Trng i hc thu li

B mn c hc ng dng
--- [\ [\ ---

GS.TS Nguyn Thc An

PGS.TS Nguyn nh Chiu
PGS.TS Khng Don in

L thuyt dao ng

H Ni 2003
 Li ni u

Gio trnh C hc L thuyt II L thuyt Dao ng Tc gi PGS. PTS Nguyn

Thc An, PTS Nguyn nh Chiu, PTS Khng Don in, xut bn ti Trng i hc
Thy li, nm 1989, p ng yu cu ging dy cho sinh vin ngnh Cng trnh, ngnh
Thu in v ngnh My Xy Dng nhng nm qua, trong cp n cc bi ton dao
ng ca h mt bc t do, hai bc t do, v s bc t do v gii quyt nguyn l ca b tt
chn ng lc, trit tiu dao ng ca mt vi trng hp c th v cch gii quyt khi h
c nguy c xut hin hin tng cng hng.

p ng yu cu ging dy cho sinh vin ngnh My Xy Dng & TBTL v cc

hc vin Cao hc, Nghin cu sinh m lun n c cp n bi ton ng lc, chng ti
bin son v a vo thm: Chng IV (Va chm ca vt rn vo thanh n hi v p dng
L thuyt va chm vo bi ton ng cc); Chng V (C s ca L thuyt dao ng phi
tuyn) v c a vo nhng v d gn vi thc t tnh ton cng trnh cho ngnh Thu li.

Ti liu dng ging dy L thuyt dao ng cho sinh vin cc ngnh Cng trnh,
Thu in, Cp thot nc, Trm bm v ging dy mn Dao ng k thut cho sinh
vin ngnh My Xy Dng & Thit B Thu Li. Ti liu ny cng c th dng lm ti liu
n tp thi tuyn Cao hc v Nghin cu sinh cho cc ngnh Cng trnh, ng lc v lm ti
liu hc tp v tham kho cho Nghin cu sinh cc ngnh c lin quan.

Chng ti mong nhn c nhng ng gp kin ca ng nghip v bn c b

xung, sa cha cho tp gio trnh ngy mt hon chnh hn.

H Ni, thng 10 nm 2003.

Cc tc gi

1
 Chng m u

1. Mt vi khi nim v nh ngha

1.1. Cc qu trnh thay i khc nhau ca cc i lng v hng c chia

thnh hai dng: Cc qu trnh dao ng v cc qu trnh khng dao ng.
Qu trnh dao ng c c trng bng s tng hay gim mt cch lun phin ca
cc i lng bin i. N c m t bng cc phng trnh ton hc.
Dao ng trong cc phng trnh vi phn m t chuyn ng ca n l tuyn tnh,
gi l dao ng tuyn tnh. Ngc li, gi l dao ng khng tuyn tnh (phi tuyn).
1.2. Chuyn ng dao ng c c bit quan tm l nhng dao ng c chu k.
Hm f*(t) m t qu trnh dao ng c chu k, nu nh tn ti gi tr T > 0, tho mn
iu kin sau:

f * ( t ) = f * ( t T ) = f * ( t 2T ) = ... = f * ( t nT ) (1)
Trong : T gi l chu k; n l s nguyn dng.
Mt dng c bit ca dao ng c chu k chim v tr quan trng trong thc t l dao
ng iu ho. V mt ng hc dao ng iu ho c miu t bi h thc:
q = A sin(kt + ) (2)
y: q l to ca im dao ng tnh t v tr trung bnh ca n (chn lm gc
to ); A l to ca q ng vi lch ln nht ca im v mt pha v c gi l bin
dao ng; (kt+) l Argument ca sin gi l pha dao ng; l pha ban u; k l tn s
vng (ring) ca dao ng. Tn s ring k lin quan vi chu k T bi h thc:
2
k ( t + T) + = kt + + 2 , t : k = (rad / s) (3)
T
S ln dao ng trong mt n v thi gian c tnh theo cng thc:
1 k
f= = (4)
T 2
f c gi l tn s; n v thng dng l Hecz (Hz).

2. ng nng ca h

Xt h N cht im c n bc t do. Gi to suy rng xc nh v tr ca h: q1, q2

..., qn (qi, i = 1, n ).
Vi h chu lin kt dng, v tr ca mt im Mk bt k c biu din:
rk = rk (q 1 , q 2 , ..., q n )

2
 d rk n
rk
T : vk =
dt
= i =1 q i
qi (5)

1 n
ng nng ca h xc nh bng biu thc: T =
2 k =1
m k v 2k

Thay (5) vo biu thc trn vi ch : v 2k = v k . v k

1 n
Ta c: T=
2 i , j=1
A ij q i q j (6)

y: Aij = Aji l cc h s ch ph thuc vo cc ta suy rng. Khai trin chng

theo chui ly tha ti ln cn v tr cn bng (q i = 0; i = 1, n ) v ch gi li s hng u, ta
nhn c biu thc ng nng ca h tuyn tnh ho:
1 n
T=
2 i , j=1
a ij q i q j (7)

Trong : a ij = a ji = (A ij ) 0 gi l cc h s qun tnh (thc t l khi lng hoc mmen

qun tnh).
1 2
Nu h c mt bc t do (n = 1), ta c: T = a q , trong a = A(0) (8)
2
Nu h c hai bc t do (n = 2), ta c:

1 2 2

T = a 11 q 1 + 2a 12 q 1 q 2 + a 22 q 2 (9)
2

y: a 11 = (A11 ) 0 ; a 12 = (A12 ) 0 ; a 22 = (A 22 ) 0 . Cc h s ca dng ton phng (7)

tho mn iu kin Xin-vec-tr (xc nh dng), ngha l:

a 11 a 12 ... a 1n
a 11 a 12
a 11 > 0; > 0; ...; a 21 a 22 ... a 2 n > 0
a 21 a 22
a n1 a n 2 ... a nn

3. Th nng ca c h.

Vi lin kt dng, th nng ca h cng l hm ca cc to suy rng:

= (q1 , q 2 , ..., q n )

Trong h bo ton, ti v tr cn bng (q i = 0; i = 1, n ) , th nng ca h c gi tr cc

tr nn:
3

= 0 Vi i = 1, n (10)
q i q i =0
Theo nh l Lagrng-iricl th: Ti v tr cn bng n nh ca h bo ton, th
nng ca h cc tiu. Khai trin theo chui lu tha ti ln cn v tr cn bng n nh
(q i = 0; i = 1, n) , ta c:
n
1 n
= () 0 + q i + c ij q i q j + .... (11)
i =1 q i 0 2 i , j=1
Nu chn v tr cn bng n nh ca h lm gc tnh th () 0 = 0 v do (10) nn s
hng th hai trong (11) bng khng. Mt khc vi h tuyn tnh s khng cha trong khai
trin ca th nng cc thnh phn bc cao hn hai i vi to suy rng. Do th nng
ca h khi tuyn tnh ho l dng ton phng sau:
1 n
=
2 i , j=1
c ij q i q j (12)

2
y: c ij = c ji = gi l cc h s cng.

q q
i j 0
Nu h c mt bc t do (n = 1), ta c:
1
= cq 2 , c = (0) (13)
2
Nu h c hai bc t do (n = 2), ta c:
1
= (c11 q 12 + 2c12 q 1 q 2 + c 22 q 22 ) (14)
2
2 2 2
Trong : c11 = ; c = ; c =
2 12 q q 22 q 2
q1 0 1 2 0 2 0
Tng t nh phn 2, cc h s cij ca dng ton phng (12) tho mn iu kin
xc nh dng.

4. Hm hao tn.

Gi s h chu tc dng lc cn (nht) ph thuc bc nht vo vn tc: R k = k . v k

Trong : k > 0 l h s cn (nht); v k l vn tc ca cht im th k thuc h.

Gi to suy rng ca ca h: q i (i = 1, n ) . Cc lc suy rng tng ng vi lc cn
bng:
n rk n r
Q i = R k = k v k k
k =1 q i k =1 q i

rk rr
Khi s dng ng nht thc Lagrng: = , ta c:
q i
qi


n
rk n v 2k
Q i = k rk
= k
2
Hay: Q i =
(15)
k =1 qi qi k =1 qi
n
v 2k
y ta t: = k (16)
k =1 2
c biu din (16) gi l hm hao tn. Ta c th vit ging nh ng nng T
1 n
trong ta suy rng: =
2 i , j=1
B ij q i q j (17)

Trong : B ij = B ji l cc hm ch ca to suy rng: q i (i = 1, n ) . Khai trin chng

theo chui lu tha ti ln cn v tr cn bng q i = 0; (i = 1, n ) v ch gi li s hng u, ta
nhn c biu thc ca hm hao tn tuyn tnh ho:
1 n
=
2 i , j=1
b ij q i q j (18)

y: b ij = b ji = (Bij ) 0 l cc h s cn suy rng.

1 2
Khi h c mt bc t do (n = 1): = b q ; b = B(0) > 0 (19)
2
1 2 2
Khi h c hai bc t do (n = 2): = (b1 q1 + 2b12 q1 q 2 + b 22 q 2 ) (20)
2
Trong : b11 = (B11 ) 0 ; b12 = (B12 ) 0 ; b 22 = (B 22 ) 0 .
Cc h s b ij ca dng ton phng (18) cng tho mn tiu chun xc nh dng.

5. Phng php thit lp phng trnh vi phn chuyn ng.

5.1. Thit lp phng trnh vi phn chuyn ng theo phng trnh Lagrng II.
C s l thuyt ca nhiu cng trnh nghin cu dao ng cc h Hlnm nhiu bc
t do l vic p dng phng trnh Lagrng loi II.
Phng php thit lp phng trnh vi phn chuyn ng ca h dao ng bng cch
s dng phng trnh Lagrng loi II gi l phng php c bn.
i vi h Hlnm, c n bc t do, xc nh bi cc to suy rng c lp:
q 1 , q 2 , ... q n (q i : i = 1, n ) , phng trnh Lagrng loi II c dng:

d T T
dt q q = Q i ; i = 1, n (21)
i
i

5
 5.1a. Nu cc lc tc dng ln h ch l lc c th.

Ta c: Qi = Qi = ; i = 1, n
q i
Phng trnh (21) tr thnh:

d T T
dt q = q ; i = 1, n (21a)

qi
i i

a vo hm Lagrng: L = T , ta c:

d L L
dt q q = 0; i = 1, n (21b)
i
i
5.1b. Nu cc lc tc dng ln h bao gm c lc c th v lc cn nht ta c:

Qi = Qi + Qi = ; i = 1, n
q i
qi
Phng trnh (21) tr thnh:

d T T
dt q = q ; i = 1, n (22)
qi
qi
i i

Khi ch n hm Lagrng L:

d L L
dt q + = 0; i = 1, n (22a)
qi
qi
i

5.1c. Nu lc tc dng ln h ngoi cc lc c th, v lc cn nht cn c cc

ngoi lc khc (lc kch ng) ph thuc vo thi gian t; lc suy rng ca n k hiu
QiP, ta c:

Q i = Q i + Q i + Q i ; i = 1, n
P

V phng trnh (21) vit dng:

d T T
q = q + Q i ; i = 1, n
P
(23)
dt
qi qi
i i

Th d 1:
Con lc kp gm hai thanh ng cht: AB = BC = 2L, trng lng P1 = P2 = P ni vi
nhau bi bn l B. Con lc thc hin dao ng nh trong mt phng thng ng xung quanh
v tr cn bng Ay; ngoi ra AB quay xung quanh trc A; BC quay xung quanh bn l B
(Hnh 1).

6
 Bi gii
Gi thit cc thanh rn tuyt i ; h c hai bc t do. Ta chn 1, 2 l cc gc lch ca
thanh vi phng thng ng Ay lm ta suy rng. Ti v tr cn bng th 1 = 2 = 0.
Phng trnh Lagrng II vit cho h kho st l:
x
d T T A
= Q i ; i = 1, 2 (a)
dt i
i 1

Chn h trc ta Axy nh hnh v. ng nng

ca h bng: P1
B
1 2 1 2 2 1 2
T = TAB + TBC = J Az 1 + m BC x D + y D + J Dz 2 2
D
2 2 2
P2 C
1P P 1 P
Ta c: J Az = (2L) 2 , m BC = , J Dz = ( 2 L) 2
3g g 12 g y
Hnh 1
x D = L(2 sin 1 + sin 2 )

y D = L(2 cos 1 + cos 2 )

2PL2 2 2
Ta c: T = 4 1 + 2 + 3 1 2 cos(1 2 )
3g
Xt dao ng nh: cos(1 2 ) 1 , ta nhn c:

2PL2 2 2
T= (4 1 + 2 + 3 1 2 ) (b)
3g
Th nng ca h bng cng trng lng cc thanh khi h chuyn dch t v tr kho st
(1; 2) ti v tr cn bng thng ng (1 = 0 ; 2 = 0), ta c:
= PL(1 cos 1 ) + PL[2(1 cos 1 ) + (1 cos 2 )]

Rt gn: = PL(4 3 cos 1 cos 2 )

12 2
Vi 1 , 2 nh: cos 1 1 ; cos 2 1 2
2 2
PL
Ta c: = (312 + 22 ) (c)
2
Thay (b) v (c) vo (a), ta nhn c phng trnh vi phn dao ng nh ca h:

16L 2L 2 L 4 L
31 = 1 2 ; 2 = 1 2
3g g g 3g

7
 5.2. Thit lp phng trnh vi phn chuyn ng theo phng php almbe.

Theo nguyn l almbe: mi thi im cc lc hot ng tc dng ln c h v

cc phn lc lin kt cn bng vi cc lc qun tnh. T :

F a + N + F qt = 0
k
k k k
k k

( )
(24)
m O Fk + m O N k + m O Fk qt = 0
a
k k k

Trong : F qtk = m k Wk

5.3. p dng phng php lc lp phng trnh vi phn dao ng nh

(trng hp ring ca phng php almbe).
Gi s cho mt dm n hi c gn mt s hu hn khi lng tp trung
m1 , m 2 , ..., m n . lp phng trnh vi phn dao ng (un) ca dm, thun li hn c l
dng phng php lc. Khi ny cn s dng khi nim dch chuyn n v.
Cc dch chuyn theo hng i do lc n v tc dng theo hng k gy ra gi l dch
chuyn n v, k hiu ik. Cc dch chuyn n v ik cn gi l cc h s nh hng (Hnh 2).

Pk = 1
m1 m2 m3 mn i
k
ik

Hnh 2

i vi cc h n hi, theo hng k h chu tc dng ca lc Pk th dch chuyn do

n gy ra theo hng i s t l vi lc, ngha l:
yi = Pkik.
Do , di tc dng ng thi ca cc lc P1, P2, ..., Pn dch chuyn ton phn xc
nh theo cng thc:
n
yi = P
k =1
k ik (25)

Cng thc (25) l c s thit lp phng trnh vi phn dao ng ca h theo

phng php lc.
Theo kt qu trong gio trnh SBVL, ta c cc cng thc xc nh h s nh hng ik
sau y:

8
 5.3a. Xc nh ik khi un ca thanh:

Dng cng thc MO:

L
M i . M k . dx
ik =
0
EJ
(26)

Trong : EJ l cng ca thanh khi un; M i ( x ) v M k ( x ) l cc mmen un do lc

n v Pi = 1 v Pk = 1 gy ra (Hnh 3).

Pi = 1 Pk = 1

M i =(x) M k =(x)

x x

Hnh 3

5.3b. S dng php nhn biu Vrsaghin:

*
Mk
ik = i (27)
EJ
*
y: i l din tch biu M i , M k l tung ca biu M k tng ng honh
trng tm ca i . Khi s dng cng thc (27) cn ch chia chiu di thanh sao cho
trong mi on ca M k l ng thng. Theo nh l Macxoen ta lun c: ik = ki

Th d 2: Xc nh cc h s nh hng trong trng hp dm chu cc trng ti tp

trung nh hnh v (Hnh 4).

m m m P1 = 1

5L
L/6 L/3 L/3 L/6 36 M1

L/6 5L/6

Hnh 4 Hnh 5a

9
 Bi gii:
xc nh cc dch chuyn n v (h s nh hng) ik (i, k = 1, 2, 3) ta xy dng
cc biu Mmen un M 1 , M 2 , M 3 tng ng vi cc lc n v P1 = 1, P2 = 1, P3 = 1 v
biu din nh trn hnh v (Hnh 5a, b, c).

P2 = 1 P3 = 1

L 5L
4 36
M2 M3

L/2 L/2 5L/6 L/6

Hnh 5b Hnh 5c

Theo cng thc nhn biu Vrsaghin, ta c:

1 1 L 5 5 1 5 5 5
11 = 33 = . . L. L + . L. L. L
EJ 2 6 36 54 2 6 36 54

1 5 5 1 5 1 5 5 1 25L3
= . L. L L + L = L L L = = 75k
EJ 54 36 12 12 EJ 54 36 2 3888EJ

L3
y ta t: k =
9.1296EJ

1 1 L L L 1 L L L L3 L3 L3
22 = . . . + . . . = 2. = = 243. = 243k
EJ 2 2 4 6 2 2 4 6 96EJ 48EJ 9.1296EJ

Thc hin tnh ton mt cch tng t, ta nhn c:

L3 L3
13 = 31 = 51 = 51k; 12 = 21 = 32 = 23 = 117 = 117k
9.1296EJ 9.1296EJ

6. Xc nh cng ca h dao ng.

Cc tnh cht n hi ca h dao ng trong mi trng hp c th c c trng

bng h s cng C.
6.1. Thanh n hi
6.1.1. Thanh n hi khng trng lng, chu ko nn (Hnh 6).

10
 PL
Ta c: L =
EF
y: E l mun n hi, F l din tch tit din ngang.
EF
T : P= .L = C.L
L
L
EF
Vy, ta c: C= (28)
L
6.1.2. Thanh n hi khng trng lng chu xon (Hnh 7) th:
MxL
=
GJ p
Trong : G l mun trt, JP l mmen qun tnh c cc ca L P
mt ct ngang. Suy ra:
Hnh 6
GJ p
Mx = = C.
L
GJ p
Vy, nhn c: C= (29)
L
Mx

L P

Hnh 7 Hnh 8

6.1.3. Thanh n hi khng trng lng chu un. Khi ny: H s cng C cn ph
thuc vo iu kin bin. Ta xt thanh chu un b ngm mt u (Hnh 8). vng f
bng:
1 PL3 3EJ
f= , suy ra: P = 3 f = Cf
3 EJ L
3EJ
y: EJ l cng chng un. Vy cng C bng: C= (30)
L3

11
 6.2. H cc l xo.
6.2.1. i vi h l xo mc song song (Hnh 9).
T biu thc tnh lc n hi, ta c:
Fdh = C1 x + C 2 x = Cx C1 C2 C
Vy, ta c: C = C1 + C2. Nu h c n l xo
mc song song, tng t nhn c:
n
C = Ci (31)
i =1
Hnh 9
6.2.2. i vi h l xo mc ni tip (Hnh 10).
Biu thc tnh lc n hi bng:
Fdh = C1 x 1 + C 2 x 2 C1
h thay th tng ng h s cng C, l xo C
C2
dn mt on: x = x 1 + x 2 ; Fdh = Cx

F1 F2 Fdh 1 1 1
Ta c: x= + = = +
C1 C 2 C C C1 C 2
Hnh 10
Nu h c n l xo mc ni tip, th h s cng
C ca l xo thay th xc nh bi h thc:
n
1 1
= (32)
C i =1 C i
Ni chung cng C c tnh ton theo l thuyt vi cc gi thit nht nh v c
th tra cu trong cc s tay k thut.
Ta thng k mt s cng thc mt s dng c bn thng dng trong tnh ton
(bng 1).

Bng 1. Cng thc xc nh cc h s cng tng ng

STT S H s C

Gd 4
C= Vi G: mun trt ca
1 8iD
vt liu; d: ng knh dy l xo;
i, D: s vng v ng knh l xo.

C1
2 C = C1+ C2
C1 C2 C2

12
 C1C 2
3 C1 C=
C2 C1 + C 2

EJ EJ
4 C=3
L L3

3EJ(a + b)
5 C=
a b a 2b2

12EJ(a + b) 3
6 C=
a b a 3 b 2 (3a + 4b)

3EJ(a + b) 3
7 a b C=
a 3b3

3EJ
8 C=
L b ( b + L) b 2

12EJ
9 C=
L b (4b + 3L)b 2

24EJ
C=
L3
10
L (EJ l cng khi un ca mt
trong hai l xo phng)

3 EJsh L
C = ,
N Lch L sh L
11 L N
=
EJ

2 EJsh ( L )
C=
L ( Lch L sh L )
12 N
L N
=
EJ

13
14
 Chng I
Dao ng tuyn tnh ca h mt bc t do

1.1. Dao ng t do ca h tuyn tnh mt bc t do

1.1.1. Dao ng t do khng cn
Xt h mt bc t do, lc tc dng ln h c th. To suy rng xc nh v tr c h
l q. Phng trnh Lagrng II c dng:
d T T

=
dt q q q

1 2 1
Vi dao ng nh th: T = a q ; = cq 2 : Thay vo phng trnh trn v rt gn,
2 2

ta c: q+ k 2q = 0 (1-1)
c
Trong : k = gi l tn s vng (ring) ca dao ng, n v thng dng rad/s,
a
n ph thuc vo tnh cht ca h (khi lng v cng).
Phng trnh (1-1) l phng trnh vi phn m t dao ng nh t do ca h tuyn tnh
mt bc t do.
NTQ ca (1-1) tm c dng:
q = C1coskt + C2sinkt (1-2)
t: C1 = Asin; C2 = Acos
Ta vit c nghim (1-2) di dng bin :
q = Asin(kt +) (1-3)
y: A = C12 + C 22 l bin dao ng; (kt +) l pha dao ng; l pha ban u;
k l tn s vng (tn s dao ng ring) ca h.
2 a
Chu k dao ng T tnh theo cng thc: T = = 2 (1-4)
k c
Gi f l s dao ng trong mt n v thi gian (tn s dao ng), khi :
1 k 1 c
f= = = (1-5)
T 2 2 a
Cc hng s A v c xc nh t cc iu kin ban u. Gi s ti t = 0: q(0) = q0
2
q0 kq 0
v q (0) = q 0 ta nhn c: A = q 02 + 2
v = arctg
. Do :
k q0

14

q 02 kq 0
q= q 02 + sin kt + arctg (1-6)
k2 q 0

Nh vy, dao ng nh t do ca h tuyn tnh mt bc t do l dao ng iu ho.
Trong thc t, vic xc nh tn s ring k l nhim v quan trng ca bi ton nghin
cu dao ng t do. Bng 2 thng k mt s cng thc i vi k ca mt s h n gin.
By gi ta biu din nghim ca bi ton trn mt phng pha (h ta dch chuyn -
vn tc). Ti mi thi im trng thi ca h c c trng bng dch chuyn q v vn tc

v = q . Ta c trong trng hp kho st:

q = A sin( kt + )
(1-7)
v = q = Ak cos(kt + )
Tp hp cc phng trnh ny c th kho st nh qu o pha cho dng thng s.
nhn c phng trnh qu o pha cn kh t t h (1-7) ta c:
q2 v2
+ =1 (1-8)
A2 A2k 2
Ngha l phng trnh Ellp (Hnh 11a). im biu din ban u (t chuyn ng

c bt u) tng ng vi iu kin u q(0) = q0 v q(0) = q 0 . Khi thay i iu kin
ban u qu o pha biu din trn Ellp khc. Tp hp trng thi c th ca h c m t
bng h cc Ellp (Hnh11). Gc to tng ng vi trng thi cn bng ca h (q0 =0 v

q 0 = 0 ). im ny l im k d v gi l tm.

v v
q 0, v 0

q O q
O

Hnh 11

Bng 2: Tn s ring ca mt s m hnh dao ng

Stt M hnh dao ng Phng trnh k2

x C
H khi lng l C x+ x=0 C
1 m m
xo n gin m
(q = x)

15

C
H khi lng l
C
y y+ y=0 C
2 m
xo trng trng m
M (q = y)

O
g
L + =0 g
3 Con lc ton hc L
L
m (q = )

O mga
a
+ =0 mga
4 Con lc vt l JO
JO
C m (q = )

C
JO + =0
JO C
5 Bn quay C JO
(q = )
O r JO 1 C
y+ y=0 1 C
JO m1
6
H khi lng vt y 1+ JO m1
qua rng dc m1 m1 r 2 1+
C m1 r 2
(q = y)
m
C mgL
+ =0 C mgL
7 C cu g nhp JO
L C JO
O (q = )

1 C
x x+ x=0 1 C
m JC m
8 H con ln l xo C r J 1+ J m
O C
mr 2 1 + C2
mr
(q = x)
1 g
L
+ =0 1 g

m JC L
9
Con ln trn qu r 1+ J L
o trn C mr 2 1 + C2
JC mr
(q = )

16
 rC mgrC
Na a trn trn + =0 mgrC
10 m J C + m(r rC ) 2
mt phng C J C + (r rC ) 2 m
r (q = )

1.1.2. Dao ng t do c cn.

trn ta coi s hao tn nng lng trong dao ng khng xy ra v thit lp c tnh
khng tt dn ca dao ng t do. Tuy nhin cc dao ng gp trong thc t l tt dn, do:
ma st trong cc b phn gim chn, phanh hm, tip xc vi mi trng xung quanh v.v...
Gi s lc tc dng ln h ngoi lc c th cn c lc cn (nht) ph thuc bc nht
vo vn tc. Khi phng trnh Lagrng II c dng:

d T T

=
dt q q
q q
2 2
1 1 1
Vi dao ng nh: T = a q ; = cq 2 ; = b q . Thay vo phng trnh v rt
2 2 2
gn, ta c:

q + 2n q + k 2 q = 0 (1-9)
b c
y: 2n = , k2 =
a a
Phng trnh (1-9) l phng trnh vi phn m t dao ng nh t do tt dn ca h
tuyn tnh mt bc t do. NTQ ca (1-9) tm c di dng: q = e t . Trong c xc
nh t phng trnh c trng sau:
2 + 2n + k2 = 0 (1-10)
Phng trnh (1-10) cho hai nghim s:

1, 2 = n n 2 k 2 (1-11)
Ta kho st ba trng hp:
1.1.2a. Trng hp 1: n < k (lc cn nh). Trong trng hp ny phng trnh c
trng c nghim phc:
1, 2 = n ik 1 ; k 1 = k 2 n 2 ; i 2 = 1
Tch phn tng qut ca phng trnh (1-9) c dng:
q = e nt (C 1 cos k 1 t + C 2 sin k 1 t ) (1-12)
Hay vit dng bin : q = Ae nt sin( k 1 t + ) (1-13)

17

Khi xt n iu kin u t = 0: q(0) = q0, q (0) = q 0 Ta c:
2

q 0 + nq 0
q0 k n
2 2
C1
A = C1 + C 2 = q 0 +
2 2 2
; = arctg = arctg
k2 n2 C2 q + nq
0 0
2

q 0 + nq 0
nt q0 k2 n2
Vy: q = q0 +
2
e sin k
1 t + arctg (1-14)
k2 n2
q 0 + nq

y: k 1 = k 2 n 2 gi l tn s dao ng tt dn. Chu k dao ng tt dn c

xc nh bng:
2 2
T1 = = (1-15)
k1 k2 n2
Vi n kh nh ta vit c:

T 2 1 n
2
1 n 2
T1 = 1 + = T 1 + (1-16)
n
2 k 2 k 2 k
1
k
nt
Nghim (1-13) ca phng trnh (1-9) ch ra rng: lch A e ca h c cn gim
theo thi gian vi quy lut hm s m. N tim cn ti khng v do dao ng l tt dn
(Hnh 1-1). q

y1
y t
O

T1 T1

Hnh 1-1

Trong thc t c trng cho s gim bin ngi ta thng dng mt i lng,
k hiu v gi l suy gim Lgarit ca dao ng:
y 2
= ln = ln = nT1 = (1-17)
y1 2
k
1
n
Mun xc nh bng thc nghim, ta dng cng thc gn ng:
18
 y y y y 2 y
= ln = ln = ln 1 + + + ... (1-18)
y1 y y y y y

1.1.2b. Trng hp 2: n > k (Lc cn ln). Trong trng hp ny c hai nghim ca

phng trnh c trng u thc v m:
1, 2 = n k 2 , k 2 = n 2 k 2
Phng trnh (1-9) c NTQ dng:
nt k 2t
q = e (C 1 e k 2 t + C 2 e ) (1-19)
Khi tnh iu kin ban u nh trng hp 1, ta c:

q (k + n) + q 0 q (k n ) q 0
C1 = 0 2 ; C2 = 0 2
2k 2 2k 2

T : q=e nt q 0 (k 2 + n ) + q 0 e k 2 t + q 0 (k 2 n ) q 0 e k 2 t (1-20)
2k 2 2k 2

H qua v tr cn bng ti cc thi im tho mn phng trnh:


q
( k 2 + n ) t 0 ( k + n ) + q q ( k n ) q 0
e 2 0 2 k 2t
e + 0 2
=0
2k 2 2k 2

Vi gi tr ca biu thc trong du mc bt k, v tri ca phng trnh 0 khi t .
Ta c chuyn ng khng tun hon tt dn.
1.1.2c. Trng hp 3: n = k (lc cn ti hn). Trong trng hp ny nghim ca
phng trnh c trng l thc, m v bng nhau. NTQ ca (1-9) c dng:
q = e nt (C1 t + C 2 ) (1-21)
Chuyn ng ca h l tt dn, khng dao ng.
Trong mt s ti liu k thut trnh by v dao ng ngi ta cn s dng khi nim
cn Lehr - cn Lehr k hiu l D, c xc nh bi h thc:
n b b
D= = = (1-22)
k 2ak 2 ac
Phng trnh (1-9) c th vit di dng:

q + 2Dk q + k 2 q = 0 (1-23)

Do k 2 n 2 = k 1 D 2 , nn chuyn ng ca h c phn ra cc trng hp:

D < 1: cn nh.
D > 1: cn ln.
D = 1: cn ti hn.
19
 Nh th, khi D < 1 chuyn ng ca h l dao ng tt dn. khi D 1 chuyn ng
ca h l tt dn khng dao ng.
Gia cn Lehr D vi suy gim Lgarit , c lin h bng h thc sau:
D
= 2 (1-24)
1 D2
Th d 1-1:
Xt dao ng nh ca con lc ton hc c di L, khi lng m (Hnh 1-2). Ly
lm ta suy rng. Ta ca khi lng m bng: x = Lsin; y = Lcos. Do :
1 2
2 2
1 1
T= mv 2 = m x + y = mL2
2 2 2 x
O
Th nng ca con lc bng cng ca trng lng
P = m g thc hin trn di chuyn ca n t v tr kho st

(hnh v) ti v tr cn bng (thng ng). L
= mgL(1 cos )
1 2 1 m
Do b, 1-cos nn: = mgL 2
2 2
y
Thay cc kt qu vo phng trnh Lagrng loi II:
Hnh 1-2
d T T
=
dt

Ta nhn c phng trnh dao ng nh ca con lc:

g
+ = 0
L
g L
l dao ng iu ho vi tn s ring k = v chu k T = 2 .
L g

Th d 1-2:
Xt dao ng xon nh ca a gn vo u mt di ca
thanh n hi khng trng lng di L. Mt trn ca thanh b
ngm (Hnh 1-3). Gi M l khi lng ca a; l bn knh
qun tnh ca a i vi trc thanh; G l mun trt ca vt liu L
thanh; JP l mmen qun tnh c cc ca tit din ngang thanh.
GJ P
cng ca thanh khi xon bng C = . Ly l gc
L
quay ca a i vi v tr cn bng n nh. ng nng ca a
1 2
bng: T = M 2 . Th nng n hi ca n khi nh (tun
2 Hnh 1-3

20
 1 2
theo nh lut Hooke) l = C . p dng phng trnh LagrngII nh th d 1-1, ta
2
nhn c phng trnh dao ng nh khi xon:

M 2 + C = 0

C M 2
l dao ng iu ho vi tn s ring k = v chu k T = 2 .
M 2 C
Th d 1-3:
Ngi ta treo ti trng trng lng P bng mt thanh tuyt
i cng di 2L. gia thanh c gn hai l xo n hi c cng L
cng C. Ti trng c ngm trong bnh cha cht lng nht.
C C
Trong qu trnh ti trng thc hin dao ng nh t do cht lng
gy nh hng lm gim dao ng ln h (Hnh 1-4). Tm h s L
ma st nht ca h, nu chu k dao ng tt dn ca h T1 = 1s;
cc tham s ca h ly cc gi tr sau y: P = 100 N; 2L = 30cm;
ng knh l xo D = 2cm; ng knh dy cun l xo d = 2mm; P
Mun trt ca vt liu lm l xo G = 8.106 N/cm2; S vng
ca mi l xo i = 6.
Bi gii:
Hnh 1-4
H c mt bc t do. Chn to suy rng q = l gc
lch nh ca thanh so vi phng thng ng. Phng trnh
Lagrng II p dng cho trng hp ny c dng:

d T T
=
dt

2 2
1 P 2 1 P
2P 2
Ta c: T = V = 2L = L
2g 2 g g
C2
= P.2L(1 cos ) + 2 ; = Lsin l co dn ca l xo so vi v tr cn bng
2
2
thng ng ca thanh (khi l xo cha bin dng), vi nh: 1- cos ; sin ;
2
Do th nng ca h bng: = L(P + CL) 2
Gi l h s ma st nht ca h (cht lng), hm hao tn xc nh bng cng thc:
2
1
=
2
Thay cc gi tr tnh c vo phng trnh Lagrng II v rt gn, ta nhn c:

g ( P + CL )g
+ + =0
2PL 2PL
21
 2
Chu k dao ng tt dn l: T1 = (a)
k2 n2

P + CL
k l tn s dao ng t do (khi khng c lc cn) bng: k = .g (b)
2 PL
Gd 4
Gi C l cng l xo v c tnh theo cng thc sau: C =
8D 3 i
Thay s vo ta c: C = 33,3 N/cm. Do , t (b) s tnh c: k=14rad/s.

4 2
T (a) gii c: 2n = k 2 ; thay s vo ta c: 2n = 12,5rad/s.
T12
H s cn chuyn ng tm t iu kin:
g 4nPL
2n = = . Thay s ta c: = 76,5 NS.
2PL g

1.2. Dao ng cng bc ca h tuyn tnh mt bc t do

Dao ng cng bc xy ra khi h c tc dng ca cc kch ng ngoi. Cc kch

ng ny c th tun hon hoc va chm.
Gi s h kho st chu tc dng ca cc lc c th, cc lc cn (nht) ph thuc bc
nht vo vn tc v cc lc kch ng ngoi l hm ca thi gian t: P (t ) .
Gi QP l lc suy rng ca lc kch ng ngoi. Phng trnh Lagrng II trong trng
hp ny c dng:

d T T

= + QP
dt q q
q q
1 2 1 1 2
Vi dao ng nh: T = a q ; = cq 2 ; = b q
2 2 2
1 P
t: Q(t) = Q . Thay vo phng trnh trn v rt gn ta nhn c:
a

q + 2n q + k 2 q = Q( t ) (1-25)
Phng trnh (1-25) l phng trnh vi phn m t chuyn ng dao ng nh cng
bc ca h tuyn tnh mt bc t do.
Trong trng hp lc cn nh (n < k), NTQ ca (1-25 ) c dng:
q = Ae nt sin( k 1 + ) + q (1-26)
Trong q l NR ca phng trnh (1-25). Cc h s A, c xc nh t iu kin
ban u.

22
 Ta tm NR q dng: q = e nt Z(t ) (1-27)
Thay (1-27 ) vo (1-25). Ta nhn c phng trnh i vi hm Z(t):

Z + k 12 Z = Q(t ).e nt (1-28)
Nghim ca phng trnh (1-28) c tm bng phng php bin thin hng s
Lagrng, ta t:
Z(t) = C1(t)sink1t+ C2(t)cosk1t (1-29)
Thay (1-29 ) va (1-28) ta suy ra:

C 1 ( t ) sin k 1 t + C 2 ( t ) cos k 1 t = 0

nt
(1-30)
k C1 ( t ) cos k 1 t C 2 ( t ) sin k 1 t = e Q( t )

Dng quy tc Crame gii h (1-30) ta c:

e nt Q(t ) e nt Q(t )
C 1 (t ) = cos k 1 t; C 2 (t ) = sin k 1 t;
k1 k1
T ta c:
e n Q() e n Q ( )
t t
C 1 (t ) = cos k 1 .d ; C 2 (t ) = sin k 1 .d (1-31)
0
k 1 0
k 1

Thay (1-31) vo (1-29) ta nhn c nghim ca phng trnh (1-28):

t
1
Z( t ) =
k1 0
e n Q() sin k 1 ( t )d (1-32)

Vy, NR q ca phng trnh (1-25) bng:

t
1

nt
q=e Z( t ) = e n ( t ) Q( ) sin k 1 ( t ).d (1-33)
k1 0
NTQ ca phng trnh (1-25) c dng:
t
1
q = Ae nt sin(k 1 t + ) +
k1 0e n ( t ) Q() sin k 1 ( t )d (1-34)

Tch phn theo v phi ca (1-34) dn ra theo bin . V vy, khi tch phn coi t l
hng s. Sau khi hon thnh vic thay cn tch phn ta nhn c q l hm ca thi gian t.
1.2.1. Tnh ton dao ng cng bc khng cn (n = 0).
Gi s lc kch ng ngoi bin i theo quy lut iu ho: Q(t) = P0sinpt. Phng
trnh (1-25) tr thnh:

q + k 2 q = P0 sin pt (1-35)
Khi p k, NTQ ca (1-35) c dng:
23
 P0
q = C 1 cos kt + C 2 sin kt + sin pt (1-36)
k p2
2

Ly iu kin u t = 0: q(0) = q0; q(0) = q 0 ta c:

q P0 p
C1 = q0; C 2 = 0 (1-37)
k k( k 2 p 2 )

q pP0 P
T : q = q 0 cos kt + 0 sin kt + sin kt + 2 0 2 sin pt (1-38)
k k(k p )
2 2
k p
Trn c s (1-38) ta c mt s nhn xt sau:
1) . Hai s hng u ca (1-38) ng vi dao ng t do tn s ring k. Khi

q (0) = q (0) = 0 , nhng dao ng ny khng xy ra.
S hng th ba cng l dao ng iu ho vi tn s ring k, nhng bin ph thuc
vo lc kch ng. N lun xy ra cng dao ng cng bc vi iu kin u tu .
2) . S hng cui ca (1-38) k hiu l q :
P0
q= sin pt (1-39)
k p2
2

Biu th dao ng cng bc thun tu. Ta ch mt s tnh cht sau:

a). Dao ng cng bc xy ra vi tn s lc kch ng p. N khng ph thuc vo
iu kin u ca h.
b). Khi k > p th du ca lch q cng du vi lc kch ng Q, ta ni n cng pha.
Khi k < p chng ngc du nhau (ngc pha). Ta c th vit:
P0
q= sin( pt + )
k p2
2

c. Trng hp k = p, biu thc (1-39) v s hng th ba trong (1-38) s mt ngha.

Tuy nhin nu xt ng thi th c:
P0 p P p sin kt + k sin pt
sin kt + 2 0 2 sin pt = P0
k( k p )
2 2
k p k(k 2 p 2 )
0
Vi k = p, n c dng . p dng quy tc Lpitan, ly o hm i vi p v cho
0
p k, ta thu c:
p sin kt + k sin pt sin kt + kt cos pt P Pt
P0 = lim P0 = 02 sin kt 0 cos kt
k(k p )
2 2
k =p pk 2kp 2k 2k
Tch phn tng qut ca (1-38) tr thnh:

q P Pt
q = q 0 cos kt + 0 sin kt + 02 sin kt 0 cos kt (1-40)
k 2k 2k
24
 R rng khi p = k cc gi tr nguy him ca bin tng theo quy lut tuyn tnh vi
thi gian t v trong khong thi gian hu hn n khng tin ti v hn (Hnh 1-5).
S trng nhau gia tn s ca lc kch ng p vi
tn s ring ca h k v cc hin tng xy ra tip sau q
gi l hin tng cng hng.
Thc t khi tnh ton dao ng cng bc khng t
cn thng phn ra hai trng hp: Trng hp xa cng O
hng (p k) v trng hp gn cng hng (p k).
Khi ny nu: p = k+2 ( l i lng v cng b) ta c
Hnh 1-5
hin tng phch, cn p = k ta c hin tng cng
hng.
i vi cc my c thit k lm vic gn cng hng khi tng vn tc ca my qua
vng cng hng phi khn trng cho vt qua nhanh.
Th d 1-4:
ng c in t trn sn m c bi l xo xon, trng lng tng cng ca sn v
ng c bng 327N. L xo c tnh cht l: Chiu cao ca n ngn i 1 cm khi chu lc
300N. Ngi ta gn vo trc ng c mt ti trng m1 nng 2N cch ng tim trc mt
khong r = 1,3cm. Vn tc gc ca ng c p = 30 rad/s. Hy vit phng trnh dao ng
ca sn, gi thit ti thi im u n nm yn; ly g = 981 cm/s2 (Hnh 1-6a).
Bi gii:
Sn v ng c chuyn ng theo phng thng ng. Gi x l to khi tm ca
sn v ng c tnh t v tr cn bng n nh.
Cc lc tc dng ln h dao ng gm: Lc n hi ca l xo F = Cx; lc kch ng
do lc qun tnh ly tm ca khi lng lch tm m1 gy ra theo phng Ox: Fx=m1rp2cospt.

t lc qun tnh ln khi lng dao ng Fqt = m x (Hnh 1-6b).
r

O O
x
m m1 m r m
1

= pt m1rp2
Fx
C

x
a) b)
Hnh 1-6
25
 Theo nguyn l a-lm-be, ta c:

m x + Cx = m1 rp 2 cos pt
m1 rp 2 C
x+ k 2 x = cos pt; k 2 =
m m
NTQ ca png trnh tm dng:
x = C1sinkt+ C2coskt + Bcospt

=> x = C1kcoskt - C2ksinkt - Bpsinpt.

iu kin u ca bi ton: t = 0 th x(0) = 0; x(0) = 0 .

m1 r 2 p 2
Ta suy ra: C2+B = 0; C1 = 0; B =
C mp 2
Do phng trnh dao ng ca sn m l:
m1 rp 2
x= (cos pt cos kt )
c mp 2
C 300 / 1
V k 2 = = 30 2 rad / s 2 k = 30 rad / s = p
m 327 / 981
Trong trng hp ny h c cng hng. V vy nghim ca bi ton vit dng:
2m1 rp(cos pt cos kt ) + m1 p 2 rt sin pt
lim x = lim
pk pk 2mp
Hay lim x = 0,12t.sinpt = 0,12t.sin30t (cm).
pk

1.2.2. Tnh ton dao ng cng bc c cn (n 0).

Xt lc cn (nht) ph thuc bc nht vi vn tc, lc kch ng ngoi bin i theo
quy lut iu ho Q(t) = P0sinpt. Phng trnh (1-25) tr thnh:

q + 2n q + k 2 q = P0 sin pt. (1-41)
Vi lc cn nh (n < k), NTQ ca (1-41) c dng:
nt
q = A e sin( k 1 t + ) + q; k 1 = k 2 n 2 (1-42)

Ta tm nghim q di dng: q = B sin( pt ) (1-43)

Chn B, sao cho q tha mn ng nht phng trnh (1-42).

B( k 2 p 2 ) = P0 cos
T ta nhn c: (1-44)
2Bnp = P0 sin
26
 P0 2 np
Gii h (1-44), ta c: B = ; tg = (1-45)
(k 2 p 2 ) 2 + 4n 2 p 2 k p2
2

Tch phn tng qut phng trnh (1-41) vit dng:

nt P0
q = A e sin( k 1 t + ) + sin( pt ) (1-46)
(k p ) + 4n 2 p 2
2 2 2

Cc hng s A, c xc nh t iu kin ban u. T (1-46) ta cng c mt s

nhn xt sau:
1) . S hng u ca (1-46) ng vi dao ng t do c cn. Thc t n tt dn theo thi
gian. Sau mt khong thi gian no c th b qua v xem h ch thc hin dao ng
cng bc thun tu:
P0
q = sin( pt ) (1-47)
( k 2 p 2 ) 2 + 4n 2 p 2
Phng trnh (1-47) xc nh ch dao ng bnh n ca h.
2) . Dao ng cng bc k c khi c cn vn xy ra vi tn s lc kch ng p. Bin
ca n khng ph thuc vo thi gian v khng tt dn v lc cn. Khi xy ra cng
hng (p = k) bin ny vn hu hn v khng phi l gi tr ln nht trong cc gi tr ca
bin . Ta tm p bin :
P0
B= t cc i.
( k 2 p 2 ) 2 + 4n 2 p 2

B
T iu kin = 0 , ta suy ra: p2 = k2 - 2n2
p
Vy B = Bmax khi p2 = k2 - 2n2. Bin dao ng cng bc t cc i khi p nh hn
k mt cht (trc cng hng).
3) . Trong dao ng cng bc ca h c cn lun xy ra lch pha gia pha dao
ng vi pha ca lc kch ng. lch pha xc nh bng cng thc:
2np
tg =
k p2
2

lch pha c gi tr cc i khi cng hng (p = k) v bng .
2
4) . Gi lch tnh ca h l B0 (bng t s bin lc kch ng vi h s cng ca
P0
h; y B 0 = ). Ta lp t s gia bin B v B0, k hiu l . H s c gi l h
k2
s ng lc v bng:
B 1
= = (1-48)
B0 2
p 2
n p 2 2
1 +4
2
k k4

27
 1
Khi khng c cn (n = 0 ) h s ng lc bng: = (1-49)
p2
1 2
k

2n/p=0
0,1 0,15
4 0,2 0,1
0,3 2n/p=0
3 0,4

0,5
2 2

1 1

0 p/k 0 p/k
0,5 1,0 1,5 2,0 0,5 1,0 1,5 2,0

a) b)

Hnh 1-7

Trn hnh v (Hnh 1-7a) ta c cc ng cong cng hng. Nhng ng ny biu

din qu trnh bin i ca gi tr tuyt i ca h s ng lc ph thuc vo tn s ca
lc kch ng vi mt vi gi tr ca h s cn.
T th r rng l: Cc lc cn (nht) c tc dng r rt trong vng gn cng hng,
cc vng ny th c th ly = max (Hnh 1-7b).
Do , mc d bin dao ng cng bc khi c cn l hu hn; nhng cc chi tit
ca my vn lm vic trong trng hp ny th lun xy ra nguy c ph hu do ng sut
mi. V vy, khi thit k cn chn mi lin h cc kch thc v bn sao cho ch bnh
thng nm xa ch cng hng.
Th d 1-5:
ghi cc qu trnh dao ng khi c tc ng ngu
nhin khc nhau (x p, va chm) ngi ta thng dng C
cc chn tn s thp c lp thm b gim chn (dng
m
gim chn ma st nht). S nguyn tc ca chn
ny c m t trn hnh v (Hnh 1-8). y chuyn
ng ca khi lng m treo bng l xo vi cng C
c hm li bng lc cn t l vi vn tc chuyn ng

tng i ca ti trng, tc l bng y trong y l y1
lch ca khi lng m i vi nn. Tm gi tr lch
m my ghi li nh hm ca thi gian t, nu nn chuyn Hnh 1-8
ng theo quy lut:
y1 = y 0 (sin t + 2 sin 10t )

C
Khi gii bi ton ly: k 2 = = 0,01 2 ; n = = 0,02
m 2m
28
 Bi gii:
Chuyn ng ln xung ca ti trng m, nh ngi bt gn vo n s ghi nhng dao
ng ca my ln bng chia (Hnh 1-8).
Chuyn ng thng ng y ca ti trng m l chuyn ng tng i i vi khung
chn gn vi bng chia .
Do mng v chn thc hin chuyn ng theo quy lut cho trc:
y1 = y 0 (sin t + 2 sin 10t )
Nn lc qun tnh ko theo ti ca trng m trong chuyn ng ny bng:

m y 1 = my 0 2 (sin t + 200 sin 10t )
Phng trnh vi phn m t dao ng tng i ca ti trng m c dng:

y + 2n y + k 2 y = y 0 2 (sin t + 200 sin 10t )
C
Trong : y l dch chuyn ca khi lng m i vi nn; 2 n =
; k2 =
m m
Nu b qua dao ng t do, nghim ca phng trnh trn trong trng thi chuyn
ng bnh n ca ti trng m l:
y 0 2 200y 0 2
y= sin(t 1 ) + sin(100t 2 )
( k 2 2 ) 2 + 4n 2 2 ( k 2 100 2 ) 2 + 400n 2 2
2n 20n
y: tg1 = ; tg 2 =
k
2 2
1002 k 2
Thay: k 2 = 0,01 2 ; n = 0,02 ta nhn c dch chuyn tng i ca khi lng m
do my ghi ra:
y
y = 0 sin(t 1 ) + 2y 0 sin(10t 2 )
5
Th d 1-6:
m b tng chn mng cc cng trnh ngi ta thng dng mt thit b c bit:
l chn t lch tm gm mt nng khi lng m, trn t hai a quay khi lng mi
a bng m1 . Cc a quay trong mt phng thng ng theo chiu ngc nhau vi vn tc gc
. Trn mi a ngi ta gn mt ti trng m0 cch trc quay mt khong l e (Hnh 1-9a). Sau
mt thi gian m, ta c th m t cc tnh cht ca mng b tng mt cch gn ng bi
m hnh lu bin nh hnh v (Hnh 1-9b).
Hy thit lp phng trnh dao ng bnh n ca v chn t. Tnh bin dao ng.
Bit rng trong qu trnh lm vic v chn t khng bao gi tch ri khi khi lng ang
m.
Bi gii:
Gi x l to trng tm ca v chn t tnh t v tr cn bng tnh, p dng nguyn l
a-lm-be. Lc ly tm do cc a gn khi lng lch tm chuyn ng ngc nhau tc
dng theo phng chuyn ng ca v chn t (theo phng x thng ng) s bng:
29
 P( t ) = 2m 0 2 e sin t P(t)

M
e
= t x
m0 C
m1
m

Hnh 1-9

M hnh tnh h dao ng c m t trn hnh 1-9.

Phng trnh vi phn chuyn ng ca v chn t c dng:

M x + x + Cx = P (t )
y: M = m + 2(m 0 + m1 ) , hay c th vit:
2m 0 2 e
x + 2n x + k 2 x = sin t
m + 2( m 0 + m 1 )
C C
Trong : n = = , k2 = =
2M 2[m + 2(m 0 + m1 )] M m + 2(m 0 + m1 )
Nu gi A0 l lch tnh ca h do bin lc kch ng tc dng tnh ln h gy ra:
2m 0 2 e 2m 0 2 e
A0 = = 2
C k [ m + 2(m 0 + m1 )]
Ta c bin dao ng cng bc ca v chn t bng:
A0
A=
2 2
2 2n
1 2 +
k k
1.2.3. m n hi ca my.
Ta xt mt m hnh p dng k thut ca l thuyt dao ng cng bc.
1.2.3a. Cc my quay c b phn khng cn bng s truyn cc lc kch ng c chu
k ln nn (mng) ca n, gy ln s rung v ting n khng mong mun. gim hin
tng ny thng p dng m n hi.
Gi thit my c trng lng Q (Hnh 1-10) v k hiu P l lc ly tm xut hin do
phn quay khng cn bng vi vn tc gc ( rad / s) . Nh ch trn hnh v (Hnh 1-10a).
Cc lc kch ng thng ng, nm ngang tng ng l: P sin t v P cos t .
Nu my c bt cht vi nn cng th lc kch ng s truyn hon ton xung nn.
gim lc kch ng ln nn (mng) ta a vo m n hi nh hnh v (Hnh 1-10b),
ta hn ch chuyn ng ngang ca my bi cc lin kt. Khi ny ta nhn c dao ng
30
cng bc ca vt Q t trn l xo theo phng thng ng vi lc kch ng P0 sin t . Nu
ch n biu thc (1-39) ta c bin dao ng cng bc khi ny bng:
P P
A= = (1-50)
2 C
C1 2
k

Q Q

t t
P P
C

a) b)
Hnh 1-10

y: C l h s cng, k l tn s ring ca h, l h s ng lc c xc nh
theo (1-49 ). Khi > k 2 , h s nh hn n v v hiu ng ng lc b gim yu. Nh
vy, lm gim lc kch ng truyn vo nn (mng) my cn t trn cc l xo mm sao
cho tn s ring ca h dao ng nh so vi s vng quay trong mt n v thi gian ca
my.
1.2.3b. Trong phn trn ta m t m n hi ca my P(t)
vi gi thit khng tn ti lc cn. iu ny ch gn ng
trong trng hp i vi cc l xo xon bng thp. Nu s
dng cc nhp l hoc bn bng cao su th lc cn l ng k
v khng th b qua. Khi m n hi my quy i thnh
m hnh tnh gm l xo cng C v gim chn c h s cn
b (hnh 1-11). ng lc ng lc truyn cho nn biu th bng: C b
i

R = Cq + b q (1-51)
Thay (1-47) vo (1-51), ta tm c:
Hnh 1-11
R Max = B C + (b)
2 2

P 4n 2 2
1+
Hay: R max =
C k2
2
2 4n 2 2
1 2 +
k k4

P 4n 2 2 P
Khi ch ti (1-48) ta c: R max = 1+ 2
= * (1-52)
C k C

31
 4n 2 2
Trong : * = 1 + , * thng
*
k2
gi l h s ng lc gia tng. S ph thuc h 3

n/p=0,1
2n
s ny vi trong cc gi tr khc nhau ch 0,2
k k 0,3
ra trn hnh v (Hnh 1-12). 2
0,4
Tt c cc ng cong i qua mt im 0,5

c honh 2 v tung bng 1. Trong 1

0,5
0,4
min < 2 s tt dn l c li v lm gim h 0,3 0,2 2n/p=0,1
k
/k
s truyn lc, trong min > 2 vi s tng 0 1 2 2 3
k
ca lc cn, h s truyn lc tng. V vy, trong Hnh 1-12
cc trng hp: Khi ch lm vic nm
vng sau cng hng lc truyn cho nn (mng) tng do h qu ca gim chn. ngha vt
l ca hin tng ny l ch: Cc dao ng truyn cho nn mng thc hin bng hai lc:
Theo con ng n hi v con ng nht. Khi lc kch ng c tn s cao xy ra vn
tc ln v tng ng vi lc cn nht tng ln.

1.2.4. p dng php bin i Laplace tnh ton dao ng cng bc

1.2.4a. nh ngha php bin i Laplace.
Gii s: f(t) l hm lin tc tng khc trn khong [0; + ). Php bin i Laplace l
mt php bin i tch phn bin i hm gc f(t) ca bin s thc thnh hm nh F(s) ca
bin s phc nh h thc:

F(s) = L[f ( t )] = e st f ( t )dt (1-53)
0

Trong k hiu: L gi l ton t Laplace. Php bin i Laplace ngc, k hiu theo
ton t L1 s c xc nh bi h thc:
f ( t ) = L1 [F(s)] (1-54)
Ton t L v ton t L-1 c tnh cht:
L1 {L[f ( t )]} = f ( t ) (1-55)
Trong bng di y (bng 3) ta gii thiu mt s hm f(t) thng dng v hm nh
F(s) ca n qua php bin i Laplace.
Th d 1-7:
Tm cc hm nh ca cc hm gc f(t) =1, f(t) = e at bng php bin i Laplace.
Bi gii:
p dng cng thc nh ngha (1-53) ta ln lt c:

32

e st 1
L[1] = e f (t )dt = e 1dt =
st st
= = F(s)
0 0
s 0
s

1 t (s a ) 1
L[e ] = e e dt = e
at st at ( s a ) t
dt = e = ; (s > 0)
0 0
sa 0 sa
1.2.4b. Cc tnh cht ca php bin i Laplace
Ta nu mt s tnh cht c bn (khng chng minh) ca php bin i Laplace.
a) . nh l cng tc dng: Nu L[f1(t)] = F1(s); L[f2(t)] = F2(s) th:
L[C1f1(t)+C2f2(t)] = C1F1(s)+C2F2(s) (1-56)

n n
T : L C i fi (t ) = C i Fi (s); Ci l cc hng s.
i =1 i =1
b) . nh l vi phn: Nu L[y(t)]= Y(s) th:

L[y(n)(t)]=snY(s) sn-1 y0 sn-2 y 0 ... sn-2 y0(n-2) y0(n-1) (1-57)
Trong : y(t)(k) l o hm bc k ca hm y(t) theo t: y 0( k ) = y ( k ) (0) = lim+ y ( k ) ( t )
t 0

t
c) . nh l ng dng: Nu L[f(t)]=F(s) th: L[f ( )] = aF(as) (1-58)
a
d) . nh l cn: Nu L[f(t)]=F(s) th: L [e-atf(t)]=F(s+a) (1-59)
e) . nh l tr: Nu L[f(t)]= F(s) th: L[f(t-a)] =e-as F(s) (1-60)
Mt s cng thc c bn ca php bin i Laplace c trnh by trong Bng 3.

Bng 3 - Hm f(t) v hm nh F(s) qua php bin i Laplace.

STT f(t) F(s) = e st f ( t )dt Ghi ch

0

1 1 1/s
2 t 1/s2
1/(s+)
e t
3 n! n nguyn
t n e t (s + ) n +1
1 1
4 (1 e t )
s(s + )

33
 e 1t e 2 t 1
5
2 1 (s + 1 )(s + 2 )
1 t 1
6 (e + t 1)
2 s (s + )
2

7 sint
s + 2
2

s
8 cos t
s + 2
2

9 e t sin t
(s + ) 2 + 2
s+
10 e t cos t
(s + ) 2 + 2
2s
11 tsint
(s + 2 ) 2
2

s 2 2
12 tcost
(s 2 + 2 ) 2
22
13 sin2t
s(s 2 + 42 )
s 2 + 2 2
14 cos t2
s(s 2 + 42 )

15 sht
s 2
2

s
16 cht
s 2
2

2 s
17 tsht
(s 2 ) 2
2

s2 + 2
18 tcht
(s 2 2 ) 2

1.2.4c. p dng php bin i Laplace tnh dao ng cng bc.

Cho phng trnh vi phn m t dao ng cng bc dng.

1
q + 2n q + k 2 q =
f (t ) (1-61)
m
Tm nghim ca phng trnh (1-61) ng vi cc iu kin ban u t = 0: q(0) = q0,

q(0) = q 0 .

34
 gii (1-61) bng php bin i Laplace, trc ht ta lp phng trnh nh ca
phng trnh (1-61), ta c:

1
L q + 2 n q + k 2 q = L[f (t )]
m

1
L[ q] + 2nL [q]+ k 2 L[q] = L[f (t )]
m
1
[s 2 Q(s) + sq 0 q 0 ] + 2n[sQ(s) q 0 ] + k 2 Q(s) = F(s)
m
F(s)
(s 2 + 2ns + k 2 )Q(s) = sq 0 + 2nq 0 + q 0 + (1-62)
m

t: D(s)= s2+2ns +k2; N 0 (s) = sq 0 + 2nq 0 + q 0 (1-63)
Nghim ca phng trnh nh c dng:
N 0 (s) F(s)
Q(s) = + (1-64)
D(s) mD(s)
N 0 (s)
Dng nghim (1-64) l tng hai s hng: S hng u ph thuc vo cc iu
D(s)
kin ban u v tng ng vi nghim ca phng trnh vi phn tuyn tnh thun nht; s
F(s)
hng th hai ph thuc vo hm lc kch ng f(t) v tng ng vi NR ca phng
mD(s)
trnh vi phn c v phi.
Nghim ca phng trnh vi phn gc (1-61) s c dng:
N (s) F(s)
q( t ) = L1 [Q(s)] = L1 0 + L1 (1-65)
D(s) mD(s)
Th d 1-8:
Trn h dao ng tuyn tnh c cn (Hnh 1-13) tc dng lc f(t) nh sau:

f(t)
f(t)

m
P0

C b

t
O
/2

Hnh 1-13

35

0 khi t < 0


f (t) = P0 sin t khi 0 t


0 khi t >

Xc nh dao ng ca h khi t > 0, bit rng t 0 h ng yn.
Bi gii:
Phng trnh vi phn biu th dao ng cng bc ca h c dng:

1
q + 2n q + k 2 q = f (t ) .
m
b C
y k hiu: 2n = , k2 =
m m

T iu kin ban u t = 0: q(0) = 0 ; q (0) = 0 . Do theo (1-63): N0(s)=0. Trong

min 0 t nghim ca phng trnh nh khi p dng cng thc (1-64) c dng:

F(s)
Q(s) =
mD(s)
P0
Trong : F(s) = L[f ( t )] = P0 L[sin t ] = ; D(s) = s 2 + 2ns + k 2
s + 2
2

n y ni chung c th dng bng tm nh ngc v khi c nghim q(t).

y ta dng cch phn tch cc phn thc v phi c nghim ca bi ton.
Gi s trong trng hp tng qut hm F(s) l phn thc dng:
N(s)
F(s) = (1-66)
M(s)
Khi nghim ca phng trnh nh l:
N 0 (s) N (s ) N (s) N (s )
Q(s) = + = 0 + (1-67)
D(s) mM(s)D(s) D(s) m D(s)

Vi D(s) =M(s)D(s). Nu D(s) v D(s) l nhng a thc c nghim n. Ta gi sk l

nghim ca D(s)=0 v s j l nghim ca D(s) =0, khi c th phn tch cc phn thc
N 0 (s) N(s)
v thnh cc phn thc ti gin:
D(s) D(s)

N 0 (s) N 0 (s k ) 1 N (s) N (s j ) 1
D(s)
= D(s
k =1

k ) s sk
;
m D(s)
= mD(s ) s s
j=1
(1-68)
j j

36
 y D (s) v D (s) l o hm ca D(s) v D(s) theo bin s. Vy, nghim phng
trnh nh by gi c dng:

N 0 (s k ) 1 N (s j ) 1
Q(s) = D(s
k =1 k )

s sk
+ mD(s ) s s
j=1
(1-69)
j j

p dng bng, ta tm c nghim phng trnh gc:

N 0 (s k ) s k t N (s j )
q( t ) = D(s
k =1 k)
e + mD(s ) e
j=1
s jt
(1-70)
j

Tr li bi ton ang xt, ch ti (1-66) ta c:

N (s) = P0 ; M (s) = s 2 + 2

T : D(s) = M(s)D(s) = (s 2 + 2 )(s 2 + 2ns + k 2 )

Phng trnh D(s) = 0 c bn nghim: s1, 2 = i; s 3, 4 = ( n i k 2 n 2 )

P0 4 e s t j

Ta c biu thc nghim q(t) theo (1-70) c dng sau: q( t ) =

m j=1 D(s j )

thay s j ( j = 1, 4) vo, sau khi bin i, ta nhn c:

P0 (1 2 ) sin t 2D cos t
q( t ) =
C (1 2 ) 2 + 4D 2 2
1

2D cos 1 t (1 2 2D 2 )(1 D 2 ) 2 sin 1 t
+ 2 2 2 2 2
e nt
(1 2D ) + 4D (1 D )
n
Vi: 1 = k 2 n 2 ; D = ; =
k k
Trong min t > h thc hin dao ng t do c cn ng vi iu kin u:

q ( t 0 ) = q ( / ); q ( t 0 ) = q ( / ) . Trong min ny ta c:

N 0 (s) = sq ( / ) + 2nq ( / ) + q ( / ); N (s) = 0
Biu thc nghim c dng:

n t
1
q( / ) cos 1 t + q( / )sin 1 t
e
q( t ) =
1 D2 k

n
Vi tg = .
1

37
 Chng II
Dao ng tuyn tnh ca h nhiu bc t do

.2.1. Phng php chung thit lp phng trnh vi phn chuyn ng

2.1.1. H nhiu bc t do.

Thc t cc h cn tnh ton dao ng phn ln l cc h n hi phc tp, nh: dm,
thanh c tit din khng i hoc thay i, cc trc thng c gn cc a, cc trc khuu
ca ng c t trong, cc cnh v a tuc bin v.v...
xc nh y bin dng ca h sinh ra do dao ng, ta cn bit dch chuyn ca
tt c cc im ca n, nhng h n hi nh th c v s bc t do.
Tuy nhin, trong nhiu trng hp vic nghin cu dao ng cc h phc tp v s
bc t do gp nhiu kh khn v ton hc. Vic tnh ton thc t k thut phi a vo cc s
n gin tnh ton h dao ng. C nhiu cch n gin ho khc nhau, mt trong cc
cch c s dng rng ri l: Thay h phc tp bng mt h khc n gin hn vi khi
lng v cng phn b khc i, nhng gn h cho ch: Gi tr tnh ton khng khc
my gi tr thc. H ny c gi l h thu gn (hay h tng ng). Phng php ny cho
php ta thay cc h v s bc t do bng h hu hn bc t do tng ng.
Ta minh ho tng trnh by trn bng v d n gin sau y: Ti A
trng m c treo vo im A c nh bng l xo AB (Hnh 2-1). Nu k n
s phn b khi lng ca l xo th h s c v s bc t do. Nhng nu khi B
lng ca ti trng m vt xa khi lng ca l xo v yu cu ch xc nh tn q
s dao ng nh nht, ta c th b qua khi lng l xo v ch tnh n tnh m
n hi ca n. Mt khc ch xt n dch chuyn thng ng ca ti trng m
th ta hon ton c th xem h c mt bc t do, v tr ca h dao ng c Hnh 2-1
xc nh duy nht bi to suy rng q.

2.1.2. Phng php chung thit lp phng trnh vi phn chuyn ng.
Vic la chn phng php thit lp phng trnh vi phn dao ng ca h nhiu bc t
do ph thuc vo m hnh c hc ca h.
i vi cc c h gm cc cht im, cc vt rn, cc l xo b qua khi lng, cc b
gim chn ma st, ngi ta thng dng phng trnh Lagrng loi II thit lp phng
trnh dao ng. i vi cc kt cu n hi, nh dao ng un ca dm c khi lng tp
trung, ..., ngi ta thng dng phng php lc, ...
Trong phn trnh by ny, ta nu cch p dng phng trnh Lagrng loi II thit lp
phng trnh vi phn dao ng ca h nhiu bc t do.
Xt h N cht im, c n bc t do, chu tc dng ca cc lc c th, cc lc cn ph
thuc bc nht vo vn tc v cc lc kch ng l hm bt k ca thi gian Pi(t) (i = 1, n ).

38
 Gi q1, q2, ... qn (qi, i = 1, n ) l cc to suy rng ca h: Q i , Q i , Q iP l cc lc suy
rng ca cc lc c th, cc lc cn v cc lc kch ng Pi(t), phng trnh Lagrng II vit
cho h c dng:

d T T
q = Q i + Q i + Q i ; i = 1, n
Pi
(2-1)
dt
qi
i

y: Q i = ; Q i = ; Q iPi = Q i (t ) ; i = 1, n
q i
qi
Xt vi dao ng nh, ta c:

1 n n
T= a ij q i q j (a ij = a ji )
2 i =1 j =1

1 n n
=
2 i =1

j =1
c ij q i q j (c ij = c ji )

1 n n
=
2 i =1

j =1
b ij q i q j (b ij = b ji )

Cc h s aij, cij, bij tho mn iu kin xin-vc-tr v l cc hng s. Thay cc biu

thc trn vo phng trnh Lagrng II, ta nhn c phng trnh vi phn dao ng ca h:
n n n

a ij q j b ij q j + c ij q j = Q i (t ); i = 1, n
j=1 j=1 j=1
(2-2)

Vit c th h (2-2) ta c:

a q
11 1 12 2+ a q + ... + a 1n q n + b q
11 1 + b 12 q 2 + ... + b 1n q n + c 11 q 1 + c 12 q 2 + ... + c 1n q n = Q 1 ( t )

a 21 q 1 + a 12 q 2 + ... + a 2 n q n + b 21 q 1 + b 22 q 2 + ... + b 2 n q n + c 21 q 1 + c 22 q 2 + ... + c 2 n q n = Q 2 (t )

.......................................................................................................

a n1 q 1 + a n 2 q 2 + ... + a nn q n + b n1 q 1 + b n 2 q 2 + ... + b nn q n + c n1 q 1 + c n 2 q 2 + ... + c nn q n = Q n (t )
(2-2a)
H (2-2a) c th vit di dng ma trn:

a11 a12 ... a1n q1 b11 b12 ... b1n q1 c11 c12 ... c1n q1 Q1

a21 a22 ... a2n q2 b b ... b2n q 2 c21 c22 ... c2n q 2 Q2
+ 21 22 + =
.................... ... .................... ... .................... ... ... (2-2b)

an1 an2 ... ann qn bn1 bn2 ... bnn q1 cn1 cn2 ... cnn q1 Qn

39
 Hoc cho gn ta biu din n di dng vct:

A q + B q + C q = Q (t ) (2-2c)

2.1.3. Nhng nguyn tc gii phng trnh dao ng ca h.

Nu nhng lc kch ng ngoi thay i theo quy lut iu ho hnh sin c cng tn
s v pha th n gin hn c l s dng phng php trc tip, ngha l tm chuyn ng
dng: qi = Aisin kt. Phng php ny c th p dng cho cc bi ton phc tp hn, khi cc
lc kch ng thay i theo chu k. Trong trng hp ny, cn phn trc cc lc kch ng
ra cc thnh phn iu ho.
Phng php tng qut hn l phn nghim theo cc dng ring ca dao ng. iu
ch yu ca phng php ny l ch: Nh n m ta nhn c nghim ca bi ton vi
bt k lc kch ng cho.
Ta trnh by mt trng hp tm nghim ca phng trnh bng phng php trc tip.
Xt dao ng t do ca h thanh bo ton (khng cn), khi phn v phi ca phng trnh
(2-2a) bng khng: Q i = 0 (i = 1, n) v cc h s b ij = 0 (i, j = 1, n) . Phng trnh vi phn
dao ng ca h c m t bng h n phng trnh vi phn thng tuyn tnh thun nht:

a 11 q 1 + a 12 q 2 + .... + a 1 n q n + c11 q 1 + c12 q 2 + ... + c1n q n = 0

a 21 q 1 + a 22 q 2 + ... + a 2 n q n + c 21 q 1 + c 22 q 2 + ... + c 2 n q n = 0 (2-3)

.....................................................................................

a n1 q 1 + a n 2 q 2 + ... + a nn q n + c n1 q 1 + c n 2 q 2 + ... + c nn q n = 0

Cc tch phn ring ca h tm dng:

q i = A i cos(kt + ); i = 1, n (2-4)
Thay (2-4) vo (2-3) ta nhn c:

(c 11 a 11 k )A 1 + (c 12 a 12 k )A 2 + ... + (c 1n a 1n k )A n = 0
2 2 2

(c a k 2 )A + (c a k 2 )A + ... + (c a k 2 )A = 0 (2-5)
21 21 1 22 22 2 2n 2n n

...........................................................................................

(c n1 a n1 k )A 1 + (c n 2 a n 2 k )A 2 + ... + (c nn a nn k )A n = 0
2 2 2

iu kin cn v tn ti cc nghim A i (i = 1, n) khng tm thng l:

c 11 a 11 k 2 c 12 a 12 k 2 ... c 1n a 1n k 2
c 21 a 21 k 2 c 22 a 22 k 2 ... c 2n a 2n k 2 (2-6)
=0
...................................................................
c n1 a n1 k 2 c n 2 a n 2 k 2 ... c nn a nn k 2

(2-6) gi l phng trnh tn s. N l phng trnh bc n i vi k2. Khi gii (2-6) ta

nhn c n tn s ring k2. Gi s ta c cc tn s ring khc nhau: k1 < k2 < ... < kn, khi
ta c:

40
 q 1 = A 11 cos( k 1 t + 1 ) + A 12 cos( k 2 t + 2 ) + ... + A 1n cos( k n t + n )

q 2 = A 21 cos( k 1 t + 1 ) + A 22 cos( k 2 t + 2 ) + ... + A 2 n cos( k n t + n )
(2-7)
.......................................................................................................
q n = A n1 cos( k 1 t + 1 ) + A n 2 cos( k 2 t + 2 ) + ... + A nn cos( k n t + n )

Ta a ra h s phn phi:
A ij
ij = = f i (c rs a rs k 2j ); i, j = 1, n (2-8)
A sj
Trong vi Aij th ch s u (i) ch s ta suy rng; ch s th hai (j) ch tn s
ring. Khi s dng (2-8) ta vit nghim ca (2-3) dng:
q 1 = A 1 cos(k 1 t + 1 ) + A 2 cos(k 2 t + 2 ) + ... + A n cos(k n t + n )
q = A cos(k t + ) + A cos(k t + ) + ... + A cos(k t + )
2 1 21 1 1 2 22 2 2 n 2n n n
(2-9)
..................................................................................................
q n = A 1 n1 cos(k 1 t + 1 ) + A 2 n 2 cos(k 2 t + 2 ) + ... + A n nn cos(k n t + n )

Cc hng s Aj v j (tt c c 2n hng s) c xc nh t cc iu kin ban u:

q i 0 v q i 0 .

.2.2. Dao ng tuyn tnh ca h c hai bc t do.

2.2.1. Dao ng t do khng c cn.

2.2.1a. Phng trnh vi phn chuyn ng
Xt h dao ng c hai bc t do, chu tc dng ca cc lc c th. Gi to suy
rng xc nh v tr ca c h l: q1, q2. Phng trnh Lagrng II trong trng hp ny c
dng:

d T T

= ; i = 1, 2 (a)
dt q i q i
qi
1 2 2
Vi dao ng nh: T = a 11 q 1 + 2a 12 q 1 q 2 + a 22 q 2
2
1
=
(c11 q 12 + 2c12 q 1 q 2 + c 22 q 22 ) (b)
2
Thay (b) vo (a) v rt gn ta nhn c phng trnh vi phn chuyn ng ca h
dao ng:

a 11 q 1 + a 12 q 2 + c11q1 + c12 q 2 = 0

(2-10)
a 12 q 1 + a 22 q 2 + c12 q 1 + c 22 q 2 = 0

41
 2.2.1b. Tch phn phng trnh vi phn chuyn ng, phng trnh tn s.
H (2-10) l h phng trnh vi phn tuyn tnh cp II thun nht h s khng i.
Theo (2-4) ta tm nghim ca n di dng:
q 1 = A 1 sin( kt + ); q 2 = A 2 sin( kt + ) (2-11)
Trong : k l tn s vng (ring); A1, A2 l cc bin ; l pha ban u. Cc i
lng ny c xc nh trong qu trnh tnh ton.
Thay (2-11) vo (2-10) ta nhn c h hai phng trnh i s tuyn tnh thun nht
i vi cc bin A1 v A2:
A 1 (c11 a 11 k 2 ) + A 2 (c12 a 12 k 2 ) = 0
(2-12)
A 1 (c12 a 12 k ) + A 2 (c 22 a 22 k ) = 0
2 2

H (2-12) cha ba n s A1, A2 v k. Ta b xung phng trnh th ba bng cch sau:

Nu loi tr nghim tm thng A1 = A2 = 0, h (2-12) c hai nghim s i vi A1, A2
khc khng th nh thc ca h phi bng khng. Ta c:
c11 a 11 k 2 c12 a 12 k 2
=0
c12 a 12 k 2 c 22 a 22 k 2

Hay: (c11 a11k2)( c22 a22k2)( c12 a12k2)2 = 0 (2-13)

Phng trnh (2-13) gi l phng trnh tn s. R rng l ch vi cc gi tr ca k
tho mn phng trnh tn s th cc gi tr A1, A2 v do mi tn ti cc i lng q1, q2
khc khng.
Phng trnh (2-13) l phng trnh trng phng, trong trng hp tng qut c hai
gi tr i vi k2. iu kin cn v hai nghim s vi k2 l thc v dng l: Dng
ton phng ca ng nng, th nng ca h xc nh dng, ngha l:
a11 > 0; a22 > 0; (a11a22 a212) > 0
c11 > 0; c22 > 0; (c11c22 c212) > 0 (c)
Vi cc gi tr trn ca k2 th q1, q2 l hm biu din s ph thuc ca hm sin vo
thi gian t. Nu cc gi tr ca k2 khng tho mn iu kin trn th chuyn ng ca h
khng dao ng. Ta xt hai trng hp:
a). Tn s bng nhau: k1 = k2 = k trong trng hp ny cc phng trnh trong h (2-10)
c lp nhau. Nghim ca chng biu th bng:
q1=A1sin(kt + 1); q2 =A2sin(kt + 2) (2-14)
Cc h s A1, A2, 1, 2 c xc nh t iu kin ban u t = 0; q1(0) = q10, q2(0) = q20;

q 1 (0) = q 10 ; q 2 (0) = q 20 .

Vy, khi tn s nh nhau h thc hin dao ng iu ho, cc hm q1, q2 thay i theo
quy lut hnh sin c lp nhau.

42
 b). Tn s khc nhau: Gi s k1 < k2, trong k1 gi l tn s c bn. Cc dao ng
ng vi cc tn s k1, k2 gi l cc dao ng chnh ca h.
Phng trnh dao ng chnh th nht (dao ng c bn) c dng:
q 1(1) = A 11 sin( k 1 t + 1 ); q (21) = A 21 sin( k 1 t + 1 ) (2-15)
Phng trnh dao ng chnh th hai c dng:
q 1( 2 ) = A 12 sin( k 2 t + 2 ); q (22 ) = A 22 sin( k 2 t + 2 ) (2-16)
Tch phn tng qut ca h (2-10) c biu th bng:
q 1 = q 1(1) + q 1( 2) = A 11 sin(k 1 t + 1 ) + A 12 sin(k 2 t + 2 )
(2-17)
q 2 = q (21) + q (22 ) = A 21 sin(k 1 t + 1 ) + A 22 sin(k 2 t + 2 )
Khi ch ti (2-8), trong trng hp kho st ta c:
q (21) A 21 c11 a 11 k 12 c12 a 12 k 12
21 = = = =
q 1(1) A 11 c12 a 12 k 22 c 22 a 22 k 12
(2-18)
q (22 ) A 22 c11 a 11 k 22 c12 a 12 k 22
22 = (2) = = =
q1 A 12 c12 a 12 k 22 c 22 a 22 k 22
Nghim tng qut ca phng trnh (2-10) khi tnh n h s phn phi c dng:
q 1 = A 1 sin( k 1 t + 1 ) + A 2 sin( k 2 t + 2 )
(2-19)
q 2 = A1 21 sin( k 1 t + 1 ) + A 2 22 sin( k 2 t + 2 )

Cc hng s A1, A2, 1, 2 c xc nh t iu kin ban u t = 0: q1(0) = q10;

q2(0) = q20; q 1 (0) = q 10 ; q 2 (0) = q 20 .
Vy, khi tn s khc nhau, dao ng nh t do ca h hai bc t do c to thnh t
tng hai dao ng iu ho chnh vi tn s k1, k2.
2.2.1c. Cc to chnh.
biu th n gin h phng trnh vi phn (2-10) v nghim ca n (2-19) ngi ta
a vo khi nim cc to chnh. Cc to suy rng 1, 2 c chn c bit sao cho
biu thc ng nng T ca h ch cha tng bnh phng ca cc vn tc suy rng

i (i = 1, 2) cn biu thc th nng ca h ch cha tng bnh phng ca cc to suy

rng i(i = 1, 2) th cc to suy rng 1, 2 c gi l cc to chnh ca h. Vi cc to
chnh, th cc ma trn khi lngv cc ma trn cng t h phng trnh vi phn dao
ng u c dng ng cho.
Theo nh ngha trn, ta c: ng nng, th nng ca h biu th bng:

1 2
( )
2
1
T= a 1 1 + a 2 2 ; = c112 + c 2 22 (2-20)
2
2

43
 y: a1, a2 l cc h s qun tnh; c1, c2 l cc h s ta n hi.
Phng trnh vi phn dao ng tuyn tnh ca h hai bc t do c dng:

a 1 1 + c 1 1 = 0
(2-21)
a 2 2 + c 2 2 = 0

Bin s trong cc phng trnh ny c lp, nn c th thc hin tch phn tng
phng trnh. NTQ ca (2-21) c dng:
1 = B1sin(k1t+1); 2 = B2sin(k2t+2) (2-22)

c1 c2
Trong : k 1 = , k2 = l cc tn s ca cc dao ng chnh (tn s ring)
a1 a2
ca h. Cc hng s B1, B2, 1, 2 c xc nh t cc iu kin ban u bit. Vy, khi
vit theo to chnh, phng trnh vi phn dao ng ca h a v h hai phng trnh c
lp ging nh trong trng hp tn s bng nhau.
Th d 2.1:
Cho m hnh ca h nh hnh v (Hnh 2-2). H chuyn dch khng ma st theo
hng ngang. Xc nh chuyn ng dao ng ca h, gi thit rng ti thi im ban u
ti trng m2 nhn c vn tc tc thi V0 hng v bn phi. Tnh tn s dao ng chnh
v cc h s phn phi trong trng hp m1= m2 = m, C1= C2 = C.

q1 q2

C1 C2 q
m1 m2

Hnh 2-2

Bi gii:
H c hai bc t do. Chn q1, q2 l cc to suy rng xc nh v tr ca h.
Trong qu trnh dao ng, cc l xo chu cc lc n hi l:
F1 = C1q1, F2 = C2(q2 q1).
Th nng v ng nng ca h bng:
C 1 q 12 C 2 (q 2 q 1 ) 2 1 2
1 2
= + ; T = m1 q 1 + m 2 q 2 (1)
2 2 2 2
Thay cc biu thc trn vo phng trnh Lagrng II:

44

d T T
= ; i = 1, 2 (2)
dt q q q i
i
i

m 1 q + C 1 q 1 C 2 ( q 2 q 1 ) = 0
Ta nhn c: 1 (3)
m 2 q + C 2 ( q 2 q 1 ) = 0
2

Ta th tha mn phng trnh (3) bng cc hm:

q1=A1sin(kt + ); q2 =A2sin(kt +) (4)
Thay (4) vo (3), ta nhn c h:
C 1 A 1 + C 2 (A 2 A 1 ) = m 1 A 1 k 2
(5)
C 2 (A 2 A 1 ) = m 2 A 2 k 2
H (5) cha ba n s: Cc bin A1, A2 v tn s k. Ta c phng trnh tn s theo
(2-13):
C 1 + C 2 m1 k 2 C2
=0
C2 C2 m2k2

C + C 2 C 2 2 C 1C 2
Hay: k 4 1 + k + =0 (6)
m1 m 2 m1m 2

Gii (6), tm c:
2
k = 1 C1 + C 2 C 2 1 C1 + C 2 C 2 CC
+ + 1 2
1 2 m1 m2 4 m1 m2 m1m 2

(7)
1 C1 + C 2 C 2 1 C1 + C 2 C 2 CC
2

k 2 = + + + 1 2
2 m1 m2 4 m1 m2 m1m 2

q = A 11 sin( k 1 t + 1 ) + A 12 sin(k 2 t + 2 )
NTQ c dng: 1 (8)
q 2 = A 21 sin(k 1 t + 1 ) + A 22 sin(k 2 t + 2 )
T (3), ta c: a11 = m1 ; a22 = m2 ; a12 = 0;
c11 = C1 + C2 ; c22 = C2 ; c12 = C2;
Nn cc h s phn phi bng:
C 1 + C 2 m 1 k 12 C 1 + C 2 m 2 k 22
21 = ; 22 = (9)
C2 C2
Do c th vit NTQ (8) di dng:

45
 q 1 = A 1 sin(k 1 t + 1 ) + A 2 sin(k 2 t + 2 )
(10)
q 2 = 21 A 1 sin(k 1 t + 1 ) + 22 A 2 sin(k 2 t + 2 )
Chn gc tnh q1, q2 ti v tr cn bng tnh cc ti trng (l xo cha bin dng). iu
kin ban u t = 0, vit c:

q1(0) = q10 = 0; q2(0) = q20 = 0; q 1 (0) = q 10 = 0; q 2 (0) = q 20 = V0
Thay iu kin ban u vo (10) v o hm ca n, ta c h sau:
A 1 sin 1 + A 2 sin 2 = 0
A sin + A sin = 0
21 1 1 22 2 2
(11)
A 1 k 1 cos 1 + A 2 k 2 cos 2 = 0
21 A 1 k 1 cos 1 + 22 A 2 k 2 cos 2 = V0

V0 V0
Gii (11) ta c: 1 = 2 = 0; A 1 = ; A2 = (12)
k 1 ( 21 22 ) k 2 ( 22 21 )
Khi thay (7), (12) vo (10) ta nhn c kt qu cui cng ca bi ton.
Trng hp: m1 = m2 = m; C1 = C2 = C, t (7) v (9) ta c:

C 3 5 2 C 3+ 5 1+ 5 1 5
k 12 = ; k2 = ; 21 = = 1, 618 ; = = 0,618
m 2 m 2
22
2 2

2.2.2. Dao ng cng bc khng cn.

2.2.2a. Phng trnh vi phn chuyn ng.
Xt dao ng ca h hai bc t do chu tc dng ca cc lc c th v cc lc kch
ng iu ho hnh sin. Gi q1, q2 l cc to suy rng c lp ca h. Phng trnh
Lagrng II c dng:

d T T
q = q + Q i ; i = 1, 2
P
(a)
dt
qi
i i

Trong trng hp dao ng nh:

1 2
( )
2
1
T= a 11 q 1 + 2a 12 q 1 q 2 + a 22 q 2 ; = c11 q 12 + 2c12 q 1 q 2 + c 22 q 22 (b)

2
2
Thay (b) vo (a) v gi thit rng: Cc lc kch ng iu ho c cng tn s p v pha
ban u . Cc lc suy rng tng ng ca chng bng: QiP = Hisin(pt+), i = 1, 2. Khi ta
nhn c h phng trnh vi phn dao ng cng bc ca h hai bc t do:

a 11 q 1 + a 12 q 2 + c11 q 1 + c12 q 2 = H 1 sin( pt + )
(2-23)
a 21 q 1 + a 22 q 2 + c 21 q 1 + c 22 q 2 = H 2 sin( pt + )

46
 2.2.2b. Tch phn phng trnh vi phn chuyn ng.
Nghim tng qut ca h (2-23) c tm di dng tng NTQ ca phng trnh
thun nht tng ng v mt NR ca n. Ta c:

q 1 = C1 sin(k 1 t + 1 ) + C 2 sin( k 2 t + 2 ) + q 1
(2-24)
q 2 = 21C1 sin(k 1 t + 1 ) + 22 C 2 sin(k 2 t + 2 ) + q 2

Trong : k1, k2 l cc tn s dao ng chnh, c xc nh t phng trnh tn s (2-13)

21, 22 l cc h s phn phi c xc nh theo cng thc (2-18). By gi ta tm NR ca
h (2-23) xc nh dao ng cng bc thun tu di dng:
q i = A iP sin(pt + ); i = 1, 2 (2-25)

T c: q i = A iP p 2 sin( pt + ); i = 1, 2 (2-26)
Thay (2-25), (2-26) vo (2-23) ta nhn c h phng trnh xc nh AiP; i = 1, 2
(c11 a 11 p 2 )A 1P + (c12 a 12 p 2 )A 2 P = H 1
(2-27)
(c12 a 12 p )A 1P + (c 22 a 22 p )A 2 P = H 2
2 2

Gii (2-27) nhn c:

H 1 (c 22 a 22 p 2 ) H 2 (c12 a 12 p 2 )
1P
A =
(c11 a 11 p 2 )(c 22 a 22 p 2 ) (c12 a 12 p 2 ) 2
(2-28)
A = H 2 (c11 a 11 p 2 ) H 1 (c12 a 12 p 2 )
2 P (c11 a 11 p 2 )(c 22 a 22 p 2 ) (c12 a 12 p 2 ) 2

Thay (2-28) vo (2-25) ta c phng trnh xc nh dng dao ng cng bc thun

ty ca h.
Ta c mt s nhn xt sau:
a). Dao ng cng bc trong trng hp kho st l iu ho vi tn s l tn s ca
lc kch ng.

b). Bin dao ng cng bc khng ph thuc vo cc iu kin ban u v c

xc nh ch bng cc tnh cht ca h (khi lng v cng) v cc lc tc dng ln h.
c biu thc cui cng nghim ca bi ton, cc hng s C1, C2, 1, 2 trong NTQ c
xc nh t cc iu kin ban u.

2.2.2c. Hin tng cng hng.

Cc dao ng cng bc ca h trong trng hp kho st thc hin vi bin biu
th theo cc biu thc (2-28). Cc mu s ca chng l a thc bc hai i vi p2. Mt khc
t phng trnh tn s (2-13), ta c th thy: Cc tn s k12, k22 l nghim ca a thc trn.
Do c th biu din:

47
 (c11 a11p2)(c22 a22p2) (c12 a12p2)2 = (a11a22 a122)(p2 k12)(p2 k22)
Cc biu thc (2-28) tr thnh:
H 1 (c 22 a 22 p 2 ) H 2 (c12 a 12 p 2 )
A 1P =
(a 11a 22 a 12 )(p 2 k 1 )(p 2 k 2 )
2 2 2

(2-29)
H 2 (c11 a 11 p 2 ) H 1 (c12 a 12 p 2 )
A 2P =
(a 11a 22 a 12 )(p 2 k 1 )(p 2 k 2 )
2 2 2

Vi p = k1 hoc p = k2 (tn s lc kch ng bng mt trong cc tn s ring ca h),

cc bin dao ng cng bc theo (2-29) s tng v hn theo thi gian. Cc gi tr trn
ca tn s lc kch ng l cc gi tr nguy him (ti hn). Ta c hin tng cng hng.
Khi xy ra cng hng, biu thc (2-25) s mt ngha. biu din dao ng cng
bc thun tu (NR) trong trng hp ny, ta th vit phng trnh cc to chnh.
Biu th q1, q2 qua cc to chnh 1, 2 dng sau:

q1 = 1 + 2; q2 = 211 + 222 (2-30)

Cc lc suy rng ca cc lc kch ng ngoi theo cc to chnh c xc nh
trn c s biu thc tnh cng o v c:
Q1P* = Q1P + 21Q P2 = (H 1 + 21 H 2 ) sin( pt + )
P (2-31)
Q 2* = Q1 + 22 Q 2 = (H 1 + 22 H 2 ) sin( pt + )
P P

Phng trnh vi phn chuyn ng ca h dao ng vit cho to chnh c dng:

H 1 + 21 H 2
1 + k 1 1 = sin(pt + )
2

a1
(2-32)
2 + k 2 = H 1 + 22 H 2 sin( pt + )
2 2
a2

H (2-32) c th tch phn c lp. Ta xt cc trng hp sau y:

a). Khi p = k1: Ta tm NR ng vi dao ng cng bc thun tu dng:
1 = C1tcos(pt+); 2 = C2sin(pt+) (2-33)
Thay (2-33) vo (2-32) ta nhn c h phng trnh xc nh C1, C2 v nhn c:
H 1 + 21 H 2 H + H
C1 = ; C 2 = 1 2 22 2 2
2k 1 a 1 a 2 (k 2 p )

H1 + 21H 2 H + 21H 2
1 = 2k a t cos(pt + ) = 1 t sin(pt + )
1 1 2pa1 2
Do , ta c: (2-34)
= H1 + 22 H 2 sin(pt + )
2 a 2 ( k 22 p 2 )

48
 Chuyn v to c q1, q2 ta c:
H 1 + 21 H 2 H + H
q1 = t sin pt + + 1 2 22 2 2 sin(pt + )
2pa 1 2 a 2 (k 2 p )
(2-35)
21 (H1 + 21 H 2 ) (H + H )
q2 = t sin pt + + 22 1 2 222 2 sin(pt + )
2pa 1 2 a 2 (k 2 p )
b). Khi p = k2, mt cch tng t, ta tm c:
H 1 + 21 H 2
1 = a (k 2 p 2 ) sin(pt + )
1 1
(2-36)
= H 1 + 22 H 2 t sin( pt + )
2 2pa 2 2

Do , ta c:
H 1 + 21 H 2 H + 22 H 2
q1 = sin( pt + ) + 1 t sin pt +
a1 (k1 p )
2 2
2pa 2 2
(2-37)
21 (H1 + 21 H 2 ) 22 (H1 + 22 H 2 )
q2 = sin( pt + ) + t sin pt +
a 1 ( k 12 p 2 ) 2pa 2 2
Nh vy, h hai bc t do chu tc dng ca cc lc iu ho cng mt tn s p v
cng mt pha , c th xy ra hai trng thi cng hng (v tn s lc kch ng c th bng
mt trong hai tn s ring).
Thc t, vic xc nh trng thi cng hng xy ra i vi h nhiu bc t do (kim
tra h v cng hng) l mt trong cc bi ton quan trng nht ca tnh ton k thut v
dao ng.

2.2.3. Mt vi bi ton ng dng.

2.2.3a. B tt chn ng lc khng tnh n ma st.
a) Nhn xt:
Nu mt trong s cc lc kch ng trit tiu, chng hn:
Q2P = 0, cn Q1P = H1sin (pt+): Cc bin dao ng cng bc theo (2-29) tr thnh:
H1 (c 22 a 22 p 2 )
1p
A =
(c11 a 11 p 2 )(c 22 a 22 p 2 ) (c12 a 12 p 2 ) 2
(2-38)
A = H 1 (c12 a 12 p 2 )
2 p (c a p 2 )(c a p 2 ) (c a p 2 ) 2
11 11 22 22 12 12

c 22
Nu chn cc tham s ca h sao cho: c22 a22p2 = 0 tc l p 2 = th:
a 22

49
 H1
A1P= 0; A 2 P = (2-39)
c12 a 12 p 2
c 22
Nh vy, khi p 2 = th dao ng cng bc ng vi to suy rng th nht c
a 22
hon ton dp tt. Hin tng ny gi l s tt chn ng lc ca dao ng m n khng c
c trong cc h c mt bc t do.
b). Nguyn l to ra b tt chn ng lc khng c ma st.
Gi s ta c m hnh dao ng nh hnh v (Hnh 2-3a), chu tc dng ca lc kch
ng Q(t). lm tt dao ng cng bc ca h ny, ta t mt khi lng ph m2 trn l
xo n hi c cng C2 (Hnh 2-3b). Khi nguyn l c bn to ra b tt chn ng lc
c m t di dng sau:
q2
m2
Q(t) C2
q1
m1 m1
Q(t)

C1 C1

a) b
Hnh 2-3

Hai khi lng m1, m2 t trn cc l xo khng khi lng c cng tng ng C1,
C2. Cho lc kch ng tc dng ln khi lng m1 m lc suy rng ca n biu th bng:
Q1P = H1sin (pt + )
Cn trn khi lng m2 khng c lc kch ng, tc l Q2P = 0. H m t s c hai bc
t do vi cc to suy rng l q1, q2 ta c:

1 2
[ ]
2
1

T = m 1 q 1 + m 2 q 2 ; = c 1 q 12 + c 2 (q 2 q 1 ) 2
2 2

V: a11= m1; a12 = 0; a22 = m2

c11 = C1+ C2; c12 = C2; c22 = C2
Phng trnh vi phn chuyn ng ca h dao ng c dng:

m 1 q 1 + (C 1 + C 2 )q 1 C 2 q 2 = H 1 sin(pt + )

(2-40)
m q C q + C q = 0
2 2 2 1 2 2

50
 Biu th q i = A iP sin(pt + ); i = 1, 2 ; cn AiP xc nh theo (2-38). Nu chn tham s
c 22 C 2
ca h c: p 2 = = th:
a 22 m 2

q 1 = 0

H1 H1 (2-41)
q 2 = sin( pt + ) = sin(pt + )
c 12 a 12 p 2
C 2

Tc l dao ng cng bc th nht ca ti trng m1 c dp tt.

Tht vy, thay q 2 va tm vo phng trnh u ca h (2-40) ta c:
C1 + C 2
q1 + q1 = 0 (2-42)
m1
Phng trnh (2-42) m t dao ng t do ca khi lng m1 vi tn s:

C1 + C 2
k1 =
m1

Thc t, loi tr hin tng xut hin bin ln ng k ca dao ng khi thay
i tn s lc kch ng, thng ngi ta a vo b gim chn.
2.2.3b. Dao ng ca -t.
Ta c th kho st dao ng ca t nh mt h ca cc vt rn chu lin kt n hi
(Hnh 2-4). s ny vt 1 l thng xe, cc vt 2 5 l cc bnh xe; khi lng ca
chng coi nh tp trung. M hnh nh th cng thun tin khi kho st dao ng ca toa
tu, u my xe la v cc phng tin vn ti khc thuc loi ny.
Chuyn ng ca h nh trn trong qu trnh dao ng c c trng bng by to
: Dch chuyn thng ng ca trng tm thng xe, cc dch chuyn thng ng ca trng
tm ca cc bnh xe, cc dch chuyn quay ca thng xe i vi trc dc v trc ngang. H
nh th c by bc t do.

y l
b
5 a
4 1
yC C y2
y1 V tr cn
bng tnh
h x
2 3
L

Hnh 2-4 Hnh 2-5

51
 Tuy nhin trong qu trnh tnh ton s b, ta c th xy dng m hnh tnh dao ng
ca -t nh h c hai bc t do. Trong trng hp ny ta gi s rng cc lp xe khng bin
dng v kho st dao ng ca -t trong mt phng dc thng ng. H kho st trong
trng hp ny c hai bc t do. To suy rng c chn: Dch chuyn thng ng yC
ca trng tm thng xe v dch chuyn quay ca n quanh trc ngang qua trng tm
thng gc vi mt phng hnh v (Hnh 2-5).
By gi ta xt -t ang chy trn ng khng bng phng vi vn tc khng i V.
Quy lut nhp nh ca mt ng c cho bi hm tun hon sau:
h 2x*
y* = 1 cos
2 L
K hiu: m l khi lng ca -t; JC l mmen qun tnh ca n i vi trc i qua
khi tm C vung gc vi mt phng hnh v; C1, C2 l cng l xo (ng vi gim xc
bnh trc v bnh sau), l l khong cch gia hai bnh xe l = a+b.
ng nng v th nng ca h c tnh theo biu thc:
2 2
1 1
1 1
T = m y C + J C ; = C 1 y 12 + C 2 y 22
2 2 2 2
y: y1 v y2 l cc bin dng ca l xo, ta c:
y1 = yC - y1* - a; y2 = yC - y2* + b.
2V
t = , to cc im tip xc gia l xo v mt ng bng:
L
x1* = Vt

h 2x1* h
y1* = 2 1 cos L = 2 (1 cos t )

x 2* = Vt + l

h cos 2x 2* h 2l
y 2* = 2 1 = 1 cos t +
L
L 2
Thay cc gi tr T v vo phng trnh Lagrng II:

d T T
dt q = q ; i = 1, 2; q1 = yC; q2 = .

qi
i i

Ta nhn c phng trnh vi phn dao ng ca -t:

m y C + c11 y C + c12 = 2 (c11 c13 cos t + c14 s in t )
h
(2-43)
J C + c 21 y C + c 22 = (c 21 c 23 cos t + c 24 s in t )
h
2

52
 Trong : c11 = C1+ C2 ; c21 = c12; c12 = C2b C1a; c22 = C2(a2+b2)
2l 2l
c13 = C1 + C2cos ; c23 = C1a + C2bcos (2-44)
L L
2l 2l
c14 = C2sin ; c24 = C2bsin
L L
Phng trnh tn s c dng:
c 22 m + c11 J C c11c 22 c 212
k k
4 2
+ =0 (2-45)
mJ C mJ C

c 22 m + c11 J C (c 22 m + c11 J C ) 2 4mJ C (c11c 22 c12

2
)
T : k 2
1, 2 = (2-46)
2mJ C
NR ca h (2-43) tm dng:
y C = A 0 + A 1 cos t + A 2 sin t
(2-47)
= B 0 + B1 cos t + B 2 sin t

Thay (2-47) vo (2-43) v thc hin ng nht ta nhn c cc phng trnh i s

tuyn tnh i vi A0, A1, A2, B0, B1, B2. Gii phng trnh ny ta c:
h
A 0 = 2

h c 23 c12 c13 (c 22 J c 2 )
1 2
A =




h c c + c14 (c 22 J c 2 )
A 2 = 24 12

2 (2-48)
B 0 = 0

h c13 c12 c 23 (c11 m 2 )
B 1 =

2

B 1 = h c14 c12 + c 24 (c11 m )
2

2

Vi: = (c11 m 2)(c22 JC2) c122.
Phng trnh xc nh dao ng cng bc ca -t c dng:
h 1
[ ] 1
[ ]
y C = 2 1 + c 23 c12 c13 (c 22 J C ) cos t + c 24 c12 + c14 (c 22 J C ) sin t
2 2

2
{[ 13 12 23 11 ] [
= h c c c (c m 2 ) cos t + c c + c (c m 2 ) sin t
14 12 24 11 ] }
(2-49)
53
 Hin tng cng hng xy ra khi = ki (i = 1, 2)
Lk i
Ta c vn tc gii hn (Vgh) ca -t l: Vigh = (i = 1, 2) (2-50)
2
Th d 2-2:
Mng my c trng lng P1 = 1000 KN t trn nn t n hi v dao ng theo
phng thng ng di tc dng ca lc kch ng bin i theo quy lut: F = 100sint (KN).
kh cc dao ng cng hng xut hin khi vn tc gc ca trc my = 100 rad/s, ngi
ta t trn nn mng mt b gim rung c dng mt b nng t trn cc l xo n hi
(Hnh 2-6a). Hy xc nh trng lng P2 ca h v cng tng cng ca cc l xo trong
b gim rung sao cho bin dao ng cng bc ca mng trit tiu khi trc my quay vi
vn tc gc cho trn, cn bin ca b gim rung khng vt qu A2 = 2 mm.
Bi gii:

P2
P2 q2
C

P1
P1 F(t) q1

a) b
Hnh 2-6

M hnh tnh ton dao ng ca h ch ra trn hnh v (Hnh 2-6b). Tng t nh cch
thit lp phng trnh (2-40), ta c phng trnh vi phn dao ng ca h l:

m1 q 1 + (C1 C 2 )q 1 + C 2 q 2 = F0 sin t , F0 = 100KN

m 2 q 2 + C 2 q 1 C 2 q 2 = 0

Theo iu kin bi ra, khi thit k b gim rung m bo iu kin q1 = 0, nn phng

trnh trn tr thnh:
C 2 q 2 = F0 sin t

m 2 q 2 C 2 q 2 = 0
P2
T suy ra: q 2 = C 2 q 2 = F0 sin t
g
Do b gim rung lm vic vi bin A2 = 2 mm v tn s = 100 rad/s, nn nghim
q2 ta ly dng:

54

q2 = A2sint q 2 = 2 A 2 sint
Nh vy, ta c:
P2 2
A 2 sin t = F0 sin t
g
Trng lng P2 ca b gim rung phi bng:
Fg 100.981
P2 = 0 2 = = 49KN
A 2 0,2.10 4
C2
Khi xut hin cng hng = k = nn cng ca l xo t trn b gim rung
m2
phi c:
P2 2 F g 2 F 100
C2 = = 0 2 = 0 = = 500KN / cm
g A 2 g A 2 0,2

.2.3. Dao ng xon ca trc mang cc a.

2.3.1. Phng trnh c bn. Phng trnh tn s.

Kho st dao ng xon ca trc n hi mang cc a rn tuyt i coi nh cc khi
lng tp trung (Hnh 2-7a). K hiu J1, J2, ..., Jn l cc mmen qun tnh ca cc a i vi
trc; C1, C2, ..., Cn-1 l cc h s cng khi xon ca cc on trc n hi.
Chn to suy rng l cc gc quay ca cc a quanh trc: 1, 2, ..., n. Cc mmen
xon tc dng cc tit din trc ph thuc vo gc quay tng i gia hai a k nhau v
c xc nh tng ng bng (Hnh 2-7b):
C1(2 - 1), C2(3 - 2), ..., Cn - 1 (n - n- 1)

Jn-1
J2
J1 J3 Jn
C1 C2 Cn-1

Hnh 2-7a

C1( 2 1) C2( 3 2 ) Cn-1(n n-1)

Hnh 2-7b

55
 Phng trnh vi phn dao ng xon ca h c thit lp trn c s phng php trc
tip c dng:

C 1 ( 2 1 ) = J 1 1

2 3
C ( 1 ) C 1 ( 2 1 ) = J 2 2

C 3 ( 4 3 ) C 2 ( 3 2 ) = J 3 3
(2-51)
........................................................

C n 1 ( n n 1 ) C n 2 ( n 1 n 2 ) = J n 1 n 1

C ( ) = J
n 1 n n 1 n n

Khi trc v a quay u nh mt vt rn tuyt i, phng trnh (2-51) tho mn nghim:

1 = 2 = .... = n = 0 + t (2-52)
Nghim ca phng trnh (2-51) tm di dng:
i = Aisin ( kt +); i = 1, n (2-53)
Thay (2-53) vo (2-51) ta s nhn c h phng trnh i s tuyn tnh thun nht
xc nh cc bin A1, A2, ... An.
C 1 (A 2 A 1 ) = J 1 k 2 A 1

C 2 (A 3 A 2 ) C 1 (A 2 A 1 ) = J 3 k A 2
2

C 3 (A 4 A 3 ) C 2 (A 3 A 2 ) = J 3 k A 3
2

(2-54)
..........................................................
C (A A ) C (A A ) = J k 2 A
n 1 n n 1 n 2 n 1 n2 n 1 n 1

C n 1 (A n A n 1 ) = J n k A n 2

H (2-54) cha (n+1) n (n n bin v 1 n tn s ring k). Tng t nh cc phn

trn, ta b xung phng trnh gii bi ton bng phng trnh tn s:
Do h (2-54) l h phng trnh tuyn tnh thun nht nn c nghim khng tm
thng ca cc bin th nh thc ca h phi bng khng.
Xt h c ba a, iu kin trn c dng:
C1 + J1 k 2 C1 0
C1 C 2 C1 + J 2 k 2
C2 =0
0 C2 C 2 + J3k 2

Hay phng trnh tn s trong trng hp ny l:

J J J J + J3 J + J3 2
k 2 1 2 3 k 4 2 J1 + 2 J 3 k + J 1 + J 2 + J 3 = 0 (2-55)
C 1C 2 C1 C2

56
 NTQ cn vit di dng:
i = 0 +t +Ai1sin(k1t + 1) + Ai2sin(k2t+2)+...+Ai,n-1sin(kn-1t + n -1); i = 1, n (2-56)
Trong (2-56) cn cha cc hng s cha bit. xc nh chng, tng t nh trc
y cn da vo iu kin ban u ti t = 0.
2.3.2. Phng trnh dao ng xon cng bc trc mang cc a.
Dao ng xon cng bc ca trc l do cc mmen quay bin i tc dng ln n.
Cc mmen ny c c tnh chu k, nh: p lc kh trong cc xilanh, cc lc qun tnh ca
cc phn chuyn ng.
Ta kho st trng hp khi cc mmen bin i cho tc dng ln cc a ca h
tng ng (Hnh 2-7) l M1(t), M2(t),... Mn(t).
Nu b qua cc lc cn, phng trnh vi phn dao ng cng bc ca trc c dng:

M
1 ( t ) + C 1 ( 2 1 ) = J
1 1

M 2 (t ) + C 2 ( 3 1 ) C 1 ( 2 1 ) = J 2 2
(2-57)
............................................................

M n (t ) C n 1 ( n n 1 ) = J n n

Th d 2.3:
Trn hnh tr tit din khng i di 2L = 50cm c mt u b ngm c gn hai a
nh nhau, c mt mmen qun tnh J1 = J2 = J = 50 kgcm2. Mt trong hai a c gn
gia trc, cn a kia gn u t do (Hnh 2-8 ). Mmen qun tnh c cc ca tit din
trc J = 602cm4. Mun trt ca vt liu lm trc G = 8,3.10 6N/cm2. B qua khi lng trc.
a). xc nh tn s k1, k2 v dao ng xon t do cc a.
b). xc nh bin dao ng xon cng bc ca cc a khi tc dng ln a gia
mmen kch ng M = 200sin(400t) (Nm).

J1 1 J2 2
C1 C2

L L

Hnh 2-8

Bi gii:
a). H c hai bc t do. Chn to suy rng l cc gc quay cc a 1, 2. H s
cng khi xon ca cc on trc c tnh theo cng thc bit (SBVL).

57
 8,3.10 6 .602
GJ
C1 = C 2 = C = = = 2.10 6 Nm
L 25
2
2
1
ng nng ca h: T = ( J 1 1 + J 2 2 ) a 11 = J 1 ; a 12 = 0; a 22 = J 2
2

Th nng ca h: =
1
2
[ ]
c112 + c 2 ( 2 1 ) 2 c11 = C1 + C 2 ; c12 = C 2 ; c 22 = C 2

T c phng trnh tn s: (C1 + C2 J1k2)(C2 J2k2) C22 = 0

Thay C1 = C2 = C; J1 = J2 = J, ta c:
C 2 C2
k4 3 k 2 =0
J J
(3 5 )C C
k 1 = = 0,62 = 124rad / s
2J J
Gii ra, ta c:
(3 + 5 )C C
k 2 = = 1,62 = 324rad / s
2J J
Cc h s phn phi bng:
3 5 C
2C J
21 = 2 J = 2 3 5 = 1 + 5 = 1,62
C 2 2

3+ 5 C
2C J
2 J = 2 3 + 5 = 1 5 = 0,62
22 =
C 2 2

Khi bit 21 v 22 ta biu th c cc dao ng chnh. Trn hnh v (Hnh 2-9) m t

dao ng chnh khi cho bin dao ng a th nht bng n v.
a). xc nh bin dao ng cng bc ca cc a cn tnh trc ht lc suy
rng ca lc kch ng.
A11 = 1 A21 = 1,62

A12 = 1

A22 = 0,62
A1P = 6.10-5 A2P = 2.10-5
6,25cm

Hnh 2-9

58
 Ta c: Q1 = M; Q2 = 0 => H1 = M0 = 200; H2 = 0
Khi cc bin dao ng cng bc bnh n, theo cng thc (2-29) ta c:
M 0 (C Jp 2 )
A 1P = = 6.10 5 ; p = 400
(2C Jp )(C Jp ) C
2 2 2

M 0C
A 2P = = 2.10 5
(2C Jp )(C Jp 2 ) C 2
2

Phng trnh xc nh dao ng cng bc ca a c dng:

1 = A1Psinpt = -6.10-5sin 400t
2 = A2Psinpt = 2.10-5sin 400t

2.4. Dao ng un ca dm c cc khi lng tp trung.

2.4.1. Phng trnh c bn - Phng trnh tn s.

Trong trng hp ny, thit lp phng trnh vi phn dao ng ta dng phng
php lc.
Xt dao ng t do mang cc khi lng tp trung: m1, m2, ..., mn. Dch chuyn ca
chng tng ng khi dao ng y1, y2, ..., yn. t cc lc qun tnh ln cc khi lng kho

st: m1 y 1 , m 2 y 2 , ..., m n y n . Theo (25) trong chng m u, ta c:
n
y i = m k y k ik ; i = 1, n (2-58)
k =1

H (2-58 ) vit c th c dng:

y 1 = m 1 y 1 11 m 2 y 2 12 .... m n y n 1n

y 2 = m 1 y 1 21 m 2 y 2 22 ... m n y n 2 n
(2-58a)
..........................................................

y n = m 1 y 1 n1 m 2 y 2 n 2 ... m n y n nn

H c mt bc t do: y1 = m 1 y 1 11 .
Phng trnh ny tng ng vi:

m1 y1 + Cy1 = 0 ; C = 1/ 11.
Nghim ca h (2-58a) tm c dng:
yi = Aisin ( kt +) (2-59)
Thay (2-59) vo (2-58a) ta nhn c h phng trnh i s tuyn tnh thun nht i
vi cc bin Ai (i = 1, n ).

59
 A 1 (m111 k 2 1) + A 2 m 2 12 k 2 + ... + A n m n 1n k 2 = 0

A 1 m1 21 k + A 2 (m 2 22 k 1) + ... + A n m n 2 n k = 0
2 2 2

(2-60)
..................................................................................
A m k 2 + A m k 2 + ... + A (m k 2 1) = 0
1 1 n1 2 2 n2 n n nn

Cho nh thc ca h bng khng, ta nhn c phng trnh tn s bc n i vi k2.

1 b1k2 + b2k4 b3k6 + ... + (1)n bnk2n = 0 (2-61)
Ta k hiu n nghim thc dng k2 ca (2-61) theo th t tng dn: k12, k22,... k2n.
NTQ ca (2-58a) l:
n
y i = A sin( k j t + j ) ; i = 1, n (2-62)
J =1

2.4.2. Phng trnh dao ng un cng bc ca dm c cc khi lng tp

trung.
Gi s lc kch ng tc dng ln mi khi lng tp trung l iu ho:
P(t) = Pksin pt (2-63)
y: Pk l cc bin ca lc, p l tn s ca n. Phng trnh dao ng un cng
bc ca dm nhn c bng cch cng b xung vo (2-58a) s hng tng ng vi dng
lc kch ng. Ta c:

y
1 = m y
1 1 11 m 2 y
2 12 ... m n y n 1n + Pk 1k sin pt

y 2 = m1 y 1 21 m 2 y 2 22 ... m n y n 2 n + Pk 2 k sin pt
(2-64)
.........................................................................................

y n = m1 y 1 n1 m 2 y 2 n 2 ... m n y n nn + Pk nk sin pt

Phn dng ca nghim c dng: yi = AiPsin pt (i = 1, n ) (2-65)

Thay (2-65) vo (2-64) ta nhn c h cc phng trnh xc nh cc bin :

(1 m111 p 2 )A 1P m 2 12 A 2 P ... m n 1n p 2 A nP = Pk 1k

m 1 21 p A 1P + (1 m 2 22 P )A 2 P ... m n 2 n P A nP = Pk 2 k
2 2 2

(2-66)
...............................................................................................
m P 2 A m P 2 A + ... + (1 m p 2 )A = P
1 n1 1P 2 n2 2P n nn nP k nk

Th d 2-4:
Xc nh quy lut chuyn ng v mmen un ln nht ngm i vi h ch ra trn
hnh v (Hnh 2-10a).

60

Ti thi im ban u ti trng m c vn tc thng ng x 2 (0) = V0 v khng c dch
chuyn ban u. B qua khi lng ca thanh. cng c hai phn thanh bng EJ theo
chiu di.
Bi gii:

L x1 L P1 =1 2/3L

x2 1.L P2 =1
M1 M2
L L
2/3L

1.L 1.L

Hnh 2-10

Gi dch chuyn ca ti trng theo cc hng l x1, x2 ta c theo (2-58a).

x 1 = m x 1 11 m 2 x 2 12

x 2 = m x 1 21 m 2 x 2 22

=> a11 = m11; a12 = m12; a22 = m22; c11 = 1; c12 = 0; c22 = 1.
Nu ly nghim ring: xi = Aisin (kt +); i = 1, 2. Sau khi thay vo phng trnh ta
nhn c:
x 1 = mk 2 x 111 + mk 2 x 2 12

2

x 2 = mk 2 x 1 21 + mk 2 x 2 22

xc nh cc h s nh hng, ta xy dng cc biu mmen un M1, M2 ng

vi cc lc n v P1 = 1, P2 = 1 tc dng theo cc hng x1, x2 (Hnh 2-10b). p dng
cng thc nhn biu Vrsaghin, ta c:
1 1 2 2 L3
11 = .L . .L = ;
EJ 2 3 3EJ
1 1 2 L3
12 = 21 = .L .L = ;
EJ 2 2EJ
1 1 2 2 4L
3
22 = .L . .L + L .L =
2
;
EJ 2 3 3EJ

Zx = 2 x 1 + 3x 2 6EJ
Thay ik vo phng trnh: 1 ; Z=
Zx 2 = 3x 1 + 8x 2 mL3 k 2

61
 2Z 3
Phng trnh tn s: = 0 Z1 = 9,242; Z 2 = 0,7574
3 8Z
Do cc tn s bng:
6EJ 6EJ EJ
Z1 = = 9,242 k 1 = = 0,807
mL3 k 12 3
mL Z 1 mL3

6EJ 6EJ EJ
Z2 = = 0,7574 k 2 = = 2,82
mL3 k 22 3
mL Z 2 mL3

mL3 6EJ
1 . 3
c a 11 k 1 2
3EJ mL .9,242
Cc h s phn phi: 21 = 11 = = 2,4140
c12 a 12 k 1
2
mL3 6EJ
.
2EJ mL3 9,242

mL3 6EJ
1 .
c a k 2 3
3EJ mL .0,7574
22 = 11 11 22 = = 0,4142
c 12 a 12 k 2 mL3 6EJ
.
2EJ mL3 0,7574
NTQ ca bi ton vit dng:
x1 = A1sin(k1t + 1) + A2sin(k2t + 2)

x2 = 21A1sin(k1t + 1) + 22A2sin (k2t + 2)

=> x 1 = k1A1cos(k1t + 1) + k2A2cos(k2t + 2)

x 2 = 21k1A1cos(k1t + 1) + 22k2A2cos(k2t + 2)

Thay iu kin ban u t = 0: x1(0) = x2(0) = 0; x 1 (0) = 0; x 2 (0) = V0 vo trn ta c:

A1 sin 1 + A 2 sin 2 = 0
A sin + A sin = 0
21 1 1 22 2 2

k 1A1 cos 1 + k 2 A 2 cos 2 = 0
21 k 1A1 cos 1 + 22 k 2 A 2 cos 2 = 0

V0 1 V 1
Gii ra: 1 = 2 = 0; A 1 = ; A2 = 0
k 1 21 22 k 2 22 21
Thay cc gi tr tnh vo, cui cng nhn c:
V0 V
x1 = (0,354 sin k1t 0,101 sin k 2 t ) ; x 2 = 0 (0,853. sin k 1 t + 0,042. sin k 2 t )
k1 k1

62
 V0 EJ
M men un ti ngm: M ngm = (0,785 sin k 1 t 0,469 sin k 2 t )
k 1 L2
V0 EJ
T : Ngm
M max = 1,254
k 1 L2
Th d 2-5:
Lc kch ng P(t) = Psint tc dng ln khi lng gia ca h (Hnh 2-11a). Xc
nh bin dch chuyn ca tt c cc khi lng v xy dng biu mmen un ng
lc. Cho bit: Mmen qun tnh ca tit din ngang ca dm l J = 35520 cm4; Mun n
hi ca vt liu E = 2,1.107N/cm2. Nhp dm di L = 400 cm; khi lng cc trng ti bng
m = 40,8 Ns2/cm; bin lc kch ng: P = 6000 N; tn s lc kch ng = 100 rad/s.
Bi gii:
Trc ht ta xc nh cc h s nh hng ik. Theo kt qu th d 2, chng m u,
ta c:
11 = 33 = 75k; 22 = 243k; 21 = 12 = 32 = 23 = 117k; 13 = 31 = 51k;
L3
y t k = .
9.1296EJ
Thay s tnh c: k = 7,38.10-9 cm/N.
11 = 33 = 5,53.10-7 cm/ N; 22 = 17,92.10-7 cm/N.
21= 12 = 32 = 23 = 8,64.10-7 cm/N; 13 = 31 = 3,76.10-7 cm/N.

P(t)
m m m
a)

L/6 L/3 L/3 L/6

Psint
b)

mA 1P 2 mA2P2 mA3P 2
4
636.10 Ncm
4
328.10 Ncm
c)
4
PL/4=60.10 Ncm
d)

Hnh 2-11

63
 Phng trnh xc nh bin :
(1 m11 2 )A 1P m12 2 A 2 P m13 2 A 3P = P.12

m 21 A 1P + (1 m 22 )A 2 P m 23 A 3 P = P 22
2 2 2

m 31 A 1P m 32 A 2 P + (1 m 33 )A 3 P = P 32
2 2 2

Thay s v gii ra: A1P = A3P = 0,064cm; A2P = 0,128cm

Cc dch chuyn tnh tng ng vi lc P2 tc dng (P2 = P).
y1t = y3t = P212 = 6000.8,64 .10-7 = 0,0052cm.
y2t = P222 = 6000.17,92.10-7 = 0,0107cm.
R rng bin khi h dao ng ln hn khong 10 ln dch chuyn tnh tng ng.
xy dng biu mmen un ng lc, cn kho st ti trng tc dng ln dm do
cc gi tr bin lc kch ng P v cc lc qun tnh: mAiP 2. Cc lc qun tnh nm
pha ngc vi pha ca lc kch ng. Ta c:
mA1P2 = 26100N; mA2P2 = 52200N; mA3P2 = 26100N
Nhng iu trnh by c biu th trn (Hnh 2-11b, c, d) trong biu cui (Hnh
2-11d) biu th tc dng tnh ca bin lc kch ng P.

64
 Chng III
Dao ng tuyn tnh ca h c v s bc t do
H c khi lng phn b lin tc c v s bc t do (tc l c v s tn s ring v
dng dao ng ring).
Khc vi h hu hn bc t do phng trnh ton hc m t qu trnh dao ng l h
phng trnh vi phn thng, y dn ti phng trnh vi phn o hm ring. Do
ngoi cc iu kin ban u, cn xt n cc iu kin bin.
Ta xt mt s h lin tc n gin thng gp trong k thut.

.3.1. Dao ng dc ca thanh tit din khng i.

3.1.1. Phng trnh vi phn dao ng dc ca thanh.

Khi xt dao ng dc ca thanh thng ta coi tit din ngang ca thanh phng v cc
phn t ca thanh khng thc hin dch chuyn ngang m ch dch chuyn theo hng dc
thanh.
Cho thanh thng di L. Chn trc Ox hng dc thanh nh hnh v (Hnh 3-1).

L
U
m n m n
O X

U + U dx
x dx dx
x

m n
N dx
N N
x

Hnh 3-1

K hiu: l khi lng ring ca vt liu thanh; E l Mun n hi ca n; F l

din tch tit din ngang ca thanh.
Xt phn t gii hn bi hai mt ct m, n. Gi U l dch chuyn dc ca tit din
ngang bt k m c to x khi dao ng. Dch chuyn ny s l hm ca x v t: U = U(x,t).
U
Khi dch chuyn tit din ln cn n s bng: U + dx . T dn di tuyt i ca
x
U U
phn t thanh dx l dx ; v dn di tng i ca n bng: = (3-1)
x x

65
 Lc dc tc dng ti tit din ngang m c to x c tnh theo biu thc:
U
N = EF = EF (3-2)
x
EF gi l cng ca thanh khi ko, nn. Lc dc tc dng ti tit din ngang ln cn
c to (x + dx) bng:
N
N = N + dx.
x
2U
Khi lng phn t thanh kho st l: Fdx, nn lc qun tnh t ln n l: Fdx 2 .
t
p dng nguyn l a-lm-be i vi phn t thanh, phng trnh vi phn chuyn
N 2U
ng trn trc Ox: N + N + dx Fdx 2 = 0
x t
N 2U
Suy ra: = F 2 (3-3)
x t
2U 2 U
2
Thay (3-2) vo (3-3) nhn c: = a (3-4)
t 2 x 2
F
Trong : a = l tc truyn sng dc trong thanh; (3-4) l phng trnh dao

ng dc ca thanh tit din khng i .
3.1.2. Gii phng trnh (3-4) bng phng php Furi.
Phng trnh (3-4) l phng trnh o hm ring cp hai gi l phng trnh sng.
Hm U = U(x,t). NR ca (3-4) tm di dng:
U = X(x)T(t) (3-5)
Ngha l tm U dng tch hai hm. X(x) ch l hm ca x, T(t) ch l hm ca t. Thay
(3-5) vo (3-4) ta c:

a 2 X T
=
X T
V tri ca ng thc ch ph thuc vo x, v phi ch ph thuc t. ng thc ng
vi mi x, t th chng phi bng hng s. Ta k hiu hng s ny qua: - p2. Do :

a 2 X T
= p 2 ; = p 2
X T
Ta c hai phng trnh sau:
2

p
T + p 2 T = 0; X + X = 0 (3-6)
a
Phng trnh u ca (3-6) c nghim:
T = Asin(pt + ) (3-7)

66
 N c trng cho qu trnh dao ng, p cha bit c ngha nh tn s dao
ng t do.
Phng trnh th hai ca (3-6) c nghim:
p p
X = C sin x + D cos x (3-8)
a a
N xc nh dng ring ca dao ng.
Phng trnh xc nh i lng cha bit p c thit lp khi xt cc iu kin bin
gi l phng trnh tn s.
Ni chung phng trnh ny lun l phng trnh siu vit v c v s nghim pn
(n = 1, 2...). Nghim vit dng (3-5) ch l mt NR ca phng trnh sng. NTQ ca (3-4)
nhn c bng cch hp cc NR:

U = X n ( x ) Tn ( t ) (3-9)
n =1

Hm Xn (x) gi l hm ring, m t dng ring ca dao ng, n khng ph thuc vo

iu kin u v tho mn iu kin trc giao. Khi F = const, m n, ta c:
L

X
0
m (x).X n (x)dx = 0 (3-10)

3.1.3. Cc iu kin bin ca thanh, phng trnh tn s.

2.1.3a. Thanh c hai u t do (Hnh 3-2).
Trong trng hp ny lc dc hai u L
thanh bng khng, nn dn di tng i bng X
khng
x
U
Ta c: = 0 khi x = 0 v x = L
x Hnh 3-2

Hay: X T = 0 khi x = 0 v x = L
Cc iu kin trn c thc hin nu:
dX dX
= 0 v =0 (3-11)
dx x =0 dx x =L

T (3-8) vi C v D bt k, nn iu kin u ca (3-11) c tho mn khi t C = 0;

pL
iu kin th hai c tho mn nu: sin =0 (3-12)
a
(3-12) gi l phng trnh tn s. N cho php xc nh tn s ring ca dao ng dc
thanh vi cc mt t do.
pnL
Ta c: = n ; n = 1, 2, 3 ... (3-13)
a

67
 Khi n = 1, ta c tn s dao ng c bn:
a E
p1 = = (3-14)
L L
Chu k tng ng bng:
2
T1 = = 2L (3-15)
p1 E
Nh vy, ta c v s tn s dao ng ring, mi tn s tng ng vi mt dng dao
nx
ng ring xc nh bi hm ring Xn(x) = cos . V th, NTQ dao ng t do ca thanh
L
vi hai u mt t do c biu din dng:

nx
U = X n ( x )Tn ( t ) = cos .A n sin( p n t + n )
n =1 n =1 L
nx

nat nat
Hay: U = cos . a n cos + b n sin (3-16)
n =1 L L L
Cc hng s an, bn c th chn sao cho tho mn iu kin u. Gi s ti t = 0 th

U = f (x); U = f1 (x) . Thay iu kin ny vo (3-16) ta c:
t =0 t =0

nx
na nx
f (x) = a n cos ; f1 (x) = b n cos
n =1 L n =1 L L
nx nx
L L
2 2
T suy ra: a n = f (x) cos dx; b n = f1 (x ) cos dx (3-17)
L0 L na 0 L

3.1.3b. Thanh mt u ngm cht, mt u t do (Hnh 3-3).

Gi s thanh b ngm u x = 0, u cn L
li x = L t do. iu kin bin c dng:
X

U
U x =0 = 0 v =0 x
x x =L
Hnh 3-3
Hay: XT = 0 khi x = 0 v X T = 0 khi x = L.
iu ny c thc hin nu:
X x =0 = 0 ; X x =L = 0 (3-18)

Tng t cch l gii nh 3.1.3a, tho mn (3-18) phi c D = 0 v ta suy ra

pL
phng trnh tn s: cos =0 (3-19)
a
na
Gii ra ta c: pn = ; n = 1, 3, 5... (3-20)
2L

68
 a E
Vi n = 1 th: p1 = = (3-21)
2L 2L
NTQ dao ng dc ca thanh trong trng hp ny c dng:

nx nat nat
U = sin . a n cos + b n sin (3-22)
n =1, 3, 5... 2L 2L 2L
Hng s an, bn cng c xc nh bng iu kin u ti t = 0. Gi s thanh c ko
bi lc dc P ti mt t do. Ti t = 0 lp tc ct b lc P v thanh cn t do. K hiu l
dn di tng i ban u th = P/EF. Ta vit c iu kin u dng:

U t = 0 = x ; U =0
t =0

iu kin ny cho ta xc nh an v bn. Khi ta c:

n 1
8L
bn = 0 ; a n = 2 2 (1) 2
n
n 1
8L (1) 2 nx nat
Do : U = 2 sin cos (3-23)
n =1,3,5... n 2
2L 2L
Tm li, t cc iu kin bin ta s xc nh c cc tn s ring v cc hm ring.
Bng 4: Ta thng k mt s dng c bn cc iu kin bin ca bi ton khi xt dao
ng dc ca thanh.
Bng 4: Cc iu kin bin ca vi dng lin kt khi xt dao ng dc ca thanh.

S Dng lin kt iu kin bin

O X
Ngm U(0,t) = 0

U (0, t )
O
X u t do EF =0
x
N U (0, t )
=N
X
Lc dc EF
O x
C U (0, t )
= CU
X
EF
O Lin kt n x
C hi tuyn tnh U (L, t )
X
EF = CU
O x

U (0, t ) 2U
X
m
O EF =m 2
u thanh gn x t
m khi lng m U (L, t ) 2U
= m 2
X
EF
O x t

69
 .3.2. Dao ng xon ca trc trn tit din khng i.

3.2.1. Phng trnh c bn v nghim ca n.

V mt ton hc vic thit lp phng trnh vi phn dao ng xon ca trc trn ging
nh kho st dao ng dc ca thanh.
Cho trc trn di L. Chn trc Ox dc trc nh hnh v (Hnh 3-4) Gi l mt
khi lng ca vt liu trc; G l mun n hi trt ca n; JP l mmen qun tnh c
cc ca tit din ngang trc; khi : GJP = C l cng tit din ngang trc khi xon.

L
M m n
m n
O X

x dx M dx
M+
x
Hnh 3-4

Xt yu t thanh gii hn bi hai mt ct m, n gn k nhau. Mmen xon tc dng

M
hai tit din ny tng ng bng: M v M + dx
x

Gi l gc xoay ca tit din m c to x, khi bin dng gc tng i l .
x
Theo cng thc bit trong SBVL, ta c:

M = GJP (3-24)
x
2
Lc qun tnh tc dng ln yu t ca trc bng: JPdx 2
t
p dng nguyn l a-lm-be, phng trnh cn bng mmen i vi trc Ox:
M 2
M + M + dx J P dx 2 = 0
x t
M 2
T : = J P 2 (3-25)
x t
Thay (3-24) vo (3-25) ta nhn c:
2 2
2
= a (3-26)
t 2 x 2
1

G
Trong : a 1 = l vn tc truyn sng trt.

Phng trnh (3-26) l phng trnh vi phn dao ng xon ca trc trn tit din
khng i. N c dng ging phng trnh (3-4).

70
 NTQ ca (3-26) c dng:

= X n ( x )Tn ( t ) (3-27)
n =1

pn x p x
Trong : Xn(x) = Cn sin + D n cos n (3-28)
a1 a1

Tn(t) = An sin ( pnt + n)

Cc hng s An, n c xc nh t iu kin u. Cc tn s ring v hm ring
c xc nh t cc iu kin bin.

3.2.2. Cc iu kin bin - phng trnh tn s.

3.2.2a. Trc c hai u t do (Hnh 3-5).

Hnh 3-5

Trong trng hp ny mmen xon hai u bng khng. Nn:

= 0 v =0
x x =0 x x = L
Hay c th vit: X x =0 = 0 v X x =L = 0 (3-29)
pL
tho mn iu kin (3-29), ta phi c: C = 0 v: sin =0 (3-30)
a1
(3-30) l phng trnh tn s trong trng hp kho st. Gii ra:
pnL
= n; n = 1, 2, 3... (3-31)
a1

nx na 1 t na 1 t
NTQ c dng: = cos a n cos + b n sin
n =1 L L L
L
3.2.2b. Trc c gn cc a (bnh ) hai J1
J2
u mt (Hnh 3-6). x
O
Trong trng hp ny mmen xon cc u
trc bng mmen cc lc qun tnh ca cc a x
(bnh ).
Hnh 3-6

71
 iu kin bin khi ny c dng sau: J 1 2 = GJ P
2
khi x = 0
t x
2
J2 = GJ P khi x = L
t 2
x
J 1p 2 X = GJ P X khi x = 0
Hay: 2 (3-32)
J 2 p X = GJ P X khi x = L
Khi cho tho mn cc iu kin trn ta nhn c phng trnh tn s:
pL pa 1 J 1 pL p pL pa 1 pL
p 2 cos sin J 2 = GJ P sin + cos (3-33)
a 1
a1 GJ P a1 a1 a 1 GJ p

pL J 1g J J LJ P
t: = = 1 = m; 2 = n; J 0 =
a1 LJ P J 0 J0 g

Phng trnh (3-33) a v dng: n(1 mtg) = (tg+ m)

(m + n )
Hay suy ra: tg = (3-34)
mn 2 1
Nu 1, 2, ... n l nghim ca phng trnh (3-34) th NTQ i vi trng hp kho
st l:

x x at a t
= cos n m n sin n a n cos n 1 + b n sin n 1 (3-35)
n =1 L L L L

.3.3. Dao ng un ca dm tit din khng i.

3.3.1. Phng trnh c bn.

Gi s dm c mt phng i xng v dao ng xy ra trong mt phng ny, ngha l dm
ch thc hin dao ng un theo phng y. Trong trng hp mt ct dm khng i xng qua
hai trc th dm s thc hin dao ng xon v un ng thi m ta khng xt y.
Mt khc ta cng gi thit rng: Cc mt ct ca dm lun lun phng v vng gc
vi trc vng ca dm. Ta k hiu EJ l cng ca dm khi un, q l khi lng n v
trn chiu di dm, y l dch chuyn ca tit din dm.
Xt phn t dm dx gii hn bi hai mt ct k nhau m v n (Hnh 3-7).
Mmen un v lc ct tc dng ln phn t dm hai mt ct m v n tng ng bng:
M Q
M, M + dx v Q, Q + dx
x x
2y
Lc qun tnh tc dng ln phn t dm kho st: qdx
t 2

72
 p dng nguyn l a-lm-be, Ta c:
- Tng hnh chiu cc lc ln phng thng ng Oy:

Q 2y
+q 2 =0 (1)
x t

m n x

x dx
L
y
m n M
Q M+ dx
M x
dx Q
Q+ dx
x
2y
qdx
t 2

Hnh 3-7

- Tng mmen cc lc i vi trc thuc tit din m thng gc vi mt phng hnh v:

M
Q = 0 (2)
x
2 M Q
o hm (2) theo x: =0 (3)
x 2 x
2M 2y
Thay (1) vo (3) ta c: +q 2 =0 (3-36)
x 2 t
2y
p dng cng thc v l thuyt un ca thanh trong SBVL: EJ =M (3-37)
x 2
2 2y 2y
Thay (3-37) vo (3-36) ta c: EJ +q 2 =0 (3-38)
x 2 x 2 t

2y 2 y
4
Nu dm c tit din khng i th EJ = const ta suy ra: = a (3-39)
t 2 x 4
2

EJ
Trong : a 2 = , (3-39) l phng trnh vi phn dao ng un ca dm tit din
q
khng i.

73
 3.3.2. Gii phng trnh (3-39).
Tng t nh cc trng hp trn, ta tm nghim phng trnh (3-39) di dng:
y = X(x).T(t) (3-40)
Thay (3-40) vo (3-39) ta c:

T X ( IV )
= a 22 (3-41)
T X
h thc ny lun lun l ng nht thc th v tri v v phi ca n phi bng
hng s: (-p2). Do , ta nhn c:
2

p
T + p T = 0 v X
2 ( IV )
X = 0 (3-41)
a
Phng trnh u ca (3-41) m t chuyn ng c c trng dao ng vi tn s p.
Phng trnh sau ca (3-41) xc nh dng dao ng ring, cc NR ca phng trnh ny l:
sinkx, coskx, shkx, chkx. NTQ ca n biu din dng:
X = C1sin kx + C2coskx + C3shkx + C4chkx (3-42)
2
p qp 2
Trong : k = 4 = 4 (3-43)
a2 EJ

Cc hng s C1, C2, C3, C4 c xc nh t cc iu kin bin.

3.3.3. Phng trnh tn s.
Thay cc iu kin bin vo (3-42) s dn ti cc phng trnh thun nht i vi cc
hng s C1, C2, C3, C4. cc hng s khng ng thi bng khng th nh thc ca h
phi bng khng. iu s dn ti phng trnh tn s. Ta minh ho iu ny bng vi
trng hp sau:
3.3.3a. Dm c hai gi ta bn l (Hnh 3-8).
Trong trng hp ny m men un M v vng y ti cc gi ta bng khng.
y = XT = 0 v M = EJ.XT = 0.
x

L
y

Hnh 3-8

Hay: X x =0 = 0 ; X x =0 = 0 ; X x = L = 0 ; X x = L = 0 (3-44)
Ta vit nghim (3-42) dng sau:

74
 X = C 1 (cos kx + chkx) + C 2 (cos kx chkx) + C 3 (sin kx + shkx)
(3-45)
+C 4 (sin kx shkx)
T iu kin u ca (3-44): X x =0 = 0; X x =0 = 0 . Suy ra rng: C1, C2 c th t
bng khng.
T cc iu kin cn li ca (3-44): X x = L = 0; X x = L = 0 . Ta nhn c: C3 = C4 v
sinkL = 0 (3-46)
(3-46) l phng trnh tn s trong trng hp kho st, gii phng trnh ny ta c:
kL = n; n = 1, 2, 3... (3-47)
Khi ch ti (3-43) ta nhn c:
n 22 EJ
pn = (3-48)
L2 q
3.3.3b. Dm c cc mt t do (Hnh 3-9).

L
y

Hnh 3-9

Trong trng hp ny lc ct Q v mmen un M hai u thanh bng khng, ta c:

Q = EJX T = 0
khi x = 0, x = L.
M = EJX T = 0
X = 0
Hay: khi x=0, x=L (3-49)
X = 0
Ta vn s dng biu thc nghim (3-45). Khi t iu kin:
X x =0 = 0 v X x =0 = 0 suy ra C 2 = C 4 = 0
Nn: X = C1(coskx+chkx) + C3(sinkx+shkx)
T iu kin cn li: X x = L = 0 v X x = L = 0 ta nhn c:
C 1 ( cos kL + chkL ) + C 3 ( sin kL + shkL ) = 0

C 1 (sin kL + shkL ) + C 3 ( cos kL + chkL ) = 0
Nghim C1, C2 khc khng nhn c ch trong trng hp nh thc ca h bng
khng. Ta c phng trnh tn s sau:
(-coskL + chkL)2 - (sh2kL - sin2kL) = 0
Ch rng: ch2kL - sh2kL =1; cos2kL + sin2kL = 1
Ta nhn c: coskL.chkL =1 (3-50)

75
 Su nghim u tin ca phng trnh ny nh sau:

k1L k2L k3L k4L k5L k6 L

0 4,730 7,853 10,996 14,137 17,279
Trong bng 5, ta dn ra cc iu kin bin ca mt vi dng lin kt khi xt dao ng
un ca dm.
Ch :
Vi thanh (dm) c khi lng phn b lin tc, tit din ca n bin i theo chiu
di, khi thay cc phng trnh (3-4), (3-26), v (3-39) c dng sau:
2 U 2U (3 51)
a F = F t 2
x x
2 (3 52)
J = J t 2
2
a 1
x x
2 2y 2y (3 53)
2 EJ 2 = q 2
x x t

Bng 5: Cc iu kin bin ca mt s dng lin kt khi xt dao ng un ca dm.

S Dng lin kt iu kin bin
O x Q = EJX T = 0 X = 0
u t do
M = EJX T = 0 X = 0
O x Y = XT = 0 => X = 0
Bn l
M = EJX T = 0 X = 0

O x Y = XT = 0 => X = 0
Ngm
= X T = 0 X = 0

m0
x
M = EJX T = 0 X = 0
O u thanh gn
khi lng m0
m0
x
Q = m0 y => m0p2 X = EJX
O
O x
C M = EJX T = 0 X = 0
Lin kt n
Q = R EJX = CX
O x hi tuyn tnh
C
(R = Cy)

76
 Nh vic t U = X(x)T(t); = X(x)T(t); y = X(x)T(t). C th nhn c cc phng
trnh vi phn thng nh sau i vi hm X(x) v T(t):
2
p
(FX ) + FX = 0 (3-54)
a
2
p
( JX ) + JX = 0 (3-55)
a1
(EJX ) qp 2 X = 0 (3-56)

T+ p 2T = 0 (3-57)
Cc phng trnh ny khc vi cc phng trnh trc y ch: Cc h s ca chng
bin i. Nghim hin ca chng nhn c ch trong cc trng hp ring khi cc bin: F,
J, EJ, q xc nh s ph thuc c bit. Trong trng hp tng qut cn a vo cc php
gii gn ng, nh: Phng php Ris; phng php Butnp - Galerkin; phng php gn
ng lin tip v.v...

3.4. S truyn sng n hi dc trong thanh tit din khng i.

Trong phn 3.1 thit lp phng trnh vi phn dao ng dc ca thanh tit din
khng i:
2U 2 U
2
a =0 (3-4)
t 2 x 2
E
Trong : a = l vn tc truyn sng dc trong thanh. Phng trnh (3-4) cng

cn gi l phng trnh sng. Nghim ca (3-4) c kho st dng chui Fuari. Tuy
nhin dng nghim ny khng phi duy nht. C th ch ra cc cch khc nhau gii phng
trnh sng (3-4) nh phng php a-lm-be, phng php ha gii tch, phng php
bin i tch phn v.v.... phn trnh by di y ta kho st nghim ca (3-4) bng
phng php a-lm-be.
a vo bin s mi: = at - x; = at + x
1 1
=> x = ( - ); t = ( - )
2 2a
Khi hm dch chuyn U(x,t) qua bin s mi l U(,).
p dng quy tc o hm ca hm hp ta c:

x = x + x = +

2
= +2 +
2 2 2

x 2 2 2

77

= + = a
t t t
2
= a 2 2 +
2 2 2

t 2

2
2

T (3-4) tr thnh:
2U U
4a 2 = 0 Hay =0

U U
R rng khng ph thuc vo v ch l hm ca , k hiu = Q(). Ta c:

U = Q()d + ()

Tip tc t: Q()d = () ta c:

U = () + ()
Khi chuyn qua bin mi, ta c:
U = (at - x) + (at + x) (3-58)
Biu thc (3-58) l NTQ ca phng trnh (3-4). N gm hai s hng:
a). S hng u: (at - x) l sng dch chuyn truyn dc thanh theo hng trc Ox
vi vn tc truyn sng a khng i. Tht vy, khi x = at + c th = const. Nh th nu
thi im t = t1, ti tit din x = x1 tn ti dch chuyn th thi im t = t2 dch chuyn
ny s tit din x = x2 vi x2 = x1 + a(t2 t1).
b). S hng th hai: (at + x), vi cch l gii tng t s l sng dch chuyn dc
thanh theo hng ngc li cng vi vn tc truyn sng a.

Kt lun: Chuyn ng ca thanh c th kho st nh kt qu tng hp ca hai sng

bin dng dc thanh hng ngc nhau vi cng vn tc truyn sng a.
Khi cho cc iu kin u v cc iu kin bin xc nh, ta tm c nghim c th
ca phng trnh (3-4).
p dng iu trnh by trn, ta xt c th mt s bi ton v va chm dc ca vt rn
vo thanh n hi, l: Va chm dc ca vt rn vo thanh n hi t do v va chm ca
vt rn vo thanh n hi mt u b gn cht (ngm).

78
 Chng IV
Va chm dc ca vt rn vo thanh n hi
v p dng l thuyt va chm vo bi ton ng cc

Ni dung chng ny s trnh by:

Mt vi bi ton v va chm dc ca vt rn vo thanh n hi v ng dng ca
chng nghin cu cc bi ton va chm ca ba vo cc.

.4.1. Mt vi bi ton v va chm dc ca vt rn vo thanh n hi.

4.1.1. Va chm dc ca vt rn vo thanh n hi t do.

Bi ton ny c Xanhvnng gii bng phng php Butxinet v nghim tm
c di dng hm lin tc tng khc i vi mt vi khong gi tr ca bin s. Sau
E.A.Nhiclai tm c biu thc gii tch ca nghim i vi khong tu lin tc ca
bin s.

x V0 O

Hnh 4-1

Phng trnh vi phn chuyn ng ca thanh l:

2U 2 U
2
= a (4-1)
t 2 x 2
Xt iu kin u v iu kin bin ca bi ton.
Gi s thi im t = 0 trng vi thi im bt u va chm ca vt rn v thanh, khi
ta c iu kin ban u sau:

U(0,t) = 0; U t (0, t ) = 0 vi a < x < L (4-2)

U t (0, t ) = V0 vi x = L (4-3)
Trong : L l chiu di ca thanh; V0 l vn tc ban u ca vt th va chm. iu
kin cui ta coi rng thi im ban u vn tc ca u thanh trng vi vn tc ca vt va
chm.
ti u t do (x = L) ca thanh. Lc qun tnh ca vt th va chm c dng:
U Q 2U
EF = (4-4)
x g t 2

79
 Trong : Q - trng lng ca vt th va chm; F - din tch tit din ngang ca thanh.
Ta k hiu t s gia trng lng ca vt th va chm Q v trng lng ca thanh
Q1 = FL qua m, do Q = mQ1.
H thc trn c vit:
2 U (t, L ) U (t, L )
mL = a 2 (4-5)
t 2
x
iu kin bin u t do kia ca thanh c dng:
U (t,0)
=0 (4-6)
x
Nghim ca (4-1) theo a-lm-be c dng:
U = (at x) + (at + x) (4-7)
Khi o hm h thc trn theo thi gian v to ta c:
U
= a[(at x) + (at + x)] (a)
t
U
= (at x) + (at + x) (b)
x
Vi x = 0 theo iu kin bin ta c:
U( t ,0)
= (at ) + (at ) = 0 (c)
x
Hay: (at ) = (at )
Do : (at x) = (at x)

Khi tch phn ng thc ta c: (at x) = (at x)

ng thc (4-7) c th vit:
U = (at x) + (at + x)
U (0, x)
Vi t = 0 ta s c: = a[ ( x) + (x)] = 0
t
Hay l: ( x ) + ( x ) = 0 (d)
Mt khc t ng thc (b) ta c:
( x ) + ( x ) = 0
Suy ra ( x ) = 0 , ( x ) = 0 vi 0 < x < L, hay ni cch khc nu thay bin s x
bng bin s mi z ta c:
(z ) = 0 Vi L < z < L

80
 Tch phn h thc (d) v loi b cc hng s ta c:
(x) (x) = 0
Theo iu kin u:
U( 0,x) = (x) + (x) = 0
T suy ra: (x) = (x) = 0 vi 0 < x < L
Do : ( z ) = 0 Vi: L < z < L (e)
Khi s dng iu kin (4-6) ta s c:

mLa 2 [ (at L ) + (at + L )] = a 2 [ (at L ) + (at + L )]

n gin ta t z = at + L, phng trnh trn c vit:

1 1
(z ) + (z) = (z 2L ) + (z 2L ) (4-8)
mL mL
Nghim tng qut ca phng trnh c dng:

z z z
1
(z ) = Ce mL
+e mL
e mL
(z 2L) + mL (z 2L ) dz (4-9)

Vi L < z < 3L
Nh iu kin ban u ta s c:
L
V0 zmL
(z) = e
a
zL
mLV0 mL
Tch phn ta c: (z) = e + C1
a
Da vo tnh lin tc ca hm U (t, L) v iu kin ban u ta c:
mLV0
U (t0, L) = (L + 0) = 0 do : C 1 =
a

mLV0
zL

Vy: ( z ) = 1 e mL
a

mLV0
zL

Hay l: U = (at + x) = 1 e mL
a

Vi 3L < z < 5L, l gii tng t nh trn ta c:
z z 3 L
2V0
(z) = Ce mL
(z 3L)e mL
maL

81
 Da vo tnh lin tc ca vn tc ti x = L, c th xc nh c hng s C:

V0 m1 3

C= e em
a

zL z 3 L
V V 2
Do : (z ) = 0 e mL + 0 1 (z 3L ) e mL
a a mL
U
Ti tit din (x = L) bin dng tng i s l: = (at L ) + (at + L )
x

U
at
V
Khi at < 2L ta c: = 0 e mL < 0
x a
Ngha l vi at < 2L th vt th va chm v thanh cn tip xc vi nhau.
Nu at > 2L ta c:
at 2 L at 2 L
U V0
at
V V 2
= e mL
0 e mL + 0 1 mL (at 2L ) e
mL

x a a a
Khi thay at = 2L + 0 ta c:

U (2L + 0, t ) V0
2

= (at L ) + (at + L ) = m
2e >0
x a
2L
iu c ngha l thi im t = thanh tch ri khi vt, hin tng va chm
a
2L
kt thc vi t = .
a

4.1.2. Va chm ca vt rn vo thanh n hi mt u b gn cht.

Bi ton ny c mt s tc gi quan tm nh: S.P.Timsenk; N.A.Kintrepski;
E.A Nhiklai; V.L.Biderman ...

x V0 O

Hnh 4-2

Phng trnh vi phn chuyn ng ca thanh l:

2U 2 U
2
= a (4-1)
t 2 x 2

82
 iu kin u ca bi ton:
U (x,0)
U (x,0) = 0; = 0 vi 0 < x < L
t

U (x,0) = V vi x = L
t 0

iu kin bin ca bi ton:

ti u thanh gn cht U(0,t) = 0
Lc qun tnh ca vt tc dng ln u thanh t do cho nn vi x = L ta c:
U Q 2U
EF = (4-4)
x x=L g t 2 x =L
Tng t dng cc k hiu 4.1.1, iu kin bin ti u t do c dng:
2 U (t, L ) U (t, L )
mL = a 2 (4-5)
t 2
x
Nghim tng qut ca phng trnh (4-1) c dng:
U = (at x) + (at + x) (4-7)
S dng iu kin u v iu kin bin ta xc nh cc hm v .
T iu kin ti u (x = 0) gn cht ta c:
(at) + (at) = 0
Do : (at +x) = (at + x )
Vy: U (x,t) = (at x) (at + x) (4-10)
By gi trn c s, iu kin u v iu kin ti u t do ta s tm c dng gii
tch ca hm v xc nh dng sng.
T iu kin u ta c:

U (x) = (x) (+ x) = 0 (0 < x < L )
t =o
U
= (x) (+ x) = 0 (0 < x < L ) (4-11)
x t =0
U
= a(x ) a(+ x) = 0 (0 < x < L )
t t =0

T hai ng thc cui ta c:

( x ) = 0; (+ x ) = 0 (0<x<L)
Nu thay bin x bng bin z ta c:

83
 (z) = 0 ( -L < z < L) (4-12)

Do trn on ( L; L) th (z) = const.

Vi iu cc h thc ca (4-11) tho mn, ta ly hng s ny bng khng.
By gi xt iu kin (4-5), sau khi thay (4-10) vo iu kin ny ta c:

mL[(at L ) (at + L )] = [(at L ) + (at + L )]

t (at + L) = z
Phng trnh trn c vit:
1 1
(z) + (z ) = (z 2L ) (z 2L ) (4-13)
mL mL
Cc phng trnh (4-12), (4-13) cho php xy dng hm cha bit (z) c lin h
vi cc gi tr ca chng trong hai khong lin tip.
Nu cc gi tr ca (z) trn khong (2n-1)L < z < (2n+1)L c bit th cc gi tr
ca hm s c xc nh trong khong (2n+1)L < z < (2n+3)L.
Thc t nu hm (z) c bit trong khong 2(n-1)L < z < 2nL th v phi ca
phng trnh c bit trong khong 2nL < z < 2(n+1)L.
Tch phn (4-13) ta c:

z z z
1
(z) = C n e mL
+e mL
e mL (z 2L) mL (z 2L) dz (4-14)

Trong : Cn - hng s tch phn,

By gi ta s xy dng hm (z) khi chuyn t mt tch phn n mt tch phn sau.
iu kin (4-12) xc nh (z) trong khong (-L; L).

Nu s dng (4-14) ta s tm c (z) trong khong (L; 3L). Trong khong ny v

phi ca (4-13) bng khng.
T ng thc (4-14) ta c:
z

(z ) = C 1 e mL
(L < z < 3L)
xc nh hng s C1 ta s dng iu kin (4-3) ta c:

a[(L + 0) (L + 0)] = V0

Trn c s cng thc (4-12) s hng th nht trong ngoc bng khng, t ta c:
1
V0
(L + 0) = = C1e m (4-15)
a

84
 L
V0 zmL
Do : (z) = e (L < z < 3L) (4-16)
a
By gi c th xc nh hm (z) trong khong (3L, 5L).
L
V0 zmL
y (z 2L) = e , thay vo phng trnh (4-13) ta c:
a
z 3 L
1 2 V0
(z) + (z) = e mL
mL mL a
Nghim tng qut ca phng trnh ny c dng:
z z 3 L
2 V0
(z) = C 2 e mL
. (z 3L )e mL
(3L < z < 5L) (4-17)
mL a
Hng s C2 c xc nh t iu kin lin tc ca vn tc u thanh (x = L) trong
thi gian va chm. Nh vy c th tm c cc hng s Cn vi cch lm tip tc v sau ca
hm (z) , ta s nhn c dng tng qut iu kin lin tc ca vn tc u t do ca
U
thanh . Cc iu kin ny cho php xc nh bng s Cn.
t x=L

Trn c s cng thc (4-10) ta s c:

1 U
= (at L) (at + L) (4-18)
a t x = L

2 nL
Thay: t = 0 vo (4-18) ta c:
a
1 U
= [(2 n 1)L 0] [(2n + 1)L 0] (4-19)
a t x =2LnL
t= 0
a

2 nL
Thay: t = + 0 vo (4-18) ta c:
a
1 U
= [(2n 1)L + 0] [(2n + 1)L + 0] (4-20)
a t x =2LnL
t= +0
a

Da vo tnh cht lin tc ca vn tc u t do ca thanh c ng thc sau:

[(2n 1)L 0] [(2 n + 1)L 0] = [(2n 1)L + 0] [(2 n + 1)L + 0]
Suy ra:
[(2n 1)L + 0] [(2n + 1)L 0] = [(2n 1)L + 0] [(2n + 1)L 0] (4-21)

85
 ng thc (4-21) xc nh tnh cht ca hm s (z ) , nu (z ) lin tc gin on
loi 1 vi z = (2n-1)L, th cc bc nhy c gi tr ging nhau.
Ta c th chng minh s gin on lin tc ny thc t tn ti v tm c gi tr
chung ca bc nhy (z ) vi z = (2n 1)L.
Khi quay li kt qu (4-15) xut pht t iu kin u (4-3) ta c:
V0
(L + 0) = (4-22)
a
Mt khc t (4-12) ta c: (L 0) = 0 (4-22a)
By gi ta c kh nng tm gi tr chung bc nhy ca hm (z) vi z = (2n-1)L.

(L + 0) (L 0) = [(2 n 1)L + 0] [(2 n 1)L 0] =

V0
(4-23)
a
iu kin (4-5) cho php xc nh lin tip cc hng s Cn ng thc (4-14).
Sau khi thay z = 3L 0 vo ng thc (4-16) v z = 3L + 0 vo ng thc (4-17) v
dng iu kin (4-23) ta c:
3 2
V0 V0 m
C 2e m
= + e
a a
V0 m3 1

Rt ra: C2 = e + em
a

Thay vo ng thc (4-17) ta c:
zL z 3 L
V V 2
(z) = 0 e mL + 0 1
mL ( z 3L ) e
mL
(4-24)
a a
Sau khi xc nh (z) trong khong (3L; 5L) v s dng ng thc (4-5) v (4-23) ta
s tm c hm (z) trong khong (5L; 7L). i vi iu kin ta s xc nh c
biu thc di du vi phn trong ng thc (4-14):
2V0 mL
z 3 L z 5 L z 5 L
1 4V0
(z 2L ) (z 2L ) = e + 2 e mL
+ ( z 5L ) e mL
mL
mLa 2 2
m La
Khi dng (4-14) ta c:

z
V0 z 3 L
z 5 L
2V
z 5 L

(z) = C 3 e mL
(z 5L ) e mL + 2e mL + 2 02 (z 5L )e mL (4-25)
mLa m La
Vi 5L < z < 7L
xc nh hng s C3 ta li ln na ch n ng thc (4-23) v ng thc (z)
trn khong (3L; 5L).

86
 Khi thay z = 5L - 0 vo biu thc (4-24) v z = 5L + 0 vo (4-25) ta c:
V 4
5 4 2
V V
C 3e m
0 e m 0 1 e m = 0
a a m a

V0 m1 4 m
3

5

T suy ra: C3 = e + 1 e + e m

a m
By gi ta s c c biu thc (z) trong khong (5L; 7L).
zL z 3 L
V0 mL V0 2
(z) = e + 1
mL ( z 3L ) e
mL
a a
z 5 L
(4-26)
V 4 2 2

+ 0 1
mL ( z 5 L ) + ( z 5 L ) e mL
a m 2 L2
Ta xc nh (z) , t (4-12) rt ra:
(z) = C 1 (-L < z < L)
Ta s t: (z ) = 0 (-L < z < L) (4-27)
Trn c s cc nh l tng qut v va chm ca vt rn c th kt lun: Dch chuyn
ti u t do ca thanh Ux = L cn l hm s lin tc ca thi gian. Ta c:
U x = L = (at L ) (at + L ) = (z 2L ) (z ) (4-28)
Tip tc ta tm c:
U x = L = (L + 0) (L + 0)
t = +0

Tha mn ng thc: U x = L = (L + 0)
t = +0

Khi ch iu kin lin tc Ux=L v cc iu kin u (4-2) ta c:

(L + 0) = 0
2L
By gi ta t: t = 0 , khi
a
U x =2LL = (L 0) (3L 0) = (3L 0) (4-29)
t= 0
a

Nh vy khi ch n biu biu thc (4-27):

U x =2LL = (L + 0) (3L + 0) = (3L + 0)
t= +0
a

T iu kin lin tc rt ra: (3L 0) = (3L + 0) (4-30)

2 nL
R rng c th c c i vi cc gi tr bt k t = 0 (n = 0, 1, 2...) nm trong
a
khong thi gian va chm.
87
 Ta s gii hn cc s ph thuc tm c (4-27) (4-30) xc nh (z) trong
khong (L; 3L) v (3L; 5L).
Vic xc nh (z) trong cc khong tip theo c thc hin tng t nh xc nh
(z) trong hai khong ch ra trn. Trn c s cng thc (4-16) v (4-24) ta c:
zL
mLV0 mL
(z ) = C 2 e L < z < 3L (4-31)
a
z L z 3 L z 3 L
mLV0 mL mLV0 2V
(z ) = C 3 e + e mL
+ 0 (z 3L )e mL
(4-32)
a a a
Vi 3L < z < 5L
mLV0
T iu kin (4-27) v (4-31) ta c C 2 = , v t iu kin (4-30); (4-32) ta c:
a
2 2
mLV0 m mLV0 m mLV0
C2 e = C3 e +
a a a
T suy ra C3 = 0.
mLV0
zL

Nh vy: (z) = 1 e mL
L < z < 3L (4-33)
a

L 3L z 3L
mLV0 zmL mLV0 zmL 2V0
(z) = e + e + (z 3L )e mL (4-34)
a a a
Vi 3L < z < 5L
Tng t vi ng thc (4-33) v (4-34) ta c:

mLV0
z L
mLV0 2
z 3 L

(z ) = 1 e mL + 1 + ( z 3L ) mL
mL e
a a
(4-35)
z 5 L
2
mLV0 2
1 + m 2 L2 (z 5L) e
mL
a
Vi 5L < z < 7L

Nu xt cu trc ca hm (z ) v (z) trn cc khong khc nhau, ta c th nhn xt:

S chuyn t khong no n khong tip sau s km theo s xut hin thnh phn
hm s (z) v tng ng hm s (z) s hng mi no vi s bo ton cc s hng
trc. Vic nghin cu chi tit ny cho php E.A.Nhiclai xy dng c biu thc gii tch
hm s (z) thun tin i vi khong ty ca s thay i bin s ca hm s.

Sau khi xc nh hm s (z) c th hon ton nghin cu trng thi ng sut, bin
dng v vn tc ca thanh. Sau khi s dng ng thc (4-10) ta s theo di dch chuyn sau
ca cc cht im ca thanh sinh ra sau thi im va chm.

88
 L
Nu 0 < t < th (at - x) = 0 tho mn (4-26) v trng hp ny U = - (at + x).
a
l dch chuyn ca sng dc theo hng m ca trc Ox. Biu thc gii tch ca
dch chuyn c c trn c s cng thc (4-34) sau khi t z = at + x.
L
Khi t = sng n u thanh gn cht v xut hin sng phn x chy theo chiu
a
dng ca trc Ox.
Nh vy tn ti hai sng: Sng (at - x) dch chuyn theo chiu dng ca trc Ox v
sng (at + x) dch chuyn theo chiu m ca trc Ox.
L 2L
Khi <t< c th tm c dng sng ny t biu thc (4-33) sau khi thay z = at - x
a a
v z = at + x.
Cng bng phng php nh vy c th nghin cu c dch chuyn, bin dng v
ng sut cc khong sau.
Cc h thc nhn c ch c ngha trong thi gian v chm gia vt rn v
U
thanh. S kt thc va chm c xc nh bng thi im , thi im ny hng
x
n khng v sau i du. p lc gia vt th va chm v thanh cn c gi hng theo
hng php tuyn trong i vi mt tip xc ca vt th va chm v thanh.

trng hp c nghin cu hng php tuyn trong i vi mt tip xc ca vt

th va chm v thanh vi x = L trng vi hng m ca trc Ox. Cho nn thi gian tip xc
gia thanh vi vt th va chm p lc thit din ngang u thanh x = L cn phi m.
T ng thc (4-10) ta c:

U
= (at L ) (at + L ) (4-36)
x x = L

2L
Nu: 0 < t < , th trn c s biu thc (4-12) (at L ) = 0 v (at + L ) c xc
a
U
nh bng (4-16) v nhn gi tr dng. Vi iu ny s m. Nh vy thi gian va
x x = L
2L
chm > .
a
2L 4L
Ta xt khong thi gian sau: <t< . Trong trng hp ny s hng u v phi
a a
ca ng thc (4-28) xc nh theo cng thc (4-16) v s hng th hai xc nh theo cng
thc (4-24).

89
 Khi tnh s hng u (at L ) cn t z = at L, khi tnh s hng th hai (at + L )
cn t z = at + L . Khi ta s c:

U V at 2L
at 2

= 0 e mL 1 + 2e m 1 (4-37)
x x = L a mL

Vi (2L < at < 4L)

Khi so snh v phi ca ng thc (4-37) vi khng ta c:
2
2at 4
= +2+e m (4-38)
mL m
2
2L 4L 4 4 8
Da trn c s ca <t< ta c: < +2+e m <
a a m m m
Bt ng thc bn tri lun lun c thc hin.
2
4
Bt ng thc bn phi cho: >2=e m (4-39)
m
Theo tnh ton ca Xanhvnng bt ng thc ny ch c kh nng xy ra vi iu
kin: m 1,73.
2L 4L
Nu m < 1,73 th va chm kt thc thi im tho mn bt ng thc <t< .
a a
Thi im ny c xc nh t phng trnh:

L m m
2

t= 2 + m + e (4- 40)
a 2

4 L 6L
Nu m > 1,73 th cng bng phng php nh trn xt khong , v.v
a a
Chng ta s dn n cc kt qu tnh ton ca Xanhvnng:

Gi s khong thi gian va chm, khi :

2L < a < 4L, nu m < 1,7283

4L < a < 6L, nu 1,7283 < m < 4,1511 (4-41)
6L < a < 8L, nu 4,1511 < m < 7,35 ; ...

T suy ra nu tng t s trng lng ca vt th va chm v trng lng ca thanh
th thi gian va chm s tng.

90
 4.2. Mt vi bi ton va chm ca ba vo cc

4.2.1. Va chm ca ba vo cc t do
S bi ton
P(t)
0 2L/a 4L/a t

1 3

L
2 4

L/a 3L/a 5L/a

x

Hnh 4-3

4.2.1.1. Thit lp bi ton.

1. Phng trnh chuyn ng ca cc (4-1)
2U 2 U
2
= a
t 2 x 2
Trong : U l dch chuyn ca cc.

E
a= l vn tc truyn sng trong cc.
p

E, l Mun n hi v khi lng ring ca cc.

2. Nghim tng qut ca (4-1) theo a-lm-be c dng (4-7)
U (x, t ) = (at x) + (at + x)
3. iu kin u ca bi ton
Ta chn thi im t = 0 trng vi thi im bt u va chm (4-2).
U
Vi t = 0 th U = 0; =0
t
4. iu kin bin ca bi ton (4-4)
U P(t )
Ti u cc x = 0 th: = (4-4a)
x E.F

91
 U
Ti y cc x = L th: =0 (4-6a)
x
4.2.1.2. Thit lp phng trnh vi phn xc nh lc nn ca m n hi ln u
cc.
Ta gi lc nn ca m n hi ln u cc l P(t):



P(t ) = C(U T U 0 ) do P (t ) = C U T U 0 (4-42)

Trong : C: cng ca m u cc.
UT: Dch chuyn ca ba.
U 0 : Dch chuyn ca u cc.

Phng trnh chuyn ng ca u ba l: M U T = P(t )

P(t )
Hay: UT = (a)
M
Trong M: Khi lng ca ba.
Dch chuyn ti u cc l: U 0 = (at ) + (at )

Vy: U T = a 2 [(at ) + (at )] (b)
T (4-4a) v (4-7) ta c:
U P(t )
= (at ) + (at ) =
x EF
P(t )
Hay: (at ) = (at ) +
EF

P(t )
Suy ra: (at ) = (at ) + (c)
EFa
Thay (a) v (c) vo (4-42) ta c:

Ca C
P(t ) + P(t ) + P(t ) = 2Ca 2 (at ) (4-43)
EF M
Ca C
t: = 2n; = 12 + n 2
EF M
2
C C.a
Trong : =
2
1
M 2.EF
Vy (4-43) c th vit li l:

92

P (t ) + 2 n P(t ) + (12 + 2n 2 )P(t ) = 2Ca 2 (at ) (4-44)
Phng trnh (4-44) chnh l phng trnh vi phn xc nh lc nn ca m n hi
ln u cc.

4.2.1.3. Xc nh lc nn ca m n hi ln u cc trong khong thi gian

2L 2L 4L
(0 t ); ( t ) v cc hm sng (at x); (at + x)
a a a
(Di y ta xt trng hp 12 > 0 , cn trng hp 12 < 0 cng l lun tng t).
2L
1. Xt trong khong thi gian (0 t )
a
L
Gi P0 (t ) l lc nn ca m ln u cc trong khong 0 t 2
a
Trong khong thi gian ny, theo s bi ton th sng phn cha xut hin nn v
phi ca (4-44) bng khng.
Ta c phng trnh vi phn xc nh P0 (t ) :

P 0 (t ) + 2n P 0 (t ) + (12 + n 2 )P0 (t ) = 0 (4-45)

Nghim tng qut ca phng trnh (4-45) c dng:

P0 (t ) = e nt (C 1 cos 1 t + C 2 sin 1 t )

Hng s C1 v C2 c xc nh da vo iu kin u ca P0(t) v P 0 (t ) , ti t = 0 th

P0 (0) = 0 v P 0 (0) = CV.

Trong : V l vn tc ri ca ba c xc nh theo cng thc: V = 2gH

H l cao ri ca ba; g l gia tc trng trng.
C.V
Do ta c: C 1 = 0; C 2 =
1
C.V nt
P0 (t ) = C 2 .e nt sin 1 t = e sin 1 t (4-46)
1
U P (t )
T (4-4a) v (4-7) ta c: = (at ) + (at ) = 0
x EF
Trong khong thi gian ny cha xut hin sng phn nn (at ) = 0 , do :

P0 (t )
(at ) =
EF

93
 Vy sng thun min 1, 2 trong cc c dng:
1 x
(at x) = P0 t (4-47)
EF a
Xc nh sng phn y cc (x = L) ta s dng iu kin bin (4-6a) v (4-7) ta c:
U
= (at L ) + (at + L ) = 0
x
1 L
Suy ra: (at + L ) = (at L) = P0 (t )
EF a
Vy sng phn min 2, 3 trong cc c dng:
1 x 2L
(at + x) = P0 t + (4-48)
EF a
2L 4L
2. Xt trong khong thi gian ( t )
a a
Gi P1 ( t ) l lc nn ca m ln u cc trong khong thi gian ny.
.
1 2L
T (4-48) ti u cc (x = 0) ta c: (at ) = P0t
EFa a

T (4-46) ta c: P 0 (t ) = e nt ( nC 2 sin 1 t + C 2 1 cos 1 t )
2L
2L a 2L 2L
n t
Suy ra: P 0 t =e nC 2 sin 1 t + C 2 1 cos 1 t
a a a

Vy phng trnh (4-44) c dng:

2L
n t
2L 2L
P1 (t ) + 2n P1 (t) + ( + n )P1 (t ) = e
2
1
2 a
A cos1 (t a ) + B sin 1 (t a ) (4-49)

2Ca 2Ca
Trong : A= C 2 1 ; B = C2n
EF EF
Nghim tng qut ca (4-49) c dng:
2L
n t t 2L 2L
P1 (t) = e a
C 3 . cos1t + C 4 sin 1t + A sin1 (t ) B cos1 (t ) (4-50)
21 a a

Cc hng s C3, C4 c xc nh da vo iu kin lin tc ca hm P(t) v P(t ) ti
2L
thi im t = .
a

94
 2L 2L 2L L.B
T (4-50) ta c: P1 = C 3 cos 1 + C 4 sin 1 (d)
a a a a.1

2L 2L
2L
n
T (4-46) ta c: P0 = C 2 e a sin 1 (e)
a a

2L 2L 2L
2L
n
T (e) ta c: P 0 =e a nC 2 . sin 1 a + C 2 .1 . cos 1 a (g)
a

T (4-50) ta c:

2L 2L 2L L.B 2L
P 1 = n C 3 . cos 1 + C 4 sin 1 C 3 .1 . sin 1
a a a a.1 a
(h)
2L B A.L
+ C 4 1 cos 1 +
a 21 a

2L 2L
C 3 = . cos 1 a . sin 1 a

T (d), (e) , (g), (h) ta c:
C = . sin 2L + . cos 2L
4
1
a
1
a

LB 2L
= a + P0 a
1
Trong :
= 1 P 0 2L + nP 2L + B AL

1 a a 21
0
a

Thay C3 v C4 vo (4-50) ta xc nh c lc nn P1(t).

U P (t )
T iu kin bin (4-4a) v (4-50) ta c: = (at ) + (at ) = 1
x EF
2L 4L
Trong khong thi gian t sng phn (at ) c dng:
a a
1 2L
(at ) = P0 t
EF a

1 1 2L
Do : (at ) = (at ) + P1 (t ) = P0 t + P1 (t )
EF EF a
Vy sng thun 3 min trong cc c dng:
1 x + 2L x
3 (at x) = P0 t + P1 t (4-51)
EF a a

95
 4.2.1.4. Xc mh ng sut trong cc min 1, 2 v 3.
U
Theo nh lut Hooke ta c cng thc xc nh ng sut nh sau: = E
x
Trong : l ng sut trong cc; E l mun n hi ca vt liu lm cc.
T (4-47) ta c ng sut trong cc min 1 l:
1 x
1 = P1 t
F a
T (4-47) v (4-48) ta c ng sut trong cc min 2 l:
1 x x 2L
2 = P0 t P0 t +
F a a
T (4-48) v (4-51) ta c ng sut trong cc min 3 l:
1 x + 2L x x 2L
3 = P0 t P1 t + P0 t +
F a a a

Nhn xt:
Trong thc t m hnh bi ton ny l cc ng trong nn t rt yu. Sau khi tnh
ton ta c mt s nhn xt sau:
- Khi ng cc, ti min 1 trong cc cha sut hin sng phn, ng sut ca cc ti
min ny ch chu ng sut nn v gim dn t u cc (x = 0) n y cc (x = L), nn nu
cc b v th s xy ra u cc (x = 0).
- Ti min 2 v 3 trong cc sut hin sng phn y cc (x = L), nn ng sut
hai min ny c xut hin ng sut ko.
- V kh nng chu ko ca cc b tng km hn nhiu so vi kh nng chu nn, nn
d xy ra hin tng v cc c th do ng sut ko.

96
 4.2.2. Va chm ca ba vo cc ta trn nn cng

S bi ton

P(t) 2L/a
0 4L/a t

1 3

L
2 4

x L/a 3L/a 5L/a

Hnh 4-4

4.2.2.1. Phng trnh vi phn chuyn ng ca cc v nghim tng qut ca bi

ton
1. Phng trnh chuyn ng ca cc:
2U 2 U
2
= a (4-1)
t 2 x 2
Trong : U - l dch chuyn ca cc.

E
a= l vn tc truyn ca sng trong cc.

E, l Mun n hi v khi lng ring ca cc.

2. Nghim tng qut ca (4-1) theo a-lm-be c dng:
U( x , t ) = (at x ) + (at + x ) (4-7)
3. iu kin u ca bi ton:
Ta chn thi im t = 0 trng vi thi im bt u va chm.
U
Vi t = 0 th U=0 ; =0 (4-2)
t
4. iu kin bin ca bi ton:
U P(t )
Ti u cc x = 0 th: = (4-4a)
x E.F

97
 U
Ti y cc x = L th: =0 (4-6b)
t
4.2.2.2. Thit lp phng trnh vi phn xc nh lc nn ca m n hi ln u cc.
Ta gi lc nn ca m n hi ln u cc l P(t).



P( t ) = C( U T U 0 ) , do P (t ) = U T U 0 (4-42)

Trong : C: cng ca m u cc.
UT : Dch chuyn ca u ba.
U0 : Dch chun ca u cc.

Phng trnh chuyn ng ca u ba l: M U T = P(t )

P(t )
Hay: UT = (a)
M
Trong : M: Khi lng ca ba
Dch chuyn ti u cc l: U 0 = (at ) + (at )

Vy: U 0 = a 2 [(at ) + (at )] (b)
U P(t )
T (4-4a) v (4-7) ta c: = (at ) + (at ) =
x EF
P(t )
Hay: (at ) = (at ) +
EF

P(t )
Suy ra: (at ) = (at ) + (c)
EFa
Thay (a), (b) v (c) vo (4-42) ta c:

Ca C
P(t ) + P(t ) + P(t ) = 2Ca 2 (at ) (4-43)
EF M
Ca C
t: = 2n ; = 12 + n 2
EF M
2
C C.a
Trong : 12 =
M 2.EF
Vy (4-43) c th vit li l:

P( t ) + 2n P( t ) + (12 + n 2 )P( t ) = 2Ca 2 (at ) (4-44)

98
 Phng trnh (4-44) chnh l phng trnh vi phn xc nh lc nn ca m n hi
ln u cc.

4.2.2.3. Xc nh lc nn ca m n hi ln u cc trong khong thi gian

2L 2L 4L
(0 t ); ( t ) v cc hm sng (at x); (at + x)
a a a
(Di y ta xt trng hp 12 > 0 , cn trng hp 12 < 0 cng l lun tng t),
2L
1. Xt trong khong thi gian (0 t )
a
Gi P0 (t ) l lc nn ca m ln u cc trong khong ny.
Trong khong thi gian ny, theo s bi ton th sng phn cha xut hin nn v
phi ca (4-44) bng khng.
Ta c phng trnh vi phn xc nh P0 (t ) :

P 0 (t ) + 2 n P 0 (t ) + (12 + n 2 )P0 (t ) = 0 (4-45)

Nghim tng qut ca phng trnh (4-45) c dng:

P0 (t ) = e nt (C 1 cos 1t + C 2 sin 1t )

Cc hng s C1 v C2 c xc nh da vo iu kin u ca P0 (t ) v P 0 (t ) .

Vi t = 0 th P0 (0) = 0 v P 0 (0) = CV.

Trong : V l vn tc ri ca ba c xc nh theo cng thc: V = 2gH

H l cao ri ca ba; g l gia tc trng trng.
C.V
T ta c: C 1 = 0; C 2 =
1
CV nt
Vy: P0 (t ) = C 2 .e nt sin 1 t = e sin 1 t. (4-46)
1

U P (t )
T (4-4a) v (4-7) ta c: = (at ) + (at ) = 0
x EF
Trong khong thi gian ny cha xut hin sng phn nn (at ) = 0 , do :

P0 (t )
(at ) =
EF
Vy sng thun min 1, 2 trong cc l:

99
 1 x
(at x) = P0 (t ) (4-47)
EF a
xc nh sng phn y cc (x = L) ta s dng iu kin bin (4-6b).
T (4-7) v (4-6b) ta c:
U
= a[(at L ) + (at + L )] = 0
t
1 L
Suy ra: (at + L ) = (at L ) = P0 t
EF a
Vy sng phn min 2, 3 trong cc c dng:
1 x 2L
(at + x) = P0 t + (4-48a)
EF a
2L 4L
2. Xt trong khong thi gian ( t )
a a
Gi P1(t) l lc nn ca m ln u cc trong khong thi gian ny
1 2L
T(4-48a) ti u cc (x = 0) ta c: (at ) = P0t
EFa a

T (4-46) ta c: P 0 (t ) = e nt (nC 2 sin 1t + C 2 1 cos 1t )
Suy ra:
2L
2L a 2L 2L
nt t
P0t =e nC 2 sin 1 t + C 2 1 cos 1 t
a a a
Vy phng trnh (4-44) c dng:
2L
n t 2L 2L
P 1 (t ) + 2n P 1 (t ) + (12 + n 2 )P1 (t ) = e a
A cos 1 t a + B sin 1 t a

(4-49a)
2Ca 2Ca
Trong : A = C 2 1 ; B = C2n
EF EF
Nghim tng qut ca (4-49a) c dng:
2L
n t t 2L 2L
P1 (t ) = e a
C 3 . cos 1t + C 4 sin 1t + A sin 1 t B cos 1 t


21 a a

(4-50a)

100

Cc hng s C3, C4 c xc nh da vo iu kin lin tc ca hm P(t) v P(t ) ti
2L
thi im t = .
a
T (4-50a) ta c:
2L 2L 2L LB
P1 = C 3 cos 1 + C 4 sin 1 (d)
a a a a1

2L 2L
2L
n
T (4-4a) ta c: P0 = C 2 e a sin 1 (e)
a a

2L 2L 2L
2L
n
T (e) ta c: P0 =e a nC 2 sin 1 a + C 2 1 cos 1 a (g)
a
T (4-50a) ta c:

2L 2L 2L LB 2L
P1 = n C 3 cos 1 + C 4 sin 1 C 3 1 sin 1
a a a a.1 a
(h)
2L B AL
+ C 4 1 cos 1 +
a 21 a

2L 2L
C 3 = cos 1 a sin 1 a

T (d), (e), (g), (h) ta c:
C = sin 2L + cos 2L
4
1
a
1
a

LB 2L
= a + P0 a
1
Trong :
= 1 P 0 2L + nP 2L + B AL

1 a a 21
0
a

Thay C3 v C4 vo (4-50a) ta xc nh c lc nn P1(t),

T iu kin bin (4-4a) v (4-50a) ta c:
U P (t )
= (at ) + (at ) = 1
x EF
2L 4L
Trong khong thi gian t sng phn (at ) c dng:
a a
1 2L
(at ) = P0 t
EF a

101
 1 1 2L
Do : (at ) = (at ) + P1 (t ) = P0 t P1 (t )
EF EF a
Vy sng thun min 3 trong cc c dng:
1 x + 2L x
3 (at x) = P0 t P1 t (4-51a)
EF a a

4.2.2.3. Xc nh ng sut trong cc min 1, 2 v 3.

U
Theo nh lut Hooke ta c cng thc xc nh ng sut nh sau: = E
x
Trong : l ng sut trong cc.
T (4-47) ta c ng sut trong cc min 1 l:
1 x
1 = P0 t
F a
T (4-47) v (4-48a) ta c ng sut trong cc min 2 l:
1 x x 2L
2 = P0 t + P0 t +

F a a
T (4-48a) v (4-51a) ta c ng sut trong cc min 3 l:
1 x + 2L x x 2L
3 = P0 t P1 t P0 t +

F a a a

Nhn xt:
Trong thc t m hnh bi ton ny l cc ng gp chng ngi vt v ta b qua
ma st mt bn ca t.
Sau khi tnh ton c mt vi nhn xt:
- cng C ca m u cc tng th P(t) cc i s tng ln, thi gian va chm
gim.
- Trong thi gian va chm, trong cc ch chu ng sut nn v ng sut nn cc i
c th xut hin u cc hay y cc.

102
 4.2.3. Va chm ca ba vo cc ng trong nn ng nht y cc gp lc cn
khng i.
Trong bi ton ny ta s kho st va chm ca ba vo u cc qua m n hi, cc
c ng trong nn t ng nht lc ma st phn b u mt bn ca cc. Vi gi thit
kch thc thit din ngang ca cc nh hn nhiu so vi chiu di ca cc, theo [13] ta coi
lc ma st mt bn nh lc khi cn y cc gp lc chng khng i.
bi ton ny ta xc nh trng thi ng sut ca cc v lc nn ca m ln u cc.

4.2.3.1. Thit lp bi ton.

S bi ton
P(t)
0 L/a 2L/a ty +L/a 3L/a 4L/a 5L/a t
6a 6 13a
q 3 9
1 6b 13
5a 11a
8
L 2
5 11
8a
10b
4a 7
10 12
4 10a
L/a ty 3L/a 5L/a
R x

Hnh 4-5

1. Phng trnh vi phn chuyn ng ca cc v nghim tng qut ca bi ton.

y ta gi thit rng cc c gi trong t bng lc ma st phn b u theo mt
bn. Ta gi thit lc chng ca t ln y cc khng i. thun tin cho vic kho st ta
gi thit kch thc thit din ngang ca cc nh so vi chiu di ca cc nn lc ma st ca
t ln mt bn ca cc coi nh l lc khi t vo cc vi tr s ca n mt n v th
r.q
tch bng .
F
Trong :
q- l lc ma st ca t trn mt n v din tch mt bn.
r- l chu vi tit din ngang; E, F l Mun n hi v tit din ngang ca cc.
Theo [13] xt cn bng ng cho mt phn t ca cc ta c phng trnh chuyn ng ca
cc:
2U 2 U
2

= a 2 K (4-52)
t 2
x

103
Trong :
U- l dch chuyn ca cc;
r.q
K= ; K 0 khi at x > 0.
E.F
E
a= l vn tc truyn sng trong cc.

E, - l Mun n hi v khi lng ring ca cc.
Nghim tng qut ca (4-52) min 1 c dng:
1
U (x, t ) = (at x) + Kx 2 Katx (4-53a)
2
Nghim tng qut ca (4-52) min 2 v 3 c dng:
1
U (x, t ) = (at x) + K(L x) 2 (4-53b)
2
Nghim tng qut ca (4-52) cc min cn li c dng:
1
U (x, t ) = (at x) + (at + x) + K(L x) 2 (4-53c)
2
2. iu kin u ca bi ton.
Ta chn thi im t = 0 trng vi thi im bt u va chm.
U
Vi t = 0 th U = 0; =0 (4-2)
t
3. iu kin bin ca bi ton.
U P(t )
Ti u cc x = 0 th: = (4-4a)
x E.F
Ti y cc x = L th:
U U
a. Cc cha ln khi: EF < R v =0 (4-6a)
x t
U
b. Khi cc ln th: EF = R (4-6b)
x
U U
c. Cc dng ln khi: EF < R v =0 (4-6c)
x t
U
d. y cc ta trn nn t yu th: =0 (4-6d)
x
y R coi l hng s, trng hp R = 0 th cc ng trn nn t yu.

104
 4.2.3.2. Xc nh trng thi ng sut trong cc.
L
1. Xt trong khong thi gian 0 t
a
Ta gi lc nn ca m n hi ln u cc l P(t):



P(t ) = C(U T U 0 ) , do P(t ) = C U T U 0 (a)


Phng trnh chuyn ng ca u ba: M U T = P(t )

P(t )
Hay: UT = (b)
M
Dch chuyn ti u cc l: U 0 = (at )

Vy: U 0 = a 2 (at ) (c)

P (t )
T (4-53a) v (4-4a) ta c: (at ) = K
EFa

P(t )
Vy: U 0 (t,0) = a 2
K (d)
EFa

Thay (b)v (d) vo (a) ta c phng trnh xc nh lc P(t).

P(t ) + 2n P(t ) + (12 + n 2 )P(t ) = Ka 2 C (4-54)
(Trong gio trnh ny khi xc nh lc nn ca m n hi P(t) ln u cc, ta xt trng
hp 12 > 0 , cn trng hp 12 < 0 cng l lun tng t).
L
Gi P0 (t ) l lc nn ca m ln u cc trong khong 0 t
a
Nghim tng qut ca (4-54) c dng:
KCa 2
P0 (t ) = e nt (C 1 cos 1 t + C 2 sin 1 t ) +
12 + n 2

Cc hng s C1 v C2 c xc nh da vo iu kin u ca P0 (t ) v P 0 (t ) .

Vi t = 0 th P0 (0) = 0 v P 0 (0) = CV . T ta c:

KCa 2 1 KCa 2
C1 = ; C = CV n
12 + n 2 1 12 + n 2
2

105
 Theo (4-4a) v (4-51a), sng thun min 1 c dng:
1 x
(at x) = K(at x) + P0 t (4-55)
EF a

ng sut trong cc min 1 c dng:

1 x
= E[ (at x ) K(at x)] = P0 t
F a
L
Gi thit ti ng bin t = gia min 1 v 2 th hm dch chuyn l hm lin tc:
a
L L
U 0; x = U + 0; x
a Min 1 a Min 2

Do : 1 (at x) Min 1 = 2 (at x) Min 2

Vy sng thun min 1, 2 v 4a, 4 ging nhau:

1 x
(at x) = K(at x) + P0 t
EF a
T (4-53b) v (4-55) ng sut trong cc min 2 c dng:

[
= E , (at x) K(L x) = ] 1 x
P0 t + EK(at L )
F a
L
Xt trng hp cc cha ln ngay ti t = :
a
Gi ty l thi im cc bt u ln, ty c xc nh t iu kin ln ti y cc.
Khi sng (at x) cha truyn ti y cc th ng sut ti y cc bng khng.
L U
Khi t > th ng sut ti y cc tng dn nhng EF < R nn y cc vn
a x
U
cha ln. Ti thi im t = ty th EF = R v y cc bt u ln.
x
L
Khi < t < t y th cc cha ln. Do sng phn (at + x) min 4a, 5a, 6a c
a
xc nh t iu kin bin (4-6c).
U
= a[(at x) + (at + x)] = 0
t
Vy: (at + x) = (at x)
T (4-55) sng phn ca cc min 4a, 5a, v 6a l:

106
 1 x 2L
(at + x) = P0 t + + K(at + x 2L ) (4-56)
F a

ng sut trong cc min 4a c dng:

1 x x 2L
= P0 t P0 t + + EK(2at + x 3L )

F a a

2L
Trong khong thi gian t y < t < cc ln.
a
T (4-6b), ta c sng (at + x) cc min 4, 5, 6b, 6 l:

1 x 2L
(at + x) = P0 t + R K(at + x 2L ) (4-57)
EF a
T (4-53c), (4-55) v (4-57) ng sut trong cc min 4 c dng:
1 x x 2L
= P0 t + P0 t + EK(L x)

F a a

L 2L
2. Xt trong khong thi gian t
a a
min 2 v 3, hm dch chuyn U ca cc c dng (4-53b). L lun tng t nh
trn, ta c phng trnh lc nn P(t) ca m ln u cc:

P (t ) = 2n P(t ) + (12 + n 2 )P(t ) = 0 (4-45)
Gi P1(t) l lc nn ca m ln u cc trong khong ang xt, nghim tng qut ca
(4-45) c dng:
P1 (t ) = e nt (C 3 cos 1t + C 4 sin 1t )

L
Cc hng s C3, C4 tm c da vo tnh lin tc ca hm P(t) ti t = .
a
L L
L L
P1 = P0 v P 1 = P 0
a a a a
Suy ra:

L
nL
L L
C 3 cos 1 + C 4 sin 1 = e a P0 (a)
a a a

L 1 a L L
nL
L
C 3 sin 1 + C 4 cos 1 = e nP0 + P 0 (b)
a a 1 a a

107
 L L
C 3 = cos 1 a sin 1 a
T (a) v (b) ta c:
C = cos L + sin L
4 1
a
1
a

L L L
nL nL
1
= e a P0 ; = nP0 a + P 0 a
a
Vi: e
a 1
T y ta c sng (at x) cc min 3, 5a, 5, 7 l:

1 x
(at x) = P1 t KL (4-58)
EF a

ng sut trong cc min 3 c dng:

1 x
= E[ (at x) K(L x)] = P1 t + EKx
F a
T (4-53b), (4-56) v (4-58) ng sut trong cc min 5a c dng:
1 x x 2L
= P1 t P0 t + + EK(at + 2x 2L )

F a a

ng sut trong cc min 5 c dng:

1 x x 2L
= P1 t + P0 t + R EK(at 2L )
F a a
Da vo (4-6b) y cc thuc min 7, ta c sng phn min 7, 8a, 8 v 9 ca cc l:
1 x 2L
(at + x) = P1 t + R KL (4-59)
EF a
ng sut trong cc min 7 c dng:
1 x x 2L
= P1 t + P1 t + R EK(L x)
F a a

2L L
3. Xt trong khong thi gian: t + ty
a a
Trong khong ny, sng phn xut hin u cc. L lun tng t nh trn, ta c
phng trnh xc nh lc nn ca m n hi ln u cc P2 (t ) l:

P 2 (t ) + 2n P 2 (t ) + (12 + n 2 )P2 (t ) = 2Ca 2 (at ) (4-44)
T (4-56), sng phn ti u cc trong min 6a l:

108
 1 L
(at ) = P0 (t 2 ) + K(at 2L )
EF a
1 L
(at ) = P 0 (t 2 ) + K
EFa a
Thay vo (4-44) ta c:

1 2L
P 2 (t ) + 2 n P 2 (t ) + (12 + n 2 )P2 (t ) = 2Ca P0t 2Ca K
2
(4-60)
EF a
Trong :
2L
2L

L n t
2L
P 0 t 2 = e a (1 C 2 nC 1 ) cos 1 t (1C 1 + nC 2 ) sin 1 t
a a a
Phng trnh (4-60) c vit di dng:
2L
n t 2L 2L
P 2 (t ) + 2n P 2 (t ) + ( + n )P2 (t ) = e
2
1
2 a
A cos 1 t a + B sin 1 t a 2Ca K
2

(4-61)
1 1
Vi: A = 2Ca (1C 2 nC1 ); B = 2Ca ( nC 2 + 1C 1 )
EF EF
Nghim tng qut ca (4-61) c dng:
2L
n t 2KCa 2
P2 (t ) = e a
.P 2 (t ) (4-62)
12 + n 2

Vi P2 (t ) l nghim ca phng trnh:

2L 2L
P2 (t ) + 12 P2 (t ) = A cos 1 t + B sin 1 t (4-63)
a a
Nghim tng qut ca (4-63) c dng :
t 2L 2L
P2 (t ) = C 5 cos 1 t + C 6 sin 1 t + A sin 1 t a B cos 1 t a (4-64)
21
T iu kin lin tc ca hm P(t) ta xc nh c gi tr cc hng s C5 v C6. Ta c:
2L 2L
P2 = P1 (a)
a a

2L 2L
P2 = P1 (b)
a a
2L KCa 2 2L
T (4-62) v (a) ta c: P2 2 2 = P1
a 1 + n 2
a

109
 L L 2KCa
2
Suy ra: P2 = P1 + 2
a 2 1 + n
2

T (4- 64) ta c:

L L LB 2KCa 2 2L
C 5 cos 21 + C 6 sin 21 2 = P1
a a a1 1 + n 2
a

L L 2L LB 2KCa
2
Hay: C 5 cos 21 + C 6 sin 21 = P1 + + (c)
a a a a1 1 + n
2 2

T (b) v (4-62) ta c:

L L L KCa 2
P2 = P 1 + nP1 + 2n 2 (d)
a a a 1 + n 2
T (4-63) ta c:

2L L L B LA
P2 = 1 C 5 sin 21 + C 6 cos 21 +
a a a 21 2

Thay gi tr ny vo (d) ta c:

L L 1 B LA 2L 2L KCa 2
C 5 sin 21 + C 6 cos 21 = + P 1 + nP1 2 n
a a 1 21 2 a a 12 + n 2

(e)
L L
C 5 = Q1 cos 21 a Q 2 sin 21 a

T (c) v (e) ta c:
C = Q cos 2 L + Q sin 2 L
6 2

1
a
1

1
a

2L LB 2KCa
2

1
Q = P + +
a a1 1 + n
1 2 2

Trong :
Q = 1 B LA + P 1 2L + nP 2L + 2 nKCa
2

2 1 21 2
a 1 + n
1
a
2
2

Vy cng thc xc nh P2(t) l:

2L
n t t 2L
P2 (t ) = e a
C 5 cos 1 t + C 6 sin 1 t + A sin 1 t
21 a
(4-65)
2L KCa 2
B cos 1 t 2 2
a 1 + n 2

110
 T iu kin bin (4-6a) ta c sng (at x) cc min 6a, 6b, 8a, 10a l:

1 x x + 2L
(at x) = P2 t P0 t + K(at x 3L)
a
(4-66)
EF a

ng sut trong cc min 6a c dng:

1 x + 2L x x 2L
= P0 t P2 t P0 t + + 3EKx
F a a a
T (4-51)v (4-66), ng sut trong cc min 6b c dng:
1 x + 2L x x 2L
= P0 t P2 t + P0 t + R EK(2at x 4L )
F a a a
T (4-53) v (4-66), ng sut min 8a c dng:
x + 2L x x 2L
= P0 t P2 t + P1 t + R EK(at 2x L )
a a a
Trng hp cc ln min 10a, t (4-6b) v (4-66) sng (at + x) cc min 10a,
10b, 11a, 13a l:
1 x 4L x 2L
(at + x ) = P0 t + + P2 t + R + K(at + x 5L ) (4-67)
EF a a
ng sut trong cc min 10a c dng:

1 x + 2L x x 4L x 2L
= P0 t P2 t P0 t + + P2 t + R + 3EK(L x)
F a a a a
L 3L
4. Xt trong khong thi gian + ty t
a a
Trong khong ny, sng phn xut hin u cc. L lun tng t nh trn, ta c
phng trnh xc nh lc nn ca m n hi ln u cc P(t) l:

P(t ) + 2 n P(t ) + (12 + n 2 )P(t ) = 2Ca 2 (at) (4-44)
T (4-6b)v (4-55), sng phn ti u cc trong min 6 l:
1 2L
(at ) = P0 t R K(at 2L )
EF a (4-68)
1 2L
(at ) = P0t K
EFa a
Thay vo (4-44) v gi lc nn P(t) l P3(t) ta c:

111

1 2L
P 3 (t ) + 2n P3 (t ) + (12 + n 2 )P3 (t ) = 2Ca P0t + 2Ca k
2
(4-69)
EF a
Trong :
2L
2L a 2L L
n t
P0t =e (1C 2 nC 1 ) cos 1 t (1C 1 + nC 2 ) sin 1 t + 2Ca K
2

a a a
Phng trnh (4-69) c vit di dng:
2L
n t 2L 2L
P 3 (t ) + 2n P 3 (t ) + ( + n )P3 (t ) = e A1 cos 1 t a + B1 sin 1 t a + 2Ca K
2 2 a 2
1

1 1
Vi: A1 = 2Ca (1C 2 nC 1 ); B 1 = 2Ca ( nC 2 + 1C 1 )
EF EF
Nghim tng qut ca (4-69) c dng:
2L
n t KCa 2
P3 (t ) = e a
P 3 (t ) + 2 (4-70)
12 + n 2

Vi P3 (t ) l nghim ca phng trnh:

2L 2L
P3 (t ) + 12 P3 (t ) = A 1 cos 1 t + B 1 sin 1 t (4-71)
a a
Nghim tng qut ca (4-71) c dng:
t 2L 2L
P3 (t ) = C 7 cos 1 t + C 8 sin 1 t + A 1 sin 1 t B 1 cos 1 t
a
(4-72)
21 a
T iu kin lin tc ca hm P(t) ta xc nh c gi tr cc hng s C7 v C8. Ta c:
L L
P3 + t y = P2 + t y (a)
a a

L L
P3 + ty = P2 + ty (b)
a a
L
L n t y
L KCa 2
T (4-70) v (a) ta c: P3 + t y = e a P2 + t y 2 2
a a 1 + n 2

T (4-72) ta c:
L
L L n t y
L KCa 2
C 7 cos 1 + t y + C 8 sin 1 + t y = e a P2 + t y 2 2
a a a 1 + n 2
1 L L L
+ + t y B 1 cos 1 + t y A1 sin 1 + t y
21 a a a

112
 T (b) ta c:

1 n t y a L
L
L L L KCa
2
C 7 sin 1 + t y + C 8 cos 1 + t y = e P 2 + t + nP + t 2
1 1 + n
y 2 y
a a a a
2

A B L L B A L L
1 + 1 + t y sin 1 t y + 1 1 + t y cos 1 t y
21 2 a a 21 2 a a

L L
Do ta c: C 7 = Q 3 cos 1 + t y Q 4 sin 1 + t y
a a
L L
C 8 = Q 4 cos 1 + t y + Q 3 sin 1 + t y
a a
Trong :
L
L
n t y
KCa 2
Q3 = e P2 + t y 2 2
a

a 1 + n 2
1 L L L
+ + t y B 1 cos 1 + t y A1Sin1 + t y
21 a a a

1 n t y L L L KCa 2
Q4 = e a
2
P + t + nP + t 2
1 12 + n 2
y 2 y
a a
A 1 L L B 1 L L
1 + B 1 + t y sin 1 t y + 1 A1 + t y cos 1 t y
21 2 a a 21 2 a a

Vy cng thc xc nh lc nn P3(t) l:

2L
n t t L
P3 (t ) = e a
C 7 cos 1 t + C 8 sin 1 t + A 1 sin 1 t 2
21 a
L KCa 2
+ B 1 cos 1 t 2 + 2 2
a 1 + n 2

Vy sng thun (at x) trong cc min 6, 8, 10b, 10 l:

1 x x + 2L
(at x) = P3 t + P0 t R K(at x L ) (4-73)
EF a a
ng sut trong cc min 6 c dng:
1 x + 2L x x 2L
= P0 t P3 t + P0 t + EKx
F a a a

113
 Theo (4-59) v (4-73), ng sut trong cc min 8 c dng:
1 x + 2L x x 2L
= P0 t P3 t + P1 t + + EK(at 3L )
F a a a
Theo (4-67) v (4-70), ng sut trong cc min 10b c dng:

1 x + 2L x 4L x x 2L
= P0 t P0 t + P3 t + P2 t + + EK(2at + x 7L)
F a a a a

Theo iu kin bin (4-6c) sng (at + x) trong cc min 10, 11, 13 l:

1 x 4L x 2L
(at + x) = P0 t + + P3 t + 2R K(at + x 3L ) (4-74)
EF a a
T (4-70), (4-67) ng sut trong cc min 10 c dng:
1 x + 2L x x 4L x 2L
= P0 t P3 t + P0 t + + P3 t + R EK(L x)
F a a a a
3L 4L
5. Xt trong khong thi gian: t
a a
Trong khong ny, sng phn sut hin u cc. L lun tng t nh trn, ta c
phng trnh xc nh lc nn ca m n hi ln u cc l:

P (t ) + 2n P (t ) + (12 + n 2 )P (t ) = 2Ca 2 (at )

1 2L
T (4-59) ta c: (at ) = P1 t
EFa a
Thay vo phng trnh trn ta c:

1 2L
P 4 (t ) + 2 n P 4 (t ) + (12 + n 2 )P4 (t ) = 2Ca P1 t (4-75)
EF a
Trong :
2L
2L a 2L 2L
n t
P1 t =e (1C 4 nC 3 ) cos 1 t (1C 3 + nC 4 ) sin 1 t
a a a
Vy phng trnh (4-75) c vit:
2L
n t
2L

2L
P 4 (t ) + 2 n P 4 (t ) + ( + n )P4 (t ) = e A 2 cos 1 t a + B 2 sin 1 t a
2 2 a
1

(4-75a)
1 1
Vi: A 2 = 2Ca ( nC 3 1C 4 ); B 2 = 2Ca ( nC 4 + 1C 3 )
EF EF

114
 Nghim tng qut ca (4-75a) c dng:
2L
n t
P4 (t ) = e a
P4 (t ) (4-76)
Vi P4 (t ) l nghim ca phng trnh:

2L 2L
P4 (t ) + 12 P4 (t ) = A 2 cos 1 t + B 2 sin 1 t (4-75b)
a a
Nghim tng qut ca (4-75b) c dng:
t 2L 2L
P4 (t ) = C 9 cos 1 t + C 10 sin 1 t + A 2 sin 1 t a B 2 1 cos t a
21
T iu kin lin tc ca hm P(t) ta xc nh c gi tr cc hng s C9 v C10, ta c:
3L 3L 3L 3L
P4 = P3 ; P 4 = P 3
a a a a
L L
C 9 = Q 5 cos 31 a Q 6 sin 31 a

L lun tng t nh trn ta c:
C = Q cos 3 L + Q sin 3 L
10 6

1
a
5

1
a
Trong :
3L 3L L L
nL

Q 5 = e P3 + B 2 cos 1 a A 2 sin 1 a
a

a 2a1
1 n a 3L 3L A 3L L
L
Q6 = e P 3 + nP3 2 + sin 1
1 a a 21 2a1 a
3L B L
cos 1
a
2a1 21
2

Vy cng thc xc nh lc P4(t) l:
2L
n t t 2L 2L
P4 (t ) = e a
C 9 cos 1 t + C 10 sin 1 t + A 2 sin 1 t B 2 1 cos t
21 a a

Vy sng thun (at x) trong cc min 9, 11a, 11, 12 l:

1 x x + 2L
(at x) = P4 t + P1 t R 2KL (4-77)
EF a a
ng sut trong cc min 9 c dng:
1 x + 2L x x 2L
= P1 t P4 t + P1 t + + EKx
F a a a

115
 Theo (4-53c) ng sut trong cc min 11a c dng:
1 x + 2L x x 4L x 2L
= P1 t P4 t P0 t + + P2 t + + EK(at + 2x 4L)
F a a a a
T (4-74) v (4-77) ng sut trong cc min 11 c dng:
1 x + 2L x x 4L x 2L
= P1 t P4 t + P0 t + + P3 t + R EK(at 4L)
F a a a a
Xt cc vn ln trong min 12, theo (4-6c) ta c sng (at + x ) min 12 l:
1 x 4L x 2L
(at + x) = P1 (t + ) + P4 (t + ) 2R 2KL (4-78)
EF a a
ng sut trong cc min 12 c dng:
1 x + 2L x x 4L x 2L
= P1 t P4 t + P1 t + + P4 t + EK(L x )
F a a a a
L lun tng t nh trn ta c th xc nh c trng thi ng sut ca cc trong
cc min tip theo cho n khi va chm kt thc v thi gian va chm ca ba vo cc c
xc nh t phng trnh P(t) = 0.

4.2.3.3 Tnh ton vi s liu c th

1. Ba
Ba iezel, khi lng u ba M = 1,8 T; chiu cao ri H = 1,8m.
2. m
Tnh ton vi m u cc thay i ng vi mt s gi tr ca thng s c trng cho
CL
m u cc () l: 0,165; 0,195; 0,235 vi = . y C l cng ca m; L l
EF
chiu di cc; E, F l Mun n hi v din tch tit din ngang ca cc.
3.Cc
Kch thc cc: 30x30x1000cm, Mc b tng 200.
Mun n hi ca cc: E = 3,11.10 5 kG / cm 2
4. t nn
Cc chu lc ma st mt bn phn b u vi q = 3,4T / m 2 . y cc chu lc cn ca
t vi cng tiu chun R = 240T / m 2 .
Vi s liu trn, t nhng cng thc tnh ng sut trong cc thit lp c trn,
s dng ngn ng lp trnh Pascal, vit chng trnh chy trn my vi tnh ta nhn c cc
kt qu tnh ton l cc ng th biu din ng sut trong cc v cc bng gi tri tng
ng km theo, t trang 117 n trang 122.

116
 Bng gi tr ng sut ti tit din x = 0 cm

t 1(KG/cm2) 2(KG/cm2) 3(KG/cm2)

0,0000 0,000 0,000 0,000
0,0005 15,010 17,688 21,236
0,0010 29,491 34,643 41,414
0,0015 43,370 50,765 60,401
0,0020 56,578 65,966 78,080
0,0025 69,053 80,166 94,348
0,0030 80,738 93,295 109,122
0,0035 91,584 105,294 122,332
0,0040 101,548 116,114 133,927
0,0045 110,593 125,716 143,873
0,0050 118,691 134,072 152,148
0,0055 125,819 141,162 158,749
0,0060 132,230 147,355 164,230
0,0065 138,080 152,569 167,988
0,0070 142,162 155,374 168,492
0,0075 144,451 155,864 165,970
0,0080 145,025 154,181 160,679
0,0085 143,974 150,480 152,896
0,0090 141,397 144,931 142,917
0,0095 137,404 137,716 131,048
0,0100 132,114 129,027 117,604
0,0105 125,649 119,061 102,904
0,0110 118,139 108,019 87,265
0,0115 109,857 96,298 71,278
0,0120 101,389 84,543 55,593
0,0125 91,805 71,586 38,870
0,0130 81,113 57,637 21,573
0,0135 69,547 43,035 4,201
0,0140 57,337 28,111 0,000
0,0145 44,632 13,047
0,0150 31,566 0,000
0,0155 18,363
0,0160 5,235
0,0165 0,00

max (Kg / cm 2 ) 145,045 155,953 168,672

117
118
117
 Bng gi tr ng sut ti tit din x = 400 cm

t 1 (KG / cm 2 ) 2 (KG / cm 2 ) 3 (KG / cm 2 )

0,0000 0,000 0,000 0,000
0,0005 0,000 0,000 0,000
0,0010 0,000 0,000 0,000
0,0015 11,396 13,440 16,151
0,0020 26,014 30,583 36,600
0,0025 40,046 46,917 55,889
0,0030 53,424 62,350 73,897
0,0035 66,083 76,800 90,517
0,0040 77,965 90,196 105,662
0,0045 89,398 102,924 119,799
0,0050 114,579 128,468 142,501
0,0055 111,630 121,434 132,700
0,0060 106,099 113,996 122,427
0,0065 100,274 106,219 111,792
0,0070 86,204 88,764 89,627
0,0075 78,649 84,808 90,129
0,0080 86,521 92,746 97,789
0,0085 92,825 98,636 102,725
0,0090 97,608 102,570 105,113
0,0095 100,927 104,653 105,152
0,0100 102,848 105,007 103,062
0,0105 115,300 117,678 114,307
0,0110 108,110 101,614 87,860
0,0115 92,422 81,839 62,833
0,0120 77,145 62,897 39,422
0,0125 57,639 39,342 11,108
0,0130 36,317 19,938 0,000
0,0135 37,871 21,265
0,0140 38,098 21,110
0,0145 37,156 19,714
0,0150 35,208 17,313
0,0155 32,374 0,000
0,0160 37,268
0,0165 0,000

max (KG/cm2) 119,219 129,019 144,746

119
120
 Bng gi tr ng sut ti tit din x = 1000 cm

t 1 (KG / cm 2 ) 2 (KG / cm 2 ) 3 (KG / cm 2 )

0,0000 0,000 0,000 0,000
0,0005 0,000 0,000 0,000
0,0010 0,000 0,000 0,000
0,0015 0,000 0,000 0,000
0,0020 0,000 0,000 0,000
0,0025 0,000 0,000 0,000
0,0030 11,840 13,977 16,820
0,0035 33,000 33,000 33,000
0,0040 33,000 33,000 33,000
0,0045 33,000 33,000 33,000
0,0050 33,000 33,000 33,000
0,0055 33,000 33,000 33,000
0,0060 33,000 33,000 33,000
0,0065 33,000 33,000 33,000
0,0070 33,000 33,000 33,000
0,0075 33,000 33,000 33,000
0,0080 33,000 33,000 33,000
0,0085 33,000 33,000 33,000
0,0090 33,000 33,000 33,000
0,0095 33,000 33,000 33,000
0,0100 33,000 33,000 33,000
0,0105 33,000 33,000 33,000
0,0110 33,000 33,000 33,000
0,0115 33,000 33,000 33,000
0,0120 33,000 33,000 33,000
0,0125 33,000 33,000 33,000
0,0130 33,000 33,000 33,000
0,0135 33,000 33,000 33,000
0,0140 33,000 33,000 33,000
0,0145 33,000 33,000
0,0150 33,000 33,000
0,0155 33,000
0,0160 33,000
0,0165 33,000

max (KG / cm 2 ) 33,000 33,000 33,000

122
121
122
121
 Nhn xt:
1- S bi ton c a m n hi gn vo u cc l ph hp vi thc t khi ng
cc nhm trnh v u cc.
2- tho mn nghim ca phng trnh (4-52) v ph hp vi thc t th trong
L
khong thi gian 0 t ta khng dng nghim tng qut ca Ghecxevanp m thay
a
K
bng nghim: U = (at x) + (at + x) + x 2 Katx
2
3- Vi phng php lan truyn sng, cc hm sng (at x) v (at + x) c xc
nh biu din qua lc nn P(t) ca m tc dng ln u cc cho nn cng thc xc nh
ng sut c biu th ngn gn v thun tin cho vic s dng my vi tnh.
4- Qua s liu tnh ton c th, ta thy cc ng trong nn ng nht, ma st mt bn
ca cc phn b u, lc chng y cc l khng i th ng sut trong cc ch chu ng
sut nn. ng sut cc i thng xy ra u cc v gim dn lin tc theo chiu di ca
R
cc, n y cc th ng sut bng cho nn trnh v u cc, khi thit k cc thng
F
phi gia c ct thp u cc v khi ng ngi ta phi dng m v m cc.

123
 Chng V
C s ca l thuyt dao ng phi tuyn

M u

L thut dao ng phi tuyn nghin cu cc chuyn ng tun hon c m t bi

cc phng trnh vi phn phi tuyn. Nhiu hin tng quan st c trong lnh vc k thut
giao thng vn ti, ng lc hc my, v tuyn in, ng lc hc nn mng v.v... phi
c gii thch bng dao ng phi tuyn. L thuyt dao ng phi tuyn phn nh tnh cht
ca chuyn ng dao ng y v chnh xc hn.
Thc t, lp cc lc phi tuyn v cng phong ph. Tuy vy, c th tp hp mt s tnh
cht chung to thnh cc c trng s b v s khc nhau gia h phi tuyn v h tuyn
tnh:
1- Khng th p dng nguyn l t hp tuyn tnh i vi cc h phi tuyn. Ngha l,
khng th lp NTQ ca phng trnh vi phn h phi tuyn bng cc NR c lp.
2- Dao ng t do ca h tuyn tnh bao gi cng tt dn. Dao ng tun hon thc s
ca n ch c th xy ra di dng dao ng cng bc xut hin do tc ng ca cc lc
kch ng tun hon t bn ngoi. Trong h phi tuyn c th xy ra cc dao ng t do tun
hon n nh (ngay c khi c cn), chng hn nh: Dao ng ca con lc ng h v nhiu
h dao ng khc.
3- Dao ng cng bc trong h tuyn tnh do cc lc iu ha gy ra s c cng tn
s v chu k vi lc, cn trong h phi tuyn c th xy ra vi chu k lc kch ng, nhng
cng c th xy ra vi chu k bng bi s nguyn hoc phn s ca chu k lc kch ng.
Do i vi h phi tuyn mt bc t do di tc dng ca mt lc iu ho c th xy ra
nhiu ch cng hng.
4- Tn s ring trong h tuyn tnh khng ph thuc vo iu kin u v bin .
Phn ln trong cc h phi tuyn tn s ph thuc vo bin dao ng.
Ta minh ho mt s th d sau lm r c trng phi tuyn ca h kho st:
Th d 1: Con lc ton hc: (Hnh 5-1) ta c:
O
m w = mg + T
L
Chiu ln phng tip tuyn , th: T

mw = mg sin L + g sin = 0

g mg
t: = k 2 , ta nhn c:
L Hnh 5-1

+ k 2 sin = 0 (1)
124
 3 3
Vi dao ng b: sin = ... do : + k ( ) = 0
2
(2)
6 6

Khi tuyn tnh h: + k 2 = 0 (3)
2 L
Nh bit, phng trnh (3) ta c dao ng iu ho vi chu k T == 2
k g
ch ph thuc vo cc tham s ca h m khng ph thuc vo iu kin u ca chuyn
ng. R rng tnh cht y s khng ng vi phng trnh (2).
Th d 2: Cht im nng khi lng m gn
vo u thanh n hi (Hnh 5-2). m

Lc n hi cho bi hm y = f(x). x
Phng trnh dao ng c dng:
x

m x + f (x) = 0 (4) y = f(x)
Vic tuyn tnh ho phng trnh (4), tc thay
ng cong y = f(x) bi ng thng y = kx c
chp nhn vi gi tr rt nh ca x v ta c: O y

m x + kx = 0 (5)
Vi x ln th phi xt n hm f(x) di dng phi y = kx
tuyn.
Th d 3: Xt h ch trn hnh v: (Hnh 5-3)
Gi L l di ban u ca l xo, C l h s Hnh 5-2
cng ca n. Gi s khi ti trng v tr trung bnh l
xo khng cng, khi ti trng lch mt khong x l xo gin ra mt on: x 2 + L2 L v
(
lc cng ca l xo l: N = C x 2 + L2 L )
Thnh phn ngang ca lc xc nh c tnh n hi ca h s bng:

P
x 1 q=x
P=N = Cx1
x 2 + L2 x2
1+ 2 m
L q=x
O
Gi x l nh so vi L, c th ly:
2
1 1 x
1
x2 2L
1+
L2
Hnh 5-3

125
 Cx 3
Nh vy, c trng ca h s l phi tuyn v c: P 2 (6)
2L
Nu l xo c sc cng ban u N0, th khi ti trng lch mt khong x, lc cng ton
phn bng:

(
N = N 0 + C x 2 + L2 L )
x x Cx 3
V thnh phn nm ngang ca lc ny s: P = N N0 + (7)
x 2 + L2 L 2L2

Th d 4: Kho st nhp sau ca -t (Hnh 5-4).

Gi s ngoi nhp c bn cn c cc nhp ph (nhp
con). Khi thng xe c dch chuyn khng ln, mt cc nhp
ph khng tip xc vi gi ta v ch c nhp c bn lm
vic. S ph thuc vo cc p lc P ln nhp v vng q = y P
c th coi l tuyn tnh v c biu din bi on ab. P c
Khi c dch chuyn ln ca thng xe, mt cc nhp con
ta ln gi ca khung v cng tng ng ca nhp
tr nn ln. Quan h gia P v q = y c biu din bng b
on bc. Nh vy c tnh chung ca nhp lm vic l phi a q=y
tuyn: P = P(y). Gi C1 l cng ca nhp c bn, C2 l
cng tng ng ca cc nhp ph th cng trn on ab Hnh 5-4
l C1, cn trn on bc l C1+C2.

5.1. Dao ng t do khng cn ca h mt bc t do

vi c trng phi tuyn ca lc phc hi.

5.1.1. Phng trnh vi phn c bn v nghim chnh xc ca n.

Phng trnh vi phn dao ng t do khng cn ca h mt bc t do vi c trng phi
tuyn ca lc phc hi c thit lp tng t nh trnh by trong phn 1.1 ca chng
th nht, y ta thay lc phc hi tuyn tnh bng lc phc hi phi tuyn: P = P(q) ta c:

m q + P (q ) = 0 q + f ( q ) = 0 (5-1)
P (q )
y t: f (q) = (5-2)
m

d q d q dq d q
Ta biu din gia tc dng: q= = =q
dt dq dt dq

dq
Phng trnh (5-1) tr thnh: q + f (q) = 0 q d q = f (q)dq
dq

126
 Khi tch phn h thc trn, ta ly thi im u c lch ln nht (qmax = a), cn vn

tc bng khng q = 0 , ta c:

2
q q a q
q
0 q d q = a f ( q ) dq
2
= a f ( q ) dq = q f (q)dq
Quan h ny biu th quy lut bo ton nng lng: V tri l ng nng tch lu

trong qu trnh chuyn ng ca h t v tr bin (q = a, q = 0 ) n v tr bt k (q, q ). Cn
v phi l th nng mt i trong qu trnh . Nng lng ny s c biu th bng phn
gch cho trn th (Hnh 5-5). T biu thc cui ta nhn c:
a
dq f(q)
q= = 2 f (q)dq (5-3)
dt q

y du trc cn ly du m (-) v trong

O q
khong kho st chuyn ng vn tc m (-).
q a
Tch phn (5-3) cho ta thi gian t l hm ca
dch chuyn:
q a
dq dq Hng chuyn ng
t = =
a a
2 f (q)dq 2 f (q)dq
a q

q q Hnh 5-5
Nu tin hnh tch phn trong khong t q = 0
n q = a th i vi h c c trng i xng s tm c thi gian ca mt phn t chu k.
Chu k ca dao ng tng ng bng:
a
dq
T = 2 2 (5-4)
a
2 f (q)dq
0

Cng thc (5-4) cho php tm s ph thuc chnh xc chu k dao ng t do vo bin
ca n.
Xt trng hp c trng i xng m t bi quy lut:
f (q ) = q 2 n 1 ; n = 1, 2, ... (5-5)
y , n l cc hng s. Do tm c:

f (q)dq = 2n (a )

a
2n
q 2n
q

d
a 1
dq n 1 q
=
a n 1 ; =
0

n
(
2n
a q 2n ) 0 1 2n a

127
 Theo cng thc (4-4) ta nhn c:

d
1
n 1
T=4
a n 1
0 1 2n
(5-6)

T ta thy: ch khi n = 1 chu k T khng ph thuc vo bin dao ng (c

trng tuyn tnh); trong cc trng hp cn li tn ti ph thuc gia chu k v bin . S
tn ti mi lin h ny l c tnh chung i vi h phi tuyn .
By gi gi s xt dao ng ca h i vi c trng bc ba:
f (q ) = q 3 khi n = 2 t biu thc (5-6) ta c:

4 2 1 d
a a 0 1 4
T=

S dng bng cc hm c bit tnh tch phn Eliptc c 1,8541/ 2 , do ta c:

4
T= 1,8541
a
2
Tn s dao ng t do bng: p = = 0,8472a (5-7)
T
Ngha l tn s tng bc nht vi s tng ca bin .
5.1.2. Nghim gn ng ca phng trnh (5-1).
Mc d cng thc (5-4) cho ta biu din chu k dao ng t do khng cn ca h mt
bc t do i vi c trng phi tuyn ca lc khi phc v nguyn tc l chnh xc. Nhng
thc t tnh ton rt cng knh v thng khng th vit dng kn. Kh khn ny c th
c khc phc khi ta s dng cc phng php gn ng di y:
5.1.2a. Phng php n gin nht.
Ly dao ng ca h kho st m t bng quy lut nh trong h tuyn tnh, ngha l:
q = a sin( pt + ) (5-8)
Nh bit, biu thc (5-8) ch l nghim chnh xc trong trng hp f(q) tuyn tnh.
Trong trng hp tng qut khi thay (5-8) vo (5-1) s khng a n tr thnh ng nht
thc. Ta mm ho tnh chnh xc vi iu kin sao cho phng trnh (5-1) tho mn thi

im khi lch q t cc i (tc bng a). Khi ny gia tc q cng s c gi tr cc i:

q max = ap 2 (5-9)
Do , ti thi im trn cn tho mn ng thc sau:
f (a )
ap 2 + f (a ) = 0 p 2 =
a

128
 H thc cui cng xc nh tn s dao ng t do p ph thuc vo bin a ca n.
Mc d cng thc ny khng chnh xc, song nh n c th nhn c cch biu din khi
qut ng v mi lin h a(p2).
Th d: Cho c trng phi tuyn dng:
f (q) = p 02 q + q 3 (p0, l nhng s cho).

p 02 a + a 3
Theo trn, ta c: p 2 = = p 02 + a 2 a
a =0
th ca s ph thuc ny biu din trn (Hnh 5-6). < 0 >0
R rng l: Tn s dao ng ring tng cng vi bin khi
> 0 (gi l c trng n hi cng) v tn s dao ng ring
gim khi bin tng vi < 0 (gi l c trng n hi p2
O
mm). ng tng ng vi = 0 ta quy c gi l ng p02
cong xng sng.
Hnh 5-6

5.1.2. Phng php tham s b.

Phng php ny c trnh by v t c s ton hc bi A.Pongcar. C s ca
phng php l ch: Gi s cho h c tnh phi tuyn gim yu, chng hn xt h m dao
ng ca n c miu t bng phng trnh:

q + p 02 q + q 3 = 0 (5-10)

Nu thng s nh, trong trng hp ny, nghim s c tm dng khai trin

theo chui lu tha tham s b:
q = q 0 + q 1 + 2 q 2 + ... (5-11)

y: qo, q1, q2, ... l cc hm cha bit ca thi gian t cn xc nh.

Ngoi khai trin (5-11) ta cng dn ra khai trin h s p20:
p 02 = p 2 + C1 + C 2 2 + ...... (5-12)
Trong : p2 l hng s cha bit mi; C1, C2,... l cc hng s cha xc nh m ta s
ch ra di.
Thay (5-11) v (5-12) vo (5-10) v gii hn ch cc thnh phn khai trin vit, ta c:

q 0 + q 1 + 2 q 2 + (p 2 + C1 + C 2 2 )(q 0 + q 1 + 2 q 2 ) + (q 0 + q 1 + 2 q 2 ) 3 = 0

Khi ch gi li cc thnh phn cha khng ln hn bc hai, ta c:

q 0 + p 2 q 0 + q 1 + p 2 q 1 + C1q 0 + q 30 + 2 q 2 + p 2 q 2 + C 2 q 0 + C1q 1 + 3q 02 q 1 = 0

129
 Phng trnh ny ng vi mi v vy cc h s ca 0, 1, 2, ... phi bng khng
iu ny dn n h:

q 0 + p q 0 = 0
2

q 1 + p q 1 = C 1 q 0 q 0
2 3
(5-13)

q 2 + p 2 q 2 = C 2 q 0 C1q 1 3q 02 q 1

Cu trc ca cc phng trnh nhn c ch ra qu trnh gii: Phng trnh u cho
ta tm q0, sau phng trnh th hai cho ta tm q1 v t tm q2 t phng trnh th ba.

Ly iu kin u dng sau: Khi t = 0 th q = a, q = 0. T (5-11) nhn c:

q 0 (0) + q 1 (0) + 2 q 2 (0) = a

q 0 (0) + q 1 (0) + 2 q 2 (0) = 0

cc ng thc ny tho mn vi mi cn phi ng thi tho mn su iu kin sau:

q
0 ( 0 ) = a ; q 0 (0) = 0

q 1 (0) = 0; q 1 (0) = 0 (5-14)

q 2 (0) = 0; q 2 (0) = 0

Khi gii phng trnh u ca h (5-13) c tnh n iu kin u h (5-14) ta c:
q 0 = a cos pt
t biu thc ny vo phng trnh th hai ca h (5-13) ta c:

3 a3
q 1 + p 2 q 1 = C 1 a cos pt a 3 cos 3 pt = C 1 a + a 3 cos pt cos 3pt (5-15)
4 4
Gi thit rng h s ca cospt khc khng. Khi nghim ca phng trnh ny s cha
s hng nh bit trong dao ng tuyn tnh: tsinpt (gi l thnh phn c tnh), trong coi
t l tha s ca hm lng gic. C th s dng nghim dng cng hng ny ch vi gi tr t
rt nh. nghim ng vi bt k t cn loi b thnh phn c tnh trong (5-15).
3 3
Ngha l t: C1a + a 3 = 0 C1 = a 2 (5-16)
4 4
a3
Nghim ca (5-15) vit c dng: q1 = C1cospt + C2sinpt + cos 3pt
32p 2
Sau khi xc nh cc hng s C1, C2 t dng th hai ca iu kin u (5-14), ta tm
c:

130
 a3
q1 = (cos 3pt cos pt )
32p 2
Nh vy, trong cc khai trin (5-11), (5-12) hai s hng u c xc nh. Nghim
chnh xc n s hng nh bc nht c dng:
a 3
q = a cos pt + (cos 3pt cos pt )
32p 2
Hn na, tng ng vi (5-12) v (5-16) ta c:
3
p 2 = p 02 + a 2 (5-17)
4
Sau khi thay q0, q1 vo phng trnh th ba ca h (5-13) v cng tin hnh vic lp li
qu trnh trn, ta nhn c nghim chnh xc n cc s hng nh bc hai:
2a 3 2a 5
q = a cos pt + (cos 3pt cos pt ) + (cos 5pt 3 cos 3pt 4 cos pt )
32p 2 1024p 2
(5-18)
3 3 2 a 4
p 2 = p 02 + a 2 +
4 128p 2
Ta nhn thy, c im quan trng ca nghim nhn c l qu trnh dao ng c
m t khng phi bng mt iu ho m bng tng cc iu ho, trong cc iu ho tip
theo cng c bin nh i. Mt l ng nhin tn s ca iu ho c bn p ph thuc vo
bin dao ng a.

5.1.2c. Phng php Butnp-Galepkin.

Theo phng php ny ta cho trc cng thc xc nh nghim cn tm. Cch n
gin hn c, nghim ca phng trnh (5-1) th tm dng ging nh i vi h tuyn tnh:
q = a cos(pt + ) (5-19)

y a, , p l cc hng s.
Thay nghim vo (5-1), tt nhin khng nhn c ng thc ng nht khng chng
no (5-19) khng phi l nghim chnh xc ca phng trnh (5-1). Theo tng c bn ca
phng php l ch: Yu cu sao cho tch phn sau y ly trong khong mt chu k bng
khng:
2
p

q + f (q)qdt = 0
0
(5-20)

Thay (5-19) vo (5-20), ta nhn c:

2

{ ap cos(pt + ) + f [a cos(pt + )]}cos(pt + )dt = 0

p
2
(5-21)
0

131
 2
p

Hay: pa + f [a cos(pt + )]cos(pt + )dt = 0

0

K hiu: pt + = , Ta nhn c cng thc i vi bnh phng ca tn s:

2
1
a 0
p =
2
f (a cos ) cos .d (5-22)

p dng: Trng hp f (q ) = p 02 q + q 3 , khi :

f (a cos ) = ap 02 cos + a 3 cos 3
1 2 2
a 0
Theo (5-22), ta c: p 2 = (ap 0 cos + a 3 cos 3 ) cos d

2 2
3
cos d = ; cos d = do nhn c:
2 4
V:
0 0
4
3
p 2 = p 02 + a 3
4
Kt qu ny trng vi kt qu nhn c theo phng php tham s b.
Phng php Butnp-Galepkin c th cho php xy dng nghim gn ng cao hn.
Khi ny cn tm nghim khng phi ch l mt hm (5-19), m dng chui hm:
q = a 1q1 + a 2 q 2 + ...

T
V sau t iu kin sao cho tch phn: q + f (q) q i dt = 0; i = 1, 2, ...
0
5.1.2d. phng php tuyn tnh ho iu ho.
Trng hp n gin nht ca phng php N.M.Krlp v N.N.Bogoliubop. Ta vit
phng trnh (5-1) dng:

q + p 2 q = p 2 q f (q )

y: p l tn s dao ng cha bit. Thay vo v phi ng thc trn cng thc gn

ng ca nghim:
q = acos(pt+).
Ta nhn c phng trnh dao ng cng bc ca h tuyn tnh:

q + p 2 q = F( t ) (5-23)
Trong : F( t ) = ap 2 cos(pt + ) f [a cos(pt + )] ,
2
l hm chu k vi chu k bng .
p

132
 Khai trin F(t) thnh chui Fuari, ta nhn c:
F(t ) = a 0 + a 1 cos(pt + ) + a 2 cos 2(pt + ) + ...

Nu a1 khc khng th s hng a 1 cos(pt + ) l nguyn nhn xut hin thnh phn c
tnh trong nghim ca phng trnh (5-23). loi tr n cn t h s Fuari a1 bng
khng, ngha l:
T
2
a 1 = F( t ) cos(pt + ).dt = 0
T0
2

{ap }
P
Hay: 2
cos(pt + ) f [a cos(pt + )] cos(pt + )dt = 0
0

Quan h cui cng trng vi phng trnh c bn nhn c bng phng php
Butnp-Galepkin (5-21).
5.1.2e. Phng php tuyn tnh ho trc tip.
a). Trng hp f(q) i xng (hnh 5-7).
Thay f(q) khng tuyn tnh bi biu thc tuyn tnh f*(q):

f * (q ) = p 2 q (5-24)

y h s p2 c chn ring, lch r ph thc vo to q: r = r(q), ta c:

r (q ) = f (q ) f * ( q ) = f (q ) p 2 q
Vn l chn f*(q) sao cho rt gn f(q), ngha l r(q) tun theo iu kin cc tiu ca
tch phn sau y trn ton khong thay i ca to q:
a
I = r 2 dq
0

Tch phn ny ph thuc vo vic chn thng s p2 v v vy s cc tiu t c

dI
bng cch xc nh thng s ny t phng trnh = 0.
d(p 2 )
Thc t trong cc bi ton v dao ng thng tn ti cc lch r ln hn trong cc
gi tr ca to q ln, v vy mt cch t nhin ta xt lch c trng s:
rq = [f (q) p 2 q]q

{[f (q) p q ]q} dq

a
2
Khi ny bi ton dn ti tm cc tiu ca tch phn: I1 = 2

dI1
Ngha l p2 xc nh t phng trnh: =0 (5-25)
d(p 2 )

133
 Phng php ny gi thit rng: Sai s gy ra bi lch t l vi gi tr to tng
ng. T phng trnh (5-25) tm c:
a a
5 5
p = 5 f (q )q 3 dq = 5 f (q ).q 3 dq
2
(5-26)
2a a a 0

Sau khi xc nh c p2, bi ton dn ti phng trnh tuyn tnh bit thay cho
phng trnh phi tuyn cho:

q+ p2q = 0
V p l tn s ca dao ng t do.
minh ho iu trnh by, ta ly: f (q ) = p 02 q + q 3

a 7
(p q + q )q dq = 5
a 2 5
p a
V tnh : 2
0
3 3 0
+
0 7
5
Theo cng thc (5-26) ta c: p 2 = p 02 + a 2 (5-27)
7
So snh chnh xc cc kt qu nhn c theo cc phng php khc nhau trong
trng hp p0 = 0, ngha l f(q) = q3; ta c:

Theo (5-27): p = 0,845a

Theo (5-17); (5-22): p = 0,866a

Theo (5-7): p = 0,847a

f(q) f(q)
r(q)

f*(q)
f*(q)
f(q) a2 f(q)
O q q
a O
a1

Hnh 5-7 Hnh 5-8

134
 b). Trng hp f(q) khng i xng (Hnh 5-8).
Gi a1 l lch ban u, a2 l lch ln nht pha khc. Ni chung a 1 a 2 lin
h gia cc lch bin ny biu th s cn bng th nng ca h c hai v tr bin v
bng:
a1

a 2
f (q)dq = 0
V tr trung bnh, cnh n h thc hin dao ng tnh t gc to v bn tri bng:
a a
= 2 1
2
c trng tuyn tnh dn ra qua tm dao ng c phng trnh:
f * (q ) = p 2 (q + )
lch l: r (q ) = f (q ) p 2 (q + )
Khi ny cn xc nh cc tiu ca tch phn sau:

{[f (q) p }
a1
2
I= 2
(q + )](q + ) dq
a 2

a1
dI 5
= 0 , ta nhn c: p 2 f (q)(q + )
3
Gii phng trnh dq
2
d(p ) (a 1 + a 2 ) 5 a 2

a1 + a 2
Ta a ra bin s: q1 = q + v na khong dao ng: a = , ta c cng thc
2
ca p2:
a
5
p2 = f (q1 ).q 1 dq1
3
(5-28)
( 2a ) 5 a

5.2. Dao ng cng bc khng cn ca h mt bc t do

vi c trng phi tuyn ca lc phc hi.

Gi s lc phc hi F(q) bt k (Hnh 5-9) v lc kch ng iu ho hnh sin.

Phng trnh vi phn dao ng c dng: F(q)
F(q ) P0
q+ = sin t (5-29)
m m F(a)
O q
Phng trnh (5-29) khng gii c dng kn. Ta gii n
a
bng cc phng php gn ng sau:
5.2.1. Phng php Butnp-Galepkin.
Tm nghim dng chui hm:
q ( t ) = a 1q1 ( t ) + a 1q 2 ( t ) + ...
Hnh 5-9

135
 y qi(t) l cc hm c chn thch hp, ai l cc h s cha bit, gi tr ca chng
c xc nh t phng trnh:
2

[m q + F(q) P0 sin t ]q i dt = 0
0

Chng hn, ly dng nghim q = a sin t , th ta c:

2

[ ma ]

2
sin t + F(a sin t ) P0 sin t sin tdt = 0
0

Khi thc hin tch phn ta c phng trnh i s khng tuyn tnh i vi bin
dao ng a.
5.2.2. Phng php tuyn tnh ho trc tip.
Thay (5-29) bng phng trnh:
P
q + p 2 q = 0 sin t (5-30)
m
P sin t
Phn dng ca nghim c dng: q = 0 2
m( p 2 )
P0
Cn bin ca n: a= (5-31)
m( p 2 )
2

F(q)
Nu, chng hn: = p 02 q + q 3 , th nh tm trc y ta c:
m
5
p 2 = p 02 + a 2
7
P0
Quan h (5-31) c dng sau: a =
5
mp 02 + ma 2 m2
7
5
Hay: ma 3 + m(mp 02 2 )a = P0 (5-32)
7
Phng trnh (5-32) cho php xc nh bin a.

5.2.3. Phng php ufing.

C s ca phng php ny l loi tr s hng c tnh.
Ta minh ho bng phng php bng cch xt:
F(q)
= p 02 q + q 3
m
Phng trnh (5-29) tr thnh:
P0
q + p 0 q + q 3 = sin t
2
(5-33)
m

136
 Ly gn ng u bng:
q = a sin t (5-34)
V vit phng trnh (5-33) dng:
P0
q + 2 q = ( 2 p 02 )q q 3 + sin t (5-35)
m
Thay (5-34) vo (5-35), ta c:

3 P 1
q + 2 q = ( 2 p 02 )a a 3 + 0 sin t + a 3 sin 3t
4 m 4
Nu biu thc trong ngoc vung khc khng th nghim ca phng trnh xut hin
s hng c tnh v n mang ti hin tng cng hng. loi tr cn t:

( 2
) 3 P
p 02 a a 3 + 0 = 0
4 m
(5-36)

Quan h ny v cu trc ging (5-32) v c th dng xc nh a.

Khi tho mn (5-36) th (5-35) a v dng:
1
q + 2 q = a 3 sin 3t
4
NR ca phng trnh trn c dng:
a 3 sin 3t a 3
= sin 3t
3 2 322
4 1
2

NTQ ca n l:
a 3
q = C 1 sin t + C 2 cos t sin 3t
32 2
a 3
Ti t = 0: q(0) = a; q(0) = 0 , ta c: C1 = a + ; C2 = 0
32 2
a 3
Do : q = a sin t + (sin t sin 3t )
322
Nh vy, gn ng ny, lc iu ho P0 sin t gy ra trong dao ng phi tuyn
khng phi ch l mt tn s , m c tn s cao hn.
xy dng nghim gn ng tip theo, ta thay (5-32) vo v phi ca (5-35), sau
li t h s ca sin t bng khng v.v...
Th d 5-1:
Ngi ta gn t do hai l xo vo khi lng m (gn t do l khng c lc cng ban
u). Mi l xo c di L0 v cng C (Hnh 5-10a). Gi thit rng khi lng m di
chuyn trong mt phng nm ngang vi ma st nh khng ng k. Tm s ph thuc gia

137
tn s v bin giao ng t do ca khi lng, bit rng thi im ban u (t = 0) khi
lng lch khi v tr cn bng khong cch x0.
Bi gii:

L0
m L0 L0
x

L0 T T x
C
L 0 + L
mx

a) b)
Hnh 5-10

H mt bc t do, chn to suy rng xt chuyn ng ca khi lng m l q = x.

Khi khi lng m lch khi v tr cn bng khong cch x, lc n hi trong l xo bng
(Hnh 5-10b).
Cx 2
T = C.L = C( L20 + x 2 L 0 ) (1)
2L 0
Chiu cc lc tc dng ln khi lng m theo trc x, ta c:
Tx Cx 3
m x = 2 = 2
L0 L0
C
Hay: x + kx 3 = 0; k = (2)
mL20
dy dy dx dy dy
t: x = y ta c: x = = =x =y
dt dx dt dx dx
Thay vo phng trnh (2) nhn c: ydy = kx 3 dx (3)

Tch phn phng trnh (3) v ch ti iu kin u: t = 0; x = x 0 ; x = y = 0

k 4
Ta c: y 2 = (x 0 x 4 ) .
2

Do y = x , t h thc trn suy ra:

138
 x
dx 1 2 1 d x
t = = ; = (4)
k 4 x0 k 1 4 x0
(x 0 x 4 )
x0

2
V lc phc hi ca l xo xc nh t (1) l i xng nn xc nh chu k dao ng
ta ch cn xt mt phn t chu k l , vy chu k dao ng tnh theo (5-4) bng:

1 2 1 d
k 0 1 4
T = 4 (5)
x0

d
1
Biu thc (5) cha tch phn Ellptc ton phn loi mt: K = 2 (6)
0 1 4

Tch phn (6) thng c biu din di dng chun sau:

1
d
K (a , ) = (7)
cos (1 2 )(a 2 + a 2 2 )

y: a = sin , a = cos. Ly = , = ta c:
4 2

d
1
K ( / 4) = 2 , tra bng K=1,8541
0 1 4

C 4L m
Thay th kt qu vo (5), vi ch : k = 2
, ta c: T = 1,8541 0
mL 0 x0 C
Th d 5-2:
Cho bit khi lng m c gn cng vo mt yu t
n hi phi tuyn vi c trng F = (Cx + C1x3) (Hnh 5-11). m
C x
Lp phng trnh vi phn dao ng t do ca khi lng m,
b qua ma st. a
Tm s ph thuc gia tn s dao ng v bin ,
bit rng thi im ban u lch ca khi lng i Hnh 5-11
vi v tr cn bng l A, vn tc chuyn ng bng 0. Ly
A = 1cm, C = 1N/cm, C1 = 0,5 N/cm, m = 1Ns2/cm.
Bi gii:
H mt bc t do, chn to suy rng q = x. Phng trnh vi phn chuyn ng ca
khi lng m c dng:

m x + F( x ) = 0 (1)

Thay F(x) = Cx+C1x3 vo ta c: x + p 2 x + Mx 3 = 0 (2)

139
 C C
p2 = ; = 1 tham s b.
m m
Nghim ca phng trnh trn tm bng phng php tham s b (di dng chui).
x = x0 + x1 + m2x2 + ... (3)
t: p2 = p12+ 1a1+ 2a2+ ... (4)
y p1, a1, a2 l cc hng s.
Thay (3), (4) vo (2) v ch hn ch cc s hng cha bc nht, ta c:

( )

x 0 + p1 x 0 + x1 + p1 x1 + a 1x 0 + x 0 = 0
2 2 3
(5)

Phng trnh (5) phi tho mn vi gi tr nh tu , v vy suy ra:

x 0 + p12 x 0 = 0 (6)

x 1 + p12 x 1 = (a 1 x 0 + x 30 ) (7)

Khi ch ti iu kin u t = 0, x0 = A, x 0 = 0 , ta tm c nghim phng trnh
(6) di dng:
x0 = Acos p1t (8)
Thay (8) vo phng trnh (7) ta c:

3 1
x 1 + p12 x 1 = a 1 A + A 3 cos p1 t A 3 cos 3p1 t (9)
4 4
Nghim phng trnh (9) phi gii ni, ngha l cn loi s hng c tnh, ta phi c:
3
a 1A + A 3 = 0
4
(Trong trng hp ngc li tn s lc kch ng bng tn s dao ng t do v x1 --> ).
T trn suy ra:
3
a1 = A 2 (10)
4
Khi tnh n (10) v iu kin u, nghim ca phng trnh (9) c dng:
A3
x1 = (cos 3p1 t cos p1 t ) (11)
32p12
Vy t (8), (11) xp x bc nht, nghim ca phng trnh (2), theo (3) biu din
dng:
A 3
x = A cos p 1 t + (cos 3p 1 t cos p 1 t )
32p 12

140
 Trn c s h thc (10) v (4) ta tm c tn s dao ng t do:
3 C 3 C1 2
p12 = p 2 + A 2 = + A
4 m 4 m
Thay s vo ta c: p1=1,17 rad/s
Th d 5-3:
Gii bi tp theo v d 2 bng phng php tuyn tnh ho, tc l bng vic thay th
c trng phi tuyn ca l xo bng c trng tuyn tnh nh iu kin cho lch bnh
phng gia c trng tuyn tnh v c trng phi tuyn tr nn cc tiu.
Bi gii:
Thay c trng phi tuyn F = Cx + C1x3 bng c trng tuyn tnh F* = C0x, khi
cn c iu kin:
A

[C 0 x (Cx + C 1x )]dx = Min

3

Tnh tch phn ni trn v ly o hm biu thc thu c theo tham s cn tm C0 ta c:

3
C 0 = C + C1 A 2
5
T ta tm c tn s dao ng t do ca khi lng:
C0 C 3 C1 2
p= = + A
m m 5 m
Thay cc gi tr bng s ta c p = 1,14 rad/s. (t kt qu th d 2, ta c p1= 1,17 rad/s).

Th d 5-4:
Ngi gn khi lng m vo u mt ca yu t n hi phi tuyn (l xo) (Hnh 5-12).
Tm s ph thuc gia bin dao ng cng bc ca khi lng v bin lc kch ng
iu ho P = P0sin t, gi thit c trng ca l xo c dng F = Cx + C1x3, ma st khng ng
k. Tnh bin dao ng trong trng hp: F 0 = 20N, = 10rad/s, m = 10-1 Ns 2 /cm,
C = 15N/cm; C1= 1 N/m3.

Bi gii:
m
H mt bc t do chn to suy rng q = x. Phng C x
trnh vi phn m t dao ng cng bc ca h c dng: F

m x + F( x ) = P( t ) (1) x

Thay F(x) = Cx+C1x3, P(t) = P0sint Hnh 5-12

Ta c: m x + Cx + C1 x 3 = P0 sin t (2)

141
 Theo phng php Butnp-Galepkin. Nghim ca phng trnh (2) tm dng:
x1= x0sint (3)
Thay (3) vo (2) ri cho tch phn sau bng 0:
2
3
I = [m x 1 + C 1 x1 + C 1 x13 P0 sin t ]x1 dt = 0 (4)
0

2
Trong - chu k dao ng. Sau khi ly tch
3

phn ta c s ph thuc gia x0 v F0:

C1 x 30 + (C m 2 )x 0 P0 = 0
2
3
(5)
1
4
1 2
Ta gii phng trnh (5) bng th. Mun vy ta
v cc th ca hm s: O
x0
1 2 2,27 3 4
3
1 = C 1 x 30
4 Hnh 5-13
2 = P0 (C m )x 0 2

Giao im ca hai th ny cho ta nghim phng trnh (5). Theo hnh v (Hnh 5-13)
nghim ca phng trnh: x0 2,27 cm.

142
 Bi tp chng I
Dao ng tuyn tnh ca h mt bc t do
1. Xc nh chu k dao ng ca ti trng Q gn vo cc l xo v tm h s cng
tng ng ca h m t trn hnh v. Cc ti trng dch chuyn theo phng thng ng.

M Q
Tr li: 1a) T = 2 = 2 ; C = C1 + C 2
C g( C 1 + C 2 )

Q
1b) T = 2 ; C = C1 + C 2
g( C 1 + C 2 )

Q( C 1 + C 2 ) C .C
1c) T = 2 ; C= 1 2
g(C 1 .C 2 ) C1 + C 2

Q(CL3 + 48EJ ) C .C
1d) T = 2 ; C= 1 2
48gCEJ C1 + C 2

QL3 48EJ
1e) T = 2 ; C = C1 + 3
g(CL + 48EJ )
3
L

C1 L L
C1 C1
C1 C2 EJ EJ
Q
C2 C1 Q
C2 L L
Q Q
Q

a) b) c) d) c)

Hnh v bt 1

2. Mt ti trng khi lng m c gn vo thanh khng trng lng cng tuyt i,

di 3L. Thanh c gn vo mt phng c nh bng hai l xo c cng cng C. Tnh tn
s dao ng ring ca con lc khi:
a) Thanh thng ng (hnh 2a).
b) Thanh nm ngang (hnh 2b).

5C 1g 5C
Tr li: a) k = + b) k =
9m 3L 9m

143
 L
C
L L L
L
C m C C
L
m

a) b)

Hnh v bt 2

3. Tm tn s dao ng ring ca con lc thng ng, gi thit thanh tuyt i cng.

C g
Tr li: k = m
2m 2L
m
m C C

L
L
C C
C C L

L L
m

Hnh v bt 3 Hnh v bt 4

4. Hy xc nh chu k dao ng nh ca con lc dng trong mt s my ghi ng

t. Con lc gm thanh cng chiu di L, mt u mang khi lng m b p gia hai l xo
nm ngang c cng C, u ngoi l xo gn cht. B qua khi lng thanh v coi l xo
v tr cn bng cha b dn.
2
Tr li: T =
2C g

m L
5. Ngi ta gn ti trng khi lng m ln ct chng mm bng thp cng C1, tit
din ngang hnh ch nht. Ct c gi thng ng nh hai l xo vi cng C2. Tm tn s
dao ng ring ca ti trng, bit khi lng ca ct chng v l xo l nh so vi khi lng
ca ti trng; nh hng ca trng lng ca ti trng ln un ca ct chng b qua.

144
 2C 2 a 2 mgL
Tr li: k =
a 2 (L a ) 2
mL L + 2C 2
3EJ
6. Trong b ghi rung dng ghi cc dao ng ca mng, cc b phn my,..., l xo
xon c cng C gi con lc trng lng Q lch khi ng thng ng gc . M men
qun tnh ca con lc i vi trc quay bng J. Hy xc nh chu k dao ng t do ca b
ghi rung.
J
Tr li: T = 2
Qs cos + C

EJ
L
C2 C2
s
a

Q
hnh v bt 5
hnh v bt 6

7. Hy xc nh chu k dao ng t do ca mng my t trn nn t n hi v b

lch khi v tr cn bng. Trng lng ca mng v my Q =1470KN, din tch mng S
= 50m2; cng ring ca t = 30 N / cm 3 (H s cng ca t bng C = S ).

Q
Tr li: T = 2 = 6,28.10 2 rad / s
gC

x
Q
Q

x
hnh v bt 7
hnh v bt 8

8. Lng thang my c trng lng Q = 30KN h xung ging m vi vn tc u = 3m/s, t

nhin hm cht u trn ca dy cp li, lng khng h xung na. Hy xc nh chuyn

145
ng tip sau ca lng, nu h s cng ca dy l C = 27,5 KN/cm. B qua khi lng dy
cp.
Tr li: x =0,1sin(30t) cm.
9. Mt a khi lng m, mmen qun tnh ca khi lng bng Jo, c gn vo may
bn knh r. May ca a c t ln mt thit b dn hng cong trn bn knh R. Lp
phng trnh vi phn dao ng nh t do ca a vi gi thit khi a chuyn ng may
khng trt trn c cu dn hng.

( r2
)

Tr li: mr + J o + mg
2
sin = 0
Rr

( r2
)

Dao ng nh: mr + J o + mg 2
=0
Rr

C
R
r
R

hnh v bt 9 hnh v bt 10

10. Mt xe gong khi lng m c t trn mt mt nhm nm nghing, xe gong

c gi trn mt nghing bi l xo c cng C. Lp phng trnh vi phn dao ng nh
ca xe gong, bit mi cp bnh xe gong c m men qun tnh ca khi lng bng J; bn
knh bnh xe bng R v bnh xe ln khng trt trn mt nghing.

Tr li: (mR 2 + 2J ) + CR 2 = 0; - gc quay ca bnh xe.
11. Lp phng trnh vi phn dao ng nh t do ca khi lng m h m t trn

hnh v, bit lc cn dao ng t l thun vi vn tc chuyn ng: F = y .



y = 11 m y + 12 y k

Tr li:
y = m y + y

k 21

22

k

12. Ngi ta gn ti trng c trng lng P vo mt thanh cng tuyt i khng qun
tnh di L. Thanh c gi v tr cn bng nh l xo v mt b gim chn. B gim chn

c c trng ma st tuyn tnh F = x .

146
 Tnh tn s dao ng ring ca h v suy gim tt dn Logart ca dao ng.
Bit P = 100N; L = 50cm; a = 20cm; ng knh l xo D = 5cm; ng knh dy l xo d
= 0,5cm; s vng l xo i = 5; mun n hi G = 8.106N/cm2; h s cn chuyn ng ca
b gim chn = 3NS/cm.
Tr li: K 1 = 11,5 rad / s ; = 1,29.

y L
EJ C
K
m
a
L/2 L/2

hnh v bt 11 hnh v bt 12

13. Gn mt khi lng m vo u thanh. Gn vo thanh cc phn t cn n hi. B

qua khi lng thanh.
a) Phi chn ln h s cn b th no h c th dao ng nh;
1
b) Xc nh cn Lehr D cn thit sau 10 dao ng bin gim cn bin
10
ca chu k u; sau xc nh chu k dao ng.
n b D
( cn Lehr: D = = ; suy gim tt dn Logarit: = T = 2 )
k 2 mC 1 D2

gm 2 2am
Tr li: a) b < Cm + b) D = 0,037; T = 2
2a 2aC + gm

14. H cho trn hnh v nm trong mt phng thng ng. V tr cn bng tnh ca h
ng vi v tr cn bng tnh OM. thi im u thanh lch khi v tr cn bng tnh ngc
chiu kim ng h mt gc 0 v khng c vn tc ban u. Xc nh dao ng nh ca h.
Khi lng l xo, thanh, b gim chn ma st bn l b qua. Ly trng lng ca ti trng
M l P = 200N, L = 90cm, L1 = 40cm, L2 = 20cm, 0 = 60, C = 20N/cm, = 15NS/cm.

Tr li: = 0,12e 7, 25 t sin (8,7t + 0,28)

147
 O
L1

a A

b
L2 L
C C

a B

m C M

hnh v bt 13 hnh v bt 14

15. Cho bit c cu gm ti trng khi lng m c gn vo hai l xo cng cng

C. Ti trng c ngm trong ng y cht lng. Lc cn chuyn ng ca ti trng trong
ng c th c iu chnh nh thay i khe h gia ti trng v ng hoc nht cht
lng.
a) Lp phng trnh vi phn dao ng nh t do ca ti trng.
b) Tnh thi gian bin dao ng t do ca ti trng gim i 100 ln, bit khi t

= 0: x(0) = x0, x(0) = 0 .
Khi gii gi thit lc cn chuyn ng ca ti trng t l thun vi vn tc chuyn
ng; m = 0,5NS 2 / cm; C = 10 N / cm; = 5NS / cm .

x = x 0 e nt
[cos k 2
n]2
.t , n =

2m
, k 2
=
2C
m
Tr li :
1
t = Ln100 = 0,92s
1 n
C

C H m
d
m

C
D

hnh v bt 15 hnh v bt 16

148
 16. B phn cn thu lc (hon xung hay gim chn thu lc) l mt pttng khi lng
m chuyn ng trong cht lng. Hy kho st chuyn ng ca pttng bit ti t = 0 pttng
lch vi v tr cn bng mt khong y0 = 0,5cm. Tm thi gian lch ca pttng i vi v
tr cn bng gim i hai ln.
Cho bit: cng l xo C=30N/cm; ng knh hnh tr D = 10cm; ng knh l h
pttng d = 1cm; s l h z = 25; trng lng pittng Q = 27,3N; chiu cao pttng H = 5cm. H
s nht ng lc cht lng = 6.108NS/cm; khi tnh lc cn nht ly theo cng thc:
128H 2 D 2
= ; = din tch ngang pttng.
d 4 z 4

[ ]
y = y 0 e cos k n .t , n = 2m = 5,42
nt 2 2

Tr li:
k 2 = C = 1080 rad / s; t = 0,03s

1
m
17. Tm biu thc ph thuc gia tn s dao ng xon ring ca trc my trn v
nht cht lng em trn cng nh thi gian bin trc my trn gim i 10 ln sau khi
mt dng li t ngt, bit vn tc quay trc lc mt dng li u bng .
Khi tnh gi thit khi lng trc nh so vi khi lng cc cnh, mmen qun tnh
khi lng cnh J = 50 Ncms2, ng knh trc d = 5mm; di trc L = 0,5m; h s cn
nht =120N cms; mun trt vt liu trc G = 8.106 N/cm2.
1, 2 t
Tr li: = e cos 4,25t; t 1 = 1,9s.
C

d L
Q Q

O1 O2

hnh v bt 17 hnh v bt 18

18. My rung dng to ra cc dao ng gm hai a mc lch tm trn hai trc

song song, trng lng mi a l Q, trng lng ton my bng P, tm sai c hai a bng
nhau v bng r. Khi lp rp ban u cc a to vi phng nm ngang nhng gc 1, 2.

149
Hai a quay ngc chiu nhau vi vn tc gc . My gn bu lng trn b n hi cng
C. Hy xc nh bin dao ng cng bc ca my, b qua trng lng ca n.
2Qr 1 + 2
Tr li: A = sin
Cg 2
( P + Q)
2
19. H to t ti trng M trng lng P1 = 80 N, cc thanh khng trng lng v l
xo c cng C = 5N/cm nm trong mt phng ng. Thanh OA chuyn ng theo rnh
thng ng vi quy lut y0 = Lsinpt (L = 1,6 cm; p = 8 rad/s). V tr nm ngang ca BM
tng ng vi v tr cn bng tnh khi y = 0. Xc nh dao ng nh ca ti trng hng
thng ng. Bit L1 = 90 cm; L2 = 60 cm. Ti thi im u (t = 0) h v tr cn bng tnh,
vn tc gc ca BM cng nh vn tc ca ti trng M bng 0; y = 0; b qua ma st.

Tr li: = 0,0785sin5,2t 0,0505sin8t

20. C cu dn ng cho van c s ho di dng khi lng m mc gia hai l

xo: L xo trn c cng C gn vo mt im c nh, L xo di c cng C1 gn vo
cam chuyn ng tnh tin. Trn mt ct ca cam phi nh trc cho chuyn ng thng
ng xc nh bi cng thc:
2
x1 = a(1 cost) khi 0 t

2
x1 = 0 khi t>

Hy xc nh chuyn ng ca khi lng m.
C1 a 1 1 2
Tr li: x = (1 cos kt ) + 2 (cos kt cos t ) khi 0 t
m k 2
k 2

C 1a 1 1 2
x= 2 .cos kt cos k(t ) khi t >

m k
2 2
k 2

y0 M C
B x
O m

C1
C

L2 L1

hnh v bt 19 hnh v bt 20

150
 21. Mt ng c c trng lng Q t thng ng trn b my c din tch y bng
S; cng ca t bng ; di tay quay ng c l L; vn tc gc ca trc l . Pttng
v cc phn khng cn bng thc hin cc chuyn ng tnh tin qua li c trng lng P.
Trng lng ca mng my bng G tay quay coi nh cn bng nh i trng. Hy xc nh
dao ng cng bc ca mng my, b qua khi lng ca thanh truyn.
Pr 2 r Pr 2
Tr li: = cos t + cos 2t
(Q + G )( k 2 2 ) L (Q + G )( k 2 4 2 )

Q L m
x1(t)
C
r

G O

hnh v bt 21 hnh v bt 22

22. Bnh xe ln trn ng g gh c vn tc ca trc bnh xe khng i v bng V.

Ti trng khi lng m gn vi trc bnh xe bng l xo cng C. Trong l xo c ma st
nht, h s cn v lc cn t l vi vn tc tng i. B qua bin dng ca bnh xe v
mt ng. Vit phng trnh dao ng tng i thng ng ca ti trng. Bit phng

trnh mt ng: = max sin 2 vi L - chiu di sng.
L
1
Tr li: y = Be nt [cos . cos k 1 t + ( n cos + p sin ) sin k 1 t ] B cos(pt )
k1

2V 2np P0 p2
p= ; = arctg 2 ; B= ; P0 = max
L k p2 ( k 2 p 2 ) 4n 2 p 2 2

23. Cho bit thi im ban u khi lng m lch khi v tr cn bng mt khong
x0. N c th t do khng c vn tc ban u. Khi khi lng trt trn mt, gia chng

xut hin lc ma st kh (ma st Culng). S ph thuc gia lc ma st Ft vi vn tc x ca
khi lng m c m t trong hnh v. Tm quy lut chuyn ng ca khi lng m.
(2n 1)Ft Ft C
Tr li: x m = x 0 cos kt + ( 1) n 1
, k=
mk 2
mk 2
m

151
 24. Gi s lc kch ng bin i theo quy lut: F(t) = F0sint tc dng ln khi
lng m. Lp phng trnh dao ng cng bc ca ti trng v cho bit vi tn s no
ca lc kch ng trong h s xy ra cng hng (b qua ma st).
2F0 4F0 cos 2nt k
Tr li: x =
C m n =1 (2n 1)(2n + 1)(k 4n )
2 2 2
; =
2n
; n = 1, 2, 3 ...

C m C/2 C m
F(t)

Ft F(t)

x t
F0
/ 2/

hnh v bt 23 hnh v bt 24

25. Hy kho st chuyn ng ca khi lng m khi c lc ngoi khng i Q t

ngt tc dng ln n (tc gi thit F(t) = Q).
Q
Tr li: y(t) = (1 cos pt); ymax = 2t.
mp 2

F(t)
r

m
L

F(t)
m
C C
t
t

hnh v bt 25 hnh v bt 26

26. Ngi ta t khi lng m ln hai l xo, mi l xo c cng C v ni vi c cu

tay quay then truyn qua b gin chn c h s cn nht . Vit phng trnh vi phn
chuyn ng ca khi lng m. Tm ng sut xut hin trong l xo, bit ng knh l xo
D, ng knh dy thp l xo d, vn tc gc ca tay quay bng tn s dao ng ring tt
dn ca khi lng m trn l xo.

152

2C
2 + 2 n x 2 + k x 2 = 2 nr cos t ; 2 n = ; k2 =
2
x
m m

Tr li: mg
8 Cr + D
max = 2
d 3
27. gim nh hng dao ng ca nn (hoc dm) ti ch lm vic ca my
ngi ta thng dng phng php cch ly rung th ng. l vic t (hoc treo) cc my
trn cc b gim rung mm. Tnh h s ng lc (t s gia bin dao ng a ca khi
lng m vi bin dao ng ca nn (hoc dm) x0) i vi cc s m t trn hnh v.
a 1 1 1
Tr li: K dl = = ; a) K dl = ; b) K dl = ;
x0
2
m
2
4 m
2
1 1 1
k C 3C

L L
m
m
C
C x0sint
x0sint

a) b)
hnh v bt 27

28. gim tc dng ca lc qun tnh gy ra bi chi tit mt cn bng trong my

xung nn (mng), ngi ta dng phng php cch ly rung ng c. l vic t hoc
treo ng c ln nhng gi mm n hi. Tnh h s truyn ng lc ca lc qun tnh
xung nn nhng ch gn gi n hi vi cng C. Dm trn t ng c c xem
nh cng tuyt i.
R dl 1 1 1 1
Tr li: K dl = = ; a) K dl = ; b) K dl = ; c) K dl =
Rt 2
m 2
4m 2
9m2
1 2 1 1 1
k C C 20C

P0sint P0sint
P0sint L1
C m m
m L1
C C
L L
C L L

a) b) c)

hnh v bt 28

153
 29. cch ly rung ng ca my v thit b ti gi n hi ngi ta thng a
vo cc yu t hao tn. l b gim chn c ma st nht. Hy tnh h s ng lc i vi
s m t trn hnh v. Khi tnh ly cc gi tr nh sau: m = 1NS 2 / cm ; = 100rad / s ;
EJ
= 60 NS / cm ; = 200 N / cm
L
1
Tr li: = ; = 0,316
2 2
2 2 n
1 2 + 2
k k
30. Kho st dao ng cng bc ca khi lng m khi c xung lc tun hon cng
du trong khong hu hn t1 v cao h tc dng ln n.
T t1
cos p 0 t +
p 0 t 1 2 t 1
Tr li: y( t ) = h sin + 2 sin p 0 t
2 T 2
sin p 0
2
Trong khong: T t < nghim ny c thc trin tun hon vi chu k T.

C m F(t)
P0sint
EJ m EJ
F(t)
h
t
L L
T T T

Hnh v bt 29 Hnh v bt 30

154
 Bi tp chng II
Dao ng tuyn tnh ca h nhiu bc t do.
31. Hai ti trng khi lng m1, m2 treo vo cc l xo c cng C1, C2 tng ng. Xc
nh cc tn s dao ng chnh ca h khi: a) C1 = C2 = C v b) C1 = C2 = C v m1 = m2 = m.

2(m1 + m 2 )C ( 2m 2 + m 1 ) 2 C 2 C2
Tr li: a) k 1, 2 = m
2m 1 m 2 4m12 m 22 m1 m 2

b) k 1, 2 =
1C
2m
(
3m 5 )

C1
m1

C2
m2

hnh v bt 31 hnh v bt 32

32. Mt mng my nng Q = 1000KN t trn nn t n hi. Din tch y mng

S =17m2; cng ring ca t bng: = 60000KN/cm3. kh cc dao ng cng hng
pht sinh khi my lm vic ngi ta t my trn mt b nng lin kt vi mng bng cc l xo
n hi c cng tng cng l: C = 50.000KN / m . Trng lng ca my v b P = 49 KN.
Hy xc nh tn s dao ng ca h (mng v b gim rung).
Tr li: k 1 = 89,5rad / s; k 2 = 111,7rad / s
33. Hy xc nh tn s dao ng xon chnh ca h gm mt trc v ba a ng
cht nh nhau lp trn trc. Hai a lp cht vo hai u, cn a th ba lp cht vo gia.
Mmen qun tnh ca mi a i vi ng tm ca trc bng J; cng khi xon ca cc
phn trc C1 = C2 = C. B qua khi lng ca trc.
C 3C
Tr li: k 1 = , k2 =
J J
34. Hai con lc nh nhau c di L v khi lng m ni vi nhau khong h bng
l xo c ng cng C. Cc u l xo gn cht vo cc thanh ca chng. Hy xc nh dao
ng nh ca h trong mt phng cha v tr cn bng ca con lc, sau khi lm cho mt con
lc lch khi v tr cn bng mt gc . Vn tc ban u ca chng bng 0. B qua khi
lng ca cc thanh v l xo.
k + k 2 k1 k 2 k + k 2 k1 k 2
Tr li: 1 = cos 1 t cos t ; 2 = sin 1 t sin t
2 2 2 2

155
 g g 2Ch 2
Trong : k1 = ; k2 = +
L L mL2

h
C
C M
L

m
m m

hnh v bt 34 hnh v bt 35

35. Con lc gm con chy khi lng M trt khng ma st trn mt phng nm
ngang v qu cu nh c khi lng m ni vi con chy bng mt thanh di L, thanh ny c
th quay quanh mt trc gn lin vi con chy. L xo c cng C, mt u gn vi con
chy cn u kia gn c nh. Hy xc nh tn s dao ng nh ca h.
Tr li: Tn s phi tm l nghim ca phng trnh:
C g( M + m) 2 Cg
k4 + k + =0
M ML ML

36. Thanh ng cht c di L treo vo mt im c nh nh si dy di l = 0,5 L.

Hy xc nh tn s dao ng chnh ca h v tm t s cc lch khi ng thng ng
ca thanh v dy ng vi dao ng chnh th nht v th hai. B qua khi lng dy.
g g
Tr li: k 1 = 0,677 ; k 2 = 2,558
l l
1 = 0,8472 trong dao ng chnh th nht.
1 = 1,1802 trong dao ng chnh th hai.

l
l b
1 C

a
L
L
2
m=P/g m=P/g

hnh v bt 36 hnh v bt 37

156
 37. Hai con lc vt l nh nhau treo vo hai trc song song t trong mt phng nm
ngang v ni vi nhau bng mt l xo c di trng thi cha b cng bng khong cch
gia hai trc ca con lc.
Hy xc nh tn s, t s bin cc dao ng chnh ca h khi cc gc lch khi v
tr cn bng l nh. Trng lng ca mi con lc bng P, bn knh qun tnh ca n i vi
trc i qua trng tm song song vi trc treo bng , cng ca l xo bng C, khong
cch t trng tm ca con lc v t im gn l xo vo con lc n trc treo tng ng bng
a v b. B qua sc cn chuyn ng v khi lng ca l xo.
(1)
ga ( Pa + 2Cb 2 )g A 1 A (12)
Tr li: k 12 = ; k 2
2 = ; = +1; = 1
2 + a 2 P( 2 + a 2 ) A (21) A (22)

38. Hy nghin cu dao ng ca toa xe la trong mt phng gia thng ng ca n,

nu trng lng ca phn trn l xo ca toa xe bng Q. Khong cch t trng tm n cc
mt phng thng ng i qua cc trc l L1 = L2 = L, bn knh qun tnh i vi trc trung
tm song song vi cc trc ca toa xe bng , cng ca cc l xo c hai trc l nh
nhau C1 = C2 = C.

Tr li: x = Asin(k1t+); = Bsin(k2t+). Trong : x l dch chuyn thng ng ca

trng tm toa xe; l gc to bi sn toa xe vi mt phng nm ngang; A, B, , l cc
2Cg 2CgL2
hng s tch phn; k 1 = ; k2 =
Q Q 2

O
L
C
L1 L2
R
A m

hnh v bt 38 hnh v bt 39

39. Mt a trn ng cht bn knh R khi lng M ni khp vi thanh OA = L,

thanh ny c th quay quanh trc c nh nm ngang. Cht im khi lng m gn cht vo
vnh a. Hy xc nh tn s dao ng t do ca h, b qua khi lng thanh. a c th
quay trong mt phng dao ng ca thanh OA.
Tr li: Tn s dao ng t do l nghim ca phng trnh:
M + m 2m(R + L ) g 2 2mg 2 ( M + m)
k4 1 + k + =0
M + 3m MR L MRL ( M 3m)

157
 40. Hy xc nh tn s dao ng xon t do ca h gm hai trc lin kt vi nhau
bng cc bnh rng truyn ng. Mmen qun tnh ca cc khi lng lp trn trc v
mmen qun tnh ca cc bnh rng i vi ng tm cc trc bng: J1 = 87500 kgcms2;
J2 = 56000 kgcms2; J1z = 302 kgcms2; J2z = 10,5 kgcms2; T s truyn = Z1/Z2 = 5;
cng ca cc trc khi xon: C1 = 316.106 Kgcm; C2 = 115.106 Kgcm. B qua khi lng ca
cc trc.

Tr li: k1 = 54,8 rad/s; k2 = 2,38.103 rad/s.

41. Mt c h gm khi lng m1 v pittng ca b gim chn gn cng vi nhau ti

im B. Nh l xo c cng C1, h treo vo tm phng A ang chuyn ng theo quy lut:
= (t). Hp ca b gim chn c khi lng m2 ta trn l xo c cng C2, u kia ca
l xo ta trn pittng. Ma st nht trong b gim chn t l vi vn tc tng i ca
pittng so vi hp, h s cn l .

Hy thit lp phng trnh chuyn ng ca h.

m x 1 + x 1 x 2 ( C 1 + C 2 ) x 1 C 2 x 2 = C 1 ( t )
Tr li: 1
m 2 x 2 x 1 + x 2 C 2 x 1 + C 2 x 2 = 0

O
(t)
A
O1 C
1
II II m1

C2
I I
m2
B

hnh v bt 40 hnh v bt 41

42. Hy tm tn s v dng dao ng chnh ca hai ti trng nh nhau v bng Q, gn

vo hai u ca mt dm cng xn nm ngang. Dm c di 3L nm t do trn hai gi
cnh nhau mt khong L, im gn ti trng cch gi nhng khong L nh nhau. Mmen
qun tnh ca tit din ngang dm bng J; Mun n hi ca vt liu dm bng E. B qua
khi lng ca dm.

6EJg 2EJg
Tr li: k 1 = ; k2 =
5QL3 QL3

158
 43. ng c in trng lng Q1 gn trn mng b tng n hi (dng hnh hp c)
c trng lng Q2 v h s cng C2. Mng t trn nn t cng. Rto c trng lng P lp
trn trc n hi nm ngang c h s cng khi un bng C1, tm sai Rto i vi trc bng
r, vn tc gc ca trc bng . Hy xc nh dao ng cng bc thng ng ca Stato ca
ng c c tnh n nh hng khi lng mng bng cch cng thm 1/3 khi lng ca
n vo khi lng ca Stato.

Tr li: lch khi v tr cn bng ca Stato:

C 1 Pgr 2 sin(t )
y=
1 1
C 1C 2 g 2 (C 1 + C 2 )P + C 1 (Q 1 + Q 2 ) g 2 + (Q 1 + Q 2 ) 4
3 3

t
rP

C1
Q Q Q1

L L L C2

Q2

hnh v bt 42 hnh v bt 43

44. Ba toa tu ch hng mc vi nhau, cng cc mc ni toa bng C1, C2. Trng
lng cc toa l Q1, Q2, Q3. Ti thi im ban u hai toa v tr cn bng, cn toa cui
cng bn phi lch khi v tr cn bng mt khong x0.
a) Tm tn s dao ng chnh ca h.
b) Xc nh chuyn ng ca cc toa xe v v cc dao ng chnh trong trng hp:
Cc toa xe c trng lng bng nhau (Q1 = Q2 = Q3 = Q) v cc mc ni c cng nh
nhau (C1 = C2 = C3 = C).
Tr li:
a) k1 = 0, k2 v k3 l nghin ca phng trnh:
C C + C2 C3 2 C C C C CC
k 4 g 1 + 1 + k + g 2 1 2 + 2 3 + 1 3 = 0
Q1 Q2 Q3 Q 1Q 2 Q 2 Q 3 Q 1Q 3
x0 x0 x
b) x 1 = cos k 2 t + 0 cos k 3 t ;
3 2 6
x0 x0
x2 = cos k 3 t
3 2

159
 x0 x0 x gC 3Cg
x3 = + cos k 2 t + 0 cos k 3 t ; k 2 = ; k3 =
3 2 6 Q Q
Cc dao ng chnh biu din nh sau:

1 1 1
1 2

45. a) Xc nh tn s dao ng ring ca dm tit din khng i c hai khi lng

tp trung m1 = m, m2 = 2m (Hnh v 45a)
b) t lc tc thi P(t) =P0 ln khi lng m1. Tm quy lut dao ng ca cc ti
trng v mmen un dm (Hnh v 45b).

EJ FJ
Tr li: a) k 1 = 5,6117 3
; k 2 = 17,10
mL mL3
P0 L3
b) x 1 = ( 25 20 cos k 1 t 4 cos k 2 t cos k 3 t )
3888EJ
P0 L3
x2 = (39 40 cos k 1 t + cos k 3 t )
3888EJ
P0 L3
x3 = (17 20 cos k 1 t + 4 cos k 2 t cos k 3 t )
3888EJ

EJ EJ EJ
k1 = 5,643 3
; k 2 = 22,4045 3
; k 2 = 36
mL mL mL3

P0
C1 C2 EJ m1 m2 EJ m1 m2 m3
m1 m2 m3
L/4 L/4 L/6 L/3 L/3 L/6
L L

a) b
hnh v bt 44 hnh v bt 45

46. Ngi ta gn trn trc chung ca mt ng c bn nhp vi ba xi lanh. Rto ca

my pht in mt chiu c mmen qun tnh J1 = 1,78.103 kgcms2. Rto ca my pht in
xoay chiu c mmen qun tnh J2 = 5J1 v bnh c mmen qun tnh J3 = 50J1. di
thu gn ca cc phn trc L1 = 373 cm; L2 = 239 cm; Mun trt ca vt liu trc bng G;

160
mmen qun tnh c cc ca tit din trc bng JP; tch GJP = 1010 kgcm2. Hy xc nh:
Tn s dao ng chnh ca h, vn tc ti hn ca trc. B qua nh hng khi lng ca
pittng, thanh truyn, tay quay v trc.

Tr li: k1 = 0; k2 = 6,43 s-1; k3 = 138 s-1; (1)th = 42,6 s-1; (2)th = 92 s-1.

L1 L2
J1 J2 J3

hnh v bt 46

161
 Bi tp chng III
Dao ng ca h c v s bc t do

47. Trn thanh b ngm hai u tc dng lc dc trc khng i P ti gia thanh.
Dao ng ca thanh s xy ra nh th no nu lc P bt thnh lnh b ct b.
4L n 1
1 nx P
Tr li: U = (
n =1,3,...
2
1) 2
n 2
sin
L
cos p n t; =
2EF
48. Hy xc nh cc tn s ring v cc hm ring ca thanh mt u b ngm cht,
mt u mang khi lng m.
E x
Tr li: p n = n ; x n (x) = C n sin n ; n = 1, 2, 3...
L 2
L

m 2 4
n l nghim ca phng trnh: cot g = ; 4 = L ; = F
L EJ
49. Mt thanh b ngm cht mt u phi, bn tri gn vo l xo. Xc nh tn s
2EF
ring c bn khi C * =
L
E
Tr li: p1 = 2,29
L2
r m
P x x C* x
O L/2 L/2 O L O L

L/2

hnh v bt 47 hnh v bt 48 hnh v bt 49

1
50. Trc ng cht hnh tr trn t trn hai nh hnh v. Bit JP1/ JP2 = . Xc
2
nh tn s ring c bn dao ng xon ca trc.

a G
Tr li: p1 = 1 = 1,15 ; 1 l nghim ca phng trnh: sin + 3 sin 3 = 0
a* a *2

G, JP1 G, JP2 m
E, EJ

L
a* 2a*

hnh v bt 50 hnh v bt 51

162
 51. Cho dm ng cht tit din khng i, u tri b ngm cht, bn phi t do
m 3
mang khi lng m. Bit = = . Xc nh cc tn s ring c bn v tn s ring bc 1.
L 4
EJ EJ
Tr li: p n = 2n ; p 1 = 1,742
ML4 L4
Vi n l nghim ca phng trnh: 1 + chcos + (shcos chsin) = 0

163
 Bi tp chng V
C s ca l thuyt dao ng phi tuyn

52. Mt x cng c tit din ngang khng i di 2L, khi lng m c gn bn l

im A v c gi thng bng bi hai l xo u c cng C.
Lp phng trnh vi phn dao ng nh ca x, bit ph thuc gia lc cn ca l xo
v dn di l tuyn tnh. Tm tn s ring ca dao ng nh ca x.

2
CL2 . cos cos 1 1
Tr li: a) mL + =0
3 sin 1 sin sin 1 + 2

sin sin

3C
b) p = cos
m
L L

O
O

L
C C

C C

L
A

L L

hnh v bt 52 hnh v bt 53

53. Mt x cng di 2L, tit din ngang khng i, trng lng Q, c treo u
mt trn v c gi thng ng nh hai l xo u c cng C.
Lp phng trnh vi phn dao ng t do ca x. Tnh tn s ring ca dao ng nh
ca x.
3g 3Cg
( 1 + sin ) 3g C 1

Tr li: a) + sin + 1 sin = 0 ; b) p = + .
4L 4Q 4 Q L
54. Cho bit khi lng m c th di chuyn t do khng ma st dc theo trc nm
ngang. hai pha ca khi lng ngi ta gn hai l xo nh nhau, cng C. Gia l xo v
gi c khe h. Tm tn s dao ng ca h ph thuc vo bin x0.
p 0 C
Tr li: p = ; p0 =
2 m
+
x0

164

C C C1 C2
m m
x0

hnh v bt 54 hnh v bt 56

55. Gii bi tp 54 trn vi cng ca hai l xo khc nhau (C1 v C2).

2p 1 p 2
Tr li: p =
2
(p 1 + p 2 )( + )
x0
56. Gi thit khi lng m c th dch chuyn t do (khng ma st) trn mt phng
nm ngang. Khi chuyn ng khi lng s tip xc vi mt trong hai l xo gn hai pha.
L xo khng gn cng vo khi lng v v tr cn bng (khi gia l xo v khi lng
khng c khe h) l xo khng b nn hoc ko. cng cc l xo khc nhau v bng C1 v
C2. Tm tn s dao ng ca h.

2 C 1C 2
Tr li: p =
m ( C1 + C 2 )

57. Cho bit khi lng m c gn vo hai l xo ko vi cng ban u To. Gi s

dao ng ca khi lng trn mt phng ngang l khng c ma st. Hy tm gi tr lch
ban u x0 sao cho tn s dao ng ca khi lng bng 5 rad/s. Hy gii bi ton bng
phng php tham s b v gii hn xp x bc nht. Cho m = 0,01 Ns2 /cm; L0 = 50 cm;
T0 = 50 N; C = 20 N/cm.
Tr li: x0 9,12 cm
y

C r
L0 F
m C
x

R
L0
C

hnh v bt 57 hnh v bt 59

165
 58. Cho bit phng trnh dao ng t do ca con lc ton hc c dng:
g
+ sin = 0 . Trong : L l di con lc.
L
Tm tn s dao ng t do ca n bit rng trong khai trin ca hm sin ra chui
Taylor ta ly hai s hng u.
Cho bit thi im ban u (t = 0) con lc lch khi v tr cn bng thng ng mt
gc 0. Hy gii bi ton bng phng php tham s b v phng php tuyn tnh ho trc
tip ri so snh kt qu thu c:

g 02
Tr li: a) Phng php tham s b: p = 1
2
1


L 8
5 2 2 g
Phng php tuyn tnh ho trc tip: p 12 = p 02 1 0 ; p 0 =

42 L

b) = 0,006p 02 02

59. Tm tn s dao ng ca n by khi cho lc khng i F tc dng vo n. M

men qun tnh ca khi lng n by bng J, cng ca trc l C.
Gi s dao ng ca n by l kh ln, v vy trong khai trin hm sin ra chui
3
Taylor ta ly hai s hng u tin sin = . Bit thi im ban u (t = 0) gc quay
6

ca n by (0) = 0, cn vn tc gc (0) = 0 . Hy gii bi ton bng phng php tham
s b v phng php Butnp-Galepkin ri so snh kt qu thu c.

Tr li: Kt qu hai phng php trng nhau:

2

3 FR 2 C FR
p12 = p 2 + 0 , p =
4 p1 GJ J

60. Ngi ta gn khi lng m vo u mt
mt yu t n hi phi tuyn (l xo). Gi s lc
ng iu ho c dng F = F0 sin t, c trng ca F
m
l xo c dng T = Cx + C1x3 cn ma st khng ng
k. Cho F0 = 20N ; = 10rad/s, m = 10 1Ns2/cm.
C = 15N/cm; C1 = 1,0N/cm . Vi gi tr no ca tn hnh v bt 60
s lc kch ng h s tn ti hai ch dao ng
bnh n. Tnh bin dao ng trong hai ch ny.
Tr li: * = 16,6 rad/s; a0 = 4,76 cm; a1 = - 2,38 cm

166
 61. Tm nghim gn ng ca phng trnh dao ng cng bc ca khi lng m
(xem hnh v BT 60) bng phng php ufinh, bit thi im ban u khi lng m c
lch cc i i vi v tr cn bng l x0 (cc tr s bng s ly nh BT 60).

Tr li: x= 2,27sin10t 0,363.10-1(sin10t sin30t).

167
 Ti liu tham kho

1. Nguyn Thc An, Nguyn nh Chiu, Khng Don in. Bi ging L thuyt dao
ng. HTL - H Ni 1988, 88 tr.
2. Gio trnh C hc l thuyt. Tp II HTL - H ni 1977.

3. . . . . 2-. . - 1965- 650.

4. . . . . -1962 - 194c.

5. . . . . -
1969 - 364c.

6. . . -
. -1976. 319c.

7. . . . . - 1967 - 444c.

8. . . . . -1970 - 732c.

9. Nguyn Vn Khang. Dao ng k thut NXB KHKT H Ni 2001.

10. Nguyn Thc An. L thuyt va chm dc ca thanh n hi v ng dng vo bi ton
cc - H Thu li 1991.

11. Nguyn Thc An. p dng l va chm dc ca thanh vo bi ton ng cc - H Thu

li 1999.

12. Kolsky - Stress waves in soil - Oxford 1953.

13. . . - 1969.

14. P. C Muller, W. O. Schiellen, Dao ng tuyn tnh dch gi Nguyn ng Anh, NXB
Xy Dng 1997.
15. Nonlinear oscillations Ali Hasan NayFeh and Dean T. Mook, John Willey & Sons, New
York, 1979.

168
169
 Mc lc
Trang
Li ni u 1
Chng m u 2
1 Mt vi khi nim v nh ngha 2
2 ng nng ca c h 2
3 Th nng ca c h 3
4 Hm hao tn 4
5 Phng php thit lp phng trnh vi phn chuyn ng 5
5.1 Thit lp phng trnh vi phn chuyn ng nh phng trnh LagrngII 5
5.2 Thit lp phng trnh vi phn chuyn ng theo phng php almbe 8
5.3 p dng phng php lc thit lp phng trnh vi phn dao ng nh 8
6 Xc nh cng ca h dao ng 10
6.1 Thanh n hi 10
6.2 H cc l xo 12

Chng I: Dao ng tuyn tnh ca h mt bc t do 14

1.1 Dao ng t do ca h tuyn tnh mt bc t do 14
1.1.1 Dao ng t do khng cn 14
1.1.2 Dao ng t do c cn 17
1.2 Dao ng cng bc ca h tuyn tnh mt bc t do 22
1.2.1 Dao ng cng bc khng cn 23
1.2.2 Dao ng cng bc c cn 26
1.2.3 m n hi ca My 30
1.2.4 p dng php bin i Laplace tnh ton dao ng cng bc 32

Chng II: Dao ng tuyn tnh ca h nhiu bc t do 38

2.1 H nhiu bc t do. Phng php chung thit lp phng trnh vi phn
chuyn ng 38
2.1.1 H nhiu bc t do 38
2.1.2 Phng php chung thit lp phng trnh vi phn chuyn ng 38
2.1.3 Nhng nguyn tc gii phng trnh dao ng ca h 40

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 2.2 Dao ng tuyn tnh ca h c hai bc t do 41
2.2.1 Dao ng t do khng c cn 41
2.2.2 Dao ng cng bc khng cn 46
2.2.3 Mt vi bi ton ng dng 49
2.3 Dao ng xon ca trc mang cc a 55
2.3.1 Phng trnh c bn. Phng trnh tn s 55
2.3.2 Phng trnh dao ng xon cng bc trc mang cc a 57
2.4 Dao ng un ca dm c cc khi lng tp trung 59
2.4.1 Phng trnh c bn Phng trnh tn s 59
2.4.2 Phng trnh dao ng un cng bc ca dm c cc khi lng tp trung 60

Chng III: Dao ng tuyn tnh ca h c v s bc t do 65

3.1 Dao ng dc ca thanh tit din khng i 65
3.1.1 Phng trnh vi phn dao ng dc ca thanh 65
3.1.2 Gii phng trnh sng bng phng php Furi 66
3.1.3 Cc iu kin bin ca thanh, phng trnh tn s 67
3.2 Dao ng xon ca trc trn tit din khng i 70
3.2.1 Phng trnh c bn v nghim ca n 70
3.2.2 Cc iu kin bin - Phng trnh tn s 71
3.3 Dao ng un ca dm tit din khng i 72
3.3.1 Phng trnh c bn 72
3.3.2 Gii phng trnh vi phn dao ng un ca dm tit din khng i 74
3.3.3 Phng trnh tn s 74
3.4 S truyn sng n hi dc trong thanh tit din khng i 77

Chng IV: Va chm dc ca vt rn vo thanh n hi

v p dng l thuyt va chm vo bi ton ng cc 79
4.1 Mt vi bi ton v va chm dc ca vt rn vo thanh n hi 79
4.1.1 Va chm dc ca vt rn vo thanh n hi t do 79
4.1.2 Va chm ca vt rn vo thanh n hi mt u b gn cht 82
4.2 Mt vi bi ton va chm ca ba vo cc 91
4.2.1 Va chm ca ba vo cc t do 91

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 4.2.2 Va chm ca ba vo cc ta trn nn cng 97
4.2.3 Va chm ca ba vo cc ng trong nn ng nht
y cc gp lc cn khng i 103

Chng V: C s ca l thuyt dao ng phi tuyn 124

M u 124
5.1 Dao ng t do khng cn ca h mt bc t do
i vi c trng phi tuyn ca lc phc hi 126
5.1.1 Phng trnh vi phn c bn v nghim chnh xc ca n 126
5.1.2 Nghim gn ng ca phng trnh vi phn c bn 128
5.2 Dao ng cng bc khng cn ca h mt bc t do
vi c trng phi tuyn ca lc phc hi 135
5.2.1 Phng php Butnp-Galepkin 135
5.2.2 Phng php tuyn tnh ho trc tip 136
5.2.3 Phng php ufing 136

phn bi tp
Bi tp chng I 143
Bi tp chng II 155
Bi tp chng III 162
Bi tp chng V 164

Ti liu tham kho 168

171