7.

Response of First Order RL and RC Circuits

Natural response of RL and RC circuits (suddenly disconnected from a DC source) Consider current and voltage that arise when stored energy in an inductor or capacitor is suddenly released to a resistive network. Step response of RL and RC circuits (suddenly connected to a DC source) Consider current and voltage that arise when energy is being acquired by the inductor or capacitor due to the sudden application of a dc voltage or current source. The response of RL and RC circuits to any abrupt change in a dc voltage or current source. 7.1 The natural response of an RL circuit Current source generates a constant current of I .
S

Switch has been closed a long time. So all current and voltage reached a constant value. The voltage across the inductive is zero. No current in R or R.
0

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All the source current is appears in the inductance before t=0. Switch is opened at t=0, then inductance begins releasing energy. We find the v(t) and i(t) for t0. From the second circuit, using KVL to obtain an expression for t 0,

di + Ri = 0 dt

This is a first-order differential equation. To solve this equation we can rewrite it in the following form, di R = i dt L Multiply both site by a differential time dt and divide both site by i di R = dt i L And if we integrate the both side,

7-2

di R = dt i L i (0) 0 This integration gives us,

i (t )

ln

i (t ) R = t i ( 0) L
R t L

That will give us

i (t ) = i (0)e

No instantaneous change of current in an inductor

i (0 ) = i (0 + ) = I 0

I0 denotes the initial current in the inductor. Therefore

i (t ) = I 0 e
R t L

, t0
R t L

The voltage on the resistor is

v (t ) = I 0 Re
v(0 ) = 0,

, t 0+
v ( 0) = I 0 R

The power on the resistor v2 p = vi = i R = R , or

2

p = I Re
2 0

R 2 t L

for t 0 +

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Energy
2 t 1 w = pdx = LI 02 (1 e L ), t 0 2 0 t R

We call time constant

L R
t

Summary:
i (t ) = I 0 e ,
v(t ) = I 0 Re ,
p = I Re
2 0 2 t

t0
t

t 0+
t 0+
t

2 1 w = LI 02 (1 e ), 2

t 0+

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Example:

a. Find iL(t) for t 0 b. Find i0(t) for t0+ c. Find v0(t) for t0+ d. Find power in the 10 resistor e. Total energy stored in the 2H inductor

Example:

a. Calculate v0(t) for t0+. b. What percentage of the initial energy stored in the inductor is eventually dissipated in the 4 resistor?

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7.2 The natural response of an RC circuit

Voltage source generates a constant voltage of V .

g

Switch has been closed a long time. So V voltage, R and C reached a steady-state condition.
g 0

Then capacitor C behaves as an open circuit; the current across the R is zero.
0

i0 = C

dvc =0 dt

All the source voltage is appears in the capacitor before t=0. Switch is opened at t=0, then capacitor begins releasing energy. Now, we will find the v(t) and i(t) for t 0 .

7-6

From the second circuit, Using KVL to obtain an expression for t0,

dv(t ) v(t ) + =0 dt R dv(t ) 1 = dt v(t ) RC

v(t ) = V0 e t / , t 0
where V is the initial voltage on the capacitor, is the time constant is =RC. The current can be obtain as
0

V0 t / e , t 0+ R The power in the resistance i (t ) =

V02 2t / p(t ) = vi = e ,t 0+ R The energy in the resistance

w(t ) = pdx =
0

1 2 V0 (1 e 2t / ), t 0 C
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Example 1:

Switch has been position x a long time. At t=0, the switch moves to position y. Find, a. vc(t) for t0, b. v0(t) for t0+, c. i0(t) for t0+. d. The total energy dissipated in the 60 resistor.

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7.3 The step response of an RL Circuit

We will check the circuit response when energy is being stored in the inductor after the switch is closed. After switch is closed. KVL requires

di dt To solve this diff equation, we will separate the variables and integrated, V s = Ri + L di Ri + Vs = dt L V di R dt = (i s )dt R dt L

di R = dt V L (i s ) R dy R = d V L I0 ( y s ) 0 R where I is initial current in the inductor.

0

i (t )

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ln( y

Vs i ( t ) R ) | I 0 = |t0 R L V V R ln(i (t ) s ) ln( I 0 s ) = t R R L

ln

i (t ) Vs / R R = t I 0 Vs / R L

R t i (t ) Vs / R =e L I 0 Vs / R
t Vs Vs R L i (t ) = + ( I 0 )e R R

If initial current is zero and =L/R (time constant) then

V i (t ) = s (1 e ) R This equation shows that the current increases exponentially from zero to a final value of V /R.
s

At t= Vs V (1 e 1 ) = 0.6321 s R R The voltage on the inductor is, i (t ) =

R t t Vs R V R di d Vs v(t ) = L = L ( + ( I 0 )e L ) = L( I 0 s )( )e L dt dt R R R L

v(t ) = (V s RI 0 )e

R t L

If initial current I0 is zero, then

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v (t ) = Vs e

R t L

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Example:

The switch has been in position a for a long time. At t=0 switch moves b, a. Find i(t) for t>0. b. What is initial voltage across the inductor. c. How many millisecond later the inductor voltage will be 24V? d. Plot both i(t) and v(t) versus t.

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7.4 The step response of an RC circuit

We will check the circuit response after the switch is closed. Using KCL , we can write the following differential equation from the circuit: dvc (t ) vc (t ) + = Is dt R To rearrange the equation, C
dvc (t ) v (t ) I = ( c s ) dt RC C

dvc (t ) 1 = (vc (t ) RI s ) dt RC

dvc (t ) 1 = dt (vc (t ) RI s ) RC
Change the variables name and take the integral of both sides,
vc ( t )

V0

dy 1 = d RC ( y RI s ) 0

We have
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ln

vc (t ) RI s 1 = t RC (V0 RI s )
1

t vc (t ) RI s = e RC (V0 RI s )

v c (t ) = RI s + (V0 RI s )e
0

1 t RC

,t 0

We know that V is the initial voltage in the capacitor and time constant = RC. If V is the initial voltage in the capacitor is zero then,
0

v c (t ) = RI s (1 e

1 t

), t 0
t t

The current in the capacitor yields the differential equation,

dv c (t ) 1 RC d RC i (t ) = C = C ( RI s + (V0 RI s )e ) = C (V0 RI s )( )e dt dt RC

V i (t ) = ( I s 0 )e RC , t 0 + R

Special case: if V , the initial voltage in the capacitor, is zero then,

0

i (t ) = I s e

t RC

, t 0+

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Example:

Switch has been in position a for a long time. Switch moves to position b at t=0. a. Find v0(t) for t0 b. Find i0(t) for t0.

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7.5 General Solution for Step Response and Natural Response

Differential equation will be,

dx x + = K (1) dt K constant can be zero. Final value x will be constant because the sources in the circuit are constant voltage sources. dx/dt will be zero when x reach the final value. Final value of the variable

xf=k To solve (1) (x x f ) dx x = +k = dt

1 dx = d x xf t0 x (0)
The solution is
t t 0

x (t )

Time of switching

x(t ) = x f + ( x(t 0 ) x f )e
Unknown variable Final value

Time constant Initial value 7-16

For RC circuit, it is best to choose the voltage capacitor as variable. For RL circuit, it is best to choose the inductive current as variable. Steps: Determine the initial value of the variable Calculate the final value of the variable Calculate the time constant of the circuit Example:

Initial charge on the capacitor is zero; at t=0 switch is closed. a. Find i(t) for t 0+ b. Find the voltage of 20K resistor v(t) for t 0.

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Example:

The switch has been open for a long time. It is closed at t=0. a. Find initial value of i(t) b. The final value of i(t) c. The time constant for t>=0. d. The numerical expression for i(t) for t>=0.

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7.6 Sequential Switching

If switching occurs more than once in a circuit, we have sequential switching. Multiple switch or a single switch with two-position may be switched back and forth. We drive the expressions for v(t) and i(t) for a given position of the switches and then to determine the initial condition for next position of the switches. A premium is placed on obtaining the initial value x(t )
0

Inductive current and capacitor voltage can not change instantaneously at the time of switching - basis for using initial value, preferable as variables. Example:

At t=0, the switch is moved to position b, where it remains 15ms. At t=15ms, the switch is moved to position c, where it remains indefinitely. a. Derive the numerical expression for the voltage across the capacitor b. Plot the capacitor voltage versus time c. When will the voltage on the capacitor equal 200V?
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a. Initial voltage on the capacitor is zero before t=0. After t=0, the capacitor will start to charge to 400V. The time constant =100(103)0.1(10-6 )= 10ms We can write the voltage expression for the capacitor

v(t ) = 400 + (0 400)e 100t = 400(1 e 100t )V , t 0

the switch remains in position b for 15ms.

v(15ms) = 400(1 e 100( 0.015) ) = 310.75V

b.The switch is moved to position c at=15ms The initial voltage on the capacitor is 310.75V. The final voltage on the capacitor is 0 V. This time, time constant =50(103)0.1(10-6 )= 5ms The voltage on the capacitor is
v(t ) = V0 e t / = 310.75e 200 tV for t15 ms

c. The voltage capacitor is 200V

200 = 400(1 e 100t ) t = 6.93ms

and the second time
200 = 310.75e 200 ( t 0.015 ) t = 17.20 ms

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Example: The initial voltage on the capacitor is zero. a. Calculate v0(t) b. Sketch v0(t) versus t.

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