Chapter 3- ADC and DAC - The Scientist and Engineer's Guide to

32 Pages·2015·0.54 MB·English

by  Steven W. Smith

CHAPTER
ADC and DAC
3
tsoM fo d ee rhsyetlltatn ncun geoieircc sinngdeeni icdrsne aeenriagne continuous : light intensity
that changes with distance; voltage that varies over time; a chemical reaction rate that depends
on temperature, etc. Analog-to-Digital Conversion (ADC) and Digital-to-Analog Conversion
(DAC) are the processes that allow digital computers to interact with these everyday signals.
Digital information is different from its continuous counterpart in two important respects: it is
sampled , and it is quantized . Both of these restrict how much information a digital signal can
contain. This chapter is about information management : understanding what information you
need to retain, and what information you can afford to lose. In turn, this dictates the selection
of the sampling frequency, number of bits, and type of analog filtering needed for converting
between the analog and digital realms.
Quantization
First, a bit of trivia. As you know, it is a digital computer, not a digit
computer. The information processed is called digital data, not digit data.
Why then, is analog-to-digital conversion generally called: digit ize and
digit ization, rather than digital ize and digital ization ? The answer is nothing
uoy dluow .tcepxe nehW scinortcele tog dnuora ot gnitnevni latigid,seuqinhcet
the preferred names had already been snatched up by the medical community
nearly a century before. Digitalize and digitalization mean to administer the
heart stimulant digitalis .
Figure 3-1 shows the electronic waveforms of a typical analog-to-digital
conversion. Figure (a) is the analog signal to be digitized. As shown by the
labels on the graph, this signal is a voltage that varies over time . To make
the numbers easier, we will assume that the voltage can vary from 0 to 4.095
volts, corresponding to the digital numbers between 0 and 4095 that will be
produced by a 12 bit digitizer. Notice that the block diagram is broken into
two sections, the sample-and-hold (S/H), and the analog-to-digital converter
(ADC). As you probably learned in electronics classes, the sample-and-hold
is required to keep the voltage entering the ADC constant while the
35
36 The Scientist and Engineer's Guide to Digital Signal Processing
conversion is taking place. However, this is not the reason it is shown here;
breaking the digitization into these two stages is an important theoretical model
for understanding digitization. The fact that it happens to look like common
electronics is just a fortunate bonus.
As shown by the difference between (a) and (b), the output of the sample-and-
hold is allowed to change only at periodic intervals, at which time it is made
identical to the instantaneous value of the input signal. Changes in the input
signal that occur between these sampling times are completely ignored. That
is, sampling converts the independent variable (time in this example) from
continuous to discrete.
As shown by the difference between (b) and (c), the ADC produces an integer
value between 0 and 4095 for each of the flat regions in (b). This introduces
an error, since each plateau can be any voltage between 0 and 4.095 volts. For
example, both 2.56000 volts and 2.56001 volts will be converted into digital
number 2560. In other words, quantization converts the dependent variable
(voltage in this example) from continuous to discrete.
Notice that we carefully avoid comparing (a) and (c), as this would lump the
sampling and quantization together. It is important that we analyze them
separately because they degrade the signal in different ways, as well as being
controlled by different parameters in the electronics. There are also cases
where one is used without the other. For instance, sampling without
quantization is used in switched capacitor filters.
First we will look at the effects of quantization. Any one sample in the
digitized signal can have a maximum error of ±½ LSB ( Least Significant
Bit , jargon for the distance between adjacent quantization levels). Figure (d)
shows the quantization error for this particular example, found by subtracting
(b) from (c), with the appropriate conversions. In other words, the digital
output (c), is equivalent to the continuous input (b), plus a quantization error
(d). An important feature of this analysis is that the quantization error appears
very much like random noise .
This sets the stage for an important model of quantization error. In most cases,
quantization results in nothing more than the addition of a specific amount
of random noise to the signal . The additive noise is uniformly distributed
between ±½ LSB, has a mean of zero, and a standard deviation of 1 / 12 LSB
( -0.29 LSB). For example, passing an analog signal through an 8 bit digitizer
adds an rms noise of: 0 .29 / 256 , or about 1/900 of the full scale value. A 12
bit conversion adds a noise of: 0 .29 / 4096 .1 / 14 ,000 , while a 16 bit
conversion adds: 0 .29 / 65536 .1 / 227 ,000 . Since quantization error is a
random noise, the number of bits determines the precision of the data. For
example, you might make the statement: "We increased the precision of the
measurement from 8 to 12 bits."
This model is extremely powerful, because the random noise generated by
quantization will simply add to whatever noise is already present in the
Chapter 3- ADC and DAC 37
3.025 FIGURE3 -1
a.O riginala nalogs ignal Waveforms illustrating the digitization process. The
conversion is broken into two stages to allow the
3.020
effoefc ts sampling sebpeta or af tetrefhodfem e ocfts
quantization . The first stage is the sample-and-hold
3.015
(S/H), where the only information retained is the
instantaneous value of the signal when the periodic
3.010 sampling takes place. In the second stage, the ADC
converts the voltage to the nearest integer number.
3.005 This results in each sample in the digitized signal
Amplitude (in volts)
havinagen r rooruf tp ±o L½ S Ba,ss h owin(n d )A.s
a result, quantization can usually be modeled as
3.000
0 5 10 15 20 25 30 35 40 45 50 simplya ddingn oiset ot hes ignal.
Time
analog digital
input output
S/H CDA
3.025 3025
bS.a mpleadn alosgi gnal c. Digitized signal
3.020 3020
3.015 3015
3.010 3010
3.005 Digital number3005
Amplitude (in volts)
3.000 3000
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time Sample number
1.0
d. Quantization error pdf
0.5
0.0
Error (in LSBs)-0.5
-1.0
0 5 10 15 20 25 30 35 40 45 50
Sample number
38 The Scientist and Engineer's Guide to Digital Signal Processing
analog signal. For example, imagine an analog signal with a maximum
amplitude of 1.0 volt, and a random noise of 1.0 millivolt rms. Digitizing this
signal to 8 bits results in 1.0 volt becoming digital number 255, and 1.0
millivolt becoming 0.255 LSB. As discussed in the last chapter, random noise
signals are combined by adding their variances . That is, the signals are added
in quadrature: A 2 %B 2 ’C . The total noise on the digitized signal is
therefore given by: 0 .255 2 %0 .29 2 ’0 .386 LSB. This is an increase of about
50% over the noise already in the analog signal. Digitizing this same signal
to 12 bits would produce virtually no increase in the noise, and nothing dluow
be lost due to quantization. When faced with the decision of how many bits
are needed in a system, ask two questions: (1) How much noise is already
present in the analog signal? (2) How much noise can be tolerated in the
digital signal?
When isn't this model of quantization valid? Only when the quantization
error cannot be treated as random. The only common occurrence of this
is when the analog signal remains at about the same value for many
consecutive samples, as is illustrated in Fig. 3-2a. The output remains
stuck on the same digital number for many samples in a row, even though
the analog signal may be changing up to ±½ LSB. Instead of being an
additive random noise, the quantization error now looks like a thresholding
effect or weird distortion.
Dithering is a common technique for improving the digitization of these
slowly varying signals. As shown in Fig. 3-2b, a small amount of random
noise is added to the analog signal. In this example, the added noise is
normally distributed with a standard deviation of 2/3 LSB, resulting in a peak-
to-peak amplitude of about 3 LSB. Figure (c) shows how the addition of this
gnirehtid esion sah detceffa eht dezitigid .langis nevE nehw eht lanigirogolana
signal is changing by less than ±½ LSB, the added noise causes the digital
output to randomly toggle between adjacent levels.
To understand how this improves the situation, imagine that the input signal
is a constant analog voltage of 3.0001 volts, making it one-tenth of the way
between the digital levels 3000 and 3001. Without dithering, taking
10,000 samples of this signal would produce 10,000 identical numbers, all
having the value of 3000. Next, repeat the thought experiment with a small
amount of dithering noise added. The 10,000 values will now oscillate
between two (or more) levels, with about 90% having a value of 3000, and
10% having a value of 3001. Taking the average of all 10,000 values
results in something close to 3000.1. Even though a single measurement
has the inherent ±½ LSB limitation, the statistics of a large number of the
samples can do much better. This is quite a strange situation: adding
noise provides more information .
Circuits for dithering can be quite sophisticated, such as using a computer
to generate random numbers, and then passing them through a DAC to
produce the added noise. After digitization, the computer can subtract
Chapter 3- ADC and DAC 39
3005 3005
a. Digitization of a small amplitude signal b. Dithering noise added
3004 3004
original analog signal
3003 analsoigg nal 3003
3002 3002
Millivolts
3001 3001
Millivolts (or digital number) digitsailg nal with added noise
3000 3000
0 5 10 15 20 25 30 35 40 45 50 0 5 10 15 20 25 30 35 40 45 50
Time (or sample number) Time
FIGURE3 -2 3005
Illustration of dithering. Figure (a) shows how c. Digitization of dithered signal
caLnaSnBs±va itta½allghhn roenaa igsante sl s 3004
become stuck on the same quantization level original analog signal
during digitization. Dithering improves this
situation by adding a small amount of random 3003
noiset ot hea nalogs ignal,s ucha ss howni n( b).
In this example, the added noise is normally
3002
distributswetiadat nhd adredv iat2iLo/oSf3nB .
As shown in (c), the added noise causes the
digitized signal to toggle between adjacent 3001
quantizationl evels,p rovidingm orei nformation
Millivolts (or digital number) digitsailg nal
aboutt heo riginals ignal.
3000
0 5 10 15 20 25 30 35 40 45 50
Time (or sample number)
the random numbers from the digital signal using floating point arithmetic.
This elegant technique is called subtractive dither , but is only used in the
most elaborate systems. The simplest method, although not always possible,
is to use the noise already present in the analog signal for dithering.
The Sampling Theorem
The definition of proper sampling is quite simple. Suppose you sample a
continuous signal in some manner. If you can exactly reconstruct the analog
signal from the samples, you must have done the sampling properly . Even if
eht delpmas atad srae pgpnaisufnoc ro ,etelpmocn ieht ye knoitamrofn isahneeb
captured if you can reverse the process.
Figure 3-3 shows several sinusoids before and after digitization. The
continuous line represents the analog signal entering the ADC, while the square
markers are the digital signal leaving the ADC. In (a), the analog signal is a
constant DC value, a cosine wave of zero frequency. Since the analog signal
is a series of straight lines between each of the samples, all of the information
needed to reconstruct the analog signal is contained in the digital data.
According to our definition, this is proper sampling.
40 The Scientist and Engineer's Guide to Digital Signal Processing
The sine wave shown in (b) has a frequency of 0.09 of the sampling rate. This
might represent, for example, a 90 cycle/second sine wave being sampled at
1000 samples/second. Expressed in another way, there are 11.1 samples taken
over each complete cycle of the sinusoid. This situation is more complicated
than the previous case, because the analog signal cannot be reconstructed by
simply drawing straight lines between the data points. Do these samples
properly represent the analog signal? The answer is yes, because no other
sinusoid, or combination of sinusoids, will produce this pattern of samples
(within the reasonable constraints listed below). These samples correspond to
only one analog signal, and therefore the analog signal can be exactly
reconstructed. Again, an instance of proper sampling .
In (c), the situation is made more difficult by increasing the sine wave's
frequency to 0.31 of the sampling rate. This results in only 3.2 samples per
sine wave cycle. Here the samples are so sparse that they don't even appear
to follow the general trend of the analog signal. Do these samples properly
represent the analog waveform? Again, the answer is yes, and for exactly the
same reason. The samples are a unique representation of the analog signal.
All of the information needed to reconstruct the continuous waveform is
contained in the digital data. How you go about doing this will be discussed
later in this chapter. Obviously, it must be more sophisticated than just
drawing straight lines between the data points. As strange as it seems, this is
proper sampling according to our definition.
In (d), the analog frequency is pushed even higher to 0.95 of the sampling rate,
with a mere 1.05 samples per sine wave cycle. Do these samples properly
represent the data? No, they don't! ehT s etlnpemsaesrper a different sine wave
from the one contained in the analog signal. In particular, the original sine
wave of 0.95 frequency misrepresents itself as a sine wave of 0.05 frequency
in the digital signal. This phenomenon of sinusoids changing frequency during
sampling is called aliasing . tsuJ sa a lanimi rtchgim ekat no na demussaeman
or identity (an alias ), the sinusoid assumes another frequency that is not its
own. Since the digital data is no longer uniquely related to a particular analog
signal, an unambiguous reconstruction is impossible. There is nothing in the
sampled data to suggest that the original analog signal had a frequency of 0.95
rather than 0.05. The sine wave has hidden its true identity completely; the
perfect crime has been committed! According to our definition, this is an
example of improper sampling .
This line of reasoning leads to a milestone in DSP, the sampling theorem .
Frequently this is called the Shannon sampling theorem, or the Nyquist
sampling theorem, after the authors of 1940s papers on the topic. The sampling
theorem indicates that a continuous signal can be properly sampled, only if it
does not contain frequency components above one-half of the sampling rate .
For instance, a sampling rate of 2,000 samples/second requires the analog
signal to be composed of frequencies below 1000 cycles/second. If frequencies
above this limit are present in the signal, they will be aliased to frequencies
between 0 and 1000 cycles/second, combining with whatever information that
was legitimately there.
Chapter 3- ADC and DAC 41
3 3
a. Analog frequency = 0.0 (i.e., DC) bA. n alogf requency=0 .09o fs amplingr ate
2 2
1 1
0 0
Amplitude -1 Amplitude-1
-2 -2
-3 -3
Time (or sample number) Time (or sample number)
3 3
cA. n alogf requency=0 .31o fs amplingr ate dA. n alogf requency=0 .95o fs amplingr ate
2 2
1 1
0 0
Amplitude -1 Amplitude-1
-2 -2
-3 -3
Time (or sample number) Time (or sample number)
FIGURE3 -3
Illustration of proper and improper sampling. A continuous signal is sampled properly if the samples contain all the
information needed to recreate the original waveform. Figures (a), (b), and (c) illustrate proper sampling of three
sinusoidalw aves.T hisi sc ertainlyn oto bvious,s incet hes amplesi n( c)d on ote vena ppeart oc apturet hes hapeo ft he
waveform.N evertheless,e acho ft hesec ontinuouss ignalsf ormsa u niqueo ne-to-onep airw ithi tsp atterno fs amples.
This guarantees that reconstruction can take place. In (d), the frequency of the analog sine wave is greater than the
Nyquifsrte quen(coyn e-hatolshffae m plirnagTt heri )es.s ulitns aliasing w,h ertehf er equencotyfhs ea mpledda tias
differenftr otmhf er equencotyfhc eo ntinuoussi gnSail n.ca el iasinhgac so rruptetdhi en formationt,ho er iginasli gnal
cannotb er econstructedf romt hes amples.
Two terms are widely used when discussing the sampling theorem: the
Nyquist frequency and the Nyquist rate . Unfortunately, their meaning is
not standardized. To understand this, consider an analog signal composed of
frequencies between DC and 3 kHz. To properly digitize this signal it must
be sampled at 6,000 samples/sec (6 kHz) or higher. Suppose we choose to
sample at 8,000 samples/sec (8 kHz), allowing frequencies between DC and 4
kHz to be properly represented. In this situation there are four important
frequencies: (1) the highest frequency in the signal, 3 kHz; (2) twice this
frequency, 6 kHz; (3) the sampling rate, 8 kHz; and (4) one-half the sampling
rate, 4 kHz. Which of these four is the Nyquist frequency and which is the
Nyquist rate ? It depends who you ask! All of the possible combinations are
42 The Scientist and Engineer's Guide to Digital Signal Processing
used. Fortunately, most authors are careful to define how they are using the
terms. In this book, they are both used to mean one-half the sampling rate .
Figure 3-4 shows how frequencies are changed during aliasing. The key
point to remember is that a digital signal cannot contain frequencies above
one-half the sampling rate (i.e., the Nyquist frequency/rate). When the
frequency of the continuous wave is below the Nyquist rate, the frequency
of the sampled data is a match. However, when the continuous signal's
frequency is above the Nyquist rate, aliasing changes the frequency into
something that can be represented in the sampled data. As shown by the
zigzagging line in Fig. 3-4, every continuous frequency above the Nyquist
rate has a corresponding digital frequency between zero and one-half the
sampling rate. If there happens to be a sinusoid already at this lower
frequency, the aliased signal will add to it, resulting in a loss of
information. Aliasing is a double curse; information can be lost about the
higher and the lower frequency. Suppose you are given a digital signal
containing a frequency of 0.2 of the sampling rate. If this signal were
obtained by proper sampling, the original analog signal must have had a
frequency of 0.2. If aliasing took place during sampling, the digital
frequency of 0.2 could have come from any one of an infinite number of
frequencies in the analog signal: 0.2, 0.8, 1.2, 1.8, 2.2, (cid:254) .
Just as aliasing can change the frequency during sampling, it can also change
the phase . For example, look back at the aliased signal in Fig. 3-3d. The
aliased digital signal is inverted from the original analog signal; one is a sine
wave while the other is a negative sine wave. In other words, aliasing has
changed the frequency and introduced a 180 E phase shift. Only two phase
shifts are possible: 0 E (no phase shift) and 180 E (inversion). The zero phase
shift occurs for analog frequencies of 0 to 0.5, 1.0 to 1.5, 2.0 to 2.5, etc. An
inverted phase occurs for analog frequencies of 0.5 to 1.0, 1.5 to 2.0, 2.5 to
3.0, and so on.
Now we will dive into a more detailed analysis of sampling and how aliasing
occurs. Our overall goal is to understand what happens to the information
when a signal is converted from a continuous to a discrete form. The problem
is, these are very different things; one is a continuous waveform while the
other is an array of numbers . This "apples-to-oranges" comparison makes the
analysis very difficult. The solution is to introduce a theoretical concept called
the impulse train .
Figure 3-5a shows an example analog signal. Figure (c) shows the signal
sampled by using an impulse train . The impulse train is a continuous signal
consisting of a series of narrow spikes (impulses) that match the original signal
at the sampling instants. Each impulse is infinitesimally narrow, a concept that
lliw eb dessucsid ni retpahC .31 neewteB eseht gnilpmas semit eht eulav foeht
mrofevaw si .orez peeK ni dnim taht eht eslupmi niart si a theoretical concept,
not a waveform that can exist in an electronic circuit. Since both the original
analog signal and the impulse train are continuous waveforms, we can make an
"apples-apples" comparison between the two.
Chapter 3- ADC and DAC 43
Nyquist
DC Frequency
GOOD
ALIASED
0.5
0.4
0.3
0.2
0.1
Digital frequency
0.0
0.0 0.5 1.0 1.5 2.0 2.5
Continuous frequency (as a fraction of the sampling rate)
270
180
90
0
-90
Digital phase (degrees) 0.0 0.5 1.0 1.5 2.0 2.5
)eta rgnilpma seh tf onoitcar f asa (ycneuqer fsuounitnoC
FIGURE3 -4
Conversion of analog frequency into digital frequency during sampling. Continuous signals with
a frequency less than one-half of the sampling rate are directly converted into the corresponding
frequencythe in resultingp lace, takes aliasing rate, sampling the of one-half Abovef requencdyi.g ital
being misrepresented in the digital data. Aliasing always changes a higher frequency into a lower
frequencyb etween0a nd0 .5I. na ddition,a liasingm aya lsoc hanget hep haseo ft hes ignalb y1 80
degrees.
Now we need to examine the relationship between the impulse train and the
discrete signal (an array of numbers). This one is easy; in terms of information
content , they are identical . If one is known, it is trivial to calculate the other.
Think of these as different ends of a bridge crossing between the analog and
digital worlds. This means we have achieved our overall goal once we
understand the consequences of changing the waveform in Fig. 3-5a into the
waveform in Fig. 3.5c.
Three continuous waveforms are shown in the left-hand column in Fig. 3-5. The
corresponding frequency spectra of these signals are displayed in the right-
hand column. This should be a familiar concept from your knowledge of
electronics; every waveform can be viewed as being composed of sinusoids of
varying amplitude and frequency. Later chapters will discuss the frequency
domain in detail. (You may want to revisit this discussion after becoming more
familiar with frequency spectra).
Figure (a) shows an analog signal we wish to sample. As indicated by its
frequency spectrum in (b), it is composed only of frequency components
between 0 and about 0.33 f , where f is the sampling frequency we intend to
s s
44 The Scientist and Engineer's Guide to Digital Signal Processing
use. For example, this might be a speech signal that has been filtered to
remove all frequencies above 3.3 kHz. Correspondingly, f would be 10 kHz
s
(10,000 samples/second), our intended sampling rate.
Sampling the signal in (a) by using an impulse train produces the signal
shown in (c), and its frequency spectrum shown in (d). This spectrum is a
duplication of the spectrum of the original signal. Each multiple of the
sampling frequency, f , 2f , 3f , 4f , etc., has received a copy and a left-for-
s s s s
right flipped copy of the original frequency spectrum. The copy is called
the upper sideband , while the flipped copy is called the lower sideband .
Sampling has generated new frequencies. Is this proper sampling? The
answer is yes, because the signal in (c) can be transformed back into the
signal in (a) by eliminating all frequencies above ½f That is, an analog
s.
low-pass filter will convert the impulse train, (b), back into the original
analog signal, (a).
If you are already familiar with the basics of DSP, here is a more technical
explanation of why this spectral duplication occurs. (Ignore this paragraph
if you are new to DSP). In the time domain, sampling is achieved by
multiplying the original signal by an impulse train of unity amplitude
spikes. The frequency spectrum of this unity amplitude impulse train is
also a unity amplitude impulse train, with the spikes occurring at multiples
of the sampling frequency, f , 2f , 3f , 4f , etc. When two time domain
s s s s
signals are multiplied, their frequency spectra are convolved. This results
in the original spectrum being duplicated to the location of each spike in
the impulse train's spectrum. Viewing the original signal as composed of
both positive and negative frequencies accounts for the upper and lower
sidebands, respectively. This is the same as amplitude modulation,
discussed in Chapter 10.
Figure (e) shows an example of improper sampling , resulting from too low
of sampling rate. The analog signal still contains frequencies up to 3.3
kHz, but the sampling rate has been lowered to 5 kHz. Notice that
f , 2 f , 3 f (cid:254) along the horizontal axis are spaced closer in (f) than in (d).
S S S
The frequency spectrum, (f), shows the problem: the duplicated portions of
the spectrum have invaded the band between zero and one-half of the
sampling frequency. Although (f) shows these overlapping frequencies as
retaining their separate identity, in actual practice they add together forming
a single confused mess. Since there is no way to separate the overlapping
frequencies, information is lost, and the original signal cannot be
reconstructed. This overlap occurs when the analog signal contains
frequencies greater than one-half the sampling rate, that is, we have proven
the sampling theorem.
Digital-to-Analog Conversion
In theory, the simplest method for digital-to-analog conversion is to pull the
samples from memory and convert them into an impulse train . This is