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329.604383358 -494.40657504
[kc] =
-494.40657504 993.757215824
[K]LL = 659.208767
-494.406575
[K]oL =
-494.406575
Frecuencia angular
𝑚(𝑥+𝑘𝑥=𝑃(𝑡)) P(t) t
̈
W (peso) = 36 T 0 3
g = 9.81 m/s2 0.4 0
m (masa) = 3.67 Ts2/m 3.6 0.3
3.924
Comparamos td con T:
td = 3s
w= 10.801 rad/s
T= 0.582 s
td > T/4
3 > 0.145 Impulso de larga duración
1 FASE
0<t<3
X = Xh + Xp
Xh = Acoswt + Bsenwt
Xp = -(4/3k)t+4/k -0.003114 t+ 0.009343
C.I.
X(0) = 0 A = -4/k = -0.009343 0.10091269316
ẋ(0) = 0 B = 4/3kw = 0.000288 0.00311418093
X(t) ẋ(0) t
0 0 0
0.001322 0.051446 0.05 HISTORIA D
0.004883 0.087361 0.10 0.02
0.009625 0.097521 0.15
0.014153 0.079036 0.20
0.015
0.017135 0.037166 0.25
0.017677 -0.016170 0.30
0.015580 -0.065790 0.35 0.01
DESPLAZAMIENTO (m)
-0.005
0.01
DESPLAZAMIENTO (m)
0.005
VELOCIDAD (m/s)
0.004039 -0.104015 1.60
-0.000875 -0.087871 1.65 0
-0.004342 -0.047600 1.70 0 1
-0.005421 0.005334 1.75
-0.003849 0.055863 1.80 -0.05
-0.000118 0.089604 1.85
0.004667 0.096952 1.90 -0.1
0.009098 0.075816 1.95
0.011870 0.032212 2.00
0.012150 -0.021448 2.05 -0.15
0.009813 -0.069889 2.10
0.005481 -0.099322 2.15
0.000342 -0.101370 2.20
-0.004185 -0.075448 2.25
-0.006856 -0.028936 2.30
-0.006955 0.024926 2.35 CALCULO DEL MAXIMO DESPLAZAMIENTO
-0.004498 0.070807 2.40 FASE I
-0.000229 0.095645 2.45 ẋ(t) = 0 t
0.004593 0.092371 2.50 0.000000 0.000
0.008551 0.061917 2.55 0.000000 0.285
0.010474 0.012951 2.60 0.000000 0.582
0.009769 -0.040588 2.65 0.000000 0.867
0.006594 -0.083460 2.70
0.001808 -0.103460 2.75 FASE II
-0.003271 -0.094897 2.80 ẋ(t) = 0 t
-0.007242 -0.060208 2.85 -0.077086 3.281457
-0.009018 -0.009266 2.90 0.079377 3.692744
-0.008139 0.043427 2.95 0.034755 4.104030
-0.004898 0.082872 3.00
CALCULO DEL GIRO DE LOS NUDOS CORRESPON
FASE II {D}L = 0.017797
t>3
𝑚𝑥 ̇+𝑘𝑥=0 -494.406575
[K]oL =
-494.406575
X(t) = Acosw(t-3)+Bsenw(t-3)
1743.887800
[K]oo =
X(3) = -0.004898 371.909554
ẋ(3) = 0.082872
0.000601
[K]^-1oo =
A= -0.004898 0.05291058481 -0.000128
B= 0.007672 0.08287151426
D1
{D}o =
X(t) ẋ(t) t D2
-0.004898 0.082872 3.00
-0.000256 0.098283 3.05
0.004459 0.085718 3.10 V1= 3.80990814
0.007905 0.048752 3.15 V3= 2.3331258744
0.009101 -0.002090 3.20 V5= -2.333125874
0.007706 -0.052338 3.25
0.004118 -0.087688 3.30
-0.000643 -0.098077 3.35
-0.005220 -0.080547 3.40
-0.008312 -0.040090 3.45
-0.009037 0.011780 3.50
-0.007190 0.060296 3.55
-0.003296 0.091648 3.60
0.001536 0.096913 3.65
0.005931 0.074590 3.70
0.008637 0.031035 3.75
0.008885 -0.021354 3.80
0.006604 -0.067665 3.85
0.002443 -0.094714 3.90
-0.002413 -0.094803 3.95
-0.006583 -0.067906 4.00
-0.008879 -0.021678 4.05
-0.008647 0.030720 4.10
-0.005954 0.074373 4.15
-0.001566 0.096856 4.20
0.003268 0.091768 4.25
0.007171 0.060558 4.30
0.009033 0.012110 4.35
0.008324 -0.039786 4.40
0.005245 -0.080356 4.45
0.000674 -0.098052 4.50
-0.004090 -0.087838 4.55
-0.007689 -0.052620 4.60
-0.009100 -0.002423 4.65
-0.007920 0.048463 4.70
-0.004486 0.085554 4.75
0.000225 0.098292 4.80
0.004873 0.083050 4.85
0.008133 0.044168 4.90
0.009078 -0.007287 4.95
0.007439 -0.056668 5.00
EI (Tm3) GA (T.m) κ
756.442060 60515.364784 0.02000
756.442060 60515.364784 0.01125
1 0 0
0 0 1
0 0 0
0 0 -1
[A] =
0 0 0
0 -1 0
1 0 0
0 1 0
-0.233674 -0.233674
231.059804
428.148962
0.45
0.4
0.35
0.3
0.25
P(t) (T)
0.2
0.15
0.1
0.05
0
0 0.5 1 1.5 2 2.5 3 3.5
TIEMPO (s)
FASE I
FASE II
1 2 3 4 5 6
FASE I
FASE II
1 2 3 4 5 6
TIEMPO (s)
HISTORIA DE LA VELOCIDAD
FASE I
FASE II
1 2 3 4 5 6
TIEMPO (s)
MO DESPLAZAMIENTO
Xmax
0.0000
0.0178
-0.0018
0.0160
Xmax = 0.017797 m
Xmax
0.005650
0.005372
-0.008515
-0.233674
[K]^-1oo*[K]oL=
371.909554 -0.233674
1743.887800
-0.004159
[K]^-1oo*[K]oL*{D}L =
-0.000128 -0.004159
0.000601
0.004159
=
0.004159
M2 = -4.6662517488
M4= 4.66625174885
M6= 4.66625174885
0 0 0 0 1 0
0 0 0 -1 0 1
0 -1 0 0 0 0
FASE I
FASE II
6