ELECTRIC MACHINES MODELING, CONDITION MONITORING, SEUNGDEOG CHOI HOMAYOUN MESHGIN-KELK AND FAULT DIAGNOSIS HAMID A. TOLIYAT SUBHASIS NANDI

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1 ELECTRIC MACHINES MODELING, CONDITION MONITORING, AND FAULT DIAGNOSIS HAMID A. TOLIYAT SUBHASIS NANDI SEUNGDEOG CHOI HOMAYOUN MESHGIN-KELK CRC Press is an imprint of the Taylor & Francis Croup, an informa business

2 Contents Preface xi 1 Introduction 1 Seungdeog Choi References 8 2 Faults in Induction and Synchronous Motors 9 Bilal Akin and Mina M. Rahimian 2.1 Introduction of Induction Motor Fault Bearing Faults Stator Faults Broken Rotor Bar Fault Eccentricity Fault Introduction of Synchronous Motor Fault Diagnosis Damper Winding Fault Demagnetization Fault in Permanent Magnet Synchronous Machines (PMSMs) Eccentricity Fault Stator Inter-Turn Fault Rotor Inter-Turn Fault Bearing Fault 22 References 23 3 Modeling of Electric Machines Using Winding and Modified Winding Function Approaches 27 Subhasis Nandi 3.1 Introduction Winding and Modified Winding Function Approaches (WFA and MWFA) Inductance Calculations Using WFA and MWFA Validation of Inductance Calculations Using WFA and MWFA 39 References 45

3 vi Contents 4 Modeling of Electric Machines Using Magnetic Equivalent Circuit Method 47 Homayoun Meshgin-Kelk 4.1 Introduction Indirect Application of Magnetic Equivalent Circuit for Analysis of Salient Pole Synchronous Machines Magnetic Equivalent Circuit of a Salient Pole Synchronous Machine Inductance Relations of a Salient Pole Synchronous Machine Calculation of Inductances for a Salient Pole Synchronous Machine Experimental Measurement of Inductances of a Salient Pole Synchronous Machine Indirect Application of Magnetic Equivalent Circuit for Analysis of Induction Machines A Simplified Magnetic Equivalent Circuit of Induction Machines Inductance Relations of Induction Machines Calculation of Inductance of an Induction Machine Direct Application of Magnetic Equivalent Circuit Considering Nonlinear Magnetic Characteristic for Machine Analysis 73 Appendix A: Induction Machine Parameters 77 Appendix B: Node Permeance Matrices 78 References 79 5 Analysis of Faulty Induction Motors Using Finite Element Method 81 Bashir Mahdi Ebrahimi 5.1 Introduction Geometrical Modeling of Faulty Induction Motors Using Time-Stepping Finite Element Method (TSFEM) Coupling of Electrical Circuits and Finite Element Area Modeling Internal Faults Using Finite Element Method Modeling Broken Bar Fault Modeling Eccentricity Fault Static Eccentricity Dynamic Eccentricity Mixed Eccentricity Impact of Magnetic Saturation on Accurate Fault Detection in Induction Motors 91

4 Contents vii Analysis of Air-Gap Magnetic Flux Density in Healthy and Faulty Induction Motor Linear Magnetization Characteristic Nonlinear Magnetization Characteristic 95 References 96 6 Fault Diagnosis of Electric Machines Using Techniques Based on Frequency Domain 99 Subhasis Nandi 6.1 Introduction Some Definitions and Examples Related to Signal Processing Continuous versus Discrete or Digital or Sampled Signal Continuous, Discrete Fourier Transforms, and Nonparametric Power Spectrum Estimation Parametric Power Spectrum Estimation Power Spectrum Estimation Using Higher-Order Spectra (HOS) Power Spectrum Estimation Using Swept Sine Measurements or Digital Frequency Locked Loop Technique (DFLL) Diagnosis of Machine Faults Using Frequency-Domain- Based Techniques Ill Detection of Motor Bearing Faults Ill Mechanical Vibration Frequency Analysis to Detect Bearing Faults Line Current Frequency Analysis to Detect Bearing Faults Detection of Stator Faults Detection of Stator Faults Using External Ill Flux Sensors Detection of Stator Faults Using Line Current Harmonics Detection of Stator Faults Using Terminal Voltage Harmonics at Switch-Off Detection of Stator Faults Using Field Current and Rotor Search Coil Harmonics in Synchronous Machines Detection of Stator Faults Using Rotor Current and Search Coil Voltages Harmonics in Wound Rotor Induction Machines Detection of Rotor Faults 129

5 viii Contents Detection of Rotor Faults in Stator Line Current, Speed, Torque, and Power Detection of Rotor Faults in External and Internal Search Coil Detection of Rotor Faults Using Terminal Voltage Harmonics at Switch-Off Detection of Rotor Faults at Start-Up Detection of Rotor Faults in Presence of Interbar Current Using Axial Vibration Signals Detection of Eccentricity Faults Detection of Eccentricity Faults Using Line Current Signal Spectra Detection of Eccentricity Faults Based on Nameplate Parameters Detection of Eccentricity Faults Using Mechanical Vibration Signal Spectra Detection of Inclined Eccentricity Faults Detection of Faults in Inverter-Fed Induction Machines References Fault Diagnosis of Electric Machines Using Model-Based Techniques Subhasis Nandi 7.1 Introduction Model of Healthy Three-Phase Squirrel-Cage Induction Motor Model of Three-Phase Squirrel-Cage Induction Motor with Stator Inter-Turn Faults Model without Saturation Model with Saturation Model of Squirrel-Cage Induction Motor with Incipient Broken Rotor Bar and End-Ring Faults Model of Squirrel-Cage Induction Motors with Eccentricity Faults Model of a Synchronous Reluctance Motor with Stator Fault Model of a Salient Pole Synchronous Motor with Dynamic Eccentricity Faults 181 References Application of Pattern Recognition to Fault Diagnosis 185 Masoud Hajiaghajani 8.1 Introduction Bayesian Theory and Classifier Design Simplified Form for a Normal Distribution

6 Contents ix 8.4 Feature Extraction for Our Fault Diagnosis System Classifier Training Implementation 194 References Implementation of Motor Current Signature Analysis Fault Diagnosis Based on Digital Signal Processors 199 Seungdeog Choi and Bilal Akin 9.1 Introduction Cross-Correlation Scheme Derived from Optimal Detector in Additive White Gaussian Noise (AWGN) Channel Reference Frame Theory Reference Frame Theory for Condition Monitoring (Fault) Harmonic Analysis of Multiphase Systems On-Line Fault Detection Results v/f Controlled Inverter-Fed Motor Line Current Analysis Field-Oriented Control Inverter-Fed Motor Line Current Analysis Instantaneous Fault Monitoring in Time- Frequency Domain and Transient Analysis Phase-Sensitive Detection-Based Fault Diagnosis Introduction Phase-Sensitive Detection On-Line Experimental Results 212 References Implementation of Fault Diagnosis in Hybrid Electric Vehicles Based on Reference Frame Theory 221 Bilal Akin 10.1 Introduction On-Board Fault Diagnosis (OBD) for Hybrid Electric Vehicles (HEVs) Drive Cycle Analysis for OBD Rotor Asymmetry Detection at Zero Speed 226 References Robust Signal Processing Techniques for the Implementation of Motor Current Signature Analysis Diagnosis Based on Digital Signal Seungdeog Choi Processors Introduction Coherent Detection 236

7 X Electric Machines: Fault Diagnosis and Condition Monitoring Noncoherent Detection (Phase Ambiguity Compensation) Fault Frequency Offset Compensation Decision-Making Scheme Adaptive Threshold Design (Noise Ambiguity Compensation) Q-Function Noise Estimation Simulation and Experimental Result Modeled MATLAB Simulation Result Off-Line Experiments Off-Line Results for Eccentricity Off-Line Results for Broken Rotor Bar On-Line Experimental Results 248 References 251 Index 253

ROTOR FAULTS DETECTION IN SQUIRREL-CAGE INDUCTION MOTORS BY CURRENT SIGNATURE ANALYSIS

ROTOR FAULTS DETECTION IN SQUIRREL-CAGE INDUCTION MOTORS BY CURRENT SIGNATURE ANALYSIS SZABÓ Loránd DOBAI Jenő Barna BIRÓ Károly Ágoston Technical University of Cluj (Romania) 400750 Cluj, P.O. Box 358,