Fault mechanism analysis and diagnosis for closed-loop drive system of industrial robot based on nonlinear spectrum

摘要

To solve the problem of nonlinear characteristics neglecting and fault mechanism analysis lacking in fault diagnosis research, a new method of fault mechanism analysis and diagnosis based on nonlinear spectrum is proposed. Firstly, based on the Permanent Magnet Synchronous Motor (PMSM) model of robot, the first 4-order spectrums based on nonlinear output frequency response function (NOFRF) in different states are obtained by batch calculation method. Secondly, the high-frequency spectrum distribution rule of NOFRF spectrum in different states are analyzed. Finally, in the closed-loop simulation environment of robot, the identification method based on data-driven is adopted for NOFRF spectrum calculation to verify power loss fault of PMSM. Meanwhile, the fault diagnosis experiment is also carried out. The experimental results indicate that the key characteristics distribution rule of NOFRF spectrums in the real environment is consistent with the theoretical analysis results, and compared with the traditional fault feature extraction methods by output signal, the diagnosis with fault feature of NOFRF spectrum for industrial robot closed-loop drive system has the highest accuracy, which verifies the validity of NOFRF spectrum as the fault feature.