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1、AnEmbeddedSystemforPositionandSpeedMeasurementAdoptingIncrementalEncodersMarcoFaccio,PaoloGrande,FrancescoParasiliti,RobertoPetrella,MarcoTursiniDepartmentofElectricalEngineering,UniversityofL'AquilaMontelucodiRoio,L'Aquila,I-67040,Italyfaccio@ing.univaq.it,pao.gra@i
2、nwind.it,rock@ing.univaq.it,petrella@ing.univaq.it,tursini@ing.univaq.itAbstract-Thispaperpresentsanembeddeddigitalsystemforbededicatedtothosetwotasks,whichcanberelativelyincrementalencodersallowingforhighdynamicperformancecomplexand/ortimeconsuming.Sometimesaddition
3、alandaccuracyspeedmeasurementinalltheoperatingconditionshardware,e.g.afieldprogrammablegatearrayorafortheapplicationindigitalservodrives.Theideaaimsatprogrammablelogicdevice,isadoptedatservodriveleveltoembeddingprocessingcapabilitiesinsidetraditionalpositionprovideah
4、igheraccuracyandbandwidthspeedmeasure,alsotransducersinordertodevelopasmartmeasuringsystem.Thereducingtheoverallprocessingrequirementsforthedrivebaseprocessingalgorithmemploysanovelmixedtimeandcontroller.frequencymeasurementtechniqueoftheencodersignals.Theiterativefo
5、rmulationofthealgorithmandthelimitedhardwareWhenincrementalencodersareconsideredaspositionrequirementsallowsitsimplementationbymeansofastandardtransducers,theavailableoutputsignalsarenormallyprovidedmicrocontroller(e.g.TMS320F24x)orbydedicatedhardware.asdifferentialp
6、airsinordertoallowareliabletransmissionCommunicationbetweenthesmartsensorandtheservodrivesisthroughthecommunicationlink,thuscompensatingforthepreliminaryrealisedviahigh-speedserialperipheralinterface.effectsofacertainlevelofcommonmodenoiseenteringintothetransmissionp
7、ath.AsthetransmittedsignalscontainnoKeywords:incrementalencoders,measurements,embeddedcodingandredundancyinformation,anytransmissionerrorsystems,smartsensor.willresultininformationlossandpossibleproblemsinthemotorcontroltask.I.INTRODUCTIONPositionandrotorspeedarerequ
8、iredforhighperformanceTheideawhichisproposedinthispaperaimsatembeddingservodrivesystems,whererotaryincrementalencoderissomeprocessi
