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Abstract-"
nonlinear mathematical model of phase-locked loops
with limiter phase detectorsin the presence of noiseis presented. The
model, which is an extension of the well-known baseband
model of
loops with sinusoidal phase detectors without limiters, incorporates a
modified nonlinear phase detector characteristic, the form ofwhich is
changed if the input carrier-to-noise ratio alters, as well as a modified
phase noise as aninput to the model. Both the modified phase detector
characteristic and the spectral density of the modified noiseterm are
calculated specifically for sinusoidal, triangular, and sawtooth types
of limiter phase detectors, allowing the application of various methods
to determine the loop noise performance. As an example, the phase
error variance of a first-order phase-locked loop
is calculated, thereby
showingastrongdependenceonthespecificphasedetectorrealization.
-+-
IN
T u o Il
$
BP
vco A
(b) SINUSOIDALLIMITER
PO (TYPE II)
I. INTRODUCTION
HASE-LOCKED loops (PLL) with hard limiterspreceding the phase detector (PD), resulting, for example, in a
sinusoidal,triangular, or sawtooth type of nonlinearcharacteristic, are of great practical interest [ l ] , [2] . The theoretical examination of their noise performance, however, is difficult because of the hardlimiting of the noisy input signal and
the following nonlinear operation forming the specific phase
detector characteristic of Fig. l(b), (c),(d). Therefore,the
very well documented nonlinear theory, equivalentmodels,
and results (e.g., [ l ] , [2]), developed for the sinusoidal phase
detector (multiplier) without limiter, as illustrated in Fig. l(a),
are not immediately applicable.
Although there are a few papers [3]-161 dealing with some
aspects of limiter phase detectors in an open loop condition,
very little seems to be known about the noise performance of
the closed PLL. Therefore, it is worth looking at the problem
more closely, particularly as both the limitation and the specific nonlinear characteristic may strongly influence the noise
performance, as we will see later on in an example. The purpose of the present paper is to develop a more general equivalent model for phase-locked loops comprisingphase detectorswith limiters and,to some extent,arbitrary periodic
characteristicsin the presence of noise. The equivalent PLL
model is an extension of the well-known mathematical model
[ I ] , 123 mainly for two reasons.
1)The new general model, having the same structure,
allows the application of the well-known linear or nonlinear
methods for calculating the noise performance.
Manuscript received June 5, 1981; revised December 22, 1981. This
work has been supported by the Deutsche Forschungsgemeinscha.
The author is withLehrstuhlfurNachrichtentechnik,Universitat
Erlangen-Niirnberg, D-8520 Erlangen, West Germany.
i
d TRIANGULAR LIMITER PO (TYPE 111)
(d) SAWTOOTHLIMITER
PO (TYPE
IV)
(1)
u z ( t ) = i i 2 cos [ q t+ 42(t)].
(2)
2298
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ON
*,I
-PD
LP
vco
V = @,I-*,:
phaseerror
KO: p h a s ed e t e c t o rg a i n
KO: VCO g a l n
F ( s ) :l o o pf i l t e rt r a n s f e rf u n c t i o n
P L L i n p u ts i g n a l :u , ( t ) + n ( t ) =
i,sin(w,t+$,)+n(t)=
A(t)sin(w,t+O,+Q,)
V C O o u t p u ts i g n a l :
Fig. 2.
u,(t)= ~ , c o s ( w , t + ~ , )
u O ( t , cp) = KDLEk(q + 4 n ) I
+ n(t, cp)]
= KD[g(P) I Z ( ~ ,
(8)
(9)
g(cp) is a modifiednonlinearPDcharacteristicwhich
enters
the equivalent model in Fig. 2 and is in general not equal to
the actual PD characteristic g(-).
The rapidly varying noise term n(t, cp) is generally also a
function of cp. Comparison of (7) to (8) yields
n(t, CP)
= dc~
+ G n ) -g(V>.
(10)
The variance O , ~ ( ~ J >of this noise term has been evaluated for
specific g(.) and fixed cp in [4] and [8], with the result that
onr2 is not altered much from
itsmaximum value at O,L = 0
even if cp is as large as, say, r / 4 . Moreover, the smaller the input
carrier-to-noise ratio is (the case when large values of cp are
expected at all), the smaller is the deviation of anr2(cp)from
its value at q = 0. Therefore, we neglect the state dependence
of the modified phase noise and (IO) becomes simplified in all
cases where cp(t)has zero-mean (no static phase error)
where KO
= const.
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R O S E N K R A N Z : P H A S E - L O C K E D LOOPS W I T H L I M I T E RP H A S E D E T E C T O R S
Here
has zeromean,
(-1)
v=1,2,3
- E {cos v&}
- sin vcp.
(14)
<4
rm
1
The asymptotic values for very low and very high CNR are,
respectively,
on2 = L ,
2
Equation (15) with (16) has been solved elsewhere [3]. The
result is known as signal suppression factor pv [8] and may
be expressed in terms of modified Bessel functions I of order
(v f 1)/2 P I
CNR < 1
(22)
2300
1.2
Type I
1.0
CNR =
- 10
I
0.6
1.2
0.1
0.01
10
CNR
I
loo
0.0 1
Fig. 5.
01
10
CNR
loo
B,'=BI,
and (for a
sity)
(c)
Modified phase detector characteristics for different values of
(a) Sinusoidal. (b) TriCNR and different limiter phase detectors.
angular. (c) Sawtooth.
CNRS 1
(25)
Fig. 3.
2301
t
0.8
0.0 1
0.1
10
CNR
Fig. 6 .
ular phase dgector may also be approximatedforourpurposes by(24)-(26) as in the sinusoidal case. Apart from the
fact that an analytical evaluation does not seem possible, this
approximation may bejustifiedfromthe
results of careful
measurements of the noise bandwidth at the PD output (see
Fig. 6). It is confirmed that B, does not alter much if CNR
changes. This again justifies the approximation,
were also ingood agreewhich may be evaluated, as is shown in the Appendix, in terms
of p u (v EN) as defined in (1 7 ) :
1
(33)
v-1.2
rn
of the sum
2302
IEEE TRANSACTIONS
ON
(43)
Thus, we findthe
analysis
ROSENKRANZ:
PHASE-LOCKED
LOOPS
WITH
PHASELIMITER
1.0
/
/
0.8
/'
/'
0.6
2303
DETECTORS
-F O K K E R -
0.4
APPENDIX
PLANCK
LINEAR
0.2
0.2
0.6
0.4
0.8
10
(a)
lla
Y
/
0.4 -
-F O K K E R -
./
F=
PLANCK
_ _ _ LINEAR
I_:
4n2P(4n) d4n = 2
6'
4n2P(4n> d4rI
(-41)
are to be solved. With the pdf ~(4,) as in (16) and with the
Anger-Jacobi formula [9]
,/'
(*l>'Iu(a>COS ~4~
e+-acosGn= ~ ~ ( a 2)
u= 1
0.4 -
lla ./
-FOKKER-
--- LINEAR
PLANCK
/'
/'
/'
/.
0.2
0.4
0.6
0.8
1.0
(C)
xe-ax21u(bx) dx
--0
0.2
0.4
0.6
LINEAR
0.8
1.0
and
(4
2304
WHITE
NOISE
TRANSACTIONS
IEEE
COMMUNICATIONS,
ON
6,;
12,SkHz
REFERENCES
PLL,6,=KoK,/4-256 Hz
A. J. Viterbi. Principles of Coherent Communication. New York:
r-----------i
McGraw-Hill,1966.
GEN.
I
I
W. C. Lindsey, S-vnchronizution Systems in Communicationand
Control. Englewood Cliffs, NJ: Prentice-Hall, 1972.
A. H. Pouzet,"Characteristics of phase detectors in presence of
noise," in Proc. 8rh Int. Telem. Conf., Los Angeles, CA, 1972, pp.
818-828.
I
I
F. H.Raab."Square-wave
correlation phase detector with VLF
L _ _ _ _ _ _ - _ _ - _
J
atmosphericnoise,"
IEEE Trans.Aerosp.Electron.
S w t . . vol.
AES-15,pp. 726-732, 1979.
B. N . Biswar et a l . . "Phase detector response tonoisy and noisy
RMSfading signals," IEEE Trans. Aerosp. Electron. Syst.. vol. AESVOLTMETER
16. pp. 150-157, 1980.
S . A. Butman and J . R. Lesh, "The effects of bandpass limiters on
Fig. 8. Experimental setup for phase error measurement.
n-phase tracking systems," IEEE Trans. Commun., vol. COM-25,
pp. 569-576. 1977.
For a triangular phase detector the result (29) may be calD. Middleton, An Introduction to Srutistical
Communication
Theory. New York: McGraw-Hill, 1960.
culated from (28) in a similar way, bearing in mind the new
J . C. SpringettandM.
K . Simon, "An analysis of the phase
limits of integration and the substitution p(@,).
in
coherent-incoherent output of the bandpass limiter,'' IEEE Trans.
Commun. Technol.. vol.COM-19. pp. 42-49. 1971.
Experimental Setup
I . S . Gradshteyn and I . M. Ryzhik, Table oj'lntegruls. Series and
Products. New York: Academic,1965.
The outline of the experimental setup for the measurement
W. Rosenkranz, "Ein allgemeines Ersatzmodell zur nichtlinearen
of uv2 is shown in Fig. 8. Any one of the four phase detectors
Berechnung des Storverhaltens von Phasenregelkreisen ( A general
equivalentmodel for thenonlinearcalculation
of the noiseperin Fig. l(a)-(d) was connected with a VCO to form a firstformance of phaselockedloops)."
AusgewiihlteArbeitenuber
order PLL. Each PD includes an RC low-pass filter (PD-LP in
Nachrichrensysteme no. 44, issued by Prof.
Dr.-lng.
H.
W.
larger thanthe
Fig. 1) withacutofffrequencysufficiently
Schiissler, Erlangen, West Germany, 1980.