fault detection and localization in multiphase drives et al.pdffault detection and localization in...
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Fault Detection and Localizationin
Multiphase Drives
Inter GDR MACS-SEED 15th November 2018, Nantes
(1) M2EN «Mécanique et Energie en Environnement Naval », IRENav, Ecole navale, Brest(2) Univ. Lille, Centrale Lille, Arts et Metiers ParisTech, HEI, EA 2697 - L2EP – Laboratoire
d’Electrotechnique et d’Electronique de Puissance, F-59000 Lille, France.(3) Thales Alenia Space - Thales Group, Charleroi, Belgium
M. Trabelsi(1),, N. K. Nguyen(2), E. Semail(2), F. Meinguet(3)
2OUTLINE
I. Introduction & Context
II. Three-phase Drives Vs Multiphase Ones
III. Inverter Fault Modeling and Effects Analysis in
5-phase PMSM
1. Current error based approach
2. Fictitious reference frame based approach
IV. Conclusion
3OUTLINE
I. Introduction & Context
II. Three-phase Drives Vs Multiphase Ones
III. Inverter Fault Modeling and Effects Analysis in
Five-phase PMSM
1. Current error based approach
2. Fictitious reference frame based approach
IV. Conclusion
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
4Introduction & Context
Wide speed range
Fault tolerance capability or low
voltage (48V)
rotor with PM
Stator with tooth
concentrated winding
Number of phases > 3
• Dahlander circuit• Winding configuration• Saliency ratio
Electronic pole commutation
• High efficiency• Low cost• High torque density• Easy manufacturing
PM
Electrical machines requirements
Hybrid and Full electric transport applications
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
5Context
(a) (b)
φ
Actuator 1
Actuator 2
Actuators’
axis
φ=270°
θ=aθ=0φ=90°
θ=a
Thrust
Center line Thrust line
Torque
Fig. Simplified schematic of the considered Thrust Vector Control system
Different from the conventional TVC(Thrust Vector Control) system, the considered one in this work is based on two Multiphase PM Synchronous Machines.
Source: L2EP Lab.
Fault tolerance capability, high power density
Aging process and hard operating conditions result in several faults.
Power Electronic components (higher rate of fault)
15% open-circuit fault of the power switches
85% short-circuit fault of the power switches
[W. Cao 12], [BIR 96], [WALL 88], [SCH 04]
Electrical faults or mechanical faults
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
6OUTLINE
I. Introduction & Context
II. Three-phase Drives Vs Multiphase Ones
III. Inverter Fault Modeling and Effects Analysis in
Five-phase PMSM
1. Current error based approach
2. Fictitious reference frame based approach
IV. Conclusion
7
GENERALIZED VECTORIAL FORMALISM THEORY
1 1
dn nd d dk
k s k k k
k k
div v R i e
dt
In the new base, the voltage and electromagnetic torque are expressed as:
1 1
d dn nd k k
k
k k
e iC C
Real n-phase machine TORQUE
TORQUE
1
dC 2
dC d
nC
Fictitious Machines (diphase + homopolar)
C
Fictitious machines Shape of the back-EMF (sinusoidal/trapezoidal or others) Leads to
Multiphase Decomposition Theory
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
8
3-phase PMSMReal 3-phase machine
TORQUE
Fictitious Machines (1 diphase + 1 homopolar)
C
Mainmachine
Homo.Machine
h = 1, 5, 7, 11,…h≠3k
h = 3, 6, 9, …h=3k
h : odd harmonic rank
(even harmonics are ignored)
Main machine (MM) : diphase (Λ1 = Λ2)Homo. Machine: monophase (Λ0)
Notes- Wye connection: current of homopolar
machine i0=0 C0=0
- All harmonics, different from 3*k, are regrouped in the main machine and INTERACTbetween them (currents (time) and back-EMFs (space))
MM HM
Multiphase Decomposition Theory
Transformation(Concordia, Clarke, etc.)
Λi Eigenvalues of inductance matrix
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
9
5-phase PMSMReal 5-phase machine
TORQUE
Fictitious Machines (2 diphase + 1 homopolar)
C
Mainmachine
Second.machine
Homo.Machine
h = 1, 9, 11,…h=5k ± 1
h = 3, 7, …h=5k ± 2
h = 5, 15, …h=5k
h : harmonic rank of the back-EMF
+ : direct rotating vector
- : inverse rotating vector
Main machine (MM) : diphase (Λ1 = Λ2)Second. Machine (SM): diphase (Λ3 = Λ4)Homo. Machine: monophase (Λ0)
MM SM HM
Notes- Wye connection: current of homopolar machine
i0=0 C0=0
- Separation of some harmonics into two decoupled
frames Interesting point
Multiphase Decomposition Theory
E. Semail, A. Bouscayrol, and J. P. Hautier, “Vectorial formalism for analysis and design of polyphase synchronous machines,” European
Physical Journal-Applied Physics, vol. 22, pp. 207-220, Jun. 2003.
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
10
5-phase PMSMReal 5-phase machine
TORQUE
Fictitious Machines (2 diphase + 1 homopolar)
C
Mainmachine
Second.machine
Homo.Machine
h = 1, 9, 11,…h=5k ± 1
h = 3, 7, …h=5k ± 2
h = 5, 15, …h=5k
MM SM HM
Multiphase Decomposition Theory
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04-150
-100
-50
0
50
100
150
current components xy current components
-50 0 50-60
-40
-20
0
20
40
60
-100 -50 0 50 100-100
-50
0
50
100
Secondary machine
Main Machine
Without h3
With h3
α-β frame x-y frameCurrents Vs Time (Concordia)
11OUTLINE
I. Introduction & Context
II. Three-phase Drives Vs Multiphase Ones
III. Inverter Fault Modeling and Effects Analysis in
Five-phase PMSM
1. Current Error based Approach
2. Fictitious Frame based Approach
IV. Conclusion
121. Current Error based Approach
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
MM : Idq1SM : Idq3
FDI : Fault Detection and Identification
13
Error quantification in rotating frames (DQ-1) and (DQ-3)
Fd1q1d3q3= I*d1q1d3q3 - Id1q1d3q3
Error quantification in the natural frame
Fabcde= [Park] Fd1q1d3q3
Normalization (robust face to: load variation
(torque and speed))1 1 3 3
abcdeabcde-N
s
abcdes α β α β
s
abcde-N
abcde
s
FF =
I
I where I = I + I
II =
I
I
(Fabcde-N) and (Iabcde-N)
- Fault Detection (F)- Fault localization (I)
abcde-Healthy
s-Healthy
I1
10 I
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
1. Current Error based Approach
M. Trabelsi, E. Semail, N. K. Nguyen, and F. Meinguet, "Open-Switch and Open-Phase Real Time FDI Process for Multiphase PM SynchronousMotors," in 2016 IEEE 25th International Symposium on Industrial Electronics (ISIE), 2016, pp. 179-185.
14
0 0.1 0.2 0.3 0.4 0.5-200
0
200
400
600
800
1000
Time [s]
Sp
ee
d [rp
m]
0 0.1 0.2 0.3 0.4 0.5-5
0
5
10
15
20
25
30
35
Time [s]
To
rqu
e [N
.m]
REF
PMSM
0 0.1 0.2 0.3 0.4 0.5-150
-100
-50
0
50
100
150
Time [s]
Cu
rre
nts
[A
]
Open-switches and Open-phase
Faults
T1 and T6
T1 T1 and T6
T1 and T6T1
T1
T6
T1
Phase a
Source: L2EP Lab.
MHYGALE Project
No fault
No fault
No fault
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
1. Current Error based Approach
15
0 0.1 0.2 0.3 0.4 0.50
0.1
0.2
0.3
0.4
0.5
Time [s]
Fa
bcd
e-N
Phase a
Phase b
Phase d
Phase c
Phase e
0 0.1 0.2 0.3 0.4 0.5-1
-0.5
0
0.5
1
Time [s]
I abcde-N
phase a
phase b
phase c
phase d
phase e I_TH
-I_TH
F_TH1
F_TH2
Fabcde-N
Iabcde-N
F_TH2F_TH1
I_TH
-I_TH
Lower switch
Upper switch
0
Lower switch +
upper one
Upper switch +
lower one
I
T1 and T6
detected
T1-detected
Detection
time
*Upper and Lower switch of the same VSI’s leg
Conclusion : Good results (two indexes)
NO FAULTSNo faults detected
Detection time = 50% electrical period
II
III
IV III IV
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
1. Current Error based Approach
16
0 0.1 0.2 0.3 0.4 0.5-1
-0.5
0
0.5
1
I ab
cd
e-N
0 0.1 0.2 0.3 0.4 0.50
0.1
0.2
0.3
0.4
0.5
Fa
bcd
e-N
Fabcde-N
Iabcde-N
F_TH1
I_TH
-I_TH
Lower switch fault detection
Upper switch fault detection
0
F_TH1
I_TH
-I_THVdc
T7 detected
T1-detected
Detection time
*Upper and Lower switch of the DIFFERENT legs
NO FAULTS
T6
T1
Phase a
T7
T2
Phase b
No faults detected
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
1. Current Error based Approach
17
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
1. Current Error based Approach
1. Current Error based Approach
Can be applied in Triphase Drives
Advantages Drawbacks
- Sensitivity (threshold)
- 2 indexes (or more) per phase
- Multiphase property is not
considered
NEW Solution
Fictitious Frame
based Approach
J. O. Estima and A. J. M. Cardoso, "A New Approach for Real-TimeMultiple Open-Circuit Fault Diagnosis in Voltage-Source Inverters,"IEEE Transactions on Industry Applications, vol. 47, pp. 2487-2494,2011.
M. Salehifar, R. S. Arashloo, M. Moreno-Eguilaz, V. Sala, and L.Romeral, "Observer-based open transistor fault diagnosis and fault-tolerant control of five-phase permanent magnet motor drive forapplication in electric vehicles," IET Power Electronics, vol. 8, pp. 76-87, 2015.
F. Wu and J. Zhao, "A Real-Time Multiple Open-Circuit Fault DiagnosisMethod in Voltage-Source-Inverter Fed Vector Controlled Drives," IEEETransactions on Power Electronics, vol. 31, pp. 1425-1437, 2016.
and more
18
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
Back-EMF waveformPhase Currents
Currents in Concordia Frame
FAULT
HEALTHY
iα
iβ
2. Fictitious Frame based Approach (3-Phase)
192. Fictitious Frame based Approach (5-Phase)
Tk+5
Five-Leg MOSFETs-Inverter
Open-circuit fault in
transistor Tk
Tk
Case of fault in transistor (Tk).
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
in (t)
fn (t)
if
n (t) = i
n (t) + f
n (t)
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
Healthy
Fault
1st Harmonic 3rd Harmonic
Light
deformation
Important
deformation
202. Fictitious Frame based Approach (5-Phase)
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
Using of Fictitious Machines for detecting and localizing the faults such as : open switches and open phases
Idea
Healthy mode: - Zero current (or a cycle) in SM
Faulty mode: - Specific Current Shapes Appearing in SM allows for detecting faults
Detecting the vectors (center and angle) will identify the faults
- M. Trabelsi, N. K. Nguyen, and E. Semail, "Real-Time Switches Fault Diagnosis Based on Typical Operating Characteristics of Five-Phase Permanent-Magnetic Synchronous Machines," IEEE Transactions on Industrial Electronics, vol. 63, pp. 4683-4694, 2016.
- M. Trabelsi, E. Semail, and N. K. Nguyen, "Experimental Investigation of Inverter Open-Circuit Fault Diagnosis for Biharmonic Five-Phase Permanent Magnet Drive," IEEE Journal of Emerging and Selected Topics in Power Electronics, vol. 6, pp. 339-351, 2018.
Secondary Machine
21
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach (5-Phase)
22
Drive parameters
Puissance= 10.5 [kW]In_max = 125 [A]DC bus = 48 [V]R = 9.1 [mH]Lm = 3.1 [mH]Ls = 0.9 [mH]p = 7Kfem1 = 0.1358 [V/trs/min]Kfem3 = 0.013 [V/trs/min]
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach (5-Phase)
L2EP 5-phase PMSM platform
23
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach (5-Phase)
24OUTLINE
I. Introduction & Context
II. Three-phase Drives Vs Multiphase Ones
III. Inverter Fault Modeling and Effects Analysis in
Five-phase PMSM
1. Current error based approach
2. Fictitious reference frame based approach
IV. Conclusion
25Conclusion
➢ Only the measured phase currents are needed and there is no
additional hardware to design an FDI process
➢ Fast fault diagnostic can be achieved in less than one
fundamental cycle (1/3) of the phase current.
✓ Exploitation of Currents Components in Orthogonal frames
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
✓ Robustness face to load and parameter variations
26
Multiphase Drive Experimental PlatformTwo 7-phase PM Generators, Two 5-phase PMSM Drives, Two 6-phase PMSM Drives;
Power Supplies and Electronic Loads: 5 to 15 kW 12V, 48V to 500 V; Rapid prototyping control: Dspace 1005, 1006, MicroLabox, Opal–RT
THANK YOU
Credit of L2EP Lab., Lille, France
27
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach
28
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach
29
Case 1 : Open circuit fault in the upper transistor T1
Simulation and analytical results
Experimental results
-40 -20 0 20 40-40
-30
-20
-10
0
10
20
30
40
i
(t)
i (
t)
-15 -10 -5 0 5 10-15
-10
-5
0
5
10
15
ix (t)
i y (t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
Simulation parameters:
Machine parameters
P = 10.5 kW
In_max = 125 A
dc_bus = 48 V
R = 9.1 mH
Lm = 3.1 mH
Ls = 0.9 mH
P = 7
Kfem1 = 0.1358 V/trs/min
Kfem3 = 0.013 V/trs/min
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
2. Fictitious Frame based Approach
30Simulation and experimental results under inverter open circuit fault
Open switch fault in one transistor and no third harmonic in phase current
Simulation and analytical results
Experimental results
-10 -5 0 5 10 15-15
-10
-5
0
5
10
15
ix (t)
i y (
t)
-40 -20 0 20 40-40
-30
-20
-10
0
10
20
30
40
i (t)
i (
t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
Case 2 : Open circuit fault in the lower transistor T6
Simulation parameters:
Machine parameters
P = 10.5 kW
In_max = 125 A
dc_bus = 48 V
R = 9.1 mH
Lm = 3.1 mH
Ls = 0.9 mH
P = 7
Kfem1 = 0.1358 V/trs/min
Kfem3 = 0.013 V/trs/min
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
31Simulation and experimental results under inverter open circuit fault
Case 3 : Open phase fault (T1&T6)
Open switch or open phase fault and third harmonic in phase current
Experimental results
-40 -20 0 20 40-40
-30
-20
-10
0
10
20
30
40
i (t)
i (
t)
-15 -10 -5 0 5 10 15-15
-10
-5
0
5
10
15
ix (t)
i y (t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
-20 0 20
-20
0
20
i (t)
i
(t)
-10 0 10-15
-10
-5
0
5
10
15
ix (t)
i y
(t)
Simulation and analytical results
Simulation parameters:
Machine parameters
P = 10.5 kW
In_max = 125 A
dc_bus = 48 V
R = 9.1 mH
Lm = 3.1 mH
Ls = 0.9 mH
P = 7
Kfem1 = 0.1358 V/trs/min
Kfem3 = 0.013 V/trs/min
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
32Inverter Fault Modeling and Effects Analysis in five-phase PMSM
Open-switch fault modeling in five-leg inverter
If T is faulty :k
2 2h1 h3I sin p t k 1 I sin 3 p t k 15 5
2 2k 1 t k 1 ,fnk 5 52
2 20, k 1 t 2 k 1
5 5
•
If T is faulty :k 5
2 20, k 1 t k 1
25 5
2 2h1 h3f I sin p t k 1 I sin 3 p t k 1nk 5 5 5
2 2k 1 t 2 k 1 ,5 5
•
fi i fnn n
Additive representation of the faulty phase current
Tk+5
Five-Leg MOSFETs-Inverter
Open-circuit fault in
transistor Tk
Tk
Faulty current profile in original frame
Case of fault in transitsor (Tk).
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
in (t)
fn (t)
if
n (t) = i
n (t) + f
n (t)
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
332. Fictitious Frame based Approach
Open-switch fault modeling in five-leg inverter
fi i fnn n
Additive representation of the faulty phase current
2f fi C inxyxy 5
CONCORDIA
Equivalent fault components in αβ frame Equivalent fault components in xy frame
f f f f f fa c eb d
f f f f fc eb d
2 2 4 6 8cos( ) cos( ) cos( ) cos( )
5 5 5 5 5
2 2 4 6 8sin( ) sin( ) sin( ) sin( )
5 5 5 5 5
f f f f f fx a c eb d
f f f f fy c eb d
2 4 8 12 16cos( ) cos( ) cos( ) cos( )
5 5 5 5 5
2 4 8 12 16sin( ) sin( ) sin( ) sin( )
5 5 5 5 5
Tk+5
Five-Leg MOSFETs-Inverter
Open-circuit fault in
transistor Tk
Tk
Faulty current profile in original frame
Case of fault in transitsor (Tk).
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04 0.045
-50
0
50
in (t)
fn (t)
if
n (t) = i
n (t) + f
n (t)
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion
34
αβ frame associated to main machine
f f f f f fa c eb d
f f f f fc eb d
2 2 4 6 8cos( ) cos( ) cos( ) cos( )
5 5 5 5 5
2 2 4 6 8sin( ) sin( ) sin( ) sin( )
5 5 5 5 5
xy frame associated ton secondary machone
f f f f f fx a c eb d
f f f f fy c eb d
2 4 8 12 16cos( ) cos( ) cos( ) cos( )
5 5 5 5 5
2 4 8 12 16sin( ) sin( ) sin( ) sin( )
5 5 5 5 5
Mean values of the fault components are within the 10 axis
tu
Ttu
f duufuiT
ti )()(1
)(
tu
Ttuxyxy
f
xy duufuiT
ti )()(1
)(
Inverter Fault Modeling and Effects Analysis in five-phase PMSM
Reference directions in orthogonal frames under fault condition
Mean values of the fault components are within the 10 axis
T t
fxy xy xyi t i t f t dt
T t
( )
0
1( ) ( ) ( )
( )
I. Introduction II. Multiphase Vs Three-phase III. Fault detection and Localization IV. Conclusion