Robot and Servo Drive Lab.
Simple Fault Diagnosis Based on
Operating Characteristic of Brushless
Direct-Current Motor Drives
Byoung-Gun Park, Kui-Jun Lee, Rae-Young Kim, Member, IEEE, Tae-Sung Kim, Ji-Su Ryu, and Dong-Seok
Hyun, Fellow, IEEE, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 58, NO. 5, MAY 2011
1586-1593
Student: Ting-Hui Lin
Teacher: Ming-Shyan Wang
Date : 2011.11.18
Department of Electrical Engineering
Southern Taiwan University
2016/7/16
Outline
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Abstract
Introduction
Analysis For Open-Circuit Fault Of BLDC Motor Drives
Proposed Fault Diagnosis Algorithm
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A. Error Detection
B. Calculation of Fault Detection Time
C. Fault Detection and Identification
Overall Fault-Tolerant System
Simulations And Experiments
Conclusion
References
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Department of Electrical Engineering
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Robot and Servo Drive Lab.
Abstract

In this paper, a simple fault diagnosis scheme for brushless direct-current
motor drives is proposed to maintain control performance under an opencircuit fault.
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The proposed scheme consists of a simple algorithm using the measured
phase current information and detects open circuit faults based on the
operating characteristic of motors.
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It requires no additional sensors or electrical devices to detect open-circuit
faults.
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The feasibility of the proposed fault diagnosis algorithm is proven by
simulation and experimental results.
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Robot and Servo Drive Lab.
Introduction
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The fault-tolerant control system usually consists of three
basic processes. The first process is fault detection, which
is a binary decision to determine whether something has
gone wrong or not.
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The identification process is also considered as being
almost equally important. Therefore, two processes of
fault detection and fault identification are often called as
“fault diagnosis.”
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The proposed scheme is divided into three parts: 1) error
detection; 2) fault detection; and 3) fault identification.
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Robot and Servo Drive Lab.
Analysis For Open-Circuit Fault
Of BLDC Motor Drives
Fig. 1. Electrical equivalent circuit of BLDC motor drives.
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Robot and Servo Drive Lab.
Analysis For Open-Circuit Fault
Of BLDC Motor Drives
Fig. 2.
Waveforms of back EMFs and phase currents.
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Department of Electrical Engineering
Southern Taiwan University
Robot and Servo Drive Lab.
Analysis For Open-Circuit Fault
Of BLDC Motor Drives
2016/7/16
Fig. 3. Current waveforms under open-circuit faults in Mode 1.
(a) Upper switch fault. (b) Lower switch fault.
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Proposed Fault Diagnosis Algorithm
A. Error Detection
The residual for error detection is defined as
r (t )  ia  ib  ic (1)
The threshold value is determined to judge whether an error
occurs. The decided threshold value is given by
i
th
 2  g  iref (2)
f
This residual is used to detect errors according to the
simple threshold logic
 r (t )  ith ,

 r (t )  ith ,
normal
 (3)
error.
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Robot and Servo Drive Lab.
Proposed Fault Diagnosis Algorithm
2016/7/16
Fig. 4. Four-pole BLDC motor.
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Proposed Fault Diagnosis Algorithm
B. Calculation of Fault Detection Time
The relation between the speeds of the electrical and mechanical
variables is given by
P
 e   m  ( 4)
2
The relation between the frequency f of the induced voltage
in cycles per second can be shown as

f 
e
2
 (5)
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Robot and Servo Drive Lab.
Proposed Fault Diagnosis Algorithm
The time per mode ( t M ) is calculated by
t
M
1
1
 
(6)
f NM
where N M is a number of modes per a cycle.
The fault detection time ( T fault ) is defined by
T
fault
 k f  t M  (7 )
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Robot and Servo Drive Lab.
Proposed Fault Diagnosis Algorithm
C. Fault Detection and Identification
The algorithm for the fault detection is given by
 flag  1,
D

 flagD  0,
if T fault  t e
if T fault  t e
;
at Mode(k )  (8)
The algorithm for the fault identification is
given by
 flag  1,
I

 flagI  0,
i
if i
if
th
th
 r (t )
 r (t )
;
at Mode(k  1)  (9)
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Proposed Fault Diagnosis Algorithm
TABLE I
FAULT STATES OF SWITCHES IN A SIX-MODE CONVERSION
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Proposed Fault Diagnosis Algorithm
2016/7/16
Fig. 5. Process of the proposed fault diagnosis algorithm.
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Robot and Servo Drive Lab.
Proposed Fault Diagnosis Algorithm
2016/7/16
Fig. 6. Flowchart of the proposed fault diagnosis.
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Overall Fault-Tolerant System
2016/7/16
Fig. 7. Overall structure of the proposed fault diagnosis.
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Simulations And Experiments
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Robot and Servo Drive Lab.
Simulations And Experiments
2016/7/16
Fig. 8. Photograph of the laboratory prototype.
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Simulations And Experiments
2016/7/16
Fig. 9. Experimental results without the fault-tolerant control. (ch. 1: ia,
ch. 2: ib, ch. 3: ic, and ch. 4: fault signal).
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Simulations And Experiments
Fig. 10. Simulation results for the process of fault diagnosis.
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Simulations And Experiments
Fig. 11. Experimental results for the process of fault diagnosis. (ch. 1: r(t),
ch. 2: ia, and ch. 3 and ch. 4: te).
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Department of Electrical Engineering
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Robot and Servo Drive Lab.
Simulations And Experiments
2016/7/16
Fig. 10. Simulation results with the fault-tolerant control.
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Robot and Servo Drive Lab.
Simulations And Experiments
2016/7/16
Fig. 11. Experimental results with the fault-tolerant control. (ch. 1: ia, ch. 2:
ib, ch. 3: ic, and ch. 4: if ).
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Conclusion

A low-cost simple fault diagnosis algorithm has been
investigated to improve the reliability of the BLDC motor
drive system.
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In comparison to the existing fault diagnosis, the proposed
algorithm can simply identify the fault condition without
additional sensors for fault detection and identification and can
be embedded.

Simulation and experimental results confirmed the feasibility
of the proposed drive system for continuous operation under
the fault condition.
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Robot and Servo Drive Lab.
References
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Department of Electrical Engineering
Southern Taiwan University
Robot and Servo Drive Lab.
References
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Department of Electrical Engineering
Southern Taiwan University
Robot and Servo Drive Lab.
References
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Thank for your listening
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