IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO.
3, MAY 2002
A Speed Estimator for High Performance
Sensorless Control of Induction Motors in the
Field Weakening Region
Emil Levi, Senior Member, IEEE, and Mingyu Wang
Abstract—The paper proposes a modified version of the model
reference adaptive system (MRAS) based speed estimator, whose
outputs of the reference and the adjustable model are rotor flux
space vectors. The estimator is modified in such a way that the vari-
ation in the instantaneous level of the main flux saturation during
operation in the field weakening is recognized and properly com-
pensated at all times. The speed estimation scheme is equally appli-
cable to both vector controlled and direct torque controlled induc-
tion machines, since it operates in the stationary reference frame
and requires measurement of only stator voltages and currents.
Verification of the proposed scheme is provided by simulation and
by experimentation on an indirect feed-forward rotor flux oriented
induction machine for speed references of up to twice the base
speed.
Index Terms—Field weakening operation, induction motor
drives, main flux saturation, sensorless control, speed estimation.
NOMENCLATURE
Voltage, current and flux linkage, respectively.
Magnitude of rotor flux space vector and stator
flux space vector, respectively.
Rotor speed of rotation (electrical) and angular
slip frequency (electrical).
Magnetizing flux and magnetizing current.
Magnetizing flux components in the stationary
reference frame.
Magnetizing current components in the
stationary reference frame.
Stator current components in rotor flux oriented
reference frame.
Number of pole pairs.
Rotor time constant.
Stator self-inductance, rotor self-inductance and
magnetizing inductance.
Stator and rotor leakage inductance.
Stator and rotor resistance, respectively.
Stator voltage and stator current space vectors.
Rotor flux space vector and magnetizing flux
space vector, respectively.
Manuscript received February 28, 2001; revised January 10, 2002. This paper
was presented in part at the 31st IEEE Annual Power Electronics Specialists
Conference PESC00, Galway, Ireland, June 18–23, 2000. Recommended by As-
sociate Editor G. K. Dubey.
E. Levi is with the School of Engineering, Liverpool John Moores University,
Liverpool L3 3AF, U.K.
M. Wang is with the College of Electrical Engineering, Chongqing University,
Chongqing 400044, China.
Publisher Item Identifier S 0885-8993(02)04636-7.
0885-8993/02$17.00 © 2002 IEEE
365
Subscripts:
Rated value.
Stator and rotor, respectively.
Base value.
Variables in the stationary two-axis reference
frame.
Superscripts:
Reference values in the controller.
Output of the reference model and the adjustable
model, respectively.
Magnetizing inductance and speed estimates.
I. INTRODUCTION
A NUMBER of different methods for speed-sensorless
vector and direct torque control of induction machines
have been developed during the last ten years [1], [2]. In
general, two major approaches can be identified. The first one
encompasses the techniques that estimate rotor speed from the
stator current spectrum, while the second one relies on utiliza-
tion of an induction machine model and the speed estimator is
either of open-loop or closed-loop type [2]. The major effort
has been directed toward overcoming the problems encountered
in speed estimation around zero speed. One of the problems
with model based techniques is the sensitivity to induction
motor parameter variation effects and a number of papers
provide experimental and/or simulation comparisons between
the performance of various speed estimation techniques in the
low speed region under tuned and detuned conditions [3]–[8].
It appears that the problem of speed estimation in the field
weakening region has been completely overshadowed by the
interest in solving the zero speed estimation problem.
Many applications require a wide speed range, with the
maximum required speed that significantly exceeds the motor
rated speed. Such is the case in high performance spindle drives
and gearless traction drives [9]. Speed estimation in the field
weakening region presents formidable difficulties regardless of
whether the estimation is model based or spectrum based. In the
spectrum based speed estimation, the time interval during which
speed information has to be extracted by spectrum analysis
reduces as speed increases, thus making good dynamic control
difficult to achieve. The effect on which the speed estimation
relies on in the base speed region may even disappear in the
field weakening region, as the case is with saturation induced
saliencies [10], so that speed estimation becomes impossible.
366
The major difficulty in the model based approach stems from
the substantial variation of the magnetizing inductance, caused
by de-fluxing of the machine, as main flux saturation is in
general neglected in the model based speed estimator. Detailed
simulation study, reported in [11] and revisited in Section IV-A
of this paper, shows that if variation in the main flux saturation
level is neglected within the speed estimator, a speed estimation
error of 10 to 20 rpm for a 50 Hz, four-pole machine can be
expected in the field weakening region for speeds between 1
p.u. and 2 p.u. A presently existing attempt to account for the
variable degree of the main flux saturation during the speed
estimation process is the one reported in [12]. A full order
observer is used as the speed estimator and the variation of the
magnetizing inductance is tracked online, by using the reactive
power method. Unfortunately, the reactive power method is
heavily dependent on the correct setting of the rotor resistance
and, in addition, depends on the value of the speed estimate
as well. The speed estimation accuracy reported in [12] is
therefore far from spectacular.
A possible solution to the problem of accurate speed estima-
tion in the field weakening region, using model based approach,
is to modify the estimator structure in such a way that the vari-
ation of main flux saturation is recognized within the estimator
and compensated for. Such an approach is discussed in this
paper. An additional online identifier of the magnetizing induc-
tance, such as the one of [12], is therefore not needed. Among
many different methods that utilize the model based approach,
speed estimation based on MRAS [13] has gained substantial
popularity due to its rather simple implementation requirements.
This is the technique analyzed in this paper, in conjunction with
a current-fed induction machine controlled by means of the in-
direct feed-forward rotor flux orientation method. However, it
should be noted that the developed modified speed estimator is
equally applicable to sensorless direct torque control (operated
in the closed loop speed mode) and other methods of sensor-
less vector control. MRAS based speed estimation techniques
mutually differ with respect to the quantity that is selected as
output of the reference and the adjustable model. The type of
the MRAS speed estimator discussed here is the one with rotor
flux space vectors selected as outputs of the reference and the
adjustable models [13].
The only currently available discussion of the sensorless
vector control in the field weakening region appears to be the
work reported in [14], where the need for compensation of
the main flux saturation is properly recognized. Although the
applied method of saturation compensation is very approxi-
mate and avoids any change in the speed estimator structure,
satisfactory performance is obtained. One interesting proposal
of [14] is the application of the field weakening not only in
the high speed region but in the very low speed region as well.
Use of field weakening at zero speed leads to an increase in the
stator frequency for the given load, so that zero speed operation
becomes possible for all loads down to 20% of the rated [14].
The modified speed estimator structure, developed in this
paper for field weakening operation in the high speed region, is
equally applicable to field weakening in the low speed region
proposed in [14].
Performance of the developed speed estimator and its accu-
racy are verified by performing a series of experiments. These
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002
consist of acceleration tests in the field weakening region, up to
2 p.u. speed, under both no-load and loaded conditions. In ad-
dition, some simulation results are included as well.
The paper is organized as follows. The experimental rig and
the basic speed estimator structure are described in Section II.
Modified speed estimator for operation in the field weakening
region is proposed in Section III. Simulation and experimental
verification of its performance are provided in Section IV. Con-
clusions of the study are summarized in Section V.
II. EXPERIMENTAL RIG AND THE BASIC STRUCTURE
OF THE SPEED ESTIMATOR
A schematic diagram, showing the major components of the
experimental rig, is given in Fig. 1. A PC, through which the
reference speed setting is enabled, controls rotor flux oriented
induction machine with speed sensor. Actual speed is measured
by a resolver and is used for both the speed feedback and
the orientation angle calculation. It is recorded for display
purposes by means of a dynamic signal analyzer (that is used
in oscilloscope mode). The four-pole, 2.3 kW, 50 Hz induction
motor is coupled to a dc machine, so that loaded operation is
enabled. The current controlled PWM inverter operates with
fixed 10 kHz switching frequency. The industrial, commer-
cially available, DBS 04 vector controller utilizes the indirect
feed-forward field orientation principle and is based on 8051
microcontroller and TMS30C14 digital signal processor. The
vector controller enables operation at speeds up to 8000 rpm
(base speed is normally 1500 rpm, but it can be altered by the
user and set to any desired value up to 1500 rpm). It is equipped
with a modified indirect vector controller of [15], shown in
Fig. 2. Compensation of main flux saturation variation in the
field weakening region is provided within the vector controller,
by inclusion of the inverse magnetizing curve (Fig. 2). Ratio of
magnetizing to rotor inductance is treated as constant and equal
to the one under rated rotor flux conditions. Boost of stator
-axis current reference during rotor flux reference variations
is not present within the controller, since for high inertia drives
variation of the rotor flux reference with speed is rather slow.
Rotor flux reference decreases in inverse proportion to the
speed of rotation in the field weakening region, while it is
constant and equal to rated rotor flux in the base speed region.
The indirect vector controller is at all times operated under
tuned conditions.
Stator line-to-line voltages are measured, attenuated and fil-
tered using analogue circuitry. For current measurement, Hall
effect current sensors are used and two phase currents are mea-
sured. Measured line-to-line voltages and stator currents are
converted into two-phase - components of phase voltages and
currents. The outputs of the voltage card and the current card are
then sent to an A/D card installed in the computer. The sampling
frequency of the A/D card is 20 kHz for each signal. A PC with
LabVIEW software is used for data acquisition and it collects
all the signals. The data obtained in this way are used further on
to investigate the operation of the speed estimator. Speed esti-
mator is implemented in the Simulink/Matlab environment and
is operated at all times in parallel with the sensored drive (that
is, speed estimate is not used for either closed loop speed control
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL
Fig. 1. Experimental rig.
Fig. 2. Indirect rotor flux oriented controller with compensation of main flux
saturation (SG = R (L =L ); K = (3=2)P L =L ).
or for orientation angle calculation). It is of course recognized
that this is not an ideal approach to the experimental verifica-
tion. However, the described procedure was devised in order to
enable utilization of a commercially available vector controlled
drive, which does not allow for user intervention within the soft-
ware and hardware. The same measured stator voltages and cur-
rents are used as inputs into the speed estimator that would have
been used in true sensorless mode and the estimated and the ac-
tual speed in tuned operation essentially coincide in the base
speed region, as shown shortly. One therefore does not expect
that the operation in true sensorless mode would have been dif-
ferent from the one observed in this way.
The speed estimator is shown in its basic form in Fig. 3, where
the two left-hand side blocks perform integration of (1) and
(2). Speed estimator operates in the stationary reference frame
367
Fig. 3. Rotor flux based MRAS rotor speed estimator.
and is described with the following space vector equa-
tions [13]:
(1)
(2)
(3)
Index in (1)–(2) denotes constant rated values of machine pa-
rameters used in the estimator, symbol denotes differentiation,
stands for rotor time constant and .
Major difficulties in practical implementation of the speed es-
timator described with (1)–(3) are related to initial condition and
drift problems due to pure integration in (1), [13]. In addition,
variation in the stator resistance significantly affects the accu-
racy of the speed estimation at very low frequencies [13]. A pos-
368
Fig. 4. Implemented structure of the basic (constant parameter) speed estimator of Fig. 3, with tuned values of all the parameters.
(a)
Fig. 5. Estimated speed and actual speed for speed commands of 900 rpm and 1500 rpm: (a) no-load operation and (b) loaded operation.
sible solution to the first problem, proposed in [13] and applied
here as well, is to substitute pure integration with low-pass fil-
tering. Such a solution, according to [13], enables good perfor-
mance of the drive down to 2 Hz. As far as the stator resistance
variation problem is concerned, the modified speed estimator
proposed here is aimed at high frequency (field weakening) op-
erating region, where variation of stator resistance has practi-
cally no impact on the accuracy of the speed estimation.
The initial tuning of all the filters, machine parameters and
the PI controller of the basic estimator is performed using ex-
perimental data collected for no-load and loaded acceleration
in the base speed region. Since sampling of stator voltages and
currents is not synchronised with the PWM of the inverter, addi-
tional digital filtering is applied, using the second order Butter-
worth filter for each of the four input signals (cut-off frequency
rad/s). Detailed description of the tuning procedure
can be found in [16]. Great care has been taken to ensure good
correspondence between the estimated and the actual speed in
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002
(b)
the base speed region, so that subsequent experimental results
for the field weakening are credible although the true sensorless
control has not been implemented. Final structure of the basic
estimator of Fig. 3, as implemented in the experimental rig of
Fig. 1, is shown in Fig. 4.
Performance of the basic speed estimator of Fig. 4, that suf-
fices for operation in the base speed region, is illustrated by
comparing the actual speed and the estimated speed during ac-
celeration transient from zero to 900 rpm and from zero to 1500
rpm (with base speed set to 1500 rpm), under both no-load and
loaded conditions. The traces are given in Fig. 5. Estimated
and actual speed are in very good agreement, indicating that
the tuning procedure has been successfully completed. Since
no known problems with this MRAS speed estimator occur at
speeds higher than rated, it is believed that subsequent results
given for the operation in the field weakening region would have
been the same had the true sensorless mode been studied in the
experiment.
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL 369

III. MODIFICATION OF THE SPEED ESTIMATOR STRUCTURE FOR The steady state saturated magnetizing inductance and the dy-
OPERATION IN THE FIELD WEAKENING REGION namic inductance, and respectively, are given on the basis
Speed estimator described with (1)–(2) utilizes the constant, of the known magnetizing curve of the machine with
rated value of the magnetizing inductance. Operation in the field (10)
weakening region requires that the variation in the degree of
main flux saturation be compensated within the speed estimator. Here
Its structure therefore has to be modified in such a way that
main flux saturation is accounted for in both the reference and (11)
the adjustable model. Hence both the reference and the adaptive
The first two state space equations of the model (4)–(7) do not
part of the estimator, (1)–(2), have to be modified. In order to
contain inductances defined in (8) and are therefore suitable
do so it is necessary to use as the starting point appropriate state
for the use within the reference model. They constitute a re-
space models of a saturated induction machine. A number of
duced-order model, that enables straightforward calculation of
saturated machine models have been developed in [17] and the
the magnetizing flux components from measured stator voltage
two that are particularly useful for the stated purpose here are the
and current components. From the first two equations of (4)–(7)
models with state space variables selected as the stator current
it follows that:
and magnetizing flux space vector, and stator current and rotor
flux space vector, respectively. Both models fully account for
the cross-saturation effect and are therefore complete dynamic
models of a saturated induction machine.
Let the saturated induction machine be described in the sta-
tionary - axis reference frame with the general matrix equa- (12)
tion
Since the magnetizing flux is now known, it is possible to es-
(4) timate the magnetizing inductance using the known nonlinear
inverse magnetizing curve
where

(13)
(5)
What remains to be calculated are the components of the rotor
If stator current and magnetizing flux space vector components flux space vector. These are found by at first determining the
are selected as state space variables, the state vector of (5) and magnetizing current - components, as follows:
matrices and of (4) take the following form as (6) and
(7), shown at the bottom of this page [17]. Saturation dependent
inductances in (6) are determined with

(14)

(8) Described procedure shows that estimation of the rotor flux in

the reference model, based on stator voltage and current mea-
where surements, contains sufficient information to yield, apart from
the estimates of rotor flux components, the estimate of the mag-
(9) netizing inductance as well. Reference model, described with

(6)

(7)
370
Fig. 6. Structure of the saturation adaptive reference model, constructed using (12) and (15), with modified integration algorithm.
(12)–(14), fully accounts for variation in the main flux satu-
ration in the calculation of the rotor flux components, and, in
addition, provides an estimate of the magnetizing inductance.
Estimate of the magnetizing inductance, obtained from the ref-
erence model, will be further used in the adaptive model, as ex-
plained shortly. The complexity of (12)–(14) can be reduced for
real time applications by suitably re-arranging (13)–(14). In par-
ticular, instead of the inverse magnetizing curve
the function (directly obtainable from the mag-
netizing curve) can be used, so that the (13)–(14) are replaced
with
Fig. 6 depicts the rotor flux estimator, with simultaneous mag-
netizing inductance estimation, constructed using (12) and (15).
The block “Modified integration algorithm” of Fig. 6 relies on
the integration method proposed in [18]. The need for this block
will be explained later.
It is worth noting that the estimate of the magnetizing in-
ductance, obtained as illustrated in Fig. 6, can be used in con-
junction with any other model based speed estimation method
(EKF’s, observers, other MRAS methods). It is fully applicable
in conjunction with the full order observer discussed in [12] as
well. The advantages of the method proposed here over the re-
active power method applied in [12] are significant. First of all,
speed estimate is not involved in the magnetizing inductance
estimation, so that cross-coupling between estimated speed and
the estimated inductance does not take place. Secondly, rotor re-
sistance is not used either. The only parameters required in the
magnetizing inductance online identification are the stator re-
sistance and the stator leakage inductance. However, since the
identification of the magnetizing inductance is required in the
high speed (field weakening) operation, impact of stator resis-
tance variation on the magnetizing inductance estimation is neg-
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002
ligibly small. On the other hand, stator leakage inductance is al-
ways at least ten times smaller than the magnetizing inductance.
For the two machines studied in the simulation and experiment,
the rated stator leakage inductance is 3.33% and 5% of the cor-
responding rated magnetizing inductance values, respectively.
The relative value of the stator leakage inductance further de-
creases as field weakening region is entered, due to de-fluxing
, of the machine that causes an increase in the magnetizing in-
ductance. Furthermore, the machine always operates in the field
weakening region with a stator current below rated value, so that
no appreciable change in the saturation of the stator core teeth
takes place. It therefore follows that stator leakage inductance
is, first of all, reasonably constant in the field weakening region,
and, secondly, even if it varies the impact of such a variation is
negligibly small with regard to the accuracy of the magnetizing
inductance identification, due to the very small relative value of
(15) the stator leakage inductance with respect to the magnetizing
inductance. It can be stated on the basis of these considerations
that the proposed magnetizing inductance identification proce-
dure is very robust with respect to parameter variation effects. A
proof is provided in Section IV-B, using experimental results.
In order to account for the variable degree of main flux sat-
uration in the adjustable model, induction machine model with
stator current and rotor flux space vector components is selected
as the starting point. The state vector and matrices and of
(4)–(5) are, for this selection of the state space variables, given
with (16) and (17), shown at the bottom of the next page [17].
Variable saturation dependent inductances of matrix in (16)
are now determined with
(18)
where
(19)
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL
Fig. 7. Implementation of the modified speed estimator that includes compensation of main flux saturation.
and
(20)
Dynamic inductance and steady state saturated magnetizing
inductance remain to be given with (10).
Closer inspection of the model given with (16)–(20) shows
that the inductances defined in (18) appear only in the first
two equations. The second two equations constitute another
reduced-order model that is suitable for application within the
adjustable part of the speed estimator with main flux saturation
compensation. From (4) and (16)–(17) it follows that
(21)
Equation (21) can be rewritten in the space vector form, analo-
gous to (2), as
(22)
371
Comparison of (2) and (22) shows that the form of the adjustable
model does not have to be changed at all. It is only necessary to
provide to the adjustable model (22) an additional input, namely
the steady state saturated magnetizing inductance value. This
additional input comes from the reference model, which pro-
vides information on the instantaneous value of the steady state
saturated magnetizing inductance according to Fig. 6.
The complete proposed modified speed estimator is shown in
Fig. 7. The estimator provides full compensation of main flux
saturation in both transient and steady-state operation.
The modified speed estimator of Fig. 7 involves the same
motor parameters as does the basic estimator of Fig. 3 (stator and
rotor resistance, and stator and rotor leakage inductance). The
modified estimator structure is obtained from (1)–(2), so that
the sensitivity to parameter variation effects remains the same
as for the estimator of Fig. 3. As already noted in conjunction
with magnetizing inductance estimation, stator resistance vari-
ation has essentially no impact on the speed estimation when
the proposed estimator is applied in the field weakening region.
Since leakage inductance variation has rather small impact on
accuracy of the speed estimation (provided that it is correctly
identified during the drive commissioning), the only parameter
that will affect the speed estimation process is the rotor resis-
tance. A detailed analytical (for steady states) and simulation
(for transients) analysis of the parameter variation effects in the
speed estimator of Fig. 3 is available in [5], while an insightful
discussion regarding the same issue can be found in [13].
One specific problem, encountered in the implementation of
the modified estimator, is that the pure integration in the refer-
(16)
(17)
372
Fig. 8. Modified integration algorithm of [18], applied within the modified reference model of Fig. 6 (
ence model applies to the stator flux components, from which
the magnetizing flux components are calculated using (12). Fil-
ters , shown on the right-hand side of Fig. 7 in
the output channels of both the reference and the adjustable
model, are sufficient to solve the problem of pure integration
when speed estimation is based on (1) and (2), [13]. However,
they are now inadequate. Magnetizing flux components are fur-
ther used to assess the saturation level in the machine and are
involved in estimation of the magnetizing inductance for the
adjustable model. It is therefore mandatory that the amplitude
of magnetizing flux components be not affected by modifica-
tion of the integration algorithm. A solution was found by using
the modified integration algorithm of [18] within the reference
model of Fig. 6 (a suitable cut-off angular frequency is found
to be 100 rad/s, as indicated in Fig. 6). The applied integration
algorithm, developed in [18] specifically for drives with vari-
able flux operation, is reproduced in Fig. 8. It incorporates a
quadrature detector that detects the orthogonality between the
estimated flux and the back emf. The algorithm is described in
detail in [18]. All the remaining filter and PI controller parame-
ters in Fig. 7 are the same as those of Fig. 4.
IV. SIMULATION AND EXPERIMENTAL VERIFICATION OF THE
MODIFIED SPEED ESTIMATOR
A. Simulation Study
Operation of the proposed speed estimator is at first examined
by simulation, using a 4 kW, 50 Hz, four-pole induction motor
(the machine data are available in [5]). True sensorless opera-
tion is investigated. Drive is equipped with the indirect vector
controller of Fig. 2. The simulations are at first performed using
the constant parameter speed estimator of Fig. 3 with the mag-
netizing inductance set to the constant rated value. The machine
is initially excited at zero speed under no-load conditions. Speed
command is then applied, so that rated speed operation (1 p.u. or
app. 300 rad/s electrical) under no-load conditions is achieved.
A load torque of 1 p.u. is applied next at s. At
s load torque is stepped down to 0.5 p.u. and this value is not
changed any more. Finally, at s speed command is fur-
ther increased in a ramp-wise manner, so that field-weakening
region is entered. Transients for two different final speeds, 1.5
p.u. and 2 p.u., are illustrated in Fig. 9, where the actual and
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002
= compensating signal).
the estimated angular speed (electrical) and the speed error (de-
fined as difference between the actual and the estimated speed
and expressed in mechanical rpm) are depicted (more detailed
sets of simulation results can be found in [11]). As can be seen
from Fig. 9, estimated speed tracks the actual speed very well in
the base speed region (except during the first part of the accel-
eration, for the reasons explained in [11]). However, once when
field weakening region is entered (at s) a significant
speed estimation error occurs due to variation of the magne-
tizing inductance that is neglected in the speed estimator. The
already mentioned speed estimation error of 10 to 20 rpm can
be observed in the two final steady states in Fig. 9.
The same simulation study is performed once more. The
proposed modified speed estimator of Section III is now used
instead of the constant parameter one. As there are not any
observable differences in the traces of the actual and the es-
timated speed when compared to those of Fig. 9, only the
speed estimation error is shown in Fig. 10 for final speeds of
1.5 p.u. and 2 p.u. Comparison of the speed estimation error
in Figs. 9 and 10 shows that the application of the proposed
modified speed estimator essentially eliminates the speed esti-
mation error (note the difference in the scales in Figs. 9 and
10; the residual speed estimation error in Fig. 10 is less than
one rpm in both cases). The existence of a very small residual
speed estimation error is explained as follows. The speed es-
timator requires an analytical approximation of the function
, as shown in Fig. 6. The saturated induction
machine model, used in simulations, is the current state space
model, that asks for an analytical approximation of the inverse
magnetizing curve . Since the analytical expres-
sions for the two functions are created using least-squares
fitting technique, an ideal one-to-one correspondence is not
achieved. This leads to a residual speed estimation error of
around 1 rpm for the final speed of 1.5 p.u. in Fig. 10(a).
For the final speed setting of 2 p.u. in Fig. 10(b) the residual
speed estimation error is practically zero. This speed and all
the higher speeds apply to the motor operation on the linear
part of the magnetizing curve. Results of the simulation study
in Figs. 9 and 10 confirm the capability of the modified speed
estimator to adapt to the actual saturation level in the machine
and therefore provide an accurate speed estimate for any op-
erating point in the field weakening region.
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL
(a)
Fig. 9. Sensorless drive operation with constant parameter speed estimator of Fig. 3: estimated and actual speed, and speed estimation error for the final speeds
of (a) 1.5 p.u. and (b) 2 p.u.
(a)
(b)
Fig. 10. Drive operation with the modified speed estimator: speed estimation
error for the final speeds of (a) 1.5 p.u. and (b) 2 p.u.
B. Experimental Verification
In order to verify the accuracy of the modified speed estimator
of Fig. 7 for operation in the field weakening region experimen-
tally, a series of tests are performed, for both no-load and loaded
373
(b)
operation. As the maximum speed of the dc machine is 1500
rpm, base speed at which the field weakening operation is initi-
ated is set in all the tests to 650 rpm. DC generator load setting
was determined in such a way that the output power of the in-
duction motor in loaded operation becomes approximately rated
at 1500 rpm. All the parameters of the indirect vector controller
of Fig. 2 are set to correct values, so that the drive with speed
sensor operates at all times without any detuning induced by
parameter variation effects. Magnetizing curve of the machine,
required in both the indirect vector controller of Fig. 2 and in the
modified reference model of Fig. 6 for calculation of the func-
tion , was determined for the 2.3 kW machine
under consideration using the procedure detailed in [19].
Before proceeding further, it seems appropriate to address an
apparent drawback of the proposed modified speed estimator,
namely the requirement that the magnetizing curve of the
machine has to be known and therefore identified during the
drive commissioning. First of all, it has to be pointed out that
operation of an indirect vector controlled current fed induction
machine in the field weakening region requires knowledge of
the magnetizing curve anyway, since the inverse magnetizing
curve has to be incorporated in the indirect vector controller,
as shown in Fig. 2 (the controller of Fig. 2 is a part of the
industrial, commercially available drive used in this work).
Secondly, although the knowledge of the magnetizing curve
does require additional effort during the drive commissioning
or existence of sophisticated software routines for the drive
self-commissioning, many different methods are nowadays
available that can be used for this purpose. Identification of
the magnetizing curve, using a vector control system and a
PWM inverter, has been discussed extensively in recent past
374 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002

[19]–[25]. A method, ideal for self-commissioning, should

enable identification at standstill with either single-phase ac
or dc supply, it should require measurement of stator currents
and dc voltage only, and it should be accurate. Additionally,
an important consideration is the complexity of the algorithm.
As it is aimed at on-site commissioning, it should be possible
to add the algorithm within the existing digital controllers, so
that its implementation needs to be simple. Unfortunately, a
method that satisfies all these requirements is not available at
present. If identification is performed at standstill, statistical
methods, such as recursive least squares [21], [22], have to
be used in data processing. As voltages are reconstructed
rather than measured, it is necessary to pre-determine inverter
nonlinear characteristic by appropriate tests, prior to the
magnetizing curve identification [21], [22]. Accuracy of the
method significantly deteriorates below certain magnetizing
current value [21], [22], due to the pronounced impact of the
inverter lock-out time on identification results. This technique
is therefore regarded as inappropriate for magnetizing curve
identification [23]. If the measurement of the stator voltages
is allowed, it is possible to avoid the use of statistical methods
and to perform identification purely from the measurement
data [24], [25]. These methods are applicable during the
drive commissioning if the voltage sensors are available. The
simplest situation results if fundamental harmonic voltage
measurement is available and the machine is allowed to rotate
under no-load conditions during the commissioning. In such
a case the procedure described in [19] enables, in its simplest
form, an essentially calculation-free identification of the mag-
netizing curve. The inverse magnetizing curve is represented
in per unit form within the controller of Fig. 2 (a very specific
functional approximation, detailed in [19], is used for this
purpose), its parameters are guessed and the test is performed.
The test is repeated for different values of the parameters of
the functional approximation. The assumed parameters of
the functional approximation attain correct values once when
the measured fundamental voltage in the field weakening
region becomes practically constant at all speeds. As already
noted, this procedure was used here in order to identify the
magnetizing curve of the machine.
A series of acceleration transients are recorded, all starting
from standstill. Figs. 11 and 12 compare the actual speed and the
estimated speed for speed commands equal to 900, 1050, 1200,
and 1350 rpm for no-load and loaded operation. The speed set-
ting of 1350 rpm corresponds to approximately twice the base
speed, so that rotor flux reference setting is just below one half Fig. 11. Actual speed and estimated speed using speed estimator of Fig. 7
of the rated flux. Operation for this speed and all the higher in no-load acceleration transient, for speed commands of 900 rpm, 1050 rpm,
speeds essentially takes place on the linear portion of the mag- =
1200 rpm, and 1350 rpm (base speed 650 rpm).
netizing curve of the machine. The cases illustrated in Figs. 11
and 12 therefore encompass the complete nonlinear region of atively substantial noise, especially in the trace of the actual
the magnetizing curve through which the drive will pass during speed (the actual speed trace was obtained from an existing ana-
operation in the field weakening region. logue output of the drive). This noise therefore limits the accu-
A very good agreement between the actual and the estimated racy of the upper and lower bounds of the speed estimation error,
speed is achieved for all the operating conditions, as is evi- that is discussed next in conjunction with the acceleration tran-
dent from inspection of Figs. 11 and 12. This is further con- sients of the loaded machine (Fig. 12). Speed estimation error
firmed in Fig. 13 where zoomed extracts from Fig. 11, that apply is extracted for all the four speed settings in Fig. 12 in vicinity
to no-load transients, are given. The average speed estimation of the steady state and is shown in Fig. 14(a). It can be seen that
error is negligibly small. One observes however in Fig. 13 rel- the average value of the speed estimation error is confined to
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL
Fig. 12. Actual speed and estimated speed using speed estimator of Fig. 7
during acceleration transient with connected load, for speed commands of
=
900 rpm, 1050 rpm, 1200 rpm, and 1350 rpm (base speed 650 rpm).
a small value for all speed settings. This is contrasted with re-
sults obtained in exactly the same way and for exactly the same
transients, shown in Fig. 14(b). The results of Fig. 14(b) apply to
the case when the constant parameter speed estimator, described
with (1)–(3) and with the magnetizing inductance set to the con-
stant rated value, is used instead of the modified speed estimator.
The speed estimation error is averaged for all the cases illus-
trated in Fig. 14 and the results are summarized in Table I.
Typical reduction of the speed estimation error, achieved by
means of the proposed speed estimator, is of the order of 6 rpm.
375
(a)
(b)
Fig. 13. Zoomed extracts from Fig. 11 in vicinity of steady-state operation for
set speeds of (a) 900 rpm and (b) 1200 rpm (no-load operation).
This is somewhat smaller than the improvement achieved in
simulations, where a different machine was studied. The reason
for this apparent discrepancy will be explained shortly, in con-
junction with the results of the magnetizing inductance identi-
fication.
Achievable level of improvement in the drive operation by the
application of the modified speed estimator can be evaluated by
direct comparison of experimental results in Fig. 14(a) and (b),
by means of Table I, and by comparison of simulation results in
Figs. 9 and 10.
The lack of compensation of the magnetizing inductance vari-
ation within the speed estimator predominantly manifests itself
through a steady state speed estimation error in the field weak-
ening region, while the transient part of the speed response is
affected to a much lesser extent. This remark applies provided
that the indirect vector controller of Fig. 2, with compensation
of the main flux saturation, is used. In this case the setting of
the stator -axis current reference is hardly affected by an error
in the speed estimate (since the error is rather small). Similarly,
setting of the stator -axis current reference is hardly affected
as well since the input into the speed controller is large during
acceleration/deceleration transients and the output is likely to
be in the limit anyway. Speed estimation error will have some
impact on the orientation angle, so that torque response will be
affected to some extent, as shown by simulation in [11]. In the
experimental work described here it was not possible to detect
any improvement in the transient speed response behavior when
the modified speed estimator was used.
376 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 17, NO. 3, MAY 2002

(a) (b)
Fig. 14. Speed estimation error in vicinity of steady state operation for speed commands of 900 rpm, 1050, rpm, 1200 rpm, and 1350 rpm: (a) results obtained
with the modified speed estimator and (b) results obtained with the constant parameter estimator with magnetizing inductance set to constant rated value.

The last set of experimental results illustrates the process of
the magnetizing inductance identification using the proposed
scheme of Fig. 6 and proves the robustness of the procedure
with respect to parameter variation effects. The transient already
illustrated in Figs. 12 and 14(a), acceleration of the loaded ma-
chine from standstill to 1350 rpm, is selected for this purpose.
Since the base speed is 650 rpm, the machine will operate in
the final steady state at the linear part of the magnetizing curve,
since reference flux setting will be 0.48 per unit. Time interval
in vicinity of final steady state (from 2.6 till 3 s) is examined
using the following procedure. All the parameters of the speed
estimator are at first tuned to the correct (rated values) and the
LEVI AND WANG: SPEED ESTIMATOR FOR HIGH PERFORMANCE SENSORLESS CONTROL
TABLE I
ROUNDED AVERAGE SPEED ESTIMATION ERROR WITH THE PROPOSED
SATURATION ADAPTIVE SPEED ESTIMATOR AND WITH THE CONSTANT
PARAMETER SPEED ESTIMATOR (MAGNETISING INDUCTANCE SET TO
THE RATED VALUE) FOR THE TRACES OF Fig. 14 (TIME INTERVAL: 2.6
TO 3 SECONDS; BASE SPEED =
650 rpm)
(a)
(b)
Fig. 15. Magnetizing inductance identification of the loaded induction
machine in vicinity of final steady state with speed setting of 1350 rpm (base
speed = 650 rpm). (a) L = L and trace 1 0 R = R , trace
0 0
2 R = 1:25R , trace 3 R = 0:75R . (b) R = R and trace
0 0
1 L = L , trace 2 L = 1:25L , trace 3 L = 0:75L . 0 other methods of model-based speed estimation, such as a full
magnetizing inductance is identified. Next, stator resistance is
detuned by % and the magnetizing inductance is identified
under detuned conditions. The same is repeated for % vari-
ation in the stator leakage inductance. The results are plotted
in Fig. 15. The value of the magnetizing inductance with cor-
rect parameter tuning is around 86.56 mH. Detuning of stator
resistance or stator leakage inductance by % introduces an
error in the identified magnetizing inductance of no more than
0.02 mH, which is well below 0.05%. It should be noted that
the value of the magnetizing inductance of 86.56 mH closely
corresponds to the value that can be calculated using the results
of [19] (87 mH). The rated magnetizing inductance for this ma-
chine is 78 mH [19]. The variation of the magnetizing induc-
tance from saturated to unsaturated value is relatively small, in-
dicating that the rated operated point is close to the linear part
of the magnetizing curve. This is the reason why the observed
377
improvement in the accuracy of the speed estimation by means
of the proposed estimator is smaller than in simulation (where
a different machine, with much more pronounced saturation ef-
fect in the rated operating point, was used).
V. CONCLUSION
The paper discusses application of a MRAS based speed
estimator of rotor flux type for sensorless high performance
control of induction machines in the field weakening region.
When model based approach to speed estimation is used,
it becomes necessary to compensate the variation in the
magnetizing inductance for operation at speeds above rated,
caused by de-fluxing of the machine. It is shown that the
correct speed estimation in the field weakening region can be
achieved by appropriately combining the two modified rotor
flux estimators, that both account for the variable degree of the
main flux saturation. Simple modifications of the rotor flux
estimation from measured stator voltages and currents enable
not only calculation of the rotor flux component estimates that
fully account for variation in the level of saturation, but an iden-
tification of the magnetizing inductance as well. Magnetizing
inductance, estimated in this way, is further utilized within
the adjustable model, so that the second pair of the rotor flux
component estimates (output of the adjustable model) fully
account for the main flux saturation variation as well.
Some simulation results that illustrate the superiority of the
proposed modified speed estimator over the constant parameter
one for operation in the field weakening region are provided.
The modified structure of the speed estimator is further verified
by performing experiments in the field weakening region, under
no-load and loaded conditions, up to twice the base speed. Very
good agreement between actual and estimated speed is achieved
in both transient and steady-state operation.
Developed speed estimator is equally applicable to both sen-
sorless vector and sensorless direct torque controlled induction
machines (provided that closed loop speed control is required),
since it operates in the stationary reference frame. In addition,
the estimation of the magnetizing inductance from the stator
voltage equation, that is essentially insensitive with respect to
parameter variation effects, can be utilized in conjunction with
order observer, to provide an accurate speed estimate during op-
eration in the field weakening region.
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Emil Levi (S’89–M’92–SM’99) was born in Zren-
janin, Yugoslavia in 1958. He received the Diploma
degree from the University of Novi Sad, Yugoslavia,
and the M.Sc. and the Ph.D. degrees from the Uni-
versity of Belgrade, Yugoslavia, in 1982, 1986, and
1990, respectively, all in electrical engineering.
In 1982, he joined the Department of Electrical
Engineering, University of Novi Sad, where he
became Assistant Professor in 1991. He joined
Liverpool John Moores University, U.K., in May
1992 as a Senior Lecturer. From 1995 to 2000, he
was a Reader in Electrical Power Engineering. Since September 2000, he has
been Professor of electric machines and drives. His main areas of research
interest are modeling and simulation of electric machines, control of high
performance drives, and power electronic converters. He has published over
130 papers, including more than 30 papers in major international journals.
Mingyu Wang was born in 1960. He received
the B.Eng. degree in electrical engineering from
Chongqing University, China, in 1982 and the Ph.D.
degree from the Liverpool John Moores University,
U.K., in 1999.
He became a Member of the Academic Staff,
Department of Automation Engineering, Chongqing
University, in 1982, and was a Lecturer there from
1988 to 1993. He was a Visiting Scholar in the
Department of Electrical Engineering, University
of Manchester, U.K., from 1993 to 1995. He is
currently with Chongqing University, China. His research interests are in power
electronics, adjustable speed drives, and vector control of induction machines.