DINAMIKA
KENDARAAN
Kendaraan Bergerak Lurus
dan Berbelok
Sasaran Kuliah: Aktifitas Kelas:
Mahasiswa mengerti tentang: • Periksa tugas, jika ada
a) Faktor-faktor yang • Reading quiz
mempengaruhi dinamika • Penjelasan materi
gerak kendaraan. • Concept quiz
b) Komponen utama kendaraan • Attention quiz
beserta fungsinya.
Dasar Dinamika Kendaraan
Dinamika Gerak Lurus
Untuk analisa:
• perilaku gerak kendaraan
• perilaku arah serta stabilitas kendaraan
• kemanan kendaraan
• kenyamanan kendaraan.
Prinsip Gerak Kendaraan
Gaya Penghambat Gerak Kendaraan
Hambatan Gravitasi
Gaya Dorong/Traksi
Hambatan Rolling
Fd
Hambatan Angin
h
a
Keterangan gambar : Rf
F f = gaya dorong roda penggerak depan
Fr = gaya dorong roda penggerak belakang
h Rg W
Ff a
Rg = hambatan tanjakan/gravitasi θs g
R f = hambatan rolling roda depan
Rr
Rr = hambatan rolling roda belakang Wf l1 W
Rd = hambatan angin (drag) Fr
a = percepatan kendaraan L l2
θs
θ = sudut tanjakan
Wr
Dinamika Gerak Lurus
Analisa Gerak Kendaraan
FR = Fd + Rroll + Rg Keterangan
Fc = gaya sentrifugal
Fgf = gaya gesek roda depan t f = jarak antar roda depan
Fgf = gaya gesek roda belakang t r = jarak antar roda belakang
Fgf Fgr
Fgesek < Flateral SKID
tf Fc ⋅ sin β
tr
a b
Dinamika Gerak Belok
Free Body Diagram
W = berat kendaraan
Fs Fc ⋅ cos β FL = gaya angkat angin
FZA = reaksi di roda A
M Ra
h W FZA = reaksi di roda B
Fgr Fc ⋅ cos β = gaya sentrifugal arah lateral
Fgr 2
FL Fs = gaya angin dari samping
FZA 2 FZB
Fgr = gaya gesek roda
t
M Ra = momen guling akibat gaya lateral
M pa
Fc sin β FD
W h
FL
WZf WZr
Dinamika Gerak Belok
Analisa Skid
Fgesek < Flateral SKID Distribusi gaya sentrifugal pada roda depan dan belakang:
b
Fs = gaya angin dari samping Fcf = [ Fc ⋅ cos β ]
( a + b)
a
Fc = gaya sentrifugal Fcr = [ Fc ⋅ cos β ]
( a + b)
Fc = Wg ⋅ VRn
2
(W − FL ) + Fc sin β ⋅ h − FD ⋅ h − pa
b M
FZf =
( a + b) a+b a+b a+b
(W − FL ) − Fc sin β ⋅ h + FD ⋅ h + pa
a M
FZr =
( a + b) a+b a+b a+b
Dinamika Gerak Belok
Analisa Skid: Kondisi Kritis
Rn ⋅ g µ ⋅ b ⋅ ( W − FL ) − b ⋅ Fs − FD ⋅ h ⋅ µ − M pa ⋅ µ Rn ⋅ g µ ⋅ a ⋅ ( W − FL ) − a ⋅ Fs − FD ⋅ h ⋅ µ − M pa ⋅ µ
V fs = Vrs =
W b cos β − h ⋅ µ ⋅ sin β W a cos β − h ⋅ µ ⋅ sin β
Vfs < Vrs roda depan skid lebih awal dibandingkan roda belakang
Kendaraan disebut terguling jika satu atau Gaya normal pada tiap roda kendaraan (Fzi) :
lebih rodanya terangkat:
FZi ≤ 0 a a Fc ⋅ h ⋅ cos β + M Ra + Fs ⋅ h Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
FZ 1 = ⋅ (W − FL ) − −
2( a + b ) a+b tr 2( a + b )
FZi = Wi ± Fmgi ± Fmpi
b b Fc ⋅ h ⋅ cos β + M Ra + Fs ⋅ h Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
FZ 2 = ⋅ (W − FL ) − +
2( a + b ) a + b tf 2( a + b )
b b Fc ⋅ h ⋅ cos β + M Ra + Fs ⋅ h Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
FZ 3 = ⋅ (W − FL ) + +
2( a + b ) a+b tr 2( a + b )
a a Fc ⋅ h ⋅ cos β + M Ra + Fs ⋅ h Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
FZ 4 = ⋅ (W − FL ) + −
2( a + b ) a+b tr 2( a + b )
Rn ⋅ g 0.5b ⋅ (W − FL ) − b ⋅ t f
( M Ra + Fs ⋅h )
− 0.5( FD ⋅ h + M pa )
V fg = ( b⋅h⋅cos β ) (Roda depan )
W − 0 .5 h ⋅ sin β
tf
Rn ⋅ g bµ (W cos θ − FL ) − b( Fs − W sin θ ) + µ ( FD ⋅ h + M pa )
V fs =
W b( cos β ⋅ cos θ − µ cos β ⋅ sin θ ) − h ⋅ µ sin β
Rn ⋅ g aµ (W cos θ − FL ) − a( Fs − W sin θ ) − µ ( FD ⋅ h + M pa )
Vrs =
W a( cos β ⋅ cos θ − µ cos β ⋅ sin θ ) − h ⋅ µ sin β
Dinamika Gerak Jalan Miring
Analisa Guling (Rolling) pada Jalan Miring
Gaya normal pada tiap roda kendaraan (F zi) :
a a Fc ⋅ h ⋅ cos β ⋅ sin θ − W ⋅ h sin θ + M Ra + Fs ⋅ h
FZ 1 = ⋅ (W cos θ + Fc cos β ⋅ sin θ − FL ) − −
2( a + b ) a+b tr
Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
2( a + b )
b b Fc ⋅ h ⋅ cos β ⋅ sin θ − W ⋅ h sin θ + M Ra + Fs ⋅ h
FZ 2 = ⋅ (W cos θ + Fc cos β ⋅ sin θ − FL ) − +
2( a + b ) a+b tr
Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
2( a + b )
b b Fc ⋅ h ⋅ cos β ⋅ sin θ − W ⋅ h sin θ + M Ra + Fs ⋅ h
FZ 3 = ⋅ (W cos θ + Fc cos β ⋅ sin θ − FL ) + +
2( a + b ) a+b tr
Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
2( a + b )
a a Fc ⋅ h ⋅ cos β ⋅ sin θ − W ⋅ h sin θ + M Ra + Fs ⋅ h
FZ 4 = ⋅ (W cos θ + Fc cos β ⋅ sin θ − FL ) + −
2( a + b ) a+b tr
Fc ⋅ h ⋅ sin β − FD ⋅ h − M pa
2( a + b ) Kondisi kritis guling kendaraan, kecepatan maksimum guling:
Rn ⋅ g 0.5b ⋅ (W cos θ − FL ) − b
( h⋅w sin θ − M Ra + Fs ⋅h )
+ 0.5( FD ⋅ h + M pa )
(Roda depan ) V fg =
tf
W
( b⋅h⋅cos β ⋅cosθ )
t f
− 0 . 5 ( b cos β ⋅ sin θ + h sin θ )
Penentuan titik berat kendaran dilakukan dengan melakukan pengukuran berat kendaraan bagian depan
dan belakang:
θ
Wf Wr
Wf θ
a=
( a + b )Wr [W ( a + b ) − W ⋅ b]
fθ
W hr =
W tan θ
( a + b )W f
b= h = r + hr
W
r = jari - jari roda (rata - rata)
L = a+b
Contoh Soal
Contoh: Unjuk Kerja Kendaraan
Faktor massa kendaraan km pada tingkat gigi ke Total hambatan pada kendaraan merupakan
tiga dapat dihitung sebagai berikut: penjumlahan hambatan aerodinamik dan
hambatan rolling:
km = 1+
∑I w
+ ∑ Iξ 2
mr 2 ∑R = R a + Rr = 755 N
4 × 6 + 0 ,733 × 4 ,28 2
km = 1 + = 1,084
2170 × 0 ,33 2 Percepatan kendaraan dapat dihitung:
F −∑R
Gaya traksi kendaraan dapat dihitung sebagai a= = 1,2 ( m/s )
2
berikut: M eξ oηt km m
Ftr = = 3585 N
r
Kecepatan kendaraan dapat dihitung sebagai
berikut: ne r
v= ( 1 − i)
ξo
Asumsikan, jika I = 3% maka kecepatan
kendaraan adalah:
v = 98 ,7 km/h
Contoh Soal
Contoh: Konsumsi Bahan Bakar