Professional Documents
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Y 0
L IST OF F IGURES
1 Short circuit windings . . . . . . . . . . . . . . . 2
2 A short circuit model of induction machine . . . 3
3 A global stator faulty model in dq frame . . . . 3
4 Broken rotor bar representation . . . . . . . . . . 4
5 Broken rotor bars model . . . . . . . . . . . . . 5
6 Stator and rotor faulty model of induction motors 5
7 Motor experimental setup . . . . . . . . . . . . . 7
8 Estimation of electrical and faulty parameters at
stator and rotor faulty case . . . . . . . . . . . . 8
9 Estimation of electrical and faulty parameters at
faulty case . . . . . . . . . . . . . . . . . . . . . 8
10 Spectral density (dB) of identification residuals . 8
L IST OF TABLES
I Estimation results of stator and rotor faults . . . 8
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 1
Abstract—In this paper, authors give a new model of squirrel to explain the fault in one phase with a simple short cir-
cage induction motors under stator and rotor faults. Firstly, we cuit element. On the other hand, it is inappropriate in the
study an original model which takes into account the effects of case of simultaneous faults in several stator phases. Thus
inter turn faults resulting in the shorting of one or more circuits
of stator phase winding. We introduce thus additional parameters in this paper, we propose the generalization of this model
to explain the fault in the three stator phases. Then, we propose with the help of a short circuit element dedicated to each
a new faulty model dedicated to broken rotor bars detection. phase [4][6]. In presence of defects in several phases, each
The corresponding diagnosis procedure based on parameter short circuit element allows the detection and localization
estimation of the stator and rotor faulty model is proposed. of inter turn short circuits in the corresponding phase. To
The estimation technique is performed by taking into account
prior information available on the safe system operating in take into account broken rotor bars, a new faulty model is
nominal conditions. A special three-phases induction machine has developed [7]. Electrical parameters and faulty parameters of
been designed and constructed in order to simulate true faulty this model have been identified by Output-Error technique
experiments. Experimental test results show good agreement [4][19][25]. In practice, identification technique should be
and demonstrate the possibility of detection and localization of adapted to the use objectives. In our case, diagnosis is realized
previous failures.
by a parameters follow-up. Then, it is necessary to work in
Index Terms—Induction motors, modeling, short circuit, bro- continuous time representation because all parameters have
ken rotor bars, faults diagnosis, parameter estimation, prior physical significance (resistance, inductance,..). Besides, pa-
information.
rameters monitoring supposes a preliminary learning to know
exactly the electrical parameter values in the healthy case.
I. I NTRODUCTION So it is important to introduce this physical knowledge to
perform parameter estimation for diagnosis purpose. Thus,
Condition monitoring of electric motors has attracted in- parameter estimation with prior information offers an elegant
creasing attention during the last decade, during which a solution [19][26]. It is in this spirit that a new methodology
considerable number of studies on the detection of stator of identification has been adapted recently to introduce in a
and rotor faults have been made [15][19][23][26]. Thus, in realistic way this prior information.
literature, many proposed techniques are based on spectral A special 1.1 kWatt squirrel cage induction motor has been
analysis of stator currents, stator voltage and electromagnetic designed and constructed in order to simulate true inter turn
torque and it has been shown that currents monitoring can be short circuits at several levels. Different rotors, with broken
used to estimate stator insulation degradation and to detect rotor bars, are used to simulate a bar breakage occurring during
broken rotor bars [1][12][15]. operation. Experimental results exhibit the good agreement
These methods are based on detection of sidebands at and confirm the possibility to diagnosis simultaneous stator
certain frequencies using Fourier’s analysis (FFT software). and rotor faults.
For these latter techniques, it is assumed that the current mea-
surements can be modelized like multi-component mixtures
II. A NEW INDUCTION MOTOR MODEL FOR FAULTS
whose magnitudes change when a failure occurs. Moreover,
DETECTION
even in safe conditions, the frequency depends on speed
and power supply frequency. So, the usual techniques, based References [18][19][23] show that it is useless to consider
on spectral analysis, are not well-adapted and only para- an unbalanced two axis Park’s model for diagnosis of induc-
metric methods tackle faults detection for adjustable speed tion motors. The deviation of their electrical parameters is
motor drive. Recently, continuous identification has been used certainly an indication of a new situation in the machine, but
to perform the diagnosis procedure [6][19][23][26]. These this evolution can be due to heating or an eventual change
techniques study the deviation of parameters to detect and in magnetic state of the motor [19]. On the other hand, it is
localize faults. In this paper, we present our results for a new very difficult to distinguish stator faults from rotor ones. The
diagnosis technique of squirrel cage induction motors by off- use of Fast Fourier’s analysis of identification residuals is an
line parameter identification using real data. original method to localize a fault, but estimation of electrical
Because it requires a model suited for fault modeling, a parameters is unable to obtain the fault level [18].
new stator and rotor faulty model is proposed. Firstly, the A good solution is the introduction of an additional model
short circuit model proposed by [23] has been extended to to explain the faults [7][6]. The parameters of this differential
the general case. This very simple model makes it possible model allow detection and localization of the faulty windings.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 2
Fig. 1. Short circuit windings [Mrs ] = [Msr ]T , [Mccr ] = [Mrcc]T , [Mccs ] = [Mscc ]T
Two parameters are introduced to define the stator faults ncc Number of inter turns short circuit windings
ηcc = =
• The localization parameter θ cc which is a real angle ns Total number of inter turns in healthy phase
between the short circuit inter turn stator winding and the (2)
first stator phase axis (phase a). This parameter allows the θ is rotor angular position. L p and Lf are respectively princi-
localization of the faulty winding and can take only three pal and global leakage inductance referred to the stator.
values 0, 2π 4π
3 or 3 , corresponding respectively to a short 2) Two-phases stator faulty induction model: To minimize
circuit on the stator phases a, b or c. the number of model variables, we use Concordia transforma-
• The detection parameter η cc equal to the ratio between tion which gives αβ values of same amplitude as abc ones.
the number of inter turn short circuit windings and the Thus, we define three to two axis transformation T 23 as:
total number of inter turns in one healthy phase. This
parameter allows to quantify the unbalance and to obtain xαβs = T23 xs : stator variables
(3)
the number of inter turns in short circuit. xαβr = P (θ) T23 xr : rotor variables
1) short circuit model: In the stator faulty case, an ad-
ditional shorted circuit winding B cc appears in stator. This where xαβ is projection of x following α and β axis. Matrix
winding creates a stationary magnetic field H cc oriented transformations are defined as:
according to the faulty winding [4][23]. Thus, we define the
short circuit current i cc into inter turn short circuit winding at 2 cos(0) cos( 2π ) cos( 4π )
[T23 ] = 3 3 3
origin of a short circuit flux φ cc . Voltage and flux equations sin(0) sin( 2π3 ) sin( 4π
3 )
for faulty model of induction machine with global leakage
inductance referred to the stator can be written as: cos(θ) cos(θ + π2 )
P (θ) = : rotational matrix
⎧ sin(θ) sin(θ + π2 )
⎪ us = [Rs ] is + dt d
φs
⎪
⎪
⎪
⎪ 0 = [Rr ] ir + dt φr d
⎪
⎨ The short circuit variables are localized on one axis, these
0 = Rcc .icc + dt d
φcc projection on the two Concordia axis α and β is defined as:
(1)
⎪
⎪ φ = [L ] i + [M ] ir + [Mscc ] icc
⎪
⎪ s s s sr
⎪
⎪ φ = [Mrs ] is + [Lr ] ir + [Mrcc ] icc cos(θcc ) cos(θcc )
⎩ r iαβcc = · icc , φαβ = · φcc (4)
φcc = [Mccs ] is + [Mccr ] ir + Lcc icc sin(θcc ) cc sin(θcc )
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 3
Thus, (1) becomes: It is much simpler to work in the rotor reference frame
⎧ because we have only two stator variables to transform. There-
⎪ U = Rs iαβs + dtd
φαβ
⎪ αβs
⎪ fore, in state operation, all the variables have their pulsations
⎪
s
⎪
⎪ 0 = Rr iαβr + dt φαβ − ω P ( π2 ) φαβ
d
equals to s ωs (where s is the slip and ω s is stator pulsation).
⎪
⎪ r r
⎪
⎪ 0 = ηcc Rs iαβcc + dt
d
φαβ
⎪
⎪
We define Park’s transformation as:
⎪
⎪
cc
⎨ φ = Lm (i +i + 2 ηcc i )
αβs αβs αβr 3 αβcc
(5) xdq = P (−θ) xαβ (9)
⎪
⎪ +Lf iαβs
⎪
⎪
⎪
⎪ = Lm (iαβs + iαβr ) + 23 ηcc Lm iαβcc
Afterward, the faulty model will be expressed under Park’s
⎪
⎪ φαβ
⎪
⎪
r reference frame. So, short circuit current (8) becomes:
⎪
⎪ = 2
⎪
⎪ φ 3 ηcc Lm Q(θcc ) (iαβs + iαβr ) 2 ηcc
⎩ αβcc
+( 23 Lm + Lf ) ηcc
2
iαβcc idqcc = P (−θ) Q(θcc ) P (θ) U dqs (10)
3 Rs
where 3) Global Stator faulty model: Fundamentally, we show
ω is rotor electrical frequency that in faulty case, an induction machine can be characterized
Lm = 32 Lp : magnetizing inductance by two equivalents modes. The common mode model corre-
sponds to the healthy dynamics of the machine (Park’s model)
cos(θcc )2 cos(θcc ) sin(θcc )
Q(θcc ) = whereas the differential mode model explains the faults. This
cos(θcc ) sin(θcc ) sin(θcc )2
model, very simple to implement because expressed in Park’s
frame, offers the advantage to explain the defect through a
If we neglect L f according to L m in short circuit flux short circuit element dedicated to the faulty winding. On the
expression (5), we can write new flux equations as: other hand, it is unsuitable in case of simultaneous defects on
⎧ several phases. Indeed, this representation is only adapted in
⎪ φαβ = φαβ + φαβ
⎪
⎪ case of single phase defect. In the presence of short circuits
⎨
s f m
= Lf iαβs + Lm (iαβs + iαβr − ĩαβcc ) on several phases, this model translates the defect by aberrant
(6)
⎪ φαβr = φαβm = Lm (iαβs + iαβr − ĩαβcc )
⎪ parameters values, because it takes into account only a single
⎪
⎩ φ̃
αβ
= ηcc Q(θcc ) φαβ winding.
cc m
To remedy it, we generalize this model by dedicating to each
where phase of the stator a short circuit element Q cck to explain a
2 3 possible faulty winding [4][6]. So, in presence of several short
ĩαβcc = − ηcc iαβcc , φ̃αβ = φ (7) circuits, each faulty element allows the diagnosis of a phase
3 cc 2 αβcc
by watching the value of the parameter. This simple deviation
φαβ , φαβ are respectively magnetizing and leakage flux. allows to indicate the presence of unbalance in the stator. Fig.
m f
3 shows the global stator faulty model in dq Park’s axis with
Then, short circuit current equation becomes: global leakage referred to the stator.
2 ηcc d
ĩαβcc = Q(θcc ) φαβ (8) ω .P ( π / 2 ).φ dq
3 Rs dt m i dq
s i'dq
s
Rs Lf
s
i dq
According to this equation, the faulty winding B cc be- i dq
cc1
i dq
cc2
i dq
cc3
r
Resultant dq stator currents become: The number of turns in one rotor phase indeed fictitious.
3
For nb rotor bars, if we assume that the rotor cage can
idqs = idqs + icck (13) be replaced by a set of n b mutually coupled loops, each
k=1 loop is composed by two rotor bars and end ring portions
Each stator phase is characterized by its faulty parameters [1][5]; then the total number of rotor turns in one phase
(ηcck , θcck ), where k indicates one of the three stator phases. for three-phases representation is equal to n3b . For nbb
broken rotor bars, faulty parameter η 0 becomes:
B. Rotor faults modeling 3 nbb
η0 = (15)
Recently, rotor faults occurring in induction motors have nb
been investigated. Various methods have been used, including 1) Model of broken rotor bars: As stator faults modeling
measurement of rotor speed indicating speed ripple, in the (see equation 5), we can write voltage and flux equations of
same way as spectral analysis of line current [9][12][16]. The new faulty winding B 0 in dq Park’s frame [7]:
main problem concerning these monitoring methods is that ⎧
⎨ 0 = η0Rr io + dt
dφ0
they are essentially invasive, requiring obvious interruption ⎪
of operation. Moreover, they are inappropriate under varying φ0 = 23 η0 Lm [ cos(θ0 ) sin(θ0 )] (idqs + idqr ) (16)
speed. For these reasons, parameter estimation is preferred for ⎪
⎩ 2 2
fault detection and diagnosis of induction motors [18][19]. + 3 η0 Lm i0
Parameter estimation is based on the simulation of a con- The current i 0 in the faulty winding B 0 creates a stationary
tinuous state-space model of induction motor. This model magnetic field H0 being directed according to broken rotor bar
assumes sinusoidal magnetomotive forces, non-saturation of axis. This additional magnetic field is at origin of faulty flux
magnetic circuit and negligible skin effect. Under these as- φ0 . By throwing i 0 and φ0 on dq Park axis, one associates the
sumptions, stator in dq Park’s axis and squirrel cage rotor stationary vectors:
made of nb bars can be modeled by an equivalent circuit. As
for stator fault, rotor fault is modeled by a new axis B 0 referred
to the first rotor axis a r by the angle θ 0 [7]. This additional cos(θ0 ) cos(θ0 )
idq0 = i0 , φdq = φ0
short circuited winding is at the origin of a stationary rotor sin(θ0 ) 0 sin(θ0 )
field H0 (t) steered according to rotor fault axis (Fig. 4). Equations (16) become relations between stationary vectors
according to rotor frame. So, voltage and flux equations of
ar
stator, rotor and faulty winding of induction motor are given
B ro k en ro to r θ0 by:
b a r a x is
bar 1
B0 bar 2 bar nb
U dqs = Rs idqs + + ω P ( π2 ) φdq
d
dt φdqs
bar nb - 1 s
φdq = Lf idqs + Lm (idqs + idqr + 23 η0 idq0 )
s
0 = Rr idqr + dt
d
φdq
r
φdq = Lm (idqs + idqr ) + 23 η0 Lm idq0
r
E n d -rin g dφ
0 = η0 Rr idqo + dtdq0
2
φdq = 3 η0 Lm Q(θ0 ) (idqs + idqr + 23 η0 idq0 )
0
(17)
By using same transformation as to obtain primary trans-
br cr lation of an equivalent scheme in power transformer, we can
write global flux equations as:
Fig. 4. Broken rotor bar representation φdq = φdq + φdq = Lf idqs + Lm (idqs + idqr − ĩdq0 )
s f m
φdq = φdq = Lm (idqs + idqr − ĩdq0 )
r m
So, two additional parameters are introduced to explain rotor φ̃dq = η0 Q(θ0 ) φdq
faults: 0 m
(18)
• The angle θ 0 between fault axis (broken rotor bar axis)
with
and the first rotor phase. This parameter allows the 2 3
localization of the broken rotor bar. ĩdq0 = − η0 idq0 , φ̃dq = φ (19)
3 0 2 dq0
• To quantify the rotor fault, we introduce a parameter η 0
equal to the ratio between the number of equivalent inter Also, current equation of faulty winding is given by:
turns in defect and the total number of inter turns in one dφdq dφdq
2 η0
healthy phase: ĩdq0 = R0 m
= Q(θ0 ) m
(20)
dt 3 Rr dt
Number of inter turns in defect
η0 = (14)
Total number of inter turns in one phase where Q(θ0 ) is localization matrix.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 5
model is given by: we consider the previous mathematical model (Eqs. 24-25)
and we define the parameter vector:
xk+1 = Φk xk + Bdk uk (26)
T
yk = C xk + D uk (27) θ = [Rs Rr Lm Lf ηcc1 ηcc2 ηcc3 η0 θ0 ] (30)
Assume that we have measured K values of input-output
where
(u(t), y ∗ (t) with t = k · Te ), the identification problem is then
Te T2 to estimate the values of the parameters θ. Then, we define
Φk = eATe = I + A + A2 e (28)
1! 2! the output prediction error:
Te2
Bd k = (I · Te + A )B (29) εk = y∗k − ŷk (θ̂, u) (31)
2 · 1!
and xk = x(tk ) and y k = y(tk ). The components of the where predicted output ŷ k is obtained by numerical simulation
known input vector u k are the average of the stator voltage of the state space faulty model (Eq. 27) and θ̂ is an estimation
between tk and tk+1 . of true parameter vector θ.
As a general rule, parameter estimation with OE technique
III. D IAGNOSIS PROCEDURE is based on minimization of a quadratic criterion defined as :
K K
A. Introduction
J= εTk εk = (i∗dsk − îdsk )2 + (i∗qsk − îqsk )2 (32)
As soon as a fault occurs, the machine is no longer k=1 k=1
electrically balanced. Using previous faulty modes , electrical Usually, for induction motors, one has good knowledge on
parameters (Rs , Rr , Lm and Lf ) does not change and only electrical induction motors parameters, so it is very interesting
the faulty parameters (η cck and η0 ) vary to indicate a fault to introduce this information in the estimation process to
level. provide more certainty on the uniqueness of the optimum. For
Thus, during industrial operation, diagnosis procedure by this, we have applied the modification of the classical quadratic
parameter estimation of induction machines requires sequen- criterion [19][25], in order to incorporate physical knowledge.
tial electrical data acquisitions. Using each set of datas, identi- 1) Compound quadratic criterion: In order to incorpo-
fication algorithm computes a new set of electrical parameters rate physical knowledge or prior information, the classical
to know the magnetic state of the machine and new faulty quadratic criterion has been modified. The solution is to
parameters to have an approximation of the number of inter consider a compound criterion J c mixing prior estimation
turns short circuit windings and broken rotor bars. θ0 (weighted by its covariance matrix M 0 ) and the classical
criterion J (weighted by the variance of output noise δ̂ 2 ).
B. Identification algorithm Then, the compound criterion is usually defined as:
Parameter estimation is the procedure that allows the deter- J
Jc = (θ̂ − θ 0 )T M0−1 (θ̂ − θ 0 ) + (33)
mination of the mathematical representation of a real system δ̂ 2
from experimental data. Two classes of identification tech- Thus, the optimal parameter vector minimizing J c is
niques can be used to estimate the parameters of continuous the mean of prior knowledge and experimental estimation
time systems: Equation Error and Output Error [13][19][26] weighted by their respective covariance matrix.
• Equation Error techniques are based on the minimization In real case, we have no knowledge of the fault; indeed,
of quadratic criterion by ordinary least-squares [13][25]. no prior information is introduced on faulty parameter. Only
The advantage of these techniques is that they are simple electrical parameters (R s , Rr , Lm and Lf ) are weighted in the
and require few computations. However, there are severe compound criterion. Thus, covariance matrix is defined as:
drawbacks, especially for the identification of physical 1 1 1 1
parameters, not acceptable in diagnosis, such as the bias M0−1 = diag( 2 , σ 2 , σ 2 , σ 2 , 0, 0, 0, 0, 0) (34)
σR Rr Lm Lf
caused by the output noise and the modeling errors. s
B. Experimental results
σ̂ 2 = 2(K−N
Jopt
) 1) Detection and localization of experimental faults: Dif-
M = σ̂ 2 (φTd φd + φTq φq )−1 (φd + φq )T (φd + φq )(φTd φd + φTq ferent
φq )−1 tests (10 realizations by experiment) have been per-
(39) formed (Table I) :
where K, N and J opt are respectively the number of datas, the
1) Healthy motor.
number of parameters and the optimal value of experimental
2) A short circuit of 18 inter turns in 1 st phase with 1
criterion. The matrix φ d and φq are matrix of output sensitivity
broken bar.
functions according to dq current axis.
3) A short circuit of 58 inter turns in 2 nd phase with 2
Thus, the covariance matrix M 0 is obtained by diagonal broken bars with Δθ = 2,82π
values of M . To evaluate the noise variance, it is necessary
4) A short circuit of 18 inter turns in 1 st phase and 58 in
to use δ̂ 2 > σ̂ 2 to take into account the effect of modeling
2nd phase with 2 broken bars with Δθ = 2π 28 .
errors.
5) A short circuit of 58 inter turns in 1 st phase and 29 in
2π
2nd phase with 2 broken bars with Δθ = 2,8 .
IV. E XPERIMENTAL TESTS Table I shows the mean of faulty parameter estimates for
10 acquisitions.
In order to validate this diagnosis procedure, a series of As observed in table I, there is good agreement between
experimental tests has been carried out. a real fault and its estimation. All faulty parameters vary to
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 8
0.425 0.074 2
−20 −20
Fig. 8. Estimation of electrical and faulty parameters at stator and rotor
faulty case −50 −50
−80 −80
Fig. 8 presents the evolution of inter turn short circuit
estimation in one phase for several experiments and the −110
0 50 100 150 200 (Hz)
−110
0 50 100 150 200 (Hz)
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motor modeling of broken rotor bars and fault detection by parameter Smail Bachir prepares the Ph. D. degree in Au-
estimation, IEEE International SDEMPED’01, Grado, Italie, pp. 145-149, tomatic and control from Poitiers University in the
September 2001. department of Electrical engineering of LAII labo-
[6] S. Bachir, S. Tnani, J. C. Trigeassou and G. Champenois, Diagnosis ratory (France). He was born in 1974 in Algeria.
by parameter estimation of stator and rotor faults occuring in induction He is a member of scientific department from Leroy
machines, EPE’01, Graz, Autriche, August 2001. Somer Society in France. His research interest in-
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estimation paramétrique, Thèse de doctorat, Université de Poitiers,
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[10] P. M. Frank, Fault diagnosis in dynamical systems using analytical and Slim Tnani was born in Tunisia in 1967. He re-
knowledge based redundancy - A survey, Automatica, VOL. 26, No . 3, ceived the Ph.D in 1995 from the university of
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. XX, NO. Y 10