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  • Σ τ= j τ −k θ kθ j τ −k θ θ j τ (s) −k θ s) −θ s) s j θ s) τ (s) =s j θ s) +kθ s) −k θ s) s k) θ s) −k θ s) … … (1) τ (s) =

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    This document describes the process of determining the transfer function of a system using experimental data. It involves: 1) Setting up equations to relate force, position, mass and spring constant based on experimental trials. 2) Solving the equations to determine the spring constant and coefficients for the transfer function. 3) Simplifying and solving the transfer function to obtain expressions for position over time in terms of constants and input force. 4) Substituting values into the transfer function to calculate the position at a specific time.

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    This document describes the process of determining the transfer function of a system using experimental data. It involves: 1) Setting up equations to relate force, position, mass and spring constant based on experimental trials. 2) Solving the equations to determine the spring constant and coefficients for the transfer function. 3) Simplifying and solving the transfer function to obtain expressions for position over time in terms of constants and input force. 4) Substituting values into the transfer function to calculate the position at a specific time.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
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    Download as docx, pdf, or txt
    8 views7 pages

    Σ τ= j τ −k θ kθ j τ −k θ θ j τ (s) −k θ s) −θ s) s j θ s) τ (s) =s j θ s) +kθ s) −k θ s) s k) θ s) −k θ s) … … (1) τ (s) =

    Uploaded by

    Anjasajib
    This document describes the process of determining the transfer function of a system using experimental data. It involves: 1) Setting up equations to relate force, position, mass and spring constant based on experimental trials. 2) Solving the equations to determine the spring constant and coefficients for the transfer function. 3) Simplifying and solving the transfer function to obtain expressions for position over time in terms of constants and input force. 4) Substituting values into the transfer function to calculate the position at a specific time.

    Copyright:

    © All Rights Reserved
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    of 7

    Pada J1

    = j1 1
    k 1 +k 2= j 1 1
    k ( 1 2 )= j1 1
    ( s )k [ 1 ( s ) 2 ( s ) ]=s 2 j 1 1 ( s )
    ( s )=s2 j 1 1 ( s )+ k 1 ( s ) k 2 ( s )
    s
    ( 2 j 1 +k ) 1 ( s )k 2 ( s ) (1)
    ( s )=

    Pada j2

    = j 2 2
    k ( 1 2 )k 2= j 2 2
    k 12 k 2 = j 2 2
    k 1 ( s )2 k 1 ( s )=s 2 j 2 2 ( s )
    1 ( s ) =

    ( s 2 j2+ 2 k ) 2 (s)
    k

    (2)

    Masukkan persamaan (2) ke persamaan (1)

    s
    ( 2 j 1 +k ) 1 ( s )k 2 ( s )
    ( s )=

    s
    ( 2 j 1 +k )

    ( s )=

    ((

    s j 2 + 2 k ) 2 ( s )
    k 2(s)
    k
    ( s )=

    ( s 4 j1 j 2+ 2 k s 2 j1 +2 k s 2 j2+ 2k 2)k
    k

    2 (s)
    k
    = 4
    2
    (s ) s j 1 j 2 + s ( 2 k j 1+ k j 2 ) +2 k 2k 2
    2 (s)
    k
    = 4
    2
    (s ) s j 1 j 2 + s ( 2 k j 1+ k j 2 ) +k 2

    Menentukan nilai konstanta pegas


    Percobaan 1
    2

    x i=2 cm=2 x 10 m
    x f =3 cm=3 x 102 m
    g=9,8

    m
    s2

    m1=222 g=0,222 kg
    w 1=2,1756

    kg m
    s2

    kg m
    w1
    s2
    N
    k 1=
    =
    =217,56
    x f x i ( 3 x 1022 x 102 )
    m
    2,1756

    Percobaan 2
    2

    x i=2 cm=2 x 10 m
    x f =2,7 cm=2,7 x 102 m
    g=9,8

    m
    2
    s

    m2=146 g=0,146 kg
    w 2=1,4308

    kg m
    s2

    kg m
    w2
    s2
    N
    k 2=
    =
    =204,4
    x f x i ( 3 x 1022 , 7 x 102)
    m
    1,4308

    217,56+ 204,4
    N
    k =
    =210,98
    2
    m
    N
    k =210,98
    m

    Nilai J1

    m1=121 gr =0,121 kg
    r 1=4 cm=0,04 m
    1
    1
    j 1= m1 r 12 = .0,121 kg ( 0,04 m )2 =9,68 x 105 kg m2
    2
    2
    Nilai J2

    m2=103 gr =0,103 kg
    r 2=4 cm=0,04 m
    1
    1
    j 2= m2 r 22= .0,103 kg ( 0,04 m )2=8,24 x 105 kg m 2
    2
    2

    Masukkan nilai j1, j2 dan k pada fungsi transfer

    2 (s)
    k
    = 4
    2
    (s ) s j 1 j 2 + s ( 2 k j 1+ k j 2 ) +k 2
    s 4 ( 9,68 x 105 x 8,24 x 105 ) + s2 ( 2.210,98 x 9,68 x 105+210,98 x 8,24 x 105 ) +210,98 2

    2( s) 210,98
    =

    (s)
    s 4 ( 7,9 x 109 ) + s 2 ( 2,36 x 104 ) + 44512,56

    2 ( s) 210,98
    =

    (s)
    3,7 x 10

    11 4

    4 2

    s + 2,36 x 10 s +210,97

    2 ( s) 1
    =
    (s)

    Masukkan T = 1 N (fungsi step)

    4 2
    s + 2,36 x 10 s +210,97 . 1
    s

    1
    2 ( s ) =

    11 4

    3,7 x 10

    3,7 x 1011 s4 + 2,36 x 104 s2 +210,97 + 1


    s

    1
    2 ( s) =
    3,7 x 1011 s4 + 2,36 x 104 s2 +210,97 + D
    s

    3
    2
    A s +B s +Cs
    2 ( s )=

    11

    3,7 x 10 s
    ( 4+2,36 x 104 s 2+ 210,97) s
    A s 4 + B s 3+C s 2+ D3,7 x 1011 s 4 + D 2,36 x 104 s2 +210,97+ D
    2 ( s ) =

    A=1,75 x 103

    B=0

    C=1,11 x 106

    D=4,74 x 103
    3

    4 2
    s + 2,36 x 10 s +210,97 + 4,74 x 10

    s
    3 3
    6
    1,75 x 10 s 1,11 x 10 s
    2 ( s) =

    3,7 x 10

    11 4

    s +2,36 x 10 s +210,97 + 4,74 x 10

    s
    6
    3,7 x 1011 s4 + 2,36 x 104 s2 +210,97 + 1,11 x 10 s

    3 3
    1,75 x 10 s
    2 ( s ) =

    11 4

    3,7 x 10

    4 2

    Sederhanakan bentuk diatas

    1,75 x 103 s 3
    As+ B
    Cs+ D
    = 2
    + 2
    11 4
    4 2
    3,7 x 10 s +2,36 x 10 s + 210,97 s +1075179,77 s + 5303198,60
    A=4,4 x 104

    B=0

    C=2,19 x 103

    D=0

    1,75 x 103 s 3
    4,4 x 104 s
    2,19 x 103 s
    =
    +
    3,7 x 1011 s 4 +2,36 x 104 s 2+ 210,97 s 2+1075179,77 s 2+ 5303198,60
    1,75 x 103 s 3
    4
    1
    =4,4 x 10 cos 1075179,77 t2,19 x 10 cos 5303198,6 t
    11 4
    4 2
    3,7 x 10 s +2,36 x 10 s + 210,97

    1,75 x 103 s 3
    4
    1
    =4,4 x 10 cos 324,3 t2,19 x 10 cos 2302,8 t
    11 4
    4 2
    3,7 x 10 s +2,36 x 10 s + 210,97

    s
    s
    ( 2+1075179,7)( 2+5305198,6)

    6
    11 4
    4 2
    3,7 x 10 s + 2,36 x 10 s +210,97 =1,11 x 10 s

    6
    1,11 x 10 s

    s
    s
    ( 2+ 5305198,6)
    Cs+ D
    ( 2+1075179,7)+

    11 4
    4 2
    3,7 x 10 s + 2,36 x 10 s +210,97 = As+ B

    6
    1,11 x 10 s

    A=2,6 x 1013

    B=0

    D=0

    C=2,6 x 1013

    s
    s
    ( 2+5305198,6)
    2,6 x 1013 s
    ( 2+1075179,7)+

    13
    11 4
    4 2
    3,7 x 10 s + 2,36 x 10 s +210,97 =2,6 x 10 s

    1,11 x 106 s

    3,7 x 1011 s4 + 2,36 x 104 s2 +210,97 =2,6 x 1013 cos 324,3 t+ 2,6 x 1013 cos 2302,8t

    1,11 x 106 s

    4,74 x 10
    =4,74 x 103
    s

    Substitusi nilai
    4

    13

    2 ( t )=4,4 x 10 cos 324,3 t2,19 x 10 cos 2302,8t2,6 x 10

    Pada saat setimbang ,

    13

    cos 324,3 t+ 2,6 x 10

    cos 2302,8t + 4,74 x 10

    t = 3 detik
    4

    13

    2 ( t )=4,4 x 10 cos 324,3 .32,19 x 10 cos 2302,8 .32,6 x 10


    2 ( t )=0,335 rad

    13

    cos 324,3 .3+2,6 x 10

    cos 2302,8 .3+ 4,74 x 10

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