A Shaft Angular Velocity Estimation Method Based on Position Interpolation
A speed estimation and axis angle technology, applied in the field of photoelectric detection, can solve the problems of difficult axis angle measurement sensor angular velocity, high angular rate noise, difficult to use, etc., to improve gain, reduce phase lag, and have broad application prospects. Effect
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[0020] The speed estimation method based on position interpolation, through interpolation within the interval of the speed measurement timer, accurately captures the moment when the minimum resolution bit of the code disc changes, and uses the difference formula of enhanced speed estimation to obtain the shaft angular speed with higher speed resolution and phase lag, Improve the tracking performance of the speed loop, thereby improving the tracking accuracy of the optical axis of the optically stabilized platform. It mainly involves three aspects:
[0021] 1) Capture the moment of position change. The FPGA is used to trigger the signal edge of the position change, the counter of the FPGA is recorded as zero, and counting is started. The counting interval can be set according to the range of the speed to be estimated, generally set at the level of hundreds of ns to μs.
[0022] 2) Time interval calculation. When the signal edge of the second position change occurs, the FPGA c...
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