6.976 High Speed Communication Circuits and Systems Lecture 17 Advanced Frequency Synthesizers Michael Perrott Massachusetts Institute of Technology Copyright © 2003 by Michael H. Perrott Bandwidth Constraints for Integer-N Synthesizers 1/T ref(t) PFD (1/T = 20 MHz) Loop Filter Bandwidth << 1/T Loop Filter out(t) Divider N[k] PFD output has a periodicity of 1/T Loop filter must have a bandwidth << 1/T - 1/T = reference frequency - PFD output pulses must be filtered out and average value extracted Closed loop PLL bandwidth often chosen to be a factor of ten lower than 1/T M.H. Perrott MIT OCW Bandwidth Versus Frequency Resolution 1/T ref(t) (1/T = 20 MHz) PFD Loop Filter Bandwidth << 1/T Loop Filter out(t) Divider N[k] N[k] Sout(f) 91 90 1/T out(t) frequency resolution = 1/T 1.80 1.82 GHz Frequency resolution set by reference frequency (1/T) - Higher resolution achieved by lowering 1/T M.H. Perrott MIT OCW Increasing Resolution in Integer-N Synthesizers 1/T 20 MHz ref(t) 100 (1/T = 200 kHz) PFD Loop Filter Bandwidth << 1/T Loop Filter out(t) Divider N[k] N[k] Sout(f) 9001 9000 1/T out(t) frequency resolution = 1/T 1.80 1.8002 GHz Use a reference divider to achieve lower 1/T - Leads to a low PLL bandwidth ( < 20 kHz here ) M.H. Perrott MIT OCW The Issue of Noise 1/T 20 MHz ref(t) 100 (1/T = 200 kHz) PFD Loop Filter Bandwidth << 1/T Loop Filter out(t) Divider N[k] N[k] Sout(f) 9001 9000 1/T out(t) frequency resolution = 1/T 1.80 1.8002 GHz Lower 1/T leads to higher divide value - Increases PFD noise at synthesizer output M.H. Perrott MIT OCW Modeling PFD Noise Multiplication VCO-referred Noise S Φvn(f) 2 -20 dB/dec f 1/T 0 0 en(t) π α N S e n (f) Radians2/Hz PFD-referred Noise S En(f) f S Φvn(f) Φvn(t) 0 fo 1-G(f) Φnvco(t) Φnpfd(t) Φn(t) Divider Control Φc(t) of Frequency Setting (assume noiseless for now) S Φnpfd(f) Radians2/Hz fo π α N G(f) (fo)opt f Φout(t) S Φnvco(f) 0 (fo)opt f Influence of PFD noise seen in model from Lecture 16 - PFD spectral density multiplied by N 2 before influencing PLL output phase noise High divide values M.H. Perrott high phase noise at low frequencies MIT OCW Dual-Loop Frequency Synthesizer ref1 PFD cos(w1t) Loop Filter sin(w1t) VCO out Divider N ref2 PFD cos(w2t) Loop Filter sin(w2t) VCO Divider Single-sideband Mixer M Overall synthesizer output From trigonometry: cos(A-B) = cosAcosB+sinAsinB M.H. Perrott MIT OCW Advantage #1: Avoids Large Divide Values ref1 PFD cos(w1t) Loop Filter sin(w1t) VCO out Divider N ref2 PFD cos(w2t) Loop Filter sin(w2t) VCO Divider Single-sideband Mixer M Choose top synthesizer to provide coarse tuning and bottom synthesizer to provide fine tuning - Choose w to be high in frequency Set ref to be high to avoid large N - Choose w to be low in frequency 1 1 low resolution 2 M.H. Perrott Allows ref2 to be low without large M high resolution MIT OCW Advantage #2: Provides Suppression of VCO Noise ref1 PFD cos(w1t) Loop Filter sin(w1t) VCO out Divider N ref2 PFD cos(w2t) Loop Filter sin(w2t) VCO Divider Single-sideband Mixer M Top VCO has much more phase noise than bottom VCO due to its much higher operating frequency - Suppress top VCO noise by choosing a high PLL bandwidth for top synthesizer High PLL bandwidth possible since ref1 is high M.H. Perrott MIT OCW Alternate Dual-Loop Architecture ref1 PFD out cos(w1t) Loop Filter sin(w1t) VCO Divider y N ref2 PFD cos(w2t) Loop Filter sin(w2t) VCO Divider Single-sideband Mixer M Calculation of output frequency M.H. Perrott MIT OCW Advantage of Alternate Dual-Loop Architecture ref1 PFD out cos(w1t) Loop Filter sin(w1t) VCO Divider y N ref2 PFD cos(w2t) Loop Filter sin(w2t) VCO Divider Single-sideband Mixer M Issue: a practical single-sideband mixer implementation will produce a spur at frequency w1 + w2 PLL bandwidth of top synthesizer can be chosen low enough to suppress the single-sideband spur - Negative: lower suppression of top VCO noise M.H. Perrott MIT OCW Direct Digital Synthesis (DDS) clk Counter ROM DAC LPF out Encode sine-wave values in a ROM Create sine-wave output by indexing through ROM and feeding its output to a DAC and lowpass filter - Speed at which you index through ROM sets frequency of output sine-wave Speed of indexing is set by increment value on counter (which is easily adjustable in a digital manner) M.H. Perrott MIT OCW Pros and Cons of Direct Digital Synthesis clk Counter ROM DAC LPF out Advantages - Very fast adjustment of frequency - Very high resolution can be achieved - Highly digital approach Disadvantages - Difficult to achieve high frequencies - Difficult to achieve low noise - Power hungry and complex M.H. Perrott MIT OCW Hybrid Approach clk Counter ROM DAC LPF ref PFD out Loop Filter VCO Divider N Use DDS to create a finely adjustable reference frequency Use integer-N synthesizer to multiply the DDS output frequency to much higher values Issues - Noise of DDS is multiplied by N - Complex and power hungry 2 M.H. Perrott MIT OCW Fractional-N Frequency Synthesizers ref(t) (1/T = 20 MHz) PFD out(t) Loop Filter 91 Nsd[k] Divider 90 Dithering Modulator N[k] Sout(f) Nsd[k] 91 1/T 90 out(t) frequency resolution << 1/T 1.80 1.82 Break constraint that divide value be integer Want high 1/T to allow a high PLL bandwidth GHz - Dither divide value dynamically to achieve fractional values - Frequency resolution is now arbitrary regardless of 1/T M.H. Perrott MIT OCW Classical Fractional-N Synthesizer Architecture ref(t) PFD div(t) frac[k] Accumulator e(t) Loop Filter out(t) N/N+1 1-bit carry_out[k] Nsd[k] = N + frac[k] Use an accumulator to perform dithering operation - Fractional input value fed into accumulator - Carry out bit of accumulator fed into divider M.H. Perrott MIT OCW Accumulator Operation clk(t) frac[k] M-bit Accumulator M-bit 1-bit residue[k] carry_out[k] residue[k] frac[k] =.25 carry_out[k] Carry out bit is asserted when accumulator residue reaches or surpasses its full scale value - Accumulator residue increments by input fractional value each clock cycle M.H. Perrott MIT OCW Fractional-N Synthesizer Signals with N = 4.25 carry_out(t) out(t) div(t) ref(t) e(t) phase error(t) Divide value set at N = 4 most of the time - Resulting frequency offset causes phase error to accumulate - Reset phase error by “swallowing” a VCO cycle Achieved by dividing by 5 every 4 reference cycles M.H. Perrott MIT OCW The Issue of Spurious Tones ref(t) PFD div(t) frac[k] Accumulator e(t) Loop Filter out(t) N/N+1 1-bit carry_out[k] Nsd[k] = N + frac[k] PFD error is periodic - Note that actual PFD waveform is series of pulses – the sawtooth waveform represents pulse width values over time Periodic error signal creates spurious tones in synthesizer output Ruins noise performance of synthesizer M.H. Perrott MIT OCW The Phase Interpolation Technique e(t) ref(t) Loop Filter PFD div(t) out(t) N/N+1 α D/A frac[k] M-bit Accumulator residue[k] M-bit 1-bit carry_out[k] Phase error due to fractional technique is predicted by the instantaneous residue of the accumulator - Cancel out phase error based on accumulator residue M.H. Perrott MIT OCW The Problem With Phase Interpolation e(t) ref(t) Loop Filter PFD div(t) out(t) N/N+1 α D/A frac[k] M-bit Accumulator residue[k] M-bit 1-bit carry_out[k] Gain matching between PFD error and scaled D/A output must be extremely precise - Any mismatch will lead to spurious tones at PLL output M.H. Perrott MIT OCW Is There a Better Way? A Better Dithering Method: Sigma-Delta Modulation Time Domain M-bit Input Digital Σ−∆ Modulator Analog Output 1-bit D/A Frequency Domain Digital Input Spectrum Quantization Noise Analog Output Spectrum Input Σ−∆ Sigma-Delta dithers in a manner such that resulting quantization noise is “shaped” to high frequencies M.H. Perrott MIT OCW Linearized Model of Sigma-Delta Modulator S r(ej2πfT)= 1 r[k] NTF Hn(z) 1 x[k] Σ−∆ y[k] x[k] 12 z=ej2πfT q[k] STF y[k] Hs(z) z=ej2πfT S q(ej2πfT)= 1 |H n(ej2πfT)| 2 12 Composed of two transfer functions relating input and noise to output - Signal transfer function (STF) Filters input (generally undesirable) - Noise transfer function (NTF) Filters (i.e., shapes) noise that is assumed to be white M.H. Perrott MIT OCW Example: Cutler Sigma-Delta Topology x[k] u[k] H(z) - 1 y[k] e[k] Output is quantized in a multi-level fashion Error signal, e[k], represents the quantization error Filtered version of quantization error is fed back to input - H(z) is typically a highpass filter whose first tap value is 1 i.e., H(z) = 1 + a z + a z L - H(z) – 1 therefore has a first tap value of 0 1 -1 2 -2 Feedback needs to have delay to be realizable M.H. Perrott MIT OCW Linearized Model of Cutler Topology r[k] x[k] u[k] H(z) - 1 y[k] e[k] x[k] u[k] H(z) - 1 y[k] e[k] Represent quantizer block as a summing junction in which r[k] represents quantization error - Note: It is assumed that r[k] has statistics similar to white noise - This is a key assumption for modeling – often not true! M.H. Perrott MIT OCW Calculation of Signal and Noise Transfer Functions r[k] x[k] u[k] H(z) - 1 y[k] e[k] x[k] u[k] H(z) - 1 y[k] e[k] Calculate using Z-transform of signals in linearized model - NTF: - STF: M.H. Perrott Hn(z) = H(z) Hs(z) = 1 MIT OCW A Common Choice for H(z) 8 m=3 7 6 Magnitude 5 m=2 4 3 m=1 2 1 0 0 M.H. Perrott Frequency (Hz) 1/(2T) MIT OCW Example: First Order Sigma-Delta Modulator x[k] Choose NTF to be u[k] H(z) - 1 y[k] e[k] Plot of output in time and frequency domains with input of Amplitude Magnitude (dB) 1 0 M.H. Perrott 0 Sample Number 200 0 Frequency (Hz) 1/(2T) MIT OCW Example: Second Order Sigma-Delta Modulator x[k] Choose NTF to be u[k] H(z) - 1 y[k] e[k] Plot of output in time and frequency domains with input of 1 0 -1 M.H. Perrott Magnitude (dB) Amplitude 2 0 Sample Number 200 0 Frequency (Hz) 1/(2T) MIT OCW Example: Third Order Sigma-Delta Modulator x[k] Choose NTF to be u[k] H(z) - 1 y[k] e[k] Plot of output in time and frequency domains with input of 4 Magnitude (dB) Amplitude 3 2 1 0 -1 -2 -3 M.H. Perrott 0 Sample Number 200 0 Frequency (Hz) 1/(2T) MIT OCW Observations Low order Sigma-Delta modulators do not appear to produce “shaped” noise very well - Reason: low order feedback does not properly “scramble” relationship between input and quantization noise Quantization noise, r[k], fails to be white Higher order Sigma-Delta modulators provide much better noise shaping with fewer spurs - Reason: higher order feedback filter provides a much more complex interaction between input and quantization noise M.H. Perrott MIT OCW Warning: Higher Order Modulators May Still Have Tones Quantization noise, r[k], is best whitened when a “sufficiently exciting” input is applied to the modulator - Varying input and high order helps to “scramble” interaction between input and quantization noise Worst input for tone generation are DC signals that are rational with a low valued denominator - Examples (third order modulator): Magnitude (dB) x[k] = 0.1 + 1/1024 Magnitude (dB) x[k] = 0.1 0 M.H. Perrott Frequency (Hz) 1/(2T) 0 Frequency (Hz) 1/(2T) MIT OCW Cascaded Sigma-Delta Modulator Topologies x[k] Σ∆M1[k] q1[k] M y1[k] Σ∆M2[k] q2[k] 1 Σ∆M3[k] y2[k] 1 y3[k] Digital Cancellation Logic y[k] Multibit output Achieve higher order shaping by cascading low order sections and properly combining their outputs Advantage over single loop approach - Allows pipelining to be applied to implementation High speed or low power applications benefit Disadvantages - Relies on precise matching requirements when combining outputs (not a problem for digital implementations) - Requires multi-bit quantizer (single loop does not) M.H. Perrott MIT OCW MASH topology x[k] Σ∆M1[k] r1[k] M y1[k] Σ∆M2[k] r2[k] 1 Σ∆M3[k] y2[k] y3[k] (1-z-1)2 1-z-1 u[k] 1 y[k] Cascade first order sections Combine their outputs after they have passed through digital differentiators M.H. Perrott MIT OCW Calculation of STF and NTF for MASH topology (Step 1) x[k] Σ∆M1[k] r1[k] M Σ∆M2[k] y1[k] r2[k] 1 Σ∆M3[k] y2[k] 1 y3[k] (1-z-1)2 1-z-1 u[k] y[k] Individual output signals of each first order modulator Addition of filtered outputs M.H. Perrott MIT OCW Calculation of STF and NTF for MASH topology (Step 1) x[k] Σ∆M1[k] r1[k] Σ∆M2[k] M r2[k] 1 Σ∆M3[k] y2[k] y1[k] y3[k] (1-z-1)2 1-z-1 u[k] 1 y[k] Overall modulator behavior - STF: H (z) = 1 - NTF: H (z) = (1 – z ) s n M.H. Perrott -1 3 MIT OCW Sigma-Delta Frequency Synthesizers Fout = M.F Fref Fref ref(t) e(t) Charge PFD Pump Loop Filter v(t) out(t) VCO div(t) Nsd[m] Divider N[m] Σ−∆ Modulator M+1 M Σ−∆ Quantization Noise Riley et. al., JSSC, May 1993 f Use Sigma-Delta modulator rather than accumulator to perform dithering operation - Achieves much better spurious performance than classical fractional-N approach M.H. Perrott MIT OCW Background: The Need for A Better PLL Model PFD-referred Noise S En(f) 0 Φref [k] α f 1/T 0 en(t) e(t) π Φdiv[k] VCO-referred Noise S Φvn(f) -20 dB/dec PFD Icp H(f) Loop Charge Pump Divider Filter v(t) KV f Φvn(t) Φout(t) jf VCO 1 N N[k] Classical PLL model - Predicts impact of PFD and VCO referred noise sources - Does not allow straightforward modeling of impact due to divide value variations This is a problem when using fractional-N approach M.H. Perrott MIT OCW A PLL Model Accommodating Divide Value Variations VCO-referred Noise S Φvn(f) -20 dB/dec PFD-referred Noise S En(f) PFD Φref [k] Tristate: α=1 XOR: α =2 α 0 en(t) 1/T e(t) T 2π f 0 C.P. Icp Loop Filter H(f) v(t) VCO KV f Φvn(t) Φout(t) jf Divider Φdiv[k] 1 1 T Nnom Φd [k] n[k] -1 z 2π 1 - z-1 j2πfT z=e See derivation in Perrott et. al., “A Modeling Approach for Sigma-Delta Fractional-N Frequency Synthesizers …”, JSSC, Aug 2002 M.H. Perrott MIT OCW Parameterized Version of New Model Φjit[k] Noise VCO-referred PFD-referred Noise Noise S En(f) S Φvn(f) -20 dB/dec αT π 0 espur(t) Ιcpn(t) 1 1/T 0 en(t) π α NnomG(f) fo Ι f n[k] Divide value variation 2π Φ (t) d z-1 1 - z-1 z=ej2πfT fo 1-G(f) Φn(t) Φc(t) Φout(t) fo Alternate Representation G(f) Fc(t) n[k] fo D/A and Filter Freq. M.H. Perrott Φvn(t) Φnvco(t) Φnpfd(t) T G(f) f 1 jf Φc(t) Phase MIT OCW Spectral Density Calculations case (a): CT CT case (b): DT DT case (c): DT Case (a): Case (b): Case (c): M.H. Perrott CT x(t) x[k] x[k] y(t) H(f) j2πfT H(e H(f) ) y[k] y(t) MIT OCW Example: Calculate Impact of Ref/Divider Jitter (Step 1) S Φjit(e j2πfT) Div(t) T t (∆tjit)rms= β sec. ∆tjit[k] π π 2 2 β T 0 f Φjit[k] T Assume jitter is white - i.e., each jitter value independent of values at other time instants Calculate spectra for discrete-time input and output - Apply case (b) calculation M.H. Perrott MIT OCW Example: Calculate Impact of Ref/Divider Jitter (Step 2) S Φjit(e j2πfT) Div(t) T t (∆tjit)rms= β sec. ∆tjit[k] π SΦn(f) 2 π 2 1 β2 T Nnom T T π 2 2 β T 0 Φjit[k] f 0 fo Φjit[k] T NnomG(f) T f Φn (t) fo Compute impact on output phase noise of synthesizer - We now apply case (c) calculation - Note that G(f) = 1 at DC M.H. Perrott MIT OCW Now Consider Impact of Divide Value Variations Φjit[k] Noise VCO-referred PFD-referred Noise Noise S En(f) S Φvn(f) -20 dB/dec αT π 0 espur(t) Ιcpn(t) 1 1/T 0 en(t) π α NnomG(f) fo Ι f n[k] Divide value variation 2π Φ (t) d z-1 1 - z-1 z=ej2πfT fo 1-G(f) Φn(t) Φc(t) Φout(t) fo Alternate Representation G(f) Fc(t) n[k] fo D/A and Filter Freq. M.H. Perrott Φvn(t) Φnvco(t) Φnpfd(t) T G(f) f 1 jf Φc(t) Phase MIT OCW Divider Impact For Classical Vs Fractional-N Approaches Classical Synthesizer 1 1/T G(f) n(t) 1 T Fout(t) n[k] fo D/A and Filter Fractional-N Synthesizer 1 1/T nsd(t) 1 T nsd[k] G(f) Dithering Modulator n[k] Fout(t) fo D/A and Filter Note: 1/T block represents sampler (to go from CT to DT) M.H. Perrott MIT OCW Focus on Sigma-Delta Frequency Synthesizer n[k] Fout(t) nsd[k] 1 1/T G(f) nsd(t) 1 T nsd[k] Σ−∆ freq=1/T Fout(t) n[k] fo D/A and Filter Divide value can take on fractional values PLL dynamics act like lowpass filter to remove much of the quantization noise - Virtually arbitrary resolution is possible M.H. Perrott MIT OCW Quantifying the Quantization Noise Impact VCO-referred Noise S Φvn(f) PFD-referred Noise S En(f) S r(e )= 1 12 j2πfT r[k] Σ−∆ Quantization Noise S q(ej2πfT) fo nsd[k] q[k] Hs(z) 0 n[k] z=ej2πfT f 0 En(t) NTF Hn(z) STF 1/T 0 -20 dB/dec π α NnomG(f) f Φvn(t) 1-G(f) fo f Φ [k] -1 n 2π z -1 1-z z=ej2πfT T G(f) Φdiv(t) Φtn,pll(t) Φout(t) fo Σ−∆ Calculate by simply attaching Sigma-Delta model - We see that quantization noise is integrated and then lowpass filtered before impacting PLL output M.H. Perrott MIT OCW A Well Designed Sigma-Delta Synthesizer fo = 84 kHz -60 PFD-referred noise Spectral Density (dBc/Hz) -70 -80 SΦ out,En -90 (f) -100 -110 Σ−∆ noise -120 -130 SΦ VCO-referred noise SΦ (f) out,vn (f) out,∆Σ -140 -150 -160 10 kHz 100 kHz f0 1 MHz Frequency 10 MHz 1/T Order of G(f) is set to equal to the Sigma-Delta order Bandwidth of G(f) is set low enough such that synthesizer noise is dominated by intrinsic PFD and VCO noise - Sigma-Delta noise falls at -20 dB/dec above G(f) bandwidth M.H. Perrott MIT OCW Impact of Increased PLL Bandwidth fo = 84 kHz fo = 160 kHz -60 PFD-referred noise Spectral Density (dBc/Hz) -70 -80 SΦ out,En -90 (f) -100 -110 Σ−∆ noise -120 -130 SΦ VCO-referred noise SΦ (f) out,vn (f) out,∆Σ -140 -70 -80 -90 PFD-referred noise SΦ out,En (f) Σ−∆ noise -100 SΦ -110 -120 -130 (f) out,∆Σ VCO-referred noise SΦ out,vn (f) -140 -150 -150 -160 10 kHz 100 kHz f0 Spectral Density (dBc/Hz) -60 1 MHz Frequency -160 10 kHz 10 MHz 1/T 100 kHz f0 1 MHz Frequency 10 MHz 1/T Allows more PFD noise to pass through Allows more Sigma-Delta noise to pass through Increases suppression of VCO noise M.H. Perrott MIT OCW Impact of Increased Sigma-Delta Order m=2 m=3 -60 -60 PFD-referred noise -80 SΦ out,En -90 -70 (f) -100 -110 Σ−∆ noise -120 -130 SΦ out,∆Σ VCO-referred noise SΦ (f) out,vn (f) -140 -150 -80 PFD-referred noise SΦ out,En -90 (f) -100 VCO-referred noise -110 -120 -130 Σ−∆ noise SΦ -140 out,∆Σ SΦ out,vn (f) (f) -150 -160 10 kHz 100 kHz f0 Spectral Density (dBc/Hz) Spectral Density (dBc/Hz) -70 1 MHz Frequency -160 10 kHz 10 MHz 1/T 100 kHz f0 1 MHz Frequency 10 MHz 1/T PFD and VCO noise unaffected Sigma-Delta noise no longer attenuated by G(f) such that a -20 dB/dec slope is achieved above its bandwidth M.H. Perrott MIT OCW