INTRODUO AS EQUAES

INTEGRO-DIFERENCIAIS
CIRCUITOS DE PRIMEIRA ORDEM: RC, RL
RESPOSTA NATURAL e FORADA
CIRCUITOS DE SEGUNDA ORDEM: RLC SRIE e
PARALELO
RESPOSTA NATURAL
RESPOSTA SUPERAMORTECIDA
RESPOSTA SUBAMORTECIDA
RESPOSTA CRITICAMENTE AMORTECIDA

INTRODU
O
Com a chave no lado esquerdo o capacitor recebe carga da ba

Chave no
lado direito
o capacitor
se
descarrega
atravs da
lmpada.

RESPOSTA GERAL: CIRCUITO DE PRIMEIRA ORDEM

IncluIindo a condio inicial

no modelo do capacitor (tenso)
ou no indutor (corrente):

dx
(t ) ax (t ) f (t ); x (0) x0
dt

dx

x fTH ; x(0) x0
dt
t
e

t0
x (t ) e

denominada de
constante de tempo e
esta associada a
resposta do circuito.

Resolvendo a equao diferencial,

usando o fator de integrao,
tem-se:x
t

1
t
x (t 0 ) e fTH ( x )dx
*/e
t
0

x(t ) e

t t0

1
x(t0 ) e
t0

tx

fTH ( x)dx

CIRCUITOS DE PRIMEIRA ORDEM COM

FONTES CONSTANTES

dx

x fTH ; x(0) x0
dt

x(t ) fTH x(t0 ) fTH e

A forma da soluo :

x(t ) K1 K 2e

t t0

t t 0

; t t0

t t0
TEMPO
CONSTANTE
TRANSIENTE

Qualquer varivel do circuito

da forma:

y (t ) K1 K 2e

t t0

; t t0

Somente os valores das constantes

K1, K2 podem mudar

EVOLUO DO TRANSIENTE E A INTERPRETAO DA

CONSTANTE DE TEMPO
Tangente atinge o eixo x no valor da constante de tempo

Descarrega de 0.632 do valor

Inicial em uma constante de tempo

Erro menor que 2%

Transiente zero
a partir deste ponto
VISO QUALITATIVA:
MENOR CONSTANTE DE TEMPO
MAIS RPIDO O TRANSITRIO
DESAPARECE

CONSTANTE DE TEMPO

vC v S
RS
vS

Carga em um capacitor

Assume
v S V S , v C ( 0) 0

vc
_

dvC b
dt

KCL@a:
dvc vC v S
C

0
dt
RS
O modelo:

dvC
RTH C
vC vTH
dt

2
3
4
5

A soluo pode ser escrita como:

vC (t ) VS VS e

transiente

Para efeitos prticos, o capacitor

carrregado quando o transitrio
insignificante.

0.368
0.135
0.0498
0.0183
0.0067

RTH C

RTH C

EXAMPLE

FIND v (t ), t 0. ASSUME v (0)

VS

PASSO 2 ANLISE DO ESTADO INICIAL

SOLUTION IS v ( t ) K1 K 2e

,t 0

for 0 andt , v(t) K1 (steadystatevalue)

NO ESTADO INICIAL A SOLUO UMA
CONSTANTE. A DERIVADA ZERO.

MODELFOR t 0. USEKCL @ v (t )

v ( t ) VS
dv
C
(t ) 0 * / R
R
dt

initialconditionv (0) VS / 2
PASSO 1 CONSTANTE DE TEMPO

dy
y f
dt

RC

dv
( t ) v ( t ) Vs
dt

(equatingsteadystatevalues)
K1 V S
IF THEMODELIS

dy
y f THENK1 f
dt

PASSO 3 USO DA CONDIO INICIAL

AT t 0
v ( 0 ) K 1 K 2 K 2 v ( 0) K 1
K 2 v ( 0) f

v (0) VS / 2 K 2 VS / 2

ANSWER: v (t ) VS (VS / 2)e

t
RC , t

EXAMPLE

x ( t ) K1 K 2 e

FIND i (t ), t 0

,t 0

MODEL. USE KVLFOR t 0

vL

i (t )

K1 x (); K1 K 2 x (0 )

vR
KVL

VS v R v L Ri (t ) L

i (t )

di
(t )
dt

INITIAL CONDITION
t 0 i ( 0 ) 0

i (0 ) 0
inductor i (0) i (0 )
PASSO 1 L di ( t ) i ( t ) VS L
R
R dt
R
PASSO 2 ESTADO INICIAL

i ( ) K1

PASSO 3 CONDIO INICIAL

i ( 0 ) K1 K 2

VS
R

VS
ANS: i (t )
1 e

t
L
R

PROBLEMA

v (t )

MODEL.KCL FOR t 0

IS

v (t ) L

v (t )
i (t )
R

di
(t ) I S L di (t ) i (t )
dt
R dt
INITIAL CONDITION: i (0 ) 0
PASSO 1
PASSO 2
PASSO 3

L
R

i ( ) I S K1 I S
i ( 0 ) 0 K1 K 2

ANS: i (t ) I S 1 e

t
L
R

i ( t ) K1 K 2 e

,t 0
INITIAL CONDITIONS

CIRCUIT IN STEADYSTATE FOR t 0

MODELFOR t 0

vC ( 0 )
i (t )

v (t )
R2

MAIS SIMPLES DETERMINAR ATRAVS

DO MODELO DE TENSO

v (t )
dv
v (t )
C (t )
0; RP R1 || R2
R1
dt
R2
RP 3k || 6k 2k
dv
v (t )
C (t )
0
dt
RP

3k
(12) 4V v (0 ) 4V
3k 6k

PASSO 1

RP C (2 103 )(100 106 F ) 0.2 s

PASSO 2 v () K1 0
PASSO 3 v (0 ) K1 K 2 4V K 2 4V

v (t ) 4e

t
0.2 [V ], t

4 0.2
ANS : i (t ) e [mA], t 0
3

FIND vO (t ), t 0

EXEMPLO

vC ( t ) K1 K 2 e

,t 0

K1 vC (); K1 K 2 i1 (0)
R1

R2

DETERMINE vc (t )
MODELFOR t 0. USEKCL
dv
vC
dv
2
1
C C (t )
0 ( R1 R2 )C C (t ) vc 0 vO ( t )
vC ( t ) vC ( t )
dt
R1 R2
dt
24
3
PASSO 1 ( R1 R2 )C (6 103 )(100 106 F ) 0.6 s
PASSO 2

v C ( t ) K1 K 2

, t 0 K1 0

8
vO ( t ) e
3

CONDIO INICIAL. CIRCUITO NO ESTADO INICIAL t<0

t
0.6 [V ], t

PASSO 3

vC (0) 8 K1 K 2 K 2 8[V ]

6
vC (0) (12)V
9

vC (t ) 8e

t
0.6 [V ], t

EXEMPLO

FIND i1 (t ), t 0

i1 (t ) K1 K 2e

,t 0

K1 i1 (); K1 K 2 i1 (0)
CIRCUITO NO ESTADO INICIAL

i1 (t )

i1 (0)

vL

MODELFOR t 0. USEKVL
di
1 di1
L 1 18i1 (t ) 0
(t ) i1 (t ) 0
dt
9 dt
1

s
PASSO 1
9
PASSO 2

K1 0

CONDIO INICIAL
CORRENTE NO INDUTOR PARA t<0

i1 (0)

PASSO 3

12V
1A
12

i1 (0) i1 (0 ) K1 K 2 K 2 1[ A]

ANS: i1( t ) e

t
1
9 [ A]

e 9 t [ A], t 0

CIRCUITOS DE SEGUNDA ORDEM

vC

EQUAO BSICA

vR
iL

iR

iC

vL

Malha simples: Uso KVL

Simples N: Uso KCL

v S v R vC v L 0

i S i R i L iC 0

1 t
di
v (t )
1t
dv
iR
; i L v ( x )dx i L (t0 ); iC C (t ) v R Ri ; vC i ( x )dx vC (t 0 ); v L L (t )
C t0
dt
R
L t0
dt
t

v 1
dv
v ( x )dx i L (t 0 ) C (t ) i S
R L t0
dt
Diferenciando

1 t
di
Ri i ( x )dx vC (t0 ) L (t ) v S
C t0
dt

d v 1 dv v di S
C 2

R dt L dt
dt

d 2i
di i dv S
L 2 R
dt C
dt
dt

EXEMPLO

WRITE THE DIFFERENTIAL EQUATION FOR v (t ), i (t ), RESPECTIVE

LY

vS

iS

0 t 0
i S (t )
IS t 0

di S
(t ) 0; t 0
dt

MODEL O PARA RLC PARALELO

VS t 0
v S (t )
0 t 0

dv S
(t ) 0; t 0
dt

MODELO PARA RLC SRIE

d v 1 dv v di S
C 2

dt R dt L dt

d 2i
di i dv S
L 2 R
dt C dt
dt

d 2v 1 dv v
C 2
0
R dt L
dt

d 2i
di i
L 2 R 0
dt C
dt

A RESPOSTA DA EQUAO
WE STUDY THE SOLUTIONSFOR THE
EQUATION
d2x
dx
(t ) a1 (t ) a2 x (t ) f (t )
2
dt
dt
KNOWN: x (t ) x p (t ) xc (t )
xp

particularsolution

xc

complement
ary solution

f (t ) A x p

A
is a particularsolution
a2

dx p d 2 x p
A
THE COMPLEMENT
ARY SOLUTION PROOF: x p a dt dt 2 0 a2 x p A
2

SATISIFES

d 2 xc
dxc
(
t
)

a
( t ) a 2 xc ( t ) 0
1
2
dt
dt

FOR ANY FORCING FUNCTION f (t ) A

A
x ( t ) xc ( t )
a2

SE A FUNO FORADA UMA CONSTANTE

EXEMPLO

A EQUAO HOMOGNEA

DETERMINE THE CHARACTERI

STIC
EQUATION, DAMPING RATIO AND
NATURAL FREQUENCY

d x
dx
(t ) a1 (t ) a2 x (t ) 0
2
dt
dt
NORMALIZEDFORM

d2x
dx
2
(
t
)

(
t
)

n
n x (t ) 0
2
dt
dt

d2x
dx
4 2 (t ) 8 (t ) 16 x (t ) 0
dt
dt

COEFICIENTE DA SEGUNDA DERIVAD

n (undamped) natural frequency

damping ratio

CHARACTERI
STIC EQUATION
s 2 2 n s n2 0

a2 n2

CHARACTERI
STIC EQUATION
s2 2s 4 0

RAZO DE DECAIMENTO, FREQ. NATURAL

n a2

a1 2 n

d2x
dx
(
t
)

2
(t ) 4 x (t ) 0
2
dt
dt

a1
2 a2

d2x
dx
(
t
)

2
(t ) 4 x (t ) 0
dt
dt 2
n2 n 2
2 n

0.5

ANALISE DA EQUAO HOMOGNEA

NORMALIZEDFORM
d2x
dx
2
(
t
)

(
t
)

x (t ) 0
n
n
2
dt
dt

x (t ) Ke st is a solutionif
s 2 2 n s n2 0

CASE1: 1 (real and distinct roots)

x (t ) K1e s1t K 2e s2 t
CASE 2: 1 (complex conjugateroots)

x (t ) K1e s1t K 2e s2 t
s n j n 1 2
x (t ) real K 2 K1*
s j d
d damped oscillatio
n frequency
dampingfactor
x (t ) e t A1 cos d t A2 sin d t

2
dx
st d x
2
st
PROOF:
(t ) sKe ;

s
Ke
dt
dt 2
( n j d ) t
n t j d t
st
HINT
:
e

e
e
2
d x
dx
j d t
2
2
2
st
e
cos d t j sin d t
(
t
)

(
t
)

x
(
t
)

(
s

)
Ke
n
n
n
n
2
dt
dt
ASSUME K1 ( A1 jA2 ) / 2
CHARACTERI
STIC EQUATION
K 2 K1*
( j d ) t

x
(
t
)

2
Re
K
e
2
2

1
s 2 n s n 0
s j d
CASE3: 1 (real and equal roots)
( s n ) 2 ( n2 2 n2 ) 0
s n
2 2
2
s n n n
x (t ) B1 B2 t e n t
s n n 2 1
HINT : te st is solutionif

(modes of the system)

( s 2 2 n s n2 0) AND (2 s 2 n 0)

DETERMINAR A FORMA DA SOLUO GERAL

EXEMPLO

d2x
dx
(t ) 4 (t ) 4 x (t ) 0
2
dt
dt

d2x
dx
4 2 ( t ) 8 ( t ) 16 x ( t ) 0
dt
dt
d2x
dx
(
t
)

2
(t ) 4 x (t ) 0
2
dt
dt

CHARACTERI
STIC EQUATION
s2 4s 4 0

n2 4 n 2 2 n 4 1

n2 4 n 2

s 2 4 s 4 0 ( s 2) 2 0

2 n 2 0.5

s 2 2 s 4 ( s 1) 2 3 0 s 1 j 3
Raizes complexas conjugadas

Raizes reais e iguais

underdampe
d (case2) system

thisis a criticallydamped(case3) system

SUBAMORTECIDO
CRITICAMENTE AMORTECIDO

x (t ) ( B1 B2 t )e st
x (t ) ( B1 B2 t )e

2t

n 1; d n 1 2 2 1 0.25 3

x (t ) e t A1 cos d t A2 sin d t
x (t ) e t A1 cos 3t A2 sin 3t

RLC PARALLEL CIRCUIT WITH

RLC SERIES CIRCUIT WITH

R 2; L 1H , C 0.5F ,1F ,2 F

PROBLEMA

R 1, L 2 H , C 2 F

EQUAO HOMOGNEA

d 2v 1 dv v
C 2
0
R dt L
dt
d 2v dv v
2 2
0 2 s 1
1
3
dt 2
s ( s )2 0
dt
2 4
4
16
2
d v 1 dv v

0 n 1 ; n 1 1
2
2 dt 4
dt
2
4
2

1
4

1
1
3
1
2
4 4
3
3
A1 cos
t A2 sin
t
4
4

d n 1 2

vc ( t ) e

Classificar a resposta para

um dado valor de C

d 2i
di i
L 2 R 0 : / L & replacevalues
dt C
dt
d 2i
di i

2
0
2
dt C
dt
1
n
; 2 n 2 C
C
C=0.5
C=1.0
C=2.0

subamortecido
criticamente amortecid
superamortecido

EXEMPLO

i L (0) 1A, vC (0) 4V

R 2, L 5 H , C 1 F
5
iR

iL

iC

i R i L iC 0

v 1t
dv
v ( x )dx i L (0) C
0
R L0
dt

To determine the constants we need

dv
(0 )
dt
PASSO 1
d 2v
1 dv
1
IF NOT GIVEN FIND vC (0), i L (0)

v0
2
MODELO
RC dt LC
dt
v (0) vC (0 ) vC (0) 4V
ANALIZAR
CHARACTERI
STIC EQUATION PASSO 2
KCL AT t 0
CIRCUITO
vC (0 )
dv
t=0+
s 2 2.5 s 1 0 n 1; 1.25
i L (0 ) C (0 ) 0
R
dt
2
PASSO
3
2.5 (2.5) 4 2.5 1.5
dv
4
(1)
s

RAIZES
(
0

5
2
2
dt
2(1 / 5) (1 / 5)
PASSO 4
K1 K 2 4

v (t ) K1e 2 t K 2e 0.5t
FORMA DA
K1 2; K 2 2
2 K1 0.5 K 2 5
SOLUO
PASSO 5: OBTER AS CONSTANTES

v (0);

v (t ) 2e 2 t 2e 0.5 t ; t 0

USO DO MATLAB PARA VISUALIZAR A RESPOSTA

%script6p7.m
%plots the response in Example 6.7
%v(t)=2exp(-2t)+2exp(-0.5t); t>0
t=linspace(0,20,1000);
v=2*exp(-2*t)+2*exp(-0.5*t);
plot(t,v,'mo'), grid, xlabel('time(sec)'), ylabel('V(Volts)')
title('RESPONSE OF OVERDAMPED PARALLEL RLC CIRCUIT')

SUPERAMORTECIDO

EXAMPLO

R 6, L 1H , C 0.04 F
i L (0) 4 A; vC (0) 4V

vR

vL
v R v L vC 0

Ri (t ) L

di
1
(t ) i ( x )dx vC (0) 0
dt
C0

vC

TO COMPUTE
v L (t ) L

di
(0 )
dt

di
(t )
dt

di
di
d 2 i R di
1
L
(
0
)

Ri
(
0
)

v
(
0
)

(0) 20
C
model

(
t
)

i
(
t
)

0
dt
dt
LC
dt 2 L dt
di
d 2i
di
(t ) 3i (t ) e 3t (4 A1 sin 4t 4 A2 cos 4t )
6 (t ) 25i (t ) 0
dt
dt
dt 2
2
n 25 n 5 @ t 0 : 20 3 (4) 4 A2 A2 2
2
Ch.Eq.: s 6 s 25 0
2 n 6 0.6
i (t ) e 3t (4 cos 4t 2 sin 4t )[ A]; t 0
6 36 100
roots: s
3 j 4 d
di
1t
vC (t ) Ri (t ) L (t ) vC (0) i ( x )dx
2
dt
C0
3 t
i
(
t
)

e
(
A
cos
4
t

A
sin
4
t
)
Form:
1
2
vC ( t ) e 3t (4 cos 4t 22 sin 4t )[V ]; t 0
i (0) i L (0) 4 A A1 4

USO DO MATLAB PARA VISUALIZAR A RESPOSTA

%script6p8.m
%displays the function i(t)=exp(-3t)(4cos(4t)-2sin(4t))
% and the function vc(t)=exp(-3t)(-4cos(4t)+22sin(4t))
% use a simle algorithm to estimate display time
tau=1/3;
tend=10*tau;
t=linspace(0,tend,350);
it=exp(-3*t).*(4*cos(4*t)-2*sin(4*t));
vc=exp(-3*t).*(-4*cos(4*t)+22*sin(4*t));
plot(t,it,'ro',t,vc,'bd'),grid,xlabel('Time(s)'),ylabel('Voltage/Current')
title('CURRENT AND CAPACITOR VOLTAGE')
legend('CURRENT(A)','CAPACITOR VOLTAGE(V)')

SUBAMORTECIDO

EXEMPL0

R1 10, R2 1, C 1F , L 2 H vC (0) 1V , i L (0) 0.5 A

Ch.Eq.: s 2 6 s 9 0 ( s 3) 2

KVL

n 3, 2 n 6 1
KCL

v ( t ) e 3t B1 B2 t
v (0 ) vc (0 ) 1V

di
v (t )
dv
(t ) R1i (t ) v (t ) 0 i (t )
C (t )
dt
R2
dt

1 dv
v (t )
d v
dv
L
( t ) C 2 R1
C (t ) v (t ) 0
dt
dt
R2
R2 dt
1
d 2v
R1 dv
R1 R2

(
t
)

(
t
)

v (t ) 0

2
R2 LC
dt
R2C L dt
2

d 2v
dv
Ch.Eq.: s 2 6 s 9 0
( t ) 6 (t ) 9v (t ) 0
dt
dt 2

KCL AT t 0
dv
v ( 0)
dv
(0) 3
i (0) i L (0)
C (0)
dt
R2
dt

v (0) 1 B1
dv
(0) 3v (0) B2 3 B2 6
dt

v ( t ) e 3 t 1 6 t ; t 0

USO DO MATLAB PARA VISUALIZAR A RESPOSTA

%script6p9.m
%displays the function v(t)=exp(-3t)(1+6t)
tau=1/3;
tend=ceil(10*tau);
t=linspace(0,tend,400);
vt=exp(-3*t).*(1+6*t);
plot(t,vt,'rx'),grid, xlabel('Time(s)'), ylabel('Voltage(V)')
title('CAPACITOR VOLTAGE')

CRITICAMENTE AMORTECIDO

Second
Order