Permanent magnet synchronous motors (PMSM) have been used in a lot of industrial fields. In this paper, a review of faults and diagnosis methods of PMSM is presented. Firstly, the electrical, mechanical and magnetic faults of the permanent magnet synchronous motor are introduced. Next, common fault diagnosis methods, such as model-based fault diagnosis, different signal processing methods, and data-driven diagnostic algorithms are enumerated. The research summarized in this paper mainly includes fault performance, harmonic characteristics, different time-frequency analysis techniques, intelligent diagnosis algorithms proposed recently and so on.

The stator inter-turn short circuit fault is one of the most common and key faults in permanent magnet synchronous motor (PMSM). This paper introduces a time–frequency method for inter-turn fault detection in stator winding of PMSM using improved wavelet packet transform. Both stator current signal and vibration signal are used for the detection of short circuit faults. Two different experimental data from a three-phase PMSM were processed and analyzed by this time–frequency method in LabVIEW. The feasibility of this approach is shown by the experimental test.

The fault frequencies are as they are and cannot be improved. One can only improve its estimation quality. This paper proposes a fault diagnosis method by combining local mean decomposition (LMD) and the ratio correction method to process the short-time signals. Firstly, the vibration signal of rolling bearing is decomposed into a series of product functions (PFs) by LMD. The PF, which contains the richest fault information, is selected to perform envelope spectrum analysis by the Hilbert transform (HT). Secondly, the Hilbert envelope spectrum of the selected PF is corrected with the ratio correction method. Finally, higher precision fault frequencies are extracted from the corrected Hilbert envelope spectrum, and then the fault location is accurately determined. The proposed method of this paper can be used in online real-time monitoring technology of rolling bearing failure.

In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and actuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical difficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties, we propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the actuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed. It is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed. Moreover, the effectiveness of our control scheme is illustrated through simulation studies.