IEEE Transactions on Energy Conversion, Vol. 14, No.
4, December 1999
Diagnostics of Mechanical Abnormalities in Induction Motors
Using Instantaneous Electric Power
Andrzej M. Trzynadlowski, Senior Member, IEEE
Majid Ghassemzadeh, Student Member, IEEE
University of Nevada, Department of Electrical Engineering
Reno, NV 89557-0153, USA
Abstract: Results of a study on the use of instantaneous
electric power for diagnostics of mechanical abnormalities in
induction motors are presented. The instantaneous power can he
measured as the so-called product power, i.e., a product of one
line-to-line voltage and one line current, or as a total input
power to the stator. Theoretical analysis, computer simulations,
and laboratory experiments described demonstrate the
superiority of the instantaneous power as a diagnostic medium
over the traditionally used stator current. It is shown that in the
practical environment the product power is at least as indicative
of the mechanical health of an induction motor as is the total
power, which is more expensive to measure. A simple method
of filtering noisy spectra of the product power is proposed.
Keywords: induction motors, diagnostics, mechanical
abnormalities, instantaneous power.
1. INTRODUCTION
Preventive maintenance of induction motors bas been a topic
of great interest to industry and many related publications have
appeared in the technical literature, e.g., [I]-[7]. Since the use
of mechanical sensors, such as vibration probes, strain gauges,
and accelerometers, is often impractical, the motor current
signature analysis (MCSA) techniques have gained much
popularity as a diagnostic tool [8]-12]. Clearly, the stator
current is a very convenient medium because of the ease of its
measurement. In the search for further improvement of the non-
invasive diagnostics of electrical machinery, other media have
recently been proposed, such as the airgap torque [13], flux
[ 141, and instantaneous stator power [ 15]-[17].
PE-1326-EC-0-2-1998 A paper recommended and approved by the
IEEE Electlic Machinery Committee of the IEEE Power Engineering
Society for publication in the IEEE Transactions on Energy Convenion.
Manuscript submitted August 27, 1997: made available for printing
February 18, 1998.
0885-8969/99/$10.00 0 1998 IEEE
1417
Stanislaw F. Legowski, Senior Member, IEEE
University of Wyoming
Department of Electrical Engineering
Laramie, WY 82071-3295, USA
Determination of the torque or flux waveforms requires
use of an estimator tuned to the stator resistance. Measuring
the instantaneous power is even simpler, for the stator
voltage is as easily accessible as the stator current. The
power cau he measured as a total input power or as a
product of one line-to-line voltage and one line current. The
input power in an ideal case (balanced, sinusoidal voltages,
perfect drive system, steady-state operation) represents a dc
signal, thanks to the cancellation of the ac components of
the power in each phase. Under the same conditions, the
voltage-current product, subsequently called a product
power, is a sum of a certain dc component and a sinusoidal
ac component with a frequency equal to twice the supply
frequency.
A preliminary study of the product power as a medium
for the motor signature analysis was described in [17]. The
other two existing relevant literature positions concern the
detection of winding faults in the stator [15] and the
torsional vibration in the drive system [16]. In this paper,
the use of instantaneous electric power for detection of
mechanical abnormalities in induction motors is discussed.
11. MODULATION OF THE TNSTANTANEOUS POWER
The acquisition of the instantaneous input power
resembles the classic two-wattmeter method of measurement
of real power. In that method, one wattmeter measures the
line-to-line voltage vABand line current iA, while the other
measures the line-to-line voltage vCRand line current i,. The
averagevalues of both the resultant product powers,p,, and
pCR,are then added to give the average value of the total
power, pmC, supplied to the load. Here, however, the
instantaneous, not average, values are utilized.
If for any reason an oscillation of the torque and speed of
the motor develops, the amplitude and phase of stator
currents undergo modulation. For simplicity, the phase
modulation is neglected in the subsequent considerations,
and the amplitude modulation is assumed to be described by
1418
corresponds to the motor running light, A,, is even greater
than Amc. Clearly, actual current modulation in induction
motors is more complicated than that described by (1).
Nevertheless, the importance of proper selection of the
measured product power is worth stressing.
where lAO(f) and ic,(t) denote ideal, unmodulated current
The signal of instantaneous electric power, in both the
waveforms, M is the modulation index, and w, is the radian
product power and input power forms, can be obtainedusing
frequency of oscillation Then, the instantaneous product powers
a dedicated hardware device or a computer with the data
and total input power become
acquisition capability. In the first case, the device performs
the on-line processing of the voltage and current signals and,
+~Mv,r,(cos[(zw+o,,,) t - p - 261
P A B ( t ) = pAB,o(t)
possibly, that of the power signal, such as filtering or FFT
+ cos [(zo-w,,,) t-p-Tl computation. In the computer, all the signal processing
6
I 2cos ( p + n ) c o s(m0&) operations are done by the software. Clearly, each technique
6 (2) has its advantages and disadvantages with regard to the cost,
1 5 versatility, and accuracy of the analysis.
p,( t) = pca,o( t )+5MvrlrLkos [ (2w+o,,,) t-p+--xl
6
5 Motor spectral signatures using the stator current, product
+ cos [ (20-0,,,) t-ptxxl
power, and input power are illustrated in Figs. 1 through 3.
+ zcos(p-~)cos(~,,,t)l They were obtained from simulations of a three-phase, 10-
hp, 230-V, 60-Hz, six-pole induction motor driving a rated
paBc(
t) = P ~[l+Mcos(o,,,t)
~ ~ , I I ~
load. In most practical drive systems, the minor rotor
imbalance and eccentricity, and the nonideal alignment of
where ~ , , , ~ ( t ~) ,~ , , ~ (and
t), denote ideal waveforms of the motor and load shafts result in a pulsating torque
the product and input powers, VLL is the rms value of the line- synchronous with the rotational frequency of the rotor, here
to-line voltage, and I,, is that of the line current, while w and cp about 19 Hz (1140 rimin). The amplitude of that torque,
denote the supply radian frequency and load angle of the motor, simulated by imposing a 19-Hz ac component on the regular
respectively. torque developed in the motor, is about 5% of the load
It can be seen from (2) that the current spectra display only torque, It can be seen in Fig. 2, showing the spectrum of
two sideband components, at w + w,, and w w., -
In contrast, product power, that the amplitude of the characteristic
three oscillation-related components, at 2w + w,, 20 - w, component at 19 Hz, absent in the spectrum of current in
(sideband components), and w,, have appeared in the spectra Fig. 1, is distinctly higher than those of the sideband
of product powers. The component at the oscillation frequency components at 101 Hz and 139 Hz (is., 120 f 19 Hz).In
in these spectra, subsequently called a characteristiccomponent, the spectrum of input power, besides the dc component,
carries precious direct information about the oscillation. The only the characteristic component does appear.
spectrum of input power contains only the dc component,p,,,,
(average input power), and the characteristic component.
The amplitudes, A,,, A,,, and A,,,, of the characteristic
components of powers p,,,, p,,, and pAnc,are given by

A,, = MVLLI,cos(9+ 2 )
6

Since the load angle of induction motors is always positive

(meaning here that the current lags voltage), it can be deduced io
from (3) that product power pc, contains a stronger
characteristic component than p,,. If cp > GO", which
Fig. 1. Spectrum of stator current of the simulated motor.
 1419
In a perfect agreement with (2), spectral components due to
the rotor imbalance, eccentricity, and misalignment of shafts
of the motor and load appear at 29.8 Hz, 90.2 Hz, and 149.8
Hz (i.e., 29.8 Hz and 120 f 29.8 Hz). These can be called
synchronous components, as they are directly related to the
rotor speed. Note other minor spectral components, e.g., in
the vicinity of 16 Hz and 80 Hz, that are difficult to explain
and must be attributed to the general noise.

THREE-PWIPE Ac LINE

-I

Fig. 2. Spectrum of product power of the simulated motor.

L I
Fig. 4. The experimental setup.

Fig. 3. Spectrum of input power of the simulated motor.

111. PRACTICAL EXAMPLES

Full assessment of the instantaneous electric power as a

diagnostic medium for induction motors requires extensive ...
.. .., ..
. ..
. .. . . .
experimental studies involving a variety of machines with a -1201
0
'
20
'
40
'
BO
'
80
'
100 120
' '
IW
'
180 180 200
Frequency. Hz
wide range of faults and degrees of their severity. Here, as
practical examples, results of laboratory experiments with a Fig. 5 . Spectrum of product power of the motor on no load.
well-worn 3-hp, 220-V, 60-Hz, four-pole motor are described.
The experimental setup, with a motor driving a dc generator The next experiment was designed to evaluate the
with an adjustable resistive load, is shown in Fig. 4. Laboratory detection of lateral vibration of the motor. This abnormal
probes supply the voltage and current signals to a dedicated condition, sometimes of an external origin, is of a great
analog processor, which produces the product power signal. concern in large electromechanical systems since if
This signal is then forwarded to a spectrum analyzer interfaced unchecked it may lead to a costly mechanical failure. A
with a laptop computer for data storage. nuclear reactor coolant pump can serve as an example. Its
Fig. 5 shows the spectrum of product power when the motor long vertical shaft on which the impeller is mounted is
run light, with therotational frequencyof 29.8 Hz (1788 r/min). susceptible to the lateral and torsional vibrations excited by
1420
the coolant turbulence. Unexpected breakage of the shaft may
endanger the safety of the whole plant. Therefore, expensive
vibration monitoring systems are often used [ 181. Here, the 24-
Hz vibration was generated by mechanically connecting the
motor case to that of a strongly unbalanced dc motor rotating
at 1440 rimin. The investigated induction motor operatedon full
load, with the rotational frequencyof29.1 Hz (1746 rimin). As
seen in the spectrum of product power in Fig. 6, the frequency
components synchronous with the rotor speed have increased
significantly in comparison with those in the previous, no-load
situation. The 24-Hz, 96-Hz, and 144-Hz components due to the
vibration have even higher amplitudes.
Fig. 6 . Spectrum of product power of the motor with full load and
lateral vihration.
In the final experiment, a bar in the rotor cage was separated
from the end ring. Such defects produce harmonic torques with
frequencies at even multiples of the slip frequency [4]. The
motor operated at a 60% capacity and a slip frequency of 0.55
Hz. Indeed, as shown in Fig. 7, the characteristic components
have appeared at about 1.1 IHz and 2.2 Hz. For clarity,
harmonics at integer multiples of 60 Hz, introduced by the
supply voltage, have been removed from all the shown spectra.
IV. ANALYSIS OF NOISY SPECTRA
Comparing the simulated spectra in Figs. 1 through 3, the
instantaneous input power might be perceived as the best
diagnostic medium. However, practical spectra are often noisy,
with the noise generated by a distorted supply voltage, minor
imperfections o f the motor, electromagnetic interference with
the measuring equipment, and a fast-varying load torque. In
many loads, such as impellerpumps, grinders, or conveyors, the
load variations have frequency bands overlapping the rotating
frequency. Thus, it is possible that the single characteristic
spectral component of input power is drowned in the
surrounding noise. Such a case is illustrated in Fig. 8 for the
same experimental motor, but with strong, high-frequency
variations of the load torque. The presence of the sideband
components in the spectrum of product power provides here
a valuable verification of sustained oscillations.
. . .
-120; " " ' ' ' " I
1 2 3 1 5 8 7 8 0 1 0
F~~Y*IFI.
HI
Fig. I . Spectrum of product powcr of the motor with a r o t o h
sepmated from the end ring.
A simple but effective method of spectrum filtering is
demonstrated below, using a spectrum of product power
corresponding to that of input power in Fig. 8 and shown in
Fig. 9. The 19-Hz characteristiccomponent can be expected,
but it is difficult to detect from inspection of the spectrum.
The filtering procedure consists of the following steps:
(1) Determination of all the peaks of the spectrum.
(11) Elimination of peaks that fall below an assumed no&
level. Conservatively, it can be taken as the average
value (in dB) of all the peaks, including the dc and
fundamental components.
(111) Elimination of all peaks not having the corresponding
sideband counterparts.
(IV) Elimination of all the remaining peaks that differ from
their sideband counterparts by more than 6 dB, i.e., by
the factor of 2 in the linear amplitude scale.
Justification for such an approach is provided by Eq. (31,
especially with regard to steps Ill and IV.
The frequency range of the spectrum subjected to filtration
must be at least twice as large as the fundamental frequency
of the product power, here equal 120 Hz. Otherwise, high-
frequency sideband components corresponding to IOW-
frequency characteristic components could be missed,
causing elimination of the valid characteristic components

0
-20
rr.qu.n*. HZ
Fig. 8. Noisy spectrum of the input power.
0 25 50 76 100 125 1.50 175 200
F..w."c". "2
Fig. 9 Noisy spectrum of the product power
The resultant filtered spectrum is shown in Fig. 10. Of the
sixty-three peaks in the original spectrum only three have
survived the three elimination steps. The remaining frequency
components are:
( I ) the 1 I-Hz dominant frequency component of the load
torque,
(2) the expected 19-Hz frequency component synchronous
with the motor speed, the strongest of the three
components in the filtered spectrum,
(3) the 109-Hz sideband frequency component of the load
torque, which owes its survival to the coincidental noise
component at 229 Hz (if there really was a characteristic
component at 109 Hz, sideband components would appear
at 120 k 109 Hz, i.e., at 1 I Hz and 229 Hz).
It must be mentioned that high-frequency spectral
components may indicate worn or damaged bearings of the
motor. These constitute the most common cause of mechanical
failures of electric motors. Therefore, the high-frequency
1421
components should be checked for the characteristic
frequencies of the bearings [I I].
Fr.qY.ncy. HZ
Fig. 10. Filtered spectrum of the product power.
V. CONCLUSION
The reported study has shown great potentials of the
instantaneous electric power as a medium for non-invasive
preventive maintenance monitoring and diagnostics of
induction motor drives. The sideband components in the
spectrum of product power can be used for verification of
the characteristic components in noisy spectra, typical for
loads with random high-frequency variations of the load
225 250
torque. Therefore, the product power, specifically pcs,
constitutes a medium superior not only to the stator current
but also to the instantaneous input power to the motor.
VI. REFERENCES
[I] J.T. Renwick, "Condition monitoring of machinery using
computerizedvibration signature analysis,"lEEE Trans. Ind.
Appl., vol. IA-20, no. 3, 1984, pp. 519-527.
[2] J.T. Renwick and P.E. Babson, "Vibration analysis- a proven
technique as a predictive maintenance tool," IEEE Trans.Ind.
Appl., vol. IA-21, no. 2, 1985, pp. 324-332.
[3] J.Penman,M.N. Dcy,A.J. Tail, and W.E. Bryan, "Condition
monitoring of electrical drives," IEE Proceedings, vol. 133,
pt. B, no. 3, 1986, pp. 142-148.
[4] P.J. Tavner and J. Penman, "Condition Monitoring o i
Electrical Machines," John W h y , 1987.
[ 5 ] J.R. Cameron, W.T. Thomson, and A.B. Dow, "On-line
monitoring of induction motors - a inelhod for calculatingthe
level of airgap eccentricity," in Proc. Conf on Electr. Mach.
andDrives, 1987, pp, 173-178.
[6] R. Natarajan, J.L. Kohler, and J. Soltile, "Condition
monitoring of slip-ring induction motors," Electr. Pow. Syst.
1422
Res., no. 15, 1988, pp. 189-195.
P. Vas, "Parameter Estimation, Condition Monitoring, and
Diagnosis of Electrical Machines," Oxford Universify Press,
1993.
R.C. Kryter and H.D. Haynes, "Condition monitoring of
machinery using motor current signature analysis, Sound and
Vibr., Septembcr 1989, pp. 14-21.
G.B. Kliman and J. Stein, "Induction motor fault detection via
passive current monitoring," in Proc. Intl. ConJ on Electr.
Mach., 1990, pp. 13-17.
G.B. Kliman and 1. Stein, "Methods of motor current signature
analysis," EIectricMachines and Power &stems, vol. 20, no. 5
1992, pp. 463-474.
R.R. Schoen, T.G. Habetler, F. Kamran, and R.G. Bartheld,
"Motor bearing damage detection using stator current
monitoring," IEEE Trans. Ind. Appl., vol. 31, no. 6, 1995, pp.
1274-1279.
R.R. Schoen, B.I<. Lin, T.G. Habetler, J.H. Schlag, and S. Farag,
"An unsupervised on-line system for induction motor fault
detection using stator current monitoring," in Conf Rec. 1994
IEEE-IAS Ann. Mtg., pp. 103-109.
1.S. Hsu, "Monitoringofdefects in induction motors through air-
gap torque observation," IEEE Trans. Ind. Appl., vol. 31, no. 5 ,
1995, pp. 1016-1021.
X. Deng and E. Ritchie, "Detection of broken rotor bars in
induction motor rotors by investigating the flux linkage of the
stator winding," in Proc. Intl. Conf on Electr. Mach. in
Australia, 1993, pp. 164-169:.
R. Maier, "Protection of squirrel-cage induction motor utilizing
instantaneous power and phase information," IEEE Trans. Ind.
Appl., vol. 28, no. 2, 1992, pp. 376-380.
II. Thomas and G. Hamilton, "Torque and electrical power
measurements assist in the accuracy of machinery analysis,"
Orbit, Sept. 1994, pp. 4-9.
S.F. Legowski, A.H.M.S. Ula, and A.M. Trzynadlowski,
"Instantaneous stator power as a medium for the signature
analysis of induction motors,'' IEEE Trans. Ind. Appl., vol. 32,
no. 4, 1996, pp. 904-909.
A. Muszynska and D.E. Bently, "Fundamentals of rotating
machine diagnostics," Bently Nevada Corp., 1992.
VII. BIOGRAPHIES
Andrzej M. Trzynadlowski (M'83,
SM'86) received the M.S. degree in
electrical engineering in 1964, M.S.
degree in electronics in 1969, and Ph.D.
degree in electrical engineering in 1974,
all from the Technical University of
Wroclaw, Poland. From 1966to 1979 he
was a faculty member at the same
university. In the following years, he
worked at the University of Salahuddin
in Iraq, University of Texas at Arlington, and University of
Wyoming. Since 1987he has been with the University ofNevada,
Reno where he is now Professor of Electrical Engineering. He has
authored or co-authored over ninety publications in the areas of
power electronics and electric drive systems and has been granted
eleven patents. He is the author of The FieldOrieniaiionPrinciple
in Control of Induction Motors (Kluwer, 1994).
Dr. Trzynadlowski is a member of the Industrial Drives and
Industrial Power Converters Committees, IEEE Industry
Applications Society. He was the recipient of the 1992 IEEE-IAS
Myron Zucker Student-Faculty Grant.
Majid Ghassemzadeh (S'92)
received the B.S. degree from the
California State University,
Fullerton,in 1984,M.S. degree from
the Calfornia State University, Los
Angeles, in 1989, and Ph.D. degree
from the University of Nevada,
Reno, in 1995, all in electrical
engineering. He was with the Leach
Corporation from 1984 to 1988 and
with the Teledyne Solid States from
1988 to 1990. From 1990 to 1992 he worked at the Toshiba
America Information Systems and from I995 to 1996 at IIytek
Microsystems. He is now a senior design engineer at the Pulse
Corporation in San Diego. His research interests includc
diagnostics of electric machines and control of ac drive systems.
Dr. Ghassemzadeh is a member of Eta Kappa Nu.
Stanislaw F. Legowski (SM'84)
receivedtheM.S. andPh.D. degrees
in electronic engineering from the
Technical University of Gdansk,
Poland, in 1962 and 1971,
respectively. From 1958 to 1962he
was a Research Assistant at the
Oceanographic Institute of the Polish
Academy of Sciences in Sopot,
Poland, where he conducted research
in instrumentation and measurement
methods used in hydrography. From 1962 to1983, he was with the
Technical University of Gdansk as a Teaching Assistant, Lecturer,
and AssistantProfessor.His main research areas were the electrical
measurement of nonelectrical quantities and automated
measurement methods for analog integrated circuits. In 1983, he
joined the faculty of the University of Wyoming, where he is
currently Professor of Electrical Engineering. His research interests
entail analog and digital system design and power electronics.
Dr. Legowski was elected The Best Teacher for the 1979-
1980academic year in the Electronics Department of the Technical
University of Gdansk, and the Outstanding Faculty Member of the
College of Engineering of the University of Wyoming for the
1983-1984 academic year, He is a member ofthe Industrial Drives
Committee, IEEE Industry Applications Society.

DISCUSSION
Toshihisa Funabashi, Senior Member, Meidensha Corporation,
36- 2, Nihonbashi- hakozakicho, Chuo- hu, Tokyo, ' 103- 8515,
Japan:
The authors have proposed an interesting approach using
instantaneous power for diagnostics of mechanical abnormalities
in induction motors. The method of using product power has an
advantage that thc side band components can be used for
verification of the characteristic component. To make use of this
merit, it is necessiuy that the modulation is only in the amplitude
of the phase currents and the amplitude of the modulation is same
in each phase. In most practical situation, the mechanical vibration
in induction motor driven rotational system seems to have
multiple frequency components. It might be interesting to observe
how the proposed method work in these practical situations and
know whether any improvement is needed or not. When the
modulation is not in the phase angle of the phase currents, the
angular velocity is constant and therefore the torque equals power.
In this case, the theoly wTitten in the section n of this paper might
have compatibility with the method using air-gap torque for
monitoring of defects in induction motors[Al]. To make it easy for
the readers to understand the theory explained in the section E of
this paper, ACA should be replaced hy ACB in the equation (3) and
&A and PCAshould be replaced by &a and PCB,respectively, in
the sentences before and after the equation. It might be useful, to
study the performance of the proposed method in the case of motor
start-up[M] and of the unstable self-excitation of torsional
vibration in induction motor driven rotational system[A3]. It
seems to be interesting to extend the proposed method to
synchronous motors and generators[A4].
References
[AI] J.S. Hsu, "Monitoring of Defects in Induction Motors
Through Air-Gap Torque Observation", LEEE Transactions
on hdushy Applications, Vo1.31, No.5, pp.1016-1021,
SeptemberIOctober 1995.
1423
[A21 L. Ran, R. Yakamini, K.S. Smith, "Torsional Vibrations in
Electrical Induction Motor Drives During Stad-up",
Transactions of the ASME, Journal of Vibration and
Acoustics, Vo1.118, pp.242-25IApril 1996.
[A31 J.R. Shadley, B.L. Wilson, M.S.Domey, "Unstable Self-
Excitation of Torsional Vibration in AC Induction Motor
Driven Rotational Systems", Transactions of the ASME,
Journal of Vibration and Acoustics, Vol.lI4, pp.226-
231April 1992.
[A41 B.L.Agrawal, J.A. Demcko, R.G. F m a e r , D.A. Selin,
"Shaft Torque monitoring Using Conventional Digital Fault
recorders", EEE 'Transactions on Power Systems, Vo1.7,
No.3, pp.1211-1217, August 1992.
A.M. Tnynsdlowski, M. Ghassenrzadeh, and S.F. Legowsld:
Comments of the discussant Funabashi are greatly appreciated.
Certainly, the theory of modulation of instantaneous power
described hy Eqs. (1) through (3) is oversimplified, and the
practical vibrations and their impact on electrical quantities of
the motor are of more complex nature. Still, typically, the
fundamental frequency component of torquelspeed oscillations
is significantly stronger than the other components. Note that
in all known diagnostic methods based on the current spectra,
it is that component that indicates the type and severity of an
abnormality.
We thank the discussant for pointing out the typographic errors
concerning the amplitudes of characteristic components of
instantaneous powers. Both in Eq. (3) and the preceding
sentence, the thrice appearing subscript "CA" should be
replaced with "CB."
Suggestions on the other potential uses of the instantaneous
electric power are very precious and they will definitely be
considered when planning the further research.