MRAS Based Speed Sensor-less Vector Controlled Induction Motor Using Modified Adaptive Mechanism

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1 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp Seno & Tanduce 23 by IFSA MRAS Baed Speed Seno-le Vecto Contolled Induction Moto Uing Modified Adaptive Mechanim ALIYU Eneji Iah, HUANG Shoudao, LIAO Wu, 2 SALIU A. M. Hunan Univeity, College of Electical and Infomation Engineeing, Changha, Hunan Povince, 482, People Republic of China 2 Hunan Univeity, College of Infomation Science and Engineeing, Changha, Hunan Povince, 482, People Republic of China Tel.: etudaye2@gmail.com Received: 6 May 23 /Accepted: 2 Augut 23 /Publihed: 2 Augut 23 Abtact: To impove opeational tability of contol ytem induction moto, a peed enole vecto contol ytem fo induction moto baed on DSP (TMS32F288 wa peented, fluxe etimation and peed obeve baed on PI adaptive method; model efeence adaptive ytem (MRAS, a peed enole field-oiented contol (FOC ytem fo induction moto wa adopted. The peed etimation wa baed on the diffeence between two fluxe etimato; efeence and adaptive model. The adaptive mechanim of the conventional etimato wa eplaced with a boote module diven by eo ignal fom the two model. The popoed contol algoithm, imulation, implementation data, diagam and tet eult wee given. It how good pefomance fo the enole vecto contol ytem in toque, peed and obutne. Copyight 23 IFSA. Key wod: Field oiented contol (FOC, Seno-le, Induction moto, Opeational tability, Etimato.. Intoduction High-pefomance moto contol i chaacteized by mooth otation ove the entie peed ange of the moto, full toque contol at low peed, fat acceleation and deceleation. To achieve thee opeational tability qualitie, peed enole vecto contol technique ae ued fo induction moto. Seveal algoithm have been applied to olve tability poblem aociated with peed enole vecto contol induction machine at low peed. Low- Pa Filte (LPF with vey low cut-off fequency have been ued to eplace the pue integato, but they intoduce phae and gain eo due to thei natual delay which caue poblem in the fequency ange below the filte cut-off fequency [, 2], thi wok intoduced field oiented contol (FOC with a boote module a the adaptation mechanim in placement of gain contant and low-pa filte of the back-emf-baed MRAS contol algoithm fo enole contol of induction moto. Thi cut down on tuning time while poviding a good and fat epone. The imulation and implementation eult wee hown in thi pape that poved the cot effective and dynamic epone of the algoithm. 2. Field Oiented Contol Theoy With the advent of FOC by Balachke ha made contol ytem moe flexible. The baic idea of the vecto contol (FOC i to povide an algoithm capable of decompoing a tato cuent into a 8 Aticle numbe 29

2 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp magnetic field-geneating pat (i d and a toquegeneating pat (i q, both component can be contolled epaately afte decompoition. The tuctue of the moto contolle become imple a that fo a epaately excited DC moto allowing accuate tanient and teady tate manipulation [3,4]. The popoed enole vecto contol cheme i illutated by Fig.. The machine equation in the tato efeence fame, witten in tem of pace vecto, ae: V d RI ( d (2 RI jm LI MI (3 LI MI (4 d T T L (5 J M T P ( diq qid JL (6 Thee expeion ignify the contol tategy baed on the oientation of the flux vecto along d-axi which can be expeed by conideing: (, d, q 2 d T Equation (5 and (6 can be witten in the oto efeence fame with epect to the axi component, lead to: dd M d i d (7 M T P diq JL (8 Thee equation epeent the baic fundamental pinciple of FOC and ae deived baed on the decoupling contol concept whee the fluxe value and othogonal patial angle between them and MMF ae achieved, in the cuent mode, the total oto flux-linkage i aligned with the d-axi component [2, 3]. Thi explicitly illutated in the Fig.. The flux etimation i given a: d u Ri u, (9 off whee u off i the unavoidable eo. L ( Li ( M The flux etimato wa conideed to be ideal, being the effect due to paamete vaiation at low peed. U α, U β,, i, i v, v Fig.. Block Diagam of enole vecto contol IM dive. 8

3 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp Model Refeence Adaptive Sytem Model Refeence Adaptive Sytem (MRAS ae ued to etimate quantitie uing a efeence model and an adaptive model. The diffeence between the output of the two model dive an adaptive mechanim (boote module that povide the quantity that i to be etimated. Diffeent appoache have been developed uing MRAS, uch a oto flux-linkage etimation-baed and back-emf-baed MRAS (eactive-powe-baed [5, 6]. In thi thei we ued the impoved back-emf-baed MRAS and we popoed the module to eplace the adaptation gain contant and low-pa filte in the adaptive mechanim to poduced high dynamic epone. 3.. Roto Flux-linkage Etimation-baed It ue tate obeve model with cuent eo feedback and oto cuent model fo flux etimation The efeence model i given by: L ˆ ( ( ˆ ˆ ˆ d ud Ri d Li d L ( m L ˆ ( ( ˆ ˆ ˆ q uq Ri q Li q L (2 m The adjutable model i given by: d ( Li m d d T q (3 T q ( Li m q q Td (4 T The oto peed i obtained fom the adaptation mechanim a follow: ki ˆ ( ˆ ˆ e kp qd dq p 3.2. Back-EMF-baed MRAS (Reactive- Powe-baed (5 e d L Li ˆ ˆ md m dtq (9 L T The oto peed i obtained fom the etimato a follow: ˆ K eˆ e eˆ e K eˆ e eˆ e, (2 e p i whee K p and K i ae the popotional and integal gain contant epectively [3]. The ue of boote module Fig. 3 eliminated the effect of tuning in the adaptive mechanim. The eo between the efeence and adaptive output, along with the efeence peed (N ef i paed to dive the boote block. The initial condition of both ignal wa kept at zeo. The ate limite etict the change of the ignal paed to it by limiting the lope. The output of the ate limite i calculated a follow: Oi/ p( i t. N( t, (2 Oi/ p( i t. N( t (22 Oi/ p( i N( i (23 The uppe limit i called the iing lew paamete (δ and the lowe limit i the falling lew paamete (. N efe to the input to the ate limite. The output i paed to a Zeo Ode Hold (ZOH to geneate continuou time input by holding each ample value contant ove one ample peiod. The ZOH alo act a a hypothetical filte that give a piece-wie ignal a i demontated by equation (24 t nt OZOHo/ p ( t Nin ( n. ect( (24 T 2 n Finally, the etimated peed i calculated a: Etimated Speed ( et ( i ( i (25 ef boote boote i the peed eo detected in the boote module. The model expeion i given a follow. The efeence model i given by: e u R i Li (6 d d d d e u R i Li (7 d q q q The adjutable model i given by: ˆ x ˆx I V e d L Li ˆ ˆ md m dtq (8 L T Fig. 2. Configuation of the conventional MRAS. 82

4 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp ˆ I 8 6 x V 4 2 ef Fig. 3. Configuation of the Boote module MRAS. 4. Simulation Reult and Analyi Simulation wa pefomed to veify the dynamic behavio and opeational tability of the dive in epond to back-emf baed MRAS with ubtituted boote module fo adaptive mechanim, uing the MATLAB/Simulink. The induction moto ued fo the implementation of the popoed algoithm ha the ated value P N = 2.2 kw, f N = 5 Hz, V N = 22 V, p=2 pole pai, and paamete R=.877 Ω, R=.4752 Ω, L = L =.4752 H, Lm =.8428 H, ated peed =75 pm. The meaued eult ae hown in Fig (4-7, the adaptation gain contant (K p and K i tuning difficulty wee able to be avoided. Thi wa achieved by paing output of the efeence and adaptive model block to dive the boote module that minimized the etimated peed eo to nealy zeo, it act a filte. Refeing to equation (9, it can be een that at evey change in the efeence peed, the value of popotional and integal gain (Kp/Ki ha to be continually changing and do not yield in convegence in the peed and fluxe. The adoption of the boote module in place of the gain yield vey good pefomance a hown by the imulation eult. ˆx Speed (mp iabc (A efeence peed eal peed Etim peed Time (ec Fig. 5. Real, Etimated peed at efeence peed of 5 pm. Stato cuent Time (ec 7 Fig. 6. Intantaneou thee phae Stato cuent. 6.6 Speed (mp efeence peed eal peed Etim peed Stato cuent (pu id iq Time (ec Fig. 4. Real, Etimated peed at efeence peed of 5 pm Time (ec Fig. 7. Stato cuent in two coodinate axi (dq. 83

5 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp Expeimentation Reult The popoed contol cheme wee implemented on a low cot Texa intument DSP (TMS32F288 baed PWM invete ytem, to egulate the moto peed and cuent when unning on load. The contol inteval of the adaptive obevation ytem ae et at and the contol inteval of the peed contol loop ae et at 5 m. In thi pape' the integation of the obeve wa tanfeed to the boote module with the initial value etting to zeo. The DSP pefom the calculation equied fo the peed etimato and the flux obeve, the ampling peiod i µ, and the tet eult ae howed in the Fig. 8 and 9. Fig. 8. Expeimental and efeence peed at 6 pm. Fig. 9. Intantaneou thee phae Stato Voltage (Volt & cuent (Ampee. 6. Concluion The concept of peed etimation baed on Boote module MRAS, which ue the back-emf-baed MRAS (eactive-powe-baed, the etimato ha pefomed vey well in the wide ange of peed efeence in the eno-le vecto contol dive ytem. The etimato wok in a table way even fo elatively big paamete vaiation and the tability point wee detected. The dive ytem wok well fo low peed efeence with load toque, with limited eo of about ±45pm. The analyi confimed vey good dynamic epond and obutne of the Boote module fo adaptive mechanim. Refeence []. S. Meziane, R. Toufouti and H. Benella MRAS baed peed contol of eno-le induction moto Dive, 84

6 Seno & Tanduce, Vol. 55, Iue 8, Augut 23, pp Depatment of Electical Engineeing, Contantine Univeity, Contantine, Algeia, 27, pp [2]. S. Laaad and M. Ben Hamed, An MRAS-baed full Ode Luenbege Obeve fo Seno-le DRFOC of Induction Moto, ICGSAT-ACSE Jounal, Vol. 7, Iue, May 27. [3]. Gego Edelbahe, Kael Jezenik and Evgen Ulep, Seno -le Vecto Contol of Induction Machine, IEEE Tanaction on Indutial Electoonic, Vol. 53, No., Febuay 26, pp [4]. Boe, Bimal K., Moden Powe Electonic and AC Dive, Pentice-Hall, Inc., Uppe Saddle Rive, NJ, 7458, 22. [5]. Teea Olowalka and Mateuz Dybkowki, StatoCuent Baed MRAS Etimato fo a Wide Range Speed Seno-le Induction Moto Dive, IEEE, Vol. 57, No. 4, Apil 2, pp [6]. G. Simek, Seno-le Diect Field Oiented Contol of Induction Machine by Flux and Speed Etimato Uing Model Refeence Adaptive Sytem, M. S. Thei, EE Dept. Metu, Apil 24. [7]. E. Ozcelik, Seno-le Vecto Contol of Induction Moto Dive, M. S Thei, EE Dept. Metu, Apil Copyight, Intenational Fequency Seno Aociation (IFSA. All ight eeved. ( 85