MECH321

Dynamics of Engineering System

Week 4 (Chapter 6)
1. Basic electric circuit theories

2. Mathematical Modeling of Passive Circuits

3. Complex Impedance Approach

4. Mechanical – Electrical analogy

5. Modelling of Active Circuits:

Operational – Amplifier Circuits

Basic Electric Circuit Theories

Two important variables in electrical circuit analysis:
• Voltage, e : represents the potential energy in the circuit
• Current, i : represents rate of charge q with respect of time. It
can be positive or negative, depending upon the
direction in which the electrons flow.
Direction of flow of electron
- - -
R

i
+ Unit : ampere
(A) = coulomb / s
e(t) dq
i
dt
-
Unit : voltage
(V) = J / coulomb Direction of current

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 Basic passive elements
• Resistance: unit ohm () = volt / ampere
e
R R
i Ohm’s law
e R  Ri
• Capacitance: unit farad (F) = coulomb / volt

eC t   idt  eC 0
q 1 t
C 0
C
eC
• Inductance: unit Henry (H) = V.s / A

eL diL
L eL (t )  L
di dt dt

Ohm’s law
Using Ohm’s law the following rules governing
electrical circuits can be derived:
• Series circuits
etotal  e1  e2  e3  

Rtotal  R1  R2  

• Parallel circuits
itotal  i1  i2  

1 1 1
  
Rtotal R1 R2

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 Ohm’s law
Using the series and parallel circuit theories,
combined resistance of series/parallel resistors can
be calculated:

1st Kirchoff’s law

1st Kirchoff’s Law “Current law (node law)”:
the sum of all currents entering (+) and leaving
(-) a node is zero

i2 i3
i1 i1  i2  i3  i4  i5  0
i4
i5

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 2nd Kirchoff’s law
2nd Kirchoff’s Law “Voltage law (loop law)”: the sum of
the voltages around any loop is zero (a rise in voltage
(+); a drop in voltage (-)

One-loop
circuit

E i R i r 0 E1  i R  E2  i r1  i r2  0

Two-loop circuit
Left loop : E1  E2  i3 R2  i1 R1  0

Right loop : E2  i2 R3  i3 R2  0

Mathematical Modeling of Passive Circuits:

LR circuit
Eo s 
Transfer Function:  Gs 
Ei s 
From Kirchoff’ voltage law Taking Laplace transform of
around a loop both sides
di
L  Ri  E
LsI s   i0   RI s  
E Step input
dt
i(0) = 0 s
LR circuit Ls  R I s   E
s
E 1 
I s  
E 1
  
sLs  R  R  s s  R / L 

 it  
E
R

1  e  R / L t 

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 Mathematical Modeling of Passive Circuits:
RC circuit
From Kirchoff’ voltage law
around a loop
1
RC circuit
Loop 1 Ri   idt  ei
C
1
C
Loop 2 idt  e0

Taking Laplace transform of both

equations
RI s   I s   Ei s 
11
Cs
I s   E0 s 
11
If eo is the output and Cs
ei is the input, the transfer E s  1
G( s)  0 
function of the system is Ei s  RCs  1

Mathematical Modeling of Passive Circuits:

LRC circuit
From Kirchoff’ voltage law
around a loop
LRC circuit di 1
L  Ri   idt  ei
dt C
1
C
idt  e0
Taking Laplace transform of both
equations
LsI s   RI s   I s   Ei s 
11
Cs
I s   E0 s 
11
If eo is the output and C s
ei is the input, the transfer E s  1
G( s)  0 
function of the system is Ei s  LCs  RCs  1
2

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 Cascaded elements
From Kirchoff’ voltage law
Cascaded elements
around a loop

 i  i2 dt  ei
1
R1i1  1
C1

 i  i1 dt 
1 1
C2 
R2 i 2  2 i2 dt  0
C1
1
C2 
i2 dt  e0

Taking Laplace transform of the After eliminating I1(s) and

equations I2(s), the transfer function
R1 I 1 s  
1
I1 s   I 2 s   Ei s  of the system is obtained.
C1 s

R2 I 2 s  
1
I 2 s   I1 s   1 I 2 s   0 E0 s  1
G(s)  
C1 s C2 s Ei s  R1C1s  1R2C2 s  1  R1C2 s

I 2 s   E 0 s 
1 1

C2 s R1C1 R2C2 s 2  R1C1  R2C2  R1C2 s  1

Tutorial
Example 1 (B-6-9)
Obtain the transfer function Eo(s)/Ei(s) of the circuit below.

(solution will be done in the lecture)

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 Complex Impedance Approach
E ( s)
Complex Impendance: Z ( s) 
I ( s)
Using this approach transfer functions of simple circuits are
obtained directly as the Laplace-transformed equations.
Consider again LRC circuit:
Complex impendance of:
an inductor
ZL = Ls
A resistor
ZR = R
LsI s   RI s   I s   Ei s 
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A capacitor
Cs
1
11
I s   E0 s  ZC 
Cs Cs

Complex Impedance Approach

Using complex impendances, the Laplace-transformed
Equations are:

Z L I s   Z R I s   Z C I s   Ei s 

Z C I s   E0 s 

These equations will give the transfer function

E0 s  ZC 1
G( s)   
Ei s  Z L  Z R  Z C LCs  RCs  1
2

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 Classroom exercise
Example 2 (B-6-12)
Obtain the transfer function Eo(s)/Ei(s) of the circuit below using the
complex-impedance method.

(solution will be done in the lecture)

Mechanical-electrical analogies:
Force-voltage analogy
di 1
L  Ri   i dt  e
dt C
dq
i  q
dt

1
  Rq 
Lq qe
C

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 Force-voltage analogy
mx  bx  kx  p
1
  Rq 
Lq qe
C

Mechanical-electrical analogies:
Force-current analogy

i L  i R  iC  i s
1 e de
iL 
L 
edt, i R  , iC  C
R dt
1 e de
so
L edt   C
R dt
 is

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 Mechanical-electrical analogies:
Force-current analogy
1 e de
L 
edt   C  i s
R dt

mx  bx  kx  P mv  bv  k  v( )d  P

A-6-16 (p.304): Find an electric analogy

m1 x1  b1 x1  k1 x1  k 2 x1  x2   0
b2 x 2  k 2 x2  x1   0

di1
 i  i2 dt  0
1 1
C1 
L1  R1i1  i1 dt  1
dt C2

 i  i1 dt  0
1
R2 i 2  2
C2

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 A-6-17: Find a mechanical analogy

di1
 i  i2 dt  R2 i1  i2   0
1 1
C1 
L1  R1i1  i1 dt  1
dt C2
di2
 R2 i2  i1    i  i1 dt  0
1
L2 2
dt C2
m1 x1  b1 x1  k1 x1  k 2 x1  x2   b2 x1  x 2   0
m2 x2  k 2 x1  x2   b2 x 2  x1   0

Modelling of Active Circuits: Operational Amplifier

(op-amp) Circuits

Differential amplifier
e2 +

e1 - eo
Op-amp has a
large input
impendance,
e0  K e 2  e1    K e1  e 2  so it draws a
negligible
Input voltages
Very large difference current.
gain  105

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Op-Amp Amplifier: proportional amplifier
Applying Kirchoff’s node law

i2 i1 = i2 + i3 Op-amp has a
large input
impendance,
i1 i3 But i3  0, so it draws a
negligible

ei  e' e0  e' current.

 0
R1 R2
e0   Ke'

e0  R2 / R1 R
  2
ei 1  R2 / R1 R1
1
K
0
Because K is very large

Op-Amp Amplifier: integrator

Zf(s) = 1 / Cs

Zi(s) = R

V0 ( s) Z f ( s) 1
The transfer function , G( s)   
Vi ( s) Z i ( s) RC s

t
In the time domain 1
RC 0
v0 (t )   vi dt

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 Op-Amp Amplifier: differentiator
Zf(s) = R

Zi(s) = 1/Cs

V0 ( s) Z f ( s)
The transfer function , G( s)    RC s
Vi ( s) Z i ( s)

In the time domain,

dvi (t )
v0 (t )   R C
dt

Classroom exercise
Example 3 (B-6-25)
Obtain the transfer function Eo(s)/Ei(s) of the following
operational-amplifier shown below.

(solution will be done in the lecture)

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