Progress In Electromagnetics Research Symposium Proceedings, KL, MALAYSIA, March 2730, 2012 999

Estimation of Induction Machine Electrical Parameters Based on

the Genetic Algorithms
P. Simonik, P. Hudecek, P. Palacky, and Slivka David
Department of Electronics, Faculty of Electrical Engineering and Computer Science
VSB Technical University of Ostrava, 17.listopadu 15, Ostrava 708 00, Poruba, Czech Republic

Abstract This article shows one of many ways how identify parameters of the IM in real
time. For identification is used theory of genetic algorithms. The Genetic Algorithms is a
search technique used in many fields, like in computer science, to find accurate solutions to large
optimization and search problems. The advantage of GAs is flexible and intuitive approach to
optimization and demonstrates a higher probability of not converging to local optima solutions
compared to traditional gradient based methods. More recently, methods which have appeared
in the scientific literature about general GAs become popular and can be successfully ported to
power electronics and drives. This article deals with the possibilities to improve dynamics and
other properties of the drive with using online parameters estimation integrated in main control
algorithm. In this paper at the first there is presented an analysis of the current state of the
investigated problem and there is also explained why the problem is discussed. Following chapters
show induction machine dynamic model principles and ways of implementation the IM parameters
identification. Used genetic algorithm theory and experimental results are demonstrated in the
end of this article. The conclusion describes the potential use of this method and discusses further
development in the real time estimation of induction machines parameters.
1. INTRODUCTION

The Induction Motors (IM) thanks to its well known advantages of simple construction, reliability,
ruggedness and low cost, has found very wide industrial applications. The IMs are often supplied by
frequency converters for better performance. Frequency converters commonly use complex control
strategies like FOC (Field Oriented Control) or DTC (Direct Torque Control). Both of these
control techniques are highly dependent on correct magnetic linkage estimation. Its particularly
well known that FOC is very sensitive to variation of rotor time constant TR while DTC is likewise
sensitive to variation of stator resistance RS during the estimation of IM flux linkage. However
in both of these control strategies any inaccuracy in evaluation of one parameter caused a wrong
value of magnetic flux (both in amplitude and in angle) and of electromagnetic torque and it is not
therefore possible to achieve a correct field orientation [1].
The Genetic Algorithms (GA) is a search technique used in many fields, like computer science,
to find accurate solutions to large optimization and search problems. The basic concept of GAs is
to emulate evolution processes in natural system following the principles which was first described
by Charles Darwin. The advantage of GAs is that it is a very flexible and intuitive approach to
optimization and presents a higher probability of not converging to local optima solutions compared
to traditional gradient based methods. More recently, research works have appeared in the scientific
literature about the use of GAs for control design in power Electronics, drives and general structure
identification. This paper describes an automatic real-time estimation procedure of IM parameters
based on the genetic algorithms.
2. IMPLEMENTATION PRINCIPLE OF IM PARAMETERS IDENTIFICATION

For the purpose of the present investigation the IM is assumed to be described in the stator reference
frame by [2].
3
dm
=
dt
2
Z
R =
Z
R =

p Lh
M

(iS R iS R )
J L
JC
C R

M
R
iS
p m Rb dt
TR
TR

R
M
iS
+ p R dt
TR
TR

(1)
(2)
(3)

PIERS Proceedings, Kuala Lumpur, MALAYSIA, March 2730, 2012

1000

diS
1

=
us iS +
R + p m R
dt
LS
TR
diS
1

=
us iS +
R p m R
dt
LS
TR
M
=
LS LR
RS
M 2 RR
=
+
LS
LS L2R

(4)
(5)
(6)
(7)

R , uS , iS are alpha components of rotor flux, stator voltage and current;

R , uS , iS are beta components of rotor flux, stator voltage and current;
LS , LR , Lh is stator, rotor and main inductance;
m , , p is mechanical angular speed, leakage factor and number of pole pairs;
JC , TR , M total moment of inertia, the mechanical time constant, moment of IM;
RS , RR is stator and rotor resistance (rotor resistance is oriented to stator).
The method of IM parameter estimation in real time presented here is a method when comes from
modification of previous Equations (1) to (7) we get the new relations:

diS
duS
diS
d2 iS
K1 iS + K2 uS + K3 pm iS + K4
+ pm uS + K5
=
+ pm
(8)
2
dt
dt
dt
dt
1
RS
1
RS LR + RR LS
RS
, K2 =
, K3 =
, K4 =
, K5 =
K1 =
(9)
LS TR
LS TR
LS
LS
LS LR
Wanted IM parameters are then:
K3
RS =
,
K4

K3 K5
RR =
,
K4

K3 K5
LS =
,
K2

r
1
Lh = LS 1
LS
K4

(10)

Required values of uS , uS , iS , iS we can obtain in SW part from a vector control structure,

which is shown on Fig. 1.
On Fig. 1, the Indirect frequency converter supplies an induction motor (M ). Phase currents are
measured by current sensors. Position of the rotor is measured at the Incremental encoder (IE). True
value of mechanical speed m and the rotor angle are than evaluated in the Position and speed
estimator block. The values in the three-phase stator coordinate system [a, b, c] are transformed
into two-axis stator coordinate system [, ] in the T3/2 block. In the block , to x, y, vector
components are transformed to the oriented two-axis rotating coordinate system [x, y]. For vector
rotation of components of stator current is , is to the oriented coordinate system [x, y] is used the
variables , which is calculated in the Magnetizing current estimator block. The components isx , isy
serve as feedback variables for the current PI controllers Risx , Risy . Control of magnetizing current
(or magnetic flux) is realized by a PI controller Rim . The block processes a deviation between
the desired magnetizing current im and value im calculated in the magnetizing current estimator
block. Angular speed control provides PI regulator R , which handles difference between a speed
command m and speed m , which is evaluated as derivation of rotor angle epsilon. The control
voltages usa , usb , usc for PWM generator block are obtained from the components usx , usy by
means of the x, y to , block and subsequent transformation block T2/3. The PWM modulation
generates pulses for IGBT power transistors in the indirect frequency converter.
3. FUNCTIONAL DESCRIPTION OF GA

To describe how the GA actually works is used the relation (8). Consider the following simplistic
rule. We know that IM parameters vary only in a certain range of values such as:
1 RS 10 ,

1 RR 10 ,

0.1 H LS 1 H,

0.1 H Lh 1 H . . .

These ranges can also expand or use other parameters, if needed. Substituting the upper and lower
limits from IM parameters range into relations (9) we find K boundaries. Between these boundaries
the K unknown could fluctuate. The next procedure can be summarized in four points.

Progress In Electromagnetics Research Symposium Proceedings, KL, MALAYSIA, March 2730, 2012 1001

Figure 1: Block diagram of the vector control used.

Figure 2: Flowchart of the genetic

algorithm used.

Initialize the population Creates a zero population which is composed from randomly
generated individuals. Specifically, an individual is composed of five unknowns K1 to K5 randomly
generated within the range specified above.
Calculate the Fitness of New Individuals Is calculated the fitness of new individuals.
Than is selected a few individuals with high fitness from a population. In this case, the best marked
individual is the individual whose unknowns K have the difference between right and left side of
the Equation (8) as much as possible close to zero.
Termination Criteria If the stop condition isnt fulfilled, continue from point 4 again.
Stopping condition may be a number of passes through the loop. This condition affects the speed
and accuracy of determination unknown K. Individual with highest fitness is the main algorithm
output and represents the best founded solution.
Creating the Next Generation To create the next generation are used two basic genetic
operators. The mutation and the crossing. In some cases it may be useful to keep copies of the
parents for the next generation unchanged. Specifically new population we generates as follows:
Crossing swap parts (unknown K) of a few individuals among them. It is necessary to
ensure that unknown through the swapping must have the same index (not for example K1
with K5 ).
Mutation is a random change of parts of a few individuals or individual. Again, it is
necessary to ensure that mutations for example in the K1 individual were in appropriate
range.
Reproduction the remaining individuals are copied unchanged.
4. EXPERIMENTAL RESULTS

In all simulations was used model of real three-phase IM type CANTONI Sg100L-4A which has
the value of stator resistance RS = 2.78 and value of rotor resistance RR = 2.84 . The IM was
supplied by a model of indirect frequency converter in connection consisting of a DC source voltage
at the input and the voltage inverter with IGBT transistors on the output. DC-link voltage was
set to Ud = 300 V. Control of output voltage was made by comparing PWM. The frequency and
amplitude of the saw tooth signal was fp = 5 kHz, Up max = 1 V. The incremental encoder model
is based on the real encoder type ERN 420/TTL with 2048 pulses/rev. The total moment of inertia
was set at JC = 0.043 kgm2 .
From Fig. 3, is evident that the value of RS and RR has the true values. Identification is not
accurate in area of excitation of IM (time 0 to 0.2 s) and during the start of IM (time 0.2 to 0.8 s).
This behavior is caused by neglecting of d/dt member during the modification of Equations (1)
to (7). This phenomenon can be reduced. The solution can be found in the literature [3].

PIERS Proceedings, Kuala Lumpur, MALAYSIA, March 2730, 2012

1002
6

Rr [ohm]

5
4
3
2
1
0
0

0.2

0.4

0.6

0.8

1.2

1.4

0.8

1.2

1.4

t [s]
6

Rs [ohm]

5
4
3
2
1
0
0

0.2

0.4

0.6

t [s]

Figure 3: Transients of RS and RR estimation using genetic algorithms.

5. CONCLUSION

Method described here can be used in modern high performance electric drives. Reasons why it is
necessary to estimate IM parameters in real time are described in the introduction. Next to IM
parameters identification by GA, it is possible to detect the parameters with other methods such is
least squares methods (Total Least Squares, Ordinary Least Squares and Recursive Least Squares)
or by using theory of neural networks (see literature [2, 3]).
ACKNOWLEDGMENT

The research described in this paper was supported by SGS project SP2011/107: Research of sensor
less control methods for AC drives.
REFERENCES

1. Leonhard, W., Control of Electrical Drives, Springer, Verlag, Berlin, Germany, 2001, ISBN
3-540-41820-2.
2. Cincirone, M., M. Pucci, G. Cincirone, and G. A. Capolino, A new experimental application
of least-squares techniques for the estimation of the parameter of the induction motor, IEEE
Trans. on Ind. Applications, Vol. 39, No. 5, 12471255, Sep. 2003.
3. Chiasson, J., Modeling and High-performance Control of Electric Machines, IEEE Press, USA,
2005, ISBN 0-471-68449-X.
and L. Zboray, Contribution to Parameter Identification of an Induction Motor
4. Ferkova, Z.
by Genetic Algorithms, Acta Electrotechnica et Informatica, Vol. 5, No. 2, 15, Kosice, 2005,
ISSN 1335-8243.
zen, VSB-TUO,

5. Brandstetter, P., Strdave Regulacn Pohony Modern Zp

uoby R
Ostrava,
Czech Republic, 1999, ISBN 80-7078-668-X.