A Study on Ultra Precise Position Control of Servomotor using Analog Quadrature Encoder

정현파 엔코더를 이용한 서보전동기 초정밀 위치 제어에 관한 연구

This paper describes the ultra precise position estimation of a servomotor using sinusoidal encoder based on Arcsine Interpolation Method. The amplitude and offset errors of the sinusoidal encoder output signals are effectively compensated and on-line tuned by utilizing a low cost programmable differential amp without any special expensive equipments. To theoretically evaluate the practical resolution of this system, the relationship between the amplitude of A/D converter input signal errors and the anticipated resolution is briefly dealt with. The performance of the proposed method is verified by the experiments, by comparing it with position and speed control characteristics of the servomotor driving system using a digital incremental 50,000ppr encoder.