Online stator and rotor resistance estimations of IM by using EKF

Öz

In this paper, a state and parameter observer, based on a novel extended Kalman filter (EKF), is designed to solve the parameter variations dependent estimation performance deterioration of induction motor (IM) drive systems. The proposed EKF based observer algorithm performs online estimation of the rotor mechanical speed, stator stationary axis component of the stator currents and rotor fluxes, stator resistance, rotor resistance, reciprocal of the total inertia of the system, and load torque including viscous friction term in a single EKF by using measured rotor mechanical speed and stator currents. Thus, frequency and temperature-dependent variations of the resistances are estimated to be updated in the observer, which leads to control performance enhancement of the IM drive. Moreover, to rise the dynamic performance of the observer, the load torque and reciprocal of the total inertia of the system which are mechanical parameters are also estimated. To verify the robustness of the IM drive and the estimation performance of the proposed observer, they have been tested under challenging scenarios including changes in parameters and speed reference. Moreover, the estimation performance of the proposed ninth order observer is compared with that of a sixth order EKF estimating the same electrical parameters by using directly measured speed. Ultimately, the simulation results obviously reveal the efficacy of the proposed IM drive.

Anahtar Kelimeler

• Extended Kalman filter
• Induction motor
• Rotor and stator resistance estimation
• State and parameter estimation

GKF ile ASM’nin eş-zamanlı stator ve rotor direnci kestirimleri

Öz

Bu makalede, asenkron motor (ASM) sürücü sistemlerinin parametre değişimlerine bağlı kestirim başarımlarının kötüleşmesi problemini çözmek için genişletilmiş Kalman filtresine (GKF) dayalı yeni bir durum ve parametre gözlemleyicisi tasarlanmıştır. Önerilen GKF tabanlı gözlemleyici algoritması, ölçülen stator akımları ve rotor mekanik hızı kullanılarak stator akımlarının ve rotor akılarının stator duran eksen bileşenlerinin, rotor mekanik hızının, viskoz sürtünme terimi dâhil yük momentinin, rotor direncinin, stator direncinin ve sistemin toplam eylemsizliğinin tersinin eş-zamanlı kestirimlerini gerçekleştirmektedir. Böylece, dirençlerin frekans ve sıcaklık bağımlı değişimlerinin gözlemleyicide güncellenmek üzere kestirilmesi ASM sürücüsünün kontrol başarımının iyileştirilmesi sağlar. Ek olarak, gözlemleyicinin dinamik başarımını artırmak için mekanik parametreler olan yük momenti ve sistemin toplam eylemsizliğinin tersi de kestirilmektedir. Önerilen gözlemleyicinin kestirim başarımı ve ASM sürücüsünün sağlamlığı, hız referansı ve parametrelerdeki değişimleri içeren zorlu senaryolar altında test edilmektedir. Ayrıca, dokuzuncu dereceden önerilen gözlemleyicinin kestirim başarımı, ölçülen hızı doğrudan kullanarak aynı elektriksel parametreleri kestiren altıncı dereceden GKF’nin kestirim başarımı ile karşılaştırılmıştır. Özetle, benzetim sonuçları önerilen ASM sürücüsünün etkinliğini açıkça ortaya koymaktadır.

Anahtar Kelimeler

• Genişletilmiş Kalman filtresi
• Asenkron motor
• Rotor ve stator direnci kestirimi
• Durum ve parametre kestirimi

Kaynakça

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