POLITECHNIKA WARSZAWSKA

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5. Speed estimation of induction motor 5.3. ANN based speed estimators 5.3.1. Speed estimators with on-line ANN In this part of the thesis three methods based on an on-line ANN is presented. The first approach has been originally published by Ben-Brahim and Kurosawa [130] and is based on two flux models. The second method is a small modification of the first one, but with big improvement in the length of the learning time. The third method is the new method originally invented by the author, and is based on stator current calculations. 5.3.1.1. Method based on two flux models The concept proposed in [130] is based on two independent rotor flux simulators [12]: - voltage model TN(dΨru/dt) = (xr/xM)[us - rs is - σxs TN(dis/dt)] (5.16) - current model TN(dΨri/dt) = [-(TN/Tr) + jωm]Ψri + (TN xM/Tr) is (5.17) where: Tr = (TN xr/rr) — rotor time constant, TN = (1/2πFSN) = (1/ 2π50 Hz) — nominal time constant, σ = 1- (xMxM/xrxs) — leakage factor. The block diagram of the NN speed estimator is shown in Fig.5.10. 113
5. Speed estimation of induction motor u s i s Flux Model z -1 ψ ru - ε Neural Netwok with Weight ^ ω m + ψ ri Fig.5.10 . Block diagram of the NN based speed estimator The discrete current model of rotor flux one can calculate from Eq.5.17. Ψri(k) = [(1-Ts/Tr)+jωmTs/T N ]Ψ ri(k-1)+(TsxM/Tr) is(k-1) (5.18) where Ts is the sampling time. The model based on Eq.5.18 is similar to neural network. One weight is proportional to mechanical speed, and the output is Ψri [130]. Ψri(k) = w 1 Ψ ri(k-1) + w 2 jΨ ri(k-1) + w 3 is(k-1) (5.19) The error output is given by e(k) = Ψri(k) - Ψru(k) (5.20) Therefore, to calculate estimated mechanical speed ωm one can use back propagation training algorithm [144]. The ANN in this case has very simple form and is presented in Fig.5.11. 114
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POLITECHNIKA WARSZAWSKA WARSAW UNIV
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Contents 1. Introduction 4 2. Mathe
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1. Introduction 1. INTRODUCTION The
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1. Introduction In the author’s o
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2. Mathematical description of indu
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3. Basics of Artificial Neural Netw
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4. ANN based Current Controllers (C
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4. ANN based Current Controllers 4.
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4. ANN based Current Controllers Ta
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7. Simulation and experimental resu
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7. Simulation and experimental resu
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8. Conclusions 8. CONCLUSIONS The r
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References REFERENCES Books and Ove
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References [34] D. Schauder, and R.
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References [66] A. Tripathi and P.
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References [97] J. W. Kolar, H. Ert
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References [129] M. P. Kazmierkowsk
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A1. Description of the simulation p
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A2. Laboratory setup A2. Laboratory
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A2. Laboratory setup A2.3. dSpace D
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A2. Laboratory setup Offset calibra
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A2. Laboratory setup consists of an
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A3. Motor parameters A3. MOTOR PARA
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A4. Notation - u s - stator voltage
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POLITECHNIKA WARSZAWSKA

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