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Solved Problems
for Transient
Electrical Circuits
Lecture Notes in Electrical Engineering
Volume 809
Series Editors
Leopoldo Angrisani, Department of Electrical and Information Technologies Engineering, University of Napoli
Federico II, Naples, Italy
Marco Arteaga, Departament de Control y Robótica, Universidad Nacional Autónoma de México, Coyoacán,
Mexico
Bijaya Ketan Panigrahi, Electrical Engineering, Indian Institute of Technology Delhi, New Delhi, Delhi, India
Samarjit Chakraborty, Fakultät für Elektrotechnik und Informationstechnik, TU München, Munich, Germany
Jiming Chen, Zhejiang University, Hangzhou, Zhejiang, China
Shanben Chen, Materials Science and Engineering, Shanghai Jiao Tong University, Shanghai, China
Tan Kay Chen, Department of Electrical and Computer Engineering, National University of Singapore,
Singapore, Singapore
Rüdiger Dillmann, Humanoids and Intelligent Systems Laboratory, Karlsruhe Institute for Technology,
Karlsruhe, Germany
Haibin Duan, Beijing University of Aeronautics and Astronautics, Beijing, China
Gianluigi Ferrari, Università di Parma, Parma, Italy
Manuel Ferre, Centre for Automation and Robotics CAR (UPM-CSIC), Universidad Politécnica de Madrid,
Madrid, Spain
Sandra Hirche, Department of Electrical Engineering and Information Science, Technische Universität
München, Munich, Germany
Faryar Jabbari, Department of Mechanical and Aerospace Engineering, University of California, Irvine, CA,
USA
Limin Jia, State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, China
Janusz Kacprzyk, Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland
Alaa Khamis, German University in Egypt El Tagamoa El Khames, New Cairo City, Egypt
Torsten Kroeger, Stanford University, Stanford, CA, USA
Yong Li, Hunan University, Changsha, Hunan, China
Qilian Liang, Department of Electrical Engineering, University of Texas at Arlington, Arlington, TX, USA
Ferran Martín, Departament d’Enginyeria Electrònica, Universitat Autònoma de Barcelona, Bellaterra,
Barcelona, Spain
Tan Cher Ming, College of Engineering, Nanyang Technological University, Singapore, Singapore
Wolfgang Minker, Institute of Information Technology, University of Ulm, Ulm, Germany
Pradeep Misra, Department of Electrical Engineering, Wright State University, Dayton, OH, USA
Sebastian Möller, Quality and Usability Laboratory, TU Berlin, Berlin, Germany
Subhas Mukhopadhyay, School of Engineering & Advanced Technology, Massey University,
Palmerston North, Manawatu-Wanganui, New Zealand
Cun-Zheng Ning, Electrical Engineering, Arizona State University, Tempe, AZ, USA
Toyoaki Nishida, Graduate School of Informatics, Kyoto University, Kyoto, Japan
Federica Pascucci, Dipartimento di Ingegneria, Università degli Studi “Roma Tre”, Rome, Italy
Yong Qin, State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing, China
Gan Woon Seng, School of Electrical & Electronic Engineering, Nanyang Technological University,
Singapore, Singapore
Joachim Speidel, Institute of Telecommunications, Universität Stuttgart, Stuttgart, Germany
Germano Veiga, Campus da FEUP, INESC Porto, Porto, Portugal
Haitao Wu, Academy of Opto-electronics, Chinese Academy of Sciences, Beijing, China
Walter Zamboni, DIEM - Università degli studi di Salerno, Fisciano, Salerno, Italy
Junjie James Zhang, Charlotte, NC, USA
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Solved Problems
for Transient Electrical
Circuits
Alfonso Bachiller Soler Ramón Cano Gonzalez
Department of Electrical Engineering Department of Electrical Engineering
University of Seville University of Seville
Seville, Spain Seville, Spain
This Springer imprint is published by the registered company Springer Nature Switzerland AG
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
To our parents
Foreword
The title of this book, Solved Problems for Transient Electrical Circuits, clearly
indicates that its contents deal with one of the fundamental themes of Electrical
Circuit Theory, as does that of “Three-Phase Circuits” and “Dependent Sources”, in
the context of Electrical Engineering. However, in my opinion, the importance of
transient circuit behaviour surpasses the limits of electrical engineering, since it also
constitutes a fundamental component of electronic engineering, mainly in its digital,
power, and telecommunications areas. The study of the circuits under a dynamic
regime enables the correct interpretation to be attained of certain types of electrical
behaviours that remain elusive, even to engineers, in a first reasoning. Examples
of such behaviours include the emergence of voltages far higher than those of the
generators themselves in circuits and in electrical networks, with destructive effects;
the untimely firing of differential switches in homes; and the sporadic performance
of protection during transformer commissioning.
Transients are also present in digital electronic circuits, since their binary nature
obliges transistors to work as ideal switches at high speeds, thereby generating a
transient period in each switching. The same is true of power electronics, where, for
performance reasons, semiconductors also work as switches by switching thousands
of amps into microsecond fractions. In these cases, the permanent regime of the
circuits becomes a continuous sequence of transient regimes.
Transient operation in electronic devices involves rapid variations in voltage and
current that can cause electromagnetic disturbances in the circuits. Electromagnetic
Compatibility regulatory requirements constitute one of the key points of elec-
tronic design and have emerged as a discipline in telecommunications and industrial
engineering studies.
The importance of the study of the dynamic regime of circuits, both electrical and
electronic, should be borne in mind for future professionals of these subjects.
The study of transients is addressed in this book by first stating the fundamental
theoretical concepts, which are subsequently consolidated with the help of solved
and annotated problems of increasing difficulty. Although, in professional practice,
complex circuits are often solved by simulation and not by mathematical tools such
as differential equations and the Laplace transform, the interpretation and valuation
vii
viii Foreword
of numerical results remains essential, and this is only possible if the necessary
theoretical knowledge is available.
The text is organised into three chapters: First-Order Transients, Second-Order
Transients, and the Laplace Transform. Each chapter begins with the corresponding
theory, supported by application examples, followed by a collection of resolved and
annotated problems. In all three parts, a suitable balance is struck between the theory
necessary to understand the concepts and their application through problem-solving.
The authors, as in all their publications, have managed to provide the reader with a
book containing figures and typography both in harmony and of the highest quality.
Finally, with the help of this book, the reader, as a student, is in possession of the
tools necessary to successfully master the subjects related to electrical circuits, and,
as a professional, can preserve this volume in order to extract the fundamentals of
its content.
The text is intended for the first course on electric circuits. The focus is on the
transient response of linear circuits. The analysis of this type of circuits is generally
carried out in the second year of electrical engineering studies and related fields.
The book has been divided into three large chapters that progressively address the
study of the transient response of first-order and second-order circuits and, finally,
circuits of any order through the use of the Laplace transform.
Each block begins with a detailed study of the theoretical knowledge and the reso-
lution techniques necessary to obtain the transient response of the different types of
circuits. This is followed by a significant number of solved problems. The resolution
of each exercise has been carried out in detail and with the support of more than 300
figures. For a better understanding of the transitory phenomenon, the evolution of the
voltages and currents of the elements during the transient period has been graphically
represented in the cases considered relevant. The exercises have been ordered from
the most elementary to the most complex, which allows progressive learning.
In this book, only circuits with linear elements are considered where the origin of
the transient is caused by the opening or closing of switches. This model responds
to maneuvering operations in high and low voltage electrical networks. It is also the
model that is analysed when considering the main defects in this type of installations,
such as short circuits and insulation defects. Finally, the same model is obtained
in power electronics topics, where electronic devices (BJT, MosFet,…) have the
behaviour of switches that switch several times per second.
Although several circuits have been included that contain controlled sources,
which may lead to instability, the parameters have been selected to obtained stable
circuits in all cases. The analysis of unstable circuits is carried out initially with the
same techniques, but it leads to non-real results if the non-linearity of the elements
is not considered.
In the problems, voltages and currents of the elements have been the variables
under study. Power and energy can be easily obtained from them. However, it has
ix
x Preface
been preferred not to include them in the calculations to obtain a more fluent reading
of the text.
xi
xii Contents
Abstract This chapter covers the first order circuits, beginning with a theoretical
introduction of the concepts required to correctly address each of the subsequent prob-
lems. A total of 31 fully solved problems with explanatory comments are included.
1.1 Introduction
In circuits with resistors as sole passive elements, voltages and currents respond
immediately to the changes in the sources of excitation. In such circuits, known as
static circuits, the voltage and current values of the involved elements are given by
a set of algebraic equations, meaning that each instant of time can be independently
analyzed. This is not the case in circuits containing energy storage elements, i.e.
inductors or capacitors, where the voltage is related to the current through a differ-
ential equation, resulting in a dynamic response of the circuit. In this type of circuits
(dynamic circuits), information on the past is necessary to determine the response at
any time.
In dynamic circuits excited with dc or ac sources, after a period of time has elapsed
(transient regime) the so-called steady-state regime is reached, where the response is
stabilized at a constant value (dc excitation) or a periodic wave (ac excitation). As an
illustrative example, the response of an RC circuit is represented in Figs. 1.1 and 1.2,
including respectively a dc voltage source and an ac voltage source. It can be seen
how, after the transient period, the steady-state regime is reached in both cases.
In general terms, the transition from a steady-state regime to a different one
involves a transient period. The origin of these transient processes can be related
to various actions, including opening and closing of switches, short circuits or any
other variation in the circuit topology or parameters.
First order circuits are defined as those where any voltage or current can be obtained
using a first order differential equation. Some examples of first order circuits are:
• Circuits with a single electrical energy storage element: inductor or capacitor,
Fig. 1.3.
Fig. 1.3 First order circuits with one energy storage element
• Circuits including multiple energy storage elements of the same type, which can
be combined into a single equivalent element, Figs. 1.4 and 1.5.
1.2.1 RC Circuits
First order circuits will be considered with one or more capacitors that can be com-
bined into a single equivalent one. The rest of the circuit, composed by electrical
1.2 First Order Circuits 3
Fig. 1.4 Circuit with two capacitors connected in series and in parallel
Fig. 1.5 Circuit with two inductors connected in series and in parallel
sources and resistors, can be replaced by its Thévenin equivalent as shown in Fig. 1.6.
This way, the study of the RC series circuit excited by a voltage source encompasses
all the first order circuits whose storage element is a capacitor.
The differential equations that defines the behavior of the variables involved in
the circuit represented in Fig. 1.6 will be subsequently obtained.
Differential equation of capacitor voltage
Applying Kirchhoff’s voltage law: