Actually, to solve the problem for me I copied all the data to another hard 
disk. Then cleared all the md array information from the 3 drives. After that 
created a new array and since then it assembles correct at boot times. 
It seems that the newer md-version are somehow incompatible with arrays created 
wit some former versions of itself. My array was existing for several years 
when this issue occours.

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Mdadm array fails to assemble on boot.
https://bugs.launchpad.net/bugs/573477
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