基于光电编码器的小车测速系统设计中 文 摘 要针对增量式光电式编码器的研究，主要是因为其的一些特征，如价格低廉、抗干扰能力强以及输出稳定等，因此其在很多的数字的伺服控制能得到大量的应用。为了能够测得小车的速度，传统方式主要是“M”、“T”两种方法，但是这两种测速方法不能对于小车的整个阶段进行速度测量，并且“M/T”在对于小车低速进行测量时不能实时测量。因此本文为了解决此问题，提出一种新卡尔曼滤波的“M/T”高精度动态实时测速法。此测速方法能够很好得对于小车进行实时测速，其特点计算便捷、精度高、输出稳定等等。通过仿真和试验得出：基于新的“M/T”法对于小车速度测量能够进行实时测量同时精度更高，对于以后研究光电式编码器测速能够有很好得应用价值。关键词：卡尔曼滤波、增量式编码器、动态速度估计、高精度测量、变“M/T”法ABSTRACTABSTRACTThe research of incremental photoelectric encoder is mainly due to its low price, strong anti-jamming ability and stable output, so it can be used in a lot of digital servo control. In order to measure the speed of the car, the traditional methods are mainly "M" and "T", but these two methods can't measure the speed of the car in the whole stage. And the "M" can not be measured in real-time when the car is measured at low speed. In order to solve this problem, this paper proposes a new Kalman filter high-precision dynamic real-time velocity measurement method. This method can be used to measure the velocity. Good enough for the real-time speed measurement of the car, its characteristics of convenient calculation, high precision, stable output and so on. The results of simulation and experiment show that the new method can be used to measure the vehicle velocity in real time and the accuracy is higher, which can be applied to the future study of the photoelectric encoder speed measurement. The results show that the new method can be used to measure the speed of the vehic...
