each oth her at 0.4 s the estimated fluxx
also converge to real flux x at the same tiime.

F 6 Behaviouur of speed estiimation at kp3=8,

Fig =
ki3=350

For investigatinng of the MRA AS’s behavior under

Fig 4 Behaviour of speed estimationn at Kp3=4, loadiing condition a load of 0.5 pu is applied to the
Ki3=150 a time 0.5 s. Fiig. 8 shows thaat after a small speed
IM at
In thesee simulations the
t real speed is using as thee drop both estimateed and real sppeeds convergee very
feedback signal
s for the PI controller,, and then thee well. Meanwhile this simulationn indicates thaat both
speed estim mator starts at
a some time after the reall speedds follow refeerence one wiith negligible error.
speed is att steady-state condition.
c In siimulation theree This Simulation reesults gives beetter performannce in
is no noiise componentt in the real currents andd both the cases i.e. under no-loadd and load conddition,
voltages. Therefore
T the estimated sppeed does nott whicch are shown beelow.

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 Fig 7 Behaviour
B of sp
peed estimationn at kp3=5,
ki33=250

Fiig 10 (a) Line currents

c in Am
mps (b) Speed in
rad/sec (c) Torque
T in N-mm on no load
Casee 2: Step Changge in Load
(Refeerence speed = 100 rad/sec; Load
L torque off 15 N-
m is applied at t = 0.25
0 sec.)

Fig 8 Sppeed estimation

n under loadinng condition

Case 1: Unnder No-load condition

c (Refeerence speed =
100 rad/sec)

Fig 11 (a) Line currents in Am

F mps (b) Speed in i
Fig 9 Actual
A Speed an
nd Estimated sppeed Using r
rad/sec (c) Torrque in N-m onn step change inn
MRAS S in rad/sec load

897
Case 3: Sppeed Reversal Command
C for thhe speed estimation is fast, hoowever, higherr order
(Referencee speed = 10 00 rad/sec; speed
s reversall harm
monics and noiises are includded in the estiimated
command is i applied at t = 0.5 sec.) speedd. The vaalidity of the MRAS--based
pseuddoreduced-ordder flux observver has been veerified
by simulation.

7. REFERENC
R CES

H Kubota, K.. Matsuse, andd T. Nakano, “Dsp-

[1]. H.
Baseed Speed Adapptive Flux Obbserver of Indduction
motoor”, IEEE Tranns. Ind. Appl. 29
2 (1993) 344––348.

[2] Y.N. Linn, and C.L. Chen, “Addaptive

pseuddoreduced-ordder flux obbserver for speed
o IM”, IEEE Trans.
sensoorless field oriented control of
Ind. Electron.
E 46 (55) (1999) 1042––1045.

[3]. G. Yang, annd T.H. Chiin, “Adaptive--speed

identtification schem
me for a vecttor-controlled speed
sensoorless inverterr-induction motor
m drive”, IEEE
Trans. Ind. Appl. 29 (4) (19933) 820–825. Fig F 12
Fig 12 (a) Line currennts in Amps (bb) Speed in Sensorless IM drive,
d (a) meeasured speedd, (b)
rad/secc (c) Torque in
n N-m on no looad, speed estim
mated speed. H.M. Kojjabadi /Simuulation
rev
versal Modelling Practicee and Theory 13 (2005) 451–464
463
Fig 9 Shows
S that th
he actual speedd of inductionn
motor andd estimated speeed using MR RAS are same, [4] C.
C Schauder, “Adaptive
“ speeed identificatioon for
Fig 10 Shhows the no lo oad line currennts, speed andd vectoor control of innduction motorrs without Rotaational
torque wavve forms, it caan be seen thatt at starting thee Transducers”, IEEE E Trans. Ind. Appl. 28 (5) (1992)
(
values of currents
c and torque will be hiigh. The motorr 10544–1061.
reaches to its final steady state positiion within 0.22
sec. Hencce it has fast dynamic ressponse; Fig.111 [5] H.M.
H Kojabaddi, L. Chang,, “Model refe ference
shows the line currents, speed
s and torque wave formss adapttive system pseudoreduced--order flux obbserver
under loadd condition. Firrst the motor is started underr for very
v low speeed and zero speed
s estimatiion in
no load annd at t = 0.25 sec a load of 15 N-m iss sensoorless inductioon motor drives”, in: IEEE Annual
A
applied. Itt can see thatt at 0.25 sec, the values off Poweer Electronics Specialists Coonference, Ausstralia,
currents & torque will increase to meet m the loadd vol. 1,
1 2002, pp.
demand annd at the sam me time speedd of motor iss
slightly fallls. [6] Y.D.
Y Landau, Adaptive Coontrol -“The Model
M
The mootor is started under no loadd condition andd Referrence Approacch”, Marcel Dekker,
D New York,
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0.5 sec thee motor speed decays from 100 rad/sec andd
within 0.1 sec it reached d its final steady state in thee [7]. J. Maes, J.A A. Melkebeekk, “Speed-senssorless
opposite direction.
d At 0.5
0 sec torquee will increasee direcct torque conttrol of inductiion motor usiing an
negatively and reachess to steady state positionn adapttive flux obserrver “, IEEE Trans.
T Ind. Apppl. 36
correspondds to steady staate speed value. (3) (22000) 778–7855.

6. Conclusion [8]. I.D.

I Landau, “Elimination
“ o the real possitivity
of
conddition in the design
d of paralllel MRAS “, IEEE
This paaper presentss a MRAS--based APFO O Trans. Automat Coontr. 23 (6) (1978) 1015–10200
sensorless induction mo otor drive. Thiis method hass
been appllied to a direect field-oriennted inductionn
motor conntrol with and without speedd sensors. Thee
simulation results demon nstrated that, with larger PII
gains for thhe adaptive PII regulators, thhe convergencee

898