Vtlhcngcbc

Phn2:ngcbcdchbionHip

Giithiu
Tnhhc
iukhinnabcvvibc
Lcmastvvngcht
nglchc
Cnghng
Sngchungvicnghng
Vntcmomentxoncn
Vnvint

Giithiu
Khinivccilngvtl,vicchnnvocdnglrtquan
trng!Trongphntrnhbynyvngcbccngvy,chngtasnhcli
ccnvvtltiuchun:
English CGS

MKS

KHILNG

slug

kilogram

LC

pound dyne

KHONGCCH foot

gram

newton

centimetermeter

THIGIAN

second second

second

GC

radian radian

radian

Theo bng trn, lc mt pound s gia tc cho mt khi lng mt slug lmt
foot trn mt giy bnh phng. Mi quan h ny gia n v ca lc, khi
lngvthigianvkhongcchtrongcchnvokhccnggingnh
vy. Ngi ta thng ln ln gc th o bng v khi lng li o bng
poundrilclitnhbngkilogramsslmthayiktqungcacccng
thcdiy!Cnthnkhibininhngnvkhngchnhquythnhcc
n v tiu chun c lit k trn y trc khi p dng cc cng thc tnh
ton!

Tnhhc
ChomtngcquaySradianmibc,biumomentxontheovtrgc
ca rotor so vi v tr cn bng ban u s c dng gn ng hnh sin. Hnh
dngthctcabiuphthucvohnhdngcccccarotorvstator,
nhngtrongbngthngs(datasheet)cangclikhngcbiuny,v
cngkhngtrnhbyhnhdngcccc!ivingcnamchmvnhcuv
ngchnhp,biumomenttheovtrgcrotorthnggingnhhnh
sin,nhngcngkhnghnvy.ivingcbinttr,ngnyging
hnhsinmtcht,hnhthangmtchtnhngcngkhnghnlhnhrngca.
ivingc3mubinttrhocnamchmvnhcucgcbcS,chu
kcamomentsovivtrsl3S;haymtngc5pha,chuksl5S.i
vingc2munamchmvnhcuhayhnhp,loiphbinnht,chuk
sl4S,nhcmttrongHnh2.1

Hnh2.1

Nhcli,ivimtngcnamchmvnhcu2multng,ngcong
nycthmttonhcnhsau:

T=hsin((( /2)/S) )
trong

Tmomentxon(torque)

hmomentxongi(holdingtorque)

Sgcbc,tnhbngradian(stepangle)

=gctrc(shaftangle)
Nhng nh rng, thng th ng biu thc khng bao gi c dng hnh
sinltngnhtrn.
Momentxongi(holdingtorque)trnmtmu(winding)cangcbcl
gitrnhcamomentxontrnbiukhidngquamtmutgitrln
nht.Nuctnggitrmomentxonlncaohngitrnhtrongkhivngi
nguyninpkchmtmu,rotorsquaytdo.

ikhivicphnbitgiagctrcinvgctrcclviclmcnthit.V
mtc,mtvngquaycarotorsl2 rad.Vphngdinin,mtvng
cnhnghalmtchukcangcongmomentxonivigctrc.
Trong ti liu ny, s dng ch gc trc c, v (( /2)/S) ch gc trc
incamtngc4bc/vng.
Chorngngcongmomentxonsovivtrgcgnnghnhsin.Chng
nommomentxoncnbngmomentxongi,rotorsvnnmtrongchu
ksovivtrcnbng.ivimtngcnamchmvnhcuhayhnhp
hai mu, iu ny c ngha l rotor s gi nguyn v tr so vi v tr cn bng
trongphmvimtbc.
Nukhngcnguncpvoccmungc,momentxonskhngbaogi
gimxung0!Trongccngcbcbinttr,ttrngdtrongmcht
cangccthtoramtmomentxondnh,vtrongccngcnam
chmvnhcuvhnhp,lchtgiaccccvttrngvnhcucarotor
cthtoramtmomentxonngkmkhngcnngunp.
Momentxondtrongmtngcnamchmvnhcuhayhnhpthng
cgilmomentxontrnrngcangc,bivmtngikhkhos
ngh rng c mt kt cu c kh dng mu rng nm bn trong ng c gi
rotorli.Thngthng,momentxontrnrngbiudintheogcrotorkhng
c dng hnh sin, mt v tr cn bng ti mi bc v mt bin ln hn
khong10%momentxongicangc,nhngnhnchungccngct
ccnhsnxutchoragitrcaon23%ivingcnhvdi26%i
vingcctrungbnh.

iukhinnabcvvibc
Minlkhngcphnnocamchtboha,thviccpinngthicho
haimungcssinhramtmomentxontheovtrltngcaccmoment
xonivihaimungcringl. ivingchaimunamchmvnh
cu hoc hn hp, hai ng cong ny s l S radians khc pha, v nu dng
quahaimubngnhau,nhcatngsnmvtrS/2radiansktnhca
ngconggc,nhHnh2.2

Hnh2.2

y l c bn ca iu khin na bc. Moment xon gi l nh ca ng

congmomentxonkthpkhihaimuccngdnglnnhtiqua.ivi
ng c nam chm vnh cu v hn hp thng thng, moment xon gi hai
musl:

h2=20.5h1
trong:

h1momentxongitrnmtmu

h2momentxongihaimu
iunychothyrngkhngcphnnotrongmchtbohovmoment
xontheongcongvtrivimimulhnhsinltng.
Huhtccbnghngdnngcnamchmvnhcuvbinttruch
ra moment xon gi hai mu m khng c a ra moment xon gi trn mt
mu;phnno,clvnschimnhiugiyhn,vphnnocngvhuht
ccbiukhinbcthngthnglunpinpvochaimucng
lc.
Nu bt k phn no trong mch t ca ng c b bo ho, hai ng cong
momentxonskhngthcngtuyntnhvinhau.Ktqalmomenttng
hpcthkhngnmchnhxctivtrS/2ktvtrcnbngbanu.
iukhinvibcchophpccbcnhhnbngvicdngccdngkhc
nhauquahaimungc,nhvtrnHnh2.3:

Hnh2.3

ivimtngchaimubinttrhocnamchmvnhcu,chorngcc
mchtkhngbohovccngcongmomentxontrnmimutheov
trlmthnhsinhonho,cngthcdiyaranhngctnhchcht
cangcongmomentxontnghp:

h=(a2+b2)0.5

x=(S/( /2))arctan(b/a)
trong:

amomentxonptrnmuvivtrcnbngti0radians

bmomentxonptrnmuvivtrcnbngtiSradians

hmomentxongitnghp

xvtrcnbngtnhtheoradians

Sgcbc,tnhtheoradians.
Khi khng c bo ho, cc moment xon a v b t l vi dng i qua cc mu
tngng.iunyrtthngdngkhilmvicviccdngvmomentxon
bnhthng,momentxongimunhocdngccicchpnhn
trongmtmungcl1.0.

Mastvvngcht
ng cong moment xon so vi v tr c ch ra trong Hnh 2.1 khng tnh
nmomentxonngcthnglcmast!Chrngcclcmastcth
cchiathnhhailoiln,lcmastnghllcmasttrt,cnphicmt
momentxonlnthnglin,khngknvntcvmastnghc
haylcnht,hoccccntrkhckhngphthucvntc.y,chngta
quantmnlcmastngh.Chorngmomentxoncnthitthnglcma
stnghtronghlgitrnhmomentxoncamotor,nhmiuttrong
Hnh2.4.

Hnh2.4

nggch ttrong hnh 2.4 ch ramoment xon cnthit thng ma st,

chcmtphnngcongmomentxonbnngoinggchtllmcho
rotorchuynng.ngcongchramomentxonhiuqukhicmasttrc
khnggingnhngngcongny,Hnh2.5:

Hnh2.5

Chrngtcdngcalcmastgmhaiphn.utin,tngmomentxon
hiu qu quay ti b gim, th hai, c mt vng cht nm mi v tr cn
bng ca ng c l tng. Nu rotor ng c c t ti bt c u trong
vng cht i vi v tr cn bng tc thi, moment xon ma st s vt qu
momentxontcdngbiccmungc,rotorskhngdichuyn.Chorng
mtngconghnhsinltnggiamomentxonvvtrkhikhngcma
st,rnggccanhngvngchtsl:

d=2(S/( /2))arcsin(f/h)=(S/( /4))arcsin(f/h)

trong:

drngvngchttnhbngradians

Sgcbctnhbngradians

fmomentxoncnthitthnglcmast

hmomentxongi
iuquantrngphighichvvngchtlngiihnchnhxcvtrsau
cng!Mtvd,khilcmastnghl1/2gitrnhmomentxon,mtng
cbcmibc90scvngchtl60!iucnghalccbchiu
qu s dao ng trong khong 30 n 150, tu thuc vo rotor dng u
trongvngchtsaumibc!
S xut hin ca vng cht c mt nh hng rt ln n vic iu khin vi
bcthct!Nuvngchtrngx,thviciukhinvibcvirngmt
bcnhhnxcthskhnglmchorotorquaycmtchtno.Vvy,
i vi cc h thng nh dng iu khin vi bc c phn gii cao, vic
gimthiumastnghlrtquantrng.

nglchc
Milnbnquayngcmtbc,bndichuynrotorkhivtrcnbngS
radians. iu ny di chuyn ton b ng cong c miu t trong hnh 2.1
mtkhongcchSradians,nhHnh2.6:

Hnh2.6

iuutinghinhnvqutrnhquaymtbclgitrngulchiudng
lnnhtttigitrnhnhtkhirotoangquaynangtbcnysang
bcktip.Gitrnhnhtnyxcnhmomentxonng(runningtorque),
gitrmomentxonlnnhtcangccthtckhinbctitrc
rtchm.ivingcnamchmvnhcuhaimuthngthngvinhng
ng cong hnh sin l tng ca moment xon so vi v tr v moment xon
gih,gitrmomentxonngslh/(20.5).Nungccquaybngcch
cpinchohaimucnglc,momentxonngcamtngcnamchm
vnhcuhaimultngsbngmomentxongiloimtmu.
Cng nn ghi nhn rng mt tc bc cao, moment xon ng i khi
cnhnghanhlmomentkora(pullouttorque).Nghal,nlmoment
xonlnnhtmngccthvtquaquaytitbcnysangbc
tip trc khi ti b ko ra khi v tr bc bi lc ma st. Mt vi hng dn
ng c nh ngha mt moment xon th hai l moment xon ko vo (pullin
torque).Nlmomentxonmastccimngccthvtquagiatc
mt ti ang ng yn n mt tc ng b (vn tc iu khin mong
mun).Momentxonkovocnutrongcctiliusdngngcbc
lgitrkhngchnhxc,bivmomentxonkovophthucvomoment
banucaticsdngkhichngco,vmtvibnghngdn
ngcchragitrny.
Trongthct,lunclcmast,vth,saukhivtrcnbngquaymtbc,
rotorgingnhdaongnhxungquanhvtrcnbngmi.Quoktqa
cthtngtnhtrongHnh2.7:

Hnh2.7

y,quocavtrcnbngcbiudinbngnggcht,trong
khi,ngcongtrnhnhlquocarotorngc.
7

Cnghng
Tn s cng hng ca rotor ng c ph thuc vo bin ca dao ng;
nhngkhibingim,tnsdaongstngnmttnsmbinnh
cn xc nh c. Tn s ny ph thuc vo gc bc v t s gia moment
xon gi v moment qun tnh ca rotor. Ngay c khi moment xon ln hn
hocnhhncngslmtngtnsny!
Mtcchhnhthc,cnghngtnsnhcthctnhnhsau:
utin,nhcliphngtrnhgiatcgctheonhlutNewton:
T=A
trong:

Tmomentxonptrnrotor

momentquntnhcarotorvti

Agiatcgctnhtheoradians/giybnhphng
Chng ta cho rng, vi mt bin nh, moment xon trn rotor c th c
gnngbngmthmtuyntnhcadchchuynsovivtrcnbng.V
vy,pdngnhlutHooke:

T=k

trong:

khngsdaongringcah,tnhbngnvmomenttrnradian

vtrgccarotor,tnhbngradians
Chngtacthcnbnghaicngthcmomentxonc:

A=k
Chrnggiatclohmbchaicavtrtheothigian:

A=d2 /dt2
Nntacthvitliphngtrnhtrnthnhdngphngtrnhviphn:

d2 /dt2=(k/)
giibitonny,nhclirng,cho:

f(t)=asinbt

Ccdohmcanl:

df(t)/dt=abcosbt

d2f(t)/dt2=ab2sinbt=b2f(t)
Ghichrng,xuynsutphnny,chngtachorngrotorangcnghng.
Vvy,ncphngtrnhchuynngcdng:

=asin(2 ft)

a=bingccnghng

f=tnscnghng
ylmtcchgiicthchpnhnciviphngtrnhviphntrn
nutaly:

b=2 f

b2=k/
Giiratnscnghngflmthmcakand,tac:

f=(k/)0.5/2
iu ct yu n l moment qun tnh ca rotor cng thm bt k ti ngu lc
km theo no. Moment ca rotor, trong s c lp, l khng thch hp! Mt s
hngdnngcckmtheothngtinvcnghng,nhngnungc
mangti,tnscnghngsthayi!
Trongthcnghim,sdaongnycthlnguynnhncanhngbiton
quantrngkhitlbcbtkucnggnvitnscnghngcah;
kt qu thng xut hin nhng chuyn ng ngu nhin khng iu khin
c.

Cnghngvngcltng
n im ny, chng ta ch chia vi hng s n hi gc nh k cho h thng.
iunycobngthcnghim,nhngnungcongmomentxonso
vivtrlhnhsin,ncnglmthmngincamomentxongi.Nhc
lirng:
T=hsin((( /2)/S) )
HsnhigcnhkltrcaohmTtigc.

k=dT/d =(h(( /2)/S)cos(0))=( /2)(h/S)

Thayvocngthctns,tac:

f=(( /2)(h/S)/)0.5/2 =(h/(8 S))0.5

Nu bit moment xon gi v tn s cng hng, cch d nht xc inh
moment qun tnh ca cc phn di chuyn trong mt h c iu khin bi
mtngcbcltnhgintiptmiquanhtrn!

=h/(8 f2S)
Vmcchthcnghim,vnkhngphilmomentxonhaymomentqun
tnh,mlgiatcchuclnnht!Tinth,ylmthmngincatn
scnghng!BtuvinhlutNewtonchogiatcgc:

A=T/
Chngtacththaythcngthctrnchomomentquntnhnhlmthm
ca tn s cng hng, v sau thay th moment xon ng chu c ln
nhtthnhhmcamomentxongic:

A=(h/(20.5))/(h/(8 f2S))=8 Sf2/(20.5)

ogiatctnhtheobctrngiybnhphngthayvdngradianstrngiy
bnhphng,tac:

Asteps=A/S=8 f2/(20.5)
Vvy,ivimtngcltngcmthmmomentxontheovtrdng
sin, gia tc ln nht tnh theo bc trn giy bnh phng l mt hm thng
thngcatnscnghngcangcvtigncng!
Trongngcnamchmvnhcuhocbinttrhaimu,vimtngc
tnhmomentxontheovtrcdngsinltng,momentxongihaimul
mthmngintheomomentxongimun:

10

 h2=20.5h1
trong:

h1momentxongimun

h2momentxongihaimu
Thayvocngthctnscnghng,chngtacthtmtlgiacctns
cnghngtronghaitrnghpiukhinny:

f1=(h1/...)0.5

f2=(h2/...)0.5=(20.5h1/...)0.5=20.25(h1/...)0.5=20.25f1=1.189...f1
Mi quan h ny ch duy tr nu moment xon c cung cp bi ng c
khngthayingkkhitcbckhcnhaugiahaitnsny.
Ni chung, nh s tho lun phn sau, moment xon hiu dng s gn nh
khnginkhimtbctiptheoxyra,nsbcti.Vvy,miquanh
nychginguynnutnscnghngthpditcbcny.Ticc
tcbctrntcct,haitnssgnnhauhn!

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Tmttchng

Trongchngny,chngtatmhiuhaiphnchnhltnhhcvnghcca
ngcbc.Tuycskhcnhauichtvcutovnguynltorat
trng, nhng v bn cht mi quan h gia moment v v tr gc ca rotor
dngnhlkhngkhcbitmy.Chnhvth,nhnglthuytcangc
bcnamchmvnhcuucthpdnggnngchongcbinttr,
vhnhp.

iu khin na bc vvi bc thc cht lto ramt moment tng hp m

chngtavnthnglmviphpcnghaidaonghnhsinhlchphanhau.
Khiiukhinnabc,inpcpchongckhngthayitrnccmu.
Nuinpnythayi,vtrnhcamomenttngkhngnmchnhgiav
trcnbngcarotornhiukhinthngthng.Khiinpnycthay
imtcchhpl,chngtacthtoranhnggcbcrtnhchongc,
giliukhinvibc.

Mtiuquantrngnatrongphntnhhc,llcmastbntrongng
c s gy nn cc vng cht, v thng th vi iu khin bc hoc na
bc,chungtakhngquantmnccvngchtny.Trongkhi,vngcht
linhhnglnnkhnngiukhinvibc,mchngtasxemxt
ccphnsau.

Bitonnglchccquantmlkhitrcngcquaytbcnysang
bckhc,vdngli,trcngckhngthngynhonton,mncn
bdaong.Chnhnhngdaongnysbkhuchikhiccnghngc.

Bitonctrallmsaoxcnhckhongvntcbchplm
khngxyrahintngcnghng,hocgilmsaoiukhinchngli
viccnghng.

Phnnychachonchnh,tiscnbsungvsacha.Tuynhin,vn
cungcpchoccbnccbnthamkho.Tistiptcsachavbsung
sau.

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