运动控制中的速度测量技术问题

T. Tsuji, M. Mizuochi, K. Ohnishi
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引用次数: 8

摘要

鲁棒运动控制需要精确的速度信息。提出了随脉冲数变化同步测量速度的“同步测量法”(S法)。该方法可在所有速度范围内实现准确的速度测量。然而,该方法在实际应用中存在几个技术问题:光学编码器中脉冲间角的非理想性往往会导致精度下降;干扰观测器需要修正以处理非规则速度测量。本文针对S方法中存在的问题,提出了一些解决方案。实验结果验证了该方法的有效性
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Technical Issues on Velocity Measurement for Motion Control
Robust motion control requires accurate velocity information. The authors have proposed "synchronous-measurement method (S method)" that measures the velocity synchronous with alteration of pulse numbers. Accurate velocity measurement is achieved in all speed ranges with this method. The method, however, has several technical issues for application in practice: accuracy often deteriorates with nonideality of interpulse angles in optical encoders; and disturbance observer needs modification to deal with nonregular velocity measurement. This paper proposes some solutions for the issues in S method. Experimental results verify the validity of the solutions
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