Beruflich Dokumente
Kultur Dokumente
Hubert Razik
, Ga etan Didier
, Thierry Lubin
,
C.R. da Silva
, A.W. Mascarenhas
, C.B. Jacobina
, A.M.N. Lima
r
_
(7)
We suggest in this paper that the rotor is a three phase
circuits. Consequently, we consider the q phases rotor as a
three-phase system. Thus, we have hereafter for both the stator
and the rotor part:
v
s
= [ v
sa1
v
sb1
v
sc1
v
sa2
v
sb2
v
sc2
]
t
i
s
= [ i
sa1
i
sb1
i
sc1
i
sa2
i
sb2
i
sc2
]
t
s
= [
sa1
sb1
sc1
sa2
sb2
sc2
]
t
(8)
v
r
= [ v
r1
v
r2
v
r3
]
t
i
r
= [ i
r1
i
r2
i
r3
]
t
r
= [
r1
r2
r3
]
t
(9)
198
L
sr
t
= L
sr
_
_
cos(
r
) cos(
r
) cos(
r
+ ) cos(
r
) cos(
r
) cos(
r
+ )
cos(
r
+ ) cos(
r
) cos(
r
) cos(
r
+ ) cos(
r
) cos(
r
)
cos(
r
) cos(
r
+ ) cos(
r
) cos(
r
) cos(
r
+ ) cos(
r
)
_
_
(10)
L
ss
= L
ms
_
_
1 cos() cos() cos() cos( + ) cos( )
cos() 1 cos() cos( ) cos() cos( + )
cos() cos() 1 cos( + ) cos( ) cos()
cos() cos( ) cos( + ) 1 cos() cos()
cos( + ) cos() cos( ) cos() 1 cos()
cos( ) cos( + ) cos() cos() cos() 1
_
_
+ L
ls
.I
6
(11)
Stator resistances and rotor resistances, with I the identity
matrix, are written as:
Rs = Rs I
66
Rr = Rr I
33
(12)
Let us dene the angle between the two stator windings
which is equal to 2/3. The stator and rotor leakage induc-
tance are L
ls
, L
lr
. The stator and rotor mutual inductances
are written as L
ms
, L
sr
and L
mr
(Table I).
_
s
r
_
=
_
L
ss
L
sr
L
sr
t
L
rr
_
.
_
i
s
i
r
_
(13)
L
rr
= L
mr
_
_
1 cos() cos()
cos() 1 cos()
cos() cos() 1
_
_
+ L
lr
.I
3
(14)
The details of the two other inductance matrices L
sr
t
and
L
ss
can be found respectively in 10 and 11.
In order to develop a simple dynamic model, the trans-
formation matrix Ts
1
is used to obtain a diagonal stator
inductance matrix. We apply Ts
1
to the voltage and to
the ux equations. So, the original six-dimensional stator
system is decomposed into three two-dimensional decoupled
subsystems. These are the usual (d q) one, and a non-
electromechanical energy conversion related one named (x
y), a zero sequence (o1 o2) one. The transformation matrix
for the stator part is given
Ts
1
=
1
3
_
_
1
1
2
1
2
1
2
3
2
0
0
1
2
3
2
3
2
1
2
1
1
1
2
1
2
3
2
1
2
0
0
3
2
1
2
1
2
3
2
1
1 1 1 0 0 0
0 0 0 1 1 1
_
_
(15)
The transformation matrix for the rotor part is given
Tr
1
=
_
2
3
_
_
1
2
1
2
1
2
cos(0) cos(
2
3
) cos(
4
3
)
sin(0) sin(
2
3
) sin(
4
3
)
_
_
(16)
In order to transform the rotor variables into the stator refer-
ence frame, the following rotation transformation is used:
P(
1
) =
_
_
1 0 0
0 cos(
1
) sin(
1
)
0 sin(
1
) cos(
1
)
_
_
(17)
Consequently, the machine model is then simplied. The
electromagnetic torque expression is now given by:
T = pM
_
i
s
sq
i
s
rd
i
s
sd
i
s
rq
_
(18)
where p is the number of pole pairs. The superscript
s
denotes
the stator reference frame.
The voltage and current using the transformation is now in
the stator frame:
v
s
= [v
s
sd
v
s
sq
v
s
rd
v
s
rq
v
s
x
v
s
y
t
i
s
= [i
s
sd
i
s
sq
i
s
rd
i
s
rq
i
s
x
i
s
y
t
(19)
The global equation of the induction motor is written in a
suggested form allowing to show up a particular arrangement
_
_
v
s
sd
v
s
rd
v
s
sq
v
s
rq
v
s
x
v
s
y
_
_
=
_
_
Rs 0 0 0 0 0
0 Rr M
1
Lr
1
0 0
0 0 Rs 0 0 0
M
1
Lr
1
0 Rr 0 0
0 0 0 0 Rs 0
0 0 0 0 0 Rs
_
_
.
_
_
i
s
sd
i
s
rd
i
s
sq
i
s
rq
i
s
x
i
s
y
_
_
+
_
_
Ls M 0 0 0 0
M Lr 0 0 0 0
0 0 Ls M 0 0
0 0 M Lr 0 0
0 0 0 0 Lls 0
0 0 0 0 0 Lls
_
_
d
dt
_
_
i
s
sd
i
s
rd
i
s
sq
i
s
rq
i
s
x
i
s
y
_
_
(20)
199
of the inductances part (Eq. 20). This form allows a simple
expression of the inverse of the inductances matrix part.
As we put forward the relation of all the variables in the
stator frame, one can see that only the variable in the (d
q) frame take a part in the energy conversion. The (x y)
variables does not take a part in the energy conversion and
contribute only on the increasing value of the resistive losses.
The machine model in the (dq) subspace can be written as
_
_
v
s
sd
v
s
rd
v
s
sq
v
s
rq
_
_
=
_
_
Rs 0 0 0
0 Rr M
1
Lr
1
0 0 Rs 0
M
1
Lr
1
0 Rr
_
_
_
_
i
s
sd
i
s
rd
i
s
sq
i
s
rq
_
_
+
_
_
Ls M 0 0
M Lr 0 0
0 0 Ls M
0 0 M Lr
_
_
d
dt
_
_
i
s
sd
i
s
rd
i
s
sq
i
s
rq
_
_
(21)
with
1
is the rotor velocity (
r
).
The inductances in previous equations come from the cal-
culus using the transformation matrix Ts and Tr (Eq. 15 and
Eq. 16). Consequently, there expressions are given by:
_
_
_
Ls = Lls + 3Lms
M =
3
2
Msr
Lr = Llr +
3
2
Lmr
(22)
IV. A MODEL FOR DIAGNOSIS PURPOSE
In order to have a model when the rotor is defective, we take
some assumptions. As it is well known, one frequency appears
in the stator of the induction machine in case of rotor bar
defect. As the rotor circuit is not symmetrical, 2 frequencies
appear. The rst is at the slip frequency: +sf
s
which implies
a forward current (If) in the rotor as a rotor rotating eld,
the second is at the slip frequency: sf
s
which implies a
backward current (Ib) in the rotor as a rotor rotating eld (Fig.
3). As the rotor angular speed is equal to:
s
(1 s), and the
stator eld is at
s
, two torques are produced. The main torque
is constant and a ripple torque to the rotor defect appears at
the frequency: 2sf
s
. This double slip frequency characterizes
the unbalanced rotor. Consequently, if we put our attention on
the stator current, a line frequency appears at (1 2s)f
s
.
The model we propose to present is an extension of the work
suggested by Filippetti [31]. The stator current is composed
Fig. 3. Stator and rotor rotating elds with rotor bars defect
of the main current at the supply frequency added with a line
current (Il) at (12s)f
s
. The ratio of these two current gives
information about the heath of the motor. As we want to have
a light model, we consider again the rotor as a three-phase
system. We affect the resistance of one phase in the rotor in
order to simulate a problem of the rotor bar(s). We consider
the rotor having N rotor bars which is larger than the number
n of broken bars. So, we increase the resistance of one phase
by adding a defective resistance R.
Let us put forward that rotor is considered as a three-
phase system composed of 3 circuits (phases). Each circuit
is considered as N/3 resistance connected in parallel. Thus, a
normal rotor resistance has the expression:
Rr
Rb
N/3
(23)
where n defective rotor bars induce N/3 n bars in parallel.
So, the equivalent resistance is equal to:
Rr
defect
Rb
N/3 n
(24)
Consequently, the increasing value of the rotor resistance is
given by Rr
defect
Rr, it explains:
R = 3Rr
n
N 3n
(25)
Considering the rotor variables to the stator frequency, and
using the current If and Ib of the rotor current, we obtain the
equations for the induction motor under rotor defect in steady
state as follows:
V
s
= (R
s
+ Ls
s
)I
s
+ M
s
(I
s
+ I
f
)
0 = (R
s
/(2s 1) + Ls
s
)I
l
+ M
s
(I
l
+ I
b
)
R/3s (I
f
+ I
b
) = M
s
(I
s
+ I
f
) + (Rr/s + Lr
s
)I
f
R/3s (I
f
+ I
b
) = M
s
(I
l
+ I
f
) + (Rr/s + Lr
s
)I
b
(26)
The gure 4 represents these equations.
Some simplications can be make. The rst one consists to
consider the current Il as greater than the magnetizing current.
Consequently, we miss all the magnetizing inductances in the
equivalent circuit. Moreover, another assumption is to consider
the slip s small. So the induction machine operates at steady
state and near the nominal rate. By this way, a new simple
equivalent circuit is represented in gure 5.
Fig. 4. Equivalent circuit in case of rotor defect
200
Fig. 5. Simplied equivalent circuit in case of rotor defect
As we are interested from the ratio between the main current
Is and the line current due to the rotor bar defect Il, we have
to evaluate the ratio Is/Il. Thus, an approximated expression
is:
Is
Il
=
R/3s
Rr/s + R/3s
=
R
3Rr
(27)
By the substitution in this expression the relation of R, we
nally obtain:
Is
Il
=
n
N 3n
=
n
N
(28)
As we can see, this expression does not required the value
of the slip in order to determine if the motor operates under
rotor defect or not. Nevertheless, the amplitude of the current
at (1 2s)f
s
is necessary.
Consequently, the monitoring of the induction motor can be
made through the evaluation of the ratio of the main current
and the left current due to the rotor defect. In case of an
increasing value of this ratio, we know that motor operates
under a problem. This is the rst step of the diagnosis. The
second step is to conrm the defect and to research the severity
of the defect. This approach allows to schedule a maintenance
in emergency or not.
Classically, the two frequencies close to the main frequency
are used to monitor the induction motor. Nonetheless, the
current f
hsb
, which is at (1 + 2s)f
s
frequency, is highly
depending of the equivalent rotor inertia. So, its amplitude
decreases when the inertia increases. But the current conrmes
the presence of a rotor problem. Thus, investigation are
necessary to make an effective diagnostic.
V. SIMULATION RESULTS
The Double Star Induction Motor studied is a 1.3 MW
power rate machine. This one is fed by a two three-phase
balanced voltage supply. We have restricted our study to the
case of rotor bars defect. In order to simulate the faulty bar, we
increase the value of the rotor resistance in one rotor phase.
We present in gure 6 the stator current of the induction
motor in case of rotor defect. One can see the magnitude of
this signal is modulated. It is a proof of the presence of rotor
fault. Moreover, as we have above-mentioned, a torque ripple
appears at twice the slip frequency. Thus, the rotor velocity in
case of rotor fault have a modulation too. We have presented
the velocity in the gure 7.
Stator current (A)
Time (s)
-600
-300
0
300
600
50 50.25 50.5 50.75 51
Fig. 6. Stator current in case of rotor defect
Rotor velocity (rad/s)
Time (s)
38.95
38.955
38.96
38.965
38.97
50 50.5 51 51.5 52 52.5
Fig. 7. Rotor velocity in case of rotor bar defect
Spectral density (dB)
Frequency (Hz)
|Il| (dB)
(1 2s)f
s
(1 + 2s)f
s
|Is| (dB)
-80
-60
-40
-20
0
48 48.5 49 49.5 50 50.5 51 51.5 52
Fig. 8. Stator current spectral density
In order to monitor the process, we present in gure 8 the
spectral result of the stator current using the FFT method. As
we can see, two lines appear in this gure. The motor operates
at the nominal rate in our case. The ratio between the line
current Is and the current at the frequency (1 s)f
s
(il) is
approximatively equal to 40 dB. Consequently, the ratio n/N
is approximatively equal to 1%. The slip is close to 0.78 %
and the sidebands are located at the frequency of 49.22 Hz
and 50.78 Hz respectively. The sampling time of the current
acquisition is 1 kHz and the length is a power of two (2
17
).
The frequency resolution of the spectrum is f = 0.76mHz.
The spectrum is obtained using a weighting function.
201
VI. CONCLUSION
This paper presents a dedicated model to the monitor of a
double star induction motor. According to the study, we are
able to detect a faulty rotor thanks to the spectrum of the stator
current. Thanks to sidebands introduced in the main line by
the rotor fault, the monitoring current spectral analysis allows
to detect rotor defects. Moreover, we are able to estimate the
severity of the rotor defect. This diagnosis method is easier
when the motor operates under nominal condition. Under
no load, the rotor cage carries few currents. Consequently,
lines appear again but the slip is near to zero. Thus, lines
at the neighborhood of the main current are very difcult to
distinguish to each others. Further works are to validate them
with experimental results using a double star induction motor.
It needs a special induction motor allowing to have broken
bars. Developments are in progress to proof the effectiveness
of this approach by experimental results.
VII. ACKNOWLEDGMENT
This research has been supported by the GREEN labora-
tory at University Henri Poincar e, Villers-les-Nancy, France,
UFCG/Brazil and by CAPES-COFECUB/Brazil.
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TABLE I
SYMBOLS
R
s
: Stator resistance
L
ls
: Stator leakage inductance
L
sr
: Mutual inductance
L
ms
: Magnetizing inductance
L
lr
: Rotor leakage inductance
L
mr
: Magnetizing inductance
R
r
: Rotor resistance
M : Magnetizing inductance referred to the stator
Ls : Stator inductance
Lr : Rotor inductance referred to the stator
s : Slip
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202