Mô tả:
ĈҤI HӐC QUӔC GIA TP. HCM
75ѬӠ1*ĈҤI HӐC BÁCH KHOA
NGUYӈN HҦI TÙNG
3+Æ17Ë&+ĈӜNG LӴC HӐ&&Ѫ&ҨU MӄM
Chuyên ngành: Kӻ ThuұW&ѫ.Kt
Mã sӕ: 8520103
LUҰ19Ă17+Ҥ&6Ƭ
TP. HӖ CHÍ MINH, tháng 08 QăP
&Ð1*75Î1+ĈѬӦC HOÀN THÀNH TҤI
75ѬӠ1*ĈҤI HӐC BÁCH KHOA –Ĉ+4*-HCM
Cán bӝ Kѭӟng dүn khoa hӑc : PGS.TS PhҥP+X\+RjQJ
Cán bӝ chҩPQKұQ[pW PGS.TS Lê ThӃ TruyӅn
Cán bӝ chҩPQKұQ[pW TS. PhҥP0LQK7Xҩn
LuұQYăQWKҥFVƭÿѭӧc bҧo vӋ tҥLTrѭӡng ĈҥLKӑc Bách Khoa, ĈHQG Tp. HCM
ngày tháng 08 QăPWUӵc tuyӃn).
Thành phҫn HӝLÿӗng ÿiQKJLá luұn văn thҥc sƭ gӗP
3*676/ѭX7KDQK7QJ
- Chӫ tӏch
TS. Trҫn HҧL1DP
- 7KѭNê
3. TS. PhҥP0LQK7Xҩn
- PhҧQELӋQ
4. PGS.TS Lê ThӃ TruyӅn
- PhҧQELӋQ
5. 767UѭѫQJ4XDQJ7UL
- Uӹ YLrQ
Xác nhұn cӫa Chӫ tӏch HӝLÿӗng ÿiQKJLá LV và 7Uѭӣng Khoa quҧn lê chuyên
ngành VDXNKLOXұn văn ÿã ÿѭӧc sӱa chӳDQӃu có).
CHӪ TӎCH HӜ,ĈӖNG
75ѬӢ1*.+2$&Ѫ.+Ë
ĈҤI HӐC QUӔC GIA TP. HӖ CHÍ MINH
CӜNG HÒA XÃ HӜI CHӪ 1*+Ƭ$9,ӊT NAM
75ѬӠ1*ĈҤI HӐC BÁCH KHOA
Ĉӝc lұp - Tӵ do - Hҥnh phúc
1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ
+ӑWrQKӑFYLrQ: 1*8<ӈ1+Ҧ,7Ô1*
MSHV: 1970233
1Jj\WKiQJQăPVLQK 26/10/1995
1ѫLVLQK ĈӗQJ1DL
Chuyên ngành: .ӻ7KXұW&ѫ.Kt
0mVӕ
I.
7Ç1Ĉӄ TÀI: “3+Æ17Ë&+ĈӜNG LӴC HӐ&&Ѫ&ҨU MӄM”
II.
NHIӊ09Ө 9¬NӜI DUNG:
x 1JKLrQFӭXÿһFWtQKYjWKLӃt kӃ FѫFҩXPӅP7KLӃt kӃ FѫFҩu vӟLÿӝ khuӃch
ÿҥLOӟn
x 1JKLrQFӭXPӭFÿӝ ÿiSӭng vӅ ÿӝng lӵc hӑc cӫa khӟSPӅPNKLÿѭӧc tác
ÿӝng bҵQJ[\ODQKiSÿLӋn. Thӱ QJKLӋPYjVRViQKFiFNӃt quҧ WKXÿѭӧc tӯ
JLҧLWtFK
x .LӇPQJKLӋPÿһFWtQKÿӝng lӵc hӑc bҵng phҫQPӅP$16<6VRViQKYӟL
kӃt quҧ JLҧLWtFKWӯ ÿyÿѭDUDNӃt luұn
III. NGÀY GIAO NHIӊ09Ө :
22/02/2021
,9 NGÀY HOÀN THÀNH NHIӊ09Ө:
02/08/2021
9
3*6763+ҤM HUY HOÀNG
CÁN BӜ +ѬӞNG DҮN:
Tp. HCM, ngày ... tháng QăP
&È1%Ӝ+ѬӞ1*'ҮN
&+Ӫ1+,ӊ0%Ӝ0Ð1Ĉ¬27Ҥ2
3*6763Kҥm Huy Hoàng
75ѬӢ1*.+2$ &Ѫ.+Ë
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thành luұQYăQQj\
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TÓM TҲT LUҰ19Ă1
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khӟSPӅP
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FRPSOLDQW
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7{LWrQNguyӉn HҧL7QJ
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KRFĈҥLKӑF%iFK.KRD7S+&0W{LÿmWKӵFKLӋn luұQYăQFDRKӑc vӟLÿӅ WjL
“3KkQWtFKÿӝng lӵFKӑFFѫFҩu mӅm” GѭӟLVӵ Kѭӟng dүn cӫa Thҫy PGS.TS
PhҥP+X\+RjQJ.
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MӨC LӨC
1+,ӊ09Ө/8Ұ19Ă17+Ҥ&6Ƭ .............................................................................. i
LӠI CҦ0Ѫ1 ................................................................................................................ ii
TÓM TҲT LUҰ19Ă1 ...............................................................................................iii
LӠ,&$0Ĉ2$1 ......................................................................................................... iv
DANH MӨC HÌNH ҦNH ............................................................................................. v
DANH MӨC BҦNG ...................................................................................................viii
1
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&iFQJKLrQFӭu vӅ ӭng dөng cӫa khӟSPӅP ............................................. 9
7uQKKuQKQJKLrQFӭXWURQJQѭӟc.....................................................................
Tính cҩSWKLӃt cӫDÿӅ WjL ..................................................................................
MөFWLrXFӫa luұQYăQ .....................................................................................
&Ѫ6Ӣ LÝ THUYӂT. ......................................................................................... 17
Lӵa chӑn loҥLNKӟSÿjQKӗLFѫVӣ. ...................................................................
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Body-PRB”. ...............................................................................................................
Ӭng dөQJP{KuQK35%YjP{KuQKFӫD/REXQWLXYjRÿӅ WjLQJKLrQ
cӭu. .. .........................................................................................................................
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3KѭѫQJWUuQK/DJUDQJH>@ ........................................................................ 30
0{KuQKÿӝng lӵc hӑFÿѫQJLҧn, tuyӃQWtQKPӝt bұc tӵ do. ..................... 30
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NKkXNK{QJÿӕL[ӭng. ....................................................................................................
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+uQK&ѫFҩXFѫFҩu khuӃFKÿDLGҥng cҫXNK{QJJLDQFyÿӝ SKkQJLҧLQPFy
hӋ sӕ khuӃFKÿҥL-ÿӝ dӏch chuyӇQPLFURPHW ...........................................................
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có hӋ sӕ khuӃFKÿҥL.......................................................................................................
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+uQK&ѫFҩu ăQGDRFKRPi\WLӋn EMCO CONCEPT TURN 55........................
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trөF>@ ..........................................................................................................................
v
+uQK.KӟSÿjQKӗLGҥQJWUzQÿӕL[ӭng thӵc tӃ VDXNKLÿѭӧFJLDF{QJ>@...........
+uQKKhӟSPӅPGҥnJWUzQ>@ ..............................................................................
+uQK%LӃn dҥng cӫa khӟSPӅPGѭӟLWiFGөng cӫa ngoҥLOӵc. ...............................
+uQK9QJWtQKWRiQPDWUұQÿӝ cӭQJYjELӃn dҥQJWKHRQJKLrQFӭu cӫD/REXQWLX
.............................................................................................................................
+uQK0{KuQKÿѭӧF/REXQWLXVӱ dөQJÿӇ WtQKWRiQELӃn dҥng cӫa khӟSPӅPORҥL
khӟSPӅPÿӕL[ӭng dҥng tròn). ....................................................................................
+uQK0{KuQKOêWKX\Ӄt cӫD&DVWLJOLDQRiSGөQJFKRFKLWLӃWELӃn dҥQJÿjQKӗLYӟL
các ràng buӝFWURQJNK{QJJLDQ....................................................................................
+uQK1JRҥLOӵFWiFÿӝng lên khӟSPӅPWKHRP{KuQKWtQKWRiQFӫD/REXQWLX ....
+uQK%LӃn dҥng cӫa khӟSPӅPGѭӟLWiFGөng cӫa ngoҥLOӵc F\ Yj0RPHQW M ]
ÿѭӧFWtQKWKHRP{KuQKPDWUұQÿӝ cӭQJQKѭÿmJLӟLWKLӋu ӣ trên. ...............................
+uQK&ѫFҩXÿjQKӗLÿѫQJLҧn bӏ ELӃn dҥQJGѭӟLWiFGөng cӫa ngoҥLOӵc. ..........
+uQK&ѫFҩXÿjQKӗLÿѭӧc thay thӃ bҵQJP{KuQK35% .....................................
+uQK.KӟSPӅPÿӕL[ӭng dҥQJWUzQ6\PPHWULF&LUFXODU)OH[XUH+LQJH .......
+uQK.KӟSPӅPFyELӃn dҥQJJyFÿѭӧc thay thӃ tѭѫQJÿѭѫQJEҵQJP{KuQK
PRB. ...............................................................................................................................
+uQK0{KuQKÿӝng lӵc hӑFÿѫQJLҧn, tuyӃQWtQKPӝt bұc tӵ do. ....................... 30
+uQKĈӗ thӏ PӕLTXDQKӋ JLӳDFiFWKDPVӕ ӣ SKѭѫQJWUuQK ........................ 35
+uQKĈһFWtQKGDRÿӝQJGѭӟLVӵ ҧQKKѭӣng cӫa các hӋ sӕ tҳt dҫn khác nhau. ....
+uQK3KѭѫQJSKiS[iFÿӏQKÿӝ JLҧPFKҩQ>@ .................................................... 37
+uQK6ѫÿӗ khuӃFKÿҥLFӫDFѫFҩXÿjQKӗL ........................................................... 39
+uQK0{KuQKNKXӃFKÿҥLFӫa khӟSPӅPWUrQ6ROLGZRUNVYjP{KuQKFKLWLӃt vӅ
FiFELӃQWKLӃt kӃ cӫDFѫFҩu khuӃFKÿҥL........................................................................ 40
+uQK.tFKWKѭӟFOjPYLӋc cӫDFѫFҩXÿjQKӗL........................................................
+uQK0{KuQK35%FKX\ӇQÿәLWѭѫQJÿѭѫQJWӯ FѫFҩXÿjQKӗL........................... 43
+uQK0{KuQK35%ÿѭӧFWiFKWKjQKKDLSKҫn. ...................................................... 44
+uQK6ѫÿӗ SKkQEӕ lӵFYj0RPHQWWUrQNKkX .................................................. 45
+uQK6ѫÿӗ SKkQEӕ lӵFWUrQNKkXYjNKkX .....................................................
+uQK&ѫFҩXÿjQKӗLӣ trҥQJWKiLFKѭDELӃn dҥQJYuFKѭDFKӏu tác dөng cӫa ngoҥL
lӵc. ................................................................................................................................. 47
+uQK7K{QJVӕ hình hӑFNKLFѫFҩu chӏXELӃn dҥng do ngoҥLOӵFWiFÿӝng. .......... 48
+uQK;\ODQKiSÿLӋn – Piezoelectric actuator 7+25/$%63$6...................
+uQK%ӝ ÿLӅXNLӇn vòng hӣ 0'7$FKR[\ODQKiSÿLӋQ3$6 ..................
Hình 4.3: CҧPELӃQÿRFKX\Ӈn vӏ ELӃn dҥQJ*7-+. ...........................................
Hình 4.4: Bӝ ÿӑc dӳ OLӋu tӯ cҧPELӃQ*7-+. ........................................................ 53
Hình 4.5: CҧPELӃQÿRGDRÿӝng và bӝ KLӇn thӏ ............................................................ 54
+uQK6ѫÿӗ WiFÿӝng lӵc và tӍ lӋ NtFKWKѭӟc khuӃFKÿҥL ....................................... 55
Hình 4.7: Ӭng suҩt tӕLÿDFӫa khӟSÿjQKӗLYjFѫFҩu khuӃFKÿҥLSKҧLFKӏXNKL[\ODQK
iSÿLӋn ӣ trҥQJWKiLELӃn dҥng tӕLÿD ............................................................................
YL
+uQKĈӗ thӏ WiFÿӝng lӵc sӱ dөng tҥRELӃn dҥQJFKRKDLWKLӃt kӃ ÿӇ khҧRViWÿһc
WtQKGDRÿӝng tҳt dҫn cӫDKDLWKLӃt kӃ, vӟL 't | s . .............................................
+uQK0{KuQKFKX\ӇQÿәL35% ..............................................................................
+uQK6ѫÿӗ WiFÿӝng lӵc bҵQJ[\ODQKiSÿLӋQ3$6OrQNKӟSÿjQKӗLYjYӏ trí
lҳSÿһt cҧPELӃQGDRÿӝng. ............................................................................................
+uQK7KLӃt bӏ ÿRGDRÿӝQJYjFѫFҩXWiFÿӝQJiSÿLӋn ..........................................
Hình 5.5: Tҫn sӕ GDRÿӝQJULrQJFӫD7KLӃt kӃ NKLFKӏXWKrPNKӕLOѭӧng, Ps . ...........
+uQK;iFÿӏQKJLiWUӏ vұn tӕc tҥLKDLWKӡLÿLӇPNKiFQKDXÿRKӋ sӕ tҳt dҫn [ . .....
+uQKĈӗ thӏ vұn tӕFWKHRSKѭѫQJ\SKѭѫQJWUuQK cӫa khӟSPӅPFӫDFѫFҩu
ӭng vӟLKӋ sӕ tҳt dҫn [ . ................................................................................................
+uQKĈӗ thӏ chuyӇn vӏ WKHRSKѭѫQJ\FӫDSKѭѫQJWUuQK cӫa khӟSPӅPӭng
vӟLKӋ sӕ tҳt dҫn [ . .......................................................................................................
+uQKĈӗ thӏ JLDWӕFGjLWKHRSKѭѫQJ\FӫDSKѭѫQJWUuQK cӫa khӟSPӅPӭng
vӟLKӋ sӕ tҳt dҫn [ . .......................................................................................................
+uQKĈӗ thӏ vұn tӕc cӫDGDRÿӝng cӫDFѫFҩu vӟLKӋ sӕ tҳt dҫn [ trên phҫPPӅP
ANSYS. ......................................................................................................................... 73
+uQKĈӗ thӏ vұn tӕc cӫDGDRÿӝng cӫDWKLӃt kӃ vӟLKӋ sӕ tҳt dҫn [ NKLÿѭӧF[k\
dӵng bҵQJSKѭѫQJSKiSJLҧLWtFKYjP{SKӓQJWUrQ$16<6WURQJPLӅn thӡLJLDQ
JLk\ ............................................................................................................................... 74
+uQKĈӗ thӏ vұn tӕc cӫDGDRÿӝng cӫDFѫFҩu vӟLKӋ sӕ tҳt dҫn [ NKLÿѭӧF[k\
dӵng bҵQJSKѭѫQJSKiSJLҧLWtFKYjP{SKӓQJWUrQ$16<6WURQJPLӅn thӡLJLDQ
JLk\ ............................................................................................................................... 75
YLL
DANH MӨC BҦNG
BҧQJ%ҧng chuyӇQÿәLFiFWK{QJVӕ ÿӝng lӵc hӑFWѭѫQJӭng. ................................. 34
BҧQJ7K{QJVӕ WKLӃt kӃ cӫDFѫFҩu khuӃFKÿҥLÿjQKӗL ............................................ 40
BҧQJĈӝ cӭng chuyӇn vӏ góc T z cӫa các khӟSPӅPӣ tӯQJNKkX ............................
BҧQJĈӝ cӭng cӫa lò xo xoҳn trong Hình 3.4 ........................................................... 43
BҧQJ7KLӃt bӏ ÿRNLӇPWUDYjKLӇn thӏ sӕ OLӋu. .......................................................... 50
BҧQJ7K{QJVӕ 0{-PHQTXiQWtQKYjÿӝ cӭQJWѭѫQJÿѭѫQJ .................................. 58
Bҧng 7: Sӕ OLӋu thӱ QJKLӋPÿӇ [iFÿӏnh hӋ sӕ tҳt dҫn trung bình [ ............................
BҧQJĈLӅXNLӋQEDQÿҫu cӫDGDRÿӝng ӭng vӟLKӋ sӕ tҳt dҫn [ cӫDFѫFҩu.............
Bҧng 9: Bҧng chuyӇQÿәLFiFJLiWUӏ ÿӝng lӵc hӑFWѭѫQJӭng vӟLÿҫXYjRNKDLEiRFӫa
P{ÿXQ5LJLG'\QDPLFV ...............................................................................................
BҧQJ7K{QJVӕ cҫn [iFÿӏQKÿӇ NKDLEiRYjRP{ÿXQ5LJLG'\QDPLFVӭng vӟLKӋ
sӕ tҳt dҫn [ . ..................................................................................................................
BҧQJ7DFyEҧQJSKkQWtFKVDLVӕ JLӳDSKѭѫQJSKiSJLҧLWtFKYjP{SKӓng Ansys,
hӋ sӕ tҳt dҫn [ . ............................................................................................................. 75
YLLL
HVTH: NguyӉn HҧL7QJ
1
*9+'3*6763KҥP+X\+RjQJ
TӘNG QUAN.
1.1 Giӟi thiӋXÿӅ tài.
&iFFѫFҩu dүQÿӝQJFyÿӝ SKkQJLҧLPLFURUҩt cҫQWKLӃt cho các lãnh vӵFQJKLrQFӭu
PNJLQKӑQQKѭJLDF{QJFKtQK[iFFiSTXDQJF{QJQJKӋ VLQKKӑFF{QJQJKӋ \VLQK
hӑF«+LӋQQD\Pӝt sӕ dҥQJFѫFҩu tҥo chuyӇQÿӝng vӟLÿӝ SKkQJLҧLPLFURÿmÿѭӧc
chӃ tҥRWKHRFiFQJX\rQOê³6kXÿR´-,QFKZRUP>@³'tQK-WUѭӧt”- 6WLFN-6OLS>8@Wӯ
WUѭӡng - PDJQHW>@NӃt hӧS6WLFN-VOLSYjYLVPHYLSKkQ>@GmQQӣ cӫDWKDQKSLH]R
QKLӅu lӟSPXOWL-VWDFNSLH]RYjEӝ khuӃFKÿҥLFѫVӱ dөng khӟSPӅPNKӟSÿjQKӗL>
– @&iFFѫFҩXWUrQWKѭӡng có khҧ QăQJWҧLQKӓ GҥQJ6WLFN-VOLSKD\NKӓDQJGLFKX\Ӈn
nhӓ GҥQJ,QFKZRUPKD\ÿӝ SKkQJLҧLYjFӭng vӳng thҩSGҥng tӯ WUѭӡng).
7URQJFiFFѫFҩXWUrQFѫFҩXÿjQKӗLÿѭӧc cҩu thành tӯ QKLӅu khӟSÿjQKӗL
khӟSPӅPFyÿӝ SKkQJLҧLPLFURNӃt hӧSWKDQKSLH]RQKLӅu lӟp và bӝ phұn khuӃFKÿҥL
YLSKkQPDQJOҥLQKLӅXѭXÿLӇPWURQJYLӋFWăQJkhҧ QăQJWҧLYjWҥo ra khoҧQJGLFKX\Ӈn
lӟQĈһFELӋt sӵ kӃt hӧSQj\PDQJOҥLQKLӅXÿһFWtQKYѭӧt trӝLWURQJYLӋc ӭng dөng trong
FiFFѫFҩu dӏch chuyӇQGDRPi\WLӋn CNC nhҵPSKөc vө FKRYLӋFJLDF{QJOҫn cuӕLYӟL
ÿӝ FKtQK[iFFDRYuFѫFҩXÿjQKӗLFyQKӳng ѭXÿLӇPPjFiFFѫFҩXNKiFNK{QJFyÿѭӧc
QKѭQKӓ, gӑQÿӝ cӭng vӳQJFDRNK{QJFyPDViWNK{QJFyNKHKӣNK{QJFҫQE{LWUѫQ
hoҥWÿӝQJNK{QJӗQSKKӧp vӟLP{LWUѭӡQJFKkQNK{QJ
Mӝt khӟSÿjQKӗLVӁ bao gӗPPӝWOLrQNӃWÿjQKӗLFѫVӣ kӃt nӕLFiFNKkXFӭng
lҥLYӟLQKDXOLrQNӃWÿjQKӗLQj\QҵPJLӳDKDLNKkXFӭng và có khҧ QăQJWKD\WKӃ các
chuyӇQÿӝQJQKѭӣ khӟp bҧn lӅ WK{QJWKѭӡng, Hình : KhӟSÿjQKӗLWKD\WKӃ khӟp
bҧn lӅ WK{QJWKѭӡng >@. KhӟSÿjQKӗLWKѭӡng sӁ ÿѭӧc cҩu thành tӯ Pӝt lӟp vұWOLӋu
nguyên khӕLFKtQKYuYұy sӁ NK{QJFҫn phҧLVӱa chӳDÿӕLYӟLNKӟSÿjQKӗLWRjQEӝ Fѫ
cҩXÿjQKӗLVӁ vұQKjQKFKRÿӃQNKLPӝt trong các khӟp bӏ KѭKӓng do vұWOLӋu bӏ PӓL
hoһc ӭng suҩWYѭӧWTXiJLӟLKҥn cho phép.
HVTH: NguyӉn HҧL7QJ
*9+'3*6763KҥP+X\+RjQJ
Hình .: KhӟSÿjQKӗLWKD\WKӃ khӟp bҧn lӅ WK{QJWKѭӡQJ>@
&yKDLORҥLNKӟSPӅPÿѭӧc sӱ dөng phә ELӃQWURQJQKLӅXF{QJWUuQKQJKLrQcӭu là loҥL
khӟSPӅPGҥng cҫu và khӟSPӅPGҥQJOiQKѭKuQK Hình :
Hình .: +DLORҥLNKӟSPӅPÿѭӧc sӱ dөng phә ELӃn:
a) KhͣSP͉PG̩ng c̯u
b) KhͣSP͉PG̩ng lá
7X\QKLrQKLӋQQD\QKLӅXQJKLrQFӭu vӅ FѫFҩXÿjQKӗLPӟLFKӍ dӯng lҥLӣ YLӋc tҥo ra
WKLӃt kӃ FѫFҩXÿjQKӗLJL~SWKD\WKӃ khӟp bҧn lӅ và ӭng dөQJYjRFiFFѫFҩu khuӃFKÿҥL
JL~SWҥo ra các chuyӇQÿӝng chính xác ӣ PӭFÿӝ PLFUR
HVTH: NguyӉn HҧL7QJ
*9+'3*6763KҥP+X\+RjQJ
Hình .3: KhӟSPӅPGҥng cҫu thay thӃ khӟp bҧn lӅ
7DFySKѭѫQJWUuQKÿӝng lӵc hӑFÿӇ P{SKӓng chuyӇQÿӝng cӫa khӟSÿjQ
hӗL ӣ Hình QKѭVDX
> M @ D >C @ D > K @ ^D` ^F ` >@
.)
nu n
^ `
nu
nu n
^ `
nu
nu n
nu
nu
7URQJÿy > M @ – Ma trұn khӕLOѭӧng cӫa hӋ khӟSÿjQKӗL
>C @ – Ma trұn hӋ sӕ tҳt dҫn
> K @ – Ma trұQÿӝ cӭng
^D` – Ma trұn chuyӇn vӏ và xoay trong hӋ tӑDÿӝ toàn cөc
^F ` – Ma trұn ngoҥLOӵFWiFÿӝQJWѭѫQJӭng vӟL ^D`
3
HVTH: NguyӉn HҧL7QJ
*9+'3*6763KҥP+X\+RjQJ
Hình .4: 0{Wҧ WKDPVӕ ÿӝng lӵc hӑc khӟSÿjQKӗL– hӋ sӕ hӋ sӕ ÿjQKӗL hӋ sӕ tҳt
dҫn
7X\QKLrQGRÿһc tính vӅ hình dáng hình hӑc và vұWOLӋu cҩu tҥo, nên khӟSÿjQ
hӗLWKѭӡng có hӋ sӕ tҳt dҫn rҩt nhӓ hoһc rҩt khó WURQJYLӋc tính toán hӋ sӕ tҳt dҫn, vì vұy
KLӋQQD\WURQJFiFP{KuQKWtQKWRiQP{SKӓQJÿӝng lӵc hӑc, hӋ sӕ tҳt dҫn WKѭӡQJÿѭӧc
bӓ qua.
Hình .5: 0{KuQKÿӝng lӵc hӑFNKLVӱ dөQJP{KuQK³3VHXGR-ULJLG-ERG\35%´>@
HoһFNKLWtQKWRiQWKHRSKѭѫQJWUuQKYLSKkQNKӟSÿjQKӗLVӁ ÿѭӧc chuyӇQÿәL
QKѭVDX
Hình .: 0{KuQKFKX\ӇQÿәLÿӝng lӵc hӑFWѭѫQJÿѭѫQJFKRNKӟSPӅPYӟLÿӝ cӭng
YjPӭc quán tính rӡLUҥc. >@
4
HVTH: NguyӉn HҧL7QJ
*9+'3*6763KҥP+X\+RjQJ
+D\WKHRQKѭQKӳQJQJKLrQFӭu cӫD/RERQWLX>@ÿӕLYӟLNKӟSÿjQKӗLSKѭѫQJ
WUuQK/DJUDQJHP{SKӓQJÿӝng lӵc hӑc sӁ là:
G § w7 · w7 w8 wU G
¨
¸
GW © wTi ¹ wTi wTi wTi
Qi
.)
7URQJÿy7OjÿӝQJQăQJ8OjWKӃ QăQJÿjQKӗL4L là tәng hӧp lӵc tác dөng lên
khӟSÿjQKӗL U G ÿҥLGLӋn cho phҫQQăQJOѭӧng thҩWWKRiWÿѭӧFVLQKUDGRWiFÿӝng cӫa
hӋ sӕ tҳt dҫn7X\QKLrQÿӇ có thӇ WtQKWRiQÿѭӧFJLiWUӏ U G OjPӝWYLӋc khá phӭc tҥp,
nên trong nhӳQJQJKLrQFӭu cӫD/RERQWLX>@ sӁ tҥo ra nhӳQJ³ÿѭӡQJELrQ” nhҩWÿӏnh
ÿӇ có thӇ loҥLEӓ sӵ WiFÿӝng cӫa U G WURQJSKѭѫQJWUuQKÿӝng lӵc hӑFJL~SÿѫQJLҧn
WURQJYLӋFWtQKWRiQQKѭQJYүQÿҧPEҧRÿӝ FKtQK[iF.KLÿy SKѭѫQJWUuQK sӁ trӣ
thành:
7URQJÿy
G X ½
M
> @ ® ¾ >K @^u`
¯ GW ¿
> M @ Ma trұn khӕLOѭӧng
^F ` >@
.3)
>K @ Ma trұQÿӝ cӭng
^u` Ma trұn chuyӇn vӏ
^F ` Ma trұn lӵFWiFÿӝng tҥo nên chuyӇn vӏ WѭѫQJӭng
Tӯ FiFSKkQWtFKQrXWUrQPөFWLrXFӫDÿӅ WjLVӁ tұSWUXQJYjRYLӋc tҥo ra hӋ sӕ
tҳt dҫn YjRSKѭѫQJWUuQKÿӝng lӵc hӑc tәng quát bҵng cách QK~QJFѫFҩXÿjQKӗLYjR
dung dӏch.
VӟLQKӳng kӃt quҧ ÿyVӁ WLӃQKjQKWKLӃt kӃ khӟSÿjQKӗLYjFѫFҩXGQJNKӟSÿjQ
hӗLGQJJLҧLWtFKFKӃ tҥo và thӱ QJKLӋP0{SKӓQJNLӇPWUDÿһFWtQKÿӝng lӵc hӑc cӫa
khӟSÿjQKӗLYjFѫFҩXGQJNKӟSÿjQKӗLGQJSKҫQPӅPSKkQWtFKSKҫn tӱ hӳu hҥn.
So sáQKPӭFÿӝ ÿiSӭQJJLӳDFѫFҩXÿjQKӗLӣ WURQJÿLӅXNLӋQP{LWUѭӡQJEuQKWKѭӡng
YjWURQJPӝt dung dӏFKJLҧPFKҩn.
1.2 7uQKKuQKQJKLrQFӭu trên thӃ giӟi.
1.2.1 &iFQJKLrQFӭu vӅ ÿӝng lӵFKӑFWUrQNKӟp mӅm.
1ăP1KyPWiFJLҧZhong Chen và Xianmin Zhang ÿmWLӃQKjQK
WKӱQJKLӋPEәVXQJOӟSYұWOLӋX3RO\PHOrQNKӟSÿjQKӗLGҥQJOiYjWLӃQKjQK
5
HVTH: NguyӉn HҧL7QJ
*9+'3*6763KҥP+X\+RjQJ
WKӱQJKLӋPP{SKӓQJVӵÿiSӭQJÿӝQJOӵFKӑFKӋVӕWҳWGҫQ YұWOLӋX3RO\PHVR
YӟLNKӟSÿjQKӗLNK{QJVӱGөQJYұWOLӋXJLҧPFKҩQ3RO\PH1KyPWiFJLҧVӱGөQJ
SKѭѫQJSKiSWKӃQăQJELӃQGҥQJYjSKѭѫQJSKiS0{KuQK.HOYLQ9RLJW9ӟLYLӋF
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Hình .7: HӋ Eұc tӵ GRWKHRP{KuQK.HOYLQ9RLJWYӟLhӋ sӕ tҳt dҫn. >@
a) KӋFKX\ӇQWӏQKWLӃQEKӋFKX\ӇQÿӝQJ[RD\
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3KѭѫQJWUuQKÿӝng lӵc hӑc cho hӋ chuyӇQÿӝng xoay >@
Và vӟLYLӋc sӱ dөQJP{KuQK.HOYLQ9RLJWQKyPWiFJLҧ sӁ WtQKÿӃn sӵ WiFÿӝng
cӫa hӋ sӕ tҳt dҫn WKHRQKѭKDLSKѭѫQJWUuQKÿӝng lӵc hӑc trên.
.ӃWTXҧFKRWKҩ\YLӋFEәVXQJWKrPOӟSYұWOLӋXJLҧPFKҩQJL~SJLҧPÿiQJ
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HVTH: NguyӉn HҧL7QJ
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Hình .8: Sӱ dөQJVHQVRUODVHUYӟLÿӝ FKtQK[iFFDRÿӇ ÿRGDRÿӝng cӫa khӟSÿjQKӗL
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Hình .9: KӃt quҧ vӅ sӵ NKiFELӋWNKLFyYjNK{QJFyOӟp vұWOLӋXJLҧPFKҩn trên khӟp
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tính vӅ ÿӝng lӵc hӑc trên khӟSÿjQKӗLNKLYұn hành trong trҥQJWKiLWҫn sӕ WiFÿӝng cao,
thay vì ӣ trҥQJWKiL³WƭQKÿӝng hӑc – NLQHWRVWDWLF´QKѭQKLӅXQJKLrQFӭXWUѭӟFÿk\1KyP
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cӭXQj\NK{QJOӟn.
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khӟSÿjQKӗLEӓ qua sӵ WiFÿӝng cӫa hӋ sӕ tҳt dҫn.
Hình .: 0{KuQKWKӱ QJKLӋPFӫDQKyPWiFJLҧ vӟLYQJOjPYLӋc xҩp xӍ
300 P P u 500 P P . >@
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