Publication
Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors
| dc.contributor.author | Lima, José | |
| dc.contributor.author | Pinto, Vítor H. | |
| dc.contributor.author | Moreira, António Paulo G. M. | |
| dc.contributor.author | Costa, Paulo Gomes da | |
| dc.date.issued | 2022 | |
| dc.description.abstract | 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. | pt_PT |
| dc.description.sponsorship | This work has been supported by FCT - Fundac¸ ˜ao para a Ciência e Tecnologia within the Project Scope: UIDB/05757/2020. | |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.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 | |
| dc.identifier.doi | 10.1109/ICARSC55462.2022.9784766 | |
| dc.identifier.eissn | 2573-9387 | |
| dc.identifier.issn | 2573-9360 | |
| dc.identifier.uri | http://hdl.handle.net/10198/15052 | |
| dc.language.iso | eng | |
| dc.peerreviewed | yes | pt_PT |
| dc.publisher | IEEE | |
| dc.relation | Research Centre in Digitalization and Intelligent Robotics | |
| dc.subject | Encoder | |
| dc.subject | Speed measurement | |
| dc.subject | Positioning measurement | |
| dc.title | Improving incremental encoder measurement: variable acquisition window and quadrature phase compensation to minimize acquisition errors | en_EN |
| dc.type | conference paper | |
| dspace.entity.type | Publication | |
| oaire.awardTitle | Research Centre in Digitalization and Intelligent Robotics | |
| oaire.awardURI | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F05757%2F2020/PT | |
| oaire.citation.title | 2022 IEEE International Conference on Autonomous Robot Systems And Competitions (Icarsc) | |
| oaire.fundingStream | 6817 - DCRRNI ID | |
| person.familyName | Lima | |
| person.givenName | José | |
| person.identifier | R-000-8GD | |
| person.identifier.ciencia-id | 6016-C902-86A9 | |
| person.identifier.orcid | 0000-0001-7902-1207 | |
| person.identifier.rid | L-3370-2014 | |
| person.identifier.scopus-author-id | 55851941311 | |
| project.funder.identifier | http://doi.org/10.13039/501100001871 | |
| project.funder.name | Fundação para a Ciência e a Tecnologia | |
| rcaap.rights | openAccess | en_EN |
| rcaap.type | conferenceObject | pt_PT |
| relation.isAuthorOfPublication | d88c2b2a-efc2-48ef-b1fd-1145475e0055 | |
| relation.isAuthorOfPublication.latestForDiscovery | d88c2b2a-efc2-48ef-b1fd-1145475e0055 | |
| relation.isProjectOfPublication | 6e01ddc8-6a82-4131-bca6-84789fa234bd | |
| relation.isProjectOfPublication.latestForDiscovery | 6e01ddc8-6a82-4131-bca6-84789fa234bd |
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