Incremental Encoder in Electrical Drives: Modeling and Simulation

Incze, Ioan Iov; Szabó, Csaba; Imecs, Mária

doi:10.1007/978-3-642-15220-7_23

Cited by 12 publications

(10 citation statements)

References 1 publication

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“…Without loss of generality, we can assume a rotary incremental encoder in our study. The basic principle of its operation can be described such that it transforms mechanical motion into electrical output, thus providing digital pulses while its shaft is rotating, allowing measurement of the relative displacement of the shaft [ 34 ]. The number of generated output pulses is proportional to its relative angular position of the shaft, while the frequency of them is proportional to the angular velocity.…”

Section: Methodsmentioning

confidence: 99%

Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm

Hace

Čurkovič

2018

Sensors

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Velocity measurement by an incremental encoder is an important issue for advanced motion control applications such as robotics. In this paper, we deal with a kind of MT-type velocity estimation method. Though the conventional MT method is well known and has been well proven in practice, it requires execution of an arithmetic division operation that prevents an efficient implementation on low-cost FPGA-based control platforms. Thus, we propose a divisionless MT-type algorithm, which can provide a similar performance in velocity estimation accuracy as the conventional method, but requiring significantly less FPGA resources, since it implements only simple arithmetic operations such as addition, subtraction, and multiplication, that can be implemented more easily on the processing hardware. Furthermore, the algorithm is fast in execution, thus, it provides the output in only a few clock cycles. Though the proposed algorithm can be described in a recursive form, the stability of the estimation process is not jeopardized, although it is an important issue in this case. Hence, the algorithm is introduced in a form which assures stability in a wide speed range. We show the implementation of the algorithm on the experimental FPGA platform. The experimental results validated the proposed divisionless MT-type algorithm fully for accurate velocity estimation.

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Section: Methodsmentioning

confidence: 99%

Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm

Hace

Čurkovič

2018

Sensors

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“…The motor we used an optical incremental encoder with Totem Pole outputs were used. Optical encoders are widely used mainly as low-cost, and the number of pulses per revolution (PPR) with the same spacing of the slit with a moving board [10] and each of the other three pulse for distinguishing three slits in the fixed board is composed. In order for the light signal to the LED and the photo transistor incoming receive is…”

Section: Motor Drive For Wheelchair Seat Balancementioning

confidence: 99%

An Efficient Electronic Wheelchair Seat Balancing Maintain Methodology Applying Smart Sensors

Park¹,

Kim²,

Won³

2015

IJSH

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In this paper we propose a new solution which utilizing the Gyro Sensor and Tilt Sensor in real-time controlling the balance of wheelchair seat. The existing wheelchair systems have the risk of falling when users go uphill because of the uneven weight allocation. But when applying our new method, the wheelchair seat can automatically adjust to maintain the balance therefore provides a safer and more stable ride. In order to adjust the seat correctly, we calculate the seat angle using Tilt Sensor. However, due to the law of inertia when wheelchair is moving there is deviation in output value of Tilt Sensor. To solve this problem, a Gyro sensor is used for measuring the acceleration and get the correct value of tilting angle. Through various experimentations we can prove that by taking advantage of Gyro sensor and Tilt sensor combination, the system is able to determine the correct seat angle in both cases when the wheelchair moving or not. We also tackle the power consumption issue in wheelchair, by using ZigBee sensor module to retrieve terrain information in advance and controlling the balance by two motors thus the overall power consumption for seat balancing is reduced significantly.

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“…Alternatively, the same quadrature signal can be retrieved through an additional sensor mounted with a quarter-period offset. These techniques are used also in incremental encoders [24]. As a result, the existing Vernier encoders make use of at least three signals to retrieve the absolute angle in conjunction with the rotational direction.…”

Section: Introductionmentioning

confidence: 99%

Absolute Two-Tracked Optical Rotary Encoders Based on Vernier Method

Dalboni

Soldati

2023

IEEE Trans. Instrum. Meas.

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Driving synchronous machines requires early and accurate knowledge of the absolute position of the rotor; current solutions based on resolvers, sin-cos or absolute encoders are complex, bulky and costly. Hence, in this work two variants of absolute rotary encoder based on Vernier method are analyzed. One, already discussed in the literature, displays the Vernier scale across the whole circumference (full-Vernier), the other shows half Vernier traces over the entire perimeter (half-Vernier), which is an original feature. Both implementations are characterized by only two tracks and as many sensors: the proposed conditioning algorithms provide the absolute angular position as a function of the time delays between the wave edges generated by the two traces, thus being of easy implementation on low-cost MCUs. The Vernier encoders are also compared with state-of-the-art absolute and relative solutions, i.e. incremental, binary and Graycode encoders. Experimental tests are carried out to assess the accuracy of the proposed sensors. The investigation shows that (i) the full-Vernier cannot provide, in practice, a reliable estimate of the direction of rotation and of the actual angular sector without resorting to a third sensor; (ii) the half-Vernier produces a trusty measurement of the absolute angle and velocity and (iii) can give a reliable position result with less than 30°shaft turn, but (iv) it can suffer from marginal performance degradation at low velocities in conjunction with high accelerations. Compared to the Gray encoder, the half-Vernier provides a simpler and more compact hardware for a given resolution, similar to that of an incremental encoder, at the expense of a small accuracy reduction at low speed.

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Incremental Encoder in Electrical Drives: Modeling and Simulation

Cited by 12 publications

References 1 publication

Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm

Accurate FPGA-Based Velocity Measurement with an Incremental Encoder by a Fast Generalized Divisionless MT-Type Algorithm

An Efficient Electronic Wheelchair Seat Balancing Maintain Methodology Applying Smart Sensors

Absolute Two-Tracked Optical Rotary Encoders Based on Vernier Method

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