Small-signal modeling of the incremental optical encoder for motor control

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Date
2019-05-17
Authors
Vazquez Gutierrez, Yeny
O'Sullivan, Dara L.
Kavanagh, Richard C.
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Institute of Electrical and Electronics Engineers (IEEE)
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Abstract
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.
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Keywords
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
Citation
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
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