Position or velocity control system and method
US-2019187668-A1 · Jun 20, 2019 · US
US10659069B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10659069-B2 |
| Application number | US-201816220870-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 14, 2018 |
| Priority date | Feb 2, 2018 |
| Publication date | May 19, 2020 |
| Grant date | May 19, 2020 |
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Analog circuits are often non-linear, and the non-linearities can hurt performance. Designers would trade off power consumption to achieve better linearity. An efficient and effective calibration technique can address the non-linearities and reduce the overall power consumption. A dither signal injected to the analog circuit can be used to expose the non-linear behavior in the digital domain. To detect the non-linearities, a counting approach is applied to isolate non-linearities independent of the input distribution. The approach is superior to and different from other approaches in many ways.
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What is claimed is: 1. A calibration system with efficient error estimation, comprising: dither circuitry to inject a dither at an input of a circuit and to remove the dither at an output of the circuit; counting circuitry to count a first number of samples of the output corresponding to a first value of the dither falling within a range defined by an inspection point of the output, and count a second number of samples of the output corresponding to a second, different value of the dither falling within the range defined by the inspection point of the output; error circuitry to compare the first number and the second number, and determine an error estimate based on the comparison; and calibration circuitry to drive the error estimate towards zero. 2. The calibration system of claim 1 , wherein the dither is a signal having a plurality of values randomly distributed between the plurality of values. 3. The calibration system of claim 1 , wherein the circuit comprises one or more of the following: a buffer, a track and hold circuit, and an amplifier. 4. The calibration system of claim 1 , wherein the inspection point comprises one of the following: a positive value, a positive dither value, a negative value, a negative dither value, and zero. 5. The calibration system of claim 1 , wherein the range defined by the inspection point includes one of the following: a range of outputs below a first inspection point, and a range of outputs above a second inspection point. 6. The calibration system of claim 1 , wherein the inspection points changes randomly to accommodate different input conditions. 7. The calibration system of claim 1 , wherein the inspection points changes based on one or more conditions of the input of the circuit. 8. The calibration system of claim 1 , wherein the error circuitry comprises: subtraction circuitry to subtract the first number and the second number to form a partial error at the inspection point. 9. The calibration system of claim 1 , wherein the error circuitry determines the error estimate by adding partial errors determined at the inspection point and a different inspection point. 10. The calibration system of claim 1 , wherein the error circuitry determines the error estimate by subtracting partial errors determined at the inspection point and a different inspection point. 11. The calibration system of claim 1 , wherein the calibration circuitry updates an estimate for a component of the circuit based on the error estimate and a least means squared update equation. 12. The calibration system of claim 11 , wherein the calibration circuitry corrects the output of the circuit based on the estimate for the component of the circuit. 13. A method for efficient error estimation and calibration of a circuit, comprising: adding a dither at an input of the circuit; removing the dither at an output of the circuit; counting a first number of samples of the output corresponding to a first value of the dither falling within a range defined by an inspection point of the output, and counting a second number of samples of the output corresponding to a second, different value of the dither falling within the range defined by the inspection point of the output; comparing the first number and the second number; determining an error estimate based on the comparison; and driving the error estimate towards zero. 14. The method of claim 13 , wherein driving the error estimate towards zero comprises: updating an estimate of a component of the circuit based on the error estimate; and correcting a digital output of the circuit based on the estimate. 15. The method of claim 14 , wherein driving the error estimate to zero comprises: updating the estimate of the component of the circuit based on a parameter that enhances even symmetrical errors while attenuating odd symmetrical errors. 16. The method of claim 14 , wherein driving the error estimate to zero comprises: updating the estimate of the component of the circuit based on a parameter that enhances odd symmetrical errors while attenuating even symmetrical errors. 17. The method of claim 13 , wherein: the comparison forms a partial error estimate at the inspection point; and determining the error estimate comprises combining partial error estimates determined at the inspection points and a different inspection point. 18. An apparatus for estimating errors and calibrating a circuit, comprising: means for injecting a dither at an input of a circuit and removing the dither at an output of the circuit; means for evaluating a first count of the output of the circuit associated with a first value of the dither falling within a ranges defined by an inspection point, and a second count of the output of the circuit of the circuit associated with a second value of the dither falling within the range defined by the inspection point; means for combining the first count and the second count to expose an error associated with a component of the circuit; and means for updating an estimate of the component of the circuit based on the error. 19. The apparatus of claim 18 , wherein the means for evaluating the first count and the second count comprises means for counting a number of samples of the output of the circuit falling within the ranges defined by the inspection point. 20. The apparatus of claim 18 , further comprising: means for digitally correcting the output of the circuit based on the estimate of the component and a model for the component of the circuit.
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the dither being a random signal · CPC title
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