Estimation of Rotor Resistance of Induction Motor Based on Extended Kalman Filter

Guohan Lin and Qin Wan

Department of Electrical and Information Engineering Hunan Institute of Engineering Xiangtan, China lgh2966@126.com

Abstract. Estimation of rotor resistance rapidly and accurately has received a lot of attention due to its significance in improving the performance of induction motor(IM) vector control system. In this paper, algorithm of estimating rotor resistance of IM based on extended Kalman filter(EKF) is presented. The algorithm can estimate the rotor resistance on line by measuring the voltage, current and speed of stator. Using MATLAB/SIMULINK, a simulation model is built and tested. The simulation results show that the presented algorithm is effective and accurate. Keywords: parameter estimation, extended Kalman filter, rotor resistance, indirect vector control.

Introduction

Vector control has been used widely in motor drive systems to improved performance. According to different way by which produce the reference vector in coordinate transformation, vector control can be divided into the indirect and direct vector control. Indirect vector control is one of the most effective method due to its simplicity in designing and construction. Under the rotor flux synchronous rotating coordinate, the excitation of the stator current component and torque component control the torque and rotor flux independently, the flux position angle using in coordinate rotation transformation is calculated from rotor speed and slip rotate speed. The slip gain relate to the rotor time constant which is define by rotor resistance. However, rotor resistance is changing with temperature and excitation conditions and thus affect the control system performance largely. To achieve satisfied performance, estimate the rotor resistance rapidly and accurately is necessary [1],[2]. This paper present a method of estimation of rotor resistance based on EKF. The paper is organized as follows. Section 2 describes the model of induction motor model. In Section 3 an estimator using EKF for the rotor resistance is designed. Simulations of the scheme are carried out in Section 4 and some conclusions are given in Section 5.
D. Jin and S. Lin (Eds.): Advances in CSIE, Vol. 2, AISC 169, pp. 193198. Springer-Verlag Berlin Heidelberg 2012 springerlink.com

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Induction Motor Model

To using EKF for estimation of the rotor resistance, various machine models is possible to be used. For example, it is possible to use the equations expressed in the rotor flux oriented reference frame, or in stator flux oriented reference frame. In order to avoid extra calculations and non-linear transformation, stationary reference frame is preferred. A fourth order dynamic model for induction motor developed in stationary reference frame is as following[3]:
Rs disa L2 Rr = + m dt Ls Ls Lr dis Rs L2 Rr = + m dt Ls Ls Lr Lm Rr L 1 ra + m pwr r + u isa + Ls L2 Ls Lr Ls s r Lm Rr L R 1 pwr ra + m r2 r + u is Ls Lr Ls Lr Ls s

. .

(1) (2) (3) (4) (5)

d ra Rr R Lm is r r Pwr r = dt Lr Lr d r dt = Rr R Lm is r r + Pwr r Lr Lr

. . .

Te = 3PLm ( r is r is ) / ( 2 Lr )

3
3.1

Rotor Resistance Estimation Algorithm Based on EKF

EKF Algorithm

Extended Kalman filter is a full-order random observer. Based on system noise and the statistical characteristics of measurement noise, EKF can be used to obtain the multi-input multi-output system such as induction motor model, real-time recursive optimal. The development of the Kalman filter is closely linked to the stochastic systems. The nonlinear stochastic systems are described by relations.[4]
x ( k ) = f ( x ( k 1) , u ( k ) , w ( k ) ) y ( k ) = h ( x ( k ) , v ( k ))

(6)

where x and u are state variable and control variable respectively. w(k) represents the disturbances apply at the system input, while y(k) is the measurable output affected by the random noise v(k) .It will be assumed that w(k) and v(k) are not correlated and zero-mean stochastic processes. From the statistic point of view, the stochastic processes w(k) and v(k) are characterized by the covariance matrices Q and R respectively. It is further assumed that the initial state x0(k) is a vector of random variables of mean x0 and covariance P0 , not correlated with the stochastic processes w(k) and v(k) over the entire interval of estimation. For nonlinear time invariant systems, the following relations of recurrent computation describe the general step of the implementation algorithm of Kalman filters [5],[6].

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195

step 1: state prediction

x ( k ) = f x ( k -1) , u (k ), x0

(7)

step 2: computation of convariance

P ( k ) = G ( k ) P ( k 1) G ( k ) + Q
T

(8)

where G ( k ) =

f ( x ( k 1) , u ( k 1) , w ( k 1) ) x

step 3: computation of Kalman gain

K ( k ) =P ( k ) M ( k )
T

(M (k) P (k) M (k)

+R

-1

(9)

step 4: state update

x ( k+1) = x ( k ) +K ( k ) y ( k ) -h x ( k )

(10)

step 5: estimation covariance computation

P ( k ) = ( I-K ( k ) ) M ( k ) P -1 ( k )

(11)

3.2

Rotor Resistance Estimation Based on EKF

EKF can be used for combined state and parameters identification by treating selected parameters as extra states and forming an augmented state vector. The rotor resistance Rr is the parameter to be estimated and augmented into state vector, model of IM developed in stationary reference frame is as following:

X =AX+Bu y=CX
Rs 1 Lm 0 + Ls Lr r Ls r R wr Lm 1 0 s + L Ls Lr s r A= L 1 m 0 r r Lm 0 wr r 0 0 0

.
wr Lm Ls Lr 0 0 0 0 1

(12)

as

Ls Lr r
wr 1

Lm

1 Ls B= 0

0 1

Ls

0 0 0 0 0 0

r
0

X = is

is

1 0 0 0 0 Rr , C = 0 1 0 0 0 , u = us
T

u s

, y= is is

Considering the process noise and measure noise, assume the sampling time is Ts ,Equ.12 is discrete and linearized and following formula is obtained:
Y ( k + 1) = Cd ( k ) + V ( k ) X ( k + 1) = Ad X ( k ) + BdU ( k ) + W ( k )

(13)

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R 1 1 Ts s + L s r 0 = Lm T r s 0 0

0 1 Ts
Ls

Ls Lr r

Ts Lm

Ts wr Lm Ls Lr

Rs 1 + r 0

T w L s r m Ls Lr 1 1 Ts r wrTs 0

Ls Lr r
wrTs 1 1 Ts r 0

Ts Lm

A d

Lm T r s 0

0 0 0 1

Ts L s 0 , Bd = 0 0 0

0 Ts Ls 0 0 0

Based on equ.13,using EKF algorithm, the state can be estimated at different times and thus estimate rotor resistance of IM.

Simulation Result

To verify the effectiveness of the proposed scheme, simulations were conducted in Simulink .Induction machine driven by a VSI with rotor estimation was show in fig.1. In fig. 1,a squirrel cage induction motor was used to test the algorithm. Induction motor parameter are: Nominal output power PN=1.2kW, Nominal voltage UN=380V, Nominal voltage current IN=2.67A, Nominal frequency fN=50Hz, Rs=5.27,Rr=4.35, Ls=479mH, Lr=479mH, Lm=421mH, =0.228,P=2, Nominal speed SN=1440rpm. Assumed the reference flux is constant with the value of 0.856 Wb, and the reference speed and load is 157rad/s and 10N.m respectively. Fig 2 a) show the real and estimation of rotor resistance when rotor resistance is constant,it can be seen from the figure that it takes less than 0.5 seconds to reach the true value despite small fluctuations around the true value.

w ref

ref
i* sq

i* sd

sd

dq

i sd
isq

u u s s

usq

dq

is
i s

abc

ia i b ic

wr
Rr
u u s s is i s

Fig. 1. Structure diagram of rotor resistance estimation based on EKF

Estimation of Rotor Resistance of Induction Motor Based on Extended Kalman Filter

197

4.5 4 3.5 3 2.5 2 1.5

7
Estimation value Reference value

Estimation value Reference value

5 R e s is ta n c e( )
0 0.5 1 1.5 time(s) 2 2.5 3 R es is tanc e( )

3 2

1 0.5 0

0 0

0.5

1.5 time(s)

2.5

a)

b)

Fig. 2. Rotor resistance estimation with resistance constant and changing

To simulate the change of resistance due to different running condition such as temperature change, assume that the rotor resistance was stepped from 100% to 150% of its rated value in one second and stepped from 150% to 25% of its rated value in two second, reference flux, reference load and reference speed is the same as above discuss. Simulation results of rotor resistance estimation including the convergence process was show in fig.3.b). As seen in the figure, after about 0.5s the estimated value of rotor resistance converges to the true value as expected. When the true value steps up and down, the EKF estimator can estimate the rotor resistance changes quite well.

Conclusion

Estimation of the rotor resistance rapidly and accurately can improve greatly the static and the dynamic performance of the indirect vector control systems of IM. In this paper ,a simple estimation algorithm based on EKF in indirect vector control has been presented. Simulation results show that the estimation algorithm is robust to the variation of the rotor resistance which is changing when the IM is running. the effectiveness and the validity of the proposed EKF estimator is verified. Acknowledgment. This work was support by Hunan Provincial Natural Science Foundation of China (11JJ4049) and Supported by Innovation Platform Open Funds for Universities in Hunan. Province(11K019).

References
1. Yahia, K., Zouzou, S.E., Benchabane, F., Taibi, D.: Comparative Study of an Adaptive Luenberger Observer and Extended Kalman Filter for a Sensorless Direct Vector Control of Induction Motor. Actra. Electrotehnica 50, 99107 (2009)

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2. Comnac, V., Cernat, M., Moldoveanu, F., Draghici, I.: Sensorless Speed and Direct Torque Control of Surface Permanent Magnet Synchronous Machines using an Extended Kalman Filter. In: 22nd IEEE Convention of Electrical and Electronics Engineers, Tel-Aviv, Israel, pp. 3944 (2002) 3. Li, J., Ren, H., Huang, Q., Zhong, Y.: A Novel On-line MRAS Rotor Resistance Identification Method Insensitive to Stator Resistance for Vector Control Systems of Induction Machines. In: IEEE International Symposium on Industrial Electronics, pp. 541 546. IEEE Press, New York (2010) 4. Zhao, X., Wang, M.-Y., Liu, S.-X.: Rotor Resistance Identification in Vector Control System of Asynchronous Motor Based on EKF. J. Elec. Mach. & Con. App. 36, 1823 (2009) 5. Montanari, M., Peresada, S.M., Rossi, C., Tilli, A.: Speed Sensorless Control of Induction Motors Based on a Reduced-Order Adaptive Observer. IEEE Trans. on Control System Technology 5, 10491064 (2007) 6. Huerta Gonzlez, P.F., Rivas Rodriguez, J.J., Torres Rodriguez, I.C.: Estimacin de la resistencia del rotor usando una red neuronal artificial en el control vectorial indirecto del motor de induccin. IEEE Latin America Trans. 6, 76183 (2008)