Dept. for Speech, Music and Hearing Quarterly Progress and Status Report On the dimensioning of bass-reflex enclosures Liljencrants, J. journal: volume: number: year: pages: STL-QPSR 7 3 1966 007-022 http://www.speech.kth.se/qpsr A. O N TH.E E ~ ~ v i E I ; T S , T C O >L 3ASS ~ - P a F L E X ENC:LOSURES J. L i l j e n c r a n t s Abstract --- A t h e c ~ e t i c 2 : a n a l y s i s shows that the b a s s - r e f l e x loudspeaker s y s t e m exhibits t h e characterin",ics of a minimum-phase highpass f i l t e r . It is t h u s possible t o apply the well-.known Butterworth and Chebyshev approximations t o ideal filter:: on t l ~ elcudspzalcer s y s t c m dimensioning. A number of such dimensionings z r c examined f o r t h e i r implications on frequency and t r a n s i e n t Tesponoe, !.oudspeakcr diaphragm e x c u r s i o n and e n c l o s u r e volume. A method of finding the phyoicnl conditions is given t h a t will implement a n a r b i t r a r y s y s t e m behzvior s ~ e c i f i e di n t e r m s of the poles of the t r a n s f e r function. Introduction --.- - -- Since the b a s s - r e f l e x e n c l o s u r e w a s invented by T h u r a s (5) i n 1930 a number ~f r e c o r n m e n d a t i o ~ shave clrcu!-ated i n the l i t e r a t u r e t o g e t h e r with indications of pnssihie pe r i o r m a n c e improvements, A b a s s - r e f l e x s y s t e m h a s a considerab?e xiumber of d e g r e e s of f r e e d o m , It is thus n a t u r a l t h a t the a n a l y s i s mostly is confined t o s p e c i a l c a s e s , T h i s m a y imply that i n t e r e s t i n g phe-omcna a r e overlooked, Often it i s a l s o difficult t o s e e the influence of different paraxlzeters on t h e s y s t e m p e r formance, The p r o b l e m of s y s t e m optimization w a s t r e a t e d by Iieibs (2) who a l s o gave a commented review of the l i t e r a t u r e , T3e optimal solution d i s c u s s e d below is r c t v e r y different f r o m t52t of Keibs, but s o m e m o r e of the p r a c t i c a l l y interesting p3rarneters a r e kept i n the t r e a t m e n t , We will a l s o u s e the terrrinology of I-nnc?e;.n c i r c c i t t h e o r y a n d s e e how wellknown ideal f i l t e r approximztions m a y he applied t o t h e problem, A s sumpti~xn~g To,- the trttztmct?:: of tl1f.s probl-em we of c c u r s e r e s t r i c t o u r s e l v e s t o the l o ~ ~ ~ - f r e q u eranee, i ~ c y The loudspeaker cone is t h u s a s s u m e d t o mp-re 2-s a y-igjd p i a t ~ nan4 the vlhnle s y s t e m is r e g a r d e d as a Feint s o u r c e mech~.r.!.ca!3Smens,i.o,?r z;.e assumed t o Ee s m a f l o r t i n ? i i e r wc=.c!n, f:l,.?, compared t~ the sound .tvz7.~e length, F o r the analysis we u s e the impedance analogy of Fig. 111-A-1. All the elements a r e t r a n s f e r r e d t o acoustical quantities. The detailed derivation of the analogy is omitted since it is easily found i n the handbook literature, s e e e. g. Beranek (1) . The acoustical elements of the analogy have the following meaning: - e B1 (Rg+Re)sd R1 -- +Rr ( ~ 1 ) ~+ R is the total acoustical resistance of s the amplifier and the loudspeaker. It consists of the reduced electrical resistance, the acoustical resistance of the diaphragm suspension Rs, and t h e radiation resistance Rr f r o m both s i d e s of the diaphragm. 2 hil= m l / s d 2 C1 = clSd is the acoustical m a s s of the loudspeaker element including the air load, ml is the c o r r e sponding mechanical mass. is the acoustical compliance of the diaphragm suspension and cl is its mechanical compliance. is the acoustical resistance of the box and Rb C2 = is the p r e s s u r e f r o m the generator/amplifier having a n electromotive force e and a n internal electrical resistance R B, 1, and Re a r e the g' field strength of the speaker magnet, and the length and electrical resiotance of the voice coil. S is the effective a r e a of the diaphragm. d v/yL is its acoustical compliance. V is i t s volume and P O and c a r e the density and speed of sound of the a i r . is the acoustical m a s s of the a i r in the bassreflex port, and finally is the acoustical resistance of the port including radiation. The e l e c t r i c a l inductance of the voice coil may be neglected in the frequency range of interest. < \A \ -/ \ e \ Generator Loudspeaker element Fig. 111-A-1. > C\ Box Bass reflex port Analogy of a bass reflex system. All elements are transformed to acoustical quantities (MKSA). Derivation of the fmquency response of the system We make use of complex frequency normalized to w o which is defined a s the geometric mean t o the eigenfrequencie s of the loudspeaker and the box resonator: Vle also use the following loss factors: Loudspeaker element: a = l/Gl = w1R1C1 = R 1/ 9M 1 Box: hp= R Port: v = 1 Total resonat o r : b= ~ / M2 w ~ l/a2 = u + v The acoustical resistances a r e not well behaved. The value of the resistance i o of importance mainly at frequencies in the vicinity of the resonance of the pertinent system, ViTe assume these resonance values of the resistances in the formulas a s constants, since the e r r o r s at other frequencies a r e negligible. To understand this one may recall that a normally used loudspeaker element is m a s s controlled in the frequency range just above the low-frequency cutoff. Finally we introduce a couple of auxiliary quantities: and g tells us t o which extent the tuning of the loudspeaker is different from that of the box resonator, and h will relate the box volume t o the loudspeaker compliance. With these normalized quantities we get the following expressions for the impedances of the three branches of the analog diagram: Under the point source assumption the sound pressure p a t the distance r will be The two f i r s t factors imply that the p r e s s u r e is proportional t o the time derivative of the volume velocity (U ) out of the box while the r e s t of the b formula gives the distance dependence which is of no concern a t present. The box volume velocity is easily obtained directly from the analog diagram a s The insertion of (8) and (6) into (7) will render the deoired e x p r e ~ o i o nof sound p r e s s u r e as a function of frequency: where P(x) stands for the fourth degree polynomial 4 P(x)= x + k 3x3 + k2x2 + klx + 1 with the coefficients On t h e f i r s t p a r t of the problem t h e r e is room f o r a number of subjective and objective viewpoints, and a c l o s e r discussion m a y be justified. VJe look a t the following: 1. Frequency response. It is d e s i r a b l e with a n even shape of the response curve. It i s a l s o well-known that the frequency range of the s y s t e m m a y be extended below the loudspeaker resonance. 2. Power handling capacity. The c l a s s i c a l advantage of the b a s s reflex enclosure over other s y s t e m s is that the diaphragm excursions a r e diminished in the vicinity of the cutoff frequency. T h i s will give a lower distortion at high output power, 3. T r a n s i e n t response. The resonances of the s y s t e m should be sufficiently damped. The c o r r e spondence of f IEquency and t i m e responses conveyed by the Eaplace t r a n s f o r m should be borne i n mind. 4. Size. F r o m p r a c t i c a l r e a s o n s a s m a l l volume is advantageous, Frequency response The response (12) i s that of a minimum-phase cyotem, This m a k e s it possible t o u s e the c l a s s i c a l approximations t o ideal f i l t e r s . Nearest at hand a r e the Butterworth approximation (maximally flat) and the Chebyshev (constant ripple i n the p a s s band). O u r highpass function h a s a quadruple z e r o i n the origin and two conjugate p a i r s of poles, the roots of P(x) = 0. One such p a i r will together with a dual z e r o in the origin give r i s e t o a n elementary highp a s s resonance curve. A family of such c u r v e s is shown in Fig. 111-A-2. T o go f r o m a known lowpass pole configuration t o the c o r r e - sponding dimensioning p a r a m e t e r s we d o a s follows. F i r s t the poles a r e normalized. This means that we introduce a scale f a c t o r r e n d e r - ing the pole product a unity magnitu.de, The lowpass function will then be R is the magnitude of a pole in one of the conjugate p a i r s having the l o s s f a c t o r d l , and 1/R and d2 are corre sponding f o r the o t h e r pair. If we execute a lowpass/highpass t r a n s f o r m a t i o n by m e a n s of the frequency substitution X = 1/x we get the analogous highpass function Fig. 111-A-2. Normalized highpase resonance curves. The insert illustrates the definition of Q and loss factor. The only difference a s compared t o the lowpass function is the quadruple z e r o and that the polynomial coefficients change order. An identification with (1 1) will give = kl = gb + a/g + ghv The left m e m b e r s of the equations a r e thus given quantities and the dimensioning p a r a m e t e r s a r e found by solving the system. This is - of course r a t h e r intricate t o d o i n a general manner. that we have five independent variables (since b u VJe observe + v) and two of them can thus be chosen with a certain degree of freedom. T h e r e is a duality between some t e r m s in the left and right m e m b e r s of (1 7), the similarity in position of the f a c t o r s K dl - b, - g, and d 2 - a being apparent. This might provoke a temptation t o put some entirely unjustified equality signs h e r e and thus identify a "speaker resonance" and a "box resonance" in the compound system. In reality such a n identification would not give any non-trivial solution t o (1 7). Table 111-A-1 l i s t s the c h a r a c t e r i ~ t i c oof some different c a s e s t o compare. The f i r s t alternatives a r e the Butterworth and a Chebyshev (see a l s o Fig. 111-A-3) and the case quoted by Keibs a s optimal. T h e r e is a l s o one case where one of the pole p a i r s h a s been given a v e r y l a r g e l o s s factor making the system resistance controlled in the low frequency range. then have a + 6 d ~ / o c t a v eslope. The frequency response will F o r a wider comparison we finally examine the special c a s e s with a n infinite baffle and a closed box. In these c a s e s the loudspeaker resonance frequency is used f o r the normalizing, g = 1, and the l o s s factor is s e t t o unity giving a reasonably flat response. The acoustical compliance of the closed box is chosen equal t o that sf the loudspeaker element, h = 1. 1 2 Bass reflex Chebyshev B a s s reflex Butterworth 0.131 4 0.061 0.678 0.681 0.180 110. 893 0.317 0.604 0.680 1.300 1.469 0.383 0.925 0.925 0.383 1 0. 383 0.925 1 0.766 Bass reflex Optimal acc. t o Keibs 0.417 0.909 1 1.2 0.417 0.909 1 1.2 Bass reflex Highly d a m p e d :1 1.469 3 0. 34 3 0. 59 0.681 1 0. 383 1 .400 .50 5 Infinite baffle Loss factor = 1 0.5 0.866 1 1 1 6 Closed box Loss factor = 1 h = 1 0.707 1.225 1.414 1 1.414 A T a b l e 111-A-1. 2.783 1.29 0.31 1.15 0 0 1.365 0.148 1.02 0.05 0.05 1.41 2.62 0 0 1 0.94 2.31 0. 1 0. 1 1 1.44 2.40 0 0 1 1.01 2.1 0.1 0.1 1.21 2.33 4.24 0 0 1.23 1.69 3.75 0.1 0.1 - - 0 1 - - - - 1 1 - 1.482 0.925 2.613 0.925 3 1.462 3.414 3.440 5.52 - 2.613 . 2.400 5.09 i C h a r a c t e r i s t i c s of t h e d i f f e r e n t s y s t e m s considered. . Fig. 111-A-3. a. The poles of a lowpass Butterworth s y s t e m a r e equally spaced on a s e m i c i r c l e . If the r e a l p a r t s of the poles a r e scaled down with the f a c t o r aT/cug the poles will l i e on a n e l l i p s e and the s y s t e m will get a Chebyshev behavior. b. A normalizing of the pole product will give a root locus f o r the lowpass Chebyshev c a s e ( - - - - - - - - ). A reflexion i n the unit c i r c l e will r e n d e r the corresponding locus f o r the highpass c a s e ( ). The LP/HP t r a n s f o r m a t i o n a l s o gives a quadruple z e r o i n the origin. The scaling p a r a m e t e r is a r b i t r a r i l y chosen f r o m p r a c t i c a l reasons. Two c a s e s of Table 111-A-1 a r e indicated with dots. In analogy with (12 ) and (14) the closed box will have with the i d i n i t e baffle h 04 Fig, 111-A-3 shows the loci of the poles for normalized ~ h e b ~ s h econfigurationst v It is seen here that the cutoff frequency is lowered when the loss factoi. is decreasedr This means that a m o r e extreme Chebyshev design should provide a n extended frequency range. If one on top of this can find a design with g > 1 the gain will be even l a r g e r with given cul. The pole configurations and frequency response curves for the different alternatives of Table III-A-1 a r e shown in Figs. 1114-4 and III-A-5. In Figs. III-A-5 - III-k-7 the frequency scale has been r e -normalized t o the resonance frequency of the loudspeaker. This will make the curves bring out the performance of the different box design types with reepect t o one and the same loudspeaker element. To make the re-scaling possible the value of g must be known which implies that the Eqs (17) have t o be solved first. The actual solutions used a r e indicated in Table III-A-1 and could be regarded a s near optimal. If some special frequency response is wanted it can be constructed by adding two template curves of Fig. III-A-2. The nor- malizing will then involve that the unit frequency of these templates should be held with geometric symmetry around the normalizing frequency. The displacement will then determine R in Eq (1 6 ) . When appropriate values of R and the 10s s factors have been chosen they can be inserted into the left member of Eq (17). It should then be remembered that the poles of magnitude R have t h in the high-pass case, Eq (16), a s opposite t o the 2 low-paee caee of Eq (1 5.j. l o s s factor d Fig. 111-A-4. ~ o l e / z e r od i a g r a m s f o r the different s y s t e m t y p e s of Table 111-A-1. ~ Frequency responses for the alternatives of i 111-A-5. ~ . Table 111-A-1. The frequency scale i s normalized to the resonance frequency iol of the loudspeaker element. Fig. 111-A-6. - Diaphragm excursions for the alternatives of Table 111-A 1 . Fig. 111-A-7. Step responses for the alternatives of Table 111-A-1. The time scale i s normalized t o the resonance frequency of the loudspeaker element. Diaphragm excursion The variation of diaphragm excursions with frequency differs from the sound p r e s s u r e response in a 12 d ~ / o c t a v eslope and an antiresonance. This is directly seen from a comparison between Eqs (12) and (14). It is also seen that the frequency and loss factor of the antiresonance depend only of the properties of the box and port. The diaphragm excursions for the different alternatives a r e shown in Fig. 111-A-6. It is now directly seen that the combined losses in the box and port have t o be rather small if the antiresonance is t o have any significance justifies the assumption above that for the diaphragm excursions. T h i ~ v / ~may be neglected in the numerator of Eq (9) which will give r i s e t o Eq (121, The electrical input impedance of the system is the sum of the essentially constant (at low frequencies) blocked impedance and the motional impedance. The variation with frequency of the motional impedance is identical in shape with the diaphragm velocity which in t u r n is obtained from the curves of Fig. 111-A-6 by superimposing a tilt of t 6 d ~ / o c t a v e . It i s now easily understood that the two peaks in the impedance curve d o not give a very useful information on the system. The interesting thing is rather the dip between them that tells the resonance frequency w 2 and loss factor of the box resonator. Transient properties A complete analysis of the transient behavior of the system i s rather involved both theoretically ancl practically. The following discussion will thus only briefly review the general method and we then proceed t o some experimental measurements. In general, when a system with the t r a n s f e r function H(G) is excited with a signal having the Laplace transform G(s), then the transform of the output will be The response in the time domain will then be the inverse transformation of this, o r To study the transient behavior of the system only, one should use a signal with a transform G(s) a s simple as possible. The natural choice would then be the unit impulse having the transform 1. The impulse response is then A practical problem when this is applied t o a highpass system a s our loudspeakers is that the infinitely high unit impulse is directly t r a n s mitted and then followed by the interesting part of the response. - The unit step has the transform G(s) = l/s, o r with normalized frequency G(x) = l/x. If we disregard a proportionality constant the transform of the 8tep response of our system will be An inverse transformation will give the general form of the step response as o and w a r e the real and imaginary p a r t s of the poles, and A and cp a r e the magnitudes and phases of the residues . The impulse response d i f f e r s from this in the values of the residues and a n additional t e r m c?-(t ), the directly transmitted input pulse. F o r a closer treatment of the Laplace transform and especially the residue calculus the reader is referred t o the abundant handbook literature on the topic (see for instance (3)). In practice the residues a r e preferably calculated by graphical methods from a plot of the poles in the frequency plane. An alternative and often e a s i e r method is however t o build an electrical analog t o the system and directly record its performance. Fig. 111-A-7 shows the results of such a simulation of the system t r a n s f e r functions described in Table 1114-1. (See 7'k next page. ) In the same diagram there is a time scale valid f o r the fairly representative case with wl = 2n . 50 radians/second. The most striking example is the Chebyshev case which now clearly shows the price of the extended frequency range. The system has a very weakly damped resonance near the cutoff frequency which accounts for a long transient time. If we look at the Butterworth case and the system It i s usual that the transient properties of a system is tested with tone b u r s t s a s the excitation signal. The output will then consist of a stationary part being the input modified t o phase and amplitude by the t r a n s f e r function H(s). It a l s o contains a transient part a t the beginning and end of the bone burst. If we assume a sinusoidal input of frequency w g the t r a n s f o r m G(s) in Eq (20) will be The frequencies and l o s s factors of the components in the transient response a r e the s a m e a s in the s t e p response (24) but the residues get other values since (25) will enter a s a factor in the calculation of these. The transient response contains no components of frequency These a r e instead restricted t o the stationary response. The difg' ferent appearances of the transient response when w i s varied h a s g nothing t o do with the system but instead reflects the influence of Eq w (25) on the residues. The main advantage of the tone burst method is r a t h e r that it is possible t o excite parasitic resonances m o r e o r l e s s selectively. T o make the picture complete however the tone burst response f o r a Butterworth system i s shown in Fig. 111-A-8. Resonator volume The second Eq (1 7) shows that maximal values of h should be expected with u = v = b = 0, The corresponding values of the other p a r a m e t e r s a r e given in Table 111-A-1. In practice it i s however impossible t o have the resonator completely undamped, it is not even desirable with respect t o the detrimental effects of standing waves. The table therefore a l s o l i s t s the m o r e practical solutions having u = v = 0.1. The Chebyshev case i s a n exception in that it h a s no physical solution for this magnitude of the l o s s factors. Instead a solution is given with u = v = 0.05, F o r a given loudspeaker element the box volume is inversely proportional t o h. r"+ study of Table 111-A-1 reveals then that the case with a heavily damped s y s t e m can give a box volume that is about 60 O/o of that f o r the Butterworth c a s e . R e a contrast the minimum practical volume f o r the exemplified Chebyshev design is about 7 t i m e s a s l a r g e as for Butterworth, Fig. 111-A-8. T i m e r e s p o n s e of a fourth d e g r e e Butterworth s y s t e m t o excitation with a sinusoid and a cosinusoid of frequency WO. The s t a t i o n a r y p a r t of the r e s p o n s e i s attenuated 3 dB and phase shifted 180 d e g r e e s . The high frequency components of the s t e p in the cosinusoid a r e however t r a n s m i t t e d without attenuation and phase shift. Fig. 111-A-9. Time response of a fourth d e g r e e Butterworth s y s t e m t o excitation with a sinusoid of varying phase. The excitation frequencies a r e iuo and 2 w 0 respectively. Only the envelopes of the responses a r e shown. Conclusions The Butterworth behavior could be deemed a s the optimum in the light of the previous discussion. The frequency range is not extended a s compared t o the closed box of equal volume, but the diaphragm stiffening effect i s fully utilized in the same time as the transient time as a rule i s sufficiently short. Apart from this the heavily damped system is Prominent mostly because of its small volume, but its frequency response has t o be corrected somewhere else in the total s y s t e m Design When system behavior has been decided on the left hand members of (17) a r e given. The problem is then t o solve this equation system t o find the parameter values. Fig. 111-A-1 0 shows the result of a n i t e r a - tive solution process that was executed on a PDP-7 computer. The loss factors a r e given as functions of the box volume parameter h and the tuning parameter g. The diagram directly indicates within which limits of the various parameters the desired behavior may be realized. It i s f o r instance seen that a s m a l l e r box necessitates smaller loss factors in the box and port in the same time a s the demand on proper tuning of the resonator becomes more proxxinent. It is thus not practical t o make the box a s small a s the theoretical minimum. On the other hand, if the box is too large the resonator losses have t o be s o high that the antiresonance in the diaphragm excursion characteristic i s flattened out. The essential point i s thus that for a given loudspeaker element and system behavior the r e i s a definite optimal box volume, namely the smallest practically possible, When the parameters of Fig. 111-A-10 have been chosen we can proceed t o find the physical dimensions of the resonator with the aid of some properties of the speaker element. The ones most easily measured a r e w l , m l , and Sd. The resonance frequency i s determined f r o m the maximum of the electrical impedance. The loudspeaker should be baffled during this measurement s o that the a i r load is included in the oscillatory system. After this the diaphragm is loaded with a known and a new resonance frequency w is found. W e then get the 3 3 mechanical m a s s a s mass m The effective diaphragm a r e a i s approximately is the mean diameter of the compliant edge suspension of the d diaphragm, where d After some manipulating with the definition equations we a r r i v e a t the box volume In passing we note that for a given resonance frequency the box will be s m a l l e r f o r a smaller diaphragm a r e a and a l a r g e r mass. These quantities also have a direct influence on the loudspeaker efficiency. If the bass -reflex port is of cylindrical shape the classical theory yields biz = p 0 l 0 / s (29) P where S r , and 1 ' a r e the a r e a , radius, and effective length of P' P the port, The interdependence of a r e a and radius makes which shows that we cannot control the acoustical resistance of the port merely by giving it certain dimensions, After appropriate substitutions we find the loss factor of the port as -, In general this value i s r a t h e r small. If one for some reason wants a higher loss factor this has t o be accomplished with some kind of damping m a t e r i a l in the port. The conjunction of effective length and a r e a is given by E q (29). The physical length of the tunnel is obtained by subtraction of the end corrections. If we a s s u m e both ends t o be baffled the physical length will be 1 = 1' - 2 0.85 dp/2 (33) which eventually will give the final formula which i s shown graphically i n Fig. 111-A-1 1. The a r e a of the port is i r r e l e v a n t t o the function of the s y s t e m as long as i t s length i s c o r r e c t l y chosen i n correspondence t o the a r e a . The most suitable p r a c t i c a l solution will thus be t o choose a tunnel length equal t o the wall thickness of the box and then match the a r e a t o this. The following is a possible way of determining the l o s s f a c t o r s of the box and the port. First a microphone is mounted inside the box and then the mounting hole f o r the loudspeaker is closed tightly. If the r e s o n a t o r is now excited with a n external loudspeaker the microphone output will give information on the resonance frequency w2 a s well a s t h e 3 d B relative bandwidth which i s u + v'. F i r s t the port a r e a is adjusted t o give the c o r r e c t resonance and then the box is filled with damping m a t e r i a l until the appropriate value of u is obtained. If nec- e s s a r y the port is then damped t o give a relative resonance bandwidth u + v. If the resonance is badly pronounced before the box is damped t h i s is a good indicator that the wall construction is too weak o r a l ternatively that t h e r e a r e leaks in the box. Finally the loudspeaker element is mounted and the l o s s f a c t o r a is adjusted with damping m a t e r i a l around the loudspeaker basket The c o r r e c t value of a is m o s t easily found by checking that the frequency response is the desired. Example On a s m a l l loudspeaker element the following values w e r e d e t e rmined: Fig. 111-A-11. Dimensioning diagram for the bass reflex port. The port i s assumed t o be circular of diameter d P' and axial length 1. The curves show 1 a s area S ?' a function of dp. The parameter of the curves i s 1 - Po hg 4 in MKSA units. Sd Fig. 111-A-12. a. Step r e s p o n s e f o r a n e x p e r i m e n t a l b a s s reflex cabinet designed f o r Butterworth behavior. The fine s t r u c t u r e i s due t o p a r a s i t i c r e s o n a n c e s and reflexions. b. F r e q u e n c y r e s p o n s e of the s a m e s y s t e m m e a s u r e d i n a n anechoic c h a m b e r a t two different angles t o the loudspeaker axis. In the low frequency range it i s s e e n t h a t the a s s u m p t i o n of a point s o u r c e i s justified. The r e s p o n s e a t frequencies above 2.000 c / s i s due t o a p a i r of t r e b l e loudspeakers mounted closely t o the b a s s loudspeaker.