CN107517057A - Impulsive noise circuit for detecting and method - Google Patents
Impulsive noise circuit for detecting and method Download PDFInfo
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- CN107517057A CN107517057A CN201610425128.1A CN201610425128A CN107517057A CN 107517057 A CN107517057 A CN 107517057A CN 201610425128 A CN201610425128 A CN 201610425128A CN 107517057 A CN107517057 A CN 107517057A
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- impulsive noise
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/06—Continuously compensating for, or preventing, undesired influence of physical parameters
- H03M1/0617—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence
- H03M1/0626—Continuously compensating for, or preventing, undesired influence of physical parameters characterised by the use of methods or means not specific to a particular type of detrimental influence by filtering
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Abstract
A kind of impulsive noise method for detecting, applied to an OFDM system, for detecting whether an input signal includes an impulsive noise, the impulsive noise method for detecting includes：Receive the input signal；The input signal is converted to the input signal of a numeral；The data band in the digital input signal is filtered out to produce a measured signal；The measured signal is calculated to produce a result of calculation；And compare the result of calculation with a critical value to judge whether the input signal includes the impulsive noise.
Description
Technical field
The present invention is on impulsive noise, especially with respect to impulsive noise circuit for detecting and method.
Background technology
The source of impulsive noise (impulsive noise) contain the ignition system of car engine and such as washing machine,
The household electrical appliances such as hair-dryer, and often occur in the form of short pulse train (burst).Fig. 1 is the schematic diagram of impulsive noise.Train of pulse 1 and
Train of pulse 2 is time upper two continuous trains of pulse, each self-contained multiple pulses (impulse).Impulsive noise is often with the cycle
Form occurs, and burst periods are about 10-2~1 second, burst length was about 10-6~10-2Second, and a pulse length is about
10-7Second.
Impulsive noise mixes in data-signal, causes data receiver to produce mistake when decoding data.It is traditionally normal
Impulsive noise is detected based on energy size, such as when the energy of impulsive noise is more than the energy of data-signal, then detectd according to this
Measure impulsive noise；But when the energy of impulsive noise is less than or equal to the energy of data-signal, then it is not easy to detect pulse and makes an uproar
Sound, and can not further be filtered out.
The content of the invention
In view of the deficiency of prior art, a purpose of the invention is to provide a kind of impulsive noise circuit for detecting and method,
Accurately to detect impulsive noise.
The invention discloses a kind of impulsive noise circuit for detecting, for detecting whether an input signal includes an impulsive noise,
The impulsive noise circuit for detecting includes：One receiving circuit, for receiving the input signal；One analog-to-digital conversion circuit, is used for
The input signal is converted to the input signal of a numeral；One filter circuit, for filtering out one in the digital input signal
Data band is to produce a measured signal；One counting circuit, the filter circuit is coupled, moved for carrying out one according to the measured signal
Dynamic average computation, to produce a result of calculation；And a comparison circuit, the counting circuit is coupled, for comparing the result of calculation
With a critical value to judge whether the input signal includes the impulsive noise.
The present invention separately discloses a kind of impulsive noise method for detecting, applied to an OFDM system, for detecting one
Whether input signal includes an impulsive noise, and the impulsive noise method for detecting includes：Receive the input signal；By the input signal
Be converted to the input signal of a numeral；The data band in the digital input signal is filtered out to produce a measured signal；Meter
The measured signal is calculated to produce a result of calculation；And compare the result of calculation with a critical value whether to judge the input signal
Include the impulsive noise.
The impulsive noise circuit for detecting of the present invention can detect impulsive noise exactly with method.Compared to known skill
Art, impulsive noise circuit for detecting of the invention detects impulsive noise with frequency range of the method in non-data signal, therefore can detect
Go out that energy is suitable with data-signal or impulsive noise of even less than data-signal.
Feature, implementation and effect for the present invention, accompanying drawing is hereby coordinated to make embodiment detailed description as follows.
Brief description of the drawings
Fig. 1 is the schematic diagram of impulsive noise；
Fig. 2 is the functional block diagram of an embodiment of impulsive noise circuit for detecting of the present invention；
Fig. 3 is the flow chart of an embodiment of impulsive noise method for detecting of the present invention；
Fig. 4 is the zero intermediate frequency spectrogram of ADC output signal；
Fig. 5 is the functional block diagram of an embodiment of filter circuit 110 of the present invention；
Fig. 6 is the flow chart of an embodiment of the filter step of the present invention；
Fig. 7 is the functional block diagram of an embodiment of counting circuit 120 of the present invention；
Fig. 8 is the flow chart of an embodiment of the calculation procedure of the present invention；And
Fig. 9 is the functional block diagram of an embodiment of average calculation unit 126 of the present invention；And
Figure 10 is the schematic diagram of the output of rolling average computing unit 124 of the present invention.
Symbol description
100 impulsive noise circuit for detecting
102 receiving circuits
105 ADC
110 filter circuits
120 counting circuits
130 comparison circuits
112 buffers
114 wave filters
116th, 1224 subtracter
123rd, 125,920 adder
122 difference computational units
1222nd, 940 delay cell
1226 absolute value calculation units
124 rolling average computing units
126 average calculation units
128th, 910,930 multiplier
S310~S330, S610~S630, S810~S840 steps
Embodiment
The present invention disclosure include impulsive noise circuit for detecting and method, be embodied as it is possible under the premise of, ability
Domain those of ordinary skill can select equivalent element or step to realize the present invention according to the disclosure of this specification, that is,
The embodiment that the implementation of the present invention is chatted after being not limited to.
Fig. 2 is the functional block diagram of an embodiment of impulsive noise circuit for detecting of the present invention.Impulsive noise circuit for detecting 100
Impulsive noise is detected in numeric field, includes receiving circuit 102, analog-digital converter (analog-to-digital
Converter, ADC) 105, filter circuit 110, counting circuit 120 and comparison circuit 130.Please refer to Fig. 3, it is this
The flow chart of one embodiment of invention impulsive noise method for detecting.The receipts position signal that filter circuit 110 is exported to ADC 105 enters
Row filtering, it is therefore intended that filter out the part for belonging to the data-signal frequency range in ADC 105 output signal, and produce measured signal
(step S310).Spectrograms of the Fig. 4 by the data signals exported of ADC 105.Frequency 0 to the scope between frequency Q is ADC
The frequency range of 105 data signals exported, and the part that data are carried in data signal is frequency 0 to the frequency range between frequency P,
That is, data-signal frequency range.
Impulsive noise occupies sizable frequency range on frequency spectrum, not only takes the interior frequency range (in- of ADC output signal
Band) part (i.e. frequency 0 to the frequency range between frequency P), outer frequency range (out-band) part (i.e. frequency P to frequency is also extended to
Frequency range between rate Q).In order to avoid the degree of accuracy of the composition influence detecting impulsive noise of data-signal in ADC output signal, arteries and veins
Noise circuit for detecting 100 is rushed only to detect the outer frequency range part of ADC output signal.The filter of impulsive noise circuit for detecting 100
Wave circuit 110 is using a wave filter come by the partial filtration of data-signal, e.g. a bandpass filter or low pass filtered
Ripple device.Consequently, it is possible to which the output of filter circuit 110 leaves behind the outer frequency range part of ADC output signal, turn into impulsive noise detecting
The measured signal of circuit 100, that is, counting circuit 120 afterwards and comparison circuit 130 are only for the outer frequency of ADC output signal
Detected section part.
Counting circuit 120 is calculated to measured signal afterwards, and exports result of calculation (step S320).In implementation, meter
Calculating circuit 120 can be by calculating measured signal in temporal variable quantity, and calculates the rolling average (moving of the variable quantity
Average the result of calculation) is produced, result of calculation is compared detectd to produce again by comparison circuit 130 with a critical value afterwards
Result (step S330) is surveyed, detecting result indicates whether ADC output signal includes impulsive noise.Filter circuit 110, calculate electricity
The details of operation of the thin portion circuit and step S310~S330 of road 120 and comparison circuit 130 is described in detail as after.
Fig. 5 is the functional block diagram of an embodiment of filter circuit 110 of the present invention, and Fig. 6 is the filter step of the present invention
The flow chart of a S310 embodiment.Filter circuit 110 includes buffer 112, wave filter 114 and subtracter 116.ADC
On the one hand output signal is completely kept in buffer 112 (step S610), on the other hand into wave filter 114 to filter out radio-frequency head
Point, that is, filter out foregoing outer frequency range part and only export the part (step S620) of interior frequency range (that is, data band).It
The output of output and wave filter 114 of the subtracter 116 to buffer 112 carries out computing afterwards, and the output of buffer 112 is subtracted
The output of wave filter 114, also completely the part of the interior frequency range will be deducted by ADC output signal, to export ADC output signal
Outer frequency range part, that is, foregoing measured signal (step S630).Subtracter 116 can by computing circuit perform subtraction function
Implementation.In this embodiment, because wave filter 114 is a Discrete Time Finite impulse response (finite impulse
Response, FIR) wave filter, which employs multiple delay circuits, weight multiplier, and adder, therefore the meeting in running
Cause signal delay.In one embodiment, FIR filter is to use direct form, when wave filter uses 2m+1 weight
Multiplier (m is positive integer), the then time point that wave filter 114 can input in the m+1 sample point export the meter of the 1st sample point
Result is calculated, so the size of buffer is necessarily equal to the m+1, to cause its output to be alignd with the output of wave filter 114.Assuming that
Frequency 0 is to 2m+1 sample point (m is positive integer) is included between P, then wave filter 114 can input in the m+1 sample point
Time point exports the result of calculation of the 1st sample point, so the size of buffer 112 is necessarily equal to the m+1, to cause its output
It can be alignd with the output of wave filter 114.In another embodiment, FIR filter is to use Lattice Form, then works as filtering
Device uses n weight multiplier (n is positive integer), then wave filter 114 can be in the time point output the 1st of n-th of sample point input
The result of calculation of individual sample point, so the size of buffer is necessarily equal to n, make it that its output can be with the output of wave filter 114
Alignment.It note that because OFDM (orthogonal frequency-division multiplexing, OFDM)
System (such as digital video broadcast-terrestrial (digital video broadcasting-terrestrial, DVB-T2), but not
As limit) generally comprise a filter for being used for filtering out adjacent frequency interference (adjacent channel interference, ACI)
Ripple device, so when the present invention is applied to OFDM system, adjacent frequency interference filter can be directly as the present invention's
Wave filter 114, to reduce circuit cost.Furthermore although filter circuit 110 is with buffer 112, wave filter 114 in this embodiment
And the combination of subtracter 116 filters out the data band of ADC output signal, but filter circuit in various embodiments
110 can reach identical purpose by bandpass filter.
Fig. 7 is the functional block diagram of an embodiment of counting circuit 120 of the present invention, and Fig. 8 is the calculation procedure of the present invention
The thin portion flow chart of a S320 embodiment.Counting circuit 120 includes difference computational unit 122, rolling average computing unit
124th, average calculation unit 126 and multiplier 128.Wherein difference computational unit 122 further includes delay cell 1222, subtraction
Device 1224 and absolute value calculation unit 1226.The main purpose of difference computational unit 122 is to calculate measured signal in time
Variable quantity, and obtain difference (step S810).In more detail, subtracter 1224 calculate current measured signal with it is previous
The difference of measured signal (i.e. the output of delay cell 1222), calculates the exhausted of this difference by absolute value calculation unit 1226 again afterwards
To value.When measured signal is real number, absolute value calculation unit 1226 merely calculates the absolute value of the difference, but when to be measured
When signal is plural (such as when the present invention is applied to ofdm system), absolute value calculation unit 1226 can for example calculate the difference
" 1- norms " (1-norm) of value.
Next, rolling average computing unit 124 calculates the rolling average of the difference and produces the result of calculation (step
S820).The calculation of rolling average is that the art has known to usually intellectual, therefore is repeated no more.When pulse is made an uproar
In the presence of sound, (that is, time of respective pulses string appearance) can be in the difference that difference computational unit 122 is exported in a short time
Existing larger numerical value, but miss the pulse signal of non-pulse noise in order to avoid the impulsive noise circuit for detecting 100 of the present invention
Impulsive noise is judged to, so the influence of the pulse signal is relaxed using the mode for calculating rolling average, and in comparison circuit
Further determined whether in 130 with mechanism designed by the characteristic based on impulsive noise with the presence of impulsive noise.When real
In the presence of impulsive noise, triangle can be presented to the relation of time in the output (that is, result of calculation) of rolling average computing unit 124
The waveform (such as Figure 10 region 1010) of shape, and when the length of window of rolling average computing unit 124 is less than burst length
When, then plateau effect (plateau effect) (such as Figure 10 region 1020) occurs.In fact, this result of calculation is just sufficient
It whether there is impulse noise interference to react ADC output signal, such as say that the comparison circuit 130 of rear class directly can calculate this
As a result compared with a critical value fixed, as long as result of calculation is more than the critical value of the fixation, you can judgement has pulse and made an uproar
Acoustic jamming；However, with the difference of the real use environment of electronic equipment, the annoyance level of the impulsive noise suffered by it also phase not to the utmost
Together, if therefore using fixed critical value as criterion, possibly can not make accurate judgement.
In order to improve the accuracy of judgement degree of impulsive noise circuit for detecting 100 of the present invention, the present invention is more by result of calculation and one
Individual dynamic critical value compares, and this critical value is related to result of calculation.As shown in fig. 7, the coupling of average calculation unit 126
Rolling average computing unit 124 is connect, then again will by multiplier 128 for calculating the average value (step S830) of result of calculation
This average value is multiplied by a default value S, and obtains the dynamic critical value (step S840).The foundation of average calculation unit 126
Following formula calculates average value：
Wherein, MA [n] is result of calculation, and MA_avg [n] is the average value of result of calculation, and 1/M is represented to M result of calculation
It is averaged, l '=l-1 and α=1/M.According to above formula, the implementation circuit of average calculation unit 126 is as shown in Figure 9.Multiplier
Result of calculation MA [n] is multiplied by α by 910, and multiplier 930 is by critical value MA_avg [n-1] (the i.e. delay cells 940 after delay
Output) be multiplied by (1- α), finally again by adder 920 by the result of multiplier 910 with being obtained after the results added of multiplier 930
New critical value.In general above-mentioned default value S is more than 1.
Finally, comparison circuit 130, which compares counting circuit 120 and exports result of calculation and dynamic critical value, (performs ratio
Compared with step S330), as long as result of calculation is more than the dynamic critical value, you can judgement has impulse noise interference.But as before
Described, electronic equipment may be by the impulse noise interference with different qualities, therefore the present invention more proposes what foundation to be detected
The different preset time range of the property settings of impulsive noise, more preferably judge effect to obtain.Such as when result of calculation is more than
The duration of critical value, then comparison circuit 130 judged that the ADC output signal includes specific arteries and veins in particular preset time range
Noise is rushed, the preset time range system determines according to the characteristic of impulsive noise.In addition, rolling average computing unit 124 or step
Length of window used in rolling average is calculated in rapid S820 to be come according to the burst length of the impulsive noise to be detected
Set, to reach optimal judgement effect.As an example it is assumed that ADC sampling frequency is 25MHz, according to impulsive noise
Test model (such as the DTG D-Book of the 7th edition part A volume three), when the length of train of pulse is between 1~40,000 μ s,
The order of magnitude of ADC sampling numbers corresponding to each train of pulse is about between 102~106；That is, can be designed as ought be more electric
Road 130 judges that result of calculation is more than the duration of critical value between [x1+Lbuff,x2+Lbuff], then detecting result instruction has arteries and veins
Noise generation is rushed, wherein x1 and x2 are positive integer (x1<X2), its order of magnitude is in general between 102With 106Between (depending on reality
Depending on operating environment), LbuffTo calculate window length used in rolling average in rolling average computing unit 124 or step S820
Degree.
It is noted that when from dynamic critical value, in the case of no impulse noise interference, rolling average meter
Calculate unit 124 and export the result of calculation of (or produced by step S820) and will be close to 0, and the average value of result of calculation and face
Dividing value is likely to result in comparison circuit 130 also all close to 0, in the case of this and judged by accident.In order to avoid erroneous judgement, the present invention can select
Signal is increased into a DC level skew using DC level adjustment circuit before or after rolling average computing unit 124
Offset (that is, increase by one between the step S810 and step S820 of corresponding diagram 8, or between step S820 and step S830 directly
Flow level set-up procedure)；More particularly, it is accurate in the difference increase direct current that difference computational unit 122 is exported that (1) can be passed through
Position skew offset (by Fig. 7 adder 123)；Or the result of calculation that (2) are exported in rolling average computing unit 124
Increase DC level skew offset (by Fig. 7 adder 125).DC level skew offset is, for example, to be more than 0 just
Number, then when impulsive noise is not present, result of calculation and its average value will close to DC level skew offset and it is non-zero.When
When default value S is more than 1, the critical value that average value multiplies rear gained with default value S-phase will be greater than DC level skew offset, therefore
Just critical value and the result of calculation not by impulse noise effect can be separated, and avoids erroneous judgement.
The exposure that can be invented due to the art tool usually intellectual by Fig. 2, Fig. 5, Fig. 7 and Fig. 9 device
Content come understand Fig. 3, Fig. 6 and Fig. 8 method invention implementation detail and change, thus while embodiments of the invention are as above
It is described, but those embodiments are not used for limiting the present invention, those of ordinary skill in the art can according to the present invention express or
Implicit content imposes change to the technical characteristic of the present invention, and all this kind change may belong to the patent sought by the present invention
Protection domain, in other words, scope of patent protection of the invention must be defined depending on the as defined in claim of this specification.
Claims (19)
1. a kind of impulsive noise circuit for detecting, for detecting whether an input signal includes an impulsive noise, the impulsive noise is detectd
Slowdown monitoring circuit includes：
One receiving circuit, for receiving the input signal；
One analog-to-digital conversion circuit, for the input signal to be converted to the input signal of a numeral；
One filter circuit, for filtering out the data band in the digital input signal to produce a measured signal；
One counting circuit, the filter circuit is coupled, for carrying out a rolling average calculating according to the measured signal, to produce in terms of one
Calculate result；And
One comparison circuit, the counting circuit is coupled, be to judge the input signal for comparing the result of calculation and a critical value
It is no to include the impulsive noise.
2. impulsive noise circuit for detecting as claimed in claim 1, it is characterised in that be applied to an OFDM system
System, wherein the filter circuit includes：
One wave filter, for filtering the digital input signal to export the data band；
One buffer, for keeping in the digital input signal；And
One subtracter, the wave filter and the buffer are coupled, for the digital input signal is subtracted into the data band to produce
The raw measured signal；
One adjacent frequency interference filter of the wave filter system OFDM system.
3. impulsive noise circuit for detecting as claimed in claim 2, it is characterised in that the adjacent frequency interference filter is filtered for a band logical
Ripple device.
4. impulsive noise circuit for detecting as claimed in claim 2, it is characterised in that the wave filter is Discrete Time Finite pulse
Response filter, comprising multiple delay circuits, multiple weight multipliers and multiple adders, wherein the size of the buffer with
The number of those weight multipliers is relevant.
5. impulsive noise circuit for detecting as claimed in claim 1, it is characterised in that the counting circuit includes：
One difference computational unit, for calculating the one of the measured signal temporal variable quantity, to obtain multiple differences；And
One rolling average computing unit, couples the difference computational unit, for calculating a rolling average of those differences to produce
The result of calculation.
6. impulsive noise circuit for detecting as claimed in claim 5 a, it is characterised in that window of the rolling average computing unit
Length is relevant with a burst length of the impulsive noise.
7. impulsive noise circuit for detecting as claimed in claim 5, it is characterised in that the counting circuit further includes：
One average calculation unit, the rolling average computing unit is coupled, for calculating an average value of the result of calculation；And
One multiplication unit, the average calculation unit is coupled, for the average value is multiplied by into a default value to obtain the critical value；
Wherein the default value is more than 1.
8. impulsive noise circuit for detecting as claimed in claim 5, it is characterised in that the counting circuit further includes：
One direct current level regulator circuit, the rolling average computing unit is coupled, for producing those differences or the result of calculation
One direct current level-shift；
Wherein, the critical value is offset more than the DC level.
9. impulsive noise circuit for detecting as claimed in claim 1, it is characterised in that when the comparison circuit judges the result of calculation
More than the critical value, then judge that the digital input signal includes the impulsive noise.
10. impulsive noise circuit for detecting as claimed in claim 1, it is characterised in that when the comparison circuit judges the calculating knot
Fruit is more than the preset time range of duration lasts one of the critical value, then judges that the digital input signal is made an uproar comprising the pulse
Sound, the preset time range are relevant with the characteristic of the impulsive noise.
A kind of 11. impulsive noise method for detecting, applied to an OFDM system, for detecting whether an input signal wraps
Containing an impulsive noise, the impulsive noise method for detecting includes：
Receive the input signal；
The input signal is converted to the input signal of a numeral；
The data band in the digital input signal is filtered out to produce a measured signal；
The measured signal is calculated to produce a result of calculation；And
Compare the result of calculation with a critical value to judge whether the input signal includes the impulsive noise.
12. impulsive noise method for detecting as claimed in claim 11, it is characterised in that this is filtered out in the digital input signal
The data band included with producing the step of the measured signal：
The digital input signal is filtered with an adjacent frequency interference filter of the OFDM system to export data frequency
The part of section；
Keep in the digital input signal；And
The digital input signal is subtracted into the data band to produce the measured signal.
13. impulsive noise method for detecting as claimed in claim 12, it is characterised in that the adjacent frequency interference filter is filtered with band logical
Ripple is filtered.
14. impulsive noise method for detecting as claimed in claim 11, it is characterised in that the calculation procedure includes：
A temporal variable quantity of the measured signal is calculated, to obtain multiple differences；And
A rolling average of those differences is calculated to produce the result of calculation.
15. impulsive noise method for detecting as claimed in claim 14, it is characterised in that the movement of those differences of the calculating is put down
To produce result of calculation the step of, a used length of window was relevant with a burst length of the impulsive noise.
16. impulsive noise method for detecting as claimed in claim 14, it is characterised in that the calculation procedure further includes：
Calculate an average value of the result of calculation；And
The average value is multiplied by a default value to obtain the critical value；
Wherein the default value is more than 1.
17. impulsive noise method for detecting as claimed in claim 14, it is characterised in that further include：
Adjusting those differences or the result of calculation makes those differences or the result of calculation produce a direct current level-shift；
Wherein, the critical value is offset more than the DC level.
18. impulsive noise method for detecting as claimed in claim 11, it is characterised in that when the result of calculation is critical more than this
Value, then judge that the digital input signal includes the impulsive noise.
19. impulsive noise method for detecting as claimed in claim 11, it is characterised in that when the result of calculation is more than the critical value
The preset time range of duration lasts one, then judge that the digital input signal includes the impulsive noise, the preset time
Scope is relevant with the characteristic of the impulsive noise.
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| CN201610425128.1A CN107517057A (en) | 2016-06-15 | 2016-06-15 | Impulsive noise circuit for detecting and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111371375A (en) * | 2018-12-25 | 2020-07-03 | 光宝科技新加坡私人有限公司 | Motor noise filtering method, its recording medium and control circuit |
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| US6385261B1 (en) * | 1998-01-19 | 2002-05-07 | Mitsubishi Denki Kabushiki Kaisha | Impulse noise detector and noise reduction system |
| EP2015461A2 (en) * | 2007-07-10 | 2009-01-14 | Advanced Micro Devices, INC. | Impulse Noise Detection and Mitigation in Receivers |
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2016
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| US6385261B1 (en) * | 1998-01-19 | 2002-05-07 | Mitsubishi Denki Kabushiki Kaisha | Impulse noise detector and noise reduction system |
| EP2015461A2 (en) * | 2007-07-10 | 2009-01-14 | Advanced Micro Devices, INC. | Impulse Noise Detection and Mitigation in Receivers |
| US20090016471A1 (en) * | 2007-07-10 | 2009-01-15 | Ravikiran Rajagopal | Impulse Noise Detection and Mitigation In Receivers |
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| MARKO KOSUNEN等: "《A programmable FIR filter using serial-in-time multiplication and canonic signed digit coefieient》", 《ICECS 2000.7TH IEEE INTERNTIONAL CONFERENCE ON ELETRONICS,CIRCUITS AND SYSTEM》 * |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111371375A (en) * | 2018-12-25 | 2020-07-03 | 光宝科技新加坡私人有限公司 | Motor noise filtering method, its recording medium and control circuit |
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