Abstract:Incremental encoders are heavily used as speed measurement sensors in servo motor systems. Speed estimation in these applications is frequently affected by system vibrations and quantization errors. To avoid this problem, a variable-sampling-rate observer was proposed. Instead of numerical differential operation used in the M/T method, the proposed procedure was based on numerical integration, so vibration noise could be effectively suppressed. In order to eliminate quantization errors, the observer adapts its sampling period with the generated encoder pulses in each calculation cycle. Varying sampling period changes the poles of the observer, which deteriorates the stability of the system, so a gain calculation procedure was given in order to maintain stability in wide speed range. Experimental result shows that the proposed observer can effectively reduce estimation error caused by quantization error and vibration, and obtain better precision while guaranteeing good dynamical performance.
张靖, 吴忠, 黄丽雅. 基于光电编码器的电机变周期速度观测器设计[J]. 北京航空航天大学学报, 2014, 40(6): 824-828.
Zhang Jing, Wu Zhong, Huang Liya. Variable-sampling-rate observer for speed estimation of servo motors with optical encoders. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2014, 40(6): 824-828.
Su Y X, Zheng C H,Sun D,et al.A simple nonlinear velocity estimator for high-performance motion control[J].IEEE Transactions on Industrial Electronics,2005,52(4):1161-1169
[1]
孙莹,万秋华, 王树洁,等.航天级光电编码器的信号处理系统设计[J].光学精密工程,2011,18(5):1182-1188 Sun Ying,Wan Qiuhua,Wang Shujie,et al.Design of signal process system for spaceborne photoelectric encoder[J].Optics and Precision Engineering,2011,18(5):1182-1188(in Chinese)
[2]
王帅,王建立, 陈涛,等.非线性跟踪微分器在光电编码器测速中的应用[J].红外与激光工程,2009,38(5):849-853 Wang Shuai,Wang Jianli,Chen Tao,et al.Application of the nonlinear tracking-differentiator in velocity estimation on optical encoder[J].Infrared and Laser Engineering,2009,38(5): 849-853(in Chinese)
[12]
Su Y X, Zheng C H,Mueller P C,et al.A simple improved velocity estimation for low-speed regions based on position measurements only[J].IEEE Transactions on Control Systems Technology,2006,14(5):937-942
[3]
Hachiya K, Ohmae T.Digital speed control system for a motor using two speed detection methods of an incremental encoder[C]//2007 European Conference on Power Electronics and Applications.Piscataway,NJ:IEEE,2007:1-10
[4]
鲁进军,梅志千, 刘向红,等.电动机的高精度宽范围转速测量方法[J].中国电机工程学报,2011,31(24):118-123 Lu Jinjun,Mei Zhiqian,Liu Xianghong,et al.Investigation of precision wide-range velocity measurement method for motor[J].Proceedings of the CSEE,2011,31(24):118-123(in Chinese)
[13]
高扬,杨明, 于泳,等.基于扰动观测器的 PMSM 交流伺服系统低速控制[J].中国电机工程学报,2005,25(22): 125-129 Gao Yang,Yang Ming,Yu Yong,et al.Disturbance observer based low speed control of PMSM servo system[J].Proceedings of the CSEE,2005,25(22):125-129(in Chinese)
[14]
Bascetta L, Magnani G,Rocco P.Velocity estimation:assessing the performance of non-model-based techniques[J].IEEE Transactions on Control Systems Technology,2009,17(2): 424-433
[5]
马艳歌,贾凯, 徐方,等.电机转速自适应测量方法及其在DSP上的实现[J].仪器仪表学报,2006,27(6):2361-2364 Ma Yange,Jia Kai,Xu Fang,et al.Motor velocity adaptive measurement and its implementation based on DSP[J].Chinese Journal of Scientific Instrument,2006,27(6):2361-2364(in Chinese)
韩京清. 一类不确定对象的扩张状态观测器[J].控制与决策,1995,10(1):85-88 Han Jingqing.The “extended state observer” of a class of uncertain systems[J].Control and Decision,1995,10(1):85-88 (in Chinese)
[8]
Fujimoto H, Hori Y.High performance servo systems based on multirate sampling control[J].Control Engineering Practice,2002,10(7):773-781
[9]
Lee S H, Lasky T A,Velinsky S A.Improved velocity estimation for low-speed and transient regimes using low-resolution encoders[J].IEEE/ASME Transactions on Mechatronics,2004,9(3):553-560
[10]
Kovudhikulrungsri L, Koseki T.Precise speed estimation from a low-resolution encoder by dual-sampling-rate observer[J].IEEE/ASME Transactions on Mechatronics,2006,11(6): 661-670
[11]
Su Y X, Zheng C H,Sun D,et al.A simple nonlinear velocity estimator for high-performance motion control[J].IEEE Transactions on Industrial Electronics,2005,52(4):1161-1169
[12]
Su Y X, Zheng C H,Mueller P C,et al.A simple improved velocity estimation for low-speed regions based on position measurements only[J].IEEE Transactions on Control Systems Technology,2006,14(5):937-942
[13]
高扬,杨明, 于泳,等.基于扰动观测器的 PMSM 交流伺服系统低速控制[J].中国电机工程学报,2005,25(22): 125-129 Gao Yang,Yang Ming,Yu Yong,et al.Disturbance observer based low speed control of PMSM servo system[J].Proceedings of the CSEE,2005,25(22):125-129(in Chinese)
[14]
Bascetta L, Magnani G,Rocco P.Velocity estimation:assessing the performance of non-model-based techniques[J].IEEE Transactions on Control Systems Technology,2009,17(2): 424-433