Precise Speed Estimation From a Low-Resolution Encoder by Dual-Sampling-Rate Observer

This paper describes an effective way to estimate state variables, such as motor speed and disturbance from a low-resolution encoder at low speed by using the dual-sampling-rate observer. The dual-sampling-rate observer estimates the state variables at every DSP control period and correct the estimation error at the instant that the measurement signal is detected. A novel pole assignment method, which considers the relation of the estimation and error correction periods, is proposed to maintain the stability for long error correcting period. Moreover, the dual-sampling-rate observer can be applied for higher order systems since it is generalized in state space. The effectiveness of the observer is verified through various simulations and experiments

[1]  Kenzo Kamiyama,et al.  A Microprocessor-Controlled High-Accuracy Wide-Range Speed Regulator for Motor Drives , 1982, IEEE Transactions on Industrial Electronics.

[2]  Tomomichi Hagiwara,et al.  Pole assignment by multirate sampled-data output feedback , 1985, 1985 24th IEEE Conference on Decision and Control.

[3]  M. Araki,et al.  Multivariable multirate sampled-data systems: State-space description, transfer characteristics, and Nyquist criterion , 1986 .

[4]  Yoichi Hori,et al.  Robust motion control based on a two-degrees-of-freedom servosystem , 1992, Adv. Robotics.

[5]  Gene F. Franklin,et al.  Multirate control: A new approach , 1992, Autom..

[6]  Yutaka Hori,et al.  Ultra-low speed control of servomotor using low resolution rotary encoder , 1995, Proceedings of IECON '95 - 21st Annual Conference on IEEE Industrial Electronics.

[7]  Yoichi Hori,et al.  Induction motor control for electric vehicle application using low resolution position sensor and sensorless vector control technique , 1997, Proceedings of Power Conversion Conference - PCC '97.

[8]  Yoichi Hori,et al.  High-performance servo systems based on multirate sampling control $ , 2002 .

[9]  Takafumi Koseki,et al.  Precise Speed and Torque Control for AC Traction Pure Electric Braking System in Low Speed Range , 2002 .

[10]  Atsuo Kawamura,et al.  Adhesion control in low-speed region and experiment verification with considering low-resolution pulse generator , 2002, Proceedings of the Power Conversion Conference-Osaka 2002 (Cat. No.02TH8579).

[11]  Ashish Tewari.  Modern Control Design With MATLAB and SIMULINK , 2002 .

[12]  Takafumi Koseki,et al.  Improvement of Performance and Stability of a Drive System with a Low-Resolution Position Sensor by Multirate Sampling Observer , 2004 .

[13]  Se-Han Lee,et al.  Improved velocity estimation for low-speed and transient regimes using low-resolution encoders , 2004, IEEE/ASME Transactions on Mechatronics.