Fig. 1. PWM drive of current closed-loop principle

Fig. 2. H bridge switch circle with different output of duty

Fig. 3. PWM simulation wave of direct drive

Fig. 4. Current control circuit of PI and low-pass corrective network

Fig. 5. Differential-mode filter for motor drive circuit

Fig. 6. Simulation of current control circuit

Fig. 7. Bode diagram for current closed-loop control circuit

Fig. 8. Testing comparison of half-wave output of motor path PWM