On velocity estimation using position measurements

Liu, G.

doi:10.1109/acc.2002.1023168

Cited by 56 publications

(30 citation statements)

References 7 publications

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“…With the development of control theory, many approaches using the observer theory have been extensively studied [10]- [16]. Other velocity estimation methods based on the position measurement only can be found in [17], [18].…”

Section: Introductionmentioning

confidence: 99%

A Simple Linear Velocity Estimator for High-Precision Motion Control

Zheng

Müller

2006

2006 IEEE Conference on Emerging Technologies and Factory Automation

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High-quality low speed motion control calls for precise position and velocity signals. However, velocity estimation based on simple numerical differentiation from the only position measurement may be very erroneous, especially in the low-speed regions. A simple linear velocity estimator is proposed based for highquality instantaneous velocity estimation, on position measurements only. The proposed estimator is constructed based on the fact that velocity belongs to the chain of kinematic quantities: position and velocity, and numerical integration can provide more stable and accurate results than numerical differentiation in the presence of noise. The main attraction of the new algorithm is that it is very effective as well as in lowspeed ranges, high robustness against noise, and easy to implement with simple computation. Both extensive simulations and experimental tests have been performed to verify the effectiveness and efficiency of the proposed approach.

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Section: Introductionmentioning

confidence: 99%

A Simple Linear Velocity Estimator for High-Precision Motion Control

Zheng

Müller

2006

2006 IEEE Conference on Emerging Technologies and Factory Automation

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“…Cuando la medición se hace a tiempo fijo se define un dt y se cuenta el número de pulsos en ese intervalo de tiempo. Si la medida se hace a espacio fijo, entonces se mide el tiempo que hay entre cada par de pulsos [5]. La medición a espacio fijo es recomendada cuando la velocidad es baja, mientras que tiempo fijo es útil cuando la velocidad es alta [6].…”

Section: Introductionunclassified

Implementación en DSPIC de un algoritmo óptimo para la estimación de velocidad de giro<br />Implementation of an optimal algorithm for the estimation of angular speed in DSPICS

Rairán-Antolines¹,

Fonseca-Gómez²

2014

Iteckne

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Resumen-En este artículo se presenta la implementación de un método de medición de velocidad angular nuevo, cuando la información proviene de un encoder incremental. Parte del método es implementado en un dsPIC, mientras que el resto se programa en Simulink. La ventaja fundamental del método de medición es que produce una única aproximación cuando la velocidad es constante, en contraposición con los métodos convencionales, conocidos como a tiempo fijo y a espacio fijo, los cuales oscilan entre dos valores. Se presenta el control de velocidad de un motor, como ejemplo de aplicación, y se concluye que el método nuevo puede aplicarse para la aproximación de la razón de cambio, incluso cuando los datos no provienen de un encoder.Palabras clave-dsPIC, encoder, espacio fijo, medición de velocidad, tiempo fijo.Abstract-In this paper we present the implementation of a new method to measure angular speed when the data come from an incremental encoder. Part of the method is implemented in a dsPIC, whereas the remaining part was programmed in Simulink. The main advantage of the new method consists of having just one approximation at constant speed, whereas traditional methods oscillate between two values. The speed control of a motor serves as an application of the new method, which allows concluding that the proposed method can be used to estimate the rate of change of a variable even when the data do not come from an incremental encoder.

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“…At the present time, several methods have been proposed to improve the accuracy of velocity and acceleration estimations for optical incremental encoders. Polynomial interpolation through the encoder events and extrapolation of the obtained polynomial make it possible to estimate velocity and acceleration at the time of interest [15], [18]. Currently, the output feedback control design is based on two different kinds of controls.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, velocity state estimation can be designed via output control design [16], [17]. Even more the most usual output control realization is based on the observer design where the control objective is to bring to zero the error of state estimation [15], [16], [19], [24]. So, the output control problem is to find an energetic or storage function such that this function holds with the classical Lyapunov theory (see for example the Local and Global Asymptotic Stable Theorems [10], [12], [13]).…”

Section: Introductionmentioning

confidence: 99%

Global stability of PD+ controller with velocity estimation

Ordaz

Espinoza

Muñoz

2014

53rd IEEE Conference on Decision and Control

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This paper addresses the demonstration of global asymptotic convergence for the PD+ compensator. The proposed strategy is developed for a Robotic Manipulator process, which is a typical Electro-Mechanical System (when only the joint positions are available to be measured). It is well known that in the case of robot manipulators, the optical incremental encoders are widely used to monitor joints positions information, however, joints velocities can only be measured by processing the position data (by filtering or by state estimation). The proposed feedback strategy is based on nonlinear state estimation with a Luenberger-like observer. The main result is based on the knowledge of the system dynamics for the design of a nonlinear observer in order to conclude with Global Asymptotic Convergence of the system trajectories by using a particular Lyapunov function.

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On velocity estimation using position measurements

Cited by 56 publications

References 7 publications

A Simple Linear Velocity Estimator for High-Precision Motion Control

A Simple Linear Velocity Estimator for High-Precision Motion Control

Implementación en DSPIC de un algoritmo óptimo para la estimación de velocidad de giro<br />Implementation of an optimal algorithm for the estimation of angular speed in DSPICS

Global stability of PD+ controller with velocity estimation

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