A Novel Approach to Detection of Some Parameters
f I dction M or
Prof. Dr. H. Bulent Ertan and Ertan Murat
Middle East Technical University, Electrical &
Electronics Eng. Department 06531
Ankara, TURKEY
E-mail: ertan@metu.edu.tr
Abstract-- This paper describes a novel approach for offline
stator leakage inductance and online stator resistance estimation
that can be used for self-tuning of induction motor drives. The
paper briefly describes the theory behind the approach. The
proposed methods are experimentally tested on an industrial
induction motor and also tested on a washing machine motor
designed for variable speed operation. Test results are given and
the robustness of the approach is illustrated.
Index Terms-- Induction motor drives, parameter estimation,
Inductance measurement.
inductancemeasurement.
I. INTRODUCTION
Induction motors have broad application in industry due to
their low cost and easy maintenance. There are many
commercialized solutions for driving induction motors, these
methods use different kind of control techniques: scalar
control, field orientation control (FOC), direct torque control
(DTC), etc. To obtain high performance from a motor drive
FOC and DTC techniques are commonly used. These
techniques require motor parameters (stator resistance,
inductance, etc) to be known. The process of determining the
motor parameters before the operation is called "self-
commissioning" or "self-tuning". Once the motor starts
running, motor parameters may vary due to changing
temperature of the motor or due to other operating conditions,
such as operating the motor at various levels of mutual flux.
Hence, an "intelligent" motor driver is required to measure
the motor parameters also during the operation [1] of the
motor drive.
High performance torque controlled drives (FOC, DTC,
etc) control the stator currents so that the flux and MMF
vectors are located at the desired positions relative to each
other. This issue is discussed in a number of books and the
details of application of FOC or DTC techniques are
discussed in many papers. Therefore this issue shall not be
discussed here.
In general, drives controlled by FOC or DTC have mutual
flux and shaft torque references, which they try to meet via a
certain algorithm. Such motor drives commonly measure the
terminal voltage and phase currents of the motor they drive.
In some types of drives the rotor position measurement or
1 -4244-0743-5/07/$20.OO ©2007 IEEE
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Bari Qolak
TUBITAK - Space Technologies Research Institute,
ODTU Kampusu,
Ankara, TURKEY
Email: baris.colak@uzay.tubitak.gov.tr
speed measurement is also required. In this paper we shall
consider FOC of an induction motor.
There are two basic models for field-oriented control of
induction motors [2]:
model: This model requires an accurate
* eCurrent of theo me constant an accurate
measurement of the rotor time constant and accurate
measurement of mechanical speed of the motor [3];
Voltage model: hThis ismodel
* measement does not require speed
however itS acurc depends onqprecse
~~~~~measurement; accuracy depends on precise
measurement of stator resistance and leakage
inductance.
The first approach is advantageous if the additional cost of
the speed measurement is not a problem and if a speed
measurement device can be implemented to the motor shaft.
The second approach is also called "sensorless" in the sense
that a shaft speed measurement is not required. However,
below a certain speed FOC is not possible.
This paper addresses two separate issues. In section (II) a
new approach is presented for determination of the stator
leakage inductance of an induction motor for self-
commissioning purposes. In section (III), a novel on-line
stator resistance measurement technique is presented.
II. OFF LINE STATOR LEAKAGE INDUCTANCE ESTIMATION
In this part of the paper, we shall concentrate on
I n part
th od of the leakage
introducing a method for determination of the leakage
inductance of an induction motor for self-commissioning.
Conventional tests for determining the induction motor
parameters are not suitable for identifying the parameters of
an induction motor during self-commissioning.
In the literature quite a number of studies exist which
address the self-tuning problem [3-7]. This paper presents an
alternative method, which may be used for the estimation of
the stator leakage inductance of an induction motor during
self-commissioning. Note that if the leakage inductance is
already known, the same approach can be used for identifying
the stator resistance value during operation, in an interval
where the motor is stationary.
1626
 The proposed algorithm given here has the following
advantages over other algorithms, which exist in the
literature:
* Estimation can be performed at rated flux or current,
hence its results are realistic [3].
* The region where the estimation is performed is much
longer then the software control cycle to take enough
number of current samples, thus enabling the
automated estimation [5].
* This method creates little computational burden for the
microprocessor; thus eliminating need for extra
hardware [5, 6].
* Current measurement, used for leakage inductance
measurement, is a noise free signal; no filtering, which
could influence the measurement accuracy is necessary
[3, 4]. (The phase is short circuited during the
measurement and the current measured is DC.)
* This method works even for the motors with low stator
phase voltages, for which parameter estimation is
particularly difficult.
A. The theory
Stator transient inductance term (aLs) refers to the
inductance value measured from stator( winding
This teransienineducytanetolwigerm
STator defined by the following equation
term is de aio [4]:
xL = LsLLr Lm(Ls L)(
+ +
JLs= Lm + Lr
Where, Ls and Lr are stator and rotor leakage inductances,
respectively; and Lm is the magnetizing (mutual) inductance.
With the assumption of Lm >> Lr, usually, stator transient
inductance (GLs) is considered as the sum of stator and rotor
leakage inductances. When the machine is not energized and
the initial flux is zero at standstill, the motor equivalent
circuit may be considered as a series connected resistive-
inductive load.
The proposed stator transient inductance measurement
method relies on forcing a user-defined dc current through the
stator phase windings for short time duration. This current
establishes the flux in the motor. Note that applying a
controlled current is safer than applying the open-circuit
voltage, which may lead to over currents in the machine and
the inverter [3].
After the rotor flux is built up to the desired value; the
stator phase windings are short-circuited with the aid of the
inverter, by turning on the lower power switches of the
inverter legs. As soon as the stator phases are short-circuited,
stator phase voltages decrease to zero and the stator phase
currents start to decrease. At this condition, the stator voltage
(Us) and rotor magnetizing current (Ir) are given by the
following equations [4]:
dI dl
U5=R5I +oL5 s +(1- 7)L5 m
cit cit
Imr =l/Yr / Lm
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Where, Rs is the stator resistance, Is is the stator phase
current, and 1Vr is the rotor flux.
A typical variation of the phase current after the short
circuit is shown in Fig. 1. A short time interval right after
short-circuiting a phase (this interval is much shorter than the
rotor time constant) is called the "sub-transient region". Since
the rotor flux is a slow changing variable, in the sub-transient
region, the change in the rotor flux may be neglected and it
may be assumed that the flux stays at the value set by the
drive. Therefore, Equation (2) may be simplified and take the
form shown in (4). aLs (stator transient inductance) may be
calculated using this equation, provided that the stator
resistance (Rs) is known and the stator current is measured.
u = R I + aL dIs (4)
s s s s dt
Suppose that the stator current is measured at every At
seconds. In this case, dls may be approximated by the
difference of the two consecutive measurements of current,
namely between 'n'th and 'n-i 'th measurements. Therefore,
Equation (4) may be written as in (5) and each variable is
measured or calculated at every At seconds.
Us (n) =RsIs(n) +(TLs (n)Is (n) -Is (n - 1)
[4]ees:terminals.
oteU n)=R1n+ ()
Re-arranging (5), the stator transient inductance is
At
A
calculated at every At seconds (each sample is denoted by 'n')
as shown in (6).
OL (n) - (Us (n) --Rsis (n))At (6)
I (n) I (n l) -
s(
In the sub-transient region, aLs is calculated "n" times,
with 0.1 ms intervals using (6). Since the stator resistance is
known (can be measured via some well-known method), Ls
can be found directly from this equation. In the sub-transient
region, approximately for 1 ms, Ls is calculated 10 times
(every 0.1 Ims) using (5). Just after short-circuiting the the
phase, there may still be parasitic effects of the switching that
could lead the sensor reading errors, therefore the first few
samples are omitted from the measurement to ignore these
possible effects. The voltage and current measurements are
done by using the current and voltage sensors that already
exist in the drive.
B. The test Motors and The Drive
Table 1 and 2 show the properties of the drive and the
motors used to perform the measurements for stator
inductance estimation. Motor 1 is a 3-phase, variable speed
induction motor designed to be used in a washing machine
application; Motor 2 is a standard 3-phase 50 Hz induction
motor. The proposed algorithm is applied for both of the
motors with the specified driver in Table 1. Motor 1 is a more
(2) challenging motor due to low rated phase voltage; therefore
parameter estimation for this motor is likely to be more
(3) sensitive to measurement errors and assumptions.
1627
 TABLE 1 after short-circuiting is very important for these kinds of
PROPERTIES OF TBE DRIVE motors. After the short circuit, Us fall to -1.5 Volts, not 0
volts due to some transient mechanisms occurring in motor
Micro-controller TI DS 1 102 Board windings. -1 Volt is a very important value that could affect
the measured offline parameters.
Inverter 1200 V, 25 A, 3 phase IPM Fig. 2 shows the calculated stator inductance values
Hall effect Current and Voltage sensors between the to and t1 instants shown in Fig. 1. The sampling
Measurement time is 0.1 Ims, therefore the total measurement time duration
(No speed sensor)
in this case is approximately 1 ms. This time interval is long
Modulation Space vector( PWM), PWM frequency 20 kHz enough and even the least expensive processors can handle
the algorithm.
TABLE2 As seen in the figure the calculated leakage inductance
PROPERTIES OF TiE MOTORS UNDER TEST values are virtually constant in the (to, tl) interval, and then
begin to rise as the time progresses, which means that the
1pecification MOTOR
MOTORI 2 assumption that rotor flux does not vary is no longer valid.
This knowledge can be used to start and stop the
Power 1 kW, 3 phase 2.2 kW, 3 phase measurements.
In the implemented algorithm by the authors, if the
Frequency Variable (10 -250 Hz) 50 Hz calculated Ls values change more than a predefined ratio
Speed Variable (500 - 12000 rpm) 1420 rpm towards the end of the measurement period, those values are
not taken into consideration. Similarly, samples to be
Rated Current and 3 25 A, 20 V/ph NA excluded from the first few measurements are decided on the
Voltage @0,10 Hz basis of identifying the sample after which the successive
Rated Current and inductance measurements remain within a predefined margin.
Voltage @50 Hz 2 45 A 100 V/ph 3 1 A 220 V/ph From the data shown in Fig. 2, average value of the last 8
samples is calculated as the stator leakage inductance of
RatedCurrent and 3.2 A 100 V/ph NA Motor 1. The value found from the method in this paper is
Voltage ,250 Hz , 2.67 mH. The value measured with the conventional no-load
and locked-rotor tests is 2.55 mH. The error between the two
C. Results values is less than 5 % (4.7 %), and may be regarded as an
Fig. 1 shows the measured stator phase voltage (Us) and accurate estimation.
stator phase current values (Is) during a test on a commercial The same test is performed with Motor 2 and estimated
motor of 1 kW by the authors. As mentioned above a DC leakage inductance value is 12.4 mH. The measured value
current equal to the rated value of phase current is injected to from the conventional tests is 11 7 mH Again the error has a
the stator phase. The average phase voltage is only 3.5 Volts very acceptable value of 6.0O.
before the short circuit occurs, therefore the voltage values

Stator Curent Is)

C-) 2 -
e Short circuit
>) 1 . AALs is calculated in the
interval (to, t1)
0

> ._._______ ._* I Stat6rVoltage (USs)

u . , ~~~~~~~~~~~~~~~~~~Sad
----X-- -
-

0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0

Time (inS)
Figure 1: Stator phase voltage (Us) and current (Is) values during measurement.

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 0 10
(U
t° 2

U,

'° t-to t=tl

0
n
0
5 10 15 20
Number of samples (n)
Fig.2 Calculated Stator Leakage Inductance values for each sample in the (to, t1) interval

III. ONLINE STATOR RESISTANCE ESTIMATION METHOD The method proposed here promises to eliminate the
Sensorless vector control of induction motor drives is disadvantages of available resistance estimation methods.
receiving wide attention in the literature. The estimation of A. The Field Orientation Control Method
feedback signals (e.g. flux vector, speed, and frequency) for In this paper, the drive with a vector control algorithm
both the rotor and stator-flux oriented vector control methods;
which are based on the "voltage model", becomes inaccurate;
du t due sttrrssac variation.
to stator-resistanc variation wit
uing thethe"tage
teprtr.'Ti
requires mel" isand leakage
stator resistance lemend.cthis
inductance mode
to be
withtemperature.estimated
estimation error becomes especially important near zero accurately. This section
control method used b the authors
briefly describes the vector
speed, where the stator resistance voltage drop tends to be y
comparable with machine counter-electro magnetic force
(EMF). Therefore, some means of accounting for the a
i well known that i an
function of both the
aIt
stator and rotor
machine the torque is
currents, also when
inducton
resitanc vaiaio du otmeaueiseta. stator current iS controlled both the rotor flux and torque
Otnemeriathondufocorrectlyestatingrthe
rsesisentian
One method for correctly estimating the resistance valueval values are affected. Hence, a direct control of torque with
sttrcf'.sbcmsiposbe[I] oee,bby
transforming the three phase impossible
during operation is placing temperature-sensing thermistors m stator currents becomes [1]. However,
system (a-b-c) into stationary (-
the stator winding in a distributed manner and measuring the and sychronously rotating (d-q) reference frames using
average stator winding temperature. Once the temperature of
thewinin is knw esiatn th stto resistancebecomes
y g
Clarke and Park transformations respectively and coinciding
r tq)
a simple matter, given its value at a known temperature [7]. the d-axis and rotor flux (WV); the electrical torque equation
However, the use of such sensors in a sensorless drive is not
acceptable. T p 3 Lm 1U I7)
Another method for online estimation of the stator e 2 2 Lr (7)
resistance, based on the zero-sequence model, is presented in
[8]. The proposed method provides an estimate of the stator Where p is the number of poles, Wd is the d-axis
resistance that does not require the knowledge of any other component ofthe rotor flux and Isq is the q-axis component of
parameter and is independent of the drive control strategy. the stator current.
The method requires the neutral wire of the machine be
available and the measurement of the phase currents and q PAL
voltages. However, in some cases neutral wire is not d
available. d
Ha and Lee proposed a novel online identification method Is
that can be used for estimating both R, and Rr [9]. In this
approach a small magnitude and low frequency AC
component is injected to the flux command. Their
identification algorithm for Rs is motivated from the steady isq c=a
state power flow between stator and rotor through the air gap. ________Se ____.____
This method can be applied only under steady stateI
conditions. Furthermore the injected low frequency signal s
may cause problems at low speed. Fig.3 Vector diagram for field orientation of induction motor

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 Fig. 3 shows the vector diagrams of the reference frames, calculated with the following equation:
the projections of stator current and rotor flux, and the rotor
flux position with respect to u-axis (Oe). In the steady state, dOe (Usq - Isq Rs ) /sd -2(Usd - 'sdRs )Ysq
namely if the derivative of 1d iS zero, Vd can be expressed as s= (12)
follows: dt
2

Yfrd = LmIsd (8)

B. Online Resistance Estimation Method
Therefore, Equation (7) can be rewritten as in (9); which
means when the rotor flux is maintained constant, the torque
The stator voltage vector at u-P
reference frame (Us, and
of the motor can be controlled through Isd and Isq1
Usp) is given by [1]:
p3 mj U = 3u2 + U (13)
Te = 2 Isd isq (9) U, = R.I - (14.a)
Fig.4 shows the Field Orientation Control (FOC) scheme U,s = RSI+ ,ws (14.b)
used by the authors. The drive utilizes the voltage control From the above equations the stator resistance is given by:
method without speed sensors; hence the observed parameters U
in the drive are the stator voltages (Us) and the stator currents R - C <Isa
U (15)
(Is). Since it is assumed that the system is balanced, it is '
s
enough to measure the two of the currents in the three-phase w a
motor withmotrsensors.
wth ensrs.Aftr two sato
After to currents
stator cuf nd voltages are
ets and oltgesareThe only unknown in (15)
explained below. Since Isa=Isa=0 atVs,,
iS the which can be found as
zero cross instant Isa of
measured and transformed into d-q components (isd and Isq), and the total flux linkage (Y5) is the vector summation of the
these values are compared with the reference values, which and q componentsofnthe flux inkage as show abeow:
are calculated from the reference torque and flux values using
(8) and (9). The error is inserted into a Pl regulator in order to s= + = + (16)
generate the voltage references for the PWM generator, which
utilizes Space Vector Pulse Width Modulation (SVPWM) where Isq is known and Ysq =JLsIsq
technique.
The actual stator (Vs) and rotor flux (Vr) are given by the
following equations: and YVfsd = Yfsd(ref) (18)

= j (Us - R I )dt (10) Where

the Vsd(ref
is the reference
stator flux linkage. value(17)
Substituting forand
the(18)
d-component of
into (16), Vs
can be found. From equation 14a it follows that;
r= Lr ( 11)
m u
Usa = -CWs s/3 > V s(Ua) (19)
The synchronous speed (wos), which is the derivative of the COs
flux position with respect to a-axis (0e), seen in Fig.3, is

lsq ref Usq re ~~~~~~~~~~~~Usa

re f

;| Invers 3-phase L <

~~PI
js Park Trans. SV-PWM * 3-Phase +
_( ~~~~~~Regulator N dqtoa#Gnror Inverter Vdc
Isd ref A Usd ref Uso ref

5q <
~~~Park Cak
Tr an sformati on .< Tr an sformati on -_
sd | ~~a-:8 to d-q l a-b-c to a-3#s

Figure 4 Field Orientation Control (FOC) scheme for the motor drive under test

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 a'

a) OM4------
C)
0 a aa
en a m a a
U, ()0.15- - - - ~ - - ===r~

E I I

0
0 1 00 200 300 400 500 800 700 800 900
Time (Seconds)
Figure 5: Estimated stator resistance values versus time

Hence, knowing ~Vs, one can obtain V, and cWs using (16)
and (12). Finally, stator resistance value (R~) can be
calculated substituting TP, and cWs into (1 5).
C. Results
For verifyving the online stator resistance algorithm, the
same drive described in section (JIIB) is used for driving
Motor 2. During the test the motor is driven with the vector
control algorithm presented in the part A. The motor is driven
at 5 Hzl, since the effect of the drift in the resistance value is
more severe at lower frequencies.
The drive estimates resistance values at each zero crossing
of the stator current and calculates the average of 50
estimated values. Hence, at 5 Hzl, the resistance value is
updated every 10 seconds. These values, that make a total
number of 90 samples, are plotted for 900 seconds in Fig. 5.
In the conventional tests the stator resistance is found to
beed0.49
tHen Q,measurements poes
the estimated cautomataically.
value is fudtreanith Furthermore,g
%0Electronics,
foundto
remain in the 50
the propose
range during methody
the istanot
experiment. prosstne
t oanoieprobes,
Therefore, it can be which
concluded
that this method is very accurate and can be used for the
online estimation of the stator resistance in an induction
sare ommonldencounteed
motor controller. inscionverte drives.RFEENE
s sefr
IV. CONCLUSION
This paper describes a novel approach for measurement of
stator leakage inductance of a vector controlled induction
theMoto
2. urin thetestthe otoris divenwiththe 1631o
moto duingselftunng.The
motorduringself-tuning. approach is found to lead good
results for two different motors. One of these two motors is
designed for variable speed operation and has a low rated
phase voltage for which the leakage inductance measurement
is likely to present problems.
The algorithm proposed adjusts itself to the variations in
measurement conditions for different motors and starts and
In section (III) an on-line stator resistance method is
introduced. This method is suitable for measurements both at
steady state and dynamic conditions.
The test results indicate that both of the approaches lead to
accurate results.
RiEFERENCES
[1]. P. Vas, Sensorless Vector and Direct Torque Control, Oxford
University Press, 1998.
[2]. H. Can, "Implementation of Vector Control for Induction Motors",
[3]. A.M. Khambadkone, J. Holtz, "Vector Controlled Induction Motor
Drive with a Self Commissioning Scheme", IEEE Transactions on
Industrial Electronics Vol 38 No 5, Oct. 1991.
[4]. P. Vas, Parameter Estimation, Condition Monitoring, and Diagnosis
of Electrical Machines, Clarendon Press, Oxford 1993.
[5]. J.L. Silvino, B.C. Rabelo, "An Improved Estimation of the Induction
Machine Leakage Inductances", IEEE Transactions on Industrial
Manchnester,
[6].toucd
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Letter 1992.sao
to the Editor, rssanemthdi
Vol. 46, No.5, Oct. 1999.
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hsmthdi utbl o esreet
Drives with Self Commissioning Based on Taguchi Methodology",oha
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Electronics, Vol. 46 No 1, Feb. 1999.
[8]. B. Bose, N. Patel, "Quasi-Fuzzy Estimation of Stator Resistance
Estimation of Induction Motor", IEEE Transactions On Po-wer
Electronics, Vol. 13, No. 3, pp401-409,May 1998.
[9]. C.B. Jacobina, J.EC. Filho, A.M.N. Lima, "Online Estimation of the
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Model", IEEE Transactions on Powver Electronics, Vol. 15, No.2, pp
~~~~~~~~~346-353, Mar. 2000.
[10]. I. Ha, S. Lee, "An Online Identification Method for Both Stator and
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Transducers", IEEE Transactions on Industrial Electronics, Vol.47,
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[I1.E. Akin, H.B. Ertan, M.Y. Uctug, "Vector Control of Induction Motor
through Rotor Flux Orientation with Stator Flux Components as
Reference", International Conference on Electrical Machines 92,

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