Abstract-- The method of asynchronous motors parameter

identification is introduced simply. The model of asynchronous

motors parameter identification based on two-phase coordinate
system is established. Do not need using signal of rotor magnetic
linkage, through measuring the stator voltage, current and
signal of rotational speed, the method of recursive least squares
is made use of to carry on recognizing motor parameters.
Through the identification of healthy motor and faulty motor,
the relevant parameters of healthy motor and faulty motor are
received. The change regulation of portion parameters before
and after the motor broken is received. Some parameters will
generate great change after motor broken. Based on this, it
could pass parameter identification and faulty diagnosis toward
the state of parameter deviate normal value.
Index Terms induction machine, broken bar, fault analysis,
diagnosis.
I. INTRODUCTION
he parameters such as stator resistance and rotor
resistance, mutual-inductance and leakage-inductance are
very important to motor. The traditional methods to get
motors parameters are no-load experiment and stalling
experiment, but parameters which get from these experiments
are rough. In the whole motor operating range, the real
parameter value of motor is not maintain constant, but has
change along with the change of motor operating mode in
definitive range. Otherwise, due to the limitation of locale
condition, no-load experiment and stalling experiment are
proceeding inconveniently. So on-line and real-time
identification is need to motors parameters.
The asynchronous motors parameter identification
technique is generally divided into three major types. First is
frequency-domain identification, this acquires motor
parameters according to the system frequency characteristic.
Frequency-domain identification is comparable mature in
calculated method. The stabilization of this method is good

This research project is supported by National Natural Science
Foundation of China(50477010) and China Education Ministrys Foundation
Program for Excellent Young Teachers in Universities.
Hongzhong Ma is with the Department of Electrical Engineering, Hohai
University, Nanjing, 210098, China. Phone: 008625-83787562; e-mail:
hhumhz@163.com, ma@hhu.edu.cn.
Xinrong Ni is with the Department of Electrical Engineering, Hohai
University, Nanjing, 210098, China.
Yuanyuan Ding is with the Department of Electrical Engineering, Hohai
University, Nanjing, 210098, China.

and has definite filter function, but it request input signal
stricter and establish the foundation of the linear system
steady-state analysis, could not react nonlinear of the
dynamic condition process. The research concerning motors
frequency-domain identification is decrease both in domestic
and international. Second is time-domain identification,
parameter identification of asynchronous motor at the present
all belong to this kind, such as recursion least-squares
procedure method (RLS), expansion Kallman filtering
method (EKF), model reference self adapting method
(MRAS) and so on. Third is artificial intelligence method,
such as nerve network identification, inheritance algorithm
and so on
[1-4]
.
Least-squares procedure method is a common method of
parameter identification. The objective function is quadratic
sum of error towards measured results to calculated results.
The objective function is simple and the value of least
objective function is zero. Utilizing least-squares procedure
method to pass recursion algorithm, and this method do not
need using signal of rotor magnetic linkage, and only make
use of motor stator voltage, current and signal of rotational
speed. In this way, through the observation of magnetic
linkage do not affect the identification accuracy. Cancel the
coupling between parameter calculation and magnetic
linkage observation, and increase the control precision of
system. Compute quantity is not huge, and adapt to on-line
and real-time identification of asynchronous motors
parameters.
On-line and real-time identification to motors parameters
could not only satisfy the need of high performance
frequency control system, but also apply to other purposes,
such as motor fault diagnosis, motor temperature monitor and
so on. Parameter identification is made use of to carry on
motor fault diagnosis in this paper.
II. THE MATHEMATIC MODEL AND COORDINATE
TRANFORMATION OF ASYNCHRONOUS MOTOR
A. Establishment of the mathematic model of asynchronous
motor
After proper simplification, the mathematic model of
asynchronous motor in the three phase stationary coordinate
system can be listed as
[6-7]
:
Parameter Identification and its Application in
Fault Diagnosis of Asynchronous Motor
Hongzhong Ma, Xinrong Ni, Yuanyuan Ding, Jingang Song
Department of Electrical Engineering, Hohai University, Nanjing210098, China.
T
Proceeding of International Conference on Electrical Machines and Systems 2007, Oct. 8~11, Seoul, Korea
- 1824 -

1) Voltage equation:
p i R u + = (1)
Where:
[ ]
T
c b a C B A
u u u u u u u , [ ]
T
c b a C B A
i i i i i i i
[ ]
T
c b a C B A
=
(
(
(
(
(
(
(
(

=
r
r
r
s
s
s
R
R
R
R
R
R
R
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0
0 0 0 0 0

c b a C B A
u u u u u u , , , , , denote the instantaneous value of
stator and rotor phase voltage respectively.
c b a C B A
i i i i i i , , , , , denote the instantaneous value of
stator and rotor phase current respectively.
c b a C B A
, , , , , denote the whole flux linkage
of stator and rotor windings respectively.
r s
R R , denote the stator and rotor resistance respectively.
P denotes the operation of derivation.
The quantities of rotor which mentioned above have been
reduced to the side of stator.
2) Flux equation:
i L = (2)
In the equation: [ ]
T
r s
, = ,
T
r s
i i i ] , [ = .
r s
, denote the flux linkage of stator and rotor
windings respectively.
r s
i i , denote stator and rotor current respectively.
So the form of partition matrix can be listed:
(

=
(

r
s
rr rs
sr ss
r
s
i
i
L L
L L

In the equation:
(
(
(

+
+
+
=
1 1 1 1
1 1 1 1
1 1 1 1
5 . 0 5 . 0
5 . 0 5 . 0
5 . 0 5 . 0
l m m m
m l m m
m m l m
ss
l l l l
l l l l
l l l l
L

(
(
(

+
+
+
=
2 2 2 2
2 2 2 2
2 2 2 2
5 . 0 5 . 0
5 . 0 5 . 0
5 . 0 5 . 0
l m m m
m l m m
m m l m
rr
l l l l
l l l l
l l l l
L

(
(
(

+
+
+
= =



cos ) 120 cos( ) 120 cos(
) 120 cos( cos ) 120 cos(
) 120 cos( ) 120 cos( cos
0 0
0 0
0 0
1 m
T
rs sr
L L L

Where:
1 l
l ,
2 l
l are leakage-inductance of stator and rotor;
1 m
l ,
2 m
l are mutual- inductance of stator and rotor;
denotes the position angle between stator and rotor
windings.
sr
L ,
rs
L denote the two partition matrixes transposed for
each other, and have relations with the rotor position
angle , each element of them is time-varying parameter,
and this is a root for the nonlinear of system. In order to
transform time-varying parameter into time-invariant
parameter, coordinate transformation must be used.
B. The mathematic model of two phase coordinate system
Applying Clarke transformation, and locating reference
coordinate on stator 0 coordinate system, the mathematic
model of asynchronous motor under two-phase stationary
coordinate can be deduced and acquired as follows
[7]
:
1) Voltage equation:
(
(
(
(
(

+
(
(
(
(
(

(
(
(
(

=
(
(
(
(
(

r
r
s
s
r
r
s
s
r
r
s
s
r
r
s
s
p
i
i
i
i
R
R
R
R
u
u
u
u
0 0 0
0 0 0
0 0 0
0 0 0
(3)
2) Flux equation:

+ =
+ =
+ =
+ =

r r s m r
r r s m r
r m s s s
r m s s s
i l i l
i l i l
i l i l
i l i l
(4)
Substitute flux equation into voltage equation can get:
(
(
(
(
(

(
(
(
(

+
+
+
+
=
(
(
(
(
(

r
r
s
s
r r r r m m r
r r r r m r m
m s s
m s s
r
r
s
s
i
i
i
i
pl R l pl l
l pl R l pl
pl pl R
pl pl R
u
u
u
u
0 0
0 0
(5)
For squirrel-cage asynchronous motor, in the equation:
0 = =
r r
u u ,
s
R
r
R denote the stator and rotor
resistance respectively (after reduced).
s
l ,
r
l ,
m
l denote
stator self-inductance, rotor self-inductance and the mutual-
inductance of them respectively;
1 l m s
l l l + = ,
2 l m r
l l l + = ,
1 l
l ,
2 l
l denote stator and rotor
leakage-inductance respectively.
For calculation conveniently, the above quantities are
normalized.
III. PARAMETER IDENTIFICATION OF ASYNCHRONOUS MOTOR
A. Least-squares procedure parameter identification
Supposing there is a linear system as the following which
is shown in Fig. 1.

- 1825 -


Fig. 1. A linear system.

y is an output variable, it and input variable
) , , (
2 1 n
u u u U " = is linear relationship, can be listed as:
n n
u u u y + + + = "
2 2 1 1
(6)
Where ) , , , (
2 1 n
" = is a constant set, and its value is
unknown. By observing the value of Y and U at different
time, the value of is expected to be estimated. Supposing
the measuring series of Y and U has been measured at the
moments of
n
t t t , , ,
2 1
" , and use ) (i y and
m i i u i u i u
n
, , 2 , 1 ), ( , ), ( ), (
2 1
" " = to denote measuring
data. Then the relationship between these data can be denoted
by m linear system of equations which is shown as:
m i i u i u i u i y
n n
. , 2 , 1 ) ( ) ( ) ( ) (
2 2 1 1
" " = + + + = (7)
Lead-in vectors and matrixes as follows:
T
m y y y Y )] ( , ), 2 ( ), 1 ( [ " = ,
T
n
] , , , [
2 1
" =
(
(
(
(

=
) ( ) ( ) (
) 2 ( ) 2 ( ) 2 (
) 1 ( ) 1 ( ) 1 (
2 1
2 1
2 1
m u m u m u
u u u
u u u
n
n
n
"
#
"
"

So the equations set can be described in form of matrix:
= Y (8)
When n m > , use the least square-error method to
define .
Define an error vector e :
T
m
e e e e ] , , , [
2 1
" =
Then the measuring vector is:
e Y + = (9)
According to the rule of square-error to establish object
function J (name cost function too):

) ( ) (
1
2
= =

=
Y Y e J
T
m
i
i
(10)
Choose a set of

and make the object function J to the

least. Make use of matrix vectors, and use J to make
derivation to , and make it to zero, then:

Y
T T
=
1
) (

(11)
The above equation is the estimate equation of least-
squares procedure method (LSE).
B. Least-squares procedure form of motor mathematic
model
If direct transform the motor two-dimension mathematic
model into the least-squares procedure form and pass
identification on motors parameters, then must be conscious
of rotor magnetic linkage

r
and

r
, the two quantities
can't measure to get directly, but get by magnetic linkage
observation or state estimation, demand use the parameters of
stator and rotor, so the coupling between rotor magnetic
linkage observation and parameter identification of stator and
rotor is appearing, and this affect the accuracy of parameter
estimation.
In order to cancel rotor magnetic linkage, transform the
traditional equations, collate and get:
dt
d
dt
di
u
dt
du
l
u
l
i
l
i
l
dt
di
dt
i d
r
r
s
r
s r
s
s
s
r s
s r
r
m
s
r r
m s
r
s

+ + + +
+ + = +
)
1
( ) (
1 1
) ( ) (
2 2
2
(12)
dt
d
dt
di
u
dt
du
l
u
l
i
l
i
l
dt
di
dt
i d
r
r
s
r
s r
s
s
s
r s
s r
r
m
s
r r
m s
r
s

+ + +
+ =
)
1
( ) (
1 1
) ( ) (
2 2
2
(13)
In the equation:
r s
m
l l
l

=
,
r r s
m
s
s
l l
l
l
R

2
+ =

In the two equations which are mentioned above, only two
items have rotor magnetic linkage:

r
r
dt
d and

r
r
dt
d
, they are the product of rotor magnetic linkage
and rotational speed differential. Obviously, if motors
rotational speed is stabilizing or only has little change,
0 =
dt
d
r

could be considered. In this time, rotor magnetic

linkage is canceled, and in equation (12) and equation (13),
suppose:
r s
s
r r
m
l
R l
k

= =
2 1
,
s
s
r
m
l
R l
k

= =
2

r s
l
k

1
3
=
,
s
l
k

1
4
=
,
)
1
( )
1
(
5
r s
s
r
l
R
k

+ = + =

According to the definition of k1~k5, motors parameter
calculation equation can be listed as follows:

= = =

= =
) (
5 2 4
3
3
4
1
2
3
5 2
3
1
k k k
k
k
k
k
k
k
k k
l
k
k
R
r
s s

(14)
Actually, the four parameters of motor can only be got
according to k1~k5, if want to get other parameters, some
assumed conditions must be use to the parameters of motor,
r s
l l = . In this way, the identification method of rotor
resistance and stator and rotor mutual-inductance can be got.
Transform into matrix form:
- 1826 -

1
2
2
2
3
2
4
2
5
s
s s s
r s r s s r s
s s
s
s
s r s s r s
r
k
di
d i du di
k
i i u u
dt dt dt dt
k
du di
d i di
i i u u k
dt dt
dt dt
k

(
( ( (
+ +
( ( (
( ( = (
( ( (

( ( (


(

(15)
It could be seen:
dt
di
dt
i d
s
r
s

+
2
2
and
dt
di
dt
i d
s
r
s

2
2
are output, these
two output quantities toward the parameters waiting for
identification k1~k5 are linearity, in this time, the least-
squares procedure can be made use of to pass identification
to parameters.
IV. THE APPLICATION OF ASYNCHRONOUS MOTOR FAULT
DIAGNOSIS BASED ON PARAMETER IDENTIFICATION
A. Discretization treating
In the equation (15), the item of rotor magnetic linkage
has not existed. The identification of parameters k1~k5 only
need to detect stator voltage, current and rotational speed.
Because of the model is based on stationary coordinate
system, so according to the measured value is very easy to
pass on 3/2 transformation, and get the needed various
variable. But the equation (15) is a type of run-on time
model, and need to discretization on it to get the calculated
equations. In the equation (15), the currents second
derivative and current and voltages first derivative is
appearing. According to the following discretization
equations (16) (17) could pass on discretization. The
equation (18) can be got:

T
x x
dt
dx
k k

=
+1 (16)

2
1 2
2
2
2 ) ( / ) 1 ( /
T
x x x
T
k dt dx k dt dx
dt
x d
k k k
+
=
+
=
+ +
(17)
In the equation:
k
x is the sampling value of x in k time, T
is sampling period.

(
(
(
(
(
(

+
+
+
(

=
(
(

+
+ +
+ +
+ +
+ +
T k k
k
T k
T k T k
T k
Tu Tu Ti i i
Tu Tu Ti i i
u T Ti i
u T Ti i
k s k s k s r k s k s
k s k s k s r k s k s
k s r k s r k s
k s r k s r k s
4 3
4
2
5
2
1
5
) 1 ( ) 1 (
) 1 ( ) 1 (
2
) 1 ( ) 2 (
2
) 1 ( ) 2 (
1
1
2

(18)
Combine the form of least-squares procedure, it could be
supposed:
T
T k k k T k T k T k T k ] , , 1 , 1 , 2 [
4 3 4 2 5
2
1 5
+ + + =
(

=
+ +
+ +
k s k s k s r k s k s
k s k s k s r k s k s
Tu Tu Ti i i
Tu Tu Ti i i

) 1 ( ) 1 (
) 1 ( ) 1 (

(
(

+
=
+ +
+ +
k s r k s r k s
k s r k s r k s
u T Ti i
u T Ti i
Y




2
) 1 ( ) 2 (
2
) 1 ( ) 2 (

Therefore, the three phase current and voltage of motor
stator and motor rotational speed are collected to
calculated , after get , the parameter
i
k can be calculated,
so the each parameter of asynchronous motor can be
calculated.
B. The programmer of actual measurement
This article takes the Y90S-4 machine as an example to
carry on a test. When motor operating under rated load,
collect the value of asynchronous motors current and
rotational speed in the same time, and use the method which
mentioned above to pass parameter identification to the
healthy asynchronous motor, the identification value of stator
resistance
= 73 . 5
s
R
, rotor resistance
= 12 . 5
r
R
, stator
inductance mH L
s
475 = , rotor inductance mH L
r
475 = could
be got.
The figure of experimental equipment is shown in Fig. 2.
Experimental device include Y2 series of motors, HBM
angular force and rotational speed sensing device which is
produced in German, magnetic powder brake, DF1024
portable type wave recorder, voltage regulator and so on.


Fig. 2. Experimental equipment diagram.

HBM angular force and rotational speed sensing device
mainly include sensing modular T20WN, the measuring
modular of angular force MP01, the measuring modular of
rotational speed MP60 and connect modular VK20, which
could monitoring motors rotational speed and output angular
force on-line.
C. The testing programmer and the analysis of identification
results
When operating on rated load, measurement is past on to
healthy motor, one broken bar and two broken bars
respectively. For the fault of motor, such as squirrel-cage
rotor broken bar, it could implementation through use electric
to drill off conducting bar on motor rotor, which is shown in
Fig. 3.

Fig.3. The broken bar of rotor used in experiment.

According to a set of measured data, use DF1024 portable
- 1827 -

type wave recorder to collect three phase current and voltage
of stator, and use rotational speed sensing device to measure
motor rotational speed. The equation (19) can be used to
calculated , after get , the parameter
i
k can be calculated,
and the each parameter of asynchronous motor can be
calculated.
Y
T T
=
1
) ( (19)
1) Before testing, motor should operate under constant
load in the first and go ahead to the time when the elevated
temperature is stabilizing. When motor operating under rated
load, collect the value of asynchronous motors current and
rotational speed in the same time, and use the method which
mentioned above to pass parameter identification to the
healthy asynchronous motor, the identification value of stator
resistance
= 73 . 5
s
R
, rotor resistance = 12 . 5
r
R ,
stator inductance
mH L
s
475 =
, rotor inductance
mH L
r
475 =

could be got.
2) When motor operating under rated load, collect the
value of asynchronous motors current and rotational speed
in the same time, and pass on parameter identification to the
one broken bar of asynchronous motor, the identification
value of stator resistance = 76 . 5
s
R , rotor
resistance = 19 . 5
r
R , stator inductance
mH L
s
483 =
, rotor
inductance mH L
r
483 = could be got.
3) When motor operating under rated load, collect the
value of asynchronous motors current and rotational speed
in the same time, and pass on parameter identification to the
two broken bars of asynchronous motor, the identification
value of stator resistance
= 78 . 5
s
R
, rotor
resistance = 32 . 5
r
R , stator inductance
mH L
s
478 =
, rotor
inductance mH L
r
478 = could be got.
In order to compare convenience, the above results of
identification are show in table 1.

TABLE I
THE FAULT ANALYSIS TABLE OF MOTOR PARAMETER IDENTIFICATION
Types of
fault
Stator
resistance
( )
Rotor
resistance
( )
Stator
inductance
(mH)
Rotor
inductance
(mH)
Healthy
motor
5.73 5.12 475 475
1 broken bar
motor
5.76 5.19 483 483
2 broken bars
motor
5.78 5.32 478 478

From the comparisons showed in table 1, when the
number of motor broke bars is increasing, rotor resistance of
asynchronous motor has the trend to increase. Motors rotor
resistance when one bar broken is larger 1.37% than healthy
motor, motors rotor resistance when two broken bars is
larger 3.9% than healthy machine, so the varying qualities of
rotor resistance when two broke bars is 2.85 times of one
broken bar. And the stator resistance, stator inductance and
rotor inductance do not change obviously.
V. CONCLUSION
1) The motor parameters accuracy is very important to
motor operation, control and fault diagnosis.
2) Least-squares procedure method is made use of to
carry on motor parameter identification. This method do not
need using signal of rotor magnetic linkage, and only use
motor stator voltage, current and signal of rotational speed.
Cancel the coupling between parameter calculation and
magnetic linkage observation, and increase the control
precision of system, and adapt to on-line and real-time
identification of asynchronous motors parameters.
3) Using least-squares procedure method and to pass
parameter identification on healthy motor, rotor one broken
bar and two broken bars respectively. This can be seen: when
the number of motor broke bars is increasing, rotor resistance
of asynchronous motor will increase. So the on-line
identification can be past on the resistance of asynchronous
motor rotor winding in real engineering application, and
according to the state of rotor winding resistance deviate
normal value to carry on motor fault diagnosis.
VI. REFERENCES
[1] Faa-Jeng Lin, Ho-Ming Su, Chung Li. A High-Performance Induction
Motor Drive with On-line Rotor Time-Constant Estimation[J]. IEEE
Transactions on Energy Conversion, 1997, 12(4):297-303.
[2] Riccardo Marino, Sergei Peresada, Patrizio Tomei. On-line Stator and
Rotor Resistance Estimation for Induction Motors[J]. IEEE
Transactions On Control Systems Technology, 2000, 8(3): 570-579.
[3] JianJun Li, JieBo Sheng. The Research of Asynchronous Motor Stator
and Rotor Parameter Identification Method[J]. Electrician Technique
Transaction, 2006, 21(1): 70-74.
[4] Jawad Faiz, Mohammad B. B. Sharifian. Different Techniques for Real
Time Estimation of an Induction Motor Rotor Resistance in
Sensorless Direct Torque Control for Electric Vehicle[J]. IEEE
Trans. Energy Conversion, 2001, 16(1): 104-109.
[5] Cristian Demian, Augustin Mpanda-Mabwe, Humberto Henao, et al.
Detection of Induction Machines Rotor Faults at Standstill Using
Signals Injection[J]. IEEE Transactions On Industry Applications,
2004, 40(6): 1550-1559.
[6] HongZhong Ma, QianSheng Hu, YunGai Huang. The Emulation and
Equipment Research of Induction Motor Rotor Wingding Fault[J].
China Motor Engineering Transaction, 2003, 23(4): 107-112.
[7] XingRong Ni. The Fault Diagnosis Research of AC Machine Based On
Parameter Identification[D]. NanJing: HoHai University, 2007.
VII. BIOGRAPHIES
Hongzhong Ma was born in Jiangsu Province,
China, on July 5,1962. He received the B.S.(1989),
M.S.(1994) and Ph.D(2002) from Southeast
University of China.
Currently, he is a professor in the Hohai
University of China. He is also the Director of the
Department of Electrical Engineering, Hohai
University, China. His primary research interests
are condition monitoring and fault diagnosis of
electrical equipment, Electrical machines and
drives, power system research.

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