Phase compensator and related method

Abstract

The embodiment of the invention provides a phase compensator and a related method. The phase compensator comprises a numerical control module, a first feedback servo module, a second feedback servo module and an input module, the input module is used for generating an error signal based on the measurement signal and the reference signal; error signals are sent to a numerical control module, a first feedback servo module and a second feedback servo module; the first feedback servo module is used for generating a first feedback signal based on the error signal and a bias signal sent by the numerical control module; the second feedback servo module is used for generating a second feedback signal based on the error signal and a zero pole adjustment signal sent by the numerical control module; and the numerical control module is used for adjusting the measurement signal based on the first feedback signal and the second feedback signal to obtain the adjusted measurement signal. According to the embodiment of the invention, the input module, the first feedback servo module and the second feedback servo module can be controlled based on the numerical control module, the adjustment of the measurement signal is realized, and the flexibility is improved.

Description

Technical Field

[0001] The present application relates to the field of circuit technology, and in particular to a phase compensator and related methods. Background Art

[0002] Phase compensation is achieved by adjusting certain components or networks in the circuit to offset the phase lag caused by system delays, parasitic effects and other factors, thereby ensuring that the system maintains stable gain and phase characteristics within a specific frequency range.

[0003] Currently, phase compensation can be performed by a phase compensator composed of a phase delay unit, wherein the phase delay unit includes a gain amplifier and a capacitor. During use, it is necessary to switch the capacitor and resistor in the phase delay unit to adjust the frequency response and achieve phase compensation. However, since both capacitors and resistors are non-continuously adjustable devices, this phase compensation method is difficult to achieve continuous adjustment of the frequency response and has the problem of poor flexibility.

[0004] Based on this, a solution is urgently needed to solve the above technical problems. Summary of the invention

[0005] The present application provides a phase compensator and related methods, aiming to solve the above-mentioned technical problems.

[0006] The embodiments of the present application disclose the following technical solutions: In the first aspect, an embodiment of the present application provides a phase compensator, including: a numerical control module, a first feedback servo module, a second feedback servo module, and an input module; The input module is used to generate an error signal based on the measurement signal and the reference signal; and send the error signal to the numerical control module, the first feedback servo module and the second feedback servo module; The first feedback servo module is used to generate a first feedback signal based on the error signal and the bias signal sent by the numerical control module; The second feedback servo module is used to generate a second feedback signal based on the error signal and the zero-pole adjustment signal sent by the numerical control module; The numerical control module is used to adjust the measurement signal based on the first feedback signal and the second feedback signal to obtain an adjusted measurement signal.

[0007] In a possible implementation, the first feedback servo module includes: a proportional integral differential (PID) circuit connected to the input module, a first digital-to-analog converter (DAC) module, a first adder, and a polarity switching module; the PID circuit includes a digitally controlled potentiometer, a feedback resistor, a proportional signal circuit, an integral signal circuit, and a differential signal circuit; The PID circuit is used to receive the error signal sent by the input module; adjust the resistance value of the feedback resistor by the digitally controlled potentiometer to obtain an adjusted feedback resistor; and obtain a PID signal based on the adjusted feedback resistor and the error signal; The first adder is used to add the PID signal and the bias signal output by the first DAC module to generate a first sub-feedback signal; The polarity switching module is used to switch the polarity of the first sub-feedback signal to generate the first feedback signal.

[0008] In a possible implementation, the first feedback servo module further includes: a digitally controlled single-pole single-throw switch, wherein the digitally controlled single-pole single-throw switch is connected in parallel with an integral capacitor of an integrator in the integral signal circuit; When the first feedback servo module is disconnected from the input module, the digitally controlled single-pole single-throw switch is turned on to discharge and reset the integral capacitor.

[0009] In a possible implementation, the first feedback servo module further includes: a limiting module; the limiting module is used to adjust the voltage of the first feedback signal to the first threshold when the voltage of the first feedback signal is greater than the first threshold; when the voltage of the second feedback signal is less than the second threshold, adjust the voltage of the second feedback signal to the second threshold.

[0010] In a possible implementation, the second feedback servo module includes a feedback capacitor group consisting of a plurality of feedback capacitors connected in parallel, and each of the feedback capacitors is connected in series with a single-pole single-throw switch; The second feedback servo module is specifically used to control the single-pole single-throw switch connected in series with the feedback capacitor based on the error signal and the zero-pole adjustment signal sent by the numerical control module, connect the corresponding feedback capacitor, and generate a second feedback signal.

[0011] In a possible implementation, the second feedback servo module includes: a voltage-controlled gain amplifier module connected in series with the feedback capacitor group, the voltage-controlled gain amplifier module including a resistor and an adjustable gain amplifier module; The voltage-controlled gain amplifier module is used to continuously fine-tune the zero and pole based on the resistor and the adjustable gain amplifier module.

[0012] In a possible implementation, the input module includes: an input-stage differential operational amplifier module; a non-phase end of the input-stage differential operational amplifier module is connected to a first end of a first digitally controlled single-pole double-throw switch, and a second end and a third end of the first digitally controlled single-pole double-throw switch are respectively connected to a measurement signal and a reference signal; an inverting end of the input-stage differential operational amplifier module is connected to a first end of a second digitally controlled single-pole double-throw switch, and a second end and a third end of the second digitally controlled single-pole double-throw switch are respectively connected to a measurement signal and a reference signal; The input-stage differential operational amplifier module is used to obtain a measurement signal and a reference signal through the first digitally controlled single-pole double-throw switch and the second digitally controlled single-pole double-throw switch; and generate an error signal based on the measurement signal and the reference signal.

[0013] A second aspect: The embodiment of the present application provides a phase compensation method, including: Based on the measurement signal and the error signal, a bias signal and a zero-pole adjustment signal are generated; the error signal is generated based on the difference between the measurement signal and the reference signal; Generate a first feedback signal based on the error signal and the bias signal; generate a second feedback signal based on the error signal and the zero-pole adjustment signal; The measurement signal is adjusted based on the first feedback signal and the second feedback signal to obtain an adjusted measurement signal A third aspect: An embodiment of the present application provides a computing device, the computing device comprising: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of the phase compensation method as described above according to the instructions in the program code.

[0014] Aspect 4: An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a phase compensation method as described above are implemented.

[0015] Compared with the prior art, the method provided in the embodiment of the present application has the following beneficial effects: The embodiment of the present application provides a phase compensator, which can generate an error signal based on a measurement signal and a reference signal through an input module; send the error signal to the numerical control module, the first feedback servo module and the second feedback servo module; the first feedback servo module generates a first feedback signal based on the error signal and the bias signal sent by the numerical control module; the second feedback servo module generates a second feedback signal based on the error signal and the zero-pole adjustment signal sent by the numerical control module; the numerical control module is used to adjust the measurement signal based on the first feedback signal and the second feedback signal to obtain the adjusted measurement signal. In the embodiment of the present application, the input module, the first feedback servo module and the second feedback servo module can be controlled based on the numerical control module to achieve the adjustment of the measurement signal and improve flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 This is a schematic diagram of a traditional analog discrete capacitor frequency response adjustment; Figure 2 A schematic diagram of the overall structure of a phase compensator provided in an embodiment of the present application; Figure 3 A circuit diagram of a first feedback servo module provided in an embodiment of the present application; Figure 4 A circuit diagram of a limiting module provided in an embodiment of the present application; Figure 5 A circuit diagram of a second feedback servo module provided in an embodiment of the present application; Figure 6 A schematic diagram of an equivalent circuit provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Currently, phase compensation can be performed by a phase compensator composed of a phase delay unit, wherein the phase delay unit includes a gain amplifier and a capacitor. Figure 1 As shown in the figure, this is a schematic diagram of a traditional analog discrete capacitor frequency response adjustment. This type of phase compensator has a fixed structure, and its influence on the gain-frequency and phase-frequency curves is determined by parameters such as the selected capacitor value. It has poor flexibility in use and is difficult to adjust.

[0020] When in use, this type of phase compensator can only select one of several discrete frequency response curves by switching a limited number of preset resistors and capacitors. Figure 1 At least one of R3, C1, C2, ..., C9 is used to adjust the frequency response and achieve phase compensation.

[0021] Since capacitors and resistors are non-continuously adjustable devices, this phase compensation method is difficult to achieve continuous adjustment of frequency response and has the problem of poor flexibility.

[0022] Based on this, an embodiment of the present application provides a phase compensator, which can generate an error signal based on a measurement signal and a reference signal through an input module; send the error signal to the numerical control module, the first feedback servo module and the second feedback servo module; the first feedback servo module generates a first feedback signal based on the error signal and the bias signal sent by the numerical control module; the second feedback servo module generates a second feedback signal based on the error signal and the zero-pole adjustment signal sent by the numerical control module; the numerical control module is used to adjust the measurement signal based on the first feedback signal and the second feedback signal to obtain the adjusted measurement signal. In the embodiment of the present application, the input module, the first feedback servo module and the second feedback servo module can be controlled based on the numerical control module to achieve the adjustment of the measurement signal and improve flexibility.

[0023] A phase compensator provided in an embodiment of the present application is introduced below with reference to the accompanying drawings.

[0024] See also Figure 2 , which is a schematic diagram of the overall structure of a phase compensator provided in an embodiment of the present application.

[0025] In an embodiment of the present application, the phase compensator includes a numerical control module and an analog servo module, wherein the numerical control module includes a field programmable gate array (FPGA) chip, a double data rate random access memory (DDR RAM) chip, a clock crystal oscillator, multiple analog-to-digital converters (ADC), multiple DACs, a temperature measurement chip, a power supply detection chip, and electronic equipment for remote control and telemetry of the board.

[0026] Among them, the FPGA chip, as the control center, can control the analog servo circuit through various numerical control devices; the DDRRAM chip is used for high-speed data storage for real-time data analysis; the nominal frequency parameter of the clock crystal oscillator can be 200MHz; ADC is used for telemetry and data acquisition; DAC is used for reference point setting, bias setting, and zero-pole fine adjustment; the temperature measurement chip is used to detect the chip temperature to ensure the normal operation of the chip; the power supply detection chip is used to detect whether the power supply is in normal operating state.

[0027] In a possible implementation, the FPGA chip can receive a control instruction sent by the electronic device through a TCP communication interface and execute the control instruction.

[0028] It is understandable that the embodiments of the present application do not specifically limit the chip type, the nominal frequency parameters of the clock crystal, and the communication interface. Here, only the DDR RAM chip, the nominal frequency parameter of 200MHz, and the TCP communication interface are introduced as examples.

[0029] The analog servo module includes an input module, a first feedback servo module, and a second feedback servo module. The input module is used to generate an error signal based on a measurement signal and a reference signal; and send the error signal to the numerical control module, the first feedback servo module, and the second feedback servo module. The first feedback servo module is used to generate a first feedback signal based on the error signal and a bias signal sent by the numerical control module. The second feedback servo module is used to generate a second feedback signal based on the error signal and a zero-pole adjustment signal sent by the numerical control module.

[0030] In a possible implementation, the input module includes: an input-stage differential operational amplifier module. Figure 2As shown, the non-phase end of the input-stage differential operational amplifier module is connected to the first end of the first digitally controlled single-pole double-throw switch, and the second and third ends of the first digitally controlled single-pole double-throw switch are respectively connected to the measurement signal and the reference signal; the inverting end of the input-stage differential operational amplifier module is connected to the first end of the second digitally controlled single-pole double-throw switch, and the second and third ends of the second digitally controlled single-pole double-throw switch are respectively connected to the measurement signal and the reference signal.

[0031] The input-stage differential operational amplifier module is used to obtain a measurement signal and a reference signal through the first digitally controlled single-pole double-throw switch and the second digitally controlled single-pole double-throw switch; and generate an error signal based on the measurement signal and the reference signal.

[0032] Exemplarily, the first digitally controlled single-pole double-throw switch and the second digitally controlled single-pole double-throw switch can be controlled by the FPGA general-purpose input / output port (General-Purpose Input / Output, GPIO) port, and the FPGA chip can control the first digitally controlled single-pole double-throw switch to connect the reference signal and control the second digitally controlled single-pole double-throw switch to connect the measurement signal; or, the FPGA chip can control the first digitally controlled single-pole double-throw switch to connect the measurement signal and control the second digitally controlled single-pole double-throw switch to connect the measurement signal, and generate an error signal based on the measurement signal and the reference signal. The reference signal can be set by the digital control module through the DAC.

[0033] In the embodiment of the present application, by controlling the first digitally controlled single-pole double-throw switch and the second digitally controlled single-pole double-throw switch in the input module through the digital control module, the switching of internal and external reference signals and the switching of input stage polarity can be realized to generate an error signal.

[0034] In a possible implementation, the first feedback servo module includes: a PID circuit connected to the input module, a first DAC module, a first adder, and a polarity switching module. The PID circuit includes a digitally controlled potentiometer, a feedback resistor, a proportional (P) signal circuit, an integral (I) signal circuit, and a differential (D) signal circuit. Figure 3 As shown, this figure is a circuit diagram of a first feedback servo module provided in an embodiment of the present application.

[0035] The PID circuit is used to receive the error signal sent by the input module; adjust the resistance value of the feedback resistor by the digitally controlled potentiometer to obtain an adjusted feedback resistor; and obtain a PID signal based on the adjusted feedback resistor and the error signal.

[0036] As shown in the figure, the PID circuit includes a proportional (P) signal circuit, an integral (I) signal circuit, and a differential (D) signal circuit, each of which is connected in series with a digitally controlled potentiometer. By controlling the digitally controlled potentiometers connected in series, the feedback resistors in the proportional (P) signal circuit, the integral (I) signal circuit, and the differential (D) signal circuit can be adjusted to adjust the PID gain.

[0037] In a possible implementation, the first feedback servo module further includes: a digitally controlled single-pole single-throw switch, wherein the digitally controlled single-pole single-throw switch is connected in parallel with an integral capacitor of an integrator in an integral signal circuit. When the first feedback servo module is disconnected from the input module, the digitally controlled single-pole single-throw switch is turned on to discharge and reset the integral capacitor.

[0038] For example, Figure 3 As shown, the error signal is connected to the PID circuit through a digitally controlled single-pole double-throw switch, and the other end of the digitally controlled single-pole double-throw switch is grounded for controlling the slow feedback lock and unlock.

[0039] When the slow feedback is locked, the PID circuit accesses the error signal through the digitally controlled single-pole double-throw switch, and the digitally controlled single-pole single-throw switch is disconnected, so that the integral capacitor is connected in parallel with the integrator; when the slow feedback is unlocked, the digitally controlled single-pole double-throw switch is grounded, the first feedback servo module is disconnected from the input module, the digitally controlled single-pole single-throw switch is turned on, and the integral capacitor is bypassed, so that the integral capacitor is discharged and reset to zero to avoid charge accumulation.

[0040] The PID signals output by the proportional (P) signal circuit, the integral (I) signal circuit, and the differential (D) signal circuit and the bias signal output by the first DAC module can be connected to the first adder through a digitally controlled four-channel single-pole single-throw switch.

[0041] The first adder is used to add the PID signal and the bias signal output by the first DAC module to generate a first sub-feedback signal. The digitally controlled four-channel single-pole single-throw switch is used to control the on and off of each signal.

[0042] The first sub-feedback signal can switch the output polarity through a polarity switching module. Exemplarily, the polarity switching module includes a common-phase amplification module and an inverting amplification module, and the first sub-feedback signal can be connected to the input terminals of the common-phase amplification and the inverting amplification through a digitally controlled single-pole double-throw switch to perform polarity switching to generate the first feedback signal.

[0043] In a possible implementation, the first feedback servo module further includes: a limiting module; the limiting module is used to adjust the voltage of the first feedback signal to the first threshold when the voltage of the first feedback signal is greater than the first threshold; when the voltage of the second feedback signal is less than the second threshold, adjust the voltage of the second feedback signal to the second threshold.

[0044] In the embodiment of the present application, the first feedback signal can be output through the SMA (SubMiniatureversion A) interface after passing through the limiting module.

[0045] Exemplarily, the output circuit of the first feedback servo module can be constructed by an operational amplifier circuit with a diode as a feedback device, such as Figure 4 As shown, this figure is a circuit diagram of a limiting module provided in an embodiment of the present application, and the positive phase terminal of the operational amplifier of the limiting module is connected to the DAC signal for setting the first threshold and the second threshold.

[0046] When the voltage of the first feedback signal is less than the first threshold, the diode in the limiting module is reverse biased and does not conduct, the limiting module does not work, and the first feedback signal is not limited; when the voltage of the first feedback signal is greater than the first threshold, the diode is forward biased and conducts, and the limiting module becomes a voltage follower, which can adjust the voltage of the first feedback signal to the first threshold. Similarly, when the voltage of the second feedback signal is less than the second threshold, the voltage of the second feedback signal can be adjusted to the second threshold. In the embodiment of the present application, the normal operation of the system can be guaranteed by limiting the first feedback signal.

[0047] In a possible implementation, the second feedback servo module includes a feedback capacitor group consisting of a plurality of feedback capacitors connected in parallel, and each of the feedback capacitors is connected in series with a single-pole single-throw switch. Figure 5 As shown, this figure is a circuit diagram of a second feedback servo module provided in an embodiment of the present application.

[0048] The second feedback servo module is specifically used to control the single-pole single-throw switch connected in series with the feedback capacitor based on the error signal and the zero-pole adjustment signal sent by the numerical control module, connect the corresponding feedback capacitor, and generate a second feedback signal.

[0049] As shown in the figure, the GPIO interface of the FPGA can be used to control the 4-channel single-pole single-throw switch to switch the feedback capacitor. Multiple feedback capacitors with single-pole single-throw switches in series are connected in parallel. By connecting different numbers of feedback capacitors through single-pole single-throw switches, the total feedback capacitor size can be changed, thereby controlling the zero pole.

[0050] In a possible implementation, the second feedback servo module includes: a voltage-controlled gain amplifier module connected in series with the feedback capacitor group, the voltage-controlled gain amplifier module including a resistor and an adjustable gain amplifier module, wherein the voltage-controlled gain amplifier module is used to continuously fine-tune the zero pole.

[0051] like Figure 6 As shown, this figure is a schematic diagram of an equivalent circuit provided by an embodiment of the present application. The circuit signal in the second feedback servo module is transferred from the in-phase input to the output, and the corresponding transfer function can be expressed by equation (1) as follows: Fun=-G fli (G sli +G fld )×(1+G xsli ) × V g (1) Among them, G fli , G sli , G fld , G xsli 、V g are the gains of the compensators formed by the operational amplifiers at each level. SLI stands for Slow Limited Integrator; FLI stands for Fast Limited Integrator; FLD stands for Fast Limited Differentiator; XSLI stands for Extra Slow Limited Integrator. Then, G sli Represents the gain corresponding to the slow finite integrator; G fli represents the gain corresponding to the fast finite integrator; G fld represents the gain corresponding to the fast finite differentiator; G xsli It represents the gain corresponding to the ultra-slow finite integrator, where Slow and Fast correspond to working in the low frequency band and high frequency band respectively.

[0052] The following is an example of the FLI level. fli The calculation method of is introduced.

[0053] According to Kirchhoff's current theorem, Figure 6 In the circuit (a), the node current equations can be listed as follows: (2) Therefore, we can Figure 6 The circuit (a) in the figure is equivalent to Figure 6 In the circuit (b), the equivalent resistance R4'=R4 / (1+A), V in 、V tmp 、Vo are the voltages at each node in the circuit.

[0054] Combining the above formulas, we can get formula (3) as follows: (3) Therefore, the Figure 6 The circuit (b) in the figure is equivalent to Figure 6 The circuit (c) in the figure is the lead-lag compensator, where A is the gain of the voltage-controlled gain amplifier.

[0055] In the embodiment of the present application, based on the voltage-controlled gain amplifier module in the second feedback servo module, continuous adjustment of the circuit zeros and poles can be achieved through continuous voltage adjustment.

[0056] In summary, the phase compensator provided in the embodiment of the present application can realize board program control based on FPGA digital control, and can cooperate with atomic experiment timing dynamic control; through the second feedback servo module, it can realize continuous fine adjustment of fast feedback zero poles. At the same time, through multi-channel ADC acquisition and DAC control, as well as large-capacity DDR RAM chips, real-time noise analysis, loop testing, automatic locking and other functions can be realized in FPGA.

[0057] The embodiment of the present application provides a phase compensation method, and its specific implementation method is consistent with the implementation method and the technical effect achieved in the embodiment of the above method, and some contents will not be repeated here.

[0058] An embodiment of the present application provides a phase compensation method, which generates a bias signal and a zero-pole adjustment signal based on a measurement signal and an error signal; the error signal is generated based on the difference between the measurement signal and a reference signal; a first feedback signal is generated based on the error signal and the bias signal; a second feedback signal is generated based on the error signal and the zero-pole adjustment signal; and the measurement signal is adjusted based on the first feedback signal and the second feedback signal to obtain an adjusted measurement signal.

[0059] For ease of understanding, a phase compensation method provided in an embodiment of the present application is generally introduced below.

[0060] In the embodiment of the present application, the measurement signal and the reference signal can generate an error signal after passing through a low-noise differential operational amplifier module (AD8130), and the error signal is sent to the subsequent feedback circuit, namely the first feedback servo module and the second feedback servo module.

[0061] Exemplarily, the reference signal can be input internally or externally by switching the non-inverting terminal and the inverting terminal of two digitally controlled single-pole double-throw switches, and the internal bias signal can be set by two 16-bit DACs (eg, AD5542).

[0062] The first feedback servo module includes a PID controller consisting of a first-level proportional control (P), an integral control (I), a first-level differential control (D) and an output bias (offset).

[0063] For example, the PID controller can be built by an op amp module with low bias current (e.g., OPA2192), and the PID parameters can be adjusted by a 10-bit digitally controlled potentiometer (e.g., AD5292). The output bias is implemented by a multi-channel 16-bit DAC (e.g., DAC80508).

[0064] The SLI, FLI, FLD and XSLI in the second feedback servo module can use a high-bandwidth op amp module (for example, OPA820) and a compensator built with capacitors. Unlike the amplifier circuit built with common op amps, the capacitor can be switched through a digitally controlled analog switch (for example, ADG1411) in the embodiment of the present application, thereby adjusting the zero pole of the amplifier circuit and achieving gain adjustment of the amplifier circuit in different frequency bands.

[0065] In summary, the phase compensation method provided by the embodiment of the present application can realize board program control based on FPGA digital control, and can cooperate with atomic experiment timing dynamic control; through the second feedback servo module, continuous fine adjustment of fast feedback zero poles can be achieved. At the same time, through multi-channel ADC acquisition and DAC control, as well as large-capacity DDR, real-time noise analysis, loop testing, automatic locking and other functions can be realized in FPGA. It has a high-gain, low-noise feedback servo module design, which can support frequency stability up to 10 -17 Ultra-stable laser locking; low temperature drift makes the working state more stable.

[0066] A third aspect: An embodiment of the present application provides a computing device, the computing device comprising: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of the phase compensation method as described above according to the instructions in the program code.

[0067] Aspect 4: An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of a phase compensation method as described above are implemented.

[0068] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A phase compensator, characterized in that: include: A numerical control module, a first feedback servo module, a second feedback servo module and an input module; The input module is used to generate an error signal based on the measurement signal and the reference signal; sending the error signal to the numerical control module, the first feedback servo module and the second feedback servo module; The first feedback servo module is used to generate a first feedback signal based on the error signal and the bias signal sent by the numerical control module; The second feedback servo module is used to generate a second feedback signal based on the error signal and the zero-pole adjustment signal sent by the numerical control module; The numerical control module is used to adjust the measurement signal based on the first feedback signal and the second feedback signal to obtain an adjusted measurement signal.

2. The phase compensator according to claim 1, characterized in that: The first feedback servo module comprises: a proportional-integral-differential (PID) circuit connected to the input module, a first digital-to-analog converter (DAC) module, a first adder, and a polarity switching module; the PID circuit comprises a digitally controlled potentiometer, a feedback resistor, a proportional signal circuit, an integral signal circuit, and a differential signal circuit; The PID circuit is used to receive the error signal sent by the input module; adjust the resistance value of the feedback resistor by the digitally controlled potentiometer to obtain an adjusted feedback resistor; and obtain a PID signal based on the adjusted feedback resistor and the error signal; The first adder is used to add the PID signal and the bias signal output by the first DAC module to generate a first sub-feedback signal; The polarity switching module is used to switch the polarity of the first sub-feedback signal to generate the first feedback signal.

3. The phase compensator according to claim 2, characterized in that: The first feedback servo module further includes: a digitally controlled single-pole single-throw switch, wherein the digitally controlled single-pole single-throw switch is connected in parallel with an integral capacitor of an integrator in the integral signal circuit; When the first feedback servo module is disconnected from the input module, the digitally controlled single-pole single-throw switch is turned on to discharge and reset the integral capacitor.

4. The phase compensator according to claim 2, characterized in that: The first feedback servo module further includes: a limiting module; The limiting module is used to adjust the voltage of the first feedback signal to the first threshold when the voltage of the first feedback signal is greater than the first threshold; and to adjust the voltage of the second feedback signal to the second threshold when the voltage of the second feedback signal is less than the second threshold.

5. The phase compensator according to claim 1, characterized in that: The second feedback servo module comprises a feedback capacitor group consisting of a plurality of feedback capacitors connected in parallel, each of the feedback capacitors being connected in series with a single-pole single-throw switch; The second feedback servo module is specifically used to control the single-pole single-throw switch connected in series with the feedback capacitor based on the error signal and the zero-pole adjustment signal sent by the numerical control module, connect the corresponding feedback capacitor, and generate a second feedback signal.

6. The phase compensator according to claim 5, characterized in that: The second feedback servo module comprises: a voltage-controlled gain amplifier module connected in series with the feedback capacitor group, the voltage-controlled gain amplifier module comprising a resistor and an adjustable gain amplifier module; The voltage-controlled gain amplifier module is used to continuously fine-tune the zero and pole based on the resistor and the adjustable gain amplifier module.

7. The phase compensator according to any one of claims 1 to 6, characterized in that: The input module comprises: an input-stage differential operational amplifier module; a positive-phase terminal of the input-stage differential operational amplifier module is connected to a first terminal of a first digitally controlled single-pole double-throw switch, and a second terminal and a third terminal of the first digitally controlled single-pole double-throw switch are respectively connected to a measurement signal and a reference signal; an inverting terminal of the input-stage differential operational amplifier module is connected to a first terminal of a second digitally controlled single-pole double-throw switch, and a second terminal and a third terminal of the second digitally controlled single-pole double-throw switch are respectively connected to a measurement signal and a reference signal; The input-stage differential operational amplifier module is used to obtain a measurement signal and a reference signal through the first digitally controlled single-pole double-throw switch and the second digitally controlled single-pole double-throw switch; and generate an error signal based on the measurement signal and the reference signal.

8. A phase compensation method, characterized in that: include: generating a bias signal and a zero-pole adjustment signal based on the measurement signal and the error signal; The error signal is generated based on the difference between the measurement signal and the reference signal; generating a first feedback signal based on the error signal and the bias signal; generating a second feedback signal based on the error signal and the zero-pole adjustment signal; The measurement signal is adjusted based on the first feedback signal and the second feedback signal to obtain an adjusted measurement signal.

9. A computing device, characterized in that The computing device includes: a processor and a memory; The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the steps of a phase compensation method as claimed in claim 8 according to the instructions in the program code.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of a phase compensation method as claimed in claim 8 are implemented.

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