POLITECHNIKA WARSZAWSKA

Contents
5. Speed estimation of induction motor 97
5.1. Introduction 97
5.2. Basic techniques of speed estimation 97
5.2.1. Open loop estimators 99
5.2.2. Closed loop estimators – observers 102
5.2.3. Model Reference Adaptive Systems 107
5.2.4. Estimator based on Artificial Intelligence 109
5.3. ANN based speed estimators 113
5.3.1. Speed estimation with on-line ANN 113
6. ANN sensorless field oriented control of IM 120
6.1. Principle of field oriented control (FOC) 120
6.2. Block scheme description 125
6.2.1. General description 125
6.2.2. Description of block scheme implemented in practice 127
6.3. Design of current controller 130
6.3.1. Introduction 130
6.3.2. Decoupled current regulators 130
6.3.3. Controllers design for field oriented IM 131
6.3.4. Internal model control 133
6.4. Design of speed controller 136
6.4.1. Introduction 136
6.4.2. Design methods 137
6.5. Rotor and stator resistance adaptation 139
6.5.1. Introduction 139
6.5.2. Stator resistance adaptation 140
6.5.3. Rotor resistance adaptation 142
7. Simulation and experimental results 145
7.1. Introduction 145
7.2. The choice of the learning rate 145
7.3. Steady state behaviour 147
7.4. Dynamic behaviour 158
8. Conclusions 168
References 155
Appendices 170
A1. Description of the simulation program 170
A2. Laboratory setup 194
A3. Motor parameters 202
A4. Notation 203