On algorithms for velocity estimation using discrete positionencoders

摘要

Velocity information for a rotating device may be acquired via adiscrete position encoder. The focus of this paper is on analyzing andimproving the low speed and high acceleration accuracy of velocitymeasurements through the use of digital filters for controlapplications. The frequency-domain characteristics of various digitalfilters that may be used to estimate velocity from pulse-encodedvelocity data are investigated and used to explain the performance ofthe digital filters in estimating velocity for a given velocity profile.A new digital filter design technique based on an adaptive least squaresapproach is presented in addition to several previously developedfixed-time velocity estimators. The performance characteristics of thesevelocity estimators are compared using pulse-encoded velocity data froman actual motor