ng lc hc v iu khin robot

TS Phan Tn Tng

Chng 2

NG LC HC

Phng trnh ng hc m t chuyn ng ca robot khng xt n lc v mmen

gy ra chuyn ng.
Phng trnh ng lc hc m t mi lin h gia lc v m men vi chuyn
ng.
Khi robot chuyn ng u hay vi gia tc b th c th m t chuyn ng robot
bng phng trnh ng hc, khi robot chuyn ng vi gia tc ng k th phi
m t chuyn ng bng phng trnh ng lc hc.
S dng phng trnh nng lng Euler Lagrange thit lp phng trnh ng
hc cho robot.
Hoc s dng cng thc Newton Euler vi php qui tnh ng lc hc
robot.

2.1 Nhc li cc khi nim trong c hc vt rn

2.1.1 Lc v mmen qun tnh

Chuyn ng tnh tin

Chuyn ng quay

Fqt = m.a vi m: khi lng; a: gia tc di

Tqt = I . vi I: m men qun tnh; : gia tc gc

2.1.2 M men qun tnh ca vt rn

M men qun tnh ca cht im khi lng m cch tm quay bn knh R

R

I = m.R 2
M men qun tnh ca a hnh trn khi lng m, bn knh R
R
m.R 2
2
M men qun tnh ca hnh cu c khi lng m, bn knh R
2
I = m.R 2
5
I=

ng lc hc v iu khin robot

TS Phan Tn Tng

M men qun tnh ca thanh khi lng m,chiu di L, trc quay l ng

trung trc

1
m.L2
12
M men qun tnh ca thanh khi lng m,chiu di L, trc quay i qua 1
u ca thanh
I=

1
I = m.L2
3
Cng thc di trc: bit m men qun tnh ca vt rn vi mt trc l IG.
Vy m men qun tnh ca vt rn vi trc song song trc G v cch
trc G mt khong d l

l
I = I G + m.d 2
2.1.3 Nhc li v vec t

Tch v hng ca 2 vc t l mt i lng v hng

T
C 2 vc t a = [a1 a2 a3 ] ; b = [b1 b2 b3 ]
Vy a.b = a1.b1 + a2 .b2 + a3 .b3

Tch c hng ca 2 vc t l mt vc t
T
C 2 vc t a = [a1 a2 a3 ] ; b = [b1 b2
a1 b1

a2b3 a3b2

a3 b3

a1b2 a2b1

b3 ] T

Vy a b = a2 b2 = (a1b3 a3b1 )
a b = (a2 .b3 a3 .b2 )i (a1.b3 a3 .b1 ) j + (a1.b2 a2 .b1 )k
2.1.4 ng nng v th nng

ng nng
ng nng ca vt rn chuyn ng tnh tin

ng lc hc v iu khin robot

KL =

TS Phan Tn Tng

m.v 2
2

ng nng ca vt rn chuyn ng quay

KR =

I . 2
2

ng nng ca vt rn va tnh tin va quay

K = KL + KR

Th nng

P = m.g .h

Lc Coriolis
FCor = 2.m.v

2.2 Phng trnh Euler Lagrange

2.2.1 H mt bc t do

Gi s c vt chu tc ng lc f chuyn ng ln
ng nng
K=

1
m. y& 2
2

Th nng

P = m.g . y
Cc lc tc ng ln vt khi lng m chu tc ng lc f di chuyn theo phng y
vi gia tc a
3

ng lc hc v iu khin robot

TS Phan Tn Tng

m.&y& = f m.g
Ta c

m.&y& =

d
(m. y& ) = d 1 m. y& 2 = d K
dt
dt y& 2
dt y&

m.g =

(m.g. y ) = P
y
y

Hm Lagrange ca mt h thng nng lng

L=KP=

1
m. y& 2 m.g . y
2

Vy
L K
L
P
=
v
=
y& y&
y
y
Phng trnh Euler Lagrange
d L L

= f
dt y& y
V d:

Xt 1 cht im khi lng m quay quanh 1 trc vi bn knh r vi gc quay

m
r

ng nng ca h K =

1 &2
I .
2

Th nng ca h P = m.g.r.(1 cos )

Hm Lagrange L = K P =

1 &2
I . m.g.r.(1 cos )
2

ng lc hc v iu khin robot

Phng trnh Euler Lagrange

TS Phan Tn Tng

d L L

= I .&& + m.g.r.sin =
&
dt

Vy h quay vi gia tc && phi cung cp cho trc mt m men l

= I .&& + m.g .r.sin = m.r.(r.&& + g.sin )

2.2.2 H nhiu bc t do

Gi q = [q1 q2 K qn ] l vc t n bin
Phng trnh Euler Lagrange ca h n bc t do

d L L
= fi

dt q&i qi
V d :

Xt tay my 2 bc t do trong mt phng xOy c :

m1, m2 : khi lng khu 1 v 2 t ti khp pha sau (xem hnh).

L1, L2: chiu di khu 1 v 2.
1, 2: bin khp.
Khi lng m xem nh l cht im nn I = 0.

Khu 1 :
ng nng K1 =

1
m1.L12 .&12
2

Th nng P1 = m1.g .L1. sin 1

Khu 2 :
Ta m2

ng lc hc v iu khin robot

TS Phan Tn Tng

x2 = L1. cos 1 + L2 . cos(1 + 2 )

y2 = L1. sin 1 + L2 . sin (1 + 2 )
Chiu cao th nng

h2 = L1. sin 1 + L2 . sin (1 + 2 )

Ta c v22 = x&22 + y& 22

(
2( 1

)
2)

x& 2 = L1.&1. sin 1 L2 . &1 + &2 . sin (1 + 2 )

y& = L .& . cos + L . & + & . cos( + )
2
2
v2

1 1
2 &2
L1 .1

L22

&12 + 2.&1.&2 + &22 + 2.L1.L2 . &12 + &1.&2 . cos 2

ng nng

K2 =

1
m2 L12 .&12 + L22 &12 + 2.&1.&2 + &22 + 2.L1.L2 . &12 + &1.&2 . cos 2
2

Th nng
P2 = m2 .g.[L1. sin 1 + L2 . sin (1 + 2 )]
Phng trnh Lagrange
L = (K1 + K 2 ) (P1 + P2 )
1
1
L = m1.L12 .&12 + m2 L12 .&12 + L22 &12 + 2.&1.&2 + &22 + 2.L1.L2 . &12 + &1.&2 . cos 2
2
2
m1.g .L1. sin 1 m2 .g .[L1. sin 1 + L2 . sin (1 + 2 )]

i vi khu 1

&
L L
= & = (m1 + m2 ).L12 .&1 + m2 .L22 . &1 + &2 + 2.m2 .L1.L2 . cos 2 .&1 + 2
q&1 1
2

&2
d L
2 &&
2 &&
&& 2.m .L .L . sin .& .& + 2
(
)
=
+
.
.
+
.
.
+
m
m
L
m
L

1
2
1 1
2 2
1
2
2 1 2
2 1 2
2
dt &1

&&
+ 2.m2 .L1.L2 . cos 2 .&&1 + 2
2

L
L
=
= (m1 + m2 ).g.L1. cos 1 m2 .g.L2 . cos(1 + 2 )
q1 1

ng lc hc v iu khin robot

TS Phan Tn Tng

Do m men tc ng ln khp 1 l :

1 =

d L L
& 2

= (m1 + m2 ).L12 .&&1 + m2 .L22 . &&1 + &&2 2.m2 .L1.L2 . sin 2 .&1.&2 + 2
dt q&1 q1
2

&&
+ 2.m2 .L1.L2 . cos 2 .&&1 + 2 + (m1 + m2 ).g .L1. cos 1 + m2 .g.L2 . cos(1 + 2 )
2

Hay

1 = m2 L22 &&1 + &&2 + m2 L1L2C2 2&&1 + &&2 + (m1 + m2 )L12&&1 m2 L1L2&22 S 2 2m2 L1L2&1&2 S 2
+ m2 L2 gC12 + (m1 + m2 )L1 gC1

i vi khu 2

L
L
= & = m2 .L22 . &1 + &2 + m2 .L1.L2 .&1. cos 2
&
q2 2
d L
= m2 .L22 . &&1 + &&2 m2 .L1.L2 .&1.&2 . sin 2 + m2 .L1.L2 .&&1 cos 2
dt &2

L
L
=
= m2 .L1.L2 .&12 sin 2 m2 .L1.L2 .&1.&2 . sin 2 m2 .g.L2 . cos(1 + 2 )
q2 2
Do m men tc ng ln khp 2 l :

2 =

d L L

= m2 .L22 . &&1 + &&2 + m2 .L1.L2 .&12 . sin 2 + m2 .L1.L2 .&&1. cos 2 + m2 .g.L2 . cos(1 + 2 )
dt q&2 q2

hay

2 = m2 .L1.L2 .&&1.C2 + m2 .L1.L2 .&12 .S2 + m2 .g .L2 .C12 + m2 .L22 . &&1 + &&2

2.3 Phng trnh ng lc hc trong khng gian trng thi :

Vit li cc phng trnh trn dng ma trn

(m1 + m2 ).L12 + m2 .L22 + 2.m2 .L1.L2 . cos 2 m2 .L22 + m2 .L1.L2 .cos 2 &&1

. &&
m2 .L22 + m2 .L1.L2 . cos 2
m2 .L22

2
2.m2 .L1.L2 .&1.&2 .sin 2 m2 .L1.L2 .&22 .sin 2
+

+ m2 .L1.L2 .&12 .sin 2

(m + m2 ).g.L1. cos1 + m2 .g.L2 . cos(1 + 2 ) 1

+ 1
=
m2 .g.L2 . cos(1 + 2 )
2

ng lc hc v iu khin robot

TS Phan Tn Tng

Dng tng qut ca phng trnh ng lc hc trong khng gian trng thi

( )

M ( ).&& + V ,& + G ( ) =
M : ma trn khi lng. Ma trn ny l ma trn i xng v xc nh dng nn lun
nghch o c.
V : ma trn vn tc
Hay vit di dng
(m1 + m2 ).L12 + m2 .L22 + 2.m2 .L1.L2 . cos 2

m2 .L22 + m2 .L1.L2 . cos 2

m2 .L22 + m2 .L1.L2 . cos 2 &&1

. &&
m2 .L22
2

0
2.m2 .L1.L2 . sin 2 & &
.

+
+
1
2
m .L .L . sin

0
2

2 1 2

m2 .L1.L2 . sin 2 &12

. & 2
0
2

(m + m2 ).g.L1. cos1 + m2 .g.L2 . cos(1 + 2 ) 1

+ 1
=
m2 .g.L2 . cos(1 + 2 )
2

M ( ).&& + B( )&1.&2 + C ( ).& 2 + G ( ) =

B : ma trn h s Coriolis
C : ma trn ly tm
2.4 Phng trnh Newton Euler

Kt qu thu c theo 2 phng php Lagrange v Newton Euler l nh nhau

S khc bit : Phng php Lagrange s dng ng nng v th nng ca c

h thng tay my trong khi phng php Newton Euler xem xt lc v m
men cho tng khu. Sau s dng php qui xc nh lc v m men
cho cc khp ca ton h.

Phng php Newton Euler da trn h lc cn bng tc ng ln khu th i.

Cc lc tc ng ln khu th i l :

Lc Fi l lc qun tnh do chuyn ng tnh tin c gia tc ca khi

lng mi ca khu th i gy nn. Lc ny t ti tm khi lng Ci ca
khu.
i
M men N i l m men qun tnh do chuyn ng quay c gia tc ca
khu th i (c m men qun tnh Ii)
i +1
f i +1 l lc do khu th i+1 tc ng ln khu th i ti khp i+1
Lc

ng lc hc v iu khin robot

i +1
M men i +1 l m men do khu th i+1 tc ng ln khu th i ti
khp i+1
i
Lc f i l lc do khu th i-1 tc ng ln khu th i ti khp i

i
M men i l m men do khu th i-1 tc ng ln khu th i ti khp i

TS Phan Tn Tng

i
Trong cc lc ny th ta c th xc nh c cc lc qun tnh Fi v m
i
i
i +1
i
i +1
men qun tnh N i , cn cc lc f i , f i +1 v m men i , i +1 cha bit.
Nu ch da vo 2 phng trnh cn bng lc v m men th khng th xc
nh c 4 n s ny.

Tuy nhin, i vi khu th n th ta c th xc nh c lc

n +1

f n +1 v m

n +1
men n +1 v l cc thnh phn ngoi lc tc ng ln khp n+1 chnh l
End Effector (v d l bn kp ca tay my). Do , da vo phng trnh cn
bng lc v m men ca khu th n ta c th xc nh c cc thnh phn
n
n
lc f n v m men n tc ng ln khp n.

n
n
Tip tc vi khu n-1, v ta bit lc f n v m men n nn da vo
phng trnh cn bng lc v m men ca khu th n-1 ta c th xc nh
n 1
f n 1 v m men n 1 n 1 tc ng ln khp n-1.
c cc thnh phn lc

Qu trnh c lp li vi khu n-2 cho n khu 1. Qu trnh ny c gi l

qu trnh qui.

Xy dng phng trnh ng lc hc theo phng php Newton Euler theo 2 bc

Bc 1: Tnh cc thnh phn vn tc v gia tc t khu 1 n khu n

1. Vect vn tc gc ca khu i+1

Khp quay

ng lc hc v iu khin robot

TS Phan Tn Tng

i +1 =i +1Ri ii + &i +1 i +1Zi +1

i +1

Vi

i +1

Ri ma trn quay chuyn t h i v h i+1.

&i+1 l vn tc gc ca khp i+1

Khp tnh tin

i +1

i +1 = i+1Ri ii

2. Vect gia tc gc ca khu i+1

Khp quay

& i +1 =i +1Ri i& i + i +1Ri ii &i +1 i +1Zi +1 + &&i +1 i +1Zi +1

i +1

&&i +1 l gia tc gc ca khp i+1

Khp tnh tin

i +1

& i +1 = i+1Ri i& i

3. Vect gia tc di ca khu i+1

Khp quay

i +1

v&i +1 = i +1Ri i v&i + i & i i pi +1 + i i i i i pi +1

)]

Vi
i

pi +1 l vect v tr gc ta ca h i+1 trong h i

Khp tnh tin

v&i +1 =i +1Ri i v&i + d&&i Zi + 2 ii d&&i Z i + i& i di X i + ii ii d i Z i

i +1

)]

Vi
d&&i l gia tc di ca khp th i

4. Vect gia tc di ca tm khi lng ca khu i+1

10

ng lc hc v iu khin robot

i +1

v&C (i +1) =i +1& i +1i +1pC (i +1) + i +1i +1

TS Phan Tn Tng

i +1

i +1i +1pC (i +1) + i +1v&i +1

5. Lc qun tnh ti tm khi lng khu th i+1

i +1

Fi +1 = mi +1 i +1v&C (i +1)

Vi mi +1 l khi lng khu i+1

6. M men qun tnh ti tm khi lng khu th i+1
i +1

N i +1 = I C (i +1) i +1& i +1 + i +1i +1 I C (i +1) i +1i +1

Vi I C (i +1) l mmen qun tnh ca khu i+1 i vi trc qua tm khi lng Ci+1 v c
cng hng vi h i+1
Bc 2: Tnh lc v mmen ti cc khp t khp n n khp 1

1. Lc tc ng ti khp i
i

f i = i Fi + i Ri +1 i +1 f i +1

i
Vi Ri +1 ma trn quay chuyn t h i+1 v h i

2. Mmen tc ng ti khp i

i = i N i + iRi +1 i +1 i +1 + i pCi i Fi + i pi +1i Ri +1 i +1 f i +1

3. Trng hp khp quay mmen xon ti khp l

i = i iT i Z i
4. Trng hp khp tnh tin lc ti khp l

i = i f iT i Z i
V d:

11

ng lc hc v iu khin robot

TS Phan Tn Tng

Gi s b qua nh hng ca mmen qun tnh ca cc khu I C1 v I C 2 = 0 v ti bn

kp ca tay my khng c lc v mmen tc ng
Bc 1: Tnh cc thnh phn vn tc v gia tc t khu 1 n khu n

Do ng yn v trc Y thng ng
0

& 0 = 0;

0 = 0;

0
v&0 = g
0

Khu 1

Vect vn tc gc

i +1 = i +1Ri ii + &i +1Z i +1

i +1

0 0
1 = &1 Z i = &1 0 = 0
1 &i

Vect gia tc gc

& i +1 = i +1Ri i& i + i +1Ri ii &i +1Z i +1 + &&i+1Z i +1

i +1

0 0
&
&
&
&

&1 = 1Z i = 1 0 = 0
1 &&1

Vect gia tc di
i +1

v&i +1 = i +1Ri i v&i + i & i i pi +1 + i i i i i pi +1

)]

C1 S1 0 0 gS1

v&1 = R0 v&0 = S1 C1 0. g = gC1

0
0 1 0 0
1

Vect gia tc ca tm khi lng

i +1

v&C (i +1) = i +1& i +1i +1 pC (i +1) + i +1i +1

i +1

i +1i +1 pC (i +1) + i +1v&i +1

v&C1 =1&11pC1 +11 111pC1 +1v&1

12

ng lc hc v iu khin robot

TS Phan Tn Tng

0 L1 0 0 L1 gS1

v&C1 = 0 0 + 0 0 0 + gC1
&&1 0 &1 &1 0 0

2
2
0 L1&1 gS1 L1&1 + gS1
0 0 0 gS1

1
v&C1 = L1&&1 + 0 L1&1 + gC1 1v&C1 = L1&&1 + 0 + gC1 = L1&&1 + gC1

0 0 0
0 &1 0 0
0

Lc qun tnh ti tm khi lng

i +1

Fi +1 = mi +1 i +1v&C (i +1)

m1L1&12 + m1gS1

1
F1 = m1.1 v&C1 = m1L1&&1 + m1gC1

Momen qun tnh ti tm khi lng

i +1

N i +1 = I i +1 i +1& i +1 + i +1i +1 I i +1 i +1i +1

0
N1 = 0
0

Khu 2
Vect vn tc gc
C2

&
i +1
i +1 = i +1Ri ii + &i +1Z i +1 2 = R1. 1 + 2 Z 2 = S 2
0
Vect gia tc gc
2

S2
C2
0

0 0
0 0

0. 0 + &2 0 = 0
1 &1 + &2
1 &1

& i +1 = i +1Ri i& i + i +1Ri ii &i +1Z i +1 + &&i+1Z i +1 2& 2 = 2R1 1&1 + 2 R1 11 &2 Z 2 + &&2 2 Z 2

i +1

C2
& 2 = S 2
0

S2
C2

0 0 C 2

0. 0 + S 2

1 &&1 0

S2
C2
0

0 0
0
0 0

0. 0 &2 .0 + &&2 .0 = 0
1
1 &&1 + &&2
1 &1

Vect gia tc di
i +1

v&i +1 = i +1Ri i v&i + i & i i pi +1 + i i i i i pi +1

)]
13

ng lc hc v iu khin robot

TS Phan Tn Tng

v&2 = 2R1 1v&1 + 1&11 p2 +11 111 p2

C2 S1
v&2 = S1 C2
0
0

)]

0 gS1 0 L1 0 0 L1

0. gC1 + 0 0 + 0 0 0

1 0 &&1 0 &1 &1 0

C2 S1
2
v&2 = S1 C2
0
0

0 gS1 0 0 0

0. gC1 + L1&&1 + 0 L1&1

1 0 0 &1 0

C2 S1
2
v&2 = S1 C2
0
0

0 gS1 0 L1&12

0. gC1 + L1&&1 + 0

1 0 0 0

C2
2
v&2 = S 2
0

0 L1&12 + gS1 L1&&1S 2 L1&12C2 + gS12

0 L1&&1 + gC1 = L1&&1C2 + L1&12 S 2 + gC12

1
0
0

S2
C2
0

Vect gia tc ca tm khi lng

i +1

v&C (i +1) = i +1& i +1i +1 pC (i +1) + i +1i +1

i +1

i +1 i +1 pC (i +1) + i +1v&i +1

v&C 2 = 2& 2 2 pC 2 + 2 2 2 2 2 pC 2 + 2 v&2

v&C 2

2
0 L2 0 0 L2 L1&&1S 2 L1&1 C2 + gS12

= 0 0 + 0 0 0 + L1&&1C2 + L1&12 S 2 + gC12

&&1 + &&2 0 &1 + &2 &1 + &2 0

0

v&C 2

&
&
= L2 1 + &&2

v&C 2

&
&
= L2 1 + &&2

L2 &1 + &2
+
0

0
0
+ 0 L & + &
2 1 2

&1 + &2
0

2
L1&&1S 2 L1&1 C2 + gS12
+ L && C + L & 2 S + gC
12
11 2 11 2

)2

L1&&1S 2 L1&12C2 + gS12

+ L1&&1C2 + L1&12 S 2 + gC12

14

ng lc hc v iu khin robot

TS Phan Tn Tng

(
(

)
)

L && S L & 2C + gS L & + & 2

12
2 1
2
11 2 11 2
2
&vC 2 = L1&&1C2 + L1&12 S 2 + gC12 + L2 &&1 + &&2

Lc qun tnh ti tm khi lng

m L && S m L & 2C + m gS m L & + & 2
2 1 1 2
2 12
2 2 1
2
2 11 2
2
2
2
&
&
&
&
&
&
&
i +1
i +1
&
Fi +1 = mi +1 v&C (i +1) F2 = m2 . vC 2 = m2 L11C2 + m2 L11 S 2 + m2 gC12 + m2 L2 1 + 2

(
(

)
)

Momen qun tnh ti tm khi lng

i +1

N i +1 = I i +1 i +1& i +1 + i +1i +1 I i +1 i +1i +1

0

N 2 = 0
0
2

Bc 2: Tnh lc v mmen ti cc khp t khp n n khp 1

Lc tc ng ti khp 3

0
f 3 = 0
0

Mmen tc ng ti khp 3
0
3 = 0
0

Lc tc ng ti khp 2
i

f i = i Fi + iRi +1 i +1 f i +1

f 2 = 2F2

Mmen tc ng ti khp 2

i = i N i + iRi +1 i +1 i +1 + i pCi i Fi + i pi +1i Ri +1 i +1 f i +1

15

ng lc hc v iu khin robot

TS Phan Tn Tng

2
2
L2 m2 L1&&1S 2 m2 L1&1 C2 + m2 gS12 m2 L2 &1 + &2

2
2 = 2 pC 2 2 F2 = 0 m2 L1&&1C2 + m2 L1&12 S 2 + m2 gC12 + m2 L2 &&1 + &&2

0
0

0
2 =
2
m2 L1L2&&1C2 + m2 L1L2&1 S 2 + m2 L2 gC12 + m2 L22 &&1 + &&2

Mmen xon ti khp 2

2 = 2 2T 2 Z 2

2 = 0 0

m2 L1L2&&1C2 + m2 L1L2&12 S 2

+ m2 L2 gC12 + m2 L22

2 = m2 L1L2&&1C2 + m2 L1L2&12 S 2 + m2 L2 gC12 + m2 L22 &&1 + &&2

0
&&1 + &&2 .0
1

)]

Lc tc ng ti khp 1
i

f i = i Fi + iRi +1 i +1 f i +1

f1 =1F1 +1R2 2 f 2

(
(

)
)

2
0 m2 L1&&1S 2 m2 L1&12C2 + m2 gS12 m2 L2 &1 + &2

0. m2 L1&&1C2 + m2 L1&12 S 2 + m2 gC12 + m2 L2 &&1 + &&2

0
1
0

2
m1L1&12 + m1gS1 m2 L1&12 + m2 gS1 m2 L2C2 &1 + &2 m2 L2 S 2 &&1 + &&2

2
1
f1 = m1L1&&1 + m1 gC1 + m2 L1&&1 + m2 gC1 m2 L2 S 2 &1 + &2 + m2 L2C2 &&1 + &&2

0
0

m L & 2 + m gS m L & 2 + m gS m L C & + & 2 m L S && + &&
1 1
2 1 1
2 1
2 2 2 1
2
2 2 2 1
2
1 11
2
1
f1 = m1L1&&1 + m1 gC1m2 L1&&1 + m2 gC1 m2 L2 S 2 &1 + &2 + m2 L2C2 &&1 + &&2

Mmen tc ng ti khp 1
i
i = i N i + iRi +1 i +1 i +1 + i pCi i Fi + i pi +1i Ri +1 i +1 f i +1

m1L1&12 + m1 gS1 C2

1
f1 = m1L1&&1 + m1 gC1 + S 2

0
0

S2
C2

1 =1N1 +1R2 2 2 +1pC11F1 +1p2 1R2 2 f 2

16

ng lc hc v iu khin robot

0 C2
1 = 0 + S 2
0 0

S2

TS Phan Tn Tng

0
0

0.
0
2
&
&
&
1 m2 L1L21C2 + m2 L1L21 S 2 + m2 L2 gC12 + m2 L22 &&1 + &&2

C2

2
L1 m1L1&1 + m1 gS1

+ 0 m1L1&&1 + m1 gC1

0
0

L1 C2
+ 0 S 2

0 0

S2
C2
0

2
0 m2 L1&&1S 2 m2 L1&12C2 + m2 gS12 m2 L2 &1 + &2

0. m2 L1&&1C2 + m2 L1&12 S 2 + m2 gC12 + m2 L2 &&1 + &&2

1
0

1
0
1 =

m2 L1L2&&1C2 + m2 L1L2&12 S 2 + m2 L2 gC12 + m2 L22 &&1 + &&2

0
0

0
0
+
+
2
2 &&
2 &&
m1L11 + m1L1gC1 m2 L11 + m2 L1gC2 m2 L1L2 S 2 &1 + &2 + m2 L1L2C2 &&1 + &&2

0
1 =
m L L && C + m L L & 2 S + m L gC + m L2 && + && + m L2&& + m L gC
2 1 2 1 2
2 2
12
2 2 1
2
1 1 1
1 1
1
2 1 2 1 2

+ m L2&& + m L gC m L L S & + & 2 + m L L C && + &&

2 1
2
2 1 2 2 1
2
2 1 2 2 1
2

2 1 1

)
(

1
1 =
0

m2 L22 &&1 + &&2 + m2 L1L2C2 2&&1 + &&2 + (m1 + m2 )L12&&1 m2 L1L2&22 S 2

2m2 L1L2 S 2&1&2 + m2 L2 gC12 + (m1 + m2 )L1 gC1

Mmen xon ti khp 1

1 =11T 1Z1

1 = m2 L22 &&1 + &&2 + m2 L1L2C2 2&&1 + &&2 + (m1 + m2 )L12&&1 m2 L1L2&22 S 2

2m2 L1L2 S 2&1&2 + m2 L2 gC12 + (m1 + m2 )L1 gC1

Ht Chng 2

17