MEM 640 Lecture 1: Filters and Time Response

Filters: Why Study Them?

Vi

R C

Vo

Low Pass Filter is a classic first-order system Easily assembled for experimentation Differential equations are easy to derive: time domain Frequency domain easy to derive Show duality: time and frequency domain

Background Math
Case Study: Calculate the voltage drop over a capacitor Capacitor: sole purpose is to store electrons. Mechanical analog: reservoir tank

I R

C +

Recall

Q = CV 0

and

dQ dV dC I= =C +V dt dt dt

(1)

Also, the cap is discharging across the resistor (hence negative):

I = dV V C dt R

(2)

Equation (2) Is a differential equation and hence

dV 1 dt = dt RC

(3)

Integrating Equation (3) yields:

ln V = 1 t + K1 RC

Where K1 is a constant

Or

V (t ) = e t / RC e K1 = Voe t / RC
Plot of Equation (3) looks like:
V o

Where Vo is a constant

(4)

Suppose t = RC

then (3) yields: V ( RC ) = Voe 1 = 0.37Vo

0.37 Vo RC t [sec]

3 At V (3RC ) = Voe = 0.05Vo

Engineers call the 95% value 3 time constants

Slightly Different Scenario

Case Study: What is the voltage across the capacitor when the switch is closed?

Vi

R C

Vo

The equation for this circuit is: Then

I =C

dVo Vi Vo dt R

where Vi

is constant

(5)

1 dVo Vi Vo (Vi Vo ) = = dt RC RC RC

(6)

The solution to the non-homogeneous differential equation (6) is:

Vo (t ) = Vi + Ae t / RC
Given that Vo (0) = 0 then A = Vi and the solution to (7) becomes

(7)

Vo (t ) = Vi (1 e t / RC )

(8)

A plot of Equation (8) is

Vo V i

Vo (t ) = Vi (1 e t / RC )
t [sec]

Note: and

V ( RC ) = Vi (1 e 1 ) = 0.63Vi V (5 RC ) = Vi (1 e 5 ) = 0.99Vi

A first order system reaches 99% of steady-state in 5 time constants. Also note that the plot of Equation (8) looks like ramp (in early part). That is why a low-pass filter is also known as an integrator

Laplace Domain: Insights into Frequency Response

From (8) we derived the time response for a low pass filter as:

Vo (t ) = Vi (1 e at )

where say a =

1 RC

(9)

Taking Laplace transform of (9) yields

Vi Vi aV Vo ( s ) = = s ( s +ia ) s s+a
Now since Vi Is a step input, recognize that

(10)

Vo ( s ) =

a Vi s+a s

Actual transfer Step input function contribution Thus transfer function for a low pass filter is given as

Vo a = Vi s + a

(11)

We will see later that the Bode Plot for (11) looks like
dB -3 dB -20 dB/decade slope

Vo a = Vi s + a

cutoff frequency

frequency

3 / 20 = 0.707 Recall that dB = 20 log x thus at -3 dB we have x = 10

Also recall from (8) that one time constant yields 63.3% of steady state Thus the cutoff frequency is approximately the systems time constant value Also note that (0.707 ) = 0.499
2

Power is proportional to voltage squared. Hence the -3 dB point represents a 50% drop in power

Where are we going with this?

Problem: Show mathematically, the integrative properties of the LP filter
R C

Vi

Vo

Solution: The voltage across the resistor is Vi Vo

I =C dVo Vi Vo dt R

So: (12)

Now suppose that Vo << Vi

then (12) can be re-expressed as

C dVo Vin dt R

(13)

Or,

Vin 1 t Vo (t ) = dt = Vi (t )dt + constant RC RC

Integration!

(14)

The approximation (13) says the current is proportional to Vi . If Vi is large and R is large, then we have a current source.

Hi Pass Filters Perform Derivatives

Problem: Show that a hi pass filter perform differentiation

Vi

Vo

Solution: The voltage across the cap is Vi Vo

I =C dV d V = C (Vi Vo ) o dt dt R

so we have (15)

Now if R and C chosen small enough so that

dVi dV >> o dt dt

(16) (17)

Then Hence

dVi Vo dt R dVi dt

Vo = RC

(18) Derivative!

Grandmother Explanation

Based on Target Dynamics Shooter adds angle theta Adds phase Shooter angle LEADS target angle Compensation Derivatives: rate of change Ignore high frequencies (hi-pass)

Differentiation LEAD compensation Hi-Pass Filter