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Table of contents
Figures
Tables
Introduction
Chapter I: State of the art of electrical drives fault tolerant control
1.1 Electrical drives in automotive systems
1.2 Fault Management
1.2.1 Fault Detection and Diagnosis principle
1.2.2 Fault Tolerant Control principle
1.3 Application to an electrical system
1.3.1 Fault types in electrical drive
1.3.1.1 Actuator faults
1.3.1.2 Sensor faults
1.3.1.3 Electrical Machine faults
1.3.2 Fault Diagnosis and Fault Tolerant Control for electrical drives
1.3.2.1 Fault Diagnosis
1.3.2.2 Fault Tolerant Control or Design
Chapter II: SOFRACI Platform modelling and description
2.1 SOFRACI Structure: A system designed for Fault Tolerance
2.1.1 Combined architecture for traction and battery charging
2.1.2 Diagnosis capabilities
2.2 Bench description
2.2.1 PMSM and Sensors
2.2.2 Power supply and Inverter
2.2.3 Real-time hardware implementation of the controller
2.3 PMSM modelling for control
2.3.1 Electrical equations
2.3.2 Mechanical equations
2.3.3 Nonlinear model for state space representation
2.4 Electrical Drive Control in traction mode
2.4.1 PI controller synthesis
2.4.1.1 Synthesis by identification to a 2nd order system
2.4.1.2 Speed Controller
2.4.2 3H bridge Inverter model
2.4.3 Simulation and Experimental results of the Torque Control
2.4.3.1 Simulation Results
2.4.3.2 Experimental Results
2.5 Conclusion
Chapter III: Position/Speed Sensor Fault Tolerant Control
3.1 Impact of a sensor failure on the PMSM Control
3.2 Position /speed Estimators and their various uses
3.2.1 Extended Kalman Filter
3.2.2 Back-EMF based Observer
3.2.3 High Frequency Signal Injection
3.3 New Estimator based on a Differential Algebraic Approach
3.3.1 Observation Principle
3.3.2 Differential Algebraic Estimation in PMSM
3.3.2.1 Position/Speed Estimator Synthesis
3.3.2.2 Stability Analysis
3.3.3 Position/Speed Estimation Results of the Differential Algebraic Estimator
3.3.3.1 Operation with sensor
3.3.3.2 Sensorless Control
3.3.3.3 Robustness Issue
3.3.4 Comparison of the three estimators
3.4 Position /Speed Sensor Fault Detection, Isolation and Reconfiguration
3.4.1 Sensor Fault Enabling based on Observers
3.4.2 Results
3.5 Conclusion
Chapter IV: Phase Current and DC bus voltage sensors Fault Detection and Diagnosis
4.1 Needs on phase currents sensors and DC link voltage sensors diagnosis
4.1.1 Current Sensor fault origins and consequences
4.1.2 DC Voltage Measurement
4.1.3 Existing methods based on Observers and Signal processing
4.2 Developed methods for Phase Currents Sensors Fault Detection and Isolation
4.2.1 Diagnosis by an algebraic approach of fault estimation
4.2.1.1 Design and Simulation Results
4.2.1.2 Experimental Results in FDI scheme
4.2.2 Current vector analysis for Fault Detection and Diagnosis
4.2.1.1 Current residuals analysis in the (d,q) frame
4.2.1.2 Simulation Results
4.2.1.3 Experimental Results
4.3 DC Link Voltage Observer
4.4 Conclusion
Conclusions and Perspectives
