Precise Speed Estimation From a Low-Resolution Encoder by Dual-Sampling-Rate Observer
Precise Speed Estimation From a Low-Resolution Encoder by Dual-Sampling-Rate Observer
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DOI：
10.1109/tmech.2006.886194
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发表时间：
2006-12
期刊：
影响因子：
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通讯作者：
L. Kovudhikulrungsri;T. Koseki
中科院分区：
文献类型：
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作者：
L. Kovudhikulrungsri;T. Koseki
本文介绍了一种有效的方法来估计状态变量，如电机的速度和干扰的低分辨率编码器在低速下使用双采样率观测器。双采样率观测器在每个DSP控制周期估计状态变量，并在检测到测量信号的瞬间校正估计误差。提出了一种新的极点配置方法，该方法考虑了估计周期与误差校正周期的关系，使系统在较长的误差校正周期内保持稳定。此外，由于双采样率观测器是在状态空间中推广的，因此它可以应用于高阶系统。通过各种仿真和实验验证了观测器的有效性
This paper describes an effective way to estimate state variables, such as motor speed and disturbance from a low-resolution encoder at low speed by using the dual-sampling-rate observer. The dual-sampling-rate observer estimates the state variables at every DSP control period and correct the estimation error at the instant that the measurement signal is detected. A novel pole assignment method, which considers the relation of the estimation and error correction periods, is proposed to maintain the stability for long error correcting period. Moreover, the dual-sampling-rate observer can be applied for higher order systems since it is generalized in state space. The effectiveness of the observer is verified through various simulations and experiments