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FAULT DETECTION AND ISOLATION APPROACH FOR PERMANENT MAGNET

SYNCHRONOUS MACHINES

Conference Paper · July 2015

DOI: 10.13140/RG.2.1.3153.5442

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FAULT DETECTION AND ISOLATION APPROACH FOR
PERMANENT MAGNET SYNCHRONOUS MACHINES
Kawthar Alameh, Nicolas Cité and Ghaleb Hoblos
IRSEEM/ESIGELEC, Avenue Galilée, 76801, Saint Etienne du Rouvray, France
e-mail: Kawthar.Alameh@esigelec.fr
Georges Barakat
GREAH, University of Le Havre, 75-77 rue Bellot, 76060 Le Havre, France

The aim of this paper is to present a Fault Detection and Isolation (FDI) system for
Permanent Magnet Synchronous Machines (PMSMs) based on vibration signals analysis.
First, a multi-physical model of the machine, able to generate vibration displacements under
different operating conditions, is simulated. The presented analytical modeling has been
compared and validated, in various papers, by a Finite Element Analysis (FEA).Then, time
and frequency domain signal processing techniques are applied to extract crucial features
sets, related to healthy and different faulty cases, from vibration displacements. In this study,
both rotor eccentricity and Permanent Magnet (PM) demagnetization faults are considered
and simulated in the analytical model. The asymmetry coefficient (skewness) and the median
frequency of the signal are selected as relevant fault-related indicators. Then, a pattern
recognition method based on a Multi-Layer Perceptron Artificial Neural Network (MLP
ANN) is used to detect the fault and to identify its type if existing. After all, an arbitrary set
of aforementioned indicators is used to test and validate the performance of the proposed
fault detection and diagnosis method.

1. Introduction

I ncandidates
the last decades, Permanent Magnet Synchronous Machines (PMSMs) have been good
for industrial applications like traction chains of electric vehicles due to their low
weight, high efficiency and higher torque density [1]. However, vibrations and acoustic noise are
generally considered as critical aspects for their on-board use [2]. Therefore, each fault, that may
increase vibration or noise level, must be detected and isolated at early stages to avoid its extensive
effects on the motor. Hence, a condition monitoring and detection system has become, over the past
40 years, a paramount task for industries to increase the availability and to reduce the maintenance
costs of rotating machines.
Recently, the analysis of machine signals acquired from different sensors, combined with the
Artificial Intelligence (AI), is one of the commonly used strategies for on-line fault diagnosis [3].
The type of these signals may be thermal, magnetic (magnetic field, flux density...), electrical
(motor currents, voltages...) or mechanical (torque, vibration…) [4]. However, as mentioned in [5],

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electrical signals were insufficient to cover both electrical and mechanical health of the machine. As
well, the analysis of the flux density is not recommended for condition monitoring due to the search
coils sensors that must be installed in the air-gap during manufacturing [6]. Due to these limitations,
vibration signals have attracted the attention of many researchers to use them as effective
parameters for non-intrusive health monitoring of electrical machines [7] [8].
For this purpose, a vibration-based Fault Detection and Isolation (FDI) approach for PMSMs,
shown in fig 1, is developed and presented in this paper.

PMSM Faults

AI based Existing
Signal
PMSM Vibration Features on MLP
Processing Faults /
Modeling Signals Extraction Neural
Techniques severities
Network

Fault Detection & Isolation

Figure 1: The Fault Detection and Isolation (FDI) Approach

The paper is organized as follows. In Section 2, an improved analytical model of PMSM is
introduced to calculate the air-gap force distribution and the vibration displacement of the stator
taking into account the effects of stator teeth and windings. In Section 3, both rotor eccentricity and
Permanent Magnet (PM) demagnetization faults are simulated in the analytical model by changing
some model parameters and their effects have been studied on the vibration displacement. Section 4
is dedicated to the developed fault diagnosis approach. Some time- and frequency-domain
processing techniques are applied to vibration signals to extract relevant fault-related indicators.
The skewness and the median frequency are used as inputs to a Multi-Layer Perceptron Artificial
Neural Network (MLP ANN) for recognition. The MLP ANN is trained with a subset of simulation
signals for different machine conditions and then tested by the remaining set of data. Finally,
Section 5 summarizes conclusions and points out for future work.

2. Multi-physical Modeling of PMSMs

ElectroMagnetic (EM) and mechanical parts of the PMSM are represented by analytical models
as described in [9].

2.1 EM model
The following EM model has been validated by Finite Element Analysis (FEA) in many papers
[10] [11] and a good agreement has been obtained. The radial component of the flux density ( )
in the air-gap is defined as the product of the air-gap permeance [12] and the total magnetomotive
force, created by the stator and the rotor, in both space ( ) and time (t) domains [2]. According to

) applied to the stator is calculated as given in Eq 1, where μ is the air magnetic permeability.
[8], the tangential component of the flux density can be neglected and the radial magnetic pressure
(
The calculated radial pressure is supposed to be the only source of vibration and acoustic noise in
the PMSM for vibration displacement calculation.

,
, =
2μ
(1)

2.2 Mechanical model

The crucial step in the prediction of vibro-acoustic emissions of a structure is the calculation of
natural frequencies [13]. An improved analytical approach has been used to calculate them, taking
into account the entire stator structure with teeth and winding. Analytical results have been

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compared to those issued from a Tow-Dimensional (2-D) FEA using ANSYS software and a good
agreement has been obtained [14].
The next step of the mechanical model is the calculation of the dynamic displacement signal of

mode (m) and the frequency (f) is calculated from the P θ , t one, based on Hooke's law [15].
the stator. The complex amplitude of the static displacement corresponding to the circumferential

Then, the complex amplitude of the dynamic displacement of the stator is obtained from the static
one by the mean of a complex magnification factor [12] as expressed in (2).

(2) , = , ×

, to obtain the
, in the ( , t) domain.
Finally, a 2-D Inverse Fast Fourier Transform (2-D IFFT) is applied to
displacement signal
A 24-slot four-pole PMSM, with parameters listed in Appendix A in [14], has been used as a ref-
erence motor. It is driven by a 3-phase current at constant frequency (50 Hz). Figure 2 gives the
space and time-domain dynamic displacement waveforms obtained under healthy conditions.

400 400

300 300
Displacement Signal (nm)

Displacement signal (nm)

200 200

100
100

0
0

-100
-100

-200
-200
0 50 100 150 200 250 300 350 0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04
Angle (degrees) Time (sec)
(a) (b)

Figure 2: Analytical displacement signal in the space-domain (a) and in the time-domain (b)
For diagnosis purpose, some parameters of EM and mechanical models (MMF, air-gap perme-
ance, etc.) can be modified to simulate some faults and then, to study their effects on the displace-
ment signal as it will be detailed in the next section.

3. Modeling of different faults in the PMSM model

The first step toward a fault diagnosis procedure is the simulation of different faults in the ana-
lytical model and then, the analysis of their effects on the vibration displacement. Faults in electri-
cal machines can be classified into: electrical, magnetic and mechanical faults. In PMSM case, the
three common studied faults are: stator inter-turn short circuit, rotor eccentricity and Permanent
Magnets (PM) demagnetization. In this Section, only eccentricity and demagnetization faults are
presented.

3.1 Rotor Eccentricity Fault (REF)

The REF is a mechanical fault described as a non-uniform air-gap between the rotor and the sta-
tor [5]; it is generally classified into static (SE), dynamic (DE) or mixed (ME) eccentricity [16]. The
distinction between DE and SE depends on whether the minimum air-gap length is varying with
time or not [17]; ME is the combination of both SE and DE cases. Different types of signals have
been inspected in the literature to detect and identify this fault: stator currents [18], torque and
speed [19] or others. In this study, the REF fault has been modeled by changing the smoothed air-
gap length, as expressed by Eqs (3) and (4) for SE and DE respectively, with additional side-band
components in stator phase currents as detailed in [18].

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(3) "#$ = " 1 − ' cos −

(4) "+$ , = " 1 − ' ,-. −Ω −

where Ω is the mechanical speed of the rotor, ' and ' are respectively the static and the dynamic

SE and DE faults with different degrees (' =0.02; 0.03; 0.04 and ' =0.02; 0.03; 0.04) have been
eccentricity degrees and is the initial space position.

simulated in the PMSM model. Figure 3(a) presents the time-domain displacement signal at an arbi-
trary space position under healthy, SE (' =0.04) and DE (' =0.03) cases.

3.2 Rotor PM DeMagnetization Fault (DMF)

The DMF is a magnetic fault defined as the decrease of the residual flux density of the PMs; it
could be complete or partial over certain elements of the pole [6]. Indeed, the partial DMF can be
symmetric or asymmetric [20]. In the literature, the DMF has been identified by the analysis of dif-
ferent motor signals: the back-electromotive force [17], stator currents [21], EM torque [22] or oth-
ers. In this study, this fault is modeled by a demagnetization signal added to the rotor magnetomo-
tive force depending on whether it is a complete or a partial type, which directly affect the air-gap
magnetic induction and then the stator vibration.
In this paper, both complete and partial with various severities ('0 =0.15; 0.25; 0.04) DMF have
been simulated in the PMSM model. Figure 3(b) presents the time-domain displacement signal ob-
tained at an arbitrary space position under healthy case, partial ('0 =0.04) and complete DMF.
0.5
Healthy
SE 40%
0.4 DE 30%
Displacement signal (µm)

0.3

0.2

0.1 (a)

-0.1

-0.2

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

Time (sec)
Healthy
6 Partial DMF 40%
Displacement signal (µm)

Complete DMF
4

0 (b)
-2

-4

-6

0 0.005 0.01 0.015 0.02 0.025 0.03 0.035 0.04

Time (sec)

Figure 3: Comparison between time-domain displacement signals under healthy, SE (40%) and DE
(30%) cases (a) and under healthy condition, partial (40%) and complete DMF (b)

4. Fault detection and diagnosis approach for PMSM

The proposed method for fault detection and diagnosis is based, as in fig 1, on the combination
of features extraction, in both time and frequency domains, with the AI based on the MLP ANN.

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4.1 Features extraction for faults patterns

The set of vibration displacements, obtained in the previous section under different conditions, is
analyzed in both time and frequency domains to extract a set of features for each operating condi-
tion of the machine.
4.1.1 Time-domain analysis
In the time-domain approach, characteristic features are directly extracted from the discrete time
signal ( 1 123,..,5 ) [23]. This approach can be used to characterize a stationary signal by a single
value. The most common time indicators are: Peak-to-Peak, RMS (Root Mean Square), Crest Fac-
tor, Kurtosis and skewness. Table 1 presents different time features considered in this work.
Table 1: Time-domain indicators
1 2 3 4 5 6
Crest Impulse
Peak-To-Peak RMS
( 060 ) 78# )
Kurtosis Factor Skewness Factor
(

1 5 1 5
(CF) (IF)

∑ − ∑
| :;1 1 ? 3 1−
5 B E
? 3 1 0C D
> @
0C D
1 5
1
− <=1 | ? 1 1 5 1 5 ∑ | |
∑ − ∑
? 3 1− ? 123 1
1 78# E/
123 ? 3 1

4.1.2 Frequency-domain analysis

In the frequency-domain approach, different features are extracted from the Power Spectral Den-
sity (PSD) of the stationary time-domain signal (GH ). The PSD is usually used to describe how
the power of a signal is distributed over a certain frequency range. Different techniques for PSD
estimation exist in the literature and the periodogram has been used in this paper [24]. Table 2 pre-
sents different frequency features extracted from the estimated PSD.
Table 2: Frequency-domain indicators

7 8 9
Average Power ( H) Mean frequency ( C ) Median frequency ( C )

O × GH J
KLMN KLMN KLPQ KLMN
I GH J I GH J = I GH J
H KLPQ

Table 3 shows the percentage of variation (in %) of different time and frequency indicators under
different conditions with some severities, with respect to the healthy case, calculated using equa-
tions of Table 1 and Table 2. As shown in this table, both indicators 5 (the skewness) and 9 (the
median frequency) can be used as relevant features to identify different operating conditions
(healthy, SE, DE, complete and partial DMF). Therefore, they are used as a vector of symptoms to
train and test the pattern recognition method for the FDI approach, as presented in the next section.

4.2 Pattern recognition method based on MLP ANN:

Due to their approximation and good generalization capabilities, ANNs have been essential tools
widely used in many research activities in industrial applications [25]. MLP, Radial Basis Functions
(RBF) as well Probabilistic Neural Network (PNNs) are the most commonly known ANNs applied
in the areas of function estimation, machine learning and classification problems [26]. In this paper,
a MLP ANN trained by a Levenberg-Marquardt algorithm, with 2 inputs, 10 hidden neurons and 5
outputs, is used for pattern recognition. The skewness and the median frequency extracted from the

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vibration signal are selected as inputs to the ANN and the 5 operating conditions with binary values
(0 or 1 for false or true respectively) are used as output patterns.
Table 3: The comparison of aforementioned indicators, with respect to the heathy case, under differ-
ent conditions

1 2 3 4 5 6 7 8 9
Healthy 0 0 0 0 0 0 0 0 0
SE (0.4) 7.49 2.75 -0.32 3.17 -64.58 3.89 5.57 1.38 0
DE (0.3) 12.41 0.91 4.21 10.05 38.27 10.62 1.83 0.15 0

×103 ×103 ×104

Complete 2.14 1.82 3.68
0.33 -12.32 211.85 -16.33 -43.08 -50.63
DMF
Partial
126.83 62.56 40.98 18.79 36.82 26.26 164.27 -25.76 -50.63
DMF (0.15)

The developed ANN and the number of training and test simulation signals, under each operating
condition, are shown in fig 4.

O1
Training signals Test signals
O2
O1=Healthy
I1 Healthy 20 1
O2=SE
I1=skewness O3 O3=DE SE 60 3
I2=median 10 hidden O4=complete DMF DE 60 3
frequency I2 neurons O5=Partial DMF
O4 Complete DMF 20 1

Partial DMF 60 3
O5

(a) (b)

Figure 4: The developed ANN

The performance of the developed ANN for fault diagnosis scheme is tested by an arbitrary set
of simulation signals for known machine conditions and different outputs are presented in Table 4.
Table 4: Test conditions and their outputs
Healthy SE DE CDMF PDMF
O1 1,02 0 0 0.003 -0,03 0.001 0 0 0 0 0,003
O2 -0,04 0,99 1,004 0,998 0,01 0.002 0.002 -0.001 0 -0,01 -0,007
O3 0,02 0 0 0.002 1,016 1.001 0,99 0 0 0,01 0,003
O4 0 0 0 0 0 0 0 0,995 0 0 0
O5 0 0 0 0 0 0 0 0,005 0,99 0,99 0,99

The success rate of the proposed method is around 100% for each condition. The result demon-
strates that the combination of the selected features (skewness and median frequency) with the MLP
ANN-based recognition is effective in the detection and diagnosis of the considered faults (rotor
eccentricity and PM demagnetization)

5. Conclusion
The main goal of this paper was to develop a vibration-based Fault Detection and Isolation (FDI)
approach for PMSM. It was based on the combination of time and frequency features with the MLP
neural network. The skewness and the median frequency of analytical vibration signals were select-

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 The 22nd International Congress on Sound and Vibration

ed as a set of signatures to represent the machine health. Then, a MLP ANN was developed to iden-
tify the operating condition of the PMSM and the type of the fault if existing. The accuracy of se-
lected indicators and the recognition method was also tested by a set of vibration signals for known
machine conditions, and a high success rate was obtained for all cases.
Moreover, other types of faults may occur in PMSMs and threat their performances such as the
Inter-turn Short-circuit Fault (ISF), bearing faults, etc. In the next step, these remaining faults will
be modelled and their effects on the vibration behaviour of the machine will be studied. In fact, the
application of conventional signal processing techniques (time and frequency domains) is only ef-
fective under stationary conditions. However, under non-stationary cases as run-up or run-down
processes, these techniques have some limitations which explain the need of mixed-domain signal
processing tools (time-frequency, wavelet, cyclostationarity tools …) for features extraction. In this
paper, the two input features were selected manually where the interest to apply, in future work, a
feature selection algorithm (chi2 for example) to improve the classification accuracy. As well, the
proposed FDI approach should be completed by a fault-characterization module that identifies the
severity of the existing fault. After all, a failure prognosis approach will be needed to predict the
future state of the PMSM during fault evolution.

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