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LI NI U

Ti trng tc dng vo cng trnh, da vo tnh cht tc dng, c phn thnh


hai loi: Ti trng tc dng tnh v ti trng tc dng ng.
Ti trng tc dng ng l ti trng khi tc ng vo cng trnh lm cho cng
trnh chuyn ng c gia tc. Do cng trnh c khi lng, nn khi chuyn ng c gia
tc, trong cng trnh s xut hin thm lc qun tnh.
Ti trng ng l ti trng c tr s thay i theo thi gian, thm ch v tr tc
dng cng c th thay i theo thi gian; nh ti trng c sinh ra do khi lng lch
tm trong ng c khi ng c hot ng, ti trng gi bo, p lc n, p lc thu ng,
ti trng ng t vv...
Cc cng trnh xy dng ngy cng c hnh dng thanh mnh nh cc tin b v
mt vt liu xy dng v cng ngh xy dng, nn rt nhy cm vi cc tc dng ng.
Di tc dng ca ti trng ng, cc i lng pht sinh trong cng trnh nh: Phn lc
lin kt, ni lc, bin dng, chuyn v vv... u thay i theo thi gian.
Nhim v chnh ca mn ng lc hc cng trnh l nghin cu cc phng php
xc nh gi tr ln nht (bin ) ca cc i lng nghin cu pht sinh trong cng
trnh khi cng trnh chu tc dng ca cc ti trng ng phc v bi ton kim tra
cng nh bi ton thit k. Ngoi ra mn hc cng nghin cu cc phng php xc
nh cc tn s dao ng ring ca cng trnh trnh hin tng cng hng c th xy
ra lm cho cng trnh b ph hoi do ni lc, chuyn v vv... c th tng ln rt ln.
Trong khun kh mt cun sch phc v hc tp cho sinh vin trng i hc
Thu Li vi thi lng hai tn ch, trong gio trnh ny chng ti ch trnh by cc kin
thc c bn nht ca mn hc ng lc hc cng trnh. Cun sch cng c th lm ti
liu tham kho cho sinh vin cc trng i hc k thut khc, cho cc hc vin cao hc,
v cho nhng ngi quan tm ti vic tnh ton cng trnh di tc dng ca ti trng
ng.
Do thi gian v trnh c hn, nn kh trnh khi cc thiu st trong cng vic
trnh by ni dung cun sch; chng ti chn thnh cm n cc kin ng gp ca cc
ng nghip v cc bn c gn xa.
Tc gi cng gi li cm n ti ging vin tr L Minh Dng nhit tnh tham
gia ch bn v v hnh cho cun sch ny.
H Ni, nm 2009
Tc gi

NG LC HC CNG TRNH
CHNG 1: DAO NG CA H C MT BC T DO
1.1 MT S KHI NIM C BN V L THUYT DAO NG

1.1.1 Khi nim v chu k v tn s


Xt h trn hnh 1.1. H gm khi lng M c gn vo mt im c
nh nh l xo c cng K (l phn lc pht sinh trong l xo khi l xo bin dng
mt lng bng n v). Khi lng M chu tc ng ca mt lc ng P(t) c
phng theo phng ca chuyn ng (phng y), cn chiu v tr s thay i
theo thi gian.
Khi lng M chuyn ng, lc pht sinh trong l xo
thay i lm cho vt thc hin mt dao ng c hc.
Tu thuc vo quan h gia lc l xo v bin dng
ca l xo l tuyn tnh , hay phi tuyn, m ta c bi ton dao
ng tuyn tnh hay dao ng phi tuyn.
Dao ng ca vt thun ty do lc l xo sinh ra khi M
dch chuyn khi v tr cn bng ban u (do mt nguyn
nhn bt k no gy ra ri mt i) c gi l dao ng
t do hay l dao ng ring.

0
M
y

P(t)
Hnh 1.1

Dng chuyn v ca vt M c gi l dng dao ng ring. Nu trong qu


trnh dao ng lun lun tn ti lc ng P(t), ta c bi ton dao ng cng bc.
Lc ng P(t) cn c gi l lc kch thch.
S cc dao ng ton phn ca khi lng thc hin trong mt n v thi
gian, ch ph thuc vo cc c trng c hc ca h, gi l tn s dao ng ring
hay tn s dao ng t do, v c k hiu l f. Thi gian thc hin mt dao
ng ton phn c gi l chu k dao ng, v c k hiu l T. Nu T o bng
giy (s) (trong ng lc hc cng trnh thi gian thng c o bng giy), th
th nguyn ca f l 1/s. V tr s f v T l nghch o ca nhau.

1.1.2 Dao ng iu ho v vc t quay


Sau y ta xt mt dng dao ng quan trng c gi l dao ng iu
ha. y l dng dao ng c bn thng gp trong c hc, mt khc, cc dao
ng c chu k lun lun c th phn tch thnh cc dng dao ng iu ha n
gin ny.
Xt dao ng iu ha,
S (t ) A sin t

(1-1)

v(t ) Acos t

(1-2)

a (t ) A 2 sin t

(1-3)

C vn tc

v gia tc

Ta thy rng, c th miu t


chuyn ng ny nh chuyn dch
ca im mt vc t OA (c ln
bng A) ln mt trc S no khi vc
t ny quay quanh im c nh O
vi vn tc gc .(xem hnh 1.2).

r
a
Acost
0
t

Asint

Lc ny, tr s A c gi l
bin dao ng, cn vn tc gc
c gi l tn s vng ca dao ng
l s dao ng ton phn ca h thc
hin trong 2 giy.

r
v
s

Tht vy, theo nh ngha,


T 2 ,

Hnh 1.2

nn T

2 1
,

do

2 f

Tm li, trong dao ng iu ha ta c cc quan h sau,

2
2 f
T

(1-4)

T 2

(1-5)

1 2

(1-6)

Sau ny trong tnh ton thc t, ngi ta hay dng hn f.


Kho st ba dao ng iu ha cng bin A v chu k T, nhng bin
t c cc thi im khc nhau; Cng c ngha l thi im bt u ca ba
dao ng ny l lch nhau. Ta ni ba dao ng lch pha nhau xem hnh 1.3;
T
t 0

0
t0=

T
A

a)

t
0A

A
s

S (t ) Asin t-
2

T
2
S (t ) Asin t-

b)

S (t ) Asin( t)

c)

t0

Hnh 1.3

Dao ng (c) bt u sm hn dao ng (b) mt khong thi gian t0; Ngha


l, sau khi vc t quay OA biu din dao ng (c) quay c mt gc = t0 th
dao ng (b) mi bt u. Ta ni t0 l lch pha, cn l gc lch pha (hay gc
pha). Tng t, dao ng (a) c gc pha l /2.
Cch biu din dao ng iu ha di dng vc t quay nh trn hnh 1.2,
gip ta thc hin thun tin vic hp cc dao ng iu ha. V d, xt hp ca hai
dao ng iu ha cng tn s (c th khc bin v lch pha).
S1 (t ) A1 sin t

(a)

S 2 (t ) A2 sin t

(b)

Cc vc t quay biu din cc dao ng S 1 v S2 ti thi im t no l


OA1 v OA2 nh trn hnh 1.4. Hp ca hai dao ng S 1 v S2 chnh l hp ca hai
vc t OA1 v OA2 cho ta vc t OA c ln , theo qui tc hnh bnh hnh, l
OA A

A1 A2cos

A2 sin

(1-7)

tg

v gc lch pha , m:

A2 sin
A1 A2cos

(1-8)

Nh vy, hp ca hai dao ng iu ha cng tn s l mt dao ng iu


ha cng tn s, c bin A c tnh theo (1-7) v gc lch pha c tnh
theo (1-8)
S (t ) S1 (t ) S2 (t ) Asin t+

Ch rng, nu hai dao ng thnh


phn khc tn s, th hp ca chng khng
cn l dao ng iu ha na, m ch l dao
ng c chu k (chi tit c th xem
cc ti liu tham kho).

(c)

A
A2

A2 sin

A1

A2 cos

Hnh 1.4

1.1.3 Lc cn v cc m hnh lc cn
Dao ng t do ca h do mt nguyn nhn tc dng tc thi no gy ra
ri mt i s khng tn ti mi, m s mt i sau mt khong thi gian. S d nh
vy l do trong qu trnh dao ng, h lun lun phi chu tc dng ca mt s lc
gy cn tr dao ng m ta gi l lc cn. Lc cn do nhiu nguyn nhn gy ra
nh : ma st gia cc mt tip xc m ta gi l lc cn ma st; sc cn ca mi
trng nh khng kh, cht lng hay lc ni ma st m ta gi chung l lc cn
nht.
Trong chuyn ng c hc, ngi ta thng chia lc cn thnh ba nhm
chnh:
1- Lc cn ma st c xc nh theo nh lut Culong
Rc C1.N

Trong :

(1-9)

C1 l h s ma st,

N l thnh phn php tuyn ca lc sinh ra gia hai mt tip xc khi


chuyn ng ( n ph thuc vo vn tc chuyn ng)
2- Lc cn nht tuyn tnh Newton t l bc nht vi vn tc chuyn ng
5

Rc C2 .v

(1-10)

Trong : C2 l h s cn nht
v l vn tc chuyn ng,

v = (t)

y l m hnh lc cn c dng nhiu trong thc t xy dng; v c


m t bng mt pt tng chuyn ng trong cht lng nht nh trn hnh 1.6d.
3- Lc cn t l bc cao vi vn tc (thng l bc hai). Lc cn ny
thng xy ra khi vt chuyn ng trong mi trng cht lng hay cht kh vi
vn tc tng i ln.
Rc C3 .v

(1-11)

S thay i ca ba nhm lc cn ny trong dao ng iu ha c th


hin trn hnh 1.5;
R
ng chuyn ng

1, Lc cn Culng

2, Lc cn nht tuyn tnh

3, Lc cn nht phi tuyn


2
T
Hnh 1.5: Lc cn trong dao ng iu ha

1.2

PHNG TRNH VI PHN DAO NG NGANG TNG QUT


CA H MT BC T DO

Xt h mt bc t do gm dm n hi gi thit khng c khi lng, trn


c t khi lng tp trung M, chu tc dng ca ti trng ng P(t) t ti khi
lng v c phng theo phng chuyn ng ca khi lng (xem hnh 1.6a).
Trng hp ti trng khng t ti khi lng th phi chuyn tng ng v t
ti khi lng. Mt trong cc cch chuyn tng ng nh vy s c trnh by
chi tit mc 2-4. Kt cu c t trong h ta yz nh trn hnh v.

Khi trn h cha chu tc ng ca lc ng P(t), nhng do trng lng ca


khi lng M ,( G = Mg), h c bin dng v chuyn dch ti v tr 1 nh trn
hnh 1.6a; Trng thi tng ng vi v tr ny ca h ta gi l trng thi cn bng
tnh ban u ca h. Khi h chu tc dng ca ti trng ng P(t), h s dao ng
xung quanh v tr cn bng ny. Gi s, n thi im t no , h ang chuyn
ng hng xung v ti v tr 2 nh trn hnh 1.6a;
P(t)
1

a)

y(t)

yt M

b)
y(t)

y
P=1

c)

Rh
M

P(t)

Rc (t )

P(t)

z (t )

P(t)

z
M hnh tnh

d)

f)

Hnh 1.6

Do y ta ch xt nh hng ca lc ng P(t), ng thi do gi thit bin


dng b, nn trng thi cn bng tnh ban u c th coi gn ng nh trng hp
cha c bin dng (Hnh 1.6b). Tt nhin, khi xc nh mt i lng nghin cu
no , ta phi k ti gi tr do M gy ra theo nguyn l cng tc dng.
Xt h dao ng chu lc cn nht tuyn tnh Newton, th dao ng ca h
trn hnh 1.6b c th c m hnh ha nh trn hnh 1.6d; gm khi lng M
c treo vo l xo c cng K , v gn vo pt tng chuyn ng trong cht
lng nht c h s cn C.
Xt h thi im t no ang chuyn ng hng xung cng chiu vi
lc P(t). Khi h chu tc dng ca cc lc sau: lc ng P(t); lc n hi sinh ra
trong l xo ph thuc dch chuyn y ca khi lng, Rh(y) = K.y(t), c chiu
hng ln; lc qun tnh Z(t) = -M (t) c chiu hng xung cng chiu vi

chuyn ng; v lc cn nht tuyn tnh R c = C (t) c chiu hng ln ngc vi


chiu chuyn ng (xem hnh 1.6f). H trng thi cn bng ng, nn:
Rh + Rc Z(t) P(t) = 0
&(t ) Cy&(t ) Ky (t ) P (t )
My&

Hay

(1-12)

Phng trnh (1-12) l phng trnh vi phn (PTVP) dao ng ngang tng
qut ca h n hi tuyn tnh mt bc t do chu lc cn nht tuyn tnh. Trong
, C l h s cn c th nguyn l [ lc thi gian / chiu di]; K l cng ca
h, l gi tr lc t tnh ti khi lng lm cho khi lng dch chuyn mt lng
bng n v, v c th nguyn l [lc / chiu di ].
Phng trnh (1-12) cng c th c thit lp da vo biu thc chuyn
v. Tht vy, nu k hiu l chuyn v n v theo phng chuyn ng ti ni
t khi lng (hnh 1.6c) cn gi l mm ca h mt bc t do- th dch
chuyn y(t) ca khi lng ti thi im t do tt c cc lc tc dng trn h gy ra,
theo nguyn l cng tc dng s l:
&(t ) Cy&(t )
y (t ) P (t ) My&
&(t ) Cy&(t ) Ky (t ) P (t )
My&

Hay

Trong

chnh l

(1-12)
(1-13)

c gi l cng ca h.
Gii PTVP (1-12) s xc nh c phng trnh chuyn ng, vn tc, v
gia tc chuyn ng ca khi lng; T c th xc nh c cc i lng
nghin cu trong h. Sau y ta s gii bi ton trong mt s trng hp.
1.3

DAO NG T DO-TN S DAO NG T DO ( HAY TN S


DAO NG RING )

1.3.1 Dao ng t do khng c lc cn


y l trng hp l tng ha, v trong thc t lc cn lun tn ti. PTVP
dao ng lc ny c dng n gin [cho C v P(t) trong (1-12) bng khng].
&(t ) Ky (t ) 0
My&

Hay l

&
y&(t ) 2 y (t ) 0

(1-14)

Trong

K
1
g
g

(M )
M M G yt

(1-15)

y, ta k hiu G = yt(M) , v mt ngha, n l chuyn v tnh ca khi


lng M do trng lng ca khi lng, G , t tnh theo phng chuyn ng
gy ra (xem hnh 1.6a); cn g l gia tc trng trng. Phng trnh vi phn (1-14)
c nghim tng qut l:
y (t ) A1cos t+A 2 sin t

(a)

Cc hng s tch phn A1v A2 c xc nh t cc iu kin u: Ti thi im


bt u dao ng (t=0), gi s h c chuyn v ban u yo v vn tc ban u v0
y t 0 y0 ;

v t 0 v0

(1-16)

Thay (1-16) vo (a) vi ch ; v(t ) y&(t ) A1 sin t A2cos t , ta c:


A1 = y0 ;

A2 = v0

(b)

Thay (b) vo (a) ta c phng trnh dao ng t do khng c lc cn ca h mt


bc t do:
y (t ) y0cos t+

Hay

v0
sin t

y (t ) y0 sin t+ + 0 sin t
2

(1-17)
(1-17)

iu ny c ngha l, dao ng t do khng cn ca khi lng l hp ca


hai dao ng iu ha cng tn s v lch pha /2. S dng khi nim vc t
quay, theo (1-7) v (1-8) , phng trnh (1-17) c dng n gin:
y (t ) Asin t+
v
y 0

Trong

arctg

(1-18)

2
0

y0

v0

(1-19)

Nh vy, dao ng t do ca h mt bc t do (BTD), khi khng c lc


cn, l mt dao ng iu ha, c tn s c tnh theo (1-15) , c bin v
gc lch pha c tnh theo (1-19), cn chu k dao ng c tnh theo (1-6).
9

Nhn vo (1-15) ta thy ch ph thuc yt(M), cng tc l ph thuc hay


K, ngha l ch ph thuc vo n hi ca h. Nn tn s dao ng t do cn
c gi l tn s dao ng ring ca h; N l mt c trng ca h dao ng.
Dao ng t do khng cn c dng nh trn hnh 1-3; Ph thuc iu kin
ban u m c dng (hnh 1.3a, b, hay c). V d, khi khng c chuyn v ban u
(y0 = 0), th = 0, nn dng dao ng nh trn hnh 1.3b; Khi khng c vn tc
ban u (v0 = 0), th gc pha bng /2, dng dao ng nh trn hnh 1.3a; Cn
dng dao ng trn hnh 1.3c tng ng vi khi c y0 v v0 u khc khng.
Ch : Khi khi lng c lin kt bng nhiu l xo mc song song hay ni
tip nh trn hnh 1.7, khi cng tng cng c tnh nh sau:

K1

K2

K1

K2

K1

K2

P(t)

P(t)

P(t)
k i

Hnh 1.7

V D 1.1:

C
a)
G=Mg

Trn dm n gin hai u khp, t


ti C mt khi lng tp trung M c trng
lng G = 0,75 kN nh trn hnh 1.8a; Bit
E = 2,1.104 kN/cm2; J

(1-20)

ki

kisin2

10
cm 4 ; l=1m.
12

l
4

3l
4

P=1

b)

Yu cu: Xc nh tn s vng v chu k


dao ng ring ca h. B qua khi lng c)
dm, v ly g = 981 cm/s2.

P=1

M
3
m
16
Hnh 1.8

10

Gii: Chuyn v n v tai C, theo phng chuyn ng, do lc P = 1 gy ra, theo


cng thc Maxwell Mohr l ( xem hnh 1.8b):

1
EJ

3
1 2 3
3m3
3 1

16
2 3 16
256 EJ
4 4

(a)

Chuyn v tnh ti ni t khi lng do trng lng ca khi lng gy ra l:


yt( M ) G.

3m3
2, 25kNm3
0, 75kN
256 EJ
256 EJ

(b)

Tn s dao ng ring ca h , theo (1-15) l:


981

256 2,1104 44
70, 6 s 1
2, 25 12 1003

(c)

Chu k dao ng ring tnh theo (1-6) l:


T

2 2 3,1416

0, 089 s

70, 6

(d)

V D 1.2:
Trn khung ba khp c t vt nng trng lng G (hnh 1.9a). B qua nh
hng ca khi lng khung, lc ct , v lc dc ti din dng. Hy xc nh tn
s dao ng ring theo phng ng v phng ngang ca h.
Gii: Chuyn v n v theo phng ng g, v phng ngang ng ti ni t
khi lng c tnh theo cng thc Maxwell Mohr. T cc biu m men
n v trn hnh 1.9b, v c, ta c:
l3
l l 1 2 l 1
2

4 2 2 3 4 EJ 48 EJ

(a)

h.l 2 1
h 3 h 2l
h.h 2
h l

2 3 EJ
3EJ
2 3

(b)

g
ng

Thay (a) v (b) vo (1-15) ta c tn s dao ng ring theo phng


ng v phng ngang l:
g =

48 EJg 1
Gl 3 s

ng =

G ng

3EJg
1
G h 3 h 2l s

11

P=1

P=1

G
h

(EJ=hng s)

a)

b)

c)

Hnh 1.9

1.3.2 Dao ng t do c lc cn
Khi coi lc cn t l vi vn tc, PTVP dao ng t do tng qut c dng:
&(t ) Cy&(t ) Ky (t ) 0
My&

(1-21)

Hay

&
y&(t ) 2 y&(t ) 2 y (t ) 0

(1-21)

y ta t

c
M

cng c gi l h s cn

(1-22)

Phng trnh c trng ca PTVP (1-21) c nghim l:


1,2 2 2

nn nghim tng qut ca (1-21):

y (t ) e t A1e

(a)

y (t ) A1e 1t A2e 2 t

2 2 t

A2 e

s c dng:

2 2 t

(1-23)

Chuyn ng ca khi lng, theo (1-23), ph thuc vo h s . Phn


tch tng trng hp ta thy:
1- Khi 2 2; hay C 2

KM

y(t)

Khi > ta gi l lc cn ln; cn khi


= ta gi l lc cn trung bnh (hay lc cn
gii hn). Lc ny l mt s thc; Hn na, v
nn

2 2

< , (bng khng khi = ).

Do c hai nghim tnh theo (a) u m.


Nh vy, chuyn ng ca khi lng khi lc

t
0
Hnh 1.10

12

cn ln v trung bnh , theo (1-23), l tng ca hai hm s m m. H khng giao


ng m chuyn ng tim cn dn ti v tr cn bng nh trn hnh 1.10;
2- Khi 2 < 2:
Trng hp ny c gi l lc cn b. Lc ny nghim l phc.
t
12 2 2

(1-24)

Khi nghim ca phng trnh c trng (xem (a ) s l:


1,2 i1

(b)

V phng trnh chuyn ng (1-23) tr thnh:


y (t ) e t A1ei1t A2e i2t

(1-23)

S dng cng thc Euller


ei cos i sin
e i cos i sin

(1-25)

thay vo (1-23) ta c:
y (t ) e t A1 A2 cos 1t i A1 A2 sin 1t

hay l,

Trong ,

y (t ) e t B1 cos 1t B2 sin 1t

B1 = A1 + A2 ;

B2 = i ( A1 A2 )

(1-23)

(c)

Cc hng s B1, B2 xc nh c t cc iu kin u (1-16)


B 1 = y0 ;

B2 = ( v0 + y0 ) / 1

(d)

Thay (d) vo (1-23), v li p dng khi nim vc t quay hp hai dao


ng iu ha trong du mc vung, ta c phng trnh dao ng t do ca h
mt bc t do khi lc cn b l:
y (t ) Ae t sin(1t )

(1-26)

13

Trong ,

A =

v y 0

y 0
1

2
0

= arctg (

(1-27)

y 0 1
)
v 0 y 0

Dng dao ng trong trng hp ny c th hin trn hnh 1.11;


y(t)

Ae t
A

yn+1

0
yn

T1

Ae t

Hnh 1.11 : Dao ng t do khi lc cn b

T (1-26), hay t hnh 1-11 ta thy, dao ng t do ca h mt bc t do


khi lc cn b, cng l mt dao ng iu ha c tn s vng 1 tnh theo (1-24),
v chu k T1 tnh theo (1-28)
2

T1 = =
1

2
2 2

(1-28)

song bin dao ng gim dn theo lut hm s m m : Ae -t.


nghin cu tt dn ca dao ng, ta xt t s gia hai bin dao ng
lin k nhau (cch nhau mt chu k T1). K hiu bin t c ti thi im t
no l An, cn ti thi im ( t + T1) l A n+1, th t (1-26) ta c:

An
Ae t sin 1t
e t
t T1
t T1 eT1 = hng s
An 1 Ae
sin1 t T1 e
Suy ra,

An

T1 = ln ( A

n 1

)=

(1-29)

14

Nh vy, t s gia hai bin lin k nhau l mt hng s; Cn logarit t


nhin ca t s ny, k hiu l , l mt i lng ph thuc vo h s cn v
ng nhin l c 1 ca h, dng nh gi tt dn ca dao ng , ngi ta
gi l h s cn logarit, hay l Dekremen logrit ca dao ng t do c cn b.
H s cn logarit ng vai tr quan trng trong thc t. N gip xc nh
h s cn nh th nghim o bin dao ng An v A n+1. Sau y l mt s kt
qu th nghim tm c cho mt s loi kt cu xy dng.
1, i vi cc kt cu thp
T1 = (0,016 0,08)2 0,1 0,15
--- = (0,005 0,022)2 0,03 0,15

2, i vi kt cu g

3, i vi cc kt cu b tng ct thp
T1 = (0,016 0,032)2 0,08 0,2
4, i vi cu thp

--- = (0,01 0,15 ); trung bnh 0,28

5, Vi cu b tng ct thp:

--- = 0,31

6, Vi dm b tng ct thp:

--- = (0,17 0,39 ); trung bnh 0,28

7, Vi khung b tng ct thp: --- = (0,08 0,16 ); trung bnh 0,12


So snh hai phng trnh dao ng t do khng cn (1-18) v c cn b (126) ta thy, tn s ring khi c cn b 1< khi khng c cn, cn chu k T1 > T;
C ngha l, khi c cn b, dao ng chm hn so vi khng c lc cn. Tuy
nhin, s sai khc ny cng rt nh. Do trong xy dng, do ch yu l cn b,
ngi ta thng coi gn ng 1 , v T1 T trong tnh ton.
Tht vy, ta xt mt trng hp dao ng tt kh nhanh.
V d,
Khi

An / A n+1 = 0,5.
= ln(A n/A n+1) = ln0,5 = 0,693.
= 0,693 / T1
1 =

2 2

= 0,6931 / 2 = 0,111

suy ra,
hay

= 2 0,111 2 = 0,994 .

Tr li trng hp lc cn trung bnh (cn gii hn) 2 = 2. Lc ny,

15

= T = . = 2;

Do :

An
T
=
e
= e 2 = 529.
A n 1

Ngha l bin dao ng sau mt chu k gim i 529 ln, hay ni cch
khc, khi h chu lc cn trung bnh, h gn nh khng dao ng m ch chuyn
ng tim cn dn ti v tr cn bng ban u. iu ny nht qun vi kt lun
c cp ti mc a.
1.4

DAO NG CNG BC CHU LC KCH THCH IU HO


P(t)=P0sinrt - H S NG

Phng trnh vi phn dao ng tng qut trong trng hp ny, theo (1-12) s l:
&(t ) Cy&(t ) Ky (t ) P0 s inrt
My&

Hay l

(1-30)

P0
s inrt
M

&
y&(t ) 2 y&(t ) 2 y (t )

(1-30)

Trong , P0 v r ln lt l bin v tn s ca lc kch thch; Cn v


nh k hiu trc y. y l PTVP bc hai tuyn tnh chun c v phi l mt
hm iu ha. Nghim tng qut ca (1-30) bng nghim tng qut ca PTVP
thun nht k hiu l y0(t), cng vi mt nghim ring k hiu l y1(t).
y(t) = y0(t) + y1(t)

(a)

1.4.1 Xt trng hp lc cn b:
Nghim y0(t) tnh theo (1-26), cn nghim ring y1(t) c th xc nh bng
nhiu cch, v d phng php bin thin hng s Lagrange.Song thun tin hn,
y ta gii bng phng php na ngc nh sau:
Gi thit nghim ring di dng tng qut sau
y1(t) = A1sinrt + A2cosrt
Hay l

y1(t) = A0 sin(rt - )

(1-31)

Trong r l tn s lc kch thch bit, cn A0 v l bin v gc


lch pha cha bit. R rng l nu ta tm c mt A0, v mt (1-31) tha
mn phng trnh (1-30), th (1-31) l mt nghim ring ca (1-30). Tht vy, thay
y1(t) v cc o hm ca n
y&1 (t ) rA0 cos(rt- ) v

2
&
y&
1 (t ) r A0 sin( rt )

(b)

16

vo phng trnh (1-30) ta c,


P0
s inrt
M

r 2 A0 sin(rt ) 2 rA0 cos(rt- )+ 2 A0 sin( rt )

(c)

Khai trin sin(rt-) v cos(rt-), ri nhm cc s hng c cha sinrt v cosrt ta


c:
P

sinrt -r 2 A0 cos +2 rA 0 sin 2 A0 cos - 0 cosrt r 2 A0 sin 2 rA0cos - 2 A0 sin 0 (d)


M

Biu thc (d) phi bng khng vi mi t ty ; Mun vy, cc biu thc h
s ca sinrt v cosrt phi bng khng. T suy ra:
A0 =

P0
M r cos 2r sin

(1-

32)
tg =

2r
r2
2

(1-

32)
Thay (1-32) v (1-32) vo (1-31) ta c nghim ring y 1(t); Ri li thay
(1-26) v (1-31) vo (a) ta c nghim tng qut ca PTVP dao ng (1-30) l:
y (t ) A sin(1t ) A0 sin(rt )

Trong :

(1-33)

A, tnh theo (1-27) cha cc iu kin u y0 v v0.

A 0, tnh theo (1-32) cha bin P0 v tn s r ca lc kch thch


iu ha. Phn tch (1-33) ta thy:
S hng th nht lin quan ti dao ng t do ca h. Trong thc t lun
lun tn ti lc cn. Nhng cho d lc cn l b, th phn dao ng t do ny, sm
hay mun, cng s mt i sau mt khong thi gian no . Dao ng ca h lc
ny c coi l n nh, v c biu din bng s hng th hai trong (1-33).
y (t ) y1 (t ) A0 sin(rt )

(1-34)

Nh vy, dao ng cng bc - lc cn b - ca h mt bc t do chu lc


kch thch iu ha P0 sin rt, khi n nh, l mt dao ng iu ha c cng
tn s v chu k vi tn s v chu k ca lc kch thch, cn bin A 0 v gc pha
c tnh theo (1-32).

17

Bin dao ng A0 cng thng c biu din dng khc tin li hn


nh sau:

T (1-32) ta c,

2r = [(2 r2)sin]/ cos,

ri thay vo (1-32) c:

A0 = P0 cos / M(2-r2)

(f )
1
2

Thay tnh theo (1-32) vo (f ) vi ch :

M =

Cos(artg) =

(g)

1 2

Ta c,
P0
2
2
A0 = M r

2r
1 2 2
r

P0

M r
2

r 2 2r
2

r2

hay
P0

A0 = M 2 r 2 4r 2 2
2

K hiu:

.P0 yt( P0 )

P0

r2
4r 2 2
1 2

4

l chuyn v tnh ti ni t khi lng do lc c

tr s bng bin lc ng P0 t tnh ti gy ra, v


1

K =
Th ta c

r2
1 2

4r 2 2
4

A0 yt( P0 ) .K

(1-35)
(1-32)

iu ny c ngha l, khi h chu tc dng ca ti trng ng iu ha


P0sinrt, th bin chuyn v ng A0 ln gp K ln so vi chuyn v khi P0 t
tnh gy ra. K c gi l h s ng.
H s ng cng c th c biu din qua h s cn c. c gi c th t
vit cng thc ny.

18

1.4.2 Xt trng hp khi khng c lc cn :


H s ng trong trng hp ny c dng n gin hn (cho = 0 trong
cng thc 1-35)
K =

1
r2
1 2

(1-36)

Kt qu ny cng c th tm c nh gii trc tip PTVP dao ng cng


bc khng c lc cn. c gi c th t thc hin iu ny.

1.4.3 Phn tch h s ng Hin tng cng hng


Nhn vo cng thc (1-35) v (1-36) ta thy, h s ng ph thuc vo t s r/.
a) Xt trng hp khng c lc cn:
th quan h gia h s ng v t s r/ v c nh trn hnh (1.12a) vi
ch l h s ng ch ly gi tr dng

.Ta thy rng,


Khi t s

r
0

th

K 1

th

K 0

r
1

th

Ngha l, khi tn s lc kch thch ln hn nhiu tn s ring ca h, h s


ng c gi tr nh, thm ch bin dao ng cn nh hn c chuyn v tnh do
Po gy ra. C th l gii iu ny l do khi r>, K c tr s m, v mt ngha,
iu ny c ngha l dao ng ca khi lng ngc pha vi lc kch thch (chiu
chuyn ng ngc vi chiu ca lc kch thch), nn lc kch thch chng li
chuyn ng.

19

Khi r<, K dng, ngha l dao ng ca khi lng v lc kch thch


cng pha.
Khi r , K tng ln rt ln, bin dao ng tng rt nhanh. Hin tng
ny c gi l hin tng cng hng. Trong thc t, khi t s r/ nm trong
khong t 0,75 n 1,25 , K rt ln. Vng nh vy c gi l vng cng
hng ( vng gch cho trn hnh 1.12).

4
3

=0

0,2
0,5

0,3

c
2 kM

2
0,4

0,6

1
0

0,5 0,75 1 1,25 1,5 1,75


a) Khng lc cn

=1
0,5

1,5

b) Lc cn b

Hnh 1.12: Quan h gia K v

b) Xt trng hp lc cn b:
Trong trng hp ny, K khng nhng ph thuc t s r/, m cn ph
thuc vo h s cn . Trn hnh 1.12b cho ta cc ng cong quan h ny ng
vi cc h s cn khc nhau, v thy rng:
b1- H s cn cng ln th K cng nh; Thm ch khi
C 2

KM

cng tc l

K
2M

(1-37)

h s K lun lun nh hn mt. Trng hp ring khi h s cn ly du bng


trong cng thc (1-37) c gi l h s cn l tng; v c ngha quan trng
khi ch to cc thit b o dao ng.

20

b2- Khc vi trng hp khng cn, khi c lc cn, h s ng c gi tr


ln nht khng phi khi r/ bng mt, m khi t s ny nh hn mt. Tht vy,
kho st biu thc K theo t s r/, t (1-35) hay (1-35) ta c K t cc tr khi :
dK
r
d

= 0 suy ra

1 2

2
c2
<1

2
2M 2 2

(1-

37)
(B qua bin i chi tit)
Tuy nhin s sai khc ny l nh, nn thc t vn coi gn ng K t gi tr
ln nht khi r/ 1.
1.5

H MT BC T DO CHU TI TRNG KCH NG


HM NG LC V TCH PHN DUHAMEL

Nh trnh by trong phn m u, ti trng kch ng l ti trng tc


dng vo cng trnh mt cch t ngt vi cng ln, ri gim nhanh sau mt
khong thi gian tng i ngn. Tuy thi gian
P(t)
cht ti ngn, nhng ta cng khng th b qua yu
P0
f(t)
t thi gian ny trong tnh ton.
K hiu P0 l gi tr ln nht m ti trng
t c, f(t) l hm biu din lut bin i ca ti
trng theo thi gian, cn gi l hm cht ti. Khi
c th biu din ti trng kch ng di dng
tng qut nh sau (hnh 1.13).
P(t) = P0f(t)

0
Hnh 1.13: Ti trng kch
ngng

(1-38)

Do chu ti kch ng, nn trng thi nguy him ca kt cu xy ra kh


nhanh sau khi chu ti. Bi vy, trong trng hp ny ngi ta thng b qua nh
hng ca lc cn. PTVP dao ng tng qut c dng:
&(t ) Ky (t ) P0 f (t )
My&

hay

P0
f (t )
M

&
y&(t ) 2 y (t )

(1-39)
(1-39)

C th gii phng trnh ny bng nhiu cch. y ta gii theo cch h


dn bc o hm bng cc php bin i tng ng nh sau .

21

Trc ht nhn hai v ca (1-39) vi sint, cng v tr vo v tri hm

y&(t )cos( t)

ta c:

&os t y 2 sin t yc
&os t
y&sin t yc
&

P0
f (t )sin t
M

P
d
d
y&sin t ycos t 0 f (t )sin t
dt
dt
M

Hay

(a)

Tch phn hai v ca (a) theo cn t t0 ti t ta c:

y&sin

t
t0

y cos

t
t0

t0

P0
f ( ) sin d
M

(b)

Trong l mt thi im no trong khong t t0 ti t (do cn tch


phn l t nn bin tch phn phi l )
S dng iu kin u:

y ( ) t y0 ; y&( ) t v0
0

(c)

th phng trnh (b) tr thnh:


t

y&sin t v0 sin t0 ycos t+y0cos t 0


t0

P0
f ( ) sin( ) d
M

(1-40)

Tip theo, ta li thc hin cc php tnh theo ng th t nh trn nhng


nhn hai v ca (1-39) vi cost; Sau cng v tr vo v tri hm ( y&sin t ) , ri
tch phn hai v vi cn t t0 ti t, v s dng iu kin u (c); Ta li c mt
biu thc c dng tng t (1-40):
t

&ost v0 cost0 y sin t-y 0 sin t 0


yc
t0

P0
f ( )cos( ) d
M

(1-40)

Cc phng trnh (1-40) v (1-40) ch l dng khc ca (1-39) nh cc


bin i tng ng. By gi ta li nhn hai v ca (1-40) vi cost, v vi
(1-40) l sint; ri tr hai phng trnh cho nhau, vi ch cc quan h lng
gic sau:
sin(a-b) = sina cosb - cosa sinb
cos(a-b) = cosa cosb + sina sinb

(d)

Ta c

22

y (t ) v0 sin (t t0 ) y0cos (t-t 0 )


t0

P0
f ( )sin (t ) d
M

Suy ra
P0
v0
sin (t t0 ) y0cos (t-t 0 )
M

y (t )

f ( )sin (t )d

t0

Hay
v0
P0
sin (t t0 ) yt

y (t ) y0cos (t-t 0 )

f ( ) sin (t ) d
t0

(1-41)

(P )
Trong , yt P0 l chuyn v tnh ca khi lng do lc c tr s bng
0

P0 t tnh gy ra.
(1-41) l nghim tng qut ca PTVP (1-39), trong c cha tch phn
t

K (t ) f ( )sin (t )d

(1-42)

t0

c gi l tch phn Duhamel.


Nh vy, phng trnh chuyn ng ca h mt bc t do, chu tc dng
ca lc kch ng vit di dng (1-38), l hon ton xc nh nu bit cc iu
kin u (y0,v0) v hm cht ti f(t). Khi khng c ti trng tc dng, phng trnh
(1-41) tr v phng trnh (1-18) l phng trnh vi phn dao ng t do ca h
khi khng c lc cn.
Nu iu kin u y0 =0, v v0 =0; th phng trnh chuyn ng ch cn
li s hng th ba trong (1-41).
y (t ) yt( P0 ) K (t )

(1-43)

Ch : Li gii (1-41), hay (1-43) l li gii tng qut khng nhng cho trng
hp ti trng kch ng nh trnh by trn, m cho ti trng ng bt k c th
biu din c dng (1-38).
Hm K(t) ng vai tr nh hng ca tc dng ng, n l hm ca thi
gian, c gi l hm nhn t ng hay l hm ng lc. Gi tr ln nht ca K(t)
chnh l h s ng. Trong thc t tnh ton, ta cn xc nh gi tr ln nht ny.

23

Sau y ta xt mt s dng ti trng kch ng thng gp, vi gi thit ban


u h trng thi tnh, ngha l y0 = 0, v v0 = 0. Lc ny phng trnh chuyn
ng ca h l (1-43).
P(t)

K(t)

1) Lc khng i tc ng
t ngt vo khi lng.

th hm cht ti nh
2
trn hnh 1.14a; Lc ny c:
1

P = P0
f(t) = 1 (t 0)

(a)

Nn,
t

K(t) =

2T

Hnh 1.14: Lc tc ng t ngt

sin(t-) d

= 1 cost

(b)

th hm K(t) ny nh trn hnh 1.14b, v ta c


K = max K(t) = 2
2- Ti trng kch ng dng ch nht (nh trn hnh 1.15a)
Khi 0 t t1, c P = P0, v f(t) = 1; nn theo (b)

ta c:

K(t) = 1 cost
Khi t1 t ,

(c 1)

c P = 0 , v f(t) = 0; nn theo (1-42) ta c:


K(t) =2sin(

t1
t
) sin(t- 1 )
2
2

(c2)

Trong t1 l thi gian cht ti.


Trong trng hp ny, s bin i ca hm ng lc , cng nh gi tr ln
nht ca n (K) ph thuc t1. S bin i ca K(t) theo thi gian, ng vi cc t 1
khc nhau, c th hin trn hnh 1-15b; Cn quan h gia maxK(t) = K vi t
s

t1
c th hin trn hnh 1.15c. R rng l, khi t 1 cng ln, trng hp ny
T

s tr v trng hp (1). V trong thc t, khi t 1

T
l c th coi nh trng
2

hp (1) xem hnh 1.5c; Lc ny K 2. Cn t1 cng ln th tn s cng ln.


y, T l chu k dao ng t do.
24

k(t)
2

P(t)
P
0

t1
a)
Dng cht ti

5
t1 T
4

max k(t)

T
t1
10

1
0
b)

t1

2
t

4t1 5t1

t1
T

1
0
0,2 0,4 0,6 0,8
c) Quan h gia K vi

Bin i ca K(t) ng
vi cc t1 khc nhau
Hnh 1.15

3- Ti trng tng tuyn tnh ri sau khng i (nh trn hnh 1.16a.)
t

Khi 0 t t1, c P = P0( t ); Cn f(t) = t ; Thay vo (1-42) ta c


1
1
hm ng lc trong trng hp ny l:
t

sint

K(t) = t - t = t ( 2 t )sint
1
1
1
1
Khi t1 t,

c P = P0;

Cn f(t) = 1; Nn trong trng hp ny


T

K(t) = 1 + ( 2 t )[sin(t-t1) sint]


1
Trong , T=

(d1)

(d2)

2
l chu k dao ng t do.

th bin i ca K(t) theo thi gian, ng vi cc t 1 khc nhau, nh trn


hnh 1.16b; Cn quan h gia maxK(t) = K vi t s

t1
nh trn hnh 1.16c. Ta
T

thy, khi t1 cng nh (t1 0) , n tin dn ti trng hp (1): K 2.

25

k(t) t T
1
4

t1

10T
3

max k(t)

P(t)
P

0
a)

t1

t1

b)

2t1

t1
T

0
1

3t1 4t1

c)

Hnh 1.16

4, Ti trng kch ng dng tam gic (nh trn hnh 1.17a.)


t

t1
,
2

Khi 0 t

2t

c P = 2( t )P0;
1

c:

Cn f(t) = t ; Nn theo (1-42) ta


1
K(t)

2t
t1

( t )sint
1

(f1)
Khi

2t
t1
t t1, c P = (2- t )P0;
2
1
2t

2t

Cn f(t) = (2- t ); Nn ta c:
1

K(t) = 2 t + ( t )[2sin(t- 1 ) - sint


2
1
1
Khi t1 t; c

P = 0;

(f2)

Cn f(t) = 0; Nn lc ny ta c:

K(t) = ( t )[- sin(t-t1) + 2sin(t- 1 ) sint]


2
1

(f3)

S bin i ca K(t) ng vi cc t 1 khc nhau nh trn hnh 1.7b; Cn quan


h gia maxK(t) = K vi
hn hai.

k(t) t 5T
1
4

t1

T
4

P(t)
P
t

0
a)

t1
nh trn hnh 1.17c. V ta thy K lun lun nh
T

t1

max k(t)
2

0
b)

t1

2t1

3t1 4t1

t1
T

1
0
1

c)

Hnh 1.17

Qua cc v d trn, ta c th rt ra mt s nhn xt quan trng.


26

a, Khi chu tc dng ca ti trng kch ng, h s ng c gi tr nh hn ,


hoc bng hai.
b, Khi thi gian cht ti kch ng t1 l nh so vi chu k dao ng ring, ta c
th gii gn ng bi ton vi gi thit: khi lng ch bt u chuyn ng sau
thi gian t1. Nh vy, da vo nguyn l ng lng ta c:
t

J P (t )dt Mv0 ; Suy ra


0

v0

J
M

(g)

Ngha l, c th thay bi ton h chu ti kch ng c t 1 nh, bng bi ton


h chuyn ng c vn tc ban u v 0 gii n gin hn nhiu. Li gii loi bi
ton ny c th tm thy trong cc ti liu.

***********

27

CHNG 2: DAO NG CA H C NHIU BC T DO


2.1

KHI NIM BAN U

Nh trnh by chng 1; h mt BTD c c trng bng mt dng


dao ng ring vi tn s . Tng t nh vy, dao ng t do ca h nhiu bc
t do cng c c trng bng cc tn s dao ng ring, v ng vi mi tn s
ring h c mt dng dao ng ring tng ng. Hay ni cch khc nh sau ny s
chng minh, h c bao nhiu bc t do s c by nhiu tn s dao ng ring, v
trong cc iu kin nht nh, ta c th lm cho tt c cc khi lng ti mt
thi im no - ch thc hin dao ng tng ng vi mt tn s no trong
s cc tn s ring. Nhng dng dao ng nh vy c gi l nhng dng dao
ng ring chnh, hay dng dao ng chun. Tt nhin dao ng t do ca h l
tng hp ca tt c cc dng dao ng ring ny.
Vic nghin cu cc dng dao ng ring chnh l rt quan trng v n n
gin (nh h mt bc t do); sau hp cc dao ng ny s cho dao ng tng
cng. Trong thc t ta cng gp nhiu bi ton c s BTD hu hn, bi v ngi
ta thng chuyn bi ton c v hn BTD ( gii phc tp)v bi ton c s BTD
hu hn gii n gin hn.
2.2

PHNG TRNH VI PHN DAO NG NGANG TNG QUT


CA H C n BC T DO

Xt h c n BTD, n khi lng tp trung M1,M2,...,Mn, nh trn hnh


2.1(b qua khi lng kt cu). H dao ng di tc dng ca h lc ng P 1(t),
P2(t), ...,Pn(t), trong trng hp tng qut, gi thit t ti tt c cc khi lng, v
c phng theo phng chuyn ng. Trng hp c cc ti trng khng t ti
khi lng, th ta phi chuyn tng ng v t ti khi lng (xem mc 2.4).
P1(t)
M1

M2

P2(t)

Pn(t)
.....
.
.....
.

y
y1(t)

y2(t)

Mn

yn(t)

Hnh 2.1

28

Khi dao ng, ti mi khi lng u chu tc dng ca cc ngoi lc nh


sau,
+ Ngai lc ng (nu c) Pk(t);
+ Lc qun tnh Zk(t) = - Mkk(t)
+ Lc cn Rk(t)
y, k l khi lng th k;( k = 1, 2, ,n); Cn lc n hi R h(t) khng
phi l ngoi lc. Hp ca cc ngoi lc ny , k hiu l Fk(t), th:
Fk (t ) Z k (t ) Rk (t ) Pk (t )

(a)

Gi s ti thi im t ang xt, khi lng th k chuyn ng hng xung


cng chiu vi lc P(t), th nh phn tch mc 1.2, biu thc (a) c dng:
Fk (t ) M k &
y&
k (t ) Rk (t ) Pk (t )

(b)

Di tc ng ca h lc ny, dm s thc hin dao ng . PTVP dao ng


ngang tng qut ca h cng c th thit lp c t iu kin cn bng ng vit
ti tng khi lng.
Rhk(t) Fk(t) = 0

(c)

( k = 1, 2, ,n)
Song trong trng hp ny, s dng biu thc chuyn v t ra thun tin hn.
Chuyn v ca cc khi lng ti thi im no , gi s xt khi lng
th k,
yk(t) = k1 F1(t) + k2 F2(t) +..+ kn Fn(t)

(d)

Cho k bin thin t ( k = 1, 2, , n); ta c h n PTVP chuyn ng ca


n khi lng ti thi im t l:
y1 (t ) 11 F1 (t ) 12 F2 (t ) .... 1n Fn (t )
y (t ) F (t ) F (t ) .... F (t )
2
21 1
22 2
2n n

................................................................

yn (t ) n1 F1 (t ) n 2 F2 (t ) .... nn Fn (t )

(f)

29

Hay dng ma trn,


y1 (t )
y (t )
2

....
yn (t )

11 12

22
21
.... ....

n1 n 2

....
....
....
....

1n F1 (t )

F (t )
2
2 n

....
....

F
nn n (t )

(f)

Trong , kj, (k, j = 1,2,,n) l chuyn v n v ti khi lng th k do


lc bng n v t ti khi lng th j gy ra.
K hiu cc ma trn v cc vc t nh sau:
11 12

N ....21 ....22

n1 n 2

.... 1n
M1

.... 2 n
; M
....
.... ....

.... nn

C11 C12
C
C
C

....21 ....22

Cn1 Cn 2

.... C1n
.... C2 n
.... ....

.... Cnn

y1 (t )
y (t )
y (t ) 2 ;
....
yn (t )

y&1 (t )
y&2 (t )

;
y&(t )
....

y&n (t )

M2
.... ....

;
....

M n

(2-1)

y&
&
1 (t )

&

y&(t )
y&(t ) 2
;
&
....

&
y&
n (t )

P1 (t )

P (t )
P (t ) 2
....

Pn (t )

( 2-2)

Trong , [N] l ma trn i xng, v c gi l ma trn mm ca h, gm


c cc phn t l cc chuyn v n v ti ni t cc khi lng , theo phng
chuyn ng.
[M] l ma trn khi lng , l ma trn ng cho. Cc phn t trn
ng cho chnh ln lt l cc khi lng tp trung t trn h.
[C] l ma trn cn. Vic xc nh cc phn t ca [C] kh phc tp.
Trong tnh ton thc t, ngi ta thng coi gn ng [C] t l vi ma trn cng
[K].

30

y&(t ) , ln lt l vc t chuyn v, vc t vn tc, v


y (t ) ; y&(t ) ; &

vc t gia tc chuyn ng ca h, m cc phn t ca n, ln lt l chuyn v,


vn tc, v gia tc chuyn ng ca cc khi lng.
{P(t)} l vc t ngoi lc ng, c cc phn t l cc ngoi lc ng
tc dng ti cc khi lng..
Cn

Rc (t ) R1 (t )

R2 (t ) .... Rn (t ) C y&(t )
T

(2-3)

l vc t lc cn nht tuyn tnh (t l bc mt vi vn tc ). Thay (b) kt hp vi


(2-3) vo (f) v chuyn v, ta c:
y&(t ) N C y&(t ) E y (t ) N P (t )
N M &

(f)

y, [E] l ma trn n v cp n.

Nhn bn tri (f) vi

k11 k12
k
k
1
K N ....21 ....22

kn1 kn 2

....
....
....
....

k1n
k2 n
....

knn

(2-4)

ta c PTVP dao ng ngang tng qut ca h c n BTD , cn nht tuyn


tnh,di dng ma trn nh sau:
y&(t ) C y&(t ) K y (t ) P(t )
M &

(2-5)

Ma trn [K] i xng, v c gi l ma trn cng ca h.


So snh hai phng trnh (2-5) v (1-12) ta thy chng hon ton ging
nhau v hnh thc, cho nn cch gii cng c phn tng t nhau. Tuy nhin, gii
h phng trnh (2-5) phc tp hn rt nhiu, v [M], [C], [K] l cc ma trn ch
y&(t ) l cc vc t
khng phi l cc con s nh trong (1-12), cn y (t ) ; y&(t ) ; &

hm. Sau y ta s gii mt s trng hp ring.


2.3

DAO NG T DO CA H C n BC T DO PHNG TRNH


TN S

2.3.1 Tn s v phng trnh tn s


Khi nghin cu dao ng h mt bc t do ta thy rng, khi lc cn b, tn
s ring 1 ; Bi vy, i vi h nhiu bc t do, khi nghin cu dao ng t
do, ta quan tm ch yu ti trng hp gi thit khng c lc cn.
31

Phng trnh vi phn dao ng t do lc ny c dng n gin:


y&(t ) K y (t ) 0
M &

(2-6)

Gi thit dao ng t do l iu ha, nn phng trnh dao ng t do


khng lc cn ca khi lng th k, cng nh (1-18), c dng:

v gia tc

yk (t ) Ak sin(t )

(2-7)

2
&
y&
k (t ) Ak sin(t )

(2-8)

Trong , Ak l bin dao ng ca khi lng th k, v l tn s v


gc lch pha ca dao ng.
Thay (2-8) v (2-7) vo (2-6), ri khai trin vi (k = 1, 2,,n); v t
sin(t+) lm tha s chung, ta c:

M A K A sin(t ) 0
2

Do phi tn ti dao ng, sin(t+) 0;

K A M A K M A 0
2

nn,

(2-9)

Trong , {A} = {A1, A2, ,An}T l vc t ct cha cc bin dao ng


ca cc khi lng th nht, th hai, ..., th n, v c gi l vc t bin dao
ng t do ca h. Do phi tn ti dao ng, ngha l {A} {0}. T suy ra
nh thc
D K M 2 0

(2-10)

Hay dng khai trin:

11

M 1 2
k21

k12

22

M 2 2

....

k1n

....

k2 n
....

....

....

....

kn1

kn 2

....

nn

(2-10)

M n 2

(2-10) l phng trnh bc n i vi 2. Do [K] v [M] l cc ma trn i


xng, v xc nh dng, nn gii (2-10), ta s xc nh c n nghim thc v

32

dng: 12, 22,,n2 ; cng c ngha l ta c n tn s dao ng ring vi qui c


k hiu, 1 < 2 < < n ; (cc gi tr m ca php khai cn khng c ngha
vt l nn b i). iu ny trng vi kt lun nu ra mc 2.1 ca chng: h
c bao nhiu bc t do s c by nhiu tn s ring. Phng trnh
(2-10) c
gi l phng trnh tn s.(hay cn gi l phng trnh th k). Tn s ring b
nht 1 c gi l tn s c bn, v c vai tr quan trng trong tnh ton kt cu
khi chu ti trng ng. iu ny s c sng t cc phn sau.
Phng trnh tn s (2-10) cng c th biu din qua ma trn mm.
Mun vy, ta nhn bn tri hai v ca (2-9) vi [N](

1
) c:
2

1
N M 2
2 N K
2

2 E N M

Hay

A 0

A 0

y, [E] l ma trn n v cp n, v k hiu:

(2-9)
u

1
2

(2-11)

Th t (2-9) ta suy ra phng trnh tn s biu din qua ma trn mm l,


D u E N M 0
D N M u E 0

Hay

(2-11)

hay dng khai trin:

M 111 u
D

M 1 21
....
M 1 n1

M 212
M 2 22 u
....
M 2 n 2

....
....
....
....

M n1n
M n 2 n
0
....
M n nn u

(2-11)

Nh vy, phng trnh tn s c th biu din qua ma trn cng hoc qua
ma trn mm. Tuy nhin trong thc t, ngi ta hay dng ma trn mm hn, v cc
phn t ca n c xc nh d dng hn nh cng thc tnh chuyn v
Maxwell- Mohr quen thuc.
V D 2.1
Xc nh cc tn s dao ng ring ca dm cho trn hnh 2-2a. Bit dm c
E J = hng s, M1 =M2 =M, khi tnh b qua khi lng dm.

33

Bi gii
Bi ton ny c hai BTD, nn phng trnh
tn s l nh thc cp hai sau:

11M1 u

12 M 2

22 M 2 u

21M1

=0

(a)

ik = M i M M M k
0
i

Dm cho l siu tnh, cng thc


b)
Maxwell- Mohr tnh chuyn v l
(Xem gio trnh c hc kt cu)
0
k

M1

a)

3l 3
12 21
512 EJ

3l
4
Pk=1

Mk
4

P2=1

M2
3l

32

u2

e)

Mk
l

f)

px

1
48EJ
EJ

6,9282
3
u1
Ml
Ml 3
3

7 Ml
768EJ

suy ra 2

l
Pk=1

(c)

Ml 3
48EJ

suy ra 1

32

Thay (c) vo (a) v gii phng trnh


bc hai ny i vi u ta c:
u1

M1

y, biu m men n v c thm c)


ch s 0 l trn h tnh nh (ng vi trng
thi gi to).
l

23l 3
11 22
;
1536 EJ

P1=1

(b)

Cc biu m men n v v c d)
nh trn hnh 2-2b,c,d,e; Thc hin nhn cc
biu ta c:

M2

g)

y
Hnh 2.2

1
109, 72 EJ
EJ

10, 4745
3
u2
Ml
Ml 3

Dng dao ng ng vi 1 c dng phn i xng (px) nh trn hnh 2-2f;


cn ng vi 2 l dng dao ng i xng (x) nh trn hnh 2-2g.

34

2.3.2 Dng dao ng ring v tnh cht trc giao ca cc dng


dao ng ring
A- Dng dao ng ring
Nu ta thay ln lt cc tn s dao ng ring 1, 2, ...., nvo phng
trnh (2-9), s xc nh c n vc t t s bin dao ng k hiu l{a 1},
{a2}, ....,{an} ng vi tng tn s ring. V d, ng vi tn s ring th i ta c vc
t bin dao ng {ai} c cc phn t k hiu l (a 1i, a2i, ....aki, ....ani); l bin
dao ng ca cc khi lng th (1, 2, ...,k, ...,n) ng vi tn s ring i:

ai a1i

a2 i

.... ani

.... aki

(2-12)

Cc aki (k = 1, 2, , n) l nghim ca phng trnh (2-9) sau y,


([K]-[M]i2){ai} = {0}

(2-9)

Cn ch rng, y ta ch xc nh c dng ca cc dao ng ring,


hay ni cch khc, ch xc nh c t s (quan h) gia cc bin dao ng
ca cc khi lng ng vi mt tn s c th. S d nh vy l v, (2-9) l
phng trnh i s tuyn tnh thun nht, s c v s nghim. Mun xc nh mt
h nghim no , ta phi gi thit trc mt bin a ki no lm bin c s; Sau
s gii nt (n-1) bin cn li qua bin c s a ki ny. R rng, khi cho bin c s
cc tr khc nhau ta s c cc vc t {a i} khc nhau. Tuy vy, t s gia cc
phn t trong vc t ny vi bin c s chn trc lun khng i.
Nu chn n c s ban u a ki = 1, th cc t s ny chnh l cc phn t
trong vc t (2-12). Trong thc t, ngi ta thng chn n c s ban u l
a 1i
= 1, khi vc t bin dao ng ng vi tn s ring i s l:

ai a1i 1

a2i

.... aki

.... ani

(2-12)

Trong , cc aki (k = 2, 3, ...n) l nghim ca phng trnh (2-9) ng vi a1i =1.


Cc phn t ca vc t bin (2-12) cho ta dng dao ng ca h ng vi
tn s ring th i c gi l dng dao ng ring th i (hay dng dao ng chnh
th i). Nh vy, h c bao nhiu bc t do s c by nhiu dng dao ng ring.
Nu ta t tt c cc vc t biu din cc dng dao ng ring vo trong
mt ma trn vung, k hiu l [A], th [A] c gi l ma trn cc dng dao ng
ring ca h.

35

A a1

a2

a11 1

a21
.... an

....

an1

a12 1

....
....
....
....

a22
....
an 2

a1n 1
a2 n
....
ann

(2-13)

Cng cn phi ni thm rng, (2-9) hay (2-9)l bi ton tr ring in hnh,
nn vic gii phng trnh (2-9) xc nh cc tn s dao ng ring v cc
dng dao ng ring tng ng nh trnh by trn, thc cht l xc nh cc
gi tr ring v cc vc t ring tng ng ca bi ton tr ring ny nh ta quen
thuc trong i s hc.
B- Tnh cht trc giao gia cc dng dao ng ring
Cc dng dao ng ring ca h nhiu bc t do c tnh cht trc giao.
Tht vy, xt hai dng dao ng th i v th k. Thay i v k vo (2-9) ri chuyn
v, ta c:
Vi i c:

K ai M i2 ai

(a)

Vi k c:

K ak M k2 ak

(b)

Chuyn tr (a) v ch rng, [M]T = [M]; [K]T = [K] th (a) tr thnh,

ai K i2 ai M
T

(c)

Nhn bn phi vc t {ak} vo(c), nhn bn tri vc t {ai}T vo (b) ta c:

ai K ak i2 ai M ak

(c)

ai K ak k2 ai M ak

(b)

2
2
Tr hai phng trnh cho nhau: (c) ' (b) ' i k ai

V i k, ta suy ra:

ai M ak 0
T

M ak 0
(2-14)

V mt ton hc, (2-14) l iu kin trc giao ca hai vc t {ai} v {ak},


cng tc l ca hai dng dao ng ring th i v th k. y l iu phi chng
minh.
Thc hin php nhn ma trn, iu kin (2-14) c th vit dng khai trin
nh sau:

36

M1

a1i

a2i

..... ani

....

M2
.... ....

....

M n

a1k
a 2 k
a1i M 1a1k a2i M 2 a2 k .... ani M n ank
....
a nk

a ji M j a jk 0

(2-14)

j 1

C- Chun ha cc dng dao ng ring


Nu ta thay vc t dng dao ng ring th i, {a i} bng vc t {bi} tha
mn iu kin
{bi}T[M] {bi} = 1

(2-15)

th vc t {bi} c gi l vc t biu din dng dao ng ring th i c


chun ha, hay gi ngn gn l vc t chun ha dng dao ng ring th i.
Nu t cc vc t {bi} vo trong mt ma trn vung, k hiu l [B],

B b1

b2

b11 b12
b
b
.... bn 21 22
.... ....

bn1 bn 2

....
....
....
....

b1n
b2 n
....

bnn

(2-13)

th [B] c gi l ma trn chun ha cc dng dao ng ring ca h. Lc ny


theo (2-15) ta c:

B M B E
T

(2-15)

Trong [E] l ma trn n v cp n.


S dng dng chun ha ca cc dng dao ng ring kt hp vi h ta
chnh s cho php ta chuyn vic gii bi ton c n BTD v gii n bi ton c mt
BTD n gin hn nhiu c trnh by chi tit trong chng 1.
Tht vy, xc nh {bi}, ta t
1
di

bi ai

(2-16)

Trong di l mt h s.

37

Thay (2-16) vo (2-15) ta rt ra:

di2 ai

M ai

(2-16)

K hiu ma trn
12

.... .... .... ....

n2

2
2

(2-17)

c gi l ma trn cc tn s dao ng ring, hay ma trn tn s.


Thay (2-16) vo ma trn [A] (2-13), ri thay vo (2-9) ta c:

K B M B

(a)

Nhn bn tri c hai v ca (a) vi [B]T v ch ti (2-15) ta c:

B K B
T

(2-18)

K hiu vc t {q(t)} nh sau c gi l h ta chnh,

y (t ) B q(t )

(2-19)

Thay (2-19) vo PTVP dao ng t do (2-6) ta c,

M B q&&(t ) K B q(t ) 0

(b)

Nhn bn tri (b) bi [B]T, kt hp vi (2-15) v (2-18) ta c:

q&&(t ) q(t ) 0

(2-20)

Phng trnh (2-20) l PTVP dao ng t do khng c lc cn ca h c n


BTD c vit trong h ta chnh di dng ma trn . (2-20) l mt h phng
trnh gm n phng trnh c lp (v l ma trn ng cho) m trong mi
phng trnh ch cha mt hm n. Hay ni cch khc, (2-20) l mt h gm n
phng trnh c lp c dng sau y- l dng PTVP dao ng ca h mt BTD
khng c lc cn(1-14):
2
&
q&
i (t ) i qi (t ) 0

(2-21)

( i = 1,2, ...., n)
Gii (2-21) (Xem chng 1- h mt BTD) ta c cc nghim q i(t), ri thay
vo (2-19) ta c li gii ca bi ton.

38

V D 2.2
Xc nh cc tn s dao ng ring v cc dng dao ng tng
ng ca dm conson trn c t hai khi lng tp trung nh trn hnh 2-3a.
Dm c EJ khng i v b qua khi lng dm khi tnh. Cho M =

ml
( m l
4

cng khi lng phn b)

Bi gii:
H c hai BTD. Cc chuyn v n v tnh c theo cng thc MaxwellMohr v cho kt qu nh sau:
M1=2M

a)

M2=M

2
3,05472

b)
y

3,05472

c)

0,65472
0,65472
y

1
Hnh 2-3

11

l
;
24 EJ

22

l3
;
3EJ

12 21

5l 3
48 EJ

(a)

1, Xc nh cc tn s dao ng ring
Cng nh v d 2-1, thay (a) vo phng trnh tn s (2-11) ta c mt
phng trnh bc hai i vi u, gii phng rnh ny ta c (b qua tnh ton chi
tit):
u1 0,1004

ml 4
,
EJ

suy ra

3,156 EJ
l2
m

(b)

39

v
2,

u2 0, 0043

ml 4
,
EJ

suy ra

16, 258 EJ
l2
m

Xc nh cc dng dao ng ring

Thay ln lt 1,2 (hay u1,u2) vo h phng trnh (2-9) (l h hai phng


trnh hai n) , ri gi thit trc n th nht bng 1, ta s gii ra n th hai l cc
bin chuyn ng ca khi lng th nht v th hai, cc dch chuyn ny cho
ta dng dao ng tng ng.C th:
Dng dao ng th nht: Thay u1 vo phng trnh th nht (hoc th hai)
ca (2-9) v cho a11 =1 ta c mt phng trnh cha mt bin a21 nh sau,

M 111 u1 a11 1 M 212 a21 0


Thay M1, M2, 11, 12, u1 vo ri gii ta c, a21 = 3,05472; Vc t bin dao
ng cho ta dng dao ng ring th nht l:

a1 a11

a21 1, 0 3, 05472
T

Dng dao ng ny nh trn hnh 2-3b.


Dng dao ng ring th hai hon ton tng t, thay u 2 vo (2-9) ri cho
a12 = 1, ta s gii c a22 = -0,655. Do vc t bin cho ta dng dao ng
ring th hai l:

a2 a12

a22 1, 0 0, 65472
T

Dng dao ng ring th hai nh trn hnh 2-3c.


Ma trn cc dng dao ng ring ca bi ton ny l:
a

1,0

1,0

11
12
[A] =

a 21 a 22 3,05472 0,65472

(c)

3, Chun ha cc dng dao ng ring


xc nh ma trn chun ha cc dng dao ng ring [B] ta phi tnh cc
h s di. Theo (2-16)ta c:
2

1,0

d12 = {a1}T[M]{a1} = {1,0 3,05472} 0 1 M 3,05472 = 11,33133M

Suy ra d1 = 3,3662

40

1,0

d22 = {1,0 -0,65472}


M - 0,65472 = 2,42866M, suy ra d2 = 1,55842 M
0 1

By gi li thay d1,d2 vo (2-16) s c ma trn chun ha [B] nh sau:


1

1,0

0,2971

{b1} = d {a1} =
3,3662 M 3,05472
1
0,90747

{b2} =

1
1
{a } =
d2 2
1,55842 M

1,0
0,64168

- 0,65472
- 0,42012

1
M
1
M

Ghp hai vc t b1 v b2 , ta c ma trn chun ha cc dng dao ng ring ca


h:
0,29707

0,641677

[B] = 0,90747 0,42012

1
M

(d)

2.3.3 Phn tch ti trng theo cc dng dao ng ring


Xt h c n bc t do, n khi lng M1, M2, ...., Mn; Trn c h ti trng
ng tc dng ti cc khi lng lp thnh vc t ti trng ng nh trong (2-2):
P1 (t )
P (t )
2
....

....
P(t )

Pk (t )
....

....
P (t )
n

(a)

Ta s phn tch h ti trng ny thnh cc thnh phn t ti tt c cc khi


lng tng ng vi cc dng dao ng ring, ngha l:
P11' (t ) P12' (t ) .... P1'i (t ) .... P1'n (t )
P1 (t )
'

P (t )
'
'
'
P21 (t ) P22 (t ) .... P2i (t ) .... P2 n (t )
2
..........................................................
....

....
..........................................................

'

'
'
'
P
(
t
k

)
Pk1 (t ) Pk 2 (t ) .... Pki (t ) .... Pkn (t )
....
...........................................................

....
...........................................................
P (t )
P ' (t ) P ' (t ) .... P ' (t ) .... P ' (t )
n
n2
ni
nn
n1

(b)

41

hay vit dng vc t

P(t ) P1' (t ) P2' (t ) ..... Pi ' (t ) ..... Pn' (t )

(2-22)

Trong , Pki(t) l thnh phn lc tc dng ti khi lng th k tng ng vi tn


s i (dng chnh th i). Nh vy theo (2-19), ta phn tch vc t ti trng
{P(t)} thnh tng ca n vc t ti trng tng ng vi n dng dao ng ring .
Vc t

P (t ) P (t )
'
1

'
11

P21' (t ) .... Pk'1 (t ) .... Pn'1 (t ) l h ti trng tc


T

dng ti n khi lng tng ng vi dng chnh th nht.


Vc t

P (t ) P (t )
'
2

'
12

P22' (t ) .... Pk' 2 (t ) .... Pn' 2 (t ) l h ti trng tc


T

dng ti n khi lng tng ng vi dng chnh th hai.


Tng t, ta c cc vc t ti trng tc dng ti cc khi lng tng ng
vi cc dng chnh th ba, th t, v.v. , th k, v.v., th n:

P (t ) P
'
n

'
1n

(t ) P2' n (t ) .... Pkn' (t ) .... Pnn' (t )

xc nh n vc t ny, ta phi xc nh (nn) thnh phn P ki(t)


(k, i = 1,2,,n). V Pki(t) lin quan ti khi lng th k, v dng dao ng th i,
nn ta t:
Pki' (t ) M k aki H i (t )

(2-23)

Trong :
Mk l khi lng th k
aki l bin dao ng ca khi lng th k tng ng vi dng dao ng
th i [xem (2-12)]
Hi(t) l hm tng ng vi dng chnh th i, cha bit m ta phi xc nh.
p dng (2-23) cho tt c cc khi lng, ta c vc t ngoi lc ng tc
dng ti cc khi lng tng ng vi dng dao ng th i.

42

P1'i (t ) M 1a1i H i (t )
'
P2i (t ) M 2 a2i H i (t )

..........

..........

'
Pki (t ) M k aki H i (t )

..........

...........

P ' (t ) M a H (t )
n ni
i
ni

hay dng ma trn


P1'i (t )
M1
'

P2i (t )

....
Pi ' (t ) P ' (t )

ki

....

'

Pni (t )

M2

....
Mk

....

M n

a1i
a
2i
...
H i (t )

aki
...

ani

Hay thu gn,

P (t ) M a H (t )
'

(2-24)

y, [M] l ma trn khi lng, cn {a i} l vc t (2-12) cho ta dng


dao ng th i . Thay (2-24) vo (2-22), vi (i = 1, 2, , n); ta c:

P(t ) M a1 H1 (t ) M a2 H 2 (t ) .... M ai H i (t ) .... M an H n (t )

(c)

Nhn bn tri hai v ca (c) vi vc t {ai}T, ta c:

ai P(t ) ai M a1 H1 (t ) ai M a2 H 2 (t ) .... ai M ai H i (t )
T

.... ai

M an H n (t )

(d)

Do tnh cht trc giao (2-14), nn cc s hng th 1, 2, ...,(i-1), (i+1),


(i+2),....,n trong (d) u bng khng; ch c s hng th i l khc khng.
T suy ra:

ai P(t ) ai M ai H i (t )
T

ai P(t )
H i (t )
T
ai M ai
T

hay

(2-25)

43

Thay (2-25) vo (2-24) ta c vc t ti trng tng ng vi dng dao ng th i

P (t ) M a
i

ai P(t )
T
ai M ai
T

'

(2-24)

Ch :
1- Khi s dng cng thc (2-24) cn lu : (2-24) c hai tha s, (mi
tha s c t trong du ngoc n), v phi tnh ring tng tha s; Tha s
th nht l mt vc t c n phn t; tha s th hai cho ta mt con s; Tch hai
tha s ny l mt vc t c n phn t chnh l vc t ti trng tng ng vi dng
dao ng th i.
Ln lt cho ( i= 1, 2, ..., n) vo (2-24); ta xc nh c n vc t ti trng
tng ng vi n dng dao ng ring ca h, c tch ra t h ti trng cho
ban u. C th kim tra s ng n ca php phn tch t cng thc (b), hoc
(2-22).
2- Bng cch tng t, ta cng c th phn tch chuyn v theo cc dng
dao ng ring.
Nh phn tch h ti trng cho theo cc dng dao ng ring, v nhiu
khi c chuyn v, m sau ny, khi nghin cu dao ng cng bc ca h nhiu
bc t do, ta cng c th chuyn vic gii bi ton h nhiu bc t do phc tp v
gii nhiu bi ton nh h mt bc t do n gin c nghin cu k
chng 1.
2.4

CCH CHUYN TNG NG CC TI TRNG NG T


TI CC V TR BT K TRN KT CU V T TI CC KHI
LNG

Khi trn kt cu c cc lc khng t ti cc khi lng, k hiu l P* k(t)


tc dng, gi s c m lc, lp thnh vc t:

P (t ) P (t )
*

*
1

P2* (t ) .... Pm* (t )

(2-26)

Lc ny, c th p dng cc kt qu trnh by phn trn, ta phi thay


th tng ng (chuyn tng ng) h lc ny thnh h lc t ti cc khi
lng
C nhiu cch chuyn tng ng nh vy, song ch l gn ng. Sau y
l mt trong cc cch chuyn tng ng nh vy da trn gi thit gn ng

44

cho rng: Hai h lc tng ng l hai h lc gy ra chuyn v tnh ti cc khi


lng bng nhau. K hiu vc t h lc thay th t ti n khi lng l ,

P(t ) P1 (t )
P1* (t )
M1

P2 (t ) .... Pn (t )

P2* (t )

P1 (t )

P2 (t )

M1

M2

(2-27)

Pm* (t )
.....
.

M2

.....
.
.....
.

Mn

Pn (t )
Mn

.....
.
Hnh 2.4

v
*ik l chuyn v n v ti khi lng th i do lc bng n v t ti lc
P*k(t) gy ra;
ij l chuyn v n v ti khi lng th i do lc bng n v t ti khi
lng th j gy ra. Khi , chuyn v ti cc khi lng th (1, 2, , n ) do h lc
{P*(t)} gy ra, bng chuyn v ny, do h lc thay th {P(t)} gy ra, ngha l:
y1 (t ) 11* P1* (t ) 12* P2* (t ) ... 1*m Pm* (t ) 11 P1 (t ) 12 P2 (t ) ... 1n Pn (t )
....
................................................... ................................................

* *
* *
*
*
yi (t ) i1 P1 (t ) i 2 P2 (t ) ... im Pm (t ) i1 P1 (t ) i 2 P2 (t ) ... in Pn (t )
....
................................................... .................................................

*
yn (t ) n*1 P1* (t ) n*2 P2* (t ) ... nm
Pm* (t ) n1 P1 (t ) n 2 P2 (t ) ... nn Pn (t )

(c )

K hiu ma trn sau,

N *

11* 12*
*

22*
21
.... ....
*
*
n1 n 2

.... 1*m

.... 2*m
.... ....
*
.... nm

(2-28)

Lc ny c th biu din h n ng thc (c) di dng ma trn:


N *

P (t ) N P(t )
*

(c)
45

Suy ra,

P(t ) N

N *

P (t )
*

(2-29)

Trong , [N] l ma trn mm ca h c tnh theo (2-1).


2.5

DAO NG CNG BC CA H NHIU BC T DO, KHNG


LC CN CHU LC KCH THCH IU HO: P(t)=P0sinrt

2.5.1 Biu thc ni lc ng v chuyn v ng


Xt h nhiu bc t do chu tc dng ca cc lc kch thch iu ha cng
tn s. Cng nh h mt bc t do, trong thc t lun tn ti lc cn; nn d lc
cn rt nh, th sau mt khong thi gian no , dao ng t do cng s mt i.
Dao ng ca h lc ny hon ton ph thuc lc kch thch iu ha, nn ni lc,
ng sut, v.v. cng thay i iu ha cng chu k vi chu k ca lc kch thch.
Khi h c n BTD, s c n tn s dao ng ring. Khi mt trong s cc tn
s ring xp x bng tn s lc kch thch s xut hin hin tng cng hng.
Thc t, tn s lc kch thch thng nh hn nhiu so vi tn s dao ng ring (r
<< i), nn cng hng thng xy ra vi 1, hoc 2. Bi vy, nghin cu
cng hng , ta thng quan tm ti hai tn s nh nht ny. Cc tn s ring l
nghim ca phng trnh tn s (2-10) hoc (2-11).
phc v bi ton kim tra v bi ton thit k, ta phi bit biu bin
ni lc ng v chuyn v ng.
Khi dao ng n nh (phn dao ng t do mt), h dao ng do tc
dng ca cc lc sau:
Cc lc kch thch iu ha P(t) = P0sin rt t ti cc khi lng;
Cc lc qun tnh bin i iu ha cng tn s vi tn s ca lc
kch thch, t ti cc khi lng :
Z i (t ) Z i s inrt

(a)

( i = 1, 2, , n)
Khi , i lng nghin cu S (c th l ni lc, chuyn v, phn lc, v.v.)
ti tit din K no trn h c tnh theo nguyn l cng tc dng nh sau:
S K (t ) S KP (t ) S K 1Z1 (t ) S K 2 Z 2 (t ) ... S Kn Z n (t )

(b)

46

V dao ng n nh, nn cc i lng nghin cu u bin i iu


ha theo cng mt tn s vi tn s ca lc kch thch. Bi vy, khi ti trng t
bin , th cc i lng nghin cu cng t bin , ngha l:
S K S KP0 S K 1Z1 S K 2 Z 2 ... S Kn Z n

(2-30)

Trong ,
S KP0

l tr s ca SK do bin lc ng P0 t tnh gy ra, v c xc

nh bng cc phng php c trnh by trong gio trnh c hc kt cu.


S ki

l gi tr SK do lc qun tnh Zi = 1 t tnh gy ra. (i = 1, 2, ,n)

Zi

l bin ca lc qun tnh Zi(t)

Nh vy, xc nh c Sk ta phi xc nh c cc bin lc qun tnh Zi.

2.5.2 Xc nh bin ca cc lc qun tnh


Khi b qua lc cn, phng trnh chuyn ng ca khi lng th i, theo
nguyn l cng tc dng , c dng:
yi (t ) i1Z1 (t ) i 2 Z 2 (t ) ... in Z n (t ) iP (t )

(c)

Trong , iP(t) l chuyn v ca khi lng th i do cc lc ng P(t) gy ra.


Sau khi dao ng n nh, c yi(t), Zi(t), v iP(t) u bin i iu ha vi tn
s r ca lc kch thch. Ngha l:
yi (t ) i s inrt

ng thi,
Trong ,

iP (t ) iP0 s inrt

(d)

2
&
y&
i (t ) r i s inrt

i l bin chuyn v ng ca khi lng th i ta ang tnh.


iP0 l chuyn v ca khi lng th i do bin P0 ca cc lc

ng P(t) t tnh gy ra.


Mt khc, lc qun tnh

Z i (t ) M i &
y&
i (t )

Thay (d) vo (f) ta c:

Z i (t ) M i r 2 i s inrt=M i r 2 yi (t )

Hay rt ra:

yi (t )

1
Z i (t )
M ir 2

(f)

(2-31)

47

Thay (a), (d), v (2-31) vo (c), ri chuyn v v t sinrt lm tha s


chung, ta c:

1
Z

...

i1Z1 i 2 Z 2 ... ii
sin rt 0

i
in
n
iP
0
M i r 2

(g)

V sinrt khc khng (do tn ti dao ng), nn t (g) ta rt ra c h


phng trnh dng xc nh bin ca cc lc qun tnh, khi h chu tc dng
ca cc lc kch thch iu ha v khng c lc cn, nh sau:
i1Z1 i 2 Z 2 ... ii* Z i ... in Z n iP0 0

(2-32)

( i = 1, 2, , n)
Trong ta k hiu,

1
ii* ii

M i r 2

(2-33)

( i = 1,2,,n)
Gii h phng trnh (2-32) ta c bin ca cc lc qun tnh. Nu kt
qu tnh ra dng, th chiu gi thit ban u ca lc l ng; Nu kt qu tnh ra
m, th chiu gi thit l sai v phi i ngc li. t cc lc qun tnh v cc lc
kch thch theo ng chiu , v c tr s bng bin ca chng; ta s xc nh
c i lng cn tm bng l thuyt tnh hc c trnh by trong gio trnh
c hc kt cu.
V D 2. 3
Cho dm di l = 6m, trn t hai m t, trng lng mi m t l G = 10
kN. Khi m t th nht quay vi vn tc n = 450 v/pht to ra lc ly tm P 0 = 5
kN. Xem hnh 2.5a.
Yu cu : Xc nh cc tn s dao ng ring, v v biu bin m men
ng, v biu m men tng cng ca dm. Bit dm c: J = 8880 cm4;
E = 2,1. 104 kN/cm2; Ly g = 981cm/s2 v b qua khi lng v trng lng ca
dm trong tnh ton.

48

P(t)=P0sinrt
M1

a)

M2

G1

b)

2
P0l
9
c)

d)

G2

l
P0

54,855

58.41

M Po

M t( M )

kNm

20

20

P1=1

2
l
9

Md
kNm

M1
P2=1

M2

M tc
kNm

78.41

74,855

2
l
9
Hnh 2.5

Gii:

1, Xc nh cc tn s dao ng ring

H c hai bc t do, nn phng trnh tn s, theo (2-11) c dng


M 111 u
M 1 21

M 212
0
M 2 22 u

(a)

T cc biu m men n v trn hnh 2.5c v d; ta tnh c theo


Maxwell-Mohr:
11 22

4l 3
;
243EJ

12 21

7l 3
486 EJ

(b)

Thay (b) vo (a) v gii, ta c:


Ml 3
u1
;
486 EJ

12

Nn
Thay

5Ml 3
u2
162 EJ

1 162 EJ

;
u2
5Ml 3

22

1 486 EJ

u1
Ml 3

(c)

G 10kNs 2
kNs 2

1, 02
; l 6m v EJ vo (c), ta c
g 9,81m
m

1 52,5s 1

2 203s 1

49

2, Xc nh bin cc lc qun tnh


H phng trnh xc nh bin hai lc qun tnh Z 1 v Z2, theo (2-32), trong
trng hp ny l,
11* Z1 12 Z 2 1P0 0

(d)

*
21Z1 22 Z 2 2 P0 0

Tn s lc kch thch r = 2n/60 = 50 s -1; ng thi thay l, E, J vo (b) ta


tnh c:
11 = 22 = 1,908.10-4
Thay M, r, 11 vo (2-25) c:

m
;
kN

12 = 21 = 1,67. 10-4

*11 = *22 = - 2,013.10-4

m
kN

m
;
kN

(b)
(f)

(n v ca ik trong (b) v (f) c gii thch v d 4- 1)


Cn 1P , v 2P c th tnh c t cc biu m men n v trn cc
0

hnh 2.5c v d, v biu M P trn hnh 2.5b; Tuy nhin y c th tnh n


0

gin hn, bi v:
1P0 P0 .11 5kN .1,908
2 P0 P0 . 21 5kN .1, 67

m
9,54.104 m
kN

m
8,35.104 m
kN

(g)

Thay (f), (g) vo (d) v gii h phng trnh ny ta c:


Z1 = 25,98 kN;

Z2 = 25,65 kN

(h)

3, V cc biu ni lc yu cu
C hai cch v biu bin m men ng
a, Cch v trc tip:
Theo cch ny, ta t vo h cc lc c tr s bng bin cc ngoi lc
ng v bin cc lc qun tnh, ri tnh ton nh vi bi ton tnh di tc
dng ca cc lc ny.

50

b, Cch v theo nguyn l cng tc dng:


Theo cch ny , biu bin m men ng c v theo cng thc (2-30)
M M 1.Z1 M 2 .Z 2 M P

(i)

Kt qu cho trn hnh 2.5e;


(P )
So snh hai biu : M v M t M P
0

ta thy rng, trong trng hp

tng qut, h s K ti cc tit din khc nhau l khc nhau. Nh vy, khc vi h
mt bc t do, i vi h nhiu bc t do, ta khng c mt h s K chung cho tt
c cc tit din ; cng nh khng c mt h s K chung cho tt c cc i lng
nghin cu. Tuy nhin nh sau ny s thy, n gin trong tnh ton , ng thi
thin v an ton, i vi mt i lng nghin cu ta cng c th dng mt h s
K chung, l K ca tit din c tr s K ln nht. V d trng hp ang xt,
h s ng c tr s ln nht i vi m men l ti tit din t khi lng M2:
Max K =

58,855
3,335

= 16,4.

Thm ch, nhiu khi ngi ta cn dng mt h s K chung cho tt c cc


i lng. Lc ny h s ng c tnh theo cng thc (1-36) i vi h mt bc
t do, m ta ly tn s ring b nht 1 tnh ton.
c, Biu m men tng cng:
Trc khi ng c t ti khi lng th nht hot ng, trong dm c
ni lc do trng lng ca hai ng c gy ra. Biu m men ny v c nh
trn hnh 2.6f. (k hiu l Mt(M)). R rng, khi ng c lm vic, m men ln nht
xut hin trong dm s l tng ca hai biu ny, v ta gi n l biu m men
tng cng.
Mtc = M + Mt(M)

(k)

Kt qu nh trn hnh 2.5g.


Ch :
Ta cng c th gii bi ton bng cch phn tch ti trng iu ha cho ra
n h ti trng tng ng vi cc dng dao ng ring (vi bi ton ang xt n=2)
ri gii bi ton nh h mt bc t do. Cch lm ny s c trnh by mc tip
theo y.

51

2.6 DAO NG CNG BC CA H NHIU BC T DO, KHNG


LC CN, CHU LC KCH THCH BT K P(t)
Trong trng hp ny, ta c th gii bi ton bng nhiu cch.
Cch 1: Ta phn tch ti trng bt k thnh cc hm iu ha di dng chui
lng gic, ri gii bi ton nh c trnh by mc 2.5. Khi ti trng ng
P(t) c chu k T, th c th phn tch thnh chui lng gic nh sau:
P (t ) a0 a1 s inrt+a 2 s in2rt+...+a k sin krt .... b1cosrt+b 2 cos2rt+...+b k coskrt+... (2-34)

Trong ,

r=

(c gi l tn s c bn ca lc kch thch)
T

1
a0 =
T

P t dt
0

k
ak =
T

P t

sinkrt dt

(2-

34)
bk =

k
T

P t coskrt dt
0

Cch 2: S dng h ta chnh a h n BTD v n bi ton h mt BTD.


Xt trng hp khng lc cn, PTVP dao ng tng qut c dng:
y&(t ) K y (t ) P (t )
M &

(2-35)

Nhn bn tri (2-35) vi [B]T , v ch ti (2-19) ta c:

B M B q&&(t ) B K B q(t ) B P(t )


T

Hay

q&&(t ) q(t ) B P(t )


T

(2-35)

Phng trnh (2-35) l mt h gm n phng trnh c lp c dng nh


dng PTVP dao ng ca h mt BTD (1-39);

[iu ny cng c ni ti khi nghin cu dao ng t do im (c) ca mc


2.3.2]
2
&
q&
i (t ) i qi (t ) Bi1 P1 (t ) Bi 2 P2 (t ) .... Bin Pn (t )

(2-36)

52

( i = 1, 2, ...., n)
Trong , Bij (i, j = 1,2,....,n) l cc phn t ca ma trn chun ha B .
Nghim ca phng trnh (2-36) c biu din qua tch phn Duhamel
(1- 41) nh bit mc (1- 5). Thay cc nghim q i(t) vo (2-19) ta c li gii
ca bi ton.
Cch 3: Da vo (2-24) ta phn tch vc t ti trng {P(t)} theo cc dng chnh,
sau gii n bi ton nh h mt BTD c trnh by chng mt.C th l:
( B qua cc bin i chi tit):
Phng trnh chuyn ng ca khi lng th k di tc dng ca h lc
ng {P(t)} l:
n

yk (t ) aki Si (t )

(2-37)

i 1

Trong Si(t) l nghim ca PTVP sau:


&(t ) 2 S (t ) H (t )
S&
i
i i
i

(2-38)

y Hi(t) c tnh theo cng thc (2- 25), cn a ki l thnh phn th k ca


vc t bin dao ng ca dng chnh th i. (xem 2-12); phng trnh vi phn
(2-38) c dng nh ca h mt BTD, nghim tng qut ca n c biu din qua
tch phn Duhamel (1-41) nh c trnh by trong mc 1-5.

************

53

Chng 3
3.1

DAO NG NGANG CA THANH THNG


C V HN BC T DO

PHNG TRNH VI PHN TNG QUT DAO NG NGANG


CA THANH THNG

Mt h kt cu thc t lun lun c v hn bc t do. Xt on thanh thng


c t trong h ta (yz). Xt trng hp tng qut thanh c tit din thay i
vi khi lng phn b cng m(z), chu tc dng ca h lc ngang phn b
cng q(z,t) nh trn hnh 3.1a..
Dao ng ngang ca h ti thi
im no , chnh l v tr ng n
hi ca n ti thi im xt. Phng a)
trnh ng n hi khi h chu tc
y
dng ca ti trng ng, ph thuc
hai bin l z v t, ngha l:
y = y(z,t)

(a)

q(z,t)
z

b)

Mi quan h gia ng n
hi ca trc thanh c tit din thay
i vi ti trng ngang phn b trn
thanh, trng hp ti trng tnh,
c nghin cu trong gio trnh Sc c)
bn vt liu:

Z(z,t)
Rc(z,t)

Hnh 3.1

d2
d2
EJ

y z q z

2
2
dz
dz

(b)

Vi qui c trc y hng xung l dng, cn ti trng hng ln l dng.


Trng hp ti trng ng th:

z 2

2
EJ
(
z
)
y ( z , t ) p ( z , t )

2
z

(3-1)

54

y, p(z,t) l tng ti trng ngang tc dng trn dm (chiu hng ln l


dng). Khi dao ng, gi s ti thi im t h ang chuyn ng hng xung
cng chiu vi trc y, ngoi lc kch thch q(z,t), thanh cn chu tc dng ca h
lc qun tnh phn b :
Z ( z , t ) m( z )

V lc cn phn b:

R(z,t)

2
y( z, t )
t 2

(ngc chiu chuyn ng)

(c)
(d)

P( z , t ) q( z , t ) Z ( z , t ) R( z, t )

Do ta c:

P ( z , t ) q ( z , t ) m( z )

hay l

2
y ( z, t ) R( z , t )
t 2

(3-2)

Thay (3-2) vo (3-1) ri chuyn v, ta c PTVP dao ng ngang tng


qut ca thanh thng c tit din thay i l:
2
z 2

2
2
EJ
(
z
)
y
(
z
,
t
)

m
(
z
)
y ( z, t ) R( z , t ) q( z , t )

z 2
t 2

(3-3)

Trng hp ring, khi tit din thanh l hng s, th phng trnh (3-3) c
dng n gin hn:

2
2
2
EJ
y ( z, t ) m 2 y ( z, t ) R( z , t ) q( z, t )
2
2
z
z
t

(3-3)

Trng hp dao ng t do th v phi ca (3-3) hay (3-3) bng khng.


Sau y ta gii PTVP (3-3) trong mt s trng hp ring.
3.2

DAO NG T DO KHNG C LC CN CA THANH THNG


TIT DIN HNG S - TNH CHT TRC GIAO CA CC DNG
DAO NG RING

3.2.1 Phng trnh vi phn dao ng t do khng c lc cn


Phng trnh vi phn dao ng trong trng hp ny, theo (3-3) l:
4
m 2
y
(
z
,
t
)

y ( z, t ) 0
z 4
EJ t 2

(3-4)

y l PTVP o hm ring cp bn thun nht, nghim ca n c th c


biu din di dng tch bin nh sau:
y ( z , t ) y ( z ) s (t )

(3-5)
55

Thay (3-5) vo (3-4) ta c:


EJ d 4 y z
d 2S t
S t
y z 0
m dz 4
dt 2

Hay chuyn v c:
EJ 1 d 4 y z
1 d 2S t

m y z dz 4
S t dt 2

(f)

Hai v ca (f) ph thuc hai bin khc nhau nn chng ch bng nhau khi c
hai v cng c gi tr bng mt hng s no , gi s k hiu l 2. Nh vy, t
(f) ta c th biu din PTVP o hm ring cp bn (3-4) bng hai PTVP thng
(ch ph thuc mt bin).

d 2 S (t )
2 S (t ) 0
dt 2

(3-6)

d 4 y z m 2

y z 0
dz 4
EJ

(3-7)

Nh , thay cho gii mt PTVP o hm ring (3-4) phc tp, ta gii hai
PTVP thng (3-6) v (3-7) n gin hn nhiu.

3.2.2

Gii PTVP (3-6)-Xc nh quy lut dao ng t do

Phng trnh vi phn (3-6) chnh l PTVP dao ng t do, khng lc cn,
ca h mt bc t do (1-14) c trnh by trong chng 1, nn nghim tng
qut ca n theo (1-18) s l:
s (t ) Asin( t+ )

Hay

s (t ) sin( t+ )

(3-8)

y ta cho A = 1; S d lm c nh vy, bi v t (3-5) ta thy bin


dao ng chnh l hm y(z). Bi vy sau ny ta gp A nm trong y(z) lun
[xem(3-5)]. Theo (3-8), dao ng t do ca h c v hn BTD cng l dao ng
iu ha.

3.2.3 Gii PTVP (3-7) Xc nh tn s dao ng ring v dng


dao ng ring
Nghim ca (3-7) l hm y(z) s cho ta bin dao ng, cng chnh l
dng dao ng ring ca h. Do thanh c tit din khng i, nn (3-7) l PTVP
thng cp bn c h s l gng s; Nghim tng qut c dng:
56

y ( z ) a1e 1 z a2 e 2 z a3e 3 z a4e 4 z

(g)

Trong a1, a2, a3, a4 l cc hng tch phn, cn 1, 2, 3, 4 l nghim ca


phng trnh c trng ca PTVP (3-7) nh sau:

Nn ta c:

4 k4 = 0,

vi k hiu

1,2 = k;

k4 =

m 2

EJ

(3-9)

3,4 = ik

(h)

Thay (h) vo (g) ta c nghim ca PTVP (3-7) l:


y ( z ) a1e kz a2 e kz a3eikz a4 e ikz

(i)

S dng quan h
Chx

1 x x
e e
2

Shx

1 x x
e e
2

(k)

Th (i) tr thnh:
y ( z ) Achkz Bshkz Ccoskz+Dsinkz

(3-10)

Trong , A, B, C, D, l cc hng tch phn, c xc nh t cc iu kin


bin nh sau:
a, Ti gi ta khp c:

vng

y(z) = 0;

m men M(z) = 0 =>

v
d 2 y z
=0
dz 2

b, Ti ngm cng c:

y(z) = 0 v gc xoay (z) =

c, Ti u t do c:

M men M(z) = 0 =>


Lc ct

d y z
dz

=0

d 2 y z
= 0;
dz 2

(3-11)
v

d 3 y z
Q(z) = 0 =>
=0
dz 3

thun tin cho tnh ton sau ny , ta t:


A=

C1 C3
C C4
C C3
C C4
; B= 2
; C= 1
; D= 2
2
2
2
2

(3-12)

Khi nhim (3-10) c dng:

57

y ( z ) C1 Akz C2 Bkz C3Ckz C4 Dkz

(3-13)

Trong ta k hiu cc hm nh sau:


Akz =

ch kz cos kz
;
2

Bkz =

sh kz sin kz
;
2

Ckz =

ch kz cos kz
;
2

Dkz =

sh kz sin kz
;
2

(3-14)

cn c gi l cc hm nh hng c mt s tnh cht c bit. Hn na, gi tr


ca bn hm ny ng vi cc gi tr khc nhau ca (kz) bin thin t [0,0] n
[6,5] ( l khong bin i thc t) c tnh sn v lp thnh bng tra sn.
1, Tnh hon v vng quanh ca cc o hm.
Akz
Akz = k Dkz
Bkz = k Akz

Bkz

Dkz

(m)

Ckz = k Bkz
Dkz = k Ckz

Ckz

C th minh ha tnh cht ny trn hnh v bn cnh. Du () l k hiu


php o hm theo bin z. Da vo tnh cht ny, cc o hm ca y(z) c dng rt
n gin.

y '( z ) ( z ) k C1 Dkz C2 Akz C3 Bkz C4Ckz

M (z)

y ''( z )
k 2 C1Ckz C2 Dkz C3 Akz C4 Bkz
EJ

Q( z )

3
y '''( z )
k C1 Bkz C2Ckz C3 Dkz C4 Akz
EJ

(3-15)

2, Ti ta z = 0, gi tr cc hm bit:
A(0) = 1,

cn

B(0) = C(0) = D(0) = 0;

(n)

Nh vy, nghim tng qut ca PTVP o hm ring (3-4) nh sau:


y ( z , t ) C1 Akz C2 Bkz C3Ckz C4 Dkz sin(t )

(3-5)

58

xc nh cc hng tch phn trong (3-13), ta s dng cc iu kin bin


(3-11) nu bit cc lin kt ta; Cn trong trng hp tng qut, ta c cc iu
kin ti ta z = 0 c gi thit nh sau:
y(0) = y0; y(0) = y0; y(0) = -

M0
;
EJ

y(0) = -

Q0
EJ

(3-16)

Cc gi tr (y0, y0, M0, Q0), c gi l cc thng s ban u. Thay (3-16)


vo (3-13) v (3-15), kt hp vi (n), ri gii h bn phng trnh ny ta c:
C 1 = y0

; C2 =

y '0
k

; C3 =

M0
k 2 EJ

; C4 =

Q0
k 3 EJ

(3-

17)
Thay cc hng tch phn tnh theo (3-17) vo (3-13) v (3-15) , ta c cc
biu thc biu din dng dao ng (bin dao ng) ca chuyn v, gc xoay,
m men, v lc ct ti tit din c ta z bt k trn kt cu.
y0'
M
Q
Bkz 2 0 Ckz 3 0 Dkz
k
k EJ
k EJ
M
Q
y '( z ) y0 kDkz y0' Akz 0 Bkz 2 0 Ckz
kEJ
k EJ
Q
M ( z ) EJy0 k 2Ckz EJy0' kDkz M 0 Akz 0 Bkz
k
3
' 2
Q( z ) EJy0 k Bkz EJy0 k Ckz M 0 kDkz Q0 Akz
y ( z ) y0 Akz

(a )

(b)

(3-17)

(c )

(d )

R rng, (3-17) cho php ta xc nh c cc i lng cn thit tnh


dao ng t do ca thanh . Mt khc, tn ti dao ng, y(z) phi khc khng,
cng c ngha l, bn thng s ban u trong (3-16) khng th ng thi bng
khng. Hay ni cch khc, h bn phng trnh iu kin bin xc nh bn
hng s C1,C2,C3 C4, c nh thc cc h s phi bng khng. iu kin ny dn
ti mt phng trnh siu vit dng xc nh thng s k cng tc l phng
trnh xc nh -, m ta gi l phng trnh tn s. Do tnh cht chu k ca
cc hm siu vit, nn phng trnh tn s s c v s nghim (k 1, k2, v.vk );
Thay cc ki vo (3-9) ( i = 1, 2, , ), ta s xc nh c v s cc tn s dao
ng ring i, ( tun theo k hiu: 1 < 2 < < i < ). Nh vy, h c v s
bc t do s c v s tn s dao ng ring. Li thay cc i, (ki), vo phng trnh
(3-17) ta li xc nh c v s dng dao ng ring tng ng. Tt nhin, dao
ng t do ca h l tng ca cc dao ng ring ny. Ngha l (3-13) c dng chi
tit nh sau:

59

i 1

i 1

y ( z ) yi ( z ) C1i Aki z C2i Bki z C3i Cki z C4i Dki z

(3-13)

Lc ny,

y ( z , t ) yi ( z ) si (t )

hay

i 1

y ( z , t ) C1i Aki z C2i Bki z C3i Cki z C4i Dki z sin(t )

(3-5)

i 1

y cc [C1i, C2i, C3i, C4i ] c tnh theo cc biu thc (3-17), trong
phi thay k bng cc ki. Tng t, ta c cc biu thc y(z,t); M(z,t); Q(z,t).
Ch :
Trong thc t, ch c tn s ring b nht, hay hn na l tn s ring th
hai, th ba l c ngha . Cc tn s cao hn khng c ngha thc t, v c th
n khng hnh thnh do bn thn chng gy nhiu lon cho nhau; hoc chng c
hnh thnh nhng gy ra bin rt nh.

3.2.4 Xc nh tn s dao ng ring ca cc dm mt nhp


Trc ht, ta xt dao ng ca a)
dm n gin c mt u ngm cng v
mt u t do, tit din hng s, nh trn
hnh 3.2a (dm conson)

m=hng s

b)

1, Xc nh cc thng s ban u:

Ti u ngm (z = 0) ta c:
c)

y0 = 0; y0 = 0;
cn M0 0; Q0 0; cha bit

2, Xc nh cc tn s dao ng ring.
d)
Ti u t do (z = l) ta c:
Ml = 0; Ql = 0

(a)
0,774l

(b)

Thay (b) vo (3-17c,d), ng thi


s dng cc thng s ban u (a) ta c h
phng trnh sau:

0,5l

0,368l
Hnh 3.2

60

(m l k hiu cng khi lng phn b)

Q0
Bk 1 0
k

kM D Q A 0
0 k1
0 k1

M 0 Ak1

A kl
kD

kl

hay dng ma trn

1
Bkl
k
A kl

M0

0
Q0

(c)

Do phi tn ti dao ng, nn M0, v Q0 phi khc khng. Do t (c) ta


suy ra nh thc
D=

A kl
kD kl

Bkl
k 0 ;
A kl

Thay cc biu thc (3-14) vo ta c:

D chk1 cosk1 sh 2 k1 sin 2 k1 0 ;


2

D chk1.cosk1+1=0

hay

(d)

(d) l phng trnh tn s ca bi ton ang xt, l phng trnh siu vit
nn s c v s nghim. Nh ni chng hai, i vi h nhiu BTD, quan
trng nht l hai, hay ba tn s u tin. y ta gii gn ng phng trnh (d)
xc nh c ba nghim u tin nh sau (khng trnh by chi tit cch gii
phng trnh ny):

tng t ta c

k1 l 0,6 1,88;

suy ra

1 =

3,515
l2

k2 l 1,49 4,68;

suy ra

2 =

22
l2

3 =

61,7
l2

EJ
m
EJ
m
EJ
m

3, Xc nh cc biu thc bin dao ng, bin ni lc ng


Thay ln lt cc i vo h phng trnh (c), kt hp vi iu kin u , s
xc nh c M0, v Q0. Li thay M0, Q0 vo (3-17) s xc nh c cc biu
thc bin dao ng, bin gc xoay ng, bin m men ng ,bin lc
ct ng. Ba dng dao ng u tin cho trn hnh 3.2b, c, d.

61

i vi cc dm mt nhp khc, cch lm hon ton tng t, v ta thy cc


tn s dao ng ring c th c biu din bng mt cng thc chung c tnh
cht tng qut nh sau:
i =

Bi
l2

EJ
m

(3-18)

Trong Bi l mt h s. Trong phn ph lc c bng (3-1) cho cc gi tr


Bi (i= 1, 2, 3, 4) v cc dng dao ng tng ng vi bn tn s c bn u tin
ca mt s dm mt nhp hay gp.
Bng 3.1 ( xem phn ph lc ).

3.2.5 Tnh cht trc giao ca cc dng dao ng ring


Cng nh h c hu hn BTD, cc dng dao ng ring ca h v hn BTD
cng c tnh cht trc giao.
Tht vy, t PTVP dao ng t do (3-4), xt trng hp tng qut khi tit
din thay i, c dng:
2
z 2

2
2

EJ
(
z
)
y
(
z
,
t
)

m
(
z
)
y ( z, t )

2
2

(3-19)

Xt hai dao ng ring th i v th k. Phng trnh dao ng tng ng,


theo (3-5) l,
yi ( z , t ) yi ( z )sin(i t i )

(a)

yk ( z, t ) yk ( z )sin(k t k )

(b)

Thay (a) vo (3-19) , ri chia hai v cho sin(it+i) ta c,

d2
d2
EJ

y i z m z i2 y i z

2
2
dz
dz

(c)

Nhn hai v ca (c) vi dng dao ng th k,[ yk(z)], ri tch phn trn ton
b chiu di thanh, ta c,
l

yk z
0

d2
dz 2

EJ z

d2
y i z dz y k z m z i2 y i z dz
2
dz

0
l

(c)

62

Tnh tch phn bn tri bng phng php tch phn phn on ta c,

2
i

m z y k z yi z dz EJ z

d2
d2

y
z
y i z dz
k
dz 2
dz 2

(d)

Lm hon ton tng t vi dng dao ng th k, ngha l thay (b) vo


(3-19) ri bin i tng t, ta c quan h cng c dng nh (d):
l

2k m z y k z y i z dz EJ z

d2
d2

y
z
y i z dz
k
dz 2
dz 2

(f)

Tr hai phng trnh (d) v (f) cho nhau, v ch i k, ta rt ra:


1

m( z ) y ( z) y ( z)dz 0
i

(3-20)

y l iu phi chng minh: quan h (3-20) l iu kin trc giao ca hai


dng dao ng ring th i v th k. Thay (3-20) vo (d) hoc (f) ta cn rt ra,
l

EJ z
0

d2
d2

y
z
y k z dz 0
i
dz 2
dz 2

(3-21)

d2
d2
0 yi z dz 2 EJ z dz 2 y k z dz 0
l

(3-21)

Cn trng hp c bit khi, i = k, ta c:


l

2k m z y k z dz y k z
0

d2
dz 2

EJ z

d2
y k z dz
2
dz

(3-21)

Da vo tnh cht trc giao ny, ta c th phn tch ti trng q(z,t), chuyn
v y(z,t) theo cc dng dao ng ring. Nh , c th chuyn bi ton dao ng
cng bc ca h v hn BTD v gii cc bi ton dao ng cng bc h mt
BTD nh s nghin cu cc phn sau

3.2.6 Phn tch ti trng theo cc dng dao ng ring


Cng nh (2-15), ta phn tch ti trng q(z,t) thnh cc thnh phn tng
ng vi cc dng dao ng ring nh sau:

q ( z, t ) qi ( z, t )
i 1

(3-22)

Trong , qi(z,t) l thnh phn ti trng tng ng vi dng dao ng th i,


nn n lin quan ti yi(z). Do ta c th biu din qi(z,t) di dng sau,
63

qi ( z , t ) m( z ). yi ( z ).H i (t )

(3-23)

y Hi(t) l hm cha bit cn phi tm. Cch lm hon ton nh mc


2.3.3; Thay (3-23) vo (3-22), ri nhn hai v vi y i(z). Tip theo ta tch phn hai
v trn ton b chiu di thanh c:
1

m( z) y ( z ) H (t ) dz

q( z, t ) yi ( z )dz yi ( z )

i 1

khai trin v bn phi ta c,

m( z ) y ( z ) y ( z )dz m( z ) y ( z ) y ( z )dz ... m( z ) y ( z ) y ( z )dz


... m( z ) y ( z ) y ( z )dz ...
i

H i (t )

(3-22)

Do tnh cht trc giao (3-20), tt c cc s hng trong (3-22) u bng


khng, tr s hng th i; nn t (3-22) ta c
l

q( z, t ) y ( z )dz
i

H i (t )

m( z ) y ( z )
i

(3-24)

dz

Thay (3-24) vo (3-23), v cho i bin thin t i = 1, 2, ... ta c cc


thnh phn ti trng tng ng vi cc dng dao ng ring.
l

q( z, t ) y ( z )dz
i

qi ( z , t ) m( z ) yi ( z ). l

m( z ) y ( z )
i

(3-23)

dz

3.2.7 Dng chun ca cc dao ng ring


Nhn vo (3-23) ta thy hm ti trng qi(z,t) khng thay i nu ta nhn
vo hm yi(z) mt s bt k. Nh vy, nu ta chn mt s thch hp nhn vi y i(z)
c hm mi k hiu l yi z , sao cho mu s ca (3-23) bng mt, ngha
l:

m z y z
l

dz 1

(3-20)
th dng dao ng c biu din bng hm yi z ny c gi l dngchun ca
dao ng ring . Tng ng vi dng chun, hm ti trng c dng n gin:
64

qi ( z , t ) m( z ) y ( z ) yi* ( z )q ( z , t )dz
*
i

(3-23)

V hm

H i (t ) yi* ( z )q( z , t )dz

(3-24)

Ch :
a, Trng hp trn thanh c cc lc tp trung P j(t) tc dng. Lc ny ta c
th lm gn ng bng cch thay lc tp trung bng h lc phn b tng ng.
Nh vy,(b qua bin i chi tit) ta c hm Hi(t) nh sau:

P t y z
n

Hi(t) =

j1

m z y z
i

(3-25)
2

dz

Cn ng vi dng chun,

P t y z
n

H i(t) =

j1

(3-

25)
y, n l s lc tp trung, cn zj l ta ca im t lc tp trung Pj(t);
b, Khi trn h c c lc phn b q(z,t), v cc lc tp trung P j(t) tc dng,
th hm Hi(t) c xc nh theo nguyn l cng tc dng.
3.3 DAO NG CNG BC KHNG C LC CN CA THANH
THNG TIT DIN KHNG I

3.3.1 Trng hp lc kch thch phn b bt k q(z,t)


Xt trng hp ti trng mt thng s, ngha l c th biu din ti trng
theo (1-38) nh sau,
q ( z, t ) q ( z ) f (t )

(3-26)

Trong :
q(z) ch ph thuc ta khng gian z, biu din qui lut bin i
ca ti trng theo chiu di thanh, c gi l hm ti trng c s.

65

f(t) ch ph thuc thi gian t, nh trong (1-38), c gi l hm cht


ti. Lc ny, PTVP dao ng (3-3), khi b qua lc cn, s l:
2
z 2

2
2
EJ
(
z
)
y
(
z
,
t
)

m
(
z
)
y ( z , t ) q ( z ) f (t )

2
2

(3-27)

Li biu din nghim ca PTVP (3-27) di dng tch bin


y ( z , t ) y ( z ) S (t ) v cng nh khi nghin cu dao ng t do, nu ta phn tch
bin dao ng theo cc dng dao ng ring, th:

y ( z , t ) yi ( z ) Si (t )

(3-28)

i 1

y, hm ch ph thuc thi gian Si(t) m ta cn tm, cn c gi l ta


khi qut. xc nh Si(t), ta thay (3-28) vo (3-27); sau nhn hai v vi
yk(z) , ri tch phn trn ton b chiu di thanh:
l

yk z
0

d2
dz 2

i 1

EJ z

d2
y i z Si t dz
2
dz

d2
y

Si t dz

i
2
0 k
dt
i 1

y z q z f t dz
k

(a)

Ch ti tnh cht trc giao (3-20) v (3-21), cng vi cc quan h (3-21) , v


(3-21), phng trnh (a) tr thnh (c gi t bin i):

q z yi z dz

d2
Si t + i2 Si(t) =
2
dt

f t

m z y z dz

hay = Ki f(t)

(3-29)

Trong k hiu h s
l

q z y z dz
i

Ki =

m z y z
i

(3-30)

dz

Khi dng dao ng l chun th:


l

Ki =

q z y z dz

(3-30)

66

Phng trnh vi phn (3-29) c dng nh PTVP dao ng (1-39)ca h


mt BTD, khng c lc cn, chu lc kch thch bt k nghin cu chng 1.
Xt trng hp, trc khi chu lc kch thch, h trng thi tnh (y 0 = v0 = 0), th
nghim ca (3-29) c biu din qua tch phn Duhamel tng t (1-41) nh sau,
Si (t )

Ki
i

f ( )sin (t )d
i

(3-31)

( i = 1, 2, )
Kt lun:
gii bi ton dao ng cng bc, trc ht phi gii bi ton dao ng
t do xc nh cc tn s ring i v cc dng dao ng ring y i(z). Sau thay
vo (3-30) xc nh cc Ki, ri li thay vo (3-31) xc nh cc S i(t). Cui
cng, thay cc Si(t) tnh theo (3-31) vo (3-28), ta s nhn c li gii ca bi
ton.

y ( z , t ) yi ( z )
i 1

Ki t
f ( ) sin i (t )d
i 0

(3-28)

C y(z,t) ta c th xc nh c cc i lng nghin cu khc nh: gc


xoay, m men un, lc ct, bng cch o hm y(z,t) theo bin z.

3.3.2 Trng hp lc kch thch phn b u quy lut iu ho


q(z,t) = q0sinrt
Nu thi im ban u h ng yn, ngha l, y0 = v0 = 0; th y l
trng hp ring ca li gii (3-28), trong ta ch vic thay hm f() bng hm
l

sinr; Cn Ki =

q 0 y i z dz
0

m z y z
i

. Tuy nhin , y l trng hp thng gp trong

dz

thc t, nn s c trnh by chi tit hn y.


Nh ni chng mt v hai, do tn ti ca lc cn, nn khi dao ng
n nh, dao ng ca h hon ton ph thuc vo lc kch thch. Trng hp
lc kch thch iu ha, th dao ng cu h khi n nh cng thay i iu ha
vi chu k bng chu k ca lc kch thch. Ngha l,
y ( z , t ) y ( z ) s inrt

(3-32)
67

Hm bin dao ng y(z) do ti trng ng gy ra, hon ton xc nh


c t phng trnh (3-13). Song y ta s gii trc tip t PTVP dao ng
ca h li t ra n gin hn.
Tht vy, thay (3-32) v o hm bc hai ca n vo PTVP (3-3), ri chia
hai v cho EJsinrt, b qua lc cn, ta c PTVP sau,
q
d4
y z k 4 y z 0
4
dz
EJ

(3-

33)
k4 =

Trong k hiu
Nghim ring ca (3-33) l (

mr 2
EJ

(3-34)

q0
); Nn nghim tng qut ca (3-33) l:
k 4 EJ

y ( z ) C1 Akz C2 Bkz C3Ckz C4 Dkz

q0
k EJ

(b)

Cn cc o hm ca y(z) vn hon ton nh (3-15) [do s hng cui trong


(b) l hng s]. Li s dng cc iu kin bin (3-16) , ta xc nh c:
q
C 1 = y0 4 0 ;
k EJ

y0'
C2 =
;
k

C3 =

M0
k 2 EJ

C4 =

q0
k 3 EJ

(c)

Thay (c) vo (b) v (3-15) ta c biu thc bin dao ng, v biu thc
bin ni lc ng khi thanh chu lc kch thch phn b u theo lut iu ha
q0sinrt l:
y0'
M
q
Bkz 2 0 Ckz Q0 Dkz 4 0 ( Akz 1)
k
k EJ
k EJ
M
Q
q
y '( z ) ky0 Dkz y0' Akz 0 Bkz 2 0 Ckz 3 0 Dkz
kEJ
k EJ
k EJ
Q
q
M ( z ) EJy ''( z ) k 2 EJy0Ckz kEJy0' Dkz M 0 Akz 0 Bkz 02 Ckz
k
k
q
Q( z ) EJy '''( z ) k 3 EJy0 Bkz k 2 EJy0' Ckz kM 0 Dkz Q0 Akz 0 Bkz
k
y ( z ) y0 Akz

(d1)
(d 2)

(3-35)
(d 3)
(d 4)

Trong h s k c tnh theo (3-34).


th ca cc hm trong (3-35) cho ta cc biu bin chuyn v v ni
lc ng ca thanh . Gi tr ca cc hm (A kz,Bkz,Ckz,Dkz) ng vi cc tr khc

68

nhau ca kz c cho trong cc bng tra sn phn ph lc, s gip ta v cc


biu ny.
Ch :
Trng hp ti trng
Pasinrt
phn b trn nhiu on khc
qn+1sinrt
nhau, cc phng trnh (3-35)
Masinrt
q sinrt
ch p dng cho on u tin. n
Cc phng trnh ca cc on
tip theo c th vit c da
z=a
vo phng php truy hi kiu
on n
on (n+1)
thng s ban u quen
thuc trong sc bn vt liu.
Hnh 3.3
Xt hai on thanh th n v
(n+1) c phn chia ti ta z = a. Trn mi on c lc ng phn b u qn
sinrt, v q(n+1) sinrt tc dng. Ti ranh gii gia hai on c lc tp trung Pasinrt,
v m men tp trung Masinrt tc dng (xem hnh 3.3), vi qui c: lc hng ln
l dng, m men dng khi quay thun chiu kim ng h. Khi cng thc
truy hi c dng nh (3-36) (b qua chng minh)
ya'
M
P
q
yn 1 ( z ) yn ( z ) ya Ak ( z a )
Bk ( z a ) 2 a Ck ( z a ) 3 a Dk ( z a ) 4 a Ak ( z a ) 1
k
k EJ
k EJ
k EJ
M
P
q
yn' 1 ( z ) yn' ( z ) k ya Dk ( z a ) ya' Ak ( z a ) a Bk ( z a ) 2 a Ck ( z a ) 3 a Dk ( z a )
kEJ
k EJ
k EJ
P
q
M n 1 ( z ) M n ( z ) k 2 EJ yaCk ( z a ) kEJ ya' Dk ( z a ) M a Ak ( z a ) a Bk ( z a ) 2a Ck ( z a )
k
k
q
Qn 1 ( z ) Qn ( z ) k 3 EJ ya Bk ( z a ) k 2 EJ ya' Ck ( z a ) kM a Dk ( z a ) Pa Ak ( z a ) a Bk ( z a )
k

( f 1)
( f 2)
( f 3)
( f 4)

Trong , ya, ya, qa, l bc nhy ca bin vng, gc xoay, v


cng lc phn b ti ta z = a ( nh trong sc bn vt liu); Cc v d
minh ha cch p dng phng php ny s c trnh by cui chng.
Qua ni dung c trnh by y v chng hai ta thy rng, trng
hp lc kch thch bt k, ta nn phn tch ti trng theo cc dng dao ng ring
tnh s n gin hn; Cn trng hp lc kch thch iu ha, ta khng nht
thit phi phn tch ti trng, m c th nhn c kt qu nh cc biu thc (335) v (3-36) (vi h v hn BTD), hay (2-22) kt hp vi (2-24) (vi h hu hn
BTD).

69

3.3.3 Trng hp lc tp trung P(t)


Gi s trn thanh c lc ng tp
trung t ti ta , z = a , c biu a)
din dng:
P (t ) Pf (t )

P(t)=Pf(t)
z

(a)

nh trn hnh 3.4a,.Ta thay th tng b)


ng lc tp trung bng on ti trng
phn b u cng q(z) trn on
thanh di z nh trn hnh 3.4b. Hp ca
hai h lc bng nhau, nn ta c:
P lim q ( z )z q( z )dz

q(z)
q(z)
z

(b)

z 0

z
Hnh 3.4

Py i a

Thay (b) vo (3-30) ta c:

Ki =

m y z
i

(3-

dz

37)
Trng hp ring, khi P(t) l lc iu ha:
P(t) = P sin rt

(b)

Lc ny PTVP dao ng (3-29) s l,


d2
S (t ) i2 Si (t ) K i s inrt
2 i
dt

(3-38)

Phng trnh (3-38) c dng nh PTVP (1-30) khi b qua lc cn, trong
Ki vn c tnh theo (3-37) ng vai tr ca (

P0
), nn nghim tng qut ca
M

n, khi dao ng n nh, c dng hon ton nh (1-34); ngha l,


Si(t) =

Ki
sin rt
K i

(3-39)

70

Trong k hiu,

Ki

()

r2
= ( 1 2 )
i

(3-40)

Li thay (3-39) vo (3-28), ta c phng trnh dao ng tng qut ca h


v hn BTD chu lc kch thch iu ha tp trung Psinrt l:

y(z,t) =

Ki

y z K
i 1

sin rt

(3-

41)
Phn tch (3-40) v (3-41) ta li rt ra c nhn xt nh ni ti
chng hai. Hin tng cng hng s xy ra khi tn s lc kch thch r trng vi
mt tn s dao ng ring i bt k.
Ch :
a, Trng hp tit din thanh thay i th, EJ v m, trong cc cng thc
trn phi c thay bng EJ(z) v m(z).
b, Trng hp lc ng bin i iu ha, c hai cch gii bi ton:
Cch th nht: S dng cng thc truy hi (3-36) kt hp vi (3-35) t ra
rt c hiu qu nh c cc bng tra sn cc hm nh hng.
Cch th hai: Phn tch ti trng theo cc dng dao ng ring tnh. Lc
ny s dng cng thc (3-28) nu ti trng l phn b, cn ti trng tp trung ta
dng cng thc (3-41).
V D 3-1:
Cho dm n gin hai u khp di 2m, c EJ = 16 .10 7 kNcm2 = hng s;
trng lng bn thn q = 1kN/m. Dm chu lc ng P(kN)sinrt t gia nhp nh
trn hnh 3.5a. ( y m l m v o chiu di- mt)
Yu cu: V biu bin chuyn v ng ,v m men ng. Khi tnh ly
gn ng: g = 10

m
; 2 = 10 v r = 400 s-1.
s2

Bi gii: Bn tn s ring u tin cng vi bn dng dao ng tng ng


cho trong bng 3.1 phn ph lc. Li gii tng qut cho kt qu:
i =

i22
l2

EJ
m

(a)

71

yi(z) = fi sin

i
z
l

(b)

Do lc ng bin i iu ha, nn c th gii bi ton bng hai cch nh


ch trn. Song y ch trnh by cch gii p dng cng thc truy hi
(3-35) v (3-36).
Cch gii bi ton da vo ti trng c phn tch ra cc dng chnh, c
gi c th t thc hin.
1, Trc ht thit lp biu thc ca y(z) v M(z).
Xt on th nht AC
c (0 z

P(t ) P sin rt
a) A

l
= 1m)
2

B
C

Cc thng s ban u:

(c)
c)
(x)

(d)

0,3063P
72.10-5P

p dng (3-36) f1, f3 c:

M t( P )
m
0,25P

Hnh 3.5

(f)

yt( P )
cm

kN

0,5P

P
M 2 ( z ) M1 ( z) B
k k

l
z
2

f)

P
D
k EJ k
3

104.10-5P

d)

l
) z (l = 2m)
2

y2 ( z ) y1 ( z )

Xt on th hai CB

0,5798P

y1 ( z )

c (1m =

86.10-5P

0
Q
Bkz 3 0 Dkz
k
k EJ
Q
M 1 ( z ) kEJ 0 Dkz 0 Bkz
k

124.10-5P

Thay (c) vo (3-35) d1, d3 c,

y (x)

q0 = 0

b)

y0 = 0; y0 = 0 =?; M0 = 0; Q0 = ?;

l
z
2

Thay (d) vo (f) v s dng cc iu kin bin:


Ti B (z = l) c:

yl = y2(z=l) = 0; v

Ml = M2(z=l) = 0;

(g)

ri gii h hai Phng trnh iu kin bin ny,v k hiu


72

kl

(3-42)

ta c,
0 = y0 = P
k 2 EJ

D B B D
2

B 2 D 2

(h)
Q0 = P

B B D D
2
2

B D

Li thay (h) vo (d) v (f) ta c biu thc bin chuyn v ng v m


men ng ca on mt v hai. Tuy nhin trng hp ang xt, do tnh i
xng, ta ch cn vit cho on mt l .
P
y1(z) =
2k 2 EJ

Bkz C D kz A
2

A 2 C 2
2

(i)
P
M1(z) =
2k

Bkz A D kz C
2

A 2 C 2
2

2, V biu bin chuyn v ng v m men ng. Thc cht l v


th ca cc hm trong (i).
T cc s liu cho ta tnh c,

k4 =

1
mr 2
= 10 -8(
), suy ra
cm 4
EJ

K = 10 -2 cm -1, nn = kl = 2 v
Tra bng cc hm Kpo c:

A/2 = A1 = 1,04169;
C /2 =

= 0,50139;

= 1.

B/2 = 1,00833;
D/2 = 0,16686;

Thay cc gi tr ny vo (i) ta c,
cm

y1(z) = 0,00374823P[0,50139B 0,01z 1,04169D 0,01z]


kN
73

M1(z) = 59,97174P[1,04169B 0,01z 0,50139D 0,01z] (cm) (j)


v th ca (j), ta tnh gi tr ca hm ti mt s mt ct cng nhiu
cng chnh xc.
y ta tnh cho ba mt ct:
+ Ti z = 0 (khp A) c: y(z=0) = 0; v M(z=0) = 0;
+ Ti z =

l
= 50cm, ngha l kz = 0,01z = 0,5; tra bng c:
4

A = 1,00261; B = 0,50026; C = 0,12502; D = 0,02484; thay vo (i) c:


y1(z=
+ Ti z =

l
) = 0,00086 P cm/kN;
4

M1(z=

l
) = 30, 625576 P cm;
4

l
= 100cm, ngha l kz = 0,01z = 1; Tra bng c:
2

A = 1,04169; B = 1,00833; C = 0,50139; D = 0,16686; Thay vo (i) c:


y1(z=

l
) = 0,001243476 P cm/kN;
2

M1 (z=

l
) = 57,974992 P cm;
2

Da vo cc gi tr ca y v M tnh c trn, ta v c biu bin


chuyn v ng v m men ng nh trn hnh 3.5 b, v c.
tin so snh vng v ni lc m men ln nht pht sinh trong dm
hai trng hp:cht ti tnh v cht ti ng, trn hnh 3.5d, v f, ta v thm
ng trc vng, v biu m men do bin ca lc ng , P , t tnh gy ra .
T c gi c th t rt ra cc nhn xt quan trng v cn thit.

3.3.4 Dao ng cng bc khng cn ca dm mt nhp, tit din


khng i, chu tc ng ca ti trng v dch chuyn gi ta bin i
iu ho.
Sau y ta s tnh dao ng ca cc dm mt nhp chu tc dng ca cc
nguyn nhn khc nhau bin i theo qui lut iu ha. Tn s dao ng t do ca
dm mt nhp c nghin cu mc 3.2.4; y ch yu trnh by cch v
biu bin ni lc ng phc v bi ton kim tra v thit k cc dm; ng
thi chng cng l cc phn t mu tnh dao ng ca cc khung v dm nhiu
nhp, chu ti trng ng iu ha, bng phng php chuyn v s c trnh by
chng 5.

74

1- Dm n gin hai u khp chu tc dng ca M(t) = M sinrt t


u tri dm
Bi ton ch mt on, nn ch cn dng phng trnh (3-35) l . Cc
thng s ban u gm:
y0 = 0; y0 = 0 = ?, M0 = M; Q0 = ? ;q0 = 0;

(a)

Thay (a) vo (3-35) c:


y( z)

M (t ) M sin rt

0
Q
M
Bkz 2 Ckz 3 0 Dkz
k
k EJ
k EJ

M ( z ) kEJ 0 Dkz MAkz

(b)

Q0
Bkz
k

(b)

l
Hnh 3.6

Cc iu kin bin xc nh y0 , v Q0 l:
Ti z = l c:

yl = 0; v

Ml = 0;

(c)

Thay (c) vo (b) v (b) ri gii h hai Phng trnh ny ta c,


0 = y0 =

B C A D
;
k EJ
B 2 D 2
M

Q0 = kM

DC A D
B 2 D 2

(3-43)

Li thay (3-43) vo (b) v(b) ta c phng trnh ca y(z) v M(z).


2. Dm hai u ngm , ngm bn tri xoay gc (t) = sin rt.

(t ) s inrt

Cc thng s ban u: Ti z = 0,
y0 = 0; yo = 0 = ; M0 = ?; Q0 = ?

(a)

Cc iu kin bin cui dm,


Ti z = l c:

yl = 0; v yl = 0.

(b)

Hnh 3.7

Thay (b) vo (3-35) ri gii h hai phng trnh ny ta c:


EJ
B C AD
2
M0 =
;
l
C B D

2
EJ 2 B A D
Q0 = 2
l
C 2 B D

(3-44)

Li thay (3-44) vo (3-35) ta s c cc hm bin chuyn v, gc xoay,


m men, lc ct ca bi ton.

75

Nu ngm bn phi xoay, lm tng t ta c:


Mo =

EJ
D
2
,
l
C B D

Q0 =

EJ
2C

l 2 C 2 B D

(3-45)

3. Dm ngm bn tri, khp bn phi; Ngm tri dch chuyn thng ng


(t) = sin rt.
Cc thng s ban u:
Ti z = 0 c,
y0 = ; y0 = 0 = 0; M0 = ?; Q0 = ?

(a)

(t)

Cc iu kin bin cui dm


xc nh M0, v Q0 l:

(t ) sin rt
l
Hnh 3.8

Ti z = l c:
yl = 0 v

Ml = 0;

(b)

Li thay (b) vo (3-35) ta s gii ra c:


EJ 3 A B C D
M0 = 2
;
l
B C A D

EJ 3 C 2 A 2
Q0 = 3
l
B C A D

(3-46)

Thay (3-46) vo (3-35) ta s vit c cc biu thc cn tm.


Tt c cc trng hp dm mt nhp chu cc tc dng ng bin i iu ha
khc nhau cng c tnh tng t. Cc kt qu c cho trong phn ph lc.

*************

76

CHNG 4: CC PHNG PHP TNH GN NG


TRONG NG LC HC CNG TRNH
Cc phng php tnh gn ng trong ng lc hc cng trnh c th phn
thnh ba nhm chnh:
-

Nhm th nht l cc phng php nng lng. Cc phng php nng lng
da vo nguyn l bo ton nng lng c hc c pht biu nh sau: Ti
mi thi im ca h dao ng. tng th nng v ng nng ca h lun lun
l mt hng s:
T + U = hng s
Trong :

(4-1)

T l ng nng ca h.
U l th nng ca h.

C th gii bi ton bng cch p dng trc tip phng trnh (4-1), hoc da vo
cc phng trnh Lagrange, hay nguyn l Hamilton.
Cc phng php nng lng s d cho kt qu gn ng v phi gi thit
trc dng dao ng ca h
-

Nhm th hai l nhm cc phng php chuyn h v hn bc t do v


h c s bc t do hu hn gii. Cc phng php chnh thuc nhm ny l:
Phng php khi lng tp trung, phng php bin dng tp trung v
phng php phn t hu hn (PTHH).

Nhm th ba l nhm cc phng php gii gn ng phng trnh vi


phn dao ng ca h, m in hnh l phng php sai phn hu hn, phng
php ri rc ha ton t vi phn, hay phng php Butnop-Galookin.

Phng php sai phn hu hn, phng php ri rc ha ton t vi phn v


phng php phn t hu hn cn c gi chung l phng php s-v kt qu
tnh ton l cc con s.
Trong khun kh thi lng ca mn hc, trong ti liu ny ch trnh by
mt s phng php c bn.

77

4.1 CC PHNG PHP NNG LNG:

4.1.1 Phng php Rayleigh:


Phng php Rayleigh p dng trc tip nguyn l bo ton nng lng
(4-1) xc nh tn s dao ng ring ca h dao ng. Ta nhn thy rng, vi
gi thit dao ng t do l iu ho, th khi h dao ng ti v tr cn bng ban
u, th nng ca h bng khng, cn vn tc t cc i; cn khi h v tr bin
chuyn ng th vn tc chuyn ng bng khng-cng tc l ng nng bng
khng, cn th nng t cc i. iu ny c ngha l:
Tmax U max

(4-2)

A- Xt trng hp h c s bc t do hu hn (n bc t do):
Nu k hiu ak a1k

... ank (xem 2-12)


T

a2 k

l vc
t cha bin dao ng ca cc khi lng th 1, 2,...., n tng ng vi tn s
dao ng ring th k (dng dao ng ring th k) th vi vt liu n hi tuyn
tnh ta c:
Th nng cc i bng:

U max

1
T
ak K ak
2

(1)

(4-3)
ng nng cc i bng:

1
T
Tmax k2 ak M ak
2

(2)

trong : K l ma trn cng ca h, cn M l ma trn khi lng. Thay (43) vo (4-2) ta c tn s dao ng ring th k:

a K ak
k T
ak M ak
T

2
k

(4-4)

R rng l nu bit dng dao ng ring th k, ak , ta s xc nh c tn s


ring tng ng. Tt nhin dng dao ng ring ny ta phi gi thit trc.
B- Trng hp khi lng phn b-h c v hn bc t do:
Vi gi thit dao ng t do l iu ho, th phng trnh dao ng chnh
thc th k c dng:
78

yk ( z, t ) yk ( z ) sin(k t )

(4-5)

Theo Sc bn vt liu, i vi cu kin chu un khi b qua nh hng ca


lc ct v lc dc, th nng bin dng c tnh theo cng thc sau:
U

M i2 ( z )
1
dz

2 i li EJ i

(4-6)

Theo (4-5) dao ng t bin khi sin(k t ) 1 .


Mt khc, M k ( z ) EJyk'' ( z, t ) EJyk'' ( z )sin(k t ) , nn khi dao ng t
bin th M k ( z ) EJyk'' ( z ) (xt v tr s)
U max

nn

(a)

1
EJ i yk'' ( z )

2 i li

dz

(4-7)

Ti v tr cn bng vn tc t cc i; m vk ( z, t ) yk ( z )k cos(k t ) nn
Vkmax yk ( z )k

(b)

Lc ny ng nng cc i
1
2
Tmax k2 yk ( z ) m( z )dz
2
i li

(4-8)

Trong : m(z) l cng khi lng phn b theo chiu di thanh.


Khi trn h, ngoi khi lng phn b m(z), cn c cc khi lng tp
trung Mj (j=1, 2,...., n), th tng ng nng ca cc khi lng tp trung s l
1
Tmax k2 M j yk ( z j )
2
j

(4-9)

y Mj l khi lng tp trung th j, cn yk(zj) l bin dao ng ca


khi lng th j tng ng vi tn s ring th k.
Thay (4-7), (4-8), (4-9) vo (4-2) ta c:

2
k

EJ
i

y ( z )
k

li

li

yk'' ( z )

dz

m( z )dz M j yk ( z j )

(4-10)

Trong i l on th i c chiu di l li.

79

Cng thc (4-10) l li gii tng qut c th p dng xc nh tn s dao


ng ring th k cho dm, vm,.. thm ch c tm v...k c khi tit din thay i.
Thc t l dng dao ng ring th nht thng rt gn vi dng bin dng gi
tnh tng ng. Bi vy, ngi ta thng dng cng thc (4-10) xc nh tn s
c bn 1, lc ny ta ly ng bin dng gi tnh tnh ton.
Vi cc tn s bc cao, do rt kh gi thit c mt dng dao ng gn
st vi thc t, nn t c tnh theo (4-10).
V D 4-1:
Xc nh tn s dao ng ring th
nht ca dm conson c tit din hng s v
0
chiu di l .

q=hng s
z

Ta gii bi ton trong hai trng hp.

y( z)

1) Ly dng ng n hi ca trc y
dm do ti trng phn b u t tnh gy ra
lm dng dao ng ring th nht.

ql 4
4 z z 4
1

8 EJ
3l 3l 4

l
Hnh 4-1

Theo hnh (4-1) ta c:

4z z 4
y1 ( z ) A0 1 4
3l 3l

4 z 2
4
l

y1'' ( z ) A0

Khi :

(a)

(b)

Trong : A0 l mt h s.
Thay (a); (b) vo (4-10) v ch l M j=0, v k hiu m l cng khi lng
phn b u v A0 b trit tiu, ri tin hnh tch phn ta c:
2

4 z 2
0 l 4 dz
l

12

Suy ra:

EJ
m l

4z z
0 1 3l 3l 4 dz
4

3,5301 EJ
l2
m

16
3 EJ 162 EJ
5 l

104 m
13 ml 4
l
405

(c)

80

So snh vi li gii chnh xc:

3,516
l2

EJ
, sai s 0,4%.
m

2) Ly dng ng n hi ca trc dm do lc tp trung t tnh ti u t


do gy ra lm dng dao ng ring th nht.
P

Theo hnh (4-2) ta c:

3z
y1 ( z ) A0 2
l

0
z 3

l 3

Pl 3
3z
y( z )
2
6 EJ
l

(d)
y

6 z
3
l

y1'' ( z ) A0

z 3

l 3

(f)

Hnh 4-2

Li thay (d); (f) vo (4-10) ri tch phn ta c:


l

6 z
0 l 3 dz

12
3 EJ 140 EJ
l

3 2
33
m
11 ml 4

3z z
l
0 2 l l 3 dz 35

EJ
12
m l

hay

3,568 EJ
; Sai s 1, 48%
l2
m

Qua v d trn ta thy, ly dng bin dng gi tnh ca h do trng lng


bn thn gy ra lm dng dao ng chnh th nht cho kt qu tng i chnh xc
i vi tn s ring 1.

4.1.2 Phng php Rayleigh-Ritz:


Nh thy phn trn, chnh xc ca li gii ca Rayleigh ph thuc
vo chnh xc ca dng dao ng m ta gi thit, v thng thng l ln hn
gi tr thc. nng cao chnh xc ca li gii (4-10), nm 1911, Ritz pht
trin li gii ca Rayleigh da trn gi thit c bn cho rng: Hm biu din dng
dao ng l t hp ca nhiu hm s cho kt qu chnh xc hn so vi ch mt
hm nh Rayleigh. Vi cch chn hm nh th ny, khng ch tn s c bn, m
cc tn s bc cao ta cng c th tnh c mt cch kh chnh xc v d dng. V
mt l thuyt, s lng hm s dng cng nhiu, kt qu cng chnh xc-song
cng cn lu rng, khi s lng hm kh ln, th vic tng s lng hm s
khng cn lm tng nhiu chnh xc ca li gii na.

81

Theo Ritz hm biu din dng dao ng ring c dng:


n

y ( z ) C11 ( z ) C2 2 ( z ) ... Cnn ( z ) Cii ( z )


i 1

Trong :

(4-11)

Ci l cc h s
i(z) l cc hm tho mn cc iu kin bin ca bi ton.

Nh ni, li gii ca phng php nng lng cho kt qu ln hn gi


tr thc. gim bt sai s, Ritz kin ngh lm cc tiu ho tn s tnh theo
(4-10) bng cch chn cc h s Ci trong (4-11) sao cho t cc tiu, ngha l

0
Ci

(4-12)

(i=1, 2,...., n)
y l mt h phng trnh i s tuyn tnh cha n l v cc h s Ci.
Gii bi ton tr ring ny, ta s xc nh c cc .
V d, xc nh tn s dao ng ring ca dm chu un, ta thay (4-11)
vo (4-10), khi phng trnh (4-12) c dng:
l


Ci
Ci

EJ

y '' ( z )

m y( z )

dz
0

(a)

dz

Thc hin php o hm ca mt thng, ta c:


l

m y( z ) dz
0

EJ y '' ( z )
Ci 0

dz EJ y '' ( z )

dz

2
m y ( z ) dz 0

Ci 0

(b)

Mt khc, t (4-10) ta c:

m y( z )
0

dz EJ y '' ( z )

dz

(c)

Thay (c) vo s hng th hai ca (b) ta c:

82

m y( z ) dz
2

EJ y '' ( z )
Ci 0

dz 2 m y ( z ) dz
2

2
m y ( z ) dz 0

Ci 0

(b)

Chia hai v ca (b) cho m y ( z ) dz ta c:


2

Ci

EJ y ( z )
l

''

2m y( z)

dz 0

(4-13)

(i= 1, 2, ...., n)
H phng trnh (4-13) l dng chnh tc ca h phng trnh (4-12) khi
hm biu din dng dao ng ly theo (4-11).
Thc hin php vi phn, (4-13) cho ta mt h phng trnh tuyn tnh thun
nht vi n l C1, C2,..., Cn v . T iu kin tn ti dao ng, hay ni cch khc,
ma trn cc h s phi khng suy bin, ta thu c phng trnh tn s l phng
trnh bc n i vi 2. Gii phng trnh ny ta s c n tn s dao ng ring.
V D 4-2:

S dng phng php Rayleigh0


Ritz xc nh cc tn s dao ng
ring ca dm conson di l, b rng
khng i bng n v, cn chiu cao y
bin i theo quy lut bc 1 (hnh 4-3)

2b

2b
z
l

Hnh 4-3

Bi gii ( Li gii ca Timoshenko.1937)


Xt mt ct ngang ti to z, c:
F ( z)

2b
z
l
3

1 2bz
J ( z)

12 l
F ( z ) 2b
m( z )

z
g
gl

Trong :

l trng lng ring ca vt liu dm.


g l gia tc trng trng.

83

Vi h to chn nh trn hnh v, ti ngm (z=l) c gc xoay v vng


u bng khng, nn ta chn hm biu din dng dao ng nh sau (cc hm i(z)
u tho mn iu kin bin)
2

z
z
z
y ( z ) C1 1 C2 1
l

l
l

z n 1 z
... Cn n 1 1
l
l

(d)

1) Nu ch ly mt hm trong (d), gi s s hng th nht- ta c li gii


Rayleigh v tnh c:
1

5,48 g
l2

Eg
3

2) Nu trong (d) ta ly hai s hng tr ln, ta s c nghim Rayleigh-Ritz,


gi s ta ly hai s hng u:
2

z
z
z
y ( z ) C1 1 C2 1
l

l
l

(f)

Thay y(z) v y '' ( z ) t (f) vo (4-13) ri tch phn ta c:

Ci

24
2b l 2 C12 2C1C2 C22
2
2 b3
2
C

2
C

C
(
C

2
C
)

6
C

0
1
2
2
1
2
2
3
5
Eg 30
105
280

3 l

Tin hnh o hm ta c:

Eg b 2 2
2 Eg b 2 2

(...)

C
C2 0
1
4
C1
30
5 3l 4 105
3l

2 Eg b 2 2
2 Eg b 2 2

(...)

C
C2 0
1
4
4
C2
280
5 3l 105
5 3l

(g)

Do phi tn ti dao ng, ngha l C 1, C2 khng ng thi bng khng, ta


c nh thc cc h s trong (g) phi bng khng, y chnh l phng trnh tn
s ca bi ton.
Egb 2 2

4
30
3l
2 Egb 2 2

4
105
5 3l

2 Egb 2 2

4
105
5 3l

0
2
2 Egb
2

4
280
5 3l

(h)

(h) l phng trnh bc hai i vi 2. Gii phng trnh ny ta c nghim nh


nht:
84

5,319b
l2

Eg
3

Li gii da vo hm Bessel (c coi l chnh xc) cho kt qu l:


1

5,315b
l2

Eg
3

So snh ta thy: i vi tn s c bn 1 khi dng mt hm (nghim


Rayleigh) sai s 3%; Khi dng hai hm ( nghim Rayleigh-Ritz) sai s 0,1%. Nh
vy, i vi 1 ta ch cn dng mt hm l , ch khi cn xc nh cc tn s bc
cao th mi cn dng nhiu hm trong (4-11).
Ch :
Cng c th dng phng php ny gii bi ton dao ng cng bc.
c gi c th xem chi tit trong cc ti liu tham kho.
4.2 PHNG PHP KHI LNG TP TRUNG:
Ni dung c bn ca phng php ny l chuyn khi lng phn b trn
h v tp trung ti mt s im no (thng l cc im c bit). Bng cch
nh vy, ta chuyn mt h c v hn bc t do v h c s bc t do hu hn.
Tu thuc vo bi ton v chnh xc yu cu m ta xc nh s lng khi
lng tp trung. V mt l thuyt s khi lng tp trung cng ln, kt qu cng
chnh xc, tt nhin tnh ton cng phc tp.
Khi chuyn khi lng phn b v t ti mt s im, ta phi gii quyt
hai vn c bn:
1- Khi lng tp trung t u?
2- Tr s mi khi lng tp trung bng bao nhiu?
Qua cc tnh ton thc t ngi ta a ra mt s hng dn chung nh sau:
1- V v tr t khi lng tp trung:
- Khi trn h, ngoi khi lng phn b cn c cc khi lng tp
trung, th nn chuyn khi lng v cc ni c cc khi lng tp
trung ny.
- Nn chuyn khi lng v cc ni c chuyn v ln.

85

- Nn t khi lng ti cc nt ca h hay ti cc tng sn ca cc


khung cao tng.

2- V ln ca cc khi lng thay th:


Thng c 2 cch phn b khi lng-song tu thuc tng bi ton m
chn cch thch hp.
- Chia khi lng phn b thnh nhiu khong, ri tp trung khi
lng v trung tm ca tng khong. Xem hnh 4-4b, 4-5b, 4-6b.
- Chia khi lng phn b thnh nhiu khong, ri tp trung khi
lng trn mi khong ra hai u. Xem hnh 4-4c, 4-5c, 4-6a, b.
Cch phn th hai c dng nhiu hn, v n thng cho li gii n gin hn.
m=hng s

m=hng s
z

a)

M1

b)

c)

M3

M2

ml
3
ml
M3 M 4
6
Hnh 4-4
M1 M 2

M
21

M1

h
M

(3BTD) b)

a)

M2

M3 (3BTD)

ml
3
M2

M1 M 2 M 3
c)

M4

M3

M1

ml
3
ml
M3 M4
6
M1 M 2

(2BTD)

M4
(3BTD)

Hnh 4-5
M6

h
M4
l

b)
lh
M12m
2

M m h
342

3
M1

M2

M3

a
)

M1 2
2
mh
M 3 4 H
2

34

lmlh

M3

ml
M1 M 2 M 3
3
M1
M2

a)

M1

M7

M2

M3

M4

M5
l
ml h
M12;23

4M5mh;67ml
4

86

M
Hnh 4-6

Trong nhiu trng hp, khi ch cn xc nh tn s c bn 1, th ta c th


thay cc khi lng phn b bng ch mt khi lng tp trung tng ng (M t).
Trong trng hp ny, khi lng thay th tng ng nn t ti ni c chuyn
v ln nht, cn ln ca Mt c th c xc nh trn c s gi thit cho rng:
Hai h (h thc v h thay th) tng ng v ng nng th cng tng ng
v tn s.
Tthc=Tthay th

(4-14)

Xt h c khi lng phn b m(z), trn c t thm cc khi lng tp


trung Mj ti cc to zj. Gi s phng trnh chuyn ng ca h c biu din
di dng tch bin:
y ( z , t ) y ( z ) S (t )
v( z , t )

Khi vn tc:

(a)

y ( z , t ) y ( z ) S&(t )
t

(b)

Tng ng nng ca h cho s l:


1
&
Tthc 2 m( z ) y ( z ) S (t )
i li

dz

1
M j y( z j )S& (t )
2 j

(c)

Khi lng tng ng thay th gi s t ti im c to (z a), th ng


nng h thay th s l:
1

Tthay th= Mt y ( za ) S&(t )


2

(d)

Thay (c); (d) vo (4-14) ta tnh c khi lng thay th tng ng:

Mt

m( z ) y ( z )
i

li

dz M j y ( z j )

y ( za )

(4-15)

Thay Mt ny vo cng thc (1-15) tng ng vi h mt bc t do, ta s xc nh


c 1.

87

V D 4-3:
Xc nh tn s c bn 1 ca dm n gin hai u khp, chiu di l v
khi lng phn b m = hng s. Hnh 4-7a
Bi gii:
bi ton ny, dng dao ng ring th nht l dng i xng, chuyn v
ln nht gia dm, nn khi a khi lng ca h v tp trung ti mt im th
ta a v gia dm. Ta xt bi ton trong hai trng hp.
1) Thay th khi lng ca h thnh mt Mt tnh theo (4-15).
Trc ht ta gi thit dng dao ng ring th nht l dng ng n hi
ca trc dm do mt lc P t tnh gia dm gy ra. Dng phng php ca sc
bn tnh c phng trnh ny c dng: Hnh 4-7b
3l 2 z 4 z 3

l3

y ( z ) A0

(a)

Trong A0 l mt h s. Lc ny chuyn v gia dm:

2
3l

y ( za ) y z l A0
2

4
2

A0

(b)

88

3l 2 z 4 z 3
mA
l 3
0

A02
l

2
0

Mt

dz

m
24
16
9 z 2 2 z 4 z 6 4 dz 0, 486ml
2
l 0
l
l
m=hng s

thay Mt vo (1-15) ta c:
1

9,92
l2

(c)
z

a)

EJ
; Sai s 0,6%
m

y
b)

2) Chia dm lm 2 on ri tp
A0
trung khi lng v hai u ca mi on y
3l 2 z 4 z 3
y ( z ) A0
ta c 3 khi lng tp trung. Hai khi

l3

lng t hai u dm khng dao ngM


M3
Mtt
c) 2
H ch cn mt khi lng t gia dm
dao ng (xem 4-7c).
ml M
M 2 M 3 ; thay th
4
Mthay
=m

th

l
2

Hnh 4-7

(d)

Thay (d) vo (1-15) ta c:


1

9, 798 EJ
; Sai s 0,7%
l2
m

Dng cng thc (4-15) xc nh khi lng thay th cho kt qu chnh


xc hn. Nu chuyn h v hai 2, 3 hay nhiu bc t do hn, th kt qu tt nhin
cng s chnh xc hn.
V d, cng bi ton ny, song khi ta a h v hai bc t do nh trn hnh
(4-4c), s tnh c (xem chng 2).
1

9,86
l2

EJ
; Sai s 0,1%
m

Ch :
1- Tng t phng php khi lng tp trung, phng php bin dng tp
trung cng cho php chuyn mt h v hn bc t do v h c s bc t do hu
hn. T tng ca phng php l tp trung bin dng phn b trn ton h v mt
s im no m ta chn trc.

89

2- Phng php sai phn hu hn, phng php ri rc ha ton t vi phn,


c bit l phng php PTHH ( cn gi chung l cc phng php s) l nhng
phng php gn ng c hiu qu gii bi ton tnh lc hc v ng lc hc
cng trnh. Phng php PTHH gn lin vi my tnh in t (MTT), v n s
ca phng php rt ln. Hu ht cc phn mm tnh ton kt cu hin nay u
c vit bng phng php PTHH. Nhng phng php ny c trnh by chi
tit trong cc ti liu ring v cc phng php s trong tnh ton kt cu. y
ch gii thiu tm tt ni dung c bn ca phng php.
Nh bit trong tnh lc hc, phng trnh c bn ca phng php
PTHH m hnh chuyn v l:

K F
Trong :

(4-16)

l ma trn cng ca h, c xy dng t cc ma trn cng

ca cc phn t hu hn c lp sn.

F l vc t lc nt, bao gm cc lc nt c sn v cc lc tc
dng trn phn t chuyn v cc nt.

l vc t chuyn v nt l n ca phng php. Sau khi xc nh


c t (4-16), ta s xc nh c trng ng sut, bin dng, chuyn v
trong kt cu. Cn vi kt cu h thanh, ta s v c cc biu ni lc.
i vi bi ton ng lc hc, phng trnh c bn ca phng php
PTHH m hnh chuyn v cng c dng nh (2-5). Tt nhin cch xc nh tng
i lng l hon ton khc.

M && C & K F

(4-17)

trong :

l ma trn cng ca h nh trong (4-16)

l vc t chuyn v ng ca cc nt
F l vc t ngoi lc nt ng.

&

&
& ln lt l vc t vn tc v gia tc chuyn v ng ca cc nt.
v

l ma trn cn

90

l ma trn khi lng c tp trung ti cc nt v c thnh lp t

cc ma trn khi lng ca tng phn t hu hn c lp sn nh i vi ma


trn cng.
Cn phng trnh vi phn dao ng t do:

M && C & K 0

(4-18)

3- i vi h c s bc t do hu hn, thay cho vic gii phng trnh tn


s phc tp, S.A.Pestel xut mt cng thc gn ng xc nh 1 nh sau:
1
12
B2

B
B1 1 2 2 1
B1

(4-19)

c gi l cng thc S.A. Pestel

trong ,

B1 M i ii
i 1
n

i 1

i , k 1

B2 M i2 ii2 2 M i M k ik2

(ik)

Ngoi ra cn c nhiu phng php gn ng khc xc nh cc tn s


dao ng ring ca h c hu hn bc t do, nh phng php ma trn chuyn ca
Pestel-Leckie (1963), hay phng php lp ma trn ca Livesley (1964). Nhng
phng php ny c th tm thy trong cc ti liu tham kho.

*************

91

CHNG 5: NG LC HC CA KT CU
H THANH PHNG
phn trn, ta nghin cu cc phng php c bn tnh ton dao
ng ca mt h n hi bt k bao gm xc nh cc tn s dao ng ring
kim tra hin tng cng hng v tnh bin cc phn lc ng, ni lc ng,
chuyn v ng vv... phc v bi ton kim tra cng nh bi ton thit k. Tuy
nhin khi p dng cc phng php tng qut ny vo mt bi ton c th, i hi
ngi tnh phi phn tch k lng chn ra cch gii n gin nht m vn m
bo chnh xc yu cu.
Mt cng trnh xy dng thc t lun lun l mt h c v s bc t do. Li
gii chnh xc ca bi ton r rng l rt phc tp (Xem chng 3) thm ch l
khng thc hin c. Bi vy, trong nhiu trng hp ta phi gii gn ng.
Trong chng ny ta s nghin cu cch p dng cc phng php c trnh by
trong cc chng trc tnh ng lc hc ca cc kt cu h thanh phng bt k
nh dm, khung, dn, vm...
P(t)

5.1 CCH TNH GN NG

M1

M1

C th ni phng php tp trung


khi lng l phng php gn ng

M2

M2
J1

J2

Hnh 5-1

EJt

92

thng dng tnh dao ng ca cc kt cu h thanh phng nh dm, khung, dn,


vm, h lin hp nh s n gin ca n. Tt nhin, vi cc kt cu phc tp, s
lng cc khi lng tp trung kh ln, th vic tnh ton cng kh phc tp v tn
nhiu thi gian do phi lp v gii mt phng trnh tn s bc cao, cng nh phi
lp v gii h phng trnh xc nh bin cc lc qun tnh. Trc y, khi
cha c MTT, ngi ta thng tp trung khi lng v 1, 2, hoc 3 v tr gii.
Cn ngy nay, nh c MTT m s khi lng tp trung c th tng ln nhiu,
nh m chnh xc ca li gii c tng ln.
i vi kt cu nh nhiu tng chu ti trng ng theo phng ngang nh
ti trng gi bo, ng t vv... ngi ta thng a v s thanh conson (hnh
5-1) gii.
i vi kt cu dn hay h
lin hp, khi lng ca cc thanh
dn v dm thng c tp trung
ti cc nt dn v c bit ch ti
cc nt dn nm trn ng bin xe
chy (hnh 5-2).

P(t)

a)

M1

b)

d)

M3

M4
M9

i vi vm, sau khi tp M5


trung khi lng v mt s im,
n gin tnh ton, ta c th thay
cc on thanh cong ni gia cc c)
khi lng thnh cc thanh thng
m kt qu vn chp nhn c.
Sau khi thay khi lng
phn b v tp trung ti mt s
im, tc l ta chuyn mt h c
v hn bc t do v mt h c s
bc t do hu hn. Vic gii h ny
c trnh by chng 2.

M2

M6

M1

M8

M7
P(t)

P(t)

P(t)

P(t)

M2

M4
M3
Hnh 5-2

Phng php nng lng t c s dng tnh khung, nht l cc khung


nhiu tng nhiu nhp phc tp, do phng trnh biu din dng dao ng aK ( z ) l
rt phc tp v thng phi vit trn nhiu on, ng thi vic thc hin cc tch
phn trong (4-10) cng tn rt nhiu thi gian. Cn i vi dm v dn, ngi ta
93

vn dng phng php ny xc nh tn s ring 1, trong trng hp ny hm


a1 ( z ) thng ly dng gi tnh tng ng v thng cng khng phc tp lm.

Sau y ta xt vi v d minh ho cch p dng cc phng php gn ng


gii cc bi ton c th:

V D 5-1:
Cho dn c kch thc v chu tc dng ca cc ti trng ng iu ho
cng tn s nh trn hnh 5-3a. Bit EF = hng s; P(t ) (20kN )s inrt ,trong
EF 1
(m ) v dn c ng xe chy di (m l vit tt ca mt).
M

r 0, 07

Yu cu: Xc nh cc tn s dao ng ring ca dn v bin ni lc ng


trong cc thanh dn.
6m

a)

6m

6m

4m A

6
2

P(t)
6m

7
3

P(t)

6m

c)
5

g)

102,87
72,31

26,81

(kN)

8
0

Z1=1

4
Z2=1

5 0
-45

(x)

Z2=1

-60
(x)

150

f)

90
(x)

43,29

e)
150

-26,81
-86,78
-118,96
-72,31

M3

M1=M2=M3=M

(x)

b)
M1

6m

d)

M2

8
3

P(t)

6m

210

4
P0=20
Z2=16,4

P0

(kN)

50
4

4
P0
Z1=22,9

P0
Z2=16,4
(kN)

Hnh 5-3

P0=20

P0=20

P0=20

Bi gii:

94

Ta dng phng php khi lng tp trung gii bi ton.


1) Xc nh cc khi lng tp trung.
Theo ra, dn c ng xe chy di nn ta s tp trung khi lng ca
dn ch vo cc nt A, 1, 2, 3, B thuc bin di, nn bi ton ch c ba khi lng
thc hin dao ng. Chiu di cc thanh bin trn v di l 6m; ca cc thanh
xin l 5m (do dn cao 4m). Ta chuyn khi lng thanh A-4 v mt na thanh A1 vo nt A; ca thanh B-7 v ca na thanh B-3 vo nt B. Nh vy khi lng
phn dn cn li chuyn v 3 nt 1, 2, 3 s c gi tr nh nhau (khi lng ti mi
nt bng tng khi lng ca hai thanh bin v hai thanh xin). K hiu khi
lng ny l M th (xem hnh 5-3b):
M1 M 2 M 3 M

(a)

gii phng trnh tn s (2-11) v phng trnh xc nh bin lc


qun tnh (2-24), ta phi xc nh cc iK v iP , l cc chuyn v n v, v
chuyn v do cc bin lc ng t tnh gy ra ti cc khi lng. Ta s xc
nh cc chuyn v ny theo cng thc Maxwell-Mohr p dng cho dn tnh nh.
2) Xc nh iK v 1P :
Do bi ton i xng, nn ta ch tnh bi ton ng vi cc dng dao ng
i xng. Cc biu ni lc N1 , N 2 v N P do cc lc Z1 1 ; Z 2 1 v do cc bin
0

lc ng P0 20kN t tnh gy ra tnh c nh trn hnh 5-3c, d, e.


Dng cng thc Maxwell-Mohr ta tnh c:

m
11 ( N1 )( N1 ) 52, 75 EF

( N )( N ) 105,5 m
2
2
22
EF

12 21 ( N1 )( N 2 ) 66, 25

m
EF

(b)

kNm
1P ( N1 )( N P0 ) 2380 EF

( N )( N ) 3435 kNm
2
P0
2 P
EF

Ch :

95

Th nguyn ca iK l [ chiu di ], song theo (b), n c biu din qua


m

khng cho ta chiu di, vy l khng ng v th nguyn. S d nh vy,


EF

bi v ng ra, khi v N i ta phi gi thit trc n v ca bin lc qun tnh,


n l [ lc ] ( trong bi ton ny, ngoi lc c o bng kN, nn n cng s l
kN). Khi n v ca N i s l kN, v do iK tnh c s c biu din qua
kNm

ging nh iP , song v mt trong hai biu ca php nhn biu l


EF

thuc trng thi gi to do lc khng th nguyn gy ra, cho nn tin dng, khi
v N i ta ly Z i 1 khng th nguyn, bi vy trong biu thc ca iK thiu mt
n v lc ca Zi. Cng v l do khng c n v lc trong Z i, nn kt qu cui
cng s xut hin th nguyn ca Zi l [ lc ] (trong bi ton ny l kN). Nh vy,
cch lm nh th ny cng cho kt qu ng khi tnh phn lc v ni lc.
3) Xc nh cc tn s dao ng ring:
Thay M 1 M 2 M v cc iK tnh c trn vo phng trnh tn s (2-11)
Ta c:

11M 1 u
21M 1

M 2

m
M m

u
52, 75M
66, 25

EF
2 EF

0
m
M m
22 M 2

u
u
66, 25M

105,5

EF
2 EF
2

12

(c)

l phng trnh bc 2 i vi u, gii (c) ta c:


u1 99,58M

u2 5,92 M

m
EF
m
EF

suy ra

1
EF 1
0,1002
m
u1
M

suy ra

1
EF 1
0, 4105
m
u2
M

4) Xc nh bin ni lc ng trong cc thanh dn:


m

Thay iK , iP vo phng trnh (2-24) ri gin c hai v cho


ta
EF
c h phng trnh xc nh bin lc qun tnh nh sau:

96

151,33Z1 66.25Z 2 2380kN 0

66, 25Z1 302, 66Z 2 3435kN 0

(d)

Trong ta tnh c cc 11* v 22* trong (2-24) nh sau:

1
1 m

m
11* 11
52, 75
151,33

2
2
M 1r
0, 07 EF
EF


1
2 m
m
22* 22
105,5
302, 66

2
M 2 2
0, 07 EF
EF

r
2

Gii (d) ta c:
Z1 22,90kN

Z 2 16, 40kN

(e)

Bin ni lc ng trong cc thanh dn c th tnh theo hai cch:


a) Tnh trc tip: t cc bin lc qun tnh theo (e) v bin cc lc
ng P0 20kN t tnh ti cc khi lng ri tnh nh bi ton tnh( hnh 5-3f).
b) p dng nguyn l cng tc dng.
N= N1Z1 N 2 Z 2 N P

Kt qu nh trn hnh (5-3g)


V D 5-2:
Xc nh tn s dao ng ring v biu bin mmen ng ca khung
cho trn hnh 5-4a. Bit khung c EJ=hng s, l= 6mt = hng s, tng khi lng
mi thanh l ml=M. Khung chu tc dng ca cc lc kch thch iu ho cng tn
s:
kN

P (t ) (60kN ) s inrt ; q (t ) 30 s inrt


m

Trong : r 0,319

EJ 3
m . Khi tnh b qua lc cn.(m l vit tt ca mt)
M

Bi gii:
Chia khung thnh 5 on v tp trung khi lng ca mi thanh v hai u
thanh, ta c 11 khi lng tp trung (hnh 5-4b). Gi thit cc nt khung khng
97

c chuyn v thng, nn h ch cn 5 khi lng t ti im gia cc thanh thc


hin cc dao ng ngang (hnh 5-4c). y l mt h i xng chu tc dng ca
cc lc ng i xng, nn ta ch cn xt cc dao ng c dng i xng. Nh vy
h ch c ba bc t do.
1) Xc nh cc iK v iP :
Cng nh v d 5-1, trc ht ta phi xc nh cc iK v iP . y l h
siu tnh, nn trng thi gi to khi tnh chuyn v theo cng thc Maxwell-Mohr
c th to ra trn h tnh nh bt k suy ra t h siu tnh cho. Ngha l, nu b
qua nh hng ca lc ct v lc dc, ta c:
iP M P M i0

(a)

Trong Mp l biu mmen do ti trng cho gy ra trong h siu tnh ang


0
xt. M i l biu mmen trng thi gi to c to ra trn h tnh nh.

p dng (a) tnh iK ta c:


iK M i M K0 hoc M i0 M K

(b)

Cc biu mmen n v M 1 , M 2 , M 3 do Z1 1, Z 2 1, Z 3 1 khng th nguyn


(xem ch v d 5-1) gy ra, cn M P do bin cc lc ng (P 0 v q0) t tnh
gy ra trong h siu tnh cho, dng phng php chuyn v v c nh trn
cc hnh (5-4 d, e, f, g).
0
0
0
Cc biu mmen trng thi gi to M 1 , M 2 , M 3 trn cc h tnh nh v

c nh trn cc hnh (5-4 h, m, n).


p dng (a) v (b) sau khi nhn cc biu ta c:
m3
EJ
m3
22 5, 63
EJ
m3
33 3, 00
EJ

11 1,88

1P 123, 7

m3
EJ
m3
13 31 0, 75
EJ
m3
23 32 1,13
EJ

12 21 1,13

kNm3
kNm3
kNm3
; 2 P 202,5
; 3 P 22,5
.
EJ
EJ
EJ

2) Xc nh cc tn s dao ng ring:

98

p dng phng trnh tn s (2-11) ta c

11M 1 u

21M1

31M1

12

22

32

M 3
13 2

M 3

23 2

M 2

2
M2
u
2

M 2
2

M3
33 2 u

Thay cc iK tnh trn v cc khi lng tp trung


M1 M 2 M 3

M
v k hiu l M*
2

(d)

vo (c) ri khai trin nh thc (c) ta c mt phng trnh bc 3 i vi u. Gii


phng trnh ny ta c (b qua tnh ton chi tit)

u1 3,546 M *

m3
EJ

suy ra 1

1
EJ
0,531
m 3
u1
M*

u2 1,502 M *

m3
EJ

suy ra 2

1
EJ
0,816
m 3
*
u2
M

u3 1,139M *

m3
EJ

suy ra 3

1
EJ
0,937
m 3
*
u3
M

3) V biu bin m men ng:


Thay iK v iP tnh trn vo phng trnh (2-24), ri gin c hai v cho
m3
ta c h phng trnh xc nh bin cc lc qun tnh l:
EJ
7,94 Z1 1,13Z 2 0, 75Z 3 123, 7 kN 0

1,13Z1 14, 01Z 2 1,13Z 3 202,5kN 0


0, 75Z 1,13Z 16, 64 Z 22,5kN 0
1
2
3

(f)

*
Trong ta tnh c cc ii trong phng trnh (2-24) nh sau:

99


m3
1
1 m3

1,88

7,94

2
M *r 2

0,319 EJ
EJ

m3
1
2 m3
22* 22

5,
63

14,
01

2
M * 2

0,319 EJ
EJ
r

m3
1
2 m3
33* 33

3,
00

16,
64

2
EJ
EJ
M * 2
0,319

11* 11

Gii h phng trnh (f) ta c:


Z1 13,9kN ; Z 2 13, 27 kN ; Z 3 1, 08kN

Biu bin ni lc mmen ng v c theo nguyn l cng tc


dng:
M= M 1Z1 M 2 Z 2 M 3 Z 3 M ( P , q )
0

Kt qu cho trn hnh (5-4l).

100

q(t)

P(t)

a)

P(t)
g)

EJ, m=
hng s

85
75

P0

6m
q(t)

P(t)

b)

P0=60kN

6m
52.5

kN
m

q0 20

10
5

MP0 q0
kNm

50
(x)

P(t)
P1=1

h)

1,5

M1
m

c)
M2

M1

M3

M2

M3

P2=1

m)

P2=1

1,5
18

d)

42 Z1=1

24

n)
12

Z2=1

e)

1

72

66
(x)

36

12

M1
m

12

(x)

Z2=1

1

48

M3
m

96,2

M2
m

88,1
l)

12

30

67,4
18
Z3=1
60 (x)
66

P3=1

P3=1

24

54

f)

M2
m

Z3=1
1

72

8,1
5

65,9
(x)

M3
m

Hnh 5-4
(a, b, c, d, e, f, g, h, n, m, l)

M
kNm
101

5.2 PHNG PHP TNH CHNH XC


tnh chnh xc ng lc hc ca mt h kt cu thc (c v hn bc t
do), ta p dng l thuyt tnh ton c trnh by chng 3. Tu thuc vo
cch vn dng m ta c hai phng php tnh c bn: Phng php lc v phng
php chuyn v. Phng php lc dng tnh ng lc hc cc kt cu siu tnh
bt k. y l mt phng php tnh tng qut song rt phc tp vi khi lng
tnh ton ln nn rt t c dng trong thc t. Phng php chuyn v, nh
bit trong tnh lc hc kt cu, l phng php dng tnh chuyn v cho kt cu
bt k (h siu ng)-c th tnh nh hoc siu tnh-min l c cc phn t
mu lin quan. y l phng php tnh n gin, c coi l chnh xc, v c
p dng nhiu c trong tnh lc hc v ng lc hc kt cu h thanh thng. Trong
mc ny chng ta ch nghin cu phng php ny.
Cc phn t mu (ng lc hc dm mt nhp) phc v cho phng php
chuyn v tnh ng lc hc h thanh thng, phng c th xy dng c da
vo l thuyt c trnh by chng 3 -kt qu cho bng ph lc.
Vic p dng phng php chuyn v gii bi ton ng lc hc cng
tng t nh trong bi ton tnh. Ngha l, n s ca phng php l cc chuyn v
Z1sinrt
gc xoay v chuyn v thng c lp ca cc nt, m
ta k hiu l Z i (tZ)2.sinrt

S n s ca bi ton:

P(t)=P0sinrt

Xt kt cu trn hnh 5-5a:

(5-1)

H c: ng = 2; nt = 1; nn n = 3

a)

P(t)

n = ng + nt
h

b)
Hnh 5-5

HCB

Z3sinrt
102

H c bn nh trn hnh 5-5b. Khi ti trng ng l iu ho P(t ) P0 s inrt ,


th chuyn v gc xoay v chuyn v thng ca cc nt ca kt cu khi dao ng
n nh cng bin i iu ho vi tn s l tn s ca lc kch thch iu ho:
Z i (t ) Z i s inrt

(a)

Phn lc ng sinh ra trong cc lin kt c thm vo trong h c bn


(HCB) cng bin i iu ho cng tn s r.
RiK (t ) RiK s inrt

(b)

Lp lun hon ton nh trong bi ton tnh, iu kin HCB lm vic nh


h thc l cc phn lc trong cc lin kt mi thm vo trong HCB phi bng
khng. Xt lin kt thm vo th i:
Ri (t ) RiZ1 (t ) RiZ2 (t ) ... RiZ n (t ) RiP (t ) 0
Ri (t ) ri1Z1 (t ) ri 2 Z 2 (t ) ... rin Z n (t ) RiP (t ) 0

(c)

y rik l bin phn lc ng trong lin kt thm vo th i do lin kt


thm vo th k dch chuyn cng bc mt lng 1.s inrt gy ra trong h c bn.
Thay (a), (b) vo (c) ri gin c hai v cho sinrt (do phi tn ti dao ng
nn sinrt0), ta c h phng trnh chnh tc ca phng php chuyn v tnh
ng lc hc cc kt cu h thanh thng, c dng hon ton nh bi ton tnh.
Khi bi ton c n n:
ri1Z1 ri 2 Z 2 ... rin Z n RiP 0

(i 1, 2,..., n)

(5-2)

103

Trong : Z1, Z2,..., Zn l bin chuyn v ng ca cc nt (chuyn v


gc, chuyn v thng). RiP (i=1, 2,..., n) l bin phn lc ng ti lin kt thm
vo th i do ngoi lc ng iu ho gy ra trn HCB.
Cc riK v RiP c th tra trc tip bng ph lc, tuy nhin trong thc t, ta
hay tra bng cc biu M i , M P0 ri dng iu kin cn bng xc nh r iK v
RiP s thun tin hn. Trong M i l biu mmen do Z i 1s inrt gy ra, cn
M P0 l do ngoi lc ng P0 s inrt gy ra trn h c bn (cc biu ny u tra

bng).

5.2.1 Xc nh tn s dao ng t do
H phng trnh biu din dao ng t do theo phng php chuyn v c
c t (5-2):
ri1Z1 ri 2 Z 2 ... Rin Z n 0

(i 1, 2,..., n)

(5-3)

y l h phng trnh tuyn tnh thun nht. tn ti dao ng, ngha l


cc Zi khng ng thi bng khng, buc nh thc cc h s phi bng khngy l phng trnh tn s ca bi ton:
r11
r
Det 21
...
rn1

r12
r22
...
rn 2

...
...
...
...

r1n
r2 n
0
...
rnn

(5-4)

Gii bi ton tr ring ny ta s xc nh c cc gi tr ring (chnh l cc


tn s ring) v cc vc t ring (chnh l cc dng dao ng ring tng ng). (54) thng l mt phng trnh siu vit, nn s c v s nghim tng ng vi v
s tn s dao ng ring ca h.

5.2.2 Biu bin ni lc ng


Gii h phng trnh (5-2) s xc nh c Z 1, Z2,..., Zn. Biu bin
m men ng v c theo nguyn l cng tc dng:
M M 1 Z1 M 2 Z 2 ... M n Z n M p0

(5-5)

104

Biu Q c suy ra t M; cn N c suy ra t Q nh vn thng


lm trong bi ton tnh.
V D 5-3:
Xc nh tn s dao ng ring v v biu bin ni lc m men ng
ca khung chu tc dng ca ti trng ng iu ho P(t )

P
s inrt nh trn hnh
2

(5-6a). Bit khung c: EJ 4 104 kNm 2 = hng s; trng lng trn mt mt di l:


q

40 kN
1
v r 10 .
3 m
s

Bi gii:
Ta dng phng php chuyn v gii bi ton
1) Xc nh cc tn s dao ng ring
H c ng =1; nt = 0 nn n = ng + nt = 1
nn phng trnh tn s l:

r11 = 0

(a)

P
s inrt
2

Z1=1sinrt

0,5093

1,0172

P(t )

0,259

H c bn v biu M 1 tra bng c nh trn hnh (5-6b)

P(t)

1
b
0,3225

l 6m

4 EJ
1 (1a )
l

a
a)

l
3m
2

EJ
8 (1b )
l
2

0,1213

0,0642

()

b)

P s inrt
0,2613

c)

Hnh 5-6
Xt cn bng nt 1 trn biu M 1 ta c:

105

r11

4 EJ
EJ
1 (1a )
8 (1b )
l
l
2

(b)

Trong , theo (3-42) ta c:


K hiu:

1a Kl1a Kl ; 1b Kl1b K

2 2

(c)

Thay (c), (b) vo (a) c phng trnh tn s:


cos
2


ch 2 sin 2 sh

2ch

ch sin sh cos

2
2
1-ch cos

2
0

cos

2
2

Sau khi bin i ta c:


2ch sin 2 sh cos -sh +sin =0

(a)

(a) l phng trnh siu vit, s c v s nghim; bng cch gii gn ng ta xc


nh c hai nghim b nht (ng vi hai tn s b nht) nh nhau:
1 K1l 3,56

suy ra

K1

3,56
l

(d)
2 K 2l 7, 43

Theo (3-9):

i K i2

Thay l=6 mt; khi lng m

suy ra

K2

7, 43
l

EJ
(m l cng khi lng phn b u) (f)
m
q 40kN 2 2 4

s m kNs 2 m 2 ; v EJ vo (f) ta c:
g 3 10
3
3,56

7, 43
2

4 104 3
1
60, 7 ;
2
4s
s
4 104 3
1
265,5 ;
2
4s
s

Ta c th tnh tip cc tn s bc cao hn 3 , 4 ...


2) V biu bin ni lc m men ng:
T cc s liu ca bi ton, ta tnh c thng s k theo (3-34) l:
106

mr

EJ

40
102
3 10
0, 24( m 1 )
4
4 10

nn

1a kl 0, 24m 1 6m 1, 44
l
2b k 0, 24m 1 3m 0, 72
2
r11 5,588652

ri thay vo (b) ta tnh c:

EJ
l

Ch :
tnh r11 ta tra bng ph lc c:
1 (1a ) 1 (1, 44) 0,989515

cn 8 (1b ) 8 (0, 72) khng c trong bng tra, nn ta phi tra trc tip theo
cng thc:
8 ( )

A2 C2
A B C D

Tra bng A, B, C, D () (vi =0,72) ri thay vo v ta tnh c:


8 (0, 72) 0,81573

cn

R1P

P C AK0 A CK0
0, 75730 Pm
2 K A B C D

Thay r11 v R1P tnh trn vo phng trnh chnh tc ca bi ton:


r11Z1 R1P 0
5,588652

hay

EJ
Z1 0, 7573P 0
l

Z1 0,12865

Pl
m
EJ

(m l vit tt ca mt)

(g)

v biu bin m men ng (lun lun l ng cong) ta phi vit


biu thc biu din s bin i ca bin m men ng cho tng thanh da vo
cng thc thng s ban u (3-35).
* Xt thanh a-1: Chn gc to u a, cc thng s ban u gm:

107

'
y(0) 0; y(0)
0;

2 EJ
2 EJ
Pl
2 (1, 44) Z1
1, 0155 0,12865
m 0, 26129 Pm
l
l
EJ
6 EJ
EJ
Pl
Q(0) 2 2 (1, 44) Z1
1, 02241 0,12865
0,13153P
l
l
EJ
M (0)

Thay cc thng s ban u ny vo (3-35) c:


M ( z ) 0, 26129 AKZ 0,54805BKZ Pm

(h)

* Xt thanh 1-b: Chn gc to ti nt 1, c cc thng s ban u:


'
y(0) 0; y(0)
Z1 0,12865

M (0) M 1Z1 M P0

Q(0) Q1Z1 QP0

Pl
m
EJ

EJ
8 (0, 72) Z1 0, 7573P 0,50929 P
l
2


EJ

l 2

(0, 72) Z1 P
2 9

B A

K0

D CK0

A B C D

Tra bng 9 (0, 72) v cc hm A(0,72); B(0,72) vv... ri thay vo ta tnh


c
Q(0) 0,51335 P

Li thay cc thng s va tm c vo (3-35) ta c phng trnh M(z)


ca thanh 1-b nh sau:
0,12865 Pl
1
DKZ 0,50929 PAKZ 0,51335 PBKZ
EJ
K
M ( z ) 0,18526 DKZ 0,50929 AKZ 2,1389 BKZ Pm
M ( z ) KEJ

(i)

V th hm (h) v (i) ta c biu bin m men ng nh trn


hnh (5-6c).
V D 5-4:
Xc nh tn s dao ng ring ca dm lin tc cho trn hnh (5-7a). Bit
dm c l, EJ, khi lng m = hng s.
Bi gii:

108

Dm cho c dng i xng, nn s c dng dao ng ring i xng v


dng dao ng ring phn i xng.
Phng trnh dao ng t do-theo phng php chuyn v-c dng nh sau:
r11Z1 0

y l phng trnh tch, nn c th xy ra 2 trng hp.


1) Khi Z1=0, ngha l nt 1 khng xoay, y l dng dao ng i xng.
Lc ny dng dao ng ca dm tng ng vi mt na h nh trn hnh (5-7b).
y l dm 1 nhp mt u ngm mt u khp, cc tn s 1 , 2 , 3 ,4 v cc
dng dao ng tng ng cho nh trong bng 3.1.
2) Khi r11=0, dng dao ng c dng phn i xng nh trn hnh (5-7c).
Vi dm cho, tra bng c:
r11

3EJ
3EJ
5 ( )
5 ( ) 0
l
l

5 ( ) 0

suy ra

4 sh sin
6ch sin sh cos . Do mu s khc khng nn

sin=0
Suy ra:

(i 1, 2,..., )

(j)

Thay tnh theo (j) vo (3-9) ta c cng thc tng qut xc nh cc


tn s dao ng ring tng ng vi dao ng phn i xng:
i 2 2
i 2
l

EJ
m

(k)

(i=1,
2,..., s)
m=hng

a)
y

b)

c)

109

y
Hnh 5-7

BI TP CHNG 5
1) Tnh tn s dao ng ring 1 ca cc kt cu cho trn hnh bng hai phng
php: Tnh chnh xc v tnh gn ng theo cng thc ca S.A.Pestel. V biu
bin m men ng.
a)

b)

P0 sin rt
M1
1

M1

M2
1m

1m

c)

P0 sin rt

1m

M2
1m

P0 sin rt

M2
M1
2m

2m

P0 sin rt

d)

M1

Cho: M1= 2M2=2 kNm/s2


EJ= hng s = 108 kNcm2
r= 10
P0=20 kN

2m

M2
2m
2

2
Hnh 1

2) Xc nh tn s dao ng ring b nht v v biu bin m men ng ca


kt cu trn hnh 2 bng hai phng php: gn ng v chnh xc.

110

1m

Bit: EJ, m (l khi lng phn b trn 1 mt di), bng hng s, P=20kN,
r 0, 25

EJ
( met ) 3
ml

P0 sin rt

P0 sin rt
P0 sin rt

a)

b)

c)

2
Cho:

EJ, m = hng s
Hnh 2

3) V biu bin mmen ng, kt cu cho trn hnh 3. Bit: EJ, m= hng s;
Kab=0,6 m-1; Kac=0,3 m-1; Kad=0,5 m-1.

P0 sin rt

a
c

b
4m
d
4m

2m

2m

Hnh 3

111

Bng 1: Bin phn lc ng do chuyn v ng iu ha ca lin kt ta gy ra.


M ab M 0

M ba M l

4 EJ
1 ( )
l

2 EJ
2 ( )
l

M0

Ml

1sinrt

Qab M 0

6 EJ
1 ( )
l2

Qba Ql

6 EJ
2 ( )
l2

l
Q0

Ql

M0

Ml

1sinrt

Q0
M0

Q0

Ql
1sinrt

6 EJ
3 ( )
l2

3EJ
5 ( )
l

6 EJ
4 ( )
l2

12 EJ
4 ( )
l3

3EJ
5 ( )
l2

12 EJ
4 ( )
l3

3EJ *
5 ( )
l2

Ql

112

Ql

M0

3EJ
6 ( )
l2

3EJ
6 ( )
l3

3EJ *
5 ( )
l3

3EJ
7 ( )
l2

3EJ
7 ( )
l3

3EJ
8 ( )
l3

EJ
9 ( )
l2

1sinrt
Q0
M0
1sinrt

Q0

Ql

M0

EJ
8 ( )
l

Ml

1sinrt

mr 2
;
k
EJ
4

Q0

EJ
9 ( )
l

kl ; Cc hm , trn bng 3

Bng 2: Bin phn lc ng do ti trng ng iu ha gy ra trong dm 1 nhp.


S

Tr s cc hm A, B, C, D tra bng trong [53]


P0
C Dk (l a ) D Ck ( l a ) 1
k
Q0 P0 C Ck (l a ) B Dk (l a ) 1
M0

M0

P0sinrt

Ml

l
Q0

Ql
q0sinrt

M0

Q0

M0

Q0

P0
D Cka C Dka 1
k
Ql P0 B Dka C Cka 1
Ml

M 0 M l
Ml

Q0 Ql

q0
C ( A 1) D2
k2

q0
C D B ( A 1) 1
k

P0
D Bk (l a ) B Dk ( l a ) 2
k
Q0 P0 A Dk ( l a ) C Bk ( l a ) 2
M0

Ql

P0sinrt

y'l

M l P0 B Cka A Dka 2
yl'

P0
C Dka D Cka 2
k EJ
2

Ql

113

q0
C D B ( A 1) 2
k2
q
Q0 0 A ( A 1) C2 ) 2
k
q
Ql 0 A ( A 1) B D 2
k
q
yl' 2 0 D2 C ( A 1)
2
k EJ
P
M 0 0 A Ck ( l a ) D Dk (l a ) 3
k
P
Q0 3 0 B Dk ( l a ) C Ck ( l a ) 3
k EJ
P
M l 0 C Aka A Cka 3
k
Ql P0 D Cka B Aka 3
q
M 0 02 D 3
k
q
Q0 4 0 C D B ( A 1) 3
k EJ
q
M l 02 A D B C 3
k
q0
D2 B2
Ql
3
k
M0

q0sinrt

M0

y'l

Q0

M0

Ql

P0sinrt

y0

Ml

Ql
q0sinrt

M0

Ml

y0

1 C2 B D ; 2 A D B C ; 3 A B C D

Ql

BNG CC HM S NH HNG TNH NG LC HC CA


KHUNG V DM LIN TC
Biu thc cc hm s nh hng:
chkz coskz
;
2
chkz coskz
Ckz
;
2

shkz sin kz
2
shkz sin kz
Dkz
2

Akz

Bkz

o hm ca cc hm s:
dAkz
k .Dkz ;
dz
dBkz
k . Akz ;
dz

dCkz
k .Bkz
dz
dDkz
k .Ckz
dz

Tch phn ca cc hm s:

kz

dz

1
Bkz ;
k

z. A

kz

dz

C
z
Bkz kz2
k
k

114

1
Ckz ;
k
1
Ckz dz k Dkz ;
1
Dkz dz k Akz ;

kz

dz

D
z
Ckz kz2
k
k
A
z
z.Ckz dz k Dkz kkz2
B
z
z.Dkz dz k Akz kkz2

z.B

kz

dz

Lin h gia cc hm s:
1 ch cos
2
1
A D B C ( sh cos -chsin )
2
2
2
B D 2( A C D2 ) sh sin

C2 B D

A2 C2 ch cos
1
A B C D (ch sin sh cos )
2
1
A C B2 D2 A C sh sin
2
2
2
2A C B D
1
B D A2 (1 ch cos )
2

kz
0.00
0.10
0.20
0.30
0.40

Akz
1.000000
1.000000
1.000070
1.000340
1.001065

Bkz
0.000000
0.100000
0.200005
0.300020
0.400085

Ckz
0.000000
0.005000
0.020000
0.045000
0.080005

Dkz
0.000000
0.000170
0.001335
0.004500
0.010665

0.50
0.60
0.70
0.80
0.90

1.002605
1.005405
1.010005
1.017070
1.027350

0.500265
0.600645
0.701400
0.802735
0.904925

0.125025
0.180065
0.245165
0.320360
0.405740

0.020835
0.036005
0.057180
0.085375
0.121595

1.00
1.02
1.04
1.06
1.08

1.416900
1.045130
1.048780
1.052640
1.056735

1.008335
1.029205
1.050140
1.071160
1.092250

0.501390
0.521760
0.542560
0.563770
0.585405

0.166865
0.177095
0.187740
0.198800
0.210290

1.10
1.12
1.14

1.041690
1.061060
1.070440

1.008338
1.134695
1.156050

0.501390
0.629945
0.652850

0.166863
0.234595
0.247420

115

1.16
1.18

1.075525
1.080875

1.177510
1.199080

0.676185
0.699955

0.260710
0.274470

1.20
1.22
1.24
1.26
1.28

1.086510
1.092430
1.098650
1.105180
1.112030

1.220750
1.242540
1.264445
1.286485
1.308660

0.724150
0.748780
0.773850
0.799390
0.835310

0.887100
0.303440
0.318665
0.334395
0.350640

1.30
1.32
1.34
1.36
1.38

1.119205
1.126730
1.134595
1.142835
1.151440

1.330970
1.353430
1.376040
1.398815
1.421755

0.851705
0.878550
0.905845
0.933595
0.961800

0.367410
0.384710
0.402560
0.420955
0.439905

1.40
1.42
1.44
1.46
1.48

1.160435
1.169825
1.179615
1.189835
1.120048

1.444875
1.468175
1.491670
1.515365
1.539265

0.990465
1.019595
1.049195
1.079265
1.109810

0.459425
0.479525
0.500210
0.521465
0.543385

1.50
1.52
1.54
1.56
1.58
kz
1.60
1.62
1.64
1.66
1.68

1.211575
1.223120
1.235140
1.247640
1.260635
Akz
1.274130
1.288155
1.302710
1.317815
1.333485

1.563385
1.587735
1.612315
1.637140
1.662225
Bkz
1.687570
1.713195
1.713195
1.765305
1.791815

1.140835
1.172350
1.204350
1.236840
1.269835
Ckz
1.303330
1.337335
1.371860
1.406905
1.442475

0.565895
0.589025
0.612785
0.637200
0.662565
Dkz
0.688000
0.714405
0.741490
0.769285
0.797775

1.70
1.72
1.74
1.76
1.78

1.349740
1.367575
1.384015
1.402080
1.420785

1.818645
1.845810
1.873315
1.901175
1.929405

1.476580
1.515225
1.552415
1.590160
1.628465

0.826985
0.856920
0.887595
0.919025
0.951205

1.80
1.82
1.84
1.86
1.88

1.440135
1.460155
1.430860
1.502255
1.524375

1.958010
1.987015
2.016420
2.046250
2.076520

1.667335
1.706785
1.768200
1.787445
1.828675

0.984160
1.017905
1.052440
2.087780
1.123940

1.90
1.92
1.94
1.96
1.98

1.547220
1.570815
1.595180
1.620320
1.646265

2.107230
2.138415
2.170065
2.202220
2.234890

1.870510
1.912965
1.956050
1.999770
2.044145

1.160940
1.198765
1.237455
1.277010
1.317450

116

2.00
2.02
2.04
2.06
2.08

1.673025
1.700620
1.729070
1.758395
1.788610

2.268080
2.301181
2.336110
2.370985
2.406450

2.089175
2.134870
2.181250
2.228315
2.276090

1.358780
1.401020
1.444180
1.488275
1.533320

2.10
2.12
2.14
2.16
2.18

1.819730
1.851785
1.884795
1.918765
1.953730

2.442535
2.479245
2.516661
2.555465
2.593365

2.324580
2.373795
2.423755
2.474465
2.525940

1.579325
1.626305
1.674280
1.723265
1.773265

2.20
2.22
2.24
2.26
2.28

1.989705
2.026710
2.064765
2.103990
2.144125

2.632805
2.672965
2.713880
2.755560
2.798040

2.578205
2.631260
2.685125
2.739820
2.795355

1.824305
1.876395
1.929560
1.983810
2.039160

2.30
2.32
2.34
2.36
2.38
kz
2.40
2.42
2.44
2.46
2.48

2.185470
2.227955
2.271610
2.316450
2.362495
Akz
2.409780
2.158320
2.508140
2.559275
2.611745

2.811335
2.885465
2.930455
2.976340
3.023125
Bkz
3.070845
3.119525
3.191900
3.219850
3.271565

2.851750
2.909015
2.967170
3.026240
3.086235
Ckz
3.447170
3.209070
3.271960
3.358450
3.400755

2.095625
2.153235
2.211995
2.271930
2.333055
Dkz
2.395385
2.458045
2.523750
2.589830
2.657165

2.50
2.52
2.54
2.56
2.58

2.665575
2.720790
2.777415
2.835485
2.895025

3.324335
3.378200
3.433180
3.893100
3.546605

3.466715
3.533740
3.601855
3.671075
3.741435

2.725865
2.795870
2.867220
2.939950
3.014075

2.60
2.62
2.64
2.66
2.68

2.956060
3.018615
3.082730
3.148430
3.215745

3.605115
3.664860
3.725870
3.788180
3.851830

3.812950
3.885645
3.959550
4.034690
4.111085

3.089615
3.166600
3.245050
3.324990
3.406450

2.70
2.72
2.74
2.76
2.78

3.284700
3.355330
3.427670
3.501750
3.577600

3.916820
3.983215
4.051045
4.120340
4.191125

4.188770
4.267770
4.348110
4.429820
4.512930

3.489440
3.574005
3.660165
3.747940
3.837365

2.80

3.655255

4.263455

4.597475

3.928465

117

2.82
2.84
2.86
2.88

3.734750
3.816120
3.899395
3.984610

4.337350
4.412855
4.490010
4.568845

4.683480
4.770980
4.860005
4.950590

4.021270
4.115815
4.212120
4.310225

2.90
2.92
2.94
2.96
2.98

4.071810
4.161030
4.252305
4.345670
4.441165

4.649405
4.731730
4.815860
4.091840
4.989700

5.042770
5.136580
5.232055
5.329230
5.428135

4.410155
4.511950
4.615630
4.721240
4.828810

3.00
3.02
3.04
3.06
3.08

4.538835
4.638715
4.740850
4.845275
4.952040

5.079495
5.171270
5.265060
5.360915
5.458885

5.528825
5.631335
5.735690
5.841945
5.950140

4.938375
5.049980
5.163610
5.279415
5.397335

3.10
3.12
3.14
3.16
3.18
kz
3.20
3.22
3.24
3.26
3.28

5.061180
5.172750
5.286785
5.403345
5.522455
Akz
5.644180
5.768555
5.895640
6.025480
6.158130

5.559015
5.661350
5.765940
5.872840
5.982090
Bkz
6.093755
6.207875
6.324515
6.443725
6.565550

6.060320
6.172520
6.286785
6.403170
6.521715
Ckz
6.642470
6.765485
6.890800
7.018480
7.148570

5.517435
5.639760
5.764350
5.891250
6.020490
Dkz
6.152425
6.286205
6.422765
6.561850
6.703520

3.30
3.32
3.34
3.36
3.38

6.293640
6.432060
6.573450
6.717860
6.865345

6.690065
6.817320
6.947370
7.080275
7.216100

7.281120
7.416190
7.553830
7.694100
7.837065

6.847815
6.994780
7.144480
7.296955
7.452260

3.40
3.42
3.44
3.46
3.48

7.015970
7.169785
7.326850
7.487230
7.650990

7.354910
7.496765
7.641725
7.789860
7.941235

7.982770
8.131275
8.282660
8.436970
8.594270

7.610450
7.771585
7.935725
8.102910
8.273225

3.50
3.52
3.54
3.56
3.58

7.818180
7.988880
8.163450
8.341040
8.522640

8.095925
8.253985
8.415500
8.580535
8.749165

8.754640
8.918130
9.084825
9.254780
9.428070

8.446705
8.632425
8.803450
8.986845
9.173665

3.60
3.62
3.64

8.708010
8.897225
9.090345

8.921470
9.097510
9.277380

9.604770
9.784955
9.968695

9.363990
9.557880
9.755410

118

3.66
3.68

9.287465
9.488640

9.461155
9.648910

10.156075
10.347170

9.956650
10.161680

3.70
3.72
3.74
3.76
3.78

9.693955
9.903490
10.117420
10.335525
10.558190

9.840725
10.036695
10.236895
10.441415
10.650345

10.542055
10.740820
10.943550
11.150325
11.361240

10.370565
10.583385
10.800225
11.021155
11.246265

3.80
3.82
3.84
3.86
3.88

10.785405
11.017250
11.253805
11.495180
11.741145

10.863775
11.081795
11.304495
11.531975
11.764335

11.576375
11.795820
12.019675
12.248030
12.409850

11.476350
11.709365
11.947495
12.190165
12.437445

3.90
3.92
3.94
3.96
3.98
kz
4.00
4.02
4.04
4.06
4.08

11.992710
12.249055
12.510585
12.777405
13.049605
Akz
13.327295
13.610575
13.899555
14.194345
14.495060

12.001665
12.244075
12.491665
12.744535
13.002795
Bkz
13.266560
13.553593
13.811015
14.091945
14.378830

12.718640
12.961850
13.208435
13.460785
13.748255
Ckz
13.980935
14.248955
14.522415
14.801435
15.086130

12.689435
12.946225
13.207915
13.474595
13.746375
Dkz
14.023360
14.305650
14.593355
14.886585
15.185450

4.10
4.12
4.14
4.16
4.18

14.801805
15.114700
15.433865
15.759425
16.091495

14.671790
14.970495
15.276420
15.588345
15.906840

15.376625
15.673040
15.975505
16.284145
16.599085

15.490070
15.800555
16.117030
16.439615
16.768440

4.20
4.22
4.24
4.26
4.28

16.430200
16.775680
17.128060
17.487465
17.854050

16.232045
16.564090
16.903120
17.249260
17.602665

16.920460
17.248410
17.583070
17.924585
18.273090

17.103625
17.445300
17.793600
18.148670
18.510635

4.30
4.32
4.34
4.36
4.38

18.227940
18.609280
18.998225
18.394910
18.799490

17.963470
18.331830
18.707895
19.091815
19.483740

18.628740
18.991680
19.362065
19.740050
20.125790

18.879640
19.255830
19.639355
20.030365
20.429010

4.40
4.42
4.44
4.46
4.48

20.212120
20.632960
21.062170
21.499910
21.946350

19.883850
20.292285
20.709220
21.134825
21.569275

20.519450
20.921200
21.331200
21.749630
22.176650

20.835450
21.249845
21.672350
22.103145
22.542395

119

4.50
4.52
4.54
4.56
4.58

22.401660
22.866960
23.339600
23.822585
24.315160

22.012740
22.465400
22.927440
22.399050
22.880410

22.612460
23.057220
23.511140
23.974385
24.447160

22.990270
23.446950
23.912620
24.387460
24.871660

4.60
4.62
4.64
4.66
4.68

24.817515
25.329840
25.852335
26.385200
26.928650

24.371720
24.873175
25.384980
26.907340
26.440160

24.929665
25.422100
25.924665
26.347570
26.961030

25.365410
25.868915
26.382360
26.905970
27.439940

4.70
4.72
4.74
4.76
4.78
kz
4.80
4.82
4.84
4.86
4.88

27.482870
28.048095
28.624540
29.212420
29.811965
Akz
30.423410
31.046990
31.682945
32.331530
32.992980

26.984560
27.539850
28.106555
28.684905
29.275130
Bkz
29.877465
30.492145
31.119425
31.759550
32.412770

27.495260
28.040485
28.596930
29.164830
29.744405
Ckz
30.335910
30.939590
31.555685
32.184450
32.826150

27.984480
28.539820
29.106175
29.683775
30.272850
Dkz
30.873625
31.486365
32.111295
32.748680
33.398760

4.90
4.92
4.94
4.96
4.98

33.667560
34.355540
35.057175
35.772745
36.502530

33.079360
33.759565
34.453670
35.161945
35.884670

33.481050
34.149420
34.831525
35.527655
36.238100

34.061810
34.738095
35.427880
36.131445
36.849080

5.00
5.02
5.04
5.06
5.08

37.246805
38.005865
38.780010
39.569540
40.374765

36.622145
37.374645
38.142480
38.925950
39.725537

36.963145
37.703085
38.458230
39.228890
40.015375

37.581065
38.327705
39.089290
39.866140
40.658555

5.10
5.12
5.14
5.16
5.18

41.195990
42.033545
42.887755
43.758955
44.647490

40.541050
41.373315
43.222500
43.088940
43.972970

40.818010
41.637125
42.473055
43.326145
44.196730

41.466860
42.591385
43.132460
43.990420
44.865620

5.20
5.22
5.24
5.26
5.28

45.553700
46.477945
47.420585
48.381995
49.362550

44.692190
45.795240
46.734195
47.692190
48.669600

45.081580
45.991855
46.917115
47.861345
48.824930

45.758405
46.669150
47.598205
48.545960
49.512790

5.30

50.362635

49.666820

49.808265

50.499090

120

5.32
5.34
5.36
5.38

51.382650
52.422980
53.484050
54.566275

50.684240
51.722265
52.781295
53.861765

50.811740
51.835770
52.880770
53.947165

51.505250
52.531695
53.578825
54.647065

5.40
5.42
5.44
5.46
5.48

55.670080
56.795895
57.944475
59.115365
60.309930

54.994095
56.088715
57.236075
58.406635
59.600850

55.035390
56.145875
57.279085
58.435475
59.615510

55.736855
56.848635
57.982845
59.139955
60.320420

5.50
5.52
5.54
5.56
5.58
kz
5.60
5.62
5.64
5.66
5.68

61.528340
62.771080
64.038640
65.334520
66.650240
Akz
67.995310
69.367270
70.766665
72.194040
73.649975

60.819190
62.062145
63.330200
64.623855
65.943635
Bkz
67.290040
68.663625
70.064915
71.494480
72.952870

60.819670
62.048440
63.302320
64.581820
65.887450
Ckz
67.219740
68.579230
69.966475
71.382020
72.826445

61.524730
62.753375
64.006840
65.285635
66.590285
Dkz
67.921310
69.279255
70.664665
72.078100
73.520140

5.70
5.72
5.74
5.76
5.78

75.135040
76.649830
78.194940
79.770985
81.378595

74.440670
75.958470
77.506865
79.086475
80.697915

74.300330
75.804270
77.338870
78.904755
80.502545

74.991360
76.492350
78.023735
79.586115
81.180135

5.80
5.82
5.84
5.86
5.88

83.018405
84.691070
86.397255
88.137645
89.912920

82.341884
84.018870
85.729700
87.474990
89.255435

82.132885
83.796440
85.493865
87.225855
88.993400

82.806435
84.465670
86.158520
87.885660
89.647785

5.90
5.92
5.94
5.96
5.98

91.723790
93.570985
95.455235
97.377290
99.337920

91.071740
92.924630
94.814830
96.743090
98.710180

90.796310
92.636215
94.513545
96.429600
98.383530

91.445620
93.279880
95.151320
97.060680
99.008740

6.00
6.01
6.02
6.03
6.04

101.337905
102.352905
103.378040
104.413420
105.459145

100.716870
101.735315
102.763960
103.802910
104.852265

100.377735
101.389985
102.412470
103.445300
104.488565

100.996290
102.005115
103.024120
104.053400
105.093065

6.06
6.07
6.08

107.582045
108.659430
109.747585

106.982605
108.063810
109.155830

106.606845
107.682070
108.768155

107.203945
108.275380
109.357620

121

6.09

110.846620

110.258790

109.865220

110.450780

6.10
6.11
6.12
6.13
6.14

111.956640
113.077755
114.210080
115.353730
116.508815

111.372800
112.497965
113.634395
114.782200
115.941505

110.973370
112.092715
113.223370
114.365440
115.519045

111.554960
112.670285
113.796855
114.934790
116.084205

6.16
6.17
6.18
6.19

118.853755
120.043850
121.245845
122.459870

118.295055
119.489535
120.695970
121.914490

117.861335
119.050250
120.251165
121.464210

118.417925
119.602475
120.798970
122.007540

6.20
6.21
6.22
6.23
6.24

123.686040
124.924475
126.175305
127.438660
128.714650

123.145210
124.388250
125.643740
126.911800
128.192550

122.689500
123.927155
125.177305
126.440070
127.715580

123.228300
124.461370
125.706880
126.964960
128.235725

6.46
6.27
6.28

131.305080
132.619775
133.947630

130.792665
132.112280
133.445105

130.305350
131.619865
132.947640

130.815815
132.125460
133.448295

CC HM V TRONG NG LC HC CNG TRNH

1 ( )

B C A D ch sin sin cos


D sh sin

; 2 ( )

;
4
1
4
1-ch cos
2 1 2 1-ch cos

3 ( )
5 ( )

2 D2 A C 2 sh sin
C 2 ch cos

; 4 ( )

;
6
1
6 1-ch cos
3 1
6 1-ch cos

D2 B2 2
sh sin
2 A B C D 2 sh cos ch sin

; 6 ( )

;
3 2
3 chsin sh cos
3
2
3 chsin sh cos

A2 C2
2 B 2
sh sin
2ch sin

; 8 ( )

;
3 2
3 ch sin sh cos
3
chsin sh cos
A
ch cos
9 ( )
;
3
chsin +sh cos

7 ( )

2 A C B2 2 sh sin
2 C
1 ( )

3 ( ); 2 ( )
4 ( );
6
1
6
1
6 1
3 A B C D 2 sh cos ch sin
3 ( )

;
12
1
12
1 ch cos
3 B 2 sh sin
2 A B C D 2 sh cos ch sin
4

; 5 ( )

;
12 1 12 1 ch cos
3
2
3 ch sin sh cos
2 B 2
sh sin
3 C2 A2 3
2ch cos
( )

7 ( ); 6 ( )

;
3 2
3 ch sin sh cos
3
2
3 ch sin sh cos
*
5

122

3 A 3
ch cos
3 B D A2 3
1 ch cos
( )

7 ( ); 8 ( )

;
3 2
3 ch sin sh cos
3
2
3 ch sin sh cos
B C A D
ch sin sh cos
9 ( ) 2
2
;
3
ch sin sh cos
*
6

1; 2; 3 xem bng 2

Bng 5: Cc hm s tnh ng lc hc ca khung v dm lin tc

1()

2()

3()=1()

4()=2()

2()

6()=5()

0.00
0.10
0.20
0.30
0.40

1.00000
1.00000
1.00000
0.99998
0.99994

1.00000
1.00000
1.00001
1.00003
1.00009

1.00000
1.00000
0.99999
0.99993
0.99978

1.00000
1.00000
1.00001
1.00003
1.00014

1.00000
1.00000
0.99999
0.99994
0.99984

1.00000
1.00009
0.99995
0.99977
0.99927

0.50
0.60
0.70
0.80
0.90

0.99985
0.99969
0.99943
0.99902
0.99844

1.00022
1.00046
1.00086
1.00146
1.00235

0.99945
0.99887
0.99790
0.99642
0.99427

1.00032
1.00067
1.00124
1.00211
1.00339

0.99960
0.99918
0.99847
0.99739
0.99582

0.99821
0.99630
0.99314
0.98828
0.98121

1.00
1.10
1.20
1.30
1.40

0.99761
0.99650
0.99504
0.99317
0.99079

1.00358
1.00525
1.00744
1.01026
1.01384

0.99126
0.98719
0.98184
0.97496
0.96627

1.00517
1.00758
1.01075
1.01483
1.02000

0.99363
0.99065
0.98673
0.98167
0.97525

0.97133
0.95796
0.94034
0.91762
0.88882

1.50
1.60
1.70
1.80
1.90

0.98784
0.98422
0.97983
0.97455
0.96826

1.01828
1.02375
1.03039
1.03838
1.04791

0.95547
0.94223
0.92618
0.90692
0.88400

1.02643
1.03433
1.04394
1.05551
1.06933

0.96723
0.95734
0.94525
0.93060
0.91289

0.85289
0.80859
0.75455
0.68920
0.61071

2.00
2.10
2.20
2.30
2.40

0.96083
0.95210
0.94189
0.93000
0.91622

1.05922
1.07255
1.08819
1.10646
1.12776

0.85694
0.82519
0.78815
0.74512
0.69533

1.08572
1.10507
1.12778
1.15436
1.18536

0.89188
0.86617
0.83678
0.80120
0.75891

0.51698
0.40552
0.27334
0.11685
-0.06838

2.50
2.60
2.70
2.80
2.90

0.90027
0.88187
0.86064
0.83618
0.80797

1.15252
1.18121
1.21465
1.25340
1.29844

0.63789
0.57178
0.49582
0.40859
0.30844

1.24146
1.26345
1.31227
1.30906
1.43520

0.70855
0.64838
0.57610
0.48864
0.38175

-0.28792
-0.54885
-0.86042
-1.23499
-1.68954

123

3.00
3.10
3.20
3.30
3.40

0.77540
0.73772
0.69399
0.64300
0.58322

1.35089
1.41217
1.48404
1.56877
1.66931

0.19336
0.06090
-0.09197
-0.26908
-0.47534

1.51241
1.60282
1.70914
1.83484
1.98444

0.24973
0.08256
-0.13252
-0.41847
-0.81502

-2.24817
-2.94636
-3.83880
-5.01472
-6.63059

3.50
3.60

0.51264
0.42845

1.78959
1.93491

-0.71717
-1.00321

2.16396
2.38160

-1.39906
-2.34150

-8.98677
-12.76200

1()

2()

3()=1()

4()=2()

2()

6()=5()

3.70
3.80
3.90

0.32694
0.20271
0.04780

2.11269
2.33351
2.61310

-1.34530
-1.76031
-2.27304

2.64874
2.98174
3.40484

-4.11481
-8.68383
-47.55530

-19.80680
-37.84500
-190.68800

4.00
4.10
4.20
4.30
4.40

-0.15008
-0.41099
-0.77004
-1.29502
-2.13568

2.97580
3.46151
4.14023
5.14721
6.78170

-2.92177
-3.76880
-4.14023
-6.59517
-9.24895

3.95573
4.69608
5.73426
7.27962
9.79564

19.46700
9.17015
6.39342
5.09273
4.33068

72.58920
32.01490
20.98440
15.74350
12.60740

4.50
4.60
4.70
4.80
4.90

-3.70212
-7.66550
-37.94770
18.30480
8.34376

9.86350
17.73460
78.23820
-34.33280
-14.48300

-14.17530
-26.49220
-120.37400
53.83900
22.90350

14.75210
26.72950
120.43000
-53.95580
-23.25230

3.32358
3.45605
3.17311
2.94125
2.74520

10.46030
8.84763
7.54806
6.43993
5.44965

5.00
5.10
5.20
5.30
5.40

5.74862
4.54448
3.84172
3.37489
3.03685

9.37158
-7.04949
-5.73831
-4.90802
-4.34539

14.78660
10.97120
8.70237
7.15699
6.00243

-15.36250
-11.79660
-9.80006
-8.55222
-7.72326

2.57221
2.41419
2.26523
2.12066
1.97654

4.52887
3.64239
2.76656
1.87670
0.95373

5.50
5.60
5.70
5.80
5.90

2.77590
2.56393
2.38420
2.22596
2.08186

-3.94830
-3.66194
-3.45455
-3.30668
-3.20607

5.07780
4.29505
3.60123
2.96183
2.35258

-7.15559
-6.76502
-6.50316
-6.34091
-6.26051

1.82925
1.67518
1.51046
1.33058
1.13003

-0.02214
-1.07206
-2.22019
-3.49580
-4.93603

6.00
6.10
6.20

1.94654
1.81579
1.68609

-3.14497
-3.11863
-3.12451

1.75508
1.15419
0.53635

-6.25142
-6.30816
-6.42908

0.90164
0.63564
0.31810

-6.59010
-8.52590
-10.84110

124

7()

3()

4()

6()

7()

8()

0.00
0.10
0.20
0.30
0.40

1.00000
1.00000
1.00002
1.00011
1.00034

1.00000
1.00000
0.99995
0.99975
0.99921

1.00000
1.00000
1.00002
1.00009
1.00027

1.00000
0.99998
0.99974
0.99869
0.99585

1.00000
1.00000
1.00007
1.00038
1.00119

1.00000
0.99999
0.99987
0.99936
0.99799

0.50
0.60
0.70
0.80
0.90

1.00082
1.00170
1.00315
1.00537
1.00862

0.99806
0.99599
0.99257
0.98732
0.97968

1.00067
1.00139
1.00257
1.00439
1.00704

0.98998
0.97901
0.96111
0.93362
0.89361

1.00290
1.00602
1.01116
1.01906
1.03057

0.99509
0.98981
0.98112
0.96779
0.94837

1.00
1.10
1.20
1.30
1.40

1.01316
1.01931
1.02743
1.03792
1.05125

0.96902
0.95462
0.93569
0.91135
0.88064

1.01074
1.01575
1.02234
1.03083
1.04157

0.83772
0.76210
0.66264
0.53448
0.37238

1.04667
1.06850
1.09733
1.13462
1.18201

0.92152
0.88458
0.83630
0.77412
0.69549

1.50
1.60
1.70
1.80
1.90

1.06794
1.08859
1.11391
1.14470
1.18194

0.84252
0.79583
0.73933
0.67165
0.59133

1.05495
1.07141
1.09144
1.11557
1.14442

0.17050
-0.07768
-0.37944
-0.74297
-1.17151

1.24142
1.31504
1.40540
1.51549
1.64887

0.59757
0.47721
0.33090
0.15468
-0.05590

2.00
2.10
2.20
2.30
2.40

1.22675
1.28054
1.34499
1.42221
1.51486

0.49673
0.38609
0.25746
0.10867
-0.06265

1.17870
1.21920
1.26683
1.32266
1.38794

-1.69362
-2.30348
-3.02127
-3.86381
-4.85132

1.80980
2.00346
2.23621
2.51603
2.85300

-0.30593
-0.60126
-0.94869
-1.35628
-1.83370

2.50
2.60
2.70
2.80
2.90

1.62631
1.76099
1.92479
2.12566
2.37473

-0.25924
-0.48401
-0.74051
-1.03267
-1.36510

1.46412
1.55296
1.65655
1.77743
1.91871

-6.00856
-7.36650
-8.96474
-10.85530
-13.10850

3.26008
3.75427
4.35821
5.10279
6.03118

-2.39277
-3.04824
-3.81896
-4.72963
-5.81363

3.00
3.10
3.20
3.30
3.40

2.68795
3.08906
3.61495
4.32616
5.32940

-1.74324
-2.17360
-2.66408
-3.22447
-3.86709

2.08425
2.27887
2.50873
2.78172
3.10821

-15.82280
-19.14160
-23.28410
-28.60530
-35.72480

7.20554
8.71851
10.71440
13.43040
17.28490

-7.11762
-8.70949
-10.69290
-13.23570
-16.63060

125

3.50
3.60
3.70

6.83166
9.29380
13.99080

-4.60787
-5.46784
-6.47565

3.50200
3.98191
4.57418

-45.83660
-61.58710
-90.27690

23.09050
32.65720
50.99400

-21.44150
-28.91840
-42.50940

7()

3()

4()

6()

7()

8()

3.80
3.90

26.22730
131.07600

-7.67158
-9.11447

5.31656
6.26517

-162.26400
-764.08100

98.94480
510.81600

-76.54490
-360.74400

4.00
4.10
4.20
4.30
4.40

-50.02020
-22.35040
-15.00170
-11.65410
-9.77808

-10.89450
-13.15770
-16.15900
-20.38810
-26.92540

7.50722
9.18596
11.55200
15.09230
20.88290

269.20400
108.34700
63.46710
41.20980
27.08610

-200.99700
-92.44860
-63.77640
-50.85040
-43.73380

127.06100
51.05060
29.79270
19.21000
12.46120

4.50
4.60
4.70
4.80
4.90

-8.60946
-7.83952
-7.31942
-6.96999
-6.74570

-38.72540
-67.82150
-286.43100
117.88200
45.47060

31.87390
60.09390
277.77500
-127.58400
-56.28450

16.70070
8.25542
0.86832
-5.95313
-12.51440

-39.42790
-36.72140
-35.03650
-34.00673
-33.64170

7.47032
3.38788
-0.20327
-3.53645
-6.75683

5.00
5.10
5.20
5.30
5.40

-6.61931
-6.57441
-6.60156
-6.69622
-6.85771

26.03480
16.55680
10.62840
6.33368
2.89632

38.05190
29.87730
25.36140
22.59900
20.85580

-19.02400
-25.63810
-32.48520
-39.68110
-47.33980

-33.66110
-34.07120
-34.84730
-35.98720
-37.50730

-9.96388
-13.23260
-16.62510
-20.19780
-24.00680

5.50
5.60
5.70
5.80
5.90

-7.08877
-7.39562
-7.78837
-8.28201
-8.89804

-0.06147
-2.74869
-5.29338
-7.78152
-10.27620

-19.67770
-18.96190
-18.56900
-18.43540
-18.52450

-55.58200
-64.55400
-74.38780
-85.31460
-97.58370

-39.44290
-41.84960
-44.80780
-48.43030
-52.87430

-28.11150
-32.57970
-37.49210
-42.94900
-49.08010

6.00
6.10
6.20

-9.66722
-10.63400
-11.86420

-12.82790
-15.48130
-18.27900

-18.81760
-19.30910
-20.00420

-111.54200
-127.67000
-146.65900

-58.36100
-65.20740
-73.88130

-56.05890
-64.12900
-72.62790

126

Bng 3.1: Cc tn s c bn v dng dao ng ring ca dm mt nhp

CC DNG DAO NG
Loi dm

0, 774l
0, 644l

B 22, 4

0,5l
B 9,86

B 22, 4

B 15, 4

B 39,5

0,5l

0,868l

B 121,0

B 61, 7

0,333l

0, 667l

B 88,9

0,5l

0,359l 0, 641l

B 61, 7

B 121

0,560l

0,384l 0, 692l

B 50, 0

B 104

0, 644l 0,906l

0,356l

0, 25l

0,5l

0, 75l

B 158

0, 278l 0, 5l

0, 722l

B 250

0, 294l 0,529l

0, 765l

B 178

127

MC LC
M u
CHNG 1: DAO NG CA H MT BC T DO
1-1- Mt s khi nim v l thuyt dao ng
1-1-1- Khi nim v chu k v tn s
1-1-2- Dao ng iu ho v vc t quay
1-1-3- Lc cn v m hnh lc cn
1-2- Phng trnh vi phn dao ng ngang tng qut ca h mt bc t do
1-3- Dao ng t do-tn s dao ng t do (hay tn s dao ng ring)
1-3-1- Dao ng t khng c lc cn
1-3-2- Dao ng t do c lc cn
1-4- Dao ng cng bc chu lc kch thch iu ho P(t)=P0sinrt -h s ng
1-4-1- Xt trng hp lc cn b
1-4-2- Xt trng hp khi khng c lc cn
1-4-3- Phn tch h s ng-hin tng cng hng
1-5- H mt bc t do chu lc kch ng-hm ng lc v tch phn Duhamel
CHNG 2: DAO NG CA H C NHIU (n) BC T DO
2-1- Khi nim ban u
2-2- Phng trnh vi phn dao ng ngang tng qut ca h c n bc t do
2-3- Dao ng t do ca h c n bc t do-phng trnh tn s
2-3-1- Tn s v phng trnh tn s
2-3-2- Dng dao ng ring v tnh cht trc giao ca cc dng dao ng
ring
A- Dng dao ng ring
B- Tnh cht trc giao ca cc dng dao ng ring
C- Chun ho cc dng dao ng ring
2-3-3- Phn tch ti trng theo cc dng dao ng ring
128

2-4- Cch chuyn tng ng cc ti trng ng t ti v tr bt k trn kt


cu v t ti cc khi lng
2-5- Dao ng cng bc ca h c n bc t do, khng c lc cn, chu lc
kch thch iu ho P(t)=P0sinrt
2-5-1- Biu thc ni lc ng v chuyn v ng
2-5-2- Xc nh bin ca cc lc qun tnh
2-6- Dao ng cng bc ca h c n bc t do, khng c lc cn, chu lc
kch thch bt k P(t)
CHNG 3: DAO NG NGANG CA THANH THNG C V

HN BC T DO
3-1- Phng trnh vi phn tng qut dao ng ngang ca thanh thng
3-2- Dao ng t do khng c lc cn ca thanh thng tit din hng s-tnh
cht trc giao ca cc dng dao ng ring
3-2-1- Phng trnh vi phn dao ng t do khng c lc cn
3-2-2- Gii phng trnh vi phn (3-6)-Xc nh qui lut dao ng t do
3-2-3- Gii phng trnh vi phn (3-7)-Xc nh tn s dao ng ring v
dng dao ng ring
3-2-4- Xc nh tn s dao ng ring ca cc dm mt nhp
3-2-5- Tnh cht trc giao ca cc dng dao ng ring
3-2-6- Phn tch ti trng theo cc dng dao ng ring
3-2-7- Dng chun ca cc dng dao ng ring
3-3- Dao ng cng bc khng c lc cn ca thanh thng tit din khng
i
3-3-1- Trng hp lc kch thch phn b bt k q(z,t)
3-3-2- Trng hp lc kch thch phn b u theo quy lut iu ho
q(z,t)=q0sinrt
3-3-3- Trng hp lc tp trung P(t)
3-3-4- Dao ng cng bc khng c lc cn ca dm mt nhp, tit din
khng i, chu tc ng ca ti trng v di chuyn gi ta bin i iu ho

129

CHNG 4: CC PHNG PHP TNH GN NG TRONG

NG LC HC CNG TRNH
4-1- Cc phng php nng lng
4-1-1- Phng php Rayleigh
A- Xt trng hp h c s bc t do hu hn
B- Trng hp khi lng phn b-h c v hn bc t do
4-1-2- Phng php Rayleigh-Ritz
4-2- Phng php khi lng tp trung
CHNG 5: DAO NG CA KT CU H THANH PHNG
5-1- Cch tnh gn ng
5-2- Phng php tnh chnh xc
5-2-1- Xc nh tn s dao ng t do
5-2-2- Biu bin ni lc ng

**************************

130

TI LIU THAM KHO


1) Phm Khc Hng v nhng ngi khc.

n nh v ng lc hc cng trnh.
Nh xut bn Khoa hc v K thut-H Ni 1979.
2) Nguyn vn Tnh C s dao ng cng trnh
Nh xut bn Xy dng H ni 1987
3) Nguyn Vn Phng

ng lc hc cng trnh.

Nh xut bn Khoa hc v K thut-H Ni 2005.


4) Vstes Gyrgy

Dynamics of Structures

Budapest 1976
5) Groschy Bla

Design of Structures Under Special Loads

Budapest 1984
6) Norris.Ch.H.

Structural Design of Dynamic Loads.

New york, Mc Graw-Hill 1969.


7) Livesley R.K.

Matrix Methods in Structural Analyzis

Rergamon Press, 1964


8) Warburton, G.B.

The Dynamical Behavior of Structures

Rergamon Press, 1964


9) Rayw-Crough, Joseph Reuzien. Dynamics of Structures
Mc Graw-Hill, Inc 1993
10,Kopee ..,
Pao .M.
coopye.
Moca 1984.

Cnpaok no ake

131

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