This paper proposes a new approach to estimate the velocity of mechanical system in the case where the optical incremental encoder is used as the position sensor. First, the actual angular position is reconstructed via moving horizon polynomial fitting method by taking account of quantization feature and the plant dynamics. Then, the reconstruction signal is applied to a classical observer to obtain the velocity estimation. Its robustness against the position sensor resolution and the degree of the polynomial is discussed by some numerical examples. Experiments with very low-resolution encoder in low speed range also confirm its effectiveness.
Issue Section:
Research Papers
References
1.
Lorenz
, R. D.
, 2001
, “Robotics and Automation Applications of Drives and Converters
,” Proc. IEEE
, 89
(6
), pp. 951
–962
.10.1109/5.9314952.
Devasia
, S.
, Eleftheriou
, E.
, and Moheimani
, S. O. R.
, 2007
, “A Survey of Control Issues in Nanopositioning
,” IEEE Trans. Control Syst. Technol.
, 15
(5
), pp. 802
–823
.10.1109/TCST.2007.9033453.
Song
, Y.
, Gao
, H.
, Zhang
, S.
, Tian
, Y.
, and Wang
, D.
, 2009
, “The Analysis and Design of Low Velocity Estimation Based on Observer
,” Proceedings of the IEEE International Conference on Automation and Logistics
, Shenyang, China
, pp. 766
–771
.4.
Lorenz
, R. D.
, and Van Patten
, K. W.
, 1991
, “High-Resolution Velocity Estimation for All-Digital, AC Servo Drives
,” IEEE Trans. Ind. Appl.
, 27
(4
), pp. 701
–705
.10.1109/28.854855.
Kwon
, S. J.
, Chung
, W. K.
, and Youm
, Y.
, 2003
, “A Combined Observer for Robust State Estimation and Kalman Filtering
,” Proceedings of the American Control Conference
, Denver, CO
, Vol. 3
, pp. 2459
–2464
.6.
Bélanger
, P. R.
, Dobrovolny
, P.
, Helmy
, A.
, and Zhang
, X.
, 1998
, “Estimation of Angular Velocity and Acceleration From Shaft-Encoder Measurements
,” Int. J. Robot. Res.
, 17
(11
), pp. 1225
–1233
.10.1177/0278364998017011077.
Carpenter
, P. S.
, Brown
, R. H.
, Heinen
, J. A.
, and Schneider
, S. C.
, 1995
, “On Algorithms for Velocity Estimation Using Discrete Position Encoders
,” Proceedings of the 34th IEEE Conference on Decision and Control
, pp. 844
–849
.8.
Vainio
, O.
, and Ovaska
, S. J.
, 1997
, “A Class of Predictive Analog Filters for Sensor Signal Processing and Control Instrumentation
,” IEEE Trans. Ind. Electron.
, 44
(4
), pp. 565
–570
.10.1109/41.6056359.
Ovaska
, S. J.
, 1991
, “Improving the Velocity Sensing Resolution of Pulse Encoders by FIR Prediction
,” IEEE Trans. Instrum. Meas.
, 40
(3
), pp. 657
–658
.10.1109/19.8704110.
Su
, Y. X.
, Zheng
, C. H.
, Mueller
, P. C.
, and Duan
, B. Y.
, 2006
, “A Simple Improved Velocity Estimation for Low-Speed Regions Based on Position Measurements Only
,” IEEE Trans. Control Syst. Technol.
, 14
(5
), pp. 937
–942
.10.1109/TCST.2006.87691711.
Bascetta
, L.
, Magnani
, G.
, and Rocco
, P.
, 2009
, “Velocity Estimation: Assessing the Performance of Non-Model-Based Techniques
,” IEEE Trans. Control Syst. Technol.
, 17
(2
), pp. 424
–433
.10.1109/TCST.2008.200105412.
Brown
, R. H.
, Schneider
, S. C.
, and Mulligan
, M. G.
, 1992
, “Analysis of Algorithms for Velocity Estimation From Discrete Position Versus Time Data
,” IEEE Trans. Ind. Electron.
, 39
(1
), pp. 11
–19
.10.1109/41.12190613.
Zhu
, W.-H.
, and Lamarche
, T.
, 2007
, “Velocity Estimation by Using Position and Acceleration Sensors
,” IEEE Trans. Ind. Electron.
, 54
(5
), pp. 2706
–2715
.10.1109/TIE.2007.89305014.
Jeon
, S.
, and Tomizuka
, M.
, 2007
, “Benefits of Acceleration Measurement in Velocity Estimation and Motion Control
,” Control Eng. Pract.
, 15
, pp. 325
–332
.10.1016/j.conengprac.2005.10.00415.
Zhu
, H.
, and Sugie
, T.
, 2011
, “Reconstruction of Plant Output From Quantized Measurement—A Moving Horizon Polynomial Fitting Approach
,” 18th World Congress IFAC
, Milano, Italy, pp. 7444
–7449
.16.
Hirata
, M.
, and Kidokoro
, T.
, 2009
, “Servo Performance Enhancement of Motion System Via a Quantization Error Estimation Method—Introduction to Nanoscale Servo Control
,” IEEE Trans. Ind. Electron.
, 56
(10
), pp. 3817
–3824
.10.1109/TIE.2009.201575117.
Middleton
, R. H.
, and Goodwin
, G. C.
, 1990
, Digital Control and Estimation, A Unified Approach
, Prentice-Hall
, Englewood Cliffs, CA
.18.
Gautschi
, W.
, 1975
, “Optimally Conditioned Vandermonde Matrices
,” Numer. Math.
, 24
, pp. 1
–12
.10.1007/BF0143721219.
Strang
, G.
, 1986
, Introduction to Applied Mathematics
, Wellesley-Cambridge Press
, Wellesley, MA
.20.
Boyd
, S.
, and Vandenberghe
, L.
, 2004
, Convex Optimization
, Cambridge University Press
, New York
.21.
Mattingley
, J.
, Wang
, Y.
, and Boyd
, S.
, 2010
, “Code Generation for Moving Horizon Control
,” Proceedings of the IEEE Multi-Conference on Systems and Control
, Yokohama, Japan
, pp. 985
–992
.22.
Armstrong-Hélouvry
, B.
, Dupont
, P.
, and de Wit
, C. C.
, 1994
, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction
,” Automatica
, 30
(7
), pp. 1083
–1138
.10.1016/0005-1098(94)90209-7© 2013 by ASME
You do not currently have access to this content.
