阅读说明：本技术 一种可控的最大权信号实时选通多通道有源噪声控制系统 (A kind of controllable most authority signal gates multi-channel active noise control system in real time ) 是由 史创 王越 李睿聪 姜南 谢荣 李会勇 于 2019-09-22 设计创作，主要内容包括：本发明公开了一种可控的最大权信号实时选通多通道有源噪声控制系统,属于有源噪声控制技术领域。为了解决随多通道有源噪声控制系统中麦克风数量的增多导致ADC电路数量的线性增加、以及算法运算量的明显上升的技术问题,本发明提出了一种新的多通道有源噪声控制系统。在该系统中提出并运用了一种实时监测多路声波电压信号大小并保持电压最大一路输出的电路系统,同时其也具有能够人为控制选通任意一路信号的功能。本发明通过将多通道有源噪声控制系统中多个声波信号大小的比较以及选通过程通过硬件电路完成,不占用核心控制器资源,同时控制系统仅对最大误差信号所对应的控制滤波器进行部分更新,有效降低多通道有源噪声控制系统中的运算成本。(The invention discloses a kind of controllable most authority signals to gate multi-channel active noise control system in real time, belongs to Technique of Active Noise Control field.In order to solve with the technical issues of increasing linearly increasing and algorithm operation quantity the obvious rising for leading to adc circuit quantity of number of microphone in multi-channel active noise control system, the invention proposes a kind of new multi-channel active noise control systems.The circuit system for proposing and having used a kind of real-time monitoring multi-Channel Acoustic wave voltage signal magnitude within the system and voltage maximum is kept to export all the way, while it also has the function of artificially controlling any signal all the way of gating.The present invention is by completing the comparison of acoustic signals sizes multiple in multi-channel active noise control system and gating process by hardware circuit, it is not take up core controller resource, control system only carries out part update to control filter corresponding to maximum error signal simultaneously, and the operation cost in multi-channel active noise control system is effectively reduced.)

1. controllable most authority signal gates multi-channel active noise control system, including multiple reference microphones, secondary in real time Loudspeaker, error microphone, multi channel adaptive control device, which is characterized in that further include the most real-time gating unit of authority signal；

Wherein, the configuration of the most authority signal real-time gating unit each reference microphone and multi channel adaptive control device it Between；And configuration is between each error microphone and multi channel adaptive control device；

The real-time gating unit of most authority signal for connecting multiple reference microphones, for being gated from each reference microphone of access Voltage maximum or the smallest reference microphone, and the reference signal of the reference microphone after gating is passed into multi-channel adaptive Controller；

The real-time gating unit of most authority signal for connecting multiple error microphones, for being gated from each error microphone of access Amplitude maximum or the smallest error microphone, and the error signal of the error microphone after gating is passed into multi-channel adaptive Controller；

Multi channel adaptive control device connects multiple sub-loudspeakers, sends control signal to sub-loudspeaker and realizes noise reduction, i.e., It drives sub-loudspeaker to issue control sound wave by power amplifier to be offseted with noise sound wave, to realize active noise reduction.

Wherein, the most real-time gating unit of authority signal includes voltage comparison unit, gating control cells, the voltage comparison unit One or more levels is carried out to the signal of input to compare, and gate control signal is exported by the comparison result of afterbody；The gating Control unit exports gate output signal by the gate control signal that voltage comparison unit is exported；

Wherein, input of the input of the voltage comparison unit of previous stage as rear stage voltage comparison unit, the voltage of the first order Comparing unit is for comparing the reference signal from reference microphone or the error signal from error microphone, and afterbody is only Including a voltage comparison unit；And each voltage comparison unit of every level-one is used to carry out voltage ratio to the two paths of signals of input Compared with and exporting gate control signal, that is, access corresponding to the maximum in two paths of signals or reckling compared.

2. the system as claimed in claim 1, which is characterized in that the real-time gating unit of the most authority signal further includes specified letter Number gating unit, for specifying the gating of a certain specified reference microphone or error microphone and multi channel adaptive control device；

The input of the specified signal gating unit is connected with the output of voltage comparison unit, output and gating control cells phase Even, for carrying out the switching of maximum or minimum signal gated mode and specified signal gating mode.

3. the system as described in right 1, which is characterized in that the active noise control system further includes that gating circuit instruction is single Member, the gating circuit indicating unit are connected with the output of the comparing voltage unit of afterbody.

Technical field

The invention belongs to Active noise control fields, and in particular to gate multi-pass in real time to a kind of controllable most authority signal Road active noise control system.

Background technique

Active noise control is a kind of noise control technique of electro-acoustic element participation noise reduction work.Active noise control system Mainly it is made of electro-acoustic elements such as reference microphone, sub-loudspeaker, error microphone and adaptive controllers.Its work side Formula is that noise is converted to electric signal (reference signal) by reference microphone, and adaptive controller is produced by collected reference signal " antinoise " signal (control signal) of a raw reference signal, then drive sub-loudspeaker to issue control by power amplifier Sound wave is offseted with noise sound wave.Error microphone is picked up by the residual noise offseted in space, by error signal simultaneously It is returned to adaptive controller again and is updated iteration control, whole process does not stop the energy for back and forth receiving error microphone It minimizes, to achieve the purpose that effectively to control noise.

When reference microphone, sub-loudspeaker, error microphone and adaptive controller in active noise control system Quantity is not all for the moment, referred to as multi-channel active noise control system.It can simply assume active noise control system Calculation amount is reference microphone quantity × sub-loudspeaker quantity × error microphone quantity, in a certain space (such as room Between) carry out noise control when, for guarantee space in multiple regions be controlled simultaneously, it is necessary to use multi-channel Active Noise at this time Control system, but electro-acoustic element also increases immediately, so that the calculating pressure of operation chip is significantly increased.Therefore how Guarantee to reduce the algorithm complexity of multi-channel active noise control system while noise suppression effect or calculates a part Amount reduces the calculating pressure of operation chip from being transferred in more cheap bottom circuit in the mode that software is handled, and is a symbol Close the probing direction of actual demand.

However in research and probe before, each research achievement otherwise be directly to Algorithm for Multichannel Active Noise Control into Row is improved to reduce algorithm complexity or be to directly adopt the stronger operation chip of operational capability.Such as application No. is The Chinese patent application of CN201210100006.7 discloses a kind of time-frequency domain mixed self-adapting Active noise control algorithm；Such as A.Gonzalez,A.Albiol,S.J.Elliott.Minimization of the maximum error signal in Active control. " IEEE Transactions on Speech and Audio Processing " .1998, volume 6 (the 3rd phase) delivers page 268 to 281 and discloses a kind of multichannel active noise control Minimax algorithm；Such as application No. is The Chinese patent application of CN201610064529.9 discloses a kind of digital multi-channel active noise control system.It is above-described Research achievement has only carried out improvement trial to existing issue from single direction, not yet exists using analog-digital hybrid at present Mode realizes the active noise control system for reducing system algorithm complexity.

Summary of the invention

Goal of the invention of the invention is: in order to solve the increasing with number of microphone in multi-channel active noise control system The problem of more leading to linearly increasing and algorithm operation quantity the obvious rising of adc circuit quantity, proposes a kind of new multi-pass Road active noise control system.A kind of real-time monitoring multi-Channel Acoustic wave voltage signal magnitude is proposed and used within the system and is protected The circuit system that voltage maximum exports all the way is held, while it also has the function of artificially controlling any signal all the way of gating. It is advantageous that the comparison of acoustic signals sizes multiple in multi-channel active noise control system and gating process are passed through hard Part circuit is completed, and is not take up core controller resource, while control system only filters control corresponding to maximum error signal Device carries out part update, and the operation cost in multi-channel active noise control system can be effectively reduced in this measure.

Controllable most authority signal of the invention gates multi-channel active noise control system in real time, including multiple with reference to wheat Gram wind, sub-loudspeaker, error microphone, and the most real-time gating unit of authority signal and multi channel adaptive control device；

Wherein, the real-time gating unit configuration of the most authority signal is in each reference microphone and multi channel adaptive control device Between；And configuration is between each error microphone and multi channel adaptive control device；

The real-time gating unit of most authority signal for connecting multiple reference microphones, for from each reference microphone of access Gate voltage is maximum or the smallest reference microphone or a certain specified reference microphone, and by the ginseng of the reference microphone after gating It examines signal and passes to multi channel adaptive control device；

The real-time gating unit of most authority signal for connecting multiple error microphones, for from each error microphone of access Gating amplitude is maximum or the smallest error microphone or a certain specification error microphone, and by the mistake of the error microphone after gating Difference signal passes to multi channel adaptive control device；

Multi channel adaptive control device connects multiple sub-loudspeakers, sends control signal to sub-loudspeaker and realizes drop It makes an uproar, i.e., drives sub-loudspeaker to issue control sound wave by power amplifier and offseted with noise sound wave, to realize active Noise reduction.

Wherein, the most real-time gating unit of authority signal includes voltage comparison unit, gating control cells, and the voltage compares Unit carries out one or more levels to the signal of input and compares, and exports gate control signal by the comparison result of afterbody；It is described Gating control cells export gate output signal by the gate control signal that voltage comparison unit is exported；

Wherein, input of the input of the voltage comparison unit of previous stage as rear stage voltage comparison unit, the first order Voltage comparison unit is used to compare the reference signal from reference microphone or the error signal from error microphone, last Grade only includes a voltage comparison unit；And each voltage comparison unit of every level-one is used to carry out voltage to the two paths of signals of input Compare, and exports gate control signal, that is, access corresponding to the maximum in two paths of signals or reckling compared；

Meanwhile in order to realize the signal for gating specified input terminal.The real-time gating unit of the most authority signal further includes referring to Determine signal gating unit, i.e. control signal behavior unit, specifies the input of signal gating unit and the output of voltage comparison unit It is connected, output is connected with gating control cells, for carrying out maximum or minimum signal (voltage or amplitude are maximum or minimum) gating The switching of mode and specified signal gating mode, that is, by the control signal of signal gating unit from voltage comparison unit Output is changed to specified signal input.

Further, active noise control system of the invention further includes gating circuit indicating unit, the gating circuit Indicating unit is connected with the output of the comparing voltage unit of afterbody.Meanwhile the gating circuit indicating unit can also be right The output of the voltage comparison unit connected exports again after carrying out corresponding decoding processing, to realize better indicating effect.

In conclusion by adopting the above-described technical solution, the beneficial effects of the present invention are:

The present invention by the way that the most real-time gating unit of authority signal is designed and is added in multi-channel active noise control system, Realize each road input signal maximum value of real-time judge or minimum value and the function that a certain specified input signal can be gated in real time Energy.Channel traversal when also initializing simultaneously for multi-channel active noise control system provides efficiently operating method.Meanwhile It is designed by this system, multiple signals in multi-channel active noise control system can be most worth to the mode that gating is handled from software In be transferred in more cheap bottom circuit, CPU calculation resources and ADC hardware resource are greatly saved.Compared to traditional multichannel The method handled in CPU after ADC acquisition has higher practicability and flexibility.

Detailed description of the invention

Fig. 1 is that controllable most authority signal gates multi-channel active noise control system schematic block diagram in real time；

Fig. 2 is two input signal comparing unit schematic diagrames；

Fig. 3 is eight input signal gating systems output indication signal schematic diagram；

Fig. 4 is the cell schematics that two input tapes specify signal gating function；

Fig. 5 is the real-time gating system lab diagram of most authority signal of four input signals；

Fig. 6 is the simulation result diagram of two input two pulse signals；

Fig. 7 is the simulation result diagram of two input two-way sinusoidal signals；

Fig. 8 is the simulation result diagram of input pulse, sine and direct current signal；

Fig. 9 is the simulation result diagram of input pulse, different frequency sinusoidal signal；

Figure 10 is the simulation result diagram for inputting two-way pulse and two-way sinusoidal signal.

Specific embodiment

To make the object, technical solutions and advantages of the present invention clearer, below with reference to embodiment and attached drawing, to this hair It is bright to be described in further detail.

In order to solve to lead to the line of adc circuit quantity with increasing for number of microphone in multi-channel active noise control system Property increase and the technical issues of the obvious rising of algorithm operation quantity, the invention proposes a kind of new multi-channel Active Noises Control system.A kind of real-time monitoring multi-Channel Acoustic wave voltage signal magnitude is proposed and used within the system and keeps voltage maximum The circuit system exported all the way, while it also has the function of artificially controlling any signal all the way of gating.It is advantageous that The comparison of acoustic signals sizes multiple in multi-channel active noise control system and gating process are completed by hardware circuit, It is not take up core controller resource, while control system can also only carry out control filter corresponding to maximum error signal Part updates, and then the operation cost that can be effectively reduced in multi-channel active noise control system.

Referring to Fig. 1, active noise control system of the invention includes multiple reference microphones, sub-loudspeaker, error wheat Gram wind, and (abbreviation is more for the most real-time gating unit of authority signal (referred to as real-time gating unit) and multi channel adaptive control device Channel controller)；

Wherein, the real-time gating of reference signal and error signal is completed in analog domain, and the part of Active noise control exists Numeric field is completed.

According to the different noise reduction demands of multi-channel active noise control system, the present invention is real-time by controllable most authority signal Gating unit uses gating unit for reference microphone signal gating or error microphone signal gating, or both simultaneously. That is, there are in the multi-channel active noise control system of multiple reference microphones, it can be real-time by controllable most authority signal Gating unit configures between each reference microphone and multi channel adaptive control device.It is to be directed to complicated noise that it, which is acted on, Multi channel adaptive control device only carries out at noise reduction the maximum noise signal of each moment voltage or a certain designated noise signal Reason, without handling all reference signals.This gating process is completed by the real-time gating unit, after gating Reference signal passes to multi channel adaptive control device and is handled.

Likewise, there are in the multi-channel active noise control system of multiple error microphones, can by it is controllable most The real-time gating unit configuration of authority signal is between each error microphone and multi channel adaptive control device.It is for certain that it, which is acted on, Amplitude maximum error signal is only used in a little specific Active noise control algorithms or a certain specification error signal participates in active noise The case where control, after each error microphone receives each error signal, gates list by this controllable most authority signal in real time Error signal after gating is passed to multi channel adaptive control device and carries out noise control, without to all errors by member Signal is handled.

In present embodiment, the controllable real-time gating unit of most authority signal of use include voltage rating unit, Signal gating part (is related to the binary code output par, c and digital control signal gate unit of signal path).The controllable maximum The real-time gating unit of signal is weighed widenable to the signal gating circuit inputted with any amount, to match different multi-channel actives Specific number of channels in noise control system.Its core cell is two input gating units, which can gate maximum electricity (if circuit logic control switch is similarly changed to negative logic, gating minimum voltage can be realized) in pressure, also can be according to parallel data The binary data of input terminal carries out the gating of specified signal.It again can be real by the series-parallel combination of multiple two inputs gating units Maximum gating and the specified gating function of existing any amount input signal.I.e. one or more two inputs gating unit constitutes electricity Press rating unit.

Wherein dedicated tunnel gating carries out model selection using parallel binary code and channel is specified, can generally adapt to work as Digital control approaches such as preceding various common controlling arrangements, including toggle switch Mechanical course, single-chip microcontroller, dsp chip, FPGA etc..

The two input gating unit block diagrams are as shown in Figure 2 comprising voltage comparison unit and gating control cells, Middle input signal 1,2 is respectively the input of voltage comparison unit and gating control cells, the output signal (choosing of voltage comparison unit Logical control signal) gating control cells are also entered into, gate output signal is exported by it.I.e. voltage comparison unit to input two Road signal is compared, using two-way input in maximum voltage as gate control signal and be sent to gating control cells.Choosing Logical control unit exports gate output signal by the gate control signal that voltage comparison unit is exported.

Further, gating circuit indicating unit can also be set to carry out increasingly complex signal gating processing.Due to The output of voltage comparison unit has contained the size comparison result of two-way input signal, therefore can directly utilize the output knot The instruction of fruit progress strobed result.The output result of all voltage comparison units directly can be combined output, it can also The output is suitably decoded, preferably to indicate or to handle.When there is multiple two inputs gating units to be combined, Only needing which unit in the output result for the multiple comparing units at the same level that can determine prime by rear class output result is choosing The unit that messenger is passed through, and then be correctly found every level-one two that gating signal is passed through and input gating unit, it can finally obtain To the specific input terminal instruction where input signal.Fig. 3 is that eight input signal gating system of three-level exports indication signal schematic diagram.

It needs that all channels are successively carried out gating positioning in complete noise reduction process, when initial, it is therefore desirable to system While having the function of maximum or minimum signal needed for capable of exporting automatically, additionally it is possible to gate the signal of specified input terminal.This In specific embodiment, this function is realized by specified signal gating unit.A mode control signal is increased first, is come Carry out maximum or minimum signal gated mode and specified signal gating mode switching.At the former, cellular construction does not change, In the latter, it is equivalent to and the control signal of signal gating unit is changed to specified signal input from the output of voltage comparison unit, Remaining structure does not change.Fig. 4 is that two input gating units increase the schematic diagram after specified signal gating function.

The four-way formed with single reference microphone, four sub-loudspeakers, four error microphones, four adaptive controllers For road active noise control system, realization process of the invention is illustrated.The multichannel active noise control of other forms The specific embodiment of system is similar with citing system, therefore is not repeated.

The controllable real-time gating unit of most authority signal is configured in each error microphone and multi-channel adaptive control first Between device processed, it is used as and chooses each maximum error signal of moment amplitude or a certain specification error signal of each moment.Specifically Real-time gating unit structure and gated fashion are as described below.

In circuit structure shown in Fig. 5, used 3 road toggle switch, 3 voltage comparators (U1~U3), 7 with control Single-pole double-throw switch (SPDT) (SD1~SD7), the seven segment digital tubes with encoder of signal processed.Wherein, the device that voltage comparator uses Model TLV301 comprising 8 pins (pin 1~8 of voltage comparator shown in Fig. 5), wherein " NC " indicates empty Foot, "-IN " indicate inverting input terminal, and "+IN " indicates noninverting input, and " V- " indicates that negative supply input terminal, " SHDN " indicate to close Break signal control terminal, " V+ " indicate that positive supply input terminal, " OUT " indicate output end.Single-pole double-throw switch (SPDT) with control signal The device type used also includes 8 pins (pin 1~8 of single-pole double-throw switch (SPDT) shown in Fig. 5) for ADG819, In, " D " indicates drain electrode end, for inputting or exporting；" S1 " indicates source, for inputting or exporting；" GND " indicates ground terminal； " VDD " indicates power end；" IN " indicates logic control input terminal；" S2 " indicates source, for inputting or exporting；" NC " indicates empty Foot.

First illustrate the first operating mode, i.e. holding amplitude maximum error signal continues output mode:

First way switch of 3 road toggle switch connects the control signal of the single-pole double-throw switch (SPDT) after three voltage comparators； Second way switch connects 2 inputs (i.e. the end S2) of single-pole double-throw switch (SPDT) after the first two comparator；Third way switch connects third comparison Single-pole double-throw switch (SPDT) 2 inputs after device.

Circuit input has selected 4 tunnel error signals, is e respectively₁(n)、e₂(n)、e₃(n) and e₄(n), the current n moment is represented Each error signal value.Three switches of 3 road toggle switch are all set 0 first.Preceding two-way error signal is through overvoltage ratio Compared with 1 input (end S1) for the single-pole double-throw switch (SPDT) SD1 that device U1 tape splicing has control signal, since three-way switch all sets 0, three ratios 1 input conducting all compared with single-pole double-throw switch (SPDT) after device, and voltage compares the output of U1 and is connected to next single-pole double-throw switch (SPDT) 1,2 input terminals (end S1, the end S2) of the control signal of SD2, SD2 meet e respectively₁(n) error signal and e₂(n) error signal works as e₁ (n) error signal amplitude is greater than e₂(n) when error signal amplitude, single-pole double-throw switch (SPDT) SD2 is switched to 2 channels output e₂(n) error Signal is to next stage.

Similarly, e₃(n) error signal and e₄(n) error signal exports two error signals current by identical comparison circuit Time-ofday signals amplitude the maximum.

Second level comparison circuit principle is similar, and the signal after level-one is selected is compared, and exports the greater.Meanwhile it will The output of last voltage comparator (U3) while the control signal and charactron lowest order of order double-pole double throw switch SD7, hilted broadsword Comparator exports after 1,2 input terminals of commutator SD7 connect level-one comparison circuit respectively, output termination charactron time low level.This Sample achieves that real-time display chooses the error signal of the digital signal and maximum output voltage of channel all the way.

Second of operating mode is selection fixed channel error signal:

Realize that this point needs to realize by 3 road toggle switch of control.At operating mode 1, three-way switch is all 0 State.

When three-way switch is 100, switch SD1, SD3, SD5 control signal set 1, and switch output inputs that become 2 defeated from 1 Enter, so the fixed output of circuit is the 4th road input error signal e₄(n), numeral method 0.

When three-way switch is 101,2 inputs of switch SD6 are high level, so that switch SD5 is controlled signal and set 1, choose the Two road input error signal e₂(n), numeral method 1.

When three-way switch is 110,2 inputs of switch SD1, SD3 are high level, and SD4, SD6 is made to select 2 error originated from inputs letter Number output, final output third road input error signal e₃(n), numeral method 2.

When three-way switch is 111, first via input error signal e is chosen₁(n) it exports, numeral method 3.

No matter being gated with which kind of working method to each error signal, by the error signal (Selected after gating error signal)e_s(n) it passes to adaptive controller and carries out noise control.The update iteration of adaptive controller coefficient is public Formula is also formula 2 from the variation of formula 1.

W_ji(n+1)=W_ji(n)-2μe_s(n)R_sji(n) (2)

W in formula_ji(n) the adaptive controller coefficient between i-th of reference microphone and j-th of sub-loudspeaker is represented Sequence.μ represents the decay factor in active noise control system.R_kji(n) filtered reference signal sequence is represented, is obtained by formula 3 It arrives.

Wherein X_i ^TIt (n) is reference signal sequence,Time between j-th of sub-loudspeaker and k-th of error microphone Grade channel estimation value.Secondary path is that signal transmitting of the acoustic signals between each sub-loudspeaker and each error microphone is logical Road.It is gated in active noise control system in real time in the controllable most authority signal of the four-way that this is illustrated, i 1, j are 4, k 4.

Then, adaptive controller can motivate each sub-loudspeaker to issue " antinoise " sound according to the error signal after gating Wave signal (control signal) offsets noise acoustic signals, realizes noise reduction process.

The above gates active noise control system to configure the controllable most authority signal of 4 tunnel input signals in real time For carrying out noise reduction process, basic embodiment only of the invention.It is the comparison output unit based on 2 tunnel input signals simultaneously It is connected in series, it similarly can be by comparing output unit with 2 tunnel input signals for the input of basic 8 tunnel, 16 tunnels, 32 tunnels etc. more multichannel The gating system of signal.And scheme control can then be connected by manual switch or directly with digit chip I/O port and be selected, The primary input signal of toggle switch in i.e. upper example.Under the mode of selection fixed channel output, selection signal is parallel Binary data can also be selected by manual switch or digit chip, i.e., latter two of toggle switch in upper example.Certainly with Input signal increases, and the port of signal behavior is increased therewith.

For further description process performance of the invention, using five groups of different emulation data (four tunnels of input Error signal is different), obtain the real-time gating unit output knot of the most authority signal of the invention based on circuit structure shown in fig. 5 Fruit, respectively as illustrated in figures 6-10.Wherein, each group emulates data specifically:

1, input error signal e₁(n): sinusoidal signal, peak-to-peak value 4V deviate 2V, phase 0, frequency 100Hz；

Input error signal e₂(n): 0；

Input error signal e₃(n): sinusoidal signal, peak-to-peak value 4V, deviate 2V, 180 ° of phase, frequency 100Hz；

Input error signal e₄(n): 0；

It is as shown in Figure 6 to export result.

2, input error signal e₁(n): 0；

Input error signal e₂(n): pulse signal, amplitude 5V, duty ratio 10%, phase 0, frequency 100Hz；

Input error signal e₃(n): 0；

Input error signal e₄(n): pulse signal, amplitude 4.5V, duty ratio 20%, phase 0, frequency 100Hz；

It is as shown in Figure 7 to export result.

3, input error signal e₁(n): sinusoidal signal, peak-to-peak value 4V deviate 2V, phase 0, frequency 100Hz；

Input error signal e₂(n): pulse signal, amplitude 5V, duty ratio 10%, phase 0, frequency 100Hz；

Input error signal e₃(n): 2.5V direct current signal；

Input error signal e₄(n): 0；

It is as shown in Figure 8 to export result.

4, input error signal e₁(n): sinusoidal signal, peak-to-peak value 4V deviate 2V, phase 0, frequency 100Hz；

Input error signal e₂(n): pulse signal, amplitude 5V, duty ratio 10%, phase 0, frequency 100Hz；

Input error signal e₃(n): sinusoidal signal, peak-to-peak value 4V, deviate 2V, 180 ° of phase, frequency 1000Hz；

Input error signal e₄(n): 0；

It is as shown in Figure 9 to export result.

5, input error signal e₁(n): sinusoidal signal, peak-to-peak value 4V deviate 2V, phase 0, frequency 100Hz；

Input error signal e₂(n): pulse signal, amplitude 5V, duty ratio 10%, phase 0, frequency 100Hz；

Input error signal e₃(n): sinusoidal signal, peak-to-peak value 4V, deviate 2V, 180 ° of phase, frequency 100Hz；

Input error signal e₄(n): pulse signal, amplitude 4.5V, duty ratio 20%, phase 0, frequency 100Hz；

The results are shown in Figure 10 for output.

The above description is merely a specific embodiment, any feature disclosed in this specification, except non-specifically Narration, can be replaced by other alternative features that are equivalent or have similar purpose；Disclosed all features or all sides Method or in the process the step of, other than mutually exclusive feature and/or step, can be combined in any way.