On the compensation of incremental encoder imperfections for motion control: a DC motor case-study

Missie Aguado-Rojas (1) , William Pasillas-Lépine (2) , Antonio Loria (2) , Alexandre de Bernardinis (3, 4)

1 UNAM - Universidad Nacional Autónoma de México = National Autonomous University of Mexico
2 L2S - Laboratoire des signaux et systèmes
3 IFSTTAR/LTN - Laboratoire des Technologies Nouvelles
4 SATIE - Systèmes et Applications des Technologies de l'Information et de l'Energie

We address the problem of rotational velocity and acceleration estimation from incremental encoders in the presence of sensor imperfections. In the area of motion control, measurements of shaft velocity and acceleration are often affected by large disturbances with a period of one revolution that arise from sensor imperfections and degrade the performance of most closed-loop control algorithms. We present an algorithm to identify and remove such periodic perturbations online, without the need of error compensation look-up tables, and without assuming constant velocity. The proposed algorithm is evaluated via open-loop experimental tests, and its implementation in closed-loop control applications is investigated via numerical simulations through a DC motor case-study.

Keywords: Velocity and acceleration estimation; incremental encoders; periodic measurement noise; parameter estimation; DC motor; PI2D control; DC motor control

Domains: Automatic Control Engineering

Missie Aguado-Rojas, William Pasillas-Lépine, Antonio Loria, Alexandre de Bernardinis. On the compensation of incremental encoder imperfections for motion control: a DC motor case-study. 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018, Jun 2018, Guadalajara, Mexico. pp.627-632, ⟨10.1016/j.ifacol.2018.07.350⟩. ⟨hal-01753313⟩