Ce travail de recherche s'intéresse à la commande sans capteur mécanique du moteur synchrone à aimants permanents (MSAP) à pôles saillants, particulièrement en basse vitesse, avec détection de la position initiale du rotor. Après une présentation des techniques et approches qui ont initié nos travaux, en terme d'estimation de la vitesse et/ou de la position, nous avons choisi celles qui présentent plus d'intérêt de point de vue stabilité, robustesse, précision et simplicité d'implémentation. La première approche est basée sur le Système Adaptatif avec Modèle de Référence (MRAS). Quant à la deuxième, elle est réalisée autour d'un observateur non-linéaire pour l'estimation de la position et de la vitesse du MSAP à pôles saillants. Les deux techniques d'observation de la vitesse sont associées à une commande par orientation du flux rotorique avec la technique MLI vectorielle. Pour détecter la position initiale du rotor, nous avons utilisé une nouvelle approche qui permet d'estimer cette position avec une incertitude de ±5° mécanique. Cette nouvelle approche est basée sur l'application de signaux tests aux bornes des phases statoriques du MSAP. Des résultats de simulation et expérimentaux sont présentés tout au long de ces travaux pour valider les études théoriques de la commande vectorielle sans capteur mécanique du MSAP. Enfin, nous avons étudié et analysé les performances de la commande tolérante aux défauts sans capteur mécanique du MSAP en présence de défaillances de types transistors à l'état-off. / This research focuses on the sensorless vector control of a salient pole permanent magnet synchronous motor (PMSM), particularly at low speed, with detection of the initial rotor position. In first step, an overview of the state of the art concerning the estimation of the rotor speed as well as the initial rotor position of PMSM is addressed. From such a study, we have adopted an interesting strategy based on the model reference adaptive system (MRAS). The second step in this research consists in studying the performances and the feasibility of a non-linear observer for closed-loop vector control of salient pole PMSM. The MRAS technique as well as the non-linear observer is associated to a vector control scheme based on the field oriented strategy with space vector pulse width modulation (SVPWM). To detect the initial rotor position, we have proposed a new approach which estimates the position with a resolution of ±5° mechanical degrees. This new approach is based on applying short voltage pulses to the stator winding of salient pole PMSM. Several simulation and experimental results are presented to confirm the theoretical studies of the sensorless vector control of the salient pole PMSM drive. Finally, we have analyzed the performances of the sensorless speed fault tolerant control (FTC) of salient pole PMSM under failures related to the voltage source inverter (open circuit fault). The experimental results obtained based on the proposed techniques using nonlinear and MRAS observers have been improved in term of the reliability and allow a continuous operation of the salient pole PMSM drive even when it is supplied with two inverter legs.

Les travaux de recherche développés, dans ce rapport de thèse de Doctorat traitent la commande vectorielle indirecte par orientation du flux statorique d'une machine asynchrone avec ou sans capteur de vitesse. L'approche développée utilise la méthode adaptative avec modèle de référence. Le modèle de référence ainsi que le modèle ajustable, qui sont développés dans un repère lié au stator, sont utilisés pour l'estimation de la vitesse de rotation, de la résistance rotorique et enfin l'estimation mutuelle de la vitesse de rotation et de résistance rotorique d'une machine asynchrone à partir de la connaissance des courants et tensions statoriques. Pour annuler l'erreur statique lors de la régulation de la vitesse et améliorer par la suite les performances des résultats obtenus, le couple résistant, qui peut être considéré comme une perturbation, a été estimé en se basant sur les variables d'état du moteur à commander. Pour cela une procédure d'estimation du couple résistant de la même machine a été développée en se basant sur un observateur de type Luenberger. Les résultats de simulation numérique obtenus dans l'environnement Matlab- Simulink ainsi que les résultats expérimentaux, obtenus sur deux plates formes d'essais de machines asynchrones équipées chacune d'une carte de commande temps réel de type DS1104, valident bien les algorithmes développés. / The research developed in this PhD report deal with indirect stator field oriented control (ISFOC) of an induction motor drive (IM), with and without speed sensor. The developed approach uses the method with Model Reference Adaptive System (MRAS). The reference model and the adjustable one, which are developed in stationary stator reference frame, are used to estimate the rotor speed, the rotor resistance and the simultaneous estimation of speed and rotor resistance of the (IM) from the knowledge of the stator currents and voltages. To cancel the static error in the speed control and ameliorate subsequently the performance results, the load torque, which can be considered as a disturbance, has been estimated based on the state variables of the motor to be controlled. For this, a procedure was developed to estimate the torque of the same machine based on a Luenberger observer. The numerical simulations results obtained with Matlab-Simulink software package as well as the experimental results, obtained on two platforms for testing asynchronous machines each equipped with a real time controller board of dSPACE, validate the developed algorithms.

Permanent magnet synchronous machine drives are used more often. Although, synchronous machines drive also suffer from possible faults. This thesis is focused on the detection of the three-phase synchronous motor winding faults and the detection of the drive control loop sensors' faults. Firstly, a model of the faulty winding of the motor is presented. Effects of the inter-turn short fault were analyzed. The model was experimentally verified by fault emulation on the test bench with an industrial synchronous motor. Inter-turn short fault detection algorithms are summarized. Three existing conventional winding fault methods based on signal processing of the stator voltage and stator current residuals were verified. Three new winding fault detection methods were developed by the author. These methods use a modified motor model and the extended Kalman filter state estimator. Practical implementation of the algorithms on a microcontroller is described and experimental results show the performance of the presented algorithms in different scenarios on test bench measurements. Highly related motor control loop sensors fault detection algorithms are also described. These algorithms are complementary to winding fault algorithms. The decision mechanism integrates outputs of sensor and winding fault detection algorithms and provides an overall drive fault diagnosis concept.

Electrical machines with more than three phases are usually called multiphase electrical machines and they can have several advantages compared to conventional three-phase electrical machines such as a lower content of space-harmonics, lower torque ripple and better fault tolerance. This degree project involves rewinding of a three-phase induction machine into an asymmetrical six-phase machine. The winding design is based on simulations of a machine model in a finite element method software and the method "the star of the slot" that computes winding layouts. A six-phase drive is developed based on an existing printed circuit board prototype that is not operating according to its original specifications. Debugging of the prototype is performed and solutions to the problems are identified. Design and layout improvements for better electromagnetic compatibility are also implemented. The drive including the electrical machine is tested and confirmed to be working according to the specifications. Speed control based on indirect rotor field orientation is implemented and tested for the six-phase induction machine as well with the machine connected as a standard three-phase induction machine. / Elektriska maskiner med fler än tre faser kallas vanligtvis flerfasiga elektriska maskiner och kan ha flera fördelar jämfört med konventionella trefasiga elektriska maskiner, som lägre innehåll av övervågor, lägre rippel i vridmomentet och bättre feltolerans. Detta examensarbete involverar omlindning av en trefasig asynkronmaskin till en asymmetrisk sexfasig asynkronmaskin. Lindningsdesignen baseras på simuleringar av en maskinmodell i mjukvara baserat på finita element metoden och metoden kallad the star of the slotsom räknar ut lindnings ritningar. En sexfasig drivlina utvecklas baserat på en existerande kretskorts prototyp som inte fungerar enligt dess ursprunliga specifikationer. Felsökning av prototypen utförs och lösningar till problemen identifieras. Design- och layoutförbättringar för bättre elektromagnetisk kompatibilitet implementeras också. Drivlinan med den elektriska maskinen inkluderad testas och bekräftas fungera enligt dess specifikationer. Hastighetsreglering baserad på indirekt rotorfälts orientering implementeras och testas för den sexfasiga asynkronmaskinen samt även med maskinen kopplad som en standard trefas asynkronmaskin.

An estimated 30% of the faults in Induction Machine (IM) are related to its stator. These faults are mostly in the form of an Inter-Turn Short Circuit (ITSC) fault i.e., when two winding inside the stator of IM are shorted due to insulation failure. However, ITSC fault can be avoided by detecting them in advance and then scheduling the maintenance of the IM. This thesis studies two methods for detecting this incipient ITSC fault in a three-phase IM and then estimating the stator resistance unbalance due to the ITSC fault. The first method is based on the asymmetry caused in the IM by the ITSC fault. As a result of this asymmetry, the negative sequence components of the stator voltages and the stator currents are generated inside the IM. A healthy IM also have these negative sequence components due to the manufacturing process and the supply voltage unbalances. The characteristics and the compensation methods of these negative sequence components in a healthy IM are discussed. The results show that after compensating the negative sequence components in a healthy machine, they can be used for detecting an ITSC fault and then to calculate the fault quantities as well as the stator resistance unbalances. The second method for detecting an ITSC fault is based on analysing the stator resistance unbalances. A three-phase drive is used to inject DC voltage in the stationary reference frame. The DC current generated by this DC voltage is measured and then by applying Ohm’s law stator phase resistances are calculated. In a healthy IM, the phase resistances are balanced. However, in case of ITSC fault in any of the phases, the phase resistance of that phase deviates from those of the other two phases which can be utilized for detecting ITSC fault. / Uppskattningsvis 30% av alla fel i induktionsmaskiner (IM) är kopplad till dess stator. Dessa fel är i huvudsak Inter-Turn Short Circuit (ITSC)-fel, dvs. två lindningar inom IM:ens stator blir kortsluta pga. ett isoleringsfel. Emellertid kan man undvika ITSC-fel genom att detektera dem i förhand och planera underhåll. Det här examensarbetet undersöker två metoder för att detektera ett förestående ITSC-fel i en tre-fas IM. Den första metoden är baserad på asymmetrin i IM:er pga. ITSC-felet. Resultatet av den här asymmetrin är att en negativ sekvens genereras i IM:ens statorspänning och statorström. En oskadad IM kan också visa dessa negativa sekvenser pga. tillverksprocessen och statorspänningsobalanser. Egenskaperna och kompensationsmetoderna för dessa negativa sekvenser i en oskadad IM kommer att diskuteras. Resultaten visar att efter kompenseringen av de negativa sekvenserna i en oskadad IM, kan de användas för att detektera ITSC-fel och efteråt för att beräkna felstorheter och även statormotståndobalanser. Den andra metoden för att detektera ITSC-fel är baserad på en undersökning av statormotståndobalanser. Ett tre-fas-drivsystem används för att injektera likspänning i den stationära referensramen. Likströmmen som följer av denna likspänning mäts och statorfasmotstånden beräkna efteråt med Ohms lag. I en oskadad IM är fasmotstånden balanserade. Däremot, när ett ITSC-fel uppstår i en fas, avviker fasmotståndet i den felaktiga fasen från de andra två fasernas, vilket kan användas för att detektera ITSC-fel.