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Abstract: Due to their concentrated windings and modular topology, permanent-magnet fault-tolerant
(PMFT) motors inherently offer decoupling phases and fault-tolerant capability. Two fault-tolerant drive
topologies for these motors, namely H-bridge and star-connection, are presented and compared for short-
circuit fault. In order to keep torque performance invariant during the faulty operation, the current
amplitude of healthy phases should be increased, and only the phase angle of the adjacent phases should
be changed in the H-bridge mode, while both the current amplitude and the phase angle of healthy phases
should be changed in the star-connection mode. Both strategies are derived, compared and analyzed.
Finally, the simulated results are given, verifying the effectiveness of theoretical analysis.
Keywords: Fault tolerance, short-circuit fault, permanent-magnet motor, drive topology.
Zhengzhuan et al. (2009); Zhao Wenxiang et al. (2009)] (Fig. The structure of the paper is as follows. Section 2 sets up the
2(b)) drive topology. The former is more flexible to control mathematical model of the four-phase PMFTM. Section 3,
separately, yet it needs more power devices and volume, according to H-bridge and star-connection drive topology,
hence producing more dissipation heat. Meanwhile, the latter presents individually fault-tolerant strategy for a short-circuit
obeys the Kirchhoff’s Current Law that the sum of each fault. Section 4 analyses the effect of both control strategies.
current is zero, so the control algorithm is more complex. In Some conclusions are drawn in Section 5.
recent years, research of multiphase PMFTMs is mainly
based on H-bridge or star-connection drive topology. 2. MATHEMATICAL MODEL
However, their impacts on the fault tolerance and system
performance are ignored. The purpose of this paper is to As is shown in Fig. 1(a), differing from distributed winding,
investigate different remedial strategies for improve torque the four-phase PMFTM adopts concentrated winding around
performance of a four-phase PMFTM with short-circuit fault. a stator tooth, in which fault-tolerant teeth interleave with
armature teeth. Since windings completely isolated in electric,
magnetic, thermal, and physical circuits, a phase fault will
not impact on, neither pass to other phases. Thereby, when
there is a fault in one of the phase windings, the remaining
healthy phase windings can continually operate with
reasonable performance.
Comparatively, in [B.Mecrow et al. (2011)], the ratio of the
mutual inductance to self-inductance of 6-phase PMFTM is
just 3.5%, but in this work, that is only 3.2%. Therefore, as
shown in Fig. 1(b), windings of a multiphase PMFTM can be
treated as multiple decoupled independent circuits. Then k-
(a) Structure phase PMFTM can be described as follow.
1000
The stator voltage equations are given by
800
dψ k
600 L(A,A) [uH] uk = Rik + ek = Rik + (1)
L(A,B) [uH] dt
L/uH
dψ k dik dLk dψ rp
ek = = Lk + ik +
dt dt dt dt
dik dLk dψ rp
= Lk + ik ωr + ωr (3)
dt dθ dθ
dik
= Lk + eω + erp
dt r
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IFAC Mechatronics '13
April 10-12, 2013. Hangzhou, China
9
8
in short-circuit fault. According to the result of fault 7
diagnosis, control law will be switched from normal mode to 6
5
the corresponding (open- or short-circuit) fault tolerance 4
3 Normal
mode. Two fault-tolerant strategies were presented for open- 2 Open-circuit
circuit fault in [Si Binqiang et al. (2013)]. It is assumed that 1 Short-circuit
0
there is a short-circuit fault detected in the Phase B, based on 0.0 0.5 1.0 1.5 2.0 2.5 3.0
the above fault diagnosis method. This paper mainly Time/ms
investigates different remedial strategies for improve torque Fig. 3 Torque in normal, open-circuit and short-circuit
performance of a four-phase PMFTM with short-circuit fault.
conditions
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IFAC Mechatronics '13
April 10-12, 2013. Hangzhou, China
6 Phase A
times of the rated value in amplitude, resulting in pulsating
Phase B torque. A direct method is to minimize torque ripple by
5
Phase C compensating torque, namely, the current of Phase A lags 90º
Torque/N.m
4 Phase D
in phase, and equates the current of Phase B in amplitude.
3 Similarly, the current of Phase C leads 90º in phase, and
2 equates the current of Phase B in amplitude, so the torque
ripple produced by Phase B is counteracted. Meanwhile, in
1
order to produce the torque as normal, other phases double in
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 amplitude with invariability in phase. Thus, the currents of
Time/ms unfaulty phases are obtained as follow.
(a) Four single-phase working
I ′ = 1.2283 I
a b
11 Phase A&B
10 Phase A&C I ′ = 2I
c c
(11)
9 ′
8
I = 2I
Torque/N.m
d d
7
6
5 or
4
3
2 I ′ = 2I
a a
1
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 I ′ = −1.2283 I
c b
(12)
Time/ms ′
I = 2I
(b) The adjacent and opposite two-phase working d d
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IFAC Mechatronics '13
April 10-12, 2013. Hangzhou, China
In short-circuit fault, the current of Phase B leads 90º in volume and dissipation heat, while the latter is less than half
phase, coinciding with the Phase A, and enlarges 1.2283 of power devices, so it is suitable for the occasion that space
times of the rated value in amplitude. It is described as follow. is limited. In flexibility of control, each phase of the former
can be controlled separately for adjusting the amplitude and
I b ′ = 1.2283 I cos( pω m t + φ ) = 1.2283 I cos θ (15) phase of each current, so it is flexible and fit to do fault-
tolerant control for multiphase PMFTM. But the latter obeys
and the EMF is:
the Kirchhoff’s Current Law that the sum of each current is
2 3
MMF ′ = NI a ′ + α NI b ′ + α NI c′ + α NI d ′ zero, so the control algorithm is more complex. On the failure
(16) rate, the former is very flexible to control, but it also make
= N [ I a ′ − I c ′ + j ( I b ′ − I d ′ )] some phases overloaded (saturate), then reduces the working
life and increases the failure rate. While due to cooperation,
To maintain the same torque capability as the normal
the power of each unfaulty phase is approximately even, so
operation, a remedial operation under short-circuit fault
the latter has longer (lower) working life (failure rate). In
condition can be obtained by setting (16) equal to (14),
copper loss, the former is 2.75 times, and the latter is 3.5
leading to the following relation:
times of the loss as normal. In control effect, compared with
the latter, the former has a more decline in the averaged
I ′ − I ′ = 2 I cos θ
a c
torque, while a less increase in torque ripple, close to the
I ′ − I ′ = 2 I sin θ torque ripple as normal. These results are also listed in Table
b d
(17) 2. The two remedial strategies have their advantages and
I ′ = 1.2283I cos θ
b
disadvantages, so the drive topology and corresponding
′ ′ ′ ′ remedial strategy should be chosen, according to situations,
I + I + I + I = 0
a b c d control-orientation and so on.
Thus, the currents of unfaulty phases are obtained as follow. 50 Input IA
40 Input IB
Input IC
I ′ = I − 0.2283I
a b a
30
20 Input ID
Current/A
10
I ′ = 1.2283I 0
b a
(18) -10
I ′ = I + 2.2283I
c b c
-20
′ -30
I = 1.2283I + 2 I
d a d
-40
-50
0.0 0.5 1.0 1.5 2.0 2.5 3.0
In short, suppose each winding is driven by star-connection Time/ms
drive topology, and the Phase B is in short-circuit fault. To
maintain the same torque capability as the normal operation, (a) Normal
in contrast to H-bridge fault-tolerant strategy, it is more 60 Short IB
complex, not only with modification in amplitude of the 50
40 Input IA
residual unfaulty phases, but also with shift in phase. Other a 30 Input IC
short-circuit fault of single phase is treated as such. 20 Input ID
Current/A
10
0
Table 2 Performance comparison under various -10
-20
conditions -30
-40
-50
Avg Torque -60
State Ripple/% Copper loss/W 0.0 0.5 1.0 1.5 2.0 2.5 3.0
/N.m Time/ms
Normal 10.62 4.67 4I2R
(b) Short-circuit of the Phase B
Short- 80 Short IB
7.624 55.18 4.5I2R Input IA
circuit 60
Input IC
40
Input ID
11I2R
Current/A
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IFAC Mechatronics '13
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