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FUNDAMENTALS OFELECTRICAL ENGINEERING

First Edition

Giorgio RizzoniThe Ohio State University

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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 bereproduced or distributed in any form or by any means, or stored in a database or retrieval system, without the prior writtenconsent of The McGraw-Hill Companies, Inc., including, but not limited to, in any network or other electronic storage ortransmission, or broadcast for distance learning.

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ISBN 978–0–07–338037–7MHID 0–07–338037–7

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Library of Congress Cataloging-in-Publication Data

Rizzoni, Giorgio.Fundamentals of electrical engineering / Giorgio Rizzoni. – 1st ed.

p. cm.Includes index.ISBN 978–0–07–338037–7 — ISBN 0–07–338037–7 (hard copy : alk. paper) 1. Electric engineering. I. Title.

TK146.R4725 2009621.3–dc22

2008000852

In memoria dimamma

www.mhhe.com

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iii

About the Authoriorgio Rizzoni,The Ford Motor Company Chair of ElectroMechanical Systems,received the B.S., M.S., and Ph.D. degrees, all in electrical engineering, fromthe University of Michigan. He is currently a professor of mechanical andelectrical engineering at The Ohio State University, where he teaches under-

graduate courses in system dynamics, measurements, and mechatronics and graduatecourses in automotive power train modeling and control, hybrid vehicle modelingand control, and system fault diagnosis.

Dr. Rizzoni has been involved in the development of innovative curriculaand educational programs throughout his career. At the University of Michigan, hedeveloped a new laboratory and curriculum for the circuits and electronics engineer-ing service course for non–electrical engineering majors. At Ohio State, he has beeninvolved in the development of undergraduate and graduate curricula in mechatronicsystems with funding provided, in part, by the National Science Foundation throughan 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 curriculumin these areas, served as the director of U.S. Department of Energy GraduateAutomotive Technology Education Center for Hybrid Drivetrains and ControlSystems, and is currently serving as Director of the new U.S. Department ofEnergy GraduateAutomotive Technology Education Center for Advanced PropulsionSystems. He has developed various new courses in systems dynamics, mechatronics,fault diagnosis, powertrain dynamics and hybrid-electric vehicles.

Since 1999, Dr. Rizzoni has served as director of the Ohio State UniversityCenter for Automotive Research, an interdisciplinary research center serving the U.S.government and the automotive industry worldwide. The center conducts research inareas related to vehicle safety, energy efficiency, environmental impact, and passengercomfort. Dr. Rizzoni has published more than 200 papers in peer-reviewed journalsand conference proceedings, and he has received a number of recognitions, includinga 1991 NSF Presidential Young Investigator Award.

Dr. Rizzoni is a Fellow of IEEE, a Fellow of SAE, and a member of ASMEand ASEE; he has served as an Associate Editor of the ASME Journal of DynamicSystems, Measurements, and Control (1993 to 1998) and of the IEEE Transactions onVehicular Technology (1988 to 1998). He has also served as Guest Editor of SpecialIssues of the IEEE Transactions on Control System Technology, of the IEEE ControlSystems Magazine, and of Control Engineering Practice; Dr. Rizzoni is a past Chairof the ASME Dynamic Systems and Control Division, and has served as Chair ofthe Technical Committee on Automotive Control for the International Federation ofAutomatic 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 thedevelopment of an electric vehicle that established various land speed records in2003 and 2004. He has more recently led a team of students to the development of ahydrogen fuel cell electric land speed record vehicle, the Buckeye Bullet 2 (see coverand inside coverpage). He is also coadviser of the Ohio State University FutureTruckand Challenge-X hybrid-electric vehicle competition teams sponsored by the U.S.Department of Energy, and by General Motors and Ford.http://car.osu.edu

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Contents

Preface vi

Chapter 1 Introduction to ElectricalEngineering 11.1 Electrical Engineering 21.2 Fundamentals of Engineering Exam Review 41.3 System of Units 51.4 Special Features of This Book 5

PART I CIRCUITS 8

Chapter 2 Fundamentals of ElectricCircuits 92.1 Definitions 102.2 Charge, Current, and Kirchhoff’s Current

Law 142.3 Voltage and Kirchhoff’s Voltage Law 202.4 Electric Power and Sign Convention 242.5 Circuit Elements and Their i-v

Characteristics 282.6 Resistance and Ohm’s Law 292.7 Practical Voltage and Current Sources 442.8 Measuring Devices 45

Chapter 3 Resistive NetworkAnalysis 633.1 Network Analysis 643.2 The Node Voltage Method 653.3 The Mesh Current Method 753.4 Node and Mesh Analysis With Controlled

Sources 823.5 The Principle of Superposition 873.6 One-Port Networks and Equivalent Circuits 903.7 Maximum Power Transfer 1063.8 Nonlinear Circuit Elements 110

Chapter 4 AC Network Analysis 1294.1 Energy Storage (Dynamic) Circuit

Elements 1304.2 Time-Dependent Signal Sources 1454.3 Solution of Circuits Containing Energy Storage

Elements (Dynamic Circuits) 1504.4 Phasor Solution of Circuits With Sinusoidal

Excitation 153

Chapter 5 Transient Analysis 1775.1 Transient Analysis 1785.2 Writing Differential Equations for Circuits

Containing Inductors and Capacitors 1795.3 DC Steady-State Solution of

Circuits Containing Inductors andCapacitors—Initial and Final Conditions 184

5.4 Transient Response of First-Order Circuits 1905.5 Transient Response of Second-Order

Circuits 209

Chapter 6 Frequency Responseand System Concepts 2436.1 Sinusoidal Frequency Response 2446.2 Filters 2496.3 Bode Plots 265

Chapter 7 AC Power 2797.1 Power in AC Circuits 2807.2 Complex Power 2877.3 Transformers 3037.4 Three-Phase Power 3137.5 Residential Wiring; Grounding

and Safety 3217.6 Generation and Distribution

of AC Power 325

PART II ELECTRONICS 340

Chapter 8 OperationalAmplifiers 3418.1 Ideal Amplifiers 3428.2 The Operational Amplifier 3448.3 Active Filters 3668.4 Integrator and Differentiator Circuits 3728.5 Physical Limitations of Operational

Amplifiers 374

Chapter 9 Semiconductorsand Diodes 4079.1 Electrical Conduction in Semiconductor

Devices 4089.2 The pn Junction and the Semiconductor

Diode 410

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Contents v

9.3 Circuit Models for the SemiconductorDiode 413

9.4 Rectifier Circuits 4319.5 DC Power Supplies, Zener Diodes,

and Voltage Regulation 436

Chapter 10 Bipolar JunctionTransistors: Operation, CircuitModels, and Applications 45310.1 Transistors as Amplifiers and Switches 45410.2 Operation of the Bipolar Junction

Transistor 45610.3 BJT Large-Signal Model 46210.4 Selecting an Operating Point for a BJT 47010.5 BJT Switches and Gates 478

Chapter 11 Field-Effect Transistors:Operation, Circuit Models, andApplications 49111.1 Classification of Field-Effect

Transistors 49211.2 Overview of Enhancement-Mode

Mosfets 49211.3 Biasing Mosfet Circuits 49711.4 Mosfet Large-Signal Amplifiers 50311.5 Mosfet Switches 510

Chapter 12 Digital LogicCircuits 52112.1 Analog and Digital Signals 52212.2 The Binary Number System 52412.3 Boolean Algebra 53112.4 Karnaugh Maps and Logic Design 54412.5 Combinational Logic Modules 55712.6 Sequential Logic Modules 562

PART III ELECTROMECHANICS 586

Chapter 13 Principles ofElectromechanics 58713.1 Electricity and Magnetism 58813.2 Magnetic Circuits 59813.3 Magnetic Materials and B-H Curves 60913.4 Transformers 61113.5 Electromechanical Energy Conversion 615

Chapter 14 Introduction to ElectricMachines 64514.1 Rotating Electric Machines 64614.2 Direct-Current Machines 65814.3 Direct-Current Generators 66414.4 Direct-Current Motors 66814.5 AC Machines 68114.6 The Alternator (Synchronous Generator) 68314.7 The Synchronous Motor 68514.8 The Induction Motor 690

Appendix A Linear Algebra andComplex Numbers∗

Appendix B The LaplaceTransform∗

Appendix C Fundamentals ofEngineering (FE) Examination∗

Appendix D Answers to SelectedProblems 710

Index 720

∗Appendixes A, B, and C are available online at www.mhhe.com/rizzoni

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vi

Prefacehe pervasive presence of electronic devices and instrumentation in all aspects of engineering design andanalysis is one of the manifestations of the electronic revolution that has characterized the second half of the20th century. Every aspect of engineering practice, and even of everyday life, has been affected in some wayor 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 thepracticing 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. Engineerstoday 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 pastdecade. The integration of electronics and computer technologies in all engineering academic disciplines andthe emergence of digital electronics and microcomputers as a central element of many engineering products andprocesses 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 electromechanicalengineering to an audience composed of non–electrical engineering majors, and ranging from sophomore studentsin their first required introductory electrical engineering course, to seniors, to first-year graduate students enrolledin more specialized courses in electronics, electromechanics, and mechatronics.

A second objective is to present these principles by focusing on the important results and applications andpresenting the students with the most appropriate analytical and computational tools to solve a variety of practicalproblems.

Finally, a third objective of the book is to illustrate, by way of concrete, fully worked examples, a number ofrelevant applications of electrical engineering principles. These examples are drawn from the author’s industrialresearch 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 materialincludes over 440 homework problems.

Part: II Electronics

Part II, on electronics (Chapters 8 through 12), contains a chapter on operational amplifiers, one on diodes, twochapters on transistors—one each on BJTs and FETs, and one on digital logic circuits. The material contained inthis 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 andthe basic operation of DC and AC machines. The two chapters include 126 homework problems.

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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 majorobjectives, and throughout the chapter the learning objective icon indicates targeted references to eachobjective.

• Focus on Methodology sections summarize important methods and procedures for the solution ofcommon problems and assist the student in developing a methodical approach to problem solving.

• Clearly Illustrated Examples illustrate relevant applications of electrical engineering principles. Theexamples are fully integrated with the “Focus on Methodology” material, and each one is organizedaccording to a prescribed set of logical steps.

• Check Your Understanding exercises follow each example in the text and allow students to confirm theirmastery of concepts.

• Make the Connection sidebars present analogies to students to help them see the connection of electricalengineering concepts to other engineering disciplines.

• Find It on the Web links included throughout the book give students the opportunity to further explorepractical engineering applications of the devices and systems that are described in the text.

Supplements

The book includes a wealth of supplements available in electronic form. These include

• A website accompanies this text to provide students and instructors withadditional resources for teaching and learning. You can find this site atwww.mhhe.com/rizzoni. Resources on this site include

For Students:

• Device Data Sheets• Learning Objectives

For Instructors:

• PowerPoint presentation slides of important figures from the text• Instructor’s Solutions Manual with complete solutions (for instructors

only)

For Instructors and Students:

• Find It on the Web links, which give students the opportunity to explore, ingreater depth, practical engineering applications of the devices and systemsthat are described in the text. In addition, several links to tutorial sites extendthe boundaries of the text to recent research developments, late-breakingscience and technology news, learning resources, and study guides to helpyou in your studies and research.

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viii Preface

ACKNOWLEDGMENTS

This edition of the book requires a special acknowledgment for the effort put forth by my friend Tom Hartley of theUniversity of Akron, who has become a mentor, coach, and inspiration for me throughout this project. ProfessorHartley, who is an extraordinary teacher and a devoted user of this book, has been closely involved in the developmentof this edition by suggesting topics for new examples and exercises, creating new homework problems, providingadvice and coaching through all of the revisions, and sometimes just by lifting my spirits. I look forward to manymore years of such collaborations.

This book has been critically reviewed by the following people.

• Hussain M. Al-Rizzo, University ofArkansas-Little Rock

• Lisa Anneberg, Lawrence TechnologicalUniversity

• Glen Archer, Michigan Tech University• Sohrab Asgarpoor, University of

Nebraska-Lincoln• Satish Chandra, Kansas State University• Ezz I. El-Masry, Dalhousie University• Alexander Ganago, University of Michigan• Riadh W. Y. Habash, University of Ottawa• Michael Hamid, University of South Alabama• Vincent G. Harris, Northeastern University• Charles Hulme, U.S. Naval Academy• Jim Kearns, York College of Pennsylvania• Moncef Krarti, University of Colorado at

Boulder• Dennis F. Lovely, University of

New Brunswick• Gary Perks, Cal Poly University, San Luis

Obispo• Michael P. Polis, Oakland University

• Raveendra K. Rao, University of WesternOntario

• Angela Rasmussen, University of Utah• James R. Rowland, University of Kansas• Ceeyavash (Jeff) Salehi, Southern Utah

University• Mulukutla S. Sarma, Northeastern

University• Hesham Shaalan, U.S. Merchant MarineAcademy

• Rony Shahidain, Kentucky State University• Shahram Shahbazpanahi, University of

Ontario Institute of Technology• Constantinos Vassiliadis, Ohio

University-Athens• Belinda B. Wang, University of Toronto• Ken Warfield, Shawnee State University• Sean Washburn, University of North Carolina

at Chapel Hill• Thomas Yang, Embry-Riddle Aeronautical

University• Mohamed Z. Youssef, Queen’s University

The author is also grateful to Professor Robert Veillette of the University of Akron for his many useful commentsand suggestions.

Book prefaces have a way of marking the passage of time. When the first edition of Principles and Applicationsof Electrical Engineering was published, the birth of our first child, Alex, was nearing. Each of the following twoeditions was similarly accompanied by the births of Maria and Michael. Now that we have successfully reachedthe fifth edition of Principles and Applications and the new first edition of this book (but only the third child) I amobserving that Alex is beginning to understand some of the principles exposed in this book through his passion forthe FIRST Lego League and the Lego Mindstorms robots. Through the years, our family continues to be the centerof my life, and I am grateful to Kathryn, Alessandro, Maria, and Michael for all their love.