Estimation of the Leakage and Magnetizing

Inductances of Induction Motors

M. Cacciato, A. Consoli, G Scarcella, G. Scelba

UNIVERSITY OF CATANIA
Viale Andrea Doria n°6 - 95125
Catania, Italy
Tel.: +39 / 095-7382319.
Fax: +39/ 095-7557064.
E-Mail: [email protected]
URL: http://www.unit.it

KEYWORDS
«Inductive Parameter Measurements», «Induction Motor Modeling».

ABSTRACT In addition to the IEEE Standard Test Procedure for Induction Motors (IM),
several advanced methods have been presented to achieve higher accuracy on parameters estimation.
Some of them allow to estimate with high precision only a specific parameter, while others improve
the parameters estimation at the price of high computational efforts and time due to finite elements
analysis or the use of recursive algorithms.
After a survey of the main typologies adopted to estimate the electrical parameters in IMs, that
highlights the main advantages and drawbacks of each category, this paper presents a novel procedure
that can be adopted as parameters estimation. According to the proposed method the motor parameters
are calculated through locked-rotor tests performed as the motor is fed by a standard inverter, by
exploiting simple relationships which do not increase the computation effort. Simulation and
experimental results have been performed on different motors and, comparing the proposed approach
to other methods, they have confirmed its validity.

I. INTRODUCTION
Electrical machines parameter estimation is an important issue to take into consideration for their
performance prediction and correct control. Most of the efficiency optimization scalar control
techniques as well as vector control strategies for IM machines require the knowledge of some or all
model motor parameters. Moreover, even the back-emf based sensorless motor drive techniques allow
rotor or flux position estimation by exploiting the model of the machine. In classic machine equivalent
circuits, the effects of the iron losses, copper losses as well as the linkage and leakage magnetic fluxes
into the machine are modeled by using constant parameters values.
Different techniques have been proposed to estimate the values of those parameters. The IEEE
Standard 112-1996 Test Procedure for Polyphase Induction Motors and Generators (STP) suggests no
load and rotor locked tests to calculate the parameters, by exploiting active and reactive power
measurements. This procedure makes some assumptions regarding the leakage and magnetizing fluxes
distribution during the tests; on this hypothesis the stator and rotor leakage inductances are calculated.
Through Finite Element Analysis, estimation of the electrical parameters of the machine is
achieved without performing any experimental test as this approach uses numerical techniques to
determine the distribution of the magnetic field paths inside the electrical machine. In addition to the
nameplate, such a method requires the exact knowledge of the geometry of the machine and magnetic
materials properties. In this way a more precise estimation of the parameters can be obtained at the
price of higher computational efforts. The foregoing methods may also exploit recursive algorithms to
increase the accuracy of the estimations.
Other approaches have been suggested to perform parameters estimation [1-15]; some methods
need appropriate equipment and have been specifically designed to estimate specific parameters, while

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 others exploit complicated algorithms to reach the goal of an accurate estimation of the machine
parameters. In [11] the authors presented a new method for measuring the magnetizing inductance of
an induction machine. The proposed technique makes use of a static dc excitation and requires the
access to the neutral point of the stator windings. Since this method exploits a dc excitation, the iron
losses in the motor are considerably reduced compared to standard no load tests.
Several authors have proposed techniques which perform estimation of the electrical parameters
making use of an inverter as power source for the motor [10-12]. The use of a power converter to feed
the motor provides more flexibility in the generation of the applied test signals. In particular, in [11]
the stator leakage inductance and the stator resistance are obtained through injection of zero sequence
voltages, while the other parameters are obtained from the dynamic q-d model by applying different
signal tests. In [10], a sinusoidal current with DC bias is applied to the motor to determine the rotor
resistance, while the other parameters are extracted through different tests in which the decaying stator
current trajectory is measured. The main advantage of parameters estimation techniques using a
voltage source inverter is given by the possibility to include an estimation algorithm of the machine
parameters in an autotuning procedure. In that way it is possible to perform vector control or model
based sensorless control of the electrical drive even if the motor parameters are unknown.
The approach proposed in this paper allows to measure most of the parameters of an induction
motor only performing three rotor locked tests and exploiting analytical relationships which do not
increase the computational effort demanded to the control unit.

II. PROPOSED ESTIMATION METHOD

The proposed method essentially exploits the q-d axis reference frame model of the induction
machine and the field oriented control condition.

­ dO qs ­ dOqr
°v qs R s i qs   ZO ds °vqr 0 Rr iqr   (Z  Zr )Odr
° dt ° dt
°° dO ds °° dOdr
®v ds R s i ds   ZO qs (1) ®vdr 0 Rr idr   (Z  Zr )Oqr (2)
° dt ° dt
° dOos ° dOor
°v os R s ios  °vor 0 Rr ior 
¯° dt °¯ dt

­O qs ( Lls  M )iqs  Miqr ­O qr Miqs  ( Llr  M )iqr

°° °°
®O ds ( Lls  M )ids  Midr (3) ®O dr Mids  ( Llr  M )idr (4)
° °
°¯Oos Lls ios °¯Oor Llr ior

3
Te p( Oqs idr  Ods iqr )
2
J dZ r F (5)
Te  Tr  Zr
p dt p

Three different tests performed at locked rotor are required in order to estimate the parameters of
the machine. In particular, the method makes use of the stator flux equations on q-d axis (6):
­Oqs = Lls + M iqs + Miqr
°
® (6)
°̄Ods = Lls + M ids + Midr

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 When the field-oriented regime is reached, the term idr is zero and:

M
iqr =  ˜ iqs
(Llr + M)

In these conditions (6) becomes:

­ M2
° Ȝqs = Lls + M i qs  i qs
® Llr + M (7)
°Ȝ = L + M i
¯ ds ls ds

The previous equations relate the machine parameters with the q-d stator axis flux measurements.
Parameters can be estimated from (7) by assuming three separate working conditions at locked rotor.
The first test is performed by setting iqs equal to zero and ids at its rated value. In this situation no
torque is produced and, the system (7) reduces to:
Ȝds
(Lls + M) =  =A (8)
i ds

Such a test provides the total stator inductance by reconstructing the stator d axis flux, that in these
conditions represents the total stator flux, and dividing it by the current ids.
The second test is carried out through the condition iqs = ids, keeping the stator current to its rated
value; in this case, from the system (7) one can obtain:

M2 Ȝqs  Ȝds
 = =B (9)
(Llr + M) ids

In this case, the estimated flux Ȝqs and Ȝds are required.
The two previous mentioned tests give two equations in three unknown variables Lls, Llr and M;
hence, it is necessary to introduce a third equation. It can be demonstrated that in practice it is no
possible to obtain such an equation still exploiting (7). The only mathematical but not physically
applicable solution would be to fix to zero the stator current component ids, and of course, this
condition cannot be imposed in field oriented conditions.
The third equation can be obtained from a conventional locked rotor test according to [1], with the
only difference that the motor is supplied through the inverter at the required rated stator current
amplitude Iasn and frequency Ȧe. The locked rotor test allows to estimate the total leakage inductance,
providing the following equation:
L ls +Llr = C (10)

The inverter must provide the stator current components iqs and ids according to the following
constraints:

1 iqs
iqs2 + ids2 = 2 I asn ȦsOr = = Ȧe (11)
IJ r ids

The previous three tests allow to achieve the following equation system, whose solutions are shown in
(12).

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 ­ (Lls + M) = A ­M =  B ± B 2  B A + C
° °
° M2 °
® =B Ÿ ® L ls =  A  M (12)
° (L lr + M) °
° °¯ Llr = C + A + M
¯ L ls +Llr = C

Although the system solution gives two values for M, the experimental tests confirm that only one
of them is physically consistent. It should be observed that in the proposed method the stator
resistance has to be known a priori or calculated by exploiting one of the solutions already presented
in [10-13]. In fact, the constants A, B, and C are calculated through the q-d axis stator flux and by
numeric integration of the difference between the stator voltage and the resistive voltage drop. Also
note that, as the proposed method is based on indirect field oriented control, a precise knowledge of
the rotor time constant is a critical issue. However, in practice, in equation (10) field oriented control
is not required, and in (8), as iqs is zero, the slip angular pulsation is zero and a rotor time constant
error does not affect the equation. Only (9) is affected by an error occurring in the rotor time constant.
The rotor time constant can be estimated by exploiting standard approaches or more sophisticated
techniques [16]÷[20]. The accuracy of the measured quantities is strongly affected by the
nonlinearities introduced by the inverter such as the dead time and the forward voltage drop of the
IGBT; such drawbacks can be minimized through implementation of a dead time compensation
algorithm and including the voltage drop profile of the power devices in the phase voltage calculation.

III. COMPARISON BETWEEN DIFFERENT APPROACHES

The proposed method has been validated by means of simulations and experimental tests performed
on two different motors whose nameplate and technical characteristics are reported in Tables I and II.
The results obtained with the proposed method have been compared with those obtained with the
IEEE Standard 112-1996 Test Procedure for Polyphase Induction Motors and Generators, and the
Finite Element Analysis methods. Measurement of the stator leakage inductance has been also
performed by applying a method based on the zero sequence voltage injection. In this case only the
zero-axis circuit is involved in the calculation of the leakage inductance, since the q-d-axes voltages
are equal to zero.

A. MODELING VALIDATION
Simulations of the different test procedures have been performed on standard q-d reference frame
model of the induction machine including iron losses through the parameter Rfe, as shown in Fig. 1.
The electrical parameters used for the machine model have been obtained by applying IEEE STP to
the motor indicated in the following as Motor I. By applying to such a model each singular test
procedure, a set of new parameters has been identified for each technique.
A comparison of the estimated parameters is shown in Table III. It can be noted that the different
approaches allow to achieve an estimate of the electrical parameters very close to that adopted by the
q-d model. The proposed method yields to accurate estimations with relative errors limited to 6%.
Also, it is evident that the best method to measure the stator leakage inductance is provided by the use
of a zero sequence voltage.

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 Tab. I: Motor I nameplate Tab. II: Motor II nameplate
Phase numbers 3 Phase numbers 3
Rated power 1,1 kW Rated power 3,7 kW
Rated voltage 400 V Rated voltage 400 V
frequency 50 Hz frequency 50 Hz
Rated speed 1400 rpm Rated speed 1475 rpm
Rated current 3A Rated current 8,6 A

Rs Lls ds Llr r) dr
ids + + idr

vds Rfe M Rr

Rs Lls qs Llr r) qr
iqs + + iqr

vqs Rfe M Rr

Rs Lls Rr Llr
iqs iqr

v0s v0r

Fig. 1: Induction Machine Model used in the simulations.

Tab. III: Comparison of the simulation results obtained by exploiting different approaches

q-d Model Zero Proposed Relative error Relative error

Parameters IEEE STP
Parameters Sequence Method IEEE STP % proposed method %
Rs (ȍ) 9,500 9,500 9,500 9,500 0 0
Lls (H) 0,023000 0,02278 0,02305 0,02163 -0,95 -5,9
Rfe (ȍ) 695,0000 702,3 ---- ---- 1 ----
M (H) 0,476000 0,48792 ---- 0,4772 2,5 -0,25
Llr (H) 0,023000 0,02278 ---- 0,02253 -0,96 -2,04
Rr (ȍ) 8,370 7,644 ---- 8,416 -8,6 0,55

B. EXPERIMENTAL VALIDATION

The proposed method was also experimentally tested and the results have been compared with the
parameters estimation obtained through FEM analysis, IEEE Standard Test Procedure, and the method
based on the zero sequence voltage injection.
The IEEE Standard Test Procedure has been executed by using a three phase variac and an
electronic three phase power analyzer, while the proposed approach and the method based on the zero
sequence voltage injection have been performed by exploiting a commercial three phase inverter
which includes Hall effect current sensors and DC bus voltage measurement. Accuracy and linearity
of the sensors are key elements of the parameters measurement, which heavily affect the estimation of
the parameters. In particular, the overall accuracy of the Hall effect based current sensors is equal to r

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 0.45% and linearity < 0.15%. Measurement of the DC bus voltage has been carried out through a Hall
effect based voltage sensor, whose overall accuracy is equal to r 0.9% and linearity < 0.2%.
As already mentioned, the rotor time constant can be calculated using different approaches
[16]÷[20]; in particular, the technique reported in [19] has been performed to estimate Wr in the locked
rotor condition. Such a method exploits the injection of a small high frequency rotating field and the
measurement of the corresponding high frequency component included in the zero sequence voltage to
estimate the rotor flux angular position TOr and the angular speed ZOr; since the slip angular frequency
can be also computed by the relationship (13), it is possible to estimate the rotor time constant through
the measurement of the low frequency stator current components iqs and ids and the estimation of ZOr.

1 ª i º i
Z sO r « ZOr  Zr ds » ZOr ds (13)
Wr «¬ iqs »¼ iqs

Note that the stator current components can be calculated from the actual values of the stator
currents by a reference frame transformation using the estimated rotor flux angular position.
In practice, the motor is fed by keeping a constant ratio between the reference values iqs* and ids* and
considering an arbitrary value W r' for the rotor time constant. Upon application of the high frequency
additional signals to the motor, the relationship (13) is exploited to calculate the correct value of W r .
The method based on the zero sequence voltage injection has been performed by connecting the
neutral point of the motor to the mid point of the DC bus as shown in Fig. 2. A low pass filter has been
connected between the inverter and the motor, in order to remove the high frequency harmonics due to
PWM modulation. The motor was supplied by a zero sequence voltage at its rated current and
frequency. The DC bus voltage measurement plays an important role in the compensation of the DC
bus voltage variations. The stator leakage inductance is calculated by means of current and voltage
phase measurement at the output of the low pass filter; in particular, the real and imaginary part of the
impedance is calculated in order to estimate both stator resistance and stator leakage inductance.

Fig. 2: Experimental setup related to the zero sequence injection.

In the approach proposed in this paper, the stator resistance is measured through volt-amperometric
technique by using the inverter and the current sensors included into it, while the numeric integration
is performed by using a compensation algorithm as indicated in Fig.3. This allows us to remove drift
effects in the pure integration operation. As previously asserted, the proposed measurement technique
exploits the indirect field oriented control algorithm; such a control scheme performs the decoupling
between torque and flux control indirectly, by adding a slip contribution signal to the measured rotor
position. It should be observed that, as the proposed parameters estimation is implemented by keeping
the machine at locked rotor, the rotor position sensor is not required.

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 s
v qd 0s
T=TOr
O s
qd 0 s OOqdr 0 s

iqds 0 s s
iabcs

T=

Fig. 3: Stator flux estimator with voltage compensation.

The block diagram control scheme of IFOC (Indirect Field Oriented Control) is displayed in Fig. 4.
The slip signal is obtained by the q-d axes feedback current components, synchronous with the rotor
flux reference frame. The current control loop imposes the appropriate amplitude and phase shift of
the stator current vector in the three tests required by the proposed parameter estimation.

§ 1 iqs · Tsl
³ ¨¨ ¸¸ dt
© Tr ids ¹
TOr
Tr p

Fig. 4: Indirect Field Oriented Control Scheme

Experimental results obtained applying different methods to the measuring of the motor parameters
are shown in Tab. IV and V, respectively for Motor I and Motor II. As one can see, the proposed
measurement technique provides comparable results with those obtained by other approaches for
Motor I, while a higher error in the estimation of some parameters can be observed for Motor II. The
main reason of these errors are sensor accuracy and a non perfect compensation of the nonlinearities
introduced by the use of the inverter. In fact, since in Motor II the values of the electrical parameters
are small, the rotor locked tests at rated current require small phase voltages; hence, inaccuracy in the
measurement or in the compensation algorithms can produce large errors.

Tab. IV: Comparison of the results obtained by performing different approaches on Motor I

Zero Proposed
Parameters IEEE STP FEA
Sequence Method
Rs (ȍ) 9,500 9,500 9,500 9,500
Lls (H) 0,023000 0,021189 0,019000 0,021795
Rfe (ȍ) 695,0000 ---- 700,4914 ----
M (H) 0,476000 ---- 0,500600 0,497786
Llr (H) 0,023000 ---- 0,019000 0,022634
Rr (ȍ) 8,370 ---- 8,201 8,729

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 Tab. IV: Comparison of the results obtained by performing different approaches on Motor II
Zero Proposed
Parameters IEEE STP
Sequence Method
Rs (ȍ) 0,7 0,7 0,7
Lls (H) 0,00644 0,005926 0,006121
M (H) 0,1998 ---- 0,1796
Llr (H) 0,00644 ---- 0,008073
Rr (ȍ) 0,750 ---- 0,630

Figs. 5-10 show some experimental results obtained during the three rotor locked tests. It is
possible to note, that with the exception of test 1, the phase stator currents of the motor have the same
amplitudes and different frequencies, which are dependent on the slip angular frequency given by the
field oriented condition. The q-d axes voltages used for parameters estimation are the output of the PI
current regulator, after performing suitable correction of the voltage drop due to the power devices, of
the DC bus variations, and dead time.
The variables calculated in the rotor flux reference frame as the q-d axes stator flux components are
almost constants; in order to remove the ripple around their average value, further digital filtering has
been adopted.
As mentioned in section II, the proposed method requires field oriented condition to be correctly
performed; such a requirement is obtained by the exactly knowledge of the rotor time constant Wr.

Fig. 5: Test 1 CH1 – iqs [1 A/div], Fig. 6: Test 1 CH1 – Ȝqs [1 Wb/div],
CH2 – ids [1 A/div], CH3 – vas [40 V/div], CH2 – Ȝds [1 Wb/div], CH3 – Constant A [1H/div];
CH4 – ias [1 A/div]; Time[10 ms/div] Time[10 ms/div]

Fig. 7: Test 2 CH1 – iqs [1 A/div], Fig. 8: Test 2 CH1 – Ȝqs [1 Wb/div],
CH2 – ids [1 A/div], CH3 – vas [40 V/div], CH2 – Ȝds [1 Wb/div], CH3 – Constant B [1H/div];
CH4 – ias [2 A/div]; Time[100 ms/div] Time[100 ms/div]

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 Fig. 9: Test 3 CH1 – iqs [1 A/div], Fig. 10: Test 3 CH1 – active power Pcc [100 W/div],
CH2 – ids [1 A/div], CH3 – vas [200 V/div], CH2 – power factor cosfcc [1 1/div], CH3 – Constant C
CH4 – ias [5 A/div]; Time[10 ms/div] [0.1H/div]; Time[10 ms/div]

IV. CONCLUSIONS
The main goal of this paper has been to provide a simple parameter estimation procedure which can
be considered a valid alternative to other estimation methods, especially in terms of computational
efforts. Simulations and experimental tests have confirmed the validity of the proposed approach with
respect to other techniques.

ACKNOWLEDGEMENTS
The authors thank Ing. Gianni Nobile for his technical support during the experimental setup and
testing.

REFERENCES
[1] ANSI / IEEE Std. 112 - 1996 “IEEE Standard Test Procedure for Polyphase Induction Motors and
Generators”.
[2] A. E. Fitzgerald, C. Kingsley Jr., and S. D. Umans, “Electric Machinery”, New York: McGraw-Hill, 1952.
[3] Mello F. P., Hannett L. N., Willis J. R., “Determination of Synchronous Machine Stator and Field Leakage
Inductances from Standstill Frequency Response Tests”, IEEE Transactions on Power Systems, Vol. 3, No.
4, Page(s): 1625 – 1632, Nov. 1988.
[4] Noguchi T., Kondo S., Takahashi I., “Field Oriented Control of an Induction Motor with Robust On – line
Tuning of its Parameters”, IEEE Transactions on Industrial Electronics, Vol. 33, Page(s): 35 – 42, Jan. -
Feb. 1997.
[5] Lin Y. N., Chen C. L., “Automatic IM Parameter Measurement under Sensorless Field – Oriented
Control”, IEEE Transactions on Industrial Electronics, Vol. 46, No. 1, Page(s): 111 – 118, Feb. 1999.
[6] Kang G., Kim J., Nam K., “Parameter Estimation Scheme for Low – Speed Linear Induction Motors
having Different Leakage Inductances”, IEEE Transactions on Industrial Electronics, Vol. 50, No. 4,
Page(s): 708 – 716, Aug. 2003.
[7] Boldea I., Babau R., Miller T., Muntean N., “Complete Parameter Identification of Large Induction
Machines from No – Load Acceleration – Deceleration Tests”, IEEE Transactions on Industrial
Electronics, Vol. 54, No. 4, Page(s): 1962 – 1972, Aug. 2007.
[8] H. Rasmussen, M. Knudsen, M. TInnes, “Parametes Estimation of inverter and Motor Model at Standstill
using Measured Currents only”, Page(s): 331 – 336.
[9] Ana Vladan Stankovic, L. Benedict, Vinod John, Thomas A. Lipo, “A Novel Method for Measuring
Induction Machine Magnetizing Inductance”, IEEE Transactions on Industry Applications, vol. 39, n. 5,
September-October 2003, Page(s):1257 – 1263.
[10] Jul-Ki Seok, Seung-Ill Moon, Seung-Ki Sul, “Induction Machine Parameter Identification using PWM
Inverter at Standstill”, IEEE Transactions on Energy Conversion, vol. 12, n. 2, June 1997, Page(s):127 –
132.

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.
 [11] C.B. Jacobina, J.E. Chaves FL., A.M.N. Lima and L.A.S. Ribeiro, “A New Method for Estimating All the
Electrical Parameters of Induction Machines”, proceedings of the IAS annual meeting, vol.1, 12-15 Oct,
1998, Page(s): 265 – 270.
[12] Zaremba A. T., Pavlov A. V., “Real – time Identification of an Induction Motor using Sinusoidal PWM
Voltage Signals”, American Control Conference, Vol. 4, May 2002, Page(s): 3082 – 3087.
[13] Prado A., Sousa A. H., Ferrari S. M., “On – line Identification of Induction Motors using Discrete Models
for Sinusoidal Signals”, IEEE Industrial Electronics, Nov. 2006, Page(s): 811 – 816.
[14] Kang G., Kim J., Nam K., “Parameter Estimation Scheme for Low – Speed Linear Induction Motors
having Different Leakage Inductances”, IEEE Transactions on Industrial Electronics, Vol. 50, No. 4, Aug.
2003, Page(s): 708 – 716.
[15] Consoli, A., Fortuna, L., and Gallo, A.: ‘Induction motor identification by a microcomputer based
structure’, IEEE Trans. on Industrial Electronics, November 1987, IE34, (4), pp. 422-428.
[16] R. D. Lorenz, “Tuning of field-oriented induction motor controllers for high-performance applications,”
IEEE Trans. on Industry Applications, vol. IA-22, n° 2, Mar./Apr. 1986, Page(s): 293 – 297.
[17] Chu Wang, Donald W. Novotny, Thomas A. Lipo, “An Automated Rotor Time Constant Measurement
System for Indirect Field-Oriented Drives”, IEEE Transactions on Industry Applications, Vol. 24, No. 1,
January/February 1988, Page(s): 151 – 159.
[18] J.-K. Seok and S.-K. Sul, “Induction motor parameter tuning for high-performance drives,” IEEE Trans. on
Industry Applications, vol. 37, n° 1, Jan./Feb. 2001, Page(s): 35 – 41.
[19] A. Consoli, G. Scarcella, A. Testa, “Slip-frequency detection for indirect field-oriented control drives”,
IEEE Transactions on Industry Applications, vol. 40, n° 1, Jan.-Feb. 2004, Page(s):194 – 201.
[20] M. W. Degner, J. M. Guerrero, F. Briz, “Slip-Gain Estimation in Field-Orientation-Controlled Induction
Machines Using the System Transient Response”, IEEE Transactions on Industry Applications, vol. 42, n.
3, May-June 2006, Page(s):702 – 711.

APPENDIX A – LIST OF SYMBOLS

- vqs, vds, v0s : stator voltages components in the q,d,0 reference frame rotating at Z.
- iqs, ids, i0s : stator currents components in the q,d,0 reference frame rotating at Z.
- vqr, vdr, v0r : rotor voltages components in the q,d,0 reference frame rotating at Z, referred to stator.
- iqr, idr, i0r : rotor currents components in the q,d,0 reference frame rotating at Z, referred to stator.
- Oqs, Ods, O0s : stator fluxes components in the q,d,0 reference frame rotating at Z.
- Oqr, Odr, O0r : rotor fluxes components in the q,d,0 reference frame rotating at Z, referred to stator.
- Rs : stator resistor.
- Rr : rotor resistor, referred to stator.
- Rfe : iron losses resistor.
- Lls : stator leakage inductance.
- Llr : rotor leakage inductance, referred to stator.
- Wr : rotor time constant.
- M : linkage inductance.
- Te : motor Torque.
- Tr : load Torque.
- Ȧr : rotor speed.
- p : pole pairs.
- J : inertia.
- F : viscous friction coefficient.

Authorized licensed use limited to: Universitaetsbibliothek der RWTH Aachen. Downloaded on April 22,2024 at 10:03:18 UTC from IEEE Xplore. Restrictions apply.