Transfer Function

Extraction with SCILAB

from time domain result, using
deconvolution and FFT algorithms
(Patrick DUBUS – Zaatar MAKNI)

Date: 28/06/2011
Summary

Introduction

Proposed Method

Deconvolution Algorithm
2
FFT

Examples of use

Conclusion

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Introduction

Analog Electronic Designers are

accustomed to transfer function
description in frequency domain
using Bode plots.

Can be obtained from:

Tests by using dedicated test equipment (sinewave signal injected at
input, gain and phase shift measured then frequency is changed, …)
– Not always available
From simulation by using equivalent linear model to reduce simulation
time
– In most of the case, this is not straight forward (hard job) and with risk of
errors

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New Method

Transfer function extraction rely on simulation or

test in time domain using signal with large
spectrum to cover quickly the entire frequency
domain.

Proposed method is to:

inject a step signal at function input,
extract the impulse response by deconvolution algorithm
use FFT to plot transfer function in frequency domain.

Benefits are:
No dedicated test tool needed
No equivalent AC model requested
Results are processed with SCILAB

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Deconvolution Algorithm
Remind on Convolution

Mathematical Expression:
t
Out (t ) = Out (0) + ∫ In(u ) ⋅ Tf (t − u ) ⋅ du
0
Converted into discrete Algorithm:

n −1
In( k ) + In(k + 1)
Out ( n) = Out (0) + dt ⋅ ∑ ⋅ Tf ( n − 1 − k )
k =0 2

In Tf
Out

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Deconvolution Algorithm
Application of the Convolution

When applied to the various terms gives:

TF(0) can be
In(0) + In(1)
Out (1) = Out (0) + dt ⋅ ⋅ Tf (0)
computed

2 Then TF(1)

In(0) + In(1) In(1) + In( 2)

Out (2) = Out (0) + dt ⋅ ⋅ Tf (1) + dt ⋅ ⋅ Tf (0)
2 2

In( k ) + In( k + 1)
n −1
Out (n) = Out (0) + dt ⋅ ∑ ⋅ Tf ( n − 1 − k )
k =0 2
Then TF(n-1)

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Deconvolution Algorithm
Final Algorithm

Final formulae:

⋅ (Out (1) − Out (0) )

2
Tf (0) =
dt ⋅ [In(0) + In(1)]


Tf (n − 1) = dt ⋅ [In(0) + In(1)] ⋅ (Out (n) − Out (0) − Outx )
2


Outx = dt ⋅ In(k ) + In(k + 1) ⋅ Tf (n − 1 − k )
n −1

 ∑k =1 2

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Deconvolution Algorithm
Remarks

DC values from the Input signal have to be

removed.

Deconvolution starts when input signal is applied

(synchronization to input signal is needed).

Due to sampling effect, input signal is factored by a

ZOH (Zero Order Hold). This will introduce a phase
shift in the extracted transfer function which must
be corrected.
Ts
j Ts j Ts sin
1 e 2 2
ZOH t ut u t Ts Ts e
j Ts
2

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FFT

Standard SCILAB algorithm used … at the

beginning.

The following corrections/limitations apply:

Fs = 1/Ts
Spectrum starts at 1/(N.Ts) with N = number of points
Spectrum plotted up to Fs/10
Phase corrected to take into account sampling effect
Number of sample not limited to 2n

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Simple Open Loop Case (1)
First Order XCos model

Case description:
1
TF is described by a Laplace Model TF ( s ) =
System is in open loop
1 + T0 ⋅ s
Step signal is injected 1
T0 = → 1Hz
Output and input are recorded 2π

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Simple Open Loop Case (2)
First Order XCos model

Input and output are plotted and recorded.

Time step is 0.01s
Duration is 10s to reach steady state conditions.

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Simple Open Loop Case (3)
First Order XCos model

Impulse response extracted by Deconvolution

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Simple Open Loop Case (4)
First Order XCos model

Transfer function in frequency domain computed

using FFT algorithm:
Extracted value in blue
Theoretical value in red

Good
Matching
Extraction is
correct

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Another Open Loop Case (1)
Second Order XCos model

Case description:

A
TF ( s ) =
(1 + T0 ⋅ s ) ⋅ (1 + T1 ⋅ s )
1
T0 = → 1Hz
2π
1
T0 = → 10 Hz
2π ⋅10

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Another Open Loop Case (2)
Second Order XCos model

Impulse & Step

Input & Output

Response
Transfer Function in
Frequency Domain

Good
Matching
Extraction is
correct

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Last example in Open Loop Case (1)
First Order with Integrator (PI)

Case description:

A (1 + T0 ⋅ s )
TF ( s ) = ⋅
s (1 + T1 ⋅ s )
1
T0 = → 1Hz
2π
1
T0 = → 10 Hz
2π ⋅10

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Last example in Open Loop Case (2)
First Order with Integrator (PI)

Impulse & Step

Input & Output

Response
Transfer Function in
Frequency Domain

Integrator
function not
extracted !!!

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Last example in Open Loop Case (3)
First Order with Integrator (PI)

Problem comes from non convergence condition

when transfer function has an integrator
Fourier Transform doesn’t exist
But thanks to its real part in the exponential term, Laplace
Transform exists

Current tested solution is to rewrite the Fourier

Transform algorithm with an additional negative
real part
jω changed to a+jω
This limit the integrator behavior to frequency higher than a/2π
but a corrective factor is added to compensate for
Criteria selection for a to be investigated

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Last example in Open Loop Case (4)
First Order with Integrator (PI)

Extracted Transfer Function with modified

algorithm
Transfer Function in
Frequency Domain

Good
Matching
Now

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Closed Loop Case (1)
First Order with Integrator (PI)

Now extraction is test for a closed loop

configuration:

A (1 + T0 ⋅ s )
TF ( s ) = ⋅
s (1 + T1 ⋅ s )
1
T0 = → 1Hz
2π
1
T0 = → 10 Hz
2π ⋅10

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Closed Loop Case (2)
First Order with Integrator (PI)

Impulse & Step

Input & Output

Response
Transfer Function in
Frequency Domain

Extraction is
working in
closed loop

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Motor Control Algorithm (1)
Real Use Case
PI controller for current control in the dq domain

Magnetic model of electric motor based on Lookup tables

Target: extraction of
the current control
loop transfer function
in order to perform
stability study

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Closed Loop Case (2)
First Order with Integrator (PI)

Impulse & Step

Input & Output

Response
Transfer Function in
Frequency Domain

Fc = 460Hz
Ph margin > 90 °

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Conclusion

Quick and Relevant method for transfer function

extraction

Applicable to Open Loop or Closed Loop System

Proposed solution (addition of a real term) to solve non

convergence problems need to be further investigated

Have to be used on several use cases to confirm

applicability and accuracy

… To be continued

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