Beruflich Dokumente
Kultur Dokumente
6, NOVEMBER/DECEMBER 1998
Abstract— This paper presents an approach based on knowl- This paper investigates the case of faults when the drive
edge models to detect and isolate faults in a pulsewidth mod- continues to operate in faulty conditions. A diagnosis system
ulation inverter supplying a synchronous machine. These faults which uses only the input variables of the drive is presented.
do not affect the system protections. A diagnosis system which
uses only the input variables of the drive is presented. It is It is based on the analysis of the current vector; it is applied to
based on the analysis of the current-vector trajectory and of the a synchronous motor drive. This method has been validated in
instantaneous frequency in faulty mode. These two methods have simulation and successfully implemented on an experimental
been successfully applied to an experimental system. system. The paper is organized as follows.
Index Terms— Knowledge-based fault detection and isolation, 1) In Sections II and III, the system is described and the
pulsewidth modulation inverter. faults and their consequences are studied.
2) Two fault diagnosis approaches are analyzed in Sections
IV and V.
NOMENCLATURE 3) In Section VI, the way the two detection algorithms are
implemented is described.
Electric rotor position.
4) Simulation and experimental results are presented and
Rotor speed.
discussed in VII–IX.
Inverter drive.
Capacitor voltage.
Current reference. II. SYSTEM DESCRIPTION
Speed reference. As shown in Fig. 1, the experimental system is composed
Transistor . of the following:
Phase current measure.
1) a dc supply;
Phase current measure.
2) a pulsewidth modulation (PWM) inverter (inverter fre-
Components of current vector in the Concordia
quency 20 kHz);
frame.
3) a synchronous motor and its mechanical load;
4) speed and current analog controllers;
I. INTRODUCTION 5) a PC equipped with a real-time data acquisition card;
the data treatments are performed off line.
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PEUGET et al.: FAULT DETECTION AND ISOLATION ON A PWM INVERTER BY KNOWLEDGE-BASED MODEL 1319
(1)
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1320 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 34, NO. 6, NOVEMBER/DECEMBER 1998
(a) (b)
(c)
Fig. 3. Current-vector trajectories in faulty modes.
(7)
(8)
(10)
V. METHOD 2: INSTANTANEOUS FREQUENCY ANALYSIS
In the second approach, the instantaneous frequency of the where is the current sampling period.
current vector is used to detect a transistor fault in the inverter. 1) In faulty conditions, according to (10) and to the fact that
The current vector instantaneous frequency is calculated by is proportional to
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PEUGET et al.: FAULT DETECTION AND ISOLATION ON A PWM INVERTER BY KNOWLEDGE-BASED MODEL 1321
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1322 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 34, NO. 6, NOVEMBER/DECEMBER 1998
TABLE I
PARAMETERS OF THE EXPERIMENTAL SYSTEM
Fig. 10. Simulated current trajectory for T5 open and sensor offset on phase
b.
Fig. 11. T5 open and sensor offset on phase b: estimation of the offset
(simulation).
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PEUGET et al.: FAULT DETECTION AND ISOLATION ON A PWM INVERTER BY KNOWLEDGE-BASED MODEL 1323
Fig. 15. T2 open; sensor offset on phase b: estimation of the offset (exper-
imental result).
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1324 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 34, NO. 6, NOVEMBER/DECEMBER 1998
The case considered in Figs. 17 and 18 corresponds to a Fig. 19(a)–(c) shows and motor currents, the instanta-
fault on transistor T3 occurring at ms, without offset neous frequency of the current vector, and the detection result,
on the current sensor, a 20-kHz inverter frequency, and a 70 respectively.
rad/s speed reference. When the fault occurs, the instantaneous frequency of the
Fig. 17(a)–(c) shows the motor currents and , the current vector is periodically equal to zero and the inverter
filtered and sampled and motor currents, and the result of fault is diagnosed.
the detection, respectively. The influence of transistor T3 fault
can be observed at ms; it is isolated at 270 ms. The E. Robustness
current-vector trajectory is presented in Fig. 18 with a ratio To test the robustness of these approaches, we have applied
characteristic of a problem on leg . a load torque step from 7 to 14 N m. The inverter frequency is
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PEUGET et al.: FAULT DETECTION AND ISOLATION ON A PWM INVERTER BY KNOWLEDGE-BASED MODEL 1325
IX. CONCLUSION
In this paper, we have proposed two approaches based
on the analysis of the current vector. The first one is based
on the analysis of the current-vector trajectory to detect and
isolate faults in a PWM inverter and current sensors. All the
faults (transistor and sensor) have been detected and isolated.
The second one estimates the instantaneous frequency of
the current vector; the isolation of the faulty transistors is
impossible. These knowledge-based methods have been tested
in simulation and applied successfully to an experimental
system.
REFERENCES
[1] R. J. Patton, “Robust model-based fault diagnosis: The state of the art,”
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[2] P. M. Franck, “Fault diagnosis in dynamic systems using analytical
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Fig. 21. Response to a speed reference step.
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[3] C. S. Berendsen, G. Rostaing, and G. Champenois, “How to detect and
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[4] C. S. Berendsen, G. Rostaing, G. Champenois, G. Obrecht, and J. Saadi,
“Detection of sensor faults with observer structures in control loops,”
in Proc. IECON’93, 1993, vol. 1, pp. 344–348.
[5] S. Courtine, A. Benamara, and J. P. Rognon, “Perfect and H - 1
optimized fault detection in a DC motor loop,” in Proc. Elelectri-
macs’96, Saint-Nazaire, France, 1996, pp. 599–604.
[6] B. Freyermuth, “Knowledge based incipient fault diagnosis of industrial
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[7] R. Iserman, “Fault diagnosis of machines via parameter estimation and
knowledge processing,” Automatica, vol. 29, no. 4, pp. 815–835, 1993.
[8] L. Zhang, I. B. Aris, and L. N. Hulley, “A knowledge-based system
for on-line fault diagnosis of power inverter circuits for AC machine
drive,” in Proc. EPE’92, 1992, vol. 3, pp. 334–339.
[9] W. S. Lee, D. L. Grosh, F. A. Tillman, and C. H. Lie, “Fault tree
analysis, methods, and applications,” IEEE Trans. Rel., vol. R-34, pp.
194–203, Sept. 1985.
[10] R. Peuget, S. Courtine, and J. P. Rognon, “Fault diagnosis in
Fig. 22. Current-vector trajectory for a speed step. DC/DC converter using fault tree analysis,” in Proc. Int. Symp.
Diagnostics for Electrical Machines, Power Electronics and Drives
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[11] P. Calonnec, T. Derrey, E. Destobbeleer, and L. Protin, “Induction
equal to 20 kHz and the speed reference is equal to 70 rad/s. motors reliability: Use of fault tree,” in Proc. EPE’95, Sevilla, Spain,
In Fig. 20(a), the motor phase current and the estimated 1995, vol. 3, pp. 281–285.
[12] D. Kastha and B. K. Bose, “Investigation of fault modes of voltage-fed
instantaneous frequency of the motor current are presented. inverter system for induction motor,” IEEE Trans. Ind. Applicat., vol.
The first approach with the trajectory of the current vector 30, pp. 1028–1037, July/Aug. 1994.
is not affected by this load torque step. Concerning the second
approach, the estimated frequency of the current vector re-
mains equal to the fundamental frequency during this transient
and there are no false alarms. In a second test, a step change
in the speed reference from 50 to 70 rad/s is applied. The data
acquisition sequence is synchronized to the step. Raphael Peuget received the engineer diploma in
electrical engineering in 1994 and the doctorate
Fig. 21(a) shows , motor currents and current reference degree in 1997 from the Institut National Polytech-
and the estimated frequency of the current vector; Fig. 21(b) nique de Grenoble, Saint Martin d’Hères, France.
He has been an active Member of the Control Re-
shows the fundamental frequency . search Group of the Laboratoire d’Electrotechnique
In Fig. 21, the frequency is well estimated during the de Grenoble, Institut National Polytechnique de
transient, except when the motor current is near zero. To Grenoble. His major field of interest is fault
diagnosis in power electronics converters using
prevent any false alarms, the frequency is estimated only if knowledge-based methods. He currently has an
the absolute value of the current is greater than a threshold. engineering position at Staubli, France.
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1326 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 34, NO. 6, NOVEMBER/DECEMBER 1998
Stéphane Courtine received the engineer diploma Jean-Pierre Rognon received the engineer diploma
in electrical engineering in 1993 and the doctorate in electrical engineering in 1972, the aggregation in
degree in 1997 from the Institut National Polytech- applied physics in 1974, and the habilitation degree
nique de Grenoble, Saint Martin d’Hères, France. in 1988 from the Institut National Polytechnique de
He currently holds a post-doctorate position in Grenoble, Saint Martin d’Hères, France.
the Control Research Group of the Laboratoire He has been with the Electrical Engineering
d’Electrotechnique de Grenoble, Institut National School of the Institut National Polytechnique de
Polytechnique de Grenoble. His major field of in- Grenoble since 1974 and is currently a Professor
terest is safety and reliability of electromechanical of Control and Electrical Engineering. He is also
systems. in charge of the Laboratoire d’Electrotechnique
de Grenoble, Institut National Polytechnique de
Grenoble, and is an active member of the Control Research Group, which
mainly works on vector control of ac machines, robust digital control, and
supervision and fault detection on electromechanical systems.
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