THIET KE BO BifeU KHIEN PHAN HOI TRANG THAI CHO HE CAU TRl^C Trpih Luang Mien, Nguyin Vdn Tiem Bp mdn Dicu khien hgc, Khoa Dign Di?n tir, Trudng Dgi hgc GTVT r Tdm tdt: Bdi bdo dira md hinh todn ciia h? cdu true vd kit qud thiit ki bg diiu kliiin phdn hoi trgng thdi them thdnh phdn tich phdn nhdm tu dgng hod cdu true ddm bdo tri?t tieu sai lech tinh: vi trixe godng vd dao dgng tdi Summary: This paper gives mathematical models of bridge crane and results of the state feedback controller with an additional integrator to operate automatically bridge crane with willingness reducing position error and swing of load as possible DAT V A N DE Cdu tryc Id thiet bj cdng nghiep dugc iirng dyng rdt rgng rai nhieu ITnh vyc nhu xdy dyng, nhd mdy hay tai cdc ben cdng, Nhung cau true ndy thudng van hanh bdng tay Khi md kich thudc ciia cdu tryc trd nen Idn han vd yeu cau van chuyen nhanh hon thi qud tnnh dieu khien chiing se trd iien khd khdn neu khdng dugc ty dgng hod Cau true di chuyen theo nhimg quy dao linh boat Nhung nd hoat dgng dudi nhung dieu ki?n het sue khac nhiet vd mdt he thdng dieu khien kin Id thi'ch hgp nhdt Cdu tryc Id he rdt phirc tap Trong sudt thdi gian qua da co khd nhilu cdc nghifin ciru [1-5] ve cdu tryc nhdm tim phuang phdp van hdnh nd mgt cdch higu qua Trong so cac nghien ciiu thi phuong phdp dilu khien cdu tryc dya vdo md hinh tuyin ti'nh da thu dirge mdt vdi kit qud khd quan [6-7] Tuy nhien, van dk ton t^i Id cdc bg dieu khiln dugc thilt k^ chua triet tieu dugc sai lech tTnh Do v^y, bdng cdch dua them khau U'ch phan vao bg dilu khien phdn hoi trang thdi se dam bdo sai l?ch tTnh cua h? thdng dugc triet tieu hodn toan va chdt lugng dieu khien dugc nang cao M HINH T O A N Hf CAN TRyC Md hinh cdu tryc vdi he to? dg dugc chgn nhu md ta tr6n hinh I True Ox ndm ngang dgc theo rdm, tryc Oz thdng dung cd chilu hudng len tr€n Xe godng di chuyin tren rdm vdi vj tn dugc xdc djnh bdi x(t) Id khoang cdch dugc tir goc O din dilm treo cua cap ndng tdi tren xe Coi tdi nhu mgt chdt dilm cd khdi lugng mp, xe godng cd khdi lugn^ mt Tdi trgng vd xe godng dugc ndi vdi bdng mgt cap cimg cd khdi lugng khdng dangkS vd cd chilu ddi /, sy ddi cua day cdp la khdng danh kl Trong nang/ha tai hay di chuyin xe thi tdi dao dgng m^t phdng thdng dung vdi gdc lech a(t) F^ la lye chuyin dgng xe godng theo hudng x vd F| la lye nang tdi theo phuang / 720 ^ ^ ^ T r J i r-.'iny , i^i*] - —K Xe goong (rrii) T l i i r l i r.Vi J iniita Thanh ram X nr Tdi nang GK)I I'an ^ A P i X p Zp) - - Moc tree'~~— B.'iny diL-L klm*n Hinh Mo ta hf cau true hf tQa dq Phuong trinh chuyen dgng ciia he cdu tmc nhdn dugc tir phuang trinh can bdng ndng lugng Lagrange [I], [5] [9] Sau tfnh todn vd biln ddi, ta thu dugc phuang trinh dgng lye hoc md td he cau tmc nhu sau: (m, + m^ )£&- m^ (sin a)^ mJ(cosa)SSt^ -2m ^ icosa)^+ niplisin a)(£c + F, m^ (sin a)S&- m^r^ m^ld& + m^g cos a+F, (1) (cosar)iBi»- /