Table Of ContentCONTROL ENGINEERING SERIES 42
DIGITAL SIGNAL
PROCESSING:
principles, devices
and applications
Edited by
N. B. Jones and
J. D. McK. Watson
Peregrinus Ltd. on behalf of the Institution of Electrical Engineers
IEE CONTROL ENGINEERING SERIES 42
Series Editors: Professor P. J. Antsaklis
Professor D. P. Atherton
Professor K. Warwick
DIGITAL SIGNAL
PROCESSING:
principles, devices
and applications
Other volumes in this series:
Volume 1 Multivariable control theory J. M. Layton
Volume 2 Elevator traffic analysis, design and control G. C. Barney and S. M.
dos Santos
Volume 3 Transducers in digital systems G. A. Woolvet
Volume 4 Supervisory remote control systems R. E. Young
Volume 5 Structure of interconnected systems H. Nicholson
Volume 6 Power system control M. J. H. Sterling
Volume 7 Feedback and multivariable systems D. H. Owens
Volume 8 A history of control engineering, 1800-1930 S. Bennett
Volume 9 Modern approaches to control system design N. Munro (Editor)
Volume 10 Control of time delay systems J. E. Marshall
Volume 11 Biological systems, modelling and control D. A. Linkens
Volume 12 Modelling of dynamical systems—1 H. Nicholson (Editor)
Volume 13 Modelling of dynamical systems—2 H. Nicholson (Editor)
Volume 14 Optimal relay and saturating control system synthesis
E. P. Ryan
Volume 15 Self-tuning and adaptive control: theory and application
C. J. Harris and S. A. Billings (Editors)
Volume 16 Systems modelling and optimisation P. Nash
Volume 17 Control in hazardous environments R. E. Young
Volume 18 Applied control theory J. R. Leigh
Volume 19 Stepping motors: a guide to modern theory and practice
P. P. Acarnley
Volume 20 Design of modern control systems D. J. Bell, P. A. Cook and N.
Munro (Editors)
Volume 21 Computer control of industrial processes S. Bennett and
D. A. Linkens (Editors)
Volume 22 Digital signal processing N. B. Jones (Editor)
Volume 23 Robotic technology A. Pugh (Editor)
Volume 24 Real-time computer control S. Bennett and D. A. Linkens (Editors)
Volume 25 Nonlinear system design S. A. Billings, J. O. Gray and
D. H. Owens (Editors)
Volume 26 Measurement and instrumentation for control M. G. Mylroi and G.
Calvert (Editors)
Volume 27 Process dynamics estimation and control A. Johnson
Volume 28 Robots and automated manufacture J. Billingsley (Editor)
Volume 29 Industrial digital control systems K. Warwick and D. Rees (Editors)
Volume 30 Electromagnetic suspension—dynamics and control P. K. Sinha
Volume 31 Modelling and control of fermentation processes J. R. Leigh
(Editor)
Volume 32 Multivariable control for industrial applications J. O'Reilly (Editor)
Volume 33 Temperature measurement and control J. R. Leigh
Volume 34 Singular perturbation methodology in control systems
D. S. Naidu
Volume 35 Implementation of self-tuning controllers K. Warwick (Editor)
Volume 36 Robot control K. Warwick and A. Pugh (Editors)
Volume 37 Industrial digital control systems (revised edition) K. Warwick and
D. Rees (Editors)
Volume 38 Parallel processing in control P. J. Fleming (Editor)
Volume 39 Continuous time controller design R. Balasubramanian
Volume 40 Deterministic non-linear control of uncertain systems
A. S. I. Zinober (Editor)
Volume 41 Computer control of real-time processes
S. Bennett and G. S. Virk (Editors)
DIGITAL SIGNAL
PROCESSING:
principles, devices
and applications
Edited by
N. B. Jones and
J. D. McK. Watson
Peter Peregrinus Ltd. on behalf of the Institution of Electrical Engineers
Published by: Peter Peregrinus Ltd., London, United Kingdom
© 1990: Peter Peregrinus Ltd.
All rights reserved. No part of this publication may be reproduced, stored
in a retrieval system or transmitted in any form or by any means-
electronic, mechanical, photocopying, recording or otherwise—without
the prior written permission of the publisher.
While the author and the publishers believe that the information and
guidance given in this work is correct, all parties must rely upon their own
skill and judgment when making use of it. Neither the author nor the
publishers assume any liability to anyone for any loss or damage caused
by any error or omission in the work, whether such error or omission is
the result of negligence or any other cause. Any and all such liability is
disclaimed.
British Library Cataloguing in Publication Data
ISBN 0 86341 210 6
Printed in England by Short Run Press Ltd., Exeter
Contents
page
1. Introduction—Engineering and Signal Processing 1
N. B. Jones
2. Devices overview 4
R. J. Chance
3. Discrete signals and systems 18
N. B. Jones
4. Z-transforms 28
A. S. Sehmi
5. Fourier series and the discrete Fourier transform 43
A. S. Sehmi
6. The FFT and other methods of discrete Fourier analysis 65
S. Kabay
7. Introduction to digital filters 78
T. J. Terrell and E. T. Powner
8. FIR filter design methods 88
T. J. Terrell and E. T. Powner
9. IIR filter design methods 98
T. J. Terrell and E. T. Powner
10. Quantisation and rounding problems in digital filters 119
T. J. Terrell and E. T. Powner
11. State space control 130
G. W. Irwin
12. Kalman filters 145
P. Hargrave
13. Implementation of digital control algorithms 155
P. A. Witting
vi Contents
page
14. Comparison of DSP devices in control systems applications 181
P. A. Witting
15. Digital communication systems 195
E. C. Thomas, E. M. Warrington and T. B. Jones
16. Simulation of DSP devices and systems 211
D. J. Mayes
17. Review of architectures 224
R. J. Chance
18. DSP chips—a comparison 238
R. J. Chance
19. Microcontrollers 252
ID. M.Watson
20. Systolic arrays for high performance digital signal processing 276
J. V. McCanny, R. F. Woods and M. Yan
21. Throughput, speed and cost considerations 303
M. Carey
22. A case study of a DSP chip for on-line monitoring and control in anaesthesia 313
S. Kabay and N. B. Jones
23. A case study on digital communication systems 328
E. M. Warrington, E. C. Thomas and T. B. Jones
24. Digital filters—a case study 345
T. J. Terrell and E. T. Powner
25. Speech processing using the TS32010—a case study 354
R. E. Stone
26. A case study in digital control 371
E. Swindenbank
27. Implementation and performance of digital controllers 382
D. Rees
28. Review and outlook for the future 398
T. S. Durrani
Index 410
Chapter 1
Introduction—Engineering and Signal Processing
N. B. Jones
1.1 Engineering • Information and Control
Throughout history, but in particular over the last two centuries, engineering has
provided outstanding benefits as well as raised threats and challenges. As a direct
result of progress in engineering, large numbers of people now lead far richer and more
varied lives than could previously have been imagined. The development of engineering
skills and of the associated technologies has not been uniform and particular eras have
been associated with spectacular developments in particular branches of engineering.
Many surges in engineering knowledge have been associated with military and economic
rivalry between nations but have often lead to general civilian benefit in the long run.
People of the last century, for example, saw revolutionary developments in industrial,
railway and marine engineering and more recently we have seen spectacular advances in
aeronautical engineering and, of course, in electronics; much of which grew out of military
requirements but quickly spread into general civilian use.
The recent extraordinary development of electronics, especially digital micro-electronics,
has brought us into a new phase of exciting growth, in particular associated with
Information and Control Technology; areas of engineering and mathematics concerned
with the acquisition, transmission, processing, storing and display of information and, in
particular, with its use in control and decision making at all levels.
Processing of information is as old as the human race and the technology associated with
it dates back to before the earliest form of writing to the use of counting beads and to the
time of cave drawings. However the invention of printing (1049), and the electronic
binary coding of data (1837) and more recently of radio communications (1891) and of the
electronic digital computer (1946) has increased the speed of generation and processing
of data to such an extent that information and control technology is no longer just
concerned with automatic processes replacing manual processes but now provides the
opportunity to do entirely new things. It is now, for example, possible to envisage
machines which can see, hear, talk and reason as well as machines which just execute
required motions, no matter how complex. We have now entered an era where automatic
processes are replacing human sensory and cognitive processes as well as manipulative
processes.
The primary area of engineering associated with these new opportunities is signal
processing since in order to proceed in an intelligent and useful way a machine must
2 Introduction—Engineering and Signal Processing
assimilate and process an enormous amount of data which arrives in the form of signals
from some forms of sensor, either local or remote. It is the successful and efficient
processing of these signals which is the key to progress in this new field of endeavour.
For reasons of simplicity and flexibility associated with the binary nature of the
electronics, processing of signals is most conveniently done digitally and it is this major
area of electronics, information technology and control engineering known as digital
signal processing which is the subject of this book.
1.2 The scope of digital signal processing
When data is generated in continuous streams, in the form of signals, it is usually the
case that there is too much detail. Thus, before the useful information can be efficiently
stored, transmitted, displayed or used for control purposes, it is almost invariably
necessary to process it in some way, so as to reduce the total amount of data while
maintaining the essential information. For reasons of cost, precision and flexibility it is
now generally more appropriate to do this digitally. Only a few years ago digital
processing was limited by problems of speed and cost to signals of relatively low
information content. However the development of special digital integrated circuits
(DSP chips) and associated systems has provided new opportunities for low cost digital
processing of mass data in the form of wide band signals.
One good example of the use of such devices is in the precise control of processes and
machines by the implementation of sophisticated algorithms, often not easily reproduced
using analogue controllers. In communications there is extended scope for noise rejection
and error correction if signals are processed digitally. The flexibility and sophistication of
DSP is also well illustrated in image processing such as medical axial tomography where
complex images are reconstructed using a multitude of signals from an array of sensors
and, of course, in the commercially important areas of digital TV and digital sound
recording. The control of robots is, in its own right, an appropriate area for real time
signal processing for motion control but new possibilities of intelligent robot responses
to audio, visual, tactile and other inputs are being realised because of the power of DSP
chips allied with new software ideas in Artificial Intelligence for signal analysis and
interpretation.
It can be appreciated that digital processing of signals has an extensive range of
applications, from the military to the medical, from entertainment to mass production. In
many areas of application the advent of these specially designed DSP devices has
started a revolution in engineering which will pervade most areas of modern life.
1.3 The scope of this book
This book is a collection of presentations by active workers in the field of DSP. The
authors have made their own contributions to the development of this new field and have
presented the material at a vacation school run by the Institution of Electrical
Engineering at the University of Leicester in March 1990. The chapters of the book are
linked by common themes of theory and technology which give unity for continuous
reading. However each chapter can be read independently by readers with appropriate
Introduction—Engineering and Signal Processing 3
backgrounds.
The first part of the book contains the essential fundamentals of the theoretical bases of
DSP. However most of the book is devoted to the practicalities of designing hardware
and software systems for implementing the desired signal processing tasks and to
demostrating the properties of the new families of DSP chips which have enhanced
progress so much recently. A book of this nature, which has a significant technological
content, will inevitably tend to go out of date as time goes on. However the material has
been written so that the fundamentals of the design and processing methods involved
can be seen independently of the technology and thereby retain their value indefinitely.
Consideration is given to the use of DSP methods in control, communications, speech
processing and biomedical monitoring. Much of the material is illustrated by case studies
and it is hoped that, in this way, many of the practical points associated with DSP
engineering can be highlighted.
