Fault Detection and Localization in Multiphase Drives et al.pdfFault Detection and Localization in...

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




Five-phase PMSM



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


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


6OUTLINE




Five-phase PMSM



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


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


Transformation(Concordia, Clarke, etc.)

Λi Eigenvalues of inductance matrix


9


TORQUE


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


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.


10


TORQUE


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



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




Five-phase PMSM

1. Current Error based Approach

2. Fictitious Frame based Approach

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



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



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



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



17




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


Back-EMF waveformPhase Currents

Currents in Concordia Frame

FAULT

HEALTHY

iα

iβ

2. Fictitious Frame based Approach (3-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)


Healthy

Fault

1st Harmonic 3rd Harmonic

Light

deformation

Important

deformation



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



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]



L2EP 5-phase PMSM platform

23



24OUTLINE




Five-phase PMSM



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


✓ 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



28



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




30Simulation and experimental results under inverter open circuit fault

Open switch fault in one transistor and no third harmonic in phase current



-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


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




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


-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)



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




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



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)



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



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)


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( ) ( ) ( )

( )


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