Trn Xun Ty

H thng iu khin t ng thy lc

Nh xut bn khoa hc k thut

TS. Trn Xun Ty

H thng iu khin t ng thy lc

Nh xut bn khoa hc k thut

H Ni - 2002

Li gii thiu
Truyn ng thy lc trong my cng c, thit b ... thuc l!nh "c #$ thu%t ti&n tin trong c' #h( h)* "+ t ng h)* ,u tr-nh ./n 0u1t cng nghi23. 45i cuc cch m6ng #ho* h7c "+ cng ngh2 hi2n th8i th- truyn ng thy lc 3ht tri9n m5i "+ cng ngh2 c*o h'n. :) l+ iu #hi9n t ng h2 thy lc cho cc my cng c, trung tm gi* cng ;<;, =y chuyn t ng linh ho6t robot h)*... 4i2c +o t6o i ng> #$ thu%t "+ chuy&n gi* l!nh "c n+y ? 4i2t <*m trong th8i #@ cng nghi23 h)* "+ hi2n 6i h)* l+ r1t ,u*n tr7ng "+ c13 thit. <hAng nBm tr5c y, "i2c +o t6o ng+nh c' #h( trong cc tr8ng 6i h7c #$ thu%t C cng ngh2, c) gi/ng =6y, th( nghi2m, thit # tDt nghi23, "it gio tr-nh, .ch th*m #h/o " truyn ng thy lc trong my cng c "+ thit b nhng cEn (t hoFc ch* c%3 n 3hn hi2n 6i 3 Gng cho ,u tr-nh cng nghi23 h)*, t ng h)* ? tr-nh c*o. :) l+ iu #hi9n t ng h2 thDng thy lc. :9 "it ,uy9n .ch n+y, tc gi/ H =+nh nhiu th8i gi*n #h/o cGu lI thuyt, 0y =ng th( nghi2m, nghi&n cGu #ho* h7c "+ Gng =ng thc tiJn, c>ng nh th*m ,u*n, thc t%3 "+ tin h+nh th( nghi2m ? n5c ngo+i " l!nh "c iu #hi9n t ng thy lc. ;h'ng K tLng hM3 c' b/n "+ c) t(nh h2 thDng, 3hn t(ch, t(nh ton cc thng .D ch(nh trong m6ch truyn ng thy lc. ;h'ng N tr-nh b+y cc Fc trng ch yu nh +n hOi c* =u, cGng thy lc, tn .D =*o ng ri&ng ... nhPm 3hc " cho nghi&n cGu ng lc h7c c* truyn ng thy lc ? ch'ng Q, #t ,u/ n+y giR3 cho "i2c nghi&n cGu iu #hi9n h2 thy lc l+m "i2c Ln nh, tin c%y, ch(nh 0c. <i =ung ? ch'ng N #h .Rc t(ch "+ m5i. TS ch'ng T n U tr-nh b+y cc ni =ung ch(nh "5i 3h'ng 3h3 t(nh ton thit # m5i "+ hi2n 6i. Tc gi/ "it tr&n c' .? Gng =ng iu #hi9n h7c #$ thu%t 9 3hn t(ch .*i .D, 0c nh h+m truyn c* mt .D m6ch iu #hi9n, iu #hi9n " tr(, "%n tDc, t/i tr7ng "5i cc 3hn tV iu #hi9n c' b/n trong h2 iu #hi9n t ng thy lc nh "*n iu #hi9n, b #huch 6i, cc lo6i c/m bin .... TS ) t(nh ton "+ thit # cc m6ch iu #hi9n t ng thy lc "5i nhiu "( = c th9 c) ch7n l7c. Whn tin h7c Gng =ng 9 3hc " cho nghi&n cGu, thit #, th( nghi2m i9n h-nh " iu #hi9n t ng h2 thy lc, c>ng nh iu #hi9n t ng thyC#h(, tc gi/ H thc hi2n "+ thu Mc #t ,u/ ng #9, cEn Mc ti3 tc ? t+i li2u .*u. Tr&n c' .? NX t+i li2u th*m #h/o Mc cng bD nhAng nBm gn y tc gi/ H "it ,uy9n .ch n+y, cng "5i ,uy9n Y :iu #hi9n t ng trong l!nh "c c' #h(Y Z<h+ 0u1t b/n [io =cC K\\X] t6o r* . #t hM3 ho+n ch^nh h5ng chuy&n mn h_3 "+ hi2n 6i c* ng+nh c' #h(, giR3 cho cng "i2c gi/ng =6y, +o t6o, nghi&n cGu "+ chuy9n gi*o cng ngh2 thuc l!nh "c truyn ng "+ iu #hi9n t ng h2 thy lc c) hi2u ,u/ c*o. W[S.TS. Wh6m :`3 aho* c' #h( Tr8ng :6i h7c bch #ho* c+ <i

li ni u
Y:iu #hi9n t ng h2 thy lcY l+ gio tr-nh 3hc " cho cc Di tMng h7c t%3, nghi&n cGu " iu #hi9n t ng c* cc ng+nh c' #h( "+ t ng ho ? cc tr8ng 6i h7c #$ thu%t, cc tr8ng c*o dng #$ thu%t "+ cc c' .? ./n 0u1t, nghi&n cGu. :y l+ t%3 ti3 theo c* gio tr-nhY :iu #hi9n t ng trong cc l!nh "c c' #h(Y =o <h+ 0u1t b/n [io =c 3ht h+nh nBm K\\X. a$ thu%t truyn ng "+ iu #hi9n h2 thy lc H 3ht tri9n m6nh ? cc n5c cng nghi23. a$ thu%t n+y Mc Gng =ng 9 truyn ng cho nhAng c' c1u c) cng .u1t l5n, thc hi2n iu #hi9n logic cho cc thit b hoFc =y chuyn thit b t ng, Fc bi2t nh8 #h/ nBng truyn ng Mc " c13 m+ n) Mc Gng =ng 9 iu #hi9n " c13 tDc , t/i tr7ng "+ " tr( c* c' c1u ch13 h+nh. ci2n n*y, h2 thy lc Mc .V =ng 9 iu #hi9n cc thit b nh my f3 iu #hi9n .D, robot cng nghi23, my ;<; hoFc trong cc =y chuyn ./n 0u1t t ng. [io tr-nh n+y ch yu tr-nh b+y 3h'ng 3h3 t(nh ton thit # cho h2 iu #hi9n " c13 m+ cc t+i li2u #hc ch* b+n n hoFc m5i c%3 ? mGc .' lMc. <i =ung c* gio tr-nh b*o gOm cc "1n .*u g Wh'ng 3h3 3hn t(ch "+ t(nh ton cc thng .D c* m6ch iu #hi9n thy lch t(nh ton +n hOi c* =u, cGng thy lc "+ tn .D =*o ng ri&ng c* h2 thy lch b+i ton nghi&n cGu ng lc h7c c* h2 thy lch gi5i thi2u cc 3hn tV iu #hi9n c' b/n c* h2 thy lch #$ thu%t iu #hi9n " tr(, tDc "+ t/i tr7ng, ngo+i r* t+i li2u cEn gi5i thi2u lI thuyt t(nh ton thit # cc m6ch iu #hi9n t ng h2 thy lc "+ cc "( = minh ho6. :y l+ gio tr-nh chuy&n ng+nh m*ng t(nh nghi&n cGu Gng =ng, nhAng "1n lI thuyt "+ nhAng "( = tr-nh b+y .i giR3 cho ng8i 7c c) th9 ti3 c%n nh*nh "5i nhAng b+i ton thc t, nh1t l+ trong gi*i o6n hi2n n*y, #$ thu%t iu #hi9n t ng *ng c) #huynh h5ng 3ht tri9n m6nh, cc thit b "+ cc =y chuyn ./n 0u1t t ng Gng =ng #$ thu%t iu #hi9n thy lc *ng thm nh%3 "+o 4i2t <*m ng+y c+ng nhiu n&n "i2c nghi&n cGu Gng =ng #$ thu%t n+y 9 thit #, b/o =jng "+ #h*i thc c) hi2u ,u/ l+ "i2c l+m thit thc. ;hRng ti mong rPng gio tr-nh n+y .i giR3 (ch cho m7i Di tMng h7c t%3, nghi&n cGu l+m "i2c trong l!nh "c iu #hi9n h2 thy lc "+ mong nh%n Mc cc I #in )ng g)3 9 ln ti b/n t5i, gio tr-nh .i ho+n thi2n h'n.
Tc gi

Trn Xun Ty

H thng iu khin t ng thy lc

Nh xut bn khoa hc k thut

11

TS. Trn Xun Ty

H thng iu khin t ng thy lc

Nh xut bn khoa hc k thut

H Ni - 2002
12

Li gii thiu
Truyn ng thy lc trong my cng c, thit b... thuc lnh vc k thut tin tin trong c kh ha v t ng ha qu trnh sn xut cng nghip. Vi cuc cch mng khoa hc v cng ngh hin thi th truyn ng thy lc pht trin mi v cng ngh cao hn. l iu khin t ng h thy lc cho cc my cng c, trung tm gia cng CNC, dy chuyn t ng linh hot robot ha... Vic o to i ng k thut v chuyn gia lnh vc ny Vit Nam trong thi k cng nghip ha v hin i ha l rt quan trng v cp thit. Nhng nm trc y, vic o to ngnh c kh trong cc trng i hc k thut - cng ngh, c ging dy, th nghim, thit k tt nghip, vit gio trnh, sch tham kho v truyn ng thy lc trong my cng c v thit b nhng cn t hoc cha cp n phn hin i p ng cho qu trnh cng nghip ha, t ng ha trnh cao. l iu khin t ng h thng thy lc. vit quyn sch ny, tc gi dnh nhiu thi gian kho cu l thuyt, xy dng th nghim, nghin cu khoa hc v ng dng thc tin, cng nh tham quan, thc tp v tin hnh th nghim nc ngoi v lnh vc iu khin t ng thy lc. Chng 1 tng hp c bn v c tnh h thng, phn tch, tnh ton cc thng s chnh trong mch truyn ng thy lc. Chng 2 trnh by cc c trng ch yu nh n hi ca du, cng thy lc, tn s dao ng ring ... nhm phc v cho nghin cu ng lc hc ca truyn ng thy lc chng 3, kt qu ny gip cho vic nghin cu iu khin h thy lc lm vic n nh, tin cy, chnh xc. Ni dung chng 2 kh sc tch v mi. T chng 4 n 7 trnh by cc ni dung chnh vi phng php tnh ton thit k mi v hin i. Tc gi vit trn c s ng dng iu khin hc k thut phn tch sai s, xc nh hm truyn ca mt s mch iu khin, iu khin v tr, vn tc, ti trng vi cc phn t iu khin c bn trong h iu khin t ng thy lc nh van iu khin, b khuch i, cc loi cm bin .... T tnh ton v thit k cc mch iu khin t ng thy lc vi nhiu v d c th c chn lc. Phn tin hc ng dng phc v cho nghin cu, thit k, th nghim in hnh v iu khin t ng h thy lc, cng nh iu khin t ng thy-kh, tc gi thc hin v thu c kt qu ng k, cn c tip tc ti liu sau. Trn c s 28 ti liu tham kho c cng b nhng nm gn y tc gi vit quyn sch ny, cng vi quyn " iu khin t ng trong lnh vc c kh" (Nh xut bn Gio dc- 1998) to ra s kt hp hon chnh hng chuyn mn hp v hin i ca ngnh c kh, gip cho cng vic ging dy, o to, nghin cu v chuyn giao cng ngh thuc lnh vc truyn ng v iu khin t ng h thy lc c hiu qu cao. PGS.TS. Phm p Khoa c kh Trng i hc Bch khoa H Ni

13

li ni u
"iu khin t ng h thy lc" l gio trnh phc v cho cc i tng hc tp, nghin cu v iu khin t ng ca cc ngnh c kh v t ng ho cc trng i hc k thut, cc trng cao ng k thut v cc c s sn xut, nghin cu. y l tp tip theo ca gio trnh" iu khin t ng trong cc lnh vc c kh" do Nh xut bn Gio dc pht hnh nm 1998.

K thut truyn ng v iu khin h thy lc pht trin mnh cc nc cng nghip. K thut ny c ng dng truyn ng cho nhng c cu c cng sut ln, thc hin iu khin logic cho cc thit b hoc dy chuyn thit b t ng, c bit nh kh nng truyn ng c v cp m n c ng dng iu khin v cp tc , ti trng v v tr ca c cu chp hnh. Hin nay, h thy lc c s dng iu khin cc thit b nh my p iu khin s, robot cng nghip, my CNC hoc trong cc dy chuyn sn xut t ng.
Gio trnh ny ch yu trnh by phng php tnh ton thit k cho h iu khin v cp m cc ti liu khc cha bn n hoc mi cp mc s lc. Ni dung ca gio trnh bao gm cc vn sau : Phng php phn tch v tnh ton cc thng s ca mch iu khin thy lc; tnh ton n hi ca du, cng thy lc v tn s dao ng ring ca h thy lc; bi ton nghin cu ng lc hc ca h thy lc; gii thiu cc phn t iu khin c bn ca h thy lc; k thut iu khin v tr, tc v ti trng, ngoi ra ti liu cn gii thiu l thuyt tnh ton thit k cc mch iu khin t ng h thy lc v cc v d minh ho. y l gio trnh chuyn ngnh mang tnh nghin cu ng dng, nhng vn l thuyt v nhng v d trnh by s gip cho ngi c c th tip cn nhanh vi nhng bi ton thc t, nht l trong giai on hin nay, k thut iu khin t ng ang c khuynh hng pht trin mnh, cc thit b v cc dy chuyn sn xut t ng ng dng k thut iu khin thy lc ang thm nhp vo Vit Nam ngy cng nhiu nn vic nghin cu ng dng k thut ny thit k, bo dng v khai thc c hiu qu l vic lm thit thc.

Chng ti mong rng gio trnh ny s gip ch cho mi i tng hc tp, nghin cu lm vic trong lnh vc iu khin h thy lc v mong nhn c cc kin ng gp ln ti bn ti, gio trnh s hon thin hn.
Tc gi

14

Chng 1

Phng php phn tch v tnh ton cc thng s c bn trong mch iu khin thy lc
1.1. quan h gia p sut v lu lng

1.1.1. Ngun thy lc Hin nay ngi ta chia ngun thy lc thnh hai dng sau : - Ngun lu lng khng i. - Ngun p sut khng i. Theo ISO R1219, cc ngun thy lc c k hiu nh trn hnh 1.1.

a)

b) Hnh 1.1. K hiu v ngun thy lc

a- Ngun lu lng khng i; b- Ngun p sut khng i. K hiu trn thc cht l k hiu ca bm du, khi trong c thm ch I, c ngha l ngun cung cp l tng (khng c tn tht lu lng v tn tht p sut trong bm). Cng sut trong mch thy lc c xc nh theo : N= hay : trong :
dE vi E = dt dV = P.Q dt

P.dV

(1.1) (1.2)

N = P.

E - c trng cho cng; V - th tch cht lng truyn c; N - cng sut truyn; P - p sut cht lng. 15

Ty thuc vo th nguyn ca p sut P v lu lng Q m cng thc (1.2) c thm cc h s. M hnh tnh ton ca ngun lu lng l tng l : ngha l : trong : P.Q = MX. Mx - mmen xon trn trc vo ca bm; - vn tc gc ca trc bm. Nu gi V l th tch cht lng bm c, D l dung tch lm vic ca bm trong mt radian v l gc quay ca bm, ta c quan h : V = D. Ly o hm ( 1. 4 ) : m :
dV d = D. dt dt

Nra = Nvo (1.3)

(1.4)

dV d = Q v = dt dt

nn Q = D.

(1.5)

Thay (1.5) vo (1.3) : hay :

P.Q = P.D. = Mx. Mx = P.D

D vg 2.

(1.6)
P.D 2.

Nu dung tch o trong mt vng quay ca bm l Dvg th : D= v : ;

n 60

Mx =

(1.7) (1.8)

Q = Dvg.

Trng hp vi ngun p sut khng i th lu lng ra c th thay i theo mt hm no nhng p sut ra lun khng i. Cc cng thc trn cng s dng tnh ton cho ng c du. 1.1.2. Mch thy lc c cc tit din chy ghp ni tip v ghp song song Khi cht lng chy qua khe hp th lu lng t l vi cn bc 2 ca hiu p trc v sau khe hp : Q = K0. P trong : P - hiu p trc v sau khe hp; K0 - h s lin quan n sc cn thy lc c xc nh bng thc nghim theo cng thc : K0 =
Q thc nghim Pthc nghim

(1.9)

(1.10)

16

Lu lng v p sut xc nh theo cng thc (1.9) l dng cht lng chy ri. y l trng hp ph bin ca dng cht lng chy trong h thng kn. Tuy nhin thc t cng c khng t trng hp cht lng thc hin dng chy tng, khi quan h gia p sut v lu lng l tuyn tnh : Q = K.P K l h s lin quan n sc cn thy lc khi chy tng. Nu gi thit tn tht lu lng khng ng k th phng trnh lin tc ca dng chy th hin l tng lu lng i vo mt nt bng tng lu lng i ra nt : Qvo = Qra (1.12) nghin cu mch thy lc ta c khi nim v loi mch ghp ni tip v ghp song song nh sau : - Mch ni tip l mch m trong khng c s phn nhnh v lu lng mi ni trn ng truyn dn u bng nhau. - Mch song song l mch khi phn nhnh hiu p mi nhnh u bng nhau.
1 Q1A A QA2 P2 2 Q2B B 4 QC4 C P3

(1.11)

1
QT

2 QA A PB

3 QB B PC
QC C

PS

3
Q3C QB3 6

PA

5 P5

4 P4

a)

b)

Hnh 1.2. S ghp ni tip v ghp song song a - S ghp ni tip; b - S ghp song song. Trn hnh 1.2a, cc khe hp A, B v C (hay gi l tit din chy) c ghp ni tip nhau theo trnh t 1 - A - 2 - B - 3 - C - 4. Lu lng cht lng i trong mch l nh nhau, tc l : Q1A = QA2 = Q2B = QB3 = Q3C = QC4 PS = P2 + P3 + PC + P4 + P5 Nu Tng t ta c : P2 = P3 = P4 = P5 th PS = PC PS = PC = PB = PA 17 (1.15) (1.13) (1.14) hnh 1.2b, cc khe hp A, B v C c ghp song song vi nhau, hiu p c tnh l :

Lu lng :

Q T = QA + QB + QC

(1.16)

Trong cc loi van trt iu khin khi cht lng chy qua khe hp c tit din chy thay i th quan h gia lu lng v dch chuyn v iu chnh tit din chy ca van xc nh theo cng thc sau : Q = Kv. f(x) P v : Kv - h s; Qm v Pm - lu lng v hiu p nh mc ca van; f(xmax)- hm quan h gia tit din chy v dch chuyn ln nht ca van. c tnh quan h gia lu lng Q v dch chuyn ca con trt x ca van theo cng thc (1.17) th hin hnh 1.3a. Cc nh thit k, ch to van lun mong mun quan h Q- x l tuyn tnh, ngay c cc loi van in thy lc quan h gia lu lng Q v dng in iu khin van i, ngi ta cng mong mun l tuyn tnh nh hnh 1.3b. Q = K.
Q Vng s dng

(1.17) (1.18)

Qm = Kv.f(xmax). Pdm

trong :

i i max

vi 0 < i < imax

Q

(1.19)

Tuyn tnh

(i) x a) b)

(i) x

Hnh 1.3. th quan h gia Q v x, Q v i ca van trt iu khin a - c tnh thc; b - c tnh l thuyt hoc tuyn tnh ho. 1.1.3. Cc mch thy lc thng gp 1. Mch thy lc c cc tit din chy ghp ni tip (hnh 1.4) Hiu p trn mch ni tip hnh 1.4a xc nh l : PS = P1 + P2 +... + Pi + Pn Tc l hiu p bng tng cc hiu p thnh phn. 18 (1.20)

Nh ta bit vi dng chy ri th : Thay (1.21) vo (1.20) ta c : PS = hay :

Q = Ki Pi

hay Pi =

Q2 K2 i

(1.21)

n Q2 Q2 Q2 Q2 1 2 + + . . . + + = Q 2 2 2 2 2 K1 K 2 Ki Kn i =1 K i

(1.22) (1.23)

PS = Q2.

1 Vi KT = K2 T

K
i =1

1
2 i

P1 K1 Q

P2 K2

...

Pi Ki

Pn Kn Q Q KT PS

PS a) Hnh 1.4. S ghp ni tip a - S ghp ni tip; b - S tng ng. Hoc nu thay (1.23) vo (1.21) th : Pi = PS. K 2 T.
1 = K2 i PS 1 2 i =1 K i
n

b)

1 K2 i

(1.24)

Nh vy mch thy lc chy ri c cc tit din chy ghp ni tip nh hnh 1.4a s tng ng vi mch thy lc c mt tit din chy nh hnh 1.4b v c h s KT xc nh theo cng thc (1.23). 2. Mch thy lc c cc tit din chy ghp song song (hnh 1.5) Khi cc tit din chy ghp song song th lu lng tng cng bng tng cc lu lng thnh phn, ngha l : QT = Q1 + Q2 + Q3 +... + Qi + Qn hay : QT = K1. PS + K 2 . PS + K 3 . PS + ... + K i . PS + K n . PS = K T . PS 19 (1.25) (1.26)

QT
Q1 Q2 K2 Q3 K3 Qi Ki Qn Kn

QT

KT PS

PS

K1

a) Hnh 1.5. S ghp song song a - S ghp song song; b - S tng ng. trong : KT = K1+ K2 + K3 +...+ Ki + Kn =

b)

Ki
i =1

(1.27)

Nh vy, khi c n tit din chy ghp song song c th thay th bng 1 tit din chy c h s KT bng tng cc gi tr Ki thnh phn. M hnh trn hnh 1.5a c thay bng mt m hnh tng ng nh hnh 1.5b.

3. Mch thu lc c cc tit din chy ghp phi hp

PS KS QS P1 Q1 K1 QL Q3 PL P3 K3 QS P1 Q1 K1 QL KL P4 Q4 K4 I Ps P2 K2 P4 K4 Q3 PL P3 K3

I P0 P2

Q2

K2

a) Hnh 1.6. S ghp phi hp

b)

a- S c nhnh lin kt KL; b- S khng c nhnh lin kt. Mch phi hp trn hnh 1.6a cn gi l mch bc cu, trn c 7 gi tr tn tht p sut v 6 gi tr lu lng. Gi tr ca h s KL ca nhnh bc cu quyt nh gi tr lu 20

lng i qua QL. Mch ny thng thy trong cc van in- thy lc, con trt ca van c iu khin bng in t c s phi hp ca ng phun du. Phng trnh lin tc ca lu lng l : QS = Q1 + Q3 ; Q2 = Q1 QL ; Q4 = QL + Q3 Phng trnh cn bng p sut l : P0 = PS + P1 + P2 ; P1 = P3 PL ; P2 = PL + P4 trong :
2 Q2 Q3 Q2 Q2S Q 21 Q2 2 L PS = 2 ; P1 = 2 ; P2 = 2 ; P3 = 2 ; P4 = 4 ; P = L 2 K K S K1 K2 K3 K2 L 4

(1.28) (1.29) (1.30)

Thay (1.28) v (1.30) vo (1.29) ta c : P0 =

2 Qs Q2 (Q1 Q L ) 2 l + + ; 2 2 K K2 K 2 l s 2 Q3 Q2 Q2 L l = 2 2 Kl K3 K2 L

Q2 (Q1 Q L ) 2 (Q L + Q 3 ) 2 L = + K2 K2 K2 2 4 L

(1.31)
Q2 Q3 Q2 l 2 + L =0 K3 K2 K2 l L
2

hoc :

P0 =

2 Q1

Kl2

(Q 1

Q L )2 K2 2

2 QS + 2 ; KS

(1.32)

(Q1 QL ) 2
2 K2

Q2 (Q L + Q 3 ) 2 L + =0 2 K K2 4 L

Nu coi sc cn thy lc tit din KS bng khng tc l KS = v sc cn tit din KL bng v cng, tc l KL = 0 th hai nhnh ghp song song b ngn cch (QL = 0); Khi s trn hnh 1.6a s n gin hn v c th hin hnh 16b, quan h p sut s xc nh l : P2 = PS. P4 = PS.
2 K1 2 K1 + K2 2 2 K3 2 K3 + K2 4

(1.33)

(1.34) (1.35)

PL = P2 P4 Nu thay (1.33) v (1.34) vo (1.35) th : PL = Ps.

2 2 K1 K3 2 2 2 2 K1 + K 2 K 3 + K 4

(1.36)

Khi mi lin kt c p sut cn bng (PL = 0), ta c : 21

2 2 K3 K1 = 2 2 K1 + K2 K3 + K2 4 2

hoc

K1.K4 = K2.K3

(1.37)

Loi mch thy lc c cc h s xc nh theo cng thc (1.37) ny hay gp van trt iu khin. 4. Mch thy lc va chy tng va chy ri Trng hp ghp ni tip (hnh 1.17a) PS = P1 + P2 trong :
Q

(1.38) P2 = R2.Q
Q1

Q2 P1 = 2 ; K1

P1

K1

P1

K1 Q3 Q2

PS P2 R2

PS P2

K2

P3

R3

a)

b)

Hnh 1.7. S mch thy lc va chy tng va chy ri a- S ghp ni tip; b- S ghp ni tip kt hp vi ghp song song. hay :
Q2 PS = 2 + R2.Q K1
2 2 Q2 + R2. K 1 .Q K 1 PS = 0

(1.39)

Phng trnh (1.39) l phng trnh bc hai theo Q, nghim ca n l :

2 R 2 .K 1 4 2 R2 Q= 2 .K 1 + 4.K 1 .PS 2

(1.40)

- Trng hp va ghp ni tip va ghp song song (hnh 1.7b) Phng trnh cn bng lu lng l : Q1 = Q2 + Q3 22 (1.41)

Phng trnh cn bng p sut l : PS = P1 + P2 v P2 = P3 trong : P1 =

2 Q1 Q2 2 ; P = v P3 = R3. Q3 2 2 K1 K2 2

(1.42) (1.43)

Thay (1.41) v (1.43) vo (1.42) ta c :

(Q 2 + Q 3 ) 2 Q 2 Q2 2 PS = + 2 v 2 = R3.Q3 2 K1 K2 K2 2
Q2 2 Q + 2 2 K . R Q2 2 3 PS = + 2 2 K1 K2 2
1 4 2 2 4 2 2 1 4 2 2 Q2 .K 2 .K 1 .R 3 PS .K 2 .K 1 .R 3 =0 + 2.Q 3 + 2 .K 2 .R 3 + Q 2 2 2 K1 K 2
2

hoc :

(1.44)

Khai trin (1.44) s cho ta phng trnh bc 4 i vi Q2 : (1.45)

- Mch thy lc c hai ngun p sut (hnh 1.8)

PL P1 K1 Q1 QL I PS1 RL I PS2 P2

K2
Q2

Hnh 1.8. S mch thy lc c hai ngun p sut Phng trnh cn bng lu lng : Q1 + Q2 =
PL = QL RL

(1.46)

Ngoi ra ta cn c quan h gia p sut v lu lng ca dng chy ri l :

23

2 Q1 = PS1 PL v 2 K1

Q2 2 = PS 2 PL K2 2 PL RL

(1.47)

Thay (1.47) vo (1.46) ta c : K1. Mt khc : vi :

PS1 PL + K 2 . PS 2 PL =

(1.48) (1.49) (1.50)

PS1 = P1 + PL v PS2 = P2 + PL
P1 =
2 Q1 2 K1

; P2 =

Q2 2 v PL =(Q1 + Q2).RL K2 2

Thay (1.50) vo (1.49) ta c cc phng trnh sau :

2 Q1 PS1 = 2 + (Q1 + Q 2 ).R L K1

(1.51)

Q2 PS 2 = 2 + (Q1 + Q 2 ).R L K2 2

(1.52)

Nu khai trin cc phng trnh trn s cho ta phng trnh bc 4 i vi Q1 hoc Q2.
1.2. phn tch v tnh ton van trt iu khin

1.2.1. M hnh tnh ton ti trng ca con trt Van trt iu khin l mt b phn rt quan trng trong mch iu khin thy lc, chng c nhiu loi, mi loi c nhng c im v kt cu v tnh ton ring. Ni chung van trt iu khin rt phc tp v mt kt cu v tnh ton. Hin nay c nhiu cng trnh nghin cu v vn ny. Phn ny ch gii thiu nhng tnh ton cn thit cho nghin cu van trt iu khin. Khi con trt di chuyn theo hng x, ca ra ca van m, cht lng i qua ca ra v c vct vn tc hp vi trc con trt mt gc l (hnh 1.9a, c). p sut thy tnh tc ng ln con trt s phn b nh trn hnh 1.9b. ca vo B p sut tc ng ln con trt phn b u, ca ra A p sut thay i theo quy lut bc hai gim dn gn pha mp ca ra.
Rx

Lc tc dng ln con trt pha B :

fB =

PB .dA

(1.53)

R0

V p sut phn b u trn ton b b mt ca con trt nn : fB = PB.FB vi PB = P 24 (1.54)

PB

P dr

PA

B P P

Rx B R0
P

a)

b)

c) Hnh 1.9. S tnh ton lc chiu trc ca con trt iu khin a- S nguyn l lm vic ca con trt; b- S th hin s phn b p sut trn con trt; c- S th hin hng chuyn ng ca du mp iu khin. Lc tc dng ln con trt pha A :
Rx

fA =

PA .dA

(1.55)

R0

V cht lng i qua khe hp ca van lm p sut gim xung nn : fB > fA tc l fB fA = fQ > 0 Do c lc chiu trc fQ m con trt c xu hng ng van. Trong cc cng thc trn cc k hiu c ngha nh sau : FB , FA - din tch hnh vnh khn ca con trt c bn knh trong l R0 ,v bn knh ngoi l Rx; dA - vi phn ca din tch hnh vnh khn c bn knh trong l r v bn knh ngoi l r + dr. Lc chiu trc fQ c xc nh theo cng thc sau : 25 (1.56)

fQ = fB fA = Q.v..cos Q = CQ . FA. Thay (1.58) vo (1.57) th : hoc : trong :

2.P

(1.57)
Q = C Q .FA 2.P =v

hay

(1.58)

fQ = CQ. 2..Q. P . cos fQ = KQ. Q. P . cos (1.59)

v - vn tc cht lng ca hp; - t trng ca cht lng; KQ = C Q . 2. - h s; P - hiu p trc v sau ca hp; CQ - h s ph thuc vo kt cu hnh hc ca tit din chy; - gc hp bi vct vn tc ca ra ca dng cht lng vi trc con trt.

Gc ph thuc vo kt cu hnh hc ca cc mp ra ca van. Nh vy, do tit din chy thay i t ngt gy ra hiu ng thy ng lm cho p sut ca cht lng tc dng ln b mt ca con trt pha A v B khng cn bng nhau. Khi thit k van cn c bin php cn bng lc chiu trc fQ. 1.2.2. M hnh n nh con trt ca van bng thy lc kt hp vi l xo(hnh 1.10) Hnh 1.10 trnh by loi van trt 2 ca v 2 v tr, trong c ng dn du ph kt hp vi l xo cn bng v tr iu khin ca con trt. Phng trnh cn bng con trt l :
d2x PS A P PT .A M fQ K S .(x + x 0 ) = m S . 2 dt

(1.60)

trong :

ms - khi lng ca con trt; x - lng dch chuyn ca con trt; x0 - lng dch chuyn ban u ca l xo; KS - cng l xo; fQ - lc thy ng theo tnh theo cng thc (1.59); AP v AM - din tch b mt chu p sut ca cht v ca con trt.

d 2x Nu con trt v tr cn bng th 2 = 0 v phng trnh (1.60) s l : dt

26

PS.AP PT.AM fQ KS (x + x0) = 0 Thay Q = K0.A(x). PS PT vo (1.59) sau thay fQ vo (1.61) ta c : PS.AP PT.AM KQ.A(x).(PS PT). cos KS(x + x0) = 0

(1.61)

(1.62)

PS
PR Pc

QR

a)

b)

Hnh 1.10. S van trt iu khin c con trt c cn bng nh kt hp gia thy lc v l xo a- S nguyn l hot ng; b- c tnh P - Q ca van. Gi s p sut ca ra PT 0 th : PS.AP KQ.A(x).PS cos KS(x + x0) = 0 Phng trnh (1.62) hoc (1.63) l c s thit k kt cu van loi nh trn. Trong cc cng thc trn A(x) l tit din chy ca du qua van, n c xc nh nh sau : A(x) = DM.x v : Amax = A(xmax) = DM.xmax QR = K0..DM.xmax. PS PT vi : trong : PS PT = PC + PR PC - p sut tng ng vi trng thi van ng; PR - gi tr gia tng ca p sut tng ng vi van m ln nht. c tnh PS - Q ca van trt iu khin th hin hnh 1.10b. Trng hp khi x = 0, PS = PC v PT 0 th cng thc (1.63) s l : 27 (1.64) (1.65) (1.66) (1.63)

Tng ng vi di chuyn ln nht ca con trt (xmax) s cho lu lng ln nht QR :

PC.AP = KS.x0 Khi s tng ng vi van ng. 1.2.3. M hnh tnh ton van gim p kiu con trt

(1.67)

M hnh tnh ton van gim p kiu con trt c th hin trn hnh 1.11. Phng trnh cn bng con trt ca van l : PC.AM + fQ PL.AM KS(x + x0) = 0 Phng trnh cn bng lu lng l :
Q = K 0 .A(x). PS PC = K C . PC PL

(1.68) (1.69)

Nu

PL 0 th :

Q = K C . PC hay PC =

Q2 K2 C

Ta cn c : pC

fQ = KQ.Q. PS PC .cos(x)
p

pL

PS

AM
Q

KS
KC

PC

pS a)

AM
PL

b)

Hnh 1.11. Van gim p kiu con trt a- S nguyn l lm vic; b- S k hiu. Nn cng thc (1.68) vit li l : PC.AM + KQ.Q. PS PC .cos(x) KS(x + x0) = 0 hoc :
K Q .Q 2 . cos (x) Q2 .A M + K S .(x + x 0 ) = 0 K 0 .A ( x ) K2 C

(1.70)

28

Do :

Q=

K S .(x + x 0 ) A M K Q . cos (x) + K 0 .A(x) K2 C

(1.71)

1.2.4. M hnh phn tch mch thy lc ca van trt iu khin 1- Gii thiu v k hiu cc loi van trt iu khin Van trt in thy lc l b phn quan trng trong h thng iu khin t ng thy lc v cc ch tiu cht lng ca van nh hng trc tip n cht lng h thng iu khin. Mi loi v mi hng ch to u c cht lng khc nhau, hin nay c rt nhiu hng ch to ni ting nh hng Mooc v Parker ca M, hng Peoto ca c... Van in- thy lc c chia thnh ba loi chnh sau y : - Van trt ng m thng thng (hay gi l valve-selenoid). Loi van ny ch lm nhim v ng m hoc o hng chuyn ng ca du (hnh 1.12a) v thng c dng trong cc mch iu khin logic hoc kho khng ch. - Van t l (proportional-valve). Loi ny c kh nng iu chnh c v cp v tr ca con trt nhm cung cp du cho c cu chp hnh theo yu cu s dng. iu khin con trt di chuyn dc trc ngi ta s dng hai nam chm in b tr i xng (hnh 1.12b). - Van servo (servo-valve). Tng t nh van t l, van servo c th thay i v tr con trt mt cch v cp vi nhy cao. iu khin con trt ngi ta s dng mt nam chm in kt hp vi h thng phun du c kt cu i xng. Nh s hon thin v kt cu m loi van ny c cht lng iu khin cao nht hin nay. K hiu ca van servo c gii thiu hnh 1.12c.
A B A B A B

a)

b)

c)

Hnh 1.12. K hiu cc loi van trt iu khin theo tiu chun ISO (loi 4 ca v 3 v tr ) a- K hiu van solenoid; b- K hiu van t l; c- K hiu van servo. P - Th hin p sut cung cp cho van; T - Th hin p sut v b du (i khi k hiu l R); A v B - K hiu 2 ng du ni vi xylanh hoc ng c du. 29

Cu to v nguyn l lm vic ca van s gii thiu k cc chng sau. 2- M hnh phn tch mch thy lc ca van V d van servo c s nguyn l th hin hnh 1.13a. Khi nam chm hot ng th cng s quay lm cho khe h gia cng v ng phun thay i, dn n h s KA v KB thay i, p sut PA v PB cng s thay i theo. S thay i ca PA v PB s lm cho lc tc dng ln con trt mt cng bng, dn n con trt di chuyn v iu khin c tit din chy ca du qua van. S nguyn l ny c m hnh ho thnh mch thy lc nh hnh 1.13b. y l mch phi hp gia ni tip v song song nh phn tch mc 1.1. Trong , KA v KB c quan h lin ng, khi KA tng th KB gim v ngc li.

PS

Nam chm K2 ng phun

PS

K1 Cng PA
PS

K1 PB PA

K2 PB

KA
T

KB
PS

KA A B

KB

a)

b)

Hnh 1.13. S nguyn l v m hnh mch thy lc ca van servo a- S nguyn l; b- M hnh mch thy lc. Hnh 1.14 l mt v d khc v van trt c 4 mp iu khin. Cc h s KP.A, KP.B, KA-T v KB-T u c quan h cht ch vi nhau. Khi KP-A tng th KB-T tng v KP-B, KA-T gim. S ca van ny c m hnh ho thnh mch thy lc nh trn hnh 1.14b.

30

KA-T T1

Kp-A

KP-B

pS

KB.T T2 KP-A A

pS

KP-B
B

B KA-T KB-T

v
FL

a)

b)

Hnh 1.14. S tnh ton ca van trt c bn mp iu khin a- S hot ng ca van; b- M hnh mch thy lc ca van. n gin cho vic nghin cu, khi xy dng s c th tch lm hai qu trnh, l qu trnh con trt ca van dch chuyn sang tri v dch chuyn sang phi. Vi quan nim nh vy th hnh 1.14b c v li nh hnh 1.15.
QP KP-A pP KP-B
V(+)

FL AP
KA-T

AR
KB-T

pR

Hnh 1.15. M hnh mch thy lc ca van trt c 4 mp iu khin Trn s hnh 1.15, ch s p k hiu cho cc thng s trn ng du vo, cc ch s R, T k hiu cho cc thng s trn ng du ra. 31

t :

x =

K K K AP v v = PA = PB = P AR K BT K AT K R

(1.72)

H s kt cu x c trng cho xylanh v v c trng cho van. Van trt c kt cu hnh hc i xng nh v d trn s hnh 1.16a th KP = KR , tc l v = 1.
pS

PA p
T A B

PL = PA - PB

PT I
A

PB

a)
Q
In=-I0 Ca B m

I2 I1 -pS -pL
I1 I2 Ca A m In = -I0

-x pS pL
(-I) PL = 0 PS = const

(I)

-Q -Q c) b) Hnh 1.16. S nguyn l v c tnh ca van trt c kt cu hnh hc i xng a- S mch thy lc; b- c tnh Q - P; c- c tnh Q - I. 32

Nu kho st quan h gia lu lng v p sut, lu lng v dng in iu khin th c tnh ca chng c dng nh trn hnh 1.16b, c. Lu lng qua van c xc nh l : Q = K. A(x) P hoc : Q = K. A0.
A(x ) . P A0

(1.73) (1.74)

Nu t : Gv = K.A0 v y =

A(x ) th Q = Gv.y. P Ao A(x ) 1 A0

trong A0 l tit din chy ln nht ca van v cn tha mn iu kin : 1 Khi van m hon ton th : y=
Q0 A( x ) = 1 v Gv = A0 P

(1.75)

Nh vy, Gv biu th cho h s chy ca cht lng khi van m hon ton (hay gi l h s lu lng). C th hn cng thc ( 1.74 ) s l : Q = Gv. trong :
I I . Ps .PL I I0

(1.76)

I- dng in iu khin; I0- dng ln nht ng vi van m hon ton; PL- p sut do ti gy ra (PA).

Nu b qua PL (tc ti PA= 0) th : Q = Gv. hay :

I . PS I0

(1.77) (1.78)

Q K = V . PS = KQ I0 I

KQ gi l h s khuch i lu lng ca van.

1.3. Phn tch quan h gia van v c cu chp hnh

1.3.1. Quan h gia van v xylanh thy lc 33

Quan h gia p sut hai bung xylanh thy lc v lng dch chuyn ca con trt ca van x (hoc dng iu khin I) th hin hnh 1.17. Nu b qua ma st, trng thi lm vic n nh th phng trnh cn bng ca pittng l : PA. AP PB. AR FL = 0 trong : PA = POA + GA.x ; PB = POB GB.x POA v POB - p sut hai bung ca xylanh khi x = 0; GA =
PA P v GB = B - h s gc ca c tnh P - I hay gi l h s I I

(1.79) (1.80)

khuch i p sut.
pB p pA

p0A p0B +x O B A AP AR +I

-x -I

FL

Hnh 1.17. Quan h gia p sut PA v PB vi I, x Thay (1.80) vo (1.79) ta c : x=

FL + POB .A R POA .A P G A .A P + G B .A R FL + PO (A R A P ) G A .A P + G B .A R

(1.81)

Nu thay i kt cu sao cho POA = POB = PO th : x= (1.82)

34

v :

PA = PB =

G A .FL + PO .A R (G A + G B ) G A .A P + G B .A R G B .FL + PO .A P (G A + G B ) G A .A P + G B .A R

(1.83) (1.84)

1.3.2. Quan h gia van v ng c du ng c du c kt cu hon ton i xng nn lu lng vo bng lu lng ra (ng c du hoc xylanh i xng). S thu lc trn hnh (1.18a) c th m hnh ho nh hnh 1.18b. Phng trnh cn bng p sut s l : PS = PP + PR + P Theo cng thc (1.21) th (1.85) vit li nh sau :
PS =
pS Q PA Q A T PT I A B P = PA - PB PB

(1.85)

1 1 Q2 Q2 Q2 2 1 Q + + = + + 2 2 2 K2 K2 K2 P R L KP KR KL

(1.86)

pS
Kp

pp
p

KL KR

pR
Q

a)

b)

Hnh 1.18. S mch thy lc c kt cu i xng a- S nguyn l; b- M hnh tnh ton. hay : vi : Q = KT. PS
KT = 1 1 1 1 + 2 + 2 2 KP KR KL

(1.87) (1.88)

35

1.4. Phng trnh cn bng lu lng v phng trnh cn bng lc trong xylanh thy lc

1.4.1. Cc k hiu Theo tiu chun quc t, xylanh thy lc c k hiu nh hnh 1.19. v1 v2
AP AR

Hnh 1.19. K hiu ca xylanh thy lc Nu gi AP l din tch ca pittng bung du vo v AR l din tch pittng bung du ra theo cng thc (1.72) th :
x = AP AR

(1.89)

x gi l h s kt cu ca xylanh. H s ny lin quan n vn tc chuyn ng ca pittng, ngha l : v1 = x.v2 nu lu lng cung cp Q l nh nhau. Mch thy lc hnh 1.15 nu tch thnh hai s , mt s l mch thc hin chuyn ng cng tc v1 v mt s l mch thc hin chuyn ng li v2 th ta c hnh 1.20.
pS Qp p
(1) p

Kp

Kp AR(1) v1 FL AR(2) pp(2) Qp

pS

v2 Ap(1) KR pR(1) KR QR(2) Ap(2) P

(2) p

QR(2)

a)

b)

Hnh 1.20. S tnh ton ca xylanh thy lc a- S khi chuyn ng cng tc v1; b- S khi chuyn ng li v v2 .

36

H s kt cu ca xylanh trong hai trng hp trn l :

(x1) =

1 A (P2 ) A (P1) (2) v = hay (x2 ) = (1) x (2) (1) AR AR x

(1.90)

1.4.2. Phng trnh cn bng lu lng Do tnh cht n hi ca du nn khi p sut thay i th th tch du s thay i, lu lng do bin dng n hi ca du c xc nh theo cng thc sau :
Q C = C. dP dt

(1.91)

C c gi l h s tch lu n hi ca du (phn ny s trnh by chng 2). Phng trnh lu lng trn ng du vo l : QP = QA + QC trong : QP - lu lng cung cp ca van; QA - lu lng lm pittng chuyn ng; QC - lu lng do bin dng n hi ca du trn ng du vo. Phng trnh lu lng trn ng du ra l : QR = QB QP trong : QR - lu lng v b du; QB - lu lng pistng y ra; QD - lu lng do bin dng n hi ca du trn ng du ra. Theo s hnh 1.20, ta c hai trng hp nh sau : - Khi pittng chuyn ng cng tc v1 :
Q P = v 1 .A (P1) + C (P1) .
(1) dPP dt

(1.92)

(1.93)

(1.94)

v :

(1) R

= v 1 .A

(1) R

(1) dPR C . dt (1) R

- Khi pittng chuyn ng li v v2 :

Q P = v 2 .A
(2) P (2) dPP +C . dt (2) P

(1.95)

37

v :

Q (R2 ) = V2 .A (R2) C (R2 ) .

( 2) dPR dt

V cng ngun cung cp v van trt c kt cu i xng nn lu lng cung cp ca van khi chuyn ng cng tc v1 v chuyn ng li v v2 l nh nhau, nhng lu lng 1) Q (R Q (R2 ) v v1 v2. Nu h lm vic n nh th p sut s khng thay i, ta c :
dPP dP = 0 v R = 0 dt dt

(1.96)

v lu lng vo v ra lc l : QP = v.AP ; QR = v.AR 1.4.3. Phng trnh cn bng lc pp pR

m

(1.97)

v(+), a, x FL

Ap

AR

Hnh 1.21. S phn tch lc trn pittng Nu b qua ma st, lc tc dng ln pittng th hin hnh 1.21 th phng trnh cn bng lc l : PP.AP PR. AR FL = m trong : FL - ti trng ngoi; PP v PR - p sut tc dng ln din tch ca pittng AP v AR; m - khi lng ca phn chuyn ng. x, v v a - tng ng l hnh trnh, vn tc v gia tc chuyn ng ca pittng. trng thi n nh th a =
d 2x = 0 nn phng trnh (1.98) c vit li l : dt 2 d 2x dt 2

(1.98)

PP.AP PR. AR FL = 0 Nu ti trng ngoi FL 0 th : 38

(1.99)

PP A R = |F = 0 PR A P L

(1.100)

Thay

Q2 PP = P K2 P

Q2 v PR = R K2 R

vo (1.100) ta c :

Q2 1 K2 P P = . 2 2 Q R x K R

(1.101)

1.4.4. Mch thu lc c van iu khin lm vic ng thi c hai ca trng thi n nh, nu b qua ma st th phng trnh cn bng lc ca pittng s l : PSAR PB. AB + FL = 0 PB KV PS (1.102)

QB
v (t)

FL AB AR

Hnh 1.22. S mch thy lc c ng du vo ra ghp phi hp Ta cn c quan h : QB = K0. v=

PB

v v =

QB AB

(1.103)

hoc :

K 0 PB K 0 = AB AB

PS .A R + FL AB

(1.104)

1.5. Xc nh cc thng s c bn ca mch thy lc iu khin bng van trt

1.5.1. Xc nh quan h gia vn tc v ti trng Tng t nh s hnh 1.14 v hnh 1.20, s nguyn l hnh 1.23a c m hnh ho thnh s mch thy lc nh hnh 1.23b.

39

Ti

KpA KRA KRB pS

pA pB

KpB Ti

T KpA

p KpB

KRA

KRB

a,

b,

Hnh 1.23. S thy lc dng van trt c 4 mp iu khin a- S nguyn l ; b- M hnh mch thy lc. Nu ch nghin cu mt nhnh th hnh 1.23b v li nh hnh 1.24a hoc hnh 1.24b.
QS = Qp Qp

Kp
PP pS Pp PR PP pS QR

Kp Pp

Ti

v (+)
FL

PR

KR

AP

AR PR KR

PR

a)

b)

QR

Hnh 1.24. S thy lc v theo mt nhnh truyn ng a- S tng qut; b- S c xylanh chi ti trng. 40

Ta c cc quan h sau y : - p sut trn ng du vo : - p sut trn ng du ra : PP = PS PP PR = PR

Q2 Q2 P PP = 2 v PR = R K2 KP R

(1.105) (1.106)

- Tn tht p sut qua cc tit din chy ca van : (1.107)

- Quan h gia lu lng v vn tc chuyn ng ca pittng nh sau : QP = v.AP v QR = v.AR - Cc ch : + Nu van c kt cu hnh hc i xng KP = KR th v = 1. + Nu PP = PR, tc l tn tht p sut trn ng vo v ra ca van bng nhau :
Q2 Q2 v 2 .A 2 v 2 .A 2 P R P R = 2 = 2 2 2 KP KR KP KR

(1.108)

(1.109) (1.110)

hay :

AP KP = hoc x = v AR KR

+ Nu nng lng vo v ra ca van bng nhau, tc l : QP.Pp = QR.PR

QP . Q2 Q2 P R = Q . R 2 KP K2 R

(1.111)

Suy ra :

Q3 Q3 v 3 .A 3 v 3 .A 3 P R P R = = 2 2 2 2 KP KR KP KR A3 K2 2 P P hay 3 = 2 x = v 3 AR KR

(1.112)

Cng thc (1.112) c th vit li nh sau : (1.113)

T cc quan h (1.105), (1.106),(1.107) v (1.108) thay vo (1.112) ta c :

PS .A P v 2 .
2 3 A3 2 AR P v . FL 2 K2 K P R

=0

(1.114)

hay :

A3 P PS .A P v . 2 KP

2 v 1 + 3 FL = 0 x

(1.115)

41

Theo cch phn tch v tnh ton nh trn, ta cng lp c phng trnh lc cho nhnh cn li. Phng trnh (1.115) s dng thit k kt cu ca mch thy lc. Xt cc trng hp sau y : * Khi vn tc bng khng (v = 0) th pittng dng chuyn ng nn cng thc (1.115) o PS .A P FL =0 (1.116) s l : hay :
AP =
o FL PS

o FL gi l ti "dng" (lc gii hn to s qu ti cho xylanh).

* Khi FL = 0 hoc FL 0 th cng thc (1.115) s l :

A3 PS .A P V . P K2 P
2 0

2 v 1 + 3 x

=0

(1.117) (1.118)

Suy ra :

v0 =

PS .A P A 2 v 1+ 3 K x
3 P 2 P

Hnh 1.25 l th biu din quan h gia vn tc v ti trng ca cng thc (1.115). Trn c cc im c bit th hin qua cng thc (1.116) v (1.118). v v0
1 v Van ng dn

-FL0 -FL F L0 FL

0
FL Van ng hon ton Van ng dn

2 -v

-v a) b)

Hnh 1.25. th quan h gia vn tc v ti trng a- Quan h v - FL cc gi tr c bit; b- Quan h v - FL khi ng, m van. 42

ng cong c tnh v - FL l parabn, ng 1 tng ng vi pitton chuyn ng theo chiu thun (vn tc dng) v ng 2 tng ng vi pittng chuyn ng theo chiu ngc li (hnh 1.25a). mi v tr ca van s cho ta cc ng cong khc nhau, hnh 1.25b th hin s thay i ca c tnh v - FL khi ng m van. 1.5.2. Xc nh cc thng s kt cu c bn 1- Khi bit cc cp thng s v1, F1, v v2, F2 t :
2 A3 v P B = 3 .1 + 3 K P x
0

(1.119)

th phng trnh (1.115) s l : PS.AP v2.B0 FL = 0 (1.120) Gi s bit trc cc cp gi tr (v1, F1) v (v2, F2) th hin nh trn hnh 1.26, ta c th thit lp c hai phng trnh dng (1.120) nh sau :
0 2 FL v1 .B0 F1 = 0

(1.121) (1.122)

v :

0 0 FL v2 2 .B F2 = 0

v1

F1

F 2 F L0

FL

Hnh 1.26. th biu din cc cp gi tr v1, F1v v2, F2 trn c tnh v - FL T (1.121) v (1.122) suy ra :
2 0 v2 2 .B v1 .B + F2 F 1 =0

(1.123) (1.124)

hay :

B0 =

F1 F2 2 v2 2 v1

Thay (1.124) vo (1.121) ta c :

43

0 2 F1 F2 = v1 FL . 2 + F1 2 V2 V1 0 = FL 2 v2 2 .F1 v 1 F2 2 v2 2 v1

hay

(1.125)

0 v B0. Nh vy nu bit trc cc cp gi tr v1, F1 v v2, F2 s xc nh c FL 0 C ngha rng nu bit c FL v B0 ta xc nh cc thng s PS, AP v KP t cc cng thc sau :

B0 =

2 A3 v P 1 + 3 . 2 K P x

(1.126)

0 FL = PS .A P

Cc trng hp xy ra nh sau : Trng hp A : Nu cho trc PS th :

0 2 FL 1 v2 2 .F1 v 1 F2 AP = = . 2 2 PS PS v 2 v 1

(1.127)
2 v 1+ 3 x

v :

A3 K = P B
2 P

2 v 1 + 3 x

A3 P = F F 1 2 v2 v2 1 2

(1.128)

hay :

KP =

2 2 2 A3 P (v 2 v 1 ) v 1 + 2 F1 F2 x

(1.129)

Trng hp B : Nu cho trc AP th :

PS =
2 .F v 1 F2 1 v2 . 2 21 2 A P v 2 v1

(1.130)

v KP cng c xc nh theo cng thc (1.128). Trng hp C : Nu bit trc KP th PS v AP xc nh nh sau.

A3 P = K2 K2 P .B P ( F1 F2 ) = 2 v 2 2 v 1+ 3 (v 2 v ) 1 + 2 1 3 x x

(1.131)

44

hay :

AP =
3

K2 P ( F1 F2 ) 2 2 v + (v 2 v ) 1 2 1 3 x

(1.132)

v :

PS =

2 .F v 1 F2 1 v2 . 2 21 2 A P v 2 v1

(1.133)

2. Khi ch bit mt cp gi tr v3, F3 (hnh 1.27) Nu bit trc AP v KP th PS c xc nh theo cng thc (1.115) l :
PS =
2 2 v3 .A 2 P v . 1+ 3 2 K P x

F3 + A P

(1.134)

v3

F3

FL

Hnh 1.27. th biu din cp gi tr v3, F3 trn c tnh v - FL Nu bit trc AP v p sut cung cp PS ta xc nh KP cng t cng thc (1.115) nh sau :
KP =
2 3 v3 A P 2 v + 1 3 PS .A P F3 x

(1.135)

3. Khi bit cc thng s PS, AP v KP Nu bit trc cc thng s thit k PS, AP v KP th l dng bi ton phn tch h thng, tc l xc nh vn tc v ti trng lm vic. Nu bit trc vn tc lm vic vT th ti trng s l :
FT = PS .A P
3 v2 T .A P K2 P

2 v 1 + 3 x

(1.136)

Nu bit trc ti trng lm vic FT th vn tc s l : 45

3 v2 T .A P K2 P

2 v 1 + 3 x

= PS .A P FT

Suy ra :

vT =

K2 P ( PS .A P FT ) 2 3 v A P .1 + 3 x

(1.137)

1.5.3. Xc nh cng sut ln nht v p sut cung cp nh nht 1. Xc nh cng sut ln nht th biu din quan h gia ti trng FL, cng sut N v vn tc v th hin hnh 1.28. Nhn v vo cng thc (1.115) ta c : v. PS .A P v 3 . N
FL

A3 P K2 P

2 v 1 + 3 v.FL = 0 x

(1.138)

(1)

Nmax

FL0 (2)

v0 Hnh 1.28. th biu din quan h gia FL, N v v

N = v.FL l cng sut truyn ca xylanh thy lc, cng thc (1.138) c th vit gn li nh sau : N = v.FL = v.PS.AP - v3.B0 cng sut ln nht Nmax th cn tm vn tc v0 no tha mn :
dN 2 = 0 = PS.AP - 3. v 0 .B0 dv

(1.139)

(1.140) (1.141)

hay :

2 = v0

PS .A P 3.B0

46

Thay (1.141) vo (1.139) ta c :

PS .A P PS .A P 0 .B FLO = 0 3.B0

(1.142) (1.143)

Suy ra :

2 PS .A P FLO = 0 3

0 m PS.AP = FL l ti trng "dng" nn :

2 0 FL = FLO 3

(1.144)
2 ti 3

Vy cng sut ln nht khi vn tc xc nh theo (1.141) v ti trng FLO bng trng "dng". 2. Xc nh p sut cung cp nh nht T cng thc (1.115) ta suy ra : PS = v 2 .A 2 P .
1 1 F + 3 2 + L 2 K P x .K R A P

(1.145)

Ly o hm p sut theo din tch AP v cho bng khng ta c :

1 dPS 1 F = 2 .v 2 .A P . 2 + 3 2 L =0 2 dA P K P x .K R A P

(1.146) (1.147)

hay :

A3 P =

FL 1 1 2.v . 2 + 3 2 K P x .K R
2

Thay (1.147) vo (1.115) ta c :

1 1 FL . 2 + 3 2 K P x .K R F = 0 PSmin .A P v 2 . L 1 2 1 2.v . 2 + 3 2 K P x .K R

hay : nn :

PSmin .A P

FL FL = 0 2

(1.148) (1.149)

3 F PSmin = . L 2 AP 47

Cng thc xc nh PSmin (1.149) ph hp vi cng thc (1.143) khi xc nh cng sut ln nht Nmax. 1.5.4. Xc nh gia tc chuyn ng ln nht ca pittng T hnh 1.24b ta c phng trnh cn bng lc sau : PP.AP PR.AR FL = m trong :
dv dt

(1.150) (1.151)

Q2 PP = PS PP = PS P K2 P Q2 PR = PP = R K2 R

Nn phng trnh (1.150) c th vit li nh sau :

P.S .A P Q2 Q2 dv P .A P R .A R FL = m 2 2 dt KP KR

hay : trong :
a=

P.S .A P

v 2 .A 3 P K2 P

v 2 .A 3 R K2 R

FL = m.a

(1.152)

QP = v.AP v QR = v.AR
dv l gia tc chuyn ng ca pittng mang khi lng m. dt

Khi pittng chuyn ng c gia tc, thi im gia tc ln nht s c th to ra khong trng trong xylanh, tc l p sut PP c th gim xung bng 0. Khi cng thc (1.152) s l :
P.S .A P v 2 .A P K2 P
K2 R

=0
FL

(1.153) (1.154) (1.155) (1.156)

v : hay : Suy ra :

m.a max = m.a max = a max =

v 2 .A 3 R

3 2 PS .K 2 P AR v = . F A L R 2 .PS + FL 2 2 x AP KR

2 1 v A R 2 .PS + FL m x

48

Chng 2

M hnh nghin cu n hi ca du, cng thy lc, tn s dao ng ring ca xylanh v ng c du

2.1. quan h gia p sut v lu lng khi tnh n n hi ca du

2.1.1. H s kh nng tch lu n hi ca du Khi p sut trong bung cha du thay i th th tch du cng thay i do du c bin dng n hi. Nu gi C l h s tch ly n hi ca du th C c xc nh nh sau :
C= dV dV dt dt = . =q dp dt dp dp

(2.1) (2.2)

hay : trong :

q = C.

V dp vi C = 0 dt B

q - lu lng bin dng n hi ca du; V - th tch du bin dng; P - p sut trong bung du; V0- th tch ban u ca bung du; B - m un n hi ca du.

2.1.2. H s tch ly n hi tng ng khi p sut trong mch thy lc bng nhau Xt mch thy lc trn hnh 2.1a v hnh 2.1b, nu bi ton c tnh n bin dng n hi ca du trong ng dn v trong bung lm vic ca xylanh th s trn hnh 2.1a hoc hnh 2.1b c th chuyn thnh s tnh ton nh hnh 2.1c hoc hnh 2.1d. Phng trnh cn bng lu lng c dng :
QT = QP + Qx + QV = C P . dp dp dp + C x . + Q V = (C P + C x ). + Q V dt dt dt dp + QV = QR + Qv dt

(2.3) (2.4)

hay :

QT = C T .

45

p QT

p v FL QT QT AP AR AP Qp QV Qx AR FL v

a) p Qv QT Qp Qx Cx FL QT

b) p Qv Q FL

Cp

Cp

c)

d)

Hnh 2.1. S mch thy lc tnh n bin dng n hi ca du khi p sut bng nhau a v b - Cc s nguyn l; c v d - Cc s tnh ton. trong : QP - lu lng do bin dng n hi ca du trong ng ng dn; Qx - lu lng do bin dng ca du trong xylanh; QR - lu lng do bin dng n hi ca du trong ng ng dn v trong xylanh; Qv - lu lng cn thit pittng chuyn ng vi vn tc v; CP v Cx - h s tch ly n hi ca du trn ng ng dn v trong xylanh; CT - h s tch lu n hi tng ng. Bi ton trn ch ng dng cho trng hp coi p sut trong ng dn v xylanh bng nhau. 2.1.3. H s tch ly n hi tng ng khi p sut trong mch thy lc khc nhau 46

Nu c mch thy lc nh hnh 2.2a, trong p sut trn ng truyn ca mch l khc nhau th h s tch ly n hi tng ng xc nh nh di y. Phng trnh cn bng p sut : PA = P1 + P2
1 t Theo (2.2) ta c : P1 = . Q T .dt C1 0
QT P1 P2 C1 C2 pA

(2.5)
1 t . Q T .dt P2 = C2 0
QT

pA

CT

QV

QV

a)

b)

Hnh 2.2. S mch thy lc c p sut khng bng nhau a- S chi tit; b- S tng ng. nn :
1 1 t 1 t 1 t PA = . Q T .dt + . Q T .dt = + . Q T .dt C1 0 C2 C C 0 2 0 1 1 t PA = . Q T .dt CT 0

(2.6)

hay : vi :

(2.7)

CT =

C 1 .C 2 C1 + C 2

CT c gi l h s tch ly n hi tng ng. S mch thy lc hnh 2.2a c th thay th bng s tng ng nh hnh 2.2b. 2.2. Phn tch mch thy lc khi c hai bung ca xylanh u c du n hi Hnh 2.3a l s cm van- xylanh thy lc khi c hai bung A v B u c p sut thay i v tnh n n hi ca du. Phng trnh cn bng lu lng c dng : QT = QP + QXA + QVP v QR = QVR QXB QRB VA = VPA + VXA v VB = VRB + VXB 47 Mt khc ta thy rng : (2.10) (2.8) (2.9)

nn :

CA =

VA V v C B = B B B
Pp CP

(2.11)

CxA

CxB

QP v FL QT

QxA Qvp

CxA

QxA

QxB

AR v B FL

A VPA Qp CP QT QR

B VRB Ap QRB CR CxB PR QxB

QvR

QR QRB CR

van

a)

b)

Hnh 2.3. M hnh iu khin xylanh thy lc khi c hai bung u c du n hi a- S chung; b - M hnh tnh ton. CP v CR - h s tch ly n hi ca du trn ng ng vo v ra; CXA v CXB - h s tch ly n hi ca du trong cc bung A v B ca xylanh; VPA v VRB - th tch cha du trn ng ng vo v ra ca xylanh; VXA v VXB - th tch cha du trong cc bung A v B ca xylanh; QP v QRB - thnh phn lu lng du b nn trn ng ng vo v ra ca xylanh; QXA v QXB - thnh phn lu lng b nn trong cc bung A v B ca xylanh; QVP v QVR - lu lng y pittng chuyn ng vi vn tc v v lu lng pittng y du ra khi xylanh; QT v QR - lu lng cung cp v lu lng v ca van. Theo cc cng thc (2.8), (2.9), (2.10) v (2.11) th hnh 2.3 c th thay th bng hnh 2.4. Phng trnh lu lng l :
QT = C A. dPP + Q VP dt

(2.12)

48

QR = C B .
QT

dPR + Q VR dt
PP

(2.13)

QA CA

QvP

v
FL
QvR

QB pR

CB

Hnh 2.4. M hnh tnh ton ca cm van.xylanh

2.3. Xc nh h s tch ly n hi cc i ca xylanh
PP PR

FL
x L QA CA QB CB

Hnh 2.5. M hnh xc nh h s tch ly n hi cc i ca xylanh Nu lu lng du b nn cc bung ca xylanh bng nhau QA = - QB, ngha l :
CA. dPP dP = C B . R dt dt

(2.14)

49

M hnh ny tng ng vi m hnh c lu lng bng nhau v p sut thay i khc nhau hnh 2.2. Nn cng c th tnh h s tch ly n hi tng ng ca hnh 2.5 theo cng thc (2.15).
CT = C A .C B CA + CB

(2.15) (2.16)

hay :

1 1 1 B B = + = + C T C A C B VA VB

Khi nghin cu n vn ny ngi ta khng nh rng, nu h s CT cc i th tn s dao ng ring ca xylanh s cc tiu. Mun tm v tr ca pittng CT cc i ngi ta tnh ton nh sau : Cng thc (2.16) c th vit li l :
1 1 1 = + B.C T VA VB

(2.17)

Ly o hm hai v ca (2.17) theo x ta c :

d 1 1 dV 1 dV B.C T = 2 . A 2. B =0 dx VA dx VB dx
2 B 2 A

(2.18)

Suy ra :

dVB V = dx dVA V dx

(2.19) VB = AR.(Lx) + VRB

M : nn :

VA = AP.x + VPA

(2.20) (2.21) (2.22)

dVA dVB = A P v = A R dx dx
2 VB A V 1 = R hay B = 2 VA VA A P x

Thay (2.21) vo (2.19) ta c :

Do cng thc (2.20) c vit li nh sau :

A P .x + VPA = VB . x = (A R (L x) + VRB ). x

(2.23)

Suy ra :

x=

A R .L. x + VRB . x A P + A R . x

VPA

50

x =

AP AR

nn :

A P. L + VRB . x VPA x= x 1 A P 1 + x

(2.24)

Nh vy khi x xc nh theo cng thc (2.24) th CT s t cc i (vi 0 x L).

2.4. cng thy lc v cng tng ng
P FL

FL

p1 p2 x1 x2 xgh
X(t)

CH

V0

AP P p0

a)

b) Hnh 2.6. M hnh nghin cu n hi ca du a- M hnh th nghim; b- c tnh p - x.

Hnh 2.6a l m hnh th nghim nghin cu s n hi ca du. Nu thnh xylanh, cn dn ca pittng cng tuyt i, khng tnh n ma st v s r du th khi tng lc p FL, p sut P tng (P tng t l vi FL) ng thi dch chuyn ca pittng x cng tng t l thun vi P. Qu trnh th hin c tnh trn hnh 2.6b. Trong phm vi nht nh, quan h P - x c coi l tuyn tnh. c tnh ny ging c tnh ca mt l xo hay mt khu n hi c kh no . Ngha l P tng th x tng nhng n mt gi tr gii hn xgh th d P tng nhng x khng tng na. Nh vy trong phm vi quan h P - x tuyn tnh th n hi ca du tng ng n hi ca mt l xo v cng ca khu n hi thy lc c gi l cng thu lc CH. Theo tnh ton l thuyt mc 3.6, nu tnh n c h s ma st f v sc cn thy lc RL th cng thy lc c xc nh theo cng thc nh sau :
f A2 + P CH = C.R L C

(2.25)

51

Vi C =

V0 1 v h s tn tht lu lng K = th : RL B CH = B f .K + A 2 P V0

N/m hoc lbf/in

(2.26)

trong :

V0 - th tch cha du ban u (cm3 hoc in3); B - mun n hi ca du, B = 1,4.107 kg/cm.s2 = 2.105 lbf/in2.

Nu b qua ma st (f = 0) hoc b qua tn tht lu lng (K = 0 hay RL = khng c r du) th cng thy lc l :
CH = B.A 2 A2 P = P V0 C

(2.27)

Vic gii hn du lm vic trong min n hi tuyn tnh c cng CH tng ng vi mt l xo th m hnh nghin cu ng lc hc h thy lc ging nh m hnh ng lc hc h vt rn n hi (hnh 2.7).
C1

m tng ng

hoc
C1 C2 C2

Ct = C1 + C2

a)
m C1

b)

tng ng
C2

Ct = d)

C 1 .C 2 C1 + C 2

c)

Hnh 2.7. M hnh xc nh cng tng ng a, c - S ghp cc l xo; b, d - S tng ng. Trn hnh 2.7a l xo C1 v C2 c cng chuyn v, cn trn hnh 2.7c chuyn v ca l xo C1 v l xo C2 khc nhau. 52

Hnh 2.8 l v d v m hnh tnh ton cng tng ng ca h thy lc. c tnh nh hnh 2.7b. cng tng ng C tH
CH1 CH2 C C m

tng ng
A B CHt P T CH2

a)
CH1

m m

tng ng
A B

C tH = CH1 + CH2

b) Hnh 2.8. M hnh xc nh cng tng ng ca h pittng-xylanh thy lc a - M hnh khi p sut 2 bung du thay i; b - M hnh khi c thm ti trng l khu n hi.
2.5. cng tng ng ca h chuyn ng tnh tin

2.5.1. Xylanh thy lc c kt cu khng i xng Hnh 2.9 l m hnh xc nh cng tng ng ca cm pittng-xylanh thy lc c kt cu khng i xng. cng thnh phn khi tnh n c th tch cha du trong cc ng dn du t van n xylanh l :
C H1 = B.A 2 P v A P .x + VL1 C H2 = B.A 2 R A R .(L x ) + VL 2

(2.28)

53

trong :

x - v tr ca pittng; L - hnh trnh ln nht ca pittng; VL1 - th tch cha du trn ng ng vo; VL2 - th tch cha du trn ng ng ra.

cng tng ng ca h s l :
A2 A2 P R + C t = C H1 + C H 2 = B A .x + V + A ( L x ) V P L1 R L2

(2.29)

* Khi x = 0 th :

(1 ) td

A2 A2 P R = B V + A L+V L1 R L2

(2.30)

Ct(1) CH min L x CH1 CH2

Ct(2)

V2

m V1 CH1 AP VL1 Van AR CH2 VL2

Hnh 2.9. M hnh xc nh cng tng ng khi xylanh c kt cu khng i xng * Khi x = L th :

A2 A2 P R + C(2)t = B A .L + V VL 2 P L1
VL 2 VL1 R . A + L A R P x= 1+ R

(2.31)

Kho st cc tr ca (2.29) ta thy, cng tng ng nh nht CH min khi :

(2.32)

vi :

R=

AP = x AR

54

2.5.2. Xylanh thy lc c kt cu i xng (AP = AR = A)

L 2
CHmax CH min L x VB

m VA

A
AP VL1
Van

B
AR VL2

CH(1)

CH(2)

m
F -S +S F

0
T

2 2 2 3

. 2

Cc k hiu F - lc n hi ca l xo; S - chuyn v ca l xo; T - chu k dao ng ca khi lng m.

Hnh 2.10. M hnh xc nh cng tng ng khi xylanh c kt cu i xng

55

Nu pittng-xylanh c kt cu i xng (hnh 2.11) th cng tng ng nh L nht CH min s v tr x = , v tr ny CH1 = CH2. 2 Theo cng thc (2.29) cng tng ng trong trng hp ny s l : Ct = B.A 2 .
v tr trung gian (x =
1 1 + V V V V + + A L 1 B L 2

(2.33)

l : vi :

L ) th : VA = VB = V v nu VL1 = VL2 = VL th CH min s 2 2.B.A 2 (2.34) C H min = V0

V0 = V + VL

(2.35)

Qua hai bi ton trnh by mc 2.5.1 v 2.5.2 ta thy, khi pittng di chuyn th cng tng s thay i lm cho tn s dao ng ring ca h cng thay i v thay i theo quy lut nht nh.
2.6. cng tng ng ca h chuyn ng quay

Nu b qua ma st v tn tht lu lng th cng thc c bn xc nh cng thy lc l :

B.A 2 CH = V
J

(2.36)

ng c du B

Dm VL1 van VL2

Hnh 2.11. M hnh xc nh cng tng ng ca ng c du

i vi ng c du, din tch nh hng A l h s kt cu Dm (hoc k hiu l Am) c xc nh t th tch ring D :

Dm = D , 2.

(cm3/rad hoc in3/rad) 56

(2.37)

Dm - h s kt cu ca ng c du, (cm3/rad); D - th tch ring ca ng c du, (cm3/vg). Do ng c du c kt cu hon ton i xng, th tch cha du trong qu trnh lm vic khng thay i v xc nh l : VA = VB =
D = V , (cm3/vg hoc in3/vg) 2 B.D 2 V D 2.
2

Cng thc tng qut xc nh cng thy lc thnh phn ca ng c du theo (2.36) l :
CH =

(2.38)
1 . D + VL1 2 1 D + VL 2 2

C th theo hnh 2.11 s l : C (HA ) = B.

(2.39)

D C (HB) = B. 2.

(2.40)

cng tng ng :

m) C (t = C (HA ) + C (HB )

(2.41)

Theo h mt :

) C (t m

2 D B 1 1 . + = D D 10.000 2 . + VL 2 + VL1 2 2

(2.42)

) trong : C (t m - cng tng ng ca ng c du, (N.m/rad);

B - mun n hi ca du, (kg/cm.s2); D - th tch ring ca ng c du, (cm3/vg); VL1 v VL2 - th tch ng ng i v v ca ng c du, (cm3). Nu VL1 = VL2 = VL th :
) C (t m

2 B D 1 = . 10.000 D + 2.V L 2

(2.43)

Theo h Anh :

) C (t m

2 D 1 1 . + = B. 2. D D + VL 2 2 + VL1 2

(2.44)

57

Nu VL1 = VL2 = VL th :

) C (t m

D = B.

2 1 . D + 2.VL 2

(2.45)

) 2 3 3 Th nguyn theo h Anh : C (t m l lbf/rad; B l lbf/in ; D l in /vg; VL1,VL2 v VL l in .

V th tch du ca ng c du trong qu trnh quay khng thay i nn cng tng ng s khng thay i, ngha l Ct(min) = Ct

2.7. Tn s dao ng ring

M hnh nghin cu dao ng ca h thy lc chuyn ng tnh tin v chuyn ng quay th hin hnh 2.12.

X(t)

fn

CH

m
X

x0

m
X

a)

Van

(t)

fn

J
0
0

CH

b) Hnh 2.12. M hnh dao ng ca h thy lc a - M hnh dao ng ca xylanh thy lc ; b-M hnh dao ng ca ng c du. 58

Tn s dao ng ring ca h chuyn ng thng l :

n = CH m

, rad/s

(2.46)

trong :

CH - cng thy lc tng ng, (N/m hoc lbf/in); m - khi lng chuyn ng, (kg hoc lbfs2/in).
1 CH 2 m

hoc :

fn =

, Hz

(2.47)

Tn s dao ng ring ca h dao ng xon (ca ng c du) c xc nh l :

n = CH J

, rad/s

(2.48)

trong :

CH - cng chng xon tng ng, (N.m/rad hoc lbfin/rad); J - mmen qun tnh khi lng, (N.m.s2 hoc inlbf.s2).

2.8. Cc gi tr thu gn ca mt s c cu thng dng

Thc t xylanh thy lc hoc ng c du c th truyn n mt h thng truyn ng c kh no , trong trng hp ny khi lng qun tnh m v mmen qun tnh khi lng J trong cc cng thc (2.46) v (2.48) phi l cc gi tr thu gn v u pittng hoc trc ng c du (mtg hoc Jtg). Hnh 2.13 trnh by cch xc nh mtg v Jtg ca mt s c cu thng dng. m x y

tg

x = m y
a)

m tg

2 ( x + y) = m.

b)

59

m
tx

i n1 J

2

n2

J tg

n2 = J.i = j. n 1
2

J tg =

(2.t x )2
d)

c) m r

Jtg = m.r2

e)
Hnh 2.13. S xc nh cc gi tr thu gn (mtg v Jtg) ca mt s c cu thng dng

a, b - Cc c cu dng cng dng cho h thy lc chuyn ng tnh tin; c- Truyn ng bnh rng (hp gim tc bnh rng) dng cho ng c du; d- Truyn ng vt me c bc tx dng cho ng c du; e- Truyn ng bnh rng - thanh rng c bn knh ln ca bnh rng l r dng cho ng c du.

2.9. Cc v d ng dng 2.9.1. V d 1

Xc nh cng thy lc nh nht ca cm truyn ng thy lc chuyn ng tnh tin trn hnh 2.14. Theo cng thc (2.29) ta c :
A2 A2 P P = + C (min) B . H A .x + V A P .(L x ) + VL 2 L1 P

60

D 100 (4 in) d 60 (2,5 in) P R L 1000 (40 in)

l 50 x 20
(2 x 0,75 in) Van

l1000 x 20 (40 x 0,75 in)

B = 1,4.107 kg/cm.s2 (2.105 lbf/in2)

Hnh 2.14. S xc nh cng ca cm truyn ng thy lc chuyn ng tnh tin

1 L , ngha l AP.x = VP v AR(L - x) = VR . 2

Gn ng coi x

Nu tnh theo h mt ta c :
AP = .10 2 .6 2 = 79 cm2; AR = A P = 50 cm2 4 4

2 2 .2 2 3 VL1 = .5 =16 cm ;V = .100 = 314 cm3 L2 4 4

VP =79. C
min H

100 100 = 3950 cm3; VR = 50 =2500 cm3 2 2

7

792 502 =1,4.10 16 + 3950 + 314 + 2500

CHmin = 3,4.107 N/m Nu tnh theo h Anh ta c :

4 2 .2,52 2 = 12,6 in ; AR= AR=7,7 in2 AP = 4 4 .0,75 2 VL1 = 4 VP = 40. .0,75 2 3 . 2 = 0 , 9 in ; V = L2 4 3 .40 = 17,7 in

12,6 7,7 = 252 in 3 ; VR = 40. = 154 in 3 2 2

(12.6 )2 (7.7)2 5 C min = 2 . 10 . + H 0,9 + 252 17.7 + 154

61

5 C min H = 1,95.10 lbf/in

2.9.2. V d 2

Xc nh cng ca cm truyn ng thy lc chuyn ng quay trn hnh 2.15.

l 200 x 15 (8 x 0,5 in)

Van D = 20 cm3/vg (1,2 in3/vg)

l 200 x 15 (8 x 0,5 in)

Hnh 2.15. S xc nh cng ca cm truyn ng thy lc chuyn ng quay

Theo cng thc (2.44) ta c :

B D 1 1 CH = + D D 10.000 2. VL 2 + VL1 + 2 2
2

Tnh theo h mt :

VL1 =

.1,52 200 . = 35,3 cm 3 ; VL2 = VL1 = 35,3 cm 3 4 10

2 1,4.10 7 20 1 1 = 6,3.102 N.m/rad CH = + 20 20 10.000 2 35,3 + 35,3 + 2 2

CH = 6,3.102 N.m/rad Tnh theo h Anh : .8 = 1,6 in 3 VL2 = VL1 = 4

1 1 5 1,2 CH = 2.10 . + 2 1,6 + 1,2 1,6 + 1,2 2 2
2

.0,52

CH = 6,6.103 lbs/rad. 62

2.9.3. V d 3

Xc nh tn s dao ng ring ca cm truyn ng thy lc chuyn ng tnh tin trn hnh 2.16.
D 75 (3 in) d 38 (1,5 in) m L1000 (40 in)

l = 1200 x 20 (48 x 0,75 in) l 50 x 20 (2 x 0,75 in)

Van m = 1500 Kg Wl = 3300 lbs

Hnh 2.16. S xc nh tn s dao ng ring ca cm truyn ng thy lc chuyn ng tnh tin

.7,52 .3,82 = 44 cm2 ; AR = A p = 33 cm2 4 4

Tnh theo h mt :

Ap =

.2 2 .2 2 3 3 VL1 = .5 = 16 cm ; VL2 = .120 = 377cm 4 4 A2 A2p R CH = B + l . A 1 .A R P VL 2 + VL1 + 2 2 2 2 44 33 = 1,4.107 + 100 100 16 + .44 377 + .33 2 2

= 1,97.107 N/m Tn s dao ng ring tnh theo cng thc (2.46) l :

n = CH = m 1,97.10 7 115 = 115 rad/s hay fn = = 18 Hz 1500 2

Tnh theo h Anh : AP =

.1,52 .32 = 7,1 in; AR = AP = 5,3 in 4 4

.0,752 .0,752 3 VL1 = .2 = 0,9 in ; VL2 = .48 = 21,2 in 3 4 4

63

 2 2 7 , 1 5 , 3 ; CH = 1,1.105 lbf/in CH = 2.105. + 0,9 + 40 .7,1 21,2 + 40 .5,3 2 2

Tn s dao ng ring :

1 1,1.10 5 fn = = 18 Hz . 2. 3300 380

2.9.4. V d 4

Xc nh tn s dao ng ring ca h truyn ng thy lc chuyn ng quay hnh 2.17. l 200 x 15 (8 x 0,5 in)
P Van T

Hp gim tc

1 i= 20
D = 20 cm3/vg (1,2 in3/vg)

J = 2,5 NmS2 (22 inlbfs2)

l 200 x 15 (8 x 0,5 in)

Hnh 2.17. S xc nh tn s dao ng ring ca cm truyn ng thy lc chuyn ng quay

Tnh theo h mt : - cng thy lc CH = 6,3.102 N.m/rad - Mmen qun tnh khi lng thu gn hnh 2.1 c xc nh theo cng thc : 2 1 2 Jtg = J.i = 2,5. = 6,25.10 3 N.ms2. 20 - Tn s dao ng ring :
n = CH 318 6,3.10 2 = = 318 rad/s ; fn = n = = 50 Hz 3 2 2 J tg 6,25.10
2
3

1 Tnh theo h Anh : CH = 6,6.10 lbf/rad ; Jtg = 22. = 5,5.10 2 inlbfs 2 20 CH 6,6.10 3 346 n = = = 346 rad/s ; fn = n = = 55 Hz 2 2 2 J tg 5,5.10

Do lm trn khi chuyn i n v tnh nn tn s khi tnh theo h Anh c sai khc vi h mt. 64

Chng 3

ng lc hc ca h truyn ng thy lc
3.1. Quy lut thay i ca p sut

3.1.1 Xc nh lu lng khi bit quy lut thay i ca p sut Nghin cu mch thy lc hnh 3.1, trn c hai yu t chnh l lu lng tnh n n hi ca du qua C v lu lng thc hin chy tng qua RL.
P

QT

QC C

QL
RL

Hnh 3.1. Mch thy lc c RL - C Phng trnh cn bng lu lng l : QT = QC + QL

QC = C

(3.1) (3.2) (3.3)

P dP v Q L = dt RL
dP P + dt R L

hay :

QT = C.

Nh vy theo cng thc (3.3), nu bit quy lut thay i ca p sut P th ta xc nh c lu lng QT. Gi s quy lut thay i p sut nh hnh 3.2a th lu lng QL s thay i ng dp P v QC s nh hnh 3.2c v Q C = C . dng vi p sut P (hnh 3.2b) v Q L = RL dt Lu lng tng cng QT l tng ca QL v QC theo php cng th (hnh 3.2d).

65

P(t) P2 P1 P3

t
O T1 T2 T3 T4 T5 T6

a)

QL(t)
P2 P1 RL RL P3 RL

t O Qc(t)
C. P1 C. T1 (P2-P1) T3

b)

t O QT(t)
C. (P3 -P2) T5

c)

t O Hnh 3.2. th xc nh lu lng QT t c tnh p sut

d)

a- th quy lut thay i p sut; b- Lu lng ca dng chy tng; c- Lu lng do bin dng n hi ca du; d- Lu lng tng cng QT. 66

3.1.2. Xc nh quy lut thay i p sut khi bit lu lng cung cp QI trong mch RL C thy lc Nu bit lu lng cung cp QI c th xc nh c quy lut thay i p sut P(t). Gi s ta c mch thy lc nh hnh 3.3a, trong bm c lu lng QI (I k hiu cho bm c lu lng l tng tc l khng c tn tht lu lng) v mt van trt 2 v tr iu khin. Van c tc dng l khi ng th ton b du t bm s v h thng v khi m th du t bm s thng vo b du. P(t)
P(t)

t0 I

QI

QL RL

QC C O

Vng chuyn bin nhanh Vng p sut "dng"

t b)

a)

Hnh 3.3. M hnh nghin cu quy lut thay i p sut a- S mch thy lc RLC; b- Quy lut chuyn bin ca p sut. Khi van m, ton b lu lng ca bm s qua van v v b du. Lc p sut h thng P(t) = 0; Lu lng tn tht qua RL bng 0 v cha c du tch ly trong C. Khi van t ngt ng (t 0) th tt c lu lng du cung cp ca bm u vo h thng. Ban u p sut cn thp cha c cht lng r qua RLv du tch vo C cn t. Sau mt thi gian p sut tng ln, du tch vo C nhiu hn v cht lng r qua RL tng dn. Kt qu cht lng r qua RL s lm cho p sut ch tng n mt mc no ri khng tng v cht lng khng cn tch thm vo C c (P "dng" tng), iu ny s dn ti ton b lu lng ca bm trn qua RL. Thi im p sut khng tng na c th gi l thi im bt u "dng" v th c tnh ca p sut th hin nh trn hnh 3.3b. Trong qu trnh nghin cu mch thy lc hy so snh vi mch in, gia chng c nhng c im tng t v hot ng cng nh m hnh tnh ton. V d s ang nghin cu trn hnh 3.3 tng ng vi mch in RC, trong RL tng ng vi in tr Rv C tng ng vi mt t in C. Quan h gia p sut v lu lng l tuyn tnh (cho trng hp dng chy tng ) hoc l bc hai (cho trng hp chy ri ). Khi ng van, phng trnh lu lng s l : QI = QL + QC = 67
P dp + C. RL dt

(3.4)

Gi s P(t) tng theo quy lut hm m v dng tng qut l : P(t) = PS + Po.e S.t trong : PO - p sut thi im ban u (t 0); PS - p sut trng thi "dng" (p sut lm vic n nh). Thay (3.5) vo (3.4) ta c :
PS P0 .e S.t d(PS + P0 .e S . t ) QI = ( + ) + C. RL RL dt

(3.5)

(3.6) (3.7)

hay :

PS P0 .e S . t + C.S.P0.e S . t QI = + RL RL

Theo l thuyt v phng trnh vi phn tuyn tnh, c th tch phng trnh (3.7) thnh hai phng trnh c lp. Cc s hng khng i cn bng nhau v cc s hng tn ti trong thi gian ngn cn bng nhau. Tc l (3.7) c th c vit li nh sau : QI = v : suy ra :
PS RL

(3.8)

P0 .eS.t + C.S.P0.e S.t = 0 RL P0 + C.S.P0 = 0 RL 1 + S.C = 0 RL

(3.9) (3.10)
1 R L .C

do e S.t 0 hoc :

nn : S = -

(3.11)

Thay (3.8) v (3.11) vo (3.5) ta c :

P(t) =QI. RL + P0. e

1 .t RL .C

(3.12) (3.13) (3.14) (3.15)

Ta bit ti thi im t = 0 van bt u ng th P(0) = 0 nn : P(0) =QI. RL + P0. e 0 = 0 V Vy : e 0 = 1 nn : P0 = - QI.RL

1 .t R .C P(t) = QI. RL 1 e L

Trng hp khi van m hon ton (t = 0) m p sut P(0) 0 th P(0) = QI.RL + P0.e 0 Suy ra : P0 = P(0) - QI. RL 68 (3.16) (3.17)

Thay (3.17) vo (3.12) ta c : hay : trong :

P(t) =QI. RL + [ P(0) - QI. RL ]. e

t

1 .t R L .C

(3.18) (3.19) (3.20)

P(t) = PS + [ P(0) - PS ]. e
= R L .C

gi l hng s thi gian ca c tnh p sut. 3.1.3. Qu trnh phng v np du trong mch RC thy lc Mch thy lc v d trn gi l mch RC thy lc. Mch ny c th ng dng thc hin th nghim xc nh c tnh p sut hoc xc nh h s kh nng tch lu n hi C. Hy nghin cu s hnh 3.4, trn c bm du, van trt hai v tr, b to tn tht lu lng RL v mt bnh cha du to kh nng tch lu n hi ca du C. Khi ng van du c np vo bnh cha C, c tnh ca p sut tng theo quy lut hm m nh gii thiu mc 3.2.
P(t) P(t) QI QL RL C 0 ng van M van QC Pmin Pmax Np RC Phng RC

a)

b)

Hnh 3.4. M hnh nghin cu qu trnh phng v np du (RC) a- M hnh mch RC thy lc; b- c tnh v phng v np RC thy lc. Khi m van, du t bm hon ton quay v b du ng thi du tch lu trong bnh C c x ( phng ). Khi phng RC p sut cng gim dn theo quy lut hm m Chu k phng v np RC thy lc ph thuc vo thi gian ng m van. Thi gian cng ngn th Pmax gim v Pmin tng. c tnh phng np c gii thiu hnh 3.4b. 3.2 . Qu trnh ma st Ma st l mt hin tng t nhin phc tp, c th c li hoc hi tu thuc vo mc ch s dng ca thit b. i vi nhng h c dao ng ngoi mong mun th chnh nh ma st s cn tr hoc hn ch c dao ng . 69

Lc ma st quan h n vn tc chuyn ng tun theo c tnh hnh 3.5a. Trong gi tr F0 l lc ma st cn thit vt thot khi trng thi tnh do hin tng trt dnh v Fv l ma st nht khi vt chuyn ng vi vn tc v. Gi tr Fv s lin quan n hin tng tt dn dao ng trong cc dao ng. FR l lc ma st c gi tr khng i.
Fms

Fms F0 FV FR
F0

tuyn tnh ha Thc t

FR

-v
-FV

-FR

-F0
-Fms

a)

b)

Hnh 3.5. th quan h gia lc ma st v vn tc chuyn ng a- th quan h Fms - v thc t; b- th v tuyn tnh ho quan h Fms - v. Thc t vn tc lc dnh kt F0 gim xung FR rt nh ( 0) nn c th coi FV xut hin ti v 0. Cc thnh phn lc trn c xc nh nh sau : F 0 = 0 . F N FR = R. FN trong : FN - lc php tuyn trn b mt trt; 0, R - cc h s ma st nht lin quan n s dnh kt v trt ca cc cp ma st. Nu ng cong ma st nht Fv chia ra thnh tng on nh tuyn tnh th ta c cng thc : Fv = f1. v(1) + f2. v(2) + f3. v(3) +... + fn. v(n) (3.23) trong fi v v(i) l h s ma st nht v vn tc tng ng vi cc on chia nh trn ng cong. n gin cho qu trnh tnh ton, thc t c th tuyn tnh ho ng cong thc Fv, tuy nhin sai s tuyn tnh nh v nm trong phm vi cho php ng dng ca k thut (hnh 3.5b). Lc ma st nht FV vit li l : 70 (3.21) (3.22)

FV = fV.v trong : v - vn tc chuyn ng; fV - h s ma st nht.

(3.24)

Thc t FR rt nh, c th b qua, F0 l lc lin kt khi vt cha chuyn ng. Nn trong qu trnh thit lp cc phng trnh lc th lc ma st c tnh theo cng thc (3.24). Cng phn tch tng t nh trn i vi h chuyn ng quay mmen ma st c xc nh theo cng thc : M = f. trong : M - mmen do ma st nht gy ra; f - h s ma st nht (f fV); - vn tc gc ca h ma st chuyn ng quay.
3.3. Vn tc chuyn ng ca pittng khi tnh n ma st nht

(3.25)

AR

v v m f
(t)

AP

Fqt
FL
p

m Fms b)

FL

AP

a)

v(t)
VS

v (t)
t c) Hnh 3.6. M hnh tnh ton vn tc chuyn ng ca pittng a- S nguyn l; b- S phn tch lc; c - th vn tc v(t). Khi pittng ca xylanh thy lc mang khi lng m chuyn ng vi vn tc v(t) (hnh 3.6a) th phng trnh cn bng lc c xy dng trn c s ca s phn tch dv lc (hnh 3.6b) nh sau : P.AP Fms FL = m (3.26) dt 71

Fms = f.v l lc ma st nht. Nu vn tc chuyn ng ca pittng v(t) bin i theo quy lut hm m (hnh 3.6c) v xc nh theo cng thc : v(t) = vS + v0.eS.t th (3.26) c vit li bng cch thay (3.27) vo (3.26) : P.AP f.vS f.v0.eS.t FL = m.s.eS.t.v0 (3.28) Tch (3.28) thnh hai phng trnh c lp theo tnh cht ca phng trnh vi phn tuyn tnh : P.AP FL f.vS = 0 v Suy ra : f.v0.eS.t = s.m.eS.t.v0 vS =
P.A P FL f f m

(3.27)

(3.29) (3.30) (3.31) (3.32) (3.33) (3.34) (3.35)

Cng thc (3.30) c eS.t 0 nn : f + s.m = 0 hay s = Ti thi im t = 0 th v(0) = vS + v0.s0 Lc ny : hoc : vi = hay

v0 = v(0) vS
f t m

v(t) = vS + (v(0) - vS). e v(t) = vS + [v(0) vs] e

m , gi l hng s thi gian ca c tnh vn tc. s

3.4. c tnh p sut ca h truyn ng thy lc chuyn ng tnh tin

3.4.1. Khi xt n cc yu t l khi lng chuyn ng, n hi ca du v tn tht lu lng (b qua ma st nht) Nh gii thiu mc 3.1 v 3.2, RLth hin sc cn chng li kh nng r du trong h thy lc. Nng lng P. QL qua RL bin thnh nhit nng. Cng vi ma st Fms RL s lm cn tr dao ng ca qu trnh qu . Nu ma st ln, tn tht lu lng ln th thi gian p ng s nhanh. Nh vy trong mt s trng hp y li l yu t c li. Mc ny nghin cu s thy lc hnh 3.7a, trong cc k hiu v phn t v thng s ca h ging nh k hiu cc phn trc. Phng trnh cn bng lu lng : QI = QL + QC + QV =
dp P + C . + v.A P RL dt

(3.36)

72

Phng trnh cn bng lc :

P.A P FL = ma = m dv dt

(3.37) (3.38)

hay :

a=

dv P.A P FL = dt m m

P(t) QV
T=0 v

QI

QL RL

Qc C AP

FL

a)
V(t) P(t) P(t)

PS v(t)

O b)

Hnh 3.7. M hnh kho st c tnh P(t) khi b qua ma st nht a- S nguyn l; b- c tnh P(t) v v(t). Tch phn hai v phng trnh (3.38) l :
AP t dv 1 t adt = .dt = v = Pdt FL dt m0 m 0 0 dt 0
t t

(3.39)

73

Thay (3.39) vo (3.36) ta c :

P dP A 2 QI = + C. + P RL dt m

P.dt
t 0

AP m

F dt
t 0 L

(3.40)

Do QI l hng s nn

dQ I =0 : dt

dQ I A 1 dP d2P A2 = + C. 2 + P .P P .FL = 0 dt R L dt dt m m

(3.41)

Mt khc P(t) = PS + P0.eS.t nn :

dP d 2P S. t = S.e .P0 v = S2 .e S.t .P0 2 dt dt

(3.42)

Thay (3.42) vo (3.41) :

P0 S . t A2 A2 A 2 S.t P S. .e + S .C.P0 .e + .PS + P .P0 .e S . t P .FL = 0 RL m m m

(3.43)

Theo tnh cht ca phng trnh vi phn tuyn tnh th (3.43) c th tch ra thnh hai phng trnh sau :
A2 A P .PS P .FL = 0 m m

(3.44) (3.45)

S A2 2 St P S . C + + .P0 .e = 0 m RL FL AP

T (3.44) ta rt ra c p sut trng thi n nh l :

PS =

(3.46)

Cng thc (3.45) c P0 0 v eS.t 0 nn

S A2 + S 2 .C + P = 0 RL m

hay :

S2 +

1 A2 .S + P = 0 R L .C m.C

(3.47)

Phng trnh (3.47) l phng trnh bc hai ca S nn nghim ca n l :

S= 4A 2 1 1 1 P 2 2 2.R L .C 2 R L .C m.C

(3.48)

v c ba kh nng sau y c th xy ra : 74

1. Kh nng th nht : i lng S c hai nghim thc khng trng nhau khi
1 4A 2 P > 2 2 m.C R L .C

(3.49)

v nu t S1 =

1 1 v S 2 = l : 1 2 4A 2 1 1 1 1 P = 2 2 1 2.R L .C 2 R L .C m.C 4A 2 1 1 1 1 P = + 2 2 2 2.R L .C 2 R L .C m.C

(3.50)

(3.51)

Thay S1 v S2 vo P(t) = PS + P0.eS.t ta c

P ( t ) = PS + P01 .e t / 1 + P02 .e t / 2
P01 v P02 xc nh theo iu kin u. 2. Kh nng th hai : S c hai nghim kp l : S 1 = S2 = nn :
1 1 = 2 R L .C

(3.52)

(3.53) (3.54)

P( t ) = PS + (P01 + P02 ).e t /

y l trng hp p sut tt dn ti hn, iu ny khng ph hp vi thc t. 3. Kh nng th ba : S c hai nghim phc, phn thc bng nhau, phn o bng nhau v ln v ngc nhau v du. S1 = + j S2 = - j vi
=
1 4.A 2 1 1 4.A 2 1 P P < , = 2 2 , 2 2 2 m.C R L .C m.C 2.R L .C R L .C

(3.55)

(3.56)

p sut P(t) c xc nh theo cng thc sau :

P (t ) = PS + P01 .e t .e jt + P02 e t .e jt

(3.57)

Khi c nghim phc h s dao ng tt dn. y l trng hp thng gp trong thc t. Theo l thuyt ca Euler th cc hm m phc c th chuyn sang hm sin hoc cos nh sau :
P (t ) = PS + A.e t . cos t + B.e t . sin t

(3.58) (3.59)

hay :

P (t ) = PS + A 2 + B 2 .e t . cos(t + )

75

vi :

= arctg

B ; A

1 B = tg A

Hnh 3.8 trnh by c tnh P(t) dao ng tt dn, trn tt dn v tt dn ti hn.

P(t) Trn tt dn

PS
Tt dn gii hn

Hnh 3.8. c tnh p sut P(t) ca h thy lc hnh 4.7a 3.4.2. Khi xt n cc yu t l khi lng chuyn ng, n hi ca du, tn tht lu lng v ma st nht Bi ton ny cp n c hai yu t tt dn l tn tht lu lng v ma st nht. M hnh kho st ca bi ton ny tng t nh hnh 3.7a. Phng trnh cn bng lu lng v phng trnh cn bng lc l : QI =
P dp + C. + v.A P RL dt dv dt

(3.60) (3.61)

P.AP f.v FL = m. trong : f.v = Fms l lc ma st nht; f l h s ma st nht. Ly o hm

dQ I = 0 ca phng trnh (3.60) : dt 1 dp d2p dv . + C. 2 + A P . = 0 R L dt dt dt

(3.62)

Suy ra :

dv 1 dp C d 2 p = . . dt R L .A P dt A P dt 2

(3.63)

76

Thay (3.63) v (3.60) vo cng thc (3.61) ta c :

QI P C dp 1 dp C d 2 p = . F m . . P.AP - f L A R .A dt A . dt 2 R . A A dt P L P P L P P

(3.64)

Bin i (3.64) nh sau :

m.C d 2 p C.f m + . 2 + A P dt A P R L .A P dp f f .Q I . dt + R .A + A P .p = FL + A L P P

(3.65)

d2p f 1 dp f A2 F .A f .Q I P + + + + . .p = L P + hay : 2 m.C m.C dt m R L .C dt m.R L .C m.C

(3.66)

Tng t nh mc 3.4.1 ly o hm bc nht v bc hai ca P(t) = PS + P0.eS.t thay vo (3.66), sau thit lp hai phng trnh c lp c cc s hng khng i cn bng nhau v cc s hng thay i theo thi gian cn bng nhau, kt qu ta c : PS =
f .Q I + FL .A P f + A2 P RL

(3.67)

v :

f f A2 1 P + + + . S S + m R .C m.R .C m.C = 0 L L
2

(3.68)

Cc h s ca phng trnh (3.68) ng thi tn ti cc yu t nh m, AP, C, RL v f. y l bi ton tng hp ng thi xt n c ba yu t l n hi ca du, s r du v tn tht nng lng do ma st nht. Ty theo mc nh hng ca cc yu t trong tng bi ton c th m c th b qua yu t ny hoc yu t khc. Lp lun gii bi ton (3.68) tng t nh gii thiu mc 3.4.1. Nu b yu t ma st (f) cng thc (3.67) v (3.68) th s ging cng thc (3.66) v (3.67). Cng thc xc nh PS trng thi n nh rt ra t bi ton tng qut (3.46) v (3.67) hon ton tng t nh khi thit lp phng trnh cn bng lc ca pittng trng thi cn bng tnh.
3.5. c tnh vn tc ca pittng khi xt n cc yu t l khi lng chuyn ng, n hi ca du, ma st nht v khng tnh n s r du

Nu khng tnh n s r du th m hnh kho st s l hnh 3.9. Trong , bm c lu lng l tng l QI, h khng c tn tht lu lng, ch xt n cc yu t l n hi ca du v ma st nht ca b phn chuyn ng c khi lng m. Khi ng van (t 0 ), phng trnh cn bng lu lng v phng trnh cn bng lc nh sau : 77

QI = C.

dp + A P .v dt dv dt

(3.69) (3.70)

P.AP f.v = m.

P(t) AR QI t0 QC AP I QV m v(t)

f C

Hnh 3.9. M hnh kho st c tnh vn tc ca pittng khi khng tnh n tn tht lu lng
dp t cng thc (3.69) ri thay vo cng thc (3.70) ta c : dt d2v dv dp .A P f . = m. 2 dt dt dt d2v dv QI AP .v .AP f = m. 2 C dt dt C

Rt

(3.71) (3.72) (3.73)

hay

A d 2 v f dv A 2 + . + P .v = P .Q I 2 dt m dt m.C m.C

Nghim ca phng trnh vi phn bc hai (3.73) theo v(t) s c dng hm m v(t) = vS + v0.eS.t nh gii thiu mc 3.3. Vi :
d2v dv = S.v 0 .e S.t v 2 = S2 .v 0 .eS.t dt dt

th (3.73) c th vit li l : S2.v0.eS.t + S.v0.

A2 A f S.t A 2 .e + P .v S + P .v 0 .e S.t = P .Q I m m.C m.C m.C

(3.74)

78

Phng trnh (3.74) c th tch thnh hai phng trnh c lp (theo tnh cht ca phng trnh vi phn tuyn tnh). Cc s hng khng i bng nhau v cc s hng ph thuc thi gian bng nhau, ngha l :
A A2 P .v S = P .Q I m.C m.C

(3.75) (3.76)

v :

2 f A2 P + + . S S .v0. eS.t = 0 m.C m QI AP

T (3.75) rt ra c vn tc trng thi n nh l : vS = (3.77)

Cng thc (3.77) hon ton ph hp vi gi thuyt ban u l h khng c tn tht lu lng. Ton b lu lng ca bm QI trng thi n nh ch y pittng chuyn ng. Phng trnh (3.76) c cc s hng ph thuc theo thi gian v c eS.t 0 ; vn tc ban u ( thi im t = 0) l v0 = 0. Tuy nhin y ta quan tm n A2 f p trng hp : S2 + .S + =0 (3.78) m m.C Phng trnh (3.78) c dng nh phng trnh (3.77) khi ch xt n lu lng m khng tnh n ma st nht. Nghim ca (3.78) cng c l lun nh mc 3.4.
3.6. tn s dao ng ring ca h truyn ng thy lc chuyn ng tnh tin

Ta thy cc phng trnh (3.47) v (3.68) v (3.78) l cc phng trnh c trng ca khu dao ng. Chng c th vit di dng sau y : S2 + 2 .n .S + 2 n = 0 trong :
h s tt dn; n tn s dao ng ring (rad/s).

(3.79)

Nu so snh (3.79) vi (3.47), (3.68) v (3.78) th c th tm c tn s ring

n v h s tt dn ca cc h .

V d vi phng trnh (3.68) ta c tn s ring n v h s tt dn nh sau :

f A2 = + P m.C.R L m.C
2 n

(3.80)

hay :

1 f A2 CH = + P m C .R L C m

(3.81)

79

hoc : trong :

fn =

n (Hz) 2

(3.82) (3.83)

f A2 CH = + P C .R L C f 1 + m R L .C

CH c gi l cng thy lc. 2. .n = hay :

=

1 f 1 .[ + ] 2.n m R L .C

(3.84)

Trong a s cc trng hp h s ma st f nh hn nhiu so vi h s cn r du RL B.A 2 A2 p P nn gn ng ly : CH = (3.85) C V v :

2 1 B.A p 1 . fn 2 V m

(3.86)

Cc bi ton cc mc 3.4; 3.5 v 3.6 ch xt cho trng hp pittng ch lm vic mt chiu v ch mt bung du c p sut, thc t hu ht cc xylanh trong cng nghip lm vic hai chiu v hai bung du u c p sut. ng thi khi pittng thay i, th tch hai bung du thay i nn cng thy lc s thay i, iu dn n tn s ring ca h cng thay i. Theo (3.86), mun fn min th CH phi l max. Quan h gia fn vi v tr di chuyn ca pittng s c trnh by k chng khc. Mc ch ca thit k l h thng phi c kt cu hp l. Chn cc gi tr RL v f hp l l mt vic rt cn thit nhng cng thc s kh khn nn cn c nghin cu thm. Tuy nhin c th nh gi hoc xc nh chng thng qua h s tt dn . Bng thc nghim ngi ta xc nh c thay i trong khong 0,03 0,15 v c th tm tt ng dng nh sau :
= 0,03 0,05 : i vi cc bc, b phn dn hng c chi mi mn cao v

ma st cc nh.
= 0,05 0,08 : i vi cc b phn dn hng c bi trn tt v ma st nh. = 0,08 0,11 : i cc vi cc b phn c bi trn v ma st mc trung

bnh.
= 0,11 0,15 : i vi ti ln, ma st ln v bi trn km.

80

Chng 4

Vn sai s v tr v hm truyn ca mt s mch iu khin h thy lc

4.1. Cc khi nim v iu khin h h v h kn

iu khin t ng ni chung v h iu khin t ng thy lc ni ring c trnh by trong gio trnh "iu khin t ng trong lnh vc c kh " hoc c cp cc chng trc. Chng ny s gii thiu thm mt s vn c bn v iu khin t ng thy lc m cc sch, ti liu khc cha cp n. Trc ht hy phn bit khi nim mch iu khin h v mch iu khin kn. 4.1.1. H iu khin mch h V d khi iu khin vn tc ca mt chic xe chuyn ng trn ng th tn hiu iu khin l tc ng ca chn vo bn p (chn ga). Tn hiu ra l tc ca xe, s thay i tc chuyn ng ca xe ph thuc vo s thay i ca tit lu nhin liu, tc l s thay i ca bn p ga (hnh 4.1a ).

Tn hiu vo

ng c v h truyn ng

Tc ra

a)

Tn hiu vo

ng c v h truyn ng

Tc ra thay i

b)

Hnh 4.1. S h h v iu khin tc ca xe trn ng a- S khi khng tnh n cc yu t nh hng; b- S m phng khi tnh n iu kin lm vic thc t. Thc t c rt nhiu yu t khc nh hng n tc ca xe nh : ti trng, sc cn ca gi, cht lng mt ng.v.v. (hnh 4.1b). Cc h thng tng t nh trn c gi l h h. Trong h truyn ng thy lc, h h s dng trong cc trng hp khng yu cu chnh xc cao v tn hiu ra. V d thay i tc quay ca ng c du ngi ta c th s dng iu khin bng tit lu. Tuy nhin mi lin h gia lng m ca van tit lu v tc quay ca ng c du s khng cht ch do cc yu t

81

nh hng khc nh s thay i ca ti trng hoc p sut du trong h thng, s thay i nht ca du trong qu trnh lm vic, s r du.v.v. Hnh 4.2a l s khi k hiu h h, v c tnh iu khin ta thy, nu tn hiu vo l sng ch nht U v tc thi th tn hiu ra R cng s tc thi nu G l hng s (hnh 4.2b), ngha l G nhn tn hiu U cho ra tn hiu R khng c s chm tr. Ti thi im to ngay lp tc t c gi tr iu khin R= G.U. R rng trong trng hp ny tn hiu ra R lp li tn hiu vo U theo mt gi tr khuch i G v kh nng lp li lin quan n tin cy v chnh xc ca h.

G a)

U U t0 R U.G = R t t

b) Hnh 4.2. p ng l thuyt ca h h a- S khi k hiu h h; b- p ng l thuyt khi tn hiu vo l sng ch nht. Trong thc t khng c mt h thng vt l no c th c c p ng ngay lp tc. Tt c cc phn t vt l, c cu hay thit b ni chung u c qu trnh ng lc hc thi im t tn hiu v gy ra s chm tr v thi gian p ng. C th hiu rng thi gian ny l thi gian np cc yu t d tr nng lng nh khi h thy lc c dung tch, p sut du khng th tng ngay lp tc hoc vt c khi lng khng th chuyn ng ngay m c qun tnh ca n.v.v. Bi ton nghin cu ng lc hc ca h chuyn ng thng c gii thiu chng 3, y ch xt h mc tng qut hn. Cho mch thy lc nh hnh 4.3a nu van c kh nng tc ng tc thi (t 0) tc l ngay lp tc t gi tr iu khin theo c tnh l thuyt. Thc t t c gi tr iu khin th h cn c thi gian thc hin qu trnh qu , qu trnh th hin hnh 4.3b.

82

Yu t d tr nng lng hnh 4.3a l khi lng qun tnh m v dung tch cha du n hi c h s tch ly n hi C.

P QI v

m
t 0 RL C

a)
Q

QI

O L v

t p ng l thuyt

p ng thc t

VS t

b) Hnh 4.3. Qu trnh ng lc hc ca h h a- S mch thy lc; b- p ng vn tc ca h. Tuy nhin trong thc t thi gian p ng l rt nh so vi chu k thc hin th nghim hoc chu k lm vic ca thit b nn trong mt chng mc nht nh c th coi p ng ca h l tc thi. 83

Hnh 4.4 th hin c tnh v p ng thy lc, thi gian p ng l 0,1 giy (hnh4.4a) trong khi chu k nghin cu l 10 giy (hnh4.4b).

R(t)
1,00 0,75 0,50 0,25 1,00 0,75 0,50 0,25 0,02 0,04 0,06 0,08 0,1

R(t)

10

a)

b)

Hnh 4.4. V d v thi gian p ng ca h truyn ng thy lc iu khin lu lng hoc p sut cung cp cho b truyn ti (xylanh hoc ng c du) ngi ta s dng van in thy lc c s khi nh hnh 4.5.

U (s)

KA(s)

I(s)

GV(s)

R(s)

Hnh 4.5. S khi mch iu khin ca van in, thy lc Trong s trn hnh 4.5, KA(s) l hm truyn ca b khuch i v Gv(s) l hm truyn ca van. Nu b khuch i c hm truyn l mt khu khuch i KA th p ng I(s) l tc thi. Quan h gia cc thng s trong mch iu khin trn c vit nh sau : I(s) = U(s). KA R(s) = I(s). Gv(s) hoc : hm truyn : R(s) = KA. Gv(s). U(s) GAV(s) =
R (s) = A.G v (s) U(s)

(4.1) (4.2) (4.3)

Thc t thi gian p ng ca cm van in thy lc cng rt nh nn khi cn thit c th coi GAV(s) l mt khu khuch i, tc GAV = KA.GV l hng s. 4.1.2. H iu khin mch kn Tr li v d v iu khin tc ca xe hnh 4.1. Nu trn b phn tit lu nhin liu chng ta lp thm mt thit b iu khin (hnh 4.6) th c th t ng iu khin 84

tc ca xe theo tn hiu ban u m khng b nh hng bi cc yu t tc ng khc. Tn hiu iu khin c chuyn qua tn hiu in p, cm bin tc s chuyn tc thc ca xe thnh tn hiu in p tng ng so snh vi tn hiu in p iu khin nhm t ng hiu chnh cc sai lch tc do nh hng ca tc ng bn ngoi.
60 30 10 9 120 150

Tn hiu tc ng vo

Cc yu t tc ng bn ngoi

B iu khin

ng c v h truyn ng

Tc

Tn hiu phn hi

Hnh 4.6. S khi h kn iu khin tc ca xe Nh vy h kn c kh nng t ng hiu chnh sai s gia tn hiu iu khin v tn hiu thc thng qua b iu khin, do vy h kn c chnh xc v cht lng iu khin cao. Trong h iu khin t ng thy lc, cc phn t iu khin nh van, b khuch i v cc cm bin ng vai tr quan trng. Hin nay do cht lng ch to cc loi cm bin cao c kh nng truyn tn hiu rt nhy v chnh xc, nn thng thng khi nghin cu cc mch iu khin h kn ngi ta gi thit cm bin l mt khu khuch i. H s khuch i ca cm bin thng k hiu l Kc hoc H.
U(S)

E(S)

G(S)

R(s)

a)
F(S) H(S) F(S)

U(S)

E(S)

G(S)

R (s)

H(S)

b)

F(S) = 0

Hnh 4.7. S khi ca mch iu khin h kn a- S chnh tc; b- S khi ly tn hiu phn hi. 85

Trong s khi tng qut hnh 4.8, cc tn hiu v hm truyn thay i theo thi gian c biu din di bin Laplace S v ta c cc quan h sau : F(s) = R(s). H(s); E(s) = U(s) F(s) trong : F(s)- tn hiu phn hi; E(s)- tn hiu sai lch hay cn gi l tn hiu so snh. E(s) = U(s) R(s).H(s) p ng thc l : R(s) = E(s).G(s) R(s) = [U(s) R(s).H(s)].G(s) = U(s).G(s)R(s).H(s).G(s) hay : R(s) + R(s).H(s).G(s) = U(s).G(s) R(s). [1+H(s).G(s)] = U(s).G(s) Suy ra : R(s) =
G (s) .U(s) 1 + H(s).G (s)

(4.4)

(4.5) (4.6) (4.7)

(4.8) (4.9)

Hm truyn ca h kn s l : trong :

G(s) R (s) = = GK(s) U(s) 1 + H(s).G(s)

G(s) - hm truyn h h; GK(s)- hm truyn h kn.

F(s) = G(s). H(s) U(s)

Theo m hnh mch h hnh 4.7b th :

(4.10)

Tn hiu phn hi F(s) cn s dng iu chnh cc h s hiu chnh cng nh h s khuch i KA ph hp vi yu cu ca mch iu khin. Nu G(s). H(s) >> 1 th cng thc (4.9) c th ly l : GK(s) =
G(s) G(s) 1 R (s) = = U(s) 1 + H(s).G(s) H(s).G(s) H(s)

(4.11)

ngha l G(s).H(s) ln, tc G(s) ln th hm truyn GK(s) ch ph thuc vo hm truyn ca b cm bin H(s). iu ny c ngha khi la chn loi cm bin, bi v chnh xc ca cm bin s nh hng rt ln n tn hiu ra. Cng cn ch rng sai s ca tn hiu ra bao gi cng ln hn sai s ca cm bin.
4.2. Sai s v tr ca h thy lc chuyn ng thng

4.2.1. Quan h gia sai s v tr v n nh ca h iu khin Nh phn tch trn, khi G(s) ln th hiu sut ca h thng kn ph thuc vo hm truyn khu phn hi H(s). Khi van m ln, pittng mang khi lng chuyn ng m s c qun tnh ln. Tn hiu so snh E(s) = U(s) - F(s) s gim dn theo s ct ngang dao ng ca tn hiu

86

F(s). Nu G(s) cng ln th bin dao ng cng ln v kh nng ct dao ng cng chm. Tuy nhin theo (4.11) th khi G(s) tng sai s v tr s gim.
M N

G(S) max 0 G(S) Hnh 4.8. th biu din mi quan h gia sai s v tr v

n nh vi hm truyn G(s) M- Biu th cho sai s v tr; N- Biu th cho mc khng n nh;
G (max s ) - Gi tr cho php ca hm truyn.

Qua nghin cu ngi ta thy rng khi G(s) thay i th sai s v tr v khng n nh thay i (hnh 4.8). Tc l khi h s khuch i ca G(s) tng th sai s v tr gim nhng s mt n nh tng, nu h s khuch i tng qu mc th h s c nguy c mt n nh. 4.2.2. Tn s dao ng v hng s thi gian ca h

U(s)

E(s) K F(s)

I(s)

GQ

Q(s)

1 AP

V(s)

x(s)

Hnh 4.9. S khi mch thy lc iu khin v tr U(s) -Tn hiu in p vo; X(s) -Tn hiu ra ca mch iu khin (tn hiu v tr); K -H s khuch i ca b khuch i; GQ -H s khuch i lu lng ca van; H H s khuch i ca khu phn hi; 1/ AP -H s khuch i ca xylanh; -Du tch phn biu th cho s chuyn i vn tc v(s) sang v tr x(s); I(s) -Dng iu khin van; Q(s) -Lu lng vo xylanh; v(s) -Vn tc ca xylanh; F(s) -Tn hiu in p phn hi; E(s) -Tn hiu so snh.

87

Cc i lng K, GQ,

1 v H trn hnh 4.9 ch xc lp l cc hng s. AP

t

V tr ca pittng c xc nh theo cng thc : x(t) = v (t )dt x(s) =

0

1 v (s) S

(4.12)

trng thi n nh, quan h gia vn tc v dng in iu khin xc nh l :

vs = G QP Is

(4.13)

trong : Vs- vn tc ca pittng trng thi n nh; IS - dng in iu khin van trng thi n nh. Hm truyn ca cm van - xylanh trng thi n nh l : GQP = G Q .
1 AP

Hm truyn h kn hnh 4.9 s l :

K.G QP x (s) = G K (s) = U(s) S + K.G QP .H

(4.14)

trong : K, GQP, H l h s chuyn i ca tn hiu phn hi v c th nguyn l :

K.G QP .H
1 s

ampe cm von 1 = . . von ampe.giay cm giay

( )

1 s

(4.15)

l th nguyn tn s.
fH = K.G QP .H 2.

Nh vy tn s ca h l : v : l hng s thi gian.

(Hz) , (s)

(4.16) (4.17)

1 K.G QP .H

Theo l thuyt iu khin t ng, thi gian p ng ca h nu ly gn ng s l TS 5. Nn hng s thi gian rt c ngha trong vic xc nh thi gian p ng ca h. Nu K tng, thi gian p ng ngn, iu ny ph hp vi lp lun mc 4.2.1.

88

4.2.3. Sai s v tr iu khin Hnh 4.10 l s nguyn l ca s khi hnh 4.9, gi tr ca v tr iu khin x c thit lp thng qua s cn bng lc ca pittng- xylanh thy lc. Khi bt u lm vic, p sut PA v PB thay i theo quy lut nh c tnh trong hnh 4.10.

T fD

A P

I
A

PA

PB

PA E
x U

AP

PB I

+
-F

H FL x

Hnh 4.10. S nguyn l ca mch thy lc iu khin v tr h kn Do qu trnh qu ca pittng-xylanh v con trt ca van m dng in iu khin van cng c qu trnh qu . Dng in t b khuch i vo van thay i ngc li khng ch s dao ng ca con trt. C nh vy m xut hin cc sai s tn hiu trong mch iu khin. Ta c cc quan h sau : E =
I = U H.x H.x = U H( x + x ) A

(4.18)

Trong cng thc (4.18) th sai s ca cc tn hiu c k hiu l : x - sai s ca v tr iu khin; I - sai s ca dng iu khin van; 89

E - sai s ca tn hiu so snh; F = H.x - sai s ca tn hiu phn hi.

E = I K

GQP

1 S

x +x

F = H.(x + x)

H FL

X(t)

a)

xF

vS
0

(1)

(2)

(3)

b) Hnh 4.11. S nghin cu sai s iu khin ca mch iu khin v tr chuyn ng tnh tin a- S khi th hin sai s tn hiu; b- c tnh ca v tr iu khin. Cng thc (4.18) c cc sai s th hin trn s khi hnh 4.11a. Ta thy khi bt u khi ng U - H.x = 0 nn : E =
I = H.x A

90

hay

I = H.A x

(4.19)

Cng thc (4.19) c ngha rt quan trng trong phn tch v thit k mch iu khin v tr, l c s xc nh h s khuch i A ph hp vi yu cu ca chnh xc, tc l ph hp vi gi tr cho php ca sai s v tr x. Ngoi ra nu thay (4.19) vo (4.16) ta s c : fH =
I G QP . x 2

(4.20)

Hnh 4.11b trnh by c tnh v tr ca mch iu khin pittng-xylanh thy lc. iu khin c gi tr xF th pittng phi tri qua ba giai on lm vic : - Giai on (1) v (3) : - Giai on (2) : pittng chuyn ng c qun tnh. pittng chuyn ng vi vn tc khng i.

Trong giai on (2) lun tn ti dng I iu khin pittng chuyn ng vi vn tc khng i vS v vS c xc nh theo cng thc sau : vS = GQP.I Tn s dao ng ca vng ny s l : fH(2) =
vS 2 .x ( 2 )

(4.21)

(4.22)

Tn s cng hng fc ca h s l gi tr ln nht ca fH v fH(2) : fc = max{ fH; fH(2)} (4.23) chnh xc v tr lin quan n nhiu yu t, quan h gia chng rt phc tp nn cn c nghin cu cho tng trng hp c th. Vn sai s s c trnh by thm mc 7.3.
4.3. quan h gia gia tc a, vn tc v v v tr iu khin x ca pittng-xylanh thy lc

4.3.1. Vn tc chuyn ng l sng hnh thang Khi vn tc chuyn ng l sng hnh thang th gia tc vng tng tc v gim tc bng hng s ( a1= const v a3 = const), cn vng vn tc khng i th gia tc bng 0 (a2 = 0). Tng ng vi cc vng trn th v tr ca x thay i theo ng cong parabon vng tng v gim tc, v thay i tuyn tnh vng vn tc khng i vS (vng 2). 91

Gia tc

a (t) TT a1 = const

a2 = 0 t

T1

T2

T3

Vn tc

V (t) vS a3 = const

x3
V tr

x (t) (3) (2) xT

x2
(1)

x1
t

Hnh 4.12. th quan h gia gia tc, vn tc v v tr khi vn tc l sng hnh thang Thi gian chu k thc hin chuyn ng (TT) l tng thi gian ca cc vng vn tc, tc l : TT = T1 + T2 +T3 Vn tc (v) v v tr (x) xc nh theo cng thc sau : (4.24)

92

v= trong :

adt + v
t 0

; x=

v.dt + x
t 0

(4.25)

a- gia tc chuyn ng; b- vn tc chuyn ng; x- v tr iu khin; x0- v tr iu khin ti t = 0; v0- vn tc ti thi im t = 0.

Khi gia tc a khng thay i th : v = a dt + v 0 = at +v0

0 t

(4.27) (4.28)

x = (at + v 0 )dt + x 0 = a.t 2 + v 0 t + x 0

0

1 2

T ta c v tr iu khin XT c xc nh l : xT = hay : vS =
1 1 T1 .v S + T2 .v S + T3 .v S 2 2 xT 1 1 T1 + T2 + T3 2 2

(6.29) (4.30)

4.3.2. Vn tc chuyn ng l sng ch nht Vi vn tc l sng hnh ch nht (hnh 4.13) th T1 0; T3 0 nn T2 TT. y l trng hp c bit ca sng hnh thang. V tr iu khin c xc nh l : xT vS.T2 = vS.TT
v(t) vS

(4.31)

T2 T1

Hnh 4.13. th vn tc chuyn ng l sng ch nht 93

4.3.3. Vn tc chuyn ng l sng tam gic

v(t)

vs
T2 0 T1 T3
t

Hnh 4.14. th vn tc chuyn ng l sng tam gic Sng tam gic (hnh 4.14) cng l trng hp c bit ca sng hnh thang. Khi T2 0 th : x1 hay :
1 1 .vS..(T1 + T3) = vS.TT 2 2

(4.32) (4.33)

vS =

2.x T TT

4.3.4. Xc nh vn tc vS i vi sng hnh thang Trong ba dng trn th sng vn tc hnh thang l tng qut v thng dng hn c. Khi bit x1, x2, x3 v TT th vS xc nh nh sau : Ta bit rng : T T = T1 + T2 + T3 1 1 m : x1 = vS.T1; x2 = vS.T2; x3 = vS.T3 2 2 nn : hay : TT = vS =
2 x 1 x 2 2 x 3 + + vS vS vS 2 x1 + x 2 + 2 x 3 TT

(4.33)

(4.34)

Khi bit TT, xT v gia tc chuyn ng th vS xc nh l : Ta bit : m : xT =

1 1 v S .T1 + v S .T2 + v S .T3 2 2 vS v ; vS = a3.T3 T3 = S a1 a3

vS = a1.T1 T1 =

nn

2 2 1 vS 1 vS xT = + v S . T2 + 2 a1 2 a3

(4.35)

94

ng thi :

TT =

v vS + T2 + S a3 a1

(4.36)

Nhn c hai v phng trnh (4.36) vi - vS v cng vi phng trnh (4.35) ta c :

2 2 1 vS 1 vS xT - vS.TT = + 2 a1 2 a 3

(4.37)

hay :

xT - vSTT +

2 1 1 vS + =0 2 a1 a 3

1 1 1 2 + .v S - vSTT + xT = 0 2 a a 3 1

(4.38)

phng trnh (4.38) l phng trnh bc 2 ca vS, nghim ca n s l :

1 1 2 TT TT 2 a + a .x T 2 1 vS = 1 1 a + a 3 1

(4.39)

vi iu kin sau :

1 1 T 2 2 a + a .x T 1 2

(4.40)

4.4. Phng php iu khin v tr bng sng hnh thang nhiu cp

v(t) vS vS D v(t) vS

A1 z A2

t x

T1

T2

T3

T4

T5

T1

T2

T3

T4 T5

a) b) Hnh 4.15. c tnh ca vn tc iu khin l sng hnh thang hai cp gim tc a- S vn tc iu khin; b - S vn tc iu khin c nn vn tc cho php. iu khin im dng chnh xc, ngi ta ci tin sng hnh thang thnh sng hnh thang nhiu cp (hnh 4.15a). Theo phng php ny v tr xT c xc nh nh sau :

95

xT = +

1 .T1.vS + (T2 T1).vS + 2

v v v v 1 1 (T3 T2 ). v S S + (T3 T2 ) S + S (T4 T3 ) + .(T5 T4 ) S 2 D D D 2 D

(4.41)

trong :

xT - tng khong hnh trnh iu khin; D - h s lm chm.

Cc vng A1 v A2 hnh 4.15b l cc nn vn tc cho php khi gim tc, cn t v tx l cc khong thi gian cho php thc hin gim tc. Thng thng : A1 = A2 hay : ngha l : hay : tx = (D 1).t
v v t. v S S = s .t x D D

(4.42)

tx = (D 1).t

(4.43)

4.5. Hm truyn ca mt s mch iu khin thy lc

4.5.1. H thu lc chuyn ng tnh tin iu khin bng bm du Ta c h thy lc chuyn ng thng c iu khin bng bm du nh hnh 4.16.

Q U

y(+)

Hnh 4.16. S h thy lc iu khin v tr chuyn ng thng, iu khin bng bm du - H s iu chnh lu lng ca bm du; x - a lng iu chnh lu lng ca bm; - H s tn tht lu lng trong xylanh v ng ng dn du; p p sut du cung cp ca bm; Q - Lu lng cung cp ca bm; F - Din tch ca pittng; V - Th tch cha du bung cng tc; B - Mun n hi ca du; y - Chiu di dch chuyn ca pittng; M- Khi lng ca b phn chuyn ng. Nu b qua ma st ca cc b phn chuyn ng v coi h ch c mt khi lng chuyn ng th ta c cc phng trnh sau : Phng trnh cn bng lu lng : 96

Q = .x = F.

V dp dy + .p + . 2B dt dt

(4.44) (4.45)
V .s.p 2B

d2y Phng trnh cn bng lc : F.p = M. 2 dt Chuyn qua phng trnh Laplace :
Q(s) = .x (s) = F.s.y(s) + .p(s) + F.p(s) = M.s 2 .y(s) p(s) =

(4.46) (4.47) (6.48) (4.49)

M 2 .s .y(s) F

.M 2 V.M 3 Thay (4.47) vo (4.46) ta c : Q(s) = .x(s) = F.s + .s + .s .y(s) F 2B.F

Hm truyn h h s l :

1 y(s) 1 . = . V.M 2 s x (s) F .M 1 + 2 .s + .s F 2B.F

2.B.F 2 2.Z .M = 2 v n = (4.50) K= ; t : F n V.M F Phng trnh (4.49) c dng : 1 y(s) 1 (4.51) . = K. 2.z 1 2 s x(s) 1+ .s + 2 .s n n Cng thc (4.51) l m hnh ton ca mt khu dao ng v mt khu tch phn, trong : - tn s dao ng ring ca khu dao ng; Z - h s tt dn ca khu dao ng. S khi h h ca (4.51) v s khi ca h phn hi n v c th hin trn hnh 4.17.
1

K x(s)

2 .Z 1 1+ .s + 2 .s 2 n n

1 S

y(s)

a)
x(s)
K

1 1+ 2.Z

Ux(s)

.s +

.s 2

1 s

y(s)

b) Hnh 4.17. S khi ca h h (a) v s khi ca h phn hi n v (b) Hm truyn h kn : 97

1 1 K. . s + 2Z + 1 2 1 .s .s n 2 y(s) 1 n = = 1 1 U(s) s 2Z 1 1 + K. . 1 + . 1+ .s + 2 .s 2 s + 2Z + 1 2 n K n 1 .s .s 2 n n

(4.52)

4.5.2. H thy lc chuyn ng tnh tin s dng phn t iu khin l van servo. Van servo l phn t iu khin in thy lc c c tnh iu khin thy lc hon thin nht hin nay, nh phn t ny m c th thc hin c iu khin v tr, vn tc hoc ti trng theo yu cu ca thit b. Hnh 4.18 l mt m hnh iu khin h thy lc chuyn ng tnh tin s dng van servo. KC

KA

KV K0

PS PT

V,p1 F1 a) U + E B khuch i KA

X(+)

Van servo KV

Cm piston v k.lng m

Cm bin v tr

b) Hnh 4.18. S mch iu khin h thy lc ng dng van servo a - S nguyn l lm vic; b - S chc nng M -Khi lng chuyn ng; F1 -Din tch ca piston; p1 -p sut cung cp ca van; KA-H s khuch i ca b khuch i; Kv -H s khuch i ca van; KC - H s khuch i ca khu phn hi; I -Dng in iu khin van servo; x -Hnh trnh ca khi lng M; U -in p iu khin; K0 -H s thot du ca van servo. 98

Nu b qua bin dng n hi ca du trong cc bung lm vic ca xylanh v ng ng; khng tnh n nh hng ca lc ma st; van servo v b khuch i c coi l cc khu khuch i. Ta c cc phng trnh sau : a- Khi khng c phn hi : - Trng hp x > 0
Q1 = K V .I K O .p1 = F1 . dx ; dt

d2x F1 .p 1 = m. 2 ; E..K A = I dt Phng trnh Laplace ca (4.53) s l :

Q1 (s) = K V .I(s) K O .p1 (s) = F1 .S.x (s) ; F1 .p1 (s) = m.S2 .x (s)

(4.53)

(4.54)

E(s).K A = I(s)

T (4.54) ta thit lp c s khi nh hnh 4.19 : p(s)

m.s 2 F1

KV

E(s)

KV

I(s) K V a)

1 F1 .s

x(s)

E(s)

F1 .K A .K V S(F12 + K 0 .m.S )

x(s)

b) Hnh 4.19. S khi bin i hm truyn x(s) / E(s) a - S dng tng qut; b - S dng rt gn. Nh vy hm truyn h h s l :
W(s) = F1 .K A .K V x(s) = E(s) S. F12 + K O .m.S

(4.55) (4.56)

- Trng hp x < 0 :

F2 .K A .K V S.(F22 + K O .m.S ) b- Khi c phn hi (h kn vi x > 0) W(s) =

99

U(s)

E(s) F(s)

F1 .K A .K V S.(F12 + K 0 .m.S)

x(s)

KC

Hnh 4.20. S khi ca mch iu khin h kn hm truyn x ( s) / U ( s) Theo hnh 4.19 v cng thc (4.56) ta c s khi h kn hnh 4.20. Hm truyn h kn s l : W(s) WW (s) = 1 + W(s).K C F1 .K A .K V x(s) WW (s) = = hay : 2 U(s) K O .m.S + F12 .S + F1 .K A .K V .K C K WW (s) = 2 2 W T1 .S + T2 .S + 1 trong :
T1 =

(4.57) (4.58)

K O .m ; F1 .K A .K V .K C F1 ; (4.59) T2 = K A .K V .K C 1 . KW = KC Hm truyn (4.57) c th vit di dng (4.60) nh sau : KW x(s) = (4.60) WW (s) = 2 U(s) S S + 2.. +1 O O F .K .K .K 1 trong : O = = 1 A V C - tn s dao ng ring ca h thng; T1 K O .m = T2 F13 1 = . - h s tt dn ca h thng. 2.T1 2 K A .K V .K C .K O .m

4.5.3. H thu lc chuyn ng quay iu khin bng bm du Xt s iu khin ng c du bng bm du c phn hi nh hnh 4.21.

100

Q U Dm

p V.B J

Cm bin

KC

Hnh 4.21. S mch iu khin h thy lc chuyn ng quay x -Tn hiu iu khin bm u; -H s iu chnh bm du; Q -Lu lng cung cp ca bm; -H s tn tht lu lng; p -p sut lm vic ca ng c du; Dm -H s kt cu ca ng c du; V -Th tch cha du trong bung cng tc; J -Gi tr ca mmen qun tnh trn trc ng c du; -Vn tc gc ca trc ng c du; -Gc quay ca trc ng c du; B -Mun n hi ca du; Kc-H s khuch i ca khu phn hi. Nu b qua ma st ca cc b phn chuyn ng trn trc ng c du, khng tnh n ti trng ngoi, trc ch c mt gi tr mmen qun tnh J,.v.v. ta s c cc phng trnh m t hot ng ca h thng nh sau : Phng trnh cn bng lu lng :
Q = .x = D m . d V dp . + .p + dt 2.B dt

(4.61)

Phng trnh cn bng lc :

d2 D m .p = J. 2 dt

(4.62)
V .s.p(s) + .p(s) 2.B

Phng trnh Laplace :

Q(s) = .x (s) = D m .s.(s) +

D m .p(s) = J.s 2 .(s) Phng trnh (4.63) c th vit li l :

Q(s) = .x (s) = D m .s.(s) + V.J 3 J 2 .s .(s) + . .s .(s) 2B.D m Dm

(4.63) (4.64)

Hm truyn :

(s) = x(s)

V.J 2 .J 1 + 2 .s + .s Dm 2B.D 2 m

Dm

1 s

(4.65)

Vi =

d dt

th

( s ) = s. ( s ) . Nu thay vo (4.65) ta c hm truyn :

101

(s) = x(s)

V.J 2 .J 1 + 2 .s + .s Dm 2B.D 2 m

Dm

(4.66)

2B.D 2 2 Z .J m ; n = t : K= ; = (4.67) V . J D m n D 2 m 1 1 (s) . ta c : (4.68) = K. 2Z 1 2 s x(s) 1+ .s + 2 .s n n 1 (s) (4.69) = K. 2Z 1 2 x(s) 1+ .s + 2 .s n n trong : K - h s khuch i; Z - h s tt dn; n - tn s dao ng ring ca cm ng c du. S khi ca h h th hin hnh 4.22a, t s khi h h ta xy dng s khi h kn nh hnh 4.22b.
1

x(s)

2.Z 1 1+ .s + 2 .s 2 n n 1

1 s

(s)

a)

x(s)

2.Z 1 1+ .s + 2 .s 2 n n

1 s

(s)

b)

KC Hnh 4.22. S khi mch iu khin thu lc chuyn ng quay a - S khi h h, b - S khi h kn T hnh 4.22b ta xc nh hm truyn h kn :
(s) = U(s) 1 +

s ( K.K C 1 ( K.K C

(s) = U(s) 1 +

1 KC 2Z 1 1+ .s + 2 .s 2 n n 1 KC 2Z 1 1+ .s + 2 .s 2 n n

) )

(4.70)

(4.71)

102

4.5.4. H thu lc chuyn ng quay iu khin bng van servo

p V.B KV K0 I KA Dm E f J KC F U Cm bin v tr

Q PS PT 0

Hnh 4.23. S iu khin ng c du bng van servo s trn hnh 4.22 phn t iu khin l bm du, cn s trn hnh 4.23 l van servo. Tng t nh trng hp mc 4.5.2 ta cng c cc phng trnh sau : d V dp Q = Dm. + . + .p (4.72) Phng trnh lu lng : dt 2.B dt Phng trnh cn bng lc nu k n ma st (vi h s ma st nht f) l : d d2 (4.73) D m .p = J. 2 + f . dt dt V Phng trnh Laplace : Q(s) = D m .s.(s) + .s.p(s) + .p(s) 2.B D m .p(s) = J.s 2 .(s) + f .s.(s) (4.74) Phng trnh (4.74) c th vit li l : V Q(s) = D m .s.(s) + ( .s + ).p(s) (4.75) 2B (J.s 2 + f .s) (4.76) p(s) = .(s) Dm Thay (4.76) vo (4.75) ta c : 2 V J.s + f .s Q(s) = D m .s.(s) + .s + . .(s) 2.B Dm - i vi h h : 1 (s) 1 = Hm truyn : . (4.77) Q(s) V J.s + f s D m + .s + . 2B Dm

(s ) = Q (s )

(D 2 m + .f )

V.f + 2B.J. V.J 1+ .s + .s 2 2 2 2B.(D m + .f ) 2B(D m + .f )

Dm

1 s

(4.78)

103

Nu t :

D2 + .f ; K= m Dm 2B.( D 2 V.J 1 m + .f ) T1 = ; 0 = = 2 2B.( D m + .f ) T1 V.J T2 = T2 1 V.f + 2B.J. V.f + 2B.J. ; = = 2.T1 2 2B.V.J(D 2 2B.(D 2 m + .f ) m + .f ) (s) K 1 K 1 =( 2 2 ). = ( 2 2 ). Q(s) T1 .s + T2 .s + 1 s T1 .s + 2.T1 .s + 1 s

(4.79) (4.80) (4.81)

th trong :

K - h s khuch i ca khu dao ng; T1,T2 - cc hng s thi gian; 0 - tn s dao ng ring ca h h; - h s tt chn ca h h. S khi ca h h theo hm truyn (4.81) nh hnh 4.24.

Q(s)

K T .s + T2 .s + 1
2 1 2

1 s

(s)

Hnh 4.24. S khi h h ca cm ng c du - i vi h kn : Nu b khuch i v van servo c coi l khu khuch ai th ta s c cc quan h theo cc cng thc sau : Q(s) = K V .I(s) K 0 .p(s) ; I(s) = K A .E(s) ; E(s) = U(s) K C .(s) (4.82) Da vo s khi h h hnh 4.24 v cc quan h (4.76), (4.82), ta xy dng c s khi h kn hnh hnh 4.25.

K0

p(s)

(J.s 2 + f .s) Dm 1 s
(s)

U(s)

E(s)

KA

I(s)

KV KC

Q(s)

K (s) T .s + T2 .s + 1
2 1 2

Hnh 4.25. S khi h iu khin v tr chuyn ng quay

104

K T12 .s 2 + T2 .s + 1 s.(J.s + f ) B= v Dm Bin i s khi hnh 4.25 ta c s nh hnh 4.26a.

A=

U(s)

E(s)

KA

I(s)

A KV

A 1 + .B.K 0 s KC

(s)

a)

U(s)

E(s)

K A .K V .A s + A.B.K 0

(s)

b)
KC

Hnh 4.26. S khi bin i Khai trin s khi trn hnh 4.26b ta c :
K T .s + T2 .s + 1 (s) = K s.( J.s + f ) E(s) s+ 2 2 . .K 0 T1 .s + T2 .s + 1 Dm Khai trin (4.83) ta c : K A .K V .K.D m D m + K.K 0 .f (s) = E(s) T12 .D m T .D + K.K 0 .J s. .s 2 + 2 m .s + 1 D m + K.K 0 .f D m + K.K 0 .f K .K .K.D m K = A V Nu t : D m + K.K 0 .f K A .K V
2 1 2

(4.83)

(4.84)

T12 .D m Dm V.J 1 = = . 2 D m + K.K 0 .f 2B.(D m + .f ) (D m + K.K 0 .f )

(4.85)

105

T2 .D m + K.K 0 .J V.f .D m + 2B.J..D m + 2B.K.K 0 .J( D 2 m + .f ) 2 = = 2 D m + K.K 0 .f 2B.( D m + .f ).(D m + K.K 0 .f )

th phng trnh (4.84) s l : K (s) 1 = 2 2 . (4.86) E(s) 1 .s + 2 .s + 1 s Cng thc (4.86) l m hnh ca mt khu dao ng v mt khu tch phn l tng. S khi ca h kn th hin hnh 4.27.

U(s)

E(s)

K .s + 2 .s + 1
2 1 2

(s)

1 s

(s)

KC

Hnh 4.27. S khi ca h thng thy lc iu khin v tr Hm truyn h kn

(s ) sau khi bin i s khi hnh 4.27 s l bc 3. U (s )

106

Chng 5

Cc phn t iu khin c bn trong h iu khin t ng thy lc

5.1. Van iu khin

Trong cc chng trc chng ta c dp lm quen vi cc loi van iu khin v kh nng ng dng ca chng trong cc mch iu khin, phn ny s trnh by v nguyn l lm vic, kt cu v mt s c tnh ca chng. Van servo c ng dng vo ngnh hng khng trong nhiu nm qua v gn y c ng dng rng ri cc ngnh cng nghip khc. Tuy nhin vi s tin b ca k thut, trong vi nm tr li y nhiu hng sn xut ch to c van t l c c tnh gn ging vi c tnh ca van servo nhng gi thnh li thp hn, nn ty theo yu cu ca thit b m khi chn van cn cn nhc c yu cu k thut ln gi thnh ca chng. Phn ny s gii thiu v cc loi van trt iu khin thng dng trong c ch trng n cc vn k thut ca van servo, trn c s ca van ny ta c th suy lun, nghin cu cc loi van c c tnh k thut thp hn. 5.1.1. Van trt c mp iu khin dng, trung gian v m
x(+)

x> 0

x0 =0

a)

c)
Q x <0x0 = 0 0 x0 >0

I
A T

x0 < 0

b)

d)

Hnh 5.1. S cc loi mp iu khin ca van a - Van c mp iu khin dng (+x0); b - Van c mp iu khin trung gian(x0 = 0); c - Van c mp iu khin m (-x0); d- c tnh l thuyt Q - x (Q - I). 107

Hu ht cc loi van iu khin u s dng loi van kiu con trt. Tu thuc vo v tr tng i ca cc mp trn con trt v mp thnh van m van trt c phn thnh ba loi (hnh 5.1) nh sau : - Khi x0 > 0 gi l van trt c mp iu khin dng, con trt di chuyn trong vng x0 lu lng vn bng 0 v vng ny c th gi l vng "cht" (hoc vng che ph). - Khi x0 = 0 gi l van trt c mp iu khin trung gian. - Khi x0 < 0 gi l van trt c mp iu khin m, ti v tr trung gian (con trt cha di chuyn) hnh thnh tit din chy v lu lng du qua van. c tnh Q - x (hoc Q - I) l thuyt ca cc loi van trn th hin hnh 5.1d. Thc t rt kh thc hin van trt c mp iu khin trung gian (x0 = 0) nn rt t dng trong thc t. i vi van trt c mp iu khin dng con trt vt qu vng "cht" th dng in u vo cn thit con trt di chuyn x = x0 phi nh hn 4% dng in cc i. Yu cu ny nhm khng ch sai s iu khin trong phm vi cho php. 5.1.2. Phn loi van trt iu khin Hin nay van trt iu khin c chia lm ba loi, theo cht lng iu khin ngi ta sp xp theo trnh t t thp n cao nh sau :

Van ng m

Van t l

van servo

Van ng m

Van ng m iu khin con trt

Van t l khng c phn hi

Van t l

Van t l hiu sut cao

Van servo

Van servo k tht s

Hnh 5.2. S k hiu v phn loi van in thy lc 1- Van solenoid (solenoid valves). - Van solenoid ng m (on/off solenoid valves). - Van solenoid iu khin (on/off solenoid valves with spool control). 2- Van t l (proportional valves). - Van t l khng phn hi (non-feedback proportional valves). - Van t l c phn hi (feedback proportional valves). - Van t l hiu sut cao (high performance proportional valves). 3. Van servo (servo-valves). - Van servo. - Van servo k thut s (digitally controlled servo-valves). 108

5.1.3. Van solenoid Cu to ca van solenoid gm cc b phn chnh (hnh 5.3) l: loai iu khin trc tip (hnh 5.3a) gm c thn van, con trt v hai nam chm in; loi iu khin gin tip (hnh 5.3b) gm c van s cp 1, cu to van s cp ging van iu khin trc tip v van th cp 2 iu khin con trt bng du p, nh tc ng ca van s cp. Con trt ca van s hot ng hai hoc ba v tr ty theo tc ng ca nam chm. C th gi van solenoid l loi van iu khin c cp.
3 6

1 2 4

a)

b) Hnh 5.3. Cu to v k hiu ca van solenoid a- Cu to v k hiu ca van solenoid iu khin trc tip (1, 5 - vt hiu chnh v tr ca li st t; 2, 4 - l xo; 3, 6 - cun dy ca nam chm in); b- Cu to v k hiu ca van solenoid iu khin gin tip (1 -van s cp; 2 van th cp). 5.1.4. Van t l Cu to ca van t l c gm ba b phn chnh (hnh 5.4) l : Thn van, con trt, nam chm in. thay i tit din chy ca van, tc l thay i hnh trnh ca con trt bng cch thay i dng in iu khin nam chm. C th iu khin con trt v tr bt k trong phm vi iu chnh nn van t l c th gi l loi van iu khin v cp. 109

L xo 1

Nam chm 4

Van 2

L xo 3

a)

b) Hnh 5.4. Cu to v k hiu ca van t l a - Cu to; b - S k hiu. Hnh 5.4 l kt cu ca van t l, van c hai nam chm 4 b tr i xng, cc l xo 1 v 3 phc hi v tr cn bng ca con trt 2. 5.1.5. Van t l c phn hi hiu sut cao Van t l c phn hi ngoi cc b phn v kh nng iu khin nh van t l thng thng cn c thm thit b d hnh trnh di chuyn ca con trt. Cc b phn chnh ca van gm (hnh 5.5a) : Thn van v con trt; Nam chm in; Cm bin v tr o lng di chuyn con trt (LVDT).
Vt hiu chnh Vt hiu chnh

Cm bin

Nam chm

Ca tit lu

L xo

a) A s P T b) Hnh 5.5. Cu to v k hiu ca van t l hiu sut cao loi 4 v tr 4 ca a - Cu to; b - S k hiu. 110 B

Vi mi gi tr ca dng in iu khin vo cun dy ca nam chm in th con trt ca van s di chuyn n v tr tng ng. V tr ca con trt quyt nh tit din chy v cc v tr ca van. Cc l xo c tc dng phc hi con trt v v tr ban u. Cm bin v tr dng bin tr (potentiometer) k hiu LVDT, o v tr ca con trt v truyn tn hiu di dng in p v b khuch i ca van, ti b khuch i tn hiu phn hi so snh vi tn hiu iu khin nhm truyn cho nam chm dng iu khin chnh xc. Nn nh b cm bin ny m v tr di chuyn ca con trt iu khin c chnh xc. cc loi van trn, nam chm in trc tip ko con trt di chuyn nn dng iu khin ln. 5.1.6. Van servo 1- Nguyn l lm vic
Cun dy 1 Cun dy

i
N

+
N

Phn ng

ng n hi
S S

Nam chm vnh cu Cnh chn

Ming phun du Cng n hi

Hnh 5.6. S nguyn l ca b phn iu khin con trt ca van servo B phn iu khin con trt ca van servo (torque motor) th hin trn hnh 5.6 gm cc b phn sau : - Nam chm vnh cu; - Phn ng v hai cun dy; - Cnh chn v cng n hi; - ng n hi; - Ming phun du. Hai nam chm vnh cu t i xng to thnh khung hnh ch nht, phn ng trn c hai cun dy v cnh chn du ngm vi phn ng, to nn mt kt cu cng vng. nh v phn ng v cnh chn du l mt ng n hi, ng ny c tc dng phc hi cm phn ng v cnh chn v v tr trung gian khi dng in vo hai cun dy cn bng. Ni vi cnh chn du l cng n hi, cng ny ni trc tip vi con trt. Khi dng in vo hai cun dy lch nhau th phn ng b ht lch, do s i xng ca cc cc nam chm m phn ng s quay. Khi phn ng quay, ng n hi s bin dng n hi, khe h t cnh chn n ming phun du cng s thay i (pha ny h ra v pha kia hp li). iu dn n p sut hai pha ca con trt lch nhau v con trt c di chuyn. Nh vy: 111

a. Khi dng in iu khin hai cun dy bng nhau hoc bng 0 th phn ng, cnh, cng v con trt v tr trung gian (p sut hai bung con trt cn bng nhau). b. Khi dng i1 i2 th phn ng s quay theo mt chiu no ty thuc vo dng in ca cun dy no ln hn. Gi s phn ng quay ngc chiu kim ng h, cnh chn du cng quay theo lm tit din chy ca ming phun du thay i, khe h ming phun pha tri rng ra v khe h ming phun pha phi hp li. p sut du vo hai bung con trt khng cn bng, to lc dc trc, y con trt di chuyn v bn tri, hnh thnh tit din chy qua van (to ng dn du qua van). Qu trnh trn th hin hnh 5.7a. ng thi khi con trt sang tri th cng s cong theo chiu di chuyn ca con trt lm cho cnh chn du cng di chuyn theo. Lc ny khe h ming phun tri hp li v khe h ming phun phi rng ln, cho n khi khe h ca hai ming phun bng nhau v p sut hai pha bng nhau th con trt v tr cn bng. Qu trnh th hin hnh 5.7b. Mmen quay phn ng v mmen do lc n hi ca cng cn bng nhau. Lng di chuyn ca con trt t l vi dng in vo cun dy. c. Tng t nh trn nu phn ng quay theo chiu ngc li th con trt s di chuyn theo chiu ngc li.

a)

b) Hnh 5.7. S nguyn l hot ng ca van servo a - S giai on u ca qu trnh iu khin; b - S giai on hai ca qu trnh iu khin. 112

2. Kt cu ca van servo Ngoi nhng kt cu th hin hnh 5.6 v hnh 5.7, trong van cn b tr thm b lc du nhm m bo iu kin lm vic bnh thng ca van. con trt v tr trung gian khi tn hiu vo bng khng, tc l phn ng v tr cn bng, ngi ta a vo kt cu vt iu chnh. Cc hnh 5.8, 5.9, 5.10, 5.11, 5.12 l kt cu ca mt s loi van servo c s dng hin nay.
Nam chm ng phun du Cng n hi Vt hiu chnh con trt Thn van

a)
Lc du Cun dy Li nam chm ng n hi Cng Con trt Cng n hi Lc du

ng phun

L tit lu

b)

c)
P T

Hnh 5.8. Bn v th hin kt cu v k hiu ca van servo a, b- Bn v th hin cc dng kt cu ca van servo; c- K hiu ca van servo. 113

Hnh 5.9. Kt cu ca van servo mt cp iu khin 1- Khng gian trng; 2- ng phun; 3- Li st ca nam chm; 4- ng n hi; 5- Cng iu khin in thy lc; 6- Vt hiu chnh; 7- Thn ca ng phun; 8- Thn ca nam chm; 9- Khng gian quay ca li st nam chm; 10- Cun dy ca nam chm; 11- Con trt ca van chnh; 12- Bung du ca van chnh.

114

Hnh 5.10. Kt cu ca van servo 2 cp iu khin 1- Cm nam chm; 2- ng phun; 3- Cng n hi ca b phn iu khin in thy lc; 4- Xylanh ca van chnh; 5- Con trt ca van chnh; 6- Cng iu khin in-thy lc; 7- Thn ca ng phun.

Hnh 5.11. Kt cu ca van servo 2 cp iu khin c cm bin 1-Cm nam chm; 2-ng phun; 3-Xylanh ca van chnh; 4-Cun dy ca cm bin; 5-Li st t ca cm bin; 6-Con trt ca van chnh; 7Cng iu khin in-thy lc; 8-ng phun; 9,10-Bung du ca van chnh. 115

Hnh 5.12. Kt cu ca van servo 3 cp iu khin c cm bin 1- Vt hiu chnh; 2- ng phun; 3- Thn van cp 2; 4- Thn van cp 3; 5- cun y ca cm bin; 6- Li st t ca cm bin; 7- Con trt ca van chnh; 8- Cng iu khin in-thy lc; 9- Thn ca ng phun; 10,14- Bung du ca van cp 2; 11- Con trt ca van cp 2; 12- L xo ca van cp 2; 13- Xylanh ca van cp 3; 15,16- Bung du ca van cp 3.
p sut %

p sut ASt v BSt

Dch chuyn ca cng n hi

Hnh 5.13. c tnh th hin quan h gia hnh trnh ca cng v p sut hai ca ca ng phun.

116

3. th quan h gia lu lng Q v dng in iu khin I Theo ISO 6404, c tnh Q - I ca van c thit lp trn c s o v xc nh quan h Q - I khi cho p sut PS khng i v ch khng ti trng (hnh 5.14).
Q IA(-) (2)
-I

(3)

QS(+) Q Q I IS(+
)

IS(-) (1) I0 QS(-)

-Q

(2) I0(+)

(3)

IA(+)

Hnh 5.14. c tnh Q - I ca van trt iu khin 1 - Vng bo ha (Q = 0); 2 - Vng hot ng ca van; 3 - Vng bo ha (Q = Qmax). Vng bo ha l vng m con trt ang v tr trung gian (Q 1% QS), c xc nh theo cng thc : DZ

(I (I

(+) 0 (+) S

) I( 0 ) I( S

) )

(5.1)

Khi thit k van, DZ ly trong khong t 10% n 35%. Vng hot ng l vng m lu lng Q thay i t l vi dng in iu khin I, c xc nh theo cng thc :
) I (A DA (5.2) ) I( S Vng lu lng bo ho QS l vng m khi tng dng in iu khin th lu lng khng cn thay i na, v lc ny con trt m hon ton. QS cn c gi l lu lng t l. i vi van servo, p sut cung cp xy dng c tnh trn l PS = 70 bar.

(I (I

(+) A (+) S

) )

Vng hot ng ca van (2) thc t khng tuyn tnh, nhng tin li cho vic s dng ngi ta thc hin tuyn tnh ho v chu sai s nht nh. Sai s ln nht gi l sai s tuyn tnh (hnh 5.15).

117

Imax

Q Qtuyn tnh

Qmax

Qthc t

Phm vi lm vic

Hnh 5.15 Tuyn tnh ho quan h Q - I. Cc gi tr Qmax v Imax l cc sai s tuyn tnh. Tu thuc vo trnh ch to ca tng hng m sai s tuyn tnh ca van ca cc hng s khc nhau v c ghi trong catalog. 4. H s khuch i lu lng v h s khuch i p sut H s khuch i lu lng l t s gia thay i lu lng ra v thay i dng in vo :
KQ dQ dI

(5.3)
PL =0

x0 < 0 x0 =0

x0 > 0

I0 (x0)

I b)

a)

Hnh 5.16. S nghin cu h s khuch i lu lng ca van a - S ca van khi con trt v tr trung gian; b - c tnh Q - I khi x0 = 0, x0 > 0 v x0 < 0. Khi coi c tnh Q - I l tuyn tnh th h s khuch i lu lng s l :

118

Q (5.4) I KQ l h s gc ca c tnh Q - I ca van. H s khuch i p sut l t s gia p sut ra vi tn hiu dng in vo ca van, p (5.5) c xc nh theo cng thc sau : Kp = I KQ =

PL = 0

PL

a)
P

b)

Ps
X0 = 0 X0>0 X0 <0

c) Hnh 5.17. S nghin cu h s khuch i p sut a - S ca van khi con trt v tr trung gian; b - S ca van khi con trt dch chuyn sang phi; c - c tnh P - I khi x = 0, x > 0 v x < 0. Nu con trt v tr trung gian (hnh 5.17a) th p sut ca A v ca B bng nhau (hiu p PL = 0). Nu con trt di chuyn sang tri (hnh 5.17 b) th ca A s c thng vi ca p v ca B s thng vi ca T. Ca A p sut tng v ca B p sut gim. Khi m ca A p sut bng p sut cung cp P th ca B p sut gim n 0. Hnh 5.17c gii thiu c tnh P - I ca van trt c mp iu khin dng, m v trung gian. i vi van trt c mp iu khin m, h s khuch i thp, van trt c mp iu khin dng p sut khng tng trong vng "cht" ca van, cn van trt c mp iu khin trung gian, dc ca c tnh ln v tng ngay t u nn loi ny c h s khuch i p sut cao. 119

H s khuch i p sut l ch tiu quan trng i vi mch iu khin p sut h kn v cng rt quan trng lin quan n chnh xc ca mch iu khin v tr. 5. Hin tng t tr v trt tn hiu ca van Do ma st gia con trt vi thnh van v hin tng to t trng ca cun dy m gy ra hin tng t tr (hnh 5.18a). c tnh lu lng khi tng v gim dng iu khin I l khng trng nhau. Lu lng ra ca van ph thuc vo chiu tng hay chiu gim ca tn hiu iu khin. t tr c tnh theo t l phn trm ca I* so vi dng in iu khin ln nht (I*%.Imax).
Q

I*

I Imax I
*

I 0

a)

b)

Hnh 5.18. th Q - I v hin tng t tr v trt tn hiu ca van a - th Q - I v hin tng t tr; b - th Q - I v hin tng trt tn hiu. Tng t nh hin tng t tr khi o chiu lm vic ca van, thi im ban u mc d gim dng iu khin nhng lu lng vn cha gim v qu trnh gi l trt tn hiu I* hay gi l sai s nghch o (hnh 5.18b). Cc hin tng trn s nh hng n chnh xc iu khin nn cn c quan tm khi nghin cu chn van. 6. Lu lng t l v cng sut truyn ng Lu lng ca van c iu khin bng tit din chy ca van v xc nh theo cng thc gn ng i vi dng chy ri : trong : (5.6) Q K o P K0 - h s ph thuc nhiu yu t trong c lin quan n tit din chy ca van; P - hiu p qua tit din chy.

Tuy nhin do tit din chy c iu khin theo dng in u vo nn lu lng t l cng c xc nh theo dng in u vo. Lu lng t l c tnh ng vi dng in u vo l 100% v st p qua van l 70 bar (i vi van servo). Lu lng qua van c xc nh theo cng thc: 120

Q L = Q R. hoc : trong : QL= QR.(

IA PV . 100 70 IA Pv ). 100 1000

(h mt) (h Anh)

(5.7) (6.8)

QL - lu lng ra ng vi dng iu khin IA; QR - lu lng t l (lu lng ln nht ng vi Imax ); PV - st p qua van v Pv c xc nh l : Pv =PS Pl PT (5.9) PS - p sut cung cp; PT - p sut ca ra ca van; PL - p sut cn thit c cu chp hnh hot ng.

Quan h gia lu lng v st p ca Pv theo cng thc (5.7) th hin hnh 5.19a. Quan h ny nu biu din di dng c tnh logarit th c v nh hnh 5.19b.

Q (3)
100% Imax 75% Imax 50% Imax

(2) (1)
PV

Hnh5.19. th c tnh Q - PV a- c tnh Q- Pv vi cc dng iu khin khc nhau; b - c tnh Q-Pv v trong to logarit. V d : Van servo c lu lng t t QR = 38 l/p. Tnh lu lng QL qua van khi Pv =35 bar (500psi) v dng in u vo IA = 75%Imax. T c tnh trn hnh 5.19b ta thy, ti PV =35 bar th lu lng l QR =27 l/p vi dng in u vo l 100%. Nh vy, nu sai s tuyn tnh bng 0 th lu lng ti 75% tn hiu u vo l : QL = 27 x 0,75 = 20,3 l/p Cng sut thy lc truyn cho c cu chp hnh (xylanh hoc ng c thu lc) nh gii thiu mc 1.1.1, l tch ca lu lng v p sut cung cp ca van nu b qua cc dng tn tht, xc nh theo cng thc sau : N=Q.P (5.10) 121

a)

b)

Nu b qua tn tht lu lng th lu lng qua c cu chp hnh bng lu lng qua van. Khi PV tng th QL s tng, nhng nu PV tng th p sut PL truyn cho ti c xu hng gim. Ngi ta xc nh c rng, khi st p bng 1/3 p sut cung cp th cng sut t gi tr cc i (PV = 1/3 PS). Qu trnh thay i cng sut theo p sut th hin hnh 5.20b.
N P
B

Nmax

N = Q.P A 1 P S 3

C PS

PV

a)

b)

Hnh 5.20. S v d tnh cng sut v c tnh N- P ca c cu chp hnh a - S v d tnh cng sut ca ng c du; b - c tnh N- P ca c cu chp hnh. 7. c trng ng lc hc ca van i vi van servo v van t l hiu sut cao th v tr con trt ca van c iu khin trc tip bng mch phn hi c hc c ngay trong kt cu ca van. Cc loi van khc c mch phn hi cn s dng b cm bin v tr LVDT o v tr con trt, tn hiu phn hi t LVDT a v b khuch i ca van so snh vi tn hiu iu khin van (hnh 5.21). Sai s v tr con trt do ma st v thay i lu lng s c hiu chnh mt cch t ng.
B khuch i ca h Nam chm Con trt

Tn hiu vo V tr con trt

Phn hi

LVDT

Hnh 5.21. S khi mch iu khin v tr con trt ca van 122

Con trt ca van c iu khin theo mch iu khin v tr h kn, nn theo l thuyt iu khin t ng th khi nghin cu ng lc hc ca van ta cn nghin cu p ng step v p ng tn s.

Hnh trnh ca con trt

Tn hiu vo

Hnh trnh ca con trt Tn hiu vo

A

Tn hiu ra

Tn hiu ra

0 a)

0 b)

Hnh 5.22. c tnh ng lc hc ca con trt ca van a - Tn hiu vo l step; b - Tn hiu vo l hnh sin, (A - lch bin , - lch pha). Hnh 5.22a l p ng qu ca con trt, ngha l khi c tn hiu vo dng step th tn hiu ra c th s dao ng tt dn trc khi t gi tr v tr n nh. Qu trnh c gi l qu trnh qu . Cc ch tiu nh gi cht lng ca qu trnh qu c gii thiu trong l thuyt iu khin t ng. Hnh 5.22b l p ng tn s ca con trt ca van. Khi tn hiu vo thay i theo quy lut hnh sin th tn hiu ra cng l hnh sin nhng pha s tr v bin s gim. Tn hiu vo cng thp th kh nng tr pha v lch bin cng t; tn s vo cng cao th lch pha v lch bin cng tng. Hnh 5.23 l v d v c tnh ca mt loi van servo. Hnh 5.23a l c tnh quan h gia bin v pha, trn th hin s suy yu bin v s tr pha ca tnh hiu ra. Hnh 5.23b l c tnh quan h gia lu lng Q v hiu p p qua van, c tnh quan h gia bin A v tn s lm vic f ca van. S suy yu ca bin c tnh theo decibel (dB) : dB = 20 log ( trong :
Ra ) Vao

(5.11)

u ra l t l % tn hiu u ra cc i; u vo l t l % tn hiu u vo cc i.

123

a)

b) Hnh 5.23. Mt s c tnh ca van servo a- c tnh th hin s suy yu bin v s tr pha ca tnh hiu ra; b- c tnh th hin quan h gia lu lng v hiu p qua van, gia bin v tn s lm vic ca van. tn s thp th u ra s bm st u vo v c th trng nhau, khi :
u ra = 1 nn log = 0 v tt dn lc ny c dB = 0. u vo

124

dB

900 -3
rng ca di tn s

Tn s gii hn

450

1 a)

10

100 Tn s log

1 b)

10

100

Tn s log

Hnh 5.24. c tnh tn s - bin - pha logart a- c tnh tn s - bin ; b- c tnh tn s - pha. Hnh 5.24 l c tnh tn s - bin v pha logarit. Trong hnh 5.24a l th xc nh suy yu ( lch) ca bin A khi tn s thay i v hnh 5.24b l th xc nh s thay i ca lch pha khi tn s thay i. V d ti tn s c u vo l 100% nhng bin u ra gim xung ch cn 70% th : dB = 20log (
u ra 70 ) = 20 log = 20 .(0.155) = 3 u vo 100

S suy yu ca bin l 3dB v du () th hin tn hiu ra thp hn tn hiu vo. i vi van iu khin, rng ca di tn s hot ng ch cho php tn hiu ra gim xung ti a cn khong 1/2 tn hiu vo (hay bng 70,7% tn hiu vo) v suy yu 3dB chng c th hin hnh 5.24a. Khi tn s tng th tr pha cng tng. lch pha ca van iu khin cng gii hn ti a l lch 1/4 chu k (ng vi 900) nh trn hnh 5.24b. Tn s gii hn l mt ch tiu nh gi cht lng van, tuy nhin tn s gii hn b nh hng bi p sut cung cp v bin tn hiu vo.

125

5.2. B khuch i

B khuch i hay cn gi l b iu khin l ni tng hp tn hiu iu khin v tn hiu phn hi truyn tn hiu thch hp n van. 5.2.1. Mun khuch i
Mun khuch i

Van iu khin Tn hiu vo B phn khuch i Tn hiu phn hi

a)
Tn hiu vo
A I S2 P 1 2 3 S1 4 6

Thit lp li

+
5 7 9 8

n van

Tn hiu phn hi

b) Hnh 5.25. S ca mun khuch i a- S khi k hiu; b- S khi th hin nguyn l hot ng. Hnh 5.25a l s k hiu ca mt mun khuch i n gin. Hnh 5.25b th hin mt s b phn ch yu thc hin chc nng ca mun khuch i. Tn hiu iu khin v tn hiu phn hi n cc cc A v B ca b o in p 1 thc hin thut ton "+" hoc "-" vi chc nng ca im t. Tuy nhin gii hn ca in p vo v phn hi phi tng thch, nu khng tng thch th phi hiu chnh b o in p thc hin b tr s khng tng ng . 126

V d gii hn tn hiu vo l 12 V, gii hn tn hiu phn hi l 10 V th cn hiu chnh b o in p tn hiu vo 12 V v tn hiu phn hi 12 V san bng nhau, tc l gi tr so snh phi bng 0 V. B khuch i in p 2 hot ng theo khu t l (P) nu S1 ng v hot ng theo khu tch phn (I) nu S2 ng. iu khin theo t l ng dng cho mch iu khin v tr cn iu khin theo tch phn ng dng trong mch iu khin vn tc.
in p ra Tc gia tng in p ra

(V/s)

Hiu chnh h s khuch i (KP)

Hiu chnh h s khuch i (KI)

in p vo

in p vo

a)
in p ra (+)

b)

Hiu chnh

Hnh 5.26. c tnh ca h s khuch i a- c tnh ca hiu chnh h s KP; b- c tnh ca hiu chnh h s KI; c- c tnh ca hiu chnh in p vo v ra. c)
in p vo (+)

Bin tr 3 dng hiu chnh h s khuch i in p theo yu cu s dng, vi iu khin t l h s khuch i l t s gia in p ra v in p vo (hnh 5.26a) cn vi iu khin tch phn l t s gia tc gia tng in p ra (V/s) v in p vo (hnh 5.26b). Mch thit lp li dng phc hi li in p 0 V khi u vo bng 0 hoc duy tr tn hiu iu khin. Tn hiu ra ca b khuch i in p truyn n b khuch i dng in 4, ti 4 c cc b iu chnh gii hn in p dng 5 v in p m 6 gii hn dng cc i theo yu cu ca van. 127

B khuch i dng in 7 to ra dng in n cc cun dy iu khin van, trong b khuch i ny c s phi hp gia dng iu khin v dng phn hi t ng b nhng thay i ca mt mt nng lng, ng thi ci thin thi gian p ng ca van do nh hng ca hin tng t cm. Bin tr 8 c th hiu chnh c hin tng t tr v nng cao n nh ca con trt. Bin tr 9 hiu chnh in p ra dng hoc m khi in p u vo bng 0 (hnh 5.26c). 5.2.2. Mun hiu chnh dc Mun hiu chnh dc c th thay i c tn hiu ra khi tn hiu vo khng i. Trong iu khin v tr, tc di chuyn t v tr thit lp ny n v tr thit lp khc c th hiu chnh bng mun hiu chnh dc. Trong iu khin vn tc, c th thay i gia tc chuyn ng khi tng hoc gim vn tc, cn trong iu khin p sut l tc thay i ca p sut. S ca mun hiu chnh dc v c tnh hiu chnh p sut v in p th hin hnh 5.27.
R1 u vo

A
(1)

C D
R2

(2)

u ra

a)
p sut p sut vo dc in p in p vo

p sut ra dc

in p ra dc

t b) Hnh 5.27. Mun hiu chnh dc. a- S hot ng; a- c tnh hiu chnh dc p sut; b- c tnh hiu chnh dc in p. c)

Tn hiu u vo qua b khuch i 1 (c h s khuch i cao) v nu B ni vi C th tn hiu s a vo bin tr iu chnh dc R1 ri truyn n b khuch i tch 128

phn 2 lm n nh dng iu khin trc khi truyn n van. Tn hiu ra c phn hi v 1 san bng v n nh dc (hnh 5.27c). Nu B ni vi D th R2 s cho dc khc. +
Ln Xung Ln Xung

R5 R3 R2 R1
Rle Bin tr hiu chnh in p Tn hiu ra

Hnh 5.28. Mun hiu chnh dc 4 cp Hin nay ngi ta c th s dng nhiu b bin tr R ni song song v s dng rle ng m cc R nhm la chn cc R no lm vic. Hnh 5.28 l mt s v d v 4 cp hiu chnh dc. 5.2.3. Mt s chc nng ca b khuch i v k hiu ca chng. 1- B pht Rampe (iu chnh dc )
C R UE UE UA

UA

a)

b)

Hnh 5.29. S v k hiu ca b pht Rampe. a- S nguyn l; b- K hiu. B pht Rampe c gii thiu mc 5.2.2, hnh 5.29 l s nguyn l hot ng v k hiu ca chng. in p vo l tn hiu bc thang, khi qua b pht Rampe 129

tn hiu in p ra thay i theo thi gian. Khi iu chnh bin tr R s thay i tc np t in C. 2. B khng ch UE +6V t -10V a, b, Hnh 5.30. c tnh v k hiu b khng ch a- Tn hiu vo; b- Tn hiu ra khng ch; c- K hiu. Hnh 5.30 l v d v c tnh khng ch in p ra, gi s c in p vo l 10V qua b khng ch c th iu chnh c in p ra l VA = + 6 V v 4 V theo yu cu. Trn hnh 5.30c nhnh 1 k hiu cho iu chnh in p m v nhnh 2 k hiu cho iu chnh in p dng. 3. B o tn hiu UE +5V UAQ +5V UE t -5V a) -5V b) Hnh 5.31. c tnh v k hiu ca b o tn hiu a- Tn hiu vo; b- Tn hiu ra; c- k hiu. B o tn hiu thc hin chuyn cc ca tn hiu vo, v d tn hiu vo l sng bc thang 5V , khi qua b o tn hiu s cho ta tn hiu ra ngc du cng gi tr tuyt U i vi tn hiu vo nn h s khuch i A = 1 (hnh 5.31). UE 130 t -1 UA c, -4V t UA 1 UE + 2 UA

+10V

UA = -UE c)

4. B khuch i cng sut Tn hiu in th vo c chuyn thnh tn hiu dng in ra v c k hiu nh hnh 5.32a.
IA

UE.

U I a)

H U b)

UA

Hnh 5.32. K hiu v b chuyn i tn hiu a- B khuch i cng sut (chuyn i U/I); b- B chuyn i (H/U). Khi chuyn t dng tn hiu ny sang dng tn hiu khc ngi ta cng dng tn hiu nh trn. V d hnh 5.32b l k hiu ca b chuyn i ca cm bin v tr, hnh trnh di chuyn H c bin i thnh tn hiu in p UA. 5. B ngt in
UE UA

U1
U2 t Chy Dng Chy

(1) (0) t
Dng UE

UA

a)

b)

c)

Hnh 5.33. c tnh ngt tn hiu v k hiu ca b ngt in. a- Tn hiu vo; b- Tn hiu ra; c- K hiu. Khi in p vo UE vt qu U1 th in p ra vn gi nguyn U1 tng ng vi trng thi (1). Khi in p vo gim xung di U2 th in p ra vn gi nguyn U2 tng ng vi trng thi (0). Nh vy in p t U1 n U2 tng ng vi trng thi (1) th thit b hot ng v trng thi (0) th thit b dng hot ng (hnh 5.33).

131

6. B tng (cng hoc tr ) +4V

UE1 Tn hiu vo UE1 UA

+4V +2V
Tn hiu ra

0
0

0 t -2
V

-2V
Tn hiu vo UE2

-4V UE2 a)
UE1 UE2

b) UA

c) Hnh 5.34. c tnh v cng tn hiu v k hiu cu b tng a- Hai tn hiu vo; b- Tn hiu ra; c- K hiu. C hai tn hiu vo UE1 v UE2 qua b tng s cho ta mt tn hiu ra UA : UA = (UE1 + UE2) 7. B so snh v b khuch i tng thch.
Tn hiu iu khin

UE

UA Tn hiu ra UE

UA

UF - Tn hiu phn hi

b) Hnh 5.35. B so snh (a) v b khuch i tng thch (b) B so snh c s dng trong mch iu khin h kn. B khuch i tng thch ch yu l dng iu chnh tn hiu phn hi cho ph hp vi tn hiu vo a vo b so snh. V d cm bin to ra c in p ti a l 20 V trong lc tn hiu iu khin ti a l 10 V lc ny cn iu chnh tn hiu phn hi ti a xung cn 10 V ph hp vi tn hiu vo, ngha l K = 1/2. Hnh 5.36, hnh 5.37, hnh 5.38 l cc v d v b khuch i ca van t l. 132

a)

Hnh 5.36. S b khuch i ca van t l loi VT 3000- S -30 133

Hnh 5.37. S b khuch i ca van t l loi VT 3006- S -30. 134

Hnh 5.38. S b khuch i ca van t l loi VT 5005- S -10

135

5.3. Cc loi cm bin

Cm bin l thit b o s dng ly tn hiu phn hi trong mch iu khin h kn. Hin nay c hai loi cm bin l : cm bin tng t v cm bin s. Cm bin tng t (analog) : i lng cn o c chuyn i thnh tn hiu lin tc (hay gi l tn hiu tng t) tng thch. V d i lng o c chuyn i thnh tn hiu in p hoc cng dng in (hnh 5.39a).
Tnh hiu tng t B Tuyn tnh ho Thc t Tn hiu s

A V

phn gii S

v 0 a)

C
i lng o

0 b)

i lng o

Hnh 5.39. c tnh ca cm bin a- Cm bin tng t (analog); b- Cm bin s (digital). Cm bin s (digital) : i lng cn o c chuyn i thnh tn hiu ri rc (hay gi l tn hiu s) tng thch vi khong ct mu bng nhau (s = const), khong ct mu s gi l phn gii ca cm bin (hnh 5.39b). Cc tn hiu ny c th a trc tip vo cc b iu khin PLC hoc cc b vi x l. Thc t cc loi cm bin ni chung lm vic khng hon ton tuyn tnh m tn ti sai s tuyn tnh v, sai s ny ph thuc vo nguyn l v trnh ch to. Sai s tuyn tnh l t l % lch ln nht v so vi tn hiu ra ln nht V : % =
v .100 V

Hnh 5.39a, A l im c gi tr ln nht ca tn hiu ra (A = V), tng ng vi im C l i lng o ln nht. V d : Gi s ta c b cm bin p sut vi tn hiu ra thay i t 0 V n 10 V tng ng vi phm vi p sut thay i t 0 bar n 400 bar. Nu sai s tuyn tnh = 0,5% th sai s u ra ln nht v s l : v sai s p sut ln nht tng ng s l : 136 v =
0,5.10V = 0,05 V 100

400 0,05V. =2 10

bar

Ging nh mt s thit b in khc, cm bin cng c hin tng t tr, sai s kh nng lp li, nh hng ca nhit , phn gii (nu l cm bin s), tc truyn tn hiu, s va chm, tui th v p ng ng lc hc u c lin quan n cht lng, chnh xc ca cc loi cm bin. Trong h iu khin t ng thy lc ch thc hin ba loi mch iu khin l v tr, tc v ti trng nn cng thng s dng cc cm bin nh sau : - Cm bin v tr (cm bin o chiu di v cm bin o gc quay). - Cm bin tc (cm bin o tc di v cm bin o tc gc). - Cm bin ti trng (cm bin o lc, cm bin o mmen xon hoc cm bin p sut). 5.3.1. Cm bin v tr o chiu di

U0 L Ux

x + a)

2 2 2 2
0 1 2 3 4 5 6 7 8 9 10 11

b)

VDC

B chnh l u

Li Th cp VDC B to dao ng S cp Th cp

c) Hnh 5.40. S nguyn l ca cm bin v tr a- Cm bin in tr (analog) kiu tip xc; b- Cm bin s (digital); c- Cm bin o in (analog) khng tip xc. 137

Cm bin v tr tng t lun o theo gi tr tuyt i cn i vi cm bin v tr s c th o theo gi tr tuyt i hoc o theo s gia (gi tr sau bng gi tr trc cng thm mt n v). Hnh 5.40a thc cht l mt bin tr (potentiometer), tuy nhin khc vi bin tr thng thng th cm bin in tr c c tnh tuyn tnh cao. in p cung cp l U0 c hnh trnh ln nht l L, khi con trt di chuyn, ty thuc vo v tr ca con trt x m s cho in p ra Ux tng ng. Ta c quan h sau :
Ux x U .L L 1 = hay x = x = .U x = .U x U0 L U0 U0 Kc

vit li l :

Ux = KC x

KC l h s khuch i ca cm bin. V d : Nghin cu s iu khin v tr nh hnh 5.41 ta thy : in p cung cp l 5 V, tc l khi pittng v tr gia th Ux=0 = 0 H s khuch i ca cm bin l : Nu x = 5 cm th UX = KC.x = 1x 5 = 5 V Nu x = 4 cm th UX = 1.( 4) = 4 V
UX +5V + 4V Ux - Tn hiu ra -4cm 0 -4V -5V 4cm 5cm x

KC =

U 0 10V = = 1 V/cm L 10 cm

L = 10cm

x(+)

+5V a)

-5V

b) Hnh 5.41. S v d v tnh ton cm bin v tr. a- S nguyn l; b- c tnh ca cm bin. Nhc im ca cm bin loi ny l do tip xc c hc gia con trt v cun dy nn trong qu trnh lm vic con trt v cun dy s b mi mn, tui th thp, tn s 138

hot ng khng cao, thng ch di 5 Hz v nhp nh ca c tnh cao do c khong cch gia cc vng ca cun dy in. khc phc nhng nhc im trn ngi ta s dng loi cm bin khng tip xc k hiu l LVDT (Linear Variable Differantial Transpormer) hnh 5.30c. B LVDT gm mt cun dy s cp v hai cun dy th cp bao quanh li st t, li st gn vi cn tc ng v di chuyn dc c. B LVDT hot ng nh mt my bin p. Nh vy, dng in DC trc khi vo cun s cp phi qua b dao ng, to ra in p xoay chiu c tn s ph hp. Tn hiu ra xoay chiu t hai cun dy (hai cun dy c b tr i xng) th cp c chnh lu thnh dng mt chiu DC. Khi li st v tr trung gian th in p u ra s bng 0. Khi li st di chuyn th in p trong hai cun dy thay i ngc chiu nhau v s thay i tu thuc vo li st di chuyn theo chiu no. Tn hiu ra l in p so snh ca hai cun dy th cp. ln ca in p ra t l vi hnh trnh di chuyn ca li st. B LVDT lm vic theo nguyn l khng tip xc s trnh c mi mn c hc, li st c th lm vic vi tn s dao ng cao. Tuy nhin cm bin loi ny sai s tuyn tnh cao hn so vi cm bin in tr. Hin nay ngi ta cn s dng loi cm bin xung. Cm bin xung t ngay trong cn dn ca pittng-xylanh (hnh 5.42). Li st t l b phn nhn v truyn xung.
Li st t Pittng Xylanh

Cn dn ca pittng ng bo v Phn ngn cch t trng B pht v nhn xung

Hnh 5.42. S ca b cm bin xung T trng s sinh ra khi pittng di chuyn. V tr di chuyn ca pittng o c l do s sai khc v xung truyn i v xung phn hi v. Tn hiu xung c chuyn thnh tn hiu in p cung cp tn hiu phn hi cho mch iu khin. 139

Hnh 5.43 gii thiu cu trc mt h thng o chiu di s theo nguyn tc quang in (hay gi l thc o quang in) kiu gia s.
H lng knh

Ngun sng Vch ca thc quang hc

Thc o

T bo quang in Vch m chun M vch chun Li qut

Hnh 5.43. Thc o s theo nguyn tc quang in Thc o di chuyn gia h thng thu knh v li qut, khi tia sng t ngun sng qua thu knh ri qua thc o, trn c nhng vch phn quang v khng phn quang thay i k tip v u nhau. Tia sng gp phi vch phn quang s b phn hi li cn nhng tia lt qua c s n li qut v t bo quang in. T bo quang in pht ra tn hiu. y l thit b m vch kiu gia s nn trn thc c trang b thm cc vch chun (du m chun) c th tnh ton c gi tr tuyt i. Hnh 5.40b l mt kiu o gi tr tuyt i theo h nh phn. Nhng vng soi thu hoc khng soi thu (phn quang) trn thc o tng ng vi gi tr 1 v gi tr 0 ca h nhi phn. Ngoi cc loi gii thiu trn, hin nay ngi ta cn s dng cm bin o theo in dung, laser, siu m...gn ngay trong xylanh nn cc xylanh loi ny c ch to c bit. 5.3.2. Cm bin v tr o gc Cm bin in tr v cm bin khng tip xc RVDT o gc quay c nguyn l hot ng tng t nh cm bin o chiu di, ch khc nhau v mt kt cu. i vi bin tr o gc quay th c dng hnh trn, con trt quay quanh tm ca bin tr (hnh 5.44a).

140

Bn my
D

Cm bin

ng c du

x ng c du

tx b)
Vt me

U U

tx 2.

Ux

KC

a) c)

Hnh 5.44. S ca cm bin in tr o gc v ng dng ca n a- Cm bin in tr o gc; b,c - S nguyn l v s khi ca h thy lc bin chuyn ng quay thnh chuyn ng tnh tin. Nh s v d trn hnh 5.44a ta thy : U0 UX = . X = K C . X max trong : KC - h s khuch i ca cm bin; x - gc quay v Ux - in p ra. Hnh 5.44b, c l v d m hnh iu khin vi phng php o gin tip hnh trnh di chuyn thng qua o gc quay ca trc ng c du. Phng php o gin tip s c chnh xc iu khin thp hn so vi o trc tip. i vi cm bin RVDT (Rotary Variable Difirential Transpormer) li st c t theo mt dng cam c bit c kt cu tng i phc tp.
a qut T bo quang in Ngun sng

a m

Hnh 5..45. S ca thit b o gc quang in Ngoi loi cm bin khng tip xc RVDT cn c loi o gc theo nguyn tc quang in kiu gia s (hnh 5.45). Nguyn l hot ng ca cm bin loi ny tng t nh thc o chiu di (hnh 5.43) ch khc l a quay quang hc gn trn trc 141

quay v quay theo trc cn o. Phng php o theo kiu gia s s c sai s tch ly nn vi nhng thit b iu khin yu cu chnh xc cao c th dng kiu o gi tr tuyt i. 5.3.3. Cm bin vn tc o vn tc gc ngi ta s dng my pht tc. My pht tc c th gi l tachometer- generator vit tt l tacs- gen. Thit b ny v c bn ging my pht in mt chiu DC kiu nam chm vnh cu (hnh 5.46).
C gp Tn hiu u ra Nam chm vnh cu

Cun dy

Phn ng

Hnh 5.46. S ca my pht tc (tacs- gen) My pht tc pht ra dng mt chiu t l vi tc quay ca n. Nu ni my trn vi mt b truyn bnh rng- thanh rng hoc vt me (chuyn t vn tc di thnh vn tc gc) th c th s dng lm cm bin o tc di. B pht tc cng c th o gin tip thng qua lu lng chy qua van (hnh 5.47).
Ca van L xo

Lu lng

Con trt

Lu lng

B LVDT

Hnh 5.47. Thit b o lu lng Ca van v cun cm c kt cu c bit to ra s quan h tuyn tnh gia lu lng cung cp qua ca van v dch chuyn tnh tin ca cun cm. B LVDT c 142

gn ng trc vi cun cm. Khi cun cm di chuyn, b LVDT pht ra tn hiu in t l vi lu lng qua cm bin. Qua lu lng ta c th chuyn i c thnh vn tc chuyn ng thng hoc vn tc gc ca c cu chp hnh (xylanh hoc ng c du). Nhc im ca thit b o ny l sai s tuyn tnh ln, c bit l vng lu lng thp. Vic o tc di hoc gc cn c th dng thit b quang- in o t xa, ming phn quang c dn trn trc quay hoc trn vt chuyn ng thng, tn hiu thu c c th l tn hiu in hoc tn hiu s. 5.3.4. Cm bin p sut, lc v mmen xon Trong h iu khin thy lc iu khin lc v mmen xon n gin nht l s dng cm bin o p sut. o theo p sut l phng php o gin tip, c chnh xc thp hn o trc tip lc hoc mmen xon. Cc loi cm bin dng trong mch iu khin ti trng ni chung u s dng nguyn l o sc cng nh dng tm in tr o ng sut thng qua bin dng, mng n hi kh nn, cc khu n hi tuyn tnh nh l xo, cu ch U... Tuy nhin cc ng dng trn u lin quan n b to in p ra. in p ra phi t l vi p sut, lc hoc mmen xon. Hnh 5.48 l b cm bin lc v cm bin mmen xon hot ng theo nguyn l o sc cng.

a)

b)

Hnh 5.48. S ca cm bin o lc (a) v cm bin o mmen xon (b) theo nguyn l o sc cng Hnh 5.49a l v d v cm bin p sut in tr. Di tc dng ca p sut P ng xp n hi di ng t l vi p sut, s di ng ca con trt s lm thay i in p ra ca bin tr. Nh vy tn hiu in p ra UX t l vi p sut vo P.

143

L xo

Con trt

X(+) P Ux U0

a)

ng xp

Bin tr

L xo

Cun dy B chuyn i X(+)

P Ux E1 E2 ng xp Li st t

b)

Hnh 5.49. S v d v cm bin p sut a - Cm bin p sut in tr; b- Cm bin v p sut in cm.

Hnh 5.49b l v d v cm bin p sut in cm. t cm ca cun dy ph thuc vo v tr ca li st t di ng trong cun dy. Dy r nm gia cun dy nn khi li st v tr trung gian E1 = E2, khi li st di chuyn th E1 tng v E2 gim, nu li st di chuyn ngc li th E1 gim v E2 tng. Qua b phn chuyn i s cho ta tn hiu in p ra UX t l vi p sut P. Ngoi ra cn c cm bin p sut kiu in dung, cm bin p sut thnh anh... cng c ng dng trong h iu khin t ng thy lc.

144

Chng 6

iu khin v tr, vn tc v ti trng trong h truyn ng thy lc

H thng iu khin t ng thy lc c th thc hin cc chc nng iu khin sau : 1. iu khin v tr (tnh tin hoc quay); 2. iu khin vn tc (tnh tin hoc quay); 3. iu khin ti trng (lc, mmen xon hay p sut). Tu thuc vo yu cu s dng ca thit b m c th thc hin mt, hai hoc c ba chc nng iu khin trn.
6.1. iu khin v tr

iu khin v tr l di chuyn c cu chp hnh n mt v tr no theo yu cu. Nu l xylanh thu lc th v tr l hnh trnh dch chuyn ca pittng, nu l ng c du th v tr l gc quay ca trc ng c du. Tuy nhin tu theo yu cu m pittngxylanh hoc ng c du c th truyn n h truyn ng c kh no . V d nh vt me, bnh rng- thanh rng, b truyn bnh rng... v cng c th bin chuyn ng tnh tin thnh chuyn ng quay hoc ngc li.

a)
Quay Chuyn ng quay ng c du

b)
ng c du Chuyn ng tnh tin Xylanh Chuyn ng tnh tin

c)

Hnh 6.1. Cc s v d v ng dng ca xylanh thu lc v ng c du a- ng c du iu khin gc quay; b- ng c du - vt me bi iu khin chuyn ng thng; c- ng c du v xylanh thy lc b tr phi hp. 145

Truyn ng vt me bi c chnh xc truyn ng cao nn c s dng rng ri trong h thng iu khin t ng. S hnh 6.1b nu vt me bi c bc 5 mm, ng c du iu khin c gc quay 1 0 th bn my c th di chuyn vi chnh xc l :
5 = 0,014 mm. 360 0

Van trt iu khin thng s dng loi ba v tr : tri, phi v trung gian. ng vi ba v tr iu khin ca van th xylanh (hoc ng c du) chuyn ng theo chiu thun, o chiu hoc dng. Chng ta hy nghin cu mt s c im v kh nng ng dng ca cc loi van trong cc mch h iu khin v tr. 6.1.1. ng dng ca van solenoid trong h iu khin v tr 1. Van solenoid ng m : Loi van ny ch thc hin nhim v ng m cc ng dn du n xylanh (hoc ng c du), m khng c tc dng iu khin lu lng du. S v c tnh lm vic ca van th hin hnh 6.2.
A B

(b)

(a)

Lu lng t P n A

Cun dy (a) c in

Cun dy (b) c in Lu lng t P n B

Hnh 6.2. S k hiu v c tnh lm vic ca van solenoid ng m Dng in cung cp cho van c th l mt chiu (DC) hoc xoay chiu (AC). Ty theo kch thc ca van m thi gian ng m trong phm vi 20 100 ms. Hnh 6.3 l s v d v ng dng ca van loi ny thc hin iu khin v tr. V tr dng ca bn my m s c thc hin bng mch iu khin logic dng rle, ngt trng thi hoc PLC, thng qua v tr ca kho gii hn nh hnh 6.3a. Hnh thc iu khin ny n gin, gi thnh thp v ph hp vi yu cu ca nhiu thit b, dy chuyn t ng. Tuy nhin khi kha gii hn b tc ng th bn my khng th dng ngay m phi mt mt khong thi gian no . iu ny dn ti v tr dng ca bn my khng chnh xc do nh hng bi cc yu t sau y : - Thi gian p ng ca van. 146

- Khi lng v vn tc chuyn ng. - Th tch cha du trong xylanh v ng ng dn. - Mun n hi ca du. - Ma st ca cc b phn chuyn ng. - S r du. - Thi gian tc ng ca kha gii hn v ca rle. - Thi gian nhn tn hiu phn hi ca b PLC (nu iu khin PLC).
V tr tc ng m Kho gii hn A P B T Kho logic

a)
Vng dng m

Kho gii A B

T Kho logic I

b) Hnh 6.3. S v d v ng dng van solenoid trong iu khin v tr Cc yu t trn kh c th xc nh mt cch chnh xc v chng c th thay i trong sut qu trnh hot ng ca my. Nn v tr dng ca bn my s nm trong mt vng nht nh (hnh 6.3b).

147

2. Van solenoid iu khin

Q L tit lu V

Gim tc Tng tc
t

A T A L xo P B

B T Con trt

a)

b)
Khong dng tit lu Khong dng tit lu

Kho gii hn A B

Kho logic I

c) Hnh 6.4. S nguyn l v c tnh lu lng v ng dng van solenoid iu khin trong mch iu khin v tr a- c tnh lu lng (vn tc); b- S kt cu van; c- S mch iu khin v tr ca van. Van solenoid iu khin c kh nng iu khin c mt s v tr ca con trt nh kt cu khng ch hnh trnh. ng vi mi nc iu chnh s cho mt gi tr lu lng no . Nh cc l tit lu trong ng dn du v hai pha ca con trt m con trt di chuyn u, khng va p, tc l c thi gian nht nh tng v gim tc (hnh 6.4a).

148

V tr dng ca pittng b nh hng ca nhiu yu t nn dng bn my ng v tr cng cn hiu chnh thi gian tc ng ca kho gii hn (hnh 6.4c). 6.1.2. ng dng van t l trong h iu khin v tr 1. Van t l khng c phn hi

Q
P T

Tn hiu iu Gim tc

Tng

b)
B phn khuch i

B o in p cung cp

a) Hnh 6.5. S mch iu khin v tr h h ng dng van t l khng c phn hi trong a- S nguyn l; b- c tnh lu lng (vn tc). Khc vi van solenoid, van t l c kh nng iu khin c v cp lu lng qua van. Khi thay i dng in iu khin van th thay i c hnh trnh dch chuyn ca con trt, lm cho tit din chy ca van thay i v dn n lu lng qua van thay i. Qua b khuch i, dng in iu khin van c iu khin bng tn hiu in p vo (hnh 5.6). dc ca c tnh Q (hoc v) c hiu chnh trn b khuch i. Tu thuc vo kch thc ca van m thi gian p ng s nm trong phm vi 50 ms n 150 ms. Van t l c th ng dng iu khin logic, tuy nhin nu c cm bin v tr cung cp tn hiu phn hi lin tc th ta s c mch iu khin v tr lin tc nh hnh 6.6. 149

h = 1000 mm min x m max

0V Cm bin v tr (Potentionmeter)

+ 10 V

Tn hiu Phn hi

I E

C (Tn hiu vo) 0 10 V B khuch i

Hnh 6.6. S mch iu khin v tr h kn s dng van t l khng c phn hi Hot ng ca s trn hnh 6.6 nh sau : Khi cho tn hiu in p vo C, b khuch i s to ra dng I tng ng iu khin tit din chy ca van. Lu lng qua van cung cp cho xylanh lm pittng di chuyn. Cm bin v tr dng bin tr gn trn u ca pittng cng di chuyn, to ra in p phn hi (F) truyn v b khuch i v so snh vi in p iu khin (C) nhm san bng s sai lch E. Khi in p so snh c sai lch E = 0 th pittng s dng v tr tng ng. Trong mch iu khin trn, hnh trnh h ca pittng, chiu di v in p ca cm bin v tr v in p tn hiu vo phi c quan h tng thch. Khi pittng v tr 0 th in p phn hi phi bo gi tr bng 0 V. Khi pittng v tr max (h = 1000 mm) th cm bin v tr c gi tr + 10 V. Tng ng vi mi quan h tn hiu in p iu khin thay i t 0 n +10v. Khi vo b so snh, tn hiu phn hi ngc du vi tn hiu vo v thc hin san bng in p. V d, cn iu khin pittng di chuyn i 500 mm th tn hiu vo dng step s tng ng l +5 vn. Khi pittng cha di chuyn ( thi im ban u) th tn hiu phn hi F = 0 v lc ny tn hiu so snh l E = C F = 5 V 0 = 5 V. B khuch i c tn hiu vo 5 V s sinh ra dng in tng ng iu khin van. Gi s 5 V tng ng vi vn tc ca pittng l 200 mm/s v di chuyn ht qung ng l 500 mm vi thi gian l 2,5 s. Sau 1s pittng di chuyn c 200 mm/s tng ng vi tn hiu phn hi F l 2 V v tn hiu so snh s l : 5 V 2 V = 3 V. Nu tn hiu so snh gim t 5 V xung cn 3 V th vn tc pittng gim t 200 mm/s xung cn 120 mm/s. 150

Hnh trnh

H (mm) 500 320 200 5v

Vn

Tn hiu iu khin E

3,2v 2v 0 1 F 2

Tn hiu phn hi

t (s)

Hnh 6.7. th v d v s so snh tn hiu v tn hiu phn hi Hnh trnh ca pittng di chuyn sau 2 s l : 200 + 120 = 320 mm. C tip tc qu trnh ny cho n khi tn hiu so snh E = 0 th pittng di chuyn ht hnh trnh trong khong thi gian 2,5 s (hnh 6.7). thi gian p ng nhanh ta c th tng tc chuyn ng ca pittng bng cch tng h s khuch i. Mt vn na cng cn quan tm l vng cht ca van trt iu khin (hnh 6.8).
Q Vng cht

x P T A x0 Vn B x0 T 25% 50% 100% x (I)

a)
Tn hiu iu khin Q Sai s 2,5V do vng cht

b)

5V 2,5V Tn hiu phn hi

Vng cht 1%

50%

100%

(I)

c)

d)

Hnh 6.8. th nghin cu vng cht ca van trt iu khin a- Kt cu van; b- c tnh Q - X; c- c tnh iu khin th hin sai s do vng cht; d- c tnh Q - x ci tin. 151

Khi con trt di chuyn ht hnh trnh x0 th du mi bt u qua van. Thng thng x0= 25% gi tr ca lng dch chuyn cc i. iu cng c ngha rng tn hiu so snh gim i 25% v pittng s dng sau 250 mm di chuyn (hnh 6.8c). khc phc sai s trn ngi ta tng nhy ca van bng cch tng h s khuch i ca b khuch i. To ra h s khuch i chun t ng iu khin con trt vi tn hiu vo nh v di chuyn con trt qua vng "cht". Vi phng php ny vng "cht" c th gim xung cn 1% gi tr max. Ngoi ra hin tng t tr (2 8%) cng nh hng n chnh xc ca v tr iu khin. Vn ny c trnh by chng 5. Nh vy khi s dng van t l khng c phn hi cho mch iu khin v tr s tn ti mt s nhc im, do nn i vi nhng thit b c yu cu chnh xc v tr cao th loi van ny khng ph hp. 2. Van t l c phn hi
Nam chm in B khuch i ca h Tn hiu
m

B khuch i ca van

Con trt ca van

Xi lanh Tn hiu ra

vo Phn hi ca van Phn hi ca h

Hnh 6.9. S khi ca mch iu khin v tr s dng van t l c phn hi Van t l c phn hi s c b khuch i v b phn phn hi ring nh hnh 6.9. So vi van t l khng c phn hi th van t l c phn hi c thi gian p ng nhanh, thng thng l t 12 ms n 37 ms v sai s do hin tng t tr nh, khong 1%. 3. Van t l hiu sut cao Trong van t l hiu sut cao hnh 5.5, kt cu ca van ch c mt nam chm iu khin con trt v mt cm bin v tr LVDT (Linear Variable Differantial Transformer). Cm bin c nhim v cung cp tn hiu v tr ca con trt cho b khuch i ca van. Nh phi hp gia nam chm in, cm bin v tr v b khuch i m con trt rt nhy i vi tn hiu iu khin, c bit l vng cht ca con trt. Thi gian p ng nhanh, v d khi iu khin tn hiu step vi gi tr cc i ch mt 10 ms. Nh s hon thin v kt cu v cht lng iu khin m van t l hiu sut cao c s dng trong cc thit b c yu cu cht lng iu khin cao. S mch iu khin ca loi van ny tng t nh mch iu khin ca van t l khng c phn hi th hin hnh 6.6. 152

6.1.3. ng dng van servo trong h iu khin v tr 1. Van servo Do hon thin v thit k, kh nng ch to vi chnh xc cao m van servo c c tnh tt nht hin nay, ph hp vi cc h thng iu khin t ng thy lc cht lng cao. Mc 5.1.6 gii thiu s nguyn l lm vic, kt cu, k hiu v c tnh ca van. Nh nguyn l v kt cu ti u m s phi hp gia li quay ca nam chm in, cng n hi v ng phun du chun xc nn con trt di chuyn chnh xc cc vng hot ng ca n. Thi gian p ng nhanh (lun lun nh hn 10 ms), nh hng ca hin tng t tr thp. c bit tnh tuyn tnh ca van cao, tnh cht ny rt quan trng i vi chnh xc iu khin. S mch iu khin ca van servo cng tng t nh mch iu khin ca van t l khng c phn hi th hin hnh 6.6. 2. Van servo k thut s Hnh 6.10 l m hnh ng dng ca van servo k thut s. Loi ny c ch to c bit, b iu khin lun i km vi van. Nh kt hp cht ch gia b to chuyn ng ca con trt vi cm bin v tr m tn hiu phn hi truyn trc tip v b iu khin s chnh xc.
B iu khin Van Thanh o

B truyn

Hnh 6.10. M hnh ng dng ca van servo k thut s B iu khin ca van servo k thut s bao gm cc b phn l : B phn khuch i, nam chm c li quay, b vi x l (microprocessor). B vi x l c ni vi my vi tnh hoc b iu khin PLC (Programmable Logic Controller). Mi loi van s c phn mm iu khin ring, l cc thut ton iu khin servo. Nh vy m van servo k thut s c tnh linh hot cao.
6.2. iu khin vn tc

iu khin tc chuyn ng tnh tin ca pittng-xylanh thy lc hoc chuyn ng quay ca ng c du ta thay i lu lng du cung cp. Hin nay c cc phng php thay i lu lng nh sau : - Thay i lu lng cung cp ca bm du, tc l s dng cc loi bm iu chnh; - Thay i lu lng bng tit lu (l tit lu hoc van iu khin). 153

Tuy nhin thay i lu lng bng tit lu c nng lng tiu tn thp, kt cu gn, gi thnh thp... nn ph hp vi cc mch iu khin tc . 6.2.1. iu khin tc bng l tit lu Phng php n gin nht l s dng cc l tit lu c nh t ngay ca vo, ra ca xylanh hoc ng c du nh hnh 6.11. ng vi mi tc s c cc l tit lu khc nhau. Vi hnh thc iu khin ny tc s b nh hng bi cc yu t sau : - Hnh dng ca l tit lu; - p sut ca h thng v ti tc dng; - nht v t trng ca cht lng.

L tit lu c nh

L tit lu iu chnh

Van 1 Chiu

a)

b)

c)

Hnh 6.11. S nguyn l v iu khin tc bng cc l tit lu a, b - Vi l tit lu c nh; c - Vi l tit lu iu chnh Nu mt trong cc yu t trn thay i trong qu trnh chuyn ng th tc ca c cu chp hnh s thay i, ng thi phng php ny kh thc hin t ng ho iu khin.

Tit lu

Van in

a)

b) Hnh 6.12. Van tit lu iu khin bng in t a - Van tit lu iu khin ng thi hai l tit lu; b - Van tit lu c mt l tit lu. 154

Hnh 6.12 l loi van tit lu iu khin bng in t. Loi ny tit din chy c thay i nh thay i dng in iu khin nam chm. 6.2.2. iu khin tc bng van t l hoc van servo Van t l v van servo c th thay i v cp lu lng qua van thng qua vic thay i tit din chy ca du bng in t. iu ny cho php thay i tc chuyn ng ca pittng-xylanh hoc ng c du mt cnh d dng. Tuy nhin i vi h iu khin h, khi p sut hoc ti trng thay i th lu lng s thay i.

T Van t l

Mch b p sut

Hnh 6.13. S v d ng dng van t l trong mch iu khin tc khc phc tnh trng ny cn s dng mch b p sut hnh 5.16. Mch ny ly hiu p sut gia hai bung ca xylanh lm tn hiu phn hi iu chnh p sut vo. Tng t nh iu khin v tr, mun iu khin c tc chnh xc phi s dng mch iu khin h kn, tc l phi c b cm bin tc o v chuyn i thnh tn hiu in cung cp cho b so snh ca b khuch i. Tn hiu iu khin so snh vi tn hiu phn hi t b cm bin chuyn v hiu chnh nhng sai s tc do cc nguyn nhn t h thng chp hnh gy nn. Trong mch iu khin v tr h kn, vng cht ca van t l nh hng ln n chnh xc iu khin, cn trong iu khin vn tc h kn th vng cht khng nh hng n chnh xc ca vn tc iu khin, nn ngi ta ni van t l ph hp vi iu khin vn tc. 155

B khuch i trong mch iu khin v tr s s dng b khuch i t l nh trn hnh 6.14a, cn trong mch iu khin tc l b khuch i tch phn I nh hnh 6.14b.

P Tn hiu vo

Tn hiu so snh (E) Tn hiu ra

Tn hiu phn hi

a)

I Tn hiu vo

Tn hiu so snh (E) Tn hiu ra

Tn hiu phn hi

b) Hnh 6.14. S ca b khuch i t l v b khuch i tch phn a - B khuch i t l v th tn hiu so snh; b - B khuch i tch phn v th tn hiu so snh. Trong b khuch i tch phn, khi tc phn hi ph hp vi tc iu khin th b tch phn s duy tr tn hiu ra. Con trt ca van s duy tr vic cung cp lu lng theo yu cu vn tc chuyn ng ca pittng xylanh (hoc ng c du).

156

6.3. iu khin ti trng

a)

b)

F
Cm bin p sut Tn hiu phn hi

+
Tn hiu vo

P c)

d)

Hnh 6.15. Cc s iu khin ti trng theo p sut a - Hiu chnh p sut bng van trn; b - Hiu chnh p sut bng van gim p; c - iu khin p sut theo h kn bng van trn in thy lc; d - iu khin p sut theo h kn bng van t l. iu khin lc i vi chuyn ng tnh tin hoc iu khin mmen xon i vi chuyn ng quay ngi ta thay i p sut lm vic ca h thng. Trong mch iu khin kn, cm bin s dng l cm bin lc hoc cm bin mmen. Tuy nhin trong a s cc thit b hin nay ngi ta s dng cm bin p sut m vn m bo c chnh xc cn thit (hnh 6.15c, d).

157

Hnh thc iu chnh p sut bng van trn hoc van gim p (hnh 6.15a, b) l theo h h, chnh xc thp do nh hng bi cc yu t lin quan n iu kin lm vic nh nht, lu lng hay ti trng thay i. Nn nu yu cu chnh xc cao hn ngi ta s dng mch iu khin kn (hnh 6.15c, d). Tn hiu phn hi ca cm bin p sut a v b khuch i ca van so snh v x l nhm n nh p sut theo yu cu ca ti trng. Hin nay van t l hiu sut cao ph hp vi mch iu khin p sut nn n c s dng rng ri. Ngoi ra c mt phng php iu khin khc l ng dng mch iu khin m cm bin p sut l o hiu p gia hai bung lm vic ca xylanh (hoc ng c du) th hin hnh 6.16a. Tu thuc vo yu cu s dng m trn mt thit b c th phi hp c iu khin v tr, vn tc v ti trng. Hnh 6.16 b l v d v mch iu khin phi hp gia v tr v ti trng. Tng t nh iu khin v tr v iu khin vn tc, iu khin p sut (ti trng) cng b nh hng cc yu t nh ma st, r du, nht thay i...lm gim chnh xc iu khin.
F Cm bin p sut

Tn hiu phn hi I P T

+
Tn hiu vo

a)

Cm bin v

Tn hiu vo

Tn hiu vo

iu khin p sut

iu khin v tr

Cm bin

b) 158

P Tn hiu vo

E I
Tn hiu phn hi

+ +

Tn hiu ra (PI)

c) Hnh 6.16. Cc s v d v mch iu khin ti trng v b iu khin PI a - S iu khin h kn bng b o hiu p; b - S mch iu khin p sut v v tr; c - S b khuch i PI. Tng t nh iu khin vn tc, trong mch iu khin p sut, khi tn hiu phn hi san bng vi tn hiu iu khin th tn hiu ra ca b khuch i (b iu khin) phi duy tr tn hiu . Nn trong b khuch i ca iu khin p sut c s dng mch iu khin tch phn I. Tuy nhin thi gian p ng nhanh c th s dng thm mch iu khin t l P v hnh 6.14c gi l mch iu khin theo PI.
6.4. Cc v d ng dng

V d 1. Hnh 6.17, hnh 6.18, hnh 6.20, hnh 6.22 , hnh 6.23 v hnh 6.25 l cc s lp rp h iu khin thy lc chuyn ng thng v h thy lc chuyn ng quay, trong van servo BD062 l thit b trc tip nhn tn hiu dng in I t b khuch i BD90 v truyn tn hiu lu lng Q cho c cu chp hnh (xylanh thy lc hoc ng c thy lc). B khuch i BD90 l mt b iu khin. B iu khin ny c th thc hin iu khin tng t hoc iu khin s. thc hin iu khin s phi c thm carte acquisition thc hin chuyn i A/D v D/A, carte ny c ni ghp tng thch vi b khuch i BD90. C th tham kho c tnh k thut ca mt s phn t iu khin nh sau : * c tnh k thut ca servo-van BD062 - Parker electrohydraulic: - Lu lng (khi p sut 70,3 kg/cm2) : 0 76,734 l/p (1278,9 cm3/s ). - p sut lm vic l : 15 315 Bar (15,466 316,35 kg/cm2 ) . - Dng in nh mc : 100 mA . - in tr ca cun dy : 28 . - Nhit lm vic : 10 1060 C . - Tn tht p sut t nht l : 30% . 10% . - tuyn tnh ca c tnh I - Q : - sai lch do t tr ca c tnh I - Q : 5% . 2% . - trt ca c tnh I - Q : 159

* c tnh k thut ca cm bin v tr o chiu di : - S PN 9810903, Waters Lofngellow. - LMAX : 12 in (30,48 cm). - in tr : 5 k . < 100 V DC. - in p max : - Nhit n : 700c. - Sai s tuyn tnh : <= 0,1%. * c tnh k thut ca b khuch i BD90 -Parker electrohydraulic: - in p ngun 115 V hoc 230 V, cng sut 30 VA, tn s 50/60 Hz. - Tn hiu iu khin 14 V DC v 28 mA. - H s khuch i : Mch iu khin : K= 5 nu lp J5 v K= 10 nu lp J6 . Mch phn hi : K= 5 nu lp J18 v K=10 nu lp J19.

Hnh 6.17. S lp rp mch iu khin v tr ca h thy lc chuyn ng thng - Nhit lm vic : 00C 700C . - B lm u PID . - in p cung cp cho cc loi cm bin : 10V, 15V . - Tu theo yu cu s dng m hiu chnh b khuych i t cc thng s k thut khc nhau. * Cc c tnh k thut ca Lab-PC+-National instruments corporation - in p bo v : 45 V. 160

- in p vo v ra : Unipolar (n cc) 0 10 V ; Bipolar (2 cc) 5 V . - Dng ln nht 2 mA . - H s khuch i iu khin : 1; 2; 5; 10; 20; 50 hoc 100. - 01 b 12 bt ADC phn tch tn hiu tng t c in p l 2,44 V ng vi h s khuch i bng 1. Khi h s khuch i >1 th tn hiu iu khin chnh xc hn (2,44 v) v u ra ADC t 12 bt s t ng tng ln thnh 16 bt. - 02 b DAC 16 bt . - 03 b nh gi 16 bt m tn s, m s kin v tnh thi gian . - B giao din 8 bt - DMA.

Hnh 6.18. S lp rp mch iu khin v tr ca h thy lc chuyn ng quay - Sai s in p hiu chnh : 0V. - B n nh thi gian (chnh xc 0,02%) : H s khuch i <= 10 chnh xc n 14 s ; H s khuch i 20; 50 chnh xc n 20 s ; H s khuch i 100 chnh xc n 33 s . - ACH (0-7) l 8 knh u vo, DACO OUT v DAC1 OUT l 2 knh u ra - B b nhit cho php nhit hot ng l 00 700 C. 161

- m 5% 90% v khng ngng t nc. - Trm lin kt SC-2071. - Cp ni P/N 180524-10 , 50 si. - C th lp trnh vi Lab View , Lab Windows/cvi v LabWindows. - Cc phn mm km theo : Daqware ; Ni-Daq Dos ; Ni-Daq Windows v Ni-Daq Windows NT. S phn mm : 776703-01. V d 2: M hnh iu khin v tr ca h iu khin khi s dng van t l. V d ny gii thiu m hnh ton hc v m hnh iu khin v tr ca h iu khin ng c thy lc ng dng thc hin chuyn ng tnh tin. thc hin chuyn ng tnh tin c cu chp hnh, ngoi iu khin bng xylanh thy lc cn c th iu khin bng ng c thy lc kt hp vi b truyn ng c kh bin chuyn ng quay thnh chuyn ng tnh tin. M hnh nghin cu l cm truyn ng iu khin dch chuyn ca bn cng tc Hnh 6.19a, trong rto ca ng c thy lc c ni vi bn cng tc thng qua b truyn vt me-ai c bi. Trong tnh ton, khi lng qun tnh M ca bn cng tc c quy v trc ca rotor v c mmen qun tnh khi lng l J, th hin hnh5.19b. Mmen qun tnh J xc nh theo cng thc sau : M J= (6.1) (2.t X ) 2 M H J

a) Hnh 6.19. M hnh quy i ca bn cng tc S h thng iu khin c xy dng nh trn hnh 6.20.
Van t l ng c thy lc

b)

p P T Q A B V D I

Vt me bi

F U

H F

Cm bin v tr B Khuch i

Hnh 6.20. S mch iu khin v tr chuyn ng tnh tin bng ng c thy lc 162

U-Tn hiu iu khin; E-Tn hiu so snh; KA-H s khuch i ca b khuch i A; I-Dng in iu khin; KV-H s khuch i ca van; Q-Lu lng cung cp ca van; -H s tn tht lu lng; pS-p sut cung cp; pT-p sut ra khi van; p-p sut lm vic ca ng c thy lc; Dm-H s kt cu ca ng c thy lc; V-Th tch cha du trong bung cng tc; B-Mun n hi ca du; J-Gi tr ca mmen qun tnh khi lng quy i v trc ng c thy lc; -Vn tc gc ca rto; -Gc quay ca rto; Kc-H s khuch i ca cm bin v tr; F-Tn hiu phn hi; H-Hnh trnh dch chuyn tnh tin ca bn cng tc; tX- Bc ca vt me bi. xc nh hm truyn, h s khuch i h thng v tm cc thng s khc ca h cn ng dng l thuyt iu khin t ng v trn c s cc v d mc 4.5. thit lp c m t ton hc ca h thng trn ta c mt s gi thit nh sau : H thng nghin cu l h tuyn tnh, b khuch i v van t l l cc khu khuch i, b qua ma st trn trc truyn ng, khng k n ti trng tc ng t bn ngoi, b qua bin dng n hi ca du trn ng ng dn. Cc phng trnh m t ca h gm : Phng trnh cn bng lu lng : d V dp Q = K V .I = D m . + . + .p (6.2) dt 2B dt Phng trnh cn bng mmen trn trc rto :
Dm .p = J. d 2 dt 2

(6.3)

Quan h gia dng in iu khin van vi tn hiu iu khin v tn hiu phn hi l : I = K A .( U H.K C ) (6.4) F KC = H Quan h gia lng dch chuyn ca bn cng tc H v gc quay ca trc rto l : t H = X . (6.5) 2 thit lp c s khi ca mch iu khin v tr, trc ht ta nghin cu quan h gia lu lng cung cp ca van Q v gc quay ca trc rto . T phng trnh (6.2) v (6.3) ta c : dp J d 3 J d 2 = . . p= , (6.6) dt D m dt 3 D m dt 2 v
V.J d 3 d .J d 2 . . 2 + + 2B.D m dt 3 dt D m dt Phng trnh Laplace ca (6.7) l : V.J .J Q(s) = ( D m + .s + .s 2 ).s.(s) Dm 2B.D m Q = Dm .

(6.7)

(6.8)

163

1 1 ( s ) Dm = . Hm truyn (s) l : Q(s) (1 + .J .s + V.J .s 2 ) s Q(s) 2B.D 2 D2 m m KM (s ) 1 = . hoc : 2 2 Q(s) 1 + 2..T.s + T .s s

(6.9)

(6.10)

trong :

T=
=

V.J 2B.D 2 m
B.2 .J 2D 2 m .V

- Hng s thi gian; - H s tt dn; (6.11)

0 =

1 2B.D 2 CH m = = - Tn s dao ng ring; T V.J J 2B.D 2 m CH = - cng thy lc; V KM = 1 - H s khuch i. Dm

T (6.4), (6.5) v (6.10) ta lp c s khi ca mch iu khin nh sau :

U(s)

E(s) KA
F(s)

I(s) KV

Q(s) KM 1+ 2..T.s + T2.s2

(s)

1 s

(s)

tx
2.

H (s)

Kc Hnh 6.21. S khi ca mch iu khin v tr T s khi trn hnh 6.21 ta tnh c h s khuch i ca h thng trn l : 1 tX K H = K A .K V . . .K C , (1/s) (6.12) D m 2 1 , (s) ; Thi gian p ng t 5 . Thi gian khng i : = KH V d trn c ng dng cho thit b c cc b phn v thng s chnh nh sau : - ng c du : Delta power hydraulic Co, Rockford Illinois, Model 16 - Z-3. - Van t l : D.ER-F-WV-4/3-MM, Festo Didactic. - B khuch i (Amplificater) : Festo Didactic. 164

- Cm bin v tr : Longfellow, Data Instruments , Sai s tuyn tnh 0,1%. - Cc thng s chnh : p=35 kg/cm2; Q=11 l/p ; m=5 kg; Dm=12 cm3/rad; KC= 0,327 V/cm; KV=11,5 (cm3/s)/mA; =1,4.107 kg/cm2 ; tX = 4 mm. Mch iu khin trn c ni vi my tnh thng qua b chuyn i A/D v D/A l Lab-PC+ , National Instruments Corporation, s th hin hnh 6.22. Thit b iu khin theo PI qua thut ton trong chng trnh iu khin. Cc tn hiu vo v ra c lu tr trong cc fil s liu.

B khuch i

Tn hiu vo

Van t l

C TL -vt me bi-ti

Tc quay

Cm bin tc

A/ D Lab - PC +

A/ D

Chng trnh iu khin

PC

Hnh 6.22. S khi ni ghp gia cc phn t ca mch iu khin v tr Nh vy h thng iu khin ny s gii quyt nhng vn sau : - Xc nh c tn s dao ng ring v h s tt dn ca cm truyn ng ng c thy lc-vt me ai c bi. - Thit lp m t ton hc v s khi ca m hnh iu khin. - Xc nh h s khuch i h thng. - Nghin cu cc vn lin quan n c tnh ng lc hc, cc vn khc nh n nh, chnh xc iu khin cng nh chn ch lm vic ti u. V d 3 : M hnh iu khin tc ca ng c thy lc khi s dng van servo. 165

Hnh 6.23 l s iu khin tc quay ca trc ng c thy lc. Phng php nghin cu m hnh ny gn ging vi v d 1. y l mt mch iu khin h kn v tuyn tnh, c cu chp hnh c thu gn v trc ng c thy lc qua gi tr ca mmen qun tnh khi lng J.
m ; n Mj Dm ; V VL1 VL2 Kc

J Mf

T
A

Tn hiu phn hi F Tn hiu vo U

PAB B Kv ; Ko PS I KA

Hnh 6.23. S iu khin tc ca ng c thy lc bng van servo U- Tn hiu iu khin ; E- Tn hiu so snh; F- Tn hiu phn hi; I- Dng in iu khin iu khin van servo; KV- H s khuch i ca van servo; K0- H s thot du qua van servo; Q- Lu lng cung cp ca van; pS - p sut cung cp; pT- p sut ra khi van; p- p sut lm vic ca ng c thy lc; f- H s ma st nht; Dm- H s kt cu ca ng c thy lc; V- Th tch cha du trong bung cng tc ng c thy lc; B- Mun n hi ca du; J- Gi tr ca mmen qun tnh quy i v trc ng c thy lc; - Vn tc gc ca trc ng c thy lc; Kc- H s khuch i ca cm bin tc ; KA- H s khuch i ca b khuch i. Ngoi cc gi thit nh bi ton v d 1, bi tan ny c tnh n ma st nht trn trc ng c. Phng trnh m t hot ng ca h thng nh sau : V dp Q = Dm . + . + .p (6.13) 2.B dt
D m .p = J . d + f . dt

(6.14)

Phng trnh Laplace :

Q(s) = Dm .(s) + V .s.p(s) + .p(s) 2.B

166

D m .p (s ) = J.s. (s ) + f . (s )
Q(s) = KV.I(s) K0 .p(s)

(6.15)

I(s ) = K

. E ( s ) ; E (s ) = U (s ) K C . (s )

Suy ra :

V J.s + f .s + . Q(s) = Dm .(s) + .(s) 2.B Dm

(s ) Dm = V .J Q ( s ) 1 + V .f + 2 B .J . .s + .s 2 2 2 2 B ( D m + .f ) 2 B .( D m + .f )
KV = D 2 m + .f ; Dm

(D 2 m + .f )

Hm truyn :

(6.16)

Nu t :

T1 =
0 =

V .J ; 2 B .( D 2 m + .f )
1 = T1

T2 =

V . f + 2 B . J . ; 2 B .( D 2 m + .f )

(6.17)

T 1 V.f + 2B.J. 2 B.( D 2 m + .f ) ; = 2 = 2.T1 2 2B.V.J(D2 V .J m + .f )

th :

(s ) K K =( 2 2 ) )=( 2 2 T1 .s + 2 .T1 .s + 1 T1 .s + T2 .s + 1 Q (s )
(s ) K = 2 2 E (s ) 1 .s + 2 .s + 1

(6.18)

v :

(6.19)

vi :
1 =
2 =

K =

K V .K.D m D m + K.K 0 .f

Dm T12 .Dm V.J = . 2 Dm + K.K0 .f 2B.(Dm + .f ) (Dm + K.K0 .f )

(6.20)

T2 .Dm + K.K0 .J V.f .Dm + 2B.J..Dm + 2B.K.K0 .J(D2 m + .f ) = 2 Dm + K.K0 .f 2B.(Dm + .f ).(Dm + K.K0 .f )

T quan h gia cc b phn v hm truyn ca chng, s khi ca h trn c th rt gn nh hnh 6.24.

U(s) E(s) K 1 S + 2 S + 1
2 2

(s)

KC

167

Hnh 6.24. S khi rt gn ca mch iu khin tc

B khuch i

Tn hiu vo

Van servo

C TL + Ti

Tc quay

Cm bin tc

A/ D Lab - PC +

A/ D

Chng trnh iu khin

PC

Hnh 6.25. S khi ni ghp gia cc phn t ca mch iu khin tc S hnh 6.25 th hin quan h v tn hiu gia cc phn t iu khin v c cu chp hnh. B khuch i servo s dng iu khin theo PI, carte giao tip thc hin iu khin s l loi carte vn nng gn trong my tnh hoc bng carte chuyn dng. H s khuch i ca h c tnh theo cng thc sau : KV = KA.KV.Km.KC = K.KC , (1/s) (6.21) T cc kt qu trn tin hnh nghin cu cc ch tiu lin quan n cht lng iu khin nh gii thiu trong cc phn khc ca gio trnh ny.

168

Chng 7

Tnh ton, Thit k cc mch iu khin t ng thy lc

7.1. Tnh ton p sut v lu lng

7.1.1. H thy lc thc hin chuyn ng tnh tin p sut v lu lng du cung cp cho xylanh thy lc l hai i lng quan trng m bo cho h truyn c ti trng, vn tc hoc v tr cn thit. tnh ton cc i lng trn ta hy phn tch s trn hnh 7.1.
A1 FS A2 x m FE FC P2 P1 PS PT

Q1

Q2

R=

A1 A2

Hnh 7.1. S tnh ton p sut v lu lng ca h thy lc chuyn ng tnh tin - Lc qun tnh : Fa = m.a Fa = - Lc ma st :
WL .a - theo h Anh g

(7.1)

Fc = m.g.f Fc = WL.f - theo h Anh

(7.2)

- Lc ma st trong xylanh FS thng bng 10% lc tng cng, ngha l : FS = 0,10.F - Lc do ti trng ngoi FE. - Lc tng cng tc dng ln pittng s l : F= hoc theo h Anh : 169
m.a + FC + FS + FE 1000

(7.3)

(daN)

(7.4)

F= Trong cc cng thc trn :

WL .a + Fc + FS + FE 32,2.12

(lbf)

(7.5)

m - khi lng chuyn ng, kg; WL - trng lc, (lbf); a - gia tc chuyn ng, cm/s2 FE - ngoi lc, daN (lbf); Fs - lc ma st trong pittng-xylanh, daN (lbf). Phng trnh cn bng pittng : P1.A1 = P2.A2 + F i vi xylanh khng i xng th lu lng ra v vo khng bng nhau. Q1 = Q2.R vi R =
A1 A2

(in/s2);

FC - lc ma st ca b phn chuyn ng, daN (lbf);

(7.6)

(7.7)

st p qua van s t l vi bnh phng h s din tch R, ngha l : PS - P1 = (P2 PT).R2 trong : P1v P2 - p sut 2 bung ca xylanh; PS - p sut du cung cp cho van; PT - p sut du ra khi van; A1 v A2 - din tch hai pha ca pittng. T cng thc (7.6) v (7.8) ta tm c P1 v P2 nh sau : P1 =
PS .A 2 + R 2 (F + PT .A 2 ) A 2 . 1 + R3

(7.8)

(7.9) (7.10)

P2 = PT +

PS P1 R2

Lu lng du vo xylanh pittng chuyn ng vi vn tc cc i l : QL = vmax.A1 , (cm3/s) hoc : QL =

v max .A 1 16,7

(7.11) (7.12) (in3/s)

, (l/p)

Nu tnh theo h Anh th : hoc :

QL = vmax.A1 , QL =

v max .A 1 , (usgpm) 3,85

Lu lng du qua van ng vi st p 35 bar (500 PSI) l : 170

Q R = QL. Tnh theo h Anh : Q R = Q L.

35 PS P1

, (l/ b)

(7.13)

500 PS P1

, (usgpm)

Vi cch phn tch nh trn khi pittng lm vic theo chiu ngc li th : P1 = PT + (PS - P2).R2 P2 =
PS .A 2 .R 3 + F + PT .A 2 .R A2 . 1 + R3

(7.14)

(7.15)

V QR cng xc nh tng t nh cng thc (7.13). Lu lng ln nht ca mt trong hai trng hp trn s c dng chn van. Bi ton trn cng ng dng cho xylanh c kt cu i xng (A1 = A2) v ti trng m. V d 7.1: Cho h thng thy lc chuyn ng tnh tin c s nh trn hnh 7.2. Hy xc nh lu lng cung cp ca van. Xt hnh trnh dng (x+) ta c : Lc tng cng tc dng ln pittng l : F= Vi :
m.a + FC + FS + FE 1000

(7.16)

a = 16 m/s2 = 1600 cm/s2 FC = m.g.f = 1200 x 9,81 x 0,32 = 3767 N 3767 daN FE = 17500 N = 1750 daN

Thay cc s liu vo cng thc (7.16) ta c : F=

1200x1600 + 377 + 1750 + FS 1000

A1 = 53,5 cm2 (8,3 in2) ; A2 = 38,1 cm2 (5,9 in2) ; PS = 210 bar (3000 PSI) ; PT = 5,25 bar (75 PSI) ; FE = 17500 N (3930 lbf) ; m = 1200 kg (WL = 2645 lbf) ; a = 16 m/s2 (52,5 fl/s2) ; Vmax = 30 cm/s (12 in/s) ; F = 4045 + FS (7.17)

171

A1

FS

A2

x+ m FE

Q1 P1 PS

Q2 P2

FC

PT

Hnh 7.2. S v d v tnh p sut v lu lng ca h thy lc chuyn ng tnh tin Gn ng ly FS 10% x 4045 = 0,10 x 4045 = 405 daN v thay FS vo cng thc (7.17) ta c : F = 4045 + 405 = 4450 daN Xc nh p sut P1 v P2 nh sau :
PS .A 2 + R 2 (F + PT .A 2 ) ; P1 = A 2 1 + R3 A1 53,5 = = 1,4 A 2 38,1

R=

P1 =

210 x 38,1 + 1,4 2 (4450 + 5,25x 38,1) = 120 38,1. 1 + 1,4 3

bar bar

P2 = PT +

PS P1 210 120 = 5,25 + = 51 2 R 1,4 2

Xc nh lu lng QL v QR nh sau : QL =
v max. A 1 30x53,5 = = 96 l/p 16,7 16,7

Q R = Q L.

35 35 = 96 = 60 l/p PS P1 210 120

Xt hnh trnh m (x), tc l pittng chuyn ng theo chiu ngc li v gi thit l vmax, a, FE c gi tr nh bi ton trn nhng c chiu ngc li. Lc tng cng F tnh ra cng s bng 4450 daN. p sut P1, P2 v lu lng QL, QR l :

172

PS .A 2 .R 3 + F + PT .A 2 .R P2 = A2 . 1 + R3

210 x 38,1x1,4 3 + 4450 + 5,25x 38,1x1,4 = 187 bar 38,1 1 + 1,4 3

P1 = PT + (PS - P2).R2 = 5,25 + (210 - 187).1,42 = 50 bar QL =

v max .A 1 30.38,1 = = 68 l/p 16,7 16,7 35 35 = 84 l/p = 68. PS P2 210 187

Q R = Q L.

Nh vy khi chn van cn quan tm hai yu t quan trng l kh nng chu p sut v lu lng qua van, ngha l phi m bo c P 187 bar v QR 84 l/p. Bi ton trn nu tnh theo h Anh s cho cc gi tr sau : F= trong :
WL .a + FC + FE + FS 386

(lbf)

a = 52,5 ft/s2 = 630 in/s2 FC = WL.f = 2645x 0,32 = 846 lbf FE = 3930 lbf F=
26450x 630 + 846 + 3930 + FS = 9093 + FS 386

vi :

FS 0,10x 9093 909 lbf th F = 9093 + 909 10.000 lbf P1 =

PS .A 2 + R 2 (F + PT .A 2 ) A 2 1 + R3

(PSI)

3000.5,9 + 1,4 2 (10.000 + 75.5,9 ) = = 1728 PSI 5,9 1 + 1,4 3

3000 1728 P P P2 = PT + S 2 1 = 75 + = 724 PSI 1,4 2 R

QL =

v max .A 1 12x8,3 (usgpm) = = 26 usgpm 3,85 3,85 500 500 = 26. = 16 usgpm PS P1 3000 1728

Q R = QL.

Trng hp pittng lm vic theo chiu ngc li v vi cc gi thit nh tnh theo h mt, ta c : 173

P2 .A 2 .R 3 + F + PT .A 2 .R P2 = A 2 . 1 + R3

(PSI)

3000 x5,9.1,4 3 + 10000 + 75 x5,9 x1,4 = = 2678 PSI 5,9. 1 + 1,4 3

P1 = PT + (PS P2).R2 = 75 + (3000 2678).1,42 = 706 PSI QL =

Vmax .A 2 3,85
12 x5,9 = 18 usgpm 3,85

(PSI)

(usgpm) =

Q R = QL.

500 PS P2

(usgpm) = 18.

500 = 22 usgpm 3000 2678

7.1.2. H thy lc thc hin chuyn ng quay J

ML, MD

Q1 D

Q2

P2 P1 PS PT

Hnh 7.3. S tnh ton p sut v lu lng ca h thy lc chuyn ng quay H thy lc thc hin chuyn ng quay (hnh 7.3) cng c phn tch nh h chuyn ng thng. Mmen xon tc ng ln trc ng c du bao gm : - Mmen do qun tnh : Ma = j. , N.m (lbfin) (7.17) J - mmen qun tnh khi lng trn trc ng c du, (Nms2), (inlbs2). - gia tc gc ca trc ng c du, (rad/s2). - Mmen do ma st nht trn trc ng c du MD , (Nm), (lbfin). - Mmen do ti trng ngoi ML , (Nm), (lbfin). 174

- Mmen xon tng cng s l : M = J. + MD + ML , Nm (lbfin) (7.18) Theo phng php tnh ton nh h chuyn ng thng, p sut P1 v P2 trong h chuyn ng quay c xc nh theo cng thc sau : P1 =
10..M PS + PT , bar + D 2

(7.19) (7.20)

P2 = PS P1 + PT Nu tnh theo h Anh th : P1 =

.M PS + PT + D 2

, bar

, (PSI) , (PSI)

P2 = PS P1 + PT
n m .D 1000
n m .D 231

Lu lng lm quay trc ng c du vi vn tc nm l : QL = Theo h Anh : trong : QL = , l/p , (usgpm) (7.21)

nm - s vng quay ln nht ca trc ng c du, v/p; D - th tch ring ca ng c du, cm3/vg (in3/vg).

Lu lng cung cp ca van c xc nh l : Q R = QL.

35 PS P1 500 PS P1

l/p

(7.22)

Theo h Anh :

Q R = QL.

(usgpm)

Trng hp mmen xon tc ng theo c hai chiu th chiu ngc li cng c tnh tng t nh trn v ly gi tr ln nht QR chn van. V d 7.2: Xc nh lu lng cung cp ca van cho h thy lc chuyn ng quay c s nh trn hnh 7.4. Da vo cc cng thc tnh ton i vi h chuyn ng quay nh trnh by trn ta xc nh nh sau : Ma = J. = 0,2x100 = 20 Nm M = Ma + ML + MD = 20 + 30 + 6,5 = 56,5 Nm 175

P1 =

PS + PT 10..M 210 + 0 10..56,5 = 127 bar + + = 2 82 2 D n m .D 1000

P2 = PS P1 + PT = 210 127 + 0 = 83 bar QL =

= 95x82 = 7,8 1000

l/p

QR = QL.

35 35 = 50 l/p = 7,8x 210 127 PS P1

J
ML, MD Q2

Q1

P2 P1 PS PT = 0

Hnh 7.4. S v d v tnh ton p sut v lu lng ca h thy lc chuyn ng quay Cc s liu ca s trn hnh 7.4 l : nm = 95 v/p ; = 100 rad/s2; J = 0,2 N.m.s2 (1,77 lbfins2); ML = 30 N.m (266 lbfin) ; MD = 6,5 N.m (58 lbfin); D = 82 cm3/vg (5 in3/vg) ; PS = 210 bar (3000 PSI); PT = 0. Tnh theo h Anh : Ma = J. = 1,77.100 = 177 lbfin M = Ma + ML + MD = 177 + 266 + 58 = 501 lbfin P1 =
PS + PT 2 .M 3000 + 0 3,14x501 + = 1815 PSI + = 2 5 D

P2 = PS - P1 + PT = 3000 - 1815 + 0 = 1185 PSI QL =

n m .D 95x5 = = 2,1 231 231

usgpm

176

Q R = QL.

500 500 = 1,4 = 2,1x PS P1 3000 1815

usgpm

7.2. H s khuch i v p ng ca h iu khin t ng thy lc Chng 4 gii thiu nhng vn c bn ca mch iu khin t ng thy lc. Phn ny trnh by cc tnh ton cn thit v h s khuch i, thi gian p ng v quan h gia chng vi tn s ring. 7.2.1. H s khuch i KV ca h thng Mt thng s quan trng ca mch iu khin h kn l h s khuch i KV. Thc cht KV l hm truyn ca h ch xc lp. Nghin cu s iu khin v tr h thy lc chuyn ng tnh tin trn hnh 7.5 ta c :
Xylanh x(+)

B o in p Tn hiu phn hi

Van servo PS PT B khuch i B khuch i Tn hiu vo

Tn hiu vo

a)

Van servo

Xy lanh

Ti

V tr

B o in p

Tn hiu phn hi

b) Hnh 7.5. S mach iu khin v tr h thy lc chuyn ng tnh tin a- S nguyn l; b- S chc nng. 177

- H s khuch i ca b khuch i GA l t s gia tn hiu dng in ra v in p vo, mA/V. - H s khuch i ca van servo GSV l t s gia lu lng ra v dng in vo, (cm3/s)/mA.[theo h Anh (in3/s)/mA]. - H s khuch i ca xylanh GX l t s gia vn tc ca pittng v lu lng vo 1 1 (hoc 2 ) xylanh : (cm/s)/(cm3/s) = 2 cm in - H s khuch i phn hi Hx ca cm bin v tr kiu o in p l t s gia tn hiu in p phn hi o c v dch chuyn ca pittng, V/cm (hoc V/in). H s khuch i KV l : KV = GA.GSV.GX.HX Th nguyn theo h mt : KV = Th nguyn theo h Anh :
mA in 3 / s 1 V 1 1 KV = . . . = =s v mA in 2 in s mA cm 3 / s 1 V 1 1 . . . = =s v mA cm 2 cm s

(7.23)

(7.24)

V d 7.3: Xc nh h s khuch i KV ca mch iu khin v tr hnh 7.6.

60 cm2 (10 in2) L 50 cm (20in)

0V 6 (cm3/s)/mA [0,4 (in3/s)/mA]

+10V

+
0 110V 1000 mA/V

Hnh 7.6. S v d v tnh h s khuch i KV ca h thy lc iu khin v tr chuyn ng tnh tin 178

Theo cng thc : trong :

KV = GA. GSV.GX.HX GA = 1000 mA/v Gsv = 6 (cm3/s)/mA GX = HX =

1 1 1 = = 0,0167 A 60 cm 2 10 V = 0,2 V/cm 50 cm

th

KV = 1000x 6.x 0167x0,2 = 20 s-1 GA = 1000 mA/V ; GSV = 0,4 (in3/s)/mA

10 V 1 2 = 0,1 1/in ; HX = = 0,5 V/in GX = 20 in 10

Theo h Anh :

th

KV = 1000x 0,4x 0,1x 0,5 = 20 s-1.

7.2.2. Thi gian p ng ca h iu khin Cng v d v iu khin v tr, khi tn hiu vo l hm step th p ng ca h c th thay i theo hm m nh hnh 7.7a.
V tr Hng s thi gian

Tn hiu vo p ng 1 2 3 4 5

a)
Tn hiu vo Tn hiu vo

p ng t 1 2 3 4 5

p ng khng n nh

b)

c)

Hnh 7.7. p ng ca h vi cc ch khc nhau a- p ng thay i theo hm m; b - p ng dao ng tt dn; c - p ng dao ng tng dn, khng n nh. 179

ng tip tuyn ca p ng ti im xut pht ct ng tn hiu iu khin s cho ta khong thi gian v c gi l hng s thi gian.

Kho ng c ch di chuyn x 0 v Vn tc ban du 0

cm ; cm / s = s

(7.25)

p ng s t n gi tr iu khin sau khong thi gian l 5 . Ta bit rng khong di chuyn x0 bng tn hiu in p phn hi chia cho h s khuch i phn hi, ngha l : x0 =
u Hx v (v / cm ) = cm 1 A

(7.26) (7.27)

Vn tc ban u : v0 = u.GA.GSV. Nn =
u / Hx

(7.28) 1 1 u.G A .G SV . G A .G SV . .H X A A Theo (7.28) th hng s thi gian bng nghch o ca h s khuch i KV, ngha l khi tng h s khuch i KV th thi gian p ng s ngn. Tuy nhin nu KV tng qu ln th vn tc chuyn ng ca pittng s ln, dn n nh hng ca lc qun tnh s ng k v c th lm cho pittng chuyn ng vt qu v tr yu cu. vt qu s gim dn n v tr yu cu nu h n nh (hnh 7.7b). Nu KV qu cao v khng ph hp vi cc iu kin khc th h c th khng n nh (hnh 7.7c). h n nh v c thi gian p ng nhanh, cn quan tm cc yu t sau : - Khi lng m; - cng thu lc CH; - H s tt dn . Trong cc yu t trn, h s tt dn lin quan vi ma st c hc, s r du trong bung lm vic ca xylanh. Cc yu t ny kh xc nh c chnh xc v n c th thay i trong qu trnh my hot ng nn theo kinh nghim ly 0,05 0,3. Khi lng m v cng thy lc CH lin quan n tn s dao ng ring n ca cm xylanh - ti trng v xc nh l : n =
CH m

1 , (s) KV

(7.29)

Trong tnh ton thit k th tn s ring ca h thng S c th c xc nh t tn s dao ng ring ca cm xylanh- ti n. h lm vic n nh th KV < 2S. Tuy nhin khi KV < 2S th thi gian p ng s lu nn ngi ta chn :
max KV < S

(7.30)

180

Thc t, tn s ring ca van V cng nh hng n tn s ring ca h S. Tn s ca b khuch i v cm bin thng c gi tr rt ln nn t nh hng n tn s ring ca h v c th b qua. V vy c h s khuch i ph hp ta xt ba trng hp sau : - Trng hp A : Nu V > 3n th chn S = n v = 0,2 Kvmax = S = 0,2 S , (s-1) (7.31) - Trng hp B : Nu 3 n > V > 0,3 n th chn : S =
n .V v = 0,2 n + V

n .V KVmax = 0,2. + V n

, (s-1)

(7.32)

- Trng hp C : Nu n > 3 V th chn : S = V v = 0,4 KVmax = 0,4.S V d 7.5: Xc nh h s khuch i ln nht (KVmax) ca h thy lc chuyn ng tnh tin hnh 7.8. Cho tn s ring ca van fV = 40 Hz.
D 75 L = 1000 mm

, (s-1)

(7.33)

m
d38 l 1200 x 20 m = 1500 kg

l 50 x 20

PS

fV = 40 Hz

PT Hnh 7.8. S v d xc nh h s khuch i ca h thy lc chuyn ng tnh tin Theo v d 2.9.3 hnh 2.16, tn s ring n = 115 rad/s. Tn s ring ca van theo hnh 7.8 l : V = 2..40 = 251 rad/s So snh V v n ta thy V < 3n nn tn s ring ca h xc nh theo cng thc : n .V 115x 251 = = 78,9 rad/s S = n + V 115 + 251 H s khuch i s l : KVmax = 0,2.S = 0,2x78,9 = 16 s-1 181

7.3. Tnh ton sai s iu khin ca h 7.3.1. H thy lc iu khin v tr Chng 6 gii thiu v cc phng php iu khin v tr, vn tc v ti trng nn phn ny ch trng n phng php tnh ton cc thng s cn thit v sai s ca h iu khin. 1. Tn hiu vo l bc thang
60 cm2 (10in2) L = 50 cm (20 in)

GSV = 6 (cm3)/mA [0,4 (in3/s)/mA]

Van

0V Imax = 200 mA A+ GA = 500 mA/V

+10V

Hx = 10V = 0,2 V/m 50cm

a)
0V + 10V

u vo

b)
p ng Chiu tng KVX

Di chuyn ca u ra 25cm 23cm

t
V tr cn iu khin Di 2 cm

c)
V tr ra Tc khng i

t Hnh 7.9. S v d v c tnh ca iu khin v tr a- S v d; b- p ng th hin nh hng ca KVX; c - p ng biu din di sai s iu khin. 182

Nh gii thiu mc 7.3 vi tn hiu vo bc thang, khi tng KVX th p ng ca h s thay i nh trn hnh 7.9b. hiu c cc tnh ton cn thit i vi h iu khin v tr chuyn ng thng, ta nghin cu v d sau y. V d 7.6: Xc nh cc thng s v thi gian p ng ca h iu khin v tr hnh 7.9a khi tn hiu iu khin l 5 V. GA = C th u vo ca
u ra ca A u ra ca A u vo ca A = u vo ca A GA

(7.34)

A=

200 mA = 0,4 Vn 500 mA/V 50cm = 2 cm 10V

u vo 10 vn tng ng vi hnh trnh 50 cm th khi u vo 0,4 vn s tng ng vi hnh trnh : 0,4V.

V nu tn hiu vo 5 V s tng ng vi hnh trnh l :

5V.

50cm = 25 cm 10V V

Trong khong di chuyn 25 cm s c 25 cm 2 cm = 23 cm pittng di chuyn vi vn tc cc i v sau gim tc dng trong khong cui hnh trnh vi 2 cm cn li. Khi tnh thi gian p ng cn tnh hai khong thi gian, l thi gian chuyn ng vi vn tc cc i thc hin hnh trnh 23 cm v thi gian 5 thc hin hnh trnh 2 cm (c th c dao ng tt dn ). Khong 2 cm duy tr chuyn ng tt dn trong thi gian 5 gi l di t l (hnh 7.9c).
G SV = QL I

cm3 / s 3 Q L = 6. mA . 200 (mA) = 1200 cm /s

vnax =

Q L 1200(cm 3 / s) = = 20 cm/s A1 60(cm 2 )

Khi hnh trnh 23 cm chuyn ng vi vn tc l 20 cm/s th mt ht thi gian l : t= H s khuch i KV : 183

23 = 1,15 s 20

cm 3 / s 1 1 v mA . 2 .0,2 KVX = GA.GSV.GX.HX = 500 .6 = 10 s-1 v mA 60 cm cm

Hng s thi gian :

1 1 = = 0,1 s K VX 10

Vy thi gian thc hin ton b hnh trnh 25 cm ng vi tn hiu vo 5 vn l : T = t + 5 = 1,15 + 5x0,1 = 1,65 s u vo tnh theo h Anh : A=
200 = 0,4 vn 500 20 = 0,8 in 10

C 10 Vs tng ng vi 20 in di chuyn th 0,4 V s tng ng 0,4x di chuyn v di t l l : 0,8 in

20 = 10 in 10 QL QL = 200 x 0,4 = 80 in3/s I Q L 80 = = 8 in/s A1 10

Khi tn hiu iu khin l 5 vn s tng ng vi hnh trnh di chuyn l : 5x

Khong hnh trnh di chuyn vi vn tc cc i l : 10 0,8 = 9,2 in GSV = vmax =

Thi gian di chuyn 9,2 in vi vn tc cc i l : t= H s khuch i :

9,2 = 1,15 s 8 in 3 / s 1 1 v .0,5. = 10 s-1 2 mA . 10 in in

mA KVX = 500. .0,4 v 1 1 = = 0,1 s K VX 10

Hng s thi gian : = Vy

T = t + 5 = 1,15 + 5 x 0,1 = 1,65 s

2. Tn hiu vo l hm tuyn tnh (bc nht hay gi l hm dc) Tn hiu vo l hm tuyn tnh c ng dng iu khin h thng khi cn gim s dao ng ca qu trnh qu . p ng ca dng iu khin ny th hin hnh 7.10a, trn ta thy sau giai on qu , p ng ca h bm st tn hiu vo vi khong cch x. x gi l sai s iu khin ca h trng thi lm vic n nh. 184

Tn hiu vo

p ng x

Tn hiu vo Dao ng Tng h s khuch i KVX

a)

b)

Hnh 7.10. p ng ca h iu khin v tr khi tn hiu vo l hm tuyn tnh a- th th hin sai s; b- th th hin s thay i ca c tnh khi tng h s khuch i KVX V c bn vi tn hiu vo l tuyn tnh th vn tc chuyn ng ca pittng l khng i. ln ca sai s x c xc nh l : x = trong :
v K VX

, cm

(in)

(7.35)

v - vn tc di chuyn, cm/s (in/s); KVX - h s khuch i ca h iu khin theo v tr, s-1.

Theo (7.35) sai s tng nu v tng v sai s gim nu KVX tng. Tuy nhin nu KVX tng qu ln h s khng n nh (hnh 9.10b), h n nh ta chn KVXmax l : KVXmax = .S , (s-1) (7.36) c tnh ng lc hc ca h rt quan trng, n lin quan n s n nh ca h. S dao ng ca c tnh ng lc hc b nh hng bi cc yu t sau : - Hin tng t tr ca van. - S thay i ca nhit v p sut du. - Hin tng trt tn hiu ca van khi o chiu. - chnh xc v phn gii ca cm bin. - Ngoi ra cn b nh hng ca mt s thng s lin quan n b khuch i. - Cc nh hng ca ti trng ngoi nh s thay i ca ti trng ; mt mt do ma st ; khe h gia cc b phn khng u... Cc yu t gy ra sai s x, cc sai s thnh phn c xc nh nh sau : * Sai s v tr do van : xu = 0,04.
Q Rp K VX .A

, cm (in)

(7.37)

185

trong :

QRp - lu lng ca van ti p sut lm vic, cm3/s (in3/s); A - din tch ca pittng, cm2 (in2); KVX - h s khuch i ca h iu khin theo v tr, s-1. QRp = QR.
PS 70

, ,

l/p (usgpm)

(7.38)

hoc :

QRp = QR.

PS 1000

* Sai s v tr do ti trng ngoi : xE = 0,02

Q RP FE . K VX .A PS .A

, cm

(in)

(7.39)

trong : FE - ngoi lc do ti, daN (lbf); PS - p sut cung cp ca h, bar (PSI). * Sai s do cm bin v tr xH. Vy sai s tng cng l : x = xU + xE + xH , V d 7.7: Xc nh sai s v tr ca h iu khin hnh 7.11.
FE = 6000 daN (13200 lbf)

cm

(7.40)

QR = 60 l/P [16 usgpm]

Tn hiu phn hi

60 cm2 [10 in2] PS Tn hiu vo KVX = 30 s-1 PS = 140 bar [2000 PSI]

Hnh 7.11. S v d xc nh sai s v tr ca h thy lc chuyn ng tnh tin QRP = QR

PS 140 1000 = 60. = 85 l/p hay QRP = 85. = 1417 cm3/s 70 70 60

xu = 0,04

Q RP 1417 = 0,03 = 0,04. 30 x 60 K V .A1

cm

186

xE = 0,02

Q RP FE 1417 6000 = 0,011 cm = 0,02. . . 30 x 60 140 x 60 K VX .A1 PS .A1

Nu xH = 0 th sai s tng cng l : x = xu + xE = 0,3 + 0,11 = 0,41 mm Tnh theo h Anh : QRP = QR
PS 2000 231 = 60. = 22,6 usgpm = 22,6. = 87 1000 1000 60
Q RP 87 = 0,012 in = 0,04. 30 x 60 K VX .A1 Q RP FE 13200 87 = 0,004 in = 0,02. . . 30 x10 2000 x10 K VX .A1 PS .A1

in3/s

xu = 0,04

xE = 0,02

Sai s tng cng l :

x = xu + xE = 0,012 + 0,004 = 0,016 in

7.3.2. H thy lc iu khin vn tc H thy lc iu khin vn tc c s khi v c bn ging h iu khin v tr, ch khc l b khuch i ca iu khin vn tc l iu khin theo tch phn I. Trong cm bin vn tc bin tc thnh tn hiu in p phn hi (hnh 7.12).
B khuch i

Tn hiu vo

Van servo

Xylanh-ti

Vn tc

Cm bin tc

a)

Tn hiu vo

p ng vn tc x

b)

Hnh 7.12. S khi v p ng ca h iu khin vn tc a- S khi; b- p ng vn tc. 187

H s khuch i : KVV = GA.GSV.GX.HV Th nguyn theo h mt :

cm 3 / s 1 v n mA / s KVV = . 2 . . = s-1 v mA cm cm / s

(7.41)

(9.42)

Th nguyn theo h Anh :

in 3 / s 1 v n mA / s KVV = . . 2 . = s-1 v mA in in / s

Khi h s khuch i KVV tng th gia tc chuyn ng s tng. Cc yu t nh hin tng t tr, qu trnh chuyn i ca van (o chiu) cng nh s thay i ca ti trng ngoi s khng nh hng n sai s vn tc ch xc lp. phn gii v sai s tuyn tnh ca cm bin tc l yu t trc tip gy ra sai s vn tc iu khin. Tng t nh iu khin v tr, nu tn hiu vo l hm tuyn tnh th p ng vn tc s c sai s v sai s ph thuc vo h s khuch i v gia tc ca h (hnh 7.12b). ln ca sai s vn tc v xc nh nh sau : v = trong :
a K VV

, cm/s (in/s)

(7.43)

a- gia tc chuyn ng, cm/s2; KVV - h s khuch i ca h iu khin theo vn tc, s-1.

7.3.3. H thy lc iu khin ti trng H thy lc iu khin lc i vi chuyn ng thng hoc iu khin m menxon i vi chuyn ng quay ngoi vic dng cc loi cm bin o trc tip lc hoc mmen xon c th dng cm bin o gin tip qua p sut lm vic. Nh gii thiu mc 4.3, iu khin ti trng theo p sut c th thc hin nh sau : - Vi xylanh c kt cu i xng hoc ng c du th ng dng s iu khin nh hnh 7.13a, b. - Vi xylanh c kt cu khng i xng th ng dng s hnh7.13c.

188

Tn hiu phn hi Van Van

Tn hiu phn hi

a) b)

+
Van

Tn hiu phn hi

c) Hnh 7.13. S iu khin theo p sut a v b - S dng mt cm bin p sut; c- S dng hai cm bin p sut. Tng t nh mch iu khin v tr v vn tc, mch iu khin theo ti trng c h s khuch i c xc nh theo cng thc : KVP = GA.GSV.GX.HP (s-1) Sai s iu khin theo ti trng ch xc lp b nh hng bi : - S r du t van n xylanh (hoc ng c du). - Hin tng t tr, s chuyn i v tr ca con trt v s trt c tnh khi o chiu con trt. - S di chuyn ca xylanh (hoc quay ca ng c du ).v.v. 189 (7.44)

Sai s p sut do cc yu t trn gy nn c xc nh nh sau : 1- Sai s p sut do van b r du (PD) PD = 2.10-5. trong : CH - cng ca b truyn ng thy lc (xylanh hoc ng c du), (N/m); QRP - lu lng ca van ti p sut lm vic, (cm/s); A1 - din tch lm vic ca pittng, (cm2); KVP - h s khuch i ca h iu khin theo ti trng, (s-1); PAB - hiu p gia hai bung lm vic ca xylanh, (bar); PS - p sut cung cp cho van (bar). Nu tnh theo h Anh : PD = 2.10-2.
Q RP .C H PAB , (PSI) 2 . A . K 1 VP PS Q RP .C H PAB , bar 2 . P A . K 1 VP S

(7.45)

Vi th nguyn l : QRP (in3/s); CH (lbf/in); A1 (in2); KVP (s-1); PAB (PSI); PS (PSI). 2. Sai s p sut do sai s c tnh ca van (hin tng t tr, vng chuyn i ca con trt...) PU = 4.10-5 Nu tnh theo h Anh : PU = 4.10-2
Q R .C H 2 , (PSI) A1 .K VP .v , Q RP .C H 2 , A1 .K VP

bar

(7.46)

3. Sai s p sut do h truyn ng (xylanh hoc ng c du) PE =

1 CH . 1000 A1 .K VP

bar

(7.17)

trong v l vn tc di chuyn ca xylanh, cm/s. Nu tnh theo h Anh : PE =

CH .v A1 .K VP

, (PSI)

Vy sai s p sut tng cng s l : P = PD + PU + PE , 190 bar (7.48)

Trn y l sai s p sut iu khin khi tn hiu vo l hm bc thang (step), cn nu iu khin p sut theo tn hiu vo l tuyn tnh (hm dc) th sai s c xc nh theo cng thc sau : PR = trong :
P / t K VP

bar

(7.49)

P - tc thay i p sut, c th nguyn l bar/s (hoc PSI/s); t

KVP - h s khuch i ca h iu khin theo ti trng (s-1). V d 7.8: Xc nh sai s p sut tng cng ca h thy lc hnh 7.14.
A1 A2 L = 50 cm (20 in)

m
F VL1

VL2 QR = 57 l/p [15 usgpm] fV = 60 Hz

v = 12 cm/P (4,75 in/p)

Van
A1 = 300 cm2 (46,5 in2) A2 = 200 cm2 (31 in2) VL1 = 1000 cm3 (61in3) VL2 = 1000 cm3 (61in3)

Hnh 7.14. S v d tnh sai s ca mch iu khin p sut

Tnh theo h mt : cng thy lc c xc nh l :

2 2 A1 A2 CH = B. + L L V + .A V + .A L1 1 L2 2 2 2 2 2 200 300 = 2,4.108 N/m = 1,4.107. + 1000 + 50 .300 1000 + 50 .200 2 2

191

Tn s dao ng ring ca xylanh : n =

CH 2,4.108 = = 690 rad/s m 500

Tn s ring ca h S c xc nh nh sau : fv = 60 Hz V = 260 = 377 rad/s Ta thy V < 3n nn ta chn S l : S =

n .V 690x377 = 244 rad/s = n + V 690 + 377

H s khuch i ca h l : KVP = 0,2.S = 0,2 x 244 = 50 s-1 Lu lng ca van ti p sut lm vic l : QRP = QR.
PS 1000 100 = 57. = 1135 cm3/s 60 70 70

st p do sai s ca c tnh ca van l : PU = 4.10-5

8 Q RP .C H -5 1135x 2,5x10 = 4.10 . 2 300 2 x 50 = 2,4 A1 .K VP

bar

st p do di chuyn ca pittng- xylanh l : PE =

1 CH 1000 A1 .K VP
1 2,4 x108 12 = = 3,2 . v . 1000 300 x 50 60

bar

Sai s p sut tng cng (nu khng tnh n PD) l : P = PU + PE = 2,4 + 3,2 = 5,6 bar Tnh theo h Anh :
2 2 46 , 5 32 = 1,3.106 lbf/in CH = 2.105 + 20 20 61 + .46,5 61 + .31 2 2

n =

1,3.106 = 690 rad/s 1100 / 386

V = 2.60 = 377 rad/s V V < 3n nn tn s dao ng ring ca h l :

192

S =

n .V 690x377 = 244 = n + V 690 + 377

rad/s s-1

KVP = 0,2 S = 0,2 x244 = 50 QRP = QR.

PS 231 1450 =15 = 69,5 in3/s 1000 60 1000

690 x1,3x10 6 2 = 34,5 PIS 46,5 x 50

PU = 4.10-2 PE =

1.3x10 6 4,75 = 45,6 . 46,5x 50 60

PSI

Sai s p sut tng cng l : P = PU + PE = 34,5 + 45,6 =80,1 PSI Trn y l nhng cng thc v v d v tnh sai s iu khin ca h chuyn ng thng, i vi h thy lc chuyn ng quay th trong cc cng thc A1 c thay bng Dm =
D 2.

7.4. Phn tng hp tnh ton ca h thy lc chuyn ng thng v h chuyn ng quay 7.4.1. H thy lc chuyn ng tnh tin

x, v
S A1 A2

M
A PAB B HFB

FE Phn hi

VL1

VL2

Tn hiu vo

QR
PS GSV GA

A A

1 2

Hnh 7.15. S mch iu khin ca h chuyn ng tnh tin 193

 cng thy lc :
2 A1 A2 2 + CH = B. V + A .x ( ) + V A . S x 1 0 L2 2 0 L1

Tn s dao ng ring ca cm truyn ti : n =

CH m

Tn s dao ng ring ca van : V = (tn s ti im chuyn i pha 900) x (h s hiu chnh p sut lm vic).
1. iu khin v tr

Sai s v tr do van gy nn :
Q xU = 0,04 RP K Vx .A

Sai s v tr do ngoi lc :
Q F xE = 0,02. RP . E K Vx .A PS .A

Sai s tng cng nu khng k n sai s cm bin s l : x = xU + xE. Sai s ln nht trng thi n nh vi tn hiu tuyn tnh : xS =
v KV
max S = n v K Vx = 0,2 S

- H s khuch i KVX tnh nh sau : khi khi khi V > 3 n 0,3 n < V < 3 n V < 0,3 n
n .V max v K Vx = 0,2 S n + V

S =

max S = n v K Vx = 0,4 S

2. iu khin vn tc

- H s khuch i KVV tnh nh sau : khi khi V > 3 n 0,3 n < V < 3 n
max S = n v K VV = 0,2 S

S = 194

n .V max v K VV = 0,2 S n + V

khi - Sai s v tr :

V < 0,3 n

max S = n v K VV = 0,4 S

x = xU + xE + xFB = 0
a K VV

- Sai s vn tc trng thi n nh vi tn hiu tuyn tnh : vF =

3. iu khin p sut

, (a l gia tc di)

- H s khuch i KVP tnh nh sau : khi khi khi V > 3 n 0,3 n < V < 3 n V < 0,3 n
max S = n v K VP = 0,2 S

S =

n .V max v K VP = 0,2 S n + V

max S = n v K VP = 0,4 S

- Sai s p sut do c tnh ca van :

C .Q , PU = 4.10-5 H RP 2 K VP .A

(bar)

hoc :

C .Q PU = 4.10-2 H RP , 2 K VP .A

(PSI)

- Sai s p sut do r du :
C .Q PAB . PD = 2.10-5 H RP , (bar) 2 P K . A VP S

hoc :

C .Q PAB PD = 2.10-2 H RP . , (PSI) 2 P K . A VP S 1 CH . .v 1000 K VP .A

- Sai s p sut do ngoi lc : PE = , (bar)

hoc :

CH PE = K .A .v VP

, (PSI)

- Sai s p sut tng (khng tnh n sai s do cm bin gy nn) : P = PU + PD + PE - Sai s p sut trng thi n nh vi tn hiu vo tuyn tnh :

195

PF =

P / t K VP

7.4.2. H thy lc chuyn ng quay

m nm J MD VL1 VL2 HFB ML D

T
A QR PS

Tn hiu phn hi

PAB B Tn hiu vo

+
GSV GA

Hnh 7.16. S mch iu khin ca h chuyn ng quay

cng thy lc :
2 B D 1 1 CH = . + D D 10000 2. VL 2 + VL1 + 2 2 2 D 1 1 CH = B. + D 2. V + D L1 2 VL 2 + 2

theo h mt

theo h Anh

Tn s dao ng ring ca cm truyn ti : n =

CH J

Tn s dao ng ring ca van : V = (tn s ti im i pha 90) x (h s hiu chnh p sut lm vic)
1. iu khin v tr

- H s khuch i KV tnh nh sau : 196

khi khi khi

V > 3 n 0,3 n < V < 3 n V < 0,3 n

max S = n v K V = 0,2 S

S =

n .V max v K V = 0,2 S n + V

max S = n v K V = 0,4 S

- Sai s v tr do c tnh ca van :

Q RP U = 0,04. K . D V 2

- Sai s v tr do mmen xon bn ngoi gy nn :

Q M RP L . E = 0,2. D K . D PS . V 2 2 Q M RP L . E = 0,02. D D K . PS . V 2 2

theo h mt

theo h Anh

- Sai s v tr tng cng nu khng k n sai s ca cm bin : = U + E - Sai s ln nht trng thi n nh vi tn hiu vo tuyn tnh : F =
2. iu khin vn tc
K V

- H s khuch i KV tnh nh sau : khi khi khi - Sai s v tr : = U + E + FB = 0 - Sai s vn tc trng thi n nh vi tn hiu tuyn tnh : 197 V > 3 n 0,3 n < V < 3 n V < 0,3 n
max S = n v K V = 0,2 S

S =

n .V max v K V = 0,2 S n + V

max S = n v K V = 0,4 S

 F =

K V

vi l gia tc gc

3. iu khin p sut

- H s khuch i KVP tnh nh sau : khi khi khi V > 3 n 0,3 n < V < 3 n V < 0,3 n
max S = n v K VP = 0,2 S

S =

n .V max v K VP = 0,2 S n + V

max S = n v K VP = 0,4 S

- Sai s p sut do c tnh ca van :

- 5 C H .Q RP PU = 4.10 . 2 D K . VP 2
- 2 C H .Q RP PU = 4.10 . 2 D K VP . 2

theo h mt

theo h Anh

- Sai s p sut do r du :
- 5 C H .Q RP PAB PD = 2.10 . 2 D PS K VP . 2 C . Q P PD = 2.10- 2. H RP 2 AB D PS K . VP 2

theo h mt

theo h Anh

- Sai s p sut do mmen xon bn ngoi gy nn :

CH 1 .v PE = 10000 D K VP . 2

theo h mt

198

 CH PE = D K . VP 2

.v

theo h Anh

Sai s p sut tng cng : P = PU + PD + PE Sai s p sut trng thi n nh vi tn hiu tuyn tnh : PF =
P / t . K VP

7.5. m hnh v k hiu c tnh ca Cc khu thng gp

7.5.1. Khu khuch i (P)

Xe l1 Xa = l2 Xe = KP.Xe Xa Xe Xa

l1

l2

(P)

a)

b)

Hnh 7.17. S v d v k hiu c tnh ca khu khuch i

a- S v d; b- K hiu c tnh ca p ng. n by hnh 7.17 hot ng nh mt b khuch i (p) vi h s khuch i l KP. Hoc lc qun tnh v gia tc quan h l F = m.a; in p v dng in quan h l U = R.I u l cc khu khuch i, c th gi l cc phn t P.
7.5.2. Khu qun tnh (P - T1)

M hnh tnh ton ca khu qun tnh P - T1 c dng : T.

dx a + X a = K.Xe dt

(7.50)

V d xylanh thy lc c pittng mang khi lng m chuyn ng vi vn tc v th phng trnh cn bng lc l : m.
dv = F f .v dt

vi f l h s ma st nht

(7.51)

199

f m

v F

a)
K Xe 0,63 K (P-T1) T Xa

t b) c)

Hnh 7.18. S v d v k hiu c tnh ca khu qun tnh

a- S v d; b - c tnh; c - K hiu. Nu vit theo ton t Laplace th ta c :

m F(s) .s.v(s) + v(s) = f f

(7.52) (7.53)

hay :

v(s) 1/ f K = = F(s) m .s + 1 T.s + 1 f

7.5.3. Khu dao ng (P - T2)

M hnh ton c dng :

d 2 .x a dx T . 2 + 2.D z .T. a + x a = K.xe dt dt
2

(7.54)

trong :

T - hng s thi gian; Dz - h s tt dn; K - h s khuch i.

V d m hnh ca cm xylanh thy lc nh trn hnh 7.19 c phng trnh lc l : m

dx d2x = F f . C.x 2 dt dt

(7.55) (7.56)

1 m d 2 x f dx . 2 + . + x = .F C dt C dt C

200

x m
F

a)
K

Dz>1

K
Xe Dz <1 Xa

t b) c)

(P-T2)

d)

Hnh 7.19. V d v k hiu c tnh ca khu dao ng

a - S v d; b,c - c tnh; d - K hiu. Nu t T= Dz =

m f 1 ; 2Dz.T = ;K= . C C C
f 1 ; 0 = . T 2. m.C

(7.57)

th phng trnh (7.56) s l :

T2. d2x dx + 2D z T. + x = K.F 2 dt dt

(7.58)

- Khi Dz >1 th c tnh thi gian c dng nh hnh 7.19b, c tnh ny ch c ngha v mt ton hc. - Khi Dz <1 th c tnh thi gian c dng nh hnh 7.19c, y l trng hp gp trong thc tin. Vi tn s l : n = 1 D z 2 .0 =
7.5.4. Khu tch phn (I)
1 Dz T
2

(7.59)

M hnh ton ca khu tch phn th hin l tn hiu ra bng tch phn ca tn hiu vo : Xa = KI. x e (t )dt (7.60)

KI l h s khuch i ca khu tch phn.

V d : Hnh trnh ca pittng- xylanh tnh theo lu lng vo l :
1 . Q.dt = K I . Q.dt A

S=

(7.61)

201

A l din tch ca pittng v KI l h s khuch i ca khu tch phn. Gc quay ca trc ng c du ph thuc vo vn tc gc ca chng l : = K0. .dt B truyn vt me ai c c quan h nh sau : S = tx. n.dt
m
S - Hnh trnh

(7.62)

(7.63)

tx

a) s
Xe Xa

t b)

(I)
c)

Hnh 7.20. S v d v k hiu c tnh ca khu tch phn

a- S v d; b- c tnh; c- K hiu . Nu s vng quay n khng i th S = tx. n.t.

7.5.5. Khu vi phn (D)

M hnh ton ca khu vi phn th hin tn hiu ra t l vi vi phn tnh hiu vo : xa = KD.
dx e dt

(7.64)

V d quan h gia dng in v in p qua t in C th hin theo cng thc l : du du (7.65) Ic = C. c = K D . c dt dt trong : KD = C - h s khuch i ca khu D; Ic - dng in l tn hiu ra; Uc- in p l tn hiu vo. 202

IC UC C

Xe

Xa

(D)

c) Hnh 7.21. S v d v k hiu c tnh ca khu vi phn

a)

a- S v d; b- K hiu.
7.5.6. Phn t tr theo thi gian (Tt) V d : Cn bng nh lng trn hnh 7.22a c cc phng trnh m t sau :
Phu Cn bng nh lng Xe x L
(t)

v(t)

Xa(t)
A - Din tch b

h(t)

Xa

a)
Xe

B cha

Xa

(Tt) t b) c)

Hnh 7.22. S v d v k hiu c tnh ca khu Tt

a- S v d;

b- c tnh; c- K hiu.

Thi gian vt liu i ht qung ng L trn cn bng l : Tt =

L , vi L- chiu di bng ; v - vn tc bng v

(10.17)

203

Chiu cao vt liu trong b cha :

1 h(t) = X a dt A0

(7.66) (7.67) (7.68)

Xa(t) = Xe (t Tt) hay :

7.5.7. Cc khu phi hp

h(s) = L-1[h(t)]=

1 . e S. Tt A.S

Ngoi cc khu trn, trong b khuch i cn c cc khu sau :

- Khu iu chnh PI :
X a (s) K = KP + I X e (s) S

(7.69)

KI KP 1

Xe

Xa

(PI)

t b)

a)

Hnh 7.23. c tnh v k hiu ca khu PI

a- c tnh; b- K hiu.
- Khu iu chnh PD :
X a (s) = KP + KD.S X e (s)

(7.70)

Xa

KP

a)

t b)

Hnh 7.24. c tnh v k hiu ca khu PD

a - c tnh ; b - K hiu.
Khu iu chnh PD - T1 :
1 X a (s) = (KP + KD.S). X e (s) T1 .S + 1

(7.71)

204

KD T1 KP T1

Xe Xa

b) a) Hnh 7.25. c tnh v k hiu ca khu PD - T1

a - c tnh ; b - K hiu.
Khu iu chnh PID :
K X a (s) = KP + I + KDS X e (s) S

(7.72)

KI KP

Xe

Xa

t a) b) Hnh 7.26. c tnh v k hiu ca khu PID

a - c tnh; b - K hiu.
- Khu iu chnh PID - T1 :
K 1 X a (s) = (KP + I + KDS). X e (s) S T1 .S + 1

(7.73)

KD T

Xe

KP
T1

Xa

t a)

b)

Hnh 7.27. c tnh v k hiu ca khu PID - T1

a - c tnh; b - K hiu. 205

7.6. Mt s v d v s khi m t c tnh ng lc hc v m t bng ton hc ca cc phn t trong mch iu khin t ng thy lc

7.6.1. S khi v c tnh ng lc hc

S c tnh ng lc hc ca h thy lc chuyn ng quay iu khin v tr th hin hnh 7.28a.

B khuch i Van servo P Truyn ng c kh Q ng c du

XW

MU

XF

Cm bin v tr

a)
B khuch i Van servo Xylanh thy lc

p
w XW

X .

XF

b)

Hnh 7.28. S khi th hin c tnh ca h iu khin thy lc

a- H chuyn ng quay; b- H chuyn ng thng. trong : - B khuch i l khu PID - T1; - Van servo l khu PT2; 206

- ng c du gm hai khu l : P - T2 v khu I ; - Cm bin v tr l khu P. S c tnh ng lc hc ca h thy lc chuyn ng thng iu khin v tr th hin hnh 7.28b, trong b khuch i l khu PI cn cc khu khc ging trng hp hnh 7.28a.
7.6.2. S khi m t ton hc
I

UF

UW
X,X

Van servo Xylanh

.
M
F

Cm bin

v tr

FS

a)
B khuch i Xylanh Van servo
KQ 1+ 2d v v .S + s 2 2 z

UW

KP.KI

Q+

1/ A 1+ 2Dz z .S + S 2 2 z

1 S

UF

+ -

Cm bin v tr

K PQ A

KH b)

207

B khuch i

Van servo

Xylanh

UW

KP.KI

KQ

1 A

. X .dt

UF Cm bin v tr K PQ A KH

c)

Hnh 7.29. S khi m t ton hc ca cc phn t iu khin ca mch iu khin v tr

a - S nguyn l hot ng; b - S khi m t ton hc ca qu trnh ng lc hc; c - S khi m t ton hc ca qu trnh xc lp. Trong qu trnh ng lc hc, cc thng s ph thuc thi gian s mt i ch cn li cc thng s khng ph thuc vo thi gian, tc l ch tn ti cc h s khuch i. Nn hnh 7.29b khi trng thi xc lp s l hnh 7.29c. H s khuch i ca h l :
1 .KH A KP - h s khuch i ca b khuch i;

KV = KP.KI.KQ.

1/s

(7.74)

trong :

KI - h s khuch i cng sut; KQ - h s khuch i lu lng; A - din tch ca pittng; KH - h s khuch i ca cm bin v tr ; KPQ =
KQ KP

cm 3 / s - h s khuch i p sut - lu lng; bar

V - tn s ring ca van; dV - h s tt dn ca van; x - hnh trnh iu khin.

z - tn s ring ca xylanh; DZ - h s tt dn ca xylanh.;

208

7.6.3. Mt s v d v s m t chc nng ca cc phn t iu khin trong mch iu khin thy lc

X Hnh trnh

9
M

v=
t

x t
t
X U 4 T A B 7

3
1 1 U 5

p 6

Chy B pht Rampe RA1

B phn khuch i ca van servo

Hnh 7.30. S ca mt mch iu khin v tr bng xylanh thy lc

(1) -Bin tr iu chnh in p vo (Potentionmetre); (2) -B khng ch; (3) -B khuch i tng thch; (4) -Cm bin v tr (hnh trnh- in p); (5) -B iu chnh PI; (6) -B khuch i cng sut (in p-dng); (7) -Van servo; (8) -Xylanh; (9) -Bn my.

209

9 8

10 PI -X XW

6
A B

1
U W

Hnh 7.31. S mt mch iu khin vn tc ca ng c du

(1) - Bin tr iu chnh in p vo (Potentionmetre); (2) - B pht Rampe (b khng ch)- RA1; (3) - B o tn hiu; (4) - B tng; (5) - B khuch i cng sut (in p- dng); (6) - Van t l; (7) - ng c du; (8) - Cm bin tc quay (my pht tc hay gi Dinamo tachymtrique); (9) - B khuch i tng thch; (10)- B iu chnh PI.

210

V
A B

II

1
X XW U I

4
B phn khuch i ca van servo

3 a)

R1 XW R0

C y

b)
Hnh 7.32. S ca mt mch iu khin tc ca xylanh thy lc.

a- S ; b - S b khuch i v lm u PI. (1) - Bin tr iu chnh in p vo; (2) - B khng ch (pht Rampe RA1); (3) - B iu chnh PI (hay gi l b lm u PI); (4) - B khuch i cng sut (in p U - dng in I); (5) - Van servo; (6) - Xylanh thy lc; (7) - Cm bin tc (Capteur de vitesse); (8) - B khuch i tng thch RA1; (9) - B khuch i giao hon BG1. 211

6 8

7
P P U

5
A B

II
T p

1
W

-X XW

U I
4

Chy

Hnh 7.33. S ca mt mch iu khin p sut ca h thu lc chuyn ng tnh tin (7) l cm bin p sut (Capteur de pression) cn cc k hiu khc ging s hnh 7.32.

Trong iu khin p sut nh hnh 7.33 ta c : - H s khuch i ln nht l : GP = 2.dV.V.TP trong : dV - h s tt dn ca van; V - tn s ring ca van (1/s); TP - hng s thi gian ca iu khin p sut. Vi TP xc nh nh sau : Q V TP = ; K PQ = max Pmax B.K PQ 3 trong : V- th tch du c p sut, (cm ); B- mun n hi ca du 1,4.105 , (N/cm2); 212

(10.27)

(10.28)

(cm 3 /s) KPQ- h s khuch i p sut / lu lng ca van , . bar 1 - H s khuch i ti u thng ly nh sau : GP0 GP 3

(10.29) (10.30) (10.31)

- Bin AV ca con trt : - H s tt dn dV :

AV = 20log ( dV = 10

1 ) 2d V

(A V / 20) 2

213

Cc k hiu, n v v ngha c bn trong cc cng thc

K hiu a AP (A1) AR (A2) B CH (CH) Dm D fV fn FE FS FC GA GAI GV Hx (KC) H HV H HP J n v H mt cm/s2 cm2 cm2 rad/s N/m N.m/rad cm3/vg cm /rad Hz Hz daN daN daN mA/v (mA/s)/v (cm3/s)/mA V/cm V/rad V/(cm/s) V/(rad/s) V/bar N.ms2
3 2

ngha

H Anh in/s2 in2 in2 rad/s

2

Gia tc di Din tch pittng pha p sut cao Din tch pittng pha p sut thp Gia tc gc Mun n hi ca du cng thy lc ca h chuyn ng thng cng thy lc ca h chuyn ng quay Th tch ring ca ng c du H s kt cu ca ng c du Tn s ring ca van Tn s ring ca b truyn ti (xylanh hoc ng c du) Ngoi lc Lc ma st trong xylanh Lc ma st ca b phn ti H s khuch i ca b khuch i H s khuch i tch phn H s khuch i ca van H s khuch i ca cm bin v tr chuyn ng thng H s khuch ca cm bin o gc quay H s khuch i ca cm bin o vn tc di H s khuch i ca cm bin o vn tc gc H s khuch i ca cm bin p sut Mmen qun tnh khi lng

kg/cm.s2

lbf/in2 lbf/in lbfin/rad in3/vg in /rad Hz Hz daN daN daN mA/v (mA/s)/v (cm3/s)/mA V/in V/rad V/(in/s) V/(rad/s) V/PIS inlbf.s2 214
3

KV WL m M P P/t P Q V VL1, VL2 V1, V2 x nm

s-1 kg.cm/s kg N.m bar bar/s bar cm /s cm/s cm3 cm3 rad/s rad/s cm rad vg/p
3 2

s-1 lbf lbfs2/in Inlbf PSI PSI/s PSI in /s in/s in3 cm3 rad/s rad/s In rad vg/p
3

H s khuch i h thng Trng lc Khi lng Mmen xon Hiu p Tc bin i p sut
p sut

Lu lng Vn tc chuyn ng thng Th tch du trong ng ng Th tch du trong cc bung ca xylanh Vn tc gc Tn s ring Sai s v tr chuyn ng thng Sai s gc quay S vng quay ca ng c du

215

ti liu tham kho

[1] [2] [3] [4] [5] [6] [7] [8] [9] Clarence W.de Silva, Control sensors and actuators, Prentice Hall. Inc. Printed in USA, 1989. Wayne Anderson, Controlling eletrohydraulic systems, Printed in USA, 1988. M. Guillon, Hydraulic servo systems analysis and design, London, Butterworths, 1969. Jack L. Johnson, PE, Design of electrohydraulic systems for indutrial motion control. Senior lecturer, Milwaukee School of Engineering, USA , 1991. Russell W. Henke, P.E, Fluid power systems & circuits, printed in USA, 1983. Herbert E.Merritt, Hydraulic control systems, Printed in USA, 1967. William J.Palm, Modeling, analysis and control of dynamic systems, printed in USA, 1983. Richard C. Dorf, Robert H. Bishop, Modern control systems. Wesley publishing company, Inc, printed in the USA, 1998. S. Le Quoc, Professor, University of Quebec (ETS), Montreal, Canada. Tuning an electrohydraulic servovalave to obtain a high amplitide ratis and a low resonance peak. The Journal of fluid control, Volume 20, Number 3, March 1990 (30 - 47) BD90, BD95 servo amplifier installation guide, Bulletin N0.IG 1463-000/USA, Parker electrohydraulic. Vickers. Closed loop electrohydraulic systems manual, Frist edition 1993. Printed in USA. DAQ.Lab-PC+User manual, National instruments corporation, June, 1996. DAQ. SC-207X Series user manual, National instruments corporation November 1995. Double A. Closed loop trainng manual proportional & servo-valve. US -B-AA16-12-1989. Printed in USA. IEEE-488 and VXI bus control, data acquisition, and analysis. National instruments corporation, 1995. Using industrial hydraulics. Printed in USA, 1984. Parker series BD062, BD760 servo valve. Parker electrohydraulic, Printed in USA, 1995. Technical University Munich, Institute for Machine Tools and industrial Management. Production Engineering, Vol.II/2 1995. Claude Ducos. Olo - Hydraulique. Technique et documentation, Lavoisier, Paris 1988. Jean-Charles Gill. Dynamique de la commande linaire. Dunod, Paris 1991. Michel Gondran. Informatique et asservissement. Mcanique, lectronique, lectricit, hydraulique. Editions Casteilla 25, rue Monge -75005 Paris, Achev d'imprimer en mars 1989. 216

[10] [11] [12] [13] [14] [15] [16] [17] [18] [19] [20] [21]

[22] J. Mainguenaud. Cours d'automatique, Correction d'un systeme asservi linaire calcul analogique. Masson et Cie, Paris 1974. [23] Grard Marie. L'hydraulique pratique commente pour l'industrie et le BTP dition de l' USINE, Paris 1982. [24] Maurice Rivoir, Jean-Louis Ferrier. Cours d'automatique. dition de l'Eyrolles, Paris 1990. [25] Patrick Siarry. Automatique de base. Ellipses, Paris 1989. [26] Cours d'olodynamique. Tous droits rservs la socit de publications mcaniques, Paris1966. [27] Technologuide E. Adepa-agence nationale pour le dveloppment de la productique applicque l'industrie, 1989. [28] Winfried Oppielt. Kleines Handbuch Technischer Regebvorgange, Verlag Chemie G.m.b.H, Weinheim - Bergstr, 1964.

217