感應馬達之系統參數會隨操作環境的不同而產生參數漂移的現象。在無速度感測器
控制的相關研究中, 受溫度影響造成之定子及轉子電阻漂移, 尤其受到重視, 原因在於
定子及轉子電阻的變化, 對於轉速及磁通估測值會造成很大的誤差, 進而使閉迴路控制
性能降低。因此在無感測器控制架構下, 控制系統對於估測器的仰賴程度相當高。
以擴展型卡爾曼濾波器(Extended Kalman Filter, EKF) 為基礎所發展之估測器
因具有雜訊免疫及線上即時估測的能力, 使其在無感測器控制議題上廣泛的被採用。然
而目前已知的文獻中, 以EKF 為基礎之估測器均無法同時估測定子及轉子電阻的變動。
針對此問題, 本論文以擴展型卡爾曼濾波器為基礎(EKF-based), 發展出可同時估測定
子及轉子電阻的新式卡爾曼濾波器。此估測器乃藉由估測定子繞組之溫度以推估定子電
阻, 與轉子電阻不具耦合關係, 因此不僅可達成定子與轉子電阻的同時估測, 對於轉子
鋁棒斷裂(Broken-Bars) 造成電阻瞬間上升的現象亦能有效捕捉。經模擬結果顯示, 所
發展出的估測器對於系統參數變化具有一定的強健性(robustness)。

The system parameters of induction motor(IM) vary with different operating conditions. The temperature-dependent variation of the stator and rotor resistance, which induces a large estimation error on speed and flux, has been a critical issue for speed-sensorless control. On speed-sensorless control, the observer is as important as the controller. The noise immunity and real time estimation ability of Extended Kalman filter(EKF)-based observer lead to a popular application in the field of speed-sensorless control. However, the simultaneous estimation of stator and rotor resistance based on EKF in speed-sensorless control of IMs has not been done to the best of author's knowledge.
A novel EKF-based estimation method is proposed for simultaneous estimation of stator and rotor resistance. The simultaneous estimation is achieved by an augmented state for the stator temperature dynamics. The broken-bar phenomenon of rotor can also be detected in the case we studied. Simulation results display promising robustness to variation of system parameters.

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