Le V3n Quynh Tap chi KHOA HQC & CONG NGHE 169(09) 195-199 DANH GIA HIEU QUA HE THONG TREO GHE NGOI NGT/CH DIEU KHIEN CUA MAY XAY DlTNG BANG MOT PHU'CfNG PHAP THI NGHIEM Le Van Qu^'nh Ti-udngDgi hpc Ky thudt Cdng nghiep - DH Thai Nguyen TOM T A T Thiet ke hop ly h? thong treo va dem ghe ngoi ngudi dieu khien khdng chi giam dao dpng truyen ISn tiiSn nguoi ma nSng cap hi^u qua lam viec di^u khidn Bi danh gia hieu qui ciia ghe ngoi ngudi dieu khien may xay dung, mpt thi nghiem dao ddng ghe ngoi ngudi di€u khien duo'c diidt Igp tren be Ihti dao ddng de gia toe dao ddng dudi diSu kien tan so kich thich dap ddng thap Gia tdc tren midn tan so \'a he so SEAT ducfc chgn dk danh gia hieu qua he tiiong trep va dem ghe ngdi ngu'di d i ^ khien Ket quaphan tich cho thay rSng hieu qua ciia hS th6ng treo va dem tuong doi tot dieo phucmg tnrdc sau va gia tnhd so SEAT Uieo phuong dung he tiiong treo ghd nhd hon d hau h^t cac tan so th§p va djc bietgiam 62.8% d tan so kich thich 8Hz Tir khoa: Mdy xdy dung, ghe ngdi nguin dieu khiin, h? thong treo thi nghiem, he s6 SEAT, hiiu qud DAT VAN D E Ngay nay, de nang cao hieu qua he thong treo ghe ngoi nguoi dieu khien ciing nhu ghe ngoi hanh khach, ap dung mpt bo dieu khien tich cue nham giam bien dp dao dong tiieo phuong dung ghe ngoi to dupc trinh bay bdi Jian-Da Wu va Rong-Jun Chen, 2004[1] va ba giai thugt dieu khien duoc ap dung dieu khien thong so thiet ke he thong treo ghe ngoi Ket qua ctia nghien cuu da so sanh hieu qua giam dao dong phuang dung cua ghe ngoi Dieu khien tich cue he thong treo ghe ngoi dua vao phan hoi dau dong Iuc hoc vdl giai han dac tinh tSn so dupc gidi thieu bdi Weichao Sun va cpng sy:, 2011[2], va dieu khien ban tich cue ghe ngoi sii dung bp dieu khien SIVIC (Robust sliding mode controller) dupc nghien cuu bdi Seung-Bok Choi va Young-Min Han, 2007[3] Cackel qua nghien ciiu ciing chi phuang phap dieu khien ho de xuat cd hi?u qua giam dao dpng tot so vdi phuang phap khac Toi uu thong so thiet ke h? thong treo bi dpng bang thuat toan di truyen GA dupc gidi tiii?u bdi O.Gundogdu, 2007[4], kel qua tuang doi lot han thu duac tii he thong toi uu ve dinh cpng hudng, gia tn CF (Crest factor) va VDY (Vibration dose value) Emad: lequynhdl@yahoo.com Phan tich danh gia hi^u qua he thong treo va dem ghe ngoi dieu khien ciing nhu ghe ngoi hanh khach su diing ket hap giiia phucmg phap thi nghiem va phuang phap mo phdng soda dupc nhieu nha nghien ciiu quan tam nghien cuu nhu Younggun Cho va Yong-San Yoon, 2001[5], Neil J, Mansfield, Michael J Griffin, 2000[6], GJ Steina va cac cong su[7] Tir ket qua cac nha nghien cuu tien hanh toi uu hoan thien ke cau cua ghe.Thi nghiem phan tich hi?u qua he thong treo ghe ngoi thong qua cac ham truyen dao dpng theo phuang dirng, trudc-sau cua ghe duac gidi thieu bdiY Qiu, M,J Gnffin, 2004[8], Suzanne D Smith va cac cong tac vien (2008)[9],va cac kel qua chi vung tan so cong hudng phan iing (2-4) Hz va xu hudng giam d tan so kich phan iing Idn han 6Hz Mpt danh gia hi^u qua he thong treo ghe ngoi ngudi dieu khien cua may xay dying dupc Irinh bay nghien ciiu De dat duoc muc tieu, mpt I091 ghe ngoi ngudi dieu khien duoc chpn de danh gia va thiet lap tren be thii rung dong JY-5 Bo thiet bi phan tich M+P vdi cac cam bien ICP ba phuang duac sir dpng de gia loc dao dpng vadir Heu gia loc dao ddng dupc phan tich theo m^t dao dpng va ty Ie truyen gia toe de danh gia hieu qua cua hS tiiong Ireo va dem ghe ngoi dieu khien dudi tac dung tan so kich thich dao dpng khac L6 van Quynh T^p chi KHOA HOC & C6NG NGHg B TRI V A LAP DAT THIET BI DODAO DONG CtiA GHE NGOI Hien nay, de danh gia phan tich hieu qua ghe ngoi ngudl dieu khien, mpt hai phuang phap nhu dao dpng toan xe xe ho^t dpng[II], dao dpng rieng ghe ngoi ngudi i£eu khien tr6n be Ihu [8], [9] Be thii rung dpng JY-5, bo thiet bi phan tich dao dpng M+P the hi^n hinh 1, cam bien gia toe ICP ba phuang X, Y, Z dupc dat tning vdi phuong doc, phuang ngang va phucmg diing ciia ghe ngoi duoc bo tri va 1^ d@t nhu hinh Hinh Bi thir thiet bi phdn tich M+P vd mdn hinh hiin thi Dia diem va di€u kien thi nghiSm Thi nghiam dupc tien hanh tai phdng thi nghiem diem ve dao dong va tieng on, Vien ky thuat Ca khi, Dai hpc Dong Nam, TP Nam kinh, Trung Quoc Ghe thi nghiem duoc trang bj cho cac loai may xay dyng hang XCMG, Trung Quoc Nhi?l phong, 25''C va nhiet dp ngoai phong: IST Bp I90 kich thich dao dpng cho b? su dyng kich thich dao dpng dieu hda duac dinh nghia nhu sau' F = F^^m(fZ7tft'{-^) (I) z = z^ sm(27rft + qf) (2) do: FQ, Zir bien dp luc va chuyen vi kich thich dao dpng cho be thu:/- tiin so kich thich dao dong cho b? thu', ^pha ban dau cua Iyc va chuyen vi kich thich dao dpng cho be thit 196 169(1)'') I'jr, „ 199 Khoi luptig cua ban than ghe m^=^ kg, kh5i liioTiii iiyiroi dicu khsen inj=65k^ Hinh Bo dieu khien kich thich dao dpng cm TIEU DANH GIA HIEU QUA De danh hieu qua he thdng treo va d?m ghe ngoi cua ngudi dieu khien ciing nhu ghe ngoi hanh khach ciia phuang tien giaotiiong,trong nghien ciiu thudng chpn mot cac chi lieu sau He so SEAT[7]tiieophuang truyen dao dpng duac xac dinh cdng thiic (3) SEAT^^=^ (3) do, u^, a^- lan luat gia toe binh phuang trung binh d vi tri tren he thong treo ghe ngoi va d vi tri tren mat san, cac gia tri deu dupc xac dinh theo tieu chuan ISO 2631-1 (1997)[10] va dugc xac dinh tiieo cong thiic (4) -w°- CM' (4) Le van Quynh Tgp chi KHOA HOC & CONG NGHE do: a^ la gia loc binh phuang trung binh; ala gia toe dotheo thdi gian(m^5^) va T la,thdi gian khao sat(^) ^ a n a n g truyen dao dpng [8], [9] duac dinh ng^a cong thiic (5) iiif) = ?fll 159(09) 195-199 TrucV X 0417 mft^ Y 56 869rtl — (5) (c) Theo phuang thang dang trang dd, S^(f) va Syy(f)-m%i dp cdng suat dau vao va dau ciia ket qua Ngoai msit cong suat PSD ciia gia loc san ghe va tren mat ghe, dimg ham tmyen dao dpng TFE (Transfer function estimate) tii mat san len mat ghe ngoi de danh giahi?uquahe thong treoVa'd?m ghe ngoi Trong nghien citu nay, ca hai dii lieu la tin hieu gia toe dao dpng tren mien thdi gian va tan so dupc chpn de phan tich danh gia hieu qua ciia he thong treo ghe ngoi va dem ghe ngoi ngudi dieu khien, phan tich danh gia dii lieu se dupc thao luan d phan tiep theo KET QUA DO VA THAO LUAN Cac dir dieu gia toe dao dpng theo cac phuang cua he thong treo va d^m ghe ngoi ngudi dieu khien duac phan tich tren ca mien tan so va thdi gian thdng qua he so SEAT nghien ciiu nay, Phan tich k^t qua gia toe dao dong tren mien t^n so Khi be thit dupc mpt lye kich kich dao dpng &hu hda F=850 sm (4M) (N), luang ngudl dieu khien md=65 kg va t=240s, gia toe dao dpng tren mien tan so d vi tri tren he thong treo va tren dem ghe ngoi nguoi dieu khien duoc the hmh va hmh (a) Theo phucmg tnrac sau (b) Theo phirang trdi-phdi Hinh Gia tdc dao dpng trin miin lan so a vi tri i ngoi Tan so/ (Hz) (a) Theo phucmg truac -sau (c) Theo phircmg phircmg thdng dung Hinh Gia toe dao dong trin mien tan so a vi tri dem ghe Tli hinh va hinh chiing ta thay rang tan so xuat hi?n bien dp gia toe ldn theo phuang t^u 11,20 Hz, 2,18 Hz, 5,04 Hz va 11,25 Hz, 2,13 Hz, 5,25 Hz tren h? thong d vi tri tren he thong treo va lren dem ghe ngoi ngudi dieu khien Tir ket qua n h ^ thay h? thong fl-eo va d?m ghe ngoi cd hi?u qua tuang doi tot theo phuang trudc sau ciia ghe Tuy nhien, nd van xual hien cpng hudng d tan so thap vung (2-^8) Hz nd la nguyen nhan gay khong thai mai cho ngudi dieu khien may hoat dpng d viing tiin so thap 197 Le van Qujnh Tgp chi KHOA HOC & C N G NGHE 169(U9J, 195- Danh gia hieu qua ghe ngoi thdng qua h | khi6n, (2) Theo phuang tiling diing ciia ghe sbSEAT ngoi, gia tri he so SEAT