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Speed sensorless fault-tolerant control of induction motor drives against current sensor fault

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Abstract

Current sensors are needed in conventional field-oriented control (FOC) in 3-phase induction motor (3-PIM) drives. Nevertheless, these sensors are exposed to different faults which reduce the reliability of drive systems. To solve this problem, a current sensor fault-tolerant control (FTC) for 3-PIM drives without speed measurement is proposed in this paper. In the proposed scheme, a sensorless FOC strategy based on open-loop speed estimator is utilized for normal condition. A third-difference operator performs the task of fault detection and isolation (FDI). After FDI, a sensorless FOC strategy based on extended Kalman filter (EKF) is used for the faulty condition. In this paper, the EKF is used for stator currents and speed estimation during post-fault operation. Such scheme is appropriate for sensorless 3-PIM drives to increase safety and reliability of the system, in the case of current sensor fault. The proposed FTC scheme is experimented for a 1HP 3-PIM drive system through a DSP/TMS320F28335. The experimental results show that the proposed FTC system can accurately and effectively control the 3-PIM during both healthy and faulty conditions.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Gorgan Branch, Islamic Azad University, Gorgan, Iran

    Azizollah Gholipour, Mahmood Ghanbari, Esmaeil Alibeiki & Mohammad Jannati

  2. Department of Electrical Engineering, Aliabad Katoul Branch, Islamic Azad University, Aliabad Katoul, Iran

    Esmaeil Alibeiki

Authors
  1. Azizollah Gholipour
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  2. Mahmood Ghanbari
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  3. Esmaeil Alibeiki
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  4. Mohammad Jannati
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Correspondence to Mahmood Ghanbari.

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Appendices

Appendix A

Parameters and nominal values of the 3-PIM

Stator resistance

Rotor resistance

Stator and rotor self-inductances

Mutual inductance

Number of pole pairs

Moment of inertia

Viscous friction coefficient

Nominal torque

Nominal voltage

Nominal power

10.44Ω

14.64Ω

0.6067H

0.597H

2

0.016 kg.m2

0.001 N.m.s

5.1 N.m

400 V

1HP

Controller parameters

Speed PI controller

Current PI controller (d-axis)

Current PI controller (q-axis)

Reference rotor flux

Threshold

\( \begin{aligned} K_{p} = 80\frac{A}{{\left( {{\text{rad}}/s} \right)}} \hfill \\ K_{i} = 120\frac{A}{{\left( {{\text{rad}}/s} \right)}} \hfill \\ \end{aligned} \)

\( \begin{aligned} K_{p} = 2\frac{V}{A} \hfill \\ K_{i} = 11\frac{V}{A} \hfill \\ \end{aligned} \)

\( \begin{aligned} K_{p} = 2\frac{V}{A} \hfill \\ K_{i} = 11\frac{V}{A} \hfill \\ \end{aligned} \)

1wb

0.7A

Appendix B

The dq mutual fluxes can be expressed by (54) and (55) [28]:

$$ \varphi_{d}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\varphi_{ds}^{e} + \frac{{I_{m1} }}{{I_{lr} }}\varphi_{dr}^{e} \Rightarrow p\varphi_{d}^{e} = \frac{{I_{m1} }}{{I_{ls} }}p\varphi_{ds}^{e} + \frac{{I_{m1} }}{{I_{lr} }}p\varphi_{dr}^{e} $$
(54)
$$ \varphi_{q}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\varphi_{qs}^{e} + \frac{{I_{m1} }}{{I_{lr} }}\varphi_{qr}^{e} \Rightarrow p\varphi_{q}^{e} = \frac{{I_{m1} }}{{I_{ls} }}p\varphi_{qs}^{e} + \frac{{I_{m1} }}{{I_{lr} }}p\varphi_{qr}^{e} $$
(55)

Based on (30)–(33), (54), and (55), the following equations can be written:

$$ p\varphi_{d}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\left( { - \frac{{r_{s} }}{{I_{ls} }}\varphi_{ds}^{e} + \varOmega_{e} \varphi_{qs}^{e} + \frac{{r_{s} }}{{I_{ls} }}\varphi_{d}^{e} + v_{ds}^{e} } \right) + \frac{{I_{m1} }}{{I_{lr} }}\left( { - \frac{{r_{r} }}{{I_{lr} }}\varphi_{dr}^{e} + \left( {\varOmega_{e} - \varOmega_{r} } \right)\varphi_{qr}^{e} + \frac{{r_{r} }}{{I_{lr} }}\varphi_{d}^{e} } \right) $$
(56)
$$ p\varphi_{q}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\left( { - \frac{{r_{s} }}{{I_{ls} }}\varphi_{qs}^{e} - \varOmega_{e} \varphi_{ds}^{e} + \frac{{r_{s} }}{{I_{ls} }}\varphi_{q}^{e} + v_{qs}^{e} } \right) + \frac{{I_{m1} }}{{I_{lr} }}\left( { - \frac{{r_{r} }}{{I_{lr} }}\varphi_{qr}^{e} - \left( {\varOmega_{e} - \varOmega_{r} } \right)\varphi_{dr}^{e} + \frac{{r_{r} }}{{I_{lr} }}\varphi_{q}^{e} } \right) $$
(57)

The stator dq currents in terms of dq fluxes can be written as [28]:

$$ c_{ds}^{e} = \frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }} $$
(58)
$$ c_{qs}^{e} = \frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }} $$
(59)

Based on the 3-PIM model, (58), and (59), the rotor dq fluxes can be expressed by (60) and (61):

$$ \varphi_{dr}^{e} = I_{m} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{ds}^{e} - I_{s} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right) $$
(60)
$$ \varphi_{qr}^{e} = I_{m} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{qs}^{e} - I_{s} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right) $$
(61)

Finally, based on (56), (57), (60), (61), the following equations can be written:

$$ \begin{aligned} p\varphi_{d}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\left( { - \frac{{r_{s} }}{{I_{ls} }}\varphi_{ds}^{e} + \varOmega_{e} \varphi_{qs}^{e} + \frac{{r_{s} }}{{I_{ls} }}\varphi_{d}^{e} + v_{ds}^{e} } \right) + \hfill \\ \frac{{I_{m1} }}{{I_{lr} }}\left( \begin{aligned} - \frac{{r_{r} }}{{I_{lr} }}\left( {I_{m} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{ds}^{e} - I_{s} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right)} \right) + \hfill \\ \left( {\varOmega_{e} - \varOmega_{r} } \right)\left( {I_{m} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{qs}^{e} - I_{s} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right)} \right) + \frac{{r_{r} }}{{I_{lr} }}\varphi_{d}^{e} \hfill \\ \end{aligned} \right) \hfill \\ \end{aligned} $$
(62)
$$ \begin{aligned} p\varphi_{q}^{e} = \frac{{I_{m1} }}{{I_{ls} }}\left( { - \frac{{r_{s} }}{{I_{ls} }}\varphi_{qs}^{e} - \varOmega_{e} \varphi_{ds}^{e} + \frac{{r_{s} }}{{I_{ls} }}\varphi_{q}^{e} + v_{qs}^{e} } \right) + \hfill \\ \frac{{I_{m1} }}{{I_{lr} }}\left( \begin{aligned} - \frac{{r_{r} }}{{I_{lr} }}\left( {I_{m} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{qs}^{e} - I_{s} \left( {\frac{{\varphi_{qs}^{e} - \varphi_{q}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right)} \right) - \hfill \\ \left( {\varOmega_{e} - \varOmega_{r} } \right)\left( {I_{m} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right) + I_{r} \left( {\frac{{\varphi_{ds}^{e} - I_{s} \left( {\frac{{\varphi_{ds}^{e} - \varphi_{d}^{e} }}{{I_{ls} }}} \right)}}{{I_{m} }}} \right)} \right) + \frac{{r_{r} }}{{I_{lr} }}\varphi_{q}^{e} \hfill \\ \end{aligned} \right) \hfill \\ \end{aligned} $$
(63)

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Gholipour, A., Ghanbari, M., Alibeiki, E. et al. Speed sensorless fault-tolerant control of induction motor drives against current sensor fault. Electr Eng 103, 1493–1513 (2021). https://doi.org/10.1007/s00202-020-01179-0

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