Sistem Translasi Horisontal

DS
Department of Nuclear Engineering and Engineering Physics,
Faculty of Engineering, Universitas Gadjah Mada
( Sihana@ugm.ac.id)
 Sistem Translasi Horisontal
• Sistem sederhana tersusun dari sebuah massa yang
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

terhubung ke dinding dengan pegas dan damper. Input

berupa gaya Fe(t).

x(t)
k
Universitas Gadjah Mada

fe(t) m
b

(http://lpsa.swarthmore.edu/) 2
 Sistem Translasi Horisontal
• Sistem sederhana tersusun dari sebuah massa yang
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

terhubung ke dinding dengan pegas dan damper. Input

berupa gaya Fe(t).
• Elemen massa dapat berupa mobil. Pegas dan dashpot
menyatakan bemper mobil.

x(t)
k
Universitas Gadjah Mada

fe(t) m
b

(http://lpsa.swarthmore.edu/) 3
 Mechanical System
• Sistem sederhana tersusun dari sebuah massa yang
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

terhubung ke dinding dengan pegas dan damper. Input

berupa gaya Fe(t).
• Elemen massa dapat menyatakan mobil, pegas dan
dashpot adalah bemper mobil.
• Hanya gerakan dan gaya pada arah horizontal yang
dipertimbangkan.
x(t)
k
Universitas Gadjah Mada

fe(t) m
b

4
(http://lpsa.swarthmore.edu/)
 Mechanical System
• Sistem sederhana tersusun dari sebuah massa yang
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

terhubung ke dinding dengan pegas dan damper. Input

berupa gaya Fe(t).
• Elemen massa dapat menyatakan mobil, pegas dan
dashpot adalah bemper mobil.
• Hanya gerakan dan gaya pada arah horizontal yang
dipertimbangkan.
x(t) Arah positif ke kanan
k
Universitas Gadjah Mada

fe(t) m
b

5
(http://lpsa.swarthmore.edu/)
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

fe(t)

• Arah positif ke kanan

m

• Input: gaya eksternal (fe)

x(t)

b
k

6
 x(t)
k
fe(t) m
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan

• Input: gaya eksternal (fe)
• Kondisi sesaat:
▪ Ketika elemen massa bergerak ke kanan (positif) sebesar “x”:
Universitas Gadjah Mada

x(t) k

fe(t) m
b
7
 x(t)
k
fe(t) m
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan

• Input: gaya eksternal (fe)
• Kondisi sesaat:
▪ Ketika elemen massa bergerak ke kanan (positif) sebesar “x”:
▪ Gaya dari pegas:
• Pegas tertekan dan mengalami perubahan panjang sebesar “x”,
sehingga akan memberikan gaya kepada elemen massa, fk = k·x, ke
arah ke kiri.
Universitas Gadjah Mada

x(t) k
fk = k·x
fe(t) m
b
8
 x(t)
k
fe(t) m
b x(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan m ax(t)

• Input: gaya eksternal (fe) fe(t) m b vx(t)
k x(t)
• Kondisi sesaat:
▪ Ketika elemen massa bergerak ke kanan (positif) sebesar “x”:
▪ Gaya dari pegas:
• Pegas tertekan dan mendorong massa, fk = k·x, ke arah ke kiri.
▪ Gaya dari dashpot:
• Gaya dari dashpot mendorong massa, fb = b·vx, ke arah kiri.
Universitas Gadjah Mada

x(t) k
fk = k·x

fe(t) m
fb = b·vx
b
9
 x(t)
k
fe(t) m
b x(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan m ax(t)

• Input: gaya eksternal (fe) fe(t) m b vx(t)
k x(t)
• Kondisi sesaat:
▪ Ketika elemen massa bergerak ke kanan (positif) sebesar “x”:
▪ Gaya dari pegas:
• Pegas tertekan dan mendorong massa, fk = k·x, ke arah ke kiri.
▪ Gaya dari dashpot:
• Gaya dari dashpot mendorong massa, fb = b·vx, ke arah kiri.
Universitas Gadjah Mada

x(t) k
fk = k·x

fe(t) m
FBD fb = b·vx
b
10
 D’Alembert
x(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan

m ax(t)
• Input: gaya eksternal (Fe) Fe(t) m b vx(t)
• Kondisi sesaat: k x(t)

▪ Ketika elemen massa bergerak ke kanan (positif) sebesar “x”:

▪ Gaya dari pegas:
• Pegas tertekan dan mendorong massa, fk = k·x, ke arah ke kiri.
▪ Gaya dari dashpot:
• Gaya dari dashpot mendorong massa, fb = b·vx, ke arah kiri.
Universitas Gadjah Mada

▪ Gaya inersia:
• Gaya inersia berlawanan dengan arah gerakan fa = m ax, ke arah kiri

11
 D'Alembert's Law
x(t)
• Persamaan neraca gaya:
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ax(t)
F=0 Fe(t) m b vx(t)
k x(t)

FBD
Universitas Gadjah Mada

x(t) fk = k·x k

Fe(t) m m ax

fb = b·vx
b
12
 D'Alembert's Law
x(t)
• Persamaan neraca gaya:
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ax(t)
F=0 Fe(t) m b vx(t)
k x(t)

Fe(t) – max(t) –bvx(t) –kx(t) = 0

Universitas Gadjah Mada

x(t) fk = k·x k

Fe(t) m m ax

fb = b·vx
b
13
 D'Alembert's Law
x(t)
• Persamaan neraca gaya:
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ax(t)
F=0 Fe(t) m b vx(t)
k x(t)

Fe(t) – max(t) –bvx(t) –kx(t) = 0

• Persamaan gerak (EOM), Pers. IO

d 2 x(t ) dx(t )
m 2
+ b + kx(t ) = Fe (t )
dt dt
Universitas Gadjah Mada

x(t) fk = k·x k

Fe(t) m m ax

fb = b·vx
b
14
 Parameter Sistem
• Persamaan IO
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

d 2 x(t ) dx(t )
m 2
+b + kx(t ) = Fe (t )
dt dt
• Nilai parameter
▪ m= 10 kg, k= 500 N/m, b= 20 Ns/m, F= 1000 u(t) N
x(t)
m ax(t)
Fe(t)
m b vx(t)
k x(t)
Universitas Gadjah Mada

x(t) fk = k·x k

Fe(t) m m ax

fb = b·vx
b
15
 Parameter Sistem
• Persamaan IO
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

d 2 x(t ) dx(t )
m 2
+b + kx(t ) = Fe (t )
dt dt
• Nilai parameter
▪ m= 10 kg, k= 500 N/m, b= 20 Ns/m, F= 1000 u(t) N
• Frekuensi natural
k 500 N/m n 1
n = = = 7,1 rad/s fn = = 1,1 Hz T= = 0,89s
m 10 kg 2 fn
Universitas Gadjah Mada

x(t)
m ax(t)
Fe(t)
m b vx(t)
k x(t)
16
 Parameter Sistem
• Persamaan IO
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

d 2 x(t ) dx(t )
m 2
+b + kx(t ) = Fe (t )
dt dt
• Nilai parameter
▪ m= 10 kg, k= 500 N/m, b= 20 Ns/m, F= 1000 u(t) N
• Frekuensi natural
k 500 N/m n 1
n = = = 7,1 rad/s fn = = 1,1 Hz T= = 0,89s
m 10 kg 2 fn
• Rasio redaman
Universitas Gadjah Mada

b 20
 = = = 0,14 d = n 1 −  2 = 7,0 rad/s
2 km 2 500(10 ) x(t)
m ax(t)
Fe(t)
m b vx(t)
k x(t)
17
 Parameter Sistem
• Persamaan IO
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

d 2 x(t ) dx(t )
m +b + kx(t ) = F (t )
e
dt 2 dt
• Nilai parameter
▪ m= 10 kg, k= 500 N/m, b= 20 Ns/m, F= 1000 u(t) N
• Frekuensi natural
k 500 N/m n 1
n = = = 7,1 rad/s fn = = 1,1 Hz T= = 0,89s
m 10 kg 2 fn

• Rasio redaman
Universitas Gadjah Mada

b 20 d = n 1 −  2 = 7,0 rad/s
 = = = 0,14 x(t)
2 km 2 500(10 )
m ax(t)
• Time constant Fe(t)

=
1
= 1,0 s
m b vx(t)
k x(t)
 n 18
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

Fe(t)
y(t)

m
b
k
• Arah ke kiri bernilai positif
• Variabel perubahan posisi y(t)
Translasi Horisontal

19
 Translasi Horisontal
• Variabel perubahan posisi y(t) y(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah ke kiri bernilai positif

m ay(t)
Fe(t) m b vy(t)
k y(t)

y(t)
k

m
Universitas Gadjah Mada

Fe(t)
b

20
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

FBD
Fe(t)
y(t)

• An external force (Fe)

m
b
k

Fe(t)
y(t)

21
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

FBD

Fe(t)
y(t)
Fe(t)

m
y(t)

• Arah positif ke kiri

m
b
k

Fe(t)

b
y(t)

m
k y(t)

22
b vy(t)
m ay(t)
 y(t)
FBD k
Fe(t) m y(t)
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ay(t)

• Arah positif ke kiri

Fe(t) m b vy(t)
k y(t)
• Kondisi sesaat, ketika massa bergerak y(t) ke kiri (arah
positif)
Universitas Gadjah Mada

y(t)
fk = k·y k

Fe(t) m
fb = b·vy
b
23
 y(t)
FBD k
Fe(t) m y(t)
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ay(t)

• Arah positif ke kiri

Fe(t) m b vy(t)
k y(t)
• Kondisi sesaat, ketika massa bergerak y(t) ke kiri (arah
positif)
▪ Gaya dari pegas:
• Pegas akan memanjang, sehingga gaya pegas ke benda, fk= k·y, ke
arah kanan.
Universitas Gadjah Mada

y(t)
fk = k·y k

Fe(t) m
fb = b·vy
b
24
 y(t)
FBD k
Fe(t) m y(t)
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ay(t)

• Arah positif ke kiri

Fe(t) m b vy(t)
k y(t)
• Kondisi sesaat, massa bergerak y(t) ke kiri (arah positif)
▪ Gaya dari pegas:
• Pegas memanjang, shg gaya pegas ke benda, fk= k·y, ke arah kanan.
▪ Gaya dari dashpot:
• Dashpot akan memberikan gaya, fb= b·vy, ke arah kanan.
Universitas Gadjah Mada

y(t)
fk = k·y k

Fe(t) m
fb = b·vy
b
25
 y(t)
FBD k
Fe(t) m y(t)
b
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m ay(t)

• Arah positif ke kiri m

Fe(t) b vy(t)
k y(t)
• Kondisi sesaat, ketika massa bergerak y(t) ke kiri (arah positif)
▪ Gaya dari pegas:
• Pegas akan memanjang, shg gaya pegas ke benda, fk= k·y, ke arah kanan.
▪ Gaya dari dashpot:
• Dashpot akan memberikan gaya, fb= b·vy, ke arah kanan.
▪ Gaya inersia:
• Gaya inersia berlawanan dengan arah gerakan fa= m ax, ke arah kanan.
Universitas Gadjah Mada

y(t)
fk = k·y k

Fe(t) m
fb = b·vy
b
26
 D'Alembert's Law
• Persamaan neraca gaya: y(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

F=0
m ay(t)
Fe(t) m b vy(t)
k y(t)
Universitas Gadjah Mada

y(t)
fk = k·y k

Fe(t) m m ax

fb = b·vy
b
27
 D'Alembert's Law
• Persamaan neraca gaya: y(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

F=0
m ay(t)
Fe(t) m b vy(t)
k y(t)
Fe(t) + may(t) + bvy(t) + ky(t) = 0
Universitas Gadjah Mada

28
 D'Alembert's Law
• Persamaan neraca gaya: y(t)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

F=0
m ay(t)
Fe(t) m b vy(t)
k y(t)
Fe(t) + may(t) + bvy(t) + ky(t) = 0

• Persamaan gerak (EOM), Pers. IO

d 2 y (t ) dy (t )
m 2
+ b + ky (t ) = − Fe (t )
dt dt
Universitas Gadjah Mada

29
 Hubungan Seri
• Sistem dengan dua variable posisi, x1 dan x2.
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Perlu dibuat diagram dua benda bebas, satu

untuk x1, dan satu untuk x2.

x1(t) x2(t)
k3
Fe(t) k2
Universitas Gadjah Mada

m
k1 b1 b2

(http://lpsa.swarthmore.edu/) 30
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
• Arah positif ke kanan
k1x1
m1 b1v1
• Gaya eksternal, Fe, ke kanan m1a1
Universitas Gadjah Mada

x1(t)
Fe(t) x2(t)
k3
k2
m
k1 b1 b2
31
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
• Arah positif ke kanan
k1x1
m1 b1v1
• Gaya eksternal, Fe, ke kanan m1a1
• Gaya dari k1.
▪ Jika x1 meningkat (benda bergerak ke kanan), k1 memanjang.
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) F2= k2 (x1-x2) k3
F1= k1 x1 k2
m
k1 b1 Fb= b3 v2 b2 32
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
• Arah positif ke kanan
k1x1
m1 b1v1
• Gaya eksternal, Fe, ke kanan m1a1
• Gaya dari k1.
▪ Jika x1 meningkat (benda bergerak ke kanan), k1 memanjang. Pegas akan
menghasilkan gaya pada x1 ke kiri. Gaya pegas fk1= k1·x1 ke kiri.
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) F2= k2 (x1-x2) k3
F1= k1 x1 k2
m
k1 b1 Fb= b3 v2 b2 33
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
• Arah positif ke kanan
k1x1
m1 b1v1
• Gaya eksternal, Fe, ke kanan m1a1
• Gaya dari k1.
▪ Jika x1 meningkat (benda bergerak ke kanan), k1 memanjang dan
menghasilkan gaya pada x1 ke kiri. Gaya pegas fk1= k1·x1 ke kiri.
• Gaya dari b1.
▪ Jika x1 bergerak ke kanan (arah positif), friksi b1 menyebabkan gaya
(pada x1) ke kiri. Gaya friksi fb1= b1·v1 ke kiri.
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) F2= k2 (x1-x2) k3
F1= k1 x1 k2
m
k1 b1 Fb= b3 v2 b2 34
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan Fe(t)

• Gaya eksternal, Fe, ke kanan
k1x1
m1 b1v1
m1a1
• Gaya dari k1.
▪ Jika x1 meningkat, k1 memanjang dan menghasilkan gaya pada x1 ke kiri. Gaya
pegas fk1= k1·x1 ke kiri.
• Gaya dari b1.
▪ Jika x1 bergerak ke kanan (arah positif), friksi b1 sehingga gaya (pada x1) ke kiri.
Gaya friksi fb1= b1·v1 ke kiri.
• Gaya dari k2.
▪ Jika x1 meningkat, k2 tertekan dan menghasilkan gaya pada x1 ke kiri.
Universitas Gadjah Mada

▪ Jika x2 meningkat, k2 memanjang dan menghasilkan gaya pada x1 ke kanan.

▪ Resultan gaya k2·(x1-x2) ke kiri (atau k2·(x2-x1) ke kanan)
x1(t)
x2(t) F3= k3 x2
Fe(t) F2= k2 (x1-x2) k3
F1= k1 x1 k2
m
k1 b1 Fb= b3 v2 b2 35
 x1
k3

FBD1 Fe(t)
m
k2

k1 b1 b2
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Arah positif ke kanan Fe(t)

• Gaya eksternal, Fe, ke kanan
k1x1
m1 b1v1
m1a1
• Gaya dari k1.
▪ Jika x1 meningkat, k1 memanjang dan menghasilkan gaya pada x1 ke kiri. Gaya pegas fk1=
k1·x1 ke kiri.
• Gaya dari b1.
▪ Jika x1 bergerak ke kanan (arah positif), friksi b1 menyebabkan gaya (pada x1) ke kiri. Gaya
friksi fb1= b1·v1 ke kiri.
• Gaya dari k2.
▪ Jika x1 meningkat, k2 tertekan dan menghasilkan gaya pada x1 ke kiri.
▪ Jika x2 meningkat, k2 memanjang dan menghasilkan gaya pada x1 ke kanan.
Universitas Gadjah Mada

▪ Resultan gaya k2·(x1-x2) ke kiri (atau k2·(x2-x1) ke kanan)

• Gaya dari m1 (gaya inersia).
▪ Gaya inersia m1·a1 ke kiri (gaya inersia selalu berlawanan dengan arah gerakan positif).
x1(t)
x2(t) F3= k3 x2
Fe(t) F2= k2 (x1-x2) k3
F1= k1 x1 k2
m
k1 b1 Fb= b3 v2 b2 36
 x1
k3

FBD1 Fe(t)

k1
m
k2

b2
b1
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
k1x1
m1 b1v1
m1a1
Neraca gaya (D’Alembert)

F=0
Fe – m1a1 – k2(x1 – x2) – b1v1 – k1x1 = 0
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
b1 F2= k2 (x1-x2)
k1 Fb= b3 v2 b2 37
 x1
k3

FBD1 Fe(t)

k1
m
k2

b2
b1
x1(t)
k1(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

Fe(t)
k1x1
m1 b1v1
m1a1
Neraca gaya (D’Alembert)

F=0
Fe – m1a1 – k2(x1 – x2) – b1v1 – k1x1 = 0
Universitas Gadjah Mada

d 2 x1
+ (k 2 + k1 )x1 − k 2 x2 = Fe (t )
dx1
m1 2 + b1
dt dt x (t) 1 F3= k3 x2
Fe(t) x2(t)
m a1 k3
F1= k1 x1 k2
m
b1 F2= k2 (x1-x2)
k1 Fb= b3 v2 b2 38
 x1
k3

FBD2 Fe(t)
m
k2
x2
k1 b1 b2
k3x2
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

b2v2
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
k1 b1 F2= k2 (x1-x2) Fb= b3 v2 b2 39
 x1
x1

FBD2 Fe(t)
m
k2

b2
k3
x2
k1 b1
k3x2
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Gaya dari k2. b2v2

▪ Jika x1 meningkat (ke arah kanan), pegas tertekan dan menimbulkan gaya ke
kanan pada x2.
▪ Jika x2 meningkat (ke kanan), perpanjangan pegas akan menghasilkan gaya Tarik
pada x2 ke kiri.
▪ Gaya resultan k2·(x1-x2) ke kanan (atau k2·(x2-x1) ke kiri)
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
k1 b1 F2= k2 (x1-x2) Fb= b3 v2 b2 40
 x1
x1

FBD2 Fe(t)
m
k2
b2
k3
x2
k1 b1
k3x2
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Gaya dari k2.

b2v2
▪ Jika x1 meningkat (ke arah kanan), pegas tertekan dan menimbulkan gaya ke
kanan pada x2.
▪ Jika x2 meningkat (ke kanan), perpanjangan pegas akan menghasilkan gaya Tarik
pada x2 ke kiri.
▪ Gaya resultan k2·(x1-x2) ke kanan (atau k2·(x2-x1) ke kiri)
• Gaya dari k3.
▪ Jika x2 meningkat, pegas tertekandan menghasilkan gaya pada x2 ke kiri.
▪ Gaya resultan k3·x2 ke kiri.
Universitas Gadjah Mada

x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
k1 b1 F2= k2 (x1-x2) Fb= b3 v2 b2 41
 x1
x1

FBD2 Fe(t)
m
k2
k3
x2
k1 b1 b2
k3x2
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

• Gaya dari k2. b2v2

▪ Jika x1 meningkat (ke arah kanan), pegas tertekan dan menimbulkan gaya ke
kanan pada x2.
▪ Jika x2 meningkat (ke kanan), perpanjangan pegas akan menghasilkan gaya Tarik
pada x2 ke kiri.
▪ Gaya resultan k2·(x1-x2) ke kanan (atau k2·(x2-x1) ke kiri)
• Gaya dari k3.
▪ Jika x2 meningkat, pegas tertekandan menghasilkan gaya pada x2 ke kiri.
▪ Gaya resultan k3·x2 ke kiri.
• Gaya dari b2.
▪ Jika x2 bergerak ke kanan (arah positif) akan menekan dashpot dan menghasilkan
Universitas Gadjah Mada

gaya pada x2 ke kiri.

▪ Gaya resultan b2·v2 ke kiri
x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
b1 F2= k2 (x1-x2)
k1 Fb= b3 v2 b2 42
 x1
x1

FBD2
k3
Fe(t) k2
m
k1 b2
x2
b1

k3x2
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k2(x1-x2)
b2v2
Neraca gaya (D’Alembert)

F=0
– k2(x1 – x2) + k3x2 + b2v2 = 0
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x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
k1 b1 F2= k2 (x1-x2) Fb= b3 v2 b2 43
 x1
x1

FBD2
k3
Fe(t) k2
m
k1 b2
x2
b1

k3x2
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k2(x1-x2)
b2v2
Neraca gaya (D’Alembert)

F=0
– k2(x1 – x2) + k3x2 + b2v2 = 0

+ (k 2 + k3 )x2 − k 2 x1 = 0
dx2
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b2
dt
x1(t)
x2(t) F3= k3 x2
Fe(t) m a1 k3
F1= k1 x1 k2
m
k1 b1 F2= k2 (x1-x2) Fb= b3 v2 b2 44
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

xin(t)

k1
m1
x1(t)

b1
k2
Input Posisi

b2
x2(t)
k3

m2
x1(t)
• Posisi sebelah kiri (xin) merupakan input sistem

45
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

xin(t)
k1(xin-x1)
FBD

k1
m1
x1(t)

m1
m1a1

x1(t)
k2(x1-x2)

b1
k2
FBD1

b2
x2(t)
k3

m2
x1(t)

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 FBD x1(t)
FBD1
k1(xin-x1) k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m1 m1a1
x2
k3(x2-x3)
k2(x1-x2)
b2(v2-v3)
FBD2
x1(t) x2(t) x1(t)
k3
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xin(t) k2
m1 m2
k1 b1 b2

47
 FBD x1(t)
FBD1
k1(xin-x1) k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

m1 m1a1 x1(t)
FBD3
x2 k3(x2-x3)
b1v3
k3(x2-x3) m1 m2a3
k2(x1-x2)
b2(v2-v3) b2(v2-v3)
FBD2
x1(t) x2(t) x1(t)
k3
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xin(t) k2
m1 m2
k1 b1 b2

48
 F=0 FBD
FBD1 x1(t)
k1(xin – x1) – k2(x1 – x2) - m1a1 = 0
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k1(xin-x1)
d 2 x1
m1 m1 2 + (k1 + k 2 )x1 − k 2 x2 = k1 xin
m1a1 dt
Universitas Gadjah Mada

49
 F=0 FBD
FBD1 x1(t)
k1(xin – x1) – k2(x1 – x2) - m1a1 = 0
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k1(xin-x1)
d 2 x1
m1 m1 2 + (k1 + k 2 )x1 − k 2 x2 = k1 xin
m1a1 dt

FBD2
x2
F=0
k3(x2-x3) k2(x1 – x2) – k3(x2 – x3) - b2(v2 – v3) = 0
k2(x1-x2)
b2(v2-v3)
Universitas Gadjah Mada

50
 F=0 FBD
FBD1 x1(t)
k1(xin – x1) – k2(x1 – x2) - m1a1 = 0
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k1(xin-x1)
d 2 x1
m1 m1 2 + (k1 + k 2 )x1 − k 2 x2 = k1 xin
m1a1 dt

FBD2
x2
F=0
k3(x2-x3) k2(x1 – x2) – k3(x2 – x3) - b2(v2 – v3) = 0
k2(x1-x2)
b2(v2-v3) b dx2 + (k + k )x − k x − b dx3 − k x = 0
2 2 3 2 2 1 2 3 3
dt dt
Universitas Gadjah Mada

51
 F=0 FBD
FBD1 x1(t)
k1(xin – x1) – k2(x1 – x2) - m1a1 = 0
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k1(xin-x1)
d 2 x1
m1 m1 2 + (k1 + k 2 )x1 − k 2 x2 = k1 xin
m1a1 dt

FBD2
x2
F=0
k3(x2-x3) k2(x1 – x2) – k3(x2 – x3) - b2(v2 – v3) = 0
k2(x1-x2)
b2(v2-v3) b dx2 + (k + k )x − k x − b dx3 − k x = 0
2 2 3 2 2 1 2 3 3
dt dt

F=0
x1(t)
FBD3
Universitas Gadjah Mada

b1v3
k3(x2 – x3) + b2(v2 – v3) – m2a3 –b1v3 = 0
k3(x2-x3) m1 m2a3
b2(v2-v3)
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 F=0 FBD
FBD1 x1(t)
k1(xin – x1) – k2(x1 – x2) - m1a1 = 0
k2(x1-x2)
Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,

k1(xin-x1)
d 2 x1
m1 m1 2 + (k1 + k 2 )x1 − k 2 x2 = k1 xin
m1a1 dt

FBD2
x2
F=0
k3(x2-x3) k2(x1 – x2) – k3(x2 – x3) - b2(v2 – v3) = 0
k2(x1-x2)
b2(v2-v3) b dx2 + (k + k )x − k x − b dx3 − k x = 0
2 2 3 2 2 1 2 3 3
dt dt

F=0
x1(t)
FBD3
Universitas Gadjah Mada

b1v3
k3(x2 – x3) + b2(v2 – v3) – m2a3 –b1v3 = 0
k3(x2-x3) m1 m2a3
b2(v2-v3) d 2 x3
m2 2 + (b1 + b2 )
dx3 dx2
+ k3 x3 − b2 − k 3 x2 = 0
dt dt dt 53
 Department of Nuclear Engineering and Engineering Physics, Faculty of Engineering,
Universitas Gadjah Mada

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