Online Stator Resistance Estimation Using Artificial

Neural Network for Direct Torque Controlled

Induction Motor Drive
C.M.F.S.Reza
Department of Electrical Engineering
University of Malaya
Kualalumpur, Malaysia
E-mail: sushan_hbk@yahoo.com


Saad Mekhilef
Department of Electrical Engineering
University of Malaya
Kualalumpur, Malaysia
E-mail: saad@um.edu.my
AbstractFor the stable and effective operation of the
induction motor proper estimation of the stator resistance is very
essential.This is because stator resistance keeps on increasing
with the temperature when the motor is in operation which
results in high torque and flux ripple.A method based on
artificial neural network to estimate the stator resistance of
induction motor for direct torque control drive is proposed in this
paper. For the training purpose of neural network a back
propagation algorithm has been used. The adjustments of the
weights of the neural network has been done by back propagating
the error signal between measured and estimated current of
stator. From simulation it has been proved that the estimator can
track stator resistance value within around 40ms when a step
change of stator resistance has been applied. Effectiveness of the
estimator is investigated in simulation by varying the stator
resistance from the nominal value which has been done in
MATLAB SIMULINK.
Keywords Resistance estimator; neural network; induction
motor drive; DTC;
I. INTRODUCTION
Direct torque control(DTC) induction motor drive is becoming
more popular day by day[1, 2] due to its fast dynamic response
and robust to the variation of the machine parameter without
using the current controller[3-10]. Implementation of this
control strategy is very simple and also coordinate
transformation is not required. One of the most important
advantage is less dependence on the motor parameters except
stator resistance. To achieve the high performance of the
induction motor drive proper estimation of the stator flux is
needed. Due to variation of the temperature throughout the
operation of the motor stator resistance varies continuously
[11-13]. Variation of the stator resistance introduces error in
estimated flux position and magnitude of the stator flux. Error
in the estimated stator flux deteriorates the performance of
DTC drive. The effect of error in estimation is very important
mainly at low speed[11, 14].However a common disadvantage
of the conventional DTC is high torque ripple. To reduce the
torque ripple proper estimation of stator resistance is very
necessary. Recently many approaches have been reported to
estimate the accurate value of the induction motor stator
resistance when motor operates in DTC drives. Hybrid flux
estimation method has been reported in[15, 16] .By measuring
dc components of the stator current and voltage, stator
resistance has been calculated in[17, 18]. Extended Kalman
filter is very popular in this area due to the robustness and
filtering action but it requires more computational time[19,
20]. A fuzzy estimator in [21] has been used to estimate the
value of the stator resistance which uses the stator current
error for adjusting the stator resistance. Also it needs high
computational time as it has to follow many rules to provide
accuracy. Stator current is mostly affected variable of the
machine due to change in stator resistance and also there is a
nonlinear relationship between stator current and stator
resistance is nonlinear.
Recently for the control and identification of nonlinear
dynamic systems in ac drives using the artificial neural
network have been presented in [22-25] .One of the main
advantage of neural network is the capability of approximating
nonlinear function relationship. In this paper effect of the
change in stator resistance is discussed and an online neural
network stator resistance estimator is proposed to estimate the
accurate value of the stator resistance and also efficacy of the
estimator is shown.
This paper has been organized in five sections. DTC principle
is presented in the following section. Proposed stator
resistance estimation technique is given in section III.
Simulation results are described in section IV. Finally
conclusion is presented in section V.
1486
978-1-4673-6322-8/13/$31.00 c 2013 IEEE
II. DTC PRINCIPLE
In DTC shown in Fig.1, errors of the electrom
and stator flux status is detected then pas
hysteresis comparator (two and three level)
Then a predetermined switching table (Table
status of the inverter switches which will be u
voltage vector (I
s.
) location which is selected
angle of the stator. Voltage vectors used in
shown in Fig. 2
Torque
Controller
Flux
Controller
Switching
Table
Torque & flux
estimator
Speed Controller
Torque ref
Flux ref
Speed ref
Flux est
Torque est
Speed mes
+
_
+
_
+ _
Sector
selection
Fig. 1. Basic IM-DTC drive
Table I: Switching Table
AV
s
T S
1
S
2
S
3
S
4

1 I
2
I
3
I
4
I
5

1 0 I
7
I
0
I
7
I
0

-1 I
6
I
1
I
2
I
3

1 I
3
I
4
I
5
I
6

0 0 I
0
I
7
I
0
I
7

-1 I
5
I
6
I
1
I
2



Fig.2. Voltage vectors obtained from Voltage Source


mechanical torque
ssed through the
for digitization.
I) determines the
used to determine
according to flux
n DTC drive are
Inverter
IM
n
Gate
pulse

S
5
S
6

I
6
I
1

I
7
I
0

I
4
I
5

I
1
I
2

I
0
I
7
I
3
I
4

e Inverter (VSI)
The stator flux is given by the follow
m
s
=](:
s
R
s
i
s
) dt
So d and q axis stator flux can be gi
m
ds
=](:
ds
R
s
i
ds
)) dt
m
qs
=](:
qs
R
s
i
qs
) dt
Electromagnetic Torque
T=
3
2
p (m
ds
i
qs
m
qs
i
ds
)
If we neglect the stator resistance th
as follows
m
s
=]:
s
dt
According to the basic DTC strate
by integrating the back emf
electromagnetic torque estimation c
it has been seen that stator resistan
change the stator flux which will i
torque, which will deteriorate
robustness and faster response of th
in Fig.3
Fig. 3. Effect stator resistance v
III. STATOR RESISTANCE EST
The structure of the proposed neura
estimator is described by Fig.4. Eq
as voltage model of induction moto
and voltages and equation (8) & (9)
of induction motor which based on r
dm
d
vm
dt
=
L

L
m
(:
ds
R
s
i
ds
I
s
dI
ds
dt
)
dm
q
vm
dt
=
L

L
m
(:
qs
R
s
i
qs
L
s
dI
qs
dt
)
dm
d
m
dt
=
1
T

(I
m
i
ds
m
dr
Im
-

m
qr
Im
)
dm
q
m
dt
=
1
T

(I
m
i
qs
m
qr
Im
+
r
T
r
m
dr
Im
)
Stator
resistance
variation
Change in the
stator current
wing equation
(1)
iven as
(2)
(3)
(4)
hen stator flux will become
(5)
egy stator flux is estimated
as stated in (1) and
can be done by (4).From (1)
nce variation will cause to
in turn effect the estimated
the effectiveness of the
he DTC, which is described

variation on the DTC drive
TIMATION USING ANN
al network stator resistance
quations (6) & (7) is known
or which based on currents
) is known as current model
rotor speed and currents.
(6)
(7)
(8)
) (9)
Error in flux
and torque
estimation
Error in
flux and
torque
control
2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA) 1487


Fig.4. Stator resistance estimation with ANN
From voltage and current model of the induction motor we can
get
I
s
dI
ds
dt
= v
ds
R
s
i
ds

L
m
L

(I
m
i
ds
m
dr
Im
-

m
qr
Im
) (10)
Equation (10) can be written in the discrete form as follows
i
ds
r
(k)= w
1
m
dr
(k - 1) +w
2
m
qr
(k - 1)

+ w
3
V
ds
(k-1)

+ w
4
i
ds
(k - 1) (11)
Where, w
1
= j[
T
s
oL
s
[
L
m
L

[ ; w
2
=j[
T
s
oL
s
][
L
m
L

ui [;
w
3
=[
T
s
oL
s
; w
4
= j1 - (
T
s
oL
s
) Rs -(
T
s
oL
s
)
L
m
2
L

[ .
Equation (11) can be illustrated by a recurrent neural network
which is demonstrated in Fig. 5.Weights W
1
, W2, W3 are
directly calculated from the motor speed (
r
), motor
parameters and sampling time (T
s
).Considered that motor
parameters are constant except stator resistance (R
S
).








Fig.5. Neural network scheme to estimate the d axis stator current
To train the neural network Back propagation is used as
learning algorithm. Adjustment of weight W
4
is done for
minimizing the cost function (E) error given below.
E=
1
2
e
2
=
1
2
{ius (k) - i
ds
r
(k)] (12)
Weight (W
4
) adjustment is done according to the equation (13)
w
4
(k) = w
4
(k-1) + w
4
(k) + w
4
(k-1) (13)
Where = training coefficient & =positive momentum
constant.
Similarly we can get
i
qs
r
(k)= w
1
m
qr
(k - 1) -w
2
m
dr
(k -1)

+ w
3
I
ds
(k-1)

+ w
4
i
qs
(k - 1) (14)
Equation (14) can be illustrated by a recurrent neural network
which is shown in Fig.6








Fig.6. Neural network scheme to estimate the q axis stator current
Equation (15) is used to calculate the stator resistance R
s

R
s
= j1 - w
4
- [
T
s
oL
s

L
m
2
L

[ [
cL
s
T
s
(15)
So using neural network scheme induction motor stator
resistance can be calculated from stator current as shown in
Fig.4.
IV. SIMULATION RESULT
The effectiveness of the proposed neural network stator
resistance estimator is justified in MATLAB/Simulink
environment. The response of the system with and without the
estimator of stator resistance is compared. Parameters of
induction motor used in simulation are given in table II.
t
qs
r
(h)

Z
-1
W4
W3
W2
w
1
m
qr
(h -1)
m
dr
(h -1)
Vqs(k-1)
t
ds
r
(h)

Z
-1
W4
W3
W2
W2
m
dr
(h -1)
m
qr
(h -1)
Vds(k-1)
1488 2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)
Table II : Induction Motor Parameter
Rated Power (kW) 3.7
Rated Voltage (V) 460
Rated Frequency (Hz) 60
Pole Pair 2
Stator Resistance() 1.115
Rotor Resistance() 1.083
Stator Inductance(H) 0.209674
Rotor Resistance(H) 0.209674
Magnetizing Inductance(H) 0.2037
Rated Speed(rpm) 1750

A PI speed controller is used which gives corresponding
reference torque and reference stator flux used for the drive is
0.96Wb.An initial load torque of 5 Nm is used.
To drive the induction motor an IGBT inverter is being used
and space vector modulation is used as modulation technique.
The coefficients used to train the network are = .009 and
=1e-6.
During the operation of the motor Stator resistance may vary
up to 50%. So, stator resistance of the motor has been
increased from 1.115 to 1.4 shown in Fig.7.a to verify and
investigate the effectiveness of the proposed estimator at 1.2
sec. In the conventional system fixed value of the stator
resistance is used. Therefore the speed becomes unstable
(Fig.7.b) and there are more ripples introduced in the output
torque (Fig.7.c) when changing of the stator resistance take
place. From stator flux locus it has been seen that more ripples
are introduced around the expected stator flux shown in
Fig.7.d and speed becomes unstable shown in Fig.6.c.








Fig. 7. Stator resistance variation effect.(a) step varaition of the stator
resistance, (b) speed (rad/s), (c) electromagnetic torque(N-m) (d) Stator flux
locus
From Fig.8.a it can be seen that estimated value of the
proposed estimator can track the the actual value of the stator
resistance within around 40 ms which is shown in the zoomed
view of the stator resistance tracking(Fig.8.b).Torque (Fig.8.c)
and flux(Fig.8.e) ripples is reduced after using the proposed
estimator though the stator resistance has been changed.And
also speed becomes stable which is shown in Fig.8.d
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
1.8
2
Time(s)
S
ta
to
r
R
e
s
is
ta
n
c
e
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-10
0
10
20
30
40
50
60
70
80
90
100
Time(s)
T
o
r
q
u
e
(
N
m
)
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
10
20
30
40
50
60
70
80
S
p
e
e
d
(
r
a
d
/s
)
b
c
d
a
2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA) 1489





Fig. 8. Compansation of the Stator resistance variation effect.(a) step varaition
of the stator resistance,(b) zoomed view of stator resistance tracking (c) speed
(rad/s), (d) electromagnetic torque(N-m) (e) Stator flux locus
V. CONCLUSION
A new on-line stator resistance estimation technique is
addressed in this paper using neural network system. It has
been proved that proposed estimator can detect changes of the
stator resistance and also the estimator can converge to stator
resistance steady state value within around
40miliseconds.Simulation result reveals that the proposed
neural network estimator is excellent to estimate the stator
resistance in on-line.In future the proposed estimator will be
implemented,and also simulation and experimental result will
be compared.

ACKNOWLEDGEMENT
The authors would like to thank the Ministry of Higher
Education and University of Malayafor providing financial
support under the research grant No.
UM.C/HIR/MOHE/ENG/16001-00-D000017.

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0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
0.2
0.4
0.6
0.8
1
1.2
1.4
1.6
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1
1.1
1.2
1.3
1.4
1.5
1.6
1.7
Time(s)
S
ta
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r
r
e
s
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t
a
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c
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Actual Rs
Estimated Rs
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-10
0
10
20
30
40
50
60
70
80
90
100
Time(s)
T
o
r
q
u
e
(
N
m
)
0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
0
10
20
30
40
50
60
70
80
Time(s)
S
p
e
e
d

(
r
a
d
/
s
)
c
a
b
e
d
1490 2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA)
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2013 IEEE 8th Conference on Industrial Electronics and Applications (ICIEA) 1491