MATA KULIAH PEMODELAN DAN SIMULASI

LATIHAN PEMODELAN DAN SIMULASI SISTEM

MEKANIK

Oleh
Ir. Masruki Kabib, MT

PROGRAM STUDI TEKNIK MESIN

FAKULTAS TEKNIK
UNIVERSITAS MURIA KUDUS
APRIL 2020
 LATIHAN SOAL SISTEM MEKANIK

1. Draw Block diagram for each of the following sets of state variable equation.
a. 𝑥̇ = −4𝑥 + 6𝑦 + 2𝑢(𝑡)
𝑦̇ = −2𝑥 − 3𝑦
Jawaban :

Block diagram :

u(t) + x - y
2 1 2 1
𝑠 𝑠
- -
+
3
4

b. 𝑥1̇ = −3𝑥1 + 5𝑥2 + 3𝑢(𝑡)

𝑥2̇ = 4𝑥1 − 6𝑥2 − 𝑢(𝑡)

Jawaban :

Block diagram :

u(t) + 𝑥1 + - 𝑥2
3 1 4 1
𝑠 𝑠
- -
+
6
3

5
c. 𝜃̇ = 𝜔

𝜔̇ = −8𝜃 − 4𝜔 + 2𝑥

𝑥̇ = 𝑣

𝑣̇ = 6𝜃 − 3𝑥 + 𝑢(𝑡)

Jawaban :

Block diagram :

u(t) + v x + ω 𝜃
1 1 1 1
2
𝑠 𝑠 𝑠 𝑠
- -
+ -
4
3
8

6
4.8 Draw simulink diagram to represent the system shown in Figure P2.7 use the following
parameter value : M1 = 5 kg, B1=20 N.s/m, and K1 = K2 = 100 N/m. the input x2(t)
increse from zero to 0,1 at t = 1 s. Plot displacement x1 as a function of time for 5
second.

Free body diagram untuk M1, karena pergerakan M2 telah diketahui :

K2[X2(t) – X1]
K1X1
M1
𝐵1 𝑋1̇ 𝑀1 𝑋1̈

Didapatkan persamaan :

𝑀1 𝑥̈ 1 + 𝐵1 𝑥̇ 1 + 𝐾1 𝑥1 = 𝐾2 [𝑥2 (𝑡) − 𝑋1 ]

𝑀1 𝑥̈ 1 + 𝐵1 𝑥̇ 1 + 𝐾1 𝑥1 + 𝐾2 𝑋1 = 𝐾2 𝑥2 (𝑡)

𝑀1 𝑥̈ 1 + 𝐵1 𝑥̇ 1 + (𝐾1 + 𝐾2 )𝑥1 = 𝐾2 𝑥2 (𝑡)

Persamaan state variable :

𝑋1̇ = 𝑣1

̇ 1
𝑣1̇ = [−𝐵1 𝑥̇ 1 − (𝐾1 + 𝐾2 )𝑥1 + 𝐾2 𝑥2 (𝑡)]
𝑀1
 Simulink diagram :

K2 1 1
1/M1 x
s s
Step Gain
Add Gain1 Integrator Integrator1 To Workspace

B1

Gain2
t K1+K2
Clock To Workspace1
Gain3

Grafik response :
Displacement (m)

Time (s)

Dari gambar grafik menunjukkan bahwa dengan input x2(t) sistem akan bergerak setelah
1 detik, dengan respon over damped berosilasi selama 2 detik hingga mencapai steady
state.
4.13. Repeat problem 4.7 with the initial value of displacement x(0) = 0.5 m and with the
input fa(t) = 0 for all t ≥ 0. Keep the initial value of the velocity at zero. Let M =
10 kg, B = 20 N.s/m, and K = 10 N/m.

Free body diagram :

𝐵𝑣 𝑓𝑎 (𝑡)
M
𝐾𝑥 𝑀𝑣̇

Input output Equation :

𝑀𝑣̇ + 𝐵𝑣 + 𝐾𝑥 = 𝑓𝑎 (𝑡)

𝑀𝑥̈ + 𝐵𝑥̇ + 𝐾𝑥 = 𝑓𝑎 (𝑡)

Persamaan state variable :

1
𝑥̈ = [𝑓 (𝑡) − 𝐵𝑥̇ − 𝐾𝑥
𝑀 𝑎

Simulink diagram :
 fa(t)
1 1
1/M x
s s
Step
Add Gain1 Integrator Integrator1 To Workspace

Gain2
t K
Clock To Workspace1
Gain3

Grafik response :
Displacement (m)

Time (s)

Dari gambar grafik menunjukkan bahwa dengan input fa(t) sistem memberikan respon
perpindahan yang semakin kecil dengan bertambahnya waktu , hingga mencapai 0 dalam
waktu 6 detik.
P2.35. The suspension system for one wheel of an old fashioned pickup truck is ilustrated
in Figure P2.35. The Mass of vehicle is m1 and the mass of wheel is m2. The
suspension sring has a spring constan k1 and tire has spring constan k2. The
damping constan of the shock absorber is b. Obstan the transfer function
Y1(s)/X(s), which represents the vehicle response to bumpss to the road.

Truck suspension :

Y1
M1

Y2
M2

X
Free body diagram :

𝑀1 𝑌1̈

M1

K2(Y1-Y2) 𝐵(𝑌1̇ − 𝑌2̇ )

K2(Y2-X) 𝑀2 𝑌2̈

M2

K2(Y1-Y2) 𝐵(𝑌1̇ − 𝑌2̇ )

Didapatkan persamaan :

𝑀1 𝑌1̈ + 𝐵 (𝑌̇1 − 𝑌2̇ ) + 𝐾1 (𝑌1 − 𝑌2 ) = 0

𝑀2 𝑌2̈ + 𝐾2 (𝑌2 − 𝑋) + 𝐵 (𝑌̇1 − 𝑌2̇ ) + 𝐾1 (𝑌1 − 𝑌2 ) = 0

State variable :

𝑋1 = 𝑌1̇

1
𝑋̇1 = [− 𝐵 (𝑌̇1 − 𝑌2̇ ) − 𝐾1 (𝑌1 − 𝑌2 )]
𝑀1

𝑋2 = 𝑌2̇
 1
𝑋̇2 = [−𝐾2 (𝑌2 − 𝑋) − 𝐵 (𝑌̇1 − 𝑌2̇ ) − 𝐾1 (𝑌1 − 𝑌2 )]
𝑀2

Transfer function :

𝑀1 𝑌1̈ − 𝐵 (𝑌̇1 − 𝑌2̇ ) − 𝐾1 (𝑌1 + 𝑌2 ) = 0

𝑀1 𝑌1 𝑠 2 − 𝐵 (𝑌1 − 𝑌2 )𝑠 − 𝐾1 (𝑌1 + 𝑌2 ) = 0

Sehingga :

𝑀1 𝑠 2 + 𝐵𝑠 + 𝐾1
𝑌2 ( 𝑠) = 𝑌1 (𝑠)
𝐵1 𝑠 + 𝐾1

Transfer function ;

𝑀2 𝑌2̈ − 𝐾2 (𝑌2 − 𝑋) − 𝐵 (𝑌̇1 − 𝑌2̇ ) − 𝐾1 (𝑌1 + 𝑌2 ) = 0

𝑀2 𝑌2 𝑠 2 − 𝐾2 (𝑌2 − 𝑋) − 𝐵 (𝑌1 − 𝑌2 )𝑠 − 𝐾1 (𝑌1 + 𝑌2 ) = 0

𝑀2 𝑌2 𝑠 2 − 𝐾2 𝑌2 + 𝐾2 𝑋 − 𝐵 𝑌1 𝑠 + 𝐵𝑌2 𝑠 − 𝐾1 𝑌1 − 𝐾1 𝑌2 = 0

(𝑀2 𝑌2 𝑠 2 − 𝐵𝑠 − 𝐾2 + 𝐾1 )𝑌2 − 𝐵 𝑌1 𝑠 − 𝐾2 𝑋 = 0

Subsitusi persamaan Y2(s) di dapatkan persamaan input output :

𝑌1 (𝑠) 𝐵𝑠 2 + (𝐾1 + 𝐵𝐾2 )𝑠 + 𝐾1 𝐾2

=
𝑋(𝑠) 𝑀1 𝑀2 𝑠 4 + 𝐴1 𝑠 3 + 𝐴2 𝑠 2 + 𝐴3 𝑠 + 𝐾1 𝐾2

Dimana :

𝐴1 = (𝑀1 𝐵 + 𝑀2 𝐵)

𝐴2 = (𝑀1 𝐾1 + 𝑀1 𝐾2 + 𝑀2 𝐾1 + 𝐵)

𝐴1 = (𝐾1 + 𝐾2 𝐵)
 No. Bagian Nilai Satuan
1. Massa mobil (M1) 500 Kg
2. Massa Roda (M1) 50 Kg
3. Konstanta pegas (K1) 18.600 N/m
4. Konstanta roda (K2) 19.600 N/m
5. Konstanta absorber (B) 1 N.s/m

Maka di dapatkan persamaan :

𝑌1 (𝑠) 𝑠 2 + 38.200𝑠 + 364.560.000

=
𝑋(𝑠) 550𝑠 4 + 550𝑠 3 + 20.030.001𝑠 2 + 38.200𝑠 + 364.560.000

Diagram Blok :

Scope

1 1
1/M1 Y1
s s

Add Gain1 Integrator Integrator1 To Workspace

Gain2

K1

Gain3
K2
Scope2
Gain8

1 1
K2 1/M2 Y2
s s
X Gain5 Gain4 Integrator2 Integrator3 To Workspace2
Add1
B

Gain7
K1

Gain6
t
Clock To Workspace1
Grafik response :

Respon pada body truk (Y1) dengan input x(t) pada permukaan jalan maka mengalami gerak
fluktuasi sesaat sebagai respon terhadap input tersebut.
Apabila nilai konstanta damping dinaikkan menjadi 500 N s/m dan massa kendaraan menjadi
1000 kg, maka di dapatkan perubahan grafik response dengan fluktuasi getaran yang
seimbang.
 KERJA KELOMPOK 1

Dikerjakan dibuku kerja masing-masing mahasiswa

For the system shown in Figure P5.9 the angular motion of the ideal lever from the vertical
position is small, so the motion of the top and mid point can be regarded as horizontal.
The input is the force fa(t) applied of the top lever and the output is the support force on
the lever, taking the positive sense to the right.

a. select a suitable set of state variables and write the corresponding state variable model.

b. Find the input output differential equation relating x and fa(t).