Adjustable signal mixing conditioning circuit

Abstract

The utility model relates to the technical field of electronic signal processing equipment, in particular to an adjustable signal mixing conditioning circuit, which comprises a preprocessing component and a mixing output component, the input end of the preprocessing component is connected with a first input signal, and the output end of the preprocessing component is connected with the first input end of the mixing output component. A second input end of the hybrid output assembly is connected with a second input signal; the preprocessing assembly comprises a proportion module, an integral module and a differential module which are connected in parallel and then connected with the mixed output assembly; the hybrid output assembly comprises an amplification module and a comparison module which are connected in series, the input end of the amplification module is connected with the output end of the preprocessing assembly, the output end is connected with the comparison module, and the output end of the comparison module is set as the output end of the hybrid output assembly. The multi-dimensional synchronous pre-processing device has high integration degree, can perform multi-dimensional synchronous pre-processing on signals at the same time, is high in parameter adjustment flexibility, can be suitable for various scenes, and is high in dynamic response speed.

Description

Technical Field

[0001] This utility model relates to the field of electronic signal processing equipment technology, and specifically to an adjustable signal hybrid conditioning circuit. Background Technology

[0002] Commercially available multi-channel signal processing circuits are commonly used in applications such as multi-channel baseband processing in communication base stations, sensor signal fusion in automotive electronics (e.g., radar), multi-axis motion control in industrial automation, and multi-parameter monitoring systems in medical equipment. These circuits, combined with digital signal processors (DSPs) or field-programmable gate arrays (FPGAs), can be flexibly configured and adapted to different application requirements through software-defined parameters. Their functions include signal conditioning and synchronization, resource sharing and system integration, system expansion and function upgrades, interference suppression and noise management, data fusion, and decision support. However, traditional multi-channel signal processing circuits generally struggle to balance signal conditioning accuracy, ease of debugging, and environmental adaptability, especially when used in portable device applications. These circuit structures generally suffer from the following drawbacks:

[0003] 1) Low functional integration: Traditional circuits require cascading multiple functional modules such as amplification, filtering, and mixing, which cannot simultaneously process the multi-modal processing requirements of a single signal, such as amplification, integration, and filtering.

[0004] 2) Inflexible parameter adjustment: Adjustable components (e.g., potentiometers) are mostly located on the back of the PCB board. During debugging, it is often necessary to disassemble the entire device housing or to customize the housing produced in a standardized manner, specifically setting openings and openable / closable structures at the location of the adjustable components. This not only increases design and manufacturing costs but also extends the manufacturing cycle.

[0005] 3) Weak anti-interference capability: The close proximity between the high-frequency filter module and the amplifier circuit can easily lead to crosstalk. For example, in the application of ECG signal conditioning in medical settings, there is a problem of insufficient suppression of 50Hz power frequency interference.

[0006] 4) Weak heat dissipation performance: When the op-amp operates at high gain (e.g., gain > 20 times), it is prone to temperature drift due to heat generation, which affects the long-term stability of the equipment system.

[0007] Based on the above situation, there is a need for a circuit structure that can simultaneously perform amplification and filtering functions, has stable heat dissipation to ensure good operational reliability, is easy to debug, and has strong anti-interference performance to meet market demands. Utility Model Content

[0008] The purpose of this invention is to provide an adjustable signal hybrid conditioning circuit to solve the above-mentioned technical problems.

[0009] The technical problem solved by this utility model can be achieved by the following technical solution:

[0010] An adjustable signal mixing and conditioning circuit is disclosed. This circuit has two input terminals and one output terminal. The two input terminals are respectively connected to two input signals. The adjustable signal mixing and conditioning circuit includes a preprocessing component and a mixing output component, which are connected together. The preprocessing component has one input terminal and one output terminal, and the mixing output component has two input terminals and one output terminal. The input terminal of the preprocessing component is connected to a first input signal, and the output terminal is connected to the first input terminal of the mixing output component.

[0011] The second input terminal of the hybrid output component is connected to the second input signal;

[0012] The preprocessing component includes a proportional module, an integral module, and a differential module, which are connected in parallel and then connected to the hybrid output component.

[0013] The hybrid output component includes an amplification module and a comparison module connected in series. The input of the amplification module is connected to the output of the preprocessing component, and the output is connected to the comparison module. The output of the comparison module is set as the output of the hybrid output component.

[0014] In this invention, the first input signal is processed in multiple ways by connecting the proportional module, the integral module and the differential module in parallel. This integrated function simultaneously eliminates steady-state error, predicts the future trend of error, and suppresses overshoot and oscillation, thereby reducing the overall circuit response time and improving anti-interference capability.

[0015] Preferably, the proportional module includes: a first operational amplifier unit, a first input resistor, a first feedback resistor, and a first pull-down resistor, wherein,

[0016] The inverting input terminal of the first operational amplifier unit is connected to the first input signal through a first input resistor, the non-inverting input terminal is grounded through a first pull-down resistor, and the output terminal is connected to the input terminal of the amplification module.

[0017] The output of the first operational amplifier unit is connected to its own inverting input via the first feedback resistor.

[0018] Preferably, the first input resistor is an adjustable resistor.

[0019] This invention makes the magnitude of the first input signal adjustable relative to the proportional module by setting the input resistor of the proportional module to be adjustable.

[0020] Preferably, the integration module includes: a second operational amplifier unit, a second input resistor, a feedback capacitor, and a second pull-down resistor, wherein,

[0021] The inverting input terminal of the second operational amplifier unit is connected to the first input signal through a second input resistor, the non-inverting input terminal is grounded through a second pull-down resistor, and the output terminal is connected to the input terminal of the amplification module.

[0022] The output of the second operational amplifier unit is connected to its own inverting input via a feedback capacitor.

[0023] Preferably, the second input resistor is an adjustable resistor.

[0024] This invention optimizes the control effect by setting the input resistance of the integral module to an adjustable resistance and dynamically adjusting the integral time constant, thereby adjusting the integral speed to affect the system response speed.

[0025] Preferably, the differentiating module includes: a third operational amplifier unit, a third input resistor, an input capacitor, a second feedback resistor, a third feedback resistor, and a third pull-down resistor, wherein,

[0026] The inverting input of the third operational amplifier unit is connected to the first input signal through an input capacitor and a third input resistor, while the non-inverting input is grounded through a third pull-down resistor.

[0027] The second and third feedback resistors are connected in series to form a feedback resistor module. The two ends of the feedback resistor module are respectively connected to the inverting input terminal and the output terminal of the third operational amplifier unit.

[0028] Preferably, the differentiating module includes a compensation capacitor, the two ends of which are respectively connected to the inverting input terminal and the output terminal of the third operational amplifier unit.

[0029] This invention prevents self-excited oscillation by setting a compensation capacitor in the differential module.

[0030] Preferably, the amplification module includes: a fourth operational amplifier unit, a fourth feedback resistor, and a fourth pull-down resistor, wherein,

[0031] The non-inverting input of the fourth operational amplifier unit is connected to the output of the preprocessing component, the inverting input is grounded through a fourth pull-down resistor, and the output is connected to the input of the comparator module.

[0032] The two ends of the fourth feedback resistor are respectively connected to the inverting input terminal and the output terminal of the fourth operational amplifier unit.

[0033] Preferably, the comparison module includes: a fifth operational amplifier unit, a fourth input resistor, and a fifth feedback resistor, wherein,

[0034] The non-inverting input of the fifth operational amplifier unit is connected to the second input signal, and the inverting input is connected to the output of the amplification module through the fourth input resistor.

[0035] The two ends of the fifth feedback resistor are respectively connected to the inverting input terminal and the output terminal of the fifth operational amplifier unit.

[0036] Preferably, the proportional module, the integral module, and the differential module are each connected to the amplification module via a voltage divider resistor.

[0037] Beneficial effects: Due to the adoption of the above technical solution, this utility model has a high degree of integration, can perform multi-dimensional synchronous preprocessing of signals simultaneously, has high parameter adjustment flexibility and is applicable to a variety of scenarios, and has a fast dynamic response speed. It is especially suitable for practical scenarios such as audio processing, sensor signal conditioning, and biomedical detection. Attached Figure Description

[0038] Figure 1 This is a functional connection diagram of the present invention;

[0039] Figure 2 This is a circuit connection diagram of the present invention. Detailed Implementation

[0040] To make the technical means, inventive features, achieved objectives, and effects of this utility model readily understandable, the present utility model is further described below in conjunction with specific illustrations. It should be noted that the terms "first," "second," "third," "fourth," etc. (if present) in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion; for example, a product or device comprising a series of components or units is not necessarily limited to those components or units explicitly listed, but may include other components or units not explicitly listed or inherent to such products or devices.

[0041] This invention provides an adjustable signal hybrid conditioning circuit to achieve multi-channel synchronous hybrid processing of input signals, and then to condition the output for subsequent output control by sampling feedback. The adjustable signal hybrid conditioning circuit has two input terminals and one output terminal. The two input terminals are respectively connected to two input signals. In practical applications, one input signal can be selected as the basic control signal, and the other input signal is the real-time sampling feedback signal.

[0042] Reference Figure 1The adjustable signal mixing conditioning circuit includes a preprocessing component 1 and a mixing output component 2, which are connected together. The preprocessing component 1 has an input terminal 1001 and an output terminal 1002. The mixing output component 2 has two input terminals and one output terminal, including input terminals 20011 and 20012 and output terminal 2002. The input terminal 1001 of the preprocessing component 1 is connected to a first input signal 9001, and the output terminal is connected to the first input terminal 20011 of the mixing output component 2.

[0043] The second input terminal 20012 of the hybrid output component 2 is connected to the second input signal 9002;

[0044] Preprocessing component 1 includes a proportional module 101, an integral module 102, and a differential module 103, which are connected in parallel to the mixed output component 2;

[0045] The hybrid output component 2 includes an amplification module 201 and a comparison module 202 connected in series. The input terminal of the amplification module 201 is connected to the output terminal 1002 of the preprocessing component 1, and the output terminal is connected to the comparison module 202. The output terminal of the comparison module 202 is set as the output terminal of the hybrid output component 2.

[0046] In this invention, the first input signal 9001 is processed by multi-channel mixing through the parallel connection of the proportional module, the integral module and the differential module. This integrated function simultaneously eliminates steady-state error, predicts the future trend of error, and suppresses overshoot and oscillation, thereby reducing the overall circuit response time and improving anti-interference capability.

[0047] Reference Figure 2 The functional modules of this utility model are configured as follows:

[0048] In some embodiments, the proportional module includes a first operational amplifier unit IC1a, a first input resistor R11, a first feedback resistor R21, and a first pull-down resistor R41. The inverting input terminal of the first operational amplifier unit IC1a is connected to the first input signal In1 through the first input resistor R11, the non-inverting input terminal is grounded through the first pull-down resistor R41, and the output terminal is connected to the input terminal of the amplification module. Specifically, it is connected to the non-inverting input terminal of the fourth operational amplifier unit IC2a.

[0049] The output of the first operational amplifier unit IC1a is connected to its own inverting input through the first feedback resistor R21.

[0050] In this example, the first operational amplifier unit IC1a and resistors R11, R21, and R41 form an inverting proportional operational circuit. The first operational amplifier unit acts as an inverting proportional amplifier. The first input signal In1 is connected to the inverting input terminal of the unit IC1a. The output signal is obtained from the output terminal of the unit IC1a. The feedback signal is used to divide the voltage through resistor R21 and is connected to the inverting input terminal of the unit IC1a.

[0051] Based on the above examples, in some preferred embodiments, the first input resistor R11 is an adjustable resistor / variable resistor, which can adjust the magnitude of the input signal; the pull-down resistor R41 ensures that the input terminal is not floating and affected by external interference, thus maintaining the stability of the operation, while also ensuring the symmetry of the circuit, ensuring that the output is within a predictable and reasonable range, and improving the anti-interference capability after stabilizing the potential.

[0052] It should be noted that in this invention, the operational amplifier unit IC1a serves as an inverting proportional amplifier, and its amplification factor is defined as A. 1a ,but Wherein, the negative sign indicates the reverse direction, R21 is the value of the feedback resistor, and R11 is the value of the input resistor;

[0053] In some embodiments, the integration module includes a second operational amplifier unit IC1b, a second input resistor R12, a feedback capacitor C2, and a second pull-down resistor R42. The inverting input terminal of the second operational amplifier unit IC1b is connected to the first input signal In1 through the second input resistor R12, the non-inverting input terminal is grounded through the second pull-down resistor R42, and the output terminal is connected to the input terminal of the amplification module, specifically, it is connected to the non-inverting input terminal of the fourth operational amplifier unit IC2a.

[0054] The output of the second operational amplifier unit IC1b is connected to its own inverting input via feedback capacitor C2.

[0055] In this example, the second operational amplifier unit IC1b, along with resistors R12 and R42 and capacitor C2, forms an inverting integrator circuit. The second operational amplifier unit acts as an integrator. The first input signal In1 is applied to the inverting input terminal of the second operational amplifier unit IC1b via resistor R12. Feedback capacitor C2 introduces voltage parallel negative feedback. R42 is a balancing resistor. By matching the DC resistance of the two input terminals of the operational amplifier unit IC1b, the adverse effects of bias current on the output are reduced, optimizing circuit performance. In operation, it can compensate for the influence of the input bias current of the operational amplifier unit IC1b, reduce offset voltage, and improve circuit accuracy.

[0056] The feedback capacitor C2 is located in the feedback loop and is mainly used for phase compensation and anti-self-oscillation, as well as frequency response adjustment, to improve the working stability of the operational amplifier unit IC1b and suppress high-frequency noise.

[0057] Based on the above examples, in some preferred embodiments, the second input resistor R12 is an adjustable resistor. By setting the input resistor R12 to be adjustable, the integral time constant (integral time constant τ = R12·C2, where R12 is the resistance value of resistor R12 and C2 is the capacitance value of capacitor C2) can be dynamically adjusted to adjust the integration speed and thus affect the system response speed. This optimizes the control effect to adapt to different application requirements and can compensate for component errors and avoid signal saturation in different scenarios. In summary, setting the input resistor to be adjustable improves the parameter adjustability of this invention, thereby enhancing the flexibility of circuit adjustment.

[0058] In some embodiments, the differentiating module includes a third operational amplifier unit IC1c, a third input resistor R13, an input capacitor C31, a second feedback resistor R231, a third feedback resistor R232, and a third pull-down resistor R43. The third input resistor R13 and the input capacitor C31 form an RC circuit connected to the inverting input terminal of the third operational amplifier unit IC1c to realize waveform conversion. The operational amplifier unit IC1c is connected to the first input signal In1 through the input capacitor C31 and the third input resistor R13, and the non-inverting input terminal is grounded through the third pull-down resistor R43. The second feedback resistor R231 and the third feedback resistor R232 are connected in series to form a feedback resistor network, and their two ends are connected to the inverting input terminal and the output terminal of the third operational amplifier unit IC1c, respectively.

[0059] The operational amplifier IC1c, along with resistor R13 and capacitor C31, forms a stable differentiating circuit. The input signal In1 acts on the inverting input of the operational amplifier IC1c, therefore the output is inverted relative to the input signal. To ensure the stability of the differentiating circuit, resistors R231 and R232 are connected in parallel to maintain the appropriate value of capacitor C31 in the RC circuit.

[0060] Based on the above examples, in some preferred embodiments, the differentiating module includes a compensation capacitor C32, the two ends of which are connected to the inverting input and output of the third operational amplifier unit IC1c, respectively. The parallel capacitor C32 is used as a compensation capacitor to prevent the circuit from generating self-oscillation.

[0061] In some embodiments, the amplification module includes a fourth operational amplifier unit IC2a, a fourth feedback resistor R5, and a fourth pull-down resistor R6. The non-inverting input of the fourth operational amplifier unit IC2a ​​is connected to the output of the preprocessing component, the inverting input is grounded through the fourth pull-down resistor R6, and the output is connected to the input of the comparator module. The two ends of the fourth feedback resistor R5 are connected to the inverting input and the output of the fourth operational amplifier unit IC2a, respectively.

[0062] This invention uses an operational amplifier unit IC2a ​​to amplify the preprocessed result and transmit it to a comparison module. After comparison and processing with the second input signal, a higher precision control signal is generated and output.

[0063] Based on the above examples, in some preferred embodiments, the proportional module, the integral module, and the differential module are each connected to the amplification module via a voltage divider resistor. Specifically, as shown... Figure 2 As shown, the output of the proportional module is connected to the input of the operational amplifier IC2a ​​via voltage divider resistor R31; the output of the integral module is connected to the input of the operational amplifier IC2a ​​via voltage divider resistor R32; and the output of the differential module is connected to the input of the operational amplifier IC2a ​​via voltage divider resistor R33. Voltage divider resistors R3, R7, and R11 are connected in parallel to the non-inverting input of the amplification module.

[0064] In some embodiments, the comparison module includes a fifth operational amplifier unit IC2b, a fourth input resistor R7, and a fifth feedback resistor R8. The non-inverting input terminal of the fifth operational amplifier unit IC2b is connected to the second input signal In2, and the inverting input terminal is connected to the output terminal of the amplification module through the fourth input resistor R7, i.e., connected to the output terminal of the fourth operational amplifier unit IC2a. The two ends of the fifth feedback resistor R8 are respectively connected to the inverting input terminal and the output terminal out of the fifth operational amplifier unit IC2b.

[0065] In the example above, the operational amplifier unit IC2b compares the second input signal In2 with the result processed by the preprocessing component and outputs a conditioning signal to improve control accuracy.

[0066] This invention can be considered a multimodal input signal processing circuit. Each multimodal input processing module (proportional, integral, and derivative) is connected to the subsequent weighted summation module (unit IC2a) through a signal superposition transmission link unit (i.e., a voltage divider distribution network composed of voltage divider resistors). The signal superposition transmission link unit uses voltage divider resistors. For example, the proportional module uses resistor R31, the integral module is connected to the summation module (i.e., the amplification module) through R32, and the derivative module is connected to the summation module (i.e., the amplification module) through R33. Taking the proportional module as an example, the signal superposition transmission link unit is a key component that transmits the output signal of the operational amplifier unit IC1a to the subsequent circuit (such as the input terminal of IC2a). The change of its resistance value will directly affect the voltage division ratio of the output signal of IC1a transmitted to the next stage, thereby changing the weight of the signal in the subsequent operation. For example, in the signal synthesis (such as addition operation) in which IC2a ​​participates, resistor R31 and other resistors (such as R32, R33, etc.) jointly determine the ratio of each input signal (output signals of the proportional module, integral module, and derivative module). If the resistance value of resistor R31 changes, it will disrupt the original signal superposition ratio, causing changes in the amplitude and polarity (if an inverting input is involved) of the IC2a ​​output signal, ultimately affecting the overall circuit output.

[0067] The amplification module actually performs a weighted summation function, thereby amplifying the signal based on the integrated results of multiple processing channels to ensure the data accuracy of subsequent processing.

[0068] This invention enables multi-dimensional processing of input signals. In addition to conditioning the sampling feedback, it is also applicable to the following scenarios:

[0069] 1) Audio processing system: The first and second input signals can be different audio signals. This utility model can complete filtering (such as noise elimination), amplification and mixing processing, and is suitable for signal integration of audio mixers and audio systems.

[0070] 2) Sensor signal conditioning: In industrial applications, the signals from various sensors may be weak before being aggregated and processed. During long-distance transmission, interference signals are inevitably mixed in. If amplification and filtering are not performed, the processing results will be affected. This invention amplifies and filters the weak signals sent by various sensors (to remove interference), and then integrates them through a summing module before outputting the results. The output results can be used for subsequent processing.

[0071] 3) Biosignal acquisition: Commonly used in the medical field, such as electrocardiogram and electroencephalogram signals. Because biosignals are weak, they are easily affected by the surrounding environment and the sampling equipment itself, resulting in signal distortion. This invention amplifies these weak and noisy signals to increase their signal strength, filters out noise interference, and then integrates and processes them to output results that can be processed by subsequent analytical instruments.

[0072] 4) Communication signal processing: In a communication system, this invention can perform bandpass filtering on the input signal to select a specific frequency band, and then mix it with other signals for use in signal modulation and demodulation or relay transmission.

[0073] 5) Automated control system: This utility model samples and processes multiple feedback signals, amplifies and filters each signal to optimize signal quality, and then sums them together to provide the subsequent control system with a more accurate input, thereby achieving more precise control.

[0074] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An adjustable signal hybrid conditioning circuit, having two input terminals and one output terminal, wherein the two input terminals are respectively connected to two input signals, characterized in that, The adjustable signal hybrid conditioning circuit includes a preprocessing component and a hybrid output component connected together. The preprocessing component has an input terminal and an output terminal, and the hybrid output component has two input terminals and an output terminal. The input terminal of the preprocessing component is connected to a first input signal, and the output terminal is connected to the first input terminal of the hybrid output component. The second input terminal of the hybrid output component is connected to a second input signal. The preprocessing component includes a proportional module, an integral module, and a differential module, which are connected in parallel to the hybrid output component. The hybrid output component includes an amplification module and a comparison module connected in series. The input of the amplification module is connected to the output of the preprocessing component, and the output is connected to the comparison module. The output of the comparison module is set as the output of the hybrid output component.

2. The adjustable signal mixing conditioning circuit of claim 1, wherein, The proportional module includes: a first operational amplifier unit, a first input resistor, a first feedback resistor, and a first pull-down resistor, wherein the inverting input terminal of the first operational amplifier unit IC1a is connected to the first input signal through the first input resistor, the non-inverting input terminal is grounded through the first pull-down resistor, and the output terminal is connected to the input terminal of the amplification module. The output of the first operational amplifier unit is connected to its own inverting input through the first feedback resistor.

3. The adjustable signal mixing conditioning circuit of claim 2, wherein, The first input resistor is an adjustable resistor.

4. The adjustable signal mixing conditioning circuit of claim 1, wherein, The integration module includes: a second operational amplifier unit, a second input resistor, a feedback capacitor, and a second pull-down resistor. The inverting input terminal of the second operational amplifier unit is connected to the first input signal through the second input resistor, the non-inverting input terminal is grounded through the second pull-down resistor, and the output terminal is connected to the input terminal of the amplification module. The output of the second operational amplifier unit is connected to its own inverting input via the feedback capacitor.

5. The adjustable signal mixing conditioning circuit of claim 4, wherein, The second input resistor is an adjustable resistor.

6. The adjustable signal mixing conditioning circuit of claim 1, wherein, The differentiating module includes: a third operational amplifier unit, a third input resistor, an input capacitor, a second feedback resistor, a third feedback resistor, and a third pull-down resistor, wherein, The inverting input terminal of the third operational amplifier unit is connected to the first input signal through the input capacitor and the third input resistor, and the non-inverting input terminal is grounded through the third pull-down resistor. The second feedback resistor and the third feedback resistor are connected in series to form a feedback resistor module. The two ends of the feedback resistor module are respectively connected to the inverting input terminal and the output terminal of the third operational amplifier unit.

7. The adjustable signal mixing conditioning circuit of claim 6, wherein, The differentiating module includes a compensation capacitor, the two ends of which are respectively connected to the inverting input terminal and the output terminal of the third operational amplifier unit.

8. The adjustable signal mixing conditioning circuit of claim 1, wherein, The amplification module includes: a fourth operational amplifier unit, a fourth feedback resistor, and a fourth pull-down resistor, wherein... The non-inverting input of the fourth operational amplifier unit is connected to the output of the preprocessing component, the inverting input is grounded through the fourth pull-down resistor, and the output is connected to the input of the comparator module. The two ends of the fourth feedback resistor are respectively connected to the inverting input terminal and the output terminal of the fourth operational amplifier unit.

9. The adjustable signal mixing conditioning circuit of claim 1, wherein, The comparison module comprises a fifth operational amplifier unit, a fourth input resistor and a fifth feedback resistor, wherein The non-inverting input terminal of the fifth operational amplifier unit is connected to the second input signal, and the inverting input terminal is connected to the output terminal of the amplification module through the fourth input resistor, The fifth feedback resistor is connected to the inverting input terminal and the output terminal of the fifth operational amplifier unit.

10. The adjustable signal mixing conditioning circuit of any of claims 1 to 9, wherein, The proportional module, the integral module and the differential module are connected to the amplification module through a voltage dividing resistor respectively.

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