Patent ID: 8912740

Claim:
An actuator driver including a first terminal and a second terminal, selecting a current path of the first terminal or the second terminal, and outputting a first or second terminal voltage in response to at least one input digital torque command signal to drive an actuator, the actuator driver comprising: a digital filter configured to perform phase compensation of the digital torque command signal using a fed-back digital signal; a digital PWM generator configured to generate a plurality of pulse-width modulated PWM control signals in response to an output of the digital filter; at least one H bridge configured to select and output the first or second terminal voltage in response to the plurality of PWM control signals; a first continuous time ΔΣ A/D converter; a second continuous time ΔΣ A/D converter; and a feed-back filter, wherein one of the first continuous time ΔΣ A/D converter or the second continuous time ΔΣ A/D converter converts the first terminal voltage from analog to digital in each PWM period, and outputs a digital signal, the other one of the continuous time ΔΣ A/D converters converts the second terminal voltage from analog to digital in the PWM period, and outputs a digital signal, and the feed-back filter decimates outputs of the first and second continuous time ΔΣ A/D converters to feed back the digital signals to the digital filter, wherein the feed-back filter includes first and second decimation filters configured to filter the outputs of the first and second continuous time ΔΣ A/D converters, respectively, and a differential/single converter configured to calculate a difference between outputs of the first and second decimation filters, and feed back a digital signal indicating the difference to the digital filter.