Bidirectional feedback system, motor, device and equipment

Abstract

The invention provides a bidirectional feedback system, a motor, a device and equipment, and relates to the technical field of electronics, and the system comprises a feedback module and a signal filtering conversion module. The output ends of the signal filtering conversion module and the feedback module are electrically connected with the input end of the signal processing module, the input end of the feedback module is electrically connected with the output end of the signal processing module, and the output end of the signal processing module is electrically connected with the load input end. The feedback module conducts the first feedback branch to generate a first feedback signal when the voltage of the control signal is higher than a preset voltage, conducts the second feedback branch to generate a second feedback signal when the voltage of the control signal is lower than the preset voltage, and outputs the second feedback signal to the signal processing module. The non-linear current feedback module solves the problem that in the prior art, an existing non-linear current feedback module can only conduct one-way compensation, feedback signal waveforms are seriously asymmetric, and consequently the feedback control effect is poor.

Description

Technical Field

[0001] This application relates to the field of electronic technology, specifically to a bidirectional feedback system, motor, device, and equipment. Background Technology

[0002] Servo control systems are widely used in industrial automation and precision control. Their core lies in achieving high-precision load drive through closed-loop control strategies. To balance the system's rapid response under large signal inputs with its sensitivity to overcome friction dead zones under small signal inputs, a nonlinear feedback mechanism is typically introduced into the control loop. This mechanism dynamically adjusts the system gain based on changes in the output signal amplitude, thereby optimizing dynamic performance while maintaining steady-state accuracy.

[0003] To achieve miniaturization, existing servo control circuits employ a nonlinear current feedback scheme based on diodes and a single transistor. This scheme connects a diode in series in the feedback loop, utilizing the diode's inherent forward voltage drop to set the feedback initiation voltage threshold. When the servo system's output voltage amplitude exceeds this threshold, the diode conducts, driving the single transistor to operate, thus generating a feedback current in the feedback path. This feedback current is superimposed on the input to alter the system's overall gain, achieving suppression of high-amplitude signals and gain maintenance for low-amplitude signals.

[0004] However, the aforementioned existing technologies exhibit significant limitations in practical applications. On the one hand, since the feedback loop relies solely on a single transistor for unidirectional conduction, the nonlinear feedback effect only takes effect within one half-wave cycle of the output signal (which is a sinusoidal signal with a zero-level reference and a symmetrical alternation of positive and negative amplitudes). This results in severe asymmetry between the positive and negative half-cycles of the output waveform, reducing the dynamic balance of the system. Summary of the Invention

[0005] This application provides a bidirectional feedback system to at least solve the problem that existing nonlinear current feedback modules in the prior art can only perform unidirectional compensation, resulting in severely asymmetrical feedback signal waveforms and poor feedback control performance.

[0006] In a first aspect, this application provides a bidirectional feedback system, including: a feedback module and a signal filtering and conversion module; The output terminal of the signal filtering and conversion module is electrically connected to the input terminal of the signal processing module; the output terminal of the feedback module is electrically connected to the input terminal of the signal processing module; the input terminal of the feedback module is electrically connected to the output terminal of the signal processing module; and the output terminal of the signal processing module is electrically connected to the input terminal of the load. The signal filtering and conversion module is used to filter and level-convert the input first electrical signal to generate a second electrical signal, and output the second electrical signal to the signal processing module; The signal processing module is used to process the second electrical signal, generate a control signal, and output the control signal to the load and the feedback module; The feedback module is used to receive the control signal, and when the voltage of the control signal is higher than a preset voltage, to activate the first feedback branch and adjust the control signal to generate a first feedback signal; when the voltage of the control signal is less than or equal to the preset voltage, to activate the second feedback branch and adjust the control signal to generate a second feedback signal; and to output the first feedback signal or the second feedback signal to the signal processing module.

[0007] Optionally, the feedback module includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a first transistor, a second transistor, a third transistor, and a fourth transistor; The first terminal of the first resistor is connected to the first power supply. The bases of the first transistor and the second transistor are connected to the second terminal of the first resistor. The collectors of the first transistor and the second transistor are connected to the input terminal of the signal processing module. The emitters of the first transistor and the second transistor are connected to the first terminal of the second resistor. The collectors of the third transistor and the fourth transistor are connected to the second terminal of the second resistor. The second terminal of the second resistor is connected to the first terminal of the third resistor. The bases of the third transistor and the fourth transistor are connected to the second terminal of the third resistor. The second terminal of the third resistor is connected to the first terminal of the fourth resistor. The emitters of the third transistor and the fourth transistor are connected to the second terminal of the fourth resistor. The second terminal of the fourth resistor is connected to the output terminal of the signal processing module. The first transistor, the third transistor, the second resistor, the third resistor, and the fourth resistor constitute the first feedback branch; The second transistor, the fourth transistor, the second resistor, the third resistor, and the fourth resistor constitute the second feedback branch. Optionally, the signal filtering and conversion module includes: a fifth resistor, a sixth resistor, and a first capacitor; The first end of the fifth resistor, the first end of the sixth resistor, and the first end of the first capacitor are connected to the input terminal of the signal processing module. The second end of the sixth resistor is connected to the second power supply, the second end of the first capacitor is connected to the third power supply, and the second end of the fifth resistor is the input terminal of the signal filtering and conversion module.

[0008] Optionally, the signal processing module includes: a differential amplification unit, an inverting amplification unit, and an integration unit; The first input terminal of the differential amplifier unit is electrically connected to the output terminal of the signal filtering and conversion module. The output terminal of the differential amplifier unit is electrically connected to the input terminal of the inverting amplifier unit. The output terminal of the inverting amplifier unit is electrically connected to the input terminal of the load. The input terminal of the integrator unit is electrically connected to the input terminal of the load. The output terminal of the integrator unit is electrically connected to the second input terminal of the differential amplifier unit. The output terminal of the inverting amplifier unit is electrically connected to the input terminal of the feedback module. The first input terminal of the differential amplifier unit is the input terminal of the signal processing module, and the output terminal of the inverting amplifier unit is the output terminal of the signal processing module.

[0009] Optionally, the fourth resistor is a thermistor with a negative temperature coefficient, used for temperature compensation.

[0010] Optionally, the third resistor and the fourth resistor constitute a feedback voltage regulation unit, and the third resistor and the fourth resistor are variable resistors; The feedback voltage adjustment unit is used to adjust the feedback depth of the feedback module.

[0011] Optionally, the first transistor and the second transistor have the same amplification factor, and the third transistor and the fourth transistor have the same amplification factor.

[0012] In addition, this application also provides a servo motor, which includes any of the bidirectional feedback systems described above.

[0013] In addition, this application also provides a servo drive device, which includes the servo motor.

[0014] In addition, this application also provides an automated device, which includes the servo drive device.

[0015] In summary, one or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. By adopting the above technical solution, the feedback module is configured to include a first feedback branch and a second feedback branch, and a preset voltage is set as the conduction condition. When the voltage of the control signal is higher than the preset voltage, the first feedback branch conducts and proportionally adjusts the control signal to make the control signal within the preset voltage range, generating a first feedback signal; when the voltage of the control signal is less than or equal to the preset voltage, the second feedback branch conducts and proportionally adjusts the control signal to make the control signal within the preset voltage range, generating a second feedback signal. This bidirectional threshold monitoring and conduction mechanism overcomes the deficiency of traditional unidirectional feedback modules that can only compensate for signals of a single polarity, and realizes full-band nonlinear feedback adjustment of the positive and negative half-cycles of the control signal. This not only eliminates the asymmetric distortion of the output waveform, but also significantly improves the dynamic balance capability and control accuracy of the servo system under different signal amplitudes.

[0016] 2. By adopting the above technical solution, the feedback module utilizes a first transistor and a third transistor to form a first feedback branch, and a second transistor and a fourth transistor to form a second feedback branch, sharing a second resistor, a third resistor, and a fourth resistor. The complementary transistor pair structure formed by the first and second transistors, combined with the complementary structure formed by the third and fourth transistors, enables the circuit to automatically switch the conduction path according to the signal polarity. The shared resistor network design simplifies the circuit topology while ensuring consistent impedance characteristics for both the forward and reverse feedback paths. This symmetrical and streamlined circuit architecture effectively guarantees the consistency and stability of the bidirectional feedback signal, significantly improving the output waveform quality of the servo drive system while miniaturizing the circuit.

[0017] 3. By adopting the above technical solution, the signal filtering and conversion module utilizes only three passive components—the fifth resistor, the sixth resistor, and the first capacitor—to integrate filtering and level conversion functions into the same circuit node through a specific connection topology. While the fifth resistor and the first capacitor form an RC low-pass filter circuit, the bias voltage introduced by the sixth resistor directly completes the signal level shifting and matching. This design eliminates the independent active filtering stage and dedicated level conversion stage found in traditional solutions, avoiding the use of complex active components such as operational amplifiers. While ensuring signal preprocessing accuracy, it significantly reduces the number of components and the board area occupied, thereby achieving a high degree of integration and miniaturization of the signal conditioning circuit, significantly reducing hardware costs and improving system integration.

[0018] 4. By adopting the above technical solution, the third and fourth resistors are configured as variable resistors and constitute a feedback voltage adjustment unit, connected in series in the base circuits of the third and fourth transistors. According to the transistor's conduction principle, changing the voltage division ratio of the resistors in the base circuit directly adjusts the equivalent conduction threshold voltage of the feedback branch. By adjusting the resistance ratio of the third and fourth resistors, the voltage dead zone range for the feedback module to start can be precisely set, thereby flexibly changing the timing and intensity of nonlinear feedback intervention. This design allows the system to be optimized on-site for different load inertia or friction characteristics, greatly expanding the applicability and debugging flexibility of the servo control system. Attached Figure Description

[0019] Figure 1 This is a structural block diagram of a bidirectional feedback system provided in an embodiment of this application; Figure 2 This is a schematic diagram of the feedback signal waveform provided in an embodiment of this application; Figure 3 This is an example circuit structure diagram of the bidirectional feedback system provided in the embodiments of this application; Figure 4 This is a structural block diagram of another bidirectional feedback system provided in the embodiments of this application.

[0020] Explanation of reference numerals in the attached figures: First resistor - R1, second resistor - R2, third resistor - R3, fourth resistor - R4, fifth resistor - R5, sixth resistor - R6, first capacitor C1, first transistor - Q1, second transistor - Q2, third transistor - Q3, fourth transistor - Q4. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0022] In the description of the embodiments of this application, the words "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design that is described as "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design options. Rather, the use of the words "for example" or "for instance" is intended to present the relevant concepts in a specific manner.

[0023] In the description of the embodiments of this application, the term "multiple" means two or more. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0024] This application provides a two-way feedback system, referring to... Figure 1 , Figure 1 This is a structural block diagram of a bidirectional feedback system provided in an embodiment of this application, including: a feedback module 20 and a signal filtering and conversion module 10; The output terminal of the signal filtering and conversion module 10 is electrically connected to the input terminal of the signal processing module 30, the output terminal of the feedback module 20 is electrically connected to the input terminal of the signal processing module 30, the input terminal of the feedback module 20 is electrically connected to the output terminal of the signal processing module 30, and the output terminal of the signal processing module 30 is electrically connected to the input terminal of the load. Specifically, during system operation, the externally input command signal first passes through the signal filtering and conversion module 10. This module uses internal circuitry to filter out interference noise from the input signal and adjust the signal level to the linear operating range, generating a second electrical signal. The signal processing module 30 receives this second electrical signal and amplifies it to generate a control signal to drive the load, while simultaneously transmitting the control signal to the feedback module 20. The feedback module 20 monitors and adjusts the control signal in real time according to an internally set preset voltage: when the monitored control signal voltage is higher than the preset voltage, the first feedback branch inside the feedback module 20 is activated, proportionally adjusting the control signal to maintain it within the preset voltage range and generating a corresponding first feedback signal; when the monitored control signal voltage is less than or equal to the preset voltage, the second feedback branch inside the feedback module 20 is activated, similarly proportionally adjusting the control signal to maintain it within the preset voltage range and generating a corresponding second feedback signal. The generated feedback signal is sent back to the input of the signal processing module 30. Through this bidirectional threshold monitoring and conduction mechanism, the system achieves closed-loop regulation of the control signal throughout the entire range, overcoming the limitation of traditional unidirectional feedback modules that can only compensate for signals of a single polarity. This ensures the stability and accuracy of the control signal across the entire voltage range. (See reference...) Figure 2 , where U0 is the feedback signal.

[0025] Optional, see reference Figure 3 The feedback module 20 includes: a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first transistor Q1, a second transistor Q2, a third transistor Q3, and a fourth transistor Q4; The first end of the first resistor R1 is connected to the first power supply. The base of the first transistor Q1 and the base of the second transistor Q2 are connected to the second end of the first resistor R1. The collectors of the first transistor Q1 and the second transistor Q2 are connected to the input terminal of the signal processing module 30. The emitters of the first transistor Q1 and the second transistor Q2 are connected to the first end of the second resistor R2. The collectors of the third transistor and the fourth transistor Q4 are connected to the second end of the second resistor R2. The second end of the second resistor R2 is connected to the first end of the third resistor R3. The bases of the third transistor and the fourth transistor are connected to the second end of the third resistor R3. The second end of the third resistor R3 is connected to the first end of the fourth resistor R4. The emitters of the third transistor and the fourth transistor are connected to the second end of the fourth resistor R4. The second end of the fourth resistor R4 is connected to the output terminal of the signal processing module 30. Specifically, the first transistor Q1 and the second transistor Q2 should be transistors of different types, namely one is a PNP transistor and the other is an NPN transistor, thus forming a symmetrical complementary structure. Similarly, the third transistor and the fourth transistor Q4 should also be transistors of different types, namely one is a PNP transistor and the other is an NPN transistor, thus forming a symmetrical complementary structure.

[0026] Meanwhile, the voltage of the first power supply is a preset voltage, used to control the conduction state of the two branches. For example, when the input control signal voltage is positive and its amplitude is higher than the preset voltage, the first feedback branch (composed of the third transistor Q3 and the first transistor Q1) is turned on, generating a first feedback signal and outputting it to the signal processing module. In this first feedback branch, the current can flow from the output terminal of the signal processing module 30 through the fourth resistor R4, the emitter-collector path of the third transistor Q3, the second resistor R2, and finally through the collector of the first transistor Q1 to the input terminal of the signal processing module 30. When the input control signal voltage is negative and its absolute value is higher than the preset threshold voltage, the second feedback branch (composed of the fourth transistor Q4 and the second transistor Q2) is turned on, generating a second feedback signal and outputting it to the signal processing module. In this second feedback branch, current can flow from the output terminal of the signal processing module 30 through the fourth resistor R4, the emitter-collector path of the fourth transistor Q4, the second resistor R2, and finally through the collector of the second transistor Q2 to the input terminal of the signal processing module 30, thus achieving bidirectional flow.

[0027] In addition, the third resistor R3, the fourth resistor R4, and the third triode form a multiplier circuit. At the same time, the third resistor R3, the fourth resistor R4, and the fourth triode also form a multiplier circuit. The principle of the multiplier circuit requires that R4 << rb, and the base region resistance rb of the triode is approximately 200 - 300 Ω. For example, the actual value of R4 here can be about 30 Ω. At the same time, according to the principle of the multiplier circuit:

[0028] That is, the voltage difference between the emitter and the collector of the third triode is U CE , and the voltage difference between the emitter and the collector of the fourth triode is U CE . When the input voltage of the control signal input from the emitters of the third triode and the fourth triode is U0, the output voltage from the collectors of the third triode and the fourth triode is U1 = U0 + U CE . That is, the level shift adjustment of the control signal is achieved, thereby adjusting the voltage of the feedback signal to achieve the non-linear feedback regulation of the control signal.

[0029] Optionally, referring to Figure 4 , the signal filtering and conversion module 10 includes: a fifth resistor R5, a sixth resistor R6, and a first capacitor; The first end of the fifth resistor R5, the first end of the sixth resistor R6, and the first end of the first capacitor are connected to the input end of the signal processing module 30. The second end of the sixth resistor R6 is connected to the second power supply, the second end of the first capacitor is connected to the third power supply, and the second end of the fifth resistor R5 is the input end of the signal filtering and conversion module 10.

[0030] Specifically, through the collaborative action of passive devices, the signal filtering and conversion module 10 completes noise filtering and operating point setting before the signal enters the subsequent processing.

[0031] First, regarding the filtering function: The fifth resistor R5 and the first capacitor C1 form a typical first-order RC low-pass filter. When the first electrical signal containing high-frequency noise interference is input, using the characteristic that the voltage across the capacitor cannot change suddenly and the low-impedance characteristic of the capacitor to high-frequency signals, the high-frequency noise components are bypassed to the third power supply, while the useful low-frequency or DC control signals pass through smoothly. The cut-off frequency of this filtering link is determined by the time constant of R5 and C1, effectively preventing the high-frequency interference signal from mis-triggering the threshold judgment of the subsequent feedback module and improving the anti-interference ability of the system.

[0032] Secondly, regarding the level shifting function: the sixth resistor R6 acts as a pull-up or pull-down bias resistor, connected to the second power supply. It forms a voltage divider network with the fifth resistor R5, superimposing or shifting the input DC level to the linear input range required by the signal processing module 30. For example, if the input signal is bipolar but the subsequent processing circuit requires a unipolar input, or if the input signal common-mode voltage is mismatched, the bias current provided by R6 can clamp the signal's DC operating point to a predetermined value.

[0033] In summary, without introducing active components, the signal filtering and conversion module 10 simultaneously achieves frequency domain purification (filtering) and time domain level matching (conversion) of the signal using only the combination of R5, R6, and C1, providing a high-quality reference signal source for the subsequent signal processing module 30.

[0034] Optional, see reference Figure 4 The signal processing module 30 includes: a differential amplifier unit 301, an inverting amplifier unit 302, and an integrating unit 303; The first input terminal of the differential amplifier unit 301 is electrically connected to the output terminal of the signal filtering and conversion module 10. The output terminal of the differential amplifier unit 301 is electrically connected to the input terminal of the inverting amplifier unit 302. The output terminal of the inverting amplifier unit 302 is electrically connected to the input terminal of the load. The input terminal of the integrator unit 303 is electrically connected to the input terminal of the load. The output terminal of the integrator unit 303 is electrically connected to the second input terminal of the differential amplifier unit 301. The output terminal of the inverting amplifier unit 302 is electrically connected to the input terminal of the feedback module. The first input terminal of the differential amplifier unit 301 is the input terminal of the signal processing module 30, and the output terminal of the inverting amplifier unit 302 is the output terminal of the signal processing module 30.

[0035] The signal processing module 30 is the core control and operation unit of the entire system. Its internal architecture includes a differential amplifier unit 301, an inverting amplifier unit 302, and an integrator unit 303. In terms of circuit cascading, the differential amplifier unit 301 serves as the pre-stage input stage. Its first input terminal (either inverting or non-inverting) receives the pre-processed signal from the signal filtering and conversion module 10, and its second input terminal receives the feedback signal from the integrator unit 303. The output signal of the differential amplifier unit 301 is directly coupled to the input terminal of the inverting amplifier unit 302. The inverting amplifier unit 302 serves as the power drive stage or output stage. Its output terminal is simultaneously connected to the external load, the input terminal of the feedback module 20, and the input terminal of the integrator unit 303. The integrator unit 303 is connected between the output terminal and the input stage, forming a local negative feedback loop.

[0036] Specifically, the signal processing module 30 achieves high-precision dynamic adjustment of the control signal through a multi-stage amplification and integral feedback mechanism.

[0037] First, in the forward amplification path: the second electrical signal, after filtering and level conversion, enters the differential amplifier unit 301. This unit performs a differential operation (subtraction) on the input signal and the feedback signal from the integrator unit 303, extracting the error signal and performing preliminary amplification. Subsequently, this error signal enters the inverting amplifier unit 302, which provides sufficiently large voltage gain and current drive capability, inverting and amplifying the signal to generate the final control signal to drive the load. The inverting amplification design ensures the correct negative feedback polarity of the entire closed-loop control system.

[0038] Secondly, the integral feedback path: the integrator unit 303 performs integral calculations on the output control signal at the load end (i.e., processes the cumulative amount of the signal over time). The introduction of the integrator eliminates the steady-state error of the system and improves the low-frequency gain. The processed integral signal is fed back to the second input terminal of the differential amplifier unit 301 for comparison with the input signal.

[0039] Finally, the system works in conjunction with nonlinear feedback: the control signal output from the inverting amplifier unit 302 not only drives the load and the integrator unit, but is also simultaneously fed into the feedback module 20. When the control signal amplitude is large, the feedback module 20 turns on and injects additional nonlinear feedback current into the input terminal of the differential amplifier unit 301 (i.e., the input terminal of the signal processing module 30). This design allows the signal processing module 30 to receive two feedback regulation paths simultaneously: one is the linear, slow-response main feedback provided by the integrator unit 303, used to ensure steady-state accuracy; the other is the nonlinear, fast-response auxiliary feedback provided by the feedback module 20, used to quickly suppress overshoot under large dynamic conditions. The two work together to ensure that the system has both fast dynamic response and accurate steady-state control.

[0040] Optionally, the fourth resistor R4 is a thermistor with a negative temperature coefficient, used for temperature compensation. Specifically, as a preferred embodiment, the fourth resistor R4 in the feedback module can be a negative temperature coefficient (NTC) thermistor. This is because the base-emitter voltage (U) of the transistors (Q3, Q4) is... BE It has a negative temperature characteristic (i.e., U increases with temperature). BE (Decrease), if the bias resistor value is fixed, it will cause the voltage U to double. CE The resistance decreases as temperature increases, thus altering the feedback threshold. By employing an NTC thermistor as R4 (located in the base-emitter branch of the multiplier circuit), the resistance of R4 automatically decreases as the ambient temperature or circuit temperature rises. This trend precisely compensates for U BE The doubling voltage U is maintained as the temperature decreases. CE Its stability over a wide temperature range prevents feedback depth fluctuations or thermal runaway caused by thermal drift, significantly improving the system's environmental adaptability.

[0041] Optionally, the third resistor R3 and the fourth resistor R4 constitute a feedback voltage regulation unit, and the third resistor R3 and the fourth resistor R4 are variable resistors; Specifically, as another preferred embodiment, the third resistor R3 and the fourth resistor R4 can be configured as variable resistors (such as potentiometers or digitally adjustable resistors), together forming the feedback voltage regulation unit. In practical applications, different servo systems or load objects have different requirements for the timing of nonlinear feedback intervention (i.e., dead time). By adjusting the resistance value of R3 or R4, U can be directly changed. BE The voltage division ratio of the multiplier circuit continuously and precisely adjusts the turn-on threshold voltage of the feedback module. For example, increasing R3 or decreasing R4 raises the threshold, making the feedback effective only with larger signal amplitudes; conversely, decreasing R4 lowers the threshold, enhancing the suppression of small signals. This adjustable design gives the circuit extremely high flexibility, allowing engineers to optimize control parameters on-site for specific load characteristics without replacing components, greatly reducing debugging difficulty and expanding the circuit's versatility.

[0042] It should be noted that the first transistor Q1 and the second transistor Q2 have the same amplification factor, and the third transistor and the fourth transistor Q4 have the same amplification factor. This parameter matching design is the physical basis for eliminating asymmetric distortion in the output waveform. In the bidirectional feedback process, the positive half-cycle signal mainly flows through the Q2 and Q4 paths, while the negative half-cycle signal mainly flows through the Q1 and Q3 paths. If the amplification factors of the upper and lower pairs of transistors are inconsistent, even if the input signal is a symmetrical sine wave, the positive feedback depth and the negative feedback depth after feedback adjustment will differ, resulting in inconsistent amplitude or response speed of the output waveform in the positive and negative half-cycles (i.e., generating even-order harmonic distortion). By strictly matching the amplification factors of Q1 and Q2, and Q3 and Q4, it is ensured that the positive feedback branch and the negative feedback branch have completely consistent DC gain and dynamic transfer characteristics. This allows the system to maintain a high balance in its ability to suppress positive and negative deviations, ultimately outputting a high-fidelity, highly symmetrical control waveform. In engineering implementation, this is typically ensured by using matched pairs of transistors or integrated packaged transistor arrays.

[0043] In addition, this application also provides a servo drive device, which includes any of the above-mentioned bidirectional feedback systems.

[0044] In addition, this application also provides a servo motor, which includes any of the bidirectional feedback systems described above.

[0045] In addition, this application also provides a servo drive device, which includes the servo motor.

[0046] In addition, this application also provides an automated device, which includes the servo drive device.

[0047] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Other embodiments of this disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practical application.

[0048] This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art that are not described in this disclosure.

Claims

1. A bidirectional feedback system, characterized in that, The system includes: a feedback module and a signal filtering and conversion module; The output terminal of the signal filtering and conversion module is electrically connected to the input terminal of the signal processing module; the output terminal of the feedback module is electrically connected to the input terminal of the signal processing module; the input terminal of the feedback module is electrically connected to the output terminal of the signal processing module; and the output terminal of the signal processing module is electrically connected to the input terminal of the load. The signal filtering and conversion module is used to filter and level-convert the input first electrical signal to generate a second electrical signal, and output the second electrical signal to the signal processing module; The signal processing module is used to process the second electrical signal, generate a control signal, and output the control signal to the load and the feedback module; The feedback module is used to receive the control signal, and when the voltage of the control signal is higher than a preset voltage, to activate the first feedback branch and adjust the control signal to generate a first feedback signal; when the voltage of the control signal is less than or equal to the preset voltage, to activate the second feedback branch and adjust the control signal to generate a second feedback signal; and to output the first feedback signal or the second feedback signal to the signal processing module.

2. The system according to claim 1, characterized in that, The feedback module includes: a first resistor, a second resistor, a third resistor, a fourth resistor, a first transistor, a second transistor, a third transistor, and a fourth transistor; The first terminal of the first resistor is connected to the first power supply. The bases of the first transistor and the second transistor are connected to the second terminal of the first resistor. The collectors of the first transistor and the second transistor are connected to the input terminal of the signal processing module. The emitters of the first transistor and the second transistor are connected to the first terminal of the second resistor. The collectors of the third transistor and the fourth transistor are connected to the second terminal of the second resistor. The second terminal of the second resistor is connected to the first terminal of the third resistor. The bases of the third transistor and the fourth transistor are connected to the second terminal of the third resistor. The second terminal of the third resistor is connected to the first terminal of the fourth resistor. The emitters of the third transistor and the fourth transistor are connected to the second terminal of the fourth resistor. The second terminal of the fourth resistor is connected to the output terminal of the signal processing module. The first transistor, the third transistor, the second resistor, the third resistor, and the fourth resistor constitute the first feedback branch; The second transistor, the fourth transistor, the second resistor, the third resistor, and the fourth resistor constitute the second feedback branch.

3. The system according to claim 1, characterized in that, The signal filtering and conversion module includes: a fifth resistor, a sixth resistor, and a first capacitor; The first end of the fifth resistor, the first end of the sixth resistor, and the first end of the first capacitor are connected to the input terminal of the signal processing module. The second end of the sixth resistor is connected to the second power supply, the second end of the first capacitor is connected to the third power supply, and the second end of the fifth resistor is the input terminal of the signal filtering and conversion module.

4. The system according to claim 1, characterized in that, The signal processing module includes: a differential amplifier unit, an inverting amplifier unit, and an integrator unit; The first input terminal of the differential amplifier unit is electrically connected to the output terminal of the signal filtering and conversion module. The output terminal of the differential amplifier unit is electrically connected to the input terminal of the inverting amplifier unit. The output terminal of the inverting amplifier unit is electrically connected to the input terminal of the load. The input terminal of the integrator unit is electrically connected to the input terminal of the load. The output terminal of the integrator unit is electrically connected to the second input terminal of the differential amplifier unit. The output terminal of the inverting amplifier unit is electrically connected to the input terminal of the feedback module. The first input terminal of the differential amplifier unit is the input terminal of the signal processing module, and the output terminal of the inverting amplifier unit is the output terminal of the signal processing module.

5. The system according to claim 2, characterized in that, The fourth resistor is a thermistor with a negative temperature coefficient, used for temperature compensation.

6. The system according to claim 2, characterized in that, The third resistor and the fourth resistor constitute a feedback voltage regulation unit, and the third resistor and the fourth resistor are variable resistors; The feedback voltage adjustment unit is used to adjust the feedback depth of the feedback module.

7. The system according to claim 2, characterized in that, The first transistor and the second transistor have the same amplification factor, and the third transistor and the fourth transistor have the same amplification factor.

8. A servo motor, characterized in that, The servo motor includes the bidirectional feedback system as described in any one of claims 1-7.

9. A servo drive device, characterized in that, The servo drive device includes the servo motor described in claim 8.

10. An automated device, characterized in that, The automated equipment includes the servo drive device as described in claim 9.

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