This paper proposes a new approach to estimate the velocity of mechanical system in the case where the optical incremental encoder is used as the position sensor. First, the actual angular position is reconstructed via moving horizon polynomial fitting method by taking account of quantization feature and the plant dynamics. Then, the reconstruction signal is applied to a classical observer to obtain the velocity estimation. Its robustness against the position sensor resolution and the degree of the polynomial is discussed by some numerical examples. Experiments with very low-resolution encoder in low speed range also confirm its effectiveness.
Velocity Estimation of Motion Systems Based on Low-Resolution Encoders
Contributed by the Dynamic Systems Division of ASME for publication in the Journal of Dynamic Systems, Measurement, and Control. Manuscript received March 23, 2011; final manuscript received April 26, 2012; published online October 30, 2012. Assoc. Editor: John R Wagner.
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Zhu, H., and Sugie, T. (October 30, 2012). "Velocity Estimation of Motion Systems Based on Low-Resolution Encoders." ASME. J. Dyn. Sys., Meas., Control. January 2013; 135(1): 011006. https://doi.org/10.1115/1.4007065
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