Noise Suppression and Fault Tolerance Method of Redundant Angle Sensors Based on Resolver Tracking Estimator for Servo System

To address the issue of angle measurement noise caused by shaft assembly vibration, parameter mismatches in decoding circuit components, and electromagnetic interference which degrade the pointing accuracy of space optical pointing and tracking servo system, a measurement noise suppression method of angle sensor based on resolver tracking estimator is proposed in this paper. First, the angle measurements with abrupt jumps between 360° and 0° at the zero-crossing are collected from redundant angle sensors, and a strategy is proposed to convert discontinuous signals into continuous ones. Second, a phase discriminator is adopted to acquire the phase error between the estimated and input signals. Combined with a phase-locked loop, the phase of the estimated signal is adjusted for signal tracking and angle estimation. Third, a reconstruction method for the estimator is presented to improve system reliability under sensor failure conditions. Finally, experimental results verify that the proposed method can effectively enhance the pointing accuracy and dynamic tracking capability of servo systems in noisy environments, and it possesses good hardware adaptability.