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Disturbance Torque and Motion State Estimation With Low-Resolution Position Interfaces Using Heterodyning Observers

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2 Author(s)
Tod R. Tesch ; Controls & Software Dev., Siemens VDO, Dearborn, MI ; Robert D. Lorenz

This paper assesses and analyzes a harmonic vector modeling method for reducing disturbance torque and motion state estimation error using quantized input measurements of position. There is a finite resolution available for any digital interface, and quantization will always be present in some form. Although it is not possible to completely reconstruct a quantized measured state, it is possible to attenuate deterministic quantization characteristics. The discussed method models quantized position feedback as a spatially rotating vector consisting of fundamental and harmonic components. The error mitigation strategy involves decoupling these spatial quantization harmonics from the actual fundamental position, using heterodyning tracking observer topologies.

Published in:

IEEE Transactions on Industry Applications  (Volume:44 ,  Issue: 1 )