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Parameter Estimation Scheme for Low-Speed Linear Induction Motors Having Different Leakage Inductances
Gubae Kang, Student Member, IEEE, Junha Kim, Student Member, IEEE, and Kwanghee Nam, Member, IEEE
AbstractLinear induction motors (LIMs) are characterized by a large air gap and, as a result, large leakage inductances. Moreover, due to its unslotted structure and the absence of end rings in the secondary part, the primary leakage inductance is much larger than the secondary leakage inductance. Such differences prevent us from using parameter estimation methods developed for the rotary motors. We propose a parameter estimation scheme for a LIM that utilizes a pulsewidth-modulation inverter. It yields mutual inductance by numerically solving a third-order polynomial. Direct estimation of mutual inductance enables us to calculate the leakage inductances separately. The proposed estimation scheme is tested with various example models and with a real 20-kW single-sided LIM. Index TermsLinear induction motor (LIM), parameter estimation, pulsewidth-modulation (PWM) inverter, rotary induction motor (RIM).

I. INTRODUCTION XACT knowledge of parameters is essential for the field-oriented control of induction motors, since the performance of the controllers depends on the accuracy of the motor parameters. Parameter estimation methods are classified into two categories: online estimation [1][3] and offline estimation [4][9]. Holtz and Thimm [1] proposed an online parameter estimation method in which the steepest gradient method was utilized to adjust motor parameters so that the current trajectories of the model and real motor output match. Zai et al. [2] and Rabelo and Silvino [3] utilized the extended Kalman filter to identify the magnetizing inductance and the rotor time constant. In these schemes parameter initialization is very important, since some erroneous initial values may lead to the divergence of parameter estimates. Therefore, a prior commissioning procedure is required to use the online schemes. Various offline estimation methods have been proposed [4][6]. Willis et al. [4] derived an equivalent circuit model from a second-order transfer function for induction motors by utilizing a standstill frequency response test. This requires a frequency response analyzer and a power amplifier to obtain
Manuscript received December 6, 2001; revised October 8, 2002. Abstract published on the Internet May 26, 2003. G. Kang and K. Nam are with the Department of Electrical Engineering, Pohang University of Science and Technology, Pohang 790-784, Korea (e-mail:kwnam@postech.ac.kr). J. Kim was with the Department of Electrical Engineering, Pohang University of Science and Technology, Pohang 790-784, Korea. He is now with Seoho Electric Company, Ltd., Anyang 430-817, Korea (e-mail: junha@seoho.com). Digital Object Identifier 10.1109/TIE.2003.814864

current and voltage spectra. Moon and Keyhani [5] also utilized the same transfer function, but they applied the maximum-likelihood method to find the parameters of a second-order transfer function model. Stankovic et al. [6] proposed a static dc excitation method to estimate a magnetizing inductance. The above three methods require one- or two-phase excitation and the use of special equipment. Other parameter estimation schemes were developed that utilized only an inverter [8], [9]. Moveover, they assumed that stator leakage inductance was equal to rotor leakage inductance. That assumption may be true for rotary induction motors (RIMs), but in the case of linear induction motors (LIMs), the secondary leakage inductance is much smaller than the primary leakage inductance, due to the unslotted structure and the absence of end rings. This structural difference makes many parameter estimation methods for RIM unsuitable for a LIM. In this work, we are considering an offline LIM parameter estimation method which requires only an inverter. The end effect of the LIM is not considered here, so that the LIM model is the same as the RIM model and, as a consequence, the result is valid for low-speed LIMs. Our method follows the classical method in utilizing a dc current test and a no-load test to obtain the primary parameters. However, in the secondary parameter estimation, we adopt the method of injecting alternating -axis current while letting the -axis current be equal to zero [8], [9], instead of the locked mover test. A distinct feature of this work lies in the fact that the mutual is calculated by solving a third-order polynomial inductance which was derived from the total equivalent inductance. Such a allows us to calculate the leakage inmethod of obtaining ductances of the primary and secondary windings separately, along with the secondary resistance. Another technical point in this approach is that the peak values of power, current, and voltage are obtained through low-pass filtering their absolute values. The proposed estimation method has been tested with various example models and a real 20-kW single-sided LIM.

II. PRIMARY

AND

SECONDARY LEAKAGE INDUCTANCES OF A LIM

In this section, we use a simple finite-element method (FEM) analysis to show that the leakage inductance of the primary winding is much larger than the secondary leakage inductance. We performed FEM analysis with the specification of the LIM

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TABLE I SPECIFICATION OF A SINGLE-SIDED LIM

which was used for the experiment. Its major design parameters are shown in Table I. The LIM consists of two parts: the primary core and the secondary core, which correspond to the stator and the rotor of the RIM, respectively. The primary core has a slotted structure, while the secondary one is made with plain plates of aluminum and steel, as shown in Fig. 1. The aluminum plate corresponds to the rotor bar in the RIM. However, with the LIM, the primary core moves. We use subscript or superscript to denote the variables of the primary object, and to denote the variables of the secondary object. Fig. 1(a) shows a flux pattern when only a winding in the the total flux primary core conducts current. We denote by that flows through the back iron of the primary core. Similarly, the flux that flows through the back iron of we denote by the secondary core over the air gap. The subscript signifies is the leakage flux in the primary mutual. Hence, winding excitation. Fig. 1(b) shows the flux pattern, the total when a current flux , and flux through the primary core sheet is distributed sinusoidally along aluminum plates. is the leakage flux in the secondary winding excitation. along a diThe graphs in Fig. 1 show the flux densities rection for a given ampere-turn (1000 A). Hence, the shaded areas signify the flux that passes through imaginary vertical planes along a direction. Since the inductance is proportional to the flux, the ratios of leakage to self inductances are calculated as follows: (1)

where , , are the complex number representations of the primary voltage, current vectors, and the secondary current vector in the sta, tionary frame and the primary and the secondary flux linkage vectors, and denote the primary and secondary rerespectively. denotes mutual inductance. Note that sistances, and , . Further, represents the secondary mechanical angular frequency. The linear velocity of the sec, ondary core is related to in such a way that where is the pole pitch. Since the primary core is moving in most applications, it will be natural to assume that the primary core is moving. However, to comply with conventional representation used in the RIM, we assume that the secondary core is moving. It is assumed here that an inverter is utilized in the LIM parameter estimation. Fig. 2 shows the -axes equivalent model for a LIM with a PWM inverter in the stationary frame. It should be noted in the inverter model that the voltage disturbance caused by dead time is taken into account by . Note that the is not constant, since the voltage drop caused by dead time changes with current polarity. The dead-time voltage caused by the PWM inverter is given by

where denotes the dc-link voltage, the switching period, dead time, and the sign function, respectively [10]. seen at the LIM terminal is given by Therefore, the voltage

where

is the output voltage from the inverter. IV. MOTOR PARAMETER ESTIMATION

(2) , , , and represent the leakage inductances where of the primary and secondary windings, and the primary and the secondary inductances, respectively. It should be noted from (1) and (2) that the primary leakage inductance is much larger than the secondary leakage inductance and that it is related to the structural differencethe existence and nonexistence of slots. III. EQUIVALENT MODEL OF AN LIM WITH PULSEWIDTH-MODULATION (PWM) INVERTER If we neglect the end effect of the LIM, the LIM dynamics are the same as that of the RIM (3) (4)

A. Primary Resistance and Inductance Estimation In estimating the primary resistance and inductance, the conventional dc current test and no-load test are used here. The difference is that the two tests are performed with an inverter. For the estimation of the primary resistance, we regulate the -axis current constant by setting its command to be half of the rated current. Then, the current controller determines the inverter output voltage, whose values are available internally inside the inverter. We merely consider the -axis voltage and the . Next, we obtain current for (5) . Note that the dead-time effect is accounted for To estimate the primary inductance , the secondary circuit should be largely invisible. In other words, to isolate the effects of the secondary circuit, it is the better if the smaller current

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Fig. 1. Flux pattern, total flux 8 , 8 , and flux through air gap 8 , 8 (a) when only the primary winding is conducting and no current flows inside the aluminum plate and (b) when a current sheet is distributed sinusoidally along aluminum plates and no primary winding current flows.

flows through the secondary circuit. Hence, it is necessary to minimize the slip by sychronizing the speed. This means that the primary inductance can be estimated only when the LIM is moving. However, a problem with the LIM is that the stroke is limited in achieving the steady state. Therefore, in estimating with variable-voltage variable-frequency (VVVF) control mode, it is better to keep the V/F ratio large so that the speed is low. Under a no-load or a low slip condition, the secondary circuit is not seen from the source. Hence, an approximate equation follows, such that (6) is the exciting angular frequency. Since the reactive where power is given by , it follows from (6) that (7)

To reduce end effect, frequency needs to be selected less than 18 Hz, since end effect is negligibly small for Hz [12], [13]. In practical applications, it is better to use the average of the estimated values obtained from various sample points. B. Estimation of and

For obtaining and , a large current must flow through the secondary circuit, i.e., current path through the secondary circuit must be dominant. To provide a large current flow through the secondary circuit, the locked test is normally used. However, with an inverter it is possible to flow a large current through the secondary circuit without locking the motor [8], [9]. It can be realized by letting the -axis current be equal to zero while applying an alternating current to the axis, i.e., , , where is a positive constant. Such a current pair is obtained by letting the phase , , and currents be .

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Fig. 2. dq -axes equivalent model of a LIM with PWM inverter in the stationary frame.

Since at standstill, the LIM equivalent circuit shown in Fig. 2 can be represented as a series circuit, such that where (8) (9) (10) and need to be estimated to obtain the estimates of the secondary parameters. , the -axis voltage is obtained in the For steady state, such that

The peak current may be obtained by a peak detection method. It requires a special circuit or an algorithm finding a maximum value. However, such methods are sensitive to noise. Hence, we are using a different filtering method. Utilizing the Fourier series expansion, it follows that (14) the filtered output of We denote by filter that has a unity dc gain, i.e., by a low-pass

(15) where is the differential operator and is a positive constant . Hence, we obtain from (13) and (15) that satisfying (16) is calculated by integrating numerically where according to (12). On the other hand, the -axis voltage can be written from (11) such that (17) We take absolute values on both sides of (17) and filter them with the low-pass filter having unity gain. Then, it follows that (18)

(11) . Based on (11), numerous where and . In the folmethods can be used to estimate lowing, however, we illustrate estimation methods that utilize low-pass-filtered values instead of instantaneous measurements. The average real power is given by (12)

(13)

Since

, we

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^ Fig. 3. Estimation block diagram for R

^ and L

of the LIM.

choose an estimate

of

such that (19)

Although is unknown, it is around 0.95 in RIMs, and 0.92 in LIMs. Based on the design data or the statistics of motors, we choose a priori the value for . We define the following with of : the use of and an estimate (25) (26) (27) (28) is the only unknown value in the above definitions. Note that , , , and into (10) for , , , and Substituting , we obtain a third-order polynomial for , such that (29) where , , . Note again that the coefficients , , and are available with the methods suggested above. The numerical procedure for solving (29) will appear in a subsequent section. is found, the estimates , , , and follow Once is an intermediate esdirectly from (25)(28), respectively. timate needed for deriving polynomial (29). Based on the estiand , we have a more accurate estimation method mates than (28). Rearranging (9), we obtain for

obtained from (16) is utilized to calculate . Note that Equations (16) and (19) can be implemented as a program inside the inverter, and the estimation block diagram is shown in Fig. 3. C. Estimation of Polynomial , and from a Third-Order

. We Utilizing the estimated values, we define , which is unknown. Choosing high enough let , one can approximate (9) and (10) such that so that (20) (21) Assume that and , we obtain . Since

(22) Substituting (22) into , we obtain (23) Further, we obtain from (20) that (24)

(30)

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TABLE II ESTIMATION RESULTS OF L , L , AND R FOR A GROUP OF REAL MOTOR MODELS WHEN THERE ARE ASSUMED TO BE 5% ERRORS IN R AND L

Fig. 4.

Proposed estimation algorithm involving a third-order polynomial.

D. Numerical Procedure for Solving the Third-Order Polynomial To solve the third-order equation (29), the successive substitution method [15] is utilized. We let for , where are the points on the real line. . Considering , Note that is in the vicinity of , but smaller we can see that . Therefore, it would be better to start from than in searching for . We calculate by letting . lies on the right-hand side of , we Since the solution search the solution by increasing , i.e., we let for some and see if for . If for some , then we choose the desired solu. Fig. 4 shows the proposed tion, such that estimation algorithm which involves the third-order polynomial. V. SIMULATION ANALYSIS To assess the feasibility of the proposed estimation scheme, simulation studies were performed with various model parameters of RIMs and LIMs listed in Table II. The parameters are extracted from other literature except LIM 4, which was built for a private rapid transit vehicle in our laboratory. To analyze the effects of assumption error and measurement error, we utilize the parameters of LIM 4 in Table II. In this simulation, the magnitude of the exciting current is set to be half the rated value and the exciting frequency is set to be 60 Hz. A. Effects of Erroneously Selected Firstly, we assume that and are estimated accurately. . However, since is assumed Note that to be unknown, a suitable value needs to be chosen for . To obtain an idea of the magnitudes of estimation errors caused , , and , for 0.9, by inaccurate s, we calculated 0.91, 0.92, 0.93, 0.94, and 0.95. Most LIMs have in this range, . As shown in Fig. 4, one has to estimate i.e., , , , and before estimating the secondary parameters. The cutoff frequency of the low-pass filter is set to be

^ Fig. 5. Estimation errors of L , L , and R versus  whose  is equal to 0.916. (R = 0:88

, R = 1:14 L = 52:7 mH, and L = 48:3 mH).

2 [0:9 0:95] for a LIM

, L = 59:0 mH,

rad/s. The resulting estimates are and mH, and their percentage errors are 1.46% and 0.878%, respectively. Utilizing such and , we estimate , , and for . Fig. 5 , , and versus . The reshows estimation errors of and the sult shows that the errors become minimum for whole errors are within 10%. Such 10% estimation error is normally tolerable in practical use. B. Performance Comparison between the Proposed and Conventional Methods Since the leakage inductances of the primary and the secondary windings are assumed to be the same in the conventional estimation method, estimation errors of the conventional method are expected to be larger for LIMs whose primary and secondary leakage inductances are different. By the conventional method, we mean the classical method of extracting from a no-load test and , , from locked test in such and . a way that To investigate such errors, we consider a group of imaginary are different. We consider eight LIMs LIMs in which , , that have the same mH, mH, and , but have different s ranging from 50.9 to 60.2 mH. Thus, each LIM has a different and, thereby, different . The parameter estimation errors of the proposed method and the conventional method are . compared in Fig. 6. For the proposed method, we let

rad/s, while

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(a)

(b)

^ Fig. 7. Error dependency of L

^ ^ ^ and R on R and L .

Fig. 6. Estimation errors of L , L , and R for a group of imaginary LIMs in which the leakage ratios are different along with L s, while other parameters remain the same.

Fig. 6 shows that the proposed method gives much more accurate estimation results for various motors. Specifically, the proposed method performs well even when the primary and secondary leakage inductances are different, and this is the major important difference from the conventional estimation method. C. Effects of and on the Accuracy of and
Fig. 8. Statistics of estimation errors derived from the test results in Table II ^ ^ ( 5% errors are assumed in R and L ).

Estimating and is, of course, dependent on the accuand . To see the sensitivity of racy of the pre-obtained and , and the estimation methods on the errors of are calculated via two methods for various values of and . Fig. 7 shows estimation errors of and depending and . Note that the proposed method is less sensitive to on and , i.e., the proposed method yields more the errors of accurate results than the conventional method. D. Statistics For the statistics of the estimation performance, we applied the proposed and the conventional methods to 11 real motor models (seven RIMs and four LIMs). In these simulation for RIMs, for LIMs, studies, we let rad/s, and assume that and have 5%

errors. Table II shows the real motor parameters and the estimation results of the proposed method. Fig. 8 shows the bar graph of estimation errors when both the proposed and conventional methods are applied to the 11 motor models in Table II. Note that the proposed method is much better in the leakage inductance estimation of LIM than the conventional method. However, the performance of each of the two methods is about the same in the case of RIMs. Table III summarizes the possible estimation error sources and methods to reduce errors. To obtain more accurate estimation, it is better to use high is very large, then eddy-current frequency, . However, if loss may degrade the performance.

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TABLE III POSSIBLE ESTIMATION ERROR SOURCES

^ Fig. 9. Experimental result: R variation when the frequency of d-axis current varies while i = 0.

VI. EXPERIMENTAL RESULTS The proposed estimation algorithm is implemented in an inverter that utilizes a 32-bit processor TMS320C32 and insulated gate bipolar transistors (IGBTs) (100 A, 1200 V). The PWM switching frequency was chosen as 3 kHz, and the dead time was set to be 3 s. Dimensions of the single-sided LIM under test are listed in Table I. The electrical ratings of the LIM are as follows: rated power 20 kW, rated line voltage 440 V, rated frequency 60 Hz, and number of poles 4. is estimated as 0.88 by the dc current test. To obtain , we applied the VVVF control at a low speed (0.864 is m/sec) by making the V/F ratio large. With this method, , , and are estimated at standestimated as 59 mH. and . By solving still by supplying is estimated as 48.3 mH. Corthe third-order equation (29), is calculated as 52.7 mH from (27). In solving respondingly, the third-order equation (29), we choose a step size, such as . The secondary resistance is estimated by utilizing (30). We with different exciting frequency, supplied Hz while keeping . Since no -axis current flows, no propagating magnetic wave is developed. Then, the mover does not move at all, while a large alternating -axis current flows through the secondary circuit. based on experimental reFig. 9 shows the estimated values increases as the frequency increases. This is sults, in which thought to be caused by the decrease in skin depth of the aluminum plate. Note that we are utilizing 3-mm-thick aluminum plate and that its skin depth is about 16 mm at 30 Hz.

Fig. 10. Experimental result: plots of speed and q -axis current in the synchronous reference frame when we let the secondary time constant in the ^ ^ ^ ^ ^ ^ current controller be (a) L =R , (b) 1:5L =R , and (c) 0:5L =R .

Fig. 10 shows the plots of speed and the primary -axis curin the synchronous reference frame for three different rent , , and . secondary time constants is Fig. 10(a) shows the case when the estimated value utilized directly for the slip calculation. However, Fig. 10(b) and and are utilized, (c) show the cases when is constant during the acceleration respectively. Note that

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period for the case in Fig. 10(a), while it slopes for the cases in Fig. 10(b) and (c). This fact states that the case in Fig. 10(a) is tuned correctly, while the cases in Fig. 10(b) and (c) are detuned cases [11]. In other words, these experimental results support the conclusion that the proposed estimation scheme yields accurate secondary parameters. VII. CONCLUDING REMARKS We developed a parameter estimation scheme for the LIM, in which the primary and secondary leakage inductances are different. While estimating the parameters of the primary winding is the same as the existing method, to obtain the mutual inductance we solved a third-order polynomial which was derived from the total equivalent inductance. Once the mutual inductance is obtained, the remaining parameters follow directly. Simulation study shows that the proposed method outperforms the conventional method in estimating the parameters of LIMs, and looks robust for possible measurement errors. Our scheme does not require extra voltage sensors and specific test equipment other than an inverter. Therefore, the proposed scheme is suitable for practical use in the parameter estimation of the LIM, as well as the RIM. However, since the end effect is not considered in this LIM modeling, the result will be limited to low-speed LIMs. REFERENCES
[1] J. Holtz and T. Thimm, Identification of the machine parameters in a vector-controlled induction motor drive, IEEE. Trans. Ind. Applicat., vol. 27, pp. 11111118, Nov./Dec. 1991. [2] L. Zai, C. L. DeMacro, and T. A. Lipo, An extended Kalman filter approach to rotor time constant measurement in PWM induction motor drives, IEEE. Trans. Ind. Applicat., vol. 28, pp. 96104, Jan./Feb. 1992. [3] B. C. Rabelo and J. L. Silvino, Alternative methods of estimating the magnetising characteristics and the rotor time constant for the induction machine vector control, in Proc. IEEE PESC98, 1998, pp. 973978. [4] J. R. Willis, G. J. Brock, and J. S. Edmonds, Derivation of induction motor models from standstill frequency response tests, IEEE. Trans. Energy Conversion, vol. 4, pp. 608615, Dec. 1989. [5] S. Moon and A. Keyhani, Estimation of induction machine parameters from standstill time-domain data, IEEE. Trans. Ind. Applicat., vol. 30, pp. 16091615, Nov./Dec. 1994. [6] A. Stankovic, E. R. Benedict, V. John, and T. A. Lipo, A novel method for measuring induction machine magnetizing inductance, in Conf. Rec. IEEE-IAS Annu. Meeting, 1997, pp. 234238. [7] R. J. Kerkman, J. D. Thunes, T. M. Rowan, and D. W. Schlegel, A frequency-based determination of transient inductance and rotor resistance for field commissioning purposes, IEEE. Trans. Ind. Applicat., vol. 32, pp. 577584, May/June 1996. [8] M. Bertoluzzo, G. S. Buja, and R. Menis, Inverter voltage drop-free recursive least-squares parameter identification of a PWM inverter-fed induction motor at standstill, in Proc. IEEE ISIE97, vol. 2, 1997, pp. 649654. [9] A. Gastli, Identification of induction motor equivalent circuit parameters using the single-phase test, IEEE. Trans. Energy Conversion, vol. 14, pp. 5156, mar. 1999.

[10] E. Levi and S. B. Vukosavic, Identification of the magnetizing curve during commisioning of a rotor flux oriented induction machine, Proc. IEEElect. Power Applicat., vol. 146, no. 6, pp. 685693, 1999. [11] J. Seok and S. Sul, Induction motor parameter tuning for high-performance drives, IEEE. Trans.Ind. Applicat., vol. 37, pp. 3541, Jan./Feb. 2001. [12] J. F. Gieras, G. E. Dawson, and A. R. Eastham, A new longitudinal end effect factor for linear induction motors, IEEE. Trans. Energy Conversion, vol. 22, pp. 152159, Mar. 1987. [13] J. F. Gieras, Linear Induction Drives. Oxford, U.K.: Clarendon, 1994. [14] D. W. Novotny and T. A. Lipo, Vector Control and Dynamics of AC Drives. Oxford, U.K.: Clarendon, 1996. [15] S. Nakamura, Applied Numerical Methods in C. Englewood Cliffs, NJ: Prentice-Hall, 1995.

Gubae Kang (S96) was born in Uiseong, Korea, in 1973. He received the B.S. degree in electronic and electrical engineering in 1996 from Kyungpook National University, Daegu, Korea, and the M.S. degree in electrical engineering in 1998 from Pohang University of Science and Technology, Pohang, Korea, where he is currently working toward the Ph.D. degree. His research interests are ac motor control, EV motor drives, and power converter/inverter systems.

Junha Kim (S97) was born in Uljin, Korea, in 1970. He received the B.S., M.S., and Ph.D. degrees in electronic and electrical engineering from Pohang University of Science and Technology, Pohang, Korea, in 1997, 1999, and 2003, respectively. He is currently with Seoho Electric Company, Ltd., Anyang, Korea. His research interests are ac motor control, electric vehicle, and PWM converters.

Kwanghee Nam (S83M86) received the B.S. and M.S. degrees in chemical technology and control and instrumentation engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and the M.A. and Ph.D. degrees in mathematics and electrical engineering from the University of Texas, Austin, in 1986. He is currently a Professor in the Department of Electrical Engineering, Pohang University of Science and Technology (POSTECH), Pohang, Korea. He served as Director of the POSTECH Information Research Laboratories and as Dean of the Graduate School of Information Technology from 1998 to 2000. His main interests are ac motor control, power converters, computer networks, and nonlinear systems analysis. Prof. Nam received an IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS Best Paper Award in 2000.