Sensorless Direct Torque Controlled Induction Motor Drive Utilizing Extended Kalman Filtered Rf-Mras Cover

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Sensorless Direct Torque Controlled Induction Motor Drive Utilizing Extended Kalman Filtered Rf-Mras

Acta Mechanica et Automatica

Volume 19 (2025): Issue 4 (December 2025)

By: Hau Huu VO , Dung Quang NGUYEN and Pavel BRANDSTETTER

Open Access

|Dec 2025

Figures & Tables

Sensorless DTC IM drive using KF-based RF-MRAS

Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=0.12.

Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=0.52

Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=12

Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=0.12

Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=0.52

Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=12

Motor speeds at ωm,ref = 5π/3 rad/s: case 1 (upper): δp2=0.12, δm2=12 and case 2 (lower): δp2=12, δm2=0.12

Motor speeds at ωm,ref = 10π rad/s: case 1 (upper): δp2=0.12, δm2=12 and case 2 (lower): δp2=12, δm2=0.12

RSD at ωm,ref = 5π/3 rad/s: case 1 (upper): δp2=0.12, δm2=12 and case 2 (lower): δp2=12, δm2=0.12

RSD at ωm,ref = 10π rad/s: case 1 (upper): δp2=0.12, δm2=12 and case 2 (lower): δp2=12, δm2=0.12

Stator currents at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12

Stator currents at ωm,ref = 5π/3 rad/s, δp2=12, δm2=0.12

Stator currents at ωm,ref = 10π rad/s, δp2=12, δm2=12

Stator currents at ωm,ref = 10π rad/s, δp2=12, δm2=0.12

Stator fluxes at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12

Stator fluxes at ωm,ref = 10π rad/s, δp2=0.12, δm2=12

Rotor fluxes of reference model at ωm,ref = 5π/3 rad/s, δp2=0.12, δm 2=12

Rotor fluxes of reference model at ωm,ref = 10π rad/s, δp2=0.12, δm2=12

Rotor fluxes of the adaptive model at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12

Rotor fluxes of the adaptive model at ωm,ref = 10π rad/s, δp2=0.12, δm2=12

Adaptive sginal at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12

Adaptive sginal at ωm,ref = 10π rad/s, δp2=0.12, δm2=12

ITAEn × 10−2 [s2] at ωm,ref = 10π rad/s

δ_p²	δ_m² = 0.1²		δ_m² = 0.5²		δ_m² = 1.0²
δ_p²	NF	KF	NF	KF	NF	KF
0.1²	0.59	0.49	7.84	2.78	30.6	7.53
0.5²	7.80	7.53	10.9	7.41	31.6	15.6
1.0²	30.6	30.3	31.5	26.5	43.3	28.9

MARSD at ωm,ref = 5π/3 rad/s

δ_p²	δ_m² = 0.1²		δ_m² = 0.5²		δ_m² = 1.0²
δ_p²	NF	KF	NF	KF	NF	KF
0.1²	0.18	0.17	1.54	0.47	6.30	1.26
0.5²	1.46	1.40	2.07	1.38	6.03	2.99
1.0²	5.81	5.75	5.85	4.78	7.85	5.54

ITAEn × 10−2 [s2] at ωm,ref = 5π/3 rad/s

δ_p²	δ_m² = 0.1²		δ_m² = 0.5²		δ_m² = 1.0²
δ_p²	NF	KF	NF	KF	NF	KF
0.1²	3.13	2.46	47.0	16.0	185	44.7
0.5²	47.1	45.4	65.8	44.8	191	94.6
1.0²	185	183	191	160	262	175

MARSD at ωm,ref = 10π rad/s

δ_p²	δ_m² = 0.1²		δ_m² = 0.5²		δ_m² = 1.0²
δ_p²	NF	KF	NF	KF	NF	KF
0.1²	0.03	0.03	0.27	0.08	1.02	0.23
0.5²	0.23	0.22	0.35	0.26	1.08	0.52
1.0²	0.93	0.92	0.94	0.79	1.36	0.91

Induction motor parameters

Symbol	Quantity	Value
R_s	Stator resistance	3.179Ω
n_p	Number of pole pairs	2
L_s = L_r	Stator & rotor inductances	0.209H
L_m	Magnetizing inductance	0.192H
R_r	Rotor resistance	2.118Ω
P_n	Rated power	2200W
ω_m,n	Rated speed	142π/3 rad/s
T_e,n	Rated torque	14.8N·m
J_m	Moment of inertia	0.0047kg·m²

DOI: https://doi.org/10.2478/ama-2025-0063 | Journal eISSN: 2300-5319 | Journal ISSN: 1898-4088

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Language: English

Page range: 548 - 555

Submitted on: Oct 30, 2024

Accepted on: Sep 24, 2025

Published on: Dec 19, 2025

Published by: Bialystok University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

direct torque control,

extended Kalman filtering,

induction motor,

rotor-flux model reference adaptive system,

sensorless control

Related subjects:

Electrical engineering,

Mechanical engineering,

Bioengineering and biomedical engineering,

Civil engineering,

Environmental engineering

© 2025 Hau Huu VO, Dung Quang NGUYEN, Pavel BRANDSTETTER, published by Bialystok University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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