Beruflich Dokumente
Kultur Dokumente
3, MARCH 2015
1943
L IST OF S YMBOLS
vs , vs
is , is
is , is
is_est, is _est
is_est, is _est
isd , isq
r , r
r , r , rest
sl
Rs
Ls , Lr
Lm
ia , ib
ms
Manuscript received December 17, 2013; revised March 23, 2014 and
April 20, 2014; accepted April 23, 2014. Date of publication August 5,
2014; date of current version February 6, 2015.
The authors are with the Department of Electrical Engineering, Indian Institute of Technology (IIT) Kharagpur, Kharagpur 721302, India
(e-mail: chakraborty@ieee.org; vimlesh@ee.iitkgp.ernet.in).
Color versions of one or more of the figures in this paper are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2014.2345337
I. I NTRODUCTION
0278-0046 2014 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
1944
reduced number of adaptive observers. In [25], an observerbased fault-tolerant algorithm for a single-phase pulse width
modulation (PWM) rectifier is proposed. None of these methods work in case of multiple sensor failures with seamless
transfer from sensor-based (i.e., with sensor) to sensorless (i.e.,
without sensor) configuration.
In [8], [10], [12], [21], [26], and [27], a decision block is
used, which changes the control strategies, depending on the
detection of sensor faults (current and speed). In [8] and [12],
the control reorganization is carried out by a fuzzy decision,
which assures a smooth transition from the encoder-based
(using sliding mode) to the sensorless controller (utilizing fuzzy
control). All these approaches sacrifice field orientation when
fault occurs and hence offer poor dynamic performance.
In [6], [7], and [20], neural network/fuzzy logic technique
is used to identify and isolate the faulty sensor. In [6] and
[7], artificial neural network is trained with the help of data
obtained from phase voltages, phase currents, rotor speed,
measured torque, power (per phase), and reference magnitude
of dc supply. The implementation is difficult, and also, such
techniques cannot be used for retrofit applications. In [20],
diagnosis of sensor failure is carried out with the help of fuzzy
inference.
The detection and isolation of speed sensor failure are also
reported in [13], [22], and [24]. In [13], fuzzy logic is used to
detect the faulty speed sensor. In [22] and [24], fault-tolerant
control is based on maximum-likelihood voting (MLV) that
uses the actual speed and estimated speed (obtained using
the EKF and Luenberger observer). In [19], a parity space
(PS) approach is used to identify and isolate the faulty sensor.
Reconfiguration of control is not possible as no estimation is
performed. Fault-tolerant drive for multiple sensor failure is
also proposed [11]. However, this is at the cost of an additional
sensor at the dc link. In [15], a programmable logic controller
(PLC) based protection and monitoring method for three-phase
IM is present. A survey on different types of faults in variable
speed drives is reported [14].
Permanent-magnet synchronous machines (PMSMs) have
smaller size and high power density (compared to IM), and
doubly fed induction machines (DFIMs) allow the converter
to be put in the rotor side handling only slip power. Observerbased methods are also used to make DFIM and PMSM fault
tolerant [28][36].
This paper proposes a new fault detection, isolation, and
compensation technique to make the IM drive fault tolerant
against current and speed sensor failures. The compensation
for current and speed needs a method of estimation. A new
concept of vector rotation to identify the faulty current sensor
is introduced. A logic-based detection mechanism in the
reference frame is proposed to make the drive fault tolerant
against current sensor failures. The speed estimation is carried
out by modifying a recently proposed model reference adaptive
system (MRAS)-based technique [37]. This paper is divided
into six sections. Section I deals with the literature review on
various fault detection and isolation approaches. The proposed
fault detection and isolation algorithms for current and speed
sensor failure are discussed in Sections II and III, respectively. Simulation and experimental results are presented in
Fig. 1.
Fig. 2.
CHAKRABORTY AND VERMA: SPEED AND CURRENT SENSOR FAULT DETECTION AND ISOLATION TECHNIQUE
Fig. 3.
Fig. 4.
corresponding relation for the conversion of three-phase to twophase current is shown in (2).
3
0
ia
is
2
=
(2)
is
ib
3 23
Note that, for a fault in a-phase, it will offer a healthy measurement of -phase, whereas -phase will now provide the
wrong data. Therefore, depending on a fault either in b-phase or
a-phase, the use of a proper transformation (either considering
that -phase is along a-phase or -phase is along b-phase) will
provide us the true estimate of the corresponding -phase current. Fault detection can only be carried out if a correct estimate
is available. Currents may also be estimated in a two-phase
stationary reference frame, with the help of reference values
of d- and q-axes currents (i.e., isd and isq ) as shown in (3). The
corresponding phasor diagram is presented in Fig. 3. Equation
(3) is derived assuming that -phase is aligned along a-phase.
is_est
cos ms sin ms
isd
=
(3)
is _est
sin ms
cos ms
isq
If -phase is aligned along b-phase, then the estimated value
of current is obtained as shown in (4), and the corresponding
phasor diagram is presented in Fig. 4.
is_est
sin(30 ms ) cos(30 ms ) isd
=
(4)
is _est
cos(30 ms ) sin(30 ms ) isq
Using the actual measurement of a- and b- phase currents and
the corresponding reference-magnitude of the same in the (d, q)
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Fig. 5.
Fig. 6.
Switch.
a phase loss, the field orientation is lost, and hence, the q-axes
flux can be checked to make a correct decision.
III. S PEED S ENSOR FAULT D ETECTION A LGORITHM
The speed estimation is based on a recently proposed
X-MRAS-based method [37]. However, the approach is suitably modified to make it appropriate for fault detection and
isolation. The structure of X-MRAS for speed estimation is
shown in Fig. 9. The fictitious quantity X in the reference model
(5)
Xs = vsq
isd
(6)
vsd
isq
The logic circuit for the fault detection and isolation of the
speed sensor is shown in Fig. 10. Note that the proposed fault
tolerant control can work for all the speed estimation techniques
formulated for vector-controlled drives. Here, MRAS is considered only as an example. Similar to the discussion (presented in
Section II) for deciding the magnitude of the current threshold,
the selection of the speed threshold (to identify the speed sensor
faults) is important. Here, an adaptive threshold of 2% of the
reference speed is considered satisfactory for the speed loop.
The proportionalintegral (PI) controllers used in the current
and speed loop may get saturated in case the motor has to
develop a rated speed from start (with rated torque) or during
operation in field-weakening mode. The estimated magnitude
of current and speed will deviate from the actual variables.
Under such circumstances, an antiwindup controller may be
implemented, or the fault-tolerant controller may be disabled
until the speed and current controllers come out of saturation.
CHAKRABORTY AND VERMA: SPEED AND CURRENT SENSOR FAULT DETECTION AND ISOLATION TECHNIQUE
Fig. 8.
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Logic circuit for current sensor fault detection, isolation, and compensation.
TABLE I
I DENTIFICATION OF FAULTY S ENSOR D EPENDING
ON O UTPUT OF SR L ATCH
Fig. 10.
considerably during the operation. The influence of stator resistance is prominent at low speed, and hence, performance at
low speed is highlighted here.
A. Performance of the Proposed Fault-Tolerant Algorithm
for Vector-Controlled IM Drive When One of the Two
Current Sensors Is Faulty and Speed Sensor Is Healthy
Fig. 9.
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Fig. 12. Simulation results when speed sensor fails. (a) Reference and
actual speed. (b) Actual and estimated speed. (c) Rotor flux. (d) Output
of SR latch.
Fig. 11. Simulation results under fault in b-phase sensor. (a) Reference
and actual rotor speed. (b) Rotor flux. (c) -phase current. (d) -phase
current. (e) Output of SR latch.
given in Table II. The results obtained from the simulation are
presented here.
Initially, the system was operating with all healthy sensors,
and at 15 s, the output of the sensor in b-phase is made 0.
At this instant, is will be correct, but is and is are wrong.
Therefore, Z will still be 0, but Y and J become 1. The moment
CHAKRABORTY AND VERMA: SPEED AND CURRENT SENSOR FAULT DETECTION AND ISOLATION TECHNIQUE
1949
Fig. 13. Simulation results when b-phase sensor and speed sensor fail.
(a) Reference and actual rotor speed. (b) Actual and estimated rotor
speed. (c) Rotor flux. (d) -phase current. (e) -phase current. (f) Output
of SR latch.
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Fig. 15.
Fig. 14. Simulation results under step change in rotor resistance and
fault in b-phase current sensor. (a) Reference and actual rotor speed.
(b) Actual and estimated speed. (c) Rotor resistance. (d) -phase
current. (e) -phase current.
The drive is started from rest with both current sensors and
speed sensor healthy. The speed sensor information is assumed
to be lost at 15 s. Under such situation, the controller detects
the fault and shifts from the actual to the estimated speed. The
reference, actual, and estimated values of the speed signals are
shown in Fig. 17(a) and (b). Flux orientation is well maintained
as seen in Fig. 17(c). Fig. 17(d) shows the output state of the
SR latch.
CHAKRABORTY AND VERMA: SPEED AND CURRENT SENSOR FAULT DETECTION AND ISOLATION TECHNIQUE
1951
Fig. 17. Experimental results when speed sensor fails. (a) Reference
and actual speed. (b) Actual and estimated rotor speed. (c) Rotor flux.
(d) Output of SR latch.
Fig. 16. Experimental results under fault in b-phase sensor. (a) Reference and actual rotor speed. (b) Rotor flux. (c) -phase current.
(d) -phase current. (e) Output of SR latch.
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Fig. 18. Experimental results when b-phase sensor and speed sensor
fail. (a) Reference and actual rotor speed. (b) Actual and estimated rotor
speed. (c) Rotor flux. (d) -phase current. (e) -phase current. (f) Output
of SR latch.
CHAKRABORTY AND VERMA: SPEED AND CURRENT SENSOR FAULT DETECTION AND ISOLATION TECHNIQUE
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