NGHIEN cufu-TRAO DOI 3S s^ jl- DpNG Ll/C HOC CAU TRUC LOAI MOT DAM SCT DUNG HAI PA L A N G D I E N LAM CO CAU N A N G V A T DYNAMIC OF THE SEMGLE GIRDER CRANE USING TWO HOISTS AS LIFTING STRUCTURE TS Biii Khic Gay, KS Vii Due Thinh Hpc vien Ky thuat Quan sy TOM TAT Bdi bdo trinh mo hinh ca hpc, mo hinh todn vd kit qud tinh todn dpng luc hpc cua cdu true logi mpt ddm su dung hai pa ldng dien Idm ca cdu ndng vdt tru&ng hgp cd hai pa ldng dien cung Idm viec di khai dpng ndng vdt tic nen, cdp chung Tu khoa: Cdu true mpt ddm; Dong lire hpc cdu true mpt ddm ABSTRACT This article presents mechnical models, mathematial models and dynamical calculated results of a single girder crane which using two electrical hoists as lifting structure, in case of both of them working to start lifting an object from the ground, loose cable Keywords: Single girder cranes; Dynamic of single girder cranes l.DATVANDE Cau true la loai may rat phd bien nen kinh te qudc dan Cdu true dung de co gidi hda eae edng viee bdc xep va van chuyen hang cae nha xudng kho bai Cau true cd nhieu loai khac nhau, nhung cau true loai mgt dam sir dung pa lang dien Iam ca cau nang vat (CCNV) la loai tuong ddi phd bien, dung de nang tai vda va nhd Phin Idn loai diing mpt pa lang diSn song ddi de tang tai trgng nang ngudi ta sii dung hai pa lang dien lam CCNV Ddng lyc hpc ciia cau true ndi chung da dugc mpt sd cdng trinh nghien ciiu cdng bd [2,3,5] Tuy nhien, vol cau true mpt dam su dung hai pa lang dien Iam CCNV cd rit it tai lieu nghien cim dupe cdng bo Cau true loai lam viec se xay hai trudng hgp: Chi diing mpt pa lang dien, hoac dung hai pa lang dien dong thdi de nang vat Sy lam viec cua hai trudng hgp se din den dac tinh dgng lyc hgc khac Dgng luc hpc cau true loai mgt dam sir dung bai pa lang di?n Iam CCNV chi mdt pa lang dien lam viec da dugc trinh bay [1] Bai bao se trinh bay ket qua nghien cuu dgng luc hpc cua cau true ca hai pa lang dien cimg lam viec, khdi dpng nang vat tir nen, cap chung ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN cufu-TRAO D C I TINH TOAN DQNG LV^C HOC 2.1 Mo hinh dong luc hoc - Khi CO cau nang lam viec thi cac co cau di chuyen dung yen, cum CCNV d giua dim cau true Cau true loai mdt dim sur dung bai pa Tir ket cau thyc va cac gia thilt tren, ta lang dien Iam eo ciu nang vat (hinh I) ed cau cd md hinh tinh toan dgng lyc hpc nhu thi hien tao chung gdm: Ket cau thep chiu lyc, cum ca tren hinh cau nang vat (CCNV) dugc tao bdi hai pa lang dien bd tri vudng gdc vdi dam chiu luc, co ciu r^ -^ ?' I ? di chuySn hai palang va ca cau di chuyen ciu T, ^ true va he thdng dieu khien Hinh Mo hinh tinh todn ddng luc hpc Cac ki hieu tren mo hinh: Hinh Cdu true logi mot ddm sic dung hai pa ldng dien Idm ca cdu ndng J3, J^ - Md men quan tinh khdi lugng cac chi tiet quay cua pa lang dien quy ve true ddng C O 1, ddng co bao gdm rd to ddng co, - Tir ket eau thue cua cau true, de cd the cac khdp ndi, cac dia phanh chu dgng, cae banh xay dyng dugc so dd tinh toan dpng lyc hpc, rang va tang cuon cap; can sd gia thiet sau: m,- Khdi lugng dao dpng cua dam cau - Thdng sd ket cau va tinh nang ky thuat true Cling cum pa lang dien; cua hai pa lang dien la nhu va Idm viec ddng thdi m^- Khdi lugng vat nang, cum mdc treo, pa lang cap; - Cap treo vat coi nhu mpt Id xo chiu keo cd dp Cling c^, dg giam chan b^ q,, q^ - La dich chuyen theo phuong thang dimg cua trpng tam dam cau true, cua vat - Vat chi dugc nang theo phuang thang nang; diing, bd qua anh hudng cua gid q^, q^ - La dich chuyen gdc cua rd to - Chi xet dao dgng cua dam cau true dpng CO eua pa lang dien so 1, sd 2; theo phuong thang diing, dam cd tinh dan hdi M^, M^ - La mo men xoan dpng co cd dp cimg c, va dp giam chan bj 1, ddng CO sinhra; '^ ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn NGHIEN cufu-TRAO e l Qua trinh nang vat dugc phan lam ba giai doan: Giai doan 1, cd 02 bac tu do, la giai doan pa lang dien Iam viec gin nhu khdng tai va tang cudn cap quay de cudn khir het dp chung cua cap Giai doan pa lang dien tiep tuc Iam viec, tang cudn cap van quay de cudn cap va luc cang cap tang tir den luc cang tinh; Giai doan pa lang dien tiep tuc Iam viee, tang cudn cap tiep tuc quay de cudn cap va vat nang bit dau tach khdi mat dat cap nang vat; p^ - trpng lugng met day cap; i -ti sd truyen cua hop giam tdc; ^kdmax- ^ ° "^^^ ^ ^ * ^Q^B lc(n nhat cua ddng cO: 9950.N,„ M,, rt^ 2.2 PhiFcmg trinh vi phan mo ta dong luc hgc Trong do: k- He sd vdpt tai k == 2-3 (kha nang tao md men ciia ddng cO); - Qk thilt lap phuong trinh vi phan chuyen dpng cho timg giai doan, ap dung phuang trinh Lagrang loai N ^ , Uj^ Cdng suat (kw), sd vong quay(vg/ph) dinh mdc cua ddng cd; - Ddi vdi giai doan I phuang trinh vi phan chuyen ddng la: Giai doan ket thdc gdc quay cua cac ddng co dat gia tri: ^3, = zA, do: - La dp chimg ban dau cua pa lang U^q.^M^ (1) Vdi: M3 = M , - /^,i + (A^td m^ - ^,^ )(1 - ^ ) , t < t,j A/,| , khit^i t < r, t^.j- La thdi gian khdi dgng cua dgng co dien; t|- Thai diem khir xong dp chung cua cap va cap bat dau keo cang; t,- Thdi diem vat nang bat dau tach dat; t- La tham sd thdi gian; cap (m); q^^, q^fla chuyen vi gdc cua ddng cP 1, ddng CO d cudi giai doan (rad); i^ - So nhanh cap treo vat; 2- So nhanh cap cudn l^n tang; aBgi suat pa lang; ij- Tl sd truyen cua hop giam tdc; - Doi vdi giai doan phuong trinh vi phan chuyen ddng la: /"L • :i_ \ * 2/,&,I> • „ m, 9| + c,gi - ( / ) , -1-/2 ; J g i + g3=0 ^ *• i,zb.,D • z%D^ •^3g3-^^^gl+ M^i- Md men can tinh trgng lupfng day cap tao quy ve true mdt ddng co va dugc xac dinh theo edng thiic A/„ = pj^ — ^ Trong 4.;, do: D| - dudng kinh tang cudn cap cua pa lang dien; I^- Tdng chieu dai day cap pa lang , " i^zb^D • 2l, z%D^ I, ' ,^ ^3=^3 • (2) , Trong giai doan nay: 2(| ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd 1+2 nam 2015 www.cokhivietnam.vn i-\ il] I] NGHIEN curu-TRAODdi Trong do: A/- la dp gian dai cua cap nang vat: Al = ^ {({^ ~q3,)-2i^q, Giai doan ket thuc lire cang cap dat gia tri luc cang tTnh: F=c,.Al =c, 2D Kq3-q„)-2i,q, =F, m^g Doi voi giai doan phuong trinh vi phan chuyen dpng la: c.D a m^q^+ic^+z^a^cAq^ en ^ a , , , N • , , • i^ii^l^, o • ^\D„a 2i, " 2 ^ m.q^-z CM ? | + z c,fl £7, z'c.D„a ^(7, •'s93+7( •• z'c.D, a ^1 ^lAc" ^^3 ^ ^l^le^ 2' ' ^ ' z\D,^a ^—q^-z c^a q + z'c.a'q- 2/, 2i| z'c.D„a z'c.D'a z'c.Dla —q^+—T^^?i+—^q.+—'—^—q, 7; z'c,D„a ^^ H,2 z'c.D'a ,1.2 ^3 z'c.Dla ^^ z'b,D,a 2i, -); z\D,M • z'bfi,^a • -9.=0 (3) 2ii z'h,D,a • z'tfil • z'b,D' —qj+—7-^?,+—'-v^q ^1 • • IV • 2i, ^2 z'b,D a • z'b,D' 12 • z'b,D' • -^i ^14 • 2/, feft; /) ^2, giai doan ket thuc Trong giai doan nay: M^ = M^= A/,2 ngudi dilu khiln phanh dimg, hay co cau banCT:^''thieucao nang dimg qua trinh nang Nhu vay, md men ddng co ba giai doan cd dang nhu hinh dudi day: M(Nm) \f w Hinh Bieu mo men xodn tren true dpng ca ciia pa ldng dien D I giai cac bp phuang trinh vi phan (1), (2), (3), sii dung thuat toan Rurge-Kutta bac va phin mim MatLab ISSN 0866 - 7056 TAP CHi CO KHi VI$T NAM, Sd +2 nam 2015 www.cokhivietnam.vn NGHIEN CUU - TRAO OOl MOT SO KET QUA TINH TOAN CAC THAM SO DQNG Ly'C HQC CUA CAU TRUC Cac thong so ban dau cua cau true: Q = 02 tin; H = 10m; v^ = 30m/ph = 0,5m/s; a = 2; d^= 12,5mm; D,^ = 50,mm; N,^ = 3,5kW, n = 960v/ph = 100,5rad/s, J=0,195kg.m^ k=2,9, t^^ =l,7s; i =25; m = 1,5 tjn; L = 14m Ket qua tinh toan cac tham sd ddng luc hpc nhu sau: 'vt^-•'•••• Hinh Gia tdc ciia ddm, vdt ndng Nh^n xet: Cac ket qua dang dd thi phan anh diing quy luat thay ddi cac tham sd ddng lyc hpc ciia cau true, cua vat nang, cua dpng co: : quay, van toe goc, gia toe goc ro lo dong ca vv/ Hinh Dich chuyen cua ddm, vdt ndng -W Hinh Van tdc khoi tdm cdu true, vdt ndng - Q giai doan 1, gia tdc cua ddng co rit Idn, nhien van chua anh hudng din dim cau true, vat nang vi chua khu het dp ehiing cua cap, lyc cang day cap bing Sau giai doan khdi ddng, dpng co dn dinh, dat tdc dp dinh miic, gia tdc dgng co bing (hinh 4) - Giai doan hai, cap bat dau cang, Iam dam eau true bat dau dao dpng, cdn vat nang van chua dao ddng (vi chua tach dit) Q diu giai doan van tdc ddng co giam co tai trpng (hinh 4) - Giai doan 3, vat bit diu tach dit: Dam cau tryc, vat nang bat diu dao dpng manh (tdc dp, van tdc dat gia tri Idn nhit, hinh 4,6,7 Tdc dp ddng CO cung dao dpng vdi bien dp rat nhd rdi dn dinh (hinh 4) D i m ciu true dao dgng manh bat dau tach dat, sau dd dn dinh dan xung quanh vi tri can bing tTnh - Ket qua tinh toan kha sat vdi tham sd Iam viec thyc cua may Vi du: Van tdc gdc quay rd to ddng co: -98,3/100,5 (rad/s), van tdc nang vat: ~0,45/0,50(m/s) ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, So 1+2 nam 2015 www.coldiivietnam.vn NGHIEN cufu - TRAO D(!)l KET L U ^ Qua k i t qua nghien cuu cd thi dua mpt ket luan sau: - Xay dung dugc md hinh tinh toan dpng hpc cau true mpt dam su dung hai pa lang dien lam CCNV khdi dpng nang vat tir nen, la md hinh tuong ddi tong quat va sat vdi dieu kien lam viec thyc Cac ket qua tmh toan ly thuyet theo md hinh so vdi cac tham sd lam viec thyc cua may gan gidng cho phep khang dinh sy diing dan cua md hinh co hpc, mo hinh toan va chuang trinh may tinh - So vdi trudng hgp mpt pa lang Iam viec, thi tnrdng hgp hai pa lang ddng thdi lam viec thi van tdc nang vat tang gap ddi nen thuc te cd the dung pa lang kep kieu de nang eao hieu suat lam viec cua may true - Cd the su dung md hinh DLH de kiem tra danh gia cac tham sd DLH cua loai cau tryc khai thac su dung ciing nhu tinh toan thiet ke.*> Ngay nhan bai: 15/01/2015 Ngay phan bien: 25/01/2015 Tai lifu tham khao: [1] Bill KhicGiy,Vu Diic Thinh (2014), Tinh todn dpng luc hoc cua cdu true logi mot ddm su dung hai pa ldng dien lam ca cdu ndng vdt Tap chi Co Viet Nam, si [2] Vu Liem Chinh, Phan Nguyen Di, Nguyin Van Khang (2001), Gido trinh dong luc hpc mdy, NXB Khoa hgc va Ky thuat Ha Npi [31 Nguyin Van Vinh (2004), Bdng luc hpc mdy xdy dung -xep da Ha Noi [4] BaHCOH A.A (1986), EoAteMHO mpancnopinHbie MamuHH H3A MocKBa [5].rox6epr M.M (1984), K Bonpocy auHaMuiecKux BOsaeucmBUflx na MemanoKOHcmpyKuuu KpauoB, JleHHurpaa [6] C.A.Ka3aK, j^HHaMHKa MOCTOBI-IX KpauoB Hsfl MamuHcxpoeHH MocKBa 1988 iSSN 0866 - 7056 TAP CHi CO KHi VTET NAM, So +2 nam 2015 www.cokhivietnam.vn ... lyc, cum ca tren hinh cau nang vat (CCNV) dugc tao bdi hai pa lang dien bd tri vudng gdc vdi dam chiu luc, co ciu r^ -^ ?'' I ? di chuySn hai palang va ca cau di chuyen ciu T, ^ true va he thdng... ket cau va tinh nang ky thuat true Cling cum pa lang dien; cua hai pa lang dien la nhu va Idm viec ddng thdi m^- Khdi lugng vat nang, cum mdc treo, pa lang cap; - Cap treo vat coi nhu mpt Id xo... trinh may tinh - So vdi trudng hgp mpt pa lang Iam viec, thi tnrdng hgp hai pa lang ddng thdi lam viec thi van tdc nang vat tang gap ddi nen thuc te cd the dung pa lang kep kieu de nang eao hieu suat