Sensorless Speed Control of an Induction Motor
with No Influence of Resistance Variation
Toshiyuki Kanmachi
Smdai National College of Technology
1, Kii:ahara, Aoba-ku, Sendai 989-3 1, JAPAN
Phone: +81-22-392-476 1
Fax: +8 1-22-392-3359
E -mail: kanmachi@cc.sendai-ct.ac.j p
Abstract - M m y speed sensorless vector control
systems of induction motors have been developed. However,
the speed control characteristics are affected by machine
temperature variations, because these methods use the
primary and the secondary resistance value to estimate the
rotor speed.
This paper describes method of the primary and the
secondary resistance estimation for speed sensorless control
systems. The primary resistance estimation uses the
secondary flux which is calculated by the instantaneous
reactive power. 011 the other hands, the secondary
resistance is directly calculated by the line voltage and the
current without speed sensors. This method makes possible
on the PWM inverter fed induction motor. By combining
these two methods, the speed control characteristic is robust
to the machine temperature variations. The feasibility of
these methods was verified by some simulation and
experimental results. In the tested system, the compensation
of the primary and the secondary resistance mismatching is
achieved.
I. INTRODUCTION
The speed sensorless vector control systems of an
induction motor have been developed and applied in the
industrial drives.[ 1 I [2][3] These systems, which have
economic advantage: and high performance, are required
in several applications. However, there are two problems
in the performance of the speed sensorless vector control
systems. First, the estimation of the primary and the
secondary flux are difficult in the low speed region.[4]
The performance of the torque and the speed are affected
by this problem. The second, the accuracy of speed control
is influenced by mismatched motor parameters, used in
the speed estimation, the primary and the secondary
resistance.[5]
Some identification methods of the secondary
resistance without speed sensors have been
O-78O3-3823-5t9.7l~10.0001997 EEE
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Isao Takahashi
Nagaoka University of Technology
1603-1, Kamitomioka, Nagaoka, 940-21, JAPAN
Phone: +81-258-47-95 15
Fax: +81-258-47-9500
E-mail: taki@voscc.nagaokaut.ac.jp
proposed.[6][7] In these methods based on the adaptive
identification system, the secondary resistance in the
controller can be converged to the correct value with long
time constant. We already had proposed a directly
identification method of the secondary resistance.[8][9] In
this method, the secondary resistance is calculated quickly
by only using the instantaneous terminal voltage and the
line current without speed sensors.
On the other hand, the sensorless vector control system
with no influence of the primary resistance had been
proposed.[ 101 In this system, the rotor speed is estimated
by using the reactive power, and it is robust to the primary
resistance.
In this paper, the primary resistance identification
method using the reactive power is proposed.[ll] This
method can be applied to existing speed sensorless control
system. AdQtionally, by combining to the above
secondary resistance calculation method, the sensorless
speed control system will be free from the machine
temperature variations.
11. PRIMARY RESISTANCE IDENTIFICATION
Fig.1 illustrates the equivalent circuit of an induction
motor. Base on this circuit, the characteristics equations
are expressed as (1).
"
Fig.1. Equivalent circuit of induction motor
91 PCC-Nagaoka '97

where R I and R2 are the primary and the secondary
resistance; LI and Lz are the primary and the secondary
self-inductance; A4 is the mutual inductance; wm is the
rotor speed; p represents d/dt; a is equal to M/Lz ; C is
equal to L l - a M . The secondary flux a q h d , are
obtained to solve the first and the second lows of (1) as
These equations mean that the secondary flux can be
directly calculated from the primary voltage and the
primary current with considering of the voltage drop at R,
and the leakage flux. The accuracy of these equations are
affected by RI variations.
On the other hand, the reactive power q, which is
calculated by (4), means the energy on the mutual
inductance and the leakage inductance.
The exciting current of the secondary flux lois calculated
using q as
q / ( w o a A , f ) - P I f l(aA4)
where w0is the angular speed of the secondary flux vector.
On the steady state, woapproximates to the angular speed
of the primary current col,therefore the amplitude of the
secondary flux is estimated as follows;
Fig.2. Adaptive identification system of primary resistance
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Since (6) does not involve R I , the accuracy is robust to RI
variation.
Fig.2 illustrates the adaptive identification algorithm of
E,, where (6) is the reference model and (3) is the
adjustable model. The error between the secondary flux of
these model is used to drive the PI adaption mechanism
which generates RI for the adjustable model.
Fig.3 s h e w the simulation results of the proposed
identification method. The nominal value of the primary
resistance is equal to 0.53(R), and the initial value of R^,
in the adjustable model is 50(%) of the nominal value.
The secondary flux of (3) converges to the value of (6)
within 2 (sec). The primary resistance adjustment from
the initial value to the correct one is verified from fig.3.
Fig.4 shows El identification errors of the proposed
method with the mismatching of the mutual inductance
aM. The accuracy of the secondary flux calculation of (6)
is affected directly by a M mismatching. Therefore, the
mismatch of a M will be a serious problem for this method.
"Identification start
7
0
0.8 r I
(5) Time (s)
Fig.3. Simulation result of primary resistance identification.
Load torque (Yo 100
Fig.4. Primary resistance identification error
for mutual inductance mismatching.
92
 h
As can be seen in Fig.4, the minimum R, identification
error at the rated load is k 17(%) with k lo(%)
mismatching of aM.
Fig.5. shows the: identification errors of 2,with
mismatched the leakage inductance &. The leakage flux is
enough smaller than the secondary flux. Then, the
influence of the leakage inductance mismatching to the
proposed method can be ignored. The maximum
identification error ai: rated load is f1.4(%) for ?z lo(%)
mismatching of&.
111. SECONDARY RESISTANCE ESTIMATION
Solving respectively the third and the fourth low of (l),
the secondary resistaiice is obtained as (7).
These equations demand the value of the rotor speed w,
which is not able to detect on the speed sensorless drives.
Therefore. we cari not calculate these equations
independently. By considering (7) are sirnultaiieous
equations, the secontiary resistance can be calculated as
(8) to eliminate CO,,,;
This equation means that the secondary resistance is
calculated by the inlier product of aty,. i, and dividing
A& - S(Yo)
Load torque (Yo)
A& 1O(%)
t/
Fig.5. Primary resistancc ideatlficatlon s17'01'
for leakaiy inductancz mismatching.
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p(laty,l') by iz q z .
When the secondary flux is represented by the
amplitude and the phase angle 8, as (9), the
differential vector of the secondary flux pry, is calculated
as (10).
If the secondary flus has no ripples, the second term of
(10) is equal to zero, and the phase angle between the
vectors 9, and pq, becomes to d 2 . Therefore, the
numerator of (8) goes to zero. Additionally, the
denominator of (8) which is expressed by the differential
value of the secondary flux amplitude is equal to zero.
Then, it is impossible to calculate the secondary resistance.
However, the PWM inverter makes the flux ripples and
assures the possibility of the 3, calculation.
Fig.6 shows the simulation results of the secondary
resistance estimation. The induction motor, R, is equal to
l(Q), is fed by the PWM inverter and the rotor speed is
kept at 1500(rpni) under rated load. It illustrates that the
numerator and the denominator are not always equal to
zero and the Rr estimation is possible. However, there are
momentary zero cross points in the denominator and the
iiumerator which makes impossible to divide. Therefore,
the estimation of RZmust be avoided near these zero cross
points.
Fig.7 illustrated the R,estimation block diagram. It can
calculate R, directly and instantly from the instantaneous
primary voltage and current. However, when the value of
denominator is small at neighboring the zero cross points,
there is possibility that the calculation error of division
become increase. The calculated R2 is averaged by a LPF
to suppress the calculation error at neighboring zero cross
(a.) Numerator of@)
5 0.3
100 ru (b.) Denoniinator of (8)
Y
4
8
m
0 " " '
Time(iiic)
(c.) Estimated secondary resistance.
" '
20
Fig.6. Sirnulation results of secondary resistance estimation.
93
 points. The time constant of the LPF, which removes the applying the proposed El
and E, identification methods.
ripple frequency components, is enough shorter than the On the steady state, assuming coo is equal to the inverter
time constant of R2 variation. Therefore, the influence of frequency reference wl*, the rotor speed &,is estimated as
the LPF to R", estimation's dynamics is small, and the
rotor speed estimation is almost not affected.
Fig.8 shows the & estimation errors with the
mismatching of uM. The mismatching of uM makes where T is the generated torque, which can be calculated
error in the secondary current calculation of (8). However, bY
the numerator of (8) is not affected by a M mismatching,
)r

then the R, estimation error is small. The maximum error

is equal to -4(%) at lo(%) mismatching in aM.
Fig.9 shows the E2 estimation errors of (8) with
mismatching of L? The secondary flux ripples, which are
used in the secondary resistance estimation, depends on
greatly the leakage inductance. Therefore, R2estimation is
highly sensitive to the mismatching of 1 As shown in
h
Fig.9, the maximum R2 estimation error is f14O(%) with
k lo(%) mismatching in e.
Iv. SYSTEM CONFIGURATION
The estimated speed is fed back and compared with the
speed reference U,,,*. The error between these value is
used to drive the PI controller which generate the inverter
frequency reference col*. The sign of col* gives direction
of the rotation (FB), and the amplitude makes RudStop
(FUS) command which decides the voltage and the
A&(?- dl c
150 1

Fig. 10 illustrates the sensorless speed control system of

c Aa-lo(%)

an induction motor based on DSP(TMS32OC25)

"Id 7s
I 1
(v,,-R,i,,)dt
.I

I
nllr

"ey2d

+ 1 1 -
d.: denominator
, n . : numerator

- 150
t Load torque (Yo)
__._____.___.--._.__
A P - 5(%)

A h - lo(%)
Fig.9. Secondary resistance estimation eil-or
100

for leakage inductance mismatching.

?i3
-4 A a M - 1 O(Yo)

Fig.8. Secondary resistance estimation error

for mutual inductancc mismatching.
I
- DSP(TMS320C25)
- A

Fig. 10. Configuration of speed control system

94

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frequency of the PWTVI inverter. The PWM inverter drives
the induction motor with hexagonal primary flux locus to
produce large flux ripples. The secondary resistance
calculation will be assured by these flux ripples.
To estimate 3,, R"., and the rotor speed d.the primary
voltage and the primary current must be detected. In this
system, the primary flux in (2) and the reactive power in
(4) are calculated by some analogue circuits.
Fig. 11 illustrated the calculation circuits of the primary
flux and the readve power q. The primary flux is
calculated by the integration circuits using the ultra-low
offset voltage amplifiers, and in (2) can be varied to
estimated value in Ijig.2 by the 8bits multiplying D/A
converters. The reactive power is calculated by the
analogue multipliers and averaged by LPF. By using the
analogue circuits, the error due to the sampling cycles and
the quantization is reduced.
The calculated VI. q and the primary current are
detected by 12bits A/D converters, and used to estimate
and in Fig.2 and Fig.7. By using these estimated values
of zl and R",. the rotor speed estimation in (11) is not
affected by the variations of RI and Rr. The speed
estimation and control with the compensation of RI and R,
are carried out on IXP. The calculation time is about
105(ps), and the sampling frequency is fixed at
4.88(kHz).
v. EXPERIMENTAL
RESULTS
Table 1 shows the rating and motor parameters of the
induction motor using in the experiments. The tested
machine is coupled to a 2(kW) dc machine
Fig. 12 shows the primary resistance identification
result which is indelpendent of the secondary resistance
calculation. The induction motor is driven under the rated
load torque and the speed reference is 200(rpm). The
initial value of the eistimated AI is 50(%) of the nominal
value, and the speed control error which is caused by the
mismatching of E, is 24(rpni). The estimated AI
v,2 .
. WId
Fig. 1 1. Block diagram of analog circuit.
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converges to the nominal value within 3(s), and the speed
control error is reduced to l(rpm). The identification error
of R", is -2(%). The dynamics of convergence which
depends on the PI adaptation mechanism is enough to
compensate the machine temperature variations.
Fig. 13 shows the secondary estimation result. The
speed reference is 200(rpm) and the load torque is rated
value. The primary resistance is fixed at nominal value.
The estimated converges from initial value, which is
30(%) of the nominal value, to the correct one. The
converging time which is caused by the LPF is about
1.5(s). It is enough shorter than the time constant of the
machine temperature variations. The speed control error
is reduced from 74(rpm) to 4(rpm). The calculation error
of r?, is about 5(%).
Figure 14 shows the speed control characteristics with
both compensations of the primary and the secondary
resistance. The initial values of each resistance are 50(%)
El of the nominal values. When the induction motor is
controlled without and estimation on the rated
torque, the speed control error is 63(rpm). After
beginning the estimation of El and E2, each values
converge to the suitable value within 3(s). It reduces the
speed control error from 63(rpm) to l(rpm). The
estimation errors of each resistance are under 3(%). This
result shows that the simultaneous estimations of RI, E,
and &,, are possible on the speed sensorless drive system.
VI. CONCLUSIONS
In this paper, the primary and the secondary resistance
estimation methods of an induction motor are described.
They can use for speed sensorless control and compensate
the machine temperature variation. The conclusions are
summarized as follows:
1)By using the reactive power, the primly resistance is
estimated on the adaptive identification system within
2(%) error.
2)By using the flux ripples, the secondary resistance
estimation without speed sensors is possible. The accuracy
Table. 1. Parameters of induction motor.
I 1.5kW Induction motor
200V, 55Hz, 4poles
Primary resistance R I 0 53 Q
Secondary resistance R2 0 51 LZ
Mutual inductance aM 54 3 nlH
Leakage inductance I' 3 19 mH
95
 h Identification start
9,0.8
1
‘Z 0.4

9
E
.*
$ 5 0 Time(s) IO
h

g
v
200
-2
9 100
8
r
Time(s) IO
Fig. 14. Primary and secondary resistance compensation.

Fig. 12. Experimental result of primary resistance compensation. REFERENCES

h
Time(s)
Fig. 13. Experimental result of secondary resistance compensation
of the secondary resistance calculation is obtained within
5(%).
A
3)In this paper, proposed estimation methods of R, and R“,
are combined and applied to the simple speed sensorless
drive. The mismatching of R”, and & are compensated by
these methods, and the speed control error caused by the
mismatching is reduced from 63(rpm) to l(rpm).
4)The accuracy of the proposed primary resistance
estimation method is affected by the mismatching of the
mutual inductance, and the secondary resistance
estimation is highly sensitive to the leakage inductance.
5)By using the analogue circuits to calculate the primary
flux and the reactive power, the detection error caused by
the sampling cycles is reduced.
ACKNOWLEDGMENT
The authors would like to express their appreciation to
Mr. I. Miyashita of Toyo Electric Co. Ltd. and Power
Electronics Laboratory members of Nagaoka University of
Technology.
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