Abstract

RAIRAN ANTOLINES, J. D. An optimal algorithm for estimating angular speed using incremental encoders. Ing. Investig. [online]. 2013, vol.33, n.2, pp.56-62. ISSN 0120-5609.

This paper proposes a new algorithm using signals from an incremental encoder for estimating a rotating shaft's speed. This algorithm eliminated the oscillations appearing in classical fixed-time and fixed-space algorithms, even when speed was constant. A fixed-time algorithm measures angular displacement at fixed-time intervals, while a fixed-space algorithm measures time every fixed-angular displacement. Time and displacement measurements were used to generate estimations for speed. The new algorithm generated a unique value for estimating speed due to synchronising encoder pulses and a signal formed by impulses every time increase (delta). A first modification of the proposed algorithm was defined, resulting in the harmonic mean between these two proposed alternatives having the smallest relative error possible. This error was always smaller than half the error with fixed-time and fixed-space algorithms. Experimental setup and algorithms are shown, as well as Simulink results using signals acquired from an incremental encoder.

Keywords : Fixed-space; fixed-time; incremental encoder; optimal algorithm; estimating speed; truncation error.

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