A novel accelaration estimation algorithm based on Kalman filter and adaptive windowing using low-resolution optical encoder

Optical incremental encoder is extensively used in motion control to obtain position or/and velocity information. The calculation of velocity from finite discrete position pulses inherently will produce lots of noise that seriously affects the performance of servo derive system. Based on the analysis of mechanism of velocity measurement, a novel acceleration estimation algorithm is proposed by combining the Kalman filter (KF) and adaptive windowing (AW) technology together. Firstly, a revised single-dimensional KF is used to estimate the instantaneous velocity. Secondly, an AW technology is used to estimate the rotor acceleration according to the output of KF. During the estimation of acceleration, a first-order function is adopted to fit the input velocity. Accurate acceleration information is obtained by minimizing the estimation error of estimated velocity and instantaneous velocity based on AW algorithm. Simulation results are shown to demonstrate the effectiveness of the proposed methods.