DAO NG

TU THY
TP H CH MINH 2009
I HC GIAO THNG VN TI TP H CH MINH
TRN CNG NGH
Trang trng


2
Trn Cng Ngh



















DAO NG
TU THY












I HC GIAO THNG VN TI TP H CH MINH


3



Trang trng










































4
Mc lc
Chng 1: C s dao ng k thut 7
1. Phng trnh dao ng 7
2. Dao ng t do khng cn 12
3. Xc nh khi lng tng ng, cng tg ng 14
4. Dao ng t do chu cn nht 18
5. Dao ng cng bc 20
6. Truyn ti 27
Chng 2: Dao ng h thng nhiu bc t do 29
1. Xy dng phng trnh chuyn ng 29
2. Phn tch dao ng t do 33
3. Xc nh tn s ring, dng dao ng 37
4. Dao ng cng bc 43
Chng 3: Dao ng dm 49
1. Dao ng dc 49
2. Dao ng xon trc trn 52
3. Dao ng ngang dm tr 54
4. Dao ng ngang v xon ng thi 58
5. Dao ng dm trn nn n hi 60
Chng 4: Phng php tnh 63
1. Phng php Rayleigh 63
2. Phng php Rayleigh-Ritz 65
3. S dng ta suy rng v phng trnh Lagrange xy dng phng trnh chuyn ng 68
4. Phng php Stodola 68
5. Th tc Dunkerley 71
6. Phng php sai phn hu hn 73
7. Phng php phn t hu hn 75
Chng 5: Dao ng tu 99
1. Cc mode dao ng tu 99
2. Phng trnh vi phn dao ng ng thn tu 100
3. Phng php gn ng xc nh tn s rung ng thn tu 103
4. S tnh tn s dao ng thn tu theo cch lm Rayleigh-Papkovitch 109
5. Xc nh tn s dao ng thn tu nh dm 20 khong sn l thuyt 117
6. Phng php ma trn chuyn 119
7. Phng php phn t hu hn 123
8. Dao ng xon thn tu 129
9. Cc cng thc kinh nghim xc nh tn s dao ng thn tu 132
10. Dao ng thng tng 137
11. Bin php gim chn ng v tiu chun tranh rung 140
Ti liu tham kho 150








5


M u

Cun sch DAO NG TU THY trnh by nhng ti lin quan dao ng k thut, dao
ng thn tu thy. Phn u trnh by nhng c s ton xy dng phng trnh chuyn ng cng cc
cch gii phng trnh. Dao ng t do khng cn v c cn, dao ng cng bc h mt bc t do,
m phng cc hin tng thng gp trong c hc kt cu c xem xt trong cng chng u.
Dao ng h nhiu bc t do trnh by ti chng tip theo cp nhng h thng c hc thng
gp v i phi x l trong thc t.
Dao ng dm xem xt trong sch nh dao ng h thng c bc t do v hn.
Dao ng thn tu trn nc xem xt trong sch nh dao ng dm trn nn n hi. Khi lng
tham gia chuyn ng gm khi lng bn thn kt cu tu cng khi nc km. Cc phng php
tnh trnh by trong sch nhm n ch nh khi lng tham gia chuyn ng v xc nh c trng
c bn dao ng thn tu: tn s ring cng dng dao ng theo cc mode khc nhau. Phn tch v
nh gi dao ng thn tu trong sch da vo cc phng php kinh in do nhiu nh nghin cu
dao ng thn tu ra trong khong gn trm nm nay, cng cc phng php tnh hu hiu ra i
cui th k XX.
Hy vng rng sch c ch cho nhng ngi c ang theo hc ngnh ng tu cng nh vi cc
ng nghip ang nghin cu, lm vic ti cc c s ng, sa tu.
Ngi vit

6
K hiu chnh
A Din tch ni chung (area generally)
a Bin ni chung (amplitude generally)
a Gia tc (acceleration generally)
B Chiu rng (breadth)
C H s ni chung (coefficient, generally)
C, c cng (rigidity, stiffness)
C H s cn (damping coefficient)
C tng ng cch vit [C] ma trn cn
D, d ng knh (diameter)
D cng tm (flexural rigidity of plate)
E M un n hi (Youngs modulus)
F Lc ni chung (force, generally)
f Thnh phn lc (component of force)
f Tn s tnh bng Hz (frequency)
f
n
Tn s ring, tnh bng Hz (natural frequency)
G Trng tm (center of gravity)
G M un ct (shear modulus)
g Gia tc trng trng (acceleration due to gravity)
h Chiu cao, chiu cao ct nc (height, head of water)
I Momen qun tnh ni chung (moment of inertia, generally)
J Momen qun tnh ni chung (moment of inertia, generally)
J
P
Momen qun tnh trong h c cc (polar moment of inertia)
K, k cng ni chung (stiffness, generally)
K , k tng ng vi [K], [k] ma trn cng
K, k H s (coefficient, factor)
K
T
, c cng chu xon (torsion stiffness)
L Chiu di (length)
l Chiu di (length, generally)
M Momen (moment)
M, m Khi lng (mass, generally)
M, m tng ng vi [M], [m] ma trn khi lng
P Cng sut ni chung (power, generally)
P Ti (load)
p Tn s ring, tng ng
n
(natural frequency)
p p sut (pressure)
Q, T Momen quay (torque)
Q Ti suy rng (generalized forces)
q Ta suy rng (generalized coordinate)
q(x) Phn b trng lng (distribution of weight)
R, r Bn knh (radius, generally)
R Sc cn (resistance)
S Din tch (surface)
t Thi gian (time)
t, h Chiu dy tm (plate thickness)
T ng nng (kinetic energy)
U, u Chuyn v (displacement)
U Th nng (potential energy)
V Th tch (volume)
V, v Vn tc (velocity)
W, w Trng lng ni chung (weight, generally)
W Cng (work)
w Chuyn v theo hng trc Oz (displacement, deflection)
x, y, z Chuyn v ni chung (displacemenets generally)
Gc ni chung (angle, generally)
H s ni chung (coefficient, generally)

st
Chuyn v tnh (static displacement, deflection)
7
Bin dng (strain)
ng sut ni chung (stress, generally)
H s ni chung
H s tn tht (loss factor)
H s Poisson (Poisson coefficient)
Gc pha (phase angle)
, Gc xon (torsion angle)
, Vector ring ( eigenvector )
Mt (density)
Trng lng ring (specific weight)
, T Chu k (period)
Tn s gc (circular frequency, generally)

n
Tn s ring (natural frequency, generally)

d
Tn s ring c cn (damping frequency, generally)
Tn s gc (circular frequency)
T l cn (damping ratio)














8
Chng 1


C S DAO NG K THUT


1. PHNG TRNH DAO NG
Xy dng phng trnh chuyn ng khi lng m trong khng gian thc trn c s cc phng
php c hc c in. Trong chng ny s cp cc phng php xy dng bi ton ng lc hc
da trn nguyn l Hamilton v phng trnh Lagrange. Cch lm tng t l s dng nguyn l
dAlembert v nguyn l bo ton nng lng ton phn xy dng phng trnh chuyn ng c h.
1.1 p dng nguyn l dAlembert xy dng phng trnh chuyn ng
T nh lut th hai ca Newton
2
2
) (
dt
x d
m t P = c th vit:
0 ) ( ) ( = + t P t x m& & (1.1)
trong m khi lng h thng, P(t) - ti p t ln h thng, v ) (t x& & - gia tc chuyn ng.
Thnh phn - ) (t x m& & ca cng thc (1.1) l lc qun tnh. Ti P(t), trng hp chung c th thuc
cc dng nh lc n hi, lc cn, ngoi lc.
V d 1: Xt dao ng thng ng trng vt W treo bng l xo khng trng lng, cng k.
K hiu x chuyn v trng vt t v tr cn bng, theo chiu dng qui c khi hng xung, lc
gy chuyn ng gm W v lc n hi kx:
F = W + k.x (1.2)
Lc tc ng ln khi lng m = W/g trnh by ti hnh 1.1 gm W v F. T nguyn l dAlembert
c th vit:
) ( kx W W F W x m + = = & & (1.3)
hoc sau rt gn v chuyn v:
0 = + kx x m & & (1.4)
y l phng trnh chuyn ng h 1 bc t do.
Chia cc thnh phn ca (1.4) cho m v vit li biu thc (1.4):
0
2
= + x x
n
& &
trong : m k
n
/
2
= ; k cng
i lng m k
n
/ = c tn gi tn s gc, n v o 1/s (1.5)
Li gii phng trnh (1.4) tm theo cch sau:
x = C
1
cos
n
t + C
2
sin
n
t.
trong C
1
v C
2
l cc hng bt k, s xc nh theo iu kin ban u ca chuyn ng.
Chu k dao ng:
k
m
n

2
2
= = , n v o: s (1. 6)

Hnh 1.1
9
Tn s dao ng ring f
n
:

2
1
n
n
f = = n v o: Hz (1.7)
Nu k hiu
st
chuyn v tnh ca trng vt W, tnh theo biu thc
st
= W/k c th xc nh
cc i lng ang nu theo cch din t sau:

st
n
g
W
kg

= =
2

v
g
st
n

2
2
= = ;
st
g
f
2
1 1
= =
1.2 Phng trnh Lagrange
Vi k hiu T ng nng, U th nng h thng, L = T U, hm Lagrange c dng:
n i Q
q
L
q
L
dt
d
i
i i
,..., 2 , 1 = =

& &
(1.8)
trong n bc t do ca h thng, Q
i
ti suy rng tng ng vi ta suy rng q
i
.
tm Q
i
s dng biu thc tnh cng o:

=
i i
q Q W (1.9)
p dng hm Lagrange xy dng phng trnh chuyn ng theo cch lm ti v d sau.
V d 2: Xy dng phng trnh chuyn ng h mt bc t do nu ti hnh 1.2.
Ta suy rng hy l q. ng nng ca dm tnh theo cng thc:
T = J
2
& (1.10)
trong J moment qun tnh dm so vi im lm tm quay.
Th nng dm tnh nh tch ca trng lng vi cao tng
i m trng tm t c ti thi im tnh:
U = W.R(1 - cos) = m.g. R(1 - cos), vi m = W/g.

sin ; 0
; ;
mgR
U T
J
T
dt
d
J
T
& &
&
&
&
(1.11)
Thay cc biu thc (1.8) vo phng trnh Lagrange, vi P(t) = 0,
theo iu kin t ra ban u, phng trnh chuyn ng c dng:
0 sin = + mgR J & & (1.12)
1.3 p dng nguyn l bo tan nng lng tan phn
Nguyn l bo ton nng lng th hin bng biu thc:
T + U = const
trong T ng nng, U th nng h thng.
Phng trnh ng nng:
Bit rng F = m(dv/dt) cn ng nng T =

Fdx :

Hnh 1.2
10

2
v
2
1
v
v

= = = m d
dt
dx
m dx
dt
d
m T
Phng trnh th nng trong trng lc ht tri t:
U = mgh
V d 3a: Phng trnh dao ng khi lng m, gi bng l xo cng k:
Lc ko (nn) l xo: F = kx, trong k cng l xo.
Th nng tch t ti l xo trng hp b ko (nn):
( )

= = =
2
2
1
kx dx kx Fdx U
const kx x m U T = + = +
2 2
2
1
2
1
&
Tin hnh ly o hm theo t c hai thnh phn, nhn c phng trnh:
0 = + x kx x x m & & & & hay l ( ) 0 = + x kx x m & & &
Vi 0 x& trong phm vi xem xt c th vit:
0 = + kx x m & &
V d 3b: Xy dng phng trnh chuyn ng cho bnh kiu Frahm gii thiu ti hnh 1.3 trong h ta
xOy.

Hnh 1.3 Thng Frahm
ng nng h thng:
( )
2
2
1
y lA T & = (1.13)
Th nng:
( ) ( ) ( ) ( ) y h
g
y h A y h
g
y h A U + + + =
2 2
(1.14)
( ) ( ) const y h
g
A y h
g
A y Al U T = + + + = +
2 2
2
2 2 2
1
& (1.15)
Tin hnh o hm theo t:
( ) ( ) 0 = + + y y h g y y h g y y l & & & & & (1.16)
T :
0 ) ( ) ( = + + y h g y h gh y& & (1.17)
0
2
= + y
l
g
y& & (1.18)

Hnh 1.4 M hnh nh mt tng

Hnh 1.5
11
V d 4: Xt dao ng ngang khung, l m hnh nh mt tng trnh by ti hnh 1.4. M hnh p dng
cho cng trnh xy dng gin n, thng gp.
const kx x m = +
2 2
2
1
2
1
&
trong m khi lng tp trung ti hai u dm ngang, k cng un ngang ca thanh chng.
o hm biu thc ny theo t, p 0 cho kt qu o hm s nhn c phng trnh:
0 = + x
m
k
x& &
V d5 : Xc nh tn s v chu k dao ng kt cu nu ti hnh 1.1
k
mg
k
W
st
= = , t :
st
n
g
m
k

= =
2
v
g kg
W
st

2 2 = =
V d 6: Xc nh tn s v chu k dao ng khung khng trng lng, hnh ch , mang ti W ti v
tr gia dm ngang, hnh 1.6.
tnh chuyn v khung cn thit p ti tnh H, tc ng ngang ti nt pha phi khung. Gc xoay
khung tnh t cc php tnh tnh hc:

1
12EJ
Hhl
=
Chuyn v tnh nh sau:

+ = + =
1
3
1
2 3
2
1
1
6 12 6 J
J
h
l
EJ
Hh
EJ
l Hh
EJ
Hh

cng:

+
= =
1
3
2
1
1
6
J
J
h
l
h
EJ H
k

Chu k v tn s dao ng:

gEJ
J
J
h
l
Wh
6
2
1
1
2
1
3

+
= ;

+
=
1
3
2
1
1
6
2
1
J
J
h
l
Wh
gEJ
f

Dao ng xon, hnh 1.7
0 = + c J & & (1.20)
trong , vi trc trn gn a ng knh D,
8
2
mD
J = , m khi lng a. (1.21)
L
G d
c
32
4

= - cng h thng (1.22)

Hnh 1.7 Xon trc

Hnh 1.6
12

G d
L mD
c
J
4
2
4
2 2

= =

L mD
G d
f
2
4
4 2
1

= (1.23)
th dao ng iu ha
Dao ng iu ha trnh by trong th chuyn v - thi gian, cn gi l p ng, hoc trong
th pha. p ng v pha ca c cu c kh (ci ch) ti hnh 1.8 i din dao ng h mt bc t do v
nh sau y.













Tay n OP quay quanh O, u P trt trong rnh nm ngang, hnh 1.8a. Tay n ca ch c chiu
di mang gi tr bng bin dao ng, l vn tc gc. Phng trnh chuyn ng khi lng m b
u S c cu y ln xung miu t bng quan h:
t A A x sin sin = =
Vn tc v gia tc chuyn ng xc nh t phng trnh cui:

x t A t x
t A t x
2 2
sin ) (
; cos ) (


= =
=
& &
&

Dao ng iu ha cn trnh by nh chuyn ng xoay vector OP quanh O vi vn tc gc .
Hnh 1.8b trnh by din tin OP X = theo trc ng v trc nm:
t A x t A y cos sin = =
Bn thn vector X trnh by dng:

i
Ae ib a X = + =
Chuyn v: [ ] t A Ae
t i

cos Re =
Vn tc: [ ] t A Ae i
t i


sin Re =
Gia tc: [ ] t A Ae
t i


cos Re
2 2
=
Hm thi gian ca 3 i lng x x x & & &, , trnh by ti hnh 1.10. rng pha gia chng /2.
Phng trnh vn tc chuyn ng v / = = dt dx x& c th trnh by trong th x v, hnh 1.11a.

Hnh 1.8a

Hnh 1.8b

Hnh 1.10 Chuyn v, vn tc v gia tc

Hnh 1.9
13
T phng trnh ca x v v c th thnh lp phng trnh ellipse:

( )
1
v
2
2
2
2
= +
A A
x

Trng hp = 1 ellipse ny tr thnh hnh trn.

2. DAO NG T DO KHNG CN
Phng trnh chuyn ng:
0 = + kx x m & & (1.24)
Nghim phng trnh tm dng:
x = C
1
cos
n
t + C
2
sin
n
t. (1.25)
Gi s ti t = 0 khi lng m chim v tr x
0
, vn tc
0 0
v x& = :
x
0
= C
1
;
2
0
C
x
n
=

&
. (1.26)
T : t
x
t x x
n
n
n

sin cos
0
0
&
+ = (1.27)
hay l : ) sin( + = t A x
n
(1.28)
Bin v pha:
0
0
2
0 2
0
;
x
x
tg
x
x A
n
n
&
&

+ = (1.29)
Vn tc chuyn ng:
) cos( v + = = t A x
n n
& ; cn A
n
=
max
v (1.30)
Gia tc chuyn ng a:
) sin( a
2
+ = = t A x
n n
& & ; v A
n
2
max
a = (1.31)
Lc qun tnh ln nht:
k A
m
k
A m A m x m
n
. . . . .
2
max
= = = & & (1.32)
Thay i gi tr th nng v ng nng trong mi chu k dao ng:
( ) + = = t mA x m T
2 2 2 2
cos
2
1
2
1
&
( ) + = = t kA kx U
2 2 2
sin
2
1
2
1

C th tnh:

2
2
1
kA T U = + =
max max
U T =
Cc quan h ny trnh by ti hnh 1.9a.

Hnh 1.9

Hnh 1.9a Th nng v ng nng

Hnh 1.11a

Hnh 1.11b
14
Hnh 1.10 trnh by quan h gia cc bin chuyn v, vn tc v gia tc nh l hm tn s.
Trng hp bit trc hai gi tr ang cp, hai i lng cn li xc nh t th ti hnh . V
d dao ng iu ha vi bin dao ng 0,0001m v tn s 50 Hz tng ng im A ti th
c bit, bin vn tc c t th s l 0,032 m/s cn bin gia tc khong 1,02 g, tc l 9,9
m/s
2
.
V d 7: S dng thit b o dao ng tu thy trnh by ti London nm 1893, hnh 1.11, xc nh
tn s dao ng ng trng vt W cng dm BD c momen qun tnh I so vi B.
Phng trnh tng nng lng:
const
ka I
= +
2 2
2 2 2
&

Tn s dao ng ring:

I
ka
n
2
=
Nu b qua khi lng dm BD, momen qun tnh I khi lng W/g s l
2
) / ( l g W I = , tn s
dao ng tnh theo cng thc:

st
n
l
ag
Wl
g ka

= =
2
2


Hnh 1.10
V d 8: Kho st dao ng t do khi lng m = 500kg, gn u dm cng xn t thp di L = 2m,
momen qun tnh mt ct dm I = 4000cm
4
. Vn tc ban u ca chuyn ng ngang v
0
= 1,5/s, khi
khi lng ang chim v tr thng x
0
= 15 mm, cch tm.
cng tnh bng k = 3EI/L
3
. Tn s gc: m k
n
/ = =76,6/s.

Hnh 1.11
15
Chu k s
n
0819 , 0
2
= =

. Tn s ) ( 2 , 12
1
cps f = =

- hoc Hz
Bin dao ng: ; 46 , 2
6 , 76
150
5 , 1
2
2
2
2
0 2
0
cm
x
x A
n
= + =

+ =

&

Pha: 65 , 0 5 , 37 ; 766 , 0
150
6 , 76 5 , 1
0
0
= =

= =
o
&

x
x
tg
n

Hm chuyn v: ) 65 , 0 6 , 76 sin( 46 , 2 sin cos
0
0
= + = t t
x
t x x
n
n
n

&

Vn tc chuyn ng: A
n
=
max
v =188m/s
Gia tc chuyn ng a: A
n
2
max
a = = 14400m/s
2

Lc qun tnh ln nht: k A
m
k
A m A m x m
n
. . . . .
2
max
= = = & & = 7320 kG (66,51kN).
3. XC NH KHI LNG TNG NG, CNG TNG NG
3.1 cng tng ng hay qui i k ca h thng
1
1
=

=
P
k

hoc
1 =
=

P k (1.33)
Th nng
2
2
1
2
.

k
P
U = = . T cng thc ny c th tnh:
2
2

U
k = v
1
2
=
=

U k (1.34)
Cc thnh phn ni lin tip: H thng gm n thnh phn cng k
1
, k
2
,..., k
n
ni lin tip:
n E
k k k k
1
...
1 1 1
2 1
+ + + = hoc l:

=
=
n
i i
E
k
k
1
1
1
(1.35)
Cc thnh phn ni song song:
k
E
= k
1
+ k
2
+... + k
n
(1.36)
V d 9: Xc nh cng dm ta trn 2 gi cng ti hai u dm, mang khi lng m = W/g ti v
tr c cch gi pha tri, hnh 1.12. B qua khi lng dm lc tnh.
vng tnh dm di tc ng ti W = mg, tnh theo cng thc t sc bn vt liu:

( )
lEI
c l Wc
st
3
2 2

=
trong EI cng chu un dm, tnh theo chiu ng, l chiu di dm.
B qua khi lng bn thn dm, cng k tnh theo cng thc:

( )
2 2
3
c l c
lEI
k

=
Tn s dao ng ring:

( ) m
lEI
c l c
g
f
st
3
2
1
2
1

= =







Hnh 1.12

Hnh 1.13 cng tng ng
16
V d 10: Xc nh cng tng ng ca h v tn s dao ng ca cng h gm dm cng xn
tit din bxh = 5x1 (cm), t ngang, u t do gn l xo, cn khi lng m= 1 kg mc ti u di
l xo tr, hnh 1.13. Chiu di dm L = 0,5m. Vt liu v cu hnh l xo: D = 10cm, d=0,5cm, s vng
n=10; E = 2.10
5
MPa; G = 8.10
4
MPa. B qua trng lng dm, l xo khi tnh.
cng dm m N
L
EI
k / 10 . 2
3
4
3
1
= = vi I =
12
5
12
.
3
=
h b
, l xo: k
2
=
n D
Gd
3
4
8
= 625 N/m.
T )
1 1
(
2 1
k k
mg + , xc nh:

2 1
2 1
2 1
/ 1 / 1
1
k k
k k
k k
k
eq
+
=
+
=
Tn s dao ng h thng:
1
62 , 24

= = s
m
k
eq
n

3.2 Tnh khi lng tng ng
Hy k hiu w(x,y,z) hm chuyn v, xc nh theo dng dao ng cc im vt cht vt th,
m(x,y,z) hm phn b khi lng. Nu k hiu tip u
1
= u
0
sint phng trnh chuyn ng im
vt cht ang l tiu im xem xt, chng ta s tnh k
eq
v m
eq
trng hp hm w = 1. Hm chuyn
ng ca vt n hi chng ta ang xt mang dng: u = u
1
w = u
0
wsint. T phng trnh ng nng
c th thy:

=
2 2 2 2
0
2
cos
2
1
2
1
mw t u u m &
T c th vit:
2 2
1
2
1
2
1
u m u m
eq
& &

= (1.37)
hay l

=
2 2 2 2
0
2 2 2
0
cos
2
1
cos
2
1
mw t u t u m
eq
(1.38)
Cng thc tnh khi lng tng ng:

2
mw m
eq
= (1.39)
V d11: Cho trc dm di L, khi lng m, ta trn gi ti hai u dm. Trn dm gn n khi lng
m
i
, i = 1, 2, , n, cch gi tri khong cch x
i
, i = 1, 2, , n. Gi s rng dng dao ng dm w =
L
x
a

sin . Xc nh khi lng tng ng h thng ti im gia dm.
Vn tc chuyn ng trong trng hp ny hy l V =
L
x
V

sin
0
, trong V
0
vn tc im vt
cht gia dm. ng nng h thng tnh bng biu thc:
2
sin
2 2 2 2
2
0 2
2
0
2 2
V
m
L
x
m
m V V m
dx
L
m V
T
eq
i
i
i i
=

+ = + =

+ =

L
x
m
m
m
i
i eq

2
sin
2

V d 12: Xc nh khi lng qui i v cng qui i tm hnh ch nht lm t vt liu ng
hng.
Bi ton tnh lin quan un tm di tc ng lc php tuyn phn b u q(x,y) th hin qua
biu thc: ) , (
2 2
y x q w D = , trong D - cng tm, vi t chiu dy tm, E m un n hi

Hnh 1.14
17
ca vt liu, - h s Poisson. Thay ti q(x,y) bng lc qun tnh khi tm dao ng phng trnh
chuyn ng c dng:
( )
0
1 12
2
2
2
2
2
4
4
2 2
4
4
4
=

t
w
Et x
w
y x
w
x
w

hay l
( )
2
2
2 4 4 2 2
1 12
; 0
Et
w w



= =
Hm th nng: U = ( ) dxdy
y
w
x
w
y x
w
w
D

+
2
2
2
2
2
2
2
2
) 1 ( 2
2

Bi ton trn c gii trn c s tha mn cc iu kin bin. Di y trnh by cch xc nh
k
eq
hay cn k hiu cch khc D
eq
v m
eq
cho tm ta t do. Hm hnh dng ca dao
ng:
b
y
a
x
y x w

sin sin ) , ( = , im tnh ton chn ti gia tm x = a/2; y = b/2.
Khi lng tng ng v cng tng ng:
ab m dxdy w m m
a b
eq 0
0 0
2
0
4
1
= =

v
2
2 2
1 1
4
2

+ = =
b a
Dab U k
eq


BNG TNH CNG V TN S DAO NG KT CU THNG GP
Bng 1.1 Tn s ring cc kt cu thng gp
Kt cu Tn s ring
n
Kt cu Tn s ring
n

S
m m
k
3
1
+


S
S
J J
K
3
1
+


m
k

J
K
S
J
S = 0

( )
2 1
2 1
m m
m m k +


( )
2 1
2 1
J J
J J K
S
+



2 / 1
2
2
1
1
2
1
2
2
2
1
1
1
2
2
2
1
1
4
1
1
2
1

+ +

+ +
m
k
m
k
m
m
m
k
m
k
m
m
m
k
m
k


Tng t cng
thc ct 2 cng
dng

3
192
mL
EI



( )
3
375 , 0
192
L m m
EI
b
+

( )
( )
2
2
1 2 1
2
2
1 2 1
K n K J J
J n J K K
+
+
; n t s truyn
18

3
48
mL
EI





( )
3
5 , 0
48
L m m
EI
b
+

( )

+ +
3 2 1
3 2 1
2 1 2
4
2
1
J J J
J J J
K K
C C
vi
2
2 1
3
2
1
1
J
K K
J
K
J
K
C
+
+ + =

( )
3
23 , 0
3
L m m
EI
b
+


L
g

KHI LNG QUI I (TNG NG) CC THNH PHN KT CU THNG GP
Bng 1.3
Kt cu Khi lng qui i Kt cu Khi lng qui i

2
2
1
ma J
P
=



b eq
m m 375 , 0 =

2
12
1
L m J
b eq
=


b eq
m m 49 , 0 =

2
, ,
mL J J
G P A eq
+ =


b eq
m m 24 , 0 =


= =

=
i a
n
j
ij
n
i
i
eq
J J
1 1 1

Qua trc 1



1
49 , 0 M m m
b eq
+ =

2
,
ma J J
G P eq
+ =
(qua trc bnh rng)
2
,
/ a J m m
G P eq
+ =
thanh rng



1
24 , 0 M m m
b eq
+ =

S eq
m M m
3
1
1
+ =

3
2
1
3
2
2
1
2
1
m
L
L
m
L
L
m m
eq

+ =
19

4
2
mr
J
eq
=



3
J
J
eq
=

Tm chuyn ng trong
cht lng
3
m
m
eq
=
m - khi lng cht
lng

Piston chuyn ng trong
cht lng
3
m
m
eq
=
m - khi lng cht
lng

4. DAO NG T DO CHU LC CN NHT
T phng trnh 0 = + + kx x c x m & & & c th vit:
0 2
2
= + + x x x
n n
& & & (1.70)
trong c h s cn nht, v h s cn
mk
c
m
c
n
2
2
= =

.
Tn s dao ng c cn:
2
1 =
n d
(1.71)
Chu k dao ng:
2
1
1 2 2

= =
n d
(1.72)
Nghim dng hm iu ha x(t) =exp(st): 0 2
2 2
= + +
n n
s s
( )
n
s 1
2
2 , 1
=
) exp( ) exp( ) (
2 2 1 1
t s A t s A t x + = (1.73)
( ) [ ] ( ) [ ]
( ) ( ) ( ) ) exp( 1 exp 1 exp
1 exp 1 exp ) (
2
2
2
1
2
2
2
1
t t A t A
t A t A t x
n n n
n n


+ =
+ + + =
(1.74)
iu kin ban u: ti t = 0: x(0) = x
0
, vn tc
0
x& :
x
0
= A
1
;
2
0 0
A
x x
d
n
=
+

&
. (1.75)

+
+ =

t
x x
t x e x
d
d
n
d
t
n

sin cos
0 0
0
&
,
2
1 =
n d
(1.76)
Chu k theo
d
:
2
1
1 2 2

= =
n d
(1.77)
Trng hp 1: > 1 cn qu ln (chu cn mnh). Chuyn ng khng chu k, bin gim theo
hm exponent, ty thuc hai hng s A
1
v A
2
xc nh t iu kin ban u v iu kin bin.
Vi x
0
= x(0) = A
1
+ A
2
= 0 hay l A
2
= -A
1,
li gii x(t) mang dng:
( ) t t
x
t x
n n
n


1 sinh exp
1
) (
2
2
0

=
&
(1.78)
Trng hp 2: = 1 cn gii hn: ( ) t t x t x
n
= exp ) (
0
&


Hnh 1.15
20

Hnh 1.16
Trng hp 3:
2
< 1 chu cn yu
Tn s dao ng t do c cn:
2
1 =
n d
(1.79)
( ) ( ) ( ) ) exp( 1 exp 1 exp ) (
2
2
2
1
t t i A t i A t x
n n n
+ = (1.80)
( ) = t t A t x
n 1
cos ) exp( ) ( (1.81)
( ) ( ) t t x t x
d n d
sin exp ) / ( ) (
0
= & (1.82)

Hnh 1.17
Nu k hiu x
1
v x
2
chuyn v vt th tng ng ti thi im t
1
, t
2
ca mt vng lp chuyn ng,
t hnh 1.11 c th thy quan h sau:
( ) ( )
( ) ( )



=
2 2
1 1
2
1
cos exp
cos exp
t t A
t t A
x
x
d n
d n
(1.83)
Sau thay th t
2
= t
1
+ , vi = 2/
1
c th vit biu thc cui dng:
( )
( ) ( )

n
e
t
t
x
x
n
n
=
+

=
1
1
2
1
exp
exp
(1.84)
Trong k thut thng s dng biu thc sau ch gim theo bc logarit ca bin :
2
2
1
1
2
ln

= = =
n
x
x
(1.85)





Hnh 1.19
Hnh 1.18
21



V d14 : X l kt qu th nghim dao ng nh mt tng sau, hnh 1.19.
Lc kch ban u P = 9kG [88N]. X dch do ko x
0
= 0,51cm. Sau ln dao ng th nht, x dch
t 0,406cm. Chu k dao ng 1,4 s . Gia tc trng tri t nhn bng 9,81 m/s
2
.
T 4 , 1 / ) / ( 2 = = k g W s suy ra W = (1,4/)
2
.(88/0,0051).9,81 = 856.4 N
Tn s: Hz f 714 , 0 4 , 1 / 1 = = ; tn s gc = 2f = 4,48 rad/s
Cn: 223 , 0
406 , 0
51 , 0
ln = = ; t l cn: % 55 , 3 ) 2 /( = =
H s cn: c = 2m = 282,9 kg.s/cm
Tn s c cn: = = 999 , 0 1
2
d

Bin dao ng sau 6 ln dao ng: ( ) cm A A A A 133 , 0 /
0
6
0 1 6
= =
5. DAO NG CNG BC
Phng trnh dao ng khng lc cn: ) (t F kx x m = + & & (1.86)
5.1 Dao ng iu ha
t F t F kx x m sin ) (
0
= = + & & (1.87)
hoc: ; sin
2
t q x x
n
= + & & (1.87a)
trong :
m
k
m
F
q
n
= =
2
0
; (1.88)
Nghim ring phng trnh dao ng tm di dng hm iu ha:
( )
t
k
F
x
n

sin
/ 1
1
2
0

= (1.89)
Nu iu kin ban u l x = 0 v dx/dt = 0 ti t = 0, khi t > 0 x c dng:
( )

= t t
k
F
x
n
n
n

sin sin
/ 1
1
2
0
(1.90)
C th thy rng, F
0
/k l chuyn v khi lng m di tc ng ti tnh maximum F
0
, cn t l
trong ngoc 1/(1 -
2
/
n
2
) l nh hng tc ng ng ca ti y. Gi tr tuyt i ca t l ny c
tn gi h s ng lc hc, gi tt h s ng.

Hnh 1.20 H s ng
22
th h s ng trong quan h vi t l tn s /
n
trnh by ti hnh 1.20. Ti hnh thy r
rng, vi nh hn tn s ring h s ny gn nh bng 1. Khi tn s lc cng bc tin dn n
tn s ring, bin dao ng tng rt nhanh, v tr thnh v hn nu =
n
. y l iu kin cng
hng.
V d 15: Kho st chuyn ng trng vt W t trn bnh xe ni vi trng vt qua l xo. Bnh xe di
chuyn trn ng gn sng, y = asin(x/l) vi vn tc v = 18 m/s, hnh 1.21. Bit rng a = 2,5 cm, l
= 90 cm. Chuyn v tnh l xo di tc ng W tnh bng
st
= 9,8 cm.
Tn s ring
n
= g/
st
= 100 rad/s. Tm O chuyn ng ln xung theo gn sng ca
ng. Gi s ti thi im t = 0, tm O nm ti trc ng h ta , phng trnh di ng s l:

l
x
a y

sin =
Da vo cng thc
( )
t a x
n

sin
/ 1
1
2

=
kho st dao ng trng vt W, trong gi tr ca a,
n
,
bit, = v/l = 20. Bin dao ng tnh t y x
0

= 0,066 cm. Thay i vn tc v lm thay i tn s tc
ng. Gi s gim v bn ln, = 5, bin dao ng
tr thnh 1,72 cm.

5.2 Dao ng cng bc c cn nht
) (t F kx x c x m = + + & & & (1.91)
Vi lc cng bc dng t F t F sin ) (
0
= c th vit:
; sin 2
2
t q x x x
n n
= + + & & & m F q /
0
=
Li gii tm dng:
) sin(
0
= t x x (1.92)
trong
( ) ( )
2
2
2
0
0
c m k
F
x
+
= ;
2

m k
c
tg

=
Quan h
2
2 2
2
2
2 0
0
4
1
1
/
) (
n n
k F
x
H

= = (1.93)
c dng trnh by ti hnh 1.22
S dng s phc gii quyt cng mt vn , lc cng bc th hin dng:

t i
e F t F

0
) ( = (1.94)
Li gii tm nh sau:

t i
e x x

0
= (1.95)
Hm H() xc nh dng: ( ) [ ]
n n
i i H / 2 / 1 / 1 ) (
2
+ = , t :
2
2
2
2
2
2 1
1
) (

=
n
n
i H

(1.96)

Hnh 1.22a H s ng lc
hc h thng mt bc t do

Hnh 1.21
23
Quan h gia chuyn v x v chuyn v tnh k F
st
/
0
= th hin nh sau:
( )
( )

=
+

= t R
t
k F
x
d
n n
sin
4
1
sin
/
2
2 2
2
2
2
0
(1.97)
T y ) sin(
4
1
2
2 2
2
2
2

= t x
n n
st
vi
2 2
2

=
n
tg (1.98)

Hnh 1.22b H s ng lc hc trong quan h vi tn s (/
n
) , h s cn
Phn bit 3 trng hp sau:

n st
t x << = ; sin

n
n
st
t
c
P
t x

= =

+ = ; cos
2
sin
2
0


n
n st
t
m
P
t x

>> =

+ = ; sin
2
sin
2
0
2
2

th R
d
= A
m
=
2
2 2
2
2
2
4
1
1
n n

trong quan h vi tn s /
n
trnh by ti hnh 1.22b
V d : Xc nh dao ng khung cng tuyt i ti hnh 1.23, chu tc ng lc cng bc iu
ha, Fsint. iu kin ban u: x
0
= 0; v
0
= 0 ti t = 0. V th dao ng cho 2 trng hp = 0,1
cn /
n
= 0,5 v /
n
= 1,0.
Nghim xc nh theo cng thc:
( ) ( )

+ + =

t H t B t A e x
d d
t
cos sin cos
iu kin ban u cho php tnh:
( ) sin cos / ; cos + = =
n d
H B C A


24








( )
( )
( )

+ =

0
2
cos
1
/
cos

t
e
t H x
d
t
n


( )
2
2 2
0
1 2
1 / 2

+
=
n
tg
th dao ng trnh by ti hnh 1.24.
Cng thc (1.97) c th vit li di dng:
( )
( ) ( )
t B t A
t t
k P
x
n n
n n



cos sin
/ 2 / 1
cos ) / ( 2 sin / 1
/
2
2
2 2
2 2
0
+ =
+

= (1.99)
Vn tc v gia tc chuyn ng:
Vn tc: ( ) ( )

= = t R t R
km P
x
V d
n
cos cos
/
0
&
(1.101)
Gia tc: ( ) ( )

= t R t R
m P
x
A d
n
sin sin
/
2
0
& &
(1.102)
5.3 Dao ng vi cn ma st kh (cn Coulomb)
Lc F
a
lun cn tr chuyn ng.
a
F kx x m = + & & (1.103)
Li gii phng trnh dao ng tm dng:
k F t B t A x
a n n
/ cos sin + + = (1.104)
trong m k
n
/ =

Vi iu kin ban u: x = x
0
ti t = 0, v 0 = x& ti t = 0, c th xc nh:
k
F
t
k
F
x x
a
n
a
+

= cos
0
(1.105)
v
k
F
x x
a
t
n
2
0 ) / (
+ =
=
(1.106)
th dao ng trnh by ti hnh 1.28. Min hn ch ti (F
a
/k) ti th c tn gi min cht.
Tn s dao ng v chu k dao ng xc nh t phng trnh ( ) 0 / = + k F x k x m
a
& & :

2
n
f = v
n

2
=

Hnh 1.25

Hnh 1.23

Hnh 1.24
25

Hnh 1.28 Dao ng tt dn ca h thng chu ma st kh
V d 16: Vt khi lng m= W/g, hnh 1.26, b ko ra khi v tr yn ban u x
0
, sau dao ng
t do. Bit rng W = 9N, x
0
= 25cm v h s ma st 0,25.
Lc cn do ma st F
a
= 0,25.W = 2,25N. cng l xo k = 1,8 N/cm v a = F
a
/k = 1,25cm;
Bin dao ng gim 2,5 cm sau na chu k, vt th ngng dao ng sau 5 chu k. Vt s dng
gii hn cht. Chu k dao ng: s g x
st
224 , 0 / 2 = =
5.4 Dao ng vi ti cn tr
Phng trnh chuyn ng:
0 = + + kx x
c
x m
n
& & &

(1.107)
Xt dao ng vt th lm t vt liu m lc cn vt liu khng ph thuc tn s dao ng. y
l cn trong lng vt liu gi tt cn vt liu. T th nghim nhn bit, nhiu vt liu c tnh cht sau,
di tc ng ti lp c chu k quan h gia ng sut v bin dng th hin trong qu trnh p ti,
ng OPA, v tho d ti, ng AB, c dng nh biu din ti hnh . Vt liu tuyt i n hi
mi mang tnh cht, hai nhnh ny trng nhau, to gc vi trc ngang. Trong thc t khng my
khi gp vt liu n hi tuyt i. Din tch mt vng lp cn tr, ABCDA, th hin nng lng tn
tn (energy dissipation) trong mt n v th tch ca vt liu, sau mt chu trnh ng sut.
( ) 2 / cos sin
sin cos cos sin sin cos
0
0 0 0


+ +
= + =
t
t t t

M un n hi vit di dng hm phc:
" ' sin cos
0
0
0
0 *
iE E i E + = + = =

trong E cng pha vi m un n hi E, cn
E l m un lch pha hay m un tn tht.
H s tn tht l s o cn tr trong kt cu tnh bng
biu thc ' / " E E = hay l tg, nh nu trn.
H s tn tht ca vt liu thng dng c ti bng 1.6
Bng 1.6
Vt liu H s tn tht
Nhm tinh khit 0,00002 0,002
Hp kim nhm 0,0004 0,001
Thp 0,001 0,008

Hnh 1.29 Cn tr
26
Ch 0,008 0,014
Gang c 0,003 0,03
Hp kim ng-mangan 0,05 0,1
Cao su t nhin 0,1 0,3
Cao su cng 1,0
Knh 0,0006 0,002
B ton 0,01 0,06
5.5 Tn tn nng lng do cn
Tn tn nng lng do cn nht sau mi chu k dao ng:
( )
2
0 0
sin 4 4 A c dx t A c dx x c U
n
x
n
x
= = =

& (1.108)
trong A bin dao ng
Tn tn nng lng do cn ma st
A F A c
a n d
4
2
= (1.109)
T y xc nh:
A
F
c
a
d

4
= (1.110)
Tn tn nng lng do cn tr:
Lc cn: ( )x i k x k F + = = 1
*
(1.111)
hay l
2 2
x A k kx F = (1.111a)
n
H
k
c

= (1.112)
Quan h gia c v c
H
: c = c
H

n

V d 18: Kho st dao ng nh mt tng, m hnh ha ti hnh b hch vi vn tc 20 m/s. Khi
lng tnh tn 500 kg.

Hnh 1.31
Din tch mt vung trong ng cn tr tnh bng 10
4
Nx0,002 m = 20 N.m . Nng lng tn
tn chim din tch 38,5 vung, bng 770 N.m. cng tng ng xc nh theo dc th
lc chuyn v, bng 5.10
6
N/m.
123 , 0
) ( 02 , 0 ). / ( 10 . 5 .
) . ( 770
2 2 6 2
= = =
m m N
m N
kA
W
h


; 0615 , 0 2 / ; 386 , 0 = = = = h h
s rad m k
n
/ 100 500 / 10 . 5 /
6
= = =

Hnh 1.30 Quan he tai chuyen v cua he
thong vi can tre

Hnh 1.32
27
T iu kin ban u s m x / 20
0
= & v x
0
= 0 c th vit cng thc cho p ng:
( ) t e t x
t
81 , 99 sin 20 , 0 ) (
15 , 6
=
V d 19: H thng 1 bc t do dao ng chu cn nht, = 0,02. Xc nh tn tn nng lng ca
dao ng.
Vi << 1 c th vit ln(A
1
/A
2
) = 2 = 0,126
A
1
/A
2
= 1,134
Cng bin dng tnh ti thi im bt u:
2
1 2
1
kA . Nng lng tnh ti thi im cui chu k
2
2 2
1
kA . Quan h gia nng lng tn tn trong chu k vi nng lng ti thi im bt u tnh nh
sau: ( ) ( )
2
1 2
1
2
2 2
1
2
1 2
1
/ kA kA kA = 1 (A
2
/A
1
)
2
= 0,223
C th tnh A
2
/A
1
= . . . = A
n-1
/A
x
= 1,134. T A
3
/A
12
= (1,134)
9
= 3,107
A
12
= 1,8/3,107 = 0,579 mm.
5.6 cng phc v dao ng
cng phc miu t tnh cht ca cu trc vt liu, bao gm cng v nh hng ca cn
damping vt liu. cng phc k hiu k
*
, xc nh nh sau:
( ) i k k + = 1
*
(1.113)
trong 1 = i , v - h s tn tht.
V d 20: Xc nh tn s dao ng h thng trnh by ti hnh 1.33

Hnh 1.33 Dao ng h thng vi cng phc
Phng trnh dao ng: ) (t F kx x c x m = + + & & & .
Lc cng bc trnh by dng F = F
a
exp(it), p ng x = Aexp(it) v c = h/. C th vit:
F x k i
h
m =

+ +

2

hay l
ih m k F
x
+
=
2
1

Tn s dao ng cng hng xc nh t quan h 0
2
= m k : m k
R
/ =
V d 21 : Xt nh hng cn ma st n p ng
1
h mt bc t do din t bng phng trnh:
( ) ( ) + = + + t F x F kx x m
c
sin sgn
0
& & & (1.114)
trong F
0
- ti cng bc, -tn s ti cng bc, F
c
ti ma st, cn gi ti Coulomb.
S dng cc k hiu sau cho phn gii tip theo: A = F
0
/k; x
f
= F
c
/k, r = /
n
:
( ) 0 ; / 0 sin ) (
0
2 2
< < < + = + x t t A x x x
n f n
& & &
iu kin ban u:
0 ; : 0
0 0
= = = x x x t &

1
(Eng) Response, (De) Antwort, (Fr) reponse
28
0 ; : /
0 0
= = = x x x t &
Nghim phng trnh:
( ) ( ) [ ] ( ) t t r t t
r
A
t x t x t x
n n n f n
sin sin sin cos cos cos
1
cos 1 cos ) (
2
0
+

+ + =

( )
2 2
2
2
0
] cos 1 [
sin
1
1

=
r
r
f
r A
x
r
A x

Li gii ng trong trng hp:
/ 0
1
2
0
< < t
r x
x
f

Gii hn li gii:
( )

+
2
2
2 0
cos 1
sin
1 1 / 1
r
r
r
r
A
x

v ( )

+
2
2
2
2 0
cos 1
sin 1
1 /
r
r
r
r r
A
x

Thay biu thc cn tng ng:
0
4
x
F
c
eq

= s nhn li gii:
2
2
0
4
1
1

=
A
x
r
A
x
f

Hnh 1.34 p ng bin - tn s ng vi cc t l cn kh

6. TRUYN TI
7. Ti truyn n b my tnh bng biu thc:
kx x c F
T
+ = & (1.116)






Hnh 1.39

Hnh 1.40
29

T iu kin trc giao lc ma st v hi phc, gi tr ti truyn n b tnh nh sau:
( ) ( )
2 2
kx x c F
T
+ = & (1.117)
T l gia lc truyn v lc F
0
gi l h s tuyn ti
2
:

( )
( ) ( )
2
2
2 2
2
0 / 2 / 1
/ 2 1
n n
n T
F
F


+
+
= (1.118)
th hm T = F
T
/F
0
trnh by ti hnh 1.41, th pha gii thiu ti hnh 1.42.

Hnh 1.41
Trng hp dng s phc cng thc tnh T(i) c dng:

i
i
i T
n n
n n

2
2
) (
2 2
2
+
+
= v
( )
( ) ( )
2
2
2 2
2
/ 2 / 1
/ 2 1
) (
n n
n
i T

+
+
= (1.119)
Quan h hm H() v |T(i)|:

( )

>>
<<
= =
n n
n
T H

2
/
1
) ( (1.120)
Chuyn ng b Trng hp b chuyn ng, phng trnh chuyn ng xem xt dng hm
iu ha.
( ) ( ) 0 = + + u x k u x c x m & & & & (1.121)

2
(UK) Transmissibility. (Russian)

Hnh 1.42 Hm truyn ti h thng
mt bc t do
30
trong ( ) = t u u sin
0
(1.122)
Chuyn v x ca khi lng m:
( ) = t Tu x sin
0
vi
( )
( ) ( )
2
2
2 2
2
/ 2 / 1
/ 2 1
n n
n
T


+
+
= (1.123)

31
Chng 2


DAO NG H THNG NHIU BC T DO


1. XY DNG PHNG TRNH CHUYN NG
1.1 p dng nguyn l DAlembert
T nh lut th 2 ca Newton ) (
) (
) (
2
2
t x m
dt
t x d
m t P & & = c th vit: 0 ) ( ) ( = t x m t P & & (2.1)
trong P(t) - ti p t ln khi lng m. Cng thc dng cho h thng gm n khi lng m
i
, i =
1,2, . . . , n, chu tc ng h thng P
i
(t). Thnh phn th hai v tri, trong trng hp ny c hiu
) (t x m
i i
& & c tn gi lc qun tnh.
p dng nguyn l D Alambert vo xem xt dao ng h thng n khi lng m
i
, i = 1, 2,... , n ,
nhn phng trnh dao ng nh sau.
Chuyn v ta x
i
th hin bng quan h:

=
=
n
j
j ij i
F a x
1
, (2.2)
trong a
ij
- h s nh hng do, hiu nh l chuyn v ta i do tc ng ca ti n v t ti
ta j.
Phng trnh (2.2) vit li dng h phng trnh i s:

n n n
x m a x m a x & & L & &
1 1 1 11 1
=

M
& & L & &
n n n
x m a x m a x
2 1 1 21 2
=
(2.2a)

n n nn n n
x m a x m a x & & L & & =
1 1 1

Sau chuyn v phng trnh chuyn ng h thng gm n khi lng mang dng:

= + + +
= + + +
= + + +
0
0
0
2
2
1
2
1
2
1
2 2
2
2
21
2
1
2
1
1 1
2
2
11
2
1
2
1
n nn
n
n n
n
n
n
n
n
n
x a
dt
x d
m a
dt
x d
m
x a
dt
x d
m a
dt
x d
m
x a
dt
x d
m a
dt
x d
m
L
L
L
L
(2.3)
Hm chuyn v th i thng l xt nh hm iu ha:
x
i
= A
i
cost (2.4)
Thay x
i
vo phng trnh (2.3) nhn phng trnh dng sau:

= + + +
= + + +
= + + +
0 ) 1 (
0 ) 1 (
0 ) 1 (
2 2 2 1 1 1
2 22 2 2 21 1 1
1 12 2 2 11 1 1



nn n n n n
n n n
n n n
a m A a m A a m A
a m A a m A a m A
a m A a m A a m A
L
L L L
L
L
(2.5)
32
trong =
2
l tr ring.
Vi cc thnh phn A
i
, i =1,2, khng ng thi bng 0, nghim tm t phng trnh:
0
) 1 (
) 1 (
) 1 (
) det(
2 2 1 1
2 22 2 21 1
1 12 2 11 1
=
+ + +
+ + +
+ + +
=

nn n n n
n n
n n
a m a m a m
a m a m a m
a m a m a m
L
L L L
L
L
(2.6)
S dng cc k hiu ca ma trn, hm chuyn v (2.2a) c vit li:
x = AF (2.7)
trong A ma trn cc h s nh hng, gi ma trn do.
T (2.7) c th vit:
F = A
-1
x = Kx (2.8)
trong K ma trn cng.
V d 1a: Xc nh h s nh hng do ca h thng nu ti hnh 2.2a.
Hy gn lc F
1
, F
2
, F
3
, tc ng ln h thng ti cc khi lng gy chuyn v tng ng x
1
, x
2
, x
3.

H s nh hng tnh nh sau.
EI
L
a
EI
L
a
12
11
;
12
9
3
21
3
11
= = trng hp gn F
1
= 1 cn F
2
= F
3
= 0.
;
12
16
3
22
EI
L
a = trng hp gn F
2
= 1 cn F
1
= F
3
= 0.
;
12
7
3
13
EI
L
a = trng hp gn F
3
= 1 cn F
2
= F
1
= 0.
S dng tnh i xng ma trn vit ma trn do:

=
9 11 7
11 16 11
7 11 9
12
3
EI
L
A
Phng trnh (2.3) dng ma trn c vit thnh:
0
0 0
0 0
0 0
9 11 7
11 16 11
7 11 9
12
3
2
1
3
2
1
3
2
1
3
=

x
x
x
x
x
x
m
m
m
EI
L
& &
& &
& &

V d 1b: Xy dng ma trn cng cho dm di L, cng EI ta trn hai gi n hi, hnh 2.2b. Bit
rng cng l xo hai gi k
1
v k
2.
H s nh hng k
ij
bng lc cn thit ti j lm khi lng chim v tr ti i chuyn v n v.
Nu x
1
= 0, x
2
= 1, x
3
= 0 c th tnh:
Lc cn thit ti x
2
, tnh t biu thc nghch o vng do ti n v gy, tc h s nh hng
do bng
EI
l
48
. 1
3
, s l 48EI/l
3
. Cc h s cng khc tnh theo cch sau:
3
12
3
22
24
;
48
L
EI
k
L
EI
k

= = ;
12 21 23
3
32
;
24
k k k
L
EI
k = =

=
Trng hp x
1
= 1, x
2
= x
3
= 0:
13
3
31
3
21
3
1 11
12
;
24
;
12
k
L
EI
k
L
EI
k
L
EI
k k = =

= + =
Ma trn K c dng sau:

Hnh 2.2a
33
3
2
1
12
2
2 4 2
2
L
EI
k
k k k k
k k k
k k k k
=

+

+
= K


1.2 Phng trnh Lagrange
Hm th nng v ng nng ca h thng cng cng ngoi lc W th hin nh cc ta suy
rng q
i
, i = 1,2, , N.
T = T(q
1
, q
2
, . . .,q
N;
N
q q q & & & ,... ,
2 1
)
(2.12)

U = U(q
1
, q
2
, . . .,q
N;
) (2.13)
W = Q
1
q
1
+ Q
2
q
2
+ . . . + Q
N
q
N
(2.14)
Thay cc biu thc ny vo phng trnh thuc nguyn l Hamilton s nhn c biu thc:
0
2
1
1
=

=
t
t
N
i
i i
i i i
dt q Q
q
U
q
T
q
T
dt
d

&
(2.15)
T y c th vit phng trnh chuyn ng Lagrange:

i
i i i
Q
q
U
q
T
q
T
dt
d
=

&
(2.16)
trong Q
i
ti suy rng.
V d 2: Xy dng phng trnh chuyn ng h thng kt cu trnh by ti hnh 2.5.

Hnh 2.5
1. Xy dng hm th nng, hm ng nng v cng o
Ta suy rng q
i
, i = 1, 2, 3 p dng cho 3 gc xoay, nu ti hnh. Biu thc tnh ng nng T:

( )
( )
3 1 3 2 2 1
2
3
2
2
2
1
2
2
3
2 1
2
2
1
2
1 2
3
2
2
2
1
2
3 3 9 4 2
6
2 2 2 2
1
12 2
1
q q q q q q q q q
g
WL
L q
L q L q
L q
L q
L q
g
W
q q q
g
WL
T
& & & & & & & & &
&
& &
&
&
&
& & &
+ + + + + =
=

+ + +

+ +

+ + + =


Hnh 2.2b
34
Hm th nng:

( ) ( ) [ ]
( ) ( ) ( ) [ ]
3 2 2 1
2
3
2
2
2
1
2
2 3 3
2
1 2 2
2
1 1
2
3
2
2
2
1
2
2
2
2
2
1
2 4 6 3 10 5
4
1
2
1
4 2 2 4 2 4
q q q q q k WL q k WL q k WL
q q k q q k q k
L q L q L q L q L q L q
W U
+ + + + + =
+ + +

+ + +

+ + =

Cng o tnh t biu thc:

( )( ) ( )( )
( ) ( ) ( ) [ ]
3 3 2 2 3 2 1 1 2 1
2 3 2 3 3 1 2 1 2 2 1 1 1
3 2 2 5 q q q q q q q q q q c
q q q q c q q q q c q q c W


& & & & & & &
& & & & &
+ + + + =
=

2. Xc nh tai suy rong do can:
( ) ( ) ( ); ; 3 2 ; 2 5
3 2 3 3 2 1 2 2 1 1
q q c Q q q q c Q q q c Q & & & & & & & = + = + =
3. Thc hin cc php tnh n i
q
U
q
T
i i
,..., 2 , 1 ; ; =

&
v a cac gia tr tren vao phng trnh
Lagrange
i
i i
Q
q
U
q
T
dt
d
=

&
, thnh lp h phng trnh vi phn dng:
0
4
2 6 3
0 4 10 5
2
1
1
1 3
0 2 5
2
3 8
3 9 14
6
3
2
1
3
2
1
3
2
1
2
=

+
+
+
+

q
q
q
k WL X
k k WL
k k WL
q
q
q
X
c
q
q
q
X
g
WL
&
&
&
& &
& &
& &

1.3 Phng php nng lng
Th nng ca h thng:
kq q
T
2
1
1 1
2
1
= =

= =
n
i
n
j
i j ji
q q k U (2.17)
ng nng ca h thng:
q m q
T
& & & &
2
1
1 1
2
1
= =

= =
n
i
n
j
j i ij
q q m T (2.18)
trong n bc t do ca h thng.
Trong h phng trnh ny T/q
i
, i = 1, 2, , n, bng 0. iu ny cho php vit phng trnh
Lagrange dng sau:
n i Q
q
U
q
T
dt
d
i
i i
,..., 2 , 1 = =

&

T y: [ ]{ } [ ]{ } { } Q q k q m = + & & (2.19)
1,4 Ri rc ha kt cu lin tc
Cc kt cu lin tc, bc t do v hn, c th ri rc ha thnh kt cu c bc t do hu hn.
Chn phng trnh miu t vng ngang dm thng lm v d c trng cho cch lm.

n
i
i i
t t q t x y
1
) ( ) ( ) , ( (2.20)
Hm ng nng c th vit di dng:

= dx t x y x m T
2
) , ( ) (
2
1
& ; (2.21)
35

=
j i ij
q q m T & &
2
1
;

= dx x x x m m
j i ij
) ( ) ( ) ( (2.22)
Th nng:
[ ]

= dx t x y x EI U
2
) , ( " ) (
2
1
(2.23)

=
j i ij
q q k U
2
1
;

= dx x x x EI k
j i ij
) ( ) ( ) (
" ' '
(2.24)
tm ti suy rng Q
i
, i = 1, 2, , n cn thit nh gi ng cng o W, do cc thnh phn lc
khng ph thuc (nonconservative forces) thc hin trong h thng. S dng quan h gia ng sut
bin dng vt liu [ ] ) ( ) ( ) (
1
t t E t & + = trong cc bc phn tch tip theo. Momen un dm
Bernoulli-Euler hnh thnh t phn tch:
[ ] ) , ( " ) , ( " ) ( ) , (
1
t x y t x y x EI t x M & + = (2.25)
Cng ni lc:

= dx t x y t x y x EI W ) , ( " ) , ( " ) (
int
& (2.26)
Cng ngoi lc:

= dx t x y t x p W
ext
) , ( ) , ( (2.27)
T y vit tip:

i
n
i
n
j
j ij i t
q q c p W

= =

=
1 1
& (2.28)
trong

= dx x t x p p
i i
) ( ) , ( ;

= dx x x x EI c
j i ij
) ( ) ( " ) (
"
1
;

=
n
j
j ij i i
q c p Q &
a kt qu va lp vp phng trnh Lagrange c th vit:
[ ]{ } [ ] [ ]{ } { } Q q K q C q M = + + & & & (2.29a)
Trong ti liu ny cng thc ny cn th hin cch vit tng ng:
Q Kq q C q M = + + & & & (2.29b)
2. PHN TCH DAO ONG T DO
Phn tch dao ng h thng n bc t do nhm xc nh tn s dao ng ring, s lng tn s bng
n. Tn s dao ng ring trong trng hp ny k hiu
j j
= ,
j
- tr ring. Ti tn s th j cn
thit xy dng dng dao ng ca h thng, kt qu trnh by trong vecto A, gi l vecto ring trong
b mn ton. Quan h gia chuyn v x
i
, bin A
i
th hin x
i
= A
i
cos
i
t . Thng thng tin hnh
xy dng vecto ny theo cch sau. Vi mi gi tr
j
, j = 1, 2, , n, trong gn A
i
(j)
= 1, xc nh
cc gi tr khc ca A
k
(j)
, k i. C th nhn i = 6 nh minh ha ti hnh 2.6, nhn i = 5 nh ti hnh
2.7.





Hnh 2.6 Dao ng nh nhiu tng

Hnh 2.7 Dao ng trc ng c
36



V d 4: Xy dng phng trnh chuyn ng h thng trnh by ti hnh 2.8.
Vit cc h s nh hng cng v nh hng do h thng.

Hnh 2.8
a. Theo nguyn l dAlambert tin hnh xy dng phng trnh chuyn ng cho mi khi lng,
theo th t trnh by ti hnh 2.a:

Hnh 2.8a
( )
1 1 2 1
2 x m x x k kx & & = + t y c th vit 0 2 3
2 1 1
= + kx kx x m& &
( ) ( )
2 2 3 1 2
2 2 x m x x k x x k & & = + t y c th vit 0 3 2 2
3 2 1 2
= + kx kx kx x m& &
( )
3 2 3
2 x m x x k & & = t y c th vit 0 2
3 2 3
= + kx kx x m& &
b. S dng phng trnh Lagrange xy dng phng trnh chuyn ng h thng theo cch sau. Ta
suy rng nhn theo cch q
1
= x
1
; q
2
= x
2
; q
3
= x
3
.
Th nng h:
( ) ( )
2
2 3
2
1 2
2
1
2
1
2
2
1
2
1
q q k q q k kq V + + =
ng nng:

2
3
2
2
2
1
2
1
2
1
2
1
q m q m q m T & & & + + =
Thay hai biu thc ny vo hm Lagrange L = T V, tin hnh ly o hm theo phng trnh
Lagrange, s nhn c cc biu thc:
0
1 1
=

q
L
q
L
dt
d
&
a n ( ) ( )( ) [ ] 0 1 2
1 2 1 1
= + + q q k kq q m
dt
d
&
0
2 2
=

q
L
q
L
dt
d
&
a n ( ) ( ) ( ) [ ] 0 2 2
2 3 1 2 2
= + q q k q q k q m
dt
d
&
0
3 3
=

q
L
q
L
dt
d
&
a n ( ) ( ) [ ] 0 2
2 3 3
= + q q k q m
dt
d
&
Di dng ma trn (2.29) h phng trnh xp li nh sau:
0
0
3 2
0 2 3
2 0 0
0 2 0
0 0
3
2
1
3
2
1
=

q
q
q
k k
k k k
k k
q
q
q
m
m
m
& &
& &
& &

c. H s nh hng cng:
37

Hnh 2.8b
T s 2.8b tin hnh tnh h s cng: h s cng ct th nht xc nh sau khi gn x
1
= 1, x
2
=
x
3
= 0, hnh (a).
k
11
= 3k; k
21
= -2k; k
31
= 0.
Ct th hai: vi x
1
= x
3
= 0; x
2
= 1, hnh (b):
k
12
= -2k; k
22
= 3k; k
32
= -k.
Ct th ba: vi x
1
= x
2
= 0; x
3
= 1, hnh (c):
k
13
= 0; k
23
= -k; k
33
= -k.
d. H s nh hng do:

Hnh 2.8c
S p ti n v trnh by ti hnh 2.9c. T hnh (a) c th vit:

( )
( ) ( )
( )

=
= +
= + +
0
0 2
0 1 2
21 31
21 31 11 21
11 21 11
a a k
a a k a a k
a a k ka

T y xc nh tip:
38

k
a
k
a
k
a
1 1 1
31 21 11
= = =
Bng cch tng t xc nh:

k
a
k
a
k
a
2
3
2
3 1
32 22 12
= = = v
k
a
k
a
k
a
2
5
2
3 1
33 23 13
= = =
e. Xc nh tn s ring
Tr ring ca h thng tnh bng bnh phng tn s ring dao ng, =
2
.
Tr ring xc nh t nh thc 0 det =

I K M
1

trong

2
1
2
1
2
1
2
1
2
1
2
1
0
1
0 2 3
1 1 0
1 3 2
0 2 3
0 0
0 0
0 0 1
m
k
m
k
K M
1

T 0 det =

I K M
1
xc nh phng trnh bc 3 cha tr ring:
f. Xc nh dng dao ng
Vecto ring tng ng tn s th j k hiu X:
[ ]
T
j j j j
X X X
3 2 1
= X
Tha mn phng trnh:
0
/ / 0
/ / / 2
0 / 2 / 3
3
2
1
2
3
2
1
2
1
2
3
=

j
j
j
j
j
j
X
X
X
m k m k
m k m k m k
m k m k

Chn X
j2
= 1 hai thnh phn cn li ca X
j
s l:

( )
j
j
j
j
m k
m k
X
m k
m k
X

=

=
/ 2
/ 2
/ 3
/ 2
2
1
3 1

Thay cc gi tr ca vo cc biu thc ny s nhn c ba vecto ring sau:

=
1418 , 0
1
298 , 2
1
1
1
347 , 1
1
697 , 0
3 2 1
X X X
g. Chun ha cc vector dng dao ng
Tnh gi tr tch X
T
MX :
[ ] [ ] m
m
m
m
m
m
m
115 , 6
694 , 2
2
697 , 0
347 , 1 1 697 , 0
347 , 1
1
697 , 0
2 0 0
0 2 0
0 0
347 , 1 1 697 , 0 =

=
1
T
1
MX X
[ ] [ ] m
m
m
m
m
m
m
5
2
2 1 1 1
1
1
1
2 0 0
0 2 0
0 0
1 1 1
2 2
=

= MX X
T

[ ] [ ] m
m
m
m
m
m
m
325 , 7
2968 , 0
2
298 , 2
1484 , 0 1 298 , 2
1484 , 0
1
298 , 2
2 0 0
0 2 0
0 0
1484 , 0 1 298 , 2
3 3
=

= MX X
T
Dng dao ng tiu chun ha:
39

=
4472 , 0
4472 , 0
4472 , 0
1
1
1
1
5
1
5447 , 0
4044 , 0
2819 , 0
1
347 , 1
1
697 , 0
115 , 6
1
2 1
m m m m
X X

=
0548 , 0
3695 , 0
8491 , 0
1
1484 , 0
1
298 , 2
325 , 7
1
3
m m
X
3. XC NH TN S RING, DNG DAO NG
Phng trnh dao ng t do dng ma trn:
0 Kx x M = + & &
trong o M ma trn khi lng, K ma tran cng.
Th tc kho st dao ng t do
1. Lp ma trn khi lng M, v ma trn cng K, trong [M] = [M]
T
, [K] = [K]
T.
2. p t hm chuyn v: x
i
(t) = X
i
cost, i = 1, 2, . . . , n
3. Xy dng phng trnh tn s:
( ) 0 X K M = +
2
hoc ( ) 0 X K M I = +
1 2

4. Gii nh thc c trng: det(-
2
M + K ) = 0 hoc det(-
2
I + M
-1
K ) = 0 xc nh nghim
dng sau: ( ) ( ) ( )
n n
X X X , , , , , ,
2
2
2
2 1
2
1
L
H phng trnh c n nghim
1
,
2
, ,
n
v n vector ring
3
miu t dng dao ng, gii t
h phng trnh ( ) 0 X K M = +
2
hoc 0 X I AM =

2
1

, trong A = K
-1
.
Ma trn AM c tn gi ma trn ng lc hc
Gi thit rng tr ring ca M
-1
K

tng ng vi ma trn khi lng v ma trn cng khng m.
Cc gi tr
i
tha mn
1

2
. . .
n
. Mi gi tr n i
i
,..., 2 , 1 ,
2
= c vector ring tng ng
X
i
tha mn iu kin:

i i i
X KX M
2 1
=

vi [ ]
T
n i i i i
X X X
, 2 , 1 ,
L = X
Ma trn cha cc vector ring ny c vit thnh:
[ ]
n
X X X L
2 1
=
5. Kho st dng dao ng [ ]
T
in i i i
X X X L
2 1
= X , i = 1, 2, . . . , n
V d 7a: Xc nh tn s ring v dng dao ng xe bn bnh vi phng trnh chuyn ng sau:
0 =

x
k k
k k x
m
m
L L
L
L
16 4
4
12
2 2
5
2
0
0
& &
& &

Ma trn M
-1
K c dng:

( ) m
k
L
L
k k
k k
mL
m
L L
L
4 15 / 12
8
5
2
/ 12 0
0 / 1
16 4
4
2
2

K M
1


3
Tn gi a dng trong ting Anh: normal modes, eigenvectors, characteristic vectors
40
T phng trnh det(-
2
I + M
-1
K ) = 0 xc nh:
0 108 23
2
= + vi
k
m 4
=
Nghim phng trnh bc 2: = 6,58 v 16,42
Tn s ring:

m
k
m
k
03 , 2 ; 28 , 1
2 1
= =
Thnh lp phng trnh nhm xc nh dng dao ng:

0
0
15
8
2
1
4
12
4
4 4
i
i
i m
k
L m
k
m
k
i m
k
X
X L

T phng trnh th nht xc nh rng:

1
4
4
2
8
i
m
k
i m
k
i
X
L
X

=
p t X
i1
= 1 s nhn c cc vecto ring sau y:

=
L L / 42 , 8
1
;
/ 43 , 1
1
2 1
X X
V d 7b: S dng ma trn ng lc hc AM x l phng trnh dao ng sau:
0 =

2
1
2
1
27
16
27
2
27
2
27
7
0
0
q
q
k
k
q
q
m m
m m
& &
& &

Ma trn AM:
k
m
k
m
27 16 2
2 7
16 2
2 7
1 0
0 1
27
=

0
16 2
2 7
=

0 108 23
2
= + vi / =
T y xc nh: k m k m / 608 , 0 42 , 16 ; / 244 , 0 58 , 6
2 1
= = = =
; 03 , 2
1
; 28 , 1
1
1
2
2
1
m
k
m
k
= = = =

Dng dao ng xc nh t phng trnh:

0
0
16 2
2 7
2
1
2
2
i
i
i
i
X
X



T phng trnh th nht xc nh nghim X
i2
:

1 2
2
7
i
i
i
X X

=
Vector ring (dng dao ng):
41

=
21 , 0
1
;
7 , 4
1
2 1
X X
3.2 Li gii chung
Nghim chung xc nh dng:
( ) ( )

+ =
n
i
t i
i
t i
i i
e C e C t
1
2 1

X x (2.30)
hay l:
( ) ( ) ( )

= =
+ = + =
n
i
i i i i
n
i
i i i i i
t t C t C t
1 1
2 1
sin sin cos A X X x (2.30a)
iu kin ban u ghi li di dng ( ) ( ) 0 ; 0 x x & :
( )

=
=
n
i
i i i
1
sin 0 A X x
( )

=
=
n
i
i i i i
1
cos 0 A X x&
V d 7c: Gi s iu kin ban u ca v d 7a c dng [ a 0]
T
v vn tc [0 0]
T
, tm

p ng dao
ng t do.
T iu kin ban u c th vit:

2 2 1 1
sin
/ 42 , 8
1
sin
/ 43 , 1
1
0

L
A
L
A
a


2 2 1 1
cos
/ 42 , 8
1
03 , 2 cos
/ 43 , 1
1
28 , 1
0
0

L
A
m
k
L
A
m
k

Hai phng trnh tha mn cho trng hp
1
=
2
= -/2. Gi tr cc hng s A
1
= 0,855a v
A
2
= 0,145a. p ng dao ng t do s l:

( )
( )

2
03 , 2 sin
/ 42 , 8
1
145 , 0
2
28 , 1 sin
/ 43 , 1
1
855 , 0

t
m
k
L
a t
m
k
L
a
t
t x

3.3 Tnh trc giao
K hiu {
j
} = X
j
v thnh lp cc phng trnh [ ]{ } [ ]{ }
r r r
M K
2
= , [ ]{ } [ ]{ }
s s s
M K
2
= .
C th xy dng:
{ }[ ]{ } { }[ ]{ }
r
T
s r r
T
s
M K
2
= v { }[ ]{ } { }[ ]{ }
s s s
M K
T
r
2 T
r
=
T y:
( ){ }[ ]{ } 0
2 2
=
r
T
s s r
M hay l { }[ ]{ } ( )
s r r
T
s
M = 0
Tng t vy: { }[ ]{ } ( )
s r r
T
s
K = 0
Cng thc chung kho st tnh trc giao:
{ }[ ]{ } { }[ ]{ }
2
;
s rs r
T
s rs r
T
s
K M = = (2.31)
trong - delta Kronecker
V d 8: Xc nh tn s ring v dng dao ng bi ton: K = M, bit rng:
42

=
2
1
2
1
1 ;
2 1 0
1 4 1
0 1 2
M K
Li gii gm 3 gi tr ring ca
1
<
2
<
3
( =
2
) tng ng vi 3 vector ring
1
,
2,

3
.
Mi cp gi tr (
j
,
j
), j = 1,2 3 tha mn phng trnh:
K
j
=
j
M
j
Tin hnh xc nh nghim phng trnh (
2
K M) = 0:
T 0 K M = + c th vit: 0 12 11 3
2 3
4
1
= + +

1
= 2;
2
= 4;
3
= 6 hay l
1
= 2;
2
= 2;
3
= 6.
Ln lt thay gi tr vo phng trnh (
i
M K)
i
= 0 cng iu kin trc giao s nhn
c gi tr vector cn xc nh:
Vi
1
= 2 xc lp: 0
1 1 0
1 2 1
0 1 1
1
=

v { } { } 1 ] [
1 1
= M
T

T y tnh vector ring {
1
}:
{ } [ ]
T T
1 1 1
2
1
1
=
Bng cch tng t xc nh 2 vector ring cn li:
{ } [ ] { } [ ]
T
T T T
1 1 1
2
1
; 1 0 1
3 2
= =
3.4 Cc phng php ma trn
a) Phng php ma trn cng
Cc v d ang nu trnh by h phng trnh dao ng dng ma trn:
0 Kx x M = + & & (2.32)
trong o M ma trn khi lng, K ma tran cng.
Trng hp dao ng chu cn nht phng trnh dao ng mang dng:
0 Kx x C x M = + + & & & (2.33)
b) Phng php ma trn do
0 x A x M = +
1
& & (2.34)
trong o M ma trn khi lng, A ma tran do.
V d sau y trnh by dng phng trnh ma trn, hnh 2.12.
2 1 11
k k k + =
L k L k k
2 1 21
+ =
2
2
2
1 22 2 1 12
; L k L k k L k L k k = + =
L c L c c c c c
1 2 21 2 1 12
; = =
( )
2
1
2
2 22 2 1 22
; L c L c c L c c c = =
T y c th thy:

Hnh 2.12
43
[ ]

+
+ +
=
2
2
2
1 2 1
2 1 2 1
L k L k L k L k
L k L k k k
K
[ ]

+
+ +
=
2
2
2
1 2 1
2 1 2 1
L c L c L c L c
L c L c c c
C
[ ] [ ]
G
J m diag M , =
Ma trn khi lng trong phng trnh chuyn ng M c th phn thnh dng: M
1/2
M
1/2
= M
Ma trn M
1/2
c tnh cht: M
-1/2
M
1/2
= M
1/2
M
-1/2
= I
Nh vy khi tnh ton c th s dng cch chuyn sau:
q M x
2 / 1
= ; q M x & & & &
2 / 1
=
0 q KM q MM = +
2 / 1 2 / 1
& &
Hay l 0 q KM M q = +
2 / 1 2 / 1
& & vi q
t i
e

=
Nghim x cn c th vit:

t i t i
e e = =

M x
2 / 1
vi M
2 / 1
=
V d 9: Kho st dao ng, tnh trc giao h thng nu ti hnh 2.13.
Phng trnh chuyn ng:
0
3
3
0 2 3
2 / 0 0
0 0
0 0
3
2
1
3
2
1
=

x
x
x
k
k k
k k
x
x
x
m
m
m
& &
& &
& &

Tn s ring:

m
k
m
k
m
k
597 , 2 ; 110 , 2 ; 893 , 0
3 2 1
= = =
Dng dao ng:
{ } { } { } ;
677 , 2
1
534 , 0
;
294 . 1
1
375 , 1
;
384 , 0
1
908 , 0
3 2 1

=
Kim tra tnh trc giao:
{ }[ ]{ } [ ] [ ] 0 000052 , 0
647 , 0
1
375 , 1
384 , 0 1 908 , 0
294 , 1
1
375 , 1
2 / 0 0
0 0
0 0
384 , 0 1 908 , 0
2 1
=

= m m
m
m
m
M
T

{ }[ ]{ } [ ] 0 00095 , 0
677 , 2
1
534 , 0
2 / 0 0
0 0
0 0
384 , 0 1 908 , 0
3 1
=

= m
m
m
m
M
T

{ }[ ]{ } [ ] 0 00159 , 0
677 , 2
1
534 , 0
2 / 0 0
0 0
0 0
294 , 1 1 375 , 1
3 2
=

= m
m
m
m
M
T

Dng dao ng chun ha ca h thng vit di dng chung:

Hnh 2.13
44
{ } { } { } ;
677 , 2
1
534 , 0
;
294 . 1
1
375 , 1
;
384 , 0
1
908 , 0
3 3 2 2 1 1

= C C C vi C
i
, i = 1, 2, 3 l hng s
Chun ha dng dao ng u tin nhn c sau kt hp vi { } { } 1 ] [
1 1
= M
T
nh sau:
{ }[ ]{ } [ ]

= =
348 , 0
1
908 , 0
2 / 0 0
0 0
0 0
384 , 0 1 908 , 0 1
2
1 1
m
m
m
C M
T
i


m
C
726 , 0
1
= v vector ring chun ha { }

=
279 , 0
726 , 0
659 , 0
1
1
m

Cch lm tng t a li dng 2 vector ring chun ha th hai v th ba:
{ } { }

=
213 , 1
453 , 0
242 , 0
1
;
670 , 0
518 , 0
712 , 0
1
3 2
m m

V d 10: Kho st dao ng h thng ng c in bm nu ti hnh 2.14. Rotor ca ng c c
momen qun tnh I
1
, ca bm I
2
, ng knh trc d

Hnh 2.14 H thng ng c - bm
cng trc chu xon c = d
4
/(32l) , cng tng ng h thng tnh theo biu thc:
Phng trnh dao ng:

= +
= +
0
0
2 1 2 2
2 1 1 1


c c I
c c I
& &
& &

Phng trnh ma trn:
0
1 1
1 1
0
0
2
1
2
1
2
1
=

c
J
J
& &
& &

Vi t A t A cos ; cos
2 2 1 1
= = thnh lp h phng trnh i s:
0
2
1
2
2
1
2
=

+
+
A
A
c I c
c c I

T 0
2
2
1
2
=
+
+
c I c
c c I

xc nh
1
= 0 v
45

( )
2 1
2 1
2
2
I I
c I I +
=
Gn 1
) 2 (
1
= A c th vit

2
1
2
2 1
1
2
2
) 2 (
2
1
I
I
I
I I
c
c I
A

= +
+
=
+
=


{ } { }

=
2
1
1
;
1
1
2 1
I
I

4. DAO NG CNG BC
4.1 Dao ng khng cn
Phng trnh dao ng:
) (t f Kx x M = + & & (2.35)
trong M, K l ma trn khi lng, ma ma trn cng ca h thng. Lc kch ng f(t) thuc nhm
iu ha, f(t) = F
0
}exp(it).
Nghim x tm di dng: ( ) t i exp A x = , trong A bin dao ng .
K hiu K M B + =
2
phng trnh ca A s l:
0
1
F B A

= (2.36)
V d 11: Rotor tuabin gm ba a vi momen qun tnh I
1
= 10 kgm
2
, I
2
= 5 kgm
2
, I
3
= 15 kgm
2
, k
1
=
k
2
= 10
7
N.m/rad, chu tc ng momen khng cn bng, bin T
0
= 100 N.m, ti tn s gc =
2x377 rad/s.
Kho st dao ng rotor.


Hnh 2.17
Phng trnh chuyen ong:

=
= +
= +
0 ) (
0 ) ( ) (
0 ) (
2 3 2 3 3
2 3 2 1 2 1 2 2
1 2 1 1 1



k J
k k J
k J
& &
& &
& &
(a)
Thay
j
= A
j
cos t vao he phng trnh (a) co the viet:

+

+

t T k k
k k k k
k k
J
J
J

cos
0
0
0
0
0 0
0 0
0 0
0 3
2
1
2 2
2 2 1 1
1 1
3
2
1
3
2
1
& &
& &
& &

Bin dao ng : t A
i i
cos = xc nh t h phng trnh:
46

+

0 3
2
1
2
3 2 2
2
2
2 2 1 1
1
2
1 1
0
0
0
0
T A
A
A
I k k
k I k k k
k I k

nh thc ma trn tn s:
21
2 7 7
7 2 7 7 7
7 2 7
2
3 2 2
2
2
2 2 1 1
1
2
1 1
10 67 , 0
754 15 10 10 0
10 754 5 10 10 10
0 10 754 10 10
0
0
=
=

+

=

+

=

I k k
k I k k k
k I k
D

C th tnh cc bin :
D D A D D A D D A / ; / ; /
3 3 2 2 1 1
= = =
trong
2
3 2 0
2 1
2
1 1
2
2
3 2 2 0
2
2
2 2 1
1
1
0
0
0 0
; 0
0 0

I k T
k k
I k
D
I k k T
k I k k
k
D

=

+

=
0 2
2
2 2 1 1
1
2
1 1
3
0
0
0
T k
I k k k
k I k
D

+

=

.
Kt qu tnh nh sau:
( )
6 7 7 7
1
10 3 , 21 10 10 67 , 0 / 10 100

= = A rad
( ) ( )
6 7 7 2 7
2
10 19 , 9 10 10 67 , 0 / 754 5 10 100

= = A rad
( )( ) ( )
6 7 7 2 7 2 7
3
10 5 , 5 10 10 67 , 0 / 754 5 10 754 10 10 100

= = A rad
4.2 Dao ng c cn
Phng trnh chuyn ng:
) (t f Kx x C x M = + + & & & (2.37)
trong M, C, K l ma trn khi lng suy rng, ma trn cn, ma trn cng ca h thng. Lc kch
ng f(t) thuc nhm iu ha, f(t) = F
0
exp(it).
Nghim {x} tm di dng: ( ) t i exp A x = , trong A bin dao ng
K hiu: K C M B + + = i
2
c th vit phng trnh ca A:
0
1
F B A

= (2.38)
Biu thc c ngha nu B l ma trn khng suy bin.
V d12: Xt dao ng ngang rotor tuabin m hnh ha v dng ba khi lng m
1
, m
2
, m
3
ni vi
nhau bng trc khng khi lng, ng knh d. Hai ti hai u trc cng k
1
, k
2
cn nht
c
1
, c
2
. Ti kch ng do khi lng m khng cn bng, ti v tr b tr m
2
, cch trc r nh ti hnh
2.13. Bit rng m
1
= 300kg, m
2
= 800kg, m
3
= 400kg, k
1
= 5x10
6
N/m, k
2
= 4x10
6
N/m, c
1
=
5000N.s/m, c
2
= 4000N.s/m, tn s quay trc = 300rad/s, d = 0,15m, L = 3m, E = 2x10
11
Pa,
m = 0,1kg v r = 0,2m.
H s cng chu un trc:
m N x
L
EI
k / 10 83 , 8
48
6
3
= =
47
Phng trnh chuyn ng:

+ + + +
= +
= +

+ + +
0
4 4 2
cos
2 2
0
4 2 4
3 2
1 2
3 3 3 3
2 3
2
1
2 2
3 2
1 1 1 1 1 1
x k
k kx kx
x c x m
t mr
kx
kx
kx
x m
kx kx
x k
k
x c x m
& & &
& &
& & &

Di dng ma trn: [ ]{ } [ ]{ } [ ]{ } { }
t i
e F x K x C x M

0
= + + & & &
trong :
[ ] ;
0 0
0 0
0 0
3
2
1

=
m
m
m
M [ ] ;
0 0
0 0 0
0 0
2
1

=
c
c
C [ ]

+

+
=
2
1
4 2 4
2 2
4 2 4
k
k k k
k
k
k
k k
k
k
K ; { }

=
0
0
2
0
mr F
Nghim tm dng:
[ ]{ } { }
0
F A B = vi [ ] [ ] [ ] [ ] K C i M B + + =
2

{ }

+ + +
+
+ + +
0
0
4 2 4
2 2
4 2 4
2
2 2
2
3
2
2
1 1
2
1

mr A
k
k
c i m
k k
k
k m
k
k k
k
k
c i m

( )
6 6
2 2
2
3
2
2
1 1
2
1
10 380 147 , 11 10
2 , 1 8 , 9 4 , 4 2 , 2
4 , 4 0018 , 0 4 , 4
2 , 2 4 , 4 5 , 1 8 , 19
4 2 4
2 2
4 2 4
+ =
+

+
=
+ + +
+
+ + +
=
i
i
i
k
k
c i m
k k
k
k m
k
k k
k
k
c i m
D

Ti kch ng: mr
2
= 0,1x0,2x300
2
= 1800 N.
Nghim A
2
tnh theo cng thc Cramer:
( ) m i D
i
i
A
6 6
2
10 34 , 7 9 , 30 / 10
2 , 1 8 , 9 4 , 4 2 , 2
4 , 4 0018 , 0 4 , 4
2 , 2 4 , 4 5 , 1 8 , 19

+ =
+

+
=
Bin dao ng:
m A
6 6 2 2
2
10 7 , 31 10 34 , 7 9 , 30

= + =
Pha dao ng:
48
o
92 , 9
9 , 30
34 , 7
=

= arctg
4.3 Phng php cng tc dng mode
Phng trnh dao ng h thng gm n bc t do c dng [ ]{ } [ ]{ } [ ]{ } { } ) (t f x K x C x M = + + & & & . K
hiu { } [ ]{ } q x = , trong [] ma trn vung nxn, gi l ma trn mode, vector ta suy rng c
tm dng:
{ } [ ]{ } x q
1
= (2.39)
T tnh trc giao c th vit cc quan h:
[ ][ ][ ] [ ] [ ] [ ][ ][ ] [ ]
2 2
2
2
1
; 1 1 1
n
T T
diag K diag I M L L = = = (2.40)
Biu thc xc nh {q} c vit li:
{ } [ ][ ]{ } x M q
T
= (2.41)
Nhn v phi phng trnh dao ng vi [
T
], thay x bng q s nhn c h phng trnh:
n i t f q q q
T
i i i i i i
,..., 2 , 1 ) ( 2
2
= = + + & & & (2.42)
Thnh phn th hai v tri h phng trnh i s c hiu l:
[ ][ ][ ] [ ]
n
T
diag C L
2 1
= (2.43)
trong [ ]
T
i i i i i
C = = 2 (2.44)
Nhm trnh cc hn ch ny sinh t tnh ton, ma trn [C] c vit di dng:
[ ] [ ] [ ] K b M a C + = , vi a, b l cc hng s.
[ ][ ][ ] [ ] [ ] [ ] ( )[ ] [ ][ ][ ] [ ][ ][ ] + = + = K b M a K b M a C
T T T T
(2.45)
Vi kt cu c cn nht s dng cc hng s sau:
[ ] [ ]

= = = b a K C 0 ; , vi - h s tn tht. (2.46)
[ ][ ][ ]

2
i T
diag C (2.47)
K hiu: ( ) ) ( ) ( ; sin
1
) ( ; 1
2
t f t F t e t g
T
i i di
t
di
i i i di
i i

= = =

, nghim c lp
tnh cho dao ng mt bc t do s l:

+ + =
t
i i
di
i
i i i i i i i
d t g F t
q
q t q t t q
0
) ( ) ( sin
) 0 (
) 0 ( 2 cos ) 0 ( ) exp( ) (

&
(2.48)
Vector {x} c th vit di dng:
{ } [ ]{ } { } ) (
1
t q q x
n
i
i i
=
= = (2.49)
Trng hp dao ng khng cn, phng trnh dao ng mang dng:

+ + =
t
i i
di
i
i i
d t g F t
q
t q t q
0
) ( ) ( sin
) 0 (
cos ) 0 ( ) (

&
(2.50)
vi t t g
di
di
i

sin
1
) ( =
4.4 Th tc phn tch dao ng cng bc
1. Xy dng phng trnh chuyn ng
2. Xc nh tn s dao ng
49
3. Xc nh khi lng suy rng, ti suy rng
4. Xy dng phng trnh chuyn ng khng lin kt
5. X l cc iu kin ban u
6. Tm p ng theo mode dao ng di tc ng ti p t
7. Tm p ng ng theo nguyn l cng tc dng mode
V d 13: Hai thit b khi lng mi thit b m, t trn container ang chuyn ng vi vn tc v
0
=
0,5 m/s. Kho st dao ng ca hai thit b khi container dng t ngt. Bit rng m = 80 kg, k =
16000 N/m.
Phng trnh dao ng:

= +
= +
= +
= +
0 10
0 8
0 5
0 5
4 4
3 3
1 2 2
2 1 1
kx x m
kx x m
kx kx x m
kx kx x m
& &
& &
& &
& &

[ ]{ } [ ]{ } { } 0 = + x K x M & &
vi [ ] [ ]m diag M 1 1 1 1 =
[ ]

=
10 0 0 0
0 8 0 0
0 0 5 1
0 0 1 5
K
nh thc ca ma trn tn s:
[ ] [ ] 0
10 0 0 0
0 8 0 0
0 0 5 1
0 0 1 5
4
2
2
2
2
2
=

= +
m
k
K M
k
m
k
m
k
m
k
m

m
k
m
k
m
k
m
k 10
;
8
;
6
;
4
4 3 2 1
= = = =
Cc mode dao ng gii t h phng trnh:
{ } 0
10 0 0 0
0 8 0 0
0 0 5 1
0 0 1 5
4
3
2
1
4
2
2
2
2
=

A
A
A
A
m
k
k
m
k
m
k
m
k
m

[ ] [ ] [ ]
{ }
;
1 0 0 0
0 1 0 0
0 0 1 1
0 0 1 1
;
1
1 0 0 0
0 1 0 0
0 0 1 1
0 0 1 1
;
1 0 0 0
0 1 0 0
0 0 1 1
0 0 1 1
m
q
x
m
A

=

Hnh 2.18
50
[ ] [ ]{ } [ ][ ]{ } { }

+
=

= = =

4
3
2 1
2 1
1
1 0 0 0
0 1 0 0
0 0 1 1
0 0 1 1
x
x
x x
x x
m m x x M x q
T

iu kin ban u:
[ ] [ ] 0 ) 0 ( ) 0 ( ; 0 ) 0 ( ) 0 ( ) 0 ( ; v 2 ) 0 ( ) 0 ( ) 0 (
4 3 2 1 2 0 2 1 1
= = = = = + = q q m x x q m m x x q & & & & & & & &
Sau tch phn hm chuyn ng q
i
mang dng:
0 ; sin
v 2
4 3 2 1
1
0
1
= = = = q q q t
m
q

p ng ng lc hc h thng:
( ) ( ) 0 ;
4
sin v ;
4
sin v
4 3 0 2 1 2 0 2 1 1
= = = = = + = x x t
m
k
k
m
m q q x t
m
k
k
m
m q q x
Bin ln nht theo iu kin t ra:
m am am 035 , 0
16000
80
5 , 0
max , 2 max , 1
= = =
Gia tc ln nht:
2
max , 2 max , 1
/ 3 , 28
80
16000
5 , 0 . 4 s m a a = = =
Trng hp vt liu h thng c cn nht vi h s tn tht = 0,01 cn thit xc nh 2 /
i
= .
( )t
m
k
k
m v
t m k t
q
t t q
d
d
2 0
1
1
1
1 1 1
1
4
sin
2
2
) / 4 exp( sin
) 0 (
) exp( ) (

= ; 0
4 3 2
= = = q q q
( ) ( )
( ) ( ) 0 ; 1
4
sin v ). / 4 exp(
; 1
4
sin v ). / 4 exp(
4 3
2
0 2 1 2
2
0 2 1 1
= =

= =

= + =
x x t
m
k
k
m
t m k m q q x
t
m
k
k
m
t m k m q q x



( ) ( ) 3 , 28 001 , 0 1
80
16000
4 1
4
2 2
=

=
m
k
rad/s; v 035 , 0 v
0
=
k
m

141 , 0
2
/ 4
2
1
= =
m k
d


T y:
0 ); 3 , 28 sin( 035 , 0
4 3
141 , 0
2 1
= = = =

x x t e x x
t










51
Chng 3

DAO NG DM


1 DAO NG DC
K hiu u chuyn v dc trc ca mt ct bt k ca trc khi dao ng, - gin di tng i,
L chiu di dm, c th vit cc cng thc xc nh lc dng sau:
T = AE = AE u/x, (3.1)
trong A din tch mt ct ngang.
Lc ko xc nh ti tit din cch mt ang xt dx c hiu l:
T + dT = AE.

dx
x
u
x
u
2
2
(3.2)
Lc qun tnh ca phn on A.dx ca dm tnh bng cng thc:
2
2
t
u
g
dx A

trong = g trng lng ring vt liu.
T c th vit phng trnh vi phn cho chuyn ng phn t Adx ti mt ct ang xt:
0
2
2
2
2
=

t
u
g
A
x
u
AE

, (3.3)
Nu k hiu:
0
m
AE
a = , vi m
0
= A c th vit phng trnh (3.3) di dng:
0
1
2
2
2 2
2
=

t
u
a x
u
(3.4)
T bi ton dao ng (3.3) hoc (3.4) chng ta c th tin hnh xc nh tn s v dng dao ng
dc trc tit din khng i.
Nu coi rng u(x,t) = u(x).cos(
n
t + ), trong
n
tn s dao ng nh chng ta vn k hiu t
chng u, khi thay u vo phng trnh vi phn bc hai (3.4) s nhn c phng trnh vi phn
dng sau:
0
2
2
2
= + u
dx
u d
(3.5)
trong :
2
2
2
a
n

=
Nghim chung phng trnh vi phn (3.5) c tm theo cch quen thuc:
u(x) = C
1
cosx + C
2
sinx. (3.6)
Hm bin phi tha mn nhng iu kin bin ti cui dm. iu kin c hiu l: vi cc
u b ngm u = 0; vi cc u dm t do, lc T = 0 v theo :
52
0 ; 0
0
=

= = L x x
x
u
x
u
(3.7)
Trng hp u pha tri b ngm n hi vi h s ngm c, lc T = c.u, nu iu kin p
dng cho u pha phi T = - c.u, v theo :
u c
x
u
AE u c
x
u
AE
L x x
. ; .
0
=

= =
(3.8)
Trng hp c thm khi lng u trc
Nu u trc gn thm khi lng m, xem hnh .3.1, iu kin bin s thay i so vi trng hp
khng c m:
x
u
AE T
t
u
m

= =

2
2
(3.9)
Thay u bng biu thc u(x,t) nu trn, s nhn c:
dx
du
AE u m
n
=
2
(3.10)
Trng hp nu m t ti pha phi ca dm, cng thc cui s i du:
dx
du
AE u m
n
=
2
(3.11)

Hnh 3.1
Li gii p dng cho cc trng hp c th
a) Dm b ngm hai u.
T iu kin u(0) = 0 v u(L) = 0 c th vit:
C
1
= 0; C
2
sin L = 0.
Vi iu kin C
2
0, cn thit phi tha mn sin L = 0, v do vy (L)
k
= k , k =1, 2, . . .
Tn s dao ng ring:
,... 3 , 2 , 1 ;
) (
.
2
= = = k
L
E
k a
k n

(3.12)
ng vi mi tn s ring dng dao ng ca dm s l:
L
x k
u
k

sin = (3.13)
Dng dao ng c minh ha ti hnh 3.2
b) Dm t do hai u.
iu kin bin (3.8) cho php vit:
C
2
= 0; -C
1
sinL = 0.
53
T : (L) sin (L) = 0.
Vi k = 0 c th tnh
0
= 0; vi (L)
k
= k c th xc nh:
,... 3 , 2 , 1 ;
) (
.
2
= = = k
L
E
k a
k n

(3.14)
ng vi mi tn s ring dng dao ng ca dm s l:
L
x k
u
k

cos = (3.15)
Dng dao ng c minh ha ti hnh 3.3











c) Dm ngm mt u, t do u kia.
iu kin bin 0 ; 0
0
=

=
=
=
L x
x
x
u
u cho php vit:
cos (L) = 0.
Vi (L)
k
= (k - ) c th xc nh:

=
L
x
k u
k

) 2 / 1 ( sin (3.16)
Dng dao ng nh ti hnh 3.4.






Hnh 3.4
iu kin bin: u
x=0
= 0 v
L x L x n
dx
du
AE u m
= =
=
2
cho php vit:
C
1
= 0; AE.C
2
cos(L) = mp
2
C
2
sin(L)

Hnh 3.2 Hnh 3.3
54
C th chuyn phng trnh cui v dng

= tg , trong
m
AL
a
L
n

= = ;
.
.
Phng trnh trn y nn gii bng th. V d p dng cho trng hp = c gii thiu
ti hnh 3.6 di.




Dng dao ng xc nh theo phng trnh:
L
x
u
k
k

sin = (3.17)
2 DAO NG XON TRC TRN
Momen xon trc tnh ti hai tit din cn k, cch nhau dx, c dng:

dx
x
u
x
GJ
x
GJ
2
2
;

(3.18)
T c th vit phng trnh vi phn cho chuyn ng phn t Adx ti mn:
0
2
2
2
2
=

t g
J
x
GJ

, (3.19)
Nu k hiu:

GJ
a = , vi = A c th vit phng trnh (3.19) di dng:
0
1
2
2
2 2
2
=

t a x

(3.20)
Phng trnh chung c dng tng t dng cho dao ng dc va trnh by. Ty trng hp c th
c th vit li gii ring cho vn ang xem xt. V d, vi trng hp trc ta t do trn hai gi u
mt, phng trnh dao ng xon c dng :

+ =

=
l
at i
b
l
at i
a
l
x i
i i
i

sin cos cos
1
(3.21)
Trng hp trc gi s di L, gn hai a vi momen qun tnh J
1
v J
2
ti hai u bi ton tr
thnh phc tp hn. T iu kin bin c th thy rng:
;
0
0
2
2
1
=
=

x
p
x
x
GJ
t
J

(a)
;
2
2
2
L x
p
L x
x
GJ
t
J
=
=

(b)
Li gii phng trnh vi phn (3.21) theo cch lm quen thuc, tm di dng:
= (Acost + Bsint) (c)
trong A, B cc hng s , cn - hm ch cha ta x. Hm ny phi tha mn cc iu kin
bin t ra cho nhng trng hp c th, ging cc trng hp xt cho dao ng dc.

Hnh 3.6
55
Trng hp thng gp trong qu trnh tm hiu xon trc tu thy nh sau. Trc di L, vi
cu hnh c trng, bnh vi momen qun tnh J
1
, tnh ti u ra t my chnh, u kia l chn vt
tu vi momen qun tnh J
2
. iu kin bin ca bi tha mn phng trnh
0 ; 0
0
=

= = L x x
x x

.
Nu t = X(Acost + Bsint) nh gi ti (c), c th tnh tip.
0
2
2
2
2
= + X
dx
X d
a
n
(3.22)
T :
a
x
D
a
x
C X
n n

sin cos + = (3.23)
Cc hng s C, D c xc nh theo iu kin bin.
p
J
a
p
D J Cp =
1
2

+ =

+
a
l
D
a
l
C GJ
a
J
a
l
D
a
l
C
n n
p
n n n
n

cos sin sin cos
2
2
(3.24)
Loi C v D khi h phng trnh s nhn c phng trnh tn s:

+ =

+
a
l
GJ
aJ
a
l
GJ
a
J
a
l
GJ
aJ
a
l
n
p
n n
p
n n
p
n n
n

cos sin sin cos
1
2
1
2
(3.25)
Nu k hiu:
n
J
J
m
J
J
lJ
g J
a
l
p
n
= = = =
0
2
0
1 1
; ;

trong
g
lJ
J
p

=
0
- momen qun tnh trc, phng trnh tn s tr thnh:
n(1 - m tg) = - (tg + m), (3.26)
hoc: tg =
1
) (
2

mn
n m
(3.27)
Nu coi
1
,
2
,
3
, . . . l dy nghim ca phng trnh trn, khi y phng trnh dao ng c hiu
l:

=
l
x
m
l
x
C X
i i
i i

sin cos (3.28)

Li gii chung trong trng hp ny:

=
l
at
B
l
at
A
l
x
m
l
x
i
i
i
i
i
i
i
i

sin cos sin cos

0
(3.29)
Nu J
1
v J
2
ca cc a nh hn nhiu so vi momen qun tnh J
0
ca trc, cc i lng m v n va
xut hin tr nn nh, nghim ca phng trnh (3.29) gn vi gi tr , 2, . . . , cn nghim chung
s tin n gii hn ca bi ton tnh trc c hai u t do.
56
Ngc li, khi J
1
v J
2
khng nh m l kh ln nu so vi J
0
, khi m v n s ln. Trng hp ny
phng trnh tg =
1
) (
2

mn
n m
c th thay bng

+ =
n m
tg
1 1
. Vi cc gi tr nh ca , khi tg
c th vit:
n m
1 1
1
+ = (3.30)
Chu k ca dao ng tnh cho trng hp ny c dng:
a L
a
1
1
2
: 2

= = (3.31)
hoc:
) (
2
2 1
2 1
1
J J GJ
J LJ
p
+
= (3.32)
Cc gi tr gn ng ca nghim tnh ln lt theo:

+ + =
+ + =
n m
n m
1 1
2
1
2
);
1 1
(
1
3
2

nhn kt qu vi chnh xc kh hn cn thit tnh tg theo cng thc
3
3
1
1 1

+ = tg , khi :
1
) (
3
2
1
1
3
1
1

+
= +

mn
n m

hay l

+
=
3
1
1
3
1
2
1
2
1

mn
n m
.
Sau khi thay cc biu thc va xc nh vo cng thc tnh , kt qu s l:

+ + =
mn m n n m
1 1 1
3
1 1 1
2 2
1
(3.33)
Tn s tng ng:

+ + = =
mn m n n m l
a
l
a
f
1 1 1
3
1 1 1
2 2
2 2
1
1

(3.34)
Kt qu trn y c th xc nh bng cch khc, nu trong ln tnh tn s th nht chng ta gi
nh:
2 1
2 1
) (
2
1
J LJ
J J GJ
f
p
+
=

(3.35)
Thay v J
1
v J
2
thng l, cn thit thay cc biu thc phi tuyn sau vo cng thc tnh:
57
2 1
1 0
2
2 1
2 0
1
3
;
3 J J
J J
J
J J
J J
J
+
+
+
+ . (3.36)
3 DAO NG NGANG DM TR
Phng trnh dao ng ngang:
EJ M
dx
y d
=
2
2
(3.37)
EJ cng dm trng hp b un, M momen un dm.

= =

= =

w
dx
dQ
dx
y d
EJ
dx
d
Q
dx
dM
dx
y d
EJ
dx
d
2
2
2
2
2
2
(3.38)
Nu k hiu phn b lc qun tnh dc dm di dng:
2
2
t
y
g
dx A

trong = g trng lng ring vt liu, sau thay vo phng trnh trn, kt qu
nhn c phng trnh dao ng ngang ca dm.
2
2
2
2
2
2
t
y
g
A
x
y
EJ
x

(3.39)
Vi dm c tit din ngang v cng EJ khng i dc chiu di, cng thc ny mang dng:
2
2
4
4
t
y
g
A
x
y
EJ

, (3.40)
hoc:
0
2
2
4
4
2
=

t
y
x
y
a (3.41)
vi
A
EJg
A
EJ
a =
2
(3.42)
Theo thng l chng ta tin hnh xem xt dao ng ny t phng trnh dao ng hnh cosin:
y = X(Acos t + Bsint).
Trong cng thc cui X l hm ca ta x, dc dm.
X
a dx
X d
n
2
2
4
4

= (3.43)
Nu k hiu
4
2
2
k
a
n
=

, c th thy rng cc hm sinkx, coskx, sinhkx, coshkx s l nghim ring

ca phng trnh (3.43) , do vy nghim chung s l:
X = C
1
sinkx + C
2
cos kx + C
3
sinhkx + C
4
cosh kx (3.44)
Cc hng s C
1
, . . . ,C
4
trong mi trng hp c xc nh t iu kin bin.
iu kin bin
58
Dm ta t do: X = 0; 0
2
2
=
dx
X d
(3.45)
u b ngm: X = 0; 0 =
dx
dX
(3.46)
u t do dm : 0 ; 0
3
3
2
2
= =
dx
X d
dx
X d
(3.47)
u pha tri ta trn gi mm cng gi k
1
, cng ngm k
2
:

2
2
2
2
2
1
;
dx
X d
EJ
dx
dy
k
dx
X d
EJ y k = = (3.48)
u pha phi ta trn gi mm cng gi k
1
, cng ngm k
2
:

2
2
2
2
2
1
;
dx
X d
EJ
dx
dy
k
dx
X d
EJ y k = = (3.49)
Phng n th hai chn dng hm X.
Hm X c chn theo nhiu cch khc nhau, thun tin khi tnh. Hm X nn c trnh by di
dng sau y, theo xut ca Krylov, nh nghin cu Russia:
X = C
1
.K
1
(x) + C
2
.K
2
(x) + C
3
.K
3
(x) + C
4
.K
4
(x) (3.50)
hoc di dng X = C
1
.S(x) + C
2
.T(x) + C
3
.U(x) + C
4
.V(x) , theo cch k hiu khc. Theo
cch lm ny, cc hm K c dng sau:
K
1
(x) = (cosh x + cos x);
K
2
(x) = (sinh x + sin x);
K
3
(x) = (cosh x - cos x);
K
4
(x) = (sinh x - sin x); (3.51)
a) Dm ta trn hai gi cng.
X = C
1
( cos kx + cosh kx) + C
2
(cos kx + cosh kx) +
+ C
3
(sin kx + sinh kx) + C
4
(sin kx + cosh kx) (3.52)
iu kin bin:
1) 0
0
=
= x
X ; 2) 0
0
2
2
=
= x
dX
X d
(3.53)
3) 0 =
=L x
X ; 4) 0
2
2
=
=L x
dX
X d
(3.53b)






T iu kin trn c th thy rng C
1
= C
2
= 0 v C
3
= C
4
, cn sin kL = 0 l phng trnh tn s.
Nghim ln lt ca phng trnh:
kL = , 2, 3, . . . (3.54)

Hnh 3.7
59
Tn s gc ca cc dao ng tnh theo:
,...
4
;
2
2
2
2 2
2
2
2
1 1
L
a
ak
L
a
ak

= = = = (3.55)
Tn s f
n
:
A
EJ
L
k
L
a k
f
k
n

2
2
2
2
2 2 2
= = = (3.56)
v chu k tng ng
EJ
A
k
L
f
n
k

2
2
2 1
= = (3.57)
b) Dm t do trn c hai u
Trong chng mc gn ng, thn tu nm trn nc c xt nh dm t do hai u trn nn n
hi. Trng hp chung, vi dm t do hai u iu kin bin c dng:
1) ; 0
0
2
2
=

= x
dx
X d
2) ; 0
0
3
3
=

= x
dx
X d

3) ; 0
2
2
=

=l x
dx
X d
4) ; 0
3
3
=

=l x
dx
X d
(3.59)
T iu kin 1) v 2) c th vit: C
2
= C
4
= 0.
T phng trnh:
X = C
1
( cos kx + cosh kx) + C
2
(cos kx + cosh kx) +
+ C
3
(sin kx + sinh kx) + C
4
(sin kx + cosh kx)
v iu kin 3) , 4) c th thy:
C
1
( -cos kl + cosh kl) + C
3
(-sin kl + sinh kl) = 0
C
1
( sin kl + sinh kl) + C
3
(-cos kl + cosh kl) = 0.
Phng trnh tn s suy t cc quan h va nu:
( -cos kl + cosh kl)
2
- (-sin
2
kl + sinh
2
kl) = 0
T c th vit:
coskl coshkl = 1 (3.60)
Su nghim u tin ca phng trnh (3.60) s l:
k
1
l k
2
l k
3
l k
4
l k
5
l k
6
l
0 4,73 7,853 10,996 14,137 17,279
Tn s tnh theo cng thc (3.55).
c) Dm b ngm c hai u.
Trng hp chung, vi dm b ngm hai u iu kin bin c dng:
1) ( ) ; 0
0
=
= x
X 2) ; 0
0
=

= x
dx
X d

3) ( ) ; 0 =
=l x
X 4) ; 0 =

=l x
dx
X d

T iu kin c th vit: C
1
= C
3
= 0.
60
Hai iu kin sau cho php vit:
C
2
( cos kl - cosh kl) + C
4
(sin kl - sinh kl) = 0
C
2
( sin kl - sinh kl) + C
3
(-cos kl + cosh kl) = 0.
Cc cng thc trn cho php chng ta vit li phng trnh (3.60) cho trng hp ny.
d) Dm t do mt u, b ngm u kia
iu kin bin c dng:
1) ( ) ; 0
0
=
= x
X 2) ; 0
0
=

= x
dx
X d

3) ; 0
2
2
=

=l x
dx
X d
4) ; 0
3
3
=

=l x
dx
X d

T iu kin 1) v 2) c th vit: C
1
= C
3
= 0.
v iu kin 3) , 4) c th thy:
coskl coshkl = -1 (3.61)
Mt s nghim c tm nh sau:
k
1
l k
2
l k
3
l k
4
l k
5
l k
6
l
1,875 4,694 7,855 10,996 14,137 17,279
Phng trnh tn s suy t cc quan h va nu:

2 2
2
i i
i
ak
f = =
Chu k tng ng
i
i
f
1
=
4 DAO NG NGANG V XON DM NG THI
Chng ta c dp tng kt dao ng ngang v xon dm qua v d thc t gp trong ngnh ng tu
thy. Dm ch c t ngang, tham gia dao ng ngang v ng thi xon. Chiu rng cnh
thnh ca dm b, khong cch gia hai thnh h, chiu dy kt cu t. Lng dm cch tm h ta
khong cch e nh hnh trnh by di y.
Phng trnh vi phn un dm trong trng hp ny c th vit:
EJ
z
q
dx
y d
=
4
4
(a)
Trong q- phn b ti trng dc dm, EJ
z
- cng chng un ca dm, tnh theo mt ng.
61

Hnh 3.9
Mt khc khi xt dm b xon chng ta c th tm hiu phng trnh ca chnh momen gy ra xon
trong bi ton tnh:
3
3
1
dx
d
C
dx
d
C M
t

= (b)
trong C cng dm chu xon nh k hiu trn, C
1
cng sec-to, bn c c dp lm
quen t phn I ti liu [23].
Thc hin php tnh o hm theo x ca hm ny, c th thy:
qc
dx
d
C
dx
d
C =
4
4
1
2
2

(c)
Khong cch c tnh t trng tm mt ct n tm h ta c gii thiu ti hnh.
Cng thc (a) v (c) trnh by un v xon ng thi ca dm, di tc ng ti trng phn b dc
trc qua trng tm dm. Phn b ti trng ny gm cc thnh phn nh bn c quen: 1) lc qun
tnh ca chuyn ng tuyn tnh v 2) lc qun tnh do chuyn ng vng. Cc thnh phn lc c
vit di dng sau:
) (
2
2

c y
t g
A
+

v
2
2
t g
J
p

Thay cc gi tr trn y vo biu thc (a) v (c) c th vit h phng trnh chuyn ng ng thi
cho dm, gm chuyn ng ngang v xon.
( )

+ +

2
2
2
2
4
4
1
2
2
2
2
2
2
4
4
t g
J
c y
t g
c A
x
C
x
C
t g
c A
t
y
g
A
x
y
EJ
p

(d)
Gi s rng dm thc hin chuyn ng theo dng sine nh chng ta thng gp nh sau: y =
fsint va = f
1
sint, phng trnh cui c vit li theo dng sau:
( )
( )

+ + =
+ =
1
2
1
2
' '
1
) 4 (
1 1
1
2
) 4 (
f
g
J
cf f
g
c A
Cf f C
cf f
g
A
f EJ
p

(e)
62
Nh v d, chng ta xem xt trng hp un v xon ng thi cho dm ta t do c hai u. iu
kin bin trng hp ang xt c dng nh nu:
0
2
2
2
2
=

= =

=
x x
y
y

ti x = 0 v x = l.
iu kin ny c tha mn nu cc hm f v f
1
c chn theo cch sau:
l
x i
f
l
x i
y f

sin ; sin
0 1 0
= =
Nu k hiu:
( )
( )
2 2 4
4 4
1
2 2 2
2
4
4 4
2
; ;
Ac J
Ac
Ac J l
g i C l C
A l
g EJi
p p
i
T B
+
=
+
+
= =

, trong
B
,
T
tn s dao
ng ring p dng cho dm b un (B) v b xon (T), sau khi thay cc biu thc ny vo (e) c th
vit :
( )
( )

= +
=
0
0
0
2 2
0
2
0
2
0
2 2


T
B
y
c y
(f)
hoc di dng ma trn:
( )
( )
{ } 0
0
0
2 2 2
2 2 2
=

y c
T
B
(f)
m bo nghim y
0
v
0
khc khng, nh thc h phng trnh cn tha mn iu kin:
( )( ) 0
4 2 2 2 2
= c
T B
(g)
T c th tnh:
( ) ( )
( ) c
c
T B B T B T

+ +
=
1 2
2 2 2 2 2 2
2
(h)
5 DAO NG DM TRN NN N HI
Nh cp tu thy ni trn nc c xt nh dm trn nn n hi. Ti y chng ta cn x
l bi ton dao ng ca dm trn nn n hi vi h s nn (h s Winkler) bng k.
y k w
dx
y d
EJ
dx
d
.
2
2
2
2
=

(3.75)
Thay th w bng lc qun tnh trong phng trnh dao ng, phng trnh vi phn dao ng ngang s
l:
2
2
2
2
2
2
t
y
g
A
ky
x
y
EJ
x

= +

(3.76)
Trng hp dm tr phng trnh cui c th vit li:
2
2
4
4
t
y
g
A
ky
x
y
EJ

= +

(3.77)
Hm y theo truyn thng s l y = X(Acos t + B sin t). T c th vit:
X
g
A
kX
dx
X d
EJ
n
2
4
4

= + (3.78)
Trng hp n gin nht c th chn dm ta trn gi, dao ng ngang. Hm X nn vit di dng:
63
l
x i
X
i

sin = (3.79)
Li gii phng trnh xc nh theo cch sau.
( )

+ =
4
2
2 2
i
l
ai
i
(3.80)
vi
4
4
2
;

EJ
kl
A
EJg
a = = (3.81)
Nu phng trnh ginh cho y c vit thnh:
( ) t p B t p A
l
x i
y
i i i i
i
sin cos sin
,... 3 , 2 , 1
+ =

=

(3.82)
cc hng s A
i
v B
i
c tm sau khi tha mn cc iu kin ban u. Trong nhiu trng hp
vng dm ban u c tm di dng chui hnh sin:
l
x i
y
i
i

=
=
,... 3 , 2 , 1
sin
Khi xc nh cng bin dng, c th coi nng lng nn n hi nh sau:

l
dx ky
0
2
2
1

Chuyn v o tm di dng bin phn ca y:
l
x i
y
i

sin = . T :
i i i i
Q
l A
g

2
2
= + & & (3.83)
Trong cng thc cui ny,
i
nh thng l din t tn s dao ng ring, i lng Q
i

i
l

cng
o ca lc cng bc. Nu dao ng cng bc ny do lc iu ha P
0
sint, t ti v tr cch u
bn tri khong c, lc Q
i
c xc nh theo cch quen trn.
Nghim phng trnh vi phn c tm di dng:
( ) [ ]
1 1
0
) ( sin
2
sin cos
1
dt t t Q
l A
g
t B t A
i
t
t t i
i
i i i i i
+ + =
=


(*)
Hai thnh phn u miu t dao ng t do, ph thuc vo iu kin ban u. Thnh phn th ba
miu t dao ng cng bc.
V d n gin sau y minh ha cch gii bi ton ang cp. Dm di l chu tc ng lc P =
P
0
sint
1
, im t lc cch u bn tri khong cch c. Trong trng hp c th ny, lc Q
i
tnh theo
cch quen thuc:
l
c i
t P Q
i

sin sin
1 0
=
Thay biu thc cui vo (*), v nu ch xt dao ng do lc cng bc gy, biu thc tnh
i
s
mang dng:
( ) ( )

+
= t
l
t
l i a
l
l
c i
P
A
g
i
i i
i

sin sin sin

2
2 2 4 2 4 2 4
3
0

64
Thay biu thc cui vo chui ginh cho y nu trn, kt qu s nhn c:
( )

+
=
1
4 2 2 4 4 2 4 2 4
3
0
) (
sin sin sin sin sin sin
2
i
i
i
l
t
l
x i
l
c i
l i a
t
l
x i
l
c i
A
l gP
y

V u ca biu thc bn phi din t dao ng cng bc, cn v sau l dao ng t do nh chng
ta vn vit. Nu coi = 0 cn P = P
0
sint chng ta nhn c phng trnh vng dm di tc
ng ca P, trng thi tnh.
( )

+
=
1
4 4
3 sin sin
2
i
i
l
x i
l
c i
EJ
l P
y


(3.84)
Nu thay c = l / 2 , khi P nm gia dm, biu thc tnh y s l :

+
+
+
+

+
= ...
5
5
sin
3
3
sin
1
sin
2
4 4
3

l
x
l
x
l
x
EJ
l P
y (3.85)
Vi trng hp 0, biu thc tnh ng cong vng y c vit ti (3.85), khc cng thc
vit cho trng thi tnh phn b sung sau h s l -
2 4
4 2
a
l

. H s , suy ra t cng thc nu:

= =
g
A
k
EJ
l
EJg
A l
EJ
kl
a
l
2
4
4
4
4 2
4
4
2 4
4 2

(3.86)















65
Chng 4


CC PHNG PHP TNH


1 PHNG PHP RAYLEIGH
Nng lng h thng gm th nng U v ng nng T:
E = T + U = const (4.1)
Hm chuyn v vit di dng hm iu ha, tn s gc v pha :
( ) + = t t cos ) ( X x (4.2)
trong

=
) (
) (
) (
) (
2
1
t x
t x
t x
t
n
M
x v

=
3
2
1
X
X
X
M
X (4.3)
Cng thc xc nh th nng v ng nng h thng:
x m x & &
T
t T
2
1
) ( = v kx x
T
t V
2
1
) ( = (4.4)
Hm T v U, sau khi thay (4.2) vo (4.4) c hiu l:
( ) = t t T
T 2 2
2
1
sin ) ( mX X v ( ) = t t V
T 2
2
1
cos ) ( kX X (4.5)
T quan he E = T
max
+ 0 = 0 + U
max
, co the viet T
max
= U
max
(4.6)
trong :

2
2
1
max
. mX X
T
T = v kX X
T
V
2
1
max
= (4.7)
T quan h (4.6) v (4.7) xc nh
2
:

mX X
kX X
T
T
R = =
2
(4.8)
K hiu R trc cng thc (4.8) vit tt t Rayleigh, c ngha php thng (quotient) Rayleigh.
Vi h thng c th p dng cch lm ri rc ha kt cu, gm n bc t do, T
max
v U
max
xy
dng theo dng sau:
T
max
= [ m
1
(a
1
)
2
+ m
2
(a
2
)
2
+... + m
n
(a
n
)
2
]
U
max
= (m
1
g a
1
+ m
2
g a
2
+... + m
n
g a
n
)
trong a
i
bin dao ng khi lng th i, l m
i
, g gia tc trng tri t, bng 9,8065 m/s
2
T y c th vit:

=
=
=
n
i
i i
n
i
i i
a m
a m g
1
2
1 2
(4.9)
66
Phn ln cc phng php tnh nhm xc nh tn s dao ng ring thn tu thy cp ti
chng cui sch s dng cng thc (4.8) hoc (4.9) ca Rayleigh.
V d 1: Xc nh tn s ring dao ng ngang dm cng xn di L, cng EJ, khi lng trn
n v di m, hnh 4.1.
Phng trnh dao ng dm: 0
2
2
4
4
=

t
w
m
x
w
EJ , trong w hm chuyn v ngang.
dx
dx
w d
EJ U
L
2
2
2
0
max
2
1

=

cn bng vi dx x w x m T
L

=
0
2
2
max
) ( ) (
2

.
a/ Nu ng cong un dm dng parabol bc 2: w = (x/L)
2
, kt qu tnh s l:
3
2
2
0
2
2
2
0
4 2
L
EJ
dx
L
EJ dx
dx
w d
EJ
L L
=

v 5 / . ) / .( ) ( ) (
0
4
0
2
L m dx L x m dx x w x m
L L
= =


;
.
20
) ( ) (
4
0
2
2
2
2
0 2
L m
EJ
dx x w x m
dx
dx
w d
EJ
L
L
=

v
4
47 , 4
mL
EJ
=
b/ tng chnh xc php tnh cn thit ci bin hm chuyn v w ca dm. Nhn ng cong
dm khi dao ng ti tn s thp nht, trng vi ng dm b un khi chu ti trng P t u pha
phi.

+ = 2
3
6
w
3
3 3
L
x
L
x
EJ
PL

4 2
3
3
2
3
0
3
2
11
140
2
3
6
6
.
mL
EJ
dx
L
x
L
x
EJ
PL
m
EJ
PL
P
L
=

Kt qu tnh:
m
EJ
L
2
53 , 3
=
c/ Chn hm chuyn v trng vi ng n hi do ti q = mg gy ra.

+ = 1
3
4
3 8
w
4
4 4
L
x
L
x
EJ
mgL

Thng s Rayleigh:
( )
;
13
162
. 3240 / . 13
) 20 /(
) ( ) (
) ( ). (
4 2 2 9 2 3
5 2
0
2
0 2
mL
EJ
I E L g m
EJ gL m
dx x w x m
dx x w x m
g
L
L
= = =

Kt qu tnh:
m
EJ
L
2
52 , 3
=

Hnh 4.1 Dm cng xn di L
67
V d 2: Xt dao ng ngang dm di L, ta trn hai gi, khi lng ca n v chiu di m, cng
chu un EJ.
Phng trnh dao ng dm chu un:
0
2
2
4
4
=

t
w
m
x
w
EJ (a)
Nghim tm dng: w(x, t) = w(x). cost = (L cos[ 2x / L ] ) cost.
Gi tr ln nht ca U v T :
dx
dx
w d
EJ U
L
2
2
2
0
max
2
1

=

(b)
dx x w x m T
L

=
0
2
2
max
) ( ) (
2

(c)
Sau cn bng U
max
= T
max
theo cch gii ca Rayleigh c th nhn c:
dx x w x m
dx
dx
w d
EJ
L
L

=
0
2
2
2
2
0 2
) ( ) (
,
T c th tnh:
m
EJ
L
2
1
792 , 22
= .
C th tm tt l, chn hm chuyn v w(x) st vi thc t l iu kin cn li gii gn vi
thc. Tm tn s dao ng thn tu, dao ng ng trc tu vv khng nm ngoi qui nh .
2. PHNG PHP RAYLEIGH RITZ
Phng php Ritz, t bi bo ber eine neue Methode zur Lsung gewissen Variations-Problem
der mathematischen Physik, J. Rein Angew. Math. (1909), tm cch thay th bin u trong phim hm

=
2
1
) ,..., ' , (
x
x
dx x u u F , bng nghim gn ng di dng hm xp x, v d u =

=
N
i
i i
f a
1
. Hm c s
f
i
, i =1,2,..., N phi tho mn cc iu kin bin S = S
p
+ S
u
, iu kin ng lc hc trn S
p
, v iu
kin ng hc ti bin S
u
.
Tng th nng gp trong nhng bi ton c hc kt cu = U W, trong U cng bin
dng, W cng ngoi lc:

=
V
T
dV U } { } {
2
1
,

=
u
S
T
dS u F W } { } { , (4.11)
trong {}= [C]{} vector bin dng, {} = [D]{} vector ng sut, {F} vector ngoi
lc v {u} vec to chuyn v.

=
u
S
T
V
T
dS u F dV } { } { } { } {
2
1
(4.12)
T php bin phn xc nh :
68

=

u
S
T
V
T
dS u F dV } { } { } { } {
2
1
(4.13)

=
u
S
T
V
T
dS u F dV D } { } { } ]{ [ } { (4.14)
hay l U = W hoc (U W) = 0. (4.15)
Trng hp chung hm chuyn v c th th hin: { } [ ]
T
u u w v =

=
=
=

i
i i
i
i i
i
i i
z y x c
z y x b
z y x a u
) , , ( w
) , , ( v
) , , (

(4.16)
trong
a
i
, b
i
, c
i
- cc h s cn xc nh ng vai tr ta suy rng,

i
,
i
,
i
cc hm c s hay cn gi hm th.

=
=
=

i
i i
i
i i
i
i i
z y x c
z y x b
z y x a u
) , , ( w
) , , ( v
) , , (



(4.17)
Thay nhng biu thc t (4.17) vo

=
V
dV u U
0
2
1
, bit rng
+

+ +

=
2
2
2
2
0
2 1 z
w
y x
u
z
w
y x
u
u

v v

+

+ +

+ +

+
2
2 2
2
1
z
u
x
w
yx
w
z x y
u

v v
(4.18)

=
w
x
u
z x
w
z
u
u
x x
u
zx
x


L (4.19)
c th vit:
dxdydz v
x
u
y
w
y
v
z
w
x
u
z
w
z
v
y
u
x
U
xy yz zx z y x

=
69
Thay gi tr u, v, w t biu thc (4.17) vo phng trnh xc nh U v W tip tc xc
nh bin phn .

=
i
i
i
i
i
i
i
c
c
b
b
a
a
, i=1,2,,n (4.18)
T biu thc (4.18), vi a
i
, b
i
, c
i
khc 0, c th vit:
n i
c b a
i i i
,..., 2 , 1 0 ; 0 ; 0 = =

(4.19)
T y a n lp h phng trnh i s tuyn tnh cha cc n a
i,
b
i
, c
i
.
V d 3: p dng phng php Rayleigh Ritz xc nh tn s ring tm hnh ch nht cnh nm a,
cnh ng b, chiu dy t = const, bn mp b ngm.
Th nng tm chu un c tnh nh sau:
( ) dxdy
y
w
x
w
y x
w
y
w
x
w
D U

=
2
2
2
2
2
2
2
2
2
2
2
0
1 2
2
1
,
trong
( )
2
3
1 12
=
Et
D - cng tm, vi t chiu dy tm.
Khi lng qui i tm tnh bng biu thc: m =

dxdy tw
2
, trong - khi lng ca n
v din tch tm.
Hm chuyn v tm dng:

+ =
b
y
a
x
C w
2
cos 1
2
cos 1
tab C
b b a a
ab D C U
2
4 2 2 4
4 2
0
4
9
;
3 2 3
2 . . =

+ + = M
iu kin th nng v ng nng tm t cc tr:
,... 2 , 1 ; 0
2
1
2
0
= =

k
C
U
C
k k
M
M
0 2
2U
= hay l
4 4
4
2
2
2 0
3 2 3
3
4 2
ta
D
b
a
b
a U

+ + = =
M

Trng hp a = b c th thy rng:
4
2 , 37
ta
D

=
V d 4: Xc nh hai tn s thp nht dm ta trn trn hai gi n, ti hai u theo phng php
Rayleigh-Ritz.
Hm chuyn v thnh lp dng chui hu hn sau, nhm tha mn iu kin bin:

3
3
2
2 1 0
) (

+ + =
L
x
a
L
x
a
L
x
a a x w (a)
iu kin bin: w(0) = w(L) = 0 (b)
C th vit li phng trnh (a) di dng:
70

=
L
x
L
x
A
L
x
L
x
A x w
3
2
2
1
) ( (a)
Thnh phn ma trn khi lng m
ij
v ma trn cng k
ij
, i, j = 1, 2:
30
0
2
2
2
11
mL
dx
L
x
L
x
m m
L
=

;
20
0
3
3
2
2
12
mL
dx
L
x
L
x
L
x
L
x
m m
L
=

;
105
8
0
2
3
3
22
mL
dx
L
x
L
x
m m
L
=

; m
21
= m
12;
3
2
0
2
2
2
2
11
4
L
EJ
dx
L
x
L
x
dx
d
EJ k
L
=

=


3 3
3
2
2
2
0
2
2
2
2
12
6
L
EJ
dx
L
x
L
x
dx
d
L
x
L
x
dx
d
EJ k
L
=

=

;
3
2
0
3
3
2
2
22
12
L
EJ
dx
L
x
L
x
dx
d
EJ k
L
=

=


k
21
= k
12

0
12 6
6 4
105
8
20
1
20
1
30
1
2
3
=

mL
L
EJ

Phng trnh c trng t h phng trnh trn y c dng:
EJ
mL
4 2
2
; 0
20
6
105
8
12
30
4

= =

T y c th nhn c:
; 2520
; 120
4
2
2
4
2
1
mL
EJ
mL
EJ
=
=

3. S DNG TA SUY RNG V PHNG TRNH LAGRANGE XY DNG
PHNG TRNH CHUYN NG
Phng php cn mang tn method of constraints. Hm chuyn ng tm di dng:
( ) ( )

=
=
n
i
i i
t q x t x w
1
) , ( (4.20)
trong
i
(x) hm th v q
i
(t) ta suy rng. Hm q mang dng ( ) ( ) = t t cos a q .
Hm T(t) v U(t):
( ) ( )

= =
=
n
i
n
j
j i ij
t q t q m t T
1 1
2
1
) ( & & v ( ) ( )

= =
=
n
i
n
j
j i ij
t q t q k t U
1 1
2
1
) ( (4.21)
Thay cc biu thc trn vo cng thc Lagrange:
n r
q
U
q
T
q
T
dt
d
r r r
, , 2 , 1 0 L
&
= =

(4.22)
c th vit:
n r t q k t q m
n
j
j rj
n
j
j rj
, , 2 , 1 ) ( ) (
1 1
L & & = +

= =
hay l 0 kq q m = + & & (4.23)
71
4. PHNG PHP STODOLA
Phng php do Stodola
4
xut tnh vn tc gii hn trc tua bin, ng knh thay i.
Phng php thch hp cho cc h thng c nh. Din t theo cch lp cc php tnh ma trn ca
phng php nh sau:
1. Xy dng bi ton tr ring:
Mx Kx
2
=
Nghim u thng gn dng x
(0)
= [ 1 1 1]

) 0 (
2 *
) 1 (
Mx Kx =
2. Vector x
*
(1)
chuyn thnh vector chun ha, thnh phn u tin mang gi tr 1.

( )
*
1 ) 1 (
x x =
3. Th tc ny lp t c dy gi tr
1
,
2
,
3
,
4.
n
tim cn n
( )
2
0
v vector x
(n)
tim cn n cc mode ring nh nht.
V d : Xc nh tn s ring h thng trnh by ti hnh 4.2.
Ma trn cc h s nh hng v ma trn khi lng:

=
1 0 0
0 2 0
0 0 4
7 4 1
4 4 1
1 1 1
1
p
T
J
k
M A
Bi ton xc nh tr ring vit di dng:
( ) 0 I AM = +
2
hay l
2
AM =

3
2
1 2
3
2
1
7 8 4
4 8 4
1 2 4
3

T
p
C
J

Vector nghim khi u nn l [ 1 2 4]
T
. Php tnh th nht:

4
3
1
12
3
48
36
12
3
4
2
1
7 8 4
4 8 4
1 2 4
3
2 2 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

Php lp, th 2:

0 , 4
2 , 3
1
14
3
56
44
14
3
4
3
1
7 8 4
4 8 4
1 2 4
3
2 2 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

Php lp th ba:

4
Stodola, A. (1859-1942) , Dampf und Gasturbinen, 1910, Berlin

Hnh 4.2
72

00 , 4
18 , 3
1
4 . 14
3
6 , 57
6 , 45
4 , 14
3
0 , 4
2 , 3
1
7 8 4
4 8 4
1 2 4
3
2 2 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

Gi tr ca vector ring sau ln tnh th ba gn vi kt qu trc , iu ny cho php dng
php lp. T phng trnh u xc nh:
1 4 , 14
3
1
2
=
T
p
C
J
hay l
p
T
J
C
46 , 0
1
= =
V d : Xc nh tn s dao ng th hai v th ba h thng ang cp.
Ma trn D
(2)
tm theo cch va trnh by D
(2)
= D -
2
1
1

1
T

1
M.
[ ]

=
1 0 0
0 2 0
0 0 4
4
18 , 3
1
4 18 , 3 1
1
7 8 4
4 8 4
1 2 4
3
2
1
2
) 2 (

T
p
C
J
D

=
7 8 4
4 8 4
1 2 4
3
2
) 2 (
T
p
C
J
D
Gi s dng dao ng th hai l [1 0 -1]. a gi tr ny vo lm im xut pht cho php lp
tip theo, chng ta nhn c kt qu sau.

=
=
=

1
0
1
3
3
3
0
3
3
1
0
1
3 6 , 1 0
0 6 , 1 0
3 4 , 4 0
3
2 2
3
2
1 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

T y c th tnh:
3
3
1
2
=
T
p
C
J
hay l
p
T
J
C
3
3
2
=
Ma trn D
(3)
tm theo cch va trnh by D
(3)
= D -
2
2
1

2
T

2
M.
[ ]

=
1 0 0
0 2 0
0 0 4
1
0
1
1 0 1
1
3 6 , 1 0
0 6 , 1 0
3 4 , 4 0
3
2
2
2
) 3 (

T
p
C
J
D

=
75 , 1 0 0
36 , 1 0 0
437 , 0 0 0
3
2
) 3 (
T
p
C
J
D
Gi s dng dao ng th ba l [2 0 1]. a gi tr ny vo lm im xut pht cho php lp
tip theo, chng ta nhn c kt qu sau.
73

=
=
=

1
72 , 0
25 , 0
75 , 1
3
3
0
3
3
1
0
2
75 , 1 0 0
36 , 1 0 0
437 , 0 0 0
3
2 2
3
2
1 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

t :

1
72 , 0
25 , 0
75 , 1
3
3
0
3
3
1
72 , 0
25 , 0
75 , 1 0 0
36 , 1 0 0
437 , 0 0 0
3
2 2
3
2
1 2
3
2
1
T
p
T
p
T
p
C
J
C
J
C
J

T y c th xc nh tn s dao ng th ba:
) 25 , 0 75 , 1 (
3
25 , 0
2
=
T
p
C
J
hay l
p
T
J
C
75 , 1
3
2
=
5. TH TC DUNKERLEY
Th tc do Dunkerley trnh by trong bi bo On the whirling and vibration of shafts, Philos.
Trans. R.Soc. London, 1894. Dunkerley pht biu t cch nhn trc quang, rng tn s ring
1
,
2
,
,
n
ca trc khng tnh khi lng v trc khng khi lng mang mi khi lng ring l th
hin bng cng thc:

2 2
2
2
1
2
1 1 1 1
n

+ +

= L

(4.24)
Tan so rieng th n c hiu l:

n nn
n
m a
1
= , vi a
ij
he so anh hng. (4.25)
Cong thc tnh tan so rieng c ban co dang:

k kk
r
m a m a m a + + +

L
2 22 1 11
2
1
1
(4.26)
Minh hoa cach lam nh sau y. Xac nh tan so rieng dam cong xon khong trong lng
mang 2 khoi lng M
1
va M
2
nh tai hnh 4.3.

Hnh 4.3
Tan so rieng le th 1 va th 2 tnh theo cong thc:

( )
EI
b l
a
M a EI
a
a
M a 3
;
1
3
;
1
3
22
2 22
2
3
11
1 11
1

= = = =
Tan so rieng c ban th nhat tnh theo cong thc Dunkerley:

2 22 1 11
2
1
1
M a M a
r
+
(4.27)
74
Tan so rieng c ban th hai tnh theo cong thc Dunkerley:

2 22 1 21
2 12 1 11
2 22 1 11 2
1
M a M a
M a M a
M a M a
r
+
trong o ( ) 3 /
2
2
12
a b l
EI
a
a = (4.28)
V du : Tnh tn s ring h thng nu ti hnh 4.4. cng cc dm ca m hnh ngm hai u xc
nh theo biu thc 12EI/L
3
, trong I tng momen qun tnh mt ct cc ct. Trong v d ny W
1
=
W
2
= W; I
1
= 2I
2
, L
1
= L
2
= L v k
1
= 2(12EI/L
3
), k
2
= 12EI/L
3
. Li gii chnh xc:

=
3
2
2
3
2
1
12
414 , 3 ;
12
586 , 0
WL
EIg
WL
EIg










Tn s ring l ca h thng tnh theo cng thc:

g W
k
m
k
/
1
1
1
1 2
1
= = , hnh 4.5a (a)

( ) ( ) g W k k
k k
m k k
k k
/
2 2 1
2 1
2 2 1
2 1 2
2
+
=
+
= , hnh 4.5b (b)
Tn s ring c bn tnh theo cng thc Dunkerley:

( )

=
+
+ =
3
2 2 1
2 1
1
2
1
12
5 , 0
1
WL
EIg
m k k
k k
k
m

C th nhc li phng trnh dao ng ( ) 0 X I A = +
2
, trong A l ma trn do, cc thnh phn
ca ma trn l cc h s nh hng a
ij
ang xem xt. T y phng trnh tn s c dng:
0
2
= + I A (4.29)
nh thc c th khai trien dng phng trnh a thc bc 2n:
( ) ( ) 0 1 1
2
1
1 2 2
1
2
= + + +
+

n n n
n
n
n
c c c L (4.30)
trong
nn
b b b c + + + = L
22 11 1


nn n n
n n n n
b b
b b
b b
b b
c
1 ,
, 1 1 , 1
22 21
12 11
2

+ + = L
vi b
ij
= a
ij
m
j
, a
ij
h s nh hng (h s do), m
j
khi lng
T nhng nm tm mi nhiu nh khoa hc a xut cc cng thc gn ng, ging cng thc
Dunkerley, dng sau:
0 1
2
1 1
= c ging cng thc Dunkerley (4.31)
0 1
2
2
2
2
1
= c
. . .

Hnh 4.4 M hnh ton nh hai tng

(a) (b)
Hnh 4.5a Hnh 4.5b
75
v
2 2
3
2
2
2
1
1
n
n
c
L
= (4.32)
V d : Tnh tn s ring th nht v th hai trc ta trn hai gi mang khi lng m ti L/3 v
(2/3)L. cng trc EI, chiu di L.
H s nh hng:
( ) [ ] ( ) [ ]
i j i j i j ij
q q q q q q
EI
L
a < =
2 2
3
1 1 1
6

( ) [ ] ( ) [ ]
i j j i j i ij
q q q q q q
EI
L
a > =
2 2
3
1 1 1
6

trong q = x/L .
cc hng s c
i
:

2
3
7
2
3
4
1
10 638 ; 10 329

= =

mL
EI
c
mL
EI
c
Xc nh tn s ring t kt qu tnh:

3
2
3
1
72 , 22 5169 , 5
mL
EI
mL
EI
= =
6. PHNG PHP SAI PHN HU HN
Vi cc bi ton mt chiu, hm lin tc y = y(x), vi gi tr u y(x
0
) = y
0
, c th xc nh gi tr
ca hm ti v tr x
0
+ x da vo chui Taylor, dng trong trng hp tin:
y(x
0
+ x) = y(x
0
) +
x
1!
y(x
0
) +
x
2
2!
y(x
0
) +
x
3
3!
y(x
0
) +.... (4.33)
Khi tnh tht li chui Taylor c dng:
y(x
0
- x) = y(x
0
) -
x
1!
y(x
0
) +
x
2
2!
y(x
0
) -
x
3
3!
y(x
0
) +.... (4.34)
Nu ch ly hai thnh phn u ca chui, s nhn c:
y(x
0
+ x) - y(x
0
- x) =
1
2x
[y(x
0
)x - (-y(x
0
)x) ] (4.35)
Cng thc tnh o hm bc 1, ti x
0
s l:
y(x
0
) =
1
2x
. [y(x
0
+ x) - y(x
0
- x) ] (4.36)
Nu ly ba thnh phn u ca chui tnh, php tnh o hm bc hai s nh sau: y(x
0
+ x) - y(x
0

- x) = 2y(x
0
) + y(x
0
). (x)
2

t : y(x
0
) =
1
2
( ) x
.[ y(x
0
+ x) - 2y(x
0
) + y(x
0
- x) ]
Cng thc tnh o hm bc t 1 n 4 c dng sau:
y
k
=
1
2x
(y
k+1
- y
k-1
)
y
k
=
1
2
2
x
(y
k+1
-2y
k
+ y
k-1
)
y
k
=
1
2
3
x
(y
k+2
- 2y
k+1
+ 2y
k-1
- y
k-2
)
y
(IV)

k
=
1
2
4
x
( y
k+2
- 4y
k+1
+6y
k
- 4y
k-1
+ y
k-2
) (4.37)
76
p dng phn tch chui Taylor vi hm y = f(x) xc nh trong min 0 -L, c th tnh gi tr hm ti
x
k+1
, k = 0, 1, 2,..., da vo cc biu thc y, y,...

x
0
x
1
x
2
x
L
x

Hnh
tm nghim phng trnh 0
4
4
4
= w
dx
w d
cn thit m hnh ha dm di L thnh dm 3 on,
mang s nt, tnh t tri sang 0, 1, 2, 3. Hai nhp b sung, nhp dm o, c a vo gip thc hin
cc php o hm. Nt (-1) nm u bn tri ca dm b sung tri, nt th (4) nm pha phi dm. H
phng trnh p dng cho nt 1 v 2 c dng:
(w
-1
- 4w
0
+ 6w
1
- 4w
2
+ w
3
) -
1
4
w
1
= 0
(w
0
- 4w
1
+ 6w
2
- 4w
3
+w
4
) - w = 0
trong
1
4
= (L/3)
4
.
4

iu kin bin:
w
0
= w
3
= 0;
dw/dx = 0 ti nt 0 v 3.
T w
-1
= w
1
; w
2
= w
4
.
H phng trnh, sau khi gn iu kin bin c th vit:
7w
1
- 4w
2
=
1
4
w
1

-4w
1
+ 7w
2
=
1
4
w
2

hoc l:

2
1 4
1
2
1
1 0
0 1
7 4
4 7
w
w
w
w

Tn s th nht v th hai c tnh nh sau:
;
59 , 15
2
1
m
EJ
L
= vi

1
1
2
1
w
w

;
85 , 29
2
2
m
EJ
L
= vi

1
1
2
1
w
w

Gii bi ton o hm ring trong 2D
o hm ring tnh theo cch sau:

+
m
m
n
n
n
n
m
m
n m
n m
x
f
y y
f
x y x
f
(4.38)
o hm ring bc 4 v bc 2 dng trong tnh tn thc hin theo cng thc:

( )
;
4 6 4
4
, 2 , 1 , , 1 , 2
4
,
4
x
f f f f f
x
f
n m n m n m n m n m n m

+ +
=

+ +


( )
;
4 6 4
4
2 , 1 , , 1 , 2 ,
4
,
4
y
f f f f f
y
f
n m n m n m n m n m n m

+ +
=

+ +

( )
( ) ( )
;
2 4
2 2
1 , 7 1 , 1 1 , 1 1 , 1 1 , 1 , , 1 , 1 ,
2 2
,
4
y x
f f f f f f f f f
y x
f
n m n m n m n m n m n m n m n m n m n m

+ + + + + + +
=

+ + + + + +
(4.39)
Trng hp x = y = c th vit:
77

2
, 1 , 1 , , 1 , 1
,
2
2
2
2
4

+ + +
=

+ + n m n m n m n m n m
n m
f f f f f
f
y x


( ) [
( ) ( )]
2 , 2 , , 2 , 2 1 , 1 1 , 1 1 , 1 1 , 1
1 , 1 , , 1 , 1 ,
4
,
2
4
2 2
4
4
4
2
8 20
1
2
+ + + + + + +
+ +
+ + + + + + + +
+ + +

+


+

n m n m n m n m n m n m n m n m
n m n m n m n m n m n m
f f f f f f f f
f f f f f f
y y x x (4.40)

7 PHNG PHP PHN T HU HN
Phng trnh chuyn ng h thng c hc, trnh by trong h ta Descartes:
) ( ) , , (
) , , , (
) , , , ( v
) , , , (
) , , , ( t z y x
t z y x w
t z y x
t z y x u
t z y x U N =

= u (4.41)
trong u l vector chuyn v, N(x,y,z)- hm hnh dng, v U(t) - vector chuyn v nt.
Bin dng v ng sut:
) ( ); ( t t DBU D BU = = = (4.42)
Vn tc tnh theo o hm ca U:
) ( ) , , , ( t t z y x U N
&
&
= u (4.43)
Cng bin dng tnh theo cng thc:

= =
V
T
V
T
dV dV U D
2
1
2
1
(4.44)
Di dng y , biu thc cui c trin khai thnh:

=
V
T
V
T
dV dV U
0
2
1
D D (4.45)
Cng ngoi lc (gm lc nt v lc khi ) tnh theo cng thc chung:
1
1
dS dV W
T
V S
T
u P u P
S

+ = (4.46)
trong P vector lc khi, P
S
vecto lc b mt.
ng nng T:

=
V
T
dV T u u & &
2
1
(4.47)
Hm Lagrange L = T - (U + W):



=
V
T
S
S
T T
V
T T
V
T T
V
T T
dV dS dV
dV dV L
u u P N U P N U
D B U DBU B U
& &
2
1
2
1
1
1
0
(4.48)
Thay biu thc L vo bin phn theo nguyn l Hamilton

=
2
1
0
t
t
Ldt :

= =
= + = +
E
e
e
E
e
e e
W U W U
1 1
(4.49)
vi
e
= [ ]


e S
T
S
Ve
e
T
Ve
e
T
dS P dV u P dV D
e
1
1 0
} { } { } { } { 2 } { ] [ } {
2
1
(4.50)
78
} { } { } { ] [ } { ] [
} ]]{ [ ] [ } { } { ] ][ [ ] [ } {
2
1
1
1
0
1 1
C
T
e S
S
T
Ve
T
Ve
T
E
e
T
Ve
T
E
e
T
P U dS P N dV P N
dV D B U U dV B D B U W U

= +

= =

(4.51)
Gi thit rng tn ti lc cn t l vi vn tc chuyn ng, vector ti do damping th hin bng biu
thc:
{ }{ }dV u u R
Ve
T
e
& &

=
2
1
(4.52)
{ } { }{ } { } u dV u u u R R
Ve
T T
E
e
e
& & & &

= =

=

2
1
1
(4.53)
ng nng h thng:
} { ] [ ] [ } {
2
1
1 1
U dV N N U T T
E
e
Ve
T T
E
e
e
& &

= =

= =
(4.54)
trong :

=
Ve
T
e
dV N N m ] [ ] [ ] [ , ma trn khi lng phn t,

=
Ve
T
e
dV B D B k ] ][ [ ] [ ] [ , ma trn cng phn t,

=
Ve
T i
e
dV D B P } ]]{ [ ] [ } {
0
) (
, vectorr lc do bin dng ban u,

=
e S
S
T S
e
dS P N P
1
1
) (
} { ] [ } { , vector lc b mt,

=
Ve
T B
e
dV P N P } { ] [ } {
) (
, vector lc th tch.
[ ] [ ] [ ]

=
Ve
T
e
dV N N c
e
E
e
m M ] [ ] [
1

=
= ;
e
E
e
k K ] [ ] [
1

=
= ;

=
=
E
e
e
c C
1
] [ ] [


= = =
+ + + =
E
e
B
e
E
e
S
e
E
e
i
e C
P P P P P
1
) (
1
) (
1
) (
} { } { } { } { } {
Phng trnh dao ng c cn:
{ } [ ]{ } { } { } ) ( ] [ ) ( ] [ t P U K U C t U M = + +
& & &
hoc ) ( ) ( ) ( ) ( t t t t P KU U C U M = + +
& & &
(4.55)
Nu b qua lc cn khi xt dao ng, phng trnh dao ng c dng:
{ } { } { } ) ( ) ( ] [ ) ( ] [ t P t U K t U M = +
& &
hoc ) ( ) ( ) ( t t t P KU U M = +
& &
(4.56)
Trng hp 0 ) ( t P cng thc cui tr thnh:
{ } { } 0 ) ( ] [ ) ( ] [ = + t U K t U M
& &
hoc 0 KU U M = + ) ( ) ( t t
& &
(4.57)
Dao ng t do, khng cn
Phng trnh chuyn ng:
79
0 Kx x M = + & &
trong M - ma trn khi lng h thng, K - ma trn cng, x chuyn v.
Nghim tm dng:
( ) + = t cos X x
K hiu =
2
phng trnh dao ng c th vit:
MX KX = hay l ( ) 0 X M K =
2

T bi ton tr ring, vector ring suy rng MX KX = xc nh n gi tr ring:

1

2
. . .
n-1

n
v cc vector ring tng ng, X
1
. . . X
n
.

Mi cp gi tr (
i
, X
i
) tha mn phng trnh:
n i
i i i
, , 2 , 1 L = = MX KX
Phng trnh ny cng tha mn trong trng hp:
( ) ( )
i i i
X M X K = , vi hng s.
iu kin trc giao theo M v theo K c hiu l:

ij j
T
i
= MX X v
ij i j
T
i
= KX X
trong la delta Kronecker
Xc nh tr ring hay tn s ring t phng trnh tn s:
det(K -
2
M) = 0
Dng dao ng hay vector ring xc nh t quan h:
( ) 0 =
i i
X M K
V d : Xc nh tr ring, vector ring bi ton sau:
M K =
trong :

=
2
1
1
1
;
2 1 0
1 4 1
0 1 2
M K
det(K - M) = -
3
+ 3
2
- 11 + 12 = 0
T y tnh c:
1
= 2;
2
= 4;
3
= 6.
xc nh vector ring dng chun ha cn x l hai phng trnh:
0
1 1 0
1 2 1
0 1 1
1
=

v { }[ ]{ } 1
1 1
= M
T

Vector
1
mang gi tr sau:
{ }
T

=
2
1
2
1
2
1
1

Bng cch tng t xc nh:
{ } [ ]
T
1 0 1
2
= v { }
T

=
2
1
2
1
2
1
3


V d 1: Xc nh tn s v dng dao ng dc dm, tit din thay i ti hnh 4.2. Dm di L, gm
hai on, phn u di L/2, din tch tit din A
1
= 2A; phn hai di L/2, tit din A
2
= A. Chia dm lm
80
hai phn t, mi phn t di L/2, trng vi hai phn on va miu t. p dng cch lm nu trn, xc
nh ma trn cng, ma trn khi lng cho cc phn t TRUSS v cho ton h:

=
1 1
1 1
2
1 1
1 1
] [
;
1 1
1 1
4
1 1
1 1
] [
2
2 ) 2 (
1
1 ) 1 (
L
AE
l
E A
k
L
AE
l
E A
k

va

=
2 1
1 2
12 1 1
1 1
6
] [
;
2 1
1 2
6 2 1
1 2
6
] [
2 2 ) 2 (
1 1 ) 1 (
AL l A
m
AL l A
m



Sau tp hp ma trn:

= =

= =

=
=
=
=
2 1 0
1 6 2
0 2 4
12
] [ ] [
;
1 1 0
1 3 2
0 2 2
2
] [ ] [
1
) (
1
) (
AL
m M
L
AE
k K
E e
e
e
E e
e
e

Chuyn v c xt di dng hm iu ho vi bin dao ng X:
t i
e t w

X = ) ( , t
[ ]{ } 0 ] [ ] [
2
= X M K hay l ( ) 0
2
= X M K .
xc nh tn s ring cn thit gii phng trnh K -
2
M = 0 hoac K - M = 0.
0
2 1 0
1 6 2
0 2 4
12
1 1 0
1 3 2
0 2 2
2
=

AL
L
AE

Ky hieu:
E
L
24
2 2
2

= , phng trnh c viet lai nh sau:
0
) 2 1 ( ) 1 ( 0
) 1 ( ) 2 1 ( 3 ) 1 ( 2
0 ) 1 ( 2 ) 2 1 ( 2
2 2
2 2 2
2 2
=
+
+ +
+




T o:
0 ) 2 )( 2 1 ( 18
2 2 2
=
Khi
2
= 0:
1
2
= 0;
Khi
2
= :
1
2
= 12E / (L
2
) ; t o
1
=
2
46 , 3
L
E

Khi
2
= 2:
2
2
= 48E / (L
2
) ; t o
2
=
2
92 , 6
L
E

p dng tnh trc giao kho st dng dao ng dc trc dm sau:

Hnh 4.2
81
Phng trnh tn s:
0
2 1
1 6
12 1 1
1 3
2
2
=

AL
L
AE

Nghim phng trnh:
) /( 159 , 5 ; ) /( 985 , 1
2
1
2
1
L E L E = =
Vector ring:
{ } { }

=
1
5775 , 0
;
1
5775 , 0
2 1

T { }[ ]{ } 1
1 1
2
1
= M
T
xc nh: AL / 526 , 1
1
=
T { }[ ]{ } 1
2 2
2
2
= M
T
xc nh: AL / 053 , 2
2
=
[ ]

=
0530 , 2 5260 , 1
1860 , 1 8812 , 0
1
AL

V d4 : Xc nh tn s dao ng ring khung phng nu ti hnh 4.5
D liu lin quan khung phng: m un n hi E = 200 GN/m
2
, khi lng ring = 7800
kg/m
3
. Momen qun tnh mt ct phn t 1 v 2: J =2356 cm
4
= 2356x10
-5
m
4
; din tch mt ct A
= 32 cm
2
= 32x10
-4
m
2
.
Momen qun tnh mt ct phn t 3: J = 5254 cm
4
= 5254x10
-5
m
4
; din tch mt ct A = 66
cm
2
= 66x10
-4
m
2
.
2
A
H

1
D
C
x
y
z
m
m 1,7m

Hnh 4.5
Chiu di phn t 1: m l 464 , 3 3 732 , 1
2 2
= + = ; ti phn b do trng lng bn thn: 7800 x
32 x10
-4
= 24,96 kg/m.
Bn knh cung un m x
x
x
A
J
r
2
4
5
10 581 , 8
10 32
10 356 , 2

= = =
[m]e,1 + [m]
e,2
.

=
L L L L
L L
L L L L
L L
AL
m
e
4 22 0 3 13 0
22 156 0 13 54 0
0 0 140 0 0 70
3 13 0 4 22
13 54 0 22 156 0
0 0 70 0 0 140
420
] [
2
2 2
1 ,


82

=
2 2
2 2
2 ,
4 3 0 3 0
3 36 0 3 36 0
0 0 0 0 0 0
3 0 4 3 0
3 36 0 3 36 0
0 0 0 0 0 0
420
] [
L L L L
L L
L L L L
L L
AL
m
e


Tnh trong h ta cc b gn lin vi phn t:
[ ]

=
96 , 9
71 , 15 18 , 32
0 0 82 , 28
43 , 7 25 , 9 0 96 , 9 0
25 , 9 05 , 11 0 71 , 15 18 , 32 0
0 0 41 , 14 0 0 82 , 28
~
1
DX
m
Chuyn sang h ta chung ma trn khi lng phn t 1 c dng:
[ ]

=
97 , 9
85 , 7 66 , 29
60 , 13 45 , 1 34 , 31
43 , 7 63 , 4 01 , 8 97 , 9
63 , 4 57 , 13 45 , 1 85 , 7 66 , 29
01 , 8 45 , 1 89 , 11 60 , 13 45 , 1 34 , 31
1
DX
m
Phn t s 2 c chiu di l = 3m, phn b khi lng p = 24,96 kg/m v r = 8,581x10
-2
m. Ma trn
khi lng m
2
c tnh nh sau:
[ ]

=
97 , 9
85 , 7 66 , 29
60 , 13 45 , 1 34 , 31
43 , 7 63 , 4 01 , 8 97 , 9
63 , 4 57 , 13 46 , 1 85 , 7 89 , 27
96 , 24
2
DX
m
Phn t s 3: di 3m, p = 51,48kg/m; r = 8,915x10
-2
m. Sau khi tnh chuyn sang h ta chung,
ma trn m
3
c dng:
[ ]

=
40 , 13
0 48 , 51
31 , 24 0 53 , 57
97 , 9 0 30 , 14 40 , 13
0 74 , 25 0 0 48 , 51
30 , 14 0 70 , 19 31 , 24 0 53 , 57
3
DX
m
Sau x l iu kin bin, ma trn khi lng ton h thng c vit li nh sau:
83

=
89 , 19
79 , 11 37 , 79
31 , 24 0 49 , 82
83 , 4 93 , 6 0 46 , 16
93 , 6 55 , 9 0 93 , 3 55 , 57
0 0 48 , 12 60 , 13 45 , 1 30 , 56
] [
DX
M (a)
Trng hp dng m hnh tp trung khi lng ti cc nt, ma trn ton h thng c dng sau y:
[ ]

=
88 , 86
66 , 114
66 , 114
90 , 71
67 , 80
67 , 80
M (b)
Ma trn cng cc phn t ang cp c tnh theo cch sau:
Phn t 1:
[ ] [ ]
[ ] [ ] [ ];
44 , 5 36 , 2 0
36 , 2 36 , 1 0
0 0 76 , 184
;
~
11 21 12
11
22 21
12 11
1
k k k
k
k k
k k
k
= =

=

Ma trn chuyn vi phn t nghing 60 so vi trc Ox:
[ ]

=
1 0 0
0 5 , 0 866 , 0
0 866 , 0 5 , 0
] [ ;
0
0
1
R
R
R
T
Ma trn cng phn t s 1 trong h ta chung:
[ ] [ ] [ ] [ ] [ ]

= =
44 , 5 18 , 1 04 , 2
18 , 1 90 , 138 41 , 79
04 , 2 41 , 79 21 , 47
;
~
1 1 1 1 a
a a
a a T
k
k k
k k
T k T k
Ma trn cng phn t s 2:
[ ] [ ]

=
29 , 6 14 , 3 0 , 7
14 , 3 09 , 2 0
0 0 33 , 213
;
2 a
a a
a a
k
k k
k k
k
Ma trn cng phn t s 3:
[ ] [ ]

=
99 , 13 0 0 , 7
0 440 0
0 , 7 0 66 , 4
;
3 a
a a
a a
k
k k
k k
k
Sau tp hp ma trn cng ton h v tin hnh x l iu kin bin, ma trn cng h thng mang
dng:
84

=
27 , 20
14 , 3 09 , 442
99 , 6 0 99 , 217
14 , 3 14 , 3 0 72 , 11
14 , 3 09 , 2 0 96 , 1 99 , 140
0 0 33 , 213 04 , 2 41 , 79 54 , 260
] [
DX
K (c)
Cng thc K -
2
M = 0 hoc K - M = 0 , trong K tnh theo (c), M tnh theo (a) hoc (b),
p dng vo y mang li kt qu sau:
Khi s dng ma trn khi lng dng (a), kt qu tnh s l:

1
= 183,8 rad/sec hay l f
1
= 29,3 Hz.

2
= 711,6 rad/sec hay l f
1
= 113,26 Hz.

3
= 1415,6 rad/sec hay l f
3
= 225,3 Hz.

4
= 1567,3 rad/sec hay l f
4
= 252,62 Hz.

5
= 2505 rad/sec hay l f
5
= 398,72 Hz.

6
= 3686,0 rad/sec hay l f
6
= 586,65 Hz.
Khi s dng ma trn khi lng dng (b):

1
= 159,5 rad/sec hay l f
1
= 25,4 Hz.

2
= 381,2 rad/sec hay l f
1
= 60,7 Hz.

3
= 503,8 rad/sec hay l f
3
= 80,2 Hz.

4
= 1332,9 rad/sec hay l f
4
= 212,1 Hz.

5
= 1963,8 rad/sec hay l f
5
= 312,5 Hz.

6
= 2252,3 rad/sec hay l f
6
= 358,5 Hz.

V d 5: Xc nh tn s ring thp nht v dng dao ng tm vung, ta trn 4 cnh, hnh 4.6.
Chiu dy tm t = 0,15m, m un n hi vt liu E = 3,0.10
7
kN/m
2
, h s Poisson = 0,3. Chiu di
L
x
= L
y
= 3,0 m.










Da vo tnh i xng hnh hc tm, ch a tm vo tnh ton. Chn phn t hnh vung, cnh
bng phn tm va chn, a =0,375 m.
S dng cng thc xc nh khi lng tp trung ti nt cho trng hp tm, cc thnh phn trn
ng cho chnh ma trn khi lng xc nh nh sau:
; 28125 , 0
2
1
; 14063 , 0
4
1
99
2
22
2
11
m a m a m = = = = =

Hnh 4.6 M hnh FEM

Hnh 4.7 Dng dao ng
85
; 00659 , 0
48
1
; 01318 , 0
24
1
11 , 11
4
44 10 , 10
4
33
m a m m a m = = = = = =
; 5625 , 0 ; 01318 , 0
24
1
2
66 12 , 12
4
55
= = = = = a m m a m
; 02637 , 0
12
1
88
4
77
m a m = = =
Ma trn cng [K] tnh theo hng dn phn tnh phng php phn t hu hn, v d t S tay
C hc kt cu nu.

[ ]

=
6 0 5 , 0 1 0 2 4 5 , 0 0 0 0 0
3 1 2 5 , 0 5 , 0 1 0 0 0 0 0
6 0 0 0 0 0 0 5 , 0 1 2
33 , 13 4 0 33 , 5 0 0 1 33 , 1 67 , 2
12 0 0 2 5 , 0 0 0 1
12 0 0 5 , 0 0 4 1
67 , 26 4 1 0 33 , 5 33 , 1
6 0 5 , 0 1 0
3 1 2 0
6 0 2
33 , 13 67 , 2
67 , 6
X
D K

trong cng D tnh bng biu thc:
( ) +
=
1 12
3
Et
D
Tr ring nh nht tnh t 0 M K = s l:
/ 748 , 1
1
D =
Tn s ring ca dao ng mode th nht:

( )

= =
1
32 , 1
1 1
D

Dng dao ng ng vi tn s th nht xc nh t 0 M K =
1 1
s l::
{ } [ ]
T
366 , 0 518 , 0 366 , 0 707 , 0 259 , 0 259 , 0 5 , 0 366 , 0 518 , 0 366 , 0 707 , 0 1
1
=

P DNG PHN MM ANSYS TNH TON DAO NG
Cc phn mm thch hp tnh ton dao ng thn tu ang dng rng ri c th k
NASTRAN, ANSYS, SAP2000. Hng dn s b s dng phn mm ANSYS phn tch dao ng
thn tu nh sau y.
Phn mm ANSYS ( Houston, PA: Swanson Analysis Systems Inc, ) ca hng Swanson ng dng
trong nhiu ngnh k thut, trong c c hc kt cu, ng lc hc cht rn, cht lng vv y
cng l phn mm c s dng hiu qu gii nhng bi ton dao ng bng phng php phn t
hu hn.
Ba cch x l bi ton ng lc hc vt rn nh phn mm ANSYS l: (1) phn tch mode dao
ng, (2) phn tch dao ng iu ha, (3) phn tch dao ng chuyn tip. Kt qu x l th hin
trong c hai qui trnh hu x l gm hu x l tng qut (General Postprocessor), cch ghi trong
ANSYS l POST1 v hu x l trong hm thi gian (Time History Postprocessor), ghi l POST26.
86
Hu x l POST1 cho php xem kt qu ton m hnh ti nhng thi im xc nh hoc nhng tn s
xc nh. Hu x l POST26 cho php xem qu trnh dao ng theo thi gian hoc trong phm vi tn
s.
Phn tch mode dao ng
Dng cch x l ny trong trng hp vng mt ngoi lc. Cc bc phn tch nh sau:
Xy dng m hnh FEM
Chn phng php xc nh tr ring, vector ring
Xem kt qu
To thun tin cho tnh ton ngi s dng nn vit text file nhp d liu dng file ASCII. C
th s dng Notepad ca Microsoft vit file .txt cho mc ch ny. Mi file gm 3 phn qui c:
Phn 1: chun b d liu
/PREP7 ! khai bo phn nhp d liu
/TITLE, ! Tn ti
C*** Ghi ch dn cn thit
ET, ! kiu phn t, v d 1,BEAM3 Phn t BEAM3 dng cho v d c th
R, ! V d 1,1,1,1 c trng phn t va khai bo (BEAM3)
MP, ! V d EX,1,3E7 Tnh cht vt liu
MP, ! V d PRXY,,0.3 Tip tc tnh cht vt liu
N, .. . ! B tr cc nt
E, .. . ! B tr phn t
ANTYPE,MODAL !MODE-FREQUENCY ANALYSIS
MODOPT, LANB,3 ! Tm tr ring bng pp Lanczos
Cc phng php dng ti phn ny gm:
SUBSP Subspace iteration dng x l h phng trnh i s, xem thm phn phng php tnh
LANB Block Lanczos, phng php Lanczos, ghi ti phn phng php tnh sch ny,
REDUC phng php Householder reduced, xem ti phn phng php tnh sch ny
UNSYM Unsymmetric matrix dng cho trng hp ma trn khng i xng
DAMP Damped system v
QRDAMP QR damped
Phn 2: Gii bi ton va hnh thnh
MXPAND, .. . ! S MODE cn khai trin
D,. . . ! p t iu kin bin
M, . . . ! Khai bo master d.o.f.
FINISH !
/SOLU ! phn gii bi ton, gi l Solution
SOLVE ! Th tc gii
Phn 3: Xut kt qu
Kt qu c th xut dng bng (tables), th (graphic), output file vv
Kiu phn t dng trong ANSYS rt phong ph, s lng n 150 kiu. Tnh ton dao ng k
thut nn dng nhng phn t d dng. Tm tt nhng phn t thng gp xem ti sch S tay C
hc kt cu, NXB Xy dng, 2008.
V d sau y minh ha cch vit file nhp d liu cho bi ton nhm tnh 3 tn s thp nht
ca dao ng dc dm tr, ta t do hai u. Phng php tnh c chn l phng php Block
Lanczos, vit tt LANB. Li gii nh phn mm ANSYS so snh vi kt qu gii tch trnh by ti
output file.
/COM, ANSYS INPUT FILE, 2008
/PREP7
MP,PRXY,,0.3
/TITLE, VER, LONGITUDINAL VIBRATION OF BAR
C*** FROM VIBRATION THEORY AND APPLICATION
87
ANTYPE,MODAL !MODE-FREQUENCY ANALYSIS
MODOPT, LANB,3 ! Tm tr ring bng pp Lanczos
MXPAND,1 ! Tnh tn s, c th 1, 2, ..
ET,1,BEAM3 ! Phn t BEAM3
R,1,1,1,1
MP,EX,1,3E7 ! Tnh cht vt liu
MP,DENS,1,73E-5 ! Tnh cht vt liu
K,1
K,2,800
L,1,2
ESIZE,,11 ! Kch c phn t
LMESH,1 ! To mesh
OUTPR,BASIC,1 ! Print out
D,ALL,UY,,,,,ROTZ ! iu kin bin, ch cho php UX d.o.f
FINISH
/SOLU
SOLVE
FINI
/SOLU
*GET,FREQ1,MODE,1,FREQ
*GET,FREQ2,MODE,2,FREQ
*GET,FREQ3,MODE,3,FREQ
*DIM,LABEL,CHAR,3,2
*DIM,VALUE,,3,3
LABEL(1,1) = ' f1',' f2',' f3'
LABEL(1,2) = ', (Hz) ',' (Hz) ',' (Hz) '
*VFILL,VALUE(1,1),DATA,0,126.70,253.40
*VFILL,VALUE(1,2),DATA,FREQ1,FREQ2,FREQ3
*VFILL,VALUE(1,3),DATA,0,ABS(FREQ2/126.70 ),ABS(FREQ3/253.40 )
/COM
/OUT, MODAL,vrt
/COM, | DICH | ANSYS | TYLE
/COM,
*VWRITE,LABEL(1,1),LABEL(1,2),VALUE(1,1),VALUE(1,2),VALUE(1,3)
(1X,A8,A8' ',F10.2,' ',F10.2,' ',1F5.3)
/OUT
FINI
*LIST, MODAL,vrt
Kt qu tnh:
| DICH | ANSYS | TYLE
f1, (Hz) 0.00 0.00 0.000
f2 (Hz) 126.70 127.13 1.003
f3 (Hz) 253.40 256.86 1.014
Dao ng ngang dm t do (khng ta) ca dm ang xem xt th hin bng code sau:
ANTYPE,MODAL !MODE-FREQUENCY ANALYSIS
ET,1,BEAM3
R,1,1,1,1
MODOPT, LANB,5 ! Tm tr ring pp Lanczos
MP,EX,1,3E7
MP,DENS,1,73E-5
K,1
K,2,800
L,1,2
ESIZE,,11
LMESH,1
OUTPR,BASIC,1
D,ALL,UX,,,,,ROTZ ! iu kin bin, UY d.o.f
FINISH
88
Kt qu tnh 3 tn s thp nht cho kt qu sau:
0,0 6,046 12,157 Hz
M hnh tnh ang nu thch hp vi vic tnh tn s dao ng thn tu nh dm lin tc, nm
trn nn n hi.
V d nu tip xc nh tn s dao ng v dng dao ng tm thp hnh ch nht cnh axb =
0,35 x 0,42 (m), mt cnh ngm, 3 cnh cn li t do. File d liu trnh by theo qui trnh ang nu.
/PREP7
ANTY,MODAL
MODOPT,LANB,5
MXPAND,4 ! xc nh 4 tn s thp nht
ET,1,SHELL63 ! phn t SHELL 63
MP,EX,1,2.1E11 ! Tnh cht vt liu trong h SI, N/m
2

MP,NUXY,1,0.3 ! H s Poisson 0,3
MP,DENS,1,7800. ! mt (khi lng ring) kg/m
3
R,1,0.012
K,1,-0.42,-0.35
K,2,0.42,-0.35
K,3,0.42,0.35
K,4,-0.42,0.35
L,1,2
L,2,3
L,3,4
L,4,1
AL,ALL
ESIZE,0.035
AMESH,ALL
NSEL,S,LOC,X,-0.42
!NSEL,A,LOC,X,.42
D,ALL,ALL
EPLOT
NSEL,S,LOC,X,0.35
M,ALL,UZ
NSEL,ALL
OUTPR,ALL,1
FINISH
/SOLU
SOLVE
FINI










Dao ng tm thc hin tip theo trn c s s dng phn t SHELL v SOLID. Kt qu tnh tn
s th nht ca tm trong khun kh phng php phn t hu hn a li kt qu gn vi nghim
chnh xc nu dng kiu phn t ng, chn phng php s thch hp.
Kt qu tnh tn s nh nht khi dung phn t SHEL63 v SOLID190:
| DICH | ANSYS | TYLE
SHELL63

Hnh 4.8 Mode th 7

Hnh 4.9 Mode th 4

Hnh 4.10 Mode th 3
Kt qu tnh nh sau:
Tn s th nht 14,722 rad/s
Tn s th hai 41,541 rad/s
Tn s th ba 91,195 rad/s
Tn s th t 145,54 rad/s
Dng dao ng trnh by ti hnh

89
f (Hz) 128.09 128.72 1.005
SOLSH190
f (Hz) 128.09 128.72 1.005

NG DNG PHN MM SAP2000N TNH TON DAO NG
Phn mm SAP2000 mang tn Integrated Finite Element Analysis and Design of Structures do
Computers and Structures, Inc., USA a ra th trng. Phn ng lc hc phn mm thc hin cc
kiu phn tch: (1) phn tch cc mode dao ng tnh tn s, dng dao ng v (2) phn tch ph.
Trong SAP s dng phng php gi l Ritz-vector Analysis khi xc nh tn s ring.
Phn tch ph trong SAP thc hin sau khai bo Spec, vit tt t Response-Spectrum Analysis.
Cch thc khai bo d liu phn ng lc hc nh sau.
SPEC Data Block
CSYS= h ta
NAME= tn gi ANG= gc MODC=kiu tp hp mode
ACC=(U
1
, U
1
, U
3
) FUNC=hm miu t ph p ng
V d:
SPEC
NAME=RESPEC1 DAMP=0.02
ACC= FUNC=ACCSPEC SF=123.4

FUNCTION Data Block
NAME=Tn gi DT=t NPL=s cc gi tr hm PRINT=(Y or N)
V d:
FUNCTION
NAME=ACCSPEC NPL=1
0.0 .30
0.2 .70
0.3 . . .
HISTORY Data Block
Block ny nh ngha hm thi gian. Ni dung cn a vo:
CSYS=
NAME=
MODE=
CSYS=
ACC=
LOAD=
V d lp file chun b d liu tnh tn s v dng dao ng ngang ca beam trnh by theo cch
sau. Dm thp, chu ti tnh bng kG lc (kgf), chiu di o bng cm. Dm chia lm 10 phn t di
bng nhau. Nt th nht pha tri ti ngm, nt cui 11 ta gi cng. Tnh ton 6 tn s ring thp
nht cng dng dao ng.
FREQUENCY AND MODE SHAPE - vibration of beam

SYSTEM
FORCE=KGF LENGTH=CM DOF=UZ,RY

MODES
TYPE=EIGEN N=6 ;;;Xc nh 6 tn s thp nht

90
JOINTS
1 X=0
11 X=610
LGEN=1,11,1

RESTRAINTS
ADD=1 11 10 DOF=ALL

MATERIAL
NAME=1 M=7.8E-3
E=2.1E6 U=0.3

FRAME SECTION
NAME=1 MAT=1 A=6.5 I=36100 MPL=.1

FRAME
1 J=1,2 SEC=1 NSEG=4
GEN=1,10,1 IINC=1 JINC=1,
Kt qu tnh nh sau:
Mode Chu k (s) Tn s (Hz)
1 0,147 6,787
2 0,0534 18,7024
3 0,0273 36,6152
4 0,0166 60,2881
5 0,0112 89,1797

S DNG NGN NG MATLAB GII BI TON DAO NG
gii nhng bi tan c ln bng phng php PTHH ngi ta s dng ngn ng lp trnh xy
dng nhng chng trnh tnh a nng. Nhng chng trnh ang dng c hiu qu cao mang nhng
tn gi thng mi sau: ANSYS, ASKA, NARC, NASTRAN, SAP, SESAM, STAAD,
STRADYNE. X l nhng vn qui m khng ln c th dng nhng ngn ng d tip cn. Phn
tip y gii thiu nhng th tc vit bng Matlab dng gii nhng bi ton dao ng h dm, tm.
Cc th tc sau y trch t ti liu CALFEM, i hc Lund University.
Cc th tc lm cc chc nng sau y:
BEAM2E(ex, ey, ep) - tnh cc thnh phn ma trn cng phn t BEAM 2D.
BEAM2D(ex, ey,ep) tnh ma trn cng Ke, ma trn khi lng Me, ma trn cn Ce cho phn t.
ASSEM tp hp ma trn cng, ma trn khi lng
COORDXTR - xc nh cc ta phn t t ma trn chung
EIGEN tm tr ring, vector ring
EXTRACT trch cc gi tr cn tm t vector chung
INSERT xy dng vector ni lc ca phn t
SOLVEQ gii h phngtrnh i s tuyn tnh
STATCON phn khi ma trn
Vi ngn ng ny ngi dng ch ng x l vn t giai on u, tc giai on xy dng
bi ton, v tt c th tc gii h phng trnh, tm tr ring, vector ring theo cc thut ton t chn.
Th tc tin hnh nh sau:
1. L tng ha kt cu, xy dng m hnh PTHH
2. Xy dng ma trn cng phn t Ke, ma trn khi lng Me, vector ti ca phn t
91
3. Tp hp ma trn cng, ma trn khi lng ton h thng, vecto ti ton h
4. Xc nh tr ring, vector ring
5. Xc nh ng sut, bin dng cho mi phn t v cho ton b h thng, nu cn
6. Trnh by kt qu tnh ra th, nu cn.
Th tc Assem
function [K,f]=assem(edof,K,Ke,f,fe)
% K=assem(edof,K,Ke)
% [K,f]=assem(edof,K,Ke,f,fe)
%-------------------------------------------------------------
[nie,n]=size(edof);
t=edof(:,2:n);
for i = 1:nie
K(t(i,:),t(i,:)) = K(t(i,:),t(i,:))+Ke;
if nargin==5
f(t(i,:))=f(t(i,:))+fe;
end
end
%--------------------------end--------------------------------
Th tc extract
function [ed]=extract(edof,a)
% ed=extract(edof,a)
%-------------------------------------------------------------
[nie,n]=size(edof);
%
t=edof(:,2:n);
%
for i = 1:nie
ed(i,1:(n-1))=a(t(i,:))';
end
%
%--------------------------end--------------------------------
Th tc Coordxtr
function [Ex,Ey,Ez]=coordxtr(Edof,Coord,Dof,nen)
%[Ex,Ey,Ez]=coordxtr(Edof,Coord,Dof,nen)
%-------------------------------------------------------------
[nel,dum]=size(Edof);
ned=dum-1;
[n,nsd]=size(Coord);
[n,nd]=size(Dof);
nend=ned/nen;
for i = 1:nel
nodnum=zeros(1,nen);
for j = 1:nen
check=Dof(:,1:nend)-ones(n,1)*Edof(i,(j-1)*nend+2:j*nend+1);
[indx,dum]=find(check==0);
nodnum(j)=indx(1);
end
Ex(i,:)=Coord(nodnum,1)';
if nsd>1
Ey(i,:)=Coord(nodnum,2)';
end
if nsd>2
Ez(i,:)=Coord(nodnum,3)';
end
end
92
%--------------------------end--------------------------------
Th tc Statcon
function [K1,f1]=statcon(K,f,cd)
% [K1,f1]=statcon(K,f,cd)
%-------------------------------------------------------------
[nd,nd]=size(K);
aindx=[1:nd]';
aindx(cd)=[];
bindx=cd;
Kaa=K(aindx,aindx);
Kab=K(aindx,bindx);
Kbb=K(bindx,bindx);
fa=f(aindx);
fb=f(bindx);
K1=Kaa-Kab*inv(Kbb)*Kab';
f1=fa-Kab*inv(Kbb)*fb;
%--------------------------end--------------------------------
Th tc Insert
function [f]=insert(edof,f,fe)
% [f]=insert(edof,f,fe)
%-------------------------------------------------------------
[nie,n]=size(edof);
t=edof(:,2:n);
for i = 1:nie
f(t(i,:))=f(t(i,:))+fe(i,:)';
end
%--------------------------end--------------------------------
Th tc solveq
function [d,Q]=solveq(K,f,bc)
% a=solveq(K,f)
% [a,Q]=solveq(K,f,bc)
%-------------------------------------------------------------
if nargin==2 ;
d=K\f ;
elseif nargin==3;
[nd,nd]=size(K);
fdof=[1:nd]';
d=zeros(size(fdof));
Q=zeros(size(fdof));
pdof=bc(:,1);
dp=bc(:,2);
fdof(pdof)=[];
s=K(fdof,fdof)\(f(fdof)-K(fdof,pdof)*dp);
d(pdof)=dp;
d(fdof)=s;
end
Q=K*d-f;
%--------------------------end--------------------------------
Th tc Eigen
function [L,X]=eigen(K,M,b)
% [L]=eigen(K,M)
% [L]=eigen(K,M,b)
% [L,X]=eigen(K,M)
% [L,X]=eigen(K,M,b)
%-------------------------------------------------------------
[nd,nd]=size(K);
fdof=[1:nd]';
if nargin==3
93
pdof=b(:);
fdof(pdof)=[];
if nargout==2
[X1,D]=eig(K(fdof,fdof),M(fdof,fdof));
[nfdof,nfdof]=size(X1);
for j=1:nfdof;
mnorm=sqrt(X1(:,j)'*M(fdof,fdof)*X1(:,j));
X1(:,j)=X1(:,j)/mnorm;
end
d=diag(D);
[L,i]=sort(d);
X2=X1(:,i);
X=zeros(nd,nfdof);
X(fdof,:)=X2;
else
d=eig(K(fdof,fdof),M(fdof,fdof));
L=sort(d);
end
else
if nargout==2
[X1,D]=eig(K,M);
for j=1:nd;
mnorm=sqrt(X1(:,j)'*M*X1(:,j));
X1(:,j)=X1(:,j)/mnorm;
end
d=diag(D);
[L,i]=sort(d);
X=X1(:,i);
else
d=eig(K,M);
L=sort(d);
end
end
%--------------------------end--------------------------------
V d tip theo trnh by cch xy dng m hnh phn t hu hn cho khung phng dng ch .
M hnh ha kt cu thnh 4 phn t Beam 2D vi cc c trng c hc cc dm nh sau.
Dm ng Dm ngang
M un n hi (Nm
2
) 3e10 3e10
Din tch mt ct (m
2
) 0,103e-2 0,0764e-2
Momen qun tnh (m
4
) 0,171e-5 0,0801e-5
Khi lng ring (kg/m
3
) 2500 2500
94

m
2m
2
1

5
6
4
8
9
7
11
12
10
14
15
1
1
2

4

Hnh 4.11.
D liu va nu nhp vo chng trnh tnh theo cch sau:
E=3e10; rho=2500;
Av=0.103e-2; Iv=0.0171e-4;
Ah=0.0764e-2; Ih=0.00801e-4;
Epv=[E Av Iv rho * Av]; eph=[E Ah Ih rho * Ah];
Edof=[1 1 2 3 4 5 6
2 4 5 6 7 8 9
3 7 8 9 10 11 12
4 10 11 12 13 14 15];
Coord=[0 0; 0 1 ; 0 3; 1 3; 2 3];
Dof=[1 2 3; 4 5 6; 7 8 9; 10 11 12; 13 14 15];
K=zeros(15); M=zeros(15);
[Ex,Ey]=coordxtr(Edof, Coord, Dof,2);
for i=1:2
[k,m,c]=beam2d(Ex(i,:),Ey(i, :),epv);
K=assem(Edof(i,:), K, k);
M=assem(Edof(i,:),M,m);
end
for i=3:4
[k,m,c]=beam2d(Ex(i,:),Ey(i, :),eph);
K=assem(Edof(i,:), K, k);
M=assem(Edof(i,:),M,m);
end
Cc php tnh tr ring v vector ring:
b= [1 2 3 14];
[La, Egv]=eigen(K,M,b);
Freq=sqrt(La)/(2*pi);
trong La tr ring, Rgv vector ring.
Gi tr ca tn s Freq n v Hz tnh theo cng thc ) * 2 /( = f
Nhng ga tr thp ca Freq: [6,9826 43,0756 66,5772]
T

95
Dng dao ng (eigenmodes) cn a ra bng hnh v. on code sau gip trnh by 3 mode dao
ng ng vi ba tn s thp nht.
Nhng th tc b tr v th.
Th tc Eldraw2
function eldraw2(ex,ey,plotpar,elnum)
%eldraw2(ex,ey,plotpar,elnum)
%eldraw2(ex,ey,plotpar)
%eldraw2(ex,ey)
if ~((nargin==2)|(nargin==3)|(nargin==4))
disp('??? ')
break
end
a=size(ex); b=size(ey);
if (a-b)==[0 0]
nel=a(1);nen=a(2);
else
disp('??? ')
break
end
if nargin==2;
plotpar=[1 1 1];
end
[s1,s2]=pltstyle(plotpar);
x0=sum(ex')/nen; y0=sum(ey')/nen;
if nen==2
x=ex' ;
y=ey';
xc=x ;yc=y;
elseif nen==3
x=ex' ;
y=ey';
xc=[x ; x(1,:)]; yc=[y ; y(1,:)];
elseif nen==4
x=ex' ;
y=ey';
xc=[x ; x(1,:)]; yc=[y ; y(1,:)];
elseif nen==8
x=ex;
y=ey;
t=-1;
n=0;
for s=-1:0.4:1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
96
clear y1
s=1;
n=0;
for t=-1:0.4:1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];

x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
clear y1
t=1;
n=0;
for s=1:-0.4:-1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
clear y1
s=-1;
n=0;
for t=1:-0.4:-1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
97
yc=[yc y1];
clear x1
clear y1
else
disp('!!!!)
break
end
axis('equal')
hold on
plot(xc,yc,s1)
plot(x,y,s2)
if nargin==4
for i=1:nel
h=text(x0(i),y0(i),int2str(elnum(i)));
set(h,'fontsize',8);
end
end
xlabel('x'); ylabel('y');
hold off
%--------------------------end--------------------------------
Th tc Eldisp2
function [magnfac]=eldisp2(ex,ey,ed,plotpar,magnfac)
%eldisp2(ex,ey,ed,plotpar,magnfac)
%[magnfac]=eldisp2(ex,ey,ed,plotpar)
%[magnfac]=eldisp2(ex,ey,ed)
if ~((nargin==3)|(nargin==4)|(nargin==5))
disp('??? ')
break
end
a=size(ex); b=size(ey);
if (a-b)==[0 0]
nen=a(2);
else
disp('??? ')
break
end
c=size(ed);
if ~(c(1)==a(1))
disp('??? ')
break
end
ned=c(2);
dxmax=max(max(ex')-min(ex')); dymax=max(max(ey')-min(ey'));
dlmax=max(dxmax,dymax);
edmax=max(max(abs(ed)));
krel=0.1;
if nargin==3;
plotpar=[2 1 1]; magnfac=krel*dlmax/edmax;
elseif nargin==4
magnfac=krel*dlmax/edmax;
end
[s1,s2]=pltstyle(plotpar);
k=magnfac;
if nen==2
if ned==4
x=(ex+k*ed(:,[1 3]))';
y=(ey+k*ed(:,[2 4]))';
xc=x;
98
yc=y;
elseif ned==6
x=(ex+k*ed(:,[1 4]))';
y=(ey+k*ed(:,[2 5]))';
[exc,eyc]=beam2crd(ex,ey,ed,k);
xc=exc';
yc=eyc';
end
elseif nen==3
x=(ex+k*ed(:,[1 3 5]))';
y=(ey+k*ed(:,[2 4 6]))';
xc=[x; x(1,:)];
yc=[y; y(1,:)];
elseif nen==4
x=(ex+k*ed(:,[1 3 5 7]))';
y=(ey+k*ed(:,[2 4 6 8]))';
xc=[x; x(1,:)];
yc=[y; y(1,:)];
elseif nen==8
x=(ex+k*ed(:,[1 3 5 7 9 11 13 15]));
y=(ey+k*ed(:,[2 4 6 8 10 12 14 16]));
t=-1;
n=0;
for s=-1:0.4:1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
clear y1
s=1;
n=0;
for t=-1:0.4:1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
99
clear x1
clear y1
t=1;
n=0;
for s=1:-0.4:-1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
clear y1
s=-1;
n=0;
for t=1:-0.4:-1
n=n+1;
N1=-1/4*(1-t)*(1-s)*(1+t+s);
N2=-1/4*(1+t)*(1-s)*(1-t+s);
N3=-1/4*(1+t)*(1+s)*(1-t-s);
N4=-1/4*(1-t)*(1+s)*(1+t-s);
N5=1/2*(1-t*t)*(1-s);
N6=1/2*(1+t)*(1-s*s);
N7=1/2*(1-t*t)*(1+s);
N8=1/2*(1-t)*(1-s*s);
N=[ N1, N2, N3 ,N4, N5, N6, N7, N8 ];
x1(n,:)=N*x';
y1(n,:)=N*y';
end;
xc=[xc x1];
yc=[yc y1];
clear x1
clear y1
else
break
end
axis('equal')
hold on
plot(xc,yc,s1)
plot(x,y,s2)
hold off
%--------------------------end--------------------------------
on code sau chuyn cho Matlab thc hin.
Clf, axis(equal), hold on, axis off
Magnfac=0.5;
Title(The first three eigenmodes in Hz)
for i=1:4
Ext=Ex+(i-5)*3; eldraw2(Ext,Ey,[2 3 1]);
100
Edb=extract(Edof,Egv(:,i));
eldisp2(Ext,Yet,Edb, [1 2 2], magnfac);
FreqText=num2str(Freq(i)); text(3*(i-1)+.5,1.5, FreqText);
end;
Yet=Ey-4;
for i=1:4
Ext=Ex+(i-5)*3; eldraw2(Ext,Ey,[2 3 1]);
Edb=extract(Edof,Egv(:,i));
eldisp2(Ext,Yet,Edb, [1 2 2], magnfac);
FreqText=num2str(Freq(i)); text(3*(i-5)+.5,-2.5, FreqText);
end;
6,98 4,08
66,58

Hnh 4.12.
101
Chng 5

DAO NG TU


1. CC MODE DAO NG TU
Thn tu ni v lm vic trn nc c xt nh dm lin tc nm trn nn n hi. Dm lm t
vt liu n hi ny dao ng dc trc v xoay quanh ba trc h ta Descartes. Trong cc dng dao
ng , dao ng theo hng ng, dao ng ngang thn tu, v dao ng xon quanh trc dc tu
c quan tm xem xt trong chng ny. Dao ng theo nhng mode khc nhau ca thn tu, minh
ha ti hnh 5.1, 5.2 v 5.3. Hnh 5.1 trnh by ng un thn tu trong trng hp dao ng ng
vi s nt khc nhau. Hnh 5.2 dao ng ngang vi s nt 1 n 4. Dao ng xon trnh by ti hnh
5.3.
V l thuyt, s bc t do ca kt cu thn tu khng hn ch, s tn s ring ca thn tu ang
kho st, khng hn ch. Tuy nhin chng ta ch quan tm n mt s hu hn cc mode gy nh
hng n tnh nng v kh nng lm vic ca tu, ca ngi trn tu. Tn s dao ng ring trong cc
trng hp hu hn ny l nhng i lng c quan tm nhiu nht.

Hnh 5.1 Dao ng ng
Thn tu tham gia cc dng dao ng: dao ng ngang khi xt tu un trong mt phng nm
ngang thn tu hoc mt i xng dc tu, dao ng xon thn tu, v dao ng dc tu.

Hnh 5.2 Dao ng ngang
102

Hnh 5.3 Dao ng xon
2 PHNG TRNH VI PHN DAO NG NG THN TU
Thn tu c xt nh dm lin tc, trn nn n hi, chu tc ng ngoi lc v tham gia cc
chuyn ng, trong c dao ng. Thn tu nh cc vt cng c th thc hin dao ng t do,
trng hp khng xem xt lc cng bc, v dao ng cng bc di tc ng ti bn ngoi. M
hnh dng kinh in ny c p dng khi kho st dao ng ng thn tu, hnh 5.4.










Nhng k hiu ghi trn m hnh mang ngha: k cng tnh cho mi n v di, thc cht l
t lc ni xut pht t mi trng nc bao tu, tc ng ln v tu; c h s lc cn cng c gc t
pha nc; - khi lng tnh cho dm gm khi lng bn thn cng lng nc km; EI
cng dm. Lc kch ng f(x, t) c th k ti y l kch ng dao ng t pha chn vt tu. Vi
m hnh ny, p dng nhng iu chng ta lm quen trong chng ba c th vit phng trnh vi
phn cho dao ng ng thn tu trn nc:
) , ( ) (
2
2
2
2
2
2
t x f kw
t
w
c
t
w
x
w
x EJ
x
= +

(5.1)
Phng trnh trn y chnh l phng trnh ginh cho dm trn nn n hi. Theo cch gi trong
nhng nm gn y, nhiu ngi t tn dm dng ny l dm Euler. Nu a vo phng trnh cc
thnh phn cha momen qun tnh tnh cho trng hp xoay quanh trc v n hi ct chng ta
nhn c cng thc tnh cho dm kiu Timoshenko. gii bi ton dao ng thn tu dng ny,

Hnh 5.4 M hnh dao ng thn tu nm trn nc
103
mt trong nhng vic cn thc hin u tin l xc nh cc iu kin bin. Phng trnh (5.1) cng
cc iu kin bin c th xc nh theo cc cch chng ta gp.
0
3
3
2
2
=

x
w
x
w
ti x = 0 v x = L. (5.2)
Li gii ca (5.1) trong trng thi gian vi lc kch ng mang tnh chu k.
Gi s rng lc kch ng do chn vt gy ra mang tnh chu k, vi tn s xc nh, thn tu s b
dao ng di tc ng ca lc . T bn cht lc kch ng dng ny, c th phn thnh chui
Fourier dng sau:
F(x, t) = F(x)cos(t - ) = ReF(x)e
it
. (5.3)
Vi lc kch ng chuyn ng thn tu phi l:
w(x, t) = W
C
(x)cost + W
S
(x)sint
= Re W(x)e
it
. (5.4)
Thay cc gi tr ti hai biu thc cui vo (5.1) chng ta nhn c:
( ) ) (
2
4
4
x F W k c i
dx
W d
EJ = (5.5)
trong W (x) = W
C
(x) -i W
S
(x)
(5.6)
v 0
3
3
2
2
= =
dx
W d
dx
W d
ti x = 0 v x = L; (5.7)
Nhng i lng lin quan n hot ng chn vt, s cn cho tnh ton dao ng cng bc, c
th k: - tn s quay ca cnh chn vt, Z - s cnh chn vt, - vn tc gc ca chn vt.
Nu s dng cc i lng khng th nguyn, c k hiu nh sau:
3
/
; ;
L EJ
F
F
L
x
x
L
W
W = = = , v
2 2
4
2

=
f
r
f
c
f
i p

,
trong :
L
kL
r

= ;
L
L EJ
f

3
/
= ;
;
2
f
c
c

E
f
2

Phng trnh dao ng thn tu, dng khng th nguyn tr thnh:
) (
4
4
4
x F W p
dx
W d
EJ = (5.8)
cng iu kin bin 0
3
3
2
2
= =
dx
W d
dx
W d
ti x = 0 v x = L; (5.9)
Xc nh tn s dao ng cng bc, trng hp khng lc cn.
104
Li gii ca (5.8) trong trng hp khng lc cn, dm chu tc ng lc tp tdao ng F(x),
c th xc nh theo mt trong cc cch gii thiu ti chng ba.
( )( ) ( )( ) [ ] px px p p px px p p
p p p
F
x W
sinh sin cos cosh cosh cos sin sinh
cos cosh 1
1
2
) (
3
+ +

=
(5.10)
T :
2 2
4

=
f
r
f
p

(5.11)
Xc lp tn s dao ng ca dao ng t do.
Trng hp chng ta ang quan tm c gin n ha nh sau: dao ng t do, khng lc cn.
Bi ton c a v dng:
0
4
4
4
= W p
dx
W d
EJ (5.12)
cng iu kin bin 0
3
3
2
2
= =
dx
W d
dx
W d
ti x = 0 v x = L;
Vi p 0 nghim chung c tm dng chui ca hm lng gic nh thc hin trong cc
chng trc, v d:
W(x) = C
1
sinpx + C
2
cospx + C
3
sinhpx + C
4
coshpx (5.13)
p dng iu kin bin ti x = 0 vo trng hp ny c th xc nh:
C
2
= C
4
; C
1
= C
3
. (5.14)
iu kin bin ti x = 1 cho php tm C
3
v C
4
.

0
0
sinh sin cosh cos
cosh cos sinh sin
4
3
C
C
p p p p
p p p p
(5.15)
Sau khi x l det

p p p p
p p p p
sinh sin cosh cos
cosh cos sinh sin
= 0 c th thy:
cosp
n
coshp
n
= 1, n =1,2, . . . , (5.16)
T cng thc cui chng ta c th xc lp thng tin v cc hng s khc khng C
3
v C
4
.
n n
n n
p p
p p
C
C
cosh cos
sinh sin
4
3

+
= (5.17)
T (5.17) c th vit biu thc xc nh C
3
thng qua gi tr ca C
4
. Thay biu thc cui
vo (5.13) chng ta c th vit phng trnh chuyn ng tng i cho mode dao ng thn tu.
( )

+
+ + = x p x p
p p
p p
x p x p C x
n n
n n
n n
n n n
sinh sin
cosh cos
sinh sin
cosh cos ) (
4
(5.18)

105
3 PHNG PHP GN NG XC NH TN S RING DAO NG THN TU
Cch lm c p dng t nhng nm u th k XX c trnh by ti chng trc. Phng
trnh vi phn ca dao ng thn tu c hiu theo cch gn ng nh sau:
2
2
2
2
2
2
.
) (
) (
t
w
g
x A
x
w
x EJ
x

(5.19)
Gii bi ton dng ny c th nh cc phng php tnh, k c phng php s. vng ca
dm khi b un c th biu din bng cng thc w = f.cos t. Gi tr ln nht ca th nng v ng
nng un dm xc nh cho trng hp ny:

=
l
l
dx f x A
g
T
dx
dx
f d
x EJ V
0
2
2
0
2
2
2
) (
2
) (
2
1

=
l
l
dx f x A
dx
dx
f d
x J
Eg
0
2
0
2
2
2
2
) (
) (

(5.20)
xc nh cc gi tr gn ng, hm f(x) c tm di dng chui, v d
f(x) =

= ,.. 2 , 1
) ( .
i
i i
x a , mi hm (x) tha mn iu kin bin ca bi ton.
T iu kin : 0
) (
) (
0
2
0
2
2
2
=

l
l
n
dx X x A
dx
dx
f d
x J
a
, c th vit:

l
n
l l
n
l
dx f x A
a
dx
dx
f d
x J dx
dx
f d
x J
a
dx f x A
0
2
0
2
2
2
0
2
2
2
0
2
) ( ) ( ) ( ) ( (5.21)
hoc:
0
) (
) (
0
2
2
2
2
2
=

l
n
dx f
Eg
x A
dx
f d
x J
a

, vi a
n
, n = 1,2, . (5.22)
Khi xc nh cc h s a
n
, n =1, 2, 3, . . . ca hm f(x), bi ton c qui v dng tm gi tr
ti thiu ca tch phn:

=
l
dx f
Eg
x A
dx
f d
x J S
0
2
2
2
2
2
) (
) (

(5.23)
3.1 Li gii ca Timoshenko
Timoshenko a ra li gii cho dao ng ng thn tu t nhng nm u th k XX, xem [21].
Thn tu c xt nh mt dm cha t trong mi trng nc, dao ng theo phng thng ng.
gin n cc php tnh, din tch mt ct ngang thn tu v momen qun tnh mt ct y c hm
ha theo cng thc:
A(x) = A
0
(1 c.x
2
); J(x) = J
0
( 1 b.x
2
) (5.24
106
trong A
0
, J
0
l din tch mt ct ngang qua cc kt cu v momen qun tnh mt ct gia tu.
Hm f(x) c khai trin di dng chui. Trng hp vi thn tu thng gp hm f
i
(x) c th
chn theo cch quen thuc, c Timoshenko xut:
( ) l k x k l k x k
l k l k
f
i i i i
i i
i
cos cosh cosh cos .
cosh cos
2
2 2
+
+
= (5.25)
vi k
i
= i/l (5.26)
Hm f
1
tng ng nghim u k
i
l = 0 l mt on thng, song song vi trc x. Hng s ng vi
trng hp ny bng 1/2. T c th vit biu thc cho f :
...
cosh cos
cos cosh cosh cos
2
1
2 2
2
2 2 2 2
2 1
+
+
+
+ =
l k l k
l k x k l k x k
a a f (5.27)
a biu thc trn vo cng thc (5.22 ), c th thy:
0
) 1 ( ) 1 (
2 /
2 /
,... 2 , 1 ,... 2 , 1
2 /
2 /
,... 2 , 1 ,... 2 , 1
2 0
2
" " 2
0
=

= =
+

= =
l
L
i j
L
L
i j
j i j i j i j i
n
dx a a cx
Eg
A
dx a a bx J
a



(5.28)
S dng k hiu:
ij j i
L
L
dx bx =

" "
2 /
2 /
2
) 1 ( (5.29)

ij j i
L
L
dx cx =

2 /
2 /
2
) 1 ( (5.30)
c th tnh c:

=
=
,... 3 , 2 , 1
0 ) (
i
in in i
a (5.31)
trong
g EJ
A p
0
0
2

= (5.32)
Hn ch xt hai thnh phn ca chui, c th vit h phng trnh i s sau:

= +
= +
0 ) ( ) (
0 ) ( ) (
22 22 2 12 12 1
21 21 2 11 11 1


a a
a a
(5.33)
T tm c:
l k l k
l k x k l k x k
k
2
2
2
2
2 2 2 2 2
2
"
2
"
1
cosh cos
cos cosh cosh cos
; 0
+
+
= = (5.34)
Thay cc kt qu trn y vo biu thc (5.28), sau khi tch phn s nhn c:

11
= 0;
12
= 0;
21
= 0;
107

22
= ) 087 , 0 1 (
28 , 31
) )( 1 (
2
3
2 /
2 /
2 "
2
2
bl
l
dx bx
L
L
=

11
= l(1-0,333cl
2
);
12
=
21
=0,297l
3
;

22
= l(1-0,481cl
2
)
Phng trnh xc nh tn s dao ng c dng:
0 1
22
22
12 11
2
12 2
=

(5.35)
Nghim u = 0 ng vi trng hp thn tu nh mt vt cng. Nghim th hai :
12 11
2
12 22
22
1
1

= xc nh tn s th nht ca dao ng:

v

0
0
1
2 2 A
g EJ p
f = = (5.36)
3.2 Phng php Lewis xc nh lng nc km khi dao ng tu
Trong thc t thn tu phn ln thi gian lm vic v tn ti, nm trn nc. Phn thn tu nm
trong nc, gi l phn chm ca tu, khi dao ng ko theo mt lng khng nh nc bm st n,
bt lng nc cng tham gia dao ng. Trong nhng trng hp ny, tham gia trong phng
trnh dao ng khng ch khi lng thn tu m thc th l tng ca khi lng thn tu cng lng
nc km.
Bng ng l thuyt hoc bng thc nghim c th xc nh lng nc km ty thuc tn s
dao ng. Vi ngnh tu, ngy nay thng s dng phng php bin hnh bo gic do Lewis xut
khi tnh lng nc km.
V phng php Lewis, bn c c th xem k hn ti chng bn v chng chnh tu. Trong
phn ny ch tm tt mt s cng thc v th m Lewis dng khi tnh dao ng tu theo chiu
ng.
Nu thn tu dao ng trong nc, ngoi khi lng thn tu tham gia chuyn ng cn c lng
nc km. Tn gi lng nc cng tham gia vo dao ng, khng khc nhng thnh phn khc ca
khi lng thn tu, khng dng khi nim lng nc km - (added mass) m cn c tn khi
lng o b sung, qun tnh khi lng thy ng vv . . . Cch tnh lng nc km trong bi ton
2D c Lewis trnh by di dng 8 /
2
B JC w = , trong - trng lng ring ca nc,
tnh bng t/ ft
3
, J - h s gin c dc tu, C h s s dng trong cc php bin hnh, vi cung na
trn trong nc C bng n v, B - Chiu rng mt ct ngang ca tu.
Php bin hnh bo gic m Lewis dng gm chui cha ba thnh phn:
3
z
b
z
a
z Z + + = vi z = x + iy. (5.37)
Hnh dng mt ct ngang tu (sn tu Lewis) vi B/T khc nhau c gii thiu ti hnh 5.5.
Hnh tip theo gii thiu h s C ca cc hnh va nu, l hm ca B/T v h s y mt sn tu.
108

Hnh 5.5
Trong h metric cng thc tnh lng nc km cho mt n v di ca tu, trong trng hp
dao ng ng c vit thnh:
n
J x C x B x m ) ( ) (
8
) (
2

= , t/m (5.38)
Th nguyn c dng l: - bng t/m
3
; B - m; C(x) - h s nc km tnh trong 2D.
J
n
gi l J-Factor Lewis, l h s gin c khi chuyn h s nc km t 2D sang 3D, dng cho
tu tht.
H s gin c J
n
l hm ca L/B ca tu, gii thiu ti hnh 5.6. Hnh 5.7 trnh by h s J-
factor theo cch nhn ca Lewis.



109

















Lng nc km trong trng hp ginh cho khng gian 3D c tnh thng qua h s nc km
trong 2D v J-factor, v d:
m(x) = m
2D
(x)J
n
.
trong m
2D
= (/8) B
2
C.
Lng nc km tham gia dao ng ng, tnh theo cng thc Taylor c dng:
d
y
kA q . = (5.39)
trong A, - nh gii thch trn, y ta v tu ti sn ang xt, d chiu chm tu. H s k
ph thuc vo t l L/B ca tu c theo bng 5.1 di y.
Bng 5.1
L/B
i 6 7 8 9 10
1 0,674 0,724 0,764 0,797 0,825
2 0,564 0,633 0,682 0,723 0,760
3 0,55 0,570 0,590 0,610 0,630
4 0,50 0,52 0,54 0,56 0,58
Dao ng theo hng ngang, lng nc km s khc gi tr vi cng thc va nu. Trong
trng hp sau, lng nc km tnh theo cng thc:
q= 0,8 d
2
, ti khu vc gia tu
q= 0,6 d
2
cho phn trc v sau ca tu.
Cng thc tnh lng nc km cho ng c tit din hnh trn mang dng:

Hnh 5.7 J-factor Lewis

Hnh 5.6 H s nc km
110
J T w
2
2

= (5.40)
3.3 Phng php Rayleigh - Papkovitch
c th chn hm f
i
(x) thch hp khi gii bi ton dao ng thn tu trn nc, ngoi cch lm
ca Timoshenko nh cp, trong ti liu chuyn ngnh, v d ti liu [], cn gp nhng xut
gi tr.
Cng thc ca P.F. Papkovitch dng hnh sinus:
f
i
(x) =
L
x i
L
x
i i

sin
2
1
+

+ (5.41)
Cng thc J.A. Shymanski c dng:
f
i
(x) = ) (
2
1
x F
L
x
i i i
+

+ (5.42)
trong hm F
i
(x) l hm miu t dao ng dm tr, ta t do ti hai u nh nu cc phn trc.
Nu coi rng phn b trng lng tu theo chiu di l q(x), phn b khi lng tu m(x) c
hiu l m(x) = q(x) /g vi g gia tc trng tri t. Trong thc t, khi tu thc hin dao ng trong
nc, mt lng khng nh nc quanh tu k hiu m, ty thuc hnh dng phn chm thn tu,
cng tham gia trong vn ng ny. iu kin cn bng ng ca tu trong trng thi dao ng phi
tho mn:

=
=

L
i
x
L
i
dx x f q
dx x f q
0
2
0
0
0 ) ( .
0 ) ( .
(5.43)
Tch phn cui c th gii theo cc phng php quen thuc. Thay gi tr tnh cho hm f(x) vo
(5.43) c th thy:

= +

+
= +

+


0 sin
2
1
0 sin
2
1
0 0 0
0 0 0
L
x i
m
m
L
x
m
m
m
m
L
x i
m
m
L
x
m
m
m
m
i i
i i

(5,43a)
trong m
0
kh lng n v, s dng trong tnh ton. T li gii c th xc nh cc h s
i

,
i
.
T li gii theo nguyn l Rayleigh (5.20) c th thy ngay rng, tn s dao ng t do, tnh cho
mode i c dng:

=
l
i
l
i
dx f x A
dx
L
x i
x J
L
Eg i
0
2
0
2
4
4 4
2
) (
sin ) (

(5.44)
111
Trng hp i = 1 cng thc dng (5.44) s l

=
l
l
dx f x A
dx
L
x
x J
L
Eg
0
2
1
0
2
4
4
2
1
) (
sin ) (

.
Vi i 2, tnh tn s dao ng cho mode t th hai thc hin ging qui trnh trnh by. T
phng trnh:
) (
) (
) (
2
2
2 ,
2
2
2
x f
g
q
dx
x f d
x EJ
dx
d
i i
i
=

(5.45)
c th ly tch phn dng: A dx x f q
g dx
x f d
x EJ
dx
d
i
x
i
i
+ =

) (
) (
) (
0
2
2
2 ,
2

(5.46)
Sau tch phn phng trnh cui v tha mn iu kin cn bng ng c th vit:

+ =

C dxdxdx x f q
x J L Eg
L
dx
x df
i
x x x
i
i
) ( .
) (
1 1
) (
0 0 0
3
3 2
2 ,

(5.47)
hoc l:

+ =

D
L
x
C dxdxdxdx x f q
x J L Eg
L
x f
i
x x x x
i
i
2
1
) ( .
) (
1 1
) (
0 0 0 0
4
4 2
2 ,

(5.48)
4 S TNH TN S DAO NG THN TU THEO CCH LM RAYLEIGH-
PAPKOVITCH
Cch tnh truyn thng trong ngnh ng tu l thc hin theo bng, da vo sn l thuyt tu.
Thng thng chiu di ton tu c chia lm 20 khong sn l thuyt, u nhau. Trong mi
khong sn, cc i lng c trng hnh hc v phn b ti trng c coi khng i. Theo cch
chia nh vy cng thc nhm xc nh cc h s
i
, i c chuyn v dng sau theo cch gii nu
trn, xem [4][16]:

= +

+
= +

+


0 sin
2
1
0 sin
2
1
0 0 0
0 0 0
L
x i
q
q
L
x
q
q
q
q
L
x i
q
q
L
x
q
q
q
q
i i
i i

, (5.49)
trong q
0
, gi tr bt k, mang th nguyn ca q- phn b ti trng. T l q/q
0
nn chn trong phm
nh hn hoc bng 1.
Tn s dao ng tnh theo cch lm c trnh by trong phng php Rayleigh:

=
l
i
l
i
dx f
q
q
dx
L
x i
J
J
L q
g EJ i
0
2
0
0
2
0
4
0
0
4 4
2
sin

,. (5.50)
Momen qun tnh J
0
chn theo cch va nu.
112
Cc ln tnh tip theo, thc hin cc php tnh (5.49), cn thit xc lp h phng trnh i s
dng:

= +

= +

0
2
1
) (
0
2
1
) (
0 0 0
0
4
0
0 0 0
0
4
0
q
q
D
L
x
q
q
C x f
q
q
J
J
L
L
q
q
q
q
D
L
x
q
q
C x f
q
q
J
J
L
L
q
q
i
i
(5.51)
Sau khi xc nh C v D t h phng trnh cui, c th vit biu thc ca f
i,2
di dng:
D
L
x
C x f
q
q
J
J
L
L
x f
i i
+

=

2
1
) ( ) (
0
0
4
2 ,
(5.52)
o hm bc 1 v bc 2 ca f
i,2
tnh theo cc biu thc:
) (
1
) (
) (
1
) (
0
2
0
2
"'
2 ,
0
0
2
'
2 ,
x f
q
q
L
L
J
J
L
x f
C x f
q
q
J
J
L
L
L
x f
i i
i i

=
(5.53)
v:
) (
)] ( [
2
2 ,
0
2 "
2 ,
0
0
0
2
2 ,
x f
q
q
x f
J
J
q
g EJ
i
i
i

= (5.54)
a) Tnh cho mode th nht
Dng dao ng mode 1 tnh theo cng thc (5.41):
f
1
(x) =
L
x
L
x
sin
2
1
1 1
+

+ (a)
Cc hng s
1
,
1
xc nh t h phng trnh (5.94):

= +

+
= +

+


0 sin
2
1
0 sin
2
1
0 0
1
0
1
0 0
1
0
1
L
x
q
q
L
x
q
q
q
q
L
x
q
q
L
x
q
q
q
q

(b)
Tn s dao ng ring mode th nht tnh t (5.50):
) (
sin
2
1
0
2
0
4
0
0
4
2
1
x f
q
q
L
x
J
J
L q
g EJ

(c)
b) Tnh gn ng cho dao ng theo mode th hai
Dng dao ng:
113
f
21
(x) =
L
x
L
x

2
sin
2
1
2 2
+

+ (d)
Cc hng s
2
,
2
xc nh t h phng trnh (5.94):

= +

+
= +

+


0
2
sin
2
1
0
2
sin
2
1
0 0
2
0
2
0 0
2
0
2
L
x
q
q
L
x
q
q
q
q
L
x
q
q
L
x
q
q
q
q

(e)
Tn s dao ng ring mode th hai tnh t (5.50):
) (
2
sin
16
2
21
0
2
0
4
0
0
4
2
2
x f
q
q
L
x
J
J
L q
g EJ

(f)
Giai on hai tip theo, cn thit kho nghim tnh trc giao ca dng dao ng mode th nht v
mode th hai.
); ( ) ( ) (
1 1 21 2
x f x f x f + = (g)
trong
) (
) ( ) (
2
1
12
0
1 21
12
0
1
x f
q
q
x f x f
q
q

= (h)
Cng thc (f) sau hiu chnh s c dng:
) (
sin
2
sin 4
2
2
2
0
2
1
0
4
0
0
4
2
2
x f
q
q
L
x
L
x
J
J
L q
g EJ

+
=

(i)
Giai on th ba: php gn ng th 2 xc nh tn s dao ng mode 2. Dng dao ng gi y
c vit thnh:
D
L
x
C x f
q
q
J
J
L
L
L
L
L
L
x f +

=

2
1
) ( ) (
2
0 0
2
22
(j)
Cc hng s C v D xc nh t iu kin cn bng ng (5.51):
114

= +

= +

+
+

0
2
1
) (
0
2
1
) (
0 0
2
0
0
2
0
0 0
2
0
0
2
0
q
q
D
L
x
q
q
C
x f
q
q
J
J
L
L
L
L
L
L
q
q
q
q
D
L
x
q
q
C
x f
q
q
J
J
L
L
L
L
L
L
q
q
(k)
o hm bc mt v hai ca f(x) tnh theo cng thc:

=
) (
1
) (
; ) (
1
) (
2
0
2
0
2
' '
22
2
0
0
2
'
22
x f
q
q
L
L
J
J
L
x f
C x f
q
q
J
J
L
L
L
L
L
x f
(l)
trong f
2
(x) l dng dao ng ca mode 2, tnh trong php gn ng th nht, c n tnh
trc giao.
Tn s dao ng mode 2, t php gn ng th 2, tnh t cng thc:
) (
) (
2
22
0
4 ' '
22
0
4
0
0
2
22
x f
q
q
L x f
J
J
L q
g EJ

= (m)
V d : Xc nh tn s dao ng thn tu vi kch thc sau. Chiu di tnh ton L = 37,20m; Chiu
rng B = 7,40m; Chiu cao gia tu D = 3,0m; Chiu chm pha mi d
m
= 1,64m; Chiu chm pha li
d
l
= 1,96m. Lng chim nc ca tu 3140 kN.
Lng nc km tnh theo cng thc : m
a
/g = 8,62 kN.s
2
/m
2
.
Phn 1. Tnh lng nc km theo th t:
(1) Khong sn
(2) Chiu rng tu, ( B), m
(3) Chiu chm tu d, m
(4) Din tch mt sn chm trong nc, m
2

(5) Phn b lng nc km, m
a
/g, kN.s
2
/m
2

Phn 2: Lp phng trnh cn bng ng:
(6) Phn b khi lng thn tu theo khong sn, m
1
/g, kN.s
2
/m
2

(7)
g
m
g
m
g
m
a
+ =
1
, kN.s
2
/m
2

(8) m/ m
0

(9) ( m/m
0
)
(10)
2
1

L
x

115
(11)

2
1
0
L
x
m
m

(12)

2
1
0
L
x
m
m

(13)
L
x
sin
(14)
L
x
m
m
sin
0

(15)
L
x
m
m
sin
0

(16)

2
1
1
L
x

(17)
1
(x)=
1
+ (16) + (13)
(18) ) (
1
0
x
m
m

(19) ) (
1
0
x
m
m

Phn 3 : Xc nh
2
1

(20) Momen qun tnh mt ct I, m
4

(21) I /I
0

(22)
L
x
I
I
2
0
sin
(23) ) (
2
1
0
x
m
m

Kt qu tnh c theo bng sau.
Xc nh tn s dao ng ca mode th nht.
Bng 5.1
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
Li
0-1 0,80 1,95 0,70 0,18 4,58 4,76 0,476 38,16 0,475 0,226 0,032
2-3 1,72 1,93 2,35 1,33 6,24 7,57 0,757 37,68 0,425 0,322 -,194
3-4 2,39 1,91 4,65 3,70 3,32 7,02 0,702 96,93 0,375 0,263 -,516

16-17 2,82 1,70 6,55 6,95 6,15 13,10 1,31 2,927 -,325 -.426 -1,09
17-18 2,17 1,68 4,45 3,67 3,89 7,56 0,756 1,617 -.375 -,284 -.667
18-19 1,35 1.66 2,37 1,22 4,13 5,35 0,535 0,861 -,425 -,228 -,383
19-20 0,90 1,65 0,67 0,23 3,03 3,26 0,326 0,326 -,475 -,155 -,155
Mi 0
Cng
209,32 172,29 381,61 38,161 380,96 0,032 -32,47

Bng 5.1 tip
(13) (14) (15) (16) (17) (18) (19) (20) (21) (22) (23)
Li
0-1 0,078 0,037 30,72 0,029 -,698 -,333 0,009 0,042 4,2 - 0,232
116
1-2 0,233 0,176 30,68 0,026 -,546 -,415 0,342 0,075 7,5 0,5 0,226
2-3 0,382 0,268 30,51 0,023 -,40 -,282 0,757 0,136 13,6 2,0 0,122
3-4 0,522 0,580 30,24 0,020 -,263 -,294 1,039 0,20 20,0 5,4 0,077

16-17 0,522 0,684 1,122 -0,02 -,303 -,397 -1,31 0,177 17,7 4,8 0,120
17-18 0,382 0,289 0,438 -,023 -,446 -,338 -,908 0,170 17,0 2,5 0,151
18-19 0,233 0,124 0,149 -,026 -,598 -,321 -,57 0,168 16,8 0,9 0,192
19-20 0,078 0,025 0,025 -,029 -,756 -,249 -,249 0,120 12,0 0,1 0,187
Mi

Cng
30,72 308,69 0,20 0,066 225,5 1,91
Phng trnh cn bng ng:

= + +
= + +
0 68 , 308 46 , 32 95 , 380
0 72 , 30 032 , 0 16 , 38
1 1
1 1



T :
1
= -0,805;
1
= 0,0616.
Bnh phng tn s dao ng t do tnh t bng trn:
2
4
8 2
2
1
1180
91 , 1 . 2 . 37 , 10
5 , 225 . 01 , 0 . 10 . 96 , 1 .

= = s

T
1
= 34,35 1/s
Xc nh tn s dao ng ca mode 2, trong php tnh gn ng u.
Bng 5.2
(1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11) (12)
Li
0-1 0,80 1,95 0,70 0,15 4,58 4,73 0,473 34,33 0,475 0,225 0,034
2-3 1,72 1,93 2,35 1,09 6,24 7,33 0,733 33,86 0,425 0,312 -,191
3-4 2,39 1,91 4,65 3,02 3,32 6,34 0,634 33,12 0,375 0,238 -,503

16-17 2,82 1,70 6,55 5,68 6,15 11,83 1,183 2,706 -,325 -.384 -1,013
17-18 2,17 1,68 4,45 3,00 8,89 6,89 0,689 1,523 -.375 -,258 -.629
18-19 1,35 1.66 2,37 0,99 4,13 5,12 0,512 0,834 -,425 -,218 -,471
19-20 0,90 1,65 0,67 0,19 3,03 3,22 0,322 0,322 -,475 -,158 -,153
Mi 0 0
Cng 171,0 172,3 343,3 34,33 342,7 0,032 -29,66

Bng 5.2 tip
(13) (14) (15) (16) (17) (18) (19) (20) (21) (22) (23)
Li
0-1 -,157 -,074 0,484 1,376 1,202 0,567 -,010 0,042 4,2 1,03 0,68
1-2 -,455 -,334 0,558 1,231 0,759 0,556 -,531 0,075 7,5 1,55 0,422
2-3 -,707 -,448 0,892 1,086 0,362 0,229 -1,15 0,136 13,6 6,80 0,083
3-4 -,809 -,875 1,340 0,942 0,035 0,034 -1,38 0,20 20,0 16,50 0,001

16-17 0,89 1,053 1,824 -,942 -,069 -,082 -1,16 0,177 17,7 14,0 0,006
17-18 0,707 0,487 0,771 -1,09 -,396 -,274 -1,08 0,17 17,0 8,50 0,108
18-19 0,455 0,233 0,284 -1,23 -,793 -,407 -,806 0,168 16,8 3,48 0,322
19-20 0,157 0,051 0,051 -1,38 -1,24 -,399 -,399 0,12 12,0 0,30 0,493
Mi
0
Cng
0,484 91,75 -,024 0,051 224,97 4,43
Phng trnh cn bng ng c dng :
117

= +
= + +
0 74 , 91 61 , 29 7 , 342
0 484 , 0 034 , 0 33 , 34
2 2
2 2



T :
2
= -0,017;
2
= 2,891.
Bnh phng tn s dao ng t do tnh t bng trn:
2
4
8 2
2
2
8150
430 , 4 . 2 . 37 , 10
5 , 225 . 01 , 0 . 10 . 96 , 1 . 16

= = s

Tn s tnh ton :
2
= 90 1/s
Xc nh tn s dao ng ca mode th hai, php tnh gn ng u, xem xt cho trng hp trc
giao dng dao ng.
Bng 5.3
Khong sn (q/q
0
) ln 1 (q/q
0
) ln 2 (q/q
0
) tr. bnh f
21
(x) t B5.4 f
1
t B5.3
(1) (2) (3) (4) (5) (6)
0-1 0,476 0,473 0,471 1,202 -0,698
1-2 0,757 0,733 0,745 0,759 -0,546
2-3 0,702 0,634 0,668 0,362 -0,40
3-4 1,12 6,983 1,048 0,035 -0,263
..
16-17 1,31 1,183 1,246 -0,069 -0,303
17-18 0,756 0,689 0,722 -0,396 -0,446
18-19 0,535 0,512 0,523 -0,793 -0,598
19-20 0,326 0,322 0,324 -1,236 -0,756
38,161 34,329 36,245

Bng 5.3b
(4)x(5)x(6) (4)x(6)
2

1
xf
1
(x) f
2
(x) =(5)+(9) (4)x(10)x(6) (J/J
0
) t B5.3
(7) (8) (9) (10) (11) (12)
-0,394 0,230 -0,07 1,132 -0,374 4,2
-0,309 0,222 -0,055 0,704 -0,287 7,5
-0,097 0,107 -0,040 0,322 -0,086 13,6
-0,010 0,072 -0,026 0,009 -0,009 20,8
..
0,026 0,114 -0,030 -0,099 0,037 17,7
0,128 0,144 -0,045 -0,441 0,142 17,0
0,248 0,187 -0,060 -0,853 0,268 16,8
0,303 0,184 -0,076 -1,312 0,321 12,0
0,186 1,842 0,018

Bng 5.3c
L
x 2
sin 4

L
x
sin
1

(13) + (14) (15)
2
x(12) (3)x(10)
2

(13) (14) (15) (16) (17)
-0,628 0,008 -0,62 1,62 6,05
-1,82 0,023 -1,797 24,1 0,363
-2,83 0,038 -2,792 106,0 0,065
-3,56 0,052 -3,508 256,0 0,0

3,56 0,052 3,612 230,0 0,012
2,83 0,038 2,868 140,0 0,134
118
1,82 0,023 1,834 57,0 0,372
0,628 0,008 0,636 4,85 0,555
3411,35 4,388
T bng tnh c th thy:
10 , 0
842 , 1
186 , 0
1
=

=
2
4
7
2
2
7770
388 , 4 2 , 37 10
3411 81 , 9 01 , 0 10 2 97

= = s
x x
x x x x x

Xc nh tn s dao ng ca mode th hai, php tnh gn ng th hai.
Bng 5.4
Sn (q/q
0
)
12
t B5.4 f
2
(x) t B5.5 (2)x(3) (4) (4)
(1) (2) (3) (4) (5) (6)
0-1 0,473 1,132 0,535 -0,038 -0,10
1-2 0,733 0,704 0,516 -0,573 0,511
2-3 0,634 0,322 0,204 -1,089 2,173
3-4 0,983 0,009 0,009 -1,293 4,555
..
16-17 1,183 -0,099 -0,177 -1,280 -6,168
17-18 0,689 -0,441 -0,304 -1,163 -3,725
18-19 0,512 -0,853 -0,437 -0,859 -1,703
19-20 0,322 -1,312 -0,422 0,422 -0,211
4,203

Bng 5.4b
Cng cp J
0
/J f
22
(x).L
2
(9) [(10)
n
+(10)
n+1
]/
40
(11)
(7) (8) (9) (10) (11) (12)
0,205 2380 0,610 3,284 0,149 -12,688
1,342 1335 2,240 2,674 0,077 -12,837
3,364 736 3,095 0,434 -0,056 -12,914
5,853 481 3,519 -2,661 -0,221 -12,858
..
-4,947 565 -3,494 -6,507 -0,238 -0,375
-2,714 590 -2,002 -3,013 -0,101 -0,137
-1,062 596 -0,791 -1,011 -0,031 -0,036
-0,211 834 -0,220 -0,220 -0,005 -0,005
4,204 -253,738 -130,218

Bng 5.4c
[(12)
n
+(12)
n+1
]/
40
(13)x(q/q
0
)
2 (14)
2
1

L
x
)
2
1
(
L
x
C

(13)+(17)+D
(13) (14) (15) (16) (17) (18)
-0,6381 -0,9018 -10,1636 0,475 0,4746 0,1608
-0,6438 -0,4719 -10,8618 0,425 0,4246 0,1051
-0,6443 -0,4084 -10,3899 0,375 0,3747 0,0547
-0,6373 -0,6265 -3,9815 0,325 0,3247 0,0117
..
-0,0128 -0,0151 -0,0186 -0,325 -0,3247 -0,0155
-0,0043 -0,0030 -0,0035 -0,375 -0,3747 -0,0547
-0,0010 -0,0005 -0,0005 -0,425 -0,4246 -0,1013
0,0 0,0 0,0 -0,475 -0,4746 -0,1503
-6,505 -11,1633 -81,5247
119
Bng 5.4d
(18)x(2) (19) (11)+C (21)
2
(9)
2
/(8) (2)
2
x(18)
2

(19) (20) (21) (22) (23) (24)
0,0761 -0,0033 1,148 1,315 0,016x10
-2
1,22x10
-2
0,077 -0,079 1,076 1,16 0,376x10
-2
0,806x10
-2

0,0347 -0,1564 0,943 0,890 1,30x10
-2
0,19x10
-2

0,0115 -0,1911 0,778 0,605 2,57x10
-2
0,013x10
-2

.. x10
-2
x10
-2

-0,0115 -0,1536 0,761 0,58 2,15x10
-2
0,021x10
-2

-0,0377 -0,138 0,898 0,806 0,678x10
-2
0,206x10
-2

-0,0519 -0,1003 0,996 0,992 0,105x10
-2
0,525x10
-2

-0,0519 -0,1003 0,996 0,992 0,105x10
-2
0,525x10
-2

-0,0484 -0,0484 0,999 0,998 0,00621,11 0,7271,838

= +
= + +
0 7 , 342 66 , 29 5247 , 81
0 3 , 34 034 , 0 16 , 11
Dx Cx
Dx Cx

T C = 0,9991 v D = 0,3242.
2
2
2
4
8
2
22
7450
10 43 , 8
10 13 61
2 , 37 10
100 10 96 , 1

= = s
x
x x
x
x
x x

22
= 86 1/s.
5 XC NH TN S DAO NG THN TU NH DM 20 KHONG SN L
THUYT
Cc phng php thnh hnh ti Russia da vo m hnh thn tu dng dm gm hai mi
khong sn ngy nay c dng ph bin ti nhiu nc. M hnh ny (ting Anh: 20-Station
Beam Model) dng chnh thc ti trung tm nghin cu Taylor (David Taylor Research Center)
USA. Cch lm ny tm tt nh sau: mi khong sn nm gia cc sn l thuyt tnh t 0 n 20
coi nh mt strip trong l thuyt cc mt ct phng strip theory. Mt ct ngang khong sn ng
bng mt ct ngang qua gia on, momen qun tnh tnh cho mt ct ny, mang gi tr const trong
strip ang xt. Phn b trng lng cng const trong mi on. Ngi ta s dng phng php phn
sai hu hn khi gii bi ton dng ny. Mt trong nhng thnh cng ca m hnh l tnh ton dao
ng cho tu ch gaz dung tch 125.000 m
3
, a ra nhng kt qu st thc nm 1975.
Cch lm ny gn y c nhiu nc p dng trong tnh ton, thit k tu. ng kim Trung
quc khuyn co s dng phng php tnh ny khi xc nh cc tn s thp nht, xem trang 183-
186 sch [24].
Cc cng vic phi lm bao gm: xc nh cc tham s hnh hc thn tu, cc c trng c hc
cc mt ct ngang thn tu cn thit cho cc php tnh dao ng ngang. Cng tc chun b tin hnh
cho 20 khong sn l thuyt u nhau. S dng phng php phn sai hu hn, nh trnh by
ti chng 4 ti liu ny gii bi ton ang t ra.
M hnh gin n trnh by phn b momen qun tnh mt ct ngang tu, dng cho dao ng
ngang theo chiu ng v chiu ngang c th l hnh thang cn, cnh y bng chiu di thn tu
L, cnh trn bng L/2, chiu cao Ix.
Cng thc gn ng xc nh momen qun tnh mt ct:
Dao ng ng:
12
2
D m
I
oi
iV
= (5.55)
120
Dao ng ngang:
12
2
B m
I
oi
iH
= (5.56)
trong D chiu cao mn, m; B chiu rng tu, m.
m
oi
- phn b khi lng, tnh bng t.
Khi lng nc km
Lng nc km tnh cho dao ng ng, theo ti liu ca Landweber, Lewis, Todd:
m
0V
= b
2
C
V
K
N
(5.57)
Lng nc km trong dao ng ngang:
m
0H
=
N H
K C d
2
2

(5.58)
trong :
m
0V
, m
0H
lng nc km tnh cho n v chiu di tu
- trng lng ring nc
b - na chiu rng ng nc xc nh ti cao d mt ct ngang ang xem xt,
d - chiu chm ti mt ct ngang ang xem xt
C
V,
C
H
h s c t th Lewis hoc theo bng di y.
K
N
- h s tnh cho mode dao ng th N, trong N = 1, 2, 3, ...
Trong cc bng tip y, cc k hiu mang ngha sau:
A
w
din tch mt ct ngang o ti sng a ng xem xt, c t th Bonjean
b
w
- chiu rng, d
w
mn nc c ti sn ang xem xt.
Bng 5.5: H s C
V

T l b
W
/d
W
A
W
/
b
w
d
w
0,2 0,4 0,6 0,8 1,0 1,2 1,4 1,6 1,8 2,0
0,1 1,25 0,975 0,86 0,80 0,775 0,765 0,755 0,752 0,753 0,753
0,2 1,06 0,88 0,805 0,764 0,75 0,75 0,75 0,75 0,75 0,752
0,3 0,815 0,815 0,76 0,75 0,75 0,755 0,76 0,77 0,775 0,79
0,4 0,800 0,74 0,75 0,75 0,765 0,77 0,775 0,78 0,80 0,801
0,5 0,740 0,76 0,765 0,774 0,785 0,79 0,80 0,816 0,825 0,831
0,6 0,70 0,788 0,802 0,815 0,83 0,842 0,852 0,865 0,875 0,88
0,7 0,860 0,88 0,895 0,905 0,915 0,92 0,925 0,933 0,94 0,942
0,8 1,035 1,035 1,032 1,030 1,025 1,02 1,02 1,018 1,015 1,01
0,9 1,32 1,27 1,24 1,20 1,185 1,162 1,15 1,13 1,12 1,115
1,0 1,98 1,76 1,64 1,57 1,518 1,742 1,434 1,40 1,375 1,355
Bng 5.6: H s C
H

T l b
W
/d
W
A
W
/
b
w
d
w
0,2 0,4 0,6 0,8 1,0 1,2 1,4 1,6 1,8 2,0
0,1 1,083 1,197 1,327 1,440 1,554 1,678 1,791 1,912 2,036 2,134
0,2 1,061 1,16 1,27 1,352 1,431 1,53 1,606 1,683 1,764 1,851
0,3 0,049 1,123 1,184 1,263 1,308 1,387 1,436 1,505 1,554 1,616
0,4 1,024 1,073 1,123 1,172 1,209 1,263 1,295 1,332 1,382 1,419
0,5 1,017 1,049 1,061 1,091 1,123 1,147 1,172 1,191 1,221 1,246
0,6 1,012 1,024 1,036 1,061 1,061 1,073 1,086 1,086 1,098 1,11
0,7 1,007 1,012 1,036 1,036 1,036 1,036 1,036 1,036 1,036 1,036
0,8 0,997 0,997 1,004 1,009 1,009 1,012 1,012 1,012 1,024 1,026
0,9 1,002 1,002 1,012 1,036 1,049 1,049 1,049 1,061 1,061 1,061
1,0 1,049 1,073 1,098 1,11 1,123 1,14 1,160 1,165 1,184 1,197
121

Bng 5.7: H s K
N

L/B hoc L/d Mode 1 Mode 2 Mode 3 Mode 4 Mode 5
5,0 0,70 0,624 0,551 0,494 0,477
6,0 0,748 0,678 0,614 0,560 0,515
7,0 0,786 0,719 0,661 0,611 0,568
8,0 0,815 0,756 0,698 0,653 0,611
9,0 0,839 0,784 0,733 0,687 0,647
10,0 0,858 0,808 0,759 0,716 0,677
11,0 0,874 0,828 0,782 0,742 0,706
12,0 0,888 0,845 0,802 0,763 0,73
13,0 0,890 0,859 0,82 0,783 0,751
14,0 0,909 0,87 0,835 0,803 0,770
15,0 0,917 0,883 0,848 0,818 0,788
20,0 0,947 0,92 0,895 0,876 0,857
25,0 0,968 0,944 0,925 0,909 0,894
30,0 0,980 0,958 0,94 0,924 0,91
35,0 0,987 0,967 0,95 0,934 0,922
6 PHNG PHP MA TRN CHUYN
Phng php ma trn chuyn (transfer matrix) ra i t nhng nm u th k XX, ng dng rng
ri trong cc phn tnh hc ca c hc kt cu. S dng phng php ny vo cc bi ton ng lc
hc tm thy ti cc ti liu chuyn ngnh. Chng ta cng xem xt dao ng t do dm tit din thay
i nh nu ti cc chng trc.
0
) , ( ) , ( ) , ( ) , (
4
4
2 2
4
2
2
4
=

x
t x W
GA
m J
t x
t x W
GA
EJm
J
t
t x W
m
x
t x W
EJ
s
p
s
p
(5.59)
trong W(x,t) = W(x)sin(t + )
- tn s gc, rad/s
- pha dao ng, rad
J momen qun tnh mt ct ngang thn tu, m
4

J
p
- momen trn chiu di n v, tm
A
s
- din tch mt b ct, m
2

Sau khi thay W(x,t) theo quan h ang nu , phng trnh (a) c dng:
0 ) ( 1
) ( ) (
2
2
2
2
2
2
4
4
=

+ + x W
GA
J
EJ
m
dx
x W d
m
J
GA
EJ
EJ
m
dx
x W d
s
p

(5.60)
S dng cc k hiu sau:
; ; ;
4 2
4
2 2
2
2
EJ
l m
EJ
l J
l
GA
m
p
s

= = = (5.61)
l chiu di khong sn
Dng cui ca phng trnh dao ng dm trn y s l:
0 ) (
) ( ) (
4
4
2
2
2 4
4
=

+
+ x W
l dx
x W d
l dx
x W d
(5.62)
Hm W(x) trnh by dng hm iu ha, c th hiu l: W(x) = C.e
(s/l).x
, trong C hng s. o
hm theo x tnh t hm ang cp c hiu l:
122

=
=
l
x
s
IV
l
x
s
l
x
s
l
x
s
e
l
s
C x W
e
l
s
C x W
e
l
s
C x W
e
l
s
C x W
4
) (
3
2
. ) (
. ) ( ' ' '
. ) ( ' '
. . ) ( '
(5.63)
Thay cc gi tr ny vo phng trnh (c) chng ta nhn c:
0 exp . .
4
4
2
2
4
=

+
+

l
x
s C
l l
s
C
l l
s
C


hay l 0 . .
4
4
2
2
4
=

+
+

C
l l
s
C
l l
s
C


( ) ( ) 0
4 2 4
= + + + s s (5.64)
Nghim s ca phng trnh ny c th vit:
( )
( )
2 4
2
4
2 , 1


+

+
+ = s (5.65)
Hm W(x) c trnh by li di dng:
l
x
is
l
x
is
l
x
s
l
x
s
e C e C e C e C x W
2 2 1 1
4 3 2 1
) (

+ + + = (5.66)
Hm trn y cn c th hiu nh sau:

=
l
x
s A
l
x
s A
l
x
s A
l
x
s A x W
1 4 1 3 1 2 1 1
sin cos sinh cosh ) ( (5.67)
S dng cc k hiu trnh by ti (5.61), hm (5.67) tr thnh:

=
l
x
s
l
s
A
l
x
s
l
s
A
l
x
s
l
s
A
l
x
s
l
s
A
EJ
l
x W
2
2
4 2
2
3 1
1
2 1
1
1
4
4
cos sin cosh sinh ) (

Vi W(x) c xc nh cc i lng lin quan, c mt trong ma trn F c tnh theo o hm
ca W(x) nh chng ta quen trong phn c hc kt cu.
' ' )' ( ) ( ; ' )' ( ) ( ;
) (
) ( x EJW x N x EJW x M
dx
x dW
x = = =
V d nu tip y trnh by biu thc xc nh o hm bc nht hay l biu thc tnh gc xoay:
( )
( )

+ +
+

+ =
l
x
s
l
s
A
l
x
s
l
s
A s
l
x
s
l
s
A
l
x
s
l
s
A s
EJ
l
x
2
2
4 2
2
3
2
2
1
1
2 1
1
1
2
1
4
3
sin cos
sinh cosh ) (

(5.68)
o hm bc hai ca W(x) tnh t o hm bc nht, biu thc (g), o hm bc ba theo x tin
hnh theo cch lm tng t. Dng chung ca bn i lng W(x), (x), M(x) v N(x) nh sau:
123

4
3
2
1
2 2 1 1
2 2 1 1
2 2 1 1
2 2 1 1
sin cos sinh cosh
cos . sin . cosh . sinh .
sin . cos . sinh . cosh .
cos sin cosh sinh
) (
) (
) (
) (
A
A
A
A
l
x
s
l
x
s
l
x
s
l
x
s
l
x
s f
l
x
s f
l
x
s e
l
x
s e
l
x
s d
l
x
s d
l
x
s c
l
x
s c
l
x
s b
l
x
s b
l
x
s a
l
x
s a
l
x N
x M
x
x W

(5.69)
trong cc k hiu mang ngha sau:
EJ
s l
d
EJ
s l
c
EJ
s l
b
EJ
s l
a
4
2
2
2
4
2
1
2
4
2
2
4
1
3
) (
;
) (
; ;

=
+
= = =
;
) (
;
) (
4
2
1 2
4
2
1 1

s ls
f
s ls
e

=
+
=
Trong khun kh phng php ma trn chuyn, c th xc lp phng trnh ma trn theo cch lm
ca Prohl:
IraI ben pIaI ben

L R
N
M
W
F F F F
F F F F
F F F F
F F F F
N
M
W

44 43 42 41
34 33 32 31
24 23 22 21
14 13 12 11
(5.70)
C th k hiu Z = [W M N]
T
, phng trnh cui c th vit li:
Z
R
= FZ
L
(5.71)
Vector Z mang tn gi vector trng thi. Ti x = 0 vector trng thi Z(0) = Z
L-bn tri
nh ang
cp, tnh theo cch sau:

+
+

=

4
3
2
1
4
2
2 2
4
2
1 1
4
2
2
2
4
2
1
2
4
2
3
4
1
3
0 1 0 1
) (
0
) (
0
0
) (
0
) (
0 0
) 0 (
) 0 (
) 0 (
) 0 (
A
A
A
A
s ls s ls
EJ
s l
EJ
s l
EJ
s l
EJ
s l
l
N
M
W

Cng thc cui c th vit gn dng: Z
L
= B(0).A, t suy ra biu thc xc nh vector A:
A = B
-1
(0).Z
L
.
Nu k hiu
2
2
2
1
1
s s +
= ,
2
2
2
1
2
1
1
s s
s
+
+
=

,
2
2
2
1
2
2
2
s s
s
+

=

, ma trn nghch o
B
-1
(0) c th vit thnh:
124

0 0
0 0
0 0
0 0
) 0 (
2
3
2
1
1
2
1
3
1
2
2
2
4 1
l s l s
EJ
l
EJ
l s l s
EJ
l
EJ
B

(5.72)
Vector trng thi xc nh ti v tr x mang dng:
Z(x) = B(x)B
-1
(0)Z
L
. (5.73)
Theo cch lm ny vector trng thi cui khong sn tnh ton, chiu di l, c hiu l:
Z
R
= Z(l) = B(l)B
-1
(0)Z
L

Cng thc trn cn c hiu nh biu th ti (f), trong F = B(l)B
-1
(0).
Ma trn F vit di dng khai trin s l:
( ) [ ] ( ) [ ]
( )
( ) [ ] ( ) [ ]
( )

+ + +

+ + +
=
2 0 3
4
2
4
3 1
4
3 1 2 0 3
2 4
1 2
4
2 3 1 2 0 3
4
4
3
2 4
1 2 3 1 2 0
/ / /
/ /
/ /
/
c c l c a c al c c
c c l c c c c a l a c
ac l c c a c c l c
c c al ac c c l c c
F





Cc k hiu nm trong thnh phn ca F c hiu nh sau:
; cos
2
2
2
1
2
2 0
1 1

+
+
=



e e
c
; sin
2
2
2
1
2
1
1
2
2
1
1 1

+
+
=

e e
c
; sin
1
2
111
2
2 1
3
1 1

+
=

e e
c
EJ
l
a
2
=
Ma trn F thnh lp cho mi on thn tu. Tng cng chng ta cn thc hin cho 20 strip thn
tu nh nu trn. Trong trng hp ny vec to B
n
p dng cho u t do thn tu bn phi s lin
h vi vi vec tor B
0
bn tri theo dng:
B
n
= F
n-1
F
n
. . . F
i
. . . F
2
F
1
B
0
(5.74)
Nu k hiu = F
n-1
F
n
. . . F
i
. . . F
2
F
1
, hay l B
n
= B
0
chng ta c th vit tip:
0 n

N
M
W
N
M
W

44 43 42 41
34 33 32 31
24 23 22 21
14 13 12 11
(5.75)
T iu kin bin p dng cho trng hp tu nm trn nc tnh, c th vit nh sau:
Ti x = 0: M
0
= N
0
= 0;
Ti x = L: M
n
= N
n
= 0;
125
Hay l:

=
=
0
0
0 42 0 41
0 32 0 31

W
W

0
0
0
42 41
32 31
=

W

T y c th vit phng trnh xc nh tn s dao ng:
0 ) (
42 41
32 31 2
=


=
Nghim
i
2

, i = 1, 2, . . . s c xc nh t phng trnh cui.
Vector ring tnh theo cng thc:
0
42
41
0
32
31
0
W W

=
Nu nhn W
0
= 1 i lng
0
mang gi tr
32
31
0

= .
Vector trng thi B
0
trong trng hp ny s l:
B
0
= [1
32
31

0 0]
T
.
Th tc tnh thc hin nh cc v d trnh by ti chng trc sch ny.
7 PHNG PHP PHN T HU HN
Phng trnh dao ng ca ton h xc nh trong chng 4 c dng sau:
{ } { } { } { } ) ( ) ( ] [ ) ( ] [ ) ( ] [ t P t K t C t M = + +
& & &
(5.76)
trong cc ma trn [K] ma trn cng, {P} vector lc. Ma trn [C] c lp trn c s tnh n
nh hng h s cn. Ma trn khi lng, bao gm khi lng tu cng khi nc km [M] xc lp
trong khun kh chng 4 va cp.
Nu b qua lc cn khi xt dao ng, phng trnh dao ng c dng:
{ } { } ) ( ) ( ] [ ) ( ] [ t P t K t M
r
& &
= + (5.77)
Trng hp 0 ) ( t P
r
cng thc cui tr thnh:
{ } { } 0 ) ( ] [ ) ( ] [ = + t K t M
& &
(5.78)
Chuyn v c xt di dng hm iu ho vi bin dao ng
A
:
t i
A
e t

= ) ( (5.79)
Thay biu thc trn vo cng thc trc c th vit c:
[ ] 0 ] [ ] [
2
r r
=
A
M K (5.80)
Vi trng hp 0
A
r
, biu thc trong du ngoc phi bng 0, bi ton tr thnh:
K -
2
M = 0 (5.81)
hoc K - M = 0

126
Th tc tnh dao ng thn tu theo phng php phn t hu hn
1. M hnh ha kt cu thn tu theo cch lm trong phng php phn t hu hn. Ni cch khc
thc hin ri rc ha thn tu, chia thn tu thnh nhiu phn t dng tnh c. Thn tu c xem
xt trong dng bi ton mt chiu, hai chiu hoc trong khng gian 3D, ty yu cu c th.
M hnh ho nh cc phn t dm: thn tu c coi cu thnh t nhiu phn t dm, ni vi nhau
qua cc nt. Hnh nh thn tu chia lm 20 phn on dng trong tnh ton cp trn l m hnh
chun mc cho cch lm ny. Thay v cch gii nh phng php sai phn hu hn nh nu, chng
ta a phng php phn t hu hn vo bi ton t ra. im khc cch lm trn cn c th nu,
thay v chia tu lm 20 strip, trong khun kh phng php phn t hu hn c th s dng s phn
t nh vai tr strip song khng hn ch s lng.
Mi phn t c chiu di l xc nh, v chiu di ny khng nht thit bng nhau, cng EJ =
const trong phn t, nh hng ct hay biu thc GJ
p
xc nh trong phm vi phn t. Khi lng
phn t gm khi lng cc c cu, hng ha, phn my mc thit b phn b ti phn t ang xt v
c khi lng nc km, tnh theo cc cch nu, ginh cho strip c th. Theo cch lm ny dao
ng thn tu c coi nh dao ng dm tit din thay i, phn b khi lng st thc t.
M hnh ha kt cu thn tu nh cc phn t dm 3D: thn tu c coi l tp hp t rt nhiu phn
t dm 3D, lin kt qua cc nt. Mi phn t dm 3D n gin gm 2 nt, mi nt cha 6 bc t do.
C ln bo ton ty thuc vo lng phn t c dng.
Thn tu thy c th coi l kt cu tm v c gia cng bng h thng cc sn, np. Kt cu dng ny
cho php s dng hai kiu phn t quen thuc m hnh ha thn tu. Hnh nh c dng ph bin
nh sau: v tu cu thnh t cc phn t 2D, nh phn t bn cnh v phn t tam gic, cc np lm
cng m hnh dng phn t dm. Cc phn t lin kt vi nhau qua cc nt. Khi lng cc phn t
c tnh ty thuc v tr chim ch phn t. Cc phn t khng tip xc vi nc ch mang gi tr
khi lng tc ng ln bn thn phn t, cc phn t tip xc vi nc ngoi mn phi mang thm
khi lng nc km. Nguyn tc tnh phn b nc km cho mi n v di thn tu khng khc cch
trnh by.
M hnh ha thn tu bng cc phn t khi 3D, kt hp vi phn t 2D v dm: m hnh ny dng
tnh dao ng ng, dao ng theo phng ngang, dao ng xon tu. Mt trong nhng m hnh 3D
dng vo mc ch my trnh by ti hnh 5.9. Khi lng nc km tnh trong khng gian 3D hoc
chuyn v bi ton 2D nh nu ti mc trn c dng trong m hnh ny.

Hnh 5.8
Cc vic tip theo:

Hnh 5.9
127
2. Xy dng bi ton nu ti (*), trong ma trn cng {K} thnh lp theo hng dn ghi ti phn
tnh hc, chng phng php phn t hu hn. Ma trn khi lng hoc khi lng tng qut, trong
c lng nc km.
3. Tha mn cc iu kin bin bi ton. M hnh c chp nhn rng ri nh nu u chng
ny, thn tu nh dm tit din ngang thay i ko theo cc c trng c hc thay i, t trn nc
nh trn nn n hi, chu tc ng cc lc kch ng m trong ch yu do my mc thit b v
chn vt tu gy ra. iu kin bin ca bi ton ang nu c x l trc khi thc hin cc bc tip
theo.
Tn s dao ng ring v dng dao ng thn tu c tm sau khi gii phng trnh ma trn
ang cp. Ty thuc bc t do ca h thng, s lng tr ring v theo vector ring ng bng
bc t do. Trong thc t chng ta ch cn tm mt s hu hn gi tr tn s thp nht, do vy cn gn
cc hn ch ny trc khi gii.
Di y trnh by kt qu tnh thc hin dao ng thn tu ch gaz LNG dung tch khoang hng
125.000m
3
do ng kim ABS thc hin 1975. Kch thc chnh ca tu: L
pp
= 270,05m; B = 42,8m;
D = 27,43m; d = 10,97m. Lng chim nc ca tu 95.000 T. Phn li ca tu, tnh t vm li n
vch ngang trc bung my m hnh ha nh cc phn t trong khng gian 3D. H thng truyn
ng tu gm trc my, hp s, trc chn vt, chn vt, cc gi vv m hnh ha nh phn t
dm, chu ti tp trung. Hnh nh khoang li bao gm h thng truyn ng my chnh, chn vt c
miu t ti hnh 5.10.
Hnh 5.10
Phn thn tu cn li m hnh ha nh phn t mt chiu, t dc chiu di tu. S phn t dm
dng cho phn ny 15. im kh khn ln khi m hnh ha dng ny l mi lin kt ti vch trc
ca m hnh 3D thuc phn ui tu vi h thng cc dm mt chiu m t phn trc ca thn tu.
Yu cu v m bo tnh lin tc ca kt cu c t ra u tin.
Hnh nh khc thng m hnh tnh va nu c trnh by ti hnh 5.11, da vo cng b trong
[16] v [19].
Kt qu tnh c cng b ti ti liu [16] nh sau.
Bng 5.7: Tn s dao ng ng (Hz)
Mode Pp 20 khong sn Pp phn t hu hn
2 1,05 1,08
3 1,95 2,08
128
4 2,80 3,04
5 3,63 3,96
6 4,40 -
7 5,03 4,93
8 5,56 5,33
9 6,17
10 6,81

Hnh 5.11
M hnh trn c dng tnh dao ng ngang v dao ng dc tu. Kt qu tnh c t th,
hnh 5.12 di y.
Hnh 5.12
V d tip theo trnh by m hnh ha thn tu ang cp song thay 15 phn t dm chu un
phn trc thn tu bng cc phn t 2D, 3D. Bng cch ny ton b kt cu thn tu c miu t
gn thc hn, d nhn din hn, hnh 5.13.
MODE DAO O NO
D
A
O

O
N
O

U
N
O
D
A
O

O
N
O

N
O
A
N
O
D
A
O

O
N
O

D
O
C
M
O
D
E

D
A
O

O
N
O
,

|
C
/
S
}
129

Hnh 5.13
Dng dao ng ng v thnh th sau y, hnh 5.14.

Hnh 5.14 Dao ng ng
V d s dng phn mm tnh dao ng
p dng cch chia tu thnh cc strip kinh in, 20-Station Beam v dng phn mm ANSYS
tnh tn s dao ng ng tu vt ti hng kh, di 135,4 m, rng 17m, chiu cao mn 10,4 m, lng
chim nc lc y ti 18000 MT a li kt qu sau:
2 nt 1,2048 Hz
3 nt 3,1663 Hz
4 nt 5,8689 Hz
130
Kt qu tnh cng b cho tu ny trong sch [18] l N = 72 ln/pht, c ngha f = 72/60 = 1,2
tnh cho trng hp 2 nt.
V d tip theo trnh by m hnh tnh cc tu i bin do ng kim tu Germany GL thc hin
u nhng nm hai ngn, in trong GL-Technology, Ship Vibration.
Cc m hnh tu trong hnh gm: tu ch container 700TEU, tu ch du c nh, tu container
4500TEU. Kt qu m phng dao ng ghi li ti hnh 5.16.
Khi lng cc phn t bao gm khi lng bn thn kt cu, khi lng trang thit b, hng ha
phn bti mi phn t. Cc phn t tip xc nc cn phi tnh thm lng nc km trong thnh
phn khi lng phn t. cng cc phn t tnh theo kt cu thc t.
S dng phng php Ritz trong xy dng bi ton. Xc nh tr ring, vector ring nh cc
phng php s, trong c phng php Lanczos. Kt qu tnh dao ng t do gm hai dng: dao
ng xon v dao ng ng cho ba tu nu ti hnh 1.55 c trnh by bng hnh ti hnh 5.16. Ti
hnh nu r gi tr thp nht ca tn s tnh ton bng m hnh 3D. C th nu nhn xt sau, tnh n
m qu rng ming hm tu ch container tn s dao ng xon thn tu nhm ny thng rt
thp.



























Phn tch dao ng cho php rt ra cc dy tn s ring ca kt cu tu i mi nh sau, hnh
5.17.

Hnh 5.15. M hnh kt cu thn bng phn t 3D

Hnh 5.16. Dao ng thn tu
131
Tan so |Hz}
2 5 10 20 50 100
uong Iruc
keI cau Ion
He may
KeI cau vom
duoI
TIuong Iang
TIan Iau
KeI cau cuc bo
IaI IIuong Iang
1

Hnh 5.17 Tn s dao ng thng gp trong tu thy
8 DAO NG XON THN TU
S dng cch lm va nu vo trng hp tnh xon thn tu c th tin hnh xc nh tn s
xon thn tu cho mode u tin. Cng thc (aa) dng cho xon dm tit din thay i t chng 3
c vit li di dng:

=
l
n Tx
l
n T
T
T
n
dx f i
dx f J
i
GJ
0
2
0
2 ' '
0
0 2
) (
(5.82)
Nu momen xon tnh ti tit din x s l:
M
Tx
= GJ
Tx
f
n

=
1 0
2
0
2
T T n
l
n Tx n
M i C dx f i =

+

(5.83)
vi

=
x
n Tx T
dx f i M
0
1
(5.84)
Cng thc (a) c th mang dng:

= =
l x
n Tx
Tx
l
n Tx
T
T
l
T
Tx
l
n Tx
T
T
n
dx dx f i
J
dx f i
i
GJ
dx M
J
dx f i
i
GJ
0
2
0
0
2
0
0
0
2
1
0
2
0
0 2
1
1
(5.85)
Hm f
n
mang dng sau:

x x
n Tx
Tx
x x
n Tx
Tx
l
Tx
l
Tx
T
T
n n
dxdx f i
J
dxdxdx f i
J
i
dx i
GJ
i
f
0 0 0 0 0
0
0
0 2
1 1 1
(5.86)
132
hay l

=
x x
n Tx
Tx
n n
dxdx f i
J
C f
0 0
1
(5.88)
vi

=
x x
n Tx
Tx
l
Tx
l
Tx
n
dxdxdx f i
J
i
dx i
C
0 0 0
0
1 1
(5.89)
Bng tnh di y trch t cc php tnh cho tu vn ti di L = 200m, lng chim nc D =
15.000 tn. Cc d liu chun ha i
T0
= 1020 t.s
2
; J
T0
= 10m
4
. Kt qu tnh trnh by ti bng 5.8
Bng 5.8
Sn i
T
J
T
f i
T
.f = (2)(4) (5)
(1) (2) (3) (4) (5) (6)
0-1 0,05 0,40 -1,0 -0,059 0
1-2 0,146 0,62 -0,98 -0,144 -0,105
2-3 0,164 0,90 -0,951 -0,156 0,195
3-4 0,266 1,25 -0,891 -0,237 -0,588
..
16-17 0,372 1,65 0,809 0,301 1,280
17-18 0,268 1,15 0,821 0,241 0,738
18-19 0,102 0,40 0,988 0,101 0,148
19-20 0,047 0,10 1,00 0,047 0
7,93
Bng 5.8b
(5) hiu chnh (7)/(3) (8)

i
T
(8) C
1
-(8) (11)/13,75
(7) (8) (9) (10) (11) (12)
0 0 26,748 1,57 -13,0 -0,947
0,187 0,302 26,466 3,85 -12,70 -0,924
0,472 0,524 25,62 4,20 -11,87 -0,864
0,856 0,686 24,41 6,50 -10,66 -0,766
..
0,783 0,681 2,647 0,71 11,10 0,808
0,403 0,576 1,390 0,18 12,36 0,900
0,163 0,407 0,407 0,04 13,34 0,971
0 0 0 0 13,75 1
109,0
Bng 5.8c
(2)(12) (13) (13) hiu
chnh

(15)x(15) (16)/(3) (12)x(13)
(13) (14) (15) (16) (17) (18)
-0,056 0,014 0 0 0 0,053-0,135
-0,135 0,205 0,192 0,037 0,059 0,124
-0,141 0,481 0,469 0,219 0,244 0,122
-0,206 0,828 0,816 0,667 0,534 0,160
..
0,216 0,695 0,693 0,481 0,418 0,174
0,117 0,362 0,360 0,130 0,186 0,106
0,099 0,146 0,145 0,021 0,058 0,096
0,047 0 0 0 0 0,047
21,11 1,838
Kt qu tnh cho mode th nht xon tu:
133
11 , 21 ) 4 / 10 (
838 , 1
1020
10 . 10 . 8
) 17 ( ) 4 / (
) 18 (
2
6
2
0
0 2
1
=

T
i
GJ
= 273 1/s
2
.
T :tn s ring = 273 = 15,52 1/s; chu k = 2/ = 0,38 s.
Dng dao ng xon v li t bo co ca hi ngh quc t v bn tu SSC 1990 th hin nh
sau.

Hnh 5.18

Hnh 5.19 Dao ng xon thn tu
134
9 CC CNG THC KINH NGHIM XC NH TN S DAO NG THN TU
Tn s v bin dao ng ng v ngang ca thn tu nm trn nc ph thuc vo cc yu t:
(a) phn b khi lng tu dc thn tu,
(b) phn b lng nc km dc thn tu,
(c) cng kt cu chu un, chu ct dc tu thay i,
(d) nh hng phn b lc ni dc tu.
Khi tnh tn s dao ng cc nh hng trn c a vo cc th tc tnh.
Trong giai on thit k s b tu, ngi thit k cn c nhng thng tin nht nh v tn s dao
ng ng v ngang ca thn tu tng lai. Mt s cng thc kinh nghim rt ra t kho nghim, tng
kt c th gip cho vic nh gi ban u v tn s ring dao ng thn tu. Nhng cng thc kinh
nghim c dng c kt qu cho cc tu kiu c gm cng thc Schlick, Burrill, Todd. Ti liu phn
ny trnh by c th ti sch [22] ca Todd. Cng thc Kumai p dng cho tu i mi.
9.1 Cng thc Schlick
Trong tp san TINA t nm 1894, vi bi bo The Futher Investigation on the Vibration of
Steamers Schlick ngh cng thc tnh s ln dao ng trong mt pht ca thn tu chy bng
my hi nc thi by gi. i sang h metric, cng thc c dng:
3
L
J
C N
V

=

(5.90)
trong : J

- moment qun tnh mt ct ngang gia tu, tnh bng m
4
,
- lng chim nc ca tu, t,
L chiu di tu, m,
C hng s xc nh trn c s thng k, t 280x10
4
cho tu bin h s y ln, v 340x10
4

cho tu cng loi song h s y nh. Chi tit hn bn c tm t trang 168 sch [22].
9.2 Cng thc Burrill
Trong ti liu Ship Vibration: Simple Methods of Estimating Critical Frequencies
Trans.NECI, 1934-1935 Burrill ngh tnh s ln dao ng trong mt pht Nv theo cng thc:
2 / 1
2
) 1 )( 2 / 1 (

+ +
=
s
V
r T B L
J
N (5.91)
trong :
J momen qun tnh mt ct ngang gia tu, thi yu cu tnh bng ft
4
,
- Lng chim nc ca tu, tnh bng tn ( 1LT = 2240 lb)
L chiu di gia hai tr, tnh bng ft,
B chiu rng tu, tnh bng ft,
T chiu chm tu, ft,
r
s
- h s tnh n nh hng lc ct, theo Lockwood Taylor, h s hiu chnh ny l:
[ ]
) 1 / 3 (
2 , 1 ) / ( 6 ) / ( 9 ) / ( 3 5 , 3
2
2 3 2
+
= + +
D B L
D B D B D B D
(5.92)
135
D- Chiu cao tu, tnh bng ft,
- hng s rt ra t kinh nghim.
Theo di v x l kt qu o t 25 tu tht, Burrill a ra kt lun hng s khi p dng cho
trng hp tnh i=1,2 l 2400000. Sai s ca php tnh 5%.
Trong h s Burrill, biu thc 1 + (B/2T) l hiu chnh cho lng nc km. Nu lng nc
km tnh theo ch dn ca Lockwood Taylor, cng thc Burrill tr thnh:
2 / 1
2
1
) 1 ( ) (

+ +
=
s
V
r L
J
N (5.93)
vi
1
lng nc km. Hng s trong trng hp ny nhn bng 2100000.
9.3 Cng thc Todd
T nm 1931 Todd a ra cng thc tnh momen qun tnh mt ct tu khng c thng tng
dng I = C
2
BD
3
. Nu a C
2
vo h s chung, c th vit cng thc Schlick di dng:
3
3
L
BD
N
V

= (5.94)
Gi tr h s , theo tc gi nm trong phm vi 45000 cho tu nh, 61000 cho tu du thi by
gi, trang 175 sch [22].
Cng thc c F.H. Todd ci bin t 1935, trn c s quan st lot tu hng v tu khch, xem
t trang 174 sch [22].
2 / 1
2
3
1
) 3 / 1 (

+
=
T B L
BD
C N
E
V
+ C
2
(5.95)
Trong cng thc, D
E
c ngha sau. Vi tu ch du v tu ch hng kh, thng tng ngn, n
ng vai tr chiu cao tu tnh n boong sc bn. Vi tu khch, thng tng di, D
E
c gi l
chiu cao hu hiu v xc nh ty thuc iu kin c th. Coi boong trn chm ln ht chiu di L
1

l boong cao nht. Chiu cao t tm y n boong y, o ti gia tu l D
1
. Khi :
D
E
= [D
1
2
L
1
/L]
1/2
(5.96)
Cc hng s c theo bng:
C
1
C
2

Tu ch du

52000 28
Tu ch hng 46750 25
Tu khch 44000 20
Trong h thng metric, cng thc Todd c chuyn thnh:
Vi tu ch du: 28
3
2 , 1
94900
3
3
+

+
=
L
T
B
BD
N
E
V
(5.97)
Vi tu ch hng, tu khch: 25
3
2 , 1
85300
3
3
+

+
=
L
T
B
BD
N
E
V
(5.98)
136
V d p dng cng thc Burrill v Todd tnh s ln dao ng trong mt pht ca tu vi kch
thc sau: L = 160m (525ft), B = 23,15m (76ft), D = 13,6m (44,5ft), = 16840T. T l B/D =1,71;
r
s
= 0,213; J = 7.246.200 cm
4
( 7800 ft
4
).
Theo cng thc Burrill:
77
213 , 1 ) 8 , 48 / 76 1 ( 525 16840
7800
2400000
3
=
+
=
x x
N
V

Theo Todd:
77 25
) 4 , 24 3 / 76 2 , 1 ( 525 16840
5 , 44 76
46750
3
3
= +
+
=
x x
x
N
V

9.4 Cng thc Kumai
y l cng thc dng cho tu ng t gia th k XX. Trong Report of Research Institute for
Applied Mechanics, Vol. 16, 1968, (Nht bn) Kumai ngh dng cng thc tnh N
v
dng sau:
3
6
10 07 , 3
L
I
N
i
V

= , (cycl/min) (5.99)
trong :
I momen qun tnh mt ct ngang gia tu, tnh bng m
4
,

i
- Lng chim nc =

+
m
T
B
3
1
2 , 1 , tnh bng tn,
L chiu di gia hai tr, tnh bng m,
B chiu rng tu, tnh bng m,
T
m
chiu chm tdao ng bnh ca tu, tnh bng m.
Kt qu tnh theo cng thc trn y ph hp vi kt qu tnh theo phng php phn t hu hn.
Bng so snh sau trch t ti liu ca cc tc gi Johannessen v Skaar, cng b 1980, nu r chnh
xc cn thit ca cng thc.
Bng 5.9
TT Kiu tu , t CT Kumai PP PTHH Sai lch, %
1 Tu hng 15500 2 1,62 +23
2 RO-RO 32000 1,46 1,16 +26
3 RO-RO 49000 1,49 1,6 -7
4 RO-RO 42000 1,04 0,94 +10
5 Tu ch ha cht 33000 1 0,93 +8
6 Tu ch hng ri 73000 0,63 0,64 -
T kt qu phn tch hi qui hai tc gi va nu xc lp th trnh by quan h gia tn s
dao ng, p dng cho cc mode 2, 3, 4, 5, 6, theo i thay ca kch c tu thuc cc kiu t dn s.
th trn ti hnh 5.20 dng cho tu ch hng ni chung, hiu theo ngha hng kh, hng thng.
th trnh by ti hnh 5.21 ginh cho tu ch du, ch hng ri.
137

Hnh 5.20
iu c th b sung ti y, cn c vo cng thc Kumai v th ca hai tc gi J - S, c th
vit cng thc tnh tn s dao ng cho cc mode cao hn nu c gi tr ca N
v
ca mode 2.
N
n,v
N
v
(n - 1 )
a
(5.100)
a = 0,845 ginh cho tu vn ti ni chung,
= 1 cho tu ch hng ri,
= 1,02 cho tu ch du.

Hnh 5.21
138
th trnh by tip, hnh 5.22 gip bn c nh gi tn s dao ng cc mode cao hn 1 cho cc tu
thng dng.
So nuI
T
y

I
e

I
a
n

s
o

s
o

v
o
I

T
S

2

n
u
I
KumaI
Todd
Iau "MarIne"
Tau cIo quang

Hnh 5.22
9.5 Dao ng xon
Cng thc F. Horn a ra t 1925 trong tp ch Werf Reeder und Hafen bn v dao ng ngang
v dao ng xon tu hng i bin c dng:
( )
) ( ; 58 , 1
2 2
Hz
L D B
G gJ
N
e
T
+
= (5.101)
trong g gia tc trng tri t, tnh trong h thng o Imperial g =32,2 ft/s
2
.
J
e
- momen qun tnh trong h c cc, (ft
4
)
G m un xon ca vt liu, (t/ft
2
). M un G =7,71.10
5
dng cho thp.
- lng chim nc ca tu, (t)
B chiu rng tu, o bng ft.
D chiu cao tu, o bng ft
L chiu di tu, (ft)
Cng thc tnh J
e
, theo Horn nn l:

=
t
ds
A
J
e
2
4

trong A din tch mt bao mt ct ngang tu, t chiu dy tm, ds tnh dc tm bao mt ct.
V d: tnh tn s xon thn tu vi kch thc chnh sau: L = 160m (525 ft); B = 16,5m (54 ft); D =
12,8m (42 ft); d = 5,8m (19 ft), cho trng hp = 7500LT.
Momen qun tnh tnh theo cng thc J
e
= 4260 ft
4
.
( )
Hz N
T
8 , 3
525 42 54 7500
10 71 , 7 4260 2 , 32
58 , 1
2 2
5
=
+

=


139
10 DAO NG THNG TNG
Thng thng trn cc tu vn ti thng tng c b tr pha ui hoc gia tu. Chn vt tu
b tr ti vng ui tu, lm vic trong trng tc t khng u l mt trong nhng ngun rung ng
k. Cc nh thit k tu, t xa ti nay phi b nhiu cng sc tm kim nguyn nhn gy rung
thng tng v tm cch hn ch rung. iu c th thng nht gia cc nh nghin cu l vi kh
lng bn thn ca thng tng nh hn nu so vi khi lng thn tu, trong nhng trng hp
chung, rung ng thng tng thng do thn tu gy ra.
M hnh tnh rung thng tng tu c th th hin nh ti hnh 5.23. Lu c coi nh hp cng
khi lng m, bn knh momen qun tnh r, trong bi ton phng. Mt trc lu l phn tip tc ca
bung my. Mi lin kt gia lu v boong chnh c xt nh khp bn l. Vch sau lin kt vi
boong qua np cng k v h s lc cn dc trc ng. Lu b gy rung ng w(,t) t pha thn
tu. Hnh nh thng tng (lu) t trn boong v chu rung c trnh by ti hnh 5.23.








Hnh 5.23 M hnh rung thng tng
Trc khi xt phng trnh chuyn ng chng ta cn xc lp cc k hiu cho chuyn v tng qut
x
j
. Chuyn v quanh trc bn l hy k hiu x
1
, i din chuyn v ng v chuyn v theo chiu
trc-sau (li-mi) ca tu. Trong cc thnh phn ny, x
1
gn lin vi momen qun tnh khi lng
lu, x
2
i lin vi khi lng lu, trong khi x
3
l bc t do tnh. Hai bc t do khc chnh l x
2

w(
1
, t ) v x
3
w(
2,
t), cc thnh phn w(
1
, t ) ,w(
2,
t) nh trnh by ti hnh trn.
V rng x
1
xc nh cho chuyn v ng v chuyn v mi li nh nu, ti mi im bt k
ca lu (, ) c th vit:
w(, , t) = w(
1
, t) - x
1
(t)(
1
- )
u(, , t) = x
1
(t)
10.1 Phng trnh chuyn ng ca m hnh thng tng
M hnh va nu tham gia cc chuyn ng trong sut qu trnh trn tu. C th p dng nh
lut Newton cho mi bc t do v sau tp hp li theo cch sau:
[ ]{ } { } { } { } f f f x m
d s
+ = & & (5.102)
trong [m] - ma trn khi lng, {x} vecto chuyn v, cn o hm bc mt theo thi gian ca x s
l tc , o hm bc hai theo thi gian l gia tc. Cc thnh phn v phi ng vai tr f
s
cng,
f
d
cn, f - lc kch ng.
Phng trnh trn c lp cho h gm M bc t do.
Phng trnh trn c chuyn v dng quen vi cch vit ti cc chng trc:
[ ]{ } { } f x k x c x m = + + } ]{ [ } ]{ [ & & & (5.103)
Ly v d t hnh 5.23, chng ta c th xc lp cc ma trn [m], [c], [k] theo cch quen thuc
trong phng php phn t hu hn:
140
[ ]

=
0 0 0
0
0
2
m m
m r m
m


[ ]

=
c c cl
c c cl
cl cl cl
c
2

[ ]

=
k k kl
k k kl
kl kl kl
k
2

v { }

=
2
1
0
f
f f
Dng rung thng gp ca thng tng l lc dc cng vi un, ting Anh vit l fore-and-aft
rocking/bending do rung ng dm gy ra. Mt vi cng thc gn ng xc nh tn sut rung dng
ny c cc tc gi ngi Nht Hirowatari v Matsumoto a ra 1 1969. Th t tnh theo cc tc gi
ny nh sau:
Chn kiu thng tng, theo hnh 5.26 di y,
Xc nh chiu cao thng tng hoc lu, h,
c ga tr tham s f

(tn sut t nhin ca nn) , ph thuc h, hnh 5.26.
c h s hiu chnh f
e
/f

t

bng sau:
Kiu f
e
/f

A, C 0,625
B 0,602
D 0,751
Tnh tn sut t nhin ca thng tng hoc lu theo cng thc:
f
e
= f

(f
e
/f

)

Hnh 5.24 Cc kiu (type) thng tng qui c

Hnh 5.25
141
Phng php tnh trn y ph hp cho cc thng tng c dng th hin trn hnh 5.26 song s
kh p ng cho nhng kiu khng nm trong hnh .
10.2 Cng thc tnh tn sut rung thng tng theo Dunkerley
Di tc ng ca lc v un, ct tn sut rung thng tng tnh theo cng thc:
2 2
/ 1 / 1
1
R
e
f f
f
+
=

(5.104)
Trong cng thc cui ny, f
R
l tn sut t nhin ca lc (rocking) thng tng cng, chiu cao h, tr
vng trn gi ta cng.
J K
f
f
R
/ 2
60

= (5.105)
trong J momen qun tnh khi lng ca thng tng, so vi trc lc cn K
f
- cng chng
xon ca nn thng tng, so vi trc xon.
Hai cng thc tnh tn sut va nu (5.87) v (5.88) cn c iu chnh st thc t ca thng
tng sau thi cng hoc sau hon ci.
V d minh ha c trch t nguyn l tu, xut bn ln hai ca SNAME nh sau. Gi s kt
cu thng tng c dng nhm A hnh 5.26. Chiu cao h = 15 m. T th hnh 5.27 c c f


800 cpm ( cycles per minute) v f
e
/f

= 0,625.
T f
e
= 0,625(800) = 500 cpm (s ln/pht)
Theo cng thc (5.87) tn sut lc
2 2
/ 1 / 1
1
R
e
f f
f
+
=

= 640 cpm
T cng thc (5.88) c th tnh:
2
2
60
2
R
f
f
J
K

=

= 4490 rad
2
/s
2

Khi lng thng tng c nh gi m = 300 t. Thng tng c coi l phn ko di t
bung my v trc cho n vch ngang. Nh vy m hnh xoay ca thng tng s c dng nh ti
hnh 5.25. Trc xoay ca thng tng trng vi mp trc kt cu thng tng. C th c tnh bn
knh momen qun tnh r = 10 m, v momen qun tnh khi lng s l:
J = mxr
2
= 3 x 10
7
kg-m
2
.
Nh vy K
f
= 1,35x10
11
N-m/rad.
cng tr c m hnh dng hai ct chng ng knh 20 m lm bng thp v cng nng,
mi ct di 6m, lm ch ta cho thng tng nh minh ha ti hnh 5.25.
cng dc ct k = 5 x 10
8
N/m
Ct chng b tr ti khong cch a = 5 m sau vch, do vy cng b sung cho ct s l:
K
f
= ka
2
= 1,25 x 10
10
N-m/rad
cng nn: K
f
= K
f
+ K
f
= 1,475x10
11
N-m/rad
Tn s lc tnh theo cng thc (5.88) s l:
f
R
= f
R
1,093 = 669 cpm
Tn sut lc tnh theo (5.87) s l:
142
2 2
/ 1 / 1
1
'
R
e
f f
f
+
=

= 513 cpm
11 BIN PHP GIM CHN NG V TIU CHUN TRNH RUNG
11.1 NGUN CHN NG THN TU
Thn tu cng cc trang thit b trong thc t l mt h thng cc vt th lm t vt liu c tnh
n hi. H thng n hi ny lun l i tng chu tc ng ngoi lc, trong c c cc ngun
lc tc ng mang tnh chu k, v d t hot ng chn vt tu hoc cc my ng lc trn tu. My
diesel trn tu c th l ngun lc gy rung khi mt cn bng, hoc do phn lc t momen quay. Lc
y t chn vt c hnh thnh t cc cnh quay trong nc. Mi cnh chn vt c th to ra mt
phn lc y, tng cc lc cc cnh to thnh lc y ton b. Bn thn cc lc thnh phn khng
bng nhau v gi tr tuyt i to ra s mt cn bng h thng lc, l ngun gy rung. Phn b khng
ng u cc cnh cng to ra s mt cn bng, v l nguyn nhn to rung, theo cc gi ti ti liu
[10][11][12][15][19].

Hnh 5.26 Cc ngun gy chn ng tu
Tu dao ng trng hp chu tc ng lc gy chn ng t my chnh vi bung my t ti
gia tu c th mang dng sau.

Hnh 5.27
My diesel trn tu
Lc gy rung t pha thit b my mc trn tu c th chia lm hai nhm: lc qun tnh ca cc
chi tit khng cn bng ca my v lc tc ng do qu trnh lm vic ca bn thn cc my, v d
xung do qu trnh t nhin liu trong bung t.
143

Hnh 5.28 My chnh v momen gy chn ng
Chng ta th tm hiu lc gy rung t ng c t trong ang dng rng ri trn cc tu. Gi s
ng c t trong quay vi vn tc N vng/pht, tn s vng ca my tnh theo = N/30. Nu k
hiu = t cn ta x tnh trong h to Oxy s c dng:
x(t) = (r + l) (rcos + lcos) hoc
rsin = l sin (5.106)
T sin = (r/l) sin. (5.107)
Nu k hiu tip = r/l c th vit:
sin = sin; sin
2
= 1 cos
2
=
2
sin
2
;
T cos =
2 2
sin 1
=
2 2
sin 1 = 1 (sin)
2
+ (1/8)(sin)
4
(5.108)
v cos = 1 (sin)
2
(5.109)
Lc qun tnh pht sinh trong trng hp ny:
) (
1
t x m Q & & =
Phng trnh xc nh x(t) nh trnh by s c dng:

+ =

= t t r r t x

2 cos
4
cos
4
1 sin
2
) cos 1 ( ) (
2
(5.120)
Tin hnh vi phn hai ln ca biu thc x(t), thay th vo phng trnh u tin s nhn c:
Q = -mr
2
cost - mr
2
cos2t = Q
1
cost - Q
2
cos2t. (5.121)
Lc li tm.
Q
r
= m
2
r
2
. (5.122)
Momen ng v ngang do ng c sinh ra c th biu din di dng hm ca . Momen m
y
(t)
c th tm di dng:
m
y
(t) = ReM
y1
exp(it) + ReM
y2
exp(2it) (5.123)
cn m
z
(t) = ImM
z1
exp(it) (5.124)
trong m
y
momen ng, so vi trc Oy, cn m
z -
momen ngang so vi trc Oz, tnh bng
radian/s.
144
Bin momen xut hin trong cng thc (5.8), (5.9) c hiu nh sau:
( )
( )

+ =
M
m
m
C ROT REC y
M
k i
m l r M M M
1
2
1 2
exp .


( )

=
M
m
m
C REC y
M
k i
m l l r M M
1
2 2
2
1 4
exp . ) / (


( )

=
M
m
m
C REC z
M
k i
m l r M M
1
2
1
1 2
exp .

(5.125)
ngha cc khi lng m
rec
v m
rot
c gii trnh ti cc chng u. Bin thc ca
cc momen thnh phn c xc nh theo cc cng thc va cp. Di y chng ta s xem xt
v d minh ha cch tnh. Gi s rng my thy chng ta ang dng c su xi lanh. Th t nh la
c thit k nh sau: 1 5 3 4 2 6. Vi M = 6 v k
m
= 1,5,3,4,2,6 , cn m = 1, . . . , 6 tng
tnh theo cng thc cui s l:
( )
0
1 2
exp
1
=

=
M
m
m
M
k i
m


v
( )
i
M
k i
m
M
m
m
732 , 1 3
1 4
exp
1
=

(5.126)
Bin momen s l:
( )

=
+ =
=
0
732 , 1 3
0
1
2
2
z
C REC y
y
M
i l
l
r
M M
M
(5.127)
iu ny ni ln rng, vi my chnh su xi lanh, vi th t nh la nh trnh by, ch c
ln nh la th hai s gy ra momen ng, c kh nng gy rung ng tu. Gi tr gii hn ca
momen ny c th tnh theo cng thc:
C REC y V
l
l
r
M M M
2
2
2
464 , 3

= = (5.128)
Nh ti liu so snh, c th i chiu d liu ca hng sn xut, trng hp my RND 76M
Sulzer, do hng Sulzer cng b 1977:
2r, m 1,55
tay bin l, m 3,775
khi lng tay bin , t 3,22
khi lng cm piston, t 4,76
chiu di trc khyu, m 9,6
vng quay/pht 122
Nu nhn mt na khi lng tay bin lm khi lng tnh, cc d liu cn cho cng thc trn s
l:
M
REC
= 6,37t
r = 0,775m
145
l = 3,775m
= 122(2 / 60) = 12,78 rad/s
l
C
= 9,6/5 =1,92m
Sau khi thay th c th nhn c:
M
2V
= 112,3 t.m
Theo l lch my gi tr M
2V
tng ng l 119,4 t.m.
11.2 Lc kch ng t pha chn vt tu
Tc ng qua li gia cc cnh chn vt vi cc dng chy khng iu ha trong min lm vic
ca chng cng s c mt ca v tu ti khu vc nng ny to ra cc lc lm rung thn tu v cc h
thng my tu. Cc lc ngang v lc tc ng ng ti vng li tu, quanh khu vc chn vt lm vic,
cng gy rung thn tu.
Cch tc ng cc lc gy rung ny c hiu nh sau. Dng th nht truyn lc cho thn tu,
bt thn tu rung l truyn qua cc trc chn vt. T chuyn mn bng ting Anh gi y l lc
bearing.

Hnh 5.29 Lc gy chn ng tu t pha chn vt
Cc k hiu ghi ti hnh mang ngha: T lc y, T
H
, T
V
lc y theo hng ngang, hng
thng ng; M
TH
, M
TV
- momen un ngang v ng.
Dng th hai c tn gi lc mt (surface forces) pht sinh t tc ng ca p lc nc n mt
v tu, trong trng lm vic chn vt. C th phn bit hai trng thi ca v tu trong min b lc mt
tc ng. Vng v tu nm gia hai chn vt trn tu nhiu trc, hoc vng v tu nm ngay u
cnh chn vt trn tu mt chn vt c gi l mt khe h u cnh (tip-clearance). Cc mt phng
bao gi chn vt, c chn vt, vng ui tu nm sau chn vt trn tu mt chn vt vv. . . c phn
bit thnh mt khe h dc trc (axial-clearance). Cc tc ng cc lc gy rung ln hai loi mt ny
khc nhau r rt trong thc t.
11.3 CC BIN PHP NGN NGA V HN CH RUNG TU
Xut pht ca cc bin php chng rung l tm cch hn ch cc tham s tham gia qu trnh rung
gm bin , vn tc, gia tc. C ba i lng ny u l hm ca tn s rung, thay i ln theo
dng cosine. T chng u ca ti liu ny, ti cng thc (1.89), chng ta lm quen biu thc xc
nh bin rung h thng mt bc t do. M hnh tnh ca chng ta tin hnh theo cch thng dng,
tm cch chuyn kt cu thc t thn tu v dm hoc h dm tng ng, h tm tng ng. Dao
ng ca h tng ng va lp di dng kt cu lin tc, gn vi dao ng h mt bc t do. Cch
x l theo hng ny c th tm thy trong cc sch v ti liu [5][15][17][19][20][22][24][25].
Di tc ng lc gy rung bin F, tn s , cng thc va cp c th vit li di dng:
146
) sin(
4
1
1
2
2 2
2
2
2
1

= t
K
F
x
n n
(1.129)
trong tn s ring v h s cn tnh theo:
n
n
M
C
M
K

2
; = =
Trong cng thc ny M khi lng, K cng, C lc cn ca h thng. Tn s lc kch
ng k hiu cn tn s dao ng ring s l
n
.
T cng thc, t cc khuyn co, khong nm trm khuyn co nu trong bo co [15][19], ti
cc hi ngh chuyn mn ca cc t chc quc t, lin quan ti ny, c th ra cc nguyn tc
chung lm gim rung tu:
1) Tm cch gim bin lc F gy rung. Vi h thng lc gy rung t pha chn vt tu chng ta
c th thay i cc c tnh thy lc ca chn vt nhm gim bin lc gy rung. Mt trong cc bin
php c s dng l tng khe h gia u cnh vi v tu nhm gim khng iu ha dng chy
trong vng, thay i trng tc quanh chn vt. Khe h ti thiu c trnh by r trong cc qui
nh ca ng kim Vit nam hoc ng kim quc t. Trong nhiu trng hp cn thit thay i thit
k chn vt nhm lm gim lc kch ng.

Hnh 5.30 Khong cch cn thit t cnh n thn tu trn cc tu thc t
Khe h cn thit o t u cnh chn vt n vm li trn cc tu ang hot ng an ton gii
thiu tip nh ti liu tham kho.
147

Hnh 5.31 Khe h u cnh chn vt trn tu ang hot ng
Nh cp, ngun lc cng bc ca chn ng tu m chng ta bit ch yu t pha my
chnh, my ph v h thng thit b y tu. Vi nhng tu dng chn vt lm thit b y, chn vt
d l ngun to lc gy rung thn tu nh phn tch trn. Lc kch ng ny c th pht sinh trong
iu kin cc cnh chn vt khng cn bng hoc chng phi lm vic trong trng thy lc khng
iu ha. Trong nhng iu kin y cn thit kim tra ng u, cn bng thit b y v c bin
php ci thin dng chy qua chn vt. Dng cht lng sau tu, qua chn vt c th thay i nh ci
thin khe h u cnh chn vt vi v nh ang nu kt hp thay i kt cu vm ui nhm nn
dng chy. Nhng phng n ci to vm ui, thm kt cu nn dng nhng nh ng tu thc
hin thnh cng trc nhng nm tm mi trnh by ti cc ti liu [12][15][17][20][22].
Phng n a chn vt cnh cong (highly skewed propeller) vo tu c nhiu nh nghin cu
ng h. Vi chn vt kiu ny cng rung gim ng k.
2) Tng cng K. Trong nhiu trng hp tng cng K thn tu s gp phn lm nh quan h
F/K ti t s cng thc (1.89) ang cp. Thc t cho thy K c th tng nu ko theo thay i tn
s ring kt cu
n
, v trong trng hp ny nguy hi do thay i
n
n hiu qu trnh chn ng c
th ln hn nu so vi iu li do tng K. iu d hnh dung, nu
n
thay i theo hng n gn
hn, kh nng xy ra cng hng s ln hn. V l , bin php tng cng kt cu lun c cn
nhc, tnh ton trc khi thc hin.
Nhng khuyn co tng cng cc b cn c quan tm khi x l rung tu. Trong trng hp
rung cc b chim u th ti kt cu vm ui tu nn ngh n bin php thay i kt cu cc b.
Tng cng cc b c tnh ton c th thay i tnh cht rung ca vng quan tm.
Vi thng tng c th gim cng rung nh nhiu bin php, trong s c hai cch lm
c chng minh l hiu qu. Cch lm th nht l lp t thm c cu gim chn, dng gim chn
ng lc hc. Thng tng c xt nh kt cu ni vi thn tu thng qua cc l xo c cng xc
nh. Cch khc l thay i cng bn thn thng tng, bng cch thay i quan h F/K ang
nu.
148
3) Trnh lm vic trong phm vi tn s cng hng ca dao ng thn tu, c ngha trnh tnh
trng gn qu vi
n
. Theo hng ny cn chn my chnh, hp s tha ng tn s quay my
chnh, tn s quay chn vt khng gn tn s dao ng ring ca tu cc mode u, trong cn
quan tm y n mode th nht. Chn la s cnh chn vt ph hp vi ch lm vic ca chn
vt v my chnh gp phn thay i tn s quay ca h thng.
4) Tng h s cn trong iu kin c th. Thng thng vi kt cu tu thc t, h s cn rt nh,
<< 1. Tuy nhin chng ta cn nh, trng hp gn vi tn s cng hng, bin dao ng tnh
ton li ph thuc vo ln h s cn, hay c th hn bin X :
X = (F/K)/(2
n
)
ph thuc vo ln . Tuy nhin trong thc t, vi thn tu c ch to ngi ta khng cn my
c may thay i h s cn.
5) p dng nhng kt cu hp l, c tc dng gim rung cc b tu. Vt liu s dng trong kt cu
b my nn chn theo xu hng vt liu gim chn. Trong nhng trng hp c th, trn mt s tu
c th c th p dng cc c cu gim chn cho b my tu nhm hn ch rung. Thit k h thng
gim chn cho my tu tun th ng hng dn ghi ti chng 1 v chng 2 ti liu ny. Nhng ti
liu phc v chuyn ny bn c tm hiu thm trong hng dn chuyn ngnh, ti liu
[20][24][16] [17][19] v cc hng dn ca BV, DNV, ISO 6954 ghi ti ti liu tham kho.
6.4 GII HN RUNG NG P DNG CHO TU THY
Rung ng trn tu c th hin qua bn i lng chnh: bin dao ng ca chuyn v s,
bin vn tc, bin gia tc v tn s dao ng, c hiu theo dng tn s gc , n v o 1/s,
hoc tn s k thut f = / 2, o bng s ln dao ng trong n v thi gian, v d s ln trong mt
giy, tnh bng Hz. Quan h gia tn s f v chu k T c hiu l f = 1/ T.
Gia cc i lng va nu c mi quan h rng buc sau:
Vn tc v = s. ;
Gia tc a = S.
2
.
Qui nh gii hn cho cc i lng s, v, a trn phng tin vn ti ang cp ngy nay da vo
cc yu cu thc t, quan h n ba i tng c mt trn tu:
- Kh nng chu ng ca ngi c mt trn phng tin
- Kh nng gi c chc nng ca my mc, thit b, v
- m bo bn kt cu tu.
T kt qu thng k, c th thy gii hn cho cc i lng trn nn nm trong phm vi hn ch.
s 1 1,5 mm
a 1000 1500 mm/s
2
.
Cng thc kinh nghim xc nh gii hn ca s, tnh bng mm, p dng cho khu vc ch khch,
khu sinh hot trn tu :
2
04 , 0 1
3 , 1
f
s
+
=
Ti nhng vng m ngi t i ti, gii hn trn c th nng ln 1,5 ln.
Bin rung ng cc tm trn tu khng c vt qu gii hn:
149
t
t
b
s
2
100
10 , 0

= ,
trong b chiu rng tm (cnh nh hn), t chiu dy tm.
Trong thc t ngi ta ghi nhn nhng trng hp rung qu mc trn tu tht nh sau, ti liu
[5]. Tu ch hng di 116m, lng chim nc 10.900 T, lp my chnh su xi lanh, cng sut 2.000
kW (2700 HP), quay ti vng quay nh mc 100 v/ph c pht hin rung qu mc cho php.
Rung ng trong trng thi mode th nht, bin chuyn v t 7mm ti khu vc u v cui tu. Gia
tc rung ghi c 0,7m/s
2
(0,07g).
Tu du di 128m, lng chim nc tng ng tu k trc, lp my 1.000kW thc hin rung
ng k. Bin chuyn v 14 mm, gia tc 1,24 m/s
2
. Tu phi ci to li mi a vo s dng.
Tu ch khch di 106m, lng chim nc 2.240 T, lp ba my diesel cng sut tng cng
3x660 kW, vng quay nh mc 750 v/ph, ba chn vt quay vi tn s 350 v/ph, b rung vi bin ch
0,2mm song gia tc n 4,3 m/s
2
(0,44g) khi tin. Lc chy li, bin dao ng t 0,5 mm cn gia
tc vt qu 1,0g, t 11m/s
2
(1,12g). Tu khng th hot ng v hnh khch khng chu ni rung
kiu .
Nghin cu kh nng chu ng ca con ngi trn tu b rung cc nh nghin cu i n
nhng kt lun trng nhau. Ni chung ngi ta c kh nng lm vic trong iu kin gia tc rung
ng khng qu ln. Trong phm vi f < 0,3 Hz con ngi lm vic bnh thng n 8 ting ng h
nu gia tc cha qu 0,2g vi g gia tc trng tri t. Thi gian trn rt xung cn 2 gi nu gia
tc tng n 0,4g. Khi gia tc n 1g hoc hn, ngi ta ch chu ng c khng qu vi chc pht.

Hnh 5.32
Trn c s nhiu quc gia a ra nhng tiu chun trnh rung, m bo sc khe cho nhng
ngi lm vic trn tu. Mt trong nhng d tho nhm a ra tiu chun trnh rung, m bo sc
khe cho ngi lm vic trn tu, hoch nh ti SNAME 1980, c v li ti hnh 5.34. Trn biu
trnh by trong h ta bin dao ng tn s f ngi ta chia lm 3 vng miu t mc cam go
khc nhau khi con ngi chu rung trn tu. Ba vng c qui c nh sau:
Vng I - mc rung trong vng ny khng gy cm gic kh chu.
150
Vng II - mc rung ln hn vng I, cm gic kh chu cm nhn c khi ngi ta phi
lm vic trong vng ny.
Vng III mc rung ln hn cc vng va nu, cm gic kh chu ca ngi tng r rt hn.
T cch chia vng trn th chng ta c th xc nh cc tham s xut hin trong qu trnh
rung, c nh hng n sc chu ng ca con ngi. V d khi chu rung vi tn s 10 Hz, con
ngi vn cm thy thoi mi nu gia tc khng vt qu 0,012g, bin dao ng ht sc nh, ch
vo hng vi phn trm mm. Tuy nhin ti tn s , nu bin tng n c vi phn mi mm, tc
tng ln chng 10 ln, cng vi n gia tc cng tng ln, sc chu ng c hn ca con ngi khng
cho php cm c lu trong trng thi kh chu.

Hnh 5.33
Trn c s nh gi kh nng chu ng con ngi trn tu theo hng dn ISO 2631, xem [7],
nm 1972 t chc tiu chun quc t ISO xut nhng tiu chun an ton, trnh rung. Nm 1974
tiu chun ny c thng qua v cc quc gia c khuyn co p dng. Theo tiu chun ca ISO,
phm vi lm vic an ton cho con ngi c hn ch trong vng gii hn, gia tc dao ng khng
qu 0,05 nu tn s nh hn 60 ln/pht, ti tn s 500 ln/ pht gia tc khng c ln hn 0,07 ; Ti
tn s 3600 ln/pht gii hn gia tc c th n 0,25.
151

Hnh 6.34 Tiu chun ISO rung ngang trn tu
Tiu chun p dng cho dao ng ng t khc nghit hn, c trnh by ti hnh 6.36 Nhng
yu cu ti thiu ca cc nh lm lut tp trung ch, ngi lm vic trn tu phi c sng d chu
c sc lm vic.

Hnh 6.35 Tiu chun ISO rung ng trn tu
152
Theo cch ny hai thng s c bn trong tu b rung phi nm trong gii hn cho php, l tn
s dao ng v gia tc. Hai i lng ny c tnh bng n v (ln/pht) vi tn s v g = 9,81 m/s
2

khi tnh gia tc.


TI LIU THAM KHO

1. Barltrop N.D.P. and Adams A. J., Dynamics of Fixed Marine Structures, Third edition,
Butterworth-Heinemann, The Marine Technology Directoriate Ltd, London 1991.
2. BV Guidace Note NI 138A-RD3, June, Recommendations Designed to Limit the Effects of
Vibration on Board Ships , 1979.
3. Dimarogonas A. D., Haddad S., Vibration for Engineers, Prentice Hall, 2002
4. DNV Guidelines, Prevention of Harmful Vibration in Ships, May, 1980.
5. Davydov V.V., Mattes N.V., ( .., ..)
, ( Tnh ton bn ng kt cu tu, ting Nga), NXB
Giao thng, Moskva, 1965.
6. Gradin M. Rixen D., Mechanical Vibrations, Wiley, Masson, Paris 1994.
7. ISO 2631, Guide for the Evaluation of Human Exposure to Whole Body Vibration
8. ISO 4867, Code for the Measurement and Reporting of Shipboard Vibration Data, Dec. 1984
9. ISO 6954, Mechanical Vibration and Shock Guidelines for the Overall Evaluation of
Vibration in Merchant Ships, Dec. 1984. Mechanical Vibration Guidelines for the
Measurement, Reporting and Evaluation of Vibration with Regard to Habitability on
Passenger and Merchant Ships, Edition 2000.
10. Lewis, F.M., The Inertia of Water Surrounding a Vibrating Ship, SNAME Trans., Vol. 37.
11. Lewis, F.M., Propeller-Vibration Forces, SNAME Trans., Vol. 71; Hull Vibration of
Ships, Chapter X, Principles of Naval Architecture, The SNAME, NJ, 1967.
12. Long, C.L., Propellers, Shafting and Shafting System Vibration Analysis, SNAME, 1971
13. McGoldrick R.T., Ship Vibration, DTMB Report No 1452, Dec. 1960
14. Meirovitch L. Elements of Vibration Analysis, McGraw-Hill, 1986
15. Noonan E.F., Ship Vibration Design Guide, SSC Report 1990
16. Y. Okumota, Y. Takeda, M. Mano, T. Okada, (2009), Design of Ship Hull Structures. A
practical Guide for Engineers, Springer-Verlag Berlin
17. Panagopulos, E.P., Design Stage Calculation of Torsional, Axial and Lateral Vibration of
Marine Shafting, SNAME Trans., Vol. 58, 1950.
18. Shymanski J.A., ( ..,) , XIII,
, 3, 1960.
NXB Cng nghip ng tu , Leningrad, 1963.
19. Scott E., Report on Ship Vibration Symposium 78, SSC Report 1979.
20. Ship Vibration and Noise Guidelines, SNAME, 1980.
21. Timoshenko S., Vibration Problems in Engineering, third edition, D. van Nostrand 1955.
22. Todd F.H., Ship Hull Vibration, Edward Arnold Ltd, London, 1961.
23. Tng Phc ng, - Thuyn bch chn ng, (ting Hoa), Harbin, 1991.
24. CCS (ng kim tu Trung quc), Guidance Notes CD026-2000:, nguyn bn ting Hoa
2000, NXB GTVT, Bc Kinh.
25. Vorus W.S., Vibration, pages 255-316, Volume II, Principles of Naval Architecture, Second
Revision, Lewis E.V. (editor), SNAME, 1988.