Chng 2: M HNH HA

Hunh Thi Hong B mn iu khin T ng

1



Chng 2

M HNH HA


Chng 2: MO HNH HOA
2.1. Gii thieu
2.2. Phan tch chc nang
2.3. Phan tch vat ly
2.4. Phan tch toan hoc
2.5 Mt s th d

Tham kho: [Smith, 1994], chng 2, 4.
[Johansson, 1993], chng 7.



2.1 GII THIEU

Mo hnh hoa la phng phap xay dng mo hnh toan cua he
thong bang cach phan tch he thong thanh cac khoi chc nang, trong
o mo hnh toan cua cac khoi chc nng a biet hoac co the rut ra
c da vao cac qui luat vat ly, sau o cac khoi chc nang c
ket noi toan hc e c mo hnh cua he thong.

Ba bc mo hnh hoa:
Phan tch chc nang
Phan tch vat ly
Phan tch toan hoc



Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

2
2.2 PHAN TCH CHC NANG
(tham khao chng 2, [Smith, 1994])

2.2.1 Khai niem

Phan tch chc nang la phan tch he thong can mo hnh hoa
thanh nhieu he thong con, moi he thong con gom nhieu bo phan
chc nang (functional component).

Khi phan tch chc nang can e y lien ket vat ly
(connectivity) va quan he nhan qua (causality) gia cac thanh phan
ben trong he thong.

Ba bc phan tch chc nang:
Co lap he thong
Phan tch he thong con
Xac nh cac quan he nhan qua

2.2.2 Co lap he thong - Lien ket ngoai

Xac nh gii han cua he thong can mo hnh hoa, cat ket noi
gia he thong khao sat vi moi trng ngoai, moi ket noi b cat
c thay the bang mot cong e mo ta s tng tac gia he thong
va moi trng.






Hnh 2.1: He thong co mot cong lien ket vi moi trng
He thong Moi trng
U
Y
bien cua he thong
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

3
Cong (port) : la mot cap au cuoi ma qua o nang lng hoac
cong suat vao hoac ra khoi he thong. Mot he thong co the co nhieu
cong (multiport system).

Bon loai cong thng gap: c kh (Structural), ien
(Electrical), nhiet (thermal), lu chat (fluid)

Loai
cong
Ten (Ky hieu) S o Co lap
a. Tnh tien
(Structural
Translation - ST)


b. Quay
(Structural
Rotation - SR)

1
.

C

K
H

c. Phc hp
(Structural
Complex - SC)


a. ien dan
(Electrical
Conduction
EC)
3
.

I
E
N

b. ien bc xa
(Electrical
Radiation ER)

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

4
a. Dan nhiet
(Thermal
Conduction
TC)


b. oi lu nhiet
(Thermal
Convention
TV)

3
.

N
H
I
E
T

c. Bc xa nhiet
(Thermal
Radiation TR)


a. Noi lu
(Fluid
Internal FI)


4
.

L

U

C
H
A
T

a. Ngoai lu
(Fluid
External FE)

Th du 2.1: Co lap he canh tay may

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

5

Hnh 2.2: S olien ket ngoai cua canh tay robot

Th du 2.2: Co lap he thong lam mat
(a)

(b)

Hnh 2.3: He thong lam mat (a) S o he thong
(b) S o trao oi nhiet
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

6

(a)


(b)

Hnh 2.4: He thong lam mat (a) S o a cong cua he thong
(b) S o a cong cua bo trao oi nhiet




Hnh 2.5: S o a cong lu chat long trong he thong lam mat
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

7
2.2.3 Phan tch he thong con - Lien ket trong
Phan tch he thong sau khi co lap thanh cac he thong con
(subsystem), sau o tiep tuc phan tch cac he thong con chi tiet en
cac bo phan (component), thay the lien ket gia cac bo phan bang
cac cong.

Th du 2.3: Phan tch lien ket trong he canh tay robot


Hnh 2.6: S o khoi canh tay may chi tiet en cac he thong con

Hnh 2.7: S o khoi canh tay may chi tiet en cac bo phan
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

8
2.2.4 Quan he nhan qua - Cac bien cua he thong
V cong la au cuoi ma qua o cong suat (nang lng) truyen
vao ra he thong nen quan he nhan qua cua cong c xac nh bi
cac bien nh ngha cong suat tai cong.



Th du 2.4: Canh tay may

Hnh 2.8: S o khoi hoan chnh cua canh tay may
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

9
2.3 PHAN TCH VAT LY

2.3.1 Phng phap phan tch vat ly

2.3.1.1 Cac qui luat vat ly

a. Quan h c bn gia lng, th v dng

H thng vt l c th chia thnh 4 loi:
in (Electrical)
C (Machenical)
Nhit (Thermal)
Lu cht (Fluid)
Mt h thng phc tp c th gm nhiu h thng con thuc 4
loi ni trn.

Mi loi h thng c 3 phn t c bn (basis element):
Tr (resistance)
Dung (capacitance)
Cm (inductance) hay qun tnh (inertia)

Cc phn t c bn ny c nh ngha da trn 3 bin:
Lng (quantity)
Th (potential)
Thi gian (time).

Bng 2.1: Cc bin c s dng nh ngha cc yu t c bn
ca cc loi h thng.
Bin Loi
H thng Lng Th Thi gian
in in tch
(Charge)
in th
(Voltage)
Giy
C kh Khong cch
(Distance)
Lc
(Force)
Giy
Lu cht
(lng)
Th tch
(Volume)
p sut
(Pressure)
Giy
Nhit Nhit nng
(Heat energy)
Nhit
(Temperature)
Giy
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

10
Cc bin khc c nh ngha da trn 3 bin c bn trn.
Cng dng l bin thin lng trong mt n v thi gian
(hay cng dng l tc bin thin lng).

( ) lng dong o cng
dt
d
= (2.1)

Cong suat

dong o cng the suat cong =

nh ngha cc phn t c bn (Quan h gia lng, th v dng)
Tr l s chng li s chuyn ng hay dng vt cht, nng
lng. Tr c o bng th cn thit chuyn mt n v lng
trong mt n v thi gian (giy).


dong o cng
the
tr = (2.2)

Dung biu din mi quan h gia lng v th. Dung c o
bng lng cn thit l cho th bin thin mt n v.


the
lng
dung = (2.3)

(2.1) & (2.3) ( )dt

= dong o cng
dung
the
1
(2.4)

Cm hay qun tnh l s chng li s thay i trng thi
chuyn ng. Cm c o bng th cn thit lm tc bin
thin ca lng thay i mt n v.

( ) dong o cng cam the
dt
d
= (2.5)


Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

11
* Cc phng trnh cn bng

Cc nh lut bo ton khi lng, nng lng, v xung lng
l cc nh lut c bn c s dng khi m hnh ha. Phng trnh
cn bng c bn c dng tng qut nh sau:

ra dong vao dong luy tch dong = (2.6)

Nu h thng khng c cc phn t tch tr khi lng, nng lng v
xung lng th phng trnh (2.6) tr thnh:

ra dong vao dong = 0 (2.7)

Nu h thng c phn t tch tr khi lng, nng lng hay xung
lng th s tch tr ny lm thay i trng thi ca h thng.

( ) ra dong vao dong thai trang bien =
dt
d
(2.8)

Cc hin tng t nhin xy ra theo hng lm ti thiu nng
lng, v nhiu bi ton m hnh ha m t iu kin cn bng lin
quan n s ti thiu nng lng.

2.3.1.2 L tng ha cc phn t vt l

Cc nguyn tc l tng ha:

Nguyn tc thun ha: nhn ra nh hng vt l c bn chi
phi hot ng ca i tng v dng cc phn t thun biu din.



Hnh 2.9: Mo hnh tu ien gom cac phan t thuan nhat
ien
moi
C R
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

12
Nguyn tc tp trung ha: cc nh hng vt l thc lun phn
b trong mt min hay khng gian nht nh (d nh). Cc nh hng
phn b ny c th l tng ha bng cch m hnh ha tp trung.

Hnh 2.10: Mo hnh van nhay

Nguyn tc tuyn tnh ha: tt c cc h thng thc u l h
phi tuyn l tng ha bng cch tuyn tnh ha.



Hnh 2.11: ac tnhphi tuyen cua ien tr
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

13

2.3.1.3 S tng ng ca cc quan h vt l

Do cc hin tng vt l c s tng ng nn c th m hnh
ha h c bng h in, h nhit bng h in,



Hnh 2.12: S tng ng gia cc phn t
c bn ca cc loi h thng vt l



Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

14
2.3.2 Phan tch vat ly he thong ien

2.3.2.1 Cc phn t in

Cc bin c bn trong h thng in:
in lng: q [C]
in th: u [V]
Cng dng in: i [A]
(2.1)
dt
dq
i =

Cc phn t in c bn
in tr:
S
l
R

= []
(2.2)
i
u
R =

in dung:
d
S
C

= [F]
(2.3)
u
q
C =
(2.4)

= idt
C
u
1


in cm:
b
N r
L
2

= [H]
(2.5)
dt
di
L u =

Ngun p l tng:
Ngun dng l tng

2.3.2.2 Phng trnh cn bng in
nh lut Kirchoff v dng.
nh lut Kirchoff v p.

2.3.2.3 Phng php gii tch mch in
Phng php dng vng
Phng php th nh
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

15
2.3.3 Phan tch vat ly he thong c

2.3.3.1 Cc phn t c

Chuyn ng thng

Cc bin:
Khong cch: x [m]
Lc: f [N]
Tc : v [m/sec]
(2.1)
dt
dx
v =

Cc phn t:
Tr: b R
M
=
b: h s ma st nht [N.sec/m]





(2.2)
v
f
b =
v
f
R
M
=

Dung: k C
M
/ 1 =
k: cng l xo [N/m]





(2.3)
f
x
k
=
1

f
x
C
M
=
(2.4) kx vdt k f = =

= vdt
C
f
M
1

x
f
b
f
x
f
k
f
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

16
Qun tnh c: m: khi lng [kg]





(2.5) ma
dt
dv
m f = =

Chuyn ng quay
Lc Moment
Khong cch Gc quay
Vn tc Vn tc gc
Gia tc Gia tc gc
Qun tnh Moment qun tnh

2.3.3.2 Phng trnh cn bng c

Phng trnh cn bng lc.
Phng trnh Euler Lagrange:
=

|
|
.
|

\
|

q
L
q
L
dt
d
&

Trong :
U T L =
U: th nng
T: ng nng
q: ta tng qut
: ngoi lc (hay moment)








x
f
m
f
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

17
2.3.3.3 S tng ong gia he thong c va he thong ien


Hnh 2.13: S tng ong gia cac phan t


Hnh 2.14: S tng ong gia cac nguon
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

18
2.3.4 Phan tch vat ly he thong nhiet

2.3.4.1 Cac phan t nhiet
Cac bien trong he thong nhiet :
Nhit : [
0
C]
Nhit nng: Q [J]
Dng nhit: H [J/sec]
(2.1)
dt
dQ
H =
Cac phan t nhiet:
Nhit tr:
Nhit tr dn nhit:
S k
l
R
C
T
=
trong : k
C
: l h s dn nhit ca mi trng truyn nhit
l: l chiu di ca mi trng truyn nhit
S: l tit din ngang ca mi trng truyn nhit
(2.2)
H
R
T

=
Nhit tr i lu + Bc x nhit: xem (Smith,1994)


Nhit dung: M c C
T
. =
trong : c: l nhit dung ring ca mi trng truyn nhit
M: l khi lng ca mi trng truyn nhit
(2.3)

Q
C
T
=
(2.4)

= Hdt
C
T
1


Qun tnh nhit:
T
I
(2.5)
dt
dH
I
L
=

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

19


Hnh 2.15: Nhiet tr (a) Nhiet tr truyen nhiet
(b) Nhiet tr oi lu (c) Nhiet tr bc xa


Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

20

Hnh 2.16: Nhiet dung

2.3.4.2 Cac phng trnh can bang nhiet

2.3.5 Phan tch vat ly he lu chat long

2.3.5.1 Cac phan t lu chat

Cac bien trong he lu chat :
p sut: p [N/m
2
]
Th tch: V [m
3
]
Lu lng: q [m
3
/sec]
(2.1)
dt
dV
q =


Cac phan t lu chat:
Lu tr:
Lu tr ca ng ng:
4
128
d
l
R
L

= [N.sec/m]
(2.2)
q
p
R
L
=
Cng thc trn ch ng trong trng hp lu cht chy tng (c
hng), v ng ng dn lu cht di (l>20d)

Lu tr ca van: phi tuyn

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

21

Hnh 2.17: Lu tr

Dung:
g
A
C
L

= [m
5
/N]
(2.3)
p
V
C
L
=
(2.4)

= qdt
C
p
L
1


Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

22


Hnh 2.18: Lu dung


Qun tnh:
a
l
I
L

= [Nsec
2
/m
5
]
(2.5)
dt
dq
I p
L
=

2.3.5.2 Cac phng trnh can bang trong h lu cht



Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

23
2.3.6 Mt s th d

Th du 2.5: M hnh ha
h thng sau:



Cch 1: Dng nh lut Newton
Chiu ln phng chuyn ng, p dng nh lut II Newton:

sin ) ( ) ( P t F t x m = & &

Cch 2: Dng cng thc EulerLagrange:
ng nng:
2
2
1
x m T & =
Th nng: sin mgx U =
sin
2
1
2
mgx x m U T L = = &
p dng cng thc EulerLagrange:
F
x
L
x
L
dt
d
=

|
.
|

\
|

&
( ) F mg x m
dt
d
= + sin &

F mg x m = + sin & &

Th du 2.6: Mo hnh hoa he thong giam soc cua xe may (phuoc
nhung)



Cch 1: p dng nh lut Newton:

) ( ) ( ) ( ) ( t x b t kx t f t x m & & & =

) ( ) ( ) ( ) ( t f t kx t x b t x m = + + & & &


P
N
F

x
x
f
b
k
m
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

24
Cch 2: p dng cng thc Euler-Lagrange:
ng nng:
2
2
1
x m T & =
Th nng:
2
2
1
kx U =

2 2
2
1
2
1
kx x m U T L = = &

p dng cng thc EulerLagrange:
x b f
x
L
x
L
dt
d
&
&
=

|
.
|

\
|

( ) x b f kx x m
dt
d
& & = +

) ( ) ( ) ( ) ( t f t kx t x b t x m = + + & & &

Cch 3: p dng s tng ng gia h thng in v h thng c:

Th: U f
Lng: q x
Dung: C k / 1
Tr: R b
Cm: L m

Quan h gia dng v p ca mch in tng trn l:
) (
1
) ( s U Ls
Cs
R s I =
|
.
|

\
|
+ + ) (
1 ) (
2
s U Ls
C
Rs
s
s I
=
|
.
|

\
|
+ +
) (
1
) (
2
s U Ls
C
Rs s Q =
|
.
|

\
|
+ + ) ( ) (
1
) ( ) ( t u t q
C
t q R t q L = + + & & &

Do quan h gia cc i lng ca h c l:

) ( ) ( ) ( t f kx t x b t x m = + + & & &
U
R C L
i
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

25
Th du 2.7: Mo hnh hoa he con lac ngc



Chu thch:
M : trong lng xe [Kg] m : trong lng con lac [Kg]
l : chieu dai con lac [m] u : lc tac ong vao xe [N]
g : gia toc trong trng [m/s
2
] x : v tr xe [m]
: goc gia con lac va phng thang ng [rad]

Cach 1: Dung nh luat Newton
Goi (x
P
, y
P
) la toa o cua vat nang m au con lac, ta co:
sin l x x
P
+ = (1)
cos l y
P
= (2)
Ap dung nh luat II Newton cho chuyen ong theo phng x,
ta co:
F
dt
x d
m
dt
x d
M
P
= +
2
2
2
2
(3)
Thay x
G
bieu thc (1) vao bieu thc (3) suy ra:
( ) F l x
dt
d
m
dt
x d
M = + + sin
2
2
2
2
(4)
Khai trien cac ao ham bieu thc (4) va rut gon ta c:
F ml ml x m M = + +
& & &
& & ) (cos ) (sin ) (
2
(5)
x
x
F M
m

l
mg
lcos
lsin
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

26
Mat khac, ap dung nh luat II Newton cho chuyen ong quay
cua con lac quanh truc ta c:
sin sin cos
2
2
2
2
mgl l
dt
y d
m l
dt
x d
m
P P
= (6)
Thay (1) va (2) vao (6) suy ra:
sin sin ) cos ( cos ) sin (
2
2
2
2
mgl l l
dt
d
m l l x
dt
d
m =
(

+ (7)
Khai trien cac ao ham bieu thc (7) va rut gon ta c:
sin cos mg ml x m = +
& &
& & (8)
T (5) va (8), ta co the de dang tnh c:

2
2
) (cos
sin cos ) (sin

m m M
mg ml F
x
+
+
=
&
& & (9)

l m M ml
ml g m M F
) ( ) (cos
) sin (cos ) (sin ) ( cos
2
2
+
+ +
=

&
& &
(10)

Cach 2: Dung cong thc EulerLagrange:
Goi (x
P
, y
P
) la toa o cua vat nang m au con lac, ta co:
sin l x x
P
+ = (1)
cos l y
P
= (2)
ong nang cua vat nang au con lac:
( ) ( )
2 2
2 2
sin
2
1
cos
2
1
2
1
2
1

& &
& & & l m l x m y m x m T
P P P
+ + = + =

2 2 2
2
1
cos
2
1

& &
& & ml x ml x m T
P
+ + =
ong nang cua xe:

2
2
1
x M T
C
& =
ong nang cua he thong:
( )
2 2 2
2
1
cos
2
1

& &
& & ml x ml x m M T T T
C P
+ + + = + =
The nang cua he thong = the nang vat nang au con lac:
cos mgl U =
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

27
( ) cos
2
1
cos
2
1
2 2 2
mgl ml x ml x m M U T L + + + = =
& &
& & (3)
Phng trnh Euler Lagrange:
F
x
L
x
L
dt
d
=

|
.
|

\
|

&
(4)
0 =

|
.
|

\
|

L L
dt
d
&
(5)
Thay (4) vao (3):
( ) F ml ml x m M = + +
2
) (sin ) (cos
& & &
& &
0 sin cos = + mg ml x m
& &
& &
Suy ra:

2
2
) (cos
sin cos ) (sin

m m M
mg ml F
x
+
+
=
&
& &

l m M ml
ml g m M F
) ( ) (cos
) sin (cos ) (sin ) ( cos
2
2
+
+ +
=

&
& &


Th du 2.8: Mo hnh he tay may hai bac t do

l
1
, l
2
: chieu dai cua 2
m
1
, m
2
: khoi lng

1
,
2
: goc quay cua cac khp canh tay

1
,
2
: moment lam quay cac khp noi





Toa o cua canh tay may trong he toa o De-cac la:

1 1 1
sin l x =

1 1 1
cos l y =

2 2 1 1 2
sin sin l l x =

2 2 1 1 2
cos cos l l y + =

2


l
1

l
2

m
1

m
2

y
1

y
2

x
2
x
1

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

28
Van toc:
(

=
(

=
1 1 1
1 1 1
1
1
1
sin
cos


&
&
&
&
l
l
y
x
v

(

=
(

=
2 2 2 1 1 1
2 2 2 1 1 1
2
2
2
sin sin
cos cos


& &
& &
&
&
l l
l l
y
x
v
ong nang:
) (
2
1
) (
2
1
2
2
2
2 2
2
1
2
1 1
y x m y x m T & & & & + + + =
+ + + =
2
2
2
2 2
2
1
2
1 2
2
1
2
1 1
2
1
2
1
2
1
& & & l m l m l m T
) sin sin cos (cos
2 1 2 1 2 1 2 1 2
+ & & l l m
The nang:
) cos cos ( cos
2 2 1 1 2 1 1 1
l l g m gl m U + + =
Do o:

2
2
2
2 2
2
1
2
1 2
2
1
2
1 1
2
1
2
1
2
1
& & & l m l m l m U T L + + = =
) sin sin cos (cos
2 1 2 1 2 1 2 1 2
+ + & & l l m
) cos cos ( cos
2 2 1 1 2 1 1 1
l l g m gl m + (1)

Phng trnh EulerLagrange:

1
1 1


=

|
|
.
|

\
|

L L
dt
d
&
(2)

2
2 2


=

|
|
.
|

\
|

L L
dt
d
&
(3)

Thay (1) vao (2) va (3) ta c:

2 2 1 2 1 2 1 2 1
2
1 2 1
) sin sin cos (cos ) ( & & & & + + + l l m l m m

1 1 1 2 1
2
2 2 1 2 1 2 1 2
sin ) ( ) sin cos cos (sin = + + gl m m l l m & (4)


1 2 1 2 1 2 1 2 2
2
2 2
) sin sin cos (cos & & & & + + l l m l m

2 2 2 2
2
1 2 1 2 1 2 1 2
sin ) sin cos cos (sin = gl m l l m & (5)

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

29
Th du 2.9: Mo hnh toan bon cha chat long (Single Tank)





A: tiet dien ngang bon cha
a: tiet dien van xa
k: he so t le vi cong suat may bm
Phng trnh can bang: ( ) ) ( ) ( ) ( t q t q t Ah
dt
d
out in
=
Dong vao: ) ( ) ( t ku t q
in
=
Dong ra: ) ( ) / 2 ( ) (
2 2 2
t p C a t q
D out
=
trong o: ) ( ) ( t gh t p = : ap suat
6 . 0 =
D
C : he so xa

Suy ra: ( ) ) ( 2 ) (
1
) ( t gh aC t ku
A
t h
D
=
&


Th du 2.10: He bon noi tiep (Cascade Tank)









( )
( )

=
=
) ( 2 ) ( 2
1
) (
) ( 2 ) (
1
) (
2 2 2 1 1 1
2
2
1 1 1 1 1
1
1
t gh C a t gh C a
A
t h
t gh C a t u k
A
t h
D D
D
&
&

h(t)
u(t)
q
in
q
out
h
1
(t)
u(t)
q
in1
q
out2
h
2
(t)
q
out1
=q
in2
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

30
Th du 2.11: He bon lien ket (Coupled Tank)






Mo hnh toan:
( ) ( )
( ) ( )

=
=
) ( ) ( 2 ) ( ) ( sgn ) ( 2 ) (
1
) (
) ( ) ( 2 ) ( ) ( sgn ) ( 2 ) (
1
) (
2 1 12 1 2 12 2 2 2 2 2
2
2
2 1 12 2 1 12 1 1 1 1 1
1
1
t h t h g a t h t h C t gh C a t u k
A
t h
t h t h g a t h t h C t gh C a t u k
A
t h
D D
D D
&
&

Th du 2.12: S tng ong gia he lu chat va he thong ien:


e 2 mo hnh tren tng ng ta can gia thiet bon cha rat ln,
khi he thong van hanh o cao mc chat long trong bon cha thay oi
khong ang ke.

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

31
Th du 2.13: Mo hnh lo say
) (t
S
: nhiet o nguon nhiet
) (t : nhiet o lo say
) (t H : dong nhiet


Ta co:
Dong nhiet:
T
S
R
t t
t H
) ( ) (
) (

=
Phng trnh can bang: ) (
) (
t H
dt
t d
C
T
=

trong o:
Ak
d
R
T
2
= : nhiet tr
d: chieu dai lo say
A: tiet dien ngang
k: he so dan nhiet
=
T
C cM: nhiet dung
c: nhiet dung rieng cua moi trng truyen nhiet
M: khoi lng moi trng truyen nhiet

Suy ra mo hnh toan hoc cua lo say la:

) ( ) (
) (
t t
dt
t d
C R
S T T

= +

Trng hp lo say dai, co the mo hnh hoa bang cach chia lam
nhieu ngan:





(t)

S
(t)
H(t)

2
(t)

S
(t)
H
1
(t)

1
(t)
d/4 d/4 d/2
H
2
(t)
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

32
Dong nhiet:

1
1
1
) ( ) (
) (
T
S
R
t t
t H

=

2
2 1
2
) ( ) (
) (
T
R
t t
t H

=
Phng trnh can bang:
) ( ) (
) (
2 1
1
1
t H t H
dt
t d
C
T
=

) (
) (
2
2
2
t H
dt
t d
C
T
=

Suy ra:

=
2
2 1 2
2
2
2 1
1
1 1
1
) ( ) ( ) (
) ( ) ( ) ( ) ( ) (
T
T
T T
S
T
R
t t
dt
t d
C
R
t t
R
t t
dt
t d
C





2.4 PHAN TCH TOAN HOC
(tham khao chng 5 va chng 8, (Smith, 1994))
Phan tch toan hoc:
Ket hp tat ca cac he phng trnh mo ta ac tnh ong cua
cac bo phan chc nang e c he phng trnh mo ta he thong.

Tuyen tnh hoa quan he phi tuyen e c mo ta toan hoc
tuyen tnh
Xet he phi tuyen bac n co p ngo vao, q ngo ra mo ta bi phng
trnh trang thai.

=
=
)) ( ), ( ( ) (
)) ( ), ( ( ) (
t t t
t t t
u x h y
u x f x&

trong o
n
t ) ( x la vector trang thai,
p
t ) ( u la vector tn hieu
vao,
q
t ) ( y la vector tn hieu r;
n
(.) f ,
q
(.) h la vector
ham mo ta ac tnh ong cua he phi tuyen.
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

33
Khai trien Taylor xung quanh iem lam viec tnh ) , ( u x
ta co the mo ta he thong bang phng trnh trang thai tuyen tnh:

+ =
+ =
) (
~
) (
~
) (
~
) (
~
) (
~
) (
~
t t t
t t t
u D x C y
u B x A x
&

trong o:
( ) ) , ( , ) ( ) (
~
) ( ) (
~
) ( ) (
~
u h y y t y t y
u t u t u
t t
x
x x x
= =
=
=


Cac ma tran trang thai cua he tuyen tnh gan ung c tnh
nh sau:

) (
2
2
2
2
1
2
1
2
1
1
1
) (
u , x
, x
x
f
A
(
(
(
(
(
(
(

=
n
n n
n
n
n
n
u
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
K
M O M M
L
L


) (
2 1
2
2
2
1
2
1
2
1
1
1
) (
u , x
u , x
u
f
B
(
(
(
(
(
(
(
(

=
p
n n n
p
p
u
f
u
f
u
f
u
f
u
f
u
f
u
f
u
f
u
f
K
M O M M
L
L


) (
2 1
2
2
2
1
2
1
2
1
1
1
) (
u , x
u , x
x
h
C
(
(
(
(
(
(
(
(

=
n
q q q
n
n
x
h
x
h
x
h
x
h
x
h
x
h
x
h
x
h
x
h
K
M O M M
L
L

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

34

) (
2 1
2
2
2
1
2
1
2
1
1
1
) (
u , x
u , x
u
h
D
(
(
(
(
(
(
(
(

=
p
q q q
p
p
u
h
u
h
u
h
u
h
u
h
u
h
u
h
u
h
u
h
K
M O M M
L
L


ai so s o khoi Phng phap s o dong tn hieu va cong
thc Mason e tm ham truyen tng ng cua he tuyen tnh.
anh gia s phu hp cua mo hnh
Dung mo hnh e d bao ap ng cua he thong oi vi tn
hieu vao cho trc.

Th du 2.14: Mo hnh toan he con lac ngc truyen ong dung ong
c DC, xet anh hng cua ma sat:








* ac tnh ong cua he xecon lac co xet en anh hng cua ma
sat:
Tng t nh th du 2.7, tuy nhien lc tac ong phai ke them
lc ma sat:

C
f F ml ml x m M = + +
& & &
& & ) (cos ) (sin ) (
2
(1)

P
f mg ml x m = + sin cos
& &
& & (2)
trong o:
C
f lc ma sat tac ong len xe

P
f lc ma sat tac ong len con lac
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

35
* ac tnh ma sat:
Gia thiet co ca ma sat tnh va ma sat nht tac ong lam can tr
chuyen ong cua xe va con lac. Cac lc ma sat nay co the mo ta
bang cac phng trnh sau:
x B e A x f
x
x C
x C
x
& &
&
+ =

) sgn( (3)

& &
&
B e A f
C
P
+ =

) sgn( (4)
trong o
x
A ,
x
B ,
x
C ,

A ,

B , 0 >

C .






* ac tnh ong c:

b a a a a a
E I R V I L =
&
(5)

b b
K E =

m l m m
B T T J = &
(6)


a g i m
I K K T =
Fr T
l
=
r x K
g
/ & =

a
L : ien cam phan ng
a
R : ien tr phan ng

a
I : dong ien phan ng
a
V : ien ap phan ng

m
T : moment ong c
l
T : moment tai
: toc o quay ong c r : ban knh pu-li

m
J : moment quan tnh ong c
m
B : he so ma sat nht

i
K : he so moment
i
K : he so moment

g
K : he so giam toc
b
E : sc phan ien
F : lc tac ong vao xe

ac tnh ong c co the bieu dien theo
a
I , x va F nh sau:
Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

36

a
b g
a a a a
V x
r
K K
I R I L = + + &
&
(7)
F I
r
K K
x
r
B K
x
r
J K
a
g i m g m g
= + & & &
2 2
(8)

Do o mo hnh toan hoc cua he xe con lac vi tn hieu vao la ien
ap cap cho ong c nh sau:

= + +
= +
= + + + +
a
b g
a a a a
P
C a
i g m g m g
V x
r
K K
I R I L
f mg ml x m
f I
r
K K
x
r
B K
ml ml x
r
J K
m M
&
&
& &
& &
&
& & &
& &


sin cos
) (cos ) (sin ) (
2
2
2


Th du 2.15: Mo hnh tuyen tnh cua he con lac ngc xung quanh v
tr thang ng.
He phng trnh mo ta ac tnh ong phi tuyen cua he con lac
ngc (xem th du 7):

2
2
) (cos
sin cos ) (sin

m m M
mg ml u
x
+
+
=
&
& & (1)

l m M ml
ml g m M u
) ( ) (cos
) sin (cos ) (sin ) ( cos
2
2
+
+ +
=

&
& &
(2)
at
T
x x t ] , , , [ ) ( &
&
= x : vector trang thai, ta c:

4 4 4 4 4 4 4 4 4 3 4 4 4 4 4 4 4 4 4 2 1
3 2 1
&
&
&
&
&
(.)
) (cos
sin cos ) (sin
) (
) ( ) (cos
) sin (cos ) (sin ) ( cos
) (
) (
) (
) (
) (
2
1
1 1
2
2 1
4
2
1
2
2 1 1 1 1
2
4
3
2
1
f
x
(
(
(
(
(
(
(

+
+
+
+ +
=
(
(
(
(

x m m M
x x mg x x ml u
t x
l m M x ml
x x x ml x g m M x u
t x
t x
t x
t x
t x


Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

37

3 2 1
(.)
) (
) (
) (
) (
) (
3
1
h
(

=
(

=
t x
t x
t x
t
t y


iem can bang v tr thang ng: ) 0 , ( ) , ( 0 = u x
Tuyen tnh hoa xung quanh iem can bang:

+ =
+ =
) (
~
) (
~
) (
~
) (
~
) (
~
) (
~
t t t
t t t
u D x C y
u B x A x
&

trong o:
(
(
(
(
(

+
=
(
(
(
(
(
(
(
(
(

=
0 0 0
1 0 0 0
0 0 0
) (
0 0 1 0
) 0 (
4
4
3
4
2
4
1
4
4
3
3
3
2
3
1
3
4
2
3
2
2
2
1
2
4
1
3
1
2
1
1
1
) (
g
M
m
g
Ml
m M
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
x
f
u
,
, x
x
f
A
0

(
(
(
(
(

=
(
(
(
(
(
(
(
(

=
M
Ml
u
f
u
f
u
f
u
f
u
u
1
0
1
0
) 0 (
4
3
2
1
) (
,
, x
f
B
0

(

=
(
(
(
(

=
0 1 0 0
0 0 0 1
) (
4
2
3
2
2
2
1
2
4
1
3
1
2
1
1
1
) (
u , x
, x
x
h
C
x
h
x
h
x
h
x
h
x
h
x
h
x
h
x
h
u

(

=
(
(
(

=
0
0
) (
2
1
) (
u , x
, x
h
D
u
h
u
h
u
u

Chng 2: M HNH HA


Hunh Thi Hong B mn iu khin T ng

38