Optimization of incremental optical encoder pulse processing

Johnson, Naveena; Mohan, Karthik; Janson, Kuno; Jose, Joel

doi:10.1109/imac4s.2013.6526510

Cited by 14 publications

(8 citation statements)

References 4 publications

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“…effect of time measurement increases. Modified periodbased methods are proposed in paper [4,5,6], which consider averaging of several period-based estimations. In [2,7] constant elapse time methods were considered limiting the CPU burden.…”

Section: N K =mentioning

confidence: 99%

Speed Estimation Applying Sinc-filter to a Period-based Method for Incremental Position Encoder

Kazemirova

Podzorova

Anuchin

et al. 2019

2019 54th International Universities Power Engineering Conference (UPEC)

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Precise speed estimation and short measurement time delay is compulsory for high-performance electric drives. Rotary incremental position encoders are widely used together with speed estimation techniques such as period-based, frequency-based, constant elapse time, and synchronousmeasurement methods. This paper proposes the speed estimation technique, which helps to obtain higher accuracy by means of filtering the results of period-based method using third order Sinc-filter. As the sequence of period-based method estimations has the properties of delta-sigma modulated signal, extra information can be extracted. For the specified measurement time that gives higher accuracy than moving average filter. The developed speed estimation method was tested using experimental setup showing better accuracy compared to conventional methods.

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Section: N K =mentioning

confidence: 99%

Speed Estimation Applying Sinc-filter to a Period-based Method for Incremental Position Encoder

Kazemirova

Podzorova

Anuchin

et al. 2019

2019 54th International Universities Power Engineering Conference (UPEC)

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“…After running the motor at a speed of 20 d/s (3.3 rpm) and reaching a steady-state speed we calculated the real speed ( ω r ) using a reference high resolution encoder (1,200,000 pulses per round). In this test T S was set to 0.01 s. Then we measured the speed using a low resolution encoder and calculated the magnitude of vibrations (∆ ω ).…”

Section: Fpga Based Controllermentioning

confidence: 99%

“…The technology of sensors measuring rotational speed has gained significant attention worldwide. Recent developments in Servo motor drives have heightened the need for using precise sensors and currently it is becoming increasingly difficult to ignore the role of incremental encoders in this field [1][2][3][4]. The incremental encoders benefit from accuracy, repeatability, high performance, and flexibility [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

An implementable approach in order to model a nonideal incremental encoder in speed measurement studies

Maaref¹,

Rezazadeh²

2015

Turk J Elec Eng & Comp Sci

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Abstract:Incremental encoders have attracted significant attention to measure motor speed worldwide. Due to the advantages of incremental encoders a noticeable percentage of Servo system drives have been built based on these sensors.The nonideality of encoders, especially mechanical misalignments, is one of their most important problems, affecting the precision of calculations. In the current paper we present an analytical formula to model the nonideal incremental encoder and calculate both the frequency and magnitude of vibrations due to this nonideality. Moreover, a nonideality identity parameter of the encoder is defined. This parameter can be used for quality assurance purposes. Moreover, it is possible to design flexible filters for measured speed based on this parameter, especially in low resolution encoders. The simulation and experimental results corroborate the precision of the proposed method in a wide range of speeds.

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“…In the literature, generally period-based method (Vázquez et al, 2019b, Tang et al, 2017), frequency based method (Vázquez et al, 2019b, Joshi et al, 2014, Mohamed et al, 2014, Kadhum and Abdulhussein, 2021, Lamar et al, 2013) or frequency and period-based hybrid method (Vázquez et al, 2019a, Petrella et al, 2007) is used according to the speed range of the DC motor to be controlled. Many modifications (Chen et al, 2017) and optimization algorithms (Anuchin et al, 2017; Johnson et al, 2013; Vázquez-Gutierrez et al, 2019c) based on these three typical measurement methods are also used by researchers to increase velocity measurement accuracy (Banerjee et al, 2016; Lee et al, 2004; Petrella and Tursini, 2008; Shaowei and Shanming, 2012; Su et al, 2006; Zedong et al, 2006). In addition, researchers Aguado-Rojas et al (2019), Anuchin et al (2016), and Sarkar and Sivayazi (2018) used different algorithms by mentioning the disadvantages of these methods.…”

Section: Introductionmentioning

confidence: 99%

A novel period–based method for the measurement direct current motor velocity using low-resolver encoder

TOP

Gökbulut

2022

Transactions of the Institute of Measurement and Control

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Direct current (DC) motors—which have widespread usage areas such as industrial devices, automobiles, and household appliances—are also widely used in robotic systems that have developed rapidly in recent years and need precise control. Since the DC motors with encoder on its shaft used in robots have low resolution, accurate speed measurement cannot be made and this makes robot control difficult. In this study, a novel period–based measurement approach is presented to more accuracy and precision determine DC motor velocity at high speed with signals obtained from a low-resolver incremental encoder. First, the signals of the dual channel encoder are applied to the exclusive or gate to produce a single output signal with twice the frequency in order to reduce the number of interrupt pins used in the microcontroller and optimize the program cycle time. Based on the sample count calculated with the entered by user reference speed and microcontroller loop time, the mean filter is then applied to the half-wave period of the signal received through the Arduino board interrupt pin. In order to demonstrate the effectiveness of the method, measurement made with three different methods as follows: traditional period–based method, half-wave period method with only one channel, and exclusive or output signal half-wave period method. The results show the high-speed measurements through the presented method outperform other methods at high DC motor speeds. Especially in robots using more than one motor, the processing load of microcontroller has reduced and enabled the use of other peripheral interfaces by reducing the number of microcontroller pins used for the encoder. In addition, utilizing the results obtained with this method, the proportional–integral–derivative (PID) control of the motors in a four-wheel drive mobile robot is carried out for different speeds.

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Optimization of incremental optical encoder pulse processing

Cited by 14 publications

References 4 publications

Speed Estimation Applying Sinc-filter to a Period-based Method for Incremental Position Encoder

Speed Estimation Applying Sinc-filter to a Period-based Method for Incremental Position Encoder

An implementable approach in order to model a nonideal incremental encoder in speed measurement studies

A novel period–based method for the measurement direct current motor velocity using low-resolver encoder

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