Characterization of Extreme Low-Resolution Digital Encoder for Control System with Sinusoidal Reference Signal
Low-resolution digital encoder (LRDE) is commonly adopted as a position sensor in low-cost and resource-constraint applications. Traditionally, a digital encoder is modeled as a quantizer without considering the initial position of the LRDE. However, it cannot be applied to extreme LRDE for which stroke of angular motion is only a few times of resolution of the encoder. Besides, the actual angular motion is substantially distorted by this extreme LRDE so that the encoder reading does not faithfully represent the actual angular motion. This paper presents a modeling method for extreme LRDE by taking into account the initial position of the LRDE. For a control system with sinusoidal reference signal and extreme LRDE, this paper analyzes the characteristics of angular motion. Specifically, two descriptors of sinusoidal angular motion are studied, which essentially sheds light on the actual angular motion from extreme LRDE.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1130285Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 456
 N. Hagiwara, Y. Suzuki, and H. Murase, “A method of improving the resolution and accuracy of rotary encoders using a code compensation technique,” IEEE Trans. Instrumentation and Measurement, vol. 41, no. I , pp. 98-101, Feb. 1992.
 K.K. Tan, H.X. Zhou, T.H. Lee, “New interpolation method for quadrature encoder signals,” IEEE Trans. Instrumentation and Measurement, 51 (2002), pp. 1073–1079.
 J. R. R. Mayer, “High resolution of rotary encoder analog quadrature signals,” IEEE Trans. Instrumentation and Measurement, vol. 43, no. 3, pp. 82–89, Jun.1994.
 T.A.C. Verschuren, “Extracting more accurate position and velocity estimations using time stamping”, Bachelor’s Thesis, Eindhoven, June 23, 2006.
 R.C. Kavanagh, J.M. Murphy, “The effects of quantization noise and sensor non-ideality on digital differentiator-bases rate measurement”, IEEE Trans. Instrumentation and Measurement, vol. 47, no. 6, pp. 1457–1463, Jun.1998.
 J. J. Abbott and A. M. Okamura, “Effects of position quantization and sampling rate on virtual-wall passivity”, IEEE Trans. Robotics, vol. 21, no. 5, pp.952 - 964 , 2005.
 Diolaiti, N., Niemeyer, G., Barbagli, F. and Salisbury, K. (2006), “Stability of haptic rendering: quantization, discretization, time-delay and Coulomb effects,” IEEE Transactions on Robotics, vol. 22, no. 2, pp. 256–268, 2006.
 Renat Iskakov, etc, “Influence of sensor quantization on the control performance of robotics actuators.” Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, Oct 29 - Nov 2, 2007.
 Z. Zhang and N. Olgac, An Adaptive Control Method for Ros-Drill cellular Microinjector with Low-resolution Encoder, Journal of Medical Engineering, vol. 2013, Article ID 418068, 11 pages, 2013.
 Z. Zhang and N. Olgac, Adaptive Gain Scheduling for Rotationally Oscillating Drill (Ros-Drill), with Low-Resolution Feedback, International Journal of Mechatronics and Manufacturing Systems, vol. 6, Nos. 5/6, 2013.
 Z. Zhang, N. Olgac and Q. Gao, An Effective Algorithm to Achieve Accurate Sinusoidal Amplitude Control with an Extremely Low-resolution Encoder, Advanced Intelligent Mechatronics, 2017, submitted for publication.