Dung Thuyetminh

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MC LC
3.1.1. Cc khi chc nng c sn thng dng trong phn mm Matlab-Simulink.........37
3.1.2. To mi mt khi m phng trong Matlab Simulink.........................................57
3.1.3. M phng mt khi trong Matlab Simulink............................................................59
3.1.4. ng dng ca Matlab Simulink..............................................................................61
CHNG 4. KT LUN CHUNG V HNG PHT TRIN CA TI - 80 4.1.Kt lun chung
- 80 4.2. Hng pht trin ca ti
- 80 TI LIU THAM KHO
- 81 -
LI NI U
t l phng tin vn ti c vai tr ht sc quan trng
trong nn kinh t quc dn, c tnh c ng cao, c ng dng
rng ri trong tt c cc lnh vc dn s cng nh quc phng.
Cng vi s pht trin mnh m ca khoa hc cng ngh, nn
cng nghip t trn th gii pht trin ngy cng cao, cho ra
i nhiu loi xe hin i v tin nghi. Vic thit k cc h thng,
cm chi tit trn t, nh gi cht lng lm vic ca chng
ngy cng c quan tm nghin cu nhm nng cao cht lng
ca t.
H thng treo trn t rt a dng v c vai tr ht sc
quan trng, n gp phn nng cao m du v an ton chuyn
ng ca t. Bn cnh qu trnh thit k, nh gi h thng
treo th vic nh gi cht lng dao ng ca h thng treo
cng gp phn khng nh trong qu trnh kim nh thit k cng
nh nh gi s ph hp gia thng s c bn, thng s kt cu
v iu kin chuyn ng thc t ca t trn ng.
Hin nay phng php m phng s ang c s dng
rng ri nghin cu cc c h c bit l h dao ng ca
t. Thc t cho thy Matlab-Simulink l mt trong nhng
phn mm c kh nng ng dng rt cao trong vic gii cc bi
ton k thut bng cch lp trnh, x l s v ho m
phng, phn tch mt h thng ng hc, gii cc bi ton vi
phn v phng trnh bc cao ...
Xut pht t nhng yu cu trn, em la chn ti:
ng dng Simulink kho st dao ng ca phn t c cu
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treo t. ti tp trung vo tim hiu h thng treo cho xe

du lich v s dng phn mm Matlab-Simulink 7.0 nghin cu
m phng h dao ng ca xe.
Chng em xin chn thnh cm n thy gio PGS.TS.Nguyn
Ngoc Qu cng cc thy c trong b mn ng Lc, khoa C
in, i hc Nng Nghip H Ni tn tnh hng dn v gip
cho em trong qu trnh thc hin v hon thnh an nay.
Em xin trn trng cm n !
Sinh vin: Nguyn Tin
Dung
CHNG 1
TNG QUAN CC VN NGHIN CU
1.1. Tng quan i tng v phm vi nghin cu
1.1.1. i tng v phm vi nghin cu
i tng nghin cu l h thng treo dng trn xe hai cu m ch yu
l h thng treo c b phn n hi l l xo xon tr hoc nhp l v b phn
gim chn kiu ng thy lc. Trn c x ng dng MATLAB SIMULINK
m phng dao ng ca phn t ca h thng treo kho st s nh hng
ca cc thng s c trng v kt cu nh nht ca du thng qua h s
cn c, cng ca l xo k n bin dao ng cc i, gia tc cc i, thi
gian n nh ca hngoi ra cng c th kho st nh hng ca iu kin
chuyn ng thng qua vic thay i tn s v bin kch thch u vo.
Mt khc ti cng kho st m hnh dao ng lin kt thng qua m hnh
phng nhm kho st nh hng ca ng v phn b ti trng ca xe.
1.1.2. ngha khoa hc ca ti
ti gii quyt nhng vn sau :
Tm hiu Simulink toolbox trong Matlab
M phng dao ng ca phn t khi lng bng Matlab Simulink
Chy m phng a ra kt qu v kt lun
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1.2. Tng quan v h thng treo
Hnh1.1-H thng treo v b tr chung trn xe
1.2.1. Cng dng v yu cu ca h thng treo

H thng treo y c hiu l h thng lin kt mm gia bnh xe
v khung xe hoc v xe. Mi lin kt treo ca xe l mi lin kt n hi c
chc nng chnh sau y:
+ To iu kin cho bnh xe thc hin chuyn ng tng i theo
phng thng ng i vi khung xe hoc v xe theo yu cu dao ng m
du, hn ch ti mc c th chp nhn c nhng chuyn ng khng
mun c khc ca bnh xe nh lc ngang, lc dc.
+ Truyn lc gia bnh xe v khung xe bao gm lc thng ng, lc
dc v lc bn.
Trn h thng treo, s lin kt gia bnh xe v khung v cn thit phi
mm nhng cng phi kh nng truyn lc, quan h ny c th hin
cc yu cu chnh sau y:
+ H thng treo phi ph hp vi iu kin s dng theo tnh nng k
thut ca xe (xe chy trn ng tt hay xe chy trn cc loi ng khc
nhau, hay ng i ni, xe du lch hay ch hng, ch vt liu).
+ Bnh xe c th chuyn dch trong mt gii hn nht nh.
+ Quan h ng hc ca bnh xe phi hp l tho mn mc ch chnh
ca h thng treo l lm mm theo phng thng ng nhng khng ph
hng cc quan h ng hc v ng lc hc ca chuyn ng bnh xe.
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+ Khng gy nn ti trng ln ti cc mi lin kt vi khung hoc v.

+ C tin cy ln, bn cao v khng gp h hng bt thng.
+ Gi thnh thp v phc tp ca h thng treo khng qu ln.
+ C kh nng chng rung v chng n truyn t bnh xe ln khung,
v xe tt.
+ m bo tnh n nh v tnh iu khin chuyn ng ca t tc
cao, t iu khin nh nhng.
1.2.2. Cc b phn chnh ca h thng treo
Hnh 1.2- C cu treo trc v cc b phn chnh
1.2.2.1. B phn n hi
L b phn ni mm gia bnh xe v thng xe, lm gim nh cc ti
trng ng tc dng t bnh xe ln khung, m bo m du cn thit khi
di chuyn nhm bin i tn s dao ng cho ph hp vi c th con ngi
(khong 60 80 ln/ph). B phn n hi c th b tr khc nhau trn xe
nhng n cho php bnh xe c th dch chuyn theo phng thng ng.
B phn n hi c cc phn t n hi thng gp l:
a. Nhp l
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Hnh 1.3- C cu treo ph thuc dng nhp l
B nhp c lm t cc l thp cong, gi l l nhp, sp xp li vi

nhau theo th t t ngn n di. c tnh lm vic ca nhp l khi ti trng
tc dng ln nhp tng th bin dng ca nhp cng tng theo quy lut tuyn
tnh.
Trong h thng treo n khng ch c nhim v lm m du chuyn
ng m cn ng thi lm nhim v ca b phn dn hng v ma st gia
cc l nhp gp phn lm tt dao ng.
u im ca kiu treo ny l khng cn thanh n nh, n gin r
tin, d chm sc bo dng nhng li c nhc im l khi lng ln,
thng xe trn cao nn chiu cao trng tm xe s ln nh hng n tc
v s n nh khi xe chuyn ng, mt khc vt bnh s thay i khi mt
bnh b nng ln lm pht sinh lc ngang v tnh cht bm ng km v d
b trt ngang.
b. Thanh xon
Thanh xon l mt thanh bng thp l xo, dng tnh n hi xon ca
n cn li s dao ng. Mt u thanh xon c ngm vo khung hay
mt dm no ca xe, u kia gn vo kt cu chu ti xon ca h thng
treo. Trn mt s t dnh ch cho vic lp bn trc cu ch ng ngi
ta dng thanh xon thng c gy ti trc (c ng sut d) do n ch
thch hp cho mt chiu lm vic. Trn cc thanh xon hai pha u phi
nh du trnh nhm ln khi lp rp.
S dng thanh xon c cc c im sau:
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+ Chim t khng gian, c th b tr iu chnh chiu cao thn xe.

+ Trng lng nh, n gin, gn, gi thnh r v d ch to.
+ Thanh xon khng c ni ma st nn thng phi lp km gim
chn dp tt nhanh dao ng.
Trn xe con v xe minibus b phn n hi l thanh xon c s dng
ph bin ch sau l xo.
c. L xo
Bao gm cc dng l l xo xon c, l xo cn v l xo tr. Do l xo
tr c ng knh vng ngoi khng i nn bin dng ca n s thay i t
l thun vi lc tc dng, cn i vi l cn hay l xo xon c th khi ti nh
u l xo s b nn li v hp th nng lng va p, cn phn gia l xo c
cng ln hn s cng chu ti ln.
L xo c cc c im chnh sau:
u im
- Kt cu rt gn gng nht l khi c b tr lng vo gim chn.
- Nu cng cng v bn vi nhp th l xo tr c khi lng nh
hn nhp v tui th cao hn nhp, kt cu gn nn tit kim khng gian v

cho php h thp trng tm xe nhm nng cao tc .
Hnh 1.3. Cu to mt s dng l xo.
Nhc im
- Khi lm vic gia cc vng l xo khng c ni ma st nh nhp
nn thng phi b tr thm gim chn km theo dp tt nhanh dao ng.

- Do l xo ch lm nhim v n hi, cn nhim v dn hng v
gim chn do cc b phn khc m nhn nn vi h thng treo dng l xo
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tr th c kt cu phc tp hn do n cn phi b tr thm h thng n dn

hng dn hng cho bnh xe v truyn lc ko hay lc phanh.
d. Phn t n hi loi kh
Hnh 1.4-b phn n hi loi kh
Phn t n hi s dng m kh da trn nguyn tc khng kh c

tnh n hi khi b nn. H thng treo loi kh c s dng tt cc t c
trng lng phn ln c thay i kh ln nh t tr khch, t vn ti
v on xe. Loi ny c th t ng thay i cng ca h thng treo bng
cch thay i p sut khng kh bn trong phn t n hi. Gim cng
ca h thng treo s lm cho m du chuyn ng tt hn.
H thng treo kh khng c ma st trong phn t n hi, trng lng
nh v gim c chn ng cng nh gim c ting n t bnh xe truyn
ln bung li v hnh khch. Nhng h thng ny c kt cu phc tp hn v
phi c b phn dn hng ring v trang thit b cung cp kh, b iu
chnh p sut, lc, cc van v...v...iu chnh cng mt cch ch ng.
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Hnh 1.5-H thng treo c b phn n hi loi ti kh cao su (airbag suspension)
Hin nay b phn n hi c lm c xu hng mm mi hn

nhm to iu kin cho bnh xe ln m trn mt ng. ng thi ngi
ta dng cc b phn n hi c kh nng thay i cng trong mt gii
hn rng. Khi xe chy t ti, cng cn thit c gi tr nh, khi tng ti th
cng cn phi c gi tr ln. Chnh v vy m cn phi c thm cc b
phn n hi ph nh: nhp ph, vu t bng cao su bin dng, c bit l
cc b phn n hi c kh nng thay i t ng cng theo ti trng kt
hp vi cc b phn thay i chiu cao trng tm ca xe.
1.2.2.2. B phn gim chn
Trn xe t gim chn c s dng vi cc mc ch sau:
+ Gim v dp tt cc va p truyn ln khung khi bnh xe ln trn
nn ng khng bng phng nhm bo v c b phn n hi v tng
tnh tin nghi cho ngi s dng.
+ m bo dao ng ca phn khng treo (unsprung) mc nh
nht, nhm lm tt s tip xc ca bnh xe vi mt ng m bo tnh nng
li v tng tc cng nh chuyn ng an ton.
+ Nng cao cc tnh cht chuyn ng ca xe nh kh nng tng tc,
kh nng an ton khi chuyn ng.
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dp tt cc dao ng ca xe khi chuyn ng gim chn s bin i

c nng thnh nhit nng nh ma st gia cht lng v cc van tit lu.
Trn t hin nay ch yu s dng l gim chn ng thu lc c tc
dng hai chiu cu trc hai lp.
a. Gim chn hai lp v
Gim chn hai lp v ra i vo nm 1938, y l mt loi gim chn
quen thuc v c dng ph bin cho n nay. Trong gim chn, piston di
chuyn trong xy lanh cha y du, chia khng gian trong thnh hai bung A
v B. ui ca xy lanh thu lc c mt cm van b. Bao ngoi v trong l
mt lp v ngoi, khng gian gia hai lp v l bung b th tch cht lng
v lin h vi B qua cc cm van mt chiu (III, IV). Bung C c gi l
bung b cht lng, trong C ch in y mt na bn trong l cht lng,
khng gian cn li cha khng kh c p sut bng p sut kh quyn.
Cc van (I) v (IV) ln lt l cc van nn mnh v nn nh, cn cc
van (II) v (III) ln lt l cc van tr mnh v tr nh ca gim chn.
Gim chn hai lp v c cu to nh sau:
1- Khoang v trong;
2- Pht lm kn;
3- Bc dn hng;
4- V chn bi;
5- Cn piston;
6- Piston;
7- Van c nh;
8- V ngoi.
Hnh 1.6- S cu to ca gim chn hai lp v.
+ Nguyn l lm vic
hnh trnh nn bnh xe tin li gn khung xe, lc ta c th tch
bung B gim nn p sut tng, cht lng qua van (I) v (IV) i ln khoang
A v sang khoang C p khng kh bung b li. Trn np ca gim chn c
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pht che bi, pht chn du v cc l ngang bi trn cho trc gim chn
trong qu trnh lm vic.
hnh trnh tr bnh xe i xa khung xe, th tch bung B tng do
p sut gim, cht lng qua van (II, III) vo B, khng kh bung b gin ra,
y cht lng nhanh chng in y vo khoang B.
Trong qu trnh lm vic ca gim chn trnh b cng bao gi
cng c cc l van lu thng thng xuyn. Cu trc ca n tu thuc vo
kt cu c th. Van tr, van nn ca hai cm van nm piston v xylanh
trong cm van b c kt cu m theo hai ch , hoc cc l van ring bit
to nn lc cn gim chn tng ng khi nn mnh, nn nh, tr mnh, tr
nh.
Khi cht lng chy qua l van c tit din rt nh to nn lc ma st
lm cho nng gim chn ln. Nhit sinh ra truyn qua v ngoi (8) v truyn
vo khng kh cn bng nng lng.
+ u im ca gim chn hai lp c bn cao, gi thnh h lm vic
tin cy c hai hnh trnh, trng lng nh.
+ Nhc im l khi lm vic tn s cao c th xy ra hin tng
khng kh ln vo cht lng lm gim hiu qu ca gim chn. Hn na vic
lp i hi chnh xc, tn nhit chm hn
b. Gim chn mt lp v
Gim chn mt lp v c cu to nh sau:
1- Van mt chiu;
2- Cn piston;
3- Cm lm kn;
4- Xy lanh;
5- Bung cha du;
6- Piston;
7- Van mt chiu;
8- Khoang cha kh.
3
2
Hnh 1.7- S cu to ca gim chn mt lp v.
Nguyn l lm vic:
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Trong mt gim chn mt lp v khng cn b du na m thay th

chc nng ca n l bung 8 cha kh nn c P = 2-3 kG/cm 2 y l s khc
nhau gia gim chn mt lp v v hai lp v.
Khi piston dch chuyn xung di to nn s chnh p, dn n m
van 1, cht lng chy nn pha trn ca piston. Khi piston i ln lm m van
7, cht lng chy xung khoang di piston, p sut trong gim chn s thay
i khng ln v dao ng xung quanh v tr cn bng vi gi tr p sut tnh
np ban u, nh vy m trnh c hin tng to bt kh, l mt trng thi
khng an ton cho s lm vic ca gim chn. Trong qu trnh lm vic do
p lc du ch c th nn ln kh m piston ngn cch 4 di chuyn to nn
s cn bng gia cht lng v cht kh do p sut khng b h xung di
gi tr nguy him.
Gim chn ny c nhy cao k c khi piston dch chuyn rt nh,
trnh c hin tng cng bc chy du khi nhit thay i s lm cho
p sut thay i.
* So snh gia hai loi gim chn
a. gim chn 2 lp v
b. gim chn 1 lp v
Hnh 1.8- Cu to gim chn 2 lp v (a) v gim chn 1 lp v (b)
So snh vi loi gim chn hai lp v, gim chn mt lp v c cc

u im sau:
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+ Khi c cng ng knh ngoi, ng knh ca cn piston c th

lm ln hn m s bin ng tng i ca p sut cht lng s nh hn.
+ iu kin to nhit tt hn do khng c o du.
+ Gim chn c piston ngn cch c th lm vic bt k gc nghing
b tr no.
+ Cng mt tc ng bn ngoi th n dp tt dao ng nhanh hn.
- Nhc im ca loi gim chn mt lp v l:
+ Lm vic km tin cy, c th b b kt trong cc hnh trnh nn hoc
tr mnh.
+ Ch to phc tp v gi thnh t hn.
e. ng nhn Vario
Vi mt kt cu c nt tng t nh ng nhn loi hai ng, ng nhn
Vario ni ln c im l thch nghi nghi c vi tnh trng dng xc khc
nhau c th thay i c tnh gim chn :
Hnh 1.9- ng nhn vario
Khi xe c ti trng nh, v tr ca Piston nm vng trn ca ng du,

ni c thit k nhng khe nh bn vch to iu kin cho du di
chuyn xung vng di mt cch tng i d dng, tr lc trn Piston
gim nh, hiu ng gim chn v vy cng thp. Khi xe ch nng, v tr cn
bng ca Piston chm xung thp, khi du t ngn trn khng d dng
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trn xung ngn di v ngc li nh trng hp trn, chng bt buc phi

chy qua van tit lu trn piston ch khng c khe h bn hng Piston
lu thng na. Tr lc chuyn ng trn lm tng kh nng dp tt giao
ng ca ca ng nhn, phn du d do p lc cao cng c dn qua van
di y v khoang b tr nh cc trung hp trn.
f. ng nhn loi 2 ng vi hi p lc
Hnh 1.10- loi 2 ng vi hi p lc(a) v loi hi (b)
Loi ng nhn Du-Kh kt hp hot ng theo nguyn tc kt hp

tnh u vit ca loi hai ng v loi mt ng trn. im cn lu ca loi
ny l trong trng thi ng yn ca xe th phn di ng nhn khng phi
cha y du, m 1/3 th tch trong l kh nn (6-7bar). Nh vy, qu
trnh nhn v gin bao gi cng c s h tr n hi ca bung kh, lu
chuyn t ngn trn xung di v ngc li v nh trnh by cc loi
trn, s tham gia n hi ngc chiu ca cc lp kh gip cho vic dp tt
dao ng nhanh chng hn, loi ng nhn ny c bit thch hp cho cc
lai xe i a hnh xu, rung xc tn s cao, mnh v t ngt.
Vi yu cu ch to chnh xc cao, i hi kim tra bo dng gt gao,
loi ng gim chn trn ch dng cho nhng xe c yu cu c bit, i khi
cng c s dng trong b bnh xe h cnh ca nhng my bay cnh qut
th thao loi nh.
g. ng nhn hi
l s kt hp hot ng ca mt "L xo kh nn" ( Khc vi l xo
kim loi hay nhp) vi mt b gim chn theo nguyn l Hi v Du. Hnh
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v cu to (h 1.8.b) th hin r nguyn tc hot ng, phn di cc kt cu
khng c g c bit v nguyn l, phn trn chnh l c im ni bt

trong cu to ca loi ng nhn ny, trong mt ng kn, kh nn c
dn vo di 1 p lc iu khin c, ty mc p lc kh nn trong
m n hi ca l xo kh thay i c, to ra s ch ng trong vic
thay i khong lm vic cng nh hiu qu tt nht cho c b Gim xcKh dao ng. Tuy nhin, l xo kh thng c kt hp thm mt l xo c
kh khc nhm mc ch gii hn vic hot ng ca l xo kh trong phm vi
iu chnh cao gm xe cng nh tng gim h s n hi khi xe c ti
trng thay i ln ch khng m ng hon ton ti trng ca xe .
Bt tin l loi ng hi ny ch hot ng khi my n, nu v tt
my nhng ch c g cao th i khi xe h xung lm h hi v xe, do
ngi ta phi lp thm b phn cnh bo khi m v tt my.
h. ng nhn Kh- Thy lc
Hnh 1.11- ng nhn kh-thy lc
y l tng hp ca l xo n hi c gim chn cng vi l xo kh

thy lc, trong h thng ny, Piston ca phn n hi cng nh trc ca n
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ng thi l trc ca b gim chn. Phn l xo kh nm trong mt khi cu

bao bc bi mt mng cao su c bit. Phn tch tr kh cng vi khng gian
mt trn ca Piston c ni vi nhau bi 1 ng ng thy lc.
Khi ng nhn v l xo b xung, du b p chy theo ng ni chy
sang bung kh nn, kh b nn mnh, tng p sut lm tng thm sc n hi
ca l xo kh, l xo ny cng vi l xo kim loi tc ng trc tip ln khung
xe, to sc n hi tng hp thay i c theo ti trng. Khng nhng th,
trn ng ng dn du v kh v p ti kh, ngi ta cn b tr thm van
iu khin nhm ch ng thay i mc tc ng ca du v kh nn ln ti
kh, a n vic thay i cng n hi tng hp ca c h thng nhn.
Cng nh c ch hi tip nh vy, m khang cch gia trc bnh xe v
khung xe gn nh c gi nguyn bt chp ti trng, khi xe nng du p
mnh lm ti kh i ln mnh hn, khi xe nh p lc du gim ti kh
mm i gim bt tc ng ln khung xe. Ti x c th t iu chnh van
iu khin cho ph hp tnh trng ti trng v ng x.
Loi ng nhn gim chn trn y gi thnh cao, vn hnh phc tp, li
thm h thng nn kh cao p rt t , nn hu nh khng c ph bin.
1.2.2.3. Thanh n nh v cc n dn hng
Hnh 1.12- Thanh n nh trong c cu treo
Trn cc loi xe con ngy nay thanh n nh hu nh u c. Trong

trng hp xe chy trn nn ng khng bng phng hoc quay vng, di
tc dng ca lc li tm phn lc thng ng ca 2 bnh xe trn mt cu thay
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i s lm cho tng nghing thng xe v lm gim kh nng truyn lc

dc, lc bn ca bnh xe vi mt ng. Thanh n nh c tc dng khi xut
hin s chnh lch phn lc thng ng t ln bnh xe nhm san bt ti
trng t bn cu chu ti nhiu sang bn cu chu ti t hn. Cu to chung
ca n c dng ch U, mt u ch U c ni vi phn khng c treo,
cn u kia c ni vi thn v xe, cc u ni ny dng bng cao su.
B phn dn hng c nhim v truyn cc lc dc, lc ngang v cc
mmen t bnh xe ln khung hoc thn xe. N c th c nhng chi tit khc
nhau ty thuc h thng treo ph thuc hay c lp, phn t n hi l nhp,
l xo hay thanh xon. Quan h ca bnh xe vi khung xe khi thay i v tr
theo phng thng ng c gi l quan h ng hc. Kh nng truyn lc
mi v tr c gi l quan h ng lc hc ca h treo.
Hnh1.13- Cc n lin kt v dn hng, kt cu lp gip cm treo c lp
1.2.2.4. Cc chi tit ph

Trn xe con cc vu cao su thng c t kt hp trong v ca gim
chn va tng cng va hn ch hnh trnh ca piston nhm hn ch hnh
trnh lm vic ca bnh xe. Ngoi ra cn c m cao su cng c tc dng
gim chn. Vu cao su c nhng u im sau:
+ C th c lm di mi hnh dng khc nhau.
+ Khng c ting n khi lm vic, khng phi bi trn.
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Hnh 1.14- Cc m cao su
1.2.3. Phn loi h thng treo

C nhiu cch phn loi h thng treo nh:
- phn loi theo b phn n hi chia ra: loi s dng b phn n hi
bng kim loi (nhp l, l xo xon); loi kh; loi thy lc; cao su
- phn loi theo s b phn dn hng chia ra: c cu treo ph thuc
vi cu lin; loi c lp vi cu ct.
- phn loi theo phng php dp tt chn ng: loi dng gim chn
thy lc; loi gim chn nh ma st c (ma st trong b phn n hi hoc
b phn dn hng)
Nhng khi phn loi ngi ta ch yu da vo s b phn dn
hng v chia ra 2 nhm chnh l h thng treo c lp v h thng treo ph
thuc:
Hnh 1.15- S h thng treo

a) H thng treo ph thuc;
b) H thng treo c lp.
1- Thng xe; 2- B phn n hi; 3- B phn gim chn;

4- Dm cu; 5 - Cc n lin kt ca h treo.
1.2.3.1. H thng treo ph thuc
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Trong h thng treo ph thuc hnh 1.12-a cc bnh xe c t trn

mt dm cu lin, b phn gim chn v n hi t gia thng xe v dm
cu lin . Do s dch chuyn ca mt bnh xe theo phng thng ng
s gy nn chuyn v no ca bnh xe pha bn kia.
h.a. dng nhp l
h.b. dng l xo tr
Hnh 1.16- S h thng treo ph thuc dng l xo l(a) v l xo tr(b)
c trng ca h thng treo ph thuc l cc bnh xe lp trn mt

dm cu cng. Trong trng hp cu xe l b ng th dm l mt thanh
thp nh hnh, cn trng hp l cu ch ng th dm l phn v cu trong
c mt phn ca h thng truyn lc.
+ Trong h treo ph thuc c phn t n hi l nhp th n va
l phn t n hi ng thi lm lun b phn dn hng. V nhp lm b
phn hng nn trong h treo ny s khng cn n cc thanh ging
truyn lc dc hay lc ngang na.
+ i vi h treo ph thuc dng l xo xon th phi dng thm hai
n dc di c ni vi cu v khung. m bo truyn c lc ngang
v n nh v tr khung xe so vi cu ngi ta cng phi dng thm n cho
mt u ni vi cu cn u kia ni vi khung xe.
- Nhc im:
+ Khi lng phn khng c treo ln, c bit l cu ch ng nn
khi xe chy trn ng khng bng phng, ti trng ng sinh ra s gy nn
va p mnh gia phn khng c treo v phn c treo lm gim m
du chuyn ng.
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18
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==============================================================
+ Khong khng gian pha di sn xe phi ln m bo cho dm

cu c th thay i v tr, do vy chiu cao trng tm ln.
+ Khi mt bnh b nng ln, vt bnh thay i lm pht sinh lc ngang
lm tnh cht bm ng km i, d b trt ngang, xe b nghing
- u im:
+ Trong qu trnh chuyn ng vt bnh xe c c nh do vy
khng xy ra hin tng mn lp nhanh nh h thng treo c lp.
+ C kh nng ti ln, tng cng vng cao cho xe v ph hp vi
a hnh xu, cho xe ti, xe vit d
+ Cng ngh ch to n gin, d tho lp v sa cha, gi thnh h.
1.2.3.2. H thng treo c lp
c im ca h thng treo ny l:
- Hai bnh xe khng lp trn mt dm cng m l lp trn loi cu ri,
s chuyn dch ca 2 bnh xe c lp tng i vi nhau.
- Khi lng phn khng c treo nh nn m men qun tnh nh,
do xe chuyn ng m du, kh nng bm ng cao.
- H treo ny khng cn dm ngang (vi kt cu thn v kiu unibody)
nn khong khng gian cho n dch chuyn ch yu l khong khng gian 2
bn sn xe nh vy s h thp c trng tm ca xe v s nng cao c
vn tc ca xe.
* Trong h thng treo c lp cn c phn ra cc loi sau :
a. Dng treo 2 n ngang
Cu to ca h treo 2 n ngang bao gm 1 n ngang trn, mt n
ngang di. Mi n khng phi ch l 1 thanh m thng c cu to hnh
tam gic (ch A) hoc hnh thang. Cu to nh vy cho php cc n ngang
lm c chc nng ca b phn hng, kt cu chc chn m bo truyn
lc tt.
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Hnh 1.17- S nguyn l ca h treo 2 n ngang.
Cc u trong c lin kt vi khung, v bng khp tr. Cc u

ngoi c lin kt bng khp cu vi n ng c th xoay c. n
ng c bi lp vi trc bnh xe. B phn n hi c th ni gia khung vi
n trn hoc n di. Gim chn cng t gia khung vi n trn hoc
n di hoc lng bi l xo tr cho gn. Hai bn bnh xe u dng h treo
ny v c t i xng qua mt phng dc gia xe.
b. Dng treo Mc.Pherson
H treo ny chnh l bin th ca h treo 2 n ngang, y n
ngang ch A pha trn thay bng l xo cng ng nhn lng nhau. Chnh nh
cu trc ny m ta c th c c khong khng gian pha trong xe rng hn
b tr h thng truyn lc hoc khoang hnh l. Gim chn t theo
phng thng ng lm nhim v ca tr xoay ng.
Hnh 1.18- S cu to h treo Mc.Pherson.
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20
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Nu ta so snh vi h treo 2 n ngang th h treo Mc.Pherson kt cu

t chi tit hn, khng chim nhiu khong khng v c th gim nh c
trng lng kt cu. Nhng nhc im ch yu ca h treo Mc.Pherson l
do gim chn va phi lm chc nng ca gim chn li va lm nhim v
ca tr ng c cu li nn trc gim chn chu ti ln nn gim chn cn
phi c cng vng v bn cao hn do kt cu ca gim chn phi
c nhng thay i cn thit v cn thm n dn hng.
Hnh 1.19 - Mi quan h ng hc ca h treo Mc.Pherson.
Trong h thng treo ni chung, v h treo ca cu dn hng ni ring

cc gc t bnh xe c mt ngha v cng quan trng. Chng phi m bo
cho vic iu khin nh nhng, chnh xc, khng gy lc cn ln cng nh
lm mn lp qu nhanh.
Trong qu trnh chuyn ng bnh xe lun lun dao ng theo phng
thng ng, s dao ng ny ko theo s thay i gc nghing ngang ca
bnh xe, tr xoay dn hng v khong cch gia hai vt bnh xe hnh
1.18a, gc nghing dc ca tr xoay ng hnh 1.18-b v chm trc ca
bnh xe hnh 1.18-c. Cc quan h gia cc thng s ph thuc vo s
chuyn v ca bnh xe theo phng thng ng khi gp kch thch t mt
ng hoc khi phanh, cua, gia tc... l mi quan h ng hc ca h treo.
c. H treo 2 n dc
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1- Khung v; 2- L xo; 3- Gim chn; 4Bnh xe; 5- n dc; 6- Khp quay.
Hnh 1.20- H treo hai n dc
H treo hai n dc l h treo c lp m mi bn c mt n dc.

Cc n dc thng c b tr song song st hai bn bnh xe. Mt u ca
n dc c gn c nh vi moay bnh xe, u cn li lin kt bn l vi
khung hoc dm t. L xo v gim chn t gia n dc v khung. n
dc va l ni tip nhn lc ngang, lc dc, v l b phn dn hng. Do
phi chu ti trng ln nn n thng c lm c cng vng tt.
ng thi n dc i hi cn phi c cng vng ln, nhm mc
ch chu c cc lc dc, lc bn v chu mmen phanh ln. Do c kt cu
nh vy, nn h treo ny chim t khng gian v n gin v kt cu, gi
thnh h. H treo ny thng c b tr cho cu sau b ng, khi my t
pha trc, cu trc l cu ch ng.
d. H treo n dc c thanh ngang lin kt
H treo n dc c thanh lin kt xut hin trn xe con vo nhng
nm 70 cng vi s hon thin kt cu cho cc xe c ng c v cu trc
ch ng. Theo cu trc ca n c th phn chia thnh loi treo na c lp
v treo na ph thuc. Theo kh nng lm vic ca h treo, tu thuc vo
cng vng ca n lin kt m c th xp l loi ph thuc hay c lp.
y h treo c phn loi l treo c lp tc l n lin kt c cng nh
hn nhiu so vi cng ca dm cu ph thuc.
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4
1- Bnh xe;
2- Khp quay tr;
3- n dc;
4- Thng xe;
5- L xo;
6- Gin chn.
1
3
Hnh 1.21 - S nguyn l h treo n dc c thanh ngang lin kt.
H treo n dc c thanh ngang lin kt, c c im l hai n dc

c ni cng vi nhau bi mt thanh ngang. Thanh ngang lin kt ng vai
tr nh mt thanh n nh nh i vi cc h treo c lp khc. B phn n
hi ca n c th l l xo tr xon c t gia khung v n dc.
e. H treo n cho:
H thng treo trn n cho l cu trc mang tnh trung gian gia h
treo n ngang v h treo n dc. Bi vy s dng h treo ny cho ta tn
dng c u in ca hai h treo trn v khc phc c mt s nhc
im ca chng. c im ca h treo ny l n bnh xe quay trn
ng trc cho v to nn n cho trn bnh xe.
1-Dm cu; 2- n cho; 3-truyn lc chnh

Hnh 1.22 - S h treo n cho.
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Trong h treo n cho hnh v 1.22 chi tit n hi phn ln l l xo

xon c. Ngoi ra i vi h treo ny, ngi ta cn hay dng thm thanh n
nh lm tng s m du trong qu trnh chuyn ng.
So vi cc h treo xt trn th h treo n cho c c im ni bt
ch khi bnh xe dao ng theo phng thng ng th cng ko theo s thay
i khong cch gia hai vt bnh xe, gc nghing ngang, nhng s thay i
nh hn cc loi xt trn. Ring chm trc ca bnh xe th thay
i khng ng k.
Hin nay, i vi t con hin i ngi ta thng hay s dng cc
loi h thng treo c lp cho h treo trc nh: h thng treo hai n
ngang, h thng treo Mc.Pherson, h thng treo n dc, n cho ... l
nhng loi c cu to n gin, t s chi tit, khi lng phn khng c
treo nh, gi thnh h, d tho lp sa cha v bo dng. Cn treo sau th
a s l dng h treo ph thuc cho xe ti v xe SUV, xe pickup...v dng h
thng treo c lp cho xe con.
CHNG 2
NI DUNG V PHNG PHP NGHIN CU
2.1. Ni dung nghin cu
2.1.1. Nghin cu h dao ng mt phn t khi lng
M hnh ha dao ng ca mt phn t (mt khi lng) ca h thng
treo 1 bc t do (phng thng ng). Trn c x m hnh trn c th kho
st nh hng ca cc thng s c trng v kt cu nh cng k ca l
xo, h s cn c ca gim chn n bin dao ng cc i, gia tc cc i,
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thi gian n nh ca hNgoi ra cng c th kho st nh hng ca iu

kin chuyn ng thng qua vic thay i tn s, bin kch thch u vo.
2.1.2. Nghin cu h dao ng hai phn t khi lng
Kho st tnh cht dao ng ca t, vi t cch l mt h hai khi
lng: phn khi lng c treo gm khi lng khung, gm, ng c v
ngi ngi trn xe; phn khi lng khng c treo gm khi lng cu
xe, bnh xe, cm moay v a phanh. Trong thc t nh hng tng tc
gia cc phn t dao ng l rt phc tp, vic xy dng m hnh ton vi
vi gi thuyt nht nh s rt thun li cho vic nghin cu nh hng ca
n yu t hoc a yu t trong bi ton dao ng xe t, lm c x khoa
hc cho chn on k thut h thng treo v cc bnh xe.
2.1.3. Kho st dao ng ca t thng qua m hnh dao ng lin kt
Kho st dao ng ca t thng qua m hnh dao ng lin kt (m
hnh phng) nhm tm hiu nh hng ca kch thch ca ng ti chuyn
ng ca t v s phn b khi lng ca xe khi phanh hoc tng tc.
2.2. Phng php nghin cu l thuyt
Nghin cu dao ng ca t lin quan n vic tm cc quan h ng
hc, ng lc hc ca cc khi lng dao ng (khi lng cu xe v thn
xe phn b trn cc bnh xe) vi cc thng s c trng ca cc phn t h
thng treo khi chu kch thch t mt ng. Nh vy bi ton phi i xy
dng m hnh dao ng ca t khi chu kch thch ch cho mt bnh xe v
cho hai bnh xe cng bn.
Ni dung ca m hnh thc cht l cc phng trnh vi phn dao ng
din t mi quan h gia cc thng s u vo v cc thng s c trng ca
dao ng. Cc h phng trnh vi phn ny v cc iu kin gii hn c
coi l m hnh ton ca h thng. T m hnh ton i xy dng m hnh
bng Matlab Simulink thun tin cho vic m phng ng hc v c
nhng kt lun sau khi chy m phng.
2.3. Cc ch tiu v m hnh nghin cu dao ng t
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2.3.1. Cc ch tiu nh gi dao ng

Khi t chuyn ng trn ng dao ng xut hin trong ton b h
thng ca xe di tc ng kch thch ca cc mp m bin dng ng.
Dao ng ca t nh hng n bn thn ngi li v hnh khch, hng
ho chuyn ch trn xe, bn, tui th ca cc kt cu t. Ngha l trong
qu trnh chuyn ng t lun b dao ng, vi thi gian ko di s gy ra
mt mi vi ngi li v hnh khch, lm gim hiu sut cng vic, c th
gy ra nguy c mc bnh thn kinh v no dn n mt phn ng linh hot
v iu khin chnh xc gy ra tai nn giao thng.
V vy khi ni n dao ng ca t theo quan im ca ch s
dng th m du chuyn ng ca t c th hiu l tp hp cc tnh cht
m bo hn ch cc tc ng ca dao ng c nh hng xu ti con ngi,
hng ho v cc kt cu ca t.
Theo quan im v an ton chuyn ng th dao ng ca t gy ra
s thay i gi tr phn lc php tuyn gia b mt tip xc ca bnh xe vi
mt ng. Nu gi tr phn lc php tuyn gim so vi trng hp ti trng
tnh th s lm gim kh nng tip nhn cc lc dc, ngang (Lc ko, lc
phanh, lc bm ngang), dn n hin tng tch bnh khi ng gy mt
an ton khi xe chuyn ng, phanh v quay vng... cn khi gi tr phn lc
ny tng th s lm tng ti trng ng tc dng xung nn ng v tc
ng ngc li i vi cc kt cu ca xe.
T cc khi nim trn c th nh gi cht lng xe mt cch
khch quan, chnh xc cn phi nghin cu v pht trin l thuyt dao ng
trong tt c lnh vc lin quan. Nghin cu tng qut v dao ng xe l
gii quyt mi quan h ng-Xe-Ngi.
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Ngi
Hthng phanh,li.
Th
n Xe
Hthng treo
ng
Hnh 2.1 - H thng ng-Xe-Ngi
Qu trnh nghin cu dao ng ca t l qu trnh xc nh cc

thng s ca h thng treo, to c s cho vic thit k cc phn t ca
chng: phn t n hi, phn t gim chn v b phn dn hng. C nh
vy mi to ra mt h dao ng c cht lng tt, cc kt qu nghin cu s
gp phn nng cao kh nng thit k, ci tin cng ngh t, nng cao hiu
qu s dng, tng tnh tin nghi v nng sut vn chuyn ca t trong nn
kinh t quc dn.
Cc tnh cht dao ng ca t thng nh gi theo 2 quan im:
- Quan im v m du chuyn ng m thng s gia tc dao ng
c tnh cht quyt nh v n tc dng ln li xe v hnh khch.
- Quan im v an ton chuyn ng v ti trng tc dng xung
nn th gi tr ti trng ng gia bnh xe v nn ng l thng s mang
tnh cht quyt nh.
2.3.1.1. Ch tiu nh gi m du chuyn ng:
nh gi m du chuyn ng ca t, cc nc c nn cng
nghip t pht trin hng u trn th gii a ra cc ch tiu nh gi
m du khc nhau. Da vo cc cng trnh nghin cu ca nc ngoi v
cc ti liu ca vin khoa hc k thut bo h lao ng Vit Nam, a ra mt
s ch tiu c trng cho m du chuyn ng ca t nh sau:
a.Ch tiu v tn s:
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Con ngi khi tham gia vo giao thng cng l mt h dao ng, di
chuyn l hot ng thng xuyn ca con ngi tr thnh mt thi quen.
Khi con ngi di chuyn tng ng vi h thc hin dao ng, s ln
bc trong mt pht thng trong khong 60-85 bc, tng ng vi tn s
dao ng khong 1-1,5Hz. Vy nn t thi quen con ngi chu dao ng
hp l trong khong tn s va nu trn. Khi nh gi m du chuyn
ng ca t vi cc iu kin mt ng cng nh kt cu c th th tn s
dao ng ca t phi nm trong gii hn 1-1,5 Hz, thng ly chun
nh gi dao ng ca t nh sau:
- i vi xe du lch
n = 60-85 (d/ph)
- i vi xe vn ti
n = 85-120 (d/ph).
b.Ch tiu v gia tc dao ng.

Cc th nghim ko di trong 8 gi lin cho thy nhy cm hn c i
vi ngi l di tn 4-8 Hz. Trong di tn s ny cc gi tr cho php ca
ton phng gia tc nh sau [1].
(m/s2)
D chu :
0,1
Gy mt mi :
0,315 (m/s2)
Gy nh hng ti sc khe : 0,63 (m/s2)

Cc s liu trn c th xem l gn ng nh gi m du chuyn
ng ca t, bi v n da trn c s s liu thng k. Mt khc, iu quan
trng hn l dao ng t truyn cho con ngi thc cht l tc ng ngu
nhin vi di tn s rng v phc tp c theo hng tc dng. Ngoi ra theo
mt s ti liu tham kho cc tc gi cn a ra mt s ch tiu khc nh
gi m du chuyn ng ca t nh ch tiu tnh m du chuyn ng
da vo gia tc dao ng v thi gian tc ng ca n.
2.3.1.2. Ch tiu v an ton chuyn ng v ti trng tc dng xung nn
ng:
Theo quan im v an ton chuyn ng(xt theo kha cnh v tnh
iu khin) v ti trng tc dng xung nn ng th tr s lc tc dng
thng ng gia bnh xe vi ng cng l thng s quan trng nh gi.
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==============================================================
Lc ng
Fd (t )
xc nh phc tp hn v n ph thuc vo tnh cht dao
ng ca t, vn tc chuyn ng v mp m bin dng ng.

Theo quan im v ti trng tc dng xung nn ng th s da vo
tr s ln nht ca ti trng bnh xe, ngha l tng ng vi gi tr dng ca
Fd (t )
nh gi, nu
Fd (t )
cng ln th s nh hng do lc tc ng ti
lp xe v cc b phn chi tit ca xe v nn ng cng b tc ng xu

nhiu hn. Mt khc gim s nh hng ca
Fd (t )
th trong trng hp
gim ti trng bnh xe so vi gi tr ti trng tnh, ngha l lm gim kh

nng tip nhn lc tip tuyn(nht l khi phanh) v lc ngang(quan trng khi
quay vng). Trong trng hp c bit bnh xe b ny khi mt ng khi
lc tc dng t ng ln bnh xe s bng 0 v t s mt tnh iu
khin. nh gi tnh cht dao ng ca t theo quan im v an ton
chuyn ng cn xc nh t s gia lc tc ng
bnh xe l R t K : K =
Fd
Fd (t )
v ti trng tnh ca
Rt k
Kho st dao ng ca t ngi ta quan tm n s bm ca lp vi

mt ng, nhm m bo dao ng ca t tho mn cc ch tiu v m
du nhng bnh xe vn phi bm ng, nu khng t 2 ch tiu s dn
n lm mt tnh n nh khi iu khin xe, lm tng tiu hao nhin liu...
Gi tr gn ng ca lc tc dng xung nn ng c th xc nh
Fd K L ( q )
nh sau:
Trong :
KL
: cng ca lp.
: chuyn dch ca bnh xe theo phng thng ng.
q : chiu cao mp m bin dng ng.

C th xc nh gi tr td max l gi tr cc i ca chuyn dch tng i
ca bnh xe vi ng theo biu thc:
td max = Max ( q )
Gi tr td max cng c th lm c s nh gi kh nng bm ca lp

vi ng.
2.3.3. M hnh dao ng.
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t thuc h c hc nhiu vt, dao ng vi di tn s thp khng vt

qu 50Hz. Vic lp v chn m hnh dao ng phi theo 3 tiu ch sau:
- Mc tiu nghin cu ( ti ny kho st theo mc ch chn on)
- Cu trc ring ca i tng nghin cu
- Kh nng tnh ton v phng tin tnh ton.
Ngy nay, vi s pht trin ca khoa hc k thut kh nng tnh ton
hu nh khng b hn ch (c nhiu phn mm rt mnh h tr tnh ton),
nn ch yu khi chn v lp m hnh thng cn c vo mc tiu v c
im kt cu ca i tng.
V mc tiu nghin cu c th bao hm cc vn sau:
1. Nghin cu ti u h treo, k c h treo tch cc. i vi mc tiu
ny th ch cn kho st m hnh (mt trong 4 bnh).
2. Nghin cu v dao ng lin kt, thng dng m hnh phng; m
hnh phng cng cn dng nghin cu nh hng ca ng.
3. Nghin cu s trt v lt di tc ng ca ngoi lc nh ng
mp m, gi bn nn thng s dng m hnh hoc m hnh full.
a. M hnh
M hnh bao gm hai khi lng c treo (thay th cho khi
lng thn xe) v khi lng khng c treo (thay th cho khi lng bnh
xe, cu xe v cc thnh phn lin kt). Phn treo v khng c treo lin kt
vi nhau thng qua cc phn t n hi ca treo v gim chn, c cng l
k, h s cn gim chn c nh th hin trong hnh 2.2
c th chuyn m hnh vt l thnh m hnh ng lc hc h dao
ng t, cn phi c mt s gi thit nhm n gin cho vic tnh ton
nhng vn m bo tnh ng n ca kt qu. Qu trnh nghin cu trong
m hnh ch xt dao ng ca mt trong bn bnh xe, dao ng ca h l
nh, tuyn tnh, xung quanh v tr cn bng tnh, bnh xe ln khng trt v
lun tip xc vi ng...
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M hnh 1/4 c th dng chn

z2
m2
ti u cc thng s nh cng lp,
m2 g*
c2
k2
khi lng khng c treo m,
z1
m1
cng c v h s cn gim chn k
m1 g*
c1
k1
theo cc hm mc tiu va nu trn.
Vic ny c ngha trong bi

ton iu khin, ti u h treo.
Hnh 2.2 - M hnh 1/4
b. M hnh dao ng lin kt

M hnh ng lc hc ny biu th dao ng lin kt t 2 cu dng
m hnh phng, c ngha l t c gi thit i xng qua trc dc ca xe
v xem mp m ca bin dng ng di bnh xe tri v phi l nh
nhau. Khi lng treo c qui dn v trng tm phn treo biu th qua gi
tr khi lng m3 (i din cho khi lng c treo l thn xe) v m1, m2
(i din cho khi lng khng c treo l cu xe) vi 4 bc t do l Z3, ,
Z1, Z2 .
J
z '1
z3
lf
c12
k1 2
z1
z '2
m3
lr
m3 *g
m1
m2
m1 *g
k11
c2 2
k2 2
z2
m2*g
k21
q1
q2
Hnh 2.3 - M hnh phng dao ng t 2 cu
M hnh ny hiu qu vi bi ton b tr chung, v l m hnh n

gin khi nghin cu v ng v phn b ti khi phanh.
c. M hnh khng gian xe con
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M hnh khng gian xe hai cu c a ra nh trong hnh 2.5 [7]. Xe

con c khi lng b nhng li c yu t phi tuyn hnh hc v vt l ln
nn khng th b qua khi lp m hnh. c im kt cu l v chu lc
(unibody),h treo c lp c yu t phi tuyn hnh hc cao. Trong phm vi
ti ny do hn ch v mt thi gian, k thut nn ch a ra m hnh mang
tnh tham kho ch cha kho st c m hnh khng gian ny.
Hnh 2.4 - M hnh khng gian xe con
2.3.4. Hm kch ng
Chuyn ng ca t trn mt ng khng bng phng s sinh ra
cc dao ng ca khi lng phn khng c treo v khi lng phn c
treo ca t. mp m ca mt ng l ngun kch thch chnh cho t
dao ng. Khi nghin cu m hnh dao ng ca t cn thit phi m t
ton hc bin dng ca mt ng, v chiu cao mp m ca bin dng
ng ti v tr tip xc ca bnh xe vi ng s tham gia vo phng trnh
vi phn m t chuyn ng ca h. Hm kch ng l mt yu t thuc m
hnh dao ng, m t nhng yu t gy dao ng, v thng c m t
di dng cc hm bin dng sau:
- Kch thch dng bc vi bin ho
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- Hm sin: h = hosin t
- Hm xung: h = f i ( t t k )
- Hm dao ng ngu nhin: h = f ( t ) ( m f , R f ( ) )

Vi mf: gi tr trung bnh
Rf: Hm quan h
: Thi gian tng quan.
Vic chn loi kch ng no th ph thuc c th vo tng mc tiu

nghin cu. Nu nghin cu v nh hng ca ng th buc phi dng
hm kch ng ngu nhin. Cn nu ti u h treo th dng hm sin v hm
xung l . Trong phm vi ti ny ch kho st h dao ng mt phn t
khi lung, h dao ng hai phn t khi lng va h dao ng lin kt; do
ch dng hm sin v dng kch thch bc thang.
Ngoi mp m ca ng l yu t gy dao ng, cn c cc yu t
gy dao ng khc m ta c th k ra nh sau: Gi nht l gi ngang; Gi
dc; Gc quay v lng, c trng qua gia tc ngang vi ngoi lc l lc qun
tnh li tm khi vo cua ...
Nh vy c tt c 4 yu t gy nh hng n dao ng t m trong
khi nghin cu cng phi cp, hoc l ring v tng yu t mt, hoc
ng thi mt s yu t kt hp. Trong phm vi ti ny ch tp trung
nghin cu kch ng t mt ng dng bc hoc theo hnh sin.
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CHNG 3
NG DNG SIMULINK M PHNG DAO NG
CA PHN T KHI LNG CA C CU TREO
3.1. Gii thiu phn mn Matlab-Simulink 7.0
Matlab (MATric LABoratory) l mt cng c phn mm ca
MathWork vi giao din cc mnh cng li th trong k thut lp trnh p
ng c nhng vn ht sc a dng: t cc lnh vc k thut chuyn
ngnh nh in, in t, iu khin t ng, rbt cng nghip, vt l ht
nhn cho n cc ngnh x l ton chuyn dng nh thng k, k ton ...
Matlab c b lnh rt mnh gip n c th gii quyt cc loi bi ton khc
nhau, c bit l cc h phng trnh tuyn tnh, phi tuyn hay cc ma trn
vi kt qu nhanh chng v chnh xc. B lnh ny ln ti hng trm v
ngy cng c m rng thng qua cc hm ng dng c bi ngi s
dng hay thng qua th vin tr gip. Bn cnh Matlab cho php x l
d liu, biu din ha mt cch mm do, n gin v chnh xc trong
khng gian hai chiu cng nh ba chiu gip ngi s dng c th quan st
mt cch trc quan v a ra phng php gii tt nht. Phn ct li ca
chng trnh bao gm mt s hm ton, chc nng nhp/xut cng nh kh
nng iu khin chu trnh m nh ta c th dng nn cc Scripts. Thm
vo l b cng c (Toolbox) c th b sung cc chc nng chuyn dng.
Thng hay s dng cc Toolbox nh: Control System Toolbox, Signal
Processing Toolbox, Optimization Toolbox, Stateflow Blockset, Power
System Blockset, Real-time Workshop v Simulink. Simulink l mt Toolbox
c vai tr c bit quan trng: Vai tr ca mt cng c mnh phc v m
hnh ho v m phng cc h thng K thut - Vt l trn c s s cu
trc dng khi.
Simulink l phn chng trnh m rng ca Matlab nhm mc ch
m hnh ho, m phng v kho st cc h thng ng hc. Giao din ho
trn mn hnh Simulink cho php th hin h thng di dng s tn hiu
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vi cc khi chc nng quen thuc. Simulink cung cp cho ngi s dng
mt th vin rt phong ph, c sn vi s lng ln cc khi chc nng cho
cc h tuyn tnh, phi tuyn v gin on. Hn th, ngi s dng c th to
khi cho ring mnh. Mt tnh nng c bit khc ca Simulink l c th
nhn tn hiu trc tip t cc phn mm khc ging nh nhn tn hiu t bn
ngoi vo x l ca mt s phn mm Dasylab...sau khi x l n c th
phn hi tn hiu tr li iu khin i tng .
Trn hnh 3.1 th hin mn hnh lm vic ca Matlab, y l mn hnh
chnh iu khin ton b tt c cc qu trnh din ra Matlab.
Hnh 3.1: Mn hnh Matlab
Trn hnh 3.2 th hin mn hnh ca Simulink Library Brower, mn hnh

c cha tt c cc phn t c sn ca Simulink c th s dng.
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Hnh 3.2- Ca s tra cu cc khi trong th vin
Trn hnh 3.3 biu din mt mn hnh mi chun b cho qu trnh lp

trnh vi cc phn t c sn trong Matlab-Simulink.
Hnh 3.3- Mn hnh xy dng s khi (New model window)

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3.1.1. Cc khi chc nng c sn thng dng trong phn mm MatlabSimulink

Tt c cc khi chc nng u c xy dng theo mt mu ging
nhau. Mi khi c mt hay nhiu u vo/ra (tr trng hp ngoi l: cc
khi thuc th vin Sources v Sinks ch c u vo hoc u ra), c tn v
trung tm hnh khi hnh ch nht c biu tng (hm truyn t, th c
tnh hay tn files) th hin c im ring ca khi. Ngi s dng c th
ty thay i tn ca khi, tuy nhin mi tn ch c dng mt ln duy
nht trong phm vi ca s ca mn hnh m phng. Khi nhy kp phm
chut tri trc tip vo khi ta s m ca s tham s Block Parameters (tr
cc khi Scope, Slider Gain, Subsystem) v c th nhp th cng cc tham
s c trng ca khi. Nu mun nh dng li khi ta click chut phi vo
khi format xoay khi, n hoc hin tn khi, to bng m, o chiu
khi; hoc thay i font ch, mu nn hay mu ca khi.
Simulink phn bit (khng ph thuc vo th vin con) hai loi thuc
khi chc nng: Khi o (virtual) v khi thc (not virtual). Cc khi thc
ng vai tr quyt nh khi chy m phng m hnh Simulink. Vic thm bt
mt khi thc s lm thay i c tnh ng hc ca h thng ang c m
hnh Simulink m t (v d nh khi tch phn Intergrator hay hm truyn
t Transfer Fcn ca th vin Continuous, khi Sum hay khi Product ca
th vin con Math). Ngc li, khi o khng c kh nng thay i c tnh
ca h thng, chng ch lm thay i din mo ca m hnh Simulink (khi
Mux, Demux hay enable thuc th vin Signal Routing v Ports &
Subsystems).
Sau y l mt vi cc khi chc nng c sn v hay s dng trong th vin
ca Matlab Simulink:
a.Th vin Commomly used blocks:
Th vin ny bao gm cc khi thng dng trong vic xy dng m
hnh, thit lp thng s u vo v u ra, phc v m phng.
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Hnh 3.4 cc khi ca th vin Commomly Used Blocks
Khi Bus selector: Ta c th s dng khi Bus Selector ti to li

cc tn hiu t mt Bus tn hiu, ng thi gom chng li thnh cc tn hiu
ring r ban u.
Khi constant: Khi constant to nn mt hng s (khng ph thuc
vo thi gian) thc hoc phc. Hng s c th l scalar, vector hay ma trn,
ty theo cch khai bo tham s Constant Value v Interpret vector
parameter as 1-D c c chn khng. Nu c chn, ta c th khai
bo tham s Constant Value l vector hng hay ct vi kch c [1 n] hay
[n 1] di dng ma trn. Nu khng c chn, cc vector hng hay
ct ch c s dng nh vector vi chiu di n, tc l tn hiu 1-D
Khi Data type Conversion
Khi Demux: Khi Demux c tc dng ngc li vi Mux: tch tn
hiu c chp li t nhiu tn hiu ring r tr li thnh tn hiu ring r mi.
Khi Demux lm vic theo ch vector (Bus selection mode = off) hay ch
Bus (Bus selection mode = on)
Khi Discrete-Time integrator: Khi Discrete Time Integrator (tch
phn gin on) v c bn cng nh khi Integrator (tch phn lin tc). Bn
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cnh chu k trch mu ta cn phi chn cho mi khi thut ton tch phn (tch
phn Euler tin, tch phn Euler li hay tch phn hnh thang). Sau khi chn
thut ton tch phn, Biu tng (Icon) ca khi li thay i tng ng.
Khi Gain: Khi Gain c tc dng khuych i tn hiu u vo (nh
dng 1-D hay 2-D) bng biu thc khai bo ti Gain, biu thc c th ch
l mt s hay l mt bin. Nu l bin, bin phi tn ti trong mi trng
Matlab Workspace, ch khi y Simulink mi c th tnh ton c vi bin.
Nh thay i gi tr ca tham s Multiplication ta c th xc nh: php nhn
ca bin vo vi Gain c thc hin theo phng thc nhn ma trn hay
nhn tng phn t.
Khi Integrator: Khi Integrator ly tch phn tn hiu u vo ca
khi. Gi tr ban u c khai bo trc tip ti hp thoi Block Parameter
hoc thng qua chn gi tr internal ti Initial condition source sau
in gi tr ban u ly t ngun bn ngoi khi.
u ra ca khi Integrator c th c mt tn hiu bn ngoi lp v
(reset) mt gi tr ban u. Ti External reset ta c th chn dng tn hiu
reset (v d: rising c ngha l sn ln). Khi chn External reset mt trong
cc gi tr th khi Integrator s t ng thm mt u vo dnh cho tn hiu
reset.
Nu cn chn bin tn hiu u ra, ta kch hot Limit output v
khai bo gi tr ti a dng (Upper hay Lower) saturation limit. Kch hot
Show saturation port ta c th ly c tn hiu bo ho tng ng (1: ti
u ra khi coc bo ho dng, -1: khi c bo ho m, 0: cho cc gi tr lng
chng gia hai ngng bo ho). Nu kch hot Show state port, trn biu
tng ca khi s xut hin thm mt u ra (state port) cho php trch tn
hiu trng thi ca khi Integrator. Bin trng thi ca khi thc cht ng
nht v gi tr vi bin u ra, tuy nhin Simulink tnh hai bin (bin ra
v bin trng thi) ti nhng thi im t nhiu c khc nhau. Nu m hnh
Simulink c cha cc bin trng thi rt chnh lch nhau v kch c gi tr
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th khi y nn khai bo tham s Absolute tolerance ring r thm cho tng

khi Integrator ca m hnh.
Khi Logical Operator: Khi Logical Operator thc hin kt hp cc
bin vo khi theo hm Logic chn ti Operator. Bin ra s nhn cc gi
tr 1 (TRUE, ng) hay 0 (FALSE, sai). Nu cc bin c nh dng vector (tn
hiu 1-D) hay ma trn (tn hiu 2-D), cc phn t ca chng s c kt hp
theo hm Logic chn, v u ra s xut hin mt vector hay ma trn.
Khi Relational Operator: Khi Relational Operator thc hin kt hp
hai tn hiu u vo thnh mt ton t so snh chn ti Operator. Bin ra
s nhn cc gi tr 1(TRUE) hay 0 (FALSE).
Khi Mux: Cc khi Mux c tc dng nh mt b chp knh
(multiplexer), c tn hiu chp cc tn hiu 1-D ring r (tc l: cc tn hiu
Scalar hay vector) thnh mt vector tn hiu mi. Nu nh mt trong s cc tn
hiu ring r l 2-D (ma trn tn hiu), khi y ch c th tp hp cc tn hiu
ring r thnh Bus tn hiu. Ti number of inputs ta c th khai bo tn, kch
c v s lng tn hiu vo.
Khi In1 v Out1: Inport v Outport l cc khi u vo v u ra ca
mt m hnh m phng. Ti hp thoi Block Parameters ta c th in vo
Port Number s th t ca khi. Simulink t ng nh s cc khi Inport v
Outport mt cch c lp vi nhau, bt u t 1. Khi ta b sung thm khi th
khi mi s nhn s th t k tip. Khi xo mt khi no , cc khi l c
t ng nh s mi. Trong hp thoi Block Parameters ca Inport, ta cn c
Port Winh dng khai bo b rng ca tn hiu vo.
Thng qua cc Inport v Outport thuc tng trn cng (ch khng
phi thuc cc h thng con), ta c th ct vo hay ly s liu ra khi mi
trng Workspace. lm iu ta phi kch hot Input v Output
trang Workspace I/O ca hp thoi Simulation Parameters v khai bo tn cc
bin cn ly s liu vo, hay tn ca cc bin m ta s gi s liu ti.
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Khi Product: Khi Product thc hin php nhn tng phn t hay
php nhn ma trn , cng nh php chia gia cc tn hiu (dng 1-D hay 2-D)
ca khi ph thuc vo gi tr t ca tham s Multiplication v Number of
inputs.
Khi Scope: Nh khi Scope
ta c th hin th cc tn hiu ca qu
trnh m phng. Nu m ca s
Scope sn t trc khi bt u qu
trnh m phng, ta c th theo di
trc tip din bin tn hiu.
Khi Subsystem: Khi Subsystem c s dng to h thng con

trong khn kh ca mt chng trnh Simulink. Vic ghp vi m hnh thuc
cc tng cp trn c thc hin nh khi Inport (cho tn hiu vo) v Outport
(cho tn hiuh ra). S lng u vo/ra ca khi Subsystem ph thuc vo s
lng khi Inport v Outport.
u vo/ra ca khi c t theo tn mc nh ca cc khi Inport v
Outport. Nu chn Format/Hide Port Labels trn menue ca ca s khi
Subsystem, ta c th ngn chn c cch t tn k trn v ch ng tc
cho Inport v Outport cc tn ph hp hn vi ngha vt l ca chng.
Khi Sum: u ra ca khi Sum l tng cc tn hiu u vo. Nu cc
tn hiu l scalar, tn hiu tng cng l scalar. Nu u vo c nhiu tn hiu
hn hp, Sum tnh tng ca tng phn t. V d nu tn hiu vo bao gm ba
tn hiu: 1, sin(x) v [4 4 5 6], tn hiu ra s c dng: [5+sin(x),
5+sin(x),6+sin(x),7+sin(x)]. Nu khi Sum ch c mt u vo dng vector,
khi y cc phn t ca vector s c cng thnh scalar.
Khi Switch: Khi Switch c tc dng chuyn mch, a tn hiu t
u vo 1 hoc 3 ti u ra. Tn hiu iu khin chuyn mch c a ti
vo u 2 (u vo gia). Ngng gi tr iu khin chuyn mch c khai
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bo bng tham s Threshold, khi tn hiu iu khin Threshold u ra c

ni vo u 1. Khi tn hiu iu khin Threshold, u ra c ni vi u 3.
b.Th vin Continuous
Hnh 3.5 cc khi ca th vin continuous
Khi Derivative: Php tnh o hm tn hiu u vo c thc hin

nh khi Derivative. Tn hiu tm c u ra c dng u/t, vi l bin
thin ca i lng cn tnh k t bc tch phn lin trc . Gi tr ban
u ca bin ra l 0.
Khi Integrator: Khi Integrator ly tch phn tn hiu u vo ca
khi. Gi tr ban u c khai bo trc tip ti hp thoi Block Parameter
hoc thng qua chn gi tr internal ti Initial condition source sau
in gi tr ban u ly t ngun bn ngoi khi
State-space: Khi State-Space l m hnh trng thi ca mt h tyn
tnh. c m t bi h phng trnh sau y:
X =Ax + Bu
Y = Cx + Du
Bc ca h do kch c ca ma trn trng thi A quyt nh. Nu Nx l
bin s trng thi, Nu l bin s vo v Ny l bin s ra, cc tham s ca h
phi c kch c nh sau: A(NxNx), B(NxNu), C(NyNy) v D(NyNu).
Khai bo nh vy ta s quyt nh Nu l b rng ca vector tn hiu vo v
Ny l b rng ca vector tn hiu ra.
Transfer Function: Nh khi Transfer Fcn ta c th m hnh ho hm
truyn t ca mt h tuyn tnh. Khi Transfer Fcn c c im hon ton
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tng ng vi lnh tf(num,den) ca Control System Toolbox. Tham s ca

khi l cc h s ca a thc t s (Numerator) v mu s (Denominator),
khai bo theo th t m ca s gim dn. Bc ca mu s phi ln hn hoc
bng bc ca t s.
Ti Numerator ta cng c th khai bo ma trn. B rng ca vector
tn hiu ra s tu thuc vo s dng ca ma trn c khai. Cc tn hiu
vo ch c chp nhn l scalar.
Khi Zero-Pole: Ngc li vi Transfer Fcn, khi Zero-Pole s to
nn cc tham s Zero, Poles v Gain mt hm truyn t di dng h s
ho theo im khng, im cc (m=s lng im khng, n=s lng im
cc). S lng im cc phi ln hn hoc bng s im khng. Cc im
khng, im cc phc phi l lin hp. Khi Zero-Pole tng ng vi
lnh zpk(z, p, k) ca Control System Toolbox.
Khi Transport Delay: Khi transport Delay lm tr tn hiu vo
khong thi gian 0 khai bo ti Time Delay trc khi xut ti u ra. Ch
n khi thi gian m phng bt u vt qu thi gian tr (so vi lc bt u
m phng), khi Transport Delay mi xut gi tr khai ti Initial input ti
u ra.
Khi Variable Transport Delay: Vi khi Variable Trasport Delay
ta c th iu khin tr tn hiu mt cch rt linh hot: Tn hiu ch thi gian
tr s c a n u th hai (u vo pha di) ca khi. Ti
Maximum delay ta phi khai mt gi tr tr ti a, c tc dng gii hn gi
tr iu khin tn hiu thi gian tr.
c.Th vin Discrete
Th vin Discrete phc v m phng ng hc cc h thng gin on
v thi gian. Cc khi phc v xut, nhp s liu, cc hm m t c s
dng bnh thng trong h gin on. Cc khi ny c th t ng nhn tha
k chu k trch mu ca cc khi ni pha trc chng. Tt c cc khi thuc
th vin u c mt khu trch mu u vo.
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Hnh 3.6 cc khi ca th vin Discrete
Khi Unit Delay: Khi Unit Delay c tc dng trch mu tn hiu vo v

ct gi gi tr thu c trong mt chu k trch mu. V vy, khi c c im
nh mt phn t c bn ca h gin on. Khi c th c s dng nh
mt khu qu t tn s trch mu thp sang tn s trch mu cao.
Discrete Time Integrator: Khi Discrete Time Integrator (tch phn
gin on) v c bn cng nh khi Integrator (tch phn lin tc). Bn cnh
chu k trch mu ta cn phi chn cho mi khi thut ton tch phn (tch
phn Euler tin, tch phn Euler li hay tch phn hnh thang). Sau khi
chn thut ton tch phn, Biu tng (Icon) ca khi li thay i tng ng.
Discrete Filter (scalar): Khi Discrete Filter l mt khi lc c hm
truyn t c Matlap quy nh sn c dng nh sau
y ( z 1 ) B ( z 1 ) b1 + b2 z 1 + b3 z 2 + ... + bm +1 z m
=
=
H(z ) =
x( z 1 ) A( z 1 ) a1 + a 2 z 1 + a3 z 2 + ... + a n +1 z n
-1
Cc h s ca a thc t s v mu s c khai bo theo trnh t s m

ca z gim dn, bt u t h s ca z0. Bng khi Discrete Filter ta c th
ci t mt cch rt d dng cc khu lc digital m t.
Discrete Transfer Function (scalar): Khi Discrete Transfer Function
c c im ging nh khi Discrete Filter nhng hm truyn t khc vi
Discrete Filter, n m t hm truyn t nh sau
B( z ) b1 z m + b2 z m 1 + b3 z m 2 + ... + bm +1
=
H(z) =
A( z ) a1 z n + a 2 z n 1 + a 3 z n 2 + ... + a n +1
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Cc h s ca z gim dn, bt u t m (t s) v n (mu s). Nu ta khai

bo chiu di cuat hai vector h s t v mu s nh nhau bng cch, b
sung vo vector ngn hn cc h s vi gi tr 0, khi y khi Discrete
Transfer Function s hot ng nh khi Discrete Filter.
Discrete Zero-pole (scalar): Trong khi Discrete Zero-Pole, thay v
phi khai bo cc h s, ta khai bo im cc-im khng ca hm truyn
t v mt h s khuych i.
Discrete State Space: Khi Discrete State Space m t mt h thng
gin on bng m hnh trng thi. Khi c c im ging nh khi State
Space ca cc h lin tc
Zero-Order Hold: Khi Zero-Order Hold trch mu tn hiu u vo v
gi gi tr thu c n thi im trch mu tip theo. Nn s dng khi
Zero-Order hold trong cc h trch mu cha c mt trong cc khi gin
on c miu t trn (tc l nhng khi c sn khu d chm bc 0).
Khi chn bc tch phn cng, c th s dng khi zero-order Hold ti cc
v ch chuyn t tn s trch mu cao sang tn s trch mu thp.
Memory: Khi Memory xut u ra gi tr ca u vo thuc bc
tch phn va qua. Ni cch khc khi Memory cso c im ca mt khu
d chm bc 0, lu gi tn hiu trong khong thi gian mt bc tnh. Khi
m phng vi ode15s v ode113 (c hai u l phng php tch phn a
bc) ta khng nn s dng khi Memory.
d.Th vin Discontinuities
Hnh 3.7 cc khi ca th vin Discontinuities
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Backlash: Khi Backlash phng li c tnh ca mt h thng c

d. d thung xut hin trong cc kt cu c kh c cha hp s,
chnh l d lc gia hai bnh rng khp nhau ca hp s. d lc
thng xuyn xut hin do gia cng thiu chnh xc hay do hao mn vt liu.
Tham s Deadband width khai bo b rng ca d (i xng u ra).
Khi Rate Limiter v Saturation: Khi Rate Limiter gii hn o
hm bc nht ca tn hiu u vo ti cc tham s Rissing slew rate (gii hn
khi tn hiu vo tng) v Falling slew rate (gii hn khi tn hiu vo gim)
Khi saturation gii hn gi tr ti a ca tn hiu vo v pha dng
(Upper limit) v pha m (Lower limit)
Quantizer: Khi Quantizer chuyn tn hiu u vo ca khi thnh
tn hiu c dng bc thang. Chiu cao ca bc do tham s Quantization
interval quyt nh. Ti thi im tch phn th I, tn hiu ra y(i) c tnh
t tham s Quantization interval q v tn hiu vo u(i). ng thi s dng
hm lm trn round ca MatLab theo:
u (i )
y(i) = q.round
Dead Zone: Bng khi Dead Zone ta c th m phng cc i tng

vi c im: Tn hiu ra c gi tr 0 trong mt khong (khong lit) nht
nh ca tn hiu vo. Gii hn di v trn khong lit do cc tham s Start
of dead zone v End of dead zone quyt nh. Nu tn hiu vo c gi tr nm
trong khong b chn bi hai gi tr , tn hiu ra s nhn gi tr 0. Khi tn
hiu vo u Start of dead zone, tn hiu ra y = u - Start of dead zone. Khi tn
hiu vo u End of dead zone, tn hiu ra y= u - End of dead zone.
Coulomb & Viscous Friction: Khi Coulomb & Viscous Friction m
phng mt h c ma st dnh v ma st trt. Cc dng ma st ny thng
hay tn ti trong cc h thng c c chuyn ng tnh tin hay chuyn ng
xoay trn.
Relay: Tu theo tn hiu vo (tn hiu iu khin), Khi Relay c tc
dng chuyn i tn hiu ra gia hai gi tr Output when on v Output when
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off. Relay s ng mch (trng thi on), nu tn hiu vo u Switch on

point, v tn hiu ra y = Output when on. Relay gi nguyn trng thi nu
tn hiu ra y = Output when off.
Gi tr Switch on point lun phi c chn ln hn hoc bng gi tr
Switch off point. Khi Switch on point > Switch off point, khi Relay m
phng ng c tnh Hysteresis. Khi Switch on point = Switch off point,
khi Relay m phng mt cng tc chuyn mch.
Khi Hit Crossing: Khi Hit Crossing c tc dng pht hin thi im
tn hiu u vo i qua gi tr khai ti Hit Crossing offset theo hng khai ti
Hit Crossing direction. Nu ta chn Show output port, ti thi im Crossing
u ra s nhn gi tr l 1, cn li l 0. Nu ti trang Advance ca hp thoi
Simulation Parameters ta t Boolean logic signals = off, tn hiu ra s l
double, ngoi ra l Boolean.
e.Th vin Math Operations
Th vin con Math Operation c mt s khi vi chc nng ghp
ton hc vi cc tn hiu khc nhau. Bn cnh cc khi n gin nhm cng
hay nhn tn hiu, trong Math cn c nhiu hm ton khc nh lng gic,
logc c chun b sn. Sau y l mt s khi c bn ca Math
Operation:
Khi Sum: u ra ca khi Sum l tng cc tn hiu u vo. Nu cc
tn hiu l scalar, tn hiu tng cng l scalar. Nu u vo c nhiu tn hiu
hn hp, Sum tnh tng ca tng phn t. V d nu tn hiu vo bao gm ba
tn hiu: 1, sin(x) v [4 4 5 6], tn hiu ra s c dng: [5+sin(x) 5+sin(x)
6+sin(x) 7+sin(x)].
Nu khi Sum ch c mt u vo dng vector, khi y cc phn t ca vector
s c cng thnh scalar. V d u vo ch tn ti vector [4 4 5 6] th
u ra s xut hin gi tr 19. Ti List of signs ta c th khai bo cc tnh
v s lng u vo bng cch vit mt chui cc k hiu + , -
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Hnh 3.8 cc khi ca th vin Math Operrations
Khi Product v Dot Product

Khi Product thc hin php nhn tng phn t hay php nhn ma trn,
cng nh php chia gia cc tn hiu (dng 1-D hay 2-D) ca khi ph thuc
vo gi tr t ca tham s Multiplication v Number of inputs.
Khi Dot product tnh tch scalar (v hng) ca cc vector u vo.
Gi tr u ra ca khi tng ng vi lnh Matlab y = sum(conj(u1).*u2).
Math Function v Trigonometric Function
Trong khi Math Function c mt kh lng kh ln hm ton
c chun b sn ti Function, cho php ta chn la theo nhu cu s
dng. Tng t, khi Trigonometric function c tt c cc hm lng gic
quan trng. C hai khi Math function v Trigonometric Function u c th
x l tn hiu 2-D.
Gain, Slider Gain
Khi Gain c tc dng khuych i tn hiu u vo (nh dng 1-D
hay 2-D) bng biu thc khai bo ti Gain, biu thc c th ch l mt
s hay l mt bin. Nu l bin, bin phi tn ti trong mi trng Matlab
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Workspace, ch khi y Simulink mi c th tnh ton c vi bin. Nh

thay i gi tr ca tham s Multiplication ta c th xc nh: php nhn ca
bin vo vi Gain c thc hin theo phng thc nhn ma trn hay nhn
tng phn t.
Khi Slider Gain cho php ngi s thay i h s khuych i scalar
trong qu trnh m phng.
Khi nhy kp chut tri
vo khi, ca s Slider Gain
hin ra cho php thay i h
s khuych i trong khong
lowhigh.
Algebraic Constraint: Khi Algebraic Constraint cng tn hiu vo
ca khi v 0 v xut u ra ca khi gi tr ca bin z (l gi tr ng vi
khi u vo l 0). Tuy nhin, bin ra phi c tc ng ngc li u vo
thng qua mt vng hi tip thch hp.
Ti dnh cho tham s Initial guess ta c th khia bo mt gi tr khi
u cho thut ton vng qun i s. Bng cch la chn kho lo Initial
guess ta c th ci thin chnh xc, thm ch l cch lm duy nht trong
mt vi trng hp gay cn (critical case).
f.Th vin Ports & Subsystems
H thng con (Subsystem) to iu kin cho ngi s dng phn loi,
gim s lng cc khi trong mt ca s. C hai cch to h thng con:
Cch 1: Dng chut nh du tt c cc khi (thuc m hnh h thng
ln) m ta mun gom li vi nhau. Cn ch l nh du c vo ng tn
hiu km theo. Sau chn Create Subsystem thuc menu Edit. Cc khi
c nh du s c Simulink thay th bng mt khi mi Subsystem.
Cch 2: Dng khi Subsystem c sn trong th vin sau nhy chut
kp vo m to h thng con.
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Khi Subsystem: Khi Subsystem c s dng to h thng con

trong khun kh ca mt chng trnh Simulink. Vic ghp vi m hnh
thuc cc tng cp trn c thc hin nh khi Inport (cho tn hiu vo) v
Outport (cho tn hiu ra). S lng u vo/ra ca khi Subsystem ph thuc
vo s lng khi Inport v Outport.
u vo/ra ca khi c t theo tn mc nh ca cc khi Inport v
Outport. Nu chn Format/Hide Port Labels trn menue ca ca s khi
Subsystem, ta c th ngn chn c cch t tn k trn v ch ng t
cho Inport v Outport cc tn ph hp hn vi ngha vt l ca chng.
Khi Inport v Outport: Inport v Outport l cc khi u vo v u
ra ca mt m hnh m phng. Ti hp thoi Block Parameters ta c th in
vo Port Number s th t ca khi. Simulink t ng nh s cc khi
Inport v Outport mt cch c lp vi nhau, bt u t 1. Khi ta b sung
thm khi th khi mi s nhn s th t k tip. Khi xo mt khi no ,
cc khi l c t ng nh s mi. Trong hp thoi Block Parameters
ca Inport, ta cn c Port Winh dng khai bo b rng ca tn hiu vo.
Thng qua cc Inport v Outport thuc tng trn cng (ch khng
phi thuc cc h thng con), ta c th ct vo hay ly s liu ra khi mi
trng Workspace. lm iu ta phi kch hot Input v Output
trang Workspace I/O ca hp thoi Simulation Parameters v khai bo tn
cc bin cn ly s liu vo, hay tn ca cc bin m ta s gi s liu ti.
Khi Enable v Trigger: Hai phn t Enable v Trigger nhm mc
ch to cho cc h con Subsystem c kh nng khi ng c iu kin.
Trong mt h con ch c th s dng mt khi Enable v Trigger. Khi c
gn mt trong hai khi , ti khi Subsystem s xut hin thm mt u vo
c bit, ni m tn hiu Enable (cho php kch hot) hay Trigger (xung kch
hot) c a ti.
Cc h con c khi Enable c gi l h ( c) cho php. H con
s c kch hot ti nhng bc tch phn c pht ra tn hiu Enable vi
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gi tr dng. Tham s States when enabling cho bit cn t gi tr ban u

cho bin trng thi nh th no (xo v khng hay gi nguyn gi tr cui
cng) trc khi uc kch hot. Tham s Show output port gn cho khi
Enable thm mt u ra, to iu kin x l hay s dng tip tn hiu
Enable.
Cc h con c khi Trigger gi l h c kch hot bng xung. Vic
kch hot ny din ra sn dng (Trigger type: rising), hay sn m
(Trigger type: falling), hay c hai sn (either), ca xung kch hot . Nu
Trigger type c chn l function-call, ta c c hi ch ng to xung kch
hot nh mt S-function do ta t vit.
Cc khi Enable v Trigger l cc khi o c iu kin.
g.Th vin Sources
Cc khi chun trong Sources bao gm cc ngun pht tn hiu, cc
khi cho php nhp s liu t mt file, hay t Matlab Workspace. Sau y l
mt vi khi thng dng trong th vin ny
Hnh 3.9 cc khi ca th vin Sources
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Constant: Khi constant to nn mt hng s (khng ph thuc vo

thi gian) thc hoc phc. Hng s c th l scalar, vector hay ma trn, ty
theo cch khai bo tham s Constant Value v Interpret vector parameter
as 1-D c c chn khng. Nu c chn, ta c th khai bo tham s
Constant Value l vector hng hay ct vi kch c [1 n] hay [n 1] di
dng ma trn. Nu khng c chn, cc vector hng hay ct ch
c s dng nh vector vi chiu di n, tc l tn hiu 1-D.
Clock v Digital Clock: y l b hai loi ng h khc nhau m
Simulink thit k sn nhm phc v cho cc qu trnh cn thit phi theo
di thi gian chy v tnh ton theo thi gian chy ca m hnh Simullink.
From Workspace: Khi From Workspace c nhim v ly d liu t
ca s Matlab Workspace cung cp cho m hnh Simulink. Cc s liu
ly vo phi c dng ca biu thc Matlab, khai bo ti dng lnh Data. Nu
s liu ly vo l scalar hay vector, khi y biu thc khia ti Data phi l mt
ma trn vi vector th nht l vector thi gian c gi tr tng dn, gn cho
vector (hay ma trn) cc gi tr tn hiu ly vo.
From file: Bng khi s liu From file ta c th ly s liu t mt
Mat-file c sn, Mat-file c th l kt qu ca mt ln m phng trc ,
c to nn v ct i nh khi To file trong s Simulink. Tp cc s liu
do khi To file to nn (mng hay ma trn) c khi From file c m
khng cn qua x l.
Signal Generator v Pulse Generator: Bng Signal Generator c th
to ra tn hiu kch thch khc nhau (hnh sin, hnh rng ca...), cn Pulse
Generator to ra chui xung hnh ch nht. Bin v tn s c th khai bo
ty . i vi Pulse Generator ta cn c th chn t l cho b rng xung
(tnh bng % cho c mt chu k).
Step v Ramp:Hai khi Step v Ramp ta c th to nn cc tn hiu
dng bc thang hay dng gc tuyn tnh, dng kch thch cc m hnh
SIMULINK. Trong hp thoi Block Paramaters ca khi Step ta c th khai
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bo gi tr u/gi tr cui v c thi im bt u tn hiu nhy. i vi

Ramp ta c th khai bo dc, thi im v gi tr xut pht ca tn hiu
u ra.
Repeating sequence: Khi Repeating Sequence cho php ta to nn
mt tn hiu tun hon ty . Tham s Time value phi l mt vector thi
gian vi cc gi tr n iu tng. Vector bin ra Output value phi c kch
c (chiu di) ph hp vi chiu di ca tham s Time value. Gi tr ln nht
ca vector thi gian quyt nh chu k lp li (chu k tun hon) ca vector
bin ra.
Sine Wave: Khi Sine Wave dng to tn hiu hnh sin cho c hai
loi m hnh: Lin tc (tham s Sample time = 0) v gin on (tham s
Sample time = 1). Tn hiu u ra y ph thuc vo ba tham s chn:
Amplitude, Frequency v Phase trn c s quan h
y =Amplitude.sin(Frequency.time + phase)
V th nguyn ca Phase l [rad], ta c th khai bo gi tr trc tip
ca phase l mt h s no nhn vi Pi.
h.Th vin Sinks
Th vin Sinks bao gm cc khi xut chun ca Simulink. Bn cnh
kh nng hin th n gin bng s, cn c cc khi dao ng k biu
din cc tn hiu ph thuc thi gian hay biu din hai tn hiu trn h ta
x-y. Ngoi ra cn c kh nng xut s liu vo ca s MatLab workspace
hay ct di dng file.
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Hnh 3.10 Cc khi ca th vin Sinks
Khi Scope: Nh khi Scope ta c th hin th cc tn hiu cu qu

trnh m phng. Nu m ca s Scope sn t trc khi bt u qu trnh m
phng, ta c th theo di trc tip din bin tn hiu.
Khi XY Graph: XY Graph biu din hai tn hiu u vo scalar trn
h trc ta di dng ha (Figure) Matlab. u vo th nht (bn
trn) tng ng vi trc x, u vo th hai tng ng vi trc y. Trong hp
thoi parameters c th t gii hn cho cc trc.
Khi To Workspace: Khi Workspace gi s liu u vo ca khi
ti mi trng Matlab Workspace di dng Array, Structure hay structure
with time v ly chui k t thai ti Variable name c cho tp s liu
c ghi.
Khi To file: Khi To file ct tp s liu (mng, Array hay ma trn)
u vo ca khi cng vi vector thi gian di dng Mat-file. S liu do
khi To file ct c th c khi From file c trc tip m khng cn x l
g.
khi From Workspace c c mng ta phi tin hnh chuyn v
(transpose) cho mng. Trong hp thoi Block Parameters ca khi To file ta
c th t tn cho Mat-file v Array. Cc tham s Decimation v sample
time c tc dng khai bo ging nh khi To Workspace
i.Th vin Signal Routing
Hnh 3.11 Cc khi ca th vin Signal Routing
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Khi Mux v Demux: Cc khi Mux c tc dng nh mt b chp

knh (multiplexer), c tn hiu chp cc tn hiu 1-D ring r (tc l: cc tn
hiu Scalar hay vector) thnh mt vector tn hiu mi. Nu nh mt trong s
cc tn hiu ring r l 2-D (ma trn tn hiu), khi y ch c th tp hp cc
tn hiu ring r thnh Bus tn hiu. Ti number of inputs ta c th khai bo
tn, kch c v s lng tn hiu vo.
Khi Demux c tc dng ngc li vi Mux: tch tn hiu c chp li
t nhiu tn hiu ring r tr li thnh tn hiu ring r mi. Khi Demux lm
vic theo ch vector (Bus selection mode = off) hay ch Bus (Bus
selection mode = on).
Mux v Demux lun lun l khi o.
Switch, Manual Switch v Multiport Switch: Khi Switch c tc dng
chuyn mch, a tn hiu t u vo 1 hoc 3 ti u ra. Tn hiu iu
khin chuyn mch c a ti vo u 2 (u vo gia). Ngng gi tr
iu khin chuyn mch c khai bo bng tham s Threshold, khi tn hiu
iu khin Threshold u ra c ni vo u 1. Khi tn hiu iu khin
Threshold, u ra c ni vi u 3.
i vi khi Manual Switch, vic la chn u vo ni vi u ra
c thc hin bng cch nhy kp chut tri ti u vo cn ni.
Khi Multiport Switch c u vo iu khin nm trn cng. u vo
c chn ph thuc vo gi tr lm trn ca tn hiu iu khin.
Bus Selector v Selector: Cc tn hiu do khi Mux chp li, c th
c tch khng ch bng khi Demux. Ta c th s dng khi Bus Selector
ti to li cc tn hiu t mt Bus tn hiu, ng thi gom chng li thnh
cc tn hiu ring r ban u.
Khi Selector cho ta kh nng cn linh hot hn Bus Selector: kh nng
tch ra khi tn hiu 1-D (vector) hay 2-D (ma trn) cc phn t ring l
ri sau gom chng li thnh mt tn hiu 1-D hay 2-D mi.
k.Th vin User-Defined Functions
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Function: Bng khi Fcn ta c th khai bo mt hm ca bin vo,

di dng mt biu thc vit theo phong cch ca ngn ng lp trnh C. Nu
vit u, l tn hiu vo scalar hay ch l phn t u tin ca vector tn hiu
vo. Nu vit u(i) hay u[i], l phn t th i ca tn hiu vo dng vector
(tn hiu 1-D).
Biu thc ton c php cha s, cc hm ton, cc ton t s hc,
ton t logic hay ton t so snh, cc du ngoc vung, ngoc n, cc bin
c nh ngha trong mi trng Matlab Workspace. Trnh t u tin
cc php tnh tun th theo ng ngn ng lp trnh C. Cc php tnh ma
trn khng c Fcn h tr.
Hnh 3.12 Cc khi ca th vin User-Defined Functions
Matlab Function: Khi Matlab Function l mt dng m rng ca

khi Fcn. Ti Matlab Funtion ta c th khai bo mt biu thc ton hay
mt hm Matlab (vit di dng m-file) ca bin u vo. iu cn ch l
b rng ca tn hiu do Matlab xut ra phi tng ng vi Output width ca
khi Matlab Fcn. Vic tnh ton bng khi Matlab Fcn tn rt nhiu thi gian
bi v mi bc Matlap li phi phn tch c php, chnh v th nn khng
nn dng Matlab Fcn nu khng cn thit hoc c th thay c bng cc
khi khc.
S-Function: Khi S-Function to iu kin cho vic s dng hm S (SFunction), hoc vit di dng Matlab Script (m-file), hoc di dng ngn
ng C vo mt s s khi ca Simulink. Tn ca S-function c khai
bo ti S-function name.
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l.Th vin Look-Up Tables

Look-Up Table v Look-Up Table (2-D): Khi Look-Up table to tn
hiu ra t tn hiu vo c s thng tin ct trong mt bng tra (Vector of input
values Vector of output values). Nu gi tr hin ti cu tn hiu vo trng
vi mt gi tr thuc Vector of input values, gi tr tng ng trong bng
thuc Vector of output values s c a ti u ra. Nu gi tr vo nm gia
hai gi tr th Simulink s thc hin php ni suy gi tr tng ng. Nu gi tr
l ln hn hay b hn gi tr Vector of input values th Simulink s thc hin
vic ngoi suy hai gi tr u tin v cui cng.
Khi Look-Up table (2-D) cho php ta to nn mt bng tra hai chiu. Bng
tham s Table ta khai bo mt ma trn ct cc gi tr u ra. Mun tm c
gi tr ca u ra ta cn phi bit Row tm hng v Colum tm ct ca
gi tr trong ma trn. Tn hiu t u vo pha trn c so vi Row, cn
tn hiu t u vo pha di c so vi Column.
3.1.2. To mi mt khi m phng trong Matlab Simulink
Simulink gn nh ch c th s dng c nh chut. Bng cch nhy
kp phm chut tri vo mt trong s cc th vin con thuc ca s ca th
vin chnh Library ta c th thu c mt ca s mi c cha cc khi thuc
th vin con . Hoc cng c th thu c kt qu tng t bng cch nhy
kp chut tri vo nhnh ca th vin con, nm phn bn phi ca ca s
truy cp Library Browser. T cc khi cha trong th vin con ta c th xy
dng c lu tn hiu mong mun. to nh dng (Format) v son
tho ta c cc chc nng sau y:
Sao chp: Bng cch gp v th Drag & Drop nh phm chut ta c
th chp mt khi t th vin con (cng nh mt ca s khc ngoi th
vin).
Di chuyn: Ta c th d dng di chuyn mt khi trong phm vi ca
s nh phm tri chut, gi khi chn v di chut.
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nh du: Bng cch nhy phm chut tri vo khi ta c th nh

du, la chn tng khi, hoc ko chut nh du nhiu khi cng mt
lc khi gi phm shift.
Xa: c th xa cc ng ni hay cc khi c nh du bng
cch gi lnh Menu Edit/ clear hoc chn phm delete trn bn phm.
To h thng con (Subsystem): Bng cch nh du nhiu khi c
quan h chc nng, sau gom chng li thng qua Menu Edit/ Create
Subsystem, ta c th to mt h thng con mi.
Ni hai khi: Dng phm tri cht nhy vo u ra ca mt khi, sau
di mi tn ca chut (vn nhn chut) ti u vo cn ni, sau th tay,
hai khi s c ni vi nhau.
Di chuyn ng ni: lu tn hiu thong v d theo di, nhiu
khi phi di chuyn, b tr li v tr ng ni. Khi nhy chn bng phm tri
chut ta c th di chuyn ty cc im gc hoc di chuyn song song tng
ng ni.
To Vector ng ni: d phn bit gia ng ni n v ng
ni tn hiu theo dng Vector, hoc ma trn hoc mng ta c th chn menu
Format/ Wide nonscalar lines tng b dy ca ng ni.
Ch th kch c v dng d liu ca tn hiu: Lnh chn qua menu
Format/ signal dimensions s hin th kch c ca tn hiu i qua ng ni.
Lnh menu Format / Port data types ch th thm loi d liu ca tn hiu qua
ng ni.
nh dng (Format) cho mt khi: Sau khi nhy phm chut phi vo
mt khi, ca s nh dng khi s m ra. Ti mc Format ta c th la chn
kiu v kch c ch, cng nh v tr khi, c th lt v xoay khi. Hai mc
Foreground Color v Background Color cho php ta t t ch mu bao
quanh cng nh mu nn ca khi.
==========================================================
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NGUYN NGC QU
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==============================================================
nh dng cho ng ni: Sau khi nhy phm chut phi vo mt

ng ni, ca s nh dng ng (ca c ng dn ti ng ni) s m
ra. Ti y ta c cc lnh cho php ct b, chp (Copy) hoc xa ng ni.
Hp i thoi (Dialog Box) v c tnh ca khi ( Block Properties): Hoc i
theo menu ca ca s m phng Edit / Properties, hoc chn mc Properties
ca ca s nh dng khi, ta s thu c hp thoi i thoi cho php t
mt vi tham s tng qut v c tnh ca khi.
Hp i thoi v c tnh ca tn hiu (Signal Properties): C th ti
hp thoi Signal Properties ca mt ng ni (ca tn hiu) hoc cch nhy
chut nh du ng ni trn ca s m phng, sau i theo menu Edit/
Signal Properties, hoc chn signal Properties t ca s nh dng ng.
3.1.3. M phng mt khi trong Matlab Simulink
Sau khi hon thnh cc bc nh ly cc phn t, kt ni gia cc
phn t, khai bo cc thng s vo cho cc phn t ta bt u cho chy m
phng. Qu trnh m phng ca Simulink c khi ng thng qua menu
Simulation/Start. Trong khi m phng c th chn Simulation/Pause tm
ngng hay Simulation/Stop ngng hn qu trnh m phng.
Thm vo ta cn c th iu khin qu trnh m phng bng cc
dng lnh vit ti ca s lnh (Command Window) ca Matlab. iu ny
c bit c ngha khi ta mun t ng ho ton b qu trnh m phng,
khng mun khi ng, ngng hay x l bng tay. l lnh set_param
v sim.
*Lnh set_param c gi nh sau:
set_param (sys, SimulationStatus,cmd)
Trong lnh trn, m hnh m phng c tn sys s c khi ng khi
cmd=start, hay khi dng li cmd=stop. Sau khong thi gian ngh pause, ta
ra lnh tip tc m phng bng continue. Nu chn cmd = update, m hnh
s c cp nht mi. C th kim tra tnh trng m hnh m phng ca sys
bng lnh: get_param (sys,SimulationStatus).
==========================================================
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==============================================================
Bn cnh tc dng iu khin qu trnh m phng, c th s dng

set_param lp cc tham s ca khi, cc tham s m phng.
*Lnh sim c gi nh sau:
[t,x,y] = sim(model)
Nu mun chuyn giao c tham s m phng, hy gi:
[t,x,y] = sim(model,timespan,options,ut)
Bng lnh trn ta ch ng c qu trnh t tham s m phng t
mi trng Matlab (m thng thng phi thc hin ti cc trang Solver v
Workspace I/O ca hp thoi Simulation Parameters). V tri lnh gm cc
vector thi gian t, ma trn bin trng thi x v ma trn bin ra y ca m hnh.
Cc tham s ca sim c ngha nh sau: model l tn ca m hnh Simulink,
timespan vit di dng [tStart tfinal] nh ngha thi im bt u v thi
im dng m phng. Tham s ut cho php c tp s liu c vo trong
khi Inport, c tc dng tng t nh khi khai Input thuc trang
Workspace I/O ca hp thoi Simulation Parameters.
Bng options ta chuyn giao cho m hnh cc tham s m phng quan
trng nh thut ton v bc tch phn, sai s, cc iu kin xut s liu
...Vic to cu trc tham s options (nh dng Structrure) c thc hin
bng lnh:
options = simset (property,value,...)
Vi lnh trn, cc tham s t trong hp thoi Simulation
Parameters s khng b thay i m ch b v hiu ha khi lnh sim khi
ng qu trnh m phng bng lnh:
struct = simget (model)
Ta s thu c trn vn b tham s options c khai bo nh
knh simset hay nh hp thoi Simulation Parameters.
X l li:
==========================================================
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NGUYN NGC QU
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==============================================================
Nu xut hin li trong qu trnh m phng, Simulink s ngng m

phng v m hp thoi thng bo li Simulation Diagnostics. Hp thoi
thng bo li c th hin trn hnh 3.4.
Trong phn phi trn ca hp thoi bo li, ta thy c dang sch ca
cc khi gy li. Khi chuyn vch chn ti khi no (thuc dang sch), ta
thy phn di hp thoi m t k v khi . Nu nhy chut tri vo nt
Open, ca s Block Parameters ca khi s m ra ta thay i, sa li cc
tham s khai bo ti . i khi ngun gy li trn s c tn ni bt
thm bng mu, gip chng ta nhanh chng pht hin c khi gy li.
Hnh 3.13- Mn hnh bo li ca m hnh
i vi cc s Simulink phc hp ta khng nn khai bo trc tip cc

tham s cho tng khi c th m nn tp hp chng li trong mt script (mFile). Bng cch y, mi cng vic khai bo hay thay i cc tham s s
c thc hin mt cch r rng, tng minh v kh nhm ln.
3.1.4. ng dng ca Matlab Simulink
Hin nay Matlab Simulink c ng dng kh rng ri trong nhiu lnh
vc nht l cc lnh vc lin quan n vic tnh ton cc gi tr bng cc biu
thc ton hc hay m phng mt h thng no thng qua vic tnh ton cc
thng s ca chng. Trong ngnh ng c ni ring th Simulink c ng
dng nhiu trong vic m phng cc h thng ng lc. Simulink c th coi l
mt phn mm ha, nh hng dng s khi m phng cc h thng
==========================================================
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NGUYN NGC QU
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==============================================================
ng lc. y l sn phm bn trong ca Matlab v s dng nhiu hm ca

Matlab v cng c th trao i qua li vi mi trng ca Matlab tng
thm kh nng mm do ca n. Ngoi ra Matlab Simulink cn c s dng
nhiu trong cc lnh vc m phng khc nh trong in t, trong c hc, trong
ton hc... Hin nay ngi ta bt u nghin cu s dng Matlab trong tt
cc cc lnh vc c nhu cu tnh ton, ly kt qu, x l kt qu, m phng...
Hi vng rng trong tng lai Matlab Simulink s c ng dng mt cch
rng ri v c hiu qu hn trong tt c cc lnh vc.
3.2. M hnh dao ng
3.2.1. Cc gi thit
n gin ha bi ton y a ra mt s gi thit:
Dao ng ca cc bnh xe l c lp vi nhau, gi thit ny c da
trn kt cu treo c lp tng bnh xe ca cc xe con hin i.
Bin dao ng ca ngun kch thch nh nn c th b qua s nh
hng ca dao ng gc ca thn xe, ni cch khc l ch xt dao ng thng
ng, phng dao ng gy ra nhiu tc hi v kh chu nht.
Tnh cht n hi v gim chn ca cc phn t h thng treo nh l
xo, gim chn thy lc, lp xe l tuyn tnh.
Trong m hnh dao ng lin kt t c gi thit i xng qua trc
dc ca xe v xem mp m ca bin dng ng di bnh xe tri v
phi l nh nhau v c cng ngun kch thch, c mt khong tr thi gian.
Khi kho st dao ng t con theo mc ch chn on k thut h
thng treo th nhng gi thit trn l chp nhn c.
3.2.2. Thit lp m hnh
3.2.2.1. M hnh dao ng mt phn t khi lng
==========================================================
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NGUYN NGC QU
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==============================================================
Hnh3.14-S lc tc ng
Trn hnh 3.2 trnh by m hnh dao ng ca mt phn t khi lng.

Trong m l khi lng phn thn xe phn b trn bnh xe ang kho st, k
l cng ca l xo, c l h s cn ca gim chn thy lc. Trong thc t c
th gp m hnh ny dng gh ngi ca my ko c m hnh ha [1].
Lp phng trnh chuyn ng, h
phng trnh vi phn cp hai xy dng
da vo nh lut II Newton:
Cc lc tc dng ln khi lng m:
P = m.g
m
m*g
k
c
q
Fk = k .( z q )
(3.1.1)
Fc = c.( z q )
m.g k .( z q ) c.( z q ) = m.z
Hnh3.15-M hnh vt l m t dao

ng mt phn t khi lng
m.z + c.( z q ) + k ( z q) m.g = 0
(3.1.2)
Mun m phng
==========================================================
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63
NGUYN NGC QU
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==============================================================
ddz
dz
1
s
Integrator
1
s
1
z-q
Integrator1
chuyenvi
ddz
3
giatoc
vantoc
dq
du/dt
k
mg
Derivative
c*(dz-dq)
Thong so dau vao Demux
m
Data I nputs
uv
-1
g
1/m
m*ddz/m
Constant=-1
Demux
m*ddz
k*(z-q)
Math
Function1
mg
Hnh3.16- Mun chnh m phng dao ng mt phn t mt bc t do
3.2.2.2. M hnh dao ng hai phn t

z2
m2
Clock
m2 g*
k1
van toc dd thanxe
1
q
c1
q
chuyen vi than xe
van toc dz2
z1
m1
m1 g*
chuyen vi z2
c2
k2
q gia toc ddz2

gia toc dd than xe
chuyen vi z1
chuyen vi cau xe
van toc dz1
Subsystem
van toc dd cau xe
Hnh 3.17-M hnh vt l dao ng hai phn t v s m phng tng th
Trn hnh 3.4 trnh by m hnh dao ng ca mt cm c cu treo trn

mt bnh xe. Trong thc t c th gp m hnh ny l dng m hnh ha dao
ng cu sau ca my ko bnh bm [1]. Trong :
m1: khi lng cu xe bnh xe (phn khng c treo) ;
==========================================================
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64
NGUYN NGC QU
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==============================================================
m2: khi lng thn xe (c treo) phn b trn bnh xe;
k1 v c1 l cng v h s cn ca lp;
k2 v c2 l cng ca l xo v h s cn ca gim chn thy lc.
Lp phng trnh vi phn m t chuyn ng
- Cc lc tc dng ln khi lng m2 l trng lng P2, lc n hi Fk2, lc

cn ca gim chn thy lc Fc2
P2 = m2 .g
Fk 2 = k 2 ( z 2 z1 )
Fc 2 = c 2 ( z 2 z 1 )
(3.2.1)
- Cc lc tc dng ln khi lng m1 l trng lng P1, lc n hi Fk1, Fk2 ,
lc cn ca gim chn thy lc Fc2 v ca lp Fc1
P1 = m1 .g
Fk 1 = k1 ( z1 q )
Fc1 = c1 ( z 1 q )
Fc 2 = c 2 ( z 1 z 2 )
Fk 2 = k 2 ( z1 z 2 )
(3.2.2)
- Phng trnh cn bng cc lc tc dng ln cc khi lng theo phng Z
(thng ng) l:
m1 .z1 = k1 (q z1 ) + c1 (q z 1 ) + k 2 ( z 2 z1 ) + c 2 ( z 2 z 1 ) + m1 .g
m2 .z2 = k 2 ( z1 z 2 ) + c 2 ( z 1 z 2 ) + m2 .g
(3.2.3)
- hoc c th vit di dng:
m1 .z1 + k1 ( z1 q ) + c1 ( z 1 q ) + k 2 ( z1 z 2 ) + c 2 ( z 1 z 2 ) m1 .g = 0
m 2 .z2 + k 2 ( z 2 z1 ) + c 2 ( z 2 z 1 ) m2 .g = 0
(3.2.4)
Mun m phng
==========================================================
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65
NGUYN NGC QU
B MN NG LC
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==============================================================
ddz1
dz1
1
s
dz1
1
s
dz2
1
s
ddz2
1
s
dz2
-dz2
-1
dz1-dz2
4
chuyen vi z1
z1
ddz1
van toc dz2

1/m1
-1
v
u
m1*ddz1/m1
Const
m1*ddz1
z2
chuyen vi z2
c1*(dz1-dq)
z1
du/dt
z1-q
c1
ddz2
3
gia toc ddz2
k1*(z1-q)
m1
1
q
k1
k2*(z1-z2)
van toc dz1

Thong so dau vao
Data I nputs
Demux
k2
m2*ddz2*
c2*(dz1-dz2)
m1g
c2
m1g
v
u
m2g
-1
1/m2
m2*ddz2/m2
Const1
m2
m2g
Demux
Hnh3.18-Mun m phng dao ng hai phn t
3.2.2.3. M hnh dao ng lin kt

M hnh dao ng lin kt (m hnh phng) c trnh by nh s
hnh 3.19. Ta c th gp m hnh ny trong thc t xe t hai cu dng c
cu treo ph thuc. Trong :
m1,m2 khi lng khng c treo trc v sau
m3: khi lng thn xe mt bn trc dc (c treo)
k11, k21: h s cng ca lp trc v sau
k12, k22: h s cng ca l xo cm treo trc v sau
c12, c22: h s cn ca gim chn thy lc cm treo trc v sau
==========================================================
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NGUYN NGC QU
B MN NG LC
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==============================================================
J : m men qun tnh khi lng ca thn xe vi trc ngang y

lf, lr l khong cch t trng tm phn c treo ti cu trc v sau
g : gia tc trng trng ly bng 9,8 (m/s2)
z'1
z3
z'2
m3
lf
c12
k1 2
z1
lr
m3 *g
c2 2
k2 2
m1
m2
m1*g
k1 1
z2
m2*g
k21
q1
q2
Hnh3.19-M hnh dao ng lin kt
M hnh ng lc hc ny biu th dao ng lin kt t 2 cu dng

m hnh phng, c ngha l t c gi thit i xng qua trc dc ca xe
v xem mp m ca bin dng ng di bnh xe tri v phi l nh
nhau. Khi lng treo c quy dn v trng tm phn treo biu th qua gi
tr khi lng m3 (i din cho khi lng c treo l thn xe) v m1, m2
( i din cho khi lng khng c treo l cu xe) vi 4 bc t do l Z3, ,
Z1, Z2
H phng trnh vi phn m t chuyn ng:
- Cc lc tc dng ln khi lng m1 l trng lng P1, lc n hi Fk11, Fk12

lc cn ca gim chn thy lc Fc12
P1 = m1 .g
Fk 11 = k11 ( z1 q1 )
Fc12 = c12 ( z 1 z '1 )
(3.3.1)
Fk 2 = k12 ( z1 z '1 )

lc cn ca gim chn thy lc Fc22
==========================================================
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NGUYN NGC QU
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==============================================================
P2 = m2 .g
Fk 22 = k 22 ( z 2 z ' 2 )
Fc 22 = c 22 ( z 2 z ' 2 )
(3.3.2)
Fk 21 = k 21 ( z 2 q )

lc cn ca gim chn thy lc Fc12, Fc22
P3 = m3 .g
Fk 12 = k12 ( z '1 z1 )
Fk 22 = k 22 ( z ' 2 z 2 )
Fc12 = c12 ( z '1 z 1 )
(3.3.3)
Fc 22 = c 22 ( z ' 2 z 2 )
- Phng trnh cn bng cc lc tc dng theo phng Z ln cc khi lng

ln lt l:
m3 .z3 = k12 ( z1 z '1 ) + k 22 ( z 2 z ' 2 ) + c12 ( z 1 z '1 ) + c 22 ( z 2 z ' 2 ) + m3 .g
m1 .z1 = k11 ( q1 z1 ) + k12 ( z '1 z1 ) + c12 ( z '1 z 1 ) + m1 .g

m2 .z1 = k 21 ( q 2 z 2 ) + k 22 ( z ' 2 z 2 ) + c 22 ( z ' 2 z 2 ) + m2 .g
(3.3.4)
- Phng trnh cn bng mmen tc dng ln m3

= [k12 ( z1 z '1 ) + c12 ( z 1 z '1 )]. l f +[k 22 ( z 2 z ' 2 ) + c 22 ( z 2 z ' 2 )]. l r
J .
- Ta c th vit di dng:
m3 .z3 + k12 ( z '1 z1 ) + k 22 ( z ' 2 z 2 ) + c12 ( z '1 z 1 ) + c 22 ( z ' 2 z 2 ) m3 .g = 0
m1 .z1 + k11 ( z1 q1 ) + k12 ( z1 z '1 ) + c12 ( z 1 z '1 ) m1 .g = 0

m2 .z1 + k 21 ( z 2 q 2 ) + k 22 ( z 2 z ' 2 ) + c 22 ( z 2 z ' 2 ) m2 .g = 0
(3.3.5)
[ k 22 ( z 2 z ' 2 ) + c 22 ( z 2 z ' 2 )]. l r +[ k12 ( z1 z '1 ) + c12 ( z 1 z '1 )]. l f = 0

J .
Mun m phng
==========================================================
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68
NGUYN NGC QU
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==============================================================
du
/dt
S
in
eW
a
ve
D
eriva
tive
dq
1
dq1
d
q2
dq2
k11
ddz1
acc z1
ddz2
acc z2
ddz3
acc z3
dz1'
vel z1'
dz2'
vel z2'
k11
k12
k12
m1
m1
c12
c12
c22
c22
k21
k21
k22
k22
m2
m2
J
m3
J
m3
lf
lf
lr
lr
acc phi
Subsystem
Dau ra
Dau vao
Hnh3.20-S tng th m phng dao ng lin kt
==========================================================
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69
NGUYN NGC QU
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==============================================================
175000
1
k11
h/s cungcualopk11(N/m)
75000
7
k22
h/s cungloxo: k22(N/m)

54
175000
2
k12
h/socungcualop: k12(N/m)
8
m2
khoi lgkhongdctreosau: m2(kg)
1400
39
9
J
momenquantinh: J(kg.m2)
m1
khoi lgkhongdctreotrc: m1(kg)
560
1200
4
c12
h/s cangiamchantruoc
c12(Ns/m)
10
m3
khoi luongduoctreo: m3(kg)

9.8
11
g
giatoctrongtruong(m/s2)
1200
5
c22
h/s cangiamchansau
c22(Ns/m)
1.2
12
lf
k/ctrongtamtoi cautruoc: lf(m)
75000
6
k21
h/s cungloxo: k21(N/m)
190000
1
k11
h/s cung cua lop k11 (N/m)
1.2
13
lr
k/ctrongtamtoi causau: lr(m)
75000
h/s cung lo xo: k22(N/m)
7
k22
54
190000
khoi lg khong dc treo sau: m2(kg)
k12
h/so cung cua lop: k12(N/m)
1200
54
mo men quan tinh: J (kg.m2)

560
khoi luong duoc treo: m3(kg)
h/s can giam chan truoc

c12 (Ns/m)
9
J
m1
khoi lg khong dc treo trc: m1(kg)
1400
8
m2
10
m3
4
c12
9.8
11
gia toc trong truong(m/s2)
1400
5
1.2
12
c22
==========================================================
lf
h/s can giam chan sau
k/c trong tam toi cau truoc: lf(m)
SINH VIN:
NGUYN TIN DNG
GVHD: PGS.TS.
c22 (Ns/m)
70
NGUYN NGC QU
75000
h/s cung lo xo : k21(N/m)
6
k21
1.2
k/c trong tam toi cau sau: lr(m)
13
lr
B MN NG LC
N TT NGHIP
==============================================================
190000
1
k11
h/s cung cua lop k11 (N/m)
75000
h/s cung lo xo: k22(N/m)
7
k22
54
190000
h/so cung cua lop: k12(N/m)
khoi lg khong dc treo sau: m2(kg)
k12
1200
54
khoi lg khong dc treo trc: m1(kg)
1400
h/s can giam chan truoc
c12 (Ns/m)
1400
h/s can giam chan sau
c22 (Ns/m)
75000
h/s cung lo xo : k21(N/m)
8
m2
m1
4
c12
5
c22
mo men quan tinh: J (kg.m 2)

560
10
khoi luong duoc treo: m3(kg)
m3
9.8
11
gia toc trong truong(m/s2)
1.2
k/c trong tam toi cau truoc: lf(m)
6
k21
9
J
1.2
k/c trong tam toi cau sau: lr(m)
12
lf
13
lr
Hnh3.21-Modul thng s u vo [7]
==========================================================
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71
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
m1
5
m1
-1
1/m1
v
u
m1g
13
g
m2g
m2g
m3g
dq1
1
dq1
q1
1
s
q1-z1
k11*(q1-z1)
3
k 11
dz1
1
s
m1g
ddz1
m1*ddz1
z1
4
k 12
1/s
k12*(z1'-z1)
dz1'
1
ddz1
dz1
dz1
z1'
1
s
dz1'
dz1'-dz1
m2
10
c12*(dz1'-dz1)
v
u
m2
1/m2
-1
6
c12
m2*ddz2*1/m2
dq2
2
8
k 21
dz2
q2-z2
q2
1
s
dq2
k21*(q2-z2)
m2*ddz2
m2g
z2
1
s
9
k 22
k22*(z2'-z2)
z2'-z2
1
s
z2'
12
7
c22
c 22*(dz2'-dz2)
m3
m3
dz2'-dz2
-1
dz2
1
s
ddz2
ddz3
k22*(z2-z2')
1/m3
2
ddz2
3
ddz3
-1
v
u
4
1
s
dz3
dz1'
dz1'
c22*(dz2-dz2')
-1
dz2'
c12*(dz1-dz1')
m3*ddz3
5
dz2'
-1
k12*(z1-z1')
k12*(z1'-z1)
-1
lf
11
J
14
dphi
J
v
u
1/J
-1
6
lf
ddphi
-1
1/s
J*ddphi
c 22*(dz2-dz2')
dphi
k22*(z2-z2')
15
lr
lr
lr
dphi*lr
Hnh3.22-Mun chnh m phng dao ng lin kt
3.3. Mt s kt qu kho st m hnh

3.3.1. Kho st c tnh dao ng ca phn t ca h thng treo
==========================================================
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72
NGUYN NGC QU
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==============================================================
M hnh dao ng ca mt phn t (mt khi lng) ca h thng treo

1 bc t do theo phng thng ng c m t nh hnh 3.23.
Trn c x m hnh trn c th kho st s nh hng ca cc thng s
kt cu n bin dao ng cc i, gia tc cc i, thi gian t n nh
ca h dao ngKho st nh hng ca iu kin chuyn ng thng qua
vic thay i khi u vo.
Hnh3.23-M hnh dao ng mt phn t mt bc t do
Hnh3.24-vn tc dch chuyn theo phng thng ng
nh hng ca cng l xo k, h s cn c, v khi lng m n bin

v thi gian t n nh ca h.
==========================================================
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73
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
k1
<
c1
<
m1
<
k2
<
k3
c2
<
c3
<
m3
m2
Hnh3.25-So snh tnh cht dao ng khi thay i k, c, m
nh hng ca cng l xo n dao ng ca h:
- qua kt qu kho st c minh ha trn hnh 3.25, c th thy r s

nh hng ca tr s cng k ca l xo n bin dao ng. Tng cng
ca l xo t k1 n k3 bin dao ng gim xung. Do vic xc nh chnh
xc cc thng s ng lc hc ca h l rt kh khn, nn sau khi xy dng
m hnh, chng ti cha c iu kin kho st cho mt h thng treo ca mt
loi xe c th no. Tuy nhin th cng khng nh v nh tnh ph hp ca
m hnh nghin cu, cho php chn on trong sa cha my, v d nu thay
i mt l xo qu cng s lm xu i tnh cht chuyn ng m du ca t.
==========================================================
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74
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
- T hnh 3.25 c th chn on rng, trong trng hp h s cn ca

h treo b gim st (thiu du hoc ht du) th bin dao ng ca thn xe
tng ln ng k, mt khc thi gian t n nh lu hn, gy mt mi cho
hnh khch v chng hng.
- Cng t hnh 3.25 thy rng nu tng khi lng dao ng (xe cht ti
nng hn) th tn s dao ng c gim do
k
m
nhng bin dao ng
tng cao v h dao ng lu t n trng thi n nh hn. iu ny c th

gii thch do qun tnh ca h tng ln.
3.3.2. Kho st c tnh dao ng ca h hai phn t trong c cu treo
kho st tnh cht dao ng ca t vi t cch l mt h hai khi
lng, khi lng c treo gm khung gm, ng c, ngi trn xe; phn
khi lng khng c treo gm khi lng cu xe v bnh xe. Trong thc t
dao ng nh hng tng tc gia cc phn t l kh phc tp. Bi vy xy
dng m hnh ton vi mt vi gi thit nht nh s thun li cho vic nghin
cu nh hng n yu t hoc a yu t trong bi ton dao ng ca xe t,
lm c x khoa hc cho chn on k thut h thng treo v cc bnh xe.
Kho st bin dao ng ca cc phn t khi lng
ha.Dao ng ca khi lng c treo
hb.Dao ng ca khi lng khng c
Hnh 3.26- Dao ng ca tng phn t trong h dao ng hai khi lng
==========================================================
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75
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
ha.Vtd ca khi lng c treo
hb.Vtd ca khi lng khng c treo
Hnh 3.27- Vn tc dao ng ca tng phn t trong h dao ng hai khi lng
Tuy cha c c b tham s y v tht chnh xc ca mt loi xe

c th nhng kt qu kho st (theo s liu tham kho mt s ti liu [7],
[8]) cho thy m hnh phn nh ng bn cht ca h dao ng. C th khi
gn cho u vo mt kch thch bc thang vi cao 5 cm , th nhn c
cho thy ban u hai khi lng dao ng vi bin ln ri n nh dn, do
c s tham gia ca b gim sc thy lc. Ngoi ra phn thn v cng sm n
nh hn.
Nh vy vic thit lp m hnh dao ng v m phng trn th cho
php kho st c nh hng ca n yu t ca tng tham s ca h. ng
thi theo mc ch chn on nu xy dng c mt th vin c tnh dao
ng mu ca cc loi xe cho tng thit b c th hon ton c th nh gi
ngc tm nguyn nhn h hng theo du hiu chn on.
3.3.3. Kho st c tnh dao ng ca phn t ca h thng treo trong m
hnh dao ng lin kt.
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NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
Hnh 3.27- chuyn v ca cu trc tri theo phng Z
Hnh 3.28-Vn tc chuyn v ca cu trc tri theo phng Z
Hnh 3.29- Gia tc chuyn v ca cu trc tri theo phng Z

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77
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
Hnh 3.30- chuyn v ca cu sau tri theo phng Z
Hnh 3.31-Vn tc chuyn v ca cu sau tri theo phng Z
Hnh 3.32-Gia tc chuyn v ca cu sau tri theo phng Z

==========================================================
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78
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
Hnh 3.33- chuyn v ca thn xe theo phng Z
Hnh 3.34-Vn tc chuyn v ca thn xe theo phng Z
Hnh 3.35-Gia tc chuyn v ca thn xe theo phng Z

==========================================================
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79
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
Hnh 3.36- chuyn v gc ca thn xe quanh trc Y
Hnh 3.37- Vn tc chuyn v gc ca thn xe quanh trc Y
==========================================================
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80
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
Hnh 3.38- Gia tc chuyn v gc ca thn xe quanh trc Y
Nhn xt: Khi cho hm kch thch l mt hm sin, qua th ta thy

rng ban u cc khi lng dao ng vi bin ln hn v do c s tng
tc gia cc phn t khi lng nn dao ng kh phc tp. Sau dao ng
c bin gim v cng c dng hnh sin ch khng tt dn. Nu cho kch
thch dng bc thang thi dao ng s tt dn trng hp ny thy r tc ca
xe cng nh hng kh nhiu ti dao ng ca h bi cng mt kch thch u
vo nhng khi tng hoc gim tc ca xe s lm cho bnh sm gp kch
thch hay mun hn, mt khc n cng b nh hng bi qun tnh.
y mi ch kho st c hai bc t do l dao ng theo phng
thng ng Z v dao ng xoay quanh trc ngang Y i vi khi lng m3 i
din cho thn xe, cn khi lng m1, m2 i din cho khi lng khng c
treo la cu xe trc v sau kho st theo mt bc t do l dao ng theo
phng thng ng.
p dng tng t c th kho st cho m hnh na xe vi hai bnh
cu trc hoc hai bnh cu sau va c th chnh xc bi ton hn nu xt
thm tc dng ca lc bn nh gi ngang i vi m hnh ny.
Trn y mi ch m phng cho trng hp chung ch khng phi mt
xe c th no do nhng kh khn v phng tin k thut, kinh ph, thi gian
nn khng c iu kin th nghim v o c thc t, cc s liu a ra mi
ch tham kho mt s ti liu. Nhng cng phn no nh gi c dao
ng ca cc phn t l kh phc tp trong s nh hng tng tc ln nhau.
Mt khc cng tm hiu c mt phn v Simulink v dng cng c ny
gii bi ton t phng trnh vi phn m t chuyn ng ca h.
==========================================================
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NGUYN NGC QU
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N TT NGHIP
==============================================================
CHNG 4
KT LUN V HNG PHT TRIN CA TI
4.1.Kt lun chung
H thng treo t rt a dng, c th l loi b ng hoc loi iu
khin c, phn t h thng treo nhn chung u mang tnh phi tuyn v dao
ng ca chng ht sc phc tp. Do khi chp nhn chnh xc tng
i cng c th s dng m hnh n gin bng cch a ra cc gi thuyt n
gin bi ton, thng qua cc m hnh ny c th nghin cu s nh hng ca
tng phn t ring r n cc ch tiu ng lc hc ca h thng.
M hnh thit lp c trong n tuy cn chp nhn mt s gi thit
nhng cc kt qu nhn c th hin c quy lut nh tnh ca qu trnh
dao ng ca h thng treo. M hnh cho php kho st nh hng ca mt s
yu t chnh nh cng l xo, h s cn gim chn thy lc, cng ca
lp, khi lng phn c treo v khng c treo. Cc kt qu bc u c
th cho php nh gi s b l m hnh v chng trnh t c chnh
xc nht nh.
Nh vy vi vic thit lp m hnh dao ng v m phng bng phn
mm MatlabSimulink cho php kho st c nh hng n yu t ca tng
tham s c trng cho phn t ca h. ng thi theo mc ch chn on c
th nh gi ngc tm ra nguyn nhn h hng khi xy dng c m
hnh c tnh dao ng cho h thng treo trn xe v ti u h treo.
4.2. Hng pht trin ca ti
- Tip tc xy dng m hnh khng gian nh gi chnh xc hn dao
ng ca tng phn t trong h thng treo theo nhiu bc t do khc nhau.
- Chnh xc cc m hnh v kt qu nhn c bng cch loi b dn
cc gi thit, tin hnh th nghim o cc thng s v to kch thch.
==========================================================
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82
NGUYN NGC QU
B MN NG LC
N TT NGHIP
==============================================================
- Nghin cu thm mt s yu t nh hng n dao ng ca xe nh

ti trng, gia tc khi phanh, khi vo cua, gi bn, vn tc chuyn ng ca
xe
TI LIU THAM KHO

[1] Nguyn Hu Cn, D Quc Thnh, Phm Minh Thi, Nguyn Vn
Ti, L ThVng, L thuyt t my ko, Nh xut bn Khoa hc K thut, H
Ni 2005.
[2] Bi Hi Triu, Hn Trung Dng, ng Tin Ha, Nng Vn Vn,
t My ko, Nh xut bn Khoa hc K thut, H Ni 2001.
[3] Nguyn Vn Khang, Dao ng k thut, Nh xut bn Khoa hc K
thut, H Ni 1998.
[5] Nguyn Phng Quang, Matlab & Simulink, Nh xut bn Khoa hc
K thut, H Ni 2006
[6] Nguyn Hong Hi, Nguyn Vit Anh, Lp trnh Matlab v ng
dng, Nh xut bn Khoa hc K thut, H Ni 2005
[7] Journal of the Brazilian Society of Mechanical Sciences and
Engineering, Optimal design of passenger car suspension for ride and road
holding,Rio de Janeiro Jan./Mar. 2008
[8] Derek Maxim, Hieu Nguyen, Ryan Parent, Eric Twiest, School of
Engineering Grand Valley State University, Analysis of an Automobile
Suspension, August 4, 2006.
[9] Mt s trang web chuyn ngnh k thut v ng dng phn mm
1.http://meslab.org/mes/forumdisplay.php?f=204
2.www.vocw.edu.vn/content/m10376/latest/
3.http://www.engin.umich.edu/group/ctm/examples/susp/susp.html
4.http://www.mathworks.com/matlabcentral/fileexchange/11199
5.www.brlsi.org/proceed05/postgrad0505.html
==========================================================
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83
NGUYN NGC QU

Dung Thuyetminh

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B MN NG LC

treo t. ti tp trung vo tim hiu h thng treo cho xe

1.2. Tng quan v h thng treo

Hnh1.1-H thng treo v b tr chung trn xe

1.2.1. Cng dng v yu cu ca h thng treo

+ Khng gy nn ti trng ln ti cc mi lin kt vi khung hoc v.

Hnh 1.2- C cu treo trc v cc b phn chnh

Hnh 1.3- C cu treo ph thuc dng nhp l

B nhp c lm t cc l thp cong, gi l l nhp, sp xp li vi

+ Chim t khng gian, c th b tr iu chnh chiu cao thn xe.

hn nhp v tui th cao hn nhp, kt cu gn nn tit kim khng gian v

Hnh 1.3. Cu to mt s dng l xo.

nn thng phi b tr thm gim chn km theo dp tt nhanh dao ng.

tr th c kt cu phc tp hn do n cn phi b tr thm h thng n dn

Hnh 1.4-b phn n hi loi kh

Phn t n hi s dng m kh da trn nguyn tc khng kh c

Hnh 1.5-H thng treo c b phn n hi loi ti kh cao su (airbag suspension)

Hin nay b phn n hi c lm c xu hng mm mi hn

dp tt cc dao ng ca xe khi chuyn ng gim chn s bin i

Hnh 1.6- S cu to ca gim chn hai lp v.

5- Bung cha du;

Hnh 1.7- S cu to ca gim chn mt lp v.

Trong mt gim chn mt lp v khng cn b du na m thay th

So snh vi loi gim chn hai lp v, gim chn mt lp v c cc

+ Khi c cng ng knh ngoi, ng knh ca cn piston c th

Hnh 1.9- ng nhn vario

Khi xe c ti trng nh, v tr ca Piston nm vng trn ca ng du,

trn xung ngn di v ngc li nh trng hp trn, chng bt buc phi

Hnh 1.10- loi 2 ng vi hi p lc(a) v loi hi (b)

Loi ng nhn Du-Kh kt hp hot ng theo nguyn tc kt hp

khng c g c bit v nguyn l, phn trn chnh l c im ni bt

Hnh 1.11- ng nhn kh-thy lc

y l tng hp ca l xo n hi c gim chn cng vi l xo kh

ng thi l trc ca b gim chn. Phn l xo kh nm trong mt khi cu

Hnh 1.12- Thanh n nh trong c cu treo

Trn cc loi xe con ngy nay thanh n nh hu nh u c. Trong

i s lm cho tng nghing thng xe v lm gim kh nng truyn lc

Hnh1.13- Cc n lin kt v dn hng, kt cu lp gip cm treo c lp

1.2.2.4. Cc chi tit ph

Hnh 1.14- Cc m cao su

1.2.3. Phn loi h thng treo

Hnh 1.15- S h thng treo

b) H thng treo c lp.

1- Thng xe; 2- B phn n hi; 3- B phn gim chn;

1.2.3.1. H thng treo ph thuc

Trong h thng treo ph thuc hnh 1.12-a cc bnh xe c t trn

h.a. dng nhp l

c trng ca h thng treo ph thuc l cc bnh xe lp trn mt

+ Khong khng gian pha di sn xe phi ln m bo cho dm

Hnh 1.17- S nguyn l ca h treo 2 n ngang.

Cc u trong c lin kt vi khung, v bng khp tr. Cc u

Hnh 1.18- S cu to h treo Mc.Pherson.

Nu ta so snh vi h treo 2 n ngang th h treo Mc.Pherson kt cu

Hnh 1.19 - Mi quan h ng hc ca h treo Mc.Pherson.

Trong h thng treo ni chung, v h treo ca cu dn hng ni ring

1- Khung v; 2- L xo; 3- Gim chn; 4Bnh xe; 5- n dc; 6- Khp quay.

Hnh 1.20- H treo hai n dc

H treo hai n dc l h treo c lp m mi bn c mt n dc.

Hnh 1.21 - S nguyn l h treo n dc c thanh ngang lin kt.

H treo n dc c thanh ngang lin kt, c c im l hai n dc

1-Dm cu; 2- n cho; 3-truyn lc chnh

Trong h treo n cho hnh v 1.22 chi tit n hi phn ln l l xo

thi gian n nh ca hNgoi ra cng c th kho st nh hng ca iu