CG
k theta(t) k
x(t)
theta(t)
x(t)
F(t)
CG
k1
k2
L/2 L/4
a ) Equaes linearizadas de movimento
m 0 xdd k1 + k2 k1 L1 k2 L2 x F ( t)
+
2
=
0 J dd k1 L1 k2 L2 k1 L1 + k2 L2 M ( t)
2
95 cos ( 40 t)
F ( t)
F= = L
M ( t) 95 cos ( 40 t)
2
m 0 k1 + k2 k1 L1 k2 L2
M := K :=
2 2
0 J k1 L1 k2 L2 k1 L1 + k2 L2
5.5 103 0 4.9 105 2.144 105
M= K=
0 3
1.2 10
2.144 105 9.379 105
0.969 0.055
Autovetores: := eigenvecs ( D) =
0.246 0.998
( i)
T
( i) = 1
M
1 , 1 1 , 2
1 = 1 2 = 2
2 , 1 2 , 2
T
Determinao de 1: 1 , 1 m 0 1 , 1
1
1 = 1
2 , 1 0 J
2 , 1
( 1 , 1) 2 12 m + ( 2 , 1) 2 12 J = 1
1 1 , 1
1 := 1 = 0.014 1 := 1
( 1 , 1) 2 m + ( 2 , 1) 2 J 2 , 1
T
Determinao de 2: 1 , 2 m 0 1 , 2
2 2 = 1
2 , 2 0 J 2 , 2
( 1 , 2) 2 22 m + ( 2 , 2) 2 22 J = 1
1 1 , 2
2 := 2 = 0.029 2 := 2
( 1 , 2) 2 m + ( 2 , 2) 2 J 2 , 2
11 21 0.013 1.591 10
3
n := n =
12 22 3.406 10 3
0.029
95 cos ( 40 t)
T dd1 T 1 T
n M n + n K n = n L
dd
2
2 95 cos ( 40 t)
2
T T
m := n M n k := n K n
1 0 79.178 2.665 10
14
m= k=
0 1 2.842 10 14 791.489
d ) Respostas para coordenadas x(t) e (t)
95 cos ( 40 t)
T dd1 T 1 T
n M n + n K n = n L
dd2 2 95 cos ( 40 t)
2
d2
Pode-se escrever a equao generalizada como: mii + kii i = f i
2 i
dt
95
0.706
F := T
L f := n F f =
95 4.917
2
f1 f2
f k1 , 1 f k2 , 2
1 := 01 := 2 := 02 :=
1 2 2 2
1 ( 1) 2 1 ( 2) 2
1 = 1.412 1 := 2 = 0.447 2 := 0
9.118 10 3
x0 =
0.01 5.539 10 3
3
510
x ( t)
0
( t)
3
510
0.01
0 0.5 1 1.5 2
t