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This article has been accepted for publication in a future issue of this journal, but has not been

fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2807410, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

Direct Torque Control of Six-phase Induction


Motor with a Novel MRAS-Based Stator
Resistance Estimator
Mohammad Hosein Holakooie, Mansour Ojaghi, Senior Member, IEEE,
and Asghar Taheri

Abstract—Any mismatch between the real and tuned The 6PIM is composed of two sets of three-phase windings
values of the stator resistance (Rs ) leads to a degraded spatially displaced by 30◦ e (in asymmetrical mode) or 60◦ e
performance of the direct torque control (DTC) strategy. (in symmetrical mode) with single or two isolated neutral
The underestimation of Rs causes an error in the stator
flux and torque estimations, thereby weakening the DTC points. The asymmetrical configuration provides better torque
performance; however, an overestimation of Rs can make characteristic than the symmetrical one. The 6PIM with two
the DTC unstable. The main objective of this paper is to isolated neutral points optimizes the utilization of the dc-link
present a novel estimator based on the model reference and avoids the flow of zero-sequence currents, however, this
adaptive system (MRAS) for online estimation and tracking also reduces the number of freedom degrees from five to four,
of Rs in the DTC of six-phase induction motors (6PIMs).
Voltage and current vectors of 6PIM are mapped into α − β, which is not suitable for fault-tolerant operation. Accordingly,
z1 − z2 and o1 − o2 subspaces, where only the α − β the 6PIM with a single isolated neutral point is preferred for
components are related to electromechanical energy con- fault-tolerant applications, while the 6PIM with two isolated
version. The proposed technique uses additional degrees neutral points have received more attention for a healthy mode
of freedom, i.e. the z1 − z2 subspace to estimate Rs . The operation [3].
attained merits include simplicity, low computation burden,
and low sensitivity to other parameters of the 6PIM. The Some advanced control strategies, including direct torque
adaptation law is derived from the Lyapunov stability theory control (DTC), field-oriented control (FOC) as well as a more
and Popov hyperstability theory. The proposed technique is sophisticated technique, i.e. finite control-set model predictive
applied under a duty cycle control-based DTC, where z1 −z2 control (FCS-MPC), etc., have been applied to the multi-
currents possess reduced amplitudes in comparison with phase drive systems [5], [6]. The recent research advances
the conventional DTC. The validity of the proposed system
is verified by simulation and experimental results. in the control of multi-phase drives and the comparison of
some control strategies have been reviewed in [5]. Among
Index Terms—Direct torque control (DTC), duty cycle the control strategies, DTC is generally known by its simple
control, model reference adaptive system (MRAS), six-
phase induction motor (6PIM), stator resistance estimation. structure, fast dynamics, and robust performance, hence this
research aims to improve the performance of DTC for 6PIMs.
The different types of the DTC have been introduced in
the literature for multi-phase induction motors [7]–[12]. A
I. I NTRODUCTION
modulation-based DTC for 6PIM has been presented in [7],

M ULTI-phase induction motors have attracted wide atten-


tion over the last two decades. These motors have been
used for special applications, such as naval, automotive, and
which offers better torque and flux responses than a switching-
table based DTC (ST-DTC) due to its constant switching
frequency. The classic ST-DTC strategy has been addressed
aerospace industries due to their higher reliability, lower rate of in [8] for a five-phase induction motor (5PIM) and in [9] for
power switches, and lower torque pulsations [1], [2]. The most 6PIM with a focus on the efficiency optimization. The ST-DTC
promising benefit of the multi-phase machines is the higher possesses some limitations due to the stator current harmonics,
number of degrees of freedom, which may provide better which are chiefly generated from unused additional voltage
fault-tolerant operation [3], series-connected multi-motor drive vectors in the α − β subspace. This restriction is relaxed by
systems [4], etc. introducing a duty cycle control strategy [10], [11], whereby
Among the multi-phase induction motors, the main focus multiple voltage vectors are applied to the inverter during each
of the literature is on the five- and six-phase ones, where sampling period. However, this method is not able to reduce
the six-phase induction motor (6PIM) is the beneficiary of the torque ripple. To address the latter problem, a modification
the three-phase technology because of its modular structure. of the hysteresis torque regulator has been proposed in [11]
and the switching table has been revised in [12].
Manuscript received Month xx, 2xxx; revised Month xx, xxxx; ac- The performance of the DTC strategy is usually affected
cepted Month x, xxxx. by the stator resistance (Rs ) mismatch when the value set for
The authors are with the Department of Electrical Engineering,
University of Zanjan, Zanjan, Iran (e-mail: hosein.holakooie@znu.ac.ir; Rs on the controller differs from its real value on the motor.
mojaghi@znu.ac.ir; taheri@znu.ac.ir). During underestimation of Rs , where the tuned Rs value is

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2807410, IEEE
Transactions on Industrial Electronics
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smaller than its real value, the stator flux and electromagnetic +
s11 s 21 s13 s 23 s15 s 25
torque estimation deteriorate. This is because the stator flux is
vdc a x b y c z
estimated using the induced back electromotive force (BEMF) s12 s 22 s14 s 24 s16 s 26
in the stator windings, where the BEMF is determined by _
subtracting the voltage drop across Rs from the stator input
C
voltage. The high-speed operation of DTC is marginally de-
G bs
graded by the Rs mismatch because the voltage drop across Rs ys
E xs
is negligible compared to the BEMF magnitude. However, this 30
as 6PIM
magnitude decreases at low-speeds and becomes comparable cs
zs
with the voltage drop across Rs , hence an error in the Rs
value may introduce considerable error in the flux and torque
estimations. During overestimation of Rs , where the tuned Fig. 1. The schematic of VSI-fed 6PIM
Rs value is larger than its real value, the errors may lead to
instability of the drive system [13].
A great deal of research has been conducted for online esti- becomes completely decoupled from ωr and Tr , and hence
mation and tracking of the Rs value. This is a relatively mature can be perfectly integrated with traditional speed estimation
technology for a three-phase induction motor. The model ref- techniques to provide a sensorless drive system. Moreover,
erence adaptive system (MRAS) schemes have been accepted the proposed estimator has a simple structure for experimental
as efficient estimation systems because of their straightforward implementation and can be extended to other multi-phase
algorithm and low computation burden [14]. The MRAS-based induction motors with an arbitrary number of phases. The
stator resistance estimator has been frequently discussed [15]– stator resistance-adaptation law is derived using Lyapunov’s
[18]. Three categories of adaptive observers have been used and Popov’s stability theorems to guarantee the overall conver-
for the Rs estimation including full-order observers [19]–[25], gence of the estimator. The conventional ST-DTC for 6PIM is
reduced-order observers [26], [27], and Kalman filter [28]. In overshadowed by introducing unwanted low-order harmonics
the above mentioned researches, modifying the adaptation law in the stator currents, which reduce the efficiency. A duty cycle
[19], [23], utilizing intelligent methods such as fuzzy logic control-based DTC strategy is employed in this paper to reduce
and neutral networks [18], [24], designing observer feedback the stator current harmonics. This is achieved by considerable
gain [19], [26], stability analysis [16], [20], [21], improving reduction of the current components in the z1 − z2 subspace,
robustness [17], analyzing and modifying regenerative modes which are needed for Rs estimation by the proposed technique.
of operation [20], [25], reducing the number of current sensors Therefore, the duty cycle control-based DTC offers a more
[22], and the simultaneous estimation problem [27], [28] have critical condition for the proposed stator resistance estimator.
been the main concerns for the researchers. The last item, Commonly, two test methods have been utilized in the
i.e. simultaneous estimation of motor parameters, including literature to experimentally verify the performance of the stator
Rs , rotor speed (ωr ), and rotor time-constant (Tr ) has been resistance estimation systems. In the first method, the actual
rarely reported because of the problem of persistent excitation stator resistance is changed by adding extra external resistors
conditions [19]. To address this difficulty, a time division in series with every phase winding of the stator, then the Rs
technique has been proposed in [29], which considers rotor estimator must correctly and automatically update the value
flux command as a ramp function instead of a constant quantity of the resistance in the controller [17], [28]. In the second
to satisfy persistency of excitation conditions. Furthermore, a method, the motor is operated with an underestimated (or
low-frequency ac signal has been injected to the flux command overestimated) value of the stator resistance. Thereafter the
to achieve this aim in [30]. It should be noted that, considering estimator must replace this value with the correct value of
the flux command as either a ramp function or injecting a the resistance when the estimation process is turned on [16],
low-frequency ac signal to it can yield steady-state torque and [19], [20]. In this paper, the second method is employed under
speed ripples. various test scenarios, where the focus is on the low-speed
The stator resistance estimation process in the three-phase region (0 to 2.5 Hz). The validity and effectiveness of the
induction motor suffers from the dependence on the other proposed scheme are clarified by simulation and experimental
parameters of the motor, such that the Rs cannot be estimated results.
apart from ωr or Tr . This problem is inevitably caused by
limited degrees of freedom in three-phase machines. However,
II. 6PIM M ODELING
6PIMs incorporate higher degrees of freedom. The additional
degrees of freedom have been previously used for introducing In this research, the vector space decomposition (VSD) ap-
a fault-tolerant system in [3], series-connected multi-motor proach [32] is employed, whereby a 6PIM with near-sinusoidal
system in [4], and braking system in [31]. distribution of windings is represented in three orthogonal
In this paper, an MRAS-based stator resistance estimation subspaces, including α − β, z1 − z2 and o1 − o2 . Among them,
system is proposed for the DTC of 6PIM drives using the only the α − β components share electromechanical energy
additional degrees of freedom. The proposed method uses conversion because the z1 −z2 and o1 −o2 components cannot
the stator current and voltage components in the z1 − z2 generate a useful rotating magnetomotive force (MMF) in the
subspace to estimate Rs . In this way, the estimation process air-gap.

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2807410, IEEE
Transactions on Industrial Electronics
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The schematic representation of a voltage source inverter B. 6PIM Model in z1 − z2 and o1 − o2 Subspaces
(VSI)-fed asymmetrical 6PIM with two neutral points is shown The 6PIM model in the z1 − z2 subspace behaves as a
in Fig. 1. The transformation from a normal six-phase system passive resistor-inductor (R-L) circuit as
(a − x − b − y − c − z) into decoupled orthogonal subspaces
(α − β, z1 − z2 , and o1 − o2 ) is performed as follows: vsz1 = Rs isz1 + Lls pisz1 (9)
vsz2 = Rs isz2 + Lls pisz2 (10)
F ortogh = T 6 .F norm (1)
where Lls is the stator leakage inductance.
where By neglecting the stator mutual leakage inductances, the
 T machine model in the o1 − o2 subspace is the same as that
F norm = fa fx fb fy fc fz in the z1 − z2 subspace [32]. However, the applied 6PIM
structure with two isolated neutral points prevents the zero
 T sequence currents because it operates as two balanced three-
F ortogh = fα fβ fz1 fz2 fo1 fo2 (2)
phase systems.
where f can be voltage, current or flux quantity. T 6 is the
decoupling transformation matrix as III. P ROPOSED MRAS-B ASED S TATOR R ESISTANCE
  E STIMATOR
1 cos(φ) cos(4φ) cos(5φ) cos(8φ) cos(9φ)
0 sin(φ) sin(4φ) sin(5φ) sin(8φ) sin(9φ)
The proposed stator resistance estimator is based on the
1 1

cos(5φ) cos(8φ) cos(φ) cos(4φ) cos(9φ)
 MRAS strategy. The overall stability of the system must be
T6 =  guaranteed to ensure that the error between real and estimated
3 0 sin(5φ) sin(8φ) sin(φ) sin(4φ) sin(9φ)
1 0 1 0 1 0  Rs will converge to zero. Using nonlinear stability theorems,
0 1 0 1 0 1 such as Lyapunov’s or Popov’s stability methods, an adaptation
(3)
law is designed to make the system asymptotically stable. It
where φ = π/6. The fundamental components of F norm ,
is worth mentioning here that the dynamic response of the
besides the harmonics of order 12k ± 1, (k = 1, 2, 3, ...) are
convergence process is not provided by nonlinear stability
mapped into the α − β subspace, the harmonics of order
theorems. Moreover, the stability of the candidate adaptation
6k ± 1, (k = 1, 3, 5, ...) are mapped into z1 − z2 subspace, and
law may not be guaranteed in the low-speed regeneration
the zero-sequence harmonics are transformed into the o1 − o2
mode. To perform such studies, it is needed to linearize the
subspace.
6PIM equations around the operating point and extract a
closed-loop transfer function of the Rs estimator, which is
beyond the scope of this paper.
A. 6PIM Model in α − β Subspace
The stator and rotor voltage equations in the stationary α−β A. Design of Adaptation Law
subspace can be expressed as
Considering the general form of state-space equations as
v s = Rs is + pΨs (4) px = Ax + Bu
y = Cx (11)
0 = Rr ir + pΨr − jωr Ψr (5)
The state-space representation of the 6PIM model in the z1 −z2
The flux linkage equations are as follows: subspace can be deduced from (9) and (10) by the following
form:
Ψs = Ls is + Lm ir (6)
  " Rs #
− Lls
  
isz1 0 isz1 1 vsz1
Ψr = Lm is + Lr ir (7) p = +
isz2 0 − LRlss isz2 Lls vsz2
where v s = vsα + jvsβ , is = isα + jisβ , ir = irα + jirβ ,
    
isz1 1 0 isz1
Ψs = ψsα + jψsβ , Ψr = ψrα + jψrβ , is and ir are the stator = (12)
isz2 0 1 isz2
and rotor currents, Ψs and Ψr are the stator and rotor flux
linkages, Rs and Rr are the stator and rotor resistances, Ls , Also, the states observer can be written as
Lr and Lm are the stator, rotor and magnetizing inductances, px̂ = Âx̂ + Bu
j is the imaginary unit, and p denotes derivative operator.
The electromagnetic torque generated by 6PIM is calculated ŷ = C x̂ (13)
as follows: where the sign “∧ ” indicates the estimated values. In (13), the
Te = 3P Ψs ⊗ is (8) stator leakage inductance is assumed to be constant when it is
to estimate the stator resistance, therefore its possible errors
where P is the number of pole pairs and ⊗ represents cross and variations are neglected. Here it should be mentioned that
product. a correction term based on error, as G(x− x̂), is omitted from

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This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2807410, IEEE
Transactions on Industrial Electronics
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(13), where G is the observer gain matrix. This is a common TABLE I


practice in MRAS-based estimators [33]. In some researches, T HE IMPACT OF INTEGRAL AND PROPORTIONAL GAINS ON THE
PERFORMANCE OF THE PROPOSED Rs ESTIMATION SYSTEM
this type of observer is called a “natural observer” [34]. The
error matrix of the state variables is defined as Optimal Case Convergence Steady-state Overshoot
 T gain time (s) error (%) (%)
e = x − x̂ = isz1 − îsz1 isz2 − îsz2 Optimal Ki 1.7s 0 0
 T
= eisz1 eisz2 (14) Optimal 75% decrease 5s 1.3% 0
Kp in Ki
The time derivative of the error matrix is calculated using 75% increase 0.25s 0 10%
(11), (13), and (14) as in Ki
Optimal Kp 1.7s 0 0
pe = px − px̂ = Ae − ∆Ax̂ (15)
Optimal 60% decrease 2s 0.1 % 0
where ∆A is obtained as Ki in Kp
 −1  60% increase Instability of the estimation system
Lls 0
∆A = Â − A = −1 ∆Rs (16) in Kp
0 Lls

where ∆Rs = R̂s −Rs is the difference between the estimated


and real values of the stator resistance. At this point, the where the tuning signal RS is
Lyapunov candidate function is introduced for asymptotic RS = îsz1 (isz1 − îsz1 ) + îsz2 (isz2 − îsz2 ) (24)
stability of the proposed estimator as follows:
In order to improve the dynamic response of the system, equa-
∆Rs2
V = eT e + (17) tion (23) is replaced by a proportional-integral (PI) estimator
λ 
where λ is a positive gain. The time derivative of Lyapunov R̂s = − Kp + Ki /p RS (25)
function is
where Kp and Ki are the proportional and integral gains.
2
pV = eT pe + peT e + ∆Rs pR̂s (18) The gains affect the convergence rate, steady-state accuracy,
λ overshoot, and the stability of the estimator. As λ and Lls are
In (18), it is assumed that pRs ≈ 0, because the variation of the positive constants in (23), Ki should be a positive constant,
real Rs in the time scale of the estimator can be neglected. The otherwise the stability of the estimator will be lost. A large
terms e and pe are substituted from (14) and (15), respectively enough value for Ki increases the convergence rate and elim-
into (18) as inates the steady-state error of the estimator, thus allowing the
fast tracking of the stator resistance. However, large overshoots
pV = eT (A + AT )e − [eT ∆Ax̂ + x̂T ∆AT e]
can be produced by setting a very large value for this gain. The
2
+ ∆Rs pR̂s (19) estimation response is improved by adding the proportional
λ term to the attained adaptation law in (23) and setting a proper
According to the Lyapunov stability theorem, a sufficient value for its gain (Kp ). However, setting a very large value for
condition for the asymptotic stability of the estimator is that this gain may introduce undesired oscillations in the estimation
the candidate function V must be decreased while the error response and even instability of the estimator. Indeed, the
is not zero. This condition is satisfied when the Lyapunov proportional gain increases the capacity for the oscillations
function V is a positive definite, and its first-order time and instability of the estimator, hence the value of the Kp
derivative is a negative definite. As proved by (20), the first must be limited to prevent these considerations. In this paper,
right hand side term in (19) is a negative definite the optimal gains are selected by trial and error to provide a
2Rs 2 good compromise between the mentioned performance criteria
eT (A + AT )e = − (e + e2isz2 ) < 0 (20) at different operating points. The effects of deviations of the
Lls isz1
gains from the selected optimal values on the performance
The Lyapunov condition will eventually be satisfied, if the sum
of the proposed stator resistance estimator are determined
of the last two terms in (19) is zero as
through simulation tests under speed command of 10 rad/s
2 and rated load torque, and summarized in Table I.
∆Rs pR̂s − [eT ∆Ax̂ + x̂T ∆AT e] = 0 (21)
λ The block diagram of the proposed MRAS-based stator
By substituting (12), (14), and (16) into (21), the adaptation resistance estimator is shown in Fig. 2. The MRAS comprises
law can be described by the reference and adjustable models, where the reference
λ T model is the real 6PIM and the adjustable model is constructed
pR̂s = − e I îsz (22) by (12). The measured and estimated values of the stator
Lls
currents in the z1 − z2 subspace produce the tuning signal
where I is the identity matrix, and îsz = [îsz1 îsz2 ]T . The based on (24). The stator resistance is an adaptive variable,
adaptation law is simplified as follows: which is estimated by the PI regulator based on (25). Popov’s
λ
Z hyperstability theory is also used to design the adaptation law
R̂s = − RS dt (23) for the stator resistance estimator whose details are given in
Lls

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Transactions on Industrial Electronics
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Reference Model Duty iabc 3


V abc i abc Cycle
Modified Saxbycz Voltage
6PIM
V xyz i xyz Switching Source 6PIM
Table Inverter ixyz
i sz 1 3

[T6] [T6] i sz 2 Vdc

Determination
Tuning Rs Rˆs
iˆsz 1 Signal

Sector
s s Rˆ
Calculator Flux and Proposed * _r
V sz 1 Adjustable Model iˆsz 2 PI Regulator +
Torque iabc MRAS
s r
Te
V sz 2 Estimator ixyz estimator
Rˆs
PI
Regulator
_ *
Fig. 2. The block diagram of the proposed MRAS-based stator resis- T Hysteresis + Te
tance estimator Regulator
_
Z1 Hysteresis + *
22 s
28 60 54 Regulator
12 44 24 56 18 50 6 38
52 62 52
30 29 20
62
40 30 23 20 34
Fig. 4. Block diagram of proposed DTC scheme
8 61 2 55
46 16 58 48 4
48 26
36 14
14 4
26
25 58 57 16 7 46 39 36
45 51
13 54 19 10
60
53
10 22 53 28
31 41 31 35
32
Z2
9
32 3
50 44
15 6 47
5
38
27 37
18

17
59
49 27 24
59
17
56
15 49
12

5
47
37 IV. DTC OF 6PIM
2 34 8 61
23 1 43 55 33 29 1 43 40
33
7
11
19 25
11
13
A. Conventional DTC
39 51 57 45

3 35 9 41 A six-phase VSI has totally 26 = 64 switching states. Each


switching state produces a voltage space vector in the α − β
Fig. 3. Voltage space vectors of inverter in α − β (left side) and z1 − z2 and z1 − z2 subspaces. The constructed voltage vectors are
(right side) subspaces
shown in Fig. 3. There are four non-zero dodecagons with
different amplitudes, which contain 2 × 6 = 12 sectors. The
TABLE II
S WITCHING TABLE OF DTC STRATEGY
electrical angle of the sectors is 30◦ . The voltage space vectors
are given by
T ψ Selected voltage*
1
1 1 Vm+1 vs = [Va + aVx + a4 Vb + a5 Vy + a8 Vc + a9 Vz ] (26)
1 0 Vm+4 3
0 1 V0 1
0 0 V0 vz = [Va + a5 Vx + a8 Vb + aVy + a4 Vc + a9 Vz ] (27)
-1 1 Vm−2 3
-1 0 Vm−5
where vz = vsz1 + jvsz2 and a = ejπ/6 .
*m is the sector number
The voltage space vectors in the α − β subspace can be
categorized into five groups: large vectors (VL = 0.64Vdc ,
the Appendix. As can be seen, both, Lyapunov’s and Popov’s where Vdc denotes dc-link voltage); single medium vectors
theories, yield similar results in terms of the adaptation law. (VSM = 0.47Vdc ); double medium vectors (VDM = 0.33Vdc );
small vectors (VS = 0.17Vdc ); and null vectors. The voltage
vectors in the z1 − z2 subspace have the same form as α − β,
B. Remarks about Sensitivity of the Proposed Estimator so that the position of VL , VSM , VDM , VS , and the amplitude
Usually, the MRAS-based stator resistance estimators, of VL and VS vectors are changed.
which are presented for three-phase induction motors, are The flux estimator is obtained from
Z
strongly dependent on the changes of the other parameters
ψsα = (vsα − R̂s isα )dt (28)
of the motor including ωr , Tr , and Lm . If ωr is also to
be estimated in parallel with Rs , the parameter dependency Z
will be increased. The rotor time-constant Tr and the mag- ψsβ = (vsβ − R̂s isβ )dt (29)
netizing inductance Lm may be changed by temperature
drift and magnetic saturation, respectively. Hence, sensitivity and the toque estimator is provided from (8). In the conven-
analysis should be performed for practical MRAS estimators tional ST-DTC, the errors of the electromagnetic torque and
of the three-phase induction motors to determine the effect the stator flux amplitude are passed through the three-level
of variation of the motor parameters on the performance. and two-level hysteresis regulators, respectively. According to
In essence, the low sensitivity of the estimator against the the outputs of the regulators as well as the position of the
changes of motor parameters is a critical benchmark. However, stator flux, a proper large voltage vector VL is selected based
the proposed estimator in this paper is not sensitive to ωr , Tr , on Table II. By selecting only the large vectors to control the
or Lm . It just depends on the stator leakage inductance Lls , torque and flux, the resultant voltage vectors in the z1 − z2
which is a rather constant parameter. subspace will produce some low-order current harmonics [10].

0278-0046 (c) 2018 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI 10.1109/TIE.2018.2807410, IEEE
Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

B. Duty Cycle Control in DTC Strategy


In order to reduce the low-order current harmonics, a duty

220 v, 50 Hz
cycle control scheme is used whereby a combination of large 6PIM
and single medium voltage vectors is applied to the inverter
during each sampling period. The reason lies in the fact PCI-1716 data
Shaft
that every VL and its corresponding VSM vectors are in the acquisition card
encoder
opposite directions in the z1 − z2 subspace (see Fig. 3). The 6 6
duration for applying each voltage vector in every sampling RS232 ePWM ADC Magnetic
period is determined based on a simple principle, which aims TMS320 powder
eQEP brake
to reduce average volt-seconds in z1 − z2 subspace as follows: USB JTAG F28335
Host PC Interface eZdsp F28335 board
( (
TL × VL = TSM × VSM TL = 0.73Ts Load controller unit
⇒ (30)
TL + TSM = Ts TSM = 0.27Ts (a)
where Ts , TL , and TSM are the sampling period, large vectors’
duration, and single medium vectors’ duration, respectively. Data
Accordingly, in the duty cycle control-based DTC approach, acquisition
card
the voltage vectors are first determined based on Table II.
The selected vectors are subsequently applied to the inverter
Voltage
according to the duty ratio. In fact, the applied voltage sensor
vector is a virtual vector, which is composed of VL and its
VSI
corresponding VSM with TL and TSM durations. The block eZdsp
F28335
diagram of the proposed duty cycle DTC scheme with MRAS- board
Current
based stator resistance estimator is shown in Fig. 4. Except sensors
for the results in subsection VII.A, the other simulation and
experimental results are generated using duty cycle control-
based DTC.
DC link
6PIM Load
V. E XPERIMENTAL T EST S ETUP
The schematic diagram and real photographs of the experi- Shaft
encoder Load controller
mental platform are shown in Fig. 5(a) and 5(b), respectively.
The experimental platform consists of the following main
(b)
elements: 1) eZdsp F28335 board based on floating-point
TMS320F28335 processor; 2) tailor-made three-phase VSIs Fig. 5. Experimental platform (a) Schematic diagram (b) Real setup.
using BUP 314D insulated-gate bipolar transistors (IGBTs),
HCPL-316J gate drivers, and LEM LTS 6-NP current sensors; 0.5
ψ (Wb)

3) LEM LV25-P voltage sensor; 4) Autonics incremental shaft 0.4


s

encoder with a resolution of 2500 P/R; 5) magnetic powder 0.3


5
brake and its controller unit; 6) Advantech PCI-1716 data
T (Nm)

0
acquisition card (DAQ); 7) single-phase rectifier bridge and
e

−5
dc-link; and 8) a 1-hp, 24-stator slots three-phase squirrel-
ωr (rpm)

300
cage induction motor, which has been rewound to construct 200
a 2-pole asymmetrical 6PIM with the following parameters: 100
0
10
P = 1, Rs = 4.08 Ω, Rr = 3.73 Ω, Ls = 443.6 mH, Lr = 2R
s
Estimated Rs (Ω)

443.6 mH, Lm = 429.8 mH, J = 0.000718 kg.m2 . 1.5Rs

5 Real R
s
0.5R
s

VI. S IMULATION R ESULTS 0


0

The performance of the proposed scheme is evaluated 0 1 2 3 4 5 6 7


Time (sec)
through a numerical simulation. The system model is carried
out in MATLAB/Simulink, wherein as with some related Fig. 6. Open-loop estimation of the stator resistance under the speed
references [7], [8] and [11], the sampling frequency is set to command changes, Tl = 0, and ψs∗ = 0.4 Wb—simulation results.
10 kHz. The open-loop simulation results under no load and
step changes in speed command are shown in Fig. 6, where
the stator flux command is set to 0.4 Wb. The stator resistance for different wrong initial settings irrespective of the speed
is initially detuned by setting it to 0, 0.5, 1.5, and 2 times its changes. The open-loop simulation results under step change
real value. The estimation process is activated at t = 1 s. It of load torque from 0 to about 2 Nm and a speed command
is obvious that the estimated Rs is converged to its real value of 2700 rpm are shown in Fig. 7. It can be seen that the stator

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10
i (Conventional DTC)

Te (Nm)
sa
0
isa (Duty cycle DTC)

−10 isα (Conventional DTC)


2800

Current (4 A/div)
i (Duty cycle DTC)

ω (rpm)

2700
isβ (Conventional DTC)
2600
r

isβ (Duty cycle DTC)


2500
10
2Rs isz1 (Conventional DTC)
Estimation activated
8
Estimated Rs (Ω)

isz1 (Duty cycle DTC)


6
Real Rs
4 i (Conventional DTC)
sz2

2 i (Duty cycle DTC)


0 sz2
0
Time (50ms/div)
−2 2 2
Conventional DTC Duty cycle DTC

Mag (A)

Mag (A)
0 1 2 3 4 5 6 7 1.5 1.5
Time (sec) 1 1
0.5 0.5

1 5 10 15 20 1 5 10 15 20
Fig. 7. Open-loop estimation of the stator resistance under load change, Order of Harmonic Order of Harmonic
ωr∗ = 2700 rpm, and ψs∗ = 0.4 Wb—simulation results.
Fig. 9. Stator current waveforms as well as the corresponding α − β
6 and z1 − z2 current components and the stator phase current spectra
Actual Rs (Ω)

obtained with conventional and duty cycle DTC schemes under rated
5
load and 34% rated speed—experimental results.
4

6 Estimated flux
Estimated Rs (Ω)

0.5

ψs (Wb)
5
0.4
4

3 0.3 Actual flux


Estimation error (Ω)

0.2 6
Mean torque
4
Te (Nm)

0
2
−0.2
0 2 4 6 8 10 12 0
Time (sec)

Fig. 8. Closed-loop estimation of the stator resistance under rated 1


Rest/Rreal

condition for a ramp change of actual Rs —simulation results.

0.5

resistance is correctly estimated in this condition, as well. The 0 1 2 3 4 5 6 7 8 9 10


Time (sec)
sudden step change of the stator resistance is practically rare
in the normal operation; however, it imposes the most critical
Fig. 10. Performance of the proposed stator resistance estimator at
condition on the adaptation rate of the proposed estimator. In 17% rated speed (50 rad/s) and rated load (Tl = 2 Nm)—experimental
practice, the stator resistance may vary more slowly due to the results.
slow thermal process. In such a condition, the estimated Rs
can track the actual one very closely. To investigate this fact,
the closed-loop performance of the proposed stator resistance A. Duty Cycle-based DTC in Comparison with Conven-
estimation system for a near 30% ramp change in actual Rs tional DTC
is shown in Fig. 8. It can be seen that the estimated Rs tracks
the actual Rs by a slight delay.
Fig. 9 shows the experimental results for conventional
DTC and duty cycle-based DTC schemes under rated load
VII. E XPERIMENTAL R ESULTS (Tl = 2 Nm) and 34% rated speed (ωr = 100 rad/s). The
In addition to the simulation results, this section offers more figure includes the stator current waveforms as well as the
extensive experimental results for confirming the effectiveness corresponding α − β and z1 − z2 current components and the
of the proposed approach. The sampling frequency in the stator phase current spectra. It can be clearly adjudged that the
experiments is 10 kHz too. The experimental results are duty cycle control scheme has reduced the low-order current
captured using a DAQ card and serial port with LabVIEW and harmonics, especially the fifth and seventh harmonics. These
MATLAB software, respectively. The serial communications harmonics are mapped into the z1 − z2 subspace. Hence, the
interface (SCI) module is used to facilitate the connection reduction on the z1 − z2 current amplitudes by the duty cycle
between the host PC and the DSP board. control scheme is also noticeable. All the experimental results
presented in the following subsections have been captured

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Transactions on Industrial Electronics
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40
Rest/Rreal=0.5 0.5

(% command value)
30

ψs (Wb)
Stator flux error
0.4
20
0.3
10 5

Te (Nm)
0
R /R =0.9 0
est real
−10
−5
1.25 6

ωr (rad/s)
1 3
0.9
Rest/Rreal

0.75 0
1.25

Rest/Rreal
0.5 1

0.25 0.75
0 1 2 3 4 5 6 7 8 9 10 0 5 10 15 20 25
Time (sec) Time (sec)

Fig. 11. Impact of stator resistance adaptation on the stator flux error at Fig. 13. Performance of the proposed stator resistance estimator at
4.8% rated speed (14 rad/s) and rated load (Tl = 2 Nm)—experimental 1% rated speed (3 rad/s) and load torque change from 0 to 2 Nm—
results. experimental results.

0.5 0.5

ψs (Wb)
ψs (Wb)

0.4 0.4

0.3 0.3
Actual flux
5
5
Te (Nm)

0
Te (Nm)

0 −5
200
ωr (rad/s)

−5 150

1 100
Rest/Rreal

1.25
Rest/Rreal

0.5 1

0 5 10 15 20 25 0.75
0 1 2 3 4 5 6 7 8
Time (sec) Time (sec)

Fig. 12. Performance of the proposed stator resistance estimator Fig. 14. Performance of the proposed stator resistance estimator at
at 4.8% rated speed (14 rad/s) and no load condition—experimental near 50% rated speed (150 rad/s) and load torque change from 0 to 2
results. Nm—experimental results.

under the duty cycle-based DTC scheme. voltage [13].


In the first test, the drive system is allowed to work with a
B. Closed-loop Experiments detuned stator resistance at 17% rated speed (ωr = 50 rad/s),
To confirm the effectiveness of the proposed stator resis- and rated load (Tl = 2 Nm). The stator flux command is
tance adaptation system, closed-loop experiments have been 0.4 Wb . The initial value of Rs is set to 50% of its actual
performed under different operating conditions, mainly focus- value. Fig. 10 shows the captured experimental results. It
ing on the low-speed region. In the closed-loop tests, the esti- is seen that the estimated flux tracks its command values
mated stator resistance is used for estimating the stator flux and due to the flux controller action. However, the actual flux is
torque, when the proposed estimation system is activated. As lower than the estimated value because of the stator resistance
mentioned previously, the stator resistance mismatch leads to mismatch. Indeed, the stator flux is erroneously estimated.
errors in estimating the machine flux and torque. Nevertheless, Also, the estimated electromagnetic torque is somewhat higher
the actual values of these quantities are needed along with than its real value. When the proposed Rs estimator is turned
their estimations to verify the effectiveness of the proposed on (at t = 3 s), the errors of the stator flux and the torque are
stator resistance estimator. However, the stator flux cannot be rapidly compensated.
measured easily. In this paper, the actual values of the stator The impact of the stator resistance adaptation on the stator
flux and torque are provided using the current model of the flux error at 4.8% rated speed (ωr = 14 rad/s), and rated load
6PIM, which is not dependent on the stator resistance and (Tl = 2 Nm) is shown in Fig. 11. The initial detuning in Rs

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takes the values of 50% and 90% of the actual value. It can be
observed that the stator flux error with respect to its command 28 4.8% Rated speed
17% Rated speed
value is removed after the stator resistance adaptation, which
21

(% command value)
is activated at t = 3 s. The flux error for 10% and 50%

Stator flux error


mismatch in Rs are at 5.36% and 25.5% command value, 14
respectively. The performance of the stator resistance estimator
at 4.8% rated speed and no load condition is shown in Fig. 7

12. Regarding Figs. 11 and 12, it is clear that the convergence


0
rate of the stator resistance estimator is faster under loading
50
condition. However, the stator flux error is also larger in this 60
70
condition which is due to the higher stator current, and so, a Rest/Rreal (%)
80
90 75
100
50
25
higher resistive voltage drop. 100 0
TL/TLN (%)
The experimental results for the performance of the duty
cycle control-based DTC scheme equipped with the proposed Fig. 15. Steady-state flux error due to stator resistance mismatch under
Rs estimator at a very low speed and close to the half-rated different load torque and speed.
speed are shown in Figs. 13 and 14, respectively. In Fig. 13,
0.6
the speed command is considered as low as 3 rad/s (1% rated
speed), which corresponds to 0.47 Hz electrical frequency. The

ψs (Wb)
load toque is changed from 0 to 2 Nm at t = 10 s. In Fig. 0.4

14, the speed command is set as 150 rad/s (near 50% rated
speed), the load torque is increased to 2 Nm at t = 4 s. It can 0.2
9
be seen that the real Rs is correctly identified and followed,
both at very low speeds and at high speeds. Therefore, the
Te (Nm)
estimation system is robust against the load changes and the 0
control system properly regulates the stator flux and speed to
the corresponding command values. −5
1.2

C. Stator Resistance Mismatch Effects on the Drive Per-


Rest/Rreal

1.1
formance
1) Underestimation of Rs : The preceding studies indicate 1
0 1 2 3 4
that an underestimated Rs can introduce some errors in the Time (sec)
estimated values of the stator flux and torque. The degree of
the error depends on the degree of the resistance mismatch, Fig. 16. Experimental results demonstrating instability of DTC strategy
due to overestimated Rs without stator resistance adaptation.
the motor load level, and speed. To clarify how the mentioned
factors influence the resultant errors, a comprehensive study
is performed using duty cycle control-based DTC without instability problem by accurate tracking of the actual stator
stator resistance adaptation. Fig. 15 shows the attained steady- resistance.
state flux error under different Rs values and load torques
when the motor is operated at 4.8% and 17% rated speed.
Some data for this figure, which correspond to the preceding
D. Open-loop Experiments
experiments, are extracted from the experimental tests, and the
remaining data are acquired from simulations. As can be seen, Beside the closed-loop tests, open-loop experiments are
larger mismatches of the Rs at higher load torques and lower performed for confirming the effectiveness of the proposed
speeds cause larger steady-state flux errors. The errors will estimator. In the open-loop tests, the estimated stator resistance
be properly compensated using the proposed stator resistance is not used in the voltage model of the 6PIM. Therefore, this is
estimation system. suitable to demonstrate the convergence of the overestimated
2) Overestimation of Rs : As previously mentioned, if the resistance to its real value. Figs. 17 demonstrates the open-
Rs is wrongly set as a value larger than actual value in loop experimental results of the proposed approach at 17%
the controller (overestimation of Rs ), the DTC drive system rated speed (ωr = 50 rad/s) and no load condition with
may become unstable [13]. In this situation, the stator flux ψs∗ = 0.4 Wb. In this case, the 6PIM drive system is run
encounters undesired oscillations, which in turn, leads to several times with wrong initial values for Rs . It is evident
the torque oscillations. Furthermore, the tracking of the flux that the stator resistance is recovered in a short time interval.
command will be lost. The instability of DTC strategy without
the stator resistance adaptation system due to an overestimated E. Execution Time
Rs is shown in Fig. 16. In this test, the speed command and To survey the computational burden of the proposed stator
load torque are 14 rad/s and 2 Nm, respectively. It is obvious resistance estimator, its execution time is calculated using
that the stator resistance adaptation system can prevent the profile tools in MATLAB. Since the execution time of a control

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0.5 TABLE III

ψs (Wb)
C LOSED - LOOP SYSTEM PERFORMANCE WITH AND WITHOUT STATOR
0.4
RESISTANCE ADAPTATION

0.3
0 1 2 3 4 5 6 With Rs Without Rs
0.5
Closed-loop adaptation adaptation
ψsαβ(Wb)

system performance
0
Rs = R̂s Rs > R̂s Rs < R̂s
−0.5 Stator flux No Yes Yes
2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3
5 estimation error
Electromagnetic torque No Yes Yes
Te (Nm)

0 estimation error
instability No No Yes
−5 problem
0 1 2 3 4 5 6
Speed command Yes Yes No
50
ωr (rad/s)

tracking

0
0 1 2 3 4 5 6
Time (sec) scheme. Considering the total execution time (46.5 µs), it is
2 1.1 obvious that the sampling frequency can easily be increased
1 from 10 kHz up to 20 kHz. However, the multi-phase drive
1.5
0.9 systems are commonly used in the high-power applications,
Rest/Rreal

4 4.5 5
1 where the switching frequency is limited by the switching
device limitations [10]. A literature review shows that 10 kHz
0.5 is a common sampling frequency for such applications.
0
1 2 3 4 5 6 F. Overall Analysis
Time (sec)
The duty cycle control-based DTC drive system with the
Fig. 17. Open-loop estimation of stator resistance during motor starting proposed stator resistance adaptation mechanism is examined
under 17% rated speed (50 rad/s) and no load conditions—experimental
results. through the experimental evaluations as follows:
• The experimental results in Fig. 9 demonstrate the impact
of duty cycle control in the reduction of the stator current
harmonics.
• The experimental results in Figs. 10-14 show the ef-
fectiveness of the proposed stator resistance adaptation
system under different operating conditions.
• The results presented in Fig. 15 depict the steady-state
flux error due to the underestimated value of the Rs under
different loadings and speeds, without the proposed stator
resistance adaptation.
• The obtained results in Fig. 16 demonstrate the instability
Fig. 18. Execution time of DTC strategy and proposed MRAS-based
stator resistance estimator.
of DTC due to an overestimated value of the Rs , without
the proposed stator resistance adaptation.
• The open-loop experimental results, which are shown
system is hardware-dependent and programming-dependent, a in Fig. 17, help to examine the convergence of the
brief description about the control system is necessary. The overestimated Rs to its real value without encountering
MATLAB/Embedded Coder is used to generate usable code an instability problem.
for the code composer studio (CCS) development environment. • The calculated execution time is shown in Fig. 18 to sur-
The digital motor control (DMC) and IQmath libraries along vey the computational burden of the proposed technique.
with IQ17 data type are employed. It is worth noting that since the stator resistance changes with
The execution time of the duty cycle control-based DTC the temperature change, all the experimental tests have been
scheme with all input/output modules, i.e. enhanced pulse performed with a safe time interval to ensure that the motor
width modulators (ePWMs), enhanced quadrature encoder is completely cool. To conclude the experimental results, it is
pulse (eQEP), analog-to-digital converters (ADCs), SCI mod- interesting to make a comparison between the drive system
ule, other processes (such as initialization of variables), and performance with and without the stator resistance adaptation.
the proposed MRAS-based estimator are shown in Fig. 18. In brief, Table III offers this comparison.
It can be seen that the execution time of DTC scheme is The advantages of the proposed stator resistance estimator
near to 40 µs, while the proposed Rs estimator adds only are its simplicity, low computation burden, and low sensitivity
6.5 µs burden to the execution time of the DTC method. to other critical parameters of the 6PIM. The dependence on
Therefore, the execution time of the proposed estimation the leakage inductance of the motor is a limitation of this
system is only about 16% the execution time of the DTC method, but this parameter is rather constant. The development

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of the proposed technique for the other control strategies such The term eT .W is computed from (14) and (33) as
as sensorless FOC is a challenging task since the system’s
∆Rs T
frequencies have a tendency to disappear. In essence, the eT W = − e I îsz (35)
Lls
estimator works well if its input signals are sufficiently rich
in frequency [22]. Substitution of (35) into (34) yields
Z t1
∆Rs T
VIII. CONCLUSION (− e I îsz )dt ≥ −γ0 , ∀t1 (36)
0 Lls
This paper presents a novel MRAS-based stator resistance
estimation system for the DTC of 6PIMs. The stator resistance If the Popov’s inequality (36) is solved in time interval
has an important role in the performance of the DTC schemes. [0 t1 ], ∀t1 , the adaptation law is achieved as
An underestimation of the Rs leads to the errors on the 
R̂s = − Kp + Ki /p RS (37)
stator flux and torque estimation. This situation worsens at
low speeds. An overestimation of the Rs causes instability The tuning signal RS is
of the DTC strategy by producing undesired oscillations on
the stator flux, which leads to the torque oscillations and RS = eT I îsz
acoustic noise. The higher number of degrees of freedom = îsz1 (isz1 − îsz1 ) + îsz2 (isz2 − îsz2 ) (38)
in 6PIMs provide further capabilities to adapt a new path
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[19] H. Kubota and K. Matsuse, “Speed sensorless field-oriented control of Tehran, Iran, in 1989. He received his B.Sc.
induction motor with rotor resistance adaptation,” IEEE Transactions on and M.Sc. degrees in electrical engineering from
Industry Applications, vol. 30, no. 5, pp. 1219–1224, Sep. 1994. Guilan and Tabriz University, respectively. He
[20] M. S. Zaky, “Stability analysis of speed and stator resistance estimators is currently working toward a Ph.D. degree in
for sensorless induction motor drives,” IEEE Transactions on Industrial electrical engineering at Zanjan university. His
Electronics, vol. 59, no. 2, pp. 858–870, Feb. 2012. current research interests include analysis and
[21] M. Saejia and S. Sangwongwanich, “Averaging analysis approach for control of rotary and linear electric machines.
stability analysis of speed-sensorless induction motor drives with stator
resistance estimation,” IEEE Transactions on Industrial Electronics,
vol. 53, no. 1, pp. 162–177, Feb. 2005.
[22] F. R. Salmasi and T. A. Najafabadi, “An adaptive observer with online Mansour Ojaghi (S’05-M’10-SM’17) received
rotor and stator resistance estimation for induction motors with one his B.Sc. degree from Shahid Chamran Univer-
phase current sensor,” IEEE Transactions on Energy Conversion, vol. 26, sity, Ahwaz, Iran in 1993, his M.Sc. degree from
no. 3, pp. 959–966, Sep. 2011. the University of Tabriz, Tabriz, Iran in 1997, and
[23] S. H. Jeon, K. K. Oh, and J. Y. Choi, “Flux observer with online tuning his Ph.D. degree from the University of Tehran,
of stator and rotor resistances for induction motors,” IEEE Transactions Tehran, Iran, in 2009 all in Electrical Engineer-
on Industrial Electronics, vol. 49, no. 3, pp. 653–664, Jun. 2002. ing.
[24] S. Mir, M. E. Elbuluk, and D. S. Zinger, “Pi and fuzzy estimators He was with the Zanjan Regional Electric-
for tuning the stator resistance in direct torque control of induction ity Company for 10 years, where he held the
machines,” IEEE Transactions on Power Electronics, vol. 13, no. 2, position of Manager of Grid Technical Office.
pp. 279–287, Mar. 1998. After receiving his Ph.D., Dr. Ojaghi joined the
[25] G. Guidi and H. Umida, “A novel stator resistance estimation method for Department of Electrical Engineering, University of Zanjan, Zanjan, Iran,
speed-sensorless induction motor drives,” IEEE Transactions on Industry where he is currently working as an Associate Professor.
Applications, vol. 36, no. 6, pp. 1619–1627, Nov. 2000. Dr. Ojaghi is a Member of the Power and Energy, Industrial Elec-
[26] M. Hinkkanen, L. Harnefors, and J. Luomi, “Reduced-order flux ob- tronics, and Industry Applications Societies of the IEEE. His research
servers with stator-resistance adaptation for speed-sensorless induction interests include modeling, simulation, and fault diagnosis of electrical
motor drives,” IEEE Transactions on Power Electronics, vol. 25, no. 5, machines and drives as well as the power system protection.
pp. 1173–1183, May. 2010.
[27] C. M. Verrelli, A. Savoia, M. Mengoni, R. Marino, P. Tomei, and Asghar Taheri was born in Zanjan, Iran, in
L. Zarri, “On-line identification of winding resistances and load torque in 1977. He received the B.S., M.S., and Ph.D.
induction machines,” IEEE Transactions on Control Systems Technology, degrees, all in electronics engineering, from the
vol. 22, no. 4, pp. 1629–1637, Jul. 2014. Amirkabir University of Technology and the Iran
[28] M. Barut, R. Demir, E. Zerdali, and R. Inan, “Real-time implementation University of Science and Technology, Tehran,
of bi input-extended kalman filter-based estimator for speed-sensorless Iran, in 1999, 2001, and 2011, respectively.
control of induction motors,” IEEE Transactions on Industrial Electron- He has been a Member of Faculty at the
ics, vol. 59, no. 11, pp. 4197–4206, Nov. 2012. University of Zanjan, Iran, since 2010, where he
[29] J. Chen and J. Huang, “Online decoupled stator and rotor resistances was an Assistant Professor from 2011 to 2016
adaptation for speed sensorless induction motor drives by a time-division and has been an Associate Professor since
approach,” IEEE Transactions on Power Electronics, vol. 32, no. 6, pp. 2016. His current research interests include:
4587–4599, Jun. 2017. modeling, analysis, and control of power converters, motor drives and
[30] I.-J. Ha and S.-H. Lee, “An online identification method for both stator- control, and multi-phase machine drives, multi-level Inverter, power
and rotor resistances of induction motors without rotational transducers,” electronic systems for renewable energy sources, process control,
IEEE Transactions on Industrial Electronics, vol. 47, no. 4, pp. 842–853, DSP and FPGA based system designs, hardware in the loop, and
Aug. 2000. computer-aided control.
[31] M. J. Duran, I. Gonzalez-Prieto, F. Barrero, E. Levi, L. Zarri, and
M. Mengoni, “A simple braking method for six-phase induction motor

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