CN107547069B - Rotation-varying excitation signal generation system and generation method - Google Patents
Rotation-varying excitation signal generation system and generation method Download PDFInfo
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Abstract
The invention discloses a system and a method for generating a gyratory excitation signal, wherein the system comprises a DSP processor, a secondary shaping circuit for shaping PWM signal waves generated by the DSP processor into smooth sine waves, a forward and reverse phase amplifying circuit and a bias circuit for converting the smooth sine waves into differential signals, a primary passive filter circuit for filtering output signals and a common mode output inductance T401, and an angle data module for generating sine waves is arranged in a flash area of the DSP processor. The invention is easy to adjust and reliable, the sampling time is accurate, and the problems that excitation waveform drift can occur after long-time operation, and signal feedback sampling points are misplaced are solved.
Description
[ field of technology ]
The invention belongs to the technical field of motor drive control, and particularly relates to a system and a method for generating a gyratory excitation signal.
[ background Art ]
The existing rotary feedback servo motor drivers are provided with rotary excitation signals, but basically adopt hardware type active RC bridge type sine wave oscillating circuits to generate sine waves, as shown in figure 1. A dedicated sine wave generating chip is also used to generate the gyratory excitation signal, but this solution increases the cost of the driver and the circuit is more complex, so it is not generally used. According to the actual application situation of application and debugging engineers, the excitation signals generated by the method have the characteristics that the oscillation frequency is difficult to align and drift along with temperature, the adjustment process is very time-consuming, the operation process is complex and inconvenient, and particularly when the oscillation frequency of the excitation signals needs to be replaced, the related resistor and capacitor in the circuit need to be replaced again, as shown in fig. 1, when the excitation frequency is changed, almost all the resistor R and the capacitor C in fig. 1 need to be replaced, and more importantly, the moment of sampling the rotation feedback signals is difficult to ensure to be exactly at the peak point of the signals, so that the sampled rotation feedback signals are inaccurate, the position of a demodulated motor is inaccurate, the PMSM vector operation is biased, and particularly the influence on the low-speed operation of the motor is large.
As shown in fig. 1, although a forced synchronization circuit composed of sin_syn, C613 and R619 is added to the circuit, due to the characteristic of large dispersion of the hardware analog circuit, it is actually difficult to ensure that the time of sampling the rotation feedback signal is exactly at the maximum point of the signal. The relationship between the sampling time and the rotation feedback signal obtained by the actual measurement of fig. 1 is shown in fig. 2. In fig. 2, the sawtooth line is the sin_syn signal, that is, the point of time when the DSP samples the ramp feedback, and the sine waveform is the ramp feedback signal. As can be seen from fig. 2, the sampling time (the rising edge and the falling edge of the sin_syn signal) is not at the maximum point of the rotation feedback signal, but a larger offset (such as offset time Δt in fig. 2) occurs, which necessarily results in an error between the sampled signal and the actual signal, and the larger the offset, the larger the error, which further affects the resolving result of the rotation signal, and finally affects the operation effect of the motor.
Therefore, it is necessary to provide a new system and method for generating a gyratory excitation signal to solve the above-mentioned problems.
[ invention ]
The invention aims to provide a convenient, easy-to-adjust and reliable gyratory excitation signal generation system, which has accurate sampling time and solves the problems that excitation waveform drift can occur after long-time operation and signal feedback sampling point dislocation can be caused.
The invention realizes the aim through the following technical scheme: the utility model provides a gyratory excitation signal generation system, its includes the DSP treater, will the PWM signal wave that the DSP treater produced is shaped into smooth sine wave's secondary shaping circuit, will pass through smooth sine wave becomes the positive negative phase amplifier circuit and the drawing bias circuit of difference signal, and carry out one-level passive filter circuit and the common mode output inductance T401 of filtering to the output signal, be provided with the angle data module that produces the sine wave in the flash district of DSP treater.
Further, the secondary shaping circuit includes a resistor R406 and a capacitor C409 for performing a first shaping on the PWM signal wave, and a resistor R407 and a capacitor C410 for performing a second shaping on the PWM signal wave;
the resistor R406 is communicated with the PWM signal wave; the output end of the resistor R406 is connected with the capacitor C409 and the resistor R407 at a connection point a; the output end of the resistor R407 and the capacitor C410 are connected at a connection point b; the capacitor C409 is connected to the other end of the capacitor C410 and has two connection points, one of which is grounded, and the other of which is output to the forward and reverse phase amplifying circuit.
Further, the normal-reverse phase amplifying circuit comprises an operational amplifier U401B, a first multiplying power adjusting circuit arranged between an inverting input end and an output end of the operational amplifier U401B, an operational amplifier U401A connected with the output end of the operational amplifier U401B, and a second multiplying power adjusting circuit connected with the operational amplifier U401A; the non-inverting input end of the operational amplifier U401B is connected with the connection point B; the inverting input terminal of the operational amplifier U401A is connected to the output terminal of the operational amplifier U401B.
Further, the first multiplying power adjusting circuit includes a resistor R415, a resistor R417 and a capacitor C413, wherein one end of the resistor R415 is connected to the capacitor C410, and the other end of the resistor R415 is connected to the resistor R417 and the capacitor C413 at a connection point C, and the connection point C is connected to an inverting input end of the operational amplifier U401B; one end of the resistor R417 is connected with the capacitor C413 at a connection point d, and the connection point d is connected with the output end of the operational amplifier U401B.
Further, the second multiplying power adjusting circuit includes a resistor R408 disposed on a connection line between the inverting input end of the operational amplifier U401A and the output end of the operational amplifier U401B, and a resistor R414 having one end connected to the inverting input end of the operational amplifier U401A and the other end connected to the output end of the operational amplifier U401A, where the resistor R414 and the output end of the operational amplifier U401A are connected at a connection point e.
Further, the bias circuit includes a resistor R401, a resistor R402, and a capacitor C403, where the resistor R401 and the capacitor C403 are arranged in parallel, and a common terminal thereof is grounded, and another common terminal thereof is connected with the non-inverting input terminal of the operational amplifier U401A; the resistor R402 has one end connected to the resistor R401 and the other end connected to the power supply terminal VCC 0.
Further, the first-stage passive filter circuit includes a capacitor C406 connected to the output terminal of the operational amplifier U401A, a capacitor C412 with one end connected to the output terminal of the capacitor C406 and the other end connected to the connection point d, and a resistor R413.
Another main object of the present invention is to provide a method for generating a gyratory excitation signal, which comprises the following steps,
1) Storing a sine wave angle data module with a period of 0-360 degrees and a step pitch of K in a flash area of the DSP processor, wherein Q output points are contained in a complete sine wave period, and Q=360/K;
2) Calculating the output pulse width P=sinθ/Qf of the PWM signal wave generated by the DSP processor according to the angle θ required to be output J The output values of sine wave PWM signal waves corresponding to the ADC sampling moments are alternately set to 90 degrees and 270 degrees;
3) Shaping the PWM signal wave output in the step 2) into a smooth sine wave gyratory excitation signal;
4) Amplifying the shaped sine wave gyratory excitation signal and then carrying out reverse phase bias to generate positive and negative symmetrical positive and reverse phase gyratory excitation signals;
5) Filtering the generated positive and negative phase rotation excitation signals;
6) The positive and negative symmetrical excitation signals, namely differential signals, can be obtained by subtracting the positive and negative phase rotation excitation signals after filtering.
Further, the differential signal is passed through the common mode output inductor T401 to suppress high frequency signals that may be included in the circuit.
Compared with the prior art, the system and the method for generating the gyromagnetic excitation signal have the beneficial effects that:
1) The method is simple, convenient and free of debugging, the frequency, amplitude and phase shift of the generated gyratory exciting signal waveform are hardly affected by temperature, and the consistency is very good;
2) The method comprises the steps that sine wave angle data containing a plurality of output points in one period are stored in a DSP, and the output PWM pulse width is obtained through PWM pulse width duty ratio calculation of sine wave amplitude corresponding to PWM waves generated in the DSP, so that the interrupt period of PWM is matched with the main interrupt of a program and the period of an excitation signal, the moment of sampling a rotation signal is exactly located at an extreme point of a feedback signal, and the accuracy of sampling moment is guaranteed;
3) The sine wave amplitude is forcedly output to be the value (namely the positive and negative maximum value of the sine wave) with the angle of 90 degrees and 270 degrees at the moment of starting the ADC sampling each time (namely the moment of starting the main interrupt cycle), so that the problems that exciting waveform drift can occur after long-time operation and signal feedback sampling point dislocation is caused are avoided;
4) The spin-variable excitation signal of the driver generated by the scheme has the advantages that under a certain fixed frequency, the consistency of the frequency and the amplitude of the excitation signal is greatly improved compared with that of a common active RC bridge type sine wave oscillating circuit without adjusting any circuit parameter, and even if the frequency of the spin-variable excitation signal is required to be changed, the aim of changing the excitation frequency can be fulfilled by changing the program of generating sine waves correspondingly by a DSP and slightly changing the resistor R or the capacitor C (such as the resistor R406, the resistor R407 or the capacitor C409 and the capacitor C410 in the figure 3) of the D/A shaping circuit.
[ description of the drawings ]
FIG. 1 is a schematic diagram of a connection structure of a sinusoidal oscillation generating circuit commonly used in the prior art;
FIG. 2 is a timing chart of the sampling time and the rotation feedback signal obtained in FIG. 1;
FIG. 3 is a schematic diagram of circuit connection according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a sample point waveform of a time-varying SIN feedback and DSP obtained in FIG. 3 when the sample point waveform is actually measured at a certain position in the interval of 0-180 degrees;
FIG. 5 is a schematic diagram of a sample point waveform of a time-varying SIN feedback and DSP obtained in FIG. 3 when actually measuring a certain position in the 180-360 DEG interval;
fig. 6 is a schematic diagram of a waveform after shaping by the secondary shaping circuit in the present embodiment;
FIG. 7 is a schematic diagram of waveforms of the positive and negative phase amplifying circuit and the bias circuit after processing in the present embodiment;
fig. 8 is a waveform diagram of a differential excitation signal obtained in this embodiment.
[ detailed description ] of the invention
Examples:
referring to fig. 3, the present embodiment is a gyratory excitation signal generating system, which includes a DSP processor, a secondary shaping circuit for shaping a PWM signal wave generated by the DSP processor into a smooth sine wave, a forward/reverse phase amplifying circuit and a bias circuit for converting the smooth sine wave into a differential signal, and a first-stage passive filter circuit and a common-mode output inductor T401 for filtering an output signal. An angle data module for generating sine waves is arranged in the flash area of the DSP processor.
The secondary shaping circuit comprises a resistor R406 and a capacitor C409 for carrying out primary shaping on the PWM signal wave, and a resistor R407 and a capacitor C410 for carrying out secondary shaping on the PWM signal wave; resistor R406 is in wave communication with the PWM signal; the output end of the resistor R406 is connected with the capacitor C409 and the resistor R407 at the connection point a; the output end of the resistor R407 is connected with the capacitor C410 at the connection point b; the capacitor C409 is connected to the other end of the capacitor C410 and has two connection points, one of which is grounded, and the other of which is output to the forward and reverse phase amplifying circuit.
The forward and reverse phase amplifying circuit comprises an operational amplifier U401B, a first multiplying power adjusting circuit arranged between an inverting input end and an output end of the operational amplifier U401B, an operational amplifier U401A connected with the output end of the operational amplifier U401B, and a second multiplying power adjusting circuit connected with the operational amplifier U401A. The first multiplying power adjusting circuit comprises a resistor R415, a resistor R417 and a capacitor C413, wherein one end of the resistor R415 is connected with the capacitor C410, the other end of the resistor R415 is connected with the resistor R417 and the capacitor C413 at a connection point C, and the connection point C is connected with an inverting input end of the operational amplifier U401B; one end of the resistor R417 is connected to the capacitor C413 at the connection point d, and the connection point d is connected to the output terminal of the operational amplifier U401B. The noninverting input of op-amp U401B is connected to connection point B. The ratio of the resistance value of resistor R417 to the resistance value of resistor R415 is 1:2. The capacitor C413 is a damping capacitor of the feedback loop of the operational amplifier U401B. The signal is appropriately amplified by the first magnification adjustment circuit portion of the operational amplifier U401B, with a magnification=1+r417/r415=1.5.
The inverting input terminal of the operational amplifier U401A is connected to the output terminal of the operational amplifier U401B, and the second multiplying factor adjusting circuit includes a resistor R408 provided on a connection line between the inverting input terminal of the operational amplifier U401A and the output terminal of the operational amplifier U401B, and a resistor R414 having one end connected to the inverting input terminal of the operational amplifier U401A and the other end connected to the output terminal of the operational amplifier U401A. Resistor R414 is connected to the output of op amp U401A at junction e. The ratio of the resistance of resistor R414 to the resistance of resistor R408 is 1:1. The signal at the connection point d is amplified in an inverted manner by the operational amplifier U401A and the second magnification adjustment circuit, and the magnification=r414/r408=1.
The bias circuit comprises a resistor R401, a resistor R402 and a capacitor C403, wherein the resistor R401 and the capacitor C403 are arranged in parallel, one common end of the resistor R401 is grounded, and the other common end of the resistor R is connected with the non-inverting input end of the operational amplifier U401A; one end of the resistor R402 is connected to the resistor R401, the other end is connected to the power supply terminal VCC0, the power supply connection terminal of the operational amplifier U401A is connected to the power supply terminal VCC0, and the filter capacitor C402 is provided in shunt on the connection line. The resistance value of the resistor R401 and the resistance value of the resistor R402 are the pull bias value=vcc 0×r401/(r401+r402) =5×1.5/3=2.5 of the pull bias circuit, and the capacitor C403 is a decoupling capacitor.
The first-stage passive filter circuit comprises a capacitor C406 connected with the output end of the operational amplifier U401A, a capacitor C412 and a resistor R413, wherein one end of the capacitor C412 is connected with the output end of the capacitor C406, and the other end of the capacitor C412 is connected with a connection point d. The cut-off frequency of the primary passive filter circuit is about 102.7Hz, and the purpose of the primary passive filter circuit is to prevent low-frequency signals, particularly power frequency signals, from being connected into excitation signals in series.
Two input ends of the common-mode output inductor T401 are respectively connected with two ends of the resistor R413, and two output ends of the common-mode output inductor T are the output ends of the rotary laser signals.
The embodiment also provides a method for generating the gyratory excitation signal, which comprises the following steps:
1) Storing a sine wave angle data module with a period of 0-360 degrees and a step pitch of K in a flash area of the DSP processor, wherein Q output points are contained in a complete sine wave period, and Q=360/K; in this embodiment, the driving frequency f of the PWM signal wave generated by the DSP processor Q =10khz, gyratory excitation frequency f J =5 KHz, with a stride of k=9°, the output point q=40.
2) Calculation of the required output angle θ the output pulse width p=sinθ/Qf of the PWM signal wave generated by the DSP processor J =5sinθ, and the output value of the sine wave PWM signal wave corresponding to the ADC sampling timing is alternately set to 90 °, 270 °. Since each complete sine wave period comprises 40 output points, the 40 data points need to correspond to the gyratory excitation frequency, and the frequency of the corresponding sine wave PWM signal wave output is f PWM ＝f J Q=200 KHz, so that exactly 20 sine wave angle data points are output every half cycle, the time corresponds to 20×1/200×1000=100 us, and the time corresponds to 10K frequency, so that the moment of sampling the rotary feedback signal every time is exactly at the maximum point of the signal. From this, it can be seen that the period t=1/f of generating the corresponding sine wave PWM signal wave PWM When the duty ratio ρ=sinθ of the sine wave PWM signal wave is calculated by using the angle θ to be output, the actual angle θ outputs the output pulse width p=t·ρ=5sinθ of the PWM signal wave. At the moment of starting ADC sampling each time, the output value of the corresponding sine wave PWM signal wave is alternately set to 90 degrees and 270 degrees, so that the moment of sampling the rotation feedback signal each time is ensured to be the maximum point of the rotation feedback signal, and the rotation excitation signal generating system of the embodiment is used for obtainingThe sampling time and the rotary feedback waveform are shown in fig. 4 and 5, and according to fig. 4 and 5, the sampling time and the frequency of the exciting waveform are completely matched with the design requirement.
3) And (3) shaping the PWM signal wave output in the step (2) into a smooth sine wave rotary excitation signal by a secondary shaping circuit. The waveform obtained by the secondary shaping circuit in the gyromagnetic signal generating system according to the embodiment is shown in fig. 6, wherein a curve a in fig. 6 is a first shaping result of the waveform at a connection point a in fig. 3, and a curve B is a second shaping result of the waveform at a connection point B in fig. 3.
4) Amplifying the shaped sine wave gyratory excitation signal and then carrying out reverse phase pulling and biasing to generate positive and negative symmetrical positive and reverse phase gyratory excitation signals. The amplified and biased waveform results are shown in fig. 7, where curve C in fig. 7 is the waveform at the connection point D in fig. 3, and curve D is the waveform at the connection point e.
5) And filtering the generated positive and negative phase rotation excitation signals. In the gyratory excitation signal generation system of the embodiment, through a first-stage passive filter circuit mainly composed of a capacitor C406, a resistor R413 and a resistor C412, excitation signals can pass through smoothly, and signals lower than the cut-off frequency of the high-pass filter can be suppressed.
6) The positive and negative symmetrical excitation signals, namely differential signals, can be obtained by subtracting the positive and negative phase rotation excitation signals after filtering. The common mode output inductor T401 in the gyratory excitation signal generating system of the embodiment suppresses the high frequency signal possibly included in the circuit, so as to obtain the excitation signal for the gyratory excitation of the motor, and the waveform of the excitation signal is shown in fig. 8.
The idea of the system and the method for generating the gyratory excitation signal is that by utilizing the characteristic that a DSP processor can generate PWM waveforms, sine wave angle data of one period with 0-360 degrees and a step distance of K (namely, a complete sine wave period comprises Q=360/K output points) is stored in a flash area in the DSP, the corresponding PWM duty ratio ρ is utilized, the output width P=T.ρ of the PWM (wherein T is the period of the pulse frequency of the PWM) is shaped into sine waves by a D/A circuit to serve as the gyratory excitation signal; in order to generate excitation signals with positive and negative symmetry (namely differential signals), a positive pull bias circuit is added in the scheme, and the positive and negative opposite signals generated by the operational amplifier are used for subtraction, so that the single-ended signal can be changed into the differential signal. A large number of applications prove that the waveform of the gyratory excitation signal generated by the scheme has no deviation of excitation frequency and amplitude at high temperature (70 ℃) or low temperature (40 ℃), and the consistency is very good.
The spin-on excitation signal generation system and the spin-on excitation signal generation method have the beneficial effects that: the method is simple, convenient and free of debugging, the frequency, amplitude and phase shift of the generated gyratory exciting signal waveform are hardly affected by temperature, and the consistency is very good; the method comprises the steps that sine wave angle data containing a plurality of output points in one period are stored in a DSP, and the output PWM pulse width is obtained through PWM pulse width duty ratio calculation of sine wave amplitude corresponding to PWM waves generated in the DSP, so that the interrupt period of PWM is matched with the main interrupt of a program and the period of an excitation signal, the moment of sampling a rotation signal is exactly located at an extreme point of a feedback signal, and the accuracy of sampling moment is guaranteed; the sine wave amplitude is forcedly output to be the value (namely the positive and negative maximum value of the sine wave) with the angle of 90 degrees and 270 degrees at the moment of starting the ADC sampling each time (namely the moment of starting the main interrupt cycle), so that the problems that exciting waveform drift can occur after long-time operation and signal feedback sampling point dislocation is caused are avoided; the spin-variable excitation signal of the driver generated by the scheme has the advantages that under a certain fixed frequency, the consistency of the frequency and the amplitude of the excitation signal is greatly improved compared with that of a common active RC bridge type sine wave oscillating circuit without adjusting any circuit parameter, and even if the frequency of the spin-variable excitation signal is required to be changed, the aim of changing the excitation frequency can be fulfilled by changing the program of generating sine waves correspondingly by a DSP and slightly changing the resistor R or the capacitor C (such as the resistor R406, the resistor R407 or the capacitor C409 and the capacitor C410 in the figure 3) of the D/A shaping circuit.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (8)
1. A method for generating a gyratory excitation signal is characterized in that: which comprises the steps of the following steps of,
1) Storing a sine wave angle data module with a period of 0-360 degrees and a step pitch of K in a flash area of the DSP processor, wherein Q output points are contained in a complete sine wave period, and Q=360/K;
2) Calculating the output pulse width P=sinθ/Qf of the PWM signal wave generated by the DSP processor according to the angle θ required to be output J ，f J Is the gyratory excitation frequency; the output values of sine wave PWM signal waves corresponding to the ADC sampling moments are alternately set to 90 degrees and 270 degrees;
3) Shaping the PWM signal wave output in the step 2) into a smooth sine wave gyratory excitation signal;
4) Amplifying the shaped sine wave gyratory excitation signal and then carrying out reverse phase bias to generate positive and negative symmetrical positive and reverse phase gyratory excitation signals;
5) Filtering the generated positive and negative phase rotation excitation signals;
6) Subtracting the positive and negative phase rotation excitation signals after filtering treatment to obtain positive and negative symmetrical excitation signals, namely differential signals; the differential signal is passed through a common mode output inductance T401 to suppress high frequency signals that may be contained in the circuit.
2. A gyratory excitation signal generation system, characterized in that: the method for generating the gyratory excitation signal according to claim 1, wherein the gyratory excitation signal generating system comprises a DSP processor, a secondary shaping circuit for shaping PWM signal waves generated by the DSP processor into smooth sine waves, a forward-reverse phase amplifying circuit and a bias circuit for converting the smooth sine waves into differential signals, a first-stage passive filtering circuit and a common-mode output inductor T401 for filtering output signals, and an angle data module for generating sine waves is arranged in a flash area of the DSP processor; the cut-off frequency of the primary passive filter circuit is 102.7Hz.
3. The gyratory excitation signal generating system according to claim 2, wherein: the secondary shaping circuit comprises a resistor R406 and a capacitor C409 for carrying out primary shaping on the PWM signal wave, and a resistor R407 and a capacitor C410 for carrying out secondary shaping on the PWM signal wave;
the resistor R406 is communicated with the PWM signal wave; the output end of the resistor R406 is connected with the capacitor C409 and the resistor R407 at a connection point a; the output end of the resistor R407 and the capacitor C410 are connected at a connection point b; the capacitor C409 is connected to the other end of the capacitor C410 and has two connection points, one of which is grounded, and the other of which is output to the forward and reverse phase amplifying circuit.
4. A gyratory excitation signal generating system according to claim 3, wherein: the positive and negative phase amplifying circuit comprises an operational amplifier U401B, a first multiplying power adjusting circuit arranged between an inverting input end and an output end of the operational amplifier U401B, an operational amplifier U401A connected with the output end of the operational amplifier U401B, and a second multiplying power adjusting circuit connected with the operational amplifier U401A; the non-inverting input end of the operational amplifier U401B is connected with the connection point B; the inverting input terminal of the operational amplifier U401A is connected to the output terminal of the operational amplifier U401B.
5. The gyratory excitation signal generating system according to claim 4, wherein: the first multiplying power adjusting circuit comprises a resistor R415, a resistor R417 and a capacitor C413, wherein one end of the resistor R415 is connected with the capacitor C410, the other end of the resistor R415 is connected with the resistor R417 and the capacitor C413 at a connection point C, and the connection point C is connected with an inverting input end of the operational amplifier U401B; one end of the resistor R417 is connected with the capacitor C413 at a connection point d, and the connection point d is connected with the output end of the operational amplifier U401B.
6. The gyratory excitation signal generating system according to claim 5, wherein: the second multiplying power adjusting circuit comprises a resistor R408 arranged on a connecting line between the inverting input end of the operational amplifier U401A and the output end of the operational amplifier U401B, and a resistor R414 with one end connected with the inverting input end of the operational amplifier U401A and the other end connected with the output end of the operational amplifier U401A, wherein the resistor R414 and the output end of the operational amplifier U401A are connected at a connecting point e.
7. The gyratory excitation signal generating system according to claim 4, wherein: the bias circuit comprises a resistor R401, a resistor R402 and a capacitor C403, wherein the resistor R401 and the capacitor C403 are arranged in parallel, one common terminal of the resistor R401 is grounded, and the other common terminal of the resistor R401 and the capacitor C403 are connected with the non-inverting input terminal of the operational amplifier U401A; the resistor R402 has one end connected to the resistor R401 and the other end connected to the power supply terminal VCC 0.
8. The gyratory excitation signal generating system according to claim 5, wherein: the first-stage passive filter circuit comprises a capacitor C406 connected with the output end of the operational amplifier U401A, a capacitor C412 and a resistor R413, wherein one end of the capacitor C412 is connected with the output end of the capacitor C406, and the other end of the capacitor C412 is connected with the connection point d.
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