MECHATRONICS

ELECTRIC CIRCUITS AND COMPONENTS

PUSHPARAJ MANI PATHAK

MECHANICAL & INDUSTRIAL ENGINEEING, IIT ROORKEE

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Introduction

• Electric circuits and components are important in design of

discrete circuits for signal conditioning and interfacing.
• Electron moves and produce electric current. Useful jobs can
be done by energized electrons.
• Electron moves because we impose an electric field that
imparts energy by doing work on the electrons.
• A measure of electric field potential is voltage.
• Voltage is also referred as electromotive force or emf.
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Electric Circuit Terminology

• Current is time rate of flow of charge

𝑑𝑞
• 𝐼(𝑡) = (q=charge)
𝑑𝑡
• DC Circuit: Voltage and current in a circuit are constant
(independent of time)
• AC Circuit: Voltage and current vary with time usually
sinusoidally

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• Voltage source adds energy to electron.
• Anode: Electrons are attracted.
• Cathode: Electrons are released
• Electron flow from cathode to anode through the circuit. But
standard convention is in opposite direction.
• Load: Network of circuit elements that may store (I,C) or
dissipate electrical energy (R)
• Ground: Indicates a reference point in circuit where the
voltage is assumed to be zero.
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Basic Electronic
components
Electrical
Elements
Passive Active
components components

Resistance (R) Solid state (semi

Inductance (L) Tube devices conductor
Capacitance (C) devices)

Diodes
Vacuum Tubes Gas Tubes
Transistors

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Resistor Capacitor Inductor Current Source
Voltage
(R) (C) (L) (I)
Source (V)

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• Passive electrical elements: R, L, C
• Passive elements require no additional power supply, unlike
active devices such as integrated circuits.
• These elements are defined by voltage current relationship.
• Two types of energy sources
• Voltage source (V)
• Current sources (I)
• Ideal source contains no internal resistance, inductance or
capacitance.
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Resistor
𝜌𝐿
R=
• Dissipative element 𝐴

that converts 𝜌 is resistivity of material

electrical energy
into heat.
• Ohms law define V-I
characteristics
(V=IR)

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Resistor Packaging

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Wire Lead Resistor Color Bands

Resistor value & tolerance are expressed as

R = ab×10c± tolerance(%)
a band: ten digit
b band: one digit
c band: power

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• Variable Resistor
• Provide range of values controlled by mechanical screws
knobs or linear slide
• Most common type is potentiometer or pot

Potentiometer schematic symbol

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Capacitor

• Passive element that stores

energy in the form of an electric
field.
• The filed is the result of
separation of charges.
• Dielectric material is an insulator
that increases the capacitance as
Parallel Plate Capacitor
a result of permanent or induced
electric dipoles in the material.

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• Strictly DC current does not flow through the capacitor
• Charges are displaced through circuit.
• Displacement current
1 𝑡 𝑄(𝑡) 𝑑𝑉
𝑉 𝑡 = න 𝐼 𝜏 𝑑𝜏 = 𝐼 𝑡 =𝐶
𝐶 0 𝐶 𝑑𝑡

• Capacitance is a property of the dielectric material, plate geometry

and plate separation.
• Values of typical capacitors range from 1 pF to 1000 µF

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Inductor
d
• A passive element V (t ) =
that stores energy in dt
the form of a  = LI
magnetic field.
dI
• Energy storing V (t ) = L
element that stores dt
energy in the form of t
1
magnetic field. I (t ) =  V ( )d
• Characteristics are L0
from Faradays law of
induction 𝜆 is total magnetic flux through
coil winding due to current. It is
measured in webers(Wb)
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• Current through an inductor cannot change instantaneously
because it is integral of voltage.
• Motors have large inductance, so it is difficult to start and
stop motors instantaneously
• Unit of measurement of inductance is Henry
• Typical inductance range from 1µH to 100mH

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Kirchhoff’s Laws

• Kirchhoff’s Voltage Law (KVL)

• Sum of the voltages around
a closed loop or path is 0.

෍ 𝑉𝑖 = 0
𝑖=1
−𝑉1 − 𝑉2 + 𝑉3 +. . . −𝑉𝑁 = 0 Kirchhoff’s Voltage Law

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Kirchhoff’s Current Law (KCL)

• Sum of the currents

flowing into a closed 𝐼1 𝐼2
surface or node is 0. 𝐼1 𝐼3

Node Surface
𝐼2
I1 + I 2 − I 3 = 0
N
𝐼3
 Ii = 0
i =1
𝐼𝑁 …

Kirchhoff’s Current Law

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Series Resistance Circuit
Using KVL
− Vs + VR1 + VR2 = 0
Req = R1 + R2
C1C2
Ceq =
C1 + C2
Leq = L1 + L2

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Voltage Dividers

R1
VR1 = Vs
R1 + R2
R2
VR2 = Vs
R1 + R2
Series Resistance Circuit

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Parallel Resistance Circuit
Using KCL
I − I1 − I 2 = 0
R1 R2
Req =
R1 + R2
Ceq = C1 + C2
L1 L2
Leq =
L1 + L2

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Voltage & Current Sources and Meters

• An ideal voltage source: has zero output resistance and

can supply infinite current
• An ideal current source has infinite output resistance and
can supply infinite voltage
• An ideal voltmeter has infinite input resistance and draws
no current.
• An ideal ammeter has zero input resistance and no
voltage drops across it.

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Real Voltage Source with Output Impedance

Rout is small

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Real Current Source with Output Impedance

Rout of commercially available

current source is high. So as to
minimise current division effect

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Real Ammeter with Input Impedance

Rin of commercially available ammeter is small

minimizing the voltage drop VR in the circuit.

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Real Voltmeter with Input Impedance

Rin in commercially available voltmeter (an

oscilloscope or multimeter) is very large (1
to 10 MΩ.)
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Thevenin Equivalent Circuit

• To simplify the analysis of complex circuits we wish to replace

voltage sources and resistance networks with an equivalent voltage
source and series resistor.
• Thevenin theorem states that given a pair of terminal in a linear
network , the network may be replaced by an ideal voltage source
Voc in series with a ressitance RTH.
• Voc is equal to the open circuit voltage across the terminals, and RTH
is the equivalent resistance across the terminals when independent
voltage sources are shorted and independent current sources are
replaced with open circuits. .

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 Thevenin equivalent circuit

R2
VOC = Vs
R1 + R2
R1 R2
RTH =
R1 + R2
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Norton Equivalent Circuit

• Here the linear network is replaced by an

ideal current source ISC and the Thevenin
resistance RTH in parallel with this source.
• ISC is found by calculating the current that
would flow through the terminals if they
were shorted together having removed the Norton equivalent circuit
remaining load circuit.
• It can be shown that the current ISC flowing
through RTH produces the Thevenin voltage.

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AC Circuit Analysis

• Sinusoidal Waveform

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• Time shift between the
 =  t
signal and reference.
• +ve phase angle-leading
waveform. 1 
f = =
• -ve phase angle lagging T 2
waveform.
• Frequency of signal

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AC Circuit Analysis

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References

• W. Bolton, Mechatronics: Electronic Control Systems in Mechanical

and Electrical Engineering (6th Edition), Pearson, 2015
• D.G. Alciatore and Michael B. Histand, Introduction to
Mechatronics, Tata Mc Graw Hill, 2012.
• Mechatronic System Design; Shetty Dedas, Kolk and Richard
• Mechatronic Handbook: Bishop; CRC press
• R. Merzouki, A. K. Samantaray, P. M. Pathak, B. Ould Bouamama,
Intelligent Mechatronic Systems: Modeling, Control and Diagnosis,
ISBN 978-1-4471-4627-8, 2013, Springer, London
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Thank You

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