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2nd Order Transfer Functions

Imaginary axis zeroes Tow-Thomas Biquad Example

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EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 1

Imaginary Axis Zeros


Sharpen transition band notch out interference High-pass filter (HPF) Band-reject filter
s 1+ Z H (s) = K 2 s s + 1+ PQP P P H ( j ) = K Z
2 2

Note: Always represent transfer functions as a product of a gain term, poles, and zeros (pairs if complex). Then all coefficients have a physical meaning, reasonable magnitude, and easily checkable unit.
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 2

Imaginary Axis Zeros


No finite zeros
Magnitude Response (s-plane)

With finite zeros


Magnitude Response (s-plane)

2
2

1.5
1.5 Magnitude [linear]

Magnitude [linear]

0.5
0.5

5
5 0 -5 0 0 x 10
5

0 -5 0 0 x 10
5

x 10

x 10

5 Frequency [Hz]

-5

5 Frequency [Hz]

-5

Sigma [Hz]

Sigma [Hz]

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 3

Imaginary Zeros
f P = 100kHz QP = 2 fZ = 3 fP
x 10
6

Zeros substantially sharpen transition band At the expense of reduced stopband attenuation at high frequency

Pole-Zero Map

10 With zeros No zeros

1.5

0
1

-10
0.5

Magnitude [dB]

Imag Axis
5 6 7

-20

-0.5

-30
-1

-40
-1.5

-50 4 10

-2

10

10 Frequency [Hz]

10

-2

-1.5

-1

-0.5

0 Real Axis

0.5

1.5

2 x 10
6

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 4

Moving the Zeros


f P = 100kHz QP = 2 fZ = f P
20
6 x 10
5

Pole-Zero Map

10
4

0
2

Magnitude [dB]

Imag Axis

-10

-20
-2

-30
-4

-40
-6

-50 4 10

-6

-4

-2

0 Real Axis

6 x 10
5

10

10 Frequency [Hz]

10

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 5

Tow-Thomas Biquad

Parasitic insensitive Multiple outputs Ref: P. E. Fleischer and J. Tow, Design Formulas for biquad active filters using three operational amplifiers, Proc. IEEE, vol. 61, pp. 662-3, May 1973.

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 6

Frequency Response
(b a b )s + (b2a0 b0 ) Vo1 = k 2 2 1 2 1 Vin s + a1s + a0
Vo 2 b2 s 2 + b1s + b0 = 2 Vin s + a1s + a0 Vo 3 1 (b0 b2 a0 )s + (a1b0 a0b1 ) = Vin s 2 + a1s + a0 k1 a0

Vo2 implements a general biquad section with arbitrary poles and zeros Vo1 and Vo3 realize the same poles but are limited to at most one finite zero

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EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 7

Component Values
b0 = b1 = b2 = R8 R3 R5R7C1C2 1 R8 R1R8 R1C1 R6 R4 R7 R8 R6
given ai , bi , ki , C1 , C 2 and R8

R1 = R2 = R3 = R4 = R5 =

1 a1C1 k1 a0 C2 1 k1k 2 1 a0 C1

it follows that
P = R8 R2 R3R7C1C 2

R8 a0 = R2 R3R7C1C2 a1 = k1 = k2 = 1 R1C1 R2 R8C2 R3 R7C1 R7 R8

1 1 1 k 2 a1b2 b1 C1

QP = P R1C1

k1 a 0 b0C2 R8 R6 = b2 R7 = k 2 R8

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 8

Filter Design Example


Application: testing of ultra-linear ADC Problem: sinusoidal source has higher distortion than the ADC! Solution
Filter source with bandpass before converting Check resulting source with spectral analyzer Twist: the analyzer is not sufficiently linear either notch out sinusoid and look just at harmonics

Implementation
Bandpass & Notch at 1kHz Use Vo2 for bandpass (only possibility), Vo1 for notch
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 9

Filter Design Example


spectrum analyzer ADC under test

1kHz Generator

1kHz BPF

1kHz Notch

Our filter Principle:

IC test circuits are useless if you cant verify their performance!


2002 B. Boser 10

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

Filter Coefficients
Vo1 (b a b )s + (b2a0 b0 ) = k 2 2 1 2 1 Vin s + a1s + a0 Vo 2 b2 s 2 + b1s + b0 = 2 Vin s + a1s + a0
Design Notch :
2 = (2 1kHz ) b0 = a0 = P 2

Vo 3 1 (b0 b2a0 )s + (a1b0 a0b1 ) = Vin s 2 + a1s + a0 k1 a0

b1 = 0 b2 = 1

Get Bandpass for " free" : b2a1 b1 = a1 b2a0 b0 = 0 Choose reasonable signal levels : k1 = 1.05 k2 = 1 (to keep unused Vo3 slightly below other outputs) (just as we want in a bandpass)

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 11

Final Filter
Choose:

Vo1 as = 2 1 Vin s + a1s + a0 Vo 2 s 2 + a0 = 2 Vin s + a1s + a0 a1 a0 Vo 3 1 = 2 Vin 1.05 s + a1s + a0

C1=C2=112nF (large to minimize noise) R8=1k fP=1kHz, QP=30 (check sensitivity!)

Solve equations
R1=42.631k R2=1.4921k R3=1.3534k R4=42.631k R5=1.4921k R6=R7=R8

Lets order the parts


A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 12

Capacitors
C0G capacitors
Vishay Vitramon, C0G Dielectric Capacitor datasheet, 2000. http://www.vishay.com/document/45002/45002.pdf Negligible voltage coefficient (for linearity) Excellent tempco (30ppm/C) 2% initial accuracy is easy to get

No high-value capacitors are trimmable Resistors will be trimmed to compensate for capacitor variations

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 13

Resistors
Trimmed resistors combine fixed metal film resistors and precision trim potentiometers in series
1%-accurate, 5ppm/C, lab grade metal film resistors provide 90% of the nominal resistance
Ref: Caddock Electronics, Type TN Lab Grade Low TC Precision Film Resistor datasheet, 1999.

50ppm/C trim pots provide between 0% and 20% of the nominal resistance
Ref: Vishay Foil Resistors, Model 1268 Precision Trimming Potentiometers datasheet

Use two fixed resistors in series with the trimpot to minimize trimpot value and optimize overall tempco

R6-R8 are 0.1%-accurate, 5ppm/C metal film


A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 14

Opamps
For opamps, well use the Burr-Brown OPA627
Ref: Texas Instruments / Burr-Brown, OPA627 and OPA604 datasheets, 1989. The finest audio opamp in the world, and, at $15/each, priced accordingly! But money is no object when designing IC test fixtures (only a few are ever built) Adequate speed for this application

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EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 15

Bandpass/Bandstop Responses

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EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 16

Filter Design Example (cont.)


Note that the bandpass output H1 provides >30dB attenuation to all harmonics present in the 1kHz generator output Opamp outputs have 0.00.5dB peak gain
This maximizes each opamps output swing for best dynamic range

Lets magnify the frequency axis for the two responses of interest

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 17

Bandpass/Bandstop Responses

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 18

Filter Design Example


Temperature changes wont change these responses too much
Lab temperatures are stable to 253C Our lab-grade RC products move <100ppm/ C

Initial component values are another story


What if C1=114nF and C2=113nF? Thats within their 2% accuracy specifications Whats SC1P ?
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 19

Bandpass/Bandstop Responses
20

0 Gain (dB)

H2

- 20

H1 C1=.114F C2=.113F Rs nominal


1.1 Frequency (kHz)

- 40

- 60 0.9

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 20

Filter Design Example


Obviously, weve got to tune the filter back to its original specification How is that tuning done?
Do you tell your technician to twiddle pots randomly until it works? Or do you document a robust tuning procedure?

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 21

RC Filter Tuning Strategy


Famous biquads like the Tow-Thomas come complete with their own tuning strategies
The circuit topologies allow 1 trim operation to adjust 1 design parameter (such as fP, fZ, QP, QZ, gain) without changing the others

Rationale for a biquads tuning strategy becomes apparent when studying design equations such as the Tow-Thomas equations on slide 6

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 22

Tow-Thomas Tuning Strategy


R3 will be set to a fixed value to keep the unused OPAMP3 output below 0dB Tuning involves the following steps performed in the specified sequence:

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Adjust R2 to center the bandpass at 1kHz Adjust R5 to center the notch at 1kHz Adjust R1 to set the bandpass Q to 30 Adjust R4 to deepen the notch

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 23

Tow-Thomas Tuning Strategy


The design equations also provide the range of adjustment required for a given resistor
Remember that an excessively large adjustment range translates into excessively large tempco

R1 tuning range (from slide 7): a1 1 R1C1

1 a1C1MAX

< R1 <

1 a1C1MIN

known
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set by capacitor tolerances


2002 B. Boser 24

EECS 247 Lecture 3: Second Order Transfer Functions

Tow-Thomas Tuning Strategy


An even simpler way to determine resistor ranges is to:
Set all capacitors to their high tolerance limit (nominal+2% in this case) Calculate Rs for these capacitances (these will be the minimum resistance values) Set capacitors to their low tolerance limit Calculate maximum Rs
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 25

Tow-Thomas Biquad
C1(0.112) R1(40K+5K) R7(1K)
OPAMP1 OPAMP2

R3 (1.35K) R8 (1K) R2
(1.4K+200)

C2(0.112)

OPAMP3

R4(40K+5K)

R6 (1K)

R5(1.4K+200)

vIN
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resistors: metal film + trimpot


EECS 247 Lecture 3: Second Order Transfer Functions 2002 B. Boser 26

Tow-Thomas Tuning Strategy


If youve left your filter unattended for a while, assume that its trim potentiometers are completely misadjusted Adjust all trimpots to 0 and start over
Lets return to our C1=114nF, C2=113nF example

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 27

Bandpass/Bandstop Responses
20

0 Gain (dB)

H2

- 20

H1 C1=114nF C2=113nF Rs nominal


1.1 Frequency (kHz)
2002 B. Boser 28

- 40

- 60 0.9
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

Bandpass/Bandstop Responses
20

0 Gain (dB)

H2

- 20

H1 C1=114nF C2=113nF trimpots=0


Frequency (kHz) 1.1
2002 B. Boser 29

- 40

- 60 0.9
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

Tow-Thomas Tuning Strategy


For most Rs and Cs in this biquad Hence,
S xf P = 1 2
fP ~ 1 x

This means a +2% change in R2 will cause a 1% change in fP Note that fZ sensitivities are also 1/2
A 4% increase in R5 will shift our notch (currently at 1.02kHz) back to the right place

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 30

Bandpass/Bandstop Responses
20

0 Gain (dB)

H2

- 20

H1

- 40

C1=114nF C2=113nF R1=41k R2=1456 R3=1350 R4=41k R5=1456 R6=R7=R8=1k


Frequency (kHz) 1.1
2002 B. Boser 31

- 60 0.9
A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

Summary
General 2nd order transfer function
Imaginary axis zeros

General purpose biquad


Large selection in literature Tow-Thomas biquad:
3 opamps Parasitic insensitive Multiple outputs Tuning strategy

A/D DSP

EECS 247 Lecture 3: Second Order Transfer Functions

2002 B. Boser 32

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