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49
9.1
Two storage devices which can not be combined will result in second-order differential equation. examples are
R
vs +
is
L C
prlc-nosrc.m4
srlc.m4
R1
vs +
R2
L1
R
is
L2
C1
C2
iscrc.m4
srcrlrl.m4
The natural response of a 2nd order system can represented by the 2nd order ODE of the form:
dy
d2 y
+ 2
+ o2 y = 0
2
dt
dt
or
d2 y
dy
+ 2o
+ o2 y = 0
dt2
dt
Here = damping factor, o = undamped natural frequency in rad/sec, = neper frequency in rad/sec and it
is referred to exponential damping factor .
= o
Let y(t) = Kest (eigenfunction of the system), substitute in the ODE we get:
Kest (s2 + 2o s + o2 ) = 0, and the characteristic equation of the system will be
s2 + 2o s + o2 = 0
two solutions (roots)
s1 , s2 = o (
Response for RLC (t 0) (series or parallel) can be :
2 1)
1 2 and the
50
The above solution can be put in terms of sin and cos using Eulers formula as follows:
y(t) = A1 et cos(t) + A2 et sin(t) = Cet sin(t + )
and since our circuit is real, hence its natural response must be real and therefore, A1 , A2 , C, and must
be real.
Oscillatory, = 0 = 0 s1 , s2 = jo imaginary and the solution will be
y(t) = K1 cos(o t) + K2 sin(o t) = K cos(o t + ), K1 , K2 , K, are real
Response for RLC circuit needs two initial conditions to determine the two unknowns.
For series RLC circuits,
i
R
+ vR
+
L vL
C
vC+
RLC-sourcefree.m4
di
KVL: +vR + vL + vC = 0, substitute for vR , vL to get Ri + L dt
+ vC = 0. Differentiate the last equation we get
2
dvC
dvC
d i
di
d2 i
di
R dt + L dt2 + dt = 0, substitute for i = C dt to get R dt + L dt2 + C1 i = 0, re-arrange the terms and divide by
L to put equation into the canonical form
d2 i R di
1
+
+
i=0
2
dt
L dt LC
its characteristic equation s2 + 2s + o2 = 0, with =
R
2L
and o =
1
LC
iR
R
iL
L C
iC
+
vC
prlc-sourcefree.m4
KCL: iR iL iC = 0, vC = vR = RiR = vL = L didtL , we get vRC + iL + C dvdtC = 0, then take the derivative we
2
2
get R1 dvdtC + didtL + C ddtv2C = 0 = R1 dvdtC + L1 vC + C ddtv2C , re-arrange terms and divide by C to get:
d 2 vC
1 dvC
1
+
+
vC
dt2
RC dt
LC
its characteristic equation s2 + 2s + o2 = 0, with =
1
2RC
and o =
1
LC
Overdamped response is of the form of the sum of two exponentials, e.g. A1 es1 t + A2 es2 t
Underdamped response is an exponentially damped sinusoid, et (B1 cos d t+B2 sin d t), d = as defined above
During transient of an RLC circuit, energy transfers between energy storage elements to the extent allowed by
the resistive component(s) of the circuit, which acts to dissipate the energy initially stored.
51
+
vS
C
vC+
rlc.m4
get
di
Writing KVL for the mesh, vS + R i + L dt
+ vC = 0 and substituting for i using the relation iL = i = C dvdtC we
vS + R(C
d
dvC
dvC
) + L (C
) + vC = 0
dt
dt
dt
R dvC
1
vS
d 2 vC
+
+
vC =
dt2
L dt
LC
LC
the characteristic equation is the same as before since it characterizes the natural (force-free) response of the circuit.
The same equation can be obtained via the soperator method as follows:
R
d
Replace dt
by s while (.)dt with 1s .
vS + Ri + sLi + vC = 0 and i = sCvC . Substitute for i in the first ODE we get:
vS + R(sCvC ) + sL(sCvC ) + vC = 0 which gives (LCs2 + RCs + 1)vC = vS
(s2 +
R
1
vS
s+
)vC =
L
LC
LC
1.2V
1.0V
0.8V
0.4V
0.2V
0V
0s
5us
10us
15us
20us
25us
30us
V(3)
Time
Page 1
%series_rlc.m
%Transient in RLC series circuit forced by unit step
%solution vC(t)=vn(t)+vf(t)=natural response+forced response
Time: 07:09:08
52
1.2
225500
0.8
0.6
0.4
0.2
0.5
1.5
2
time in sec
2.5
3.5
5
x 10
53
2H
vs +
1H
ds7ep372.m4
di1
+ 4(i1 i2 ) = 0
dt
4(i2 i1 ) + 1
di2
=0
dt
2vs
s2 +10s+16
or equivalently
vs +
50
+
R vC
C = 1mF
hkd6epp9.7.m4
54
55
Another example:
R1
v
R
+
vS
iL
+
vC
C
Dorfp381.m4
R1
dt
and KVL on the right mesh
L
diL
RiL + vC = 0
dt
d
v
v
s
Let s = dt
the two equations become Ril + LsiL = v iL = R+sL
and vv
R1 + R+sL + Csv = 0. Substituting for iL
we get, (v vs )(R + sL) + R1 v + CsvR1 (R + sL) = 0, collect the terms for v in one side and for the forcing function
vs in the other side, we get
R1 + R
R + sL
L + CRR1
s+
)v =
vs
(s2 +
CR1 L
CR1 L
CR1 L
Substitute for R = 6, R1 = 4, L = 1, C =
1
4
First we find the forced response which is due to an exponential input vs (t) = 6e3t , t > 0 hence it will have the same
form, i.e. vf = Be3t (Recall that complex exponential is an eigenfunction of linear systems).
The forced solution (response) must satisfy the differential equation.
Substituting we get (3)(3)Be3t +7(3)Be3t +10Be3t = 18e3t +36e3t from which B = 9, and vf = 9e3t .
Solving for the roots of the characteristic equation s2 + 7s + 10 = 0 we get s1 = 2, s2 = 5 and the natural
response becomes vn = A1 es1 t + A2 es2 t = A1 e2t + A2 e5t
To find A1 , A2 we need to find two equations in the two unknowns A1 , A2 . This must be obtained via the initial
conditions of the system. v = vf + vn
One equation can be formed due to the continuity of the voltage across the capacitor, i.e. v(0 ) = v(0+ ) = 6 =
A1 + A2 + B A1 + A2 = 15.
dv
+
The other equation can be formed if we know dv
dt |t=0 . Note that dt for the capacitor voltage is related to the
current flowing into the capacitor, i.e. iC = C dvdtC . At t = 0+ , the following equation can be obtained (Node equation)
dvC
+
s
iL + vv
R1 + C dt = 0 and using the continuity of the current in the inductor iL (0 ) = iL (0 ) = 1, v(0) = 6, vs (0) = 6,
dv
then dt = 4.
2t
Taking the derivative of equation v = vf + vn = A1 e2t + A2 e5t 9e3t gives dv
5A2 e5t + 27e3t
dt = 2A1 e
and substituting for t = 0, then 4 = 2A1 5A2 + 27 and using A1 + A2 = 15 one can find A1 = 44/3, A2 = 1/3.
2t
+ 31 e5t 9e3t
The complete solution v = vn + vf = 44
3 e