AU764595B2 - Improved crossover filters and method - Google Patents

Description

WO 01/19132 PCT/AU00/01036 1 IMPROVED CROSSOVER FILTERS AND METHOD BACKGROUND OF THE INVENTION The present invention relates to crossover filters suitable for dividing wave propagated phenomena or signals into at least two frequency bands.

The phenomena/signals are to be divided with the intention that recombination of the phenomena/signals can be performed without corrupting amplitude integrity of the original phenomena/signals.

The present invention will hereinafter be described with particular reference to filters in the electrical domain. However, it is to be appreciated that it is not thereby limited to that domain. The principles of the present invention have universal applicability and in other domains, including the electromagnetic, optical, mechanical and acoustical domains. Examples of the invention in other domains are given in the specification to illustrate the universal applicability of the present invention.

Crossover filters are commonly used in loudspeakers which incorporate multiple electroacoustic transducers. Because the electroacoustic transducers are designed or dedicated for optimum performance over a limited range of frequencies, the crossover filters act as a splitter that divides the driving signal into at least two frequency bands.

The frequency bands may correspond to the dedicated frequencies of the transducers. What is desired of the crossover filters is that the divided frequency bands may be recombined through the transducers to provide a substantially accurate representation (ie. amplitude and phase) of the original driving signal before it was divided into two (or more) frequency bands.

Common shortcomings of prior art crossover filters include an inability to achieve a recombined amplitude response which is flat or constant across the one or more crossover frequencies and/or an inability to roll off the response to WO 01/19132 PCT/AU00/01036 2 each electroacoustic transducer quickly enough, particularly at the low frequency side of the crossover frequency. Rapid roll off is desirable to avoid out of band signals introducing distortion or causing damage to electroacoustic transducers. Prior art designs achieve rapid roll off by utilizing more poles in the filter design since each pole contributes 6dB per octave additional roll off.

However a disadvantage of this approach is that it increases group delay. An object of the present invention is to alleviate the disadvantages of the prior art.

SUMMARY OF THE INVENTION The present invention proposes a new class of crossover filters suitable for, inter alia, crossing over between pairs of loudspeaker transducers. The crossover filters of the present invention may include a pair of filters such as a high pass and a low pass filter. Each filter may have an amplitude response that may include a notch or null response at a frequency close to or in the region of the crossover frequency. A notch or null response above the crossover frequency in the low pass filter and below the crossover frequency in the high pass filter may provide a greatly increased or steeper roll off for each filter of the crossover for any order of filter. Notwithstanding the notch or null response the amplitude responses of the pair of filters may be arranged to add together to produce a combined output that is substantially flat or constant in amplitude at least across the region of the crossover frequency. Benefits of such an arrangement include improved amplitude response and improved out of band signal attenuation close to the crossover frequency for each band.

It may be shown that the transfer function of the summed output of nth order crossover filters wherein each filter incorporates a second order notch is LOW-PASS HIGH-PASS (1 k2s 2

TX

2 sn- 2 Tx n 2 k 2 s 2 Tx 2 F(sTx)n (1) FDENn (sTx) where k is the ratio of lower notch frequency fNL in the high-pass response to the crossover or transition frequency fx k fNL/fx fX/fNH WO 01/19132 PCT/AU00/01036 3 and where fNH is the higher notch frequency in the low-pass response, and Tx is the associated time constant of the crossover frequency Tx l/2tfx The present invention is applicable to notches of higher order but second order notches are sufficient to illustrate the principle.

The common denominator FDENn (sTx) is derived from the numerator of the summed response by factorising it into first and second order factors, changing the signs of any negative first order terms in those factors to positive and then re-multiplying all the factors together. The summed response thus becomes an all-pass function whose numerator is the product of all the factors of the original numerator with negative first order terms.

According to one aspect of the present invention there is provided an improved filter system including a low pass filter having a response which rolls off towards a crossover frequency and a high pass filter having a complementary response which rolls off towards said crossover frequency such that the combined response of said filters is substantially constant in amplitude at least in the region of said crossover frequency, wherein said response of said low pass filter is defined by a low pass complex transfer function having a first numerator and a first denominator and said response of said high pass filter is defined by a high pass complex transfer function having a second numerator and a second denominator and wherein said second denominator is substantially the same as said first denominator and the sum of said first and second numerators has substantially the same squared modulus as said first or second denominator.

The low pass filter may include a first null response at a frequency in the region of and above the crossover frequency. The first null response may be provided by at least one complex conjugate pair of transmission zeros such that their imaginary parts lie in the stop band of the low pass transfer function within the crossover region. The high pass filter may include a second null response at a frequency in the region of and below the crossover frequency. The second null response may be provided by at least one complex conjugate pair of WO 01/19132 PCTIAU00/01036 4 transmission zeros such that their imaginary parts lie in the stop band of the high pass transfer function within the crossover region.

According to a further aspect of the present invention there is provided a method of tuning a filter system including a low pass filter having a response which rolls off towards a crossover frequency and a high pass filter having a complementary response which rolls off towards said crossover frequency such that the combined response of said filters is substantially constant in amplitude at least in the region of said crossover frequency, said method including the steps of: selecting a filter topology capable of realizing a low pass complex transfer function defined by a first numerator and a first denominator; selecting a filter topology capable of realizing a high pass complex transfer function defined by a second numerator and a second denominator; setting the second denominator so that it is substantially the same as the first denominator; and setting the squared modulus of the sum of the first and second numerators so that it is substantially the same as the squared modulus of the first or second denominator.

The method may include the step of determining coefficients for the transfer functions and the step of converting the coefficients to values of components in the filter topologies.

The invention may be realised via networks of any desired order depending upon the desired rate of rolloff for the resultant crossover. The invention may be realised using passive, active or digital circuitry or combinations thereof as is known in the art. Combinations may include but are not limited to an active low pass and passive high pass filter pair of any desired order, digital low pass and active high pass filter of any desired order, passive low pass and passive high pass filter of any desired order, digital low pass and digital high pass filter of any desired order, and active low pass and digital high pass filter realisations.

WO 01/19132 PCT/AU00/01036 The invention may be further realised wherein the filter response is produced with a combination of electrical and mechano-acoustic filtering as may be the case where the electroacoustic transducer and/or the associated acoustic enclosure realise part of the filter response.

DESCRIPTION OF THE DRAWINGS Preferred embodiments of the present invention will now be described with reference to the accompanying drawings wherein: Fig. 1 shows generalised responses of even order notched high-pass and low-pass filters; Fig. 2 shows a schematic circuit diagram for sixth order active high pass and low pass filters; Fig. 3a shows the amplitude response for the low pass filter in Fig. 2; Fig. 3b shows the phase response for the low pass filter in Fig. 2; Fig. 4a shows the amplitude response for the high pass filter in Fig. 2; Fig. 4b shows the phase response for the high pass filter in Fig. 2; Fig. 5a shows the summed amplitude response for the low and high filters in Fig. 2; Fig. 5b shows the summed phase response for the low and high pass filter in Fig. 2; Fig. 6 shows responses of fourth order notched high-pass and low-pass filters; Fig. 7 shows group delay responses for filters crossing over at 1 kHz; Fig. 8 shows phase responses of fourth order (k 0.5774) low-pass (upper) and high-pass (lower) filters; Fig. 9. shows a Sallen Key active filter incorporating a bridged-T network; Fig. 10 shows a Sallen Key active low-pass filter; Fig. 11 shows a Sallen Key active high-pass filter; Fig. 12(a) shows a passive fourth-order low-pass filter (first kind); Fig. 12(b) shows a passive fourth-order high-pass filter (first kind) WO 01t19132 PCT/AU00/01036 6 with components transformed CnH Tx 2 LnL LnH TX 2 CnL from Fig 12(a); Fig. 12(c) shows a passive fourth-order high-pass filter (first kind) with inductances the result of A-Y transformation from Fig 12(b); Fig. 12(d) shows a passive fourth-order high-pass filter (first kind) with inductances of Fig 12(c) realised as a coupled pair (series opposing); Fig. 13(a) shows a passive fourth-order low-pass filter (second kind); Fig. 13(b) shows a passive fourth-order low-pass filter (second kind) with inductances of Fig 13(a) realised as a coupled pair (series opposing); Fig. 13(c) shows a passive fourth-order high-pass filter (second kind); Fig. 13(d) shows a passive fourth-order high-pass filter (second kind); Fig. 14 shows normalised input resistances and reactances of passive fourth-order filters with k 0.5774 k 2 1/3 typical of all fourth-order notched crossovers; Fig. 15 shows normalised input resistances and reactances of third-order passive filters for Butterworth crossovers; Fig. 16 shows normalised input resistances and reactances of fourthorder passive filters for Linkwitz-Riley crossovers (equivalent to notched crossovers with k and Fig. 17 shows an analog in the acoustical domain of the low-pass and high-pass filters shown in Figs. 13(a) and 13(b).

DESCRIPTION OF PREFERRED EMBODIMENTS The generalised responses of even-order notched crossovers are shown in Fig 1. FNL is the lower null centre frequency for the high pass filter, FNH is the upper null centre frequency for the low pass filter, FPEAKH is the upper peak frequency for the low pass filter, FINNERL is the highest frequency at which the output of the high pass filter equals the peak value below the null for the high pass filter, FINNERH is the lowest frequency at which the output of the low pass filter equals the peak value above the null for the low pass filter and Fx is the crossover or transition frequency. The in-band response of each filter rises at first to a small peak at the frequency of the out-of-band peak of the other filter. It then falls WO 01/19132 PCT/AU00/01036 7 back to reference OdB level at the other filter's notch frequency, and onwards to at the transition frequency fx.

The response falls to a null at its fN, then rises to dBPEAK at fPEAK before falling away again at extreme frequencies at a rate, for an nth order filter, of 6(n-2)dB per octave. The effective limit of its response is at flNNER where it has first passed through dBPEAK Figure 2 shows the schematic circuit diagram for a sixth order active circuit embodiment of the invention. In this figure the low pass filter includes IC2, IC3 and IC4 and the high pass filter includes IC5, IC6 and IC7. An inverter, ICI is provided between the low and high pass filters to correct phase for the signals.

IC3 and associated network generate the required second order filter transfer function for the low pass filter and IC2 and associated network generate two single order cascaded section responses as required. IC4 realises the notch in the low pass filter utilising Sallen Key topology as known in the art. IC7 realises the notch in the high pass filter also utilising Sallen Key topology as known in the art. IC6 and associated network generate the required second order filter transfer function for the high pass filter and IC5 and associated network generate two single order cascaded section responses as required.

The filter sections use Sallen Key topology as known in the art. The outputs of IC4 and IC7 provide signals to the low and high frequency electroacoustic transducers respectively. Inspection of signals in this network will reveal the response curves shown in figures 3, 4 and The solid curves of Fig 6 are for notched responses with k 2 figures of /3 ,1/4 and /5 The dashed curves, for comparison, are for Linkwitz-Riley responses of second order (upper) and fourth order (lower), with the same crossover frequency. In all cases, the notched response first reaches the level of dBPEAK at flNNER, while the Linkwitz-Riley response reaches it near fPEAK, which is more than 1.5 times (0.6 octave) further away.

WO 01/19132 PCTIAU0001036 8 Beyond the notches, the fourth order responses eventually run parallel to the second order Linkwitz-Riley response, but k 2 times lower, i.e. by 9.5dB, 12.0dB or 14.0dB.

In Fig 7, the solid curves of group delay for the same notched responses are compared with the dashed curves for Linkwitz-Riley responses of fourth order (upper) and second order (lower). The curves are for a crossover frequency of 1 kHz. For other crossover frequencies, the frequencies can be scaled in proportion, while the group delays are scaled in inverse proportion to the crossover frequency. The curves apply equally to low-pass, high-pass and summed outputs.

The transfer functions of the low-pass, high-pass and summed outputs of these even-order crossovers have numerators whose terms are all of even order.

Thus they make no contribution to the group delay, and since all have the same denominator, the one curve of group delay applies to all.

In Fig 8, the curves of phase difference between input and output for the lowpass and high-pass filters are parallel at all frequencies. They are a constant 3600 apart at all frequencies between the notches and 1800 apart at all frequencies beyond.

The results presented in Figs 6, 7 8 for fourth order notched responses with k 2 1/3 may be taken as generally typical of other even order notched responses with different values of k 2 The responses of the odd-order functions are similar to those of even order, except that, because the individual high- and low-pass outputs combine in quadrature, each is now down to -3.0dB, instead of -6.0dB, at the crossover frequency fx The individual outputs now have a constant phase difference of 900 at frequencies between the two notches. At frequencies beyond, the inversion of polarity leaves the two outputs to still add in quadrature. Thus the in-band responses now fall initially, by less than 0.01dB, before rising to WO 01/19132 PCT/AU00/01036 9 reference level and then falling again to the stop band, in the manner of odd order elliptic function filters.

It turns out, not surprisingly, that when k is zero, so that the notch frequencies move outwards to zero and infinite frequencies, the transfer functions degenerate into Butterworths for odd order functions and double Butterworths Thiele Optimum passive loudspeaker dividing networks Proc. IREE Aust, Vol 36, No 7, July 1975, pp. 220-224] Linkwitz-Rileys Linkwitz Active crossover networks for non-coincident drivers JAES. Vo. 24. No.1, January/February 1976, pp.2-8 and in Audio Engineering Society, Inc, New York, October 1978, pp. 367-373]) for the even order functions.

The group delay responses are similar to the "parent" response of the same order, with a somewhat lower insertion delay at low frequencies and a somewhat higher peak delay at a frequency below the transition fx as can be seen in Tables 1, 2 and 3 and Fig 7, before diminishing towards zero at very high frequencies. This will become clearer from examining specific examples.

Even-Order Responses Even order responses are dealt with first which, like their "parent" Linkwitz-Riley responses, are more forgiving than the odd-order, Butterworth, responses of frequency and phase response errors in the drivers, and have better directional "lobing" properties.

Second Order Response: There are no useful second order functions.

Fourth Order Response: The high-pass and low-pass outputs are combined by addition.

LOW-PASS HIGH-PASS 1 k 2 s 2 Tx 2 s 2

TX

2 k 2 s 2

T

2 F(sTx )4 F(sTx)DEN4 F(sTx)DEN4 is derived by factorising the numerator WO 01/19132 WO 0119132PCTALJOOIOIO36 F(sTx)NuM4 1 2 2 2 T X 2

S

4 Tx 4 1 sTx'i f2(1 k 2

S

2

TX

2 1 sTxq {2(l k 2 s 2

TX

2 I-(4) For the equivalent minimum-phase function of F(sT)DEN4 the minus sign of the second term becomes positive, so that F(sT.)DEN4 1 X 4 sTx +S sT X 2 ]2 where x4 =41[2(1-k 2 (6) from which the individual low-pass and high-pass functions are 1 k 2

S

2 T X 2 F(sTx)LP 4 (7) [1 x 4 sTx s 2

TX

2

I]

2 and s 2 T X 2 (k 2 s 2

TX

2 F(sTx)HP 4 (8) 1 x4sTx s 2

TX

2 ]2 and the summed response is the second order all-pass function 1 X 4 sTx s TX 2 F(sTx)Y- 4 (9) 1 X~sTx s TX 2 When k shrinks to zero, then x 4 becomes 'J2 as in the 2nd order Butterworth function, so that F(sTx)LP4 and F(sTx)HP 4 become 4th order Linkwitz-Riley functions.

The generalised notched responses are plotted in Fig. 1, and the values for the fourth order responses are shown in Table 1 in terms of a crossover frequency fx of 1000 Hz. The height of the peak amplitude following the notch is dBpeak WO 01/19132 PCT/AU00/01036 11 In the bottom row of Table 1, figures for group delay response of the Linkwitz- Riley function for k 0 are shown for comparison. Also the frequencies dB 40 dB 35 and dB 30 where the Linkwitz-Riley response is down 40dB, 35dB and respectively, replace fpeakL, fNL etc.

It may be seen that steepness of the initial attenuation slope can be traded for magnitude of the following peak.

Table 1. Fourth Order Responses. Peak dB, Out-of-Band Frequencies(Hz) Group Delays(p.s) for various values of k k 2 dBpeak fpeakL fNL finnerL f fnnerH fNH fpeakH Insertion PeakGp at Delay(ps) Delay Hz 1/3 -30.4 414 577 633 1000 1580 1732 2415 368 613 796 1/4 -35.7 355 500 550 1000 1820 2000 2818 390 589 759 1/5 -39.7 316 447 491 1000 2037 2236 3162 403 577 741 0 317 367 425 1000 2352 2726 3154 450 543 644 dB35L dB 3 0L dB30H dB35H The responses at fx are -6.02dB for all values of k. The group delay figures for other frequencies of fx can be scaled inversely with frequency from those quoted above.

Sixth Order Responses: The sixth order functions are derived in a manner similar to the fourth order functions. As in the sixth order Linkwitz-Riley functions, the high-pass and low-pass outputs are combined by subtraction.

LOW-PASS HIGH-PASS (1 k2s 2 Tx 2 s4T 4 k 2 s 2

T

2 F(sTx)6 sTx)(1 xesTx s 2

T

2 )]2 where x 6 (1 k 2 -(11) and the summed response is the third order all-pass function WO 01/19132 WO 0119132PCT/AUOOIOIO36 12 (1 sTx)(1 x 6 sTx s 2 Tx 2 F(sT,,)z 6 (1 sTx)(1 x 6 sTx S 2 Tx 2 (12) 1 Table 2. Sixth Order Responses. Peak dB, Out-of-Band Frequencies(Hz) Group Delays(its) for various values of k k(2 dBpeak fpeakL &NL finnetL fX finnerH fpea.kH insertion Peak Gp at Delay Dela y(ps) Hz 0.5480 -30-0 617 740 779 1000 1283 1351 1622 532 1146 93C 10 0.4653 -35.0 565 682 719 1000 1391 1466 1771 555 1075 91,r 0.3915 -40.0 515 626 660 1000 1515 1598 1940 567 1025 901 0 465 512 565 1000 1769 1951 2151 637 873 81~ dB 4 oL dB 3 5L dB30L dB 3 OH dB 35 H dB 4 0H Eighth Order Responses: Again the eighth order functions are derived in a manner similar to that for the earlier functions. The low-pass and high-pass outputs are combined by addition.

LOW-PASS HIGH-PASS (1 k 2

S

2

TX

2

S

6

TX

6 k 2 +S S 2

TX

2 F(sTx)7, 8 (13) x 8 isTx s 2 T X 2 X82sTx S 2 Tx 2

)W

where X8 8+14) 1/ X2= k 2 4(8 k 4 )11/21 1/2 -(14) and the summed response is the fourth order all-pass function (1 x 8 isTx S 2 T X 2

X

82 sTx S 2

TX

2 F~sT)ZB= (16) (1 X 8 1 sTx S 2 Tx 2

X

82 STx S 2 Tx 2 WO 01/19132 PCT/AU00/01036 13 Table 3. Eighth Order Responses. Peak dB, Out-of-Band Frequencies(Hz) Group Delays(jps) for various values of k k 2 dBpeak fpeakL fNL finnerL fX finnerH fNH fpeakH Insertion Peak Gp at 0.6628 -30.0 0.5906 -35.0 0.5224 -40.0 0 719 675 632 652 dBoL 814 843 769 797 723 750 606 563 dB35L dB 3 oL 1000 1000 1000 1000.

1186 1255 1333 1534 dB30H 1228 1301 1384 1651 dB35H Delay Delay(pus) Hz 1392 710 1761 965 1483 727 1643 956 1581 742 1558 949 1776 832 1244 888 dB 4 0H Odd Order Responses In the same way as the "parent" Butterworth functions, the high-pass and lowpass outputs, which add in quadrature, can be summed either by addition or subtraction for a flat overall response. However, the maximum group delay error, i.e. the difference between the peak and insertion delays, is lower when the 3rd and 7th order outputs are subtracted and when the 5th (and 9th) order outputs are added.

Third Order Response: LOW-PASS HIGH-PASS 1 k 2 2 Tx 2 STx k 2 s 2

T

2 F(sT,)T 3 (17) sTx x 3 sTx s 2 Tx 2 F(sTx)DEN3 is derived by first factorising the numerator F(sTx)NuM3 (1 k 2 sTx k 2 s 2

T

2 s 3 Tx 3 (1 sTx) [1 (1 k 2 )sTx s 2

T

2 For the equivalent minimum-phase function of the denominator F(STx)DEN3, the minus sign of the first term becomes positive, so that F(sTx)DEN3 (1 STx (1 k 2 )STx S 2 Tx 2 WO 01/19132 WO 0119132PCT/AUOO/01036 Thus (1 STx (1 X 3 sTx S 2 Tx 2 F(sT.,)1 3 1 sTx -(18) 1 sTx (1 sTx

X

3 sTx s 2

TX

2

X

3 1 -k 2 where -(19) Fifth Order Response: LOW-PASS HIGH-PASS (1 k 2

S

2 T X 2

S

3

TX

3 k 2 +s s 2

TX

2 F(sTx)y 5 (1 sTx (1 X 5 1 sTx S 2 Tx 2

X

52 sTx +S sTX 2 (1 X 52 sTx s 2

TX

2 (second order all pass) (21) where and (1 X 52 sTx s 2

TX

2 X1= 1+ (5 -4k 2 )]2

X

52 1+1+ 4(5 -4k 2 2 (22) (23) Seventh Order Response: LOW-PASS HIGH-PASS (1 k 2

S

2

TX

2

S

5

TX

5 k 2 +S s 2

TX

2 F~T)7= (24) (1 sTx X 7 1 sTx S 2 Tx 2

X

72 sTx s 2 T X 2

X

73 STx S 2

TX

2 (1 sTx X 72 sTx +S sTx 2 third order all pass) (1 sTx X7 2 sTx s 2

TX

2 The x coefficients of the factors of the seventh order numerator are found from the roots of the equation X7 3 X72- k 2

)X

7 (1 -k 2 0 (26) Of the three roots the largest and the smallest magnitudes x 7 1 and X 73 are positive. The middle magnitude root is negative, and its sign is changed to positive to produce X72. Thus for example, when k 2 0.5, the roots of the WO 01/19132 PCT/AU00/01036 equation are +1.7071, -1.0000 and +0.2929, so the coefficients x 71 x 72 and

X

73 are 1.7071, 1.000 and 0.2929 respectively.

Typical results for the odd order responses are not tabulated because they are believed to be of less interest than the even order responses.

Special Uses of Notched Crossovers In notched crossovers, the initial slope of attenuation is greatly increased over that of an un-notched filter of the same order, and the minimum out-of-band attenuation can be chosen by the designer, 30dB, 35dB, 40dB or whatever.

However the attenuation slope is eventually reduced by 12dB per octave at extreme frequencies. The maximum group delay error is also increased somewhat, though never as much as that for the un-notched filter two orders greater.

These functions should be specially useful when crossovers must be made at frequencies where one or other driver, assumed to be ideal in theory, has an amplitude and phase response that deteriorates rapidly out-of-band, a horn for example near its cut off frequency. Another application is in crossing over to a stereo pair from a single sub-woofer, whose output must be maintained to as high a frequency as possible so as to minimise the size of the higher frequency units, yet not contribute significantly at 250Hz and above where it could muddy localisation.

Realising the Filters From the designer's point of view, the crossovers are most easily realised as active filters, with each second order factor of the transfer functions realised in the well-known Sallen and Key configuration Sallen B.L. Key A practical method of designing RC active filters Trans. IRE, Vol CT-2, March 1955, pp.74-85]. An exception is the one factor which provides the notch, with a transfer function of the form, for the low-pass filter, 1 qs(kTx) s 2 (kTx) 2 F(sTx) (27) 1 xsTx s 2 Tx 2 WO 01/19132 PCT/AUOO/01036 16 and for the high-pass filter, 1 qs(Tx s 2 (Tx /k) 2 F(sTx) (28) 1 xsTx s2 x 2 where q is ideally zero and x is the coefficient appropriate to one factor of the desired denominator, e.g. x 4 4{2(1 k 2 for the factors of the fourth order crossover.

While q may be made zero in active filters using cancellation techniques, which depend on the balance between component values, quite small values of q can be realised in a Sallen and Key filter that incorporates a bridged T network [R.P.

Sallen B.L. Key A practical method of designing RC active filters Trans.

IRE, Vol CT-2, March 1955, pp.74-85, A.N. Thiele Loudspeakers, enclosures and equalisers Proc. IREE Aust, Vol. 34, No. 11, November 1973, pp. 425- 448]. Unless a deep notch is really necessary, it will often be sufficient to let the notch "fill up" with a finite value of q. In passive filters, its reciprocal Q the "quality factor" of the reactive elements, has the same effect.

In the sixth order notched crossover, for example, when the height of out-of band peaks are -30dB, -35dB and -40dB, then figures for q of 0.16, 0.14 and 0.10 respectively ensure that the attenuation at the erstwhile notch frequency is no less than at the erstwhile peak and that there is no significant change in response at neighbouring frequencies.

Component values are tabulated in Table 4 for the network of Fig 9 to realise the function 1 XNSTN S 2

TN

2 F(sTD) (29) 1 xDSTD S 2

TD

2 WO 01/19132 PCT/AU0/01036 17 Table 4. Component Values for Sallen Key Active Filters incorporating a Bridged-T Network, realising Low-Pass and High-Pass Filters for 6th Order Notched Crossovers with fx 1 kHz.

Tx= TD 159.2 s (TN)LP kTx (TN)HP= Tx/k Both capacitances C1 C2 are 4.7nF all resistances in kohms k Filter type XN TN XD TD Rla Rlb R2 R3 R4 0.7403 LP 0.1600 117.8 0.6723 159.2 40.68 2.109 313.4 33.55 co HP 0.1600 215.0 0.6723 159.2 74.23 3.849 571.8 0 693.3 0.6821 LP 0.1400 108.6 0.7313 159.2 29.95 1.709 330.0 34.42 co (-35dB) HP 0.1400 233.3 0.7313 159.2 64.37 3.674 709.2 0 617.0 0.6257 LP 0.1000 99.58 0.7801 159.2 21.37 1.115 423.7 33.22 co HP 0.1000 254.4 0.7801 159.2 54.59 2.847 1082 0 696.3 The second factor of the sixth order transfer function is produced by active highpass (with numerators of s 2 Tx 2 or low-pass filters (with numerators of 1 with denominators 1 XDsTD s 2

TD

2 where XD and To are as specified, for example, in Table 4.

The low-pass transfer function 1 F(sTD)LP 1 xosTo s 2

TD

2 is realised by the circuit of Fig. 10. First, component values are chosen for C1 and C2. Then the resistances R1 and R2 are defined as the two values of R1, R2 [TD/C2][(xD 2) {(xD 2) 2 (C2 (31) Note that C2/C1 must be less than (XD /2)2 The nearer the two ratios are to each other, the more nearly equal will be R1 and R2. Preferably R1 is chosen as the larger.

The high-pass transfer function WO 01/19132 PCT/AUOO/01036 F(STD)HP 1 XDsTD s 2

T

2 (32) is realised by the circuit of Fig. 11. C1 and C2 are chosen preferably as equal values C1. Then R1 (XD /2)(T

D

C1) R2 (2/xD)(TD/C1) -(33) -(34) There still remain the transfer functions with the denominators F(sTD) (1 sTD )2 These can be realised simply by cascading two CR sections whose CR products are each To In each filter one CR network could be cascaded with the input, the other with the output. Alternatively the second order functions could be realised in the Sallen and Key filters of Figs 10 11 with XD 2, where for both high-pass and low-pass filters C1 is equal to C2 and R1, equal to R2, is To C1.

In this way, each overall sixth-order transfer function is realised by cascading two or three active stages 1 qksTx k 2 s 2 Tx 2 1 1 F(STx)LP (36) 1 X 6 sTx s 2 Tx 2 1 X 6 STx s 2 Tx 1 2STx s2TX 2 k 2 qksTx s 2 Tx 2 s 2 Tx 2 s2TX 2 F(sT)HP 1 x 6 STx s 2 Tx 2 1 X e STx s 2

TX

2 1 2sTx s2TX 2 (37) and the high and low-frequency drivers are connected in opposite polarities.

The coefficient q is of course ideally zero.

WO 01/19132 PCT/AU00/01036 19 The addition of signals to produce a seamless, flat, output assumes of course ideal drivers. If the response errors of the higher frequency, tweeter, driver exceed the propensities for forgiveness of the even order crossover, the middle factor of eqn (37) could be substituted by the equalising transfer function 1 sTs /QT S 2 Ts 2 F(sTx) (38) 1 X 6 sTx s 2 Tx 2 where Ts 1/2Hfs and fs is the resonance frequency of the tweeter and QT its total Q. This could be realised in an active filter of the same kind as Fig. 9 Thiele Loudspeakers, enclosures and equalisers Proc. IREE Aust, Vol.

34, No. 11, November 1973, pp. 425-448] When this function is cascaded with the transfer function of the driver s2s 2 F(sTs) (39) 1 sTs /QT s 2

TS

2 the numerator of eqn (38) cancels with the denominator of eqn (39) to produce the ideal transfer function of the middle factor of eqn. (37).

However, this procedure applies only to crossover functions of sixth or higher order. It must be remembered that the notched crossover, while a sixth order function around the transition frequency, goes to a fourth order slope at extreme frequencies. Thus, because the excursion of a driver rises towards low frequencies at 12dB per octave above its frequency response, its excursion is attenuated only 12dB per octave after such equalisation of a sixth order highpass notched filter.

If a similar procedure were applied to a tweeter with a 4th order notched crossover function it would afford incomplete protection against excessive excursion at low frequencies.

WO 01/19132 PCTIAUOO/01036 Passive Filters The fourth order passive filters can be realised using the networks of either Fig.

12 or Fig. 13. Either C3L is parallelled across L2L, as in Fig 12(a) or L3H across C2H as in Fig 12(b) or L3L is inserted in series with C1L, as in Fig 13(a) or C3H in series with L1H as in Fig. 13(c). The component values for a low-pass filter of the first kind, in Fig. 12(a), are calculated from the expressions C1L [3(3 k 2 )/4x4 ][Tx/Ro] C2L -3k 2 )/2x4 ][Tx/Ro] (41) C3L [k 2 (3 k 2 )/{2x 4 (1 /Ro] (42) L1L [4x4/(3-k 2 ]TxRo (43) L2L [2x4 (1 k 2 (3 k 2 ]Tx Ro (44) where X4 4[2(1 k 2 The corresponding high-pass components are calculated from the low-pass components, in all cases, using the generalised expressions CnH Tx 2 LnL (45) and LnH Tx 2 /CnL (46) The resulting high-pass filter, Fig 12(b), can additionally be adapted to sensitivity control using an auto-transformer Shorter A survey of performance criteria and design considerations for high quality monitoring loudspeakers Proc. lEE 105 Part B, 24 November 1958, pp. 607-622 also reprinted and in Loudspeakers, An Anthology, Vol 1 Vol 25 (1953-1977), ed.

R.E. Cooke Audio Engineering Society, inc, New York, October 1978, pp. 56- 71, A.N. Thiele An air cored auto-transformer (to be published)]. However that network requires high values in the n network of inductances transformed from the n network of capacitances C1L, C2L and C3L, especially L2H, transformed from the small values of C2L. In fact, when k 2 is 1/3, then C2 is WO 01/19132 PCT/AU00/01036 21 zero and L2H goes to infinity. They are more easily realised from a A-Y transformation into the network of Fig. 12(c), where C1H [(3-k 2 )/4x 4 [Tx/Ro] (47) C2H k 2 )/2 4 (1 k 2 /Ro] -(48) L1H' [4x 4 (1 k 2 3k 2 k 2 2 ]Tx Ro (49) L2H' [6x 4 (1 k 2 k 2 )Tx Ro L3H' [4x 4 k 2 k 2 )]Tx Ro (51) The set of three inductances can be realised either individually or, more conveniently, from two inductors L1 H' L2H' [2x 4 (1 k 2 )(11 9k 2 k 2 2 ]Tx Ro (52) L1H' L3H' [4x 4 (1 k 2 2k 4 k 2 2 ]Tx Ro (53) which are wound separately and then coupled together in series opposition so that their mutual inductance is L1H', i.e. the coupling coefficient between them is I kCOUPLING I [2 (1 k 2 3k 2 2 (1 k 2 2k 4 )(11 9k 2 11 2 (54) The resulting filter, Fig. 12(d), may look rather strange but is eminently practical. The mutual inductance is realised in L1H' rather than L3H' because that procedure leads to smaller sum inductances L1H' L2H' and L1H' L3H' over the range of k 2 between 0.333 and 0.157 that is of most practical use.

The coupling coefficients kCOUPLING are small enough to be easily achieved.

To produce the required coupling, the spacing between the two coils is adjusted until their inductance, measured end to end, is L2H' L3H'. The procedure realises all the inductances in the one unit, which can include an air-cored autotransformer Thiele An air cored auto-transformer (to be published)] and WO 01/19132 PCT/AU0/01036 22 is easily mounted without any worry about stray couplings between individual inductors In the alternative realisations of the second kind, in Fig 13(a), the lowpass components are C1L [9(1 k 2 )/4X4[TX /Ro] C2L Tx /2x 4 Ro (56) L1L 4x 4 TxRo/3 (57) L2L 2x4TxRo3 (58) L3L [4x 4 k 2 /9(1 -k 2 )TxRo (59) This second version of the low-pass filter, Fig. 13(a) again needs three inductances, and can again be produced by winding one coil to a value of L1L L3L another with a value of L2L L3L and coupling them together in series opposition to produce L3L as the mutual inductance between them, as in Fig.

13(b). This is again produced by varying their coupling until I k COUPLING I [2k 4 2k 2 k 2 1 2 and the inductance end-to-end reads L1L L2L. Again there is only the one component to mount and no further need to position the inductors to avoid stray coupling. Also in this case, because the mutual inductance L3L is free of a resistive component, the filter is capable of a better null.

The high-pass component values for Fig 13(c) are again derived from the lowpass values via eqns (45) and (46).

Each version has its uses. In the first kind, Fig. 12(a), C2L goes to zero when k 2 1/3, i.e. when the following peak height is -30.4dB. Larger values of k WO 01/19132 PCT/AU00/01036 23 require a negative mutual inductance, but are unlikely to be needed in practice, with following peak heights higher than -30dB. The high pass filter of the second kind, Fig 13(c) is less desirable than the first kind. It requires three capacitors, one of which C3 is comparatively large.

Component values for a crossover frequency of 1000 Hz and a terminating resistance of 10 ohms are presented in Table 5 for all four realisations of each of the three fourth order versions, with following peaks of approximately -30dB, and Table 5. Fourth Order Passive Notched Crossovers. Component Values for fx 1000 Hz and Ro= 10 ohms Low-Pass Filter (with C3 in parallel with L2) k L1(pH) C1(uF L2(pF) 0.5774 2757 27.57 919 0.5000 2835 26.80 1063 0.4472 2876 26.42 1150 0 3001 25.32 1501 High-Pass Filter (with LI L2 L3 in network k C1(pF) L 1(H) C2(pF) 0.577 9.189 0 27.57 0.5000 8.934 193.3 23.82 0.4472 8.808 328.7 22.02 0 8.440 1000.3 16.88 Low-Pass Filter (with L3 in series with C1) k L(uH) C1(iF) L3(uH) 0.5774 2450 20.68 408.4 0.5000 2599 21.93 288.8 0.4472 2684 22.65 223.7 0 3001 25.32 0 High-Pass Filter (with C3 in series with L1) k C1(pF) L?(uH) C3(pF) 0.5774 10.34 1225 62.02 C3(pF) 9.189 5.956 4.404 0 around C2) L3(pH) 918.9 708.8 575.2 0 L2(/H) 1225 1299 1342 1501 C2(pF) 20.68 C2(,F) 0 1.624 2.516 5.627 L2(uH) 2757 3190 3451 4502 C2(pF) 6.892 6.497 6.291 5.627 L2(uF) 3676 3898 kCOUPLING 0 0.1107 0.1778 0.4264 kcOUPLING 0.1890 0.1348 0.1048 0 0.5000 9.746 1155 87.72 19.49 WO 01/19132 PCT/AUOO/01036 24 0.4472 9.437 1118 113.2 18.87 4026 0 8.440 1000 0o 16.88 4502 Input Impedance The input impedances of the passive filters are identical for the two kinds of realisations in Figs 12 and 13.

The input impedances of passive crossover filters are best assessed by splitting them into parallel components of resistance R and reactance X, that of the lowpass filter into RLP and XLP and that of the high-pass filter into RHP and XHP. The resistances RLP and RHP vary in inverse proportion to their responses or, more precisely, to the powers that reach their outputs.

When the inputs of the two filters are connected in parallel, the resulting joint input resistance is RIN RLPRHP (RLP RHP) (61) while the joint input reactance XIN XLPXHP (XLP XHP) (62) Then ZIN 1 /l[(1/RIN 2 (1/XIN 2 (63) Values of these quantities, for a notched crossover with k 2 1/3, i.e. k 0.5774, derived as in Appendix A, are shown in Table 6.

Table 6. Input Impedance ZIN and Parallel Components of Resistance R and Reactance X (ohms) of Fourth Order Notched Low Pass and High Pass Filters Crossover frequency fx 1000 Hz, Notch ratio k 0.5774, Terminating Resistance ohms f(Hz) 316 398 501 631 794 1000 1259 1585 1995 2512 3162 WO 01/19132 PCT/AU00/01036 RLP() 9.5 9.4 9.6 10.6 15.3 40.0 270.9 12.0K 18.8K 11.0K 16.3K XLp(f 2 42.1 .29.6 20.2 14.0 10.9 11.6 16.2 23.6 31.9 41.5 53.1 RHp(W) 16.3K 11.0K 18.8K 12.0K 270.9 40.0 15.3 10.6 9.6 9.4 9.5 XH -53.1 -41.5 -31.9 -23.6 -16.2 -11.6 -10.9 -14.0 -20.2 -29.6 -42.1 RLPh/P(Q) 9.5 9.4 9.6 10.6 14.5 20.0 14.5 10.6 9.6 9.4 XLP/Hp(.

2 203.1 103.4 55.3 34.3 33.6 oo -33.6 -34.3 -55.3 -103.4 203.1 ZIN(Q) 9.5 9.4 9.4 10.1 13.3 20.0 13.3 10.1 9.4 9.4 They are also plotted in Fig 14, where they can be compared with similar plots in Fig 15, for a Butterworth crossover, and Fig 16, for a Linkwitz-Riley crossover which, as we have seen already, may be considered as a notched crossover with k 0.

In Fig. 14 solid curves show RHP (top left), RLP (top right) and RIN (lowest middle), and dashed curves show XLP (lowest on left), XHP (middle) and XIN (upper on left). XLP is +ve at all frequencies and XHP is -ve at all frequencies, so -XHP is plotted at all frequencies. XIN is +ve at low frequencies and -ve at high frequencies, so -XIN is plotted at high frequencies.

In Fig. 15 solid curves show RHP (top left) and RLP (top right) and dashed curves show XLP for low-pass filter. XHP has identical magnitude but -ve sign. RIN 1 at all frequencies and XIN is infinite at all frequencies. Therefore neither is plotted.

In Fig. 16 solid curves show RHP (top left), RLP (top right) and RIN (lowest middle), and dashed curves show XLP (lowest on left), XHP (middle) and XIN (upper on left). XLP is +ve at all frequencies and XHP is -ve at all frequencies, so -XHP is plotted at all frequencies. XIN is +ve at low frequencies and -ve at high frequencies, so -XIN is plotted at high frequencies.

WO 01/19132 PCT/AU00/01036 26 In Fig 15, the normalised input resistance RIN for the Butterworth crossover is 1 at all frequencies, so there is no point in plotting it. Since XLP -XHP their sum XLP XHP is zero and therefore XIN is infinite at all frequencies. This applies only to Butterworth crossovers, and then only when both filters are terminated in the same resistance Ro. However if, for example, XLP their combined XIN would be 3XHP, i.e. 2XLP and if RLP 1.5RLP then RIN 0.6RHP In both cases RIN and XIN would vary with frequency.

The input impedance of the notched and Linkwitz-Riley crossovers varies in a rather more complicated manner. The resistive and reactive components for the high-pass and low-pass filters are symmetrical in frequency in that their magnitudes for the high-pass filter at any frequency nfx are the same as those for the low-pass filter at the frequency fx/n The sign of the reactive components is always negative for the high-pass filter and always positive for the low-pass filter but their magnitudes are equal, and cancel in parallel, only at the transition frequency. At other frequencies, the magnitude of their combined reactance is never less than 3 times the nominal, terminating, impedance Ro The resistive component of each filter is 4Ro at the transition frequency, (the two in parallel present 2Ro rising rapidly at frequencies outside the pass-band.

In the notched crossover filters, the resistive component diminishes within the pass-band through Ro at the notch frequency of the other filter to a minimum, never lower than 0.94Ro, before returning to Ro at extreme frequencies. The reason is that, as explained earlier, each filter must, at frequencies in its passband beyond the notch of the other filter, deliver a power a little greater (0.27dB maximum) than its input so as to maintain a flat combined output. To produce more power from a low (virtually zero) impedance source, the filter must present a lower resistance component of input impedance.

Table 6 and Figs 14, 15 16 show that, in all types, the resistance component tends to dominate the input impedance. For example, if RIN is 10 Q and XIN is Q, then ZIN is 9.49 f. Nevertheless the presence of shunt reactance and its possible effect on the driving amplifier should always be kept in mind.

WO 01/19132 PCT/AUOO/01036 27 Like most passive crossovers, these networks require ideally an accurate and purely resistive termination. Unless the driver presents a good approximation to such a resistance, its input terminals will need to be shunted by an appropriate impedance correcting network[A.N. Thiele Optimum passive loudspeaker dividing networks Proc. IREE Aust, Vol 36, No 7, July 1975, pp. 220-224].

The notched crossover systems, especially those using even order functions, offer improvements in performance, particularly when rapid attenuation is needed close to the transition frequency. Although their performance in lobing with non-coincident drivers has not been examined specifically, it is expected to be similar to that of the Linkwitz-Riley crossovers, because their two outputs maintain a constant zero phase difference across the transition.

The passive filters that utilise coupling between inductors also offer convenience in realisation and in mounting in the cabinet as a single unit.

The odd-order functions, whose high-pass and low-pass outputs add in quadrature, have been included for completeness, though they would seem to be of less general interest than those of even order.

NON ELECTRICAL DOMAINS The present invention is readily applied to domains other than electrical domains because there exists a well understood correspondence between quantities such as current, voltage, capacitance, inductance and resistance in the electrical domain and counterparts thereof in the other domains. Table 7 shows the correspondence between analogous quantities in the electrical, mechanical and acoustical domains. The quantities are analogous because their differential equations of motion are mathematically the same.

WO 01/19132 PCTIAUOO/01036 28 Table 7 Electrical Mechanical Acoustical Current Amps Velocity m/sec Volume m 1sec velocity Voltage Volts Force N Pressure N/ m Z or Pa Capacitance Farads Mass kg Acoustical m/N compliance Inductance Henrys Mechanical m/N Acoustical kg/m compliance mass Resistance Ohms Mechanical m/Nsec Acoustical Nsec/m responsiveness resistance Figure 17 shows an example of a filter realized in an acoustical domain which is a direct analog of the low pass and high pass filters shown in Figs 13a and 13c.

In Fig. 17 C1, C2 and C4 are vented chambers, C3 and C5 are flexible membranes, D1 to D5 are ducts which may be of any cross-sectional shape but in this example will be assumed to be circular, and R1 to R2 are sieves which dissipate energy from fluids passing through them.

The input is pressure generator P1. The low frequency output is pressure at sensor V1 and the high frequency output is pressure at sensor V2.

Assume that the crossover frequency fx is 10 Hz. Then Tx 1/(2nfx) 15.9mS.

Assume that dBpeak in Fig 1 is set at -40dB, then according to Table 1, k 2 0.2, therefore k 0.447.

Assume that the sieves R1 and R2 each have acoustic resistance of 2000 NS/m 5 According to Equation 6, x4 q[2(1-k 2 =1.265 Using Equations 55 to 59 the following values are obtained.

C1L 11uF, C2L 3.1uF, L1L 53H, L2L 26H, L3L 4.4H WO 01/19132 PCTIAU00/01036 29 Duct D1 corresponds to L1L and has a corresponding acoustic mass of 53kg/m 4 Duct D2 corresponds to L3L and has a corresponding acoustic mass of 4.4kg/m 4 Duct D3 corresponds to L2L and has a corresponding acoustic mass of 26kg/m 4 Chamber C1 corresponds to C1L and has an acoustic compliance of 11 x 10- 6 m 5

/N.

Chamber C3 corresponds to C2L and has an acoustic compliance of 3.1 x 10 6 m 5

/N.

Using Equations 45 and 46 the remaining values can be defined as follows: Duct D4 corresponds to L1 H and has an acoustic mass of 22kg/m 4 Duct D5 corresponds to L2H and has an acoustic mass of 81kg/m 4 Chamber C4 corresponds to C3H and has an acoustic compliance of 57 x 10-6m 5

/N.

Membrane C3 corresponds to C1H and has an acoustic compliance of 4.7 x 10-6m/N.

Membrane C5 corresponds to C2H and has an acoustic compliance of 9.4 x 10-6m/N.

These values can be converted to physical dimensions using the conversions familiar to artisans in the acoustic domain. For example, assuming an air density (po) of 1.18kg/m 3 and speed of sound in air of 345 m/S, the length to cross sectional area ratios of the ducts in SI units will be acoustic mass divided by 1.18. Assuming a duct diameter of 200mm the length of ducts will be as follows: Duct D1 1.4m, duct D2 120mm, duct D3 710mm, duct D4 600mm, duct 2.1m.,The chamber volumes will be the acoustic compliance multiplied by p 0 c 2 which works out to 1.6m 3 for chamber C1, 0.44m 3 for chamber C2, 1.3m 3 for chamber C4. The membrane characteristics of C3 and C5 are such that the volume displaced divided by the pressure exerted on the membrane provides the values previously indicated.

WO 01/19132 PCT/AU00/01036 Finally, it is to be understood that various alterations, modifications and/or additions may be introduced into the constructions and arrangements of parts previously described without departing from the spirit or ambit of the invention.

WO 01/19132 PCT/AU00/01036 31 Appendix Parameters for Input Impedance of Passive Fourth Order Notched Crossover Filters The input impedances ZLP and ZHP of the passive low-pass and high-pass filters and their parallel combination ZIN are best considered by partitioning them into parallel components of resistance RLP RHP RIN and reactance XLP ,XHP ,XIN, whose values are derived below F 1- 2k 2 a 2 +a 4 1 2 RLP Ro I I (Al) L 1- k 2 a 2 S1 2k 2 a2 a 4 1 2 RLp Ro I I (A2) L k22 a 4

J

where the normalised frequency variable a coTx f/fx The expressions for the resistive components are, not surprisingly, inversely proportional to the squared magnitudes of the frequency responses of the filters, i.e. to the power that they absorb from the input. The resistive component of their parallel combination is (1 2k 2 a 2 a 4 2 RLP Ro (A3) 1 2k 2 a 2 2k 4 a 4 2k 2 a 6 +a 8 These are shown in the solid curves of Fig 14. The reactive components, shown in the dashed curves of Fig 14, are 44(2 2k 2 Ro (1 2k 2 a 2 a") 2 XLP (A4) 7k 2 )a (7 11k 2 10k 4 )a 3 (1 13k 2 6k4)a 5 (3 k2a 7 WO 01/19132 WO 0119132PCT/AUOO/010k36 32 441(2 2k) R 0 (1 2k 2 a 2 a 4

)T

XHP (3 k 2 )a (1 13k 2 6k 4 )a 3 (7 11k 2 10k 4 (5 A 2 )a 7 While XLP is positive at all frequencies, XHP is negative at all frequencies. Thus, because the y axis of Fig 14 must be plotted on a logarithmic scale to accommodate the great variations in magnitude XHP is plotted there as XHP.

242- 2 2 R (1 -2k 2 a 2 a 4

)T

XIN (1 3k 2 a 7 (3 k 2 +2k 4 3 a') Because XIN is positive at all frequencies below fx, and negative at all frequencies above fx,, it is plotted in Fig 14 as its magnitude IX,,NI. The combined input impedance ZIN is less than RIN by so small a margin that its plot would have needlessly cluttered Fig 14. It is therefore omitted.

Claims (31)

1. An improved filter system including a low pass filter having a response which rolls off towards a crossover frequency and a high pass filter having a complementary response which rolls off towards said crossover frequency such that the combined response of said filters is substantially constant in amplitude at least in the region of said crossover frequency, wherein said response of said low pass filter is defined by a low pass complex transfer function having a first numerator and a first denominator and said response of said high pass filter is defined by a high pass complex transfer function having a second numerator and a second denominator and wherein said second denominator is substantially the same as said first denominator and the sum of said first and second numerators has substantially the same squared modulus as said first or second denominator.

2. An improved filter system according to claim 1 wherein said low pass filter includes a first null response at a frequency adjacent and above said crossover frequency to provide initial rapid attenuation and said high pass filter includes a second null response at a frequency adjacent and below said crossover frequency.

3. An improved filter system according to claim 2 wherein said first null response is provided by at least one complex conjugate pair of transmission zeros such that their imaginary parts lie in the stop band of said low pass transfer function within the crossover region and said second null response is provided by at least one complex conjugate pair of transmission zeros such that their imaginary parts lie in the stop band of said high pass transfer function within the crossover region.

4. An improved filter system according to claim 1 when used as a crossover filter for signals in an electrical domain. A loudspeaker system including an improved filter system according to claim 4. WO 01/19132 PCT/AU00/01036 34

6. An improved filter system according to claim i when used as a crossover filter in an electromagnetic domain.

7. An improved filter system according to claim 1 when used as a crossover filter in an optical domain.

8. An improved filter system according to claim 1 when filter in an acoustical domain.

9. An improved filter system according to claim 1 when filter in a mechanical domain. used as a crossover used as a crossover An improved filter system according to claim 1 filter in two more domains simultaneously. when used as a crossover

11. An improved filter system according to claim 10 wherein said domains include electrical and acoustical domains.

12. An improved filter system according to claim 10 wherein said domains include mechanical and acoustical domains.

13. An improved filter system according to claim 10 when said domains include electrical and optical domains.

14. An improved filter system according to claim 10 when said domains include electrical, mechanical and acoustical domains. An improved filter system according to claim 1 wherein said low and high pass filters include passive filters.

16. An improved filter system according to claim 1 wherein said low and high pass filters include active filters. WO 01/19132 PCT/AU00/01036

17. An improved filter system according to claim 1 wherein said low and high pass filters include analog filters.

18. An improved filter system according to claim 1 wherein said low and high pass filters include digitally implemented filters.

19. A method of tuning a filter system including a low pass filter having a response which rolls off towards a crossover frequency and a high pass filter having a complementary response which rolls off towards said crossover frequency such that the combined amplitude response of said filters is substantially constant at least in the region of said crossover frequency, said method including the steps of: selecting a filter topology capable of realizing a low pass complex transfer function defined by a first numerator and a first denominator; selecting a filter topology capable of realizing a high pass complex transfer function defined by a second numerator and a second denominator; setting the second denominator so that it is substantially the same as the first denominator; and setting the squared modulus of the sum of the first and second numerators so that it is substantially the same as the squared modulus of the first or second denominator. A method according to claim 19 including the step of determining coefficients for said transfer functions and converting said coefficients to values of components in said filter topologies.

21. A method according to claim 19 wherein said low pass transfer function includes at least one complex conjugate pair of transmission zeros such that their imaginary parts lie in the stop band of said low pass transfer function within the crossover region to provide a null response at a frequency adjacent and above said crossover frequency and said high pass transfer function includes at least one complex transmission zero such that their imaginary parts lie in the stop band of said high pass transfer function within the crossover region to WO 01/19132 PCT/AU00/01036 36 provide a null response at a frequency adjacent and below said crossover frequency.

22. A method according to claim 19 wherein said filter system is used as a crossover filter for signals in an electrical domain.

23. A method according to claim 19 wherein said filter system crossover filter in an electromagnetic domain. is used as a

24. A method according to claim 19 wherein crossover filter in an optical domain. A method according to claim 19 wherein crossover filter in an acoustical domain.

26. A method according to claim 19 wherein crossover filter in a mechanical domain. said filter system is used as a said filter system is used as a said filter system is used as a

27. A method according to claim 19 wherein said filter system is used as a crossover filter in two more domains simultaneously.

28. A method according to claim 19 wherein said domains include electrical and acoustical domains.

29. A method according to claim 19 wherein said domains include mechanical and acoustical domains. A method according to claim 19 wherein said domains include electrical and optical domains.

31. A method according to claim 19 wherein said domains include electrical, mechanical and acoustical domains. WO 01/19132 PCT/AU00/01036 37

32. A method according to claim 19 wherein said low and high pass filter include passive filters.

33. A method according to claim 19 wherein said include active filters.

34. A method according to claim 19 wherein said include analog filters.

35. A method according to claim 19 wherein said include digitally implemented filters. low and high pass filters low and high pass filters low and high pass filters

36. An improved filter system substantially as herein described with reference to the accompanying drawings or examples.

37. A method of tuning a filter system substantially as herein described with reference to the accompanying drawings or examples.