中国电机工程学报2011，Vol.31Issue(9)：82-87,6.
基于磁编码器的伺服电机速度及位置观测器设计
Design of Angular Velocity and Position Observer for Servo Motors With Magnetic Encoders
摘要
Abstract
Magnetic encoder was a kind of rotary sensors based on magnetoresistance effects or Hall effects, and it could output two orthogonal signals which were sine or cosine functions of the rotor angular position. In order to obtain the rotor angular position and velocity information, a state-observer-based algorithm was presented to demodulate output signals of the magnetic encoder. Theoretical analysis showed that both the second-order state observer and the third-order one could make the demodulation error converge to zero asymptotically when the motor rotated under constant speed. Once the motor speed varied uniformly, the demodulation error of the former algorithm would exist bias in principle and the latter still could converge to zero asymptotically. Comparing with the arc-tangent method, this algorithm could obtain angular velocity information without needing differential operator, thus had a strong ability to suppress random disturbances. Comparing with the phase-locked loop tracking method, this algorithm could obtain angular position and velocity with higher precision since the variation of the motor speed was taken into consideration. Experimental results indicated that the demodulation algorithm present above was feasible.关键词
伺服电机/磁编码器/状态观测器/位置检测分类
信息技术与安全科学引用本文复制引用
吴忠,吕绪明..基于磁编码器的伺服电机速度及位置观测器设计[J].中国电机工程学报,2011,31(9):82-87,6.基金项目
国家自然科学基金项目(60775051,10772011). （60775051,10772011）
