CN114326900A - A high-precision adjustable reference voltage generating circuit - Google Patents
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Abstract
本发明公开了一种高精度可调基准电压产生电路,属于CMOS模拟集成电路领域。用于解决现有技术中缺乏适用于高精度应用场景的基准电压电路的技术问题。本发明高精度可调基准电压产生电路包括:参考基准电路模块、主DAC、输出缓冲放大器和电压校准电路模块;参考基准电路模块用于产生并输出参考基准电压;主DAC用于基于参考基准电压产生各比例的电压值;输出缓冲放大器用于将主DAC产生的电压值进行放大及缓冲输出;电压校准电路模块用于基于所述参考基准电压和所述输出缓冲放大器的输出电压生成控制信号,以控制调整主DAC的输出电压,实现对输出基准电压的校准。通过采用本发明方案能够实现高精度的可调节的基准电压的产生。
The invention discloses a high-precision adjustable reference voltage generating circuit, which belongs to the field of CMOS analog integrated circuits. It is used to solve the technical problem of the lack of a reference voltage circuit suitable for high-precision application scenarios in the prior art. The high-precision adjustable reference voltage generating circuit of the present invention includes: a reference reference circuit module, a main DAC, an output buffer amplifier and a voltage calibration circuit module; the reference reference circuit module is used for generating and outputting a reference reference voltage; the main DAC is used for generating and outputting a reference reference voltage based on the reference reference voltage generating voltage values of various proportions; the output buffer amplifier is used for amplifying and buffering the voltage value generated by the main DAC; the voltage calibration circuit module is used for generating a control signal based on the reference reference voltage and the output voltage of the output buffer amplifier, In order to control and adjust the output voltage of the main DAC, the calibration of the output reference voltage is realized. By adopting the solution of the present invention, the generation of a highly accurate and adjustable reference voltage can be realized.
Description
技术领域technical field
本发明属于CMOS模拟集成电路设计领域,更具体地,涉及一种高精度可调基准电压产生电路。The invention belongs to the field of CMOS analog integrated circuit design, and more particularly relates to a high-precision adjustable reference voltage generating circuit.
背景技术Background technique
在CMOS模拟集成电路领域中,许多场合需要稳定精准的电压基准作为参考,尤其是在模数转换器(ADC,Analog to Digital Converter)设计中,部分ADC的参考基准电压的精度达不到要求则会严重影响ADC的转换精度,例如一些多步式ADC需要不同比例的电压基准作为转换参考,而一旦不同基准之间的误差超过ADC所设计的最小分辨电压,ADC的实际精度将会显著降低。In the field of CMOS analog integrated circuits, a stable and accurate voltage reference is required as a reference in many occasions, especially in the design of analog-to-digital converters (ADC, Analog to Digital Converter), the accuracy of the reference voltage of some ADCs cannot meet the requirements. It will seriously affect the conversion accuracy of the ADC. For example, some multi-step ADCs require voltage references of different ratios as conversion references. Once the error between different references exceeds the minimum resolution voltage designed by the ADC, the actual accuracy of the ADC will be significantly reduced.
图1为现有的可调基准电压电路,主要包括一个参考基准模块11,一个数模转换器(DAC,Digital to Analog Converter)12以及一个输出缓冲器13,参考基准信号经过一个N位DAC后,可通过DAC的二进制输入值控制输出为任意X2N倍的参考基准值,其中X范围为0~2N之间的整数。然而考虑到DAC的积分非线性误差、输出缓冲器的增益误差以及输出缓冲器的输入失调电压,当所需的精度N较大时,其实际输出结果相比预想的输出有严重的偏离,甚至会远远超过1个最小LSB电压,这对于需要高精度的应用场景是不可接受的。FIG. 1 is an existing adjustable reference voltage circuit, which mainly includes a reference reference module 11, a digital-to-analog converter (DAC, Digital to Analog Converter) 12 and an
由此可见,如何获得更高精度的基准电压成为亟待解决的问题。It can be seen that how to obtain a higher-precision reference voltage has become an urgent problem to be solved.
发明内容SUMMARY OF THE INVENTION
针对现有技术的缺陷和改进需求,本发明提出了一种高精度可调基准电压产生电路,其目的在于,产生高精度的基准电压,能够满足如ADC等要求高精度基准电压的应用场合。Aiming at the defects and improvement requirements of the prior art, the present invention proposes a high-precision adjustable reference voltage generating circuit, which aims to generate a high-precision reference voltage, which can meet the application occasions such as ADC that require a high-precision reference voltage.
为实现上述目的,本发明提供了一种高精度可调电压基准电路,包括:参考基准电路模块、主数模转换器、输出缓冲放大器和电压校准电路模块;In order to achieve the above purpose, the present invention provides a high-precision adjustable voltage reference circuit, including: a reference reference circuit module, a main digital-to-analog converter, an output buffer amplifier and a voltage calibration circuit module;
所述参考基准电路模块,用于产生并输出参考基准电压;the reference reference circuit module for generating and outputting a reference reference voltage;
所述主数模转换器和所述电压校准电路模块的输入端与所述参考基准电路模块相连,用于获取所述参考基准电压;The main digital-to-analog converter and the input end of the voltage calibration circuit module are connected to the reference reference circuit module, and are used for obtaining the reference reference voltage;
所述输出缓冲放大器的输入端与所述主数模转换器的输出端相连,用于对所述主数模转换器的输出电压进行放大及缓冲输出;The input end of the output buffer amplifier is connected to the output end of the main digital-to-analog converter, and is used for amplifying and buffering the output voltage of the main digital-to-analog converter;
所述电压校准电路模块的另一输入端与所述输出缓冲放大器的输出端相连,用于获取所述输出缓冲放大器的输出电压;The other input end of the voltage calibration circuit module is connected to the output end of the output buffer amplifier, for obtaining the output voltage of the output buffer amplifier;
所述电压校准电路模块的输出端与所述主数模转换器的另一输入端相连;所述电压校准电路模块基于所述参考基准电压和所述输出缓冲放大器的输出电压生成第一控制信号,并输出至所述主数模转换器,以控制所述主数模转换器调整输出电压,实现对输出基准电压的校准。The output terminal of the voltage calibration circuit module is connected to the other input terminal of the main digital-to-analog converter; the voltage calibration circuit module generates a first control signal based on the reference reference voltage and the output voltage of the output buffer amplifier , and output to the main digital-to-analog converter, so as to control the main digital-to-analog converter to adjust the output voltage and realize the calibration of the output reference voltage.
可选的,所述电压校准电路模块包括:校准数模转换器、比较器和比较控制逻辑模块;Optionally, the voltage calibration circuit module includes: a calibration digital-to-analog converter, a comparator and a comparison control logic module;
所述校准数模转换器的输入端与所述参考基准电路模块相连,用于获取所述参考基准电压;The input end of the calibration digital-to-analog converter is connected to the reference reference circuit module for obtaining the reference reference voltage;
所述比较器的负输入端与所述校准数模转换器的输出端相连,所述比较器的正输入端与所述输出缓冲放大器的输出端相连,所述比较器用于对所述校准数模转换器的输出电压和所述输出缓冲放大器的输出电压进行比较,获得比较结果;The negative input terminal of the comparator is connected to the output terminal of the calibration digital-to-analog converter, the positive input terminal of the comparator is connected to the output terminal of the output buffer amplifier, and the comparator is used for calibrating the calibration data. comparing the output voltage of the analog converter with the output voltage of the output buffer amplifier to obtain a comparison result;
所述比较控制逻辑模块的输入端与所述比较器的输出端相连、第一输出端与所述主数模转换器相连、第二输出端与所述校准数模转换器相连;所述比较控制逻辑模块基于所述比较结果生成第一控制信号和第二控制信号,分别通过所述第一输出端和所述第二输出端输出至所述主数模转换器和所述校准数模转换器,用于控制调整所述主数模转换器和所述校准数模转换器的输出电压,以实现对输出基准电压的校准。The input end of the comparison control logic module is connected to the output end of the comparator, the first output end is connected to the main digital-to-analog converter, and the second output end is connected to the calibration digital-to-analog converter; the comparison The control logic module generates a first control signal and a second control signal based on the comparison result, and outputs to the main digital-to-analog converter and the calibration digital-to-analog converter through the first output terminal and the second output terminal respectively The controller is used to control and adjust the output voltage of the main digital-to-analog converter and the calibration digital-to-analog converter, so as to realize the calibration of the output reference voltage.
可选的,所述参考基准电路模块采用带隙基准实现。Optionally, the reference reference circuit module is implemented using a bandgap reference.
可选的,所述主数模转换器包括:串联电阻数模转换器和二进制电流数模转换器;其中,所述主数模转换器通过串联电阻数模转换器实现高位输出,通过二进制电流数模转换器实现低位输出。Optionally, the main digital-to-analog converter includes: a series resistance digital-to-analog converter and a binary current digital-to-analog converter; wherein, the main digital-to-analog converter realizes high-level output through a series resistance digital-to-analog converter, and a binary current A digital-to-analog converter implements the low-order output.
可选的,所述输出缓冲放大器采用折叠共源共栅放大器结构。Optionally, the output buffer amplifier adopts a folded cascode amplifier structure.
可选的,所述校准数模转换器具体为电容数模转换器。Optionally, the calibration digital-to-analog converter is specifically a capacitance digital-to-analog converter.
可选的,所述比较器为具有输出失调存储的静态预放大比较器。Optionally, the comparator is a static pre-amplifier comparator with output offset storage.
总体而言,通过本发明所构思的上述技术方案,至少能够取得以下有益效果:In general, through the above-mentioned technical solutions conceived by the present invention, at least the following beneficial effects can be achieved:
(1)本发明通过包含较高精度的校准数模转换器的电压校准电路模块对于精度较低的主数模转换器进行校准,最终可以得到一个高精度的可调的基准电压输出,相比传统结构可消除主数模转换器失配误差、输出缓冲器失调电压以及增益误差,使输出电压的误差处于最小分辨电压1LSB以内。(1) The present invention calibrates the main digital-to-analog converter with low precision through the voltage calibration circuit module including the high-precision calibration digital-to-analog converter, and finally a high-precision adjustable reference voltage output can be obtained. The traditional structure can eliminate the mismatch error of the main digital-to-analog converter, the offset voltage of the output buffer and the gain error, so that the error of the output voltage is within 1LSB of the minimum resolution voltage.
(2)由于系统具有校准能力,对于增益误差和失调误差有较强的容忍性,不要求输出缓冲放大器有极高的增益和匹配性,极大降低了对于放大器设计的高要求。(2) Since the system has calibration capability, it has strong tolerance for gain error and offset error, and does not require the output buffer amplifier to have extremely high gain and matching, which greatly reduces the high requirements for amplifier design.
(3)校准仅需在系统上电时一次完成,完成之后输出基准电压即可保持,校准部分不再工作,有效避免了系统较大的功耗产生。(3) The calibration only needs to be completed once when the system is powered on. After completion, the output reference voltage can be maintained, and the calibration part will no longer work, which effectively avoids the large power consumption of the system.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据提供的附图获得其它的附图。In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to the provided drawings without creative efforts.
图1为本发明背景技术提供的现有基准电压产生电路结构示意图;1 is a schematic structural diagram of an existing reference voltage generation circuit provided by the background technology of the present invention;
图2为本发明实施例提供的一种高精度可调电压基准电路结构示意图;2 is a schematic structural diagram of a high-precision adjustable voltage reference circuit provided by an embodiment of the present invention;
图3为本发明实施例提供的另一种高精度可调电压基准电路结构示意图;3 is a schematic structural diagram of another high-precision adjustable voltage reference circuit provided by an embodiment of the present invention;
图4为本发明实施例中输出缓冲放大器所使用的放大器电路结构示意图;4 is a schematic structural diagram of an amplifier circuit used in an output buffer amplifier in an embodiment of the present invention;
图5为本发明实施例中所使用的比较器结构示意图;5 is a schematic structural diagram of a comparator used in an embodiment of the present invention;
图6为本发明实施例提供的校准时序示意图;6 is a schematic diagram of a calibration sequence provided by an embodiment of the present invention;
图7为本发明实施例提供的校准过程仿真波形图。FIG. 7 is a simulation waveform diagram of a calibration process provided by an embodiment of the present invention.
具体实施方式Detailed ways
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对照附图说明本发明的具体实施方式。显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它的附图,并获得其它的实施方式。In order to more clearly describe the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts, and obtain other embodiments.
为使图面简洁,各图中只示意性地表示出了与本发明相关的部分,它们并不代表其作为产品的实际结构。另外,以使图面简洁便于理解,在有些图中具有相同结构或功能的部件,仅示意性地绘示了其中的一个,或仅标出了其中的一个。在本文中,“一个”不仅表示“仅此一个”,也可以表示“多于一个”的情形。In order to keep the drawings concise, the drawings only schematically show the parts related to the present invention, and they do not represent its actual structure as a product. In addition, in order to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked. As used herein, "one" not only means "only one", but also "more than one".
下面以具体实施例详细介绍本发明的技术方案。The technical solutions of the present invention are described in detail below with specific embodiments.
请参考图2,为本发明实施例提供的一种高精度可调电压基准电路结构示意图,包括:参考基准电路模块1、主数模转换器(即主DAC)2、输出缓冲放大器3和电压校准电路模块4;参考基准电路模块1,用于产生并输出参考基准电压;主DAC 2和电压校准电路模块4的输入端与参考基准电路模块1相连,用于获取所述参考基准电压;输出缓冲放大器3的输入端与主DAC 2的输出端相连,用于对主DAC 2的输出电压进行放大及缓冲输出;电压校准电路模块4的另一输入端与输出缓冲放大器3的输出端相连,用于获取输出缓冲放大器3的输出电压;电压校准电路模块4的输出端与主DAC 2的另一输入端相连;电压校准电路模块4基于所述参考基准电压和输出缓冲放大器3的输出电压生成第一控制信号,并输出至主DAC 2,以控制主DAC 2调整输出电压,实现对输出基准电压的校准。Please refer to FIG. 2 , which is a schematic structural diagram of a high-precision adjustable voltage reference circuit provided by an embodiment of the present invention, including: a reference
在具体实施过程中,请参考图3,电压校准电路模块4包括:校准数模转换器(即校准DAC)41、比较器42和比较控制逻辑模块43。结合图2和图3,校准DAC 41的输入端与参考基准电路模块1相连,用于获取所述参考基准电压;比较器42的负输入端(VIN_2)与校准DAC41的输出端相连,比较器42的正输入端(VIP_2)与输出缓冲放大器3的输出端相连,比较器42用于对校准DAC 41的输出电压和输出缓冲放大器3的输出电压进行比较,获得比较结果;比较控制逻辑模块43的输入端与比较器42的输出端(COMP)相连、第一输出端与主DAC 2相连、第二输出端与校准DAC 41相连;比较控制逻辑模块43基于所述比较结果生成第一控制信号和第二控制信号,分别通过所述第一输出端和所述第二输出端输出至主DAC 2和校准DAC 41,用于控制调整主DAC 2和校准DAC 41的输出电压,以实现对输出基准电压的校准。In a specific implementation process, please refer to FIG. 3 , the voltage
在具体实施过程中,DAC的数模转换需要基于参考基准电压来实现,参考基准电路模块1的主要功能就是提供一个参考基准电压,在本实施例中使用带隙基准实现,带隙基准可以提供一个与电源电压、温度均无关的参考基准电压。In the specific implementation process, the digital-to-analog conversion of the DAC needs to be realized based on the reference reference voltage. The main function of the reference
本实施例的主DAC 2通过串联电阻DAC和二进制电流DAC实现,高位使用串联电阻DAC,低位使用二进制电流DAC。此DAC可通过控制二进制的输入码控制DAC的模拟输出值为任意X/2N倍的参考基准值,其中X范围为0~2N之间的整数,当然由于电阻和电流的失配,输出结果与理想结果仍然具有一定误差。The
请参考图3和图4,输出缓冲放大器3端口包括正输入端口(VIP_1)与主DAC 2的输出端口相连,输出端口(VOP)作为系统的输出(即作为本申请实施例高精度可调电压基准产生电路的输出),同时与比较器42的正输入端(VIP_2)相连。本实施例中所使用的放大器为折叠共源共栅放大器。具体的输出缓冲放大器3结构可根据所带负载以及输入输出范围进行选择,如图4所示,由7个PMOS器件M1~M7以及4个NMOS器件M8~M11实现,所述结构中M1管源端接电源,栅端接偏置电压Vb1,漏端接M2及M3源端;M2栅端接正输入端(VIP_1),源端接M1漏端,漏端接M8源端及M10漏端;M3栅端接负输入端(VIN_1),源端接M1漏端,漏端接M9源端及M11漏端;M4栅端接M6漏端及M8漏端,源端接电源,漏端接M6源端;M5栅端与M4栅端相连,源端接电源,漏端接M7源端;M6栅端接偏置电压Vb2并与M7栅端相连,源端连M4漏端,漏端连M8漏端。M7栅端与M6栅端连接,源端连M5漏端,漏端连M9漏端同时作为放大器输出端VOP;M8栅端连偏置电压Vb3,源端连M10漏端,漏端连M6漏端;M9栅端连Vb3,源端连M11漏端,漏端连VOP;M10栅端连偏置电压Vb4,源端连地,漏端连M8源端;M11栅端连偏置电压Vb4,源端连地,漏端连M9源端。Please refer to FIG. 3 and FIG. 4 , the
本实施例所使用的校准DAC 41为电容DAC,电容通常具有较好的绝对精度,但缺点就是会持续漏电,无法长期保持。由于校准DAC 41仅需在校准期间使用,因此使用电容DAC的高精度为低精度DAC做校准是可行的。The
请参考图3和图5,为本实施例中所使用的比较器42,比较器42的正输入端(VIP_2)接输出缓冲放大器3的输出端(VOP),负输入端(VIN_2)接校准DAC 41的输出端,输出端(COMP)接比较控制逻辑模块43的输入端。本实施例使用的为带输出失调存储的静态预放大比较器。为了避免比较器的失调给比较带来失调误差,这里通过输出失调存储方法消除比较器失调。Please refer to FIG. 3 and FIG. 5 , for the
仍请参考图5,本实施例使用的比较器42包括三级预放大器(A1、A2、A3)和一个锁存器(421),三对失调存储电容(C1、C2、C3)和五对开关(S1~S5)。第一对开关S1第一端与比较器42差分输入VIP_2及VIN_2相连,第二端与第一级预放大器A1的差分输入端相连;第二对开关S2第一端与共模复位电压VCM相连,第二端与第一级预放大器A1差分输入端相连;第三对开关S3第一端与共模复位电压VCM相连,第二端与第二级预放大器A2差分输入端相连;第四对开关S4第一端与共模复位电压VCM相连,第二端与第三级预放大器A3差分输入端相连;第五对开关S5第一端与共模复位电压VCM相连,第二端与锁存器421输入端相连;第一级预放大器A1输出端与第一对电容C1第一端相连;第二级预放大器A2输入端与第一对电容C1第二端相连,输出端与第二对电容C2第一端相连;第三级预放大器A3输入端与第二对电容C2第二端相连,输出端与第三对电容C3第一端相连;锁存器421输入端与第三对电容C3第二端相连,输出为比较器42输出COMP。Still referring to FIG. 5 , the
仍请参考图3,比较控制逻辑模块43的输入端接比较器42的输出端,其第一输出端接主DAC 2的控制输入端,第二输出端接校准DAC 41的输入端。比较控制逻辑模块43通过控制主DAC 2和校准DAC 41得到所需的电压,然后再根据比较器42的比较结果逐渐调整主DAC2的输出电压,从而实现输出基准电压的校准。Still referring to FIG. 3 , the input terminal of the comparison
请参考图6,为本发明实施例提供的校准时序示意图,在系统初始化后首先进入校准模式,首先根据所需的输出电压先对主DAC 2和校准DAC 41进行赋值,赋值后获得初始的电压值,校准DAC 41中得到的电压值参考图中的电压CDAC,系统输出值参考图中VOUT,DONE表示的是校准过程是否完成。当完成赋值后,比较器42开始比较二者的大小,CDAC值保持不变,根据比较结果不断改变主DAC 2的输出,使得VOUT阶梯接近CDAC的值,当比较器42的结果出现翻转后,VOUT不再变化,从而实现校准。在校准结束时,标志信号DONE置高,表示校准完成,同时主DAC 2可不再发生变化。校准DAC 41、比较器42可停止工作,节约功耗。Please refer to FIG. 6 , which is a schematic diagram of the calibration sequence provided by the embodiment of the present invention. After the system is initialized, the calibration mode is entered first, and the
请参考图7,为本发明实施例提供的校准过程仿真波形图,图中表示的是一次具体的仿真过程中的校准过程,此时给的参考基准电压为1V,要求得到的电压为31/32*1V=968.75mV,所需精度为12位,即达到的电压精度为1/212=0.244mV。由图中所示系统输出的电压不断向校准数模转换器的输出值逼近,校准完成后,系统输出值VOUT=968.605mV,误差为0.145mV,处于1LSB内,满足12位的校准需求。Please refer to FIG. 7 , which is a simulation waveform diagram of a calibration process provided by an embodiment of the present invention. The figure shows a calibration process in a specific simulation process. At this time, the given reference reference voltage is 1V, and the required voltage is 31/ 32*1V=968.75mV, the required precision is 12 bits, that is, the achieved voltage precision is 1/2 12 =0.244mV. The voltage output by the system shown in the figure is constantly approaching the output value of the calibrated digital-to-analog converter. After the calibration is completed, the system output value VOUT=968.605mV, the error is 0.145mV, and it is within 1LSB, which meets the 12-bit calibration requirement.
总的来说,本发明通过精度较高的校准数模转换器对于精度较低的主数模转换器进行校准,最终可以得到一个高精度的可调的基准电压输出,相比传统结构可消除主数模转换器失配误差、输出缓冲器失调电压以及增益误差,使输出电压的误差处于最小分辨电压1LSB以内。同时对于增益误差和失调误差有较强的容忍性,不要求输出缓冲放大器有极高的增益和匹配性,极大降低了对于放大器设计的高要求。并且校准仅需在系统上电时一次完成,完成之后输出基准电压即可保持,校准部分不再工作,有效避免了系统较大的功耗产生。In general, the present invention calibrates the main digital-to-analog converter with lower precision by calibrating the digital-to-analog converter with higher precision, and finally obtains a high-precision adjustable reference voltage output, which can eliminate the need for comparison with the traditional structure. Main DAC mismatch error, output buffer offset voltage, and gain error keep the output voltage error within 1LSB of the minimum resolution voltage. At the same time, it has strong tolerance for gain error and offset error, and does not require the output buffer amplifier to have extremely high gain and matching, which greatly reduces the high requirements for amplifier design. And the calibration only needs to be completed once when the system is powered on. After the completion, the output reference voltage can be maintained, and the calibration part will no longer work, which effectively avoids the large power consumption of the system.
尽管已描述了本发明的优选实施例,但本领域内的技术人员一旦得知了基本创造性概念,则可对这些实施例做出另外的变更和修改。所以,所附权利要求意欲解释为包括优选实施例以及落入本发明范围的所有变更和修改。Although the preferred embodiments of the present invention have been described, additional changes and modifications to these embodiments may occur to those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be construed to include the preferred embodiment and all changes and modifications that fall within the scope of the present invention.
显然,本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样,倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内,则本发明也意图包含这些改动和变型在内。It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.
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