KHOA HOC - C N G NGHE XAY DUNG MO HINH DONG LUC HOC HAI DAY NGHIEN CIJU ANH HlTONG CUA QUA TRINH PHANH DOAN XE TREN DUONG VONG Tg Tuan Hung', Vo Vdn Hirang ' Dirang Nggc Khdnh ^ Nguyen Tien DSng , Nguyin Thanh Tung \ Ngiryen Nggc Tu " TOM TAT Phanh tren du&ng vong Id mgt qud trinh phuc tgp dgc bi^t la ddi v&i cdc logi xe tdi l&n nhu xe bdn mooc Trong nghiin ciru ndy, tdc gid da xdy dyng mo hlnh dgng lyc hai ddy xe bdn mooc co cdc md hinh phi tuyin de nghien cuu qud trinh phanh xe quay vong H? phuang trinh Newton - Euler dugc sir dyng de thiet lap phuang trinh dgng lyc hgc vd sir dung mdy tinh md phdng, khdo sdt mgl sd truang hgp phanh tren du&ng vdng Tu khda: Md h'mh dgng lyc hgc xe bdn mooc; Mo hinh lop phi tuyen; Quay vdng thira A STUDY O N E F F E C T S O F B R A K E IN TURNING MANEUVERS O F SEMI-TRAILER BY A 3D DYNAMIC M O D E L Ta Tuan Hung ', Vo Van Huong \ Duong Ngoc Khanh ^ Nguyen Tien Dung "*, Nguyen Thanh Tung ^, Nguyen Ngoc Tu SUMMARY This article in troduces results of caculating the forces impact on the blade during in the hash wood chips From the pimciple of cutting wood, we have estabhshed overall outline ofthe total forces impact on the blade during in the hash wood chips, have established a calculate formula to the forces impact on the blade tip, of front and back side of the cutting blade Results of this research is the theoretical basis for design calculation improving the equipment in hash wood chips and bamboo Keywords: Forces hash wood; Forces impact to the blade; Wood hash; Forces outline of wood hash L D ^ T VANDE Hien nay, van chuyen hang hda bdng xe tai Id mpt nhiing loai hinh van tai quan trpng nhdt ciia nln kinh tl qudc dan Loai hinh van tdi ndy chilm khodng 80% lupng van tdi hang hda d cdc nudc phat triln [1] Ddi vdi cdc hdnh trinh dai va hang hda co tdi trpng vd kich thudc ldn thi xe ban mooc Id mot loai xe tdi chuyen dirng da chung to hi?u qua ciia viec vgn chuyln cdc loai hang hda Logi xe cd thl gidm 25% nhien lieu tieu hao cho van chuyen 100 tan/km hang hda nang tdi trpng xe ban mooc tir 16 len 32 tdn [2] Tuy nhien, dia hinh va hien trang giao thdng d Vi?t Nam nen logi xe ndy ' ThS Tnrong Dai hpc Cong ngh§ giao th6ng v§n iki ^ PGS.TS Tnrong D?i hpc Bdeh khoa Ytk N$i ^ TS Truimg Daii hpc Bich khoa H^ N^i * ThS Tnrdng Dai hpc BAch khoa Ha Npi * ThS Tnrong D^i hpc Su pham ky thuiit VTnh Long *ThS Tnrong D^i hpc Sir ph^m l^ thult Vinh thudng mat on dinh di chuyen, ddc biet tgi cdc dogn giao viia tdc dfing phanh (MBIJ) vira quay vong (S,j), t h l hien tren hinh ã2 ^ytnO Pviy2 Myfy2 ME TRAILER /V/ Mô/ Fml Mw Mdt.Ws, COWUNG TRACTOR Yijaiax, rijmiiti "i TAP CHi CONG NGHIEP NONG THON - SO 14 - 2014 Hinh Sa dieu khien xe bdn mooc 25 K H O A H Q C - CONG N G H f Phanh tien dudng vdng co the d i n den mat dn dinh d6i vdi xe don [3] Doi vdi xe bdn mooc Id loai xe cd khdp noi va kich thudc ldn, = m^Rl% phanh tien dudng vdng tinh chat chuyen (2.2) "F, = % °F, = %im''a,) dpng phiic tap hon rdt nhieu Chinh vi vgy, can CO cac nghiSn ciiu chi tiet ve dpng luc hpc xe = m^,a, ban mooc phanh tren dudng vdng De gidi = m"vg+mga}„x'^Vg quyet vdn de nay, sir dung phuang phdp tdch (2.3) cdu tnic he nhieu vdt va h6 phuang trinh Newton - Euler de xdy dung md hinh dpng luc (v^ ~fffVy)cost^ -(v^+i^v^)s\ny/ hpc quay vong hai day xe bdn mooc {Vy + iifv^)cosi//+ iv,-iffv^)smi// n KET QUA VA THAO LU^N 2.1 Mo hinh d$ng lyc hpc quay vong hai day xe ban mooc 2.1.1 Nguyen ly tdch cdu triic vd phuang trinh Newton - Euler Tgi cac lien ket, thay cac luc hoac mo men cd cimg tri so, khde chieu va cung phuong, hudng ducmg Id hudng cua chuyln dpng M6i vdt CO khoi lupng m vd khii tam C vdi cdc md men qudn tinh chuyen dpng ddc lap tucmg d l i vdi chuyen dpng he nhilu vat MBS (Multibody System) Vdi mpt vdt, dung phucmg trinh Newton-Euler [3] ta co thl thilt lap phuang trinh mpt each d l dang Trong mat nln, xe cd hai chuyln ddng tinh tien va chuyen dpng goc quanh true z Tgi trpng tdm xe ta dgt he tpa dp vgt B(xyz) co true z song song vdi tryc Z cua he G(XYZ) Ngodi cac bdnh xe ciing chuyen ddng tuang dli vdi thdn xe va ta phdi dinh nghta cho chiing cdc he BwL(Xwiywi) Cac he B(xyz) vd Bwi(xwiywi) diu quy chilu ve he cd dinh G(XYZ) Phuomg trinh Newton vilt he cd dinh: ''F^=m% (2.1) Vec to luc he co dinh^F^- vd ti-ong h^ (2.4) Phuong trinh Euler he vdt B: 7, 0" /j 0 /j hi » -V U I5J, (U^ X [/, 0" [ffl 1"! /, •», [o /, »> ] a j j / i -(yj,fl»j/j +(u^iu,/3 ,) = Fx, ]M,(y,+x,ii;,) = FYi (2.7) 2.2 M5 hinh lop De xac dinh dupc cdc phdn phan lyc tac dung tir mat dudng len xe thi can co mpt md hinh ldp phii hap Trong nghien ciiu nay, sir dyng md hinh lop Ammon [5,6] de xdc dinh cac lyc tuang tdc tai cdc bdnh xe dudi dgng: Trong dd: Fxi, FYI, M21 la tdng cdc ngoai lyc va md men tac dung len xe ddu keo - He phucmg trinh xe mooc: '^ (2.9) F„ = {M,(x,-y,y\t,) = ¥^2 M,(y,+x,xi/,) = F^, ^ (2.8) Trong do: Fx2, FY2, MZ2 Id tdng cdc ngogi luc vd mo men tac dyng len xe mooc Cdc thdnh phdn ngogi lire va mo men ben trai thyc chdt Id cdc phdn luc tir dudng tac dung len timg banh xe vd cdc ngoai luc nhu luc can khong khi, luc Uen ket tai khdp noi 1^ Trong do: Fxij la luc tiep tuyen (tang tdc hoac phanh); Fyij Id lyc ngang bdnh xe; Fz,j la phdn luc thdng diing phuang z Cdc he sd trupt dpc Sij dupc xac dinh theo md hinh bdnh xe mat phdng thdng dirng va goc lech bdnh xe Cy duac xdc dinh theo mo hinh bdnh xe mdt phdng ngang f(^xy) vd f(^yij) Id hdm mau nhu sau: ,-^5„ 3-2^ f©= sign(Q- 3^1 -'f (f^-^hm (2.10) 2.2.1 Mo hinh banh xe Irong mdl phdng Ihdng dieng Trong phuang thang dung banh xe chiu tac dong cua mo men banh xe, phan l\rc tir mat duong, tinh chat mat duong Phuang trinh tong quat banh xe duoc viet nhu sau: J*,*, =M.„ -M,„ -(F., +F,f)[r -(h„ -5,,)] (2.11) i = l+6;j = l+2 Trong do: MAIJ la mo men tang t6c; MB,J la mo men phanh tai cac banh xe; Fxij la phan luc dpc; Fzij la phan lire thang dling tCr mat duang He s6 truat doc cua banh xe phanh: Wnh Mo hinh quay vdngxe bdn mooc X,; - r„ % (2.12) He sl trupt dpc ciia banh xe tang toe: TAP CHI CONG NGHIEP NONG THON - SO 14 - 2014 KHOA HQC - CONG N G H ? Trong : Vxij, Vyij la cdc van t i c dpc va ngang tren he true tpa dp bdnh xe; 2.3 Cac ket qua khao sat Dya vao mo hinh dpng lyc hpc xe ban mooc da xay, khdo sdt dpng lyc hpc phanh quay vong cua mpt loai xe dang dupc ltru hdnh tai Viet Nam Khi khdo sat, cd mpt so gia thilt nhu: bo qua dnh hudng cua he thing ldi vd he thdng phanh; bd qua dnh hudng cua gio den chuyen dpng ciia xe ban mooc Khdo sdt cdc trudng hpp: - Phanh vd khdng phanh tren dudng vong; - Phanh vdi d cung quay vong khac 2.3.1 Truang hgp 1: Ket qud ciia trudng hop la cac thong s6 dpng hpc danh gid su dnh hudng cua qua trinh phanh tren dudng vong Hinh Md hinh bdnh xe lrong mat phdng ihdng dirng 2.2.2 Mo hinh hdnh xe mgt phdng ngcmg Hinh Dd thi goc quay bdnh xe ddn hu&ng Kz ^ Hinh Mo hinh bdnh xe m0t phdng ngang Xet mpt banh xe mgt phang ngang chiu cdc phdn luc tir dudng sinh cdc goc lech ben bdnh xe Cdc goc lech dupc linh nhu sau [7]: a 28 =S -atanMi (2.14) Hmh Do thi mo men bdnh xe 1: M6 men hknh xe c k phanh; 2; Mo men bfinh xe ciu can bang phanh; 3: Mo men bfinh xe xe mooc phanh; 4: Mo men bfinh xe cau can bang khong phanh; 5: Mo men bfinh xe xe mooc khdng phanh TAP CHi CONG NGHIEP NONG THON - SO 14 - 2014 KHOA HQC - CONG NGHE Trong phuang an ndy, khdo sat chuyen dpng cua xe bdn mooc d van toe v=40 (km/h) quay vdng vdi gdc quay banh xe ddn hudng la (deg) thl hien tien hinh Doi vdi trang thdi khdng phanh thi md men banh xe dupc giu nguyen (dudng va 5), trgng thai phanh se bat ddu d t=8s vd den t^8,5s thi giii nguyen mo men phanh (dudng 1, 2, 3) the hien fren hinh Hink Do thi gia toe ngang xe 1: Gia toe ngang xe dau keo khong phanh; 2: Gia toe ngang xe mooc khSng phanh; 3: Gia t6c ngang xe dau keo eo phanh; 4: Gia toe ngang xe mooc c6 phanh Ket qud tren hinh cho thdy, bat ddu quay vong thi gia tdc ngang ciia xe dau keo (dudng 1) tang len den 1,14 (m/s^) sau on dinh theo goc quay banh xe ddn hudng Cdn ddi vdi xe mooc thi gia toe ngang (dudng 2) co tang nhimg chdm ban xe dau keo xe mooc Id thdnh phdn hi keo Khi bat dau dgp phanh thi gia toe phanh cua cd xe dau keo vd xe mooc deu gidm (dudng va 4) dd van toe ciia xe giam dan Khi ddnh gia In dinh chuyln dpng cua xe bdn mooc, ddnh gia tinh on djnh cua xe dau keo va xe mooc rieng vd c6 ddnh gia tinh tucmg doi cua hai phan qua gdc lech hai than xe Doi vdi xe ddu keo ddnh gid qua thong so van toe va gia tic goc thdn xe nhu hinh Trong giai doan quay vdng thi van toe goc xoay thdn xe tdng den 5,7 (deg/s) roi giu In dinh (dudng 1) Con gia toe goc xoay ciing tang len din 11,5 (deg/s^) sau giam vl (deg/s^) vd dao dpng quanh gid tri (dudng 2) giai doan ndy g6c quay banh xe dan hudng nho va van tic khong qua ldn nen xe dang quay vong dii Khi bat dau phanh thi cd van toe vd gia tic goc xoay thdn xe ddu keo deu co tdng mot chiit, sau giam Doi vdi van toe goc quay than xe van tdc dpc ciia xe giam nen gid tri ndy cung gidm (dudng 3) Con gia toe goc quay thdn xe thi gidm ve khodng -2 (deg/s^) roi dao dpng quanh gid tri Theo cdc tieu chudn on dinh thi frang thdi cua xe liic quay vdng thira, xe ddu keo mat on dinh [3] Vi(deg/s^) I WVNAAAA^^^WWNAA/.A,^'"" y^ Hmh Dd ihi v^ tdc vd^ ldc gdc jaxiy thdn xe ddu keo 1: Van tdc goc quay xe diu keo khong phanh; 2: Gia t6c goe quay xe dfiu keo kh6ng phanh; 3: V$n toe goc quay xe dau keo c6 phanh; 4: Gia t6c g6c quay xe dfiu keo co phanh Doi vdi xe mooc cimg cho cdc ket qua tucmg tu, the hien fren hinh Trong giai doan quay vong thi van toe goc xoay than xe tdng din 5,7 (deg/s) roi giu on dinh (dudng 1) Con gia toe goc xoay ciing tdng len den 4,3 (deg/s ) sau giam ve (deg/s^) va dao dpng quanh gid tri ndy (dudng 2) Khi bat dau phanh thi cd van toe vd gia tdc goc xoay than xe dau keo deu CO tang mpt chiit sau dd giam Doi vdi van toe 29 TAP CHI CONG NGHIEP NONG THON - SO 14 2014 KHOA HQC - CONG NGH£ goc quay thdn xe van tic dpc cua xe giam nen gid tri ciing gidm (dudng 3) Con gia toe goc quay thdn xe thi giam vl khodng -1,7 (deg/s^) rli dao dpng quanh gia fri Theo cac tieu chudn dn dinh thi trang thai cua xe mooc liic ndy quay v6ng thira [3] Hinh 10 Dd thf gdc l^ch hai thdn xe 1: Gdc lech than xe khdng phanh; 2: Gdc lech than xe c6 phanh 2.3.2 Trudng hap 2: Ket qua trudng hpp se ddnh gia chuyen dpng cua xe bdn mooc phanh d cdc cung quay vdng khde Dieu kien khdo sat la xe di d van toe v=40 Hinh Dd thi van tdc vd^ tdc ^ quay diing xe mooc 1: V|n tdc g6c quay xe mooc khdng phanh; 2: Gia (km/h), bdt ddu danh lai vdi cac goc 5=2 va (deg) the hienfrenhinh 11, sau dd phanh d t=8s t i c goc quay xe mooc khdng phanh; 3: Van tdc gdc quay xe mooc ed phanh; 4: Gia t i e gdc quay xe mooc CO phanh Dli vdi goc lech than xe the hien fren hinh 10, giai dogn quay vdng thi goc lech ndy tdng len den 5,7 (deg) roi giii on djnh (dudng 1) DiSu cho thay dpng hpc giita hai than xe dam bdo dieu kien quay vong on dinh Nhimg phanh thi goc tang l§n mpt chiit den khodng 6,2 (deg) Ket qud cho thdy bdt ddu tdc dung phanh tai cdc bdnh xe se ddn din tinh chdt bdm tgi cac banh xe khac ldm cho tang goc lech hai thdn xe Nhu vay, frong trudng hpp phanh tren dudng vong de ldm cho hai phdn cua xe ban mooc CO xu hudng quay vong thira xe ban mooc d trang thdi mdt 6n dinh Can cii vdo gia tri van toe goc xoay than xe va gdc lech hai than xe thi phan mooc co xu hudng quay nhanh hon phan xe ddu keo Dieu de dan den hien tuong gap than xe [8] 30 ,5(deg) Htnh II Bo Ihi gdc quay bdnh xe ddn hudng 1: Goc quay Mnh xe dSn hudng 5=2(deg); 2; G6c quay bdnh xe din hudng 5=4(deg); Doi voi gia toe ngang the hien tren hinh 13 giai doan quay vong thi gia toe ngang tang len den cac gia tri tuong ung la 1,14 (m/s2) 6=2(deg) va 2,3 (m/s2) ddi v6i 6=4(deg) Tuy nhien giai doan thi Ichi quay v6ng vai goc ldn gia tflc ngang cua xe TAP CHf CONG NGHIEP NONG THON - S6' 14 - 2014 KHOA HQC - CONG N G H f mooc tang den miic cua xe keo la chdm hem so vdi goc nhd, dilu phu hpp vdi cdc nghien ciiu trudc ddy D i n phanh thi gia toe ngang cung gidm ddn theo van toe dpc xe tdc goc xoay than xe tang din 5,7 (deg/s) ling vdi 6=2(deg) rdi giii I n djnh (dudng 1) va 11,2 (deg/s) img vdi 5=4(deg) (dudng3) Con gia tdc goc xoay ciing tang len din 11,5 (deg/s2) sau giam v l (deg/s2) iing vdi 6=2(deg) (dudng 2000 2) vd len din 22 (deg/s2) img vdi 5=4 (deg) M(Nm) (dudng 4) Khi bdt ddu phanh thi cd v£in t i c va IOOO ^ gia t i c goc xoay than xe ddu keo diu co tang mpt chiit sau giam Trong kit qua tdc gid nhgn thdy, goc cdng ldn thi phanh gia tdc goc xoay than xe cdng nhd, van t i c gdc xoay cdng gidm nhanh 3^>K Us) Hinh 12 Dd thj md men bdnh xe 1: Md men banh xe cSu trtrdc; 2: Md men bfinh xe c^i cln b^g; 3: Md men banh xe mooc Hinh 14 Dd thi van tdc vd gia tdc gdc xoay ddng xe ddu keo I: Van tde gde quay xe dau keo 5=2(deg); 2: Gia tdc gdc cjuay xe dau keo 6=2(deg); 3: Vgn loc gdc quay xe dau k^o 5=4(deg); 4: Gia tdc gdc quay xe d^u k^o S=4(deg); Doi vdi goc lech than xe the hien fren hinh 16 frong giai dogn quay vong thi goc lech tang len den 5,7 (deg) roi giir on dinh (dudng 1) 5=2(deg) va 12,1 (deg) Hinh 13 Dd thf gia toe ngang xe 1: Gia tic ngang xe diu k^o S=2(deg); 2: Gia tic ngang xe mooc 5=2(deg);3; Gia toe ngang xe diiu k6o 5=4(deg);4: Gia tdc ngang xe mooc 5=4(deg); D l i vdi xe ddu keo tdc gia ddnh gid qua thdng sd van tdc vd gia tdc gdc than xe the hien tren hinh 14 Trong giai doan quay vong thi van 8=4(deg) Nhimg phanh thi cd hai d6u cd xu hudng thay doi nhimg g6c ldn thi gdc lech giiia hai than xe ldn hem Ket qud ndy cho thay bat ddu tdc dung phanh tgi cac banh xe se dan den tinh chdt bam tgi cac banh xe khde ldm cho tang gdc lech hai thdn xe Nhu vdy trudng hpp phanh tren cdc ctmg quay TAP C H [ CONG NGHIEP NONG THON - SO 14 2014 31 KHOA HQC - CONG NGH? vdng khde d cimg mdt van toe thi ddi vdi cac cung nho de bi mat on djnh han hudng quay vdng thira, goc lech giira hai thaanh ldn ban, xe cd xu hudng bj ggp thdn xe Nghien ciiu ciing chi rdng phanh d cac cung quay vdng nhd thudng de bi mdt In djnh ban, goc lech giiia hai than xe ldn hon Nhung ket qud dua phii hpp vdi thuc tl Tuy nhien, nghien ciiu mdi chi d budc xdy dyng md hinh va chua khdo sat cdc frang thdi tdi hgn nen cdn co cdc nghien ciiu sau dl danh gid day du tinh chat dn dinh ciia xe bdn mooc quay vdng Tai li^u tham khao Hinh IS Dd ihf vdl ^vd^ tdc gdc quay ^ingxe mooc [I] Xiujian Yang, Yaoping Li, Rui Qu (2011), 1: Vfin tdc gdc quay xe mooc S=2(deg); 2; Gia tde Lateral Stability analysis of the Tractor-Semitrailer gdc quay xe mooc Ichi 5=2(deg); 3: V§n toe gdc quay xe Vehicle in Severe Situations, Electric Information and mooc 8=4(deg); 4: Gia toe gdc quay xe mooc 5=4(deg); Hinh 16 Do thj gdc l?ch hai thdn xe 1: Gdc l§ch thSn xe S==2(deg); 2: Gdc lfch than xe 5=4(deg) Control Engineering (ICEICE), 2011 Intemational Conference, USA [2] Nguyin Tidn Dung, Vd Van Hudng, Ducmg Nggc Khfinh, Dfim Hoang Phuc (2014), Xe chuyen dung, NXB Giao dye Vi?t Nam; [3] Vd van Hudng, Nguyen Tien Diing, Duong NgQC Khanh, Dfim Hoang Phuc (2014), Dpng luc hgc d td, NXB Gifio due Vi^t Nam; [4] Vii Thfinh Niem, T? Tufin Hung (2014), Nghien cuu anh hudng cua duong den higu qua phanh d Id b5ng md hinh mpt dSy phi tuy^n Tap chi Giao thdng van tai, 05/2014 [5] Ryszard Andrzejewski (2005): Nonlinear Dynamics of a Wheeled Vehicle, Springer Publisher, USA http://springeronline.de; [6] Ammonn, D (1997): Modellbildung und Systementwicklung in der Fahrzeugtechink, BG Teubner; 17] Raesh Rajamani (2006): Vehicle Dynamics and Control, Springer Publisher, USA; [8] M Bouteldja, A Koita, V Dolcemascolo, J C Cadiou Prediction and Detection of Jackknifing Problems for Tractor Semi-Trailer, France; m KET LUAN Trong nghien ciiu da thdnh lap dupc mo Ngay n h | n bai: 20/9/2014 hinh dpng lyc hpc hai day xe ban mooc vdi cdc Ngay p h a n bign: 28/9/2014 Ngiroi p h d n bi^n: TS Dau The Nhu, Vign Co md hinh ldp phi tuyen Md hinh dupc mo difn nong nghifp va Cong nghe STH phong bdng phdn mim mdy tinh va chuong trinh mo phong chgy on dinh Cac kit qua khao sdt cho thdy: Khi phanh tren dudng vong thi xe ban mooc de bi mdt In dinh hem khong phanh, cd xe ddu keo vd xe mooc diu co xu 32 TAP CHf CONG NGHIEP NONG THON - SO 14 - 2014 ... xe c k phanh; 2; Mo men bfinh xe ciu can bang phanh; 3: Mo men bfinh xe xe mooc phanh; 4: Mo men bfinh xe cau can bang khong phanh; 5: Mo men bfinh xe xe mooc khdng phanh TAP CHi CONG NGHIEP NONG... banh xe ddn hudng Cdn ddi vdi xe mooc thi gia toe ngang (dudng 2) co tang nhimg chdm ban xe dau keo xe mooc Id thdnh phdn hi keo Khi bat dau dgp phanh thi gia toe phanh cua cd xe dau keo vd xe. .. ciia xe giam dan Khi ddnh gia In dinh chuyln dpng cua xe bdn mooc, ddnh gia tinh on djnh cua xe dau keo va xe mooc rieng vd c6 ddnh gia tinh tucmg doi cua hai phan qua gdc lech hai than xe Doi