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Motivations
The tracking bandwidth of speed sensorless induction drive is
estimation;
Dual-stage adaptive MHE that accounts for parametric model
uncertainties.
c MERL June 28, 2016
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k=0
where
(x0 ) = kx0 x
0 k2P 1 ,
0
T 1
z,{wk }k=T
N
k=T N
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1
Lm
dr + qr + uqs ,
i qs = iqs
dr = Lm ids dr qr ,
qr = Lm iqs + dr qr ,
TL
= (ids qr + dr iqs )
.
J
J
The parameters are
L2
Rs
Rr
Lm
3 Lm
= Ls 1 m
; =
; =
=
; =
,
Ls Lr
Lr
Lr
2 Lr
where (Rs , Ls ) and (Rr , Lr ) are the resistance and inductance of the stator and rotor
respectively, and Lm is the mutual inductance between stator and rotor.
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subject to
k=T N
Remark: the conventional (non-adaptive) MHE does not have parameters p in the
decision variables.
c MERL June 28, 2016
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Constraints
Inequality constraints are removed to simplify the computation. The
optimization problem only subject to the system dynamics.
c MERL June 28, 2016
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In dual-stage adaptive MHE, the state estimation and parameter estimation are
separated into two sequential steps, and significantly simplify the solving
difficulties.
*
{}*+0
*+,- , {} *+,-
*
{}*+0
*+,2 , {} *+,2
{(}**+,-
State MHE
(# )
+0
Parameter MHE
(%)
State estimation:
T
1
X
x
min
Lx
T =ZT Nx (z)+
k (wk ,vk )
T 1
z,{wk }T N
k=T Nx
x
Parameter estimation:
min
p
T
1
X
pT =p
vkT R1 vk
T Np+
k=T Np
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ik+1
ik
ds
ds
k+1dt k
iqs iqs
dt
{z
y
k
ids
=
ikqs
|
}
k
ds
k
qs
k
qs
k
k
ds
k
{z
ukds
ukqs
} 1/
| {z }
RLS
=
T
T
2
1 X
yk| yk .
T
k=1
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Flux PI
"#$
+
-
Speed
PI
Torque )
PI
"#$
'
'Inverse Park
Transformation )-
, '-
'
)
Park
Transformation
, )-
2 phase
->
3 phase
.
/
0
., .
3 phase ,
/ /
->
2 phase 0 , 0
Induction
motor
Moving
Horizon
Estimation
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50
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
Speed Estimation
Error (rad/s)
6
MHE Speed Estimation Error
EKF Speed Estimation Error
4
2
0
-2
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
Time (s)
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100
Reference Speed
Plant Speed Q TL = 1
50
Plant Speed Q TL = 10
Plant Speed Q TL = 100
0.05
0.1
0.15
0.2
0.25
0.3
Speed Estimation
Error (rad/s)
20
0.4
TL
Speed Error Q
TL
= 100
0
-10
-20
1.5
0.35
Speed Error Q TL = 1
Speed Error Q = 10
10
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
1
True load torque
Estimated, QTL = 1
0.5
Estimated, QTL = 10
Estimated, QTL = 100
0
-0.5
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
Time (s)
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Parameter
Speed Estimation
Motor Speed (rad/s)
Estimation Error (%)
Error (rad/s)
50
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
40
20
0
-20
0.4
50
-50
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
Time
Dual-stage adaptive MHE with RLS parameter estimation for induction motor system.
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Conclusion
Moving horizon estimation scheme for induction motor state
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