Australian Journal of Basic and Applied Sciences, 4(2): 227-246, 2010

ISSN 1991-8178
© 2010, INSInet Publication

Diagnosis and Fault Tolerant Control of the Induction Motors Techniques a Review
1
Khalaf Salloum Gaeid and 2 Haider A.F.Mohamed

1
Hew Wooi Ping Dept. of Electrical Engineering University of Malaya Lembah Pantai, 50603
Kuala Lumpur
2
Dept of Electrical & Electronic Engineering, University of Nottingham Malaysia Campus Jalan
Broga, 43500 Semenyih, Selangor Darul Ehsan Malaysia

Abstract: The present contribution presents a review of the researches on the fault diagnosis and fault
tolerant control of induction motors for the last six years as well as the classification of the faults
which is another interested topics of this research finally the drawback of the method used in the fault
diagnosis of the induction motor. The emphasis is on highlighting agrees, disagrees and tradeoffs in
the reviewed topics. Sorting and classification is another goal. More attention is paid for the
researches done in the last six years, and a brief description is presented for each issue. Extensive
number of papers is reviewed and appointed in the present preview, to provide quantitative description
for each agree or disagree

Key words: fault diagnosis, fault tolerant control, induction motor, review, methods of fault diagnosis,
software.

INTRODUCTION

Rotating electrical machines plays important role in many fields especially in the industrial processes
because their rigid, rugged ,low price, reliable relative simplicity and easy to maintenance which we can
represents it as a core of these fields especially the induction motor which takes a great deal of attention for
the above performance but , the companies still faces many critical situations results in losses in revenue, also
the operators under continuous pressure so that the techniques of the fault diagnosis are very urgent aspects
before the catastrophic results in the equipments .The faults of the induction motors Fig. 1 can be divided into
two main parts electrical faults and mechanical fault as interpreted in the Fig.2 The fault diagnosis may be
classified into two main parts: (cause-effect and effect cause) the main methods used in the fault diagnosis field
are:
1. ANN artificial neural network better among many types of fault diagnosis for stable, speed, parallel
processing but of some of its architecture cant apply for dynamic processing and need a lot of data
compared with to finite element method, the solution time for calculating machine circuit parameters using
neural network model has been dramatically reduced, while sufficient accuracy has been maintained. , as
opposed to the conventional techniques (expensive equipment, or accurate mathematical models required)
Fuzzy and neural network not need it but just the data.
2. FFT the Fourier transforms is a representation of an image as a sum of complex exponentials of varying
magnitudes, frequencies, and phases. The Fourier transform plays a critical role in a broad range of image
processing applications, including enhancement, analysis, restoration, and compression.
3. FEM the benefits of this method include increased accuracy, enhanced design and better insight into
critical design parameters, but all FE models are just that "models" they are mathematical "Idealizations"
of continuous systems. Therefore, all results from any FEA code are not "closed formed solutions". The
results are numerical approximations. Good approximations but approximations.
4. TSCFE-SS ( time step coupled finite element-state space) Compute in sampled data form the time domain
wave forms and profiles of the input phase and line currents ,voltages .power, torques .
5. MCSA this method take a great deal of attention because their easiness to use as well as it is not require
to access to the induction motor parameters used signal spectral to find the faults according to the position
of sidebands frequency harmonics and many another parameters effect the faults can be diagnostic but

Corresponding Author: Khalaf Salloum Gaeid, Hew Wooi Ping Dept. of Electrical Engineering University of Malaya
Lembah Pantai, 50603 Kuala Lumpur_
E-mail:salim_ hazim2000@perdana.um.edu.my
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there are drawbacks of this method ,the amplitude of the current components depends on the loads
connected to the motor thus the variation of system load make this method not applicable in all operation
condition also when is that frequency s similar to those used for rotor bar can be generated by other
causes such as low frequency oscillation
6. W avelet it’s a signal analysis techniques to any kind of signal such as human speech, engine vibrations,
medical images, financial data and many other types of signal but the draw back its difficult to be applied
if the startup very faster and need minimums inertia factor. There more methods as in table 1
7. Complex Park Vector (CPV), the well-known Park transformation allows showing the variables of a three-
phase machine through a system of two quadrature (Id & Iq) shafts, they are a measuring and diagnostic
tool in electric three-phase systems. The properties of this method as in table 1

I d = 2/ 3I A 1/ 6I B 1/ 6I C (1)

I q = 1/ 2I B 1/ 2I C (2)

W here iA , i B , I c are the currents of the phases A, B, and C of the stator

8. Axial Flow (AF), An axial-flow induction motor having an alternating magnetic field and associated
harmonics, comprising a stator having a winding arranged in a slot and a rotatable supported laminated
rotor spaced from the stator by an air gap, the rotor including relative to the stator a remotely positioned
magnetically conductive layer and a more closely positioned electrically conductive layer, further more as
in table 1.
9. Impedances of Inverse Sequence (IIS) as can be shown in table 1.

Fig. 1: Induction Motor components

M any researches classifies the fault diagnosis according to the Model-based fault diagnosis methods and
physical based model fault diagnosis but the model based take advantage of mathematical models of the
Diagnosed plant. D ifferent faults often require different mechanisms for their detection. A model based method
using time-series prediction for fault detection and identification in induction motors is less common. Most
methods use fault diagnosis based on data directly through some means of limit checking or classification and
not through application of models of the motor itself. Some papers advocate physical model-based systems.
These models have the advantage of containing meaningful physical variables, but what the models gain in
physical relevance they often lose inaccuracy. For example when feeding a physical-based model with converter
fed voltages the results are inaccurate. For purposes of fault diagnosis from the stator current the simple
physical-based models do not give enough accuracy when applied to rotor and stator faults. This problem is
also noted in research literature. Empirical coefficients are used for phenomena that cannot be accurately

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modeled, so that proper results are achieved for motors of standard design. Problems arise when motors are
studied that are of new design, that are in transient states or are fed by non sinusoidal voltages. A reason for
why a physical-based model cannot model the motor adequately is that it cannot properly take into account
all the mechanical, structural and operational details, which differ from motor to motor. As physical model-
based systems have their limitations, in this review we will classifies the faults of induction motor into the
following, some faults implicitly included in some kinds of the faults such as the external faults of the
induction motor, unbalance voltages, vibrations take place in the induction motors, one or more phase
unbalanced, torque oscillation or any kind of the faults. For a methods such as ACSA ,park's vector ,motor
parameter estimation ,harmonic analysis of speed fluctuations and freq analysis of instantaneous power have
some drawbacks such as (its need many sensors these should have high precision ,its need knowledge about
the internal structures). Negative sequence may fail under extremely low level of fault particularly when the
supply voltage unbalance
The main faults of the induction motor are depicted as in Fig.2

Fig. 2: Faults in the induction motors

According to the above fault the percentage of each fault are as in Fig. 3

Fig. 3: Percentage failures by components

II. Signal Processing Techniques:

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2.1. Air Gap Eccentricity:

A mechanical fault that happened due many reasons such as machine manufacturing, assembly, unbalance
load, bent shaft and bearing wear.
The static air gap eccentricity

(3)

K=1, 2, 3...
n=1, 3, 5, order of stator time harmonics present in the power supply feeding the motor
The dynamic air gap eccentricity

(4)

K=1, 2, 3...
n d = dynamic eccentric order (n d =1, 2, 3,),(n) same as above
The mixed air gap eccentricity

(5)

Several contributions deal with these faults. Xiaodong Li et al, (2007) shows that the air gap eccentricity
can be detected by analyze the inclined static eccentricity of the I.M. Xianghui Huang et al, (2007) proposed
that according to axial non uniform air gap due to off line monitoring of the variations of the surge waveform
at the different rotor position the eccentricity can be detected. M. Sulowics et al, (2007) presents a paper for
detect the faults of eccentricity using ANFIS (adaptive network based fuzzy inference system) techniques. F.
Pedrayes et al(2007) designed a model of the I.M using a mesh of magnetically coupled reluctances. This
model allows the dynamic simulation of the main induction motor variables to detect faults with high efficacy.
M .hamed Drif (2008) presents a new strategy based on the signature analysis of the complex apparent-power
for detecting the occurrence of air gap eccentricity in operating three-phase I.M. Jawad Faiz et al (2008)
studied mixed (static and dynamic) eccentricity at the starting period using TSFE, the input of FE calculations
was the applied voltage. Jason Grieger et al (2007) investigates static eccentricity severity by the features
investigated of RSH and RSH side bands of both the line currents and vibration. Jason Grieger et al (2006)
submit the evidence theory to find the motor static eccentricity using the BPA for each sensor by noticing the
magnitudes features. Thomas M. W olbank et al (2007) make a review for the best methods to deal with air
gap eccentricity like the digital camera or laser sensors to detects the faults. M'hamed Drif et al. (2008) also
investigate the squirrel cage induction motor eccentricity mixed faults through the Instantaneous Power Factor
Signature Analysis. John F. Bangura et al (2003) develops a new technique to detect main faults in the
induction motors through TSCFE–SS method which can generate alarge no. of healthy and faulty IMASD
simulations with TSDM techniques, Xianghui Huang et al. (2007) in this paper deals with drive of induction
motor as closed loop to detect the rotor eccentricity related harmonics in the stator voltage and current space
vectors simultaneously using neural networks. Hamed Drif et al (2006) present new approach to detect air gap
eccentricity using instantaneous power signature analysis Guillermo Bossio et al (2006) states that when the
pre established pulse sequence applied by the inverter to the I.M the air gap eccentricity effect on the zero
sequence voltage can be detected and the diagnostics results was quite visible. Martin Blodt et al (2008)
presents a distinguishing load torque oscillations and eccentricity faults in I M using stator current, A
Nikranjbar et al (2009) presents model-based mixed-eccentricity fault detection and diagnosis for induction
motors.

2.2 Gear Box and Bearing Faults:

The mechanical frequency needed to investigate the mechanical fault such as gear box

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(6)

fr,m is the rotational frequency of the mechanical coupling equipment.

The damage in the outer bearing race

f o vibration frequency (7)

The damage in the inner bearing race

fi vibration frequency (8)

The damage on the ball

fb vibration frequency (9)

N = number of bearing balls

BD = ball diameter
PD = ball pitch diameter
â = contact angle of the ball with the races

However, these characteristic race frequencies can be approximated for most bearings with between six
and twelve balls, Izzet Y O Nel et al. (2006) used the RBF neural network to detect the bearing of outer race
defect of ball faults through MCSA techniques. A.R. M ohanty et al. (2006) states that for a three shafts and
their corresponding gear mesh frequencies (GMFs) the gear box faults can be detected by demodulation of the
motor current waveform. Makarand S. Ballal, et al (2007) presents the facilities of ANFIS approach in the
detection of inter-turn insulation of main winding and bearing wear of a single phase I.M Jafar Zarei et al
(2006) studied the park's vector for monitoring I.M bearing faults by noticing the thickness of Lissajou's curve
A.R. Mohanty et al (2006) deal with multistage gearbox of induction motors using tacho generator and dc
generator to generate ripple voltage also use MFT. D.M. Yang (2007) detected the bearing fault in the
intelligent diagnosis techniques uses wave transform and SVD techniques W ei Zhou (2007) presents new
method to detect incipient faults based current techniques according to noise cancellation Martin Blodt (2006)
presents one of the stator current monitoring to detect the rolling element bearing faults. Izzet Yilmaz et
al.(2008), for 0.75 kw found the diagnosis capabilities of the park transform better than Concordia in the
bearing fault diagnosis Baburaj Karanayil (2007) Present a neural net. To detect on line stator and rotor
resistance in the sensor less motor. W ang Xu (2007) used B-spline membership of neural fuzzy to detect on
line stator fault. W ang Xu (2007) proposed a technique to detect a fault in the stator winding using two DRNN
to estimate the severity of the fault. Yushaizad Yusof (2003) introduce simple open loop inverter (PW M-VSI)
fed induction motor to detect to estimate stator flux at zero voltage and low frequency by NN. Gamal
Mahmoud (2007) investigates the connection path of uncontrolled rectifier of a variable v/f induction motor
drive. Martin Blodt et al (2004) present the using of spectrum analysis to detect the damage bearing fault in
I.M.

2.3 Stator Faults Resulting of Opening or Shorting the Stator Coil or Phase Winding:

(10)

n=1, 2, 3...
k=1, 3, 5...

Daniel F. Leite et al, (2007) presents the fault diagnosis of the stator inter turn and rotor. I. Aydin (2007).
Use the fuzzy and e-mean to detect the stator faults. Yufan Guan et al (2007) presents the detection of stator

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winding interturn shorts. F. Zidani et al (2007) propose the fault speed sensor in the induction motor. Bowen
Cui (2007) presents the simulation of inverter as a switching technique to find the faults J.Cusido (2007)
NKhttp://et.alet. al. presents wave convolution to diagnose the induction machine Jose A. et al (2007) presents
two different approaches for diagnosis of induction machine in the transient region. T. W egiel et al (2007)
present the signal acquisition of induction motor. Lebaroud Abdesselam et al (2007) by a novel diagnostic
system based on hidden M arkov's modeling present the present the short circuit fault diagnosis of induction
motor Lamiaa El Menzhi (2007) investigate the fault diagnosis in the auxiliary winding using spectral analysis
Sung Hwan Lee et al (2007) present the protective relays for the fault diagnosis Xu Boqiang et al (2007)
presents the weak signal detection for fault diagnosis H. Nakamura et al (2007) present the short circuit faults
of induction motor based on hidden Markov model Behrooz Mirafzal et al (2006) detect the inter turn faults
in the induction motor using the pendulum phenomena Sanna Pohoen (2004) present the vector control support
based classification and monitoring techniques for the induction motor Thanis Sribovornmongkol (2006) in his
thesis deal with on line simulation using the finite element method Arezki Menacer et al (2006) present the
effect of position and the number of broken bar in the motor stator current spectrum Ian M. et al (2007)
presents the using of MCSA techniques to detects the fault in squirrel cage induction motor Ali S. Al-Shahrani
(2006) presents in his master thesis influence of adjustable speed drive on I.M fault detection using SCM.

2.4 Abnorm al Connection of Stator Winding:

Gamal Mahmoud et al (2007) as a series of many paper deal this time with fault detection in the inverters
Bilal Akin et al (2008) investigate the faults of low order PW M harmonic contribution to detect the faults of
the inverter fed induction motor the faults of induction machine using the spectral density using the wavelet
techniques are investigated in Bilal Youssef et al (2007) present the capabilities of the signature graphical tool
to detect the faults in I,M. Mrs. M. Suidha' et al (2007) use the novel protection method to detect the
unbalance voltage and single phasing faults J. F. M artins (2007) use the vector Eigen values to detect the faults
of the closed loop induction motor Hongzhong Ma et al (2007) investigate the vibration faults in the winding
based EMAM S.P. Muley et al (2008) use the voltage/frequency control of induction motor to predict the fault
inverter Tito G. Amaral et al (2007) presents a statistic moment based method for the detection and diagnosis
of I .M stator fault R.N. Andriamalala et al (2006) presents a model of dual stator winding induction machine
in case of stator and rotor faults for diagnosis purpose, Claudio Bonivento et al (2004) presents diagnosis of
induction motors for implicit faults.

2.5 Shorted Rotor Field Winding:

Daniel F. Leite et al (2007) present according to model based detect the alternators & I.M faults in real
time, H. Razik et al (2007) used PDA in the monitoring and diagnosis. C. Concari, G et al (2007) study the
torque and current peculiarities Bin Lu et al (2008) investigate the rotor fault diagnosis using wave let spectral
analysis Ji-Hoon Choi (2006) present in his thesis the one of the modeling techniques based on the model of
the induction motor and the pumps Aderiano M. da Silva (2006) in his thesis investigate many faults in the
induction motor as well as the monitoring of the machine. Boqiang Xu et al (2006) presents a research on the
rotor and stator double faults squirrel cage in the induction motor Peter Bikfalvi et al (2006) presents the
methods and technologies of the rotor fault diagnosis Claudio Bruzzese et al (2006) presents the new faults
indicators in the rotor for squirrel cage induction motor, S.M.A. Cruz et al (2006) presents a diagnosis of rotor
faults in closed loop induction drive, Luis A. Pereira et al. (2006) applies the W elch, Burg and M USIC
methods to detects the faults on the rotor Lane Maria Rabelo et al (2006) presents the using of slide mode
observer in rotor fault diagnosis S.M.A. Cruz et al (2007) presents the faults indicators of the rotor in FOC
Drives Carla C et al. (2006) presents detection of rotor faults in squirrel-cage induction motors using
Adjustable Speed Drives Zhenxing Liu (2007) presents the PQ transformation technique in the rotor fault
diagnosis Ferdinanda Ponci et al (2007) presents the some early detection approach for fault diagnosis Bin Lu
et al (2008) presents the wavelet of One-Cycle Average Power in the rotor fault diagnosis F. Babaa et al
(2007) presents in the part I- analytical investigation on the effect of the the negative sequence on stator fault,
Mogens Blankes et al (2006) presents diagnosis and fault tolerant control and many examples in this book.

2.6 Broken Rotor Bar and Crack End Ring:

The rotor broken bar frequency in asymmetry condition:

(11)

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Mario Eltabach et al (2004) present a comparison between the internal and external methods when the
detection of faults by the spectral analysis. Homayoun Meshgin et al. (2004) study the effect of current of the
bar and axial flux on the faults Hongzhong Ma et al (2007) present the fault diagnosis through the
identification parameters of the induction motor Cusido, L. Romeral (2007) investigate the broken bar faults
using the discrete and continuous wavelet Qing Song Yang (2004) in his thesis introduce the fault diagnosis
methods and take many cases of the process monitoring Gaetan Didier et al (2006) present faults diagnosis
of broken bars using the global fault index Chia Chou (2007) detect the inter turn stator faults and broken bar
of poly phase induction motor Behrooz Mirafzal et al (2006) detect the faults of inter turn and broken bar
Rohan Samsi et al (2006) present the wave let fault diagnosis of inverter fet induction motor, Jose A. et al
(2006) presents new method in the fault diagnosis of induction motor using wavelet transform to find rotor
bar faults, R. Supangat et al (2006) present the broken bar diagnosis using starting current analysis, Mitja
Nemec et al (2006) detect the fault in the rotor bar through the voltage analysis modulation Alireza Sadoughi
et al (2006) give new approach to detect the broken bar using vibration techniques Li W eili et al (2007)
presents finite element characteristics to detect broken bar of squirrel cage induction motor Randy Supangat
et al (2007) present the broken bar and the effect of load of the induction during the rundown M.E. Ouma
et al (2007) present the detection of broken bar using Hilbert Transform Aderiano et al (2008) detects the
faults in the broken bar and stator short circuit due to stator current Jawad Faiz et al (2007) presents the fault
diagnosis of broken bar for load variation in the induction motor using wavelet Bulent Ayhan et al (2008)
presents the fault diagnosis of the broken bar Use of a Lower Sampling Rate with DTFT and AR. Bulent A
Yhan (2005) in his ph.d thesis present the legalistic rules for fault diagnosis of broken bar with many cases
Chia Chou et al. (2005) presents the condition monitoring vector data base of broken bar faults in the
induction motors

2.7 Shaft Bent:

M.Mohamdi et al (2006) presents for 1.5 kw an induction motor, shaft misalignment, damage bearing tests
in José M. Machorro et al. (2009) different kinds of faults such as transverse cracks, imbalance, misalignment,
bent shafts, and combinations thereof are considered. Off-line and on-line experimental tests are carried out,
Yanli Lin et al. (2009) presents flexural vibrations of a rotor system with transverse or slant crack are analyzed
under torsion excitation, The numerical and experimental investigations demonstrate these features can be used
to distinguish between the transverse crack and the slant crack on the shaft of a rotor system.

III. Artificial Intelligence Techniques:

Compose of many types of methods deals with the fault diagnosis of induction motors such as neural
networks Fig. 4 fuzzy logic, or the combination of both, genetic algorithm, even expert network can be
included witch introduce many facilities with respect to the signal processing techniques but its need a large
amount of data about the motors which some times difficult to get it. M.J. Fuente (2004) present the hybrid
model to detect some internal and imbalance faults. In Ramon A. Felix (2003) the controller is derived using
neural network and slide model in the induction motor Carsten Skovmose (2006) propose the use of ARR
technique to detect centrifugal pump Hainan W ang (2006). Deal with sensor faults of induction motor. Abdul
Kadir (2006) implements analogue device and dual core SP to detect the faults in the inverter. Ihan Aydin
(2006) present the use of negative sequence through MCSA to detect the faults. J. Cusido deal the detection
of broken bar and air gap eccentricity through M CSA. Jee- Hoon Jung (2006) with high advance on line
monitoring detect faults in the induction motor using MCSA H. Nakamura et al. (2006) use new diagnosis
based on Markov's which is used in recognition of speech to detect the faults. Marving (2006) use the bond
graph modeling to detect the fault. Toshiji Kato (2007) use the Kohen's SOM to detect the three phase inverter
faults. E. evi, R et al (2007) give a good review for the multiphase of induction motor. Raj M. Bharadwaj et
al (2004) deal with signals filter in the inverter fed induction motor using neural without any sensor Sitao W u
et al (2004) use the self organize with radial bias function as a new techniques to detect the faults,
M .A.S.K.Khan et al. (2007) present new approach in fault diagnosis of induction motor using wave let using
real time implementation of W avelet Packet Transform-Based diagnosis Toshiji Kato et al present the self
organize method to detect the faults in the apparatus and induction machines. L.Cristaldi (2007) used soft
computing techniques for fault diagnosis of uncertainty propagation J.A.Cortajarena (2007) presents indirect
vector controlled induction motor using hybrid classical controller and fuzzy controller, O.Elmaguiri (2007)
present new approach for fault diagnosis using back stepping digital techniques for induction motor, Eltabach
et al. (2007) presents new procedure using non invasive Beirut diagnosis for the induction motor drives, J.

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Cusido et al present the wavelet convolution to detect on line system fault L. Cristaldi et al (2007) based on
soft computing investigate the propagation uncertainty in fault diagnosis, Jordi Cusido (2008) presents

Fig. 4: Neural Network

wavelet decomposition using power spectral density in diagnosis of induction machine, Fatiha Zidani et al
(2008) present the fuzzy logic to detect the faults of the inverter fed the induction motor I. Ayadin et al (2007)
new feature vector is constructed based on park's vector approach to detect the broken bar and stator short
circuit faults Puxuan Dong (2006) in his dissertation deals with the design methods and real time realization
and classification through the neural network. Surin Khomfoi (2005) investigates through the neural network
fault diagnosis capabilities of multilevel inverters. Dias C.G et al (2006) investigate the Hall effect in the fault
diagnosis of rotor broken bar through neural in the large induction motors Jing Yang et al (2007) presents the
sensorless speed estimation of line connected using RNN Sri R. Kolla et al (2007) presents the NN based fault
identification in the induction motors Erdal Kilic et al (2007) presents RBF Neural Network Based on
Dynamical PCA for the fault identification in the induction motor M. Abul Masrur et al (2007) presents the
model based fault diagnosis in the induction motor using ANN Kaijam M. (2005) presents the neural network
in the torque estimation and d-q transform Hua Su et al (2007) presents the induction condition monitoring
using NN modeling Qing He et al (2007) presents the fault diagnosis of induction motor using the NN Bogdan
Pryymak et al (2006) presents the optimization of flux by N N using a model of losses in induction motor
drives Mochammad Facta et al (2006) present a Comparison of On line control of Three Phase Induction
Motor Using RBF and B-Spline Neural Network El -Sayed M et al (2007) present monitoring and diagnosis
of external faults using artificial neural network Ahmed F. Abd El-Halim et al (2004) presents N N schemes
control for I.M drive systems Arfat Siddique et al (2004) presents incipient faults of three phase I.M. using
NN identification T.G. Amaral et al (2007) presents the image processing for neuro-fuzzy classifier in
detection and fault diagnosis of I.M, D.L. Yu et al (2006) presents adaptive neural model-based fault tolerant
control for multi-variable processes, Yumin Zhang et al (2007) presents fault tolerant control based on
stochastic distributions via multi layer perceptron neural networks.

IV. Software Used with Fault Diagnosis:

The main software programs that can be used with fault diagnosis techniques either with classical methods
or the artificial methods to give high facilitate .here we manifests the most important among them:
Matlab program ,Tiberius program ,Ansys program, Lab view program, Knoware program, ABAQUS
program ,SAMCEF program ;OOFELIE progragram CalculiX program, O OFEM program, ALGOR program;
Sundance program ,JM AG ;program ;PERMAS program ,STRANDS7 program,PAM program ,solid work
program ,Neural net. Program ,Jaffa neural program ,Free M aster program ,Maxwell pc program, Motor
monitor program,Neuro solution program, DLI watchman program COSMOS W ORK, program ,,Maple Sim
program ,Fault tolerant software,Sim20 software ,pscad software, Free Master ,etc.

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Table 1: Sum m ary of Som e of Fault D iagnosis M ethod Properties [164]

There are much more deals with the modeling and simulation of the induction machines but those
according to author's knowledge. These programs not applicable for all methods, for example the Tiberius
program can be used with neural network and the ANSYS for the finite element method, electromagnetic field
and so on.

V. Fault Tolerant Control:

Many efforts in the control community have been recently devoted to study “Fault-tolerant” control (FTC)
systems, namely: Ron J Patton et al (1997) present a fault -tolerant control systems ,give in this paper good
details for the types of fault tolerant control, its areas ,architecture, control systems able to detect incipient
faults in sensors and/or actuators on the one hand and on the other, to promptly adapt the control law in such
a way as to preserve pre-specified performances in terms of quality of the production, safety, etc. .The fault
tolerant control consists of two steps: fault diagnosis and re-design controller Currently, FTC in most real
industrial systems are realized by hardware redundancy. For example, the majority-voting scheme is used with
redundant sensors to cope with sensor faults. However, due to two main limitations of the hardware
redundancy, high cost and taking more space, solutions using analytical redundancy have been investigated over
the last two decades. There are generally two different approaches using analytical redundancy: (1) passive
approaches, and (2) active approaches. Recently, an elegant design method of passive approach was proposed,
in which the linear matrix inequality method was used to synthesis the reliable controller. The disadvantages
of passive approach are the method is based on an accurate linear state space model and therefore is not
capable of controlling a non-linear process for which an accurate analytical model is usually unavailable. In
addition, because the passive approaches consider fault tolerance in only the stage of controller design and
without taking adaptation when faults occur, the amplitude of the faults that can be tolerable is usually small
and cannot meet the requirements in practice. There are many method deals with active fault tolerant control
(adaptive control) such as linearization feedback, linear quadrature method, Pseudo inverse method, Eigen
structure assignment method, neural network, control law rescheduling, model predictive control MPC, HY,
norm optimization, 4 parameter controller, The main disadvantage of their designs is that they consider large
fault effects which do not challenge the robustness problem! A consideration of smaller or incipient (hard to
detect) faults would have given a more realistic and challenging robustness problem to solve, etc. the remote
diagnosis is another type used with fault tolerant control.
Off board component has (nearly) unlimited computing power but has to cope with limited and possibly
biased measurement data ,on board component has to work with restricted computing power and memory size
which limits the algorithm complexity of the task to be performed. Xiaodong Zhang in his Ph.D thesis present
a novel isolation scheme with its robustness and sensitivity properties using adaptive thresholds in the residue
evaluation stage in three tank system, a rigid link robotic manipulator and the Van der Pol oscillator system
[141], Haider A.F. Mohamed et al. proposes a fault tolerant control design that consists of two parts: a nominal

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performance controller and a fault detection element to provide fault compensating signals to the feedback loop.
The nominal controller can have any given structure that satisfies the performance specification. The detection
element will operatein parallel with the system until a fault is detected. Fault tolerant operations of soft starters
and adjustable-speed drives (ASDs) when experiencing power switch open-circuit or short-circuit faults are
presented in, Jean-Etienne Dongmo et al (2007) presents describe a method for designing switching controls
and analyzing achievable performance for motor drives, a collection of results towards a unified framework
for Fault Tolerant Control in Distributed Control Systems are given in, Amr Saleh et al (2007) presents a fault
tolerant strategy for the problem of loss of one phase in a field oriented controlled three phase induction motor.
The proposed solution, rather than previously suggested solutions, is a control strategy in the single phase mode
of operation of the induction motor, same above authors describes a novel strategy for restarting the three
phase induction motor in a voltage fed field oriented drive operating in the single phase mode after the loss
of one of the inverter phases. Sejir Khojet El Khil et al (2006) presents an original strategy of fault tolerant
operating in case of doubly fed induction machine (DFIM), C.B. Jacobina et al (2004) investigates the voltage
and current control of a five-phase induction motor drive under fault conditions, A.M.S. Mendes et al (2003)
exploits the advantages and the inconveniences of using remedial operating strategies under different control
techniques, such as the field oriented control and the direct torque control. Global results are presented
concerning the analysis of some key parameters like efficiency, motor line currents harmonic distortion, among
others. H. Nademi et al (2008) considers the problem of designing a fault tolerant system for IPM S motor
drive subject to current sensor fault. To achieve this goal, two control strategies are considered. The first is
based on field oriented control and a developed adaptive back stepping observer which simultaneously are used
in the case of fault-free. The second approach proposed is concerned with fault tolerant strategy based on
observer for faulty conditions. Halim Alwi et al (2008) propose an on-line sliding mode control allocation
scheme for fault tolerant control. The effectiveness level of the actuators is used by the control allocation
scheme to redistribute the control signals to the remaining actuators when a fault or failure occurs, Anjali P.
Deshpande et al (2008) presents a novel intelligent nonlinear state estimation strategy is proposed, which keeps
diagnosing the root causes of the plant model mismatch by isolating the subset of active faults (abrupt changes
in parameters/disturbances, biases in sensors/actuators, actuator/sensor failures) and auto-corrects the model on-
line so as to accommodate the isolated faults/failures[153] Matthew O.T. Cole considers a control system
design for a rotor–magnetic bearing system that integrates a number of fault-tolerant control methods W ai et
al (2003) presents a plug-in robust compensator for speed and position control enhancement of an indirect-
field-oriented-control induction machine drive is developed, S.N. Vukosavic et al (2005) A vector control
algorithm, based on indirect rotor flux orientation, is at first briefly described. Special attention is paid next
to the current control issue, from the point of view of the minimum number of current controllers for six phase
induction motor]. The IFOC can transform the induction motor from nonlinear into linear system but with
many assumption ,its well known the output response is sensitive to the plant parameters variations such as
the rotor resistance .Youmin Zhang et al presents a bibliographical review on reconfigurable (active) fault-
tolerant control systems (FTCS) is presented. T he existing approaches to fault detection and diagnosis (FDD)
and fault-tolerant control (FT C) in a general framework of active fault-tolerant control systems (AFTCS) are
considered and classified according to different criteria such as design methodologies and applications. as in
Fig.5. Hui-W ei Liu et al presents adaptive fault tolerant control (FTC) of nonlinearly parameterized systems
with uncontrollable linearization T he progress was made due to the development of a novel feedback design
technique called adding a power integrator, which was motivated by homogeneous feedback stabilization and
proposed initially in (Q. Zhao et al.98) for global stabilization of nonlinear systems with uncontrollable
linearization., A. Fekih et al (2009) presents new strategy for the fault tolerant control for aircraft systems,
Romero et al (2009) proposes the uses of multisensor switching control strategy for fault tolerant direct torque
and flux control of the induction motor, S.K Ghoshal et al (2009) presents analytical redundancy relation
(ARR) based approach for fault detection and isolation (FDI)with application to hydraulic and a thermo fluid
process using B ond graph to modeling FDI. Stoyan Kanev (2004) introduce in his Ph.d thesis the main
methods in the fault tolerant control, typically, an active FTCS consists of three parts: a reconfigurable
controller, an FDD scheme, and a control law reconfiguration mechanism as shown in Fig.6.
The key issues of the fault tolerant control are how to design:
1. A robust reconfigurable controller,
2. AN FDD scheme with high sensitivity to faults and robustness to model uncertainties and external
disturbances,(include residual generation and residual evaluation, threshold determination) ,and
3. A reconfiguration mechanism which can organize the reconfigured controller in such a way that the pre
fault system performance can be recovered to the maximum extent as shown in Fig.7.

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Fig. 5: Active fault tolerant control methods

Fig. 6: Main component of fault tolerant control

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Fig. 7: Methods of fault detection and isolation part of FTCS

According to the depth of the information used of the physical process, the approaches to the problem of
failure detection and isolation fall into two major groups:
C Methods that do not make use of the mathematical model of plant dynamics, or, model-free FDI;
C Methods that do make use of the quantitative plant model, or, model-based FDI.

More than 13 papers published in the Journal of Control Science and Engineering about the fault tolerant
control and fault diagnosis
The existing FDI approaches can be generally classified into two categories: (1) model-based and (2) data-
based (model-free) schemes; these two schemes can further be classified as quantitative and qualitative
approaches as shown in Fig.7

VI. Conclusion:
Applying induction motor systems in critical path applications such as automotive systems and industrial
applications requires design for fault tolerance as well as performance; the successful detection of induction
motor faults depends on the selection of appropriate methods used. This review for more interest research for
last six years in the fault diagnosis and some of FTC included the general layout of the faults happen, methods
to detects these faults and the agrees and disagrees of the most popular techniques deals with the fault
diagnosis and fault tolerant control , There are a number of results related to using FDI to mechanical systems
and control surfaces of an induction motors, while techniques for on-line identification of fault models with
time-varying nonlinearities and robust FDI using closed loop models are still of research interest. Rapid
detection and isolation of faults is necessary to minimize the undesirable effects of detection and
reconfiguration delays finally the software programs, which acts as a tool to satisfy the above solving
strategies. The author would like to thanks Thanis Sribovornmongkol at same time apologize to those whose
papers are not included.

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