TELKOM
NIKA Indonesia
n
Journal of
Electrical En
gineering
Vol. 12, No. 11, Novembe
r
2014, pp. 76
4
0
~ 764
9
DOI: 10.115
9
1
/telkomni
ka.
v
12i11.66
62
7640
Re
cei
v
ed Au
gust 10, 20
13
; Revi
sed Se
ptem
ber 11, 2014; Accept
ed Septem
be
r 30, 2014
Speed Sensorless Fau
l
t-Tolerant Drive System of 3-
Phase Induction Motor Using Switching Extended
Kalman Filter
M. Jannati, N. R. N. Idris, M. J. A. Az
iz
Univers
i
ti T
e
knolo
g
i Mal
a
ysia
UT
M-PROT
O
N F
u
ture Drive
Lab
orator
y, F
a
cult
y
of Elec
tric
al Eng
i
ne
eri
ng,
Universiti T
e
knol
ogi Ma
la
ysi
a
,
813
10 Sku
dai,
Johor Ba
hru, MALAYSIA
*Corres
p
o
ndi
n
g
author, e-ma
i
l
: Jannatim
94
@
y
ah
oo.com
A
b
st
r
a
ct
Spee
d sens
orl
e
ss vector con
t
rol of 3-ph
ase
i
nducti
on
mot
o
r und
er op
en
-phas
e fault (faulty 3
-
phas
e in
ducti
o
n
motor) b
a
se
d on In
dir
e
ct R
o
tor F
i
el
d-Or
ie
nted C
ontro
l (IRF
OC) is pro
p
o
sed
in th
is pa
per.
T
o
ensure
hig
h
perfor
m
anc
e F
O
C of inducti
o
n
motor drives
,
the estimatio
n
of the rotor spe
ed is n
e
cessar
y
.
How
e
ver, the
alg
o
rith
m us
ed
to estimate th
e rotor sp
eed f
o
r a 3-p
has
e i
nducti
on
motor
cann
ot be us
e
d
directly for a fa
ulty 3-ph
ase i
n
ductio
n
motor. T
h
is is
beca
u
s
e
the faulty in
d
u
ction
motor
mode
l is differe
n
t
from the
hea
lthy 3-ph
ase i
n
ductio
n
motor.
T
o
overco
me
this prob
le
m,
in this p
aper
a new
sw
itchin
g
Extende
d Kal
m
a
n
F
ilter (EK
F
) is propos
ed
to update
onl
i
ne the rotor s
p
eed. T
he pr
op
osed a
l
g
o
rith
m can
be
used
for
estimatio
n
of r
o
tor
spe
ed
in
bot
h
hea
lthy a
n
d
fa
ulty co
nditi
ons.
MAT
L
AB si
mu
latio
n
res
u
lts
a
r
e
carried
out to
show
the ca
p
abil
i
ty of the
p
r
opos
ed
drive
system. The r
e
sults sh
ow
the activity of th
e
prop
osed
meth
od at w
i
de ran
ge spe
ed o
per
ation.
Ke
y
w
ords
: 3-p
hase i
n
d
u
ction
motor, IRFOC, EKF, roto
r speed esti
mati
on, fault-tol
e
rant dri
v
e system
Copy
right
©
2014 In
stitu
t
e o
f
Ad
van
ced
En
g
i
n
eerin
g and
Scien
ce. All
rig
h
t
s reser
ve
d
.
1. Introduc
tion
Re
cently, 3-pha
se indu
ction motors hav
e recei
v
ed a greet
attention for drive
appli
c
ation
s
. 3-ph
ase
in
du
ction motor
h
a
s seve
ral
a
d
vantage
s fo
r exam
ple
hi
gh
reliability
and
robustness. Open-phase fault
is
one of familiar fail
ures in the
3-phase induction motor st
ator
windi
ng
s. Mecha
n
ical sh
a
k
ing, op
enin
g
of coil
s, and etc. cau
s
es this fa
ult. In the existing
literature, different
metho
d
s
h
a
ve b
een
pre
s
e
n
t
ed t
o
dete
c
t
stator
windi
ng fa
ults in
ind
u
cti
o
n
motors [1-3]. All of these tech
niqu
es p
r
ovi
de immedi
ate open
stator win
d
ing d
e
t
ection an
d a
r
e
s
u
pp
os
e
d
in
th
is
s
t
ud
y.
Field-Orie
nte
d
Control (FO
C
) meth
od for i
nduction m
o
tors a
r
e broa
dly adopted to obtain
high dynami
c
pe
rform
a
n
c
e in drive systems. In
the fault con
d
ition (op
e
n
-
pha
se fault),
if a
conve
n
tional
FOC te
ch
niq
ue is ap
plied
to the faul
ty indu
ction m
o
tor, o
scill
ations i
n
the
m
o
tor
torque and speed can be observed
[4
-10].
Severa
l method
s
hav
e
been co
nd
ucted
to stud
y
o
n
the vector
co
ntrol of faulty
3-ph
ase or
2-ph
ase ind
u
c
tion moto
r b
a
se
d on F
O
C [4-1
4]. It was
sho
w
n
in [4
-1
4] that by u
s
i
ng
some
mo
d
i
fication
s to t
he
conve
n
tio
nal F
O
C for
3
-
pha
se
ind
u
ct
ion
motor, the F
O
C of unb
ala
n
ce
d or faulty inductio
n
mo
tor is po
ssible
.
FOC m
e
thod
requi
re
s the
ackno
w
le
dg
ment
of the
motor
spe
ed;
however, th
e sp
eed
sen
s
o
r
s have
som
e
d
r
awb
a
cks
su
ch
a
s
system
co
m
p
lexity, mach
ine cost
and
size. Different
algorith
m
s
are studi
ed fo
r spe
ed
sen
s
orle
ss of
the
2-p
h
a
s
e ind
u
ction
motors (sin
gle-pha
se
indu
ction mot
o
r with two winding
s) [15
-
1
9
]. In
Refs [15, 16], Model
Referen
c
e A
daptive Syste
m
(MRAS)
hav
e been p
r
op
ose
d
for roto
r sp
eed e
s
ti
mation in 2-pha
se ind
u
cti
on motors. T
h
is
techni
que
do
es
not have
excelle
nt re
sults in th
e lo
w
spee
d
ran
ge an
d al
so
sen
s
itive to t
he
resi
stan
ce va
riation
s
. In [8], [17-19], spe
ed sen
s
o
r
le
ss vector
control of 2-pha
se
indu
ction mot
o
r
based on m
o
tor mod
e
l
has b
een
propo
sed. Th
e
sugg
este
d
techni
que
s for rotor
spe
ed
estimation u
s
i
ng a motor m
odel fed by st
ator
qua
ntities are p
a
rame
ter depe
nde
n
t; conse
que
ntly,
para
m
eter e
r
rors
can
re
sult
in the performance of spe
ed co
ntrol.
Extended Kal
m
an Filter
(E
KF) is o
ne of
the mo
st u
s
eful algo
rithm
s
which is u
s
ed for
para
m
eters e
s
timation for
example spe
ed, flux, l
oad and re
si
stan
ce in electri
c
al
machin
es. T
h
is
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Speed Sen
s
o
r
less Fa
ult-To
lerant Dri
v
e System
of
3-P
hase Indu
ctio
n Motor Usin
g… (M. Ja
nn
ati)
7641
algorith
m
i
s
a
form
of o
b
se
rver th
at
con
s
ide
r
s
the
no
nlinea
rity of t
h
e m
a
chine
model
filters the
system an
d measured no
ise
s
and e
s
timates the st
ates varia
b
le
s [20]. In this re
sea
r
ch, a
contri
bution t
o
the issue o
f
speed
sen
s
orle
ss Indi
re
ct Rotor Field
-
Oriente
d
Co
n
t
rol (IRF
OC) o
f
fault-tolerant drive syste
m
fo
r 3-ph
ase indu
ction mot
o
r ba
sed on [
6
] is prop
ose
d
. The published
pape
r [6] inv
e
stigate
s
th
e
IRFO
C of fa
ult-tolerant
d
r
ive system
fo
r 3
-
pha
s
e
ind
u
ction
moto
r. In
this pap
er, a
n
EKF is used to estimat
e
the motor
spe
ed for IRFOC
scheme
.
The prop
osed
swit
chin
g EKF in this pa
p
e
r can b
e
e
m
ployed for
estimation
of inductio
n
m
o
tor spee
d in
both
healthy an
d faulty con
d
itio
ns. Finally, th
e dynami
cs
a
nd the p
e
rfo
r
mance cha
r
a
c
teri
stics of t
h
e
prop
osed d
r
i
v
e system are eval
uated
and verified
usin
g MATLA
B
software. Promisi
n
g re
sults
sho
w
e
d
that
the switching
EKF ba
se
d
sen
s
o
r
le
ss
vector
control
of fault-tole
ra
nt syste
m
for 3-
pha
se in
du
ction moto
r
dri
v
e with
a go
od p
e
rfo
r
ma
nce
is a
c
hie
v
able at lo
w and
high
sp
eed
operation
s
.
2. d-q Model
of Inductio
n
Motor
The dynami
c
model for ind
u
ction moto
r in a
stationa
ry referen
c
e fra
m
e (supe
rscri
p
t ‘‘
s
’’)
can b
e
de
scri
bed by the followin
g
equati
ons [6]:
(1)
(2)
(3)
(4)
(5)
(6)
Whe
r
e,
(7)
(8)
(9)
(10
)
In (1)-(10),
v
s
ds
,
v
s
qs
are the stator
d-q
axes voltage
s
i
s
ds
,
i
s
qs
are the stator
d-q axe
s
cur
r
e
n
t
s
i
s
dr
,
i
s
qr
are the
rot
o
r d
-
q axe
s
currents
λ
s
ds
,
λ
s
qs
are the
st
ator d
-
q axe
s
fluxes an
d
λ
s
dr
and
λ
s
qr
are the roto
r d-q axes fluxes
i
n
the stator
referen
c
e fra
m
e.
r
s
and
r
r
are the
stator and
rotor re
sista
n
c
e
s
,
re
spe
c
tiv
e
ly
. L
ds
,
L
qs
,
L
r
,
M
d
and
M
q
denote the
st
ator, the roto
r self and m
u
tual
indu
ct
an
ce
s.
r
is the motor sp
eed.
e
a
nd
l
are electromag
netic t
o
rqu
e
and lo
ad torqu
e
an
d
P
,
J
a
nd
F
are t
he nu
mbe
r
of
pole
s
, mom
e
nt of ine
r
tia a
nd viscou
s f
r
i
c
tion
coeffi
cie
n
t re
spe
c
tively.
It can
be
not
ed that, e
qua
tions
(1
)-(10
)
are
the
gen
e
r
al fo
rms of i
ndu
ction m
o
tor e
q
uatio
n
s.
By
s
u
bs
tituting
M
d
=M
q
=M
=
3/
2
L
ms
and
L
ds
=L
qs
=L
s
=L
ls
+3/2
L
ms
in (1)-(10
)
, we
can obtai
n the
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ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 11, Novem
ber 20
14: 76
40 – 764
9
7642
equatio
ns of
healthy 3-pha
se ind
u
ct
ion motor
an
d by sub
s
titu
ting
M
d
=
3/2
L
ms
,
M
q
=
√
3/2
L
ms
,
L
ds
=L
ls
+3/2
L
ms
and
L
qs
=L
ls
+1/2
L
ms
in (1)-(10), eq
uation
s
of 3-p
h
a
s
e i
ndu
ction mot
o
r un
der
ope
n
-
pha
se fault are obtaine
d [6].
3. Fault-toler
a
nt Driv
e Sy
stem of 3
-
ph
ase Induc
tio
n
Motor
Becau
s
e
of the un
balan
ce
d stru
ctu
r
e of
faulty 3-pha
s
e in
du
ction
motor mo
del
(
M
d
≠
M
q
and
L
ds
≠
L
qs
), cla
ssi
cal F
O
C algo
rithm for healthy 3
-
pha
se ind
u
cti
on motor
can
not be empl
o
y
ed
for faulty mot
o
r. To solve t
h
is
problem, similar
techni
que as
propo
sed in [6]
will
be
used here. In
pape
r [6], base
d
on
usi
ng tran
sfo
r
m
a
tion matri
c
e
s
, a ne
w m
e
thod for
RFOC
of faulty or
unbal
an
ced i
ndu
ction mot
o
rs
wa
s pro
p
o
se
d. These
transfo
rmatio
n matrices a
r
e given by (11)
and (1
2).
(11
)
(12
)
In (1
1)
and
(12),
θ
e
i
s
the
angl
e b
e
twe
en the
statio
nary
refe
ren
c
e fram
e a
nd
the roto
r
field-o
r
iented
refe
ren
c
e
frame. Mo
reov
er, the
su
pe
rscript
“
e
” indi
cate
s the
variable
s a
r
e i
n
the
rotating
reference frame.
In [6], it was s
h
ow
n
by u
s
ing th
ese transfo
rmatio
n
matrices, th
e
unbal
an
ced e
quation
s
of fa
ulty 3-pha
se i
ndu
ction mot
o
r
chan
ge int
o
bala
n
ced e
quation
s
. Usi
n
g
(11
)
and
(1
2) and by con
s
i
derin
g
L
ds
/
L
qs
=(
M
d
/
M
q
)
2
, RFOC e
quatio
ns of 3
-
ph
ase indu
ction m
o
tor
unde
r o
pen
-p
hase fault a
r
e obtain
ed a
s
follo
wing
e
q
uation
s
(in
RFO
C
te
chni
que, the
roto
r flux
vector i
s
align
ed with d-axis;
λ
dr
e
=|
λ
r
|,
λ
qr
e
=0):
Stator voltag
e equatio
ns:
(13
)
Rotor voltag
e
equation
s
:
(14
)
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Speed Sen
s
o
r
less Fa
ult-To
lerant Dri
v
e System
of
3-P
hase Indu
ctio
n Motor Usin
g… (M. Ja
nn
ati)
7643
Torq
ue eq
uat
ion:
(15
)
Whe
r
e:
e
e
e
e
e
s
T
cos
sin
sin
cos
, after
simplifying (1
3)-(15
), following equ
a
tion
s are obtain
ed:
(16
)
(17
)
(18
)
(19
)
(20
)
Whe
r
e,
(21
)
(22
)
(23
)
(24
)
(25
)
(26
)
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 11, Novem
ber 20
14: 76
40 – 764
9
7644
Whe
r
e,
T
r
=
L
r
/
r
r
is
roto
r time con
s
tant. As m
e
ntione
d be
fore, by e
m
ploying
transfo
rmatio
n matri
c
e
s
(e
quation
s
(11
)
and
(1
2)
), RFOC eq
uatio
ns
of 3
-
pha
se ind
u
ctio
n m
o
tor
unde
r op
en
-p
hase fault be
come
like RF
OC of
health
y 3-ph
ase in
ductio
n
moto
r. It can be
se
en
that the only difference
betwee
n
these e
quat
io
n
s
and h
ealt
h
y 3-pha
se
indu
ction mo
tor
equatio
ns is t
hat for health
y 3-pha
se in
ductio
n
moto
r, we have
r
s
,
M=3/2L
ms
and
L
s
=
L
ls
+3/
2
L
ms
[21], but for faulty 3-ph
ase
ind
u
ctio
n moto
r:
r
s
=(
r
s
M
q
2
+
r
s
M
d
2
)/2
M
d
2
=2/
3
r
s
,
M=M
q
=
√
3/2
L
ms
,
L
s
=L
qs
=
L
ls
+1/
2
L
ms
and we have:
v
ds
-e
,
v
qs
-e
.
4. Speed Estimation in the Fault-toler
a
nt Driv
e Sy
stem Based
on EKF
To improve t
he perfo
rma
n
c
e of the pre
s
ente
d
cont
roller, in this pape
r, estim
a
tion of
rotor spee
d
u
s
ing
EKF i
s
done.
The
co
nventional
E
K
F for moto
r sp
eed
e
s
tim
a
tion in
3
-
ph
ase
indu
ction mot
o
rs cann
ot b
e
empl
oyed f
o
r faulty mot
o
r b
e
cau
s
e o
f
the different
model
s
that
are
use
d
to describe a bala
n
ce
d and un
bala
n
ce
d 3-p
h
a
s
e
inductio
n
mo
tor. In this re
search, an EKF
with two different pa
ramet
e
rs i
s
pro
p
o
s
ed to estimat
e
the motor spe
e
d for bo
th healthy and
faulty 3-ph
ase ind
u
ctio
n m
o
tor in
a
s
soci
ated
with
IRF
O
C. T
h
e
ch
a
nge
s of th
ese
pa
ramete
rs
are
done
after th
e fault d
e
tect
ion a
nd
by a
switch. In
th
e propo
s
e
d
switchi
ng EKF
and
for
heal
thy
motor,
M
d
=M
q
=
3/2
L
ms
and
L
ds
=L
qs
=L
ls
+3/2
L
ms
are used in the E
K
F algorithm.
When the f
ault
happ
en
s, th
e value
s
are sub
s
tituted
with,
M
d
=
3/2
L
ms
,
M
q
=
√
3/2L
ms
,
L
ds
=L
ls
+3/2
L
ms
and
L
qs
=
L
ls
+1/2
L
ms
.
For the pu
rp
ose of motor speed e
s
tim
a
ti
on, the stator d-q axe
s
curre
n
ts (
i
s
ds
,
i
s
qs
), the
stator d
-
q ax
es fluxes (
λ
s
ds
,
λ
s
qs
), motor spee
d (
r
) and load torqu
e
(
l
) are ch
o
s
en a
s
the st
ate
variable
s
. Using the
s
e sta
t
e variable
s
,
it is po
ssibl
e
to expre
ss t
h
e state
sp
a
c
e mo
del of
the
indu
ction mot
o
r in the form
of Equation (27) an
d (2
8):
(27
)
(28
)
Equation
(2
7
)
a
nd
(28
)
, i
n
the fo
rm
o
f
discrete
sta
t
e equ
ation
s
can
be
re-written as
followin
g
equ
ations:
(29
)
(30
)
In these e
q
u
a
tions,
A
,
B
and
C
are th
e system, in
p
u
t and outp
u
t matrices
re
spectively.
x
,
y
a
nd
u
are the
syst
em state m
a
trix, system
output matrix
and syste
m
input mat
r
ix
r
e
spec
tively.
w
(
n
) a
nd
v
(
n
) is the sy
ste
m
noise an
d
measurement
noise. The
matrices
x
(
n
),
y
(
n
)
and
u
(
n
) a
r
e
given as:
(31
)
(32
)
(33
)
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Speed Sen
s
o
r
less Fa
ult-To
lerant Dri
v
e System
of
3-P
hase Indu
ctio
n Motor Usin
g… (M. Ja
nn
ati)
7645
More
over, T
h
e matri
c
e
s
of
A
(
n
),
B
(
n
) a
nd
C
(
n
)
i
n
e
q
uation
s
(29
)
and (30
)
are
given
a
s
follows:
(34)
(35
)
(36
)
Whe
r
e:
(37
)
The ste
p
s of the EKF algori
t
hm can be fo
rmulate
d
as
Equati
on (37)-(4
0) [20]:
1-Es
timation of the Error
Covarianc
e
Matrix:
(38
)
2-Comp
utatio
n of Kalman Filter Gain:
(39
)
3-Update of the Erro
r Covarian
ce M
a
tri
x
:
(40
)
4-State Estim
a
tion:
(41
)
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 11, Novem
ber 20
14: 76
40 – 764
9
7646
In these
equ
ations,
Q
an
d
R
a
r
e the
covari
an
ce m
a
trice
s
of th
e
noises. T
h
e initial
values of
matrice
s
P
,
Q
and
R
fo
r e
s
timation of roto
r
spe
ed a
r
e o
b
t
ained fro
m
the trial a
nd e
rro
r
pro
c
e
ss. B
a
sed o
n
(16
)
-(2
6
) a
nd
(3
1)-(41), the
stru
cture of
the fa
ult-tolerant d
r
i
v
e syste
m
b
a
s
ed
on IRFO
C wit
h
the prop
ose
d
swit
chin
g EKF-ba
s
ed
rot
o
r sp
eed e
s
ti
mator is a
s
Fi
gure 1.
Figure 1. Sch
e
me of the Fault-tole
rant
Driv
e System
Based on IRFOC
with the Propo
s
e
d
Switchin
g EKF-ba
s
e
d
Roto
r Speed Esti
mator
In Figure 1:
(41
)
(42
)
5. Simulation Resul
t
s
Simulation
works a
r
e
ca
rried o
u
t on
the 3-p
h
a
s
e indu
ction
motor to p
r
ove the
effectivene
ss of the propo
sed
dr
ive
system. The si
m
u
lation
s ar
e perfo
r
med using
the
MAT
L
AB
softwa
r
e. The
param
eters of the 3-pha
se
indu
ction m
o
tor are listed
as follows:
To evaluate the pro
p
o
s
ed
drive syste
m
perfo
rm
an
ce,
two different
ca
se
s are
si
mulated:
Ca
se (1
):
co
m
pariso
n
bet
wee
n
cla
ssi
c
a
l FO
C an
d fault-tole
rant dive
system
based on
Figure 1 and
without roto
r
spe
ed e
s
tim
a
tor
In Figure 3, the refe
ren
c
e
spe
ed is a
ssumed a
s
Fig
u
re 2. The lo
ad torqu
e
is i
n
crea
sed
steeply fro
m
0N.m to 0.5
N
.m at t=1.5s
and remove
d
at t=2s. A ph
ase
cut-o
ff fault is intro
d
u
c
ed
at the sta
r
ting
(t=0
s). Ba
se
d on Fig
u
re 3
,
the si
mulati
on re
sult
s of t
he presented
cont
rolle
r sh
ow
that the a
c
tua
l
sp
eed
ca
n f
o
llow
and
tra
c
e
well
th
e re
feren
c
e
sp
ee
d even
und
er load.
Com
p
a
r
ed
to the cla
ssi
cal FOC, the
motor spee
d
of the
prop
osed sche
me contain
s
very low ri
pple
s
. T
he
results e
n
sure the high p
e
r
forma
n
ce of the pre
s
e
n
te
d fault-tolera
nt drive syste
m
at wide ra
nge
spe
ed op
erati
on.
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Speed Sen
s
o
r
less Fa
ult-To
lerant Dri
v
e System
of
3-P
hase Indu
ctio
n Motor Usin
g… (M. Ja
nn
ati)
7647
Figure 2. Vari
ation of Rotor Speed
(a)
(b)
(c
)
Figure 3. Simulation Results of the Com
pari
s
on b
e
tween Cl
assi
cal
FOC (left) a
n
d
Fault-tole
ra
nt
Dive System Based o
n
Fig
u
re 1 (right
) a
nd with
out Rotor Speed Es
t
i
mator, (a) Stator c
u
rrent,
(b) Spe
ed r
e
s
pon
se, (c
) Sp
eed er
ro
r
Ca
se (2
): fault-tolera
nt dive system
based on Figu
re
1 and with rotor sp
eed e
s
ti
m
a
tor
The
re
spo
n
se
s of
the
stato
r
cu
rrents,
ele
c
tr
om
agn
etic
torque,
a
c
tual
and
e
s
timate
d rotor
spe
ed a
nd
speed
erro
r (t
he e
rro
r b
e
tween
referen
c
e and
a
c
tual
spe
ed) of the
pro
p
o
s
ed
sp
eed
sen
s
o
r
le
ss IRFOC of fault-tolerant
d
r
ive
system are sho
w
n in Fig
u
re 4. In this Figure, a pha
se
c
u
t-off fault is introduced
at t=
0.3s
(from
t=
0s to
t=0.3s, the ind
u
ctio
n moto
r
wo
rk
in the
bala
n
ced
con
d
ition the
n
at t=0.3s, o
ne of the stat
or ph
as
es (p
hase “c”) is o
pend
). As sh
own, the ph
a
s
e
curre
n
t wave
form is e
n
larged to sho
w
that the i
ndu
ction moto
r current is n
e
a
r
ly sinu
soi
dal
in
both h
ealthy
and
faulty
con
d
ition
s
. It is
sh
ow
n t
hat the
esti
mated
and
a
c
tual
sp
eed
s
are
identical. Moreover, Fig
u
re
4 illu
strate
s t
hat t
he el
ectromagn
etic to
rque
wavefo
rms
contai
n lo
w
ripple
s
eve
n
at the faulty mode. In a
d
d
i
tion,
the erro
r bet
ween
th
e refe
ren
c
e
and a
c
tual
ro
tor
spe
ed is ve
ry low. The results of the propo
s
ed
controller
sho
w
s t
hat the actua
l
and refe
ren
c
e
spe
e
d
s
are al
igned a
nd ca
n track well the trajecto
ry of the refere
nce spe
ed.
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 11, Novem
ber 20
14: 76
40 – 764
9
7648
(a)
(b)
(c
)
(d)
(e)
Figure 4. Simulation Results of the Fault-to
lerant Dive
System Base
d on Figu
re 1
and
with Roto
r Sp
eed Estimato
r, (a) Stator
current, (b) T
o
rue respon
se
(b) Spe
ed respon
se, (c)
Speed respo
n
se, (d
) Spee
d error
6. Conclusio
n
In this pape
r, spee
d se
nsorle
ss
cont
rol
base
d
on IRFOC of the fault-tole
rant
3-ph
ase
indu
ction m
o
t
o
r i
s
studi
ed.
The
rotor sp
eed
whi
c
h
re
quire
d
fo
r F
O
C i
s
estimate
d ba
se
d o
n
t
h
e
EKF. To overcome th
e p
r
o
b
lem of the
rotor
spee
d
mi
smat
ch, e
s
pe
cially at the o
p
en-pha
se fa
ult,
a swit
chin
g EKF is desi
g
ned to estim
a
te the moto
r sp
eed. Thi
s
aspe
ct of the study is
an
extensio
n of t
he auth
o
rs’ p
r
eviou
s
resea
r
ch
pres
ente
d
in
Referen
c
e [4-9
]. Simulation works
are
carrie
d out to
asse
ss the
prop
osed
system perfo
rma
n
ce
at differe
nt ope
rating
con
d
ition
s
. T
h
e
results prove
that the
p
r
o
posed
switchi
ng EKF i
s
ab
le to
upd
ate t
he
rotor
spe
e
d
onli
n
e
at a
n
y
operating spe
ed as
well a
s
in balan
ced
a
nd unb
alan
ce
d con
d
ition
s
.
Referen
ces
[1]
RM T
a
llam, T
G
Habetl
e
r, R
G
Harle
y
, DJ
G
r
itter, BH Bu
rton.
Neur
al n
e
tw
ork
base
d
on-li
ne
st
ator
w
i
ndin
g
turn fa
ult detectio
n
fo
r inducti
on
mot
o
rs
. Industrial
Appl
icatio
n Co
nferenc
e. 200
0
;
375-38
0.
[2]
M G
hazal, J P
o
shtan.
R
obust
stator w
i
ndin
g
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on
in in
ductio
n
motors
. In Po
w
e
r Electronics,
Drive S
y
stems and T
e
chno
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i
es
Co
nferenc
e
.
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3-16
8.
[3]
T
M
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o
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ohrnsch
im
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n
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. In Proc
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M Jannati, E F
a
lla
h.
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ntrol of Unb
a
l
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nc
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lty three p
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h
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r El
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chnolog
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EDST
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Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Speed Sen
s
o
r
less Fa
ult-To
lerant Dri
v
e System
of
3-P
hase Indu
ctio
n Motor Usin
g… (M. Ja
nn
ati)
7649
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ati, NR
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