Fault Detection and Isolation using Kalman Filter Bank for a Wind Turbine Generator

Objective
To tackle the problem of current sensor Fault Detection and Isolation (FDI) of a doubly fed induction generator in wind turbine. The detection and the isolation of multiple and simultaneous sensor faults will be treated using a Kalman filter bank Generalized Observer Scheme Dedicated Observer Scheme

DFIG
The doubly feed induction generator (DFIG) is one of the most used drive In the wind power industry low cost simplicity of maintenance reliability
When a fault occurs, it must be detected as soon as possible, even where all observed signals remain in their allowable limits. The fault must then be located and its cause identified This aspect becomes more and more investigated because of the construction of high capacity offshore wind parks.

 The control system operates with the information of the system provided by sensors, which subjected to faults Previous Method For Study of Current sensor Fault and Voltage sensor Fault is Luenberger observers weve proposed an observer scheme base on Kalman filter to diagnosticate the current sensor fault of a DFIG because of its discrete property which is convenient for the testing on a dSPACE test bench as well as for a real-time implementation in the future

Generalised Observer Scheme and Dedicated Observer Scheme

Generalised Observer Scheme Can Isolate Single Sensor Fault Dedicated Observer Scheme (DOS) Can Isolate a Simultaneous Fault Paper Organised Like Operating principle of a wind turbine using doubly feed induction generator Modeling of the doubly feed induction generator The Kalman filter The Kalman filter bank based on Generalized Observer Scheme and Dedicated Observer Scheme The results of the FDI for current sensor as well as the real-time validation are illustrated

OPERATING PRINCIPLE OF THE WIND TURBINE USING DFIG

MODELING of DOUBLY FEED INDUCTION GENERATOR

In this work, we consider that the DFIG operates at a fixedspeed Crotor convertor should be considered as control signals The stator voltages are the voltages of the grid as known external inputs. The model of DFIG was transformed in dq reference frame The d-axis is chosen to coincide with stator phase r-axis at t = 0 and The q-axis leads the d-axis by 90 degree in the direction of rotation.

State-Space Representation of the DFIG

x (t) = Ax(t) + Bu(t) + Ds(t) y(t) = Cx(t) + Ef(t)
x(t) is state vector - [ids iqs idr iqr]T u(t) is control input, - [Vdr Vqr]T s(t) is external know input, - [Vds Vqs]T y(t) is output vector and -- [y1 y2 y3 y4]T f(t) is fault vector -- [f1 f2 f3 f4]T

KALMAN FILTER AND DEDICATED OBSERVER SCHEME

The Kalman filter uses the dynamical model, the know inputs to that system as well as the measurement (which given by by sensors) to estimate the state of the system.

xk+1 = Axk + Buk + wk zk = Hxk + vk

W- Process noise and V- measurement noises They are supposed to be white noises with normal probability distributions: p(w) N(0,Q) Q --process covariance noise p(v) N(0,R) R-- measurement covariance noise

 The implementation of Kalman filter could be divided in two steps Prediction step and Correction step the diagnostic scheme with Kalman filter is capable to detect the fault but it is unable to locate the fault. To resolve this problem, a filter bank will be used in the next.

Filter bank for the FDI problem

The state observer for fault detection and isolation is a well known problem Filter bank used to estimate the dynamical behaviors of the system in order to detect then to isolate the fault The first kind of filter bank is Dedicated Observer Scheme (DOS) The second one, Generalized Observer Scheme (GOS) Each filter bank is composed by a number of observers, which are supplied with all of the input and different subsets of output of the system. A Decision unit diagnosticate whether or not faults are presented in the sensors and which one is faulty by comparing the estimated outputs with the measured ones

Structure Of Generalized Observer Scheme and Dedicated Observer Scheme

GOS

DOS

FDI OF THE CURRENT SENSOR FAULTS For The isolation of the fault the two following fault scenarios will be used i) multiple but non simultaneous faults scenario ii) simultaneous faults scenario. Fault detection using Kalman filter Residual rK obtained from the Kalman filter with no sensors failure. The initial state of the filter was chosen arbitrary. The sensors faults are detected using the Page-Hinkleys test. Fault detection and isolation using Generalized Observer Scheme Fault detection and isolation using Dedicated Observer Scheme Model in the Loop validation

Conclusion
In this paper, weve treated the problem of current sensor Fault Detection and Isolation of a doubly feed induction generator in wind turbine. First the use of a Kalman filter to detect sensor fault has been illustrated. Detection and the isolation of multiple sensor faults was addressed using the Kalman filter bank in a Generalized Observer Scheme. The simultaneous sensor faults was tackled by the Dedicated Observer Scheme.

future work concentrates on the FDI problem for other sensors of wind turbine (voltage, wind speed for example)