Design and Implementation of Velocity Estimators for Motor Velocity Control

Shou Ming Sheng, Yan Siun Li, Ming-Tzu Ho

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper studies the problems of design and implementation of velocity estimators for motor velocity control. In practice, most servomotors use the encoder to measure the position of the motor and then use the conventional differential algorithm, dividing the displacement between two sampling points by the sampling time, to obtain the velocity for feedback control. However, this way can result in serious noise amplification. In this study, velocity estimators are used to solve this problem. This paper compares three velocity estimators including PI Servo-loop velocity estimator, Levant differentiator, and Kalman filter. First, MATLAB/Simulink are used to simulate these velocity estimation algorithms. For further validation, these velocity estimation algorithms are simulated and tested with the actual motor position signals. In experiments, the estimators are implemented on a digital signal processor (TMS320F28335) from Texas Instruments. As a result, the Kalman filter outperforms the other velocity estimators in velocity control.

Original languageEnglish
Title of host publication2018 International Automatic Control Conference, CACS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538662786
DOIs
Publication statusPublished - 2019 Jan 9
Event2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan
Duration: 2018 Nov 42018 Nov 7

Publication series

Name2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
CountryTaiwan
CityTaoyuan
Period18-11-0418-11-07

Fingerprint

Velocity control
Estimator
Kalman filters
Estimation Algorithms
Kalman Filter
Sampling
Servomotors
Design
Digital signal processors
Digital Signal Processor
MATLAB
Feedback control
Amplification
Matlab/Simulink
Encoder
Feedback Control

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modelling and Simulation

Cite this

Sheng, S. M., Li, Y. S., & Ho, M-T. (2019). Design and Implementation of Velocity Estimators for Motor Velocity Control. In 2018 International Automatic Control Conference, CACS 2018 [8606755] (2018 International Automatic Control Conference, CACS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CACS.2018.8606755
Sheng, Shou Ming ; Li, Yan Siun ; Ho, Ming-Tzu. / Design and Implementation of Velocity Estimators for Motor Velocity Control. 2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (2018 International Automatic Control Conference, CACS 2018).
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abstract = "This paper studies the problems of design and implementation of velocity estimators for motor velocity control. In practice, most servomotors use the encoder to measure the position of the motor and then use the conventional differential algorithm, dividing the displacement between two sampling points by the sampling time, to obtain the velocity for feedback control. However, this way can result in serious noise amplification. In this study, velocity estimators are used to solve this problem. This paper compares three velocity estimators including PI Servo-loop velocity estimator, Levant differentiator, and Kalman filter. First, MATLAB/Simulink are used to simulate these velocity estimation algorithms. For further validation, these velocity estimation algorithms are simulated and tested with the actual motor position signals. In experiments, the estimators are implemented on a digital signal processor (TMS320F28335) from Texas Instruments. As a result, the Kalman filter outperforms the other velocity estimators in velocity control.",
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Sheng, SM, Li, YS & Ho, M-T 2019, Design and Implementation of Velocity Estimators for Motor Velocity Control. in 2018 International Automatic Control Conference, CACS 2018., 8606755, 2018 International Automatic Control Conference, CACS 2018, Institute of Electrical and Electronics Engineers Inc., 2018 International Automatic Control Conference, CACS 2018, Taoyuan, Taiwan, 18-11-04. https://doi.org/10.1109/CACS.2018.8606755

Design and Implementation of Velocity Estimators for Motor Velocity Control. / Sheng, Shou Ming; Li, Yan Siun; Ho, Ming-Tzu.

2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8606755 (2018 International Automatic Control Conference, CACS 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Sheng SM, Li YS, Ho M-T. Design and Implementation of Velocity Estimators for Motor Velocity Control. In 2018 International Automatic Control Conference, CACS 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8606755. (2018 International Automatic Control Conference, CACS 2018). https://doi.org/10.1109/CACS.2018.8606755