Roberto Micheletti
Department of Electrical Systems and Automation, University of Pisa
Via Diotisalvi. 2 1-56126 P i s , Italy
Abstract -The paper deals with the accurate slip frequency without speed sensor. The slip frequency
measurement of induction motors. The proposed procedirre detection is carried out utilizing rotor slot harmonics [4], [ 5 ]
uses a non-invasive slip nieaszirement scheme based on or sensing and exploiting the stator current [ 6 ] .
digitalfilferingand dvnamic parameter estimation. The slip This paper presents an algorithm for the accurate
measurement is carried ouf M'ithout speed sensor and is measurement of the slip frequency based on digital filtering
deduced analvzing the magnetic field harnionics spectruni and dynamic parameter estimation method [7]-[9].
in pro1imit.v of the induction motor. First the enif induced The slip frequency measurement is carried out without
waveform, taken from U searching coil, is filtered rising speed sensor and is deduced analyzing the magnetic field
algorithms based on the discrete Fourier transform. Then harmonics spectrum in proximity of the induction motor.
the stator frequencb and rotorfiequency are obtained b? First the emf induced waveform, taken from a searching
comparing thefiltered voltage with a mathematical model coil, is filtered using algorithms based on the discrete
using an optimization procedure. The model's parameters Fourier transform.
are varied until an adequate match is obtained with the Then the stator frequency, rotor frequency and
filtered voltage. Experiniental resulrs are presented to consequentially the slip frequency are obtained by
validate this method. comparing the filtered voltage with a mathematical model
using an optimization procedure. The model's parameters
are vaned until an adequate match is obtained with the
K@xQ& - Digital filtering, JndiJrtion mofors, Slip filtered voltage.
measurement. The parameters that affect the performance of the
algorithm are essentially the data window size, the sampling
1. INTRODUCTION rate and the characteristics of the filter.
Mathematical development of the algorithm is presented
Induction motor drives are now being more and more in and the effects of key parameters that affect the
process industry because of the application of the field performance of the algorithm are discussed.
oriented control strategy. However, the performance of such A representative set of experimental results are
control method depends strongly on the accuracy of the presented.
motor parameters uscd in the vector controller. The proposed method can be reliably applied in rotor
It is well known that the variation of the rotor resistance parameter identification in steady state conditions and
and rotor constant time has a most dominant effect on the running test.
control performance. Unfortunately the rotor resistance
depends widely on the rotor temperature and on the slip
frequency, resulting in the deStruction of the decoupled 11. ESTIMATION ALGORITHM OF STATOR
condition of the flux and torque. AND ROTOR FREQUENCY
In recent years many studies are then carried out to
overcome this situation. Estimation methods to get rotor The stator frequency f, and rotor frequency f, are
parameters use extended Kalman filter approach [I], obtained with the same procedure by comparing the
observer technical [2] and adaptive system [3]. respective filtered voltages with a mathematical model
It is actively proceeding to research for speedsensorless using an optimization method.
vector control which estimates rotor speed and slip
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W I S P 2003, Budapest, Hunga y 4-6 Septeritber, 2003
with
0 = tan -'(B/A)
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WISP 2003, Budapest, Hiiiignry M September, 2003
111. RESULTS the emf component at the stator frequency (emf at stator
frequency component).
The measurement algorithm has been verified to The second one is a lowpass filter with cutoff frequency
investigate the validity of this technique. set to 2 Hz. The output of the lowpass filter is the emf
The rated values of the induction motor used in the component at the rotor frequency (emf at rotor frequency
experiments are given in Table I . component).
The emf at stator and rotor frequency components with
Table 1 Rated values of a tested induction motol motor loaded at 1480 rpm are shown in Fig. 2.
Power
Volta e Y
Current (U) 21.5 A
Fre uenc
Revolution er minute (rimin)
0.1
00
4.1
0.2
0.3
0.4
0 10 20 30
11818 d o 8 ab,. x.wr x (8Yf0,) em,
time (E)
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WISP 2003, Budapest, Hungary 4-6 Septeinbev, 2003
emf ( V I
0.4, I I I I I I I I i
,,me (I1
Fig. 4. Emf at stator arc rotor frequency with motor loaded at 1470 4.44 I I I I I I I I I \
m. 0 in 20 30 40 :qo-3 50
(mem06adl, x."srX(a"to,l em,
Fig. 5. Waveform of the induced emf with motor loaded at 1460 rpm
-> 0 . j 1 . . . ~ . ~ . . ~ , 0 02 0 4 06 0 8
,\me
1
(S)
I2 14 1 5 18 2
Fig. 8. Emf at stator and rotor frequency with motor loaded at 1450
rpm
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WISP 2003, Budapest, H u n g n y 4 4 September, 2003
1480 1470 1460 1450 Fig. 10. Result for the slip measurement in the range from
from 5 = 1.33% to s = 3.33%
Revolution per minute
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REFERENCES
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