QUIZ 1 - 2020/2021

Mata Kuliah : SISTEM DINAMIS DAN PENGENDALIAN

Hari / Tanggal : Wednesday, 21 October 2020
Waktu : 100 MENIT
Sifat Ujian : OPEN BOOK
Departemen Teknik Mesin Dosen : BAMBANG PRAMUJATI, UNGGUL WASIWITONO,
FTI - ITS LATIFAH NURAHMI

A hanging pendulum is attached to a trolley by a pivot 𝑄, as shown above. The hanging pendulum
can rotate about point 𝑄 with angular displacement 𝜃. The force 𝑢 is applied to trolley hence the
trolley has linear displacement 𝑥.

The trolley has mass 𝑚 = 4𝑘𝑔 and hanging pendulum has lighter mass 𝑚 = 𝑘𝑔. The center of
gravity of pendulum is at the middle defined by point 𝑃 and the length from 𝑄 to 𝑃 is 𝑙 = 1 𝑚.
The inertia of pendulum about its center of gravity is 𝐼 = 𝑘𝑔. 𝑚 . Gravitational acceleration
𝑔 = −10

Complete the following tasks.

1. Draw the free body diagrams for trolley and hanging pendulum
2. By considering reaction force at pivot Q, find the equations of motion
Hints:
- The equation of motion for trolley is only along horizontal direction:
 𝐹 =𝐹 = 𝑚 .𝑎

- The equation of motion for pendulum is based on :

𝑀 =𝐼 +𝐹 . 𝑙 sin 𝜃 + 𝐹 . 𝑙 cos 𝜃

𝐹 =𝐹 = 𝑚 .𝑎

𝐹 =𝐹 = 𝑚 .𝑎

3. Determine new equations of motion for very small (infinitesimal) motion about 𝜃 = 0, let
us assume:
cos 𝜃 = 1, sin 𝜃 = 0, 𝜃̇ = 0

( )
4. Determine the transfer function ( )
( ) .
Hint: ( )
= (… )
(… )

5. If 𝑈(𝑠) is step input, determine its response: 𝜃(𝑡)

( )
Hint: ( )
=
( )( ⋯)