Implementation of an optimal algorithm for the estimation of angular speed in DSPICS
Keywords:
dsPIC, Encoder, Fixed space, Fixed time, Speed measured
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.
Downloads
Download data is not yet available.
References
[1] M. Nandayapa, C. Mitsantisuk y K. Ohishi, “High resolution position estimation for advanced motion control based on FPGA,” in Proceedings of IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society, pp. 3808-3813, 2012.
[2] C. Negrea, V. Hayward, C.J. Chen, “An improved speed identification method using incremental encoder in electric drives,” in Proceedings of IEEE International Conference on Automation Quality and Testing Robotics (AQTR), pp. 536-540, 2012.
[3] J. Voldán, “Use encoder speed sensors for the calculation of torque moment,” in Proceedings of 13th International Carpathian Control Conference (ICCC), pp. 768-771, 2012.
[4] S. D’arco, L. Piegari y R. Rivo, “An Optimized Algorithm for Velocity Estimation Method for Motor Drives,” in Proceedings of Symposium on Diagnostics for Electric Machines, Power Electronics and Drivers, Atlanta, GA, USA, pp. 76 – 80, Ago., 2003.
[5] G. Liu, “On velocity estimation using position measurements,” in Proceedings of the 2002 American Control Conference, vol. 2, pp. 1115 – 1120, May., 2002.
[6] K. Hachiya y T. Ohmae, “Digital speed control system for a motor using two speed detection methods of an incremental encoder,” in Proceedings of Power Electronics and Applications, 2007 European Conference, pp. 1 – 10, Sep. 2007.
[7]J. Lygouras,T.P. Pachidis, K.N. Tarchanidis, V.S. Kodogiannis, “Adaptive High-Performance Velocity Evaluation Based on a High-Resolution Time-to-Digital Converter,” in IEEE Transactions on Instrumentation and measurement, vol. 57, no. 9, pp. 2035 – 2043, Sep. 2008.
[8] F. Janabi-Sharifi, V. Hayward, C.S.J. Chen, “Discrete-time adaptive windowing for velocity estimation,” Control Systems Technology, IEEE Transactions on, vol. 8, no. 6, pp. 1003 – 1009, Nov. 2000.
[9] M-F Benkhoris y M. Ait-Ahmed, “Discrete speed estimation from a position encoder for motor drives,” in Proceedings of Power Electronics and Variable Speed Drives, Sixth International Conference on (Conf. Publ. No. 429), pp. 283 – 287, 23-25, Sep. 1996.
[10] I.I. Incze, A. Negrea, M. Imecs, C. Szabó, “Error compensation methods in speed identification using incremental encoder,” Prceedings of Electrical and Power Engineering (EPE), International Conference and Exposition on, pp. 441 – 445, 25-27, Oct. 2012.
[11] L. Kerhuel, “Simulink block set embedded target for microchip devices,” 2012, [Online]. Available: http://www.kerhuel.eu/wiki/Simulink_-_Embedded_Target_ for_PIC
[12] R. Merry, R. Molengraft, y M. Steinbuch, “Error modeling and improved position estimation for optical incremental encoders by means of time stamping,” in Proceedings of the 2007 American Control Conference. New York City, USA, pp. 3570 – 3575, Jul., 2007.
[13] R. Petrella, M. Tursini, L. Peretti, M. Zigliotto, “Speed measurement algorithms for low-resolution incremental encoder equipped drives: a comparative analysis,” in Proceedings of Electrical Machines and Power Electronics, 2007. ACEMP ‘07. International Aegean Conference on, vol. 1, no. 1, pp. 780 – 787, Sep., 2007.
[14] R. Petrella, y M. Tursini, “An Embedded System for Position and Speed Measurement Adopting Incremental Encoders,” IEEE Transactions on industry applications, vol. 44, no. 5, pp. 1436 – 1444, Sep. 2008.
[15] T. Tsuji, T. Hashimoto H. Kobayashi, M. Mizuochi, K. Ohnishi, “Wide-Range Velocity Measurement Method for Motion Control,” in IEEE Transactions on industrial electronics, vol. 56, no. 2, pp. 510 – 519, Feb., 2009.
[16] D. Rairán y J. Fonseca, “Algoritmo para la aproximación de la velocidad de giro de un eje mediante un encoder incremental,”en Revista Ingeniería y Universidad, vol. 17, no. 2, pp. 293–309, Sep., 2013.
[2] C. Negrea, V. Hayward, C.J. Chen, “An improved speed identification method using incremental encoder in electric drives,” in Proceedings of IEEE International Conference on Automation Quality and Testing Robotics (AQTR), pp. 536-540, 2012.
[3] J. Voldán, “Use encoder speed sensors for the calculation of torque moment,” in Proceedings of 13th International Carpathian Control Conference (ICCC), pp. 768-771, 2012.
[4] S. D’arco, L. Piegari y R. Rivo, “An Optimized Algorithm for Velocity Estimation Method for Motor Drives,” in Proceedings of Symposium on Diagnostics for Electric Machines, Power Electronics and Drivers, Atlanta, GA, USA, pp. 76 – 80, Ago., 2003.
[5] G. Liu, “On velocity estimation using position measurements,” in Proceedings of the 2002 American Control Conference, vol. 2, pp. 1115 – 1120, May., 2002.
[6] K. Hachiya y T. Ohmae, “Digital speed control system for a motor using two speed detection methods of an incremental encoder,” in Proceedings of Power Electronics and Applications, 2007 European Conference, pp. 1 – 10, Sep. 2007.
[7]J. Lygouras,T.P. Pachidis, K.N. Tarchanidis, V.S. Kodogiannis, “Adaptive High-Performance Velocity Evaluation Based on a High-Resolution Time-to-Digital Converter,” in IEEE Transactions on Instrumentation and measurement, vol. 57, no. 9, pp. 2035 – 2043, Sep. 2008.
[8] F. Janabi-Sharifi, V. Hayward, C.S.J. Chen, “Discrete-time adaptive windowing for velocity estimation,” Control Systems Technology, IEEE Transactions on, vol. 8, no. 6, pp. 1003 – 1009, Nov. 2000.
[9] M-F Benkhoris y M. Ait-Ahmed, “Discrete speed estimation from a position encoder for motor drives,” in Proceedings of Power Electronics and Variable Speed Drives, Sixth International Conference on (Conf. Publ. No. 429), pp. 283 – 287, 23-25, Sep. 1996.
[10] I.I. Incze, A. Negrea, M. Imecs, C. Szabó, “Error compensation methods in speed identification using incremental encoder,” Prceedings of Electrical and Power Engineering (EPE), International Conference and Exposition on, pp. 441 – 445, 25-27, Oct. 2012.
[11] L. Kerhuel, “Simulink block set embedded target for microchip devices,” 2012, [Online]. Available: http://www.kerhuel.eu/wiki/Simulink_-_Embedded_Target_ for_PIC
[12] R. Merry, R. Molengraft, y M. Steinbuch, “Error modeling and improved position estimation for optical incremental encoders by means of time stamping,” in Proceedings of the 2007 American Control Conference. New York City, USA, pp. 3570 – 3575, Jul., 2007.
[13] R. Petrella, M. Tursini, L. Peretti, M. Zigliotto, “Speed measurement algorithms for low-resolution incremental encoder equipped drives: a comparative analysis,” in Proceedings of Electrical Machines and Power Electronics, 2007. ACEMP ‘07. International Aegean Conference on, vol. 1, no. 1, pp. 780 – 787, Sep., 2007.
[14] R. Petrella, y M. Tursini, “An Embedded System for Position and Speed Measurement Adopting Incremental Encoders,” IEEE Transactions on industry applications, vol. 44, no. 5, pp. 1436 – 1444, Sep. 2008.
[15] T. Tsuji, T. Hashimoto H. Kobayashi, M. Mizuochi, K. Ohnishi, “Wide-Range Velocity Measurement Method for Motion Control,” in IEEE Transactions on industrial electronics, vol. 56, no. 2, pp. 510 – 519, Feb., 2009.
[16] D. Rairán y J. Fonseca, “Algoritmo para la aproximación de la velocidad de giro de un eje mediante un encoder incremental,”en Revista Ingeniería y Universidad, vol. 17, no. 2, pp. 293–309, Sep., 2013.
Published
2014-09-17
How to Cite
Rairán-Antolines, J., & Fonseca-Gómez, J. (2014). Implementation of an optimal algorithm for the estimation of angular speed in DSPICS. ITECKNE, 11(1), 41-49. https://doi.org/https://doi.org/10.15332/iteckne.v11i1.516
Issue
Section
Research and Innovation Articles
