A Novel MRAS Based Estimator for Speed-Sensorless Induction Motor Drive

Transcription

1 A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 S. M. Mouav Gazafrood* (C.A) and A. Daht* Abtract: In th paper, a novel tator current baed Model Reference Adaptve Sytem (MRAS) etmator for peed etmaton n the peed-enorle vector controlled nducton motor drve preented. In the propoed MRAS etmator, meaured tator current of the nducton motor condered a a reference model. The etmated tator current produced n an adjutable model to compare wth the meaured tator current, where rotor flux dentfcaton needed for tator current etmaton. In the avalable tator current baed MRAS etmator, rotor flux etmated by the ue of meaured tator current, where the adjutable model and reference model depend on each other nce meaured tator current employed n both of them. To mprove the performance of the MRAS peed etmator, both the tator current and rotor flux are etmated n the adjutable model by ung the tate pace equaton of the nducton motor, adjuted wth the rotor peed calculated by an adaptaton mechanm. The tablty of the propoed MRAS etmator tuded through a mall gnal analy. Senorle nducton motor drve along wth the propoed MRAS peed etmator verfed through computer mulaton. In addton, performance of the propoed MRAS compared wth the avalable tator current baed MRAS peed etmator. Keyword: Inducton Motor, Model Reference Adaptve Sytem, Rotor Flux Identfcaton, Speed Etmaton. Introducton The nducton motor are the mot popular AC motor ued n varou ndutral applcaton uch a wnd energy converon ytem, load n power ytem, and electrc vehcle due to ther relable contructon. To acheve the hgh performance of nducton motor drve, vector control ued [, ]. Accurate peed dentfcaton requred for all hgh performance vector controlled nducton motor drve. The peed dentfcaton of nducton motor can be performed by a haft peed encoder; however, compared to peed etmaton, haft peed encoder ha everal dadvantage uch a an ncreae n cot, ze, complexty, and mantenance requrement and a decreae n the relablty and robutne [3-5]. The man ue of the enorle nducton motor drve peed dentfcaton. Several technque are propoed n the lterature to etmate the peed n a enorle nducton motor drve. They are broadly clafed a: gnal njecton baed method and Iranan Journal of Electrcal & Electronc Engneerng,. Paper frt receved Feb. and n reved form June. * The Author are wth the Department of Ralway Engneerng, Iran Unverty of Scence and Technology (IUST), Tehran, Iran. E-mal: m_mouav@ut.ac.r and aldaht98@yahoo.com. fundamental model baed method [3, 6]. The fundamental model baed method are more common becaue of ther mplcty and le aocated problem wth the gnal njecton baed method lke torque rpple and addtonal loe [5, 7]. The meaured tator voltage and current are ued to etmate the peed of nducton motor n the fundamental model baed method, whch can be clafed a open loop peed calculator [3], Adaptve Flux Oberver [8, 9], Kalman Flter [-], Sldng Mode Oberver [3, ], Model Reference Adaptve Sytem (MRAS) [5-] and Artfcal Intellgence Technque [, 3]. Among thee technque, the MRAS etmator are the mot conventonal method becaue of ther mple tructure and le computaton requrement compared wth the other method. The bac tructure of the MRAS cont of a reference model, an adjutable model and an adapton mechanm a hown n Fg.. The adaptaton mechanm ue the error between the reference model and adjutable model to generate the etmated peed ued n the adjutable model. There are everal method for peed etmaton of the nducton motor baed on MRAS. 3 Iranan Journal of Electrcal & Electronc Engneerng, Vol., No., Dec.

2 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 Fg. General tructure of MRAS. The rotor flux baed MRAS peed etmator, developed by Schauder n [5], the mot popular cheme among MRAS peed oberver due to t mplcty. However, th method entve to the tator retance varaton. In addton, the extence of pure ntegrator n the reference model lead to problem wth ntal condton, drft, and offet. To overcome the problem of pure ntegraton, the pure ntegrator can be replaced wth a low pa flter; however, the accuracy of peed etmaton at low peed decreaed and a tme delay produced [6, 7]. Another oluton for pure ntegraton problem employng the rotor back Electromotve Force (EMF) baed MRAS peed etmator, whch mprove low peed operaton, but gnal to noe rato reduced conderably due to the extence of a dervatve operator n the reference model. In addton, th method alo entve to the varaton n the tator retance [3, 8]. The ar gap reactve power baed MRAS peed etmator ndependent of tator retance varaton n whch the outer product of tator current and back-emf repreent the ar gap reactve power. However, mlar to EMF baed MRAS peed etmator, the dervatve operator ued n the reference model [8]. In the recent MRAS peed etmator, meaured tator current condered a the reference model. A a reult, n the adjutable model, tator current etmated to compare wth meaured tator current. The adaptaton mechanm developed o far can be dvded nto two group. In one approach known a tator current baed MRAS [9, ], rotor flux vector multple to error gnal (error between meaured tator current and etmated value). In another approach, whch belong n reactve power baed MRAS category [8, ], tator voltage vector multple to error gnal. In thee etmator, the rotor flux dentfcaton neceary. The rotor flux can be etmated by the ue of meaured tator current (dependent method) or by the ue of tate pace equaton of nducton motor, whch ndependent of the meaured tator current (ndependent method). In th paper, frt, a novel tator current baed MRAS etmator whch ue the ndependent method propoed. Then, tablty of the propoed MRAS dcued. Fnally, performance of the ndependent method and dependent method n the tator current baed MRAS and ntantaneou reactve power baed MRAS compared. Method of Rotor Flux Identfcaton There are two method for rotor flux dentfcaton, whch neceary for etmaton of tator current. In the frt method, the meaured tator current ued n Eq. () to etmate the rotor flux. Subequently, the tator current can be etmated by Eq. (). Therefore, etmaton of rotor flux and tator current drectly depend on the meaured tator current. Hence, the frt method called dependent method n th paper. α-me ψ rα-et(dep) d β-me = dt ψ A () rβ-et(dep) ψ rα-et(dep) ψrβ-et(dep) α-et α-et d β-et Vα-me = + dt A () β-et ψ rα-et(dep) σl V β-me ψ rβ-et(dep) In Eq. () and (),, V, and ψ r are tator current, tator voltage, and rotor flux, repectvely. The dep, me, and et are abbrevaton of dependent, meaured, and etmated, repectvely. Alo, d and q component n tatonary reference frame are defned wth α and β, repectvely. In addton, matrce A and A are defned by followng equaton: = a -a5 -ωr-et A a ω -a (3) r-et 5 = -a a a3ωr-et A -a -a ω a () 3 r-et where ω r rotor peed and: Lm σ=- (5) LL r Lm σl Lrτr a= R+ (6) L m a= σl Lrτr (7) L m a= 3 σl Lr (8) Lm a= τ (9) 5 r r a= () τ In the econd method, called ndependent method, the tator current and rotor flux are etmated by Eq. (). The etmated tator current then ued to etmate the rotor flux ntead of ung meaured tator current. It hould be noted that Eq. () and () expre the tate pace equaton of nducton motor n Mouav Gazafrood & Daht: A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve 35

3 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 tatonary reference frame. The ndep the abbrevaton of ndependent. V α-et α-et α β-et β-et V β = + ψ rα-et(ndep) ψ rα-et(ndep) σl ψrβ-et(ndep) ψrβ-et(ndep) d A () dt α-et α-et β-et = β-et ψrα-et(ndep) ψ rβ-et(ndep) () In the Eq. (), matrx A defned a -a a a3ωr-et -a -a3ωr-et a A = (3) a -a 5 -ω r-et a ωr-et -a5 3 Mathematcal Model of Propoed Speed Etmator The tructure of the conventonal tator current baed MRAS hown n Fg.. In the conventonal tator current baed MRAS, the meaured tator current of the nducton motor n the tatonary reference frame condered a the reference model. The tator current and rotor flux are then etmated n the adjutable model. Ung the adaptaton mechanm, the error between the meaured tator current and etmated tator current multpled to the etmated rotor flux vector to make the error gnal defned by Eq. (). Then, through a PI controller, the error gnal converted to etmated peed expreed wth Eq. (5). ε= - ψ + - ψ () ( α α-et ) rβ-et ( β β-et ) rα-et K I-MRAS ω r-et = K P-MRAS + ε (5) The tructure of the propoed MRAS Smlar to the conventonal tator current baed MRAS, a hown n Fg. 3. The only dfference between the propoed MRAS and conventonal tator current baed MRAS n ther adjutable model. In the conventonal tator current baed MRAS, rotor flux are frt etmated by ung meaured tator current (Eq. ()), then tator current etmated by Eq. (). On the other hand, n the propoed MRAS both tator current and rotor flux are etmated n the adjutable model by Eq. () (tate pace equaton of nducton motor), whch ndependent of meaured tator current. The enorle ndrect fled orented control wth the propoed peed etmator hown n Fg.. Fg. Structure of the conventonal tator current baed MRAS. Fg. 3 Structure of the propoed MRAS. Fg. Senorle ndrect fled orented control wth propoed peed etmator. 36 Iranan Journal of Electrcal & Electronc Engneerng, Vol., No., Dec.

4 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 Stablty Analy of the Propoed Method The tate pace equaton of nducton motor n ynchronou rotatng (ω e ) reference frame expreed wth Eq. (6). x = Ax+ Bu y= Cx (6) where x T = d q ψd ψ q (7) u T = Vd V q (8) y T = d q (9) C = () B= σl T C () The matrx A : -a ωe a a3ωr -ωe -a -a 3ωr a A = () a -a 5 (ω e -ω r ) a -(ωe-ω r) -a5 The tate pace equaton are changed to Eq. (3) by ung the mall gnal analy: Δ x = AΔ x+δaxo (3) Δ y= CΔ x= C( I-A) - ΔAxo where x (the operaton pont) and ΔA are repreented wth followng equaton: T x = ψ ψ () d q d q a3 -a3 ΔA = Δω (5) r - From Eq. (3), Δy can be expreed a: ( ) Δy = C I A ΔAx (6) o By ung Eq. (6), Δ d ( ) Δω r expreed a: Δ ( c-a d 3c ) ψrdo = Δωr - IA Δq ( c-a3c ) ψrdo = Δωr - IA where - adj( IA - ) ( - IA) = - IA and and Δ q ( ) Δω r can be (7) (8) (9) c c c3 c c c c3 c adj( - ) = (3) IA c 3 c 3 c 33 c 3 c c c3 c The error equaton : ε=ψqoδd -ψdoδ (3) q where Δ d =d -d-et (3) Δ q =q -q-et The cloed loop block dagram of the MRAS hown n Fg. 5. The tranfer functon G can be expreed a: ε Δ Δ d q G= =ψrqo -ψ (33) rdo Δωr Δωr Δωr The cloed loop tranfer functon of the MRAS can be expreed a: KI MRAS G() KP MRAS ω + r = (3) ω K r et I MRAS + G() KP MRAS + If all the pole of the cloed loop tranfer functon le n the left half of the -plane, the ytem wll be table n the operatng pont. It worth mentonng that the cloed loop tranfer functon of every operatng pont dfferent from the other operatng pont becaue matrx A changed by alterng the peed. Accordng to th method, the tablty lo wa not oberved n the motorng regon. The root locu of propoed MRAS at rad/ec and Nm (load torque) hown n Fg. 6. Fg. 5 Cloed loop block dagram of the MRAS. Imagnary Ax Real Ax Fg. 6 Root locu plot of propoed MRAS at rad/ec and T L = Nm. Mouav Gazafrood & Daht: A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve 37

5 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 Table Inducton motor parameter. Rated haft power.3 kw Lne-to-lne voltage V Pole par Rated peed 3 rpm Magnetzng nductance 67.5 mh Stator and rotor Leakage nductance.3 mh Stator retance 5.7 Ω Rotor retance.8 Ω Motor nerta.87 kg.m 5 Smulaton of Propoed MRAS The propoed MRAS peed etmator mulated n MATLAB/Smulnk and ome of the mulaton reult are preented n th ecton. The parameter of the nducton motor ued n the mulaton are preented n Table. 5. Step Increae n Reference Speed Performance of the propoed MRAS for a tep change n reference peed llutrated n Fg. 7. Step change of rad/ec are appled at 5 and, repectvely. Note that the load torque condered proportonal to the rotor peed nce the load appled to the IM through a DC generator. The actual and etmated peed are plotted n Fg. 7 and, repectvely. It can be found that etmated peed very cloe to the actual peed, accordng to the peed etmaton error, whch hown n Fg. 7(c). The component of tator current are depcted n Fg. 7(d) and (e). Th ndcate that decouplng between flux and torque producng component of tator current performed correctly nce d not affected gnfcantly by a change n q. It can be een that the magntude of rotor flux kept contant (Fg. 7(f)) and flux orentaton well mantaned (Fg. 7(g)). Speed (rad/) Speed (rad/) 3 reference peed actual peed reference peed etmated peed 5 5 d (A) q (A) ψ r (Wb) (c) 5 5 (d) (e) 3 ψ rβ (Wb) - - ψ rα (Wb) (f) 5 5 (g) Fg. 7 tep repone: actual and reference peed, etmated and reference peed, (c) peed etmaton error, (d) d-ax tator current, (e) q-ax tator current, (f) Rotor flux hodograph, and (g) d and q-ax rotor flux. ψ rd ψ rq 38 Iranan Journal of Electrcal & Electronc Engneerng, Vol., No., Dec.

6 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 5. Load Torque Varaton The loadng and unloadng performance of the enorle drve oberved n Fg. 8. The nducton motor operated at rad/ec. The appled load torque uddenly ncreaed from 5 to N m at 5 and returned to 5 N m at, a llutrated n Fg. 8. The profle of the produced electromagnetc torque hown n Fg. 8. The overhoot and underhoot appear n actual peed durng loadng and unloadng, repectvely (Fg. 8(c)). Fg. 8(d) how that the etmaton performed wth good accuracy. TL (N.m) Te (N.m) Actual peed (rad/) (c) (d) Fg. 8 Effect of loadng: appled load torque, electromagnetc torque, (c) actual peed, (d) peed etmaton error. 6 Intantaneou Reactve Power Baed MRAS The tructure of the ntantaneou reactve power baed MRAS hown n Fg. 9. The equvalent preentaton of th etmator hown n Fg.. The peed etmator ntroduced n [8]. In th etmator, Eq. (35) and (36) are ued n the reference model and adjutable model, repectvely. Q= Vβ α V α (35) β Q = V V (36) et β α et α β et The etmaton of tator current needed to contruct the Eq. (36). The ndependent method (Eq. ) employed to etmate both Stator current and rotor flux. Note that etmated current ued n the adjutable model, wherea meaured current employed n the reference model. The dfference between the reference model and adjutable model make the error gnal (Eq. (37)). Through a PI Fg. 9 Structure of ntantaneou reactve power baed MRAS etmator. Fg. Equvalent preentaton of ntantaneou reactve power baed MRAS etmator. Mouav Gazafrood & Daht: A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve 39

7 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 controller, the error gnal converted to etmated peed expreed wth Eq. (38). KI-MRAS ε= K P-MRAS + [ QQ - et ] (37) KI-MRAS ω r-et = K P-MRAS + ε (38) 7 Rotor Flux Identfcaton Method Comparng In th ecton, performance of the dependent method and ndependent method n the tator current baed MRAS and ntantaneou reactve power baed MRAS etmator compared by employng MATLAB/Smulnk. The comparon performed Speed (rad/) Speed (rad/) etmated peed actual peed 8 8 etmated peed actual peed 8 (c) 8 (d) Fg. Repone at 5 rad/ec: actual and etmated peed of conventonal MRAS, error of conventonal MRAS, (c) actual and etmated peed of propoed MRAS and (d) error of the propoed MRAS. under the maxmum varaton of the rotor retance and tator retance. Durng the nducton motor operaton, the tator and rotor retance can ncreae up to 5% and % of the tartup value, repectvely []. 7. Stator Current Baed MRAS The performance of the tator current baed MRAS etmator, whch ue the dependent method (conventonal tator current baed MRAS) and ndependent method (propoed tator current baed MRAS) compared n th ecton. The tet performed for two dfferent reference peed and the nomnal load torque appled to the nducton motor. At ec, the tator and rotor retance are uddenly ncreaed by 5% and % of the tartup value, repectvely. The repone of etmator, when reference peed % of the nomnal peed, are hown n Fg.. Performance of conventonal MRAS hown n Fg. where the teady tate error about 8% of reference peed (Fg. ). The repone of propoed MRAS llutrated n Fg. (c). It oberved that the error n peed etmaton about 5% of the reference peed at teady tate (Fg. (d)). Speed etmaton error of etmator when reference peed 5% of the nomnal peed about % (Fg. ) and 7% (Fg. ) of reference peed n the conventonal MRAS and propoed MRAS, repectvely. Thee reult ndcate ung ndependent method for rotor flux dentfcaton n the tator current baed MRAS (propoed MRAS) gnfcantly mprove performance of the conventonal tator current baed MRAS etmator, epecally at low peed Fg. Repone at 7.5 rad/ec: error of the conventonal MRAS and error of the propoed MRAS. 3 Iranan Journal of Electrcal & Electronc Engneerng, Vol., No., Dec.

8 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 7. Intantaneou Reactve Power Baed MRAS In th ecton, mlar to the pervou mulaton, tet performed under the nomnal load torque. Performance of the ntantaneou reactve power baed MRAS etmator, whch ue dependent method, (Fg. 3) and ndependent method are repectvely hown n Fg. and, when the reference peed % of the nomnal peed. It oberved that the error n peed etmaton about 6% of the reference peed when the dependent method ued (Fg. (c)) and about 3% of the reference peed when the ndependent method employed (Fg. (d)). At a reference peed equal to 5% of the nomnal peed, the error n the peed etmaton by the dependent method about 9% of the reference peed (Fg. 5) that can be reduced to about % by the ue of the ndependent method (Fg. 5). Thee reult confrm ntantaneou reactve power baed MRAS etmate peed wth better accuracy when the ndependent method employed ntead of the dependent method for rotor flux dentfcaton. Speed (rad/) etmated peed actual peed 8 Fg. 3 Structure of ntantaneou reactve power baed MRAS etmator wth the dependent method. Speed (rad/) 6 8 etmated peed actual peed (c) (d) Fg. Repone at 5 rad/ec: actual and etmated peed of conventonal MRAS, actual and etmated peed of propoed MRAS (c) error of conventonal MRAS, and (d) error of propoed MRAS Fg. 5 Repone at 7.5 rad/ec: error of conventonal MRAS and error of propoed MRAS. 3 Mouav Gazafrood & Daht: A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve 3

9 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 8 Concluon Th paper ha preented a novel tator current baed MRAS method for peed etmaton of an nducton motor. The propoed method ha been appled to an ndrect feld orented enorle nducton motor drve. It ha been found that the varaton of rotor retance and epecally tator retance deterorate the performance of conventonal tator current baed MRAS method at low peed. In the propoed MRAS, the ndependent method ued for etmaton of rotor flux, wherea dependent method employed n the conventonal tator current baed MRAS method. Tet confrmed that the ue of the ndependent method ntead of the dependent method mprove the performance of tator current baed etmator at low peed and ncreae the accuracy of peed etmaton. Comparng the dependent and ndependent method reult n a mlar trend for the performance of ntantaneou reactve power baed MRAS etmator. Therefore, t can be concluded that the ndependent method uperor to the dependent method for etmaton of rotor flux and peed etmaton n tator current baed and ntantaneou reactve power baed MRAS method. Reference [] M. M. Rezae and M. Mralm, Improved drect torque control for nducton machne drve baed on fuzzy ector theory, Iranan Journal of Electrcal & Electronc Engneerng, Vol. 6, No., pp. -8,. [] M. Agha, D. A. Khabur, V. Faraj and H. Behna, A comparatve tudy on predctve and ISVM drect torque control method for a dubly fed nducton machne fed by an ndrect matrx converter, Iranan Journal of Electrcal & Electronc Engneerng, Vol. 8, No., pp. 38-5,. [3] M. S. Zaky, M Khater, H. Yan and S. S. Shokralla, Speed enorle control of nducton motor drve (revew paper), ACTA Electrothechnca, Vol. 9, No. 3, pp. -8, 8. [] J. W. Fnch and D. Gaour, Controlled AC electrcal drve, IEEE Tran. on Indutral Electronc, Vol. 55, No., pp. -, 8. [5] S. Sedghzadeh, C. Luca and H. Ghafoor Fard, Senorle peed control of wtched reluctance motor drve ung the bnary oberver wth onlne flux-lnkage etmaton, Iranan Journal of Electrcal & Electronc Engneerng, Vol. 5, No., pp. 3-5, 9. [6] A. E. Leon and J. A. Solona, On tate etmaton n electrc drve, Energy Converon and Management, Vol. 5, No. 3, pp. 6-65, Mar.. [7] J. Holtz, Senorle control of nducton machne wth or wthout gnal njecton, IEEE Tranacton on Indutral Electronc, Vol. 53, No., pp.7-3, Feb. 6. [8] Z. Zhang, R. Tang, B. Ba and D. Xe, Novel drect torque baed on pace vector modulaton wth adaptve tator flux oberver for nducton motor, IEEE Tranacton on Magnetc, Vol. 6, No. 8, pp ,. [9] M. Joul, K. Jarray, Y. Koubaa and M. Bouak, Luenberger tate oberver for peed enorle ISFOC nducton motor drve, Electrc Power Sytem Reearch, Vol. 89, No. 5, pp. 39-7, Aug.. [] Z. Yn, C. Zhang, J. Lu and Y. Zhong, Reearch on ant-error performance of peed and flux etmator for nducton motor ung robut reduced order EKF, IEEE Tranacton on Indutral Informaton, Vol. 9, No., pp. 37-6, 3. [] M. Barut, S. Bogoyan and M. Gokaan, Speed enorle etmaton for nducton motor ung Extended Kalman Flter, IEEE Tranacton on Indutral Electronc, Vol. 5, No., pp. 7-8, Feb. 7. [] F. Bagher, H. Khaloozadeh and K. Abbazadeh, Stator fault detecton n nducton machne by parameter etmaton ung adaptve kalman flter, Iranan Journal of Electrcal & Electronc Engneerng, Vol. 3, No. 3, pp. 7-8, 7. [3] R. P. Vera, C. C. Gataldn, R. Z. Azzoln and H. A. Grundlng, Dcrete tme ldng mode peed oberver for enorle nducton motor drve, IEEE Electrc Power Applcaton. IET, Vol. 6, No. 9, pp ,. [] O. Barambone, P. Alkorta and J. M. G. De- Durrana, Sldng mode poton control for realtme control of nducton motor, Internatonal Journal of Innovatve Computng, Informaton and Control, Vol. 9, No. 7, pp. 38-5, Jul. 3. [5] C. Schauder, Adaptve peed dentfcaton for vector control of nducton motor wthout rotatonal tranducer, IEEE Tranacton on Indutral Applcaton, Vol. 8, No. 5, pp. 5-6, 98. [6] B. Karanayl, M. F. Rahman and C. Grantham, An mplementaton of a programmable cacaded low-pa flter for a rotor flux ynthezer for an nducton motor drve, IEEE Tranacton on Power Electronc, Vol. 9, No. 3, pp ,. [7] E. D. Mtronka and A. N. Safaca, An mproved enorle vector control method for an nducton motor drve, IEEE Tranacton on Indutral Electronc, Vol. 5, No. 6, pp Dec. 5. [8] S. Mat and C. Chakraborty, A new ntantaneou reactve power baed MRAS for enorle nducton motor drve, Smulaton 3 Iranan Journal of Electrcal & Electronc Engneerng, Vol., No., Dec.

10 Downloaded from jeee.ut.ac.r at 7:3 IRDT on Thurday July 9th 8 Modelng Practce and Theory, Vol. 8, No. 3, pp. 3-36,. [9] C. W. Park and W. H. Kwon, Smple and robut peed enorle vector control of nducton motor ung tator current baed MRAC, Electrc Power Sytem Reearch, Vol. 7, No. 3, pp , Nov.. [] T. Orlowka-Kowalka and M. Dybkowk, "Stator current baed MRAS etmator for a wde range peed-enorle nducton-motor drve", IEEE Tranacton on Indutral Electronc, Vol. 57, No., pp , Aprl,. [] A. V. Rav Teja, C. Chakraborty, S. Mat and Y. Hor, A new model reference adaptve controller for four quadrant vector controlled nducton motor drve, IEEE Tranacton on Indutral Electronc, Vol. 59, No., pp , Oct.,. [] S. M. Gadoue, D. Gaour and J. W. Fnch, Senorle control of nducton motor drveat very low and zero peed ung neural network flux oberver, IEEE Tranacton on Indutral Electronc, Vol. 56, No. 8, pp , Aug. 9. [3] S. Mat, V. Verma, C. Chakraborty and Y. Hor, An adaptve peed enorle nducton motor drve wth artfcal neural network for tablty enhancement, IEEE Tranacton on Indutral Informatc, Vol. 8, No., pp ,. Sayed Mohammad Mouav Gazafrood wa born n 976 n Iran. He receved Ph.D. n electrcal engneerng from Iran Unverty of Scence and Technology. H reearch nteret renewable energy ytem, power qualty n power ytem, power electronc and drve, control ytem and dynamc. Al Daht wa born n 98 n Iran. He receved B.Sc. n control engneerng from Ferdow Unverty of Mahhad and M.Sc. n electrc ralway engneerng from Iran Unverty of Scence and Technology. H reearch nteret power electronc and drve, renewable energy ytem and control ytem. Mouav Gazafrood & Daht: A Novel MRAS Baed Etmator for Speed-Senorle Inducton Motor Drve 33