On the compensation of incremental encoder imperfections for motion control: a DC motor case-study

被引：0

作者：

Aguado-Rojas, Missie ^{[1
]}

Pasillas-Lepine, William ^{[2
]}

Loria, Antonio ^{[2
]}

De Bernardinis, Alexandre ^{[3
]}

机构：

[1] Univ Paris Saclay, Univ Paris Sud, Cent Supelec, L2S, F-91192 Gif Sur Yvette, France

[2] CNRS, L2S, Cent Supelec, F-91192 Gif Sur Yvette, France

[3] IFSTTAR, SATIE, LTN, F-78000 Versailles, France

来源：

IFAC PAPERSONLINE | 2018年 / 51卷 / 13期

关键词：

Velocity and acceleration estimation; incremental encoders; periodic measurement noise; parameter estimation; DC motor control; PERFORMANCE; VELOCITY; MODEL;

D O I：

10.1016/j.ifacol.2018.07.350

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We address the problem of rotational velocity and acceleration estimation from incremental encoders in the presence of sensor imperfections. In the area of motion control, measurements of shaft velocity and acceleration are often affected by large disturbances with a period of one revolution that arise from sensor imperfections and degrade the performance of most closed-loop control algorithms. We present an algorithm to identify and remove such periodic perturbations online, without the need of error compensation look-up tables, and without assuming constant velocity. The proposed algorithm is evaluated via open-loop experimental tests, and its implementation in closed-loop control applications is investigated via numerical simulations through a DC motor case-study. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：627 / 632

页数：6

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