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Parameter Estimation of Linear Induction Motor LabVolt 8228-02

Conference Paper · September 2011

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Artículo 29 AMCA 2011

Parameter Estimation of Linear Induction Motor

LabVolt 8228-02
N. Toro Edgar N. Sanchez
[email protected] [email protected]
Y. A. Garcés CINVESTAV, Unidad Guadalajara
[email protected] Av del Bosque No 1145
F. E. Hoyos Colonia el Bajio, Zapopan
[email protected] phone number: (33)37773600 int 1009
Universidad Nacional de Colombia
Km 9 Vı́a al Aeropuerto, Manizales−Caldas
phone number: (57)-6-8879400 int 55817

Abstract— This work describes a method to characterize a supply lines are interchanged, the phase sequence will
three-phase linear induction motor in order to determine the reverse, and the flux will shift from right to left across the
various parameters used in its per-phase equivalent circuit poles.
by a DSP-based electric-drives system. In LIM (Linear
Induction Motor), the air gap is very large compared with
the RIMs (Rotary Induction Motors). Further, the secondary Knowing the distance d between the center of the poles,
part normally does not have slotted structure. It is just made we can calculate the speed at which the flux moves. This is
of aluminum and steel plates. Therefore, the effective air gap called the synchronous speed vs because it is directly related
is larger than the physical air gap. High air gap makes a to the frequency of the power supply. The synchronous
larger leakage inductance. It leads to lower efficiency and
lower power factor (Kang et al., 2003). DC resistance test speed is given by
will be done to determine the value of Rs . The primary
Inductance Ls will be calculated by running the LIM at vs = 3df (1)
synchronous speed. The secondary parameters i.e. Llr and
Rr will be calculated by blocked-mover test. The experiment in the Model 8228, d = 0,061m.
for no load test is shown and include a DC motor coupled to
the LIM under test. Two methods to calculate the secondary In this paper a three-phase linear induction motor will
parameters are described. be characterized to determine the various parameters used
in its per-phase equivalent circuit (Fig. 1) by a DSP-based
Index Terms: Parameters Estimation , Linear Induction
electric-drives system. The experiment is shown in Fig. 2,
Motor, DSP-based electric-drives, per-phase equivalent circuit.
where a DC motor is coupled to the LIM under test.

I. I NTRODUCTION
The Lab-Volt Model 8228-02 is a Single Side Linear
Induction Motor (SLIM). The stator is composed of a
three-legged laminated iron core upon which are mounted
three identical coils A, B, C. Each coil has 500 turns of
No. 21 AWG copper wire, with a tap at 300 turns.
Figure 1. Per-phase equivalent circuit of a three-phase induction motor.
The coils produce in each leg and corresponding salient
pole, fluxes that are labeled φa , φb and φc . These fluxes There are five major components of the DSP-based
are created by the currents ia , ib and ic that flow in the electric-drives system, which will be used to perform
respective windings; consequently, the fluxes are 120o out the experiment. They are as follows: 1) Motor coupling
of phase. This phase shift means that the fluxes attain their system, 2) Power Electronics Drive Board, 3) Adjustable
maximum value at different times, separated by intervals speed driver (ASD), 4) DSP based DS1104 R&D controller
1
of 3f where f is the frequency of the source. If the phase card and CP 1104 I/O board and 5) MATLAB Simulink
sequence is A-B-C, flux φb will attain its maximum value and Control-desk.
1
3f s after φa . Similarly, φc will reach its maximum value
1
3f s after φb . Then, the flux continually shifts from left 1. Motor coupling system: This system contains the
to right across the face of the salient poles. If two of the LIM that needs to be characterized. The system has

Saltillo, Coahuila 5--7 de octubre, 2011 147

AMCA 2011 Artículo 29

current, speed, voltage etc) with the help of CP1104

I/O board in each discrete-time step. Based on the
inputs and the variables that need to be controlled; it
takes the programmed action to generate the controlled
digital signals. The CP1104 I/O board is an input-
output interface board among the Power Electronics
Drive Board, Adjustable Speed Driver and DS1104
controller board. It takes the motor current, dc-voltage
etc. from the Power Electronics Drive Board and
Adjustable Speed Driver also, speed signal (from linear
encoder) from motor coupling system, to the DS1104
controller board. In turn, the controlled digital signals
supplied by DS1104 controller board are driven to the
Power Electronics Drive Board and Adjustable Speed
Driver by CP1104.
Figure 2. Experiment for LIM parameter identification. 5. MATLAB Simulink and Control-desk (Program-
ming DS1104 and control in realtime): The I/O ports
of CP 1104 are accessible from inside the Simulink
library browser. Creating a program in Simulink and
a mechanical coupling arrangement to couple LIM procedure to use the I/O port of CP 1104 will be detai-
and DC motors. The system also has a linear encoder led in this experiment. When you build the Simulink
mounted which is used to measure the position and control-system (CTRL+B) by using real-time option,
the speed of the LIM. The motors demand contro- it implements the whole system inside the DSP of
lled pulse-width-modulated (PWM) voltages to run at DS1104 board, i.e. the controlsystem that is in software
controlled speed. The PWM voltages are generated by (Simulink) gets converted into a real-time system on
Power Electronics Drive Board and Adjustable speed hardware (DS1104). Simulink generates a *.sdf file
driver (subsequently described); the voltage sources when you build (CTRL+B) the control-system. This
thus generated are connected to the motor coupling file gives access to the variables of controlsystem (like
system as shown in Fig. 2. reference speed, gain, tuning the controller etc) to
2. Power Electronics Drive Board: This board has the separate software called Control-desk. In this software
capability to generate two independent PWM voltage a control panel (see Fig. 4) can be created that can
sources (A1B1C1 and A2B2C2) from a constant DC change the variables of control-system in real time
voltage source. Hence two machines can be controlled to communicate with DS1104 and hence change the
independently for independent control variables, at the reference quantities such as the DC motor speed, LIM
same time. In this experiment we will use only one frequency, V/f ratio and LIM stroke limit (tope) by
PWM voltage source (A2B2C2) to control the DC sliders or numeric entries.
motor speed. To generate the controlled PWM voltage
source, this board requires various digital control sig- II. E XPERIMENT D ESIGN
nals. These control signals dictates the magnitude of
the PWM voltage source. They are generated by the The system for the speed of a DC motor and velocity
DS1104 R&D Controller board inside the computer. and position of the LIM is shown in Fig. 2. The encoder
3. Adjustable Speed Driver (ASD): This board has the signal (speed and position of LIM motor) is fed back to
capability to generate PWM voltage source (UVW) the DS1104 board via CP 1104. The iv phase-current and
from a 3-phase voltage source. Hence LIM can be dA duty cycle quantities are required to estimation of the
controlled independently for independent control va- LIM parameters.
riables. To generate the controlled PWM voltage sour-
ce, this board requires various digital control signals. In the experiment, a Simulink model of a two pole DC
These control signals dictates the magnitude and phase switch-mode power converter will be built to control the
of the PWM voltage source. They are generated by the voltage of the DC motor in real-time.
DS1104 R&D Controller board.
4. DS1104 R&D controller Board and CP 1104 I/O The two-pole switch-mode DC converter voltage is the
board: In each discrete-time-step, the DS1104 con- difference between the individual pole-voltages of the two
troller board takes some action to generate the digital switching power-poles (Fig. 3). The average output voltage
control signals. The type of action is governed in this v ab can range from to + VDC and -VDC depending on the
board with the help of MATLAB-Simulink real-time individual average pole voltages.
interface. This board monitors the input (i.e. motor

148 Saltillo, Coahuila 5--7 de octubre, 2011

Artículo 29 AMCA 2011

Where
1
u[2] = 2πf t = ( f )2π;
s
s →Laplace Operator;
Vm
u[1] =
Vdlim

There are various aspects to take into account in the

experiment realization. One difficulty associated with the
LIM is that due to the limit in the LIM stroke, is not easy
to make a high speed no-load condition which is need
for primary winding inductance estimation. To avoid such
Figure 3. Two pole DC switch-mode power converter.
difficulty, we are considering to apply a lower frequency
than the nominal frequency, and move the LIM in back and
forth by DC motor at corresponding synchronous speed
To achieve both positive and negative values of v ab , a controlling its direction via the LIM position. The LIM
common-mode voltage equal in magnitude to VDC /2 is movement is restricted between 0 cm and tope cm.
injected in the individual pole-voltages. The pole-voltages
are then given by:
To avoid sudden changes of reference speed in the motor
a first order filter has been added. Sudden changes can
1 1 v ab 1 1 v ab
dA = + dB = − cause high current peaks.
2 2 VDC 2 2 VDC
The above equations was implemented in Simulink. dA In order to measure the LIM position and velocity
governs the duty cycle of the S1 switch PWM and dB the speedmeasuredc2 simulink block was made. The
governs the duty cycle of the S2 switch PWM. Like was linear encoder has a resolution of 20μm per channel thus
made earlier the PWM device was configured for center the linear position may be in millimeters dividing the
aligned PWM. Which forces symmetry about the center encoder counter value by 50. It has a two quadrature
of the period. This configuration produces two pulses channels, thus the accuracy is 5μm.
line-to-line during each period. The effective switching
frequency is doubled, reducing the ripple current while not The control-desk panel for run the experiment is shown
increasing the switching losses in the Power Electronics in Fig. 4. The control-desk panel allow us to set the
Drive Board. DC motor speed, LIM position limits and LIM frequency
and monitors the duty cycles and LIM velocity in real-time.
A three-phase balanced voltage source of variable-
magnitude and frequency is required, to run the linear To achieve no-load condition the LIM is feed with a
induction motor at synchronous frequency. The duty ratios lower frequency than rather frequency and via DC motor
for the three poles A, B and C to generate this type of the system is moved at corresponding synchronous velocity.
voltage source are given by (section 4-6- 2(Mohan, 2001)):

1 1 vm,A (t)
da (t) = + ; vm,A (t) = Vm cos(ωt)
2 2 Vdlim
1 1 vm,B (t)
db (t) = − ; vm,B (t) = Vm cos(ωt − 2π/3)
2 2 Vdlim
1 1 vm,C (t)
dc (t) = − ; vm,C (t) = Vm cos(ωt − 4π/3)
2 2 Vdlim
(2)
Equations (3) are modified form of equations (2) given
in (Mohan, 2001) which are suitable for real-time imple-
mentation.
1
da (t) = 0,5 + u[1]cos(u[2]);
2
1
db (t) = 0,5 + u[1]cos(u[2] − 2π/3); (3)
2
1
dc (t) = 0,5 + u[1]cos(u[2] − 4π/3); Figure 4. Control Desk Panel.
2

Saltillo, Coahuila 5--7 de octubre, 2011 149

AMCA 2011 Artículo 29

Since the secondary part of the LIM does not have The experiment was made increasing the referen-
slotted structure, the secondary leakage inductance is much ce frequency for the linear induction machine (by
smaller than the primary leakage inductance. Because of ref-Vel-LIM/Value slider in the Control-Desk pa-
this, many parameter estimation methods of the RIM are nel) to 3 Hz corresponding frequency of the synchronous
not applicable to the LIM (Kang et al., 2001). velocity and slowly increasing the DC motor speed to
LIM mechanical synchronous velocity dictated by (1) (by
The mutual inductance Lm will be calculated by solving ref-Vel-DC/Value slider in the Control-Desk panel),
a third order polynomial which will be derived from the we obtained the LIM performance depicted in Fig. 5 with
total equivalent inductance (Kang et al., 2001). Such Vs = 0,549m/s. The V/F ratio and LIM stroke limit was
method of obtaining Lm directly allow us to calculate settled in 300V/20Hz and 100cm respectively.
the leakage inductances of the primary and secondary Taking the waveforms for dA and iv on the oscilloscope
windings separately and the secondary resistance.

III. P RIMARY I NDUCTANCE AND R ESISTANCE

E STIMATION
Primary resistance may be estimated by DC current test.
Applying constant line-line voltages Vuv , Vvw , Vwu , we can
get generate DC phase currents. Then, we obtain
Ruv Vuv
Rs1 = = = 1,6865Ω
2 2Iu
Rvw Vvw
Rs2 = = = 1,6680Ω
2 2Iv
Rwu Vwu
Rs3 = = = 1,6900Ω Figure 5. LIM mover velocity with no-load condition
2 2Iw
Primary resistance is the average of Rs1 , Rs2 and Rs3 (figure 6) we obtain the readings for the rms values of these
variables. Also we measure the phase difference between
Rs = 1,6875Ω the two waveforms using the cursors.
In estimating the primary inductance Ls , the secondary
dA,rms = 0,053033
circuit should be seen as little as possible. To isolate the
effects of the secondary circuit it is necessary to minimize IA,rms = 0,5356
the slip moving LIM at synchronous speed by DC motor. 35
P hase = 360o = θ = 37,8o
Then the LIM load is reduced. 333, 33

To reduce end effect, frequency f = ωe /2π needs to The scaling factor for dA and iv are 10 and 0.125
be selected less than 18 Hz, since end effect is negligibly respectively. Actual rms values of the phase v voltage,
small for f < 18 Hz (Gieras et al., 1987; Gieras, 1994). phase v current and the per phase reactive power drawn
by the three-phase linear induction motor can be calculated
Under no load or a low slip condition, we can obtain as follows:
from the Fig. 1 an approximate equation such that
vv,rms = dA,rms 300V
Vs = Rs is + jωe Ls is dA,rms (measured on the scope)
= 300V
Multiplying by is and dividing by 2 both sides of before 10
= 15,9099V
equation we obtain
iv,rms (measured)
iv,rms = = 4,2851A
Vs i s Rs i2s ωe Ls i2s 0,125
= +j
2 2 2 Q = vv,rms iv,rms sinθ = 41,7852V AR
Vsrms isrms = Rs i2srms + jωe Ls i2srms
S = P + jQ where cosθ is the displacement power factor.
where Ls = Lls + Lm , ωe is the exiting angular
This reactive power is consumed by primary inductance
frequency, P is the active power and Q is the reactive
Ls . thus
power.
Q = ωe Ls i2vrms

150 Saltillo, Coahuila 5--7 de octubre, 2011

Artículo 29 AMCA 2011

Req and Leq denote the total resistance and the total
inductance and need to be estimated to obtain the estimates
of the secondary parameters.

For is (t) = Isin(ωe t), the vs (t) voltage is obtained in

the steady state, such that
vs (t) = Req is (t) + jωe Leq is (t) (7)
Multiplying by is (t) and dividing by 2 both sides of
before equation we obtain
vsrms isrms = Req i2srms + jωe Leq i2srms
Figure 6. Va and Ia wave forms with no-load condition S = P + jQ
where ωe is the exiting angular frequency, P is the
active power and Q is the reactive power.
Ls can be calculated from the above equation.
Q The experiment was made increasing the referen-
Ls = ce frequency for the linear induction machine (by
ωe i2vrms
ref-Vel-LIM/Value slider in the Control-Desk panel)
vv,rms iv,rms sinθ
Ls = to 30 Hz and locked the LIM mover. The V/F ratio and
ωe i2vrms LIM stroke limit was settled in 300V/60Hz and 100cm
vv,rms sinθ respectively. In the Fig. 8 the experiment result is shown.
Ls =
ωe ivrms
dA,rms = 0,1768
Then IA,rms = 0,2934
Ls = 120,7256mH 6
P hase = 360o = θ = 64,8o
IV. E STIMATION OF Req AND Leq 33, 33
For obtaining the mutual Lm and secondary inductances The vv,rms and iv,rms values are:
Lr , a large current must flow through the secondary circuit, vv,rms = dA,rms 300V
i.e., current path through the secondary circuit must be dA,rms (measured on the scope)
dominant. To provide a large current flow through the = 300V
10
secondary circuit, the mover-locked test is used. = 53,04V
IA,rms (measured)
iv,rms = = 2,3472A
0,125

Figure 7. Equivalent circuit of a LIM at stanstill.

Since at standstill vx = 0 (mover velocity), the LIM

equivalent circuit shown in Fig. 7 can be represented as
a series circuit, such that

Zeq = Req + jωe Leq (4)

Figure 8. Va and Ia wave forms in blocked-mover test
where
The active power is P = Req i2srms = vsrms isrms cosθ =
ω 2 L 2 Rr 53V A, and the reactive power Q = ωe Leq i2srms =
Req = Rs + 2e m 2 2 (5) ωe Leq
Rr + ω e L r vsrms isrms sinθ = 112,6469V AR where θ = arctan R eq
then,
Lm (Rr2 + ωe2 Lr Llr ) P
Leq = Lls + (6) Req = 2 = 9,62Ω (8)
Rr2 + ωe2 L2r isrms

Saltillo, Coahuila 5--7 de octubre, 2011 151

 AMCA 2011 Artículo 29

and VI. E STIMATION OF Lm , Lr AND Rr FROM THE

Q
Leq = = 108,4721mH (9) EQUATION SYSTEM
ωe i2srms
Knowing that Ls = Lls + Lm , Lr = Llr + Lm and,
E STIMATION OF Lm , Lr AND Rr FROM A
V. substituting Lls and Llr into (6), the follow equation system
T HIRD -O RDER P OLYNOMIAL is obtained:
 s − Leq .
Utilizing the estimated values, we define δL = L ωe2 L2m Rr
We let β = Lm /Lr , which is unknown. Choosing ωe high Req = Rs +
Rr2 + ωe2 L2r
enough so that Rr2  ωe2 L2r , one can approximate (5) and Lm [Rr2 + ωe2 Lr (Lr − Lm )]
(4) such that Leq = Ls − Lm + (18)
Rr2 + ωe2 L2r
L2m Lm Lm
Req ≈ Rs + R r = Rs + β 2 R r (10) = β ⇒ Lr =
L2r Lr β
Lm Since Lm and Lr are unknown, β is also not known, it
Leq ≈ Lls + Llr = Lls + βLlr (11) is around 0.95 in rotary induction motors, and 0.9 in linear
Lr
induction motors. Giving a value to β, between 0.9 and
Since Ls = Lm + Lls , Lr = Lm + Llr and Leq ≈ Lls +
0.95, the unknown variables are Lm , Rr and Lr .
βLlr , it follows that
Lls = Ls − Lm (12) Solving the system of the equation (18), the LIM
parameters are:
Lm − δl
Llr = (13) Rs = 1,6875Ω Lm = 0,1704H
β
Ls = 0,1207H Lls = −0,0497H
(1 + β)Lm − δL Req = 9,6200Ω Llr = 0,0148H
Lr = (14)
β Leq = 0,1085H Lr = 0,1852H
Req − Rs Rr = 10,1666Ω Rr,adj = 10,1666Ω
Rr = (15)
β2 VII. C ONCLUSION
Note that Lm is the only unknown value in the above The electric parameters for a linear induction motor were
definitions. Substituting (12), (13), (14), and (15) into (6), determined in two ways. This parameters constitute the
we obtain a third-order polynomial for Lm , such that equivalent per phase electric circuit of LIM. The experiment
for no-load and locked-mover test were designed using a
L3m + AL2m + BLm + C = 0 (16)
DSP-based electric-drives system with two motors coupled
2
where A = −(1 + β)δL /β − δL /(1 + β), B = 2δL /β, , a DC Machine and a LIM. The control programs were
3
C = −δL /β(1 + β) − βδL Rr2 /ωe2 (1 + β). Note again made using MATLAB-Simulink of Matworks and Control-
that the coefficients A, B, and C are available with the Desk of dSPACE. Adjustable Speed Driver was developed
methods suggested above. The numerical solution of (16) in the Universidad Nacional de Colombia - Manizales for
is found by the solve function of MATLAB. R the LIM control.
R EFERENCIAS
Once Lm is found, the estimates Lls , Llr , Lr , and Rr
are obtained directly from (12) to (15), respectively. Rr Gieras, J. F. (1994). Linear induction drives. Oxford, U.K.: Clarendon.
Gieras, J. F., G. E. Dawson y A. R. Eastham (1987). new longitudinal
is an intermediate estimate needed for deriving polynomial end effect factor for linear induction motors. IEEE. Trans. Energy
(16). Based on the estimates Lm and Lr , we have a more Conversion 22, 152 to 159.
accurate estimation method for Rr than (15). Rearranging Kang, Gubae, Junha Kim y Kwanghee Nam (2001). Parameter estimation
of a linear induction motors with pwm inverter. The 27th Annual
(5), we obtain (17) Conference of the IEEE Industrial Electronics Society pp. 1321–
 1326.
(ωe Lm )2 − (ωe Lm )4 − (2ωe Lr (Req − Rs ))2
Rr = Kang, Gubae, Junha Kim y Kwanghee Nam (2003). Parameter estimation
2(Req − Rs ) scheme for low-speed linear induction motors having different lea-
(17) kage inductances. IEEE Trans. on Industrial Electronics 50(4), 708–
716.
Then the LIM parameters are: Mohan, Ned (2001). Electric Drives, An Integrative Approach. MNPERE.

Rs = 1,6875Ω Lm = 0,0420H
Ls = 0,1207H Lls = 0,0788H
Req = 9,6200Ω Llr = 0,0323H
Leq = 0,1085H Lr = 0,0743H
Rr = 9,3720Ω Rr,adj = 3,9444Ω

152 Saltillo, Coahuila 5--7 de octubre, 2011

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