CN113485508A - Voltage reference regulating circuit, processing circuit and servo driver - Google Patents

Voltage reference regulating circuit, processing circuit and servo driver Download PDF

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Publication number
CN113485508A
CN113485508A CN202110777373.XA CN202110777373A CN113485508A CN 113485508 A CN113485508 A CN 113485508A CN 202110777373 A CN202110777373 A CN 202110777373A CN 113485508 A CN113485508 A CN 113485508A
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CN
China
Prior art keywords
voltage
circuit
resistor
operational amplifier
current
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Pending
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CN202110777373.XA
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Chinese (zh)
Inventor
谭章德
王长恺
区均灌
张敏
郑培杰
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Gree Electric Appliances Inc of Zhuhai
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Gree Electric Appliances Inc of Zhuhai
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Priority to CN202110777373.XA priority Critical patent/CN113485508A/en
Publication of CN113485508A publication Critical patent/CN113485508A/en
Pending legal-status Critical Current

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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05FSYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00Automatic 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
    • G05F1/10Regulating voltage or current
    • G05F1/46Regulating voltage or current wherein the variable actually regulated by the final control device is dc
    • G05F1/56Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
    • G05F1/561Voltage to current converters

Abstract

The voltage reference regulating circuit for current sampling is provided, wherein a non-inverting input end of a first operational amplifier is a voltage input end, and an inverting output end of the first operational amplifier is connected to an output end through a feedback resistor; the non-inverting input end of the second operational amplifier is connected with the output end of the first operational amplifier through a first resistor; the input reference voltage is connected to the non-inverting input end of the second operational amplifier through the second resistor, the reference voltage of the external current sensor is connected to the inverting input end of the second operational amplifier through the third resistor, and the fourth resistor is connected between the inverting input end and the output end of the second operational amplifier. The invention also provides a current sampling signal processing circuit and a servo driver. The scheme of the invention improves the system performance of the numerical control machine tool.

Description

Voltage reference regulating circuit, processing circuit and servo driver
Technical Field
The invention relates to the field of automatic control, in particular to a voltage reference regulating circuit for current sampling, a current sampling signal processing circuit and a servo driver.
Background
With the development of industrial automation technology, the alternating current servo control system is widely applied to the fields of high-precision numerical control machines and industrial robots. The alternating current servo control system adopts a three-ring control structure, wherein a current ring is a system inner ring, and a speed ring and a position ring are system outer rings. As a multi-closed loop control system, the improvement of the performance of the outer loop depends on the optimization of the inner loop of the system. The current loop is the key for improving the control precision and response speed and improving the control performance in the alternating current servo control system, and in order to achieve the accurate and rapid control effect of the servo control system, the phase current can be accurately and rapidly sampled. In an alternating current servo system, two modes of a current sensor and resistance sampling are adopted, and an obtained voltage signal is converted into a digital quantity through an AD converter (an analog-digital converter).
Typically, a current sensor has a reference source that converts a current signal to a voltage output based on the voltage. The AD converter also has a reference source for converting an analog quantity to a digital quantity with reference to this voltage. The servo driver works in a complex electromagnetic environment, and the power supply is interfered, so that the reference source fluctuates, and the current sampling precision is influenced.
In the prior art, chinese patent 201620756370.2 uses a high-precision voltage reference as the reference voltage of an AD converter, and the type of the selected current sensor is a current output type, and there is no built-in reference source, so that there is a difference between the reference source of the current sensor and the reference source of the AD converter when the current sampling application is performed. The precision of a certain reference source is improved, and the problem of difference of two reference sources cannot be solved. In addition, the current sensor in the above patent samples the current proportionally and then converts it into a voltage signal through a resistor, so the accuracy of the converted voltage signal is affected by the built-in reference source. The prior art needs a solution for adjusting current sampling errors caused by the fluctuation of a built-in reference source of a current elimination sensor.
The above information disclosed in the background section is only for further understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention provides a voltage reference regulating circuit for current sampling and a current sampling signal processing circuit. According to the scheme of the invention, in the current real-time sampling, the current sampling error caused by the inconsistency of the current sensor and the reference source of the AD converter is eliminated, and in addition, the current sampling precision of the servo driver can be improved, and the current loop performance of a servo system is improved.
To this end, the invention provides a voltage reference regulating circuit of current sampling on one hand and a current sampling signal processing circuit on the other hand.
The invention provides a voltage reference regulating circuit for current sampling, which comprises a first operational amplifier and a second operational amplifier, wherein the non-inverting input end of the first operational amplifier is a voltage input end, and the inverting output end of the first operational amplifier is connected to an output end through a feedback resistor; the non-inverting input end of the second operational amplifier is connected with the output end of the first operational amplifier through a first resistor; the input reference voltage is connected to the non-inverting input end of the second operational amplifier through a second resistor, the reference voltage of the external current sensor is connected to the inverting input end of the second operational amplifier through a third resistor, and a fourth resistor is connected between the inverting input end and the output end of the second operational amplifier; the resistance value of the first resistor is equal to that of the third resistor, the resistance value of the second resistor is equal to that of the fourth resistor, and the resistance value of the fourth resistor is smaller than that of the third resistor.
According to one embodiment of the present invention, the input voltage is input to a non-inverting input terminal of a first operational amplifier through a low-pass filter, and an amplification ratio of the first operational amplifier is 1: 1.
According to an embodiment of the present invention, the amplification ratio of the second operational amplifier is: the resistance of the fourth resistor/the resistance of the third resistor.
According to an embodiment of the present invention, the feedback resistor and the first operational amplifier constitute a feedback follower, and the filter and the feedback follower ensure signal integrity of the voltage input terminal and filter out interference.
According to one embodiment of the invention, the reference voltage of the AD converter is connected to the positive input of the second operational amplifier, while being the output reference voltage of the voltage reference regulating circuit of the current sample.
A second aspect of the present invention provides a current sampling signal processing circuit, which includes a first current sensor, a second current sensor, the first and second current sampling voltage reference adjusting circuits of the present invention, an AD converter, and a main control chip, wherein the first current sensor is connected to the first current sampling voltage reference adjusting circuit, the second current sensor is connected to the second current sampling voltage reference adjusting circuit, outputs of the first and second current sampling voltage reference adjusting circuits are connected to the AD converter, and the main control chip generates a control clock signal according to an output of the AD converter.
According to one embodiment of the invention, a first current sensor collects U-phase current and outputs a first voltage, and a second current sensor collects a V-phase circuit and outputs a second voltage; the first output voltage, the reference voltage of the first current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a first current sample, and the second output voltage, the reference voltage of the second current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a second current sample; the reference voltage of the AD converter is connected to the voltage reference regulating circuit of the first and second current samples, and the reference voltage serves as a reference source for regulating the output reference voltage of the voltage reference regulating circuit of the first and second current samples and is connected to the reference input of the AD converter.
According to an embodiment of the invention, the fluctuations of the digital quantity of the AD converter are related only to the voltage fluctuations of the AD converter reference source and not to the fluctuations of the reference voltage of the circuit sensor.
A third aspect of the invention provides a servo driver comprising a current sampled voltage reference regulation circuit and a current sampled signal processing circuit as described above.
The scheme of the invention improves the anti-interference capability of the servo system, and the servo driver can still obtain high current control precision in a complex electromagnetic environment, thereby improving the system performance of the numerical control machine tool.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic block diagram of motor control current sampling according to an embodiment of the present invention.
Fig. 2 is a view of the internal structure of a current sensor according to an exemplary embodiment of the present invention.
Fig. 3 is an internal structural view of an AD converter according to an exemplary embodiment of the present invention.
FIG. 4 is a block diagram of a current sampling signal processing circuit that adds a reference source regulation module according to an exemplary embodiment of the present invention.
Fig. 5 is a circuit block diagram of a reference source adjustment module according to an exemplary embodiment of the present invention.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As used herein, the terms "first," "second," and the like may be used to describe elements of exemplary embodiments of the invention. These terms are only used to distinguish one element from another element, and the inherent features or order of the corresponding elements and the like are not limited by the terms. Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms, such as those defined in commonly used dictionaries, are to be interpreted as having a meaning that is consistent with their context in the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Those skilled in the art will understand that the devices and methods of the present invention described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present invention is defined solely by the claims. Features illustrated or described in connection with one exemplary embodiment may be combined with features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, a detailed description of related known functions or configurations is omitted to avoid unnecessarily obscuring the technical points of the present invention. In addition, the same reference numerals refer to the same circuits, modules or units throughout the description, and repeated descriptions of the same circuits, modules or units are omitted for brevity.
Further, it should be understood that one or more of the following methods or aspects thereof may be performed by at least one control system, control unit, or controller. The terms "control unit," "controller," "control module," or "master control module" may refer to a hardware device that includes a memory or a computer-readable storage medium configured to store program instructions and a processor specifically configured to execute the program instructions to perform one or more processes that will be described further below. Moreover, it is to be appreciated that the following methods may be performed by including a processor in conjunction with one or more other components, as will be appreciated by one of ordinary skill in the art.
In the application of a high-precision numerical control machine tool, the current control precision of a servo system is high, the electromagnetic environment of a machine tool electric cabinet is severe, and an internal power supply of a servo driver is easily interfered. If the servo driver adopts a scheme of a current sensor and an AD converter, and the current sensor and the AD converter are both provided with built-in voltage reference sources, a current sampling signal is influenced by the fluctuation of the two reference sources, so that the deviation of a current sampling value and an actual value is large, and the current control precision of a servo system is influenced.
FIG. 1 is a schematic block diagram of motor control current sampling according to an embodiment of the present invention.
As shown in fig. 1, it is a structure diagram of current sampling using the current sensor + AD converter scheme. The current sensors are used for respectively collecting U-phase and V-phase currents, the U-phase and V-phase currents are filtered and conditioned and then input into the AD converter, and the AD converter is converted into digital signals and then transmitted to the main control chip. The reference source output of the AD converter is filtered and conditioned and then connected to the reference input required by each path of AD conversion.
Fig. 2 is a view of the internal structure of a current sensor according to an exemplary embodiment of the present invention. As shown in FIG. 2, taking a 2.5V reference source current sensor of Lyme corporation as an example, if the current-voltage conversion ratio of the current sensor is G, the relationship between the output voltage of the current sensor and the current I is Vout=G*I+Vref. In FIG. 2, the current sensor has two signal pins, one voltage reference source output V as shown in FIG. 2refOne is the output V after the current signal is converted into the voltage signalout
Fig. 3 is an internal structural view of an AD converter according to an exemplary embodiment of the present invention. In fig. 3, according to an example of the present invention, if the AD converter is an AD converter with a built-in 2.5V reference source, two-way AD conversion can be performed, and in the motor control application, two-phase currents of the motor need to be collected. Assuming that the AD converter is 12-bit accurate, the converted digital quantity D ═ VinV. (2 × VREFIN) × 4096. For example, the AD converter in fig. 3 is a dual-channel AD converter, and has an a channel and a B channel, and the functions of the two channels are completely identical. Positive phase input CHA + of the channel A and negative phase input CHA-; the positive phase of the B channel is input to CHB +, and the negative phase is input to CHB-. The voltage reference input REFINA for the a channel and REFINB for the B channel. The AD converter internal reference source outputs REFOUT. OUTA, OUTB are the converted data outputs, CLKOUT, CLKIN, CLKSEL clock control signals.
According to one or more embodiments of the present invention, since the current sensor is placed close to the inverter module, the power supply of the current sensor is easily interfered by the switch of the inverter module, thereby causing the internal voltage reference to fluctuate. The AD conversion chip is connected with the main control chip, and high-frequency signal interference is easy to couple, so that an internal voltage reference source of the AD conversion chip contains high-frequency interference fluctuation.
In a conventional servo system, the connection mode shown in fig. 1 is generally adopted, and it is assumed that at the time of current sampling, voltage fluctuations of the current sensor and the internal reference source of the AD converter are Δ 1 and Δ 2, respectively, that is, the voltage reference of the current sensor is 2.5+ Δ 1, and the voltage reference of the AD converter is 2.5+ Δ 2. The AD-converted digital quantity D is (G × I +2.5+ Δ 1)/[2(2.5+ Δ 2) ] /) 4096 at this time, and therefore the digital quantity D is related to Δ 1 and Δ 2.
FIG. 4 is a block diagram of a current sampling signal processing circuit that adds a reference source regulation module according to an exemplary embodiment of the present invention.
As shown in fig. 4, a reference source adjusting module (i.e., a voltage reference adjusting circuit for current sampling) is added to the current sampling signal processing circuit, a reference source inside the current sensor and a reference source inside the AD converter are used as inputs of the adjusting module, and the signal after adjustment and output is transmitted to the AD converter. The first current sensor collects U-phase current and outputs first voltage, and the second current sensor collects V-phase circuit and outputs second voltage; the first and second voltages are shown in fig. 4 as reference VoutThe first output voltage, the reference voltage of the first current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a first current sample, and the second output voltage, the reference voltage of the second current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a second current sample; the reference voltage of the AD converter is connected to the voltage reference regulating circuit of the first and second current samples, and the reference voltage serves as a reference source for regulating the output reference voltage of the voltage reference regulating circuit of the first and second current samples and is connected to the reference input of the AD converter.
Fig. 5 is a circuit block diagram of a reference source regulation module (i.e., a current sampled voltage reference regulation circuit) according to an exemplary embodiment of the present invention.
As shown in fig. 5, the voltage reference regulating circuit for current sampling includes a first operational amplifier and a second operational amplifier, wherein the non-inverting input terminal of the first operational amplifier is a voltage input terminal Ui, and the inverting output terminal of the first operational amplifier is connected to the output terminal through a feedback resistor R2; first, theThe non-inverting input ends of the two operational amplifiers are connected with the output end of the first operational amplifier through a first resistor R3; input reference voltage V of AD converterref_adThe reference voltage V of the external current sensor is connected to the non-inverting input end of the second operational amplifier through a second resistor R4ref_cThe third resistor R5 is connected to the inverting input end of the second operational amplifier, and the fourth resistor R6 is connected between the inverting input end and the output end of the second operational amplifier; the resistance of the first resistor R2 is equal to the resistance of the third resistor R5, the resistance of the second resistor R4 is equal to the resistance of the fourth resistor R6, and the resistance of the fourth resistor R6 is smaller than the resistance of the third resistor R5.
According to one or more embodiments of the invention, as shown in FIG. 5, the current sensor outputs a signal VoutU connected to reference source regulating moduleiThrough a low-pass filter consisting of a resistor R1 and a capacitor C1, the cut-off frequency of the filter is generally higher than 100 times of the highest frequency of a current signal, so that the integrity of the signal is ensured, and interference is filtered. And then to a voltage follower consisting of a first operational amplifier and a resistor R2 to increase the transmission impedance. The input voltage is input to a non-inverting input end of a first operational amplifier through a low-pass filter, and the amplification ratio of the first operational amplifier is 1: 1.
According to one or more embodiments of the present invention, resistor R1 is typically selected to be on the order of 10k Ω and resistor R2 is typically selected to be on the order of 100k Ω. Then connected to an amplifying circuit consisting of resistors R3, R4, R5, R6 and a second operational amplifier. When R6 < R5, the magnification is less than 1. Wherein the capacitors C2 and C3 in fig. 5 are both filter capacitors. The selected values of the resistors and the capacitors are determined according to the actual debugging situation of the circuit, and the relationship between the first resistor and the fourth resistor in fig. 5 only needs to satisfy R3 ═ R5, R4 ═ R6, and R6 < R5. Wherein the transmission relationship of the first operational amplifier and the second operational amplifier is as described above. The reference voltage output REFUT of the AD converter is connected to the positive input (Vref _ AD) of the amplifying circuit, and also serves as the output VREFIN of the reference source regulating module to be connected to the voltage reference input of the subsequent AD converter. In FIG. 5, three signals on the left are input and two signals on the right are output, where VREFIN and Vref_adAre equal.
As shown in fig. 5 and 4, the output of the current sensor passes through the voltage follower to increase the transmission impedance and improve the anti-interference capability, and then is conditioned by the operational amplifier circuit, and the internal voltage reference sources of the two devices are also used as the input signals of the operational amplifier of the voltage reference regulating circuit for current sampling. Wherein R3 ═ R5, R4 ═ R6, then the amplification factor k ═ R6/R5, the input/output relationship of the operational amplifier circuit is Uo=k*Ui+[(2.5+Δ2)-k(2.5+Δ1)],UiG + I + (2.5+ Δ 1), so UoK G I + (2.5+ Δ 2), the digital quantity D ═ k G I + (2.5+ Δ 2)]/[2(2.5+Δ2)]4096, the digital quantity is only related to Δ 2, removing the effect of current sensor reference source fluctuations. And adjusting the amplification factor, and weakening the influence of delta 2 when the amplification factor is less than 1 so as to improve the sampling precision. Here, only 12-bit precision is taken as an example, and other different parameters can be selected according to actual situations in circuit implementation. It follows that in the circuit of fig. 4, the fluctuations in the digital values of the AD converters are related only to the voltage fluctuations Δ 2 of the AD converter reference source and not to the fluctuations Δ 1 of the reference voltage of the circuit sensor.
The invention also provides a servo driver which comprises the voltage reference regulating circuit for current sampling and the current sampling signal processing circuit.
The drawings referred to above and the detailed description of the invention, which are exemplary of the invention, serve to explain the invention without limiting the meaning or scope of the invention as described in the claims. Accordingly, modifications may be readily made by those skilled in the art from the foregoing description. Further, those skilled in the art may delete some of the constituent elements described herein without deteriorating the performance, or may add other constituent elements to improve the performance. Further, the order of the steps of the methods described herein may be varied by one skilled in the art depending on the environment of the process or apparatus. Therefore, the scope of the present invention should be determined not by the embodiments described above but by the claims and their equivalents.
While the invention has been described in connection with what is presently considered to be practical embodiments, it is to be understood that the invention is not to be limited to the disclosed embodiments, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (9)

1. A current sampled voltage reference regulation circuit, the circuit comprising a first operational amplifier and a second operational amplifier, wherein,
the non-inverting input end of the first operational amplifier is a voltage input end, and the inverting output end of the first operational amplifier is connected to the output end through a feedback resistor;
the non-inverting input end of the second operational amplifier is connected with the output end of the first operational amplifier through a first resistor; the input reference voltage is connected to the non-inverting input end of the second operational amplifier through a second resistor, the reference voltage of the external current sensor is connected to the inverting input end of the second operational amplifier through a third resistor, and a fourth resistor is connected between the inverting input end and the output end of the second operational amplifier;
the resistance value of the first resistor is equal to that of the third resistor, the resistance value of the second resistor is equal to that of the fourth resistor, and the resistance value of the fourth resistor is smaller than that of the third resistor.
2. The circuit of claim 1, wherein the input voltage is input to a non-inverting input terminal of a first operational amplifier having an amplification ratio of 1:1 through a low-pass filter.
3. The circuit of claim 1, the second operational amplifier having an amplification ratio of: the resistance of the fourth resistor/the resistance of the third resistor.
4. The circuit of claim 2, wherein the feedback resistor and the first operational amplifier form a feedback follower, the filter and the feedback follower ensuring signal integrity at the voltage input and filtering out interference.
5. The circuit of claim 1, a reference voltage of an AD converter is connected to a positive input of a second operational amplifier while being an output reference voltage of the current sampled voltage reference regulation circuit.
6. A current sampling signal processing circuit comprising a first current sensor, a second current sensor, a first and second current sampling voltage reference adjusting circuit as claimed in any one of claims 1 to 5, an AD converter, a main control chip,
the first current sensor is connected with a voltage reference regulating circuit of the first current sampling, the second current sensor is connected with a voltage reference regulating circuit of the second current sampling, the outputs of the voltage reference regulating circuits of the first current sampling and the second current sampling are connected with the AD converter, and the main control chip generates a control clock signal according to the output of the AD converter.
7. The circuit of claim 6, wherein,
the first current sensor collects U-phase current and outputs first voltage, and the second current sensor collects V-phase circuit and outputs second voltage;
the first output voltage, the reference voltage of the first current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a first current sample, and the second output voltage, the reference voltage of the second current sensor and the reference voltage of the AD converter are input to a voltage reference regulating circuit of a second current sample;
the reference voltage of the AD converter is connected to the voltage reference regulating circuit of the first and second current samples, and the reference voltage serves as a reference source for regulating the output reference voltage of the voltage reference regulating circuit of the first and second current samples and is connected to the reference input of the AD converter.
8. The circuit of claim 6, wherein the fluctuations in the AD converter digital quantity are related only to fluctuations in the voltage of the AD converter reference source, and are not related to fluctuations in the reference voltage of the circuit sensor.
9. A servo driver comprising the circuit of any of claims 1-8.
CN202110777373.XA 2021-07-09 2021-07-09 Voltage reference regulating circuit, processing circuit and servo driver Pending CN113485508A (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101876671A (en) * 2009-12-12 2010-11-03 杭州日鼎控制技术有限公司 High-precision current sampling circuit used in servo system
CN201975755U (en) * 2011-03-11 2011-09-14 上海诺雅克电气有限公司 Current diagnosis device for monitoring state of current transformer
CN105306060A (en) * 2015-12-03 2016-02-03 湖南先步信息股份有限公司 Anti-interference high-precision analog quantity sampling method and apparatus
CN206431190U (en) * 2016-07-19 2017-08-22 河北博联通讯科技有限责任公司 A kind of current sampling device of utilization high-precision voltage reference and A/D converter circuit
CN109444792A (en) * 2018-11-14 2019-03-08 苏州绿控传动科技股份有限公司 A kind of circuit reducing current sensor sampling error
CN109884384A (en) * 2019-04-03 2019-06-14 深圳市佳运通电子有限公司 A kind of signal acquisition circuit of compatible electric current and voltage input

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101876671A (en) * 2009-12-12 2010-11-03 杭州日鼎控制技术有限公司 High-precision current sampling circuit used in servo system
CN201975755U (en) * 2011-03-11 2011-09-14 上海诺雅克电气有限公司 Current diagnosis device for monitoring state of current transformer
CN105306060A (en) * 2015-12-03 2016-02-03 湖南先步信息股份有限公司 Anti-interference high-precision analog quantity sampling method and apparatus
CN206431190U (en) * 2016-07-19 2017-08-22 河北博联通讯科技有限责任公司 A kind of current sampling device of utilization high-precision voltage reference and A/D converter circuit
CN109444792A (en) * 2018-11-14 2019-03-08 苏州绿控传动科技股份有限公司 A kind of circuit reducing current sensor sampling error
CN109884384A (en) * 2019-04-03 2019-06-14 深圳市佳运通电子有限公司 A kind of signal acquisition circuit of compatible electric current and voltage input

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