Bai Giang DLHCT

1
TRNG I HC GIAO THNG VN TI

KHOA CNG TRNH
B MN KT CU
***
NG LC HC
CNG TRNH
Nguyn Trung Kin
H NI 01-2012
Mc lc
1 Khi nim c bn
1.1 Khi nim v ng lc hc cng trnh . . . . . . . . . . . . . .
1.2 Ti trng ng . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1 Ti trng c chu k . . . . . . . . . . . . . . . . . . . .
1.2.2 Ti trng khng c chu k . . . . . . . . . . . . . . . .
1.3 Bc t do ca h dao ng . . . . . . . . . . . . . . . . . . . .
1.4 Phn loi dao ng . . . . . . . . . . . . . . . . . . . . . . . .
1.5 Phng php lp phng trnh vi phn dao ng . . . . . . .
1.5.1 Phng php trc tip . . . . . . . . . . . . . . . . . .
1.5.2 Phng php cng kh d . . . . . . . . . . . . . . . .
1.5.3 Phng php nng lng-Nguyn l Hamilton . . . . .
1.6 M hnh ha bi ton ng lc hc . . . . . . . . . . . . . . .
1.6.1 Phng php khi lng tp trung . . . . . . . . . . .
1.6.2 Phng php chuyn v tng qut (phng php RayleighRitz) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.6.3 Phng php phn t hu hn . . . . . . . . . . . . .
2 Dao ng h mt bc t do
2.1 M hnh h dao ng mt bc t do . . . . . . .
2.2 Phng trnh vi phn dao ng tng qut . . . .
2.3 Phng php gii phng trnh vi phn dao ng
2.3.1 Phng php c in . . . . . . . . . . . .
2.3.2 Tch phn Duhamel . . . . . . . . . . . . .
2.3.3 Phng php bin i Fourier . . . . . . .
2.3.4 Phng php s . . . . . . . . . . . . . . .
2.4 Dao ng t do ca h mt bc t do . . . . . . .
2.4.1 Dao ng t do khng lc cn . . . . . . .
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1
1
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5
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9
13
13
14
15
15
15
16
16
16
17
ii
MC LC
2.5
2.6
2.4.2 Dao ng t do c lc cn . . . . . . . . . . . .
2.4.3 suy gim logarithme . . . . . . . . . . . . .
Dao ng h mt bc t do chu tc dng ca ti trng
Dao ng cng bc h mt bc t do . . . . . . . . .
2.6.1 Trng hp khng c lc cn . . . . . . . . . .
2.6.2 Trng hp c lc cn . . . . . . . . . . . . . .
. . .
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xung
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. . .
3 Dao ng h hu hn bc t do
3.1 M hnh h hu hn bc t do . . . . . . . . . . . . . . . . .
3.2 Phng trnh vi phn dao ng h hu hn bc t do . . . .
3.3 Dao ng t do h hu hn bc t do . . . . . . . . . . . . .
3.3.1 ngha vt l ca tn s dao ng ring v dng dao
ng ring . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Tn s dao ng ring . . . . . . . . . . . . . . . . .
3.3.3 Dng dao ng ring . . . . . . . . . . . . . . . . . .
3.3.4 Tnh cht trc giao cc dng dao ng . . . . . . . .
3.3.5 Chun ha dng dao ng . . . . . . . . . . . . . . .
3.3.6 Khai trin vc t chuyn v theo dng dao ng . . .
3.3.7 Phng trnh dao ng . . . . . . . . . . . . . . . . .
3.4 Dao ng cng bc h hu hn bc t do . . . . . . . . . .
4 H v hn bc t do - Dao ng ca thanh thng
4.1 Phng trnh vi phn dao ng . . . . . . . . . . . . . . . .
4.2 Dao ng t do ca thanh thng . . . . . . . . . . . . . . .
4.2.1 Phng trnh dao ng t do . . . . . . . . . . . . .
4.2.2 Tnh cht trc giao ca cc dng dao ng ring . . .
4.3 Dao ng t do ca thanh thng c khi lng phn b u
v tit din khng i . . . . . . . . . . . . . . . . . . . . .
4.4 Dao ng cng bc ca thanh thng c khi lng phn b
u v tit din khng i . . . . . . . . . . . . . . . . . . .
4.5 Dao ng cng bc ca thanh thng chu ti trng bt k Khai trin theo dng dao ng . . . . . . . . . . . . . . . . .
5 Dao ng ca h phc tp
5.1 Phng php chuyn v tnh dao ng ca khung
5.1.1 Dao ng cng bc . . . . . . . . . . . .
5.1.2 Dao ng ring . . . . . . . . . . . . . . .
5.2 Phng php gn ng tnh dao ng ca khung
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21
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35
43
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65
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66
66
68
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81
81
81
83
88
MC LC
5.3
5.4
iii
Phng php chuyn v tnh dao ng ca dm lin tc . . . . 89

Dao ng ca dn . . . . . . . . . . . . . . . . . . . . . . . . . 91
6 Phng php tch phn theo thi gian trong phn

ton ng lc hc
6.1 H tuyn tnh mt bc t do . . . . . . . . . . . . . .
6.1.1 Phng php sai phn ng tm . . . . . . .
6.1.2 Phng php Newmark . . . . . . . . . . . . .
6.2 H phi tuyn mt bc t do . . . . . . . . . . . . . .
6.2.1 Phng trnh cn bng ng di dng gia s
6.2.2 Phng php Newmark . . . . . . . . . . . . .
6.2.3 Gim sai s bng thut ton Newton-Raphson
6.3 H tuyn tnh nhiu bc t do . . . . . . . . . . . . .
6.3.1 Phng php sai phn ng tm . . . . . . .
6.3.2 Phng php Newmark . . . . . . . . . . . . .
6.3.3 Phng php Wilson . . . . . . . . . . . . . .
6.3.4 Phng php HHT . . . . . . . . . . . . . . .
6.4 H phi tuyn nhiu bc t do . . . . . . . . . . . . .
6.4.1 Phng trnh cn bng ng di dng gia s
6.4.2 Phng php Newmark . . . . . . . . . . . . .
7 Tnh kt cu chu tc dng ng t
7.1 Khi nim v ng t . . . . . . . . . .
7.1.1 Ngun gc ca ng t . . . . .
7.1.2 Lan truyn sng . . . . . . . . . .
7.1.3 Chuyn ng ca mt t . . . .
7.1.4 Cng . . . . . . . . . . . . .
7.2 Tnh kt cu chu tc dng ca ng t
7.2.1 H mt bc t do tuyn tnh . . .
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tch bi
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93
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97
104
104
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113
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118
119
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119
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121
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. 124
. 125
. 125
. 126
8 Phng php phn t hu hn trong bi ton ng lc hc133
iv
MC LC
Danh sch hnh v

1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
Ti trng iu ha . . . . . . . . . . . . . . . . . . . . .
Ti trng c chu k bt k . . . . . . . . . . . . . . . . .
Ti trng tc dng trong thi gian ngn-Ti trng xung .
Ti trng di hn . . . . . . . . . . . . . . . . . . . . . .
H c khi lng tp trung: (a) h mt bc t do, (b) h
bc t do, (c) h bn bc t do . . . . . . . . . . . . . . .
M hnh khi lng tp trung . . . . . . . . . . . . . . .
M hnh Rayleigh-Ritz . . . . . . . . . . . . . . . . . . .
M hnh phn t hu hn . . . . . . . . . . . . . . . . .
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2
2
3
3
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. 8
. 8
. 10
2.1
M hnh h dao ng mt bc t do (a), Cc lc tc dng ln

khi lng (b) . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Cc thnh phn ca dao ng iu ha: (a) thnh phn ph
thuc vo u(0), (b) thnh phn ph thuc vo u(0), (c) dao
ng iu ha: tng ca (a) v (b) . . . . . . . . . . . . . . .
2.3 Biu din dao ng iu ha bng vc t quay . . . . . . . . .
2.4 V d h mt bc t do . . . . . . . . . . . . . . . . . . . . . .
2.5 Dao ng ca h khi c lc cn, trng hp tham s tt dn
<1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 nh hng tham s tt dn n tn s dao ng . . . . . . .
2.7 S thay i ca chuyn v v vn tc ca h theo thi gian
trong trng hp = 1 v > 1 . . . . . . . . . . . . . . . . .
2.8 Xc nh tham s tt dn . . . . . . . . . . . . . . . . . . .
2.9 Ti trng xung (a), dao ng h mt bc t do chu tc dng
ca ti trng xung khi khng xt n lc cn (b) . . . . . . . .
2.10 S ph thuc ca bin dao ng iu ha vo tn s ti
trng tc ng . . . . . . . . . . . . . . . . . . . . . . . . .
2.11 S thay i ca h s ng Rd v gc lch pha theo t s /
v
13
18
19
20
23
23
25
26
27
30
32
vi
DANH SCH HNH V

2.12 V d h mt bc t do chu tc dng ca ti trng iu ha
2.13 V d xc nh biu moment un ng h mt bc t do
chu tc dng ca ti trng iu ha . . . . . . . . . . . . .
2.14 S thay i ca h s ng Rt theo thi gian khi xy ra hin
tng cng hng . . . . . . . . . . . . . . . . . . . . . . . .
2.15 Dao ng iu ha khi xt n lc cn . . . . . . . . . . . .
2.16 Bin trng thi dao ng n nh . . . . . . . . . . . .
2.17 S thay i h s ng Rd v gc lch pha theo t s / v
tham s tt dn . . . . . . . . . . . . . . . . . . . . . . . .
2.18 S thay i h s ng Rt theo tham s tt dn khi = 1
. 33
. 34
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. 36
. 37
. 39
. 41
3.1
3.2
3.3
3.4
3.5
3.6
3.7
M hnh h dao ng hu hn bc t do . . . . . . . . . . . .
Lc tc dng ln cc khi lng . . . . . . . . . . . . . . . . .
Chuyn ng ca h vi iu kin ban u bt k . . . . . . .
Dng dao ng th nht ca h . . . . . . . . . . . . . . . . .
Dng dao ng th hai ca h . . . . . . . . . . . . . . . . . .
Kt cu nh hai tng, khi lng tp trung hai sn . . . . .
Dng dao ng ring : (a) dng dao ng th nht, (b) dng
dao ng th hai . . . . . . . . . . . . . . . . . . . . . . . . .
3.8 H dao ng hai bc t do . . . . . . . . . . . . . . . . . . . .
3.9 Dng dao ng ring : (a) dng dao ng th nht, (b) dng
dao ng th hai . . . . . . . . . . . . . . . . . . . . . . . . .
3.10 Khai trin vc t chuyn v theo dng dao ng . . . . . . . .
3.11 H dao ng hai bc t do chu tc dng ca ti trng iu ha
4.1
4.2
4.3
5.1
5.2
5.3
5.4
5.5
44
44
47
47
48
50
52
53
54
58
62
Quy lut o hm ca Akx , Bkx , Ckx v Dkx . . . . . . . . . . 72

Dm mt u ngm mt u t do (a), dng dao ng th
nht (b), dng dao ng th hai (c), dng dao ng th ba (d) 74
Dm hai u khp (a), dng dao ng th nht (b), dng dao
ng th hai (c), dng dao ng th ba (d) . . . . . . . . . . . 75
Khung chu tc dng ca ti trng ng (a), H c bn (b) . .
Biu moment un ng ca khung . . . . . . . . . . . . . .
Khung c khi lng phn b (a), Khung c khi lng tp
trung (b) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dm lin tc (a), Dng dao ng i xng ca dm lin tc (b)
Dn c khi lng tp trung ti nt dn (a), Chuyn khi
lng v ng bin c xe chy (b) . . . . . . . . . . . . . . .
84
88
88
90
92
DANH SCH HNH V

6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
7.1
7.2
7.3
7.4
7.5
7.6
7.7
Phng php sai phn ng tm . . . . . . . . . . . . . . . .

Tr cu chu tc dng ca ti trng ng (a), Ti trng ng
(b) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
So snh nghim chnh xc v nghim tnh theo phng php
sai phn ng tm vi cc bc thi gian khc nhau . . . . .
Phng php gia tc trung bnh (a), Phng php gia tc tuyn
tnh (b) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
So snh nghim chnh xc vi nghim tnh theo phng php
gia tc tuyn tnh v gia tc trung bnh . . . . . . . . . . . .
H mt bc t do (a), Ti trng ng (b), cng phi tuyn
(c), Lc cn phi tuyn (d) . . . . . . . . . . . . . . . . . . .
Quan h lc-chuyn v . . . . . . . . . . . . . . . . . . . . .
Thut ton Newton-Raphson (a), Thut ton Newton-Raphson
ci tin (b) . . . . . . . . . . . . . . . . . . . . . . . . . . .
Phng php Wilson . . . . . . . . . . . . . . . . . . . . . .
Cc khi nim v ng t . . . . . . . . . . . . . . . . . . .
Sng Rayleigh v sng Love . . . . . . . . . . . . . . . . . .
Thnh phn gia tc ca t theo hng Bc-Nam c ghi li
ti El Centro, California trong trn ng t ngy 18 thng 5
nm 1940. Vn tc v chuyn v ca t c xc nh bng
cch tch phn gia tc ca t . . . . . . . . . . . . . . . . .
(a) H mt bc t do chu nh hng ca ng t, (b) Cc
lc tc dng ln khi lng . . . . . . . . . . . . . . . . . . .
(a) Nghim chuyn v ca h mt bc t do vi ba chu k dao
ng ring khc nhau, (b) Ph chuyn v . . . . . . . . . . .
(a) Ph chuyn v, (b) Ph gi vn tc, (c) Ph gi gia tc .
Kt hp ph nghim D-V-A, trng hp = 2 . . . . . . . .
vii
. 94
. 97
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. 101
. 104
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. 109
. 110
. 116
. 122
. 123
. 126
. 127
. 129
. 131
. 132
viii
DANH SCH HNH V
K hiu dng trong bi ging

Cc k hiu chung
u
u
u
m
k
c
T
f
chuyn v ca h,
vn tc ca h,
gia tc ca h,
khi lng ca h,
cng ca h,
h s cn nht,
tn s lc cng bc,
tn s dao ng ring,
chu k dao ng,
tn s ring,
gc pha,
K hiu chng 1
u
b
Pi (b
u)
Pe (b
u)
A(b
u)
T
V
Wnc
chuyn v kh d,
cng kh d ca ni lc,
cng kh d ca ngoi lc,
cng kh d ca lc qun tnh,
ng nng ca h,
th nng ca h,
cng ca cc lc khng bo ton,
ix
DANH SCH HNH V
K hiu chng 2
fI
fD
fS
p(t)
F
lc qun tnh,
lc cn nht,
lc n hi,
ti trng ng,
bin i Fourier,
tham s tt dn,
xung lng ca ti trng xung,
K hiu chng 3
M ma trn khi lng,

K ma trn cng,
C ma trn h s lc cn,
K hiu chng 4
E
I(x)
M
Q
p(n)
y
x
module n hi ca vt liu,
momen qun tnh ca thanh,
moment un ni lc,
lc ct,
o hm bc n ca p,
o hm ring ca y theo x,
K hiu chng 5
Z
R
bin chuyn v ti cc nt ca kt cu,

bin phn lc ti cc lin kt t thm vo,
DANH SCH HNH V
xi
xii
DANH SCH HNH V
Chng 1
Khi nim c bn
Bi ging ng lc hc cng trnh ny c vit dnh cho sinh vin cc
trng k thut, xy dng dn dng. N cp n vn c bn ca l
thuyt dao ng cng trnh, t dao ng h mt bc t do n h hu hn
bc t do v h v hn bc t do. Phn cui ca bi ging cp n cch
vn dng cc l thuyt tnh ton mt s kt cu thng gp trong xy
dng dn dng cng nh trong cc cng trnh giao thng nh dm, khung,
dn.
1.1
Khi nim v ng lc hc cng trnh
ng lc hc cng trnh nghin cu dao ng ca kt cu gy ra bi cc ti

trng ng l cc ti trng bin i theo thi gian. Ti trng ng ny gy
ra cc chuyn v, ni lc, phn lc v ng sut cng ph thuc thi gian. Do
vy, trong bi ton ng khng tn ti nghim duy nht nh trong bi ton
tnh. Trong bi ton ng lc hc, cn phi xc nh cc gi tr lin tip ca
chuyn v theo thi gian trc khi i xc nh gi tr ln nht ca lc, phn
lc hay ng sut c dng thit k v kim tra kt cu.
Mc d s khc nhau ca vic phn tch ng lc hc kt cu v phn tch
tnh hc c th hin thng qua thng s thi gian nhng v bn cht l
do lc qun tnh. c trng ng lc hc ca bi ton c xt n nu lc
qun tnh ng vai tr quan trng so vi cc lc tc dng ln kt cu. Ngc
li, bi ton s c gii quyt nh bi ton tnh hc nu nh ti trng tc
dng ch gy ra cc lc qun tnh m ta c th b qua trong khi tnh ton.
1
CHNG 1. KHI NIM C BN
Hnh 1.1: Ti trng iu ha
Hnh 1.2: Ti trng c chu k bt k
1.2
Ti trng ng
Ti trng ng l ti trng m gi tr, phng chiu hay im tc dng ca

n thay i theo thi gian. Nu s thay i theo thi gian ca ti trng c
biu din bng mt hm s no , ngi ta gi l ti trng xc nh. Nu
s thay i khng c biu din bng mt hm c th m ch c biu
din qua cc s liu thng k th gi l ti trng bt k. phn tch kt
cu di tc dng ca loi ti trng ny cn dng n l thuyt xc sut.
Trong phm vi ca bi ging ny s ch trnh by cc vn lin quan n
ti trng xc nh. Ti trng ng c chia lm hai loi: ti trng c chu
k v ti trng khng c chu k.
1.2.1
Ti trng c chu k
Ti trng c chu k l ti trng m s bin thin theo thi gian ca n s

lp li sau mt khong thi gian T . Ti trng c chu k li c chia thnh
hai loi: ti trng iu ha v ti trng chu k bt k.
Hnh 1.1 biu din ti trng iu ha gy ra do chuyn ng quay ca ng
c c khi lng lch tm. Hnh 1.2 biu din ti trng c chu k gy ra do
1.3. BC T DO CA H DAO NG
Hnh 1.3: Ti trng tc dng trong thi gian ngn-Ti trng xung
Hnh 1.4: Ti trng di hn
ngi i b trn cu gy ra.
1.2.2
Ti trng khng c chu k
Ti trng khng c chu k l ti trng l ti trng bin i mt cch bt

k theo thi gian. Ti trng khng c chu k c chia thnh ti trng tc
dng ngn hn nh ti trng xung v ti trng tc dng di hn.
Hnh 1.3 biu din ti trng tc dng trong thi gian ngn so vi chu k dao
ng ca h. Nguyn nhn gy ra dng ti trng ny c th l do mt v n,
va p hay t gy mt cu kin trong h. Hnh 1.4 biu din ti trng di
hn gy ra do ng t.
1.3
Bc t do ca h dao ng
Bc t do ca h dao ng l s thng s c lp cn thit xc nh v

tr ca tt c cc khi lng trn h khi dao ng.
Hnh 1.5: H c khi lng tp trung: (a) h mt bc t do, (b) h hai bc t

do, (c) h bn bc t do
1. H c cc khi lng tp trung: trong trng hp ny ta ch xt

n lc qun tnh pht sinh do cc khi lng tp trung v chp nhn
cc gi thit sau:
Cc khi lng tp trung c coi l cht im.
B qua bin dng dc trc khi cc thanh chu un.
Bc t do c xc nh bng tng s cc lin kt ti thiu cn thit
t thm vo h ti v tr cc khi lng sao cho cc khi lng
tr thnh bt ng.
2. H c khi lng phn b: trong trng hp ny lc qun tnh
ph thuc vo c ta v thi gian fI = fI (x, t), do phi gii h
phng trnh vi phn vi cc o hm ring. Bc t do ca h c khi
lng phn b l v cng.
1.4
Phn loi dao ng
Do cu to ca kt cu (s phn b khi lng, cng, kch thc) c nhiu

hnh thi khc nhau cng nh ti trng tc dng c tnh cht khc nhau m
ta c nhiu cch phn loi dao ng
Theo tnh cht ca nguyn nhn gy ra dao ng
- Dao ng t do (dao ng ring): l dao ng khng c ti trng
ng duy tr trn h.
- Dao ng cng bc: l dao ng sinh ra bi cc ngoi lc tc dng
theo mt quy lut no v tn ti trong sut qu trnh dao ng.
1.5. PHNG PHP LP PHNG TRNH VI PHN DAO NG
Theo bc t do ca h dao ng
Theo cch phn loi ny, ngi ta chia h thnh 3 loi dao ng:
- Dao ng h mt bc t do.
- Dao ng h hu hn bc t do.
- Dao ng h v hn bc t do.
Theo s tn ti hay khng tn ti ca lc cn
- Dao ng c lc cn (dao ng tt dn) l dao ng b mt mt phn
nng lng do nh hng ca hiu ng nhit, ca ma st trong khi vt
rn bin dng, ma st ti mi ni thp hay s ng m cc vt nt
trong b tng.
- Dao ng khng c lc cn (dao ng khng tt dn) l dao ng m
nng lng ca h c bo ton.
Theo dng ca phng trnh vi phn m t dao ng
- Dao ng tuyn tnh khi phng trnh vi phn m t dao ng l
tuyn tnh.
- Dao ng phi tuyn khi phng trnh vi phn m t dao ng l phi
tuyn.
Theo kch thc v cu to ca h
- Dao ng ca h thanh: dm, dn, khung.
- Dao ng ca tm, v.
- Dao ng ca khi c.
1.5
Phng php lp phng trnh vi phn

dao ng
Lp phng trnh vi phn dao ng l mt bc quan trng trong phn tch

dao ng ca mt h. Di y s trnh by mt s phng php thit lp
phng trnh vi phn dao ng da trn cc i lng vc-t hay i lng
v hng.
1.5.1
Phng php trc tip
Phng php ny da trn vic xc nh hp lc tc dng ln h v vit

phng trnh cn bng vi bin thin ng lng ca h. y l kt qu ca
nh lut II Newton1 hay cn gi l nh lut c bn ca ng lc hc. Mt

cch tng qut, hp lc gm 6 thnh phn, 3 lc theo 3 phng ca h ta
v 3 momen quay quanh 3 trc.
l vn tc ca khi
Gi p(t) l hp lc tc dng ln khi lng m, v = du
dt
lng. ng lng ca h l m.v = m du
.
Theo
nh
lut
bin thin ng
dt
lng ta c phng trnh sau:

du
d2 u
d
m
= m 2 = m
p(t) =
u
(1.1)
dt
dt
dt
hay
p(t) m
u(t) = 0
(1.2)
S hng m
u biu din lc qun tnh tc dng ln h. Phng trnh cn bng
ng ca h (1.2) c thit lp da trn nguyn l Alembert2 .
Phng trnh (1.2) l mt h N phng trnh gn vi mi bc t do ca khi
lng m. Tng qut, N = 6, trong gm 3 chuyn v ng v 3 gc xoay.
Ty theo bc t do c xt, m ch khi lng hoc l moment qun tnh
ca khi lng quanh mt trc.
Phng php trc tip thch hp vi lp phng trnh cn bng ca h m
trong cc khi lng tp trung ti mt s v tr trn h.
1.5.2
Phng php cng kh d
Phng php ny c bit thch hp vi h lin tc m khi lng v

cng c phn b trn ton h.
Theo nh lut c bn ca ng lc hc, tng cng kh d ca ngoi lc v
ni lc bng cng kh d ca lc qun tnh trn tt c cc chuyn v kh d
u
b ca h:
Pi (b
u) + Pe (b
u) = A(b
u)
(1.3)
trong :
Pi (b
u) : cng kh d ca ni lc
Pe (b
u) : cng kh d ca ngoi lc
A(b
u) : cng kh d ca lc qun tnh
1
Isaac Newton, nh vt l, ton hc, trit hc, sinh ngy 25/12/1642 ti Woolsthorpe,
Lincolnshire, Anh, mt ngy 20/03/1727 ti London, Anh
2
Jean Le Rond dAlembert, lut s, nh ton hc, trit hc, sinh ngy 17/11/1717 ti
Paris, Php, mt ngy 19/10/1783 ti Paris, Php
1.6. M HNH HA BI TON NG LC HC
T biu thc ca nguyn l ny ta tm c phng trnh vi phn chuyn

ng ca h.
1.5.3
Phng php nng lng-Nguyn l Hamilton
Phng php ny khc vi phng php trc tip, n cho php thit lp
phng trnh vi phn chuyn ng da trn cc i lng v hng, chnh
l cc hm nng lng ca h. Gi T v V l ng nng v th nng ca h,
Wnc l cng ca cc lc khng bo ton (lc cn). Nguyn l Hamilton c
vit nh sau:
Z t2
Z t2
Wnc dt = 0
(1.4)
(T V )dt +
t1
t1
trong ch bin phn ca cc i lng.
1.6
M hnh ha bi ton ng lc hc
Trong bi ton ng lc hc, lc qun tnh l yu t c trng ca h, v vy

lc qun tnh cn c xc nh trong m hnh ha ng lc hc. i vi
cc h lin tc nh dm, khi lng c phn b trn ton b chiu di ca
dm. iu dn n phi xc nh gia tc v chuyn v ti mi im ca
dm. Ly v d phn tch dm s dn n cc phng trnh o hm ring
l hm theo ta x dc theo dm v thi gian t. Chng ta bit rng
khng th gii tng minh cc phng trnh vi phn ny tr trng hp kt
cu v ti trng tc dng l n gin. Trong trng hp ny, ngi ta s s
dng thut ton ri rc ha, n cho php thit lp phng trnh ca bi ton
ng lc hc v gii bi ton bng phng php s. Chng ta gii thiu sau
y mt vi phng php c dng m hnh ha bi ton ng lc hc.
1.6.1
Phng php khi lng tp trung
Khi tnh mt h phc tp (v hn bc t do), ngi ta c th n gin ha

bi ton bng cch tp trung khi lng ca h ti mt s hu hn cc im
trn h . Nh vy lc qun tnh s ch xut hin ti cc im ny.
Xt mt cy cu gm 3 nhp c mt ct thay i nh hnh 1.6. Trong trng
hp tng qut h c v hn bc t do. n gin, chng ta a v h m
cc khi lng tp trung ti 7 im. Nu chp nhn gi thit b qua bin
dng dc trc v momen qun tnh xoay, h c 7 bc t do.
Hnh 1.6: M hnh khi lng tp trung
Hnh 1.7: M hnh Rayleigh-Ritz
1.6.2
Phng php chuyn v tng qut (phng php

Rayleigh-Ritz)
i vi cc h lin tc, chng ta c th n gin ha vic phn tch bng

cch gi nh dng bin dng ca h. Mt cch tng qut, ngi ta gi nh
rng bin dng ca h l tng mt chui cc s bin dng (cn gi l hm
chuyn v hay hm ni suy). Cc hm chuyn v ny tr thnh cc bc t do
tng qut ca h v s cc hm c s dng chnh l s bc t do. Mt v
d n gin minh ha l bin dng ca mt dm gin n c biu din
bng tng ca cc hm iu ha (hnh 1.7):
u(x) =
X
i=1
bi sin
ix
L
(1.5)
Mt cch tng qut, ngi ta c th chn bt k hm chuyn v tng qut

i (x) no tha mn iu kin hnh hc ti cc lin kt gi. Biu thc tng
qut cho tt c cc h mt chiu c th vit di dng sau:
u(x, t) =
n
X
Zi (t)i (x)
(1.6)
i=1
trong : Zi (t) c gi l ta tng qut, i (x) l cc hm chuyn v

tng qut v n l bc t do ca h. Khi n = 1 ta c phng php c in
Rayleigh, khi n > 1 ta c phng php Rayleigh-Ritz. Nh vy, phng php
Rayleigh s dng hm ni suy biu din chuyn v ti cc im ca h
theo mt bc t do. Phng php Rayleigh-Ritz s dng nhiu hm ni suy
cc chuyn v theo mt s hu hn bc t do dn n vic gii ng thi
cc phng trnh i s. chnh xc ca kt qu khi s dng phng php
Rayleigh ph thuc vo hm ni suy c chn. chnh xc ny tng ln
theo s bc t do c s dng trong phng php Rayleigh-Ritz.
1.6.3
Phng php phn t hu hn
Trong phng php phn t hu hn, ngi ta chp nhn vic xp x theo
tng phn t ca trng chuyn v thc. Trong phng php Rayleigh-Ritz,
ngi ta s dng mt hm chuyn v duy nht, thng l a thc, cho ton
b kt cu. Trong phng php phn t hu hn, ngi ta s dng nhiu
trng chuyn v, mi trng l mt a thc n gin xc nh trn mt
10
Hnh 1.8: M hnh phn t hu hn
11
phn ca kt cu. Vic p dng phng php phn t hu hn c minh

ha bng cch xt dm gin n t trn hai gi nh hnh 1.8.
Bc u tin l chia dm thnh mt s on dm gi l phn t hu hn.
u mt ca mi phn t c gi l nt, mi phn t dm trong v d
ang xt c hai nt. Chuyn v ca cc nt ny to thnh cc ta tng
qut Zi = ui . Bn trong mi phn t, chuyn v c xc nh theo cng
thc:
n
X
u(x, t) =
ui (t)i (x)
(1.7)
i=1
Cc hm i (x) l cc a thc v c gi l a thc ni suy. tm cc a

thc ny ta t mt chuyn v n v ln mt bc t do (hay ta tng
qut) v gi cho tt c cc chuyn v khc bng khng. Tt c cc hm tha
mn iu kin lin tc ti nt v bn trong cc nt c th dng lm hm
ni suy. i vi kt cu dm, ngi ta thng dng a thc bc ba Hermite
nh hnh v.
u im ca phng php phn t hu hn:
- S ta tng qut c th chn ty bng cch chia kt cu thnh mt
s on hoc phn t.
- Kt qu thu c cng chnh xc khi tng s phn t (tng s bc t do).
- Hm ni suy c chn nh nhau cho tt c cc phn t.
- Cc thng s ti nt ch nh hng n cc phn t ln cn.
- p dng d dng cho h phc tp bng cch ghp cc phn t c dng n
gin nh: ng, tam gic, t gic, t din ...
12
Chng 2
Dao ng h mt bc t do
2.1
M hnh h dao ng mt bc t do
M hnh n gin nht m t h dao ng mt bc t do l mt khi lng

m chuyn v theo hng u khng c ma st. Khi lng c ni vi mt
vt c nh bng mt l xo v mt gim chn nh hnh 2.1a. Chuyn ng
ca h ny c m t bng ba thng s sau:
chuyn v ca khi lng u(t)
vn tc ca khi lng u(t)
= du(t)/dt
gia tc ca khi lng u(t) = d2 u(t)/dt2
Hnh 2.1: M hnh h dao ng mt bc t do (a), Cc lc tc dng ln khi

lng (b)
13
14
2.2
CHNG 2. DAO NG H MT BC T DO
Phng trnh vi phn dao ng tng qut
Kho st h mt bc t do nh hnh v 2.1a. Cc lc tc dng ln khi lng

m ti thi im t bt k bao gm ti trng ng p(t), ni lc fS (t), lc cn
fD (t) v lc qun tnh fI (t). Ti mi thi im, khi lng cn bng di
tc dng ca cc lc ny theo nguyn l Alembert. Cn bng ng hc c
biu din bng biu thc sau:
fI (t) + fD (t) + fS (t) = p(t)
(2.1)
Trong phm vi ca bi ging, chng ta ch nghin cu h n hi v gi thit

rng lc cn xut hin trong h l lc cn nht tuyn tnh. Do , biu thc
ca ni lc v lc cn c dng sau:
fS (t) = ku(t)
fD (t) = cu(t)
(2.2)
trong : k l h s n hi c th nguyn lc/chiu di. c l h s tt dn

c th nguyn (lc thi gian)/chiu di.
Thay (2.2) vo (2.1) ta c phng trnh chuyn ng ca khi lng hay
phng trnh cn bng ng:
m
u(t) + cu(t)
+ ku(t) = p(t)
(2.3)
Phng trnh ny c th vit di dng rt gn nh sau:

u(t) + 2 u(t)
+ 2 u(t) =
p(t)
m
(2.4)
trong :
r
=
k
m
(2.5)
c
2m
(2.6)
ln lt l tn s ring v tham s tt dn.
2.3. PHNG PHP GII PHNG TRNH VI PHN DAO NG 15
2.3
2.3.1
Phng php gii phng trnh vi phn

dao ng
Phng php c in
Nghim ca phng trnh vi phn tuyn tnh (2.3) hoc (2.4) l tng ca
nghim tng qut uc (t) ca phng trnh thun nht v nghim ring up (t)
ca phng trnh khng thun nht, u(t) = uc (t) + up (t). V y l phng
trnh vi phn bc hai nn cn xc nh hai hng s tch phn t iu kin
ban u.
Phng php c in l phng php chnh m chng ta s s dng gii
cc phng trnh vi phn dao ng t do hay dao dao ng di tc dng
ca cc lc iu ha hay xung lc.
2.3.2
Tch phn Duhamel
Mt phng php khc xc nh nghim ca phng trnh vi phn tuyn

tnh da trn vic biu din lc tc dng ln h nh l tng ca cc xung
lc v cng ngn. Dao ng ca h chu tc dng ca lc p(t) ti thi im
t = 0 c xc nh bng cch cng cc dao ng do cc ti trng xung gy
ra n thi im . V d, dao ng ca h mt bc t do khng xt n
lc cn c xc nh theo cng thc sau:
1
u(t) =
m
p( ) sin[(t )]d
(2.7)
Biu thc (2.7) c gi l tch phn Duhamel1 . Cng vi phng php c

in, tch phn Duhamel c s dng nu lc tc dng p(t) l cc hm n
gin cho php tnh chnh xc cc tch phn. i vi cc ti trng phc tp
c xc nh bng cc gi tr s ha ti cc thi im khc nhau th tch
phn Duhamel c xc nh bng phng php s.
1
Jean-Marie Duhamel, nh ton hc, sinh ngy 05/02/1797 ti Saint Malo, Php, mt
ngy 29/04/1872 ti Paris, Php
16
2.3.3
Phng php bin i Fourier
Bin i Fourier2 l mt cng c mnh gii phng trnh vi phn tuyn

tnh, c bit l phng trnh chuyn ng ca h dao ng tuyn tnh mt
bc t do.
Bin i Fourier ca hm ti trng p(t) c nh ngha nh sau:
Z
pb(i) = F[p(t)] =
eit p(t)dt
(2.8)
Theo cch gii phng trnh vi phn dao ng bng phng php bin i
Fourier, bc u tin l bin i phng trnh vi phn vi bin s t thnh
phng trnh i s vi bin s phc i. Gii phng trnh i s ny tm
c u
b(i) l bin i Fourier ca u(t). Cui cng, nghim u(t) ca phng
trnh vi phn c xc nh bi bin i ngc ca u
b(i)
Z
1
H(i)b
p(i)eit d
(2.9)
u(t) =
2
trong hm phc H(i) biu din nghim tn s ca h chu tc dng ca
ti trng xung.
2.3.4
Phng php s
Ba phng php trn c dng cho cc h tuyn tnh. i vi cc h phi

tuyn, cch tip cn duy nht l dng tch phn theo thi gian. Cc tch
phn ny c nh gi bng phng php s. Chng ta s cp n vn
ny trong chng 6.
2.4
Dao ng t do ca h mt bc t do
Trong phn ny, chng ta s nghin cu dao ng t do v a ra khi nim

tn s dao ng ring-thng s quan trng nht trong dao ng ca kt cu
cng nh nh hng ca tham s tt dn i vi h mt bc t do.
Mt h c gi l dao ng t do khi n b tch ra khi v tr cn bng ri
2
Baron Jean-Baptiste Joseph Fourier, nh ton hc v vt l, sinh ngy 21/03/1768 ti

Auxerre, Php, mt ngy 16/05/1830 ti Paris, Php
2.4. DAO NG T DO CA H MT BC T DO
17
cho dao ng m khng c ti trng ngoi no tc dng ln n. Dao ng t

do c m t bng nghim ca phng trnh ng nht sau:
u(t) + 2 u(t)
+ 2 u(t) = 0
(2.10)
Ti thi im ban u t = 0 khi lng m c chuyn v u(0) v vn tc u(0).
D nhn thy (2.10) l phng trnh vi phn cp 2 tuyn tnh, thun nht
vi h s l hng s. Theo l thuyt phng trnh vi phn, nghim ca (2.10)
c dng:
u = est
(2.11)
hng s s l n s cn xc nh. Thay (2.11) vo phng trnh (2.10) ta c:

(2.12)
s2 + 2s + 2 est = 0
Do est 6= 0 vi mi gi tr ca t nn ta c phng trnh sau:
s2 + 2s + 2 = 0
(2.13)
Nghim ca phng trnh c trng(2.13) c dng:

p
s1,2 = 2 1
(2.14)
Vy nghim tng qut ca (2.10) l:
2
2
u(t) = A1 e(+ 1) + A2 e( 1)
(2.15)
Hai hng s A1 v A2 c xc nh t iu kin ban u.
2.4.1
Dao ng t do khng lc cn
Khi b qua nh hng ca lc cn fD = 0 hay c = 0 dn n tham s tt

dn = 0. Nghim ca phng trnh vi phn c dng n gin sau:
u(t) = A1 ei + A2 ei
(2.16)
trong : i = 1. Theo cng thc Euler3 ei = cos i sin phng trnh

(2.16) c th vit nh sau:
u(t) = A cos(t) + B sin(t)
3
(2.17)
Leonhard Euler, nh ton hc v vt l, sinh ngy 15/04/1707 ti Ble, Thy S, mt

ngy 18/09/1783 ti Saint-Petersbourg, Nga
18
Hnh 2.2: Cc thnh phn ca dao ng iu ha: (a) thnh phn ph thuc
vo u(0), (b) thnh phn ph thuc vo u(0), (c) dao ng iu ha: tng
ca (a) v (b)
19
Hnh 2.3: Biu din dao ng iu ha bng vc t quay
Thay iu kin ban u u(0) v u(0)
ta c th xc nh 2 hng s A v B:
A = u(0),
B=
u(0)
(2.18)
Tm li, dao ng ca h l tng ca hai hm iu ha:

u(t) = u(0) cos(t) +
u(0)
sin(t)
(2.19)
v c biu din nh trn hnh v 2.2

Trong cng thc trn, c gi l tn s dao ng ring ca h. Khi b
qua nh hng ca lc cn, h s dao ng v hn theo thi gian vi chu k
T:
2
(2.20)
T =
Th nguyn ca T l giy (s). S chu k dao ng ca h trong mt giy

c gi l tn s ring f
1
f= =
(2.21)
T
2
Th nguyn ca f l Hertz4 , k hiu l Hz.
Nghim (2.19) c th biu din di dng mt vc t c bin u0 quay vi
4
Heinrich Hertz, nh vt l, sinh ngy 22/02/1857 ti Hambourg, c, mt ngy

01/01/1894 ti Bonn, c
20
vn tc gc (hnh 2.3)
u(t) = u0 cos(t )
(2.22)
trong
s
u(0)
u0 = u(0)2 +

u(0)
1
= tan
u(0)
2
(2.23)
(2.24)
Ngi ta gi l gc tr pha ca u0 so vi u(0).

V d 2.1: Xt mt dm gin n c mt khi lng tp trung ti gia
dm (hnh 2.4). Gi s b qua khi lng ca dm so vi khi lng tp
trung m. cng chng un ca dm l EI. Tnh tn s dao ng ring
ca h. Vit phng trnh dao ng bit rng thi im ban u t = 0, h
c chuyn v u0 v vn tc v0 .
Hnh 2.4: V d h mt bc t do
Li gii: cng ca h
k=
48EI
L3
Tn s dao ng ring:
r
=
5
k
=
m
48EI
mL3
xc nh k, ta cho lc "k" cha bit tc dng ln h ti v tr khi lng tp trung

v c phng trng vi phng dao ng. Tnh chuyn v ca khi lng do "lc" k gy
ra. T iu kin chuyn v ny bng 1 s xc nh c k.
21
Thay vo (2.19) ta c phng trnh dao ng ca h:

!
!
r
r
r
3
48EI
mL
48EI
u(t) = u0 cos
sin
t + v0
t
3
mL
48EI
mL3
2.4.2
Dao ng t do c lc cn
Khi xt n nh hng ca lc cn, nghim ca phng trnh vi phn dao

ng c xc nh bng cng thc (2.15). Ty theo gi tr ca , ba dng
chuyn ng c th xy ra:
Nu = 1 h quay tr li v tr cn bng m khng dao ng.
Nu > 1 h cng khng dao ng v tr li v tr cn bng ca n.
Nu < 1 h dao ng xung quanh v tr cn bng vi bin gim
dn.
S r nhnh gia dao ng v khng dao ng tng ng vi gi tr = 1.
Theo cng thc (2.6), khi = 1, h s tt dn ti hn c vit nh sau:
2k
ccr = 2m = 2 km =
(2.25)
S d ccr c gi l h s tt dn ti hn v n l gi tr nh nht ca h s
tt dn c m ti dao ng hon ton b hn ch. N biu th ng ranh
gii gia dao ng v khng dao ng.
Sau y ta s ln lt nghin cu cc trng hp ng vi cc gi tr khc
nhau ca
2.3.2.1 Trng hp < 1
Vi gi tr < 1, nghim ca phng trnh c trng l nghim phc:
s1 = + iD ,
s2 = iD
(2.26)
trong :
D =
p
1 2
(2.27)
22
l tn s dao ng ring khi tnh n lc cn. Nghim tng qut ca h:

(2.28)
u(t) = A1 et+iD t + A2 etiD t = et A1 eiD t + A2 eiD t
p dng cng thc Euler ta c chuyn v ca h:

u(t) = et A cos D t + B sin D t
(2.29)
Vn tc ca h:

u(t)
= et (A D B) cos D t + (B D A) sin D t
(2.30)
Thay cc iu kin ban u, ta tm c hai hng s tch phn:

A = u(0),
B=
u(0) + u(0)
(2.31)
Vy chuyn v v vn tc ca h c xc nh:

u(0) + u(0)
t
sin D t
u(t) = e
u(0) cos D t +
D

u(0)
+ 2 u(0)
t
u(t)
=e
sin D t
u(0)
cos D t
D
(2.32)
(2.33)
Chuyn v u(t) c th c biu din di dng sau:

u(t) = u0 et cos(D t )
(2.34)
trong :
s
u(0) + u(0)
u0 = (u(0))2 +
D
u(0) + u(0)
= tan1
D u(0)
2
(2.35)
(2.36)
H dao ng vi tn s D < , chu k dao ng TD = 2/D = T
1 2
> T.
Trong qu trnh dao ng ca h, bin dao ng gim theo hm m trong

mi chu k (hnh 2.5).
T phng trnh (2.27) ta thy rng th ca t s D / theo l mt
ng trn bn knh bng 1. Trong thc t hu ht cc kt cu c tham
s tt dn nm trong khong 0 < < 0, 2. Trn hnh 2.6 ta thy i vi
nhng gi tr ny ca th t s D / c th coi bng 1.
23
Hnh 2.5: Dao ng ca h khi c lc cn, trng hp tham s tt dn < 1
Hnh 2.6: nh hng tham s tt dn n tn s dao ng
24
2.3.2.2 Trng hp = 1
Khi = 1, h s tt dn c = ccr . Phng trnh c trng c nghim kp:
s1 = s2 =
(2.37)
Nghim tng qut ca phng trnh vi phn bc hai l tng ca 2 nghim

ring c lp tuyn tnh. Do phng trnh c trng c nghim kp nn ta
mi bit mt nghim ring:
u1 (t) = et
(2.38)
Chng ta i tm nghim ring th hai di dng sau:
u2 (t) = tet
(2.39)
u(t) = (A1 + A2 t)et
(2.40)
Vy nghim tng qut l:
T cc iu kin ban u, ta tm c cc hng s tch phn:

A1 = u(0),
A2 = u(0) + u(0)
(2.41)
Thay cc hng s tch phn vo nghim tng qut trn, ta thu c phng
trnh chuyn ng ca h:
t
u(t) = u(0)(1 + t) + u(0)t
e
(2.42)
Hnh 2.7 biu din s bin thin ca chuyn v theo thi gian. D dng thy
rng u(t) l hm khng c chu k v h khng c dao ng.
2.3.2.3 Trng hp > 1
Trong trng hp ny, phng trnh c trng c 2 nghim thc phn bit.
Nghim ca h c dng (2.15), ta c th vit gn li nh sau:

u(t) = A1 eb t + A2 ebt et = A cosh
b t + B sinh
b t et
(2.43)
p
trong :
b = 2 1, A = A1 + A2 v B = A1 A2
T iu kin ban u ta tm c 2 hng s tch phn A v B:
A = u(0)
B=
u(0) + u(0)
(2.44)
25
Hnh 2.7: S thay i ca chuyn v v vn tc ca h theo thi gian trong

trng hp = 1 v > 1
Sau khi thay vo phng trnh trn, ta c nghim tng qut nh sau:

u(0) + u(0)
t
u(t) = e
u(0) cosh
bt +
sinh
bt
(2.45)
b
th ca chuyn v u(t) c biu din trn hnh v 2.7. Chng ta thy rng
biu thc ca chuyn v u(t) tng t nh trong trng hp < 1 nhng cc
hm lng gic c thay bng cc hm siu vit cosh v sinh . y l
cc hm khng iu ha, do h khng c dao ng xung quanh v tr cn
bng.
2.4.3
suy gim logarithme
Xt chuyn v ca h ti thi im t v t + TD . T l gia hai chuyn v:

u0 et cos(D t )
u(t)
=
u(t + TD )
u0 e(t+TD ) cos(D (t + TD ) )
et
= (t+T ) = eTD
D
e
(2.46)
Ly logarithme c hai v ca phng trnh trn ta c:

ln
u(t)
2
= TD = p
u(t + TD )
1 2
(2.47)
26
Hnh 2.8: Xc nh tham s tt dn
i lng c gi l suy gim logarithme. i vi trng hp lc cn

nh D th suy gim logarithme c xp x bng
2
(2.48)
Khi 1, chuyn v u(t) rt gn vi u(t + TD ) lm cho vic nh gi

khng chnh xc. tng chnh xc, ngi ta o cc bin cch nhau m
chu k. Gi un v un+m l bin tng ng vi cc thi im tn v tn +mTD
(m l mt s nguyn). Xt t l gia hai bin :
un
un+m
un un+1
un+m1
...
= (eTD )m = emTD
un+1 un+2
un+m
(2.49)
Thay (2.47) vo biu thc trn ta c:

un
un+m
= em
(2.50)
hay
1
un
ln
m un+m
(2.51)
1
un
=
ln
2
2m un+m
(2.52)
=
T (2.48) v (2.51) ta suy ra:
2.5. DAO NG H MT BC T DO CHU TC DNG CA TI TRNG XUNG27
2.5
Dao ng h mt bc t do chu tc dng

ca ti trng xung
Ti trng xung l ti trng tc dng ln h trong thi gian rt ngn (hnh

2.9a). Ngi ta nh ngha xung lng ca ti trng xung l din tch pha
di ng cong ti trng
Hnh 2.9: Ti trng xung (a), dao ng h mt bc t do chu tc dng ca

ti trng xung khi khng xt n lc cn (b)
Z
I=
td
p(t)dt
(2.53)
Nu thi gian tc dng ca ti trng xung ngn hn nhiu so vi chu k dao

ng ca h (td T ) ta c th gi nh rng cng ca ti trng xung
rt ln so vi cc lc khc, do c th b qua lc n hi v lc cn. Trong
thi gian tc dng ca ti trng xung khng c s thay i ng k no v
chuyn v nhng c s thay i v vn tc u.
Theo nh lut II Newton6
6
Bin thin ng lng ca h bng tng cc lc tc dng ln h
28
ta c:
td
Z
mu =
p(t)dt
(2.54)
p(t)dt
(2.55)
hay
1
u =
m
td
Sau thi im td h dao ng t do vi iu kin ban u:

u(0) = u(td ) = 0
Rt
u(0)
= u(t
d ) = u = m1 0 d p(t)dt
(2.56)
Thay cc iu kin ban u (2.56) vo (2.19) ta thu c dao ng ca h

mt bc t do chu tc dng ca ti trng xung khi khng xt n lc cn
(hnh 2.9b):

Z td
1
p(t)dt sin t
u(t) = u(t td ) =
(2.57)
m
0
Tng t, thay (2.56) vo (2.32) ta tm c dao ng ca h mt bc t do
chu tc dng ca ti trng xung c xt n lc cn:

Z td
1
p(t)dt et sin D t
(2.58)
u(t) = u(t td ) =
mD
0
2.6
Dao ng cng bc h mt bc t do
Nghin cu h dao ng chu tc dng ca ti trng iu ha l bi ton c

in trong ng lc hc cng trnh khng ch bi loi ti trng ny hay gp
trong thc t m nu hiu cch tnh h di tc dng ca loi ti trng ny
chng ta c th hiu cch tnh cho cc loi ti trng khc.
Phng trnh chuyn ng ca h c dng:
m
u(t) + cu(t)
+ ku(t) = p0 sin t
(2.59)
Nghim ca (2.59) l tng ca nghim tng qut uc (t) ca phng trnh

thun nht (p(t) = 0) v nghim ring up (t) ca phng trnh khng thun
nht
u(t) = uc (t) + up (t)
(2.60)
Sau y, chng ta s nghin cu cch gii phng trnh (2.59) trong hai
trng hp: khng c lc cn v c lc cn.
2.6. DAO NG CNG BC H MT BC T DO
2.6.1
29
Trng hp khng c lc cn
Phng trnh chuyn ng c dng:

m
u(t) + ku(t) = p0 sin t
(2.61)
Da vo kt qu nghin cu trn, ta bit nghim tng qut ca h dao

ng t do (nghim tng qut ca phng trnh thun nht)
uc (t) = A cos t + B sin t
(2.62)
Di tc dng ca ti trng iu ha, chng ta gi nh h cng dao ng

iu ha cng tn s v cng pha vi ti trng. Nghim ring ca h c
tm di dng sau:
(2.63)
up (t) = C sin t
Hng s tch phn C s c xc nh sao cho phng trnh (2.61) tha mn
vi mi gi tr ca v t. o hm hai ln (2.63), ta thu c biu thc ca
gia tc:
(2.64)
up (t) = 2 C sin t
Thay biu thc chuyn v up (t) v gia tc up (t) vo (2.61) ta c:
m 2 C sin t + kC sin t = p0 sin t
(2.65)
n gin sin t c hai v ca phng trnh, ta tm c hng s tch phn

C:
p0
p
p0
1
1

= 0

(2.66)
C=
2 =
2
m
k 1
k 1 2
k m
k
Hnh 2.10 cho thy s thay i ca C theo t s /. Ta thy rng C thay

i t ngt t gi tr dng v cng ln thnh gi tr m v cng ln khi
= , ngi ta gi y l hin tng cng hng. Khi < h s C c gi
tr dng, iu c ngha chuyn v up (t) v ti trng p(t) cng du, hay
ni mt cch khc chuyn v cng pha vi ti trng tc dng. Ngc li, khi
> , C c gi tr m, chuyn v v ti trng ngc du nhau. Ta ni rng
chuyn v ngc pha so vi ti trng.
Thay biu thc ca C vo (2.63), ta c:
up (t) =
p0 1
sin t
k 1 22
(2.67)
30
Hnh 2.10: S ph thuc ca bin dao ng iu ha vo tn s ti trng

tc ng
Nghim ca (2.61) l tng ca nghim tng qut ca phng trnh thun

nht v nghim ring:
u(t) =
p0 1
sin t + A cos t + B sin t
k 1 22
(2.68)
Hai hng s A v B c xc nh t iu kin ban u. T phng trnh

m t chuyn v ca h, ta thy u(t) bao gm 2 thnh phn dao ng ring
bit:
Thnh phn cha sin t: dao ng do ti trng iu ha gy ra.
Thnh phn cha sin t v cos t: dao ng t do ca h.
Thnh phn th nht cn gi l dao ng cng bc hay trng thi dao ng
n nh v lc tc dng khng ph thuc vo iu kin ban u. Thnh phn
th hai m t trng thi dao ng tm thi, trng thi ny ph thuc vo
chuyn v v vn tc ban u. Trong thc t, i vi cc h dao ng, lc cn
lun tn ti v n lm cho dao ng t do tt dn theo thi gian. chnh
l l do m trng thi th hai c gi l trng thi dao ng tm thi.
Trng thi dao ng n nh c th c vit li di dng dao ng iu
ha vi bin u0 v pha ti thi im ban u t = 0:
up (t) = u0 sin(t )
(2.69)
31
trong u0 lun c gi tr dng, c gi l bin ca dao ng

u0 = (ust )0 Rd
(2.70)
(ust )0 l chuyn v tnh ln nht, do ti trng tnh p = p0 tc dng trn h

gy ra
p0
(ust )0 =
(2.71)
k
Rd gi l h s ng
Rd =
1
|1
2
|
2
(2.72)
D dng nhn thy u0 = |C|, gc pha nhn mt trong hai gi tr sau:

=
0 nu <
nu >
Trn hnh 2.11 biu din s thay i ca h s ng Rd theo t s /. Khi

/ nh th Rd xp x
bng 1, bin ca dao ng cng xp x bng bin
dng tnh. Khi / > 2 th Rd < 1, bin dao ng nh hn bin dng
tnh. Khi t s / ngy cng tng th Rd cng nh i v tim cn ti 0 khi
/ . Khi t s / gn vi gi tr 1 th Rd ln hn nhiu ln so vi
1, hay ni cch khc, bin dao ng ln hn nhiu ln so vi bin dng
tnh.
V d 2.2: Xt dm mt u ngm c khi lng tp trung ti u t do
nh hnh 2.12. B qua khi lng ca dm so vi khi lng tp trung m.
Dm c chiu di l v cng chng un EI. Khi lng chu tc dng ca
ti trng ng p(t) = p0 sin t. Vit phng trnh dao ng trng thi n
nh. Xc nh vng ln nht ca dm.
Li gii: cng ca h:
k=
3EI
L3
Tn s dao ng ring:
r
=
k
=
m
3EI
mL3
32
Hnh 2.11: S thay i ca h s ng Rd v gc lch pha theo t s /
H s ng:
1
1
=
Rd =
2 mL3
2

1 3EI
1 2
Phng trnh dao ng trng thi n nh:
up (t) =
p0 L3
Rd sin t
3EI
vng ln nht ca dm (ti v tr khi lng m)

umax = um + udp =
mgL3 p0 L3
+
Rd
3EI
3EI
33
Hnh 2.12: V d h mt bc t do chu tc dng ca ti trng iu ha
V d 2.3: Xt h mt bc t do chu tc dng ca ti trng ng nh

hnh 2.13a. Khi lng m c trng lng 30kN . Ti trng ng c bin
p0 = 10kN , tn s ca ti trng iu ha = 30rad/s. Module n hi
Young E = 2, 1 108 kN/m2 , moment qun tnh I = 78 106 m4 . V biu
moment un ng ca khung.
Li gii: cng ca h: Cho "lc" k tc dng ti v tr khi lng theo
phng dao ng. Biu moment nh hnh 2.13b. Tnh chuyn v ca khi
lng do "lc" k gy ra bng cch nhn biu moment Mb v Mc . Cho
chuyn v ny bng 1 ta xc nh c cng k:
24EI
k=
23
Tn s dao ng ring:
r
r
k
24EI
=
=
23m
rm
9, 81 24 2, 1 108 78 106
=
= 74, 76rad/s
23 30
H s ng:
1
1
=
Rd =

2 = 1, 192
2

30
1 2
1 74,76
Ti trng tnh tng ng
peq = p0 Rd = 10 1, 192 = 11, 92kN

7
Ti trng tnh tng ng l ti trng gy ra bin dng bng bin dng ln nht do
ti trng ng gy ra. Khi xc nh c ti trng tnh tng ng, bi ton c
tnh nh bi ton tnh chu tc dng ca peq .
34
Hnh 2.13: V d xc nh biu moment un ng h mt bc t do chu

tc dng ca ti trng iu ha
Biu moment un ng c biu din trn hnh 2.13d.
Hin tng cng hng: Tn s cng hng c nh ngha l tn s

ca ti trng tc dng m ng vi tn s Rd t gi tr cc i. i vi
h khng xt n lc cn, tn s cng hng bng tn s dao ng ring
v Rd = . Tuy nhin, chuyn v ca h khng tr thnh v cng ln ngay
lp tc.
Nu = , dng nghim (2.63) khng cn ng na v n l mt phn ca
nghim tng qut ca phng trnh thun nht. Chng ta tm nghim ring
di dng sau: up (t) = Ct cos t. Thay vo (2.61) v gii phng trnh ta
tm c hng s tch phn
p0
C=
(2.73)
2k
35
Hnh 2.14: S thay i ca h s ng Rt theo thi gian khi xy ra hin tng

cng hng
Nghim ring by gi c dng:

up (t) =
p0
t cos t
2k
Nghim ca phng trnh vi trng thi ban u u(0) = u(0)
= 0:

1 p0
t cos t sin t
u(t) =
2k
(2.74)
(2.75)
Gi R(t) l h s ng theo thi gian, c xc nh l t s gia chuyn v

ng v gi tr ln nht ca chuyn v tnh:

u(t)
1
u(t)
=
= t cos t sin t
(2.76)
R(t) =
(ust )0
p0 /k
2
Hnh 2.14 biu din th ca R(t) theo thi gian khi xy ra cng hng.
Chu k dao ng vn l T = 2/. Bin ca R(t) tng tuyn tnh v n
tr thnh v cng ln sau mt khong thi gian rt di. Thc t, hin tng
cng hng gy ra qu trnh do ha vt liu trc khi t n chuyn v
cc i.
2.6.2
Trng hp c lc cn
Phng trnh (2.59) m t dao ng cng bc iu ha khi xt n lc cn.

Nghim tng qut ca phng trnh thun nht l nghim ca dao ng t
36
Hnh 2.15: Dao ng iu ha khi xt n lc cn
do c lc cn, c xc nh bi biu thc (2.29). Nghim ring ca phng

trnh:
up (t) = C sin t + D cos t
(2.77)
trong :
p0
1 (/)2
C=
k [1 (/)2 ]2 + [2(/)]2
p0
2/
D=
k [1 (/)2 ]2 + [2(/)]2
(2.78)
Nghim ca phng trnh (2.59) l tng ca (2.78) v (2.29):

p0
1
u(t) = et A cos D t + B sin D t +
k [1 (/)2 ]2 + [2(/)]2

2
1 (/) sin t 2(/) cos t
(2.79)
S hng th nht tng ng vi trng thi dao ng tm thi, trng thi
ny s nhanh chng mt i do nh hng ca hm m et . S hng th
hai tng ng vi trng thi dao ng n nh.
Hnh 2.15 biu din dao ng ca h. Ta thy rng dao ng tm thi tt
37
Hnh 2.16: Bin trng thi dao ng n nh
dn rt nhanh theo mt t l ph thuc vo v . Sau mt thi gian, ch

cn li dao ng n nh vi tn s ca lc tc dng nhng lch pha so vi
ti trng. Trong phn tip theo, chng ta ch xt n dao ng n nh tuy
nhin cn lu rng gi tr chuyn v ln nht c th xut hin trc khi h
t n trng thi dao ng n nh.
Phng trnh dao ng n nh c dng:
h
i
p0
1
2
up (t) =
(1
)
sin
t
2
cos
t
(2.80)
k (1 2 )2 + (2)2
trong :
hoc c th vit di dng vc t quay (hnh 2.16):

=
up (t) = u0 sin((t) )
(2.81)
(2.82)
Bin u0 v gc tr pha ca chuyn v so vi ti trng tc dng c xc

nh bi biu thc:
u0 =
p0
1
p
k (1 2 )2 + (2)2

D
2
1
= tan
C
1 2
C 2 + D2 =
= tan1
(2.83)
(2.84)
38
H s ng Rd l t s gia bin dao ng u0 v chuyn v tnh (ust )0 = p0 /k

do lc p0 tc dng tnh gy ra:
Rd =
u0
1
=p
2
po /k
(1 )2 + (2)2
(2.85)
Ta thy rng, gc tr pha v h s ng Rd ph thuc vo v tham s

tt dn . Hnh 2.17 biu din th ca Rd v theo vi cc gi tr khc
nhau ca tham s tt dn .
H s ng theo thi gian R(t) c xc nh bng t s gia chuyn v ng
v chuyn v tnh gy ra bi bin p0 :
R(t) =
u0 sin((t) )
up (t)
=
= Rd sin((t) )
p0 /k
p0 /k
(2.86)
Hin tng cng hng: H s ng Rd t gi tr cc i khi mu s

ca phng trnh (2.85) t gi tr cc tiu
1/2 2(1 2 ) + 2(2 2 )
d
2 2
2
(1 ) + (2)
= p
=0
d
(1 2 )2 + (2)2
(2.87)
hay
( 2 1 + 2 2 ) = 0
(2.88)
p
Nghim khc khng = 1 2 2 cho gi tr ln nht ca Rd
(Rd )max =
1
p
2 1 2
(2.89)
Tn s cng hng tng ng:

=
1 2 2
(2.90)
Khi = 1 th h s ng Rd c dng:
(Rd )=1 =
1
2
(2.91)
i vi nhng h c tham s tt dn nh ( 1) th (Rd )max ' (Rd )=1 .

hiu r hin tng cng hng, ta nghin cu phng trnh dao ng
39
Hnh 2.17: S thay i h s ng Rd v gc lch pha theo t s / v

tham s tt dn
40
tng qut ca h. Khi = 1 hay = , phng trnh (2.79) c th vit nh

sau:
p0 cos t
(2.92)
u(t) = et (A cos D t + B sin D t)
k 2
Thay iu kin ban u t = 0: u(0) = u(0)
= 0, ta xc nh c cc hng
s A v B:
p0
p0
B= p
A=
(2.93)
2k
2k 1 2
Vy phng trnh dao ng ca h:

p0 t
cos D t + p
u(t) =
e
sin D t cos t
2k
1 2
(2.94)
Trong trng hp thc t, tham s tt dn rt nh v s hng cha sinus

c th b qua, phng trnh dao ng c th vit 8
u(t)

p0 t
e
1 cos t
2k
(2.95)
H s ng theo thi gian R(t) c dng:

R(t)

1 t
u(t)
=
e
1 cos t
p0 /k
2
(2.96)
Hnh 2.18 biu th qu trnh dn n trng thi dao ng n nh khi cng

hng ca h c lc cn. D thy rng s chu k cn thit bin t
n gi tr ln nht ph thuc vo tham s tt dn .
Khi D =
Hnh 2.18: S thay i h s ng Rt theo tham s tt dn khi = 1
41
42
Chng 3
Dao ng h hu hn bc t do
Trong chng ny, chng ta s thit lp phng trnh vi phn dao ng ca
mt h nhiu bc t do. T dn n khi nim v ma trn khi lng, ma
trn nh hng cng v ma trn nh hng lc cn. Phn tip theo s
a ra cch xc nh cc tn s dao ng ring v cc dng dao ng tng
ng. Mt tnh cht quan trng ca cc dng dao ng l tnh cht trc giao
cng c gii thiu. Phn cui ca chng trnh by cch xc nh phng
trnh dao ng da trn khai trin vc t chuyn v theo dng dao ng.
3.1
M hnh h hu hn bc t do
vic trnh by c n gin, d hiu, chng ta s nghin cu m hnh

n gin nht ca h dao ng hu hn bc t do: kt cu khung nh hai
tng chu tc dng ca cc ti trng pi (t). Gi thit rng dm v sn nh l
tuyt i cng (khng b un), ta b qua nh hng ca bin dng dc trc
trong dm v ct cng nh nh hng ca lc dc trong cc ct. Thc t,
khi lng phn b trn ton kt cu nhng chng ta gi nh khi lng
trong cc ct l khng ng k v ch tp trung ti cc sn. Mc d kh xa
so vi thc t nhng m hnh ny thun tin cho vic thit lp phng trnh
chuyn ng h nhiu bc t do.
43
44
CHNG 3. DAO NG H HU HN BC T DO
Hnh 3.1: M hnh h dao ng hu hn bc t do
Hnh 3.2: Lc tc dng ln cc khi lng
3.2
Phng trnh vi phn dao ng h hu

hn bc t do
Xt h nh hnh v 3.1. Cc lc tc dng ln hai khi lng c biu din

trn hnh 3.2. Vit phng trnh cn bng cho hai khi lng:
fI1 + fD1 + fS1 = p1 (t)
fI2 + fD2 + fS2 = p2 (t)
(3.1)
Gi thit h dao ng tuyn tnh, cc lc n hi fSi l hm ca chuyn v

tng i ui
i
s
fS1 = fS1
+ fS1
= k1 u1 + k2 (u1 u2 )
i
fS2 = fS2
= k2 (u2 u1 )
(3.2)
3.2. PHNG TRNH VI PHN DAO NG H HU HN BC T DO45

Lc cn fDi l hm ca vn tc u i
i
s
fD1 = fD1
+ fD1
= c1 u 1 + c2 (u 1 u 2 )
i
fD2 = fD2
(3.3)
= c2 (u 2 u 1 )
Lc qun tnh trong cc khi lng mi

fI1 = m1 u1
fI2 = m2 u2
(3.4)
Thay cc biu thc (3.2), (3.3) v (3.4) vo phng trnh (3.1), ta c:

m1 u1 + c1 u 1 + c2 (u 1 u 2 ) + k1 u1 + k2 (u1 u2 ) = p1 (t)
m2 u2 + c2 (u 2 u 1 ) + k2 (u2 u1 )
= p2 (t)
Vit li di dng ma trn:

m1 0
u1
c1 + c2 c2
u 1
+
+
0 m2
u2
c2 c2
u 2

k1 + k2 k2
u1
p1 (t)
+
=
k2 k2
u2
p2 (t)
(3.5)
Phng trnh (3.5) c th vit gn li nh sau:

M
u(t) + Cu(t)
+ Ku(t) = p(t)
(3.6)
trong :

u=

M=

C=

K=
u1
u2
m1 0
0 m2
(3.7)

c1 + c2 c2
c2 c2
(3.8)

k1 + k2 k2
k2 k2
(3.9)

(3.10)
Chng ta thy rng (3.6) c dng tng t nh (2.3) nhng cc i lng

c biu din bng cc ma trn. Sau y, chng ta a ra nh ngha v
ma trn cng, ma trn h s lc cn v ma trn khi lng:
46
Ma trn cng 1. H s nh hng cng kij l lc ti ta th i

gy ra bi chuyn v n v ti ta th j trong khi gi cc chuyn v ti
cc ta khc bng khng. Ma trn cc h s nh hng cng K c
gi l ma trn cng.
Ma trn h s lc cn 2. H s nh hng lc cn cij l lc ti ta th
i gy ra bi vn tc n v ti ta th j trong khi gi cc vn tc ti cc
ta khc bng khng. Ma trn cc h s nh hng lc cn C c gi l
ma trn nh hng lc cn.
Ma trn khi lng 3. H s nh hng khi lng mij l lc ti ta
th i gy ra bi gia tc n v ti ta th j trong khi gi cc gia tc ti
cc ta khc bng khng. Ma trn cc h s nh hng khi lng M c
gi l ma trn khi lng.
3.3
Dao ng t do h hu hn bc t do
Trong phn ny chng ta s nghin cu dao ng h hu hn bc t do khi

khng c ti trng ngoi tc ng. Gi s b qua anh hng ca lc cn,
phng trnh vi phn c dng:
M
u(t) + Ku(t) = 0
(3.11)
Phng trnh (3.11) gm n phng trnh vi phn thun nht c lin h vi

nhau qua ma trn khi lng, ma trn cng. Mc ch ca chng ta l
tm nghim ca (3.11) tha mn iu kin ban u: u = u(0) v u = u(0)

ti t = 0.
3.3.1
ngha vt l ca tn s dao ng ring v dng

dao ng ring
Xt mt h hai bc t do nh hnh 3.3a. Nu t vo cc khi lng nhng

chuyn v ban u bt k, h s dao ng quanh v tr cn bng ca n.
Chng ta nhn thy rng chuyn ng ca mi khi lng ca h khng cn
l dao ng iu ha nh trong trng hp h mt bc t do na (hnh 3.3c).
Mt khc, dng ng n hi ca h (t l u1 /u2 ) cng thay i theo thi
gian.
Ngc li, nu t vo cc khi lng ca h nhng chuyn b ban u thch
3.3. DAO NG T DO H HU HN BC T DO
47
Hnh 3.3: Chuyn ng ca h vi iu kin ban u bt k
Hnh 3.4: Dng dao ng th nht ca h
hp, h s dao ng iu ha vi dng ng n hi khng thay i theo

thi gian. i vi h hai bc t do, tn ti hai dng ng n hi c trng.
48
Dng c trng th nht tng ng vi trng thi chuyn v 1 trn hnh 3.4b
ti thi im t = 0. D nhn thy rng chuyn ng ca hai khi lng l
dao ng iu ha vi cng chu k T1 v cng pha (hnh 3.4c) hay ni cch
khc chuyn v ca hai khi lng lun cng hng. T l gia hai chuyn v
u1 /u2 l hng s. Ta cng nhn thy c mt im ca h m chuyn v ti
lun bng khng trong qu trnh dao ng. Ngi ta gi im l nt.
Dng c trng th hai tng ng vi trng thi chuyn v 1 trn hnh 3.5b
ti thi im t = 0. Mt ln na chng ta li thy hai khi lng dao ng
iu ha vi chu k T2 nhng ngc pha (hnh 3.5c) hay chuyn v ca cc
khi lng lun ngc hng. T l u1 /u2 vn l hng s. Trong dng c
trng ny c hai im nt m ti cc chuyn v bng khng trong sut
qu trnh dao ng.
Mi ng n hi c trng c gi l dng dao ng ring ca h hu
Hnh 3.5: Dng dao ng th hai ca h
hn bc t do v cc vc t cha cc chuyn v ca mi dng dao ng ring

c gi l . Vi mi dng dao ng, chuyn v ca cc khi lng t n
gi tr cc tr ti cng thi im v cng i qua v tr cn bng cng thi
im. Tng ng vi mi dng dao ng c mt chu k dao ng Ti v tn
s fi
2
1
i
Ti =
fi =
=
(3.12)
i
Ti
2
49
Tn s dao ng ring b nht c k hiu l 1 , do chu k di nht

c k hiu l T1 . Trng hp tng qut c n dng dao ng ring i vi
h c n bc t do
1 2 . . . n
T1 T2 . . . Tn
(3.13)
(3.14)
Cc i lng 1 , T1 v 1 ln lt c gi l tn s c bn, chu k c bn

v dng dao ng c bn ca h.
3.3.2
Tn s dao ng ring
Theo phn tch phn trc, chng ta bit rng chuyn ng ca h l iu

ha vi mt vi iu kin. Vc t chuyn v c th vit nh sau:
u(t) = sin(t )
(3.15)
trong : l cc dng dao ng c th ca h, l gc lch pha. o hm

2 ln vc t chuyn v ta thu c vc t gia tc nh sau:
u
(t) = 2 sin(t ) = 2 u(t)
(3.16)
Thay biu thc ca chuyn v v gia tc vo (3.11):

2 M sin(t ) + K sin(t ) = 0
(3.17)
Phng trnh ny tha mn vi mi gi tr ca t nn ta c:

K = 2 M
hoc c th vit di dng sau:

K 2M = 0
(3.18)
(3.19)
Nghim tm thng ca phng trnh = 0 tng ng vi trng thi h

khng c chuyn ng nn ta khng xt y. Phng trnh ch c nghim
khng tm thng khi nh thc ca ma trn h s [K 2 M] bng khng

det K 2 M = 0
(3.20)
Phng trnh (3.20) c gi l phng trnh tn s hay phng trnh c
trng ca h. Khai trin nh thc ny ta thu c mt a thc bc n ca j2 ,
50
Hnh 3.6: Kt cu nh hai tng, khi lng tp trung hai sn
trong n l bc t do ca h. Phng trnh ny c n nghim thc, dng

i vi j2 v ma trn khi lng M v ma trn cng K l cc ma trn xc
nh dng. n nghim ca phng trnh xc nh n tn s dao ng ring
j (j = 1, 2, . . . n) ca h. Khi bit tn s dao ng ring j , ta c th
gii phng trnh (3.19) tm dng dao ng ring tng ng j . Trong l
thuyt i s tuyn tnh, cp vc t (j2 , j ) c gi l gi tr ring v vc
t ring ca bi ton gi tr ring ma trn.
Nh vy, mt h dao ng n bc t do c n tn s ring j (j = 1, 2, . . . n)
c sp xp theo th t t nh n ln (1 < 2 < . . . < n ) tng ng
vi chu k dao ng ring Ti v dng dao ng ring j . Thut ng "ring"
c dng y nhm nhn mnh rng l cc tnh cht ring ca h dao
ng, n ch ph thuc vo cc khi lng v cng ca h.
V d 3.1: Xc nh tn s dao ng ring ca kt cu trn hnh 3.6 bit
rng khi lng ca mi tng l m = 20000kg, cng ngang tng cng ca
mi tng k = 18 106 N/m.
Li gii: H c 2 bc t do, ma trn khi lng c dng sau:

3 1 0
M = 20 10
kg
01
Ma trn cng:

2 1
2 1
6
K=k
= 18 10
N/m
1 1
1 1
51
Cc tn s dao ng ring c xc nh t phng trnh c trng:

36 106 (20 103 ) 2
1
2

det K M =
6
3
2 = 0
1
18 10 (20 10 )
t x = 2 /900, ta c phng trnh bc hai i vi x:
x2 3x + 1 = 0
Hai nghim ca phng trnh l: x1 = 0, 38197 v x2 = 2, 61803.
Ta tnh c cc tn s ring:
1 = 18, 54rad/s
3.3.3
2 = 48, 54rad/s
Dng dao ng ring
Thay gi tr ca j vo phng trnh (3.19) ta c:

K j2 M j = 0
(3.21)
trong j l dng
dao ng ring ng vi tn s ring j .
2
Do det K j M = 0, ta khng th xc nh cc phn t ca vc t j .
Tuy nhin, dng tng qut ng vi mt tn s c th c xc nh bng
cch biu th cc chuyn v theo mt chuyn v c chn lm chun. Ta c
th gi nh phn t u tin 1j hay phn t cui cng nj ca vc t j
c gi tr bng 1. Nh vy ta c th xc nh c tt c cc phn t khc
ij , (i = 2, 3, . . . , n) v (j = 1, 2, . . . , n).
Cc phn t ca vc t j ca dng dao ng th j c gi l ij , n tng
ng vi chuyn v th i trong n bc t do ca dng dao ng th j. Vic s
dng hai ch s cho php chng ta xc nh dng dao ng v chuyn v ca
cc bc t do. Cch k hiu ny s r rng hn khi chng ta sp xp cc vc
t j vo mt ma trn cha cc vc t ring
11 12 . . . 1n
21 22 . . . 2n
= .. .. . . ..
. .
. .
n1 n2 . . . nn
trong mi ct th j biu din dng dao ng j . Ma trn gi l ma
trn dng dao ng.
52
Hnh 3.7: Dng dao ng ring : (a) dng dao ng th nht, (b) dng dao
ng th hai
V d 3.2: Xc nh dng dao ng ring ca kt cu trong v d 3.1 (hnh

3.6).
Li gii: Thay tn s ring th nht 1 = 18, 54 vo (3.19) v cho 21 = 1,
ta c:

2 0, 38197
1
11
=0
1
1 0, 38197
1
Gii phng trnh trn, ta tm c 11 = 0, 61803.
Tng t, thay tn s ring th hai 2 = 48, 54 vo (3.19) v cho 22 = 1,
ta c:

2 2, 61803
1
12
=0
1
1 2, 61803
1
Gii phng trnh ta c 12 = 1, 61803.
Dng dao ng ca kt cu (hnh 3.7):
= 1 2
0, 61803 1, 61803
=
1, 00000 1, 00000
V d 3.3: Xc nh tn s dao ng ring v dng dao ng ring ca h

nh hnh 3.8. Bit rng cng chng un ca c hai thanh u l EI, gi
thit b qua bin dng dc trc thanh. Khi lng ca h tp trung ti hai
nt.
53
Hnh 3.8: H dao ng hai bc t do
Li gii: H c hai bc t do. Ma trn khi lng v ma trn cng1

6EI
3m
8 3
M=
K=
m
7L3 3 2
Ta t:
x=
7mL3 2
6EI
phng trnh c trng c dng:

m 2
det K 2 M =
x

8 3x 3

3 2 x = 0
hay vit di dng phng trnh bc hai i vi x:

3x2 14x + 7 = 0
Hai nghim ca phng trnh: x1 = 0, 5695 v x2 = 4, 0972. Ta tnh c cc
tn s ring:
r
r
EI
EI
=
1,
874
1 = 0, 6987
2
mL3
mL3
1
xc nh cc h s nh hng cng kij , v d k11 v k21 ta lp biu thc tnh

chuyn v theo phng bc t do th nht v bc t do th hai do cc "lc" cha bit
k11 v k21 gy ra ri cho cc chuyn v ny ln lt bng 1 v 0, ta s thu c 2 phng
trnh gii ra k11 v k21
54
Hnh 3.9: Dng dao ng ring : (a) dng dao ng th nht, (b) dng dao
ng th hai
Thay tn s ring th nht 1 vo (3.19) v cho 11 = 1, ta c:

8 3 0, 5695
3
1
=0
3
2 0, 5695
21
Gii phng trnh trn ta tm c 21 = 2, 097.
Tng t, thay tn s ring th hai 2 vo (3.19) v cho 12 = 1, ta c:

8 3 4, 0972
3
1
=0
3
2 4, 0972
22
Gii phng trnh ta c 22 = 1, 431.
Dng dao ng ca h (hnh 3.9):

1, 000 1, 000
= 1 2 =
2, 097 1, 431
3.3.4
Tnh cht trc giao cc dng dao ng
Tnh cht c bn ca cc dng dao ng l tnh cht trc giao. Xt hai tn

s ring phn bit i , j v cc dng dao ng tng ng i , j . Vit li
phng trnh (3.18) vi cc tn s i , j :
Ki = i2 Mi
(3.22)
Kj = j2 Mj
55
(3.23)
Nhn tri phng trnh (3.22) vi Tj v phng trnh (3.23) vi Ti , ta thu

c:
Tj Ki = i2 Tj Mi
(3.24)
Ti Kj = j2 Ti Mj
(3.25)
Chuyn tr cc vc t v ma trn trong phng trnh (3.25), ta c:

Tj KT i = j2 Tj MT i
(3.26)
Do cc ma trn M v K i xng nn M = MT , K = KT . iu dn n:
Tj Ki = j2 Tj Mi
(3.27)
T cc phng trnh (3.24) v (3.27), ta c ng thc sau:

i2 Tj Mi = j2 Tj Mi
(3.28)
(j2 i2 )Tj Mi = 0
(3.29)
hay
Vi iu kin j 6= i 2 , ta c tnh cht trc giao th nht:
Tj Mi = 0,
i 6= j
(3.30)
Thay phng trnh (3.30) vo (3.27), ta c tnh cht trc giao th hai:
Tj Ki = 0,
i 6= j
(3.31)
ngha ca tnh cht trc giao: Cng ca cc lc qun tnh v lc

n hi ca dng dao ng th j trn nhng chuyn v theo dng dao ng
th i bng khng.
chng minh kt qu ny, xt mt h dng dao ng th j vi chuyn v
uj (t) = j sin(j t j )
(3.32)
Lc qun tnh ca dng dao ng

(fI )j = M
uj (t) = 2 Mj sin(j t j )
2
Gii thch trng hp j = i
(3.33)
56
Xt chuyn v ca h dng dao ng th i

ui (t) = i sin(i t i )
(3.34)
Cng ca lc qun tnh dng dao ng th j trn cc chuyn v dng

dao ng th i:

(fI )Tj ui = 2 Tj Mi sin(i t i ) sin(j t j )
(3.35)
Cng ny bng khng do tnh cht trc giao (3.30).
Mt cch tng t, lc n hi ca dng dao ng th j
(fS )j = Kuj (t) = Kj sin(j t j )
(3.36)
Cng ca lc n hi dng dao ng th j trn cc chuyn v dng dao

ng th i:

(fS )Tj ui = Tj Ki sin(i t i ) sin(j t j )
(3.37)
D dng thy cng ny bng khng do tnh cht trc giao (3.31).
Nu M l ma trn khi lng bt k, i xng, xc nh dng th ma trn
c xc nh bi biu thc:
= T M
M
(3.38)
l ma trn ng cho. Cc phn t trn ng cho c tnh theo cng

thc:
m
i = Ti Mi
(3.39)
Tng t ta c:
= T K
K
(3.40)
l ma trn ng cho c cc phn t trn ng cho:

vi K
ki = Ti Ki
3.3.5
(3.41)
Chun ha dng dao ng
Nu vc t l dng dao ng ring ca h th bt c vc t no t l vi

cng l dng dao ng ring v n tha mn phng trnh (3.19). Ngi ta
c th dng h s t l trong cc dng dao ng ring chun ha cc bin
57
ca cc bc t do. Qu trnh gi l chun ha dng dao ng. Trong

tnh ton, thun tin nht l chun ha cc dng dao ng sao cho cc khi
lng tng qut bng mt n v m
i = 1 vi i = 1, 2, . . . n. iu kin trc
giao c biu din nh sau:
Ti Mj = ij
Ti Kj = i2 ij
(3.42)
(3.43)
vi ij l k hiu Kronecker. iu kin trc giao c th vit di dng ma

trn nh sau:
T M = I
T K =
(3.44)
(3.45)
trong I l ma trn n v bc n v gi l ma trn ph gm n bnh

phng cc tn s ring i2 .
3.3.6
Khai trin vc t chuyn v theo dng dao ng
Ngi ta c th dng mt tp hp bt k n vc t c lp lm c s biu

din mt vc t bt k bc n. Tng t, cc dng dao ng ring c dng
biu din vc t chuyn v. Khai trin theo dng dao ng ca mt vc t
chuyn v u c dng:
n
X
u=
i qi = q
(3.46)
i=1
trong : qi gi l ta dng dao ng.

i vi mt vc t chuyn v u cho trc, khi bit i , ngi ta c th nh
gi qi bng cch nhn c hai v ca (3.46) vi Tj M
Tj Mu =
n
X
(Tj Mi )qi
(3.47)
i=1
Do tnh cht trc giao, cc s hng v phi bng khng ngoi tr s hng
i = j. T suy ra:
(3.48)
Tj Mu = Tj Mj qj
C hai v ca phng trnh trn u l i lng v hng nn ta tm c
qj theo biu thc:
Tj Mu
Tj Mu
qj = T
(3.49)
=
m
j
j Mj
58
Hnh 3.10: Khai trin vc t chuyn v theo dng dao ng
V d 3.4: Xc nh khai trin theo dng dao ng ca vc t chuyn v

u = [1 1]T i vi h trong v d 3.1 (hnh 3.6)
Li gii: Thay vc t chuyn v u vo biu thc (3.49) vi 1 = [0, 618 1]T
v 2 = [1, 618 1]T ta c:

m
1
[0, 618 1]
m 1
1, 618m

=
q1 =
= 1, 17
1, 382m
m
0, 618
[0, 618 1]
m
1

m
1
[1, 618 1]
m 1
0, 618m

=
q2 =
= 0, 17
3, 618m
m
1, 618
[1, 618 1]
m
1
Kt qu khai trin c biu din trn hnh 3.10
3.3.7
Phng trnh dao ng
Trong phn ny s trnh by cch tm nghim ca (3.11) vi iu kin ban

(t):
u . T (3.46) ta tnh c vc t gia tc u
(t) =
u
q(t)
(3.50)
(t) vo (3.11) ta c:
Thay u(t) v u
M
q(t) + Kq(t) = 0
(3.51)
59
Nhn tri c hai v vi T thu c:

q(t) + Kq(t)
M
=0
(3.52)
Theo tnh cht trc giao, phng trnh trn c th vit nh sau:
m
i qi (t) + ki qi (t) = 0
vi i = 1, 2, . . . n
(3.53)
y l phng trnh vi phn dao ng ca m hnh mt bc t do i vi

dng dao ng th i. T phng trnh (3.22) ta bit rng Ki = i2 Mi ,
nhn tri hai v vi Ti ta c:
Ti Ki = i2 Ti Mi
(3.54)
T ta tm c quan h gia ki v m
i:
ki = i2 m
i
(3.55)
Thay (3.55) vo (3.53) v chia hai v cho m

i , ta c phng trnh:
qi (t) + i2 qi (t) = 0
(3.56)
Nghim ca (3.56) c dng tng t (2.19):

qi (t) = qi (0) cos(i t) +
qi (0)
sin(i t)
i
(3.57)
trong : qi (0) v qi (0) c xc nh bi:

qi (0) =
Ti Mu(0)
m
i
qi (0) =
Ti Mu(0)
m
i
(3.58)
vi u(0) v u(0)
l iu kin ban u. Thay (3.57) vo (3.46) ta c phng
trnh dao ng ca h:

n
X
qi (0)
u(t) =
i qi (0) cos(i t) +
sin(i t)
(3.59)
i
i=1
V d 3.5: Vit phng trnh dao ng ca h trong v d 3.3 bit rng
thi im ban u t = 0 h c cc iu kin:

0
1
u(0) =
v
u(0)
=
v
0
2 0
60
Li gii: Trong v d 3, ta xc nh c cc tn s ring:

r
1 = 0, 6978
EI
mL3
r
2 = 1, 874
EI
mL3
v cc dng dao ng ring:

1, 000
1 =
2, 097
1, 000
2 =
1, 431
Ta s xc nh qi (0) v qi (0) theo biu thc (3.58). Do u(0) = [0 0]T nn

qi (0) = 0.
q1 (0) =
T1 Mu(0)
T1 M1

1
[1 2, 097]
v
m 2 0
7, 194mv0

=
= 0, 973v0
=
7, 397m
3m
1
[1 2, 097]
m
2, 097
q2 (0) =
3m
T2 Mu(0)
T
2 M2

1
[1 1, 431]
v
m 2 0
0, 138mv0

=
= 0, 027v0
=
5, 048m
3m
1
[1 1, 431]
m
1, 431
3m
Thay q1 (0) v q2 (0) vo (3.59) ta c:

r
r

0, 973v0 mL3
0, 027v0 mL3
1
1
u(t) =
sin 1 t +
sin 2 t
2, 097 0, 6978
1, 431 1, 874
EI
EI

hay vit gn li:

1, 394 sin 1 t + 0, 014 sin 2 t

u(t) =
2, 924 sin 1 t 0, 021 sin 2 t
r
mL3
v0
EI
3.4. DAO NG CNG BC H HU HN BC T DO
3.4
61
Dao ng cng bc h hu hn bc t
do
Phng trnh vi phn dao ng ca h:

M
u(t) + Ku(t) = p(t)
(3.60)
iu kin ban u: u = u(0) v u = u(0)

ti t = 0. Nghim tng qut ca
phng trnh (3.60) gm nghim ca phng trnh thun nht v nghim
ring ca phng trnh khng thun nht. Nghim thun nht ta bit
cch xc nh nh phn trn. Trong mc ny ta s nghin cu cch tm
nghim ca phng trnh khng thun nht. Ta c th thc hin tng t
nh i vi phng trnh thun nht, bin i phng trnh vi phn dao
ng trong h ta hnh hc thnh phng trnh vi phn dao ng trong
h ta cc dng dao ng. Bng cch thay (3.46) vo phng trnh (3.60),
ta c:
M
q(t) + Kq(t) = p(t)
(3.61)
Nhn tri c hai v vi T thu c:
T M
q(t) + T Kq(t) = T p(t)
(3.62)
Theo tnh cht trc giao cc dng dao ng ring, phng trnh trn c th
n gin nh sau:
Ti Mi qi (t) + Ti Ki qi (t) = Ti p(t)
vi i = 1, 2, . . . n
(3.63)
hay
m
i qi (t) + ki qi (t) = pi (t)
vi i = 1, 2, . . . n
(3.64)
trong :
m
i = Ti Mi
ki = Ti Ki
pi = Ti p(t)
(3.65)
ln lt gi l khi lng tng qut, cng tng qut v lc tng qut i

vi dng dao ng ring th i.
Chia 2 v ca phng trnh cho m
i v s dng ng thc (3.55) ta c:
qi (t) + i2 qi (t) =
pi (t)
m
i
vi i = 1, 2, . . . n
(3.66)
Nh vy, h phng trnh (3.60) tr thnh n phng trnh c lp. Mi

phng trnh trong (3.64) hoc (3.66) l phng trnh dao ng h mt bc
t do i vi qi , i = 1, 2, . . . n. Khi bit c q ta c th xc nh c phng
trnh dao ng u(t) ca h trong h ta hnh hc t phng trnh (3.46).
62
Hnh 3.11: H dao ng hai bc t do chu tc dng ca ti trng iu ha
V d 3.6: Xt h trn hnh 3.11 chu tc dng ca ti trng iu ha

p(t) = p0 sin t t vo khi lng m1 . Bng cch khai trin theo cc dng
dao ng, xc nh phng trnh dao ng ca h trn, bit rng: m1 = 2m,
m2 = m, k1 = 2k, k2 = k.
Li gii: Ma trn khi lng v ma trn cng ca h:

2m
3k k
M=
K=
m
k k
Phng trnh c trng c dng:

3k 2m 2
k

det K M =
2 = 0
k
k m
2
hay :
2m2 4 5km 2 + 2k 2 = 0
Hai nghim ca phng trnh: 12 = k/2m v 22 = 2k/m. Ta tnh c cc
tn s ring:
r
r
k
2k
1 =
2 =
2m
m
Thay tn s ring th nht 1 vo (3.19) v cho 21 = 1, ta c:

2k k
11
=0
k k/2
1
3.4. DAO NG CNG BC H HU HN BC T DO
63
Gii phng trnh trn ta tm c 11 = 1/2.

Tng t, thay tn s ring th hai 2 vo (3.19) v cho 22 = 1, ta c:

k k
12
=0
k k
1
Gii phng trnh ta c 12 = 1.
Ma trn dng dao ng ca h:
= 1 2 =
1
1
2
1 1
T (3.65) ta xc nh c khi lng tng qut, cng tng qut v lc

tng qut:

1
1
3m
2m
T
2
1
=
m
1 = 1 M1 =
m
1
2
2

2m
1
m
2 = T2 M2 = [1 1]
= 3m
m
1

1

3k
1
3k
k
T
2
1
=
k1 = 1 K1 =
k k
1
2
4

3k k
1
k2 = T2 K2 = [1 1]
= 6k
k k
1

1
p0
p0
T
p1 = 1 p(t) =
1
sin t =
sin t
0
2
2

p
T
p2 = 2 p(t) = [1 1] 0 sin t = p0 sin t
0
Thay cc i lng trn vo phng trnh (3.64) ta thu c 2 phng trnh
i vi q1 v q2
p0
sin t
m
1 q1 + k1 q1 =
2
m
2 q2 + k2 q2 = p0 sin t
Nghim ca phng trnh c dng:
2p0
2p0
sin t =
Rd1 sin t
2
3k[1 (/1 ) ]
3k
p0
p0
sin t = Rd2 sin t
q2 (t) =
2
6k[1 (/2 ) ]
6k
q1 (t) =
64
Phng trnh dao ng ca h:

u(t) = 1 q1 (t) + 2 q2 (t)
Thay cc biu thc ca q1 , q2 v cc dng dao ng ring ta c:

1

2p0
u1 (t)
1 p0
2
=
R sin t
R sin t
u2 (t)
1 3k d1
1 6k d2

2Rd1 + Rd2 p0
=
sin t
4Rd1 Rd2 6k
Chng 4
H v hn bc t do - Dao
ng ca thanh thng
4.1
Phng trnh vi phn dao ng
Xt thanh thng c khi lng phn b. Dao ng ngang ca h ti thi

im bt k c biu din bng ng n hi ca h . Phng trnh
ng n hi l hm ca ta x v thi gian t
y = y(x, t)
(4.1)
Theo kt qu trong Sc bn vt liu, gia vng v ni lc trong dm c

lin h vi phn:
2y
(4.2)
EI(x) 2 = M (x, t)
x
trong : EI(x) l cng ca dm, M l momen ni lc trong dm.
Gia ni lc v ti trng phn b cng c s lin h:
2 M (x, t)
= f (x, t)
x2
Thay (4.2) vo phng trnh (4.3), ta c biu thc ca lc n hi:

2
2 y(x, t)
EI(x)
= fS (x, t)
x2
x2
(4.3)
(4.4)
Lc cn c chiu ngc vi chiu ca chuyn ng v c cng :

fD (x, t) = c
65
y(x, t)
t
(4.5)
66CHNG 4. H V HN BC T DO - DAO NG CA THANH THNG

Lc qun tnh phn b hng theo chiu ca chuyn v:
2 y(x, t)
fI (x, t) = m(x)
t2
(4.6)
Ti trng ng tc dng ln h c cng : p(x, t)

Theo nguyn l Alembert ta c phng trnh cn bng:
fI (x, t) + fD (x, t) fS (x, t) = p(x, t)
(4.7)
Thay cc biu thc ca lc qun tnh, lc cn v lc n hi vo (4.7) ta c:

2 y(x, t)
2 y(x, t)
2
y(x, t)
EI(x)
+
m(x)
= p(x, t)
(4.8)
+c
2
2
2
x
x
t
t
Phng trnh (4.8) c gi l phng trnh vi phn dao ng tng qut ca
thanh thng chu ti trng bt k.
Khi dm c cng EI khng i th (4.8) c dng n gin nh sau:
c y(x, t)
p(x, t)
4 y(x, t) m(x) 2 y(x, t)
+
+
=
x4
EI
t2
EI t
EI
4.2
4.2.1
(4.9)
Dao ng t do ca thanh thng

Phng trnh dao ng t do
Phng trnh vi phn dao ng t do ca thanh thng khi khng xt n

lc cn c dng sau:

2 y(x, t)
2 y(x, t)
2
=0
(4.10)
EI(x)
+ m(x)
x2
x2
t2
Nghim tng qut ca (4.10) l tng ca cc nghim ring:
y(x, t) =
yi (x, t)
(4.11)
i=1
trong mi nghim ring yi (x, t) c biu din l tch ca hai hm s, mt

hm ch ph thuc vo ta x, hm cn li ch ph thuc thi gian t:
yi (x, t) = Xi (x)Ti (t)
(4.12)
4.2. DAO NG T DO CA THANH THNG

Thay (4.12) vo phng trnh (4.10) ta c:

2
00
EI(x)X
(x)T
(t)
+ m(x)Xi (x)Ti (t) = 0
i
i
x2
67
(4.13)
Chia hai v phng trnh trn cho tch m(x)Xi (x)Ti (t) ta thu c:

00
2
EI(x)X
(x)
Ti (t)
2
i
x
=
(4.14)
m(x)Xi (x)
Ti (t)
T phng trnh trn ta thy v tri ch ph thuc vo ta x, v phi ch
ph thuc vo thi gian t. Nh vy c hai v ca phng trnh phi bng
mt i lng khng i, k hiu bng i2 . Ta c hai phng trnh sau:
2
x2
Ti (t)
= i2
Ti (t)

00
EI(x)Xi (x)
= i2
m(x)Xi (x)
(4.15)
(4.16)
hay
Ti (t) + i2 Ti (t) = 0
(4.17)
i00
00
EI(x)Xi (x) m(x)i2 Xi (x) = 0
(4.18)
Ta thy phng trnh (4.17) tng t phng trnh vi phn dao ng h mt

bc t do. Nghim ca phng trnh ny c dng:
Ti (t) = Ai sin(i t + i )
(4.19)
Phng trnh (4.18) l phng trnh vi phn dng dao ng ca thanh thng.
Gii phng trnh vi phn ny ta tm c dng dao ng ring Xi (x) ng
vi tn s ring i .
Vy mi nghim ring yi (x, t) biu th mt dng dao ng ring thay i theo
quy lut iu ha vi tn s ring i :
yi (x, t) = Xi (x)Ai sin(i t + i )
(4.20)
Nghim tng qut ca phng trnh vi phn (4.10):

y(x, t) =
X
i=1
yi (x, t) =
X
i=1
Xi (x)Ai sin(i t + i )
(4.21)

Trng hp xt n lc cn, phng trnh vi phn dao ng c dng:

2
2 y(x, t)
2 y(x, t)
y(x, t)
=0
(4.22)
EI(x)
+
m(x)
+c
2
2
2
x
x
t
t
Khi phng trnh (4.17) tr thnh:
Ti (t) + 2i i Ti (t) + i2 Ti (t) = 0
(4.23)
Nghim ca phng trnh ny c dng:

Ti (t) = ei i t Ai sin(Di t + i )
(4.24)
p
trong : Di = i 1 i2 Vy nghim tng qut ca phng trnh vi phn
dao ng t do c xt n lc cn:
y(x, t) =
yi (x, t) =
i=1
4.2.2
ei i t Xi (x)Ai sin(Di t + i )
(4.25)
i=1
Tnh cht trc giao ca cc dng dao ng ring
Xt hai tn s ring i v j v cc dng dao ng ring tng ng Xi , Xj .

Phng trnh chuyn ng ng vi dng dao ng ring th i v th j:
yi (x, t) = Xi (x)Ai sin(i t + i )
yj (x, t) = Xj (x)Aj sin(j t + j )
(4.26)
(4.27)
Lc qun tnh phn b c cng :

(fI )i (x, t) = i2 m(x)Xi (x)Ai sin(i t + i )
(fI )j (x, t) = j2 m(x)Xj (x)Aj sin(j t + j )
(4.28)
(4.29)
Cng ca lc qun tnh dng dao ng th i trn chuyn v dng dao

ng th j:
Z
Z
(fI )i (x, t)yj (x, t)dx =
i2 m(x)Xi (x)Xj (x)Ai Aj sin(i t+i ) sin(j t+j )dx
(4.30)
4.3. DAO NG T DO CA THANH THNG C KHI LNG PHN B U V TIT DIN K

Cng ca lc qun tnh dng dao ng th j trn chuyn v dng dao
ng th i:
Z l
Z l
j2 m(x)Xi (x)Xj (x)Ai Aj sin(i t+i ) sin(j t+j )dx
(fI )j (x, t)yi (x, t)dx =
0
(4.31)
Theo nguyn l cng tng h Betti hai cng ny bng nhau. Sau khi n
gin hai v cho Ai Aj sin(i t + i ) sin(j t + j ) ta thu c:
Z
l
2
2
m(x)Xi (x)Xj (x)dx = 0
(4.32)
i j
0
Vi hai dao ng ring khc nhau th i 6= j nn ta c:

Z l
m(x)Xi (x)Xj (x)dx = 0
vi i 6= j
(4.33)
Phng trnh (4.33) biu th tnh cht trc giao ca cc dng dao ng ring
qua khi lng ca h. Tnh cht trc giao cng c th c biu din qua
cng ca thanh nh sau.
Phng trnh (4.18) vit cho dng dao ng th i:
h
i00
00
EI(x)Xi (x) = i2 m(x)Xi (x)
(4.34)
Nhn hai v phng trnh trn vi Xj (x) v ly tch phn t 0 n l ta c:
Z l
Z l h
i00
00
2
m(x)Xi (x)Xj (x)dx
(4.35)
Xj EI(x)Xi (x) dx = i
0
Thay (4.33) vo phng trnh trn ta thu c:

Z l h
i00
00
Xj EI(x)Xi (x) dx = 0
(4.36)
4.3
Dao ng t do ca thanh thng c khi

lng phn b u v tit din khng i
Khi thanh thng c khi lng phn b u v tit din khng i m(x) =
m = const v EI(x) = EI = const, phng trnh vi phn dao ng t do

(4.10) c n gin thnh:
4 y(x, t)
m 2 y(x, t)
+
=0
x4
EI t2
(4.37)
Phng trnh (4.18) vit li nh sau:

(4)
Xi (x)
mi2
Xi (x) = 0
EI
(4.38)
hay
(4)
Xi (x) ki4 Xi (x) = 0
(4.39)
trong :
ki4 =
mi2
EI
(4.40)
Phng trnh c trng ca (4.39) c dng:

s4 ki4 = 0
(4.41)
Phng trnh ny c 4 nghim:

s1,2 = ki
s3,4 = iki
vi i2 = 1
(4.42)
Vy nghim ca phng trnh (4.39) nh sau:

Xi (x) = a1 eki x + a2 eki x + a3 sin(ki x) + a4 cos(ki x)
(4.43)
hoc c th vit di dng:

Xi (x) = b1 cosh(ki x) + b2 sinh(ki x) + b3 sin(ki x) + b4 cos(ki x)
(4.44)
trong sinh(x) v cosh(x) l cc hm siu vit c xc nh bi:

cosh(x) =
ex + ex
2
sinh(x) =
ex ex
2
Phng trnh (4.44) biu din dng dao ng ring th i1 ng vi tn s dao

ng i .
1
vit phng trnh c n gin, trong phn sau ta s b i ch s di i

Ta c th t cc hm:
h
i
Akx = cosh(kx) + cos(kx) /2
h
i
Bkx = sinh(kx) + sin(kx) /2

h
i
Ckx = h cosh(kx) cos(kx)i /2
Dkx = sinh(kx) sin(kx) /2
(4.45)
Phng trnh (4.44) c vit li di dng sau:

X(x) = C1 Akx + C2 Bkx + C3 Ckx + C4 Dkx
(4.46)
Cc hng s Ci (i = 1, . . . , 4) v bi (i = 1, . . . , 4) trong (4.44) c quan h:

C 1 = b1 + b3 ;
C 3 = b1 b3 ;
C 2 = b2 + b4
C 4 = b2 b4
(4.47)
vic tnh ton c thun tin, gi tr cc hm s Akx , Bkx , Ckx v Dkx

theo cc bin s kx c lp sn thnh cc bng trong ph lc 2 . Cc hm
ny c tnh cht sau:
0
A = kDkx
0
kx
Bkx = kAkx
(4.48)
0
Ckx = kBkx
0
Dkx = kCkx
A(0) = 1; B(0) = 0; C(0) = 0; D(0) = 0
(4.49)
Cc hng s Ci (i = 1, . . . , 4) c xc nh t iu kin bin. Gi s ti

x = 0 ta c:
X(0) = X0
0
X (0) = 0
(4.50)
00
X (0) = M0 /EI
000
X (0) = Q0 /EI
T phng trnh (4.46) ta c cc o hm ca X(x):
0
X (x) = k(C1 Dkx + C2 Akx + C3 Bkx + C4 Ckx )

00
X (x) = k 2 (C1 Ckx + C2 Dkx + C3 Akx + C4 Bkx )
000
X (x) = k 3 (C1 Bkx + C2 Ckx + C3 Dkx + C4 Akx )
2
Xem bng 1
(4.51)

k
Akx
Dkx
k
?
Bkx
Ckx
k
Hnh 4.1: Quy lut o hm ca Akx , Bkx , Ckx v Dkx

Thay cc iu kin bin (4.50) vo ta xc nh c cc hng s:
C 1 = X0
C3 =
M0
k 2 EI
C2 =
0
k
C4 =
Q0
k 3 EI
(4.52)
Thay li cc gi tr ny vo cc biu thc (4.46) v (4.51) ta tm c cc

phng trnh bin dng v phng trnh ni lc 3 :
0
M0
Q0
Bkx 2 Ckx 3 Dkx
k
k EI
k EI
Q0
M0
0
Bkx 2 Ckx
X (x) = X0 kDkx + 0 Akx
kEI
k EI
Q0
Bkx
M (x) = EIX0 k 2 Ckx EI0 kDkx + M0 Akx +
k
Q(x) = EIX0 k 3 Bkx EI0 k 2 Ckx + M0 kDkx + Q0 Akx
X(x) = X0 Akx +
(4.53)
(4.54)
(4.55)
(4.56)
Cc phng trnh trn cho php xc nh cc i lng cn nghin cu trong

dao ng ring ca thanh thng. T cc iu kin bin v bin dng v ni
lc ta s lp c h phng trnh xc nh cc thng s cha bit. Xt iu
kin tn ti dao ng ring ta s lp c phng trnh xc nh thng s
k, t s tnh c tn s dao ng ring:
r
EI
= k2
(4.57)
m
3
00
000
Theo Sc bn vt liu: = X (x), M (x) = X (x), Q(x) = X (x)

Phng trnh xc nh k l phng trnh siu vit nn s c v s nghim
ki (i = 1, 2, . . .) ngha l c v s tn s ring i (i = 1, 2, . . .). iu ny ph
hp vi ngha ca bi ton c v s bc t do.
V d 4.1: Xc nh tn s dao ng ring v dng dao ng ring ca

thanh thng nh hnh 4.2a , thanh c chiu di l, u bn tri c ngm
cht, u bn phi t do. Khi lng ca thanh l m
Li gii: iu kin bin:
Ti x = 0:
X(0) = 0
(0) = 0
(4.58)
(4.59)
M (l) = 0
Q(l) = 0
(4.60)
(4.61)
Ti x = l:
Thay (4.60), (4.61) vo (4.55) v (4.56) ta c h phng trnh:

Q0
Bkl = 0
k
M0 kDkl + Q0 Akl = 0
M0 Akl +
(4.62)
(4.63)
iu kin tn ti dao ng M0 6= 0 v Q0 6= 0 l nh thc ca h phng

trnh trn bng khng

Akl Bkl /k
2

(4.64)
kDkl Akl = Akl Bkl Dkl = 0
hay
cosh kl cos kl + 1 = 0
(4.65)
Phng trnh siu vit ny c gii bng phng php th dn. Ta tm

c nghim th nht k1 l = 1.875, nghim th hai k2 l = 4.68 . . . Thay vo
(4.57) ta tnh c cc tn s dao ng ring
r
r
3, 515 EI
1, 8752 EI
=
1 =
l2
m
l2
m
Hnh 4.2: Dm mt u ngm mt u t do (a), dng dao ng th nht

(b), dng dao ng th hai (c), dng dao ng th ba (d)
4, 6802
2 =
l2
21, 90
EI
=
m
l2
EI
m
Thay cc gi tr ki l vo h phng trnh ta xc nh c M0 v Q0 . T

tm c cc phng trnh chuyn v v ni lc ca thanh ng vi tn s
i . Ba dng dao ng ca thanh ng vi ba tn s dao ng ring u tin
1 , 2 v 3 ln lt c biu din trn hnh 4.2b, 4.2c v 4.2d.
V d 4.2: Xc nh tn s dao ng ring v dng dao ng ring ca
thanh thng nh hnh 4.3a, thanh c chiu di l, hai u c t ln hai
gi c nh. Khi lng ca thanh l m
Li gii: iu kin bin:
Ti x = 0:
X(0) = 0
M (0) = 0
(4.66)
(4.67)
Hnh 4.3: Dm hai u khp (a), dng dao ng th nht (b), dng dao ng
th hai (c), dng dao ng th ba (d)
Ti x = l:
X(l) = 0
M (l) = 0
(4.68)
(4.69)
Thay (4.68), (4.69) vo (4.53) v (4.55) ta c h phng trnh:

Q0
0
Bkl 3 Dkl = 0
k
k EI
Q0
0 EIkDkl +
Bkl = 0
k
(4.70)
(4.71)
iu kin tn ti dao ng Q0 6= 0 v 0 6= 0 l nh thc ca h phng

trnh trn bng khng
2
2
Bkl
Dkl
=0
(4.72)
hay
sinh kl sin kl = 0
(4.73)
Do sinh kl 6= 0 nn sin kl = 0. Vy ta tm c
ki l = i
vi i = 1, 2, . . .
(4.74)

Thay vo (4.57) ta xc nh c cc tn s dao ng ring
(i)2
i = 2
l
EI
m
(4.75)
Do sin kl = 0 nn ta c Bkl = Dkl . T phng trnh (4.70) ta rt ra ng

thc:
0
Q0
= 3
(4.76)
k
k EI
Dng dao ng ring th i c xc nh theo biu thc:
X(x) =
0
Q0
Q0
Bkx 3 Dkx = 3
(Bkx Dkx )
k
k EI
k EI
(4.77)
Thay biu thc cc hm Bkx v Dkx vo phng trnh trn ta c:

X(x) =
Q0
Q0
ix
sin kx = 3
sin
3
k EI
k EI
l
(4.78)
Cc dng dao ng ring c biu din trn hnh 4.3b, 4.3c v 4.3d.
4.4
Dao ng cng bc ca thanh thng c

khi lng phn b u v tit din khng
i
Trong phn ny chng ta s nghin cu dao ng ca thanh thng c khi

lng phn b u v tit din khng i chu tc dng ca ti trng iu
ha p(x, t) = p(x) sin t.
Phng trnh vi phn dao ng iu ha c dng:
4 y(x, t)
m 2 y(x, t)
p(x) sin t
+
=
4
2
x
EI t
EI
(4.79)
Ta bit nghim tng qut ca (4.79) gm nghim ca phng trnh thun

nht (dao ng t do) v nghim ring ca phng trnh khng thun nht.
Nghim ca phng trnh thun nht c nghin cu phn trn. Ta
s kho st nghim ring ca phng trnh khng thun nht. Gi nh rng
4.4. DAO NG CNG BC CA THANH THNG C KHI LNG PHN B U V TIT D

giai on n nh, thanh thng dao ng vi tn s ca lc cng bc.
Nghim ring c tm di dng sau:
y(x, t) = X(x) sin t
(4.80)
Thay (4.80) vo (4.79) v bin i ta c:

X (4) (x) k 4 X(x) =
p(x)
EI
(4.81)
trong :
k4 =
m 2
EI
(4.82)
Nu p(x) l mt a thc th nghim ring ca (4.81) c dng:

Xp (x) =
p(x)
p(4) (x) p(8) (x)
+
+ 12
+ ...
k 4 EI
k 8 EI
k EI
(4.83)
Vy nghim tng qut ca (4.81) c vit nh sau:

X(x) = C1 Akx + C2 Bkx + C3 Ckx + C4 Dkx +
p(x)
p(4) (x)
+
+ ...
k 4 EI
k 8 EI
(4.84)
Trng hp p(x) = p = const th nghim X(x) c dng n gin:

X(x) = C1 Akx + C2 Bkx + C3 Ckx + C4 Dkx +
p
k 4 EI
(4.85)
T ta tnh c cc o hm ca X(x). Kt qu thu c tng t (4.51).

Cc hng s Ci (i = 1, . . . , 4) c xc nh t iu kin bin:
C 1 = X0
C3 =
p
k 4 EI
M0
k 2 EI
C2 =
0
k
C4 =
Q0
k 3 EI
(4.86)
trong : X0 , 0 , M0 v Q0 l cc gi tr ca X(x) v cc o hm ca n ti
x = 0.
Thay cc hng s ny vo (4.85) v (4.51) ta c phng trnh bin chuyn

v v ni lc ca thanh thng khi dao ng cng bc:
0
M0
Q0
p
Bkx 2 Ckx 3 Dkx 4 (Akx 1)
k
k EI
k EI
k EI
M0
Q0
p
0
X (x) = X0 kDkx + 0 Akx
Bkx 2 Ckx 3 Dkx
(4.87)
kEI
k EI
k EI
Q0
p
M (x) = EIX0 k 2 Ckx EI0 kDkx + M0 Akx +
Bkx + 2 Ckx
k
k EI
p
3
2
Q(x) = EIX0 k Bkx EI0 k Ckx + M0 kDkx + Q0 Akx + Bkx
k
X(x) = X0 Akx +
4.5
Dao ng cng bc ca thanh thng chu

ti trng bt k - Khai trin theo dng
dao ng
Gi s xc nh c tn s dao ng ring v dng dao ng ring t

phng trnh (4.18). Khi nghim ca phng trnh vi phn (4.8) (b qua
lc cn) l t hp tuyn tnh ca cc dng dao ng:
y(x, t) =
Xi (x)qi (t)
(4.88)
i=1
Phng trnh vi phn dao ng (4.8) c bin i thnh mt tp hp v

hn cc phng trnh vi phn m trong mi phng trnh ta dng
dao ng qi (t) ng vai tr l n s.
Thay (4.88) vo (4.8) ta c:
X
i=1
h
i00
X
00
m(x)Xi (x)
qi (t) +
EI(x)Xi (x) qi (t) = p(x, t)
(4.89)
i=1
Nhn c hai v vi Xj (x) ri tch phn trn ton b chiu di thanh, ta c:

Z lX
i=1
qi (t)m(x)Xi (x)Xj (x)dx +
Z lX
h
i00
00
qi (t)Xj (x) EI(x)Xi (x) dx
i=1
l
Z
=
p(x, t)Xj (x)dx

0
(4.90)
4.5. DAO NG CNG BC CA THANH THNG CHU TI TRNG BT K - KHAI TRIN T

Thay i th t ly tch phn v tng cc s hng ta thu c:
Z l
Z l
h
i00
X
X
00
Xj (x) EI(x)Xi (x) dx
m(x)Xi (x)Xj (x)dx +
qi (t)
qi (t)
i=1
i=1
p(x, t)Xj (x)dx
(4.91)
Theo tnh cht trc giao cc dng dao ng (4.33) v (4.36), tt c cc s

hng trong du tng u bng khng tr s hng m ch s i = j. Do ta
c:
Z l
Z l
Z l
h
i00
00
2
Xi (x) EI(x)Xi (x) dx =
p(x, t)Xi (x)dx
qi (t)
m(x)Xi (x)dx+qi (t)
0
(4.92)
Phng trnh trn c th vit li nh sau:
Mi qi (t) + Ki qi (t) = Pi (t)
(4.93)
trong :
Z
m(x)Xi2 (x)dx
Mi =
0
Ki =
i00
h
00
Xi (x) EI(x)Xi (x) dx
Z
Pi (t) =
p(x, t)Xi (x)dx

0
gi l khi lng tng qut, cng tng qut v lc tng qut ca dng
dao ng th i. Cc i lng ny ch ph thuc vo dng dao ng th i.
Khi lng tng qut Mi v cng tng qut Ki c lin h vi nhau bi
biu thc:
Ki = i2 Mi
(4.94)
Nh vy, phng trnh dao ng y(x, t) ca h c th c xc nh bng
cch gii phng trnh (4.92) i vi qi (t). Phng trnh ca mi dng dao
ng l c lp vi cc phng trnh ca cc dng dao ng khc, do c
th c gii mt cch c lp. Hn na, cc phng trnh ny c dng ging
phng trnh vi phn dao ng h mt bc t do nn c th s dng cc kt
qu trong chng 2 xc nh nghim qi (t) ca phng trnh (4.92).

Mt khi qi (t) c xc nh, ta tm c chuyn v l t hp ca tt c cc
dng dao ng:
y(x, t) =
ui (x, t) =
i=1
Xi (x)qi (t)
(4.95)
i=1
Moment un v lc ct ti mt ct bt k c xc nh bi cc biu thc

sau:
00
M (x, t) = EI(x)y (x, t) =
00
EI(x)Xi (x)qi (t)
(4.96)
i=1
h
i0 X
i0
00
00
Q(x, t) = EI(x)y (x, t) =
EI(x)Xi (x) qi (t)
i=1
(4.97)
Chng 5
Dao ng ca h phc tp
Chng ny s trnh by cch tnh dao ng ca cc h phc tp thng gp
trong xy dng dn dng nh: khung, dm lin tc v dn. C hai phng
php tnh dao ng ca h phc tp: phng php chnh xc v phng php
gn ng. Trong phng php chnh xc ta xem kt cu c khi lng phn
b hay ni mt cch khc xem kt cu c bc t do bng v cng. ng
thi, qu trnh tnh ton c thc hin theo s bin dng, c k n tt
c cc dng bin dng. vic tnh ton c n gin ngi ta a vo
nhng gi thit nh: tnh ton h theo s khng bin dng, b qua bin
dng dc trc v bin dng trt ca cc tit din khi xc nh cc chuyn
v. Trong phng php gn ng, ngi ta c th thay th cc khi lng
phn b bng mt s khi lng tp trung ngha l bin h c bc t do
bng v cng thnh h c s bc t do hu hn. Trong phm vi bi ging,
ta s nghin cu phng php chuyn v tnh cc kt cu dm v khung
ng thi s gii thiu cch vn dng phng php gn ng gii quyt
bi ton.
5.1
5.1.1
Phng php chuyn v tnh dao ng

ca khung
Dao ng cng bc
Xt khung siu ng chu tc dng ca cc ti trng pi sin t. Ta chn kt

cu c bn bng cch thm cc lin kt ngn cn chuyn v ca nt. n
s l cc chuyn v thng hoc chuyn v gc ti v tr cc lin kt t thm
81
82
CHNG 5. DAO NG CA H PHC TP
vo.
Gi thit di tc dng ca cc ti trng thay i iu ha p(t) = p sin t,
cc phn lc, ni lc v chuyn v cng thay i theo quy lut sin t. Do
chuyn v ti cc nt v phn lc trong cc lin kt t thm vo c vit
nh sau:
Zi (t) = Zi sin t
Rik (t) = Rik sin t
(5.1)
(5.2)
trong :
Zi l tr s bin cha bit ca cc chuyn v thng hoc chuyn v
gc ti v tr cc lin kt t thm vo.
Rik l tr s bin phn lc ti lin kt ph th i do bin chuyn
v Zk lin kt ph th k gy ra trong h c bn.
h c bn lm vic ging h thc th phn lc ti cc lin kt ph t
thm vo do cc n s c bn v do ti trng gy ra phi bng khng.
Ri (t) = Ri1 sin t + Ri2 sin t + . . . + Rin sin t + Rip sin t = 0
(5.3)
Phng trnh (5.3) c th vit li di dng sau:

ri1 Z1 + ri2 Z2 + . . . + rin Zn + Rip = 0 vi (i = 1, 2, . . . n)
(5.4)
trong :
rik l tr s bin phn lc ti lin kt ph th i do chuyn v ng
Zk (t) = 1 sin t ti lin kt ph th k gy ra trong h c bn.
RiP l tr s bin phn lc ti lin kt ph th i do cc ti trng
ng gy ra trn kt cu c bn.
T (5.4) ta c n phng trnh chnh tc vi n n s Zi . Cc h s v s hng
t do trong (5.4) c xc nh bng cc phng trnh cn bng nh trong
phn tnh hc. Cc biu moment do cc gi tr bin ca chuyn v n
v v cc gi tr bin ti trng gy ra c v tng t nh trong phng
php chuyn v. thun tin cho vic tnh ton, cc gi tr bin moment
un v lc ct ti u cc thanh do cc chuyn v n v v do ti trng gy
5.1. PHNG PHP CHUYN V TNH DAO NG CA KHUNG 83

ra c cho trong cc bng.
Sau khi gii h phng trnh chnh tc (5.4), tm c cc tr s bin
chuyn v nt Zi ta c th tm c bin biu moment un ng theo
nguyn l cng tc dng:
M = M1 Z1 + M2 Z2 + . . . + Mn Zn + Mp
5.1.2
(5.5)
Dao ng ring
Khi cho RiP = 0 trong (5.4) ta c phng trnh chnh tc ca dao ng ring:
r11 Z1 +r12 Z2 + . . . +r1n Zn = 0
r21 Z1 +r22 Z2 + . . . +r2n Zn = 0

(5.6)
..
..
..
...
.
.
.
r Z +r Z + . . . +r Z = 0
n1
n2
nn
khung c dao ng ring ngha l cc chuyn v Zi 6= 0 th nh thc ca

(5.6) phi bng khng.

r11 r12 . . . r1n

r21 r22 . . . r2n

(5.7)
.. .. . . .. = 0
. .
. .

rn1 rn2 . . . rnn
Khai trin nh thc ta s c phng trnh xc nh thng s = kl, t
tnh c tn s dao ng theo cng thc:
r
r
2
EI
EI
= 2i
(5.8)
i = ki2
m
l
m
V d 5.1: Xc nh tn s dao ng ring v v biu moment un
ng ca khung chu tc dng ca ti trng ng P sin t nh hnh 5.1a.
Bit rng tn s dao ng cng bc = 10s1 , trng lng mi thanh l
62,4kN v EI = 4 104 kN m2 .
Li gii:
1. Xc nh tn s dao ng ring
Chn h c bn nh hnh 5.1b. Phng trnh dao ng ring c dng:

r11 Z1 + r12 Z2 = 0
r21 Z1 + r22 Z2 = 0
84
Hnh 5.1: Khung chu tc dng ca ti trng ng (a), H c bn (b)
trong :
r11 = EI1 (AB ) + EI1 (BC )
EI
2 (BC ) = r21
r12 =
2
r22 = EI1 (BC ) + EI1 (CD ) + EI5 (CE )
Chn I0 = I. Ta c:
nn kCE =
q
4
3
k.
4 0
I0
3
=
ICE
4
Nh vy: AB = BC = CD = 0 v CE =
q
4
3
.
4 0
Ta tnh c cc h s rij :
0 cosh 0 sin 0 sinh 0 cos 0
2
1 cosh 0 cos 0
0 sinh 0 + sin 0
=
= r21
4 1 cosh 0 cos 0
0 cosh 0 sin 0 sinh 0 cos 0
+
=
2
1 cosh 0 cos 0
r
sinh(0, 93060 ) sin(0, 93060 )
4 3 20
+
4 3 cosh(0, 93060 ) sin(0, 93060 ) sinh(0, 93060 ) cos(0, 93060 )
r11 =
r12
r22
iu kin tn ti dao ng Zi 6= 0 l nh thc cc h s bng

khng:

r11 r12

r21 r22 = 0
5.1. PHNG PHP CHUYN V TNH DAO NG CA KHUNG 85

Thay cc biu thc ca r11 , r12 v r22 vo phng trnh trn ta thu
c phng trnh i vi 0 . Gii phng trnh ny s tm c thng
s k0 . T s tnh c cc tn s dao ng ring.
2. Biu moment un ng
H c bn c chn nh khi tnh cc tn s ring. Phng trnh chnh
tc:

r11 Z1 + r12 Z2 + R1P = 0
r21 Z1 + r22 Z2 + R2P = 0
c trng c bn:
r
k=
m 2
=
EI
r
4
62, 4 102
= 0, 25m1
4
10 4 4 10
Thng s ca cc thanh:
AB = BC = CD = CE = = 0, 25 4 = 1
T ta tnh c cc h s v s hng t do:
r11 = 2EI1 (1) = 2EI 0, 99761 = 1, 99522EI
EI
EI
2 (1) =
1, 00358 = 0, 50179EI
r12 =
2
2
r22 = 2EI1 (1) + EI5 (1) = 1, 99522EI + 0, 99363EI = 2, 98885EI
P C D/2 D C/2
P C1 D0,5 D1 C0,5
R1P =
=
= 0, 501155P
2
k
C B D
0, 25 C12 B1 D1
R2P = R1P
Thay vo phng trnh chnh tc v gii h phng trnh ta tm c
hai n s c bn:
0, 306279P
EI
0, 219095P
Z2 =
EI
Z1 =
Phng trnh biu din moment ng trong cc thanh ca kt cu:
86

Thanh AB: chn gc A
Thng s ban u:
X(0) = 0
(0) = 0
2EI
M (0) =
2 (1)Z1 = 0, 153688P
4
3EI
Q(0) =
2 (1)Z1 = 0, 115448P
8
Thay cc gi tr trn vo (4.55) ta c phng trnh biu din
moment trong thanh AB:
M (x) = 0, 153688P Akx 0, 461792P Bkx
Thanh CD: chn gc D
Thng s ban u:
X(0) = 0
(0) = 0
2EI
M (0) =
2 (1)Z2 = 0, 10994P
4
3EI
2 (1)Z2 = 0, 082585P
Q(0) =
8
moment trong thanh CD:
M (x) = 0, 10994P Akx + 0, 33034P Bkx
Thanh CE: chn gc C
Thng s ban u:
X(0) = 0
0, 219095P
EI
M (0) = EI5 (1)Z2 = 0, 217699P
EI
Q(0) = 5 (1)Z2 = 0, 053203P
4
(0) = Z2 =
5.2. PHNG PHP GN NG TNH DAO NG CA KHUNG 87

moment trong thanh CE:
M (x) = 0, 054774P Dkx 0, 217699P Akx + 0, 212812P Bkx
Thanh BC: chn gc B
Thng s ban u:
X(0) = 0
0, 306279P
EI
EI
M (0) = EI1 (1)Z1 +
2 (1)Z2 + R1P = 0, 305548P
2
3EI
3EI
Q(0) =
1 (1)Z1
2 (1)Z2 + Q0P = 0, 470045P
8
8
(0) = Z1 =
trong Q0P c xc nh bng cch tra bng lc ct do ti trng

ng gy ra trn dm hai u ngm:
Q0P =
P (C C/2 B D/2 )
P (C1 C0,5 B1 D0,5 )
=
= 0, 501311P
2
C B D
C12 B1 D1

moment trong thanh BC:
Khi 0 x 2:
M1 (x) = 0, 07657P Dkx 0, 305548P Akx + 1, 88018P Bkx
Khi 2 x 4:
P
Bk(x2)
k
= 0, 07657P Dkx 0, 305548P Akx + 1, 88018P Bkx 4P Bk(x2)
M2 (x) = M1 (x)
Biu moment un ng ca khung c v trn hnh 5.2. Cc

tung ca biu c nhn vi sin t.
88

x(m) Thanh AB Thanh BC Thanh CD Thanh CE
0
0,153688P -0,305548P -0,10994P -0,217699P
2
0,632649P
4
-0,305546P -0,436272P
0,21857P 0,000003P
Bng 5.1: Bng gi tr moment ng ca cc thanh ti mt s mt ct
Hnh 5.2: Biu moment un ng ca khung
Hnh 5.3: Khung c khi lng phn b (a), Khung c khi lng tp trung
(b)
5.2
Phng php gn ng tnh dao ng ca

khung
Trong mc ny s gii thiu phng php thay th khi lng a bi

ton c bc t do v cng v bi ton c mt s bc t do. Ni mt cch
5.3. PHNG PHP CHUYN V TNH DAO NG CA DM LIN TC89

khc ta bin i s khi lng phn b theo chiu di thanh v mt s
khi lng tp trung. Thc t, ngi ta thng thay th cc khi lng phn
b trong mi on bng hai khi lng tp trung t hai u on .
Hnh 5.3b m t s thay th khi lng phn b trn mi thanh thnh cc
khi lng tp trung gia v u cc thanh. Khi ta c th tnh khung
nh h hu hn bc t do.
5.3
Phng php chuyn v tnh dao ng

ca dm lin tc
Khi tnh dao ng ca dm lin tc bng phng php chuyn v, ta chn

kt cu c bn nh khi tnh vi ti trng tnh. Phng trnh chnh tc th i
c dng sau:
r(i1)i Zi1 + rii Zi + ri(i+1) Zi+1 + Rip = 0
(i = 1 . . . n)
(5.9)
Ta tnh c cc h s l cc phn lc do cc chuyn v n v Zi = 1 gy

ra:
2EIi
2 (i )
li
4EIi
4EIi+1
rii =
1 (i ) +
1 (i+1 )
li
li+1
2EIi+1
2 (i+1 )
ri(i+1) =
li+1
r(i1)i =
Trng hp hai u dm lin tc l lin kt khp:

3EI1
4EI2
5 (1 ) +
1 (2 )
l1
l2
3EIn
4EIn1
1 (n1 ) +
5 (n )
=
ln1
ln
r11 =
r(n1)(n1)
xc nh tn s dao ng ring, ta xt phng trnh chnh tc sau:

r(i1)i Zi1 + rii Zi + ri(i+1) Zi+1 = 0
(i = 1 . . . n)
(5.10)
Thit lp iu kin tn ti cc chuyn v Zi ta s c phng trnh tn s

vit di dng nh thc ca cc h s phi bng khng. T ta xc nh
90
Hnh 5.4: Dm lin tc (a), Dng dao ng i xng ca dm lin tc (b)
c cc thng s m trong c cha tn s ring .

Trng hp dm lin tc i xng, khi tnh dao ng ring ta c th chia
thnh hai bi ton:
Bi ton xc nh tn s ring ng vi dng dao ng i xng.
Bi ton xc nh tn s ring ng vi dng dao ng phn i xng.
V d 5.2: Xc nh cc tn s dao ng ring ca dm lin tc ba nhp
nh hnh 5.4a. Dm c tit din khng i v c khi lng phn b m.
Li gii: Phng trnh dao ng ring:

r11 Z1 + r12 Z2 = 0
r21 Z1 + r22 Z2 = 0
Cc h s rij c xc nh bi biu thc:
4EI
3EI
5 (AB ) +
1 (BC )
l
l
2EI
=
2 (BC ) = r21
l
4EI
3EI
=
1 (BC ) +
5 (CD )
l
l
r11 =
r12
r22
trong :
AB = CD = = kl
3
3kl
BC =
=
2
2
5.4. DAO NG CA DN
91
Ta thu c:
2EI
sinh sin
+
l cosh sin sinh cos
3EI cosh(3/2) sin(3/2) sinh(3/2) cos(3/2)
+
= r22
2l
1 cosh(3/2) cos(3/2)
3EI sinh(3/2) sin(3/2)
=
= r21
2l 1 cosh(3/2) cos(3/2)
r11 =
r12
iu kin tn ti dao ng Zi 6= 0 l nh thc cc h s bng khng:

r11 r12

r21 r22 = 0
hay

3EI 1 + cosh(3/2) sin(3/2) 1 + cos(3/2) sinh(3/2)
+
2l
1 cosh(3/2) cos(3/2)
2EI
sinh sin
+
=0
l cosh sin sinh cos
Gii phng trnh ny ta s tm c thng s i = ki l v tnh c tn s
dao ng ring:
r
EI
2
i = ki
m
Hnh 5.4b biu din dng dao ng i xng ca dm lin tc ba nhp.
5.4
Dao ng ca dn
Mt cch tng qut, khi tnh dao ng ca dn ta phi k n s phn b

khi lng trn cc thanh v nh hng cng ca cc nt dn. Nh vy
bi ton s rt phc tp do s bc t do l v cng. vic tnh ton c
n gin ta gi thit khi lng phn b ca cc thanh c tp trung v
cc nt ca dn (hnh 5.5a). Khi kt cu dn tr thnh h hu hn bc
t do. Nhm mc ch n gin tnh ton hn na, ngi ta c th chuyn
khi lng ca dn v ng bin c mt ng xe chy (hnh 5.5b). Ta c
th xc nh tn s dao ng ring ca dn nh i vi h hu hn bc t
do nghin cu chng 3.
92
Hnh 5.5: Dn c khi lng tp trung ti nt dn (a), Chuyn khi lng v

ng bin c xe chy (b)
Chng 6
Phng php tch phn theo
thi gian trong phn tch bi
ton ng lc hc
Trong nhiu bi ton, nghim gii tch ca phng trnh vi phn dao ng
khng th xc nh c khi ti trng ng tc dng ln h bin i bt k
theo thi gian hay h lm vic ngoi gii hn n hi (phi tuyn). Cc bi
ton nh vy c th c tnh gn ng bng cc phng php s. Trong
chng ny s trnh by mt vi phng php tch phn s theo thi gian.
6.1
H tuyn tnh mt bc t do
Phng php tch phn trc tip theo thi gian xc nh cc gi tr xp x

ca nghim ti mt s thi im chn trc. Nguyn l ca phng php
nh sau:
Chia thi gian ti trng ng tc dng ln h thnh cc khong thi
gian c th bng nhau hoc khc nhau. Trong thc t, thun tin
cho vic tnh ton v lp trnh, ngi ta thng chn cc khong thi
gian bng nhau (bc thi gian).
Gi s cc hm m t s thay i ca chuyn v, vn tc v gia tc
trong cc khong thi gian ny.
Cc hm trn phi tha mn phng trnh vi phn dao ng ti cc
thi im chn trc (thi im u v cui cc khong thi gian).
93
94CHNG 6. PHNG PHP TCH PHN THEO THI GIAN TRONG PHN TCH B
Hnh 6.1: Phng php sai phn ng tm
chnh xc ca kt qu, n nh ca nghim cng nh thi gian tnh

ton ph thuc vo bc thi gian v vic chn cc hm m t s thay i
ca chuyn v, vn tc v gia tc. Chng ta s cp n vn ny trong
phn sau.
6.1.1
Phng php sai phn ng tm
Phng php sai phn ng tm da trn vic xp x vn tc v gia tc bng

cc sai phn hu hn cc gi tr chuyn v ti cc thi im. Theo hnh 6.1
ta c:
un + un+1
un1 + un
;
un+1/2 =
(6.1)
un1/2 =
2
2
Vn tc ca h ti thi im tn c biu din bng sai phn hu hn:
u n =
un+1/2 un1/2
t
(6.2)
Thay cc gi tr trong (6.1) vo (6.2) ta thu c biu thc vn tc ti thi

im tn :
un+1 un1
u n =
(6.3)
2t
Vn tc ti thi im tn1/2 v tn+1/2 :
u n1/2 =
un un1
;
t
u n+1/2 =
un+1 un
t
(6.4)
6.1. H TUYN TNH MT BC T DO
95
T xc nh c gia tc ti thi im tn da vo sai phn hu hn:

un =
u n+1/2 u n1/2
un+1 2un + un1
=
t
t2
(6.5)
Thay cc biu thc vn tc (6.3) v gia tc (6.5) vo phng trnh cn bng

ng hc ta c:
m
un+1/2 un1/2
un+1 2un + un1
+ kun = pn
+
c
t2
t
Sau khi bin i phng trnh trn, ta thu c:

!
!
m
m
c
c
un+1 = pn
un1
+
t2 2t
t2 2t
!
2m
k 2 un
t
(6.6)
(6.7)
Biu thc (6.7) c vit gn li nh sau:

b
kun+1 = pbn
(6.8)
trong :
c
m
b
+
k=
2
t
2t
!
m
c
pbn = pn
un1
t2 2t
(6.9)
!
2m
un
t2
(6.10)
Vn tc ti thi im tn+1 :
un+1 =
pbn
b
k
(6.11)
Nh vy, tnh c chuyn v un+1 ti thi im tn+1 ta cn bit cc

chuyn v un1 v un . Da vo biu thc vn tc (6.3) v gia tc (6.5) ti
thi im tn , ta xc nh c chuyn v un1 nh sau:
un1 = un tu n +
t2
un
2
(6.12)
Thay cc gi tr chuyn v, vn tc, gia tc ti thi im ban u t = 0, ta

tm c biu thc tnh chuyn v ti thi im t1 :
u1 = u0 tu 0 +
t2
u0
2
(6.13)
phng php sai phn ng tm n nh v cho kt qu chnh xc ta phi
chn bc thi gian t nh hn mt gi tr ti hn tcr
t < tcr =
T
= 0, 3183T
(6.14)
trong : T l chu k dao ng ca h.

Thut ton tnh dao ng bng phng php sai phn ng tm:
1. iu kin ban u:
u0
v u 0
p0 cu 0 ku0
u0 =
m
2. Chn bc thi gian: t < tcr = T /
3. Tnh cc hng s tch phn:
a0 =
1
t2
v a1 =
1
2t
4. Tnh chuyn v u1 ti thi im t1

u1 = u0 tu 0 +
t2
u0
2
5. Tnh cng: b
k = a0 m + a1 c
6. Tnh vng lp:

pbn = pn (a0 m a1 c)un1 (k 2a0 m)un
un+1 = pbn /b
k
V d 6.1: Tnh dao ng ca h nh hnh 6.2, bit rng khi lng ca
h m = 5 105 kg, cng k = 3 105 kN/m v tham s tt dn = 0, 05.
H chu tc dng ca ti trng ng p(t) = 5000 sin(2t)kN trong khong
thi gian td = 0, 5s.
97
Hnh 6.2: Tr cu chu tc dng ca ti trng ng (a), Ti trng ng (b)
Li gii: Tn s dao ng ring ca h:

r
r
k
3 108
=
= 24, 4949rad/s
=
m
5 105
Chu k dao ng ca h:
T =
2
= 0, 2565s
H s cn:
c = 2m = 1, 2247 106 N.s/m
Chn bc thi gian t = 0, 05s < tcr = T / = 0, 08s. Kt qu tnh ton
c cho trong bng, ct cui cng l nghim chnh xc c xc nh theo
cng thc bit trong chng 2: h dao ng mt bc t do chu tc dng
ca ti trng iu ha.
6.1.2
Phng php Newmark
Theo cng thc Taylor 1 , ta c th xc nh trng thi ca h thi im

tn+1 theo trng thi bit ca h thi im trc tn nh sau:
0
f (tn + t) = f (tn ) + tf (tn ) +

1
ts (s)
t2 00
f (tn ) + . . . +
f (tn ) + Rs (t) (6.15)
2!
s!
Brook Taylor, nh ton hc, sinh ngy 18/08/1685 ti Edmonton, Middlesex, Anh,
mt ngy 29/12/1731 ti Somerset House, London, Anh
Hnh 6.3: So snh nghim chnh xc v nghim tnh theo phng php sai
phn ng tm vi cc bc thi gian khc nhau
trong Rs (t) l phn d Lagrange bc s, c xc nh theo biu thc sau:

Z
s
1 tn +t
tn + t f (s+1) ( )d
Rs (t) =
(6.16)
s! tn
Chuyn v v vn tc ti thi im tn+1 c xc nh theo cng thc:
Z tn+1
un+1 = un + tu n +
(tn+1 )
u( )d
(6.17)
tn
tn+1
u n+1 = u n +
u( )d
(6.18)
tn
Cc tch phn trong cng thc trn ln lt l phn d bc 1 v bc 0 ca

khai trin Taylor.
tnh cc tch phn ny ta cn tm biu thc ca u( ) trong on [tn , tn+1 ]
theo cc gi tr un v un+1 . p dng cng thc khai trin Taylor ta c:
u(tn ) = u( ) + (tn )u(3) ( ) +
(tn )2 (4)
u ( ) + . . .
2!
(6.19)

n
0
1
2
3
4
5
6
7
8
9
10
tn pn 106
0,00
0
0,05
1,545
0,10
2,939
0,15
4,045
0,20
4,755
0,25
5
0,30
4,755
0,35
4,045
0,40
2,939
0,45
1,545
0,50
0
pbn 106
0
1,545
3,667
4,406
3,587
2,793
2,898
2,940
1,761
-0,226
-1,664
99
un 103
0
0
7,280
17,276
20,759
16,902
13,158
13,652
13,851
8,296
-1,064
ure 103
0
1,173
7,169
15,692
20,379
18,740
14,528
12,250
11,579
8,602
1,550
(tn+1 )2 (4)
u ( ) + . . .
(6.20)
2!
Nhn hai v ca (6.19) v (6.20) ln lt vi (1 ) v ri cng cc thnh
phn tng ng, ta c:
u(tn+1 ) = u( ) + (tn+1 )u(3) ( ) +
u( ) = (1 )
un + un+1 + ( tn t)u(3) ( ) + . . .
(6.21)
Nhn hai v ca (6.19) v (6.20) mt ln na vi (1 2) v 2 ri cng cc

thnh phn tng ng, ta c:
u( ) = (1 2)
un + 2 un+1 + ( tn 2t)u(3) ( ) + . . .
(6.22)
Thay (6.21) vo (6.18) v thay (6.22) vo (6.17) ri tch phn tng phn ta
c:
Z tn+1

1
)
u( )d = (1)t
un +t
un+1 + t2 u(3) (tn )+O t3 u(4) (
2
tn
(6.23)
Z tn+1
1

1

(tn+1 )
u( )d =
t2 un + t2 un+1 +
t3 u(3) (tn )
2
6
tn

+O t4 u(4) (
)
(6.24)
vi: tn < < tn+1
Do t thng c chn rt nh nn ta c th b qua cc s hng cha t
vi s m ln hn 2 i vi chuyn v v ln hn 1 i vi vn tc. Nh vy
biu thc chuyn v v vn tc ti thi im tn+1 c dng sau:
u n+1 = u n + (1 )t
un + t
un+1
(6.25)

1
t2 un + t2 un+1
(6.26)
un+1 = un + tu n +
2
trong v l cc thng s xt n nh hng ca gia tc ti thi im
tn v tn+1 i vi vn tc v chuyn v. Trong thc t, cc thng s ny c
chn trong cc khong sau:
1
34
2
(6.27)
0 14
T (6.26) ta tnh c gia tc ti thi im tn+1 theo biu thc:
1

1
1
u n
1 un
un+1 =
un+1 un
t2
t
2
Thay (6.28) vo (6.25) ta c:

u n+1 =
un+1 un + 1
u n + 1
t
un
t
(6.28)
(6.29)
Thay vn tc (6.29) v gia tc (6.28) vo phng trnh cn bng ng hc

ti thi im tn+1 ta thu c:

1

m
c
1
1
k+
+
un +
u n +
1 un m
un+1 = pn+1 +
t2 t
t2
t
2

un +
1 u n +
1 t
un c
+
t
2
(6.30)
T biu thc (6.30) tnh c chuyn v ti thi im tn+1 :
un+1 =
trong :
pbn+1
b
k
c
m
b
+
k=k+
2
t
t
(6.31)
(6.32)
101
Hnh 6.4: Phng php gia tc trung bnh (a), Phng php gia tc tuyn
tnh (b)
pbn+1
1

1
1
= pn+1 +
un +
u n +
1 un m
t2
t
2

+
un +
1 u n +
1 t
un c
t
(6.33)
Sau khi tnh c chuyn v un+1 , thay vo (6.29) v (6.28) ta tnh c vn

tc u n+1 v gia tc un+1 .
iu kin n nh ca phng php Newmark:
t tcr =
T
p
2
(6.34)
Nhn xt:
1. Khi chn cc thng s = 21 v = 14 ta c phng php gia tc trung
bnh (hnh 6.4a). Chn cc thng s nh vy c ngha chng ta gi nh
rng gia tc l hng s v bng gi tr trung bnh trong khong thi
gian t:
un+1 + un
u( ) =
2
Tch phn biu thc trn ta c biu thc vn tc trong khong thi
gian t:
u(
) = u n + un+1 + un
2
Tch phn mt ln na ta c biu thc ca chuyn v:
u( ) = un + u n +

2
un+1 + un
4
Thay = t ta c gi tr vn tc v chuyn v ti thi im tn+1 :

t
un+1 + un
2

t2
= un + u n t +
un+1 + un
4
u n+1 = u n +
un+1
Thay cc gi tr = 1/2 v = 1/4 vo iu kin n nh (6.34) ta

c:
t
T
iu c ngha phng php gia tc trung bnh n nh vi mi gi
tr ca t. Thc t, ngi ta thng chn bc thi gian t T /10
dao ng ca h c xc nh chnh xc. c bit khi tnh h chu
tc dng ca ng t, bc thi gian t thng c ly cc gi tr
0.01s hay 0.02s nh hn rt nhiu so vi gii hn T /10.
2. Khi chn cc thng s = 12 v = 16 ta c phng php gia tc tuyn
tnh (hnh 6.4b). Trong trng hp ny, gia tc c gi nh l hm
tuyn tnh trong khong thi gian t:
u( ) = un +
un+1 un
t
Tch phn biu thc gia tc ln lt cho ta cc biu thc vn tc v

chuyn v:

2
un+1 un
2t

2
3
u( ) = un + u n + un +
un+1 un
2
6t
u(
) = u n + un +
103
Thay = t ta c gi tr vn tc v chuyn v ti thi im tn+1 :

t
u n+1 = u n +
un+1 + un
2

1
2 1
un+1 + un
un+1 = un + tu n + t
6
3
iu kin n nh c dng:
t
3
= 0, 551
T
Thut ton tnh dao ng ca h bng phng php Newmark:

1. iu kin ban u:
u0
v u 0
p0 cu 0 ku0
u0 =
m
2. Chn phng php tch phn:
Gia tc trung bnh: = 1/2 v = 1/4
Gia tc tuyn tnh: = 1/2 v = 1/6
3. Chn bc thi gian: t < tcr
1
t2
1
1
a3 =
2
a0 =
a1 =
a4 =
1
t

1 t
a5 =
2
a2 =
5. Tnh cng: b
k = k + a0 m + a1 c
6. Tnh vng lp:
pbn+1 = pn+1 + (a0 un + a2 u n + a3 un )m + (a1 un + a4 u n + a5 un )c
un+1 = pbn /b
k
=
a
u
u
n+1
1
n+1
n
a4 u n a5 un
un+1 = a0 un+1 un a2 u n a3 un
Hnh 6.5: So snh nghim chnh xc vi nghim tnh theo phng php gia
tc tuyn tnh v gia tc trung bnh
V d 6.2: Tnh dao ng ca h trong v d 6.1 bng phng php

Newmark.
Nhn xt: Phng php gia tc tuyn tnh cho kt qu chnh xc hn
phng php gia tc trung bnh khi chn bc thi gian t nh nhau.
6.2
H phi tuyn mt bc t do
Mt h c gi l phi tuyn khi cng v (hoc) h s cn thay i theo

thi gian. Vic tnh ton h phi tuyn c thc hin bng cch tch phn
theo tng bc. Thun ton c trnh by phn trc c th c p
dng tnh h phi tuyn khi vit di dng gia s.
6.2.1
Phng trnh cn bng ng di dng gia s
Xt h mt bc t do c khi lng m chu tc dng ca ti trng ng bt

k p(t) (hnh 6.6a v b). Gi thit ni lc fS (t) v lc cn fD (t) l cc hm
6.2. H PHI TUYN MT BC T DO
105
Hnh 6.6: H mt bc t do (a), Ti trng ng (b), cng phi tuyn (c),

Lc cn phi tuyn (d)
phi tuyn i vi chuyn v v vn tc (hnh 6.6c v d).

Ti thi im tn = nt, phng trnh cn bng ng ca h:
fIn + fDn + fSn = pn
(6.35)
Ti thi im tn+1 = (n + 1)t, phng trnh cn bng ng c vit nh

sau:
fIn+1 + fDn+1 + fSn+1 = pn+1
(6.36)
Ly (6.36) tr i (6.35) ta c phng trnh di dng gia s:
fI + fD + fS = p
(6.37)
trong :
fI
fD
fS
p
=
=
=
=
fIn+1 fIn = m
u
s
fDn+1 fDn = cn+1 u
s
fSn+1 fSn = kn+1
u
pn+1 pn
(6.38)
(6.39)
(6.40)
(6.41)
s
ln lt l h s cn ct tuyn v cng ct tuyn trong
csn+1 v kn+1
khong thi gian t. Cc i lng ny l cha bit do chuyn v v vn tc
ca h ti thi im tn+1 cha c xc nh. Ngi ta c th thay cng
s
ct tuyn kn+1
(h s cn ct tuyn csn+1 ) bng cng tip tuyn knt (h s
cn tip tuyn ctn ) c xc nh u khong thi gian tn . Vic s dng
cng tip tuyn thay cho cng ct tuyn s dn n sai s trong qu
trnh tnh ton. gim sai s ny, ngi ta thng dng bc thi gian t
rt nh v phng php Newton-Raphson 2 .
Thay cc phng trnh (6.38) n (6.41) vo (6.37) ta c:
m
u + ctn u + knt u = p
(6.42)
n gin ngi ta thng gi nh h s cn c l hng s. Khi , phng

trnh (6.42) c vit li nh sau:
m
u + cu + knt u = p
6.2.2
(6.43)
Phng php Newmark
p dng phng php Newmark tnh h phi tuyn, ta vit li cc phng

trnh (6.25) v (6.26) di dng gia s:
u = t
un + t
u
2
t
un + t2
u
u = u n +
2
(6.44)
(6.45)
trong : u = un+1 un ; u = u n+1 u n v

u = un+1 un
T phng trnh (6.45) ta tnh c:
u=
1
1
1
u
u n
un
2
t
t
2
(6.46)
Thay (6.46) vo (6.44), ta thu c:
u =
u u n
t
1 t
un
2
(6.47)
Joseph Raphson, sinh nm 1648 ti Middlesex, Anh, mt nm 1715. Raphson cng

b thut ton ny di tn "phng php Newton" vo nm 1690
107
Thay (6.46) v (6.47) vo (6.43), ta c:

b
kn u = b
p
(6.48)
trong :
m
c
b
kn = knt +
+
2
t
t

1
1
u n +
un m +
u n +
1 t
un c
b
p = p +
t
2
(6.49)
(6.50)
T (6.48) ta tnh c gia s chuyn v u, sau thay vo (6.47) tnh c

gia s vn tc u.
Gi tr chuyn v v vn tc ti thi im tn+1 c xc
nh bng cch cng thm cc gia s vo chuyn v v vn tc ti thi im
tn . Gia tc ti thi im tn+1 c th c xc nh bng cch tng t. Tuy
nhin, un+1 , u n+1 v un+1 tm c khng tha mn iu kin cn bng ti
thi im tn+1 do ta s dng cng tip tuyn knt u thi bc thi
gian tn thay cho cng ct tuyn. Do , ta c th xc nh gia tc un+1
t iu kin cn bng ng ti thi im tn+1 :
un+1 =
pn+1 fSn+1 cu n+1

m
(6.51)
Thut ton tnh dao ng h phi tuyn bng phng php Newmark:
1. iu kin ban u:
u0
v u 0
p0 cu 0 ku0
u0 =
m
2. Chn phng php tch phn:
Gia tc trung bnh: = 1/2 v = 1/4
Gia tc tuyn tnh: = 1/2 v = 1/6
3. Chn bc thi gian: t < tcr
1
t2
1
a3 =
2
a0 =
a1 =
1
t

a5 =
1 t
2
a4 =
a2 =
5. Tnh cng c hiu ti thi im tn : b

kn = knt + a0 m + a1 c
6. Tnh gia s lc b
p:
b
p = p + (a2 u n + a3 un )m + (a4 u n + a5 un )c
7. Tnh gia s chuyn v u:
u =
b
p
b
kn
8. Tnh gia s vn tc u = a1 u a4 u n a5 un
9. Tnh chuyn v v vn tc ti thi im tn+1 :
un+1 = un + u;
u n+1 = u n + u
10. Tnh gia tc ti thi im tn+1 theo phng trnh cn bng ng ti

thi im tn+1 :
pn+1 fSn+1 cu n+1
un+1 =
m
V d 6.3: Tnh dao ng ca h trong v d 6.1 bng phng php gia
tc trung bnh bit rng quan h gia fS (t) v chuyn v u l n do l
tng nh hnh 6.7 :
Li gii: Cc thng s ca h:
m = 5 105 kg;
k = 3 108 N/m;
c = 1, 2247 106 N s/m
iu kin ban u:
u0 = 0;
u 0 = 0;
u0 = 0
109
Hnh 6.7: Quan h lc-chuyn v
Chn bc thi gian: t = 0, 05s

cng c hiu:
b
kn = kn + a0 m + a1 c = kn + 8, 49 108
vi:

kn =
3 108 trn on AB, CD v EF

0
trn on BC v DE
Gia s lc: b
p = p + 4, 24 107 u n + 106 un
Kt qu cho trong bng sau:
6.2.3
Gim sai s bng thut ton Newton-Raphson
Nh ni phn trn, s dng bc thi gian t nh cho php gim sai s

trong "mt" bc thi gian khi tnh h phi tuyn. Tuy nhin, sai s tng cng
(trn ton b thi gian m ti trng ng tc dng) c th rt ln. Phng
php hiu qu gim sai s l p dng thut ton lp Newton trong tng
bc thi gian hi t n gi tr chnh xc. Trong c hc, phng php
ny thng c gi l thut ton Newton-Raphson.
Xt nghim ca mt h phi tuyn nh trn hnh 6.8a. Ta bt u bc lp
theo thut ton Newton bng cch xt gia s chuyn v u(1) t phng
trnh (6.48):
(0)
b
p
(6.52)
kn+1 u(1) = b
Hnh 6.8: Thut ton Newton-Raphson (a), Thut ton Newton-Raphson ci

tin (b)

n
0
1
2
3
4
5
6
7
8
9
10
tn fSn 106
0,00
0
0,05
0,403
0,10
1,925
0,15
4,301
0,20
5,000
0,25
5,000
0,30
5,000
0,35
5,000
0,40
3,947
0,45
1,856
0,50
-0,421
b
pn 106
1,545
5,829
9,099
6,903
2,664
1,867
0,207
-4,033
-8,009
-8,721
-4,748
111
b
kn 109
1,149
1,149
1,149
1,149
0,849
0,849
0,849
1,149
1,149
1,149
1,149
un 103
0
1,345
6,418
14,336
20,345
23,482
25,681
25,925
22,415
15,444
7,854
(0)
vi b
kn+1 = b
kn l cng tip tuyn c hiu ti thi im tn .
bc lp th nht, f (1) c xc nh bi:

f

c
m
(1)
+
=
+
u
+
u
n
t2 t

c
m
(0)
+
un
fS
t2 t
(1)
fS
(1)
(6.53)
hay
f
(1)
(1)
fS
(0)
fS

+

m
c
+
u(1)
t2 t
(6.54)
T hnh 6.8a ta thy, ni lc thc tc dng trong l xo f (1) nh hn b

p.
(2)
(1)
Hiu s gia b
p v f l lc d fr . Lc d ny gy ra mt chuyn v
(2)
u m ta c th xc nh t biu thc:
(1)
b
kn+1 u(2) = fr(2) = b
p f (1)
(1)
(6.55)
vi b
kn+1 l cng tip tuyn c hiu c xc nh cui gia s chuyn v
u(1) .
Chuyn v u(2) ny cho php ta tnh c lc d mi v qu trnh c bt
u li cho n khi hi t v chuyn v thc. Thut ton lp Newton-Raphson
c tm tt theo cc bc nh sau:
fr(i) = fr(i1) f (i1)
(6.56)
(i)
u(i) =
fr
(i1)
b
k
(6.57)
n+1
(i)
un+1
i1
un+1
+ u(i)
ui = ui1 + u
(i)
(i)
fS = fS un+1
(i)
(6.58)
(i)
(i1)
f (i) = fS fS
(6.59)
(6.60)

m
c
u(i)
+
2
t
t
(6.61)
vi iu kin ban u ti thi im tn nh sau:

fr(0) = b
p
(0)
f = 0
(6.62)
(6.63)
(0)
(6.64)
(0)
fS
(6.65)
(6.66)
un+1 = un
= fSn
u0 = 0
(i)
Trong thut ton Newton-Raphson, cng tip tuyn b

kn+1 phi c xc
nh ti mi bc lp th i. Vic ny lm tng ng k thi gian tnh ton,
c bit i vi h nhiu bc t do. gim thi gian tnh ton, ngi ta
c th dng thut ton Newton-Raphson ci tin hay cn gi l thut ton
lp vi cng khng i (hnh 6.8b). Khi , cng tip tuyn c xc
nh u bc thi gian t v c gi khng i trong sut qu trnh
lp i vi bc thi gian cho n khi hi t. So snh hai hnh 6.8a v
6.8b ta c th nhn thy, thut ton Newton-Raphson ci tin cho kt qu
sau nhiu ln lp hn so vi thut ton Newton-Raphson ban u nhng
mi ln lp s nhanh hn v khng phi xc nh li cng tip tuyn.
Thut ton Newton-Raphson ci tin tng t nh thut ton ban u, c
(i1)
mt im khc l trong biu thc (6.57), cng c hiu b
kn+1 c thay
bng cng b
kn xc nh ti thi im tn .
Thut ton lp Newton-Raphson dng khi tha mn iu kin hi t. iu
kin ny c th c xc nh bng ba tiu ch sau:
1. Tiu ch chuyn v:
T s gia gia s chuyn v cui mi bc lp u(i) v gi tr hin
6.3. H TUYN TNH NHIU BC T DO
113
thi ca gia s chuyn v ui = i u(i) phi nh hn gi tr sai s cho

php c chn trc:
(i)
u

(6.67)
ui D
2. Tiu ch lc d:
T s gia lc d bc lp th i v lc c hiu b
p nh hn gi tr sai
s cho php:

fr(i)
F

(6.68)
b
p
3. Tiu ch nng lng:
T s gia gia s cng ni lc ng vi cc gia s chuyn v bc lp
th i v cng ng vi chuyn v tng cng trong bc thi gian t nh
hn sai s cho php c chn trc:
(i)
fr u(i)
E
b
pui
6.3
(6.69)
H tuyn tnh nhiu bc t do
Trong phn ny gii thiu mt vi phng php tch phn theo thi gian
tnh h nhiu bc t do c xy dng da trn cc ni dung trnh by
phn trn i vi h mt bc t do.
Phng trnh vi phn dao ng h nhiu bc t do:
M
u(t) + Cu(t)
+ Ku(t) = p(t)
6.3.1
(6.70)
Phng php sai phn ng tm
Tng t (6.3) v (6.5), cc xp x ca vecteur vn tc v vecteur gia tc

c biu din nh sau:
un+1 un1
(6.71)
u n =
2t
n =
u
un+1 2un + un1

t2
(6.72)
Thay (6.71) v (6.72) vo phng trnh vi phn dao ng (6.70) ti thi im
tn ta c:
!
!
!
1
1
2
1
1
C un+1 = pn
M un1 K 2 M un
M+
M
t2
2t
t2
2t
t
(6.73)
hay
b n+1 = p
bn
Ku
(6.74)
trong :
b n = pn
p
b = 1 M+ 1 C
K
t2!
2t
!
1
2
1
M un1 K 2 M un
M
t2
2t
t
(6.75)
(6.76)
Vecteur chuyn v ti thi im tn+1 c xc nh sau khi cho ha ma trn

b = LDLT
cng K
bn
LDLT un+1 = p
(6.77)
T phng trnh (6.76) ta thy cn phi xc nh vecteur chuyn v cui
bc thi gian th nht t1 = t. Vecteur ny c xc nh theo biu thc:
u1 = u0 tu 0 +
t2
0
u
2
(6.78)
iu kin n nh ca phng php sai phn ng tm:

t tcr =
Tneq
= 0, 318Tneq
(6.79)
trong : Tneq l chu k dao ng nh nht ca h c neq bc t do.
6.3.2
Phng php Newmark
Phng php Newmark c trnh by trong phn trc i vi h mt

bc t do. p dng phng php ny cho h nhiu bc t do, ta ch cn
thay cc phng trnh v hng i vi chuyn v, vn tc, gia tc cc
thi im tn , tn+1 thnh cc phng trnh ma trn. Cc biu thc vn tc
v chuyn v:
u n+1 = u n + (1 )t
u + t
u
n n+1
1
n + t2 u
n+1
un+1 = un + tu n +
t2 u
2
(6.80)
(6.81)

Thc hin bin i tng t nh i vi h mt bc t do, ta c:

1
1
1
n+1 =
n
u
un+1 un
1 u
u n
t2
t
2

un+1 un + 1
t
un
u n+1 =
u n + 1
t
115
(6.82)
(6.83)
Thay hai phng trnh ny vo phng trnh cn bng ng ti thi im

tn+1 :
M
un+1 + Cu n+1 + Kun+1 = pn+1
(6.84)
ta thu c:
b n+1 = p
b n+1
Ku
(6.85)
trong :
b =K+
K
1
M+
C
2
t
t
(6.86)
b n+1
p
1

1
1
n M
= pn+1 +
un +
u n +
1 u
t2
t
2

un +
1 u n +
1 t
un C
+
t
(6.87)
iu kin n nh ca phng php Newmark:

t tcr =
Tn
p eq
= 0, 551Tneq
2 2
(6.88)
vi Tneq l chu k dao ng nh nht ca h neq bc t do.
6.3.3
Phng php Wilson
Phng php Wilson l s ci tin ca phng php gia tc tuyn tnh nhm
lm cho phng php ny tr thnh phng php khng ph thuc iu kin
n nh. Trong phng php Wilson, ngi ta gi nh gia tc bin i tuyn
tnh trong khong [tn , tn + t] vi 1.
Gia tc ti thi im (0 t):
(tn + ) = u
n +
u
n+ u
n
u
t
(6.89)
Hnh 6.9: Phng php Wilson
117
Tch phn (6.89) ta thu c biu thc vn tc v chuyn v:

2
n+ u
n
u
2t

2
3
n +
n+ u
n
u(tn + ) = un + u n + u
u
2
6t
n + ) = u n + u
n +
u(t
(6.90)
(6.91)
T cc phng trnh (6.90) v (6.91), ta xc nh c gi tr vn tc v

chuyn v ti thi im tn+ = tn + t (hay = t):

t
n+ + u
n
u
2

2 t2
n+ + 2
= un + tu n +
u
un
6
u n+ = u n +
(6.92)
un+
(6.93)
n+ v
Sau khi bin i (6.92) v (6.93), ta c th biu din c gia tc u
vn tc u n+ theo chuyn v un+ :

6
u n 2
un
un+ un
t

3
t
n
=
un+ un 2u n
u
t
2
n+ =
u
un+
2 t2
(6.94)
(6.95)
Phng trnh cn bng ng ti thi im tn+ :

M
un+ + Cu n+ + Kun+ = pn+
(6.96)
Trong phng trnh ny pn+ cha bit. Do ta gi nh gia tc bin i tuyn

tnh nn ta s dng hnh chiu tuyn tnh ca vecteur ti trng thi im
tn+ c biu din nh sau:

pn+ = pn + pn+1 pn
(6.97)
Thay (6.94) v (6.95) vo (6.96), ta c:
b n+ = p
b n+
Ku
(6.98)
trong :
b =K+
K
6
2 t2
M+
3
C
t
(6.99)
b n+
p
6
6
= pn + pn+1 pn + M 2 2 un +
u n + 2
un
t
t

t
3
n
un + 2u n +
+C
u
t
2

+
(6.100)
n+ v u n+ theo (6.94) v (6.95). Bng

Sau khi xc nh c un+ , ta tnh u
cch thay = t vo cc phng trnh (6.89), (6.90) v (6.91), ta tnh c
n+1 , u n+1 v un+1 :
u

1
6
6
n+1 = u
n +
u
un+ un
u n 3
un
(6.101)
2 t2
t

t
n+1 + u
n
u n+1 = u n +
u
(6.102)
2

t2
n+1 + 2
u
un
(6.103)
un+1 = un + tu n +
6
Ngi ta chng minh [1] rng phng php Wilson khng ph thuc vo iu
kin n nh khi 1, 37. Thc t ngi ta thng chn = 1, 40.
6.3.4
Phng php HHT
Phng php ny do Hilber, Hughes v Taylor ngh nn ngi ta thng

gi l phng php HHT. Trong phng php HHT, cc phng trnh ca
phng php Newmark c gi nguyn, ch phng trnh cn bng ng
c bin i nh sau:
M
un+1 + (1 + )Cu n+1 Cu n + (1 + )Kun+1 Kun = (1 + )pn+1 pn
(6.104)
Thay cc phng trnh (6.82) v (6.83) vo (6.104), ta c:
b n+1 = p
b n+1
Ku
(6.105)
trong :
b n+1
p
b = (1 + )K + (1 + ) C + 1 M
(6.106)
K
t
t2

1
1
1
n M
= (1 + )pn+1 pn +
un +
u n +
1 u
t2
t
2

+ (1 + )
un + (1 + )
1 u n + (1 + )
1 t
un C
t
2
+Cu n + Kun
(6.107)
6.4. H PHI TUYN NHIU BC T DO
119
D thy rng, khi = 0, phng php HHT tr thnh phng php Newmark. Nu chn cc thng s:
h
i
3, 0
(6.108)
= 12
2
(1)2
=
4
phng php HHT s tr thnh phng php khng ph thuc vo iu kin
n nh.
6.4
H phi tuyn nhiu bc t do
Mt cch tng qut, tnh cc h phi tuyn ngi ta thng dng cc

phng php khng ph thuc vo iu kin n nh. L do l chu k dao
ng ring ca h phi tuyn thay i trong qu trnh tnh ton gy kh khn
trong vic chn bc thi gian tha mn iu kin n nh. Tuy nhin
trong trng hp ma trn khi lng v ma trn cn l ma trn ng cho
hoc b qua nh hng lc cn, cc phng php c iu kin n nh vn
c th p dng tnh h phi tuyn. Trong phn ny s gii thiu phng
php Newmark tnh h phi tuyn nhiu bc t do.
6.4.1
Phng trnh cn bng ng di dng gia s
Tng t nh i vi h mt bc t do, phng trnh vi phn dao ng s

c vit li di dng gia s. i vi h nhiu bc t do, cc i lng v
hng c thay bng cc i lng vecteur hay ma trn tng ng.
M
u + Cu + Ktn u = p
(6.109)
trong : Ktn l ma trn cng tip tuyn ti thi im tn = nt.
6.4.2
Phng php Newmark
Bi ton dao ng h phi tuyn nhiu bc t do thng c tnh bng

phng php gia tc trung bnh do phng php ny khng ph thuc vo
iu kin n nh.
Vit li cc phng trnh (6.44) v (6.45) di dng vecteur:
u = t
un + t
u
2
t
n + t2
u = u n +
u
u
2
(6.110)
(6.111)
T phng trnh (6.111) tnh c

u:
u=
1
1
1
n
u
u n
u
2
t
t
2
(6.112)
Thay (6.112) vo (6.110), ta thu c:
u u n
u =
t
1 t
un
2
(6.113)
Thay (6.112) v (6.113) vo (6.109), ta c:

b n u = b
K
p
(6.114)
trong :
1
M+
C
(6.115)
2
t
t

1
1
n M +
b
p = p +
u n +
u
u n +
1 t
un C (6.116)
t
2
2
b n = Kt +
K
n
Sau khi tnh c u t phng trnh (6.114), ta tnh c gia s vn tc

u v gia s gia tc
u.
Chng 7
Tnh kt cu chu tc dng
ng t
7.1
7.1.1
Khi nim v ng t
Ngun gc ca ng t
ng t l s chuyn ng ca t gy ra bi s gii phng nng lng

c tch ly trong v tri t mt cch t ngt. Ni xy ra ng t c
gi l tm ng t, cn im trn b mt tri t ging thng t tm ng
t gi l tm chn.
7.1.2
Lan truyn sng
T tm, cc rung chuyn ng t lan truyn di dng sng theo nhiu kiu
khc nhau do s khng ng nht ca t. Cc rung chuyn ny gy ra cc
chuyn ng phc tp kh d on trc. Ngi ta c th chia ra thnh cc
dng sng nh sau:
Sng khi: Sng ny sinh ra t tm ng t v lan truyn trong t
theo 2 kiu:
Sng P hay sng dc: lan truyn vi vn tc 7 8km/s v gy ra
s thay i th tch (nn v dn xen k nhau).
Sng S hay sng ngang: lan truyn vi vn tc 4 5km/s, gy ra
xon trong mt phng vung gc vi phng truyn sng v trt
121
122
CHNG 7. TNH KT CU CHU TC DNG NG T
Hnh 7.1: Cc khi nim v ng t
khng thay i th tch. Khc vi sng dc, sng ngang khng

lan truyn trong mi trng lng hay kh do cc mi trng ny
khng truyn lc ct.
Sng mt: cc sng khi khi n mt t s gy ra sng mt v nh
hng n lp t c chiu su nh. Ngi ta chia ra thnh hai loi
chnh:
Sng R hay sng Rayleigh: t chuyn ng theo qu o ellipse
trong mt phng vung gc vi phng lan truyn sng. Chuyn
ng ny gy ra nn (hoc ko) cng nh ct trong t.
Sng Q hay sng Love: t chuyn ng trong mt phng tip
tuyn vi b mt v vung gc vi phng truyn sng. Chuyn
ng ny ch gy ra ng sut ct trong t.
Cc sng mt c vn tc lan truyn t 1, 5 n 5km/s trong t cht hoc
v t 0, 5 n 1, 5km/s trong t yu.
Nu ta coi t l mi trng n hi v ng nht c trng bi module
n hi E, h s Poisson v khi lng th tch th vn tc ca sng S
7.1. KHI NIM V NG T
Hnh 7.2: Sng Rayleigh v sng Love
123
124
v sng P c cho bi biu thc:

s
vS =
s
vP =
(7.1)
+ 2G
(7.2)
trong : G v l cc hng s Lam:

E
G=
2(1 + )
E
=
(1 2)(1 + )
T s gia vn tc vP v vS c dng:
r
vP
2(1 )
=
vS
1 2
(7.3)
(7.4)
(7.5)
T s ny ph thuc vo h s Poisson:
=
= 0, 15
= 0, 25
vP
= 1, 41
vS
vP
= 1, 56
vS
vP
= 1, 71
vS
D thy rng sng dc P lan truyn nhanh hn sng ngang S khong 1,5
ln. Nu bit vn tc truyn sng vP v vS cng nh chnh lch thi gian
truyn n im o ca cc sng, ngi ta c th xc nh c khong cch
gia tm ng t v im o. xc nh c v tr ca tm ng t,
cn phi s dng ng thi t 3 trm o tr ln.
7.1.3
Chuyn ng ca mt t
S chuyn ng ca mt t khi xy ra ng t thng c ghi li di

dng mt biu gia tc m trn biu din s thay i ca gia tc dc
theo mt hng no theo thi gian. ng thi ngi ta c th ghi li c s
thay i ca vn tc v chuyn v. Trn biu gia tc, ngi ta quan tm
n gi tr gia tc ln nht, y l thng s quan trng xc nh nguy c
ng t.
7.2. TNH KT CU CHU TC DNG CA NG T
7.1.4
125
Cng
Cng ca mt trn ng t c xc nh theo s cm nhn ca con

ngi v thit hi do n gy ra. i vi mt trn ng t, cng ph
thuc vo khong cch n tm chn. Ni chung cng gim khi khong
cch ny tng ln nhng i khi cng c nhng bt thng xut hin do iu
kin a cht c bit.
Thang cng Mercalli: c xut bi nh a cht hc ngi Italia
Giuseppe Mercalli 1 vo nm 1902
Bc 1: rung ng m con ngi khng cm nhn c
Bc 2, 3: rung ng m ch mt s t ngi cm nhn c
Bc 4, 5: rung ng m nhiu ngi cm nhn c
Bc 6: rung ng rt nhiu ngi cm nhn c
Bc 7: gy thit hi nh cho cc cng trnh xy dng
Bc 8, 9: gy thit hi kh nghim trng cho cc cng trnh xy dng,
xut hin cc vt nt trong t
Bc 10: ph hy hon ton cc cng trnh
Bc 11, 12: thm ha
7.2
Tnh kt cu chu tc dng ca ng t
ng dng rng ri nht ca ng lc hc cng trnh trong xy dng dn

dng l nghin cu "ng x" ca kt cu di tc dng ca ng t. L do
ch yu l v ng t gy ra lc qun tnh ln i vi nh ca cng nh cc
cng trnh xy dng dn dng khc.
1
Giuseppe Mercalli, nh a cht hc, sinh ngy 21/05/1850 ti Milan, Italia, mt ngy
20/03/1914 ti Naples, Italia
126
Hnh 7.3: Thnh phn gia tc ca t theo hng Bc-Nam c ghi li ti

El Centro, California trong trn ng t ngy 18 thng 5 nm 1940. Vn
tc v chuyn v ca t c xc nh bng cch tch phn gia tc ca t
7.2.1
H mt bc t do tuyn tnh
S kch ng ng t:
S kch ng ng t c biu hin qua gia tc chuyn ng ca t ug (t).
ghi li gia tc ca t ngi ta dng cc thit b o gia tc. Kt qu c
biu din bng biu gia tc nh trn hnh 7.3
Phng trnh vi phn dao ng
Xt kt cu chu tc dng ca ng t nh hnh 7.4a. Chuyn v ca nn l
ug (t). Chuyn v tuyt i ca khi lng k hiu l ut (t), chuyn v tng
i gia khi lng v nn l u(t). Cc chuyn v ny c lin h vi nhau
127
Hnh 7.4: (a) H mt bc t do chu nh hng ca ng t, (b) Cc lc tc

dng ln khi lng
bi biu thc:
ut (t) = u(t) + ug (t)
(7.6)
Theo s phn tch lc tc dng ln khi lng trn hnh 7.4b, chng ta
c phng trnh cn bng ng:
fI + fD + fS = 0
(7.7)
trong lc qun tnh fI c biu din bi biu thc:

fI = m
ut
(7.8)
Cc lc n hi v lc cn vn c dng (2.2). Thay cc biu thc ny v

(7.8) vo phng trnh (7.7) thu c:
m
u(t) + cu(t)
+ ku(t) = m
ug (t)
(7.9)
Phng trnh trn c dng tng t phng trnh vi phn dao ng ca h

mt bc t do chu tc dng ca lc ng m
ug (t). Nh vy, nh hng ca
chuyn ng nn c th c thay th bi "lc ng t c hiu" pef f (t) xc
nh bi biu thc:
pef f (t) = m
ug (t)
(7.10)
Chia hai v ca phng trnh (7.9) cho m, chng ta c:
u(t) + 2 u(t)
+ 2 u(t) =
ug (t)
(7.11)
Nghim ca phng trnh ch ph thuc vo tn s dao ng ring v tham

s tt dn khi bit gia tc nn ug (t). Trong qu trnh xy ra ng t,
128
gia tc nn bin i bt k khng theo quy lut nn khng th xc nh

nghim gii tch ca phng trnh vi phn dao ng. Do , cc phng
php s (tch phn theo thi gian) gii thiu trong chng 6 c s dng
xc nh nghim ca bi ton.
Nghim theo thi gian-Response history
Mt khi chuyn v theo thi gian u(t) c xc nh bng phn tch ng
lc hc kt cu, ni lc c th c xc nh bng phn tch tnh kt cu ti
mi thi im. u tin, lc tnh tng ng c xc nh nh sau:
fs (t) = ku(t)
(7.12)
trong k l " cng" ca kt cu. Biu din k theo khi lng m thu c:
fs (t) = mn2 u(t) = mA(t)
(7.13)
vi A(t) = n2 u(t).
D thy rng lc tnh tng ng bng m ln A(t) ch khng phi m ln
gia tc tng ut (t). "Gia tc gi" A(t) ca h c th c xc nh t chuyn
v u(t) bng cch nhn u(t) vi bnh phng tn s gc 2 .
Ni lc ca h (moment, lc ct) c xc nh ti thi im bt k bng
phn tch tnh kt cu chu tc dng ca lc tnh tng ng ti cng thi
im .
Khi nim ph nghim-Response spectrum concept
th biu din cc tr ca cc i lng nh chuyn v, vn tc hay gia tc
theo chu k ring T hay tn s ring f ca h c gi l ph nghim ca
i lng .
u0 (T, ) max |u(t, T, )|
(7.14)
u 0 (T, ) max |u(t,

T, )|
(7.15)
u0 (T, ) max |
u(t, T, )|
(7.16)
t
t
Ph chuyn v
Hnh 7.5 th hin qu trnh xc nh ph chuyn v. S ph thuc ca
129
Hnh 7.5: (a) Nghim chuyn v ca h mt bc t do vi ba chu k dao ng

ring khc nhau, (b) Ph chuyn v
chuyn v theo thi gian gy ra bi chuyn ng t nn ca 3 h mt

bc t do c biu din bi cc hnh bn tri. i vi mi h, gi
tr cc i ca chuyn v c xc nh (thng thng, cc i thng
xut hin trong qu trnh t nn chuyn ng, tuy nhin i vi nhng
h c h s cn nh v chu k dao ng ln th cc i c th xut
hin trong qu trnh dao ng t do sau khi chuyn ng t nn
kt thc). Gi tr chuyn v cc i u0 c xc nh i vi mi h
cho chng ta mt im trn ph chuyn v. Lp li qu trnh tnh ton
cho cc chu k Tn khc nhau v gi bng hng s s cho ph chuyn
v nh hnh v bn phi. Ph chuyn v hon chnh s gm cc ng
cong tng t i vi cc gi tr khc nhau.
Ph gi vn tc
Xt i lng V ca h mt bc t do vi tn s ring n c lin h
vi chuyn v cc i D u0 ca n bi biu thc:
V = n D =
2
D
Tn
(7.17)
130

i lng V c th nguyn ca vn tc v c gi l gi tr cc i
"gi" vn tc. Tin t "gi" c s dng v V khng bng vn tc cc
i u 0 mc d cng th nguyn. Chng ta s tr li vn ny trong
phn sau. Ph gi vn tc l th biu din s thay i ca V theo
chu k dao ng ring Tn hay tn s ring fn ca h.
Ph gi gia tc
Xt i lng A ca h mt bc t do vi tn s ring n c lin h
vi chuyn v cc i D u0 ca n bi biu thc:
2
2
2
A = n D =
D
(7.18)
Tn
i lng A c th nguyn ca gia tc v c lin h vi gi tr cc
i ca lc ct chn ca cng trnh theo biu thc:
Vb0 = fs0 = mA =
A
Q
g
(7.19)
trong Q l trng lng ca cng trnh v g l gia tc trng trng.

Di dng ny, t s Ag c xem nh h s lc ct hay h s lc y
ngang. Ch rng i lng A khc vi gi tr cc i ca gia tc uo
ca h. Ph gi gia tc l th biu din s thay i ca A theo chu
k dao ng ring Tn hay tn s ring fn ca h.
Kt hp cc ph nghim D-V-A
Mi ph chuyn v, ph gi vn tc hay ph gi gia tc ca mt chuyn ng
t nn (ng t) u cung cp cng mt thng tin v ng x ca kt cu
hay cng trnh. Bit mt trong ba ph nghim ny, hai ph nghim cn li
c th d dng thu c bng cc bin i i s cc phng trnh (7.17) v
(7.18). Tuy nhin, chng ta vn s dng 3 ph nghim v mi ph cho bit
trc tip ngha vt l ca i lng . Ph chuyn v cho bit chuyn v
cc i ca h. Ph gi vn tc lin h trc tip vi nng lng cc i ca
h trong qu trnh xy ra ng t. Ph gi gia tc lin h trc tip vi gi
tr cc i ca lc tnh tng ng v lc ct chn cng trnh. Mt l do
khc l trong thc t, dng ca cc ph c th c xp x phc v cho
vic thit k. Do , biu din kt hp c 3 ph nghim l rt cn thit. Cch
biu din ny xut hin ln u tin bi A.S. Veletsos v N.M. Newmark vo
nm 1960.
Hnh 7.6: (a) Ph chuyn v, (b) Ph gi vn tc, (c) Ph gi gia tc
131
132
Hnh 7.7: Kt hp ph nghim D-V-A, trng hp = 2%
Chng 8
Phng php phn t hu hn
trong bi ton ng lc hc
S pht trin ca phng php phn t hu hn l giai on quan trng
trong c hc ng dng. C rt nhiu cng trnh nghin cu di dng tng
qut hay ng dng ca phng php phn t hu hn trong bi ton ng lc
hc. Trong chng ny, chng ta s gii thiu mt s nt chnh ca phng
php ny.
Phng trnh c bn ca bi ton ng lc hc:
M
u(t) + Cu(t)
+ Ku(t) = p(t)
(8.1)
trong M, C v K ln lt l ma trn khi lng, ma trn nh hng lc

cn v ma trn cng ca kt cu.
X
Me
M=
e
C=
K=
p=
Ce
Ke
pe
Ma trn khi lng ca phn t c xc nh bng biu thc:

Z
e
M =
NT NdV
V
133
(8.2)
134CHNG 8. PHNG PHP PHN T HU HN TRONG BI TON NG LC H

Ma trn nh hng lc cn phn t:
Z
e
C =
cNT NdV
(8.3)
Ma trn cng phn t:

e
K =
BT EBdV
(8.4)
NT pdV
(8.5)
Vector ti trng:
e
p =
V
vi B l ma trn bin dng-chuyn v: = Bu; E l ma trn cng ca

vt liu: = E; N l cc hm dng.
Trng hp thanh thng, N c dng sau:

N1 0 0 N4 0 0
Nk
[N] =
=
0 N2 N3 0 N5 N6
Nu
trong :
N1 = 1
N4 = Lx
x
L
N2 = 1 3x
+
L2
3x2
2x3
N5 = L2 L3
Nu b qua bin dng dc trc:

h
2
3
[N] = [Nu ] = 1 3x
+ 2x
x
L2
L3
h
d2
[B] = 2 [N] = L62 +
dx
12x
L3
2x3
L3
2x2
L
L4 +
N3 = x 2xL +
2
3
N6 = xL + Lx 2
x3
L2
6x
L2
3x2
L2
6
L2
2x3
L3
12x
L3
x3
L2
xL +
L2 +
6x
L2
x3
L2
Ma trn cng ca phn t thanh c chiu di L
12 6L 12 6L
Z
Z L
EI 6L 4L2 6L 2L2
(8.6)
Ke =
BT EBdV =
BT EIBdx = 3
L 12 6L 12 6L
V
0
6L 2L2 6L 4L2
135
Ma trn khi lng ca phn t thanh c chiu di L
156
22L
54
13L
Z
Z L
2
mL
13L 3L2
e
T
22L 4L
M =
N NdV =
ANT Ndx =
54
13L
156
22L
420
V
0
2
2
13L 3L 22L 4L
(8.7)
Code Matlab tnh tn s ring ca dm mt u ngm mt u t
do bng phng php phn t hu hn
E=1; Module n hi ca vt liu
I=1; Moment qun tnh ca thanh
m=1; Khi lng phn b ca thanh
L=1; Chiu di thanh
nele=2; S lng phn t
L1=L/nele; Chiu di phn t th nht
L2=L/nele; Chiu di phn t th hai
m1=BeamElementMass(m,L1); Ma trn khi lng phn t th nht
m2=BeamElementMass(m,L2); Ma trn khi lng phn t th hai
k1=BeamElementStiffness(E,I,L1); Ma trn cng phn t th nht
k2=BeamElementStiffness(E,I,L2); Ma trn cng phn t th hai
M0=zeros(6,6);
M0=BeamAssemble(M0,m1,1,2);
M0=BeamAssemble(M0,m2,2,3);
K0=zeros(6,6);
K0=BeamAssemble(K0,k1,1,2);
K0=BeamAssemble(K0,k2,2,3);
M=[M0(3:6,3:6)]; iu kin bin
K=[K0(3:6,3:6)]; iu kin bin
[V, D] = eigs(K, M, 4, SA);
omega=sqrt(D)
Lp ghp ma trn cng tng th ca dm:
function y = BeamAssemble(K,k,i,j)
K(2 i 1, 2 i 1) = K(2 i 1, 2 i 1) + k(1, 1);
K(2 i 1, 2 i) = K(2 i 1, 2 i) + k(1, 2);
136CHNG 8. PHNG PHP PHN T HU HN TRONG BI TON NG LC H

K(2 i 1, 2 j 1) = K(2 i 1, 2 j 1) + k(1, 3);
K(2 i 1, 2 j) = K(2 i 1, 2 j) + k(1, 4);
K(2 i, 2 i 1) = K(2 i, 2 i 1) + k(2, 1);
K(2 i, 2 i) = K(2 i, 2 i) + k(2, 2);
K(2 i, 2 j 1) = K(2 i, 2 j 1) + k(2, 3);
K(2 i, 2 j) = K(2 i, 2 j) + k(2, 4);
K(2 j 1, 2 i 1) = K(2 j 1, 2 i 1) + k(3, 1);
K(2 j 1, 2 i) = K(2 j 1, 2 i) + k(3, 2);
K(2 j 1, 2 j 1) = K(2 j 1, 2 j 1) + k(3, 3);
K(2 j 1, 2 j) = K(2 j 1, 2 j) + k(3, 4);
K(2 j, 2 i 1) = K(2 j, 2 i 1) + k(4, 1);
K(2 j, 2 i) = K(2 j, 2 i) + k(4, 2);
K(2 j, 2 j 1) = K(2 j, 2 j 1) + k(4, 3);
K(2 j, 2 j) = K(2 j, 2 j) + k(4, 4);
y = K;
Ti liu tham kho

[1] Bathe, K. J.
Finite Element Procedures in Engineering Analysis, Prentice Hall, Englewood Cliffs, N.J., 1982.
[2] Chopra, Anil K.
Dynamics of structures : theory and applications to earthquake engineering, Prentice Hall, Englewood Cliffs, N.J., 1995.
[3] Clough, R. W., and Penzien, J.
Dynamics of Structures, McGraw-Hill, New York, 1993.
[4] Gradin, M., Rixen, D.
Mechanical vibrations : Theory and Application to Structural Dynamics,
Wiley, 1997.
[5] Humar, J. L.
Dynamics of Structures, Prentice Hall, Englewood Cliffs, N.J., 1990.
[6] Newmark, N. M.
A Method of Computation for Structural Dynamics, Journal of the Engineering Mechanics Division, ASCE, 85, 1959, pp. 67-94.
[7] Newmark, N. M., Rosenblueth, E.
Fundamentals of Earthquake Engineering, Prentice Hall, Englewood
Cliffs, N.J., 1971, pp. 308-312.
[8] Paultre, P.
Dynamiques des structures : application aux ouvrages de gnie civil, Hermes Science, 2005.
[9] Pecker, A.
Dynamiques des Ouvrages, Cours ENPC.
137
138
TI LIU THAM KHO
[10] Dookie Kim.

Dynamics of Structures, 2009.
[11] L Vn Qu, Lu Th Trnh.
ng lc hc cng trnh, Nh xut bn i hc v trung hc chuyn
nghip, H Ni, 1979.
[12] Phm nh Ba, Nguyn Ti Trung.
ng lc hc cng trnh, Nh xut bn xy dng, H Ni, 2005.
Ph lc
Bng cc hm s Akx , Bkx , Ckx v Dkx
kx
0,00
0,10
0,20
0,30
0,40
0,50
0,60
0,70
0,80
0,90
1,00
1,10
1,20
1,30
1,40
1,50
1,60
1,70
1,80
1,90
Akx
1,000000
1,000000
1,000070
1,000340
1,001065
1,002605
1,005405
1,010005
1,017070
1,027350
1,041690
1,061060
1,086510
1,119205
1,160435
1,211575
1,274130
1,349740
1,440135
1,547220
Bkx
0,000000
0,100000
0,200005
0,300020
0,400085
0,500265
0,600645
0,701400
0,802735
0,904925
1,008335
1,113430
1,220750
1,330970
1,444875
1,563385
1,687570
1,818645
1,958010
2,107230
139
Ckx
0,000000
0,005000
0,020000
0,045000
0,080005
0,125025
0,180065
0,245165
0,320360
0,405740
0,501390
0,607460
0,724150
0,851705
0,990465
1,140835
1,303330
1,476580
1,667335
1,870510
Dkx
0,000000
0,000170
0,001335
0,004500
0,010665
0,020835
0,036005
0,057180
0,085375
0,121595
0,166865
0,222220
0,288710
0,367410
0,459425
0,565895
0,688000
0,826985
0,984160
1,160930
140
TI LIU THAM KHO

kx
2,00
2,10
2,20
2,30
2,40
2,50
2,60
2,70
2,80
2,90
3,00
3,10
3,20
3,30
3,40
3,50
3,60
3,70
3,80
3,90
4,00
4,10
4,20
4,30
4,40
4,50
4,60
4,70
4,80
4,90
5,00
5,10
5,20
5,30
5,40
Akx
1,673025
1,819730
1,989705
2,185470
2,409780
2,665575
2,956060
3,284700
3,655255
4,071810
4,538835
5,061180
5,644180
6,293640
7,015970
7,818180
8,708010
9,693955
10,785405
11,992710
13,327295
14,801805
16,430200
18,227940
20,212120
22,401660
24,817515
27,482870
30,423410
33,667560
37,246805
41,195990
45,553700
50,362635
55,670080
Bkx
2,268080
2,442535
2,632805
2,841335
3,070815
3,324335
3,605115
3,916820
4,263455
4,649405
5,079495
5,559015
6,093755
6,690065
7,354910
8,095925
8,921470
9,840725
10,863775
12,001665
13,266560
14,671790
16,232045
17,963470
19,883850
22,012740
24,371720
26,984560
29,877465
33,079360
36,622445
40,541050
44,874955
49,666820
54,994095
Ckx
2,089175
2,324580
2,578205
2,851750
3,147170
3,466715
3,812950
4,188770
4,597475
5,042770
5,528825
6,060320
6,642470
7,281120
7,982770
8,754640
9,604770
10,542055
11,576375
12,718640
13,980935
15,376625
16,920460
18,628740
20,549450
22,612460
24,929665
27,495260
30,335910
33,481050
36,963445
40,818040
45,085480
49,808265
55,035390
Dkx
1,358780
1,579325
1,824305
2,095625
2,395385
2,725865
3,089615
3,489440
3,928465
4,410155
4,938375
5,517435
6,152425
6,847815
7,610450
8,446705
9,363990
10,370565
11,475635
12,689435
14,023360
15,490070
17,103625
18,879640
20,835450
22,990270
25,365410
27,984480
30,873625
34,061810
37,581065
41,466860
45,758405
50,499090
55,736855

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1

TRNG I HC GIAO THNG VN TI

Phng php chuyn v tnh dao ng ca dm lin tc . . . . 89

6 Phng php tch phn theo thi gian trong phn

8 Phng php phn t hu hn trong bi ton ng lc hc133

Danh sch hnh v

M hnh h dao ng mt bc t do (a), Cc lc tc dng ln

DANH SCH HNH V

Quy lut o hm ca Akx , Bkx , Ckx v Dkx . . . . . . . . . . 72

DANH SCH HNH V

Phng php sai phn ng tm . . . . . . . . . . . . . . . .

DANH SCH HNH V

K hiu dng trong bi ging

DANH SCH HNH V

M ma trn khi lng,

bin chuyn v ti cc nt ca kt cu,

DANH SCH HNH V

DANH SCH HNH V

Khi nim v ng lc hc cng trnh

ng lc hc cng trnh nghin cu dao ng ca kt cu gy ra bi cc ti

CHNG 1. KHI NIM C BN

Hnh 1.1: Ti trng iu ha

Hnh 1.2: Ti trng c chu k bt k

Ti trng ng l ti trng m gi tr, phng chiu hay im tc dng ca

Ti trng c chu k l ti trng m s bin thin theo thi gian ca n s

Hnh 1.4: Ti trng di hn

ngi i b trn cu gy ra.

Ti trng khng c chu k

Ti trng khng c chu k l ti trng l ti trng bin i mt cch bt

Bc t do ca h dao ng l s thng s c lp cn thit xc nh v

CHNG 1. KHI NIM C BN

Hnh 1.5: H c khi lng tp trung: (a) h mt bc t do, (b) h hai bc t

1. H c cc khi lng tp trung: trong trng hp ny ta ch xt

Phn loi dao ng

Do cu to ca kt cu (s phn b khi lng, cng, kch thc) c nhiu

1.5. PHNG PHP LP PHNG TRNH VI PHN DAO NG

Phng php lp phng trnh vi phn

Lp phng trnh vi phn dao ng l mt bc quan trng trong phn tch

Phng php trc tip

Phng php ny da trn vic xc nh hp lc tc dng ln h v vit

CHNG 1. KHI NIM C BN

nh lut II Newton1 hay cn gi l nh lut c bn ca ng lc hc. Mt

Phng php cng kh d

Phng php ny c bit thch hp vi h lin tc m khi lng v

1.6. M HNH HA BI TON NG LC HC

T biu thc ca nguyn l ny ta tm c phng trnh vi phn chuyn

Phng php nng lng-Nguyn l Hamilton

trong ch bin phn ca cc i lng.

Trong bi ton ng lc hc, lc qun tnh l yu t c trng ca h, v vy

Phng php khi lng tp trung

Khi tnh mt h phc tp (v hn bc t do), ngi ta c th n gin ha

CHNG 1. KHI NIM C BN

Hnh 1.6: M hnh khi lng tp trung

Hnh 1.7: M hnh Rayleigh-Ritz

1.6. M HNH HA BI TON NG LC HC

Phng php chuyn v tng qut (phng php

i vi cc h lin tc, chng ta c th n gin ha vic phn tch bng

Mt cch tng qut, ngi ta c th chn bt k hm chuyn v tng qut

trong : Zi (t) c gi l ta tng qut, i (x) l cc hm chuyn v

Phng php phn t hu hn

CHNG 1. KHI NIM C BN

Hnh 1.8: M hnh phn t hu hn

1.6. M HNH HA BI TON NG LC HC

Khi 1, chuyn v u(t) rt gn vi u(t + TD ) lm cho vic nh gi