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Development of a Zero Velocity Detectable Sensor Algorithm with Dual Incremental Encoders

정지 속도 검출 가능한 이중 증분 엔코더 센서 알고리즘 개발

  • 이세한 (경남대학교 기계자동화공학부) ;
  • 김병창 (경남대학교 기계자동화공학부)
  • Published : 2009.01.01

Abstract

The output of the encoder is a digital pulse, which is also easy to be connected to a digital controller. There are various angular velocity detecting methods of M, T, and M/T. Each of them has its own properties. There is a common limitation that the angular velocity detection period is strongly dependent on the destination velocity magnitude in case of ultimate low range. They have ultimately long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a zero velocity detectable sensor algorithm with the dual encoder system. The sensor algorithm is able to keep detection period moderately at near zero velocity and even detect zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the algorithm validity.

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