ROTOR RESISTANCE IDENTIFICATION USING NEURAL NETWORKS FOR INDUCTION MOTOR DRIVES IN THE CASE OF INSENSITIVITY TO LOAD VARIATIONS *

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1 Ianian Jounal of Scinc & Tchnology, Tanaction B, Engining, Vol. 30, No. B2 Pintd in Th Ilamic Rpublic of Ian, 2006 Shiaz Univity ROTOR RESISTANCE IDENTIFICATION USING NEURA NETWORKS FOR INDUCTION MOTOR DRIVES IN THE CASE OF INSENSITIVITY TO OAD VARIATIONS M. EBRAHIMI, E. REZAEI, B. VASEGHI AND M. DANESH Dpt. of Elc. Eng., Ifahan Univity of Tchnology, Ifahan, I. R. of Ian Abtact Fo induction moto div contolld by th indict oto flux ointd contol (IRFOC), th oto itanc vaiation ult in an undiabl coupling btwn th flux and th toqu of th machin, and lo of dynamic pfomanc. Thi pap pnt a chm fo th timation of oto itanc uing a nual ntwok (NN) block. In thi ytm th flux and toqu hav bn timatd by uing tato voltag and cunt. A back-popagation NN civ th flux and toqu o and a uppod oto itanc at th input and timat th actual oto itanc at th output, which i ud in th contol of an indict vcto-contolld div ytm. Th nual ntwok ha bn taind off lin with th mathmatical modl of th contol chm in dtuning opation. IRFOC contol, ud with th NN timato, ha bn tudid in th dtuning condition. Th pfomanc of th contoll i good, vn whn th oto tim contant i incad fom nominal at to twic th nominal valu, a wll a toqu vaiation. In thi mthod, timation i don quickly and accuatly, and it dign i impl. Simulation ult fo a 3-hp induction moto divn by a cunt-gulatd pul width modulation CRPWM invt with an indict vcto contoll a pntd to validat th ffctivn of th popod tchniqu fo th pupo of impoving th pfomanc and obutn of th div. Kywod Nual ntwok, vcto contol, induction moto, oto itanc, fild ointd contol, flux timation, toqu timation 1. INTRODUCTION Vcto contol i bcoming a tandad tool fo indutial moto div. Two diffnt appoach a poibl in th aa of vcto contol: th dict vcto contol in which th oto flux poition and amplitud a timatd, and th indict vcto contol in which only th oto flux poition i ud [1, 2]. Th indict oto flux ointd contol mthod (IRFOC) off th mot intting chaactitic and i thu widly ud in high pfomanc div [3]. Th main fatu of th IRFOC a th implicity of it implmntation and th linaity of it tady tat toqu lip chaactitic. So, it contitut a judiciou and attactiv choic fo a gnalizd implmntation of high pfomanc adjutabl pd ac div uing induction moto. Th IRFOC i a fd-fowad contol mthod and i vy nitiv to th vaiation of moto paamt [4, 5]. Thi i du to th fact that all indict mthod of fild ointation a bad on th inv modl of th machin [3] with contant paamt. Indict vcto contol of an induction moto pnt good tacking fo flux and immdiat tacking fo toqu. With gad to th fact that a uccful implmntation of th fild-ointd contol qui Rcivd by th dito May 4, 2003; final vid fom Dcmb 18, Coponding autho

2 224 M. Ebahimi / t al. an accuat calculation of th lip fquncy, a mathmatical modl of th machin i ud. Th o in th modl paamt can cau incomplt dcoupling btwn flux and toqu; th ult i a mimatch btwn th toqu command and th moto toqu in th tady tat mod on th on hand, and an ocillatoy pon of th tanint toqu on th oth [4]. Dtuning of oto tim contant i th mot ffctiv in unuccful implmntation of an IRFOC chm [5], and unfotunatly it may vay widly with th opational paamt of th moto uch a tmpatu, fquncy and th atuation lvl of th machin. High pfomanc contol qui an accuat timat of th machin paamt in all opating point; it hould b don continuouly on-lin to obtain a liabl timat of machin vaiabl. Vaiou chm hav bn popod fo oto tim contant adaptation uch a th modl fnc adaptiv contol (MRAC) tchniqu [6, 7]. Thi adaptation i low and load nitiv. Som of th tchniqu injct diffnt tt ignal [8]. An xtndd kalman filt ha alo bn mployd [9]. Som oth mthod lik cuiv lat qua mthod hav bn popod in [10, 11]. Atificial nual ntwok (ANN) mthod fo th timation of oto tim contant and induction moto paamt w alo invtigatd [12-16]. Howv, mot of th tchniqu qui xtniv onlin mathmatical calculation, which will ctainly inca th hadwa complxiti and cot. Alo om of thm a unobut in load toqu vaiation cau, making thm unuitabl fo pactical application. Hnc a impl univally accptabl mthod i yt to b dicovd [17, 18]. Th popod timation block in thi pap conit of two pat. At fit, flux and toqu a timatd by uing th maud voltag and cunt. Thn, a nual ntwok timato, which i fd by flux and toqu o and a uppod oto itanc, timat th actual oto itanc. Thi mthod ha hown om advantag uch a tability, liability, apid convgnc and obutn ov load toqu vaiation. In ction 2, th oto tim contant timation chm popod in th litatu hav bn viwd. Sction 3 dcib th dynamic modling of indict vcto contol of an induction moto. Th pincipl of atificial nual ntwok a pntd in ction 4. Th pincipl of th popod oto itanc timato, including oto flux and toqu timation, nual ntwok timato and it taining pocdu a pntd in ction 5. Sytm imulation tudi a includd in ction 6. Concluding mak a finally povidd in ction REVIEW OF ROTOR TIME CONSTANT ESTIMATION TECHNIQUES Th timation of th oto tim contant contitut a ubjct of intt fo val ach tam, and val olution hav bn popod in th litatu [6-18]. Mot of th mthod qui intniv calculation to convg and a tim conuming [8, 9]. Futhmo, thy ith qui accuat knowldg of tato itanc [8, 14] o a adaptd only fo pcific opating condition and a nitiv to load changing [6]. Th modl fnc adaptiv contol (MRAC) ha bn ud in fnc [6, 7]. Thi mthod qui calculation of two function, F and F, uing contol vaiabl that nu th condition of flux ointation and machin vaiabl, pctivly. Th diffnc btwn function F and F contitut a condition of d-tuning and mut b cancld. In thi mthod, pci timation of tato itanc R i mandatoy. Rfnc [9] popo uing Extndd Kalman Filt (EKF) to timat oto itanc. It ha modld th oto itanc a an additional tat vaiabl of th machin, and th hamonic contnt gnatd by th PWM invt i modld a whit Gauian noi. Thi mthod qui intniv calculation and manipulation of lag matic and vcto. Moov, bfo implmntation, an off-lin Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006

3 Roto itanc idntification uing nual ntwok fo 225 calculation i ncay, uing input vaiabl coponding to a ctain opating point (linaization). Thi mthod pnt th ik of nonconvgnc, pcially if th opating condition a diffnt fom tho ud fo off-lin calculation. Th concpt of a dviation angl of th flux vcto along d-axi ha bn pntd in fnc [10]. Calculation of thi angl qui knowldg of tato voltag and cunt, and dpnd on th tato itanc R, mutual inductanc M and oto inductanc. Sinc tato itanc i ud, thi timation chm cannot b liably ud in a low pd gion; hnc, an altnativ pci idntification poc mut b availabl. Th cuiv lat qua (RS) [11] mthod i hown to povid a poo timat of th oto itanc, with o of 20-30% in th timatd valu compad with th poibl thmal vaiation in oto itanc of up to 50%. Atificial nual ntwok (ANN) mthod fo th timation of th oto tim contant of th induction moto w alo invtigatd. In [12], an adaptation chm bad on th tady tat quation of a cunt-fd induction moto i popod. It pincipal limitation a latd to: th dynamic tim pon, which i low than th popod timato; th lction citia of th taining data t that mut pcily pnt th opating condition of th moto; and th taining tim of th ANN, which can b xciv. Th ult of [13, 14] how that th ytm convg within 75 m and 2. Howv, th mthod pnt th ik of low convgnc. Th ult of [15] i fo on amount of toqu fnc, o it will b nitiv to load vaiation. 3. DYNAMIC MODEING OF INDIRECT ROTOR FUX ORIENTED CONTRO OF AN INDUCTION MOTOR In an IRFOC, th ynthi of th unit vcto i indpndnt of th machin tminal condition. Fig. 1 xplain th pincipl [3]. At any intant, th q lctical axi i at angula poition θ with pct to th q axi. Th angl θ i givn by th um of oto angula poition θ and lip angula poition θ l. Th oto flux ψ i alignd with th d axi. q i q θ l θ Mch. axi q θ i d ψˆ d Fig. 1. Phao diagam fo indict vcto contol Th following quation a valid fo otating fam d -q quivalnt cicuit d ω dψ dt q R ψ q m R iq ω ψ l d = 0 (1) Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

4 226 M. Ebahimi / t al. dψ dt d R ψ d m R id ω ψ l q = 0 (2) Fo dcoupling contol it i diabl that T 3 P m = ( ) ( iqψ d idψ ) (3) 2 2 q q dψ ψ q = = 0 (4) dt d ψ =ψˆ = con tant (5) dψ dt Subtituting th fit two condition, Eq. (1) and (2) can b implifid a: d = 0 (6) m R ω l = ( ) iq (7) ψˆ R dψˆ ψˆ dt = mid (8) q Subtituting ψ = 0 and ψ d = ψˆ in th toqu xpion yild Th quation abov, togth with mchanical quation T 3 P = ( ) ψˆ (9) 2 2 m iq 2 dω ( ) J = T Tl (10) p dt dcib th machin modl in dcoupling contol. Figu 2 how a ytm uing th indict mthod of vcto contol. i d fo th did ψ i dtmind fom Eq. (8), and iq fo th did T i dtmind fom Eq. (9). Th t valu of lip ω l i latd to cunt i q by Eq. (7). Th lip fquncy ω l i addd to oto pd ω to obtain ω and θ. In continuation, th computation fo th coodinat chang and two-pha to th-pha tanfom will b caid out. Th th pha cunt command i poducd by a CRPWM and fd to an induction moto. A uccful implmntation of th indict fild-ointd contol qui an accuat calculation of th lip fquncy ( Eq. (7)). Th accuacy of thi lip fquncy calculation dpnd lagly on th accuacy of th moto paamt, pcially on th oto tim contant [4]. Hnc, an on-lin adaptation/timation of th oto tim contant i ncay fo a coct fild-ointd opation. 4. PRINCIPES OF ARTIFICIA NEURA NETWORKS Atificial nual ntwok u a dn intconnction of computing nod to appoximat nonlina function [19-21]. A hown in Fig. 2, ach nod contitut a nuon and pfom th multiplication of it input ignal by contant wight, um up th ult and map th um to a nonlina activation function φ; th ult a thn tanfd to it output. A fd-fowad ANN i oganizd in lay: an input lay, on o mo hiddn lay, and an output lay. Th mathmatical modl of a nuon i givn by Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006

5 Roto itanc idntification uing nual ntwok fo 227 N y = ϕ wi. xi b (11) i= 1 wh: (x 1, x 2,,x N ) a input fom th pviou lay nuon, (w 1, w 2,,w N ) a th coponding wight and b i th bia of th nuon. φ i gnally th logaithmic o tangnt igmoidal activation function. X 1 W 1 1 X 2... W 2 W N b y X N Fig. 2. Stuctu of nual ntwok lmnt Th ANN i taind by a laning algoithm that pfom th adaptation of wight of th ntwok itativly until th o btwn tagt vcto and th output of th ANN i l than an o goal. Th mot popula laning algoithm fo multilay ntwok i th back-popagation algoithm and it vaiant. 5. PRINCIPES OF THE PROPOSED ROTOR RESISTANCE ESTIMATOR Ou goal i to dvlop a tchniqu fo timating th oto itanc uing only tato voltag and cunt. It conit of two pat; th fit i a flux and toqu timation block who input a voltag and cunt. It do not dpnd on oto itanc. In continuation, th timatd flux and toqu a compad with thi command and th o a computd. If th oto itanc in an indict vcto contoll qual to actual oto itanc of an induction moto, th o will b qual to zo. Othwi, if th oto itanc ha any chang, th o will appa; manwhil, th magnitud of o of flux and toqu dpnd on load toqu vaiation. Bcau th whol ytm i nonlina and complx, it i not poibl to timat th oto itanc imply by uing th vaiabl; o, in th cond pat a nual ntwok (NN) ha bn ud a a oto itanc timato. Th whol ytm i hown in Fig. 3. AC Rc. ψ T 4 3P m 1 m m R ω l i d i q 1 S j θ 2 3 θ id i q 1 S ω ia ib i c _ VSI ψ _ ψ _ Sampl & Hold T ia ib ic Hyti Band i abc Toqu & Flux Etimato IM Spd Sno v abc T Nual Ntwok Fig. 3. Block diagam of indict vcto contol of an induction moto div and nual ntwok oto itanc timato Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

6 228 M. Ebahimi / t al. a) Roto flux and toqu timation modl In th popod ytm, th input of NN block a flux and toqu o. So th vaiabl mut b timatd. It i poibl to tablih a flux and toqu modl which do not u th monitod pd, but u only th monitod valu of tato voltag and cunt. Thi modl do not dpnd on oto itanc; o, th timatd flux and toqu a accuat and coct, vn if th oto itanc ha om vaiation du to tmpatu vaiation and kin ffct. Fo thi pupo, tminal pha voltag and cunt a nd, and thn thy a tanfomd fom a th-pha ytm to th tationay d -q fnc fam. Th following quation of tato voltag and flux can b wittn fom tationay fam quivalnt cicuit [22]. v v q d q d = R iq ψ q (12) dt d = R id ψ d (13) dt iq miq ψ = (14) d id mid Th oto cunt can b divd fom tato voltag and cunt a: ψ = (15) 1 i q = ( vq Riq ) dt m 1 i d = ( vd Rid ) dt m m m q i d i (16) (17) Th oto flux can b wittn a: q iq miq ψ = (18) Th oto flux and toqu quation a T d id mid ψ = (19) 2 2 d ψ q ψ = ψ (20) 3 p m = ( iqψ d idψ q ) (21) 2 2 A computation flow diagam fo timating flux and toqu i hown in Fig. 4. ia ib ic 3 2 i q i d R S m m ψ q 1 i q m ψ q 3 P m ( i q ψ d idψ q ) 2 2 T va vb vc 3 2 v q v d R S m m ψ d 1 i d m ψ d ( ψ ) ( ψ ) 2 q 2 d ψ Fig. 4. Etimation of toqu and oto flux fom tato cunt and voltag Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006

7 Roto itanc idntification uing nual ntwok fo 229 b) Nual ntwok timato tuctu Th tuctu of th popod fd-fowad nual ntwok ud fo timation i indicatd in Fig. 5. Th ntwok i a MP typ nual ntwok with fou lay, i.., input lay, two hiddn lay, and th output lay. Th cicl in th ntwok pnt th nuon. Th input and output lay hav nuon qual to th pctiv numb of ignal, wha ach of th hiddn lay in th pnt dign ha 10 nuon. Th topology i dfind a ntwok. Th ntwok i fully connctd, i.., th output of ach nuon i connctd to all th nuon in th fowad lay though a wight. Bid, a bia ignal i coupld to all th nuon of th hiddn and output lay though a wight [23]. Th hiddn lay and output lay nuon hav a igmoid typ nonlina tanf function givn a: 1 f ( x) = (22) ( xθ ) 1 wh θ i th bia. Th nonlina tanf function aociatd with nuon giv nonlina mapping popty of th ntwok [19]. T R c R t ψ T Fig. 5. Topology of th nual ntwok fo oto itanc timation Th input vaiabl ignal a convtd to p-unit fom though th nomaliz gain, and thn aft computation, th output i bought back to actual valu though dnomaliz gain, a indicatd. Th taining and th opating pocdu a xplaind in th following ction. c) Taining pocdu Th taining pocdu ud in th pnt pojct can b ummaizd a follow: Simulat th induction moto div ytm a hown in Fig. 3 by MATAB/SIMUINK Gnat th input/output data tabl fo diffnt opating condition a hown in Fig. 6-a. Th input data copond to th timatd flux and toqu o, toqu command and th amount of oto itanc in contoll R c. Th output data copond to th did timatd oto itanc R a. Convt th data tabl to p-unit fom and fd to th nual ntwok imulato pogam locatd in PC. Aign andom wight initially to th ntwok by th imulato. Slct an input/output data pai fom th tabl. Fo th givn input data pattn calculat th ntwok output and compa with th did data output to div th o pattn. A hown in Fig. 6-b fom th o pattn, comput and adjut th ntwok wight by a backpopagation algoithm (gadint dcnt with adaptiv laning at) o that th nw o i mall. Rpat th abov tp with ach t of input/output data pattn until th m o fo th nti taining t convg blow th did thhold valu. Aft compltion of th taining, tt th ntwok pfomanc with abitay input pattn to nu uccful taining. Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

8 230 M. Ebahimi / t al. ψ T R a R c Indict Vcto Contol of Induction Moto Flux and Toqu Etimation ψ T ψ T ψ T (a) (b) Fig. 6. (a) Gnation of input/output data tabl (b) Pocdu of taining nual ntwok T R c ψ T R t R a Wight Adjutmnt Algoithm 6. SYSTEM SIMUATION STUDIES A 3-hp induction moto wa ud to imulat th indict vcto contol of Fig. 3. Rating and paamt of th machin a givn in th appndix. In thi ytm th actual flux and toqu a timatd by uing tato voltag and cunt, and th oto itanc i timatd by a nual ntwok, thi timatd valu of th oto itanc i ud by IRFOC contoll intad of a contant valu. a) Gnat matic of data and taining NN A matix of input and output data in diffnt opating condition mut b gnatd to u fo taining th NN. Th input data matix (23) copond to th o of flux ψ, o of toqu T, toqu command T and th oto itanc that i ud in th contoll R c. [ input data] [ T T R ] = ψ (23) Th output data matix (24) copond to th did timatd oto itanc R a. [ data] [ ] Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006 R a c output = (24) To gnat th data matic, th abov imulatd ytm wa ttd fo diffnt valu of R c, R a and T. To achiv thi pupo, th toqu command T wa vaid fom 0.2 pu to 1 pu in 5 tp, ach of which it wa incad 0.2 pu. Th actual oto itanc R a wa vaid fom 1 pu to 2 pu in 9 tp, ach of which it wa incad pu. Th oto itanc in th contoll wa vaid fom 1 pu to 2 pu in 9 tp, in ach of which it wa incad pu. A a ult of th chang of paamt, th will b 405 ca. Th IRFOC of an induction moto with a flux and toqu timation block wa imulatd fo all of th ca. In ach ca, th o of flux ψ and that of toqu T w divd and avd, and alo T, R c and R a w avd. A a ult, th matic of input and output data with 405 ow w poducd. By uing th matic of input and output data a NN ha bn taind by backpopagation algoithm, a wa xplaind in ction 6-2.Th initial laning at η1,η2 and th momntum gain α w t to 0.35, 0.4 and 0.7, pctivly. Th convgnc thhold o lvl wa t to Aft itation th o lvl obtaind thhold o. b) Simulation ult Aft atifactoy taining with th hlp of th imulato pogam, th wight a downloadd to th pototyp ntwok and attmpt a mad to opat th div ytm of Fig. 2 with an NN a an timato. Th ytm ha bn tudid in th ca: Ca a: Th nominal oto itanc of 0.4 Ω wa takn fo th contoll vn though th actual oto itanc wa 0.8 Ω du to incaing th tmpatu. At 2 Sc. th NN timato i activatd, and th

9 Roto itanc idntification uing nual ntwok fo 231 oto itanc i timatd immdiatly. Fig. 7a how th actual and timatd oto itanc, whil Fig. 7b how th pcntag of o bfo and aft uing NN timato. Thi o i l than % 0.01 aft uing th NN. Fig. 7c how th command toqu and lctomagntic toqu bfo and aft uing NN timato. Th command toqu i 5 Nm, th actual toqu i 3 Nm bfo uing NN timato and 5 Nm aft uing it. Fig. 7d how th command and actual flux bfo and aft uing NN. Th command flux i 0.45 Wb and th actual flux i 0.5 Wb bfo uing NN. Th ult how that bfo uing NN a an timato th flux and toqu hav ocillation and om tady tat o. At 4 Sc. th command toqu dca to 2 Nm and th vcto contol i don uccfully, thu th actual toqu and flux follow thi command accuatly. Tim(c) Fig. 7. Th pfomanc of th div bfo and aft uing NN timato, (a) actual and timatd oto itanc, (b) pcntag of timatd oto itanc o, (c) command and actual toqu, (d) command and actual flux, () oto pd Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

10 232 M. Ebahimi / t al. Ca b: Th pfomanc of th div without a oto itanc timato ha bn tudid. Th oto itanc gadually chang du to tmpatu chang caud by toqu cunt changing. In Fig. 8a and 8c th vaiation of oto itanc and command toqu a hown. At fit, it i aumd that th command toqu i qual to zo, and th oto itanc i qual to 0.4 Ω. At 2 Sc. th command toqu i incad to 2 Nm, and th oto itanc bgin to inca xponntially, aching to Ω. At 7 Sc. th toqu i incad to 5 Nm, and th itanc i incad to 0.8 Ω. Thn, th toqu i dcad to 3 Nm at 15 Sc. and th itanc i xponntially dcad to Ω. In thi ca, th i no timato, o th actual oto itanc ha om vaiation, howv th amount of oto itanc in th contoll block ha bn fixd to 0.4 Ω. Th pcntag of o btwn thm i hown in Fig. 8b. In Fig. 8c and 8d th command and actual toqu and flux a hown. Th ult how that th pfomanc of vcto contoll without th timato will b ditactd, o th flux and toqu hav om ocillation whn th command toqu i changd and th i om tady tat o in thm. Tim(c) Fig. 8. Th pfomanc of th div without any timato, th oto itanc ha a gadual chang, (a) actual oto itanc, (b) pcntag of timatd oto itanc o, (c) command and actual toqu, (d) command and actual flux, () oto pd Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006

11 Roto itanc idntification uing nual ntwok fo 233 Ca c: Th oto itanc ha a gadual chang lik ca b, but it i aumd that th nual ntwok timato ha bn activatd inc th bginning of th poc. Th witching fquncy of th ntwok wa 5 Hz, hnc th nual ntwok fquncy wa chon to giv th plant nough tim to tabiliz it output. Th actual oto itanc and timatd itanc a hown in Fig. 9a. Th timatd oto itanc cloly follow th actual oto itanc. Th magnitud of thi timation o i hown in Fig. 9b, th maximum o i l than ±3%. In Fig. 9c and 9d, th command and actual toqu and flux a hown. Th ult how that th vcto contol i valid whn th oto itanc ha om changing, and NN timato i activatd. Th actual flux i fixd to it command valu, and th actual toqu i tacking it command valu, without any ocillation o tady tat o. Tim(c) Fig. 9. Th pfomanc of th div with NN timato, th oto itanc ha a gadual chang, (a) actual and timatd oto itanc, (b) pcntag of timatd oto itanc o, (c) command and actual toqu, (d) command and actual flux, () oto pd Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

12 234 M. Ebahimi / t al. 7. CONCUSIONS In thi pap, a impl algoithm ha bn dvlopd fo th timation of oto itanc ud in indict oto flux ointd contol of induction moto div. Thi timato i bad on nual ntwok pincipl and qui only a maumnt of accibl vaiabl (voltag and cunt). By uing th vaiabl, th flux and th toqu a timatd. In th nxt tag, a fou-lay nual ntwok with tuctu i fd by th o of toqu, o of flux, command toqu, and th amount of oto itanc in contoll to timat th actual valu of oto itanc. Th NN laning poc ha bn pfomd off-lin bad on th mathmatical modl of th IRFOC ytm. Th comput imulation ult hav hown th validity and th faibility of th popod mthod. Th witching fquncy of th nual ntwok wa 5 Hz and th pfomanc of th timato wa found to b xcllnt in a wid ang of oto itanc vaiation fom 0.4 Ω to 0.8 Ω. Th ytm can adjut intantanouly and compnat th vaiation of oto itanc caud by hating o ddy cunt. Th maximum timation o i l than ±3%. Accuat, fat timation, implicity of dign and innitivity to load vaiation a th advantag of thi mthod. Th popod mthod could b imply adaptd to u in th oth chm of flux ointation; namly, tato and ai gap flux ointation. Acknowldgmnt- Th autho would lik to acknowldg th financial uppot povidd by Ifahan Univity of Tchnology. NOMENCATURE i d, i q tato cunt in d- and q-axi m, oto and magntizing inductanc tato inductanc P numb of pol R oto itanc R a timatd oto itanc R c oto itanc that i ud in th contoll tato itanc R T T, T l command toqu dvlopd and load toqu υ d, υ q tato voltag in d-and q-axi ψ d, ψ q oto flux in d-and q-axi ψ oto flux ψ, tato flux in d-and q-axi d ψ q REFERENCES 1. ipo, T. & Novotny, D. (1985). Intoduction to fild ointation and high pfomanc div. Tutoial cou, IEEE AS, Ebahimi, M., Sifi, H., Shoulai, A. & Saaf, H. S. (1999). A oftwa modification pocdu fo convion of a cal contoll to a vcto typ fo an induction moto. Ianian Jounal of Scinc and Tchnology, 23, Bo, K. (1986). Pow lctonic and AC div. Pntic-Hall. Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006

13 Roto itanc idntification uing nual ntwok fo Kihman, R. (1991). A viw of paamt nitivity and adaptation in indict vcto contolld induction moto div ytm. IEEE Tan. on Pow Elc., 6(4), D Donk, R. W. (1994). Paamt nitivity of indict unival fild-ointd contoll. IEEE Tan. on Pow Elc., 9(4), Rowan, T. (1991). A impl on-lin adaptation fo indict fild ointation of an induction machin. IEEE Tan. on Induty Application, 37, Guz, P. P. (2000). Induction moto pac vcto contol uing adaptiv fnc modl dict and indict mthod. Poc. IEEE ISIE'2000, Publo, Mxico, Matuo, T. & ipo, T. A. (1993). A nw mthod fo oto tim contant tuning in indict fild ointd contol. IEEE Tan. on Pow Elc., 8(3), in, F. S. (1996). Application of EKF and RS timato in induction moto div. IEEE PESC, 1, Bavno, Italy, in, W. & Vnkatan, R. (1992). A nw adaptiv contol chm fo indict vcto contol ytm. Poc. IEEE IAS Annu. Mting, 1, Houton, USA, Bouak, M. & Capolino, G. (1992). Rcuiv lat qua oto tim contant idntification fo vcto contolld induction machin. Elc. Mach. Pow Syt., 20(2), Ba-Razzouk, A., Chiti, A. & Olivi, G., (1996). Atificial nual ntwok oto tim contant adaptation in indict fild ointd contol div. Poc. IEEE,1, Mayalh, S. & Bayindi, N. S. (1998). on-lin timation of oto itanc of an induction moto uing cunt nual ntwok. Elctonic ltt, 34(8). 14. Kaanayil, B., Rahman, M. F. & Gantham, C. (2001). Roto itanc idntification uing atificial nual ntwok fo an indict vcto contolld induction moto div. in Poc. IEEE IECON 01, Dnv, USA, Ebahimi, M., Shoulai, A., Sifi, H. & Tahani, V. (1997). Compnation of oto tim contant vaiation in induction machin uing atificial nual ntwok. Intnational Jounal of Engining Scinc, 8(2a), Fodo, D., Giva, G. & Pofumo, F. (1995). Compnation of paamt vaiation in induction moto div uing a nual ntwok. Conf. Rc. PESC 95, Atlanta, USA, Ba-Razzouk, A., Chiti, A. & Sicad, P. (2002). Implmntation of a DSP bad al-tim timato of induction moto oto tim contant. IEEE Tan. on Pow Elc., 17(4). 18. Toliyat, H. & Afn, M. S. (1999). Roto tim contant updating chm fo a oto flux ointd induction moto div. IEEE Tan. on Pow Elc., 14(5). 19. Haykin, S. (1994). Nual ntwok, a comphniv foundation. Macmillan Collg publihing Company. 20. awnc, J. (1993). Intoduction to nual ntwok. Califonia Scintific Softwa P. 21. Sinncio, E. S. & au, C. (1992). Atificial nual ntwok. NwYok: IEEE P, Va, P. (1990). Vcto contol of AC Machin. Oxfod Scinc Publication. 23. Ebahimi, M. (2003). Roto itanc idntification uing nual ntwok fo an induction moto div. Rach Pojct Rpot, Ifahan Univity of Tchnology. Induction moto data APPENDIX Ratd pow 3 hp Numb of pol, p 4 Ratd tato voltag 220 V Roto itanc, R Ω Apil 2006 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2

14 236 M. Ebahimi / t al. Stato itanc, R Ω Magntizing itanc, X m Ω Roto lakag actanc, X l Ω Stato lakag actanc, X l Ω Mchanical intia contant, J kg.m 2 Ianian Jounal of Scinc & Tchnology, Volum 30, Numb B2 Apil 2006