| Abstract |
In motion control drives, the motor rotation speed measurement is generally obtained by means of an
incremental encoder with a limited number of counts per revolution. The encoder furnishes a shaft
position measure; therefore, to obtain a speed measure a derivative operation is needed. As
consequence, especially at lower speeds, the rotation speed measure results rather noisy and a suitable
filter must be used to reduce the noise.
The paper deals with the problems connected to the realization of such a filter on a fixed point DSP
controller. In particular, a stationary Kalman filter, easily realizable on a digital microcontroller, is
carried out; this filter reduce the measurement noise to acceptable values and it can also provides an
acceptable estimation of the acceleration. |
