Trang Bi Dien Cau Truc Can Truc

F/ | TRUONG BAI HOC BACH KHOA HA NO! er Bui Quéc Khanh - Hoang Xuan Binh E i /, i ae a i LS za CA BNC E TUCO OnanPGS.TS. BU QUOC KHANH - TS. HOANG XUAN BINH URANG BIDEN - DIN 1K VAT DONG HO cfu TRUC VA CAN TRUC eS NHA XUAT BAN KHOA HOC VA KY THUAT HANOL- 2006LOI NOI DAU Cau iene va can tue 1a loai thidt bj duce trang bi trong tat cd cic nha may san audt cong aghisp nhur wrong cde nekduh co khi, luyén kim, ddng ida vat lien vay dang Trong cde cong wink vay dung dan dung, xdy ding cony ughiep, sdy dung edu cong Dae hier wong ed cing bide, edu iruc va can truc La thiél bi quan trong dé boe xép hdug hod van chayén aud? nhdp container. N6 Ta mot trong yéu te edu thank cla cing bién, quyél dink ndng lic san xudt, nuic dé hién dai cia cdng bién Nhitig nan gdn day do yeu edu cite sin xudt cing vii én b6 cua khoa hoc cong nghé can wae va cén tree ngdy cdng due hign dat kod, O Viet Nam hign nay vot sie phat tidy manh mé cia nén kink (6, cat truc va cén iruc ngay cang tang vé s6 iuong cing alut mite dé hién dai cia n6. DE dap sing nhu cau thite 16 sau xudt hat bg moa: Dign 1 déng Truong Dai hoc Hang hei va Ty déng hod xf ughiép cing aghiép Trucns Dat hoe Bich tho Handi hop tée bide soun gido wink “Trang bi dign ~ dién ni, Te doug hod cdu true va edn ine”. TS Hoang Xudn Bini{ DUHHAVN | chi bi Khduht{ DHBKIEN ) bién saan gide trink nay. cing phil hup v6i PGS. TS Bri Quoe N6i dung gido wink tap irung vdo pha fich doug lue hoc via cde cof edn phige wa cho vide xde dink cde tric ve phuong phap didu khien cia hé diéu kheén, dong hoi tinh bay mot s6 he diéu khidn cu thé cia can rye can tric dang sit dung trong Hite Wo Vier Nam. Nhitng van dé tinh chen cng sudt dong co hade dé thi plu tdi dé duce vink bay & gido tinh” Trang bi dién dign ut Ty dong hod ede may cong nghiép diag chm do BG mén Tu dong hod bidn soar nen khong whde tai d day. Gido tink wom hai pin Phin hit what: Phin ifch déng bie hoe cha cde co edie cou true, cdi tric ivinh bay trong ite churang (chutong I dén chuoay 6). Phin dnt hai: Trang bf dién dign ca Ty dong hod cho ede loai edu trae edn tryc hink srink bay rong udm chitoug (cluteng 7 dén chureng #1) Gido trinh dae ding lam tai lieu hoe tap cho sink vida ngduk ug ding had. done thai c6 thé diing Lam iai Hg than kinio eho ete KF yu ngduh co lien quan Tap the tée gid xin chan thank cdm on lank doo va cde thay c6 gido hai bo mén vé sit tiny he, déng gdp 3 ken cho dé cutang va ugi dung ctie gto trink Trang bj dign, dién tii, Tw dong hod edu trie va can irue te vein dé rong vat phe tap. Vi vey uét dung gido wink khong trank khor thi s61 Rat mong cde ban dong nghiép, cde ban due dong gop ¥ kien Thee gop ¥ cin gett vé Bo min Dign- Tw doug cong nghiep inudng Dai hoc Hang Hai Viet Nam 484 Lach Tray - Idi Phong, BG mon Ty doug hod cong nghiep C9 104 trubag Dai hoc Bach Khoa Ha not hay Nha sudt bén Khoa hoc K§ thudt 70 Tran Hung Duo Ha ngi Chiting t6i xin chan thank edm an. Cac tde gidPHAN 1. BONG LUC HOC CUA cAc CO CAU CAU TRUC - CAN TRUC CHUONG 1. KHALQUAT CHUNG VE cAU TRUC CAN TRUC Céu truc va edn trye Fam ahigm vu chuyén dich hang hod, vat tu, thigt bi Wr ché nay sang ch@ khéc. ‘Thi dy trong xay dung cong tinh cong nghiep cfu tryc nang ce thigt bi cong nghe tir mat dat len cao dé lap rap thinh mgt day chuyén sin xuat, Trong nha méy luyén kim edu truc van chuyén cudn thép, phoi thép hode cée thing kim loai ndng chy dé vao khuon dic... Trong cde nha ridy co Kat edu trye van chuyén cfc phoi gia cong 66 gé lap len méy hay van chuyén eéc chi tiét augc gia cong xong dua sang cong doan khéc- Trong céc cing bién: cin tryc boc dd hang tir tren, tau xuGng kho bai hay van chuyén hang hoa xuat khdu tir kho bai xudng tau, van chuyén cdc container, céc may méc xuat nhap khdu qua dutmg bién. Nhu vay ciu truc va cin truc gitip cho con ngudi eo khi hod, tw dong hod khau béc x€p Tam gidm sic lao dong, 1ane nang suat va chat lugng. iéu nay cho thay trong bat ky Fink wae sin xu8t nao eting ¢6 tham gia cd truc va cin trgc. Vi tinh da dang cita né nén cu tgo clia cfu truc va edn truc cling rat khiéc nhau, Tuy nhién chting 6 dg diém va cdc co city chung, thf dy: ou trye thudng o6 ba cor caus co 8 nn ha, co cu dich chuyén doc, co cu dich chuyén ngang va mot 56 co cu phu dé lay va gitt hang. fn true thdng ¢6 nhiéu co cau lam dupe nbiéw nhigm vu khdéc whau, cw thé ¢6 co cau mang ha, eo cau quay edn, eo edu thay 46) tdm v6i, co cdfu dich chuyén va cdc cc cau phy. 1.1 PHAN LOAI CAU TRUC, CAN TRUC 1.1.1. Phan fogi theo trong tai nang chuyén hang hod a) Can true, edu true 06 14i trong nhé: Trong ti nang chuyén cir L_- 5 ta b) Can truc, cau truc cé tai Gong tung binh: Trong tai nang chuyén tu 10 — 30 tan. c) C4n truc, cau tryc c6 tai trong 16n: Trong tai nang chuyén tir 30 — 60 tan. a) Cin trve, edu true c6 tdi trong r&t 1dn: Trong tdi nang chuyén tir $0 ~ 1200 tan. 1.1.2. Ph&n logi theo dac diém céng tac 1. Cén true chan dé hay cén gai ld cn cdu chan dé Cén truc chan dé duge trinh bay tren hinh 1.1, 66 cc ¢0 cfu chinh: eo eau nang he hang, co cau nang ha can, co edu quay (co c&u quay mam), co cau di chuyén chan dé. Can true chin dé ¢6 kh nang béc xép hing roi bing gau ngogm nhu binh | 2, boc xép hang hod treo tren méc cin tryc, béc xép container...Hink 1.2. Cdn edu chan dé boc xép hang roi bang gdu ngoam 2. Cin tryc lp dat trén céng téng néi Can truc cng lap dat wen cOng tong néi trinh bay tren hinh 1.3, loai nay thutmg c6 trong tii nang 16n, ding dé nang ha cdc c&u kién, phy ting cho nganh lip may duge van chuyén bing duimg thiiy ma cdc céin true chan dé khong c6 kha nang béc xép. Cic cingbién thuémg trang bi loai cfin truc nay v6i sO wong khong nhiéu, nhung tinh co dong cla né rat cao dé dip ding yéu cau cia béc xép hang hod sieu trong, ma vn dim bdo tinh kin té trong van hanh khai théc Hinh 1.3. Can truc edng ldp dat trén phucong tign thiy 3. Can céu - tai hang trén tau bién Hinh 1.4, Cdn truc trén tau thiyCéin cdu -t0i hang tren céc tau bién khi cap cing tham gia vao qué trinh béc xép hang hod trinh bay tren hinh 1.4. Can cu tren tau thiy c6 cau t20 gém ba co cau diéu khign chuyén dong chinh: co cau nang ha hang, co cu nang ha can va co cau quay. Su hoat dong cua céin cdu tren tau thay phy thudc nhiéu vao géc nghiéng cia tau trong qué trinh béc xép hang hod, géc nghiéng trong qué trinh hoat dong 1én hon so voi can cu chan dé lip dat 6 cng. Toi hang tren tau thiy thudng cé hai loai: ti don va tdi kép. Toi don 1a loai ti chi 6 mot céin, céc chuyén dong cia né tong ty cn cdu. Tdi kép 1a loai tdi c6 hai céin thudng cé hai chuyén dong khi béc xép hang hod 1a nang ha va kéo bing tai dé dich chuyén hang hod trong khoang cach gidta hai dinh cén. Dac diém lim viée cua tdi don trén tau thiy dim bao duge tinh linh hoat cao, thoi gian dua vio lam viée nhanh hon so véi tdi kép. Nhuge diém ciia loai nay ddi hdi cong suat dat 1én hon so vGi tdi kép. 4. Xe nang - cdn cau trén 6t6 Xe nang va cdn cdu tren oto trang bi cho cng bién dugc trinh bay tren hinh 1.5 va hinh 1.6. Hinh 1.5. Xe nang chuyén container chuyén dungHinh 1.6. Can truc ldp dat trén xe 6t6 Nh6m thiét bi béc xép hang hod nay cé s6 lugng 16n 6 cang bién, chting cé tinh linh hoat cao, higu qua kinh té trong sit dung. Cac xe nang chuyén dung nhu hinh 1.5, thudmg 06 céc co céu diéu khién chuyén dong tuong tw cn céu: chuyén dong nang ha hang va chuyén dong nang ha can, chuyén dong quay. Can cdu trén 6t6 c6 cdc co cau diéu khién chuyén dong chinh tuong tr can truc. Dac diém cia cén cdu dat trén Oto va xe nang 1a chi yéu sit dung nang luong déu diézen, hé thong truyén dong cé thé bing dong co dién hoac dién - thity lyc. 5. Can cdu ziczae Cén cdu ziczde duge trinh bay trén hinh 1.7, 1a loai cén cdu trang bi dé thyc hign cong tac dich vu nh Lap mdi, sita chia kho bai nha xuéng va cong tac bdo dudng he thdng cung cap dién, cdc can cdu chan dé.. Dac diém cong téc ciia cén cu ziczic 14 tinh link hoat cao, gon nhe. Céc he thong diéu khién chuyén dong thudng 1a dien - thiy luc.Hinh1.7. Can truc ziezdc 6. Cau truc trang bi cho kho bai va nhé xuéng Cau truc chay tren ray trang bi cho kho hang, cée phan xudng co khi duoc biéu dién tren hinh 1.8a va 1.8b. Cau truc loai nay ©6 cde co cau diéu khién chuyén dong chinh: co cau nang ha hang, co céu di chuyén xe con, co cau di chuyén gian. Céc cau true nay thudng duge thiét k€ diéu khién tai ché va tir xa. 10oe Hinh 1.8b. Cau true trong aka indy co kh 7. Céu truc khung dém hép chay tén duéng ray Céu true khung dém thép dang hop chay «en duong ray duce bigu dién wen hind L9a va 1.9b, duge trang bi cho cing bin, cc nha may déng tau bign. Loai nay thutng dude thiet ké c6 trong tai nang 16n, fam viéc trong pham vi quy dinh Gém ba co edu didu khign chuyén dong: co cu nang ha hang, eo cau di chuyén xe con, co cau di chuyén gian. ASo PE oa Hinh 19a. Cau true khung dém hép chay trén dudng ray Hinh 1.9b. Cau truc khung dé hép chay irén duang ray8. Cau truc bée xép container Céu truc gian banh Ip bée xép container duge biéu dién tren hinh 1.10. Cc co clu diéu khién chuyén d0ng chinh cia céu truc gian banh 1dp bao gém: co cu nang ha hang, oy eau di chuyén xe con, cv edu di chuyén gian. Viée cfip nguén dién cho cdu truc hoat dong bing diézen lai méy phat dign déng bo. Dac diém lam viee cita cau truc gian binh 16p [a c6 tinh co dong, nang sust cao. pet Hinh 1.10. Cdu truc bank lép bdc xép container Céu truc gian chay tren dung ray bée xép container duige biéu dién tren hinh 1.11. Cée co cau diéu khién chuyén dong chinh cita cdu truc gian banh I6p bao gém: co cau nang ha hang, co cau di chuyén xe con, co cau di chuyén gian va co cdu nang ha gian (nang ha congson). Dac diém cong tic n6i bat cia loai nay 18 ¢6 tm voi va trong tai nang on, nang suat boc xép rat cao. Duoc trang bi cho cée edu cing chuyén dung béc xép container. Hinh 1.11. Cau truc gian béc xép container chuyén dung chay tren duéng ray 131.2 NHUNG BAC DIEM CO BAN CUA HE TRUYEN DONG DIEN CAU TRYC VA CAN TRYC Phin tn cde co cfu cita cfu truc va cfin true duoc truyén dong bai cac dong co dién cung cap dign cho he truyén dong cé ba dang: = Cung ep dien tir luGi qua cdc thanh g6p dién 6 dink, loai nay thudng 12 céu true phan xuéng. - Cang edp dién tir Iuéi qua céc cudn e4p dien, loai nay thutmg ding déi voi cau truc va edn truc dich chuyén theo dung ray trén mat dat = Cung cap din tir may phat diézen thuding cho loai cdu truc di dong tren oto Méi truang lam vie Phén én moi trudng lam viee clia cdu tye cain truc rét Khde nghigt. Thi du trong cae aha may co khi luyén kim mei trudng lam vige cdu true néng dm nhiéu bui. Tren cing bin céu truc, cdn cruc phai lam viéc ngodi trai. Ché do lam vige edu true va cn truc 1a ché 46 ngén han lap lai, khdi dong, ham thudng xuyén Yéu cu vé diéu khi - Tat ca truyén dong cho céc co cfu déu cén phai digu chinh te dd, Ine va gia te. Hang hoa duoc dich chuyén theo quy dao trong khong gian, cho nén thuimg phai phoi hop hai hoac ba tuyén dong cing mot lic. ~ Chuyén dich hang hoa khong gay va dap va khong dao dong qué mute, phy tai vuot 56 ttuyén dong, momen quén tinh thay déi do thay déi tam véi va géc nang cdu. Diéu nay dan dén cau cdnh bao qué tai khi tim voi xa va géc nang 46n. Su bién déi phy tdi gay nen téc dong kénh gitta cic co cu nhur nang ha quay cdu va thay déi tam v6i Yeu céu vé phu tai Doi v6i co clu nang ha: Mémen khong tai khi nang méc cdu Mey (15-20%) Maw con khi gu ngoam Mzp c& +50%Maq. Khi ha tai do tac déng cia Iyc ma sat nén phu (ai sé bién déi tir -(15-20)% dén + 0,8Msn- néng lha Hinh 1,12. Dae tinh phu tdi eda co cdu nding 14di véi co cau dich chuyén, do momen cin tinh va ty trong nén, momen cin Khong tai la: Max G0 - $0%)Myy, 41 v6i Xe con; Mgr (50-55%) Mum 46 voi xe cu (xem hinh 1.43). Hinh 1.13, Dae tink phy tdi co cdu dich chuyén oi véi truyén dong dign cho eée co cu di chuyén cia cfu true ~ cin true phai dtim bio khdi dong ddng cod ché dd toan tai. Bac bigt mia dong khi moi truong 1am fang momen ma sat trong céc 6 d8 din dén lam rang dang ké momen cin tinh Mc Tren hinh 1 14 bigu dién méi quan he phy thuge gida momen cin tinh va te 49 dong co: Me = fo). a k Le _ o Minh 1.14, Quan hé Me = flo) khi bhi dong dong co ede co edn di chuyén M, ‘Tren d6 thi ta thay: Khi 6 = 0, Mclén hon 2.d6n 2,5 Iain img voi te a9 dink mic, Doi v6i céc dong co truyén dong cho cdc co cdu nang ha hang, momen thay déi theo ti rat ro eet. Khi khong ¢6 tai trong (khi khong tai), momen dong Khong vuch qua (15 + 20)% Myq, 61 v6i co cau nding cha edn true gai ngoam dat (6h 50%-Men, 061 V6i co cfv di chuyén xe con bang (30 + 50)%.Man déi véi co cau di chuyén xe céu bang (50 + 55)%.Mane Trong cfc he truyén dong cée co cfu ela can true ~ edu truc, yeu cdu qua trink tang t6c va gid te xay ra phi em, dac biet 18 d6i voi cée edn truc — cu truc thiét ke cho nang chuyén container va bée xép hing hod, lap r4p thict bi méy méc. Bai vay, momen dong trong qué tinh qué do phai duge han ché' theo yeu cu ky thuat an toin. Nang suét cia cdu ue ~ cin trye duge quyét dinh boi hai yeu 16; Tai trong cla thigt bj va s6 chu ky bSc xép trong mot gid. Thudng s6 Iuong hang hod bec xép trong mot 15chu ky khong nhu nhau va nh6 hon trong, tai dinh mitc, cho nén phu tai cila dong co chi dat (60 + 70)% cong suat dinh mitc cha dong co. MIM ay 10 or 2 92 2 oe os GIG, Hinh 1.15. Mémen cia dong eo phu thude vao tdi trong 1- Dong cordi chuyén xe edu, 2- Dgng ca di chuyén xe con, 3- Déng ca nang ha. ¢ va cu truc rat nang né, thutmg xuyén lam vie Do digu kign lam vie cita can try 6 dé bén va he sO dy tri cla trong ché dO qua tai, vi vay cn truc edu truc duge ché tao ¢ céc ca cu co khf lén dé chiu qué tai. 16CHUGNG 2. CO S6 LY THUYET TINH TOAN CO cAU CUA CAU TRUC - CAN TRUC 2.1. DONG HOC TONG QUAT CUA CAU TRUC Céc co cau trong cfu truc va cén truc trong qué trinh 1am viéc dong va tinh déw chiu luc va cdc tac dong. Ta cn tinh toan chi tiét cdc luc momen dé phuc vu cho vige thiét ké va lua chon vat ligu dam bao hé lam viec 6n dinh bén ving. Méi co cau ciia cin truc, khong phu thude vio chite nang cia né, déu duge edu thanh tr 4 phén ti: BO phan chap hanh, bO truyén, he truyén dong va phanh; tat cd déu fam viée & ché 46 rigan han lap lai. Vi vay, mac di cé cu uric va chite nang khdc nhau nhung tat cd cde co cdu 46 déu cé nhiéu diém chung theo so dé nguyén ly dong hoc cing nhu theo phuong ph4p tinh todn. So dé nguyén If cia cdc co edu chinh: Nang ha hang, nang ha can, co cfu quay, co cdu di chuyén chin dé, duge trinh bay tren hinh 2.1. Cae co cfu va khau cudi cling 18 bo phan chap hanh hodc la thiet bi quan eép lien két voi bo phan chap hanh. 2.2 PHUONG PHAP TINH TOAN MOMEN CAN, LUC CAN CUA CAC CO CAU VA TINH QUY BGI MOMEN CAN, LUC CAN VE TRUC BONG CO ‘Tham s6 co bin ciia co cu nang ha hang la tai trong nang Q, lien he véi site cang tren cap S; quén trén trong tdi theo biéu thitc sau: = Qta im, 6 day q— trong Iugng cia méc va phy kien; i,va 1, - tf s6 truyén va higu sust cia he thong rong roc cila co cau nang ha. S, (2.1) pé dua ra phuong ph4p tinh chung cho t4t ca cdc co cu clia cfin truc ta coi khau cudi cia co cu nang ha 18 tang trng c6 dudng kinh Ds, cép quan tren dé voi luc ang Ss: Co cau di chuyén od khau cuéi 1a banh xe co dutmg kinh D, va luc can tren nd F,; Co cau quay co kha cuéi 1a banh rang 16n truyén dong véi momen can M,,. Co cau nang ha cfin (co cfu thay déi tim 6 khau cudi 1A trong ti thay d6i tém voi c6 dudng kinh cin Ds), Iie cang cla co cau nang cén tac dong 14 S.° hode tang tring (i kéo co dudng kinh 1a "5, va luc cing cap tren tang kéo 1A S;'. Momen can inh duge xdc dinh cho cdc co cau nhu sau: * Co cdu nang ha: Ba, (2.2) + Ce ca i chuyéa: Mm, = 7.28 2.3) * Cou quay : M.=My, 5 4)Hinh 2.1. So dé edu tic cdc co edu chinh cia cdn true a) Co edu nang ha hang truyén dong bang dong co dign: 1- Méc edu; 2- puly nang; 3+ Bloc ddu sin: 4. Cap nang: 5- Trdng tdi: 6- BO truyén; 7- Bong co di¢n; 8- Co edu ham. b) Co edn thay Sai tam véh bang thay d6i géc nghiéng cia cén truyén dong béng dong co aién. c) Co edu nang ‘edu ngoam va thay déi tdm véi truyén dong nhém: 9- Gu ngoam: 10- Cap nang: LI- Cap dong fgdu; 12- Cap nang; 13- Trdng toi; 14- Khép ly hops 15+ Co ed hdm:16- Bo truyén; 17- Dong co sian. d) Co cdu di chuyén bang bank: 18- Bank xe; 19- Dudng ray; ¢) Co edi thay dei 18m v6t ‘rén edn: 20- Co edin di chuyén; 21- Cép Kéo; 22- Bloc cudi. f) Co edu di chuyén bing bénk Iép: 23- thank bie nén, 24-80 truyén vi sai g) Co cB di chuyén bang bank xich: 25- Xich; 26- Dra hinh sa0; 27° Khép diéu khién chiéu chuyén dong. h) Co edu quay: 28- BO truyén; 29- Banh rang trung sian; 30- Bank rang lin. j) Co edu quay truyén déng bang cdp kéo: 31- Bra lon; 32- Cap kéo; 33- Thiét bi lam cang edp kéo. 18* Co edu thay d6i tim véi (nang ha can): a) Khi thay déi do nghiéng cha cin: M, = 8," (2.5) « DE b) Khi di chuyén xe tai theo can: M, = Ste (2.6) Neu ky higu n, 18 1c 46 quay cla khau cudi (tréng ti, banh xe di chuyén hay phin quay ciia cin tryc) tinh bang vg/ph, hieu suat cla b¢ truyén T],, thi cOng suat truyén dong chia dong co fa: Pa. M. 975n,, (kW); 27 trong dé M, - momen tinh bing kG.m. Gié tri nhan dugc cia cOng sudt ding dé lva chon cong suat Fy, (kW), t6¢ do quay cia dong co ny. (ve/ph), ty so truyéa cha he thong gia dong co va khau cudi 1a: (2.8) Ty 86 truyén bing tich cdc ty sO truyén thanh phan: i= iid Neu he théng c6 nhiéu truc truyén dgng thi xde dinh momen cho timg truc nhu v3 My 7 7 + (2.9) anh im, ATM: trong 46 7).1,... Ty, - hi¢u sudt cba timg co edu truyén. ‘Toc 46 cdc tryc duge xéc dinh nhu sau: ny =M.iy; my = Miy = Migs ny = My = MAdjidin. Momen ham trén cée true nhd hon momen chuyén dong vi c6 sy can tre chuyén dong cita cfc co cu. Khi dé momen ham tinh theo: M* = Mite (2.10) ut = Ma Déng thai chting ta cé: Me Me Hign sutt cla bo truyén: Neo = THMaNs (1) Hieu sudt céc than phén cia cde co edu c6 thé chon trong khong 0,93 +0,95. 19‘Tén hao ma sét F,, khi co cfu lam vige cé thé phan thanh hai thanh phén: Mot thanh phén khong déi F%, va mot thanh phan thay déi ty 1é voi tdi Fh, ta 06: Fy, = Fe + Fe (2.12) Trung hop phy tai nhé c6 thé coi Fas = Fr, Truéng hop phu tii lin cé thé coi F,,, = Fr, ‘Né&u trong thi nang la Fy thi trong tai toan phn la Ps = Fy + Fa, va higu suat nang tai duge tinh: EF; 2.13 “Ee (2.13) Nhu vay c6 thé xéc djnh tn hao ma s4t qua higu sudt khi nang: (2.14) Nhin chung hiéu sudt n khi nang va higu suat 1° khi ha chi khée haw nhiéu khi higu su&t thap. Doi véi co edu nang ha, bigu sudt cia bo truyén co khi khi ha nhd hon hieu suat khi nang (7 “Hin, 30, x nig, May 30try ISS ORY, , 955 q1m,V2_, , 0105Q. J, _ ISS SEV, 9 Vig yo . cm Daley Nh by em Néu M, nhan gia tri momen khéi dong trung binh cua dong co‘ thi khi giai phyong tinh s@ nhan duge thai gian Jong (thoi. gian tang tc): K. 98 MK 404051, Mo. typ = een as (2.51) SEM a, ~ Ny Momen khdi dong cila déng co khéng déng bo thuimg c6 gid tri thay déi vi vay ki tinh todn thong Iay tich phan trung binh gid tri momen. Trong tinh todn truyén dong din can truc cong suit trung binh, momen khii dong tung binh thuemg duoc xée dinh theo cong thife sau: My" =0,5(M. late +Mas)- trong d6 Myj, My 18 momem dong & thai diém déu va cudi cita qua trinh khéi dong (qua tinh tang tc). Céc gid tri tham khdo theo sé tay tra ctu. . Dp Theo tiéu chudn ky thuat voi J = = tacé: ig 9,55. BY, y bX ny Mas Nen néu guy vé «ruc déng co tat cd cée phan tit chuyén dong quay va tinh tign c6 thé nhan duge cong thttc sau: M,. 0,105n,GD* mD'n, fr gia =m.) ~ 375MM)" trong cong thifc: GD? do bang kg.m? va My" , Mcdo bang kG.m. Trong hé SI phan tich twong tu, ta tinh thdi gian khéi dong nhu sau: 0,105n,mD? mD*n, t= eee = 4g(M;"-M,) — 38(My'-M,) 31trong dé mD? do bing (kgm), (MJ" —M,)do bang (Nm), con don vi do cila mD* va GD" la nhir hau. ‘Trong qui trinh hiim phuong tink mo ti nh sau , a Mt = SSE Vn. — DI Bee — LO e bm i zt ts ea ERs kK (gay am o trade Khi thay 1, bing 2554s , mio bing m va Gy = AK = ay ty ty bigu thnte ni len rang gia t6c trong giai doan him 1A am). Ta viet duge: oot = SP evn 9,58 n 9,55 9,55 0.1050, «7 Max = 5, Ne - aie Vek - pba’ Tos Momen dong M} Ja mémen ham thi thoi gian ham duoc tinh nhu sau: 258. mo Vin K+0,1050,5 J, Be K t= ote . (2.52) My +2 SRV By Quang dung trong qua tink Knbi dong (tang t6c) vA hm c6 thé xéc din theo cfc cng thie duge dua ra trong cite bing tra ett. 2.7. SY QUA TAI CUA CAC PHAN TU TRONG cAc co CAU CUA CAN TRUC TRONG QUA TRINH QUA DO “Thanh phén momen quén tinh ec ban nh trong cée phan ti dan dong cha cin true age tno ra tir momen quan tinh clia roto dong co va cic phan tir déng truc véi roto ‘rong thai glan chuyén dng chia én dinh trén toan bo cfu tric dong hoe eta c4e co cau te dbag cla momen duce xe dinh theo phuong tinh chuyéa dag wng quét va ting hen monet. tn tn mot gid ti M,,. Do vay sé gay nén &p Hue lon wong c&e co edt, dng thi tao nén su mal mon lén hon rat nhigu so v6i thoi gian fam viec On dink. Sic qué tai cia ede kha cita eg edu do momen du fa Kliéc abau, Ngodi ra su qui (ai chng tan thi boi s6 9 cua momen Khoi dong cang Kdn v2 he st tai ella dgmg caro. chng nho. Ta dua vio efc ky hiéu sau day: Mg = momen cin tinh tron mot khitu dng hoc bat ky quy d6i vé tye dong co ; My,- momen du téc dong tren khau dong hoc bat ky quy ddi vé truc dong cos J = momen quan tinh todn phn cla he théng quy Ai ve truc dong co. Dai voi mai mot khau kwon o6 suf can bang: M, 1 = (2.5 oh 2.53) 32.Momen toan phan phan bé trén mot khau : M, aM -Mp =r Seam (2.54) ‘Déng thiti ta e6: (2.55) ta nan duge: Nhung vi: Mi =My-M;, tacb: in M, = 3h (Mi -M)+M: Quan hé cia momen nay Vi_ momen tinh sé xéc dinh hé s6 qué tai dong tuong doi cho mot khau: oun ee Ma oy MMM Me J, Me ‘Momen dong khi khdi dong duge xac dinh bing boi sé momen khdi dong cia dong co véi momen dinh mitc & ché d@ 6n dinh: (2.56) My" =4,,-M,, (2.57) He $6 tai cia dong co [A ty s6 ciia momen can tinh véi momen dink mefe: aoe 2.58) Ma, He 36 qué tdi dong cho timng khau 1a 1y s¢ momen tng cila khau nay voi mémen dink muéc cia dong co: Kt es Me : Mo ik Sy ui = ayer the = S+hfi-s |. 2.59 a! ag Ra) AI J, f ‘) (2.59) Cho thiy riing hé s6 qué tai dong tang cing v6i sir tang cila boi s6 cla momen Khoi dong cing nhursy tang cia hé sé (ai ctla co cau, 33BA * a a) Ze b) zs os os Rn 025 as as, a Hinh 2.6. Dd thi qué tdi cha ede Khiin ctia cecal a He 56 qua tdi dng neang doi; b - Heé 36 qué tai dong ‘Trén hinh 2.6a va b trink by d6 thi xéc dinh su thay déi ciia K,° va K," khi hé sé tdi c thay déi va boi so momen khéi dong 4,, = 2. By 2 a ae aT Row Khe ius Cite ura cong. cn to gileciiado cis be 6 tuyén —buyéoos —tuytn eo cok kn et Hink 2.7. D6 thi mink hoa su qué tai ctia be twuyén cor khié trong qud srinh rang 1c 1 BO irusén co kit ctia co edi nding; 2 - BO truyén co khi etta cor cdiu di chuyén, ‘Tir do thi ta thiy rang. trong cdc co cau di chuyén va quay su gidm cla momen qué tai doc theo mach dng hoc khong nhiéu, con trong co cfu nang ha sy qué tai ld thudmg chi xay ra doi voi Khau dau tign sau roto dong co. Khi dua ra van dé qua tai dong quan tinh wong cae khau cia co cdu chia dé cap dén viée Ta trong hé can truc — oot cau — tai céc phan rieng biet cua he lien két voi nhau bing cae phiin tir dan héi (day cp, truc), cho nén khi chuyén dong khong déu trong cac phan ti cla hé xuat hién cde dao dong din héi nhd, trong mot vai tudng hop din dén su tng tai ding ké cho cdc khau cia co cau va truc, cén trong tung hop cong hudng c6 thé din dén sy od. 34“Ta thay ring v6i su xuat hign qué tai do quém tinh xy 7a khi c6 momen dur cho dong co hose cho co cau him chis yéu trong qué tink qui do, . ‘phan tich sit lam vige cla cv eau khi ké dén Ic quén tinb, 1ugt thay 646i momen dur nbtt sau: My = aM. +E Ma, —Ma, | 2.60) éday: t- thoi diém bien tai + t,- thdi gian chuyén dong khong én dinh: t= tn, hoact = ti M,,, vi M,,~ id tri momen dur6 du v8 cud than Bian chuyén dong khong én dink Luat thay di khac cia momen chuyén dong vi momen dir co bai vi My, = M, + M,, «phan tich sy hogt dng clta he thong ale hin 2.8 thu duge: t v wm Mm) tv) Vv) vd & day: ty thoi gian tang momen tir0 déa cue dal: { - thoi gian hien tai. iu tinh todn he thong e6 hai Khe Luong nhu & hinh 2.8 mot bac tw do wong img © 3, va J; lién he v6i nhaw v6i he 36 n6i cving C,. O day J, momen quan tink cia roto ding co va cae thi tiét noi véi roto; J, ~ momen quan tink cée phin tt con lai cua hé théng. Khi J, han mémen Mic Z_nhdn momen cin Mo, ten hanh gti phwong tinh ¥) phan mo ti chuyén dong cia he ang dB xie dinh gi tr ti (momen) téc dong dn phén te dang xem xét cila he thong. Momen dong ln abit xéc din nur sau: J Mi, = My ~~ ja, & day K, 18 he 56 dong duge xée dink boi qué tink dao don, gid tri cba bé 86 phu thude vie sir tang cia momen chuyén dong VA thoi gian fy cla su ting momen chuyén dong trong chu ky dao dong tur do cita he thong Ty, hod tong Ying voi thot glan ang 16c tyr hoae théi gian ham ty cla chu ky dao dong ty do cia hé théng. K,. 2.61) 2a IS, oR |e 4) 85 We é p etd (trvT) 35D6 lén cia hé sO Kz phu thude vao die tinh tang momen phat dong (momen chuyén dong), duge dua ra trong bang tra cttu, Puing cong gid tri Ky duce xay dung ten hinh 2.8, Ta nhgn thay ring khi momen phét dong thay dot bat ky thi he SK, déu nhé hon 2. Tren cic dwong cong I - IV sir sai khde nhau Khong ln, con khi (t/T,) > 2 thi K, 06 gid wi gan bang 1.1. Phy tai dong én nhtit khi o6 dao dong WGi he 6 K bing 2, Khi ma (toy/Ty) ln hon 0,5 thi momen dr trong chu ky phat dong khong 46h Truong hgp nay tuong tng véi sit dung dong co khong déng bo. Vi way sau my khi phan tich tdi dong elia timg og eau nén dé momen dit khong déi trong chu ky chuyén dong khong on dinh (khi khoi dong cling nhw trong qua trinh him). M, Hinh 2.8, Anh hucng ciia tudt thay déi ela mémen déng trong qud trink dong hoc khi cé dao dong 4 Lagi thay déi khdie nha cia momen chuyéu dong: b - Hé théing c6 hai kibi luong: ¢-Gid ut ciia hé 86 dong pha thuge vdo dc tink thay doi mémen chuyén dong. 36CHUONG 3. CO SO .LY THUYET TINH TOAN THAM so DONG LUC HOC CUA CO CAU NANG HA CUA CAU TRUC - CAN TRUC 3.1. TINH TOAN THAM 86 CO BAN CUA TRUYEN BONG CO CAU NANG HA Tham s6 co ban cia truyén dong co edu nang ha céin phai tinh tofn 1A cong suat, momen, te d6 ca dong co phuc vu cho viée tinh chon so bo cong suat dong co. Momen can cute dai phuc wu cho vi ‘Ti 46 tinh todn duge gidn dé phy dong har cing nhu gia te eve dai cia nd. thiét ké cot cau ham., d6i vdi Khong dich chuyén, tc 9 va thi gian khéi Dac diém quan trong cita co cu nang ha hing 1a trong ti Q (kg), 16c 46 chuyén dong cia hang hod la Vg (vs) theo d6 khi biét duge ty s6 truyén i, cita palang 6 thé xde dinh duoc. Stic cang cha cap (rén trong tii la S, (kG), tée do dai wen tong toi 1a Vx = Vol, (m/s), dudng kinh cla cap la dy va dutmg kinh clia tang quan cap cia ti nang 1a D, (m), thi cong suat cain thiét cla dong co phai 66 la: QV, _S§ “"102n,n, 102m,” trong dé: na, higu suat truyén cba bé truyén ca ki, Te ~ higu suat truyén cia paling (rong roc). (kW). B.D ‘Ti dé c6 thé tra cfu trong s6 tay Iva chon thiét bj dién dé chon dong co cu thé véi téc do dinh mde 1a ny (vg/ph), Khi tren tang qué cp duge quén nhiéu lép, duéng kinh ctia tang quan duce tinh nhy sau: DI=D,+d,(2m-1). trong dé D, dutmg kinh ctia tang c4p; m — 6 6p. Néu wen tang dugc qudn mot 6p (m = 1) thi: DI=D,. trong d6: Dy - duémg kinh theo tam ciia Ip cép. ‘Momen quay trén tang cép dug tin M, Soe kG.) (3.2) ‘S6 vong quay cia tang duge tinh thong qua t6c do dai cua tang nhu sau; 60Y, = pr veh Khi tren tang duge quan nhiéu lép thi t6c do nang dugc tinh theo téc do cua 1ép tung binh, Chic thong so khdi dong cila déng co va thong s6 cia bd him phai duoc kiém tra theo momen twong tng véi 6p cép 16n nhat. Ty 86 trayén cita bd truyén co Khi duoc xée din nhw sau: = Be, 8.3) 37xde dinh momen edn thiét duoc tyo ra ti eo cau him, Kkhi tinh ton nhat thigt phi ké én tén hao ma sit va dua them hé s6 dy trit him Ky, thutmg dugge chon 1.5; 1,75; 2,0 ty dhuge vao ché d6 fam vige cia cfn truc. Momen ham can thiét dugc tinh nh sau: at ot = Mattie, G4) Mw trong dé: iy, Va Ny 12 ty sO truyén va higu svat muyén gidta tang quin cp cia ti nang vA truc cla co cfu ham. Tinh toan dong hoc # tren gidp ta xac dinh dugc tat ca cc thong 86 co bin cia co cau va tién hanh dy tinh do bén cdc bo phan cita n6, céc tinh to4n nay Ta cain thiét dé xc dinh kich thude cia ching, Dé xdc dinh cdc thong sd dong cia co cau nang ha, can phai x4c dinh luc can tinh trong co cdu, mémen quén tinh quy déi cc phén chuyén dong cia n6 ké ca tdi trong va anh hudng cita 1n6 tdi sy Lam vigc ctia truyén dong khi Khoi dong va khi hm, Khi bict duge t6c do tren truc truyén. dong, hoc t6c dd khi him ny (vg/ph), ty s6 truyén chia bo truyén co Khi ig, t) s6 truyen cite cée palang i,, duémg kinh tang quan cdp, toc do nang ha hing thi co thé xée dinh quang duong chuyén dong eita hang hod nhu sau: Quing duémg khi khéi dong: mn,Dit Vv. Sy = TT (im) hay 8, = ety, Oy 3.5 1201,“ 2 em 6% Quang dutmg khi him: an Dity Vo s, = SE" (my hay sy = Sty, Cm; 3.6 Tab MY Se = 1 ) 66 Gia t6c cia tai trong duge xéc dinh nhu sau : Khi khdi dong: 2a.n,D! 2 - oD hay a = Voftrr (m/s* 37 i20i,iyt, (MS? YA = Votes) en Khi him: . a = - EMPL (myst) haya = - Volty (mvs) G8) 120i,i,t,, 3.2. BONG HOC CUA CO CAU NANG HA 3.2.1. Phy tai dong clia co edu nding khi cdn cing tuyét ddI Khi phan tich su hoat dong cia co ctu nang khi cin cting tuyét doi thi qué trinh dong chit yéu phu thudc vao cép nang. He théng khdo sat durgc biéu dién trén hinh 3.1. He théng co hai khot Jung chinh: mr, fa kh6i lugng cia r0to, céc phan tir trong co cdu truyén va Khoi lugng m., cia tai trong, he sé k dac trumg cho kha nang néi cing. MO ta dong hoe clia co cu nang (xem trén hinh 3.1). 38r 7 my Hinh 3.1. So dé biéu dién déng hoc cia co cdu nang Phuong trinh chuyén dong co thé viet nhu 5: axe dt Tit cdc phuong trinh nay sé xdc dinh duge dao dong ty do cia hé thong. xy m, dt? + k(Xp—Xe) = 05 my k(&,.-x,) = 0 3.9) Dé tim duge cdc dao dong ciia he thong cén thidt phai viet cdc phutong trinh luc dong hoc. Luc phat dong chuyén dong dat vao my aT, = Q+Ty,, luc cing cia tai trong Q dat vao m, day Q whan difu am) nhu vay luc nay tc dong cling chiéu véi luc quén tinh. Truimg hgp phé bién nbét ta xem luc du trong thé gian khéi dong va him Ty, Ia hing s6(My,, = My.) Ta viet duge: m,, os + k(x —X6) =T,= Q4Ty5 3.10) x4 S¥0 _ k(x —xg) = -Q. Menge” ~ Kix -Xe) = -@ Dat X = Xry- Xq va bign déi ta nan dugc: ax, - dx 4 a 3.11 de de GAD ™MyMg Ching ta nhgn duge: oX . mkx = mQ+ tu; ay dt my 39Day [a phuong tinh vi phan mo ta khau bién dang dan héi. Gidi phuong trinb ta tim duge ‘ing luc dat ten khau dé cd dang: 3.13) Giai phuong trinh (3.13) duge nghi¢m téng quat: x = Cycospt +C, sinpt + q/p*. Néu khi bit ddu nang tdi cép & trang thai tinh cé nghia lax = Q/k: x= QL C+ 4 kK ‘Ta tinh duge C,: o-2-4. kop k.mm,, * = — pCsinpt + pC,cospt Do khit = 0,C, = 0,1a06: Ty Q T, Q T, =- 42+ 8a s “_(1—cospt); 8 Kama P+ Et kmma 7 * eam e050") Fee xk = Q + —" (1-cospt) = Q + Teg [inom ia 20), | mm, tm, Y mom, Gid ti cue dai cla P06 duge khi cospt my, Fi, = Q4+2T,,—2—. 3.14) hia = Q in +m G.14) KhimaT, = @Q. thi: Fi. = Q0+29,—"e_) 6.15) my +My, He sO Ky = 1 + 2ume/(me + myr) xac dink tinh dong hoc 1én nhét khi nap tai cia khau dan héi, trong diéu kien nay tai bit ddu tai thoi diém khi day clp d& cang hoan toan. Khi cospt # -1 ta c6 thé dé dang tinh luc tic dong tai bat ky thei diém nao. 3.2.2. Phy tai déng cé tinh dén sy bin dang cda cain tryc kim logi Phu tdi dong tac dong vao ket edu citathép cia ef truc tao nen qué trinh dao dong va gay ra bign dang. Ta cin phan tich hién twomg nay nham tinh chon thiét bi cfing nhur co cu diéu khién va céch thie van hanh. Xét he thong véi ba kh6i lwong lien két duoc tinh bay trén hinh 3.2. C6 thé don gin hod bai todn vi Iy do rang Adi v6i co cau nang ha khoi lugng m,_ ion hon at nhiéu so v6i ma va my 44 quy Adi vé truc dong ca, Do 46 ngay ca khi 6 dao dong manh cia cén va ti trong cing khong anh hudmg nhiéu dén sy lam viec cla dong co. Momen quén tinh tén true dong co truyén dong duoc tinh :2 Jo {p+ me (3.16) <2 72 lore bOsx He thong nhuré hinh 3.2, bao gém hai bac te do, vi vay dé khdo sét don gidn va thuan tien ta coi kh6i lung cia ti trong ma, ca cén my, thOng nhat nhu mot khoi lvong m. Thuc nghiém chi ra ring viee don gin hod nay gay ra sai sO khong I6n biti vi teén palang toi dao dong vat dan rat hank. g i Hinh 3.2. So dé dong hoc cita co’ cdiu nang khi c6 x61 dén do won ciia edn theo ba giai doan Ching ta khdo s4t qué trinh ning t8i trong cho phép. Giai doan thet nhat tit sau khi dong dong co cho dén khi cing cép. Thit hai tt c& céc co ctu tham gia hoat dng cho dén khi Ine tren dc tang wir den Q = meg. Giai doan thit ba Ia giai dogn nang tai. pé tim céc thong s6 cha qué twinh dao dong, dau tien ta xéc dinh qué trinh dao dong tu do. theo phuomg phip Lagrange (2.17), ta xée dinh duge cde dao dong ty do cla he ding, cm khi ve tdi bing hc (mémen), thi xéc dinh duoc dao dong cuéng bic. Dé viet phuong tinh Lagrange: dw, _ &K | aw, a xe cn phai biét dong ning W, va thé nang W, cita he thong. G17) Phuong trinh trén duige viet trong he tog 46 chung x cho co ca nang cd cé dich chuyén x,cia trong Luong cin m ¥éi he s6 cxing k, ‘Dong ming cia Khoi lugng my duge xée dink nh sau: wo (). 41Khi dé: Phuong tinh Lagrange duge viet nhu sau: ax, if Day la phuomg tinh cila cde dao dong tw do diéu hoa, Nghi¢m chung cia phuong trinh c6 dang nhu sau: m, 2% 4k, =Ohoae Seas, Xo = Cycospt+C, sinpt = A sin(pt +3); k, trong 6: A - bien do, p= ~ tin s6 géc cila dao dong tu do; 8 - géc pha dau. my Hing s6 tich phan C, va C; hode A xéc dinh theo diéu kign dau: C= 05% = OF dxg/dt = 0. DE xée dinh dirge dao dong cudng bite do luc P gay nén edn xét dén gid ti khde nhau cia 16 doi vai cdc giai doan khéc nhau cia qué trinh nang. Phuong tinh chuyén ddng (Lagrange) trong trudng hop naydugc viét nhu sau: iy TE Xe =P (3.18) Lue P c6 thé tim duge ¢ ingi thai digm t tong giai doan thi hai khi t6c d9 nang Ya V: Xe = Way dxyidt = Vi Px/dt? Dang cia phuong trinh chuyén dong nhur sau: P= kyty = keV, 3.19) G thei didm t, nhac hang len khoi mat dat (t = 1) P = k,V.t, . Trong thdi gian dé P meg. = Q, véi me - tai trong: Q - trong lye. 0 Tir nhing phuong trinh 46 06 thé xéc dinh thoi gian cho giai doan thif hai: MeB RY Doan dich chuyén cia co cdu: xy = Vt) =—S= eeYOae trong d6 yer - su ud cong do phu tai tinh, a2‘Trong giai doan thi ba: PsQ= mes Khi coi can va tai trong Ja mot Wong, jugng déng nhét m= Mo + Mx chuyén dong cing ‘yéi nhau tht phwong trinh vi phan m6 ta chuyén dong c6 thé viet nhu sau: Nehigm chung cba phuomg trinh (che § Xe = ap’): x, = C,cospt + C,sinpt + A, Pp oe =-Cypsinpt + C,peospt. -Tién hank xée djnh céc hig s6 theo digu kign du: Khi¢ = 0. 98 dich chuyén Xq = Yer t6c 40 dich chuyén dx,/at = V. ‘Thay cde gif tj vio ta duce: & = Ya FOF pear: G = ya 7 3 Pp < ax, Be eve Cop suyra: C= 5° Do do: 7 4 vo Xe = oT a lcospt + Sone + 46 p la tan 86 gc cita dao dong tw do. ‘Tien hinh bign d6i ta ¢6: xe, = Yercospt + “E(L-cospt) + Y sinpt = P P q vo = Vex] COSPt + = (J-cospt)|+-—sinpt - (3.20 P'Yer Pp Vir q__ meg Mm Ke a1 Pye, MFM ky MoB . Th: d vo Yq +——sinpt Con P 3‘Vi tdi 6 tren méc bang t6ng cia tai tinh va tai dong, cba gid i sin thay déi tir +1 dén -1 d’x, pi = Qe. Os = Q a at Con khi sinpt = Pi= ois?) = duet ae | = QK, G21) 8 g Ym, +m, Tai tren cAn: T= kX = sve + ~ sin} =k, Mek - BatMe y psinpt P ky ky mg) ate Pane -di+ ( + re |i . m8 m,) 8 ---(-9) “sin . 8 ic 0 4 4 = q + “fi 4 me | Ke 3.22) g m, Ym, +m, Ciic hé 80: Cho mée: Kpal+ ¥ ee __ 3.23) ge Vm +m, Cho fn: Kr=14 v E(B] 24) gym +m, Mm, Céc he s6 nay xéc dink kha nang dong ciia qué'trinh nang cho trudng hop qua tinh ning bit ddu tirthdi diém khi dong co da quay di t6e Ao. Phuong phép didn khién céin truc kiéu nay co thé luén ditge 4p dung, mac di theo nguyen tée van hanh cin phii cang cap nang truée sau dé m6i nang hing trong khi tc do dong e9 tans ddan dén dinh mite, Céc phin ting dong nang khi d6 sé gidm ding ke. 3.3. MO HINH NHAN DANG MOMEN CAN CO CAU NANG HA HANG CHO cAN TRYC 3.3.1. Khai quat Diéu khién hé thong tryén dong di¢n ur dong str dung trong. edn truc hién nay thudng duge xy dumg theo nguyen téc he kin. T8e 49 cOng nghe duce thiét ke nivim Tuc dich tha man see cdr bSe Xép moi loai Rang hod. Digu khign og edu quay edn tye thude dang he thong qudatinh lon, t6c dé bién déi cham. Trude day ky thuat digu khién cd nbiéu van dé han ché, he thong digu khién thuong ditoe xay dung theo dang SISO, ngay nay ky thuat diéu khién voi sy trg gittp cita my nh, céc thigt bi diéu khién kha trink PLC di duoc img dung phé bién. Thiet bi bién doi cong, suat phat trign vii ky thuat digu khién tien cién, mo hinh todn dong co kh6ng déng be dug nhan dang va img dung ong cc bién tin diéu ché theo do rong xung (PWM). He théng diéu khién xéy dung [a hé théng nhiéu dau vio ra (MIMO). Cac hé thong diéu chinh téc dé 06 tin hiéu diéu khién duge t6ng hop thuc hign theo yeu cd cOng nghé b6c xép hing hod. Tin higu digu chinh mémen cho céc he thong trayén dong dién tu dong ma he théng sir dung bign tan PWM - Dong co khong dong b6, he théng sit dung phu tai dong - dong co khéng déng b6 roto day quan hoac dong co dién mat chiéu co cuga néi wep kich ti doc Jap nat thiét phai duce téng hop dé diéu khién momen dong ce che cu tric cu thé cua cén ruc. 3.3.2. Mé hinh nhaén dang mémen can cla co cau nang ha hang Dua vio co sé IY thuyét vé tinh toan cdc co cu cfin truc di duge xay dung. Mo hinh nhan dang momen can che ce c&u nang ha hang cho cdn truc khong tinh dén bién dang cia can biéu dién tren hinh 3.3. Monn can dong Constant 3 Hinh 3.3. Mo hink nhdn dang mémen can cita co cdi nang ha hang 3.3.3. Dac finh mémen can eva co cdu nang ha hang Nhap cae thong sé k¥ thuat ca cfin truc cu thé cho m6 hinh nhan dang momen can, chay mo hinh nhan dang ten Matlab véi céc tai ong, didu kién sic gid khic nhau, mg voi goc nghiéng nhét dinh. Dac tinh nhan duge biéu didn trén hinh 3.4, Thoi gian mo phdng tren hinh 3.4a 1a 2,5 s va tren hinh 3.4b 1a 10's. 45Hinh 3.4. Dac tinh momen can co cdiu nang ha hang 46CHUONG 4, CO SO LY THUYEY TINH TOAN DONG LUC HOC CO CAU DI CHUYEN CUA CAN TRUC - CAU TRUC 4.1. TINH TOAN DONG LUC HOC CO CAU DI CHUYEN CUA CAN TRUC , Co cau di chuyén cé nhitag thong sO dic trung cho chuyén dong Ja lye can 1d chuyén dong F,, t6e d6 di chuyén V, (m/s), dudng kin cia bénh D, (m), va cong suat dink mife can thiét cia dong co truyén dong La: 402m, trong d6: 7. ~ higu suat truyén cia bo trayén noi v6i true dong co, cho phép Iya chon dong co cu thé voi te dO dink mife dong co TA Ny. , ab Vi su cin tra chuyén dong phy thuge vao chit luang dudmg di, nén co cau di chuyén cn phai tinh toan voi cae gid tri (6c dO Khdc nbav. Vai tc dé di chuyéa [a V, thi sé vong quay can cho biink, hodc banh xich v6i dudng Kinh banh D, Yi: 60v. i = 2K 30 Linh tinh Ld xo cén dm bao dé c6 thé bit tai do gin dan héi theo thdi gian Lam vide eta cap, va duge xe dinh theo dinh Jugt Guka: Al=—* , (4.32) a day : BF - d9 cling cita ep 5 i cap toan phn khi xe con & phia ngoai. 6 cain truc sit dung bo day thay lye dé di chuyén xe chay doc can cd kbo khan hon. Nhung dng dung cich mac cap da cap, van dé dave widi quyrt vai quang duing di chuyén twong doi dai (hinh 4.3). Néw do dai dubng dich chuyén 1a f, con hanh tink ciia tay bier Ta fy thi bot s6 cain thigt 12: £ iy= (4.33) i Neu ie tren nbénh Ap kéo fa Fy, thi luc tren bo day thy ye Bs Ta (4.34) 53a day n= higu suat cia bo boi D6i véi cén truc chuyén dong theo dia hinh (binh xe bom khi, hay bénh xich) thi Tyc can duge xéc djnh theo logi duéng ma cin truc chuyén dong. Cac edn truc can phai cé t6c do dé vugt qua cdc hd trong cha mat dutng vdi gde a = 15", tga = 0,268. Phy tai quén tinh cé thé duge xe dinh nhut sau: Pur Gday m - khdi lugng; a - gia t6c. ma (4.35) Khdi long quan tinh cia can truc 1a téng khoi lugng cha can truc va khéi long tai trong: G+Q g : va khdi lugng cia ede phén tir chuyén dong cia dong co va bo tuyén co khi my. m, (4.36) Khéi lueng quén tinh thudng khong duge tinh toan cho cfc céin truc ding dong co dét trong. D6i vdi cdc can truc ding dong co dién dé truyén dong cho cdc co cdu dich chuyén quén tinh cia réto va cdc co cir duge khac phuc boi momen du cia dong co. Vi vay phu tai qudn tinh khi chuyén dong c6 thé duge tinh nhw sau: Phu tai quan tinh riéng: Khi cfin tinh toan cde thong s6 quén tinh khong chi ri¢ng cho cn truc ma cd he uuyén dong c6 thé lam nhu sau: Néu momen quan tinh phan quay cla dong co va ede co cau 1a kJ, ke.m.s* (voi he sé ky © 1,1 + 5,2 tinh cd momen quan tinh co cau n6i t6i phan quay cha dong co), déng nang cla he w, =k a ’ i 30 Khoi Ivong quan tinh my quy adi theo khéi lwong cau truc, chuyén dong voi van téc v (m/s) ¢6 thé xdc dinh tir phuong trinh can bang d6ng nang c6 tinh 16i tén hao ma sat xde dinh béi higu suat ciia bo truyén co khi n: an? mv k i 3 900" 2 Suy raz m, =k,a 2n'n’y (kG.s/m), 2.900 54Khiné my = KA Toy Phu tai quan tinh trong thoi gian tang t6e: G+Q nv Fun = (0, emas 28 ska teole (kG). (430 Phy tai quin tinh don vi tuong d6i : Fy =k maa, kta nt GiQ g GQ 100 Lue can chuyén dong riéng cho eéc can trye thudng dae cho dudi dang bang. Vi ty s6 truyén cia co cdu dich chuyén t¥ 1g thuan vai lye cén dich chuyén, ving chuyén dich ree do trong giai doan chuyén dong én dinh cdn thay 64 trong khoang: ~ Cdn true bénh hei * 6,3; - Cfn true banh xich = 5. 4.3. BONG HOC CUA CO CAU DI cHuveN rong qué tinh gua do, chuydn dong ciia co eft di chuyén sé xudt hign phu tai dong do sw dan hoi cia he truyén dan, Qué trinh 40 se duge khao s4¢ khi khong tinh toi su dao dong cia thi trong treo trén moc va cd khi c6é su dao dong cua. 14i trong treo trén moc. Truong hop thit nhat wong tag voi khong c6 ti trong treo tren mdc hodc co tai trong treo tren méc v6i day treo ngan. 4.3.1. Phy tai duge treo tran déy ngaén Trong tinh toan ky thuat thudng sir dung phwong phap gan ding, khdi luong cia tai trong mg coi nhur duoc n6i cing voi trong tai cila cA me, Hai tai trong 46 coi niu thong nha than mOt ti trong m, He thong khdo sat c6 dang nbw (ren hinh 4.4 gop lai con hai ret hoi lwong, Khoi Iuong m quy vé bank xe, Khoi Itong cla ro10 va cée phan tir quay ea edu m,reling quy vé banh xe. Cac phan tir ghep nO} co Khy mht cic tre, cdc khép Gan hai la cac khau dan héi voi do ctimg chung ky. Tai shi diém t, dich chuyén khéi lugng Mirt 18 Xr dich chuyén khdi lugng m lax. Phuong trinh chuyén dong duge vit mhu sau: (4.38) (4.39) 55Hinh 44, Sodé dong hoe clia co edix di chuyén khi trong tdi nang dicge tre tren day nadir Gidi cde phuong tinh nay s€ xée dinh duge tin s6 dao dong tw do cla he théng, Dé xd dinh due dao dong cudng bite cha he thong thi vé phai cia phuong trinh chuyén dong Gin phai vit them lue dong hoc, duve xac dinh bang chink momen dong ciia dong co che tie phan tt quay cita co céu. Con doi véi cfm truc bing Tye can dich chuyén, luc gia toc quy vé bank xe 1i him s6 momen dur cia dong co. Neu coi nd Khong, doi tuong ing voi trumg hep vé trén hinh 2.44, lye may 1a T, con ye can tink chuyéa dich la F. Nbu vay lye dac trung cho momen toan phin cha dong co bang T+ F. C6 thé viél duge phuong trinh vi phan mo Gi chuyén dgng Xée lap cho Wing thiah phan kh Luong nha sau: mm yp EE +X yp “NIK HEAPS m etn —x)k,, = -F Nhaa phuong trin th ahét voi ma, phuong tah the hai voi Mrs va It phutong irinh thé nhat cho phwong trink ther hai ta c6: Gx x) mem OX OE), MEM (Se gt (THE), amg Ty pM my MyM May mami Cac pharang trinh vi phitn do xc dinh sur biém dang Kye - cita khép dan hoi, do do Tue Fy 4 Ky (yy - 8) La tai ca khop dS m+m. To m+. TE ky bang p? va +F——" bang Myr Tr miny, trong 46: Xey- x bing &; Khi ky higu: q thi viet duge dang phuong trink don gidn: 56axe 2 *O + pry -q=0- at? ° Nghiem téng quét cia phuong trinh c6 dang: Xp =C, cospt + Cy sin pt +“. P Tién hanh xéc dinh cdc hang s6 theo diéu kien dau Trong thoi gian d4u tuong tng vdi sy chuyén dich cla ofc phan th duoc néi tigp ile voi nhaa vi mémen can bang ménen cin ben ngodi khi tc d9 bing 0. Do 46 khi t = OVA (xq - x) ky = F, ta tinh duge: Cusi cling ta 6: a day p [a tin so dao dong: Ww Ky gp 8) = (= ~‘ ose +ky 3 = Weospt +ky Pau —cospt) . M F, ‘Thay gid tri q vao biéu thitc tren ta c6: Thy y wy, BAB n F, =Feospt +" _ Mn (1—cospt) = P = (1cospt) + Feospt += ky M*™N (1 cospt) (4.40) my Pom, Khi thay p* vao thanh phan thé hai cuéi cing ching ta nhan dugc: , Tk, Ka Fo (1 — cospt) + F; (44l) mrP Khi cospt = -1 thi luc dat cyc dai: _ 20k fp aor +P, “MP m+my hoac BL. = 2T.A + F (4.42) Voi az ™ +®o my +My +Mo Qua ofc bidu thie trén ching ta thy ring, dé gidm durge Tye dong trong ed co ou di chayén cén phai tang kh6t long mr, vi vay phai ché tao puly cho phanh dat lén 574.3.2. Khi cd sy léch cila tdi trong hang hod theo phuang thang ding trong qué trinh qué dé Trong giai doan tang t6c ban dau tai trong chua kip dich chuyén nhu hinh 4.5. Sy dich chuyén cia cén véi kh6i Ivong my Va kh6i lugng cla phén quay ter bang xx. su dich chuyén ciia tdi trong mg treo trén edn 1a Xg, lye quan tinh coi nhu khong 461. Phuong tink vi phan mé ta chuyén dong ciia can va tai trong nhu sau: "x, (mm) Gp Me Btw = Ts (4.43) (4.44) Néu do éch nho ta co thé viet duge: x, wee vi 1-40 dai treo hing hoa. a ote Hinh 4.5, Sa dé dong hoe ctia co edu dt chnyén khi tdi trong treo trén cap dai hoae: @xe 2 “aS + Pik Hae a? Vi tan s6 dao dong cla tai trong: 58Neghiem chung cia phwong winh co dang: Xg =C, cospt +Cy sing Diéu kién ddu: Khit = 0,x%¢ = 0, (dxq /dt) = 0. Do do: it 4 4 Ge XG prsuyra Cp a-Si G=0 Cuéi cing ta nhan duge su dich chuyén cita tai: XG = cos pt +L = 4 (I~ cos pt). P pop Ta 2 m, xX, = I-08, |) 1+ ——* ft (4.45) gm, +m, +m,) TOoom, +m,, Su [Sch Ién nat khis cos,/2/ 14M _ TO) my +m Soon == (4.46) See g(my +My HMg) ” ‘ hoac: Téc dé chuyén dong cha tai trong: Be 4 ginpt = ud Bf, — Ms |x sin ap um, +m, +m,) m+ 7 | (em, +m, +m, | ___—— x sin J © S$ t g(m, +m,,)(m, +m,,+m,) io mo+m,, Nhu vay qua céc cong thite cho thay ring tc do clia tai trong fY 1é voi lure dong va ngoai ra ty 1é vai can bac hai do dai cdp weo. dx, T m, d? om, tm, m,+m, Dé lam sang to su dich chuyén cia cén truc thay gid tri xs vao phuong trinh dich chuyén can truc ta cé: dx, gq — BL + BLcospt; PoP dt’ 59dx, x = gt - BAt+ BA sinpt + C,, P P dt Khit = 0, xq = 0, (dx, /dt) = 0,dodé:C, = 0, e qt? q Xe SOT BEES BA compl eC, Khit = 0,x, = 0 vaC, = B(q/p*), Do d6 su dich chuyén: x,=ab-B4 +B —cospy, 2 pa op Téc do dich chuyén (dxy/dt } da duge xéc dinh & trén. 4.3.3. Khi tai trong duge treo bang day ¢6 dé dai dang ké D6i vdi trudng hop khi tai trong dugc treo bing cép dai thi nhimg cong thie neu tén khong dii d@ chinh xéc vi khi ti trong dao dong sé xuat hig su dao dong cia cdn vA Fun $é bi thay déi. Trudng hop nay ta coi trong lugng hang va trong lugng cdn la rieng bigt nhu hinh 4.5. Phuong trink vi phan mé ti su chuyén dong cia mrr khOng thay déi so véi truéng hop tén (muc 4.3.2): Px My ge Hr ky = THF. Phuong trinh vi phan mo ti chuyén dong cha khdi Iuong my dugc thanh iap vé nguyén ly nhu trong hyp tren nhung vé phai ngoai tac dong cla Ive -F con them thanh phan tai trong theo phuong nm ngang: m,g.tgy =—-m,g—* Bs By Bai vay: ax ral ~ Gre “ky = Fam, Bg Ta nhan phuong trinh tht nhat voi mg, phuong trinh thi hai v6i may, sau dé tir phuong trinh thi hai véi phwong trinh thi nhat ri chia ce thinh phan cho hé s6 & dao ham bac 2 déng thoi ky higu xy = xqr - x ta C6: FM By mL 2 dix, mg+mr yy T 2 MXy = + dt My My, My My Xq~ gid tr] 1éch ca tai trong da duge xac dinh trude day. 60Ta duge: =A,+A,+A, cospt. Gidi phuong tinh tren Khi n6i he ervyén dong tree viep, Iye Tén mht xudit hi¢n trong céc khdp tinh doc: rant Berm 2W mene m,+m,+m, Ym, +m,,+m, 1m, +m,, +m, 4.47) B Fe TAH +2 be F A : vi mime gk im, +m, +m TT Sur sai Khéc gia gid tri Fim khi khong tinh dén sy lech ca tai trong khi di chuyén Wa Fa kh €6 tinh dén sur lech cia tai trong khi di chuyén bing he s6 sau: QT.A+F . (4.48) 1+yl+ Ber A b= Ty, 61CHUONG 5. CO SO LY THUYET TINH TOAN BONG LUC HOC CO CAU QUAY CUA CAN TRUC 5.1. TINH TOAN CO CAU QUAY CUA CAN TRUC Thong s6 dac trung cia co cau quay 1A momen can Khi quay Myq, We BO quay Ny ngoti ra con céc thong 56 khée cha bd truyén co khi, thong s6 cila dong co din ... Cong suat ciia dong co dign truyén dong cho co effu quay duge xée dinh nhu sau: M,,n, P, =" (kW), 5.1 975n, kW), (3.1) trong dé: ne - higu svat truyén cha bo truyén co khi ndi tir dong co dign den cg ca quay, khi t6c do dong co dign lam vide véi te do ny, (ve/ph). Ty so uuyén cia bo truyén co khi cita co cau quay duge djnh nghia nhit sau: n. igs. 6.2 n, Toe do quay clia co cau quay thutmg Khong Kén (0,25 - 2 ve/ph). Vi vay tf sO tuyén thuémg rat lén, do vay khi tinh todn c&n xde dink gif mj higu suat cia bd truyén, Khéc véi co clu nang ha vA co cau di chuyén, thoi gian 1am viée cla mot chu ky lon how rat mhidu so véi thoi gian khéi dong va thoi gian hm ciia he théng, con luc quin tink ahd so voi luc can tinh, 6 co cu quay luc quan tinh 16n hon dang ké so vdi Ive can tinh, Gée quay lam viée trong gisi han (60 - 120") véi kh6i Inong cla co cau quay rat Ion vivay thdi gian khdi dong va ham tong duvong v6i thei gian lam vige. Vi vay vide tinh roan momen cia co cfu quay bao gém momen cin tinh va momen quan tinh cia hé théng: My = Me + Mg = Mec + May +M, + Ma» (5.3) trong dé: Me ~ momen trong lugng ciia cin truc G va ti trong Q + q khi cén cong tae tren g6e nghiéng a; fa = momen cita lite ma sét; M, - momen gay ra do tac dong cia gid: M, - momen do lye quan tinh. Céc thank phan cia trong luc cfin truc va cia tai thutmg thay déi lén khong chi phu thuge vao géc nghieng o ma cOn phu thugc vae vi tr{ cla trong tam ciia phin quay tren dé cia né. Hé théng dugc minh hoa tren hinh 5.1a. ‘Trdi dung tron vach ra béi tam efin truc khi quay tren mat phang nghiéng {hinh 5.1). Toa dO cia diém bat ky cia trong tam duge viét nhu sau: y = Ty(l - cosB)sine, khi dat 6 = x/rp, ta co: y = tosina - r,sinacos(x/ty). (5.4) 62of = arerg sina “sing la 2 yr (1 eos) sine ® 3a 2a kK | Hink 5.1, Se phan bd trong tm khi can true quay trén mdr gc nghiéng Lay dao ham ta duge: ye inasing = tga dx Tren hinh 5.1 ta 6 P’ =P sin aretg(sinasing) . P = P. sina. sinB. va momen ciia trong long cén va trong thi duge viet: Mee = [Gao + (Q+ @RisinasinB, 63) VGi ty va R la khoang céch tit true cla co cu quay dén trong tam cén truc va cia tai trong. Gid tri Jon nhat cia biéu théc dat dugc khi B = 2/2 vA® = 3n/2, nghia 1a khi sinB = 1. Cudi cang ta cé: Mw =[G.r, +(Q4q))R sina (5.6) Momen ma sét phu thuée vio dp luc trén 6 da phy thuge vao két cau cha cén edu vi vay mémen ma sat cd thé viet duge nhu sau: M,=DAnt, (5.7) trong a6 : Ay, yi, 1 - dp he lén 6 dd, hé sO ma sat, bin kinh ma sat cha 6 43. Mo 18 phu tai gid tac dong lén co edfu quay xem & hinh 5.2. 63Sv esi _— ssa \ =< va cee \ fl ase yA . ey \ Hink 5.2. Phu tdi ctia gid tée déng lén phdn quay cia cdn edu khi cdn edu quay Momen can do gié phy thudc vio hinh dang cén, hang hod. Déng thoi momen can ciia gid gay nén cling sé thay déi khi cdn truc quay. Dang téng quét momen gid duge viét hu sau: (5.8) Gid trj 16n nhat cla momen gid dat duge khi 6 = 1/2: Mr" =P.F.R+) PEt. 6.9) Momen cia luc quén tinh duge viét nhu sau: (5.10) trong 46: DJ, - téng céc momen quén tinh cla cn tryc va tdi trong quy vé truc quay. K - gia tc géc (theo bang tra cttu). Toc do quay cha phan quay én tryc, cng ahu thdi gian qué d9 trong chu ky lam vide: gia t6c hoic ham déu gay ra cdc Anh hung dang ké fen luc quan tinh ly tam hoac tigp cuyén tae dong len cn cla cn truc. ‘Trén hinh 5.3, nhiing yc theo phuong nim ngang gay ra su Iéch dudmg cap ti vi tri, & 46 trong Iyc va Ic qudn tinh theo phuong nim ngang can bang va huémg doc theo cép. Sy cén bing nay cé thé chuyén vé dau cin va phan tich thanh hai thinh phan: nim ngang va thing ding. Khi phan tich lue quén tinh cfin chit ¥ dén tat c& cdc thanh phéin luc nim ngang, duce dat méc cp va trong tinh toan durge coi nhu age & du cén. 64@ 2 2 pee Qa SOME “a > s P. 3 % & 2 : e Qa QrqeP ts » a) Pe tpowan Hinkt 5.3, Cae le quan tink ty tam va tidp tuyén etla cdc phan quay ctia cdn wyc. a - Biéu dé phan BO tise ly tam wa lie tiép tuyén: b - Sy tech cia tdi trong nang do su téc dong cia lee ty tam Khi Unb todn, ti trong treo & déu cdn va phén paling & déu can xem nhu kh Iugng diém, lye quan tinh ela khéi lugng dé duge xac dinh nh sau: G, O94 ann prrhe 2 ‘ 2 60t trong dé: n,, - 16c do gdc ctia cae phan quay (ve/ph); (= thoi gian Ién nhét cla qua trinh qué d6 bang (s). (x, +L.sind), G.L1) Luc quén tinh tigp tuyén cha kh6i Ivgng cfin phan h6 doc theo chiéu dai can vi phan. Luc quan tinh ciia khoi vong dmg: 23 dP = ane (x, + sind) = MZ, +/.sin0)H, Lut quan tinh tigp tuyén toan phin cha edn: < aa Jos. +/sine)al m, 2bemn,,f | L, so) a = Be Seca, + ESN?) 0.01076, Le oor ar ( Lit) x4 (5.12) 2 Diém dat cin bang cdc luc tiép tuy€én quén tinh so vi géc tua cla cin duge xic dinh theo phuong trinh ame = 22g “TL, 600 (x, +4sind Vel, 65Diém dat cia [ve quan tinh tren cin duge tinh: m 2a i me ony aa | +1: sind) L. 60t xLe , Lisind 2 * 3 3x, L + 20sind x 1 aind 32x, , + T.sind) a) _ Le Gx, +2L sind) 3 (2x, +L-siné) * Fete Ils, +isind Ya (5.13) Hoanh do cha diém dat ive quén tinh tiép tuyén: Ksind Luc ly tam do trong tai, dé g4 vA mot nia trong Iuong cia paling dugc dat 6 dau can: nae Q4q+ pre = le, +s) = G 2 —2(* -) (x, +L,sind) & 355 2. ni (x, +Lsin®) ; (kG). (6.14) Luc ly tam PS do khdéi luong cin duge dat 6 ph4n gitta cia cin cdéch géi twa mot khodng /. Gid tri cia luc nay va tung do hfcé diém dae c6 thé x4e dinh duge nhu sau: Trong Ivong cia c&n 1a Ge (kg) dae phan bé tren toan bO do dai cia cén, tren timg don vi dé dai fy ké tir goi tua sé bang: dm, =S<), (5.15) gle Vi phan cita luc ly ram khi t6e do géc 18 viet duge nhu sau: dP! = dm.o'(x, +/sind) = Se al, Luc ly tam toin phan: P= ~ geo [st + Esa), 6.16)Thay @= EM ta duge: ¥ 30 * (5.17) Gan’ / = GeO (2x. +L sind), (kG). e800 © x, +L sind), (kG) Vi momen do luc ly tam nguyén 16 Ké tit goi do eita cn: aM, = oe o'(x, + Lsind Valcosd, cs (5.18) nén tung 66 diém dat cia lyc ly tam: ; = o fle, +tsina eos "far, Soot Ilo. +ésino ya ind| . xq 2 8iN8 Le go sQ 6.19) Khoang céch ké tir goi d0: . hb, 3x, +2L,sin8 Kec se (5.20) » Sos 3 2x, +L sind” oae cae thiét bi cé cOng sudt x4c dinh (vi du nhu & cde can Khi 6 che ti quay hi xdc dinh qué trinh gia téc va ham. truc ca cfu truyén dong ah6m) thug cin Bigu thite tinh momen cin chung nhét cba co cfu quay trong qué trinh gia t6c duoc viet nhu sau: 0,105 Myc = Myc Mat MAO KEI (3.21) = Tir d6 thay Mg, vao My, ta duge: oe OH 05nK) J, 522 -ML+M+M,.+M, a 22) ‘Trong thai gian him momen duge tgo béi phan My: My = MMM, HORE I, (5.23) ‘i Tir dd ta c6 duge: 0,105nK' SJ, (5.24) the "Tia M,-M,-M, 67‘Trong co cau quay phy tai co ban ma dong co phai khac phuc trong qué tinh khéi Gong 18 t4i quén tinh wong giai doan gia tc, vi thé thudng chon loai déng co lam viée hgan han lap lai e6 kha nang qua tai t6t. Do dé khi chon cong sudt dong co thudng sir dung cong thie sau: NY N a V6i 2. 1a he sé qua tdi cho phép ca dong co trong ché do khdi dong. (5.25) 5.2. BONG HOC CUA CO CAU QUAY 5.2.1. Phy tai Ich khdi phuong théng ding khi cdn quay theo phuong ném ngang Ching ta khdo sat trudng hop khi quay ti trong duge treo trén céin véi palang treo cach truc quay mot khodng R nhw hinh 5.4 Hinh 54. Déng hoc ciia tdi trong khi lech khai phitong thang ding khi quay Néu gia t6c g6c ca cain khi quay [a € coi bang hing s6 (dang ciia # cho trutéc), thi sau mot khodng thoi gian ¢ ti le bat dau chuyén dong cap nang sé léch khoi mat phang cda can véi phuong thing ding mdt goc y. Them vao dé 1a tac dung cha trong le Q = Mog va lye quan tinh Py = mgeR, ¢6 thé viet dire phuong trinh vi phan quay tai trong quanh mot tryc di qua diém treo tong mat phang can: ooo, (5.26) v6i_J- mémen quan tinh cia tai trong twong ting véi truc quay: J= me M, - téng cdc momen cita cde luc quay quanh truc M, = -Qusiny + P,Lcosw = —m,l(gsiny — cReosy), (3.27) Thay gid trj M, va J vao phuong trinh chuyén dong ta nhan duce: 68m,/(eReosy - gsiny) (5.28) Voi dd lech cia goe nhd ta co thé coi cosy # 1 va simy = y (khi y= 15° sai khée nhd hon 6,35%) ta nhan duge: a eR & Sw By hoje St aor ae Pv=4 Gidi phuong tinh trén ta nhan duge: w=Ceospt Casini Voi diéu kign déut = 0; y = 0; dy/dt = 0, ta suy ra: C+ =o; Gags B B SY — csi + C Boosh Ch = G20. Do do: 8 (1 cosBt) = ert —cosBt), trong d6 i la tan sé ciia dao dong tudn hoan. 5.2.2. Phy tai ddng trong co céu quay Cie phiin vie cha edi true khi quay co thé phan thanh hai loai Khoi Iweng: hoi Tong cla cn va tai wong. Kh6i lugng cla cic phin tt quay tong co ei din dong duge biéu dién tren binh 5.5. Khi phan Uch cfc he thong nay cfn phi Ké déa su Anh hutmg Ide (du dua) ota Gh trong trong: ‘mat phang vuéng géc cila cin khi quay. Voi cic phdn td eo bain chuyén dong quay thi su tinh toan hop ly khong phi fa khoi Itong va te d6 dai ma la ce momen quan tinh va cae 16e do Boe Néu dich chuyén vé gée cita khdi lugng cée phan tir quay cilia co cfu quay (ké ca roto cia dong ca) cing véi mémen qusn tinh Jp 18 9, edn gdc dich chuyén kh lvomg phan quay ei cén truc cng vai véil momen qutin ténb. Jy La gx thi dong nang cila cde Khoi hgng s& Tas w,=4(22) 5 W, (2). (5.29) 2 dt 2\ dt (5.30) ‘Th nang Id Véi ky 1a do cimg cia khau dan héi. Momen tée dong toan phin sé bang téng cla mémen edn tinh va momen du (momen dong). Cée phuong trinh vi phan mo ti chuyén dong cung bite ef timg thank phin khot Lvomg duge vidi nue sau: 6955% dt’ FE — 0 ~ oka (Me + My) 532) trong dé M,, 14 momen cia tai trong Q véi bin kinh cénh tay don 14 R: + @ - ky =M,. + M,, (5.31) M, = QRigy Khi thay ley bing y (hi y = 15° sai so 3%) va géc y dugc thay bing biéu thie cia né d chuong trude ta M, “anya (ep)ansit (1-cosft)= A, (1-cosit)¢5 53) Hinh 5.5. So dé dong hoc co cau quay ctta cdn cd Khi quay Khi nhan phwong trinh thé nhat voi Jy, nhan phuong tinh thi hai véi J, ri trir phremg ‘tinh chit hai cho phuong tinh thit ahat ta nhan duce: 4G, _ VO |, Se oe sup.) = Fx Qe Mus) + To(Me tM) (5.34) at? dv? . I,J, WwDé fa che phuong tinh vi phan xéc dinh do bién dang cila khau din h6i (Mp - Ox ) hay momen cin M,, cia khau dan héi, Ta dat: va , Me _ MRE cospt) = All —cosst), kde thi phwong trinh cé thé viet Jai dudi dang sau day: 2 se = p'g = q+A(l-cosft) = q+A-Acosft = D- Acosft, Nghiém téng quat cla phuong trinh dé la: gy = Ccospt + C,sinpt D P C&c hang sO duge x4c dinh theo diéu kign dau. ‘Trong thai diém du cia qué trinh chuyén dich, céc chi tiét trong co cau duge coi 4a tgp xic véi nhau va chiu momen can bing momen can ngoai Mc, téc do bang 0. 0: @ = Mefkys con do/at = 0 vi thé: Vi vay khit = M, k, Suy ra: Do dé: = Me cospt + Abie (cospt -cosfit) + P (-coset) pp P trong 46 p va B la tdn sO dao dong tudn hodn cia he thong. Momen tac dong lén khau dan héi duge tinh abu sau: 7My = @ky = Mccospt + He _(cospt--cospt) + PEs (|—cospt). P- Pp Khi thay: ‘ M,+M, M, M, A A eta - MotMe y Me y mi 7, (—cospt) 4 1, Ty) All —cosft) ta cé: My = Mccospt + Mkyu(cospt=cosht) ku(l-cospt) 7,1 cospt) (p= fF ) P < — S$ —~ |. (5.35) J,(l=cost) hay: My = Mecospt | + Me > : MK |b x(1-cospt) + va coat + tospt=enst | 65,36) «P so 1- -fo-sowh) ° Whom cdc s6 hang va dién céc gid ti: 1s k, kabel J M, = oR? £0 By Kult 2 tet ea e coh Re) St C6 thé viet duge: M,, = pap teal +1 deosnt + (1, +4, Xl-cospt)] + 4+M,1,(1-cospt) + QR?EI,| (L-cospt) + comet 2 eo Y Casi chung ta 66: Ik J M, = Mc + M,,{1-cospt) + x Ly Teh 72EF cosst-cov xQR* (3.37) ‘Trong cong thife ndy thanh phén chi nhtt xée dink nh hung cia. momen can tinh trong eo edu, thanh phn thi hai xée dink ab huéing cita momen du Gndmen dong), thank phan thé ba Ia sw aah hung cha tai lech Khoi phuong thing ding. Dé han ché momen Wang cho he théng. tren tryc truyén dong thudng lip dat them bénk da dé han ch€ su qua tai cha dong co. Khi cospt = -1 vA cos = -1 ta nhan duge: nai = My = MB oR? EE 3 itd gJtdy 638) 5.3. MO HINH NHAN DANG MOMEN CAN CG CAU QUAY CHO CAN TRUC 5.3.1. Khai quat Dién khién he thong truyén dong dign ty dong sit dung trong cfn truc hién nay thudng duge xay dung theo nguyén tac he kin, Tée do cong nghé duoc thiét ké nham muc ich thoa man yeu céu boc xép moi Joai hang hod. Diéu khién co clu quay cn truc thude dang he théng quan tinh lén, t6c 46 bién 461 cham, Trude day ky thug digu khién co: wihigu vin dé han ché, he théng digu khién thudng duce xay dung theo dang SISO, ngay nay ky thuat digu khién vdi su ty gidp cita mAy tinh, cdc thiét bi digu khién kha trinh PLC deduce dng dung pho bign. Thigt bi bién d6i cong suat phat tién voi ky thuat diéu khién fign tién, ino hink todn dong co khong déng bo duge han dang va mg dung trong céc hizn tin diéu ché theo d@ rong xung (PWM). Hé thong aida Khién xay dung 1a be thong nhigu dau vio ra (MIMO). 4c he thong diéu chinh 16 do c6 tin higo digu khién duge téng hop thye hign thea you cau cong nghé béc xép hang hod. Tin bigu jéu chinh mémen cho cdc he thong, truyén dong dign ty dong ma he théng sit dung bién tan PWM - Dong co khong dong bo. hé théng sit dung phy tai dong - dong co khong déng bo to day quan hoac dong co ditn mot chiéu c6 cudn néi tiép kich ti d6c ap abat thist phai duoc tng hop dé diéu knién momen déng co cho cau tric cu thé cia can truc. 5.3.2. M6 phéng tinh toan mémen dn cla co edu quay Dua vao co sé hy thuyét vé tinh ton cdc og edu edn tryc 48 duge Ay dung. Mo hinh nhon dang momen c&n cho co cu quay biéu didn irén hiah 5.6. 73<< “| Hinh 5.6, Mo hinh tinh mémen edn cho co edu quay dn truc 5.3.3. Dac finh mémen can cua co céu quay Nhap cde thong s6 kp thuat cia can tryc cu thé cho mo binh nhan dang momen can, chay mo hinh nhan dang tren Matlab v6i céc tai trong, diéu kien site gid khac nhau. Ging véi géc nghiéng nhat dink. Cée dae tinh nhan duge ten hinh 5.7 — khi co cdu quay hoat dong trong gidi han tir B = 0 — 180"; a = 1,5", Trén hinh 5.7 - dic tinh momen edn vi cic tdi trong Q = 10 T; Q = 20 T va Q = 40 T. Trén dé thi truc tung 1a gid ui tuong A6i duce tinh theo: M’ = M,/M,,. B= Fit) khi V = const, thdi gian mo phong 90 s. Hinh 37a. Dae tink mémen edn khi khdo sé1 bang mé phdug edn truc yéi @ =20T, B= 0-180" TAHinh 5.7b. Dac tinh momen ccin khi khdo sdi bang mo phéng cin irue ¥ tai trong nang Q =10T Q =20T, Q = 40T; B =0-180° 75CHUONG 6 .CO SG LY THUYET TINH TOAN BONG LUC HOC CO cAu THAY DOI TAM VOI CHO CAN TRUC — CAU TRUC 6.1. BONG LUC CO CAU THAY DOI TAM VOI Trong céc cn truc quay su thay déi tam v6i nghia 1A thay doi khoang cdch tir ruc thing diing cia thap cn truc tdi dung thing dimg qua tim méc nang ha hang. Viec thay d6i tim véi thudng dugc thue hién bing hai phuong phap: a- Thay déi bing cach ding c4p kéo trén paling déu can dé di chuyén co cu mang palang nang ha hang chuyén dong tinh tién teén can. b- Thay déi tam véi bang céch nang ha cin ding cap trén palang dat c6 dinh 6 dau céin. Sau day (a tin hanh tinh todn cho trudng hyp thay déi tam véi cho tng hgp b), so dé ket cau ciia co cau nang ha cén duge biéu dién én hinh 6.1. pees? Hinh 6.1, So dé tinh todn che co edi thay d6i tém voi Céc thong s6 dic tug ola co cfu thay déi tim véi la: Site cang tren cap nang ha cdn 8, (kG), thoi giant (s) dé thay déi tm voi tit Rye dein Reres (TM), Khi We do quan cita tang quén c4p khong thay déi thi tc do thay déi vim v6i sé thay d6i. ‘Vi vay trong tinh todn thuémg chuyén sang xdc dinh thai gian trong tg vi su thay déi cia tim WO Ruin 8M Ryne Nhu vay t6c 46 trung binh khi thay déi tam voi c6 thé xde dinh theo cic thong s6 cho & tren: in, ~ sin, ), (mm/s). 1) 16‘T6e dd trung binh tinh theo st thay 446i dg dai cha palang dau cin vi, = Bon =a Eon os). (6.2) «rong céc cong thie ten: en = L800. Rain = ESM gi 63) E,,, = ¥(b.cos@-by + (Usine,., +X. ta): 6.3) E,, = y(Lcos@-hy + (Lisind+x, +a) (6.4) Khi boi s6 palang [a m thi te d9 cia cép sé Taz Ve = Venm (as) (6.5) Sic eang wen mot nhénh cép cha paling nang ha cdin S, bang kG sé Tas s = 2,00, 66) ma, trong &61 n, ~hieu sufi chung, cla c&e palang trong co edu nang cn Néu site cang trén mot soi cép 1a S', ting vGi chE do nang, véi edp c6 dueng inh d, va duimg kinh ciia tréng ti D*, bang (1m) Uhl momen trén trong tdi duge xac dinh: siDia My = 725% (kG: 67) Toe 46 cin thiét d8 quay tng ti TA: 60v. apa 2s, 6.8) 2 ADS ‘ trong 46: 86 lugng cdc soi edp duce quiin déng ths tren tng (oi cia co cu nang Cong suat cita dong eo duge xéc dinh: Sy, PL = SW), 69) = jon oY } trong d6: my, higu suit cita co cfu truyén. ‘Theo sé tay tra cifu ta chon duge dong co eu thé v6i t6c do quay dinh mite ny. (vg/ph). Khi 48 bist duge te 40 cha dong co va t6e dQ clin shiét ren tréng Wi cla co cau nan ha can thi ty s6 euyén cita bd truyén co khi sé duge xac din nh sau: (6.10) Do co cfu thay déi tam voi bing phuong phap nang fha cén chi 1a mét dang khac cla co cain ndng ba, nén qué tinh tinh todn cho ex city nang ha 6 th ap dung cho co cau nang ha cin, hung cin chil ¥ toi momen gay ra bai sie cAng cla cép, 1A hin sO phy thude vao géc nghiéng cia van, Wai tt trgng xéc dinh site cang S, cita esp trén palang sé 16m vi bé mbt kai tim vi cla cain xa nhat va ngin nhat, Vite xéc dink sic cang S, cba cép tren paling nang ha cén ma cf duge quay (ai 261 d3 ca cin theo X va ¥ va luc cia ca S,, phi Aéng thoi gidt ba phuemg trinh tinh hoe sau: EM =0; EX = LY = 0. (6.11) 71Gc cia he toa dd O Ia truc quay cite g6i dé fin. Cée phy tai Anh hudng tis ngoai: Trong tai hang hoa Q, phu kien cia méc hang q, Ie cing én mOt nhénh cap Véi boi cha s6 soi [a n wen Qtq n, palang nang ha hang theo hudng ciia cin: Trong hug ca cn G., va paking dau edn G,. 46 don gian vige tinh toan ngudi ta coi trong Iueng ctia céin phan bé doc theo cfin, phu ti cha gid tic dong len cén PS , phy tai ciia gid tac dong len hang hod P®,, Juc quén tinh Ly tam Py xudt bien khi cé su quay ca can truc, hay khi ham chuyén dong cia cfin truc. Lye quan tinh cia trong lugng tai tong va mot nita treng Luong palang: (kG), (6.12) trong do: v, - 16¢ 44 chuyén dong cia céin truc tinh bing m/s; {thi gian qué do tinh toin nhé nhat cia chuyén dong cén edu tinh bang s. Lue guiin tinh do trong lugng can: G. pe = Se (KG), 6.13) gt Iye quan tinh nay duge dat trong tam cha edn, Déi véi loai céin binh thug thi toa do diém dat Ta: h, = Eaint : (6.14) Khi dat tat c& cdc phu tai len fin cia cn truc va gidi tét cd cde phuong trink TM = 0; EX = 0; LY = 0, thi co thé tim duge luc cang S, ciia cép wen palang dau can va cdc phan lye thinh phin tren goi dé cia edn X, Y: EM, = (Q+qR + 2484+ 628 + GR + ps pe 1m, 2 vt By +P2"H + Pchi + P™H — S,cosdé.H + S,sind.R = 0 (6.15) Daw cong truse so hang cudi ching twong tng v6i vj tri ciia cin khi cap ten palang 6 do doc & phia duéi mat phang nam ngang, con dau trir khi g6c nghiéng nguyc lai. “To phuong trinh dé ching ta nhtn duge: Pp . (ara & +6.) sino - Grad +( Peper ep Me s- 2 a, 2 H : L cosbeosd +L, sinBsind Déng thai: YX = 8,c0s5 + 2*4sing — po - PS - pa — Pe, — PY = X = 0, is Suy raz X = Scoss + 24 4sing — pS - PE - POY - PL - PY. (6.17) 78yy = +s) £6, 4+ Gy Sind - Y= 0 nq, v= (ora) 4G. + G, # S,sin8 618) a4, Khi thay déi tim voi bing céch pang ha can, déng thoi véi thay déi khoang cach tH ddu ein dén trac quay (v6i cén true quay) hoac khoing ‘cach déh g6i d3 cn (edn tryc khong quay) ciing thay déi ca vi ti du cén theo phuong thing dimg va digu ndy lam thay doi tung 40 cua tai treo trea cfin, ae 3 ‘yo Hink 6.2. Corcdiu dé ddm bao dich chuyén tai trong theo phitcng vad ngang bang thay di tm vor cvia can. ‘a= Co-edin nang ha ket hop ; b- Corediec6 cde paldng dieu khién kéi hop a Vi vay sic thay 481 td voi Khi nang efi, co clu ye céu mot cong suit wong d6i Kin, godt ra sy thay déi tung 49 cli ti Ham phe tap quit tinh én dinh co cu Ninrta da biét, ede nhucge diém ny st mat di khi thay 6i tam véi bing xe chay, mang tal di chuyéa theo phuong nam ngang, do cao nang hang sé nhd hon trubng hop thay ddi géc nghiéng can. C6 thé sir dung mot sé thiét bi dic bigt dé di chuyén tai theo phuong nam ngang @ can truc thay d6i tém vai bing géc nghiéng cn, “Tuc hign digu nay bing hai céch: a Me Ket hop pitta 18 nding cén va. co cau nang ha cin "Mae ket hop gitta palang cdn va palang tai. ‘Trén hinh 6.2a biéu dién co cau thay d8i vim voi va nang ha hang 06 chung, mot dong co. Kihi d6 tng Ibi nang ha cd 7 duce dn dng bs sO1 NANG hha hang 2, trayén dong cho ching duce the hign bang khop ly hop 3, vige dong khdp noi duige thue hien bang phanh dign tir 4. Cac cp wang ha cén va nang ha hang thuzng dude quin neue chigu vi nhau, Nho vay cip nang duge thu Tao trong thi cap kia duge thi ra. Bang cach la chon ‘boi s6 paling, duomg kinh va hinh dang trdng toi cd thé dam bao quy dgo di chuyén méc theo phuong nim ngang & moi vi tri ning ha cn, ‘Tuy vay phuong phép tht hai thug duge ap dung, Sons thuc 18, tren hinh 6.2b biéu dién co cau thay d6i tim v6i va co eft nang ha hang ket hep. ‘pau cap J cha palang nang tai 2 duge 79quiin tén trong toi 3. Déu cép cdn lai 4 thong thudng durge c6 dinh vao cn, nhumg trong so dé nay duge quéin wen trong ning ha cin 5, chiéu quan cha né nguge chiéu vong quan déu cap 6 ctia palang nang can. Nhu vay, khi nang cfin cp nang cin duge quiin vio trong, cdn cdp nang tdi duge tha ra. Khi ha cin qué tinh ngugc lai. Bang cach lua chon b6i s6 palang hgp ly theo cac thong s6 cu thé cita timg can true hu: 9 dai cén, toa dO g6i dé cia cén... cing nhu lua chon dudng kinh, hinh dang ciia tréng tai dé dam bdo tdi di chuyén theo phuong nam ngang khi thay déi tam véi. Cén truc hoat dong theo nguyen Iy tren link hoat han so véi clin truc xe chay theo cén ten phuong nam ngang, dim bio dé cao nang hang Idi So d6 dé tinh todn co cau thay d6i tim véi két hgp vi nang ha hang nhu trén hinh 6.3, Néu tc d0 cla c4p nang ofn trén paling IA v,, bGi s6 cap Lm thi trong mot khong thé gian dt tren tréng toi nang ha cn sé quan cép wdi do did! = v.dt, con palang nang can duoc the ngdin lai v6i gid ti, dpE= = ‘a, (6.19) m om khi d6 céin quay duge mot géc de. Ta thay CB L OC, con CD L AB, thi g6c BCD = f.. Mat khée CB = L.do;DB = dE, vaviDB = CBsinf, thi: de = L,sinBda, Tird6 da = —: “im sinB Dau cdn khi do nang lén duge mot khoang: dH, = L,.cosada.. dt, Hinh 6.3. So dé tinh todn cho co edu thay aéi idm véi cé paldng két hop Néu cae nhanh cap nang ha hang chuyén dong nguoc chiéu voi cAp nang ha can véi te do Vg di ti dau cn song song véi palang nang can thi cap cling ngan di mot khoang dE, voi ty le so nhénh cap nang ha hing song song paling ning cin va so nhdnh cdp treo hang a sé nh4n xuéng 80inde hang ba xudng mot khodng, Khi sé nhinh cia cap mang ha hing 1a a thi paling nang ha hing cing sé dich chuyén song song nhung moc hang ha xuéng mot khodng: Meg = aX MESO Ga = al_sinBda. m mv. Cap nang tai véi boi cha palang tai tong trong thi gian chuyén dong ha xubng mot Khoang: aH’ = adE gure Year = Yom sinB yy — Xp sinpda nen ny, Moc hing dich chuyén Ri: dH = dH,- dit’ - di"= [sua = alsin - 1 Bin = nv, “ sop) : (6.20) ‘Theo dinh ly ham s6 sin va cos tren hinh 6.3 duge viet nhur sau: E i, __ heostt = hoge sing = SF cose, E Nhu vay: E° = Lcos'a + (L,sina-h’) = Lcos'a + Lsin’a + he - 2h.L.sina = Lo+b - 2hLsina. thi: The 5 Ly Teh? “Ohi sina, = ny[ is) 1-2 Ssine 62) Do dé: sing = BES cosa Eo TyyY on ra( -2besina bh h ‘Trong cong thifc tinh khi LL, lon hon nhiéu lan h cs thé vinh gan ding nh sau: ra(s} wabesine = LY -sinas h b h Khi gid tri (Lh) 2 4 sai sO nam trong khoang tir 0,03 (khia = 0) den 0 (khia = 90"). Nhung v4 sing = SO, * sing bh thi: 8lKhi ly tich phan ciia bigu thite tren c6 thé xée dinh duce su tuomg ting gilla cde thong sO rieng: HL, foosa-fa+™ Se) 7 88 dao 5 n i Hinh 6.4. So dé dé xéc dink sO nhdnh edp bit ctia palang nang ha can 82: sine, toes. Khi day, = 0. V8 Oya = H = Lodging = fat nts — inl =+-sina |}p- (6.22) a h h gidi han do Igch H so vdi phuong nim ngang He tsa —sitigiy -{aeB cs bm n Y, h ‘Theo cong thc nay c6 thé xéc dinh duge hode xc dinh céc thong s6 khi cho H = 0. ‘Trong trvémg hyp may: my sing < -ul ~sins} h Khi dp dung theo cée phucmg phip Khac dé xde dinh cdc thong so vé suv So dé bidu dién trén hinh 6.1 ding palang nang can sit dung cho can tryc ty hai 86 Joai cn truc thép. ‘Tren hin 6.4 dua ra cau ine cia céin truc thAp, vige thé nao dé can truc thap 1am vigc dn djnh. (Céin thy hién nhur sau: g cin va trong Ui la S, thi boi som clia ede mbinh ep nang can bé ti cdp inh va mot bo tri cae palang va cap nang cin nhu Néu stic cing cia cap nang duge xic dink theo diéu kign sau: (6.23) Suy ra: m= . Qra n. bang {81 trong theo phuong ding vi n6 gay wén thép dh hung cia i “Thuemg chi can theo phwong ngang khong dang ke. pé can bing momen theo truc doc cla thép edn thod man: fora So She - [ Sctmende Sere, oSohe re) ti d6 ta cé: net), G Beeg,« Ba, 2" K= floral, - R, x Ro Re) - gp, |e - ihm. (6.24) 2 2 SR. ~ trong luc cla paling nang cén; G ~ trong le cia cds Ros Re Fe» a day G,— trong luc kéo; Gy r, —céc thinh phan 43 duge chi ra tren hinh 6.4. 83Néu K > 2, dé cé kha nang nhan ti hop Ty thi luc kéo edn phiti duve gap doi hoac gap ba. So d6 cc phuong An bi tai trong clia c’in truc thap duoc trinh bay tren hinh 6.5. s s s Hiuh 6.5, Sede bi tue kéo ctia pating Salute Keo, Sig tne Reo etia cde nhénh cap ctia pulang nang ha edn, K 36 hung ede nhinhs edp ea paling nang lia edin, K — 50 long cde nhénh cap kéo bi. 6.2. BONG HOC CUA CO CAU THAY BGI TAM VOI Khi phan tich dong hoc cia co cau thay déi tém v6i, edn ké dén tat cd ede thong s6 tie dong nhu 1c d6 gée ctta cain kh thay déi tim voi trong ché do nding ha [a bai toan rat phiic tap. Do co cau thay déi tim voi bang cach nang ha edn, fa co cau chuyén dong cham, tai dong tong ec cau @ diéu kién khaj thac binh thegg Ia khong dang ké cd thé don gian hod. Trong mot sé truéng hop o6 thé bd qua khoi Iuong, do din hdi ca cain va su dao dong cia hang hod. Ap dung véi so dé dong hoc ciia co cau thay déi tim voi duge bigu dién tren hinh 6.6, Hinh 6.6, Serdé dong hoc cha cer cau thay d6i tan: vet 84Trong tai tren moc Ia Q, phu tai dong Pé cia palang nang vi P4 ia phy tai dong cia tai trong hing hod duc xéc dinh theo cong thife sau: Pi = fost —eoskt)+ m, +m,sin" c sind c.sin* 1 y4—esin®_}t__; 6.25 +l i ana (625) cin oa = mT sin’? _( _ coskt) + — 5 ye Sin’, 8 ¢, +e,sin’8 e, cos(0-8) trong d6: rm, trong litmg cde phin quay cia bo phan din dong ca edu thay d6i tim voi, mg - trong lang hang hod; Te luc du trong qué trin Khdi dong hoac hém céa co cfu thay déi tim vot c.- bé $6 cing cia palang nang cn: cy he s6 cing cia palang nang hangs m, +m,sinOF,¢ k= jp . (6.26) ¢, +¢,sin0)m,m, Cae géc @ va 5 biéu dién ten hinh 6.6. Lire trong trang thai tinh cia paling nang cén: s,-Q sind = 6.27) cosf-8) (627) He s6 qua wai dong cia palang mang efin trong che do qué do: Ki =~, © s. Gif ri cyc dai cha P? sé dat duce khi: coskt = -1 va sin@ + 1. Khi dé: i: cos(@ - 8) > sind; Taco: Pia = AM + mi, +m |} +3 tL : (6.28) sind ){ sind P |, csinbte, | e+e, |sind Riu = [x (6.29) 1 = 21, + * gm, +m.) 856.3. MO HINH NHAN DANG MOMEN CAN CO CAU NANG HA CAN CHO CAN TRYC KHITHAY 61 TAM VOI Khéi quét Diéu khién he thong truyén dong dign ty dong sit dung trong céin truc hi¢n nay tho’mg duoc xay dug theo nguyen tac he kin. Toc 40 cOng nghé duoc thiét ké nhdim mye dich théa man yeu cfu béc xép moi fogi hang hod, Diéu khign eo cau nang ha cén cho cén truc thude dang hé thong quan tinh Ién, tc do bien Adi cham. Trude day ky thuat diéu khién cn nhiéu van dé han ché, he thong diéu khién thudng duoc xay dimg theo dang SISO, ngay nay ky thuat diéu khign voi Su iro giip cla miy tinh, cée thiét bi diéu khien kha trinh PLC da duoc ting dung phd bien. Thiet bi bicn d6i cong sust phat trién v6i ky thuat diéu khién tien tign, mo hinh todn dong co khong, dng bo duce nhan dang va ing dung trong cic bién tn diéu ché theo do rong xung (PWM), He thong diéu khién xay dung 1a he thong nhiéu dau vao ra (MIMO). Cac hé thong digu chink (6c 9 c6 tin higu diéu khign duge ng hgp thuc hién theo yeu cau cong nghé béc xép hing hod. Tin hieu digu chinh momen cho eae he thng truyén déng dign tw dong ma he théng sit dung bign tin PWM - Dong co khong déng 6, he thong sit dung phu tai dong - dong co khong déng bo roto day quan hoac dong co dien mot chiéu c6 cudn noi tip kich tir dge fap nhat thigt phai duoc téng hop dé digu khién momen dong co cho cdu tric cu thé ciia can true. 6.3.2. Mé hinh nhGn dang mémen can cia co cau néng ha en Dua vao co sé ly thuyét vé tinh tofin cfc co ctiu cfin truc da duge xay dumg. Mo hinh nhan dang momen can cho co cau nang ha cn bidu dign tren hink 6.7. C6 G2 COG cs Hinh 6.7b. Mo hinh nhdn dang momen edn co edu ha can cho edn truc 866.3.3. D&e tinh mdmen can cla co cGu nang ha cdn Nhap céc thong s6 ky thuat cia edn truc cu thé cho mé hinh nhaa dang mémen can, chay m6 finh nban dang wen Matlab voi cac tai trong, didu kign sito gid khée nhau, ting voi goc nghiéng nhat dinh. Cée dae tinh nhan dugc ten hinh 6.8a — khi co cau nang ha cin hoat déng trong gigi han tir géc nang ha cény = 20° + 75; «= 1,5°. ‘Tren hinh 6.8b - dic tinh momen cAn véi cdc tai trong Q = 10 T; Q=20T vAQ = 40T. ‘Trén dé thi truc tung fa gid tri tuong déi dugc tinh theo: M'= M/Moue y= Fo khi V = const, thoi gian mo phong 90 s. Hinh 6.8a. Dac tink momen cén khi nang cdn 14 12] Hinh 6.8b, Dac tink momen cdn khi ha cén 87PHAN 2. TRANG BI DIEN - DIEN TU VA TU BONG HOA CAN TRUC - CAU TRUC BIEN HINH EN DONG DIEN CHO CHUONG 7. KHAI QUAT VE HE THONG DIEU KHIEN TRUY! CAN TRUC- CAU TRUC 7.1. KHAI QUAT VE CAC YEU CAU CHO HE THONG BIEU KHIEN TRUYEN DONG CAU TRUC VA CAN TRUC Doi vai cdc thiét bi ning van chuyén n6i chung va véi cin truc néi ring can phai thoa min cdc yéu cdu sau day, Cn dam bao toc do nang chuyén voi tai trong dinh mie Toe do chuyén d6ng t6i wu cia hang hod duyc nang chuyén la digu kien (ruse tien dé nang cao nang suat béc xép hing hod, dua lai higu qua kinh tf ky thuat tot nhat cho sy hoat cfin truc — cau truc, Néu tc dé nang ha thiet ké qua ton sé doi hoi kich thude, trong lugng ¢ bo truyén co khi Ion, digu nay dan ti gid thanh ché t20 cao. Mat khéc te 46 nang ha 161 wu dam bao cho he théng diéu khién chuyén dong cia co cau thod main céc yeu cdu vé thési gian dao chiéu, thd gian him, Ham vigc lign tue trong ché do qui do (he thong lien tuc dio chiéu theo chu ky béc xép), gia tc va dO gidt thod min yeu céu. Neuoc lai ngu tc do qua thap sé anh hudng dén nang s dong cia hing hod & ché do dink mic thug nam trong pham vi (0.2 + 1) mys hay (12 + 60) m/ph. Diéu khign chuyén dong cho cdc ca cau cia cn true — cau truc can dim bio cic yeu cu tgp theo. Co kha nang thay doi t6e do trong pham vi rong Pham vi di¢u chinh t6¢ do cla cc co cdu diéu khién chuyén dong la diéu kién can thiét dé nang cao nang suit béc xép déng thdi thoi min yéu ciu cong nghé bc xép voi nhiu ching loai hang hod, Cu thé Ja: Khi nang va ha méc khong hay tai trong ahe vdi we dQ cao, cn khi cd yeu cfu khai thc phai cé te do thip va on dinh dé ha hing hod vao vi ui yeu cdu (diéu nay do ky thuat boc xép hoac ky thuat lip méy ¢0i hoi cu thé véi timg loai edn true — cdu truc), Ngoai ra cdc hé thong wuyén dong phai cd cdc téc dé ung gian nhu sau: - Téc dé toan tai: V,,, ~ Toe do nang mot phin hai tai: £.5+ 1,7V,,, - Tée do nang mde khong: 3+ 3.5V,, TOe d6 ha toan tai: 2 + 2,5Viq. - Téc d@ ha it tai hoac moc khong: 2 SV aor Vi vay s6 cap t6c dé cho cdc co céu diéu khién chuyén dong ciia can truc it nhat 1a 3 cap t6c do. Cap We do thap nham thod man cong nghé khi néng baag vi ha hing cham dit, cp Ge do cao 1A t6c d6 tdi uu cho timg co cau, gitta hai cap tc do ny thuimg duoc thiet ke them céc te 4 trung gian dé thoi man cong nghe béc xép hang hod cilng nhu su lam viée én dinh cua can truc. Cé kha nang rat ngin thoi gian qua do Céc co cain digu khién chuyén dong wen ean true — edu truc Lam vige & ché dé ngan han Jap lai, thing he sé déng dign wong doi 6% = 40% v1 vay thei gian qui do chiém hau hét tho 88gian cong tic. Do dé vige rit ngin thoi gian qué 49 Ta bign php co ban dé nang cao nang suat, "Thai gian qué d6 tong céc ché do cOng t4c Ia thoi gian khoi dong va thai gian ham trong qué trinh tang t6c va gidm t6c. Dé riit ngin thi gian qua do cdn sit dung cac bién phap sau: - Chon dong co cé momen khdi dong 1én. - Gidm momen quan tinh (GD)*eta céc bo phan quay. ~ Ding dong co dien 66 16¢ 4 khong cao (1000 +1500 vg/ph). Dei véi dng co mot chiéu, momen khéi dong phe thuge vao giéi han dong cia eéc phién gép vi vay thuong chon hy = (2+ 2.5 Yoo ‘Doi véi dong co xoay chiéu momen khdi dong phu thudc vio logi dong co, voi dong co khong déng b9 roto Idng s6c momen khdi dong c6 thé dat 1,5M,,, cn déi voi dong co khong déng bo roto day quan vé nguyen tke momen khéi dong cé thé chon bang momen t6i han Mas Viec sit dung logi dong ce t6c dg thép trong he thong dign co mot mat nit ngin duge qué trinh qué 40, mit khée nang cao dugc hieu sudt, khi str dung bo digu t6c co Khi 06 19 sO hd. Cé tri sé higu sudt vi cosp cao Cong tc Khai théc hop ly edn tryc ~ edu truc trong bée xép hing hod 18 mot yéu 16 dé nang cao tinh kinh t€ cita he thong didu khién, Nhu chting ta da biet he théng truyén dong dien cla cée cén true thuimg khong sir dung hét kha nang cong suat, hé s6 tai thudng trong Khoding 0,3 + 0,4. Do vay khi chon cic dong ec trayén dong phii chon loai 6 hieu suat cos cao va én dinh trong pham vi rong, Dim bio an toan hang hoa Bio dim an toan cho hang hod, cho thiét bj va bio dim an toan cho cong nhan bée xép [a yeu cdu cao mht trong cong tac Khai thé, van hinh cn truc — cau true. DE thye hien duge diéu ds ‘cain chi ¥ t6i cdc gidi phdp sau: ~ Can c6 quy trinh an toin cho cong tac van hanh va diéu khién can truc — edu truc trong qué trinh hogt dong. = Trong qué trinh tinh todn thiét ké phai chon cic hé s6 dur trit hop ly. - Ky thud diéu khién chuyén dong edn tryc edn 6 cae he théng gidm sét, bio ve ty dong cée hé thong diéu khign chuyén dong cho cin truc. Cac he thong cin ¢6 cic bio ve nhut: Bio ve inde cham dinh, bio vé ching cép cho ca cu nang ha hang: bio ve gdc nang can Ién nha va nho nhat hay ni cach khdc Ia bao ve tm v6i nhd mbt va lén nhat cho co cu nang ha cfin; bio ve g6c quay hay bio vé hinh tinh cho ev cfu quay va ca city di chuyén. Ngodi ra cin 06 cfc he thong do Twang va bdo vé qué tai tai trong nang cho co cdu nang ha hang va nang ha can. «He thong diéu khién bét bude phai cé diy dii cde bio ve sy 06, bio ve “khong”, bio ve ngiin mach, bao vé qué tai nhiet cho céc dong oo thuc hien va bao ve dimg khan cap. ~ Cac loai phanh hém cho cdc hg théng lam viéc ¢6 tinh bén vimng cao. Céc gidi phdp dim bio an to&n tren day trong qué trinh khai théc cn trye — edu tryc cn durge kiém tra thutmg xuyén va phdi duge diing kiém tai co quan Dang kiém. Diéu khién tign loi va dom gidn é dim bio thuan loi cho ngudi digu khién vigc thidt ké cabin diéu khién cig v6i cée thiét bi digu khién phai duge bs tri chuan tiga va thong nbat gida cac loai cn truc ~ cdu true, Dang thi nguei diéu Khién can truc ~ edu tryc 6 thé sit dung céc lénh Khan ep mot c&ch thugn tign va dé dang 89On dinh nhigt, co va dién Che efa true ~ cu tryc thong thing duce lap rap dé van hank ngoai wi. Céc khu vue lam vige thong thudng ¢6 ahiet 4d ‘ign déi theo mba To rét. Ngoai ra cic cfn truc cing bién con chin anh dmg cba hot nude man, vi vay cdc thiét bj dign, ket cau co Khi phi dugc ché tao thich hop vdi moi trudng cong tc. ‘Tinh kinh té va ky thuat cao “Thiet bi che chén, Kei edu don gin, trong Iugneg va kich thuse inh, gid thanh la. Chi phi bio quan va chi phi nang lang (kW/in) hop ly ‘Mot sd dinh nghia vé céc thong $6 cia cin true - ciu truc Cfo cfin tue — cdu truc c6 s6 Tigu kf thugt dé biéu thi tinh chat chuyén dong cia né nv: sie cfu, momen cdu, chigu dai va do vuon tay can (tim vai), chiéu cao cfn truc, van téc nang hang, vin te di chuyén cn tryc, 16 dO quay cba thép edu, trong lvong kich thude cla thiet bi .. a. Siée ed fa trong lirgng vat thé cin nang én nhat tinh bang tn (TD. Site edu bao gom. trong lugng vat thé va cdc phy ting treo ‘vio méc cdn cdu (con goi 1a bo phan mang, vat). b. DG viton tay can (tdm voi) Vs Khoang cach tir dudng tam méc cdu téi tam bd phan ‘quay tinh bang mét (m). cc, Momen cau (momen tic dong len can true khi nang hang) 14 tich s6 trong Iugng vat tng kt bse xep (tinh bang T) vi dO vusom tay cdn (tinh bang ™) ‘thi momen can tinh bing T.m. 4. Chiu dai tay edn Ta khoang cfch tirtam ban Ié quay t6i tm puly fu cin duce tinh bing (m). e. Dé cao khi nang hang Ya do cao Jén nhat cia méc cu khi nang bang, do cao cfu hang phy thudc vao do wom tay cin va chiéu dai tay cn, Dd cao cute dai ciia tay can dat dugc khi d6 vuon tay cfin 14 cuc tiéu va nguge lai. £ Van te nang hang la quang dudng ma vat ning di duge trong mot dom vi thd gian. 2. Vain tée di chuyén cia edn trac (461 vol can true dau tren dudng ray va tren bénh Wien hode ban 16p) 1a quang dudng ma cf di chuyén duge trong ‘met don vi thoi gian (m/ph). b. Toe dé quay cita edn trye Ta 36 vong quay cia be trong mor dem yj thoi gian (vg/ph). i. Cée hich thuede chink bao gém chiéu dai, chiéu rong va chigu cao. 72. CACHE TRUYEN DONG BIEN CHO CAN TRYC - CAU TRUC 7.2.1. Khéi quat ‘Tren can truc bao gém 4 co cat truyén dong doc lap voi nhau. Khi két hop diéu khién 4 co cu nay hoat dong hoac digu Khién hoat dong rieng ré ting co cu s& dat duge quy dao boc x€p hang hod theo mong muén. 90Bon co edu trnyén déng chinh cita cin truc gom: Truyén dong cho co c&tt nang ha hang. ‘Truyén dong cho co cau nang ha can. ‘Truyén dong cho co cilu quay mam. |. Truyén dong cho co cau di chuyén chan dé. Beye Cac co efiu chinh eta céu truc bao g6m: 1. Truyén dong cho co cfu nang ha hang. 2. Truyén dong cho co edu di chuyén xe con. 3. Truyén dong cho co cau di chuyén gian. “Thong thudng céc he teuyén dong dign cho co cu nang ha hing. nae ha cn cho cfn truc duye xay dung hoan toan gidng nhau ve giai php dieu khién, Tuy nhién khée nhau vé pham vi cong suat truyén dong. iéu Khién chuyén dong cho co cfu quay trong nhigu truimg hyp e6 thé sit dune trayen ong nhém nhiéu dong ca duge efip nguén chung, Cong suat truyén dong cha co cu nang ha hang én hon cong. suét cua co cau nang ha céin ya co cau quay, con eo chu di chuyén chan 48 duoc xay dung don gian hon céc co cu 1, 2, 3. Didu khign chuydn dong cho c&e eo eau ny €6 thé durge the hig Ya cac hé truyén dng dign hoie truyén dong dién - thity tue. Tuy mbien cac he cuyén dng dien thudn tly khi st dung done °° truyén dong fa: dong eo not chidu dong co khong déng b6 roto léng s6c hode day quin s€ cho dac tinh diéu chinh tot nhat, Cac co efiu di chuyén xe con, co cit di ‘chuyén gian cia céu truc trong tinh toan gan gi6ne a edu ai chuyéa cla cd tryc. Chung ta Se phan tich cdc ne uuyén don dign ding cho cain tryc vi tinh phé bién cia né trong, ky thuat digu khién cia céc can teuc hién dai. 7.2.2. Céu trie cla hé tuyén dong dign ‘Cau nde cia he thdng truyén dong dign dang cho cf truc ~ cfu ime duse Ava v6i hai dang phd biéa tinh bay én hink 7.1. Tren binh 7-1a, bao gdm c&c phan tir chinh cia he thong dong lye: Dong co dién truyén dong cho cfc co cfin. Phanh him dimg dién tir, Bo truyén co khi, Co the [a tréng toi quan cap nang ha hang hode mang ba cn. Phan ham an toan cho og cau nang ha cn hoge ning ha hang. ype Rigng dong co truyén dong cho co cfu quay mam thudmg si dung bo truyén co khi true vit vo tan v6i binh rang nén dan dOng tru quay. ‘V6 cfu tric tren hah 71a, dong co thyc hien c6 thé 1a dong co’ mot chiéu diéu chinh tée 49 bing dien wd phu trong mach phén img va mach kich Wr. Can chti ¥ ring cudn kich tit noi tiép flue sa dung dé h6 wo momen clia dong co trong dieu Khign & chiéu nang va ha {A khdc nhau, Vigc déi chiéu quay cia dong co dign mot chidu duge thay adi chi yéu bang cdch déi chidu dien 4p phan img. He thong cap ngudn cho dong co mot chigu cé thé 1a may phat dign mot chiéu cé Thion mach phén img (he F -B) hoae bo bign d6itiristor - dfn oo dign moe chigu (T-D). on‘Voi cfin tric tren hinh 7.1a, dong co thyc hién 1A dong co khong déng bd roto 1éng sc Joai c6 nhiéu cugn day quéin trén stato, céc ttc do khdc nhau duge tao ra bang cich 46i ni céc cudn day hoac thay déi dién 4p, tén sO nguén ciip cho cdc cudn day stato. Vige déi chiéu quay cho cdc dong co xoay chiéu khong déng bé thudng thuc hién bing phuong ph4p Gi thit tu pha dién ap nguén ep. Uu diém co ban cia he trayén dong di¢n trén hinh 7.La: Két cu he thong don gian, thudng xay dung theo nguyén tac ding tay diéu khién két hop vGi tram tir. Déng thoi dang nay cfing cho pham vi diéu chinh tc d6 rat l6n, du eu ban dau thé. Nhuge diém cia hé théng JA do tron digu chinh khong cao, ¢6 thé gay nén luc giat tong qv trinh lam vige eta cn trnc, Vi vay tinh bén vimg khdng cao va chi ting dung cho oe cn true = cd truc khi yéu cdu dac tinh cong nghé nang chuyén khOng cao. Dé khac phuc cac nhuge diém trén trong céc hé thong diéu khién chuyén dong cho cae co cu, ngay nay da img dung céc he thong truyén dong dien hien dai str dung bd bién tin - Dong co khong déng 66 voi thidt bj diéu khién PLC. Dang he thong nay cho ket qua tot vé diéu chinh tc 46, tinh Tinh hoat tong diéu khién va giém sit, cling nh higu qua kinh t€ cao. Trén hinh 7.1 biéu dim dang ctu tric dong luc cia he thong truyén dong dign da duce img dung cho nhiéu loai cin tye cia céc hang dan tiéng CRANNEF cia Phin Lan boac KONDOR, KRANBAU cita Dic hoc KYPOB cia Cong hoa Lien bang Nga. ‘Trong hé thong bao gém : 1. Dong co truyén dong, 2. Phanh dién tix ham dimg. 3. BO truyén co khi. 4, Phy tai dong ding dé diéu chinh we do cia he théng bing may phat him déng be hoae méy phat dien mot chiéu hoac cdc dang phanh him dién ti. 5. Co edu thuc hién c6 thé 1a tréng ti cho co cu nang ha hang hodc nang ha can. 6. Phanh an toan. 24 a | | «lf a) b) Hinh 7.1. So dé cau trtic hé trayén dong dién cho cdn truc — cdu trac Dac diém co ban cila hé thong 6 hinh 7.1b 1a 6 chd co cu hdm diéu chinh t6c dd 4 c6 thé diéu chinh duge momen ham theo yéu céu va két hop voi dac tinh cla dong co dit dé cho ra dac tinh cia hé théng thod man dugc céng nghé nang chuygn cho céc Jogi cdn truc ~ cu truc. Dac biet 92thich hop vGi cin tru ding trong cong nghiep lap méy, xay dumg va cac can tuc dé béc xép container & cdc cng bién. Dang he thong tren hinh 7.1b thyéng due tng dung cho céc he thong cé pham vi cong sudt Idn sir dung dong co truyén dong mot chiéu, dong co khong déng b9 rot day quan. ‘Uu diém cia he théng trén binh 7.1b c6 dac tinh diéu chinh tt, d6 tron diéu chinh va c6 kha nang diéu chinh sau cd hai phia nang ha, quay tri - quay phai . Nhuce diém cia hg théng : He thong diéu khién thumg phic tap va Ta he kin, gif thank tong thé cao, higu suai ving diéu chinh sau thép. Cau tnic he diéu khién cho cfc he truyén dong dign bigu dién tren hinh 7.1 c6 thé duoc xay dung tén nguyén tac h¢ hy hoac hé kin diéu chinh t6c do. Can chit ¥ rang: Céc phanh hmm dimg dign tir 2 va co cau phanh an toan $ ca he thong tren hinh 7.a hoe 6 ten Ninh 7.1b [am vige tin cay, tinh bén viing cao dé dam bio an toan trong qué tinh lam vigc.. Khi cé sita chita thay thé ede phan tr trén truc tuyén dong chinh nhat thiét phai khod phanh an toan 5 hodic 6 cha chan dé tranh gay mat an toin nghiém trong. 7.3. CAC DANG DAC TINH CO TINH CUA HE TRUYEN DONG DIEN DIEU CHINH TOC DO CHO CAC CO CAU CHINH CUA CAN TRUC - CAU TREC 7.3.1. Cac dang dac tinh co finh cla hé théng truyén déng dign mot chiéu cho cn true - edu tye Momen can tinh ciia ede eg cu chinh trong diéu khién chuyén dong cén truc 06 hai dang: momen can thé nang va momen cén ma sft. Vi vay de tinh co tinh cita cic dong co tyén dong cho cac eg edu ¢6 dang nu sau: Tren hinh 7.2 biéu din so a6 nguyén ly sit dung dong co dién mot chiéu va dang dac tinh co tinh cia cdc dong co digu khién chuyén dong cho céc co cu cita cin true — cu tryc, Trén hin 7.2a, so dé nguyen ly cua dong co dign mot chiéu DC bao gom: phan img U, cudn kich tir noi tiep G,G,, cudn kich tir song song F/F,, dign tr phu mach phin tng Rj, diéu chinh t6c d6, dign td Re ding dé thay d6i kich tir cha dong co. Cac phn ti logic K,, dé diéu chin gid te] dign ud R,,, Ryy N va H dé dio chiéu quay, Ro role ding cuc dai bio ve mach phn tng, R, role dong dien bao ve mat cit trum. Tren hinh 7.2b, Gac tinh co tinh cua cv cain nang ha hang va dac tinh co tinh cla co cély nang ha cin. Trén hinh 7.2c, dic tinh co tinh cha co cu quay va co cfu di chuyén. Cée dang dic tinh co tinh ciia cde dong co thyc hién c6 hai ving digu chinh t6c 40. Ving diéu chinh te do khi thay d6i dien 6 phy mach phin img phia nang — ha hang va ving diéu chinh tc d6 khi thay déi dign tré mach kich tir phia nang ~ ha hang. Doi véi co cau nang ha hing va co cdu nang ha céin khi ha c6 tai, dong co dién thutng lim vige & ché dd ha ham. Phia nang hing déi vi co edu nang ha hang, nang ha can, co cdu quay va co cdu di chuyén dong co dién dién hoat dong & ché do dong co. 93a Sloe z Re ct BC else — _ EEE eGo — * \ ee — in th al _____# cee Coe Koy Kon Kos a) < “inh 7.2. So 03 dign nguyen 9 v8 cae dang dc tink ca tinh Khi sikdung déng co met chidw truyén dong cho ‘cde co cau chink cla cdr truc — edu truc. 947.3.2, Cée dang dic tinh co cia hé théng truyén déng dién bang déng co khéng déng b6 rato léng séc cho cGn true - edu tric Digu chinh 16c d@ trong céc hé thong truyén dong dién cho cae co edu diéu Khién chuyén dong cho cn truc ~ edu truc sir dung dong co dign khong déng b9 roto Iéng s6c rat pho bien. Phuong phip diéu khién tc d6 thong thuting duc thyc hign bang cach déi néi cua day phn ting dé thay déi sé d6i cuc p. Dio chigu quay cia dong co truyén déng duoc thuc hign bang cach thay déi chiéu tir truéng quay. So dé dign nguyen IY déi ni cudn day stato dugc trinh bay trén hinh 7.3a, dac tinh co tinh cila dong co truyén dong cho co cdu nang ha hang va nang ha cén wen hinh 7.36. Tren hinh 7.3, khi cuon day phin tng ca dong co khong déng bo difu Y, A va YY; Tren hinh 7.3b, dc tinh ca tinh ca dong co khong déng bo khi diéu chinh téc do bang cich 46i ndi cudn day dé thay déi sé déi eye p cho co cau nang ha hang va co cdu nang ha can. Ving diéu chinh téc d6 phia nang cho co cu nang ha hang, cc cfu nang ha cin, dong co dién lam viée 6 ché dé déng co. Ving diéu chinh te do phia ha cho co cau nang ha hang, co cau nang ha cn, dong co dien Tam viee 6 ché do ha ham. voy w A » u vy w A a a} Ak XYZ, b) Hink 7.3. Sa dé din nguyen If va cde dang dae tinh car tink cia ddng co truyén dong cho ode co edie didu khién chuyén dong cho can true — edu uc 957.3.3. Cae dang dac tinh co cua hé théng tuyén déng dién bang déng co khéng déng bé réto day quan cho can try - c@u tryc Dong co khong déng bo roto day quéin sit dung dé truyén dong cho céc co cau didu khién chuyén dong cho cdc cfin tryc — cau truc c6 nhiéu mu diém nhu tang momen khéi dong, han ché dong dign trong qué trinh khoi dong va c6 kha nang diéu chinh (6c dé trong pham vi rong, Khai thie va bio duéng don gidn. Dac biét dong co khong déng bd sir dung cho cn truc — cu tryc cé thé mé rong pham vi cong suat vi vay chting duge sit dung rat phd bien. ‘Tren hinh 7.4 tinh bay so dé dign nguyen ly va cic dang dac tinh cu dng co khong déng bo roto day quan truyén dong cho cdc co cau cila céin truc — cau truc, O hinh 7.44 biéu dign sa dé dign nguyen ly cia dong co khong déng bd roto day quan diéu chinh t6c do bang cdch thay déi dign 6 phu trong mach roto cia dong cd. Trong so dé Me, va Me; [8 ca phan tt didu khién logic dé dao chiéu quay dong co; K, la céc phan tir diéu khién logic dé thay déi gid wi dign tré phu mach roto R,, RIT - role nbigt bio ve qua tai cho dong co. Tren hinh 7.4b, dang dc tinh co cita dong co khong 46ng 69 roto day quiin diéu chinh we 49 bing céch thay d6i gid tri dien tro phy truyén déng cho co clu nang ha hang va nang ha cin cita cfin trac ~ cau truc. Ving diéu chinh t6c 46 phfa nang hing Ay, ving diéu chinh wc d6 phfa ha hang Ay), phu thudc gid tri dig trd phu trong mach roto. Dac tinh co tinh ciia hé truyén dong di¢n diéu khién chuyén dong cho co cau quay va co ctu di chuyén chan dé. Ving diéu chinh we do khi quay, khi di chuyén phu thudc gid tri dién wé phy trong mach roto. My, a 4 + - ce cK = 5 ° + + LS M —K 6k ~« + . LI M, Hinh 7 4a. So dé nguyén lj ca dong cor khong déng bb 10 dy quiin diéu chinh te do 96% Pa Lx, . Moe 1M M of Im oa 4,2 Mosin oM AW Hinh 7.4b. Dang dae tinh co tinh cita dong co khong déng bo truyén dong cho cic co edit didu khién chuyén déng cho cdn true ~ edu tryc 734. Cée dang dac tinh co cla hé théng diéu khign t6c dé truyén dong dign ‘cae 6 cdu chinh cho cin true -cdu truc st dung phu tai déng Cac cdn tryc - edu tryc 6 yeu cfu dae tinh digu chinh tt sit dung cho cong nghé lép may, xay dung vA cho cing bién cu tric hé truyén dong dign tinh bay tren hinh 7.10. Diéu khién he théng truyén dong dien ¢ ving diéu chinh téc 46 sau ct hai phia nang va ha hang xay dung he diéu khiéa Ta he kin. T6c do cita he thong truyén dong dign phuc vu cong ngh@ c6 yeu cfu 10%m, 15%ny, 209%n, sai lech tinh 59%, khi tdi trong mang thay d6i tir Mcp dén 1,2Mesm, He truyén dong ign thuémg si dung 12: Bo bign d6i tiristo - dong co - Phu tai dong hodc dong co khong déng bo — pu tai déng, Dang dc tink co dug trinh bay trén hinh 7.5. 97Hinh 7.5, Dang dae tinh co tinh cita hg truyén déng dién cho edn truc - edu true khi sit dung phu tdi déng. Dic tinh co tinh cia hé tuyén dong dign cho cén truc, cfu truc khi sir dung phu t4i dong biéu dign tren hinh 7.5a, b, cia hé thong truyén dong dign diéu khién chuyén dong cho céc ca eau cita can tryc. Cic dic tinh oo tinh thé hién trong hai ché 49 hoat dong. 1. Khi dua phu tdi dng veo hg théng Khi 6 su tham gia boat dong cit phy ti dong, te 40 dn diah tren ofc dae tinh 1, 2 phia nang va 1', 2, 3 phia ha hang nham muc dich tao ra cdc te 46 thap dap ting yeu cu cla cong, 98nghé nang chuyén, Dac diém cla hé théng khi tao ra ving diéu chinh sau voi sy thay d6i tai trong nang wong dai rong cn han ché dong cho dong co bing dién tr phy R, tong mach roto cla dong co khong déng bg va dién wr phu trong mach phdn ting clia dong co mot chiéu. Diéu Khién chiah xc momen cila phu tdi dong sé quyét dinh sai lech tinh te do cho hé thong. 2. Khi pluy taii dong khong tham gia veo hé théng Kihi phy tai déng khong tham gia vio hé théng cdc 13c da cong téc tren cdc dac tinh 3. 4, 5, 6 phia nang va 4, 5, 6 phia ha hing, He thong cd ho dac tinh co tinh nbu hinh 75a, b da gidi quyet tt van dé vé chat lugng diéu khién sau cho hé thong déng thoi dap img dugc cic tic do cao dé tang nang suat béc xép cila can truc. 7.4, HE THONG DIEU KHIEN TRUYEN DONG BIEN DIEU KHIEN CHUYEN DONG CHO CAN TRC - CAU TRYC 7.4.1. Dac diém chung idu khign chuyén dong nang ha, di chuyén hing hod treo ten mée can true — céu true theo qu dao mong muén trong khong gian hoat dong cia cin true — cau tryc c6 thé duge thyc hign d6ng thoi nhd 4 co cau: Nang he hing, sang ha cn, co clu quay va co cau di chuyén. Khi Khao sat su hoat dong cla ca true mot céch toan dign, nat thiét phdi coi edn ruc [Amdt déi tuong diéu khign bao g6m 4 co c4u chinh hoat dng cé nhung rang bude nhat dinh. Trong tudng hap d6 cén phai Khao sat su hoat déng ca cin rye bao gbm 4 bac tut do dé xét cdc che do dong cia n6, Cae he théng ar dong hod toan phéin qua trinh digu khién can true duce xuét phat tir quan niem dé, Viee diéu khién chuyén dong ciia cdc co cu o6 thé thuc hién diéu khién tai chd hode tir xa, Tuy nhien wong thuc t€ hign nay diéu khién chuyén dong ciia can tic boc xép hang hod duge thiét ké dé ngudi van hank truc tiép diéu khién quy dao chuyén dong cia hang hod, quyet dinh te do nang ha va di chuyén tuy theo timg diéu kien cong tac va ching loai hang hod cu thé. Chinh vi vay ma cdc hé thong diéu khién chuyén dong cho cic co cau cilia cdn truc thutmng duge thiét ké hoat déng dc lap véi nhau, Vige khai théc 161 uu ning suat thiét ké phy thude nhiéu vao ky thuat digu khién cha ngudi van hin, eding nhy cdu tric diéu khign cila céc hé thong digu khién chuyén dong. Diéu Khién céc he théng diéu khién truyén dong dien cho chayén dong cla cde co cfu ca cfin tryc duce thiét ké rit da dang. Dé thuan tign cho qua tinh téng hop va phan tich ede he thong diéu khidn ching ta dya vao céc dac diém sau: 1. He thong diéu khign sir dung cong tic to - role dé digu khién qua tinh khdi dong, ham va digu chinh tGe do cho dong co thyc hign. 2. He théng diéu khign viee cp nguéa cho dong co thuc hién bing cach diéu khién cae bo bign déi cong sual nhu he F - B (he thong may phat - dong coy; BBDT - D (bo bien ddi tiristor ~ dong co dién mot chiéu); (b9 big tan - dong co khong déng bo); 3. He thong digu khién ket hgp gitta céng téc to - role cap nguén cho dong co thue hién, thay d6i gid tri din trd phy trong mach phan img cia dong co mot chiéu hoac dién ws phu tong mach réto cila déng ca khong déng bo roto day quiin, két hop digu khién phy tai dong dé tao ra cdc dic tinh mong mudn. 4, Hé théng didu khign img dung thigt bi PLC diéu khién cc he thong truyén dong dién voi su gidm sat bing may tinh. 99Mach caip nguén cho cée hé thong diéu khién ruyén dong dign cho céc cg cu chinh, céc he thong truyén dong phy va hé diéu khién giém sat su hoat dong ctia cfin truc — cu true 6 cae dac diém sau: Digu khign cdip nguén cho todn bd cén truc ~ cfu true trong ché do hoat dong va che d6 khong hoat dong. Nguén din ding cho cin truc bao gm nguén diéu khién, nguén dong Iyc cung. cap cho cae dong co truyén dong. Béug thei he thong ofp nguén thyc hitn cae bio vé clin thiet cho can true nhur béo vé ngan mach dong lyc, bio ve khong, bio vé qui tai céc dong co truyén dong. 7.4.2. Céu trae diéu khién c&c hé théng ding céng tac to - ole Cau write digu khién cta cdc he thong digu khidn truyén dong dign ding cong tac to - role cho cfin truc — edu truc duce bidu dign trén hinh 7.6, ° é » BBTH > pBpcs ¢ ~~ pe & ® CCTH } a) (2) (3) @) (5) Hink 7.6. Céie ric hg théng diéu khién he théng ding céng tae to - rete, He théng bao gém céc khau chinh nhu sau: 1, Tay diéu khién: Tay digu khién dimg dé phat Ign diéu Khién t6c d6 cho be théng diéu khign truyén dong dien. Lénh diéu khién gém cé: lénh ding, lenh chon chiéu, enh gia tri t6c 49. ‘Tay diéw khign 12 mét t6 hop cic tigp diém 4€ diéu khién cap nguén céc cudn hut cia cdc role rung gian thyc hién lenh digu khién phi hop voi vj tri cita tay diéu khign, 2. He théng bin déi un higu diéu khién (BDTH): He thong bién déi tin hieu diéu khién tuong ting véi trang théi cin tay diéu khién, sic dung céc role «rung gian, role thoi gian dé lam clate nang ddng cat va digu khién he truyén dong dign theo logic trinh tw thy hien leah diéu khién. 3. Bo bién ddi cong suit (BBDCS): Gém cae cong téc to ding dé thye hign lenh digu khign déng cit mach déng luc cap ngudn cho dong co thyc hign. 4, Dong eo dién (DC) truyén dong dign cho hé théng diéu khién chuyén déng cdc co ciu chin cia céin truc - edu tue. 5. Khau thuc hign trong cdc co cau cia edn true — edu tye. Hien nay cu tric didu khign trén hinh 7.6 duge ép dung ky thuat diéu khién PLC dé don gin hod he théng, tang d6 tin ey cho céc can true — cfu truc khi dac tinh digu chinh c6 yeu céu khong cao trong viee thuc hién cng nghé béc xép hang hod. 7.4.3. Céu trée diéu khién cGc hé théng ding phy tai déng Cain trite digu khién ciia céc he thong digu khién truyén dong dien cho céc co edu digu khién chuyén dong clia cdn truc ding phy tai dong duge iu dién wén hinh 7.7. 100Hinh 7.7. Céie mice dién khidh hé thdng ditng phy tit dong cho wuyén dong dién cdc co edie chinh cite edn true — edu rye Chiéc nang cae phin tir trong he théing diéu khién: 1 “Tay dia khién: Ding @ to céc lenh digu Khién, tin higu diéu kinén 06 thé JA tin higu 56 hod tin hieu twong tu tuy thude loai tay diéu khién. Bo air If tin higu diéu khién: Céc tin higu dupe tao sa tt tay diéu khién duce ait I va truyén dan dén cdc ‘hi chép hanh. Tren so d6 c&u tric chi ra ba nhém tin higu dieu khién: Tin higu diéu khidn tc d6 Up, quyét dinh t6c do cong tac cita hé thong, tin higu sé Tz, diéu khign chigu cip nguén quyét dink chigu quay cia he thong, tf Rieu 36 Ur quyé: dinh gid tri diga tro phy trong mach dng co nh han ché dong dign va tao Ta oats ofp Hie dq cho hé thong. Khoi nguén cing eXp cho he thong: Clute nang cia khdi nguén thie hien ek nguén che he dig khiga va chon chigu cp nguén cho mach dong luc ela dong co thye hien. . Dong co truyén dong dign cho cae eo flu diéu khién chuyén dong: Cac hé thong dang nay thudng sit dung dong co khong d6ng bo roto day quan hose dong co dign mot chiéu. Khoi chuyén mach dong we: Chic nang cla khéi chuypn mach s6 dig dé thuc hign enh ida khign diéu chinh thich hop gid tr] diem te phy trorig mach phn tmg dong co. Phu edi dong: Phu tdi dong ding trong he théng 06 thé 18 phanh Him, my phét Ram met chign hoic may phat him ééng bo. Phu tai dOng tgo ra momen Ma, tren true 6S cua be thong co chiéu nguve v6i chiéu cla momen. dong co M,,. Téng dai sé momen dong co va momen clia phy tai dOng tgo ra momen cho truc od clia be thong din dong co cau diéu khién chuyén dong. Ca edu thue hignt Co cfu thye hign A tr6ng ti quén cdp nang ha hing. nang ha cla hode bénh ring ién cia co cfu quay, bank cia ‘co cau di chuyén chan dé. 1018. Bo digu chinh te d9: Chite nang cha bo diéu chinh nhim digu chinh te d9 cha he théng bam t6e d6 dat. BO diéu chinh thuémg duge thiét ké c6 hai mach vong: mach vong t6c d@ va mach vong dong dign. Vige cap dong cho phy ti dong duge diéu chinh we dong bang 6 chinh Iuu diéu khign. He thong truyén dong dign cho ac cd edu diéu khién chuyén dong cho cda trye nbur inh 77.7 duge img dung tong rai cho cde can truc 06 dic tinh diéu khién tot, He théng 1am viec theo nguyen tic hé kin khi tn tai tin hidu digu khiga te 9 U.,y s€ tgo duoc dic tink diéu chinh sau (t6e dé chim). Khi tin bieu digu khién Uy duge ngit, hé thong lam vige theo nguyen tae he nd, digu chinh t6c d6 duoc thuc hign bing cach diéu chinh ditn tre phy tong mach roto cha dong co khong dng bo hoae digu chinh dign ue phy trong mach phan tng cla dong co dign mot chiew 7.4.4. Cu tide diéu khién c€e hé théng ding PLC va ding bé bién tén cép cho déng co khéng déng bé réto fing s6e cho cn truc - cu true 7.4.4.1, Cau tric digu khién doc lap cho hé théng truyén dong di¢n So dé calu tric diéu khién d6c Lap hé théng truyén dong dign diéu khién chuyén dong cho ode co edu cita cn true duge trinh bay wén hinh 7.8, chite nang eo ban ca céc khau abv sau: 1. Tay diéu khién: Tao ra tin higu diéu khién he théng tong tng vdi ba trang thai cla tay digu Khién, Vi ui “0” he thing sin sang host dong; Khi tay diéu khién duoc dich chuyén vé phia “UP DOWN" d6i véi co cdlu ming ha hing hoac nang hg cén; Vé phia “L, - P” doi v6i eo etlu quay. co clu di chuyén tay diéu Khién tao ra tin higu chon chiéy cho he thong bang cim bign vi tt! Lién dong v6i tay diéu khién. Déng thai tay digu khién duoc noi lien dgng v6i true clla Encoder wo ra ccéc tin hieu dang sO didu khiGn gid ti t6e dQ quay cia dong co. Thong thifimg ede Encoder sit dung hien nay to ra tin higu diéu Khién 8 bit, cdc du ra cia Encoder lan lugt la 2°, 2',2°, 2°, 2 28, 28,2), Nhur vay tay diéu khién sé tao ra 10 bit tin higu digu khién (2 bite chiéu va 8 bit toc dQ). 2. Ba ma hoa: BO ma hod tin higu vi ui tay diéu khién nham nang cao cong suat tin hieu diéu khién, tang kha nang ch6ng nhiéu, truyén tin higu di xa, 3, Bo digu khign PLC: Bao g6m CPU, cae modul du vao DO, cc modul du ra DI ket noi voi c&c hé théng diéu khign, Dé dim bio tinh tae dong nhanh cho hé théng PLC bién déi tin higu tir tay digu khién dang digital thanb tin higu analog digu khién bién tn, Dong thoi thong qua PLC cung cép thong tin gidm s4t sur hoat dong clla toan bo he théng, 4. Thiét bi dong edt; Céc cong tic to MC ding dé déng cat ngudén cap cho bo bign vin dong eo khong déng b6 va céc thiét bj thuc hign khéc. 5. Bo bién déi: BO bign tan ding dé digu khién dign ap, tn s6 ep cho dong co theo Tuat diée kbhidn duoe thigt ké va lim di trong CPU cita bign tn, déng thoi thong qua bién tin c6 thé quan sat vi dat céc thing sé bao ve dong co... 6. Dong co dién: Dong co khong déng bo r6to King s6c ding 4€ truyén dong cho he thdng. 7. -Thiét bi quan sit: May phat to 49 PG 18 thie bj do te do dong eo cho tin higu duéi dang xung. 1028. May tinh ket néi voi he théng: Chie nang chinh cia PC la dé diéu khién va gidm sat he thong. Céc he thong digu khién tren hink 7.8 ¢6 nhiéu wu diém nhu tao ra duge nhiéu cap t6e do vi vay hé thong hoat dong em, 6 giat nhd, khd nang cy dong hod cho timg cn truc, edu truc cing nhu ton b6 he théng diéu khién khu vyc cang trong béc xép hing hod. Dang hé thong nay ngay ‘ean duge img dung rOng rai cho hé diéu khién cfn trac, cdu truc. cockucie Ha INVERTER OMAHOA rat gy ead Hinh 7.8. Céiu tric diéu khién cho timg ca edi ding PLC - bd bith tin- dong ca khéng déng bd cho can ruc. 7.4.4.2. Cau trie diéu khién néi mang cho cae hé théng truyén dong dién ding PLC - dong co khong déng bé c4n truc - céu trac Cau nic co ban cita hé théng diéu khién truyén dong dign cho cdc eo cau nang ha hang, co cu nang ha cfin, eo cu quay va co cau di chuyén chan dé cia cin truc, cling nhu cae eo cfu nang ha hang, co cau di chuyén xe con, ed céiu di chuyén gidn ciia cdc cau truc duge biéu dién tren hinh 7.8. Trén céin truc, edu truc céc dong ca thuc hién, céc tram diéu khién PLC cho cc co cu c6 thé duge thiét ké lip dat tai cdc vj ui khdc nhau nhung diéu khign ching duge bé tri tai cabin diéu khién. Viée quan sét trang thai lam vige cla céc thiet bj thuc hién, thong s6 cla cdc dong cv, 103i nang ket ién va gidm dt ctia cling VA véi the gigi —PLC - Bign tin- \6ng n6i mang PC a tren hinh 7.9. Hé thong nay cho phép diéu khie thu hign trén ting can truc, cdu truc. Dong thoi tao néi may tinh trén ting cin truc, cau truc véi trung tam diéu hanh san x én ngoai. tinh diéu khién va gidm sat hoat dong cila toan ay -M truc. So dé cau trfic he th ign dik Dong cy khong déng bd duoc bik st sut hoat dong cita cdc thiét bi cha ede bign tn va cila hé thing cfip ngnén thong qua mang ket ndi cuc b6 gitla PC - PLC — Bin edu truc bing cap déng 14m digu Khién cp nguén cho céc dong ca bd cdin truc, SL SPva aS Lovie net Saree RIE ‘ates ote scenes pee BEIGE IRL SY swine ova meatier . ouensninens es & - 1 atea eczen | a¥z3a | 0O1Oy Slag sua | Siem: | s1aal hao! zwao« sndoa) 3ricon : Del TL WO) ae) SOS WYL ONL ATCO Hink 7.9, Sordé céic trile noi mang PC ~ PLC cdip nguén cho déng co khing dbug bé eiia cn true, edu trac 104CHUONG 8, TRANG BI DIEN - DIEN TU. CAN TRUC KONE 8.1. GIO THIEU CHUNG VE CAN TRUC KONE Can ruc chan dé KONE dugc hang KRANNEFF cla Phén Lan thiét ké. Nh6m cin ruc nay dugc tién khai ting dung & cde cing bién nude ta, nhigu nude trong khu vuc va tren thé Bid. CAn truc KONE. c6 dac tinh diéu chinh te do thich hgp cho béc xép hang hod cho cing bién va nang chuyén trong cong nghiep lap may cho nginh déng, chita thu bién Cin truc KONE c6 cfc ca cu chinh sau: ~ Co cau nang ha hang. = Co clu nang ha cin (thay d6i tam. voi), = Co cau quay mam. - Co cfu di chuyén chan dé. ‘Vé cau inte co khi cdu KONE cé than céa truc gdm: ‘Thap can truc Jam bang thép cu trae wen thap ci thang dimg, c6 gan tay can truc (edn), cabin diéu khién, budng dat thiet bi digu khién. Tay cén cia can trye cau tao bang nhing thanh chép dugc ghép thanh dim img ue, mot dau gin bang khdp véi thap cau, mot dau duoc treo bang cap thong qua hg thong rong roc va co thé quay xung quash khép gan voi thép cau, Cabin diéu khidn La budng diéu khién rap trung cia can tryc, trong 46 tang bi nbiing tay diéu khign dé diéu khign cdc co cau. 8.1.1. Théng sé ky thuat eo ban “Thong sé ky thuat cla clu KONE nhu sau: - Site nang tir 8 + 25 tan. ~'Tim voi tir 24 + 38 m. = Chiéu cao nang hg hang véi tdi La: + 25 tan chiéu cao 1a 45 +9 m. + 15 uin chiu cao 1a 37 + 9 m. + Toc do nang hang méc 25 tan 1a 10 mn/ph. - Téc do nang hang méc 8 tin 18 60 m/ph. - Tc do quay mam 1&1 m/ph. - Tée do nang céin li 25 m/ph. - Tée 46 di chuyén xe 46 m/ph. dc quay 360”, - Chigu rong cia dung ray 10.5 m. - Chigu dai tam bénh xe trade dén tam bénh xe sau f& 5,4 m. - Chigu cao dinh thép 37,3 m = Chiéu cao dinh can 45 m. ~ Naudn dign 3 pha dién dp U,,, = 380 V, f= 50 Hz. 1058.1.2, Cae quy ude chung khi doc ban vé ky thudt can true KONE Dé thuyét minh cdc bin vé trong qué trinh nghién ecu, trong cong téc van hanh thuan Joi can hiéu 13 mot s6 quy dinh vé ky hiew, dé lam ngin gon cho phén thuyét mink nhung vin dy dit va chinh xac. Cae quy dinh cu thé nhu sau: Cie cudn hit cia cong tic to - role duge ky higu bang chinh ten cong tac to role, Khi duce cap dign sé c6 gid tri logic 1, khi khong c6 dign sé c6 gid tri logic 0. Vidu: Ac = 1 nghia la cong tic ta Acl 6 dien. Céc tip diém cba cong tic to - role ky higu bang ten cong tic te - role kém theo sé cot (ma tgp diém duge bigu dién) trong ngoac don. Khi tip diém ding 6 gid tj logic 1, khi tie diém mé co gid wi logic 0. Vidu Acl (17) = 1 nghi [a tip diem ciia cong tic to Act & cat 17 dong. Trudng hop tip diém cila cong tic to - role nim & bin vé khac, ma cong tée to - role duoc biéu dién thi tude hing sé biéu dién cét ctia tiép diém sé c6 sO hodc chi biéu dién ban vé ma & dé tigp diém céia cong tac to - role duge sii dung. Vi'dy: Ack (2/25) = 0 nghia Id tiep diém cia cong tac to Aci & baa VE OP2 cot 25 duce mé ra. Khi ti¢p diém hoac cong téc to - role da duoc biéu dién & ban vé khéc. Khi xem xét hoat dong duoc sir dung trong bin vé dang xét thi rude ky higu cong tic to - role hode tiép dim sé c6 chit hay 36 bieu dién. Vida: OAel (16) = 0 nghia 1a tigp digm ciia cong tac to Aci & bin vé O nam tren cot 16 mora ‘Cae ky higu trén ban yé ca hd so ky thuat: Cac bin vé nguyen 1Y cia cde cv céiu can cdu KONE duce ky higu nbu sau: - OP1: Bigu dién so dé dién nguyen ly mach cap nguén. ~ OP2: Biéu dién so dé dien nguyen ly diéu khién cor cau nang ha hang chinh méc 25 van ~ OPS: Bin vé biéu dign so do dién nguyén ly diéu khién co cai nang ha hang mée 8 tin, ~ OP4; Bin vé bigu dién so dé dién nguyen iy diéu khién co edu nang ha cén, ~ OPS: Ban ve biéu dién so dé dién nguyen ly diéu khién co cu quay mam. ~ OP6: Ban vé bidu dién so dé dién nguyen IY diét khién mach dong luc co cau di chuyén xe. * OP7: Ban vé bigu dién so dé dign nguyen ly mach diéu khign cita co edu di chuyén xe. ~ Bin vé OP28 tdi OP35 la ban vé so dd dau day. Cac kg higu trén ban ve + Ban vé ky higu chit A é div 1A bin vé so dé dien nguyen ly ciia co cau nang ha hang mée 25 tan, + Ban vé ky higu chit Bd dau Ia ban vé so-d6 dien nguyen ly cba co cau nang ha hing mée Stain, + Ban ve ky hiu chit K 6 dau la bin ve so-dé dign nguyen iy cia eg clu quay mam. + Ban vé ky hicu chi P 6 dau 1a ban vé so dé dién nguyen Ly cia co cau nang ha cfin. + Ban vé ky higu chit R 6 dau 1a ban v8 so-d6 die nguyen Ly clia oc caw di chuyén xe. 1068.2. HE THONG DIEU KHIEN CAP NGUON CHO CAN TRUC KONE K4961 ‘Neguén dign cung céip cho cae co cau cita cn cdu KONE duge diéu khién bang céc cfu dao, céng tac to - role. So dé dign nguyen Ij diéu Khién cp nguén cho efin truc KONE duce bigu dign tren hinh 8.1. Hinh 8.1. Rulé qudn cp va hé'cép cdp ngudn cho edn truc Nguén dien cung cap cho cae eo cau cita cin cdu KONE duoc diéu khién bang céc cau dao, cong tic to - role, So 46 nguyen ly diéu khién cap nguén cho cu true KONE duge bigu dién tren hinh 8.2. Dign ap cung cfip cho cae dong co 3 pha, Us, = 380 V, tin sé f Dign 4p cung caip cho mach diéu khién Upx = 220 V,tin sof = 5 Dien 4p cung cap cho mach digu khién diing role thoi gian dign ttr mot chiéu Us Cung eaip ngudn cho cfc eo edu chinh thong qua he théng vanh trugt tren true ei U0 va dua dén clu dvo chinh Oal dat tren cf tryc. Tir edu dao Oal, cp nguén duge n6i voi he thong vanh truot thit hai bo ti trong tru quay cla can truc dé edip cho cau dao Oa2 lap dat trong cabin digu khién. ‘The tw eip nguén cho céin true: - Khi cdu dao chinh duge déng Oa. = 1 cdp dign t6i cdu dao Tal va Ta2 cho hé thong chiéu sing bao higu, chiéu séng, sy cdc dong co, dng thoi cap di¢n t6i cfu dao Oa. i Khi cdu dao Oa2 = 1 thi nguén dién dugc cap t6i cong tic xoay Oa3 va cong tic xoay Ob2 sin sing ctip cho cong tc to Ocl sin sing clip nguén cho cfc co cfu chinh cia edn true Dé tin hanh cung cp nguén di¢n cho mach dong luc cho cic co cu nang ha hing, nang ha cin, co edu quay mam va co cu di chuyén xe cn tién hah cée bude nhur sau: 1. Dura tit ca tay diéu khién cia cae co edu chinh vé vi tri 0, Itic nay ta c6: Ab3 = 1 Bb3 = 1 Pb3 = 1 Rb3 = 1 Kb3 = 1 2. Déng aptomat Oad va Oa vé vi tri ON, Mic may Oad = 1, Oa5 = 1. 1073. An nuit khoi dong cp nguén Ob4. Ob4 = Leap dign cho role trung gian OdI. Od1 = 11am cho Od1 (15) = 1. Neuén dign disoc dua tdi cudn hiit cia cong tic tw chinh Oel = 1 dong ce ti¢p didm cia n6 Jai nhw Oel (3) = 1, ek (7) = “Tin higu hod viée caip nguéa bing den Obl séng, bio higu cong tic to Mel da déng mach cp dign dén cac co efiu cla edn truc. ‘Tirdng hop cong téc to chinh Oe khong lam vigc, dén tin hieu khong sing, mach digu khién ctip gun bao ve sit co cdc co cfu digu Khign chink nhu he thdng quat gid cho ‘buéng may, thong gi6 sae wee bo dien tro phia, bdo vé qu tai céc dong co truyén dong, cée tay diéu Khién khong 6 vi ti khong... ‘Thi ty dimg cp ngudn cho cn truc thuc hign theo cée buée sau day: 1. Dua tay diéu khién cdc co cau chinh vé vi ttf “O™ 2. An nit STOP (Ob3) nghia lA OD3 = 0, cOng tac t chinh Ocl = 0, den bio Ohl tét khi cong tic to chinh mat din. *s Nedt clu dao Oa2 (dita tay cfu dao vé vi tri OF an ton cho mach dong Me cling aahw mach digu khién cha cdc ca edfu, Nhung mach dien cho mach chién séng va sfly van 06 dn. “4, Nef cfu dao Oal (dua tay céu dao vé vj sri OFF); Bio dim an toan cho toan bo he thong. Cac bao vé can 6 trong so dé dign diéu khién cap nguén cho can true: Bio ve “ Khong” 18 bio ve mat dign trong lite en trye dang hoat dong, Khong cho phép hoat dong td lai khi chua thyc hign thirty cap ngudn. Bio vé ngdn mach: Khi trén fn true xay ra ngin mach cap ngudn do mach dien dong lye cha céc co edu thi hé thong cép ngudn phai bio ve nkim muc dich bio ve hé théng cung cap dien- Bio ve ngimg cap nguén khi m@t trong cfc co cau chinh qua tai. 8.3. TRANG Bi BIEN - DIEN TU DIEU KHIEN CO CAU NANG HA HANG CUA CAN TRUC KONE Ka961 Cau trie he théng truyén dong dign digu khign co clu nang ha hang cia cdn tc KONE hu & hinh 8.32, dong co truyén dong la ddng co Khong déng b9 roto day quiin két hop voi phy tai ong la phann diéu chinh te 49. Dang dic tinh co tinh cita he thong nang ha hing ¢6 dang ube take7-5e. Cu tric digu khién nhu & hinh 7.7, He thong digu khién truyén dong dign cho co cau nang ha c6 ac tinh diéu chinh t6c d0 tt dap tmg duge yeu cu bée xép hang hos cho cing bien, nang chuyén trong cong nghé lip may... 8.3.1. Déng co tluyan déng cho co cdu néng ha hang Dong cx ding trong co cfu ning ha hing cia cfu KONE 1a dong e khong déng 9 rot0 léng s6e. Dong co kidu M25MBTS2K 1921 c6 cdc thong s6 sau: 108ANON» ox uy, AeyD ‘ey SugN 940 ¥dO t 1 Li} he | ae tne 80, co eorm 109= Cong suat cfia dong ca Py, = 65 kW -Hés6 céngtécnginkan ‘IIB = 40% - Dien dp dinh mite 380V ~ Dong dign dink mic 1254 - Dign ap roto 295 V - Dang dién roto 1254 ~ Téc dé dinh mite 1000 vg/ph - Dien 16 1610 R, = 0.029 Q720° ~Phanh dien thuy tuc Ks! 8.3.2. Chie nang cla cdc thiét bj diéu khién So dé dién nguyén ly diéu khién co cau nang ha hang can truce KONE K4961 duoc biéu dién tren hinh 8.3a, b,c, d. ~ Mach dong lye: Ami, Asl: Dong co va phanh ham ding. Acl, Act: Cie tid diém cong tic to dao chiéu va digu khign ctip ngudn mach ign stato dong co truyén dong. Acd + Acd5: Céc tigp diém cong tac te didu khién dign wé phy mach roto cia dong co truyén dong chinh. AmS: Phanh diéu chinh tc dé cho co cu nang ha hang, mémen ham cia phanh A,,5. duge diéu khién béi khoi KA481 bang cach thay déi dong dién cap cho cuén day stato cha phanh AAS. Ad5: Role dong cuc dai bao vé qua dong cho cugn day stato cia phanh A,,S. Ac7; Tigp diém cap dién cho phanh Agi J& phanh ham dimg cho co cau nang ha. Mach diéu khién: Acl, Ac2: Cuon hut cia cde cong tic to cap nguén cho dong co. Ac41+Ac45: Cusn hit cde cong tic ts digu khién dign u phy trong mach roto cita dong co. Ad1, Ad2, Ad3, Ad63: Cugn hit cita cde role trung gian. Ad43 + Ad45: Role thdi gian khéng ché déng ngit dign tr trong mach roto ciia dong co. AcT: Cudn hiit ciia cong tac to cap nguén cho phanh ham ding. Bo diéu khién dong KA 481 bao gém céc phan tit co bin: Cie cud lam vige ca khuyéch dai tit ALEL, A2E2; Cudn digu khién ASES; Cuon phan héi am te do gidn cép bing dien ap roto cila dong co A3E3, 8.3.3. Nguyén ly lam vie cua so dé dién diéu khién co cu nang ha hang a, Chusin bi dua he théng vio lam viee Tiéa hanh cung cap ngudn dién dong luc cho cac co cau cla céin truc ta tién han abu sau: - Dua tat ca cdc tay diéu khién cha cde co edu vé eri “0” hic nay ¢6: Ab3 = 1 Bb3 = 1 Pb3 = 1 Rb3 = 1 Kb3 = 1 + Dong Apiomat Oad vi OaS vé vi tri ON, iuc pay Oad = 1, 0a5 = 1. 110+ An mit khéi dong Obd. Ob4 = 1 cdp dién cho role trung gian Od). Od1 = 1 fam cho Odl (15) = 1 Neuén dign duge dua «6i cong téc to chinh Ocl = 1 dong eée tiép diém cha nd nhs Oct (3); Oct (7) = 1. Den Ohi séng, béo hidu cong the to Oel da déng mach cap dien dén cfc co cau ctia can truc. Muon cho hé chong cfin truc ngimg hoat dong thu hign nu sau: = Kn nit STOP (Qb3) nghia la Ob3 = 0, cong téc to chinh Oek = 0 dn bio OhL vat khi cong tic tor chinh mat dien. + Neat cfu dao Oa2 (da tay cfu dao vé vj tri OFF) an todn cho mach dong lye cing nhc mach diéu khién ofa céc co cu, nhung mach dién cho chiéu sang va say vin hoat dong duce. “+ Ngat cu dao Oal (dua tay cdu dao vé vi ti OFE) an ton cho toan bd hé thong b. Tién hanh diéu khién he théng nang ha hang Khi dua tay digu khién Ab3 vé vj tri sé “0” cc role trung gian va thoi gian: Ad43 = 1 Addd = 1 Ad45 = 1 do dé céc tigp diém cia chting: Ad43 (15) = 1 Add4 (15) = 1 Ad45 (15) = 1 Cp dign mach diéu khién. Ad62 = 1— Ad63(15) = 1am cho Ad63 = 1 Ad63 (17) = 1 san sang cp dién cho Adl 1 duy tri mach dién che Ad63 1 sin sing cap dign cho Pcl 1 sin sang cap dien cho Bel. Toc do | phia nang Khi dua tay di¢u khién Ab3 vé vi (ri cho Ad1 (10) = 0. Adl (30) Adi (17) 61 phia nang hang Ab3 = I tacé: Adl = 1am 1 cap nguén dign cho AdG1 1 lam cho Aci = 1 din dén Aci (16) = Lduy tri mach dién che mach digu in. ‘Aci (25) = 11am cho Ac7 = 1 cp dign cho phanh dién thuy ye lam vigc, gidi phéng truc dong ca. ‘Act (3) = 1 céip nguén dign 3 pha cho stato cla dong co Am!. Mach roto Ab3 = 11am cho Acdl = 1 ‘cdl (17) =1 siin sing cp dién cho Aci va Ad. ‘Acdh (1) = 1 néi sao dien trd phu, toan b9 dign tr phu UTUS; VIVS; WIWS dua vao mach réto, nhut vay dng co Tam viée ¥éi totn bd dien tr phy. Bo AuS diéu chinh dong cho cugn day stato cla phanh diéu chinh te do cia he thong Ams. Ab3 = 1 loai dign trd 153 ra khoi mach cudn day digu khién ASES, do vay dong dign vio cudn day ASES duge tang len, Bing thai Ad63 (8) = 0 logi dién trd 159 ra khdi mach dign ‘iia cudn day Hm viée AIEL, A2E2, Do vay ma dong dign dua vao cugn day stato cia phanh digu chinh t6e dO Am5 duoc tang len dan dén momen ham ca phan léa, Lam cho te dO dong co’ gidm xudng diing t6c do dat. A‘Toc do 2 phia nang Khi dua tay didu khign vé vi tf s6 2 phia nang hang Ab3 = 1 mach dign stato giéng nhur vj tri 6 1, mach roto cling gidng nhu vi tri s6 1. BO diéu chinh dong cho phanh diéu chinh t6c 46 Jam viée nhu sau: 'Ab3 = 0 toan bo din ud 193 duge dau ndi tip vGi cugn day diéu khién ASES do vay dong digu khién gion, momen ham cila phanh sé gidm lam cho we do cita he thong tng lén. ‘Tée dé 3 phia nang Khi dua tay digu khién vé vi wi sé 3 phia nang Ab3 = 1, mach dign cung cp cho stato cia dong og nh vi tri s6 2, Mach dign roto c6 them ad3 = 1 nén Ad3(18) = 1 duy «ri ngudn diéu khién va Ad3(9} = 0; ad3 (22) = 1 lim cho ac42 = 1 va Ac42(27) = O ngat dign cudn hit Ad43 = 0. Dong chi Ad421$) = 0 sin sng cp din cho Ac43. Lic nay Ac42(1) = 1 loai dign tr phu ULU2; VI1V2; WIW2 ra kh6i mach dign roto Lim cho tie d6 déng co tang Yen BO diu khién t6c do cho phanh AmS c6 OdL(L7) = 0, Acd8) = 0, Ad3(9} = 0, Ad1(10) = 0 do vay dong dign cap cho phanh AmS diéu chinh we do bang 0. Nhu vay tir We do 3 phia nang phanh diéu chinh téc a0 khong tham gia vao diéu khién hé thOng. Diéu chinh téc do cho co cau ning duce thic hign bang eéch thay déi gid ts} dien tr phy trong mach roto cita dong co Ami. ‘Tée do 4 phia nang Khi dua tay digu khign vé vi tri sé 4 phia nang Ab3 = 1, Mach dién cung cap cho cuén day stato nhur vi tf s0 3 phia nang. Mach diéu khién dign iro phy co thém: Acd3 = 1 Fim cho Aed3(28) = 0 din dén Ad44 = 0 vi thé Ad(440 = 0. Sau khodng thoi gian duy ti 1.5 (s) tigp dim Ad#4(25) = 1 sin sang cap dign cho Ad44, Déng thoi Ac43(1) = 1 loai tigp dign td phy U2U3; V2V3; W2WS ra khoi mach roto, we do dong co up tue ing lea. Sau khoang thoi gian role thoi gian khéng ché 1,5 (s) thi: Ad44(1$) = 1 lam cho Aed4 = 1 va acdd(29) = Ongat mach Ad4S = Oad44(15) = 0, sau thd gian duy wi 1.5 (5) tiép diém cla Ad45(26) = 1 sin sang cap dien cho Ac45. Déng thdi khi dé Ac44(1) = 1 loai tip dién tré phy U3Ud; V3V4; W314 ra khOi mgch roto t6c do dong co tiép tue tang Len. Sau Khoing thoi gian duy wi 1,5 (s) thi Ad45 (26) Acd5(1) nat & cl 1 lam cho AcdS 1 dan dén 1, loai tiep dien tro phu USUS; V4V5; W4W5 ra khoi mach roto, téc do dong ca lon 6 nang. Tom lai ché do ning & tay digu Kkhign c6 4 caip te do trong dé te do | va te do 2 diéu khign he théng truyén dong dien hoat dong theo nguyen tac hé kin dn dinh tc do véi moi trong tai nang bing phuong phdp diéu chinh momen ciia phu tai dong, tc do 4 dugc thuc hién bing cic role thdi gian dé cd thém cdc t6c do trung gian dam bio cho hé théng hoat dong ém. Trong mach roto van gilt Ini gid cri dign to phy nham muc dich khie phyc qué thi mémen, dong dign cho dong coo khi hoat dong 6 te d6 cao. 112tees e Hinh 83a. Sordé didn nguyén I diéw khidh co céit nding ha hang edn truc KONE. ‘Toe do 1 phia ha Khi dua tay digu khiéa Ab3 vé vi tri s6 1 phia ha hing Ab3 = 1, mach dign cung ctip cho role dong Ad3 = 1 din dén AdS(I9) = 11am cho Ad2 = 1 din dén Ad2(10) = 1 ngét mach ‘Ad1(10). Déng thi Ad2(31) = 1 ctip dign cho Ad61 = 1, ad2(12) = 1, do dé Ad2(19) = 1 Jam cho Ae2 = 11am cho Ac2(17) = 1 duy tri mach c&p nguén diéu khién cho co cfu 6 phia ha hing va bio vé lien dong do Ac2(17) = @ ngat mach khong cho Adi hoat dong. Déng thot ‘Ac(26) = esp nguén cho Ac7 = 1 cip nguén cho phanh thuy lye Asl giai phéng truc dong co, Ae2(1) = 1 cp nguén cho dgng co Am| theo chiéu ha. Mach roto hai pha dién tra VW duge n6i voi nhau obn dign tr pha V dé he mach nhu vay mach roto khong d6i xting nhim mue dich tgo ra te do cham. BQ diéu khién ddng cho phanh diéu chinh 6c do phia ha hoat dong nhu sau: Tay diéu knién Ab3 = 1 loai dign tra 153 1a khdi mach cuon day diéu khién nén dong tong cubn day 'ASES lon din dén ding cap cho cugn day cha phanh diéu chinh te 49 Am5 16a nén momen him lon he thong ha hang hoat déng 6 t6c dQ cham. 143parquet ty Ry. ee a} L oS Nototettated a 2 se CA PRPRe RNY ay * as a les EA echoes tobi dede Ag o # dey GLP ERateP ER (2} wield) “1s raha ares i Eis 98 GSE aivtee g [aw ae Tt eke ys 40 et PoRoHa ay ae Lats 9 ¥ OO EP ates ene = TAF ae PIKE, By eae eee te. = ates iieea Sges98 9 sees ee SB tt a gore a eg 2 rad q 2, RaFaate Qe tps F Holiotedonimoneas cis he dh "E aa ae Hinh 8.30. So dé dién nguyén I§ co ediu nding hg hang cdn tye KONE. 114aar2 ALI-3) ALL-32 ALI-IS _ ALS Aa mf pe Aip Lae all Lae all LA fee wo Te of] ie ate «Le 8-0 | 0-0 [pos lp wo 36 fe * x 4 @. $35 toe $51 on toot one wot om oe Hink 8.3c, So dé nguyén IS co edie nang ha hang edn ruc KONE. Tay diéu khien Ta ‘Naag Cong tie tt - Rote 2 = ele 413 1 {0 | 213 14 [| Aa Ac ‘Ac Ac 41 Ac: Ac 4 Ww W Ac dd Ww Ac 45. W. Ad! Scesiesies Alig TPississiestesesies Ad 44 ? SSvis ze 2s PAG Pade P P43 P P Pat Po? Paz Pd03. Hinh 84d, Sordé dign nguyen If diéw khidn co cdiu nang hg ein cdu KONE. Pedi (1) = 1 loai dien urd phu UU), Vo, WalW, ra khéi mach roto, hie nay t6c 46 dong ca lim hon téc d9 sé 2. Mach dign diéu khién phan digu chinh t6c do cing tuong tt nbu vi ti s6 2 nhung PaOS = 1 fam cho PdQS (26) = 0 din dén cugn day diéu khién duge ndi tiép voi toan bg dign WO 153 122Jam giim ding dign cugn day digu khign. Toe do 4 phia ha ein hi du tay diéu khidn vé vi tr s6 4 phifa ha cin. Mach dign stato eting gidng vi tri s6 3 Mach roto sau thoi gian 2 5 thi Pag? (17) = 1 dan dén Pea? = 1 Ped2 (1) = 1 loai tiép dien tras U U,V Va.W,W. 54 khOi mach roto Bp Pus do Pb3 = 0 lam cho cudn day phanh dong xody Pm = 0 do 6 t6e do ola be thdng tang len, digu chinh te do bang phwong phip thay 461 dien trd phy trong mach roto dong co. Ped? (28) pd43(18) Khai mach roto. 01am cho Pd43 11am cho Pc43 0. Sau thdi gian 1.5 (5). f, Pe43(l) = 1 loui tigp ditn tre UsU ViVi WW 18 _ hi dua tay digu khién PD3 vé vi ti s6 1, 2, 3,4 phia nang cn thi che buvic hoat dong cing twemg, tu ahr phia ha cn, kde nay cong tie to Ped = 1 va dong co quay theo chiéu nguge lai. Céc cong tac to diéu khign mach roto cing ging nu phia ha cin. Khi dua nhanh tay diéu khign tr vj ti $6 1 dén vj ris 4 phia nang hod ba cain, nhis c6 role thoi gian ma dong, co bit dau boat dong tte dQ s6 2 sau the pian 2(s) dong co chuyén sang toe do 563 va sau thdi gian 2 (s) dong co chuyén sang 16 dO s6 4. Sau thai gian 1,5(s) ddng co chuyén sang tc dé 36 5. Do vay ma tc dQ ning hoac ba khong bj tang hoae gidm dot ngot. Cée bdo vé cia co’ céiu nang ha céin cia can truc KONE K496E 1. Bao vé td voi wh thidw ‘pd trénh hang hod va cham vio thin cdn truc, cOng tac hanh tink Ph? = © khi tay can & vi wr gidi han nang cén v6i gée 1én mht ngét dign dong eo Khong cho déng og hoat dong theo chigu nang can. 2. Bao vé tdm voi ti da 36 in See gl ion hon 36 my thi han vi PDL = Odin dén Pel = O ngét dieu Tong cor Khong cho phép hoat dng theo chiéu hg cén. 4, Bdo vé qué tdi ctia dong co hi dong dign dn hom 1,2 dong dign dink mic th) rote whigt Pe2 = 0 ngit dign mach stato cita dong co. 4. Bao vé ngdn mack ‘B4o ve ngdn mach cho dng co bing edu chi Pel (125A) 85. TRANG Bl DIEN - BIEN TU DIEU KHIEN CO CAU QUAY MAM CUA CAN TRUC KONE K4961 Cia tric cd he thong truyén dong dign didn khign co eta quay mam cla en true KONE co eflu trie nhur tren hinh 8.5, dae tinh co tinh clia he uuyén dong dien C6 dang nit Shinh 7.4b vot cay ein ma. sat, He truyén aOng cho co edu quay mam ding ha dong ex be teh 61 xing qua tam quay. Hé trayén dong dao chiéu 46: xting cho ci hai chiéu quay. 1238.5.1. Déng cc truyén déng cho co cdu quay mam Hai dénjz co truyén dong cho co cu quay 1a dong co khong déng bd réto day quan. Loai dong co 15LTS2 F — 9548 cd cde thong sé sau; Cong suit dinh mie Py = 15S KW. He s@ cemg tic ngin han lap lai _e% = 40% Dien dp dinh mic Um = 380V Dong didn dink mac Lin = 4A Téc do dinh mite Tues = 1500 velph Dign dp rato U, = 300 Dang dign rove 1 = 34A Bign ca 1610 Ry = 0,14 20°C. 8.5.2. Chic nding cdc phn ti trong mach diéu khién So 46 dién nguyen ly digu khién eg cau quay mam cia cén trac KONE K4961 duge biéu ign tren hinh 8.5) K2ml, K2m2: Céc dong co khong déng bd roto day quan truyén dong cho co cu quay mam. Kel, Ke2: Cie cong tac to digu khién ciip ngudn cho cuon day stato dé dong co quay thuan va quay ng usc. Klcd0 + K1e43; K2c40 + K2043: Cac cong tic to diéu khién dign tre phu trong mach rote cha dong co. Klel va K2e1: Cic ro le nbigt bio ve qui tai cho cfc dong co. Kel: Cains chi bio ve ngin mach, Kd43 vii Kd44 1 cdc role théi gian dé khéng ché qué winh ting. gidm We dé khi diéu khién, 8.5.3. Nguyén ly hoat déng cla so dé dién diéu khién co cu quay Thi te cung céip nguén cho cin truc da duee thuc hign. Se dé dign nguyen ly diéu khién co cau quay marn bigu din tren hinh 8.5. Tay diéu khi¢n Kb3 6 vj wi "0", lic nay cae role Kdd3 = 1,Kdd4 = 1 lam cho Kd43(16) = 0, Kdd4(16) = 0, bio vé an toan cho ec cu quay mam déng thdi Kd43(9) = 1, Kd44(9) = 1 cap dign cho mach diéu khign va cap aguén cho Kd42 = wm cho Kd41(15) = 1, Kd42(14) = 1 sain sang dua cac cong tic to Kc va Toe 46 1, quay phai Khi dua tay diéu khidn Kb3 vé vi tri s6 1, Kb3 = L,tac6: Kdl = 1 2m cho Kdl (14) L sn sing cap dién cho Kic41 va K2c41, déng thoi kd1(7) = 1 din dn Kel = 1. Khi Ket() = I khOng ché tién dong khong cho Ke2 lam vite, kel{20) = 0 lam cho 0. Kel(4) = 1 cap nguén stato cho hai dong co truyén dng K2m1 va K2m2 quay thea cltiéu phai Mach roto cita hai dong co déu he mét pha nén dong co lam vige d ché dé dign 1rd rote khong d6i xting én momen ddng caro ra dil nho, t6e do cham a = 1 124op Raed fees] Kiel giead | ac fkasz x 0 Ix Hink 85. Sa-d6 dign nguyen Is did khiéu co cai quay mam cain truce KONE K496} 125Téc d6 2 quay phai Khi dua tay digu khién Kb3 vé vi tri s6'2 chiéu quay phai Kb3 Mach dign stato duoc cung cp din gidng vi wi s6 1. O mach roto hic nay cé them K1cd0 = LviK2ed0 = 1am cho K1e40(7) = 0 va K2c40(9) = 0 bao vé dong co khi c6 sy c6 déng thsi K1e40(1) = 1 va K2c40(3) = 1 lie nay dign tré mach roto duge ndi doi xtmg UyU, = VeVi = W,W). 6c 86 dong co tang len, ‘Téc 46 3 quay phai Khi dua tay digu khién Kb3 vé vj ti s6 3 chiéu quay phai Kb3 Mach dién stato cua hai dong co giéng vi tri s6 2, K1e41 = 1 va K2ced41 lam cho K1e41(23) = 0 va K2e41(23) = 0ddn dén Kd43 = 0 duy tri thoi gian sau khoang 2(s) thi Kd43(16) = 1 Céc cong tic to K1e41(1) va K2e41(3) = 1 logi dien tre phu UU, VuV;, WoW, ra Khoi mach roto, t6c do dong co tiép tuc ting len. Toe 46 4 quay phai Khi dua tay dig khign Kb3 vé vi ui s6 4 chigu quay phii Kb3 = 1 Mach dién stato cia cdc dong co ging vi tri sé 3, mach dien roto hic iy K1e42 = 1 va K2e42 = 1 lam cho Kic42(24) = 0 lim cho role thoi gian Kd44 = 0 sau thé gian duy tri khoang 1,5 (s) thi Kd44(17) = 1; K1e42(1) = 1, K2e42(3) = 1 loai Gép dign co UU, VV, W,W, ra khai mach dign roto toc do dong co tang lén. Sau thoi gian duy ti 1.5 (s) thi Kd44918) = 1 lam cho Kie43 = 1 va K2e43 = 1tigp tuc loai née dién tr phy U,U,, V2V. WW, 1a khoi mach roto te do dong co tip tuc tang len. Khi digu khign co cau quay mam quay tréi cdc bust thyc hign twong uy nhu diéu khién co cau quay phai, cin cht ¥ rang céng tc ta cap ngudén cho mach stato lic nay 1a Ke2 = 1, déi chiéu quay bang déi thit ty pha dién 4p mach stato. Mach dign roto thif tu Joai uit dién tré phy hoan toan giéng chiéu quay phai. Khi chuyén nhanh tay diéu khign tir vi tf Uden vj rf 4 va tir vi tr sO 4 vé vi tri s6 I nh surduy tei thd gian cla cdc rote thai gian Kd43 va Kd44 ma tc dé khong ting dot ngot, Cac bao ve 1, Bao vé qué tai cho cdc dong co duge thyc thién bang cac role nhiét Klel va K2e1. 2. Bao ve ngiin mach bing cac cdu chi Kel. 3. Bao vé “khong” duge thuc hign trong so dé cp nguén. 126CHUGNG 9. TRANG BI DIEN - BIEN TU CAN TRUC TUKAN 9.1. GIOITHIEU CHUNG VE CAN TRUC TUKAN 9.1.1. Dae diém ky thuét Cin true TUKAN 1a mot trong nhing logi cén truc hign dai hat hign nay do hing KRANBAU EBERSWALDE cita Cong hoa lien bang Puc san xuat. Fio tin tryc nay Tam nbigm vy xép d@ hing ri gdu ngoam 20 dén 30 tin va néu thay gu ngoam bang moc treo tH nS sir dung 6 ‘ch do céu hang bang méc cau 32 dén 45 vin. Ngoai ra cén true con lam vige & ché do béc xép container khi str dung khung ngoam. Khi sit dung khung ngoam Wt dong, nang suat nang chuyén cia cn true dude tang len dang ké. Cin true TUKAN duoe trang bj hé thdng truyén dong dign bign tin - dong cv dj bo roto 1éng séc. Doi vei phn quay cla Khung cén tryc, ngudi ta chon he théng can <6 ban 8 dong. He thong cin duoc o6 dinh wao dé, dé b6 tri hink céng vom. Khung va be thong cin c6 thé quay xung quanh truc thing dig v6i vong quay cit bai phia 360". 9.1.2. Thong s6 ky thuat co ban 1. Tai trong Ché dé lam vide Dé vuon can Tai trong Diing ngoam hang roi 8+32m 20 + 32 un Boe xép hang bach hod 8 = 20:25 16+ 324an Nang chuyén tai trong kin 8232 45 tan Dang mam tr 8422 10140 2. Thang s6 edi trite + Do cao nang moc: 18 m-- khi ding géungoam 25 m- khi ding méc cau +BOcaohaméc: = 12m + Tam vai fon nhat: 32m 4 Tam voi nho nhét: 8 m 4+ Khdu do dutng ray: 10.5 m4 8m + Toiin b6 chiéu cao edn tryc: 46 m. + Trong luomg cén true 225 tain, 3. Cac dong co truyén dong chink a) Dong co di chuyén chan dé 7 dongco A— Y 220/380V Kiéu : ddng co truyén dng banh rang nén (bevel gear motor) + Cong swat dinh mite: Py, = 7.5 KW 4+ Téc 46 : Myq= 1480 ve/ph + Dign dp dinh mite: Uy,= 380 V + He s6 qua tai : 40% 4+ TY 96 ruyén: = 44.44. 127b) Dong co nang ha hang, nang hacén A—Y 220/380V Kiéu : 1LG4313 ~4AA 60-2, + Cong suai din mic: P,, = 100 kW. + Tée dé van hinh: + He 86 qua tai : 60% + Dien 4p dinh miic : Uy, = 380 V + TY s6 teuyén: $= 112 ©) Dong co truyén doug cho co city quay gém 2 dong es A-Y 220/380 V Kigu : 11.A6 223 - 4AA 64-2 cia hang Siemens + Cong suat dinh mie : P,,, = 38 KW hodc 45 kW + Toe dd: ny,= 1420 vaphiit + Dien ap dink mic : Uy, = 380 V + He 86 qua tai : 60% + Téc do van hanh : © Pong ce truyén dong cho co cau tim véi gm hai déng co + Cong suat dinh mite : Py, = 36 KW + T6c dd: y= 1475 vgiphiit + Dien dp dinh uc : Uy, = 380 V + He so qua tdi: 60% +Téedovanhanh: — < 20P; >20T : ...V = 60 m/ph .V = 40 miph + TY 6 truyén: i= (60 4. Thong 36 nguén dién He thong dign ~ Dien ap chung : Nguén cap. Dong co. Phanh He thong didu khién. Nguén cp PLC. 380 V, 50 Hz 380 V, 50 Hz .--380 V, 50 Hz 220 V, 50 Hz .24V,DC 220 V, 50 Ha son2d V,DC «- 380 V, 50 Hz Say va quat gis - ign cho say khi dimg khai thie Panel .. sereereee226 V, 50 Hz, Dong CO. cece a--220-V, 50 He - Bien cho law kfnh Rita kinh,.,. 24. VDC 128Khod kinh... 1 2AV, 50 He + Cong suat tien thy Cong suat thiét ké, A480 kW Déng chinh... 660 A, 60%ED Ding cue dai 730A 9.1.3. CGe quy uéc trén ban vé hé so ky thudt 4. Cau tao chinh cia cén true Can true TUKAN c6 ee co cau chinh sau - Co cau nang ha hang. - Co cau nang ha ciin (thay doi tam véi). ~ Co cau quay mam. - Co cau di chuyén chan de. 2. Cac nhm duoc ky hiéu trong so dé dign can truc TUKAN Gém 12 ahém : - Nhém = 0 ep dign cho toan bo he théing, cae co cau, cc dén tin higu. - Nhém = 01 céip dién cho b6 bien tan (budng diéu khién PLO). 1 cap dign cho co cau nang ha (mac treo 20, 30 cp dien dé déng mé géu ngoam. - Nhém = 3 cip dign cho co edu quay. = Nhém = 4 cap dign cho co ear tim ¥ - Nhém = 5 cap dign cho co cau di chuyén. -Nhém = 11 cap dien cho thiet bi quay méc. + Nhom = 14 cap dien cho he thong lai tang cap cap ngudn cho khung ngoam (spreader). + Nhém = 16 cap dién cho hé théng lai tang cap cap nguén chinh. - Nhém = 17 cap dign cho car edu kep ray. - Nhém = 18 cap dign cho Joa thong tin. - Nh6m = 60 6 han ché 14i trong 3. Chit edi dé xéc dinh loai thiét bi dién trong so d6 diéu khién can true +D: phin quay cia céin truc (slewing crane). +E: buéng dién diéu khié +EEL : bing dién diéu khién cia budag diéu khién +K: cabin bang dién diéu khién cila cabin. +KS: ghé ngdi ciia ngudi diéu khign can rue. +L: he thong mang dign, 4M: budng may (nba tai. +P: thigt bi ngoai dan (chan de}, + PEL : bing dign digu khién cha +PR: tay do, dim do (gantry beam) +T: tru (column slewing crane). +S: khung ngoam container (spreader) 4. Cate quy toe khii doc so dé dién nguyén ly diéu khién céin truc TUKAN 129

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