Delayless differentiation algorithm and its efficient implementation for motion control applications

Acceleration feedback can improve the performance of motion control in motor drives. Acceleration control is, however, seldom implemented in practical drive systems due to the unsatisfactory results of most acceleration measurement methods. In this paper, we introduce a finite impulse response (FIR) filter-based algorithm which makes it possible to differentiate polynomial-like velocity signals with optimal white noise attenuation. The proposed filter does not delay the acceleration signal but, instead, the prediction step can be freely adjusted to compensate for various delays in the physical implementation. Our differentiator can be implemented recursively so that the amount of multiplications and additions required does not depend on the filter length. The performance of the new algorithm is evaluated by applying it to a simulated motion control application.