Microprocessors and Microsystems 76 (2020) 103104

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Microprocessors and Microsystems

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Realization of fault tolerant capability in a multiphase SRM drive

using wavelet transform
L. Senthil Murugan a,∗, P. Maruthupandi b
a
Assistant Professor, Department of Electrical and Electronics Engineering, RVS College of Engineering and Technology, Coimbatore, India
b
Assistant Professor, Department of Electrical Engineering, Government College of Technology, Coimbatore, India

a r t i c l e i n f o a b s t r a c t

Article history: Switched Reluctance Motor (SRM) are widely used in drives market because of its elegant features such as
Received 25 November 2019 simple arrangement, manufacturing cost, minimal maintenance and wide speed range. Significant inves-
Revised 30 January 2020
tigation has been conducted to lengthen the feasibility of SRM drive technologies in various aspects such
Accepted 24 March 2020
as control strategy, torque ripple minimization, an optimal winding arrangement, etc. Even though it has
Available online 3 May 2020
numerous virtues, there are few noticeable issues that occur in SRM. In this paper, the issues like phase
Keywords: open circuit fault, phase-phase short circuit fault, power switch failure, dc link capacitor failure, and en-
Multi processor chip coder faults are discussed using Wavelet Transform (WT) with their experimental results. A multi-phase
Embedded (10/8 pole) SRM motor is considered to investigate the fault tolerance proficiency and other performance
Communication parameters. Initially, a healthy condition of multi-phase SRM is simulated then faults are injected at dif-
Circuits ferent phases which are analyzed and validated using MATLAB simulink tool and the same is validated
Gates
through experimental results. The performance parameters of SRM drive during various faults conditions
Drives
Fault-tolerance
are analyzed and the impacts of speed and torque are illustrated.
MATLAB simulink © 2020 Published by Elsevier B.V.
Power converter faults
Wavelet transform
SRM

1. Introduction noise and vibration of motor during operation are prime causes to
discard of the SR motor in the industrial areas. The torque ripple
In the recent past, the research in the Switched Reluctance Mo- production makes fast switching in the excitation of phase wind-
tor (SRM) plays a key measure to find an alternative to the Induc- ings and forced commutation thus fault occurs in the motor.
tion Motor (IM) drive in the industrial applications as well as in To mitigate, the torque ripple content at the output, the new
the variable speed drive market. The SRM has numerous advan- methods are proposed in the paper [6–8]. The power convert-
tages over the IM and Permanent Magnet Brush Less DC (PMBLDC) ers play a vital role in the SRM operation, the new topologies
motor due to its minimal maintenance, wide speed range, and op- are proposed to nullify the drawbacks in [9–11]. The conventional
erates in high temperature environment [1]. The adjustable speed controller and vector control techniques are used to control SRM
of single phase IM drive with reduced number of switches requires in [12,13]. The advanced controller designs and techniques such
frequent maintenance and faces power quality issues is explained as Fuzzy Logic Controller (FLC), open loop control, Artificial Neu-
in [2]. The scholars has chosen SRM with integration of charging ral Network (ANN) controllersare introduced to control the motor
capacity for hybrid electric vehicle to reducing CO2 emission in the drive in [14]. The electromagnetic energy efficient conversion of
atmosphere [3], and numerical analysis experiment in the inven- SRM motor is presented in [15].
tion of new double layer SRM drive system [4]. The fault existence possibilities in SRM drives are more than the
The drawbacks of SRM drive in the hybrid electric vehicles are other drives. Because the SR drives operation consists of high num-
noise and vibration produced by the motor. The prediction of noise ber of stages from input supply to the output. The fault detection
and control measures and vibration control of switched reluctance methods using K-means clustering algorithm that are explained in
motor are discussed in [5,6]. The torque ripple production, acoustic [16]. A new method to diagnosis the power converter faults and
flexible fault tolerance topologies are proposed to diagnosis the
fault occurrence in the system are discussed in [17,18] respectively.
∗
Corresponding author. The other fault investigation methods using rotor structure [19],
E-mail addresses: senthil2010@gmail.com (L. Senthil Murugan), pandi@gct.ac.in inter turn faults diagnosis using Space Vector Modulation (SVM)
(P. Maruthupandi).

https://doi.org/10.1016/j.micpro.2020.103104
0141-9331/© 2020 Published by Elsevier B.V.
2 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104

Fig. 1. Common faults in SRM drive.

Fig. 3. SRM drive system with WT based fault identification.

SRM drive system with WT based fault identification is shown,

in the Fig. 3. The ripple content or harmonics is eliminated by us-
ing capacitive filter circuit. The pure DC voltage is given to the
Fig. 2. Proposed 5-phase SRM power converter. power converter circuit to excite the phase windings. The phase
angle is sent as feedback to the RPS and the actual speed is ob-
tained from the hall sensor.
technique [20], fault tolerance analysis of SRM with distributed The actual and reference speed is sent to the digital speed
inverter [21] are presented. In this work, Wavelet Transforms (WT) controller and gate pulses are generated at the IGBT switches in
based, fault analysis method is implemented to find the various the power converter circuit. In this work, SRM drive fault can be
faults in the SRM drive. The various faults in the SRM drive are obtained using Multi-Resolution Analysis (MRA) at which wavelet
illustrated, in the Fig. 1. The proposed converter with WT based transform functions and scaling factors are passed down to decom-
fault identification method is realized using MATLAB simulink tool pose and reconstruct the signal at different levels. The WT func-
and the same is validated through experimental results. tions will generate the changes in the decomposed signal and the
scaling factors will generate the approximated value of the decom-
2. SRM drive specification and classification of fault posed signal. In MRA, low-pass approximation is obtained from the
high-pass details of the original signal. These values are acquired
In this work, 5-phase(10/8 pole) SRM is considered where, the through a successive convolution processes. The maximum num-
input dc supply (Vdc ) to SRM drive is obtained from the 230 VAC ber of wavelet decomposition level is determined by the length of
supply and with the uncontrolled diode bridge rectifier unit. The the original signal and the level of detail required. A low pass filter
speed of a motor can be varied from 0 to 5500 rpm. The power removes the high frequency components and provides information
converter circuits consist of two semiconductor switches and two about fault conditions.
power diodes, at each phase model. For 5-phase motor, 10-IGBT
3.1. Extraction of faults in SRM drive using WT-MRA
switch along with 10- diodes are used as shown, in the Fig. 2.
The Pulse Width Modulated (PWM) signals are generated by
The extraction of the fault information from the sensor signals
comparing the actual speed of motor with the set/reference speed
is obtained with simple steps. If the measured signal is
limit. The gate triggering circuit provides constant magnitude
pulses that are based on the speed error calculated by the digital f ( x ) = k ( x ) + g( x ) (1)
speed controller.
Where k(x) is the signal obtained during steady state or nor-
mal operation condition, and g(x) the signal generated during fault
3. Wavelet transform for faults identification condition. The sensor signal f(x) is decomposed with MRA using
wavelet transform, ϕ , to obtain wavelet coefficients in n levels:
Wavelet transform (WT) is widely used in signal processing for 
n
the prediction of changing events. Wavelet transforms results in W Tϕ { f } = An { f } + Ni { f }
i=1
the representation of original signal with respect to time and fre- 
n (2)
quency as well. This feature can be utilized for identifying the = An {k} + An {g} + (Ni {k} + Ni {g} )
faults in a system/circuit by comparing the changes with steady i=0

state response [22]. The faults in the electronic circuit system as- where Ni, represents the detail coefficients
sociated with the sensors, detects the change at circuit parameter. i represents higher frequency components
The fault from the circuit or system component can be identified An stands for approximation coefficients
using the frequency range of response. In WT, circuit parameters The signal, k, in the normal operation condition is composed
like voltage/current are decomposed into several levels and based with the average value of the DC link capacitor voltage, phase
on fault signal frequency, faults conditions will be observed. volages of SRM drive, current through diode and IGBTs with gate
 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104 3

Fig. 4. Experimental setup for 5-phase SRM drive.

Fig. 5. Relationship between phase current and phase inductance under healthy
condition.

driver circuits. The phase voltage/ current have slower response

and a gate driver circuit has higher response due to its pulse width 4.2. IGBT switch failure
modulation (PWM) feature.
The slower and higher repsonseare transformed to the approx- The starting current (IS ) of the SRM drive is relatively higher
imation coefficient, An {k}; and Ni {k} respectively. The lower lev- than the running current (IR ). The turn-on pulses of the converter
els of detail coefficients is represented as Ni {g} its own frequency switch increases the current from zero to the final value, before the
range which is predicted is based on the facult occurrence rate. A voltage falls from the cut-off voltage down to the forward voltage.
small instantaneos fault information at very low frequency rangeis During this time, switching losses may occur which leads to IGBT
presented, i.e. in An {g}. Therefore, it can be used to find the fault switch failure. The voltage to the power electronic switch Vsw is
from the input current signal. usually the DC-supply voltage reduced by the voltage drop over
the phase resistance. The power losses in the IGBT switch PIGBT are
expressed as follows:
4. Results and discussion The switches can be open circuited due to overheating of the
motor or short circuited due to the soldering failure of the circuit.
The modeling of 5-Phase SRM motor and its power converter The maximum switching frequency (fSw ) of the IGBT is considered
circuit is done using MATLAB simulink tool. The various faults like as 10 kHz. If a linear current rise-up is assumed, then the average
freewheeling diode failure, phase-phase short circuit, DC link filter turn-on power losses is approximately calculated as
capacitor failure, and IGBT switch failure are scrutinized to validate
1
the WT based fault identification system. The SRM performance PIGBT (On ) ≈ . Vsw .Ic . fsw .tr (6)
parameters like phase current, electromagnetic torque and speed 10
characteristics are meticulously analyzed and presented for both Where Ic is the collector current and tr is rise time of the collec-
the simulation and the hardware model. The experimental setup tor current. Similarly, the turn-off power losses for an IGBT can be
of the proposed SRM drive is shown, in the Fig. 4. calculated with the fall-time tf of the current from the maximum
value of collector current IC to zero:

4.1. Freewheeling diode fault 1

PIGBT (O f f ) ≈ . Vsw .Ic . fsw .t f (7)
10
The freewheeling diodes are used to provide the current path in The total switching losses of the n-phase-converter can be de-
the conduction mode. These diodes are connected in all the phases termined as:
of SRM winding. During conduction mode, the diodes conduct the
current to the windings. During commutation of phase winding it PIGBT (Conv) = n.(PIGBT (On ) + PIGBT (O f f ) ) (8)
maintains the minimum or threshold voltage to excite the phase
quickly. If the current rating of the proposed system exceeds the limit
The diode fault occurs due to continuous switching that pro- it may leads to device failure.
duces overheating of the power converter components.The results
losses as it depend on the forward voltage VF and the junction
4.3. Phase to phase short circuit fault
temperature of the semiconductors, represented by the bulk resis-
tance rb . These faults can be overcome by choosing proper power
The phase to phase short circuit in the SRM winding occurs due
rating of the diodes(Pdiode ). The average power rating of diode is
to the external contacts or due to the PWM pulse mismatch. This
given as;
leads to winding failure in the stator poles in the motor. The phase
 t1 current magnitude decides the withstanding capability of SRM.
1
Pdiode = V f (t ) · i(t ) + rb · i2 (t ) (3)
t t0

Pdiode = V f .Iav + rb .I2 rms (4) 4.4. DC link capacitor failure

Where, t=t1 -t0 is the conducting time The harmonics from the rectifier circuit is eliminated by the fil-
Iav is the mean value of the current ter circuit. The supreme choice of the filter circuit is capacitive fil-
Irms is the rms current through the semiconductor. ter; Cf . The lagging power factor due to the inductance property of
It is assumed that always one diode and one switch are con- the phase winding that can be compensated by the capacitive filter
ducts at the same time. Then, the conducting losses produced in (Cf ) circuit.
all n-phases of the converter are given as follows; 
1
Pd (Conv) = n.(Pdiode + PSwitch ) (5) Vdc = i dt (9)
Cf
4 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104

Fig. 7. Electromagnetic torque waveforms. (a) healthy condition, (b) freewheeling

diode fault condition, (c) phase -phase short circuit condition, (d) dc link filter fault
Fig. 6. Output phase current waveforms. (a) healthy condition, (b) freewheeling condition, and (e) IGBT fault condition.
diode fault condition, (c) phase -phase short circuit condition, (d) dc link filter fault
condition, and (e) IGBT fault condition.
 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104 5

Table 1
Specification of proposed SRM drive.

Power Supply

Parameters Values

AC Input supply 230V

Supply Frequency 50HZ
DC output voltage 146.42 V
DC output current 9.76 A
RMS voltage 162.63V
RMS current 10.84A
Form Factor 1.11
Ripple Factor 0.482

SR Motor Parameters

Parameters Values

Number of Phases 5
Number of Stator poles 10
Number of Rotor Poles 8
Input Voltage, Vdc 230 V
Number of switches 10
Number of diodes 10
Unaligned Inductance 0.67 mH
Aligned Inductance 23.6 mH
Reference Speed 5500 rpm

4.5. Phase current analysis

The phase current of the SRM drive is unidirectional in nature

and is directly proportional to the phase inductance. The relation-
ship between the phase current and phase inductance with respect
to rotor position is shown, in the Fig. 5. When gate a pulse is ON,
input supply goes to the corresponding phase winding that is con-
nected. Hence the phase current rises gradually and attains it refer-
ence value. The alternative switching takes place to excite all other
phases, the rotor starts to rotate and produces speed and instanta-
neous torque.
The following equations show the phasecurrent and instanta-
neous torque relations based on the inductance value.
The phase inductance slope Kr can be expressed as
Lmax − Lmin
Kr = (10)
θ2 − θ1
Where, Lmax = Maximum inductance
Lmin = Minimum inductance
θ1 & θ2 = Relevant rotor positions.
The output phase current of the SRM drive system is unidi-
rectional in nature. The phase currents are uniformlydistributed
throughout each phases of the SRM. In the region θ on ≤ θ < θ 1
the output phase current can be expressed as,
θ − θon
i (θ ) = vdc (11)
wr . Lmin
where, Vdc = DC bus voltage
wr = Rotor angular velocity
The phase current increases quickly in this region and the cur-
rent slope factor Kf satisfies
di vdc
Kf = = >0 (12)
dθ wr . Lmin
In the region θ 1 ≤ θ < θ off, the phase current can be expressed
as,
vdc θ − θ1
i (θ ) = (13)
wr Lmin + kr (θ − θ1 )
Fig. 8. Rotor speed waveforms. (a) healthycondition, (b) freewheeling diode fault
condition, (c) phase -phase short circuit condition, (d) dc link filter fault condition, The peak of the phase current is at θ 1 and can be written as,
and (e) IGBT fault condition.
θ1 − θon
imax = vdc (14)
wr . Lmin
6 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104

Table 2
Compared values of current, speed and torque from various fault detection using WT.

Parameter Healthycondition Freewheeling Phase-phase Short Filter faultcondition IGBT fault condition
faultcondition (phase e) condition (phase b (phase b)
&phase c)

iph (A) 12.86 A ie = −1.86 to 12.86 A ib = 15.14 A &ic = −50 Non uniform ib = 0 A
A
tav ( Nm) 12.6 Nm 12.5 Nm 11.25 Nm 9.25 Nm 8 Nm
ipeak (A) 12.86 A 12.86 A 15.14 A 16 A 13.86 A
Speed (rpm) 5500 rpm 5400 rpm 5069 rpm 4704 rpm 5084 rpm
Torque ripple(%) 37% 40% 65% 82% 40%

In a healthy condition, the phase current, iph is 12.86 A is re- SRM drive under healthy condition is NS =5500 rpm. Due to elec-
quired to attain the reference speed. In freewheeling diode fault tromagnetic torque, average T is slightly reduced by 0.1 Nm, there-
condition, diode failure occurs in the phase E. The peak of the fore the speed is also decreased by 100 rpm in freewheeling fault
phase current is almost equal to that of the healthy condition. condition.
Due to the absence of freewheeling diode, and to maintainthe In presence of some negative phase current, speed is also re-
minimum current above zero level which is not accomplished. So duced to NS =5069 rpm in phase to phase fault condition. The dc
the negative phase current in the phase E, ie = −1.86 A. link filter failure produces oscillations in the speed and reduces the
In phase to phase short circuit fault, phase B & C windings are output speed by 15%. The rotor speed in the filter fault condition
shorted. The phase current ib = 15.14 A is 17.7% increases from the is NS = 4704 rpm. The oscillatory motion of rotor produces irri-
nominal value and ic = −50 A, which is nearly 89% decrease from tating sound. Hence, this indicates the filter fault. The switching
its nominal value. fault reduces 8% of speed output and NS is measured as 5084 rpm
In dc link filter fault is the major fault, because of the rip- (Table 1).
ple content input which is not suitable for power semiconductor The output rotor speed analysis in Freewheeling Diode Fault
switches. So the phase current is non-linear and peak value ipeak is Condition, Phase - Phase Short Circuit Condition, DC Link Filter
18A. The IGBT switch fault or phase open circuit is almost identi- Fault Condition, IGBT Switching fault condition and Healthy Con-
cal. Consequently phase B switch is fault, so ib is equal to zero. The dition are shown, in the Fig. 8a–e respectively.
phase current analysis is shown, in the Figs. 6a–e respectively. The measured values of Phase Current average torque, Peak Cur-
rent and Speed for Freewheeling Diode Fault Condition, Phase -
4.6. Electromagnetic torque analysis Phase Short Circuit Condition, DC Link Filter Fault Condition, IGBT
Switching Fault Condition and Healthy Condition are presented, in
The electromagnetic torque is produced from the twisting force the Table 2.
of the rotor. The output torque also contains ripple due to fast
switching of excitation of stator phase windings. The average elec- 5. Conclusion
tromagnetic torque of one phase can be formulated as,
  The fault and high temperature tolerance are the major con-
Nr v 2  θ1 − θ 1 θo f f − θ1
Tav = . dc2 θo f f − θ1 − (15) cern to choose a drive for the industrial purpose. The proposed
2π wr Lmin 2 Lmax − Lmin technique can early detect fault occurrences and to identify not
Where, Nr =Number of rotor poles. only the affected motor phase but also the faulty element. In the
The instantaneous average torque (Tav ) produced in the SRM phase current analysis, under fault condition is relatively equal to
drive under healthy condition is 12.6 Nm. Even though it is a 12.84A. From the analysis of results, phase to phase short fault
healthy system, it also produce ripple in the output torque wave- leads to more deviation in iph current. Other faults are accept-
form. In freewheeling fault, electromagnetic torque average is able to run the SRM without much loss. In the average electro-
slightly reduced to 12.5 Nm. magnetic torque analysis, all the above mentioned faults are pro-
In the presence of negative phase current, torque is reduced duced and the slight torque decreases from the healthy condition
nearer to zero periodically. In phase to phase fault condition, tav 12.6 Nm. The switching fault leads to tav of 8 Nm that decrease
torque ripple is high compared to freewheeling fault. It is because speed by 400 rpm from the reference speed. Thus, from the rotor
of the two phases malfunctions and so the average torque value speed analysis, the motor should not stop at any fault. Though, it
(Tav ) is 11.25 Nm. runs with minor reduction of speed level compared to reference
The DC link filter failure produces very high torque ripple in the speed of 5500 rpm. The overall conclusion is that, the SRM works
output and Tav is 9.25 Nm. It is very high compared to other faults with less output losses at any fault occurrence. Thereupon it is
that include the production of acoustic noise in the surrounding concluded that SRM has fault tolerance capability compared with
environment. This causes the main reason for less usage of SRM in other drives.
industrial applications. The switching fault produces 40% of torque
ripple and Tav is calculated as 8 Nm. The output electromagnetic Declaration of Competing Interest
torque analysis is shown, in the Fig. 7a–e respectively.
This paper has not communicated anywhere till this moment,
4.7. Rotor speed analysis now only it is communicated to your esteemed journal for the
publication with the knowledge of all co-authors.
The output speed of the motor is measured from the tachome-
ter in the shaft connected with the rotor. The actual speed is taken Ethical approval
from rotor position sensor and speed reference is also given as in-
put to the controller circuit. Based on speed error, motor runs con- This article does not contain any studies with human partici-
stantly in closed loop operation. The rotor speed produced in the pants or animals performed by any of the authors.
 L. Senthil Murugan and P. Maruthupandi / Microprocessors and Microsystems 76 (2020) 103104 7

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