We address the problem of rotational velocity and acceleration estimation from incremental encoders in the presence of sensor imperfections, with a particular orientation toward automotive applications such as traction and brake control. In this area, measurements of the wheel speed and acceleration are often affected by large disturbances with a period of one revolution that arise from sensor imperfections and degrade the performance of most control designs. We present an algorithm to identify and remove such periodic perturbations online, without the need of error compensation look-up tables, and without assuming constant velocity. Experimental tests prove that the method is able to greatly reduce the impact of perturbations without introducing an important phase lag, as opposed to the results obtained using a notch filter.

中文翻译：

---

在汽车应用中使用不完美的增量编码器进行加速度估算

我们解决了存在传感器缺陷的情况下，增量编码器的旋转速度和加速度估算问题，尤其是针对汽车应用（例如牵引力和制动控制）的定位。在该区域中，车轮速度和加速度的测量结果经常受到传感器故障的影响而产生的大扰动，旋转周期为一圈，这会降低大多数控制设计的性能。我们提出了一种在线识别和消除这种周期性扰动的算法，而无需误差补偿查询表，并且无需假设恒定速度。实验测试证明，与使用陷波滤波器获得的结果相反，该方法能够在不引入重要相位滞后的情况下极大地减少扰动的影响。