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[publication]
Isabel Vergara,
"Position encoder chip for SinCos encoder".
Master's thesis,
Advanced Learning and Research Institute, Faculty of Informatics, University of Lugano,
Lugano, Switzerland,
September
2009
.
| Abstract | Because of the high precision requirements on today's position feedbacks mechanisms, traditional position transducer solutions based on incremental encoders or resolvers are being replaced by sinusoidal encoders which offer higher resolution for position and speed. Digital quadrature encoders represent a simple and convenient way to encode incremental motion and direction, and they are generally economical. However, in applications requiring high resolution, they become expensive and have the problem of bandwidth limitation; alternative solutions as laser interferometers are expensive as well. For this reason, people are often using encoders that output two sinusoidal signals in quadrature (SinCos) and apply an interpolation scheme in order to decode greater resolution at lower costs. The technique used to track the position can have a significant impact on the achieved position resolution and accuracy. The goal of this project is to study and implement an efficient DSP architecture for position computation from the raw data given by a Sinusoidal encoder. Some interpolation techniques are studied and in particular, a calibration method is implemented in order to correct gain and offset measurement errors. The developed architecture has been integrated as a SoC co-processor and tested on the ALTERA NIOS-II SOPC rapid-prototyping where it's a peripheral of the CPU connected through the Avalon system bus. |
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