Motion control is an important task in several areas, such as robotics where the angular position and speed should be acquired, usually with encoders. For slow angular speeds, an error is introduced spoiling the measurement. In this paper there will be proposed two new methodologies, that when combined allow to increase the precision whereas reducing the error, even on transient velocities. The two methodologies Variable Acquisition Window and a Quadrature Phase Compensation are addressed and combined simultaneously. A real implementation of the proposed algorithms is performed on a real hardware, with a DC motor and a low resolution encoder based on hall effect. The results validate the proposed approach since the errors are reduced compared with the standard Quadrature Encoder Reading. ; This work has been supported by FCT - Fundac¸ ˜ao para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020. ; info:eu-repo/semantics/publishedVersion
Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors
01.01.2022
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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