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IU KHIN V NHN DNG

CC H C HC
Tn ti: Thut gii kho st ng lc hc thun-ngc h mch vng
Gio s hng dn: GS.TS inh Vn Phong
Hc vin: Dng Vn Lc
MSHV: CB140981

H Ni, 8/2015

MC LC
1. H phng trnh vi phn i s ca h nhiu vt mch vng .................................. 1
2. Tnh ton ng lc hc thun s dng phng php tch cc nhn t Lagrange . 1
3. Tnh ton ng lc hc ngc c cu da trn phng trnh vi phn thu gn ...... 4
4. Ph lc ........................................................................................................................ 7
4.1. Phng php Runge-Kutta gii h phng trnh phi phn bc mt. ...................... 7
4.2. Phng php Runge-Kutta-Nystrom gii h phng trnh phi phn bc hai. ......... 7
4.3. Phng php Newton-Raphson gii h phng trnh phi tuyn ............................. 8
5. Ti liu tham kho ..................................................................................................... 9

1. H phng trnh vi phn i s ca h nhiu vt mch vng

H phng trnh vi phn i s m t chuyn ng ca h nhiu vt hlnm

Ms sT p1
f (s, t )
0

(1)
T

Trong M l ma trn khi lng suy rng, s s 1, s 2 , ..., s n l cc to suy rng d,

1 , 2 , ..., r

l vct cc nhn t Lagrange, f f1 , f2 , ..., fr 0 l cc iu kin

rng buc, s l ma trn Jacobi c r f .

f
s

(2)
T

ca vct p1 p1(1), p2(1),..., pn(1) v phi ca phng trnh (3.1) c

Cc thnh phn p (1)
j

dng

p(1)
Qj
j

2T
2T
T

,
si s j t s j s j

j 1,..., n

(3)

Trong T l ng nng ca h nhiu vt, Qj l cc lc suy rng.

2. Tnh ton ng lc hc thun s dng phng php tch cc nhn t Lagrange
2.1. Bin i h phng trnh vi phn i s v h vi phn thng
Dng vct cc phng trnh lin kt (1) c th vit li di dng h cc phng trnh i
s phi tuyn nh sau

fk (s1, s2,..., sn , t ) 0 ,

(k 1,..., r )

(4)

o hm theo thi gian cc phng trnh lin kt (4) ta c

n
fk
f
f dfk
si k 0,

k
dt
t
i 1 si

(k 1,..., r )

n
n
n
n
d 2f
f
2 fk
2 fk
2 f
fk 2k k si
sisj 2
si 2k 0
dt
t
i 1 si
j 1 i 1 s j si
i 1 t si
(k 1,.., r )

(5)

(6)

T phng trnh (6) ta suy ra

n
n
n
fk
2 fk
2 fk
2 fk
s si s s sisj 2 t s si t 2 0
i 1
j 1 i 1
i 1
i
j
i
i
(k 1,.., r )
n

(7)

Cc phng trnh (7) c th vit gn li di dng ma trn

f ss p2 (s, s, t ) 0

(8)

(2)
(2)
Trong p2 p1 ,..., pr ,

pk(2)
j 1 i 1

n
2 fk
2 fk
2 f
sisj 2
si 2k
s j s i
t
i 1 t s i

(9)

Kt hp phng trnh (1) v phng trnh (8) ta c:

Ms sT p1(s, s, t ) 0
f ss p2 (s, s, t ) 0

(10)

Hay
M

sT s p1

0 p2

(11)

H phng trnh (11) c gi l h phng trnh vi phn i s m t trng thi chuyn

ng ca h nhiu vt c cu trc mch vng.
Nu ta thc hin php i bin:
y1 s , y2 y1 s , y 2 s

th h phng trnh (11) c bin i v dng

E 0

0 M

0 s

0 y1 y2
sT y 2 p1

0 p2

(12)

Do ngha c hc, M l ma trn i xng v xc nh dng, det( M ) 0 . Do cha quan

M T
s
tm ti cc k d ng hc, det(s ) 0 . Khi ,
l ma trn khng suy bin.

0
s

T h phng trnh (3.11) ta suy ra

si hi ( s1 ,..., sn , s1 ,..., sn , t )

(i 1,..., n)

(13)

j j ( s1 ,..., sn , s1 ,..., sn , t ) ( j 1,..., r )

(14)

Ta dng phng php s gii h phng trnh vi phn thng(13). T tnh c cc

tha s Lagrange j theo (14).
2.2. Phng php n nh ha Baumgarte
Sau mi bc tch phn, do sai s tnh ton, cc gi tr si ,si khng cn tha mn cc
phng trnh rng buc v tr v phng trnh rng buc vn tc dn n cc sai lch:

f (sk , tk ) 0
f (sk , sk , tk ) 0

k 1, 2,...
k 1, 2,...

(15)

Theo phng php Baumgarte, thay v gii phng trnh:

f 0

(16)

f 2f 2 f 0

(17)

Ta s tin hnh gii phng trnh:

Trong cc h s c chn tha mn iu kin sau:

0

(18)

Nh vic gii phng trnh (17) thay cho gii phng trnh (16) ta s kh dn hoc kh
hon ton c sai s tch ly trong qu trnh tch phn, hay thay v gii h phng trnh:

Ms sT p1(s, s, t ) 0
f(s) 0

(19)

Ta s tin hnh gii h phng trnh sau:

Ms sT p1(s, s, t ) 0
f 2 f 2 f 0

(20)

gii h phng trnh (20) chng ta c th s dng phng php Runge-KuttaNystrom hoc h bc ri s dng phng php RungeKutta.
Cc hng s , thng c chn cc gi tr trong khong t 1 n 20. Vic chn
ti u cc hng s ny c mt s tc gi nghin cu (Flores et al, 2009, Investigation
on the Baumgarte Stabilization Method for Dynamic Analysis of Constrained Multibody
Systems, A Parametric Study on the Baumgarte Stabilization Method for Forward
Dynamics of Constrained Multibody Systems; S.-T. Lin and J.-N. Huang, 2002,
Stabilization of Baumgartes Method Using the Runge-Kutta Approach)
3. Tnh ton ng lc hc ngc c cu da trn phng trnh vi phn thu gn
Nh bit, phng trnh vi phn-i s m t chuyn ng ca h nhiu vt c cu
trc mch vng c dng:
(21)
M s s C s , s s g s Ts s
f s 0

(22)

Gi qa a l vc t cc ta khp ch ng, z z l vc t ta cc khp suy

rng d (bao gm cc ta khp b ng v c th c cc ta khu thao tc). K hiu
T

s qTa , z T , s ns , ns na nz

(23)

Trong cc phng trnh (21) v (22) ta c

M s
s

ns ns

, f r , sT s

ns r

, r

f
n
n n
n
, g s s ,C s ,s s s , s
s

(24)

Bi ton ng lc hc ngc c pht biu di dng: Cho bit quy lut chuyn ng ca

khu thao tc x x t , x m v phng trnh lin kt f q, x 0 , q n , f r

. Xc nh m men (hay lc) ca khu dn ng a n cn thit to ra chuyn ng
mong mun ca khu thao tc.
tng ca phng php gii l kh cc ta suy rng d z v cc nhn t Lagrange
, bin i h phng trnh vi phn i s v h phng trnh vi phn thng vi cc ta
l cc thnh phn ca vc t qa , s lng phng trnh bng s bc t do ca h.
Xt cc phng trnh lin kt (22)
a

f s f qa , z 0 , f r , z z , qa
n

na

(25)

Gi s s lng cc ta d bng s cc phng trnh lin kt b sung r nz . T phng

trnh (24) ta suy ra

f
s s s s 0
s

(26)

hay
s s s a s qa z s z 0

(27)

f
f
rn
rn
a , z
z
qa
z

(28)

Trong :

a
Vit li phng trnh(21), ta c

Ts s M s s C s , s s g s

(29)

Chuyn v hai v ca phng trnh (29) v nhn vi s ta c

T
T s s M s s C s , s s g s s

(30)

Ch n cng thc (27): s s s 0 , t (29) ta suy ra

T

M s s v s , s g s s 0

(31)

Mt khc t phng trnh (27) ta c

z z 1 s a s q a

(32)

q
En
q
s a 1 a
a
z z s a s

(33)

Suy ra

Nu ta a vo k hiu

Th phng trnh (33) c dng

T (35) ta suy ra

En

a
R s 1

z s a s

(34)

s R s qa

(35)

s R s qa

(36)

Th biu thc (36) vo phng trnh (31) ta c

M s s C s , s s g s T R s q 0
a

(37)

T
Do q q1a , q 2a ,..., qnq l cc bin phn c lp, nn t phng trnh (37), ta suy ra
a

RT s M s s C s , s s g s 0

(38)

Phng trnh (38) c th vit li di dng

RT s RT s M s s C s , s s g s

(39)

RT s [Ena , (z1(s )a (s ))T ] a a (z1(s )a (s ))T z
z

(40)

T (39) ta c

Th (40) vo phng trnh (39) ta c

a RT s M s s C s , s s g s +(z1(s)a (s))T z

(41)

Cc bc gii bi ton ng lc hc ngc da trn cc phng trnh vi phn thu gn v

cc ta ti thiu:
Bc 1 : Gii bi ton ng hc ngc. Cho bit x t v f q, x = 0 , tnh s t , s t , s t
Bc 2 : Tnh cc ma trn z s , a s , z1 s , R s , M s ,C (s, s), g (s )
Bc 3 : Tnh cc m men (hay lc) ca cc khu dn ng theo cng thc (41).

4. Ph lc
4.1. Phng php Runge-Kutta gii h phng trnh phi phn bc mt.
H phng trnh vi phn c cho di dng sau:
x f t , x

iu kin u : x 0
Bng cch chia li vi bc li h tk 1 t k h . p dng cng thc Runge-Kutta cho h
phng trnh vi phn cp mt tnh x tk ti cc bc li nh sau:

1
xi 1 xi h k1 2k 2 2k 3 k 4
6
Trong :

k 1 f ti , x i
h
h

k 2 f ti , x i k 1
2
2

h
h

k 3 f ti , x i k 2
2
2

k 2 f ti h, x i hk 3
4.2. Phng php Runge-Kutta-Nystrom gii h phng trnh phi phn bc hai.
H phng trnh vi phn bc hai c cho di dng sau:

x f t , x, x

iu kin u: x 0 , x 0
Bng cch chia li vi bc li h tk 1 t k h . p dng cng thc Runge-KuttaNystrm tnh x tk ti cc bc li nh sau:
x n 1 x n hx n

h
k1 k 2 k 3 ,
3

1
k1 2k 2 2k 3 k 4 ,
3

x n 1 f (tn h, x n 1 , x n 1 ).
x n 1 x n

Trong :
h
f tn , x n , x n ;
2
h
h
h
h

k 2 f tn , x n x n k1 , x n k1 ;
2
2
2
4

h
h
h
h

k 3 f tn , x n x n k 1 , x n k 2 ;
2
2
2
4

h
k 4 f tn h, x n hx n hk 3 , x n 2k 3 .
2
k1

4.3. Phng php Newton-Raphson gii h phng trnh phi tuyn

gii h phng trnh phi tuyn f q, x = 0 bit quy lut chuyn ng
x x t , tnh c quy lut chuyn ng ca cc khu q t , thng c s dng

phng php Newton-Raphson. Bng cch lp tnh gn ng nghim nh sau:

k 1

q Fq1 q , f q , x
k

Vi Fq c nh ngha l Jacobian ca hm f q, x nh sau:

Fq

f q, x
q

Trong x c chn bt k, nhng nu c chn gn vi nghim th s nhanh chng

hi t hn.
0

iu kin dng l :

f q, x

5. Ti liu tham kho

[1]. inh Vn Phong, M phng s v iu khin cc h c hc, nh xut bn gio dc.
[2]. inh Vn Phong, Phng php s trong c hc, 2007.
[3]. Nguyn Vn Khang , ng lc hc h nhiu vt, nh xut bn gio dc, 2010.