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A. Tilli, M. Montanari
"A low-noise estimator of angular speed and acceleration from shaft encoder measurements"
Type Article
Author(s) A. Tilli, M. Montanari
Title A low-noise estimator of angular speed and acceleration from shaft encoder measurements
Editor Journal Automatika, 42(2001) 3-4, 169-176
Keywords acceleration estimation, encoder measurements, nonlinear observers, real differentiators, velocity estimation
This paper deals with the differentiation of discrete-time, quantized signal provided by an encoder. In particular, speed and acceleration estimation with large bandwidth is required for feedback control in automation and robotics applications. The main problem in the differentiation of the encoder measurements is to combine the large bandwidth and the strong filtering of the quantization noise. The proposed speed-acceleration estimator relies on typical filtered differentiator nonlinearly combined with a state-variable filter. The former produces a strongly filtered estimation, while the latter is characterized by a large bandwidth, in order to track fast signal transients. In this way, the resulting estimator has a variable bandwidth depending on the harmonic content of the encoder signals. Two versions of the estimator are presented and compared. The first one gives only a speed estimation, while the second provides also an acceleration signal. Simulation and experimental tests verify the performance of the proposed solutions. A 5k c/r encoder and a high resolution sine/cosine encoder are considered.
Document 9db9.Document.pdf (464323 bytes)
Year 2001

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