Speed Regulation of an Induction
Motor Using Model Reference
Adaptive Control
Akira Kumamoto, Satoshi Tada, and Yoshihisa Hirane
ABSTRACT: A novel approach of con-
structing a robust variable-speed drive sys-
tem using an induction motor supplied from
a voltage-source-type PWM inverter is dis-
cussed. The inverter is controlled so as to
generate the fabricated terminal voltages
based on the voltage-decoupled transvector
control theory where neither a current feed-
back loop nor a current limiter circuit is re-
quired. Although the hardware for this de-
coupling method becomes simplified, it still
hassomedisadvantages,such as the dis-
crepancy between the command currents and
actual currents. Incorporated into the drive
system described herein is the optimal-speed
regulator adopting the exact model-matching
method, which fulfills the function of a com-
pensator for unfavorable errors.The oper-
ating characteristics of the proposed drive
system are compared with conventional PI
control to verify the effectiveness under var-
ious conditions by investigating the transient
responses for the step change of the speed
command, the load torque, and so forth.
Introduction
Recent advances in power electronics
technology have made various variable-speed
drive systems available in the last decade.
Among the newly developed methods, the
most outstanding scheme is the variable-
speed induction motor drive based on trans-
vector control theory [1]-[3]. It achieves fast
speed response using an economical induc-
tion motor. Although an almost linear trans-
fer function is obtained by introducing vector
control 121, [3], there are still some uncertain
factors that disturb the ideal linearization.
While transvector control is usually im-
plemented with a primary current control,
thus far some authors have presented an ap-
plied-voltage control method for an induc-
tion motor drive [3]-[6], which is the natural
extension of a current control in the sense
that the direct output of the frequently uti-
Presented at the International Conference on In-
dustrial Electronics,Control, and Instrumenta-
tion, San Francisco. CA, November 18-22. 1985.
A k i n Kumamoto,Satoshi Tada, and Yoshihka
Hirane are with the Faculty of Engineering, Kan-
saiUniversity. 5 6 4 Yamatecho 3-3-35, Suita,
Osaka, Japan.
Ociober I986
lized PWM inverter is the motor terminal where
voltage. The voltage-decoupled transvector
control method described in [4] eliminates
any current feedback and/or sensing. since
motor leakage inductances are usually of
small value. The resulting circuit construc-
tion, therefore, becomes simplified.
This elimination of a current control loop
is based on the fact that both actual torque
and flux current components follow the cor-
responding current commands in the order
of the motor time constant. In an actual sit-
uation, however, the flux current component
may be varied to realize field control. In such
acase, the discrepancy between the com-
mand and actual currents suggests the ne-
cessity of some additional strategy to assure
stable operation of the inverter.
This paper proposes the utilization of an
optimal-speed regulator [7] designed by
model reference adaptive control (MRAC) In an ordinary current-controlled transvec-
theory [8].The resulting system exhibits tor system. Eqs. ( 5 ) and (6) are used to can-
good performance characteristics by adop- cel the mutual interference of current and
tion of the exact model-matching method. flux level in the generated torque.
together with maintaining a simplified circuit
construction of voltage decoupling, which
uses only a speed loop.
Voltage-Decoupled Transvector Contrary to the current-controlled type, the
Control voltage-decoupling method requires two ad-
ditional equations, which are necessary to
Control Principle 141. [j] eliminate the cross term in the input level:
The electrical and mechanical instanta-
neous characteristics of an induction motor
on the cr-p axis. rotating synchronously with
the source angular frequency w , ~ are
, given
by Eqs. (1)-(4). The result is a linearized firs-order model,
shown in Fig. 1 , which assumes a constant-
flux current ilQ.
Simulation Exarnple
The voltage-decoupled vector control
method described so far utilizes only a speed
loop. The automatic speed controller (ASR)
computes the necessary current commands,
is,
i ref and and then transforms these values
into the applied voltage values considering
motor parameters using Eqs. (7) and (8). In
order to investigate the effect of the expected
current discrepancy. which is unavoidable
because of neglecting the leakage induc-
tances, a closed-loop ASR incorporating an
0272-1708,86;1000-0025 $01 00 1986 IEEE
25
 Optimal-Speed Regulator Design

T T'
Exact Model-Matching 181
The exact model-matching method assures
that the closed-loop transfer function coin-
cides with that of the reference model. The
Fig. 1. Ideal first-order model of induction motor. controlled plant f(s) and the model t d b ) are
denoted as shown. where P(s), r(s), pd(s),
Table and rd(s) are monic polynomials of order n,
Motor Parameters and Control Gains m , nd. and md. respectively, with (n, - ?nd)

r 2 (n - m).
~ _ _ _ _ _ _

1 kW, 100 V, 8.4 A, 60 Hz, 4 poles, 1710 rpm

~
[(SI = ~ ( s ) / r c ( s=) gr(s) P - ' ( s ) (9)
Primary resistance 0.49 Q
Secondary resistance 0.45 12 f,(s) = y ( s ) / u ( s ) = gdrd(b) Pdi(s) (10)
Primary self-inductance 38.8 mH Figure 4 illustrates the block diagram of
Secondary self-inductance 35.4 mH the exact model-matching control system ob-
Mutual inductance 35.1 mH tained by introducing the input dynamics of
Total inertia 0.024 Nm-sec'lrad riN(s)as shown. where P*(s) and r*(s) are
Viscous-friction coefficient 0.0011 Nm-seclrad arbitrary stable monic polynomials of order
Rated waxis primary n and m.
current 6.83 A The control law is given by
Rated P-axis primary
current 11.54 A ~ ( s )= (gkds) ~ ( s )+ hds) ~ ( s ) )

Proportional gain
Integral gain e! 1 1.o
0.01
+ y(s) r*(s)g + g,V(s)/g
where kh(s)and hb(s) satisfy the relation
(11)

appropriate
_- - PI control is established for the 2ooot
test motor, with the constants listed in the
table. c ,,00]
In thecase where voltage decoupling is
applied, actual currents exhibit a slight ex-
cursion from the respective commands.as
shown in Fig. 2 . which assumes the contin-
uous inverter output voltage. The fluctuation
of actual cuvents around command currents
in this case doesnot cause serious problems,
and the speed response is almost the same
as that of the ideal case.
The transient responses for a higher speed
drive over the base speedof 1710 rpmis
shown in Fig. 3. The field current command
iri is decreased as an inverse proportion to
the actual motor speed of w, over the base
speed. Note that comparatively large over-
shoot and undershoot can be seen in the ac-
tual current level at the beginning of the tran-
sient. This means that stable operation of an
inverter may be disturbed because of the re-
quirement to protect the switching devices.
Therefore, some type of proper protection
scheme, for example, a current-limiting cir-
30
cuit, is required fof safeguarding, which re- a 15
sults in a complexity of system construction. .I --30
1s
The voltage-decoupling method is an ex-
cellent control principle but it still has some I
0 0.5 1.0 1.5
disadvantages, as we have seen thus far. Ia t, sec
thefollowing, the application of an exact
model-matching method based on the mod- Fig. 2 . Step response for base-speed command assuming continuous
em control theory of MRAC is studied. inverter output (PI control).

26
 The unknown parameters g and 0 in Eq. (17)
depend upon the varying controlled plant and
are to be adjusted by the adaptive law. The
adaptive error e(t), defined by y ( r ) - yln(t)?
is given by
e(r) = l/P*(P)[gr*(P) ~ ( t )
+ err*(P) - y,(t) (18)
The basic strategy of adaptation is to in-
troduce an error dynamics identifier, whose
output c(r) is calculated similar to Eq. (17)
except that g and 0 are replaced with their
estimates g ( t ) and &t). It is guaranteed that
an appropriate adaptive law, which realizes
t?(t) + &), also assures e(t) + 0.
Implemmting Motor Control [7]
The induction motor's transfer function is

: '
directly written from the block diagram of
Fig. 1 to give
-10
'ref rlM(S) = %(s)/i;e;(s)
30
15
-15
0 = pM'i,,/(L,J(s + D/J)) (19)
-30 The reference model rIMD(S) is a closed-loop
transfer function obtained by optimal regu-
lator theory, and is given by

l
rIMD(s) = Wnz(s)/$'(s)
0 0.2 0.4 0.6 0.8
t, sec
= gd/(s2 + Pdls + PdO) (20)
Considering the order of tiM(s) and fIMD(s),
Fig. 3. Step response for high-speed command. with field control
the parameters to be estimated here are the
assuming continuous inverter output (PI control).
two scalars g(t) and /io(?). The adaptive con-
trol system is constructed using the straight-
forward process described previously, by
choosing arbitrary polynomials as

P*(s) = s + P,*
r*(s) = 1, y(s) = 1 (21)
Figure 5 shows the final drive system in-
corporating an optimal adaptive-speed reg-
ulator.

Fig. 4. Block diagram of exact model-matching. Simulation Results of Drive System

A digital simulation program to investigate
the dynamic behavior of the resulting closed-
loop control system using an optimal-speed
regulator is given. A voltage-source-type
PWM operation of aninverteris adopted
hereafter. Illustrated in Fig. 6 is the step re-
sponse from standstill to the rated speed at
the no-load condition.
In the early stage of speed build-up, actual
motor speed w, does not coincide with the
reference speed w, because of the software-
limited acceleration torque. However, w,
soon follows the reference speed and thesat-
isfactory transient characteristics are ob-
tained. In the case of the conventional PI

October I986 27
 controller, a sudden increase in load torque
1 will cause an impact drop in the motor speed.
The applied load torque is sensed as a drop
of the speed, butis done via the filtering
UJ:,'
0-
4-k Input
effect of motor inertia. Therefore, speed
compensation for load torque change is un-
avoidable to some amount of time delay.
Thus, it is a commonly accepted method to
equip anadditional torque compensatoror to
make a compromise between the responses
for speed command and load torque varia-
tion. On the contrary, a moderate response
is obtained in the proposed system, as shown
in Fig. 7. which indicates the smooth return
to the speed reference even in the case of the
application of the full-load torque from the
no-load condition.
Another factor to be considered when de-
signing the control system is the variation of
motor parameters. Increasing R? up to 2.0
times from the initial value as a ramp func-
tion of time during 1.5 sec revealed that the
Fig. 5. Proposed variable-speed drive system of induction motor incorporating MRAC. drop of the motor speed is limited within a

30

2 10
.p 0
-lo+

30
a 12
.> -15
-30
+
0 0.5 1.0 1.5
t , sec
Fig. 6. Step response for base speed of proposed system at the
no-load condition.

28 I Control Systems Magorine

~~ ~
~~
small range and the robustness of the system
has been recognized. In the high-speed op-
eration over the basespeed,the MRAC
method exhibits a satisfactory transient re-
sponse. The reference model output o,,grad-
ually increases according to the second-order
property. This avoids the sudden change of
i$ necessary for acceleration. Therefore, the
variation of the current commands becomes
moderate, resulting in a slight discrepancy
between the actual and command currents.
Conclusion
A newly proposed variable-speed drive
system utilizing an optimal-speed regulator
based on the exact model-matching method
is described. The system is investigated un-
der various conditions, and is recognized to
have satisfactory operating characteristics,
especially for the load torque change. pa-
rameter variation. and a wide speed range
operation. The design process of the control
loop is simple enough and the well-designed
CAD program can be utilized, which eman-
cipates the designer from troublesome rep-
etition of control parameter tuning.
The application of modem control theory
to power electronics technology is becoming
an unavoidable process to attain a high-qual-
ity control system, and is studied extensively
to improve the conventional control meth-
ods. Described herein is the trial to realize
the robust and simplified controller for an
induction motor drive. and almost all of the
necessary calculations maybe realized by
introducing a high-speed microprocessor in
an actual system.
References
[ I ] F. Blaschke. The Principle of Field Ori-
entation as Applied to the New Transvector
Closed-Loop Control System for Rotating
Field Machines. Siemens Review, vol. 31,
pp. 217-220, 1972.
October I986
[2] A. Nabae and R. Kurosawa, A New ln-
duction Motor Drive System Having a Con-
stant TorqueTransferFunction, Trans.
IEW. VOI. 98B, pp. 303-309, 1978.
[3] S. Sugimoto and E. Ohno. A New Induc-
tion Motor Drive System Having a Linear
Transfer Function, Trans. IEW. vol. 103B,
pp. 31-38, 1983.
[4] K. Ohnishi. H. Suzuki. and K. Miyachi.
Decoupling Control of Secondary Flux and
Secondary Current in Induction Motor Drive
with a Controlled Voltage Source and Its
Comparison with VoltlHertz Control, Con$
Rec. of IEEEIIAS. pp. 678-685. 1982.
IS] M . Terashima, M.Nomura, T. Ashikaga, T.
Nakamura. and K. Ohnishi, Fully Digital
Controlled Decoupled Control System in In-
duction Motor Drive, Cot$ Rec. of
ICOX84,pp. 845-850, 1984.
[6] B. K. Bose, Scalar Decoupled Control of
Induction Motor. E E E Trans. on Indrrs-
trial Applications. vol. 1A-20. pp. 216-225,
1984.
[7] S. Tada, A. Kumamoto. and Y . Hirane, An
Optimal Drive System of a Vector-Con-
trolled Induction Motor Using Exact Model
Matching, Preprint of IEET (Institute of
Electrical Engineers of Japan), SPC-85-49,
1985.
[SI K. Ichikawa, Construction of Adaptive
Control System Based on an Exact Model
Matching Technique, Trans. SICE. vol. 20,
pp. 926-931.. 19M.
Akira
Kumamoto re-
ceived B.S.E.E..
the
M.S.E.E., and Ph.D. de-
grees in 1968. 1971, and
1983. respectively, from
Kyoto University. Kyoto.
Japan. Since 1971. he has
been engaged in rescarch
and development in power
electronics at Kansai Uni-
versity. Osaka, Japan. His
current interest is in the
application of control the-
ory to power electronics and intelligent flexible
automation. He is also interested in knowledge-
based engineering. Dr. Kumamoto is currently
with the Information Processing Branch, Faculty
of Engineering. Kansai University.
Satoshi Tada received the
I& --=
u
was in digital-controlled
induction motor drive
system research applying
model reference adaptive
control theory. He has
been with Nissin Electric
Co., Ltd., Kyoto, Japan,
since April 1986. His current interest is in the
application of modem control theory to electrical
and mechanical power control systems.
Yoshihisa Hirane gradu-
ated from Hosei Univer-
sity in 1956 and received
the M.S.E.E. and Ph.D.
degrees in 1959 and 1974,
respectively, both from
the University of Osaka
Prefecture, Osaka, Japan.
In 1959. he joined Kansai
University where he has
been working in the field
of power electronics as a
Professor in the Depart-
ment of Electrical Engineering. He worked on
sabbatical leave at the University of Bradford, En-
gland. from 1976 to 1977. as an Honorary Visiting
Research Fellow on thyristor control of electrical
machines. He is currently interested in magnetic
circuit application of power electronics.
29