摘要
针对当前系统故障诊断研究缺乏机理分析问题,本文旨在分析大型工业机器人系统故障发生机理。对机器人驱动系统数学模型进行分析,确立了定子绕组电流作为故障的外在可测特征参量。仿真结果表明,选择定子电流作为驱动系统故障诊断的特征信息是恰当的,这为实现大型工业机器人故障的精确诊断提供了坚实的基础。
In response to the lack of mechanism analysis in current system fault diagnosis research,this paper aims to analyze the fault occurrence mechanism of large industrial robot systems.By analyzing the mathematical model of the robot drive system,the stator winding current is established as the externally measurable characteristic parameter of faults.The simulation results show that it is appropriate to select the stator current as the characteristic information for fault diagnosis of the drive system,which provides a solid foundation for realizing accurate diagnosis of faults in large industrial robots.
作者
张娓娓
陈乐瑞
Zhang Weiwei;Chen Lerui(Henan Polytechnic Institute,Nanyang 473000,Henan,China;School of Intelligent Sensing and Instruments,Zhongyuan University of Technology,Zhengzhou 451191,China)
出处
《船电技术》
2025年第6期1-5,共5页
Marine Electric & Electronic Engineering
基金
河南省自然科学基金面上项目(NO.242300421417)。
关键词
大型机器人系统
故障特征
机理分析
large robot system
fault characteristic
mechanism analysis
