<![CDATA[The Incremental Rotary Encoder have been widely used to measure the angular speed of electrical drive 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 condition such as in low resolution encoder. There are two main methods to measure the angular speed of PMDCM through encoder signal such as frequency-based and period-based wich has its own properties. Hence in this reseach aimed to improve the angular speed measurement with hybridization of frequency and period-based measurement. The Hybrid method is defined as paralleling the period and frequency then estimated the angular speed using sensor fusion with Kalman Filter. The experiment is doing by comparing of all method to get the best way in measuring. From the experimental showed that the Kalman filter parameter was fine tuned that resulting the sensor fusion or the mixed measurement between the frequency-based and the period based measure the angular speed accurately.]]>
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