ISSN: 2277-3754 ISO 9001:2008 Certified

International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013

Agrees and Disagrees of Mechanical and Electrical Faults Diagnosis of the IM Techniques: A Review
*1

Khalaf Salloum Gaeid; 2Adel M. Bash; 3Aref Jasim Abbas; 4Jamal A.Hameed * 1,2,3,4 Tikrit University/Iraq
parameters using neural network model has been dramatically reduced, while sufficient accuracy has been maintained, as opposed to the conventional techniques (expensive equipment, or accurate mathematical models required) fuzzy and neural network not need it but just the data. Polyharmonic Extreme Learning Machine. The method is a novel accelerating extreme learning machine, a combination of polynomial function and sigmoidal function is used instead of using the same type of activation function for all data points [3]. FFT: the Fourier transforms is a representation of an image as a sum of complex exponentials of varying magnitudes frequencies, and phases. The Fourier transform plays a critical role in a broad range of image processing applications, including enhancement, analysis, restoration, and compression. FEM the benefits of this method include increased accuracy, enhanced design and better insight into critical design parameters, but all FE models are just that "models" they are mathematical "Idealizations" of continuous systems. Therefore, all results from any FEA code are not "closed formed solutions". The results are numerical approximations. Good approximations but approximations. TSCFE-SS (time step coupled finite element-state space) compute in sampled data from the time domain wave forms and profiles of the input phase and line currents, voltages .power, torques . Texture analysis based on local binary patterns [4], according to its capability as well as the gray scale invariance property of the LBP operators enables this method to achieve impressive diagnostic performance even in the presence of high background noise. MCSA this method take a great deal of attention because their easiness to use as well as it is not require to access to the induction motor parameters used signal spectral to find the faults according to the position of sidebands frequency harmonics and many another parameters effect the faults can be diagnostic but there are drawbacks of this method ,the amplitude of the current components depends on the loads connected to the motor thus the variation of system load make this method not applicable in all operation condition also when is that frequency s similar to those used for rotor bar can be generated by other causes such as low frequency oscillation. Currents and/or voltages signals can be selected to be analyzed to detect faults inside the motor. The selected

Abstract The first part of this review covered the field of the fault diagnosis and fault tolerant control up to 2010. The present contribution presents a modified review of the researches on the fault diagnosis and fault tolerant control of induction motors up to now. The classification of the faults which is another interested topics of this research finally the drawback of the method used in the fault diagnosis of the induction motor. The emphasis is on highlighting agrees, disagrees and tradeoffs in the reviewed topics. Sorting and classification is another goal. More attention is paid for the researches done in the last ten years, and a brief description is presented for each issue. Extensive number of papers is reviewed and appointed in the present preview, to provide quantitative description for each agree or disagree. Index Terms Fault tolerant control, Neural, Fuzzy, IM Faults, Signal Processing Techniques, and Software.

I. INTRODUCTION Rotating electrical machines plays important role in many field especially in the industrial processes because their rigid, rugged ,low price, reliable relative simplicity and easy to maintenance which we can represents it as a core of these fields especially the induction motor which takes a great deal of attention for the above performance but , the companies still faces many critical situations results in losses in revenue, also the operators under continuous pressure so that the techniques of the fault diagnosis are very urgent aspects before the catastrophic results in the equipments . The fault diagnosis may be classified into two main parts: (cause-effect and effect cause) the main methods used in the fault diagnosis field are: Hybrid Approaches: Combination like I.M Model and any signal processing method, Model and soft computing method etc; are considered here as a hybrid approach for the fault detection of induction motor[1]. The expert diagnosis: This method is based on human been experience with the system. According to this experience fault diagnoses of the machine directly associated to cause of this fault. This method has several disadvantages such as complexity, bad robustness and need good Experience [2]. ANN artificial neural network better among many types of fault diagnosis for stable, speed, parallel processing but of some of its architecture cant apply for dynamic processing and need a lot of data. Compared with to finite element method, the solution time for calculating machine circuit

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 signal is called a diagnosis media, and the output of the detection and identification in induction motors is less analysis applied to the selected diagnosis media is called a common. Most methods use fault diagnosis based on data signature [5]. directly through some means of limit checking or Wavelet its a signal analysis techniques to any kind of classification and not through application of models of the signal such as human speech, engine vibrations, medical motor itself. Some papers advocate physical model-based images, financial data and many other types of signal but the systems. These models have the advantage of containing draw back its difficult to be applied if the startup very faster meaningful physical variables, but what the models gain in and need minimums inertia factor. There more methods as in physical relevance they often lose inaccuracy. For example table 1. when feeding a physical-based model with converter fed Complex Park Vector (CPV), the well-known Park voltages the results are inaccurate. For purposes of fault transformation allows showing the variables of a three- phase diagnosis from the stator current the simple physical-based machine through a system of two quadrature (Id & Iq) shafts, models do not give enough accuracy when applied to rotor they are a measuring and diagnostic tool in electric and stator faults. This problem is also noted in research three-phase systems. The properties of this method as in table literature. Empirical coefficients are used for phenomena 1. that cannot be accurately. Modeled, so that proper results are achieved for motors of standard design. Problems arise when I d 3 / 2I a 1 / 6I b 1 / 6I c (1) motors are studied that are of new design, that are in transient I q 1 / 2I b 1 / 2I c (2) states or are fed by non sinusoidal voltages. A reason for why a physical-based model cannot model the motor adequately is Where Ia, Ib , Ic are the currents of the phases A, B, and C of that it cannot properly take into account all the mechanical, the stator. structural and operational details, which differ from motor to Axial Flow (AF), An axial-flow induction motor having motor. As physical model based systems have their an alternating magnetic field and associated harmonics, limitations, in this review we will classifies the faults of comprising a stator having a winding arranged in a slot and induction motor into the following, some faults implicitly rotatable supported laminated rotor spaced from the stator by included in some kinds of the faults such as the external an air gap, the rotor including relative to the stator a remotely faults of the induction motor, unbalance voltages, vibrations positioned magnetically conductive layer and a more closely take place in the induction motors, one or more phase positioned electrically conductive layer, further more as in unbalanced, torque oscillation or any kind of the faults. For a table 1. methods such as ACSA ,park's vector ,motor parameter Impedances of Inverse Sequence (IIS) as can be shown in estimation ,harmonic analysis of speed fluctuations and freq table 1.The faults of the induction motors components as in analysis of instantaneous power have some drawbacks such as Fig. 1 can be divided into two main parts electrical faults and (its need many sensors these should have high precision ,its mechanical faults. need knowledge about the internal structures). Negative sequence may fail under extremely low level of fault particularly when the supply voltage unbalance The main faults of the induction motor are depicted as in Fig.2.
Induction motor Fault

Electrical faults

Mechanical faults

Stator faults

Rotor faults

Bearing ,gearbox,oscillation

Eccentricity

Fig. 1: Induction Motor component

Many researches classifies the fault diagnosis according to the model based fault diagnosis methods and physical based model fault diagnosis but the model based take advantage of mathematical models of the Diagnosed plant. Different faults often require different mechanisms for their detection. A model based method using time-series prediction for fault

Windings &external faults

Broken rotor bar& end rings

Fig.2: Faults in the induction motors

According to the above faults, the percentage of each fault are as in Fig.3.

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 Percentage of component failures in Adjustable speed drives signature analysis of the complex apparent-power detecting 100 100% the occurrence of air gap eccentricity in operating three-phase 90 90% I.M presented by [12].Mixed (static and dynamic) 80 80% eccentricity at the starting period using TSFE, the input of FE 70 70% calculations was the applied voltage has been studied by [13]. 60 60% Investigation of static eccentricity severity by the features 50 50% investigated of RSH and RSH side bands of both the line 40 40% currents and vibration done by[14]. The evidence theory to 30 30% 20 20% find the motor static eccentricity using the BPA for each 10 10% sensor by noticing the magnitudes features presented by[15]. 0 0% A review for the best methods to deal with air gap eccentricity control circuits power convereter circuit External Auxiliaries like the digital camera or laser sensors to detects the faults Fig. 3: Percentage failures by components introduced by[16]. Investigation of the squirrel cage induction motor eccentricity mixed faults through the II. SIGNAL PROCESSING TECHNIQUES instantaneous power factor signature analysis done by[17]. A. Air Gap Eccentricity new technique to detect main faults in the induction motors A mechanical fault that happened due many reasons such as through TSCFESS method which can generate a large no. of machine manufacturing, assembly, unbalance load, bent shaft healthy and faulty IMASD simulations with TSDM and bearing wear. The static air gap eccentricity expression is techniques was developed by[18] , dealing with the drive of induction motor as closed loop to detect the rotor eccentricity 1 s f sec c [kQr n] f (3) related harmonics in the stator voltage and current space p vectors simultaneously using neural networks studied by [19]. K=1, 2, 3... new approach to detect air gap eccentricity using n=1, 3, 5, order of stator time harmonics present in the instantaneous power signature analysis was presented in[20], power supply feeding the motor. The dynamic air gap the pre established pulse sequence applied by the inverter to eccentricity expression is the I.M the air gap eccentricity effect on the zero sequence voltage can be detected and the diagnostics results was quite 1 s f decc [(kQr nd ) n] f (4) visible was stated by [21], a distinguishing load torque p oscillations and eccentricity faults in I M using stator current kQr is the number of rotor slots presented by [22] .A model based mixed eccentricity fault K=1, 2, 3... detection and diagnosis for induction motor presented in [23]. nd is the dynamic eccentric order (nd =1, 2, 3,). Air gap torque as failure signature to detect mechanical faults n=1, 2, 3, in particular the eccentricity has been proposed by[24]. They The mixed air gap eccentricity expression is compared current space vector (Park vector) and complex apparent power to detect the eccentricity fault. 1 s f mixecc [1 k ]f (5) B. Gear Box and Bearing Faults p The speed and load conditions of teeth may cause several Several contributions deal with these faults. Eccentricity types of failures on teeth surface of the gears which leads to Severity Factor is defined and is shown that this factor increases with increase of air gap eccentricity in the machine non-stationary operating conditions. the effectiveness of the time-frequency distributions called the which is used as a measure to assess the degree of eccentricity new in the machine done by [6].Analytical expressions to calculate Zhao-Atlas-Marks (ZAM) distribution to enhance non time varying inductances of salient pole synchronous machine stationary signal analysis for fault diagnosis in gears [25] The mechanical frequency needed to investigate the with any eccentricity type and degree in the frame of a single program for static eccentricity to verify accuracy of the model mechanical fault such as gear box, A bearing fault generates was done by[7]. The air gap eccentricity detection by analyze an additional torque component that varies at the specific the inclined static eccentricity of the I.M done by[8]. the axial bearing defect frequency [26] non uniform air gap due to off line monitoring of the f mech | f mf r ,m | (6) variations of the surge waveform at the different rotor position The damage frequency in the outer bearing race is: the eccentricity detection proposed by [9]. Detection of the N BD faults of eccentricity using ANFIS (adaptive network based (7) f 0 ( ) f [1 cos( )] fuzzy inference system) techniques presented by [10]. A 2 PD model of the I.M using a mesh of magnetically coupled The damage frequency in the inner bearing race is: reluctances designed by [11]. This model allows the dynamic N BD (8) f i ( ) f [1 cos( )] simulation of the main induction motor variables to detect 2 PD faults with high efficacy. A new strategy based on the

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 The frequency of the damaged ball is: induction machine in the transient region presented by [48], signal acquisition of IM presented in [49],diagnostic system BD BD (9) based on hidden Markov's modeling of short circuit fault fb ( ) f {1 [ cos( )]2 } PD PD diagnosis of IM[50], fault diagnosis in the auxiliary winding N =number of bearing balls using spectral analysis[51] ,protective relays for the fault BD = ball diameter diagnosis[52],weak signal detection for fault diagnosis [53], PD = ball pitch diameter short circuit faults of IM based on hidden Markov model[54], = contact angle of the ball with the races. detection of the inter turn faults in the IM using the pendulum However, these characteristic race frequencies can be phenomena[55], vector control support based classification approximated for most bearings with between six and twelve and monitoring techniques for the IM[56], on line simulation balls, [27] used the RBF neural network to detect the bearing using the finite element method[57], effect of position and the of outer race defect of ball faults through MCSA number of broken bar in the motor stator current spectrum[58], techniques,[28], a three shafts and their corresponding gear using of MCSA techniques to detects the fault in squirrel cage mesh frequencies (GMFs) the gear box faults can be detected presented in [59], influence of adjustable speed drive on I.M by demodulation of the motor current waveform. [29] fault detection using SCM[60]. Presents the facilities of ANFIS approach in the detection of D. Abnormal Connection of Stator Winding inter-turn insulation of main winding and bearing wear of a single phase I.M. In [30], the park's vector for monitoring I.M Double frequency tests are used for evaluating stator bearing faults by noticing the thickness of Lissajou's curve has windings and analyzing the temperature based on MCSA[61], been studied. Deal with multistage gearbox of induction fault detection in the inverters[62], faults detection of low motors using tacho generator and dc generator to generate order PWM harmonic contribution of the inverter fed IM ripple voltage also use MFT done by [31].detection the [63], the faults of induction machine using the spectral density bearing fault in the intelligent diagnosis techniques uses wave using the wavelet techniques are investigated, the capabilities transform and SVD techniques presented by[32]. new method of the signature graphical tool to detect the faults in I.M [64],a to detect incipient faults based current techniques according protection method to detect the unbalance voltage and single to noise cancellation presented in [33]. one of the stator phasing faults resented by[65], use the vector Eigen values to current monitoring to detect the rolling element bearing faults detect the faults of the closed loop IM[66], investigation the presented in [34], for 0.75 kw [35], found the diagnosis vibration faults in the winding based EMAM[67], capabilities of the park transform better than Concordia in the voltage/frequency control usage to predict the fault bearing fault diagnosis. [36] Present a neural network to inverter[68],a statistic moment based method for the detect on line stator and rotor resistance in the sensor less detection and diagnosis of I.M stator fault presented by [69], motor. B-spline has been used in [37] as membership of a model of dual stator winding induction machine in case of neural fuzzy to detect on line stator fault, a technique to detect stator and rotor faults for diagnosis purposed[70], diagnosis a fault in the stator winding using two DRNN to estimate the of IMs for implicit faults introduced in [71]. severity of the fault presented in [38]. Simple open loop E. Shorted Rotor Field Winding inverter (PWM-VSI) fed induction motor to detect to estimate A method for analyzing electrical shorts in field windings stator flux at zero voltage and low frequency by NN presented of a synchronous machine having a rotor using a magnetic in[39].[40] investigates the connection path of uncontrolled flux probe, the method includes: monitoring flux signals rectifier of a variable v/f induction motor drive. generated by the flux probe wherein the flux signals are C. Stator Faults Resulting of Opening or Shorting the indicative of magnetic flux emanating from the field windings Stator Coil done by[72], .Daniel F. Leite et al (2007) according to model The cause of most stator faults is insulation breakdown that based detect the alternators & I.M faults[73],PDA method leads to winding failure[41]. The frequency of the stator fault usage in the monitoring and diagnosis[74],study the torque is: and current peculiarities [75], the rotor fault diagnosis using 1 s wavelet spectral analysis investigated[76], modeling f st f [n( ) k] (10) techniques based on the model of the IM and the pumps [77], p many faults in the IM as well as the monitoring of the machine n = 1, 2, 3 investigated by[78], a research on the rotor and stator double k = 1, 3, 5, 7, faults squirrel cage in the IM presented in[79], the methods The fault diagnosis of the stator inter turn and rotor and technologies of the rotor fault diagnosis presented presented by [42]. Fuzzy and e-mean to detect the stator faults by[80],new faults indicators in the rotor for squirrel cage IM done by[43]. The detection of stator winding interturn shorts [81], diagnosis of rotor faults in closed loop induction done by[44], the fault speed sensor in the induction motor[45], drive[82], Welch, Burg and MUSIC methods to detects the simulation of inverter as switching technique to find the faults on the rotor applied by [83], slide mode observer in faults[46],wave convolution to diagnose the induction rotor fault diagnosis [84], indicators of the rotor in FOC machine[47],two different approaches for diagnosis of

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 Drives[85], detection of rotor faults in squirrel cage IMs using distinguish between the transverse crack and the slant crack Adjustable Speed Drives introduced by[86],PQ on the shaft of a rotor system[115]. transformation technique in the rotor fault diagnosis[87], III. ARTIFICIAL INTELLIGENCE TECHNIQUES early detection approach for fault diagnosis[88], wavelet of One Cycle Average Power in the rotor fault Compose of many types of methods deals with the fault diagnosis[76] ,analytical investigation on the effect of the diagnosis of IMs such as neural networks ,fuzzy logic, or negative sequence on stator fault[89], diagnosis and fault the combination of both, genetic algorithm, even expert tolerant control and many examples in this book[90]. network can be included witch introduce many facilities with F. Broken Rotor Bar and Crack End Ring The percentage (5-10% ) is the broken rotor bar fault This type of fault is occurred during the course of running, starting or load changing, voltage fluctuation, torque oscillation. Large current may flow through the bars or end ring; large heat will be generated in the end ring joints or bars [91]. The rotor broken bar frequency in asymmetry condition and comparison between the internal and external methods when the detection of faults by the spectral analysis [92], the effect of current of the bar and axial flux on the faults [93], fault diagnosis through the identification parameters of the IM [67], the broken bar faults using the discrete and continuous wavelet presented by[94],in his thesis [95] introduce the fault diagnosis methods and take many cases of the process monitoring. Faults diagnosis of broken bars using the global fault index introduced in [96], the inter turn stator faults and broken bar of poly phase IM introduced by[97], the faults of inter turn and broken bar presented in [98], the wave let fault diagnosis of inverter fed IM used by[99],new method in the fault diagnosis of IM using wavelet transform to find rotor bar faults used by [100], broken bar diagnosis using starting current analysis[101] fault in the rotor bar through the voltage analysis modulation[102], new approach to detect the broken bar using vibration techniques given by [103], finite element characteristics to detect broken bar of squirrel cage IM[104], broken bar and the effect of load of the induction during the rundown [105],detection of broken bar using Hilbert Transform presented by[106], broken bar and stator short circuit due to stator current [107], fault diagnosis of broken bar for load variation in the IM using wavelet [108], fault diagnosis of the broken bar Use of a Lower Sampling Rate with DTFT and AR[109]. The legalistic rules for fault diagnosis of broken bar with many cases are introduced by [110], condition monitoring vector data base of broken bar faults in the IMs[111]. G. Shaft Bent Bent shaft which can result in a rub between the rotor and stator, causing serious damage to stator core and windings[112],.for a 1.5 Kw an IM, shaft misalignment, damage bearing tested [113], different kinds of faults such as transverse cracks, imbalance, misalignment, bent shafts, and combinations thereof are considered. Off-line and on-line experiment analysis are carried out[114], flexural vibrations of a rotor system with transverse or slant crack are analyzed under torsion excitation, The numerical and experimental investigations demonstrate these features can be used to respect to the signal processing techniques but its need a large amount of data about the motors which sometimes difficult to get it. Description of a new approach for fault detection and diagnosis of IMs using signal-based method. It is based on signal processing and an unsupervised classification technique called the Artificial Ant Clustering done by[116], hybrid model to detect some internal and imbalance faults[117], the controller is derived using neural network and slide model in the IM [118], ARR technique to detect centrifugal pump was proposed by[119], sensor faults of IM[120], analogue device and dual core SP to detect the faults in the inverter implemented by [121], negative sequence through MCSA to detect the faults presented in[122], detection of broken bar and air gap eccentricity through MCSA[123], with high advance on line monitoring detect faults in the IM using MCSA was presented in [124], diagnosis based on Markov's which is used in recognition of speech to detect the faults[125], the bond graph modeling to detect the fault[126], Kohen's SOM to detect the three phase inverter faults[127], a review for the multiphase of IM given by[128], signals filter in the inverter fed IM using neural without any sensor[129],self organize with radial bias function as a new techniques to detect the faults[130], new approach in fault diagnosis of IM using wave let using real time implementation of wavelet packet transform-based diagnosis[131], soft computing used techniques for fault diagnosis of uncertainty propagation [132], indirect vector controlled IM using hybrid classical controller and fuzzy controller[133], new approach for fault diagnosis using back stepping digital techniques for IM presented by[134],new procedure using non invasive Beirut diagnosis for the IM drives presented by[135], wavelet convolution to detect on line system fault[47],based on soft computing investigate the propagation uncertainty in fault diagnosis[132], Fig.4 shows the neural network.

Fig. 4: Neural Network

wavelet decomposition using power spectral density in diagnosis of induction machine[136], fuzzy logic to detect the

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 faults of the inverter fed the IM [137],feature vector is inter-turn short circuit in stator phase winding. The constructed based on park's vector approach to detect the fault-tolerant controller is based on the indirect rotor field broken bar and stator short circuit faults[138],the design oriented control (IRFOC) and an observer to estimate the methods and real time realization and classification through motor states done by[157],fault -tolerant control systems the neural network presented by[139],the neural network fault details for the types of fault tolerant control, its areas diagnosis capabilities of multilevel inverters ,architecture, control systems able to detect incipient faults in investigated[140], Hall effect in the fault diagnosis of rotor sensors and/or actuators on the one hand and on the other, to broken bar through neural in the large IMs investigated promptly adapt the control law in such a way as to preserve [141],sensor less speed estimation of line connected using pre-specified performances in terms of quality of the RNN used by[142], NN based fault identification in the production, safety, etc[158]. The fault tolerant control IMs[143],RBF Neural Network Based on Dynamical PCA for consists of two steps: fault diagnosis and re-design controller the fault identification in the IM[144], model based fault Currently, FTC in most real industrial systems are realized by diagnosis in the IM using ANN [145], neural network in the hardware redundancy. For example, the majority-voting torque estimation and d-q transform[146],induction condition scheme is used with redundant sensors to cope with sensor monitoring using NN modeling [147], fault diagnosis of IM faults. However, due to two main limitations of the using the NN[148], optimization of flux by NN using a model hardware redundancy, high cost and taking more space, of losses in IM drives [149], Comparison of on line control of solutions using analytical redundancy have been investigated Three Phase IM Using RBF and B-Spline Neural Network over the last two decades. There are generally two different presented in [150], monitoring and diagnosis of external approaches using analytical redundancy, passive and active faults using artificial neural network[151],N.N. schemes approaches. Recently, an elegant design method of passive control for I.M drive systems[152], incipient faults of three approach was proposed, in which the linear matrix inequality phase I.M. using NN identification [153],image processing method was used to synthesis the reliable controller. The for neuro-fuzzy classifier in detection and fault diagnosis of disadvantages of passive approach are the method is based on I.M[154],adaptive neural model-based fault tolerant control an accurate linear state space model and therefore is not for multi variable processes[155],fault tolerant control based capable of controlling a non-linear process for which an on stochastic distributions via multi layer perceptron neural accurate analytical model is usually unavailable. In addition, networks[156]. because the passive approaches consider fault tolerance in only the stage of controller design and without taking IV. SOFTWARE USED WITH FAULT DIAGNOSIS adaptation when faults occur, the amplitude of the faults that The main software programs that can be used with fault can be tolerable is usually small and cannot meet the diagnosis techniques either with classical methods or the requirements in practice. There are many method deals with artificial methods to give high facilitate .here we manifests the active fault tolerant control (adaptive control) such as most important among them: DOCTOR ,Matlab program, linearization feedback linear quadrature method, Pseudo Tiberius program ,Ansys program, Lab view program inverse method, Eigen structure assignment method, neural ,Knoware program, ABAQUS program, SAMCEF program network ,control law rescheduling, model predictive control ;OOFELIE program CalculiX program, OOFEM program, MPC,HY, norm optimization, 4 parameter controller, The ALGOR program; Sundance program ,JMAG; program, main disadvantage of their designs is that they consider large PERMAS program ,STRANDS7 program, PAM program fault effects which do not challenge the robustness problem! ,solid work program, Neural net. Program ,Jaffa neural A consideration of smaller or incipient (hard to detect) faults program ,Free Master program ,Maxwell pc program, Motor would have given a more realistic and challenging robustness monitor program, Neuro solution program, DLI watchman problem to solve, etc. the remote diagnosis is another type program COSMOS work, program, Maple Sim program, used with fault tolerant control. Off board component has Fault tolerant software,Sim20 software ,PSCAD software, (nearly) unlimited computing power but has to cope with limited and possibly biased measurement data ,on board Free Master ,etc. There are much more deals with the modeling and component has to work with restricted computing power and simulation of the induction machines but those according to memory size which limits the algorithm complexity of the task author's knowledge. These programs not applicable for all to be performed. A novel isolation scheme with its robustness methods, for example the Tiberius program can be used with and sensitivity properties using adaptive thresholds in the neural network and the ANSYS for the finite element method, residue evaluation stage in three tank system, a rigid link robotic manipulator and the Van der Pol oscillator system electromagnetic field and so on. presented by[159], fault tolerant control design that consists of two parts: a nominal performance controller and a fault V. FAULT TOLERANT CONTROL detection element to provide fault compensating signals to the Many efforts in the control community have been recently feedback loop presented in [160]. The nominal controller can devoted to study Fault-tolerant control (FTC) systems, have any given structure that satisfies the performance namely: a fault-tolerant controller (FTC) of IM (IM) with

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 specification. The detection element will operate in parallel based on observer for faulty conditions, on-line sliding mode with the system until a fault is detected. Fault tolerant control allocation scheme for fault tolerant control proposed operations of soft starters and adjustable speed drives (ASDs) by[167]. The effectiveness level of the actuators is used by the when experiencing power switch open-circuit or short-circuit control allocation scheme to redistribute the control signals to faults, a method for designing switching controls and the remaining actuators when a fault or failure occurs, a novel analyzing achievable performance for motor drives presented intelligent nonlinear state estimation strategy is proposed in by[161], a collection of results towards a unified framework [169], which keeps diagnosing the root causes of the plant for fault tolerant control in distributed control systems are model mismatch by isolating the subset of active faults given in[162], who presents a fault tolerant strategy for the (abrupt changes in parameters/disturbances, biases in problem of loss of one phase in a field oriented controlled sensors/actuators, actuator/sensor failures) and auto-corrects three phase IM. The proposed solution, rather than previously the model on-line so as to accommodate the isolated suggested solutions, is a control strategy in the single phase faults/failures, a control system design for a rotor magnetic mode of operation of the IM, same above authors describes a bearing system that integrates a number of fault-tolerant novel strategy for restarting the three phase IM in a voltage control methods considered by [170], a plug-in robust fed field oriented drive operating in the single phase mode compensator for speed and position control enhancement of after the loss of one of the inverter phases. In [163] an original an indirect-field oriented control induction machine drive is strategy of fault tolerant operating in case of doubly fed developed[171], vector control algorithm, based on indirect induction machine (DFIM) is given, the voltage and current rotor flux orientation, is at first briefly described[172]. control of a five-phase IM drive under fault conditions Special attention is paid next to the current control issue, from investigated by[164], the advantages and the inconveniences the point of view of the minimum number of current of using remedial operating strategies under different control controllers for six phase IM. The IFOC can transform the IM techniques, such as the field oriented control and the direct from nonlinear into linear system but with many assumption torque control given in [165], Global results are presented ,its well known the output response is sensitive to the plant concerning the analysis of some key parameters like parameters variations such as the rotor resistance, a efficiency, motor line currents harmonic distortion, among bibliographical review on reconfigurable (active) fault others, the problem of designing a fault tolerant system for tolerant control systems (FTCS) is presented by[173]. The IPMS motor drive subject to current sensor fault considered existing approaches to fault detection and diagnosis (FDD) by[166]. To achieve this goal, two control strategies are and fault-tolerant control (FTC) in a general framework of considered. The first is based on field oriented control and a active fault-tolerant control systems (AFTCS) are considered developed adaptive back stepping observer which and classified according to different criteria such as design simultaneously are used in the case of fault-free. The second methodologies and applications. as in Fig.5. approach proposed is concerned with fault tolerant strategy
Fault tolerant control method

Type of systems deal with

Reconfiguration M. optimization

Design approach

Mathematical design tool

Linear

Precomputing Nonlinear switching matching LQ Hinfinty LMI MPC GS/ LPV MM FL/DI LMI VSC/ SMC IC Following compensation

Online redesign

LQ ,PI, MF ,EA MM MPC QFT GIMC

MM GS/LPV VSC/ SMC PI EA MF MPC

GS/ LPV MM QFT LMI GIMS

LQ PI MF/AC EA FL/DI VSC/ SMC PMC

Linear quadratic( LQ) Pseudo Inverse (PI) Gain scheduling (GS) /Linear parameter variable (LPV) Model Following (MF) Adaptive control (AC) Multiple Model (MM) Eigen structure Assignment( EA) Feedback linearization (FL)/ Dynamic Inversion (DI) Model Predictive Control (MPC) Quantitative feedback theory (QFT) Linear matrix Inequality (LMI) variable structure control (VSC)/ Sliding mode control (SMC) Generalize internal mode control(GIMC)

MF MPC

Additive compensation adaptive compensation

Fig. 5: Active fault tolerant control methods

adaptive fault parameterized linearization[168]. development of a adding a power

tolerant control(FTC) of nonlinearly systems with uncontrollable The progress was made due to the novel feedback design technique called integrator, which was motivated by

homogeneous feedback stabilization and proposed initially in new strategy for the fault tolerant control for aircraft systems presented by[174],analytical redundancy relation (ARR) based approach for fault detection and isolation (FDI)with application to hydraulic and a thermo fluid process using

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 Bond graph to modeling FDI presented by[175], introduce in and external disturbances,(include residual generation and his Ph.d thesis the main methods in the fault tolerant residual evaluation, threshold determination),and A control[176], typically, an active FTCS consists of three reconfiguration mechanism which can organize the parts: a reconfigurable controller, an FDD scheme, and a reconfigured controller in such a way that the pre fault system control law reconfiguration mechanism as shown in Fig.6. performance can be recovered to the maximum extent as shown in Fig.7. Fault tolerant control of IMs is proposed Fault tolerant control part Fault detection and diagnosis part using both vector control as the dominant controller and a voltage-to-Frequency (V/F) controller as the complimentary Reconfiguration Fault detection and Mechanism Diagnosis controller has been done by[177].According to the depth of the information used of the physical process, the approaches to the problem of failure detection and isolation fall into two major groups: of plant dynamics, or, model-free FDI; or, output model-based FDI. More than 13 papers published in the Controller system input Reference Journal of Control Science and Engineering about the fault tolerant control and fault diagnosis [178]. The existing FDI fault approaches can be generally classified into two categories: model-based and data-based (model-free) schemes; these two Fig. 6: Main component of fault tolerant control schemes can further be classified as quantitative and The key issues of the fault tolerant control are how to design: qualitative approaches as shown in Fig.7. A robust reconfigurable controller, AN FDD scheme with high sensitivity to faults and robustness to model uncertainties
Fault detection method

Model based method

Data based method

Qualitative

Quantitative

Qualitative

Quantitative

Casual model

Abstraction

Neural

Statistical

State est.

Parameter est

Simalt. State/parameter est.

Parity space

PC/PLS

Classifiers

Fault trees

Structure graph

Qualitative physics State space Input/out

Fault trees

Structure graph

2 stage Kalman

Ex Kalman F.

LS/RLS

Regression Analysis

Observer based

Kalman F. based

Fuzzy

Expert system

Recognition

Freq&time Freq. analysis

Fig. 7: Methods of fault detection and isolation part of FTCS

VI. CONCLUSION This review for more interest research for last ten years in the fault diagnosis and FTC techniques. Included the general layout of the electrical and mechanical faults happened in the induction motor, methods to detects these faults and the agrees and disagrees of the most popular techniques deals with the fault diagnosis and fault tolerant control. Applying IM systems in critical path applications such as automotive systems and industrial applications requires design for fault

tolerance. The successful detection of IM faults depends on the selection of appropriate methods used. There are a number of results related to using FDI to mechanical systems and control surfaces of an IMs such as online identification of fault models with time-varying nonlinearities and robust FDI using closed loop models are still of research interest. Rapid detection and isolation of faults is necessary to minimize the undesirable effects of detection and reconfiguration delays. Finally the software programs, which acts as a tool to satisfy the above solving strategies. The authors would like to thanks

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013 Motors under Mixed Eccentricity Fault" IEEE transactions on Thanis Sribovor, professor Hew Wooi Ping from University magnetics, vol.44,no.1,pp.66-74,2008. of Malaya at same time apologize to those whose papers are not included. [14] Jason Grieger, Randy Supangat, Nesimi Ertugrul, Wen L. REFERENCES
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[127] Toshiji Kato, Kaoru Inoue, Tomohiro Takahashi, Yuto Kono," Automatic Fault Diagnosis Method of Electrical Machinery and Apparatus by Using Kohonen's Self-Organizing Map" Power Conversion Conference, pp. 1224-1229,2007. [128] Evi, E., R. Bojoi, F. Profumo, H.A. Toliyat and S. Williamson," Multiphase Induction Motor Drives a Technology Status Review" IET Electric. Power Application.,vol.1,no.4, pp.489-516,2007. [129] Raj M. Bharadwaj Alexander G. Parlosb, Hamid A. Toliyat, " Neural Speed Filtering for Sensorless Induction Motor Drives Control Engineering Practice, vol.12, no.6, 687706,2004. [130] Sitao Wu and Tommy W.S. Chow," Induction Machine Fault Detection Using SOM-Based RBF Neural Networks IEEE transaction on industrial electronics, vol.51,no. 1,pp. 183-194 ,2004. [131] Khan, M.A.S.K., Tawfik S. Radwan and M. 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[134] Elmaguiri, O., F. Giri," Digital BackStepping Control of Induction Motors" IEEE International Symposium on Industrial Electronics, pp.221-226,2007. [135] Eltabach Mario, Antoni Jerome" Motor Drives Fault Diagnosis by the New Non Invasive Beirut Diagnostic Procedure IEEE International Symposium on Industrial Electronics, pp.1039-1045,2007. [136] Cusido, J., J.A. Rosero, L. Romeral, J.A. Ortega, A. Garcia, Fault Detection in Induction Machines by Using Power Spectral Density on the Wavelet Decompositions" Power Electronics Specialists Conference, pp.1-7,2006. [137] Fatiha Zidani, Demba Diallo, Mohamed El Hachemi Benbouzid and Rachid Nait-Said"A Fuzzy- Based Approach for the Diagnosis of Fault Modes in a Voltage-Fed PWM Inverter Induction Motor Drive " IEEE transaction on industrial electronics, vol.55,no.2,pp.586-593,2008. [138] Ayadin,I., M. Karakose, E. Akin" Artificial Immune Based Support Vector Machine Algorithm for Fault Diagnosis of IMs" IEEE. International Aegean Conference on Electrical Machines and Power Electronics, ACEMP. pp.217-221,2007. [139] Puxuan Dong," Design Analysis, and Real-Time Realization of Artificial Neural Network for Control and Classification" A dissertation Doctor of Philosophy North Carolina State University ,2006. [140] Surin Khomfoi Leon M. Tolbert" Fault Diagnosis System for a Multilevel Inverter Using a Neural Network" Industrial Electronics Society, .IECON 31st Annual Conference of IEEE, pp. 1455-1459,2005. [141] Dias,C.G., I.E. Chabu, M.A. Bussab" Hall Effect Sensor and Artificial Neural Networks Applied on Diagnosis of Broken Rotor Bars in Large Induction Motors" CIMSA ,IEEE International Conference on Computational Intelligence for Measurement Systems and Applications, pp.34-39,2006. [142] Yang, D.M."Induction Motor Bearing Fault Detection with Non-stationary Signal Analysis" Proceedings of International Conference on Mechatronics ,pp. 1- 6 2007. [143] Sri R. Kolla, Shawn D. 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[148] Qing He, Dong-Mei Du,"Fault Diagnosis of Induction Motor Using Neural Networks" Proceedings of the Sixth International Conference on Machine Learning and Cybernetics, pp.1090-1095,2007. [149] Bogdan Pryymak, Juan M. Moreno Eguilaz, Juan Peracaula" Neural Network Flux Optimization Using a Model of Losses In Induction Motor Drives" Mathematics and Computers in Simulation, vol.71,no.46,pp.290-298,2006. [150] Mochammad Facta, Iwan Setiawan" The Comparison of On line Control of Three Phase Induction Motor Using RBF and B-Spline Neural Network" First International Power and Energy Conference PECon, pp.337-341,2006. [151] El -Sayed M. Tag Eldin, Hassan R. Emara, Essam M. Aboul-Zahab, Shady S. Refaat," Monitoring and Diagnosis of External Faults in Three Phase Induction Motors Using Artificial Neural Network" IEEE Power Engineering Society General Meeting, pp.1-7,2007. [152] Ahmed F. Abd El-Halim, Hasan A. Youse and Medhat M El-Genaidy" Neural Network Control Schemes for Induction Motor Drive Systems" IEEE 46th Midwest Symposium on Circuits and Systems, vol. 3, pp.1055- 1058,2004. [153] Arfat Siddique, G.S.Yadava and Bhim Singh" Identification of Three Phase Induction Motor Incipient Faults using Neural Network' " Conference Record of the IEEE International Symposium on Electrical Insulation, pp.30-34,2004. [154] Amaral, T.G., V.F. Pires, J.F. Martins, A.J. Pires and M.M. Crisostomo," Image Processing to a Neuro-Fuzzy Classifier for Detection and Diagnosis of Induction Motor Stator Fault" 33rd Annual Conference of the IEEE Industrial Electronics Society (IECON), pp.2408-2413,2007. [155] Yu, D.L., T.K. Chang, D.W. Yu," Adaptive Neural Model-Based Fault Tolerant Control for Multi variable Processes "Engineering Applications of Artificial Intelligence, vol.18,no.4,:pp. 393-411,2005. [156] Yumin Zhang, Lei Guo, Haisheng Yu, Keyou Zhao" Fault Tolerant Control Based on Stochastic Distributions via MLP Neural Networks" Neurocomputing, vol.70,no.4-6,pp. 867-874,2007. [157] Toumi, Djilali, Boucherit, Mohamed,Tadjine, Mohamed" Observer-based fault diagnosis and field oriented fault tolerant control of induction motor with stator inter-turn fault" Archives of Electrical Engineering,vol.61,no.2, pp.165188,2012. [158] Ron J. Patton. Fault -Tolerant Control Systems: The 1997 Situation University of Hull, School of Engineering, Hull HU6 7RX, UK, 1997. [159] Xiaodong Zhang," Fault Diagnosis and Fault Tolerant Control in Nonlinear Systems" Ph.D Thesis, University of Cincinnati,2002. [160] Haider A.F. Mohamed, S.S. Yang, M. Moghavvemi" Sliding Mode Sensor Fault Tolerant Control Structure for Induction Motor SICE Annual Conference,pp. 263 -2635,2008. [161] Jean Etienne Dongmo Harry G. 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[162] Amr Saleh, Mario Pacas, Adel Shaltout," Fault Tolerant Field Oriented Control of the Induction Motor for Loss of One Inverter Phase "IEEE Industrial Electronics conference, IECON ,pp.817-822,2006. [163] Sejir Khojet El Khil, Ilhem Slama,Belkhodja, Maria Pietrzak, David Bernard de Fornel," A Fault Tolerant Operating System in a Doubly Fed Induction Machine Under Inverter Short-circuit Faults " 32nd Annual Conference on Industrial Electronics ,pp. 1125- 1130,2006. [164] Jacobina, C.B.,I.S. Freitas, T.M. Oliveira, E.R.C. da Silva and A.M.N. Lima," Fault Tolerant Control of Five Phase AC Motor Drive" 35th Annual IEEE Power Elecrronics Specialists Conference, pp. 3486 - 3492,2004. [165] Mendes, A.M.S. and A.J. Marques Cardoso" Three-phase Induction Motor Drives Under Inverter Fault Conditions "SDEMPED, Symposium on Diagnostics for Electric Machines, Power Electronics and Driver ,pp. ,2003. [166] Nademi, H., F. Tahami, M. Rezaei" Fault Tolerant IPMS Motor Drive Based on Adaptive Back stepping Observer with Unknown Stator Resistance "IEEE,pp. 2008. [167] Halim Alwi, Christopher Edwards" Fault Tolerant Control using Sliding Modes with on-line Control Allocation "Automatica, vol.44,no. ,pp.1859-1866,2008. [168] Hui Wei Liu, Jia Cheng Liang, Wei Wei Che, 2008. Adaptive Fault Tolerant Control for a Class of Inherent Nonlinear Systems IEEE. [169] Anjali, P. Deshpande, Sachin C. Patwardhan, Shankar S. Narasimhan" Intelligent State Estimation for Fault Tolerant Nonlinear Predictive Control" Journal of Process Control,vol.19,no.2, pp.187204,2009. [170] Matthew O.T. Cole, Patrick S. Keogh, Mehmet N. Sahinkaya, Clifford R. Burrows" Towards Fault-Tolerant Active Control of Rotor Magnetic systems" Control Engineering Practice, vol. 12,no.,pp.491-501,2004. [171] Wai-Chuen Gan and Li Qiu," Compensator: An Application to Indirect Field Oriented Control Induction Machine Drive "IEEE, vol. 50, no.2, pp.,2003. Techniques MCSA Table 1: Summary of Some of Fault Diagnosis Method Properties Required Application Advantages Measurement One stator curre Rotor broken bar Low cost nt Stator winding turn fau Non invasive lt Air gap eccentricity 2 stator currents Rotor broken bar Non invasive Stator winding turn fau Simple lt Air gap eccentricity Axial flux Rotor broken bar Low cost Stator winding turn fau lt Air gap eccentricity 2 stator currents Rotor broken bar Mechanical fault detecti and voltages Stator winding turn fau on lt Non invasive Mechanical faults in lo Drawbacks Frequencies vary from one motor to other Limited to some states Mismatch faults [172] Vukosavic, S.N., M. Jones, E. Levi, J. Varga," Rotor Flux Oriented Control of a Symmetrical Six-Phase Induction Machine Electric Power Systems Research, vol.75,no. pp.142-152,2005. [173] Youmin Zhang, Jin Jiang" Bibliographical Review on Reconfigurable Fault Tolerant Control Systems Annual Reviews in Control, vol.32,no. ,pp.229-252,2008. [174] Fekih, A., P. Pilla," A New Fault Tolerant Control Strategy for Aircraft Systems under Adverse Flying Conditions Journal of Automation & Systems Engineering, vol.3,no.1,pp.,2009. [175] Ghoshal, S.K., A.K. Samantaray, S. Samanta," Model Based Fault Diagnosis ,Fault Tolerant Control and Reconfiguration of Hydraulic and Thermo Fluid using Analytical Redundancy International journal of automation and control (IJAAC), vol.3,no.4, pp.363-384,2009. [176] Stoyan Kanev" Robust Fault-Tolerant Control,"Ph.D. Thesis University of Twente, Netherlands,2004. [177] Khalaf Salloum Gaeid, Ping, Hew Wooi; Masood, M.K.; Saghafinia, Masood Ali" Induction motor fault tolerant control with wavelet indicator. IEEE International Conference on Transportation, Mechanical, and Electrical Engineering (TMEE), pp.949- 953,2011. [178] Journal of Control Science and Engineering," Robustness Issues in Fault Diagnosis and Fault Tolerant Control Hindawi Publishing Corporation Journal of Control Science and Engineering, 2008.

Complex Park Vect or (CPV)

Axial Flow (AF)

Non invasive

Torque Harmonics Analysis(THA)

Not effective in short circui t. Faults

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International Journal of Engineering and Innovative Technology (IJEIT) Volume 3, Issue 2, August 2013
ad Two stator curre nts and voltages 2 stator currents & voltages Stator winding turn fau lt Stator winding turn fau lt Incipient faults detectio n Non invasive Incipient faults detectio n Non invasive Easily to adapt to each Motor Require great meas. precisi on Required training period Not effective in the motors changes states

Impedances of Inve rs Sequence (IIS) ANN

AUTHOR BIOGRAPHY
Khalaf Salloum Gaeid was born in Iraq in 1969.He received the B.Eng. and M.Sc. from the University of Technology/Iraq in 1993, 2003 respectively, and Ph.D from University of Malaya/Malaysia in 2012 all in electrical engineering, specializing in control systems. and machine drive. He is IEEE member and he has a lot of publications in control of machine drive and fault tolerant control through the wavelet techniques.

Adel M. Bash was born in Iraq in 1968.He received the B.Eng. and M.Sc. from the University of Technology/Iraq in 1991, 1998 respectively, in mechanical engineering, specializing in applied mechanics; he has a publications in his field.

. Aref Jasim Abbas was born in Iraq in 1962.He received the B.Eng. , M.Sc. and PH.D from the University of Technology/Iraq in1999,2002and 2006 Respectively, all in electrical engineering, specializing in AC and DC machines. He has a publications in the machine drive and power electronics fields.

Jamal A.Hameed Jamal A. Hamid was born in Iraq in 1953.He received the Diploma Eng. and PhD. from the University of TU Chemniz (Germany) in 1979, 1987 respectively, all in electrical engineering, specializing in computer Technology. He is currently working he is director of Electrical Engineering Department/Tikrit University. Dr.Jamal has a lot of publication in his field.

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