There are three types of general speed measurement methods: M method, T method, and M/T method.
1. M Method:
(1) M method: open a time window, count the number of encoder pulses in this time window, the faster the speed, of course, the more pulses are counted for the time window.
(2) Angular velocity calculation: Angular velocity refers to the average angular velocity in a time window.
Angular velocity = K× number of pulses K is the constant coefficient
(3) Accuracy: If the number of pulses counted in the time window is N, and the maximum absolute error is 1 pulse, then the theoretical relative error = 1/N. One trick to reduce this error is to change it to N+0.5 if the number of pulses counted is N. The maximum error in this case = 1/2N.
(4) Features:
a. The larger the time window, the higher the accuracy, but the greater the pure delay caused by the measurement
b. Under the condition that the time window is unchanged, the slower the rotational speed, the greater the error.
2.T method:
(1) T method: The encoder pulse is used as the time window, and the number of pulses of the timer clock source is counted in this time window, which is commonly referred to as the capture method. The higher the speed, the shorter the encoder's time window and the smaller the number of pulses.
(2) Angular velocity: Angular velocity refers to the average angular velocity within a time window.
Angular velocity = K/N, where K is the constant factor
(3) Accuracy: Its maximum error is also a pulse. Relative error = 1/(N+1)
(4) Features: The lower the speed, the higher the accuracy, but the greater the pure delay caused by the measurement
3. M/T method:
(1) M/T method: This method is similar to the T method, but the difference is that the T method takes an encoder pulse as the time window, while the M/T method uses m encoder pulses as the time window to count the number of pulses of the timer clock source.
(2) Angular velocity: Angular velocity refers to the average angular velocity within a time window.
Angular velocity = Km/N, where K is the constant coefficient, m is the number of encoder pulses that make up the time window, and N is the number of timer clock source pulses that the time window counts.
(3) Features: Compared with the T method, the M/T method can improve the measurement accuracy at high speed, but the pure delay is increased accordingly.
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