# ACIM Parameter Estimation Configurator

Generate configuration elements for AC induction motor (ACIM) parameter estimation

*Since R2023a*

**Libraries:**

Motor Control Blockset /
Parameter Estimation /
ACIM Parameter Estimation

## Description

The ACIM Parameter Estimation Configurator block generates the following configuration elements for estimating the parameters of an AC induction motor:

Elements for motor and inverter hardware

Elements for estimating magnetizing current

*I*_{d0}Elements for estimating motor resistance (

*R*)_{s}Elements for estimating:

Rotor resistance,

*R*_{r}Magnetizing inductance,

*L*_{m}Stator leakage inductance,

*L*_{ls}Rotor leakage inductance,

*L*_{lr}

Elements for estimating motor inertia (

*J*) and friction constant (*B*)

The block uses the parameter settings to generate an output bus containing the configuration elements. You can use the configuration elements in these ACIM parameter estimation blocks:

## Examples

## Ports

### Output

**Config** — Bus signal

bus

The bus signal includes these configuration elements.

Category | Configuration element | Units | ||
---|---|---|---|---|

Elements for motor and inverter hardware | Number of pole pairs | - | ||

Rated frequency | Hz | |||

Nominal motor current | A | |||

Nominal voltage | V | |||

Maximum measurable inverter current | A | |||

Board resistance | ohm | |||

Current sense gain | A/ADC Count | |||

Voltage sense gain | V/ADC Count | |||

Elements for estimating magnetizing current
| Measurement time | seconds | ||

Open-loop ramp time | seconds | |||

Elements for estimating motor resistance
( | Estimation time | seconds | ||

| PU voltage | |||

| PU voltage | |||

Elements for estimating rotor resistance
( L), stator leakage
inductance (_{m}L), and rotor
leakage inductance
(_{ls}L)_{lr} | Frequency 1 as a ratio of rated frequency | PU frequency | ||

Frequency 2 as a ratio of rated frequency | PU frequency | |||

High frequency for
L_{m} | Hz | |||

Start voltage for voltage sweep | PU voltage | |||

Voltage step for voltage sweep | PU voltage | |||

High-frequency injection voltage | PU voltage | |||

Elements for estimating motor inertia
( | Closed-loop speed duration | seconds | ||

Closed-loop speed | RPM | |||

| PU current | |||

Proportional gain | - | |||

Integral gain | - | |||

Lower speed limit for inertia estimation | RPM | |||

- | Parameter estimation sample time | seconds |

The configuration elements are analogous to the block parameters. For more information about these elements, see Parameters.

**Data Types: **`single`

## Parameters

**Motor and Inverter**

**Number of pole pairs** — Number of motor pole pairs

`2`

(default) | `scalar`

Number of pole pairs available in the induction motor.

**Rated frequency (Hz)** — Motor rated frequency

`50`

(default) | `scalar`

Rated frequency of the induction motor (in Hertz).

**Nominal motor current (A)** — Motor nominal current

`2`

(default) | `scalar`

Rated current of the induction motor (in Amperes).

**Nominal voltage (V)** — Motor nominal voltage

`24`

(default) | `scalar`

Rated voltage of the induction motor (in Volts).

**Maximum inverter current (A)** — Maximum measurable current

`21`

(default) | `scalar`

Maximum current (in Amperes) that the system (including inverter and controller) can measure.

**Board resistance (ohm)** — Inverter bridge resistance

`0.0043`

(default) | `scalar`

Resistance in the path of phase currents (excluding motor resistance). You can obtain this value from the datasheet of the inverter hardware.

**Current sense gain (A/ADC Count)** — Current per ADC count

`0.0105`

(default) | `scalar`

Gain of the current sense circuit of the inverter. This value determines the current (in Amperes) corresponding to one analog-to-digital converter (ADC) count (resolution of the measurable current range).

**Voltage sense gain (V/ADC Count)** — Voltage per ADC count

`0.0098`

(default) | `scalar`

Gain of the voltage sense circuit of the inverter. This value determines the voltage (in Volts) corresponding to one analog-to-digital converter (ADC) count (resolution of the measurable voltage range).

**Id0 Estimation**

**Measurement time (sec)** — Time used to measure and average-out current

`5`

(default) | `scalar`

Time used to measure and average-out the peaks in
the current response to the open-loop operation of the induction motor. For more details
about *I _{d0}* estimation, see Id0
Estimator.

**Open loop ramp time (sec)** — Time allotted to ramp up frequency

`3`

(default) | `scalar`

Time that you want to allot for the motor operation
frequency to ramp up and reach 90 percent of the motor rated frequency. For more details
about *I _{d0}* estimation, see Id0
Estimator.

**Rs Estimation**

**Estimation time (sec)** — Time to run *R*_{s} estimation algorithm

`2`

(default) | `scalar`

_{s}

Time that you want to allot to run the motor
resistance (*R _{s}*) estimation algorithm. This
value defines the time duration for which the ACIM Rs Estimator block
injects each voltage to measure the motor resistance. For more details about

*R*estimation, see ACIM Rs Estimator.

_{s}**Vd reference voltage 1 (PU)** — First reference voltage for *R*_{s} estimation

`0.1`

(default) | `scalar`

_{s}

The first reference motor-phase voltage (in
per-unit) that the ACIM Rs Estimator block uses for measuring motor
resistance (*R _{s}*). By default, the block sets
this field to 10 percent of the inverter DC voltage. For more details about

*R*estimation, see ACIM Rs Estimator. For more details about the per-unit system, see Per-Unit System.

_{s}**Vd reference voltage 2 (PU)** — Second reference voltage for *R*_{s} estimation

`0.2`

(default) | `scalar`

_{s}

The second reference motor-phase voltage (in
per-unit) that the ACIM Rs Estimator block uses for measuring motor
resistance (*R _{s}*). By default, the block sets
this field to 20 percent of the inverter DC voltage. For more details about

*R*estimation, see ACIM Rs Estimator. For more details about the per-unit system, see Per-Unit System.

_{s}**Rr, Lm, Lls, Llr Estimation**

**Frequency 1 as a ratio of rated frequency (PU)** — Ratio of first injected low frequency over rated frequency

`0.1`

(default) | `scalar`

Ratio of the first injected low frequency over the rated frequency of the induction motor (in per-unit). For more details about the estimation process, see RrL Estimator. For more details about the per-unit system, see Per-Unit System.

**Frequency 2 as a ratio of rated frequency (PU)** — Ratio of second injected low frequency over rated frequency

`0.2`

(default) | `scalar`

Ratio of the second injected low frequency over the rated frequency of the induction motor (in per-unit). For more details about the estimation process, see RrL Estimator. For more details about the per-unit system, see Per-Unit System.

**High Frequency for Lm (Hz)** — Frequency of third injected signal

`200`

(default) | `scalar`

Frequency of the third (high frequency) signal (in Hertz) injected by the block for mechanical parameter estimation. For more details about the estimation process, see RrL Estimator.

**Voltage sweep start value voltage (PU)** — Initial voltage at which voltage sweep begins

`0.1`

(default) | `scalar`

Initial voltage (of the first and second low-frequency signals that the block injects, in per-unit) at which the voltage sweep begins. For more details about the estimation process, see RrL Estimator. For more details about the per-unit system, see Per-Unit System.

**Voltage sweep step value voltage (PU)** — Step size for voltage sweep

`0.0125`

(default) | `scalar`

Step size that the block uses to perform voltage sweep on the two injected low frequency signals (in per-unit). For more details about the estimation process, see RrL Estimator. For more details about the per-unit system, see Per-Unit System.

**High frequency injection voltage (PU)** — Voltage of third injected signal

`0.1`

(default) | `scalar`

Voltage of the third (high frequency) signal (in per-unit) injected by the block for mechanical parameter estimation. For more details about the estimation process, see RrL Estimator. For more details about the per-unit system, see Per-Unit System.

**Current measurement delay (s)** — Delay in current measurement

`2 * 50e-6`

(default) | `scalar`

Time delay between an instance of current change and the point of time when the changed current is measured in the microcontroller.

**J, B Estimation**

**Closed loop duration (sec)** — Closed-loop motor run duration

`5`

(default) | `scalar`

Duration (in seconds) for which the ACIM Mechanical Parameter Estimator block runs the motor using closed-loop control before initiating coast-down. For more information about the estimation process, see ACIM Mechanical Parameter Estimator.

**Closed loop speed (RPM)** — Closed-loop motor speed

`950`

(default) | `scalar`

Speed (in RPM) at which the ACIM Mechanical Parameter Estimator block runs the motor using closed-loop control. For more information about the estimation process, see ACIM Mechanical Parameter Estimator.

**Iq reference current for FOC (PU)** — Reference current for FOC when estimating *J* and *B*

`0.2`

(default) | `scalar`

Reference current,
*I _{q}*, to achieve the reference speed
specified in the

**Closed loop speed (RPM)**parameter. For more information about the estimation process, see ACIM Mechanical Parameter Estimator.

**Specify current controller gains** — Specify PI current controller gains

`off`

(default) | `on`

Select this parameter to enable these fields:

**Proportional gain****Integral gain**

You can use these fields to enter the proportional
and integral gains of the PI current controllers that implement closed-loop control to
estimate *J* and *B*.

If you clear this parameter, the block automatically computes the proportional and integral gains.

To know more about the estimation process, see ACIM Mechanical Parameter Estimator.

**Proportional gain** — Proportional gain of PI controller

`1`

(default) | `scalar`

Proportional gain,
*k _{p}*, of the PI current controller that
implements field-oriented control to run the motor in closed-loop control and estimate

*J*and

*B*.

#### Dependencies

To enable this parameter, select the **Specify current controller
gains** parameter.

**Integral gain** — Integral gain of PI controller

`1000`

(default) | `scalar`

Integral gain,
*k _{i}*, of the PI current controller that
implements field-oriented control to run the motor in closed-loop control and estimate

*J*and

*B*.

#### Dependencies

To enable this parameter, select the **Specify current controller
gains** parameter.

**Speed lower limit for inertia estimation (RPM)** — Lower speed limit during coast-down

`100`

(default) | `scalar`

Lower speed limit during coast-down at which the ACIM Mechanical Parameter Estimation block registers the timestamp for estimating motor inertia. For more details about the estimation process, see ACIM Mechanical Parameter Estimation.

**Parameter estimation sample time (sec)** — Sample time for parameter estimation

`50e-6`

(default) | `scalar`

Sample time for the parameter estimation algorithm. This parameter defines the sample time for these parameter estimation blocks for AC induction motors:

Id0 Estimator

ACIM Rs Estimator

Rr L Estimator

ACIM Mechanical Parameter Estimator

## Extended Capabilities

### C/C++ Code Generation

Generate C and C++ code using Simulink® Coder™.

## Version History

**Introduced in R2023a**

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