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Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors
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Orientador(es)
Resumo(s)
Motion control is an important task in several areas,
such as robotics where the angular position and speed should
be acquired, usually with encoders. For slow angular speeds, an
error is introduced spoiling the measurement. In this paper there
will be proposed two new methodologies, that when combined
allow to increase the precision whereas reducing the error,
even on transient velocities. The two methodologies Variable
Acquisition Window and a Quadrature Phase Compensation are
addressed and combined simultaneously. A real implementation
of the proposed algorithms is performed on a real hardware,
with a DC motor and a low resolution encoder based on hall
effect. The results validate the proposed approach since the errors
are reduced compared with the standard Quadrature Encoder
Reading.
Descrição
Palavras-chave
Encoder Speed measurement Positioning measurement
Contexto Educativo
Citação
Lima, José; Pinto, Vítor H.; Moreira, A. Paulo; Costa, Paulo. (2022). Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors. 2022 IEEE International Conference on Autonomous Robot Systems And Competitions. EISSN 2573-9387. p. 118-123
Editora
IEEE