M/T method based incremental encoder velocity measurement error analysis and self-adaptive error elimination algorithm
Yang‐Yang ChenState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaMing YangState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaLong JiangState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaDianguo XuState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, ChinaFrede BlaabjergDepartment of Energy Technology, Aalborg University, Aalborg, Denmark
2017en
ABI
Annotatsiya
For motor control applications, the speed loop performance is largely depended on the accuracy of speed feedback signal. M/T method, due to its high theoretical accuracy, is the most widely used in incremental encoder adopted speed measurement. However, the inherent encoder optical grating error and A/D conversion error make it hard to achieve theoretical speed measurement accuracy. In this paper, hardware caused speed measurement errors are analyzed and modeled in detail; a Single-Phase Self-adaptive M/T method is proposed to ideally suppress speed measurement error. In the end, simulation and experiment show the advantages and verify the validity of the proposed method.
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