Do An Tot Nghiep OK in

B GIO DC V O TO
I HC BCH KHOA H NI
TRUNG TM O TO TI NNG V CLC
-------***-------

TI:

M HNH V PHNG PHP S
TNH TON DAO NG PHI TUYN CA
C H C O HM CP PHN S

Ging vin hng dn : GS.TSKH Nguyn Vn Khang
Sinh vin thc hin : Dng Vn Lc
Lp : KSTN CT K54
MSSV : 20091541

H NI 6/2014

MC LC

LI NI U
CHNG 1: O HM V TCH PHN CP PHN S..
1.1. Khi nim v nh ngha m u o hm v tch phn cp nguyn... .
1.2. Biu thc hp nht gia o hm v tch phn cp nguyn.
1.3. nh ngha o hm v tch phn cp phn s
1.4. Cc tnh cht ca o hm v tch phn cp phn s
1.5. Mt s v d v o hm, v tch phn cp phn s
1.6. Php bin i Fourier v Laplace ca o hm cp phn s. ..................................
CHNG 2: PHNG TRNH DAO NG CA C H C O HM CP PHN S.......
2.1. Cc m hnh h n nht
2.2. H dao ng mt bc t do..
2.3. H dao ng hai bc t do
2.4. H dao ng nhiu bc t do..
CHNG 3: CC PHNG PHP S TNH TON DAO NG C H C O HM CP PHN S
3.1. Xp x thnh phn o hm cp phn s..
3.2. Phng php s gii phng trnh vi phn cp phn s
3.2.1. Phng php Newmark.
3.2.2. Phng php Runge-Kutta-Nystrm
3.2.3. Phng php Gauss
3.2.3. Phng php Runge-Kutta
CHNG 4: TNH TON DAO NG CA C H C O HM CP PHN S.
4.1. Tnh ton h dao ng mt bc t do.
4.2. Tnh ton h dao ng hai bc t do
CHNG 5: CHNG TRNH FDE SOLVER TNH TON DAO NG ....
5.1. Tng quan v chng trnh...
5.2. S dng chng trnh..
KT LUN..
TI LIU THAM KHO..
PH LC..

1
2
2
3
6
8
12
15
19
19
20
24
28
30
30
35
35
36
36
37
38
38
45
47
47
49
50
51
52

Dng Vn Lc KSTN CT- K54 1

LI NI U
Vi thp k gn y, nhiu ng dng ca o hm cp phn s trong cc lnh vc vt l, ha hc, c
kh, giao thng vn ti, xy dng, ti chnh v cc ngnh khoa hc khc c quan tm nghin cu.
Oldham v Spanier ng dng o hm cp phn s vo qu trnh khuych tn; Kempfle m t c h tt
dn; Bagley v Torvik, Caputo nghin cu v tnh cht ca cc vt liu mi
Cc nh c hc cng bt u nghin cu vic p dng o hm cp phn s vo cc h dao ng,
ng lc hc nh h n nht v nht do. Nutting (1921, 1943) l mt trong nhng nh nghin cu u
tin ngh rng hin tng chng ng sut c th c m hnh thng qua thi gian bc phn s. Shimizu
(1995) nghin cu dao ng v c tnh xung ca b dao ng vi m hnh Kelvin Voigt phn s ca vt
liu n nht da trn gel silicone v chng minh mt s tnh cht khc bit gia kh nng gim chn ca
vt liu ny so vi vt liu o hm cp nguyn. Zhang v Shimizu (1999) nghin cu mt vi phng
din quan trng v trng thi tt dn ca b dao ng n nht c m hnh bi quy lut kt cu Kelvin
Voigt phn s. H tho lun s nh hng ca iu kin u ti trng thi tt dn
Thc t rng i vi nhng bin dng ln, p ng phi tuyn xut hin. Mt s m hnh c
xut gii thch s p ng phi tuyn. Mt m hnh c th c a ra l mt l xo phi tuyn c
thm vo v phi ca phng trnh trn. Mt m hnh khc c a ra bi Nasuno yu cu i vi mt
s vt liu n nht, tnh phi tuyn xut pht t o hm cp phn s ca bin dng nn.
n tt nghip ny trnh by cc m hnh c bn ca o hm cp phn s, v cc phng php
s gii phng trnh vi phn cp phn s. p dng tnh ton ca mt vi m hnh dao ng phi tuyn ca
cc h n nht c cha o hm cp phn s.
Qua y em xin gi li cm n chn thnh n c Bi Th Thy l tc gi ca ti liu [11]. V c
bit l thy GS.TSKH.NGND Nguyn Vn Khang, thy tn tnh gip em trong sut thi gian thc hin
n tt nghip ny.

H Ni, Ngy 30 thng 4 nm 2014
Sinh vin thc hin: Dng Vn Lc
Email: duonglacbk@gmail.com


CHNG 1
O HM V TCH PHN CP PHN S
1.1. Khi nim v nh ngha m u o hm v tch phn cp nguyn
Chng ta s dng n v N l nhng s nguyn dng, , , , , p q r o | v Q l nhng s bt k. Cho
mt hm s ( ) f x . Ta k hiu o hm cp 1, cp 2,... cp n,ca hm ( ) f x nh sau

( ) ( ) ( )
2
2
, ,..., ,...
n
n
df x d f x d f x
dx dx dx
(1.1)
Ngoi ra ta cng c cc k hiu o hm tng t

( )
| |
( )
| |
( )
| |
2
2
, ,..., ,...
n
n
df x d f x d f x
dx
dx dx
(1.2)

o hm ca hm ( ) f x theo ( ) x a bng o hm theo x ca n

( )
( ) ( )
( )
( ) ( )
( )
( )
2 2
2 2
, ,..., ,...
n n
n n
df x d f x d f x d f x d f x
df
dx d x a dx dx
d x a d x a
= = =
(
( (

(1.3)
Do tch phn l s nghch o ca o hm nn ta vit

( )
| |
( )
1
0 0
1
0
x
d f x
f x dx
dx
=
}
(1.4)

Cc tch phn nhiu lp c k hiu

( )
| |
( )
1 2
1 0 0
2
0 0
x x
d f x
dx f x dx
dx
=
} }
(1.5)
.

( )
| |
( )
1 2 1
1 2 1 0 0
0 0 0 0
.
n
x x x x n
n n
n
d f x
dx dx dx f x dx
dx

=
} } } }
. (1.6)
Khi gii hn di khc 0, cc tch phn s c vit

( )
( )
( )
1
0 0
1
x
a
d f x
f x dx
d x a
=
(

}
(1.7)
.

( )
( )
( )
1 2 1
1 2 1 0 0
.
n
x x x x n
n n
n
a a a a
d f x
dx dx dx f x dx
d x a

=
(

} } } }
. (1.8)
Lu phng trnh sau ng vi o hm nhng khng ng vi tch phn

( )
( )
( )
n n
n n
d f x d f x
dx
d x a
=
(

(1.9)


Tc l

( )
( )
( )
.
n n
n n
d f x d f x
dx
d x a

=
(

(1.10)
o hm cpn thng c vit
( )
( )
n
f x
T ta s s dng i vi tch phn

( )
( ) ( )
1 2 1
1 2 1 0 0
.
n
x x x x
n
n n
a a a a
f x dx dx dx f x dx

=
} } } }
. (1.11)
Vi p l s bt k

( )
( )
( )
| |
( )
( )
( ).
p p p
p
p p p
d f x d f x d f x
f x
dx
dx d x a
= = =
(

(1.12)

( )
( ) ( )
( ).
p
p
p p
x b
d f x
d f
b
d x a d x a
=
=
( (

(1.13)
Mt s k hiu sau thng c s dng

( )
( )
( )
( ).
p
p
a x
p
p
a
D f x
d f x
D f x d x a
=

(

(1.14)

1.2. Biu thc hp nht gia o hm v tch phn cp nguyn
1.2.1. o hm cp n ca hm ( ) f x
Trc khi gii thiu o hm cp phn s, ta s rt ra biu thc hp nht cho o hm v tch
phn cp nguyn. u tin, ta c nh ngha o hm cp 1 ca hm ( ) f x

( ) ( ) ( ) ( )
| | ( ) ( )
{ }
1
1
1
0 0
lim lim .
x x
d f x df x f x f x x
x f x f x x
dx x dx
o o
o
o o
o

( = = =

(1.15)
o hm cp 2 ca hm ( ) f x

( ) ( ) ( )
( ) ( ) ( ) ( )
| | ( ) ( ) ( )
{ }
2
0 0
2
0 0
2
0
2
lim lim
lim lim
lim 2 2
x x
x x
x
f x f x x f x x f x x
d f x f x f x x
x x
x x dx
x f x f x x f x x
o o
o o
o
o o o
o
o o
o o
o o o

' '
= =
( = +

(1.16)
Tng t ta c o hm cp 3

( )
| | ( ) ( ) ( ) ( )
{ }
3
3
3
0
lim 3 3 2 3 .
x
d f x
x f x f x x f x x f x x
dx
o
o o o o
= + (

(1.17)


Bi cc h s trong nhng phng trnh trn gn ging vi h s nh thc Newton, ta c th vit
o hm cpn

( )
| | | | ( )
0
0
lim 1 .
n
n
n j
n
x
j
n d f x
x f x j x
j dx
o
o o
=

| |
=
`
|
\ .
)
(1.18)
Gi thit rng tt c cc o hm u tn ti v
| |
x o tin ti 0 lin tc, ngha l tt c nhng gi tr
ca n u tin ti 0. i vi s biu din hp nht vi tch phn, ta s cn c mt gii hn cht. lm
c iu ny, chia khong
| |
x a thnh N on bng nhau

| |
, 1, 2, 3...
N
x x a N N o = = (1.19)
Thay vo phng trnh (1.18)

( )
| |
| | | | ( )
0
0
lim 1 .
N
n
n
n j
N N n
x
j
n d f x
x f x j x
j
dx
o
o o
=

| |
=
`
|
\ .
)
(1.20)
Ch rng h s nh thc
n
j
| |
|
\ .
= 0 nu j n > , (1.20) c vit li nh sau

( )
| |
| | | | ( )
1
0
0
lim 1 .
N
n
N
n j
N N n
x
j
n d f x
x f x j x
j
dx
o
o o
=

| |
=
`
|
\ .
)
(1.21)
T (1.19) v (1.21) suy ra

( )
| |
| |
1
0
lim 1 .
n n
N
j
n
N
j
n d f x x a x a
f x j
j N N
dx
=

| | | | ( (
=
`
| |
( (

\ . \ .
)
(1.22)
1.2.2. Tch phn nhiu lp ca mt hm s
By gi ta s ch vo biu thc tch phn n lp ca ( ) f x . V mt tch phn cp nguyn c
nh ngha qua din tch, ta biu din n vi tng Riemann

( ) ( )
( )
( )
( )
( ) ( ) ( ) ( )
{ }
( )
1
1 1
0 0
1
0
1
0
0
lim 2
lim .
N
N
x
a x a x
a
N N N N
x
N
N N
x
j
d f x
I f x D f x f x dx
d x a
x f x f x x f x x f a x
x f x j x
o
o
o o o o
o o
=
= = =
(

( = + + + + +

=
`

)
}
. (1.23)
Tch phn 2 lp:


( ) ( )
( )
( )
( )
| | ( ) ( ) ( ) ( )
{ }
| | | | ( )
1 2
2 2
1 0 0
2
2
0
1
2
0
0
lim 2 3 2
lim 1 .
N
N
x x
a x a x
a a
N N N N
x
N
N N
x
j
d f x
I f x D f x dx f x dx
d x a
x f x f x x f x x Nf a x
x j f x j x
o
o
o o o o
o o
=
= = =
(

( = + + + + +

= +
`

)
} }
. (1.24)

i vi tch phn 3 lp

( ) ( )
( )
( )
( )
| |
| || |
( )
2 1 3
3 3
2 1 0 0
3
1
3
0
0
1 2
lim .
2 N
x x x
a x a x
a a a
N
N N
x
j
d f x
I f x D f x dx dx f x dx
d x a
j j
x f x j x
o
o o
=
= = =
(

+ +

=
`

)
} } }
(1.25)
Tng t vi tch phn n lp vit nh sau

( ) ( )
( )
( )
( )
| | ( )
1 1
1 2 0 0
1
0
0
1
lim .
n
N
x x x n
n n
a x a x n n
n
a a a
N
n
N N
x
j
d f x
I f x D f x dx dx f x dx
d x a
j n
x f x j x
j
o
o o

=
= = =
(

+ | |
=
` |
\ .
)
} } }
.
(1.26)

( )
( )
1
0
1
lim .
n n
N
n
N
j
j n d f x
x a x a
f x j
j N N
d x a

=

+ | | | | ( (
=
` | |
( (
\ . \ . (
)

(1.27)
1.2.3. S hp nht gia ton t o hm cp n v tch phn n lp
By gi ta thay n n = vi n nhn gi tr m th phng trnh (1.27) c dng

( )
( )
1
0
1
lim .
n n
N
n
N
j
j n d f x
x a x a
f x j
j N N
d x a
=

| | | | ( (
=
` | |
( (
\ . \ . (
)

(1.28)
So snh phng trnh (1.22) v (1.28) ta thy
| |
1
1
j
n j n
j j

| | | |
=
| |
\ . \ .
(1.29)
Tht vy ta s chng minh cng thc (1.29)
Theo nh ngha

| | | |
( )( ) ( ) ( )( ) ( )
( )
( )
1 2 1 1 2
1 1
! !
1 1 !
! 1 !
j j
n n n n n j j n j n n
j j j
j n j n
j j n
+ | |
= =
|
\ .
| |
= =
|

\ .
. .
(1.30)


Vi ( ) ( ) ( ) 1 !, 1 n n n n n I + = I + = I

( )( ) ( )
( )
( )
( ) ( )
1 2 1 1
!
! ! ! 1 1
m m m m m k m
m
k k k m k k m k
+ I + | |
= = =
|
I + I +
\ .
.

Thay
1 m j n
k j
=
ta c
( ) ( )
( ) ( )
( ) ( )
1 ,
1 1 ,
1 .
m j n
k j
m k n
I + = I
I + = I +
I + = I

Mt khc
| |
( )
( ) ( )
1
1
1
j
n j n j n
j j n j
I | | | |
= =
| |
I I +
\ . \ .
(1.31)
Do c th vit biu thc (1.22) v (1.28) di mt dng chung
( )
( )
( )
( )
( ) ( )
1
0
lim .
1
n n
N
n
a x
n
N
j
d f x j n x a x a
D f x f x j
N n j N
d x a
=

I | | ( (
= =
`
|
( (
I I +
\ . (
)

(1.32)
Trong n nhn c gi tr nguyn m v dng.
1.3. nh ngha o hm v tch phn cp phn s
1.3.1. nh ngha o hm v tch phn cp phn s theo Grnwald-Letnikov.
Cng thc (1.32) ng vi mi ty , ta t c nh ngha c bn v tng qut nht theo - Letnikov

( )
( )
( )
( )
( ) ( )
1
0
lim .
1
p p
N
p
a x
p
N
j
d f x j p
x a x a
D f x f x j
N p j N
d x a
=

I
| | ( (
= =
`
|
( (
I I +
\ . (
)

(1.33)
Vi p l s thc ty .
Cch nh ngha theoGrunwald `` - Letnikov nh trn c u im l o hm, tch phn cp phn s
c tm thng qua gi tr ca hm, khng cn cc php tnh tch phn v o hm ca n.
Mt khc ngi ta chng minh c rng hm ( ) ( ) 0 p p I > c th khng hu hn nhng t
s
( )
( )
j p
p
I
I
hu hn.
H s:
( )
( ) ( )
1
1
1
j
j p j p
A
j j p
+
I | |
= =
|
I + I
\ .
(1.34)
c gi l h s Grunwald `` .
1.3.2. nh ngha o hm v tch phn cp phn s theo Riemann Liouville.
Vi 0 < p o hm, tch phn cp phn s c dng
( )
( )
( ) ( ) ( )
1 1
, 0 .
x
p
p
a x
a
D f x x y f y dy p
p

= <
I
}
(1.35)
Vi 0 > p


( ) ( ) ( ) ( )
1 1
, 0, 1 .
( )
x
n
n p
p
a x
n
a
d
D f x x y f y dy p n p n
n p dx

= > > >
I
}
(1.36)
nh ngha theo Riemann Liouville c ng dng rt ph bin. Tch phn trong phng trnh
(1.35) ch hi t vi 0 p < . Tuy nhin,vi 0 p > bi ton c bin i bng vic p t iu kin n p >
trong phng trnh (1.36).
1.3.3. nh ngha o hm v tch phn cp phn s theo Caputo.
Ta c
( )
( )
( ) ( ) ( )
1 1
, 1
t
n
n p
p
a t
n
a
d
D f t t f d n p n
n p dt
t t t

= < < +
I
}
(1.37)
Vi cc gi tr u

( )
( )
( )
1
1
2
2
lim ,
lim ,
lim .
p
a t
t a
p
a t
t a
p n
a t n
t a
D f t b
D f t b
D f t b
=
=
=
(1.38)
Bi ton gi tr u ny v mt ton hc hon ton hp l nhng v mt ng dng, ngha vt l
ca nhng iu kin u rt kh l gii. gii quyt iu ny, Caputo a ra mt nh ngha khc ca
o hm v tch phn cp phn s nh sau
( )
( )
( )
( )
( ) ( )
1 1
, 0 1 .
x
n p
n C p
a x
a
D f x x y f y dy n p n
n p

= < < <
I
}
(1.39)
( )
( )
( )
( )
( )
( )
( )
1
lim .
x
n n n C p
a x
p n
a
D f x f a f y dy f x
= + =
}
(1.40)
1.3.4. Mt s nh ngha o hm v tch phn cp phn s khc
1.3.4.1. o hm cp phn s dng dy (dng Miller Ross)
nh ngha

( )
( ) ( )
: 0 1 ;
: ,
p
np p p p
x x x x
n
d
D p
dx
D f x D D D f x
= s s
= .
_
(1.41)
Phng trnh trn c gi l o hm cp phn s dng dy. Trong
p
x
D c nh ngha dng
Riemann Liouville (hoc dng Grunwald `` - Letnikov). Ta c nh ngha o hm cp phn s dng dy


( ) ( )
( )
( )
( ) ( )
1 2
1 2
,
,
, 1 .
n
p p p p
x x x x
n
n p p
a x a x
n
D f x D D D f x
p p p p
d d d
D f x D f x n p n
dx dx dx

=
= + + +
= s s
.
.
.
_
(1.42)
Nu s dng dng Caputo
( )
( )
( ) ( ) , 1 .
n p C p C
a x a x
n
d d d
D f x D f x n p n
dx dx dx

= s s .
_
(1.43)
1.3.4.2. nh ngha dng Weyl (tch phn Weyl)
Xut pht t nh ngha Riemann Liouville , cho a ta c nh ngha dng Weyl
( )
( )
( ) ( )
1 1
.
x
p
W p
a x
D f x x y f y dy
p

=
I
}
(1.44)
1.3.4.3. nh ngha Davison Essex
( )
| |
( )
( )
1
1
0
,
1
x k
n k
p
x
n k k
x y d f y
d
D f x dy
dx dx
|
|
+
+
(
( =
I
(

}
(1.45)
Vi , 0 1, 0 1, p n k n n | | = + < < < < + l s nguyn.
Khi 0 k = nh ngha Davision Essex tr v nh ngha Riemann- Liouville vi 0, a p n | = =
( )
( )
( ) ( )
1
( )
1
0
1
.
1
x
n
p n
p
x
n
d
D f x x y f y dy
n p dx
+

+
(
= (
I +
(

}
(1.70)
1.4. Cc tnh cht ca o hm v tch phn cp phn s
1.4.1. Tnh cht tuyn tnh
o hm cp p ca tng

( ) ( )
( )
( )
( )
( )
( )
1 1 2 2 1 2
1 2
p p p
p p p
d c f x c f x d f x d f x
c c
d x a d x a d x a
( +

= +
( ( (

(1.46)
1.4.2. Quy tc Leibniz
o hm v tch phn cp p ca tch hai hm f v g

( ) ( )
( )
( )
( )
( )
( ) 0
.
p p j j
p p j j
j
d f x g x p d f x d g x
j
d x a d x a d x a
=
(
| |

=
|
\ . ( ( (

(1.47)
Trong h s nh thc c xc nh bng vic thay th giai tha vi hm Gamma tng ng.

( ) ( ) ( )
( )
( )
0
.
j p p j
a x a x
j
p
D f x g x D f x g x
j
=
| |
( =
|

\ .
(1.48)


1.4.3. Tnh cht bin i thang bc
Php bin i thang bc ca mt hm s i vi gii hn di a
( ) ( ), f x f x a a + (1.49)
Vi l h s thang bc khng i. Nu gii hn di l 0, (1.49) tr thnh
( ) ( ), f x f x (1.50)
Khi 0 a = , ta c s thay i thang bc

( )
( )
( )
( )
| | , .
p p
p
p p
d f X d f X
X x a a
d x a d X a

= = +
( (

(1.51)
Khi 0 a =

( )
| |
( )
( )
.
p p
p
p p
d f x d f x
dx d x

=
(

(1.52)
1.4.4. o hm v tch phn cp phn s ca mt chui
Cho 1 chui hm hi t u ( )
0
j
j
f x
. o hm v tch phn cp phn s ca chui

( )
( )
( ) 0 0
.
q
q
j
j
q q
j j
d f
d
f x
d x a d x a

= =
=
( (

(1.53)
Vi hm c khai trin thnh chui ly tha ( ) ( )
0
j
j
j
f x a x a
=
=
, p dng cng thc Riemann

( )
( )
( )
1
, 1
1
p q
q p
q
p x
d x
p
p q
d x a
I +
= >
I +
(

(1.54)

( )
| | | |
0 0
,
q
j j
p p q
n n
j j
q
j j
pn j n
d n
a x a a x a
pn qn j n
d x a
n

+ +
= =
+ + | |
I
|
\ .
=
+ + | |
(
I
|
\ .

(1.55)
Trong q ly gi tr bt k nhng
( ) 0
1, 0,
j
p a n
n
+
+ > = eZ
1.4.5. Tnh cht hp thnh
1.4.5.1. Khi m, n nguyn dng

( )
( )
( )
( )
( ) ( )
( )
( )
,
m n m n
n m
n m n m m n
d f x d f x d f x
d d
d x a d x a d x a d x a d x a
+
+

= =
` `
( ( ( ( (

) )
(1.56)

( )
( )
( )
( )
( ) ( )
( )
( )
.
m n m n
n m
n m n m m n
d f x d f x d f x
d d
d x a d x a d x a d x a d x a

= =
` `
( ( ( ( (

) )
(1.57)


( )
( )
( )
( )
.
n m n
m
m n m n
d f x d f x
d
dx
d x a d x a

=
`
( (

)
(1.58)

( )
( )
( )
( )
( )
| |
( )
( )
1
.
!
k
m m n
n n
m k n
n m m n
k n m
d f x d f x x a
d
f a
k
d x a d x a d x a

+

=

=
`
( ( (

)

(1.59)

V d 1.1. Cho hm
( )
3x
f x e
= . Hy tm

| |
( )
| | | |
( )
| |
3
3
3 3
, .
d f x df x
d d
dx dx
dx dx

` `

)
)

p dng (1.58) v (1.59) ta c

| |
( )
| |
( )
| |
( )
( )
( )
( )
( )
( )
3 2
2 2 1
3 2
0 0 .
d f x d f x
d
f x f x f
dx
dx dx

= =
`

)

( )
( )
( )
( )
1 1 3 3
0
1 1
0 ,
3 3
x
x x
f x e dx e f

= = =
}

( )
( )
( )
( )
2 2 3 3
0
1 1 1
0 ,
3 9 9
x
x x
f x e dx e f

= = =
}

Do
| |
( )
| |
3
3
3
1 1
.
9 3 9
x
d f x
d x
e
dx
dx

= +
`

)

T (1.59) ta tm c

| |
( )
| |
( )
| |
( )
2
3 2 2
3
3 2
1 1
0 .
2 9 3 9 2
x
df x d f x
d x x x
f e
dx
dx dx

= = +
`

)

1.4.5.2. Khi p, q l cc s bt k
Cng thc sau ch ng khi c iu kin xc nh no

( )
( )
( )
( )
( )
,
p q p
q
q p q p
d f x d f x
d
d x a d x a d x a
+
+
(
(
=
(
( ( (

(1.60)
Gi s ( ) f x c khai trin thnh chui ly tha
( ) | |
0
, 1, khng nguyn.
p j
j
j
f x a x a p j p
+
=
= + >
(1.61)
Khi (1.60) ch ng khi ( ) f x tha mn iu kin di y


( )
( )
( )
( )
0.
p
p
p p
d f x
d
f x
d x a d x a
(
(
=
(
( (

(1.62)
Tng qut, quy tc hp thnh i vi , p q

( )
( )
( )
( )
( ) ( )
( )
( )
( )
( )
.
p
q
q p
q p p
q p p
q p q p p p
d f x
d
d x a d x a
d f x d f x
d d
f x
d x a d x a d x a d x a
+
+
+ +
(
(
(
( (

(

(
=
`
(
( ( ( (
)
(1.63)
Ch rng khi = p n ta c

( )
( )
( )
( )
( ) ( )
( )
( )
( )
( )
( )
( )
| |
( )
( )
( )
1
0
.
1
n
q
q n
q n n
q n n
q n q n n n
k q n k q n
n
q n
k
d f x d
d x a d x a
d f x d f x
d d
f x
d x a d x a d x a d x a
d f x x a f a
k q n
d x a
+
+
+ +

+

+
=
(
(
(
( (

(

(
=
`
(
( ( ( (
)
=
I +
(

(1.64)
V d 1.2. Cho hm
( )
1 2
f x x
= .
Vi 0, 1 2, 1 2 a p q = = = .
a. Kim tra iu kin (1.62)

| | | | | |
( )
( )
1 2 1 2 1 2 1 2
1 2 1 2 1 2
1 2 1 2 1 2
1 2
0 0
0
d d x d
x x x
dx dx dx

( I

= = =
( `
I
(

)

Vy iu kin (1.62) khng c tha mn.
b.Tnh
| | | |
1 2 1 2 1 2
1 2 1 2
d d x
dx dx

`

)

Theo (1.63) ta c

| | | | | | | | | | | |
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
1 2
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
.
d d x d x d d d x
x
dx dx dx dx dx dx
+ +
+ +
(

( =
` `
(

) )

Do
| | | | | |
1 2 1 2 1 2 1 2 1 2
1 2 1 2 1 2
0 0
d x d d x
dx dx dx

(
( = =
(

Dn n


| | | | | | | |
{ }
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
1 2 1 2 1 2
1 2 1 2 1 2 1 2 1 2 1 2
0 0.
d d x d x d
x x x
dx dx dx dx
+ +

+ +

= = =
`

)

1.5. Mt s v d v o hm, v tch phn cp phn s
1.5.1. o hm v tch phn cp phn s ca mt hng s
Trc tin ta s dng nh ngha Grunwald `` , ta c o hm v tch phn cp phn s ca 1 C =

| |
( )
( )
( ) ( )
1
0
1
lim .
1
p p
N
p
N
j
d j p N
x a j p
d x a
=

I
(
=
`
(
I + I

(
)

(1.65)
Theo tnh cht ca hm Gamma

( )
( ) ( )
( )
( ) ( )
( )
( )
| |
( )
| |
( )
1
0
, lim 1.
1 1
1
.
1
p
N
N
j
p
p
p
j p N p N N p
p j p N N
d x a
p
d x a
( I I I
= =
(
I I + I I I

=
I
(

(1.66)
Khi C l mt hng s bt k ta c

| |
( )
| |
( )
| |
( )
1
.
1
p
p p
p p
d C d x a
C C
p
d x a d x a
= =
I
( (

(1.67)
1.5.2. o hm v tch phn cp phn s ca hm ( )
f x x a =
S dng nh ngha Grunwald `` - Letnikov i vi hm ( ) f x x a =

| |
( )
( )
( ) ( )
( ) ( )
| |
( )
( ) ( )
( )
( ) ( )
1
0
1 1
1
1
0 0
lim
1
lim lim .
1 1
p p
N
p
N
j
N N
p
p p
N N
j j
d x a j p N x a j x a
N
x a j p N
d x a
j p j j p
x a N N
p j p j

= =

( I
(
=
` (
(
I + I

(
)

(

I I

( =
` `
I I + I I +
(

) )

(1.68)
Kt hp vi tnh cht ca hm Gamma, s lin h gia cc hm Gamma
( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) ( )
1
0
, 2 1 1
2 1
N
j
j p p N p
p p p
p j p N
=
I I
= I = I
I I I I
ta c

| |
( )
| |
( ) ( )
1 1
,
1 2
p
p
p
d x a p
x a
p p
d x a

(
= +
(
I I
(

(1.69)

| |
( )
| |
( ) ( )
| |
( )
1
1 1
.
2 2 2
p
p
p
p
d x a x a p p
x a
p p p
d x a
(
= + =
(
I I I
(

(1.70)
1.5.3. o hm v tch phn cp phn s ca ( ) | | ( ) 1
p
f x x a p = >


Xut pht t nh ngha Riemann Liouville, mi lin h gia cc hm Bta v hm Gamma, ta c
o hm v tch phn cp q ca hm ( ) f x

| |
( )
( )| |
( )
1
, 1.
1
p p q
q
q
d x a p x a
p
p q
d x a
I +
= >
I +
(

(1.103)
1.5.4. o hm v tch phn cp phn s ca hm ( ) | |
1
p
f x x =

xy dng cng thc cho tt c gi tr , p q ta vit ( ) 1 1 x a x a =
p dng cng thc nh thc cho hm ( ) f x
( )
( )
( ) ( )
( ) ( ) ( )
0
1
1 1 1 .
1 1
p j p j j
j
p
x a x a
j p j
=
I +
=
I + I +
(1.71)
T cng thc o hm v tch phn cp phn s ca mt chui s, cng thc Riemann cng vi
tnh cht ca hm Gamma v hm Bta, ta c

| |
( )
( )
( )
( )
1 1
, .
p p q
q
x
q
d x x
q q p
q
d x a

= B
I
(

(1.72)
vi
x
B l hm bta khng y .
1.5.5. o hm v tch phn cp phn s ca hm bc nhy n v v hm Delta Dirac
1.5.5.1. Hm Heaviside
Ta c hm Heaviside
( )
0
0
0
0 khi
.
1 khi
<
=

>
x x
H x x
x x

Khi
0
0, < < < p a x x

( )
( )
( )
( )
| |
( )
| |
( )
| |
( )
( )
0
0
0
0 1
0
1 1
1
1 0 1 1
.
1
x p
p p
a
p
x x
p p
a x
H x x d
H x x dy
p
x y d x a
x x
dy dy
p p p
x y x y
+
+ +
=
I
(

= + =
I I I

}
} }
(1.73)

M rng vi hm ( ) ( )
0
f x H x x
( ) ( )
( )
0
0
0
0 khi
khi
x x
f x H x x
f x x x
<
=

>
.


( )
( ) ( ) { } ( )
( )
( )
( )
0 0 0
0
.
p p
p p
d f x d
f x H x x H x x a x x
d x a d x x
= < <
( (

(1.74)
1.5.5.2. Hm Delta Dirac ( )
0
x x o
Ta c hm Delta Dirac ( )
0
o x x
( ) ( ) ( )
0 0
x
a
x x f y dy f x o =
}
nu
0
a x x < < .
Chn ( )
( )
( )
( ) ( )
1 1
0
0 1
0 ,
x
p p
p
a
x x
f x y dy x x p
x y
o

+
= = <
}

( )
( )
( )
( )
( )
( )
( )
1
0 0
0 1
1
.
p
x p
p p
a
x x x x d
x x dy
p p
x y d x a
o
o

+

= =
I I
(

}
(1.75)

T (1.74) v (1.75) ta c mi lin h

( )
( )
( )
( )
( ) ( )
1
0 0
1
0 0
,
.
p p
p p
d H x x d x x
d x a d x a
d
H x x x x
dx
o
o
+
+

=
( (

=
(1.76)
1.5.6. o hm v tch phn cp phn s ca hm ( )
at
f t e =
Hm
( )
at
f t e = c o hm cp phn s
( )
( )
( )
1
0
1
,
t
p
p a
t
D f t t e d
p
t
t t

=
I
}
(1.77)
t u t t = ta c
( )
( )
( ) 1
0
1
t
a u t p p
t
D f t u e du
p
+
=
I
}
(1.78)
( )
( )
( )
1
1,1
0
.
t at
p p au p
t p
e
D f t u e du t E at
p

= =
I
}

Trong
( )
1,1 p
E at
l hm Mittag Leffler hai tham s.

Vy :

( ) ( )
1,1
.
p p
t p
D f t t E at
= (1.79)
1.5.7. o hm v tch phn cp phn s ca hm ( ) ( ) sin , cos f t t f t t e e = =
Hm
( )
cx
f x e = c o hm cp phn s


. =
p cx p cx
x
D e c e
Vi c ie = ta c ( ) .
e e
e =
p
p i x i x
x
D e i e

2 2
cos sin .
2 2
t t
t t
= = + =
i i p
p
i e i i e

( )
2
cos sin .
2 2
i x p
p i x p p p
x
D e e x p i x p
t
e
e
t t
e e e e e
+
| | | |
= = + + +
| |
\ . \ .
(1.80)
Mt khc ta c
( ) ( ) cos sin
i x
e x i x
e
e e = +
( ) ( ) ( ) ( ) cos sin cos sin
p i x p p p
x x x x
D e D x i x D x iD x
e
e e e e = + = + (

( )
( )
sin sin
2
.
cos cos
2
p p
x
p p
x
D x x p
D x x p
t
e e e
t
e e e
| |
= +
|
\ .

| |
= +
|
\ .
(1.81)
1.6. Php bin i Fourier v Laplace ca o hm cp phn s
1.6.1. Php bin i Laplace
Php bin i Laplace l mt php bin i tch phn bin mt hm ( ) f t trong min thi gian
sang ( )
L
f s trong mt phng phc
( ) ( ) ( ) ( ) ( ) { }
0
, .
st
L L
f t f s f s e f t dt f t
= =
}
(1.82)
Laplace ngc ca nh ( )
L
f s
( ) { } ( ) ( ) { } { } ( )
1 1
.
L
f s f t f t f t

= = (1.83)
Nu ( ) f t l mt hm gc v ( )
L
f s l nh ca n th ti mi im lin tc ca ( ) f t ta c
( ) ( )
1
.
2
i
st
L
i
f t e f s ds
i
o
o
t
+

=
}
(1.84)
Trong tch phn c tnh dc theo ng thng ng ( ) Re s o = .
1.6.2. S tn ti ca php bin i Laplace
Hm ( ) f t c gi l hm cp m khi t nu tn ti cc hng s C, K, T sao cho

( ) ,
CT
f t Ke t T s > (1.85)
Khi Laplace ca ( ) f t s tn ti vi . > s C
1.6.3. Tnh cht
a. nh l vi phn


Nu ( ) f t c cc o hm ti cp n v ( ) { } ( )
L
f t f s = ta s c cc o hm ca n

( ) { } ( ) ( )
( ) { } ( ) ( ) ( )
( )
( )
{ }
( ) ( ) ( )
( )
( )
( )
( )
2
2 1 1 2
0 ;
0 0 ;
0 0 0 0 .
L
L
n n n n n n
L
f t s f s f
f t s f s sf f
f t s f s s f s f sf f

=
=
=
`
`` `
.
`
.
(1.86)
b. Tch chp ca 2 hm s
Cho 2 hm s ( ) f t v ( ) g t .Tch chp ca 2 hm s l mt hm s ca t
( ) ( ) ( ) ( )
0
,
t
f t g t f t g d t t t - =
}
(1.87)
Nu
( ) ( )
L
f t f s
,
( ) ( )
L
g t g s
, nh ca tch chp bng tch cc nh

( ) ( ) ( ) ( ) ( ) . .
L L
f g f g f s g s - = = . (1.88)
1.6.4. Php bin i Laplace ca o hm v tch phn cp phn s
1.6.4.1. Php bin i Laplace ca o hm v tch phn cp phn s Riemann - Liouville
Khi 0 = a ta c

( )
( )
( ) ( ) ( )
( ) ( )
1
0
0
0
1
,
.
t
n p
p n
t
n
p
t n
g t t f d D f t
n p
d
g t D f t
dt
t t t

= =
I
=
}
(1.89)

Hay

( ) ( )
0 0
,
n p
t t
D g t D f t = (1.90)
Php bin i Laplace
( ) ( )
( )
( )
1
1
0
0
0 .
n
n k n n k
t L
k
D g t s g s s g

=
( =

(1.91)
( )
( )
( ) ( )
( )
( ) ( )
1
1
0
1
, t t t

= = -
I I
}
t n p
n p t
g t t f d H t f t
n p n p

( ) ( )
( )
( ) ( )
1
1
,
n p p n
L L
g s g t t f t s f s
n p

( = ( = ( =

I

( )
( ) ( )
( ) ( ) ( )
1 1
0
1
1
0 0
0
0 0 ,
0 .
n k p k
t
n
p p k p k
t L t
k
g D f
D f t s f s s D f

=
=
( =

(1.92)


1.6.4.2. Php bin i Laplace ca o hm v tch phn cp phn s Caputo
( )
( )
( )
( )
( )
1
0
0
1
,
t
n p
n C p
t
D f t t f d
n p
t t t

=
I
}
(1.93)
t ( )
( )
( ) t t =
n
g f

( )
( )
( ) ( ) ( ) ( )
( ) ( )
( )
( )
1
0 0
0
1
1
0
1
, 1
0 .
t
n p
C p p n
t t
n
p k C p p k
o t L
k
D f t t g d D g t n p n
n p
D f t s f s s f
t t t

=
= = < s
I
( =

}
L
(1.94)
1.6.5. Php bin i Fourier ca o hm v tch phn cp phn s
1.6.5.1. Php bin i Fourier
nh ngha 1
( ) ( ) ( ) .
i t
F f t e f t dt
e
e

= = (
}
(1.95)
Ch : Php bin i Fourier ca hm ( ) f t tn ti khi ( ) f t l hm kh tch tuyt i ( tc l
( ) f t kh tch ( ) , ). Ni cch khc nu ( ) f t l hm kh tch lin tc tng khc v ( )
<
}
f t dt
th s tn ti php bin i Fourier ca ( ) f t .
nh ngha 2
Pho bin i Fourier ngc cho ta hm gc ( ) f t
( ) ( ) ( )
1
1
.
2
i t
f t F e F d
e
e e e
t

= = (
}
(1.96)
1.6.5.2. Tnh cht
a. Bin i Fourier ca o hm

( ) ( ) ( ) ( ).
d
f t F f t i F
dt
e e e
(
=
(

, (1.97)
( ) ( ) ( ).
n
n
n
d
f t i F
dt
e e
(
=
(

(1.98)
b. Tch chp ca 2 hm s
Cho 2 hm s ( ) f t v ( ) g t .Tch chp ca 2 hm s l mt hm s ca t


( ) ( ) ( ) ( ) , f t g t f t g d t t t
- =
}
(1.99)
Nu
( ) ( ) f t F e
,
( ) ( ) g t G e
, nh ca tch chp bng tch cc nh

( ) ( ) ( ) ( ) ( ) . . f g f g F G e e - = = . (1.100)
1.6.5.3. Php bin i Fourier ca o hm v tch phn cp phn s
nh ngha theo Weyl
( )
( )
| | ( )
1 1
.
x
p
W p
a x
D f x x x f x dx
p

' ' ' =

I
}
(1.101)
Php bin i Fourier ca o hm cp phn s
( ) ( ) ( ) ( ).
p
W p
a x
D f x i F e e = (1.102)


CHNG 2
PHNG TRNH DAO NG CA C H C
O HM CP PHN S
2.1. Cc m hnh h n nht
Vi s pht trin khoa hc k thut, ngy cng c nhiu cc vt liu mi ra i (nh vt liu silicone, vt
liu cao su), nhng m hnh n nht c in vi o hm cp nguyn khng th hin c y tnh
cht ca vt liu. Do gii quyt vn ny, o hm cp phn s c p dng bi cc nh nghin
cu trong thi gian gn y.

Hnh 2.1 M hnh c in Hnh 2.2 M hnh mi
Trong lc p ng ca h n nht c in c dng nh sau:

n
F kx cx = ` (2.1)
Vi cc h n nht mi, lc p ng c dng cha thnh phn cp phn s nh sau:
( ) ( ) ( )
p
v
F kx c x D xb x = (2.2)
Trong :
- Cc h s: , , k c l cc h s ca vt liu.
- Cc hm iu chnh ( ) ( ) , c x b x .
Cc hm ( ) c x v ( ) b x l hm ca x vi (0) (0) 1 c b = = . Hm ( ) b x gii thch tc ng ca lc cn
nht trong trng hp bin dng ln.
Cc m hnh theo kinh nghim, theo ti liu [5] a ra 5 m hnh ( ) c x v ( ) b x nh sau:

- M hnh 1:

4
( ) 1 3 , ( ) 1 c x x b x = + =
- M hnh 2:

2
1 2
( ) 1 , ( ) 1 c x c x c x b x
u
= + + =
- M hnh 3:

2
1 2
2
1
( ) , ( ) 1
1
c x c x b x
c x
= + =

- M hnh 4:


1
1
( ) , ( ) 1
(1 )
c x b x
c x
u
= =

- M hnh 5:

1
1
( ) 1, ( )
1
c x b x
c x
= =

Ngoi ra ta c th vit (2.2) di dng ng sut, gy ra bn trong vt liu n nht nh sau:
( ) ( ) ( )
v e n e e n e e n e e n n
F A A A x A Ax A kx A o o o c o o o o
E
= = + = + = + = = (2.3)
Vi A l din tch mt ct ngang ca vt mu, v trong trng hp ny vt mu c xem nh l mt vt
tr.
Theo ti liu [4] a ra 4 m hnh l thuyt
n
o c dng nh sau:
- M hnh IIa v IVa:
( )
2
1
q
n a
x D o
| |
=
|
\ .
(2.4)
- M hnh IIIb:
( ) ( )
2 2
1
1 1
q q
n a a
x D D
o

| |
= +
|
\ .
(2.5)
- M hnh IIIc:
( ) ( )
3
3 2
2 1 1
1 1
3 3
q q
n a a
x D D
o

| |
= +
|
\ .
(2.6)

- M hnh IVc:
( )
3/ 2 1/ 2 2
2
2 1 1 1
3 3
q q
n a a
x D D o

( | | | |
= +
| | (
\ . \ .
(2.7)

Trong :
1
1 / c x H =

Vi: H l chiu cao ca vt mu v
1
c l h s iu chnh m hnh.
2.2. H dao ng mt bc t do.
2.2.1. M hnh Kelvin Voigh

Hnh 2.3 M hnh Kelvin Voigh
m
F
x
k , c(x)


lp phng trnh dao ng, ta s dng nh l chuyn ng khi tm:

e v
mx F f f F mg = = + + +
`` (2.8)
Trong :
-
e
f : Thnh phn lc tuyn tnh (lc n hi).

e
f kx = (2.9)
-
v
f : Thnh phn lc cn phi truyn cp phn s (cn n nht).
( )
p
v
f c x D x = (2.10)
- F : Thnh phn ngoi lc.
Do vy (2.8) c vit li nh sau:
( )
p
mx c x D x kx F mg + + = + `` (2.11)
Nhn xt :
- i vi m hnh ny ta c th p dng cho cc trng hp c th sau
+ H c nn rung dch chuyn u khi phng trnh dao ng ca h thu c bng cch thay x=x-u.

( ) ( ) ( )
( ) ( )
p
p p
mx c x u D x u k x u F
mx c x u D x kx F c x u D u ku

+ + =
+ + = + +
``
``
(2.12)
+ H dao ng chu kch ng va p, phng trnh c dng nh sau.
( )
p
mx c x D x kx mg + + = `` (2.13)
Vi :
- m l khi lng ca vt dao ng v vt kch ng :
0 1
m m m = +
- iu kin u :
( ) ( )
0
0 ; 0 2
m
x x gh
m
= `
+ H chu kch ng lch tm (iu ha), phng trnh c dng nh sau:
( )
2 2
sin( )
p
e
mx c x D x kx mg m e t e e + + = + `` (2.14)
Vi:
- m l khi lng ca vt, v vt lch tm :
1 e
m m m = +
- iu kin u: ( ) ( ) 0 ; 0 x x`
2.2.2. M hnh Maxwell


Hnh 2.4 M hnh Maxwell

e
e
mx F f F mg
f mx F mg
= = + +
=
``
``
(2.15)
Trong :
-
e

1 1
e
e
f
f kx x
k
= = (2.16)
-
v
( )
2 2
p
v
f c x D x = (2.17)
-
1 2
, x x : Dch chuyn ca thnh phn tuyn tnh v phi tuyn cp phn s .

1 2 2 1
x x x x x x + = = (2.18)
n gin, th hm dch chuyn c(x) trong trng hp ny c chn l : ( ) 1 c x = .
Thay (2.18) vo (2.17) ta c :
( ) ( ) ( ) ( )
2 2 1 1 1
p p p
v
f c x D x c x x D x x D x x = = = (2.19)
Thay (2.16) vo (2.19) ta c:

( )
1
p p p p e
v e e
p p
e e
f
f f D x x D x D x D f
k k
f D x D f
k
| |
= = = + =
|
\ .
=
(2.20)
Thay (2.15) vo (2.20) ta c phng trnh dao ng ca h nh sau:

( )
2
p p
p p p
mx F mg D x D mx F mg
k
D x mx D x mg F D F
k k
+
=
+ + = + +
`` ``
(2.21)
m
F
x
k

, c(x)=1


2.2.3. M hnh dao ng cp 3

Hnh 2.5 M hnh dao ng cp 3

e v
e v
mx F f f F mg
f mx f F mg
= = + + +
=
``
``
(2.22)
Trong :
-
v
( )
p
v
f c x D x = (2.23)
n gin, th hm dch chuyn c(x) trong trng hp ny c chn l : ( ) 1 c x = .
-
e

1 1
e
e
f
f kx x
k
= = (2.24)
-
c
f : Thnh phn lc cn nht.

2 c
f cx = ` (2.25)
-
1 2
, x x : Dch chuyn ca thnh phn tuyn tnh v phi tuyn cp phn s .

1 2 2 1
x x x x x x + = = (2.26)
Thay (2.26) vo (2.25) ta c :
( )
2 1 c
f cx c x x = = ` ` ` (2.27)
Thay (2.24) v (2.27) ta c :

( )
2 1
e
c e
e e
f c
f cx c x x c x cx f
k k
c
f cx f
k
| |
= = = + =
|
\ .
=
`
`
` ` ` ` `
`
`
(2.28)
m
F
x
, c(x) =1
k

c


Thay (2.22) vo (2.28) ta c phng trnh dao ng ca h nh sau:

( )
1
0
v v
p p
c
mx f F mg cx mx f F
k
c c c
mx mx D x cx D x F F mg
k k k

+
=
+ + + + = + +
` `
`` ` ```
`
``` `` `
(2.29)
2.3. H dao ng hai bc t do.
Trong phn ny ta xt m hnh ba rn trn nn n nht cp phn s chu kch ng va p. Trong
khi lng
0
m l u ba,
1
m l e,
2
m l mng. Vi gi thit
0 1 0 2
, m m m m < < nn ln tnh v nh
hng ng lc do
0
m gy ra sau khi va chm l khng ng k nn b qua khi kho st. C hai m hnh
c kho st nh sau:

Hnh 2.6 M hnh 1 Hnh 2.7 M hnh 2
( n gin cho vic lp h phng trnh vi phn th hm iu chnh c(x), v b(x) ca b cn nht cp
phn s c chn bng 1.)
Thit lp h phng trnh dao ng i vi m hnh 1:
- Phng php s dng phng trnh Lagrange loi II:
Biu thc ng nng ca h c dng:

2 2
1 1 2 2
1 1
2 2
T m x m x = + ` ` (2.30)
Biu thc th nng, hm hao tn ca h:

2 2 2
1 2 1 2 2 1 2 1
1 1 1
( ) ; ( )
2 2 2
k x x k x c x x H = + u = ` ` (2.31)
Lc sinh ra do b n nht:
( )
2 2
p
f D x = (2.32)
m
1
F
1
k
1
, p
m
2
F
2

k
2
, p
m
1
F
1
k
2
, p
m
2
F
2

k
1
c1


Biu thc lc suy rng:

( )
1 1 1 1 2 1 1 2 1
1 1
2 2 2 2 2 1 1 2 1 1 2 2 2
2 2
( ) ( )
( ) ( )
p
Q F k x x c x x F
x x
Q f F k x k x x c x x D x F
x x

cH cu
= + = +
c c
cH cu
= + + = + + +
c c
` `
`
` `
`
(2.33)
Th vo phng trnh Lagrange loi II:

i
i i
d T T
Q
dt x x
| | c c
=
|
c c
\ .
`
(2.34)
Ta nhn c h phng trnh vi phn dao ng l:

1 1 1 1 2 1 1 2 1
2 2 2 1 1 2 1 1 2 2 2 2
( ) ( )
( ) ( ) ( )
p
m x c x x k x x F
m x D x k x x c x x k x F
+ + =
+ + =
``
`` ` `
(2.35)

- Phng php tch vt, s dng nh l chuyn ng khi tm

Hnh 2.8 Tch vt vi m hnh 1
Lc p ng gy nn bi h n nht th nht:
( )
1 1 1 1 2 1 1 2
( )
up
F k l c l k x x c x x = A A = + (2.36)
Lc p ng gy nn bi h n nht th hai:
( ) ( )
w 2 2 2 2
p p
do
F k l D l kx D x = A A = + (2.37)
p dng nh l chuyn nh khi tm vi vt th nht:
m
1
F
1

m
2
F
2
x
2


( )
1 1 1 1 1 2 1 1 2
1 1 1 1 2 1 1 2 1
( )
( ) ( )
up
m x F F F k x x c x x
m x c x x k x x F
= =
+ + =
``
``
(2.38)
p dng nh l chuyn nh khi tm vi vt th hai:

( ) ( )
( ) ( ) ( )
2 2 2 w 2 1 2 1 1 2 2 2
2 2 2 2 2 1 2 1 1 2 2
( )
( )
p
up do
p
m x F F F F k x x c x x kx D x
m x c x D x kx k x x c x x F
= + = + +
+ + =
``
``
(2.39)
Vy h phng trnh vi phn thu c l:

( ) ( )
1 1 1 1 2 1 1 2 1
2 2 2 1 1 2 1 1 2 2 2
( ) ( )
( )
p
m x c x x k x x F
m x D x k x x c x x kx F
+ + =
+ + =
``
``
(2.40)
Vit di dng ma trn:

( )
1 1 1 1 1 1 1 1 1
2 2 2 2 1 1 2 1 1 2 2 2
0 0
0
p
m x c c x k k x F
D x m x c c x k k k x F
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

`` `
`` `
(2.41)
Nu vit h phng trnh vi phn trn di dng ng sut ca b n nht cp phn s, th h phng
trnh c dng nh sau:

( ) ( )
1 1 1 1 2 1 1 2 1
2 2 2 1 1 2 1 1 2 2 2
( ) ( )
( )
n
m x c x x k x x F
m x A x k x x c x x kx F o
+ + =
+ + =
``
``
(2.42)

Tng t, i vi m hnh 2 ta c:
- Phng php s dng phng trnh Lagrange loi II:
Biu thc ng nng ca h c dng:

2 2
1 1 2 2
1 1
2 2
T m x m x = + ` ` (2.43)
Biu thc th nng, hm hao tn ca h:

2 2
1 2 1 2 2
1 1
( ) ; 0
2 2
k x x k x H = + u = (2.44)
Lc sinh ra do b n nht:
( ) ( )
1 1 1 2 2 2 2
;
p p
f D x x f D x = = (2.45)
Biu thc lc suy rng
( )
( ) ( )
1 1 1 1 1 2 1 1 2 1
1 1
2 2 1 2 2 2 1 1 2 2 1 1 2 2
2 2
( )
( )
p
p p
Q f F k x x D x x F
x x
Q f f F k x k x x D x D x x F
x x

cH cu
= + + = +
c c
cH cu
= + + = + +
c c
`
`

Th vo phng trnh Lagrange loi II:
i
i i
d T T
Q
dt x x
| | c c
=
|
c c
\ .
`

Ta nhn c h phng trnh vi phn dao ng l:


( )
( )
1 1 1 1 2 1 1 2 1
2 2 2 2 1 1 2 1 1 2 2 2 2
( )
( ) ( )
p
p p
m x D x x k x x F
m x D x D x x k x x k x F

+ + =
+ + =
``
``
(2.46)

- Phng php tch vt, s dng nh l chuyn ng khi tm

Hnh 2.9 Tch vt vi m hnh 2

Lc p ng gy nn bi h n nht th nht:
( ) ( ) ( )
1 1 1 1 1 2 1 1 2
p p
up
F k l D l k x x D x x = A A = + (2.47)
Lc p ng gy nn bi h n nht th hai:
( ) ( )
w 2 2 2 2 2 2 2 2
p p
do
F k l D l k x D x = A A = + (2.48)
p dng nh l chuyn nh khi tm vi vt th nht:

( ) ( )
( )
1 1 1 1 1 1 2 1 1 2
1 1 1 1 2 1 1 2 1
( )
p
up
p
m x F F F k x x D x x
m x c x x D x x F
= =
+ + =
``
``
(2.49)
p dng nh l chuyn nh khi tm vi vt th hai:

( ) ( ) ( )
( ) ( ) ( )
2 2 2 w 2 1 1 2 1 1 2 2 2 2 2
2 2 2 2 2 2 1 1 2 1 1 2 2
p p
up do
p p
m x F F F F k x x D x x k x D x
m x D x k x k x x D x x F

= + = + +
+ + =
``
``
(2.50)
Vy h phng trnh vi phn thu c l:
m
1
F
1

m
2
F
2
x
2


( )
( ) ( ) ( )
1 1 1 1 2 1 1 2 1
2 2 2 2 2 1 1 2 1 1 2 2
( )
p
p p
m x c x x D x x F
m x D x kx k x x D x x F

+ + =
+ + =
``
``
(2.51)
Vit di dng ma trn:

( )
( )
1 1 1 1 1 1 1 1 2
2 2 1 1 2 2 2 2 2
0
0
p
p
m x k k x F D x x
m x k k k x F D x
( ( ( ( ( (
+ + =
(
( ( ( ( (
+

``
``
(2.52)
Nu vit h phng trnh vi phn trn di dng ng sut ca b n nht cp phn s, th h phng
trnh c dng nh sau:

( )
( ) ( ) ( )
1
2 1
1 1 1 1 2 1 1 1 2 1
2 2 2 2 2 2 1 1 2 1 2 1 2 2
( )
n
n n
m x c x x A x x F
m x A x kx k x x A x x F
o
o o
+ + =
+ + =
``
``
(2.53)
Nhn xt:
i vi bi ton h chu kch ng va p, iu kin u c tha mn l:

1 2 1 2
0; 0; 0; ; 0; t x x x u x = = = = = ` ` (2.54)
Vn tc ban u u c xc nh theo s va chm ca u ba v e. Gi thit qu trnh va chm xy ra l
rt ngn nn cc khi lng
0 1
, m m tha mn nh lut xung lng

0 0 1 1 0 0 1 1 v v
m u mu m u mu + = + (2.55)
Vi:
0 1
,
v v
u u - vn tc trc va chm;
0 1
, u u - vn tc sau va chm;
Trong trng hp tng qut, tnh cc gi tr
0 1
, u u ngi ta s dng gi thit ca Newton:

0 1
0 1 v v
u u
k
u u
(2.56)
Trong cc trng hp t ra ta c:
1 0
0; 2
v v
u u gh = = . T cc phng trnh ta c :

0
0 1
(1 )
2
k m
u gh
m m
+
=
+
(2.57)
2.4. H dao ng nhiu bc t do.
i vi cc h c nhiu bc t do ta c th a v dng sau:
( )
( )
t + + + =
p
Mx Cx DAx Kx F `` ` (2.58)
Trong :
- , , , M C K D l cc ma trn khi lng, cn nht, cng, cn n nht cp phn s.
-
(p)
x c dng nh sau :

( )
( )
1
( )
... ,
n
p
p
D
D
(
(
=
(
(

p
x
x
x
(2.59)
- D c dng nh sau :


1
... 0
... ...
0 ...
i
n
(
(
=
(
(

D (2.60)
- A l ma trn iu chnh m hnh c dng nh sau :

( )
( )
( )
1
... 0
... ... ,
0 ...
i
n
c
c
c
(
(
=
(
(

x
A x
x
(2.61)
Hoc ta c th a (2.58) v dng phng trnh cp 2 nh sau:

( )
( )
, , , f t =
p
x x x x (2.62)
ng thi ta cng d dng a h (2.62) c v dng cp mt, tht vy:
t:
= y x (2.63)
H (2.62) a c v dng sau:

( )
( )
, , , f t
(
(
= (
(
(

p
y
x
y x x y
(2.64)
Hay (2.64) c dng sau:

( )
( )
, , f t =
p
z z z (2.65)
Trong :

(
=
(

x
z
y
(2.66)


CHNG 3
CC PHNG PHP S TNH TON DAO NG CA C H
CHA O HM CP PHN S
3.1. Xp x thnh phn o hm cp phn s
3.1.1. nh ngha o hm cp phn s.
Theo nh ngha o hm cp phn s p bi Riemann-Liouville vi | | , x a b e .
( )
( )
( )( )
1 1
t n
n p
p
RL n
a
d
D x t x x d
n p d
t t t
t

=
I
}
(3.1)
Trong : ( ) . I l hm Gamma, n l s nguyn tha mn 1 n p n < < , hay | | 1 n p = + . Mt cch khc o
hm cp phn s c xp x bi Grnwald-Letnikov nh sau:

( ) ( ) ( )
0
0
1
lim 1
t p
t
k
p
GL p
t
k
p
D x t x t k t
k t
(
(
A
A
=
| |
= A
|
A
\ .
(3.2)
Trong cng thc ny tng gii hn trn hi t tuyt i vi mi p>0. Tuy nhin chnh s di dc trong
cng thc m s dng cng thc ny c mt s hn ch. V vic s dng cng thc ny tnh ton th
thng khng n nh, cng nh chnh xc khng cao.
nh ngha o hm cp phn s ca Caputo:
( )
( )
( )( )
1 1
t n
n p
p
C n
a
d x
D x t x d
n p d
t t t
t

=
I
}
(3.3)
Trong : ( ) . I l hm Gamma, n l s nguyn tha mn 1 n p n < < , hay | | 1 n p = + . Theo nh ngha
ca Caputo c mt s thun li, nh trong vic bin i Laplace v trnh c phi x l iu kin u.
Mnh lin h gia 2 nh ngha ca Riemann-Liouville v Caputo:
( ) ( ) ( )
( )
( )
1
0
1
p k
k n
p p
RL C k
k
x a
d x
D x t D x t a
dt p k
+
= +
I + +
(3.4)
Trong chng ny s xut vic xp x vi 0 1 p < < v vi 1 2 p < < i vi nhng trng hp siu
khuch tn chn.
3.1.2. Xp x thnh phn cp phn s vi 0<p<1.
3.1.2.1. Xp x theo o hm cp mt.
Xp x ,
n n
x x ` `` theo cng thc Newmark:
( )
1 1 1 2
1 1 1
1
2
n n n n n
x x x x x
t t | | |

| |
=
|
A A
\ .
`` ` `` (3.5)
( )
1 1 1 1 1
(1 ) 1 1
2
n n n n n n n n
x x tx tx x t x x x
t
o o o
o o
| | |

| | | |
= + A + A = + A +
| |
A
\ . \ .
` ` `` `` ` `` (3.6)
Vi , l cc h s Newmark.


Thnh phn o hm cp phn s c xp x nh sau:
( )
( ) ( )
( )
1
1
0
0 1
0
( ) 1 ( ) ( ) 1
(1 ) (1 ) (1 )
n n
n
t t
p p
RL n n n n p p
t
n n
x t x d x d
D x t t I I I
p p p
t t
t t t t
t t
(
= + + = + + A (
I I I
(

} }
` `
(3.7)
Trong :

( )
1 2
0 1
1
1
0
( ) ( )
2
2 ( )
n
t
n
n
n p p p p
i
n n
n
x x x d h x ih
I
t h t ih
t
t t
t

=
(
= ~ + +
(
}
` ` ` `
(3.8)

( )
1
1 2 2
1 1
( )
(1 )
1 (1 )(2 ) (1 )(2 )
n
n
t
p p p
n n n n p
t
n
x d t t t
I x x x
p p p p p
t
t t
o o
t

A A A
A = = + +

}
`
` `` `` (3.9)
Thay (3.5) vo (3.9) ta c:

( )
( )
1
1
1 1 1
( )
2 1
(1 )(2 ) 2
n
n
t
p
n n n n n p
t
n
x d t
I x x p x tx
p p t
t
t t o o o
| | |
t

( | | | | A
A = = + + A
( | |
A
\ . \ .
}
`
` `` (3.10)
Do vy t (3.7) ta c:
( ) ( ) ( )
0 1 0 1 2 1 1 1
1
, , , , ,... , , ,
(1 )
p
n n n p n n n n
D x t I I I x x x x x x x
p
o |

= + + A =
I
` ` ` ` `` (3.11)
3.1.2.2. Xp x theo o hm cp hai.
Thnh phn o hm cp phn s c xp x nh sau:

( )
( )
( )
( )
( )
( ) ( )
( )
( )
( )( ) ( )( )
0
0
0
1 1
0
0
0
1 1 0
0
0
1 1
1 1 1
( ) 1
(1 ) (2 )
( ) 1
( ) ( )( )
(1 ) (2 )
1
(1 )
n n
n
n
n
t t
p p
RL n n q p
t
n n
t
t
p p
p
n n n
t
p p p
n n n
x x t x d
D x t d t d
p dt p p
t t
x t
t x t x t d
p p
x t
t x t t x t d
p p
I
p
t t
t t
t t
t t t t t
t t t

= = +
I I I

(
= + +
(
I I
(

(
= + +
(
I I
(

=
I
} }
}
}
`
` ``
` ``
( )
0 0
1
( )
(2 )
n
J J t
p
+ +
I
(3.12)
Tong :

1 1
0 0
0 0
( ) , ( ) ( )( ) ( )
n n
n
t t
p p
n n n t
J x t t J t x t d y d t t t t t

= = =
} }
` `` (3.13)
Cng thc (3.13) c xp x bng cng thc hnh thang nh sau:


Hnh 3.1 Xp x tch phn bng cng thc hnh thang
Ta tnh c:

( )
0
1 2
1 1 1
0 0
1
/2 /2 1 /2
0
( ) 0
( ) ( ) ( ) ( ) ( ), ( 1)
2 2 2
( ) ( ) ( ), ( 0)
2 2 4
n n n n n
n n n
n n
n t j t j t j t j t n
j j
n
n t h j t h j t h n
j
J t
h h h
J t y y y y y t n
h h h
J t y y y t n
t t t t
t t

+ +
= =
+ + + +
=
=
( (
~ + = + + >

| |
(
+ ~ + + >
|

\ .

(3.14)
3.1.2.3. Xp x theo s im Gauss.
Vic xp x theo s im Gauss c li th l thi gian tnh ton c ( ) n O tuy nhin vic xp x ny l km
chnh xc hn cc phng php khc.
Xp x thnh phn o hm cp phn s
( )
( )
( )
( )
0
1
p p p
RL C
x t
D x t t D x t
p

= +
I
(3.15)
( )
( )
( )
( )
0
1
p
t
p
C
t
D x t Dx d
p
t
t t
=
I
}
(3.16)
Trong hm Gamma c nh ngha:
( )
1
0
z p
p e z dz

I =
}
(3.17)
ng thi hm Gamma c tnh cht sau:
( ) ( ) 1
sin( )
p p
p
t
t
I I = (3.18)
Thay (3.17) vo (3.15) ta c:

0

0


( )
( )
( )
0 0
2sin
p
t
p z
C
p z dz
D x t e Dx d
t z
t
t t
t t
| |
(
= |
(
|

\ .
} }
(3.19)
t:
( )
2
z t y t = (3.20)
Do vy t (3.18) v (3.19) ta nhn c:
( )
( )
( )
( )
2
2 1
0 0
2sin
t
t y p p
C
p
D x t y e Dx d dy
t
t
t t
t

| |
=
|
\ .
} }
(3.21)
t:
( )
( )
( )
( )
2
2 1
0
2sin
, ,
t
t y p
p
y t y e Dx d
t
t
| t t
t

= =
}
(3.22)
T (3.21) ta c:
( ) ( ) ( )
2 1 2
, ,
p
D y t y Dx t y y t | |
= (3.23)
S dng phng php Gauss n im xp x o hm cp phn s :
( ) ( ) ( )
0
, w ,
i
n
y p
C i i
i n
D x t y t dy e y t | |
=
= =
}
(3.24)
Trong : n l s im Gauss .
w :
i
l hm trng lng
:
i
y l im Gauss ph thuc vo s im Gauss dng xp x
( ) ,
i
y t | c xc nh bng cch gii h phng trnh vi phn sau:
( ) ( ) ( )
2 1 2
, , , 1..
p
i i i i
y t y x t y y t i n | |
= =
`
` (3.25)
3.1.3. Xp x thnh phn cp phn s vi 1<p<2
i vi trong cc trng hp siu khuch tn chn th thnh phn o hm cp phn s p s l 1 2 p < < .
Theo nh ngha ca Riemann-Liouville:
( )
( )
( ) ( )
2
1
2
1
2
t
p
p
R
a
d
D x t x t d
p dt
t t t
=
I
}
(3.26)
Theo nh ngha ca Caputo:
( )
( )
( ) ( )
1 1
2
t
p
p
C
a
D x t x t d
p
t t t
=
I
}
`` (3.27)
Ta c lin h gia 2 nh ngha Riemann-Liouville v Caputo nh sau.
( ) ( ) ( )
( )
( )
( )
( )
( )
1
1 2
p p
p p
RL C
t a t a
D x t D x t x a x a
p p
+

= + +
I + I +
` (3.28)


Vic s dng nh ngha Riemann-Liouville trong trng hp 1 2 p < < i hi phi s l iu kin u
( ) x a , v ( ) x a ` tuy nhin vic x l iu kin u l rt kh khn trong trng hp phng trnh dao
ng phc tp. Do vy xp x gi thit iu kin u c a ra l ( ) ( ) 0, 0 x a x a = = ` . Vic xp x tch
phn (3.27) c th c thc hin tng t nh i vi trng hp 0 1 p < < , bng cch a v o hm
cp 3 vic xp x c thc hin nh sau:

( )
( )
( )
( )
( )
( )( ) ( )( )
( )
( ) ( )( )
2 2
1
0
0 0
2
2
0
1 1 1
2 2 2
1
0
3
n
n
n
t t
t
p p
p
C n n n p
n
t
p
p
n n
x
D x t d x t x t d
p p p
t
x t x t d
p
t
t t t t t t
t
t t t

(
= = +
(
I I
(

(
= +
(
I
(

} }
}
``
`` ```
`` ```
(3.29)
Trong tnh phn: ( )( )
2
0
n
t
p
n
I x t d t t t
=
}
``` c xp x bng cng thc hnh thanh, tng t nh mc
(3.1.2)
Mt cch khc ta cng c th s dng sai phn tin xp x nh sau:
( )
( ) ( )
1 1
1
, 1 2
p p
RL n RL n p
RL n
D x t D x t
D x t p
h

= < < (3.30)

Trong : ( ) ( )
1 1
1
,
p p
RL n RL n
D x t D x t

c tnh nh i vi trng hp 0 1 p < < .

Hoc xp x theo tc gi E.Sousa [10], nh sau:

( )
( )
( )( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
1 1
1
0
2 1
2 1 ,
,1 , 2
0
1
, 2 1
0
1
2
2
1
2 2
2
3
k
k
x
j
p
p
C j j
k
x
p j
k k k p t
C j j k
k
p j
j k k k k
k
D x t x x d
p
x t x t x t
t
D x t d
p t p
t
d x t x t x t
p
t t t
+

=

+ + A
=

+ +
=
=
I
+
A
=
I A
A
= +
I
``
(3.31)
Trong :
( ) ( )
2 2
,
1
p p
j k
d j k j k

= (3.32)
V d 3.1:
Xt hm: ( )
4
x t t = . Vi bc ca o hm 1 2 p < s theo [10] ta c:

( ) ( ) ( )
( )
4
24
5
p p p p
C RL GL
D x t D x t D x t t
p

= = =
I
(3.33)
Kt qu thu c bng cc cch xp x khc nhau:
- Kt qu s dng sai phn vi o hm cp mt, v o hm cp hai
- S dng o hm cp mt
( )
1.5
1st d
D x

, o hm cp hai
( )
1.5
2nd d
D x

, v sai s tng ng ( ) ( )
1 2
,
st d nd d
o o

Bng 3.1. So snh kt qu xp x vi p=1.5.


Time ( )
1.5
exact
D x
( )
1.5
1st d
D x

( )
1st d
o

( )
1.5
2nd d
D x

( )
2nd d
o

0.1 0.0228 0.02283512 -1.6622e-006 0.02280769 -2.9094e-005
0.2 0.1292 0.12921109 2.6702e-005 0.12910254 -8.1846e-005
0.4 0.7308 0.73097847 2.0123e-004 0.730546647 -2.3059e-004
0.5 1.2766 1.276967347 3.5205e-004 1.276293360 -3.2194e-004

Nhn xt :
- i vi bi ton phi tnh ton khi thnh phn o hm cp s ( ) x
p
D t vi 1 2 p < < th ta c th a
c v dng D
o
vi 0 1 o < < , tht vy :
t: ( ) 1 , p y x t o = + = ` . Khi h phng trnh thu c l :

( ) ( )
( )
1
, x, , , x, ,
, y, y,
p
y
x
x f t D x x f t D x x
f t D x y
o
o
+
(
(
= = =
(
(
(

`
`` ` `
`
(3.34)
Vi iu kin u cn tha mn l: ( ) ( ) 0 0, 0 0 x x = = `
3.2. Phng php s gii phng trnh vi phn cp phn s
Xt phng trnh dao ng c dng tng qut nh sau:
( ) ( )
p
mx bx c x D x kx f t + + + = `` ` (3.35)
iu kin u :

0 0
(0) , (0) x x x x = = ` ` (3.36)
Chia li thi gian, vi bc h.

0 0
0,1, 2, 3...
n
t t nh t n t n = + = + A = (3.37)
Chuyn (3.34) v dng ch s.
( ) ( ), 0
p
n n n n n n
mx bx c x D x kx f t n + + + = > `` ` (3.38)
3.2.1. Phng php Newmark
Xp x ,
n n
x x ` `` theo cng thc Newmark
Theo cng thc xp x Newmark.
( ) ( )
1 1 1 2 1 1 1 2
1 1 1
1 , , , ,
2
n n n n n n n n n
x x x x x x x x x
t t
|
| | |

| |
= =
|
A A
\ .
`` ` `` ` `` (3.39)


( )
( )
1 1 1 1 1
1 1 1 1
(1 ) 1 1
2
, , , , ,
n n n n n n n n
n n n n
x x tx tx x t x x x
t
x x x x
o o o
o o
| | |
o |

| | | |
= + A + A = + A +
| |
A
\ . \ .
=

(3.40)
i vi thnh phn cp phn s c xp x nh trn phn 3.1 c th theo o hm cp mt, hoc o
hm cp hai. Cui cng ta a (3.37) v phng trnh i s sau:
( ) ( )
2 1 1 1 1 1 1 1
, , , , , , , , , ( ) ( )
n n n n n n n n n p n n
m x x x x b x x x x c x kx f t | o |

+ + + = (3.41)
Phng trnh trn l phng trnh i s vi n l
n
x , c gii bng phng php s.
Tnh c
n
x , ri ta tnh c ,
n n
x x nh sau:

( )
1 1
1 1 1 2
(1 )
1 1 1
1
2
n n n n
n n n n n
x x tx tx
x x x x x
t t
o o
| | |

= + A + A
| |
=
|
A A
\ .

(3.42)
3.2.3. Phng php Runge-Kutta-Nystrm
Hon ton tng t, i vi phng php gii phng trnh vi phn cp phn s l vic xp x thnh
phn o hm cp phn s, s dng cng thc Runge-Kutta-Nystrm ta c th s xp x thnh phn
o hm cp phn s bng o hm cp mt, hoc cp hai. Ta a c (3.35) v dng phng trnh vi
phn cp 2 dng ch s nh sau:

( )
( ) ( )
1
( ) ( ) ( , , )
( , , )
n n n p n n
n n n n p n n n n
n n n n
mx bx c x kx f t
x f t bx c x kx g t x x
m
x g t x x

+ + + =
= =
=

(3.43)
iu kin u:
( ) ( )
0 0 0 0
, x t x x t x = = (3.44)
p dng cng thc Runge-Kutta-Nystrm:

( )
( )
1 1 2 3
1 1 2 3 4
1 1 1
x x x k k k ,
3
1
x x k 2k 2k k ,
3
x ( , x , x ).
n n n
n n
n n n n
h
h
g t h
+
+
+ + +
= + + + +
= + + + +
= +

(3.45)
Trong :

( )
( )
1
2 1 1
3 1 2
4 3 3
k , x , x ;
2
k , x x k , x k ;
2 2 2 4
k , x x k , x k ;
2 2 2 4
k , x x k , x 2k .
2
n n n
n n n n
n n n n
n n n n
h
g t
h h h h
g t
h h h h
g t
h
g t h h h
=
| |
= + + + +
|
\ .
| |
= + + + +
|
\ .
= + + + +


3.2.4. Phng php Gauss
i vi phng php ny phng trnh (3.35) c a v dng h phng trnh sau :

( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( )
1
2 1 2
1
w ,
, , , 1..
i
n
y
i i
i
p
i i i i
x t v t
c x k
v t f t x t e y t
m m m
y t y v t y y t i n
|
| |
=
= =
(3.46)
Trong : n l s im Gauss c trnh by c th mc 3.1 trn.
w :
i
l hm trng lng
:
i
y l im Gauss ph thuc vo s im Gauss dng xp x
V vic gii h phng trnh vi phn (3.46) c th c thc hin bng phng php Runge-Kutta nh
mc 3.25.
3.2.5. Phng php Runge-Kutta
i vi cc h c hc dao ng cp phn s nhiu bc t do ta c th a c v dng h phng trnh
vi phn cp mt nh c trnh by c th mc 2.4, v (3.34). H phng trnh chung a c v l:

( ) | |
( )
1
, , , ... , 0 1
T
n j
t p p p = = < <
p
x f x x p (3.47)
iu kin u :
( ) 0 = x 0 (3.48)
p dng cng thc Runge-Kutta cho h phng trnh vi phn cp mt (3.47) nh sau:

( )
1 1 2 3 4
1
2 2
6
i i
h
+
= + + + + x x k k k k (3.49)
Trong :

( )
( )
1
2 1
3 2
2 3
,
,
2 2
,
2 2
,
i i
i i
i i
i i
t
h h
t
h h
t
t h h
=
| |
= + +
|
\ .
| |
= + +
|
\ .
= + +
k f x
k f x k
k f x k
k f x k
(3.50)


CHNG 4
TNH TON DAO NG CA C H C
O HM CP PHN S
4.1. Tnh ton h dao ng mt bc t do
V d 4.1: Cho h c phng trnh dao ng nh sau:

( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
2
0 0
4 0.5
2 1 3 1, 0 0, 0 3
p
mD x t c x t D x t b x t kx t m g
x x D x x x x
( + + =

+ + + = = = `` `
(4.1)
Kt qu thu c:

Hnh 4.1. Dch chuyn v gia tc ca VD 4.1

( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
2
0 1 2 0
2 1/2
1
2 1 1; 0 0, 0 3
p
mx t c x c x D x t kx t m g
x t x x D x t x t x x
+ + + + =
+ + + + = = =
``
`` `
(4.2)
Kt qu thu c:

Hnh 4.2 Dch chuyn v gia tc ca VD 4.2



( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2
0 1 0 2
2
2
2
1
1
1
2 1, 0 0, 0 3
1
p
p
mx t c x D x t kx t m g
c x
x t x D x t x t x x
x
| |
+ + + =
|
\ .
| |
+ + + = = =
|
\ .
``
`` `
(4.3)
Kt qu thu c:


( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
0 0
1
1
,
1
1
2 1, 0 0, 0 3
1
p
p
mx t D x t kx t m g
c x
x t D x t x t x x
x
+ + =
+ + = = =
``
`` `
(4.4)
Kt qu thu c:




( )
( )
( ) ( )
( )
( )
( ) ( ) ( ) ( )
0 0 2
1
1/2
2
1
,
1
1
2 1, 0 0, 0 3
1
p
mx t D x t kx t m g
c x
x t D x t x t x x
x
+ + =
+ + = = =
``
`` `
(4.5)
Kt qu thu c:


V d 4.6: Cho h chu kch ng dao ng iu ha nh sau:

( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
2 2
0 0
4 0.5
sin( ),
1 3 sin(2 ), 0 0, 0 3
p
mD x t c x t D x t b x t kx t m e t
x x D x x t x x
e e ( + + =

+ + + = = = `` `
(4.6)
Kt qu thu c:




( ) ( ) ( ) ( )
( ) ( ) ( ) ( ) ( ) ( )
2 2
0 1 2 0
2 1/2
1 sin( ),
2 1 sin(2 ); 0 0, 0 0
p
mx t c x c x D x t kx t m e t
x t x x D x t x t t x x
e e + + + + =
+ + + + = = =
``
`` `
(4.7)
Kt qu thu c:



( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2 2
0 1 0 2
2
2
2
1
sin( ),
1
1
2 sin(2 ), 0 0, 0 0,
1
p
p
mx t c x D x t kx t m e t
c x
x t x D x t x t t x x
x
e e
| |
+ + + =
|
\ .
| |
+ + + = = =
|
\ .
``
`` `
(4.8)
Kt qu thu c:




( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2
0 0
1
1
sin( ),
1
1
2 sin(2 ), 0 0, 0 0
1
p
p
mx t D x t kx t m e t
c x
x t D x t x t t x x
x
e e + + =
+ + = = =
``
`` `
(4.9)
Kt qu thu c:



( )
( )
( ) ( )
( )
( )
( ) ( ) ( ) ( )
2
0 0 2
1
1/2
2
1
sin( ),
1
1
2 sin( ), 0 0, 0 0
1
p
mx t D x t kx t m e t
c x
x t D x t x t t x x
x
e e
e
+ + =
+ + = = =
``
`` `
(4.10)
Kt qu thu c:



V d 4.11: Cho h dao ng bc ba nh sau:
( ) ( ) ( ) ( )
1,5
sin , 0 0, 0 0, 0 0, 2 x x D x x x t x x x e e + + + + = = = = = ``` `` ` ` `` (4.11)
gii phng trnh trn ta a v dng h phng trnh vi phn bc mt sau:

( )
( ) ( ) ( )
0.5
, 0 0, 0 0, 0 0
sin
x y
y x
y z x y z
z x y
z t z D y y x e
=
=
= = = =

= =
`
`
`
`` `
`
(4.12)
Kt qu thu c:

Hnh 4.4 Dch chuyn v gia tc ca VD4.11

( )
2 2
3
1
1
1
0.277( ); 0.020( ); 4620( / )
0.005( ); 5020( / ); 1.10
(0) 0; (0) 1.08( / )
x
q q
x a a
q
mx f kx mg
f A D D
m kg m k N m
H m Ns m c
x x m s
+ =
| |
= +
|
\ .
= = =
= = =
= =
``
`
(4.13)
Kt qu thu c :



( )
2 2
3
1
, (0) 0, (0) 1.08( / )
1
1
0.277( ); 0.020( ); 4620( / ); 0.005( ); 5020( / ); 1.10
x
q q
x a a
q
mx f kx mg x x m s
f A D D
m kg m k N m H m Ns m c

|
+ = = =
| |
= +
|
\ .
= = = = = =
`` `
(4.14)
Kt qu thu c:

Hnh 4.13 Dch chuyn v gia tc ca VD4.13

2
3
1
, (0) 0, (0) 1.08( / )
1
0.277( ); 0.020( ); 4620( / ); 0.005( ); 5020( / ); 1.10
x
q
x a
q
mx f kx mg x x m s
f A D

|
+ = = =
| |
=
|
\ .
= = = = = =
`` `
(4.15)
Kt qu thu c:




( )
3
3 2
3
1
, (0) 0, (0) 1.08( / )
2 1 1
1 1
3 3
0.277( ); 0.020( ); 4620( / ); 0.005( ); 5020( / ); 1.10
x
q q
x a a
q
mx f kx mg x x m s
f A D A D

|
+ = = =
| |
= +
|
\ .
= = = = = =
`` `
(4.16)
Kt qu thu c :

4.2. Tnh ton h dao ng hai bc t do

( )
1 1 1
4 0.5
2 2 2 2 2
0 x x x 1 0 1 1 1 1 0
,
2(1 3x )D x x x x 0 1 0 0 1 2 0
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

`` `
`` `
(4.17)
iu kin u: | | | |
T T
0 0 ; 5 0 = = x x`
Kt qu thu c:



V d 2.17: Cho h phng trnh dao ng nh sau:

( )
( )
4 0.5
1 1 1 2 1 2
4 0.5
2 2 2 2
x x 1 0 1 1 0 2(1 3(x x ) )D x x
x x 0 1 1 2 0 2(1 3x )D x
( + ( ( ( ( (
+ + =
(
( ( ( ( (
+

``
``
(4.18)
iu kin u: | | | |
T T
0 0 ; 5 0 = = x x`
Kt qu thu c:


Ghi ch:
- cc v d trn, k hiu ( ) t o c gi tr ngc du vi gia tc, hay ( ) ( ) t a t o = .


CHNG 5
CHNG TRNH FDE SOLVER TNH TON DAO NG
CA C H C O HM CP PHN S
5.1. Tng quan v chng trnh FDE Solver
Chng trnh FDE Solver (Fractional Derivative Equation Solver) phin bn u tin (v1.0a) c lp
trnh gii cc phng trnh dao ng cp phn s, dng nh sau:
( ) ( )
p
mx bx c x D x kx f t + + + = `` ` (5.1)
iu kin u: ( ) ( )
0
0 0, 0 x x v = = `
Giao din chnh ca chng trnh nh sau:

Hnh 5.1. Giao din chng trnh FDE Solver.
Cc thng s cn nhp:
- Khi lng ca vt : m

- H s cn nht : b

- H s cn n nht :


- Bc o hm cp phn s: p

- Hm dch chuyn: c(x)

- cng ca l xo: k

- iu kin u : ( )
0
0 x v = `

La chn phng php trnh ton:
- Phng php xp x o hm cp phn s (bng o hm cp mt/ o hm cp hai)

- Phng php gii (Newmark/ Runge-kutta-Nystrm)

Phn ha hin th th ca kt qu :

Hnh 5.2. Phn ha hin th kt qu tnh ton


5.2. S dng chng trnh FDE Solver
s dng chng trnh, ta nhp cc thng s ca phng trnh (3.1), v la chn phng php gii
cho bi ton, sau nhn nt Calculate thc hin vic tnh ton.
V d vi bi ton (2.51):

( ) ( ) ( )
4 0.5
1 3 1, 0 0, 0 3 x x D x x x x + + + = = = `` ` (5.2)
Kt qu thu c nh sau:

Hnh 5.3. Kt qu tnh ton s dng phn mm FDE Solver


KT LUN
Vi s pht trin khoa hc k thut, ngy cng c nhiu cc vt liu mi ra i (nh vt liu
silicone, vt liu cao su), nhng m hnh n nht c in vi o hm cp nguyn khng th hin c
y tnh cht ca vt liu. Do gii quyt vn ny, o hm cp phn s c p dng bi cc
nh nghin cu trong thi gian gn y.
n ny gm 5 chng.
CHNG 1: O HM V TCH PHN CP PHN S
CHNG 2: PHNG TRNH DAO NG CA H CHA O HM CP PHN S
CHNG 3: CC PHNG PHP S TNH TON DAO NG H CHA O HM CP PHN S
CHNG 4: TNH TON DAO NG CA H CHA O HM CP PHN S
CHNG 5: PHN MM FDE SOLVER TNH TON DAO NG PHI TUYN CP PHN S
n a ra cc phng php chung gii quyt cc bi ton dao ng phi tuyn cp phn s.
Hng nghin cu sp ti l m rng tnh ton dao ng cho nhiu m hnh phc tp hn, nghin cu v
iu kin u ca phng trnh vi phn cp phn s v s n nh ca cc phng php s, cng nh x
dng cc kt qu thc nghim tm ra cc quy lut phi tuyn cp phn s mi.
Hy vng nhng kt qu ca n ny c th lm c s nghin cu cho cc bi ton trong lnh
vc dao ng phi tuyn cp phn s. Tuy nhin vi kh nng v trnh cn hn ch cng nh thi gian
c hn nn bo co ny ca em chc chn cn nhiu thiu st, em rt mong s nhn c nhng kin
ng gp ph bnh v b sung ca cc thy c gio trong b mn em c th hon thin v b sung thm
kin thc. V chng trnh FDE Solver s tip tc c nng cp c th thc hin tnh ton c vi
nhiu m hnh c hc. Mi kin ng gp xin gi v email duonglacbk@gmail.com .
Mt ln na em xin chn thnh cm n Thy GS.TSKH.NGND Nguyn Vn Khang tn tnh gip
em trong thi gian nghin cu v hon thnh n ny!


TI LIU THAM KHO
[1]. Nguyn Vn Khang (2009), Bi ging ng lc hc h c o hm cp phn s, Trng i
hc Bch Khoa H Ni.
[2]. Nguyn Vn Khang (2004), Dao ng k thut, NXB Khoa hc k thut, H Ni.
[3]. M. Fukunaga and N. Shimizu. Nonlinear fractional derivative models of viscoelastic impact
dynamics based on viscoelasticity and generalized maxwell law. Journal of Computation and Nonlinear
Dynamics
[4]. M. Fukunaga and N. Shimizu. Comparison of fractional derivative models for nite deformation
with experiments of impulse response. Journal of Vibration and Control,
[5]. M. Fukunaga and N. Shimizu Nasuno. A nonlinear fractional derivative model of impulse motion for
viscoelastic materials
[6]. ZHANG and SHIMIZU . Numerical Algorithm for Dynamic Problems Involving Fractional Operators
[7]. Lixia Yuan and Om P.Agrawal, A Numerical Scheme for Dynamic Systems Containing Fractional
Derivatives
[8]. Hand book of Mathematical Functions, M.AbramowitzandI. A.Stegun,eds., Dover Publications ,Inc.
,NewYork, NY,pp.875924.
[9]. T.M. Atanackovic, B. Stankovic. On a numerical scheme for solving differential equations of fractional
oder.
[10]. E.Sousa. How to approximate the fractional derivative of order 1 < 2
[11]. Lun vn thc s khoa hc, Bi Th Thy, Gp phn nghin cu dao ng phi tuyn ca c h c o
hm cp phn s, 2010


PH LC
1. HM GAMMA
1.1. nh ngha hm Gamma hay tch phn Euler loi 2
Vi s>0 ta c nh ngha hm Gamma (tch phn Euler loi 2)
( )
1
0
,
+

I =
}
x s
s e x dx
nh ngha trn c c bng php i bin ( ) u log t = trong nh ngha ban u ca Euler
( ) ( ) ( )
1
1
0
log .
I =
}
s
s x dx
1.2. Cng thc c bn th nht ca hm Gamma
( ) ( ) ( ) 1 , 0 s s s s I + = I >

Vi
1
2
s = ta c:
2
0
1
2 2 ,
2 2
x
e dx
t
t
+
| |
I = = =
|
\ .
}

Mt khc theo cng thc trn ta c

( ) 1.3.5... 2 1 1 1 3 1 1
.
2 2 2 2 2 2
n
n
n n n t
| | | || | | |
I + = I =
| | | |
\ . \ .\ . \ .
.
1.3. Cng thc c bn th 2 ca hm Gamma v hm Bta
1.3.1. nh ngha hm Bta
Hm Bta (tch phn Euler loi 1) c dng
( ) ( ) ( )
1
1
1
0
, 1 , 0, 0 .
B = > >
}
q
p
p q x x dx p q
Bng php i bin
2
os x c = ta c hm B dng tch phn suy rng
( ) ( )
2
2 1 2 1
0
, 2 os .sin , 0, 0 .
t

B = > >
}
p q
p q c dx p q
t
2
sin x = ta cng bin i c hm ( ) ( )
1
1
1
0
, 1
p
q
q p x x dx
B =
}
vi ( ) 0, 0 p q > > v dng
( ) ( ) , , . p q q p B = B
Nh vy hm B i xng v c th c tnh ton thng qua hm I nh tnh cht quan trng sau


1.3.2. nh l
( )
( ) ( )
( )
( ) , , .
p q
p q q p
p q
I I
B = = B
I +

S dng tnh cht va chng minh ta c
( ) ( ) ( ) ( ) ( ) ( )
1
1
0
1 1 ,1 ,1 1 .
s
s
s s s s s s t t dt
I I = I B = B =
}

Thay
( ) 1
x
t
x
=
+
suy ra
( ) ( ) ( )
1
0
1 , 0 1 .
1 sin
s
x
s s dx s
x s
t
t
+
I I = = < <
+
}

1.3.3. Hm Gamma c th xem nh gii hn ca mt tch
Ta bit gii hn
lim 1 ,
| |
=
|
\ .
n
x
n
x
e
n

( )
1 1
0 0
lim 1 .
n
x s s
n
x
s e x dx x dx
n
+ +

| |
I = =
|
\ .
} }

K hiu
( ) ( )
1
0
1 , 0 , 0 .
| |
I = s s >
|
\ .
}
k n
s
k
x
s x dx k n s
n

Tch phn tng phn biu thc trn ta tnh c
( ) ( )
1
1
0
1 1 1 ,
0
| | | |
I = + = I +
| |
\ . \ .
}
k k n s
s
k k
n
x x k x k
s x dx s
n s ns n ns

Mt khc ch rng
( )
1
0
0
.
0
n s s
s
n
x n
s x dx
s s
I = = =
}

Do vy:

( ) ( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
1 2
0
1
1 2
1
1 2 1
1 2 1
1.2 1.2
.
1 1 1
n n n
s n
s
n
n n n
s s s
ns ns n s
n n n
s n
ns n s n s n s n
n n n
n
s n s s s n n s s s n

+
I = I + = I +
+

= = I +
+ + +
= =
+ + + + +
.
. .
. .


Do hm Gamma c th c biu din qua gii hn ca mt tch

( ) ( )
1.2
( ) lim , ( 0).
1
I = >
+ +
.
.
s
n
n
s n s
s s s n

Biu thc trn c th dng lm nh ngha hm Gamma. Khi , ta vn c cng thc truy ton c
bn ( ) ( ) 1 s s s I + = I .
Tht vy

( )
( )( ) ( )
( ) ( )
( ) ( )
( )
1
1.2
1 lim
1 2 1
1.2
lim
1 1
1.2
. lim . lim .
1 1
+

I + =
+ + + +

=
`
+ + + +

)
= = I
+ + + +
.
.
.
.
.
.
s
n
s
n
s
n n
n
s n
s s s n
n n
s n
s s s n s n
n n
s n s s
s s s n s n

Hm Gamma c nh ngha qua gii hn ca mt tch nh trn c cc cc im n l 0,-1,-2,,-
n,
1.3.4. Hm Gamma v h s ca nh thc Newton
nh ngha:
( )( ) ( )
( )
( )
1 2 1 !
, .
! ! !
n n n n n k n
k n
k k n k k
+ | |
= = s
|

\ .
.

Cc h qu
1, 0 khi ,
0
n n n
k n
n k
| | | | | |
= = = >
| | |
\ . \ . \ .

1
, , .
1 1 1 1
n n n n n n n
n
n k n k k k k
+
| | | | | | | | | | | | | |
= = = + =
| | | | | | |
+ +
\ . \ . \ . \ . \ . \ . \ .

Quan h gia hm Gamma v h s ca nh thc: ( ) 1 ! n n I + =
( )
( )
( ) ( )
1 !
! ! 1 1
I + | |
= =
|
I + I +
\ .
n n n
k n k k k n k


2. HM MITTAG LEFFLER
i vi nhng phng trnh tnh ton cp nguyn, hm m
z
e ng mt vai tr quan trng. Tng t
trong tnh ton cp phn s, hm Mittag-Leffler cng ng vai tr nh vy.
Vi hm mi
| |, 0
q
E az q > , Mittag-Leffler xt tham s a l mt s phc, tc l
j
a a e
|
= . Khi ng
nghin cu hm ny, r rng l hm va n nh (gim dn v 0), va khng n nh (tin ti ) khi z
tng, ph thuc vo tham s a v q c la chn nh th no. Kt qu l hm vn b chn khi tng z
nu
2
. q
t
| >
2.1. Cc nh ngha
2.1.1. Hm Mittag Leffler mt tham s
Hm Mittag Leffler mt tham s c nh ngha
( )
( )
0
, 0.
1
k
k
z
z
k
o
o
o
=
E = >
I +

Dng khai trin l dy v hn
( )
( ) ( ) ( )
2 3
1 ,
1 2 1 3 1
.
z z z
E z
o
o o o
= + + + +
I + I + I +

Hm ny c gii thiu bi Mittag-Leffler nm 1903.
Vi mt s gi tr ca o ta c cc hm Mittag Leffler

( )
( )
( )
( )
( )
( )
( ) ( )
( ) ( )
3
3
0
1
2
3
2
3
4 4
4
1 2
1
,
1
,
cosh ,
1 3
2 cos ,
3 2
1
cos cosh ,
2
1 erf , 0.
E =
E =
E =
(
| |
E = +
( |
(
\ .

(
E = +

(
E = + >

x
x
x
x
x
x
x e
x x
x e e x
x x x
x e x x

2.1.2. Hm Mittag-Leffler hai tham s
Hm Mittag-Leffler hai tham s ng vai tr rt quan trng trong php tnh khng nguyn. Kiu
hm ny c a ra bi R.P.Agarwal v Erdelyi vo nm 1953-1954.
Hm hai tham s c nh ngha


( )
( )
( )
,
0
0, 0 .
k
k
z
E z
k
o |
o |
o |
=
= > >
I +

( )
( )
( )
,1
0
1
k
k
z
E z E z
k
o o
o
=
=
I +
l hm Mittag-Leffler mt tham s.
Nhng ng nht thc sau c suy ra t nh ngha

( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( )
1,1
0 0
1
1,2
0 0 0
2
1,3 2 2
0 0 0
,
1 !
1 1
,
2 1 ! 1 !
1 1
.
3 2 ! 2 !
k k
z
k k
k k k z
k k k
k k k z
k k k
z z
E z e
k k
z z z e
E z
k k z k z
z z z e z
E z
k k z k z

= =
+
= = =
+
= = =
= = =
I +
= = = =
I + + +

= = = =
I + + +

Phng trnh trn c dng tng qut
( )
2
1, 1
0
1
.
!
=
| |
=
|
\ .
k m
z
m m
k
z
E z e
z k

Nhng hm lng gic v hyperbolic cng l nhng s biu hin ca hm Mittag-Leffler hai tham
s

( )
( ) ( )
( )
( )
( ) ( )
( )
2 2
2
2,1
0 0
2 2 1
2
2,2
0 0
cosh ,
2 1 2 !
sinh 1
,
2 2 2 1 !
k k
k k
k k
k k
z z
E z z
k k
z z z
E z
k z k z

= =
+
= =
= = =
I +
= = =
I + +

2.1.3. Hm sai s
Hm sai s c nh ngha
( )
2
0
2
,
z
t
erf z e dt
t

=
}

v c biu din bi dy
( )
( )
( )
2 1
3 5 7 9
0
1 2 2
.
2 1 ! 3 10 42 216
.
n
n
n
z z z z z
erf z z
n n t t
+
=
| |
= = + + +
|
+
\ .

2.1.4. Hm b sai s
( ) ( )
2 2
0
2 2
1 1 .
z
t t
z
erfc z erf z e dt e dt
t t

= = =
} }

Khai trin dy ca hm b sai s


( ) ( )
( )
( )
( )
( )
( )
2
2
2
1
2
1
1.3.5... 2 1
1 1
2
2 !
1 1 .
! 2
z
n
n
n
z
n
n
n
n e
erfc z
z
z
n e
z n z
t
t

=

=
(
(
= +
(

(
= + (
(

2.1.5. Php bin i Laplace ca hm Mittag - Leffler
Ta c:
( ) ( )
L
f t f s
( )
( )
( )
1
,
,
k k
f t t E at
o | o
o |
+
=

( )
( )
1
!
.
L k
s k
f s
s a
o |
o
+
=

Trong :
( )
( ) ( )
, ,
k
k
k
d
E t E t
dt
o | o |
= .
Vi 0 k > ton t l vi phn ca hm Mittag-Leffler v vi 0 k < ton t l tch phn ca hm
Mittag-Leffler.
( )
( )
1
,1
1
,1
Khi 1, 0 ,
.
s
k E at
s a
s
E at
s a
o
o
o o
o
o
o o
|

= =

+

2.1.6. Cc hm pht trin t hm Mittag - Leffler
Ta c:
( )
( )
( )
,
0
0, 0 .
k
k
z
E z
k
o |
o |
o |
=
= > >
I +

2.1.7. Hm Agarwal
Hm Mittag-Leffler c khi qut bi Agarwal vo nm 1953. Hm ny quan tm c bit ti h
cp phn s do php bin i Laplace ca n c a ra bi Agarwal. Hm c nh ngha


( )
( )
( ) { }
1
,
0
,
,
.
1
m
m
t
E t
m
s
E t
s
|
o
o |
o |
o
o | o
o |
| |
+
|
\ .
=
=
I +
=
L

2.1.8. Hm Erdelyi
Erdelyi (1954) nghin cu dng tng qut ca hm Mittag-Leffler
( )
( )
,
0
, , 0
m
m
t
E t
m
o |
o |
o |
=
= >
I +

trong s m ca t l s nguyn.
2.1.9. Hm R v hm G suy rng
| |
( ) ( )
( )
( ) { }
| |
1 1
, ,
0
, , , .
1
n n q
q q
n
a t c
R a c t R a t c
n q
u
u u
u
+
=
I +

Trong , t l bin c lp v c l gii hn di ca o hm v tch phn cp phn s. i vi
min t c > s quan tm ca ta ti hm ny s l bnh thng.
Php bin i Laplace ca hm R

( )
( )
,
,
, 0, ,
, , .
q q
cs
q q
s
R a t
s a
e s
R a c t
s a
u
u
u
u

( )
( ) ( )
( ) ( )
1,0
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B GIO DC V O TO

. o hm v tch phn cp phn s ca chui

, p dng cng thc Riemann

l hm Mittag Leffler hai tham s.

, nh ca tch chp bng tch cc nh

, nh ca tch chp bng tch cc nh

' ' ' =

= < < (3.30)

c tnh nh i vi trng hp 0 1 p < < .

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