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Ket Cau Va Tinh Toan o To (2008)
Ket Cau Va Tinh Toan o To (2008)
@,, thi binh sau bj khod cting truéc. 6.1.3. Tai trong tac dung lén hé thong Mi = Momen cue dai tic dung lén vanh tay lai M= Prox Re (N.m) R: ban kinh vanh tay léi (m) Pax! Tue cuc dai téc dung Jen vinh tay Idi, v6i xe ti chon khoing (400 + 500) N, véi xe con chon khoang (150 + 200) N. Ngoai ra véi céc chi tiét cila hé théng treo va céu khi tinh todn stic bén ngoai viee dua vio tai trong cue dai tée dung théng qua tii trong tinh cdn phai ké dén hé s6tai trong dong. Thuc nghiém da chi 16 hé s6 tai trong dong ting khi do cig cia hé théng treo va tc d6 chuyén dong ting va tai trong cla 6 16 gidm. Vi vay khi tinh ngudi ta Iya chon sao cho that phit hop. 16Chuong IT LI HOP 2.1. NHIEM VU, YEU CAU, PHAN LO. 24.1. Nhiém vu Li hop 14 mét trong nhiing cum quan trong ciia 6 6 né nim ngay sau déng co lam nhiém vy n6i va ciit dong co véi hé thong truyén lure. Ngoii ra li hop cdm duge sir dung nhu mot bo phan an toan (né c6 thé ct truyén dong Khi momen qué mate quy dinh). 2.1.2, Yéu cau cita li hop + Truyén dugc momen xoan lén nhat cia dong co mA Khong bi truot trong bat ki diéu kien nao, mudn vay mémen ma sét sinh ra trong li hop phai 1én hon mémen xodn 16n nhat cita dong co. Mos = B/Moax M,,,: mOmen ma sat sinh ra trong li hgp (N.m) Mya; momen xodin 1én nhat cia dong co (N.m) B: he s6 dir trit mémen xosn cia li hop (B > 1) + Khi n6i (déng) li hop phai ém diu dé ting tir tir momen xoan lén tryc ciia hé théng truyén luc, khong gay va dap va cdc bénh ring Khi vao s6, lic 6 t6 khéi hanh khong bi giat, ngudi 14i, hanh khdch do mét, hang hod khong bi x0, dé v6... + Li hop téch (md) phai dit khost va nhanh chéng sé cit trayén Iuc tit dong co xuéng hg thong truyén luc, gitip cho vige gai s6 duge dé dang, Mémen quén tinh cua phin bi dong phai nhé (c6 khéi lvong bé) 4é nhanh chéng dmg lai khi mé li hgp. + Bim bio cho he théng truyén Iue khong chiu nhang lye qué tai Ién, dot ngot né Fam nhigm vu cita bd phan an toan (li hgp trugt) nén hé sé B phai nim trong gigi han phit hop. + Dim bio thodt nhiét tt ti céc bé mat ma sat. Két cdu don gidn, diéw khién thuan tign, d8 bio dudng, sita chia. 2.1.3. Phan loai li hop * Phan logi theo cach truyén mémen xodn 17+ Li hop ma sat: trayén momen xon nhd cdc bé mat ma sat (tao momen ma sat dé trayén mémen xodn). C6 loai 1 dia ma sat, nhiéu dia ma sat, dang dia ma sat hinh cén, hinh tréng, dé tao luc ma sat ding nhiéu Id xo ép bién, hodc 1 1d xo trung tam, don ép, i hgp ban i tam, li hgp li 14m, loai Iuén luén déng, loai khéng luén luén dong... (c6 thé ma sat uét, ma sat kh6). Hién nay trén 6 t6 thudmg ding li hop ma sat kho. + Li hgp thuy yc: truyén momen xodn nhi luc ca dong chat long (li hop thuy tinh, li hop thuy dong). + Li hop din tit: truyén momen xoan nhd luc tit trudng cita nam cham dién. + Li hop hén hop: thutng ding két hop li hop thuy Iue va ma sét. * Phan loai theo céch din dong diéu khién ~ Li hgp diéu khién tu dong - Li hop didu khién cutng bic Dya vao nguyen ly lam vige ca din dong ¢6 - din dong co khi - din dong thuy lye ~ dan dong tre tue Ngoai ra tuy theo timg mue dich nghién ctu ngudi ta cén c6 nhiéu cach phan logi... 2.2. PHAN TICH KET CAU BO LI HOP 2.2.4. Li hop ma sat kho 1. So dé cdlu tao chung Li hop c6 thé chia lam hai phan: * Phan din dong: truyén Iyc (va ting luc) ttr ban dap li hgp déin co cau li hop (gdm 12, 13, 14, 15) * Co edu li hop (cau tao cita co edu gém 3 phin) + Phén chil dong: bao gém nhiing chi tiét duge lip ghép truc tigp hoge gidn tiép véi banh da dong co va c6 chung van te géc voi bénh da, (g6m c6 v6 li hgp, cic dia ép, céc 1 xo ép, cdc g6i tY, thanh néi, don md). + Phiin bi dong: bao gm céc chi tiét luon cé chuyén dong quay cing véi truc bi dong clia li hop (hay truc so cap hop 86). Gém c6: dia ma st (1 hodc 2 dia), truc li hgp. + Co cau md: gém céc don mé, bac mé, 1d xo hdi vi 18,3 45 6 7 8 9 JO1L 12 1 a 1716 1s 14 13 b) 93.227 21 Hinh ILL. So dé nguyén ly cd tao ctia li hop ma sat khd a} Loai 1 dia ma sdt; bj Loai 2 dia ma sét 1. Truc khusu déng co; 2. Banh da; 3, 21, 23: Dia bi dong: 4, 20: Dia ép; 5: V6 ngoai cita li hop: 6: V6 li hop; 7: Thanh néi, 8: Géi t3; 9. Bon md li hgp: 10: Bac ma: ; LI: True bi déng li hop (true so cdp hop 86); 12: Ban dap li hop; 13. Don kéo; 14: Cang ma li hop; 15: L6 xo héi vi; 16: Lé xo ép; 17: Chét dinh huong; 18: Lo xo déy dia ép trung gian; 22: Dia ép trung gian; 19: Bulong diéu chinh vt trl dia ép trung gian, 2. Nguyén If lam viée Nguyen ly lam viée cita hai logit 1 dia va 2 dia gan ging nhau + Trang théi déng [a trang thai lam viée thudng xuyén cia li hgp ludn Tun déng. Khi nguai lai chura tac dung lye len ban dap (12), dudi tac dung cita cac 10 xo ép bien (16) sé day dia ép (4) ép sat dia bi dong (3) vao banh da (2) cita dong co. Khi dé 2, 3,4, 16 xo, 16, vo 6 duge ép thanh mot khéi cing sé quay cing vdi truc khuju dong co (1). Momen xoan tir truc khuyu dong co truyén qua cé¢ bé mat ma sat 2 - 3; 4 - 3: dén moay o dia ma sat 3 va dén true li hop 11. Li hop thuc hién chitc nang cla khép n6i truyén momen xoan. + Trang thai mé: ngoai léi téc dung mot luc Q lén ban dap 12, qua 13, 14 s8.ddy 10 chuyén dong doc truc 11 vé bén tréi ti len 9, qua 8 kéo 7, kéo dia ép 4 (20) vé phia phai, nén céc 1d xo 16 tach roi cdc bé mat ma sat 4 - 3, 3 - 2 hic dé dia ma sat 3 va truc 11 khong quay. Mémen xoan dugc cat khong truyén xuéng hé thong truyén luc. Voi loai 2 dia ma sat cdc bé mat ma sit 20 - 21; 21 - 22 duge tach cuéng bic khi mé, sau dé nhiing 10 xo 18 diy téch bé mat ma sét 23 vi banh da 2, dé bé mat 22 khong cham vao bé mat ma sat 21 nhéc6 buléng 19. Tai cdc thoi diém déng, mé li hgp do téc do quay ciia phan chi: dong va phan bi dong khéc nhau sé sinh ra trugt tuong déi gitia cic bé mat ma sat cita li hgp, (hodc hic xe qué tai 6 trugt 6 li hop) hién tung nay khong trénh duoc d6i véi li hop ma sat. 192.2.2. Cau tao cha mot sé li hyp ma sat ding trén 6 to epee Hinh 11.2, Céiu tao li hop 1 dia ma sat 6 y 7 I: Moay o dia ma st; 2: Banh da; 3: V6 ngodi cia li 8 9 19}! 1 hop: 4: V6 li hop, 5: Dia ép; 6: O thank lan kim bat vai dia ép; 7: Chét lin; 8: Chot nhd (bat voi v6 ti hop); 9: Chét t) dén md; 10: Don mé; 11: Vit diéu chinh; 12: Ong bac; 13: Cang mé-li hop; st 14: Bac mé li hop; 15: 6 bi i cita bac mG; 16: Lb xo &p; 17: Dia bj dong (dia ma sat). 2 151413 16 Loai li hop ngay thirg sir dung trén céc xe tai c6 tai trong nhé nhu: Hyundai GAZ - 66, Xanxing, Daewoo cdc xe con VOLGA, TOYOTA, YA3.... * Khicdn truyén momen xofin I6n ngudi ta sir dung loai li hgp 2 dia ma sét nhu hinh II-3. Trén cdc Loai 6 to c6 tai trong Ién: Zil 164, MAZ 500, KAMAZ... sit dung loai li hop 2 dia ma sat nay. : 6 mot s6 xe tii loai én KRAZ, MAZ - 200 ding li hop c6 1 18 xo xép hinh con, tiét dign chi nhat dat trung tam hinh II-4. Trén hinh II-4 a, b la so dé nguyén ly lam viée, hinh II-4 ¢ 1a cau tao cia li hop. * Trén hinh II - 5 18 loai li hop c6 1d xo ép dang dia. Qué trinh 1am viée duge chi r6 ten hinh I-5 a, b. * Trén hinh II - 6 1a so dé cau tao va lam viée cia li hop khong Iu6n luén déng. Thoi gian déng hoac mé 1a tay thudc vao tay diéu khién, néu mé li hop sau 46 bé tay diéu khién li hop sé 6 vi tri mé bi khod nén cit mé mii, néu déng li hop 6 vi tri khod sé déng mai. Loai li hop nay duge ding lim li hop bia (li hyp nim & ban truc) hay goi 1a li hop Idi ca nhtng xe xich hode phan truc trich cong suat dén cdc bO phan may nong nghiép kéo theo. Dac diém célu tao: - Banh da (1) duge néi v6i bén truc, véi banh rng ban truc trong vi sai, phfa trong banh dé (1) ¢6 rang thang an khop trong v6i rang thang cia dia ma sat chi dong (3). 20! 221 9 19 Hinh IE-3. Cau tao li hop hai dia ma sét 1, 22: Bia bj dong, 2: Bia ép trung gian; 3: Ong; 4: Dia ép chinh; 5: Oc kép chet cang noi; Dén mé li hop; 7: Lo xo té; 8: Ong dan bai tron; 9: Ld xo; 10: 6 bi cita bac ma; LI: Lé xo héi vi bac; 13: Cang md; 14: Vang ddy; 15: Truc quay cita don md; 16: Lé xo ép; 17: Vé li hop; 18: Dém cach nhiét; 19: Bulong kép v6; 20: Cac le li hop; 21: Banh da; 23: Truc li hop: 24: Moay o dia bj déng; 25: Lo xo gidm chin; 26: Céc dia phu dé néi ghép: 27: Curediu te dong diéu chink vi tri cita dia ép trung gian. - Dia ép 2 phia trong cé then hoa lip véi then hoa cita truc bi dong (14) ndi voi cdc banh sao chi dong, phia ngoai cia moay o (2) 6 then hoa dé lap véi then hoa cia moay & dia ép (4), mt phiin moay o (2) ¢é ren dé lp ren v6i moay o dia chit thap (7). - Tren dia chit thap (7) lp cdc cam ép (5) bing chét (6). Khi tay diéu khién & vi tri mé cdc don din dong sé kéo cam ép (5) tich cdc bé mat ma sét véi dia ép. Khi'mé hoan toan 6c gitta cain cam ép (5) véi don (8) Ién hon 90°. 2110.7: Eb E430 39 28 37 Hinh 11.4. Li hop c6 16 xo ép trung tam a: Li hop déng; b: Mé-li hop; ¢: Cdit tao ctia li hop 1: Banh dé; 2: Bia ép; 3: Gudong; 6, 4, 5: Dia ma sat (dia bi déng); 7: Moay o dia bi déng: 8, 18: O bi cdu; 9: Truc li hop; 10: Ong bat voi don ép; 11, 28: Vong dém; 12: 13: Khe hé'diéu chink; 14: Céc te li hop; 15: Don ép (ma); 16: bi; 17: CI : Nap mat bich hép s6; 20, 25, 30: Lé xo; 21: Bac déng mé li hop; 22: Ong; 23: Cang md; 24: Truc; 26: Dia, 27: Nap kiém tra; 29: Chét; 31: V6. 22* a) Noi li hop b) MG li hop c) Lé xo dia Hinh ILS, Li hop c6 16 xo ép loai dia 1: Banh da; 2: V6; 3: Dia ép; 4,5: Vong 1); 6: LO xo dia, 7: Dia bi dong; 8: Ong bit). Se Hinh IL.6. So dé cai tao, nguyen IS lam vide ctia li hop khong luén luén déng a: Mé hoan toan; b: Dong hoan toan; c: Vi wri diéu khién déng, mo 1: Banh da; 3: Dia ma sat clui dong; 2, 4: Dia ép; 5: Cam ép; 6: Chot; 7: Dia chit thép; 8: Can ép; 9: Truc bi dong; 10: Bac déng md; 11, 12: Cdn dan dong; 13: Can dieu khién 23~ Khi tay diéu khién 6 vj tri déng qua cdc don din dong day cam ép ép chat céc dia ép V6i dia ma sét dé trayén momen xoan. 6 vi ti khod khi déng hoan to’n géc gitta cin cam ép (5) vdi don (8) nhd hon 90° - Nhu vay ltée mé, Ric déng li hop khong ty dong ra khdi cdc vi tri khod cia né nén cit mé va déng mai. Khi nao 06 lye téc dung vao cn digu khign (13) qua khoi vi tri khod méi 6 thé thay d6i mé hoac déng. : * Trén mét s6 xe ngudi ta sit dung li hop mot dia ma sat nhung 6 ddn mé li hop ngudi ta lam them mot trong khéi phu dé khi li hop quay trong khéi phy nay sé sinh ra mot lye li hop ép them lén dia ép. Nh& c6 luc li tam nay ma 6 sé vong quay cao luc ép cia li hop lon mde dit luc nén cita 1d xo khong 16n lim. Vi vay ¢6 thé chon B < 1. Uu diém ciia li hgp nay: khi s6 vong quay cao luc ép Idn, {t bj wot, 1d xo ép khong can 9 cing 16n lam. Nhuge diém: & s6 vong quay thap li hop dé truot, 6 s6 Vang quay cao mé li hgp nang. Vé cau tg0 ctia li hop li tam duge chi r wen hinh Tl - 7, thudng ding & xe auto (Rumani) Hinh 1.7. Cau tao li hop ban li tam J: Dia bj dong 2: Trong khéi phu 3: Chéng ldp giita dia ép va don ma: 4: Don mé li hop 5: Ld xo gidm chdin 6: Lo xo 6p. M6i quan hé gitta luc ép téng cong len dia ép v6i sO vong quay cita truc khuyu dong co nhu dé thi sau: PN) PL +P, fa es AYP py x: luc ép sinh ra do céc lo xo ép Pet: luc ép phu sinh ra do lue li hop cia trong khoi phu ne: s0'vong quay clita khuaju dong co. 242.2.3. Li hop li tam Cau tao duge chi r6 trén hinh IL - 8 li hop nay duge ding tén xe Xakxémat (CHLB Ditc) Loai li hgp 1 dia li tam diéu khién ngat néi tu dong theo do bién thién tée 46 géc cla dong co. Khi t6e d6 géc cia tryc khuyu dong co ting téi 105 rad/s, Iyc li tam I6n con lan (3) ving ra theo ranh tren dia ép (2) va mat vat trén vo (4) ép chat dia ép vio dia bi dong (1) va bénh da (5). Khi t6c'd6 géc cia true khuyu dong co gidm con nhé hon 105 rad/s li hop tu dong nga Dé thay déi sé khi ra vao sO duge dé ding va ém diu ngudi ta Lip mot li hop ma sat kho 1 dia 10 xo ép bien diéu khién cudng biic. U'u diém cia li hgp loai nay 14 khong c6 su tot khi dong co quanh nhanh nhung cé nhuge diém: két cau phiic tap vi phai Jap thém mot li hop phu va khép mot chiéu 6 dé truyén mémen theo huéng nguge lai khi phanh bang dong co. 2.2.4. Li hop dién tir Hign nay c6 hai loai ti hop dién ti: loai c6 hén hop tir va khong ¢6 hén hop sit ti. Hin IL8, Li hop xe Xakxomat 1. Dia bj dong; 2. Dia ép; 3. Con lan; 4. V6; 5. Banh da; 6. Khop mot chiéu; ¢. Lihgp I dia ma sat 06 10 xo ép bien. ‘Tren hinh (If - 9a) 1A so dé li hop dién tir khong cé bot sat tir diing trén xe Mécxédec. Neuén dign tir ée qui va may phét qua chéi (1) va vanh (7) vao cudn day (3) tao nén mot tir trading init chat phiin ting (4) vao 16i (2). momen xodn dong co truyén qua 16i 2, phén ting 4” dén truc so cap 6 cita hop 86. Ld xo (5) dé ngat li hop (sé dy phan ting 4 tach khoi 16i 2) Uu diém cia li hop loai nay 1a: két cau don gidn 48 ty dong qué trinh digu khién. Nhuoc digm co bin IA phai ding sat nguyén chat (dé trénh tir dut) ché tgo Idi va phiin ting dé dim bao ngat li hgp duge dit khodt. Gin day li hop dién tir c6 bot sat tir duge sit dung rong rai, cau tao trén hinh (11-9b). Sat tir gém cé: bot calinol sat hodc thép hop kim, 16i n tir 2 (phan tir chi dong) c6 cuén day (3) gin tren bénh d& 8. Phin cting 4 v6i truc li hop (true hop s6) 6 bang then hoa, khoang khong gian A = 0,6 + 0,8mm chifa day hOn hop bot sé ti. 25Khi quay bot sat tir do luc li tam vang ra phéin ngoai cho dang dién (cong suat khodng 50 - 60W) vao cudn day (3) (thudc bd phan chit dong) tao nén mot tir trudng hat cde bot sat tir néi lién 10% (2) v6i phan ting 4 Tam quay tryc hop s6. Momen truyén phu thuge vio gid ti cutng dé dong dién va khe hé A an noi chita bot sit ti. Hinh I. 9. Li hop dién nt a) Khong 06 hon hop sit tit, b) Cé hdn hop sd 1; 1. Choi quét; 2. Léi dién; cudn day; 4. Phan ing; 5. LO xo; 6. Truc li hop (trac hop 86); 7: Vong gdp; 8. Banh da Uu diém eda li hop nay 1a: khong phai diéu chinh, céc bé mat ma sét hao mdn it. Nhuge diém 1a phan bi dng cé momen quén tinh 1én. 2.2.5. Li hop thuy-hrc © mot s6 xe con, xe khdch ngudi ta sir dung li hop thuy luc; héu hét sit dung li hgp thuy dong. = Dia bom (1) duge gan véi true khuyu dong co, dia tuéc bin (2) gan véi truc hop s6 (true li hop), c& hai dia c6 cdc cénh huéng kinh, chat Jong duge chita sin trong li hop va tun hodn thao ranh gitia cée cénh. Hinh 11.10. So dé li hgp thuy dong J. Dia bom; 2. Dia woc bin 26Dia bom Lu6n luén lam nhiém vu bénh da nen tuy wong lugng ciia li hop 16n nhung trong lung toan bé cia 6 t6 khong tang so véi li hyp ma sat. + Khi dong co lam viée dia bom quay do luc li tam, chat long chuyén d6ng tir tam v6i van t6c tuyét d6i v1 theo cdc cénh ra ngoai ria véi van téc tuyét d6i V2 (V2 > V1), bin vao cénh tuéc bin vi van téc V'2 (V'2 < V2) bude dia nay phai quay theo. Chat long tiép tuc di chuyén tiv ria vao tam dia tuéc bin va lai sang dia bom, chu ky tudn hoan duge Hip lai. Nhw yay mémen xofn truyén xudng hé théng truyén luc ting tir tir theo tée dé dong eo chit khong tang dot ngot duoc. hcipe XS 1112 13° «14 15 16 ZA ai ——e (-] iS 4 3. 2 : 1 Vp re SSE 2 Hild }-—- = J TEE 25 i \ " \ Nt . 7 Se N WE 24 q 23 a 2 190 gO Hinh ILL. Li hop hon hop ding trén cdc xe con 1. Truc khu§u dng co; 2. Mat bich true kiueju; 3. Moay 0; 4. Dém 16t; 5.V6 bat lién voi dong co; 6. Banh da lién véi v6; 7. Bia bom; 8. V6 li hop thus luc; 9. Bia tude bin; 10. Nuit ddu; 11. Moay o dia tuéc bin; 12. Banh da cita li hop ma sat; 13.V6 Ii hop ma sdt; 14, 25: BI dd; 15. Don ma; 16. Truc li hgp (truc sa dp hop 36; 17. Ld x0 ép; 18. Dia ép; 19. Dia ma sat; 20. Lo xo; 21, Phot; 23. Cac te; 24. Bi dé. 27‘Muén mé li hop ngudi ta phai giam nhd t6c d6 dong co dén Nic nio dé ma chat long tir dia bom bin sang dia tuéc bin khong thing duge sttc c4n tren dia tude bin thi truc tuée bin ding Jai. 2.2.6. Li hop hén hop Nhu 2.2.5. da trinh bay néu trén 6 to ma sit dung li hop thuf Luc Khi t6c dé ctia dong eo J6n muén eft truyén dong dé gitip cho vige vao s6 dé ding, nhanh chéng khong thé thuc hign duge. Vi vay tren cde 6 16 hién nay ngudi ta thudng ding li hgp thuy Iyc - ma sat (goi I2 li hop h6n hop: thuy co). Li hop thuj luc ludn déng ém dju cho dit li hyp ma sat 6 déng dot ngot. Li hop ma sat dat sau Jam nhiém vy cat li hgp khi cin vao 86, Cau tao li hgp thuy co duge trinh bay trén hinh IT - 11, dang cho cde xe con, xe du lich (li hgp thuy lye - li hop 1 dia ma sat) - Khi dong co lam vige, li hop ma sat déng, momen xodn duige truyén (1) dn (3), (7) dé. Gia tuéc bin (9) dén (11), (12) qua bé mat ma sat (12), (19), (18) trayén dén truc fi hgp (16). -Khi mo li hgp ma sét mémen xofn vin truyén qua li hgp thuy lye nhung chi lam cho (12), (18) quay cdn dia bi dong (19) téch khéi céc bé mat ma sdt nén khong quay va (16) diing yén. Khong truyén mémen xoan xuéng hé thong truyén luc, Hinh II.12a. Li hgp hén hop diing trén xe tdi trong lon 1. li hop thus luc; 2. khép ndi; 3. li hgp 2 dia ma st 28G nhiing xe tdi loai én ngudi ta cing ding Ji hgp hén hop thuy Inc - eo khi nhung thudng li hop co khi Ja Logi 2 dia ma sat. Hinh IL.12a la Li hop hén hop ding trén xe tai trong én 2.3. ANH HUONG CUA LI HOP DEN ViEC GAESO. Khic véi cdc may méc tinh tai, su sang $6 (déi cap te dé) due thyc hién khi xe dang chay, dong co dang lm viée. Néu céc bénh ring can vao s6 (an khdp véi nhau) ¢6 su chenh lech vé tdc dé géc sé sinh ra va dip manh (Iye xung kich). Vi vay su eat, néi bO li hop 6 Anh huéng rat 1én dén gid tri cia luc va dap. ‘Trén hinh ([I-12b) so dé qué trinh gai s6 bénh rang 4 an khdp véi banh rang 3 ma kh6ng cat li hgp. J, B _ o, vt tf 1 Me ds, A o, Lf 4 Hinh I1.12b, Qué trinh gai 36 khong eat li hop Khi céc bénh rang 4 va 3 chua gai vdi nhau truc A cé t8c dé géc @, theo da quan tinh cia tay s6 cU. Bat dau gai s6 truc C quay theo (coi truc A din dong truc ©), goi te 49 gée truc A hic nay Ki a, va tryc Cc6 tdc 6 géc 18 o, = 22. Khi gai s6 xong cdc truc C, A bi ©, dan dong béi truc B va cdc téc do géc ©, ‘Tir day ta thanh lap c4c phuong trinh momen xung Iuong véi tryc A va C - Doi véi true A: P.R,t=J,@, - 0) (2.1) - D6i véi truc C: khi khong cit li hop ta phai qui dan J,,, J, vé truc C: PRs t= +303 =(I,, fe] (0, (2.2) 29Trong dé: P: luc tac dung R,, Ry, Ry, Ry: ban kinh cdc bang rang 1, 2, 3,4 J,,J,: momen quén tinh cia banh da, tryc A, li hop R Jay R R. Nhan 2 vé cila (2.2) voi —* va ta 06 i = do vay: 12 vE cia (2.2) voi OGin= eee Homey PARgt = Ty +J,) pin ~ Ooi) (2.3) thay ©, vao (2.1) a, rit & (2.3) ta 66 momen xung lugng khi vio s6 khong mé li hop PR yt aan tis Onin in) (24) Gy tI Din AT, Néu vao 6 méli hop thi J,, = 0 Ite dé momen xung Iuong s@ Ri: PR t= laltin @qOcin) 25) Jae, chia hai vé (2.5) cho (2.4) ta thay J, <You might also like
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