Fig. 1.
Sensorless DTC IM drive using KF-based RF-MRAS
Tab. 1.
Induction motor parameters
| Symbol | Quantity | Value |
|---|---|---|
| Rs | Stator resistance | 3.179Ω |
| np | Number of pole pairs | 2 |
| Ls = Lr | Stator & rotor inductances | 0.209H |
| Lm | Magnetizing inductance | 0.192H |
| Rr | Rotor resistance | 2.118Ω |
| Pn | Rated power | 2200W |
| ωm,n | Rated speed | 142π/3 rad/s |
| Te,n | Rated torque | 14.8N·m |
| Jm | Moment of inertia | 0.0047kg·m2 |
Fig. 2.
Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=0.12.
Fig. 3.
Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=0.52
Fig. 4.
Motor speeds at ωm,ref = 5π/3 rad/s, δp2=δm2=12
Fig. 5.
Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=0.12
Fig. 6.
Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=0.52
Fig. 7.
Motor speeds at ωm,ref = 10π rad/s, δp2=δm2=12
Fig. 8.
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
Fig. 9.
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
Tab. 2.
ITAEn × 10−2 [s2] at ωm,ref = 5π/3 rad/s
| δp2 | δm2 = 0.12 | δm2 = 0.52 | δm2 = 1.02 | |||
|---|---|---|---|---|---|---|
| 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 |
Tab. 3.
ITAEn × 10−2 [s2] at ωm,ref = 10π rad/s
| δp2 | δm2 = 0.12 | δm2 = 0.52 | δm2 = 1.02 | |||
|---|---|---|---|---|---|---|
| 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 |
Fig. 10.
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
Fig. 11.
RSD at ωm,ref = 10π rad/s: case 1 (upper): δp2=0.12, δm2=12 and case 2 (lower): δp2=12, δm2=0.12
Fig. 12.
Stator currents at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12
Fig. 13.
Stator currents at ωm,ref = 5π/3 rad/s, δp2=12, δm2=0.12
Fig. 14.
Stator currents at ωm,ref = 10π rad/s, δp2=12, δm2=12
Fig. 15.
Stator currents at ωm,ref = 10π rad/s, δp2=12, δm2=0.12
Fig. 16.
Stator fluxes at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12
Fig. 17.
Stator fluxes at ωm,ref = 10π rad/s, δp2=0.12, δm2=12
Fig. 18.
Rotor fluxes of reference model at ωm,ref = 5π/3 rad/s, δp2=0.12, δm 2=12
Fig. 19.
Rotor fluxes of reference model at ωm,ref = 10π rad/s, δp2=0.12, δm2=12
Fig. 20.
Rotor fluxes of the adaptive model at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12
Fig. 21.
Rotor fluxes of the adaptive model at ωm,ref = 10π rad/s, δp2=0.12, δm2=12
Fig. 22.
Adaptive sginal at ωm,ref = 5π/3 rad/s, δp2=0.12, δm2=12
Fig. 23.
Adaptive sginal at ωm,ref = 10π rad/s, δp2=0.12, δm2=12