Kybernetika a robotika

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Diagnostics of Interturn Short Circuits in PMSMs With Online Fault Indicators Estimation
(IEEE, 2024-02-27) Zezula, Lukáš; Kozovský, Matúš; Blaha, Petr
This article presents novel model-based diagnostics of interturn short circuits in permanent magnet synchronous machines that enable estimating fault location and its severity, even during transients. The proposed method utilizes recursive parametric estimation and model comparison approaches cast in a decision-making framework to track motor parameters and fault indicators from a machine's discrete-time model. The discrete-time prototype is derived from an advanced motor model that reflects the stator winding arrangement in a motor's case. The fault detection is then performed by tracking the changes in the estimated probability density function of the electrical parameters, using the Kullback-Leibler divergence. The fault location is subsequently evaluated by performing a recursive comparison of the predefined fault models in the different phases, utilizing a growing-window approach. Ultimately, a parametric estimation algorithm applied to the fault current model allows identifying the fault severity. The diagnostic algorithm has been validated via laboratory experiments, and its capabilities are compared with other approaches enabling severity estimation.
Inquiry-Based Linear Algebra Teaching and Learning in a Flipped Classroom Framework: A Case Study
(Taylor & Francis, 2024-07-17) Fredriksen, Helge; Rebenda, Josef; Rensaa, Ragnhild Johanne; Pettersen, Petter
Flipped Classroom (FC) approaches, which utilize video distribution via modern internet platforms, have recently gained interest as a pedagogical framework. Inquiry Based Mathematics Education (IBME) has proven to be a valid form of task design to motivate active learning and enhance classroom interactivity. This article presents a practical combination of introductory videos and inquiry-based class activities adoptable in a basic linear algebra course for stimulating students’ exploration of the underlying mathematics. Teachers’ and students’ work addressed in the article was realized in two case studies in engineering programs in Norway and the Czech Republic. The learning objective was to connect different interpretations of the matrix equation Ax=b, which is often perceived as challenging for engineering students. Feedback from classroom sessions, interviews, and questionnaires encourage further research and inspired us as teachers to closely examine the mathematics behind the task design.
Robust perception systems for automated, connected, and electrified vehicles: advances from EU project ArchitectECA2030
(Elsevier, 2023-12-13) Recekenzaun, Jakob; Solmaz, Selim; Goelles, Thomas; Hilbert, Marc; Weimer, Daniel; Mayer, Peter; Chromý, Adam; Hentschel, Uwe; Modler, Niels; Toth, Mate; Hennecke, Marcus
The perception supply chain (SC1) of the ArchitectECA2030 project investigates failure modes, fault detection, and residual risk in perception systems of electrified, connected, and automated (ECA) vehicles. This accounts for the needs of a reliable understanding of the surrounding environment. The three demonstrators of SC1, described in this paper, address steps of a typical ECA usage cycle: charge - drive - restart charging. The foreign object detection (FOD) demonstrator improves safety within a wireless charging system. The robust physical sensors demonstrator creates a more robust perception by detecting failures within fused and single sensor data. The position enhancement demonstrator improves vehicle localization in areas with reduced GNSS signal coverage. All demonstrators are linked to the challenges that occur during the ECA vehicle usage cycle
Implementation of ANN for PMSM interturn short-circuit detection in the embedded system
(IEEE, 2023-10-16) Kozovský, Matúš; Buchta, Luděk; Blaha, Petr
The problem of condition monitoring and fault detection in powertrain systems becomes more critical with the increasing use of fail-operational systems. These systems are essential in the automotive industry, robotics, and other industrial applications. One of the critical features of such a system is recognizing the fault and suppressing its influence. The paper describes a feed-forward artificial neural network-based diagnostic of interturn short-circuit faults in a dual three-phase permanent magnet synchronous motor. The paper focuses on using MLPN, and CNN for interturn short-circuit detection and, more importantly, their real implementation into the automotive AURIX TC397 microcontroller. The paper presents the achieved neural network inference times as well as data preprocessing computation time. The behavior of the ANNs is tested on an experimental configurable multiphase PMSM drive with the possibility to emulate interturn short-circuit fault using prepared winding taps. The paper includes the essential aspects that should be respected during ANN design and implementation into the microcontroller.
PMSM fault detection using unsupervised learning methods based on conditional convolution autoencoder
(IEEE, 2024-11-03) Kozovský, Matúš; Buchta, Luděk; Blaha, Petr
The challenges of fault detection and condition monitoring in powertrain systems have become increasingly prominent, particularly with the widespread adoption of failoperational systems. These systems are pivotal in diverse sectors, including the robotics, automotive industry, and various industrial applications. A critical attribute of such systems lies in their capability to identify non-standard behaviour of the system. This study describes a inovative conditional convolutional autoencoder-based fault detection algorithm for the permanent magnet synchronous motor. The study compares a train process of conditional convolutional autoencoder with a classical convolutional autoencoder. The presented autoencoder structure was designed to be implementable into the target microcontroller AURIX TC397 while providing sufficient recognition capabilities of the interturn short-circuit. Autoencoders are trained on data obtained during healthy motor operation and subsequently used to detect interturn short-circuit faults on the experimental dual three-phase permanent magnet synchronous motor with the possibility of emulating an interturn short-circuit fault. The paper provides insights into the achieved autoencoder inference times and the sensitivity in detecting the fault.

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