Fault analysis on driving motors of lunar rover wheels

An electromagnetic simulation model of REPMM under normal state was built and the model was modified to accommodate diversified faults including converter switch fault, winding fault and hall effect position sensor fault. The faults were simulated and the performance waveforms relevant to different faults were obtained. Characteristics of faults were recognized by comparing performance waveforms under faulty states to those under normal state. Results of simulation were analyzed and the references to REPMM fault diagnosis and strategies of coordinate control for lunar rover's wheels were provided.