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EECS 247
Lecture 3: Filters
EE247
Lecture 3
Active Filters
Active biquads
Sallen- Key & Tow-Thomas
Integrator-based filters
Signal flowgraph concept
First order integrator-based filter
Second order integrator-based filter & biquads
Lecture 3: Filters
Filters
2nd Order Transfer Functions (Biquads)
Biquadratic (2nd order) transfer function:
1
H( s ) =
1+
H( j ) =
s2
PQP P2
H ( j ) =0 = 1
H ( j ) = 0
2 2
1 2 +
PQP
Bi quad pole s @: s =
Note : for QP 1
2
H ( j ) = = QP
P
P
2
1 1 4QP
2QP
EECS 247
Lecture 3: Filters
s-Plane
QP >
1
2
s=
P
2
1 j 4QP 1
2QP
arccos
j
poles
1
2QP
radius = P
real part = -
EECS 247
P
2Q P
Lecture 3: Filters
Implementation of Biquads
Passive RC: only real poles
poles
Terminated LC
Low power, since it is passive
Only fundamental noise sources
load and source resistance
As previously analyzed, not feasible in the monolithic form for f
<a few 100s of MHz
Active Biquads
Many topologies can be found in filter textbooks!
Widely used topologies:
Single-opamp biquad: Sallen-Key
Multi-opamp biquad: Tow-Thomas
Integrator based biquads
EECS 247
Lecture 3: Filters
Active Biquad
Sallen-Key Low-Pass Filter
R1
Vin
R2
C2
1+
G
Vout
P =
QP =
H ( s) =
C1
s
s2
+
PQP P2
1
R1C1R2C2
1
1
1 G
+
+
R1C1 R2C1 R2C2
Single gain element
Can be implemented both in discrete & monolithic form
Parasitic sensitive
Versions for LPF, HPF, BP,
Advantage: Only one opamp used to obtain 2poles
Disadvantage: Sensitive to parasitic all pole no zeros
EECS 247
Lecture 3: Filters
s
1+
H( s ) = K
1+
s
+
PQP P
s
H( j ) 0 = K
H( j ) = K P
Z
EECS 247
Lecture 3: Filters
Imaginary Zeros
f P = 100kHz
QP = 2
fZ = 3 fP
6
x 10
2
Pole-Zero Map
1.5
With zeros
No zeros
Imag Axis
Magnitude [dB]
10
0.5
-10
-20
-0.5
-30
-1
-40
-50
4
10
EECS 247
-1.5
5
10
6
10
Frequency [Hz]
7
10
-2
-2
-1.5
-1
-0.5
0.5
Real Axis
Lecture 3: Filters
1.5
2
6
x 10
5
x10
6
4
Imag Axis
20
Magnitude [dB]
Pole-Zero Map
10
0
-10
2
0
-2
-20
-4
-30
-6
-40
-50 4
10
105
106
Frequency [Hz]
EECS 247
107
Lecture 3: Filters
-6
-4
-2
Real Axis
6
5
x10
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.
EECS 247
Lecture 3: Filters
Frequency Response
(b a b )s + (b2a0 b0 )
Vo1
= k2 2 1 2 1
Vin
s + a1s + a0
Vo 2 b2 s 2 + b1s + b0
= 2
Vin
s + a1s + a0
Vo 3
1 (b0 b2a0 )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
EECS 247
Lecture 3: Filters
Component Values
given ai , bi , ki , C1, C2 and R8 for example from the desired poles / zeros
b0 =
R8
R3 R5 R7C1C2
b1 =
1 R8 R1R8
R1C1 R6 R4 R7
R
b2 = 8
R6
R1 =
R2 =
1
a1C1
k1
a0 C2
R3 =
1
k1k2
1
a0 C1
a0 =
R8
R2 R3 R7C1C2
R4 =
a1 =
1
R1C1
1
1
1
k2 a1b2 b1 C1
R5 =
k1 a0
b0C2
R6 =
R8
b2
k1 =
k2 =
R2 R8C2
R3 R7C1
R7
R8
EECS 247
it follows that
P =
R8
R2 R3 R7C1C2
QP = P R1C1
R7 = k2 R8
Lecture 3: Filters
2nd order
Filter
2nd order
Filter
Easy to implement
Highly sensitive to component mismatch -good for low Q filters
only
Lecture 3: Filters
EECS 247
Lecture 3: Filters
I in
EECS 247
State-space description
Vo
Z
Iin Z = Vo
Lecture 3: Filters
SFG
I in
Vo
Z
State-space description
Vo
I in
Io
Vin
Vo
I in
I in
Iin R = Vo
Vin
SFG
Iin
EECS 247
1
SL
1
SC
Vo
R
Vin
= Io
Io
SL
Vo
I in
= Vo
Lecture 3: Filters
SC
Two parallel branches can be replaced by a single branch with overall BMF equal to
sum of two BMFs
b
V1
a+b
V1
V2
a.V1+b.V1=V2
V2
(a+b).V1=V2
A node with only one incoming branch & one outgoing branch can be eliminated &
replaced by a single branch with BMF equal to the product of the two BMFs
V1
V3 b
V2
a.V1=V3 (1)
b.V3=V2 (2)
Substituting for V3 from (1) in (2)
EECS 247
Lecture 3: Filters
V1
a.b
V2
(a.b).V1=V2
2008 H.K. Page 18
V1
V2
k.a
V1
V3
b/k
V2
k .V3
a.V1=V3
b.V3=V2
(1)
(2)
Lecture 3: Filters
V4
-1
Vi
c
a
V2
-b
d
Vo
V3
Vi
-b
c
V2
Vo
d
a
V3
b
Vi
-b
EECS 247
V2
g
a
V3
Vo
Vi
Lecture 3: Filters
g Vo
h
V2
a/(1+b)
V3
2008 H.K. Page 20
Vo
1
=
Vin
1+ s R C
Vin
EECS 247
Lecture 3: Filters
What is an Integrator?
Example: Single-Ended Opamp-RC Integrator
Vin
Vo
Vin
Vo
= RC
Vo = Vin
1
sRC
, Vo =
1
RC
in dt
Note: Practical integrator in CMOS technology has input & output both in the
form of voltage and not current Consideration for SFG derivation
EECS 247
Lecture 3: Filters
+ V1
Vo
Rs I 1
C
I2
Vin
VC
2. Use KCL & KVL to derive state space description in such a way to have
BMFs in the integrator form:
Capacitor voltage expressed as function of its current VCap.=f(ICap.)
Inductor current as a function of its voltage IInd.=f(VInd.)
3. Use state space description to draw signal flowgraph (SFG) (see next
page)
EECS 247
Lecture 3: Filters
Inte
gra
tor
form
Vo
Rs I 1
C
I2
Vin
+
VC
SFG
Vin
1 V1
Lecture 3: Filters
I1
VC 1 Vo
1
Rs
nodes of SFG
+ V1
sC
1
I2
Normalize
V1 = Vin Vo
I2
I R*
Vo = 2
s C R*
Vo =
I1R* =
sC
V1 = Vin Vo
R*
V1
Rs
I x R* = Vx'
Vo =
EECS 247
R*
V1
Rs
V2'
s C R*
V2' = V1'
I 2 R* = I1R*
I2 = I1
V1' =
Lecture 3: Filters
Vin
1 V1 1
1
Rs
I1 1
Vo
Vin 1 V1 1
1
sC
I2
Vin 1 V1 1
R*
Rs
I1 R
Vo
R*
I2 R
R*
Rs
sC R*
V1'
Vo
sC R*
1
V2'
R*
EECS 247
Lecture 3: Filters
R
Rs
V1'
Vin 1 V1
Vo
Choosing
sC R*
R* = R s
Vo
1
V1'
V2'
V2'
R* = Rs ,
1 V1
Vo
= R* C
V2'
EECS 247
Lecture 3: Filters
1 V1
Vo
Vo
1
1
s
V2'
H (s) =
Vin
EECS 247
Lecture 3: Filters
Vo
Vo
Vo
+
-
Vin
Vin
'
Vin = Vin
EECS 247
Lecture 3: Filters
Vo
Vo
- -
Vin'
Vin' = Vin
EECS 247
Lecture 3: Filters
- -
Vo
'
Vin'
Vin
Vo
Vo =
1
'
1+ sRC
Vin
EECS 247
Lecture 3: Filters
th
Si ( f ) No i se sp ect r al den si t y o f m
1
H1( f ) 2 = H 2( f ) 2 =
1 + ( 2 f RC )2
no i se so u rce
2
vn2
R
2
vn1
R
Vo
2
2
vn1
= vn2
= 4K TR f
vo2 = 2
=2
EECS 247
kT
C
2 C
vn2
2
vn1
2
R vop
amp
Vo
Lecture 3: Filters
I in
VR = VL =VC = Vo
I
VC = C
sC
V
IR = R
R
IL =
Vo
+
+
+
VR R VL L VC C
- IR - I - IC
L
SFG
Integrator form
sL
VC
1
R
IC = Iin I R I L
VR
VL
IR
1
1
sC
sL
IC 1
VL
IL
Iin
EECS 247
Lecture 3: Filters
VR
1
R
IR
1
1
sC
sL
IC 1
V1
VL
V2
V1'
Vo
R*
R
IxR* =Vx'
IL
R*
sC R*
V2'
sL
V3'
Vin
Iin
EECS 247
Lecture 3: Filters
V1
V2
Vo
R*
R
V1'
sC R*
R* R
R*
s 2
sL
- -
1 V3'
s1 1
Vin
Vin
1 = R* C 2 = L
EECS 247
Lecture 3: Filters
R*
Magnitude (dB)
-5
s 2
s1 1
R* R
VH P
- -
-10
VLP
Vin
-15
-20
0.1
10
Lecture 3: Filters
VH P
1 2s2
=
Vin s2 + s + 1
1 2
2
1 = R* C 2 = L
= R*
0 = 1
1 2 = 1
Q = 1 1
VBP
R* R
s 2
s1 1
VH P
R*
- -
LC
VLP
Vin
1 = 2 Q = R
EECS 247
R*
Lecture 3: Filters
k
vo2 = 0 H m( f ) 2 Sm( f ) df
2
vn1
m=1
s1 1
R* R
2
vn2
2
2
vn1
= vn2
= 4KTRd f
vo2 =
2Q
s 2
Vin
kT
C
EECS 247
Lecture 3: Filters
a2
a1
a3
V0 a1 1 2s + a2 2s + a3
=
Vin
s2 + s + 1
1 2
VBP
s 2
s1 1
R* R
s-plane
VH P
Vin
EECS 247
Lecture 3: Filters
VLP
Summary
Integrator Based Monolithic Filters
Signal flowgraph techniques utilized to convert RLC networks to
integrator based active filters
Each reactive element (L& C) replaced by an integrator
Fundamental noise limitation determined by integrating capacitor
value:
For lowpass filter:
vo2 =
Bandpass filter:
vo2 =
kT
C
QkT
C
Lecture 3: Filters
Lecture 3: Filters
EECS 247
Lecture 3: Filters
Bode Diagram
0
Magnitude (dB)
0
-20
Mag. (dB)
-0.2
-40
-60
-80
Phase (deg)
0
-180
-360
-540
300kHz
3MHz
1MHz
Frequency [Hz]
EECS 247
Lecture 3: Filters
Qpole
s-Plane
0.5
fpole [kHz]
16.7902
659.496
3.6590
1.1026
611.744
473.643
319.568
fzero [kHz]
-0.5
1297.5
836.6
744.0
-1
-2
-1.5
-1
-0.5
Real Axis x107
EECS 247
Lecture 3: Filters
CDMA Filter
Built with Cascade of 1st and 2nd Order Sections
1st order
Filter
Biquad2
Biquad3
Biquad4
EECS 247
Lecture 3: Filters
Biquad Response
1
-20
-20
0.5
LPF1
-40
4
10
Biquad 2
-40
6
10
10
10
10
10
10
10
-0.5
-20
-20
-40
-0.5
-40
Biquad 3
4
10
10
EECS 247
10
Biquad 4
4
10
10
10
Lecture 3: Filters
10
10
Magnitude (dB)
0.5
-0.5
0
-10
-20
LPF1
Biquad 2
Biquad 3
Biquad 4
-30
-40
-0.5
-50 4
10
10
10
10
Frequency [Hz]
EECS 247
Lecture 3: Filters
Intermediate Outputs
LPF1 +Biquad 2
0
Magnitude (dB)
Magnitude (dB)
LPF1
-20
-40
-60
-20
-40
-60
-80
-80
Magnitude (dB)
Magnitude (dB)
-20
-40
-60
6
10
100kHz 1MHz
Biquads 1, 2, 3, & 4
-20
-40
-60
-80
10kHz
4
10MHz
Frequency [Hz]
EECS 247
-80
10kHz
10
100kHz 1MHz
10MHz
Frequency [Hz]
Lecture 3: Filters
Increase p4 by 1%
Decrease z4 by 1%
Magnitude (dB)
0
-10
3dB
-20
-30
-40
-50
200kHz
EECS 247
600kHz
Frequency [Hz]
1MHz
Lecture 3: Filters
High Q poles
High sensitivity
in Biquad realizations
2008 H.K. Page 50
EECS 247
Lecture 3: Filters
Lecture 3: Filters
LC Ladder Filters
Rs
Vin
Vo
L4
L2
C1
C5
C3
RL
Lowest sensitivity to
Lecture 3: Filters
LC Ladder Filters
Vin
Vo
L4
L2
Rs
C1
C3
C5
RL
Filter tables
A. Zverev, Handbook of filter synthesis, Wiley, 1967.
A. B. Williams and F. J. Taylor, Electronic filter design, 3rd edition, McGrawHill, 1995.
CAD tools
Matlab
Spice
EECS 247
Lecture 3: Filters
fstop / f-3dB = 2
Rs >27dB
-3dB
-30dB
1
Stopband Attenuation
Passband Attenuation
Rs >27dB @ fstop
Maximally flat passband
rmalized
From: Williams and Taylor, p. 2-37
Lecture 3: Filters
-3dB =1
Denormalization:
Multiply all LNorm, CNorm by:
Lr = R/ -3dB
Cr = 1/(RX -3dB )
R is the value of the source and
termination resistor
(choose both 1 for now)
Then: L= Lr xLNorm
C= Cr xCNorm
EECS 247
Lecture 3: Filters
Denormalization:
Since -3dB =2x10MHz
R =1
Lr = R/-3dB = 15.9 nH
Cr = 1/(RX-3dB )= 15.9 nF
FC1=C5=9.836nF, C3=31.83nF
FL2=L4=25.75nH
EECS 247
L2=25.75nH
Vo
Rs=1Ohm
Vin
C3
31.83nF
C1
9.836nF
Magnitude (dB)
0
-5
-10
-6 dB passband attenuation
due to double termination
RL=1Ohm
C5
9.836nF
-20
30dB
-30
-40
-50
0
10
20
Frequency [MHz]
EECS 247
Lecture 3: Filters
30