摘  要：该文研究了电机伺服系统中低分辨率增量编码器超低速测量问题。详细分析了周期测、频率法利用编码器脉冲计算超低转速时的分辨率及绝对误差，给出了影响转速测量的影响因素。低速测量时，窗口时间增大，滞后效应明显，根据伺服系统脉冲响应，估算了低速测量时滞后时间对系统稳定性的影响，得到了稳定运行区域。实际伺服系统中，常用频率法和周期法的综合测量时，给出了两种测量算法切换点及测试结果，并对测量得结果进行了试验研究。
关键词：窗口时间；增量编码器；计数器脉冲；编码器脉冲

Abstract: In this paper, the ultra-low speed measurement problems were investigated using on the lower resolution incremental encoders. The resolution and error were analyzed based on frequency measurement and period measurement, and the factors were given that influencing the speed measurements. In the very low speed region, the lag time was long with the calculating window time extended, and the stability of the servo system was deteriorated because of this lagging time. The stability area of the servo system was given basing on the frequency response. In practice, the mixed M and T methods were used to satisfy the low and high-speed calculation. Given the switching frequency point between the two methods, and the result was analyzed basing on experiments.
Key words: window time; incremental encoder; counter pulse; encoder pulse