Escolar Documentos
Profissional Documentos
Cultura Documentos
3, JUNE 2003
AbstractThis paper presents a new model of asynchronous circuits in the stator windings) this assumption is no longer true.
machines. This model allows one to take into account unbalanced It is, thus, impossible to use the Park model as a faulty operation
stator situations which can be produced by stator faults like short model to isolate and identify faults.
circuits in windings. A mathematical transformation is defined and
applied to the classical model equations. All parameters which From this statement of facts, many authors have tried recently
affect this new model can be known online. This makes the model to determine faulty operation models of electrical induction mo-
very useful for control algorithms and fault detection and isolation tors [9][11]. Classically, they used circuit-oriented approaches
algorithms. The model is checked by comparing simulation data in order to describe very precisely the machine behavior. These
with actual data obtained from laboratory experiments. models allow one to simulate the motor under faulty situations
Index TermsFault detection and isolation (FDI), induction ma- and to analyze the effect of the faults. However, the arising
chine, modeling, Park model. models are very complex (hundreds of variables and parame-
ters) and are not usable for real-time FDI algorithms.
I. INTRODUCTION The model [6], [7] is another classical model of induction
motors. This model is obtained using the motors physical prop-
its low cost, robustness, and high performance which may be tances, mutual inductances) depend on the angular position be-
achieved thanks to the development of new control laws and tween the stator and the rotor. In fact, the model equations
control devices. However, most control algorithms become are expressed in two different coordinate systems. Part of them
ineffective and even dangerous when faults occur. For security are in the fixed coordinate system (stator equations), and part are
and economic reasons, the implementation of a fault detection in the rotating coordinate system (rotor equations). During ro-
and identification (FDI) layer is needed. tation, the relative motion between the two coordinate systems
The general principle of model-based FDI approaches is to is the cause of changes in the electrical parameters. In practical
compare the expected behavior of the system, given by a model, applications, this relative motion is not known and the parame-
with its actual behavior [1], [2]. Two kinds of models may be ters cannot be computed online. This makes the model very
used, depending on the objectives of the FDI procedure. The difficult to use in control and FDI.
normal operation model represents the system in normal situ- Thus, to the authors knowledge, there is no induction ma-
ations, when no fault is present. Procedures based on the normal chine model which can be used altogether for FDI. The contribu-
operation model are able only to detect faults. The faulty op- tion of this paper is a new model, which is derived directly from
eration model represents the system in faulty situations, taking the model without any additional assumption, and which
explicitly into account the influence of the faults. This model is does not suffer from the above-mentioned drawback.
used when the objectives are to isolate and to identify the faults. Considering that the influence between the stator and the
Many results have been reported concerning FDI of asyn- rotor is related to the magnetic field, a new transformation func-
chronous motors [3][5]. Most of them use the classical Park tion is introduced, which gives the rotor current and magnetic
model (or other transformed models like Clarks model, for in- flux the same frequency as the stator current and magnetic flux,
stance) [6][8]. This well-known model is a normal operation respectively. This means that, using this transformation, all the
one which is classically used for the design of control laws. The motor variables are in the stator coordinate system. The elec-
Park transformation rests on the assumption that the machine trical parameters (inductances, mutual inductances) no longer
is balanced. Unfortunatly, when internal faults occur (like short depend on the relative position between the stator and the rotor.
Since only rotor variables are transformed, the stator variables
Manuscript received May 21, 2001; revised December 11, 2002. Abstract are not modified, and the new model can be used when the stator
published on the Internet March 4, 2003. parameters are unbalanced. It follows that the new model can be
X. Chang was with the LAIL UMR CNRS 8021, Bt P2, Universit des used for stator FDI.
Sciences et Technologies de Lille, 59655 Villeneuve dAscq Cedex, France,
on leave from the Department of Electrical Engineering, North China Electric This paper is organized as follows. Section II reviews the
Power University, Baoding City, China. model of an induction motor. It is shown how stator faults can
V. Cocquempot and C. Christophe are with the LAIL UMR CNRS 8021, Bt be taken into account in this model. Section III presents a math-
P2, Universit des Sciences et Technologies de Lille, 59655 Villeneuve dAscq
Cedex, France (e-mail: vincent.cocquempot@univ-lille1.fr). ematical transformation which allows to obtain a new model in
Digital Object Identifier 10.1109/TIE.2003.812471 the frame whose parameters are all online computable. A
0278-0046/03$17.00 2003 IEEE
CHANG et al.: MODEL OF ASYNCHRONOUS MACHINES FOR STATOR FDI 579
comparison between actual data taken from an experiment and is the mutual inductance matrix which expresses
data obtained from a simulation of the new model is shown in the influence of the rotor currents on the stator magnetic
Section IV. Finally, some concluding remarks end this paper. linkage, and is the mutual inductance matrix which
expresses the influence of the stator currents on the rotor
II. MODEL OF AN ASYNCHRONOUS MACHINE magnetic linkage. The following property holds:
A. General Model Description
The following classical assumptions are considered [6], [7].
The mutual inductance between rotor and stator depends
1) The machine is balanced in normal operation. The stator
on the relative position between them. Let be the angle
(rotor) windings are equally distanced at the angle .
between stator phase and rotor phase . The stator and
2) The magnetic flux distribution is sinusoidal along the air
rotor relative position can be expressed by a function of ,
gap.
which changes periodically with the rotor rotation.
3) Voltages and currents are sinusoidal.
4) The influence of notches and teeth is neglected. is defined by
5) The pellicular effect is neglected.
6) All mutual magnetic fluxes cross the same magnetic
circuit.
7) The machine is operating at an unsaturated point. where is the slip factor, is the stator
According to basic circuit theory, the induction machine frequency, and is the electric frequency of the machine.
model can be expressed by the following four equations [6],
[7]: B. Fault Definition
The stator parameters values depend directly on the number
(1) of windings of each phase , , and . Normally, by construc-
(2) tion, this number is the same for the three turns and the stator is
(3) said to be balanced. When a short circuit between stator turns
occurs in a given phase, the corresponding number of windings
(4)
will decrease. The three numbers of windings become different
where is the differential operator and and the stator is said to be unbalanced. Considering this kind of
fault leads to expressing each stator parameter in the model
as a function of the three numbers of windings or equivalently as
a function of the three percentages of short-circuited windings.
Let , , and be the percentages of short-circuited
are the stator voltage vector, stator current vector, and rotor cur- windings in the stator phases , , and , respectively.
rent vector, respectively. Define the phase fault coefficients
and denotes the stator and rotor flux variables. These
two vectors are classically split into two parts
Clearly, the stator faults have a direct influence on the stator The transformation is given by the matrix
parameters (resistances, leakage inductances, and mutual induc-
tances between phases) and on the mutual inductances between
the stator and the rotor ( and ).
By taking the expression of each parameter in function of
the number of windings in each turn, it can be easily proven with , , and as defined by (5).
that, considering the faults , and , the stator parameter It can easily be proven that this matrix is orthogonal, i.e.,
matrices are
leads to
(6)
Using , the angle between stator phase and rotor phase ,
the mutual inductance matrices and are where
with
where
which is equivalent to
(8)
(9)
where
(10)
which is equivalent to
Fig. 2. Actual and simulated motor currents (balanced stator).
which is equivalent to
which leads to
(12)
(14)
582 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 3, JUNE 2003
(a) (b)
(c)
Fig. 3. 1 i , 1i , and 1i (balanced stator). (a) 1i = i 0 i . (b) 1i = i 0 i . (c) 1i = i 0 i .
(15)
(a) (b)
(c)
Fig. 5. 1 i , 1i and 1i (reduction of 6.25% windings in phase b). (a) 1i = i 0 i . (b) 1i = i 0 i . (c) 1i = i 0 i .
(6.25%). The stator circuit is, thus, unbalanced. To compare the created by equivalent stator currents. The relation between the
simulated currents ( , , and ) with the actual ones ( , equivalent stator currents and the rotor currents can be chosen
, and ), the three errors , , as a transformation which allows one to derive a new model
and are computed and plotted in Figs. 3 (bal- whose parameters are all independent of the unknown relative
anced stator) and 5 (unbalanced stator). These quantities are not position between the stator and the rotor.
exactly equal to zero because of two main reasons. The only additional assumption which has been made to obtain
The model is an approximate one. Some physical ef- the new model is that the rotor remains balanced. No assumption
fects are neglected (see the hypothesis in Section II), is made about the stator circuits. Unbalanced situations in the
The data acquisition system is not perfect and noise cor- stator, due, for instance, to short circuits between turns, may
rupts the measurements. thus be considered.
However, the important fact is that these errors are comparable When the stator is balanced and when there are unbalanced
in normal and faulty situations. Therefore, the presented results stator parameters, the simulation results completely agree with
show clearly the validity of the new model. These results have the data obtained by actual laboratory experimentation.
to be compared with simulations of the classical model (or This new model is very simple and can be expressed in state-
the Park model). When the stator is balanced, the classical space form. It provides many application potentials, both for the
model gives, of course, the same simulated data as the new control and the supervision of unbalanced motors.
model. When the stator is unbalanced, the classical model
behavior does not fit the actual behavior at all.
REFERENCES
V. CONCLUSION [1] P. M. Frank, Fault diagnosis in dynamic systems using analytical and
knowledge-based redundancyA survey and some new results, Auto-
The parameters in the original induction machine model matica, vol. 26, no. 3, pp. 459474, 1990.
[2] R. J. Patton, Robust model based fault diagnosis: The state of the art,
vary according to the relative position between the stator and the in Proc. Safeprocess, vol. 1, Helsinki, Finland, June 1994, pp. 123.
rotor, since the model variables are in two different coordinate [3] C. Christophe, V. Cocquempot, and M. Staroswiecki, Robust residual
systems which are in relative motion. The influence between generation for induction motors using elimination theory, in Proc. IEEE
SDEMPED, Gijn, Spain, Sept. 1999, pp. 551556.
the stator and the rotor is related to the magnetic field, which [4] Application of FDI to induction motors, in Proc. Safeprocess, vol. 2,
is created by the rotor currents, and which can be viewed as Budapest, Hungary, June 2000, pp. 11331170.
584 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 3, JUNE 2003
[5] D. Henry, A. Zolghadri, M. Monsion, and F. Cazaurang, Fault diagnosis Vincent Cocquempot was born in Saint-Omer,
in induction machines using the generalized structured singular value, France, in 1966. He received the Ph.D. degree in
Control Eng. Practice, vol. 10, no. 6, pp. 587598, June 2002. automatic control from the University of Lille, Lille,
[6] G. Seguier and F. Notelet, Electrotechnique Industriellle, ser. Technique France, in 1993.
& Documentation. Paris, France: Lavoisier Editions, 1994. He is currently a Lecturer in automatic control
[7] W. Leonhart, Control of Electrical Drives. Berlin, Germany: Springer- and computer science at the Institut Universitaire de
Verlag, 1995. Technologies de Lille, France, and conducts research
[8] E. Schaeffer, Diagnostic des machines asynchrones: Modles et outils in the LAIL-CNRS, a laboratory of the Universit
paramtriques ddis la simulation et la dtection de dfauts, Ph.D. des Sciences et Technologies de Lille, Villeneuve
dissertation, Univ. Nantes 6, Nantes, France, 1999. dAscq, France. His research interests are robust
[9] K. Konan, H. Hnao, G. A. Capolino, and M. Fernadez-Cabanas, A fault diagnosis for uncertain dynamic nonlinear
new stator model to study induction machin winding short-circuits, in systems, in particular, for electrical drives applications.
Proc. ICEM98, vol. 3, Istanbul, Turkey, Sept. 1988, pp. 15161521.
[10] H. H. Hnao, G. A. Capolino, and M. Poloujadoff, A circuit-oriented
model of induction machine for diagnostics, in Proc. IEEE SDEMPED,
Carry-le-Rouet, France, Sept. 1997, pp. 185190.
[11] H. A. Toliyat and T. A. Lipo, Transient analysis of cage induction ma-
chines under stator, rotor bar and end ring faults, IEEE Trans. Energy
Conversion, vol. 10, pp. 241247, June 1995.
[12] S. Moreau, Contribution la modlization et lestimation paramtrique
des machineslectriques courant alternatif: Application au diagnostic,
Ph.D. dissertation, Univ. Poitier, Poitier, France, 1999.