Fault Diagnosis Method for Joint Motor Inverter Power Tube of Live Working Robot

Abstract

The joint motor of live working robot adopts brushless DC motor system. Because of the interference of unstable factors in working environment and the vulnerability of power electronic devices, inverter power tube is the most vulnerable link in the system. Based on the model of brushless dc motor system and simulation analysis of the open circuit fault mode of inverter power tube, this paper summarizes the distortion characteristics of the three-phase current waveform of inverter power tube output. An open circuit fault diagnosis method for inverter power tube based on the variation of three-phase current waveform is presented, and the correctness and feasibility of the method are verified.