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Analogue Filter Design Analogue Filter Design: Lecturer: Url: Email: Number of Lectures: Reference Text
Analogue Filter Design Analogue Filter Design: Lecturer: Url: Email: Number of Lectures: Reference Text
Slide 1
Reference text:
Design with Operational
Amplifiers and Analog
Integrated Circuits (3rd ed)
Sergio Franco
McGraw-Hill 2003
ISBN 0071207031
Approx
pp o
43
3
James Grimbleby
Slide 2
Slide 3
James Grimbleby
Slide 4
Max
p
stopband
gain
g
log(freq)
og( eq)
Stop-band
g
edge
James Grimbleby
Pass-band
edges
g
Stop-band
edge
g
Slide 5
Slide 6
Frequency-Domain
Frequency
Domain Filters
The design of frequency-domain
frequency domain filters usually starts by
deriving a low-pass prototype filter normalised to a cut-off
frequency
q
y of 1 rad/s
This p
prototype
yp filter is then transformed to the required
q
type
yp
and cut-off frequency:
Low-pass
Low
pass
High-pass
Band-pass
Band-stop
This procedure results in a frequency response function
which meets the specification
James Grimbleby
Slide 7
Frequency-Domain
Frequency
Domain Filters
An ideal normalised sharp
p cut-off low-pass
p
filter has a
frequency response:
Gain
|H(j)|=1 0
|H(j)|=1.0
00
0.0
0.0
Angular
=1.0 frequency
Unfortunately
Unfort
natel such
s ch a filter is not realisable and it is
necessary to use approximations to the ideal response
James Grimbleby
Slide 8
Frequency-Domain
Frequency
Domain Filters
The frequency response function of a circuit containing no
distributed elements is a rational function of j :
H ( j ) =
a0 + a1( j ) + a2 ( j )2 + .. + an ( j )n
b0 + b1( j ) + b2 ( j )2 + .. + bn ( j )n
Slide 9
Butterworth Approximation
The Butterworth
B tter orth appro
approximation
imation gain is ma
maximally
imall flat
That is to say the gain in the pass-band
pass band (below =1) is as flat
as possible
The gain falls off monotonically in both pass-band (below
=1) and stop-band (above =1)
The gain of a Butterworth filter of order n is give by:
H ( j ) =
James Grimbleby
1
1 + 2n
Slide 10
Butterworth Approximation
Gain
(dB)
0
-3
gs
=1 = s
James Grimbleby
log(freq)
Slide 11
Butterworth Approximation
The poles pk of a Butterworth frequency response function
are given by:
pk = xk + jy k
where:
(2k 1)
xk = sin
2n
k = 1, 2, K, n
(2k 1)
y k = cos
2n
Slide 12
Butterworth Approximation
The poles of the Butterworth
B tter orth response p1, p2, ... , pn are
then combined to give the Butterworth frequency response
function:
1
H ( j ) =
( j p1)( j p2 )..( j pn )
Slide 13
Butterworth Approximation
3rd-order Butterworth approximation:
(2k 1)
( 2k 1)
pk = sin
+ j cos
6
6
k
1
2
3
James Grimbleby
pk
0.5 +j 0.866
1.0
1 0 +j 0.0
00
0.5 j 0.866
Slide 14
Butterworth Approximation
Poles of H(j):
(j )
0.5
+ j 0.866
0.5
j 0.866
1.0
+ j 0.0
Slide 15
Butterworth Approximation
What order n is required to meet specification?
Gain (dB)
0
-3
gs
=1 = s
James Grimbleby
log(freq)
Slide 16
Butterworth Approximation
The gain g of a Butterworth filter, expressed in dB, is given
b
by:
g = 20 log10 H ( j )
= 20 log
l 10 (1 + 2n )-1/2
= 10 log10 (1 + 2n )
The stop-band edge is at s, and the stop-band gain is
required to be less than gs dB:
g s 10 log
l 10 (1 + s 2n ) 10 log
l 10 s 2n
g s 20n log10 s
gs
n
20 log10 s
James Grimbleby
Slide 17
Butterworth Approximation
Example:
p
Pass-band gain:
Stop-band gain:
Pass-band edge:
Stop-band edge:
gp -3 dB
gs -40 dB
p = 1.0
s = 1.5
Slide 18
Butterworth Approximation
Gain
n (dB)
Response of 12th-order
12th order Butterworth approximation:
0 01
0.01
James Grimbleby
gp -3 dB
gs -40 dB
p = 1.0
s = 1.5
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
10
1.0
Slide 19
Chebychev Approximation
The Chebychev
Cheb che approximation
appro imation gain oscillates bet
between
een 0
dB and gp dB in the pass-band (below =1)
In the stop-band (above =1) the gain falls off
monotonically
The Chebychev approximation is not a single
approximation for each n, but a group of approximations
with different values of the pass-band
pass band ripple gp
Like the Butterworth approximation, the Chebychev
approximation is an all-pole response
James Grimbleby
Slide 20
Chebychev Approximation
Gain
(dB)
0
gp
gs
=1 = s
James Grimbleby
l (f )
log(freq)
Slide 25
Chebychev Approximation
Gain
n (dB)
Response of 6th
6th-order
order Chebychev approximation:
0.01
James Grimbleby
gp -3 dB
gs -40 dB
p = 1.0
s = 1.5
15
Frequency
q
y ((Hz))
School of Systems Engineering - Electronic Engineering
1.0
Slide 26
James Grimbleby
Slide 27
gs
=1 = s
James Grimbleby
log(freq)
Slide 28
Gain (dB)
0 01
0.01
James Grimbleby
gp -3 dB
gs -40 dB
p = 1.0
s = 1.5
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
10
1.0
Slide 29
Elliptic Approximation
The elliptic response gain oscillates between 0 and gp dB in
the pass
pass-band
band (below =1)
The gain in the stop-band
stop band (above =1) oscillates between
gs dB and - dB
The elliptic approximation has imaginary zeros
For a given filter specification the elliptic approximation gives
the lowest order frequency response function
James Grimbleby
Slide 30
Elliptic Approximation
Gain
(dB)
0
gp
gs
=1 = s
James Grimbleby
log(freq)
Slide 31
Elliptic Approximation
Gain (dB)
Response of 4th
4th-order
order elliptic approximation:
0 01
0.01
James Grimbleby
gp -3 dB
gs -40 dB
p = 1.0
s = 1.5
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
10
1.0
Slide 32
Time-Domain
Time
Domain Response
Unit-step
Unit
step response of 6th
6th-order
order Chebychev:
g(t))
1.0
0.0
James Grimbleby
1 0s
1.0s
Time
3 0s
3.0s
Slide 33
Bessel Approximation
The Bessel appro
approximation
imation is used
sed where
here a freq
frequency-domain
enc domain
filter is required which also has a good time-domain
behaviour
All filters generate a frequency
frequency-dependent
dependent phase shift
In a Bessel filter the phase varies approximately linearly with
frequency and the different frequency components are
delayed by the same amount
A time
time-domain
domain waveform is therefore delayed, but is not
seriously distorted
James Grimbleby
Slide 34
Bessel Approximation
The Bessel approximation has an all-pole frequency
response function:
a0
H ( j ) =
b0 + b1( j ) + b2 ( j )2 + .. + bn ( j )n
I the
In
th high-frequency
hi h f
limit
li it :
H ( j )
a0
bn n
The coefficients are related to Bessel functions:
a0 = b0
bi =
James Grimbleby
(2n i )!
2n i i ! (n i )!
Slide 35
Bessel Approximation
Gain ((dB)
G
Response of 8th
8th-order
order Bessel approximation:
0 01
0.01
James Grimbleby
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
10
1.0
Slide 36
Bessel Approximation
Unit-step
Unit
step response of 8th
8th-order
order Bessel:
g(t)
10
1.0
0.0
James Grimbleby
1 0s
1.0s
Time
3 0s
3.0s
Slide 37
=1.0
James Grimbleby
j
0
= 0
Slide 38
gp -3
3 dB
gs -50 dB
fp = 1000 Hz
fs = 2000 Hz
James Grimbleby
Slide 39
gp -3
3 dB
gs -50 dB
p=1.0
10
s=2.0
0.06265
( j )5 + 0.5745( j )4 + 1.415( j )3
+ 0.5489( j )2 + 0.4080( j ) + 0.06265
James Grimbleby
Slide 40
+
0
.
5745
+
1
.
415
6283
6283
6283
2
j
j
+ 0.5489
+ 0.4080
+ 0.06265
6283
6283
0.06265
1.021 10 19 ( j )5 + 3.686 10 16 ( j )4 + 5.705 10 12 ( j )3
+ 1.390 10 8 ( j )2 + 6.493 10 5 ( j ) + 0.06265
James Grimbleby
Slide 41
Gain ((dB)
G
Frequency (Hz)
James Grimbleby
1000
Slide 42
=1.0
James Grimbleby
0
j
= 0
Slide 43
gp -3
3 dB
gs -25 dB
fp = 2000 Hz
fs = 1000 Hz
James Grimbleby
Slide 44
gp -3 dB
gs -25 dB
p=1.0
s=2.0
0.2506
( j )3 + 0.5972( j )2 + 0.9284( j ) + 0.2506
School of Systems Engineering - Electronic Engineering
Slide 45
0.2506
( j )3 + 0.5972( j )2 + 0.9284( j ) + 0.2506
+ 0.5972
+ 0.9284
+ 0.2506
j
j
j
0.2506( j )3
1.984 1012 + 9.431 107 ( j ) + 1.167 10 4 ( j )2 + 0.2506( j )3
James Grimbleby
Slide 46
Gain
n (dB))
1000
James Grimbleby
Frequency (Hz)
Slide 47
=1 0
=1.0
James Grimbleby
0 j
+
j 0
k
= 0
Slide 48
Gain ((dB)
G
James Grimbleby
1000
Frequency (Hz)
Slide 49
=1
1.0
0
James Grimbleby
k
0 j
+
j 0
= 0
Slide 50
Gain (dB)
James Grimbleby
1000
Frequency (Hz)
Slide 51
James Grimbleby
Slide 52
R Output
Slide 53
R Output
Slide 54
R Output
Slide 55
Input
p
Output
Slide 56
R Output
p
Slide 57
L=
1
02C
C
L
C=
1
02L
Slide 58
Output
Slide 59
2.
3.
Equate coefficients of the symbolic frequencyresponse function and the required response
4.
James Grimbleby
Slide 60
C1
1.414
1.000
0.765
0.618
0.518
0.445
James Grimbleby
L2
1.414
2.000
1.848
1.618
1.414
1.247
C3
1.000
1.848
2.000
1.932
1.802
L4
C5
L6
C7
0.765
1.618 0.618
1.932 1.414 0.518
2.000 1.802 1.247 0.445
Slide 61
1.618H
1.618H
Input
1
0.618F
James Grimbleby
2.000F
Output
0.618F
Slide 62
16.18kH 16.18kH
10k
Input
Output
61.8F
James Grimbleby
200F
61.8F
Slide 63
1.288H
1.288H
10k
Input
Output
4 918 F
4.918nF
James Grimbleby
15 92 F
15.92nF
4 918 F
4.918nF
Slide 64
Gain (dB)
Response of 5th
5th-order
order low-pass
low pass Butterworth filter:
100
James Grimbleby
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
10000
Slide 65
James Grimbleby
C1
0.572
2.216
0.653
2.207
0.679
2.204
L2
3.132
1.088
4.411
1.128
3.873
1.131
C3
2.216
0.814
3.103
0.771
3.147
L4
C5
L6
C7
2.535
1.128 2.207
4.711 0.969 2.406
1.194 3.147 1.131 2.204
Slide 66
Input
p
0.451H
1
1.088
0 919F
0.919F
0.451H
Output
p
1
2.216
James Grimbleby
Slide 67
Input
p
James Grimbleby
451H
919F
451H
1000
Output
p
Slide 68
1000
29 25nF
29.25nF
Input
p
1000
Output
p
14.36mH 14.36mH
James Grimbleby
Slide 69
Gain (dB)
Response of 3rd-order
3rd order high-pass
high pass Chebychev filter:
1k
James Grimbleby
Frequency (Hz)
School of Systems Engineering - Electronic Engineering
100k
Slide 70
Alternative Configuration
Design example: a 3rd-order
3rd order high-pass
high pass Chebychev filter with
1 dB ripple and a cut-off (-3 dB) frequency 5 kHz
Normalised 3rd-order Chebychev high-pass filter:
1
2.216
0 451F
0.451F
0 451F
0.451F
1
Input
p
0.919H
0
9 9
Output
p
1
1.088
James Grimbleby
Slide 71
Alternative Configuration
Scale impedances: multiply resistor and inductor values by k,
divide capacitor values by k
Choose k = 1000
1000
Input
p
James Grimbleby
451F
919H
9
9
451F 1000
Output
p
Slide 72
Alternative Configuration
Scale
S
l ffrequency: divide
di id iinductor
d t and
d capacitor
it values
l
b
by k
where k = 25000 = 3.142105
1000 14.36nF 14.36nF 1000
Input
James Grimbleby
29.25mH
Output
Slide 73
Gain (dB)
5th-order 3dB ripple low-pass Chebychev equallyterminated ladder filter with cut-off frequency 1000 Hz:
10% variation of
components values
Frequency (Hz)
James Grimbleby
1000
Slide 74
a0 + a1( j ) + a2 ( j )2 + .. + an ( j )n
b0 + b1( j ) + b2 ( j )2 + .. + bn ( j )n
...
b10 + b11( j ) + b12 ( j )2 b20 + b21( j ) + b22 ( j )2
= H1( j ) H 2 ( j ) ...
Slide 75
James Grimbleby
a1( j )
b0 + b1( j ) + b2 ( j )2
a2 ( j )2
b0 + b1( j ) + b2 ( j )2
Slide 76
Sallen-Key
Sallen
Key Low-Pass
Low Pass Filter
C1
R1
R2
Output
Input
C2
H lpp ( j ) =
1
1 + 2T2 ( j ) + T1T2 ( j )2
where : R1 = R2
James Grimbleby
T1 = R1C1 T2 = R2C2
Slide 77
H lp ( j ) =
Standard response: H lp ( j ) =
Thus:
or:
James Grimbleby
1
02
= T1T2
1
0 =
T1T2
1
1 + 2T2 ( j ) + T1T2 ( j )2
1
j ( j )2
1+
+
0Q
02
1
= 2T2
0Q
1
1 T1
Q=
=
20T2 2 T2
Slide 78
Sallen-Key
Sallen
Key Low-Pass
Low Pass Filter
Gain(dB)
20 dB
Q=2
0 dB
Q = 10
1
Q=
2
-20 dB
-12
12 dB / octave
-40 dB
10
James Grimbleby
100
1000
10000
Frequency (rad/s)
100000
Slide 79
Sallen-Key
Sallen
Key High-Pass
High Pass Filter
R1
C1
Input
C2
R2
H hp ( j ) =
T1T2 ( j )2
1 + 2T1( j ) + T1T2 ( j )2
where : C1 = C2
James Grimbleby
O t t
Output
T1 = R1C1 T2 = R2C2
Slide 80
Sallen-Key
Sallen
Key High-Pass
High Pass Filter
Gain(dB)
20 dB
Q=2
Q = 10
0 dB
1
Q=
2
-20 dB
12 dB / octave
-40 dB
10
James Grimbleby
100
1000
10000
Frequency (rad/s)
100000
Slide 81
Rauch Band
Band-Pass
Pass Filter
R1
C2
C1
R2
Input
Output
H bp ( j ) =
1 + 2T2 ( j ) + T1T2 ( j )2
where : R1 = R2
James Grimbleby
T1( j )
T1 = R1C1 T2 = R2C2
Slide 82
Rauch Band
Band-Pass
Pass Filter
Gain(dB)
Q = 10
40 dB
20 dB
Q=5
Q=2
0 dB
10
James Grimbleby
100
1000
10000
Frequency (rad/s)
100000
Slide 83
All-Pole
All
Pole Cascade Synthesis
Design example: 5th-order Chebychev low-pass filter has
numerator and denominator coefficients:
a0 = 0.06265
a1 = 0.0
00
a2 = 0.0
a3 = 0.0
00
a4 = 0.0
a5 = 0.0
00
b0 = 0.06265
b1 = 6.49310
6 493 10-55
b2 = 1.39010-8
b3 = 5
5.70510
70510-12
b4 = 3.68610-16
19
b5 = 1
1.02110
02110-19
Slide 84
All-Pole
All
Pole Cascade Synthesis
The poles are the roots of the equation obtained by setting
the denominator polynomial to zero:
-9.01110+2 + j3.75110+3
-9.01110
9 011 10+2 - j3.75110
j3 751 10+3
-3.46310+2 + j6.07010+3
-3.46310
3 463 10+2 - j6.07010
j6 070 10+3
-1.11510+3 + j0.0
The frequency response is of 5th-order so that the factors
are two conjugate pairs of complex roots and a single real
root
James Grimbleby
Slide 85
All-Pole
All
Pole Cascade Synthesis
Conjugate
j g
p
pole p
pairs are combined:
-9.01110+2 + j3.75110+3
-9.01110
9 01110+22 - j3.75110
j3 75110+33
D( j ) = (j + 9.011
9 011 10 2 j3.751 103 )
(j + 9.011 10 2 + j3.751 103 )
= ( j )2
+ (9.011 10 2 + 9.011 10 2 )( j )
2 2
+ (9.011
9 011 10 ) + (3.751 10 )
= ( j )2 + 1.802 10 +3 ( j ) + 1.488 10 +7
James Grimbleby
Slide 86
All-Pole
All
Pole Cascade Synthesis
The denominator of the 1st-order section:
D( j ) = ( j p ) = j + 1.115 10 +3
Dividing through by 1.11510+3:
D( j ) = 1 + 8.966 10 4 ( j )
Frequency
eque cy response
espo se function
u c o o
of 1st-order
s o de filter:
e
1
H ( j ) =
1 + RC( j )
Thus:
RC = 8.966 10 4
Slide 87
All-Pole
All
Pole Cascade Synthesis
Denominator of the 1st 2nd-order section:
D( j ) = ( j )2 + 1.802 10 +3 ( j ) + 1.488 10 +7
Di idi th
Dividing
through
hb
by 1
1.48810
488 10+7:
D( j ) = 1 + 1.211 10 4 ( j ) + 6.718 10 8 ( j )2
Frequency response function of 2nd-order filter:
1
H lp ( j ) =
1 + 2T2 ( j ) + T1T2 ( j )2
2T2 = 1.211 10 4
T2 = 6.054 10 5
T1T2 = 6.718 10 8
T1 = 1.110 10 3
Thus:
Let R1=R
R2=10
10 k; C1=111
111.0
0 nF,
nF C2=6
6.054nF
054nF
James Grimbleby
Slide 88
All-Pole
All
Pole Cascade Synthesis
Denominator of the 1st 2nd-order section:
D( j ) = ( j )2 + 6.926 10 + 2 ( j ) + 3.696 10 +7
Di idi th
Dividing
through
hb
by 3
3.69610
696 10+7:
D( j ) = 1 + 1.874 10 5 ( j ) + 2.706 10 8 ( j )2
Frequency response function of 2nd-order filter:
1
H lp ( j ) =
1 + 2T2 ( j ) + T1T2 ( j )2
2T2 = 1.874 10 5
T2 = 9.369 10 6
T1T2 = 2.706 10 8
T1 = 2.888 10 3
Thus:
Let R1=R
R2=10
10 k; C1=288
288.8
8 nF,
nF C2=0
0.9369nF
9369nF
James Grimbleby
Slide 89
All-Pole
All
Pole Cascade Synthesis
Complete cascade synthesis of Chebychev active filter:
111.0nF
10k
10k
288.8nF
10k
10k
10k
89 66nF
89.66nF
6 054nF
6.054nF
0 9369nF
0.9369nF
Input
James Grimbleby
Output
Slide 90
a0 + a1( j ) + a2 ( j )2
b0 + b1( j ) + b2 ( j )2
Slide 91
Gain ((dB)
G
Frequency (Hz)
James Grimbleby
1000
Slide 92
Copying Methods
Copying methods are ways of designing active filters with
the same low sensitivity properties of passive equallyterminated ladder filters
The starting point for all copying methods is a prototype
passive filter
This is then copied in some way which preserves the
properties
p
of the p
passive filters but which
desirable p
eliminates the inductors
The copying method that will be described here is based on
inductor simulation
James Grimbleby
Slide 93
V1 = V3 + I1Z 4
Z3
V1
Z2
V2
Z3
Z2
V1 = V3
+ V2
Z 2 + Z3
Z 2 + Z3
Z0
V1 = V2
Z0 + Z1
Z1
V1
Z0
James Grimbleby
Slide 94
Slide 95
Slide 96
Inductor Simulation
Let Z0, Z1 ,Z2,and Z4 be resistors of value
al e R,
R and Z3 be a
capacitor of value C:
or:
Z0 Z 2 Z 4
R3
=
= jCR 2
Zi =
Z1Z3
R / j C
Zi = jL
where L = CR 2
Slide 97
Copying Methods
5th order Cheb
5th-order
Chebychev
che high
high-pass
pass passive
passi e filter
filter:
9 134nF
10k 9.134nF
Input
4.178H
7 015nF
7.015nF
9 134nF
9.134nF
4.178H
10k
Output
Let R
R=10
10 k; then:
CR 2 = 4.178 H
James Grimbleby
C = 4.178 10 8 F
Slide 98
Copying Methods
5th-order Chebychev high-pass active filter:
10k 9.134nF
7.015nF
9.134nF
10k
41.78nF
41.78nF
James Grimbleby
10k
10k
10k
10k
10k
10k
10k
10k
Ou
utput
Inp
put
10k
10k
Slide 99
Copying Methods
3th-order elliptic high-pass passive filter:
1k
382nF
395nF
815nF
Input
1k
Output
2.29H
CR 2 = 2.29H
James Grimbleby
C = 2.29 10 6 F
Slide 100
Copying Methods
3th-order elliptic
high-pass
active filter:
1k 382nF
815nF 395nF
1k
2.29F
Input
Output
1k
1k
1k
1k
1k
James Grimbleby
Slide 101
James Grimbleby
Slide 110