Guest Editorial Special Section on Condition Monitoring ... - IEEE Xplore

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 62, NO. 3, MARCH 2013

Guest Editorial Special Section on Condition Monitoring and Fault Accommodation in Electric and Hybrid Propulsion Systems

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N A WORLD where environment protection and energy conservation are growing concerns, the development of electric vehicles and hybrid vehicles has taken on an accelerated pace. Electricity is gaining more importance in critical applications such as transportation (with more electric aircraft, electric ships, and electric vehicles), where continuity of operation is crucial, and there is a growing demand for safety, reliability, maintainability, and survivability. However, several failures afflict electrical machines, sensors, the wiring network (carrying power and/or communication signals), and power converters, for example. To ensure the required levels of reliability and safety in transportation, efficient methods of diagnosis, monitoring, and fault accommodation are mandatory. This Special Section of the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY has been organized to focus on the state-of-the-art research and development of diagnosis and fault-tolerant control in electric and hybrid propulsion systems. Through the peer-review process supervised by the Editorin-Chief, any conflict of interest has been avoided by an appropriate selection of Associate Editors and reviewers. In the end, six papers have been selected among 19 submissions for publication in this Special Section. Two of the remaining papers may appear as Regular Papers in this TRANSACTIONS in the future, subject to review process completion. The first three papers present control and advanced control methods for fault-tolerant operation of electric vehicles. The authors developed and evaluated through intensive simulations, cosimulations, and experimental benches the resilience of drives during actuator or sensor fault occurrences. The papers raise the importance of developing and merging models of the electrical powertrain (involving electrical machines, powerelectronics-based converters, and their control) and models of the vehicle dynamics. In the following, we provide a short description for each of the papers. The paper titled “A Control Reconfiguration Strategy for Post-Sensor FTC (Fault Tolerance Control) in Induction MotorBased EVs,” by B. Tabbache, N. Rizoug, M. Benbouzid, and A. Kheloui, deals with experimental validation of a reconfiguration strategy for current sensor fault-tolerant control in

Digital Object Identifier 10.1109/TVT.2013.2245731

induction motor-based electric vehicles. The proposed active fault-tolerant control system is illustrated using two control techniques: indirect field-oriented control in the case of healthy sensors and speed control with slip regulation in the case of failed current sensors. The authors also worked on a smooth transition between both controllers. The performance of the proposed fault-tolerant control approach was experimentally evaluated on a 7.5-kW induction motor drive. The following papers develop fault-tolerant control methods dedicated to vehicles that operate in confined space or in a hostile environment in which cost is not the key issue. Therefore, redundancy of the actuators is considered acceptable. However, a fault detection and isolation scheme must be designed to reconfigure the controller judiciously. The paper “Passive Actuator Fault-Tolerant Control for a Class of Over-Actuated Nonlinear Systems and Applications to Electric Vehicles,” by R. Wang and J. Wang, presents a passive actuator fault-tolerant (FT) controller for a class of overactuated nonlinear systems and its experimental investigations on an electric vehicle. Since actuator fault information is unknown before the completion of a fault detection and diagnosis procedure, the passive FT control is of great necessity in maintaining system stability and achieving acceptable performance. In this study, three types of actuator faults are considered, and a passive FT controller that works for all of the studied fault types is designed. By combining the control efforts, which have similar effects on the complete system, into a single subsystem, the proposed control method can automatically distribute the higher level control signals to the actuators, while minimizing a defined cost function. The FT control method is applied to control a four-wheel independently actuated electric ground vehicle. The third paper, titled “Fault diagnosis and Fault Tolerant Control of an Electric Vehicle Over-Actuated,” by M. A. Djeziri, R. Merzouki, B. Ould Bouamama, and M. Ouladsine, presents an embedded fault detection and isolation–fault-tolerant control (FDI–FTC) approach applied to an over-actuated electric vehicle. The method is based on three major steps: trajectory planning based on inverse kinematic modeling of the vehicle, model-based fault diagnosis of the traction system, and vehicle control reconfiguration in faulty situations. The proposed FDI approach provides early detection of the faults, allowing a safe reconfiguration of the system control. Cosimulation results using experimental data show the performance and advantages of the presented approach.

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 62, NO. 3, MARCH 2013

Two other papers deal with a critical issue, that is, the diagnosis of faults in embedded drives. One paper addresses the faults in the main static converter of the powertrain, and the other paper addresses the wire network. Both applications are crucial as they directly influence the safety and security of the vehicle. The methodology and results are very promising. A short description of the papers is given below. The fourth paper, titled “A Method for Fault Detection and Isolation Based on the Processing of Multiple Diagnostic Indices: Application to Inverter Faults in AC Drives,” by F. Meinguet, P. Sandulescu, X. Kestelyn, and E. Semail, proposes a general method for fault detection and isolation in a six-leg inverter associated with a three-phase open-end winding machine in electric vehicles. This method is based on a changedetection algorithm, which allows multiple fault indices to be combined for retrieving the most likely state of the drive. Fault indices based on the envelope of the phase currents and their instantaneous frequency are derived. Flux-weakening and energy recovery operations are also analyzed. In these modes of operation, fault detection and isolation can be affected by uncontrolled currents circulating through the free-wheeling diodes. Finally, the performance of the fault detection and isolation scheme is evaluated under steady state and nonstationary conditions through simulations and experimental results. The next paper, i.e., “A Non-Iterative Method for Locating Soft Faults in Complex Wire Networks,” by L. Abboud, A. Cozza, and L. Pichon, proposes the use of an alternative technique to reflectometry-based methods. The decomposition of the time reversal operator (DORT) method is based on the synthesis of time-reversed signals. It is based on coherent multiport characterization of a network under test. The data thus collected are used to define excitation signals that focus on the position of a fault, following a method already successfully applied in geophysical prospecting techniques and nondestructive testing. It is shown that a direct transposition of this technique to wire networks is not possible, due to the guided nature of wave propagation in wire networks, leading to the impossibility of assuming a dominant direction of propagation, as opposed to the case of propagation in open media. A differential version of the DORT method is introduced, enabling an accurate identification of the original position of faults. Numerical and experimental results are presented to demonstrate the feasibility of this approach. Finally, the last paper addresses the accurate estimation of the battery state of charge (SoC). This is a key parameter for

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health monitoring and energy management of the embedded source. Vehicle-to-grid development is also closely related to good knowledge of the battery current state and life cycle. Therefore, improvements in the modeling and estimation of the battery key parameters for any type of vehicle and under any environmental condition are expected in the coming years. A short description of the paper is given below. “State of Charge Estimation of Lithium Ion Batteries in Electric Drive Vehicles Using Extended Kalman Filtering,” by Z. Chen, Y. Fu, and C. C. Mi, proposes a more accurate battery SoC estimation method for electric drive vehicles. The estimation relies on a model, which is based on a nonlinear battery model and extended Kalman filter (EKF) supported by experimental data. A nonlinear battery model is constructed by separating the model into a nonlinear open-circuit voltage and a second-order resistance–capacitance model. The authors judiciously used the EKF to eliminate the measurement and process noise and remove the need for prior knowledge of initial SoC. A hardware-in-the-loop test bench was built to validate the method. The experimental results show accurate estimation of the battery SoC. ACKNOWLEDGMENT We would like to thank Prof. W. Zhuang, Editor-in-Chief of the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY, for her support. We are also grateful to our reviewers, who dedicated their time to review the submitted papers and provided many valuable suggestions to the authors. D EMBA D IALLO, Guest Editor University of Paris-Sud UMR 8507 LGEP 91192 Gif-Sur-Yvette, France M OHAMED E L H ACHEMI B ENBOUZID, Guest Editor University of Brest EA 4325 LBMS 29238 Brest Cedex 03, France M. A BUL M ASRUR, Guest Editor U.S. Army RDECOM-TARDEC, RDTA-RS, MS-121 Ground Vehicle Power & Mobility (GVPM) Technology Warren, MI 48397-5000 USA

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IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, VOL. 62, NO. 3, MARCH 2013

Demba Diallo (M’99–SM’05) received the M.Sc. and Ph.D. degrees in electrical and computer engineering from Grenoble Institute of Technology, Grenoble, France, in 1990 and 1993, respectively, and the Habilitation à Diriger des Recherches degree from the University of ParisSud, Gif-Sur-Yvette, France, in 2005. From 1994 to 1999, he was a Research Engineer with the Laboratoire d’Electrotechnique de Grenoble, working on electrical drives and active filters. In 1999, he joined the University of Picardie “Jules Verne,” Amiens, France, as an Associate Professor of electrical engineering. In September 2004, he joined the University of Paris-Sud—Cachan Technology Institute, Cachan, France, and the Laboratoire de Génie Electrique de Paris, Gif-sur-Yvette, as an Associate Professor. He is currently a Full Professor with the University of Paris-Sud. His current areas of research include advanced control techniques and fault diagnosis of ac drives, renewable energies, the design of electric powertrains, and autonomous systems. Dr. Diallo is a Senior Member of the Power Engineering, Industrial Electronics, Industry Applications, and Vehicular Technology Societies. He is an Associate Editor of the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY.

Mohamed El Hachemi Benbouzid (S’92–M’95–SM’98) was born in Batna, Algeria, in 1968. He received the B.Sc. degree in electrical engineering from the University of Batna in 1990; the M.Sc. and Ph.D. degrees in electrical and computer engineering from Grenoble Institute of Technology, Grenoble, France, in 1991 and 1994, respectively; and the Habilitation à Diriger des Recherches degree from the University of Picardie “Jules Verne,” Amiens, France, in 2000. After receiving the Ph.D. degree, he joined the Professional Institute of Amiens, University of Picardie “Jules Verne,” where he was an Associate Professor of electrical and computer engineering. In September 2004, he joined the University Institute of Technology of Brest, University of Brest, Brest, France, as a Professor of electrical engineering. His main research interests and experience include the analysis, design, and control of electric machines; variablespeed drives for traction, propulsion, and renewable energy applications; and fault diagnosis of electric machines. Dr. Benbouzid is a Senior Member of the IEEE Power Engineering, Industrial Electronics, Industry Applications, Power Electronics, and Vehicular Technology Societies. He is an Associate Editor of the IEEE T RANS ACTIONS ON E NERGY C ONVERSION , the IEEE T RANSACTIONS ON I NDUSTRIAL E LECTRONICS , the IEEE T RANSACTIONS ON S USTAINABLE E NERGY , and the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY . From 2006 to 2009, he was an Associate Editor of the IEEE/ASME T RANSACTIONS ON M ECHATRONICS.

M. Abul Masrur (M’84–SM’93–F’12) received the Ph.D. degree in electrical engineering from Texas A&M University, College Station, TX, USA, in 1984. Since April 2001, he has been with the U.S. Army RDECOM-TARDEC (R&D), Warren, MI, USA, working in areas related to hybrid electric vehicles, vehicular electric power system architecture, electric power management, and artificial-intelligence-based fault diagnostics in electric drives. He was an Adjunct Professor with the University of Detroit Mercy, Detroit, MI, where he taught courses related to advanced electric and hybrid vehicles, vehicular power systems, and electric drives and power electronics. Between 1984 and April 2001, he was with the Scientific Research Laboratory, Ford Motor Company, where he was involved in research and development related to electric drives and power electronics and advanced automotive power system architectures, among other things. He has over 90 publications, of which about 58 are in public domain international journals and/or conferences. He is the holder of eight U.S. patents as a coinventor, of which two are also patented in Europe and one in Japan. Dr. Masrur received the Best Automotive Electronics Paper Award from the IEEE Vehicular Technology Society in 1998 for his papers proposing novel vehicular power system architectures in the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY, and the Environmental Excellence in Transportation Award—Education, Training, and Public Awareness (also known as E2T) from the Society of Automotive Engineers in 2006 as a joint recipient, for a tutorial course he has been teaching on hybrid electric vehicles, along with other academia colleagues. From 1999 to 2007, he was an Associate Editor of the IEEE T RANSACTIONS ON V EHICULAR T ECHNOLOGY . He was the Past Chair and Chair of the Motor Subcommittee of the IEEE Power and Energy Society—Electric Machinery Committee. He was also the Technical Program Chair of the IEEE International Electric Machines and Drives Conference in 2011.