Chapter 81

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K. A.

Saaifan, Jacobs University, Bremen 1

8. Basic RL and RC Circuits


This chapter deals with the solutions of the responses of RL and RC circuits

The analysis of RC and RL circuits leads to a linear differential equation


This chapter covers the following topics

The Source-Free RL Circuit


The Source-Free RC Circuit
The Unit-Step Function
Driven RL Circuit
Driven RC Circuit
K. A. Saaifan, Jacobs University, Bremen

First Order Linear Differential Equations


A first order homogeneous linear differential equation is one of the form

dy
py=0
dt

where "First Order'' indicates that both dy/dt and y occur to the first power
and "homogeneous'' refers to the zero on the right hand side of the equation

In circuit analysis, y can either be the voltage v or the current i of the circuit

The solution of a homogeneous linear differential equation is called a


complementary function

In circuit analysis, we refer to the solution of the circuit as a natural response


or a transient response
K. A. Saaifan, Jacobs University, Bremen

A Direct Approach
Since the variables can be separated, the differential equation can be rewritten as
dy
=−p dt
y
We integrate both sides as
dy
∫ y =−p∫ d t
Then, we have
ln yt=−p tA

The constant of integration must be selected to satisfy the initial condition y(0)=Y0

ln Y 0 =A
Thus, we obtain
ln yt=−p tln Y 0
−p t ln yt−ln Y 0 =−p t
y t=Y 0 e for t0
y t
ln =−p t
Y0
K. A. Saaifan, Jacobs University, Bremen

A General Solution Approach


We assume a general solution of y(t) in exponential form
y t=Aest
where A and s are constant to be determined
Substitute the exponential solution into the differential equation

dy st st st
py=0 As e p Ae =0  sp  Ae =0
dt
The characteristic equation
where (s +p) is the characteristic equation
dy
Determine the value of s py=0
dt
 sp =0 s=−p sypy=sp y=0

Invoke the initial condition to determine the remaining constant A

y 0=Y 0 =Aes0 A=Y 0


The final form is
y t=Y 0 e−p t for t0
K. A. Saaifan, Jacobs University, Bremen 5

8.1 The Source-Free RL Circuit


We assume a series RL circuit for which i(t) to be determined
Apply KVL
R ivL =0
di R
-
 i=0
dt L
We will solve the natural response +
it=Aest
The characteristic equation
R R
s i=0 s=−
L L
Using the initial condition i(0)=I0, we have
i0=I 0 =Aes 0 A=I 0

The natural response is given as


−R
t
it=I 0 e L
for t0
K. A. Saaifan, Jacobs University, Bremen 6

Example: RL with a switch


We have two different circuits: one with the switch
closed and one with the switch open
We are asked to find v(0.2) for the circuit shown
in Figure (c)
From Figure (b), we compute the current iL
24
iL = =2.4 A
10
this current is used as initial conditions when the
iL
switch is opened
Write the differential equation of the circuit (c)
di
40 iL 10 iL5 L =0
dt
diL
10 iL =0
dt
The general solution of i(t) in exponential form
it=Aest
Since iL(0)=2.4 A, the solution is
it=2.4e−10 t for t0
K. A. Saaifan, Jacobs University, Bremen 7
The Exponential Response
The expression for the current in an RL series
circuit describes the natural response of the -
inductor
R
− t
it=I 0 e L +

The current decreases exponentially with time


The L/R term in the above equation is known The time constant is
commonly as the time constant, τ, of the RL τ=L/R
series circuit
t


it=I 0 e

Power in The RL Series Circuit


The power being dissipated in the resistor is
t
2 2 −2

p R=vR it=R i t=RI e 0

The total energy is found as


t
∞ ∞ −2
wR=∫0 pR dt=RI ∫0 e
2 
0 dt
1
= LI 20
2
K. A. Saaifan, Jacobs University, Bremen 8

8.2 The Source-Free RC Circuit


We assume a series RL circuit for which i(t) to be determined
Apply KCL dv −v iC
C =
dt R
dv v
 =0
dt RC
We will solve the natural response

vt=Aest
The characteristic equation
1 1
s  v=0 s=−
RC RC
Using the initial condition v(0)=V0, we have
v0=V 0 =Aes 0 A=V 0

The natural response is given as


−1
t
RC
vt=V 0 e for t0
K. A. Saaifan, Jacobs University, Bremen 9
The Exponential Response
The expression for the current in an RC series
circuit describes the natural response of the
inductor
1
− t
RC
vt=V 0 e

The voltage decreases exponentially with time


The 1/RC term in the above equation is known
commonly as the time constant, τ, of the RC The time constant is
series circuit τ=RC
t


vt=V 0 e

Power in The RC Series Circuit


The power being dissipated in the resistor is
2
v2 t V 0 −2 RC
t
p R=viR t= = e
R R
The total energy is found as
∞ V 20 ∞ −2 RC
t
wR=∫0 pR dt= ∫0 e dt
R
1
= CV 20
2
K. A. Saaifan, Jacobs University, Bremen 10

Determine the inductor voltage v in the circuit for t > 0.

For t<0, l0 V appears across the 4 Ω


resistor, so a dc current of iL= l0/4 = 2.5 A
flows through the inductor (which acts as a
short circuit)

For t>0, the battery is removed so we write


the simple KVL equation:
diL diL
6 iL4 iL5 =0 2 iL =0
dt dt

Thus, we can represent the circuit with the


equation
it=iL 0e−2 t
=2.5 e−2 t A

Finally, the voltage is


d it
vt=L =52.5−2e−2 t =−25 e−2 t V
dt
K. A. Saaifan, Jacobs University, Bremen 11

Noting carefully how the circuit changes once the switch in the circuit is
thrown, determine v(t) at t = 0 and at t = 160 μs
Before the switch is thrown, the 80Ω resistor is connected only by one of its
terminals and therefore may be ignored (i=0)

With no current flow permitted through the capacitor, we know v(0)=50 V


since the capacitor voltage cannot change in zero time

After the switch is thrown, the only remaining circuit is a simple source-free
RC circuit. With τ = RC =160 μs
−t

vt=v 0e
=50e−6250 t V
Finally, the voltage is
v160 s=50 e−1 =18.39 V
K. A. Saaifan, Jacobs University, Bremen 12

8.3 A More General Perspective


General RL Circuits
The time constant of a single-inductor circuit will be τ=L/Req where Req is the
resistance seen by the inductor

Example: Req=R3+R4+R1R2/ (R1+R2)

General RC Circuits
The time constant of a single-capacitor circuit will be τ=ReqC, where Req is the
resistance seen by the capacitor

Example: Req=R2+R1R3/ (R1+R3)


K. A. Saaifan, Jacobs University, Bremen 13

At t=0.15 s in the circuit, find the value of (a) iL; (b) i1; (c) i2

For t< 0, (the switch is open)



i2 0 =0
2
i1 0−=2 =0.4 A
28
8
iL 0−=2 =1.6 A
28
For t>0, 100% of the 2-A source contributes to i2, The 8-Ω
resistor is shorted out so i1=0
i2 t=2−iL t
Thus
−t
L 0.4
where iL t=iL 0e , = =0.2 s , and iL 0=iL 0 =iL 0 =1.6 A
 − 
=
R eq 2

Finally, the currents are −0.15


0.2
iL 0.15=1.6 e =755.6 mA
i2 0.15=2−iL 0.15=1.244 A
K. A. Saaifan, Jacobs University, Bremen 14

1st Order Response Observations

The voltage on a capacitor or the current through an inductor is the same


prior to and after a switch at t=0

Resistor current (or voltage) prior to the switch i(0-) can be different from
the voltage after the switch i(0+)

All voltages and currents in an RC or RL circuit follow the same natural


response e-t/τ
K. A. Saaifan, Jacobs University, Bremen 15

8.4 The Unit-Step Function


So far, we have been studying the natural response of RL and RC circuits (when no
sources or forcing functions were present)
In other words, we have been solving problems in which energy sources are
suddenly removed from the circuit
We shall consider that type of response which results when energy sources are
suddenly applied to a circuit

The unit-step function u(t) is a convenient notation to represent change:

{
ut= 0 t0
1 t0 {
ut−t0 = 0
1
tt0
tt0
K. A. Saaifan, Jacobs University, Bremen 16

Switches and Steps

In order to obtain an exact equivalent for the voltage-step forcing function, we


may provide a single-pole double-throw switch

The exact equivalent for the current-step forcing function, we may replace this
circuit by a dc source in series with a switch
K. A. Saaifan, Jacobs University, Bremen 17

Modeling Pulses Using u(t)

By manipulating the unit-step forcing function, we can generate many useful


forcing functions
A rectangular voltage pulse

{
0 tt0
vt= V 0 t0 tt1
0 tt1

The two unit steps u(t−t0) and −u(t−t1) are needed to obtain the rectangular
voltage pulse

A pulsed sinewave

vt=V m ut−t0 −u t−t1 sin 2 f t


K. A. Saaifan, Jacobs University, Bremen 18

8.5 Driven RL Circuit

Now, we consider the behavior of a simple RL network to the sudden


application of a dc source

The shown circuits represent an RL circuit subjects to a voltage-step forcing


function V0u(t)

Applying Kirchhoff’s voltage law


di
iRL =V 0 ut
dt
Since i(t)=0 for t<0, we study the solution for t>0
di
iRL =V 0 t0
dt
Then, we have
di
L =dt t0
V 0 −iR
Integrating both sides
−L
ln  V 0−Ri =tK
R
K. A. Saaifan, Jacobs University, Bremen 19

invoke the initial condition to find K (i(t)=0 for t<0)


−L
ln V 0 =K
R
and hence
L
−  ln V 0 −Ri−ln V 0 =t
R
Rearranging
−R V 0 −Ri −R
ln V 0 −Ri−ln V 0 = t ln = t
L V0 L
Which can be rewritten as
V 0 V 0 −R
L
t
it= − e t0
R R
or
−R
V0 t
it= 1−e L u t
R
K. A. Saaifan, Jacobs University, Bremen 20

The expression for the voltage in an RL series circuit describes the energizing
characteristics of the inductor
Forced response Natural response

it=

V 0


−V
e 0
−R
L
t

R R

The Natural response: The exponential term has the functional form of the
natural response of the RL circuit; it is a negative exponential, it approaches
zero as time increases, and it is characterized by the time constant L/R
The Forced response: It is the response that is present a long time after the
switch is closed
K. A. Saaifan, Jacobs University, Bremen 21

A General Solution Approach


The solution of any linear differential equation may be expressed as the sum of
two parts: the complementary solution (natural response) and the particular
solution (forced response)
The inhomogeneous linear differential equation has the form of
dy di R V
p y=f t  i= 0 ut
dt dt L L
or
dyp y dt=f tdt
Forced response Natural response
The solution is given as
it=

V 0


−V
e 0
−R
L
t
particular solution complementary solution R R

y=e ∫ f te dt
− pt pt

Ae −pt

We note that, when f(t) is zero (a source-free circuit), the solution is the
natural response
−pt
y n t=Ae
Since f(t)=F, the particular solution leads to the following forced response
F
y f t=e−pt∫ F e pt dt =
p
K. A. Saaifan, Jacobs University, Bremen 22

Example: RL with a forcing function


Applying KVL yields
di R V0
 i= ut
dt L L
First, we evaluate the natural response by solving
di R
 i=0
dt L
s t
We assume in t=Ae , where A and s1 are constant
1

to be determined
The characteristic equation
R R
s i=0 s1 =−
L −R
L
L t
Then, we have in t=Ae
V0
Next, we determine the forced response if t=
R

Finally, the complete solution is i(t)=in(t)+if(t)


−R
V0 t
it= Ae L
R
where V0 V0
i0=0= A A=−
R R
K. A. Saaifan, Jacobs University, Bremen 23

Determine i(t) for all values of time in the circuit

We note that the circuit contains a dc voltage source as well as a step-voltage


source

Using superposition, we solve the circuit for each source alone

We compute the current due to only a dc voltage source

50
idc t= =25 A
2
K. A. Saaifan, Jacobs University, Bremen 24

We compute the current due to only a a step-voltage source

istep voltage t=if tin t


−2 t
=25−25 e

The complete response


−2 t
it=idc tistep voltage t=50−25e
K. A. Saaifan, Jacobs University, Bremen 25

Find the current response in a simple series RL circuit when


the forcing function is a rectangular voltage pulse of
amplitude V0 and duration t0

We represent the forcing function as the sum of two step-


voltage sources V0u(t) and -V0u(t-t0)
Using superposition, assume i1(t) designate the part of i(t)
due to V0u(t) acting alone, and i2(t) represents that part
due to -V0u(t-t0) acting alone

it=i1 ti2 t

We solve the response i1(t) as


−R
V0 L t
i1 t= 1−e  t0
R
We solve the response i2(t) as
−R
−V 0 t−t 
0
i2 t= 1−e L  t 00
R
We now add the two solutions, but do so carefully, since
each is valid over a different interval of time
K. A. Saaifan, Jacobs University, Bremen 26

it=
{ i1 t
i1 ti2 t
0tt0
tt0
K. A. Saaifan, Jacobs University, Bremen 27

8.6 Driven RC Circuit

Similar to RL circuits, the complete response of an RC circuit consists of the


natural and the forced response
Since the procedure is virtually identical to what we have already discussed in
detail for RL circuits, we consider a relevant example for a driven RC circuit

Find the capacitor voltage vC(t) and the current i(t) in the 200 Ω resistor for
all time
K. A. Saaifan, Jacobs University, Bremen 28

For t<0, the circuit has two separate loops


The capacitor acts as open circuits
− 50
vC 0 =120 =100 V
1050
The current in the 200 Ω resistor
1
i0− =50 =192 mA
60200

For t>0
The complete response of the capacitor is
vC t=vCf tvCn t

The natural response vCn(t)


−t
R eq C
vCn t=Ae
where Req =50∣∣200∣∣60=24 
The forced response is
50∣∣200
vCf t=50 =20 V
6050∣∣200
K. A. Saaifan, Jacobs University, Bremen 29

The complete response is


−t
1.2
vC t=20Ae
We use vC 0 =vC 0=vC 0 =100 V , then
− 

100=20A A=80
Thus, we have
−t
1.2
vC t=2080 e t0
and
vC t=100 t0

The current in the 200 Ω resistor


−t
vC t
it= =100400 e 1.2 mA t0
200
it=192 mA t0
K. A. Saaifan, Jacobs University, Bremen 30

Homework Assignment 7
P8.7, P8.10, P8.20, P8.22, P8.24, P8.27, P8.29, P8.35, P8.38, P8.40, P8.44,
P8.46, P8.48, P8.52, P8.54, P8.57, P8.61 and 8.65

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