. ..
F – k.x – f. = m.
x x
2
F(s) – kX(s) – fsX(s) = ms X(s)
2
F(s) = (ms + fs + k) X(s)
X(s) 1
F(s) ms 2 fs k
1.
J = momen inersia
f = koefisien gesek
= kecepatan sudut (output)
T = torsi (input)
= percepatan sudut
= pergeseran sudut
J = T
.
J ω = T-f.
Js(s) = T(s) – f(s)
T(s) = (Js +f) (s)
Ω(s) 1
T(s) Js f
di 1
eI = L. R.i i.dt ……………… (1)
dt c
1
e0 = i.dt ………………(2)
c
Transformasi Laplace :
1
1 EI(s) = Ls I(s) + R I(s) + I(s)
Cs
1
2 E0(s) = I(s) I(s) = C s E0(s)
Cs
21:
2
EI(s) = L C s E0(s) + R C E0(s) + E0(s)
2
EI(s) = C L C s + R (s +1) E0(s)
E (s) 1
0
E (s) LCs2 RCs 1
i
E (s) 1
0 (Buktikan !!!)
E (s) RCs 1
i
1 1
0 = (i 2 i1)dt R 2 .i2 i 2 .dt ………..(2)
C C
1 2
1
e0 = i 2 .dt ………………….(3)
C
2
Transformasi Laplace :
1
1 E (s) R .i (I (s) I (s))
i 1 1 C (s) 1 2
1
1 1
2 0 (I (s) I (s)) R .I (s) I (s)
Cs 2 1 2 2 C s 2
1 2
1
3 E (s) I (s)
0 C s 2
2
Eliminasi I1(s) dan I2(s) dari ketiga persamaan diatas menghasilkan :
E (s) 1
0
E (s) R C R C s 2 (R C R C R C )s 1
1 1 1 2 2 1 1 2 2 1 2
Bila Kedua rangkaian RC diatas dianggap terpisah.
E (s) 1
m
E (s) R C s 1
i 1 1
E (s) 1
m
E (s) R C s 1
i 2 2
Transfer Function :
E (s) E (s) E (s) 1 1
0 0 . m .
E (s) E (s) E (s) R C s 1 R C s 1
i m i 2 2 1 1
1
R C R C s 2 (R C R C )s 1
1 1 2 2 1 1 2 2
X1(s) X3(s)
G1(s) G2(s)
X (s) X (s)
G (s) 2 , G (s) 3
1 X (s) 2 X (s)
1 2
X (s) X (s) X (s)
G(s) 3 2 . 3 G (s).G (s)
X (s) X (s) X (s) 1 2
1 1 2
E (s) 1 1
0 ( ) (K) ( )
E (s) R C s 1 R C s 1
i 1 1 2 2
K
(R C s 1)(R C s 1)
1 1 2 2