Design and Implementation of Velocity Estimators for Motor Velocity Control

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

研究成果: Conference contribution

摘要

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.

原文English
主出版物標題2018 International Automatic Control Conference, CACS 2018
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781538662786
DOIs
出版狀態Published - 2019 一月 9
事件2018 International Automatic Control Conference, CACS 2018 - Taoyuan, Taiwan
持續時間: 2018 十一月 42018 十一月 7

出版系列

名字2018 International Automatic Control Conference, CACS 2018

Conference

Conference2018 International Automatic Control Conference, CACS 2018
國家Taiwan
城市Taoyuan
期間18-11-0418-11-07

All Science Journal Classification (ASJC) codes

  • Control and Optimization
  • Modelling and Simulation

指紋 深入研究「Design and Implementation of Velocity Estimators for Motor Velocity Control」主題。共同形成了獨特的指紋。

引用此