Velocity Estimation by Using Position and Acceleration Sensors

@article{citeulike:2871290, abstract = {Knowledge of velocity is crucial to certain industrial applications involving high-bandwidth modeling and control. In conventional approaches, the velocities obtained from encoders or tachometers are quite noisy, and low-pass filters are usually engaged to generate usable velocity signals. The low-pass filter, however, causes significant phase lag that can severely affect both modeling and control accuracy in the mid- and high-frequency ranges. In this paper, two approaches using a combination of an encoder and an imperfect accelerometer are proposed to estimate velocities with high bandwidth. The two approaches, namely the two-channel approach and the observer-based approach, estimate velocities by applying proper frequency weightings to the encoder and accelerometer signals. The encoder mainly contributes to the low-frequency components of velocity estimation, and the accelerometer mainly contributes to the high-frequency components of velocity estimation. An adaptive mechanism for estimating the accelerometer gain is also presented. The effectiveness of the two velocity estimation approaches is verified experimentally with respect to a one-degree-of-freedom robot performing both rigid contact modeling and control. Extension to 3-D applications is discussed.}, author = {Zhu, Wen-Hong and Lamarche, T. }, booktitle = {Industrial Electronics, IEEE Transactions on}, citeulike-article-id = {2871290}, doi = {http://dx.doi.org/10.1109/TIE.2007.899936}, journal = {Industrial Electronics, IEEE Transactions on}, keywords = {algorithms, robotics, sensors}, number = {5}, pages = {2706--2715}, posted-at = {2008-06-07 15:13:53}, priority = {3}, title = {Velocity Estimation by Using Position and Acceleration Sensors}, url = {http://dx.doi.org/10.1109/TIE.2007.899936}, volume = {54}, year = {2007} }

TY - JOUR ID - citeulike:2871290 L3 - citeulike-article-id:2871290 TI - Velocity Estimation by Using Position and Acceleration Sensors T2 - Industrial Electronics, IEEE Transactions on JF - Industrial Electronics, IEEE Transactions on VL - 54 IS - 5 SP - 2706 EP - 2715 N2 - Knowledge of velocity is crucial to certain industrial applications involving high-bandwidth modeling and control. In conventional approaches, the velocities obtained from encoders or tachometers are quite noisy, and low-pass filters are usually engaged to generate usable velocity signals. The low-pass filter, however, causes significant phase lag that can severely affect both modeling and control accuracy in the mid- and high-frequency ranges. In this paper, two approaches using a combination of an encoder and an imperfect accelerometer are proposed to estimate velocities with high bandwidth. The two approaches, namely the two-channel approach and the observer-based approach, estimate velocities by applying proper frequency weightings to the encoder and accelerometer signals. The encoder mainly contributes to the low-frequency components of velocity estimation, and the accelerometer mainly contributes to the high-frequency components of velocity estimation. An adaptive mechanism for estimating the accelerometer gain is also presented. The effectiveness of the two velocity estimation approaches is verified experimentally with respect to a one-degree-of-freedom robot performing both rigid contact modeling and control. Extension to 3-D applications is discussed. KW - algorithms KW - robotics KW - sensors AU - Zhu, Wen-Hong AU - Lamarche, T PY - 2007/// UR - http://dx.doi.org/10.1109/TIE.2007.899936 ER -