Cart (Loading....) | Create Account
Close category search window
 

Computationally Efficient Adaption of the Window Size of Discrete Position Differentiators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Dietrich, F. ; Inst. of Machine Tools & Production Technol., Tech. Univ. Braunschweig, Braunschweig, Germany ; Maass, J. ; Raatz, A.

Digital motion control requires precise and low-noise velocity information. Since this velocity information must be calculated from position encoders in each control cycle, time efficiency of these algorithms is a very important design goal. Additionally, it is required that these algorithms operate over wide ranges of both velocity and acceleration. Model-based feedback observers fulfill these requirements for many applications but in some cases they, for various reasons, cannot be formulated. Various applications have been presented in which adaptive filters are applied to overcome the compromises of fixed-length filters. However, it remains desirable to improve the performance of these methods especially in regions of very low velocity and to lower the computation time. This paper presents a new algorithm for the adaption of the window size of differentiator algorithms and a novel criterion for the velocity estimation. This criterion is used to take the dependence between the system's acceleration and the velocity estimation error into account. The properties are studied in simulations and compared to other differentiation techniques. Additionally, results from experiments with a 6-degree-of-freedom servohydraulic Stewart-Gough platform equipped with the new velocity estimation scheme are presented and compared to the performance of concurrent algorithms.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:18 ,  Issue: 4 )

Date of Publication:

Aug. 2013

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.