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ABSTRACTABSTRACTTheresearchonincrementalphotoelectricencoderismainlyduetoitscharacteristicssuchaslowprice,stronganti-interferenceabilityandstableoutput,soitcanbewidelyusedinmanydigitalservocontrol.Inordertobeabletomeasurethespeedofthecar,thetraditionalmethodsaremainly"M"and"T".However,thesetwospeedmeasurementmethodscannotmeasurethespeedofthecarinthewholestage,and"M/T"cannotmeasurethespeedofthecarinrealtimewhenmeasuringthelowspeedofthecar.Therefore,inordertosolvethisproblem,thispaperproposesanew"M/T"high-precisiondynamicreal-timevelocitymeasurementmethodbasedonKalmanfilter.Thisspeedmeasuringmethodcanmeasurethespeedofthecarinrealtime.Itscharacteristicsareconvenientcalculation,highprecision,stableoutput,etc.Throughsimulationandexperiment,itisconcludedthatthenew"M/T"methodcanbeusedforreal-timemeasurementofcarspeedandhashigheraccuracy,whichhasgoodapplicationvalueforfutureresearchonphotoelectricencoderspeedmeasurement.Keywords:Kalmanfilter;incrementalencoder;dynamicvelocityestimation;highprecisionmeasurement;variable"M/T"methodⅡABSTRACT目录第一章绪论...........................................................................................................................11.1研究的背景以及研究意义...........................................................................................11.2国内外研究现状与发展趋势.......................................................................................11.3研究内容以及论文框架...............................................................................................2第二章增量式光电编码器原理及常见的测速方法...............................................................42.1增量式光电编码器原理...............................................................................................42.1.1增量式光电编码器基本构造及特点................................................................42.1.2增量式光电编码器的作用原理........................................................................52.1.3增量式光电编码器的基本技术规格................................................................62.2常见的测速方法与对比分析.......................................................................................72.2.1定时测角法(“M”法)..........................................................................................82.2.2定角测时法(“T”法)...........................................................................................82.2.3“M/T”法.............................................................................................................92.2.4常见变“M/T”法............................................................................
