Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors

Lima, José; Pinto, Vítor H.; Moreira, António Paulo G. M.; Costa, Paulo Gomes da

http://hdl.handle.net/10198/15052

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Authors

Lima, José

Pinto, Vítor H.

Moreira, António Paulo G. M.

Costa, Paulo Gomes da

Abstract(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.

Keywords

Encoder Speed measurement Positioning measurement

URI

http://hdl.handle.net/10198/15052

Citation

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