This paper addresses the measurement of the wheel angular velocity of wheeled vehicles. The wheel angular velocity measurement is often aected by large periodic disturbances. The paper proposes a model of the origin of that disturbance: even a small oset in the positioning of the encoder can cause large, velocity dependent noise. After having shown that the periodic term is indeed a noise and not part of the actual signal, an adaptive notch filter is discussed. Lyapunov theory is employed to prove the quadratic stability of the time-variant lter. An analysis of both simulation and experimental tests supports the analysis and methods.
On the Periodic Noise Affecting Wheel Speed Measurement
PANZANI, GIULIO;CORNO, MATTEO;SAVARESI, SERGIO MATTEO
2012-01-01
Abstract
This paper addresses the measurement of the wheel angular velocity of wheeled vehicles. The wheel angular velocity measurement is often aected by large periodic disturbances. The paper proposes a model of the origin of that disturbance: even a small oset in the positioning of the encoder can cause large, velocity dependent noise. After having shown that the periodic term is indeed a noise and not part of the actual signal, an adaptive notch filter is discussed. Lyapunov theory is employed to prove the quadratic stability of the time-variant lter. An analysis of both simulation and experimental tests supports the analysis and methods.File | Dimensione | Formato | |
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periodic_noise_wheel_speed.pdf
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