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Small-signal modeling of the incremental optical encoder for motor control
Vazquez Gutierrez, Yeny; O'Sullivan, Dara L.; Kavanagh, Richard C.
The small-signal model of the incremental optical encoder introduced in this paper provides an insight on the impact of this sensor in the dynamics of the motion control loop of a motor drive. The model is derived and validated for the most commonly employed speed estimation methods: the pulse count and elapsed time methods. Using the model, the reduction of the phase margin due to the encoder phase lag can be quantified at an early design stage. This model facilitates the design of control techniques to compensate for the phase margin reduction due to the associated feedback delays.
Keyword(s): Optical pulses; Estimation; Optical sensors; Motor drives; Delays; Clocks; Optical feedback; Control design; Incremental optical encoder; Dynamics; Small-signal model; Low resolution encoder; Low speed; Motor
Publication Date:
2019
Type: Journal article
Peer-Reviewed: Yes
Language(s): English
Institution: University College Cork
Citation(s): Gutierrez, Y. V., Sullivan, D. L. O. and Kavanagh, R. C. (2019) 'Small-signal modeling of the incremental optical encoder for motor control', IEEE Transactions on Industrial Electronics, In Press, doi: 10.1109/TIE.2019.2916307
Publisher(s): Institute of Electrical and Electronics Engineers (IEEE)
File Format(s): application/pdf
Related Link(s): https://ieeexplore.ieee.org/document/8718015
First Indexed: 2019-08-27 06:31:33 Last Updated: 2019-11-05 06:32:47