6.

002

CIRCUITS AND ELECTRONICS

Damped Second-Order Systems

6.002

Fall 03

Damped Second-Order Systems

5V 5V

2K A +

50
S

2K C B

large loop

CGS

Remember this Demo Our old friend, the inverter, driving another. The parasitic inductance of the wire and the gate-to-source capacitance of the MOSFET are shown
[Review complex algebra appendix in Agarwal & Lang for next class]

6.002

Fall 03

Damped Second-Order Systems

5V 5V

2K A +

50
S

2K C B

large loop

CGS

Relevant circuit:

2K

L B CGS

5V +

6.002

Fall 03

Observed Output
5 vA 0

2k

vB
2k 0

vC
0
Now, lets try to speed up our inverter by closing the switch S to lower the effective resistance 6.002 Fall 03
4

Observed Output
5 vA 0

~50

vB
0 50

vC
0

Huh!
6.002 Fall 03
5

In the last lecture, we started by analyzing the simpler LC circuit to build intuition

i (t )
C

vI (t )

+ v(t )

6.002

Fall 03

In the last lecture

We solved
d 2v 1 1 + v= vI 2 dt LC LC

For input
VI

vI

0
And for initial conditions v(0) = 0 i(0) = 0 [ZSR]

6.002

Fall 03

In the last lecture Total solution

v(t ) = VI VI cos t o

where

o =

1 LC

v(t )
2VI
VI

LC

vI

t
L
i (t )

v I (t )

v (t )

6.002

Fall 03

Today, we will close the loop on our observations in the demo by analyzing the RLC circuit
R vI (t ) + L C

i (t )
+ v(t )

v(t )
2VI
VI

LC

vI

add R

Damped sinusoids with R remember demo!

See A&L Section 13.6

6.002 Fall 03
9

Lets analyze the RLC network

vA

vI (t )

L
+

R C

i (t )

+ v(t )

Node method:
vA :

1 t vA v (vI v A ) dt = L R
vA v dv =C R dt

Recall element rules

L:

v:

vL = L
t

di dt

1 vL dt = i L
d 2 v R dv 1 1 + + v= vI 2 dt L dt LC LC
C:

dvC iC = C dt

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Fall 03

v, i state variables
10

Lets analyze the RLC network

vA
vI (t ) +
Node method:
vA :
v:

R C

i (t )

+ v(t )

1 t vA v (v I v A ) dt = L R
vA v dv =C R dt

1 d 2v ( vI v A ) = C 2 L dt 1 d 2v ( vI v A ) = 2 dt LC

dv v A = RC + v dt
dv 1 d 2v ( vI RC v ) = 2 LC dt dt d 2 v R dv 1 1 + + v= vI 2 dt L dt LC LC

6.002

Fall 03

11

Solving
Recall, the method of homogeneous and particular solutions: 1 2 3 Find the particular solution. Find the homogeneous solution.
4 steps

The total solution is the sum of the particular and homogeneous. Use initial conditions to solve for the remaining constants.

v = vP (t ) + vH (t )

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Fall 03

12

Lets solve
d 2 v R dv 1 1 + + v= vI 2 dt L dt LC LC

For input
VI

vI

0
And for initial conditions v(0) = 0 i(0) = 0 [ZSR]

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Fall 03

13

Particular solution
d 2 vP R dvP 1 1 + + vP = VI 2 dt L dt LC LC

vP = VI

is a solution.

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Fall 03

14

Homogeneous solution
1 d 2 vH R dvH + + vH = 0 2 dt LC dt L

Solution to

Recall, vH : solution to homogeneous equation (drive set to zero)

Four-step method: A Assume solution of the form vH = Ae st , A, s = ? B

Form the characteristic equation f(s)

C Find the roots of the characteristic equation

s1 , s2

D General solution

vH = A1e s1t + A2 e s2t

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Homogeneous solution
1 d 2 vH R dvH + + vH = 0 2 dt LC dt L

Solution to

A Assume solution of the form vH = Ae st , A, s = ?

so,

As2est +
2

R 1 Asest + Aest = 0 L LC
characteristic equation
o =
1 LC

R 1 s + s+ =0 L LC
s + 2s +
2 2 o

=0

R 2L

C Roots D

s1 = + 2 2 o s2 = 2 2 o

General solution

vH = A1e
6.002 Fall 03

+ 2 2 o t

+ A2 e

2 2 o t

16

Total solution
v(t ) = vP (t ) + vH (t )
+ 2 2 o t 2 2 o t

v(t ) = VI + A1e

+ A2 e

Find unknowns from initial conditions. v(0) = 0 : 0 = VI + A1 + A2

i (0) = 0 :
dv i (t ) = C dt

= CA1 + 2 2 o e
2

( CA (
(

) )e

+ 2 2 o t

2 2 o

so,

0 = A1 + 2 2 o + A2 2 2 o

) (

Mathematically: solve for unknowns, done. 6.002 Fall 03

17

Lets stare at this a while longer

v(t ) = VI + A1e e

2 2 o t

+ A2 e e

2 2 o t

3 cases:
> o
Overdamped
1t

VI vI

v(t ) = VI + A1e

+ A2 e

2 t

v
t

< o

Underdamped
j 2 o 2 t t t j d t

v(t ) = VI + A1e e

+ A2 e e
t jd t

j 2 2 t o t

= VI + A1e e
= VI + K1e
t

+ A2e e
t

d = 2 o 2
e jd t = cosd t + j sin d t

cosd t + K 2e

sin d t

= o
6.002

Critically damped Later

18

Fall 03

Lets stare at underdamped a while longer

< o

Underdamped contd

v(t ) = VI + K1et cosd t + K 2et sin d t

v(0) = 0 : K1 = VI

dv i (0) = 0 : i (t ) = C dt

= CK1et cosd t CK 2d et sin d t CK1et sin d t + CK 2d et cosd t

0 = K1 + K 2d V K2 = 1

v(t ) = VI VI e

t cosd t VI e sin d t d

Note: For R = 0

= 0

v(t ) = VI VI cosot
Same as LC as expected 6.002 Fall 03

19

Lets stare at underdamped a while longer

< o

Underdamped contd
t

v(t ) = VI VI e

t cosd t VI e sin d t d

Remember, scaled sum of sines (of the same frequency) are also sines! -- Appendix B.7

o t v(t ) = VI VI e cos d t tan 1 d d

v(t )
2VI
VI

LC

vI

add R

t
Fall 03

6.002

20

 < o

Underdamped contd
t

v(t ) = VI VI e

Remember, scaled sum of sines (of the same frequency) are also sines! -- Appendix B.7

t cosd t VI e sin d t d

o t 1 v(t ) = VI VI e cos d t tan d d

v(t )
2VI
VI

LC

vI

add R

t
v Critically damped Section 13.2.3

underdamped criticallydamped overdamped

= o

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Fall 03

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Remember this? Closed the loop

5 vA 0

vB
0 50

vC
0

See example 12.9 on page 664 of the A&L textbook for inverter-pair analysis 6.002 Fall 03

22

Intuitive Analysis
See Sec. 12.7 of A&L textbook v(t ) = VI VI o et cos d t tan 1 Underdamped d d

v(t )
VI

e t

ringing

t
R 1 s+ =0 L LC

Characteristic equation

s2 +

s 2 + 2s + 2 o = 0

d : Oscillation frequency : Governs rate of decay

VI : Final value v(0) : Initial value

d = 2 o 2

Q=
6.002

o : Quality factor (approximately 2 the number of cycles of ringing)

Fall 03
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Intuitive Analysis
See Sec. 12.7 of A&L textbook
Ringing stops after Q cycles V I

v(t )
VI

v(0)

?
2

i (0)
is ve so v(t) must drop

0
period

t
s2 + R 1 s+ =0 L LC

Characteristic equation

s 2 + 2s + 2 o = 0

i(t )

d = 2 o 2

Q=

o 2

vI +
6.002 Fall 03

R C

+ v(t )

given i (0) -ve v(0) +ve

24