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vik +1 = wvik + c1 rand1 ( pbesti sik )
0 (3)
0 50 100 150 200 250 + c2 rand2 ( gbesti sik )
-2000
where, w represents weighting function which is usually util-
36 ized in (4):
32
w wmin
Voltage [V]
100
point. With equations (3) and (4), a certain velocity that con-
50
0
verges gradually towards pbest and gbest can be calculated,
0 50 100 150 200 250 which is called Inertial Weights Approach (IWA). The current
position can be, therefore, modified by the following equation:
1
sik +1 = sik + vik +1 (5)
Power Factor
0.5
0 According to Shi and Eberharts examination [24], [25], ci =
-0.5 0 50 100 150 200 250 2.0, wmax = 0.9, wmin = 0.4 are appropriate parameters as these
-1 Time [Sec] values do not depend on any particular problem.
Fig. 2. Measured induction motor active power, phase voltage, phase current
and power factor profiles during the on-road vehicle testing.
Assuming discrete stator current signal {(t j , is (t j ))}pj as
learning sample of the particle swarm, the objective function
Understanding the need for a sensitive and reliable online can be defined as:
stator and rotor estimation scheme, section 3 of this paper pro- p
poses a simple and yet sensitive approach of online parameter e = (is (t j ) is (t j )) 2 (6)
determination using the particle swarm optimization (PSO) j =1
technique. The PSO technique is used here to increased accu- where, x (t j ) denotes the calculated output of the particle
racy while determining the resistances. This would further
improve the overall performance of the induction motor drives swarm. Therefore, stator and rotor resistance can be found by
like the vector control drive. updating si and minimizing e. The steps involved in estimating
motor parameters are shown in Fig.3 and described as follows:
II. ONLINE RESISTANCE ESTIMATION USING PARTICLE SWARM
OPTIMIZATION TECHNIQUE
Start
The two-axis model of an induction machine used in this
research can be described as in (1). Set parameters N, itermax, si, wmax,
The PSO simulates the behavior of swarm as a simplified Calculation ei of each agent i
social system. Each particle modifies its velocity according to Update Y
its own position and the positions of the neighbors in the fol- pbesti is eik < e (pbestik) ?
N Update
lowing form: is eik < e (gbestk) ? Y gbest
i
vik +1 = vik + c1 rand 1 ( pbest i sik ) N
(2) Modification of capacitance value
vik +1 = vik + c2 rand 2 ( gbest i sik ) s ik + 1 = s ik + v ik + 1
Voltage [V]
=1, 2, , N, where N is the population size) which indicate 100
0
the possible solutions of capacitance value.
-100 0 0.01 0.02 0.03 0.04
Step 2. Acquisition of data: Sample stator voltage and cur- -200
rent instantaneous value. The size of both samples is p. Vol- -300
tage sample is further used as an input to swarm estimation -400
system, while current data is the reference for the output of Time [Sec]
swarm estimation. Fig. 4. Terminal phase voltage of the CRIM with 30 dB noise.
Step 3. Computation of objective function: resistance val-
ues are fed into the developed two-axis model of the CRIM to 4
calculate the stator current of the motor. The error of each 3 25%
particle can be attained with (6). 50%
Performance
Step 4. Evaluation of searching point: If e is smaller than 2 75%
the current pbest of the agent, the pbest value is replaced by 100%
1
the current value. If the smallest e of pbest is smaller than the
Iterations
current gbest, gbest is replaced by the best value. 0
Step 5. Modification of the searching point: The current re- 1 2 3 4 5 6 7 8 9 10
sistance values of each agent are changed using (3)-(5).
Fig. 5. PSO performance as a function of iterations for varying machine stator
Step 6. Checking the exit condition: When the current itera- and rotor resistance values.
tion number reaches the predetermined maximum iteration
number or if the error is lesser than10-2, then exits. Otherwise, This will improve the computation speed significantly,
the process goes back to Step 3. hence improving the real-time performance and flexibility of
this scheme to be integrated into the induction motor drive
III. NUMERICAL INVESTIGATION OF THE DEVELOPED PSO used in HEV/EV application. The resistances were varied in
MODEL USING A 10 HP COPPER-ROTOR INDUCTION MOTOR regular steps to verify the convergence of the developed opti-
The algorithm developed in section 2 for parameter estima- mization method. From Fig. 5, it is evident that the PSO per-
tion using PSO is further validated and investigated in this formance is satisfactory after 6 iterations for all the tested pa-
section through numerical results obtained from a developed rameter values.
computer program. As reported in [26], the AC conduction effects have been
The equivalent circuit parameters determined from the the only concern in further increasing the efficiency of copper-
standard no-load, DC and blocked rotor tests, and important rotor machines and the higher conductivity of copper allows
machine ratings of the CRIM under investigation is presented the rotor designer to use these effects to tailor the behavior of
in Table 1. the rotor to improve machine performance. Also, a better bar
In order to simulate real-time field conditions, 30 dB noises design would improve the efficiency of the machine and re-
are added to the sampled signal of voltages and currents taken duce these effects. Hence, understanding the significance of
as inputs and objectives, respectively. Fig. 4 shows the ac- these effects a mathematical model for the corresponding rotor
quired phase voltage waveform of the CRIM with noise at a resistance coefficient as a function of these frequency related
constant 265 V. Similarly, the current waveform is also cor- effects is as shown in (7) [27].
rupted with noise. br
As the variation range of the resistance is not too wide, it is = hr f
enough to set the population size of the swarm as 5 and the bs
iteration time as 10. sinh(2) + sin(2)
TABLE 1 K r = (7)
INDUCTION MACHINE DATA cosh(2) cos(2)
Output power [kW] 7460 1
Rated voltage [V] 460 =
f
Rated current [A] 11.5
Number of poles 4 where, br, bs, and hr are bar width, slot width, skin depth and
Rated speed [rpm] 1,760 height of the rotor bar, respectively.
Rated frequency [Hz] 60
The stator resistance of the machine is also affected by these
effects but the change would be lesser during machine opera-
Rs [pu] 0.017
tion as the stator frequency will be fixed at the line frequency.
Rr [pu] 0.011
However, temperature effect significantly changes the stator
Xls [pu] 0.039
resistance as all the heat generated in the machine over a pe-
Xlr [pu] 0.039
riod of time concentrates on the stator. Hence, in this paper,
Xm [pu] 1.400 the objective resistance values are varied from 100% to 200%
2
January 2005.
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