578
3, JUNE 2003
A Model of Asynchronous Machines for Stator Fault
Detection and Isolation
Xianrong Chang, Vincent Cocquempot, and Cyrille Christophe
AbstractThis paper presents a new model of asynchronous
machines. This model allows one to take into account unbalanced
stator situations which can be produced by stator faults like short
circuits in windings. A mathematical transformation is defined and
applied to the classical model equations. All parameters which
affect this new model can be known online. This makes the model
very useful for control algorithms and fault detection and isolation
algorithms. The model is checked by comparing simulation data
with actual data obtained from laboratory experiments.
Index TermsFault detection and isolation (FDI), induction ma-
chine, modeling, Park model.
I. INTRODUCTION
I N RECENT years, dc machines have gradually been
replaced by asynchronous motors in many industrial ap-
plications. The success of the asynchronous motor is due to
its low cost, robustness, and high performance which may be
achieved thanks to the development of new control laws and
control devices. However, most control algorithms become
ineffective and even dangerous when faults occur. For security
and economic reasons, the implementation of a fault detection
and identification (FDI) layer is needed.
The general principle of model-based FDI approaches is to
compare the expected behavior of the system, given by a model,
with its actual behavior [1], [2]. Two kinds of models may be
used, depending on the objectives of the FDI procedure. The
normal operation model represents the system in normal situ-
ations, when no fault is present. Procedures based on the normal
operation model are able only to detect faults. The faulty op-
eration model represents the system in faulty situations, taking
explicitly into account the influence of the faults. This model is
used when the objectives are to isolate and to identify the faults.
Many results have been reported concerning FDI of asyn-
chronous motors [3][5]. Most of them use the classical Park
model (or other transformed models like Clarks model, for in-
stance) [6][8]. This well-known model is a normal operation
one which is classically used for the design of control laws. The
Park transformation rests on the assumption that the machine
is balanced. Unfortunatly, when internal faults occur (like short
Manuscript received May 21, 2001; revised December 11, 2002. Abstract
published on the Internet March 4, 2003.
X. Chang was with the LAIL UMR CNRS 8021, Bt P2, Universit des
Sciences et Technologies de Lille, 59655 Villeneuve dAscq Cedex, France,
on leave from the Department of Electrical Engineering, North China Electric
Power University, Baoding City, China.
V. Cocquempot and C. Christophe are with the LAIL UMR CNRS 8021, Bt
P2, Universit des Sciences et Technologies de Lille, 59655 Villeneuve dAscq
Cedex, France (e-mail: vincent.cocquempot@univ-lille1.fr).
Digital Object Identifier 10.1109/TIE.2003.812471
0278-0046/03$17.00 2003 IEEE
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO.
circuits in the stator windings) this assumption is no longer true.
It is, thus, impossible to use the Park model as a faulty operation
model to isolate and identify faults.
From this statement of facts, many authors have tried recently
to determine faulty operation models of electrical induction mo-
tors [9][11]. Classically, they used circuit-oriented approaches
in order to describe very precisely the machine behavior. These
models allow one to simulate the motor under faulty situations
and to analyze the effect of the faults. However, the arising
models are very complex (hundreds of variables and parame-
ters) and are not usable for real-time FDI algorithms.
The model [6], [7] is another classical model of induction
motors. This model is obtained using the motors physical prop-
erties without additional assumptions like a balanced structure
for instance. However, as is well known, the original
has a drawback, namely, that its electrical parameters (induc-
model
tances, mutual inductances) depend on the angular position be-
tween the stator and the rotor. In fact, the model equations
are expressed in two different coordinate systems. Part of them
are in the fixed coordinate system (stator equations), and part are
in the rotating coordinate system (rotor equations). During ro-
tation, the relative motion between the two coordinate systems
is the cause of changes in the electrical parameters. In practical
applications, this relative motion is not known and the parame-
ters cannot be computed online. This makes the model very
difficult to use in control and FDI.
Thus, to the authors knowledge, there is no induction ma-
chine model which can be used altogether for FDI. The contribu-
tion of this paper is a new model, which is derived directly from
the model without any additional assumption, and which
does not suffer from the above-mentioned drawback.
Considering that the influence between the stator and the
rotor is related to the magnetic field, a new transformation func-
tion is introduced, which gives the rotor current and magnetic
flux the same frequency as the stator current and magnetic flux,
respectively. This means that, using this transformation, all the
motor variables are in the stator coordinate system. The elec-
trical parameters (inductances, mutual inductances) no longer
depend on the relative position between the stator and the rotor.
Since only rotor variables are transformed, the stator variables
are not modified, and the new model can be used when the stator
parameters are unbalanced. It follows that the new model can be
used for stator FDI.
This paper is organized as follows. Section II reviews the
model of an induction motor. It is shown how stator faults can
be taken into account in this model. Section III presents a math-
ematical transformation which allows to obtain a new model in
the frame whose parameters are all online computable. A
CHANG et al.: MODEL OF ASYNCHRONOUS MACHINES FOR STATOR FDI 579

comparison between actual data taken from an experiment and
data obtained from a simulation of the new model is shown in
Section IV. Finally, some concluding remarks end this paper.
II. MODEL OF AN ASYNCHRONOUS MACHINE
A. General Model Description
The following classical assumptions are considered [6], [7].
1) The machine is balanced in normal operation. The stator
(rotor) windings are equally distanced at the angle
2) The magnetic flux distribution is sinusoidal along the air
gap.
3) Voltages and currents are sinusoidal.
4) The influence of notches and teeth is neglected.
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.
According to basic circuit theory, the induction machine
model can be expressed by the following four equations [6],
[7]:
where is the differential operator and
are the stator voltage vector, stator current vector, and rotor cur-
rent vector, respectively.
and denotes the stator and rotor flux variables. These
two vectors are classically split into two parts
is the mutual inductance matrix which expresses
the influence of the rotor currents on the stator magnetic
linkage, and is the mutual inductance matrix which
expresses the influence of the stator currents on the rotor
magnetic linkage. The following property holds:
The mutual inductance between rotor and stator depends
on the relative position between them. Let be the angle
.
between stator phase and rotor phase . The stator and
rotor relative position can be expressed by a function of ,
which changes periodically with the rotor rotation.
is defined by
where is the slip factor, is the stator
frequency, and is the electric frequency of the machine.
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
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
windings in the stator phases , , and , respectively.
Define the phase fault coefficients

If no fault is present the three coefficients , , and

where and are the leakage magnetic fluxes caused by are equal to 1.
the leakage inductances. and are mutual magnetic
fluxes. C. Electrical Parameters Expressions With Respect to Stator
The parameter matrices are the following. Faults
and are the stator resistance matrix and the rotor For the rotor circuits, the mutual inductance matrix ,
resistance matrix. the resistance matrix , and the leakage inductance matrix
is the mutual inductance matrix between the three are not influenced by the staor faults. One has in the
stator windings, and is the mutual inductance ma- normal and faulty cases
trix between the three rotor windings. These two matrices
are symmetric. Moreover, the angles between the three
stator windings are fixed and the rotor is magnetically bal-
anced. If the effects of the notches in the rotor and of the
teeth in the stator are neglected, the reluctance of the mag-
netic circuit will not be influenced by the rotation of the
rotor. As a consequence, the mutual inductances between
the three stator (rotor) windings are invariant.
and are the stator and rotor leakage
inductances.
580 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 3, JUNE 2003

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

B. Transformation of the Model Equations

Consider (3). Introducing as follows:

leads to

(6)
Using , the angle between stator phase and rotor phase ,
the mutual inductance matrices and are where

with
where

Left-multiplying (4) by leads to

(5)

which can be rewritten as

III. NEW MODEL OF THE ASYNCHRONOUS MACHINE WITH
ONLINE COMPUTABLE PARAMETERS (7)
A. Transformation Matrix Definition where
Equations (1)(4) are expressed in two different coordinate
systems. Variables and are in the rotor coordinate
system, and variables , and are in the stator
coordinate system. Equations (3) and (4) express the link
between the variables of the two different coordinate systems.
The parameter values in these equations will change according
to the relative position between the two coordinate systems. It can be easily proven that the following properties hold:
If the variables of the machine can be expressed in the stator
coordinate system, the parameter values will no longer depend
on this unknown relative position.
According to the physical operation, the influence between
the stator and rotor is related to the magnetic field. The mag- Consider now (2)
netic field created by the rotor current has the same frequency as
the magnetic field created by the stator current, so the magnetic
field created by rotor current can be treated as if created by an Inserting the identity matrix leads to
equivalent stator current. The relationship between the equiv-
alent stator current and the original rotor current is given by
a mathematical transformation. Using this transformation, the
rotor current and magnetic flux can be changed into an equiva- Left-multiplying by , one obtains
lent current and magnetic flux which have the same frequency
as the stator variables.
CHANG et al.: MODEL OF ASYNCHRONOUS MACHINES FOR STATOR FDI 581

which is equivalent to

(8)

By simple computation, (8) can be rewritten as

(9)

where

Fig. 1. Diagram of the experimental setup.

C. State-Space Representation of the New Model

Equations (1), (9), (6), and (7) represent a new model in
which all parameters can be computed online. In this section,
the new model is converted into a state-space form.
Let us recall the model equations (1), (9), (6), and (7). Be-
cause is a full-rank matrix, it is invertible.
From (7), we can obtain

(10)

Substitute (10) into (9)

which is equivalent to
Fig. 2. Actual and simulated motor currents (balanced stator).

Insert (14) into (13)

(11)

Insert (10) into (6)

which is equivalent to

which leads to
(12)

Substitute (12) into (1)

which is equivalent to with

(13) Finally, one obtains

From (11), it follows that

(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)

Equations (14) and (15) are the state-space representation of

the model of induction machines under stator faulty conditions.

IV. COMPARISON BETWEEN THE NEW MODEL AND THE

ACTUAL MOTOR
Simulations of the new model are performed using the
Matlab/Simulink software. Simulated data are compared with
experimental data collected on an asynchronous motor which
is available at the LAII in Poitiers, France.1 This machine is
used as a benchmark for a French Research Project supported
by the French Research Ministry.2 Fig. 1 shows a diagram of
the experimental setup.
The motor is a 1.1-kW one with two pairs of poles.
The identified motor parameters are [12] , Fig. 4. Actual stator currents (continuous line) and simulated ones (dashed
, H, H, and line) (reduction of 6.25% windings in phase b).
H.
Experimental data are filtered with a fourth-order antialiasing The experimental induction machine is specially designed
filter (cutoff frequency 500 Hz) such that one or more windings of the stator phases can be
The sampling period for the simulation is the same as the opened or shorted.
acquisition period in the experimentation and is equal to 0.7 ms. Figs. 25 show the comparison between the simulated data
1LAII UPRES EA NO 1219 http://laii.univ-poitiers.fr/diagnost/ obtained using the new model and the experimental ones.
2Projet Surveillance des entranementslectriques (project FDI for elec- Two cases are considered. In the first one, the stator is balanced.
trical drives) In the second one the winding circuit of phase is reduced
CHANG et al.: MODEL OF ASYNCHRONOUS MACHINES FOR STATOR FDI
(a)
Fig. 5. 1 i , 1i and 1i (reduction of 6.25% windings in phase b). (a)
(6.25%). The stator circuit is, thus, unbalanced. To compare the
simulated currents ( , , and ) with the actual ones ( ,
, and ), the three errors , ,
and are computed and plotted in Figs. 3 (bal-
anced stator) and 5 (unbalanced stator). These quantities are not
exactly equal to zero because of two main reasons.
The model is an approximate one. Some physical ef-
fects are neglected (see the hypothesis in Section II),
The data acquisition system is not perfect and noise cor-
rupts the measurements.
However, the important fact is that these errors are comparable
in normal and faulty situations. Therefore, the presented results
show clearly the validity of the new model. These results have
to be compared with simulations of the classical model (or
the Park model). When the stator is balanced, the classical
model gives, of course, the same simulated data as the new
model. When the stator is unbalanced, the classical model
behavior does not fit the actual behavior at all.
V. CONCLUSION
The parameters in the original induction machine model
vary according to the relative position between the stator and the
rotor, since the model variables are in two different coordinate
systems which are in relative motion. The influence between
the stator and the rotor is related to the magnetic field, which
is created by the rotor currents, and which can be viewed as
583
(b)
(c)
1i = i 0 i . (b) 1i = i 0 i . (c) 1i = i 0 i .
created by equivalent stator currents. The relation between the
equivalent stator currents and the rotor currents can be chosen
as a transformation which allows one to derive a new model
whose parameters are all independent of the unknown relative
position between the stator and the rotor.
The only additional assumption which has been made to obtain
the new model is that the rotor remains balanced. No assumption
is made about the stator circuits. Unbalanced situations in the
stator, due, for instance, to short circuits between turns, may
thus be considered.
When the stator is balanced and when there are unbalanced
stator parameters, the simulation results completely agree with
the data obtained by actual laboratory experimentation.
This new model is very simple and can be expressed in state-
space form. It provides many application potentials, both for the
control and the supervision of unbalanced motors.
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Xianrong Chang was born in Jilin, China, in 1956.
He received the Ph.D. degree from North China In-
stitute of Electric Power, Baoding City, China.
He is a Professor in the Department of Electrical
Engineering, North China Electric Power University,
Baoding City, China. During 20002001, he was a
Visiting Professor at the LAIL, Universit des Sci-
ences et Technologies de Lille, Villeneuve dAscq,
France. His special field is electric power systems and
automation and his interests include nonlinear system
control, electric power system modeling, analysis and
stability control, asynchronized synchronous generator study, and electric ma-
chine fault detection and control.
Prof. Chang received the Third and Second Prize Awards from the Chinese
Ministry of Electric Power Industry for scientific and technical progress in 1996
and 1998, respectively, and the Chinese Government Special Allowance in 1999.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 3, JUNE 2003
Vincent Cocquempot was born in Saint-Omer,
France, in 1966. He received the Ph.D. degree in
automatic control from the University of Lille, Lille,
France, in 1993.
He is currently a Lecturer in automatic control
and computer science at the Institut Universitaire de
Technologies de Lille, France, and conducts research
in the LAIL-CNRS, a laboratory of the Universit
des Sciences et Technologies de Lille, Villeneuve
dAscq, France. His research interests are robust
fault diagnosis for uncertain dynamic nonlinear
systems, in particular, for electrical drives applications.
Cyrille Christophe was born in Luneville, France,
in 1972. He received the B.S. degree in automatic
control and signal processing from the Uuniversity
Henri Poincare of Nancy, Nancy, France, in 1996, and
the Ph.D. degree from the Universit des Sciences et
Technologies de Lille, Villeneuve dAscq, France.
He is currently a Lecturer at the Universit des Sci-
ences et Technologies de Lille and conducts research
in the LAIL-CNRS. His research interests are elec-
trical machines and monitoring using parity space or
observer-based approaches for nonlinear system.