Operational amplifiers

Building blocks of servos

Operational amplifiers (Op-amps)

Want perfect amplifier Infinite gain Infinite input impedance
will not load down source
Op amp with feedback
Summing junction

Rf

Zero output impedance

will drive anything

Vin

Rin V 1 Iin

If

inverting

Vout
non-inverting

Have operational amplifiers Gain ~ 106 Input impedance ~ 100 M W Output impedance ~ 100 W Problems Gain too high
slightest input noise causes max output

Other problems to be discussed later Solutions Use feedback Gain depends only on resistance: Rf / Rin
can control precisely

Op amp V1 = (Vout - Vin) Rin/(Rin+Rf) + Vin Vout = -A V1 Vout = -Vin (Rf / Rin) / [1 + (1+ Rf / Rin)/A] Small gain: Vout = -A Vin Rf / (Rf + Rin) ~ divider Large gain: Vout = -Vin (Rf / Rin) Note: V1 = -Vout / A ~ 0

Differential amplifier
Op amp output actually depends on voltage difference at two inputs Vout = - (Vin1 - Vin2) (Rf / Rin) Insensitivity to common voltage at both inputs = CMRR Real op amps have problems with unbalanced input impedance Solution: Add input resistor and pot. Op amp with built-in resistors = instrumentation amp. Non-ideal op-amp Rf
Ideal op-amp circuit

Vin1 Vin2

Rin

Rf Vin1

Rin

Vout

Rin V 1

inverting

+
~ Rf

Vout
non-inverting

Resistors to compensate for non-ideal op-amp

Vin2

Integrators
Put capacitor in op amp feedback path Vout = - Vin (Zf / Rin) = - Vin / (2 p j f C Rin) Similar to low pass filter in high frequency limit
except applies to low frequencies also can show large gain near dc

Recall V1 ~ 0 forces Iin = -Ifeedback Result is integrator

Integrator

charge on capacitor is integral of If since Vout = Q/Cf, Vout is integral of Iin

Gain response

integration speed ~ 1 / RinCf

>60dB
log(Vout/Vin)

Single-pole rolloff 6 dB/octave = 10 dB/decade RC

Cf

If Vin Rin V 1 Iin

Unity gain at f = 1 / 2 p RC log( f ) Phase response

Vout
Phase shift

log( f )

0 degrees -90 degrees

Shunted integrator
Limit dc gain Advantages:
dc input voltage no longer saturates op amp output prevents servo runaway

Dis-advantages
long term errors not well corrected by servo
Gain response

Shunted integrator

Rf
log(Vout/Vin)

Max gain = Rf/Rin at f < 1 / 2 p RfCf

Cf If Vin Rin V 1 Iin

0
log( f ) Phase response

Unity gain at f = 1 / 2 p RinCf

Vout
Phase shift

log( f )

0 degrees -90 degrees

Real op amp
Op amp without feedback Acts like shunted integrator Stability condition: unity gain freq. before second pole otherwise feedback becomes positive
oscillation
Gain response
Max gain

log(Vout/Vin)

Single pole 6 dB Unity gain

0
log( f ) Double pole 12 dB

Real op amp

Vin

Vout
Phase shift

Phase response
0 degrees

log( f )

-90 degrees

-180 degrees

Integrator with lead

High frequency gain has minimum value Purpose: Provides phase lead Can compensate for pole in servo Alternate circuits for lead Capacitor at input, inductor in feedback Overall positive phase
analog to faster than light propagation output anticipates input
log(Vout/Vin)

Gain response

Single pole 6 dB

Min gain

Integrator with lead

Cf If Vin

Rf

0 log( f )

Rin V 1
Iin

Phase response

Vout
Phase shift

log( f )

0 degrees -90 degrees

Summing amplifier
High gain forces V1 ~ 0 Feedback current must cancel input current Generalize to multiple inputs
Vout = -Rfeedback S Iin = -(Rf / Rin) SVin Works because V1 ~ 0 Op amp

Rf

Vin

Rin

If Iin V1

inverting

Vout
non-inverting

Summing amplifier
Op amp input is summing junction Useful for combining multiple inputs

Summing amplifier

Vin1 Vin2 Vin3

Rin1

Summing junction

Rf

Rin2
Rin3 Iin V1

If

Vout

Drift-compensated integrator
Real op amps have leakage current Can saturate integrator Compensate with dc current to summing junction

Drift-compensated integrator

Cf Vin Rin Iin If V1 +V

Integrator leakage compensation

Vout

Rc
Ic

-V

Trans-impedance amplifiers
Input is current source
model as voltage source with high impedance Iin = Vsource / Zsource Vout = -Zfeedback Vsource/ Zsource = -Iin Zfeedback

Trans-impedance amplifier

Trans-impedance amplifier
current in, voltage out gain expressed in Ohms
Current source
Vsource Zsource

Rf If Iin V1
inverting

Vout
non-inverting

Iin

V1

Photodiode amplifier
Photodiode like current source but with capacitor Input capacitor causes op amp gain to diverge at high freq.
Amplifies high freq noise Oscillation Photo-diode amplifier
Shunt capacitor
light Gain response
Unshunted

Solution:
Shunt capacitor in feedback

Cs Rf If

Vbias Ipd

log(Vout/Iin)

Vout

Shunted

log( f )

Rpd Ipd Cpd Photo-diode equiv. circuit

Integrator design tips

Shunting switch with small value resistor Discharges capacitor
initialize integrator/ servo simplify servo testing allow rest of circuit

Resistors on power supply rails Limits current to saturated op amp

prevents burn out Shunt switch on integrator

Capacitors on supply rails Reduces noise Note on capacitors High values

electrolytic, polar leakage resistance

Rs

switch

Cf If Rin V 1 Iin

Filtered and limited supply rails

+15V

Use low value in parallel Vin

Vout
-15V