Ultra-low speed control of servomotor using low resolution rotary encoder
Shin Sakai, Yoichi Hori · 1995
Using the instantaneous speed observer, we achieved high performance speed control of a servomotor even if the rotary encoder has only a small number of pulses. But the speed observer still has some problem at very low speed, like 10 rpm or so. We made some improvement on the processing of encoder pulses to keep its performance still high even at sub-rpm region.