obust speed-controlled induction-motor
F and RLS estimators
F.-J. Lin
Indexing term) Induction-motor drive, RLS estimator, Kalwan Jiltei
Abstract: An induction-motor (IM) speed drive,
with the application of an extended Kalman filter
(EKF) and a proposed recursive least-square
(RLS) estimator, is introduced. The rotor
resistance of the IM is identified by the EKF, and
the rotor inertia constant, the damping constant
and the disturbed load torque of the IM are
estimated by the proposed RLS estimator, which
is composed of an RLS estimator and a torque
observer. The integral proportional (IP) speed
controller is on-line, designed according to the
estimated rotor parameters. Then the observed
disturbance torque is fed forward to increase the
robustness of the induction-motor speed drive.
1 Introduction
Indirect field-oriented techniques utilising microproces-
sors are now widely used for the control of induction-
motor drives in high-performance applications. How-
ever, their performance strongly depends on the motor
parameters, especially the rotor resistance 111.
Recently, much attention has been given to the possi-
bility of identifying the changes in motor parameters
while the drive is in normal operation 121. Some
authors have proposed various induction-motor drives
with rotor-resistance or time-constant identification
methods [2-lo], including the EKF technique [9, lo], to
given better control performance. The EKF algorithm
[ I l l is an optimal recursive estimation algorithm for
nonlinear systems, which is very suitable for implemen-
tation in systems with measurement contaminated by
noise. The current-controlled pulse-width modulated
(CCPWM) voltage-source inverter (VSI) is most popu-
lar in high-performance AC servo applications. The
voltage waveform of this VSI has a broad-band spec-
trum. This harmonic spectrum can be considered as
noise input. The EKF approach is ideally suited for
parameter estimation in such a system. Since the algo-
rithm is computationally intensive, and all the steps
involved require vector or matrix operations, the
DSP32C digital signal processor (DSP) [12, 131, which
is installed in a PC-486, is used to implement the algo-
rithm.
0IEE, 1996
IEE Proceedings online no. 19960287
Paper received 11th July 1995
The author is with the Department of Electrical Engineering, Chung
Yuan Christian University, Chung Li, Taiwan, Republic of China
186
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On the other hand, to preserve the robust perform-
ance under parameter variations and external load dis-
turbance, many studies have been made on the motor
drives [ 14-21], which include feedforward control of
the observed torque [19-211. An on-line tuning IP
speed controller, with disturbance torque feedforward
control, is proposed in this study. The tuning of the IP
controller is according to the estimated rotor inertia
and damping constants from the proposed RLS estima-
tor [22], and the disturbance torque is obtained from
the proposed load torque observer. The IP controller
and the observer are implemented using a PC-486, and
the RLS estimator is also implemented using a
DSP32C.
Under this co-processor structure, the decouple con-
trol of torque and flux in the indirect field-oriented
mechanism is guaranteed by the estimated rotor resist-
ance; and the robust control performance is obtained
by the on-line tuning IP controller with feedforward
control. The theoretic basis of the proposed controllers
is derived in detail, and some simulation and experi-
mental results are provided to demonstrate the effec-
tiveness of the proposed control scheme.
2 Induction-motor model
The small-signal linear state space equation for the
induction motor in a stationary reference frame is as
follows [23]:
X=AX+BU (1)
where
T
x= [iqs ids iq, zdr] (2)
A=o [
(5)
igs,ids = q-axis and d-axis stator current
iyr,idr = q-axis and d-axis rotor current
vqr, vds = q-axis and d-axis stator voltage
vqr, vdr = q-axis and d-axis rotor voltage
R, = stator resistance per phase
R, = rotor resistance per phase
IEE Proc.-Electr. Power Appl., Vol. 143, No 3, M a y 1996
 L, = magnetising inductance per phase

1, I]
L, 0 0
L, = stator inductance per phase
L, = rotor inductance per phase G=hjo!-im (20)
or= rotor angular speed
The discrete time equivalent model of eqn. 1 is 0 0 k
+
x(k 1) = $ x ( k ) ru(k) + (7) H(X(k)) = [iqs(k) (21)
where
The process noise W(k) is characterised by
E { W ( k ) }= 0 (22)

E { W ( k ) W ( l ) T=
) Qdki Q 20 (23)
The measurement noise V(k) is characterised by

r= (1 h
eA"ds)B
E { V ( k ) }= 0
E { V ( k ) V ( l ) T=) R S k l
The initial state is characterised by
R20
(24)
(25)
where h is the sampling interval. One way to compute 4
and r is as follows [24]: E(X(0))= xo (26)
- 20))
E ( ( X ( 0 )- XO)(X(O) = Po (27)

3 Extended Kalman filter

To use the Kalman filter (KF) with nonlinear plant

models, such as eqn. 17, the model must be linearised
about a nominal state trajectory to produce a linear
perturbation model. The standard K F is then used to
estimate the perturbation states. The EKF estimator
can be summarised as follows [l 11:
Step 1: Prediction
X(k + l/k) = f ( X ( k / k ) ,U @ ) ) (28)
P ( k + l / k ) = p ( / ~ ) P ( k / k ) F (+k G
) ~( k ) Q G ( k ) (29)
where
L 0 -L,1
The EKF can be used for combined state and parame-
ter estimation by treating selected parameters as extra
states and forming an augmented state vector. Whether
the original state space model is linear or not, the aug- LRU, &-R,L, LmL,wT L m x j Lmx4
mented model is nonlinear because of the multiplica- =hu R,L,,, L,L,W, & -LsX5 LsL,dT -Ls51
tion of states. Since R, is the parameter to be -L,,L,w, RsL, -L,L,w, & - Lsx5 - L , x ~
estimated, R, is augmented into X(k), and X(k) 0 0 0 1
-
becomes
X ( k ) = [ 2 q s ( k ) 2 d s ( k ) z q r ( k ) Z d r ( k ) % ( k ) IT
(16)
= [ z i ( k ) % ( k ) 2 3 ( k ) 24(k) 2 5 ( k ) ]
Considering the inherent stochastic characteristic of
PWM, treating the fundamental component as the
deterministic input U(k) and all the high-order harmon-
ics as white gaussian noise W(k), and considering the
measurement noise V(k), the dynamic behaviour of a
three-phase induction motor can be modelled as
X(k + 1) = f ( X ( k ) U, ( k ) )+ G W ( k ) (17)
Y ( k )= H ( X ( k ) )+ V ( k ) (18)
where
f ( X ( k ) U@))
, =

I 1
(&-R,L, ) z I - L ~ , w ,s 2 + L , , , z 3 z ~ - L , , L , W r m 4 + L r p * ~ where klk denotes a prediction at time k based on data
L2,w,z1+(&--R5 L,)m2+L7,LL,w, z 3 + L , r , z 4 z 8 + L r p d , up to time k. Similarly, (k + 1)lk denotes a prediction
hn R b L r r , ~ i + L T r b L X3Zw
+ (, ~ - ~ , ~ ~ ) ~ ~ + L c L r W ~ ~ 4 - ~ at time k + 1 based on data up to time k. The block
~ r ~ ~ y r

diagram of the EKF estimator is shown in Fig. 1. The

L estimated R, will be used in the indirect field-oriented
mechanism.
Power Appl.. Pol. 143. No. 3, May 1996
IEE P?oc.-Electr. 187

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 Y(k+l)
I HP(S) =
where
P = number of poles
iis = torque current command generated from the
speed controller
ii5 = flux current command
J = total mechanical inertia constant
B = total damping constant.
Fig.1 EKF block diagram
In the current-controlled PWM inverter of the indirect
field-oriented induction-motor drive, the current com-
4 Modelling of field-oriented induction-motor mands in the synchronous reference frame, denoted by
drive i;, and i;,, must be transformed into the phase domain
to yield the reference currents. The unit vector (cos@,+
The block diagram of the indirect field-oriented induc- jsino,) used in the transformation matrix is generated
tion-motor-drive system combined with an EKF esti- by using the measured rotor angular velocity CO, and
mator is shown in Fig. 2, which consists of an the following estimated slip angular velocity wx1:
induction motor loaded with a DC generator, a ramp
comparison current-controlled PWM voltage source
inverter, a field-orientation mechanism, a coordinate
translator and a speed-control loop. The induction Since Rr is sensitive for different operating conditions,
the estimated R, from the EKF estimator will be used
motor used in this drive system is a three-phase Y-con-
in eqn. 38 to guarantee a correct estimation of the slip
nected two-pole 8OOw 60Hz 120Vi5.4A type.
frequency, and to preserve the decouple control charac-
teristic.
The dynamic modelling, based on measurements 1251,
is applied to find the drive model off-line at the nomi-
nal case (aro= lOOOrpm, RL = On). The results are,
(the scaling is 5OradislV)
-
K t = 0.5756NmIA a = 0.538 b = 3.31
-
J = 6.04 x 10p3Nms2= 0.302Nmsrad/V (39)
-
B = 3.25 x 10p3Nms/rad = 0.1625Nm/V
The estimated drive parameters will be used in the
design of the proposed controller.

5 Design of IP controller

The IP controller is shown in Fig. 3. Using the nominal

drive model, the transfer function of the rotor speed
response to the command input of Fig. 3 can be
expressed by
Fig.2 Indirect field-oriented induction-motor drive bvith EKF estimator
showing the system configuration
-
KIKt
Js' + (B+ K,Kt)S + KIKt
2 (40)
-
A
- Wn
s2 + 2CWnS + w;
where

L _ _ _ _ _ _ _ - - _ - - _ - - I
Fig.3 Indirect field-oriented induction-motor drive M.ith EKF estimator
showing the control rystem block diagram
By using the reference-frame theory and the linearisa-
tion technique, the field-oriented induction-motor
drive, shown in Fig. 2, can be reasonably represented
by the control system block diagram shown in Fig. 3,
in which, G,(s) is an IP speed controller and
Te --K 'taqs
* 90% of its final value. By specifying the response time
(35)
188
Owing to the absence of zeros, the overshoot of the
step response in eqn. 6 is avoided by setting the damp-
ing ratio 5 = 1. Then one can find the unit-step
response in eqn. 40 to be
LJ,(~) = 1 - eP'7Lt(l +writ) (42)
For convenience in designing the IP controller quanti-
tatively, the response time is defined as, the time
required for the step response to increase from 0 to
as t,,, the following nonlinear equation is yielded:
0.9 = 1 - e-w"t" (1 + wnh-e) (43)
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 Solve the above nonlinear equation to obtain a,; then P(k - l)C(k - 1)T
K ( k )=
from eqn. 40 one can find the parameters of the IP
controller as
1 + C(k - l ) P ( k - 1 ) C ( k - 1)T (49)

1 P ( k - 1 ) C ( k - l ) T C ( k - 1 ) P ( k - 1)
KI = Jw:/K~ K p = ( 2 7 -~ B~) / K ,
1 + C ( k - 1 ) P ( k - l)C(/k- 1)T 1
(44) P(lc)=-[P(k-l)-
01
Eqn. 40 also indicates that the tracking steady-state (50)
error is zero. It follows from the above analysis that where
the desired tracking specifications can be completely
achieved by using the simple IP controller. C ( k ) = [wT(k)&(W -%/GI (51)

6 Proposed RLS estimator with torque observer
The block diagram of the proposed RLS estimator
with a torque observer is shown in Fig. 4. If on-line
parameter identification is available when the parame-
ter variations occur, the IP controller can be of on-line
design, according to eqn. 44, to preserve the tracking
performance. Though the RLS estimator is one of the
most effective methods for on-line parameter identifica-
tion, it is difficult to get unbiased results [22] in this
application, owing to the dynamic model of the plant
being disturbed by the external load torque. As shown
in Fig. 4, the proposed RLS estimator is combined
with a simple torque observer to resolve the above dif-
ficulty. The torque observer uses the inverse dynamic
of the motor drive to obtain the observed torque,
which is denoted TLIK,. The torque current command
minus this value results in the unbiased identified
parameters, J and B, which denote the estimated rotor
inertia constant and damping constant, through the
RLS estimator. Then J A a n dB in the torque observer
are replaced by J and B. By this recursive process, the
identified J and B parameters and the observed load
torque will quickly converge to their real values.
toraue observer
@(IC) = [-a1 (IC), b1 (IC)] (52)
The value of the forgetting factor a should be restricted
to 0 < a 2 1. After O(k) is obtained, the estimated val-
ues of J and B can be easily determined from eqn. 46.
The convergence of the RLS algorithm with the torque
observer will be shown by simulation results.
The observed torque is also fed forward through a
weighting factor W, to realise a robust speed control
system, as shown in Fig. 4. Ideally, the value of W is
set at 1. For the system possessing nonlinearities, e.g.
limiter, dead-time element etc., the weighting factor
should be selected at less than 1 to preserve stability.
7 Design and simulation results
7. I Simulation of EKF estimator
The sampling interval used in the simulation is 2ms.
The process noise covariance and measurement noise
covariance are set as
The simulation result is shown in Fig. 5. Between 0 and
1s, the estimated rotor resistance quickly converges to
its real value, which is 1.3Q. Beginning at 1s, the real
rotor resistance is varied according to the following
equation:
R, = 1.3 (t - l ) f l + (54)
where t is the simulation time. The estimated rotor
resistance can trace the variance of the real value as
shown in Fig. 5.

Fig. 4 Proposed controller with the RLS estimator

The Z transform of the plant model with ZOH, when

TL is zero, is as follows:

o.5[ 1
where
O I ' , ~ ' ~ ~ '
a1 = - exp(-T,B/J) bl = ( l y , / B ) ( l ~ e x p ( - T s ~ / J ) ) 0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
(46) time,s
Fig. 5 Simulation result ofthe EKF estimator
and T, is the sampling interval. The system model can a rotor resistor
be written as b estimated rotor resistor

w,(k + 1) = -a1w,(k) + b l i & ( k ) (47) 7.2 Design of IP controller

From the above equation, a discrete RLS estimator for Using the parameters listed in eqn. 39 and setting t,, at
use in estimating system parameters can be written as 0.3s, the parameter of the IP speed controller can be
[22]: obtained from eqn. 44 as
O ( k ) = O ( k - 1)+ K ( k ) [ w , ( k )- C ( F ) O ( k- l)] (48) K p = 13.25 K I = 87.7 (55)
IEE Proc.-Electr. Power Appl., Vol. 143, No. 3, May 1996 189

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 7.3 Simulation of RLS estimator with torque
observer
In this simulation, the load torque is set at 1Nm. In the
beginning, J and B are set according to their nominal
values. Then, at 2s, J is abruptly increased by a factor
of three. From the simulation results shown in Fig. 6:
the estimated values of J and B, after a step change in
the speed command, are quickly converged to their true
values under contant load disturbance. Though the
value of the observed torque is influenced by the speed
transient, the steady-state observed value is correct;
and this observed torque transient has little effect on
the desired control performance from the simulation
and experimental results owing to feedforward control.
- - - . . lo
0
- 05 1 15 2
, -
25
time, s
,
3
'
35
Fig. 6 Simulation se.su1t.s (j"the RLS estiniator and the torque observer.
showing sotor s eed (-) and e.mmated values of'rotor speed (xi, observed
~(6
torque ( a i , and ~ ( c )
7.4 Simulation of proposed controllers
To investigate the effectiveness of the proposed robust
controller, suppose that the mechanical inertia constant
J is significantly changed to allow the transfer function
model HJs) to be changed to
( J = 5 xJ) (56)
+10.1625
Case 1 :
HpL(S) = 1.51s
Case 2
In the nominal case, the step rotor speed tracking and
step load regulating responses of the drive system
shown in Fig. 4, without and with the proposed on-line
IP controller design and feedforward control, are
shown in Figs. 7 and 8 by curves a and d, respectively.
The results are identical for the tracking conditions,
and the regulating performance is improved. Suppose
that the mechanical inertia constant J is changed
according to eqns, 56 and 57; then, the rotor speed
responses due to a step command change and a step
load torque change, without and with the proposed on-
line IP controller design and feedforward control, are
also compared in Figs. 7 and 8. Significant perform-
ance improvements both in the tracking and regulating
responses by the proposed controller are observed from
the results.
8 Implementation and experimental results
The block diagram of the co-processor computer con-
trol system for the indirect field-oriented induction
motor servo drive is shown in Fig. 9. The robust speed
control algorithm is realised in a 486DX-66 and the
EKF and RLS algorithms are realised in a DSP32C.
190
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1120 1
I
lOZO-~/
/ /
' O 1 ' ' '
4 45 5
-60' ' ,
0
"
0.2 04
1
06 0.8 1 1.2 14
1
1.6
'
1.8 2
tirne,s
Fig.8 Simulation results of proposed controller showing load regulation
N Nominal case with IP controller only
b Case 1 with IP controller only
c Case 2 with IP controller only
d Nominal case with proposed controllers
e Case 1 with proposed controllers
f Case 2 with proposed controllers
The control intervals are all selected at 5ms. To reduce
( J = 0.5 x 7) the calculation burden of the CPU and to increase the
(37) accuracy of the three-phase command current, the
coordinate transformation in the field-oriented mecha-
nism is implemented by an AD2S100 AC vector proc-
essor. The control interval of the vector processor is
selected at 0.2ms. The pure differentiator, which is
shown in Fig. 4, may amplify the high-frequency noise,
so the operating stability of the closed-loop controlled
drive will be greatly affected. Thus in practical imple-
mentation, a filter is used as an alternative. It is
designed to behave as a pure differentiator for the main
low-frequency dynamic signal, but it becomes a low-
pass filter for high-frequency signals.
Some experimental results are provided in the follow-
ing to show the effectiveness of the estimators and the
proposed controllers. The estimated rotor resistance
obtained from the EKF estimator, which converges to
its real value, 1.3!2, within 0.3s, is shown in Fig. 10.
This estimated value, after suitable filtering, is used on-
line in the indirect field-oriented mechanism. To avoid
the numerical problem of dividing by zero during the
implementation for the parameters J and B, the param-
eters a and b (expressed in eqn. 37) are estimated
instead of J and B. Moreover, the load resistance of the
DC generator is set at 118R during load torque obser-
vation. The estimated values of a, b and the observed
IEE Proc.-Electr. Powes Appl., Vol. 143, No. 3, May I996
 L

Fig.9 DSP-bused computer-control drive .system with vector processor

load torque are shown in Figs. 11 and 12, respectively. ,

command
The values of U , b and observed load torque all con-
verge to their real value within 0.5s. The measured
rotor-speed responses, owing to step command change
and step load resistance change, without and with on-
line IP controller design and feedforward control at the
1
nominal condition, are compared in Figs. 13-16. The Fig. 13 M e a w e d rotor speed r a p o n w at the nominal case owing to
results show that, while the tracking responses of these step command change with an IP controller
two cases are almost identical, the regulating response
is significantly improved by augmenting the proposed i T
controllers. Now let the drive be operated at 2000 rpm,
the drive rotor speed tracking and regulating responses,
without and with on-line IP controller design and feed-
forward control at another operating condition, are
i +-----,
shown in Figs. 17-20. Better control performance 44rpm jI 0 25s
yielded by the proposed controller is obvious from the 1
Fig.14 Measured rotor speed reAponses at the nominal case owing to
results. step load resistance change with an IP controller
rotor resistance
command i

~ +
-t*

Fig. 10 Estimated rotor resistance

- lOOOrpm
I 0 25s
Fig. 15 Measured rotor speed rerponses at the nominal c u x owing to
step command change with on-line IP contioller design and feedforward
control
I ... b r 3 31 - L
E +

0 25;
Fig.11 Experimental r e d 3 of the RLS estimator and the torque
observer showing the valne~of the a and b parumeters
Fig.16 Measured rotor speed res onhe5 at the nominal case owin
step load resistance change with on-fne IP controller design andjee&fi
ward control

9 Conclusions

The EKF and the proposed RLS estimators are suc-

i
Fig.12 Experimental resultr oj the RLS estimator and the torque cessfully implemented in this study for the speed con-
observer showing observed loud torque trol of an indirect field-oriented induction-motor drive.
IEE Proc.-Elect?. Power Appl., Vol. 143, No. 3, May 1996 191

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192 IEE Proc.-Ebctr. Power Appl., Vol. 143, No. 3, M a y 1996

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