The algorithm proposed in this paper approaches to the angular speed by signals coming from an incremental encoder. This algorithm removes the oscillations that appear even at constant speed, when using the traditional algorithms, which are known as at fixed time and at fixed space. The key idea on the elimination of the oscillations is the synchronization between a signal every δ time and the pulses coming from the encoder. The most outstanding result in this paper says that the harmonic average between the output of the proposed algorithm and the output of a modification of this same algorithm turns out to have the smallest possible relative error. The relative error of the new algorithm is always smaller than half of what would be by using traditional algorithms, which shows that the algorithm is optimal. At the end of the article, and using real pulses from an encoder, some experiments were run in Matlab
Aproximación de la velocidad, encoder incremental, espacio fijo, promedio armónico, tiempo fijoApproximation of the speed, incremental encoder, fixed space, harmonic average, fixed time
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