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7ӯFiF QJKLrQFӭX WUrQWDFyWKӇ WKҩ\UҵQJ Pi\ GұSKLӋQQD\ ÿѭӧF VӱGөQJUӝQJUmLWURQJQKLӅXQJjQKF{QJQJKLӋSNKiFQKDXFyQKLӅXQJKLrQFӭXNKiFQKDX ÿѭӧFWLӃQKjQKÿӇJLҧLTX\ӃW YjKRjQWKLӋQQKҵPORҥLEӓFiFYҩQÿӅFӕKӳXÿDQJ
ĈӕLWѭӧQJYjPөFWLrXQJKLrQFӭX
ĈӕLWѭӧQJQJKLrQFӭX
ĈӕLWѭӧQJQJKLrQFӭXOjFiFPi\GұSFѫNKt
0өFWLrXFӫDÿӅWjLOjSKiWWULӇQPӝWKӋWKӕQJWKӫ\OӵFFyWKӇÿѭӧFӭQJGөQJ FKRPi\GұSFѫNKt&өWKӇOjSKiWWULӇQPӝWKӋWKӕQJWUX\ӅQÿӝQJWKӫ\WƭQK+67± +\GURVWDWLF7UDQVPLVVLRQFyWKӇNLӇPVRiWÿѭӧFWӕFÿӝYjWLӃWNLӋPQăQJOѭӧQJ +ӋFyNKҧQăQJӭQJGөQJFKRPi\GұS
1.4 3KҥPYLQJKLrQFӭX ĈӅ [XҩW P{ KuQK P{ SKӓQJ [k\ GӵQJ WKLӃW Eӏ WKt QJKLӋP Yj OjP WKӵF QJKLӋPÿӇNLӇPFKӭQJNKҧQăQJFӫDKӋÿӅ[XҩWӣNKtDFҥQK
&yNKҧQăQJWKXKӗLQăQJOѭӧQJ
.KҧQăQJÿLӅXNKLӇQÿѭӧFWӕFÿӝFӫDKӋ
2.1 &ѫVӣOêWKX\ӃWYҩQÿӅWLӃWNLӋPQăQJOѭӧQJWURQJKӋWKӕQJWKӫ\OӵF
9ҩQÿӅWLrXWKө QăQJOѭӧQJFӫDFiFKӋWKӕQJWKӫ\OӵFVӁÿѭӧFFRLOjtiêu chí TXDQWUӑQJ trong YLӋF WKLӃWNӃKӋWKӕQJ&iF WәQWKҩWQăQJOѭӧQJFyWKӇWәQJKӧSFӫD QKLӅX\ӃXWӕQKѭ: KLӋXVXҩW FӫDFiFWKjQKSKҫQFҩXKuQKKӋWKӕQJ KRһFWKұPFKtlà GRWiFÿӝQJFӫDFiF\ӃXWӕErQQJRjLWURQJTXiWUuQKKRҥWÿӝQJFKҷQJKҥQQKѭҧQK KѭӣQJP{LWUѭӡQJYұQKjQK ĈӇWóm WҳWFiFSKѭѫQJSKiSJLҧPWLrXKDRQăQJOѭӧQJFӫDKӋWKӕQJWKӫ\OӵF WKuӣÿk\WDNtKLӋX PӝWPҥFKWKӫ\OӵFJӗPSKҫQFKtQKQKѭHình 2.1 và Hình.2.2 7URQJÿy
(&XQJFҩSQăQJOѭӧQJĈӝQJFѫÿLӋQĈӝQJFѫÿӕW
*3KҫQVLQK%ѫPELӃQQăQJOѭӧQJFѫKӑFWKjQKQăQJOѭӧQJWKӫ\OӵF
&3KҫQGүQ9DQÿѭӡQJӕQJYұQFKX\ӇQQăQJOѭӧQJWKӫ\OӵF
03KҫQÿӝQJOӵFĈӝQJFѫELӃQQăQJOѭӧQJWKӫ\OӵFWUӣOҥLWKjQKFѫQăQJ /7ҧL
Hình 2.1D.êKL XE͙QSK̯Q FͯDWUX\͉Qÿ͡QJWKͯ\OF>2]
Hình 2.1 Bӕn phҫn chính cӫa hӋ thӕng truyӅQÿӝng thӫy lӵc
&iFSKѭѫQJSKiSFKXQJÿӇJLҧPWәQWKҩWQăQJOѭӧQJhay WăQJNKҧQăQJ WLӃW
NLӋPQăQJOѭӧQJFӫD KӋWKӕQJÿѭӧFWUuQKEj\WURQJ%ҧQJ.1 ĈӇ JLҧPQăQJOѭӧQJ
WәQWKҩWFKRPӝWKӋWKӕQJWKӫ\OӵF thì cK~QJWDFyWKӇ[HP[pWӣQKyPNKtDFҥQK chính là : [HP[pWӣKLӋXTXҧFӫDFiFEӝSKұQFӫDKӋWKӕQJWKӫ\OӵFQKѭYDQPRWRU
WKӫ\OӵFFѫFҩXFKҩSKjQKô và ӣPһWNKiFOj GӵDWUrQWKLӃWNӃWәQJWKӇYj KӋWKӕQJ ÿLӅXNKLӇQ
Nhóm 3KҫQVLQK 3KҫQGүQ 3KҫQÿӝQJOӵF
WKӕQJ &ҧLWKLӋQKLӋXVXҩWEѫP *LҧPWKҩWWKRiW
TXDÿѭӡQJ[ҧYj van
- &ҧLWKLӋQKLӋX VXҩWÿӝQJFѫ
- &KӍKRҥWÿӝQJ NKLKӋWKӕQJOjP YLӋF
/ӵDFKӑQFiFWKLӃWEӏ YjNtFKWKѭӟFSKKӧS
Bҧng 2 1 &iFSKѭѫQJSKiSWLӃt kiӋPQăQJOѭӧng trong hӋ thӕng thӫy lӵc
Ngoài ra,tәQWKҩWQăQJOѭӧQJWURQJKӋWKӕQJWKӫ\OӵFNK{QJFKӍSKөWKXӝFYjR
KLӋXTXҧFӫD FiFWKjQKSKҫQPjFzQSKөWKXӝFYjR FiF\rXFҫXYӅ QKLӋPYөYjFҩX
8 KuQKFӫD KӋWKӕQJ'RÿyPӝWKӋWKӕQJWKӫ\OӵFWLӃWNLӋPQăQJOѭӧQJSKҧLÿѭӧF SKiWWULӇQWUrQQKӳQJӭQJGөQJULrQJ ÿӇÿҥWKLӋXTXҧWӕLѭXQKҩW
2.2 &iFWKjQKWӵXQJKLrQFӭXWLӃWNLӋPQăQJOѭӧQJWURQJKӋWKӕQJWKӫ\OӵF 2.2.1 +Ӌ WKӕQJWKӫ\OӵFGQJYDQWLӃWOѭX
2.2.1.1 HӋWKӕQJWKӫ\OӵFÿLӅXNKLӇQYDQ
Trong KӋWKӕQJWKӫ\OӵFQj\YDQWLӃWOѭX ÿѭӧFVӱGөQJÿӇÿLӅXNKLӇQWӕFÿӝ ÿӝQJFѫWKӫ\OӵF Hình 2.2 ELӉXGLӉQPӝWKӋWKӕQJÿLӇQKuQK và ELӇXÿӗSKkQWtFh F{QJVXҩWFӫDKӋWKӕQJQj\Ӣÿk\ OѭXOѭӧQJ ÿҫXUDOjNK{QJÿәLYjiSVXҩWFjLÿһW FӫDYDQ[ҧ ÿҧPEҧRP{-PHQ[RҳQFӫDÿӝQJFѫ OjWӕLÿD /ѭXOѭӧQJWKӯDVӁWKRiW TXDYDQ[ҧ QӃXOѭXOѭӧQJ \rXFҫXFӫDÿӝQJFѫTL QKӓKѫQOѭXOѭӧQJ FXQJFҩSqs 1ăQJOѭӧQJ WәQWKҩWTXDYDQOѭXOѭӧQJNKLiSVXҩW\rXFҫXSL QKӓKѫQiSVXҩWFjL ÿһW ps = pmax6ѫÿӗFӫDKӋWKӕQJYDQÿLӅXNKLӇQWUX\ӅQWKӕQJÿѭӧFWUuQh bày trong Hình 2.2a GLҧVӱUҵQJKӋWKӕQJKRҥWÿӝQJGѭӟLWҧLSL ], ӣÿk\ Fѫ FѫFҩXSKҧQKӗLWURQJKӋWKӕQJFҧPELӃQWҧLÿѭӧFWKD\WKӃEҵQJKӋWKӕQJÿLӋQTheo kӃWTXҧFӫDQJKLrQFӭXQj\WKuKLӋXVXҩWYjÿӝPҥQKFӫDKӋWKӕQJÿѭӧFFҧLWKLӋQQKѭQJKLӋX TXҧFӫD KӋWKӕQJNK{QJÿѭӧFFҧLWKLӋQ+ѫQQӳDYLӋFVӱGөQJ ORҥLEѫPFyKjQKWUuQKWKD\ÿәL WKuYҩQÿӅFKLSKtNKiFDRvà nó FyWKӇÿѭӧFWKD\WKӃEҵQJPӝWYDQ ÿiSӭQJQKDQKYjPӝWEѫPFӕÿӏQK WKuQyYүQFyQKӳQJÿһFWtQKFӫDPӝWEѫPELӃQWKLrQQKѭQJFKtSKtFӫDKӋWKӕQJJLҧP0һFGKӋWKӕQJYDQFҧPELӃQWҧLYӟLEѫP
Fy KjQK WUuQKWKD\ÿәL VRYӟLKӋ WKӕQJ YDQ WUX\ӅQWKӕQJWKuYҩQ ÿӅ WәQWKҩWQăQJ OѭӧQJJLҧPÿiQJNӇQKѭQJWәQWKҩWTXDYDQWLӃWOѭXYүQFzQ
Hình 2.3 HӋ thӕng cҧm biӃn tҧi Load sensing
2.2.2 +ӋWKӕQJWKӫ\OӵFNK{QJGQJYDQWLӃWOѭX
2.2.2.1 +ӋWKӕQJÿLӅXNKLӇQEҵQJEѫP
+ӋWKӕQJÿLӅXNKLӇQEҵQJPi\EѫPÿѭӧFÿӏQKQJKƭDOjKӋWKӕQJWKӫ\OӵFWURQJ ÿyF{QJVXҩWFXӕLFӫDKӋWKӕQJ ÿѭӧFÿLӅXNKLӇQWUӵFWLӃSEӣLEѫPWKӫ\OӵFĈӕLYӟL WҧL TXD\ KӋ WKӕQJ ÿLӅX NKLӇQ EҵQJ EѫP ÿѭӧF ELӃW ÿӃQ QKѭ PӝW KӋ WKӕQJ WUX\ӅQ ÿӝQJWKӫ\OӵF EDRJӗPKӋWKӕQJWKӫ\OӵFYzQJKӣYjYzQJNtQ QKѭ+ình 2.4ѬX ÿLӇPFӫDKӋWKӕQJWUX\ӅQÿӝQJWKӫ\OӵFYzQJKӣVRYӟLKӋWKӕQJWUX\ӅQÿӝQJWKӫ\ OӵF vòng kín là NKҧQăQJWҧQQKLӋW ÿѫQJLҧQ0һWNKiFYLӋFVӱGөQJ KӋWKӕQJWUX\ӅQ ÿӝQJ WKӫ\ OӵF YzQJ NtQ Fy WKӇ JLҧP NtFK WKѭӟF Yj NKӕL OѭӧQJ GҫX Yj WăQJ EăQJ WK{QJFӫDKӋWKӕQJ [15] Trong KӋWKӕQJWUX\ӅQÿӝQJWKӫ\OӵFPӝWPi\WKӫ\OӵFFӕ ÿӏQKYjPӝWPi\WKӫ\OӵFELӃQWKLrQKRһFFҧKDLPi\WKӫ\OӵFELӃQWKLrQ máy móc ÿѭӧFNӃWKӧSYӟLQKDX+uQK FKRWKҩ\FiFÿѭӡQJFRQJWӕFÿӝFӫDÿӝQJFѫWKHR hai WUѭӡQJKӧSÿӝQJFѫFӕÿӏQK- Pi\EѫPELӃQÿәLYjPi\EѫPFӕÿӏQK- ÿӝQJFѫ ELӃQÿәLFӫDPӝWKӋWKӕQJWUX\ӅQÿӝQJWKӫ\OӵF
Hình 2.4 HӋ thӕng truyӅQÿӝng thӫy lӵc
13 Trong YҩQ ÿӅ ÿLӅXNKLӇQKӋWKӕQJWUX\ӅQÿӝQJWKӫ\OӵFYұQWӕFFӫDÿӝQJFѫ WKӫ\OӵFWKѭӡQJOj ÿѭӧFFRLQKѭPӝWELӃQÿLӅXNKLӇQ>16,17]
Hình 2.5 ĈѭӡQJÿһc tính bӝ truyӅn vòng kín
7ӯFiFSKkQWtFKWUrQWDWKҩ\ NK{QJFyWәQWKҩWÿLӅXWLӃWF{QJVXҩWPi\EѫP KRjQWRjQSKKӧSYӟL F{QJVXҩW\rXFҫXFӫDÿӝQJFѫGRÿyKLӋXTXҧFӫDKӋWKӕQJ ÿLӅXNKLӇQEҵQJPi\EѫPFDRKѫQ VRYӟLKӋWKӕQJYDQ1ӃXWҩWFҧFiFWKjQKSKҫQOj OêWѭӣQJWKuKLӋXVXҩW FӫDKӋWKӕQJOjOêWѭӣQg 7X\QKLrQWUrQWKӵFWӃKLӋXVXҩWFӫD Pi\WKӫ\OӵFOX{QQKӓKѫQFK~QJSKөWKXӝFYjRÿLӅXNLӋQWҧL&K~QJWKҩSÿiQJNӇ WURQJÿLӅXNLӋQ WҧLFөFEӝ[ҧ\UDNKLYұQWӕFKRһFP{-PHQ[RҳQPRQJPXӕQQKӓ KѫQ JLiWUӏOӟQQKҩWFӫDKӋWKӕQJ0ӝWVӕQJKLrQFӭXWKӵFQJKLӋPÿm[iFQKұQFiF ÿһFÿLӇP nàyYtGө [18]
2.2.2.2 +ӋWKӕQJWKӫ\OӵFFyNKҧQăQJWKXKӗLQăQJOѭӧQJ
CPS ( constant pressure system) và CPR (common pressure rail ) KRһF ÿLӅX NKLӇQWKӭFҩS OjKDLKӋWKӕQJWKXKӗLQăQJOѭӧQJWKӫ\OӵFQәLWLӃQJ6ѫÿӗYӅ&36 và &35OҫQOѭӧWÿѭӧFWKӇKLӋQWURQJ+ình 2.6a và 2.6E *LӕQJQKѭFiF KӋ WKӕQJ ÿLӅXNKLӇQEҵQJPi\EѫPNK{QJFyVӵWәQWKҩWTXDYDQWLӃWOѭXWURQJFiFKӋWKӕQJ trên%iQKÿj YjEӝWtFKáp ÿѭӧFVӱGөQJOjPKӋWKӕQJOѭXWUӳQăQJOѭӧQJWURQJCPS và CPR Trong C36PӝWEӝiSQKӓFyWKӇ ÿѭӧFVӱGөQJ>] ÿӇOѭXWUӳQăQJOѭӧQJYjWiLVӱGөQJWURQJFKXWUuQKVDX+uQK P{WҧEӕQJyFSKҫQWѭKRҥWÿӝQJ
14 FӫDPӝWÿӝQJFѫEѫPWKӫ\OӵF7\WKXӝFYjRÿLӅXNLӋQWҧL ÿѫQYӏWKӭFҩSFyWKӇ KRҥW ÿӝQJ QKѭ PӝW Pi\ EѫP KRһF PӝW ÿӝQJ Fѫ WKӫ\ OӵF 9u WKӃ ÿӝQJ QăQJ FӫD EiQKÿjFyWKӇÿѭӧFWKXKӗLQKӡÿӝQJFѫKRҥWÿӝQJQKѭPӝWPi\EѫPWKӫ\OӵF, QăQJOѭӧQJWLrXWKөFӫDKӋWKӕQJÿѭӧFJLҧPWKLӇX'RÿyWURQJFiFKӋWKӕQJQj\ NKҧQăQJ WLӃWNLӋPQăQJOѭӧQJÿҥWÿѭӧFWӯYLӋFWKXKӗLQăQJOѭӧQJYjORҥLEӓWәQ WKҩWYDQWLӃWOѭX
Hình 2.6 HӋ thӕng thu hӗLQăQJOѭӧng thӫy lӵc
Hình 2.7 Bӕn góc phҫQWѭKRҥWÿӝng cӫa thiӃt bӏ thӭ cҩp
7URQJ&36EѫPÿӝQJFѫ302 KRҥWÿӝQJQKѭPӝWÿӝQJFѫWKӫ\OӵFWURQJTXi trình KRҥWÿӝQJ YjQKѭPӝWPi\EѫPWKӫ\OӵFWURQJTXiWUuQKWtFKONJ\QăQJOѭӧQJ
15 WURQJFiFEӝWtFKiS&KӭFQăQJEѫPÿӝQJFѫ301 QKѭPӝWPi\EѫPWKӫ\OӵFKRһF ÿӝQJFѫW\WKXӝFYjRiSVXҩWps YjWӕFÿӝFӫDQy7URQJ&36 ÿӝQJKӑFFӫDWҧLFyWKӇÿѭӧFSKөFKӗLYjOѭXWUӳGѭӟLGҥQJÿӝQJKӑFFӫDEiQKÿjYj QJѭӧFOҥLCPS ÿѭӧFQJKLrQFӭXWURQJ>] NӃWTXҧP{SKӓQJFKӍUDUҵQJ cyWKӇJLҧPÿiQJNӇPӭFWLrXWKөQăQJOѭӧQJFӫDWKLӃWEӏEҵQJFiFKiSGөQJ&36
ӬQJGөQJKӋWKӕQJWKӫ\OӵFFKRPi\GұSFѫNKt
7URQJFiFORҥLPi\GұSFѫNKtGQJEiQKÿjO\KӧSYjWKҳQJWӯYjFѫFҩXÿӇ FKX\ӇQÿәLFKX\ӇQÿӝQJTXD\FӫDEiQKÿjWKjQKFKX\ӇQÿӝQJWӏQKWLӃQFӫDFKj\ GұSWKuFiFSURILOHFKj\GұSNK{QJÿLӅXNKLӇQÿѭӧFGRYұQWӕFEiQKÿjNK{QJWKD\ ÿәLQrQQyFKӍSKKӧSFKRPӝWKRҥWÿӝQJQKҩWÿӏQKQăQJOѭӧQJKDRSKtGRFKXNu KRҥWÿӝQJNK{QJWҧLFӫDEiQKÿjKD\NKLKmPWӕFÿӝEiQKÿjӬQJGөQJ các thành WӵXQJKLrQFӭXYӅWKӫ\OӵFWURQJQJKLrQFӭXQj\FK~QJW{LÿӅ[XҩWPӝWKӋWKӕQJ WKӫ\OӵFPjFyWKӇ ĈLӅXNKLӇQÿѭӧFWӕFÿӝEiQKÿjÿӇWKLӃWEӏFyWKӇWKӵFKLӋQÿѭӧFFiFSURILOH FKj\GұSOLQKKRҥWFKRQKLӅXKRҥWÿӝQJNKiFQKDX
&yWKӇWKXKӗLPӝWSKҫQÿӝQJQăQJKDRSKtFӫDEiQKÿjÿӇWtFKWUӳYjWiLVӱ GөQJWURQJFiFFKXNuKRҥWÿӝQJWLӃSWKHR
7URQJQJKLrQFӭXQj\FKӍWұS WUXQJYjRKӋWKӕQJWKӫ\OӵFÿӇÿLӅXNKLӇQYjWKXKӗLÿӝQJQăQJFӫDEiQKÿjQrQEӓTXDFѫFҩXO\KӧSFѫNKtJLӳDEiQKÿjYjFKj\GұSEiQKÿj[HPQKѭOjWҧLWUӑQJWURQJWKӵFWӃ
Hình 3.1 ELӉXGLӉQ VѫÿӗFӫDKӋWKӕQJ ÿѭӧF ÿӅ[XҩW6RViQK nó YӟLKӋHST WUX\ӅQWKӕQJWKu KӋÿӅ[XҩWFyWKrP YDQÿLӅXNKLӇQKѭӟQJYjKDLEӝWtFKáp (HA1,
HA2%ӝWtFK iSVXҩWFDR+$1 KRҥWÿӝQJQKѭPӝWbình FKӭD KD\QJXӗQWURQJNKL EӝWtFKiSVXҩWWKҩS+$2 KRҥWÿӝQJQKѭPӝWQJXӗQiSVXҩWWKҩSOѭXOѭӧQJ cao cho EѫPWKӫ\OӵFÿӝQJFѫ302 WURQJTXiWUuQKSKөFKӗL QăQJOѭӧQJ và NKӣLÿӝQJKӋ WKӕQJWURQJTXiWUuQKKRҥWÿӝQJ%iQKÿjP{SKӓQJWҧLWUӑQJWKӵFWӃĈѫQYӏWKӭ FҩS Pi\ EѫPÿӝQJ Fѫ302FyWKӇ KRҥWÿӝQJQKѭ PӝW Pi\ EѫPWKӫ\ OӵF KRһF ÿӝQJFѫWKӫ\OӵF W\WKXӝFYjRWӕFÿӝWӍOӋWKӇWtFKULrQJ YjFKrQKOӋFKiS JLӳDKDL FәQJFӫD302 BѫP31 KRҥWÿӝQJWURQJNKRҧQJWKӇWtFKULrQJWӯ -ÿӃQ trong khi PM2 FKӍVӱGөQJÿӃQWӍOӋWKӇWtFKULrQJFӫDQy
Hình 3.1 6ѫÿӗ hӋ thӕQJÿѭӧFÿӅ xuҩt
+ӋWKӕQJÿѭӧFÿӅ[XҩWFyWKӇKRҥWÿӝQJӣKDLFҩXKuQK WKӫ\OӵFSKkQELӋWÿyOjKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩSJӑLWҳWOjKӋÿLӅXNKLӇQVѫFҩS YjKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQWKӭFҩSJӑLWҳWOjKӋÿLӅXNKLӇQWKӭFҩS
3.1.1 +ӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩS ± ĈLӅXNKLӇQEѫP
.KLFҧ 911 và V12 ÿӅXOFF KӋ WKӕQJKRҥWÿӝQJQKѭ PӝW PҥFKWUX\ӅQÿӝQJ WKӫ\OӵFYzQJNtQ YӟLFiFFѫFKӃEҧRYӋTXiWӕFQKѭWURQJ+uQK.2 9ұQWӕFJyF FӫDEiQKÿjWҥLPӛLWKӡLÿLӇPÿѭӧF[iFÿӏQKEӣLYLӋFÿLӅXNKLӇQ OѭXOѭӧQJ ÿѭӧF WKӇKLӋQWURQJF{QJWKӭF (3.1) p p vp vm fl m
Hình 3.2 HӋ ÿLӅu khiӇQVѫFҩp cӫa hӋ thӕQJÿѭӧFÿӅ xuҩt
7X\QKLrQYұQWӕFWKӵFWӃFӫDEiQKÿjFyWKӇNKiFYӟLOêWKX\ӃWvì quán tính FӫDWҧL QJD\FҧNKLWҩWFҧFiFWK{QJVӕKӋWKӕQJÿѭӧF[iFÿӏQKFKtQK[iF%ҩWFӭNKLQjRYұQWӕFFӫDEiQKÿjOӟQKѫQ YұQWӕFWLrXFKtWӭFWKӡLWKuiSVXҩWp2 ӣGzQJWUҧYӅFDRWURQJNKLÿy JLiWUӏiSVXҩWp1 ÿѭӡQJFXQJFҩSWKҩSYDQPӝWFKLӅX PCV2 ÿѭӧF ÿyQJOҥLYjQăQJOѭӧQJWKӫ\OӵFӣGҥQJFKҩWOӓQJiSVXҩWFDRÿѭӧFphân tán qua YDQ[ҧ &KӭFQăQJÿyWѭѫQJWӵQKѭFKӭFQăQJFӫDSKDQKWKӫ\OӵFOjPJLҧPWӕFÿӝFӫD EiQKÿjGѭӟLFiFJLiWUӏWLrXFKt.KLWӕFÿӝFӫDEiQKÿjWURQJKӋ WKӕQJWUX\ӅQ ÿӝQJWKӫ\OӵF JLҧP ÿӝQJQăQJFӫDEiQKÿjEӏWLrXKDRNKLKmP7URQJPӝWVӕӭQJGөQJ thì QăQJOѭӧQJtiêu hao FyWKӇOjÿiQJNӇYuYұ\YLӋFWKXKӗLQyFyWKӇOjPJLҧPÿiQJNӇQăQJOѭӧQJ tiêu hao0ӝWÿһFÿLӇPFӕKӳXFӫDKӋWKӕQJWUX\ӅQÿӝQJ tKӫ\WƭQK OjKLӋXTXҧWәQJWKӇFӫD KӋWKӕQJJLҧPÿiQJNӇNKLWӕFÿӝWKҩSYjP{-men [RҳQFDRÿһFELӋW NKLFҧKDL\rXFҫXÿӅXWKҩS+ӋWKӕQJÿӅ[XҩWJLҧLTX\ӃWYҩQÿӅ này theo cách khác Wӯ KӋWKӕQJKLӋQFyEҵQJFiFKFKX\ӇQVDQJKӋ ÿLӅXNKLӇQWKӭFҩS ÿӇFҧLWKLӋQ WәQJKLӋXVXҩWFӫDKӋWKӕQJ
3.1.2 +Ӌ WUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQWKӭFҩS± ĈLӅXNKLӇQPRWRUÿӝQJ
Khi V11 ON và V12 OFF KRһFNKL912 ON và V11 OFFKӋWKӕQJ KRҥWÿӝQJQKѭ PӝWKӋÿLӅXNKLӇQWKӭFҩS ÿѭӧF WKӇKLӋQWѭѫQJӭQJtrong Hình 2.3a và 2.3b ӢFKӃ ÿӝQj\EѫP31 ÿѭӧFÿLӅXNKLӇQOLrQWөFQKѭPӝWEѫPEiS KD\EѫPÿLӅXNKLӇQ 212))7ӕFÿӝFӫDEiQKÿjÿѭӧFÿLӅXNKLӇQWUӵFWLӃSEҵQJFiFKÿLӅXFKӍQK Vӵ GӏFKFKX\ӇQFӫDPi\EѫPÿӝQJFѫ3027URQJKӋWKӕQJÿӅ[XҩWWKuTXiWUuQKKRҥW ÿӝQJYjWKXKӗLÿѭӧFWKӇKLӋQWѭѫQJӭQJ QKѭWURQJ+uQKDYj+uQK.3b
Khi V11 ONÿѭӡQJKӗL ÿѭӧFNӃWQӕLWUӵFWLӃSYӟL+$2WURQJNKLÿѭӡQJGүQ ÿӝQJOj NӃWQӕLYӟL+$16DXÿyFK~QJKRҥWÿӝQJQKѭÿѭӡQJiSVXҩWWKҩSYjFDR WѭѫQJӭQJ&iF YӏWUtFӫDFiFYDQNKiFNK{QJҧQKKѭӣQJÿӃQFKӭFQăQJFKtQKFӫD
KӋ WKӕQJ ĈӇ GүQ ÿӝQJ EiQK ÿj EѫP ÿӝQJ Fѫ WKӫ\ OӵF PM2 KRҥW ÿӝQJ QKѭ PӝW ÿӝQJ Fѫ WKӫ\ OӵF ELӃQ ÿәL WKӃ QăQJ WURQJ +$1 WKjQK ÿӝQJ QăQJ FӫD EiQK ÿj ĈӇ WăQJWӕF EiQKÿjWKuWDWăQJWKӇWtFKULrQJ PM2 YjQJѭӧFOҥL
Hình 3.3 a ChӃ ÿӝ hoҥWÿӝng hӋ ÿLӅu khiӇn thӭ cҩp
Trong hình 2.3b,EѫPÿӝQJFѫWKӫ\OӵFPM2 KRҥWÿӝQJQKѭPӝWPi\EѫPWKӫ\OӵFEѫP FKҩWOӓQJ Wӯ+$2 ÿӃQ+$17URQJÿLӅXNLӋQQj\GzQJKӗL YӅÿѭӧFWiFKUDNKӓL HA2 hay EѫP 31 QKѭQJ ÿѭӧF QӕL WUӵF WLӃS YӟL +$1 Yj KRҥW ÿӝQJ QKѭ PӝW ÿѭӡQJFDRiS&iF ÿѭӡQJGүQÿӝQJVDXÿyÿѭӧFQӕLYӟL+$2 YjKRҥWÿӝQJQKѭPӝW ÿѭӡQJGүQ KҥiSPӝWFKLӅXĈӝQJQăQJFӫDEiQKÿjÿѭӧFFKX\ӇQWKjQKQăQJOѭӧQJ
19 WKӫ\OӵFYjÿѭӧFOѭXWUӳWURQJ+$1 .KLWKӇWtFKULrQJ FӫDPi\WKӫ\OӵF302 Wăng OrQP{PHQFҧQWUӣWURQJ WUөFFӫD302 FNJQJWăQJ GRÿyYұQWӕFFӫDEiQKÿjJLҧP nhanh chóng YjQJѭӧFOҥL
Hình 3.3b ChӃ ÿӝ thu hӗLQăQJOѭӧng cӫa hӋ ÿLӅu khiӇn thӭ cҩp
7URQJFiFKӋWKӕQJWKXKӗLQăQJOѭӧQJKLӋQFyVӱGөQJEӝWtFKáp [21-24] EѫPÿӝQJFѫ PM2 OXkQFKX\ӇQ FKӭF QăQJ JLӳD ÿӝQJFѫYjEѫP Dòng FKҩWOӓQJ tURQJKӋWKӕQJFNJQJEӏÿҧRQJѭӧF WҥRUD YDÿұSWKӫ\OӵFYjWLӃQJӗQ7URQJKӋWKӕQJ ÿѭӧFÿӅ[XҩWVӵGӏFKFKX\ӇQFӫD302 FKӍKRҥWÿӝQJWURQJPӝWYQJYjFKҩWOӓQJ FKӍFKҧ\WKHRPӝWKѭӟQJ1JRjL ra, YLӋFVӱGөQJEӝWtFKONJ\+$2 YjEӕQYDQPӝW FKLӅX&91, CV2, CV3 và CV4 FyWKӇWUiQKÿѭӧF YҩQÿӅUzUӍiSTXDFiFYDQ'Rÿy
KӋ WKӕQJ ÿӅ [XҩW NKҳF SKөF ÿѭӧF FiF QKѭӧF ÿLӇP YӕQ Fy NKL Vӱ GөQJ KӋ WKӕQJ WUX\ӅQÿӝQJWKӫ\OӵF KRһF&35 ULrQJOҿ
3.2.1.1 &ѫFKӃKRҥWÿӝQJEӕQJyFSKҫQWѭFӫDEѫP SLVWRQWKӫ\OӵF ĈӇÿѫQJLҧQKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩSÿѭӧFÿѫQJLҧQKyDQKѭWURQJ+uQK.4a và ELӉXGLӉQKRҥWÿӝQJFӫD Pi\EѫPÿӝQJFѫÿѭӧFWKӇKLӋQ trong EӕQJyFSKҫQWѭFӫDKӋWӑDÿӝQKѭHình 3E1JX\rQWҳFOj WѭѫQJWӵÿӕLYӟL
20 ĮGRÿyWUѭӡQJKӧSĮ FNJQJÿӗQJGҥQJ1ӃX302 KRҥWÿӝQJӣJyFSKҫQWѭ,Yj JyF SKҫQ Wѭ III EiQK ÿj ÿѭӧF FXQJ FҩS QăQJ OѭӧQJ EӣL KӋ WKӕQJ QӃX 302 KRҥW ÿӝQJӣJyFSKҫQWѭ,,KRһFJyFSKҫQWѭ IV KӋWKӕQJWKXKӗLÿӝQJQăQJFӫDEiQKÿj
Hình 3.4a CҩXKuQKÿѫQJLҧn cӫa hӋ thӕng trong hӋ ÿLӅu khiӇn thӭ cҩp
Hình 3.4b HoҥWÿӝng bӕn góc phҫQWѭFӫa thiӃt bӏ
3.2.1.2 7әQWKҩWWKӇWtFKFӫDÿӝQJFѫEѫPSLVWRQWKӫ\ OӵF ĈӇSKkQWtFKWәQWKҩWWKӇWtFKFӫDEѫP SLVWRQWKӫ\OӵFÿѭӧFVӱGөQJWURQJQKLӅXhӋWKӕQJWKXKӗLQăQJOѭӧQJFҩXWҥR FӫDEѫPSLVWRQWKӫ\ OӵFÿѭӧFWUuQKEj\ trong Hình 3.5
7әQWKҩWWKӇWtFKFӫDEѫP piston WKӫ\OӵFOjGRFiFYҩQÿӅFKtQKVDX x 5zUӍqua các FәQJ x 0ҩWPiWGRQpQFKҩWOӓQJ x 5zUӍErQQJRjLTXDFiFEӝSKұQYjÿӃQYӓPi\EѫP
TәQWKҩWWKӇWtFKFӫDEѫP thӫ\OӵFÿѭӧFWUuQKEj\WURQJ>] Tuy nhiên
WURQJQJKLrQFӭXQj\WKuVӱGөQJPӝWP{KuQKFKtQK[iFKѫQYӅWәQWKҩWWKӇWtFK
3.2.1.3 7әQWKҩW Fѫkhí FӫDÿӝQJFѫEѫPSLVWRQWKӫ\OӵF
7әQWKҩWFѫKӑFFӫDPi\SLVWRQWKӫ\OӵFOjGRPDViWQKӟWPDViWKӛQKӧSYjPDViWWKӫ\ÿӝQJ0ӝWVӕQJKLrQFӭX WѭѫQJWӵ QKѭ[26] FKRWKҩ\ mô hình phân WtFKWәQWKҩWFѫKӑFFӫDEѫP WKӫ\OӵFÿѭӧFWKӇKLӋQQKѭWURQJ+uQK.6
Hình 3.6 Ĉѭӡng ma sát phi tuyӃn cӫDÿӝQJFѫEѫPWKӫy lӵc loss sc d
7ҩWFҧFiFWK{QJVӕÿӅXWKXÿѭӧFEҵQJWKӵFQJKLӋPĈӇFKtQK[iFKѫQWDVӱ GөQJWK{QJVӕYӅWәQWKҩWFѫkhí FӫDWKLӃWEӏWKӫ\OӵFWURQJ [27]
3.2.1.4 &ѫFKӃÿLӅXNKLӇQWKӇWtFKULrQJEѫPÿӝQJFѫWKӫ\OӵF ĈӇÿLӅXNKLӇQWKӇWtFKULrQJFӫDEѫPÿӝQJFѫWKӫ\OӵF, ÿƭD[RD\ ÿѭӧFÿLӅXNKLӇQ ÿӇ[RD\WKHRPӝWJyFQKӓ[XQJTXDQKWUөF ĈӇÿLӅXNKLӇQÿƭDQj\WKuWDVӱGөQJ PӝW KӋ JӗP PӝW YDQ VHUYR Yj PӝW [\ODQK 6ѫ ÿӗ FӫD Fѫ FKӃ ÿѭӧF KLӇQ WKӏ trong Hình 3.7
Hình 3.7 &ѫFKӃ ÿLӅu khiӇn thӇ tích riêng
0{KuQKÿҫ\ÿӫFӫDKӋWKӕQJQj\OjPӝWP{KuQKEұFYӟLFiFELӃQOjÿLӋQ iSÿҫXYjRYӏWUtÿƭD[RD\KD\WKӇWtFKULrQJFӫDÿӝQJFѫEѫPWKӫ\OӵF Tuy nhiên, WURQJWKӵFWӃÿӇÿLӅXNKLӇQKӋQj\WKu WDWKѭӡQJVӱGөQJPӝWP{KuQKEұFQKҩW thay YuP{KuQKEұFÿҫ\ÿӫ [28-30@7URQJQJKLrQFӭXQj\WDVӱGөQJP{KuQKEұFQKҩW ÿѭӧFELӉXGLӉQEҵQJSKѭѫQJWUuQK.14)
ĈһFWtQKFӫDKӋWKӕQJ
ĈӇSKkQWtFKNKҧQăQJFӫDKӋWKӕQJÿӅ[XҩWWDÿѭDUDFiFWK{QJVӕFӫDKӋ WKӕQJÿѭӧFP{SKӓQJQKѭEҧQJ.1
7K{QJVӕKӋWKӕQJ *LiWUӏ ĈѫQYӏ
7KӇWtFKEӝWtFKiS 20,40 lít ÈSVXҩWEDQÿҫXEӝWtFKiS 120,2 Bar
Công VXҩWÿӝQJFѫÿLӋQ 25 Hp
Bҧng 4.1 Thông sӕ hӋ thӕQJÿӅ xuҩt ĈӇ NKҧRViW FiF ÿһFWtQKÿӝQJOӵF KӑF FӫDKӋ WKӕQJ WDNKҧR ViWWUrQ WӯQJPӭFWKӇWtFKULrQJFӫDEѫP7URQJP{SKӓQJQj\FiFYDQÿӏQKKѭӟQJ911 và V12 7Ҳ7+uQKDFKRWKҩ\WӕFÿӝ YjiSVXҩW ban ÿҫXFӫDKӋWKӕQJWѭѫQJӭQJYӟLcác PӭFWKӇWtFKULrQJFӫDEѫP 7ӕFÿӝFӫDKӋWKӕQJÿѭӧFJLӟLKҥQ NKRҧQJ-1100 vòng / phút Các ÿӝQJFѫWăQJWӕFWӯÿӃQYzQJSK~WWURQJJLk\GRÿy iSVXҩWS1 WURQJÿѭӡQJGүQ FDRNKRҧQJEDUWURQJNKLiSVXҩWKӗLYӅ pr WKҩS.KLWӕFÿӝFӫDÿӝQJFѫ JLҧPiSVXҩWÿѭӡQJKӗL p2 caRQKѭQJiSVXҩWÿҫXYjRFӫD EѫPFzQOҥL tKҩS.KLWӕFÿӝJLҧP[XӕQJYzQJSK~WiS VXҩWWUX\ӅQÿӝQJOҥLWăQJOrQGRÿy WӕFÿӝÿӝQJFѫFNJQJWăQJ .ӃWTXҧOjiSVXҩWWURQJ FҧKDLÿѭӡQJYjWӕFÿӝFӫD ÿӝQJFѫOX{QGDRÿӝQJWURQJNKRҧQJKӋWKӕQJ\rX FҫX Hình 4.1b cho WKҩ\iSVXҩWWURQJEӝWtFKáp WăQJGҫQWӯEDU ÿӃQEDUNKLWKӇWtFKNKtWURQJEuQKJLҧPWӯOtW[XӕQJOtW 1KLӋWÿӝFӫDEӝWtFKiSWăQJWӯ 0 &ÿӃQ 0 C /ѭXOѭӧQJQҥS YjREӝWtFKáp WKD\ÿәLWӯlít/phút ÿӃQlít/phút NKLWӕFÿӝJLҧP Hình 4FFKRWKҩ\YDQ[ҧ591 ÿmPӣWURQJNKRҧQJWKӡLJLDQ-2,5 giây, EӣLYuWӕFÿӝGzQJTXiQWtQKYjRÿӝQJFѫÿ{LNKLFDRKѫQWӕFÿӝSKkQSKӕLFӫD EѫPYj
33 OѭX OѭӧQJ WKӯD ÿѭӧF SKkQ SKӕL TXD YDQ PӝW FKLӅX FY2 KL Eӝ WtFK iS ÿѭӧF QҥS, ÿѭӡQJKӗLVӁQJҳWNӃWQӕLJLӳDPi\EѫPYjÿӝQJFѫ&әQJK~WFӫDEѫPVӁNӃWQӕL YӟLEӝWtFKiSWKҩS WK{QJTXDYDQPӝWFKLӅXFY3 'RWәQWKҩWWKӇWtFKFӫDPi\EѫP YjÿӝQJFѫOѭXOѭӧQJTXDYDQPӝWFKLӅX cv3 OX{QOӟQKѫQOѭXOѭӧQJTXDYDQPӝW FKLӅX cv5 hay GzQJQҥS FKҩWOӓQJYjREuQKWtFKiSFao
Hình 4.1a Vұn tӕc và áp suҩt hӋ thӕng
Hình 4.1b Thông sӕ bình tích áp cao
Hình 4.1c /ѭXOѭӧng cӫDEѫPÿӝQJFѫYjYDQ[ҧ
Hình 4.1 Ĉһc tính cӫa hӋ thӕng 4.2 3KkQWtFKYLӋFVӱGөQJQăQJOѭӧQJFӫDKӋWKӕQJ
4.2.1 3KkQWtFKKLӋXVXҩWFӫD ÿӝQJFѫEѫPWKӫ\OӵF
+LӋXVXҩW FӫDPi\EѫPYjÿӝQJFѫÿyQJPӝWYDLWUzTXDQWUӑQJWURQJEҩWNǤQJKLrQFӭXQjR YӅ YLӋF VӱGөQJQăQJOѭӧQJFӫDKӋWKӕQJ7әQ WKҩWFѫKӑFYjWәQWKҩWWKӇWtFKOjQJX\rQQKkQJk\UDVӵNpPKLӋXTXҧFӫDPi\EѫPÿӝQJFѫ7әQWKҩWFӫDPi\EѫPYjÿӝQJFѫSKөWKXӝFYjR ÿLӅXNLӋQKRҥWÿӝQJWӕFÿӝiSVXҩWYjWӹOӋWKӇWtFKULrQJ Hình 4.2a và 4EFKRWKҩ\VӵWKD\ÿәLFӫDWәQWKҩWtrong các ÿLӅXNLӋQKRҥWÿӝQJ khác nhau FӫDÿӝQJFѫ WѭѫQJӭQJYӟLWӹOӋWKӇWtFKULrQJOj 0,25; 0,5; 0,75 và 1
Hình 4.2a Tәn thҩt vӅ thӇ tích cӫDÿӝQJFѫ
Hình 4.2b Tәn thҩt vӅ FѫNKtFӫDÿӝQJFѫ
Nói chung, WәQWKҩWWăQJOrQNKLiSVXҩWYұQKjQKWӕFÿӝKRһFWӹOӋWKӇWtFKULrQJFӫDÿӝQJFѫWăQJ 7X\QKLrQPӭFWәQWKҩW OjQKӓ NKLVRViQKYӟLVӵJLDWăQJVӭF PҥQK FӫD ÿӝQJ Fѫ GѭӟL FiF ÿLӅX NLӋQ KRҥW ÿӝQJ NKiF QKDX K{QJ JLӕQJ YӅPһWWәQWKҩWWKu KLӋXVXҩWFӫDÿӝQJFѫFKӍUDPӕLTXDQKӋJLӳD WәQWKҩWYj F{QJVXҩWFӫDÿӝQJFѫ'RÿyWәQJKLӋXVXҩWFӫDÿӝQJFѫWKD\ÿәLWKHR PӝWSKҥPYLUӝQJNKLFiFÿLӅXNLӋQKRҥWÿӝQJNKiFQKDXĈӇÿѫQJLҧQKDLELӇXÿӗYӅKLӋXTXҧWәQJ WKӇ ÿѭӧFKLӇQWKӏWURQJ+uQKFYj.2d
Hình 4.2c ÿѭӧFELӉXGLӉQ FKRiSVXҩWYұQKjQKOêWKX\ӃWOjEDUYjWѭѫQJ ӭQJYӟLWӹOӋWKӇWtFKULrQJOj YjĈӕLYӟLWKӇWtFKULrQJQKҩWÿӏQK thì KLӋXVXҩWWәQJWKӇWKD\ÿәLNK{QJÿiQJNӇ7ѭѫQJWӵKuQKFFKRWKҩ\VӵWKD\ ÿәLWURQJKLӋXVXҩW WәQJWKӇVRÿӕLYӟL WӕFÿӝÿӝQJFѫ+LӋXVXҩW FӫD ÿӝQJFѫWăQJ WӯÿӃQNKLĮWăQJWӯÿӃQ
Hình 4.2d HiӋu suҩt tәQJÿӕi vӟi áp suҩt
Hình 4GFKRWKҩ\KLӋXVXҩWWәQJWKӇVRYӟLiSVXҩWKRҥWÿӝQJFӫDÿӝQJFѫ +LӋX VXҩW WӕL ÿD Oj NKRҧQJ ӣ iS VXҩW EDU Yj Į HLӋX VXҩW FӵF WLӇXNKRҧQJӣiSVXҩWEDUYjĮ 7ҥLPӝWiSVXҩW KRҥWÿӝQJQKҩWÿӏQKKLӋXVXҩWWәQJWKӇWăQJWѭѫQJӭQJYӟLJLiWUӏFӫDĮ9tGөӣiSVXҩWEDUWKuJLiWUӏFӫDKLӋXVXҩWWәQJWKӇWăQJWӯ ÿӃQNKLĮWăQJWӯOrQ
4.2.2 3KkQWtFKYLӋFVӱGөQJQăQJOѭӧQJFӫDKӋWKӕQJWURQJFiFFҩXKuQK khác
4.3 7LӅPQăQJWKXKӗLQăQJOѭӧQJFӫDKӋWKӕQJ
ҦQKKѭӣQJFӫDKLӋXTXҧWәQJWKӇFӫDFiFWKjQKSKҫQWURQJKӋWKӕQJ
0ӝWFKXNǤWKXKӗL QăQJOѭӧQJÿѭӧF[iFÿӏQKQKѭVDXÿӝQJQăQJFӫDEiQK ÿj ÿѭӧFFKX\ӇQÿӃQEӝWtFKiS GѭӟLGҥQJQăQJOѭӧQJWtFKONJ\ ӣGҥQJFKҩWOӓQJiSVXҩWFDR VDXÿyFKX\ӇQQăQJOѭӧQJWtFKWUӳWUӣOҥLWKjQKÿӝQJQăQJWK{QJTXDEiQK ÿjCác WKjQKSKҫQ tham gia vào chu trình WKXKӗLQăQJOѭӧQJEiQKÿj- EѫP± Eӝ tích áp - ÿӝQJFѫ- EiQKÿj+LӋXVXҩWFKXNǤ ÿѭӧF[iFÿӏQKEӣL SKҫQQăQJOѭӧQJFy
40 VҹQVDXNKLWiLVӱ dөQJ YjWUѭӟFNKLWKXKӗL WӯEiQKÿj0ӕLTXDQKӋQj\ÿѭӧFWKӇ KLӋQEҵQJpKѭѫQJWUuQK.1)
WURQJÿy Șfl OjKLӋXVXҩWFӫDEiQKÿj Șm/p là hiӋXVXҩWFӫDPi\EѫPÿӝQJFѫ Șac OjKLӋXVXҩWFӫDEӝWtFKáp
+LӋXVXҩWFӫDEiQKÿjWURQJTXiWUuQKJLҧPWӕFȘfl, dKRһFWăQJWӕFȘfl, a) WURQJSKѭѫQJWUuQK (4.1) SKөWKXӝFYjRFiFÿһFÿLӇPFӫD WҧLFөWKӇ+LӋXVXҩWFӫD EiQKÿjÿѭӧFJLҧÿӏQKOjNK{QJÿәLYjJLӕQJQKDXWURQJFҧTXiWUuQKJLҧPWӕFYj Vӵ WăQJWӕF;iFÿӏQKKLӋXVXҩWGӵDWUrQNӃWTXҧNLӇPWUDQKѭHình 4.4 *LҧVӱWKӡL
JLDQJLҧPWӕFOjJLk\QăQJOѭӧQJFӫDEiQKÿjJLҧPWӯ 0 1 0 2
E 2 J Z VDXJLk\GRÿyKLӋXVXҩWȘfl ÿѭӧF WtQKEҵQJSKѭѫQJWUuQK (4.2)
+LӋXVXҩWFӫDEӝWích áp ÿѭӧFJLҧÿӏQKOjPӝWKҵQJVӕOj 0,95 Hình 4.5 cho WKҩ\KLӋXVXҩWFKXNǤ VRYӟLVӵWKD\ÿәLKLӋXVXҩWPi\EѫPÿӝQJFѫ&iF KLӋXVXҩW FKXNǤ FӫDWKLӃWEӏWKtQJKLӋP WKD\ÿәLWӯÿӃQ% khi KLӋXVXҩWÿӝQJFѫ trong kKRҧQJ>-0,92@YjKLӋXVXҩWFӫDEѫPWURQJNKRҧQJ>-0,92]
+LӋXVXҩW FӫDEӝWtFKáp WURQJWKӵFWӃNK{QJFӕÿӏQKYjWKD\ÿәLWKHR FKXNǤVҥFYj[ҧĈӇѭӟFWtQKҧQKKѭӣQJFӫDKLӋXVXҩWEӝWtFK lên KLӋXVXҩWFKXNǤKLӋXVXҩWFӫDEѫPÿӝQJFѫYjEiQKÿjÿѭӧFJLҧÿӏQKOj NK{QJÿәLOҫQOѭӧWOjYj+LӋXVXҩWFӫDEӝWtFKiS WKD\ÿәLWӯ ÿӃQ7KHRpKѭѫQJWUuQK (3.1)KLӋXVXҩWFKXNǤ WKD\ÿәLWURQJNKRҧQJ>- 0,56] ĈӇѭӟFWtQKҧQKKѭӣQJFӫDKLӋXVXҩWWҧL ÿӃQKLӋXTXҧFӫDFKX\ӃQÿLFKXNǤ, hLӋXVXҩWPi\EѫPÿӝQJFѫYjEӝWtFKONJ\OҥL ÿѭӧFJLҧÿӏQKOjNK{QJÿәLӣYj +LӋXVXҩWFӫDEiQKÿjWKD\ÿәLWӯ ÿӃQYӟLFiFWKD\ÿәL WURQJWKӡLJLDQWKXKӗLQăQJOѭӧQJOҫQOѭӧWWӯJLk\ÿӃQ giây +LӋXVXҩWFKXNǤ WURQJNKRҧQJ [0,21 0,5@7URQJӭQJGөQJWKӵFWӃFiFÿһF
41 ÿLӇP FӫDWҧLÿѭӧFELӃWWUѭӟFYuYұ\Pi\EѫPÿӝQJFѫYjEӝWtFKáp SKҧLÿѭӧFWKLӃW NӃFKRPӝWKӋWKӕQJFөWKӇÿӇÿҥWÿѭӧFJLiWUӏFKXNǤ FDRQKҩW
ҦQKKѭӣQJFӫDWKӇWtFKULrQJEѫPÿӝQJFѫ
ĈӕLYӟLEӝWtFKiS FyiSVXҩWFӕÿӏQKYjiSVXҩWNKtQҥSÿmFKRWUѭӟFYLӋFWKD\ÿәL WKӇWtFKULrQJFӫDEѫPÿӝQJFѫGүQÿӃQVӵWKD\ÿәLPRPHQW[RҳQWѭѫQJ ӭQJYӟLEѫPÿӝQJFѫ ĈӕLYӟLVӵWKD\ÿәLWKӇWtFKULrQJQKӓWKuVӵWKD\ÿәLP{-men [RҳQQKӓGүQÿӃQWKӡLJLDQWăQJWӕFKRһFJLҧPWӕFOӟQYjQJѭӧF'RÿyNK{QJFKӍ hLӋXVXҩWFӫDEѫPÿӝQJFѫPjFҧKLӋXVXҩWFӫDEiQKÿjYjEӝWtFKáp FNJQJUҩWNKiF nhau 4XiWUuQKNLӇPWUDQăQJOѭӧQJWKX KӗLÿѭӧFWKӵFKLӋQQKѭVDXĈҫXWLrQWKӇ tích riêng PM2 ÿѭӧFFӕÿӏQKFKR PӛLWKӱQJKLӋPYjEӝWtFK áp WKҩS+$2 ÿѭӧFVҥF ÿӃQEDUEҵQJPӝWPi\EѫPSKө NK{QJKLӇQWKӏӣÿk\%iQKÿjÿѭӧFGүQÿӝQJӣ
42 WӕFÿӝYzQJSK~WÿӇÿҧPEҧRUҵQJKӋWKӕQJ ÿҥWÿѭӧFÿLӅXNLӋQWUҥQJWKiLәQ ÿӏQK7LӃSWKHRPi\EѫPÿѭӧFOFF và van V12 ÿѭӧFFKX\ӇQVDQJ sang ON ngay OұSWӭF WURQJNKLYDQ 911 YүQOFF %iQKÿjFKҥ\OLrQ WөF GRÿӝQJQăQJ FӫD Qy
%ѫPÿӝQJFѫ302 KRҥWÿӝQJQKѭPӝWPi\EѫPWKӫ\OӵF&iF áp VXҩWWURQJÿѭӡQJ GүQÿӝQJJLҧPYjYDQPӝWFKLӅX&92 ÿyQJ.KLÿyFKҩWOӓQJÿѭӧFEѫPWӯEӝWtFK áp WKҩS +$2 VDQJ Eӝ WtFK iS cao HA1 .KL WӕF ÿӝ FӫD EiQK ÿj EҵQJ NK{QJ 911 ÿѭӧFFKX\ӇQVDQJ21+$1 WUӣWKjQK QJXӗQiSVXҩWFDRFXQJFҩSQăQJOѭӧQJFKR
PM2 và KRҥWÿӝQJQKѭPӝWÿӝQJFѫWKӫ\OӵF7ӕFÿӝFӫDEiQKÿjWăQJOrQWURQJNKL iSVXҩWWURQJ+$1 JLҧPGҫQ7URQJVXӕWWKӡLJLDQQj\ FKҩWOӓQJFKX\ӇQWӯ+$1 sang
HA2 Khi HA1 KӃWQăQJOѭӧQJWӕFÿӝFӫD EiQKÿjEӏJLҧP6DXÿyYDQÿӏQKKѭӟQJ
V1 ÿѭӧFFKX\ӇQ VDQJ OFFQKѭQJYDQ 912 ON FKR FKX NǤ WKXKӗL WLӃSWKHR6DX PӝWVӕFKX NǤ WKXKӗLWӕFÿӝVӱGөQJOҥLWӕLÿD FӫD EiQK ÿj EӏJLҧPGRFiF ÿһF ÿLӇP FӫD EiQK ÿj Yj WKӱ QJKLӋP FKѭѫQJ WUuQK Eӏ GӯQJ %ӕQ Wӹ OӋ WKӇ WtFK ULrQJ ÿӝQJFѫYjÿѭӧFVӱGөQJWURQJ EӕQEjLNLӇPWUDÿѭӧFÿiQKVӕ OҫQOѭӧWOjYjĈӇѭӟFWtQKVӵSKөFKӗLQăQJOѭӧQJ WLӅPQăQJFӫDKӋWKӕQJ PӝWWKDPVӕJӑLOjKLӋXVXҩWFKXNǤ ÿѭӧFÿӏQKQJKƭDQKѭWURQJSKѭѫQJWUuQK (4.3)
(4.3) Ӣÿky Ȧmax(i)L ôOjWӕFÿӝOӟQQKҩWFӫDEiQKÿjӣFKXNǤSKөFKӗLL
Hình 4.6 HiӋu suҩt chu kǤ WѭѫQJӭng vӟi thӇ WtFKULrQJÿӝQJFѫ
43 7KӡLJLDQFҫQWKLӃWÿӇJLҧPWӕFEiQKÿjWӯWӕFÿӝWӕLÿDYӅYj 7ăQJWӕFQy WӯÿӃQWӕF ÿӝWӕLÿDÿѭӧFJӑLOjWKӡLJLDQSKDQKYjWăQJWӕF WѭѫQJӭQJ+uQK FKRWKҩ\FiFÿѭӡQJFRQJWӕFÿӝFӫDEiQKÿjWӯEӕQWKӱQJKLӋPFӫDFK~QJW{L 7KӡL JLDQSKDQKYjWăQJWӕFFӫDEiQKÿjWăQJWӯJLk\OrQJLk\ JLk\WѭѫQJӭQJNKL WӹVӕGӏFKFKX\ӇQ JLҧPWӯÿӃQ +uQK FKR WKҩ\KLӋXTXҧ FKX NǤ FӫD KӋ WKӕQJVRYӟLVӕFKXNǤFӫDEӕQOҫQNLӇPWUD 7KӱQJKLӋPVӕNK{QJÿѭӧFPLQKKӑD EӣLYuFKӍFyPӝWFKXNǤÿѭӧFWLӃQKjQKYjJLiWUӏFӫDQyOj NKӟSYӟLSKkQWtFK WUѭӟFÿy+LӋXTXҧFKXNǤ troQJWKӱQJKLӋPYj NKiFDRYjGDRÿӝQJWӯ ÿӃQ
Hình 4.7 HiӋu suҩt chu kǤ ÿӕi vӟi sӕ vòng quay khác nhau
Hình 4.8 FKR WKҩ\ FiF ѭӟF WtQK YӅ KLӋX VXҩW WKӇ WtFK Yj Fѫ KӑF FӫD EѫP ÿӝQJFѫWURQJWKӱQJKLӋP7URQJWKӱQJKLӋPQj\FҧKLӋXVXҩWFѫ KӑFYjKLӋXVXҩWWKӇWtFKFӫD EѫPWKӫ\OӵFÿӝQJFѫFDR+uQK4.9 FKRWKҩ\FiFJLiWUӏP{SKӓQJFKR QKLӋWÿӝYjiSVXҩt trong bình tích áp cao Hình 4.10 FKRWKҩ\ mô-PHQ[RҳQYjWӕF ÿӝFӫDEѫPÿӝQJFѫ+uQK FKRWKҩ\VӵWLrXWiQFӫDÿӝQJQăQJ QăQJOѭӧQJWURQJKӋWURQJÿyQăQJOѭӧQJEDQÿҫX FӫD EiQK ÿjÿѭӧF FRLOj +LӋXVXҩWWUXQJ EuQK FӫD EѫP ÿӝQJ Fѫ NKRҧQJ Vӵ PҩW QăQJ OѭӧQJ FӫD EiQK ÿj là NKRҧQJFKR YLӋFWăQJKRһFJLҧPWӕF+uQK FKRWKҩ\WәQWKҩWGR EӝWtFKONJ\UҩWWKҩSNKRҧQJ WәQWKҩWGREiQKÿjJk\UDOjNKRҧQJ YjWәQWKҩWÿiQJNӇGRPi\EѫPÿӝQJFѫOjJҫQWURQJNKL QăQJOѭӧQJEDQÿҫXÿѭӧFWiLVӱGөQJFKRJLDWӕFEiQKÿj
Hình 4.8 HiӋu suҩWEѫPÿӝQJFѫ
Hình 4.9 Thông sӕ bӝ tích áp cao
Hình 4.10 Moment xoҳn và vұn tӕFEѫPÿӝQJFѫ
Hình 4.11 KӃt quҧ mô phӓng hӋ thӕng 4.4 .ӃWOXұQ
.ӃWTXҧP{SKӓQJ[iFQKұQNӃWTXҧFӫDFiFSKkQWtFKÿӏQKWtQKӣFKѭѫQJFKӍUD WLӅPQăQJSKөFKӗLQăQJOѭӧQJFӫDKӋWKӕQJWKD\ÿәL WӯÿӃQ% tùy WKXӝFYjRWKӇWtFKULrQJFӫDPi\EѫPÿӝQJFѫ
5.1 7KLӃWNӃKӋWKӕQJÿLӅXNKLӇQSKkQFҩS
&ҩXWU~FÿLӅXNKLӇQWәQJWKӇFӫDKӋWKӕQJÿӅ[XҩW ÿѭӧF trình bày trong Hình 5.1
Hình 5.1 HӋ thӕQJÿLӅu khiӇn tәng thӇ cӫa hӋ thӕQJÿѭӧFÿӅ xuҩt
7URQJKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩS± ÿLӅXNKLӇQEѫPEӝÿLӅXNKLӇQJLiPViWWҥRUD iSVXҩWJLӟLKҥQWUrQYjJLӟLKҥQGѭӟLpup, plow) FKREӝÿLӅXNKLӇQVѫFҩSWtQKLӋX911, V12) VӱGөQJFKR EӝÿLӅXNKLӇQYDQYjWӕFÿӝTXD\OjWtQKLӋXÿҫXYjR EӝÿLӅXNKLӇQWKӭFҩS%ӝÿLӅXNKLӇQVѫFҩSÿѭӧFWKLӃWNӃWKHRnguyên WҳF QKѭ Hình 5WURQJÿyX1 là WtQKLӋXÿLӅXNKLӇQFӫD31%ѫP31 FKӍKRҥWÿӝQJYӟLWKӇWtFKULrQJWӕLÿDKRһFEҵQJĈӕLYӟLEӝÿLӅXNKLӇQYDQ911 là 1 khi WăQJWӕFtrong khi V12 là 1 khi JLҧPWӕF&ҧKDLYDQNK{QJÿӗQJWKӡL BӝÿLӅXNKLӇQWKӭFҩS[ӱOêWKHRG}LWӕFÿӝFӫDEiQKÿj
Trong KӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQWKӭFҩS ± ÿLӅXNKLӇQEѫPÿӝQJ FѫEӝÿLӅXNKLӇQJLiPViWWҥRUDWӕFÿӝ WKDPFKLӃXÿӃQFҧEӝÿLӅXNKLӇQFKtQKYj SKөYjFiFWtQKLӋXNӻWKXұWVӕ911, V12ÿӇ ÿLӅXNKLӇQYDQĈӕLYӟLEӝÿLӅXNKLӇQ YDQFҧ911 và V12 là 0 trong KӋ Qj\1JX\rQWҳFFӫDEӝÿLӅXNKLӇQWKӭFҩSÿѭӧFWKӇ KLӋQWURQJ pKѭѫQJWUuQK.1)
7URQJFҧKDLFҩXKuQKEӝÿLӅXNKLӇQYDQFKӍNKXӃFKÿҥLWtQKLӋX911, V12Wӯ EӝÿLӅXNKLӇQJLiPViWÿӇO\KӧSKRһFWiFKO\KӧS van
5.2 7KLӃWNӃEӝÿLӅXNKLӇQWӕFÿӝ
7URQJKӋWKӕQJÿӅ[XҩWÿҫXUDFӫDKӋWKӕQJÿLӅXNKLӇQOX{QOjWӕFÿӝFӫD Pi\EѫPÿӝQJFѫ302 QKѭQJÿҫXYjRÿLӅXNKLӇQOjWKӇWtFKULrQJ FӫD31 KRһF WKӇ tích riêng FӫD3021ӃXKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩS ± ÿLӅXNKLӇQEѫPÿѭӧFFKӑQÿLӅXNKLӇQ KӋWKӕQJFyÿҫXYjRX1 YjÿҫXUDȦ1ӃXKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQWKӭFҩS ± ÿLӅXNKLӇQEѫPÿӝQJFѫ ÿѭӧFFKӑQÿLӅXNKLӇQ KӋWKӕQJYүQFyÿҫXUDȦQKѭQJÿҫXYjRX27ӯ&KѭѫQJQJѭӡLWDWKҩ\UҵQJPһFG
48 FҩXWU~FYұWOêFӫDKӋWKӕQJNKiFQKDXQKѭQJWDFyWKӇ WUuQKEj\GѭӟLGҥQJWәQJ TXiWQKѭWURQJSKѭѫQJWUuQK.2)
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Wӯplow ÿӃQ Sup NKѭ ÿm ÿӅ FұS WURQJ &KѭѫQJ ÿҫX YjR ÿLӅX NKLӇQ EDR JӗP KDL ÿLӇPSKLWX\ӃQOjYQJFKӃWÿҫXYjRYjEmRKzDÿҫXYjRQrQKӋÿLӅXNKLӇQOjPӝWKӋ SKLWX\ӃQNK{QJÿҧPEҧR và [iRWUӝQ
0өFWLrXFӫDWKLӃWNӃÿLӅXNKLӇQWӕFÿӝOjWәQJKӧSPӝWEӝÿLӅXNKLӇQFKRcó WKӇÿҧPEҧRVӵәQÿӏQKYjKLӋXVXҩWӣEҩWFӭFҩXKuQKQjRFӫD KӋWKӕQJÿӅ[XҩW 9ҩQÿӅNLӇPVRiWWӕFÿӝFӫDKӋWKӕQJWKӫ\OӵFYjVѫÿӗÿLӅXNKLӇQ FKRYҩQÿӅNLӇP VRiWWӕFÿӝFyWKӇÿѭӧFNKҧRViWQKѭVDX
%ӝÿLӅXNKLӇQ3,'ÿѭӧFiSGөQJÿӇÿLӅXNKLӇQWӕFÿӝWURQJKӋWUX\ӅQÿӝQJ WKӫ\WƭQKÿLӅXNKLӇQWKӭFҩS [31-36@ĈӕLYӟLORҥLÿLӅXNKLӇQQj\KLӋXVXҩWEӝÿLӅX NKLӇQWKuWKӓDPmQ QKѭQJFK~QJNK{QJFKR WKҩ\Vӵ ÿҧPEҧR WtQKәQÿӏQKFӫD KӋ WKӕQJ ĈLӅX NKLӇQ EӅQ YӳQJ FKR WKҩ\ Vӵ SK KӧS ÿӇ NLӇP VRiW WӕF ÿӝ WURQJ KӋ WUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQVѫFҩS [37] QKѭQJNLӇXÿLӅXNKLӇQQj\FyKҥQFKӃ OjNK{QJÿҧPEҧRWURQJYҩQÿӅP{KuQK
%ӝÿLӅXNKLӇQPӡFNJQJÿѭӧFiSGөQJÿӇÿLӅXNKLӇQWӕFÿӝFӫDKӋWKӕQJWKӫ\ OӵF>-41@ĈLӅXNKLӇQ Pӡ FyÿLӅXFKӍQK YjÿLӅXNKLӇQWKtFKnghi FyWKӇÿѭӧFiS GөQJFKR YLӋFÿLӅXNKLӇQWӕFÿӝFӫDKӋWKӕQJWKӫ\OӵF[42,43] Tuy nhiên, ÿiSӭQJ FӫDYLӋFÿLӅXNKLӇQ SKөWKXӝF NLQKQJKLӋPFӫDQJѭӡLWKLӃWNӃ YjWLrXWӕQ QKLӅXWKӡL gian ĈLӅXNKLӇQ WUѭӧWPӡWKtFh nghi ÿѭӧFӭQJGөQJFKRKӋWKӕQJÿӅ[XҩW vì nó NӃW KӧS ÿһF WtQK PҥQK PӁ FӫD ÿLӅX NKLӇQ WUѭӧW WUX\ӅQ WKӕQJ Yj ÿLӅX NKLӇQ WKtFK nghi [44-49@&iFWK{QJVӕFӫDFѫVӣTX\WҳFPӡÿmÿѭӧFÿLӅXFKӍQKÿӇKLӋXVXҩWFӫDKӋWKӕQJÿѭӧFÿҧPEҧR YjYLӋF JLҧÿӏQKÿҫXYjo là PӝWPһWWUѭӧW FKRSKpSWKLӃW
49 NӃEӝÿLӅXNKLӇQÿѫQJLҧQKѫQ %ӣLYuKӋWKӕQJÿӅ[XҩW FyWKӇÿѭӧFU~WJӑQWKjQKPӝWKӋWKӕQJEұFKDLGѭӟLGҥQJSKѭѫQJWUuQK(5.2) QrQӣÿk\FKӍWKLӃWNӃ EӝÿLӅXNKLӇQFKRKӋWKӕQJEұFKDL
ĈLӅXNKLӇQWUѭӧW
HӋWKӕQJEұFKDLÿѭӧF ELӇXWKӏEҵQJSKѭѫQJWUuQK.3)
WURQJÿyXOjÿҫXYjR\ [1 OjÿҫXUDFӫDKӋWKӕQJYjGOjQKLӉXErQQJRjLFKѭD ELӃW ĈӇÿѫQJLҧQKyDYLӋFWUuQKEj\FK~QJWDYLӃW[JIGWKD\Yu[WJ[WI(x, t), d(t) và u(t)ĈLӅXNLӋQFӫDKӋOjJYjJIYjGOjFiFJLӟLKҥQ *LҧVӱUҵQJJLӟL KҥQWUrQFӫDQKLӉXGOj'WӭFOj d dD
6ѫÿӗNKӕLFӫDKӋWKӕQJWKӫ\OӵFÿѭӧFWKӇKLӋQWURQJ+uQK.3.TURQJÿy[d là WӕFÿӝWKDPFKLӃX 9ҩQÿӅFӫDYLӋFÿLӅXNKLӇQOjSKҧLWuPUDOXұWÿLӅXNKLӇQ phù KӧSÿӇ PjEiQKÿjFyWKӇWKHRG}LÿѭӧF 6DLVӕÿѭӧF[iFÿӏQKQKѭVDX
%ѭӟFÿҫXWLrQFӫDÿLӅXNKLӇQWUѭӧWOjFKӑQPӝWEӅ PһWWUѭӧWP{SKӓQJKLӋXVXҩW YzQJ NtQ PRQJ PXӕQ WURQJ NK{QJ JLDQ WUҥQJ WKiL 6DX ÿy FK~QJta WKLӃW NӃ ÿLӅX NKLӇQVDRFKR FiFTXӻÿҥRWUҥQJWKiLFӫDKӋWKӕQJEӏpSYӅSKtDPһWWUѭӧWYjӣWUrQ ÿy
Hình 5.3 6ѫÿӗ khӕLÿLӅu khiӇQWUѭӧt
1ӃXJYjIÿѭӧFELӃWEӝÿLӅXNKLӇQFyÿѭӧFWKLӃWNӃQKѭVDX eq r u u u (5.6) Ӣÿk\ ueq OjOXұWNLӇPVRiWWѭѫQJÿѭѫQJYjQyÿѭӧFÿӏQKQJKƭDQKѭWURQJ [50],
7tQKәQÿӏQKFӫDKӋWKӕQJÿѭӧF[iFÿӏQKEҵQJ hàm Lyapunov:
7URQJSKѭѫQJWUuQKWUrQQӃX9YӟLPӑLVQyÿѭӧFJӑLOjÿҥWÿLӅX NLӋQ[56]ĈLӅXNKLӇQXÿѭӧFWKLӃWNӃÿӇÿҧPEҧRUҵQJFiFWUҥQJWKiLÿDQJFKҥPYjR PһWWUѭӧW s = 0
Trong ÿLӅXNKLӇQWUѭӧW FәÿLӇQOXұWWLӃSFұQÿѭӧFFKӑQOj sgn( ) u r s g
WURQJÿyȘOjKҵQJVӕGѭѫQJ.ӃWTXҧOjtín KLӋXÿLӅXNKLӇQXÿѭӧF[iFÿӏQK EӣL
7KD\WKӃYjREӝÿLӅXNKLӇQU~WJӑQWDFy sgn(s)
51 KLÿy9 0 YjWUҥQJWKiLFӫDKӋWKӕQJWLӃSFұQYӟLPһWWUѭӧW9HFWѫVDLVӕ JLҧPWLӋPFұQÿӃQNKLWUҥQJWKiLKӋWKӕQJQҵPWUrQV
7URQJTX\WUuQKWKLӃWNӃÿLӅXNKLӇQӣWUrQFK~QJWDSKҧLELӃWIJYjGWURQJ khi c1 YjȘOj KDLWK{QJVӕWKLӃWNӃ7X\QKLrQWUrQWKӵFWӃIJYjGOjPӝWSKҫQFKѭDELӃWKRjQWRjQNK{QJ[iFÿӏQKQKѭSKkQWtFKӣWUrQQrQÿLӅXNKLӇQWUѭӧWWUX\ӅQWKӕQJ UҩW NKy ÿѭӧF iS GөQJ WURQJ KӋ WKӕQJ ÿӅ [XҩW 1JRjL UD GR ҧQK KѭӣQJ FӫDSKҥPYLWLӃSFұQ EӝÿLӅXNKLӇQXr KLӋQWѭӧQJrung NK{QJPRQJPXӕQ[ҧ\UDWURQJKӋWKӕQJ+LӋQWѭӧQJUXQJ OjPJLҧPWXәLWKӑFӫDFiFEӝSKұQWURQJKӋWKӕQJWKӫ\OӵF ĈӇ JLҧL TX\ӃW ÿLӅX ÿy YҩQ ÿӅ ÿLӅX NKLӇQ WUѭӧW Pӡ ÿѭӧF SKiW WULӇQ QKѭ ÿѭӧF trình bày trong [46].
ĈLӅXNKLӇQWUѭӧWPӡ
6ѫ ÿӗ FӫD Eӝ ÿLӅX NKLӇQ ÿѭӧF WKӇ KLӋQ WURQJ +uQK 7URQJ Vѫ ÿӗ ÿLӅX NKLӇQQj\PӝW EӝÿLӅXNKLӇQYӟLÿҫXYjROjEӅPһWWUѭӧWYjÿҫXUDlà ÿLӅXNKLӇQOj WKLӃWNӃFKR ÿѫQYӏWKӭFҩS4X\WUuQKWKLӃWNӃEӝÿLӅXNKLӇQÿѭӧFWUuQKEj\ QKѭVDX 1ӃXFK~QJWDÿmELӃWWҩWFҧFiFWKDPVӕFӫDKӋWKӕQJFK~QJWDFyPӝWEӝÿLӅXNKLӇQ
Oê WѭӣQJ ÿѭӧF ELӇX WKӏ EҵQJ SKѭѫQJ WUuQK 13) ~ (5 7tQK әQ ÿӏQK FӫD KӋ WKӕQJÿmÿѭӧFFKӭQJPLQKWURQJSKҫQ WUѭӟF
Hình 5.4 6ѫÿӗ khӕLÿLӅu khiӇQWUѭӧt mӡ
%ӝ ÿLӅX NKLӇQ EiQK ÿj )/ WX\ӃQ WtQK KyD SKҧQ KӗLu * eq không WKӵF KLӋQ ÿѭӧF WURQJWKӵFWӃ ӭQJGөQJYuFK~QJWDNK{QJELӃWWҩWFҧFiFWK{QJVӕFӫDKӋWKӕQJ ÿѭӧFÿLӅXNKLӇQ9uYұ\ EӝÿLӅXNKLӇQPӡÿѭӧFÿӅ[XҩWÿӇmô Wҧ OXұWÿLӅXNKLӇQ EiQKÿj%ӝÿLӅXNKLӇQPӡOj ÿѭӧFWKLӃWNӃEӣLPӝWKӋWKӕQJPӡWURQJÿyFiFOXұW PӡÿѭӧFFKRӣGҥQJVDX
4X\WҳF WKӭL1ӃX VOj/i WKuXOjși TURQJÿyVOjPһWWUѭӧWFӫD KӋ ÿѭӧF FKӑQEӣLSKѭѫQJWUuQK (5.5), Li là ELӃQQJ{QQJӳFӫDPһWWUѭӧWYjși OjJLiWUӏÿѫQ FӫDJLiWUӏKjPÿҫXUD &iFJLiWUӏKjPÿҫXYjRFӫD PһWFKӃÿӝWUѭӧWFyGҥQJQKѭ sau:
WURQJÿyPYjıOҫQOѭӧWOjWkPYjFKLӅXUӝQJFӫDKjP %ӝÿLӅXNKLӇQPӡFyWKӇ ÿѭӧFWKӇKLӋQGѭӟLGҥQJ
7URQJÿyș >ș1,ș2, ș3ô șm] T OjYHFWѫWKDPVӕYjȟ >ȟ1, ȟ2, ȟ3ô ȟm] T OjPӝW YHFWѫKӗLTX\YӟLȟi ÿѭӧF[iFÿӏQKQKѭVDX
WURQJÿyZi OjWUӑQJOѭӧQJFӫDTX\WҳFWKӭL
53 ĈӇWyPWҳWSKkQWtFKӣWUrQWKXұWWRiQFKREӝÿLӅXNKLӇQWUѭӧWPӡÿѭӧFWUuQK Ej\QKѭVDX
&KӍÿӏQKÿӝOӧLF1 FKREӅPһWFKӃÿӝWUѭӧWWURQJSKѭѫQJWUuQK (5.5) ĈӏQKQJKƭDUWұSPӡ/LFKRELӃQQJ{QQJӳVYjFiFKjPSKөWKXӝFȝL
;k\GӵQJTX\WҳFFѫEҧQFKRKӋPӡXfz (sș
7URQJEӝÿLӅXNKLӇQWUѭӧWPӡ P{KuQKFKtQK[iFFӫDKӋWKӕQJOjNK{QJFҫQWKLӃWYjKLӋQWѭӧQJQKLӉX JLҧPÿiQJNӇ7X\QKLrQ VӵKDRSKtYӅ WKӡLJLDQYjFKӭQJ minh YӅ Vӵ әQ ÿӏQK FӫD KӋ WKӕQJlà QKѭӧF ÿLӇP FӫD Eӝ ÿLӅX NKLӇQ ÿy ĈӇ NKҳFSKөFQKӳQJKҥQFKӃÿyFӫDEӝÿLӅXNKLӇQWUѭӧWPӡWKuPӝWEӝÿLӅXNKLӇQWUѭӧWPӡ thích nghi ÿѭӧFJLӟLWKLӋXWURQJSKҫQ WLӃSWKHR
ĈLӅXNKLӇQWUѭӧWPӡWKtFKQJKL
6ѫÿӗÿLӅXNKLӇQ Qj\OjPJLҧPWKӡLJLDQ[k\GӵQJFiFFѫVӣTX\WҳFFӫDPӝW EӝÿLӅXNKLӇQWUѭӧWPӡYuFiFTX\WҳFFӫDEӝÿLӅXNKLӇQÿѭӧFWӵÿӝQJÿLӅXFKӍQK EӣLPӝWFѫFKӃ WKtFKӭQJ+LӋX VXҩWYj WtQKәQÿӏQKFӫD KӋ WKӕQJYzQJNtQÿѭӧF ÿҧPEҧR 6ѫÿӗFӫDEӝÿLӅXNKLӇQÿѭӧFWKӇKLӋQtrong Hình 5.5
Hình 5.5 6ѫÿӗ khӕi bӝ ÿLӅu khiӇQWUѭӧt mӡ thích nghi
7URQJVѫÿӗÿLӅXNKLӇQQj\PӝWEӝÿLӅXNKLӇQPӡYӟLÿҫXYjROjPһWWUѭӧWYjÿҫXUDOj ÿLӋQiSÿӇÿLӅXNKLӇQWKӇWtFKULrQJ FӫDEѫP WKӫ\OӵF1JRjLUDJLiWUӏFӫDJWURQJ KӋWKӕQJÿӅ[XҩWNK{QJSKҧLO~FQjRFNJQJWKӓDPmQJLҧÿӏQKQKѭWURQJEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKLWUX\ӅQWKӕQJ g> 0 [44-47], WKD\YjRÿyFK~QJWD
54 FyJWURQJKӋÿѭӧFÿӅ[XҩW'RÿyTXiWUuQK WKLӃWNӃEӝÿLӅXNKLӇQÿѭӧFWUuQK Ej\QKѭVDX ĈҫXWLrQPӝWEӅPһWWUѭӧWÿѭӧFFKӑQWKHRSKѭѫQJWUuQK(5.5)
*LӕQJQKѭEӝÿLӅXNKLӇQWUѭӧWPӡFK~QJWD [iFÿӏQKPӝWEӝÿLӅXNKLӇQOê WѭӣQJEҵQJSKѭѫQJWUuQK (5.13) ~ (5.16)
0ӝWKӋPӡÿѭӧF[k\GӵQJEҵQJFiFSKѭѫQJWUuQK (5.17) ~ (5.19)
6DXÿyWKHRÿӏQKOê[ҩS[ӍSKәTXiW>@WӗQWҥLPӝW EӝÿLӅXNKLӇQPӡWӕL ѭX u * fz s ,T * T [ * T sao cho:
WURQJÿyİOjVDLVӕ[ҩS[ӍYjÿѭӧFJLҧÿӏQKOjEӏJLӟLKҥQEӣLH dE 6ӱGөQJEӝ ÿLӅXNKLӇQPӡu * fz ÿӇ[ҩS[ӍX * QKѭWURQJSKѭѫQJWUuQK.21) ệ fz , T u sT T [ (5.21) tronJÿyșOjYHFWѫѭӟFOѭӧQJFӫDș * theo[39@/XұWÿLӅXNKLӇQ EӝÿLӅXNKLӇQWUѭӧW PӡWKtFKQJKLOj ệ ệ fz r u u u (5.22)
WURQJÿyXfz ÿѭӧFVӱGөQJÿӇÿLӅXNKLӇQEiQKÿj (FL) u * eq YjÿLӅXNKLӇQWLӃSFұQur ÿѭӧFWKLӃWNӃÿӇ bù VӵVDLOӋFK JLӳDEiQKÿjYjEӝÿLӅXNKLӇQPӡ7KD\WKӃ (5.22) YjRKӋFK~QJWDQKұQÿѭӧF
* * ệ ệ fz fz eq fz fz u u u u u H (5.24)
JWURQJKӋOX{QGѭѫQJYjȘ1 FNJQJOjKҵQJVӕGѭѫQJĈҥRKjPV ÿӕLYӟLWKӡLJLDQ
K (5.29) ĈӇWtQKs WӯYjWDFyÿѭӧF s k e e 1 (5.30) ệ fz eq * fz u u u (5.31)
Thay pKѭѫQJWUuQK.31) vào (5.23) ta có
6ӱGөQJX * eq trong (5.14) và (5.32) U~WJӑQWDWKXÿѭӧF r fz s g u u (5.33)
Thay s vào (5.29) và VӱGөQJSKѭѫQJWUuQK (5ÿӃQ(5WDFyÿѭӧF
7KD\YjYjRF{QJWKӭFWDFyÿѭӧF sgn sgn
Vì H dE nên chúng ta có V d E H g s d 0 7DWKҩ\ V âm và là hàm bán xác ÿӏQKNKLÿy
Vì V s 0 , T JLӟLKҥQYj V s , T NK{QJWăQJYjJLӟLKҥQQrQWDFy
Ta cú P t JLӟLKҥQ và theo %DUEDODWảV Lemma [50] lim t of P t 0 7DFyVWĺ
0 NKLWĺ'RÿyKӋ (5YӟLEӝÿLӅXNKLӇQ (5.21), (5.22), (5YjOXұWWKtFK nghi (4OjәQÿӏQKtheo ÿӏQKOêәQÿӏQK/\DSXQRY ĈӇWyPWҳWSKkQWtFKӣWUrQWKXұWWRiQFKREӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL
&KӍÿӏQKÿӝOӧLF1 FKRPһW WUѭӧWWURQJSKѭѫQJWUuQK(5.5)
2 ;iFÿӏQK r ,WұSPӡ/LFKRELӃQQJ{QQJӳVYjFiFKjPSKө WKXӝFȝL
&KӑQKӋVӕȘYj(WURQJSKѭѫQJWUuQK(5.37) và (5.38)
;k\GӵQJOXұWÿLӅXNKLӇQYӟLOXұWWKtFKnghi (5.37)
7ӯTX\WUuQKWKLӃWNӃFK~QJWD WKҩ\UҵQJEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL ÿѭӧFÿӅ[XҩWFyQKѭӧF ÿLӇPOjSKҧLFKӑQ (WUѭӟF1ӃX(ÿѭӧFFKӑQOӟQWKuWӯSKѭѫQJWUuQK (4KӋWKӕQJUXQJOӟQOӟQFzQOҥL(TXiQKӓWKuKӋWKӕQJFyWKӇNK{QJәQÿӏQKĈӇNKҳFSKөFQKѭӧFÿLӇPQj\FK~QJWD ÿӅ[XҩWEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKLYӟLVDLVӕWURQJJLӟLKҥQ[iFÿӏQK 6ѫÿӗFӫDEӝÿLӅXNKLӇQÿѭӧFKLӇQ
57 WKӏWURQJ+uQK.6 Trong VѫÿӗÿLӅXNKLӇQQj\FK~QJWD WKD\WKӃÿLӅXNKLӇQ WLӃSFұQ trong (5EҵQJOXұWÿLӅXNKLӇQ ÿѭӧFWKӇKLӋQ bӣLSKѭѫQJWUuQK.43) ệsgn sgn u r E s g (5.43)
WURQJÿyE ệ là JLӟLKҥQѭӟFWtQKFӫDVDLVӕ[ҩS[Ӎ ÿѭӧF[iFÿӏQKEҵQJ
Hình 5.6 Bӝ ÿLӅu khiӇQWUѭӧt mӡ WKtFKQJKLÿLӅu khiӇn tӕFÿӝ ĈӏQKOê Hãy xem xét hӋWKӕQJÿѭӧFWUuQKEj\WURQJSKѭѫQJWUuQK (51ӃX
EӝÿLӅXNKLӇQWKtFKnghi là ÿѭӧFWKLӃWNӃWKHRSKѭѫQJWUuQK(5.21), (5.22) và (5.43) YӟLFiFOXұWWKtFKnghi (5.55) và (5.56)
WURQJÿyE ệ OjJLiWUӏJLӟLKҥQѭӟFWtQKFӫDVDLVӕ[ҩS[ӍȘ1 YjȘ2 OjGѭѫQJ NK{QJÿәL ,NKLÿyWtQKәQÿӏQKFӫDKӋWKӕQJÿѭӧFÿҧPEҧR
&KӭQJPLQK ĈӇEXӝFWUҥQJWKiLVWT và E GҫQWLӃQWӟL, WDYLӃWKjP/\DSXQRYGѭӟL GҥQJ
(5.57) ĈҥRKjP9WKHRWKӡLJLDQYjNӃWKӧSYӟLSKѭѫQJWUuQKWDÿѭӧF
V ss EE g g sg u EE g g sg gs gsu E E E g g sg gs gsE s g E E E g g sg gs EE g E s s E
7KHREәÿӅ%DUEDODW[56]FyWKӇNӃWOXұQUҵQJV(t) ĺkhi Wĺ'RÿyKӋWKӕQJ WLӋPFұQәQÿӏQK ĈӇWyPWҳWSKkQWtFKӣWUrQWKXұWWRiQÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL
&KӍÿӏQKÿӝOӧLF1 FKRPһWWUѭӧWWKHRSKѭѫQJWUuQK (5.5)
2 ;iFÿӏQK UWұSPӡ/LFKRELӃQQJ{QQJӳVYjFiFKjPSKө WKXӝFȝL
&KӑQKӋVӕȘ1 YjȘ2 trong SKѭѫQJWUuQK (5.55) và (5.56)
;k\GӵQJOXұWÿLӅXNKLӇQ (5.21), (5.22) và (5YӟLOXұWWKtFKnghi (5.55) và (5.56)
'RÿyEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKLÿѭӧFÿӅ[XҩWFyOӧLWKӃKѫQFiFEӝ ÿLӅX NKLӇQ WUѭӟF [44-49] ,WKLӃW NӃ ÿѫQ JLҧQ QKѭQJ ÿҧP EҧR WtQK әQ ÿӏQK Yj JLҧPWLӃQJӗQ7X\QKLrQ FiFÿһFWtQKSKLWX\ӃQFӫDÿҫXYjRKӋWKӕQJFKѭDÿѭӧFQJKLrQFӭX
ĈLӅXNKLӇQWUѭӧWPӡWKtFKQJKLYӟLYQJFKӃWÿҫXYjR
9QJFKӃWYӟLÿҫXYjRXWYjÿҫXUDZWÿѭӧFWKӇKLӋQWURQJKuQKYjÿѭӧFELӇXGLӉQEҵQJSKѭѫQJWUuQK.59)
Hình 5.7 Vùng chӃWÿҫXYjREѫPÿӝQJFѫWKӫy lӵc w 0 p p n p n n m u t b khi u t b t u t khi b u t b m u t b khi u t b t
(5.59) ĈһFÿLӇPFӫDYQJFKӃWOjNK{QJWKӇÿRÿѭӧFZWEQES!P > 0; bp, pn
YjPEӏJLӟLKҥQ KRһFEp א [pp,min, pp,max] , bnא[pn, min,pn,max],m א [mmin, mmax]
7ӯFiFÿLӇPWUrQWDFyWKӇYLӃWOҥLZWGѭӟLGҥQJVDX w t mu t G u t (5.60)
7URQJÿyPÿѭӧFJӑLOjÿӝGӕFFKXQJFӫDYQJFKӃWGXWFyWKӇÿѭӧFWtQK QKѭ sau: p n p p n n mb khi u t b u t mu t khi b u t b mb khi u t b
Vì m, pp và bn EӏJLӟLKҥQ QrQįXWFNJQJEӏJLӟLKҥQįXWȡWURQJÿy
D là JLӟLKҥQWUrQȡ - max(mmax pp,max, -nmax pn,min), pn,min PDQJJLiWUӏkP ÈSGөQJFKRKӋWKӕQJÿLӅXNKLӇQWKӭFҩSYQJFKӃWSKLWX\ӃQFyWKӇÿѭӧFFRL là YQJNKӣLÿӝQJ w t ) u t (5.62)
60 WURQJÿyXWOjÿҫXYjRYjZWOjÿҫXUD+ӋWKӕQJÿѭӧFÿLӅXNKLӇQ ÿѭӧFWUuQKEj\ trong (5FyWKӇ ÿѭӧFYLӃWOҥLQKѭVDX
U g OjJLӟLKҥQWUrQ'RÿyYQJFKӃWSKLWX\ӃQOj ÿѭӧFELӇXWKӏGѭӟLGҥQJWX\ӃQWtQKXWYjQKLӉXFyJLӟLKҥQÿӗQJQKҩW7rong KӋ WKӕQJ ÿLӅX NKLӇQ I J Yj P ÿѭӧF JLӟL KҥQ 1ӃX WҩW Fҧ FiF WKDP Vӕ FӫD KӋ WKӕQJ (5.63) ÿmELӃWPӝWEӝÿLӅXNKLӇQWUѭӧW OêWѭӣQJÿѭӧFWKLӃWNӃFKRKӋWKӕQJQKѭVDX
+ӋWKӕQJÿѭӧFFKӭQJPLQKYӅÿӝәQÿӏQK[50]7X\QKLrQQKѭÿmSKkQWtFK ӣ WUrQ KӋ WKӕQJ có PӝW SKҫQ NK{QJ [iF ÿӏQK QrQ Eӝ ÿLӅX NKLӇQ Oê WѭӣQJ NK{QJ ÿѭӧFWKӵFKLӋQ'RÿyEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL ÿѭӧFÿӅ[XҩWÿӇNLӇPVRiWWӕFÿӝFӫDKӋWKӕQJ&ҩXWU~FFӫDÿӅ[XҩW ÿӇÿLӅXNKLӇQWӕFÿӝFӫDKӋWKӕQJÿѭӧF tKӇKLӋQWURQJHình 5+Ӌ PӡFKR EӝÿLӅXNKLӇQYjPһWWUѭӧWÿѭӧFFҩXWҥRJLӕQJQKѭWURQJEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL WUX\ӅQWKӕQJWURQJSKҫQ 5.2.2
Hình 5.8 Bӝ ÿLӅu khiӇQWUѭӧt mӡ thích nghi vӟi vùng chӃWÿҫu vào ĈӏQKOê +m\[HP[pWKӋWKӕQJÿѭӧFWUuQKEj\WURQJSKѭѫQJWUuQK.63)
1ӃXEӝÿLӅXNKLӇQWKtFKnghi ÿѭӧFWKLӃWNӃGѭӟLGҥQJSKѭѫQJWUuQK (5WURQJÿy các thôQJVӕFӫDEӝÿLӅXNKLӇQQKѭVDX ệ fz , T u sT T [ (5.67) ệ r ệsgn sgn u E s g (5.68)
WURQJÿyE ệ OjJLiWUӏJLӟLKҥQѭӟFWtQKFӫDVDLVӕ[ҩS[ӍȘ1 YjȘ2 GѭѫQJ NK{QJÿәL NKLÿyWtQKәQÿӏQKFӫDKӋWKӕQJÿѭӧFÿҧPEҧR
&KӭQJPLQK ;iFÿӏQKKjP/\DSXQRYQKѭVDX
V ss EE m g m g sgm u EE m g g m sgm gms gmsu E E E g m g m sgm gms gsmE s g E E E g m g m sgm gms EE
7KHREәÿӅ%DUEDODW[56]FyWKӇNӃWOXұQUҵQJVWĺNKLWĺ'RÿyKӋWKӕQJ ÿѭӧF WLӋPFұQәQÿӏQK ĈӇWyPWҳWSKkQWtFKӣWUrQWKXұWWRiQFKREӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL
&KӍÿӏQKÿӝOӧLF1 FKRPһWWUѭӧWWURQJpKѭѫQJWUuQK (5.5)
2 ;iFÿLQK UWұSPӡ/LFKRELӃQQJ{QQJӳVYjFiFKjPSKө WKXӝFȝL
&KӑQKӋVӕKӑFȘ1 YjȘ2 trong pKѭѫQJWUuQK (5.69) và (5.70)
;k\GӵQJOXұWÿLӅXNKLӇQ (5.22), (5.67) và (5YӟLOXұWWKtFKnghi (5.69) và (5.70)
5.2.5 ĈLӅXNKLӇQWUѭӧWPӡWKtFKnghi YӟLÿӝEmRKzDÿҫXYjR ĈӝEmRKzDÿҫXYjRFӫDFѫFKӃÿLӅXNKLӇQWKӇWtFKULrQJOjGRFҩXWU~FFӫDPi\EѫPÿӝQJFѫ'RÿyJLӟLKҥQFӫDÿLӋQiSÿҫXYjRSKҧLÿѭӧFÿҧPEҧRÿӇWUiQK OjPKӓQJWKLӃWEӏ7tQKәQÿӏQKYjKLӋXVXҩWFӫDKӋWKӕQJEӏҧQKKѭӣQJEӣL ÿһFWtQKEmRKzDĈӝEmRKzDÿҫXYjRÿѭӧFKLӇQWKӏ trong Hình 5.9
Hình 5.9 Ĉӝ EmRKzDÿҫu vào cӫDFѫFKӃ ÿLӅu khiӇn ĈӝEmRKzDFӫDÿҫXYjRFyWKӇÿѭӧFELӇXWKӏQKѭVDX max min max max min min u khi u t u Sat u t u t khi u u t m u khi u t u t ° ® ° d ¯
.KLÿy6DWXW FyWKӇÿѭӧFELӇXWKӏEҵQJ
Sat u t *u t (5.74) Ӣÿk\* ÿѭӧF[iFÿӏQKEҵQJ: max max min max min min
HӋWKӕQJFyYQJFKӃWÿҫXYjR5.YӟLÿӝEmRKzDÿҫXYjRÿѭӧFELӇXGLӉQQKѭ sau:
+ӋWKӕQJFyWKӇÿѭӧFYLӃWOҥL
Rõ ràng * u t d 1, và * u t t 0'Rÿy gm * u t d g m * u t d g m hay
. gm* u t JLӟLKҥQYj gm * u t z 0
* d * d * d * d ă á â ạ 'R ÿy YQJ FKӃW và bão KzDSKLWX\ӃQÿѭӧFELӇXWKӏGѭӟLGҥQJ ÿҫXYjRWX\ӃQWtQKXWYjQKLӉXFy JLӟLKҥQÿӗQJQKҩW7URQJKӋWKӕQJÿѭӧFÿLӅXNKLӇQIJYjP ÿѭӧFJLӟLKҥQÿӇFy WKӇiSGөQJÿLӅXNKLӇQFKӃÿӝWUѭӧWPӡWKtFKnghi 1ӃXFiFWKDPVӕFӫDKӋWKӕQJ trong (5.77) biêt tUѭӟF, WKuEӝÿLӅXNKLӇQWUѭӧWOêWѭӣQJÿѭӧFWKLӃWNӃQKѭVDX
+ӋWKӕQJÿѭӧFFKӭQJPLQKYӅÿӝәQÿӏQK[50]7X\QKLrQQKѭÿmSKkQWtFK ӣWUrQKӋWKӕQJ PӝWSKҫQNK{QJ[iFÿӏQKQrQEӝÿLӅXNKLӇQOêWѭӣQJNK{QJKLӋQWKӵF'RÿyEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL ÿѭӧFÿӅ[XҩWÿӇÿLӅXNKLӇQWӕFÿӝFӫDWKLӃWEӏWKӭFҩS&ҩXWU~FFӫD EӝÿLӅXNKLӇQ ÿѭӧFÿӅ[XҩWÿӇÿLӅXNKLӇQWӕFÿӝFӫDWKLӃWEӏWKӭFҩSÿѭӧFWKӇ KLӋQWURQJ+uQK.10
Hình 5.10 Bӝ ÿLӅu khiӇQÿӅ xuҩt vӟi vùng chӃWYjYQJEmRKzDÿҫu vào ĈӏQKOê +m\[HP[pWKӋWKӕQJÿѭӧFWUuQKEj\WURQJSKѭѫQJWUuQK (5.76).Bӝ ÿLӅXNKLӇQWKtFKnghi là ÿѭӧFWKLӃWNӃGѭӟLGҥQJSKѭѫQJWUuQK (5WURQJÿyFiF thôQJVӕFӫDEӝÿLӅXNKLӇQQKѭVDX ệ fz , T u sT T [ (5.81) ệ r ệsgn sgn u E s g (5.82)
WURQJÿyE ệ OjJLiWUӏJLӟL KҥQѭӟFWtQKFӫDVDLVӕ[ҩS[ӍȘ1 YjȘ2 là KҵQJVӕ GѭѫQJ NKLÿyWtQKәQÿӏQKFӫDKӋWKӕQJÿѭӧFÿҧPEҧR
&KӭQJPLQK +jP/\DSXQRYÿѭӧFYLӃWGѭӟLGҥQJ
V ss EE m g m g sgm u EE mg g m sgm gms gmsu E E E gm g m sgm gms gsmE s g E E E gm g m sgm gms EE
7KHREәÿӅ%DUEDODW[50]FyWKӇNӃWOXұQUҵQJVWĺNKL Wĺ'RÿyKӋ WKӕQJÿѭӧF WLӋPFұQәQÿӏQK ĈӕLYӟLș
T (5.88) ĈӕLYӟLE ệ FK~QJW{LVӱGөQJ
&iF P{KuQKWRiQKӑFFӫDKӋWKӕQJÿѭӧFÿӅ[XҩWWURQJ&KѭѫQJ ÿѭӧFÿѭD vào P{SKӓQJYӟLEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKLÿӇÿiQKJLiKLӋXTXҧFӫDEӝ ÿLӅXNKLӇQ7URQJ mô pKӓQJFiF WKDPVӕFӫD P{KuQK GDQKQJKƭD FӫD KӋ WKӕQJ ÿLӅXNKLӇQÿѭӧFÿѭDUDQKѭ theo sau: 0{PHQTXiQWtQKFӫDEiQKÿjOjNJP 2 , KҵQJVӕWKӡLJLDQFӫD FѫFҩXÿLӅX NKLӇQGӏFKFKX\ӇQIJ JLk\ÿLӋQiS bp = -bn 67
0,5 VKӋVӕJyFFӫD YQJFKӃWÿҫXYjROj 2.2 0.5 1.7 m 1
%D ÿLӅX NLӋQ FҫQ NLӇP WUD Oj PӝW Oj Vӵ ELӃQ
WKLrQiSVXҩWFӫDKӋWKӕQJWURQJKӋÿLӅXNKLӇQWKӭFҩS± ÿLӅXNKLӇQEѫPÿӝQJFѫ, VӵELӃQWKLrQFӫDP{PHQTXiQWtQKFӫDEiQKÿjYjVӵELӃQÿәLFӫD KҵQJVӕWKӡLJLDQ FӫDFѫFҩXÿLӅXNKLӇQWKӇWtFKULrQJ
&KӍFy PӝWEӝÿLӅXNKLӇQÿѭӧFWKLӃWNӃFKRFҧ KDLFҩXKuQKFӫDKӋ WKӕQJ 7KDP Vӕ FӫD FiF KjP Pӡ FӫD Eӝ ÿLӅX NKLӇQ WUѭӧW Pӡ WKtFK QJKL ÿѭӧF WUuQK Ej\ WURQJEҧQJ.1 Trong WURQJÿyFiFWtQKLӋX PӡÿѭӧF VӱGөQJWURQJQJKLrQFӭXQj\ OjkPOӟQ1%âm WUXQJEuQK10kPQKӓ16NK{QJ=2GѭѫQJQKӓ36 GѭѫQJWUXQJEuQK30YjGѭѫQJ OӟQ3%7tQKLӋX[XҩW WӯFiFFҧPELӃQYjÿҫXUD ÿLӅXNKLӇQÿӃQEѫPÿӝQJFѫ302 ÿѭӧFFKLDWӹOӋWKjQK>-@/ӵDFKӑQFiFWKDP VӕFӫDKӋPӡYjWKXÿѭӧFN1Ș1 và Ș2 ÿӇÿҥWÿѭӧFSKҧQӭQJQKҩWWKӡLPRQJPXӕQ ÿѭӧFWKӵFKLӋQEҵQJFiFKWKӱYjOӵDFKӑQVDLVӕ7URQJQJKLrQFӭXQj\F1 = 3,75, Ș1 Ș2 = 0,1, pup = 180 bar và plow = 120bar *Li WUӏ EDQ ÿҫX FӫD
Bҧng 5.1 Các thông sӕ bӝ ÿLӅu khiӇQWUѭӧt mӡ thích nghi
NB NM NS ZO PS PM PB į -1 -0.7 0.3 0 0.3 0.7 1 ı 0.35 0.35 0.35 0.35 0.35 0.35 0.35
Hình 5FKRWKҩ\VѫÿӗFӫDEӝÿLӅXNKLӇQ YӟLYQJFKӃWÿҫXYjRYjYQJEmRKzDÿҫX YjRFKRFҩXKuQKKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQWKӭFҩS± ÿLӅXNKLӇQEѫPÿӝQJFѫ
Hình 5.11 Mô hình Simulink cӫa bӝ ÿLӅu khiӇQWUѭӧt mӡ thích nghi
.ӃWTXҧ P{SKӓQJÿѭӧF Wӯ+uQKÿӃQ +uQK.YӟLWӕFÿӝEiQKÿj ӣ YұQWӕFEҩWNu Hình 5.12 cho WKҩ\NӃWTXҧFӫDKӋWKӕQJWURQJÿLӅXNLӋQKRҥWÿӝQJ EuQKWKѭӡQJ Hình 5WKӇ KLӋQ NӃWTXҧ YӟLWҧLQJRjLOj 1PÿѭӧFÿһW YjR KӋ
WKӕQJӣJLk\WKӭTrong hình 5.14 ÿiS ӭQJFӫD KӋWKӕQJFyWKrPQKLӉXÿiSӭQJ FӫDKӋWKӕQJYүQÿҥW\rXFҫX
Hình 5.12 KӃt quҧ mô phӓng ӣ chӃ ÿӝ hoҥWÿӝQJEuQKWKѭӡng
Hình 5.13 KӃt quҧ mô phӓng tҧi ngoài 40 Nm ӣ giây thӭ 20
Hình 5.14 KӃt quҧ mô phӓng vӟi nhiӉu
.ӃWTXҧP{SKӓQJYӟLWӕFÿӝEiQKÿjWKD\ÿәLWKHRGҥQJKuQK VLQÿѭӧFWKӇKLӋQWURQJKuQK15 và hình 5.16
Hình 5.15 KӃt quҧ mô phӓng vӟi ÿLӅu kiӋQEuQKWKѭӡng
Hình 5.16 KӃt quҧ mô phӓng vӟi tҧi ngoài 40Nm ӣ giây thӭ 20
%ӝÿLӅXNKLӇQFNJQJÿѭӧFP{SKӓQJFKRKӋWUX\ӅQÿӝQJWKӫ\WƭQKÿLӅXNKLӇQ VѫFҩS Hình 5FKRWKҩ\NӃWTXҧP{SKӓQJӣÿLӅXNLӋQEuQKWKѭӡQJ
Hình 5.17 KӃt quҧ mô phӓng bӝ ÿLӅu khiӇQWUѭӧt mӡ cho hӋ ÿLӅu khiӇQVѫFҩp
Hình 5.18 KӃt quҧ mô phӓng bӝ ÿLӅu khiӇQWUѭӧt mӡ cho hӋ ÿLӅu khiӇQVѫFҩp vӟi tҧi ngoài 40Nm
.ӃWTXҧP{SKӓQJFKRWKҩ\ÿiSӭQJFӫDKӋWKӕQJYӟLEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL9uWKӃYLӋFÿLӅXNKLӇQWӕFÿӝFӫDKӋWKӕQJÿѭӧFÿӅ[XҩWWKuFK~QJW{LVӱGөQJEӝÿLӅXNKLӇQWUѭӧWPӡWKtFKQJKL
6.1 7KLӃWOұSWKLӃWEӏ WKӱQJKLӋP
7KLӃWEӏ WKӱQJKLӋPÿѭӧF[k\GӵQJÿӇ[iFPLQKFiFÿӅ[XҩW FNJQJQKѭNӃWTXҧ P{SKӓQJWURQJ FiFFKѭѫQJWUѭӟF6ѫÿӗYjҧQKFӫDWKLӃWEӏ WKӱQJKLӋPÿѭӧFWKӇ KLӋQ WURQJ +uQK 1a và Hình 5E 7K{QJ Vӕ FӫD FiF WKjQK SKҫQ WURQJ KӋ WKӕQJ ÿѭӧFKLӇQWKӏ WѭѫQJӭQJ trong EҧQJYjFK~QJGӵDWUrQNӃWTXҧP{SKӓQJWUong FKѭѫQJ.KӕLFXQJFҩSÿLӋQWURQJ VѫÿӗÿѭӧFVӱGөQJÿӇFXQJFҩSÿLӋQF{QJVXҩW cao FKRFiFWKLӃWEӏ ÿLӋQWURQJ FiFKӋWKӕQJQKѭÿӝQJFѫÿLӋQO\KӧSÿLӋQ7URQJKӋ WKӕQJPӝW Eӝ O\KӧSÿѭӧFVӱGөQJÿӇ JKpSKRһFWiFKÿӝQJFѫÿLӋQYӟLKӋWKӕQJ WKӫ\OӵF0ӝW EӝO\KӧSNKiFÿѭӧFVӱGөQJ ÿӇJKpSYjWiFKEѫPÿӝQJFѫ302 vào KRһFUDNKӓLKӋWKӕQJSKDQKWKӫ\OӵF 9LӋFVӱGөQJO\KӧSNK{QJҧQKKѭӣQJÿӃQ QJX\rQ WҳF FӫD KӋ WKӕQJ 9u WKӃ O\ KӧS NK{QJ ÿѭӧF KLӇQ WKӏ WURQJ Vѫ ÿӗ FӫD KӋ WKӕQJ
Trong WKLӃWWKӱQJKLӋPPi\EѫPÿӝQJFѫWKӫ\OӵF+39-ÿѭӧFVӱGөQJ
%ӝWtFKiSOjVҧQSKҭP FӫD+\XQGDL9DQÿLӅX KѭӟQJOjGzQJ$WRV53( YӟLWӕFÿӝ GzQJ FKҧ\ WӕL ÿD /30 &ҧP ELӃQ iS VXҩW Yj OѭX OѭӧQJ ÿѭӧF Vӱ GөQJdòng Webster LPT và LTE 0i\ÿRWӕFÿӝYjEӝFKX\ӇQÿәLP{-PHQ[RҳQOj sҧQSKҭP FӫD6(7HFK
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12 FiFERPҥFKELW$'Yj'$YjFӫDFiFVҧQSKҭP$GYDQWHFK+Ӌ WKӕQJÿLӅXNKLӇQ ÿѭӧFWKLӃWNӃWURQJ0DWODE6LPXOLQNWKӡLJLDQOҩ\PүXOjPV
Hình 6D6˯ÿ͛FͯDK WK͙QJWKL͇WE͓ WK͵QJKL P
Hình 6E̪QKFKͭSWKL͇WE͓ WK͵QJKL P
Hình 6.1 ThiӃt bӏ thӱ nghiӋm 6.2 .LӇPWUD FiFÿһFWtQKFѫEҧQFӫDKӋWKӕQJ
7KӱQJKLӋPÿѭӧFWLӃQKjQKQKѭVDX%iQKÿjÿѭӧFÿLӅXNKLӇQÿӃQYzQJ /SK~WWҥLÿy WKӡLJLDQEѫP31 ÿmWҳWYjWKӇWtFKULrQJ FӫD302 ÿѭӧFÿLӅXNKLӇQYӅ không .ӃWTXҧFӫDP{SKӓQJYj WKӱQJKLӋPÿѭӧFKLӇQWKӏWURQJ+uQK.2 NăQJ OѭӧQJFӫDEiQKÿjJLҧPÿiQJNӇWURQJWKӡLJLDQGjLKѫQ 10 giây
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