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Ryerson University Digital Commons @ Ryerson Theses and dissertations 1-1-2003 Speed sensorless control of 3-phase induction motor using MRAS speed estimator Chaozheng Ma Ryerson University Recommended Citation Ma, Chaozheng, "Speed sensorless control of 3-phase induction motor using MRAS speed estimator" (2003). Theses and dissertations. Paper 199. http://digitalcommons.ryerson.ca/dissertations/199 This Thesis is brought to you for free and open access by Digital Commons @ Ryerson. It has been accepted for inclusion in Theses and dissertations by an authorized administrator of Digital Commons @ Ryerson. For more information, please contact bcameron@ryerson.ca.

SPEED SENSORLESS CONTROL OF 3-PHASE INDUCTION MOTOR USING MRAS SPEED ESTIMATOR by CHAOZHENG MA A project presented to Ryerson University in partial fulfillment of the requirement for the degree of Master of Engineering in the Program of Electrical and Computer Engineering. Toronto, Ontario, Canada, 2003 ©Chaozheng Ma, 2003 Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

UMI Number: EC52891 INFORMATION TO USERS The quality of this reproduction is dependent upon the quality of the copy submitted. Broken or indistinct print, colored or poor quality illustrations and photographs, print bleed-through, substandard margins, and improper alignment can adversely affect reproduction. In the unlikely event that the author did not send a complete manuscript and there are missing pages, these will be noted. Also, if unauthorized copyright material had to be removed, a note will indicate the deletion. ® UMI UMI Microform EC52891 Copyright 2008 by ProQuest LLC. All rights reserved. This microform edition is protected against unauthorized copying under Title 17, United States Code. ProQuest LLC 789 E. Eisenhower Parkway PO Box 1346 Ann Arbor, MI 48106-1346 Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

Instructions on Borrowers Ryerson University requires the signatures of all persons using or photocopying this project. Please sign below, and give address and date. i I i I I i I I I 'I I i S iii Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

Abstract This project investigates the application of model reference adaptive system (MRAS) for the speed sensorless control of an induction motor. The rotor speed can be accurately estimated by employing the closed-loop observer named reactive MRAS. Therefore, this observer eliminates the need of a speed sensor for the control of the motor speed. The method is robust to stator and rotor resistance variations due to change of temperature. The dynamic system equations of the induction machine are formulated, and the motor control system performance is studied. Both scalar voltage-to-frequency 011f) control and vector field oriented control (FOC) schemes, implemented using digital signal processor (DSP), are investigated. The design of the speed sensorless DSP-based controller is completed. Software packages have been developed to implement the design. An experimental system using the proposed controller has been built. Various tests have been conducted to verify the technical feasibility of the control technique. The experimental results confirm the feasibility of the proposed speed sensorless V If control scheme using MRAS speed estimator. The designed V If profile has been tested. Even with step change of the load or that of the command speed, the system can achieve the correct steady state after a short transient operation. The experimental results also confirm the feasibility of the proposed speed sensorless FOC control scheme using MRAS speed estimator. The current regulators meet the design requirements. Both the flux-producing current component and the torque-producing current component can be controlled separately. In the implementation, digital signal processor (DSP) TMS320 FL2407 and voltage source inverter (VSI) Skiip 342GD120-316CTV are employed. The modular strategy is adopted to develop the software package. iv Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

, I Acknowledgments I would like to express my sincere gratitude and appreciation to Professor Richard Cheung, my supervisor, for his guidance throughout the entire period of this degree program. I also sincerely thank Professor Bin Wu, Dr. S. Wei, Dr. D. Xu and my classmates for their valuable suggestions and help. I thank Ryerson University for the Scholarship. My special appreciation is extended to Ms Shuping Yang, my wife, for her support. v Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

Contents 1 Inctroduction 1 1.1 Conventional Speed Control Schemes for Induction Motors .............................. 2 1.2 Improved Speed Sensorless Control Schemes for Induction Motors ..................... .3 1.3 Project Objectives ............................................................................... 5 1.4 Project Outlines ............................................ ; ...................................... 6 2 MRAS-Model Reference Adaptive System 7 2.1 3-phase to 2-phase Transformation ......................................................... 7 2.1.1 Clarke Transforation of (a,b,c) to (0.,(3) ............................................... 8 2.1.2 Park Transformation of (0.,(3) to (d,q) ................................................ 9 2.2 Dynamic Model ofinduction Machine ............................................ '" ...... 10 2.3 MRAS Speed Estimator ..................................................................... 12 2.3.1 Reference ModeL ..................................................................... .12 2.3.2 Adaptive Model. ........................................................................ 13 2.4 Per Unit, Discrete time representation ................................................... 14 2.5 Implementation ofMRAS .................................................................... 16 3 Vlf Control of Induction Machine Using MRAS 17 3.1 Background for V/fControl ofinduction Machine ..................................... 17 3.2 V If Control ............................................. . .................................... .19 3.3 Implementation ofV/fControl.. ............................................................. 21 3.3.1 The Hardware Organization .......................................................... 21 3.3.2 The Softtware Organization .......................................................... 24 3.3.3 Debugging of the Software ........................................................... 27 3.3.4 Other Considerations ............................................................ ~ ..... 30 3.3.4.1 Numerical Considerrations ..................................................... 30 3.3.4.2 The V If Profile Design .......................................................... 31 3.3.4.3 Slip Speed PID Controller Design ............................................... 32 3.3.4.4 Load Design ...................................................................... 33 4 Field Oriented Control Using MRAS 35 4.1 Space Vector Pulse Width Modulation ................................................... 35 4.2 Backgroud ofFOC Control ofinduction Motor ......................................... 38 4.3 The Basic Scheme for the FOC ............................................................ 39 4.4 Proposed Speed Sensorless FOC Control Scheme Using MRAS ................... .40 4.5 Software Implementation of the Proposed FOC Scheme .............................. .43 5 Experimental Results 4S 5.1 Speed Identification Using the Proposed MRAS Estimator ............................ .45 5.2 Open Loop Speed V/fControl ............................................................. .47 5.3 Closed Loop speed V/fControl.. .......................................................... .48 vi Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

1 ~ I i Ii: ~ I I 5.4 Open Loop Speed FOC Control ............................................................ 52 5.5 Summary ........................................................................................ 54 6 Conclusions 56 6.1 Main Work in This Project. .................................................................. 56 6.2 Suggestions for Furthue Work ............................................................... 58 Bibliography Appendix A The Parameters of the Induction Machine AppendixB Software Package for Vlf Control I I AppendixC Software Package for FOe Control 60 62 63 106 vii Reproduced with permission of the copyright owner. Further reproduction prohibited without permission.

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Speed sensorless control of 3-phase induction motor using MRAS s....pdf

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