Transient

Lecture 14 Second Order Transient Response
ELECTRICAL ENGINEERING: PRINCIPLES AND APPLICATIONS, Fourth Edition, by Allan R. Hambley, 2008 Pearson Education, Inc.
Damped Harmonic Motion

Mechanical oscillator dx m 2 + b + kx = f m (t ) dt dt Electrical El t i l oscillator ill t dq 1 L 2 +R + q = v s (t ) dt C dt d 2q d x
2
The Series RLC Circuit and its Mechanical Analog
Drive voltage Charge Current Inductance Inductive Energy Capacitance Capac. Energy Resistance
vS(t) q i L U=(1/2)Li2 C U=(1/2)(1/C)q2 R
Applied force Displacement Velocity Mass Inertial Energy Spring constant Spring energy
f(t) x v m (1/2)mv2 1/k U=(1/2)kx2
Dampening constant b
Second Order Circuits
di (t ) 1 L + Ri (t ) + dt C
d i (t ) dt
2 2
i(t )dt + v (0) = v (t )

C s 0
Differentiating with respect to time:
dv s (t ) di (t ) 1 +R + i (t ) = dt C dt
Second Order Circuits

d 2 i (t ) dt
Define:
2
1 1 dv s (t ) R di (t ) + + i (t ) = L dt LC L dt
Dampening coefficient Undamped resonant frequency
R = 2L 1 0 = LC
1 dv s (t ) f (t ) = Forcing function L dt
d i (t ) dt
2
di (t ) 2 + 2 + 0 i (t ) = f (t ) dt
Solution of the Second-Order Equation

Particular solution di (t ) 2 + 2 + 0 i (t ) = f (t ) 2 dt dt Complementary solution
2
d i (t )
d i (t )
2
dt
di (t ) 2 + 2 + 0 i (t ) = 0 dt
Solution of the Complementary Equation 2 d i (t ) di (t ) + 2 + 2 i (t ) = 0

dt
2
dt
Try iC (t ) = Ke st :
2 s 2 Ke st + 2sKe st + 0 Ke st = 0
Factoring :
2 ( s 2 + 2s + 0 ) Ke stt = 0
Characteristic equation :
2 s 2 + 2s + 0 = 0
Solution of the Complementary Equation

Qaudratic Equation : ax 2 + bx + c = 0 b b 4ac x= 2a 2 Characteristic Equation : s 2 + 2s + 0
2
s=
2 (2 ) 2
2 40
2 = 2 0
Solution of the Complementary Equation

Roots of the characteristic equation:
s1 = +
2
2 0
s2 =
2
2 0
= 0
Dampening ratio
1. Overdamped case ( > 1). If > 1 (or equivalently, if > 0), the roots of the characteristic equation are real and distinct. Then the complementary solution is:
ic (t ) = K1e
s1t
+ K 2e
s2t
In this case, we say that the circuit is overdamped.
2. Critically damped case ( = 1). If = 1 (or equivalently, if = 0 ), the roots are real and equal. Then the complementary solution is
ic (t ) = K1e
s1t
+ K 2te
s1t
In this case, we say that the circuit is critically damped. iti ll d d
3. Underdamped case ( < 1). Finally, if < 1 (or equivalently, if < 0) the roots are equivalently ), complex. (By the term complex, we mean that the roots involve the square root of 1.) In other 1) words, the roots are of the form:
s1 = + jn a n d s2 = jn
in which j is the square root of -1 and the f q y g y natural frequency is given by:
n =
2 0
In l t i l I electrical engineering, we use j rather than i i i th th to stand for square root of -1,because we use i for f current. F complex roots, the t For l t th complementary solution is of the form:
ic (t ) = K1e t cos( n t ) + K 2 e t sin ( n t )
In this case, we say that the circuit is underdamped.
Analysis of a Second-Order Circuit with a DC Source
Apply KVL around the loop:
di (t ) L + Ri (t ) + vC (t ) = VS dt

di (t ) L + Ri (t ) + vC (t ) = VS dt
dvC (t ) Substitute i (t ) = C dt d 2 vC (t ) dvC (t ) LC + RC + vC (t ) = Vs 2 dt dt Divide by Di id b LC : d 2 vC (t ) dt d2 Vs R dv(t ) C 1 vC (t ) = + + L dt LC LC

To find the particular solution, we consider the steady solution state. For DC steady state, we can replace the inductors by a short circuit and the capacitor by an open circuit:
vCp (t ) = Vs = 10V

To fi d the homogeneous solution, we consider three cases; find h h l i id h R=300, 200 and 100. These values will correspond to over-damped, critically damped and under-damped cases. p , y p p
0 =
1 LC
1 (10mH )(1F )
= 10 4 rads / sec

Case I : R = 300 R 300 = = = 1.5 x10 4 2 L 2(10mH )
1.5 x10 4 = = = 1.5 Overdamped 4 0 10
2 s1 = + 2 0 = 1.5 x10 4 (1.5 x10 4 ) 2 (10 4 ) 2 = 2.618 x10 4 2 s 2 = 2 0 = 0.382 x10 4
Adding the particular and complementary solutions : vC (t ) = 10 + K1e s1t + K 2 e s2t


To find K1 and K2 we use the initial conditions:
vc (t ) = 10 + K1e s1t + K 2 e s2t vc (0) = 0 = 10 + K1e 0 + K 2 e 0 = 10 + K1 + K 2 i (0) = 0 dvc (t ) dvc (0) =0 i (t ) = C i (0) = 0 dt dt dvc (t ) = s1 K1e s1t + s 2 K 2 e s2t dt dvc (0) = 0 = s1 K1e 0 + s 2 K 2 e 0 = s1 K1 + s 2 K 2 dt
Analysis of a Second-Order Circuit with a DC Source 10 + K + K = 0

1 2
s1 K1 + s 2 K 2 = 0 K1 + K 2 = 10 s1 K1 + s 2 K 2 = 0 10 K1 = 0 1 s1 1 K2 = s1 1 s1 1 s2 1 s2 10 0 1 s2 (1)(0) ( s1 )(10) 10 s1 26.18 x10 4 = = = = 11.7 4 4 s 2 s1 0.3820 x10 (2.618 x10 ) (1)( s 2 ) ( s1 )(1) (10)( s 2 ) (0)(1) 10 s 2 3.82 x10 4 = = = = 1.71 (1)( s 2 ) ( s1 )(1) s 2 s1 0.3820 x10 4 (2.618 x10 4 )
vc (t ) = 10 + 1.708e s1t 11.708e s2t


Case II : R = 200 R 200 = = 10 4 = 2 L 2(10mH )
10 4 = 4 = 1 Critically damped = 0 10
2 s1 = s 2 = + 2 0 = = 10 4
Adding the particular and complementary solutions : vC (t ) = 10 + K1e s1t + K 2 te s1t

vc (t ) = 10 + K1e s1t + K 2 te s1t vc (0) = 0 = 10 + K1e 0 + K 2 (0)e 0 = 10 + K1 i (0) = 0 dvc (0) dvc (t ) =0 i (0) = 0 i (t ) = C dt dt dvc (t ) = s1 K1e s1t + s1 K 2 te s1t + K 2 e s1t dt dvc (0) = 0 = s1 K1e 0 + s1 K 2 (0)e 0 + K 2 e 0 = s1 K1 + K 2 dt

10 + K1 = 0 K1 = 10 s1 K1 + K 2 = 0 K 2 = s1 K1 = 10s1 = 10(10 4 ) = 10 5 vc (t ) = 10 10e s1t 10 5 te s2t

Case III : R = 100 R 100 = = 0.5 x10 4 = 2 L 2(10mH )
0.5 x10 4 = = 0.5 Underdamped = 4 0 10
2 n = 0 2 = (10 4 ) 2 (0.5 x10 4 ) 2 = 8660
Adding the particular and complementary solutions : vC (t ) = 10 + K1e t cos( n t ) + K 2 e t sin( n t ) dvC (t ) = K1e t cos( n t ) K1e t n sin( n t ) K 2 e t sin( n t ) + K 2 e t n cos( n t ) dt

v c ( 0) = 0 dvc (0) =0 dt 10 + K1 = 0 K1 = 10
K1 + n K 2 = 0 K 2 =
5000 K1 = (10) = 5.774 n 8660
vc (t ) = 10 10e t cos( n t ) 5.774e t sin( n t )

Overdamped O d d
Critically d C iti ll damped d

Underdamped U d d d
Normalized Step Response of a Second Order System
u (t ) = 0 t < 0 u (t ) = 1 t > 0

Example: Closing a switch at t=0 to apply a DC voltage A t 0
v(t ) = Au (t )

What value of should be used to get to the steady state position quickly without overshooting?
Circuits with Parallel L and C

V iR = R dq dv 1 iL = vdt + iL (0) ic = =C L dt dt
We can replace the circuit with its Norton equivalent and then analyze the circuit by writing KCL at the top y y g p node:
dv(t ) 1 1 C + v(t ) + v(t )dt + i L (0) = in (t ) dt R L

dv d (t ) 1 1 C + v(t ) + v(t )dt + i L (0) = in (t ) dt R L
differentiating : din (t ) d 2 v(t ) 1 dv(t ) 1 C + + v(t ) = L dt R dt dt d 2 v(t ) 1 dv(t ) 1 1 din (t ) + + v(t ) = dt RC dt LC C dt

1 din (t ) d 2 v(t ) 1 dv(t ) 1 + + v(t ) = dt RC dt LC C dt 1 Dampening coefficient = 2 RC 1 Undamped resonant frequency 0 = LC 1 din (t ) Forcing function f (t ) = C dt d 2 v(t ) dv(t ) 2 + 2 + 0 v(t ) = f (t ) dt dt

d 2 v(t ) dv(t ) 2 + 2 + 0 v(t ) = f (t ) dt dt
This is the same equation as we found for the series LC circuit with the following changes for :
1 Parallel circuit = 2 RC R Series circuit = 2L

Example Parallel LC Circuit: RF-ID Tag

L C
Find v(t) for R=25, 50 and 250
Find v(t) for R=25, 50 and 250
0 =
1 LC
1 (1x10 3 H )(1x10 7 F )
= 1x10 5 rad / sec
1 = 2 RC

Vp(t) = 0
To find the particular solution vP(t) (steady state response) replace C with an open circuit and L with a short circuit circuit.

Case I : R = 25 1 1 2 x10 5 s 1 5 1 = = = = 2 x10 s = = 2 Overdamped 0 10 5 rad / s 2 RC 2(25)(1x10 7 F )
2 s1 = + 2 0 = 2 x10 5 + (2 x10 5 ) 2 (10 5 ) 2 = 0.268 x10 5 2 s 2 = 2 0 = 2 x10 5 (2 x10 5 ) 2 (10 5 ) 2 = 3.73 x10 5
Adding the particular and complementary solutions : vC (t ) = K1e s1t + K 2 e s2t v P (t ) = 0 vT (t ) = K1e s1t + K 2 e s2t

Initial conditions : v (0 ) = 0 v (0 + ) = 0 i L (0 ) = 0 i L (0 + ) = 0
Since the voltage across a capacitor and the current through an inductor cannot change instantaneously
KCL at t = 0 + v (0 + ) dv(0+) 0.1 = + i L (0 + ) + C R dt 0.1 dv(0+ ) dv(0+ ) 0.1 0.1 = C = = = 10 6 v / s dt C dt 0.1x10 6 v(0+ ) = K1e 0 + K 2 e 0 K1 + K 2 = 0
dv d (0 + ) = K1s1e 0 + K 2 s 2 e 0 = K1s1 + K 2 s 2 = 10 6 dt

K1 + K2 = 0 s1 K1 + s 2 K 2 = 10 6 0 10 6 1 s1 1 s2 1 s2
K1 =
(0)( s 2 ) (10 6 )(1) 10 6 10 6 = = = 2.89 = 5 5 (1)( s 2 ) ( s1 )(1) s 2 s1 0.268 x10 (3.73 x10 )
K 2 = K1 = 2.89 v(t ) = 2.89e

0.268 x105 t
2.89e
3.73 x105 t
= 2.89(e
0.268 x105 t
3.73 x105 t

Case II : R = 50
1 1 1x10 5 s 1 5 1 = = = = 1x10 s = = 1 Critically damped 0 10 5 rad / s 2 RC 2(50)(1x10 7 F )

s1 = = 1x10 5 Adding the particular and complementary solutions : vC (t ) = K1e s1t + K 2 te s1t v P (t ) = 0 vT (t ) = K1e s1t + K 2 te s1t

v(t ) = K1e s1t + K 2te s1t v(0) = K1e0 + K 2 (0)e0 = K1 = 0 v(t ) = K 2te s1t dv(t ) = K 2e s1t + s1K 2te s1t dt dv(0 + ) = K 2e0 = 106 K 2 = 106 dt v(t ) = 10 te
6 105 t

Case III : R = 250 1 1 0.2 x10 5 s 1 5 1 = = 0.2 x10 s = = 0.2 Underdamped = = 2 RC 2(250)(1x10 7 F ) 0 10 5 rad / s
2 n = 0 2 = (1x10 5 ) 2 (0.2 x10 2 ) 2 = 0.98 x10 5
s1 = + j n = 0.2 x10 5 + j 0.98 x10 5 s 2 = j n = 0.2 x10 5 j 0.98 x10 5 Adding the particular and complementary solutions : vC (t ) = K1e t cos( n t ) + K 2 e t sin( n t ) v P (t ) = 0 vT (t ) = K1e t cos( n t ) + K 2 e t sin( n t ) ( i (

v(t ) = K1e t cos( n t ) + K 2 e t sin( n t ) dv(t ) = K1e t cos( n t ) n K1e t sin( n t ) K 2 e t sin( n t ) + n K 2 e t cos( n t ) dt v(0) = 0 = K1e t K1 = 0 dv(0) 10 6 6 = 10 = K1 + n K 2 = n K 2 K 2 = = 10.2 5 dt 0.98 x10 v(t ) = (10.2)e
0.2 x105 t
sin(0.98 x10 5 t )

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Lecture 14 Second Order Transient Response

Damped Harmonic Motion

The Series RLC Circuit and its Mechanical Analog

vS(t) q i L U=(1/2)Li2 C U=(1/2)(1/C)q2 R

f(t) x v m (1/2)mv2 1/k U=(1/2)kx2

Second Order Circuits

i(t )dt + v (0) = v (t )

Differentiating with respect to time:

Second Order Circuits

Solution of the Second-Order Equation

Solution of the Complementary Equation 2 d i (t ) di (t ) + 2 + 2 i (t ) = 0

Solution of the Complementary Equation

Solution of the Complementary Equation

In this case, we say that the circuit is overdamped.

In this case, we say that the circuit is critically damped. iti ll d d

In this case, we say that the circuit is underdamped.

Analysis of a Second-Order Circuit with a DC Source

Apply KVL around the loop:

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source

1.5 x10 4 = = = 1.5 Overdamped 4 0 10

2 s1 = + 2 0 = 1.5 x10 4 (1.5 x10 4 ) 2 (10 4 ) 2 = 2.618 x10 4 2 s 2 = 2 0 = 0.382 x10 4

Adding the particular and complementary solutions : vC (t ) = 10 + K1e s1t + K 2 e s2t

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source 10 + K + K = 0

vc (t ) = 10 + 1.708e s1t 11.708e s2t

Analysis of a Second-Order Circuit with a DC Source

Adding the particular and complementary solutions : vC (t ) = 10 + K1e s1t + K 2 te s1t

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source

Analysis of a Second-Order Circuit with a DC Source

0.5 x10 4 = = 0.5 Underdamped = 4 0 10

2 n = 0 2 = (10 4 ) 2 (0.5 x10 4 ) 2 = 8660

Analysis of a Second-Order Circuit with a DC Source

5000 K1 = (10) = 5.774 n 8660

vc (t ) = 10 10e t cos( n t ) 5.774e t sin( n t )

Critically d C iti ll damped d

Normalized Step Response of a Second Order System

Normalized Step Response of a Second Order System

Normalized Step Response of a Second Order System

Circuits with Parallel L and C

Circuits with Parallel L and C

differentiating : din (t ) d 2 v(t ) 1 dv(t ) 1 C + + v(t ) = L dt R dt dt d 2 v(t ) 1 dv(t ) 1 1 din (t ) + + v(t ) = dt RC dt LC C dt

Circuits with Parallel L and C

Circuits with Parallel L and C

1 Parallel circuit = 2 RC R Series circuit = 2L

Example Parallel LC Circuit: RF-ID Tag

Circuits with Parallel L and C

Find v(t) for R=25, 50 and 250

Circuits with Parallel L and C

Find v(t) for R=25, 50 and 250

= 1x10 5 rad / sec

Circuits with Parallel L and C

Circuits with Parallel L and C

Circuits with Parallel L and C

Circuits with Parallel L and C

K 2 = K1 = 2.89 v(t ) = 2.89e

Circuits with Parallel L and C

1 1 1x10 5 s 1 5 1 = = = = 1x10 s = = 1 Critically damped 0 10 5 rad / s 2 RC 2(50)(1x10 7 F )

Circuits with Parallel L and C

Circuits with Parallel L and C