Analysis of algorithms for velocity estimation from discrete position versus time data

• Published in: IEEE transactions on industrial electronics (1982) Vol. 39; no. 1; pp. 11 - 19
• Main Authors: Brown, R.H., Schneider, S.C., Mulligan, M.G.
• Format: Journal Article
• Language: English
• Published: New York, NY IEEE 01-02-1992; Institute of Electrical and Electronics Engineers
• Subjects: Algorithm design and analysis; Applied sciences; Computer errors; Computer science; control theory; systems; Control theory. Systems; Delay estimation; Exact sciences and technology; Least squares approximation; Modelling and identification; Motion control; Optical filters; Sampling methods; Taylor series; Time measurement; Velocity measurement; Computer simulation; Feedback system; Least squares method; Estimation; Series expansion; Taylor series; Discrete system; Velocity; Algorithm analysis
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/41.121906

Algorithms for constructing velocity approximations from discrete position versus time data are investigated. The study is limited to algorithms suitable to provide velocity information in discrete-time feedback control systems such as microprocessor-based systems with a discrete position encoder. Velocity estimators based on lines per period, reciprocal-time, Taylor series expansion, backward difference expansions, and least-square curve fits are presented. Based on computer simulations, comparisons of relative accuracies of the different algorithms are made. The least-squares velocity estimators filtered the effect of imperfect measurements best, whereas the Taylor series expansions and backward difference equation estimators respond better to velocity transients.< >