Hybrid frequency and period-based for angular speed measurement of DC motor using kalman filter

The Incremental Rotary Encoder has been widely used to measure the angular speed of electrical drives such as Permanent Magnet Direct Current Motor (PMDCM). Nevertheless, speed measurement of PMDCM from the encoder signals can be subject to errors in some special conditions, such as in a lowresolution encoder. There are two main methods to measure the angular speed of PMDCM through encoder signal, such as frequency-based and periodbased, which has their properties. Hence, this research aimed to improve the angular speed measurement with frequency and period-based measurement hybridization. The Hybrid Method is defined as paralleling the period and frequency and then estimating the angular speed using sensor fusion with Kalman Filter. The experiment is done by comparing all Methods to get the best way to measure. The experiment showed that the Kalman filter parameter was fine-tuned resulting from the sensor fusion or the mixed measurement between the frequency-based and the period-based measure of the angular speed accurately.