CN111726169B - Wireless body area network communication system - Google Patents

Abstract

Embodiments of the present invention provide a wireless body area network communication system. The system includes: a transmitting end and a receiving end; the receiving end includes a load resistor, a digitally controlled inductor array and a loss compensator; the load resistor and the digitally controlled inductor array are connected in series between the signal electrode and the ground electrode in sequence, and the loss compensator and the load resistor are connected in series. connected in parallel with the numerically controlled inductance array; the load resistor generates a voltage signal according to the excitation signal emitted by the transmitting end; the loss compensator generates a control signal according to the voltage signal; As a compensation inductance, the reverse path loss in the wireless body area network communication system is compensated by the compensation inductance. The system provided by the embodiment of the present invention can dynamically and effectively compensate the reverse path loss in the system during the change of the human body posture, so that the power consumption of the system is greatly reduced.

Description

A wireless body area network communication system

technical field

Embodiments of the present invention relate to the technical field of wireless body area networks, and in particular, to a wireless body area network communication system.

Background technique

A wireless body area network (WBAN) refers to an information network established between electronic devices carried by individuals. In order to promote the development of wireless body area network, the wireless body area network standard IEEE802.15.6 was formally established in 2012. The standard specifies three types of signal frequency bands for wireless body area network communication: narrowband (narrowband, NB), ultra wideband (ultra wideband, UWB) and human body communication (human body communication, HBC) frequency bands. Among them, both narrowband and ultra-wideband are radio frequency communication methods, while human body communication is a non-radio frequency communication method, which regards the human body as a conductor and uses the human body as a channel to complete signal transmission. Compared with the way of radio frequency communication, human body communication is expected to realize the low power consumption and miniaturization of wireless body area network because it utilizes the characteristics of low loss of human body and does not need antennas and coils.

For the wireless body area network communication system based on human body communication, according to the different coupling methods, it can be divided into a wireless body area network communication system based on capacitive coupling and a wireless body area network communication system based on current coupling. Among them, the wireless body area network communication system based on capacitive coupling establishes a communication loop by capacitively coupling the two electrodes at the transmitting end or the receiving end with the human body and the air, thereby realizing signal conduction.

FIG. 1 is a schematic structural diagram of a wireless body area network communication system in the prior art. As shown in FIG. 1 , the system is a wireless body area network communication system based on capacitive coupling, including a transmitter and a receiver, wherein the transmitter includes a The signal electrode SE _tx , an AC signal source and a ground electrode GE _tx , and the receiving end includes a signal electrode SE _rx , a load resistor and a ground electrode GE _rx . Among them, the signal electrode SE _tx and the signal electrode SE _rx are both attached to the surface of the human body. At this time, a forward path is formed between the signal electrode SE _tx - the human body - the signal electrode SE _rx , and the ground electrode GE _tx - Air - ground electrode GE _rx constitutes the reverse path. Since the conductivity of the coupling capacitor in the air is much lower than that of the human body, the reverse path loss is much higher than the forward path loss.

In order to keep the low power consumption of the wireless body area network communication system, the reverse path loss needs to be compensated. Fig. 2 is a schematic structural diagram of a wireless body area network communication system with compensation function in the prior art. As shown in Fig. 2, a fixed inductance is usually connected in series between the signal electrode SE _rx and the ground electrode GE _rx at the receiving end to realize the Reverse path loss is compensated. However, the reverse path loss varies with the change of the posture of the human body, and the prior art cannot effectively compensate the reverse path loss during the dynamic change of the human posture, so the low power consumption of the system cannot be maintained. Therefore, it has become an urgent problem to propose a wireless body area network communication system that can effectively compensate the reverse path loss during the dynamic change of human body posture.

SUMMARY OF THE INVENTION

In view of the technical problems existing in the prior art, embodiments of the present invention provide a wireless body area network communication system.

In a first aspect, an embodiment of the present invention provides a wireless body area network communication system, including:

A transmitter and a receiver; wherein the receiver includes:

Load resistors, digitally controlled inductor arrays, and loss compensators; where,

The load resistor and the digitally controlled inductor array are connected in series between the signal electrode and the ground electrode in sequence, and the loss compensator is connected in parallel with the load resistor and the digitally controlled inductor array;

The load resistor is used to generate a voltage signal according to the excitation signal emitted by the transmitting end;

the loss compensator, for generating a control signal according to the voltage signal;

The digitally controlled inductance array is configured to, according to the control signal, determine a number of inductances from the plurality of inductances of the digitally controlled inductance array as compensation inductances, and use the compensation inductances to reverse the inductance in the wireless body area network communication system path loss is compensated.

The embodiment of the present invention provides a wireless body area network communication system, by connecting a load resistor and a digitally controlled inductor array in series between the signal electrode and the ground electrode at the receiving end, and connecting the first end of the loss compensator between the signal electrode and the load resistor Connect the second end of the loss compensator to the digitally controlled inductance array at the wire of the NC inductance, so that the load resistor can generate a voltage signal according to the excitation signal emitted by the AC signal source at the transmitting end and transmit it to the digitally controlled inductance array, so that the digitally controlled inductance array can determine the compensation inductance. , and then compensate the reverse path loss in the wireless body area network communication system by compensating the inductance. Since the AC signal source at the transmitting end can periodically or aperiodically transmit excitation signals during the change of the human body posture, each time the transmitting end transmits an excitation signal, the receiving end can generate a corresponding voltage signal, and then use the voltage signal to generate a corresponding voltage signal. The compensation inductance is determined in the numerical control inductance array, so that the reverse path loss in the system can be compensated by the compensation inductance, so that the reverse path loss in the system can be dynamically and effectively compensated during the change of the human body posture, so that the power of the system can be compensated. consumption is greatly reduced.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

1 is a schematic structural diagram of a wireless body area network communication system in the prior art;

2 is a schematic structural diagram of a wireless body area network communication system with a compensation function in the prior art;

3 is a schematic structural diagram of a wireless body area network communication system according to an embodiment of the present invention;

4 is a schematic diagram of a specific structure of a wireless body area network communication system according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a loss compensator provided by an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a gradient detector according to an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

FIG. 3 is a schematic structural diagram of a wireless body area network communication system provided by an embodiment of the present invention. As shown in FIG. 3 , the system includes: a transmitting end 31 and a receiving end 32; wherein, the receiving end 32 includes:

Load resistor 321, digitally controlled inductor array 322 and loss compensator 323;

Wherein, the load resistor 321 and the digitally controlled inductor array 322 are connected in series between the signal electrode SE _rx and the ground electrode GE _rx in sequence, and the loss compensator 323 is connected in parallel with the load resistor 321 and the digitally controlled inductor array 322;

The load resistor 321 is used for generating a voltage signal according to the excitation signal emitted by the transmitting terminal 31;

the loss compensator 323, configured to generate a control signal according to the voltage signal;

The digitally controlled inductance array 322 is configured to determine a number of inductances from the plurality of inductances of the digitally controlled inductance array 322 as compensation inductances according to the control signal, and use the compensation inductances to communicate to the inductances in the wireless body area network communication system. Reverse path loss is compensated.

First, the transmitting end 31 is described in detail with reference to FIG. 3 :

The transmitting end 31 includes: a signal electrode SE _tx , an AC signal source 311 and a ground electrode GE _tx which are connected in series in sequence. Among them, the AC signal source 311 periodically or aperiodically generates an excitation signal, which can generate an AC voltage between the signal electrode SE _tx and the ground electrode GE _tx , and the AC voltage is transmitted to the receiving end through the coupling capacitance in the human body and the air 32, so that an AC voltage is generated between the signal electrode SE _rx of the receiving end 32 and the ground electrode GE _rx , and the AC voltage causes the load resistor 321 to generate a voltage signal. Among them, the load resistor is a high-power energy-dissipating resistor that is usually used in products such as large-scale power supply equipment, medical equipment, and power equipment to absorb excess power.

Next, the receiving end 32 is described in detail with reference to FIG. 3 :

The receiving end 32 includes: a signal electrode SE _rx , a load resistor 321 , a digitally controlled inductor array 322 , a ground electrode GE _rx , and a loss compensator 323 , which are connected in series in sequence.

Wherein, the first end of the loss compensator 323 is electrically connected to the wire between the signal electrode SE _rx and the load resistor 321 to obtain the voltage signal generated by the load resistor 321 to generate a control signal according to the voltage signal, and the loss compensator 323 The second terminal of the NC is electrically connected to the digitally controlled inductor array 322 to send the control signal to the digitally controlled inductor array 322 .

It should be noted that the digitally controlled inductance array 322 includes an inductance controller and a plurality of inductances, and the inductance controller can determine part or all of the inductances from the plurality of inductances as compensation inductances according to the received control signal, so as to directly compensate for Inductors compensate for reverse path loss in wireless body area network communication systems.

The numerical control inductor array 322 in the embodiment of the present invention will be further described with reference to FIG. 4 . FIG. 4 is a schematic diagram of a specific structure of a wireless body area network communication system provided by the embodiment of the present invention. As shown in FIG. 4 , in the numerical control inductor array 322 It includes an inductance controller and a plurality of inductances connected in series, where the inductance controller is a plurality of switches, the inductances in series are in one-to-one correspondence with the plurality of switches, and each inductance is connected in parallel with a corresponding switch. The multiple switches can be opened or closed according to the received control signal, so that the inductance corresponding to the switch in the open state can be used as the compensation inductance, so that the reverse path loss in the wireless body area network communication system can be affected by the compensation inductance. to compensate.

It should be noted that the inductance values of the inductances connected in series in sequence increase in sequence, and the inductance values of adjacent inductances have a relationship of 2 times or approximately 2 times.

It can be understood that, for the system in Figure 4, if the number of inductors is N, the number of switches is also N; if N is 5, the number of inductors is 5, the number of switches is also 5, and , the inductance values of these five inductors increase sequentially from left to right. If the five inductances are called inductance 1, inductance 2, inductance 3, inductance 4 and inductance 5 in order from left to right, then the inductance value of inductance 2 is twice or approximately the inductance value of inductance 1 2 times, the inductance value of the inductance 3 is twice or approximately twice the inductance value of the inductance 2, and so on, and will not be repeated here.

At this time, the control signal is a 5-bit binary digital signal, such as 10001, 00111, and the like. Among them, if the control signal is 10001, the highest bit 1 and the lowest bit 1 are respectively used to control the switch corresponding to inductance 1 and the switch corresponding to inductance 5, and the three 0s in the middle bit from left to right are used to control the corresponding inductance 2. The switch corresponding to inductance 3 and the switch corresponding to inductance 4. If the 1 control switch is closed and the 0 control switch is open, the switch corresponding to inductance 1 and the switch corresponding to inductance 5 are closed, and the switch corresponding to inductance 2, the switch corresponding to inductance 3 and the switch corresponding to inductance 4 are all open. , inductance 2, inductance 3 and inductance 4 are connected in series between the ground electrode GE _rx and the load resistance as compensation inductances to compensate the reverse path loss in the wireless body area network communication system.

In the system provided by the embodiment of the present invention, a load resistor and a numerically controlled inductor array are connected in series between the signal electrode and the ground electrode at the receiving end, and the first end of the loss compensator is connected to the wire between the signal electrode and the load resistor to compensate the loss. The second end of the device is connected to the digitally controlled inductor array, so that the load resistor can generate a voltage signal according to the excitation signal emitted by the AC signal source at the transmitting end and transmit it to the digitally controlled inductor array, so that the digitally controlled inductor array can determine the compensation inductance. The reverse path loss in the body area network communication system is compensated. Since the AC signal source at the transmitting end can periodically or aperiodically transmit excitation signals during the change of the human body posture, each time the transmitting end transmits an excitation signal, the receiving end can generate a corresponding voltage signal, and then use the voltage signal to generate a corresponding voltage signal. The compensation inductance is determined in the numerical control inductance array, so that the reverse path loss in the system can be compensated by the compensation inductance, so that the reverse path loss in the system can be dynamically and effectively compensated during the change of the human body posture, so that the power of the system can be compensated. consumption is greatly reduced.

On the basis of the foregoing embodiments, the embodiment of the present invention specifically describes the loss compensator in the foregoing embodiments, that is, the loss compensator includes:

a digital signal strength detector for converting the voltage signal into a digital strength signal;

a gradient detector, configured to generate a gradient signal according to the digital intensity signal and the first timing control signal;

a controller, configured to generate a first control signal according to the gradient signal and the second timing control signal;

The disturbance exciter is configured to generate a second control signal according to the first control signal and the third timing control signal, and use the second control signal as the control signal.

Specifically, a loss compensator provided by an embodiment of the present invention will be described in detail with reference to FIG. 5 . FIG. 5 is a schematic structural diagram of a loss compensator provided by an embodiment of the present invention. As shown in FIG. 5 , the loss compensator includes: Connected digital signal strength detector 3231, gradient detector 3232, controller 3233 and disturbance exciter 3234. in:

The digital signal strength detector 3231 is used to acquire the voltage signal V _rx generated by the load resistance, convert the voltage signal V _rx into a digital strength signal M and output it.

The gradient detector 3232 is configured to acquire the digital intensity signal M, receive the first timing control signal T _c1 , and calculate the difference between the maximum value and the minimum value of the digital strength signal M within one cycle of the first timing control signal T _c1 , the gradient signal D is formed and output.

The controller 3233, preferably a digital proportional-integral controller, is used to acquire the gradient signal D and receive the second timing control signal T _c2 to generate and output the first control signal L _c . It should be noted that the digital proportional-integral controller is a linear controller, which forms a control deviation according to the given value and the actual output value, and forms a control amount by linearly combining the proportion and integral of the deviation to control the controlled object. .

The disturbance exciter 3234 is used to obtain the first control signal L _c and receive the third timing control signal T _c3 , so as to generate a biphasic pulse excitation signal according to the third timing control signal T _c3 and superimpose it on the first control signal T c3 . On the signal _{Lc, a second control signal Lcp is} formed and output. It should be noted that the second control signal L _cp is the control signal mentioned in the above embodiment.

On the basis of the foregoing embodiments, the embodiment of the present invention specifically describes the digital signal strength detector in the foregoing embodiments, that is, the digital signal strength detector includes:

a logarithmic amplifier for converting the voltage signal into an analog intensity signal;

an analog-to-digital converter for converting the analog intensity signal into the digital intensity signal.

Specifically, the digital signal strength detector specifically includes: a logarithmic amplifier and an analog-to-digital converter that are electrically connected in sequence. Among them, the logarithmic amplifier is an amplifying circuit whose output signal amplitude has a logarithmic function relationship with the input signal amplitude. In this embodiment of the present invention, the logarithmic amplifier is used to convert the voltage signal V _rx into an analog intensity signal _Ma , and the conversion relationship is:

Ma ₌ 20log ₁₀ (V _rx )+M _bias ;

Among them, M _bias is a constant determined by the circuit.

The analog intensity signal Ma is then converted into _a digital intensity signal M by an analog-to-digital converter.

Among them, the analog-to-digital converter is an A/D converter, or ADC for short, which usually refers to a circuit that converts an analog signal into a digital signal. The function of A/D conversion is to convert analog quantities with continuous time and amplitude into digital signals with discrete time and amplitude. Therefore, A/D conversion generally goes through four processes of sampling, holding, quantization and encoding. . In actual circuits, some of these processes are combined, for example, sampling and holding, quantization and coding are often implemented simultaneously in the conversion process.

On the basis of the foregoing embodiments, the embodiment of the present invention specifically describes the gradient detector in the foregoing embodiment, that is, the gradient detector includes:

a first register, configured to generate a first strength signal according to the digital strength signal and the first timing control signal;

a second register, configured to generate a second strength signal according to the digital strength signal and a primary delay signal of the first timing control signal;

a first adder, configured to add the first intensity signal and the second intensity signal to generate a third intensity signal;

The third register is configured to generate the gradient signal according to the third intensity signal and the second time delay signal of the first timing control signal.

Specifically, a gradient detector provided by an embodiment of the present invention will be described in detail with reference to FIG. 6 . FIG. 6 is a schematic structural diagram of a gradient detector provided by an embodiment of the present invention. As shown in FIG. 6 , the gradient detector includes: A register 32321, a second register 32322, a first adder 32323 and a third register 32324. The input end of the first register 32321 is electrically connected to the output end of the analog-to-digital converter in the digital signal strength detector, and the output end of the first register 32321 is electrically connected to the first input end of the first adder 32323; the second register The input end of 32322 is electrically connected with the output end of the analog-to-digital converter in the digital signal strength detector, the output end of the second register 32322 is electrically connected with the second input end of the first adder 32323; the output end of the first adder 32323 is electrically connected It is electrically connected to the input terminal of the third register 32324.

It should be noted that a register is a circuit that implements a register function, and is usually used to temporarily store binary data or codes being processed during the working process of a digital circuit system, and is the basic module of a digital logic circuit. An adder is a device that produces the sum of numbers and is often used as a computer arithmetic logic component to perform logical operations, shifts, and instruction calls.

In this embodiment of the present invention, the first register 32321 acquires the digital strength signal M output by the analog-to-digital converter in the signal strength detector, and receives the first timing control signal T _c1 , and compares the digital strength signal to the digital strength signal according to the first timing control signal T _c1 M performs sampling to obtain a first intensity signal. The sampling of the digital strength signal M according to the first timing control signal T _c1 may be that the digital strength signal M is sampled once every time a rising edge occurs in the first timing control signal T _c1 .

The second register 32322 obtains the digital strength signal M output by the analog-to-digital converter in the signal strength detector, and receives the first time delay signal T _c1,d of the first timing control signal T _c1 , according to the first time delay signal T _c1,d pair The digital intensity signal M is sampled to obtain a second intensity signal. It should be noted that the one-time delay signal T _c1,d of the first timing control signal T _c1 is a signal obtained by delaying the first timing control signal T _c1 by d. The digital strength signal M is sampled according to the primary delay signal T _c1,d , which may be sampling the digital strength signal M once every time a rising edge occurs in the primary delay signal T _c1,d .

The first adder 32323 adds the first intensity signal and the second intensity signal to obtain and output the third intensity signal.

The third register 32324 obtains the third strength signal output by the first adder, and receives the second time delay signal T _c1,dd of the first timing control signal T _c1 , and performs the third strength signal on the third timing control signal T _c3 according to the third timing control signal T c3 . Sampling to obtain the gradient signal D and output. It should be noted that the second time delay signal T _c1,dd of the first timing control signal T _c1 is a signal obtained by delaying the first timing control signal T _c1 twice by d. The third intensity signal is sampled according to the second time delay signal T _c1,dd , which may be sampling the third intensity signal once every time a rising edge occurs in the second time delay signal T _c1,dd .

On the basis of the above embodiments, the embodiment of the present invention specifically describes the controller in the above embodiment, that is, the transfer function H _c (z) of the controller is:

Wherein, K _c is the gain of the controller, z is the Z transform operator, T _s is the period of the second timing control signal, ω _z is the zero of the controller, and ω _p is the pole of the controller.

Specifically, the gradient signal D is multiplied by the transfer function H _c (z) to obtain the first control signal L _c .

On the basis of the above-mentioned embodiments, the embodiment of the present invention specifically describes the disturbance exciter in the above-mentioned embodiments, that is, the disturbance exciter includes:

an excitation signal generator for generating a biphasic pulse excitation signal whenever the third timing control signal generates a rising edge;

The second adder is configured to add the biphasic pulse excitation signal and the first control signal to generate the second control signal, and use the second control signal as the control signal.

Specifically, the disturbance exciter includes: an excitation signal generator and a second adder electrically connected to the excitation signal generator.

The excitation signal generator receives the third timing control signal T _c3 , and generates a biphasic pulse excitation signal and outputs it to the second adder whenever the third timing control signal T _c3 generates a rising edge.

The second adder adds the biphasic pulse excitation signal and the first control signal L _c to generate the second control signal Lc _p , and uses the second control signal Lc _p as the control signal.

On the basis of the above embodiments, the embodiments of the present invention specifically carry out the period of the first timing control signal, the second timing control signal and the third timing control signal, and the width of the biphasic pulse excitation signal in the above embodiments. Explanation, that is, the periods of the first timing control signal, the second timing control signal and the third timing control signal are all equal, and the width of the biphasic pulse excitation signal is less than two times the period one part.

Specifically, in the above embodiment, the period of the second timing control signal T _c2 has been defined as T _s . In the embodiment of the present invention, the period of the first timing control signal, the second timing control signal and the third timing control signal is The periods are equal, therefore, the periods of the first timing control signal T _c1 and the third timing control signal T _c3 are also T _s .

For a biphasic pulse excitation signal, its amplitude is ±1, and its width is defined as T _p , then T _p <T _s /2.

It should be noted that, due to the above constraints, each module in the system can guarantee a completely correct response.

On the basis of the foregoing embodiments, the embodiments of the present invention specifically describe the phases of the first timing control signal, the second timing control signal, and the third timing control signal in the foregoing embodiments. That is, the first timing control signal is obtained by delaying the third timing control signal by T _d1 , and the second timing control signal is obtained by delaying the third timing control signal by T _d2 , wherein,

T _p <T _d2 <T _s ;

Wherein, T _p is the width of the biphasic pulse excitation signal, and T _s is the period.

On the basis of the foregoing embodiments, the embodiments of the present invention specifically describe the first-time delay signal of the first timing control signal and the second-time delay signal of the first timing control signal in the foregoing embodiments, that is, the first timing control signal The first time delay signal of a timing control signal is obtained by delaying the first time sequence signal by T _p /2, and the second time delay signal of the first time sequence control signal is obtained by delaying the first time sequence signal by T _p .

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (8)

1. A wireless body area network communication system, comprising: a transmitting end and a receiving end; wherein, the receiving end includes:

the device comprises a load resistor, a numerical control inductor array and a loss compensator; wherein,

the load resistor and the numerical control inductance array are sequentially connected in series between a signal electrode and a ground electrode, and the loss compensator is connected with the load resistor and the numerical control inductance array in parallel;

the load resistor is used for generating a voltage signal according to the excitation signal transmitted by the transmitting end;

the loss compensator is used for generating a control signal according to the voltage signal;

the digital control inductor array is used for determining a plurality of inductors from a plurality of inductors of the digital control inductor array as compensation inductors according to the control signals, and compensating the reverse path loss in the wireless body area network communication system through the compensation inductors;

the loss compensator includes:

a digital signal strength detector for converting the voltage signal into a digital strength signal;

a gradient detector for generating a gradient signal according to the digital intensity signal and a first timing control signal;

the controller is used for generating a first control signal according to the gradient signal and the second time sequence control signal;

and the disturbance exciter is used for generating a second control signal according to the first control signal and a third time sequence control signal and taking the second control signal as the control signal.

2. The system of claim 1, wherein the digital signal strength detector comprises:

a logarithmic amplifier for converting the voltage signal to an analog intensity signal;

an analog-to-digital converter for converting the analog intensity signal to the digital intensity signal.

3. The system of claim 1, wherein the gradient detector comprises:

a first register for generating a first intensity signal according to the digital intensity signal and the first timing control signal;

the second register is used for generating a second intensity signal according to the digital intensity signal and a primary delay signal of the first time sequence control signal;

a first adder for adding the first intensity signal and the second intensity signal to generate a third intensity signal;

and the third register is used for generating the gradient signal according to the third strength signal and the secondary delay signal of the first time sequence control signal.

4. The system of claim 1, wherein the transfer function H of the controller_c(z) is:

wherein, K_cFor the gain of the controller, Z is the Z transform operator, T_sIs the period, ω, of the second timing control signal_zZero point, ω, of the controller_pBeing the poles of the controller.

5. The system of claim 1, wherein the perturbation actuator comprises:

an excitation signal generator for generating a bi-phase pulse excitation signal every time the third timing control signal generates a rising edge;

and the second adder is used for adding the biphase pulse excitation signal and the first control signal to generate the second control signal, and the second control signal is used as the control signal.

6. The system of claim 5, wherein the first timing control signal, the second timing control signal, and the third timing control signal all have equal periods, and wherein the width of the bi-phase pulse excitation signal is less than one-half of the period.

7. The system of claim 6, wherein the first timing control signal is the third timing control signal delayed by T_d1Obtaining that the second time sequence control signal is the third time sequence control signal delay T_d2To obtain a mixture of, among others,

T_p＜T_d2＜T_s；

wherein, T_pWidth, T, of said biphasic pulse excitation signal_sIs the period.

8. The system of claim 3,the first time delay signal of the first time sequence control signal is the first time sequence control signal time delay T_pAnd/2 obtaining that the secondary delay signal of the first time sequence control signal is the first time sequence control signal delay T_pThus obtaining the product.

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