Abstract：Precise speed measurement is very important for motor control system. To address the issue of low

measurement accuracy at low speeds when performing fixed-point calculations in incremental encoder，an

improved method for speed measurement at low-speed ranges was proposed. According to the calculation

characteristics of the fixed-point system，an adaptive coefficient calculation method was proposed，which can

reduce the speed measurement error in low-speed section and reduce the calculation load of embedded chip. For the phenomenon of "step" that the speed value remains unchanged in low-speed section，the methods of speed-down additional-sampling and smooth-processing were adopted to ensure the accurate and smooth of the speed，which specially make the speed closer to the actual ideal curve during the process of motor increase and decrease. The effectiveness of the control method proposed was verified by simulation and experiment.

        Key words：incremental encoder；low-speed section speed measurement；M/T method；motor control system

     Format Citation:王明玥，金书辉，张策,等. 增量式编码器低速段测速改进方法[J].电气传动,2026,56(09):3-8. WANG Mingyue，JIN Shuhui，ZHANG Ce,et al. An improved method for measuring speed of incremental encoder in low-speed section [J].Electric Drive, 2026,56(09):3-8