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Abstract: The vector control in the speed and torque controlled ac drive is typically implemented through measuring
the rotor speed or position. However, speed and position sensors require the additional mounting space, reduce the
reliability in harsh environments and increase the cost of a motor. Therefore, many studies have been performed for the
elimination of speed and position sensors. This paper investigates an improved sliding mode observer for the speed
sensorless control of an induction motor. The proposed control strategy is the sliding mode observer with a variable
boundary layer for a low-chattering and fast-response control. zmulation and experimentation have been performed to
verify the proposed control algorithm.
1. INTRODUCTION
ڍ ڌڍ ڌ
ª º
«L ls + L ms − L ms − L ms »
ڍ ڌڍ ڌ
2. MATHEMATICAL MODELING OF « »
INDUCTION MOTOR Ls = « − L ms L ls + L ms − L ms » ,
ڍ ڌ ڍ ڌ
« »
« »
Fig. 1 shows the real, stationary and synchronously «¬ − L ms − L ms L ls + L ms »
rotating axes of a 3-phase symmetrical induction motor. ¼
ڍ ڌڍ ڌ
« »
Lr = « − L ms Llr + L ms − L ms » ,
ª v abcs º ªR s + pL s pL sr º ªi abcs º
ڍ ڌ
« »
« »=« T »« » (1) « »
¬ v abcr ¼ ¬ p(L sr ) R r + pL r ¼ ¬i abcr ¼
«¬ − L ms − L ms L lr + L ms »
¼
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ª 2ʌ 2ʌ º d ωm
« cos ș r cos (ș r + ) cos (ș r − ) » T=J + Dωm + TL (21)
3 3 dt
« 2ʌ 2ʌ »
L sr = Lms «cos (ș r − ) cos ș r cos (ș r + )» where J is the inertia coefficient and D is the friction
« 3 3 »
« 2ʌ 2ʌ » coefficient, ω m is the mechanical speed of the rotor,
«cos (ș r + 3 ) cos (ș r − 3 ) cos ș r » and TL is the load torque.
¬ ¼
v ds = R s i ds + pλ ds − ω e λ qs (11) ªi º ªi º ªλ º
Įs Įr » ªvα s º
x=« s », i = « », Ȝ = « , v =« »,
v qs = Rs iqs + pλds + ωe λds (12) «¬Ȝ r »¼ s «¬i ȕs »¼ r «λ » s « vβ s »
¬ ȕr ¼ ¬ ¼
0 = Rr idr + pλdr − (ωe − ωr )λqr (13)
ڌ
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boundary layer for a low-chattering and fast-response Fig. 4 (a), (b) and (c) show the speed responses in the
control. Fig. 2 shows the variable boundary layer of the speed commands of 20rpm, 50rpm and 800rpm and in
proposed sliding mode observer. the no load.
φ φ 30
200rpm 50rpm
u 200rpm u 20
Speed [rpm]
Variable
10
Boundary
layer
Real Speed
0
u 50rpm 30
0 1 2 3 4 5
s
20
Speed [rpm]
10
Estimated Speed
0
0 1 2 3 4 5
Time [sec]
G
(a)
Fig. 2 Control input with a variable boundary layer
Speed [rpm]
25
Time [sec]
ids* PI
νds να s Space
G
ω r* iqs* νqs
Vector
Rotation
νβs Vector Vdc (b)
PI PI PWM
θe
iqs iαs 800
Vector
Speed [rpm]
ids Rotation
400
iβs
ωr Proposed 0
Real Speed
IM 0 1 2 3 4 5
SMO
800
Speed [rpm]
400
Fig. 3 Configuration of the overall system
Estimated Speed
0
0 1 2 3 4 5
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figures the proposed sensorless control algorithm has an
improved and robust performance.
50
Speed [rpm]
300
25
Speed [rpm]
Real Speed 50
100
Speed [rpm]
4 6 8 10 12 14
300
25
Speed [rpm]
Speed [rpm]
300
400
Speed [rpm]
400
Speed [rpm]
20
Speed [rpm]
200
10
Real Speed
Real Speed 100
0 4 6 8 10 12 14
0 1 2 3 4 5 300
30
Speed [rpm]
20
Speed [rpm]
200
10
Estimated Speed
Estimated Speed 100
0 4 6 8 10 12 14
0 1 2 3 4 5
Time [sec]
Time [sec]
G G
(a) (a)
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the proposed algorithm shows a better performance in
300 the parameter variation compared to the conventional
algorithm.
Speed [rpm]
200
REFERENCES
Real Speed
100
300
4 6 8 10 12 14 [1] Edited by K. Rajashekara, A. Kawamura, and K.
Matsuse, Sensorless Control of AC Motor Drives,
IEEE Press, 1996.
Speed [rpm]
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