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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 18, NO.

2, JUNE 2003 219

Speed Observer System for Advanced Sensorless


Control of Induction Motor
Haithem Abu-Rub, Member, IEEE, Jaroslaw Guzinski, Zbigniew Krzeminski, and
Hamid A. Toliyat, Senior Member, IEEE

Abstract—This paper presents a sensorless control system for use of delicate optical encoders lowers the system reliability,
induction motors, which is realized on a fixed-point digital signal especially in a hostile environment. Because of these problems,
processor (DSP) and field programmable gate arrays (FPGAs). An it is an important requirement to eliminate the speed sensor
observer system has been developed for estimation of speed and the
other state variables. The proposed observer system is verified for from the control systems. Thus, from the beginning of the
different conditions of motor operation. Experimental results for 1980s, there were serious research works throughout the world
the control system fed by voltage source inverter controlled using to control induction machines without the need for speed
predictive current controller are presented. sensors [1]–[7].
Index Terms—DSP, FPGA, induction motor, sensorless control, It is important to calculate all state variables from stator ter-
speed observer. minal. Different methods are used for flux and speed estimation.
The calculation methods of state variables may be classified as
models and observers. Models in comparison with observers are
NOMENCLATURE
less complicated. In the case of induction motor, there are stator
, , , Stator voltage, current, and flux, rotor flux. voltage model, rotor current model, and mixed models. Using
, , , Stator resistance, rotor resistance, stator these models, it is possible to identify the stator and rotor flux
, inductance, rotor inductance, magnetizing linkages. The accuracy of these variables depends on the motor
inductance. operating point, exactness of the parameters used, and the sen-
, , Rotor speed, rotor flux linkages speed, sitivity of the model to drift in these parameters. The voltage
stator current angular frequency. model is not precise at low frequencies; however, it is not sensi-
, , , Variables of multiscalar motor model. tive to rotor resistance variations. On the other hand, the current
model is sensitive to rotor resistance variations and is not ac-
, Stationary and rotating reference frames. curate in calculating the rotor speed, especially at high speed.
Observer gains. However, it is more precise, compared to the voltage model, at
, Rotor flux speed PI controller parameters. low frequencies. The mixed model integrates the advantages of
, , , Motor coefficients. both models. Because of these inaccuracies in calculating the
(subscript) Variable calculated from steady state. flux linkages, in many solutions an observer by introducing an
Variables estimated using the observer. additional feedback loop is used.
— Vector quantities. In [8], the principle operation of speed observer applied to
field oriented induction motor is presented. A modified method
I. INTRODUCTION for a drive with nonlinear control is used. Currently, in motor
drive systems, fixed-point digital signal processors (DSPs) are
A speed sensor is an inconvenient device and has many
drawbacks. The most important one is reducing the
ruggedness and the simplicity of ac motors. It is also a cost
widely used. Many research centers design their own systems
using DSPs, which make it possible to realize research projects
and to directly use the solution for industry application. The
factor, since the provision of a special motor-shaft extension
proposed control system is realized on a widely used fixed
to mount the encoder leads to more expensive machines. The
point DSP. FPGA systems are very significant since they
have intelligent and convenient computer-aided design (CAD)
systems, which replace the design of microprocessor control
systems with higher order computer programming. The use of
FPGA system makes it possible to realize parts of the control
Manuscript received June 18, 2001; revised April 17, 2002. This work was
supported by Fulbright Organization. system using hardware, which unloads the main processor
H. Abu-Rub is with the Department of Electrical Engineering, Birzeit Uni- from parts of the realized tasks. In this paper, experimental
versity, Palestine (e-mail: haithem@birzeit.edu). results are presented for the control system implemented on
H. A. Toliyat is with the Department of Electrical Engineering, Texas
A&M University, College Station, TX 77843-3128 USA (e-mail: Toliyat@ the TMS320C50 and partly on a FPGA system (FLEX6000
ee.tamu.edu). family). A voltage source inverter with predictive current con-
J. Guzinski and Z. Krzeminski are with the Faculty of Electrical & Control troller feeds the induction motor. The input commands for the
Engineering, Technical University of Gdansk, Gdnask, 80-952, Poland (e-mail:
jarguz@pg.gda.pl). PWM algorithm are the amplitude and the angular frequency
Digital Object Identifier 10.1109/TEC.2003.811735 of stator current. Variables are presented in per unit system.
0885-8969/03$17.00 © 2003 IEEE
220 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 18, NO. 2, JUNE 2003

II. VOLTAGE MODEL OF INDUCTION MOTOR Based on the estimated quantities of flux components, it is
possible to identify the angular speed of rotor flux linkage vector
The fundamental equation, which is used to introduce the re-
using PI controller with zero command signal
lationship for speed observer system, is the stator circuit equa-
tion given by

(1)
(12)
where is the stator voltage vector, stator flux vector, and
is the stator resistance. From (1), the - and - voltage com- (13)
ponents presented in the – reference frame with the rotor flux
linkages oriented in the -axis are given by where is the estimated angular speed of the rotor flux
linkage vector. and are the estimated currents using
(2) the measured currents and defined in the stationary
reference frame and using the transformation from – system
(3) to – reference frame using the estimated angle

The estimated – components of stator flux linkages are as (14)


follows:
Rotor speed estimation is good only at steady state, but during
(4) the transients there is an error, which increases with a decreasing
speed response [8], [9]. This is relative to the delays provided
(5) by integrating the -axis component of the rotor flux vector. A
decrease in this error may be achieved by providing a proper
Equations (4) and (5) present the voltage model of induction initial value for the integrator. In this case, a proper initial value
motor in – reference frame. This flux simulator operates in might be the angular speed of rotor flux vector at steady state.
open loop—without any feedback from the rotor flux error. The From the steady state relationships, it is possible to calculate the
flux is identified correctly when the motor parameters are ex- rotor speed as follows [9], [10]:
actly known. In a real system, motor parameters change with
operating point and temperature. As a result, the estimated rotor (15)
flux and the actual flux are different, and this difference depends
on the following: properties of the selected motor model; degree where , , ,
of accuracy of parameter identification; degree of accuracy of , and are the angular frequency and stator cur-
current and voltage measurements and motor operating point. rent vector, respectively. The instantaneous reactive power is
The use of feedback minimizes the effect of the above factors defined by
on the identification of the rotor flux linkages.
(16)
III. SPEED OBSERVER SYSTEM The observer system was applied in the fully decoupled
The rotor flux observer is based on the voltage model given model of induction machine using the nonlinear feedback,
by [8] which includes the next state variables [11]:
(17)
(6)
(18)
(7) (19)
where , , , are rotor flux linkages and stator cur-
(8) rent components, respectively. is the angle between stator cur-
rent and rotor flux vectors. The state variables of the motor
(9) model are the rotor speed , and , and . These vari-
ables, which are named multiscalar variables in [10] could be
It is possible to describe the system with only two equations calculated directly from the observer system or using the steady
when (8) and (9) are substituted into (6) and (7). In (6) and state relationships (with subscript). Using the steady state re-
(7), a command flux quantity in feedback path is used instead lationships of induction motor, it is possible to modify the de-
of the actual quantity. Correction part in (6) and (7) appears scribed estimator (12) in the following form:
with gain, which needs to be tuned in the simulation. The
commanded components of rotor flux linkages are as follows:
(10)
(20)
(11)
ABU-RUB et al.: SPEED OBSERVER SYSTEM FOR ADVANCED SENSORLESS CONTROL OF INDUCTION MOTOR 221

Fig. 1. Block diagram of a modified rotor angular speed observer.

Fig. 2. Proposed induction motor control system.

where is the time constant of the first order delay filter. The
first part of (20) is the equation of PI controller (12) and the
second part is the filtered value of the rotor flux vector. The
block diagram of a modified speed observer is presented in
Fig. 1.
As will be shown in the simulation results for the speed ob-
server system from Fig. 1, the error at steady state is about 2%.
This error is less than the case of using an observer without
taking into account angular speed of flux linkages calculated
from the steady state condition.

IV. SIMULATION OF THE OBSERVER IN CLOSED-LOOP SYSTEM


Fig. 3. Waveforms of actual speed ! and calculated speed ! using steady
The overall closed-loop control system including the speed state relationship (26).
observer has been simulated using C language programming.
The estimated speed has been applied to the speed controller error does not exceed 4%. The presented observer works also
for the nonlinear control system shown in Fig. 2. In Fig. 3, the properly at low speeds. At around 1% of the rated speed, the
actual and calculated rotor speed waveforms using steady state error is only about 3%. At steady state, a speed estimation error
(15) are shown. It is seen that at steady state, the results are in spite of tuned motor parameters appears. This is due to the
similar and a 15% error appears only during the transient. Figs. 4 observer principle of operation where rotor flux speed at the
and 5 show satisfactory results using the speed observer (20) for output of PI controller continuously traces real value. Error can
a wide range of different speeds. It is seen that the estimation only be reduced by the tuning of PI controller.
222 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 18, NO. 2, JUNE 2003

Fig. 4. Actual ! and estimated speed !^ waveforms using the proposed


observer system.

Fig. 6. Starting of the speed observer system.

measurement, two Hall effect transducers are used, and for


voltage measurement a linear opto-coupler on the dc bus is
used. A dc/dc converter delivers all of the desired voltages
needed by the inverter system. In this manner, suitable galvanic
separation of outputs is guaranteed. The central element of the
drive is a control system. It consists of a TC50A board with
DSP TMS320C50. The TC50 board is dedicated to work as
an individual controller. It can be connected to an IBM PC via
a parallel interface LPT. Cross talk of the board with PC is
used for running the systems, which are controlled by a signal
1 ^
Fig. 5. Waveforms of speed error ! , estimated speed ! , and actual speed processor. It is possible to simultaneously control and monitor
! using the proposed observer system. the control process.
In the experimental system, a TB6000-type I/O board is used.
The board is the intermediate element between the signal pro-
The rotor speed observer operates well at the steady state and
cessor board and the voltage inverter system. On the I/O board,
during the transients. Providing steady state relationship of the
there are a series of four A/D converters and programmable
angular speed to the observer decreases the rotor speed estima-
system, which realizes most functions of the digital systems lo-
tion error. The observer could be used for identification of rotor
cated on the board. In the control system described before, an
flux magnitude and position. The performance of the observer
FPGA system from the FLEX6000 family is used. The use of
is acceptable when the rotor magnetic field is kept constant.
FPGA system makes it possible to realize parts of the control
system using hardware, which unloads the processor from parts
V. EXPERIMENTAL RESULTS of the assigned tasks. FPGA in the experimental set-up realizes
For experimental investigation of the proposed induction the following functions: Timing of switching-on of each tran-
motor control system, the physical set-up consists of the sistor for one switching period; providing a dead-time; control
following elements: machine unit, squirrel cage induction of breaking transistor; service of A/D converters; shut-down of
motor-dc generator; voltage source inverter; input/output inverter in the case of emergency signals and data exchange be-
board with A/D converter and FPGA system; DSP board, tween DSP board and drive system.
TMS320C50 and PC computer as a host for commanding For experimental verification, a speed observer is operated
parameters and viewing the waveforms. in the open loop system (the calculated variables are not used
In the set-up, a 1.5-kW squirrel cage induction motor is in the closed loop system) and in the closed loop system with
used. The induction motor was fed by a 2.5-kW voltage load angle controller [9]–[12]. The results obtained are shown in
inverter, which was designed specifically for this experiment. Figs. 6–9. Waveforms in Fig. 6 represent observed values at the
The inverter was designed using intelligent modules with instant of observer starting when the motor was running with
IGBT transistors. The driving system had been designed constant speed. An observer starts with zero initial conditions
using fast opto-couplers, which guarantee galvanic separation and after 200 ms reaches a real angular speed. The identifica-
between the inverter and control system. For motor currents tion process of the -component of rotor flux takes longer time.
ABU-RUB et al.: SPEED OBSERVER SYSTEM FOR ADVANCED SENSORLESS CONTROL OF INDUCTION MOTOR 223

Fig. 7. Observed speed as a function of measured speed.

Fig. 9. System response on step change of reference value of rotor speed in a


sensorless closed loop system with load angle controller presented in Fig. 2.

totally located in the internal memory, the required time for the
overall control system is about 120 s. The execution time for
the speed observer is only 24 s.

VI. CONCLUSION
In this paper, a speed observer system for sensorless control
of induction motor is developed. The rotor speed has been calcu-
lated using the steady state relationships applied to the observer
system. The simulation and experimental results illustrated that
the system operates correctly for different running conditions.
An observer system has been adopted for the nonlinear control
Fig. 8. System response on step change of rotor speed in an open loop system. scheme of induction motor. Presented observer is less compli-
cated than the other observers known in the literature and has a
-component of the rotor flux is nearly zero, except at starting good accuracy. The proposed control system was implemented
instant of the observer. At this time, there appears to be signif- on a nonexpensive fixed point DSP. An FPGA system was used
icant deviation from the commanded value. In Fig. 7, the rotor to make it possible to unload the processor from parts of the re-
angular speed waveform is presented as a function of measured alized tasks.
speed. The obtained results are linear.
In Fig. 8, the system response after step change of rotor speed REFERENCES
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[5] U. Baader, M. Depenbrock, and G. Gierse, “Direct self control (DSC) Jaroslaw Guzinski received the M.Sc. and Ph.D. degrees from the Electrical
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349–354. engineering from the University of Wisconsin-Madison, in 1991.
[12] H. Abu-Rub, Z. Krzeminski, and J. Guzinski, “Nonlinear control of in- Currently, he is Professor in the Department of Electrical Engineering at
duction motor—Idea and application,” in Proc. Europe. Power Elec- Texas A&M University, College Station. Dr. Toliyat is an Editor of IEEE
tron.—Power Electron. Motion Contr. Conf., vol. 6, Slovak Republic, TRANS. ENERGY CONVERSION, an Associate Editor of IEEE TRANS.POWER
2000, pp. 213–218. ELECTRONICS, and a member of the Editorial Board of Electric Power Compo-
nents and Systems Journal. His main research interests and experience include
multiphase variable speed drives, fault diagnosis of electric machinery, analysis
and design of electrical machines, and sensorless variable speed drives. He has
published over 185 technical papers in these fields. He is actively involved
Haithem Abu-Rub (M’99) received the M.Sc. degree in electrical engineering in presenting short courses and consulting in his area of expertise to various
from Polish Marine Academy, Gdynia, Poland, in 1990. He received the Ph.D. industries.
degree from the Electrical Engineering Department at the Technical University He has received the Texas A&M Select Young Investigator Award in 1999,
of Gdansk, Gdansk, Poland, in 1995. Eugene Webb Faculty Fellow Award in 2000, NASA Space Act Award in 1999,
Currently, he is the Chairman of the Electrical Engineering Department of and the Schlumberger Foundation Technical Award in 2000 and 2001. He is also
Birzeit University, Birzeit, Palestine, where he is also an Assistant Professor Vice-Chairman of IEEE-IAS Electric Machines Committee, and is a member
since 1997. Dr. Abu-Rub was a Fulbright visiting professor at the Texas A&M of Sigma Xi. He is the recipient of the 1996 IEEE Power Eng. Society Prize
University, College Station, in 2001. His main research interests are the elec- Paper Award for his paper on the Analysis of Concentrated Winding Induction
trical drive control, power electronics, and electrical machines. Machines for Adjustable Speed Drive Applications—Experimental Results.

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