Open Access
Velocity and acceleration estimation for optical incremental encoders using time stamping
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TLDR
In this article, the authors used optical incremental encoders to apply feedback control on motion systems, where the position is measured at a fixed sample frequency and the accuracy is limited by the quantized measurement of the encoder.Abstract:
Optical incremental encoders are widely used to apply feedback control on motion systems where the position is measured at a fixed sample frequency. The accuracy is limited by the quantized measurement of the encoder. Velocity and acceleration information from incremental encoders can be obtained using only the position information [1], thus disregarding the variable rate of occurrence of the encoder events, or using model based methods such as observers [2].read more
References
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Proceedings ArticleDOI
On velocity estimation using position measurements
TL;DR: A simple and efficient method is proposed to estimate velocity from an incremental encoder pulse train based on the physical characteristics of incremental encoders, which allows the user to select the estimation precision and tune the time delay, and yet requires less calculation than other methods.
Proceedings ArticleDOI
Velocity Observations From Discrete Position Encoders
TL;DR: In this article, Taylor series expansions, backward difference expansions, and least square curve fits are used to estimate the angular position of a rotating device in a discrete position encoder, and the accuracy of different observers is analyzed by simulations for systems with time measurement truncation and imperfect encoders.