Diagnosis of mobile robots drives

Abstract

The imitation model of the mobile robot drive for diagnostics is considered. The drive is based on brushless direct current (BLDC) motor. The model was developed using the SimInTech software. Classification of signals of the mobile robot drive is performed: control signals, diagnostic signals and mixed signals. Mechanical and electrical defects in the drive are analyzed. The diagnostic parameters of the mobile robot drive are chosen: electric current, temperature and vibration. The reasons causing these defects of mobile robot drive are considered. A logical-linguistic diagnostic model of drive has been developed on basis of fuzzy logic. The calculated rules determine dependence of technical condition on diagnostic parameters, their trends and utilized lifetime of mobile robot drive. Experimental results of mobile robot drive diagnostics are discussed. It is shown that in the process of degradation, the change in the state of the drive affects the diagnostic parameters.