A Hybrid Method to Estimate Velocity and Acceleration using Low-Resolution Optical Incremental Encoders

Date

2010-09-10

Author

Baser, Ozgur
Kilic, Ergin
Konukseven, Erhan İlhan
Dölen, Melik

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

150
views

0
downloads

Accurate velocity and acceleration estimates are required for model-reduced disturbance compensation in motion and force control applications. Such paradigms mostly rely on the position measurements of optical incremental encoders that are known to suffer from the quantization effects introduced by these devices (and their accompanying interfaces). Fixed-time (FT) and fixed-position (FP) methods are used to estimate velocity and acceleration from the quantized position signal. Using Field Programmable Gate Arrays (FPGAs) with high-frequency clock (timing) sources can reduce the effect of temporal quantization and improve the estimation performance of FP methods. However, it has low resolution for acceleration estimation especially at high frequencies and causes an impulsive change of acceleration estimation when the direction of motion dynamically changes. On the other hand, as one of the FT methods, adaptive windowing estimation method yields the best solution for the problematic cases of FP method. These two methods can be rolled into a single technique by applying parametric smooth transition in order to estimate velocity and acceleration for entire operating region. This paper presents a hybrid velocity and acceleration estimation method using low resolution incremental encoder, which can be implemented by a FPGA.

URI

https://hdl.handle.net/11511/52840

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

A model for predicting vertical component peak ground acceleration (PGA), peak ground velocity (PGV), and 5% damped pseudospectral acceleration (PSA) for Europe and the Middle East Ertuğrul, Zehra; Kale, Ozkan; SANDIKKAYA, MUSTAFA ABDULLAH (2017-07-01) In this study, we present a ground-motion model for the vertical component of peak ground acceleration, peak ground velocity, and 5% damped pseudo acceleration response spectra at periods ranging from 0.01 to 4 s. The vertical model is based on the ground-motion models previously developed for the horizontal component and vertical-to-horizontal ratio of ground motion by Akkar et al. (Bull Earthq Eng 12:359-387, 2014a; 517-547, 2014b) rather than on an independent regression analysis of strong-motion data av...
A Mechanistic Model for Predicting Frictional Pressure Losses for Newtonian Fluids in Concentric Annulus SORGUN, MEHMET; Ozbayoglu, M. E. (Informa UK Limited, 2010-01-01) A mathematical model is introduced estimating the frictional pressure losses of Newtonian fluids flowing through a concentric annulus. A computer code is developed for the proposed model. Also, extensive experiments with water have been conducted at Middle East Technical University, Petroleum and Natural Gas Engineering Department Flow Loop and recorded pressure drop within the test section for various flow rates. The performance of the proposed model is compared with computational fluid dynamics (CFD) soft...
A microslip friction model with normal load variation induced by normal motion Ciğeroğlu, Ender; Menq, Chia-Hsiang (2007-11-01) A two-dimensional microslip friction model with normal load variation induced by normal motion is presented in this paper. The model is a distributed parameter model, which characterizes the stick-slip-separation of the contact interface and determines the resulting friction force, including its time variance and spatial distribution, between two elastic structures. When the relative motion is simple harmonic motion, the stick-slip-separation transition angles associated with any point in the contact area c...
A First-Order Linear Model for the Estimation of Detonation Velocity Türker, Burhan Lemi (Informa UK Limited, 2011-01-01) A linear multivariable model has been derived for the estimation of detonation velocity. Then, its two simplified forms, first-order linear models, have been proposed as estimators of detonation velocities of a large population of explosives having different skeletal structures. Then, the models are analyzed mathematically and regression equations are obtained and discussed. The first model possesses two independent variables E/M and density, whereas the second one is based on E/M only. The total energy (E)...
A measurement of the ratio of the W and Z cross sections with exactly one associated jet in pp collisions at root s=7 TeV with ATLAS Aad, G.; et. al. (Elsevier BV, 2012-02-28) The ratio of production cross sections of the W and Z bosons with exactly one associated jet is presented as a function of jet transverse momentum threshold. The measurement has been designed to maximise cancellation of experimental and theoretical uncertainties, and is reported both within a particle-level kinematic range corresponding to the detector acceptance and as a total cross-section ratio. Results are obtained with the ATLAS detector at the LHC in pp collisions at a centre-of-mass energy of 7 TeV u...

Citation Formats

O. Baser, E. Kilic, E. İ. Konukseven, and M. Dölen, “A Hybrid Method to Estimate Velocity and Acceleration using Low-Resolution Optical Incremental Encoders,” 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/52840.