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Rs 1− σ Lm Lm − Controller −
θˆ (k ) e
a1 = + ,a2 = , a3 = , ω̂ r Tˆe
−1 HTe
σL s σTr σL s L r Tr σL s L r dq
va
Tˆe =
3P
(
ψ dsiqs − ψ qsids ) iqs ib
idqs , idqr : d, q-axis stator and rotor currents, ψ ds , ψ dr : d-axis 2 2
ic
abc
Stator Flux & Torque Estimation
stator and rotor flux linkages, ψ qs , ψ qr : q-axis stator and rotor ψ dr Reference Model
vds vds
ψ qr vqs vqs
(Voltage Model) ids
ids
Induction Motor
flux linkages, Ls , Lr : stator and rotor self inductances, Lm : εω
iqs
−+ X iqs
mutual inductance, and Rs , Rr : stator and rotor resistances. X ψˆ dr Adaptive Model
ωr
ψˆ qr
(Current Model)
vqs − 1 ψ qr
sinusoidal speed change with a load torque of 4.5 Nm is shown
+ Lr
Lm p in Figure 5 (a) and Figure 5 (b), respectively. The sudden
Adaptive Model 1 change of triangular and sinusoidal speed of 600 rpm is applied
Tr
−
Adaptation Mechanism
at 5 sec under load torque of 4.5 Nm. The presented simulation
Lm + 1 ψˆ dr +
Tr
− p
−
responses are speed (reference speed, measured speed and
estimated speed), stator currents, and d-axis rotor flux
1
Kp +
Ti p components of RM and AM and also q-axis rotor flux
Lm + + 1 ψˆ qr components of RM and AM, respectively.
Tr p ω̂ r
− The error analysis of IMD is carried out at various load
1
Tr
torque (No load, half load and Full load) operating conditions
ω̂ r when the IM is operating at steady state. The various error
Figure 2 Rotor-flux based MRAS speed estimation. results are summarized in Table 2. The presented error analyses
are Integral of Absolute Error (IAE), Integral of Time
V. SIMULATION RESULTS multiplied by Absolute Error (ITAE), and Root Mean Square
To verify the performance of the rotor-flux based MRAS Errors (RMSE). The various error analyses are measured at 3
scheme, a detailed simulation studies are carried out in sec.
IAE = e(t ) dt
t
( e(t ) ) dt
t 2
(13)
0
RMSE = 0
(15)
ITAE = (t e(t ) ) dt t
t
(14)
0
(a) (b)
30 20
20
(i) Torque (Nm)
10
Estimated Torque
10
0
0
Reference Torque Estimated Torque
-10 -10
0 0.5 1 1.5 2 2.5 3 0 1 2 3 4 5 6 7 8
1500 1500
(ii) Speed (rpm)
1000 1000
Reference speed Measured speed Estimated speed Reference speed Measured speed Estimated speed
500 500
0
0
0 0.5 1 1.5 2 2.5 3 0 1 2 3 4 5 6 7 8
20
isa isb isc
isa isb isc 10
(iii) Stator Current (A)
10
0 0
-10
-10
-20 0 1 2 3 4 5 6 7 8
0 0.5 1 1.5 2 2.5 3
Time (s) Time (s)
Figure 3 Simulation response of DTFC of an IMD under (a). No-load torque, (b). Load torque of 9 Nm.
(a) (b)
20
20
10
10
(i) Torque (Nm)
0
0
Reference Torque Estimated Torque
-10 Reference Torque Estimated Torque
-10
-20 -20
0 1 2 3 4 5 6 0 1 2 3 4 5 6
1500
1000
1000
(ii) Speed (rpm)
10
10
0 0
-10
-10
-20
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Time (s) Time (s)
Figure 4 Simulation response of DTFC of an IMD under the operating conditions of: (a). sudden change in speed, (b). reversal
motoring from +1200 rpm to -1200 rpm are: (i). Torque, (ii). rotor speed and (iii). stator current.
(a) (b)
1500 1500
Measured speed
Measured speed
(i) Speed (rpm)
1000
1000
Estimated speed
500
Estimated speed
500 Reference speed
Reference speed 0
0
-500
0 5 10 15 20 25 0 5 10 15 20 25
10
0 0
-10 -10
0 5 10 15 20 25 0 5 10 15 20 25
1 1
(iii) d-axis Rotor flux (wb)
0.5 0.5
0 0
-0.5 -0.5
-1 -1
0 5 10 15 20 25 0 5 10 15 20 25
1 1
Reference flux Reference flux
0.5 Estimated flux 0.5
Estimated flux
0 0
-0.5 -0.5
-1 -1
7 7.1 7.2 7.3 7.4 7.5 7 7.1 7.2 7.3 7.4 7.5
1 1
(iv) q-axis Rotor flux (wb)
0.5 0.5
0 0
-0.5 -0.5
-1 -1
0 5 10 15 20 25 0 5 10 15 20 25
1 1
Estimated flux
0 0
-0.5 -0.5
-1 -1
7 7.1 7.2 7.3 7.4 7.5 7 7.1 7.2 7.3 7.4 7.5
Time (s) Time (s)
Figure 5 Simulation response of DTFC of an IMD under the operating conditions of: (a). Triangular change in speed, (b). sinusoidal
change in speed are: (i). speed, (ii). stator current, (iii). d-axis rotor flux and (iv). q-axis rotor flux.
TABLE 2 ERROR ANALYSIS OF IMD UNDER VARIOUS OPERATING CONDITIONS.
[7] Holtz J., “Sensorless control of induction motor drives”, Proc. IEEE,
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