Analysis and simulation of a novel speed estimation method based on oversampling and noise shaping techniques

Abstract

Angle measurement is widely used in the servo positioning and speed control of electrical drives, where optical encoders are employed as sensors and coupled to microcontrollers with complex peripherals to provide effective position and speed measurement methods. These methods can achieve high precision and fast response, but are not particularly efficient with computer resources and require high computational costs. Therefore, fast timers, encoder signal oversampling, and a complex post-processing algorithm are used together in a recent research work to achieve a high-precision speed estimation method. Our work will prove that encoder outputs share the oversampling and noise shaping properties typical of sigma-delta modulated signals if they are sampled regularly. Based on this, a new simple and accurate speed estimation method is proposed. Here, encoder outputs are synchronously sampled, differenced, and low-pass filtered. As a result, the speed estimation circuit and its interface with the control unit are greatly simplified, while high accuracy can be achieved. A detailed mathematical analysis of the proposed technique is also performed, and the results obtained are validated by means of a simulation environment using Matlab&Simulink.