Fault Detecting And Locating Of South Pole Manipulator Joint Motor

Polar expedition is of great meaning on strategy. Robots are often used in polarexpedition because of the particular environment. When the robots in the mobileoperations, they must be equipped with multifunctional manipulator. Motordetermines the working performance of the manipulator, so the motor fault diagnosisis an important task. This paper focused on the fault diagnosis methods of thepermanent magnet synchronous motor and designof fault diagnosis system.First of all, the frequency characteristics of the rotor eccentricity faultmechanism produced in the stator current was studied. Owing to the shortcomings ofthe fast Fourier transform in diagnosing the rotor eccentricity fault, the theory ofwavelet analysis was proposed to diagnose the rotor eccentricity fault, by wavelettransform, the fault occurrence time can be judged and the fault frequencycan beextracted, and then usedsimulation to verify the method.Secondly, this paper researched the hazards of motor overcurrent fault, designedinverse-time overcurrent protection algorithm, and the diagnosis method ofunder-voltage fault, phase sequence fault, motor encoder fault and Hall fault, and thenstudiedthe diagnostic methods of the motor single-phase short circuit and open circuitbased on symmetrical component theory;Then, based on the working principle and the main functions of automobilediagnosing instruments, the paper designed a motor fault diagnosis system to achievethe motor failure rapid diagnosis. Diagnostic hardware circuit includes motor drivecircuit and signal acquisition and processing circuit. The motor drive circuit can avoiddependence on the drive circuit of fault motor. Signal acquisition circuit usedhigh-precision signal acquisition chip to get more information about actual current.Finally, the paper researched thenormal motor’s mathematical model andestablished the fault motormodel of the single-phase short circuit and open circuit,then designed simulation system in MATLAB/Simulink to analyze the application ofsymmetrical component theory.Last, based on diagnostic system designed in thispaper, the study of diagnostic methods were experimentally verified.