Feedback delay reduction in force feedback devices
US-9462375-B2 · Oct 4, 2016 · US
US9350378B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9350378-B2 |
| Application number | US-201414295587-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jun 4, 2014 |
| Priority date | Jun 11, 2013 |
| Publication date | May 24, 2016 |
| Grant date | May 24, 2016 |
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Provided is a modulation circuit that can correct an output state in real time and reliably modulate an input signal to output the modulated signal. The signal modulation circuit includes a subtracter, an integrator, a chopper circuit, a frequency divider, and a D-type flip-flop. A delay circuit of a sigma delta modulation circuit is not provided to a feedback circuit, and a signal is delayed and quantized in the D-type flip-flop. The chopper circuit inserts a zero level at timing synchronized with a clock signal, so that pulse density modulation is performed.
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What is claimed is: 1. A signal modulation circuit for performing delta sigma modulation on an input signal in synchronization with a clock signal to output the modulated signal, the circuit comprising: a subtracter for calculating a difference between the input signal and a feedback signal; an integrator for integrating an output signal from the subtracter; a phase inverting circuit for inverting a phase of the signal integrated by the integrator; a first bias voltage applying circuit for applying a bias voltage to the signal integrated by the integrator; a second bias voltage applying circuit for applying a bias voltage to the signal whose phase is inverted by the phase inverting circuit; a first zero level inserting circuit for inserting a zero level into the signal output from the first bias voltage applying circuit at timing synchronized with the clock signal; a second zero level inserting circuit for inserting a zero level into the signal output from the second bias voltage applying circuit at timing synchronized with the clock signal; a first quantizer for delaying the signal output from the first zero level inserting circuit and quantizing the delayed signal; a second quantizer for delaying the signal output from the second zero level inserting circuit and quantizing the delayed signal; a pulse synthesizing circuit for synthesizing the signal output from the first quantizer with the signal output from the second quantizer; and a feedback circuit for feeding back the signal synthesized by the pulse synthesizing circuit to the input signal. 2. The signal modulation circuit according to claim 1 , further comprising a signal detector for detecting an input signal, wherein the first bias voltage applying circuit and the second bias voltage applying circuit apply the bias voltages that are comparatively small when the signal detector detects the input signal, and apply the bias voltages that are comparatively large when the signal detector does not detect the input signal. 3. The signal modulation circuit according to claim 1 , further comprising: a generating circuit for generating a signal for selectively driving a loudspeaker connected to a single power supply in a ternary conductive state including a positive current on-state, a negative current on-state, and an off-state. 4. The signal modulation circuit according to claim 3 , wherein one end of the loudspeaker is connected to a connection node between a first switch and a second switch connected to each other in series, and the other end is connected to a connection node between a third switch and a fourth switch connected to each other in series, the first switch and the third switch being connected to a positive pole side of the single power supply, and the second switch and the fourth switch being connected to a negative pole side of the single power supply, and the generating circuit generates a switching signal for turning on the first switch and turning off the second switch, and a switching signal for turning off the third switch and turning on the fourth switch, based on the signal output from the first quantizer and the signal output from the second quantizer to drive the loudspeaker in the positive current on-state, generates a switching signal for turning off the first switch and turning on the second switch, and a switching signal for turning on the third switch and turning off the fourth switch to drive the loudspeaker in the negative current on-state, and generates a switching signal for turning off the first switch and the third switch and turning on the second switch and the fourth switch, or generates a switching signal for turning off the second switch and the fourth switch and turning on the first switch and the third switch to turn off the loudspeaker. 5. The signal modulation circuit according to claim 1 , wherein the zero level inserting circuit includes a frequency divider for dividing a frequency of the clock signal, and a chopper circuit that operates according to the clock signal whose frequency is divided by the frequency divider. 6. The signal modulation circuit according to claim 1 , wherein the quantizer is configured by a D-type flip-flop. 7. The signal modulation circuit according to claim 1 , wherein the zero level inserting circuit and the quantizer are configured by a D-type flip-flop, and the clock signal is supplied to a reset terminal of the D-type flip-flop.
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