M/T method based incremental encoder velocity measurement error analysis and self-adaptive error elimination algorithm

For motor control applications, the speed loop performance is largely depended on the accuracy of speed feedback signal. M/T method, due to its high theoretical accuracy, is the most widely used in incremental encoder adopted speed measurement. However, the inherent encoder optical grating error and A/D conversion error make it hard to achieve theoretical speed measurement accuracy. In this paper, hardware caused speed measurement errors are analyzed and modeled in detail; a Single-Phase Self-adaptive M/T method is proposed to ideally suppress speed measurement error. In the end, simulation and experiment show the advantages and verify the validity of the proposed method.