SENSORLESS CONTROL FOR INDUCTION MOTOR DRIVES BASED ON

NEW SPEED IDENTIFICATION SCHEME

Shyh-Shing Perng*, Yen-Shin Lai**,Member, IEEE, and Chang-Huan Liu*,Member, IEEE

* Dept. of Elect. Eng., National Taiwan Inst. of Tech., Taipei, Taiwan, R. 0. C.
**Dept. of Elect. Eng., National Taipei Inst. of Tech., Taipei, Taiwan, R. 0. C.

implementation
Absibact - A sensorless controller, which is based upon the slip
proposed synchronous speed identification scheme [l], for stator voltage
induction motor drives is presented in the paper. In
comparison with previous results [2-31 which involve
rotor current
temperature-sensitive parameters, including rotor and/or stator current
stator resistors, the proposed MRAS synchronous speed
identification scheme requires neither rotor time constant magnetizing current
nor stator resistance in both reference and adjustable
modells. rotor flux
It is shown in this paper that the new sensorless controller stator flux
for induction motor drives consists of feedfonvard control of
stator voltage[4] and the new MRAS synchronous speed
identification scheme, and does not invoke rotor resistance I. INTRODUCTION
and voltage sensors. Simulation and experimental results
will be presented to confirm the theoretical analysis. To improve the performance of dynamic response of
induction motor drives, the conventional V/F control
Nomenclature scheme has been replaced by vector control [ 5 ] , which
requires accurate information about the mechanical speed
xU: or position for field orientation. The field oriented control
can be achieved at the cost of using additional shaft
r referring to the rotor flux frame sensors, thereby increasing the size and reducing the
D: robustness of the whole drive system.
d d-axis component To overcome these issues, “sensorless control”, without
q q-axis component using any shaft sensor, becomes a trend for the design of
s stator component induction motor drives. A variety of methods have been
r rotor component proposed which heavily rely upon plant parameters. A
comprehensive review of sensorless control of induction
motor drives can be found in reference [6].
reference or command value of x Sensorless induction motor drives based upon the theory
estimated (calculated) or feedback value of x of Model Reference Adaptive System (MRAS) [7] provide
an alternative way for the development. However, the
Symbols method shown in [2] requires both rotor and stator
resistors, and integral operation which involves initial
synchronous speed value problem. Although, integration operation is not
rotor speed required in [8], rotor time constant which is sensitive to
slip frequency temperature variation, is still necessary for the adjustable
differential operator model.
rotor resistance To deal with this problem, a novel sensorless controller
stator resistance [l] based on model reference adaptive system has been
rotor self-inductance proposed and demonstrated by experimental and
simulation results. The proposed MRAS scheme requires
stator self-inductance
neither rotor time constant nor stator resistance in both
mutual inductance adjustable and reference models. Furthermore, since no
L, LA
total leakage factor; o = I-( ~,2, integral operation is required, the proposed scheme
rotor time constant; 7r Lr/ Rr provides wider bandwidth for speed control.
sampling period of digital Although rotor resistance is not required in the new

0-7E103-3823-5/97/$10.00@ 1997 IEEE 553 PCC-Nagaoka ’97

MRAS scheme [l], the vector controller still requires the Reference model
rotor resistance for the calculation of slip frequency. A
new sensorless controller, which does not require rotor
resistance and voltage sensors, for induction motor drive Excitation
control will be presented. Simulation and experimental +
results will be presented to confirm the theoretical
analysis.

Adjustable model
II. THEORY
Mechanism
A. A New MRAS Scheme

Although the new MRAS scheme [l] for synchronous

Fig. 1. The proposed synchronous speed identification
speed identification has been presented, a brief review
scheme based upon MRAS
relevant to the development of the new sensorless
controller for induction motor drives is given as follows.
B. Feedforward Control of Stator Voltage
The motor voltage referring to rotor flux frame, can be
derived as follows.
The stator voltage equation of induction motor drives is

Equations (2) and (3) are substituted into (4), which is

the reactive power of machine, thereby resulting in (5).
Substituting the stator flux equation shown in (6) into
(5), the reactive power equation can be rewritten as shown
in (7).
Assume that the torque producing current, iL;, , is
*
constant and equals to its command value, i& , then in
the steady state the stator voltage command can be shown
as follows.
v&* = R,i&* - ( w e * d s ) r &+ AV
(9)

where

According to the theory of MRAS , (4) and (7) can be

used as the reference and adjustable models, respectively,
to identie the synchronous speed. The block diagram for
the new MRAS synchronous speed identification scheme
is shown in Fig. 3. Notice that the reactive power shown C. Flux Control
in (4) and (7) does not contain either rotor resistance nor
stator resistance. Moreover, the calculations of reactive The well-known current model of rotor flux is
power for both reference and adjust models as shown in (4)
and (7), respectively do not require any integration
pxA j L - X1 - j(
(11)
I oe-w7)Xr
operation. 7, 7,
The proposed MRAS has been proved [l] to be and the corresponding q-axis component is
hyperstable using the theory of Hyperstability [9].
Therefore, the synchronous speed is identified and
converges to the real value; more details about the
development and proof can be found in [ 11.
Therefore, xqr is affected by the torque producing
current, ii,, and the following relationships result

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provided that the derivative of .zq,equals to zero.
0 if A:,. = 0 , then 1'
9s
= Iz ( m e - o r ) X d r
Lm
0 if A:,<O,then i'9s < % ( m e - m r ) X d r
Lm
0 if Air>O, then i ~ sz > ~ ( ~ e - ~ r ) ~ d r
L,
Recalling that xq,cc-AV as shown in (lo),
controlled by adding an additional voltage component,
k,,Av,to v i s * ,thereby changing and xqr,where k, is
a constant.
Funthermore, the voltage equation for the q-axis
component can be derived from (8) and (12), and is
rewritten as follows.
(13)
If tbe voltage shown in (9) is fed to the motor, and
assume that CO, = w e * ,ik =ik*, and Xb = L,,,iL', the
above: equation becomes
The: torque producing current derived from (14) is
Sub'stituting(15) into (12), the relationship between the
torqu'e producing current and the derivative of q-axis flux
component can be derivedand is shown as follows.
Equation (16) shows that load variation causes
fluctuation of q-axis flux component. To overcome this
deterioration, the fluctuation is compensated by adding
k d p b term to the flux model shown in (12). Fig. 2 shows
the bllock diagram, derived from (12), of xqr.and the
compensation for the flux fluctuation caused by the
variation of torque producing current. Therefore, the rotor
flux is still under orientation even in transient state.
I
I
_.
I
xqr is
Fig. 2. Block diagram of flux compensation, where
kd d~
Lr Ixdr
D. Sensorless Controller of Induction Motor Drives
Fig. 3 shows the system configuration of the sensorless
controller based upon the proposed MRAS scheme. As
shown in Fig. 3, the synchronous speed is identified and
provided by the proposed MRAS. Moreover, the voltage
command is calculated using feedforward voltage control
method shown in (9).
Moreover, due to the zero initial value of synchronous
speed the stator voltage, shown in (9), is zero at the
instance of start up. To deal with this issue, the error of
torque producing currents is fed to generate the required
stator voltage command as shown in Fig. 3.
It is important that shaft speed and rotor resistor cannot
be identified simultaneously for an induction motor drive
without using additional excitation signal [lo]. In the
proposed sensorless controller shown in Fig. 3, rotor
resistor is not required. Although stator resistor is used for
feedforward voltage control, it has been demonstrated [ 101
that both stator resistance and shaft speed can be
identified at the same time. Therefore, the proposed
sensorless controller for induction motor drives provides
robustness to parameter variations.
111. SIMULATION AND E W E R I M E N T A L
RESULTS
A. Hardware Configuration
The MRAS-based sensorless induction motor drive
shown in Fig. 3 has been realized using a single-chip-
based control board which consists of an INTEL 80196
MC' single-chip microprocessor, protection circuits,
current detection circuits, and decoding circuit. Fig. 4
shows the block diagram of hardware configuration. As
shown in Fig. 4, the object code generated by the cross-
assembler using personal computer is downloaded into the
in-circuit emulator (ICE) which emulates the target
system in real time for on-line debug.
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 One of the features of the 80196 MC single-chip micro- time equations to the related discrete-time forms, the so
processor is its embedded PWM generator which called “backward rule” of Euler‘s formula is considered
generates the three-phase PWM gating signals according and is shown as follows [ 111.
to the command voltage using traditional natural-sampled
sinusoidal pulse-width modulation (SPWM) technique. z-1
p=-
Several protection circuits are included in the single- T, z
chip microprocessor board and will cause trip whenever
one of the events, including over voltage, under voltage, Equation (19), derived by substituting (17) into (18),
regeneration voltage, over current, and over load, occurs. illustrates the associated discrete-time representation for
The current detection circuits transform the load current proportional-integer (PI) control, using speed control as
-
signals into the acceptable voltage level, -0.5 +5.5V, of an example.
the embedded A/D converter of 80196 MC single-chip
microprocessor. It is worthy of note that the sampling time
of A/D is around 15 p seclchannel.
Although the output pulses of incremental encoder of
induction motor is not fed into the controller, a decoding
circuit is built in the single-chip microprocessor board for
:2 (k + 1) =: i (k)+(k, +k,T)Amr(k + 1)-kpAur( k )
measurement purpose and further applications.

B. Sofmare Design where

For the implementation of the sensorless controller

shown in Fig. 3 using sofiware, it is necessary to derive
the discrete-time representations of the equations. To
simplify the calculations of transforming the continuous-

field f- +stator
voltage control
coordi , nates

’,

Fig. 3. System configuration of the sensorless controller

556
 3 Phase 220 V
I: 0.00
-200.00
-400.00
I I

-200.00
-400.00
I , ~ ,

I:; ,<;,
I I I I I ,
0.00 1.00 2.00 3.00 4.00 5.00 0.03 1.00 2.00 3.00 4.00 5.00
(a) times(sec) (b) times (sec)

0.00
I l 2;j I I I

-200.00 -200.00
-400.00 -400.00

0.00 1.00 2.00 3.00 4.00 5.00 0.00 1.00 2.00 3.00 4.00 5.00
I 1
(for monitoring only) (c) times (sec) (d) times (sec)

10.00 1 10.00 1
Fig. 4. Hardware configuration of the implementation of
the sensorless controller

C. Results +-,
-10.00 -10.00m,
0.00 1.00 2.00 3.00 4.00 5.00 0.00 1.00 2.00 3.00 4.00 5.00
The simulation work has been carried out using (e) times (sec) (9 times (sec)
SimulinkTMand the controller has been realized using
software based on a single chip microprocessor, MC Fig. 6 . Illustration of experimental and simulation results,
80 196, board. +200 rpm , 2 Nt.-m;(a) speed response, simulation;
Figs. 5 and 6 illustrate the simulation and experimental (b). speed response, experiment ;(c) estimated
results using speed command equal to f l O O O rpm and speed, simulation; (d) estimated speed, experiment;
e 0 0 rpm as examples, respectively. As shown in Figs. 5 (e) current for phase A, simulation; (Qcurrent for
and 6 , the simulation results agree with experimental phase A, experiment.
results very well confirming the theoretical analysis.
IV. CONCLUSION

A novel sensorless controller based on MRAS scheme,

requiring neither rotor time constant nor stator resistance
in both adjustable and reference models, for induction
0.00 2.00 4.00 6.00 0.00 2.00 4.00 6.00 motor drives has been presented in this paper. The
(a) times(sec) (b) times (sec) proposed sensorless controller does not require rotor
resistance, and thereby increasing the robustness to
parameter variations.
The proposed sensorless controller is demonstrated
using simulation and experimental results confirming the
theoretical analysis.
0.00 2.00 4.00 6.00 0.00 2.00 4.00 6.00
(c) times (sec) (d) times (sec) V. ACKNOWLEDGMENTS

10.00 7 10.00 7 The authors gratefully acknowledge the financial

5 00 5 00 support given by the National Science Council under the
0 00 0 00
grants NSC86-2213-E-010-075 and NSC86-2622-E-011-
-5 00
-1000 ,+
000 200 400 600
-5 00
-1000 +,
000
,,,,,,
200 400 600
005R.

(e) times (sec) (f) times (sec) VI. REFERENCES

Fig. !5. Illustration of experimental and simulation results,
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simulation; (b). speed response, experiment ;(c) sensorless controller for induction motor drives,” to
estimated speed, simulation; (d) estimated speed, appear in EPE‘97.
experiment; (e) current for phase A, simulation; 2. C. Schauder, Adaptive speed identification for vector
(Qcurrent for phase A, experiment. control of induction motors without rotational

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