Precise Velocity Control at Low Speed with a Low Resolution Encoder

저 분해능 엔코더를 사용한 정밀 속도 제어

This paper presents an effective method of precise velocity control at low speed with a low resolution encoder. Multirate observer to estimate the velocity at every DSP control period is used except a constant velocity mode. The observer corrects the estimation error when detects pulse signal. Unlike the conventional methods, the multirate estimator is stable at a low speed. However, the multirate estimator shows ripples at a constant velocity. Thus, in this paper we use a velocity prediction method which uses the present velocity from the previous average velocity to reject the ripple. In a summary, at a constant speed mode, the predicted velocity is used. Otherwise, the estimated velocity by the multirate obvserver is used. The effectiveness of the multirate observer and ripple rejection at low speed is verified through various simulations.