A Simple Indirect Field Oriented Control of Induction Machines

Without Speed Measurement

C.B. Jacobina', J. Bione Fo.~,F.Salvadori3,A.M.N. Lima1 and L.A.S. Ribeiro4
lUFPB/CCT/DEE/LEIAM - Campus I1 - Caixa Postal 10105
58.109-970Campina G r a d e , PB, Brazil.

Fax: +55-83-3101015- {jacobina,marcusQdee.ufpb.br}

CEFET-PEUNED-Pesqueira, PE.

3UNIJUf/DeTEC/NEE Ijui, RS.

*CEFET-MA - S i b Luis, MA.
Abstmct: This paper investigates the use of the feasibility of the proposed methodology,
model reference control strategy for induction mo11. INDUCTION
MOTOR MODEL
tor drive systems based on indirect field oriented
control principles. The proposed control scheme
For the purposes of the present investigation the inducdoes not require the use of any electromechanical tion machine is described by
sensor and is fairly independent of the rotor time
d
constant. The proposed scheme is well suited for
v:
= T,i:+ -@,"+jw,@:
(1)
dt
applications where there is n o speed control but it
d
is required to keep the indirect field oriented con0 = TA;
+ j ( w , - uT)@: (2)
troller permanently t u n e d to obtain a high perfor4: = lei: +f&!
(3)
mance torque control. The parameter sensitivity
4; = l,i:+lmit
(4)
of the control scheme to changes in 7 , and al, is
also investigated in this paper. Experimental re(5)
Te = P F (i:q4:d
i:d4Cq)
sults are presented and demonstrate the correctd
ness and feasibility of the proposed methodology.
P(Te - TL) = Jm-wp
Fmwp
(6)

+ z@:

dt

I. INTRODUCTION
The indirect field oriented control (IFOC) technique is
very useful for implementing high performance induction
motor drive systems [l-31. In general in the IFOC technique the shaft speed, that is usually measured, and the
slip speed, that is calculated based on the machine parameters, are added to define the angular frequency of the
rotor flux vector. The standard IFOC technique is essentially a feedforward scheme and has the drawback of being
dependent on the motor temperature and the level of magnetic excitation of the motor. The use adaptive schemes to
compensate for the parameter changes has been proposed
in [4,5].
In this paper the model reference strategy is employed
to adapt the shaft speed instead of tracking directly the
rotor time constant changes. With this proposed scheme
the IFOC can be implemented without speed sensor. The
proposed scheme keeps the IFOC tuned even when the
rotor time constant changes. Moreover, there is no special test signal being used and the machine is supplied
with three-phase sinusoidal pulse width modulated voltage waveforms. The paper evaluates d-axis voltage model
to be used within the adaptation scheme. Experimental
results are presented and demonstrate the correctness and

The superscript U indicates the use of a generic reference

frame and the variables and parameters used in the above
expressions are defined as follows: i) v: = U'& + jutq,
:i = i t d jifql i: = i:d
'ji:q, 4; = 4 t d
j#tq and
4: = @, jq5& are the stator voltage, the stator current,
the rotor current, the stator flux and the rotor flux vectors,
respectively; ii) wp, w,,, Te and TI are the angular shaft
speed, the angular speed of the 4 coordinate system, the
electromagnetic torque and the load torque, respectively
and iii) P,J m , F m , rsrrr, l,, 1, and Zm are the number
of pole pairs, the moment of inertia, the viscous friction
coefficient, the stator resistance, the rotor resistance, the
self inductance of the stator, the self inductance of the
rotor and the mutual inductance between stator and rotor,
respectively.

+
+

111. INDIRECTFIELD ORIENTED CONTROL

The equations of the indirect field oriented control strategy are defined from the equations that link the rotor flux
vector to stator current vector. This relationship, in a reference frame aligned with the rotor flux vector (superscript
e), is given by:

0-7803-6401-5/00/$10.00
0 2000 IEEE

1809

i MRAC
Fig. 2. Block diagram of the proposed adaptive scheme

In the indirect field oriented strategy, the torque control

is achieved through i&, while the rotor flux is controlled
by i:d. The reference values of izd,i& and w , ~are given
bY

v-l

I
Controller

Mechanism

Fig. 1 . Block diagram of the model reference adaptive controller

where the superscript * indicates the reference variables.

Iv. MODELREFERENCE ADAPTIVE CONTROL

The model reference adaptive control can be regarded as
an ordinary feedback control loop that has another feed-

where

T,

is the rotor time constant

(7,

= Z,/r,),

wol

wc-w, is the slip frequency and we is the angular frequency

of the rotor flux vector with respect to the stator.

back loop to change the parameters of the controller. The

changes of the parameters of the controller is provided by
the adaptive mechanism that aims at minimizing the error
between the output of the system under control and the
output of the reference model [SI.

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Figure 1 shows the basic block diagram of model reference adaptive strategy where the ordinary feedback loop
is the inner loop and the parameter adjustment loop is the
outer loop.
The use of the model reference adaptive schemes requires the choice of a reference model to generate y*(t)
that should be compared to the actual system output providing the adapting error. The most common reference
models used with the model reference adaptive system to
retune the indirect field oriented controller are presented
in [4,5]. In this paper we have chosen the d-axis voltage
model and consequently the reference model equation used
for y'(t) is given by

( t ) = v."; = rsi:: - w,al,i:t;

= 1- t ! g / ( l a l , . ) is the leakage factor.
3/*

where U

v.

(13)

INDIRECT FIELD ORIENTED CONTROL WITH SPEED

ADAPTATION

response to At, or A(oZ,). Figures 3(a) and 3(b) illustrate

the transient behavior of the performance of the d-axis
voltagezodel for Ar, = T,, - !Fa = 0 . 7 ~
and~ A
~de =
uoLeo-ala = 0.7aOl,,,respectively, at high frequency. The
subscript o in r,, and u,l,, indicates the nomkal value of
the parameter. The superscript in Fa and ul, indicates
the parameter estimated used in the MRAC strategy. In
the transient analysis, the IF0 controller is correctly tuned
for Os 5 t < 1.0s and the MRAC has been turned on at
t = 0.4s. The small transient observed in these curves
at t = 0.4s is due to the start-up of the PI block (initial
condition equals to zero). At t = 1.0s, the parameters r,
and 01, have been changed by 30% in the reference models.
The results at low frequency (10Hz)are not presented, but
it has been found that the largest value of A 2 was about
4.0% for Ar, = 0.7r,, at 10Hz and with 10% of load. In
all the cases the speed error is lower than 4.0% that can
4

Figure 2 shows the block diagram of the proposed adaptive scheme. In this scheme the adaptive mechanism provides the angular speed .,; that is added to the reference
slip frequency, issued from the indirect field oriented controller, to determine the synchronous frequency of the r e
tor flux vector 3, = w:, 0,.
The key point in the proposed scheme is that the changes
of the rotor time constant that would be Compensated in
the computation of the slip frequency w : ~are compensated
by Gr. This alternative adaptation is viable since the slip
frequency and the shaft speed are simply added to yield the
synchronous frequency. Moreover, the same result of mmpensating for the rotor time constant changes is obtained
with the proposed scheme but without requiring the direct
measurement of the shaft speed and thus avoiding the use
of any electromechanical sensing device.
In the scheme of Fig. 2, VS is y*(t) that is the output
of the reference model. The adaptation error is Ay(t) =
y * ( t ) - y ( t ) where y(t) is determined from the quantities
measured at the machine terminals. This error Ay(t) is
multiplied by the torque command reference is: and is
supplied to a PI controller that provides Gr at its output.

I N

B -6OHr.100&

&

lnud

1.01

I
0.99

0.9R
0.97

0.95

VI. PARAMETER
SENSITIVITY
Variations in the parameters that directly influence ur
are normally tracked by adaptive mechanism described
above. However, if the parameters of the reference model
change (e.g., ul,, or r,), the performance of the MRAC
may deteriorate. Therefore, the sensitivities of the models
to variations in to and ol,, have been evaluated at different
load conditions and for different shaft speeds.
The transient analysis examines the time evolution of
the adapted quantity w,., at a given speed and load, in

0.94

O.=0.9

Q
I

(bl
time(s)

Fig. 3. Sensitivity of the d-axis model for error in r. and 01,.

Ard = 0.7r,, and (b) Ad. = 0 . 7 ~

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(a)

300

..................................

..................................
150

._______._.-_-.-_C.-_.____.__..___

Fig. 4. Stator current i& and shaft speed W r without adaptation. (a) Arr at 240radls (b) Ar, at 28Qradls

be considered relatively small with respect to the large

variations assigned to Ars and A d s .

VII. EXPERIMENTAL
RESULTS
The experimental apparatus used to test the proposed adaptive scheme consisted of a 2.2kW wound rotor induction machine, a three phase IGBT inverter and
a Pentium@ Q266MHz microcomputer equipped with a
dedicated plug-in board. The stator voltage waveforms
were synthesized using the PWM (Pulse Width Modulator) that generates the switching commands of the inverter. The sampling time and switching period of the inverter were loops. Four A/D converter (10bit/25ps) channels were employed for the phase currents and the phase
voltages. The absolute shaft position was determined from
a $bit optical encoder. The speed measurement as presented in this section is computed from the readings of
this encoder and the values of machine parameters were
calculated off-line.
Figures 4 and 5 show some selected results obtained experimentally at two different speeds. During the tests,
three external resistors are inserted in series with the rotor windings to increase the rotor resistance by 30%. The

reference of the rotor flux and the electromagnetic torque

have been kept constant during the tests. Figure 4 shows
the stator current i:*and the shaft speed w,. when only
the indirect field oriented control is operating. In this case
the increase in the rotor resistance de-tunes the controller,
since the electromagnetic torque has been changed. This
can be observed indirectly by the difference in the rate
of change of the shaft speed. Figure 5 shows the stator
current i&, the shaft speed u pand the estimated speed
i3, when both the indirect field oriented control and the
adaptive scheme are operating. In this case there is no de-.
tunning of the indirect field oriented controller, since the
rate of change of the speed remains constant. However, as
expected, the speed estimation provided at the output of
the adaptive mechanism is different from the actual speed.
The speed estimation issued from this adaptive equals the
actual speed only when the correct value of the rotor resistance is employed.
The proposed scheme is recommended for applications
where there is no speed control but it is required to keep
the indirect field oriented controller permanently tuned to
obtain a high performance torque control.

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"

5
t(s)

10

lo

10

t(s)

Fig. 5. Stator current a&, shaft speed W , and estimated speed

VIII.

CONCLUSION

This paper has demonstrated that it is feasible to implement an adaptive scheme to keep the indirect field
oriented controller of an induction machine permanently
tuned without a speed sensor. The proposed technique
provides a simple but with high performance torque control solution for applications where there is no speed loop.
Also, the adaptation mechanism exhibits low sensitivity
to changes in T , and al, and consequently is very robust
for practical purposes s,ince it is also fairly independent of
the rotor time constant. The experimental results have
demonstrated the correctness and feasibility of the proposed methodology.

REFERENCES

s,

with adaptation. (a) Ar, at 160rad/s (b) Ar, at 260rad/s

Applications, 30( 1):92-100, Jan./Feb. 1994.

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[4]T. M. Rowan, R. J. Kerkman, and D. Leggate. A Simple On-Line Adaption for Indirect Field Orientation of
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[5] L. A. de S. Ribeiro, C.B. Jacobina, A. M. N. Lima,
and A. C. Oliveira. Parameter Sensitivity of MRAC
Models Employed in IFO-Controlled AC Motor Drive.
IEEE 1Fans. on Industrial Electronics, 44(4):536-545,
Aug. 1997.
[6] K. J . Astron and B. Wittenmark. Adaptive Control.
Addison-Wesley Publishing Company Inc., USA, 1995.

[l] R.D. Lorenz, T. A. Lipo, and

D.W. Novotny. Motion

control with induction motors. Proceedigns of IEEE:
especial issue on power electronic and motion control,
82(8):1215-1240, Aug. 1994.
[2] R. W. de Doncker and D. W. Novotny. The Universal
Field Oriented Controller. IEEE ZFans. on Industry

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