LAMPIRAN A : MENTERJEMAHKAN SETIAP LANGKAH DEMI LANGKAH KE BAHASA MATHEMATICA 9
LAMPIRAN A : MENTERJEMAHKAN SETIAP LANGKAH DEMI
LANGKAH KE BAHASA MATHEMATICA 9
Persaman gerak untuk ΞΈ1 adalah
(π1 + π2 + π3 )π1 πΜ1 + (π2 + π3 )π2 πππ (π1 β π2 )πΜ2 + π3 π3 πππ (π1 β
π3 )πΜ3 + (π2 + π3 )π2 πΜ22 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π1 β π3 ) + (π1 + π2 +
π3 )π π πππ1 = 0
(2.19)
Diubah dalam program menjadi
g (m1+m2+m3) Sin[ΞΈ1[t]]+ΞΈ2β[t]^2 l2 (m2+m3) Sin[ΞΈ1[t]-
ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ1[t]-ΞΈ3[t]]+l1 m1 ΞΈ1ββ[t]+(m2+m3)
(l1 ΞΈ1ββ[t] + l2 Cos[ΞΈ1[t]-ΞΈ2[t]]ΞΈ2ββ[t])+l3 m3 Cos [ΞΈ1[t]ΞΈ3[t]]ΞΈ3ββ[t]==0
Sedangkan untuk π2 :
(π2 + π3 ) π1 πππ (π1 β π2 ) πΜ1 + (π2 + π3 )π2 πΜ2 + π3 π3 πππ (π2 β π3 )πΜ3 β
(π2 + π3 )π1 πΜ12 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π2 β π3 ) + (π2 + π3 )π π πππ2 = 0
(2.20)
-ΞΈ1β[t]^2 l1 (m2+m3) Sin[ΞΈ1[t]-ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3
Sin[ΞΈ2[t]-ΞΈ3[t]]+(m2+m3) (g Sin[ΞΈ2[t]]+l1 Cos[ΞΈ1[t]-ΞΈ2[t]]
ΞΈ1ββ[t]+l2 ΞΈ2ββ[t])+l3 m3 Cos[ΞΈ2[t]-ΞΈ3[t]] ΞΈ3ββ[t]==0
Lalu yang terakhir untuk π3 :
π3 π1 πππ (π1 β π3 )πΜ1 + π3 π2 πππ (π2 β π3 ) πΜ2 + π3 π3 πΜ3 β π3 π1 πΜ12 π ππ(π1 β
π3 ) β π3 π2 πΜ22 π ππ(π2 β π3 ) + π3 π π πππ3 = 0
(2.21)
m3(g Sin[ΞΈ3[t]]-ΞΈ1β[t]^2 l1 Sin[ΞΈ1[t]-ΞΈ3[t]]-l2 Sin[ΞΈ2[t]ΞΈ3[t]] ΞΈ2β[t]^2+ l1 Cos[ΞΈ1[t]-ΞΈ3[t]] ΞΈ1ββ[t]+l2 Cos[ΞΈ2[t]ΞΈ3[t]] ΞΈ2ββ[t] +l3 ΞΈ3ββ[t])==0
Penyelesaian persamaan differensial triple pendulum:
sol=NDSolve[eqns,
(ΞΈ1,ΞΈ2},
{t,0,p},
Maxsteps->Infinity,
PrecisionGoal->4];pq=sol[[1,1,2,1,1,2]];
Posisi Persamaan pendulum :
pos1[t_]:={l1 Sin[ΞΈ1[t]],-l1 Cos[ΞΈ1[t]]};
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pos2[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]),(-l1
pos3[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]+l3
Cos[ΞΈ2[t]])};
Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]-l3 Cos[ΞΈ3[t]])};
Cos[ΞΈ1[t]]-l2
Sin[ΞΈ3[t]]),(-l1
Jejak persamaan Gerak Pendulum dalam simulasi:
path=ParametricPlot[Evaluate[pos3[t]/.sol[[1]],{t,pp/5,p},ColorFunction>(Directive[Lighter[Red,.10],Opacity[0.66#3]]&)MaxRecursion>ControlActive[2, 4]];
path1=ParametricPlot[Evaluate[pos2[t]/.sol[[1]],{t,p-p/5,p},
ColorFunction->(Directive[Lighter[Blue,.10],Opacity[0.66#3]]&)
MaxRecursion->ControlActive[2, 4]];
Visualisasi Lingkaran Hitam:
Column[{Graphics[{GrayLevel[.4,.6], Circle[{0,0}, l1]
Visualisasi Pendulum Merah:
Darker[Red,.2],path[[1]],path[[1]],Line[Evaluate[{pos1[pq],pos2
[pq],pos3[pq]}/.Sol]],Disk[First@Evaluate[pos3[pq]/.sol],.2]
Visualisasi Pendulum Biru:
Darker[Blue,.2],Line[{pos1[pq],pos2[pq]}/.Sol],Disk[First@Evalu
ate[pos2[pq]/.sol],.2]
Visualisasi Pendulum Hijau :
Darker[Green,.2],Line[{{0, 0}, First@Evaluate[pos1[pq]/.sol]}],
Disk[First@Evaluate[pos1[pq]/.sol,.2]
Besar Kecilnya Visualisasi Pendulum:
ImageSize->{320, 300}
Batasan dalam visualiasi Pendulum :
PlotRange->{{-(l1+l2+l3)-.5,
(l1+l2+l3)+.5},{(l1+l2+l3)+.5,-
(l1+l2+l3)-.5}}]
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Tombol Pemilihan Grafik hasil animasi Pendulum :
Switch[plottype,
(*Tampilan plot simpangan x m1 dan m2 terhadap t*)
x1x2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m1 dan m2 terhadap t*)
y1y2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan x m2 dan m3 terhadap t*)
x2x3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m2 dan m3 terhadap t*)
y2y3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m1 dan m2 terhadap t*)
ΞΈ1ΞΈ2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq-
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25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m2 dan m3 terhadap t*)
ΞΈ2ΞΈ3,
Plot[{g1[t],
>ControlActive[3,
g2[t]},
4],
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan Plot x1 vs y1*)
x1y1,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,1],β
3Pi/4,3Pi/4},
vs
β,
Automatic},
Subscript[y,1]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Green,.1],AspectRatio->32/100.],
(*Tampilan Plot x2 vs y2*)
x2y2,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,2],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,2]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot x3 vs y3*)
x3y3,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,3],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,3]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot ΞΈ1 vs ΞΈ2*)
ΞΈΞΈ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,1],β
vs
β,
Subscript[ΞΈ,2]}],PlotRange->{{-
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Pi,Pi},
Automatic},
ImageSize->{420,150},ColorFunction-
>(Blend[{Blue, Green}, #1]&),AspectRatio->32/100.],
(*Tampilan Plot ΞΈ2 vs ΞΈ3*)
ΞΈΟ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,2],β
Pi,Pi},
vs
Automatic},
β,
Subscript[ΞΈ,3]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Red, Blue}, #1]&),AspectRatio->32/100.],
(*Tampilan plot Ο1 vs ΞΈ1*)
ΞΈΞΈPrime1, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],1],β vs β,Subscript[ΞΈ,1]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Green,.2]],
(*Tampilan plot Ο2 vs ΞΈ2*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],2],β vs β,Subscript[ΞΈ,2]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Blue,.2]],
(*Tampilan plot Ο3 vs ΞΈ3*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],3],β vs β,Subscript[ΞΈ,3]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle>Darker[Red,.2]],_,Graphics[{White,Point[{0,0}]}]]},Dividers>None]],
Penulisan Judul Program:
Style[βANIMASI
βLabelβ],
GERAK
TRIPLEβ,
Bold,
18,
Darker[Black,.1],
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Style[β***********************************************β,
Bold,16, Darker[Black, .1], βLabelβ],
Style[βPENDULUM
NONLINIERβ,
βLabelβ],
Bold,
18,
Darker[Black,
Style[β******************************************β,
Darker[Black, .1], βLabelβ],
Style[β
Bold,
β, Bold, 12, Darker[Green,.8], βLabelβ],
Style[βParameter
Pendulumβ,βSubsectionβ,
Bold,
Darker[Black,.1], βLabelβ],
.1],
12,
12,
Tampilan Parameter massa pendulum hijau, biru, merah, panjang pendulum hijau,
biru, merah, gravitasi, sudut pendulum hijau, biru, merah, kecepatan sudut pendulum
hijau, biru, merah, dan waktu (Berurutan):
{{m1,
1,
βGreen
mass
(m1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{m2,1,βBlue mass (m2)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{m3,1,βRed mass (m3)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{l1,1,βGreen
length
(l1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l2,1,βBlue
length
(l2)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l3,1,βRed
length
(l3)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{g,1,βGravity
(g)β},1,9.8,
ImageSize->Tiny,
ContinuousAction-
>False, Appearance->βLabeledβ},
Delimiter,
Style[βKondisi
Awalβ,
Darker[Black,.1],βLabelβ],
βSubsectionβ,
Bold,
12,
{{init1,Pi/2,βgreen
angle(ΞΈ1)
{{init2,0,βblue
angle(ΞΈ2)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
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{{init3,0,βred
angle(ΞΈ3)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{initprime1,0,βgreen
velocity(Ο1)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime2,0,βblue
velocity(Ο2)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime3,0,βred
velocity(Ο3)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
Delimiter,{{p, 12,βWaktuβ},0.001,100,ImageSize->Tiny,Appearance>βLabeledβ},
Tombol Pemilihan Tampilan Grafik:
[{plottype,
x1x2,
βGrafikβ},
{x1x2->βSimpangan
x
m1
dan
m2β,y1y2->β Simpangan y m1 dan m2β, x2x3->β Simpangan x m2 dan
m3β, y2y3->β Simpangan y m2 dan m3β,ΞΈ1ΞΈ2->βSensitivitas Kondisi
Awal
ΞΈ1
dan
ΞΈ2β,
ΞΈ2ΞΈ3->βSensitivitas
Kondisi
Awal
ΞΈ2
dan
ΞΈ3β,x1y1->βx1 vs. y1β, x2y2->βx2 vs. y2β, x3y3->βx3 vs. y3β,ΞΈΞΈ->βΞΈ1
vs. ΞΈ2β, ΞΈΟ->βΞΈ2 vs. ΞΈ3β, ΞΈΞΈprime1->β πΜ1 vs ΞΈ1β, ΞΈΞΈprime2->β πΜ2 vs
ΞΈ2β, ΞΈΞΈprime3->β πΜ3 vs ΞΈ3β} β},ControlType->PopupMenu}
Tombol untuk menganimasikan pendulum terhadap waktu:
{{p,0.001,βAnimasiβ},0.001,100,1.0,
ControlType->Trigger},
AutorunSequencing->All,TrackedSymbols:>Manipulate,Initialization:->Get[βBarchartsβ],
AutorunSequencing->{{10,10},l1}, TrackedSymbols:-> {m1, m2, m3,
l1,
l2,
l3,
g,
init1,
init2,
init3,
initprime1,initprime2,
initprime3, plottype, p}
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LAMPIRAN B: LISTING PROGRAM SIMULASI GERAK TRIPLE
PENDULUM NONLINIER
Berikut
ini
merupakan
listing
program
untukanimasi
dan
visualisasi gerakan triple pendulum nonlinier
(*Penentuan Variabel-variabel dan konstanta-konstanta*)
Manipulate[Module[{eqns, ΞΈ1, ΞΈ2, ΞΈ3, sol, pos1, pos2, pos3,t
,pq ,path, path1},
eqns={
g
(m1+m2+m3)
Sin[ΞΈ1[t]]+ΞΈ2β[t]^2
l2
(m2+m3)
Sin[ΞΈ1[t]-
ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ1[t]-ΞΈ3[t]]+l1 m1 ΞΈ1ββ[t]+(m2+m3)
(l1 ΞΈ1ββ[t] + l2 Cos[ΞΈ1[t]-ΞΈ2[t]]ΞΈ2ββ[t])+l3 m3 Cos [ΞΈ1[t]ΞΈ3[t]]ΞΈ3ββ[t]==0,
-ΞΈ1β[t]^2 l1 (m2+m3) Sin[ΞΈ1[t]-ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ2[t]ΞΈ3[t]]+(m2+m3)
(g
Sin[ΞΈ2[t]]+l1
Cos[ΞΈ1[t]-ΞΈ2[t]]
ΞΈ1ββ[t]+l2
Sin[ΞΈ1[t]-ΞΈ3[t]]-l2
Sin[ΞΈ2[t]-
ΞΈ2ββ[t])+l3 m3 Cos[ΞΈ2[t]-ΞΈ3[t]] ΞΈ3ββ[t]==0,
m3(g
ΞΈ3[t]]
ΞΈ3[t]]
Sin[ΞΈ3[t]]-ΞΈ1β[t]^2
ΞΈ2β[t]^2+
l1
ΞΈ2ββ[t]
l1
Cos[ΞΈ1[t]-ΞΈ3[t]]
+l3
ΞΈ1ββ[t]+l2
Cos[ΞΈ2[t]-
ΞΈ3ββ[t])==0,ΞΈ1[0]==init1,
ΞΈ2[0]==init2,ΞΈ3[0]==init3,ΞΈ1β[0]==initprime1,ΞΈ2β[0]==initprime2
,ΞΈ3β[0]==initprime3};
(*Penyelesaian Persamaan Differensial*)
sol=NDSolve[eqns,
(ΞΈ1,ΞΈ2},
{t,0,p},
Maxsteps->Infinity,
PrecisionGoal->4];pq=sol[[1,1,2,1,1,2]];
pos1[t_]:={l1 Sin[ΞΈ1[t]],-l1 Cos[ΞΈ1[t]]};
pos2[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]),(-l1
pos3[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]+l3
Cos[ΞΈ2[t]])};
Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]-l3 Cos[ΞΈ3[t]])};
Cos[ΞΈ1[t]]-l2
Sin[ΞΈ3[t]]),(-l1
path=ParametricPlot[Evaluate[pos3[t]/.sol[[1]],{t,pp/5,p},ColorFunction>(Directive[Lighter[Red,.10],Opacity[0.66#3]]&)MaxRecursion>ControlActive[2, 4]];
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path1=ParametricPlot[Evaluate[pos2[t]/.sol[[1]],{t,p-p/5,p},
ColorFunction->(Directive[Lighter[Blue,.10],Opacity[0.66#3]]&)
MaxRecursion->ControlActive[2, 4]];
(*Visualisasi Pendulum*)
Column[{Graphics[{GrayLevel[.4,.6], Circle[{0,0}, l1],
Darker[Red,.2],path[[1]],path[[1]],Line[Evaluate[{pos1[pq],pos2
[pq],pos3[pq]}/.Sol]],Disk[First@Evaluate[pos3[pq]/.sol],.2],
Darker[Blue,.2],Line[{pos1[pq],pos2[pq]}/.Sol],Disk[First@Evalu
ate[pos2[pq]/.sol],.2],
Darker[Green,.2],Line[{{0, 0}, First@Evaluate[pos1[pq]/.sol]}],
Disk[First@Evaluate[pos1[pq]/.sol,.2],ImageSize->{320,
300},PlotRange->{{-(l1+l2+l3)-.5,
(l1+l2+l3)+.5},{(l1+l2+l3)+.5,-(l1+l2+l3)-.5}}],
g1[t_?NumberQ]=Switch[plottype,x1x2,l1 Sin[ΞΈ1[t]],y1y2,-l1
Cos[ΞΈ1[t]],x2x3,(l1 Sin[ΞΈ1[t]+l2 Sin[ΞΈ2[t]]),y2y3,(-l1
Cos[ΞΈ1[t]-l2
Cos[t]]),x1y1,pos1[t][[1]],x2y2,pos2[t][[1]],pos3[t][[1]],ΞΈ1ΞΈ2,
ΞΈ1[t],ΞΈ2ΞΈ3,ΞΈ2[t],ΞΈΞΈ,ΞΈ1[t],ΞΈΟ,ΞΈ2[t],ΞΈΞΈprime1,ΞΈ1[t],ΞΈΞΈprime2,
ΞΈ2[t],ΞΈΞΈprime3,ΞΈ3[t],_,1]/.sol[[1]];
g2[t_?NumberQ]=Switch[plottype,x1x2,l1 Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]],y1y2,(-l1 Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]),x2x3,(l1
Sin[ΞΈ1[t]+l2 Sin[ΞΈ2[t]]+l3 Sin[ΞΈ3[t]]),y2y3,(-l1 Cos[ΞΈ1[t]-l2
Cos[t]]-l3
Cos[t]]),x1y1,pos1[t][[2]],x2y2,pos2[t][[2]],pos3[t][[2]],ΞΈ1ΞΈ2,
ΞΈ2[t],ΞΈ2ΞΈ3,ΞΈ3[t],ΞΈΞΈ,ΞΈ2[t],ΞΈΟ,ΞΈ3[t],ΞΈΞΈprime1,ΞΈ1β[t],ΞΈΞΈprime2,
ΞΈ2β[t],ΞΈΞΈprime3,ΞΈ3β[t],_,1]/.sol[[1]];
Switch[plottype,
(*Tampilan plot simpangan x m1 dan m2 terhadap t*)
x1x2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
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(*Tampilan plot simpangan y m1 dan m2 terhadap t*)
y1y2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan x m2 dan m3 terhadap t*)
x2x3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m2 dan m3 terhadap t*)
y2y3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m1 dan m2 terhadap t*)
ΞΈ1ΞΈ2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m2 dan m3 terhadap t*)
ΞΈ2ΞΈ3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
Universitas Sumatera Utara
(*Tampilan Plot x1 vs y1*)
x1y1,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,1],β
3Pi/4,3Pi/4},
vs
β,
Automatic},
Subscript[y,1]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Green,.1],AspectRatio->32/100.],
(*Tampilan Plot x2 vs y2*)
x2y2,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,2],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,2]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot x3 vs y3*)
x3y3,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,3],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,3]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot ΞΈ1 vs ΞΈ2*)
ΞΈΞΈ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,1],β
Pi,Pi},
vs
Automatic},
β,
Subscript[ΞΈ,2]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Blue, Green}, #1]&),AspectRatio->32/100.],
(*Tampilan Plot ΞΈ2 vs ΞΈ3*)
ΞΈΟ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,2],β
Pi,Pi},
Automatic},
vs
β,
Subscript[ΞΈ,3]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Red, Blue}, #1]&),AspectRatio->32/100.],
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(*Tampilan plot Ο1 vs ΞΈ1*)
ΞΈΞΈPrime1, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],1],β vs β,Subscript[ΞΈ,1]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Green,.2]],
(*Tampilan plot Ο2 vs ΞΈ2*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],2],β vs β,Subscript[ΞΈ,2]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Blue,.2]],
(*Tampilan plot Ο3 vs ΞΈ3*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],3],β vs β,Subscript[ΞΈ,3]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle>Darker[Red,.2]],_,Graphics[{White,Point[{0,0}]}]]},Dividers>None]],
(*Tampilan Parameter Kendali*)
Style[βANIMASI
βLabelβ],
GERAK
TRIPLEβ,
Bold,
18,
Darker[Black,.1],
Style[β***********************************************β,
Bold,16, Darker[Black, .1], βLabelβ],
Style[βPENDULUM
βLabelβ],
NONLINIERβ,
Bold,
18,
Darker[Black,
Style[β******************************************β,
Darker[Black, .1], βLabelβ],
Style[β
β, Bold, 12, Darker[Green,.8], βLabelβ],
Style[βParameter
Pendulumβ,βSubsectionβ,
Darker[Black,.1], βLabelβ],
Bold,
Bold,
.1],
12,
12,
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{{m1,
1,
βGreen
mass
(m1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{m2,1,βBlue mass (m2)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{m3,1,βRed mass (m3)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{l1,1,βGreen
length
(l1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l2,1,βBlue
(l2)β},1,5,
length
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l3,1,βRed
length
(l3)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{g,1,βGravity
(g)β},1,9.8,
ImageSize->Tiny,
ContinuousAction-
>False, Appearance->βLabeledβ},
Delimiter,
Style[βKondisi
Awalβ,
Darker[Black,.1],βLabelβ],
βSubsectionβ,
Bold,
12,
{{init1,Pi/2,βgreen
angle(ΞΈ1)
{{init2,0,βblue
angle(ΞΈ2)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{init3,0,βred
angle(ΞΈ3)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{initprime1,0,βgreen
velocity(Ο1)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime2,0,βblue
velocity(Ο2)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime3,0,βred
velocity(Ο3)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
Delimiter,{{p, 12,βWaktuβ},0.001,100,ImageSize->Tiny,Appearance>βLabeledβ},
Delimiter,
(*Menu Pemilihan Tampilan*)
[{plottype,
x1x2,
βGrafikβ},
{x1x2->βSimpangan
x
m1
dan
m2β,y1y2->β Simpangan y m1 dan m2β, x2x3->β Simpangan x m2 dan
Universitas Sumatera Utara
m3β, y2y3->β Simpangan y m2 dan m3β,ΞΈ1ΞΈ2->βSensitivitas Kondisi
Awal
ΞΈ1
dan
ΞΈ2β,
ΞΈ2ΞΈ3->βSensitivitas
Kondisi
Awal
ΞΈ2
dan
ΞΈ3β,x1y1->βx1 vs. y1β, x2y2->βx2 vs. y2β, x3y3->βx3 vs. y3β,ΞΈΞΈ->βΞΈ1
vs. ΞΈ2β, ΞΈΟ->βΞΈ2 vs. ΞΈ3β, ΞΈΞΈprime1->β πΜ1 vs ΞΈ1β, ΞΈΞΈprime2->β πΜ2 vs
ΞΈ2β, ΞΈΞΈprime3->β πΜ3 vs ΞΈ3β},
ControlType->PopupMenu},{{p,0.001,βAnimasiβ},0.001,100,1.0,
ControlType->Trigger},
AutorunSequencing->All,TrackedSymbols:-
>Manipulate,Initialization:->Get[βBarchartsβ],
AutorunSequencing->{{10,10},l1}, TrackedSymbols:-> {m1, m2, m3,
l1,
l2,
l3,
g,
init1,
init2,
init3,
initprime1,initprime2,
initprime3, plottype, p}]
Universitas Sumatera Utara
LAMPIRAN C: PENJABARAN PERSAMAAN GERAK SISTEM TRIPLE
PENDULUM NONLINIER
Koordinat β koordinat posisi tiap pendulum :
x1 = l1 + l2 + l3 β l1 cos ΞΈ1
(2.2)
y1 = l1 sin ΞΈ1
(2.3)
x2 = l1 + l2 + l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2
(2.4)
y2 = l1 sin ΞΈ1 + l2 sin ΞΈ2
(2.5)
x3 = l1 cos ΞΈ1 + l2 cos ΞΈ2 + l3 cos ΞΈ3
(2.6)
y3 = l1 + l2 + l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2 β l3 cos ΞΈ3
(2.7)
Kemudian, setiap koordinat diatas akan diturunkan terhadap waktu untuk
memperoleh kecepatan. Hasil dari turunan menghasilkan
π₯Μ 1 = βπ1 πΜ1 sin π1
π¦Μ 1 = π1 πΜ1 cos π1
π₯Μ 2 = βπ1 πΜ1 sin π1 β π2 πΜ2 sin π2
π¦Μ 2 = π1 πΜ1 cos π1 + π2 πΜ2 cos π2
π₯Μ 3 = βπ1 πΜ1 sin π1 β π2 πΜ2 sin π2 β π3 πΜ3 sin π3
π¦Μ 3 = π1 πΜ1 cos π1 + π2 πΜ2 cos π2 + π3 πΜ3 cos π3
Subsitusi koordinat turunan ini ke persamaan 2.12 dan mengingat rumus
trigonometri untuk selisih dua sudut diperoleh energi kinetik :
ο·
ο·
2
cos (Ξ± β Ξ²) = cosΞ± cosΞ² + sinΞ± sin Ξ²
T=
1
2
1
1
1
T = π1 (xΜ 12 + yΜ 12 ) + 2 π2 (xΜ 22 + yΜ 22 ) + 2 π3 (xΜ 32 + yΜ 32 )
1
2
π1 π12 Μ π12 +
1
2
π2 [πΜ12 π12 + πΜ22 π22 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 )] +
π3 [πΜ12 π12 + πΜ22 π22 + πΜ32 π32 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 ) + 2 πΜ1 πΜ3 π1 π3 cos(π1 β
π3 ) + 2 πΜ2 πΜ3 π2 π3 cos(π2 β π3 )] (2.16)
Energi potensial diperoleh dengan mensubsitusikan persamaan 2.2, 2.4, 2.6 ke
persamaan 2.9 :
V = m1gx1 + m2gx2 + m3gx3
= m1g (l1 + l2 + l3 β l1 cos ΞΈ1) + m2g (l1 + l2 + l3 β l1 cos ΞΈ1 β l2cos ΞΈ2) + m3g (l1 + l2
+ l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2 β l3cos ΞΈ3)
(2.11)
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Sehingga Fungsi Lagrangian Triple Pendulum Nonlinier:
L=TβV
= π1 π12 Μ π12 +
2
1
1
2
π2 [πΜ12 π12 + πΜ22 π22 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 )] +
1
2
π3 [πΜ12 π12 +
πΜ22 π22 + πΜ32 π32 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 ) + 2 πΜ1 πΜ3 π1 π3 cos(π1 β π3 ) +
2 πΜ2 πΜ3 π2 π3 cos(π2 β π3 )] β π1 π (π1 + π2 + π3 β π1 cos π1 ) β π2 π (π1 + π2 +
π3 β π1 cos π1 β π2 cos π2 ) β π3 π (π1 + π2 + π3 β π1 cos π1 β π2 cos π2 β π3 cos π3 )
(2.17)
Persamaan diatas adalah Fungsi Lagrangian dari triple pendulum, persamaan diatas
akan diselesaikan dengan persamaan Lagrange agar diperoleh posisi masing-masing
pendulum.
Persamaan Lagrange dirumuskan sebagai berikut:
ππΏ
π
( )
ππ‘ ππΜπΌ
β
ππΏ
πππΌ
= 0, πΌ β {1,2,3}
(2.18)
ο· Persamaan gerak untuk pendulum pertama:
ππΏ
= βπ2 πΜ1 πΜ2 π1 π2 sin(π1 β π2 ) β π3 πΜ1 πΜ3 π1 π3 cos(π1 β π3 )
ππ1
β π3 πΜ1 πΜ2 π1 π2 sin(π1 β π2 ) β π1 π π1 sin π1 β π3 π π1 sin π1
β π3 π π1 sin π1
ππΏ
= π1 π12 πΜ1 + π2 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 ) + π3 π12 πΜ1
ππΜ1
+ π3 π1 π2 πΜ2 πππ (π1 β π2 ) + π3 π1 π3 πΜ3 πππ (π1 β π3 )
π ππΏ
(
) = π1 π12 πΜ1 + π2 π12 πΜ1 + π3 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 )
ππ‘ ππΜ1
β π2 π1 π2 πΜ2 (πΜ1 β πΜ2 ) sin(π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ2 πππ (π1 β π2 )
β π3 π1 π2 πΜ2 (πΜ1 β πΜ2 ) sin(π1 β π2 )
+ π3 π1 π2 πΜ3 πππ (π1 β π3 ) β π3 π1 π3 πΜ3 (πΜ1 β πΜ3 ) sin(π1 β π3 )
Kemudian dengan persamaan Lagrange,
π ππΏ
ππΏ
(
)=
ππ‘ ππΜ1
ππ1
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π1 π12 πΜ1 + π2 π12 πΜ1 + π3 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 )
β π2 π1 π2 πΜ2 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ2 πππ (π1 β π2 )
β π3 π1 π2 πΜ2 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
+ π3 π1 π2 πΜ3 πππ (π1 β π3 ) β π3 π1 π3 πΜ3 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) β π3 πΜ1 πΜ3 π1 π3 πππ (π1 β π3 )
β π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) β π1 π π1 π ππ π1 β π3 π π1 π ππ π1
β π3 π π1 π ππ π1
Untuk lebih sederhananya maka persamaan diatas dibagi l1 diperoleh hasil:
(π1 + π2 + π3 )π1 πΜ1 + (π2 + π3 )π2 πππ (π1 β π2 )πΜ2 + π3 π3 πππ (π1 β π3 )πΜ3 +
(π2 + π3 )π2 πΜ22 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π1 β π3 ) + (π1 + π2 + π3 )π π πππ1 =
0
(2.19)
ο· Persamaan gerak untuk pendulum kedua:
ππΏ
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) + π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 )
ππ2
β π3 πΜ2 πΜ3 π2 π3 π ππ(π2 β π3 ) β π2 π π2 π ππ π2 β π3 π π2 π ππ π3
ππΏ
= π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ1 πππ (π1 β π2 )
ππΜ2
+ π3 π22 πΜ2 + π3 π2 π3 πΜ3 πππ (π2 β π3 )
π ππΏ
(
) = π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) β π2 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
ππ‘ ππΜ2
+ π3 π1 π2 πΜ1 πππ (π1 β π2 ) β π3 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π22 πΜ2
+ π3 π2 π3 πΜ3 πππ (π2 β π3 ) β π3 π2 π3 πΜ3 (πΜ2 β πΜ3 ) π ππ(π2 β π3 )
Kemudian dengan persamaan Lagrange,
ππΏ
π ππΏ
(
)=
ππ2
ππ‘ ππΜ2
π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) β π2 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
+ π3 π1 π2 πΜ1 πππ (π1 β π2 ) β π3 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π22 πΜ2
+ π3 π2 π3 πΜ3 πππ (π2 β π3 ) β π3 π2 π3 πΜ3 (πΜ2 β πΜ3 ) π ππ(π2 β π3 )
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) + π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 )
β π3 πΜ2 πΜ3 π2 π3 π ππ(π2 β π3 ) β π2 π π2 π ππ π2 β π3 π π2 π ππ π3
Universitas Sumatera Utara
Untuk lebih sederhananya maka persamaan diatas dibagi l2 diperoleh hasil:
(π2 + π3 ) π1 πππ (π1 β π2 ) πΜ1 + (π2 + π3 )π2 πΜ2 + π3 π3 πππ (π2 β π3 )πΜ3 β
(π2 + π3 )π1 πΜ12 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π2 β π3 ) + (π2 + π3 )π π πππ2 = 0
(2.20)
ο· Persamaan gerak untuk pendulum ketiga:
ππΏ
= π3 πΜ1 πΜ3 π1 π3 sin(π1 β π3 ) + π3 πΜ2 πΜ3 π2 π3 sin(π2 β π3 ) β π3 π π3 sin π3
ππ3
ππΏ
= π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) + π3 π2 π3 πΜ2 πππ (π2 β π3 )
ππΜ3
π ππΏ
(
) = π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) β π3 π1 π3 πΜ1 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
Μ
ππ‘ ππ3
+ π3 π2 π3 πΜ2 πππ (π2 β π3 ) β π3 π2 π3 πΜ2 (πΜ2 β πΜ3 )sin(π2 β π3 )
Kemudian dengan persamaan Lagrange,
π ππΏ
ππΏ
(
)=
ππ‘ ππΜ3
ππ3
π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) β π3 π1 π3 πΜ1 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
+ π3 π2 π3 πΜ2 πππ (π2 β π3 ) β π3 π2 π3 πΜ2 (πΜ2 β πΜ3 ) sin(π2 β π3 )
= π3 πΜ1 πΜ3 π1 π3 sin(π1 β π3 ) + π3 πΜ2 πΜ3 π2 π3 sin(π2 β π3 ) β π3 π π3 sin π3
Untuk lebih sederhananya maka persamaan diatas dibagi l3 diperoleh hasil:
π3 π1 πππ (π1 β π3 )πΜ1 + π3 π2 πππ (π2 β π3 ) πΜ2 + π3 π3 πΜ3 β π3 π1 πΜ12 π ππ(π1 β
π3 ) β π3 π2 πΜ22 π ππ(π2 β π3 ) + π3 π π πππ3 = 0
(2.21)
Universitas Sumatera Utara
LAMPIRAN D: GRAFIK RUANG FASA UNTUK PERBANDINGAN SISTEM
DENGAN VARIASI NILAI BEBERAPA PARAMETER
ο·
Grafik diagram fasa untuk Tabel 4.1 (Hasil pengujian keadaan sistem untuk variasi
sudut simpangan awal, m1 = m2 = m3 = 1 dan l1 = l2 = l3 = 1)
1
vs.
1
Gambar C.1, Ruang fasa dengan ΞΈ1 = 1.15-1.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.2, Ruang fasa dengan ΞΈ1 = 0.85-1.14, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.3, Ruang fasa dengan ΞΈ1 = 0-0.85, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.4, Ruang fasa dengan ΞΈ1 = 1.0-1.14, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
Universitas Sumatera Utara
1
vs.
1
Gambar C.5, Ruang fasa dengan ΞΈ1 = 0.9-0.99, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
1
vs.
1
Gambar C.6, Ruang fasa dengan ΞΈ1 = 0-0.89, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
1
vs.
1
Gambar C.7, Ruang fasa dengan ΞΈ1 = 0-0.89, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
1
vs.
1
Gambar C.8, Ruang fasa dengan ΞΈ1 = 0.7-0.79, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
Universitas Sumatera Utara
1
vs.
1
Gambar C.9, Ruang fasa dengan ΞΈ1 = 0-0.69, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
1
vs.
1
Gambar C.10, Ruang fasa dengan ΞΈ1 = 0.62-0.69, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
1
vs.
1
Gambar C.11, Ruang fasa dengan ΞΈ1 = 0.5-0.61, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
1
vs.
1
Gambar C.12, Ruang fasa dengan ΞΈ1 = 0-0.49, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
Universitas Sumatera Utara
1
vs.
1
Gambar C.13, Ruang fasa dengan ΞΈ1 = 0.4-0.49, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
1
vs.
1
Gambar C.14, Ruang fasa dengan ΞΈ1 = 0.28-0.39, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
1
vs.
1
Gambar C.15, Ruang fasa dengan ΞΈ1 = 0-0.27, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
ο·
Grafik diagram fasa untuk Tabel 4.2 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum1, m1 = m2 = m3 = 1, l2 = l3 = 1, dan ΞΈ1 = Pi/2)
1
vs.
1
Gambar C.16, Ruang fasa dengan l1 = 1-1.5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
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1
vs.
1
Gambar C.17, Ruang fasa dengan l1 = 1.6-1.9, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.18, Ruang fasa dengan l1 = 2-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.19, Ruang fasa dengan l1 = 2-2.2, ΞΈ2 = 1.15, dan ΞΈ3 = 1
1
vs.
1
Gambar C.20, Ruang fasa dengan l1 = 2.3-2.4, ΞΈ2 = 1.15, dan ΞΈ3 = 1
1
vs.
1
Gambar C.21, Ruang fasa dengan l1 = 2.5-5, ΞΈ2 = 1.15, dan ΞΈ3 = 1
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1
vs.
1
Gambar C.22, Ruang fasa dengan l1 = 2.5-3, ΞΈ2 = 0.98, dan ΞΈ3 = 0.98
1
vs.
1
Gambar C.23, Ruang fasa dengan l1 = 3.1-5, ΞΈ2 = 0.98, dan ΞΈ3 = 0.98
ο·
Grafik diagram fasa untuk Tabel 4.3 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum2, m1 = m2 = m3 =1, l1 = l3 = 1, dan ΞΈ1 = Pi/2)
2
vs.
2
Gambar C.24, Ruang fasa dengan l2 = 2, ΞΈ2 = 0-1.57, dan ΞΈ3 = 0-1.57
ο·
Grafik diagram fasa untuk Tabel 4.4 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum3, m1 = m2 = m3 =1, l1 = l2 = 1, dan ΞΈ1 = Pi/2)
Gambar C.25, Ruang fasa dengan l3 = 1.1-1.2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
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3
vs.
3
Gambar C.26, Ruang fasa dengan l3 = 1.3-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.27, Ruang fasa dengan l3 = 1.3-1.6, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.28, Ruang fasa dengan l3 = 1.7-2, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.29, Ruang fasa dengan l3 = 2.1-5, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.30, Ruang fasa dengan l3 = 2.1-2.8, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
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3
vs.
3
Gambar C.31, Ruang fasa dengan l3 = 2.9-3.2, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.32, Ruang fasa dengan l3 = 3.3-5, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.33, Ruang fasa dengan l3 = 3.3-4, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.34, Ruang fasa dengan l3 = 4.1-4.4, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.35, Ruang fasa dengan l3 = 4.5-5, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
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ο·
Grafik diagram fasa untuk Tabel 4.5 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum1, m2 = m3 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
1
vs.
1
Gambar C.36, Ruang fasa dengan, m1 = 1-1.1, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.37, Ruang fasa dengan, m1 = 1.2-1.9, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.38, Ruang fasa dengan, m1 = 2-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.39, Ruang fasa dengan, m1 = 2-2.2, ΞΈ2 = 1.44, dan ΞΈ3 = 1.57
1
vs.
1
Gambar C.40, Ruang fasa dengan, m1 = 2.3-5, ΞΈ2 = 1.44, dan ΞΈ3 = 1.57
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ο·
Grafik diagram fasa untuk Tabel 4.6 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum2, m1 = m3 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
2
vs.
2
Gambar C.41, Ruang fasa dengan, m2 = 1-2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.42, Ruang fasa dengan, m2 = 2.1-2.4, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.43, Ruang fasa dengan, m2 = 2.5-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.44, Ruang fasa dengan, m2 = 3, ΞΈ2 = 1.17, dan ΞΈ3 = 1
2
vs.
2
Gambar C.45, Ruang fasa dengan, m2 = 3.1-5, ΞΈ2 = 1.17, dan ΞΈ3 = 1
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ο·
Grafik diagram fasa untuk Tabel 4.7 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum3, m1 = m2 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
3
vs.
3
Gambar C.46, Ruang fasa dengan, m3 = 1-1.2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.47, Ruang fasa dengan, m3 = 1.3, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.48, Ruang fasa dengan, m3 = 1.4-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.49, Ruang fasa dengan, m3 = 2, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
3
vs.
3
Gambar C.50, Ruang fasa dengan, m3 = 2.1-2.2, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
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3
vs.
3
Gambar C.51, Ruang fasa dengan, m3 = 2.3-5, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
3
vs.
3
Gambar C.52, Ruang fasa dengan, m3 = 2.3-2.5, ΞΈ2 = 0.78, dan ΞΈ3 = 0.69
3
vs.
3
Gambar C.53, Ruang fasa dengan, m3 = 2.6-5, ΞΈ2 = 0.78, dan ΞΈ3 = 0.69
ο·
Grafik diagram fasa untuk Tabel 4.8 (Hasil pengujian sistem untuk massa dan tali
yang sama)
1
vs.
1
Gambar C.54, Ruang fasa dengan m1 = m2 = m3 = 2, l1 = l2 = l3 = 1, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.55, Ruang fasa dengan m1 = m2 = m3 = 3, l1 = l2 = l3 = 1, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
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1
vs.
1
Gambar C.56, Ruang fasa dengan m1 = m2 = m3 = 1, l1 = l2 = l3 = 2, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.57, Ruang fasa dengan m1 = m2 = m3 = 1, l1 = l2 = l3 = 3, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.58, Ruang fasa dengan m1 = m2 = m3 = l1 = l2 = l3 = 2, ΞΈ1 = 1.15-1.57,
ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
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LANGKAH KE BAHASA MATHEMATICA 9
Persaman gerak untuk ΞΈ1 adalah
(π1 + π2 + π3 )π1 πΜ1 + (π2 + π3 )π2 πππ (π1 β π2 )πΜ2 + π3 π3 πππ (π1 β
π3 )πΜ3 + (π2 + π3 )π2 πΜ22 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π1 β π3 ) + (π1 + π2 +
π3 )π π πππ1 = 0
(2.19)
Diubah dalam program menjadi
g (m1+m2+m3) Sin[ΞΈ1[t]]+ΞΈ2β[t]^2 l2 (m2+m3) Sin[ΞΈ1[t]-
ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ1[t]-ΞΈ3[t]]+l1 m1 ΞΈ1ββ[t]+(m2+m3)
(l1 ΞΈ1ββ[t] + l2 Cos[ΞΈ1[t]-ΞΈ2[t]]ΞΈ2ββ[t])+l3 m3 Cos [ΞΈ1[t]ΞΈ3[t]]ΞΈ3ββ[t]==0
Sedangkan untuk π2 :
(π2 + π3 ) π1 πππ (π1 β π2 ) πΜ1 + (π2 + π3 )π2 πΜ2 + π3 π3 πππ (π2 β π3 )πΜ3 β
(π2 + π3 )π1 πΜ12 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π2 β π3 ) + (π2 + π3 )π π πππ2 = 0
(2.20)
-ΞΈ1β[t]^2 l1 (m2+m3) Sin[ΞΈ1[t]-ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3
Sin[ΞΈ2[t]-ΞΈ3[t]]+(m2+m3) (g Sin[ΞΈ2[t]]+l1 Cos[ΞΈ1[t]-ΞΈ2[t]]
ΞΈ1ββ[t]+l2 ΞΈ2ββ[t])+l3 m3 Cos[ΞΈ2[t]-ΞΈ3[t]] ΞΈ3ββ[t]==0
Lalu yang terakhir untuk π3 :
π3 π1 πππ (π1 β π3 )πΜ1 + π3 π2 πππ (π2 β π3 ) πΜ2 + π3 π3 πΜ3 β π3 π1 πΜ12 π ππ(π1 β
π3 ) β π3 π2 πΜ22 π ππ(π2 β π3 ) + π3 π π πππ3 = 0
(2.21)
m3(g Sin[ΞΈ3[t]]-ΞΈ1β[t]^2 l1 Sin[ΞΈ1[t]-ΞΈ3[t]]-l2 Sin[ΞΈ2[t]ΞΈ3[t]] ΞΈ2β[t]^2+ l1 Cos[ΞΈ1[t]-ΞΈ3[t]] ΞΈ1ββ[t]+l2 Cos[ΞΈ2[t]ΞΈ3[t]] ΞΈ2ββ[t] +l3 ΞΈ3ββ[t])==0
Penyelesaian persamaan differensial triple pendulum:
sol=NDSolve[eqns,
(ΞΈ1,ΞΈ2},
{t,0,p},
Maxsteps->Infinity,
PrecisionGoal->4];pq=sol[[1,1,2,1,1,2]];
Posisi Persamaan pendulum :
pos1[t_]:={l1 Sin[ΞΈ1[t]],-l1 Cos[ΞΈ1[t]]};
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pos2[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]),(-l1
pos3[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]+l3
Cos[ΞΈ2[t]])};
Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]-l3 Cos[ΞΈ3[t]])};
Cos[ΞΈ1[t]]-l2
Sin[ΞΈ3[t]]),(-l1
Jejak persamaan Gerak Pendulum dalam simulasi:
path=ParametricPlot[Evaluate[pos3[t]/.sol[[1]],{t,pp/5,p},ColorFunction>(Directive[Lighter[Red,.10],Opacity[0.66#3]]&)MaxRecursion>ControlActive[2, 4]];
path1=ParametricPlot[Evaluate[pos2[t]/.sol[[1]],{t,p-p/5,p},
ColorFunction->(Directive[Lighter[Blue,.10],Opacity[0.66#3]]&)
MaxRecursion->ControlActive[2, 4]];
Visualisasi Lingkaran Hitam:
Column[{Graphics[{GrayLevel[.4,.6], Circle[{0,0}, l1]
Visualisasi Pendulum Merah:
Darker[Red,.2],path[[1]],path[[1]],Line[Evaluate[{pos1[pq],pos2
[pq],pos3[pq]}/.Sol]],Disk[First@Evaluate[pos3[pq]/.sol],.2]
Visualisasi Pendulum Biru:
Darker[Blue,.2],Line[{pos1[pq],pos2[pq]}/.Sol],Disk[First@Evalu
ate[pos2[pq]/.sol],.2]
Visualisasi Pendulum Hijau :
Darker[Green,.2],Line[{{0, 0}, First@Evaluate[pos1[pq]/.sol]}],
Disk[First@Evaluate[pos1[pq]/.sol,.2]
Besar Kecilnya Visualisasi Pendulum:
ImageSize->{320, 300}
Batasan dalam visualiasi Pendulum :
PlotRange->{{-(l1+l2+l3)-.5,
(l1+l2+l3)+.5},{(l1+l2+l3)+.5,-
(l1+l2+l3)-.5}}]
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Tombol Pemilihan Grafik hasil animasi Pendulum :
Switch[plottype,
(*Tampilan plot simpangan x m1 dan m2 terhadap t*)
x1x2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m1 dan m2 terhadap t*)
y1y2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan x m2 dan m3 terhadap t*)
x2x3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m2 dan m3 terhadap t*)
y2y3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m1 dan m2 terhadap t*)
ΞΈ1ΞΈ2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq-
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25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m2 dan m3 terhadap t*)
ΞΈ2ΞΈ3,
Plot[{g1[t],
>ControlActive[3,
g2[t]},
4],
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan Plot x1 vs y1*)
x1y1,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,1],β
3Pi/4,3Pi/4},
vs
β,
Automatic},
Subscript[y,1]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Green,.1],AspectRatio->32/100.],
(*Tampilan Plot x2 vs y2*)
x2y2,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,2],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,2]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot x3 vs y3*)
x3y3,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,3],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,3]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot ΞΈ1 vs ΞΈ2*)
ΞΈΞΈ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,1],β
vs
β,
Subscript[ΞΈ,2]}],PlotRange->{{-
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Pi,Pi},
Automatic},
ImageSize->{420,150},ColorFunction-
>(Blend[{Blue, Green}, #1]&),AspectRatio->32/100.],
(*Tampilan Plot ΞΈ2 vs ΞΈ3*)
ΞΈΟ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,2],β
Pi,Pi},
vs
Automatic},
β,
Subscript[ΞΈ,3]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Red, Blue}, #1]&),AspectRatio->32/100.],
(*Tampilan plot Ο1 vs ΞΈ1*)
ΞΈΞΈPrime1, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],1],β vs β,Subscript[ΞΈ,1]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Green,.2]],
(*Tampilan plot Ο2 vs ΞΈ2*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],2],β vs β,Subscript[ΞΈ,2]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Blue,.2]],
(*Tampilan plot Ο3 vs ΞΈ3*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],3],β vs β,Subscript[ΞΈ,3]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle>Darker[Red,.2]],_,Graphics[{White,Point[{0,0}]}]]},Dividers>None]],
Penulisan Judul Program:
Style[βANIMASI
βLabelβ],
GERAK
TRIPLEβ,
Bold,
18,
Darker[Black,.1],
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Style[β***********************************************β,
Bold,16, Darker[Black, .1], βLabelβ],
Style[βPENDULUM
NONLINIERβ,
βLabelβ],
Bold,
18,
Darker[Black,
Style[β******************************************β,
Darker[Black, .1], βLabelβ],
Style[β
Bold,
β, Bold, 12, Darker[Green,.8], βLabelβ],
Style[βParameter
Pendulumβ,βSubsectionβ,
Bold,
Darker[Black,.1], βLabelβ],
.1],
12,
12,
Tampilan Parameter massa pendulum hijau, biru, merah, panjang pendulum hijau,
biru, merah, gravitasi, sudut pendulum hijau, biru, merah, kecepatan sudut pendulum
hijau, biru, merah, dan waktu (Berurutan):
{{m1,
1,
βGreen
mass
(m1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{m2,1,βBlue mass (m2)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{m3,1,βRed mass (m3)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{l1,1,βGreen
length
(l1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l2,1,βBlue
length
(l2)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l3,1,βRed
length
(l3)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{g,1,βGravity
(g)β},1,9.8,
ImageSize->Tiny,
ContinuousAction-
>False, Appearance->βLabeledβ},
Delimiter,
Style[βKondisi
Awalβ,
Darker[Black,.1],βLabelβ],
βSubsectionβ,
Bold,
12,
{{init1,Pi/2,βgreen
angle(ΞΈ1)
{{init2,0,βblue
angle(ΞΈ2)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
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{{init3,0,βred
angle(ΞΈ3)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{initprime1,0,βgreen
velocity(Ο1)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime2,0,βblue
velocity(Ο2)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime3,0,βred
velocity(Ο3)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
Delimiter,{{p, 12,βWaktuβ},0.001,100,ImageSize->Tiny,Appearance>βLabeledβ},
Tombol Pemilihan Tampilan Grafik:
[{plottype,
x1x2,
βGrafikβ},
{x1x2->βSimpangan
x
m1
dan
m2β,y1y2->β Simpangan y m1 dan m2β, x2x3->β Simpangan x m2 dan
m3β, y2y3->β Simpangan y m2 dan m3β,ΞΈ1ΞΈ2->βSensitivitas Kondisi
Awal
ΞΈ1
dan
ΞΈ2β,
ΞΈ2ΞΈ3->βSensitivitas
Kondisi
Awal
ΞΈ2
dan
ΞΈ3β,x1y1->βx1 vs. y1β, x2y2->βx2 vs. y2β, x3y3->βx3 vs. y3β,ΞΈΞΈ->βΞΈ1
vs. ΞΈ2β, ΞΈΟ->βΞΈ2 vs. ΞΈ3β, ΞΈΞΈprime1->β πΜ1 vs ΞΈ1β, ΞΈΞΈprime2->β πΜ2 vs
ΞΈ2β, ΞΈΞΈprime3->β πΜ3 vs ΞΈ3β} β},ControlType->PopupMenu}
Tombol untuk menganimasikan pendulum terhadap waktu:
{{p,0.001,βAnimasiβ},0.001,100,1.0,
ControlType->Trigger},
AutorunSequencing->All,TrackedSymbols:>Manipulate,Initialization:->Get[βBarchartsβ],
AutorunSequencing->{{10,10},l1}, TrackedSymbols:-> {m1, m2, m3,
l1,
l2,
l3,
g,
init1,
init2,
init3,
initprime1,initprime2,
initprime3, plottype, p}
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LAMPIRAN B: LISTING PROGRAM SIMULASI GERAK TRIPLE
PENDULUM NONLINIER
Berikut
ini
merupakan
listing
program
untukanimasi
dan
visualisasi gerakan triple pendulum nonlinier
(*Penentuan Variabel-variabel dan konstanta-konstanta*)
Manipulate[Module[{eqns, ΞΈ1, ΞΈ2, ΞΈ3, sol, pos1, pos2, pos3,t
,pq ,path, path1},
eqns={
g
(m1+m2+m3)
Sin[ΞΈ1[t]]+ΞΈ2β[t]^2
l2
(m2+m3)
Sin[ΞΈ1[t]-
ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ1[t]-ΞΈ3[t]]+l1 m1 ΞΈ1ββ[t]+(m2+m3)
(l1 ΞΈ1ββ[t] + l2 Cos[ΞΈ1[t]-ΞΈ2[t]]ΞΈ2ββ[t])+l3 m3 Cos [ΞΈ1[t]ΞΈ3[t]]ΞΈ3ββ[t]==0,
-ΞΈ1β[t]^2 l1 (m2+m3) Sin[ΞΈ1[t]-ΞΈ2[t]]+ΞΈ3β[t]^2 l3 m3 Sin[ΞΈ2[t]ΞΈ3[t]]+(m2+m3)
(g
Sin[ΞΈ2[t]]+l1
Cos[ΞΈ1[t]-ΞΈ2[t]]
ΞΈ1ββ[t]+l2
Sin[ΞΈ1[t]-ΞΈ3[t]]-l2
Sin[ΞΈ2[t]-
ΞΈ2ββ[t])+l3 m3 Cos[ΞΈ2[t]-ΞΈ3[t]] ΞΈ3ββ[t]==0,
m3(g
ΞΈ3[t]]
ΞΈ3[t]]
Sin[ΞΈ3[t]]-ΞΈ1β[t]^2
ΞΈ2β[t]^2+
l1
ΞΈ2ββ[t]
l1
Cos[ΞΈ1[t]-ΞΈ3[t]]
+l3
ΞΈ1ββ[t]+l2
Cos[ΞΈ2[t]-
ΞΈ3ββ[t])==0,ΞΈ1[0]==init1,
ΞΈ2[0]==init2,ΞΈ3[0]==init3,ΞΈ1β[0]==initprime1,ΞΈ2β[0]==initprime2
,ΞΈ3β[0]==initprime3};
(*Penyelesaian Persamaan Differensial*)
sol=NDSolve[eqns,
(ΞΈ1,ΞΈ2},
{t,0,p},
Maxsteps->Infinity,
PrecisionGoal->4];pq=sol[[1,1,2,1,1,2]];
pos1[t_]:={l1 Sin[ΞΈ1[t]],-l1 Cos[ΞΈ1[t]]};
pos2[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]),(-l1
pos3[t_]:={(l1
Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]]+l3
Cos[ΞΈ2[t]])};
Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]-l3 Cos[ΞΈ3[t]])};
Cos[ΞΈ1[t]]-l2
Sin[ΞΈ3[t]]),(-l1
path=ParametricPlot[Evaluate[pos3[t]/.sol[[1]],{t,pp/5,p},ColorFunction>(Directive[Lighter[Red,.10],Opacity[0.66#3]]&)MaxRecursion>ControlActive[2, 4]];
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path1=ParametricPlot[Evaluate[pos2[t]/.sol[[1]],{t,p-p/5,p},
ColorFunction->(Directive[Lighter[Blue,.10],Opacity[0.66#3]]&)
MaxRecursion->ControlActive[2, 4]];
(*Visualisasi Pendulum*)
Column[{Graphics[{GrayLevel[.4,.6], Circle[{0,0}, l1],
Darker[Red,.2],path[[1]],path[[1]],Line[Evaluate[{pos1[pq],pos2
[pq],pos3[pq]}/.Sol]],Disk[First@Evaluate[pos3[pq]/.sol],.2],
Darker[Blue,.2],Line[{pos1[pq],pos2[pq]}/.Sol],Disk[First@Evalu
ate[pos2[pq]/.sol],.2],
Darker[Green,.2],Line[{{0, 0}, First@Evaluate[pos1[pq]/.sol]}],
Disk[First@Evaluate[pos1[pq]/.sol,.2],ImageSize->{320,
300},PlotRange->{{-(l1+l2+l3)-.5,
(l1+l2+l3)+.5},{(l1+l2+l3)+.5,-(l1+l2+l3)-.5}}],
g1[t_?NumberQ]=Switch[plottype,x1x2,l1 Sin[ΞΈ1[t]],y1y2,-l1
Cos[ΞΈ1[t]],x2x3,(l1 Sin[ΞΈ1[t]+l2 Sin[ΞΈ2[t]]),y2y3,(-l1
Cos[ΞΈ1[t]-l2
Cos[t]]),x1y1,pos1[t][[1]],x2y2,pos2[t][[1]],pos3[t][[1]],ΞΈ1ΞΈ2,
ΞΈ1[t],ΞΈ2ΞΈ3,ΞΈ2[t],ΞΈΞΈ,ΞΈ1[t],ΞΈΟ,ΞΈ2[t],ΞΈΞΈprime1,ΞΈ1[t],ΞΈΞΈprime2,
ΞΈ2[t],ΞΈΞΈprime3,ΞΈ3[t],_,1]/.sol[[1]];
g2[t_?NumberQ]=Switch[plottype,x1x2,l1 Sin[ΞΈ1[t]]+l2
Sin[ΞΈ2[t]],y1y2,(-l1 Cos[ΞΈ1[t]]-l2 Cos[ΞΈ2[t]]),x2x3,(l1
Sin[ΞΈ1[t]+l2 Sin[ΞΈ2[t]]+l3 Sin[ΞΈ3[t]]),y2y3,(-l1 Cos[ΞΈ1[t]-l2
Cos[t]]-l3
Cos[t]]),x1y1,pos1[t][[2]],x2y2,pos2[t][[2]],pos3[t][[2]],ΞΈ1ΞΈ2,
ΞΈ2[t],ΞΈ2ΞΈ3,ΞΈ3[t],ΞΈΞΈ,ΞΈ2[t],ΞΈΟ,ΞΈ3[t],ΞΈΞΈprime1,ΞΈ1β[t],ΞΈΞΈprime2,
ΞΈ2β[t],ΞΈΞΈprime3,ΞΈ3β[t],_,1]/.sol[[1]];
Switch[plottype,
(*Tampilan plot simpangan x m1 dan m2 terhadap t*)
x1x2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
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(*Tampilan plot simpangan y m1 dan m2 terhadap t*)
y1y2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan x m2 dan m3 terhadap t*)
x2x3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan y m2 dan m3 terhadap t*)
y2y3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βx(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m1 dan m2 terhadap t*)
ΞΈ1ΞΈ2,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Green,
MaxRecursionBlue},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
(*Tampilan plot simpangan ΞΈ m2 dan m3 terhadap t*)
ΞΈ2ΞΈ3,
Plot[{g1[t],
>ControlActive[3,
4],
g2[t]},
{t,0,p},
PlotStyle->{Blue,
MaxRecursionRed},
Axes-
>False,PlotLabel->Style{βΞΈ(t)vs tβ, βLabelβ], PlotRange->{{pq25,pq},
Automatic},
ImageSize->{420,
150},
AspectRatio-
>32/100.],
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(*Tampilan Plot x1 vs y1*)
x1y1,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,1],β
3Pi/4,3Pi/4},
vs
β,
Automatic},
Subscript[y,1]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Green,.1],AspectRatio->32/100.],
(*Tampilan Plot x2 vs y2*)
x2y2,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,2],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,2]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot x3 vs y3*)
x3y3,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[x,3],β
3Pi/2,3Pi/2},
vs
β,
Automatic},
Subscript[y,3]}],PlotRange->{{ImageSize->{420,150},PlotStyle-
>Darker[Blue,.1],AspectRatio->32/100.],
(*Tampilan Plot ΞΈ1 vs ΞΈ2*)
ΞΈΞΈ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,1],β
Pi,Pi},
vs
Automatic},
β,
Subscript[ΞΈ,2]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Blue, Green}, #1]&),AspectRatio->32/100.],
(*Tampilan Plot ΞΈ2 vs ΞΈ3*)
ΞΈΟ,
ParametricPlot[{g1[t],g2[t]},{t,0,p},MaxRecursion-
>ControlActive[3,4],Axes->False,PlotLabel>Rown[{Subscript[ΞΈ,2],β
Pi,Pi},
Automatic},
vs
β,
Subscript[ΞΈ,3]}],PlotRange->{{-
ImageSize->{420,150},ColorFunction-
>(Blend[{Red, Blue}, #1]&),AspectRatio->32/100.],
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(*Tampilan plot Ο1 vs ΞΈ1*)
ΞΈΞΈPrime1, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],1],β vs β,Subscript[ΞΈ,1]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Green,.2]],
(*Tampilan plot Ο2 vs ΞΈ2*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],2],β vs β,Subscript[ΞΈ,2]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle->Darker[Blue,.2]],
(*Tampilan plot Ο3 vs ΞΈ3*)
ΞΈΞΈPrime2, ParametricPlot[{g1[t], g2[t]}, {t,0,p}, MaxRecursion>ControlActive[3,4],
Axes->False,PlotLabel-
>Row[{Subscript[OverDot[ΞΈ],3],β vs β,Subscript[ΞΈ,3]}],PlotRange>{{-Pi,Pi},
Automatic},ImageSize{420,150},AspectRatio->32/100.,
PlotStyle>Darker[Red,.2]],_,Graphics[{White,Point[{0,0}]}]]},Dividers>None]],
(*Tampilan Parameter Kendali*)
Style[βANIMASI
βLabelβ],
GERAK
TRIPLEβ,
Bold,
18,
Darker[Black,.1],
Style[β***********************************************β,
Bold,16, Darker[Black, .1], βLabelβ],
Style[βPENDULUM
βLabelβ],
NONLINIERβ,
Bold,
18,
Darker[Black,
Style[β******************************************β,
Darker[Black, .1], βLabelβ],
Style[β
β, Bold, 12, Darker[Green,.8], βLabelβ],
Style[βParameter
Pendulumβ,βSubsectionβ,
Darker[Black,.1], βLabelβ],
Bold,
Bold,
.1],
12,
12,
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{{m1,
1,
βGreen
mass
(m1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{m2,1,βBlue mass (m2)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{m3,1,βRed mass (m3)β},1,5, ImageSize->Tiny, ContinuousAction>False, Appearance->βLabeledβ},
{{l1,1,βGreen
length
(l1)β},1,5,ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l2,1,βBlue
(l2)β},1,5,
length
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{l3,1,βRed
length
(l3)β},1,5,
ImageSize->Tiny,
ContinuousAction->False, Appearance->βLabeledβ},
{{g,1,βGravity
(g)β},1,9.8,
ImageSize->Tiny,
ContinuousAction-
>False, Appearance->βLabeledβ},
Delimiter,
Style[βKondisi
Awalβ,
Darker[Black,.1],βLabelβ],
βSubsectionβ,
Bold,
12,
{{init1,Pi/2,βgreen
angle(ΞΈ1)
{{init2,0,βblue
angle(ΞΈ2)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{init3,0,βred
angle(ΞΈ3)
β},-Pi/2, Pi/2, Appearance->βLabeledβ, ImageSize->Tiny},
{{initprime1,0,βgreen
velocity(Ο1)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime2,0,βblue
velocity(Ο2)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
{{initprime3,0,βred
velocity(Ο3)β},0,5,ImageSize-
>Tiny,Appearance->βLabeledβ},
Delimiter,{{p, 12,βWaktuβ},0.001,100,ImageSize->Tiny,Appearance>βLabeledβ},
Delimiter,
(*Menu Pemilihan Tampilan*)
[{plottype,
x1x2,
βGrafikβ},
{x1x2->βSimpangan
x
m1
dan
m2β,y1y2->β Simpangan y m1 dan m2β, x2x3->β Simpangan x m2 dan
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m3β, y2y3->β Simpangan y m2 dan m3β,ΞΈ1ΞΈ2->βSensitivitas Kondisi
Awal
ΞΈ1
dan
ΞΈ2β,
ΞΈ2ΞΈ3->βSensitivitas
Kondisi
Awal
ΞΈ2
dan
ΞΈ3β,x1y1->βx1 vs. y1β, x2y2->βx2 vs. y2β, x3y3->βx3 vs. y3β,ΞΈΞΈ->βΞΈ1
vs. ΞΈ2β, ΞΈΟ->βΞΈ2 vs. ΞΈ3β, ΞΈΞΈprime1->β πΜ1 vs ΞΈ1β, ΞΈΞΈprime2->β πΜ2 vs
ΞΈ2β, ΞΈΞΈprime3->β πΜ3 vs ΞΈ3β},
ControlType->PopupMenu},{{p,0.001,βAnimasiβ},0.001,100,1.0,
ControlType->Trigger},
AutorunSequencing->All,TrackedSymbols:-
>Manipulate,Initialization:->Get[βBarchartsβ],
AutorunSequencing->{{10,10},l1}, TrackedSymbols:-> {m1, m2, m3,
l1,
l2,
l3,
g,
init1,
init2,
init3,
initprime1,initprime2,
initprime3, plottype, p}]
Universitas Sumatera Utara
LAMPIRAN C: PENJABARAN PERSAMAAN GERAK SISTEM TRIPLE
PENDULUM NONLINIER
Koordinat β koordinat posisi tiap pendulum :
x1 = l1 + l2 + l3 β l1 cos ΞΈ1
(2.2)
y1 = l1 sin ΞΈ1
(2.3)
x2 = l1 + l2 + l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2
(2.4)
y2 = l1 sin ΞΈ1 + l2 sin ΞΈ2
(2.5)
x3 = l1 cos ΞΈ1 + l2 cos ΞΈ2 + l3 cos ΞΈ3
(2.6)
y3 = l1 + l2 + l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2 β l3 cos ΞΈ3
(2.7)
Kemudian, setiap koordinat diatas akan diturunkan terhadap waktu untuk
memperoleh kecepatan. Hasil dari turunan menghasilkan
π₯Μ 1 = βπ1 πΜ1 sin π1
π¦Μ 1 = π1 πΜ1 cos π1
π₯Μ 2 = βπ1 πΜ1 sin π1 β π2 πΜ2 sin π2
π¦Μ 2 = π1 πΜ1 cos π1 + π2 πΜ2 cos π2
π₯Μ 3 = βπ1 πΜ1 sin π1 β π2 πΜ2 sin π2 β π3 πΜ3 sin π3
π¦Μ 3 = π1 πΜ1 cos π1 + π2 πΜ2 cos π2 + π3 πΜ3 cos π3
Subsitusi koordinat turunan ini ke persamaan 2.12 dan mengingat rumus
trigonometri untuk selisih dua sudut diperoleh energi kinetik :
ο·
ο·
2
cos (Ξ± β Ξ²) = cosΞ± cosΞ² + sinΞ± sin Ξ²
T=
1
2
1
1
1
T = π1 (xΜ 12 + yΜ 12 ) + 2 π2 (xΜ 22 + yΜ 22 ) + 2 π3 (xΜ 32 + yΜ 32 )
1
2
π1 π12 Μ π12 +
1
2
π2 [πΜ12 π12 + πΜ22 π22 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 )] +
π3 [πΜ12 π12 + πΜ22 π22 + πΜ32 π32 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 ) + 2 πΜ1 πΜ3 π1 π3 cos(π1 β
π3 ) + 2 πΜ2 πΜ3 π2 π3 cos(π2 β π3 )] (2.16)
Energi potensial diperoleh dengan mensubsitusikan persamaan 2.2, 2.4, 2.6 ke
persamaan 2.9 :
V = m1gx1 + m2gx2 + m3gx3
= m1g (l1 + l2 + l3 β l1 cos ΞΈ1) + m2g (l1 + l2 + l3 β l1 cos ΞΈ1 β l2cos ΞΈ2) + m3g (l1 + l2
+ l3 β l1 cos ΞΈ1 β l2 cos ΞΈ2 β l3cos ΞΈ3)
(2.11)
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Sehingga Fungsi Lagrangian Triple Pendulum Nonlinier:
L=TβV
= π1 π12 Μ π12 +
2
1
1
2
π2 [πΜ12 π12 + πΜ22 π22 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 )] +
1
2
π3 [πΜ12 π12 +
πΜ22 π22 + πΜ32 π32 + 2 πΜ1 πΜ2 π1 π2 cos(π1 β π2 ) + 2 πΜ1 πΜ3 π1 π3 cos(π1 β π3 ) +
2 πΜ2 πΜ3 π2 π3 cos(π2 β π3 )] β π1 π (π1 + π2 + π3 β π1 cos π1 ) β π2 π (π1 + π2 +
π3 β π1 cos π1 β π2 cos π2 ) β π3 π (π1 + π2 + π3 β π1 cos π1 β π2 cos π2 β π3 cos π3 )
(2.17)
Persamaan diatas adalah Fungsi Lagrangian dari triple pendulum, persamaan diatas
akan diselesaikan dengan persamaan Lagrange agar diperoleh posisi masing-masing
pendulum.
Persamaan Lagrange dirumuskan sebagai berikut:
ππΏ
π
( )
ππ‘ ππΜπΌ
β
ππΏ
πππΌ
= 0, πΌ β {1,2,3}
(2.18)
ο· Persamaan gerak untuk pendulum pertama:
ππΏ
= βπ2 πΜ1 πΜ2 π1 π2 sin(π1 β π2 ) β π3 πΜ1 πΜ3 π1 π3 cos(π1 β π3 )
ππ1
β π3 πΜ1 πΜ2 π1 π2 sin(π1 β π2 ) β π1 π π1 sin π1 β π3 π π1 sin π1
β π3 π π1 sin π1
ππΏ
= π1 π12 πΜ1 + π2 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 ) + π3 π12 πΜ1
ππΜ1
+ π3 π1 π2 πΜ2 πππ (π1 β π2 ) + π3 π1 π3 πΜ3 πππ (π1 β π3 )
π ππΏ
(
) = π1 π12 πΜ1 + π2 π12 πΜ1 + π3 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 )
ππ‘ ππΜ1
β π2 π1 π2 πΜ2 (πΜ1 β πΜ2 ) sin(π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ2 πππ (π1 β π2 )
β π3 π1 π2 πΜ2 (πΜ1 β πΜ2 ) sin(π1 β π2 )
+ π3 π1 π2 πΜ3 πππ (π1 β π3 ) β π3 π1 π3 πΜ3 (πΜ1 β πΜ3 ) sin(π1 β π3 )
Kemudian dengan persamaan Lagrange,
π ππΏ
ππΏ
(
)=
ππ‘ ππΜ1
ππ1
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π1 π12 πΜ1 + π2 π12 πΜ1 + π3 π12 πΜ1 + π2 π1 π2 πΜ2 πππ (π1 β π2 )
β π2 π1 π2 πΜ2 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ2 πππ (π1 β π2 )
β π3 π1 π2 πΜ2 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
+ π3 π1 π2 πΜ3 πππ (π1 β π3 ) β π3 π1 π3 πΜ3 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) β π3 πΜ1 πΜ3 π1 π3 πππ (π1 β π3 )
β π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) β π1 π π1 π ππ π1 β π3 π π1 π ππ π1
β π3 π π1 π ππ π1
Untuk lebih sederhananya maka persamaan diatas dibagi l1 diperoleh hasil:
(π1 + π2 + π3 )π1 πΜ1 + (π2 + π3 )π2 πππ (π1 β π2 )πΜ2 + π3 π3 πππ (π1 β π3 )πΜ3 +
(π2 + π3 )π2 πΜ22 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π1 β π3 ) + (π1 + π2 + π3 )π π πππ1 =
0
(2.19)
ο· Persamaan gerak untuk pendulum kedua:
ππΏ
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) + π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 )
ππ2
β π3 πΜ2 πΜ3 π2 π3 π ππ(π2 β π3 ) β π2 π π2 π ππ π2 β π3 π π2 π ππ π3
ππΏ
= π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) + π3 π12 πΜ1 + π3 π1 π2 πΜ1 πππ (π1 β π2 )
ππΜ2
+ π3 π22 πΜ2 + π3 π2 π3 πΜ3 πππ (π2 β π3 )
π ππΏ
(
) = π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) β π2 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
ππ‘ ππΜ2
+ π3 π1 π2 πΜ1 πππ (π1 β π2 ) β π3 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π22 πΜ2
+ π3 π2 π3 πΜ3 πππ (π2 β π3 ) β π3 π2 π3 πΜ3 (πΜ2 β πΜ3 ) π ππ(π2 β π3 )
Kemudian dengan persamaan Lagrange,
ππΏ
π ππΏ
(
)=
ππ2
ππ‘ ππΜ2
π2 π22 πΜ2 + π2 π1 π2 πΜ1 πππ (π1 β π2 ) β π2 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 )
+ π3 π1 π2 πΜ1 πππ (π1 β π2 ) β π3 π1 π2 πΜ1 (πΜ1 β πΜ2 ) π ππ(π1 β π2 ) + π3 π22 πΜ2
+ π3 π2 π3 πΜ3 πππ (π2 β π3 ) β π3 π2 π3 πΜ3 (πΜ2 β πΜ3 ) π ππ(π2 β π3 )
= π2 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 ) + π3 πΜ1 πΜ2 π1 π2 π ππ(π1 β π2 )
β π3 πΜ2 πΜ3 π2 π3 π ππ(π2 β π3 ) β π2 π π2 π ππ π2 β π3 π π2 π ππ π3
Universitas Sumatera Utara
Untuk lebih sederhananya maka persamaan diatas dibagi l2 diperoleh hasil:
(π2 + π3 ) π1 πππ (π1 β π2 ) πΜ1 + (π2 + π3 )π2 πΜ2 + π3 π3 πππ (π2 β π3 )πΜ3 β
(π2 + π3 )π1 πΜ12 π ππ(π1 β π2 ) + π3 π3 πΜ32 π ππ(π2 β π3 ) + (π2 + π3 )π π πππ2 = 0
(2.20)
ο· Persamaan gerak untuk pendulum ketiga:
ππΏ
= π3 πΜ1 πΜ3 π1 π3 sin(π1 β π3 ) + π3 πΜ2 πΜ3 π2 π3 sin(π2 β π3 ) β π3 π π3 sin π3
ππ3
ππΏ
= π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) + π3 π2 π3 πΜ2 πππ (π2 β π3 )
ππΜ3
π ππΏ
(
) = π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) β π3 π1 π3 πΜ1 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
Μ
ππ‘ ππ3
+ π3 π2 π3 πΜ2 πππ (π2 β π3 ) β π3 π2 π3 πΜ2 (πΜ2 β πΜ3 )sin(π2 β π3 )
Kemudian dengan persamaan Lagrange,
π ππΏ
ππΏ
(
)=
ππ‘ ππΜ3
ππ3
π3 π32 πΜ3 + π3 π1 π3 πΜ1 πππ (π1 β π3 ) β π3 π1 π3 πΜ1 (πΜ1 β πΜ3 ) π ππ(π1 β π3 )
+ π3 π2 π3 πΜ2 πππ (π2 β π3 ) β π3 π2 π3 πΜ2 (πΜ2 β πΜ3 ) sin(π2 β π3 )
= π3 πΜ1 πΜ3 π1 π3 sin(π1 β π3 ) + π3 πΜ2 πΜ3 π2 π3 sin(π2 β π3 ) β π3 π π3 sin π3
Untuk lebih sederhananya maka persamaan diatas dibagi l3 diperoleh hasil:
π3 π1 πππ (π1 β π3 )πΜ1 + π3 π2 πππ (π2 β π3 ) πΜ2 + π3 π3 πΜ3 β π3 π1 πΜ12 π ππ(π1 β
π3 ) β π3 π2 πΜ22 π ππ(π2 β π3 ) + π3 π π πππ3 = 0
(2.21)
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LAMPIRAN D: GRAFIK RUANG FASA UNTUK PERBANDINGAN SISTEM
DENGAN VARIASI NILAI BEBERAPA PARAMETER
ο·
Grafik diagram fasa untuk Tabel 4.1 (Hasil pengujian keadaan sistem untuk variasi
sudut simpangan awal, m1 = m2 = m3 = 1 dan l1 = l2 = l3 = 1)
1
vs.
1
Gambar C.1, Ruang fasa dengan ΞΈ1 = 1.15-1.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.2, Ruang fasa dengan ΞΈ1 = 0.85-1.14, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.3, Ruang fasa dengan ΞΈ1 = 0-0.85, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.4, Ruang fasa dengan ΞΈ1 = 1.0-1.14, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
Universitas Sumatera Utara
1
vs.
1
Gambar C.5, Ruang fasa dengan ΞΈ1 = 0.9-0.99, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
1
vs.
1
Gambar C.6, Ruang fasa dengan ΞΈ1 = 0-0.89, ΞΈ2 = 1.2, dan ΞΈ3 = 1.65
1
vs.
1
Gambar C.7, Ruang fasa dengan ΞΈ1 = 0-0.89, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
1
vs.
1
Gambar C.8, Ruang fasa dengan ΞΈ1 = 0.7-0.79, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
Universitas Sumatera Utara
1
vs.
1
Gambar C.9, Ruang fasa dengan ΞΈ1 = 0-0.69, ΞΈ2 = 1.05, dan ΞΈ3 = 1.05
1
vs.
1
Gambar C.10, Ruang fasa dengan ΞΈ1 = 0.62-0.69, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
1
vs.
1
Gambar C.11, Ruang fasa dengan ΞΈ1 = 0.5-0.61, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
1
vs.
1
Gambar C.12, Ruang fasa dengan ΞΈ1 = 0-0.49, ΞΈ2 = 0.86, dan ΞΈ3 = 0.95
Universitas Sumatera Utara
1
vs.
1
Gambar C.13, Ruang fasa dengan ΞΈ1 = 0.4-0.49, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
1
vs.
1
Gambar C.14, Ruang fasa dengan ΞΈ1 = 0.28-0.39, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
1
vs.
1
Gambar C.15, Ruang fasa dengan ΞΈ1 = 0-0.27, ΞΈ2 = 0.48, dan ΞΈ3 = 0.7
ο·
Grafik diagram fasa untuk Tabel 4.2 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum1, m1 = m2 = m3 = 1, l2 = l3 = 1, dan ΞΈ1 = Pi/2)
1
vs.
1
Gambar C.16, Ruang fasa dengan l1 = 1-1.5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
Universitas Sumatera Utara
1
vs.
1
Gambar C.17, Ruang fasa dengan l1 = 1.6-1.9, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.18, Ruang fasa dengan l1 = 2-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.19, Ruang fasa dengan l1 = 2-2.2, ΞΈ2 = 1.15, dan ΞΈ3 = 1
1
vs.
1
Gambar C.20, Ruang fasa dengan l1 = 2.3-2.4, ΞΈ2 = 1.15, dan ΞΈ3 = 1
1
vs.
1
Gambar C.21, Ruang fasa dengan l1 = 2.5-5, ΞΈ2 = 1.15, dan ΞΈ3 = 1
Universitas Sumatera Utara
1
vs.
1
Gambar C.22, Ruang fasa dengan l1 = 2.5-3, ΞΈ2 = 0.98, dan ΞΈ3 = 0.98
1
vs.
1
Gambar C.23, Ruang fasa dengan l1 = 3.1-5, ΞΈ2 = 0.98, dan ΞΈ3 = 0.98
ο·
Grafik diagram fasa untuk Tabel 4.3 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum2, m1 = m2 = m3 =1, l1 = l3 = 1, dan ΞΈ1 = Pi/2)
2
vs.
2
Gambar C.24, Ruang fasa dengan l2 = 2, ΞΈ2 = 0-1.57, dan ΞΈ3 = 0-1.57
ο·
Grafik diagram fasa untuk Tabel 4.4 (Hasil pengujian keadaan sistem untuk variasi
panjang tali pendulum3, m1 = m2 = m3 =1, l1 = l2 = 1, dan ΞΈ1 = Pi/2)
Gambar C.25, Ruang fasa dengan l3 = 1.1-1.2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
Universitas Sumatera Utara
3
vs.
3
Gambar C.26, Ruang fasa dengan l3 = 1.3-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.27, Ruang fasa dengan l3 = 1.3-1.6, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.28, Ruang fasa dengan l3 = 1.7-2, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.29, Ruang fasa dengan l3 = 2.1-5, ΞΈ2 = 1.35, dan ΞΈ3 = 1.4
3
vs.
3
Gambar C.30, Ruang fasa dengan l3 = 2.1-2.8, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
Universitas Sumatera Utara
3
vs.
3
Gambar C.31, Ruang fasa dengan l3 = 2.9-3.2, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.32, Ruang fasa dengan l3 = 3.3-5, ΞΈ2 = 1.15, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.33, Ruang fasa dengan l3 = 3.3-4, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.34, Ruang fasa dengan l3 = 4.1-4.4, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
3
vs.
3
Gambar C.35, Ruang fasa dengan l3 = 4.5-5, ΞΈ2 = 0.78, dan ΞΈ3 = 1.57
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ο·
Grafik diagram fasa untuk Tabel 4.5 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum1, m2 = m3 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
1
vs.
1
Gambar C.36, Ruang fasa dengan, m1 = 1-1.1, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.37, Ruang fasa dengan, m1 = 1.2-1.9, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.38, Ruang fasa dengan, m1 = 2-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.39, Ruang fasa dengan, m1 = 2-2.2, ΞΈ2 = 1.44, dan ΞΈ3 = 1.57
1
vs.
1
Gambar C.40, Ruang fasa dengan, m1 = 2.3-5, ΞΈ2 = 1.44, dan ΞΈ3 = 1.57
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ο·
Grafik diagram fasa untuk Tabel 4.6 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum2, m1 = m3 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
2
vs.
2
Gambar C.41, Ruang fasa dengan, m2 = 1-2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.42, Ruang fasa dengan, m2 = 2.1-2.4, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.43, Ruang fasa dengan, m2 = 2.5-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
2
vs.
2
Gambar C.44, Ruang fasa dengan, m2 = 3, ΞΈ2 = 1.17, dan ΞΈ3 = 1
2
vs.
2
Gambar C.45, Ruang fasa dengan, m2 = 3.1-5, ΞΈ2 = 1.17, dan ΞΈ3 = 1
Universitas Sumatera Utara
ο·
Grafik diagram fasa untuk Tabel 4.7 (Hasil pengujian keadaan sistem untuk variasi
massa pendulum3, m1 = m2 = 1, l1 = l2 = l3 = 1, dan ΞΈ1 = Pi/2)
3
vs.
3
Gambar C.46, Ruang fasa dengan, m3 = 1-1.2, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.47, Ruang fasa dengan, m3 = 1.3, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.48, Ruang fasa dengan, m3 = 1.4-5, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
3
vs.
3
Gambar C.49, Ruang fasa dengan, m3 = 2, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
3
vs.
3
Gambar C.50, Ruang fasa dengan, m3 = 2.1-2.2, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
Universitas Sumatera Utara
3
vs.
3
Gambar C.51, Ruang fasa dengan, m3 = 2.3-5, ΞΈ2 = 0.9, dan ΞΈ3 = 0.9
3
vs.
3
Gambar C.52, Ruang fasa dengan, m3 = 2.3-2.5, ΞΈ2 = 0.78, dan ΞΈ3 = 0.69
3
vs.
3
Gambar C.53, Ruang fasa dengan, m3 = 2.6-5, ΞΈ2 = 0.78, dan ΞΈ3 = 0.69
ο·
Grafik diagram fasa untuk Tabel 4.8 (Hasil pengujian sistem untuk massa dan tali
yang sama)
1
vs.
1
Gambar C.54, Ruang fasa dengan m1 = m2 = m3 = 2, l1 = l2 = l3 = 1, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.55, Ruang fasa dengan m1 = m2 = m3 = 3, l1 = l2 = l3 = 1, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
Universitas Sumatera Utara
1
vs.
1
Gambar C.56, Ruang fasa dengan m1 = m2 = m3 = 1, l1 = l2 = l3 = 2, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.57, Ruang fasa dengan m1 = m2 = m3 = 1, l1 = l2 = l3 = 3, ΞΈ1 = 1.151.57, ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
1
vs.
1
Gambar C.58, Ruang fasa dengan m1 = m2 = m3 = l1 = l2 = l3 = 2, ΞΈ1 = 1.15-1.57,
ΞΈ2 = 1.31, dan ΞΈ3 = 1.17
Universitas Sumatera Utara