Improving Incremental Encoder Measurement: Variable Acquisition Window and Quadrature Phase Compensation to Minimize Acquisition Errors

• Type: Article in International Conference Proceedings Book
• Date: 2022

Authors

Lima, J (Author) Other; Pinto, VH (Author) FEUP; António Paulo Moreira (Author) FEUP; Paulo Gomes da Costa (Author) FEUP

Conference proceedings International

Title: IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2022, Santa Maria da Feira, Portugal, April 29-30, 2022

Pages: 118-123

Indexing

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Other information

Authenticus ID: P-00W-RJQ

DOI: 10.1109/icarsc55462.2022.9784766

Abstract (EN): Motion control is an important task in several areas, such as robotics where the angular position and speed should be acquired, usually with encoders. For slow angular speeds, an error is introduced spoiling the measurement. In this paper there will be proposed two new methodologies, that when combined allow to increase the precision whereas reducing the error, even on transient velocities. The two methodologies Variable Acquisition Window and a Quadrature Phase Compensation are addressed and combined simultaneously. A real implementation of the proposed algorithms is performed on a real hardware, with a DC motor and a low resolution encoder based on hall effect. The results validate the proposed approach since the errors are reduced compared with the standard Quadrature Encoder Reading.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6