Open-Phase Fault Tolerance Techniques of Five-Phase Dual-Rotor Permanent Magnet Synchronous Motor

Article
Open-Phase Fault Tolerance Techniques of Five-Phase

Dual-Rotor Permanent Magnet Synchronous Motor
Jing Zhao, Xu Gao, Bin Li *, Xiangdong Liu and Xing Guan
Received: 26 August 2015 ; Accepted: 2 November 2015 ; Published: 12 November 2015
Academic Editor: K. T. Chau
School of Automation, Beijing Institute of Technology, Beijing 100081, China; zhaojing_bit@bit.edu.cn (J.Z.);
horizonpresuer@gmail.com (X.G.); xdliu@bit.edu.cn (X.L.); 2120140875@bit.edu.cn (X.G.)
* Correspondence: libin_hit@hotmail.com; Tel./Fax: +86-10-6891-2460
Abstract: Multi-phase motors are gaining more attention due to the advantages of good fault
tolerance capability and high power density, etc. By applying dual-rotor technology to multi-phase
machines, a five-phase dual-rotor permanent magnet synchronous motor (DRPMSM) is researched
in this paper to further promote their torque density and fault tolerance capability. It has two rotors
and two sets of stator windings, and it can adopt a series drive mode or parallel drive mode. The
fault-tolerance capability of the five-phase DRPMSM is researched. All open circuit fault types and
corresponding fault tolerance techniques in different drive modes are analyzed. A fault-tolerance
control strategy of injecting currents containing a certain third harmonic component is proposed
for five-phase DRPMSM to ensure performance after faults in the motor or drive circuit. For
adjacent double-phase faults in the motor, based on where the additional degrees of freedom are
used, two different fault-tolerance current calculation schemes are adopted and the torque results
are compared. Decoupling of the inner motor and outer motor is investigated under fault-tolerant
conditions in parallel drive mode. The finite element analysis (FMA) results and co-simulation
results based on Simulink-Simplorer-Maxwell verify the effectiveness of the techniques.
Keywords: five-phase dual-rotor permanent magnet synchronous motor (PMSM); fault tolerant;
drive mode; torque ripple; third harmonic currents; co-simulation
1. Introduction
In recent decades, electric vehicles (EVs) have attracted more and more interest due to the
requirements of energy conservation and emissions reduction around the world. The high power
density and the capability to operate continuously under fault conditions are necessary characteristics
for a motor used for EVs [1–5]. The permanent magnet synchronous motor (PMSM) is an attractive
candidate for EVs due to its advantage of high power density. Compared to single-rotor PMSM,
double-rotor PMSM (DRPMSM) has the advantages of big air gap area and large ratio of diameter
to length, both of which are dominant factors in increasing the torque density [6]. By adopting
multiphase techniques to stator winding, the torque density and the fault tolerance ability of the
machine are further improved. Fault-tolerant operation requires connection between machine neutral
point and the drive circuit neutral point for three-phase PMSM, whereas for the five-phase machines,
the fault-tolerant operation can be achieved by adding fault detection and fault-tolerance control
algorithms without additional hardware connections [7–10].
This paper investigates fault-tolerant operation of five-phase DRPMSM under all kinds of
open-circuit fault conditions. As shown in Figure 1, the five-phase DRPMSM consists of two rotors
and one stator, which combines the advantages of high fault tolerance of multi-phase machines and
high power density of dual rotors machines and permanent magnet machines. The motor can be seen
Energies 2015, 8, 12810–12838; doi:10.3390/en81112342 www.mdpi.com/journal/energies

Energies 2015, 8, 12810–12838
as Energies 2015, 8, page–page
a combination of an “inner motor” and “outer motor”, of which the inner motor is composed of the
inner rotor and the inside windings of the stator, and the outer motor is composed of the outer rotor
the inner rotor and the inside windings of the stator, and the outer motor is composed of the outer
Energies 2015, 8, page–page
and the outside windings of the stator [11]. If inside and outside windings of the stator are connected
rotor and the outside windings of the stator [11]. If inside and outside windings of the stator are
in series, the motor can be driven by only a set of five-leg drivers, which is the machine’s series drive
the inner rotor and the inside windings of the stator, and the outer motor is composed of the outer
connected in series, the motor can be driven by only a set of five‐leg drivers, which is the machine’s
mode.
rotor and Figure 2 shows
the outside the control
windings block
of the diagram
stator [11]. If when
inside the motor
and operates
outside normally
windings in series
of the stator are drive
series drive mode. Figure 2 shows the control block diagram when the motor operates normally in
mode, in which fundamental current components and third harmonic current components are both
connected in series, the motor can be driven by only a set of five‐leg drivers, which is the machine’s
series drive mode, in which fundamental current components and third harmonic current
considered. If the inside and outside windings of the stator are connected in parallel, two sets of
series drive mode. Figure 2 shows the control block diagram when the motor operates normally in
components are both considered. If the inside and outside windings of the stator are connected in
five-leg
series drivers
drive are needed
mode, andfundamental
in which that is called current
the machine’s paralleland
components drive mode.
third harmonic current
parallel, two sets of five‐leg drivers are needed and that is called the machine’s parallel drive mode.
components are both considered. If the inside and outside windings of the stator are connected in
parallel, two sets of five‐leg drivers are needed and that is called the machine’s parallel drive mode.

Figure 1. The component diagram of the five‐phase dual‐rotor permanent magnet synchronous motor (DRPMSM).
Figure 1. The component diagram of the five-phase dual-rotor permanent magnet synchronous
motor (DRPMSM).
Figure 1. The component diagram of the five‐phase dual‐rotor permanent magnet synchronous motor (DRPMSM).
" Outer motor " " Inner motor "
id*1 ia* + a Ao Ai
 *+ is* iq*1 ib*  +
ic*
b motor " Bo" Inner motorB"i
" Outer
id* 3  + c C Ci
 id*1 ia* + i *  + a d Ao Do Ai D
 *
+
 i*
s
iq*1
iq*3 *
d1q1d 3q3 / abcde
*
d
ib  i *+
e  + b e Bo Eo
o
Bi Ei
i
id* 3 ic  +  c Co C
 *
 +
i
 iq*3 id d Do Di
d1q1d 3q3 / abcde ei *
 + e E
theEofive-phase DRPMSM
i

ia _Mea
ib _Mea the five-phase DRPMSM
ic _Mea
ia _Meai
d _Mea
ib _Meai
ic _Mea e _Mea
 id _Mea
ie _Mea

Figure 2. The control block diagram of five‐phase DRPMSM in series drive mode under normal operation.

The motor is fed by a five‐phase voltage source inverter. Under normal conditions, the machine
Figure 2. The control block diagram of five‐phase DRPMSM in series drive mode under normal operation.
Figure 2. The control block diagram of five-phase DRPMSM in series drive mode under
works steadily with a rated load. However, an unexpected fault in the drive system or machine may
normal operation.
The motor is fed by a five‐phase voltage source inverter. Under normal conditions, the machine
occur due to improper operation. According to statistics from [12], the most common faults in the
works steadily with a rated load. However, an unexpected fault in the drive system or machine may
motor drive system are an open‐phase or broken‐phase of machines, short‐circuiting of stator
The motor is fed by a five-phase voltage source inverter. Under normal conditions, the machine
occur due to improper operation. According to statistics from [12], the most common faults in the
windings and damage to switching devices in the five‐phase bridge inverter (damage to switching
works
motor steadily
drive withare
system a rated load. However,
an open‐phase an unexpected
or broken‐phase fault in short‐circuiting
of machines, the drive system of or machine
stator
devices constitutes more than 50% of the motor applications’ system faults [9]). As for the single line
may occur due to improper operation. According to statistics from [12], the most
windings and damage to switching devices in the five‐phase bridge inverter (damage to switching common
to ground short‐circuit fault at the machine terminal or the switching devices short‐circuit fault, by faults
in adopting Fast Fuse Technology (add fuse to the circuit in series), it can become an open‐circuit fault [12].
the motor drive system are an open-phase or broken-phase of machines, short-circuiting of stator
devices constitutes more than 50% of the motor applications’ system faults [9]). As for the single line
windings and damage to switching devices in the five-phase bridge inverter (damage to switching
to ground short‐circuit fault at the machine terminal or the switching devices short‐circuit fault, by
Therefore, research into open‐circuit fault‐tolerance of five‐phase DRPMSM in different drive modes
devices constitutes more than 50% of the motor applications’ system faults [9]). As for the single
adopting Fast Fuse Technology (add fuse to the circuit in series), it can become an open‐circuit fault [12].
has universal significance. When a fault occurs in five‐phase DRPMSM, the control system detects
Therefore, research into open‐circuit fault‐tolerance of five‐phase DRPMSM in different drive modes
line to ground short-circuit fault at the machine terminal or the switching devices short-circuit fault,
the type of fault and adopts the corresponding fault‐tolerance operation technique, thus ensuring the
has universal significance. When a fault occurs in five‐phase DRPMSM, the control system detects
bymachine’s ability to continue to operate under fault conditions.
adopting Fast Fuse Technology (add fuse to the circuit in series), it can become an open-circuit
the type of fault and adopts the corresponding fault‐tolerance operation technique, thus ensuring the
fault [12]. Therefore, research into open-circuit fault-tolerance of five-phase DRPMSM in different
For five‐phase single‐rotor PMSM fault‐tolerance control strategies, much significant work has
machine’s ability to continue to operate under fault conditions.
been done [13–32]. By injecting proper current in the remaining healthy phases under open‐circuit
drive modes has universal significance. When a fault occurs in five-phase DRPMSM, the control
For five‐phase single‐rotor PMSM fault‐tolerance control strategies, much significant work has
fault
system conditions,
detects the magnetomotive
the type force the
of fault and adopts (MMF) whose amplitude
corresponding and rotational
fault-tolerance operationspeed are
technique,
been done [13–32]. By injecting proper current in the remaining healthy phases under open‐circuit
the same as normal conditions can be generated [14,15]. However, this method cannot obtain the
thus ensuring the machine’s ability to continue to operate under fault conditions.
fault conditions, the magnetomotive force (MMF) whose amplitude and rotational speed are
unique current solution, and there is larger torque ripple in the electromagnetic torque, and the
For five-phase single-rotor PMSM fault-tolerance control strategies, much significant work has
the same as normal conditions can be generated [14,15]. However, this method cannot obtain the
total ohmic loss is
been done [13–32]. Bynot minimal
injecting either.
proper For single‐phase
current fault in
in the remaining five‐phase
healthy phasesPMSM,
underDwari and
open-circuit
unique current solution, and there is larger torque ripple in the electromagnetic torque, and the
Parsa [16] eliminated the torque ripple in the electromagnetic torque and minimizes the total ohmic
total ohmic loss is not minimal either. For single‐phase fault in five‐phase PMSM, Dwari and
2
Parsa [16] eliminated the torque ripple in the electromagnetic torque and minimizes the total ohmic
12811
2
Energies 2015, 8, 12810–12838
fault conditions, the magnetomotive force (MMF) whose amplitude and rotational speed are the
same as normal conditions can be generated [14,15]. However, this method cannot obtain the unique
current solution, and there is larger torque ripple in the electromagnetic torque, and the total ohmic
loss is not minimal either. For single-phase fault in five-phase PMSM, Dwari and Parsa [16] eliminated
the torque ripple in the electromagnetic torque and minimizes the total ohmic loss by using the
theory of mirror symmetry of the currents in the heathy phases, but it cannot achieve maximum
electromagnetic torque as the excitation currents are not equal in healthy phases. References [17–19]
maximize electromagnetic torque and eliminate the torque ripple under certain possible fault cases
in five-phase PMSM by injecting excitation currents with a third-harmonic component. Dwari
and Parsa [20] studied possible fault cases and fault-tolerant operation of a five-phase brushless
DC motor, whose back electromotive force (EMF) is a trapezoidal wave. Due to limitations of
the drive circuit topology and stator windings of the machine in the aforementioned work, the
sum of currents in healthy phases is constrained to zero. In [21,22], an additional bridge leg is
added to the five-phase inverter to eliminate this constraint, and a smooth electromagnetic torque
is obtained. References [23–26] discussed fault-tolerant operation under different stator winding
configurations (pentacle, pentagon and star connection), and the result shows that the machine
possesses higher fault-tolerance performance and smaller electromagnetic torque ripple when the
stator winding is configured in a pentacle or pentagon. In [27,28], based on vectorial approach
control and degrees of freedom, fault-operation of a seven-phase axial flux machine is investigated.
In [29,30], a global fault-tolerance control technique is proposed, which can be applied to analyze all
possible fault cases in any multi-phase motor regardless of the configuration of the motor’s stator
windings. Mohammadpour et al. [31] proposed an iterative control strategy for m-phase permanent
machines under fault tolerant operation. Kestelyn and Semail [32] proposes a novel way of generating
optimal current references in real time to obtain a constant torque regardless of the number of open
circuited phases in an m-phase PMSM for practical applications. Previous works only concentrate
on single rotor motors. As for five-phase DRPMSM, as there are two kinds of drive modes and
the back EMFs of the inner motor and outer motor are different, previous work cannot be applied
to five-phase DRPMSM directly, and also the interaction between the inner motor and outer motor
under fault-tolerant conditions was not investigated in previous work.
In this paper, all possible open-circuit fault types of the five-phase DRPMSM in two drive modes
(series drive mode and parallel drive mode) are analyzed. To ensure the five-phase DRPMSM
achieves maximum electromagnetic torque with minimal torque-ripple under fault conditions,
fault-tolerance techniques are adopted in this paper. Mirror symmetry of the currents in the heathy
phases developed in [16] and instantaneous power balance theory are applied to calculate the
fault-tolerant injecting currents which contain the third harmonic component. The fault-tolerance
performances in parallel drive mode and in series mode are compared. The analytical results
are illustrated by finite element analysis (FEA) based on Maxwell. Finally, considering possible
environmental factors, co-simulation based on Simulink-Simplorer-Maxwell is conducted.
2. The Open-Phase Fault Tolerance Technique of Five-Phase Dual-Rotor Permanent Magnet

Synchronous Motor (DRPMSM) in Series Drive Mode
A 44 pole-40 plot five-phase DRPMSM with rated speed 1200 rpm and rated electromagnetic
torque 18 Nm is designed in Maxwell. The back-EMF of the motor is a superposition of the
inner motor and out motor. Operated at speed of 1200 rpm at no load, the motor’s back-EMF
waveform and its harmonic component analysis are shown in Figure 3. Using Fourier decomposition,
fundamental and third harmonic components are only considered, and the back-EMF of the motor
can be described as:
2π 6π
Ej “ E1 cospωt ´ j q ` E3 cosp3ωt ´ j q, j “ 0, 1, 2, 3, 4 (1)
5 5
12812
Energies 2015, 8, 12810–12838
where, E1 is the fundamental amplitude of back-EMF, E3 is the third harmonic amplitude of

back-EMF, ω is electrical angular speed of the motor, and for this machine, E1 “ 141.11 V and
E3 “ ´22.75 V.
200
phase a phase b
140
150 phase c phase d
phase e
Energies 2015, 8, page–page 120 Harmonic amplitudes
100 of the Back-EMF(V)
Amplitudes (V) Amplitudes (V)

200 100
Back EMF(V)
50 phase a phase b
140
150 phase c phase d 80
0 phase e
120 Harmonic amplitudes
100 60
-50 of the Back-EMF(V)
100
40
Back EMF(V)
50
-100
80
0 20
-150
60
-50 0
-200 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 1 2 3 4 5 6 7 8 9 10 11 12 13
Time (ms) 40 Harmonic Order
-100
(a) (b)
20
-150
Figure 3. The no‐load back electromotive force (EMF) in series drive mode (a) waveform and (b) harmonic
Figure 3. The -200no-load
0.0 0.5
back
1.0
electromotive
1.5 2.0 2.5
force
3.0
(EMF)0 1in2 series
3.5 3 4 5 drive
6 7 8 mode
9 10 11 (a)
12 13 waveform and
component analysis. Time (ms) Harmonic Order
(b) harmonic component analysis.(a) (b)
When the motor is operated in series drive mode, the currents passing inside windings and
Figure 3. The no‐load back electromotive force (EMF) in series drive mode (a) waveform and (b) harmonic
outside windings of stator are the same. In other words, any fault that occurs in the inverter or in the
When component analysis.
the motor is operated in series drive mode, the currents passing inside windings and
inside or outside windings of the stator will cause the corresponding phase to be totally open‐circuit.
outside Under normal conditions, the currents containing the third harmonic are injected to output maximum
windings of stator are the same. In other words, any fault that occurs in the inverter or in the
When the motor is operated in series drive mode, the currents passing inside windings and
inside or outside windings of the stator will cause the corresponding phase to be totally
torque. Fundamental amplitude and third harmonic amplitude of injected current are I open-circuit.
1 = 6.36 A and
outside windings of stator are the same. In other words, any fault that occurs in the inverter or in the
Under normal
I3 = E3/E1conditions, the currents containing the third harmonic are injected to output maximum
× I1 = 1.03 A, respectively. When the motor operating in series mode, there are three types of
inside or outside windings of the stator will cause the corresponding phase to be totally open‐circuit.
fault that may occur, including single‐phase open‐circuit fault, nonadjacent double‐phase fault and
Fundamental amplitude and third harmonic amplitude of injected current are I1 = 6.36 A and
torque. Under normal conditions, the currents containing the third harmonic are injected to output maximum
I = E /Eadjacent double‐phase fault, as shown in Figure 4.
ˆ I = 1.03 A, respectively. When the motor operating in series mode, there
torque. Fundamental amplitude and third harmonic amplitude of injected current are I are three types
1 = 6.36 A and
3 3 1 1
of fault Ithat
3 = E3may
/E1 × Ioccur,
1 = 1.03 A, respectively. When the motor operating in series mode, there are three types of
including
i  0 single-phase open-circuit
a i fault, nonadjacent double-phase fault and a
'
fault that may occur, including single‐phase open‐circuit fault, nonadjacent double‐phase fault and
adjacent double-phase fault, as i shown in Figure 4. '
i '
b Ao b Ao
adjacent double‐phase fault, as shown in Figure 4.
i' E
E A o
Bo ic =0 Eo
Ei Ai Bo
c i i
Bi
Bi
Di
' Di
id =0
iiad  0 Ci Do Ci
Do
Co ia ' Co
'
ie ' ie ''
ib Ao
ib Ao

ic ' (a) Eo
Ei Ai Bo ic =0 (b) Eo
Ei Ai Bo
' Bi Bi
iaD id =0 Di
id ' Do
i
Ci Do Ci
' ib =0 Co
ie '
Co
ie Ao
ic ' Eo Ai

Ei Bo
(a) Bi (b)
' Di
iiad' Do Ci
Co
iie =0
b =0 Ao
ic ' (c) Eo
Ei Ai Bo
Bi
Di
D id ' Ci
Figure 4. Three fault types when the motor operates in series drive mode. (a) Single‐phase open‐circuit
C
o
o
ie =0
fault; (b) adjacent double‐phase fault; (c) nonadjacent double‐phase fault.
(c)
2.1. Single‐Phase Open‐Circuit Fault‐Tolerance Technique
Figure 4. Three fault types when the motor operates in series drive mode. (a) Single‐phase open‐circuit
4. Three fault types when the motor operates in series drive mode. (a) Single-phase
Figure fault; (b) adjacent double‐phase fault; (c) nonadjacent double‐phase fault.
Under single‐phase open‐circuit conditions, we assume phase “a” as the open phase. Using theory
open-circuit fault; (b) adjacent double-phase fault; (c) nonadjacent double-phase fault.
of mirror symmetry of the currents in the heathy phase, the injected currents can be expressed as:
 ia  0
2.1. Single-Phase  i '  I cos(ω
Open-Circuit Fault-Tolerance Technique
t  θ11 )  I13 cos(3ωt  θ13 )
Under single‐phase open‐circuit conditions, we assume phase “a” as the open phase. Using theory
 b  '
11

 ic  I 21 cos(ωt  θ 21 )  I 23 cos(3ωt  θ 23 )
of mirror symmetry of the currents in the heathy phase, the injected currents can be expressed as:
(2)
Under single-phase open-circuiti conditions, '
 I 21 cos(ωt  θ 21we )  I 23assume
cos(3ωt  θ 23phase
) “a” as the open phase. Using
 d' i 0
theory of mirror symmetry of the currents ie'  I11 cos(ωtin  θa11the heathy
)  I13 cos(3ω t  θ13phase,
) the injected currents can be
 ib  I11 cos(ωt  θ11 )  I13 cos(3ωt  θ13 )
expressed as:  ic  I 21 cos(ω
I 11 , It21and
θ 21 ) II 23,cos(3ω t  θ 23 )
'
13 I 23
in which, ω is the rotor angular velocity, $ are the amplitudes of the fundamental and (2)
i '  I cos(ωt iθa “ )  I0 cos(3ω t  θ 23 )
third harmonic fault‐tolerant current components,  'd 21 21
θ , θ
23
and θ , θ are the initial phase angle of the
’
’ 11 21 13 23
 I11 cos(ω` t θθ11 ) q ` t  θ13 ) ` θ q
& ib “ I11iecospωt 11 I13 cos(3ω
’ 1
’
’ I13 cosp3ωt 13
fundamental and third harmonic fault‐tolerant current components. There are eight unknown variables
ic 1 “ I21 cospωt
( I11 , θ11 , I13 ,ωθ 13is the rotor angular velocity,
in which, , I 21 , θ 21 , I 23 ,’ I 21 θ
I 11 , ` 21 qI` II23 cosp3ωt
θ 23 ) in Equation (2), so eight equations are needed to solve these variables.
and , ` θ23 q
are the amplitudes of the fundamental and (2)
13 23
1
’ id “ I21 cospωt ´ θ21θq ` , θ I23 cosp3ωt
θ13 , θ 23 ´ θ23 q
’
third harmonic fault‐tolerant current components,
’ and are the initial phase angle of the
’
% 1 4 11 21
i e “ I cospωt ´ θ q
fundamental and third harmonic fault‐tolerant current components. There are eight unknown variables
11 11 ` I 13 cosp3ωt ´ θ 13 q
( I11 , θ11 , I13 , θ13 , I 21 , θ 21 , I 23 , θ 23 ) in Equation (2), so eight equations are needed to solve these variables.
4
12813
Energies 2015, 8, 12810–12838
in which, ω is the rotor angular velocity, I11 , I21 and I13 , I23 are the amplitudes of the fundamental
and third harmonic fault-tolerant current components, θ11 , θ21 and θ13 , θ23 are the initial phase angle
of the fundamental and third harmonic fault-tolerant current components. There are eight unknown
variables (I11 , θ11 , I13 , θ13 , I21 , θ21 , I23 , θ23 ) in Equation (2), so eight equations are needed to solve these
variables.
Firstly, the electrical input power and the mechanical output power should be balanced with
neglecting loss, and then the following equation can be derived as:
2 4 4 2
P1 ` P3 “ E1 I11 cosp π ` θ11 q ` E1 I21 cosp π ` θ21 q ` E3 I31 cosp π ´ θ13 q ` E3 I23 cosp π ` θ23 q “ Tω (3)
5 5 5 5
where, P1 is average power produced by the fundamental components, P3 is average power produced
by the third-harmonic components.
Secondly, due to the associated power electronic drive components and the thermal limits of
stator winding, the maximum output torque is primarily decided by the maximum value of phase
currents. However, under fault-tolerant conditions, in order to obtain the same output torque
as in normal conditions with minimum fundamental components of fault-tolerant currents, the
fundamental components of fault-tolerant currents should be constrained to be equal. The constraint
for equal fundamental components can be defined as:
I11 “ I21 (4)
Thirdly, considering star connection of stator windings, the summation of currents in the heathy
phases should be constrained to zero:
ib 1 ` ic 1 ` id 1 ` ie 1 “ 0 (5)
To satisfy Equation (5), the sum of different frequency components of currents should be zero.
Therefore, Equation (5) can be derived as:
#
I11 cosθ11 ` I21 cosθ21 “ 0
(6)
I13 cosθ13 ` I23 cosθ23 “ 0
Fourthly, for torque-pulsation-free operation, taking advantage of extra freedoms of the equation
in Equation (2), the torque ripple should be constrained to zero. When the fundamental and
third-harmonic components of injected currents interact with the back-EMF, three different frequency
components (2ω, 4ω, 6ω) are produced in the electromagnetic torque.
The condition for zero second-order torque pulsation can be obtained as:
$
’
& P2 “ P2b ` P2c ` P2d ` P2e “ 0
P2b “ P2e “ E1 I11
2 cosp2ωt ´
2
5 π ` θ11 q ` E12I13 cosp2ωt ` 52 π ` θ13 q ` E32I11 cosp2ωt ` 4
5 π ´ θ11 q (7)
’
% P “P “ E1 I21 4 E1 I23 4 E3 I21 2
2c 2d 2 cosp2ωt ´ 5 π ` θ21 q ` 2 cosp2ωt ` 5 π ` θ23 q ` 2 cosp2ωt ` 5 π ´ θ21 q
The condition for zero fourth-order torque pulsation can be obtained as:
$
’
& P4 “ P4b ` P4c ` P4d ` P4e “ 0
E1 I13 2 E3 I11 4
P4b “ P4e “ 2 cosp4ωt ´ 5 π ` θ13 q ` 2 cosp4ωt ` 5 π ` θ11 q (8)
’
% P “P “ E1 I23 4 E3 I21 2
4c 4d 2 cosp4ωt ´ 5 π ` θ23 q ` 2 cosp4ωt ` 5 π ´ θ21 q
The condition for zero sixth-order torque pulsation can be obtained as:
$
’
& P6 “ P6b ` P6c ` P6d ` P6e “ 0
P6b “ P6e “ E32I13 cosp6ωt+ 45 π ` θ13 q (9)
% P “ P “ E3 I23 cosp6ωt+ 2 π ´ θ q
’
6c 6d 2 5 23
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Energies 2015, 8, 12810–12838
Considering Equations (3) (4) (6)–(9), there are seven equations in total (in which Equation (6)
contains two equations), thereby another constraint equation is needed in order to provide a unique
solution. In this work, the total stator loss is minimized to find the last equation. Considering equal
stator phase resistance, the equivalent cost function to minimize the loss can be defined as:
Energies 2015, 8, page–page f “ pI11 q2 ` pI13 q2 (10)
Setting Equation (10) as the objective function, combining with the previous equations, the
Setting Equation (10) as the objective function, combining with the previous equations, the Lagrange
Lagrange equation can be listed. With the known
equation can be listed. With the known variables E 1, Evariables E1 , E3 and P defined at the beginning
3 and P defined at the beginning of this section, the
of this section, the unique optimum solution to the fault-tolerant currents can be obtained, as shown
unique optimum solution to the fault‐tolerant currents can be obtained, as shown in Table 1.
in Table 1.
Table 1. The optimum solutions to the fault‐tolerant currents under single‐phase open‐circuit fault type.
Table 1. The optimum solutions to the fault-tolerant currents under single-phase open-circuit
The Unknown
fault type. The Solution to the The Unknown The Solution to the
Variables Equations Variables Equations
The Unknown )
I 1 1 ( AVariables The Solution to8.59
the Equations  (deg)
The Unknown Variables The Solution to−43.88
the Equations 11
II11
13 ( A )
pAq 8.59
1.11 13 (deg)
θ11 pdegq −90
´43.88
I13 pAq 1.11
21(deg)
θ13 pdegq ´90
I 21 (A ) 8.59 −136.22
I21 pAq 8.59 θ21 pdegq ´136.22
II23
23 (A )
pAq 0.69
0.69 23 (deg)
θ23 pdegq ´90−90
In order to generate the same average electromagnetic torque as under normal conditions, it can
In order to generate the same average electromagnetic torque as under normal conditions, it
be calculated
can be calculatedfrom Table
from 1 that
Table 1 thatthe
themaximum
maximumfundamental
fundamentalamplitude
amplitudevalue
value8.59
8.59 A
A in injected
in injected
fault‐tolerant currents is 1.35 times of the fundamental current amplitude value 6.36 A under normal
fault-tolerant currents is 1.35 times of the fundamental current amplitude value 6.36 A under normal
conditions. For this solution, the third harmonic current components are not equal, but all of them
conditions. For this solution, the third harmonic current components are not equal, but all of them
have small amplitudes.
have small amplitudes.
The torque results obtained by FEA are shown in Figure 5. It can be observed that the average
The torque results obtained by FEA are shown in Figure 5. It can be observed that the average
torque is 18.08 Nm with 2.3% torque ripple under normal conditions, whereas 14.41 Nm’s average
torque is 18.08 Nm with 2.3% torque ripple under normal conditions, whereas 14.41 Nm’s average
torque with 30.4% torque ripple is produced under single phase open circuit fault conditions. As a
torque with 30.4% torque ripple is produced under single phase open circuit fault conditions. As
acomparison, under fault‐tolerant conditions, the average torque is 17.43 Nm, which is 96.4% of the
comparison, under fault-tolerant conditions, the average torque is 17.43 Nm, which is 96.4% of the
normal torque, and the torque ripple is 7.7%, which is much smaller than that under single phase
normal torque, and the torque ripple is 7.7%, which is much smaller than that under single phase open
open circuit fault conditions. The third harmonic components reduce the torque ripple, but this also
circuit fault conditions. The third harmonic components reduce the torque ripple, but this also causes
acauses
certaina amount
certain of
amount
copper of copper
loss. There loss. There
are slight are slight
torque errors torque
betweenerrors between conditions
fault-tolerant fault‐tolerant
and
conditions and normal conditions.
normal conditions.
18 15
phase-a phase-b
16 phase-c phase-d
10 phase-e
14
12 5
Injected currents (A)
Torque(Nm)
10
0
8
6 -5
4
Normal condition -10
2 phase "a" fault condition
fault-tolerant condition
0 -15
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 5. The motor operates under single phase open circuit conditions: (a) the electromagnetic
Figure 5. The motor operates under single phase open circuit conditions: (a) the electromagnetic
torque obtained by finite element analysis (FEA); (b) the injected fault‐tolerant currents.
torque obtained by finite element analysis (FEA); (b) the injected fault-tolerant currents.
However, the load back EMF, which is the back EMF when the motor operates at a speed of
However, the load back EMF, which is the back EMF when the motor operates at a speed of
1200 rpm with rated load, is used for FEA. The waveform of load back EMF is shown in Figure 6,
1200 rpm with rated load, is used for FEA. The waveform of load back EMF is shown in Figure 6,
as we can see, due to the armature reaction, the load back EMF has changed a little in health phases
compared to no‐load back EMF in Figure 3.
12815
2.2. Non‐Adjacent Double‐Phase Open‐Circuit Fault‐Tolerance Technique
Under non‐adjacent double‐phase open‐circuit fault‐tolerant conditions, we assume phase “b”
Energies 2015, 8, 12810–12838
as we can see, due to the armature reaction, the load back EMF has changed a little in health phases
compared to no-load back EMF in Figure 3.
200
Phase-a Phase-b Phase-c
150 Phase-d Phase-e
100
50
Back-EMF(V)
0
-50
-100
-150
-200
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms)
Figure 6. The load back EMF waveform under single‐phase open‐circuit fault‐tolerant conditions.
Figure 6. The load back EMF waveform under single-phase open-circuit fault-tolerant conditions.
There are six unknown variables to be determined. The condition for average mechanical and
2.2. Non-Adjacent Double-Phase Open-Circuit Fault-Tolerance Technique
electrical power balance can be obtained as:
Under non-adjacent double-phase
E1 I11 E3 I13 open-circuit 4
fault-tolerant 2
conditions, we assume phase “b”
  E1 I 21 cos( π  θ12 )  E3 I 23 cos( π  θ 23 )  Tω (12)
and “e” as open phases. The fault-tolerant
2 2 currents5 in heathy5 phases can be expressed as:
The same as the single‐phase
$ 1 open‐circuit fault in Section 2.1, to maximize the motor’s
’ ia “ I11 cospωtq ` I13 cosp3ωtq
electromagnetic torque, the fundamental components of the fault‐tolerant currents can be constrained
&
1
ic “ I21 cospωt ` θ21 q ` I23 cosp3ωt ` θ23 q (11)
to be equal: % i1 “ I cospωt ´ θ q ` I cosp3ωt ´ θ q
’
d 21 21 23 23
I11  I 21 (13)
There are six unknown variables to be determined. The condition for average mechanical and
The condition for zero neutral current can be obtained as:
electrical power balance can be obtained as:
 I  2 I cosθ  0 11 21 21
 (14)
E1 I11 E3 I13 4I  2I cosθ  0 2 13 23 23
` ` E1 I21 cosp π ` θ12 q ` E3 I23 cosp π ` θ23 q “ Tω (12)
2 2
There are four Equations ((11)–(14)) 5 are defined at this 5point in this problem. Two more
that
degrees of the freedom can be used to eliminate the second‐order and forth‐order torque pulsation
The same as the single-phase open-circuit fault in Section 2.1, to maximize the motor’s
of the machine. The condition for zero second‐order torque pulsation is:
electromagnetic torque, the fundamental components of the fault-tolerant currents can be constrained
to be equal:  P2  P2a  P2c  P2d  0

 E1 I11 E1 I13 E3 I11 4 I “ I 4 2 (13)
(15)

 2   E I cos( π 11θ )  E21I cos( π+θ )+E I cos( π+θ )=0
1 21 21 1 23 23 3 21 21
2 2 5 5 5
The condition for zero neutral current can be obtained as:
The condition for zero fourth‐order torque pulsation is:
#
 I11P4` 2I  Pcosθ
P4a 21 21 “ 0
4c  P4d  0
 (14)
 E1 I13 E3 I11 I13 ` 2I423 cosθ23 “ 0 2 (16)
+  E I cos( π  θ )  E I cos( π-θ
 2 1 23 23 3 21 21 )=0
2 5 5
There are four

Considering Equations
the ((11)–(14))( Ethat
known variables are
, ωdefined at this point
), the solution in fault‐tolerant
to the this problem. currents
Two moreis
1 , E3 , T
degrees of the freedom can be used to eliminate the second-order and forth-order torque pulsation of
obtained as shown in Table 2. In this solution, the average torque under the fault tolerant condition
the machine. The condition for zero second-order torque pulsation is:
is equal to that under normal conditions. It can be calculated that the maximum fundamental
amplitude value in injected fault‐tolerant currents is 1.76 times the fundamental current amplitude
#
P2 “ P2a ` P2c ` P2d “ 0
value under
E1 I11 normal
E1 I13 conditions.
E3 I11 The sixth‐order torque pulsation in electromagnetic torque is (15)
not
` 2 ` 2 ` E1 I21 cosp 45 π ´ θ21 q ` E1 I23 cosp 45 π+θ23 q+E3 I21 cosp 52 π+θ21 q=0
2 and
considered, the additional degrees of freedoms are used to constrain the fundamental
components of the fault‐tolerant currents as equal. The torque and current results are shown in Figure 7.
The condition for zero fourth-order torque pulsation is:
Ninety‐eight percent of the normal torque (17.71 Nm) with 10.4% ripple is produced when the motor
#
operates under fault‐tolerant conditions. P4 “ P4a ` P4c ` P4d “ 0
E1 I13 E3 I11 4 2 (16)
2 + 2 ` E1 I23 cosp 5 π ´ θ23 q ` E3 I21 cosp 5 π ´ θ21 q=0
Table 2. The optimum solutions to the fault‐tolerant currents under non‐adjacent double‐phase
open‐circuit fault types.
The Unknown The Solution to the The Unknown The Solution to the

Variables Equations Variables Equations
12816
I11 (A) 11.18 θ21 (deg) −120
I 21 (A) 11.18 θ23 (deg) 54.60
I13 (A) −1.75 ‐ ‐
I 23 (A) 1.51 ‐ ‐
Energies 2015, 8, 12810–12838
Considering the known variables (E1 , E3 , T, ω), the solution to the fault-tolerant currents is
obtained as shown in Table 2. In this solution, the average torque under the fault tolerant condition is
equal to that under normal conditions. It can be calculated that the maximum fundamental amplitude
value in injected fault-tolerant currents is 1.76 times the fundamental current amplitude value under
normal conditions. The sixth-order torque pulsation in electromagnetic torque is not considered,
and the additional degrees of freedoms are used to constrain the fundamental components of the
fault-tolerant currents as equal. The torque and current results are shown in Figure 7. Ninety-eight
percent of the normal torque (17.71 Nm) with 10.4% ripple is produced when the motor operates
under fault-tolerant conditions.
Table 2. The optimum solutions to the fault-tolerant currents under non-adjacent double-phase
open-circuit fault types.
The Unknown Variables The Solution to the Equations The Unknown Variables The Solution to the Equations
I11 pAq 11.18 θ21 pdegq ´120
I21 pAq 11.18 θ23 pdegq 54.60
I13 pAq ´1.75 - -
I23 pAq 1.51 - -
20
18 phase-a phase-b
phase-c phase-d
15
16 phase-e
14 10
Injected currents (A)
Output torque(Nm)
12 5
10 0
8
-5
6
4
Phase b,e fault condition
Fault tolerant condition -15
2
0 -20
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 7. The motor operates under non‐adjacent double‐phase open circuit conditions:
Figure 7. The motor operates under non-adjacent double-phase open circuit conditions:
(a) electromagnetic torque obtained by FEA, and (b) the injected fault‐tolerant currents.
(a) electromagnetic torque obtained by FEA; and (b) the injected fault-tolerant currents.
2.3. Adjacent Double‐Phase Open‐Circuit Fault‐Tolerance Technique
2.3. Adjacent Double-Phase Open-Circuit Fault-Tolerance Technique
Under adjacent double‐phase open‐circuit fault‐tolerant conditions, we assume phase “c” and
Under adjacent double-phase open-circuit fault-tolerant conditions, we assume phase “c” and
“d” as open phases. The fault‐tolerant currents in heathy phases can be expressed as:
“d” as open phases. The fault-tolerant currents in heathy phases can be expressed as:
 ia '  I11 cos(ωt )  I13 cos(3ωt )
$ 
1ib '  I 21 cos(ωt  θ 21 )  I 23 cos(3ωt  θ 23 )
(17)
ia “ I11 cospωtq ` I13 cosp3ωtq
’
 i  I cos(ωt  θ )  I cos(3ωt  θ )
& '
1 
ib “ I21 cospωt ` θ21 q ` I23 cosp3ωt ` θ23 q e 21
(17) 21 23 23
’
% i 1 “ I cospωt ´ θ q ` I cosp3ωt ´ θ q
In order to solve the six variables (
e 21 I , I , I , θ21 , I , θ23 ) in Equation (11), the following equations
23 11 13 21 21 23 23
can be listed.
In order to solve the six variables (I11 , I13 , I21 , θ21 , I23 , θ23 ) in Equation (11), the following
The total average power produced by the healthy phases and output mechanical power can be
equations can be listed.
related as:
The total average power produced by the healthy phases and output mechanical power can be
EI EI 2 4
related as: P1  P3  1 11  3 13  E1 I 21 cos( π  θ 21 )  E3 I 23 cos( π  θ 23 )  Tω (18)
2 2 5 5
E I E3 I13 2 4
P1 ` P3 “ 1 11 ` ` E1 I21 cosp π ` θ21 q ` E3 I23 cosp π ´ θ23 q “ Tω
The zero‐neutral‐current condition can be expressed as: (18)
2 2 5 5
ia ' +ib' +ie'  0
The zero-neutral-current condition can be expressed as:
which can be further derived as:
ia 1 +ib 1 +ie 1 “ 0
 I11  2 I 21 cos θ 21  0
 (19)
 I13  2 I 23 cos θ 23  0
12817
Similar to the single‐phase open‐circuit conditions, the torque pulsation contains three different
frequency components (2ω, 4ω, 6ω). The constraint for zero second‐order torque pulsation can be
expressed as P2  P2a  P2b  P2e =0 , which can be further derived as:
Energies 2015, 8, 12810–12838
which can be further derived as: #

I11 ` 2I21 cosθ21 “ 0
(19)
I13 ` 2I23 cosθ23 “ 0
Similar to the single-phase open-circuit conditions, the torque pulsation contains three different
frequency components (2ω, 4ω, 6ω). The constraint for zero second-order torque pulsation can be
expressed as P2 “ P2a ` P2b ` P2e =0, which can be further derived as:
E1 I11 E1 I13 E3 I11 4 4 2

` ` ` E1 I21 cosp π ´ θ21 q ` E1 I23 cosp π ` θ23 q ` E3 I21 cosp π ` θ21 q “ 0 (20)
2 2 2 5 5 5
The condition for zero forth-order torque pulsation is:
E1 I13 E3 I11 2 2
` ` E1 I23 cosp π ´ θ23 q ` E3 I21 cosp π ` θ21 q “ 0 (21)
2 2 5 5
The five equations of Equations (18)–(21) (Equation (19) contains two equations) are not enough
to solve six variables. To reduce the maximum fundamental amplitude value of the injected currents,
the additional freedom can be used to constrain the fundamental components as equal. Or, the
additional freedom can be used to satisfy zero sixth-order torque pulsation. These two solutions
are both solved and compared in this paper.
The condition for zero sixth-order torque pulsation is:
E3 I13 4
` E3 I23 cosp π ` θ23 q “ 0 (22)
2 5
The constraint for equal fundamental components can be defined as:
I11 “ I21 (23)
The solution 1 to the Equations (18)–(22) and solution 2 to the Equations (18)–(21),(23) are both
shown in Table 3. In these two solutions, the electromagnetic torque under fault tolerant conditions is
equal to that under normal condition. It can be calculated that the maximum fundamental amplitude
value in the injected fault-tolerant current is 5.82 times of the fundamental current amplitude value
under normal conditions for solution 1, and that is 2.47 times for solution 2. However, the third
harmonic component amplitude value is larger than the fundamental amplitude value in solution
2. The injected currents of these two solutions are both very large. Generally, the thermal limits of
a stator phase winging or the associated power electronic drive components are decided according
to the maximum root mean square (RMS) current allowable in the phase, so the injected current may
be too large to maintain normal motor operation. In practical application, the electromagnetic torque
can be reduced to obtain appropriate fault-tolerant current.
Table 3. The optimum solutions to the fault-tolerant current under adjacent double-phase open-circuit
fault type.
The unknown variables I11 pAq I21 pAq I13 pAq I23 pAq θ21 pdegq θ23 pdegq
The solution 1 to the Equations (18)–(22) 37.06 ´19.05 3.22 5.21 13.46 252.00
The solution 2 to the Equations (18)–(21), (23) 15.71 17.51 15.71 9.13 120 163.9
Figure 8a shows the torque obtained by FEA of this fault types. In total, 93.8% of the normal
torque (16.95 Nm) with 28.9% ripple is produced for solution 1 under fault-tolerant conditions. Then,
94.1% of the normal torque (17.01 Nm) with 38.8% ripple is produced for solution 2. The torque ripple
is larger in solution 2 than solution 1 because the sixth-order torque pulsation is not eliminated in
solution 2. In this paper, solution 1 is adopted because the torque ripple is smaller. Figure 8b shows
the injected currents of solution 2. There is a slight error of average torque between fault-tolerant
12818
Figure 8a shows the torque obtained by FEA of this fault types. In total, 93.8% of the normal
torque (16.95 Nm) with 28.9% ripple is produced for solution 1 under fault‐tolerant conditions. Then,
94.1% of the normal torque (17.01 Nm) with 38.8% ripple is produced for solution 2. The torque ripple
is larger in solution 2 than solution 1 because the sixth‐order torque pulsation is not eliminated in
Energies 2015, 8, 12810–12838
solution 2. In this paper, solution 1 is adopted because the torque ripple is smaller. Figure 8b shows
the injected currents of solution 2. There is a slight error of average torque between fault‐tolerant
conditions and normal conditions, and this is because the load back-EMF changes a little compared
conditions and normal conditions, and this is because the load back‐EMF changes a little compared
to no-load back-EMF due to the armature reaction. It should be noted that this fault type is the most
to no‐load back‐EMF due to the armature reaction. It should be noted that this fault type is the most
serious one in the series drive mode.
serious one in the series drive mode.
21 phase-a phase-b
60
phase-c phase-d
phase-e
18
40
Injected currents(A)
15
20
Torque (Nm)
12
0
9
-20
6
Phase "c" and "d" fault condition
3
Solution 1 fault tolerant condition
-60
Solution 2 fault tolerant condition
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time (ms) Time(ms)
(a) (b)
Figure 8. The motor operates under adjacent double‐phase open circuit conditions: (a) electromagnetic
Figure 8. The motor operates under adjacent double-phase open circuit conditions:
torque obtained by FEA; (b) the injected fault‐tolerant currents of solution 2.
(a) electromagnetic torque obtained by FEA; (b) the injected fault-tolerant currents of solution 2.
All possible open‐circuit fault types in series drive mode have been investigated in this section.
All possible open-circuit fault types in series drive mode have been investigated in this section.
To make a better comparison, Table 4 shows average torque and torque ripple under different fault
To make a better comparison, Table 4 shows average torque and torque ripple under different fault
types. Comparing to fault conditions, the average electromagnetic torque is enhanced largely and the
types. Comparing to fault conditions, the average electromagnetic torque is enhanced largely and the
torque ripple is significantly reduced under fault‐tolerant conditions.
torque ripple is significantly reduced under fault-tolerant conditions.

Table 4. The produced average electromagnetic torque and torque-ripple under different fault types
when machine operates in series driven mode.
9
Average Electromagnetic Torque Ripple
Operates under Different Conditions
Torque (Nm) (Percent)
Normal conditions 18.08 2.3%
Single-phase open circuit fault conditions 14.41 38.7%
Single-phase open circuit fault-tolerant conditions 17.73 7.7%
Adjacent double-phase open circuit fault conditions 10.75 49.9%
Adjacent double-phase open circuit fault-tolerant conditions 16.95 28.9%
Non-adjacent double-phase open circuit fault conditions 10.81 71.2%
Non-adjacent double-phase open circuit fault-tolerant conditions 17.71 10.4%
3. The Open-Phase Fault Tolerance Technique of Five-Phase DRPMSM in Parallel Drive Mode
When the machine operates in parallel drive mode, the inside stator windings and the outside
stator windings of the five-phase DRPMSM are driven by two sets of inverters, respectively, as shown
in Figure 9. Outer motor and inner motor are fed by inverter 1 and inverter 2, respectively. One DC
voltage source and two different levels of DC-DC converters are used to supply the DC-bus voltage
of the two inverters. Unlike the machine operated in series mode, the open-circuit fault in stator
windings of inner motor or outer motor only cause corresponding side faults. Therefore, the back
EMF of the inner motor and outer motor must be considered separately. Figure 10a shows the back
EMF waveform of the inner motor and Figure 10b shows the back EMF waveform of the outer motor.
Table 5 shows the data of back EMF and the injected currents that contain a third harmonic component
under normal operation.
12819
of the two inverters. Unlike the machine operated in series mode, the open‐circuit fault in stator
windings of inner motor or outer motor only cause corresponding side faults. Therefore, the back
EMF of the inner motor and outer motor must be considered separately. Figure 10a shows the back
EMF waveform of the inner motor and Figure 10b shows the back EMF waveform of the outer motor.
Table 5 shows the data of back EMF and the injected currents that contain a third harmonic component
Energies 2015, 8, 12810–12838
under normal operation.
U ao
U bo Ao
+ U co
Eo
Bo
U do Do
- U eo Co
U ai
U bi Ai
Ei
+ U ci Bi
U di Di
- U ei Ci

Figure 9. The parallel drive model of the five‐phase DRPMSM.
Figure 9. The parallel drive model of the five-phase DRPMSM.
Table 5. The details of the back‐EMF and the injected currents when the motor operates at a speed of
Table 5. The details of the back-EMF and the injected currents when the motor operates at a speed
1200 rpm at no load in parallel drive mode. DRPMSM: dual‐rotor permanent magnet synchronous
of 1200 rpm at no load in parallel drive mode. DRPMSM: dual-rotor permanent magnet synchronous
motor; Electromotive force: EMF.
motor; Electromotive force: EMF.
Five‐Phase DRPMSM Inner Motor Outer Motor
The fundamental amplitude of back EMF (V)
Five-Phase DRPMSM 50.50
Inner Motor 90.61
Outer Motor
The third harmonic amplitude of back EMF (V) −4.24 −18.52
The fundamental amplitude of back EMF (V) 50.50 90.61
The fundamental amplitude of injected currents (A) 6.36 6.36
The third harmonic amplitude of back EMF (V) ´4.24 ´18.52
The third harmonic amplitude of injected currents (A) 0.53 1.30
The fundamental amplitude of injected currents (A) 6.36 6.36
Average torque (Nm) 6.47 11.61
The third harmonic amplitude of injected currents (A) 0.53 1.30
Average torque (Nm) 6.47 11.61
120 80
phase-a phase-b phase-a phase-b
phase-c phase-d phase-c phase-d
90 60
phase-e phase-e
10
BackEMF of inner motor(V)
60 40
Back-EMF of outer motor(V)
30 20
0 0
-30 -20
-60 -40
-90 -60
-120 -80
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 10. The back EMF waveform of (a) the outer motor and (b) the inner motor.
Figure 10. The back EMF waveform of (a) the outer motor and (b) the inner motor.
From Table 5, we can see the large difference of the third harmonic component between the inner
From Table 5, we can see the large difference of the third harmonic component between the inner
motor and outer motor. The third harmonic content of back EMF is 8.4% in the inner motor whereas
the content is 20% in the outer motor. Unlike the machine operated in series drive mode, the third
harmonic content of injected currents can be controlled respectively in parallel mode.
There are a lot of fault types in parallel drive mode. Adopting the technique that injecting
currents contain the third harmonic components, all possible fault types will be discussed in the
currents contain the third harmonic components, all possible fault types will be discussed in the
following sections.
following sections.
There are three types of faults in this fault situation: single‐phase open‐circuit in inner motor;
single‐phase open‐circuit in outer motor; single‐phase open‐circuit in inner motor and outer motor.
12820
3.1.1. Single‐Phase Open‐Circuit in Outer Motor
Under single‐phase open‐circuit in outer motor fault‐tolerant conditions, we assume phase “a”
currents
Energies contain
2015, the third harmonic components, all possible fault types will be discussed in the
8, 12810–12838
following sections.
3.1. Single-Phase Open-Circuit Fault-Tolerance Technique

There are three types of faults in this fault situation: single-phase open-circuit in inner motor;
There are three types of faults in this fault situation: single‐phase open‐circuit in inner motor;
single-phase open-circuit in outer motor; single-phase open-circuit in inner motor and outer motor.
single‐phase open‐circuit in outer motor; single‐phase open‐circuit in inner motor and outer motor.
3.1.1. Single-Phase Open-Circuit in Outer Motor

3.1.1. Single‐Phase Open‐Circuit in Outer Motor
Under single-phase open-circuit in outer motor fault-tolerant conditions, we assume phase “a”
Under single‐phase open‐circuit in outer motor fault‐tolerant conditions, we assume phase “a”
in the outer motor as the open-circuit phase (as shown in Figure 11).
in the outer motor as the open‐circuit phase (as shown in Figure 11).
ioa  0 iia
'
iob iib
Ao Ai
Eo
ioc' Bo iic Ei
Bi
' Do
iod Co
iid Di
Ci
ioe' iie

(a) (b)
Figure 11. Single‐phase open‐circuit fault in the outer motor. (a) Outer motor; (b) inner motor.
Figure 11. Single-phase open-circuit fault in the outer motor. (a) Outer motor; (b) inner motor.
The currents in the inner motor are unchanged. The injected currents in heathy phases of the
The currents in the inner motor are unchanged. The injected currents in heathy phases of the
outer motor can be expressed as:
outer motor can be expressed as:
 iao  0
$  i '  I cos(ωt   )  I cos(3ωt  θ )
’  bo 11 iao11“ 013 13

 ico '  I 21 cos(ωt  θ 21 )  I 23 cos(3ωt  θ 23 )
’
’ 1 (24)
& ibo “iI11' cospωt ` θ11 q ` I13 cosp3ωt ` θ13 q
’
’
I 21 cos(ωt  θ 21 )  I 23 cos(3ωt  θ 23 )
ico “I21' cospωt ` θ21 q ` I23 cosp3ωt ` θ23 q
1 do
(24)
’  ieo  I11 cos(ωt  θ11 )  I13 cos(3ωt  θ13 )
1
’
’
’
’ ido “ I21 cospωt ´ θ21 q ` I23 cosp3ωt ´ θ23 q
According to the electromagnetic
ieo 1 “ I11 cospωt torque ´ of
θ11the q ` Iouter motor
13 cosp3ωt ´ θfrom Table 5, considering the
%
13 q
fundamental component and third harmonic component of the outer motor’s back EMF and adopting
According to the electromagnetic torque of the outer motor from Table 5, considering the
the fault‐tolerant technique in Section 2, the unknown variables can be solved, as shown in Table 6.
fundamental component and third harmonic component of the outer motor’s back EMF and adopting
In this solution, the average torque under fault tolerant conditions is equal to that under normal conditions.
the fault-tolerant technique in Section 2, the unknown variables can be solved, as shown in
Table 6. In this solution, the average torque under fault tolerant conditions is equal to that under
normal conditions.
11
Table 6. The optimum solutions to the fault-tolerant current under single-phase open-circuit fault
type in outer motor.
I11 pAq 8.43 θ11 pdegq ´45.67
I13 pAq 1.37 θ13 pdegq ´90
I21 pAq 8.43 θ21 pdegq ´134.34
I23 pAq 0.84 θ23 pdegq ´90
The maximum fundamental amplitude value in injected fault-tolerant currents is 1.32 times the
fundamental current amplitude value under normal conditions. However, the current that passes the
inner motor is normal, thus reducing the thermal of the stator.
The torque and current results by FEA of this fault type are shown in Figure 12. It can be observed
that 15.46 Nm’s average torque with 23.9% ripple is produced under single phase open circuit fault in
outer motor conditions. When the fault-tolerant currents are injected, the average torque is 17.50 Nm
with 8.8% ripple, which is 97% of the normal torque, and the ripple is much smaller. When the
outer motor operates under different conditions, the torque waveform of the inner motor is shown in
Figure 13.
12821
The maximum fundamental amplitude value in injected fault‐tolerant currents is 1.32 times the
The torque and current results by FEA of this fault type are shown in Figure 12. It can be
observed that 15.46
The torque Nm’s average
and current results torque with
by FEA of 23.9% ripple
this fault is produced
type under
are shown single phase
in Figure 12. It open
can be
circuit fault in outer motor conditions. When the fault‐tolerant currents are injected,
observed that 15.46 Nm’s average torque with 23.9% ripple is produced under single phase the average
open
torque is 17.50 Nm with 8.8% ripple, which is 97% of the normal torque, and the ripple is much
circuit
Energies 2015, fault in outer motor conditions. When the fault‐tolerant currents are injected, the average
8, 12810–12838
smaller. When the outer motor operates under different conditions, the torque waveform of the inner
torque is 17.50 Nm with 8.8% ripple, which is 97% of the normal torque, and the ripple is much
motor is shown in Figure 13.
smaller. When the outer motor operates under different conditions, the torque waveform of the inner
motor is shown in Figure 13.
18
20
phase a phase b
16 15 phase c phase d
20
18 phase e
14 10 phase a phase b
16 15 phase c phase d
12
currents (A)
Torque (Nm)
5 phase e
14 10
10
0
12
Injected(A)
8 5
Torque (Nm)
-5
Injected currents
10 6
0
-10
8 4 Normal condition
-5
6 2
Phase a in outer motor fault condition -15
Fault-tolerant condition -10
4 0 Normal condition -20
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
2
Phase a in outer motor fault condition Time(ms) -15 Time(ms)
Fault-tolerant condition
(a) (b)
0 -20
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Figure 12. The motor operates under single‐phase open circuit in outer motor conditions:
Time(ms)
Time(ms)
The motor (a) operates under single-phase open circuit in (b) outer motor conditions:
Figure 12.(a) electromagnetic torque obtained by FEA; (b) the injected fault‐tolerant currents of outer motor.
(a) electromagnetic torque obtained by FEA; (b) the injected fault-tolerant currents of outer motor.
Figure 12. The motor operates under single‐phase open circuit in outer motor conditions:
The torque data of the inner motor and outer motor, respectively, are shown in Table 7. From
(a) electromagnetic torque obtained by FEA; (b) the injected fault‐tolerant currents of outer motor.
Figure 13 and Table 7, it can be seen that: when the outer motor is under normal conditions and under
fault‐tolerant conditions, the torques produced by the inner motor are almost same. It can be deduced
that the outer motor can be controlled separately when faults occur in it.
fault-tolerant conditions, the torques 8
produced by the inner motor are almost same. It can be deduced
fault‐tolerant conditions, the torques produced by the inner motor are almost same. It can be deduced
that thethat the outer motor can be controlled separately when faults occur in it.
outer motor can be controlled separately when faults occur in it.
6
8
Torque(Nm)
4
6
Torque(Nm)
4
Normal_condition
Single-phase open-circuit fault-tolerant in outer motor condition
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
2 Time(ms)
Figure 13. Torque waveform of the inner motor when the outer motor is working under different conditions.
Normal_condition
Single-phase open-circuit fault-tolerant in outer motor condition
0

0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms)
12
Figure 13. Torque waveform of the inner motor when the outer motor is working under different conditions.
Figure 13. Torque waveform of the inner motor when the outer motor is working under

different conditions.
12
Table 7. The torque (Nm) produced by the inner motor under different conditions.
Different Working Situations of Average Torque Produced by Inner Torque Ripple of
OuterTable 7. The torque (Nm) produced by the inner motor under different conditions.
Motor Motor (Nm) Inner Motor
Normal conditions
Different Working Situations of 6.61
Average Torque Produced by 5.8%
Torque Ripple of
Single-phase open circuit fault in
Outer Motor Inner Motor (Nm) Inner Motor
Normal conditions 6.33 6.61 5.8% 3.6%
outer motor fault-tolerant conditions
Single‐phase open circuit fault in outer motor
6.33 3.6%
fault‐tolerant conditions
3.1.2. Single-Phase Open-Circuit in Inner Motor
3.1.2. Single‐Phase Open‐Circuit in Inner Motor
Making the same assumptions as the single-phase open-circuit in the outer motor situation,
Making the same assumptions as the single‐phase open‐circuit in the outer motor situation,
phase “a” in inner motor is assumed as the fault phase (Figure 14).
phase “a” in inner motor is assumed as the fault phase (Figure 14).
ioa Outer motor iia  0

iob iib'
Ao
Eo Ai
ioc Bo iic' Ei
Bi
Do
iod Co iid' Di
Ci
ioe iie'

(a) (b)
Figure 14. Single‐phase open‐circuit in inner motor. (a) Outer motor; (b) inner motor.
Figure 14. Single-phase open-circuit in inner motor. (a) Outer motor; (b) inner motor.
The same fault tolerant technique is adopted as single‐phase open‐circuit in the outer motor.
Considering the fundamental component and third harmonic component of the outer motor’s back
12822
EMF, the unknown variables are solved as shown in Table 8.
Table 8. The optimum solutions to the fault‐tolerant current under single‐phase open‐circuit fault
type in inner motor.
Energies 2015, 8, 12810–12838
The same fault tolerant technique is adopted as single-phase open-circuit in the outer motor.
Considering the fundamental component and third harmonic component of the outer motor’s back
EMF, the unknown variables are solved as shown in Table 8.
Table 8. The optimum solutions to the fault-tolerant current under single-phase open-circuit fault
type in inner motor.
I11 pAq 8.59 θ11 pdegq ´40.33
I13 pAq 0.60 θ13 pdegq ´90
I21 pAq 8.59 θ21 pdegq ´139.67
I23 pAq 0.37 θ23 pdegq ´90
The maximum fundamental amplitude value in injected fault-tolerant currents is 1.35 times the
fundamental current amplitude value under normal conditions. The FEA results of this fault type are
shown in Figure 15. It can be observed that 99.8% of the normal torque (18.00 Nm) with 4.0% ripple
is produced under fault-tolerant conditions. Comparing to single-phase open circuit in the outer
motor situation, the average electromagnetic torque is larger and the torque ripple is smaller. This is
because the electromagnetic torque of the outer motor contributes more than the inner motor when
the machine operates under normal conditions. Therefore, when fault occurs in the outer motor,
the drop in torque is larger. When the inner motor operates under different conditions, the torque
waveform of the outer motor is shown in Figure 16.
Figure 16 and Table 9, it can be seen the torque produced be the inner motor under this fault condition
is almost the same as under normal conditions. An open-circuit fault in the outer motor has little
impact on the torque characteristics of the outer motor. Thus, fault-tolerant control is independent
for inner and outer motors.
Table 9. The torque (Nm) produced by outer motor under different conditions.
Different Working Situations of Average Torque Produced by Outer Torque Ripple of

Inner Motor Motor (Nm) Outer Motor
Normal conditions 11.76 4.4%
Single-phase open circuit fault in
11.73 4.7%
inner motor fault-tolerant conditions
20
18
phase-a phase-b
15 phase-c phase-d
16
phasee
14 10
Injected current (A)
12 5
Torque(Nm)
10
0
8
-5
6 Normal condition
Phase-a in inner motor fault condition -10
4
-15
2
0 -20
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 15. The motor operates under single‐phase open circuit in the inner motor condition:
Figure 15. The motor operates under single-phase open circuit in the inner motor condition:
(a) electromagnetic torque obtained by FEA; (b) the injected fault‐tolerant currents of the inner motor.
(a) electromagnetic torque obtained by FEA; (b) the injected fault-tolerant currents of the inner motor.
12
12823
9
(Nm)
2
0 -20
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 15. The motor operates under single‐phase open circuit in the inner motor condition:
Energies 2015, 8, 12810–12838
(a) electromagnetic torque obtained by FEA; (b) the injected fault‐tolerant currents of the inner motor.
12
Torque(Nm)
6
Normal condition
Single-phase open-circuit fault-tolerant in inner motor condition
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms)
Figure 16. Torque waveform of outer motor when inner motor is working under different conditions.
Figure 16. Torque waveform of outer motor when inner motor is working under different conditions.
3.1.3. Single‐Phase Open‐Circuit in Both Inner Motor and Outer Motor
3.1.3. Single-Phase Open-Circuit in Both Inner Motor and Outer Motor
The open‐circuit fault‐tolerance of different phases in the inner motor (or in outer motor) leads
The open-circuit fault-tolerance of different phases in the inner motor (or in outer motor) leads
to
to different
different torque
torque ripple
ripple characteristics.
characteristics. On
On the
the other
other hand,
hand, the
the total
total torque
torque is
is a
a superposition
superposition of
of
inner motor torque and outer motor torque. So, when torque of the inner motor and outer motor with
inner motor torque and outer motor torque. So, when torque of the inner motor and outer motor
different torque
with different ripple
torque characteristics
ripple is superposed,
characteristics is superposed, the the
torque
torqueripples
ripplesare
aredifferent
differentin
interms
terms of
of
produced torque. So, for this fault type, there are three different fault cases: the same phase in inner
produced torque. So, for this fault type, there are three different fault cases: the same phase in inner
motor and out motor are open open‐circuit phases (Figure 17a: assume phase “a” in outer motor and
motor and out motor are open open-circuit phases (Figure 17a: assume phase “a” in outer motor and
in inner motor are open phases); “adjacent phase” in inner motor and out motor are open open‐circuit
in inner motor are open phases); “adjacent phase” in inner motor and out motor are open open-circuit
phases (Figure 17b: assume phase “a” in outer motor and phase b in inner motor are open phases);
phases (Figure 17b: assume phase “a” in outer motor and phase b in inner motor are open phases);
“non‐adjacent phase” in inner motor and out motor are open open‐circuit phases (Figure17c: assume
“non-adjacent phase” in inner motor and out motor are open open-circuit phases (Figure 17c: assume
phase “a” in outer motor and phase “c” in inner motor are open phases).
phase “a” in outer motor and phase “c” in inner motor are open phases).
For three fault cases of this type, the torques obtained by FEA are shown in Figure 18a). The
For three fault cases of this type, the torques obtained by FEA are shown in Figure 18a). The
injected currents are a combination of the above two fault types (Sections 3.1.1 & 3.2.2). The torque
injected currents are a combination of the above two fault types (Section 3.1.1 & Section 3.1.2). The
details of these three fault cases are shown in Table 10. From Figure 18a and Table 10, it can be seen
torque details of these three fault cases are shown in Table 10. From Figure 18a and Table 10, it can
the average
be seen torque of
the average these of
torque three fault
these threesituations is almost
fault situations is equal
almostwhile
equalthe differences
while in torque
the differences in
ripples are larger.
torque ripples Figure
are larger. 18b shows
Figure the torque
18b shows waveform
the torque waveform by by
the the
inner motor
inner motorand andouter
outer motor,
motor,
respectively, under different fault cases of this fault type. The torque ripple is smaller under fault
respectively, under different fault cases of this fault type. The torque ripple is smaller under fault case
case b and case c, and this is because the torque‐ripple produced by the inner motor and outer motor
b and case c, and this is because the torque-ripple produced by the inner motor and outer motor has
has the effect of offsetting each other as seen from Figure 18b.
the effect of offsetting each other as seen from Figure 18b.
ioa' =0 iia  0 ioa' =0 iia'

i'
ob iib' iob' iib'  0
Ao Ao Ai
Eo Ai Eo
ioc' Ei ioc' iic' Ei
Bo iic' Bo
Bi
Bi ' Do
Do i
iod' Co iid' Di 14 od Co iid' Di
Ci
Ci '
ioe' i i'
iie' oe ie
(a) (b)
ioa' =0 iia'
iob' iib'
Ao Ai
' Eo
ioc Bo i 0
'
ic
Ei
Bi
Do
iod' Co iid' Di
Ci
ioe' iie'
(c)
Figure 17. Single‐phase open‐circuit fault types in both inner motor and outer motor. (a) Same phase
Figure 17. Single-phase open-circuit fault types in both inner motor and outer motor. (a) Same phase
in inner motor and out motor are open open‐circuit; (b) “adjacent phase” in inner motor and out motor
in inner motor and out motor are open open-circuit; (b) “adjacent phase” in inner motor and out motor
are open open‐circuit; (c) “non‐adjacent phase” in inner motor and out motor are open open‐circuit.
are open open-circuit; (c) “non-adjacent phase” in inner motor and out motor are open open-circuit.
18 12
17
16 9
15
12824
Torque (Nm)
Torque(Nm)
14 6
Phase "a" in inner motor and in outer motor Produced by inner motor under phase "a"
13 open circuit fault-tolerant condition
fault tolerant condition
Phase "a" in inner motor and phase "b" in outer Produced by outer motor under phase "a"
oc Bo iic  0 i
Bi
Do
iod' Co iid' Di
Ci
'
i oe iie'
(c)
Figure 17. Single‐phase open‐circuit fault types in both inner motor and outer motor. (a) Same phase
Energies 2015, 8, 12810–12838
in inner motor and out motor are open open‐circuit; (b) “adjacent phase” in inner motor and out motor
are open open‐circuit; (c) “non‐adjacent phase” in inner motor and out motor are open open‐circuit.
18 12
17
16 9
15
Torque (Nm)
Torque(Nm)
14 6
Phase "a" in inner motor and in outer motor Produced by inner motor under phase "a"
fault tolerant condition
Phase "a" in inner motor and phase "b" in outer Produced by outer motor under phase "a"
12 3 open circuit fault-tolerant condition
motor fault tolerant condition
Produced by outer motor under phase "b"
Phase "a" in inner motor and phase "c" in outer
motor fault tolerant condition
Produced by outer motor under phase "c"
Normal condition open circuit fault-tolerant condition
10 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 18. The motor operates under single‐phase open‐circuit in both inner motor and outer motor
Figure 18. The motor operates under single-phase open-circuit in both inner motor and outer motor
conditions: (a) electromagnetic torque obtained by FEA; (b) the torque produced by outer motor and
conditions: (a) electromagnetic torque obtained by FEA; (b) the torque produced by outer motor and
inner motor, respectively.
inner motor, respectively.
Table 10. The details of electromagnetic torque of the three fault cases under single‐phase open‐circuit
10. The details of electromagnetic torque of the three fault cases under single-phase open-circuit
Tablein both inner motor and outer motor fault types.
in both inner motor and outer motor fault types.
Fault Situations
Fault Situations
Case a: same phase in inner motor and out motor are open
Torque (Nm)
17.46 (Percent)
7.7%
open‐circuit phases
Case a: same phase in inner motor and out motor are
Case b: “adjacent phase” in inner motor and out motor are
17.46
17.46 7.7%
6.2%
open open-circuit phases
open open‐circuit phases
Case b: “adjacent phase” in inner motor and out motor
Case c: “non‐adjacent phase” in inner motor and out motor
17.46
17.46 6.2%
6.0%
are open open-circuit phases
are open open‐circuit phases
Case c: “non-adjacent phase” in inner motor and out
17.46 6.0%
motor are open open-circuit phases
3.2. Double‐Phase Open‐Circuit in One Side of Motor while the Other Side of the Motor Operates Normally
Fault‐Tolerance Technique
3.2. Double-Phase Open-Circuit in One Side of Motor while the Other Side of the Motor Operates Normally
There are four fault types in this fault situation (as shown in Figure 19): (I) Adjacent double‐phase
Fault-Tolerance Technique
open‐circuit in the inner motor while the outer motor operates normally (Figure 19a); (II) Non‐adjacent
double‐phase open‐circuit in the inner motor while the outer motor operates normally (Figure 19b);
There are four fault types in this fault situation (as shown in Figure 19): (I) Adjacent
(III) Adjacent double‐phase open‐circuit in the outer motor while the inner motor operates normally
double-phase open-circuit in the inner motor while the outer motor operates normally (Figure 19a);
(Figure 19c); (IV) Non‐adjacent double‐phase open‐circuit in the outer motor while the inner motor
(II) Non-adjacent double-phase open-circuit in the inner motor while the outer motor operates
operates normally (Figure 19d).
normally (Figure 19b); (III) Adjacent double-phase open-circuit in the outer motor while the inner
motor operates normally (Figure 19c); (IV) Non-adjacent double-phase open-circuit in the outer motor
the inner motor operates normally (Figure 15
whileEnergies 2015, 8, page–page 19d).
ioa iia' ioa iia'

iob i ' iob iib' =0
Ao ib Ao
Ao Ao
Eo Eo Eo
ioc iic' =0 Eo ioc Bo iic'
Bo Bo Bo
Do Do Do
iod '
i =0 Do iod Co
'
i =0
id
Co id Co Co
ioe iie' ioe iie' =0
(a) (b)
ioa' iia ioa' iia
iob' iib iob' =0 iib
Ao Ai Ao Ai
Eo
ioc' =0 Eo
iic Ei ioc' Bo iic Ei
Bo Bi Bi
Do ' Do
'
i =0
od iid Di i =0
od Co iid Di
Co Ci Ci
ioe' iie ioe' =0 iie
(c) (d)
Figure 19. Four types of fault (double‐phase open‐circuit in one side motor while the other side motor
Figure 19. Four types of fault (double-phase open-circuit in one side motor while the other side
operates normally). (a) Adjacent double‐phase open‐circuit in the inner motor; (b) non‐adjacent
motordouble‐phase open‐circuit in the inner motor; (c) adjacent double‐phase open‐circuit in the outer motor;
operates normally). (a) Adjacent double-phase open-circuit in the inner motor; (b) non-adjacent
double-phase open-circuit in the inner motor; (c) adjacent double-phase open-circuit in the outer
(d) non‐adjacent double‐phase open‐circuit in the outer motor.
motor; (d) non-adjacent double-phase open-circuit in the outer motor.
3.2.1. Adjacent Double‐Phase Open‐Circuit in the Inner Motor While the Outer Motor
Operates Normally
12825
Without loss of generality, phase “c” and “d” in the inner motor are assumed as open phases.
Adopting the adjacent double‐phase fault‐tolerant technique discussed under series driven mode,
considering the back EMF of inner motor, the injected fault‐tolerant currents can be expressed as:
(c) (d)
Figure 19. Four types of fault (double‐phase open‐circuit in one side motor while the other side motor
operates normally). (a) Adjacent double‐phase open‐circuit in the inner motor; (b) non‐adjacent
double‐phase open‐circuit in the inner motor; (c) adjacent double‐phase open‐circuit in the outer motor;
Energies 2015, 8, 12810–12838
(d) non‐adjacent double‐phase open‐circuit in the outer motor.
3.2.1. Adjacent Double‐Phase Open‐Circuit in the Inner Motor While the Outer Motor
3.2.1. Adjacent Double-Phase Open-Circuit in the Inner Motor While the Outer Motor
Operates Normally
Operates Normally
Adopting
Adopting the
the adjacent
adjacent double‐phase fault‐tolerant
double-phase fault-tolerant technique
technique discussed under
discussed under series
series driven mode,
driven mode,
considering the back EMF of inner motor, the injected fault‐tolerant currents can be expressed as:
considering the back EMF of inner motor, the injected fault-tolerant currents can be expressed as:

 1 iia '  28.4318cos(ωt )  1.3788cos(3ωt )
$
’  iia “ 28.4318cospωtq ` 1.3788cosp3ωtq
 ' 25.53* π 108* π
&
iib   15.7541
iib 1 “ p´15.7541q cospωt+ cos(ωt + 25.53˚π) q1.3788cos(3ω t
` 1.3788cosp3ωt ) ` 108˚π q (25)
(25)
 180
180 180 180
’
 ' 25.53 ˚ π
25.53* π q ` 1.3788cosp3ωt 108* π 108˚π
% iie 1 “ p´15.7541q
 iie    cospωt
15.7541  cos(ω´
t  180 )  1.3788cos(3ω t - ) ´ 180 q
180 180
in which, ω
in which, “ 2π fis electrical angular velocity of the machine. From Equation (25), it can be seen that
ω=2πf is electrical angular velocity of the machine. From Equation (25), it can be seen
that the maximum fundamental amplitude
the maximum fundamental amplitude value
value in in injected
injected fault-tolerant
fault‐tolerant currentsis is4.47
currents 4.47times
times of
of the
the
fundamental current amplitude value under normal conditions.
fundamental current amplitude value under normal conditions.
The FEA results are shown in Figure 20. It can be observed that 15.47 Nm’s average torque
The FEA results are shown in Figure 20. It can be observed that 15.47 Nm’s average torque with
with 12.2% ripple is produced under adjacent double phases open circuit fault in the outer motor
12.2% ripple is produced under adjacent double phases open circuit fault in the outer motor condition.
condition. When the fault-tolerant
When the fault‐tolerant currents
currents are are the
injected, injected, the torque
average averageis torque is 17.32
17.32 Nm with Nm with
8.5% 8.5%
ripple,
ripple, which is 95.8% of the normal torque, and the ripple is much smaller.
which is 95.8% of the normal torque, and the ripple is much smaller.
18 60
phase-a phase-b
16 phase-c phase-d
40
14
phase-e
12 20
Torque (Nm)
10
0
8
6 -20
4
2 Phase "c" and "d" in inner motor open-circuit fault condition
0 -60
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 20. The motor operates under adjacent double‐phase open circuit in inner motor condition:
Figure 20. The motor operates under adjacent double-phase open circuit in inner motor condition:
(a) electromagnetic torque obtained by FEA; (b) the injected currents of inner motor.
3.2.2. Non-Adjacent Double-Phase Open-Circuit in the Inner Motor while the Outer Motor
Operates Normally
16
Without loss of generality, phases “b” and “e” in the inner motor are assumed as open phases.
Adopting the non-adjacent double-phase fault-tolerant technique discussed in the series drive mode,
the injected fault-tolerant currents can be expressed as:
$
’
& iia 1 “ 11.19cospωtq ´ 2.09cosp3ωtq
iic 1
“ 11.12cospωt ´ 120 ˚π 66.91˚π
180 q ` 2.66cosp3ωt ` 180 q (26)
“ 11.12cospωt ` 180 q ` 2.66cosp3ωt ´ 66.91
120˚π ˚π
’
% i 1
id 180 q
Figure 21 shows the electromagnetic torque obtained by FEA. 17.79 Nm’s average torque with
5.1% ripple is produced under fault tolerant conditions. The torque ripples mainly come from the
uncompensated six-order pulsating power component. The additional degrees of freedom are used
to reduce the maximum fundamental amplitude value of the fault-tolerant current.
12826

 iia '  11.19 cos(ω t )  2.09 cos(3ω t )

 ' 120 * π 66.91* π
 iic  11.12 cos(ω t  )  2.66 cos(3ω t  ) (26)
 180 180
 ' 120 * π 66.91* π
i
 id  11.12 cos(ω t  )  2.66 cos(3ω t  )
180 180
Figure 21 shows the electromagnetic torque obtained by FEA. 17.79 Nm’s average torque with
5.1% ripple is produced under fault tolerant conditions. The torque ripples mainly come from the
Energies 2015, 8, 12810–12838
uncompensated six‐order pulsating power component. The additional degrees of freedom are used
to reduce the maximum fundamental amplitude value of the fault‐tolerant current.
30
18
phase a phase b
20 phase c phase d
phase e
16

10
Torque(Nm)
14 0
-10
12 Normal condition
Phase "b" and "e" in inner motor fault condition -20
Phase "b" and "e" in inner motor fault-tolerant condition
10 -30
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 21. The motor operates under non‐adjacent double‐phase open circuit in inner motor condition:
Figure 21. The motor operates under non-adjacent double-phase open circuit in inner motor
condition: (a) electromagnetic torque obtained by FEA; (b) the injected currents of inner motor.
3.2.3. Adjacent Double‐Phase Open‐Circuit in Outer Motor while Inner Motor Operates Normally
Without loss of generality, phase “c” and “d” in outer motor are assumed as open phases.
3.2.3. Adjacent Double-Phase Open-Circuit in Outer Motor while Inner Motor Operates Normally
Adopting adjacent double‐phase fault‐tolerant technique discussed in series drive mode, the injected
fault‐tolerant currents can be expressed as:
Without loss of generality, phase “c” and “d” in outer motor are assumed as open phases.


Adopting adjacent double-phase fault-tolerant i  45.20cos(ωt )  4.77cos(3ωt )
technique discussed '
in series drive mode, the injected

oa

 5.85* π 108* π
i  (22.72) cos(ωt  )  1.09cos(3ωt  '
) ob (27)
180 180
fault-tolerant currents can be expressed as:

5.85* π 108* π
ioe  (22.72) cos(ωt  180 )  1.09cos(3ωt  180 )
'
$
Figure 22 shows the electromagnetic torque obtained by FEA, from which it can be seen that an
’ ioa 1 “ 45.20cospωtq ` 4.77cosp3ωtq
&
average torque of 17.68 Nm with 21% ripple is produced under fault‐tolerant conditions. Comparing
iob 1 “ p´22.72qcospωt ` 5.85 ˚π
180 q ` 1.09cosp3ωt ` 180 q
108˚π
adjacent double‐phase fault in the inner motor, the same type of fault that occurs in the outer motor
(27)
’ 1 5.85˚π 108˚π
% ioeIt is
is more severe. “because
p´22.72qcospωt
the outer motor 180 q ` 1.09cosp3ωt
´ contributes more when the ´
motor q
operates
180 under
normal conditions.
Figure 22 shows the electromagnetic torque obtained by FEA, from which it can be seen
3.2.4. Non‐Adjacent Double‐Phase Open‐Circuit in the Outer Motor while the Inner Motor
that an average torque of 17.68 Nm with 21% ripple is produced under fault-tolerant conditions.
Operates Normally
Comparing adjacent double-phase fault in the inner motor, the same type of fault that occurs in the
Without loss of generality, phases “b” and “e” in the outer motor are assumed to be open phases.

outer motor isAdopting the non‐adjacent double‐phase fault‐tolerant technique discussed in the series driven mode,
more severe. It is because 

thei outer
11.21 cos(ω tmotor
)  1.57 cos(3ω tcontributes
) more when the motor operates
oa
'
 120 * π 35.43 * π
the injected fault‐tolerant currents can be expressed as:
 i  11.21 cos(ω t  )  0.97 cos(3ω t  '
) (28)
under normal conditions. 

180
120 * π
oc
180
35.43 * π
 iod  11.21 cos(ω t  )  0.97 cos(3ω t 
'
)
180 180
17 90
phase-a phase-b
20 phase-c phase-d
60 phase-e
15 30
Torque (Nm)
0
10
-30
Normal condition
5
Phase "c" and "d" in outer motor fault condition -60
-90
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 22. The motor operates under adjacent double‐phase open circuit in the outer motor condition:
Figure 22. The(a) electromagnetic torque obtained by FEA; (b) the injected currents of the outer motor.
motor operates under adjacent double-phase open circuit in the outer motor condition:
(a) electromagnetic torque obtained by FEA; (b) the injected currents of the outer motor.
Figure 23 shows the FEA results of this type, from which it can be seen that an average torque
of 17.41 Nm with 7.7% ripple is produced under fault‐tolerant conditions. It is the same situation for
3.2.4. Non-Adjacent Double-Phase Open-Circuit in the Outer Motor while the Inner Motor
the non‐adjacent double‐phase open‐circuit in the inner motor, whereby the torque ripple comes from
the uncompensated six‐order pulsating power component and additional degrees of freedom are
Operates Normally
used to reduce the fault‐tolerant current.
Without loss of generality, phases “b” and “e” in the outer motor are assumed to be open 30
18
phases. Adopting the non-adjacent double-phase fault-tolerant technique

phase a discussed
phase b in the series
15 phase c phase d 20
driven mode, the injected fault-tolerant currents can be expressed as:phase e

10
12
Torque (Nm)
$
9 ’
& ioa 1 “ 11.21cospωtq ´ 1.57cosp3ωtq 0
6 ioc “ 11.21cospωt ´ 120

1 ˚π 35.43˚π
180 q ` 0.97cosp3ωt ` 180 q -10 (28)
% i 1 “ 11.21cospωt ` 120˚π q ` 0.97cosp3ωt ´ 35.43˚π q
’
3 odcondition
Normal 180 180 -20
Phase "b" and "e" in outer motor fault condition
0 -30
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
12827
Figure 23. The motor operates under non‐adjacent double‐phase open circuit in outer motor conditions:
Torque details (average torque, torque ripple etc.) of these fault types in Section 3.2 are shown in
Table 11. The torque ripple is much smaller when fault‐tolerant techniques are adopted. Faults in the
-90
0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 22. The motor operates under adjacent double‐phase open circuit in the outer motor condition:
Energies 2015, 8, 12810–12838
Figure 23 shows the FEA results of this type, from which it can be seen that an average torque
Figure 23 shows the FEA results of this type, from which it can be seen that an average torque of
of 17.41 Nm with 7.7% ripple is produced under fault‐tolerant conditions. It is the same situation for
17.41 Nm with 7.7% ripple is produced under fault-tolerant conditions. It is the same situation for the
the non‐adjacent double‐phase open‐circuit in the inner motor, whereby the torque ripple comes from
non-adjacent double-phase open-circuit in the inner motor, whereby the torque ripple comes from the
the uncompensated
uncompensated six‐order
six-order pulsating
pulsating power power component
component and additional
and additional degreesdegrees of freedom
of freedom are usedare
to
used to reduce the fault‐tolerant current.
reduce the fault-tolerant current.
30
18
phase a phase b
15
20 phase c phase d
phase e
10

12
Torque (Nm)
9 0
6 -10
3 Normal condition -20

Phase "b" and "e" in outer motor fault condition
0 -30
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
Figure 23. The motor operates under non‐adjacent double‐phase open circuit in outer motor conditions:
Figure 23. The motor operates under non-adjacent double-phase open circuit in outer motor
conditions: (a) electromagnetic torque obtained by FEA; (b) the injected currents of the outer motor.
Table 11. The torque ripple is much smaller when fault‐tolerant techniques are adopted. Faults in the
Table 11. The torque ripple is much smaller when fault-tolerant techniques are adopted. Faults in the
outer motor are much worse compared to the inner motor because the outer motor contributes more
outer motor are much worse compared to the inner motor because the outer motor contributes more
torque to the total torque. The same as in series drive mode, the adjacent double phase fault is the
torque to the total torque. The same as in series drive mode, the adjacent double phase fault is the
most severe fault type.
most severe fault type.
3.3. Double‐Phase Open‐Circuit in One Side of Motor with Single‐Phase Open‐Circuit in the Other Side of
Table 11. The details of average electromagnetic torque and torque-ripple under double phase open
Motor Fault‐Tolerance Technique
circuit fault in one side of motor when machine operates in the parallel driven mode.
There are also four fault types in this fault situation: (I) Non‐adjacent double‐phase open‐circuit
in the outer motor with single‐phase Average
open‐circuit in the inner Electromagnetic
motor Torque
(Figure 24a); (II) Ripple
Adjacent
double‐phase open‐circuit in the outer motor with single‐phase open‐circuit in the inner motor
(Figure Adjacent doubleAdjacent
24b); (III) phase opendouble‐phase
circuit fault in inner motor
open‐circuit 15.47
in the inner 12.2%
motor with single‐phase
Adjacent double phase open circuit fault tolerance in inner motor 17.32 8.5%
Non-adjacent double phase open circuit fault in inner18motor 15.63 21.3%
Non-adjacent double phase open circuit fault tolerance in inner motor 17.79 5.1%
Adjacent double phase open circuit fault in outer motor 13.05 30.9%
Adjacent double phase open circuit fault tolerance in outer motor 17.68 21%
Non-adjacent double phase open circuit fault in outer motor 13.43 33.1%
Non-adjacent double phase open circuit fault tolerance in outer motor 17.41 7.7%
3.3. Double-Phase Open-Circuit in One Side of Motor with Single-Phase Open-Circuit in the Other Side of
Motor Fault-Tolerance Technique
There are also four fault types in this fault situation: (I) Non-adjacent double-phase open-circuit
in the outer motor with single-phase open-circuit in the inner motor (Figure 24a); (II) Adjacent
double-phase open-circuit in the outer motor with single-phase open-circuit in the inner motor
(Figure 24b); (III) Adjacent double-phase open-circuit in the inner motor with single-phase
open-circuit in the outer motor (Figure 24c); (IV) Non-adjacent double-phase open-circuit in the
inner motor with single-phase open-circuit in the outer motor (Figure 24d). As in the case of the
single-phase open-circuit fault in both the inner motor and outer motors in Section 3.1.3, there are
also two fault cases for each fault type, and only one fault case is shown in Figure 24 as an example.
12828
circuit fault in one side of motor when machine operates in the parallel driven mode
Adjacent double phase open circuit fault in inner motor 15.47 12.2%
Adjacent double phase open circuit fault tolerance in inner motor 17.32 8.5%
Non‐adjacent double phase open circuit fault in inner motor 15.63 21.3%
Non‐adjacent double phase open circuit fault tolerance in inner motor 17.79 5.1%
Adjacent double phase open circuit fault in outer motor 13.05 30.9%
Energies 2015, 8, 12810–12838
Adjacent double phase open circuit fault tolerance in outer motor 17.68 21%
Non‐adjacent double phase open circuit fault in outer motor 13.43 33.1%
Non‐adjacent double phase open circuit fault tolerance in outer motor 17.41 7.7%
ioa' iia  0 ioa' iia  0

iob' =0 iib' iob' iib'
Ao Ai Ao
' Eo Eo Ai
i oc Bo i ' Ei '
i =0
oc iib' Ei
ic Bi Bo
Do Bi
iod' Do
Co iid' Di iod' =0 Co iib' Di
Ci Ci
ioe' =0 iie' ioe' iib'
(a) (b)
ioa  0 iia' ioa  0 iia'
i'
ob
i '
ib
i'
ob iib' =0
Ai Ao Ai Ao
Eo Ei Eo
ioc' Ei iic' =0 ioc' iic' Bo
Bi Bo Bi
Do Do
i'
od
Di '
i =0
id
iod' Di iid' Co
Ci Co Ci
i '
iie' ioe' iie' =0
oe
(c) (d)
Figure 24. Double‐phase open‐circuit in one side of the motor with single‐phase open‐circuit in
Figure 24. Double-phase open-circuit in one side of the motor with single-phase open-circuit in
another side of the motor fault type (four types).
another side of the motor fault type“b”

In fault type (I), phases (four
and types).
“e” in the outer motor and phase “a” in inner motor being
open‐circuit is a one fault case, while phases “c” and “a” in the outer motor and phase “a” in the inner
motor being open‐circuit, is another fault case. They are not exactly the same due to differences in the
In fault type (I), phases “b” and “e” in the outer motor and phase “a” in inner motor being
torque ripple details. The other fault types are the same as fault type (I).
open-circuit is a oneFigure 25 shows the results of two fault cases for each fault type obtained by FEA, from which
fault case, while phases “c” and “a” in the outer motor and phase “a” in the
we can see the average electromagnetic torque is almost the same while there is a larger difference in
inner motor being open-circuit, is another fault case. They are not exactly the same due to differences
torque ripple between the different fault cases for each fault type. Table 12 shows the electromagnetic
torque details.
in the torque ripple details. The other fault types are the same as fault type (I).
Figure 25 shows the results of two fault cases for each fault type obtained by FEA, from which
3.4. Double‐Phase Open‐Circuit in Both Sides of the Motor Fault‐Tolerance Technique
we can see the average electromagnetic torque is almost the same while there is a larger difference in
There are also four fault types in this fault situation: (I) Adjacent double‐phase open‐circuit in outer
motor and in inner motor (Figure 26a); (II) Non‐adjacent double‐phase open‐circuit in outer motor and
torque ripple between the different fault cases for each fault type. Table 12 shows the electromagnetic
in inner motor (Figure 26b); (III) Adjacent double‐phase open‐circuit in inner motor with non‐adjacent
torque details. double‐phase open‐circuit in outer motor (Figure 26c); (IV) Non‐adjacent double‐phase open‐circuit in
inner motor with adjacent double‐phase open‐circuit in outer motor (Figure 26d). As in the case of the
single‐phase open‐circuit fault in both inner motor and outer motor in Section 3.1.1, there are three fault
18
cases for each fault type, and only one fault case is shown in Figure 26 as an example.
21
15 18

12 15
Torque (Nm)
Torque (Nm)
12
9
9
6
19
Normal condition Normal condition
6
Phase "a" in inner motor -phase "b" and "e" Phase a in inner motor -phase "c" and "d"
3 in outer motor fault-tolerant condition in outer motor fault-tolerant condition
3
Phase "a" in inner motor -phase "c" and "a" Phase a in inner motor -phase "b" and "e"
in outer motor fault-tolerant condition in outer motor fault-tolerant condition
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
18 18
16
15
14
12 12
Torque (Nm)
Torque (Nm)
10
9
8
6 6
Phase "a" in outer motor and phase "c" and "d" 4 Phase "a" in outer motor -phase "b" and "e"
3 in inner motor fault-tolerant condition in inner motor fault-tolerant condition
Phase "a" in outer motor and phase "d" and "e" 2 Phase "a" in outer motor -phase "c" and "a"
in inner motor fault-tolerant condition in inner motor fault-tolerant condition
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(c) (d)
Figure 25. The electromagnetic torque obtained by FEA under double phase open circuit fault in one
motor with single phase open circuit in another motor: (a) fault type I; (b) fault type II; (c) fault type III;
Figure 25. The electromagnetic torque obtained by FEA under double phase open circuit fault in one
(d) fault type IV.
motor with single phase open circuit in another motor: (a) fault type I; (b) fault type II; (c) fault type III;
(d) fault type IV. Table 12. The details of electromagnetic torque under double phase open circuit fault in one side of
motor with single phase open circuit in another side of the motor.
Examples of Open‐Circuit Fault Cases for Average Output Torque Ripple

Motor Fault Types *
3.4. Double-Phase Open-Circuit in Both SidesEach Fault Type
of the Motor Fault-Tolerance
Torque (Nm) Technique
(Percent)
Phase “a” in inner motor, phases “b” and “e”
16.34 31.0%
in outer motor are open circuit
Fault type (I)
There are also four fault typesPhase “a” in inner motor, phases “a” and “c”
in this fault situation: (I) Adjacent 17.25
double-phase
9.9%
open-circuit in
outer motor and in inner motor (Figure 26a); (II) Non-adjacent17.78 double-phase
Phase “a” in inner motor, phases “c” and “d”
35.1%
open-circuit in outer
motor and in inner motor (Figure 26b);
Fault type (II) (III) Adjacent double-phase
Phase “a” in inner motor, phases “d” and “e”
18.00
open-circuit
32.1%
in inner motor with
non-adjacent double-phase open-circuit in outer motor (Figure
Phase “a” in outer motor, phases “c” and “d” 26c); (IV) Non-adjacent double-phase
17.10 9.8%
in inner motor are open circuit
open-circuit in inner motor with adjacent
Fault type (III) double-phase open-circuit in outer motor (Figure 26d). As
Phase “a” in outer motor, phases “d” and “e”
17.01 11.5%
in the case of the single-phase open-circuit fault in both inner motor and outer motor in Section 3.1.1,
Phase “a” in outer motor, phases “b” and “e”
17.42 7.5%
there are three fault Fault type (IV)
cases for each fault type, and only one fault case is shown in Figure 26 as
Phase “a” in outer motor, phases “a” and “c”
17.44 6.9%
an example.
* Double‐phase Open‐Circuit in One Side of Motor with Single‐Phase Open‐Circuit in the Other Side of Motor
Fault Types.

12829
20
Energies 2015, 8, 12810–12838
Table 12. The details of electromagnetic torque under double phase open circuit fault in one side of
motor with single phase open circuit in another side of the motor.
Examples of Open-Circuit Fault Cases for Average Output Torque Ripple

Motor Fault Types *
Each Fault Type Torque (Nm) (Percent)
Phase “a” in inner motor, phases “b” and
16.34 31.0%
Fault type (I) “e” in outer motor are open circuit
Phase “a” in inner motor, phases “a” and
17.25 9.9%
“c” in outer motor are open circuit
Phase “a” in inner motor, phases “c” and
17.78 35.1%
Fault type (II) “d” in outer motor are open circuit
Phase “a” in inner motor, phases “d” and
18.00 32.1%
“e” in outer motor are open circuit
Phase “a” in outer motor, phases “c” and
17.10 9.8%
Fault type (III) “d” in inner motor are open circuit
Phase “a” in outer motor, phases “d” and
17.01 11.5%
“e” in inner motor are open circuit
Phase “a” in outer motor, phases “b” and
17.42 7.5%
Fault type (IV) “e” in inner motor are open circuit
Phase “a” in outer motor, phases “a” and
17.44 6.9%
“c” in inner motor are open circuit
* Double-phase Open-Circuit in One Side of Motor with Single-Phase Open-Circuit in the Other Side of Motor
Fault Types.
ioa' iia' ioa' iia'

iob' iib' iob' =0 iib' =0
Ao Ao Ai
Ai Eo
Eo ioc' Ei
ioc' =0 Bo iic' =0 Ei
Bi Bo iic' Bi
Do
iod' =0 Do
iid' =0 Di iod' =0 Co iid' =0
Di
Co Ci Ci
'
ioe' iie' i =0oe
'
i =0
ie

(a) (b)
ioa' iia' ioa' iia'
iob' =0 i '
ib i '
ob
iib' =0
Ao Ai Ao Ai
Eo Ei Eo Ei
ioc' Bo iic' =0 Bi ioc' =0 Bo
iic' Bi
Do Di Do Di
iod' =0 Co
iid' =0 Ci
iod' =0 iid' =0 Ci
Co
' ' '
i =0
oe iie ioe' i =0
ie

(c) (d)
Figure 26. Double‐phase open‐circuit in both sides of motor fault types. (a) Adjacent double‐phase
Figure 26. Double-phase open-circuit in both sides of motor fault types. (a) Adjacent double-phase
open‐circuit in outer motor and in inner motor; (b) non‐adjacent double‐phase open‐circuit in outer
open-circuit in outer motor and in inner motor; (b) non-adjacent double-phase open-circuit in outer
motor and in inner motor; (c) adjacent double‐phase open‐circuit in inner motor with non‐adjacent
motor and in inner motor; (c) adjacent double-phase open-circuit in inner motor with non-adjacent
double‐phase open‐circuit in outer motor; (d) non‐adjacent double‐phase open‐circuit in inner motor
double-phase open-circuit in outer motor; (d) non-adjacent double-phase open-circuit in inner motor
with adjacent double‐phase open‐circuit in outer motor.
with adjacent double-phase open-circuit in outer motor.
In fault type (I), phases “c” and “d” in inner motor and phase “c” and “d” in outer motor being
In fault type (I), phases “c” and “d” in inner motor and phase “c” and “d” in outer motor being
open‐circuit is one fault case, while phase “c” and “d” in inner motor and phase “d” and “e” in outer
open-circuit is one fault case, while phase “c” and “d” in inner motor and phase “d” and “e” in outer
motor being open‐circuit is the other fault case, and phase “c” and “d” in inner motor and phase “e”
motor being open-circuit is the other fault case, and phase “c” and “d” in inner motor and phase “e”
and “a” in outer motor being open‐circuit is another new fault case. They are not exactly the same
and “a” in outer motor being open-circuit is another new fault case. They are not exactly the same due
due to differences in the torque ripple. The different fault cases for each fault type are shown in Table 12.
to differences in the torque ripple. The different fault cases for each fault type are shown in Table 12.
Figure 27 shows the torque results of different fault cases for each fault type obtained by FEA.
Through these comparisons, it can be seen that the adjacent double phase fault in the outer motor is the
Through these comparisons, it can be seen that the adjacent double phase fault in the outer motor is
most severe fault type. Table 13 shows the torque details. The average electromagnetic torque under
the most severe fault type. Table 13 shows the torque details. The average electromagnetic torque
different fault cases for each fault type is almost the same, but the difference in torque ripple is obvious.
under different fault cases for each fault type is almost the same, but the difference in torque ripple
24
is obvious. 18
21 16
18 14
12
15
Torque (Nm)
Torque (Nm)
10
12
12830 8
9
Phase "c" and "d" in inner motor and phase "c" and "d" 6 Phase "b" and "e" in inner motor -phase "b" and "e"
6 Phase "c" and "d" in inner motor and phase "d" and "e" Phase "b" and "e" in inner motor-phase "c" and "a"
4
motor being open‐circuit is the other fault case, and phase “c” and “d” in inner motor and phase “e”
and “a” in outer motor being open‐circuit is another new fault case. They are not exactly the same
due to differences in the torque ripple. The different fault cases for each fault type are shown in Table 12.
Through these comparisons, it can be seen that the adjacent double phase fault in the outer motor is the
Energies 2015, 8, 12810–12838
most severe fault type. Table 13 shows the torque details. The average electromagnetic torque under
different fault cases for each fault type is almost the same, but the difference in torque ripple is obvious.
24 18
21 16
18 14
12
15
Torque (Nm)
Torque (Nm)
10
12
8
9
Phase "c" and "d" in inner motor and phase "c" and "d" 6 Phase "b" and "e" in inner motor -phase "b" and "e"
6 Phase "c" and "d" in inner motor and phase "d" and "e" Phase "b" and "e" in inner motor-phase "c" and "a"
4
3 Phase "c" and "d" in inner motor and phase "e" and "a" 2 Phase "b" and "e" in inner motor-phase "d" and "b"
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(a) (b)
18
18
15
15
12
12
Torque (Nm)
Torque (Nm)
9
9
Phase "b" and "e" in inner motor and phase "c" and "d" 6 Phase "c" and "d" in inner motor -phase "b" and "e"
6
Phase "b" and "e" in inner motor and phase "d" and "e" Phase "c" and "d" in inner motor -phase "c" and "a"
3 in outer motor fault-tolerant condition 3 in outer motor fault-tolerant condition
Phase "b" and "e" in inner motor and phase "e" and "a" Phase "c" and "d" in inner motor -phase "d" and "b"
0 0
0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5
Time(ms) Time(ms)
(c) (d)
Figure 27. The electromagnetic torque obtained by FEA under double‐phase open‐circuit in both sides
Figure 27. The electromagnetic torque obtained by FEA under double-phase open-circuit in both sides
of motor fault condition (a) fault type I; (b) fault type II; (c) fault type III; (d) fault type IV.
of motor fault condition (a) fault type I; (b) fault type II; (c) fault type III; (d) fault type IV.
21
Table 13. The details of electromagnetic torque under double phase open circuit in both sides of the
motor fault condition.
Double-Phase Open-Circuit in Examples of Open-Circuit Fault Cases of Average Output Torque Ripple
Both Sides of Motor Fault Types Each Fault Type Torque (Nm) (Percent)
Phases “c” and “d” in inner motor, phases
17.86 42.1%
“c” and “d” in outer motor are open circuit
Fault type (I)
17.55 41.3%
“d” and “e” in outer motor are open circuit
17.65 40.1%
“e” and “a” in outer motor are open circuit
Phases “b” and “e” in inner motor, phases
17.66 9.9%
“b” and “e” in outer motor are open circuit
Fault type (II)
17.54 8.7%
“c” and “a” in outer motor are open circuit
17.56 9.5%
“d” and “b” in outer motor are open circuit
16.23 36.4%
“c” and “d” in outer motor are open circuit
Fault type (III)
16.09 35.9%
“d” and “e” in outer motor are open circuit
16.35 40.2%
16.19 15.7%
Fault type (IV)
16.44 14.7%
16.31 14.0%
12831
16.35 40.2%
16.19 15.7%
Fault type (IV) 16.44 14.7%
Energies 2015, 8, 12810–12838 Phases “c” and “d” in inner motor, phases
16.31 14.0%
4. Co-Simulation Results
4. Co‐Simulation Results
In this section, the co-simulation results based on Simulink-Simplorer-Maxwell are illustrated to
In this section, the co‐simulation results based on Simulink‐Simplorer‐Maxwell are illustrated to
verify the effectiveness of the aforementioned techniques. Maxwell is community software for design
verify the effectiveness of the aforementioned techniques. Maxwell is community software for design
of electrical motors but it lacks facilities for the design of drivers. On the other hand, the model of
of electrical motors but it lacks facilities for the design of drivers. On the other hand, the model of
power electronic components is more accurate in Simplorer software compared to Simulink, which
power electronic components is more accurate in Simplorer software compared to Simulink, which
can provide a suitable environment for designing controllers [33,34]. In this paper, the DRPMSM is
can provide a suitable environment for designing controllers [33,34]. In this paper, the DRPMSM is
designed in Maxwell, and the driver circuit is designed in Simplorer in which the details of IGBTS
designed in Maxwell, and the driver circuit is designed in Simplorer in which the details of IGBTS
arelisted.
are listed.Meanwhile,
Meanwhile,the thefault
faulttolerant
tolerantcontroller
controller is
is designed
designed in
in Simulink.
Simulink. By
By linking
linking these,
these, an

an appropriate tool is provided for a realistic fault‐tolerant driver with a five‐phase DRPMSM. 28
appropriate tool is provided for a realistic fault-tolerant driver with a five-phase DRPMSM. Figure
shows the finite element model of the motor designed in Maxwell and Table 14 shows some of the
Figure 28 shows the finite element model of the motor designed in Maxwell and Table 14 shows some
parameters of the five-phase DRPMSM.
of the parameters of the five‐phase DRPMSM.

Figure 28. Finite element model of the five‐phase DRPMSM.
Figure 28. Finite element model of the five-phase DRPMSM.
Table 14. Some of the design and electrical parameters of the DRPMSM in Maxwell.
22
Parameter Unit Five-Phase DRPMSM

Rate power Kw 2
Rate speed rpm 1200
Outer rotor out diameter mm 225
Outer rotor in diameter mm 197
Stator outer diameter mm 195.5
Stator inner diameter mm 153
Inner rotor out diameter mm 115.8
Inner rotor inner diameter mm 92
Rotor stack length mm 38.5
Stator stack length mm 38.5
Air gap mm 0.75
Number of stator slots - 40
Number of rotor poles - 44
Stator resistance of each phase of inner motor mΩ 320
Stator resistance of each phase of outer motor mΩ 310
Stator inductance of each phase of inner motor µH 746.3
Stator inductance of each phase of outer motor µH 739.3
Current density A/mm2 4.48
Linear current load KA/m 10.95
The fault tolerant algorithm was accomplished in Simulink on the basis of the fault tolerant
techniques investigated above. In order to ensure the injected currents are more flexible, the current
12832
Stator resistance of each phase of inner motor mΩ 320
Stator resistance of each phase of outer motor mΩ 310
Stator inductance of each phase of inner motor μH 746.3
Stator inductance of each phase of outer motor μH 739.3
Current density A/mm 2 4.48
Energies 2015, 8, 12810–12838
Linear current load KA/m 10.95
The fault tolerant algorithm was accomplished in Simulink on the basis of the fault tolerant
hysteresis control technique is adopted. Operated under normal conditions, the control scheme is
techniques investigated above. In order to ensure the injected currents are more flexible, the current
shown hysteresis
in Figurecontrol
2. When an open
technique circuitOperated
is adopted. fault occurs
under in the machine
normal conditions, or the
the driver,
control whereby
scheme is the
shown in Figure 2. When an open circuit fault occurs in the machine or the driver, whereby the fault
fault type should be detected first, the corresponding injected currents are produced by fault-tolerant
control type should be detected first, the corresponding injected currents are produced by fault‐tolerant control
algorithms. Figure 29 shows the fault tolerant control block diagram which adopts hysteresis
algorithms. Figure 29 shows the fault tolerant control block diagram which adopts hysteresis control
control in the current loop in serial drive mode. Open circuit fault type can be detected through the current
in the current loop in serial drive mode. Open circuit fault type can be detected through the
current detection followed by the control scheme switch to fault tolerant control algorithm.
detection followed by the control scheme switch to fault tolerant control algorithm.
" Outer motor " " Inner motor "

ia* + a Ao Ai
iq* ib*  + Bi
b Bo
*
* i ic*  + c Co Ci
+ id*  + d Do Di
 id*
ie*  + e Eo Ei


the five-phase DRPMSM

ia _Mea
ib _Mea
ic _Mea
id _Mea
ie _Mea


Figure 29. Control block diagram of fault tolerant system.
Figure 29. Control block diagram of fault tolerant system.
Figure 30 shows the fault tolerant control structure in Simulink. Figure 31 shows the main driver
Figure 30 shows the fault tolerant control structure in Simulink. Figure 31 shows the main driver
circuits in Simplorer. As we know, the resistance of each stator winding is not considered in the FEA
circuits in Simplorer. As we know, the resistance of each stator
model, and, in order to simulate the real situation better, R winding is not considered in the FEA
1–R5 are added in Simplorer. Their values
model, and, in order to simulate the real situation better, R1 –R5 are added in Simplorer. Their values
23
are equal to Ri + Ro , in which Ri = 320 mΩ and Ro = 310 mΩ are respectively stator resistances of
each phase of the inner motor and the outer motor. L1 –L5 = 0.1 µH are the end-leakage inductance of
are equal to Ri + Ro, in which Ri = 320 mΩ and Ro = 310 mΩ are respectively stator resistances of each
each phase which is very small, and are simply fictitious and must be added to achieve the simulation.
phase of the inner motor and the outer motor. L1–L5 = 0.1 μH are the end‐leakage inductance of each
Different work conditions are simulated by controlling the switch S1 –S3 . In this section, co-simulation
phase which is very small, and are simply fictitious and must be added to achieve the simulation.
results of two typical fault types will be displayed. They are the1–S
Different work conditions are simulated by controlling the switch S single phase open-circuit fault type
3. In this section, co‐simulation
in seriesresults of two typical fault types will be displayed. They are the single phase open‐circuit fault type
drive mode and the double-phase open-circuit in one side of the motor with single-phase
in series drive mode and the double‐phase open‐circuit in one side of the motor with single‐phase
open-circuit in another side of motor fault type in the parallel drive mode. It should be noted that
open‐circuit in another side of motor fault type in the parallel drive mode. It should be noted that the
the DC-bus voltage is 150 V as the machine operates in series drive mode. However, the DC-bus
DC‐bus voltage is 150 V as the machine operates in series drive mode. However, the DC‐bus voltage
voltageis is95
95V Vfor
forouter
outer motor’s inverter and 55 V for inner motor’s inverter as the machine operates
motor’s inverter and 55 V for inner motor’s inverter as the machine operates in
in parallel drive mode. They are representative to verify the effectiveness of the fault techniques, and
parallel drive mode. They are representative to verify the effectiveness of the fault techniques, and
simulation of other fault types is similar to these two fault types.
simulation of other fault types is similar to these two fault types.

Figure 30. Fault tolerant control structure in Simulink.
12833

Energies 2015, 8, 12810–12838
FROM
FPDRPMSM
Figure 31. The main driver circuit in Simplorer.
Figure 31. The main driver circuit in Simplorer.
Torque and current waveforms of the motor when phase an open circuit fault occurs in serial
Torque and current waveforms of the motor when phase an open circuit fault occurs in serial
drive mode are shown in Figure 32. As mentioned, the fault occurs at 4 ms, and the fault tolerant
technique that injects currents contains third harmonics is adopted at 6 ms. When the motor operates
drive mode are shown in Figure 32. As mentioned, the fault occurs at 4 ms, and the fault tolerant
under
technique thatnormal
injectsconditions (0–4 ms), the electromagnetic
currents contains third harmonics torque is about 14.7
is adopted at 6 ms.Nm with 3.2% ripple.
When the motor operates
under normal conditions (0–4 ms), the electromagnetic torque is about 14.7 Nm with 3.2% ripple.
24
Compared to the results obtained by FEA, the co-simulation electromagnetic torque is reduced
because it considers switching losses and the resistance and leakage inductance of each phase. In this
the stator resistances of each phase of the inner motor and the outer motor are Ri = 320 mΩ
machine,Energies 2015, 8, page–page
and Ro = 310 mΩ, respectively. Operating in series drive mode, the stator resistance can be seen as
Compared to the results obtained by FEA, the co‐simulation electromagnetic torque is reduced
a superposition of Ri and Ro . Ignoring the losses caused by the third harmonic currents, power loss
because it considers switching losses and the resistance and leakage inductance of each phase. In this
of each VSI legs can be expressed as:
machine, the stator resistances of each phase of the inner motor and the outer motor are R i = 320 mΩ
and Ro = 310 mΩ, respectively. Operating in series drive mode, the stator resistance can be seen as a
2
Ps-l “ pTs-f ´ Ts-c qω{5 ´ Is-rms pRi ` Ro q
superposition of Ri and Ro. Ignoring the losses caused by the third harmonic currents, power loss of (29)
each VSI legs can be expressed as:
in which, Ps-l is Power loss of each VSI Pleg in serial drive2 mode, T = 18.08 Nm is torque (29)
s-l  (Ts-f  Ts-c )ω / 5  I s-rms ( Ri  Ro ) s-f
obtained by
?
FEA in serial drive mode, Ts-c = 14.7 Nm is torque obtained by co-simulation results, Is-rms = 6.36/ 3
in which, Ps‐l is Power loss of each VSI leg in serial drive mode, Ts‐f = 18.08 Nm is torque obtained by
A is RMS values that pass each phase. We can calculate that Ps-l is equal to 76 W. As fault occurs at
FEA in serial drive mode, Ts‐c = 14.7 Nm is torque obtained by co‐simulation results, Is‐rms = 6.36/ 3
4 ms, theA is RMS values that pass each phase. We can calculate that P
electromagnetic torque reduced to 11.66 Nm with torque ripple of 58.3%. However, when
s‐l is equal to 76 W. As fault occurs at
the fault 4 ms, the electromagnetic torque reduced to 11.66 Nm with torque ripple of 58.3%. However, when

technique is adopted at 6 ms, the electromagnetic torque is 14.50 Nm with torque ripple of
20.0%. Thethe fault technique is adopted at 6 ms, the electromagnetic torque is 14.50 Nm with torque ripple of
torque ripple is larger than FEA results because of the instability of switching frequency
20.0%. The torque ripple is larger than FEA results because of the instability of switching frequency
produced by current hysteresis control.
produced by current hysteresis control.
16
phase-a phase-b
12
14 phase-c phase-d
phase-e
8
12
Torque
10 4
Torque (Nm)
Current (A)
8 0
6 -4
4 -8
2 -12
0
0 2 4 6 8 Time(ms) 10 0 2 4 6 8 Time(ms)10
(a) (b)
Figure 32. The co‐simulation results (a) electromagnetic torque and (b) current changes when
Figure 32. The co-simulation results (a) electromagnetic torque and (b) current changes when
open‐circuit fault occurs in phase “a” in serial drive mode (Phase “a” open circuit fault point: 4 ms;
open-circuit fault occurs in phase “a” in serial drive mode (Phase “a” open circuit fault point: 4 ms;
injecting the fault‐tolerant current point: 6 ms).
injecting the fault-tolerant current point: 6 ms).
Figure 33 shows the torque changes when phase “a” in the outer motor and phases “b” and “e”
in the inner motor open‐circuit fault occurs in parallel drive mode. Under normal conditions (0~4 ms),
the electromagnetic torque is 14.41 Nm with 3.8% ripple. The same as in the serial drive mode, power
12834
loss of each VSI leg can be expressed as:
Pp-l  (Tp-f  Tp-c )  ω / 10  ( I i-rms
2
Ri  I o-rms
2
Ro ) (30)
in which, Pp−l is power loss of each VSI leg in parallel drive mode, Tp−f = 18.08 Nm is torque obtained
Energies 2015, 8, 12810–12838
Figure 33 shows the torque changes when phase “a” in the outer motor and phases “b” and “e” in
the inner motor open-circuit fault occurs in parallel drive mode. Under normal conditions (0~4 ms),
the electromagnetic torque is 14.41 Nm with 3.8% ripple. The same as in the serial drive mode, power
loss of each VSI leg can be expressed as:
2 2
larger for double‐phase fault types, especially for adjacent double phase faults. For adjacent double‐
Pp-l “ pTp-f ´ Tp-c q ˆ ω{10 ´ pIi-rms Ri ` Io-rms Ro q (30)
phase faults, the additional degree of freedom can be used to constrain the fundamental components
in which, Pp-l is power loss of each VSI leg in parallel drive mode, Tp-f = 18.08 Nm is torque
to be equal or to satisfy zero sixth‐order torque pulsation. Both these two solutions are solved and
obtained by FEA in parallel drive mode, Ts-c =14.41 Nm is torque obtained by co-simulation results,
the torques produced respectively by the two solutions are compared. The solution for which the
? ?
Iadditional
i-rms = 6.36/degrees
3 A isof
RMSfreedom
valuesare
thatused
passto eliminate
inner motor,sixth‐order
Io-rms = 6.36/torque
3 Apulsating is adopted
is RMS values for
that pass
smaller
outer torque
motor. We ripple. However,
can calculate that Pthe
p-l isadditional
equal to 36degrees
W, which of isfreedom are used
much smaller to
than P s-l .reduce the
As a fault
fundamental
occurs at 4 ms,amplitude value of torque
the electromagnetic fault‐tolerant currents
is reduced under
to 8.56 Nm with non‐adjacent
49.3% ripple,double
whereas phase
14.31fault
Nm
conditions. It is worth noting that the adjacent double phase fault is the most severe of all the fault types.
of torque with 16.2% ripple is produced under fault-tolerant conditions (6–10 ms).
18
15
12
Torque(Nm)
Torque
9
0
0 2 4 6 8 Time(ms) 10
Figure 33. The co‐simulation electromagnetic torque when the open‐circuit fault occurs in phase “a”
Figure 33. The co-simulation electromagnetic torque when the open-circuit fault occurs in phase “a”
of outer motor and phases “b” and “e” of inner motor in parallel drive mode (open circuit fault point:
of outer motor and phases “b” and “e” of inner motor in parallel drive mode (open circuit fault point:
44 ms; injecting the fault current point: 6 ms).
ms; injecting the fault current point: 6 ms).
When the motor operates in parallel drive mode, due to the big difference of back EMF between
5. Analysis and Discussion of Results
the inner motor and outer motor, the third harmonic component in injected excitation currents can
From the above results, it can be found that the average torque can be maintained at 93.8%–99.8%
be determined separately whether under normal conditions or fault tolerant conditions. The inner
of the normal torque after the open-circuit fault-tolerant techniques are adopted in either serial drive
motor and outer motor are decoupled. A fault that occurs in one side of the motor almost does not
mode or parallel drive mode. However, the torque ripple is still larger than under normal conditions.
affect the torque characteristics of the other side of the motor. When the fault occurs in one side of
When the motor operates in serial drive mode, under single-phase open-circuit fault conditions,
the motor, although the current in this faulty side increases in order to maintain constant torque, the
the fault-tolerant technique only needs smaller excitation current. However, fault tolerant currents
current in the other side of the motor remains normal, thus the thermal of the stator is smaller
are larger for double-phase fault types, especially for adjacent double phase faults. For adjacent
compared with the condition where faults occurred on both sides. Compared to when the open circuit
double-phase faults, the additional degree of freedom can be used to constrain the fundamental
fault occurs in the outer motor, the average output torque is larger and the torque ripple is smaller
components to be equal or to satisfy zero sixth-order torque pulsation. Both these two solutions
when the same fault type occurs in the inner motor. This is because the output torque of the outer
are solved and the torques produced respectively by the two solutions are compared. The solution
motor contributes more than the inner motor. When faults occur in both sides of the motor, different
for which the additional degrees of freedom are used to eliminate sixth-order torque pulsating is
fault cases need to be investigated because they have different torque ripple details. When only one
adopted for smaller torque ripple. However, the additional degrees of freedom are used to reduce
or two circuits are opened, the average torque in parallel drive mode is higher and the thermal of the
the fundamental amplitude value of fault-tolerant currents under non-adjacent double phase fault
motor is lower compared to when the motor operates in serial drive mode, which shows the good
conditions. It is worth noting that the adjacent double phase fault is the most severe of all the
fault‐tolerance capability of the parallel drive mode. Therefore, the motor possesses better fault
fault types.
tolerance performance when operating in parallel drive mode.
When the motor operates in parallel drive mode, due to the big difference of back EMF between
the inner motor and outer motor, the third harmonic component in injected excitation currents can
6. Conclusions
be determined separately whether under normal conditions or fault tolerant conditions. The inner
motorIn and
this outer
paper, a five‐phase
motor DRPMSM
are decoupled. in that
A fault different
occursdrive modes
in one and
side of thethe corresponding
motor almost doesfault
not
tolerance techniques are investigated. The FEA results and co‐simulation results verify the performances
affect the torque characteristics of the other side of the motor. When the fault occurs in one side
of the fault‐tolerance techniques under different fault conditions. The main conclusions are as follows:
(1) When the five‐phase DRPMSM operates in serial drive mode, three different fault types and
12835
corresponding fault tolerant techniques are investigated. When the three types of faults occur,
by adopting the fault tolerance techniques, the average torque can maintained at 93.8%–98% of the
normal torque and the torque‐ripple can be reduced significantly compared to that without fault
Energies 2015, 8, 12810–12838
of the motor, although the current in this faulty side increases in order to maintain constant torque,
the current in the other side of the motor remains normal, thus the thermal of the stator is smaller
compared with the condition where faults occurred on both sides. Compared to when the open circuit
fault occurs in the outer motor, the average output torque is larger and the torque ripple is smaller
when the same fault type occurs in the inner motor. This is because the output torque of the outer
motor contributes more than the inner motor. When faults occur in both sides of the motor, different
fault cases need to be investigated because they have different torque ripple details. When only one
or two circuits are opened, the average torque in parallel drive mode is higher and the thermal of
the motor is lower compared to when the motor operates in serial drive mode, which shows the
good fault-tolerance capability of the parallel drive mode. Therefore, the motor possesses better fault
tolerance performance when operating in parallel drive mode.
6. Conclusions
In this paper, a five-phase DRPMSM in different drive modes and the corresponding fault
tolerance techniques are investigated. The FEA results and co-simulation results verify the
performances of the fault-tolerance techniques under different fault conditions. The main conclusions
are as follows:
(1) When the five-phase DRPMSM operates in serial drive mode, three different fault types and
corresponding fault tolerant techniques are investigated. When the three types of faults occur, by
adopting the fault tolerance techniques, the average torque can maintained at 93.8%–98% of the
normal torque and the torque-ripple can be reduced significantly compared to that without fault
tolerance control.
(2) When the five-phase DRPMSM operates in parallel drive mode, the third harmonic content of
injected currents can be controlled respectively according to the third harmonic contents of the inner
and outer back EMFs. Under fault-tolerant conditions, by analyzing the torque produced by the inner
motor, outer motor and their linear addition, the inner motor and outer motor are decoupled, and an
open-circuit fault in one side of the motor has little impact on the torque characteristics of the other
side of the motor.
(3) The fault-tolerance performances of the five-phase DRPMSM in serial drive mode and parallel
drive mode are compared. Compared to the motor operating in serial drive mode, the average torque
is higher, the torque ripple is lower and the thermal of the motor is lower than when same type of
fault occurs when the motor operates in parallel drive mode.
(4) For adjacent double-phase fault types, the additional degrees of freedom can be used to
constrain the fundamental components as equal or to eliminate the sixth-order torque ripple. These
two different control schemes are compared. The results show that when the additional degrees of
freedom are used to eliminate sixth-order torque pulsating, the fault-tolerant torque ripple is smaller.
(5) The performances of the motor under different fault conditions are compared. It is found that
the adjacent double phase fault is the most severe fault type among all fault types no matter which
drive mode the motor operate in.
(6) The co-simulations based on Simulink-Simplorer-Maxwell illustrate the effectiveness of the
fault-tolerance techniques.
Acknowledgments: This work was supported in part by the National Natural Science Foundation of China
under Project 51307008 and 51347009, in part by Ph.D. Programs Foundation of Ministry of Education of China
under Project 20121101120024, in part by Basic Research Foundation of Beijing Institute of Technology under
Grant 20110642015 and 20120642013, and in part by Excellent Young Scholars Research Fund of Beijing Institute
of Technology.
Author Contributions: All authors contributed to this work by collaboration. Jing Zhao is the main author of
this manuscript. Xu Gao assisted to establish the finite element model of five-phase DRPMSM and perform the
simulations. Bin Li, Xiangdong Liu and Xing Guan provided some useful suggestions in the construction of
paper. All authors revised and approved the publication.
Conflicts of Interest: The authors declare no conflict of interest.
12836
Energies 2015, 8, 12810–12838
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Open-Phase Fault Tolerance Techniques of Five-Phase Dual-Rotor Permanent Magnet Synchronous Motor

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Open-Phase Fault Tolerance Techniques of Five-Phase Dual-Rotor Permanent Magnet Synchronous Motor

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Open-Phase Fault Tolerance Techniques of Five-Phase

Energies 2015, 8, 12810–12838; doi:10.3390/en81112342 www.mdpi.com/journal/energies

2. The Open-Phase Fault Tolerance Technique of Five-Phase Dual-Rotor Permanent Magnet

where, E1 is the fundamental amplitude of back-EMF, E3 is the third harmonic amplitude of

Amplitudes (V) Amplitudes (V)

I11 “ I21 (4)

Energies 2015, 8, page–page f “ pI11 q2 ` pI13 q2 (10)

There are four

The Unknown The Solution to the The Unknown The Solution to the

which can be further derived as: #

E1 I11 E1 I13 E3 I11 4 4 2

I11 “ I21 (23)

3.1. Single-Phase Open-Circuit Fault-Tolerance Technique

3.1.1. Single-Phase Open-Circuit in Outer Motor

ioa Outer motor iia  0

Different Working Situations of Average Torque Produced by Outer Torque Ripple of

ioa' =0 iia  0 ioa' =0 iia'

ioa iia' ioa iia'

Injected current (A)

in series drive mode, the injected

phases. Adopting the non-adjacent double-phase fault-tolerant technique

driven mode, the injected fault-tolerant currents can be expressed as:phase e

6 ioc “ 11.21cospωt ´ 120

Injected current (A)

3 Normal condition -20

ioa' iia  0 ioa' iia  0

another side of the motor fault type“b”

Examples of Open‐Circuit Fault Cases for Average Output Torque Ripple

Examples of Open-Circuit Fault Cases for Average Output Torque Ripple

ioa' iia' ioa' iia'

Parameter Unit Five-Phase DRPMSM

" Outer motor " " Inner motor "

the five-phase DRPMSM

the fault 4 ms, the electromagnetic torque reduced to 11.66 Nm with torque ripple of 58.3%. However, when

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