一個簡單提升解析度的速度估測法則 A simple velocity estimation method for micromouse

在電腦鼠的製作過程中，運動控制是很重要的一個部分。
Motion control is a very important part for a micromouse.

以下是一個利用兩個積分器，速度回授，以及位置控制做出來的一個簡單提升解析度的速度估測法則(與傳統差分法的比較)。
The following is a simple but effective velocity estimation method with 2 integrators, velocity feedback, and position control for micormouse to increase resolution beyond difference traditional difference method.

以下圖形中，是拿編碼器所提供的整數形態位置脈波數作為伺服控制中的命令，然後取出以回授估測位置為輸出的積分器之輸入信號作為速度的估測值與傳統差分法的比較。
The following figure show the comparison of the proposed method and the traditional difference method for velocity estimation by using position values obtained from encoders as an input command for a servo control loop.  The input signal of an integrator whose output is used as estimated position values is treated as the estimated velocity.

上面的兩個圖形，是直接使用編碼器所提供的整數形態位置脈波數作為伺服控制中的命令的結果，而下面的兩個圖形，則是先將編碼器所提供的整數形態位置脈波數放大8倍後，再作為伺服控制中的命令的結果。
The top 2 plots show the results of no scaling of encoder inputs, which means no fractional part is kept in the calculation when implementing the algorithm.  The lower plots shows the results of using 3 digits to represent the fractional part during calculation.

可以看出保留小數部分，可以得到更好的結果。
It is clearly seen the superiority of the results which kept fractional part during calculation.