TRNG I HC K THUT CNG NGHIP

KHOA: C KH
B MN: C IN T

BI GING HC PHN
C IN T
Theo chng trnh 150 TC
S tn ch: 3
(Lu hnh ni b)

Thi Nguyn, nm 2014

1

TS. Phm Thnh Long

Ths. L Th Thu Thy
Ths. Dng Quc Khnh, Ths. V c Vng
Ths. Nguyn Ngc H, Ths. Nguyn ng Minh, KS Dng Cng nh

BI GING HC PHN
C IN T
Theo chng trnh 150 tn ch
S tn ch: 3
(Lu hnh ni b)

MC LC
CNG CHI TIT
NI DUNG
Phn I: TNG QUAN V C IN T .................................................................................. 8
I.1 C IN T L G......................................................................................................... 8
I.2 CC THNH PHN CHNH CA C IN T ......................................................... 8
I.3 CC THUC TNH CA THIT K TRUYN THNG V THIT K C IN
T......................................................................................................................................... 11
I.4 CHC NNG CA CC H C IN T ................................................................ 11
I.5 CC TN HIU U VO CA H C IN T.................................................... 11
I.6 CC TN HIU U RA CA H C IN T ....................................................... 12
I.7 X L TN HIU .......................................................................................................... 13
Phn II: XY DNG M HNH TON HC CC H VT L ........................................ 14
II.1 M HNH TON CC H THNG C HC ........................................................... 22
1. M hnh dao ng ca c h c mt bc t do ............................................................. 23
2. M hnh dao ng ca c h hai bc t do ................................................................... 24
3. M hnh ton hc ng n hi .................................................................................. 29
4. M hnh vt th chu ko nn ....................................................................................... 31
5. M hnh ca vt chuyn ng....................................................................................... 33
II.2 M HNH TNG T IN C ............................................................................... 34
1. Mch RLC mc ni tip ............................................................................................... 34
2. Mch RLC mc song song ........................................................................................... 40
II.3 CC M HNH LIN QUAN N VT RN .......................................................... 41
1. ng hc vt rn .......................................................................................................... 41
2. Cc m hnh ton vi h vt rn. .................................................................................. 45
2.1 Bi ton thun v vn tc. ...................................................................................... 45
2.2 Bi ton thun v gia tc ....................................................................................... 47
2.3 Bi ton ngc v v tr .......................................................................................... 47
2.4 Bi ton ngc v vn tc. ..................................................................................... 48
2.5 Bi ton ngc v gia tc ....................................................................................... 49
3. Cc phng trnh c bn ca ng lc hc vt rn ...................................................... 50
3.1. M hnh cng dm chu un thun ty ............................................................. 50
Phn III: C CU CHP HNH ............................................................................................ 62
III.1 TNG QUAN .............................................................................................................. 62
III.2 H THNG THY LC V KH NN ................................................................... 64
2.1 Cc thit b trong h thng v vai tr ......................................................................... 65
Cc dng v cc thng s c trng ca cc c cu dn ng thy lc ........................... 66
2.2. Van trt c mp iu khin dng, trung gian v m ............................................. 68
2.3. Van solenoid .............................................................................................................. 70
2.4. Van t l .................................................................................................................... 73
2.5 Mt s s ng dng iu khin vi van t l ......................................................... 76
2.7 Van servo .................................................................................................................... 78
III.3 TNH TON, THIT K CC MCH IU KHIN THY LC ........................ 90
Phn IV: CM BIN V O LNG................................................................................. 101
IV.1 CC H THNG M HA THN TIN.................................................................. 101
IV.2 H THNG O DCH CHUYN. .......................................................................... 102
2.1. Cu to h thng o ................................................................................................. 105
2.1.1 - H thng o dch chuyn kiu s - gia s. ...................................................... 105
2.1.2 - H thng o dch chuyn kiu s- tuyt i. ................................................... 109
Phn V: CC PHN T X L D LIU TRONG H THNG ...................................... 113
1. CHUN 8051 ................................................................................................................. 113
3

2. CHN VI IU KHIN 8051....................................................................................... 114

3. TP LNH 8051 V LP TRNH HP NG CHO 8051 .......................................... 115
Phn VI: IU KHIN V N NH CA H THNG................................................... 117
VI.1 HM TRUYN ........................................................................................................ 117
VI.2 PHNG TRNH KHNG GIAN TRNG THI .................................................. 119
VI.3 HM TRUYN CA MT S MCH IU KHIN THY LC ...................... 125
3.1 H thu lc chuyn ng tnh tin iu khin bng bm du .................................. 125
3.2 H thy lc chuyn ng tnh tin s dng phn t iu khin l van servo........... 127
3.3 H thy lc chuyn ng quay iu khin bng bm du ....................................... 130
3.4 H thy lc chuyn ng quay iu khin bng van servo ...................................... 132
VI.4 NGHA CA M HNH TON HC TRONG IU KHIN. .......................... 135
VI.5 N NH CA H THNG .................................................................................... 136
5.1. M u v bi ton n nh ca h ng lc ........................................................... 136
5.1.1 Khi nim n nh (v mt hnh thc) ............................................................... 137
5.1.2 Khi nim n nh (v mt ton hc) ................................................................ 137
5.1.3 Gii quyt bi ton kho st n nh ................................................................. 138
5.1.4 Phng php tuyn tnh ha .............................................................................. 141
5.1.5 Cc phng php ca Liapunov ........................................................................ 145
VI.6 THIT K IU KHIN .......................................................................................... 148

 CNG CHI TIT HC PHN C IN T

(Hc phn bt buc)
1. Tn hc phn: C in t (MEC408)
2 . S tn ch: 3
3. Trnh cho sinh vin nm th: 4
4. Phn b thi gian
- Ln lp l thuyt: 36 tit
- Bi tp, tho lun: 18 tit
- Thc hnh: 0 tit
5. Cc hc phn hc trc: K thut in t
6. Hc phn thay th, hc phn tng ng: Khng
7. Mc tiu ca hc phn
Mc tiu ca mn hc nhm trang b cho sinh vin khi kin thc c bn v c
in t, l thnh phn kin thc thit yu trong cc ngnh k thut hin i, thuc khi
kin thc chung.
8. M t vn tt ni dung hc phn
Ni dung mn hc ch yu hng vo gii thiu, phn tch, thit k mt s h
thng c in t c bn. Bao gm ba phn:
- Phn I : Gii thiu v cc thnh phn c bn C in t.
- Phn II : Ging dy v thit k, iu khin mt s h thng c in t.
-

Phn III: ng dng C in t.

9. Nhim v ca sinh vin

9.1. i vi hc phn l thuyt

1. D lp 80 % tng s thi lng ca hc phn.

2. Chun b tho lun.

3. Bi tp, bi tp ln (di).
4. Khc: Tham quan, thc hnh
9.2. i vi hc phn th nghim
10. Ti liu hc tp
- Sch, gio trnh chnh:
[1]. B. Heimann; W. Gerth; K. Popp C in t, Nh xut bn khoa hc v
k thut, 2008
- Sch tham kho:
[2]. TS. Trng Hu Ch; TS. V Th Ry, C in t: H thng trong ch to
my, Nh xut bn khoa hc v k thut, 2005
[3]. TS. Trng Hu Ch; TS. V Th Ry, C in t: Cc thnh phn c
bn, , Nh xut bn khoa hc v k thut, 2005
5

11. Tiu chun nh gi sinh vin v thang im

11.1. Cc hc phn l thuyt
* Tiu chun nh gi
1. Chuyn cn;
2. Tho lun, bi tp;
3. Kim tra gia hc phn;
4. Thi kt thc hc phn;
5. Khc.
* Thang im
+ im nh gi b phn chm theo thang im 10 vi trng s nh sau:
- Chuyn cn:
10 %
- Tho lun, bi tp:

10 %

- Kim tra gia hc phn:

20 %

+ im thi kt thc hc phn : 60 %.

+ im hc phn: L im trung bnh chung c trng s ca cc im nh gi b phn v
im thi kt thc hc phn lm trn n mt ch s thp phn.
11.2. Cc hc phn th nghim: khng
12. Ni dung chi tit hc phn
Phn I: TNG QUAN V C IN T
(Tng s tit : 4, s tit l thuyt: 4)
I.1 C IN T L G
I.2 CC THNH PHN CHNH CA C IN T
I.3 CC THUC TNH CA THIT K TRUYN THNG V THIT K C
IN T
I.4 CHC NNG CA CC H C IN T
I.5 CC TN HIU U VO CA H C IN T
I.6 CC TN HIU U RA CA H C IN T
I.7 X L TN HIU
Phn II: XY DNG M HNH TON HC CC H VT L
(Tng s tit : 12, s tit l thuyt:8, tho lun: 4)
II.1 M HNH TON CC H THNG C HC
1. M hnh dao ng ca c h c mt bc t do
2. M hnh dao ng ca c h hai bc t do
3. M hnh ton hc ng n hi
4. M hnh vt th chu ko nn
5. M hnh ca vt chuyn ng
II.2 M HNH TNG T IN C
1. Mch RLC mc ni tip
2. Mch RLC mc song song
II.3 CC M HNH LIN QUAN N VT RN
1. ng hc vt rn
2. Cc m hnh ton vi h vt rn
2.1 Bi ton thun v vn tc
6

2.2 Bi ton thun v gia tc

2.3 Bi ton ngc v v tr
2.4 Bi ton ngc v vn tc
2.5 Bi ton ngc v gia tc
3. Cc phng trnh c bn ca ng lc hc vt rn
3.1. M hnh cng dm chu un thun ty
Phn III: C CU CHP HNH
(Tng s tit : 12, s tit l thuyt:8, tho lun: 4)
III.1 TNG QUAN
III.2 H THNG THY LC V KH NN
2.1 Cc thit b trong h thng v vai tr
Cc dng v cc thng s c trng ca cc c cu dn ng thy lc
2.2. Van trt c mp iu khin dng, trung gian v m
2.3. Van solenoid
2.4. Van t l
2.5 Mt s s ng dng iu khin vi van t l
2.7 Van servo
III.3 TNH TON, THIT K CC MCH IU KHIN THY LC
Phn IV: CM BIN V O LNG
(Tng s tit : 8,: 12, s tit l thuyt:8, tho lun: 4)
IV.1 CC H THNG M HA THN TIN
IV.2 H THNG O DCH CHUYN
2.1. Cu to h thng o
2.1.1 - H thng o dch chuyn kiu s - gia s
2.1.2 - H thng o dch chuyn kiu s- tuyt i
Phn V: CC PHN T X L D LIU TRONG H THNG
(Tng s tit : 6, s tit l thuyt: 4, tho lun: 2)
1. CHUN 8051
2. CHN VI IU KHIN 8051
3. TP LNH 8051 V LP TRNH HP NG CHO 8051
Phn VI: IU KHIN V N NH CA H THNG
(Tng s tit : 12, s tit l thuyt: 8, tho lun: 4)
VI.1 HM TRUYN
VI.2 PHNG TRNH KHNG GIAN TRNG THI
VI.3 HM TRUYN CA MT S MCH IU KHIN THY LC
3.1 H thu lc chuyn ng tnh tin iu khin bng bm du
3.2 H thy lc chuyn ng tnh tin s dng phn t iu khin l van servo
3.3 H thy lc chuyn ng quay iu khin bng bm du
3.4 H thy lc chuyn ng quay iu khin bng van servo
VI.4 NGHA CA M HNH TON HC TRONG IU KHIN
VI.5 N NH CA H THNG
5.1. M u v bi ton n nh ca h ng lc
5.1.1 Khi nim n nh (v mt hnh thc)
5.1.2 Khi nim n nh (v mt ton hc)
5.1.3 Gii quyt bi ton kho st n nh
5.1.4 Phng php tuyn tnh ha
5.1.5 Cc phng php ca Liapunov
VI.6 THIT K IU KHIN
7

Phn I: TNG QUAN V C IN T

Cc thnh phn chnh ca mt h thng c in t (cdt) gm:
- M hnh ha h vt l;
- Cm bin v c cu chp hnh;
- Tn hiu v h thng;
- My tnh v h thng logic;
- Phn mm v thu thp d liu.
V khi lng kin thc trn lin quan a ngnh v rt ln nn c chn lc
truyn t cho ph hp vi ton cc chng trnh o to.
Mc ch ca mn hc ny l gip cho sinh vin bit ln quy hoch cho mt h
thng tch hp c in t trc khi bt tay vo thit k chi tit tng m un. Mt n
gi tr nht s nguyn l ng n, vi n CT t trng gia cc m un ng
vai tr quyt nh cc tnh nng, cu trc, khi lng ca sn phm.
Mt s phn ca h thng cn cc k nng thit k tht s chi tit nh ng hc,
ng lc hc, kt cu. Trong khi cc m un khc nh iu khin, cc mch chc nng
mang tnh cht tnh chn l chnh (v cc m un ny sn xut i tr vi trnh
chuyn mn cao). Ni dung ca gio trnh ny v th m cng nhn mnh v i su
vo cc phn theo quan im trn.
I.1 C IN T L G
C in t l s tch hp cht ch ca c kh vi in t v iu khin my tnh
thng minh trong thit k ch to cc sn phm v quy trnh cng nghip
C in t l s p dng tng hp cc quyt nh to nn hot ng ca cc h
vt l
C in t l mt phng php lun c dng thit k ti u cc sn phm
c in
Mt h C in t khng ch l s kt hp cc h c kh, in v n cng khng
ch n thun l mt h iu khin, n l s tch hp y ca tt c cc h trn.
Mt nh ngha cn cha c s thng nht rng ri cho thy y l mt lnh vc
bn thn n cha hon ton nh hnh, m ang tip tc nh hnh. C in t khng
ch l mt cu trc thun tin cho nghin cu kho st ca cc nh khoa hc m cn l
mt phng thc hot ng thc tin k thut hin i.
I.2 CC THNH PHN CHNH CA C IN T
Lc sau y m t tng i d hiu cc thnh phn chnh ca C in t
8

(xem hnh 1.1), nm thnh phn c bn trong s ny l i tng nghin cu ca

tt c cc gio trnh c in t, vic trnh by theo cu trc ny lm cho ngi c c
t duy thng nht, tin cho vic theo di cc lnh vc lin quan n tng vn .
Trong qu thi gian c hn cc vn s c trnh by vi trng s khc nhau trn
c s ph hp vi nn tng kin thc ca sinh vin ngnh c kh.

Hnh 1.1: Cc thnh phn chnh ca c in t

C ba loi h c in t nh sau nu da trn quan im cc l thuyt c s c
p dng:
-

H c in in t truyn thng;

H c in t kch thc micro;

H c in t kch thc nano.

Hnh 1.2: Phn loi v cc l thuyt c s c p dng trong h thng CT

9

Sn phm c in t hin ang c chia lm bn lp nh sau:

-

Lp I: cc sn phm c kh l chnh c s kt hp ca in t nng

cao tnh nng, v d cc my cng c iu khin s CNC;

-

Lp II: cc h c kh truyn thng vi s hin i ha ng k cc thit

b bn trong bng vic kt hp vi cc thit b in t, giao din ngi dng

bn ngoi khng i, v d nh my khu hin i.
-

Lp III: cc h thng gi li chc nng ca h c kh truyn thng

nhng my mc bn trong c thay th bng cc thit b in t, vd ng h

s.
-

Lp IV: cc sn phm c thit k bi cc cng ngh c kh v in t

tch hp h tr nhau, V d my photocopy, ni cm in.

Lch s pht trin ca cc h c hc, in v in t c th khi qut trong lc
sau:

Hnh 1.3: Lch s pht trin ca cc h c hc, in v in t

10

I.3 CC THUC TNH CA THIT K TRUYN THNG V THIT K C

IN T
Thit k truyn thng
Cc thnh phn phi thm vo

Thit k c in t
Tch hp cc thnh phn (phn cng)

1. To ln

1.

Nh gn

2. Kt cu phc tp

2.

Kt cu n gin

3. Vn dy dn

3.

Truyn thng khng dy hoc bus

4. Cc thnh phn kt ni

4.

Cc thit b t tr

iu khin n gin

Tch hp bi x l thng tin (phn

mm)

5. Cu trc cng nhc

5. Cu trc mm do vi phn hi in t

6. iu khin truyn thng, tuyn tnh

6. iu khin s phn hi kh lp trnh

(phi tuyn)
7. chnh xc nh dung sai hp

7.

chnh xc nh o lng v iu

khin phn hi.

8. Cc i lng khng o c thay
i ty tin

8.

iu khin cc i lng khng o

c m c lng c.
Gim st vi chn on li.

9. Theo di n gin

9.

10. Kh nng c nh

10. Kh nng t hc

I.4 CHC NNG CA CC H C IN T

S phn chia chc nng gia c kh v in t:
Trong thit k h c in t s tc ng qua li ca cc phn c kh v in t nhm
thc hin cc chc nng l iu rt quan trng. So vi vic thc hin cc chc nng c
kh n thun s dng cc b khuch i v c cu chp hnh vi nng lng in ph
tr mang n s n gin ha ng k cho cc thit b nh ng h eo tay,
camera. Mt s n gin ha trong c kh bt ngun t vic mang my tnh kt ni vi
cc thit b in phn tn.
I.5 CC TN HIU U VO CA H C IN T
u vo b chuyn i cm bin
Tt c cc u vo ca h c in t u bt ngun t mt vi dng cm bin hoc
t cc h thng khc. Cm bin c th c phn loi ra thnh hai nhm, cm bin ch

11

ng v cm bin th ng. Cm bin ch ng pht ra tn hiu c tnh thuc tnh

ca mi trng v thit b c o cn cm bin th ng th khng.
u vo ca b cm bin thng l mt tn hiu tng t, dng n gin nht ca
tn hiu tng t l mc in p c mi lin h trc tip vi iu kin u vo. Dng
th hai l thit b iu ch rng xung. Dng th ba l sng iu bin hoc iu tn,
trong mt s trng hp kt hp c iu bin v iu tn. Nhng thay i ny phn
nh s bin i ca trng thi c theo di.
B bin i tng t s (A/D)
Cc b bin i ny c th c phn loi theo hai thng s, di tn hiu u vo
tng t v di tn hiu u ra s. Chng hn bin i mc in p trong khong 0
12 V thnh mt byte n 8 bit.
Chng hn cc van servo nhn tn hiu analogue t thit b ch huy di dng
dng in hoc in p, nu l van hiu sut cao c s dng cm bin v tr, n s
chuyn tn hiu v thit b iu khin di dng analogue. Nu thit b iu khin kiu
vi x l khi tip nhn tn hiu ny s cn chuyn i A/D tip tc x l.
I.6 CC TN HIU U RA CA H C IN T
B bin i s - tng t (D/A)
Lnh u ra ca b vi iu khin l mt gi tr nh phn di dng bit, byte 8 bit
hoc 16 bit. Tn hiu s c bin i thnh tn hiu tng t nh b chuyn i D/A.
Chng hn bin i mt gi tr 8 bit thnh in p trong khong 0 12 V.
Chng hn tn hiu s t vi x l cn chuyn thnh tn hiu tng t khi chuyn
xung iu khin van servo. Tn hiu thch hp c th tn ti di dng dng in
hoc hiu in th.
u ra ca c cu chp hnh
C ba c cu chp hnh thng s dng trong cc h c in t l chuyn mch,
solenoit v ng c. Chuyn mch l thit b trng thi n gin iu khin mt
hot ng no nh bt tt l si, cc chuyn mch bao gm rle, v cc thit b
lin khi nh it, thyristor, tranzitor lng cc, tranzitor trng. chuyn mch c th
c kt hp vi cm bin gip bt tt mt phn hoc ton b cc chc nng ca cm
bin.
Solenoid l thit b bao gm li st chuyn ng c, li st ny c kch hot
bi mt dng in. S chuyn ng ca n gip iu khin dng thy lc hoc kh

12

nn, thit b ny c ng dng nhiu trong cc h thng phanh v trong cng nghip
cht lng.
C cu chp hnh kiu ng c c ba loi chnh gm:
-

ng c in mt chiu DC;

ng c in xoay chiu AC;

ng c bc.

Trong ng c in mt chiu DC c th iu khin bi in p DC c nh

hoc thit b iu ch rng xung.
Nhn chung ng c AC r hn ng c DC nhng i hi iu khin tn s iu
khin tc quay, trong khi ng c bc s quay i mt gc ng vi mi xung u
vo.
I.7 X L TN HIU
X l tn hiu l vic thay i mt tn hiu n c ch hn i vi mt h thng.
Hai dng x l tn hiu quan trng l chuyn i gia tn hiu D/A v A/D. Ngoi ra
lc cng l mt dng x l tn hiu quan trng.
Lc l lm suy gim bt tn s no ca tn hiu, qu trnh ny c th loi b
nhiu khi tn hiu v gip x l ng truyn chuyn ti d liu tt hn. B lc c
th c chia thnh b lc tng t v b lc s. Trong b lc tng t li chia
thnh b lc ch ng v lc b ng.
Cc b lc cng c th phn bit trn cc loi tn s b nh hng:
-

B lc thng thp cho php cc tn s thp hn i qua, cn cc tn s

cao s b lm suy gim;

-

Ngc li vi b lc thng thp l b lc thng cao, cho php cc tn s

cao i qua v lc cc tn s thp.

-

B lc thng di cho php mt di tn s nht nh i qua, cn tt c cc

di khc s b lm suy gim.

-

B lc ngn di ch lc mt di tn s nht nh trong khi vn cho php

tt c cc di tn s khc i qua.

13

Phn II: XY DNG M HNH TON HC CC H VT L

B no ca mt thit b c in t l mt dng my tnh, khi chuyn bi ton cho
my x l cn c m hnh bi ton, trong thit k ni chung v thit k c kh ni
ring thng s dng cc loi m hnh c bn sau y:
nh ngha m hnh: M hnh l mt th hin bng thc th hay bng khi nim,
mt s thuc tnh v quan h c trng ca nguyn hnh nhm:
1. Lm i tng quan st thay cho nguyn hnh.
2. Lm i tng nghin cu (thc nghim hay suy din) v nguyn hnh.
Cc loi m hnh thng s dng trong k thut m t i tng thit k rt a
dng nhng c my dng c bn nh sau:
a. M hnh trch mu: L tp hp cc c th ly ra t mt tng th, hnh
thnh mt tp mu, chng c nghin cu bng quy lut thng k ton hc
xc nh s lng c th cn thit c th i din cho nguyn hnh vi
chnh xc yu cu. M hnh trch mu hay dng trong kim tra cht lng sn
phm.
b. M hnh ng dng: Hai m hnh c gi l ng dng khi cc i
lng vt l cng tn ca chng t l vi nhau, ng dng hnh hc khi cc
kch thc di v kch thc gc t l nhau, ng dng ng hnh hc khi vn
tc t l vi nhau, ng dng ng lc hc khi lc t l vi nhau. M hnh
ng dng thng s dng trong kim tra bn i tng thit k hoc thay th
m hnh gc khi khng tip cn c m hnh gc.
c. M hnh tng t: Hai thc th khc nhau v bn cht vt l c gi l
tng t khi trng thi ca chng c m t bng cng mt h phng trnh
vi phn v iu kin n tr. M hnh tng t c th vn dng cu trc th
nghim trong trng hp th nghim vi nguyn hnh kh dng hoc tn km
ln.
d. M hnh ton hc: Ba m hnh ni trn u dng cc thc th vt l,
m hnh ton hc l m hnh khi nim, n tn ti di dng cu trc hay h
thc ton hc. M hnh ton hc dng thit k i tng trn my tnh
thng qua vic kho st n cng xc nh thng s thit k ti u.
e. M hnh lc t: L m hnh biu din bng hnh hc trc quan nhng
thuc tnh quan h no (nhng thuc tnh ny c th l hnh hc hay phi
14

hnh hc, v d m ynh nguyn t l m hnh mang ngha hnh hc, s

khi m t thut ton lp trnh trn my tnh khng mang ngha hnh
hc).
- M hnh ton hc: m t i tng di dng phng trnh ton (c th l
phng trnh, h phng trnh, hoc phng trnh vi phn) km theo nhng
iu kin xc nh (iu kin bin, iu kin u). i vi cc h thng c hc rt
thch hp cho vic m t bng phng trnh ton, chng hn m hnh dao ng ca
con lc n, m hnh dao ng ca mch in R, L, C , m hnh ca cc vt th
chuyn ng trn b gim chn l xo, nhn thu lc
-M hnh hnh hc:
tng tnh trc quan ca i tng khi nghin cu ngi ta s dng cc m
hnh hnh hc ca i tng, m hnh hnh hc ca vt th l dng hnh hc c xy
dng ng dng vi vt th thc theo mt t l thu nh, hoc phng to, n c th c
xy dng trn my tnh hoc bng cc loi vt liu c thc, chng hn m hnh vt th
3D, m hnh nguyn t
Hai loi m hnh ny cng l i tng c bn c trnh by trong chng ny.
-M hnh ha v nh ngha chc nng trong c in t
Vic nghin cu cc h v cc qu trnh c thc hin nh cc m hnh. Cc m
hnh l s m t c nh hng v mc tiu v chc nng, hoc phn nh cc quan h
c bn ca vn kho st. M hnh ton hc c th c biu din qua cc phng
tnh ton, cc bng s hoc cc s dng tn hiu v m t s thay i theo thi gian
ca cc tn hiu. M hnh ton hc c mt ngha c bit quan trng. Quan im v
s m t h thng v nhng nhn thc phi t c qua s m t c th rt khc
nhau v thng xut pht t mc ch kho st.
Bng 2.1: So snh h dao ng c v h dao ng in.

15

Vic xy dng m hnh da trn hai phng php:

- Xy dng m hnh l thuyt
- Xy dng m hnh thc nghim (nhn dng).
Trong vic xy dng m hnh l thuyt, i hi phi c kin thc v h thng, ti
thiu l kin thc v cc gi thuyt khoa hc. Chng c s dng thun tin i vi
h m trong c th s dng cc nh lut vt l, cc nh lut v kinh t v cc quy
lut khc. Th d nh:
- C hc: nh l bin thin ng lng, nh l bin thin moomen ng lng,
nh l ng nng, hay cc nguyn l bin phn khc nhau,
- K thut in: cc phng trnh c bn ca trng in t (nh lut Ampere, nh
lut cm ng, ) v i vi mch in (nh lut OHM, nh lut KIRCHHOFF, ).
nh lut bo ton
Trong mt khng gian xc nh (im, th tch, mt ct) mt i lng no i
vo th phi i ra hoc c tch tr ti .
Ghi ch: cc nh lut bo ton ny c th xut hin di dng o hm.
Bo ton ng lng (nh lut II Newton)

F dt mv ma
d

P Fdt

(xung lng)

Nu xung lng tc dng ln vt bng khng th ng lng c bo ton.

Bo ton m men ng lng

r F dt r mv

16

Nu

r F dt 0 th m men ng lng c bo ton.

Bo ton in tch
in tch trong mt h in c bo ton. Dng o hm chnh l nh lut
Kirchop:

i
nut

dQ
dU
C
dt
dt

nh lut bo ton khi lng (Dng nhiu trong Ha hc v Cht lng)

Khi lng trong mt h c bo ton.

m dt v v v
d

nh lut bo ton nng lng

Nng lng trong mt h c bo ton.
Dng o hm: tng cng sut vo v ra ca h bng o hm nng lng tch tr
trong th tch kho st.

v2
zg const
2
P

(Bernoulli)

Cc nh lut chuyn bit

Trong C hc
-

Ma st

Ma st Colomb F = kN
Ma st nht F = bv
H l xo F = kx
Lc cn c hc (DAlembert)
Trong h in c
Khng (Resistant)
Tch (t - Capacitant)
Cm (Inductance)
Trong h cht lng
Ch c cc thnh phn c tnh cht cm, khng, t
Trong h nhit ch c thnh phn mang tnh cht tr v t.
Vic xy dng m hnh thc nghim da trn vic quan st, tc l da trn cc
php o. Nhim v ny thng c gi l bi ton nhn dng. Trn c s cc thc
nghim ta cn xc nh cc gi tr c trng m t h (th d nh cc tham s) hay cc
17

hm c trng (th d nh hm truyn). Bi ton c n gin ha khi ta bit quan h

vo- ra, khi ta c mt bi ton nhn dng tham s. Trong nhiu trng hp, s kt
hp vic xy dng m hnh bng l thuyt v thc nghim l cha kha cho s thnh
cng. Cch tip cn theo phng php ny th hin trn hnh 2.1

Hnh 2.1: Mi quan h gia vic xy dng m hnh l thuyt v nhn dng
Nhim v xy dng m hnh l thuyt cng nh m hnh thc nghim i hi
nht thit phi c cng c tnh ton mnh. M hnh ca h c thit lp thng qua
phn tch tn hiu v phn tch qu trnh. M hnh ny to thnh c s cho vic iu
18

khin qu trnh, mt hot ng c hiu l thit k mt phng n tc ng vo qu

trnh, tc l xc nh cc i lng iu khin vi mc tiu t ti mt chc nng
mong mun.
im c trng ca c h c in t l s kt ni cc phn t cu thnh t nhng
lnh vc hon ton khc nhau. Ngoi ra, cu trc nh vy c ng dng trong cc h
c in t n gin (th d iu khin tng trc cho robot) cng nh cc h phc tp
(chng hn nh robot di ng).
Hnh 2.2 th hin s nguyn l iu khin qu trnh da trn m hnh.

Hnh 2.2: Nguyn l iu khin qu trnh da trn m hnh

Cc chc nng c bn xut hin trong h c in t c phn theo cc nhm vi
phc tp tng ln nh sau:
- Cc chc nng ng hc:
ng ngha vi vic nh trc mt c h ph hp tha mn chc nng
chuyn ng theo yu cu. Nhim v ny thuc vo lnh vc ng hc (c hc, ng
lc hc my, l thuyt c cu) v bao hm vic m t hnh hc ca bi ton t ra.
(chng hn cho trc tc v cng ngh ca robot cng nghip, yu cu xc nh cu
hnh ti thiu phn c robot thc hin c tc v )
- Cc chc nng ng lc hc:
L vn tip theo c lin quan ti cc lc v momen cn thit cho vic thc
hin cc nhim v ra, k c vic bm theo qu o cho trc trong khng gian
cng tc. Vn ny c th c gii quyt nh cc phng trnh chuyn ng nh
phng trnh Lagrange II, phng trnh Newton-Euler...
- Cc chc nng c in t:

19

Nhim v m t chc nng ca mt h c in t s t c hon ton khi m

hnh c m rng, kt ni vi h cm bin, cc c cu dn ng, cc thut ton iu
khin v cc thnh phn khc. S m rng ny thng gp khi kho st cc h ng
lc c iu khin.
m t chuyn ng ca h c in t c n bc t do ta a vo cc khi nim
sau:
- H qun tnh (KS)0 (h ta c s, h ta gn lin mi trng):
Thng thng l ta cc v c nh trong khng gian. Cc thao tc cng
ngh c m t trong h ny.
- H ta vt (KS)k ; k = 1, 2, , N:
L cc h ta gn c nh vo vt k. Do v tr v hng ca vt kho st
cng chnh l v tr v hng ca h ta (KS)k trong h quy chiu qun tnh (KS)0.
- im quan st (im tc ng (EP)):
V tr hnh hc ca h, m ng x (th d chuyn ng) ca n c lin quan n
nhim v vch ra. Lu rng, v tr hnh hc ca h c th c xc nh t v tr
ca mt tp cc im.
- Cc ta mi trng ca EP:

Chng m t v tr (x, y, z) v hng (, , ) ca EP trong h quy chiu qun

tnh (KS)0.

x : [ x, y, z, , , ]T R 6

(1.4)

i khi v tr im quy chiu v hng ca vt c tng hp thnh mt vector

gi l v tr ca vt hay th ca vt .
- Cc ta suy rng:
q : [ q1 , q 2 ,..., q n ]T R n

(1.5)

Cng vi cc vn tc suy rng

q
z : z1 , z 2 ,..., z m ]T . R m
q

m = 2n

(1.6)

Biu din cc trng thi ca h.

Q : q q min q q max

- Khng gian cu hnh:

(1.7)

Cc ta suy rng b gii hn bi qmin v qmax.

- Khng gian lm vic hay cn gi l khng gian thao tc v m hnh ng hc:
20

X : x x f (q ) q Q

(1.8)

Quan h phi tuyn gia cc ta mi trng v cc ta suy rng c biu

din bi x = f(q). Ta gi quan h ny l m hnh ng hc.
- M hnh ng lc hc:
M hnh ny c th c thit lp trong khng gian cu hnh hoc trong khng
gian lm vic v m t mi quan h gia cc i lng chuyn ng q(t) hay x(t) v
cc i lng lc Q(t) hay

F (t ) [ Fx (t ), Fy (t ), Fz (t ), M x (t ), M y (t ), M z (t )]T

Trong khng gian cu hnh, m hnh ng lc hc c dng tng qut l:

f ( q (t ), q (t ), q (t )) Q (t )
..

hay

M (q (t )) q (t ) h( q (t ), q (t )) Q (t ) ,
..

q(0) = q0 ,

q (0) q 0
.

(1.9)

Trong phn ln cc trng hp, phng trnh (1.9) dn ti mt h cc phng

trnh vi phn thng. Cc phng trnh ny c gi l phng trnh chuyn ng.

Vector Q(t ) R n biu din lc v mmen suy rng, ma trn M(q) l ma trn qun tnh
(ma trn khi lng).
i vi cc h ly mu (c ri rc ha), h phng trnh (1.9) c th c bin
i thnh mt h cc phng trnh sai phn.
Th d 1.3: Khng gian lm vic ca robot hai khu (hnh 2.3)
Khng gian cu hnh c cho trc nh sau:

Q 1 , 2 0 1 ;0 2
2

Gii quyt im tc ng P chuyn ng trn ng cong C.

Li gii:
H c bc t do n = 2. H ta gn lin vt c k hiu bng (KS)1,2 , cc gc
ta nm ti trc ca mi khp.
Cc ta suy rng:
q q1 , q 2 1 , 2
T

M hnh ng hc:

x l1 cos 1 l 2 cos(1 2 ),
y l1 sin 1 l 2 sin(1 2 ).

Hnh 2.3: Robot hai khu

21

Hnh 2.4: Khng gian lm vic khi l1 = 2l2

Khng gian lm vic:
Th cc gi tr bin ca cc ta suy rng vo h thc trn v cho l1 = 2l2 ta
nhn c khng gian lm vic nh biu din trn hnh 2.4.
T v d ny ta nhn thy rng, trong k thut robot m hnh ng hc c th
c xc nh tng i d v ng tin cy khi gi thit rng cc khp l l tng (tc
l khng c khe h v khng xy ra mt lin kt) v cc khu l rn tuyt i. xc
nh cc c tnh thc ca khp, c bit l tnh cht hao tn ca chng do cn v ma
st, ta phi thc hin bi ton nhn dng nh thc nghim, trng hp n gin nht l
bi ton nhn dng tham s.
Nhim v kho st h thng tng th s c thc hin sau khi ta hon thnh vic
m t ton hc cc h con, cn c gi l cc m un chc nng c in t. Nhim
v ny c th nh gi n nh trong vng ln cn ca vic lm vic n nh, hay kho
st tnh iu khin c v quan st c ca h. c bit, cc m phng theo bc
thi gian c th cung cp cc thng tin trng thi ng lc hc ca h, chng hn nh
v ng x kho lo theo ca i lng dn hay v nh hng ca cc i lng nhiu.
Trong l thuyt h thng hin i, vic biu din cc phng trnh h thng c
bin i v dng trng thi (cc phng trnh trng thi). Theo , cc h ng lc
c biu din di dng phng trnh vi phn dng tng minh bc nht.
II.1 M HNH TON CC H THNG C HC
Trong mc ny s cp ti cch xy dng m hnh ton ca mt s h thng c
hc in hnh, m hnh ton vt th chu ko nn, m hnh ton vt th chu un, m
hnh c h dao ng mt v hai bc t do.

22

1. M hnh dao ng ca c h c mt bc t do
in hnh ca m hnh ny l chuyn ng ca ca cc loi xe trn ng, c b
gim chn kt hp c c kh v thu lc nh hnh v.

Hnh 2.5: C h mt bc t do v s lc tc dng

c trng cho vt th dao ng l khi lng m, b gim chn l kt hp gia l
xo c cng k, v xy lanh thu lc c h s cn nht b, kt ni theo s nh hnh
v. Khi chy trn ng xe c dao ng sinh ra t hai ngun:
Gi s ng hon ton bng phng, bn thn xe sinh ra rung ng do cc chi tit
ca n c rung ng khi lm vic (ng c n sinh ra rung, cc chi tit chuyn ng
quay khng cn bng sinh ra rung). Mt khc ng khng hon ton bng phng
nn cng lm cho xe rung ng, trn thc t xe lun chu c hai loi tc ng ny.
kho st bi ton ny ta chia ra hai trng hp ring bit l trng hp xe dao
ng, nn ng yn, v trng hp hai l nn dao ng xe ng yn sau cng
chuyn v thnh lp c trong c hai trng hp li ta c chuyn v ca xe hay rung
ng tc dng ln xe trong trng hp tng qut.
Kt qu ca cch kho st ny c th chp nhn c v c h nh m t trn
c tnh cht tuyn tnh, hay mt h tho mn cng i s (ch khi s dng l
xo gim xc hnh tr, cc loi l xo l. L xo cn khng lm cho h tho mn tnh
cht ny)
H tho mn cng i s c ngha l khi s dng l xo tr, nu tc dng vo vt
th khi lng m mt lc F1 ta nhn c chuyn v L1, khi tc dng vo h mt lc
F2 ta nhn c chuyn v L2, nh vy h tuyn tnh th khi tc dng mt lc bng (F1
+ F2) chuyn v phi l (L1 + L2).
Trng hp vt dao ng nn ng yn:
Gi x(t) l chuyn v ca nn, trong trng hp ny x(t) = 0.
23

Gi y l chuyn v ca vt th, trc y c gn vo vt th theo phng thng

ng c chiu nh hnh v (hnh a). Tch vt v t cc lc tc dng nh hnh b bao
gm cc lc nh:
Lc qun tnh

qt

= m.y

Lc tc dng ln l xo
Lc ma st

(1)
ms

(1)
lx

= k.y

(vt th dch chuyn)

= b.y

Chiu tt c cc lc ny ln phng thng ng ta c phng trnh cn bng lc

trong trng hp ny nh sau:

qt

(1)
lx

(1)
ms

=0

(1)

Trng hp vt ng yn nn dao ng:

Thc ra dao ng ch c tnh tng i nu ta quan nim vt dao ng nn ng
yn cho thun tin th thc t nn khng dao ng nn khi thc t l vt th dao
ng theo quy lut ca nn ng.
Tch chi tit v t lc nh hnh c bao gm cc lc nh sau:
Phn lc ca l xo

Phn lc ca xy lanh

(2)

= k.x

lx

( 2)
ms

(nn dch chuyn)

= b.x

Chiu tt c cc lc ny ln phng thng ng ta c phng trnh cn bng lc

nh sau:
- F lx - F ms = 0
(2)

( 2)

(2)

Cng theo v hai phng trnh (1) v (2) ta c:

qt

(1)
lx

(1)
ms

- F lx - F ms = 0
(2)

( 2)

Thay s ta c:
m.y+ b(y x) + k(y x) = 0

(3)

Vi iu kin u:
y(t = 0) = 0

(chuyn v ban u bng khng)

y(t = 0) = 0

(vn tc ban u bng khng)

Phng trnh (3) chnh l m hnh ton hc m t dao ng ca xe chy trn

ng gh gh, khi kho st phng trnh ny thi im no n cho ta bit tnh trng
dao ng ca xe thi im .
2. M hnh dao ng ca c h hai bc t do
C h hai bc t do c biu din nh hnh v di y:
24

C h ny gm hai khi lng xp chng ln nhau, khi lng m di c

lin kt vi nn thng qua b gim chn th nht, khi lng m0 trn lin kt thng
qua b gim chn th hai xung khi lng m. Lc ny cng c hai trng hp xy ra
nh sau:
Trng hp th nht: nn khng dao ng ch c c h dao ng, bao gm c hai
khi lng m v m0 cng dao ng.
Trng hp th hai: nn dao ng, c h ng yn, ta s ln lt xt tng bi
ton.
Trng hp c h dao ng:
V bn thn c h hp thnh t hai khi lng nn s c hai phng trnh m t
dao ng ca tng khi. Khi c h dao ng th khi lng m0 s nhn khi lng m
lm nn, song bn thn khi lng m cng dao ng nn trng hp ny ri vo
trng hp c h c mt bc t do dao ng cng vi nn nh va xt mc 1. Tc l
bn thn khi lng m0 c phng trnh m t dao ng l:
m0.y1+ b1(y1 y ) + k(y1 y) = 0
Vi iu kin u: y1(t = 0) = 0
y1(t = 0) = 0

(chuyn v u bng khng)

(vn tc u bng khng)

Trong y1 l chuyn v ca khi lng m0, y l chuyn v ca khi lng m

(xem nh nn ca khi lng m0).
k1, b1, k2, b2 ln lt l cng ca l xo v h s cn nht xy lanh thu lc
khi lng m0 v khi lng m.
F = F0sin(t) l lc kch thch t vo khi lng m nh hnh v.

25

Hnh 2.6: C h hai bc t do v m hnh lc tc dng

thnh lp phng trnh dao ng ca khi lng m, ta tch ring n v t
lc cc lc tc dng nh hnh v bao gm:
V bn thn khi lng m0 dao ng nn c cc lc Flx v Fms tc dng t m0 ln
m, do m cng dao ng nn nn mt mt tc dng cc lc Flx v Fms ln m0 mt khc
cng tc dng cc lc nh

qt

, Flx, Fms ln nn cng n nh hnh v

Cc lc xut hin trn vt m phi cn bng lc vi lc kch thch t vo:

F=F0sin(t)
Ta c phng trnh cn bng lc trn vt nh sau:
my+ by b1(y1- y ) k(y1- y) + ky1 = F0sin(t)
y(t = 0) = 0

(chuyn v u bng khng)

y(t = 0) = 0

(vn tc u bng khng)

y cng chnh l phng trnh vi phn m t dao ng ca khi lng m, nh

vy m t dao ng ca h hai bc t do trong trng hp ny ta cn c hai phng
trnh vi phn nh trn.
Trng hp nn dao ng:
Trong trng hp ny nn ca khi lng m0 dao ng nh trng hp th nht,
nn ca khi lng m cng dao ng c hai trng hp ny u xt trn. Tc l
khi ta lu thm rng ngoi cc lc do vt m0 dao ng tc dng t m0 xung m,
v cc lc do bn thn m dao ng tc dng ln gi , do nn dao ng nn cn c
cc lc do nn tc dng ln m.
xt phng trnh dao ng ca khi lng m di ta chia ra hai trng hp
nh hnh v: (vt dao ng nn ng yn v vt ng yn nn dao ng).
Trng hp vt th dao ng ta tch vt t cc lc tc dng nh hnh v:

Hnh 2.7: lc tc dng ln khi lng m khi vt dao ng

26

Gi tr c th ca cc lc trn s c cp phn u tin, Ch rng

y ta khng t lc kch thch hnh sin na, chiu cc lc ln phng thng ng ta
c phng trnh cn bng lc nh sau:

(1)
lx

F ms F ms F lx F lx F ms F qt 0
(1)

( 2)

( 2)

(1)

Li xt trng hp nn dao ng ta c s :

Hnh 2.8: Lc tc dng ln khi lng m khi nn dao ng

Trng hp ny do nn dao ng nn ch c hai lc tc dng ln vt th nh hnh
v, phng trnh ca trng hp ny l:

(2)
lx

F ms 0
( 2)

(2)

Cng v hai phng trnh (1) v (2) ta c phng trnh m t dao ng ca khi
lng m nh sau:

F
hay:

(1)
lx

F ms F ms F lx F lx F ms F qt
(1)

( 2)

( 2)

(2)
lx

F ms 0
( 2)

my + b(y x) b1(y1 y) + k(y x) k1(y1 y) = 0

Vi iu kin u

y(t = 0) = 0
y(t = 0) = 0

Vy phng trnh vi phn m t dao ng ca c h l h hai phng trnh thnh

lp c trn. Ta nhn thy rng khi tn s dao ng ring trng vi tn s dao ng
kch thch th nng lng ca dao ng ch yu tp trung vo khi lng m0, v nng
lng b tiu tn ch yu rung ng t nh hng ti khi lng chnh m, ngi
ta p dng kt qu ny lm thm cc khi lng ph trn cc xe cn gim xc mnh
nh xe khch, xe du lch, im kh y l vic tnh ton khi lng m0 sao cho hp
l.
V d 1.1 c tnh ng hc h thng gim chn ca xe

My t By t Ky t f t

(1.1)

Phng trnh 1.1 c tnh ng hc h thng gim chn xe

Trong :
M (khi lng tc ng ln bnh xe), B (h s cn) v K (
27

cng l xo) l cc thng s h thng.

f t

(lc do sc) l tn hiu vo,

y t

(dch

chuyn ca thn xe) l tn hiu ra.

Ta c th p dng phng trnh Lagrange thit lp phng trnh vi phn chuyn
ng ca c h trn nh sau:
C h c mt bc t do. Di tc dng ca lc kch ng

f t

khi M dch

chuyn xung. Chn ta suy rng y nh hnh v.

ng nng ca c h:

1
My 2
2

(1.2)

Th nng gy ra bi l xo:

1 2
Ky
2

(1.3)

Nng lng cn c to ra bi b cn nht:

1 2
By
2

Lc suy rng sinh cng:

Q* f t

(1.4)
(1.5)

Th cc biu thc trn vo phng trnh Lagrange c dng:

d T T

Q*

y y
dt y y

(1.6)

Ta thu c phng trnh vi phn m t chuyn ng ca h thng gim chn ca

xe nh (1.1):

My t By t Ky t f t

V d 1.2: Phng trnh vi phn m t chuyn

ng ca con lc ton hc
Con lc ton hc l mt h dao ng gm mt
cht im c khi lng m, treo vo im O c nh
bng mt si dy nh, khng dn, c chiu di l
(hnh 1.2).
28

Gi ta ca cht im l x, y. T hnh v ta c:
x l cos , y l sin

x l cos
v 2 x 2 y 2 l 2

y l sin
T d dng tnh c ng nng v th nng ca cht im
1
1
T m( x 2 y 2 ) ml 2 2
2
2
mgx mgl cos

(1.7)
(1.8)

Th cc biu thc trn vo phng trnh Lagrange loi hai:

d T T

Q*

dt y y
y y

ta nhn c phng trnh vi phn dao ng ca con lc ton hc

sin 0
g
l

Nu ta t

02

(1.9)

g
l , th phng trnh (3) c th vit li di dng

02 sin 0

(1.10)

3. M hnh ton hc ng n hi
C s ton hc ca php ton ny l da vo vic gii gn ng phng trnh vi
phn m t ng n hi, gn vi cc iu kin bin c th m ta xc nh cho bi
ton. Trong gio trnh sc bn vt liu ta thnh lp c phng trnh vi phn ca
ng n hi c dng nh sau:
y ''

M
E .J

Trong y l vng ca trc ti tit din ang xt, M l m men un ti tit

din ang xt, E l m un n hi ca vt liu, J l m men qun tnh ca mt ct
ngang vung gc vi trc ca thanh. Nu thanh lm bng mt loi vt liu th E khng
i, nu tit din mt ct ngang khng i th J
khng thay i, M l m men un ti tit din
ang xt tnh ra t biu m men un.
Hy xem v d sau y:
Hnh 2.9: M hnh ng n hi
29

Hnh trn l m hnh mt thanh thng chu un vi lc tc dng ti hai u mt.

Trong w1 v w2 l vng hai u mt thanh, thanh c chiu di l h, trng thi
sau khi un thanh c gc xoay ti hai u l 1 v 2 nh hnh v.

Phng trnh vi

phn m t vng w(x) ca thanh ti tit din bt k( hay chnh l m hnh ton hc
ca thanh) c dng nh sau:

d
dx

2
2

( EI d

w( x)

)0

vi 0 < x < h

M hnh ny c a ra vi gi thit rng mt ct ngang ca dm ng nht

trn sut chiu di dm, khi tch phn hai v ca phng trnh ny 4 ln ta c
w(x) = c1x3 + c2x2 + c3x + c4
Ta c th xc nh c cc hng s tch phn t cc iu kin bin:
w(x= 0) = w1

( vng ng vi to x = 0, l w1 nh cho)

w(x= h) = w2

( vng ng vi to x = h, l w2 nh cho)

dw
( x 0) 1
dx
dw
( x h) 2
dx

(gc xoay ti x = 0 l 1 )

(gc xoay ti x = h l 2 )

Thc hin ly o hm ca hm w(x) v trin khai cc iu kin m t trn ta

c kt qu nh sau:
w(0) = c4 = w1

dw
( x 0) c 3 1
dx

w(x= h) =c1h3 + c2h2 + c3h + c4 = w2

dw
( x h) 3c1h2 + 2c2h + c3 = 2
dx

Gii h phng trnh ny ta tm c cc h s ca a thc m t vng w(x)

nh sau:

c1 = 13 (2 w1 h 1 2 w2 h 2)

c2 = 12 (3 w1 2h 1 3 w2 h 2)

c3 = 1

c4 = w 1
30

Vy m hnh ton ca dm chu lc c th c vit di dng nh sau:

w ( x ) 1 3

x
2
w
h
3

x
2
h

h.

x x h .

h h
Cho x bin thin t 0 h ta c vng ca tng tit din trn dm.

x
2
w
h
3

Trng hp trn y ch l mt v d nh, i vi phng trnh vi phn ca ng

n hi ta cng lm tng t song phi gii gn ng (cch gii trnh by trong
chng 5: phng php tnh). Cc rng buc c bn trong trng hp ny l: chuyn
v ti gi bng khng, chuyn v ti cc mt ct chuyn tip bng nhau.
4. M hnh vt th chu ko nn
Xt mt vt th dng thanh chu lc nh hnh v:

Hnh 2.10a: M hnh thanh chu ko nn ng tm

M hnh ton hc ca thanh da vo nh lut Hook c dng nh sau:

P
F

Bin dng ca thanh da vo m hnh:

l

P
.l
EF

Trong P l lc tc dng ln thanh, E l m un n hi ca thanh, F din tch

mt ct ngang ca thanh, l l chiu di chu lc ca thanh.
M hnh ca l xo v h l xo mc ni tip
L xo l chi tit c kh ch chu ko nn ng tm, xut hin trong rt nhiu thit k
quan trng. Di y gii thiu m hnh l xo tr bc khng i di dng l xo n
v mc ni tip.
Xt mt l xo tr bc khng i nh hnh 2.6b:

pi

i
ui

pj

uj

Hnh 2.10b: phn t l xo tuyn tnh

31

Mt l xo tr bc khng i c cng k, hai nt i v j c chuyn v ln lt l ui

v uj nh hnh v, pi v pj l lc tc dng theo trc ca l xo ti nt i v nt j theo th
t .
d xt, c nh nt i cho ui = 0 trong khi nt j c th di ng c, d thy:
pj = - k. uj

(1)

do phng trnh cn bng lc ca h c dng:

pi + pj = 0

nn

pi = - pj = k. uj

(2)

o li, c nh nt j nt i chuyn ng t do theo phng dc trc:

pi = -k. ui

(3)

pj = - pi = k.ui

(4)

Da trn cn bng lc ca h:
Phn t l xo tr bc khng i l tuyn tnh, h tun theo nguyn tc chng cht,
trong trng hp c hai nt i v j u c kh nng chuyn ng t do:
pi ku j kui

p j ku j kui

Vit (5) di dng ma trn:

pi k
p
j k

(5)

k ui
.
k u j

(6)

Ma trn vung trong (6) gi l ma trn cng ca l xo n trong h quy chiu

a phng gn vi n.
Xt h l xo mc ni tip nh hnh v:
pi

k1

pj

uj

ui

k2

p' j

pk

uk

p" j
j

Hnh 2.10c: M hnh h l xo mc ni tip

p' j v p" j l ni lc tch nt j, c: p j p ' j p" j

Sau khi tch nt h l xo tr thnh hai l xo n ng theo m hnh (6), trin khai
m hnh ny di dng m rng nt:

pi k1
p' k
j 1
0 0

k1

k1
0

0 ui
0.u j
0 u k

(7)

32

 0 0 0
p" 0 k
2
j
pk 0 k 2

Cng theo v (7) vi (8) c:

pi k1

p j k1
p 0
k

0 ui
k 2 .u j
k 2 uk

(8)

0 ui
(k1 k 2 ) k 2 .u j
k2
k 2 u k
k1

(9)

Ma trn cng ca h l xo mc ni tip l mt ma trn bng vi rng bng 1

n v, i xng qua ng cho chnh.
S tng t ca chi tit l xo v chi tit thanh thng chu ko nn ng tm
Bin dng t i ca thanh chu ko nn c nh ngha l:

l
l

(10)

Trong l l bin dng di ca thanh chu lc;

l l chiu di ca thanh;
do

p
F

c ng thc sau:

E.

p
l
E
F
l

bin i tng ng c:

p [ EF ].l
l

(11)

(12)

Dng phng trnh c bn (12) cho php xc nh s tng t gia mt l xo tr

vi mt thanh chu ko nn ng tm:
k

EF
l

(13)

Tc l mt thanh chu ko nn ng tm c th c xem nh mt l xo vi

cng quy i tnh theo (13) v ngc li.
5. M hnh ca vt chuyn ng
Vi vt th chuyn ng cc m hnh ton ch yu da vo cc nh lut sau:
nh lut II Newton, m hnh ton c dng:
F = - m.a
nh lut bo ton ng lng, m hnh ton c dng:
m.v = const
33

II.2 M HNH TNG T IN C

Mc ch ca phn ny l ch ra s tng ng gia mt s c hc thun tu
v mt s in thun tu trn mt kha cnh l nng lng. S tng t ny l c
s thay th vic nghin cu m hnh ny bng m hnh khc khi m hnh gc t
tin hoc kh kho st.
1. Mch RLC mc ni tip
Hy xt mt s mch in R, L, C mc ni tip nh hnh v:

Hnh 2.11a: Mch RLC mc ni tip

Theo nh lut Kieckhop phng trnh vi phn vit cho mch R, L, C ny c dng
nh sau:
L

Nu xem i

1
di
R.i i.dt U (t )
dt
C

dq
(o hm ca in lng theo thi gian) thay vo phng trnh ny
dt

ta c:
L. d

dt

R.

dq 1
.q U (t )
dt C

Xem li m hnh c h mt bc t do c phng trnh vi phn m t nh sau:

m. d

dt

y
2

b.

dy
k . y p(t )
dt

Vy ta so snh cc i lng tng ng trong hai phng trnh vi phn trn v rt

ra kt lun nh sau:
L m; R b;

1
k; U(t) P(t); q y.
C

Theo nh ngha v m hnh tng t, hai m hnh c gi l tng t nh nhau

khi phng trnh vi phn m t trng thi ca chng l tng t nh nhau, ta kt lun
rng, s mch in R, L, C mc ni tip l tng ng vi s c h mt bc t
do.
Biu din trong min thi gian:
34

a 2 y (t ) a1 y a 0 y (t ) b0 f (t ) ,
..

y(0) y 0 ,

y (0) y 0
.

(1.1)

Biu din trong min nh, bin i laplace khi cho iu kin u bng khng:
(a p a ) y a 2 y 0
b0
F ( p)
Y ( p) 2 2 1 0

2
a 2 p a1 p a 0
a 2 p a1 p a 0
.

(1.2)

Hm truyn ca h
G ( p)

b0
a 2 p a1 p a 0
2

(1.3)

Trong Y(p) v F(p) l bin i LAPLACE ca y(t) v f(t).

T cc quan h nu trn, r rng l ng x dao ng ca h dao ng c v h
dao ng in l nh nhau. Cc h nh vy cng c gi l cc khu tr bc 2.
V d: n nh rung ca mt chic xe trong iu kin tng qut gi thit l ng
c xc, vic nghin cu da trn tnh i xng vi s thay th:

Hnh 2.11b: M hnh ng lc hc xe

Gi thit ny dn n m hnh ton hc ca c h c hai bc t do, vic nghin cu
thc nghim c tin hnh trn m hnh mch RLC theo nh ngha m hnh tng t
c phng trnh vi phn m t dao ng ging nhau.
Vic dp rung cho m hnh thc hin bng cch cc i ha dao ng ca khi
lng ph v cc tiu ha dao ng ca khi lng chnh. Vic ly i hay thm vt
liu vo nhng v tr nht nh hoc lm ngn cn s lan truyn rung ng trong mi
trng lin tc, hoc thay i thng s nhm lm cng hng (hoc trnh cng hng)
dao ng.
Thit lp phng trnh vi phn m t h in

35

 c th thit lp c cc phng trnh vi phn m t h in ta cn c vo cc

mi quan h ca cc phn t, cc nh lut chuyn bit ca h in.
Cc mi quan h gia cc i lng v cc phn t c th hin nh sau:
-

M t in tr (R: resistor)

Quan h in p dng in: u t Ri t (nh lut m)

Quan h dng in in p: i t

1
u t
R

Quan h in p in tch: u t R
Tnh tr khng: Z S

in dn:

U S
R
I S

dq t
dt

I S 1
G
U S R

M t in cm (L: Inductor)

Quan h in p dng in: u t L

di t
dt

1
Quan h dng in in p: i t u t dt
L0
t

d 2q t
Quan h in p in tch: u t L
dt 2
Tnh tr khng: Z S

in dn:

I S
1

U S L S

U S
LS
I S

- M t t in: (C: Capacitor)

36

1
Quan h in p dng in: u t idt
C0
t

Quan h dng in in p: i t C

Quan h in p in tch: u t
Tnh tr khng: Z S
in dn:

I S
CS
U S

du t
dt

1
q t
C

U S
1

I S C S

Cc nh lut chuyn bit

nh lut Kirchhoff 1 (nh lut Kirchhoff v dng in Kirchhoffs Current
Law, KCL)
Tng i s cc dng in ti mt nt bng khng:

i 0 , trong thng quy

c cc dng in c chiu i ti nt mang du dng, v cc dng in c chiu ri

khi nt th mang du m.

i i i
1

i2 i4 0

y thc cht l h qu ca nh lut bo ton in tch (in tch ti mt nt khng

t sinh ra v cng khng b mt i).
nh lut Kirchhoff 2 (nh lut Kirchhoff v in p Kirchhoffs Volt Law,
KVL)
Tng i s hiu in th ca cc nhnh theo mt vng kn bng khng.
Hoc: i theo mt vng khp kn, theo mt chiu dng ty , tng i s cc in
p ri trn cc phn t R, L, C bng tng i s cc sc in ng c trong vng; trong
37

 nhng sc in ng v dng in c chiu trng vi chiu dng ca vng s

mang du dng, ngc li mang du m.
nh lut kirchhoff 2 thc cht l h qu ca nguyn l bo ton nng lng: cng
trong mt ng cong kn bng khng.

R1i1 R2i2 R3i3 R4i4 e4 e3 e2

V d 1.3 Phng trnh m t mch dao ng LC

Hnh 1.3 Mch dao ng LC

Xt mt mch in nh trn hnh 1.3. T in c in dung C, cun cm c t
cm L, in tr khng ng k. Khi ni mch ch c t vi mt ngun in, t in s
np in tch. in tch qua t q s tng t 0 n gi tr cc i th t C khng tch in
na. B ngun ra v ni C vi nhnh cha cun cm c t cm L, to thnh mt
mch kn gi l mch dao ng LC. Khi , t C phng np lin tc v cun cm cng
xut hin dng in cm ng bin thin iu ha to thnh dao ng ca mch. Ta
thit lp phng trnh vi phn cho mch nh sau:
in p gia hai bn t: uC t

1
q t
C

in p gia hai u cun cm: uL t L

d 2q t
dt 2

Theo nh lut Kirchhoff 2 ta c:

uL t uC t 0

38

Do ta thu c phng trnh:

Lq
Hay:
t

1
q0
C

1
q0
LC

(1.11)

1
ta a (1.11) v dng:
LC

q 2 q 0

(1.12)

Phng trnh (1.12) l phng trnh vi phn m t dao ng ca mch LC.

V d 1.4 Phng trnh ca h quang trong mch RLC.
H quang l mt on mch khng tun theo nh lut m, khi hai in cc chm
nhau, vt cht ca in cc phn tip xc b nng chy v bc hi, hi dn in
chy sng v chy duy tr khi hai in cc c gi mt khong cch nht nh, ta
c h quang. S mch nh hnh v 1.4.

Hnh 1.4 S mch h quang

Trong , iL i , uC u , E l sut in ng ca ngun, L l t cm, R l tr

khng, i v l cung vn (l on mch khng tun theo nh lut m). Gi thit

dng in h quang l hm ca in p, tc l b qua qun tnh ca qu trnh ion ha.

p dng nh lut Kirchhoff 1 v 2 cho mch ta nhn c cc phng trnh sau:

u L i u 0

iR iC iL 0

Ta c:

uL L

di
E u
du
, iR
, iC C
dt
R
dt

Do ta c phng trnh vi phn m t mch nh sau:

39

 di
L dt u i

C du E u i
dt
R
2. Mch RLC mc song song
Xt s mch in R, L, C mc song song nh hnh v di y:

Hnh 2.12: Mch RLC mc song song

Xt trng thi n nh ta c dng trong mch tun theo phng trnh sau:
i1 + i2 + i3 = i(t).
Hay vit di dng:
C.

1
dU 1
.U . U .dt i (t )
dt R
L

o hm hai v phng trnh ny theo thi gian ta c:

C. d

dt

1 dU 1
di
.U
dt
R dt L

So snh phng trnh ny vi phng trnh vi phn m t c h mt bc t do:

m. d

dt

y
2

b.

dy
k . y p(t )
dt

Ta rt ra lun sau:
C m; b

1 1
di
;
k;
p(t); U y chuyn v.
m L
dt

Xt trn kha cnh nng lng, mch R, L, C ny c t in C tch lu nng

lng di dng in trng, cun cm L tch lu nng lng di dng t trng,
cn in tr R tiu tn nng lng di dng nhit nng.
Tr li m hnh c h mt bc t do ta xt phn trn, nng lng c tch
lu di dng th nng trong vt th khi lng m, nng lng tch lu di dng
ng nng trong l xo cng k, v nng lng b tiu tn trong xy lanh thu lc c
cn nht b.
V vy ta thy c s tng ng gia hai m hnh ny d chng thuc hai lnh
vc khc nhau.
40

II.3 CC M HNH LIN QUAN N VT RN

1. ng hc vt rn
Trong cc trng hp kho st cc h c hc m hnh ha nh tp hp cc vt rn
lin kt vi nhau, bi ton ng hc thun m t chuyn ng ca cc vt ny thng
qua vc t v tr v nh hng ca h quy chiu vt trong h quy chiu ton cc.
C hai trng hp chnh nh sau:
-

H vt dng chp hnh ni tip c phng chuyn ng thay i khi h

hot ng, m in hnh l robot cc loi;

-

H c nhiu trc iu khin ng thi song ng hng di chuyn

khng thay i khi lm vic, in hnh l cc bn trt my cng c iu khin

s.
Vn c bn y l vi mt h c cu hnh cho trc, cc h ta suy rng v
h ta ton cc phi c chn thng nht thng qua cc quy c cht ch
phng trnh c trng nhn c bi nhng ngi khc nhau thc hin l nh nhau.
p ng yu cu ny c hai quy tc thng dng thng s dng trn c s i s ma
trn trnh by di y
Quy tc chuyn v xon lin tip
M t mt chuyn v xon tng qut:
Theo nh l Chasles chuyn v khng gian tng qut ca vt rn bao gm tnh
tin v quay. S kt hp hai chuyn v ny gi l chuyn v xon. T xc nh c
php bin i ng nht da trn khi nim chuyn v xon.

Hnh 2.13: S chuyn v xon

Hnh 2.9 minh ha im P dch chuyn t v tr P1 n v tr P2 theo php quay
vi gc xung quanh trc xon v tip theo l tnh tin dc trc ny. Php quay bin
i P t P1 n P2 v php tnh tin bin i P t P2 n P2. Trn hnh v
41

s (sx , s y , sz ) l vc t n v theo chiu trc xon, v so ( sox , soy , soz ) l vc t

v tr ca im trn trc xon. Gc quay v khong cch tnh tin t c gi l thng
s xon, trc xon cng vi thng s xon xc nh s chuyn v tng qut ca vt rn.
Xt trng hp trc xon khng i qua gc ta v chuyn ng dc theo trc
xon. T hnh v c th thy:

r1 p1 s 0

(1)

r 2 p2 s0 t s

(2)

Phng trnh Rodrigues cho chuyn v quay quanh mt trc i qua gc ta c

dng:

r 2 r 1c s r1s s ( r1 s )(1 c )

(3)

Thay (2,3) vo (4) di y:

p 2 s 0 t s ( p1 s 0 )c s ( p1 s 0 )s [( p1 s 0 )s]s(1 c )
(* k hiu c cos( ), s sin( ) *)

(4)

y l phng trnh Rodrigues cho chuyn v khng gian tng qut ca vt rn.
Khai trin phng trnh ny thay p1 bng
A

p v p2 bng

p A RB p A q

p c quan h sau:

(5)

Trong cc phn t ca ma trn quay c tnh nh sau:

a11 ( s x 1)(1 c ) 1
2

a12 s x s y (1 c ) s z s

a13 s x s z (1 c ) s y s

a21 s y s x (1 c ) s z s

a22 ( s y 1)(1 c ) 1
2

a23 s y s z (1 c ) s x s

a31 s z s x (1 c ) s y s

a32 s z s y (1 c ) s x s

a33 ( s z 1)(1 c ) 1
2

(6)

A
V tr gc ta q ca khu chuyn ng c tnh nh sau:

q x ts x s0 x (a11 1) s0 y a12 s0 z a13

q y ts y s0 x a21 s0 y (a 22 1) s0 z a 23

q z ts z s0 x a31 s0 y a32 s0 z (a33 1)

(7)
42

Phng trnh (5) c vit theo bin i ng nht nh sau:

p AB p

(8)

Trong A l ma trn bin i kch thc 4x4 vi cc phn t m t hng ca

phn chp hnh bi (6), phn m t v tr m t bi (7), cng vi phn m rng di
dng thun nht k hiu li nh sau:

a14 ts x s0 x (a11 1) s0 y a12 s0 z a13

a24 ts y s0 x a21 s0 y (a22 1) s0 z a23

a34 ts z s0 x a31 s0 y a32 s0 z (a33 1)

a41 0

(9)

a42 0
a43 0
a44 1

Ma trn kch thc (3x3) pha trn bn tri ca A m t php quay ca vt rn.
Ma trn con (3x1) pha trn bn phi m t s tnh tin ca gc ta . Biu din
chuyn v khng gian i hi tm thng s, ba thng s l chiu ca trc xon, ba
thng s v tr trc xon, mt thng s gc quay v mt l khong cch tnh tin. Tuy
nhin ch hai trong ba thng s v chiu ca trc xon l c lp.
Phng trnh vng kn trn c s chuyn v xon lin tip chui ng hc h
Gi s c hai trc xon S1 (c nh) v S2 (di ng) lin kt hai khu chp hnh
to mt chui ng hc h (hai khu, hai khp, mt khu ni gi c nh).
Hai chuyn v xon ny c th xy ra theo th t bt k hoc ng thi khi tng
php quay v tnh tin quanh hai trc l chnh xc. S ti u y l khu tc
ng cui s chuyn v quanh trc khp ng t pha gn n nht v pha gi. Theo
v tr ban u ca trc khp chuyn ng c th dng tm cc ma trn bin i, v
ma trn bin i kt qu c th c tnh bng cch nhn trc hai chuyn v xon lin
tip:
A = A1.A2

(10)

Quan im ny nu trin khai vi mt chui ng n khu s c phng trnh di

dng:
A = A1.A2An-1.An

(11)

Theo ngha ca cc i lng trong A4.4 trnh by (6, 7) t k hiu tng qut
ca ma trn to l thuyt di dng:
43

 nx
n
A y
nz

sx
sy
sz

ax
ay
az

px
p y
pz

(12)

K hiu cc phn t ca ma trn to thc khu tc ng cui di dng:

a11 a14
a
a24
21

B
a31
a34

a44
a41

(13)

Quy tc Denavit Hatenberg (1955)

Hnh 2.14: Minh ha quy tc Denavit Hartenberg

Khi cc khu c dn ng bi cc ng c t ti cc khp, khu th i s chuyn
ng tng i vi khu th i-1, v tr ca n i vi khu i-1 c xc nh trong h
t gn vi khu ny. Vi cch chn cc h ta nh trn hnh 2.10, quan h v v
tr v hng gia hai h ta lin tip c xc nh bi bn tham s sau:
di : l khong cch khp, l dch chuyn tnh tin dc theo trc zi-1
gc ta Oi-1 chuyn n Oi , giao im ca trc xi v trc zi-1.
ai : di khu, l dch chuyn tnh tin dc theo trc xi im Oi
chuyn n im Oi.
i : gc khp, l gc quay quanh trc zi-1 trc xi-1 chuyn n trc xi
i : gc xon ca khu, l gc quay quanh trc xi sao cho trc zi-1
chuyn n trc zi.
Vi Oi l giao im ca trc xi v trc zi., Oi l giao im ca trc xi v trc zi-1.
44

i vi khp quay, ai, di, i l hng, i l bin, o v tr tng ca khu i so vi

khu i-1. i vi khp lng tr ai, i , i l hng, di l bin, o v tr tng i ca
khu i so vi khu i-1.
dch chuyn h ta ca khu (Oxyz )i 1 sang v tr ca h ta khu (Oxyz )i
bng bn php bin i c bn sau:
Quay quanh trc zi-1 mt gc i
Dch chuyn tnh tin dc trc zi-1 mt on di
Dch chuyn tnh tin dc trc xi mt on ai
Quay quanh trc xi mt gc i
Kt qu php chuyn h ta khu (Oxyz )i 1 sang h ta khu (Oxyz )i c
biu din bi ma trn
sau:

i 1

i 1

Ai

, l tch ca bn ma trn bin i c bn v c dng nh

Ai Rot ( z , i ).Transz (d i ).Transx (ai ).Rot ( x, i )

Ma trn DH c trng c dng nh sau:

cos i

sin i
i 1
Ai
0

- sin i cos i
cos i cos i
sin i
0

sin i sin i

- cos i sin i
cos i
0

ai co i

ai sin i

di

(14)

2. Cc m hnh ton vi h vt rn.

2.1 Bi ton thun v vn tc.
Chuyn ng ca khu thao tc (khu cui) c hp thnh t chuyn ng ca cc
khu ca rbt m c thc hin bi ng c t ti cc khp lm bin i cc gc
quay ti cc khp ny. Trong qu trnh khu cui thc hin thao tc cng ngh cn
phi kim tra, xc nh vn tc, gia tc ca n i vi i tng (hoc i vi h ta
c nh) m bo cht lng sn phm. T ta phi kho st bi ton vn tc:
ng vi cc gc quay q1 , q2 ,... v cc vn tc gc q1 , q2 ,... , sau khi gii bi ton v tr ta
xc nh c ta x p , y p , z p ca im tc ng cui v cc gc nh hng khu
cui, cn phi xc nh vn tc dch chuyn ca im tc ng cui v vn tc gc ca
, roty
, rotz
.
khu cui, tc l xc nh cc thng s x p , y p , z p , rotx

H phng trnh ng hc c th vit li di dng:

f ( p, q ) 0

(2.5)

Trong :
45

q : L vct c cc thnh phn l cc ta suy rng xc nh gc quay ti cc

khp, vi m hnh n khu:

(2.6)

q = (q1, qn)T

p : L vct cha cc thng s u ra, c thnh phn l cc ta xc nh v tr

im tc ng cui (gc tam din vung) v gc quay Cardan ca tam din vung i
vi h ta c nh

p [x p , y p , z p ,rotx, roty , rotz ]T

(2.7)

o hm phng trnh (2.5) theo thi gian ta c

p p
6

i 1

i 1

f
qi , = 1, 6
qi

(2.8)

C th vit (2.8) di dng sau:

f1
p
1
f 2
p
1

f 6
p1

f1
p2

f 2
p2

f 6
p2

f1
f1

q
p6
p1 1
f 2 f 2

p
p6 . 2 q1


p

f 6 6 f 6

q1
p6

f1
p
1
f 2

J p p1

f 6
p1
f1
q
1
f 2

J q q1

f 6
q1

Ta c

f1
p2
f 2
p2

f 6
p2

f1
q2
f 2
q2

f 6
q2

f1
q2

f 2
q2

f 6
q2

f1
p6

f 2

p6 ,

f 6

p6

f1
q6
q1
f 2

q
q6 . 2


q
f 6 6

q6

(2.9)

f1
q6

f 2

q6 ,

f 6

q6

(2.10)

(2.11)

J p . p J q .q

46

p J p1 .J q .q

(2.12)

Tnh c p l xc nh c vn tc ca im tc ng cui cng nh xc nh

c cc vn tc gc ca khu cui.
2.2 Bi ton thun v gia tc
xc nh c gia tc ca im tc ng cui v gia tc gc ca khu cui ng
vi qui lut chuyn ng ca cc khu xc nh bi cc gc quay tng i, vn tc
gc, gia tc gc ca cc khu ny, o hm phng trnh (2.8) theo thi gian ta c:

j 1

6
6
2 f
f
p i . p j
pi .

i 1 pi .p j
i 1 pi
j 1
6

6
2 f
f
qi .q j
qi ,

qi
i 1 qi q j
i 1
6

(2.13)

= 1, 6
Hoc vit (2.13) di dng:

J p .
pg

(2.14)

Vi J p c xc nh bi cng thc (2.10)

g [g1 ,g 2 ,g 3 ,g 4 ,g 5 ,g 6 ]T

V
Ta c:

g = -
6

j 1

6
2 f

p
p

i
j
i 1 pi .p j
j 1
6

T ta tm c

6
2 f
f

q
q
qi , 1.6

i
j
qi
i 1 qi q j
i 1
6

p J p1 .g

(2.15)

(2.16)

(2.17)

Vi p l vect xc nh gia tc ca im tc ng cui v gia tc gc ca khu

cui.
2.3 Bi ton ngc v v tr
y l bi ton c ngha quan trng nht trong iu khin chuyn ng chng
trnh ca robot bi v c gii c bi ton ny th mi dn ng c robot i theo
qu o nh trc thc hin thao tc cng ngh.
Khi vc t tham s X trong phng trnh ng hc robot (1.33) c th vit li
di dng:

x [qT ,pT ]T

(2.18)
47

qT [q1 , q2 , q3 , q4 ]

(2.19)

pT [x p , y p , z p , alpha]

(2.20)

Cc thnh phn ca p c xc nh dng gii tch hoc dng s. Gii h phng

trnh i s phi tuyn (2.18) gm bn phng trnh ng hc robot, vi cc thng s
bit pT [x p , y p , z p , alpha] ta c bn n s cn xc nh q1 , q2 , q3 , q4

2.4 Bi ton ngc v vn tc.

Trong qu trnh thao tc, theo yu cu ca k thut ni ring hoc m bo cc
yu cu khc i vi i tng, di chuyn ca khu cui khng ch phi tha mn v
tr tng i m cn phi tha mn iu kin v tc ca n i vi i tng. Do
vy khi kho st ng hc ngc ca rbt phi xt n bi ton vn tc v gia tc.
Bi ton vn tc cho bit mi thi im ng vi v tr, vn tc di ca im tc
ng cui, v tr v vn tc ca xe cn phi xc nh cc vn tc gc ca cc khp dn
ng.
Cc thnh phn ca vc t tham s X trong phng trnh ng hc robot (1.33) c
th vit li di dng (2.19), (2.20).
o hm phng trnh (2.5) theo thi gian ta c

6
f
f

q
p i , 1, 6

i
i 1 qi
i 1 pi
6

(2.21)

C th vit (2.21) di dng sau:

f1
q
1
f 2
q
1

f 6
q1

f1
q2
f 2
q2

f 6
q2

f1
f1

p
q6
q1 1
f 2 f 2

q
q6 . 2 p1


q

f 6 6 f 6

p1
q6

f1
p2
f 2
p2

f 6
p2

f1
p6
p1
f 2

p
p6 . 2


p
f 6 6

p6

(2.22)

Vi k hiu trn:

48

 f1
q
1
f 2

J q q1

f 6
q1

f1
p
1
f 2
J p p1

f 6
p1

f1
q2
f 2
q2

f 6
q2
f1
p2
f 2
p2

f 6
p2

f1
q6

f 2

q6

f 6

q6

f1
p6

f 2

p6

f 6

p6

(2.22a),

(2.22b),

Ta c

J q .q J p . p

(2.23)

Do

q J q1 .J p p

(2.24)

y qT [q1 , q2 , q3 , rotx , roty , rotz ] .

2.5 Bi ton ngc v gia tc
Bit v tr, vn tc, gia tc ca im tc ng cui v vn tc gc ca khu cui
mi thi im, cn xc nh gia tc gc ca ca cc khu dn, tc l cc i lng
q1 , q2 , q3 . o hm phng trnh (2.21) theo thi gian ta c:

j 1

6
6
2 f
f

q
q
q

i
j
i
qi
i 1 qi q j
i 1
j 1
6

6
2 f
f

p
p
pi ,

i
j
i 1 pi .p j
i 1 pi
6

(2.25)

= 1, 6
Hoc vit (2.25) di dng:

J q .q g

(2.26)

Vi J q c xc nh bi cng thc (2.10), cn:

g [g1 ,g 2 ,g3 ,g 4 ,g5 ,g 6 ]T

(2.27)

Trong :

49

g = -
6

j 1

6
2 f

p
p

i
j
i 1 pi .p j
j 1

6
2 f
f

q
q
pi , = 1, 6

i
j
qi
i 1 qi q j
i 1

(2.28)

T ta tm c
q J q1 .g

(2.29)

Vi q l vect xc nh gia tc ca cc khu dn.

T cc biu thc ca J q (2.10) v biu thc ca g (2.28) ta nhn thy rng tnh
c gia tc theo (2.29) trc ht cn phi gii c bi ton v tr v bi ton vn tc.
3. Cc phng trnh c bn ca ng lc hc vt rn
3.1. M hnh cng dm chu un thun ty
Dm l chi tit dng thanh, i tng nghin cu phn ng c hc trong nhiu bi
ton thit k. Di y gii thiu phng php xy dng m hnh ma trn cng ca
dm trong cc tnh hung lin kt khc nhau.
Dm hai u ngm:

Xt mt dm hai u ngm vi 6 bc t

do hn ch ti hai nt i v j nh hnh v:
Xt mt dm hai u ngm vi hai nt i
v j nh hnh v (i < j), E m un n hi

EF, EJ

pl

Gii phng ngm nt j xt bin dng

ca dm di tc dng ca lc ct p v m
men un M nh hnh v.

Mp

vt liu, F din tch mt ct ngang, l chiu

di dm.

EF, EJ

EF, EJ

Mx
EF, EJ

p=1

Mp

Nu xy dng ngay quan h ca ma trn

chuyn v vi lc nt vic nhn dng s 1
kh khn. n gin ha vn trc

M=1
EF, EJ

Mx

ht c nh nt I, gii phng lin kt ngm nt j, h ch c 2 bc t do vic kho st

s n gin hn nhiu.
H phng trnh tng qut ca dm ny c dng nh sau:

50

 pi
M i

pj
M
j

yi

K ij
i
.

yj
K jj
( 4.4 )

j ( 4.1)

K ii

K ji
( 4.1)

(1)

Trong trng hp ngm cng nt i th nt ny khng c chuyn v no:

yi
0
i

(1) c dng khai trin tng ng vi:

(2)

pi
yj
0 K ij .
j
M i

yj
p j

K
0
.

jj
M
j
j

(3)

y j y j p y j M

p
M
j j j

(4)

Chuyn v ca nt j c phn tch nh sau:

Tnh ring tng nhm nguyn nhn theo (4) bng php nhn veresaghin nh sau:
yj

3
pl 2 2l p j l
.

2 EJ 3 3EJ

yj

j
p

jM

Theo (4) kt qu s l:

M j l2
2 EJ
pj l2
2 EJ

Mjl
EJ

p j l3 M j l2

y j

3EJ
2 EJ

2
pj l
Mjl

j 2 EJ EJ

(5)

Vit li (5) di dng ma trn c:

51

 l3
y j 3EJ
2
j l
2 EJ

l2
p
2 EJ . j

l M j
EJ

(6)

Tnh nghch o ca ma trn 2.2 v phi sau nhn tri vo c hai v ca (6) vi
ma trn c:

12 EJ
pj l3
6 EJ
M j 2
l

6 EJ
y
l 2 . j

4 EJ j

l

(7)

Ma trn v tri ca (7) l ma trn lc nt, ma trn 2x1 v phi ca (7) l ma trn
chuyn v nt, vy ma trn 2x2 v phi ca (7) l ma trn cng.
Xt iu kin cn bng tnh ca dm ni trn c h phng trnh sau y:
pi p j 0

M i M j p j .l 0

(8)

Vit li phng trnh (8) di dng ma trn c:

pi 1 0 p j
M l 1. M
j
i

Thay (7) vo (9) c:

12 EJ
pi 1 0 l 3
M l 1. 6 EJ

i
l2

6 EJ
12 EJ
yj

l3
l
.
=

4 EJ j 6 Ej

l
l2

(9)
6 EJ
l 2 . y j
2 Ej j

(10)

Cn c vo (3), cc thnh phn ca ma trn cng c nhn dng nh sau:

T (7) c:

K
jj

T (10) c:

12 EJ
3
l
6 EJ
2
l

12 EJ
3

K ij l
6 Ej

l2

6 EJ
l2
4 EJ

(11)

6 EJ
l2
2 Ej

(12)

Da vo tnh i xng ca ma trn cng c th suy lun c rng:

52

K K

ji

ij

12 EJ
3

l
6 Ej

l2

6 Ej
l2
2 EJ

(13)

n y xy dng c K ii cn c nh nt j v lm li qu trnh t bc (4)

n (7). Biu thc (13) cng c th c xc nh bng cch ny m khng cn da
vo tnh i xng.
Qu trnh ny khi hon thin v b sung cc hiu ng ko nn theo quan im:
x

Ni
.l
EF

hoc

Nj
EF

(14)

.l

Trong cc hiu ng ko c phn ng + v cc hiu ng nn c phn ng S nhn c ma trn cng ca phn t thanh trong h quy chiu a phng ca
n di dng 6.6 nh sau:

EF
l

Ni 0
P
i
Mi 0
EF
Nj
Pj l

0
M j

12 EJ
l3
6 EJ
l2

6 EJ
l2
4 EJ
l

12 EJ
l3
6 EJ
l2

6 EJ
l2
2 EJ
l

EF
l
0
0
EF
l
0
0

12 Ej
l3
6 EJ
l2
0
12 EJ
l3
6 EJ
l2

6 EJ x
i
l2 y
2 EJ i

l . i
x
0 j
y
6 EJ j

l 2 j
4 EJ

l
0

(15)

Dng ma trn ny l thanh hai u ngm khng ch 3 chuyn v mi nt, dng i

s nh di y c dng trong trng hp cn xc nh cc ma trn cng ca
dm c s lin kt t hn dm ni trn.

EF

N i l ( x j xi )

P 12 EJ ( y y ) 6 EJ ( )
j
i
i
j
i
l3
l2

2 EJ
M i 6 EJ
( y j yi )
( 2 i j )
2

l
l

N EF ( x x )
i
j
j
l

12 EJ
6 EJ
Pj 3 ( yi y j ) 2 ( i j )
l
l

6 EJ
2 EJ
(2 j i )
M j 2 ( y j yi )
l
l

(16)

53

Ma trn cng cc dng dm lin kt thiu khc

bit cch xy dng c th xem mt v d c th v vic xy dng ma trn
cng ca dm nt nh (i) lin kt bn l, nt ln (j) lin kt khp tnh tin theo phng
thng ng nh hnh 2.12
i
Mi = 0

EF, EJ
l

Mj = 0
Y j =0

Hnh 2.15: Dm lin kt thiu

Quan h ni lc hai nt v cc chuyn v ca thanh hai u ngm cng cho bi h
phng trnh (16). Theo nh lc trnh by trn th nt i, m men chng un Mi
= 0, Mj = 0, lc ct Pj = 0, gn cc gi tr ny vo h phng trnh trn v rt ra cc i
lng tng ng l i ; j ; y j em th vo tt c cc v tr cn li trong h ta c quan h
gia ni lc v chuyn v ca thanh nt nh (k hiu i) lin kt khp quay v nt ln
lin kt khp tnh tin, chuyn quan h ny sang dng ma trn v dng ca ma trn
cng nhn c nh sau:
EF
l
0
0
EF

l
0
0

0 0

0 0

0 0
0 0

0 0
0 0

0 0
0 0
0 0

EF
l
0
0
EF
l
0
0

0 0

(17)

0 0
0 0

Ma trn cng biu din trong h quy chiu chung

Gi Q = [N P M]T l ma trn lc nt, gi K l ma trn cng, U = [x y ]T l ma

trn chuyn v nt.
Gi s h quy chiu a phng v h quy chiu chung trng gc, c gc xoay

tng i quanh trc z l , cn xy dng quan h chuyn trc cho ma trn cng
ca thanh t h quy chiu ny sang h quy chiu kia v ngc li.

Q Re. Q
U Re. U

Gia h quy chiu a phng v h quy chiu chung c cc quan h sau:

Q K . U

(18)
(19)

Trong h quy chiu chung c quan h sau:

(20)
54

Re. Q K .Re. U

(21)

Q ReT .K .Re. U

(22)

Thay (18,19) vo (20) nhn c:

Nhn tri c hai v ca phng trnh trn vi ReT , vn dng tnh trc giao ca ma
trn quay dn n:

K Re .K . Re

Phng trnh (22) l biu din trong h quy chiu a phng nn:
T

(23)

Cc m hnh ng lc hc h nhiu vt
ng lc hc l l thuyt v chuyn ng ca cc vt th c khi lng di tc
dng ca cc lc v cc ngu lc. Trong ng lc hc ta thit lp cc quan h gia cc
i lng ng hc v cc i lng v lc.
Vic m t cc tnh cht chuyn ng dn n cc Phng trnh chuyn ng
di dng cc h phng trnh vi phn. Cc phng trnh ny to nn m hnh ng
lc. i vi cc h vt rn n bc t do ta c phng trnh vi phn thng cp 2.
Cc hiu bit v m hnh ng lc c mt vai tr quan trng trong mt lot cc bi
ton sau:
a) M phng cc tnh cht chuyn ng:
Da trn cc s liu v cc lc tc dng ln c h v cc s liu v cc iu
kin u hoc cc iu kin bin, tnh ton v biu din chuyn ng trn cc
th. Bi ton ny c gi l ng lc hc thun.
b) Phn tch cc cu trc C in t:
Xc nh cc ng x ng cho vic thit k mu. c bit l vic thit k
truyn ng khi tnh cht chuyn ng bit t cc s liu ca m hnh ng
lc.
c) Tng hp iu khin:
Tr gip trong vic tng hp cc gii thut iu khin. Bi ton lp trnh qu
o (tc l tnh ton cc i lng dn ng cn thit thc hin c ng
cong qu o cho) l th d in hnh v tng hp cc thut iu khin. Bi
ton ny c th xp xp vo lp bi ton ng lc hc ngc.
thit lp m hnh ng lc ta c th s dng hai phng php khc nhau:
Phng php Newton Euler

55

Tch h thnh cc vt rn t do chu tc dng ca cc ngoi lc v cc lc lin

kt. p dng nh l bin thin mmen ng lng cho mi vt, ta nhn c mt h
6n phng trnh. Kh cc lc lin kt ta c cc phng trnh chuyn ng.
V d: M hnh con lc eliptic c im treo chuyn ng
Hy p dng phng php NEWTON EULER, thnh lp phng trnh vi phn
chuyn ng ca h nhiu vt trn hnh 6.23. H kho st c th xem l m hnh n
gin ca cn trc cn cu c ti trng ung a nh con lc. M hnh ny c th c
s dng lm m hnh c bn nghin cu s n nh ha ca trng thi cn bng khng
n nh. Khi thay = + (con lc ngc). B qua nh hng ca ma st.
y
x
u

m1

S1

S2

(s)
m2 ,I2

Hnh 2.16: M hnh con lc vi im treo chuyn ng

Cho bit: m1, m2,

= m2l2, l, c, u(t) kch ng ng hc.

Li gii:

H c n = 2 bc t do. Cc to suy rng c chn nh hnh v

q = [x, ]T .
Cc to khng gian ca trng tm:
Vt 1:
xS1 =

vi x1 = x,

y1 = 0

Vt 2:
vi x2 = x + lsin,

xS2 =

y2 = - lcos

Cc quan h ng hc:
Si

= Ji(q) ;

i = 1, 2

Trong ma trn JACOBI c dng:

J1 =

J2 =

56

Ta gii phng lin kt, thay lin kt bng cc phn lc lin kt nh hnh 6.24:
Hnh 6.24: Tch h thnh hai vt t do (FF lc n hi, A phn lc ca nn, Fpx, Fpy
cc lc lin kt ti khp)
Fpx
Fpy
Fpy

S1

FF
-A

S2

-Fpx

m1 g

m2g

nh l bin thin ng lng v nh l bin thin mmen ng lng:

Vt 1:
m1
m1

= - Fpx + FF,

= - Fpy + A m1g = 0.

(b qua vic p dng nh l bin thin mmen ng lng do khng c chuyn

ng quay)
Vt 2:
m2
m2

2
2

= Fpx + FF,

= Fpy m2g ,

= - Fpxl cos - Fpyl sin.

Lc n hi:
FF = - c(x u).
Nh th ta c h 6 phng trnh vi 6 n l Fpx, Fpy, FF, A v hai to suy rng x,
.
Kh cc lc lin kt ta c h hai phng trnh vi phn chuyn ng,
(m1 + m2)
(

+ m2l cos - m2l2sin + cx = cu,

+ m2l2)

+ m2l cos + m2lg sin = 0.

Hai phng trnh trn c th vit li di dng ma trn

+

+
=

Trong

(6.53)

+ m2l2 .

Phn lc lin kt
A = m1g + Fpy = (m1 + m2)g + m2l( sin +

cos).
57

Phng php Lagrange

Khc vi phng php NEWTON EULER, trong phng php LAGRANGE
ta s dng cc nguyn l c hc thit lp cc phng trnh chuyn ng. Trong
mc ny ta ch s dng cc phng trnh LAGRANGE loi 2 thit lp m hnh
ng lc.
V d: C cu phng hai khu nh hnh 6.26
Mi khu l mt thanh hnh tr ng cht. Ti im thao tc EP c tc dng ca
ngoi lc F = [Fx, Fy]T. B qua nh hng ca ma st.
Cho bit: l1, l2, m1, m2; S1, S2 l cc khi tm; F = [Fx, Fy]T
Fpx
Fy
EP

l2

Fx

S2

l1
S1

Fpx

Hnh 2.17 :C cu hai khu phng

Li gii:
Ta s dng phng trnh LAGRANGE (6.70) thit lp phng trnh vi phn
chuyn ng. Theo cc bc trn, ta tm:
Cc to suy rng: q = [1, 2]T ,
Quan h ng hc:
(0)

(0)

(k hiu tt: c1 = cos1, s1 = sin1, c12 = cos(1 + 2), s12 = sin(1 + 2))
(0)

= JT1 .

(0)

vi ma trn Jacobi

2 l1s1 0
J T1

1lc

0
2 1 1

= JT2 .
1

l1s1 2 l2 s12
J T2
ls 1l c
1 1 2 2 12

l2 s12
2

1
l2 c12

58

ng nng ( theo biu thc (6.17)):

1
1
1
1
T m1 ( (0) vS1 )2 m2 ( (0) vS 2 )2 I1 ( (0) 1 )2 I 2 ( (0) 2 ) 2
2
2
2
2

vi
(0)

1 1 ,

(0)

2 1 2 ,

I1

1
1
m1l12 , I 2 m2l22 .
12
12

Ch cc iu kin rng buc ng hc ta c biu thc ng nng

T

1
1
M1112 M 121222 M 222
2
2

vi
1
1
M 11 m1l12 m2l22 m2l12 m2l1l2 c2 ,
3
3
1
1
M 12 M 21 m2l22 m2l1l2 c2 ,
3
2
1
M 22 m2l22 .
3

Th nng theo biu thc (6.75):

U m1 gy1 m2 gy2 m1 g

l1
1
s1 m2 g (l1s1 l2 s12 ) ,
2
2
1
1

m1 gl1c1 m2 g (l1c1 l2 c12 )

U g1 (q )
2
2
Qk

.
1
q g 2 (q )

m2 gl2 c12

Lc suy rng khng bo ton theo biu thc (6.75):

Ngoi lc t ti im thao tc EP
x l1c1 l2 c12

y l1s1 l2 s12

l s l s
J T 1 1 2 12
l1c1 l2c12

hay

T Qn J T T F ta suy ra

l2 s12
.
l2c12

Q (l1s1 l2 s2 ) Fx (l1c1 l2c12 ) Fy

Qn n1
.
l2 s2 Fx l2c12 Fy
Qn 2

Cc phng trnh chuyn ng theo (6.76):

M 111 M 122 c1,1212 c1,2222 g1 Qn1 ,

M M c 2 g Q
12 1

22 2

2,11 1

(6.78)

n2

Trong

59

c1,12
c1,22
c2,11

M 11 1 M 12

m2l1l2 s2 ,
2 2 1

M 12 1 M 22
1

m2l1l2 s2 ,
2
2 2 1
M 21 1 M 11 1

m2l1l2 s2 .
1 2 2
2

T cc phng trnh (6.78) ta thy rng cc phng trnh vi phn chuyn ng

ca c cu hai khu phng n gin c cu trc kh phc tp. Chng l mt h hai
phng trnh vi phn cp hai phi tuyn i vi 1 v 2 . Ta ch c th gii h phng
trnh ny bng phng php s.
V d: Thit lp phng trnh vi phn chuyn ng ca mt trc dn ng c ch
n tnh n hi v cn ca c cu v trc my cng tc (hnh 6.27)
Mt ng c c iu khin dn ng qua mt c cu bnh rng c t s truyn

kr

r3
cho b phn cng tc. Phn quay ca ng c c m men qun tnh J1 . Gi
r2

thit rng, lc cn ca c cu t l bc nht vi vn tc gc vi h s cn d (gc quay

1 ). M men qun tnh ca hai bnh rng l J 2 v J 3 . cng ca c cu l trc dn

c. B phn cng tc c m men qun tnh J 4 .

Cho bit : M Antr , J1 , J 2 , J 3 , J 4 , r2 , r3 , d , c
a) Tm cc biu thc ng nng, th nng, ma trn khi lng M(q).
b) Thit lp phng trnh chuyn ng bng phng php Lagrange.

MAn tr

J2,
J1,

d
J3,

ng c

2r 2

2r 3

Hp gim tc

J4,

Ti trng

Hnh2.18 : H dn ng c iu khin
Li gii :
H c n=2 bc t do. Ta chn cc to suy rng
60

q 1 , 4 .
T

ng nng: Trong phng trnh (6.71) ta phi quan tm n cc phn quay,

1
1
1
T ( J1 J 2 )12 J 332 J 442 .
2
2
2

Ch n t s truyn kr r3 / r2
T

1
ta c
3

1
1
r2
( J1 J 2 22 J 3 )12 J 442 .
2
2
r3

Ma trn khi lng M(q) c dng sau :

r22
J
J

1
2
M (q )
r33

J 4

Trong th d ny, ma trn khi lng khng ph thuc vo cc to suy rng.

Ta nhn thy rng cc phn t ci , jk lun lun tho mn ci , jk 0 .

Th nng:
U

r
1
1
c ( 4 3 )2 c( 4 2 1 ) 2 .
2
2
r3

Cc phng trnh chuyn ng: Th ng nng, th nng, lc suy rng vo

phng trnh Lagrange loi hai (6.70) ta c
( J1 J 2

r22
r
r
J )1 d1 c 2 (4 2 1 ) M Antr
2 3
r3
r3
r3

r2

J 44 c( 4 1 ) 0

r3

(6.79)

Cc phng trnh (6.79) l mt h hai phng trnh vi phn tuyn tnh cp hai h s
hng s.

61

Phn III: C CU CHP HNH

III.1 TNG QUAN
Cc c cu dn ng (hay c cu chp hnh) c b tr gia cc thit b iu
chnh hoc iu khin ca h thng v c h thng iu khin. S nguyn l hot
ng ca c cu dn ng trong mt h thng c in t minh ha trn hnh 3.1

Hnh 3.1: S nguyn l hot ng ca c cu dn ng

Cc giao din kt ni gia cc phn t c nhiu kiu khc nhau nh c kh, in,
thy kh hoc cc c cu dn ng kiu mi da trn nguyn l p in. Vic iu
khin cc c cu dn ng thng din ra nh cc tn hiu t c truyn dn thng
qua cc giao din chun ca mt b vi x l. B vi x l ny m nhim vic bin
dch cc lnh iu chnh v iu khin. Cc i lng u ra ca c cu dn ng l
nng lng hoc cng sut, c kh nng sinh cng c hc cho trc quay (nng lng
quay) hoc cho vt trt (nng lng dch chuyn tnh tin). Nng lng ny c to
ra bi ngun nng lng tr gip trong mt b iu khin nng lng c kt ni vi
b chuyn i nng lng, xem hnh 3.1.
Ta c mt s yu cu nht nh i vi nng lng c hc ti u ra. Th d nng
lng c hc nh cng c hc khi mt vt dch chuyn c tnh bng lc tc dng
nhn vi qung ng dch chuyn. Cc trng hp nh lc tc dng ln trong mt
qung dch chuyn ngn (khu t lc) hoc lc tc dng nh trong mt qung dch
chuyn di (khu t qung ng) l nhng trng hp ti hn. iu ny yu cu cc
b chuyn i c hc trung gian nh hp s, cc trc quay.
Bng 3.1: Cc dng cng sut v cc i lng dng,
i lng th suy rng c lin quan.
Dng cng sut

i lng th

i lng dng

Cng sut

suy rng p

suy rng f

P = p.f
62

Tnh tin c hc

Vn tc di v

Lc F

Ptrans = F.v

Quay c hc

Vn tc gc

Momen M

Prot = .M

in

in p U

Dng in I

P = U.I

Dng cht lng

p sut p

Lu lng V

Pfl = p.V

Chnh lch nhit

Lng truyn nhit

Pth = t .kA

Nhit

kA

Bng: cc dng c cu chp hnh v c tnh ca chng

C cu chp hnh in
it, thyristo, tranzitor lng
cc, triac, iac.
Mosfes cng sut, rowle bn
dn.
C cu chp hnh in c
ng c mt chiu, kch t
c lp
ng c mt chiu mch mc
r nhnh
ng c mt chiu mch t
hp
ng c mt chiu nam
chm vnh cu kiu truyn
thng
ng c mt chiu nam
chm vnh cu cun dy
chuyn ng
ng c mt chiu nam
chm vnh cu kiu ng c
m men
ng c mt chiu truyn
thng in t (khng chi
qut)
ng c cm ng xoay chiu

c tnh
Dng in t, p ng tn s rt cao
Tiu th nng lng thp
c tnh
Tc c th iu khin bng in p chy trong cun
dy phn ng hoc thay i dng in trng
ng dng khng i
M men khi ng cao, m men gia tc cao, tc
cao vi ti nh, khng n nh khi ti nng.
Hiu sut cao, cng sut cao, p ng nhanh
Hiu sut cao hn, cm thp hn ng c mt
chiu truyn thng.
C th chy trong thi gian di trong iu kin cht
my hoc vng quay thp.

p ng nhanh, hiu sut cao > 75%, tui th di,

tin cy cao, khng cn bo dng, sinh nhiu tn s
sng thp.
L ng c c dng nhiu nht trong cng nghip,
n gin, r v khe.
ng c ng b xoay chiu Rotor quay vi tc ng b, hiu sut rt cao trn
di vn tc v ti rng, cn tr gip khi ng, th
ngn.
ng c bc lai ghp
Thay i xung in trong chuyn ng c hc a ra
v tr chnh xc, khng cn phn hi.
ng c bc t tr bin Bo dng t
thin
C cu chp hnh in t
c tnh
Thit b dng solenoid
Lc ln, tc ng nhanh
Nam chm in t, r le
iu khin ng, m.
C cu chp hnh thy kh c tnh
63

Xy lanh
ng c thy lc ni chung

Thch hp vi chuyn ng thng

Di tc rng, khong ti rng, tin cy cao, khng
c ri ro sc in
Cc loi van thy kh
t phi bo dng
C cu chp hnh vt liu c tnh
thng minh
p in v in gio
Tn s cao vi chuyn ng nh
in p thp vi kch thch dng in thp
phn gii cao
T gio
Tn s cao vi chuyn ng nh
in p thp vi kch t dng in cao
Hp kim nh hnh th
in p thp vi kch t dng in cao
Tn s thp vi chuyn ng ln
Dng lu bin in
Kch t in p rt cao
Chu ng tt vi sc v dao ng c hc
Tn s thp vi lc ln
C cu chp hnh micro v c tnh
nano
ng c micro
Thch hp vi cc h micro
Van micro
Co th dng cng ngh x l silic sn c, tnh cht
nh ng c tnh in
Bm micro
C th dng bt c vt liu thng minh no
Tip theo, ta s cp ti cc thnh phn chnh ca b chuyn i nng lng

trong thc t.
III.2 H THNG THY LC V KH NN
Cc h thng thy kh vi t cch l c cu dn ng hot ng da trn nguyn
l tng t nhau, trong phn ny gii thiu cc phn t c bn, cch xy dng h
thng v cc s iu khin cn bn ca h thng thy kh.
Ngi ta vn thng bit ti cc c cu dn ng thy kh l cc thit b thy lc
hoc kh nn v c s dng to ra cc lc hay chuyn ng ca dng kh hoc
dng cht lng. a s cc c cu dn ng thy kh l cc b chuyn i tnh tin vi
kt cu n gin v cng sut nh hn so vi cc c cu dn ng in t. Mt khc,
vic thc hin cc nhim v iu khin v tr bng cc c cu dn ng thy kh
thng gp nhiu kh khn do tnh n hi ca dng thy kh.
S nguyn l ca mch thy kh m t nh sau:

64

Hnh 3.2: S nguyn l mch thy kh

Du hoc kh nn cao p c bm hoc my nn (do ng c dn ng) y vo
h thng, qua van tit lu (hoc khng qua van tit lu nu nng sut ngun iu chnh
c). Qua cc van mt chiu, bnh tch p sut, qua van o chiu (chc nng n nh
hng di chuyn dng thy kh) ti ng c hoc xy lanh to ra chuyn ng cng tc.
Mi cht (du p hoc kh nn) nhn nng lng dng chy ca bm hoc my
nn cp cho, di chuyn theo ng ng n sinh ra cng c hc ti ng c du hoc
ng c kh nn.
2.1 Cc thit b trong h thng v vai tr
1. Bm (hoc my nn): l thit b bin nng lng c hc (ca ng c
dn ng) thnh nng lng dng mi cht;
2. ng c (thy lc hoc kh nn) l thit b bin nng lng dng mi
cht thnh nng lng c hc, gia bm v ng c c tnh thun nghch (kt
cu tng t nhau) song ng c thng yu cu chnh xc ch to cao hn
bm;
3. Van an ton: l thit b c chc nng gi cho p lc ca h thng khng
vt qu gi tr nh trc;
4. Van tit lu: l thit b c chc nng thay i lu lng ca dng chy,
lu lng qua van tit lu ph thuc vo ti trng ngoi v thng khng n
nh;
5. Van o chiu: thit b c chc nng n nh hng ca dng mi cht,
n dng xc nh hng di chuyn ca c cu chp hnh.

65

6. Cc rle p lc: n nh trng thi bt u hay kt thc lm vic ca h

thng;
7. Van mt chiu: ch cho mi cht di chuyn theo mt hng xc nh v
kha hng lu thng ngc li;
8. Cc thit b khuch i lc hoc momen: Dng khuch i lc hoc m
men cng tc truyn t c cu iu khin n khu cng tc;
9. Cc thit b tch p: lu tr nng lng di dng p lc b r cho h
thng;
10. Thit b o chiu ph: dng tc ng i chiu t ng cho dng mi
cht c chc nng iu khin (phn bit vi dng cng tc).
Cc dng v cc thng s c trng ca cc c cu dn ng thy lc
Cc c cu dn ng thy lc u c cu to t mt phn t iu khin v mt
ng c thy lc. Cc ng c thy lc c th l cc ng c quay hoc tnh tin nh
c ch thch trong bng 3.2. Cc phn t iu khin l cc van servo n hng nh
m t trong chu trnh thy lc ca hnh 2.14 v c trnh by trong phn 2.3.2.
Cc van ny thng lm vic vi mt p sut khng i thng qua mt b lu thy
lc. p ng theo thi gian tt v ch c mt khi lng nh c iu khin trn mt
qung ng ngn. Nhc im ca vic iu khin nh cc van servo l gy ra tn
tht ln ti cc van tit lu. Mt cch tn dng nng lng tt hn l iu khin v tr
bng thy lc, xem hnh 2.19.

66

67

Hnh 3.3: iu khin v tr

iu khin lng y ca bm ta cn s dng mt van iu khin. Tuy nhin
van ny khng t ti b phn to cng sut nn tn hao cng nh. Lu lng dng s
n nh quy lut tc ca ng c quay hoc quy lut vn tc ca ng c tnh tin.
ln ca p sut c iu chnh theo ti trng t vo ng c. p ng theo thi
gian ca b phn iu khin khng tt nh cc van servo, bi v c mt khi lng
ln hn chuyn ng trn qung ng di hn. Trong vic la chn c cu dn ng
ta phi cn i gia thi gian iu chnh ngn (van servo) v hiu sut cao (iu khin
lng y).
Cc loi ng c quay trn bng thy lc c tng kt trong bng 2.8 cng vi cc
c im v thng s k thut in hnh. ng c tnh tin bng thy lc c dng tc
ng n hng hoc hai hng. Mt vi loi ng c tnh tin bng thy lc c
tp hp trong bng 2.6.
2.2. Van trt c mp iu khin dng, trung gian v m
Thng thng trn s thy lc ngi ta k hiu:
- A, B ng nhnh ni van vi bung lm vic ca xy lanh;
- P ng ni van vi ngun (bm pumb);
- T ng ni van vi b cha (b cha tank).
Van trt l van c chc nng n nh hng chuyn ng ca dng cht lng hoc
kh, n cho php hoc ngn khng cho dng mi cht vo bung lm vic ca xy lanh
lc. Do n quyt nh hng ca chuyn ng cng tc, n cn c th da vo lu
lng iu chnh tc ca c cu chp hnh.
68

Vic iu chnh t ng chc nng ca van ny thng da trn tn hiu in (s

cp) d t ng ha, v khuch i cng sut hoc m men bng thy lc t
c nhy tt khi s dng. Da trn cc nguyn tc khc nhau khi dch chuyn li
tr trt ngi ta c cc dng van o chiu vi tn gi khc nhau.
V tr ca van o chiu c th nm sau bm, sau van tit lu nu h thng iu
chnh tc bng tit lu.

Hnh 3.3: S cc loi mp iu khin ca van

a- Van c mp iu khin dng (+x0)
b- Van c mp iu khin trung gian (x0 = 0)
c- Van c mp iu khin m (- x0)
d- c tnh l thuyt Q - x(Q-I)
Khi x0 > 0 gi l van trt c mp iu khin dng, con trt di chuyn trong
vng x0 lu lng vn bng 0 v vng ny c th gi l vng cht.
Khi x0 = 0 gi l van trt c mp iu khin trung gian.
Khi x0 < 0 gi l van trt c mp iu khin m, ti v tr trung gian ( con trt
cha di chuyn) hnh thnh tit din chy v lu lng du qua van.

69

Hnh 3.4: Van o chiu li tr trt hng FESTO

Hnh 3.5: Thng s k thut mt van o chiu hng FESTO

Van o chiu iu khin in c th chp nhn tn hiu vo dng analogue di
in th, hoc tn hiu dng in.
2.3. Van solenoid
Van solenoid gm mt ng dy bao quanh mt li st t, khi mun li st dch
chuyn tnh tin, cn tc ng mt dng in ln ng dy. Khi c in, cun dy lun
y con trt i ht hnh trnh. Con trt ca van s hot ng hai v tr (hai u ng
dy) ty theo tc ng ca nam chm. C th gi van solenoid l loi van iu khin
c cp do n ch c hai trng thi ON/ OFF. Lu lng y phi c tnh ton sn
cho ph hp vi hai trng thi ny.
Cc vai tr trt ca van solenoid l g trn, ng vai tr nh piston thng
thng trong khi van t l ngi ta x cc rnh tam gic nh.

70

li
solenoid

Hnh 3.6: Van phn phi hot ng nh ng dy solenoid

Hnh 3.7: Cu to v k hiu ca van solenoid hai tng

a- Cu to v k hiu ca van solenoid iu khin trc tip (1,5 - vt hiu chnh v
tr ca li st t; 2,4 - l xo; 3,6 - cun dy ca nam chm in)
b- Cu to v k hiu ca van solenoid iu khin gin tip (1- van s cp dch
chuyn bng lc in; 2- van th cp dch chuyn bng lc thy lc).

71

Hnh 3.8: V d v ng dng van

solenoid trong iu khin v tr
V tr dng ca bn my
trn hnh v c thc hin bng
mch iu khin logic dng rle,
ngt trng thi hoc PLC, thng
qua v tr ca kho gii hn nh
hnh pha trn.
Hnh thc iu khin ny
n gin, gi thnh thp v ph
hp vi yu cu ca nhiu thit
b, dy chuyn t ng. Tuy
nhin khi kha gii hn b tc
ng th bn my khng th
dng ngay m phi mt mt
khong thi gian no . iu
ny dn ti v tr dng ca bn
my khng chnh xc do nh hng bi cc yu t sau y :
- Thi gian p ng ca van;
- Khi lng v vn tc chuyn ng;
- Th tch cha du trong xylanh v ng ng dn;
- M un n hi ca du;
- Ma st ca cc b phn chuyn ng;
- S r du;
- Thi gian tc ng ca kha gii hn v ca rle;
- Thi gian nhn tn hiu phn hi ca b PLC (nu iu khin PLC).
Cc yu t trn kh c th xc nh mt cch chnh xc v chng c th thay i
trong sut qu trnh hot ng ca my. Nn v tr dng ca bn my s nm trong mt
vng nht nh nh hnh v bn di.

72

2.4. Van t l
Van t l c chia lm hai nhm l van t l lu lng v van t l p sut. Trong
trng hp van t l lu lng, cun cm lm dch chuyn con trt ca van, c gi
bi mt l xo trn thn van.
Cc c tnh ca cun cm trong ton b hnh trnh ca con trt, l hm ca
dng in u vo lc y t cun cm t l ln li tr trt c th thay i c. ng
vi cc gi tr c th ca dng in vo, c mt v tr nht nh m ti lc in t
ca cun cm cn bng vi lc phn hi ca l xo.

li

cu?n c?m

vng lt phi t?

Hnh 3.9: S cun cm servo

Cu to ca van t l nh hnh 3.5 gm: Thn van, con trt, nam chm in.
thay i tit din chy ca van, tc l thay i hnh trnh ca con trt bng
cch thay i dng in iu khin nam chm. C th iu khin con trt v tr bt
k trong phm vi iu chnh bng cch thay i v cp dng in i iu chnh nam
chm nn van t l c th gi l loi van iu khin v cp, y l im khc bit c
bn gia van t l v van solenoid.

73

Hnh 3.10: Van t l lu lng iu khin trc tip (1 cp)

v chi tit li trt s dng trn van
Cc van t l lu lng c th c hai tng, Trong trng hp ny u ra ca van t
l dn hng (s cp) a ti cc khoang cui ca mt van kiu con trt c kch c
ln hn, cho php t c lu lng ln hn ng thi gim c cc sai s.

Hnh 3.11: Van t l lu lng hai tng

Trn hnh v cc ng X. Y l ng iu khin;
Cc ng A, B ti xy lanh cng tc;
ng P ti ngun;
ng T v b cha.
Trong s trn van t l ny bao gm c cm bin v tr ca tng s cp v th
cp.
Vi trng hp yu cu v tr chnh xc ca con trt c th dng phn hi v tr,
nh vy cn n mt cm bin v tr ca li tr trt nhn bit chnh xc v tr ca
n nhm iu chnh chnh xc. chnh xc v tr trong trng hp ny c ci thin
ng thi cn b c sai s do ma st gia cc phn di ng.

74

Hnh 3.12: S b tr cm bin v tr trn van t l

Trong trng hp p lc ca h thng ln c th thit k mt con trt th hai trong
li van t l b p m bo lm vic ca n khng ph thuc vo ti trong ngoi.

Hnh 3.13: Van t l c b b p sut

Tng t nh valve trn, li cun solenoid t l s 2 s tc ng ln con trt tit
lu s 1 kha bt ng du t A n B. Phn li valve s 3 ng vai tr b
pressure compensator m bo valve t l iu chnh lu lng khng ph thuc vo
ti lm vic. N cng c th c gn thm b theo di v tr ca li con trt ly
tn hiu phn hi ln b iu khin.
Cng ging nh cc valve thng thng, valve t l loi ny cng thng c
gn trn cc tng valve chnh iu khin cc h thng c lu lng to hn.
Ngoi van t l lu lng cn c van t l p sut:

75

Hnh 3.14: Van t l p sut

Valve t l loi ny cng bao gm cun solenoid "t l" s 1 tc ng mt lc p
ln kim p sut s 3 thng qua l xo s 2. Bng cch thay i cng dng in cp
vo cun solenoid, li ty cun solenoid dch chuyn tng ng v do thay i
cng ca l xo dn n thay i p sut m ca kim p sut s 3. Nh c b chuyn
i tn hiu p sut thnh tn hiu dng in s 5 v card in t s 6 gn trn valve,
gi tr p sut lm vic c bin i thnh gi tr in iu khin valve t l p
sut kiu ny.
2.5 Mt s s ng dng iu khin vi
van t l
- Van t l khng phn hi
Ch rng mch iu khin y c
2 khi nim phn hi, phn hi ca van v
phn hi ca h thng. y xt mch iu
khin s dng van khng c phn hi.
Hnh 3.15: S mch iu khin v tr
s dng van t l khng phn hi in
Qua b khuch i dng in iu
khin van c iu khin bng tn hiu
in p vo nh hnh v. Ty thuc vo
kch thc ca van m thi gian p ng s
nm trong khong 50 ms n 150 ms.
Nu c cm bin v tr cung cp tn
76

hiu phn hi lin tc s c mch iu khin v tr lin tc (phn hi ca h, phn bit

vi phn hi ca van).
Hnh 3.16: Van t l vi phn hi ca h trong iu khin v tr
Khi cho tn hiu in p vo C,
b khuch i s to ra dng in I
tng ng iu khin tit din
chy ca van. Lu lng qua van
cung cp cho xylanh lm pittng di
chuyn. Cm bin v tr dng bin
tr gn trn u ca pittng cng
di chuyn, to ra in p phn hi
(F) truyn v b khuch i v so
snh vi in p iu khin (C)
nhm san bng s sai lch E. Khi
in p so snh c sai lch E = 0
th pittng s dng v tr tng ng.
Trong mch iu khin trn, hnh trnh h ca pittng, chiu di v in p ca cm
bin v tr v in p tn hiu vo phi c quan h tng thch.
Khi pittng v tr 0 th in p phn hi phi bo gi tr bng 0 V. Khi pittng v
tr max (h = 1000 mm) th cm bin v tr c gi tr + 10 V. Tng ng vi mi quan
h tn hiu in p iu khin thay i t 0 n +10 V. Khi vo b so snh, tn hiu
phn hi ngc du vi tn hiu vo v thc hin san bng in p.
V d, cn iu khin pittng di chuyn i 500 mm th tn hiu vo dng step s
tng ng l +5 vn.
Khi pittng cha di chuyn ( thi im ban u) th tn hiu phn hi F = 0 v lc
ny tn hiu so snh l E = C F = 5 V 0 = 5 V. B khuch i c tn hiu vo 5 V
s sinh ra dng in tng ng iu khin van. Gi s 5 V tng ng vi vn tc
ca pittng l 200 mm/s v di chuyn ht qung ng l 500 mm vi thi gian l 2,5
s. Sau 1s pittng di chuyn c 200 mm/s tng ng vi tn hiu phn hi F l 2 V
v tn hiu so snh s l : 5 V 2 V = 3 V. Nu tn hiu so snh gim t 5 V xung
cn 3 V th vn tc pittng gim t 200 mm/s xung cn 120 mm/s.

77

Hnh 3.17: So snh tn hiu t v tn hiu phn hi

Hnh trnh di chuyn ca piston sau 2s l 200 + 120 = 320 (mm), c tip tc qu
trnh ny cho n khi tn hiu so snh E = 0 th piston di chuyn ht hnh trnh trong
khong 2.5s. thi gian p ng nhanh c th tng tc piston bng cch tng h
s khuch i.
- Cc mch nguyn l s dng van t l c phn hi
khc phc hin tng vng cht ca van, ngi ta s dng van c phn hi.

Hnh 3.18: S khi mch iu khin v tr s dng van t l c phn hi

Van t l c phn hi s c b khuch i v b phn hi ring nh hnh v, so
vi van t l khng phn hi th loi c phn hi c thi gian p ng nhanh t 12 37
ms v sai s do hin tng t tr nh khong 1%.
2.7 Van servo
hiu r mc ny cn xem xt hai phng php iu khin bng phn t tia
trong truyn dn thy lc hoc kh nn:
iu khin lu lng dng vi phun ng thu:

78

Z-

Z+
P

Hnh 3.19: Vi phun ng thu

C th dng phng php tit lu bng cch che chn l tip nhn dng cht
lng (hoc kh) nh hnh v, nu vi phun c di chuyn z+ hay z -, tc l quay quanh
tm ca n iu chnh lu lng ti ca a v ca b khc nhau. Khi z = 0 lu lng
hai ca cn bng. y tn hiu iu khin l s dch chuyn z ca vi phun.
iu khin lu lng dng vi phun bn chn:
s
Bn chn
Z

x
vi phun

Hnh 3.20: Vi phun bn chn

p sut trn ng ra x t l nghch vi khe h s gia l chn v ming vi phun.
Khi s = 0 p sut ra ca x bng p sut ngun.
Hai loi vi phun trn y l c s cho kt cu van servo.

Hnh 3.21: S nguyn l ca b phn iu khin con trt ca van servo

Kiu vi phun bn chn
79

Hnh 3.22: Mt ct dc van servo dng vi phun bn chn

C van servo v van t l c dng cho iu khin v cp v tr, tc v lc
ca mt c cu chp hnh thy lc, yu cu chnh xc v tr hoc chnh xc trong
iu kin chy v di tn s lm vic, trong c hai cu trc vng kn v vng h.
Trong cc trng hp cn thit th cc van c th c iu khin theo nhiu
bc. khuch i tng bng tch ca cc khuch i ring ca tng bc. i
vi cc van servo nhiu tng, khuch i tng c th t ti >108.
Van servo hay van t l l mt b phn ca h thy lc c th sinh ra u ra iu
khin c v hm ca u vo dng in. Thit b chuyn i tn hiu in thnh tc
ng vo ca van l nam chm in ca ng c m men hoc cun cm t l.
ng c m men chuyn dng in mt chiu nh sang m men tc ng ln mt
rotor ch lng cc trong van servo. Trong khi cun cm t l sinh ra lc tc ng
n hng trn hm phn ng di ng ca dng in trong cun dy, vi c tnh duy
tr lc ny gn nh khng i trong di di chuyn con chy (li tr trt).
ng c m men vi cc gi tr dng in v in cm thp c thi gian p ng
ngn hn cun cm servo, c bit l hot ng vi dng in cao nhng sinh ra cng
sut c thp hn so vi cun cm t l. Do ng c m men to thnh tng dn
hng thng thy trong cc van servo, cn cun cm servo c dng trong cc van
t l tc ng trc tip ln cc con trt.
Cc van servo iu chnh lu lng dng chy chia thnh hai nhm da trn cch
chng to ra s chuyn i in thy lc:
-

Dng vi phun bn chn;

80

Dng vi phun ng thu.

Hnh 3.5b m t mt van servo kiu hai tng vi u vo iu khin bng in t,

mt b tin khuch i thy lc da trn nguyn l vi phun bn chn, cng nh mt
b chuyn i thy lc vi con trt iu khin chnh.

Hnh 3.23: Van servo hai tng kiu vi phun bn chn

Sn phm ny do nhiu hng thit k v ch to nn kt cu cng rt a dng.
B phn iu khin con trt ca van servo th hin trn hnh 3.5a. Hai nam chm
vnh cu t i xng to thnh khung hnh ch nht, phn ng trn c hai cun
dy v cnh chn du ngm vi phn ng, to nn mt kt cu vng. Hot ng ca
van kiu vi phun bn chn kh n gin, gm ba qu trnh tun t trong mt chu k
ng in vo ng c m men:
1 - a vo cun dy mt dng in ng c m men tc ng ln mt rotor mt
m men quay (M1), lm cng n hi di chuyn bn chn li gn mt trong hai ming
vi phun. p lc tng do khe h gim lm gim lu lng qua vi phun ny, bung
cp du cho vi phun b chn c p sut tng ln. Lng chnh p trong cc bung ca
van trt thy lc cp 2 lm di chuyn li tr trt m ng cp A hoc B ti xy
lanh cng tc.
2 - Li tr trt di chuyn lm cong cng n hi to ra mt m men M2 chng li
M1. y l tn hiu phn hi cn c ca h iu chnh servo, khi M2 bng vi M1 tr

81

trt nm v tr cn bng v duy tr lu lng ti bung lm vic ca xy lanh cng

tc.
3 - Nu ngt in khi ng c m men, m men M1 mt theo, cng n hi dui ra
do n hi v b vi phun y v v tr trung gian nh ban u nn M2 cng khng cn,
2 l xo xc nh v tr im 0 ca li tr trt tc ng em tr trt v v tr trung
gian. Hai vi phun c lu lng cn bng tr li, hai bung cha c p cn bng cng
gp phn y con trt di chuyn v trng thi trung gian ngt ht cc ng A, B nn
khng c du ti xy lanh cng tc. Qu trnh chuyn ng thc hin xong mt chu k
ng vi 1 ln cp ngun cho ng c m men. Nu hnh ng cp ngun xy ra lin
tc th chuyn ng cng lin tc v ngc li.
C th thy nu khng nh c lin h ngc chuyn ng A hay B c pht
ng c tc ph thuc vo s cn bng ca M1 v M2 kh duy tr do v tr con trt
di ng lin tc.
K hiu ca van servo:

Hnh 3.24: K hiu ca van servo

Trong cng nghip thng dng cng tc trc tip dch chuyn phn chp hnh
cn c cng sut ln, thit b c mt tng iu khin khng th to ra nhy
cn thit, hoc lc iu khin ln kh khn trong vn duy tr ngun nui. Vic tch
ra nhiu tng gm dng iu khin v dng chp hnh chnh l nhm khc phc nhc
im trn, nht l khi ng c m men sinh ra m men c hc b hn cun cm t l.
Nhc im ca van servo vi phun bn chn l phi lc ton b lng du s
dng (gm dng iu khin v dng cng tc) mt cch k lng, cch ny hi phc
tp v tn km. khc phc nhc im trn ngi ta s dng van servo vi phun
ng thu (iu chnh phn t tia).

82

AMP

di?n p com

m men xoay

S
Xa

S
Xj

L?c vo

Xs
P

T
A

Hnh 3.25: S van servo dng vi phun ng thu

Vi phun c ni vi cng P ca van servo qua qua mt b lc v ng mm,
khng ging nh van dng vi phun bn chn y khng cn thit lc ton b lng
du qua van m ch cn lc lng du ca dng iu khin. R rng y l phng
php cho php tit kim nng lng v gim thiu nh hng ca tp cht c hc.
Khi ng vi mt in p u vo chun, b khuch i lm in p trong cun
cm ca ng c m men tng ln ng thi gim tng ng cun cm cn li. S
kch thch ny gy ra mt cn bng cc lc u cc thanh li sinh ra m men lm bn
thn thanh ny v ng phun quay.
S dch chuyn ca ming vi phun gy ra s phn phi khc nhau gia hai ng
thu di n v kt qu l to ra chnh p sut hai u con trt v gy ra s dch
chuyn. Phn l xo ni con trt v ng phun to ra phn hi v tr, dch chuyn
ca con trt v ng phun lm bin dng l xo phn hi, sinh ra mt lc tng t l vi
n, c th cn bng m men cp cho ng phun v lc do chnh p trn ng trt gy
ra.
Theo cch ny h s c mt v tr cn bng t l vi in p u vo. L xo n
hi cng nh tm con trt trng thi khng lm vic, do khng c l xo im
khng nh kiu vi phun bn chn.
Khi ct ngun cp cho ng c m men vi phun tr v v tr trung gian, p lc
hai bung cn bng tr li, con trt b y v v tr trung gian kt thc mt chu k

83

lm vic. Cn c dng in duy tr m men trong ng c duy tr lu lng cp vo

bung cng tc ca xy lanh.
Cc c cu iu khin thy lc dng servo
Lin h ngc trong h thng iu khin c ngha quyt nh v chnh xc
v tin cy ca thit b. Trong truyn dn thy kh dng ph bin l cc c cu servo
l nhng c cu c t nht mt lin h ngc trong h thng iu khin. Mi lin h
c th l v tr, vn tc hoc theo p sut, lu lng hoc phi hp cc yu t .
Lin h ngc theo v tr
Lin h ngc v tr c th s dng lin h c kh, in hoc thy lc, di y gii
thiu h thng iu khin servo chuyn ng thng v chuyn ng quay lin h
ngc bng lin kt c kh cng.

Hnh 3.26: Chuyn ng tnh tin vi lin h ngc v tr bng c kh

Gi s li tr 1 nhn c tn hiu iu khin i ln, du t P (ngun) ti bung
trn ca xy lanh c cn y c nh. V vy dao i ln thc hin mt chuyn ng i
ln tng ng vi chuyn ng i ln ca u d. Do v xy lanh cng tc v v van c
lin kt c kh cng, nn sau khi xylanh cng tc i ln, tr hn mt cht thng qua
lin kt c kh ny, v van ui theo li tr trt. Khi trng thi i xng ca mp
iu khin c thit lp trong rnh tit lu th chuyn ng chm dt v p lc hai
bung xy lanh cn bng.
C cu trn khng ch ng vai tr iu khin hng di chuyn ca phn cng tc
m n cn c chc nng khuch i lc cng tc do chuyn ng dch chuyn li tr
trt to ra khe h tit lu cp du vo xy lanh cng tc c lc nh (lc nam chm

84

hoc phn lc u d), trong khi dng cng tc di chuyn cn piston tng i vi
xylanh c lc rt ln.
C cu ny c th c gi thnh r hn nu ch dng loi mt mp tit lu nh di
y.
p 1 F1

p2 F2

Hnh 3.27: Van phn phi mt mp tit lu trong iu khin tnh tin servo
Xt mt h chp hnh servo chuyn ng quay do ng c du cung cp nh sau:
5

7
3
8
1

2
T
P

Hnh 3.28: Chuyn ng quay vi lin h ngc v tr bng c kh

u bn phi trc rotor ca ng c du 1 c lin kt c kh cng vi v 2 ca van
phn phi li tr xoay, nu li tr xoay trng thi trung gian che khut ht cc ca
cp 7 v 11 t bm ng c khng hot ng. Nu tc dng mt lc nh xoay li tr
ca van phn phi, du t ca 7 ti 6, t 11 ti 10 cng chy ti bung lm vic ca
ng c du. Du t bung i p chy t 4 ti 5, t 8 ti 9 ri v b. Khi rotor quay
lin kt cng lm v van phn phi ui theo li tr xoay, khi trng thi trung gian

85

hnh thnh tr li chuyn ng quay chm dt v khe h tit lu ca ng cp t bm

ti ng c b trit tiu. y cng l c cu khuch i m men do m men xoay li
tr nh hn nhiu ln m men do ng c du to ra.
Di y l v d v h thng li tr lc du trn xe hi:

Hnh 3.29: h thng thy lc tr lc tay li trn t

H thng servo chuyn ng tnh tin phn hi c kh
Trong s di y gii thiu mt h thng thy lc to ra chuyn ng tnh
tin bng mt xy lanh lc. H thng gm bm (ngun cng sut cho chuyn ng
cng tc), ng c servo (ngun cng sut cho chuyn ng iu khin), mt van li
tr trt gi vai tr van phn phi.

86

Theo cch b tr nh trn hnh v:

Tr trt ca van phn phi hai u n khp vi hai trc ren, trc ren bn tri
c dn ng bi ng c bc c tc dng di chuyn tnh tin li tr xc nh ra
cc ca van A, B, P, T.
Trc ren bn phi l mt vt me nm trong lng cn y piston, n nhn mt ren
trn piston vi vai tr nh mt ai c. Trc ren ny s quay khi nhn chuyn ng tnh
tin t cn piston, n truyn chuyn ng quay ny cho con trt trong van li tr
trt con trt di chuyn ngc chiu do ng c step cung cp, nhm ng li
ng A v B.
Nh vy c mt im cn lu v kt cu y l b truyn vt me ai c
thng t hm, tc l chuyn ng tnh tin ca ai c khng th to ra chuyn ng
quay ca vt me nh s ny, mun c phn hi ngc nh vy cn dng b truyn
vt me ai c bi khng t hm (ren vt mt u mi).
Trong c cu ni trn tn hiu vo l tn hiu quay trc vt gn vi ng c bc
nhm di chuyn tr trt, tn hiu phn hi l quay li tr trt n t to ra chuyn
ng phc hi v tr ban u (trng thi cn bng ng ca tr trt).
Lin h theo v tr vi phn hi in
Cc lin h c kh b rng buc bi tng quan hnh hc v khong cch gia cc
i tng nn khng linh hot trong nhng tnh hung khc nhau. Lin h in khc
phc c iu ny tng i n gin.
Tn hiu lin h ngc theo v tr Y cn xc nh ca piston qua cm bin v tr ti
im 1, qua x l tn hiu EY so snh vi tn hiu cn cho v tr xc nh ri iu
chnh nam chm t Y1 hoc Y2 thch ng.

87

cbvt
1
EY k
Y1

Y2

Hnh 3.30: Truyn dn servo chuyn ng thng

Lin h ngc in-thy lc theo v tr
Lin h ngc theo tc vi phn hi in
Vi chuyn ng thng ca c cu chp hnh s b tr thit b tng t nh lin
h ngc v v tr, song thay cm bin v tr bng cm bin tc dch chuyn thng.
Y
dc
cbt
EY
Y1

cbq
1
EY k

Y2

Y1

Y2

Hnh 3.31: Lin h ngc theo tc vi truyn dn servo thng v quay

Phn hi in
iu chnh vn tc c cu chp hnh trong cc s trn c hai phng php
gii thiu sau y.
Do vn tc ca c cu chp hnh tnh bi:
v

Qtl
F

Trong Q: lu lng cp vo bung lm vic ca xylanh cng tc;

F: Din tch mt ct ngang ca bung lm vic xy lanh.

88

Do din tch mt ct ngang ca xy lanh l khng i nn vn tc chuyn ng ph

thuc lu lng du cp vo bung lm vic.
thay i lu lng du cp ny c hai phng n l:
- iu chnh bng tit lu vi bm c nng sut khng i, phng n ny c th
b tr van tit lu trn ng du ti xy lanh hoc trn ng du v b. Nhc im
ca phng php ny l lng ph nng lng duy tr mt tun hon tha lun x v b.
- Phng n th hai l iu chnh bng th tch vi bm c nng sut thay i (Bm
iu chnh), l cc bm piston thuc h hng trc hoc hng knh. Phng n ny
cn s dng cc c cu thay i lch tm e hoc gc nghing ca bm iu
chnh nng sut.
Lin h ngc theo ti trng vi phn hi in
Nu cm bin lc (HP hay gi l at tric hiu p) t v tr nh hnh v, c
truyn dn servo iu chnh lc bng lin h ngc theo lc in thy lc. Cn c
vo hiu p gia hai bung lm vic ca xylanh cng vi din tch hu ch ca piston
s xc nh c ti trng P. Gi tr thc ca lc qua hiu p c o bng at tric
hiu p sau chuyn qua b x l v so snh iu chnh cc nam chm in Y1 v Y2
t c ti trng cn.

HP EY

Y1

Y2

Hnh 3.32: Lin h ngc theo ti trng vi phn hi in

Lin h ngc theo cng sut vi phn hi in

89

P(v)
cbv
HP EY

Y1

Y2

Hnh 3.33: Truyn dn servo chuyn ng thng vi van servo in thy lc

Lin h ngc theo p sut v vn tc

Trong trng hp cn n nh cng sut to ra (tch Pv, hoc M vi chuyn ng

thng v quay tng ng), b tr mt b nhn hai tn hiu P v V to thnh t hai cm
bin vn tc v lc c lp sau truyn ti b x l tn hiu EY.
III.3 TNH TON, THIT K CC MCH IU KHIN THY LC
V d: H thy lc thc hin chuyn ng tnh tin
p sut v lu lng du cung cp cho xylanh thy lc l hai i lng quan trng
m bo cho h truyn c ti trng, vn tc hoc v tr cn thit.
Phn tch s h thng hnh 3.8.

Hnh 3.34: S ca h thy lc chuyn ng tnh tin

Lc qun tnh:
Fa = m.a

(7.1)
90

Fa =

WL
.a ( Theo h Anh)
g

Lc ma st:
Fc = m.g.f

(7.2)

Fc = WL.f ( Theo h Anh)

Lc ma st trong xylanh thng bng 10% lc tng cng, ngha l: Fs = 0,10. F
Lc do ti trng ngoi FE
Lc tng cng tc dng ln pittong l:
F=
Theo h Anh:

F=

m.a
+ Fc + Fs + FE (daN)
1000

(7.3)

W L .a
+ Fc + Fs + FE (lbf)
32,2.12

Trong : m l khi lng chuyn ng, kg

WL: Trng lc (lbf)
a: gia tc chuyn ng, cm/s2 (in/s2)
Fc: Lc ma st ca b phn chuyn ng, daN (lbf)
FE : ngoi lc, daN (lbf)
Fs : Lc ma st trong pittong- xylanh, daN (lbf)
Phng trnh cn bng pittong:
P1.A1 = P2.A2 + F

(7.4)

i vi xy lanh khng i xng th lu lng ra v vo khng bng nhau:

Q1 = Q2.R vi R =

A1
A2

(7.5)

st p qua van:
Ps - P1 = ( P2 -PT). R2

(7.6)

Trong : P1 v P2 p sut 2 bung ca xy lanh

Ps l p sut cung cp cho van
PT p sut du ra khi van
A1, A2 din tch hai pha ca pittong.
T cng thc (7.5) v (7.6) ta tm c P1, P2 nh sau:

91

Ps . A2 R 2 .( F PT . A2 )
P1 =
A2 .(1 R 3 )

P2 = PT +

Ps P1

(7.7)
(7.8)

R2

Lu lng du vo xy lanh pittong chuyn ng vi vn tc cc i l:

QL = vmax.A1
Hoc

QL =

v max
.A1
16,7

(cm3/s)

(7.9)

(l/p)

Nu tnh theo h Anh:

QL = vmax.A1 (in3/s)
QL =

v max
.A1
3,85

(7.10)

(usgpm)

Lu lng du qua van ng vi st p 35 bar ( 500PSI) l:

Q R = QL .

35
(l/b)
Ps P1

(7.11)

Theo h Anh:
QR = QL.

500
Ps P1

(usgpm)

Vi cch phn tch nh trn khi pittong lm vic theo chiu ngc li:
P1 = PT + (Ps - P2). R2

Ps . A2 .R 3 F PT . A2 .R
P2 =
A2 .(1 R 3 )

(7.12)
(7.13)

v QR cng xc nh tng t nh cng thc (7.11). Lu lng ln nht ca mt

trong hai trng hp trn s c dng chn van.
Bi ton trn cng ng dng cho xy lanh c kt cu i xng (A1 = A2) v ti trng
m.
ng c bc (step motor)
ng c bc iu khin bng xung hoc chui xung (v d quay 1 vng cn tc
ng 200 xung, tc 1 xung trc ng c quay 1,80) thng ng dng trong iu khin
mch h, c cng sut gii hn n 100W theo phn loi ca nh sn xut. Do n m
chuyn v bng cch cng s xung v quy i thng qua phn gii nn khng hi

92

tip v tr trong mch iu khin, iu ny s dn n sai s chp hnh do khe h c

kh trong phn c.
ng c bc r tin hn nhiu so vi ng c servo nhng thng ch dng
trong cc ng dng nh my vn phng v cng sut gii hn. N b bc khi ti
ngoi ln v vy khng em li tin cy cn thit.
ng c bc thng cn mt bo mch iu khin thit k ring, di y l mt
v d mch iu khin ng c bc ng dng vi x l 8051:
1

GND

D
T1a

R49

1
6
2
7
3
8
4
9
5

+12V

10/2W

D8

C26
4,7U

R48
2K

R47
1K
R46 680
GND

C21

C23

10u
C22

DB9

VCC

IC16

8
13
7
14
15
16
6
2

R2IN
R1IN
T2OUT
T1OUT
GND
VCC
VsVs+

9
12
10
11
5
4
3
1

R2OUT
R1OUT
T2IN
T1IN
C2C2+
C1C1+

MAX232

10u

RXD
10u

TXD

C24
10u

T1b
10u

T1

IRF630

PT1
R50
2,2K

T2a

R54

PT1

R52
2,2K

PT2
+12V
D9

C28
4,7U

T2

R51

R53

2,2K

2,2K
PT2

P10
P11
P12
P13
P14
P15
P16
P17

5 P13

6
IC7D

PT4

P12

74LS04
P14

12
13

74LS04
T0

T3a

R55

GND

+5V

+12V

10/2W

C19 TA

T3
PT3
R56
2,2K

R60
10/2W

D11

C32
4,7U
T4b
A

T4

IRF630

9
20

33P

R58
2,2K

C18
+5V

GND

10u

+12V

R57

R59

2,2K

2,2K

IC1
P1.0
P1.1
P1.2
P1.3
P1.4
P1.5
P1.6
P1.7

VCC

D
+5V
GND
VCC

4,7K

P3.2/INT0
P3.3/INT1
P3.4/T0
P3.5/T1
EA/VP
X1
X2
P3.7/RD
P3.8/WR
RESET
GND

P0.0/A0
P0.1/A1
P0.2/A2
P0.3/A3
P0.4/A4
P0.5/A5
P0.6/A6
P0.7/A7
P2.0/A8
P2.1/A9
P2.2/A10
P2.3/A11
P2.4/A12
P2.5/A13
P2.6/A14
P2.7/A15
ALE/P
PSEN
P3.0/RXD
P3.1/TXD

39
38
37
36
35
34
33
32

+12V
GND

XUNG RA
T1a
T1b
T2a
T2b
T3a
T3b
T4a
T4b

+12V
TO1

11
R1
470

74LS04

+5V
40

R8
1,5K

R3 P251-2
2K

R4
5K

C2
104

1
2
3
4
5
6
7
8
CAU8

Tien
GND

Thuan

GND
VCC

21
22
23
24
25
26
27
28

+12V

GND
+5V
+12V
Ucd+
Ucd
UcdThuan
Nguoc

TO1

IC7F
P16 12

13
R2
470

74LS04

R5 P251-1
2K

R6
5K

C
INPUT

C3
104

CAU8

Lui
GND

GND

1
2
3
4
5
6
7
8

Nguoc

30
29

10
11

8051

GND

GND
+12V

31

17
16

GND
IRF630

T4a

11,059

33P

T3b

14
15

19
18

C20

D10

C30
4,7U

1
2
3
4
5
6
7
8

+12V

R7
470

IC7E

IC7C

+5V

RA1

P15 10

74LS04

74LS04

9
8
7
6
5
4
3
2
1
+5V

1 P11

+12V
PT3

T2b
IRF630

GND

Vcc

2
IC7B

GND

10/2W

IC7A GND

C25

P10
P11
P12
P13
P14
P15
P16
P17

DB

R39 10K
D7

GND

S NGUYN L MODUL IU

PT4

KHIN NG C BC
GND
1

ng c servo
ng c servo cng iu khin bng xung song c hi tip v tr, vn tc v gia tc.
ng c ny t c cng sut ln v khng b bc nh ng c step. N c th
dng tc thi v gia tc nhanh theo c hai hng vi qun tnh b, loi ng c ny
tn hao rt nh. ng c cho php iu khin ng thi v tr, tc v m men xon.

93

Hnh 3.35: Cc thng s iu khin c ca ng c servo

Hnh 3.36: Cu trc iu khin PI, PDFF ca ng c

Hnh 3.37: ng c servo v driver iu khin n

94

Hnh 3.38: Thit lp h iu khin servo

95

Hnh 3.39: M ha thng tin trong k hiu ca cc loi ng c servo

Di y l v d v cu trc iu khin cho mt h thng dng c ng c bc v
ng c servo:

Hnh 3.40: S nguyn l iu khin 6 chuyn ng ca robot

96

Mt s c cu dn ng kiu mi
Cc loi c cu dn ng kiu mi c trnh by trong phn ny khng tun
theo nhng nguyn tc vt l c cp ti trc y. Chng c pht trin
trong nhiu nm, tp trung cho cc thit b c cng sut nh v ch to cc chuyn
ng tnh tin. Cng vic nghin cu trong lnh vc ny vn ang c tip tc.
Nhng bc pht trin theo c mong i trn hai lnh vc: Th nht l nhng hiu
bit mi trong nghin cu vt liu s m ra nhng gii php u vit hn v nguyn l
hot ng ca c cu dn ng. Th hai l tip tc xu hng thu nh ha cc c cu
dn ng ph hp vi vi cm bin v vi my tnh, v tip tc pht trin lnh vc
k thut vi h v vi c in t. Tng quan v nhng loi c cu dn ng mi s c
trnh by di y, tip theo l cc kt qu nghin cu v c cu dn ng p in
c nu ra nh mt th d ng dng.
C s l thuyt ca b chuyn i p in
Trc ht, ta cp ti cc quan h v vt liu m t hiu ng p in. Cc quan
h ny kt ni bin dng trt S v mt dch chuyn in D vi ng sut c hc T
v cng in trng E,
S = sET + dE

D = dTT + TE

(2.72)
(2.73)

Trong quan h di dng tenx tng qut nu trn, i lng T l hng s in

mi ti T = const, sE cha cc hng s n hi ti E = const v d gm cc hng s in
p. Cc k hiu trong phng trnh (2.72) v (2.73) ph hp vi nhng quy c trong
vt l cht rn cng nh mng tinh th (th d so snh vi [2.8]); chng tri vi thut
ng trong c hc k thut, trong tenxo bin dng trt c k hiu bng D v
tenx ng sut c k hiu l S. lm r nhng quan h ny, ra n gin ha
chng nh cc i lng v hng
S = sET + dE

D = dT + TE

(2.74)
(2.75)

Trong trng hp c bit d = 0 s khng tn ti quan h p in. Khi hai

phng trnh trn hon ton c lp v m t ring r ng x ca vt liu v in v v

97

c hc. Phng trnh (2.74) dn ti ng x ca vt liu v c hc. Phng trnh (2.74)

dn ti ng x ca vt liu v c hc vi s sE
S = sT

(2.76)

hoc theo cch biu din ca c hc k thut:

1
1
tng t nh ,
E
G

(2.77)

Bng 2.9: Tng quan v cc loi c cu dn ng kiu mi

Hiu ng vt l

Thng s k thut (gi

tr tham kho)

Cc ng dng

C cu dn ng p in
in p nh mc
800-1500 V
Khi t in
mt tm vt liu
s lm xut hin
i dy ca
hiu ng p in

p vo
p in
s thay
tm do

Dch chuyn nh mc
70 200 m
cng ti
2000 N/ m

Cc b chuyn i,
phn t cm bin chu
un, ng c Inch worm, ng c siu m.

Tn s ring
2 50 kHz
C cu dn ng t gio
Cng dng in
2A
Khi t vt liu st t
trong mt t trng s
lm xut hin s thay i
chiu di ca vt liu do
hiu ng t gio

Kch ng 50 kA /m
Dch chuyn nh mc
50 m

Cc b chuyn i,
ng c Inch -worm, B
van vi phun nhin liu
diesel, B gim chn ch
ng

Ti 500 N
Tn s ring > 1 kHz
C cu dn ng lu bin in

Khi c t trong mt
in trng, nht ca

ng sut tip trn

cng in trng

Cc ly hp c iu
khin,

98

mt s loi cht lng c

bit s tng ln.

600 800 Pa/

(kV/mm)

Van, trc ng c,
B phn gim xc

C cu dn ng lu bin t
Ging nh c cu dn
ng lu bin in

Khi t nhng cht

lng c bit bo trong
mt t trng dn ti
nht ca cht lng tng.
C cu dn ng nhit lng kim
Bn knh cong danh
ngha
Khi gia tng nhit ,
hai ming kim loi c
gn cht vi nhau s b
un cong vi gin
nhit khc nhau

28,5.10-6 1/K
Mun n hi
170.103 N/mm2

Cng tc nhit cc loi

cho cc lc iu khin
nh

ng sut un cho php

200 N/mm2

C cu dn ng vi cc hp kim t phc hi hnh dng

Bin dng nhit
thng ca mt chi tit
c ch to t cc hp
kim t phc hi hnh
dng s bit mt khi gia
tng nhit

C c hiu ng n
hoc hai chiu
Nhit bin i
khng t -1000C ti
+1000C vi qu nhit
khong 1600C ti 4000C

Cng tc nhit cc loi,

cc b iu chnh tnh

C cu dn ng bng vt liu gin n

Nhit lm vic t 200C ti +1200C
Khi tng nhit vt
liu c tnh gin n s
tng nhanh th tch

Hnh trnh 5 25 mm
Lc iu chnh 250
1500N
Thi gian phn ng 8
50s

B dn ng - iu
chnh n gin cho l
si, b khi ng cho
ng c s dng b ch
ha kh

C cu dn ng ha in

99

Khi t in p thp
mt chiu vo nhng vt
liu c bit lm xut
hin s thng hoa, dn ti
tng p sut

in p 1,6 2,2 V
Dng in 1,0 4,0 A
Hnh trnh 4 mm
p sut 4 bar

B dn ng - iu
chnh n gin, van l
si, thit b nh v, iu
chnh nhin liu cho cc
h thng t trong

100

Phn IV: CM BIN V O LNG

IV.1 CC H THNG M HA THN TIN
Con ngi v my quan h vi nhau bng mt ngn ng m my c th hiu
c. My phi chy c chng trnh do con ngi vit ra v thc hin theo chng
trnh . Khi c cu b hng chng trnh b li th iu khin s s iu khin thng
tin v nguyn nhn gy ngng hot ng.
Ch ci ca m s l tp hp cc k hiu c dng khi m ha. Ch ci ca m
s ch cha hai k hiu 0 v 1 (ng vi trng thi khng cung cp dng nng lng
hay cung cp dng nng lng)
- M thp phn: C s ca h thp phn l 10. H thng ny c 10 k t t 0 n
9. Ngi ta biu din cc s t nhin theo c s 10 v nh vy tuy cha c nhiu
dung lng nhng rt phc tp khi tnh ton.
- M nh phn: C s ca h nh phn l s 2. Da s 2 ln cp m l s nguyn
ta s c dy nhng s l 20, 21, 22v nh vy gi tr tng ng ca mt s thc no
u c th biu din trong h nh phn l tp hp cc ch s 0 v 1
V d:
M s ISO :

101

IV.2 H THNG O DCH CHUYN.

i b phn cc my cng c lnm vic theo nguyn tc lin h ngc (mch kn).
Trong ng dch chuyn c mt h thng o thu thp nh lng.
- chnh xc ca my ph thuc rt ln vo h thng o.
- H thng o thng bo cho mch iu khin tng v tr thc tc thi ca bn my,
bn dao.
- Cc i lng o l on ng trong chuyn ng thng, hoc gc trong chuyn
ng quay;

102

H thng o ng dch chuyn c th chia thnh 3 nhm:

- Theo hnh thc truyn ng t trch ly gi tr o:
o quay v o tnh tin.
- Theo hnh thc nh lng gi tr o: Kiu o s v o tng t.
Theo nguyn tc o: o kiu tuyt i, o tng i (o gia s) v o kt hp;
Phn loi cc phng php o

- o trc tip.
L phng php o bm st cc v tr cn o hay cc bin i v tr khng khng
cn n cc dn ng c kh trung gian.
H thng o ghp trc tip vi chuyn ng cn o.
Phng php ny cho chnh xc cao.
Khng c cc li c kh: khe h, bin dng.
Gi thnh cao v nhy cm vi mi trng.
- o gin tip.
Thay cho cc bin i v tr tnh tin cn o s c o thng qua mt chuyn ng
quay.
Phng php ny gp cc li c kh: khe h n khp, sai s ca truyn ng,;
-

o tng t.

103

ng dch chuyn hay gc cn o c chuyn lin tc thnh mt i lng vt l

tng thch (i lng tng t - Analog): in p hay cng dng in.
-

o s.

ng dch chuyn hay gc cn o c chia thnh cc yu t n v c ln nh

nhau.
Qu trnh o l vic m hay cng li cc yu t n v i qua hoc nh s nhn
bit cc du hiu ring ca cc yu t n v ti v tr thc.
- o tuyt i.(absolute)
Mi mt gi tr o c so vi im 0 ca thc o v c du hiu ring.
Mi mt im trn hnh trnh dch chuyn c a ra qua tn hiu duy nht.
Ti mi thi im o hoc sau mi ln mt in, v tr tuyt i so vi im 0 c
nhn bit ngay.
Cu trc phc tp, gi thnh cao, t s dng.
- o tng t/ tuyt i: Mi v tr o l mt thang in p.
- o s/ tuyt i: Mi v tr o c nh du bng mt m nh phn;
- o tng i (gia s)- Incremental.
Ton b phm vi ng dch chuyn c chia thnh cc bc tng ( gia s) c
ln nh nhau, khng c du hiu ring. V tr thc c a ra bi tng cc bc tng
i qua.
Khi o nu a v gc 0 th h thng lm vic nh o tuyt i.
H thng o ny c gi thnh va phi;
- o tuyt i chu k (o kt hp).

104

Chia ton b phm vi ng dch chuyn thnh cc khong tng (gia s) c ln

nh nhau. Trong mt khong tng php o c thc hin theo phng php tuyt i.
Phng php ny dng trong php o tng t, v chnh xc ca cc vch chia
trn thang o c th khng m bo trn mt phm vi ng dch chuyn ln;
o hnh trnh tng i.
1

o hnh trnh tuyt i.

012345678

2.1. Cu to h thng o
A - H thng o quang in. ( Encoder)
2.1.1 - H thng o dch chuyn kiu s - gia s.
a- Thc vch chia.

105

Dng n gin nht l u vt me dn ng c lp mt a cp xung. T bo

quang in c kch thch sn sinh mt xung in tng ng vi mi bc tin S.

Cc xung in c cng li trong mt b m in t.

Thng qua b m, on ng dch chuyn c o v v tr ca bn my thi

im no s c khai bo sau khi tng hp cc on ng dch chuyn;
Phng php o ny cho bit kch thc theo chui.

Cc thc o thng ch to t thu tinh trong sut hoc kim loi ( dng tia sng
phn quang);

cc vch khc chia kch thch to xung in chc chn v bit c chiu
m t chiu chuyn ng ca thc o, ngi ta dng nhiu phng php kch thch
quang in khc nhau;
.Phng php dng li chn.

Qa trnh c c thc hin xy ra trn c li chn. Do n khng ch c trn

mt vch chia m trn nhiu vch. Do vy, hn ch c cc li chia vch xut hin
cc b trn thc o nh s hnh thnh cc gi tr trung gian;
106

C - Gii php nng cao tinh ca thc chia vch.

+ Phng php khuych i vch chia.
Phng php ni suy gia cc vch chia.
Dng thc o c chia th, ri p dng ni suy theo nhiu cch:
- Dng phng php cm quang ng hc.
- Dng phng php p dng knh hin vi kiu xon.
- Dng h thng o 2 phn;
B - Xc nh chiu m.
Hin nay cc h thng o s-gia s thng dng b m thun nghch (m xui v
m ngc). B m t ng cng thm vo hoc tr bt i lng gia tng ng dch
chuyn tu thuc chiu m.
Hn ch c cc sai lch v tr do kh nng chy qu im dng v cc rung ng
trn my gy ra. Cc rung ng c th dn ti hu qu l mt bc ln i hoc li cng
thm nhng xung khng mong mun;

nhn bit chiu m: S dng 2 t bo quang in 1,2 t lch nhau /4. Trn

li chn c 2 hng vch cng b tr lch nhau /4. Th t cc xung pht ra t 2 t bo

quang in lch nhau 900. Cc xung ny s c dn vo b chn chiu m.
B chn chiu m;

Nguyn tc tc dng ca b chn chiu m:

Khi thc o chuyn ng ln lt xut hin 2 xung f1 v f2 lch nhau
900.

Xung f1 iu khin khu cho dy dn phi r v dy dn tri l.

Xung f2 ng vai tr l xung m. Chiu chuyn ng c nhn bit

bi chiu bc nhy xung f2.

107

 Qu trnh thc dch chuyn sang phi: xung f2 nhy t 0 sang 1. Xung vi

phn f2 l xung nhn dng v i qua khu 1 theo ng r n b m Z.

Qu trnh thc dch chuyn sang tri: xung f2 nhy t 1 v 0. Xung vi

phn f2 l xung nhn dng v i qua khu 2 theo ng l n b m Z;

C - Gii php nng cao tinh ca thc chia vch.
+ Phng php nhn xung.

Dng thc o c chia th, ri thng qua k thut mch, ng dng phng php
nhn xung thc hin mt chia vch tinh hn. Bng cch b tr cc t bo quang
in lch nhau v pha v mch nh gi thch hp.
Thc t s dng 4 t bo quang in t lch nhau 900 va xc nh chiu m
va nhn xung m gp 2 ln.
Phng php nhn xung i hi chnh xc rt cao cc u cm nhn v bn
thn thc o;
+ Phng php khuych i vch chia.
Dng cc phng tin quang hc khuych i chia vch trn thc o, to
iu kin thun li b tr cc t bo quang in trong khng gian hp l.
- Phng php khuych i bng hiu ng Moirec:

Trn li chn c cc vch chia b tr nghing gc so vi vch trn thc o.

chia vch trn li chn v trn thc o bng nhau;
+ Phng php khuych i vch chia.
Phng php ni suy gia cc vch chia.
Dng thc o c chia th, ri p dng ni suy theo nhiu cch:
- Dng phng php cm quang ng hc.
- Dng phng php p dng knh hin vi kiu xon.
- Dng h thng o 2 phn;

108

2.1.2 - H thng o dch chuyn kiu s- tuyt i.

Chiu di cn o c chia thnh cc bc s. Mi bc c so vi im 0 c
nh.
Mi mt v tr c mt tn hiu phn bit vi cc v tr khc.
V mt k tht ngi ta dng h thng m nh phn. y cc gi tr o c
hnh thnh t t hp cc trng thi 0 v 1 tng ng vi cc vng trng hay en trn
thc.
Thc o c ch to t thu tinh hoc kim loi.

- H thng o dch chuyn kiu s- tuyt i.

a m ho:

- H thng o dch chuyn kiu s- tuyt i.

+ Gii php m bo tin cy khi c thc o.
Khi c mt thc hay mt a m ho c th xut hin li cc im c. Ti
sy ra cng mt lc nhiu rnh chuyn trng thi t 0 sang 1 hay ngc li.
m bo chc chn cho qu trnh kch thch quang in ngi ta s dng nhng
phng php kch thch chuyn dng.
109

Mt tong nhng phng php l phng php kch thch V- dng cho thc m
nh phn thun tu.
Phng php kch thch V:
Da vo tnh cht ca s nh nh phn:

- Ct 20 c gi tr 0 th gi tr ct 21 vn cn tm c s ng cnh ln hn.
- Ct 20 c gi tr 1 th gi tr ct 21 vn cn tm c s ng cnh nh hn.
Trn c s ny, to mch iu khin cc u c theo nguyn tc:
Phng php kch thch V:
Trn c s ny, to mch iu khin cc u c theo nguyn tc:
Bt u t kt qu c ca mt rnh, trong rnh k tip u c s c thm ln
pha trc nu kt qu c trn rnh truc l 0, hoc c li v pha sau nu kt qu
c trn rnh trc l 1.
Trn mch iu khin nh gi c c cc i t 1,2,3,.. 1,2,3 nhy cm vi
trng thi lt trn th nht ngoi u c v b khuych i cn c mt khu truyn
t sn sinh mt bc nhy trng thi t sng sang ti hoc ngc li.

Gi tr c rnh tip theo s do gi tr c rnh trc iu khin.

V d: Rnh 20 c tn hiu u ra l 0 th u c 1 s c, cn nu l 1 th u c
1 s c.
B- H thng o cm ng.

110

Trong h thng o ng dch chuyn kiu tng t, chiu di ng dch chuyn

S c bin i thnh mt i lng vt l tng t.
H thng o ny thng dng nguyn tc cm ng. S bin i sang i lng
tng t c thc hin v cp, lin tc;
1- u o kiu quay.
Lm vic theo nguyn tc cm ng- Quay v bin i gc quay thnh in p tng
t.
H thng thng lm vic vi phn tnh (Stator) 2 hoc 3 pha, phn ng ( Rotor) l
1 pha v c th hot ng tn s 50 hoc 400 Hz.
a- u o kiu quay 3 pha.
1- u o kiu quay.
a- u o kiu quay 3 pha.
- 3 cun dy ca stator t lch nhau 1200 di cc in p hnh thnh gi tr cn
ca gc quay. in p stator gy cm ng sang rotor mt chnh p Uf. Ti mt v tr
gc xc nh ca rotor bin dao ng chnh p =0. V tr ny c dng so snh
cp gi tr cn-thc. Nh s la chn in p stator(ng vai tr l cc gi tr cn) c
th a ra trc tu v tr gc.

b- u o Resolver.
- Phn stator c hai pha v cc cun dy b tr vung gc nhau c t cc in p

Ussin v Uscos ca gi tr cn. Chng sinh ra t trng ( Chiu ca n ph thuc

s la chn 2 in p). Trong rotor cm ng mt chnh p Uf, bin ca n ph
thuc v tr ca n; khi rotor ng vung gc vi t trng th Uf=0.

111

2- u o cm ng tuyn tnh- Inductosyn

Trn thc o v tm trt c cc mch dy dn in vung gc nhau. Trn tm trt
c hai mch dy dn t lch nhau chu k v c t di cc in p Ussin v
Uscos . Tm trt gn vi bn my v trt lun cch u thc o c nh(0,1mm),
t trng cm ng sang thc o mt chnh p Uf. v tr xc nh, ti thc o
v tm trt ri vo im nt ca t trng th chnh p =0. Cc v tr ny c th
chn trc ng vai tr l cc gi tr cn th hin qua cc in p Ussin v Uscos.

3- Bin tr v cp.
- L phn t o lng r tin v n gin.
- a ra quan h hm s tuyn tnh gia gc quay hoc on ng dch chuyn
vi in p.
- Nhc im l c tip xc. Mn, nhiu bn v rung ng c th dn ti tip xc
khng tt.
- Ngoi ra chia ca thc o cng c hn ch.
- Bin tr v cp dng cho h thng iu khin n gin, chnh xc trung bnh
hoc dng iu khin cc qu trnh dch chuyn chm;

112

Phn V: CC PHN T X L D LIU TRONG H THNG

Trong mc ny gii thiu cc phn t c chc nng x l d liu trong h c in t
thng dng nh PLC, cc b vi x l, my tnh
5.1 Gii thiu v vi x l 8051

1. CHUN 8051
H vi iu khin 8051 l cc IC thit k cho cc ng dng hng iu khin. Cc
IC ny chnh l 1 h thng vi x l hon chnh bao gm cc thnh phn ca h vi x l
: CPU , b nh cc mch giao tip , iu khin ngt
AT89C51 l vi iu khin thuc h 8051 , ch to theo cng ngh CMOS c cc
c tnh :
-

4 KB ROM c kh nng ti 1000 chi k ghi/xa.

Tn s hot ng : 0 24MHz

128 Byte RAM ni ( mt s phn bn c 256 byte RAM ni)

4 Port xut nhp I/O 8 bit

Cho php x l bit

2 b nh thi 16 bit

113

2. CHN VI IU KHIN 8051

Chip AT89C51 c cc tn hiu iu khin cn lu :

Tn hiu vo /EA trn chn 31 thng t mc cao +5V hoc mc

thp. Nu mc cao , chip thi hnh chng trnh t ROM ni. Nu mc thp,
chng trnh c thi hnh t b nh ngoi.
-

Chn PSEN l chn tn hiu trn chn 29. N l tn hiu iu khin cho

php chng trnh m rng. Chn PSEN thng c ni n chn O/E ( Output
Enable) ca 1 EPROM hoc ROM cho php c cc byte m lnh
-

Cc chn ngun : 8051 hot ng ngun n +5V . Vcc c ni vo

chn 40, Vss (GND) c ni vo chn 20.

114

Cc cng vo / ra : Tt c cc vi iu khin 8051 u c 4 cng vo/ra 8

bit c th thit lp nh cng vo hoc ra. Nh vy c 32 chn I/O cho php vi iu

khin c th kt ni vi cc thit b ngoi vi
Port 0 : chn 32 39 ca 8051 c 2 chc nng
Chc nng xut nhp I/O dung cho cc thit k nh
Khi dung lm ng vo, Port 0 phi c mc logic 1 trc
Chc nng d liu/ a ch a hp : Khi dung cc thit k ln, i hi phi s
dng b nh ngoi.
Port 1 : chn 1 8 ch c 1 chc nng xut nhp, khng dung cho mc ch
khc.
Khi dng lm ng vo, Port 1 phi c mc logic 1 trc
Port 2 : chn 21 28 c 2 chc nng
Chc nng xut nhp
Chc nng a ch . Khi ny . Port 2 khng c mc ch xut nhp
Port 3 chn 10 17 c chc nng xut nhp ngoi ra cn c chc nng l ng
vo / ng ra ni tip, ngt ngoi
Chn EA ( chn 31 ) cho php thc tih chng trnh t ROM ngoi.
Chn 9 cho php reset 8051
X1 , X2 l ng vo v ng ra ca b dao ng. Tn s thch anh thng s
dng l 12 MHz.
3. TP LNH 8051 V LP TRNH HP NG CHO 8051
a. Tp lnh .
Cc ch a ch
- a ch trc tip
Ton hng l tn hoc a ch ca cc thanh ghi trong vng RAM thp 0 127
v vng cha cc thanh ghi chc nng c bit
- a ch gin tip
Ton hng l tn hoc a ch ca cc thanh ghi trong vng RAM thp hoc cao
, hoc RAM ngoi khng dng cho vng cha cc thanh ghi chc nng c bit.
c im nhn ra ch ny l c k t @ ng trc ton hng.
- Ch a ch thanh ghi
Dng cho cc ton hng l 1 trong cc thanh ghi Ri ca cc bank c chn.

115

- Ch a ch tc thi
ch ny gi tr cc ton hng c a ngay trong cu lnh. Trc cc
hng s th hin gi tr c l t #
- Ch a ch s
Ch dng c cu lnh MOVC , lnh c b nh chng trnh. ng trc ton
hng l k t @ sau l 1 ton hng to bi 1 thanh ghi 16 bit vi thanh ghi Acc.
b. Phn loi tp lnh
Cc nhm lnh ton hc
-

Cc lnh iu khin chng trnh

Cc lnh vn chuyn d liu

Cc lnh logic

Cc lnh thao tc bit

Cu trc chung mi lnh

M lnh

Ton hng 1

Ton hng 2

Ton hng 3

Trong
M lnh : Tn gi nh cho chc nng lnh
Cc ton hng l cc ton hng ca lnh

116

Phn VI: IU KHIN V N NH CA H THNG

VI.1 HM TRUYN
Phn tch h thng da vo phng trnh vi phn thng gp nhiu kh khn, chng
hn nh cn tm p ng ca h thng nhng vic gii cc phng trnh vi phn khng
n gin. V vy, thit k h thng da vo phng trnh vi phn hu nh khng th
thc hin c trong trng hp tng qut. V vy, trong trng hp h tuyn tnh ta
biu din di dng hm truyn s d dng kho st hn. Phng php hm truyn
c s dng ch yu trong iu khin c in cho cc h tuyn tnh n gin v phc
v cho vic phn tch v thit k h thng trong min tn s, i vi h phi tuyn th
khng th tm c hm truyn m ch c th phn tch v thit k trong min thi
gian vi vic biu din h thng bng phng trnh khng gian trng thi.
Hm truyn ca h thng l t s gia bin i Laplace ca tn hiu ra v bin i
Laplace ca tn hiu vo khi iu kin u bng khng.
Mc d, hm truyn c nh ngha nh vy nhng vi h tuyn tnh hm truyn
khng ph thuc vo tn hiu ra v tn hiu vo m ch ph thuc vo cu trc v
thng s h thng.
tm c hm truyn h thng, ta lm theo hai bc:
-

Thnh lp phng trnh vi phn m t quan h vo ra ca phn t.

Bin i Laplace hai v phng trnh vi phn va thnh lp ta thu c hm

truyn theo nh ngha.

L f t F s

f t e

st

dt

trong s j l bin phc, L l ton t Laplace, F s l bin i Laplace ca

0

hm f t .
(1)

Nu L f1 t F1 s ; L f 2 t F2 s vi c1 , c2 l cc hng s th:

(2)

Nu L y t Y s th:

Mt s tnh cht hay dng ca php bin i Laplace:

L c1 f1 t c2 f 2 t c1 F1 s c2 F2 s

L y

t s nY s s n1 y0 s n2 y0 sy0n2 y0n1
117

(3)
(4)
(5)

t
Nu L f t F s th L f aF as
a

Nu L f t F s th L e at f t F s a

Nu L f t F s th L f t a e as F s (a>0).

V d 1.5 Xc nh hm truyn t phng trnh (1.1) m t hot ng h thng

Gi s: L y t Y s , L f t F s , bin i Laplace hai v phng trnh

gim xc. y l mt h tuyn tnh.

(1.1) ta c:

L My t By t Ky t L f t

M s 2Y s B sY s KY s F s
Y s Ms 2 Bs K F s
G s

Y s
1

F s Ms 2 Bs K

T phng trnh (1.1) ta cng suy ra:

dy 1
f Ky By
dt M

Ta c th biu din h di dng s khi nh sau:

Hnh 1.5: S khi h thng gim xc

V d 1.6 Thit lp hm truyn t phng trnh ca con lc ton hc
Phng trnh vi phn (1.10) m t dao ng ca con lc ton hc l phng trnh
phi tuyn. Gi s a vo lc kch ng u tc ng ln con lc, khi (1.10) c vit
li thnh:

02 sin u
118

Bin i Laplace hai v ca phng trnh ny ta c:

L 02 sin L u

s 2Y s 2

s
U s
s 1

(1.13)

R rng t phng trnh (1.13) ta khng th rt ra quan h vo ra dng tuyn tnh

c, do i vi cc h phi tuyn ta khng th biu din thng qua hm truyn
c m ch c th a v kho st vi m hnh khng gian trng thi s c trnh
by sau y.
VI.2 PHNG TRNH KHNG GIAN TRNG THI
Trng thi ca mt h thng l tp hp nh nht cc bin (gi l bin trng thi) m
nu bit gi tr ca cc bin ny ti thi im t0 v bit cc tn hiu vo thi im

t t0 , ta hon ton c th xc nh c p ng ca h thng ti mi thi im t t0 .

H thng bc n c n bin trng thi. Cc bin trng thi c th chn l bin vt l

hoc khng phi l bin vt l. n bin trng thi hp thnh vct ct:

x = x1

x2 xn gi l vct trng thi.

T

Bng cch s dng cc bin trng thi, ta c th chuyn phng trnh vi phn bc n

m t h thng thnh h n phng trnh vi phn cp 1 (h phng trnh trng thi)

y f y, y ,
y, , y
n

trong

n 1

x t Ax t Br t

c t Cx t

a11
a
A 21

an1

a12 a1n
a22 a2 n
,

an 2 ann

B b1 b2 bn ,

(1.14)
(1.15)

C c1 c2 cn

Tu theo cch t bin trng thi m mt h thng c th c m t bng nhiu

phng trnh trng thi khc nhau. Nu A l ma trn thng th ta gi (1.15) l phng
trnh trng thi dng thng, nu A l ma trn cho ta gi (1.15) l phng trnh
trng thi dng chnh tc.

119

V d 1.7 Phng trnh khng gian trng thi ca h thng gim xc ca t, xe

my
Phng trnh vi phn

My t By t Ky t f t

x t x2 t
x1 t y t
1

1
K
B
x2 t
f t
x2 t y t
x2 t x1 t
M
M
M

1
0
0
x
t

1
x1 t

f t
x2 t K B x2 t 1
M
M
M

x t
y t 1 0 1

x2 t

x t Ax t Br t

y t Cx t

0
A K

1
0

B , B 1 , C 1 0

M
M

(1.16)

V d 1.8 Phng trnh khng gian trng thi ca con lc ton hc

Phng trnh vi phn chuyn ng: gi s con lc chu ngu lc cn M c v

lc iu khin u(t).
Nng lng hao tn l:

1
2
2

Lc suy rng: Q* u t
Theo v d (1.2) ta s c phng trnh vi phn chuyn
ng ca con lc ton hc c cn v chu lc kch ng
nh sau:

ml 2 mgl sin u

(1.17)

Chia hai v ca phng trnh (1.17) cho ml 2 ta c:

120

ml

g
u
sin 2
l
ml

(1.18)

g
u

2,
2 , 2
2
l
ml
ml

Khi (1.18) c vit li nh sau:

2 2 sin

(1.19)

a phng trnh vi phn (1.19) v phng trnh trng thi ta t:

x1 , x2

(1.20)

Phng trnh trng thi ca con lc ton hc c dng:

x1 x2

2
x2 sin x1 2 x2

(1.21)

V d 1.9 Phng trnh trng thi ca mch dao ng LC

Phng trnh vi phn: q 2 q 0

x1 q
t
x2 q

Ta thu c phng trnh trng thi ca h nh sau:

x1 x2

2
x2 x1

V d: Xy dng hm truyn chuyn ng ca khp ng mt bc t do chuyn

ng quay, vi ngun chuyn ng l ng c in mt chiu. Tn hiu vo l in p
Ua t vo phn ng, tn hiu ra l gc m ca trc ng c, ng c in mt chiu s
dng kch t c lp.
La

Ra

ia(t)

Rf

Uf

Lf
Ua

eb(t)

Mm

Jm

Hnh 5.1: S vi ng c in mt chiu

Trc ng c thng ni lin vi trc hp gim tc ri ti trc ph ti theo s
sau:
121

JL

Mm

Jm

= L/n

ML

Hnh 5.2: S ng c in v ph ti
Theo s ni trn c cc quan h:

L (t ) n m (t )

'L (t ) n m (t )
" (t ) n (t )
m
L

(1)

M men trn trc ng c bng tng m men ng c quay cng vi m men

ph ti quy v trc ng c:

M (t ) M m (t ) M *L (t )

(2)

K hiu:
J m : m men qun tnh ng c;

J L : M men qun tnh ph ti.

C:

M m (t ) J m "m (t ) f m 'm (t )

M L (t ) J L "L (t ) f L 'L (t )

(3)

Trong fm v fL l h s cn ca ng c v ph ti, theo nh lut bo ton nng

lng, cng do ph ti sinh ra tnh trn trc ph ti l M L L phi cn bng vi cng

quy v trc ng c M *L M , t c biu thc sau:

M L (t ) L (t )
nM L (t )
m (t )

(4)

M *L (t ) n 2[ J L "m (t ) f L 'm (t )]

(5)

M *L (t )

Theo (1) v (4) c:

Thay (3) v (5) vo (2) c:

M (t ) ( J m n 2 J L ) " (t ) ( f m n 2 f L ) ' (t )

(6)

t cc k hiu:

122

 J J m n 2 J L

f f m n 2 f L

Vi J l m men qun tnh tng hiu dng;

f l h s tng hiu dng.
n gin (6) thnh biu thc sau:

M (t ) J "m (t ) f 'm (t )

(7)

Bi v m men trn trc ng c ph thuc tuyn tnh vi cng dng in phn

ng, khng ph thuc vo gc quay v vn tc gc nn:
M (t ) K aia (t )

(8)

Vi:
Ia: Cng dng in;
Ka: H s t l m men.
Trong mch in phn ng:
U a (t ) Raia (t ) La

dia (t )
eb (t )
dt

(9)

Vi:
Ra, La: in tr v in cm phn ng;
eb: sc phn in ng ca ng c.

eb (t ) K b 'm (t )

(10)

Kb: h s t l vi sc phn in ng;

Bin i laplace (9) nhn c:
I a (s)

Theo (7) c:

U a ( s ) sK b m ( s )
Ra sLa

M ( s ) s 2 J "m ( s ) sf 'm ( s )

Theo (8) c:
M ( s) K a I a ( s) K a [

U a ( s ) sK b m ( s )
]
Ra sLa

(11)

(12)

(13)

Trn c s kt hp c (12, 13) c:

m (s)

U a (s)

Ka
s[ s JLa ( La f Ra J ) s Ra f K a K b ]
2

(14)

123

y l hm truyn cn xc nh n l t s gia tn hiu ra (gc quay m ) v tn hiu

vo ca h thng (in p Ua). Bin i tng ng biu thc trn c c:
m (s)

U a (s)

Ka
s[(sLa Ra )( sJ f ) K a K b ]

(15)

V h thng gm c c ng c v ph ti nn tn hiu ra l gc quay ca trc ph

ti L , theo (1) th hm truyn cui cng s l:

L ( s)

U a (s)

nK a
s[(sLa Ra )( sJ f ) K a K b ]

(16)

Phn tch hm truyn ny trn c s cc quy tc t hp khi nhn (ni tip) v phn
hi m, c c s khi nh sau:

Hnh 5.3: Hm truyn chuyn ng mt bc t do

s dng ng c in mt chiu
n gin c th khng xt n in cm phn ng La v n thng qu nh so
vi cc nhn t nh hng c kh khc, nn hm truyn thc s cn li c dng:
L ( s)

nK a
U a ( s) s ( sRa J Ra f K a K b )

(17)

Do mt h nh robot c nhiu trc iu khin s c lp ng thi lin h thi

gian, m hnh iu khin ca ton h thng ph thuc vo kiu ng c s dng song
m hnh chung ca ton h thng cu trc trn c s m hnh iu khin mt khp
nh ni trn v c dng sau:

124

Hnh 5.4: S iu khin robot n bc t do

Do trong phn di y cung cp thm hm truyn ca mt s s truyn
ng khc nhau s dng truyn dn thy lc vi mc ch tham kho khi s dng.
VI.3 HM TRUYN CA MT S MCH IU KHIN THY LC
3.1 H thu lc chuyn ng tnh tin iu khin bng bm du
Xt h thy lc chuyn ng thng c iu khin bng bm du nh hnh v:

Hnh 5.5: S h thy lc iu khin v tr chuyn ng thng,

iu khin bng bm du
- H s iu chnh lu lng ca bm du;
x - a lng iu chnh lu lng ca bm;
- H s tn tht lu lng trong xylanh v ng ng dn du;
p - p sut du cung cp ca bm;
Q - Lu lng cung cp ca bm;
F - Din tch ca pittng;
V - Th tch cha du bung cng tc;
B - Mun n hi ca du;
125

y - Chiu di dch chuyn ca pittng;

M- Khi lng ca b phn chuyn ng.
Nu b qua ma st ca cc b phn chuyn ng v coi h ch c mt khi lng
chuyn ng th ta c cc phng trnh sau:
Phng trnh cn bng lu lng :

Q .x F

dy
V dp
. p
.
dt
2 B dt

Phng trnh cn bng lc:

d2y
F. p M 2
dt

Chuyn sang phng trnh dng laplace:

Q ( s ) .x( s ) F .s. y ( s ) . p ( s )
F . p ( s ) M .s 2 . y ( s ) p ( s )

V
.s. p
2B

M 2
.s . y ( s )
F

Bin i tng ng c:

M 2 V .M 3

.s . y ( s )
.s
Q( s ) .x( s ) F .s
2 B.F
F

Hm truyn h h s l:

y( s)
1
1
.
.
V .M 2 s
x ( s ) F M
1 F 2 .s 2 B.F .s

t K

2Z

M
F2

; n

2 B.F 2
V .M

Hm truyn h h c dng:
y( s)
1
1
K.
.
2Z
1
x( s)
1
.s 2 .s 2 s

y l m hnh ton ca mt khu dao ng v mt khu tch phn.

trong :
- tn s dao ng ring ca khu dao ng;
Z - h s tt dn ca khu dao ng.
S khi h h ca (4.51) v s khi ca h phn hi n v c th hin
nh hnh di:
126

Hnh 5.6: S khi ca h h v s khi ca h phn hi n v

T xc nh c hm truyn h kn c dng nh sau:
1
1
K. .
s 1 2 Z .s 1 .s 2
2

n
n
1
y (s)

1
U ( s) 1 K . 1 .
1 2
s 2Z
s 1 2 Z .s 1 .s 2 1 K 1 .s 2 .s
n
n

2
n

3.2 H thy lc chuyn ng tnh tin s dng phn t iu khin l van servo
Van servo l phn t iu khin in thy lc c c tnh iu khin thy lc
hon thin nht hin nay, nh phn t ny m c th thc hin c iu khin v tr,
vn tc hoc ti trng theo yu cu ca thit b.

Hnh 5.7: S nguyn l v s chc nng s dng van servo

M -Khi lng chuyn ng;

127

F1 -Din tch ca piston;

p1 -p sut cung cp ca van;
KA-H s khuch i ca b khuch i;
Kv -H s khuch i ca van;
KC - H s khuch i ca khu phn hi;
I -Dng in iu khin van servo;
x -Hnh trnh ca khi lng M;
U -in p iu khin;
K0 -H s thot du ca van servo.
Nu b qua bin dng n hi ca du trong cc bung lm vic ca xylanh v
ng ng, khng tnh n nh hng ca lc ma st, van servo v b khuch i
c coi l cc khu khuch i. Ta c cc phng trnh sau:
Khi khng c phn hi
Trng hp x > 0:
Q1 K v .I K 0 . p1 F1.
F1 p1 m

d 2x
;
dt 2

dx
dt

E .K A I

Chuyn sang phng trnh Laplace c dng:

Q1 ( s ) K v .I ( s ) K 0 . p1 ( s ) F1 .S .x( s );
F1 . p1 ( s ) m.S 2 .x( s );
E ( s ).K A I ( s )

S khi c xy dng nh di y:

Hnh 5.8: S khi ca h di dng khai trin a) v dng rt gn b)

128

Nh vy hm truyn h h s l:
W (s)

F1 .K A .K V
x( s )

E ( s ) s.( F12 K 0 .m.S )

Trong trng hp x < 0 hm truyn c dng:

W (s)

F2 .K A .K V
x( s)

E ( s ) s.( F2 2 K 0 .m.S )

Khi c phn hi
Xt h kn v x > 0:
S khi ca mch iu khin h kn nh sau:

Hnh 5.9: Mch iu khin h kn

Hm truyn h kn c dng:

W (s)

Ww ( s )

Hay

Ww ( s )

W (s)
1 W ( s ). K c

F1 .K A .K V
x( s)

2
U ( s ) K 0 .m.S F12 .S F1 .K A .K V .K C
KW

T1 .S T2 .S 1
2

Trong :
T1
T2

K 0 .m
;
F1 .K A .KV .K C
F1
;
K A .K V . K C

KW

1
KC

Hm truyn c th biu din di dng:

WW

KW
x( s)

2
U (s) S
S
2. . 1
0
0

Trong :
129

T1

F1 .K A .K V .K C
K 0 .m

l tn s dao ng ring ca h thng;

T
F1
1
2 .
2T1 2 K A .K V .K C .K 0 .m
3

l h s tt dn ca h.

3.3 H thy lc chuyn ng quay iu khin bng bm du

Hnh 5.10: S iu khin ng c du bng bm

ng c thy lc chuyn ng quay trn iu khin bng mt bm c lu lng
thay i (iu chnh bng th tch), c phn hi v tr nh hnh v. Vi ngha cc i
lng nh sau:
x - Tn hiu iu khin bm u;
- H s iu chnh bm du;
Q - Lu lng cung cp ca bm;
- H s tn tht lu lng;
p - p sut lm vic ca ng c du;
Dm - H s kt cu ca ng c du;
V - Th tch cha du trong bung cng tc;
J - Gi tr ca mmen qun tnh trn trc ng c du;
- Vn tc gc ca trc ng c du;
- Gc quay ca trc ng c du;
B - Mun n hi ca du;
Kc - H s khuch i ca khu phn hi.
Nu b qua ma st ca cc b phn chuyn ng trn trc ng c du, khng tnh
n ti trng ngoi, trc ch c mt gi tr mmen qun tnh J,.v.v. ta s c cc phng
trnh m t hot ng ca h thng nh sau :
Phng trnh cn bng lu lng :

Q .x Dm .

d V dp

. p
dt 2 B dt

130

Phng trnh cn bng lc:

d 2
dt 2

Dm . p J .

Phng trnh sau bin i laplace c dng:

Q( s ) .x( s ) Dm .s. ( s )

V
.s. p ( s ) . p ( s )
2B

Dm . p( s ) J .s 2 . ( s )

Bin i tng ng c:

Q( s ) .x( s ) Dm .s. ( s )

J 2
V .J
.s 3 . ( s )
.s . ( s )
2 B.Dm
Dm

Hm truyn ca h c dng:
(s)
x( s )

t:

.J

.s

V .J
.s 2
2
2 B.Dm

1
s

d
c: ( s) s. ( s) hm truyn c biu din li dng:
dt

( s )

x( s)

t: K

Dm

Dm

2Z

.J

D2m

Nhn c:

(s)
x( s )

K.

.J

Dm

Dm

.s

V .J
.s 2
2
2 B.Dm

2 B.D 2 m
V .J

2Z

.s

.s 2

1
s

( s )
1
K.
2Z
1
x( s )
1
.s 2 .s 2

Trong :
K - h s khuch i;
Z H s tt dn;

n - tn s dao ng ring ca cm ng c du.

131

S khi tng ng ca h h v h kn c xy dng trn c s hm truyn

nh hnh v:

Hnh 5.11: S khi h iu chnh ng c du bng th tch

dng h a) v kn b)
T xc nh c hm truyn h kn c dng:
(s)

U ( s)

( s )

U ( s) 1

s
K .K C

1
K .K C

1
KC
2Z
1
(1
.s 2 .s 2 )

1
KC
2Z
1
(1
.s 2 .s 2 )

3.4 H thy lc chuyn ng quay iu khin bng van servo

Hnh 5.12: h thy lc chuyn ng quay iu khin bng van servo

Phng trnh cn bng lu lng:
Q Dm .

d V dp

. . p
dt 2 B dt

Phng trnh cn bng lc nu k n ma st vi h s ma st nht f l:

Dm . p J .

d 2
d
f.
2
dt
dt

132

Bin i laplace c:

Q( s ) Dm .s. ( s )

V
.s. p( s ) . p ( s )
2B
Dm . p( s ) J .s 2 . ( s ) f .s. ( s )

Bin i tng ng c:

V
.s . p ( s )
Q( s ) Dm .s. ( s )

2B
2
J .s f .s
. ( s )
p( s )
Dm

Kt hp li c:

2
V
J .s f .s
Q( s ) Dm .s. ( s)
.s .
. ( s)
Dm
2B

i vi h h hm truyn c dng:
(s)

Q( s)

1
J .s f s
V
Dm
.s .

Dm
2B

Vit li di dng:
(s)

Q( s)

Nu t:

. f
Dm

V . f 2 B.J .
V .J
.s
.s 2
2
2
2 B( D m . f )
2 B( D m . f )

D 2 m . f
K
;
Dm

T2

T1

V .J
;
2 B( D 2 m . f )

1
s

1
0
T1

2 B( D 2 m . f )
V .J

2T
V . f 2 B.J .
V . f 2 B.J .
1
; 2 .
2
T1
2 2 B.V .J ( D 2 m . f )
2 B( D m . f )

Hm truyn c dng:

(s)

Q( s)

K
1
K
1
). ( 2 2
).
T 1 .s T2 .s 1 s
T 1 .s 2 .T1 .s 1 s
2

Trong :
K: H s khuch i ca khu dao ng;
T1, T2: Cc hng s thi gian;

0 : Tn s dao ng ring ca h h;
: H s tt chn ca h h.

133

S khi ca h h ni trn c dng nh sau:

Hnh 5.13: S khi h h ca cm ng c du

i vi h kn:
Nu b khuch i v van servo c coi l khu khuch i th ta s c cc quan
h sau:

Q( s ) K V .I ( s ) K 0 . p ( s );
I ( s ) K A .E ( s );

E ( s ) U ( s ) K C . ( s )

Kt hp vi s khi h h, ta xy dng c s khi ca h kn:

Hnh 5.14: S khi iu khin v tr chuyn ng quay

A

t:

T1 .s T2 .s 1
2

s.( J .s f )
Dm

Tip tc bin i s khi trn c s dng

Hnh 5.15: S khi bin i

n gin ha c s dng:

134

Hnh 5.16: Dng tng ng

Hm truyn tng ng vi s ny c dng:
K
T1 .s T2 .s 1
(s)

K
s.( J .s f )
E (s) s
.
.K 0
2
2
T 1.s T2 .s 1
Dm
K A .K V .

Bin i tng ng c:
(s)

E (s)

K A .KV .K .Dm
Dm K .K 0 . f

T12 .Dm

T .D K .K 0 .J
s.
.s 2 2 m
.s 1
Dm K .K 0 . f
Dm K .K 0 . f

t:
K

K A .K V .K .Dm
;
Dm K .K 0 . f
T1 .Dm

Dm K .K 0 . f
2

Dm
V .J
.
2
2 B ( Dm . f ) ( Dm K .K 0 . f )

T2 .Dm K .K 0 .J V . f .Dm 2 B.J . .Dm 2 B.K .K 0 .J .( Dm . f )

2
Dm K .K 0 . f
2 B( Dm . f ).( Dm K .K 0 . f )

Hm truyn s c dng:

(s)

E (s)

1
1 .s 2 .s 1 s
2

M hnh ny m t mt khu dao ng v mt khu tch phn l tng, s

khi tng ng ca h kn tng ng nh sau:

Hnh 5.17: S khi ca h thng thy lc iu khin v tr

VI.4 NGHA CA M HNH TON HC TRONG IU KHIN.
Cc phng php m t h thng trn c s dng trong sut chiu di lch s
pht trin ca iu khin t ng.
Phng php hm truyn c c im l n gin, p dng thun li cho cc h
thng tuyn tnh bt bin mt ng vo, mt ng ra (h SISO), p dng cho k thut
135

thit k trong min tn s. Phng php hm truyn dng ch yu trong iu khin

kinh in, h tr cho cc phng php phn tch v thit k h thng nh: qu o
nghim s, c tnh tn s (biu Nyquist, biu Bode). Xut pht t hm truyn
h thng c th thit k cc b iu khin sm tr pha hoc b iu khin PID
(Proportation Integral Derivative).
M hnh khng gian trng thi thng c dng trong iu khin hin i phn
tch v thit k h thng. Phng php ny c th p dng cho h thng phi tuyn,
bin i theo thi gian, nhiu ng vo, nhiu ng ra (MIMO). M hnh khng gian
trng thi cho php thit k h thng trong min thi gian nh cc phng php:
-

iu khin ti u.

iu khin thch nghi.

iu khin bn vng.

Kt qu thng nhn c l b iu khin hi tip trng thi.

Ngoi iu khin kinh in v iu khin hin i th cn mt lnh vc iu khin
na kh mi m l iu khin thng minh. c im ca iu khin thng minh l
m phng, bt chc cc h thng thng minh sinh hc. B iu khin c kh nng x
l thng tin khng chc chn, c kh nng hc, c kh nng x l lng thng tin ln.
Cc phng php iu khin thng minh hin nay l:
-

iu khin m (Fuzzy Control).

Mng thn kinh nhn to (Neural Network).

Thut ton di truyn (Genetic Algorithm).

VI.5 N NH CA H THNG
5.1. M u v bi ton n nh ca h ng lc
Trong qu trnh kho st v iu khin cc c h, ta thng gp phi vn quan
trng v kh quen thuc l tnh n nh ca h thng. Cht lng ca cc qu trnh
cng ngh lin qua cht ch n tnh n nh ca chng. iu ny thng gp trong
cc qu trnh ng lc khi vn hnh cc my mc, thit b, cc h thng iu khin t
ng, S mt n nh c th xut hin do cc tc ng t bn ngoi cng nh t cc
yu t ni ti bt ngun t cc khim khuyt khi xy dng m hnh kho st (b qua
cc lc th yu hoc n gin l mt thng s ca h).
Sau khi c c dng phng trnh ton hc m t h thng ta s thy pht sinh
mt vn l: cc vn chuyn ng ta tm c (chnh l nghim ca cc phng trnh

136

m t h) s sai lch vi cc chuyn ng thc ca i tng do nhng sai s vp phi

trong khi xy dng m hnh t vic xc nh cc tham s ca i tng hoc t vic
gii cc phng trnh vi phn chuyn ng, hoc do sai lch trong vic o c cc iu
kin u. Cc sai lch ny gi chung l nhiu.
T nhng vn trnh by trn ta thy bi ton kho st n nh chnh l vic
xc nh nh hng ca nhiu n chuyn ng ca h (hay i tng ta ang kho
st).
5.1.1 Khi nim n nh (v mt hnh thc)
- Khi chuyn ng c nhiu khng khc nhiu so vi khi b nhiu th chuyn c
gi l n nh.
- Khi chuyn ng di tc dng ca nhiu v chuyn ng ca h khi khng c
nhiu khc xa nhau th chuyn ng l khng n nh.
5.1.2 Khi nim n nh (v mt ton hc)
Kho st mt h ng lc c phng trnh vi phn chuyn ng nh sau:

dys
Ys t , y1 , y2 , , yn ; s 1, n
dt

(1.22)

ys l nhng thng s c trng cho chuyn ng ca h ng lc (v d nh ta ,

vn tc).
Xt mt chuyn ng xc nh no ca h ng vi mt nghim ring ca h
(1.22)

ys* f s t ;

s 1, n

(1.23)

N phn bit vi cc chuyn ng b nhiu ys ca h (1.22).

Nhng chuyn ng ca h (1.22) c xc nh bng cc iu kin u ys t0 rt

gn vi ys0 f s t0 .

y s t0 f s t0 s

s 1, n

( s l nhng hng s dng nh)

(1.24)

nh ngha: Chuyn ng khng b nhiu c gi l n nh i vi cc i lng

ys nu i vi mi s dng nh ty , lun lun tm c mt s dng sao

cho i vi tt c cc chuyn ng b nhiu ys ys t m ti thi im t t0 tha

mn bt ng thc:

137

y s t0 f s t 0

(1.25)

y s t0 f s t0

(1.26)

th tt c cc thi im tip theo ( t t0 ) s xy ra bt ng thc:

Chuyn ng khng b nhiu c gi l khng n nh i vi i lng ys nu

n khng phi l chuyn ng n nh i vi i lng ys .
Tc l:

Nu i vi mi s dng nh ty , lun lun tm c mt s dng sao

cho i vi tt c cc chuyn ng b nhiu ys ys t m ti thi im t t0 tha

mn bt ng thc:

y s t0 f s t 0

th cc thi im tip theo ( t t0 ) s tn ti mt thi im t1 xy ra bt ng thc:

y s t0 f s t0

(1.27)

Nu chuyn ng khng b nhiu l n nh v tt c cc chuyn ng b nhiu

tng ng vi cc iu kin u nh s tim cn n chuyn ng khng b nhiu
khi t tng ln v hn:

lim ys t f s t 0
t

khi chuyn ng khng b nhiu ys0 f s t0 c gi l n nh tim cn.

(1.28)

n nh ton cc GAS (n nh tuyt i) l n nh xy ra i vi mi nhiu bt

k (khng bt buc l nhiu nh).
5.1.3 Gii quyt bi ton kho st n nh
Tng quan chung
L thuyt n nh nghin cu cc tiu chun nhn bit mt chuyn ng c
kho st l n nh hay khng n nh. y l vn kh quan trng v trong thc t
khng th trnh cc nhiu. c bit i vi bi ton iu khin, mt trong nhng yu
cu cho vic chn cch iu khin l h c iu khin cn c n nh. l bi
ton n nh ha cc h iu khin, mt dng bi ton ang ngy cng c quan tm
trong bi ton iu khin chuyn ng.
Trong iu khin t ng, quan h ton hc gia tn hiu ra tn hiu vo c th
hin qua nh x T.
138

T: uy

y T u

Nu nh x T l tuyn tnh th ta thu c h tuyn tnh. Ngc li nu T phi tuyn

ta thu c h phi tuyn. T thng c th hin di dng hm truyn hoc m hnh
khng gian trng thi. Trong , m hnh hm truyn ch m t c cho h tuyn
tnh. Cn i vi h phi tuyn thng phi phn tch qua m hnh khng gian trng
thi.
i vi cc h tuyn tnh c cc phng php kinh in xt tnh n nh ca
chng, l:
- Cc tiu chun i s:
Cc tiu chun n nh i s
Tiu chun Routh
Tiu chun Hurwitz
- Phng php qu o nghim s
- Tiu chun n nh tn s (Biu Bode, biu Nyquist).
a s cc h thng gp trong thc t l cc h phi tuyn, do vy khng tm c
hm truyn c th nn cc phng n trn khng kh thi. Do ta tip cn bi ton
theo hng sau:
Kho st mt h ng lc c phng trnh vi phn chuyn ng nh sau:

dys
Ys t , y1 , y2 , , yn ; s 1, n
dt

(1.29)

S n nh ca mt nghim ring ys* f s t ca h (1.29) s bit c khi da vo

cc gi tr ca nghim b nhiu ys t nh cc i lng nhiu.

xs t ys t f s t

T cc gi tr ca i lng nhiu xs t ys t f s t theo thi gian ta s bit

chuyn ng khng b nhiu ys* f s t c n nh hay khng.

Tuy nhin, vic tm nghim tng qut ca (3.8) l khng n gin, v th khng
nht thit phi da vo cc gi tr ca nhiu ng vi cc thi im khc nhau m ch
cn nhn bit c dng iu thay i ca i lng ny theo thi gian th c th suy
ra c mt nghim ring no n nh hay khng. Vic ny c th hin bng mt

139

phng trnh vi phn gi l phng trnh vi phn nhiu ng (phng trnh vi phn
ca i lng b nhiu). Cch xy dng phng trnh ny nh sau:

Gi s, chuyn ng ca i tng kho st c m t bng h phng trnh

(1.29). Thay cho cc bin ys ta a vo cc bin xs s 1, n .

xs ys f s t

y s xs f s t

Trong f s t l mt nghim ring ca h (1.29).

dys dxs df s t

dt
dt
dt

(1.30)

(1.31)

Thay (3.31) vo (3.29) ta c phng trnh:

dxs df s

Ys t , f1 x1 , f 2 x2 , , f n xn
dt
dt

Do f s t l nghim ring ca (1.29) nn:

df s
Ys t , f1 , f 2 , , f n
dt

dxs
Ys t , f1 x1 , f 2 x2 , , f n xn Ys t , f1 , f 2 , , f n
dt

K hiu:

X s t , x1 , x2 , , xn Ys t , f1 x1 , f 2 x2 , , f n xn Ys t , f1 , f 2 , , f n

(1.32)

Ta nhn c phng trnh:

xs X s t , x1 , x2 , , xn

(1.33)

c gi l phng trnh vi phn nhiu ng, phng trnh ny cho bit s din
bin ca cc i lng nhiu ng.

Do X s t ,0,0, ,0 Ys t , f1 , f 2 , , f n Ys t , f1 , f 2 , , f n 0

(1.34)

nn phng trnh (1.33) c nghim xs 0 (ng vi gc ta ), n ng vi chuyn

ng khng b nhiu ys f s t ca h (1.29).

Nh vy, chuyn ng khng b nhiu ca h (1.22) ng vi v tr cn bng ca h

(1.24). Do vic nghin cu n nh ca chuyn ng khng b nhiu ys f s t ca

h (1.29) c a v nghin cu n nh ca v tr cn bng ca h (1.33).

140

 gii bi ton v s n nh ca chuyn ng, ta phi bit trc tnh cht nghim
ca h phng trnh vi phn (1.33). Bi ton ny rt kh v him khi c th phn tch
c (1.33) di dng kn. Ngi ta tm nhng cch lm khc. Cc nh khoa hc
trc Liapunov thng dng phng php tuyn tnh ha, cn Liapunov a ra hai
phng php khc l phng php th nht v phng php th hai ca Liapunov.
Di y ta s xem xt cc phng php ny.
5.1.4 Phng php tuyn tnh ha
Khai trin Taylor v phi ca (1.33) ti xs 0 ta c phng trnh c dng nh
sau:

xs as1 x1 as 2 x2 asn xn X s*

xs asi xi
n

i 1

X
asi s
xi

xs2 0

(1.35)
(1.36)
(1.37)

X s* l tp hp cc s hng cha cc bin xs bc ln hn 1. Bi v trong bi ton n

nh cc nghim xs t ca phng trnh (1.33) tng ng vi cc gi tr ban u nh

nn mt cch t nhin ngi ta ngh rng tnh cht ca cc nghim s c xc
nh bi cc s hng tuyn tnh trong phng trnh (1.35), cn cc s hng X s* l cc
s hng b bc cao, c th b qua. V vy, ngi ta cho rng gii bi ton n nh
ch cn kho st h phng trnh vi phn tuyn tnh (1.36), phng trnh ny c gi
l phng trnh nhiu ng trong gn ng th nht (hay phng trnh nhiu ng
c tuyn tnh ha).
Ni dung phng php ny nh sau:

Xt n nh nghim xs 0 ca h dng. Vit (1.36) di dng ma trn:

x = Ax

(1.38)

Xt phng trnh c trng ca (1.38):

det A E 0

(1.39)

Nu tt c cc nghim ca (1.39) c phn thc m th chuyn ng khng b

nhiu xs 0 s 1, n s n nh tim cn.

141

- Nu c t nht mt nghim ca (1.39) c phn thc dng th chuyn ng khng

b nhiu xs 0 s 1, n s khng n nh.

- Nu c mt s nghim ca phng trnh (1.39) c phn thc bng khng, cn cc

nghim khc c phn thc m th: nu c t nht mt nghim c phn thc bng khng

l nghim bi th chuyn ng khng b nhiu xs 0 s 1, n s khng n nh, nu

cc nghim c phn thc bng khng l nghim n th chuyn ng khng b nhiu

xs 0 s 1, n s n nh (nhng khng n nh tim cn).

Nu xt trc tip h phng trnh trng thi ca h m khng a v dng phng

trnh nhiu ng th ch ti cc im sau:
-

i vi cc h ng lc th tn ti ba khi nim sau:

Trng thi chuyn tip (transient state): l trng thi chuyn t iu kin u
v trng thi xc lp.

Trng thi bnh n (steady state xc lp): l trng thi h thng khi u vo

l hng s hoc dng iu ha.

Thi gian xc lp (chuyn tip): l thi gian chuyn h thng v trng thi xc

lp.
i vi cc h ng lc, ta quan tm n trng thi bnh n ca h tc l trng thi
h thng lm vic n nh, trng thi h thng khng ph thuc thi gian. Do ta
thng xt n nh ca h ch bnh n. Do vy cn tuyn tnh ha phng trnh
trng thi quanh cc nghim dng (v tr cn bng) v xt n nh ca cc v tr ny.
khi tuyn tnh ha ta s thu c mt h phng trnh vi phn tuyn tnh khng thun
nht, iu kin cn v h ny n nh l nghim tm thng ca phng trnh vi
phn tuyn tnh thun nht tng ng l n nh. nh gi iu ny ta c th dng
tiu chun Hurwitz nh sau:
Gi s phng trnh c trng c th vit di dng a thc nh sau:

p A E a0 n a1 n 1 an 1 an 0 , a0 0

T ta xy dng c ma trn vung cp n nh sau:

142

 a1
a
0
H0

0
0
a1 a3 0

0 0 an
a3
a2

a5
a4

Ma trn trn c gi l ma trn Hurwitz. Cc nh thc trn ng cho chnh ca

ma trn ny c gi l cc nh thc Hurwitz v c dng nh sau

a
1 a1 , 2 1
a0

a1
a3
, 3 a0
a2
0

a3
a2
a1

a5
a4 n an n 1
a3

iu kin cn v cc cho tt c cc nghim ca a thc c trng u c phn

thc m l tt c cc nh thc con Hurwitz 1 , 2 , , n u dng.

Tuy nhin, khi cc s hng phi tuyn X s* t , x1 , x2 , , xn ng vai tr quyt nh

tnh n nh hoc khng n nh ca chuyn ng b nhiu xs 0 th phng php

trn cho kt qu khng ng lm.
V d 1.10 Xt n nh chuyn ng ca con lc n
Kho st s n nh v tr cn bng ca con lc ton hc. Cho bit khi lng ca

con lc l m, chiu di l, ngu lc cn M c .

Theo cc v d ca phn trc ta c phng trnh vi phn chuyn ng ca con

lc ton hc c cn l:

ml 2 mgl sin 0

(1)

Chia c hai v ca (1) cho ml 2 ta c

ml

g
sin 0
l

(2)

2,
2 , phng trnh vi phn (2) khi y c dng:
l
ml 2

2 2 sin 0

(3)

a phng trinhg vi phn (3) v phng trnh trng thi ta t:

x1 , x2

(4)

Phng trnh trng thi ca con lc ton hc c dng:

143

 x1 x2

2
x2 sin x1 2 x2

(5)

V tr cn bng ca con lc c xc nh t h phng trnh:

x2 0
sin x1 0

2
x2 0
sin x1 2 x2 0

(6)

Nu gii hn gc 0 2 th h (6) c cc nghim

x1 0, x2 0 ; x1 , x2 0
1

(7)

p dng phng php xp x bc nht, nghim cu s n nh ca cc nghim ny.

S n nh ca nghim x1 0, x2 0
1

a v kho st phng trnh nhiu ng bng cch t:

y1 x1 0 , y2 x2 0

khai trin Macloranh hm sin y1

x13
sin x1 sin y1 x1 (8)
3!
Ta nhn c cc phng trnh xp x bc nht

y1 y2

y 2 y1 2 y2

(9)

Phng trnh c trng ca h

A E

2 2 2 0 (10)

nghim ca phng trnh (10) l

1 2 2 , 2 2 2

(11)

Do 1 0, 2 0 nn v tr cn bng x1 0, x2 0 n nh tim cn.

1

S n nh ca nghim x1 , x2 0
2

Nu t y1 x1 , y2 x2 0 v khai trin hm sin x1 :

sin x1 sin y1 y1

y13

3!

ta nhn c h cc phng trnh xp x bc nht

144

 y1 y2

2
y 2 y1 2 y2

(12)

Phng trnh c trng ca h (12)

A E

2 2 2 0

(13)

Nghim ca phng trnh (13) l

1 2 2 , 2 2 2

(14)

Do 2 0 nn v tr cn bng x1 , x2 0 khng n nh.

2

Kt lun: v tr cn bng ca con lc 0 n nh tim cn, cn v tr bin

khng n nh.

V d 1.11 Xt n nh nghim cn bng ca mch dao ng LC

Phng trnh trng thi thit lp trong v d 1.9 l

x1 x2

2
x2 x1

0
Ma trn trng thi A 2

1
0

Nghim dng c xc nh nh sau:

x1 x2 0
x1 0, x2 0

2
x2 x1 0

a thc c trng A E

2 2 0 1 j , 2 j

Hai nghim n c phn thc bng 0 nn h n nh.

5.1.5 Cc phng php ca Liapunov
Nh ton hc ngi Nga Liapunov (1857 1918) xy dng c cc iu kin
cn v cho vic xt n nh theo xp x tuyn tnh. ng gii quyt c trn vn
bi ton n nh cho h tnm (h dng) khi asi l cc hng s v cho h phi tnm

c bit l khi asi t l nhng hm tun hon ca thi gian t.

Phng php th nht ca Liapunov l phng php da trn vic tm nghim ca

phng trnh vi phn chuyn ng, phng php ny kh thc hin.

145

Phng php th hai ca Liapunov l phng php da vo tnh cht ca mt s

hm c bit V t , x1 , x2 , , xn (hm Liapunov) ca cc bin trng thi ca h kho st

m t tm ra tnh n nh hay khng n nh ca chuyn ng khng b nhiu ca
h ng lc c kho st.
Hm Liapunov

Hm V x V x1 , x2 , , xn l hm ca cc bin thc c xc nh trong min

x
n

s 1

2
s

(1.40)

( l mt s dng)
Trong min (1.40) hm V c gi thit l hm n tr, lin tc v trit tiu khi tt
c cc bin x1 , x2 , , xn u trit tiu, tc l khi:

x
n

s 1

2
s

0 th V 0 0

Cc nh ngha v hm

Hm Liapunov V x c gi l hm c du xc nh trong min (1.40) nu ngoi

gc ta x = 0 hm V x ch ly gi tr dng hoc gi tr m.

V x 0 V x xc nh dng
V x 0 V x xc nh m

Hm Liapunov V x c gi l hm c du khng i trong min (3.19) nu

ngoi gc ta x = 0 th V x 0 hoc V x 0

V x 0 V x khng m

V x 0 V x khng dng

V x l hm c du thay i nu trong min (1.40) n khng phi l hm xc nh

du, cng khng phi l hm khng i du.
nh l ca Liapunov v n nh tim cn

Nu tm c mt hm xc nh du V x sao cho V x theo thi gian da vo

phng trnh nhiu ng (3.12) l hm c du khng i v ngc du vi hm V x

hoc lun lun bng 0 th chuyn ng khng b nhiu xs 0 s n nh.

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Nu tm c mt hm xc nh du V x c o hm da vo phng trnh vi

phn nhiu ng (1.33) l hm xc nh du ngc vi du ca hm V x th chuyn

ng khng b nhiu xs 0 s n nh tim cn.

nh l ca Tretaev v khng n nh

Nu c th tm c hm V x i vi n trong ln cn gc ta min

V x 0 v nu o hm ca n da vo phng trnh nhiu ng (1.33) l dng ti

tt c cc im thuc min V x >0 th chuyn ng khng b nhiu xs 0 s khng

n nh.

Cch xc nh hm V x

- Da vo dng ton phng

- Da vo cc tch phn u
Th d 3.2 Kho st s n nh ca chuyn ng khng b nhiu ca i tng c
phng trnh nhiu ng dng

1 2

3
x1 x2 x1 x2 x1 2 x1 x2

x 3 x x x x 2 x 1 x x 2
2
1 2
1 2
1 2
2
2

(1)

Chn hm V x c dng:

V x

1
3x12 2 x1 x2 x22

p dng tiu chun Silvet, ta thy:

1 3 0
2

3 1
40
1 1

Do hm V x xc nh dng.
Ta c

V1 x 3x14 2 x12 x2 2 x22

p dng Silvet, ta c:

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1 3 0
2

3 1
50
1 2

do V x xc nh m. Do vy chuyn ng khng b nhiu n nh tim cn.

Th d 3.3 Xt n nh chuyn ng ca h c phng trnh nhiu ng dng:

x1 x15 x23

3
5
x2 x1 x2

Chn hm V x

(1)

1 4
x1 x24

V1 x x13 x1 x23 x2 x13 x15 x23 x23 x13 x25 x18 x28

Theo Tretaev ta thy chuyn ng khng b nhiu l khng n nh.

VI.6 THIT K IU KHIN
Thit k iu khin l bi ton bit cu trc v thng s ca i tng iu khin.
Bi ton t ra l thit k b iu khin c h thng tha mn cc yu cu v cht
lng. Ni dung bi ton thit k l ton b qu trnh b sung cc thit b phn cng
cng nh thut ton phn mm vo h cho trc c h mi tha mn yu cu v
tnh n nh, chnh xc, p ng qu
i vi iu khin ni tip hm truyn h h c th thit k cc b iu khin: sm
pha, tr pha, P, PD, PI, PID, vi phng php thit k QNS, biu Bode,.
i vi h thng c phn hi c th dng cc phng php thit k nh: phn b
cc, LQR,

148