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Chuong2 NDHT K2008
Chuong2 NDHT K2008
Chng 2
M HNH HA
Chng 2: MO HNH HOA
2.1. Gii thieu
2.2. Phan tch chc nang
2.3. Phan tch vat ly
2.4. Phan tch toan hoc
2.5 Mt s th d
Tham kho: [Smith, 1994], chng 2, 4.
[Johansson, 1993], chng 7.
Chng 2: M HNH HA
Moi trng
Y
Chng 2: M HNH HA
S o
Co lap
1. C KH
a. Tnh tien
(Structural
Translation - ST)
b. Quay
(Structural
Rotation - SR)
3. IEN
c. Phc hp
(Structural
Complex - SC)
a. ien dan
(Electrical
Conduction
EC)
b. ien bc xa
(Electrical
Radiation ER)
3. NHIET
Chng 2: M HNH HA
a. Dan nhiet
(Thermal
Conduction
TC)
b. oi lu nhiet
(Thermal
Convention
TV)
4. LU CHAT
c. Bc xa nhiet
(Thermal
Radiation TR)
a. Noi lu
(Fluid
Internal FI)
a. Ngoai lu
(Fluid
External FE)
Chng 2: M HNH HA
(a)
(b)
Hnh 2.3: He thong lam mat (a) S o he thong
(b) S o trao oi nhiet
Hunh Thi Hong B mn iu khin T ng
Chng 2: M HNH HA
(a)
(b)
Hnh 2.4: He thong lam mat (a) S o a cong cua he thong
(b) S o a cong cua bo trao oi nhiet
Chng 2: M HNH HA
Hnh 2.6: S o khoi canh tay may chi tiet en cac he thong con
Hnh 2.7: S o khoi canh tay may chi tiet en cac bo phan
Hunh Thi Hong B mn iu khin T ng
Chng 2: M HNH HA
Chng 2: M HNH HA
Bin
Lng
in tch
(Charge)
Khong cch
(Distance)
Th tch
(Volume)
Nhit nng
(Heat energy)
Th
in th
(Voltage)
Lc
(Force)
p sut
(Pressure)
Nhit
(Temperature)
Thi gian
Giy
Giy
Giy
Giy
Chng 2: M HNH HA
10
d(
lng )
dt
(2.1)
Cong suat
cong suat = the cng o dong
the
cng o dong
(2.2)
the =
1
dung
lng
the
(cng o dong)dt
(2.3)
(2.4)
d
(cng o dong )
dt
(2.5)
Chng 2: M HNH HA
11
(2.6)
(2.7)
(2.8)
Chng 2: M HNH HA
12
Chng 2: M HNH HA
13
Chng 2: M HNH HA
14
dt
Cc phn t in c bn
in tr:
(2.2)
in dung:
(2.3)
(2.4)
in cm:
(2.5)
R=
[]
S
u
R=
i
C=
[C]
[V]
[A]
d
q
C=
u
1
u=
idt
C
[F]
L=
r 2 N
u=L
[H]
di
dt
Ngun p l tng:
Ngun dng l tng
2.3.2.2 Phng trnh cn bng in
nh lut Kirchoff v dng.
nh lut Kirchoff v p.
2.3.2.3 Phng php gii tch mch in
Phng php dng vng
Phng php th nh
Hunh Thi Hong B mn iu khin T ng
Chng 2: M HNH HA
15
Cc phn t:
Tr:
v=
[m]
[N]
[m/sec]
dx
dt
RM = b
b: h s ma st nht [N.sec/m]
x
f
f
b
(2.2)
Dung:
b=
f
v
RM =
f
v
CM = 1 / k
k: cng l xo [N/m]
x
f
f
k
(2.3)
1 x
=
k f
(2.4)
f = k vdt = kx
x
f
1
f =
vdt
CM
CM =
Chng 2: M HNH HA
16
[kg]
x
f
(2.5)
Chuyn ng quay
Lc
Khong cch
Vn tc
Gia tc
Qun tnh
m
f =m
dv
= ma
dt
Moment
Gc quay
Vn tc gc
Gia tc gc
Moment qun tnh
Chng 2: M HNH HA
2.3.3.3 S tng ong gia he thong c va he thong ien
17
Chng 2: M HNH HA
18
Nhit nng:
Q
Dng nhit:
H
(2.1)
[0C]
[J]
[J/sec]
H=
dQ
dt
RT =
kC S
trong : kC: l h s dn nhit ca mi trng truyn nhit
l: l chiu di ca mi trng truyn nhit
S: l tit din ngang ca mi trng truyn nhit
(2.2)
RT =
H
Nhit tr i lu + Bc x nhit: xem (Smith,1994)
Nhit dung:
CT = c.M
trong : c: l nhit dung ring ca mi trng truyn nhit
M: l khi lng ca mi trng truyn nhit
Q
(2.3)
CT =
(2.4)
1
Hdt
CT
IT
= IL
dH
dt
Chng 2: M HNH HA
19
Chng 2: M HNH HA
20
q=
[N/m2]
[m3]
[m3/sec]
dV
dt
128l
[N.sec/m]
d 4
p
RL =
(2.2)
q
Cng thc trn ch ng trong trng hp lu cht chy tng (c
hng), v ng ng dn lu cht di (l>20d)
Lu tr ca ng ng:
RL =
Chng 2: M HNH HA
21
Hnh 2.17: Lu tr
Dung:
(2.3)
(2.4)
A
g
V
CL =
p
1
p=
qdt
CL
CL =
[m5/N]
Chng 2: M HNH HA
22
Qun tnh:
(2.5)
IL =
l
a
p = IL
[Nsec2/m5]
dq
dt
Chng 2: M HNH HA
23
2.3.6 Mt s th d
Th du 2.5: M hnh ha
h thng sau:
f
m
Chng 2: M HNH HA
24
2
2
p dng cng thc EulerLagrange:
d L L
= f bx&
dt x& x
d
(mx& ) + kx = f bx&
dt
f U
xq
1/ k C
bR
mL
i
R C
2
I ( s ) R +
+ Ls = U ( s )
Rs + + Ls = U ( s )
Cs
s
C
1
1
Q( s ) Rs + + Ls 2 = U ( s ) Lq&&(t ) + Rq& (t ) + q (t ) = u (t )
C
C
Chng 2: M HNH HA
25
lcos
m
mg
l
x
Chu thch:
M : trong lng xe [Kg]
m : trong lng con lac [Kg]
l : chieu dai con lac [m]
u : lc tac ong vao xe [N]
2
g : gia toc trong trng [m/s ]
x : v tr xe [m]
: goc gia con lac va phng thang ng [rad]
Cach 1: Dung nh luat Newton
Goi (xP, yP) la toa o cua vat nang m au con lac, ta co:
xP = x + l sin
(1)
y P = l cos
(2)
Ap dung nh luat II Newton cho chuyen ong theo phng x,
ta co:
d 2x
d 2 xP
M 2 +m 2 = F
(3)
dt
dt
Thay xG bieu thc (1) vao bieu thc (3) suy ra:
d 2x
d2
M 2 + m 2 ( x + l sin ) = F
(4)
dt
dt
Khai trien cac ao ham bieu thc (4) va rut gon ta c:
(5)
( M + m) &x& ml (sin )& 2 + ml (cos )&& = F
Chng 2: M HNH HA
26
d2
m
(
x
l
sin
)
l
cos
m
(
l
cos
Chng 2: M HNH HA
1
(M + m )x& 2 + mlx&& cos + 1 ml 2& 2 mgl cos
2
2
Phng trnh Euler Lagrange:
d L L
=F
&
dt x x
d L L
=0
&
dt
Thay (4) vao (3):
(M + m )&x& + ml (cos )&& ml (sin )& 2 = F
m&x& cos + ml&& mg sin = 0
Suy ra:
F + ml (sin )& 2 mg cos sin
&x& =
M + m m(cos ) 2
F cos ( M + m) g (sin ) + ml (cos sin )& 2
&
&
=
ml (cos ) 2 ( M + m)l
L = T U =
y2
l2
y1
m1
1
l1
x1
x2
27
(3)
(4)
(5)
Chng 2: M HNH HA
Van toc:
28
ong nang:
1
1
T = m1 ( x&12 + y&12 ) + m2 ( x&22 + y& 22 )
2
2
1
1
1
= 1
dt &1 1
(2)
d L L
=2
dt & 2 2
(3)
(5)
Chng 2: M HNH HA
29
qin
u(t)
h(t)
qout
2
qout
(t ) = (2 / )a 2C D2 p(t )
trong o:
1
h&(t ) = ku (t ) aC D 2 gh(t )
A
Suy ra:
qin1
u(t)
h1(t)
qout1=qin2
h2(t)
qout2
1
&
h
t
k1u1 (t ) a1C D1 2 gh1 (t )
(
)
=
1
A1
1
h&2 (t ) =
a1C D1 2 gh1 (t ) a2C D 2 2 gh2 (t )
A2
Chng 2: M HNH HA
30
Mo hnh toan:
(
(
1
&
h
t
k1u1 (t ) a1C D1 2 gh1 (t ) C D12 sgn (h1 (t ) h2 (t ) )a12 2 g h1 (t ) h2 (t )
(
)
=
1
A1
1
h&2 (t ) =
k 2u 2 (t ) a2 C D 2 2 gh2 (t ) C D12 sgn (h2 (t ) h1 (t ) )a12 2 g h1 (t ) h2 (t )
A2
e 2 mo hnh tren tng ng ta can gia thiet bon cha rat ln,
khi he thong van hanh o cao mc chat long trong bon cha thay oi
khong ang ke.
Chng 2: M HNH HA
Th du 2.13: Mo hnh lo say
H(t) (t)
S(t)
31
H (t ) : dong nhiet
Ta co:
Dong nhiet:
H (t ) =
CT
trong o:
S (t ) (t )
RT
d (t )
= H (t )
dt
d
: nhiet tr
2 Ak
d: chieu dai lo say
A: tiet dien ngang
k: he so dan nhiet
CT = cM : nhiet dung
c: nhiet dung rieng cua moi trng truyen nhiet
M: khoi lng moi trng truyen nhiet
RT =
d (t )
+ (t ) = S (t )
dt
Trng hp lo say dai, co the mo hnh hoa bang cach chia lam
nhieu ngan:
S(t)
H1(t) 1(t)
d/4
d/4
H2(t)
2(t)
d/2
Chng 2: M HNH HA
Dong nhiet:
H1 (t ) =
32
S (t ) 1 (t )
RT 1
(t ) 2 (t )
H 2 (t ) = 1
RT 2
Phng trnh can bang:
d (t )
CT 1 1 = H1 (t ) H 2 (t )
dt
d (t )
CT 2 2 = H 2 (t )
dt
Suy ra:
d1 (t ) S (t ) 1 (t ) 1 (t ) 2 (t )
T 1 dt =
RT 1
RT 2
d (t ) (t ) 2 (t )
CT 2 2 = 1
dt
RT 2
y (t ) = h( x (t ), u(t ))
trong o x (t ) n la vector trang thai, u(t ) p la vector tn hieu
vao, y (t ) q la vector tn hieu r; f (.) n , h(.) q la vector
ham mo ta ac tnh ong cua he phi tuyen.
Hunh Thi Hong B mn iu khin T ng
Chng 2: M HNH HA
33
xn
B=
C=
f
u ( x,u )
h
x ( x,u )
f1
u
1
f 2
= u1
M
f
n
u1
h1
x
1
h2
= x1
M
hq
x1
f1
u2
f 2
u2
M
f n
u2
h1
x2
h2
x2
M
hq
x2
f1
xn
f 2
L
xn
O M
f n
K
xn ( x,u )
L
L
L
O
K
L
L
O
K
f1
u p
f 2
u p
M
f n
u p
( x, u )
h1
xn
h2
xn
M
hq
xn ( x,u )
Chng 2: M HNH HA
D=
h
u ( x,u )
34
h1
u
1
h2
= u1
M
h
q
u1
h1
u2
h2
u2
M
hq
u2
h1
u p
h2
L
u p
O
M
hq
K
u p
( x, u )
L
Chng 2: M HNH HA
35
* ac tnh ma sat:
Gia thiet co ca ma sat tnh va ma sat nht tac ong lam can tr
chuyen ong cua xe va con lac. Cac lc ma sat nay co the mo ta
bang cac phng trnh sau:
C x&
f C = sgn( x& ) Ax e x + Bx x&
(3)
C &
f P = sgn(&) A e + B &
(4)
trong o Ax , Bx , C x , A , B , C > 0 .
* ac tnh ong c:
La I&a = Va Ra I a Eb
Eb = K b
J m& = Tm Tl Bm
Tm = K i K g I a
Tl = Fr
= K g x& / r
Ra : ien tr phan ng
Va : ien ap phan ng
Tm : moment ong c
Tl : moment tai
K i : he so moment
K i : he so moment
K g : he so giam toc
Eb : sc phan ien
(5)
(6)
Chng 2: M HNH HA
36
La I&a + Ra I a +
Kg Jm
r2
&x& +
K g Kb
K g Bm
r2
r
x&
(7)
x& = Va
Ki K g
r
Ia = F
(8)
M
m
x
ml
(
)
(sin
a
C
r
r2
r2
K g Kb
x& = Va
La I&a + Ra I a +
r
Th du 2.15: Mo hnh tuyen tnh cua he con lac ngc xung quanh v
tr thang ng.
He phng trnh mo ta ac tnh ong phi tuyen cua he con lac
ngc (xem th du 7):
u + ml (sin )& 2 mg cos sin
&x& =
(1)
M + m m(cos ) 2
u cos ( M + m) g (sin ) + ml (cos sin )& 2
&
&
(2)
=
2
ml (cos ) ( M + m)l
at x (t ) = [ , &, x, x& ]T : vector trang thai, ta c:
x2 (t )
2
x&1 (t ) u cos x1 ( M + m) g (sin x1 ) + ml (cos x1 sin x1 ) x2
x& (t )
2
(cos
)
(
)
+
ml
x
M
m
l
2
=
x4 (t )
x&3 (t )
2
u + ml (sin x1 ) x2 mg cos x1 sin x1
x&4 (t )
1
23
2
M + m m(cos x1 )
1444444
x&
4442444444444
3
f (.)
Chng 2: M HNH HA
37
(t ) x1 (t )
y (t ) =
= x (t )
x
t
(
)
12
3
3
h(.)
iem can bang v tr thang ng: ( x , u ) = (0,0)
Tuyen tnh hoa xung quanh iem can bang:
~ (t )
x~& (t ) = Ax~ (t ) + Bu
~
~
~
y (t ) = Cx (t ) + Du (t )
trong o:
A=
f
x ( x,u )
f1
x
1
f 2
x
= 1
f
3
x1
f 4
x
1
f1
x2
f 2
x2
f 3
x2
f 4
x2
f1
x3
f 2
x3
f 3
x3
f 4
x3
f1
x4
0
1 0 0
f 2
( M + m) g 0 0 0
Ml
x4
=
f 3
0
0 0 1
m
x4
g
0
0
0
M
f 4
x4 ( 0 ,0)
f1
u
0
f
1
2
f
B=
= Ml
= u
0
u ( x,u ) f 3
1
u
f 4
M
u ( 0 ,0 )
h1 h1 h1 h1
x x
1 0 0 0
h
x3 x4
1
2
C=
=
=
x ( x,u ) h2 h2 h2 h2
0 0 1 0
x1 x2 x3 x4 ( x,u )
D=
h
u ( x,u )
h1
0
= u
=
h
0
2
u ( x,u )
Chng 2: M HNH HA
38