CA2458779C - Current driver employing pulse-width modulation - Google Patents
Current driver employing pulse-width modulation Download PDFInfo
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- CA2458779C CA2458779C CA002458779A CA2458779A CA2458779C CA 2458779 C CA2458779 C CA 2458779C CA 002458779 A CA002458779 A CA 002458779A CA 2458779 A CA2458779 A CA 2458779A CA 2458779 C CA2458779 C CA 2458779C
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- 239000000654 additive Substances 0.000 claims abstract description 79
- 230000000996 additive effect Effects 0.000 claims abstract description 79
- 239000003990 capacitor Substances 0.000 claims description 31
- 230000001105 regulatory effect Effects 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 26
- 238000005070 sampling Methods 0.000 claims description 22
- 230000003247 decreasing effect Effects 0.000 claims description 17
- 230000007423 decrease Effects 0.000 claims description 9
- 238000005259 measurement Methods 0.000 claims description 9
- 238000007599 discharging Methods 0.000 claims description 5
- 230000010354 integration Effects 0.000 abstract description 19
- 238000012937 correction Methods 0.000 description 13
- 230000008859 change Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
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- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000006731 degradation reaction Methods 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
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- 238000012552 review Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
- G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of dc power input into dc power output
- H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
- H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
- H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
- H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with digital control
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Electromagnetism (AREA)
- Radar, Positioning & Navigation (AREA)
- Feedback Control In General (AREA)
- Dc-Dc Converters (AREA)
- Control Of Electrical Variables (AREA)
- Magnetically Actuated Valves (AREA)
Abstract
A current driver capable of generating a controlled current in the form of a pulse- width modulation (PWM) signal suitable for controlling an electronic device such as a solenoid is disclosed. The current driver has a feedback loop incorporating a dual-slope integrator. During an integration phase, which has a duration of one or more PWM periods, the dual-slope integrator integrates a signal indicative of the current flowing through the device. During a de-integration phase, the time required for the integrated signal to discharge at a known rate is measured. The measured time and integration phase duration are used to determine average output current. Any error between the measured and desired average output current is corrected by way of a multiplicative corrective factor or an additive corrective factor. The integration and de-integration phases may occur during alternating PWM periods.
Description
CURRENT DRIVER EMPLOYING PULSE-WIDTH MODULATION
FIELD OF THE INVENTION
The present invention relates to a current driver which provides a controlled current suitable for controlling an electronic device such as a solenoid. More particularly the present invention relates to current driver which provides a controlled current in the form of a pulse-width modulation (PWM) signal.
lo BACKGROUND OF THE INVENTION
Control systems capable of generating an electronic pulse-width modulation signal for controlling electronic devices are well known. Such systems are commonly employed to control solenoids which are used to open and close valves in hydraulic systems.
When an electronic device is controlled through PWM, correction of the output PWM
signal may be necessary, either due to fluctuations in power supply voltage or due to fluctuations in the inductance and resistance of the electronic device resulting from changes in temperature and valve spool position. This correction is commonly achieved through feedback control of the output PWM signal.
Feedback control is typically performed by determining average current flow through the electronic device, comparing the measured average current to a desired value, and adjusting the duty cycle of the PWM signal appropriately if the average current differs from the desired value.
Disadvantageously, and as will be described later in greater detail, both the manner in which the average current is determined and the manner in which the measured average current is compared to the input value may introduce error or delay into the output PWM
signal.
Average current is typically determined by passing a voltage proportional to the current flowing through the device through an RC circuit which serves as a low-pass filter. The low-pass filter "smooths" the voltage to a DC value. Two problems may result from the use of such a low-pass filter. First, the output of the low pass filter can still have an AC
component, resulting in a measured average current which fluctuates over time.
The measured average current may therefore be erroneous depending upon the exact moment in time at which the value is sampled. Secondly, because the RC circuit introduces lag, a delay will exist between any input adjustments and a resultant change in the output PWM
signal. Moreover, this delay will be variable depending upon the PWM signal frequency.
This is due to the fact that the RC circuit has a fixed cut-off frequency.
When the output PWM frequency is changed, the number of degrees out-of-phase between the input signal and the output signal will also change.
Comparison of the measured average current (i.e. output of the low-pass filter) to the input value is typically performed using a proportional-integral (PI) error amplifier. This component also disadvantageously introduces a delay between any input adjustments and resultant output PWM signal changes.
What is needed is a solution which addresses at least some of these difficulties.
SUMMARY OF THE INVENTION
A current driver capable of generating a controlled current in the form of a pulse-width modulation signal suitable for controlling an electronic device such as a solenoid is disclosed. The current driver has a feedback loop incorporating a dual-slope integrator.
During an integration phase, which may have a duration of one or more PWM
periods, the dual-slope integrator may integrate a signal indicative of the current flowing through the device. During a de-integration phase, the time required for the integrated signal to discharge at a known rate may be measured. The measured time and integration phase duration may be used to determine average output current. Any error between the measured and desired average output current may be corrected by way of a multiplicative corrective factor or an additive corrective factor. The integration and de-integration phases may occur during alternating PWM periods, such that correction of average output current may be initiated within two PWM periods of the occurrence of measurable error.
FIELD OF THE INVENTION
The present invention relates to a current driver which provides a controlled current suitable for controlling an electronic device such as a solenoid. More particularly the present invention relates to current driver which provides a controlled current in the form of a pulse-width modulation (PWM) signal.
lo BACKGROUND OF THE INVENTION
Control systems capable of generating an electronic pulse-width modulation signal for controlling electronic devices are well known. Such systems are commonly employed to control solenoids which are used to open and close valves in hydraulic systems.
When an electronic device is controlled through PWM, correction of the output PWM
signal may be necessary, either due to fluctuations in power supply voltage or due to fluctuations in the inductance and resistance of the electronic device resulting from changes in temperature and valve spool position. This correction is commonly achieved through feedback control of the output PWM signal.
Feedback control is typically performed by determining average current flow through the electronic device, comparing the measured average current to a desired value, and adjusting the duty cycle of the PWM signal appropriately if the average current differs from the desired value.
Disadvantageously, and as will be described later in greater detail, both the manner in which the average current is determined and the manner in which the measured average current is compared to the input value may introduce error or delay into the output PWM
signal.
Average current is typically determined by passing a voltage proportional to the current flowing through the device through an RC circuit which serves as a low-pass filter. The low-pass filter "smooths" the voltage to a DC value. Two problems may result from the use of such a low-pass filter. First, the output of the low pass filter can still have an AC
component, resulting in a measured average current which fluctuates over time.
The measured average current may therefore be erroneous depending upon the exact moment in time at which the value is sampled. Secondly, because the RC circuit introduces lag, a delay will exist between any input adjustments and a resultant change in the output PWM
signal. Moreover, this delay will be variable depending upon the PWM signal frequency.
This is due to the fact that the RC circuit has a fixed cut-off frequency.
When the output PWM frequency is changed, the number of degrees out-of-phase between the input signal and the output signal will also change.
Comparison of the measured average current (i.e. output of the low-pass filter) to the input value is typically performed using a proportional-integral (PI) error amplifier. This component also disadvantageously introduces a delay between any input adjustments and resultant output PWM signal changes.
What is needed is a solution which addresses at least some of these difficulties.
SUMMARY OF THE INVENTION
A current driver capable of generating a controlled current in the form of a pulse-width modulation signal suitable for controlling an electronic device such as a solenoid is disclosed. The current driver has a feedback loop incorporating a dual-slope integrator.
During an integration phase, which may have a duration of one or more PWM
periods, the dual-slope integrator may integrate a signal indicative of the current flowing through the device. During a de-integration phase, the time required for the integrated signal to discharge at a known rate may be measured. The measured time and integration phase duration may be used to determine average output current. Any error between the measured and desired average output current may be corrected by way of a multiplicative corrective factor or an additive corrective factor. The integration and de-integration phases may occur during alternating PWM periods, such that correction of average output current may be initiated within two PWM periods of the occurrence of measurable error.
In accordance with an aspect of the present invention there is provided a method of providing a controlled current to an electronic device, the electronic device being a solenoid, comprising: producing a pulse-width modulation (PWM) signal to provide the current; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current, the PWM signal having a user-configurable frequency; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring.
In accordance with still another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a user interface for setting a frequency of the PWM signal; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; and a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, the electronic device being a solenoid, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current, the PWM signal having a user-configurable frequency; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring.
In accordance with still another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a user interface for setting a frequency of the PWM signal; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; and a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, the electronic device being a solenoid, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause the computing device to: (a) set a frequency of the PWM signal based on user input; (b) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device;
and (c) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring, wherein the measuring an average of the current results in a measured average current and wherein the setting a duty cycle comprises: comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, the duty cycle being computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is less than the desired average current, increasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring, wherein the measuring an average of the current results in a measured average current and wherein the setting a duty cycle comprises: comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, the duty cycle being computed by 3a scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is greater than the desired average current, decreasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current; and an error calculator for comparing the measured average current to an input value representing a desired average current and for calculating an error value based on the comparing, wherein the duty cycle calculator calculates the duty cycle by scaling the input value by a scalar and adding an additive factor, the scaling and adding resulting in a calculated duty cycle, and wherein, if the error value indicates that the measured average current is less than the desired average current, the duty cycle calculator increases the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current; and an error calculator for comparing the measured average current to an input value representing a desired average current and for calculating an error value based on the comparing, wherein the duty cycle calculator calculates the duty cycle by scaling the input value by a scalar and adding an additive factor, the scaling and adding resulting in a calculated duty cycle, and wherein, if the error value indicates that the measured average current is greater than the desired average current, the duty cycle calculator decreases the additive factor by a first fixed amount.
3b In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current, wherein (b) comprises:
comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, wherein the duty cycle is computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is less than the desired average current, increasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current, wherein (b) comprises:
comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, wherein the duty cycle is computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is greater than the desired average current, decreasing the additive factor by a first fixed amount.
Other aspects and features of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying figures.
3c BRIEF DESCRIPTION OF THE DRAWINGS
In the figures which illustrate example embodiments of this invention:
FIG. 1 is schematic diagram illustrating a known control system for generating a PWM
signal;
3d FIG. 2 is a schematic diagram illustrating a current driver for generating a PWM signal exemplary of the present invention;
FIG. 3 is another schematic diagram illustrating the current driver of FIG. 2 in which certain components are shown in greater detail;
FIG. 4 contains signal diagrams showing voltages at various points in the current driver of FIGS. 2 and 3 during system operation;
lo FIG. 5 is a flowchart illustrating operation of the current driver of FIGS.
2 and 3; and FIGS. 6 and 7 illustrate transfer functions of digitized input voltage to PWM
signal duty cycle.
DETAILED DESCRIPTION
FIG. 1 illustrates a known closed-loop control system 10 for generating a pulse-width modulation signal. The control system 10 has an input 11 and an output 34. The input 11 is for connection to a DC voltage which represents a desired average output current setting. The output 34 provides a generated PWM signal for driving an external electronic device, such as a solenoid 18, which signal has an average current that is proportional to the input DC voltage.
Control system 10 includes a triangular waveform generator 12 and a comparator 14.
These two components are used to generate the output PWM signal. More specifically, the output of the triangular waveform generator 12 serves as one input to the comparator 14.
The other input to the comparator 14 is a signal representative of error between desired output current (i.e. the voltage applied to input 11) and measured output current. The error value is a DC voltage whose level is between the maximum and minimum voltage of the triangular waveform. Depending on the value of the DC voltage, the comparator 14 will output a PWM signal with a duty cycle between 0% and 100%. The generated PWM
signal is fed through a power transistor (not shown) for output at output 34.
and (c) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring, wherein the measuring an average of the current results in a measured average current and wherein the setting a duty cycle comprises: comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, the duty cycle being computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is less than the desired average current, increasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a method of providing a controlled current to an electronic device, comprising: producing a pulse-width modulation (PWM) signal to provide the current; measuring an average of the current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of the pulse-width modulation signal based, at least in part, on the measuring, wherein the measuring an average of the current results in a measured average current and wherein the setting a duty cycle comprises: comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, the duty cycle being computed by 3a scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is greater than the desired average current, decreasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current; and an error calculator for comparing the measured average current to an input value representing a desired average current and for calculating an error value based on the comparing, wherein the duty cycle calculator calculates the duty cycle by scaling the input value by a scalar and adding an additive factor, the scaling and adding resulting in a calculated duty cycle, and wherein, if the error value indicates that the measured average current is less than the desired average current, the duty cycle calculator increases the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a system for providing a controlled current to an electronic device, comprising: a pulse-width modulation (PWM) signal generator for providing the current; a dual-slope integrator for use in measuring an average current supplied to the electronic device, the measuring resulting in a measured average current; a duty cycle calculator for calculating a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current; and an error calculator for comparing the measured average current to an input value representing a desired average current and for calculating an error value based on the comparing, wherein the duty cycle calculator calculates the duty cycle by scaling the input value by a scalar and adding an additive factor, the scaling and adding resulting in a calculated duty cycle, and wherein, if the error value indicates that the measured average current is greater than the desired average current, the duty cycle calculator decreases the additive factor by a first fixed amount.
3b In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current, wherein (b) comprises:
comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, wherein the duty cycle is computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is less than the desired average current, increasing the additive factor by a first fixed amount.
In accordance with another aspect of the present invention there is provided a computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause the computing device to: (a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of the pulse-width modulation signal based, at least in part, on the measured average current, wherein (b) comprises:
comparing the measured average current to an input value representing a desired average current; and regulating the duty cycle of the pulse-width modulation signal based on the comparing, wherein the duty cycle is computed by scaling the input value by a multiplicative factor and adding an additive factor, and wherein the regulating comprises, if the comparing indicates that the measured average current is greater than the desired average current, decreasing the additive factor by a first fixed amount.
Other aspects and features of the present invention will become apparent to those ordinarily skilled in the art upon review of the following description of specific embodiments of the invention in conjunction with the accompanying figures.
3c BRIEF DESCRIPTION OF THE DRAWINGS
In the figures which illustrate example embodiments of this invention:
FIG. 1 is schematic diagram illustrating a known control system for generating a PWM
signal;
3d FIG. 2 is a schematic diagram illustrating a current driver for generating a PWM signal exemplary of the present invention;
FIG. 3 is another schematic diagram illustrating the current driver of FIG. 2 in which certain components are shown in greater detail;
FIG. 4 contains signal diagrams showing voltages at various points in the current driver of FIGS. 2 and 3 during system operation;
lo FIG. 5 is a flowchart illustrating operation of the current driver of FIGS.
2 and 3; and FIGS. 6 and 7 illustrate transfer functions of digitized input voltage to PWM
signal duty cycle.
DETAILED DESCRIPTION
FIG. 1 illustrates a known closed-loop control system 10 for generating a pulse-width modulation signal. The control system 10 has an input 11 and an output 34. The input 11 is for connection to a DC voltage which represents a desired average output current setting. The output 34 provides a generated PWM signal for driving an external electronic device, such as a solenoid 18, which signal has an average current that is proportional to the input DC voltage.
Control system 10 includes a triangular waveform generator 12 and a comparator 14.
These two components are used to generate the output PWM signal. More specifically, the output of the triangular waveform generator 12 serves as one input to the comparator 14.
The other input to the comparator 14 is a signal representative of error between desired output current (i.e. the voltage applied to input 11) and measured output current. The error value is a DC voltage whose level is between the maximum and minimum voltage of the triangular waveform. Depending on the value of the DC voltage, the comparator 14 will output a PWM signal with a duty cycle between 0% and 100%. The generated PWM
signal is fed through a power transistor (not shown) for output at output 34.
The feedback portion of the control system 10 includes a sampling resistor 22, an RC
circuit 24 comprising a resistor 26 and capacitor 28, and an error amplifier 30. The sampling resistor 22 provides a voltage proportional to (i.e. following) the current flowing through device 18. The RC circuit 24, which serves as a low-pass filter, receives this fluctuating input voltage and smooths it to a DC value representing the average output current of control system 10. The error amplifier 30 is a proportional-integral amplifier which compares the smoothed average current from RC circuit 24 to the input voltage and generates an error signal based on any discrepancy between the two.
As indicated above, both the manner in which the average current is measured and the manner in which the measured average current is compared to the input value in control system 10 may result in error or delay in the output PWM signal.
In particular, when RC circuit 24 is used to measure average current, the measured value can still have an AC component. This fluctuation propagates though error amplifier 30 to comparator 14. As a result, the duty cycle of the generated PWM signal may erroneously fluctuate.
Moreover, lag introduced by RC circuit 24 will result in a delay between any input voltage adjustments and the resultant change in the output PWM signal.
Disadvantageously, the delay will be variable depending upon the current PWM signal frequency. Also, the "integral" aspect of proportional-integral error amplifier 30 will also yield a delay between any input adjustments and resultant output PWM signal changes.
Referring to FIG. 2, a pulse-width modulation current driver 50 exemplary of an embodiment of the present invention is illustrated. The current driver 50 has an input 52 and an output 82. The input 52 is for connection to a variable DC voltage, as may be generated by a potentiometer for example. The output 82 provides a generated PWM
signal suitable for driving an electronic device, such as a solenoid 62. The generated PWM signal has an average current proportional that is to the input DC
voltage.
The current driver 50 is made up of various modules and components, including:
an analog-to-digital (A/D) converter 54; a duty cycle calculator 56; a PWM
generator 58; a PWM trigger generator 60; a sampling resistor 64; a dual-slope integrator 70;
switches 66 and 68; a comparator 76; and an error calculator 78.
A/D converter 54 converts the DC voltage applied to input 52 into a digital value. The A/D converter 54 may for example be a 10-bit A/D converter which converts input voltages to a number from 0 to 1023. The number output by the A/D converter 54 is referred to herein as the "digitized input voltage". As will be appreciated, the input voltage and digitized input voltage both represent a desired average output current.
Duty cycle calculator 56 is a module which receives the digitized input voltage output by the A/D converter 54 and generates therefrom a number representative of a duty cycle of 0% to 100%. The number is computed according to the following equation:
y = ax + b (1) where "y" is the number representative of a duty cycle of 0% to 100%, "x" is the digitized input voltage, "a" is a multiplicative corrective factor and "b" is an additive corrective factor.
As will be appreciated, the values "a" and "b" of equation (1) are used to correct the duty cycle in the event that the measured average output current differs from the desired average output current. The multiplicative corrective factor "a" is used for more substantial corrections while the additive corrective factor "b" is used for comparatively subtle corrections. The magnitude of factors "a" and "b' is determined by the degree of difference or "error" between the measured average output current and the desired average output current, which is received by the duty cycle calculator 56.
The precision of the output number "y" of equation (1), which is represented as a digital value as will be described, is based upon the number of bits used to represent "y". For 3o example, in the case where "y" is represented using a 16-bit word, "y" will range from 0 to 65,535; a unit increase in "y" would thus correspond to an increase in duty cycle of approximately 0.0015%. The value "y" is referred to as the "duty cycle scalar".
circuit 24 comprising a resistor 26 and capacitor 28, and an error amplifier 30. The sampling resistor 22 provides a voltage proportional to (i.e. following) the current flowing through device 18. The RC circuit 24, which serves as a low-pass filter, receives this fluctuating input voltage and smooths it to a DC value representing the average output current of control system 10. The error amplifier 30 is a proportional-integral amplifier which compares the smoothed average current from RC circuit 24 to the input voltage and generates an error signal based on any discrepancy between the two.
As indicated above, both the manner in which the average current is measured and the manner in which the measured average current is compared to the input value in control system 10 may result in error or delay in the output PWM signal.
In particular, when RC circuit 24 is used to measure average current, the measured value can still have an AC component. This fluctuation propagates though error amplifier 30 to comparator 14. As a result, the duty cycle of the generated PWM signal may erroneously fluctuate.
Moreover, lag introduced by RC circuit 24 will result in a delay between any input voltage adjustments and the resultant change in the output PWM signal.
Disadvantageously, the delay will be variable depending upon the current PWM signal frequency. Also, the "integral" aspect of proportional-integral error amplifier 30 will also yield a delay between any input adjustments and resultant output PWM signal changes.
Referring to FIG. 2, a pulse-width modulation current driver 50 exemplary of an embodiment of the present invention is illustrated. The current driver 50 has an input 52 and an output 82. The input 52 is for connection to a variable DC voltage, as may be generated by a potentiometer for example. The output 82 provides a generated PWM
signal suitable for driving an electronic device, such as a solenoid 62. The generated PWM signal has an average current proportional that is to the input DC
voltage.
The current driver 50 is made up of various modules and components, including:
an analog-to-digital (A/D) converter 54; a duty cycle calculator 56; a PWM
generator 58; a PWM trigger generator 60; a sampling resistor 64; a dual-slope integrator 70;
switches 66 and 68; a comparator 76; and an error calculator 78.
A/D converter 54 converts the DC voltage applied to input 52 into a digital value. The A/D converter 54 may for example be a 10-bit A/D converter which converts input voltages to a number from 0 to 1023. The number output by the A/D converter 54 is referred to herein as the "digitized input voltage". As will be appreciated, the input voltage and digitized input voltage both represent a desired average output current.
Duty cycle calculator 56 is a module which receives the digitized input voltage output by the A/D converter 54 and generates therefrom a number representative of a duty cycle of 0% to 100%. The number is computed according to the following equation:
y = ax + b (1) where "y" is the number representative of a duty cycle of 0% to 100%, "x" is the digitized input voltage, "a" is a multiplicative corrective factor and "b" is an additive corrective factor.
As will be appreciated, the values "a" and "b" of equation (1) are used to correct the duty cycle in the event that the measured average output current differs from the desired average output current. The multiplicative corrective factor "a" is used for more substantial corrections while the additive corrective factor "b" is used for comparatively subtle corrections. The magnitude of factors "a" and "b' is determined by the degree of difference or "error" between the measured average output current and the desired average output current, which is received by the duty cycle calculator 56.
The precision of the output number "y" of equation (1), which is represented as a digital value as will be described, is based upon the number of bits used to represent "y". For 3o example, in the case where "y" is represented using a 16-bit word, "y" will range from 0 to 65,535; a unit increase in "y" would thus correspond to an increase in duty cycle of approximately 0.0015%. The value "y" is referred to as the "duty cycle scalar".
PWM generator 58 is a module which generates the PWM signal that drives solenoid 62.
PWM generator 58 receives duty cycle scalar "y" indicative of a desired output duty cycle from calculator 56. Generator 58 also periodically receives a pulse from PWM
trigger generator 60 which indicates that a new PWM period should be commenced. These two inputs are used to generate the output PWM signal. It will be appreciated that the output of PWM generator 58 may not directly drive the solenoid 62, but may actually drive a power stage (e.g. power transistor) which in turn drives the solenoid 62.
PWM trigger generator 60 is a component which periodically generates a pulse indicating that a new PWM period should be commenced. The interval between pulses is determined by the current PWM frequency setting, which is configurable vi4 a user interface (UI) of current driver 50. The UI is not illustrated in FIG. 2.
Sampling resistor 64 is a resistor of known value that is used to convert the current flowing through the electronic device 62 into a corresponding voltage.
Sampling resistor 64 is interconnected between input 84 and ground. Input 84 is another input to the current driver 50 which serves as a"return" from the electronic device 62. That is, the electronic device 62 to be driven by the current driver 50 is connected between output terminal 82 and input terminal 84.
Dual-slope integrator 70 is an electronic component which integrates an unknown input voltage for a fixed amount of time (the "sampling interval") and then "de-integrates" using a known reference voltage for a variable amount of time. Integration and de-integration is effected by way of a capacitor 72 which is charged from an initial voltage ("V;,,;t") to a final voltage ("Vfinal") during the integrating phase and discharged linearly back from the final voltage to the initial voltage during the de-integrating phase. As will be appreciated, the dual-slope integrator 70 is used for purposes of measuring the average output current generated by the current driver 50. It is noted that, although capacitor 72 is illustrated as a separate component from dual-slope integrator 70 in FIG. 2, this is only for purposes of discussion. Capacitor 72 actually forms part of the dual-slope integrator 70.
Switches 66 and 68 are used to control the integration and de-integration performed by the dual-slope integrator 70. As will be described, during the integration phase, switch 66 is closed and switch 68 is opened; during the de-integration phase, switch 66 is opened and switch 68 is closed. In the present embodiment, switch 66 is a MOSFET
transistor, while switch 68 is a complementary metal-oxide semiconductor (CMOS) microcontroller output varied between OV and 5V (as will be described).
Comparator 76 is employed during the dual-slope integrator's de-integration phase to compare the integrator output voltage against reference voltage Vref. The comparison against voltage vCef is based on the fact that the initial voltage V;n;t of the capacitor 72 will be equal to vref at the beginning of the integration phase.. The comparator 76 trips when the linearly dropping output voltage of the discharging capacitor 72 drops below vref .
The tripping of comparator 76 is effectively used to stop a timer which was commenced when linear discharge of the capacitor 72 was initiated at the beginning of the de-integration phase. Comparator 76 thus facilitates calculation of the duration of the de-integration phase, which duration is indicative of the average output current, as will be described.
Error calculator 78 is a module which compares the desired average output current (as represented by the digitized input voltage "x") against the measured average output current (as determined from the duration of the de-integration phase and the sampling interval) and generates an error value based on any discrepancy between the two. A
positive error value indicates that the measured average output current is greater than the requested level specified by the input voltage while a negative error value indicates the opposite (this may be reversed in alternative embodiments). A value of zero indicates that the average output current of the current driver 50 is correct, i.e., that the average output current matches the level requested by the input voltage setting applied to input 52. As will be appreciated, non-zero error values trigger changes to the additive correction factor "b" and, in some cases, to the multiplicative corrective factor "a", for the purpose of correcting the average output current to its proper value. This in turn will restore the error value to zero (the steady state). The duty cycle of the PWM signal is thus effectively regulated based on the error value computed by the error calculator 78.
FIG. 3 is a schematic diagram illustrating the current driver 50 of FIG. 2 in which some components are shown in greater detail. Many of the features and components of current driver 50 shown in FIG. 2 are illustrated in FIG. 3. These include current driver inputs 52 and 84 and output 82, sampling resistor 64, switch 66, dual-slope integrator 70 including capacitor 72, and comparator 76. Certain of the components and modules illustrated in FIG. 2 are not expressly illustrated in FIG. 3, however. This is because these components are actually implemented using a microcontroller 88 operating under software control.
The components and modules which are so implemented are indicated in FIG. 2 at 80. In particular, the A/D converter 54, duty cycle calculator 56, PWM generator 58, PWM
trigger generator 60, switch 68 and error calculator 78 shown in FIG. 2 are all implemented by the microcontroller 88 under software control. In the present embodiment, the microcontroller 88 is a PIC16F876 microcontroller from Microchip Technology Inc. However, as recognized by those skilled in the art, other microcontrollers could be used in altemative embodiments. The microcontroller software may be loaded into the memory of microcontroller 88 from a computer readable medium 89, which could be an optical or magnetic disk, tape, or chip for example.
FIG. 3 also illustrates various features of current driver 50 not shown in FIG. 2, such as power supply 90, power transistor 92, pre-amplifier 94, and input amplifier 96. Also illustrated is user interface 100 by which a user may input and view various settings of current driver 50. The UI includes input switches 102 used to input settings and a twin seven-segment display 104 used to display the current settings.
Operation of the present embodiment is illustrated in FIGS. 4 to 7. Referring to FIG. 4, signal diagrams showing voltages at various points in the current driver 50 during system operation are illustrated. The vertical axes in FIG. 4 represent voltage while the horizontal axes represent time. Five signals labelled A to E are shown in FIG. 4. These signals are:
A: output PWM signal; B: output current; C: control signal applied to switch 66; D:
output of dual-slope integrator 70; and E: control signal applied to switch 68. The points at which these signals are measured in current driver 50 is indicated at A to E in each of FIGS. 2 and 3. It is noted that, although signal B is referred to as the "output current", it is actually a voltage proportional to the output current, which voltage is determined by sampling resistor 64 (FIGS. 2 and 3).
PWM generator 58 receives duty cycle scalar "y" indicative of a desired output duty cycle from calculator 56. Generator 58 also periodically receives a pulse from PWM
trigger generator 60 which indicates that a new PWM period should be commenced. These two inputs are used to generate the output PWM signal. It will be appreciated that the output of PWM generator 58 may not directly drive the solenoid 62, but may actually drive a power stage (e.g. power transistor) which in turn drives the solenoid 62.
PWM trigger generator 60 is a component which periodically generates a pulse indicating that a new PWM period should be commenced. The interval between pulses is determined by the current PWM frequency setting, which is configurable vi4 a user interface (UI) of current driver 50. The UI is not illustrated in FIG. 2.
Sampling resistor 64 is a resistor of known value that is used to convert the current flowing through the electronic device 62 into a corresponding voltage.
Sampling resistor 64 is interconnected between input 84 and ground. Input 84 is another input to the current driver 50 which serves as a"return" from the electronic device 62. That is, the electronic device 62 to be driven by the current driver 50 is connected between output terminal 82 and input terminal 84.
Dual-slope integrator 70 is an electronic component which integrates an unknown input voltage for a fixed amount of time (the "sampling interval") and then "de-integrates" using a known reference voltage for a variable amount of time. Integration and de-integration is effected by way of a capacitor 72 which is charged from an initial voltage ("V;,,;t") to a final voltage ("Vfinal") during the integrating phase and discharged linearly back from the final voltage to the initial voltage during the de-integrating phase. As will be appreciated, the dual-slope integrator 70 is used for purposes of measuring the average output current generated by the current driver 50. It is noted that, although capacitor 72 is illustrated as a separate component from dual-slope integrator 70 in FIG. 2, this is only for purposes of discussion. Capacitor 72 actually forms part of the dual-slope integrator 70.
Switches 66 and 68 are used to control the integration and de-integration performed by the dual-slope integrator 70. As will be described, during the integration phase, switch 66 is closed and switch 68 is opened; during the de-integration phase, switch 66 is opened and switch 68 is closed. In the present embodiment, switch 66 is a MOSFET
transistor, while switch 68 is a complementary metal-oxide semiconductor (CMOS) microcontroller output varied between OV and 5V (as will be described).
Comparator 76 is employed during the dual-slope integrator's de-integration phase to compare the integrator output voltage against reference voltage Vref. The comparison against voltage vCef is based on the fact that the initial voltage V;n;t of the capacitor 72 will be equal to vref at the beginning of the integration phase.. The comparator 76 trips when the linearly dropping output voltage of the discharging capacitor 72 drops below vref .
The tripping of comparator 76 is effectively used to stop a timer which was commenced when linear discharge of the capacitor 72 was initiated at the beginning of the de-integration phase. Comparator 76 thus facilitates calculation of the duration of the de-integration phase, which duration is indicative of the average output current, as will be described.
Error calculator 78 is a module which compares the desired average output current (as represented by the digitized input voltage "x") against the measured average output current (as determined from the duration of the de-integration phase and the sampling interval) and generates an error value based on any discrepancy between the two. A
positive error value indicates that the measured average output current is greater than the requested level specified by the input voltage while a negative error value indicates the opposite (this may be reversed in alternative embodiments). A value of zero indicates that the average output current of the current driver 50 is correct, i.e., that the average output current matches the level requested by the input voltage setting applied to input 52. As will be appreciated, non-zero error values trigger changes to the additive correction factor "b" and, in some cases, to the multiplicative corrective factor "a", for the purpose of correcting the average output current to its proper value. This in turn will restore the error value to zero (the steady state). The duty cycle of the PWM signal is thus effectively regulated based on the error value computed by the error calculator 78.
FIG. 3 is a schematic diagram illustrating the current driver 50 of FIG. 2 in which some components are shown in greater detail. Many of the features and components of current driver 50 shown in FIG. 2 are illustrated in FIG. 3. These include current driver inputs 52 and 84 and output 82, sampling resistor 64, switch 66, dual-slope integrator 70 including capacitor 72, and comparator 76. Certain of the components and modules illustrated in FIG. 2 are not expressly illustrated in FIG. 3, however. This is because these components are actually implemented using a microcontroller 88 operating under software control.
The components and modules which are so implemented are indicated in FIG. 2 at 80. In particular, the A/D converter 54, duty cycle calculator 56, PWM generator 58, PWM
trigger generator 60, switch 68 and error calculator 78 shown in FIG. 2 are all implemented by the microcontroller 88 under software control. In the present embodiment, the microcontroller 88 is a PIC16F876 microcontroller from Microchip Technology Inc. However, as recognized by those skilled in the art, other microcontrollers could be used in altemative embodiments. The microcontroller software may be loaded into the memory of microcontroller 88 from a computer readable medium 89, which could be an optical or magnetic disk, tape, or chip for example.
FIG. 3 also illustrates various features of current driver 50 not shown in FIG. 2, such as power supply 90, power transistor 92, pre-amplifier 94, and input amplifier 96. Also illustrated is user interface 100 by which a user may input and view various settings of current driver 50. The UI includes input switches 102 used to input settings and a twin seven-segment display 104 used to display the current settings.
Operation of the present embodiment is illustrated in FIGS. 4 to 7. Referring to FIG. 4, signal diagrams showing voltages at various points in the current driver 50 during system operation are illustrated. The vertical axes in FIG. 4 represent voltage while the horizontal axes represent time. Five signals labelled A to E are shown in FIG. 4. These signals are:
A: output PWM signal; B: output current; C: control signal applied to switch 66; D:
output of dual-slope integrator 70; and E: control signal applied to switch 68. The points at which these signals are measured in current driver 50 is indicated at A to E in each of FIGS. 2 and 3. It is noted that, although signal B is referred to as the "output current", it is actually a voltage proportional to the output current, which voltage is determined by sampling resistor 64 (FIGS. 2 and 3).
_.._ It is initially assumed that a user of the current driver 50 has employed user interface 100 to specify settings for current driver 50. These settings include a desired PWM signal frequency. One reason for adjusting the PWM frequency is to control "dither"
in the electronic device 62. "Dither" refers to vibration in the electronic device 62 resulting from the fact that the current supplied to the device 62 has an AC component. In the case where the electronic device is a solenoid controlling a valve, for example, a certain amount of dither may be desirable to keep the valve from seizing. However, too much dither may be undesirable because it may introduce excessive vibration into the controlled mechanical system. PWM frequency may alternatively be referred to as "dither frequency".
Referring back to FIG. 2, it should be appreciated that the PWM trigger generator 60, which periodically generates a pulse indicating that a new PWM period should be commenced, is directly impacted by the dither frequency setting. In particular, changes to the dither frequency will change the time interval between pulses produced by the PWM
trigger generator 60. In the present embodiment, the PWM trigger generator 60 is implemented using a timer of microcontroller 88 (FIG. 3). In this implementation, changes to the dither frequency setting will cause the value to which the timer counts before expiring to change.
During operation, the input voltage applied to input 52 of the current driver 50 is digitized by the A/D converter 54 every PWM period, yielding digitized input value "x".
This value is supplied to the duty cycle calculator 56. The calculator 56 scales the digitized input value "x" by multiplicative corrective factor "a" and adds additive corrective factor "b" to generate a duty cycle scalar "y" according to equation (1) above. Upon system startup, the "a" and "b" factors are initialized to predetermined starting values. These starting values may be relatively small, as it is unknown on startup which electronic device 62 is being controlled or what error values are appropriate for the controlled device 62.
The duty cycle scalar "y" is provided to the PWM generator 58. PWM generator 58 also receives periodic pulses from the PWM trigger generator 60, each pulse indicating that another PWM period should be commenced. The PWM generator 58 uses the duty cycle scalar and its knowledge of the PWM period from PWM trigger generator 60 to generate output PWM signal A (FIG. 4). More specifically, the PWM generator 58 scales the duty cycle scalar "y" by a scaling factor in order to determine the proper duration P to hold the output signal at a high level in order to achieve the desired duty cycle given the current PWM frequency (see FIG. 4, period 1), and then holds its output high for that duration P.
The value of the scaling factor used to compute P is tied to the current PWM
period T: as T increases or decreases, so too does the scaling factor. It follows that the scaling factor is adjusted whenever the dither frequency is adjusted. The generated output PWM
signal is provided to the electronic device 62 by way of power transistor 92 (FIG. 3).
Application of the output PWM signal A to the solenoid 62 results in an output current waveform having a"triangular" shape as shown in FIG. 4 at B. Current flowing through the device rises exponentially while the output is held high (i.e; during duration P), as shown at (i). Conversely, the current through the device falls exponentially when the output is held low, as shown at (ii). It is of course understood that the exponential waveform shape is due to the inductance of the solenoid 62, which opposes sudden changes in current flowing through the device.
Turning now to the feedback portion of current driver 50, at the commencement of PWM
period 1, microcontroller 88 (FIG. 3) sends control signals C and E to switches 66 and 68 (FIG. 2) causing the switches to close and open respectively (see FIG. 4). The closing of switch 66 connects the non-inverting input of dual-slope integrator 70 to the sampled output current (which, again, is actually a voltage) at B. The opening of switch 68 (i.e.
setting of microcontroller 88 CMOS output pin 4 to OV) causes resistor R27 to become connected in parallel with R26, such that both R26 and R27 as well as capacitor 72 determine the integration constant of the dual-slope integrator 70 (FIG. 3).
At this point the integration phase of the dual-slope integrator 70 commences.
During the integration phase, which lasts for one complete PWM period (period 1 of FIG.
4) in the present embodiment, the dual-slope integrator 70 effectively integrates the voltage B. The rationale behind having the integration phase last PWM period is that one PWM period is the minimum duration sample of the PWM signal that is known to repeat.
When the current-following voltage B is integrated over a sampling interval of one PWM
period and divided by the duration of the period, an average output current can be measured.
in the electronic device 62. "Dither" refers to vibration in the electronic device 62 resulting from the fact that the current supplied to the device 62 has an AC component. In the case where the electronic device is a solenoid controlling a valve, for example, a certain amount of dither may be desirable to keep the valve from seizing. However, too much dither may be undesirable because it may introduce excessive vibration into the controlled mechanical system. PWM frequency may alternatively be referred to as "dither frequency".
Referring back to FIG. 2, it should be appreciated that the PWM trigger generator 60, which periodically generates a pulse indicating that a new PWM period should be commenced, is directly impacted by the dither frequency setting. In particular, changes to the dither frequency will change the time interval between pulses produced by the PWM
trigger generator 60. In the present embodiment, the PWM trigger generator 60 is implemented using a timer of microcontroller 88 (FIG. 3). In this implementation, changes to the dither frequency setting will cause the value to which the timer counts before expiring to change.
During operation, the input voltage applied to input 52 of the current driver 50 is digitized by the A/D converter 54 every PWM period, yielding digitized input value "x".
This value is supplied to the duty cycle calculator 56. The calculator 56 scales the digitized input value "x" by multiplicative corrective factor "a" and adds additive corrective factor "b" to generate a duty cycle scalar "y" according to equation (1) above. Upon system startup, the "a" and "b" factors are initialized to predetermined starting values. These starting values may be relatively small, as it is unknown on startup which electronic device 62 is being controlled or what error values are appropriate for the controlled device 62.
The duty cycle scalar "y" is provided to the PWM generator 58. PWM generator 58 also receives periodic pulses from the PWM trigger generator 60, each pulse indicating that another PWM period should be commenced. The PWM generator 58 uses the duty cycle scalar and its knowledge of the PWM period from PWM trigger generator 60 to generate output PWM signal A (FIG. 4). More specifically, the PWM generator 58 scales the duty cycle scalar "y" by a scaling factor in order to determine the proper duration P to hold the output signal at a high level in order to achieve the desired duty cycle given the current PWM frequency (see FIG. 4, period 1), and then holds its output high for that duration P.
The value of the scaling factor used to compute P is tied to the current PWM
period T: as T increases or decreases, so too does the scaling factor. It follows that the scaling factor is adjusted whenever the dither frequency is adjusted. The generated output PWM
signal is provided to the electronic device 62 by way of power transistor 92 (FIG. 3).
Application of the output PWM signal A to the solenoid 62 results in an output current waveform having a"triangular" shape as shown in FIG. 4 at B. Current flowing through the device rises exponentially while the output is held high (i.e; during duration P), as shown at (i). Conversely, the current through the device falls exponentially when the output is held low, as shown at (ii). It is of course understood that the exponential waveform shape is due to the inductance of the solenoid 62, which opposes sudden changes in current flowing through the device.
Turning now to the feedback portion of current driver 50, at the commencement of PWM
period 1, microcontroller 88 (FIG. 3) sends control signals C and E to switches 66 and 68 (FIG. 2) causing the switches to close and open respectively (see FIG. 4). The closing of switch 66 connects the non-inverting input of dual-slope integrator 70 to the sampled output current (which, again, is actually a voltage) at B. The opening of switch 68 (i.e.
setting of microcontroller 88 CMOS output pin 4 to OV) causes resistor R27 to become connected in parallel with R26, such that both R26 and R27 as well as capacitor 72 determine the integration constant of the dual-slope integrator 70 (FIG. 3).
At this point the integration phase of the dual-slope integrator 70 commences.
During the integration phase, which lasts for one complete PWM period (period 1 of FIG.
4) in the present embodiment, the dual-slope integrator 70 effectively integrates the voltage B. The rationale behind having the integration phase last PWM period is that one PWM period is the minimum duration sample of the PWM signal that is known to repeat.
When the current-following voltage B is integrated over a sampling interval of one PWM
period and divided by the duration of the period, an average output current can be measured.
Integration is effected through charging of the capacitor 72 from an initial voltage V;,,;t to a final voltage Vfinal. The effect of the integration is shown at output D of the dual-slope integrator 70. As shown in wavefonm D of FIG. 4, charging of the capacitor 72 occurs in two stages. In the first stage, which has a duration P, the capacitor 72 charges quickly because voltage B is increasing (see waveform segment (i) of signal D and corresponding segment (i) of waveform B). In the second stage, which has a duration T minus P, the capacitor 72 charges more slowly because voltage B is decreasing (see waveform segments (ii) of signal D and B). It is noted that signal D continues to increase during the second stage despite the fact that the output PWM signal A is held low; this is due to the fact that the voltage B is still greater than zero during this stage (albeit decreasing).
At the beginning of PWM period 2, two things happen. First, a timer of microcontroller 88 used to time the duration of capacitor discharge is started. Second, the microcontroller 88 reverses the levels of control signals C and E, causing switches 66 and 68 to open and close respectively (see FIG. 4). The opening of switch 66 disconnects the input of dual-slope integrator 70 from the voltage B, and the closing of switch 68 (i.e.
setting of pin 4 of microcontroller 88 to 5V) commences discharging of capacitor 72 at a known rate. This commences the de-integration phase of the dual-slope integrator 70.
The objective of the de-integration phase is to determine the duration tais,harge required for the capacitor 72 to discharge from its final voltage Vfõa, back to its initial voltage V;,,;l.
This duration will reflect the amount of charge stored by the capacitor during PWM period 1. The duration is used in conjunction with current PWM period duration to determine the measured average output current of the current driver 50. The measured average output current is compared to the input voltage applied to input 52 to determine whether or not the generated average output current is correct.
During the de-integration phase, capacitor 72 discharges with a constant current. In the present embodiment, de-integration is actually effected by way of integration using the inverting input of dual-slope integrator 70. This results in a linearly-dropping capacitor voltage, which is apparent at the output D of the dual-slope integrator 70 (see FIG. 4 at D).
The reason that the capacitor 72 voltage drops linearly, and not exponentially as when a parallel resistor is used, is because a constant current is used to discharge it. As best seen in FIG. 2, the output of the dual-slope integrator 70 forms one input to the comparator 76.
The other input 74 is a fixed reference DC voltage V;r,it.
When the output D of dual-slope integrator 70 falls just below reference voltage V;r,it, the comparator 76 trips. Upon detection of the tripping of the comparator 76, the microcontroller 88 stops the timer to obtain tdi.h,,ge. At this point the de-integration phase is complete and the discharging of capacitor 72 is terminated. Both of switches 66 and 68 are left open for the remainder of PWM period 2.
In the error calculator 78, the duration tdischarge and current PWM period duration are used to determing a measured average output current. The measured average output current is compared against the digitized input voltage "x". An error value based on any discrepancy between the two is generated, with a zero error value indicating that the measured average output current is correct (in some embodiments, the error value may never actually be zero; correctness may instead be indicated when the result of a subtraction between the desired and the actual value is a very small positive or negative value).
It will be appreciated that, in order to ensure that a zero (or minimal) error value computed by the error calculator 78 truly does indicate a correct average output current, the scaling performed by the A/D converter 54 and by various stages of the current driver 50 should effectively "cancel". These stages include the PWM generator 58 (which applies a scaling factor to "y" based on the current PWM frequency), the sampling resistor 64 (where scaling is controllable through selection of a value of resistor 64), the capacitor 72 of the dual-slope integrator 70 (where scaling is controllable through selection of a C value), and by the granularity of the "ticks" counted by the timer which calculates td;scharge= These scaling factors are of course a design-time consideration. Selection of appropriate scaling factors will be well within the capabilities of a person skilled in the art.
Typically, the selection is a compromise between various considerations, possibly including the following: Sampling resistor 64 (FIG. 3) should not be too large or usable supply voltage loss and overheating may result; conversely sampling resistor 64 should not be too small or noise and printed circuit board track resistance may affect precision.
Resistor R25 should not be too large or op-amp bias input current and its drift may affect precision; on the other hand resistor R25 should not be too small or the op-amp output may be overloaded. Capacitor 72 should not be too large or dual-slope integrator 70 may become vulnerable to noise and op-amp input offset and drift; conversely capacitor 72 should not be too small or charging time may be too small to be detectable with acceptable resolution.
Resistor R27 should not be too large or discharge time may be too short to maintain acceptable resolution; on the other hand resistor R27 should not be too small or discharging time will extend beyond the end of PWM period 2. The A/D converter 54 will dictate the range of the input numbers, while the microcontroller operating frequency will io dictate the relationship between numbers and timing.
The time tdischarge to discharge the capacitor 72 to its initial voltage Viõit should be sufficiently short to complete before the end of the second PWM period 2, and with sufficient remaining time in PWM period 2 to permit adjustment of additive corrective factor "b" and/or multiplicative corrective factor "a" (as will be described below) with enough remaining time to be made effective in PWM period 3. This is to limit delay between the occurrence of an error in average output current and its subsequent correction.
When error calculator 78 has completed its calculation of the error value, the error value is forwarded to the duty cycle calculator 56. The latter calculator uses the error value in its determination of corrective factors "a" and "b", which will be applied during the immediately following PWM period (e.g. PWM period 3 in FIG. 4).
Advantageously, correction of erroneous average output current produced by current driver 50 is initiated within two PWM periods of the occurrence of measurable error.
Operation for determining corrective factors "a" and "b" is illustrated in FIG. 5 at 500. It will be appreciated that operation 500 is executed every second PWM period during operation of the current driver 50 (i.e. corrective factors "a" and/or "b" are adjusted, if necessary, every two periods).
As shown in FIG. 5, if the measured average output current is greater than the desired average output current (S502), additive corrective factor "b" is reduced by a first fixed amount (S504). If this reduction causes "b" to drop below a predetermined limit (S506), "b" is zeroed (S508) and "a" is reduced by one unit (S510). The purpose of decreasing factors "a" and/or "b" is of course to decrease the duty cycle of the output PWM signal.
The rationale for the above described method of determining corrective factors is perhaps best understood with reference to FIGS. 6 and 7. FIG. 6 illustrates the relationship of digitized input voltage "x" to duty cycle scalar "y" assuming "b" is fixed at zero (i.e.
assuming equation (1) can be reduced to y = ax.). The transfer function between "x" and "y" is illustrated as a line 602a. Multiplicative corrective factor "a" is represented as the angle between the horizontal axis and line 602a.
It is initially assumed that the input voltage to the current driver 50 is at 5% of its maximum value (e.g. the input voltage is 0.5V in a range of OV to IOV). It is further assumed that an error value A1 is found to exist between the measured average output current and the desired average output current.
If "a" is adjusted to correct error 0,, the resulting transfer function will be as illustrated at 602b. Provided that the input voltage "x" is maintained at its 5% of maximum setting (0.5v), the adjustment to "a" will successfully compensate for error A,.
However, if the input voltage is suddenly increased to 10V (i.e. to 100% of its maximum value), the corrective effect of multiplicative factor "a" will effectively be magnified, possibly resulting in a large discrepancy A2 between the generated average output current and the desired average output current. This is because the duty cycle calculator 56 operates on a digital representation of "a" whose granularity is limited based on the number of bits used to represent "a". Moreover, the discrepancy A2 will be apparent upon the first PWM
period after the input voltage has been set to IOV. This is because the duty cycle calculator 56 (FIG. 2) in most cases is able to respond to changes in "x" in time for the next PWM period (A/D conversion delays at A/D converter 54 and scaling delays at PWM
generator 58 typically being minimal). This quick response time to changes in input voltage is one of the advantages of the present embodiment.
Turning to FIG. 7, the transfer function of digitized input voltage "x" to duty cycle scalar "y" assuming that "b" is variable is illustrated as a line 702a. It is again assumed that the input voltage to the current driver 50 is initially at 5% of its maximum value and that error value O1 is initially found to exist between the measured average output current and the desired average output current. If factor "b" is adjusted to correct error O1, the resulting transfer function will be as illustrated at 702b. This will successfully compensate for the error A,. Moreover, if the input voltage is suddenly increased to 100% of its maximum value, the corrective effect of additive factor "b" will remain the same, resulting in the same magnitude of correction Ol on an absolute scale. That is, the significance of "b" will be much smaller when considered as a fraction of the (higher) value "y" at 100%.
Referring back to FIG. 5, if it is determined in S502 that the measured average output current is less than the desired average output current, additive corrective factor "b" is increased by a first fixed amount (S514). If this increase c,auses "b" to exceed a predetermined limit (S516), "b" is zeroed (S518) and "a" is increased by one unit (S520).
This change to "a" and/or "b" is of course for the purpose of increasing the duty cycle of the output PWM signal.
As should be apparent from the description of operation 500, when an error is discovered between the measured average output current and the desired average output current, the additive corrective factor "b" is initially used to attempt to correct the error. If attempts to correct the error using "b" are insufficient, however, the multiplicative factor "a" is used.
This process is repeated until the error has been corrected.
It is noted that the multiplicative corrective factor "a" is only reduced or increased by one unit at a time in operation 500 (see S510 and S520). This is to ensure that average output current does not increase too suddenly in response to a detected error, but rather increases slowly over an interval perhaps spanning several pairs of PWM periods. Too sudden of an increase in average output current is usually undesirable as it may cause physical shock to mechanical systems or components controlled by the electronic device 62.
Moreover, adjusting corrective factor "a" too suddenly may cause the average output current produced to overshoot its correct value. This may be especially risky in terms of damage to controlled mechanical systems (e.g. a solenoid could temporarily be driven too far). In any case, the above-described manner of adjusting corrective factor "a" unit-by-unit is acceptable because, after system startup, output current correction will typically only be necessary if the power supply fluctuates or if the inductance of the electronic device 62 changes. Especially in the latter case, slow correction is acceptable because the change in inductance will also usually be slow, typically being caused by a change in temperature of the device 62.
It will be appreciated that use of dual-slope integrator 70 in the feedback portion of current driver 50 provides certain advantages. Specifically, the dual-slope integrator 70 makes the current driver 50 less susceptible to diminished accuracy over time due to component degradation. For example, if the C value of capacitor 72 (FIG. 2) drifts over time, the determination of measured average output current will not be affected, since the effect of C during the integration and de-integration phases effectively cancels. As well, even if the initial capacitor voltage V;n;t changes over time, this change has no effect since it is the difference between Vfinal and V;,,;t, and not the value of V;n;t, that is significant.
If the dither frequency of the PWM output is changed during system operation, the time period T during which the capacitor 72 of dual-slope integrator 70 charges will of course increase or decrease. This will result in a corresponding change to the capacitor's discharge time td;whuge during the de-integration phase. To prevent any change in td;scharge from being incorrectly interpreted as a change in average output current, a "reverse scaling factor" is applied to the tdischarge measurement. The term "reverse" refers to the fact that this factor opposes the scaling factor applied in the PWM generator 58 to compensate for current dither frequency (i.e. the reverse scaling factor decreases, rather than increases, when PWM period T increases).
It will be appreciated that duty cycle calculator 56, error calculator 78 and other modules illustrated in FIG. 2 may be implemented in software executing on microcontroller 88.
The term "module" does not necessarily connote a software function or subroutine.
As will be appreciated by those skilled in the art, modifications to the above-described embodiment can be made without departing from the essence of the invention.
For example, the integration phase could be made to span multiple PWM periods rather than a single PWM period (with appropriate modification to the average current calculation) so as to improve error detection accuracy. This modification may however come at the expense of longer error correction response time (i.e. increased error correction delay).
At the beginning of PWM period 2, two things happen. First, a timer of microcontroller 88 used to time the duration of capacitor discharge is started. Second, the microcontroller 88 reverses the levels of control signals C and E, causing switches 66 and 68 to open and close respectively (see FIG. 4). The opening of switch 66 disconnects the input of dual-slope integrator 70 from the voltage B, and the closing of switch 68 (i.e.
setting of pin 4 of microcontroller 88 to 5V) commences discharging of capacitor 72 at a known rate. This commences the de-integration phase of the dual-slope integrator 70.
The objective of the de-integration phase is to determine the duration tais,harge required for the capacitor 72 to discharge from its final voltage Vfõa, back to its initial voltage V;,,;l.
This duration will reflect the amount of charge stored by the capacitor during PWM period 1. The duration is used in conjunction with current PWM period duration to determine the measured average output current of the current driver 50. The measured average output current is compared to the input voltage applied to input 52 to determine whether or not the generated average output current is correct.
During the de-integration phase, capacitor 72 discharges with a constant current. In the present embodiment, de-integration is actually effected by way of integration using the inverting input of dual-slope integrator 70. This results in a linearly-dropping capacitor voltage, which is apparent at the output D of the dual-slope integrator 70 (see FIG. 4 at D).
The reason that the capacitor 72 voltage drops linearly, and not exponentially as when a parallel resistor is used, is because a constant current is used to discharge it. As best seen in FIG. 2, the output of the dual-slope integrator 70 forms one input to the comparator 76.
The other input 74 is a fixed reference DC voltage V;r,it.
When the output D of dual-slope integrator 70 falls just below reference voltage V;r,it, the comparator 76 trips. Upon detection of the tripping of the comparator 76, the microcontroller 88 stops the timer to obtain tdi.h,,ge. At this point the de-integration phase is complete and the discharging of capacitor 72 is terminated. Both of switches 66 and 68 are left open for the remainder of PWM period 2.
In the error calculator 78, the duration tdischarge and current PWM period duration are used to determing a measured average output current. The measured average output current is compared against the digitized input voltage "x". An error value based on any discrepancy between the two is generated, with a zero error value indicating that the measured average output current is correct (in some embodiments, the error value may never actually be zero; correctness may instead be indicated when the result of a subtraction between the desired and the actual value is a very small positive or negative value).
It will be appreciated that, in order to ensure that a zero (or minimal) error value computed by the error calculator 78 truly does indicate a correct average output current, the scaling performed by the A/D converter 54 and by various stages of the current driver 50 should effectively "cancel". These stages include the PWM generator 58 (which applies a scaling factor to "y" based on the current PWM frequency), the sampling resistor 64 (where scaling is controllable through selection of a value of resistor 64), the capacitor 72 of the dual-slope integrator 70 (where scaling is controllable through selection of a C value), and by the granularity of the "ticks" counted by the timer which calculates td;scharge= These scaling factors are of course a design-time consideration. Selection of appropriate scaling factors will be well within the capabilities of a person skilled in the art.
Typically, the selection is a compromise between various considerations, possibly including the following: Sampling resistor 64 (FIG. 3) should not be too large or usable supply voltage loss and overheating may result; conversely sampling resistor 64 should not be too small or noise and printed circuit board track resistance may affect precision.
Resistor R25 should not be too large or op-amp bias input current and its drift may affect precision; on the other hand resistor R25 should not be too small or the op-amp output may be overloaded. Capacitor 72 should not be too large or dual-slope integrator 70 may become vulnerable to noise and op-amp input offset and drift; conversely capacitor 72 should not be too small or charging time may be too small to be detectable with acceptable resolution.
Resistor R27 should not be too large or discharge time may be too short to maintain acceptable resolution; on the other hand resistor R27 should not be too small or discharging time will extend beyond the end of PWM period 2. The A/D converter 54 will dictate the range of the input numbers, while the microcontroller operating frequency will io dictate the relationship between numbers and timing.
The time tdischarge to discharge the capacitor 72 to its initial voltage Viõit should be sufficiently short to complete before the end of the second PWM period 2, and with sufficient remaining time in PWM period 2 to permit adjustment of additive corrective factor "b" and/or multiplicative corrective factor "a" (as will be described below) with enough remaining time to be made effective in PWM period 3. This is to limit delay between the occurrence of an error in average output current and its subsequent correction.
When error calculator 78 has completed its calculation of the error value, the error value is forwarded to the duty cycle calculator 56. The latter calculator uses the error value in its determination of corrective factors "a" and "b", which will be applied during the immediately following PWM period (e.g. PWM period 3 in FIG. 4).
Advantageously, correction of erroneous average output current produced by current driver 50 is initiated within two PWM periods of the occurrence of measurable error.
Operation for determining corrective factors "a" and "b" is illustrated in FIG. 5 at 500. It will be appreciated that operation 500 is executed every second PWM period during operation of the current driver 50 (i.e. corrective factors "a" and/or "b" are adjusted, if necessary, every two periods).
As shown in FIG. 5, if the measured average output current is greater than the desired average output current (S502), additive corrective factor "b" is reduced by a first fixed amount (S504). If this reduction causes "b" to drop below a predetermined limit (S506), "b" is zeroed (S508) and "a" is reduced by one unit (S510). The purpose of decreasing factors "a" and/or "b" is of course to decrease the duty cycle of the output PWM signal.
The rationale for the above described method of determining corrective factors is perhaps best understood with reference to FIGS. 6 and 7. FIG. 6 illustrates the relationship of digitized input voltage "x" to duty cycle scalar "y" assuming "b" is fixed at zero (i.e.
assuming equation (1) can be reduced to y = ax.). The transfer function between "x" and "y" is illustrated as a line 602a. Multiplicative corrective factor "a" is represented as the angle between the horizontal axis and line 602a.
It is initially assumed that the input voltage to the current driver 50 is at 5% of its maximum value (e.g. the input voltage is 0.5V in a range of OV to IOV). It is further assumed that an error value A1 is found to exist between the measured average output current and the desired average output current.
If "a" is adjusted to correct error 0,, the resulting transfer function will be as illustrated at 602b. Provided that the input voltage "x" is maintained at its 5% of maximum setting (0.5v), the adjustment to "a" will successfully compensate for error A,.
However, if the input voltage is suddenly increased to 10V (i.e. to 100% of its maximum value), the corrective effect of multiplicative factor "a" will effectively be magnified, possibly resulting in a large discrepancy A2 between the generated average output current and the desired average output current. This is because the duty cycle calculator 56 operates on a digital representation of "a" whose granularity is limited based on the number of bits used to represent "a". Moreover, the discrepancy A2 will be apparent upon the first PWM
period after the input voltage has been set to IOV. This is because the duty cycle calculator 56 (FIG. 2) in most cases is able to respond to changes in "x" in time for the next PWM period (A/D conversion delays at A/D converter 54 and scaling delays at PWM
generator 58 typically being minimal). This quick response time to changes in input voltage is one of the advantages of the present embodiment.
Turning to FIG. 7, the transfer function of digitized input voltage "x" to duty cycle scalar "y" assuming that "b" is variable is illustrated as a line 702a. It is again assumed that the input voltage to the current driver 50 is initially at 5% of its maximum value and that error value O1 is initially found to exist between the measured average output current and the desired average output current. If factor "b" is adjusted to correct error O1, the resulting transfer function will be as illustrated at 702b. This will successfully compensate for the error A,. Moreover, if the input voltage is suddenly increased to 100% of its maximum value, the corrective effect of additive factor "b" will remain the same, resulting in the same magnitude of correction Ol on an absolute scale. That is, the significance of "b" will be much smaller when considered as a fraction of the (higher) value "y" at 100%.
Referring back to FIG. 5, if it is determined in S502 that the measured average output current is less than the desired average output current, additive corrective factor "b" is increased by a first fixed amount (S514). If this increase c,auses "b" to exceed a predetermined limit (S516), "b" is zeroed (S518) and "a" is increased by one unit (S520).
This change to "a" and/or "b" is of course for the purpose of increasing the duty cycle of the output PWM signal.
As should be apparent from the description of operation 500, when an error is discovered between the measured average output current and the desired average output current, the additive corrective factor "b" is initially used to attempt to correct the error. If attempts to correct the error using "b" are insufficient, however, the multiplicative factor "a" is used.
This process is repeated until the error has been corrected.
It is noted that the multiplicative corrective factor "a" is only reduced or increased by one unit at a time in operation 500 (see S510 and S520). This is to ensure that average output current does not increase too suddenly in response to a detected error, but rather increases slowly over an interval perhaps spanning several pairs of PWM periods. Too sudden of an increase in average output current is usually undesirable as it may cause physical shock to mechanical systems or components controlled by the electronic device 62.
Moreover, adjusting corrective factor "a" too suddenly may cause the average output current produced to overshoot its correct value. This may be especially risky in terms of damage to controlled mechanical systems (e.g. a solenoid could temporarily be driven too far). In any case, the above-described manner of adjusting corrective factor "a" unit-by-unit is acceptable because, after system startup, output current correction will typically only be necessary if the power supply fluctuates or if the inductance of the electronic device 62 changes. Especially in the latter case, slow correction is acceptable because the change in inductance will also usually be slow, typically being caused by a change in temperature of the device 62.
It will be appreciated that use of dual-slope integrator 70 in the feedback portion of current driver 50 provides certain advantages. Specifically, the dual-slope integrator 70 makes the current driver 50 less susceptible to diminished accuracy over time due to component degradation. For example, if the C value of capacitor 72 (FIG. 2) drifts over time, the determination of measured average output current will not be affected, since the effect of C during the integration and de-integration phases effectively cancels. As well, even if the initial capacitor voltage V;n;t changes over time, this change has no effect since it is the difference between Vfinal and V;,,;t, and not the value of V;n;t, that is significant.
If the dither frequency of the PWM output is changed during system operation, the time period T during which the capacitor 72 of dual-slope integrator 70 charges will of course increase or decrease. This will result in a corresponding change to the capacitor's discharge time td;whuge during the de-integration phase. To prevent any change in td;scharge from being incorrectly interpreted as a change in average output current, a "reverse scaling factor" is applied to the tdischarge measurement. The term "reverse" refers to the fact that this factor opposes the scaling factor applied in the PWM generator 58 to compensate for current dither frequency (i.e. the reverse scaling factor decreases, rather than increases, when PWM period T increases).
It will be appreciated that duty cycle calculator 56, error calculator 78 and other modules illustrated in FIG. 2 may be implemented in software executing on microcontroller 88.
The term "module" does not necessarily connote a software function or subroutine.
As will be appreciated by those skilled in the art, modifications to the above-described embodiment can be made without departing from the essence of the invention.
For example, the integration phase could be made to span multiple PWM periods rather than a single PWM period (with appropriate modification to the average current calculation) so as to improve error detection accuracy. This modification may however come at the expense of longer error correction response time (i.e. increased error correction delay).
Other modifications will be apparent to those skilled in the art and, therefore, the invention is defined in the claims.
Claims (54)
1. A method of providing a controlled current to an electronic device, said electronic device being a solenoid, comprising:
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring.
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring.
2. A method of providing a controlled current to an electronic device, comprising:
producing a pulse-width modulation (PWM) signal to provide said current, said PWM
signal having a user-configurable frequency;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring.
producing a pulse-width modulation (PWM) signal to provide said current, said PWM
signal having a user-configurable frequency;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring.
3. The method of claim 1 or claim 2 wherein said measuring an average of said current comprises:
during a sampling interval, integrating a signal proportional to said current using said dual-slope integrator, said integrating resulting in an integrated signal;
determining a magnitude of said integrated signal; and using said magnitude of said integrated signal and a length of said sampling interval to calculate a measured average current.
during a sampling interval, integrating a signal proportional to said current using said dual-slope integrator, said integrating resulting in an integrated signal;
determining a magnitude of said integrated signal; and using said magnitude of said integrated signal and a length of said sampling interval to calculate a measured average current.
4. The method of claim 3 wherein said integrating comprises charging a capacitor from an initial level to a final level and wherein said determining a magnitude comprises calculating a time for discharging said capacitor at a known rate from said final level to said initial level.
5. The method of claim 3 wherein said sampling interval is a PWM period.
6. The method of claim 5 wherein said PWM period is a first PWM period, and wherein said determining a magnitude is performed during a second PWM period immediately following said first PWM period.
7. The method of claim 6 wherein said setting a duty cycle is effective in said pulse-width modulation signal during a third PWM period immediately following said second PWM
period.
period.
8. The method of claim 1 or claim 2 wherein said measuring an average of said current results in a measured average current and wherein said setting a duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing.
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing.
9. The method of claim 8 wherein said input value is a digital representation of an input voltage.
10. The method of claim 8 wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor.
11. The method of claim 10 wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
12. The method of claim 11 wherein said regulating further comprises, if said increasing the additive factor by a first fixed amount results in said additive factor exceeding a limit:
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
13. The method of claim 10 wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
14. The method of claim 13 wherein said regulating further comprises, if said decreasing the additive factor by a first fixed amount results in said additive factor falling below a limit:
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
15. The method of claim 1 or claim 2 wherein said setting a duty cycle comprises scaling an input value representing a desired average current by a multiplicative factor and adding an additive factor, said scaling and adding resulting in a calculated duty cycle.
16. The method of claim 15 wherein said scaling and adding are completed during a first PWM period and said calculated duty cycle is effective in said pulse-width modulation during a second PWM period immediately following said first PWM period.
17. A system for providing a controlled current to an electronic device, comprising:
a pulse-width modulation (PWM) signal generator for providing said current;
a user interface for setting a frequency of said PWM signal;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current; and a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
a pulse-width modulation (PWM) signal generator for providing said current;
a user interface for setting a frequency of said PWM signal;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current; and a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
18. The system of claim 17 wherein said measuring an average current comprises:
during a sampling interval, integrating a signal proportional to said current using said dual-slope integrator, said integrating resulting in an integrated signal;
determining a magnitude of said integrated signal; and using said magnitude of said integrated signal and a length of said sampling interval to calculate a measured average current.
during a sampling interval, integrating a signal proportional to said current using said dual-slope integrator, said integrating resulting in an integrated signal;
determining a magnitude of said integrated signal; and using said magnitude of said integrated signal and a length of said sampling interval to calculate a measured average current.
19. The system of claim 18 wherein said sampling interval is a PWM period.
20. The system of claim 17 further comprising:
an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing.
an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing.
21. The system of claim 20 wherein said input value is a digital representation of an input voltage.
22. The system of claim 20 wherein said duty cycle calculator calculates said duty cycle by scaling said input value by a scalar and adding an additive factor, said scaling and adding resulting in a calculated duty cycle.
23. The system of claim 22 wherein said scaling and adding are completed during a first PWM period and said calculated duty cycle is effective in said pulse-width modulation during a second PWM period immediately following said first PWM period.
24. The system of claim 22 wherein, if said error value indicates that said measured average current is less than said desired average current, said duty cycle calculator increases the additive factor by a first fixed amount.
25. The system of claim 24 wherein, if said additive factor exceeds a limit, said duty cycle calculator:
zeroes said additive factor; and increases said multiplicative factor by a second fixed amount.
zeroes said additive factor; and increases said multiplicative factor by a second fixed amount.
26. The system of claim 22 wherein, if said error value indicates that said measured average current is greater than said desired average current, said duty cycle calculator decreases the additive factor by a first fixed amount.
27. The system of claim 26 wherein, if said additive factor falls below a limit, said duty cycle calculator:
zeroes said additive factor; and decreases said multiplicative factor by a second fixed amount.
zeroes said additive factor; and decreases said multiplicative factor by a second fixed amount.
28. The system of claim 17 wherein said duty cycle calculator calculates said duty cycle by scaling an input value representing a desired average current by a scalar and adding an additive factor.
29. The system of claim 28 wherein, if said input value is received during a first PWM
period, said duty cycle calculator calculates said duty cycle for effectiveness in said pulse-width modulation signal during a second PWM period, said second PWM period immediately following said first PWM period.
period, said duty cycle calculator calculates said duty cycle for effectiveness in said pulse-width modulation signal during a second PWM period, said second PWM period immediately following said first PWM period.
30. A computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, said electronic device being a solenoid, cause said computing device to:
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
31. A computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause said computing device to:
(a) set a frequency of the PWM signal based on user input;
(b) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (c) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
(a) set a frequency of the PWM signal based on user input;
(b) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (c) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current.
32. The computer-readable medium of claim 30 or claim 31 wherein said calculating comprises:
determining a duration of de-integration of an integrated signal, said integrated signal having been integrated during a sampling interval by said dual-slope integrator from a signal proportional to the current provided to said electronic device; and using said duration and a length of said sampling interval to calculate said measured average current.
determining a duration of de-integration of an integrated signal, said integrated signal having been integrated during a sampling interval by said dual-slope integrator from a signal proportional to the current provided to said electronic device; and using said duration and a length of said sampling interval to calculate said measured average current.
33. The computer-readable medium of claim 32 wherein said sampling interval is a PWM
period.
period.
34. The computer-readable medium of claim 30 or claim 31 wherein said setting said duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing.
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing.
35. The computer-readable medium of claim 34 wherein said input value is a digital representation of an input voltage.
36. The computer-readable medium of claim 34 wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor.
37. The computer-readable medium of claim 36 wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
38. The computer-readable medium of claim 37 wherein said regulating further comprises, if said increasing the additive factor by a first fixed amount results in said additive factor exceeding a limit:
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
39. The computer-readable medium of claim 36 wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
40. The computer-readable medium of claim 39 wherein said regulating further comprises, if said decreasing the additive factor by a first fixed amount results in said additive factor falling below a limit:
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
41. The computer-readable medium of claim 30 or claim 31 wherein said setting said duty cycle comprises scaling an input value representing a desired average current by a multiplicative factor and adding an additive factor, said scaling and adding resulting in a calculated duty cycle.
42. The computer-readable medium of claim 41 wherein said scaling and adding are completed during a first PWM period and said calculated duty cycle is effective in said pulse-width modulation during a second PWM period immediately following said first PWM period.
43. A method of providing a controlled current to an electronic device, comprising:
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring, wherein said measuring an average of said current results in a measured average current and wherein said setting a duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, said duty cycle being computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring, wherein said measuring an average of said current results in a measured average current and wherein said setting a duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, said duty cycle being computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
44. The method of claim 43 wherein said regulating further comprises, if said increasing the additive factor by a first fixed amount results in said additive factor exceeding a limit:
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
45. A method of providing a controlled current to an electronic device, comprising:
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring, wherein said measuring an average of said current results in a measured average current and wherein said setting a duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, said duty cycle being computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
producing a pulse-width modulation (PWM) signal to provide said current;
measuring an average of said current provided to the electronic device using a dual-slope integrator; and setting a duty cycle of said pulse-width modulation signal based, at least in part, on said measuring, wherein said measuring an average of said current results in a measured average current and wherein said setting a duty cycle comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, said duty cycle being computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
46. The method of claim 45 wherein said regulating further comprises, if said decreasing the additive factor by a first fixed amount results in said additive factor falling below a limit:
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
47. A system for providing a controlled current to an electronic device, comprising:
a pulse-width modulation (PWM) signal generator for providing said current;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current;
a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current; and an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing, wherein said duty cycle calculator calculates said duty cycle by scaling said input value by a scalar and adding an additive factor, said scaling and adding resulting in a calculated duty cycle, and wherein, if said error value indicates that said measured average current is less than said desired average current, said duty cycle calculator increases the additive factor by a first fixed amount.
a pulse-width modulation (PWM) signal generator for providing said current;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current;
a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current; and an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing, wherein said duty cycle calculator calculates said duty cycle by scaling said input value by a scalar and adding an additive factor, said scaling and adding resulting in a calculated duty cycle, and wherein, if said error value indicates that said measured average current is less than said desired average current, said duty cycle calculator increases the additive factor by a first fixed amount.
48. The system of claim 47 wherein, if said additive factor exceeds a limit, said duty cycle calculator:
zeroes said additive factor; and increases said multiplicative factor by a second fixed amount.
zeroes said additive factor; and increases said multiplicative factor by a second fixed amount.
49. A system for providing a controlled current to an electronic device, comprising:
a pulse-width modulation (PWM) signal generator for providing said current;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current;
a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current; and an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing, wherein said duty cycle calculator calculates said duty cycle by scaling said input value by a scalar and adding an additive factor, said scaling and adding resulting in a calculated duty cycle, and wherein, if said error value indicates that said measured average current is greater than said desired average current, said duty cycle calculator decreases the additive factor by a first fixed amount.
a pulse-width modulation (PWM) signal generator for providing said current;
a dual-slope integrator for use in measuring an average current supplied to the electronic device, said measuring resulting in a measured average current;
a duty cycle calculator for calculating a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current; and an error calculator for comparing said measured average current to an input value representing a desired average current and for calculating an error value based on said comparing, wherein said duty cycle calculator calculates said duty cycle by scaling said input value by a scalar and adding an additive factor, said scaling and adding resulting in a calculated duty cycle, and wherein, if said error value indicates that said measured average current is greater than said desired average current, said duty cycle calculator decreases the additive factor by a first fixed amount.
50. The system of claim 49 wherein, if said additive factor falls below a limit, said duty cycle calculator:
zeroes said additive factor; and decreases said multiplicative factor by a second fixed amount.
zeroes said additive factor; and decreases said multiplicative factor by a second fixed amount.
51. A computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause said computing device to:
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current, wherein (b) comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current, wherein (b) comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is less than said desired average current, increasing the additive factor by a first fixed amount.
52. The computer-readable medium of claim 51 wherein said regulating further comprises, if said increasing the additive factor by a first fixed amount results in said additive factor exceeding a limit:
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and increasing said multiplicative factor by a second fixed amount.
53. A computer-readable medium storing instructions which, when executed by a computing device in a system for providing a controlled current to an electronic device by way of a pulse-width modulation (PWM) signal, cause said computing device to:
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current, wherein (b) comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
(a) calculate from measurements produced by a dual-slope integrator a measured average current supplied to the electronic device; and (b) set a duty cycle of said pulse-width modulation signal based, at least in part, on said measured average current, wherein (b) comprises:
comparing said measured average current to an input value representing a desired average current; and regulating said duty cycle of said pulse-width modulation signal based on said comparing, wherein said duty cycle is computed by scaling said input value by a multiplicative factor and adding an additive factor, and wherein said regulating comprises, if said comparing indicates that said measured average current is greater than said desired average current, decreasing the additive factor by a first fixed amount.
54. The computer-readable medium of claim 53 wherein said regulating further comprises, if said decreasing the additive factor by a first fixed amount results in said additive factor falling below a limit:
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
zeroing said additive factor; and decreasing said multiplicative factor by a second fixed amount.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002458779A CA2458779C (en) | 2004-02-25 | 2004-02-25 | Current driver employing pulse-width modulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA002458779A CA2458779C (en) | 2004-02-25 | 2004-02-25 | Current driver employing pulse-width modulation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2458779A1 CA2458779A1 (en) | 2005-08-25 |
| CA2458779C true CA2458779C (en) | 2007-11-06 |
Family
ID=34865927
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA002458779A Expired - Lifetime CA2458779C (en) | 2004-02-25 | 2004-02-25 | Current driver employing pulse-width modulation |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA2458779C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113565661A (en) * | 2021-07-23 | 2021-10-29 | 武汉天富海科技发展有限公司 | Electromagnetic valve drive control device of intelligent electric control booster pump |
-
2004
- 2004-02-25 CA CA002458779A patent/CA2458779C/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| CA2458779A1 (en) | 2005-08-25 |
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