On the compensation of incremental encoder imperfections for motion control: a DC motor case-study
| Autor: | Alexandre De Bernardinis, Missie Aguado-Rojas, Antonio Loria, William Pasillas-Lépine |
|---|---|
| Přispěvatelé: | Universidad Nacional Autónoma de México (UNAM), Laboratoire des signaux et systèmes (L2S), Université Paris-Sud - Paris 11 (UP11)-CentraleSupélec-Centre National de la Recherche Scientifique (CNRS), IFFSTAR |
| Rok vydání: | 2018 |
| Předmět: |
Rotary encoder
DC motor control 0209 industrial biotechnology Computer science Estimation theory periodic measurement noise 020208 electrical & electronic engineering Velocity and acceleration estimation Angular velocity 02 engineering and technology DC motor Motion control Compensation (engineering) incremental encoders Acceleration 020901 industrial engineering & automation Control and Systems Engineering Control theory [INFO.INFO-AU]Computer Science [cs]/Automatic Control Engineering 0202 electrical engineering electronic engineering information engineering parameter estimation Encoder PI2D control |
| Zdroj: | IFAC-Papers 2nd Conference on Modelling, Identification and Control of Nonlinear Systems IFAC MICNON IFAC-PapersOnLine, Elsevier, 2018, Proc. 2nd Conference on Modelling, Identification and Control of Nonlinear Systems (IFAC MICNON), 51 (13), pp.627-632. ⟨10.1016/j.ifacol.2018.07.350⟩ |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2018.07.350 |
| Popis: | International audience; 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|