MODEL DINAMIK

THE FUNDAMENTAL STEP IN BUILDING A DYNAMIC MODEL

IS WRITING THE DYNAMIC EQUATIONS FOR THE SYSTEM.
DYNAMICS OF MECHANICAL SYSTEMS:
TRANSLATIONAL MOTION

• Hukum Newton F = ma, dimana F adalah jumlah vektor dari semua gaya
yang diberikan kepada sistem (N), a adalah vektor percepatan dari sistem
dengan respek ke bingkai referensi inersia, biasa disebut percepatan inersia
(m/s2) dan m adalah massa dari sistem (kg)
• Gaya 1 N adalah memberi percepatan 1 m/s2 ke massa 1 kg.
• Berat objek adalah mg, dimana g adalah percepatan gravitasi (9.81m/s2).
DYNAMICS OF MECHANICAL SYSTEMS:
TRANSLATIONAL MOTION

Use of free-body diagram in applying Newton’s law

Application of this law typically involves defining convenient coordinates to account for
the body’s motion (position, velocity, and acceleration), determining the forces on the body
using a free-body diagram, and then writing the equations of motion from F = m.a. The
procedure is simplest when the coordinates chosen express the position with respect to an
inertial reference frame because, in this case, the accelerations needed for Newton’s law
are simply the second derivatives of the position coordinates.
 A SIMPLE SYSTEM;
CRUISE CONTROL MODEL
Write the equations of motion for the speed and forward motion of the car
shown in Figure assuming that the engine imparts a force u as shown.
Take the Laplace transform of the resulting differential equation and find
the transfer function between the input u and the output v.
to find the response of the velocity of the car for the case in which the input jumps from being u = 0 at time t = 0 to a
constant u = 500 N thereafter. Assume that the car mass m is 1000 kg and viscous drag coefficient, b = 50 N·sec/m.
Equations of motion: For simplicity we assume that the rotational inertia of the wheels is negligible and that there
is friction retarding the motion of the car that is proportional to the car’s speed with a proportionality constant, b2
The car can then be approximated for modeling purposes using the free-body diagram seen in Fig. 2.2, which
defines coordinates, shows all forces acting on the body (heavy lines), and indicates the acceleration (dashed line).
The coordinate of the car’s position x is the distance from the reference line shown and is chosen so that positive is
to the right. Note that in this case the inertial acceleration is simply the second derivative of x (that is, a = ¨x)
because the car position is measured with respect to an inertial reference frame. The equation of motion is found
using Eq. (2.1). The friction force acts opposite to the direction of motion; therefore it is drawn opposite to the
direction of positive motion and entered as a negative force in Eq. (2.1).
 A SIMPLE SYSTEM; CRUISE CONTROL MODEL
•atau
 
Dimana maka persamaan diatas menjadi
ditransformasi laplace menjadi

Fungsi transfer
 A TWO-MASS SYSTEM:
SUSPENSION MODEL

Write the equations of motion for the automobile and wheel motion
assuming one-dimensional vertical motion of one quarter of the car mass
above one wheel. A system consisting of one of the four wheel
suspensions is usually referred to as a quarter-car model. The system can
be approximated by the simplified system shown in Figure where two
spring constants and a damping coefficient are defined. Assume that the
model is for a car with a mass of 1580 kg, including the four wheels,
which have a mass of 20 kg each. ks = 130,000 N/mn kw 1,000,000 N/m b = 9800 N·sec/m.
 A TWO-MASS SYSTEM:
SUSPENSION MODEL
• 
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Atau dimodifikasi menjadi:

Dilaplace menjadi:
 

Fungsi transfer