Abstract
In the case of failure of one or more components of a drive system, the emergency shutdown of the system is not always the best way to act. Therefore, simultaneous reconfiguration of the drive control strategy is mandatory to enable an uninterrupted operation to cater for the catastrophic failure. In this context, this paper presents a current sensors fault-tolerant control method for induction motor drives, based on vector control and currents estimation. Several important issues are considered in the proposed method, namely, the detection of sensors failure, isolation of the faulty sensors, and reconfiguration of the control system by proper currents estimation. A new adaptation of the Luenberger observer is proposed and used to perform the task of stator currents estimation. Furthermore, a developed logic circuit is used to detect the faulty current sensors and isolate them with simultaneous generation of logic impulses allowing switching to a proper estimation. The proposed fault-tolerant control strategy is firstly tested in MATLAB/Simulink environment in order to illustrate its high-performance. Then, several experimental tests are carried out on a 1.1 kW three-phase induction motor to validate the theoretical results and to confirm the effectiveness of the proposed algorithm.
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Abbreviations
- V dc :
-
DC-link voltage
- V s :
-
Three phases stator voltages
- \( I_{a} \), \( I_{b} \), \( I_{c} \) :
-
\( \left( {a,b,c} \right) \) Axis stator currents
- \( V_{sd} \), \( V_{sq} \) :
-
\( \left( {d,q} \right) \) Axis stator voltages
- \( I_{sd} \), \( I_{sq} \) :
-
\( \left( {d,q} \right) \) Axis stator currents
- \( \varphi_{rd} \), \( \varphi_{rq} \) :
-
\( \left( {d,q} \right) \) Axis rotor fluxes
- \( \tau_{s} , \tau_{r} \) :
-
Stator and rotor time constants
- \( V_{s\alpha } \), \( V_{s\beta } \) :
-
\( \left( {\alpha ,\beta } \right) \) Axis stator voltages
- \( I_{s\alpha } \), \( I_{s\beta } \) :
-
\( \left( {\alpha ,\beta } \right) \) Axis stator currents
- \( \widehat{{I_{s\alpha } }}, \widehat{{I_{s\beta } }} \) :
-
\( \left( {\alpha ,\beta } \right) \) Axis estimated stator currents
- \( \varphi_{r\alpha } \), \( \varphi_{r\beta } \) :
-
\( \left( {\alpha ,\beta } \right) \) Axis rotor fluxes
- \( \widehat{{\varphi_{r\alpha } }}, \widehat{{\varphi_{r\beta } }} \) :
-
\( \left( {\alpha ,\beta } \right) \) Axis estimated rotor fluxes
- \( \varphi_{r} \) :
-
Rotor flux magnitude
- \( \omega_{s} \) :
-
Synchronous speed
- \( \omega_{r} \) :
-
Rotor angular speed
- \( \omega_{e} \) :
-
Electrical angular speed
- \( \varOmega_{r} \) :
-
Mechanical speed
- \( T_{\text{e}} \), \( T_{\text{l}} \) :
-
Electromagnetic and load torques
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Acknowledgements
This work has been achieved within the framework of CE2I project (Convertisseur d’Energie Intégré Intelligent). CE2I is co-financed by European Union with the financial support of the European Regional Development Fund (ERDF), French State and the French Region of Hauts-de-France. As well, this work was supported by the European Regional Development Fund (ERDF) through the Operational Programme for Competitiveness and Internationalization (COMPETE 2020), under Project POCI-01-0145-FEDER-029494, by National Funds through the FCT—Portuguese Foundation for Science and Technology, under Projects PTDC/EEI-EEE/29494/2017, UIDB/04131/2020, and UIDP/04131/2020.
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Appendices
Appendix A
Appendix B
MAX | \( \left| {\Delta I} \right| \) at TR | \( \left| {\Delta I} \right| \) at CR | \( \left| {\Delta I} \right| \) | |
---|---|---|---|---|
Threshold determination | ||||
\( T_{\text{L}} = 0\,{\text{N}}\;{\text{m}} \); \( \omega_{r} = 105 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.315 | 0.265 | \( \left| {\Delta I_{a} } \right| < 0.35 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.319 | 0.271 | \( \left| {\Delta I_{b} } \right| < 0.35 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.323 | 0.269 | \( \left| {\Delta I_{c} } \right| < 0.35 \) | |
\( T_{\text{L}} = 2\,{\text{N}}\,{\text{m}} \); \( \omega_{r} = 105 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.306 | 0.249 | \( \left| {\Delta I_{a} } \right| < 0.35 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.348 | 0.257 | \( \left| {\Delta I_{b} } \right| < 0.35 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.361 | 0.284 | \( \left| {\Delta I_{c} } \right| < 0.40 \) |
MAX | \( \left| {\Delta I} \right| \) en TR | \( \left| {\Delta I} \right| \) at CR | \( \left| {\Delta I} \right| \) | |
---|---|---|---|---|
\( T_{\text{L}} = 5 \,{\text{N}}\;{\text{m}} \); \( \omega_{r} = 105 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.326 | 0.214 | \( \left| {\Delta I_{a} } \right| < 0.35 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.312 | 0.234 | \( \left| {\Delta I_{b} } \right| < 0.35 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.334 | 0.229 | \( \left| {\Delta I_{c} } \right| < 0.35 \) | |
\( T_{\text{L}} = 0\, {\text{N}}\,{\text{m}} \); \( \omega_{r} = 21 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.348 | 0.265 | \( \left| {\Delta I_{a} } \right| < 0.35 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.315 | 0.2612 | \( \left| {\Delta I_{b} } \right| < 0.35 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.387 | 0.239 | \( \left| {\Delta I_{c} } \right| < 0.35 \) | |
\( T_{\text{L}} = 2\, {\text{N}}\;{\text{m}} \); \( \omega_{r} = 21 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.379 | 0.281 | \( \left| {\Delta I_{a} } \right| < 0.40 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.366 | 0.272 | \( \left| {\Delta I_{b} } \right| < 0.40 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.328 | 0.233 | \( \left| {\Delta I_{c} } \right| < 0.35 \) | |
\( T_{\text{L}} = 5 \,{\text{N}}\;{\text{m}} \); \( \omega_{r} = 21 \,{\text{rad/s}} \) | ||||
\( \left| {\Delta I_{a} } \right| \) | 0.364 | 0.251 | \( \left| {\Delta I_{a} } \right| < 0.40 \) | \( {\text{Th}} = 0.45 \) |
\( \left| {\Delta I_{b} } \right| \) | 0.337 | 0.278 | \( \left| {\Delta I_{b} } \right| < 0.35 \) | |
\( \left| {\Delta I_{c} } \right| \) | 0.346 | 0.250 | \( \left| {\Delta I_{c} } \right| < 0.35 \) |
Appendix C
Comparison between the suggested method and relevant methods over the last 10 years
[26] | [28] | [27] | [51] | Suggested method | |||
---|---|---|---|---|---|---|---|
Failure succession in the different sensors | Unsuitable to detect | Unsuitable to detect | Suitable to detect | Suitable to detect | Suitable to detect | Suitable to detect | Suitable to detect |
Number of current estimators | 3 | 3 | 3 | 0 | 0 | 1 | 1 |
Number of used current sensors | 2 | 1 | 1 | 0 | 0 | 0 | 0 |
Number of controllers | 1 | 1 | 1 | 4 | 3 | 1 | 1 |
Considered sensor faults | Complete outage | Complete outage and gain fault | Complete outage and gain fault | Complete outage and gain fault | Complete outage and gain fault | Complete outage and gain fault | Complete outage, gain fault, and offset |
Sensitive to parametric variation | Sensitive | Sensitive | Sensitive | Sensitive | Sensitive | Sensitive | Insensitive except in high temperature operation |
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Azzoug, Y., Sahraoui, M., Pusca, R. et al. Current sensors fault detection and tolerant control strategy for three-phase induction motor drives. Electr Eng 103, 881–898 (2021). https://doi.org/10.1007/s00202-020-01120-5
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DOI: https://doi.org/10.1007/s00202-020-01120-5