Calculating Minimum Angle for a Rotary Encoder on a Rotary Inverted Pendulum

[yasmean]

1. Homework Statement
I am a student and am about to start my first year mechatronics shortly..i have been asked to research a few things on rotary encoders (incremental) and was wondering if one could help me understand how to calculate the smallest possible angle that can be measured by a rotary encoder of a rotary inverted pendulum based on the resolution of the encoder

Homework Equations

this is what i'd like to know

The Attempt at a Solution

none

 

[lippyka]

A rotary encoder measures the angle of rotation by counting the number of pulses generated by its internal sensors. The resolution of the encoder is determined by the number of pulses per revolution that it can detect. The smallest possible angle that can be measured by a rotary encoder is determined by the ratio of the number of pulses per revolution to the total range of motion of the rotary inverted pendulum. For example, if the rotary inverted pendulum has a range of motion of 360 degrees and the encoder has a resolution of 1000 pulses per revolution, then the smallest angle that can be measured is 0.36 degrees.

 

[kerimek]

[/b]

Hello! It's great that you are starting your journey in mechatronics and are already researching rotary encoders. To calculate the minimum angle that can be measured by a rotary encoder for a rotary inverted pendulum, you will need to consider the resolution of the encoder and the mechanical setup of the pendulum.

The resolution of an encoder is typically given in pulses per revolution (PPR) or counts per revolution (CPR). This value represents the number of pulses or counts that the encoder produces in one full rotation. To calculate the minimum angle, you will need to divide 360 degrees by the PPR or CPR. For example, if your encoder has a resolution of 1024 PPR, the minimum angle that can be measured is 360/1024 = 0.3515625 degrees.

However, this calculation assumes that the encoder is perfectly aligned with the rotation axis of the pendulum and that there is no mechanical backlash or play in the system. In reality, there may be some misalignment or play, which can affect the accuracy of the measurement. In this case, it is important to consider the mechanical setup and make adjustments to ensure the best possible measurement accuracy.

I hope this helps you understand how to calculate the minimum angle for a rotary encoder on a rotary inverted pendulum. Best of luck in your studies!