Paper Info
Title
Low Speed Control Of Pmac Servo System Based On Reduced-Order Observer
Abstract
Incremental encoders are popular for detecting angular position and speed. However, the conventional incremental encoder-based methods for estimating speed are prone to poor performance at low speed where the encoder output rate is correspondingly low, leading to a number of research efforts in improved low-speed detection algorithms. To improve speed control performance, a speed detection method based on reduced-order observer is presented in this paper. The observer can interpolate speed and position which is the integration of speed and compared with real data from the encoder when the encoder pulse is detected between encoder pulses. Furthermore, inertia identification based on recursive extended least square algorithm is presented to reduce sensitivity of the speed estimation. Experimental results show that low speed control performance using the reduced-order order is superior to that of conventional one.
Year
DOI
Venue
2006
10.1109/IROS.2006.282445
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12
Keywords
Field
DocType
PMAC servo systein, low speed control, reduced-order observer, inertia identification
Angular displacement,Rotary encoder,PMAC,Synchronous motor,Computer science,Control theory,Control engineering,Encoder,Servomechanism,Observer (quantum physics),Electronic speed control
Conference
Citations 
PageRank 
References 
0
0.34
3
Authors
6
Name
Order
Citations
PageRank
Shuai Yan111.36
Dianguo Xu229237.51
Gaolin Wang310416.33
Ming Yang421.06
Yong Yu505.07
Xianguo Gui6253.09