S. Valiviita et O. Vainio, Delayless differentiation algorithm and its efficient implementation for motion control applications, IEEE INSTR, 48(5), 1999, pp. 967-971
Citations number
15
Categorie Soggetti
Instrumentation & Measurement
Journal title
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
Acceleration feedback can improve the performance of motion control in moto
r drives. Acceleration control is, however, seldom implemented in practical
drive systems due to the unsatisfactory results of most acceleration measu
rement methods, In this paper, we introduce an finite impulse response (FIR
) filter-based algorithm which makes it possible to differentiate polynomia
l-like velocity signals with optimal white noise attenuation. The proposed
filter does not delay the acceleration signal but, instead, the prediction
step can be freely adjusted to compensate for various delays in the physica
l implementation. Our differentiator can be implemented recursively so that
the amount of multiplications and additions required does not depend on th
e filter length. The performance of the new algorithm is evaluated by apply
ing it to a simulated motion control application.