ARTICLE IN PRESS

Mechanical Systems and Signal Processing 24 (2010) 300–311

Contents lists available at ScienceDirect

Mechanical Systems and Signal Processing

journal homepage: www.elsevier.com/locate/jnlabr/ymssp

Fault induction dynamic model, suitable for computer simulation:

Simulation results and experimental validation
Lane Maria Rabelo Baccarini a,, Benjamim Rodrigues de Menezes b,
Walmir Matos Caminhas b
a
Department of Electrical Engineering, Federal University of São João del Rei, Prac- a Frei Orlando, 170 - Centro - 36307-352, Minas Gerais, Brazil
b
Federal University of Minas Gerais, Av. Antônio Carlos 6627 - Pampulha - 31270-010, Brazil

a r t i c l e i n f o abstract

Article history: The study of induction motor behavior under not normal conditions and the ability to
Received 30 March 2009 detect and predict these conditions has been an area of increasing interest. Early
Accepted 23 June 2009 detection and diagnosis of incipient faults are desirable for interactive evaluation over
Available online 9 July 2009
the running condition, product quality guarantee, and improved operational efficiency
PACS: of induction motors. The main difficulty in this task is the lack of accurate analytical
01.30.-y models to describe a faulty motor. This paper proposes a dynamic model to analyze
electrical and mechanical faults in induction machines and includes net asymmetries
Keywords: and load conditions. The model permits to analyze the interactions between different
Dynamic model faults in order to detect possible false alarms. Simulations and experimental results
Fault diagnosis
were performed to confirm the validity of the model.
Induction machine
& 2009 Elsevier Ltd. All rights reserved.

1. Introduction

Induction motors are commonly used electrical drives because they are rugged, mechanically simple, adaptable to a
wide variety of operation conditions and simple to control. Motors are often exposed to different loading and
environmental conditions. These conditions acting together with the natural aging of the motor may lead to many failures
[1]. Hence, monitoring the motor condition is crucial to detect any fault in early stage to eliminate the hazards of severe
motor faults [2]. Generally, squirrel-cage induction motor faults are categorized into electrical and mechanical faults [3].
Electrical faults are divided into rotor and stator faults.
The stator inter-turn short circuit is one of the most common motor failure and represents 36% of failures that occur in
induction motor [4–7].
Broken rotor bars can be a serious problem when induction motor have to perform hard duty cycles. Broken bars do not
initially cause a motor to fail, but they can impair motor performance and cause serious mechanical damage to the stator
windings if left undetected [8]. For these reasons much research has been devoted to this topic in the last years [9–15].
Static eccentricity is characterized by a rotation axis displacement which can be caused by misalignment of the
mounted bearings, the bearing plates or stator ovality. Since the rotor is not centered within the stator bore, the
field distribution in the air gap is no longer symmetrical. The nonuniform air gap increases the radial force of
electromagnetic origin, which acts in the direction of minimum air gap. However, static eccentricity may also cause
dynamic eccentricity. Dynamic eccentricity means that the rotor is rotating on the stator bore axis but not on its own axis.

 Corresponding author. Fax: +55 32 3379 4850.

E-mail address: rabelo@ufsj.edu.br (L.M.R. Baccarini).

0888-3270/$ - see front matter & 2009 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ymssp.2009.06.014
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This kind of eccentricity may be caused by a bent shaft, mechanical resonances, bearing wear or movement, or even static
eccentricity [16].
The ultimate goal in fault diagnosis is the development of a diagnostic technique, which is able to detect any fault in the
motor with a minimum knowledge about its parameters and constructional data. An efficient diagnostic technique should
be noninvasive and requires only the acquisition of signals that are readily available in the motor control center [17].
Typical questions are: how to detect a starting fault, how to distinguish a deterioration fault from a harmless
construction asymmetry, which are the physical quantities that best indicate a fault and how to measure them, and how
should the signals be measured and processed to get the most reliable diagnosis [18]? However, to perform reliable and
accurate diagnosis of the motor faults an understanding of the cause and the effect of motor faults and performances is
required. Then, a good start of any reliable diagnosis method is an understanding of the machine electric, magnetic and
mechanical behaviors in a healthy and under fault conditions. There are two main issues associated with the detection of
induction machine faults. The first issue is the modeling of the induction motor under fault condition, in the lack of
comprehensive field fault data-bases [19]. The second issue is to develop complete fault model in order to avoid false
positives when diagnosing, and a special attention must be given to the presence of net asymmetries and load conditions.
Modeling of induction motors with internal faults is the first step in the design of the fault detection systems. Several
machine models with broken bar or models with stator short-circuited or models with mechanical faults were proposed in
the literature [13,20–24]. But, those models are not complete. Moreover, to obtain fault signatures the models must permit
the simulating of all kinds of faults and include net asymmetries and load conditions, in order to analyze the situation of
false positive. Therefore simpler complete models are needed in order to allow several simulations conditions to determine
the effects produced by the faults.
The purpose of this paper is to present a dynamic model suitable for computer simulation of induction machines in a
healthy state and with general asymmetries, that could be analyzed simultaneously. The asymmetries can be: power
systems unbalance, stator inter-turn short circuit, rotor broken bars and mechanical faults (unbalance, misalignment and
mechanical looseness). The proposed model is based on the classical fourth order transient model for symmetrical
induction machines. An experimental setup was built up to test the induction machine with asymmetric stator and rotor.
Several case studies of rotor and stator asymmetries were performed and also simulated in order to validate the model.
The organization of the paper is as follows. In Section 2 the model of voltage unbalance is proposed. Section 3 briefly
describes the symmetric model. In Section 4 the mechanical fault model is analyzed. The inter-turn short circuit model is
proposed in Section 5. Section 6 presents a rotor asymmetry model. In Section 7 all models are integrated and the results of
simulation and experimental tests are shown in Section 8. Finally, conclusions are drawn in Section 9.

2. Voltage unbalance

Voltage unbalance is regarded as a power quality problem of significant concern at the electricity distribution level. A
high level of voltage unbalance can produce serious impacts on induction motors. It rises the current unbalance which
leads to excessive stator and rotor losses and also leads to torque pulsations. The last one brings out vibrations and
mechanical stresses [25]. Hence it is very important to detect a high level of unbalance. Voltage unbalance is characterized
by the nonequality of voltage magnitudes and/or when voltage angles among the three-phases are different of 2p=3. In this
work the voltage unbalance is represented by the equations:

vas ¼ kas V max cosðwtÞ (1)

 
2p
vbs ¼ kbs V max cos wt  kanglebs (2)
3

 
2p
vcs ¼ kcs V max cos wt þ kanglecs (3)
3

In the above equations w is the angular velocity and the s subscript denotes variables and parameters associated with the
stator circuits. When the voltage is balanced the values kas , kbs , kcs and kanglebs , kanglecs are unities. A change of variables which
formulates a transformation of the three-phase variables of the machine circuits to two-phase transformation is [26]

½f dq  ¼ K s ½f abc  (4)

2    3
2p 2p
2 3 6 cos y cos y 
3
cos y þ
3 7 2 3
fq 6    7 fa
6f 7 26
6 2p 2p 776 f 7
4 d 5 ¼ 6 sen y sen y  sen y þ 74 b 5 (5)
36 3 3 7
f0 6 7 fc
4 1 1 1 5
2 2 2
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Z t
y¼ oðxÞ dx þ yð0Þ (6)
0

where f can represent either voltage, current, flux linkage or electric charge. The variable x is a dummy variable of
integration.

3. Symmetric model

The voltage equations to describe the induction machines are established in [26]. Some of the machine inductances are
functions of the rotor speed, whereupon the coefficients of the differential equations (voltage equations) which describe
the behavior of these machines are time-varying except when the rotor is stalled. A change of variables described by Eq. (5)
is often used to reduce the complexity of these differential equations. Therefore, the voltage ðvÞ, the flux ðlÞ and the current
ðiÞ can be expressed in arbitrary reference frame. The equations for the stator and rotor flux are
dlqs
¼ vqs  r s iqs  olds (7)
dt

dlds
¼ vds  r s ids þ olqs (8)
dt

dlqr
¼ r r iqr  ðo  or Þldr (9)
dt

dldr
¼ r r idr þ ðo  or Þlqr (10)
dt
The r subscript indicates the variables, the parameters and the transformation associated with rotor circuit. The machine
electromagnetic torque ðT e Þ, the load torque ðT load Þ and the rotor velocity ðor Þ are related as
dor ðT e  Bm or  T load Þ
¼ (11)
dt J
where J is the rotor inertia and Bm is a damping coefficient associated to the mechanical rotational system of the machine
and mechanical load.
The differential equations derived above can be solved by fourth-order Runge–Kutta method. The stator and rotor
currents can be obtained from
iqs ¼ lqs a1  lqr a2 (12)

ids ¼ lds a1  ldr a2 (13)

iqr ¼ lqr a4  lqs a2 (14)

idr ¼ ldr a4  lds a2 (15)

where

Lr Lm 1 Ls 1
a0 ¼ Ls Lr  L2m ; a1 ¼ ; a2 ¼ ; a3 ¼ ; a4 ¼ ; a5 ¼
a0 a0 Lls a0 Llr

The parameters Ls and Lr are stator and rotor self-inductances, Lls and Llr are stator and rotor leakage inductances and Lm is
mutual inductance. The expression for the electromagnetic torque in terms of arbitrary reference-frame for a p-pole
machine may be expressed as

3p
Te ¼ ðl iqs  lqs ids Þ (16)
2 2 ds

4. Mechanical fault model

The occurrence of motor mechanical faults (unbalance, misalignment and mechanical looseness) results changes
in the air-gap space harmonics distribution, which leads to a sideband currents in the current spectrum that can be
written as
 
1s
f mec ¼ f 1  kmec (17)
p
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where f is the stator supply frequency, kmec ¼ 1; 2; 3 . . . is the order number, and s represents the motor slip. The slip is
defined as
w  wr
s¼ (18)
w
The interaction of those harmonics with the mainly sinusoidal supply voltage causes specific harmonics in the power and
torque spectrum
1s
f torque ¼ kmec (19)
p
Considering the harmonics in torque spectrum, the mechanical faults are analyzed, in this work, by introducing a load
torque modulation T mec associated with the rotation frequency in load torque. Thus Eq. (11) becomes
dor ðT e  Bm or  T load  T mec sinð2pf r tÞÞ
¼ (20)
dt J
Mechanical load anomalies also introduce side-band harmonics in the stator current spectrum without affecting the
rotor shaft. Therefore, ambiguity arises when detecting either rotor faults or mechanical load anomalies by analyzing side-
band harmonics in a single phase stator current spectrum [27]. In order to achieve a reliable and computationally efficient
detection or rotor eccentricity faults, mechanical load effects resulting from both position-dependent load torque
oscillation and varying load levels have to be considered simultaneously. Thus Eq. (20) permits to simulate mechanical
faults or load anomalies.

5. Stator fault model

In the following, a model of an induction motor, including an inter-turn short circuit is derived. The mathematical
representation is similar to the one presented in [28] that the variables are considered in a stationary reference frame. In
this work, the model is more complete because the transformation refers a frame of reference which rotates at an arbitrary
angular velocity.
The leakage inductance of the shorted turns is assumed as mLls , where m denotes the fraction of shorted turns. The
voltage and flux linkage equations of the stator and rotor windings are transformed to dq axes, rotating at an arbitrary
speed o ¼ dy=dt. The machine stator equations can be expressed in complex two-phase dq variables as follows:
dlqs 2
¼ vqs  r s iqs  olds þ mr s if cos y (21)
dt 3

dlds 2
¼ vds  rs ids þ olqs þ mr s if sin y (22)
dt 3
where r f and if represent the fault resistance and the short-circuit current, respectively. The equations for rotor circuits are
equal to those corresponding to a healthy motor as in Eq. (9). For the shorted turns ðas2 Þ, the flux linkage equation is
dlas2
¼ r f if  mr s ðids cos y þ iqs sin y  if Þ (23)
dt
The stator and rotor currents can be obtained from the following equations:
iqs ¼ lqs a7  lqr a8 þ ðLr a10  Lm a11 Þif cos y (24)

ids ¼ lds a7  ldr a8 þ ðLr a10  Lm a11 Þif sin y (25)

iqr ¼ lqr a9  lqs a8 þ ðLs a11  Lm a10 Þif cos y (26)

idr ¼ ldr a9  lds a8 þ ðLs a11  Lm a10 Þif sin y (27)

if ¼ ðlas2 þ ða12 iqs þ a13 iqr Þ cos y þ ða12 ids þ a13 idr Þ sin yÞ=a11 (28)
where

L2m 1 Lm a7 1 2 mLs 2 mLm

a6 ¼ 1  ; a7 ¼ ; a8 ¼ ; a9 ¼ ; a10 ¼ ; a11 ¼ ; a12 ¼ mLs ; a13 ¼ mLm .
Ls Lr a6 Ls Lr a6 Lr 3 a0 3 a0
The electromagnetic torque can be expressed in dq variables as
3p p
T¼ Lm ðiqs idr  ids iqr Þ þ mLm if ðiqr sin y  idr cos yÞ (29)
22 2
The first member of this equation is equal to those corresponding to a healthy motor and the second member is the
additional component introduced by the fault.
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6. Rotor fault model

The method proposed by [24] to model rotor asymmetries is used for a machine with only one pair of poles. In this work
it is developed for a machine with n pair of poles. The complex vector rotor current, Eq. (15) or Eqs. (26) and (27), is
computed from the symmetric model in rotor fixed reference frame as in the following equation:
2 3 2 3
ir1 idr
6 7 6i 7
6 ir2 7
6 7 ¼ T 6 qr 7
1 6
7 (30)
6 : 7 dq
4 : 5
4 5
irn 0

The T dq transformation matrix is generated by a simple algorithm.

2        3
p2p p 4p p n1
6 cos y cos y  cos y  ... cos y  2p 7
2n 2 n 2 n
6
6        77
6 p 2p p4p p n1 7
6 sen y sen y  sen y  ... sen y  2p 7
6 2 n 2n 2 n 7
6 7
T dq ¼ kb 6 f f 32 1 ... 0 7 (31)
6 31 7
6 7
6 f 41 f 42 0 ... 0 7
6 7
6 : : 7
4 5
f n1 f n2 0 ... 1

where

n1
kb ¼
n

It turns out that the related fault current is mainly located in a few adjacent bars on each side of the broken bar. So,
assuming that the kth bar is broken, the null current through this bar is obtained by modifying the n-loop rotor current as
follows:
2 3
2 3 ir1
inew
r1 6 7
6 7 6 ir2 7
6
6 inew
r2
7 6
7 6
7
7
6 :: 7 6 :: 7
6 7 6 irk þ irðkþ1Þ 7
6 new 7 6 7
6 irk 7 ¼ 6 2 7 (32)
6 7 6 7
6inew 7 6i þ i 7
6 rðkþ1Þ 7 6 rk rðkþ1Þ 7
6 7 6 7
6 :: 7 6 2 7
4 5 6 :: 7
new
irn 4 5
irn

Finally the new n-dimension rotor current vector is determined by Eq. (33) and fed back to the induction motor integration
algorithm.

2 3 23
inew
rd inew
r1
6 inew 7 6 7
6 rq 7 6 inew 7
6 7 6 r2 7
6 i01 7 6 :: 7
6 7 6 7
6 i 7 6 new 7
6 0k 7 ¼ T dq 6 i 7 (33)
6 7 6 rk 7
6 i0ðkþ1Þ 7 6 inew 7
6 7 6 rðkþ1Þ 7
6 7 6 7
4 :: 5 6 :: 7
4 5
i0r inew
rn

7. Dynamic model

Fig. 1 shows the flowchart of the computer program that is suitable for computer simulation of induction machines in a
healthy state and with general asymmetries: power systems unbalance, stator inter-turn short circuit, rotor broken bars
and mechanical faults. The parameters t end and h are the total simulation and integration time, values in seconds.
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START

Read Machines and

Power parameters

t=t+h

Calculate: vdt, vqs

Eqs. (1) - (6)

Mechanical Yes Calculate: Tload

Faults ?? Eqs. (16)

No

Yes
Stator
Faults ?? Read parameter μ
Update
states No
4th order Runge - kutta 4th order Runge - kutta
Eqs. (7) - (10) Eqs. (9),(10), (21)-(23)

Calculate: currents, torque Calculate: currents, torque

Eqs. (12)-(16) Eqs. (24) - (29)

Yes
Broken Calculate the currents broken bars
Bar ?? rotor mesh Eq. (30) currents = zero

Calculate the news dq

rotor currents Eq. (33)

No t > tend
??

Yes

END

Fig. 1. Flowchart of the computer program.

8. Simulation and experimental results

8.1. Description of the test

To validate the proposed method, simulation of different squirrel cage induction machine were carried out. The simulations
presented here refer to a motor with the following nominal parameters: 3 CV, 220 V, 60 Hz, 1710 rpm, four poles. It is the motor
of the test bech. Monte Carlo method was used to simulate random conditions: motor load, different rotor broken bar, degree of
mechanical load or fault, numbers of turns short-circuited, degree of voltage supply unbalance and mismatched sensors.
Fig. 2 illustrates the experimental setup. The induction motor phase windings are composed by two phase group with
three coils each. Each coil is composed by 33 turns. The induction motor is specially wound with tapping that allows a turn-
to-turn fault insertion in one of the phases. The mechanical load is provided by a separate dc generator which feeds the
variable resistor.
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Fig. 2. Experimental setup.

Experimental Results
16
Simulation Results
14 Simulation Results (short-circuit without resistor)
Simulation Results (short-circuit with resistor)
12

10
Z_neg (Ω)

0
healthy 3 turns 6 turns 15 turns
stator short-circuited short-circuited short-circuited

Fig. 3. Mean and square mean error of the negative components impedance for healthy motor and with 3, 6 and 15 shorted turns. Comparison of
experimental and simulation tests.

The data acquisition system consists of: three hall effect current sensor (LEM, LTA50P); three hall effect voltage sensor
(LEM, LV 100-300) analog input board (National Instruments PCI 6013). The computational implementation runs in a
LabView environment.

8.2. Results of the tests

8.2.1. Winding short-circuit and voltage unbalance

In the following, several experimental results are presented to demonstrate the effectiveness of the stator short-circuit
model. A healthy induction motor has a near constant impedance to the negative-sequence current. However, during
incipient stages of failure, symmetry is lost and the motor no longer exhibits a constant impedance for the flow of negative
sequence current. When short-circuits were introduced, a shorting resistor was used in order to limit the value of the short-
circuit current, thus protecting the motor windings from complete failure.
In this application, a set of measurements and this corresponding impedance represent the normal or the
undeteriorated state for the motor. It is assumed to be the reference value. The other set of measurements and this
impedance are taken periodically and the value compared to the reference value to determine whether deterioration is
taken periodically. Results of 50 tests were stored. Fig. 3 shows the mean and square mean error of the negative
components impedance for healthy motor and with 3, 6 and 15 shorted turns. It can be seen that experimental results
exhibit the same trend as predicted by the model. Results from the experiments are very encouraging. The performance
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was not affected by the voltage supply unbalances or inherent machine and/or monitoring system asymmetry. Any change
in them can be taken as an indicative of severe deterioration.
Fig. 4 shows the instantaneous values for the negative and positive components of the voltage and current, when the
motor is operating with six shorted turns. The rms values are shown either. The positive and negative components of the
voltage are plotted in the left graphs and the components of current are plotted in the right graphs.

8.2.2. Rotor faults

The motor was initially set with the cage intact and several tests were realized with the symmetric rotor. The waveform
voltage supply, the waveform phase current and the speed were stored and they are now part of the data bank for the
symmetric motor. The rotor bar fault has been caused by drilling holes into the aluminum bars.
Rotor unbalance such as broken bars produces positive and negative sequence currents in the rotor. The current
frequency flowing in the broken rotor bar is sf, where f is the frequency of the supply phase current and s is the motor
slip. It can be decomposed into positive and negative sequence components. It is known that the positive sequence rotor
current results in positive sequence rotating air-gap magnetomotive force (MMF) and positive sequence currents on
the stator of angular frequency f. The negative sequence rotor current produces MMFs and currents of ð1  2sÞf frequency
in the stator.
Fig. 5a and b shows the simulation phase current spectra for a healthy machine and a motor with one broken bar.
The zoom spectra are centered on the fundamental supply frequency ðf ¼ 60 HzÞ with frequency span of 20 Hz (50–70 Hz).
For the rotor fault the twice slip frequency components, ð1  2sÞf , are expected as can be clearly seen in Fig. 5b. The

400 6
300 4
Amplitude (V)

Amplitude (V)

200 v pos (rms)

100 2 216.77
0 0
I pos (rms)
-100 -2
-200 3.65
-300 -4
Z pos
-400 -6
59.88
0 0.01 0.02 0.033 0 0.01 0.02 0.033
8 0.8 Z neg
6 0.6 10.29
Amplitude (V)

Amplitude (V)

4 0.4
2 0.2 V neg (rms)
0 0 4.47
-2 -0.2
-4 -0.4
-6 -0.6 I neg (rms)
-8 -0.8 0.44
0 0.01 0.02 0.033 0 0.01 0.02 0.033

Fig. 4. Experimental results for six stator phase turns short-circuited.

20 20
10 10
Magnitude (dB)

Magnitude (dB)

0 0
-10 -10
-20 -20
-30 -30
-40 -40
-50 -50
40 60 80 40 60 80
(Hz) (Hz)

Fig. 5. Simulation current frequency spectrum: (a) healthy machine and (b) one broken rotor fault.
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20

10

Magnitude (dB)
-10

-20

-30

-40

-50
0 20 40 60 80 100
(Hz)

Fig. 6. Experimental current frequency spectrum, healthy rotor.

20

10

0
Magnitude (dB)

-10

-20

-30

-40

-50
0 20 40 60 80 100
Freqüência (Hz)

Fig. 7. Experimental current frequency spectrum, one broken rotor fault.

difference between the sideband magnitudes and the supply frequency component is 43 dB, and this is indicative of one
broken rotor bar.
Figs. 6 and 7 give the current spectrum for a experimental tests for two different load conditions. It is interesting to note
that even the healthy machine, Fig. 6, has the ð1  2sÞf pair of sidebands around the fundamental. The presence of those
components are almost probably due to inherent rotor asymmetries. The dB difference between the sideband magnitudes
and the supply frequency component is greater than 55 dB which is indicative for healthy rotor. In Fig. 7 the dB difference is
45 dB due to one broken bar. In comparison to Fig. 6 the magnitudes of the sideband has increased by 10 dB, which is a
factor of five times larger in the absolute units of amperes.

8.2.3. Mechanical faults

Now, the presence of mechanical fault is analyzed in simulation and experimental tests. Radial misalignments were
created by installing additional shims of specific thickness under the base of the motor to lift it upward with respect to the
shaft of its coupled load.
Fig. 8a and b depicts the simulation stator current spectrum of the motor with different degrees of mechanical faults
intensity when the motor is driven at load condition. The full load frequency ðf r ) is 28.5 Hz. So the spectrum contains
components around 31.5 and 88.5 Hz. These components f  f r indicate the presence of mechanical fault and their
amplitudes increase as the mechanical faults level increases.
Fig. 9 shows the phase current spectra for a motor with mechanical fault and Fig. 10 shows the spectrum for a motor
with the presence of mechanical fault and also with one broken rotor bar. The zoom spectra are centered on the
fundamental frequency (60 Hz). The component 32 Hz ðf  f r Þ and the component 88 Hz ðf þ f r Þ indicate the presence of
mechanical fault.
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20 20

0 0
Magnitude (dB)

Magnitude (dB)
-20 -20

-40 -40

-60 -60
0 50 100 150 200 0 50 100 150 200
(Hz) (Hz)

Fig. 8. Simulation current frequency spectrum: (a) mechanical fault and (b) mechanical fault.

20

10

0
Magnitude (dB)

-10

-20

-30

-40

-50
0 20 40 60 80 100
(Hz)
Mechanical Faults

Fig. 9. Experimental current frequency spectrum, mechanical faults.

20

10

0
Magnitude (dB)

-10

-20

-30

-40

-50
0 20 40 60 80 100
(Hz)
Mechanical fault and one broken bar

Fig. 10. Experimental current frequency spectrum, broken rotor and mechanical faults.
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9. Conclusion

The paper proposed a novel dynamic induction machine model, that accounts for both mechanical and electrical faults
in induction machines. The model allowed several simulations in different conditions and outstanding effects produced by
the faults. A convenient selection of the state-space variable set enables description of the machine with a very simple set
of equations. A state-space representation of the dynamic equations is presented, suitable for digital simulation. Then by
thoroughly analyzing the simulation results, series of interesting highlights are presented which could help improve the
sensitivity and reliability of any fault detection methods. Numerical simulations and their related experiments are
performed successfully and they validated the model.

Acknowledgments

The authors gratefully acknowledge financial support by Fapemig, CNPQ and CAPES and for purchasing the required
instruments and equipments. We also thank Càssia Nunes for reading and providing valuable comments regarding English
structure.

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Lane Maria Rabelo Baccarini received the B.Eng. degree in Electrical Engineering with class honorus from Faculdade de Engenharia Elétrica de São João
del Rei, nowadays recognized as (Federal University of São João del Rei). She received the UFSJ, M.Sc. degree in Electrical Engineering from Federal
University of Itajubá (UNIFEI). She is currently a Professor of Electrical Engineering at Federal University of São João del-Rei (UFSJ). She has been teaching
electrical machines since 1990. She received the Ph.D. degree from the Electrical Engineering at Federal University of Minas Gerais (UFMG). Her work
named Fault Detection in Electrical Machines was supervised by Professors Walmir Matos Caminhas, Benjamim Rodrigues de Menezes and Homero
Nogueira Guimarães. Dr. Lane’s main research interests include machine learning techniques, and drives control and diagnosis in electrical machines.

Benjamim Rodrigues de Menezes is a Professor at the Department of Electronics Engineering at Federal University of Minas Gerais. He received the B.S.
degree in Electrical Engineering from the Federal University of Minas Gerais, Brazil, in 1977. He received the M.S. degree in Electrical Engineering from the
Federal University of Rio de Janeiro, Brazil, in 1980 and the D.E. degree in Electrical Engineering from the Institut National Polytechnique of Lorraine,
France, in 1985. His areas of interest are intelligent control, fault diagnosis of dynamical systems and reliability engineering.

Walmir Matos Caminhas received the Ph.D. degree in Electrical Engineering from University of Campinas, Sao Paulo, Brazil, in 1997. Currently, he is an
Adjunct Professor at the Department of Electrical Engineering, Federal University of Minas Gerais, Belo Horizonte, Brazil. His research interests include
computational intelligence and control of electrical drives.