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06Ӕ 60520101
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PGS. TS. NGUYӈ17Ҩ17,ӂ1
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2. 7KѭNêKӝLÿӗng: TS. TrѭѫQJ4XDQJ Tri
3. Phҧn biӋn 1: PGS. TS. Bùi Trӑng HiӃu
4. Phҧn biӋn 2: PGS. TS. NguyӉn Thanh PhѭѫQJ
5. Ӫy viên: PGS. TS. NguyӉn Tҩn TiӃn
;iFQKұQFӫD&KӫWӏFK+ӝLÿӗQJÿiQKJLi/XұQYăQYj7UѭӣQJ.KRDTXҧQOêFKX\rQ
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NHIӊM VӨ LUҰ19Ă17+Ҥ&6Ƭ
+ӑYjWrQKӑFYLrQ 9®ĈҺ1*3+ѬѪ1*%Î1+ ........................ MSHV: 1770198 .........
Ngjy, thing, năm sinh: 06/04/1993................................................ NѫLVLQK 9ƭQK/RQJ
Chuyrn ngjnh: Cѫ Kӻ Thuұt........................................................... Mm sӕ: 60520101..........
I. TÇ1Ĉӄ T¬I:
1*+,Ç1&Ӭ87+,ӂ7%ӎ+Ӛ75Ӧ3+Ө&9Ө&+Ӭ&1Ă1*9Ұ1ĈӜ1*&+2
1*ѬӠ,%ӎ7$,%,ӂ1
II. NHIӊM VӨ V¬ NӜI DUNG:
-
7uPKLӇXP{KuQKKyDSKҫQFKLWUrQFӫDFRQQJѭӡL
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7tQKWRiQYjOӵDFKӑQFiFWK{QJVӕEӝWUX\ӅQWUөFәOăQYjÿӝQJFѫSKKӧS
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6ӱGөQJSKҫQPӅP$XWRGHVN,QYHQWRUWKLӃWNӃWKLӃWEӏ
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*LDF{QJFKӃWҥRWKLӃWEӏ
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7KӵFQJKLӋPWKLӃWEӏWUrQQJѭӡLWKұW
III. NG¬Y GIAO NHIӊM VӨ: 22/02/2021
IV. NG¬Y HO¬N TH¬NH NHIӊM VӨ: 13/06/2021
V. CÈN BӜ HѬӞNG DҮN: 3*6761*8<ӈ17Ҩ17,ӂ1
i
Tp. HCM, ngjy ... thing ... năm 2021
CÈN BӜ HѬӞNG DҮN
CHӪ NHIӊM BӜ MÐ1Ĉ¬O TҤO
(Hӑ trn vj chӳ kê)
(Hӑ trn vj chӳ kê)
TRѬӢNG KHOA KHOA HӐC ӬNG DӨNG
(Hӑ trn vj chӳ kê)
ii
LӠI CҦ0Ѫ1
Ĉҫu tirn, t{i gӱi lӡi cҧm ѫQ ÿӃn Bӝ m{n Cѫ Kӻ Thuұt, Khoa Khoa hӑc Ӭng dөng,
Trѭӡng Ĉҥi hӑc Bich Khoa Thjnh phӕ Hӗ Cht Minh Yj 3KzQJ WKt QJKLӋP WUӑQJ ÿLӇP
ĈLӅXNKLӇQYj.ӻWKXұW+ӋWKӕQJÿm tҥo mӑLÿLӅu kiӋn thuұn lӧi nhҩWÿӇ t{i cy thӇ hojn
thjnh luұn văn njy.
Thӭ hai, trkn trӑng cҧm ѫn Ngѭӡi Thҫy hѭӟng dүn cӫa t{i ± PGS. TS. 1JX\ӉQ7ҩQ7LӃQ
cng vӟi %iFVƭ&.1JX\ӉQ;XkQ7KҳQJ ÿm cho t{i nhiӅu lӡi khuyrQÿӝng lӵc vj tài
OLӋX SKөFYөFKR nghirn cӭu cNJng nhѭ thӵc QJKLӋP VҧQSKҭP.
Cuӕi cng, t{i cҧm ѫn JLDÿunh, bҥn bq ÿm hӛ trӧ vj khuyӃn khtch tôi trong suӕt qui trunh
nghirn cӭu.
Thjnh phӕ Hӗ Cht Minh, thing 06 năm 2021
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9}ĈһQJ3KѭѫQJ%uQK
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TÓM TҲT LUҰ19Ă17+Ҥ&6Ƭ
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iv
ABSTRACT
In the modern world, stroke is one of the most leading causes of adult disability. Poststroke patients are needed to perform the exercise to recover the upper lLPE¶V IXQFWLRQ
through treatment with clinician support.
This thesis presents the design of the upper limb rehabilitation device for post-stroke
patients, which is receiving society's attention. Research in this field partly improves the
quality of life for patients, creates a downright domestic product, and somewhat helps
hospitals no longer depend on purchasing ± importing medical equipment from abroad.
This design is the first step in designing home-based rehabilitation equipment. The
proposed device must be low-FRVW SRUWDEOH DQG VWUDLJKWIRUZDUG VXFK WKDW SDWLHQWV¶
relatives can operate it. The proposed device enables the recovery of the elbow and wrist
of post-stroke patients that use high torque servo motors.
Keywords: post-stroke patient, rehabilitation, upper limb, artificial muscle
v
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T{L[LQFDPÿRDQWҩt cҧ nhӳng th{ng tin trunh bjy trong Luұn văn nj\ÿѭӧc chtnh tic giҧ
birn soҥn vj thӵc hiӋn. Kh{ng sao chpSÿҥo văn cӫa bҩt kǤ tji liӋu njo.
+ӑFYLrQTic giҧ
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MӨC LӨC
1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ .....................................................................................i
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1.1. é Wѭӣng ...................................................................................................................... 1
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1.3. Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng ................................................................... 2
7KLӃWEӏGҥQJEӏÿӝQJ .......................................................................................... 3
1.3.2. 7KLӃWEӏGҥQJFKӫÿӝQJ ....................................................................................... 4
7KLӃWEӏWѭѫQJWiF................................................................................................ 6
7KLӃWEӏKXҩQOX\ӋQ ............................................................................................. 8
ĈӅ[XҩWFiFKWKӭFKRҥWÿӝQJ ..................................................................................... 9
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2.3.1. BӝWUX\ӅQÿӝQJEiQKUăQJF{Q.......................................................................... 17
ĈӝQJFѫVHUYR ................................................................................................... 17
%RPҥFK$UGXLQR ............................................................................................. 18
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9zQJELÿNJD ...................................................................................................... 19
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viii
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/ұSWUuQKÿLӅXNKLӇQÿӝQJFѫ ................................................................................... 35
3.5.1. Mô hình Simulink ............................................................................................. 35
3.5&kQFKӍQKFiFWK{QJVӕEӝÿLӅXNKLӇQÿӝQJFѫ ................................................ 38
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DANH MӨC HÌNH ҦNH
Hình 1.1. %LӇXÿӗWuQKWUҥQJEӋQK QKkQVDXNKLEӏWDLELӃQPҥFKPiXQmRӣ9LӋW1DP ... 1
Hình 1.2. 0LQKKӑDFKRWKLӃWEӏWұSGҥQJEӏÿӝQJ ............................................................. 3
Hình 1.3. 0ӝWVӕWKLӃWEӏWұSGҥQJEӏÿӝQJÿmÿѭӧFWKӱQJKLӋPWKӵFWӃ ........................... 4
Hình 1.4. 0LQKKӑDFKRWKLӃWEӏWұSGҥQJFKӫÿӝQJ .......................................................... 4
Hình 1.5. .KXQJ[ѭѫQJQJRjL6($FӫDĈҥLKӑF&{QJQJKӋ9LUJLQLD ............................ 5
Hình 1.6. 7KLӃWEӏWұSÿDFKL$(2 ..................................................................................... 6
Hình 1.7. 0LQKKӑDFKRWKLӃWEӏWұSWѭѫQJWiF ................................................................... 6
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Hình 1.10. 0LQKKӑDFKRWKLӃWEӏKXҩQOX\ӋQ .................................................................... 8
Hình 1.11. ³&iQK WD\Pi\´ ArmAssist 2.0 ....................................................................... 8
Hình 1.12. MIT-0$186FӫDÿҥLKӑF0,T ...................................................................... 9
Hình 1.13. Minh hӑa hoҥWÿӝQJFӫDWKLӃWEӏ ...................................................................... 10
Hình 2.1. &ҩXWҥRSKҫQFKLWUrQFӫDQJѭӡL ........................................................................ 11
Hình 2.2. 0{KuQKFKX\ӇQÿӝQJӣNKӟSEҧYDL ................................................................. 14
Hình 2.3. 0{KuQKFKX\ӇQÿӝQJӣNKӟSNKXӹXWD\ ........................................................... 15
Hình 2.4. 0{KuQKFKX\ӇQÿӝQJӣNKӟSFәWD\ ................................................................. 16
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Hình 3.3. 0{KuQKFѫNKtKyDSKҫQFKLWUrQӣQJѭӡL ........................................................ 25
Hình 3.4. .tFKWKѭӟFÿӝQJFѫÿѭӧc chӑn ........................................................................ 26
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Hình 3.6. Phân tích lӵFWiFÿӝQJOrQEiQKUăQJWUөc và ә OăQ........................................... 28
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Hình 3.8. 6ѫÿӗQJX\rQOêFӫDWKLӃWEӏ .............................................................................. 29
Hình 3.9. 7KLӃWNӃFӫDSKҫQFiQKWD\WKLӃWEӏ .................................................................... 30
Hình 3.10. 7KLӃWNӃFӫDSKҫQFҷQJWD\WKLӃWEӏ .................................................................. 31
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Hình 3.12. 0{KuQKWKLӃWEӏNKLOҳSÿһWYjREӋQKQKkQ ..................................................... 33
Hình 3.13. 7KLӃWEӏNKLÿѭӧFOҳSÿһWWKӱQJKLӋP .............................................................. 33
Hình 3.14. 0ӝWVӕKuQKҧQKNKiFFӫDWKLӃWEӏWURQJWKӵFWӃ .............................................. 34
Hình 3.15. 6ѫÿӗ khӕi quy trình tұp cӫa thiӃt bӏ ............................................................... 35
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Hình 3.17. 6ѫÿӗ P{SKzQJÿLӅu khiӇn servo bҵng Simulink ........................................... 37
Hình 3.18. Mô hình hóa bӝ ÿLӅu khiӇn tích hӧp vòng kính PI .......................................... 38
Hình 3.19. MҥFKÿLӅu khiӇn MSD_AM vj P{KuQKÿҩu nӕi vjo miy tính nhúng ........... 38
Hình 3.20. /ѭXÿӗ miêu tҧ quy trình cân chӍnh các thông sӕ ÿӝQJFѫ.............................. 39
Hình 3.21. Quá trình cân chӍnh thông sӕ ÿӝQJFѫWUrQSKҫn mӅm DC Tuner ................... 39
Hình 3.22. /ѭXÿӗ giҧi thuұWÿLӅu khiӇn mӝt nhӏp tұp cӫa thiӃt bӏ.................................... 41
Hình 3.23. *LDRGLӋQWuPNLӃPEӋQKQKkQÿӇEҳWÿҫXTXiWUuQKWұS .................................. 42
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Hình 3.25. Giao diӋn sӱ dөQJFKR\EiFVƭ ........................................................................ 44
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Hình 4.2. 7ѭѫQJTXDQJLӳDJyFÿRÿҥFÿѭӧFVRYӟLJyFOêWKX\ӃW ................................... 46
xi
DANH MӨC BҦNG BIӆU
%ҧQJ. .tFKWKѭӟFFiF NKkXFKLWUrQFӫDQJѭӡL ........................................................... 12
%ҧQJ. &iFWK{QJVӕYұWOêFӫDQJѭӡLWURQJQKyPWXәLWӯÿӃQWXәL .................... 12
%ҧQJ. &iFWK{QJVӕWұSWKHRPӭFÿӝKӛWUӧYjPRPHQW[RҳQFҫQFҩSFKRFiFNKӟS . 17
%ҧQJ. 7K{QJVӕFKLWLӃWFӫDÿӝQJFѫVӱGөQJ ............................................................. 26
%ҧQJ. 7K{QJVӕFKLWLӃWFӫDEiQKUăQJF{QVӱGөQJFKRWKLӃWEӏ ................................. 27
Bҧng 3.3. 7K{QJVӕFKLWLӃWFӫDәÿNJDGQJFKRWKLӃWEӏ ................................................... 28
%ҧQJ3.47K{QJVӕÿӝQJFѫVDXNKLFkQFKӍQK ................................................................. 40
xii
&K˱˯QJ7͝ng quan
&KѭѫQJ.
TӘNG QUAN
1.1. é Wѭӣng
7KHRWKӕQJNrFӫD%ӝ<7Ӄ FiFEӋQKOêYӅWDLELӃQYjWәQWKѭѫQJWKҫQNLQKYұQ
ÿӝQJÿDQJOjYҩQÿӅQKӭFQKӕLWURQJQJjQK -ӣÿӝWXәLWUXQJYjFDRQLrQ [1].
9LӋFSKөFKӗLFKӭFQăQJӣQJѭӡLEӋQKKLӋQÿӕLPһWYӟLQKLӅXNKyNKăQ
-
7KLӃXKөWWUDQJWKLӃWEӏYj QKkQYLrQ\WӃYұQKjQK
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%ӋQKQKkQNKyWLӃSFұQÿӃQFiFWUXQJWkP\WӃ
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.K{QJFySKiFÿӗÿLӅXWUӏULrQJFKRWӯQJEӋQKQKkQ
-
4XiWUuQKWұSNK{QJÿѭӧFOѭXWUӳÿӇÿiQKJLiWuQKWUҥQJSKөFKӗL
7ӯWKӵFWӃÿyPӝWWKLӃWNӃPӟLFKRWKLӃWEӏSKөFKӗLFKӭFQăQJFKLWUrQFKRQJѭӡLEӏWDL
ELӃQQKҵPJLҧLTX\ӃWÿѭӧFQKӳQJNKyNKăQÿmÿӅUDYӟLFKLSKtWKҩSYjGӉGjQJWULӇQNKDL
WҥLQKjOjÿLӅXUҩWFҫQWKLӃW 7KLӃWEӏVӁiSGөQJWURQJNKkXSKөFKӗLFKӭFQăQJӣQKӳQJ
QJѭӡLEӏFKҩQWKѭѫQJEӋQKQKkQFiFKӝLFKӭQJWHRFѫ WKRiLKyDNKӟS«
Hình 1.1. %L͋Xÿ͛WuQKWU̩QJE͏QKQKkQVDXNKLE͓WDLEL͇QP̩FKPiXQmRͧ9L͏W1DP
7K͙QJNr81,&()QăP
Trang 1
&K˱˯QJ7͝ng quan
/XұQYăQQj\Oҩ\êWѭӣQJWӯJKӃnâng WҥÿDQăQJ± VӱGөQJWURQJOX\ӋQWұSWKӇKuQKEjL
WұS JұS-GXӛL ӣEjQ WD\ Yj FҷQJ WD\ FӫD FRQ QJѭӡLYj SKiF WKҧR PӝW WKLӃW NӃ YӅ WKLӃW Eӏ
SKөF KӗL FKӭF QăQJ GҥQJ FKӫ ÿӝQJ 7KLӃW Eӏ FKR SKpS WұS JұS-GXӛL ӣ KDL NKӟS NKӟS
NKXӹXWD\YjNKӟSFәWD\
1.2. MөFWLrXÿӕLWѭӧQJYjSKѭѫQJSKiSQJKLrQFӭu
0өFWLrXQJKLrQFӭXÿӅWjL WtQKWRiQWKLӃWNӃ YjFKӃWҥRP{KuQKWKLӃWEӏSKөFKӗLFKӭF
QăQJFKLWUrQÿѭӧFVӱGөQJFKRQJѭӡLFDRWXәLEӋQKQKkQÿDQJWURQJTXiWUuQKSKөFKӗL
FKӭFQăQJYұQÿӝQJYLrQWKӇWKDR«
ĈӕL WѭӧQJ QJKLrQ FӭX P{ KuQK KRi KӋ FKL WUrQ FӫD QJѭӡL OrQ PүX WKLӃW NӃ JLD F{QJ
WKLӃWEӏ[k\GѭQJP{KuQKÿLӅXNKLӇQWKӱQJKLӋPOkPVjQJ
3KѭѫQJ SKiS QJKLrQ FӭX WtQK WRiQ ÿѭӡQJ NtQK WUөF WUX\ӅQ ÿӝQJ OӵD FKӑQ FiF WUDQJ
WKLӃWEӏFҫQWKLӃWVӱGөQJFiFSKҫQPӅP&$' $XWR&$',QYHQWRU ÿӇWҥRP{KuQK'
Yj[XҩWFiFEҧQYӁ JLDF{QJVӱGөQJFiFSKҫQPӅPFKX\rQGөQJÿӇ[k\GӵQJP{KuQK
ÿLӅXNKLӇQ 0DWODE6LPXOLQN$UGXLQR,'( VӱGөQJFiFQJ{QQJӳOұSWUuQKFKRYLÿLӅX
NKLӇQYjFKѭѫQJWUuQKJLDRGLӋQQJѭӡLGQJ &&
1.3. Cic mүu sҧn phҭPÿm cy trên thӏ WUѭӡng
3KҫQ OӟQ FiF WKLӃW Eӏ Fy WUrQ WKӏ WUѭӡQJ WұS WUXQJ SKөF KӗL FKӭF QăQJ FKR QKyP ÿӕL
WѭӧQJ
-
%ӋQKQKkQVX\QKѭӧFFѫWKӇ.
-
%ӋQKQKkQVDXWDLELӃQÿӝWTXӷ.
-
%ӋQK QKkQ PҳF FKӭQJ [ѫ FӭQJ WHR Fѫ PӝW ErQ VX\ JLҧP WKӇ FKҩW KRһF QKұQ WKӭF
khác.
&iF WKLӃW Eӏ Qj\ Fy WKӇ KRҥW ÿӝQJ әQ ÿӏQK WURQJ WKӡLJLDQ Gj &K~QJ ÿѭӧFFKLD WKjQK
GҥQJFKtQKVӁÿѭӧFJLӟLWKLӋXWURQJSKҫQVDX
Trang 2
&K˱˯QJ7͝ng quan
1.3.1. ThiӃt bӏ dҥng bӏ ÿӝng
7KLӃWEӏNK{QJWKӇKRjQWRjQGLFKX\ӇQFiFFKLQKѭQJFyWKӇQJăQOҥLFKX\ӇQÿӝQJNKL
WiFÿӝQJVDLKѭӟQJ/RҥLWKLӃWEӏQj\FKӍFyWKӇVӱGөQJÿӇSKөFKӗLFKӭFQăQJFKREӋQK
QKkQFzQFyWKӇFӱÿӝQJPӝWSKҫQFKkQWD\
Hình 1.2. 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJE͓ÿ͡QJ
9jRQăPJLiRVѭ/HQ]LYjFӝQJVӵ 7UXQJWkP1JKLrQFӭXURERW6DQW$QQDé ÿӅ
[XҩWWKLӃWEӏWұSGLÿӝQJFKRNKӟSNKXӹXWD\FyWrQ1(852([RV [19]7KLӃWEӏÿѭӧFWKLӃW
NӃÿӇSKөFKӗLPӝWORҥLUӕLORҥQYұQÿӝQJÿLӇQKuQKOjFKӭQJFRFӭQJFѫ7KLӃWNӃEDQ
ÿҫXFӫD1(852([RVÿѭӧFSKiWWULӇQYӟLPөFÿtFKJLҧLTX\ӃWKDLYҩQÿӅTXDQWUӑQJ [iF
ÿӏQKYӏWUtYjSKkQSKӕLFiFÿLӇPWѭѫQJWiFJLӳDWKLӃWEӏJҳQYӟLFiQKWD\FӫDFRQQJѭӡL
YjFѫFKӃWKtFKӭQJFKRNKӟSNKXӹXWD\ 0ӝWFѫFKӃÿLӅXFKӍQKEұFWӵGRÿѭӧFJLiRVѭ
/HQ]LVӱGөQJÿӇGX\WUuVӵOLrQNӃWJLӳDNKӟSNKXӹXWD\QJѭӡLYjWKLӃWEӏ7KLӃWEӏÿѭӧF
ÿLӅXNKLӇQEҵQJFiFVHQVRUKӗQJQJRҥLÿӇNLӇPVRiWNKRҧQJFiFKFiFNKkXWKD\YuFiFK
WUX\ӅQÿӝQJchp WӯQJJyFWұSWUX\ӅQWKӕQJ
1JRjLUDJLiRVѭ6KDRYjFӝQJVӵ ĈҥLKӑF7KDQK+RD7UXQJ4XӕF ÿmWUuQKEj\WKLӃWNӃ
WӕLѭXWKLӃWEӏWұSFәWD\ÿѭӧFÿLӅXNKLӇQ EҵQJGk\FiSYӟLEұFWӵGR [20]7KLӃWEӏEѭӟF
ÿҫXÿӅ[XҩW SKiFÿӗWұSYӟLWӯQJWKӇWUҥQJEӋQKQKkQNKiFQKDX EҵQJFiFKOҳS ÿһWYjR
SKҫQFiQKWD\KRҥWÿӝQJEuQKWKѭӡQJFӫDEӋQKQKkQ YjWLӃQKjQKÿRÿҥF'RFѫFKӃVLQK
Trang 3
&K˱˯QJ7͝ng quan
KӑFSKӭFWҥSFӫDFRQQJѭӡLYjFiFW\FKӑQWKLӃWNӃEӏKҥQFKӃQKyPFӫDJLiRVѭ6KDR
FKӍFyWKӇiSGөQJFiFEjLWұSJұS-GXӛLÿѫQJLҧQӣSKҫQEjQWD\FӫDEӋQKQKkQ9LӋFOҳS
ÿһWWKLӃWEӏYjRFiQKWD\YүQFzQWѭѫQJÿӕLSKӭFWҥS
D7KLӃWEӏ1(852([RV
E7KLӃWEӏWұSFәWD\FӫDJLiRVѭ6KDR
Hình 1.3. 0͡WV͙WKL͇WE͓W̵SG̩QJE͓ÿ͡QJÿmÿ˱ͫFWK͵QJKL͏PWKFW͇
1.3.2. ThiӃt bӏ dҥng chӫ ÿӝng
7KLӃWEӏFyNKҧQăQJWUX\ӅQÿӝQJFiFFKL7KLӃWEӏWKѭӡQJOjWәKӧSFiFEӝWUX\ӅQÿӝQJYj
ÿLӅXNKLӇQQrQNtFKFӥOӟQ&yWKӇiSGөQJFKREӋQK QKkQEӏOLӋWQһQJ
Hình 1.4. 0LQKK͕DFKRWKL͇WE͓W̵SG̩QJFKͯÿ͡QJ
Trang 4
&K˱˯QJ7͝ng quan
7ҥL ĈҥL KӑF &{QJ QJKӋ 9LUJLQLD 0ӻ 7LӃQ Vƭ .LP Yj FӝQJ Vӵ ÿm SKiW WULӇQ PӝW Eӝ
[ѭѫQJQJRjLiSGөQJÿѭӧFFiFÿһFWtQKÿӝQJKӑFYjF{QJWKiLKӑF (UJRQRPLF WLrQWLӃQ
ÿӇSKөFKӗLFKӭFQăQJFKLWUrQFKREӋQKQKkQ%ӝ[ѭѫQJQJRjLURERWOjPӝWFѫKӋEұF
WӵGRKRҥWÿӝQJGӵDWUrQPӝWFKXӛLFiFFKX\ӇQ ÿӝQJÿjQKӗL 6HULHV(ODVWLF$FWXDWRUVSEA) [18] %ҵQJ FiFK WKHR G}L FiF FKX\ӇQ ÿӝQJ SKӭF WҥS FӫD YDL PӝW Fѫ FKӃ PӟL ÿm
ÿѭӧF SKiW PLQKEҵQJ FiFK ELӃQ FKX\ӇQ ÿӝQJ [RD\ FӫD ÿӝQJ Fѫ WKjQK FKX\ӇQ ÿӝQJ ÿӕL
QJүXWURQJYұQÿӝQJNKӟSYDL
0ӝWWtQKQăQJÿӝFÿiRNKiFFӫDWKLӃWEӏQj\FKtQKOjYLӋFWKD\YuFKӍWKӵFKLӋQFiFEjLWұS
JұS-GXӛLWK{QJWKѭӡQJQyFzQ FyWKӇKӛWUӧFiFEjLWұS[RD\-YһQFiQKWay ± GҥQJEjLWұS
KLӋXTXҧQKҩWYӟLFiFEӋQKQKkQEӏPҳFFKӭQJ[ѫFӭQJFѫ&ѫFKӃQj\FyÿѭӧFOjQKӡ
NKҧQăQJÿLӅXNKLӇQÿӝELӃQGҥQJFӫDWӯQJEӝWUX\ӅQÿӝQJÿjQKӗLULrQJELӋWWUrQWKLӃWEӏ
Hình 1.5. .KXQJ[˱˯QJQJRjL6($FͯDĈ̩LK͕F&{QJQJK͏Virginia
0ӝWVҧQSKҭPNKiFWҥLĈҥLKӑF%iFKNKRD%UQR &ӝQJKzD&]HFK 7LӃQVƭ5LSHOYjFӝQJ
Vӵ ÿm JLӟL WKLӋX PӝW WKLӃW Eӏ SKөF KӗL FKӭF QăQJ ÿѭӧF JӑL Oj $FWLYH (OERZ 2UWKRVLV
(AEO) [21]7KLӃWEӏEDQÿҫXÿѭӧFWKLӃWNӃFKRNKӟSNKXӹXWD\QKѭQJFNJQJFyWKӇOLQK
KRҥWGQJFKRNKӟSÿҫXJӕLFӫDFKLGѭӟL$(2[iFÿӏQKKRҥWÿӝQJFKX\ӇQÿӝQJFӫDEӋQK
nhân EҵQJFiFKVӱGөQJPi\ÿRELӃQGҥQJYjVӱGөQJNӃWTXҧ ÿRÿӇgiúp EӝWUX\ӅQÿӝQJ
ÿLӅXNKLӇQSKҫQFҷQJWD\FӫDEӋQKQKkQ6DXPӛLSKLrQWұS$(2VӁWӕLѭXOҥLEjL WұSÿӇ
Trang 5
&K˱˯QJ7͝ng quan
ÿҥW KLӋX KѫQ FKR QKӳQJ OҫQ WұS WLӃS WKHR 7KLӃW Eӏ ÿm ÿѭӧF NLӇP FKӭQJ EҵQJ FiF WKӱ
QJKLӋPOkPVjQJWUrQPӝWVӕEӋQKQKkQPDQJOҥLQKLӅXKLӋXTXҧWtFKFӵF
Hình 1.6. 7KL͇WE͓W̵SÿDFKLAEO
1 ± Ĉ͡QJF˯VHUYR, 2 ± &̫PEL͇QORDGFHOO, 3 ± %͡WUX\͉Qÿ͡QJWUͭFYtWEiQKYtW, 4 ± 'k\ÿHR.
1.3.3. ThiӃt bӏ WѭѫQJWiF
7KLӃWEӏWѭѫQJWiFYӟL[~FJLiFFӫDEӋQKQKkQ7K{QJWKѭӡQJWKLӃWEӏÿѭӧFJҳQUҩWQKLӅX
FҧP ELӃQ FKX\ӇQ ÿӝQJ ÿӇ Wӯ ÿy WҥR UD FiF WUӣOӵF 7X\ QKLrQ OӵF Pj Qy WҥR UD WKѭӡQJ
QKӓ&iFWKLӃWEӏWѭѫQJWiFWKѭӡQJÿѭӧFVӱGөQJWURQJSKөFKӗLFKӭFQăQJNӃWKӧSYӟL
P{LWUѭӡQJWKӵFWӃҧR
Hình 1.7. 0LQKK͕DFKRWKL͇WE͓W̵SW˱˯QJWiF
Trang 6
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