January 11, 2008 19:13 fm Sheet number 1 Page number i magenta black www.org FUNDAMENTALS OF ELECTRICAL ENGINEERING First Edition Giorgio Rizzoni The Ohio State University January 11, 2008 19:13 fm Sheet number 2 Page number ii magenta black FUNDAMENTALS OF ELECTRICAL ENGINEERING Published by McGraw-Hill, a business unit of The McGraw-Hill Companies, Inc., 1221 Avenue of the Americas, New York, NY 10020. Copyright © 2009 by The McGraw-Hill Companies, Inc. All rights reserved. No part of this publication may be reproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior written consent of The McGraw-Hill Companies, Inc., including, but not limited to, in any network or other electronic storage or transmission, or broadcast for distance learning.
Some ancillaries, including electronic and print components, may not be available to customers outside the United States. This book is printed on acid-free paper. 1 2 3 4 5 6 7 8 9 0 VNH/VNH 0 9 8 ISBN 978–0–07–338037–7 MHID 0–07–338037–7 Global Publisher: Raghothaman Srinivasan Director of Development: Kristine Tibbetts Developmental Editor: Darlene M. Schueller Senior Project Manager: Sheila M.
Frank Lead Production Supervisor: Sandy Ludovissy Lead Media Project Manager: Judi David Designer: Laurie B. Janssen Cover/Interior Designer: Ron Bissell (USE) Cover Image: Kevin Ponziani, Buckeye Bullet 2 team member and ECE student at Ohio State, Getty Images RF Lead Photo Research Coordinator: Carrie K. Burger Compositor: Newgen Typeface: 10/12 Times Roman Printer: Von Hoffmann Press Part Openers: 1,2: © PhotoDisc RF/Getty; 3: Courtesy Ford Motor Company. Library of Congress Cataloging-in-Publication Data Rizzoni, Giorgio.
Fundamentals of electrical engineering / Giorgio Rizzoni. ISBN 978–0–07–338037–7 — ISBN 0–07–338037–7 (hard copy : alk.3–dc22 2008000852 In memoria di mamma www.com January 11, 2008 19:13 fm Sheet number 3 Page number iii magenta black www.org About the Author iorgio Rizzoni, The Ford Motor Company Chair of ElectroMechanical Systems, received the B. degrees, all in electrical engineering, from the University of Michigan. He is currently a professor of mechanical and electrical engineering at The Ohio State University, where he teaches under- graduate courses in system dynamics, measurements, and mechatronics and graduate courses in automotive power train modeling and control, hybrid vehicle modeling and control, and system fault diagnosis.
Rizzoni has been involved in the development of innovative curricula and educational programs throughout his career. At the University of Michigan, he developed a new laboratory and curriculum for the circuits and electronics engineer- ing service course for non–electrical engineering majors. At Ohio State, he has been involved in the development of undergraduate and graduate curricula in mechatronic systems with funding provided, in part, by the National Science Foundation through an interdisciplinary curriculum development grant. The present book has been pro- foundly influenced by this curriculum development.
Professor Rizzoni has contributed to the development of a graduate curriculum in these areas, served as the director of U. Department of Energy Graduate Automotive Technology Education Center for Hybrid Drivetrains and Control Systems, and is currently serving as Director of the new U. Department of Energy Graduate Automotive Technology Education Center for Advanced Propulsion Systems. He has developed various new courses in systems dynamics, mechatronics, fault diagnosis, powertrain dynamics and hybrid-electric vehicles.
Rizzoni has served as director of the Ohio State University Center for Automotive Research, an interdisciplinary research center serving the U. government and the automotive industry worldwide. The center conducts research in areas related to vehicle safety, energy efficiency, environmental impact, and passenger comfort. Rizzoni has published more than 200 papers in peer-reviewed journals and conference proceedings, and he has received a number of recognitions, including a 1991 NSF Presidential Young Investigator Award.
Rizzoni is a Fellow of IEEE, a Fellow of SAE, and a member of ASME and ASEE; he has served as an Associate Editor of the ASME Journal of Dynamic Systems, Measurements, and Control (1993 to 1998) and of the IEEE Transactions on Vehicular Technology (1988 to 1998). He has also served as Guest Editor of Special Issues of the IEEE Transactions on Control System Technology, of the IEEE Control Systems Magazine, and of Control Engineering Practice; Dr. Rizzoni is a past Chair of the ASME Dynamic Systems and Control Division, and has served as Chair of the Technical Committee on Automotive Control for the International Federation of Automatic Control (IFAC). Giorgio Rizzoni is the Ohio State University SAE student branch faculty adviser, and has led teams of electrical and mechanical engineering students through the development of an electric vehicle that established various land speed records in 2003 and 2004.
He has more recently led a team of students to the development of a hydrogen fuel cell electric land speed record vehicle, the Buckeye Bullet 2 (see cover and inside coverpage). He is also coadviser of the Ohio State University FutureTruck and Challenge-X hybrid-electric vehicle competition teams sponsored by the U. Department of Energy, and by General Motors and Ford.edu iii January 11, 2008 19:13 fm Sheet number 4 Page number iv magenta black Contents Preface vi Chapter 5 Transient Analysis 177 5.1 Transient Analysis 178 Chapter 1 Introduction to Electrical 5.2 Writing Differential Equations for Circuits Engineering 1 Containing Inductors and Capacitors 179 1.3 DC Steady-State Solution of 1.2 Fundamentals of Engineering Exam Review 4 Circuits Containing Inductors and 1.3 System of Units 5 Capacitors—Initial and Final Conditions 184 1.4 Special Features of This Book 5 5.4 Transient Response of First-Order Circuits 190 5.5 Transient Response of Second-Order PART I CIRCUITS 8 Circuits 209 Chapter 2 Fundamentals of Electric Chapter 6 Frequency Response Circuits 9 and System Concepts 243 2.1 Sinusoidal Frequency Response 244 2.2 Charge, Current, and Kirchhoff’s Current 6.3 Voltage and Kirchhoff’s Voltage Law 20 2.4 Electric Power and Sign Convention 24 Chapter 7 AC Power 279 2.5 Circuit Elements and Their i-v 7.1 Power in AC Circuits 280 Characteristics 28 7.6 Resistance and Ohm’s Law 29 7.7 Practical Voltage and Current Sources 44 7.4 Three-Phase Power 313 2.5 Residential Wiring; Grounding and Safety 321 Chapter 3 Resistive Network 7.6 Generation and Distribution Analysis 63 of AC Power 325 3.2 The Node Voltage Method 65 PART II ELECTRONICS 340 3.3 The Mesh Current Method 75 3.4 Node and Mesh Analysis With Controlled Chapter 8 Operational Sources 82 Amplifiers 341 3.5 The Principle of Superposition 87 8.6 One-Port Networks and Equivalent Circuits 90 8.2 The Operational Amplifier 344 3.7 Maximum Power Transfer 106 8.8 Nonlinear Circuit Elements 110 8.4 Integrator and Differentiator Circuits 372 8.5 Physical Limitations of Operational Chapter 4 AC Network Analysis 129 Amplifiers 374 4.1 Energy Storage (Dynamic) Circuit Elements 130 Chapter 9 Semiconductors 4.2 Time-Dependent Signal Sources 145 and Diodes 407 4.3 Solution of Circuits Containing Energy Storage 9.1 Electrical Conduction in Semiconductor Elements (Dynamic Circuits) 150 Devices 408 4.4 Phasor Solution of Circuits With Sinusoidal 9.2 The pn Junction and the Semiconductor Excitation 153 Diode 410 iv January 11, 2008 19:13 fm Sheet number 5 Page number v magenta black www.3 Circuit Models for the Semiconductor PART III ELECTROMECHANICS 586 Diode 413 9.4 Rectifier Circuits 431 Chapter 13 Principles of 9.5 DC Power Supplies, Zener Diodes, Electromechanics 587 and Voltage Regulation 436 13.1 Electricity and Magnetism 588 Chapter 10 Bipolar Junction 13.3 Magnetic Materials and B-H Curves 609 Transistors: Operation, Circuit 13.4 Transformers 611 Models, and Applications 453 13.5 Electromechanical Energy Conversion 615 10.1 Transistors as Amplifiers and Switches 454 10.2 Operation of the Bipolar Junction Chapter 14 Introduction to Electric Transistor 456 Machines 645 10.3 BJT Large-Signal Model 462 14.1 Rotating Electric Machines 646 10.4 Selecting an Operating Point for a BJT 470 14.2 Direct-Current Machines 658 10.5 BJT Switches and Gates 478 14.3 Direct-Current Generators 664 14.4 Direct-Current Motors 668 Chapter 11 Field-Effect Transistors: 14.5 AC Machines 681 Operation, Circuit Models, and 14.6 The Alternator (Synchronous Generator) 683 Applications 491 14.7 The Synchronous Motor 685 11.1 Classification of Field-Effect 14.8 The Induction Motor 690 Transistors 492 11.2 Overview of Enhancement-Mode Appendix A Linear Algebra and Mosfets 492 Complex Numbers∗ 11.3 Biasing Mosfet Circuits 497 11.4 Mosfet Large-Signal Amplifiers 503 Appendix B The Laplace 11.5 Mosfet Switches 510 Transform∗ Chapter 12 Digital Logic Appendix C Fundamentals of Circuits 521 Engineering (FE) Examination∗ 12.1 Analog and Digital Signals 522 12.2 The Binary Number System 524 Appendix D Answers to Selected 12.3 Boolean Algebra 531 Problems 710 12.4 Karnaugh Maps and Logic Design 544 12.5 Combinational Logic Modules 557 Index 720 12.6 Sequential Logic Modules 562 ∗ Appendixes A, B, and C are available online at www.com/rizzoni January 11, 2008 19:13 fm Sheet number 6 Page number vi magenta black Preface he pervasive presence of electronic devices and instrumentation in all aspects of engineering design and analysis is one of the manifestations of the electronic revolution that has characterized the second half of the 20th century. Every aspect of engineering practice, and even of everyday life, has been affected in some way or another by electrical and electronic devices and instruments.
Computers are perhaps the most obvious manifestations of this presence. However, many other areas of electrical engineering are also important to the practicing engineer, from mechanical and industrial engineering, to chemical, nuclear, and materials engineering, to the aerospace and astronautical disciplines, to civil and the emerging field of biomedical engineering. Engineers today must be able to communicate effectively within the interdisciplinary teams in which they work. OBJECTIVES Engineering education and engineering professional practice have seen some rather profound changes in the past decade.
The integration of electronics and computer technologies in all engineering academic disciplines and the emergence of digital electronics and microcomputers as a central element of many engineering products and processes have become a common theme since the conception of this book. The principal objective of the book is to present the principles of electrical, electronic, and electromechanical engineering to an audience composed of non–electrical engineering majors, and ranging from sophomore students in their first required introductory electrical engineering course, to seniors, to first-year graduate students enrolled in more specialized courses in electronics, electromechanics, and mechatronics. A second objective is to present these principles by focusing on the important results and applications and presenting the students with the most appropriate analytical and computational tools to solve a variety of practical problems. Finally, a third objective of the book is to illustrate, by way of concrete, fully worked examples, a number of relevant applications of electrical engineering principles.
These examples are drawn from the author’s industrial research experience and from ideas contributed by practicing engineers and industrial partners. ORGANIZATION AND CONTENT The book is divided into three parts, devoted to circuits, electronics, and electromechanics. Part I: Circuits The first part of this book presents a basic introduction to circuit analysis (Chapters 2 through 7). The material includes over 440 homework problems.
Part: II Electronics Part II, on electronics (Chapters 8 through 12), contains a chapter on operational amplifiers, one on diodes, two chapters on transistors—one each on BJTs and FETs, and one on digital logic circuits. The material contained in this section is focused on basic applications of these concepts. The chapters include 320 homework problems. Part III: Electromechanics Part III, on electromechanics (Chapters 13 and 14), includes basic material on electromechanical transducers and the basic operation of DC and AC machines.
The two chapters include 126 homework problems. vi January 11, 2008 19:13 fm Sheet number 7 Page number vii magenta black www.org Preface vii FEATURES Pedagogy This edition contains the following pedagogical features. • Learning Objectives offer an overview of key chapter ideas. Each chapter opens with a list of major objectives, and throughout the chapter the learning objective icon indicates targeted references to each objective.
• Focus on Methodology sections summarize important methods and procedures for the solution of common problems and assist the student in developing a methodical approach to problem solving. • Clearly Illustrated Examples illustrate relevant applications of electrical engineering principles. The examples are fully integrated with the “Focus on Methodology” material, and each one is organized according to a prescribed set of logical steps.
