Velocity Estimation of Motion Systems Based on Low-Resolution Encoders
Velocity Estimation of Motion Systems Based on Low-Resolution Encoders
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DOI：
10.1115/1.4007065
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发表时间：
2013
影响因子：
1.7
通讯作者：
Hongzhong Zhu;T. Sugie
中科院分区：
文献类型：
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作者：
Hongzhong Zhu;T. Sugie
本文提出了一种采用增量式编码器作为位置传感器的机械系统速度估计的新方法。首先，综合考虑量化特性和被控对象的动态特性，采用滚动域多项式拟合法重建出实际的角点位置。然后，将重构信号应用于经典观测器以获得速度估计。通过数值算例讨论了该算法对位置传感器分辨率和多项式阶数的鲁棒性。在低速范围内对极低分辨率编码器进行的实验也证实了该方法的有效性。
This paper proposes a new approach to estimate the velocity of mechanical system in the case where the optical incremental encoder is used as the position sensor. First, the actual angular position is reconstructed via moving horizon polynomial fitting method by taking account of quantization feature and the plant dynamics. Then, the reconstruction signal is applied to a classical observer to obtain the velocity estimation. Its robustness against the position sensor resolution and the degree of the polynomial is discussed by some numerical examples. Experiments with very low-resolution encoder in low speed range also confirm its effectiveness.