Chuong2 NDHT Slide

Mn hc Mn hc
M HNH HA V NHN DNG H THNG M HNH HA V NHN DNG H THNG

Ging vin: TS. Hunh Thi Hong
B mn iu Khin T ng Khoa in in T B mn iu Khin T ng, Khoa in in T
i hc Bch Khoa TP.HCM
Email: hthoang@hcmut.edu.vn,
hthoang hcmut@yahoo com hthoang.hcmut@yahoo.com
Homepage: http://www4.hcmut.edu.vn/~hthoang/
31 August 2012 H. T. Hong - HBK TPHCM 1
Chng 2 Chng 2
M HNH HA M HNH HA
D L S ith I t d ti t D i S t
Ti liu tham kho chng 2 Ti liu tham kho chng 2
D. L. Smith, Introduction to Dynamic Systems
Modeling for Design, Prentice-Hall, Englewood
Cliffs New Jersey 1994 Cliffs, New Jersey, 1994.
Gii thiu
Ni dung chng 2 Ni dung chng 2
Gii thiu
Phn tch chc nng
Phn tch vt l Phn tch vt l
Phn tch ton hc
Mt s th d
G G Gii thiu Gii thiu
M hnh ha M hnh ha
M h h h l h h d h h t h M hnh ha l phng php xy dng m hnh ton ca h
thng bng cch da vo cc qui lut vt l chi phi hot
ng ca h thng. g g
Phng php m hnh ha ch c th p dng khi ta bit
r cu trc ca h thng v cc qui lut vt l chi phi hot
ng ca h thng ng ca h thng.
Cc nh lut vt l
in in
C hc
Nhit
Lu cht lng
Lu cht kh
Cc bc gii bi ton m hnh ha Cc bc gii bi ton m hnh ha
Ph t h h h t h h th th h khi Phn tch chc nng: phn tch h thng thnh cc khi
chc nng, trong m hnh ton ca cc khi chc nng
bit hoc c th rt ra c da vo cc qui lut vt l. q
Phn tch vt l: rt ra m hnh ton ca cc khi chc nng
da vo cc qui lut vt l.
Phn tch ton hc: cc khi chc nng c kt ni ton
hc c m hnh ca h thng.
M hnh ha M hnh ha
Phn tch chc nng Phn tch vt l Phn tch ton hc
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
phn t vt l m t h thng
T t h h Phn tch HT con
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Phn tch chc nng Phn tch chc nng
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Khi nim Khi nim
Ph t h h l h t h h th h h Phn tch chc nng l phn tch h thng cn m hnh
ha thnh nhiu h thng con, mi h thng con gm nhiu
b phn chc nng (functional component). p g ( p )
Khi phn tch chc nng cn :
lin kt vt l (connectivity): cc b phn no ca h
h k i i h ? thng kt ni vi nhau?
quan h nhn qu (causality) cc b phn lin kt vi
nhau nh th no? nhau nh th no?
Ba bc phn tch chc nng:
C lp h thng p g
Phn tch h thng con
Xc nh cc quan h nhn qu
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
C lp h thng C lp h thng Xc nh cc lin kt ngoi Xc nh cc lin kt ngoi
X h ii h h th h h h Xc nh gii hn ca h thng cn m hnh ha
Ct kt ni gia h thng kho st vi mi trng ngoi
Mi kt i b t th th b t t Mi kt ni b ct c thay th bng mt cng m t s
tng tc gia h thng v mi trng.
bien cua he thong
He thong Moi trng
U
He thong Moi trng
Y
Cng Cng
C ( t) l t i (t i l) Cng (port) : l mt cp u cui (terminal) m qua nng
lng truyn vo hoc ra khi h thng. Mt h thng c th
c nhiu cng (multiport system). g ( p y )
Mi cng c th c mt hoc hai ng vo (k hiu l U) v
mt hoc hai ng ra (k hiu l Y)
Bn loi cng thng gp:
C kh (Structural)
in (Electrical)
Nhit (Thermal)
L ht (Fl id) Lu cht (Fluid)
Cng c kh Cng c kh
Cng in Cng in
Cng nhit Cng nhit
Cng lu cht Cng lu cht
Th d: C lp h tay my Th d: C lp h tay my
Th d: C lp h tay my (tt) Th d: C lp h tay my (tt)
Th d: C lp h thng lm mt Th d: C lp h thng lm mt
Th d: C lp h thng lm mt (tt) Th d: C lp h thng lm mt (tt)
TD: C lp b phn trao i nhit trong h thng lm mt TD: C lp b phn trao i nhit trong h thng lm mt
TD: C lp b phn trao i nhit trong h thng lm mt (tt) TD: C lp b phn trao i nhit trong h thng lm mt (tt)
Th d: c lp h thng gim xc Th d: c lp h thng gim xc
Th d: c lp h thng cch nhit Th d: c lp h thng cch nhit
Th d: c lp h thng cch nhit Th d: c lp h thng cch nhit
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Phn tch h thng con Phn tch h thng con Xc nh cc lin kt trong Xc nh cc lin kt trong
Phn tch h thng sau khi c lp thnh cc h thng con
(subsystem), sau tip tc phn tch cc h thng con chi
tit n cc b phn (component) thay th lin kt gia cc tit n cc b phn (component), thay th lin kt gia cc
b phn bng cc cng.
Th d: M hnh ho h tay my Th d: M hnh ho h tay my
Th d: M hnh ho h tay my (tt) Th d: M hnh ho h tay my (tt)
C
Cc lin kt ngoi
Cc lin kt Cc lin kt
trong chi tit
n cc h
thng con
(subsystem) ( y )
Cc lin kt trong chi tit n cc b phn (component)
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
C lp h thng

Q h i
Phn tch HT con

Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Phn tch quan h nhn qu Phn tch quan h nhn qu Xc nh cc bin ca HT Xc nh cc bin ca HT
V cng l u cui m qua cng sut (nng lng/n v
thi gian) truyn vo ra h thng nn quan h nhn qu ca
cng c xc nh bi cc bin nh ngha cng sut ti cng c xc nh bi cc bin nh ngha cng sut ti
cng.
Cc bin ca cc loi cng Cc bin ca cc loi cng
S khi hon chnh h tay my
Bi tp: Phn tch chc nng h thng thang my Bi tp: Phn tch chc nng h thng thang my
Bi tp: Phn tch chc nng h thng lu cht Bi tp: Phn tch chc nng h thng lu cht
Bi tp: Phn tch chc nng h thng tn la Bi tp: Phn tch chc nng h thng tn la
Phn tch vt l Phn tch vt l
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Cc loi h thng vt l Cc loi h thng vt l
H thng vt l c th chia thnh 4 loi: 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 trn.
Cc phn t c bn (basis element): Cc phn t c bn (basis element):
Tr (resistance)
Dung (capacitance) Dung (capacitance)
Cm (inductance) hay qun tnh (inertia)
Cc bin c bn Cc bin c bn
C bi b l ( tit ) th ( t ti l) thi i (ti )
Loi
Bin
Cc bin c bn: lng (quantity), th (potential), thi gian (time)
Loi
H thng
Lng Th Thi gian
in tch in th
in
in tch
(Charge)
in th
(Voltage)
Giy
Khong cch Lc
C kh
Khong cch
(Distance)
Lc
(Force)
Giy
Lu cht Th tch p sut
Gi
Lu cht
(lng)
Th tch
(Volume)
p sut
(Pressure)
Giy
Nhit
Nhit nng Nhit
Giy
Nhit
g
(Heat energy)

(Temperature)
Giy
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Cc bin khc nh ngha da trn cc bin c bn Cc bin khc nh ngha da trn cc bin c bn
C d l bi thi l t t thi Cng dng l bin thin lng trong mt n v thi
gian (hay cng dng l tc bin thin lng).
d
( ) /aang dong do caang
dt
d
=
d d h Cng sut dong do caang the saat cong =
nh ngha phn t tr nh ngha phn t tr
Tr l i lng c trng cho kh nng chng li s dch Tr l i lng c trng cho kh nng chng li s dch
chuyn c hc 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).
the
dong do caang
the
tra =
nh ngha phn t dung nh ngha phn t dung
Dung biu din mi quan h gia lng v th 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.
/aang
dang
the
g
dang =
( )dt
}
= dong do caang
dang
the
1
g
nh ngha phn t cm nh ngha phn t cm
Cm hay qun tnh l i lng c trng cho kh nng Cm hay qun tnh l i lng c trng cho kh nng
chng li s thay i trng thi chuyn ng c hc ca dng
vt cht, nng lng.
Cm c o bng th cn thit lm tc bin thin ca
lng thay i mt n v .
the
cam
d
=
( )
dong do caang
dt
d
( ) dong do caang cam the
dt
d
=
dt
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
Cc phng trnh cn bng Cc phng trnh cn bng
Cc nh lut bo ton khi lng nng lng v xung 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 rao dong /ay t/ch dong =
Phng trnh cn bng c bn c dng tng qut nh sau:
Nu h thng khng c cc phn t tch tr khi lng, nng
lng v xung lng th phng trnh trn tr thnh:
d d 0 ra dong rao dong = 0
Nu h thng c phn t tch tr khi lng, nng lng hay g p g, g g y
xung lng th s tch tr ny lm thay i trng thi ca HT:
( ) d d th / t b/
d
( ) ra dong rao dong tha/ trang b/en =
dt
M hnh ha M hnh ha
C lp h thng
L tng ha
Xy dng h PT
h h
C lp h thng
Ph t h HT
Quan h gia cc
Q h h
Quan h gia cc
i lng c bn
Tuyn tnh ha

Quan h nhn qu
Cc .lut bo ton
i s s khi
nh gi m hnh
L tng ha cc phn t vt l L tng ha cc phn t vt l
Ng n tc th n ha Nguyn tc thun ha
Nguyn tc tp trung ha
Nguyn tc l tng ha Nguyn tc l tng ha
N t th h h h h t l b hi 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 biu din.
Nguyn tc tp trung ha: cc nh hng vt l thc lun 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
h h h t t m hnh ha tp trung
Ng n tc t n tnh ha tt c cc h thng th c l Nguyn tc tuyn tnh ha: tt c cc h thng thc u l
h phi tuyn l tng ha bng cch tuyn tnh ha.
S tng ng ca cc quan h vt l S tng ng ca cc quan h vt l
S tng ng ca cc quan h vt l S tng ng ca cc quan h vt l
Ch Ch
Gi h i h h i h t Gia h in v h c c hai cch tng ng
Tng ng lc in p
Tng ng lc cng dng in Tng ng lc cng dng in
Tng ng lc in p Tng ng lccng d.in
H c H in H c H in
Lc f in p u Lc f Dng in i
Khi lng M in cm L Khi lng M in dung C
H s ma st b in tr R H s ma st b 1/in tr, 1/R
cng l xo k 1/in dung, 1/C cng l xo k 1/in cm, 1/L
Dch chuyn x in lng q Dch chuyn x T thng
Vn tc v Dng in i Vn tc v in p u
Phn tch vt l h thng in Phn tch vt l h thng in
Cc bin c bn: Cc bin c bn:
in lng: q [C]
in th: u [V]
Cc phn t c bn:
[ ]
Cng dng in:i [A]
Cc phn t c bn:
in tr:
i
u
R =
S
l
R

=
i
in dung:
u
q
C =
d
S
C
c
=
}
= idt
C
u
1
the
tra
u
/aang
d
( )dt
}
dong do caang the
1
in cm:
dt
di
L u =
( ) d d h
d
b
N r
L
2
t
=
dong do caang
tra =
the
g
dang =
( )dt
}
= dong do caang
dang
the
dt
dt
d
=
b
Phn tch vt l h thng in Phn tch vt l h thng in
C l i Cc loi ngun:
Ngun p l tng
Ngun dng l tng Ngun dng l tng
Phng trnh cn bng in
nh lut Kirchoff v dng. ut c o d g
nh lut Kirchoff v p.
Phng php gii tch mch in
Phng php th nh
Phng php dng vng
Phn tch vt l h thng c Phn tch vt l h thng c
C bi b ( h th ) Cc bin c bn (chuyn ng thng):
Khong cch (lng): x [m]
Lc (th): f [N] Lc (th): f [N]
Tc (cng dng): v [m/sec]
C h t b Cc phn t c bn
Tr:
b: h s ma st nht
f: lc (th)
f
x: dch chuyn (lng)
v
f
b R
M
= =
the
tra
dong do caang
tra =
Dung:
k: cng l xo
f l (th) f: lc (th)
x: dch chuyn
(lng)
f
x
k
C
M
= =
1
(lng)
}
= = vdt
C
kx f
M
1
/aang
d
( )dt
}
= dong do caang the
1
M
the
/aang
dang =
( )dt
}
= dong do caang
dang
the
Cm (qun tnh)
m: khi lng
f: lc (th)
d h h (l )
dv
m f =
x: dch chuyn (lng)
dt
m f
d

dt
=
Ch th Ch Chuyn ng thng Chuyn ng quay
Lc Moment
Khong cch Gc quay Khong cch Gc quay
Vn tc Vn tc gc
Gia tc Gia tc gc Ga tc Ga tc gc
Qun tnh Moment qun tnh
Phng trnh cn bng c Phng trnh cn bng c
Ph t h b l h l t N t Phng trnh cn bng lc, nh lut Newton
Phng trnh Euler Lagrange:
t =
c
c
+
c
c
|
|
.
|
\
|
c
c
q
P
q
L
q
L
dt
d

Phng trnh Euler Lagrange:
c c
. \
c q q q dt
Trong :
U T L =
U: th nng
T: ng nng
P: nng lng tiu hao
q: ta tng qut
t: ngoi lc (hay moment)
t: ngoi lc (hay moment)
S tng ng gia h thng in v h thng c S tng ng gia h thng in v h thng c
S tng ng gia h thng in v h thng c S tng ng gia h thng in v h thng c
Phn tch vt l h thng nhit Phn tch vt l h thng nhit
C bi b Cc bin c bn
Nhit nng (lng): Q [J]
Nhit (th): u [
0
C] Nhit (th): u [ C]
Dng nhit: H [J/sec]
dt
dQ
H =
( ) / d d
d
dt
d
=
Nhit tr:
k
C
: h s dn nhit
l: chiu di
S: tit din ngang
S k
l
R
C
T
=
the
tra =
S: tit din ngang
R
T
u
=
dong do caang
tra =
H
R
T
=
Nhit dung:
c: l nhit dung ring
Q
C
T
=
c: l nhit dung ring
M: l khi lng
M c C
T
. =
/aang
d
u
C
T
=
( )dt
}
= dong do caang the
1
}
= Hdt
1
u
the
/aang
dang =
( )dt
}
= dong do caang
dang
the
}
= Hdt
C
T
u
Nhit cm (qun tnh nhit): I
T
dt
dH
I
T
= u
d

dt
=
Phng trnh cn bng nhit Phng trnh cn bng nhit
h l t b t l nh lut bo ton nng lng
Phn tch vt l h lu cht Phn tch vt l h lu cht
C bi b Cc bin c bn
p sut (th): p [N/m2]
Th tch (lng): V [m3] Th tch (lng): V [m3]
Lu lng (cng dng): z [m3/sec]
dt
dV
z =
dt
( ) / d d
d
dt
d
=
Lu tr:
Lu tr ng ng: Lu tr ng ng:
: h s nht ca lu cht
l: chiu di ng ng 128 l l: chiu di ng ng
d: ng knh ng ng
(l > 20d)
4
128
d
l
R
L
t

=
the
tra =
p
R
L
=
( )
dong do caang
tra =
z
Lu tr:
Lu tr van: phi tuyn Lu tr van: phi tuyn
Lu dung:
A: tit din ngang
: khi lng ring lu cht
A
C : khi lng ring lu cht
g: gia tc trng trng
g
C
F
=
p
V
C
L
=
/aang
d
( )dt
}
= dong do caang the
1
}
= zdt
C
p
L
1
the
/aang
dang =
( )dt
}
= dong do caang
dang
the
Qun tnh: I
L
l
a
dz
dt
dz
I p
L
=
tit di d
a
l
I
L
=
a: tit din ngang ng dn
l: chiu di ng dn
d
a
dt
=
Phng trnh cn bng h lu cht Phng trnh cn bng h lu cht
h l t b t khi l nh lut bo ton khi lng
Cc th d phn tch vt l Cc th d phn tch vt l
H i h d bi i Hc vin t c cc th d trong bi ging
Phn tch ton hc Phn tch ton hc
Phn tch ton hc Phn tch ton hc
Kt h tt h h t h t t h Kt hp tt c cc h phng trnh m t c tnh ng ca
cc b phn chc nng c h phng trnh m t h
thng. g
Tuyn tnh ha quan h phi tuyn c m t ton hc
tuyn tnh.
i khi Ph h d hi i s s khi Phng php s dng tn hiu v
cng thc Mason tm hm truyn tng ng ca h
tuyn tnh. y
nh gi s ph hp ca m hnh.
Dng m hnh d bo p ng ca h thng i vi tn
hiu vo cho trc.
M hnh tuyn tnh ha h phi tuyn M hnh tuyn tnh ha h phi tuyn
im dng ca h phi tuyn im dng ca h phi tuyn
Xt h hi t b t bi PTTT hi
= )) ( ), ( ( ) ( t t t u x f x
Xt h phi tuyn bc n c p ng vo, q ng ra m t bi PTTT phi

tuyn:
= )) ( ), ( ( ) ( t t t u x h y
i t thi i l i d h hi t h im trng thi c gi l im dng ca h phi tuyn nu nh
h ang trng thi v vi tc ng iu khin c nh, khng
i cho trc th h s nm nguyn ti trng thi .
x
x u
Nu l im dng ca h phi tuyn th: ) , ( u x
0 )) ( ), ( (
,
=
= = u u x x
u x f t t
i d i l i l i h h hi
im dng cn c gi l im lm vic tnh ca h phi tuyn
Th d im dng ca h phi tuyn Th d im dng ca h phi tuyn
(
+
(
) ( ) ( ) ( t t t
(
+
+
=
(
) ( 2 ) (
) ( ). (
) (
) (
2 1
2 1
2
1
t x t x
u t x t x
t x
t x
Cho h phi tuyn m t bi PTTT:

Xc nh im dng ca h thng khi
1 ) ( = = u t u
Gii:
i d l hi h h
0 )) ( ), ( (
,
=
= = u u
t u t
x x
x f
im dng l nghim ca phng trnh:
= +
= +
0 2
0 1 .
2 1
2 1
x x
x x
=
=
2
2
2
1
x
x
+ =
=
2
2
2
1
x
x
hoc
2
2
x
+
2
2
x
Tuyn tnh ha h phi tuyn xung quanh im lm vic tnh Tuyn tnh ha h phi tuyn xung quanh im lm vic tnh
Xt h phi tuyn m t bi PTTT phi tuyn:
=
=
)) ( ), ( ( ) (
)) ( ), ( ( ) (
t t t
t t t
u x h y
u x f x
Xt h phi tuyn m t bi PTTT phi tuyn:
)) ( ), ( ( ) ( t t t u x h y
Khai trin Taylor f(x,u) v h(x,u) xung quanh im lm vic tnh
ta c th m t h thng bng PTTT tuyn tnh:
+ = ) (
~
) (
~
) (
~
t t t u B x A x
(*)
) , ( u x
x x x ) ( ) (
~
t t
+ = ) (
~
) (
~
) (
~
t t t u D x C y
( )
trong :
y y y
u u u
x x x
=
=
=
) ( ) (
~
) ( ) (
~
) ( ) (
t t
t t
t t
)) ( ( u x h y =
y y y ) ( ) ( t t
)) , ( ( u x h y =
Ma trn trng thi ca h tuyn tnh ha Ma trn trng thi ca h tuyn tnh ha
(
2 2 2
1
2
1
1
1
f
(
(
(
(
c c c
c
c
c
c
c
c
c
n
f f f
x
f
x
f
x
f
2 2 2
1
2
1
1
1
f
(
(
(
(
(
c c c
c
c
c
c
c
c
c
p
f f f
u
f
u
f
u
f
2 1
) ( u , x
x
f
A
(
(
(
(
(
(
c
c
c
c
c
c
c c c
=
c
c
=
n n n
n
f f f
x x x
2 1
) ( u , x
u
f
B
(
(
(
(
(
c c c
c c c
=
c
c
=
n n n
p
f f f
u u u
(
c c c h h h (
c c c h h h
) (
2
u , x
(
c c c
n n
x x x
) (
2 1
u , x
(
c c c
p
u u u
2 2 2
1
2
1
1
1
h
C
(
(
(
(
(
c
c
c
c
c
c
c
c
c
c
c
c
c
n
h h h
x
h
x
h
x
h
2 2 2
1
2
1
1
1
h
D
(
(
(
(
(
c
c
c
c
c
c
c
c
c
c
c
c
c
p
h h h
u
h
u
h
u
h
2 1
) ( u , x
x
C
(
(
(
(
(
c
c
c
c
c
c
c c c
=
c
=
q q q
n
x
h
x
h
x
h
x x x

2 1
) ( u , x
u
D
(
(
(
(
(
c
c
c
c
c
c
c c c
=
c
=
q q q
p
h h h
u u u

) (
2 1
u , x
(
c c c
n
x x x
) (
2 1
u , x
(
c c c
p
u u u
Tuyn tnh ha h phi tuyn Tuyn tnh ha h phi tuyn Th d 1 Th d 1
Thng s h bn cha :
u(t)
q
in
Thng s h bn cha :
3
2 2
8 0 / 150
100 , 1
C V k
cm A cm a = =
y(t)
u(t)
q
out
2
3
sec / 981
8 . 0 , . sec / 150
cm g
C V cm k
D
=
= =
PTTT:
=
=
)) ( ) ( ( ) (
)) ( ), ( ( ) (
t u t h t y
t u t t
x
x f x
= )) ( ), ( ( ) ( t u t h t y x
) ( 9465 0 ) ( 3544 0 ) (
) ( 2
) (
1
k
t gx aC
D
f
trong :
) ( 9465 . 0 ) ( 3544 . 0 ) (
) (
) , (
1
1
t u t x t u
A
k
A
g
u
D
+ = + = x f
) ( )) ( ), ( (
1
t x t u t h = x
) ( )) ( ), ( (
1
Tuyn tnh ha h phi tuyn Tuyn tnh ha h phi tuyn Th d 1 (tt) Th d 1 (tt)
Tuyn tnh ha h bn cha quanh im y = 20cm: Tuyn tnh ha h bn cha quanh im y = 20cm:
Xc nh im lm vic tnh:
20 20
1
= x
0 5 . 1 3544 . 0 ) , (
1
= + = u x u x f
9465 . 0 = u
Tuyn tnh ha h phi tuyn Tuyn tnh ha h phi tuyn Th d 1 (tt) Th d 1 (tt)
Xc nh cc ma trn trng thi ti im lm ic tnh:
0396 . 0
2
2
1
= =
c
c
=
D
x A
g aC
x
f
A
5 . 1
1
= =
c
c
=
A
k
u
f
B
Xc nh cc ma trn trng thi ti im lm vic tnh:
2
) (
1
) (
1
c
u
u
x A x
, x
, x
) ( ) (
c
u u
A u
, x , x
1 =
c
=
h
C
0 =
c
c
=
h
D
) (
1
c
u
x
, x
) (
c
u
u
, x
V PTTT m t h bn cha q anh im lm ic 20cm l: Vy PTTT m t h bn cha quanh im lm vic y=20cm l:
+ =
) (
~
) (
~
) (
~
5 . 1 ) (
~
0396 . 0 ) (
~
t t
t u t t x x
) (
) ( 2
) , (
1
t u
A
k
A
t gx aC
u
D
+ = x f
= ) ( ) ( t t y x
) ( )) ( ), ( (
1
t x t u t h = x
Tuyn tnh ha h phi tuyn Tuyn tnh ha h phi tuyn Th d 2 Th d 2
Thng s cnh tay my : Thng s cnh tay my :
2
C
02 0 5 0
1 . 0 , 2 . 0 , 5 . 0
m kg J kg M
kg m m l m l = = =
m
l
2
sec / 81 . 9 , 005 . 0
. 02 . 0 , 5 . 0
m g B
m kg J kg M
= =
= =
u
u
PTTT:
=
=
)) ( ), ( ( ) (
)) ( ), ( ( ) (
t u t h t y
t u t t
x
x f x
)) ( ), ( ( ) ( t u t h t y x
(
(
) (
2
t x
trong :
(
(
+
+
+
+
+
=
) (
) (
1
) (
) (
) ( cos
) (
) (
) , (
2
2
2
1
2
t u
ml J
t x
ml J
B
t x
ml J
g Ml ml
u
C
x f
) ( )) ( ), ( (
1
t x t u t h = x
Tuyen tnh hoa he phi tuyen Tuyen tnh hoa he phi tuyen Th du 2 Th du 2 (tt) (tt)
Tuyn tnh ha h tay my quanh im lm vic y = t/6 (rad): Tuyn tnh ha h tay my quanh im lm vic y = t/6 (rad):
Xc nh im lm vic tnh:
6 /
1
t = x
0
1 ) (
) (
2
(
(
+ B g Ml ml
x
u x f
= 0
2
x
0
) (
1
) (
cos
) (
) (
) , (
2
2
2
1
2
=
(
(
+
+
+
+
+
=
u
ml J
x
ml J
B
x
ml J
g Ml ml
u
C
x f
= 2744 . 1 u
Do im lm vic tnh cn xc nh l:
(
(
=
(
(
=
6 /
1
t x
x
(
0
2
x
x
2744 . 1 = u
Xc nh cc ma trn trng thi ti im lm ic tnh: Xc nh cc ma trn trng thi ti im lm vic tnh:
(
=
22 21
12 11
a a
a a
A
0
) (
1
1
11
=
c
c
=
u
x
f
a
, x
1
) (
2
1
12
=
c
c
=
u
x
f
a
, x
22 21
) (
1
2
) (
1
2
21
) ( sin
) (
) (
u
C
u
t x
ml J
Ml ml
x
f
a
x x
+
+
=
c
c
=
) ( u , x
) ( ) ( u u , x , x
) (
2
) (
2
2
22
) ( ml J
B
x
f
a
+
=
c
c
=
(
(
(
+
=
) (
1
) ( ) (
) (
) (
) (
2
B g Ml ml
t x
u
C
x f
) ( ) (
2
) (
u u , x , x
(
+
+
+
+
+
) (
) (
1
) (
) (
) ( cos
) (
) (
) , (
2
2
2
1
2
t u
ml J
t x
ml J
B
t x
ml J
g Ml ml
u
C
x f
(
=
1
b
b
B
0
1
cf
b
2
b
0
) (
1
1
=
c
=
u
u
b
, x
1 f c
2
) (
2
2
1
ml J u
f
b
u
+
=
c
c
=
, x
(
(
(
+
=
) (
1
) ( ) (
) (
) (
) (
2
B g Ml ml
t x
u
C
x f
(
+
+
+
+
+
) (
) (
1
) (
) (
) ( cos
) (
) (
) , (
2
2
2
1
2
t u
ml J
t x
ml J
B
t x
ml J
g Ml ml
u
C
x f
1
1
1
=
c
c
=
x
h
c | |
2 1
c c = C
0
) (
2
2
=
c
c
=
x
h
c
) (
1
c
u
x
, x
) (
2
u , x
1
d = D
0
) (
1
=
c
c
=
u
h
d
) (
c
u
u
, x
Vy phng trnh trng thi cn tm l:
+ =
) (
~
) (
~
) (
~
) (
~
) (
~
) (
~
t t t
t u t t
D C
B x A x
+ = ) ( ) ( ) ( t u t t y D x C
(
(
=
1 0
A
(
(
=
0
B
| | 0 1 = C 0 = D
(
=
22 21
a a
A
(
=
2
b
B
| | 0 1 C 0 = D
) ( ) , (
1
t x u h = x
Mt s th d Mt s th d
Cc v d Cc v d
M h h h h l M hnh ha h con lc ngc
M hnh ha h bng v thanh
M hnh ha h tay my y y
M hnh ha h bnh li my bay
M hnh ha c tnh ng hc xe hi
M hnh ha c tnh ng hc tu thy M hnh ha c tnh ng hc tu thy
M hnh ha h robot 2 bnh cn bng
...

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Mn hc Mn hc

M HNH HA V NHN DNG H THNG M HNH HA V NHN DNG H THNG

31 August 2012 H. T. Hong - HBK TPHCM 65

31 August 2012 H. T. Hong - HBK TPHCM 73

Xt h phi tuyn bc n c p ng vo, q ng ra m t bi PTTT phi

Cho h phi tuyn m t bi PTTT:

Xt h phi tuyn m t bi PTTT phi tuyn:

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