ME 214 Mechatronics

Associate Professor Kutay İçöz

AGÜ

Slides from course textbooks Sadiku, Nilsson, Prof Sehlton Purdue University and various resources the web
An electric circuit is an interconnection of electrical elements
 What is a circuit?
• An electric circuit is an interconnection of electrical elements.
• It may consist of only two elements or many more:

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Single transistor FM
transmi0er
Single transistor FM
receiver
 Units
• When taking measurements,
we must use units to quantify
values
• We use the International
Systems of Units (SI for
short)
• Prefixes on SI units allow for
easy relationships between
large and small values

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Charge is an electrical property of the atomic particles of which matter consists,
measured in coulombs (C)

Electric current is the ;me rate of change of charge, measured in amperes (A)

Voltage (or potential difference) is the energy required to move a unit charge through
an element, measured in volts (V)
Power is the time rate of expending or absorbing energy, measured in watts (W)

Energy is the capacity to do work, measured in joules (J)

 Charge
• Charge is a basic SI unit, measured in
Coulombs (C)
• Counts the number of electrons (or positive
charges) present.
• Charge of single electron is 1.602*10-19 C
• One Coulomb is quite large, 6.24*1018 electrons.

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 Charge II
• In the lab, one typically sees (pC, nC, or
μC)
• Charge is always multiple of electron
charge
• Charge cannot be created or destroyed,
only transferred.

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 Current
• The movement of charge is called a current
• Historically the moving charges were thought to
be positive
• Thus we always note the direction of the
equivalent positive charges, even if the moving
charges are negative.

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 Current II
• Current, i, is measured as charge moved
per unit time through an element.
dq
iº
dt
• Unit is Ampere (A), is one
Coulomb/second

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 DC vs. AC
• A current that remains constant with
time is called Direct Current (DC)
• Such current is represented by the
capital I, time varying current uses
the lowercase, i.
• A common source of DC is a battery.
• A current that varies sinusoidally with
time is called Alternating Current
(AC)
• Mains power is an example of AC

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 Direction of current
• The sign of the current indicates the
direction in which the charge is moving
with reference to the direction of interest
we define.
• We need not use the direction that the
charge moves in as our reference, and
often have no choice in the matter.

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 Direction of Current II
• A positive current through a component is
the same as a negative current flowing in
the opposite direction.

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 Voltage
• Electrons move when there is a difference
in charge between two locations.
• This difference is expressed at the
potential difference, or voltage (V).
• It is always expressed with reference to
two locations

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 Voltage II
• It is equal to the energy needed to move a
unit charge between the locations.
• Positive charge moving from a higher
potential to a lower yields energy.
• Moving from negative to positive requires
energy.

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 Power and Energy
• Voltage alone does not equal power.
• It requires the movement of charge, i.e. a
current.
• Power is the product of voltage and current

p = vi
• It is equal to the rate of energy provided or
consumed per unit time.
• It is measured in Watts (W)
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in any electrical circuit
Example 2.8:
a) Use Kirchhoff's laws and Ohm's laws to find i0 in the circuit shown in Fig.
2.18.
b) Test the solution i0 by verifying that the total power generated equals the
total power dissipated

Figure 2.18 The circuit for Example 2.8.

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 Source Free RC Circuit
• A source free RC circuit occurs
when its dc source is suddenly
disconnected.
• The energy stored in the
capacitor is released to the
resistors.
• Consider a series combination
of a resistor and a initially
charged capacitor as shown:

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 Source Free RC Circuit
• Since the capacitor was ini3ally
charged, we can assume at t=0 the
ini3al voltages is:

• Applying KCL at the top node:

v ( 0 ) = V0
• Or
iC + iR = 0

• This is a first order differen3al

equa3on.
dv v
+ =0
dt RC

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 Source Free RC Circuit
• Rearranging the equation and solving both
sides yields:
t
ln v = - + ln A
RC

• Where A is the integration constant

• Taking powers of e produces
v ( t ) = Ae - t / RC
• With the initial conditions:
v ( t ) = V0 e - t / RC
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 Natural Response

• The result shows that the

voltage response of the RC
circuit is an exponen8al
decay of the ini8al voltage.
• Since this is the response of
the circuit without any
external applied voltage or
current, the response is
called the natural response.

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 Time Constant

• The speed at which the voltage decays can be

characterized by how long it takes the voltage
to drop to 1/e of the initial voltage.
• This is called the time constant and is
represented by t.
• By selecting 1/e as the reference voltage:
t = RC
• The voltage can thus be expressed as:
v ( t ) = V0 e - t /t 54
 Time Constant II
• After five time constants the voltage
on the capacitor is less than one
percent.
• After five time constants a capacitor
is considered to be either fully
discharged or charged
• A circuit with a small time constant
has a fast response and vice versa.

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 RC Discharge
• With the voltage known, we can find the
current: i t = V e t
R( )
0 -t /

• The power dissipated in the resistor is:

V02 -2t /t
p (t ) = e
R

• The energy absorbed by the resistor is:

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(
wR ( t ) = CV02 1 - e -2t /t
2
)

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 Step Response of RC Circuit
• When a DC source is suddenly
applied to a RC circuit, the
source can be modeled as a
step func:on.
• The circuit response is known
as the step response.
• Let s consider the circuit
shown here.
• We can find the voltage on the
capacitor as a func:on of :me.
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 Step Response of RC Circuit
• We assume an initial voltage of V0 on the
capacitor.
dv v V
u (t )
• Applying KCL: + = s
dt RC RC

• For t>0 this becomes:

dv v V
+ = s
dt RC RC
Integrate both sides

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 Step Response of RC Circuit

ì V0 , t<0
v (t ) = í
V
î s + (V0 - V s ) e - t /t
t >0

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 Step Response of RC Circuit

• This is known as the complete response, or total

response.
• We can consider the response to be broken into
two separate responses:
• The natural response of the capacitor or inductor
due to the energy stored in it.
• The second part is the forced response

ì V0 , t<0
v (t ) = í
îVs + (V0 - Vs ) e
- t /t
t >0
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 Forced Response

ì V0 , t<0
v (t ) = í
îVs + (V0 - V s ) e - t /t
t >0
• The complete response can be written as:
v = vn + v f
• Where the nature response is:
vn = V0 e - t /t
• And the forced response is:
(
v f = Vs 1 - e - t /t )
• Note that the eventual response of the circuit is
to reach Vs after the natural response decays to
zero.
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 Another Perspective

ì V0 , t<0
v (t ) = í
V
î s + (V0 - V s ) e - t /t
t >0

• Another way to look at the response is to

break it up into the transient response and the
steady state response:
v = vt + vss

• Where the transient is:

vt = (V0 - Vs ) e - t /
t

vss = Vs
• And the steady state is:
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