• Journal of Institute of Control, Robotics and Systems
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• v.21 no.6
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• pp.577-582
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• 2015

This paper proposes an efficient detection of absolute position of a robot joint using two incremental encoders. We considers a robot joint comprising a motor, a reducer, two encoders, and a motor drive. An incremental(first) encoder provides motor's rotor position or input position of reducer while another incremental(second) encoder does output position of the reducer. A table is made where the relationship between the first and the second encoder counts is recorded. The key point is placed where the table is constructed: when a pulse occurs in the second encoder, there exists a corresponding unique count value of the first encoder. The absolute position is detected using the table by searching the second encoder position corresponding to the first encoder count value when a pulse occurs in the second encoder. The proposed method needs a small rotation, as just one second encoder's pulse angle, for the initial absolute position detection.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.6
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• pp.55-61
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• 2008

Incremental encoder is a common choice for measuring the rotational angle of an axis. It produces, however, some measurement errors, if some kinds of rotational vibration are occurred. Even by increasing the number of slits on the circular peripheral, these kinds of error can not be removed. It only decreases the probability of the error being generated by making the magnitude of encoder resolution smaller than that of the axial vibration. This paper investigates the error mechanism of incremental encoder and suggests a digital logic circuit that prevents the measurement error to happen.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.27-28
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• 2007

• The Transactions of the Korean Institute of Power Electronics
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• v.10 no.3
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• pp.290-295
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• 2005

The incremental encoder has been mostly used to measure the speed and position of the motor. As the output signals of encoder are high frequency digital signals, they have much influence on radiation noises due to switching of the power semiconductor circuits. It is so difficult to suppress the noises with the conventional LPF. In this paper, the hardware digital filter for suppressing noises in the output signals of the encoder signals is developed. As both the clock frequency and counter in the digital filter for encoder are easily adjusted according to the kinds of noises, any noises in the encoder can be entirely eliminated. The performance of the digital filter has been verified by simulation and experimental results.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.1-4
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• 2001

SRM(Switched Reluctance Motor) uses reluctance torque by pulse excitation control. SRM drives are much studied in electrical vehicles and industrial application due to the simple, robust mechanical structure and high speed characteristics. For the high performance control of SRM, it is necessary to synchronize the stator phase excitation with the rotor position. This paper proposes a new encoder for high performance excitation control of SRM. The proposed encoder has complex structures of incremental and absolute encoder. An each phase inductance profile can be synchronized with 4-bit absolute position signal and incremental pulses are used for speed detection. Low cost and simple manufacturing of SRM encoder is possible.

• The Transactions of the Korean Institute of Power Electronics
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• v.18 no.6
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• pp.556-564
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• 2013

This paper proposes an initial rotor position detecting algorithm of a PM synchronous motor using an incremental encoder. The proposed algorithm estimates the phase offset between the rotor magnetic flux and the Z-pulse of the incremental encoder by applying six aligning mode current control. The absolute rotor position for driving a PM synchronous motor is calculated by using the phase offset of the Z pulse and A, B pulse signals of the encoder. The PMSM drives based on the estimated rotor position is applied to the elevator door system. The door length is measured on line at first setup of the elevator. The speed control for open, close, and reopen of the elevator door is also presented and the proposed algorithm for the elevator door system is verified by experiment.

• Proceedings of the KIEE Conference
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• 2001.07b
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• pp.1191-1193
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• 2001

In switched reluctance motor(SRM) drive, it is necessary to synchronize the stator phase excitation with the rotor position. Therefore, the rotor position information is essential. Usually, optical encoders or resolvers are used to provide the rotor position information. These sensors are expensive and are not suitable for high speed operation. This paper proposes a new encoder for high performance excitation control of SRM. The proposed encoder has complex structures of incremental and absolute encoder. An each phase inductance profile can be synchronized with 4-bit absolute position signal and incremental pulses are used for speed detection. Low cost and simple structure are possible.

• Proceedings of the KIPE Conference
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• 2012.11a
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• pp.21-22
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• 2012

This paper propose initial rotor position detecting algorithm of incremental encoder. The proposed algorithm estimates d-axis initial position of PMSM using 6 step operation. The proposed algorithm is verified by experimentally.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.82-88
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• 2009

The output of the encoder is a digital pulse, which is also easy to be connected to a digital controller. There are various angular velocity detecting methods of M, T, and M/T. Each of them has its own properties. There is a common limitation that the angular velocity detection period is strongly dependent on the destination velocity magnitude in case of ultimate low range. They have ultimately long detection period or cannot even detect angular velocity at near zero velocity. This paper proposes a zero velocity detectable sensor algorithm with the dual encoder system. The sensor algorithm is able to keep detection period moderately at near zero velocity and even detect zero velocity within nominal period. It is useful for detecting velocity in case of changing rotational direction at which there occurs zero velocity. In this paper, various experimental results are shown for the algorithm validity.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.183-188
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• 1996

In this paper, we propose a new method which estimates the initial position of a PM synchronous motor (PMSM) using an incremental ecoder. in cremental encoders are widely used in detecting rotor position since they are inexpensive. At starting procedure, however, the incremental encoders cannot give the information of the absolute rotor position. Hence, additional absolue encoder, which has $60^{\circ}C$ resolutio electrically, and signal lines called U, V, W, have been used in practical systems for starting injection of a high frequency test current. It does not require any additional information such as U, V, W signals for starting procedure and allows for cheap and simple implementation. Experimental results show that the proposed method can estimate the initial rotor positon with higher accuracy than the conventional method using U, V, W signals.