Title: Fault-tolerant control of the highly reliable PMSM system for industrial robots under winding open-circuit faults

Authors: Peng Li; Xiaosu Xu; Jiazheng Liu; Zhijian Wei; Xuefeng Jiang

Addresses: School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China ' School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China ' School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China ' School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China ' School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China

Abstract: The reliability and fault tolerance of the PMSM system for industrial robots are very important for the electric drive system of industrial robots. In this paper, we design a highly reliable PMSM system for industrial robots based on a four-switch two-phase (FSTP) fault-tolerant (FT) topology and conduct FT research for the single-phase open-circuit (OC) fault of PMSM systems. The FT control strategy based on the constant magnetomotive force (MMF) is derived, the mathematical model of the FSTP fault-tolerant electric drive system is established, and the space voltage vector of the OC fault state is reconstructed to achieve FT control. The proposed FT control strategy has the advantages of low cost, small weight, small size and high system utilisation after a fault. The simulation and experimental results verify the proposed FT control strategy to implement FT control for the single-phase OC fault and increase the safety of the electric drive system.

Keywords: fault-tolerant control; constant magnetomotive force; four-switch two-phase; FSTP; open-circuit fault; industrial robot.

DOI: 10.1504/IJPELEC.2024.141519

International Journal of Power Electronics, 2024 Vol.20 No.2, pp.180 - 199

Received: 23 Aug 2023
Accepted: 22 Apr 2024
Published online: 19 Sep 2024 *

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