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

11
Trn Xun Ty













H thng iu khin
t ng thy lc




















Nh xut bn khoa hc k thut

12
TS. Trn Xun Ty













H thng iu khin
t ng thy lc




















Nh xut bn khoa hc k thut
H Ni - 2002

13

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







14
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

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.


I
I




b)
a)
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 =
dt
dE
vi E =

dV . P (1.1)
hay : N = P.
dt
dV
= P.Q (1.2)
trong : 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 : N
ra
= N
vo

ngha l : P.Q = M
X
. (1.3)
trong : M
x
- 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. (1.4)
Ly o hm ( 1. 4 ) :
dt
d
. D
dt
dV
=
m :
dt
dV
= Q v =

dt
d
nn Q = D. (1.5)
Thay (1.5) vo (1.3) : P.Q = P.D. = M
x
.
hay : M
x
= P.D (1.6)
Nu dung tch o trong mt vng quay ca bm l Dvg th :
D =
. 2
D
vg
; M
x
=
. 2
D . P
(1.7)
v : Q = Dvg.
60
n
(1.8)
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 = K
0
. P (1.9)
trong : P - hiu p trc v sau khe hp;
K
0
- h s lin quan n sc cn thy lc c xc nh bng thc
nghim theo cng thc :
K
0
=
nghim thc
m nghi hc t
P
Q
(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 (1.11)
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 :
Q
vo
= Q
ra
(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.

17








1
Q
B
Q
C
6
P
C
3
4
P
4
P
B
2
5
A
P
5
P
2
Q
A
b)
P
A
Q
T
B
P
3
B
Q
B3
3
Q
3C
C
Q
C4
4
Q
2B Q
A2
Q
1A
2
A
1
P
S
C
a)

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 :
Q
1A
= Q
A2
= Q
2B
= Q
B3
= Q
3C
= Q
C4
(1.13)
hnh 1.2b, cc khe hp A, B v C c ghp song song vi nhau, hiu p c tnh l :
P
S
= P
2
+ P
3
+ P
C
+ P
4
+ P
5
(1.14)
Nu P
2
= P
3
= P
4
= P
5
th P
S
= P
C
Tng t ta c : P
S
= P
C
= P
B
= P
A
(1.15)
Lu lng : Q
T
= Q
A
+ Q
B
+ Q
C
(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 = K
v
. f(x) P (1.17)
v : Q
m
= K
v
.f(x
max
).
dm
P (1.18)
trong : K
v
- h s;

Q
m
v P
m
- lu lng v hiu p nh mc ca van;
f(x
max
)- 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. P
i
i
max
vi 0 < i < i
max
(1.19)

18

(i)
Q
Vng s dng
Q
(i)
Tuyn tnh





x
x

a) b)

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 :
P
S
= P
1
+ P
2
+... + P
i
+ P
n
(1.20)
Tc l hiu p bng tng cc hiu p thnh phn.
Nh ta bit vi dng chy ri th : Q = K
i i
P hay P
i
=
2
i
2
K
Q
(1.21)
Thay (1.21) vo (1.20) ta c :
P
S
=

=
= + + + +
n
1 i
2
i
2
2
n
2
2
i
2
2
2
2
2
1
2
K
1
Q
K
Q
K
Q
. . .
K
Q
K
Q
(1.22)
hay : P
S
= Q
2
.
2
T
K
1
Vi K
T =

=
n
1 i
2
i
K
1
1

(1.23)




19




P
1
K
1
P
2
K
2
P
i
K
i
P
n
K
n
...
P
S
Q
K
T Q
P
S
Q
a) b)

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 :
P
i
= P
S
.
2
i
n
1 i
2
i
S
2
i
2
T
K
1
.
K
1
P
K
1
. K

=
= (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 K
T
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 :
Q
T
= Q
1
+ Q
2
+ Q
3
+... + Q
i
+ Q
n
(1.25)
hay : Q
T
= K
1
.
S n S i S 3 S 2 S
P . K P . K ... P . K P . K P + + + + + =
S T
P . K (1.26)




20




P
S
K
n
Q
n
K
i
Q
i
K
3
Q
3
K
2
Q
2
K
1
Q
1
Q
T
K
T
Q
T
P
S

a) b)

Hnh 1.5. S ghp song song
a - S ghp song song; b - S tng ng.
trong : K
T
= K
1
+ K
2
+ K
3
+...+ K
i
+ K
n
=

(1.27)
=
n
1 i
i
K
Nh vy, khi c n tit din chy ghp song song c th thay th bng 1 tit din chy c
h s K
T
bng tng cc gi tr K
i
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








K
2
P
2
P
0
I
Q
S
P
S
K
S
P
1 K
1
Q
1
Q
2
Q
L
K
L
P
L
P
4
K
4
Q
4
P
3
Q
3
K
3
K
2
P
2
I
Q
S
Ps
P
1 K
1
Q
1
Q
L
P
L
P
4
P
3
Q
3
K
3
K
4
b)
a)


Hnh 1.6. S ghp phi hp
a- S c nhnh lin kt K
L
; 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 K
L
ca nhnh bc cu quyt nh gi tr lu
lng i qua Q
L
. 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 :
Q
S
= Q
1
+ Q
3
; Q
2
= Q
1
Q
L
;

Q
4
= Q
L
+ Q
3
(1.28)
Phng trnh cn bng p sut l :
P
0
= P
S
+ P
1
+ P
2
; P
1
= P
3
P
L
; P
2
= P
L
+ P
4


(1.29)
trong : P
S
=
S
2
S
2
K
Q
; P
1
=
2
1
1
2
K
Q
; P
2
=
2
2
2
2
K
Q
; P
3
=
2
3
2
3
K
Q
; P
4
=
2
4
2
4
K
Q
; P
L
=
2
L
2
L
K
Q
(1.30)
Thay (1.28) v (1.30) vo (1.29) ta c :
P
0
=
2
l
2
l
K
Q
+
2
2
2
L 1
K
) Q Q (
+
2
s
2
s
K
Q
;
2
l
2
l
K
Q
=
2
3
2
3
K
Q

2
L
2
L
K
Q


2
2
2
L 1
K
) Q Q (
=
2
L
2
L
K
Q
+
2
4
2
3 L
K
) Q Q ( +
(1.31)
hoc : P
0
=
2
l
2
1
K
Q
+
2
2
2
L 1
K
) Q Q (
+
2
S
2
S
K
Q
;
2
l
2
l
K
Q

2
3
2
3
K
Q
+
2
L
2
L
K
Q
= 0 (1.32)

2
2
2
1
) (
K
Q Q
L

+
2
L
2
L
K
Q
+
2
4
2
3 L
K
) Q Q ( +
= 0
Nu coi sc cn thy lc tit din K
S
bng khng tc l K
S
= v sc cn tit din
K
L
bng v cng, tc l K
L
= 0 th hai nhnh ghp song song b ngn cch (Q
L
= 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 :
P
2
= P
S
.
2
2
2
1
2
1
K K
K
+
(1.33)
P
4
= P
S
.
2
4
2
3
2
3
K K
K
+
(1.34)
P
L
= P
2
P
4
(1.35)
Nu thay (1.33) v (1.34) vo (1.35) th :
P
L
= P
s
.

+
2
4
2
3
2
3
2
2
2
1
2
1
K K
K
K K
K
(1.36)
Khi mi lin kt c p sut cn bng (P
L
= 0), ta c :

21

2
4
2
3
2
3
2
2
2
1
2
1
K K
K
K K
K
+
=
+
hoc K
1
.K
4
= K
2
.K
3
(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)
P
S
= P
1
+ P
2
(1.38)
trong : P
1
=
2
1
2
K
Q
; P
2
= R
2
.Q


22







P
S
K
1
P
1
P
2
R
2
Q
P
S
I I
K
1
P
1
P
2
P
3
K
2
Q
2
Q
1
Q
3
R
3
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 : P
S
=
2
1
2
K
Q
+ R
2
.Q
Q
2
+ R
2
. = 0 (1.39)
S
2
1
2
1
P K Q . K
Phng trnh (1.39) l phng trnh bc hai theo Q, nghim ca n l :
Q =
S
2
1
4
1
2
2
2
1 2
P . K . 4 K . R
2
K . R
+ (1.40)
- Trng hp va ghp ni tip va ghp song song (hnh 1.7b)
Phng trnh cn bng lu lng l :
Q
1
= Q
2
+ Q
3
(1.41)
Phng trnh cn bng p sut l :
P
S
= P
1
+ P
2
v P
2
= P
3
(1.42)
trong : P
1
=
2
1
2
1
K
Q
; P
2
=
2
2
2
2
K
Q
v P
3
= R
3
. Q
3
(1.43)
Thay (1.41) v (1.43) vo (1.42) ta c :
P
S
=
2
2
2
2
2
1
2
3 2
K
Q
K
) Q Q (
+
+
v
2
2
2
2
K
Q
= R
3
.Q
3
hoc : P
S
=
2
2
2
2
2
1
2
3
2
2
2
2
2
K
Q
K
R . K
Q
Q
+

+
(1.44)
Khai trin (1.44) s cho ta phng trnh bc 4 i vi Q
2
:
0 R . K . K . P R . K . K .
K
1
K
1
Q R . K . Q . 2 Q
2
3
2
1
4
2 S
2
3
2
1
4
2
2
2
2
1
2
2 3
2
2
3
2
4
2
=

+ + + (1.45)
- Mch thy lc c hai ngun p sut (hnh 1.8)


23








I
Q
1
R
L
P
S1
K
1
P
1
Q
L
K
2
P
2
P
L
I
Q
2
P
S2

Hnh 1.8. S mch thy lc c hai ngun p sut
Phng trnh cn bng lu lng :
Q
1
+ Q
2
=
L
L
L
Q
R
P
= (1.46)
Ngoi ra ta cn c quan h gia p sut v lu lng ca dng chy ri l :

L 1 S
2
1
2
1
P P
K
Q
= v
L 2 S
2
2
2
2
P P
K
Q
= (1.47)
Thay (1.47) vo (1.46) ta c :
K
1
.
L
L
L 2 S 2 L 1 S
R
P
P P . K P P = + (1.48)
Mt khc : P
S1
= P
1
+ P
L
v P
S2
= P
2
+ P
L
(1.49)
vi :
2
2
2
2
2
2
1
2
1
1
K
Q
P ;
K
Q
P = = v P
L
=(Q
1
+ Q
2
).R
L
(1.50)
Thay (1.50) vo (1.49) ta c cc phng trnh sau :

L 2 1
2
1
2
1
1 S
R ). Q Q (
K
Q
P + + = (1.51)
L 2 1
2
2
2
2
2 S
R ). Q Q (
K
Q
P + + = (1.52)
Nu khai trin cc phng trnh trn s cho ta phng trnh bc 4 i vi Q
1
hoc Q
2
.

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.
Lc tc dng ln con trt pha B : f
B
= (1.53)

x
0
R
R
B
dA . P
V p sut phn b u trn ton b b mt ca con trt nn :
f
B
= P
B
.F
B
vi P
B
= P (1.54)

24


25





Q
P P
Q
B A
P
A
P P
B
P
B
R
0
r
A
dr
R
x
P










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 :
f
A
= (1.55)

x
0
R
R
A
dA . P
V cht lng i qua khe hp ca van lm p sut gim xung nn :
f
B
> f
A
tc l f
B
f
A
= f
Q
> 0 (1.56)
Do c lc chiu trc f
Q
m con trt c xu hng ng van.
Trong cc cng thc trn cc k hiu c ngha nh sau :
F
B ,
F
A
- din tch hnh vnh khn ca con trt c bn knh trong l R
0
,v bn
knh ngoi l R
x
;
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 f
Q
c xc nh theo cng thc sau :

v

a)
b)
c)
f
Q
= f
B
f
A
= Q.v..cos (1.57)
Q = C
Q
. F
A
.

P . 2
hay

P . 2
=
F . C
Q
A Q
= v (1.58)
Thay (1.58) vo (1.57) th : f
Q
= C
Q
. cos . P . Q . . 2
hoc : f
Q
= K
Q
. cos . P . Q (1.59)
trong : v - vn tc cht lng ca hp;
- t trng ca cht lng;
K
Q
= . 2 . C
Q
- h s;
P - hiu p trc v sau ca hp;
C
Q
- 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 f
Q
.

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 :
2
2
S 0 S Q M T P S
dt
x d
. m ) x x .( K f A . P A P = + (1.60)
trong : m
s
- khi lng ca con trt;
x - lng dch chuyn ca con trt;
x
0
- lng dch chuyn ban u ca l xo;
K
S
- cng l xo;
f
Q
- lc thy ng theo tnh theo cng thc (1.59);
A
P
v A
M
- din tch b mt chu p sut ca cht v ca con trt.
Nu con trt v tr cn bng th 0
dt
x d
2
2
= v phng trnh (1.60) s l :

26
P
S
.A
P
P
T
.A
M
f
Q
K
S
(x + x
0
) = 0 (1.61)
Thay Q = K
0
.A(x).
T S
P P vo (1.59) sau thay f
Q
vo (1.61) ta c :
P
S
.A
P
P
T
.A
M
K
Q
.A(x).(P
S
P
T
). cos K
S
(x + x
0
) = 0 (1.62)


Q Q
R
P
R
P
c
P
S
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 P
T
0 th :
P
S
.A
P
K
Q
.A(x).P
S
cos K
S
(x + x
0
) = 0 (1.63)
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) = D
M
.x (1.64)
v : A
max
= A(x
max
) = D
M
.x
max
(1.65)
Tng ng vi di chuyn ln nht ca con trt (x
max
) s cho lu lng ln nht Q
R
:
Q
R
= K
0
..D
M
.x
max
.
T S
P P (1.66)
vi : P
S
P
T
= P
C
+ P
R
trong : P
C
- p sut tng ng vi trng thi van ng;
P
R
- gi tr gia tng ca p sut tng ng vi van m ln nht.
c tnh P
S
- Q ca van trt iu khin th hin hnh 1.10b.

27
Trng hp khi x = 0, P
S
= P
C
v P
T
0 th cng thc (1.63) s l :
P
C
.A
P
= K
S
.x
0
(1.67)
Khi s tng ng vi van ng.

1.2.3. M hnh tnh ton van gim p kiu con trt
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 :
P
C
.A
M
+ f
Q
P
L
.A
M
K
S
(x + x
0
) = 0 (1.68)
Phng trnh cn bng lu lng l :
L C C C S 0
P P . K P P ). x ( A . K Q = = (1.69)
Nu P
L
0 th :
C C
P . K Q = hay
2
C
2
C
K
Q
P =
Ta cn c : f
Q
= K
Q
.Q.
C S
P P .cos(x)


28










K
S
a)
p
S
Q
p
C
p
L
p
A
M
A
M
P
L
Q
K
C
P
C
P
S
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 :
P
C
.A
M
+ K
Q
.Q.
C S
P P .cos(x) K
S
(x + x
0
) = 0 (1.70)
hoc : 0 ) x x .( K
) x ( A . K
) x ( cos . Q . K
A .
K
Q
0 S
0
2
Q
M
2
C
2
= +

+
Do :
) x ( A . K
) x ( cos . K
K
A
) x x .( K
Q
0
Q
2
C
M
0 S

+
+
= (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.





p
T
A B
p
T
A B A B
p
T
c)

29

b)
a)

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.
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 K
A
v K
B
thay
i, p sut P
A
v P
B
cng s thay i theo. S thay i ca P
A
v P
B
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 , K
A
v K
B
c quan h lin ng, khi K
A
tng th K
B
gim v ngc li.


P
S


30





P
B
K
1
Cng
K
A
K
B
ng phun
K
2
P
S
T P
S
A B
a)
P
S
Nam chm
P
A
K
1
K
A
K
2
K
B
P
B P
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 K
P.A
, K
P.B
, K
A-T
v K
B-T
u c quan h cht ch vi nhau. Khi K
P-A
tng th
K
B-T
tng v K
P-B
, K
A-T
gim. S ca van ny c m hnh ho thnh mch thy lc
nh trn hnh 1.14b.






31










F
L
v
B
A
T
2
K
B.T
K
P-B
T
1 p
S
K
p-A
K
A-T
p
S
K
P-A
K
A-T
A
K
P-B
K
B-T
B
b) a)

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.
V
(+)
K
P-A
Q
P
K
P-B
K
A-T
K
B-T
p
R
A
R
A
P
F
L
p
P










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.
t :
R
P
x
A
A
= v
R
P
AT
PB
BT
PA
v
K
K
K
K
K
K
= = = (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 K
P
= K
R
,
tc l
v
= 1.
p
T
A
B
A
I
P
A
p
S
P
T
a)
P
B
Q





P
L
= P
A
- P
B



















32

-p
L
P
L
= 0
P
S
= const
(-I)
-x
-Q
Q
(I)
x
I
n
= -I
0
I
2
I
1
I
1
I
2
I
n
=-I
0
-p
S
p
L
p
S
Q
Ca A m
Ca B m
-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.
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 (1.73)
hoc : Q = K. A
0
. P .
A
) x ( A
0
(1.74)
Nu t : G
v
= K.A
0
v y =
o
A
) x ( A
th Q = G
v
.y. P
trong A
0
l tit din chy ln nht ca van v cn tha mn iu kin :
1
0
A
) x ( A
1
Khi van m hon ton th :
y =
0
A
) x ( A
= 1 v G
v
=
P
Q
0

(1.75)
Nh vy, G
v
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 = G
v
.
L s
0
P .
I
I
P .
I
I
(1.76)
trong : I- dng in iu khin;
I
0
- dng ln nht ng vi van m hon ton;
P
L
- p sut do ti gy ra (P
A
).
Nu b qua P
L
(tc ti P
A
= 0) th :
Q = G
v
.
S
0
P .
I
I
(1.77)
hay :
I
Q
=
S
0
V
P .
I
K
= K
Q
(1.78)
K
Q
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 :
P
A
. A
P
P
B
. A
R
F
L
= 0 (1.79)
trong : P
A
= P
OA
+ G
A
.x ; P
B
= P
OB
G
B
.x (1.80)
P
OA
v P
OB
- p sut hai bung ca xylanh khi x = 0;
G
A
=
I
P
A
v G
B
=
I
P
B
- h s gc ca c tnh P - I hay gi l h s
khuch i p sut.




34











+ x
p
B
p
A
p
O
p
0A
p
0B
- x
A
B
- I
A
P
F
L
A
R
+ I
Hnh 1.17. Quan h gia p sut P
A
v P
B
vi I, x
Thay (1.80) vo (1.79) ta c :
x =
R B P A
P OA R OB L
A . G A . G
A . P A . P F
+
+
(1.81)
Nu thay i kt cu sao cho P
OA
= P
OB
= P
O
th :
x =
R B P A
P R O L
A . G A . G
) A A ( P F
+
+
(1.82)
v : P
A
=
R B P A
B A R O L A
A . G A . G
) G G ( A . P F . G
+
+ +
(1.83)
P
B
=
R B P A
B A P O L B
A . G A . G
) G G ( A . P F . G
+
+ +
(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 :
P
S
= P
P
+ P
R
+ P (1.85)
Theo cng thc (1.21) th (1.85) vit li nh sau :

+ + = + + =
2
L
2
R
2
P
2
2
L
2
2
R
2
2
P
2
S
K
1
K
1
K
1
Q
K
Q
K
Q
K
Q
P (1.86)



35








p
T
A
B
A
I
P
A
p
S
Q
P
T
P
B
P = P
A
- P
B
Q
K
R
p
K
L
p
S
Q
p
p K
p
p
R
a) b)

Hnh 1.18. S mch thy lc c kt cu i xng
a- S nguyn l; b- M hnh tnh ton.
hay : Q = K
T
.
S
P (1.87)
vi :
2
L
2
R
2
P
T
K
1
K
1
K
1
1
K
+ +
= (1.88)
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.


36





A
R
A
P
v
1
v
2
Hnh 1.19. K hiu ca xylanh thy lc
Nu gi A
P
l din tch ca pittng bung du vo v A
R
l din tch pittng bung
du ra theo cng thc (1.72) th :
R
P
x
A
A
= (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 : v
1
=
x
.v
2
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 v
1
v mt s l mch thc hin chuyn ng li v
2
th ta c hnh
1.20.








v
2
K
p
Q
p
p
p
(2)
p
S
A
R
(2)
A
p
(2)
P
p
(2)
K
R
Q
R
(2)
p
S
p
p
(1)
v
1
F
L
Q
p
A
p
(1)
p
R
(1)
K
R
Q
R
(2)
A
R
(1)
K
p

a) b)

Hnh 1.20. S tnh ton ca xylanh thy lc
a- S khi chuyn ng cng tc v
1
; b- S khi chuyn ng li v v
2
.

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

) 1 (
R
) 1 (
P ) 1 (
x
A
A
= v
) 2 (
R
) 2 (
P
) 2 (
x
A
A
= hay
) 1 (
x
) 2 (
x
1

= (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 :

dt
dP
. C Q
C
= (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 :
Q
P
= Q
A
+ Q
C
(1.92)
trong : Q
P
- lu lng cung cp ca van;
Q
A
- lu lng lm pittng chuyn ng;
Q
C
- lu lng do bin dng n hi ca du trn ng du vo.
Phng trnh lu lng trn ng du ra l :
Q
R
= Q
B
Q
P
(1.93)
trong : Q
R
- lu lng v b du;
Q
B
- lu lng pistng y ra;
Q
D
- 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 v
1
:
dt
dP
. C A . v Q
) 1 (
P ) 1 (
P
) 1 (
P 1 P
+ = (1.94)
v :
dt
dP
. C A . v Q
) 1 (
R ) 1 (
R
) 1 (
R 1
) 1 (
R
=
- Khi pittng chuyn ng li v v
2
:

dt
dP
. C A . v Q
) 2 (
P ) 2 (
P
) 2 (
P 2 P
+ = (1.95)

37
v :
dt
dP
. C A . V Q
) 2 (
R ) 2 (
R
) 2 (
R 2
) 2 (
R
=
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 v
1
v chuyn ng li v v
2
l nh nhau, nhng lu lng
v v
) 2 (
R
) 1 (
R
Q Q
1
v
2
.
Nu h lm vic n nh th p sut s khng thay i, ta c :
0
dt
dP
P
= v 0
dt
dP
R
= (1.96)
v lu lng vo v ra lc l :
Q
P
= v.A
P
; Q
R
= v.A
R
(1.97)

1.4.3. Phng trnh cn bng lc


38





p
p
A
R
A
p
p
R v
(+)
, a, x
F
L
m
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 :
P
P.
A
P

P
R
. A
R
F
L
= m
2
2
dt
x d
(1.98)
trong : F
L
- ti trng ngoi;
P
P
v P
R
- p sut tc dng ln din tch ca pittng A
P
v A
R
;
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 =
2
2
dt
x d
= 0 nn phng trnh (1.98) c vit li l :
P
P.
A
P


P
R
. A
R
F
L
= 0 (1.99)
Nu ti trng ngoi F
L
0 th :
P
R
R
P
A
A
P
P
= |
F = 0
L
(1.100)
Thay P
P
=
2
P
2
P
K
Q
v P
R
=
2
R
2
R
K
Q
vo (1.100) ta c :
2
R
2
P
Q
Q
=
2
R
2
P
x
K
K
.
1

(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 :
P
S
A
R
P
B
. A
B
+ F
L
= 0 (1.102)

A
B
A
R
P
S
v (t)
F
L
K
V
P
B
Q
B









Hnh 1.22. S mch thy lc c ng du vo ra ghp phi hp
Ta cn c quan h : Q
B
= K
0
.
B
P v v =
B
B
A
Q
(1.103)
hoc : v =
B
L R S
B
0
B
B 0
A
F A . P
A
K
A
P K +
= (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












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.











a) b)

A
B
T p
T
K
RB
K
pB
K
pA
K
RA
K
pA
K
RA
K
pB
K
RB
Ti
p
A
p
B
A B
Q
S
= Q
p
K
p
P
P
p
S
K
R P
R
Ti
P
R
Q
R
Q
p
K
p
P
P
P
p
p
S
P
R
K
R
Q
R
P
R
A
P A
R
v
(+)
F
L
P
p
p
S
Ti
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
P
= P
S
P
P
(1.105)
- p sut trn ng du ra : P
R
= P
R
(1.106)
- Tn tht p sut qua cc tit din chy ca van :
2
P
2
P
P
K
Q
P = v
2
R
2
R
R
K
Q
P = (1.107)
- Quan h gia lu lng v vn tc chuyn ng ca pittng nh sau :
Q
P
= v.A
P
v Q
R
= v.A
R
(1.108)
- Cc ch :
+ Nu van c kt cu hnh hc i xng K
P
= K
R
th
v
= 1.
+ Nu P
P
= P
R
, tc l tn tht p sut trn ng vo v ra ca van bng nhau :

2
R
2
R
2
2
P
2
P
2
2
R
2
R
2
P
2
P
K
A . v
K
A . v
K
Q
K
Q
= = (1.109)
hay :
R
P
R
P
K
K
A
A
= hoc
x
=
v
(1.110)
+ Nu nng lng vo v ra ca van bng nhau, tc l :
Q
P
.P
p
= Q
R
.P
R
(1.111)
2
R
2
R
R
2
P
2
P
P
K
Q
. Q
K
Q
. Q =
Suy ra :
2
R
3
R
3
2
P
3
P
3
2
R
3
R
2
P
3
P
K
A . v
K
A . v
K
Q
K
Q
= = (1.112)
Cng thc (1.112) c th vit li nh sau :
2
R
2
P
3
R
3
P
K
K
A
A
= hay (1.113)
2
v
3
x
=
T cc quan h (1.105), (1.106),(1.107) v (1.108) thay vo (1.112) ta c :
L
2
R
3
R 2
2
P
3
P 2
P S
F
K
A
. v
K
A
. v A . P = 0 (1.114)
hay :
L
3
x
2
v
2
P
3
P 2
P S
F 1
K
A
. v A . P

+ = 0 (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)
s l : (1.116) 0 F A . P
o
L P S
=
hay :
S
o
L
P
P
F
A =
o
L
F gi l ti "dng" (lc gii hn to s qu ti cho xylanh).
* Khi F
L
= 0 hoc F
L
0 th cng thc (1.115) s l :

+
3
x
2
v
2
P
3
P 2
0 P S
1
K
A
. V A . P = 0 (1.117)
Suy ra : v
0
=

+
3
x
2
v
2
P
3
P
P S
1
K
A
A . P
(1.118)
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).

Van ng
hon ton
F
L
Van ng dn
0
Van ng
dn
v
2
-F
L
-F
L
0
v
0
F
L
0
F
L
-v
v
1








-v

a) b)

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

42
ng cong c tnh v - F
L
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 - F
L
khi ng m van.
1.5.2. Xc nh cc thng s kt cu c bn
1- Khi bit cc cp thng s v
1
, F
1
, v v
2
, F
2

t :

+ =
3
x
2
v
3
P
3
P 0
1 .
K
A
B (1.119)
th phng trnh (1.115) s l :
P
S
.A
P
v
2
.B
0
F
L
= 0 (1.120)
Gi s bit trc cc cp gi tr (v
1
, F
1
) v (v
2
, F
2
) th hin nh trn hnh 1.26, ta c th
thit lp c hai phng trnh dng (1.120) nh sau :
(1.121) 0 F B . v F
1
0 2
1
0
L
=
v : (1.122) 0 F B . v F
2
0 2
2
0
L
=
F
L
F
L
0
F
2
F
1
0
v
1
v








Hnh 1.26. th biu din cc cp gi tr v
1
, F
1
v v
2
, F
2
trn c tnh v - F
L

T (1.121) v (1.122) suy ra :
0 F F B . v B . v
1 2
0 2
1
2
2
= + (1.123)
hay :
2
1
2
2
2 1 0
v v
F F
B

= (1.124)
Thay (1.124) vo (1.121) ta c :

43
1
2
1
2
2
2 1 2
1
0
L
F
V V
F F
. v F +

=
hay :
2
1
2
2
2
2
1 1
2
2 0
L
v v
F v F . v
F

= (1.125)
Nh vy nu bit trc cc cp gi tr v
1
, F
1
v v
2
, F
2
s xc nh c v B
0
L
F
0
.
C ngha rng nu bit c v B
0
L
F
0
ta xc nh cc thng s P
S,
A
P
v K
P
t cc cng
thc sau :

+ =
3
x
2
v
2
P
3
P 0
1 .
K
A
B (1.126)

P S
0
L
A . P F =
Cc trng hp xy ra nh sau :
Trng hp A : Nu cho trc P
S
th :

= =
2
1
2
2
2
2
1 1
2
2
S S
0
L
P
v v
F v F . v
.
P
1
P
F
A (1.127)
v :

+ =
3
x
2
v
2
1
2
2
2 1
3
P
3
x
2
v
3
P 2
P
1
v v
F F
A
1
B
A
K (1.128)
hay :

=
2
x
2
v
2 1
2
1
2
2
3
P
P
1
F F
) v v ( A
K (1.129)
Trng hp B : Nu cho trc A
P
th :

=
2
1
2
2
2
2
1 1
2
2
P
S
v v
F v F . v
.
A
1
P (1.130)
v K
P
cng c xc nh theo cng thc (1.128).
Trng hp C : Nu bit trc K
P
th P
S
v A
P
xc nh nh sau.

+
=
3
x
2
v 2
1
2
2
2 1
2
P
3
x
2
v
2
P 3
P
1 ) v v (
) F F ( K
1
B . K
A (1.131)

44
hay :
3
3
x
2
v 2
1
2
2
2 1
2
P
P
1 ) v v (
) F F ( K
A

= (1.132)
v :

=
2
1
2
2
2
2
1 1
2
2
P
S
v v
F v F . v
.
A
1
P (1.133)

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

+ = (1.134)

45








F
L
F
3
0
v
3
v
Hnh 1.27. th biu din cp gi tr v
3
, F
3
trn c tnh v - F
L

Nu bit trc A
P
v p sut cung cp P
S
ta xc nh K
P
cng t cng thc (1.115) nh
sau :

=
3
x
2
v
3 P S
3
P
2
3
P
1
F A . P
A v
K (1.135)
3. Khi bit cc thng s P
S
, A
P
v K
P

Nu bit trc cc thng s thit k P
S
, A
P
v K
P
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 v
T
th ti trng s l :

+ =
3
x
2
v
2
P
3
P
2
T
P S T
1
K
A . v
A . P F (1.136)
Nu bit trc ti trng lm vic F
T
th vn tc s l :
T P S
3
x
2
v
2
P
3
P
2
T
F A . P 1
K
A . v
=

+
Suy ra :

=
3
x
2
v 3
P
T P S
2
P
T
1 . A
) F A . P ( K
v (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 F
L
, cng sut N v vn tc v th hin hnh
1.28. Nhn v vo cng thc (1.115) ta c :
v. 0 F . v 1
K
A
. v A . P
L
3
x
2
v
2
P
3
P 3
P S
=

+ (1.138)

46










(2)
(1)
v v
0
F
L0
N
N
max
F
L
Hnh 1.28. th biu din quan h gia F
L
, N v v

N = v.F
L
l cng sut truyn ca xylanh thy lc, cng thc (1.138) c th vit gn li
nh sau :
N = v.F
L
= v.P
S
.A
P
- v
3
.B
0
(1.139)
cng sut ln nht N
max
th cn tm vn tc v
0
no tha mn :
0
dv
dN
= = P
S
.A
P
- 3. .B
2
0
v
0
(1.140)
hay :
0
P S 2
0
B . 3
A . P
v = (1.141)
Thay (1.141) vo (1.139) ta c :
0 F B .
B . 3
A . P
A . P
LO
0
0
P S
P S
= (1.142)
Suy ra :
LO P S
F A . P
3
2
= 0 (1.143)
m P
S
.A
P
= l ti trng "dng" nn :
0
L
F

LO
0
L
F F
3
2
= (1.144)
Vy cng sut ln nht khi vn tc xc nh theo (1.141) v ti trng F
LO
bng
3
2
ti
trng "dng".

2. Xc nh p sut cung cp nh nht
T cng thc (1.115) ta suy ra :
P
S
=
P
L
2
R
3
x
2
P
2
P
2
A
F
K .
1
K
1
. A . v +

+ (1.145)
Ly o hm p sut theo din tch A
P
v cho bng khng ta c :
0
A
F
K .
1
K
1
. A . v . 2
dA
dP
2
P
L
2
R
3
x
2
P
P
2
P
S
=

+ = (1.146)
hay :

+
=
2
R
3
x
2
P
2
L 3
P
K .
1
K
1
. v . 2
F
A (1.147)
Thay (1.147) vo (1.115) ta c :
0 F
K .
1
K
1
. v . 2
K .
1
K
1
. F
. v A . P
L
2
R
3
x
2
P
2
2
R
3
x
2
P
L
2
P
min
S
=

+

hay : 0 F
2
F
A . P
L
L
P
min
S
= (1.148)
nn :
P
L min
S
A
F
.
2
3
P = (1.149)

47
Cng thc xc nh (1.149) ph hp vi cng thc (1.143) khi xc nh cng sut
ln nht N
min
S
P
max
.
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 :
P
P
.A
P
P
R
.A
R
F
L
=
dt
dv
m (1.150)
trong :
2
P
2
P
S P S P
K
Q
P P P P = = (1.151)
2
R
2
R
P R
K
Q
P P = =
Nn phng trnh (1.150) c th vit li nh sau :

dt
dv
m F
K
A . Q
K
A . Q
A . P
L
2
R
R
2
R
2
P
P
2
P
P S .
=
hay : a . m F
K
A . v
K
A . v
A . P
L
2
R
R
3 2
2
P
P
3 2
P S .
= (1.152)
trong : Q
P
= v.A
P
v Q
R
= v.A
R
dt
dv
a = l gia tc chuyn ng ca pittng mang khi lng m.
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 P
P
c th gim xung bng 0. Khi cng thc (1.152)
s l :
0
K
A . v
A . P
2
P
P
2
P S .
= (1.153)
v :
L
2
R
3
R
2
max
F
K
A . v
a . m = (1.154)
hay :

= =
L S
2
x
2
v
R L
2
R
3
R
2
P
2
P S
max
F P . A F
K
A
.
A
K . P
a . m (1.155)
Suy ra :

=
L S
2
x
2
v
R max
F P . A
m
1
a (1.156)


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 :

dp
dt
q
dp
dt
.
dt
dV
dp
dV
C = = = (2.1)
hay :
dt
dp
. C q = vi
B
V
C
0
= (2.2)
trong : q - lu lng bin dng n hi ca du;
V - th tch du bin dng;
P - p sut trong bung du;
V
0
- 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 :

V x P V x P V x P T
Q
dt
dp
). C C ( Q
dt
dp
. C
dt
dp
. C Q Q Q Q + + = + + = + + = (2.3)
hay : Q
T
=
v R V T
Q Q Q
dt
dp
. C + = + (2.4)


45

Q
T
Q
V
p
Q
T
F
L
A
R
A
P
Q
p
Q
x
b)
v






F
L
v
A
R
A
P
Q
T
p

a)


46




Q
T
p
F
L
v
Q
p
Q
x
Q
v
C
x C
p
Q
T
p
C
p
Q

F
L
Q
v
v



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 :
Q
P
- lu lng do bin dng n hi ca du trong ng ng dn;
Q
x
- lu lng do bin dng ca du trong xylanh;
Q
R
- lu lng do bin dng n hi ca du trong ng ng dn v trong
xylanh;
Q
v
- lu lng cn thit pittng chuyn ng vi vn tc v;
C
P
v C
x
- h s tch ly n hi ca du trn ng ng dn v trong xylanh;
C
T
- 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
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 :
P
A
= P
1
+ P
2
(2.5)
Theo (2.2) ta c :

=
t
0
T
1
1
dt . Q .
C
1
P v

=
t
0
T
2
2
dt . Q .
C
1
P

Q
V
Q
T
47






Q
V
P
2
P
1
Q
T
C
1
p
A p
A
C
T
C
2

b)
a)

Hnh 2.2. S mch thy lc c p sut khng bng nhau
a- S chi tit; b- S tng ng.
nn :

+ = + =
t
0
T
2 1
t
0
T
2
t
0
T
1
A
dt . Q .
C
1
C
1
dt . Q .
C
1
dt . Q .
C
1
P (2.6)
hay :

=
t
0
T
T
A
dt . Q .
C
1
P (2.7)
vi :
2 1
2 1
T
C C
C . C
C
+
=
C
T
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 :
Q
T
= Q
P
+ Q
XA
+ Q
VP
(2.8)
v Q
R
= Q
VR
Q
XB
Q
RB
(2.9)
Mt khc ta thy rng :
V
A
= V
PA
+ V
XA
v V
B
= V
RB
+ V
XB
(2.10)
nn :
B
V
C
A
A
= v
B
V
C
B
B
= (2.11)










48



B
V
RB
C
R
Q
RB
Q
R
V
PA
A
Q
T
Q
p
C
P
a)
van
v
F
L
Q
R
A
R
A
p
B
Q
vR
Q
xB
Q
RB
P
R
F
L
v
C
P
Q
P Q
xA
Q
vp
Q
T
P
p
C
xA
Q
xB
C
xB
Q
xA
C
xA
C
xB
C
R
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.
C
P
v C
R
- h s tch ly n hi ca du trn ng ng vo v ra;
C
XA
v C
XB
- h s tch ly n hi ca du trong cc bung A v B ca xylanh;
V
PA
v V
RB
- th tch cha du trn ng ng vo v ra ca xylanh;
V
XA
v V
XB
- th tch cha du trong cc bung A v B ca xylanh;
Q
P
v Q
RB
- thnh phn lu lng du b nn trn ng ng vo v ra ca xylanh;
Q
XA
v Q
XB
- thnh phn lu lng b nn trong cc bung A v B ca xylanh;
Q
VP
v Q
VR
- lu lng y pittng chuyn ng vi vn tc v v lu lng pittng
y du ra khi xylanh;
Q
T
v Q
R
- 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 :

VP
P
A T
Q
dt
dP
. C Q + = (2.12)
v :
VR
R
B R
Q
dt
dP
. C Q + = (2.13)

49








Hnh 2.4. M hnh tnh ton ca cm van.xylanh
P
P
Q
A
Q
vP
F
L
v
C
A
Q
vR
p
R
Q
B
C
B
Q
T

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

F
L
V
C
A
Q
A
L
x
Q
B
C
B
P
R
P
P












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 Q
A
= - Q
B
, ngha l :


dt
dP
. C
dt
dP
. C
R
B
P
A
= (2.14)
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).

B A
B A
T
C C
C . C
C
+
= (2.15)
hay :
B A B A T
V
B
V
B
C
1
C
1
C
1
+ = + = (2.16)
Khi nghin cu n vn ny ngi ta khng nh rng, nu h s C
T
cc i th
tn s dao ng ring ca xylanh s cc tiu.
Mun tm v tr ca pittng C
T
cc i ngi ta tnh ton nh sau :
Cng thc (2.16) c th vit li l :

B A T
V
1
V
1
C . B
1
+ = (2.17)
Ly o hm hai v ca (2.17) theo x ta c :
0
dx
dV
.
V
1
dx
dV
.
V
1
dx
C . B
1
d
B
2
B
A
2
A
T
= = (2.18)
Suy ra :
dx
dV
dx
dV
V
V
A
B
2
A
2
B
= (2.19)
M : V
A
= A
P
.x + V
PA
V V
B
= A
R
.(Lx) + V
RB
(2.20)
nn :
P
A
A
dx
dV
= v
R
B
A
dx
dV
= (2.21)
Thay (2.21) vo (2.19) ta c :
P
R
2
A
2
B
A
A
V
V
= hay
x
A
B
1
V
V

= (2.22)
Do cng thc (2.20) c vit li nh sau :
( )
x RB R x B PA P
. V ) x L ( A . V V x . A + = = + (2.23)
Suy ra :
PA
x R P
x RB x R
V
. A A
. V . L . A
x
+
+
=
50
V
R
P
x
A
A
= nn :

=
x
P
PA x RB
x
. P
1
1 A
V . V
L A
x (2.24)
Nh vy khi x xc nh theo cng thc (2.24) th C
T
s t cc i (vi 0 x L).

2.4. cng thy lc v cng tng ng
X
x
1
x
2
x
gh
F
L
P
p
1
p
2
p
0


F
L
V
0
C
H
A
P




X(t)


P


b) a)
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 F
L
, p sut P tng (P tng t l vi F
L
) 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 x
gh
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 C
H
.
Theo tnh ton l thuyt mc 3.6, nu tnh n c h s ma st f v sc cn thy
lc R
L
th cng thy lc c xc nh theo cng thc nh sau :

C
A
R . C
f
C
2
P
L
H
+ = (2.25)
51
Vi
B
V
C
0
= v h s tn tht lu lng
L
R
1
K = th :

( )
0
2
P
H
V
A K . f B
C
+
= , N/m hoc lbf/in (2.26)
trong : V
0
- th tch cha du ban u (cm
3
hoc in
3
);
B - mun n hi ca du, B = 1,4.10
7
kg/cm.s
2
= 2.10
5
lbf/in
2
.
Nu b qua ma st (f = 0) hoc b qua tn tht lu lng (K = 0 hay R
L
= khng
c r du) th cng thy lc l :

C
A
V
A . B
C
2
P
0
2
P
H
= = (2.27)
Vic gii hn du lm vic trong min n hi tuyn tnh c cng C
H
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).

a) b)
m
C
2
hoc
tng ng

m
C
2
C
1
tng ng

C
2
c)
C
1
m
C
t
= C
1
+ C
2
m






C
1




C
t
=
2 1
2 1
C C
C C
+
.
m




d)

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 C
1
v C
2
c cng chuyn v, cn trn hnh 2.7c chuyn v ca l
xo C
1
v l xo C
2
khc nhau.
52
Hnh 2.8 l v d v m hnh tnh ton cng tng ng ca h thy lc.
cng tng ng c tnh nh hnh 2.7b.
t
H
C










a)
m
C
H
t
C
tng ng

m
P T
A B
C
H1
C
H2
C

53









C
H2
b)
m
A B
C
H1
tng ng

P T
m
t
H
C = C
H1
+ C
H2
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 :

1 L P
2
P
1 H
V x . A
A . B
C
+
= v
( )
2 L R
2
R
2 H
V x L . A
A . B
C
+
= (2.28)
trong : x - v tr ca pittng;
L - hnh trnh ln nht ca pittng;
V
L1
- th tch cha du trn ng ng vo;
V
L2
- th tch cha du trn ng ng ra.
cng tng ng ca h s l :
B = C + C = C
2 H 1 H t

+
+
+
2 L R
2
R
1 L P
2
P
V ) x L ( A
A
V x . A
A
(2.29)
* Khi x = 0 th :

+
+ =
2 L R
2
R
1 L
2
P ) 1 (
td
V L A
A
V
A
B C (2.30)

54













V
L1
V
L2
Van
m
C
H1
C
H2
L
x
C
H1
A
P
A
R
V
2
V
1
C
H2
C
t
(2)
C
H min
C
t
(1)
Hnh 2.9. M hnh xc nh cng tng ng khi xylanh c kt
cu khng i xng
* Khi x = L th : C
(2)
t

+
+
=
2 L
2
R
1 L P
2
P
V
A
V L . A
A
B (2.31)
Kho st cc tr ca (2.29) ta thy, cng tng ng nh nht C
H min
khi :

R 1
A
V
L
A
V
. R
x
P
1 L
R
2 L
+

+
= (2.32)
vi :
x
R
P
A
A
R = =
2.5.2. Xylanh thy lc c kt cu i xng (A
P
= A
R
= A)
55


































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.
V
B
C
H min
2
L

L
x
Van
A
P
A
R
V
L2
V
L1
V
A B
A
C
H
(2)
C
H
(1)
+S
-S
F
0

2
3
2

O
O

T
m
C
Hmax
m
F
0
2

2
3
2

Hnh 2.10. M hnh xc nh cng tng ng khi xylanh c kt cu i xng
Nu pittng-xylanh c kt cu i xng (hnh 2.11) th cng tng ng nh
nht C
H min
s v tr
2
L
x = , v tr ny C
H1
= C
H2
.
Theo cng thc (2.29) cng tng ng trong trng hp ny s l :
C
t
=

+
+
+
2 L B 1 L A
2
V V
1
V V
1
. A . B (2.33)
v tr trung gian (x =
2
L
) th : V
A
= V
B
= V v nu V
L1
= V
L2
= V
L
th C
H min
s
l :
0
2
min H
V
A . B . 2
C = (2.34)
vi : V
0
= V + V
L
(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 :

V
A . B
C
2
H
= (2.36)
56










V
L1
A
D
m
J
B
ng c du
van
V
L2
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 D
m
(hoc k hiu l
A
m
) c xc nh t th tch ring D :

=
. 2
D
D
m
, (cm
3
/rad hoc in
3
/rad) (2.37)
D
m
- h s kt cu ca ng c du, (cm
3
/rad);
D - th tch ring ca ng c du, (cm
3
/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 :
V
A
= V
B
= V
2
D
= , (cm
3
/vg hoc in
3
/vg)
Cng thc tng qut xc nh cng thy lc thnh phn ca ng c du theo
(2.36) l :
V
D . B
C
2
H
= (2.38)
C th theo hnh 2.11 s l :

=
1 L
2
) A (
H
V
2
D
1
.
. 2
D
. B C (2.39)

=
2 L
2
) B (
H
V
2
D
1
. 2
D
. B C (2.40)
cng tng ng : (2.41)
) B (
H
) A (
H
) m (
t
C C C + =

Theo h mt :
) m (
t
C

+
+
+

=
2 L
1 L
2
V
2
D
1
V
2
D
1
.
. 2
D
000 . 10
B
(2.42)
trong : - cng tng ng ca ng c du, (N.m/rad);
) m (
t
C
B - mun n hi ca du, (kg/cm.s
2
);
D - th tch ring ca ng c du, (cm
3
/vg);
V
L1
v V
L2
- th tch ng ng i v v ca ng c du, (cm
3
).
Nu V
L1
= V
L2
= V
L
th :
) m (
t
C

=
L
2
V . 2
2
D
1
.
D
000 . 10
B
(2.43)
Theo h Anh :
) m (
t
C

+
+
+

=
2 L
1 L
2
V
2
D
1
V
2
D
1
.
. 2
D
. B (2.44)
57
Nu V
L1
= V
L2
= V
L
th :
) m (
t
C

=
L
2
V . 2
2
D
1
.
D
. B (2.45)
Th nguyn theo h Anh : l lbf/rad; B l lbf/in
) m (
t
C
2
; D l in
3
/vg
;
V
L1
,V
L2
v V
L
l in
3
.
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 C
t
(min)
= C
t

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.
58




















Van

J

a)
X
m
X

m
C
H
C
H
J
X(t)
f
n
0
x
0
t
t
(t)
f
n
0

0

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.

Tn s dao ng ring ca h chuyn ng thng l :
m
C
H
n
= , rad/s (2.46)
trong : C
H
- cng thy lc tng ng, (N/m hoc lbf/in);
m - khi lng chuyn ng, (kg hoc lbfs
2
/in).
hoc : f
n
=
m
C
2
1
H

, Hz (2.47)
Tn s dao ng ring ca h dao ng xon (ca ng c du) c xc nh l :
J
C
H
n
= , rad/s (2.48)
trong : C
H
- cng chng xon tng ng, (N.m/rad hoc lbfin/rad);
J - mmen qun tnh khi lng, (N.m.s
2
hoc inlbf.s
2
).

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 (m
tg
hoc J
tg
).
Hnh 2.13 trnh by cch xc nh m
tg
v J
tg
ca mt s c cu thng dng.












m
x
y
2
tg
y
x
m m

=

y
x
m
( )
y
y x
. m m
2
tg
+
=

b) a)


59
t
x
m



60

i
n
1
J
n
2

2
1
2 2
tg
n
n
. j i . J J

= =
( )
2
x
tg
t . 2
m
J

=


d)
c)

J
tg
= m.r
2
r
m







e)

Hnh 2.13. S xc nh cc gi tr thu gn (m
tg
v J
tg
) 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 t
x
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 :

( )

+
+
+
=
2 L P
2
P
1 L P
2
P (min)
H
V x L . A
A
V x . A
A
. B C




d 60 (2,5 in)
L 1000 (40 in)
R P
D 100 (4 in)
l 50 x 20
(2 x 0,75 in)
Van
B = 1,4.10
7
kg/cm.s
2
(2.10
5
lbf/in
2
)
l1000 x 20 (40 x 0,75 in)








Hnh 2.14. S xc nh cng ca cm truyn ng thy lc
chuyn ng tnh tin
Gn ng coi L
2
1
x , ngha l A
P
.x = V
P
v A
R
(L - x) = V
R
.
Nu tnh theo h mt ta c :

4
10 .
A
2
P

= = 79 cm
2
; A
R
=
4
6 .
A
2
P

= 50 cm
2
V
L1
=

4
2
2
.5 =16 cm
3
;V
L2
=
( )
4
2 .
2

.100 = 314 cm
3
V
P
=79.
2
100
= 3950 cm
3
; V
R
= 50
2
100
=2500 cm
3
C
H
min
=1,4.10
7

+
+
+ 2500 314
50
3950 16
79
2 2

C
H
min
= 3,4.10
7
N/m
Nu tnh theo h Anh ta c :
A
P
=
4
4
2

= 12,6 in
2
; A
R
= A
R
-
4
5 , 2 .
2

=7,7 in
2
V
L1
=
3
2
in 9 , 0 2 .
4
75 , 0 .
=

; V
L2
=
3
2
in 7 , 17 40 .
4
75 , 0 .
=

3
P
in 252
2
6 , 12
. 40 V = = ;
3
R
in 154
2
7 , 7
. 40 V = =
( ) ( )

+
+
+
=
154 7 . 17
7 . 7
252 9 , 0
6 . 12
. 10 . 2 C
2 2
5 min
H

61
min
H
C = 1,95.10
5
lbf/in
2.9.2. V d 2
Xc nh cng ca cm truyn ng thy lc chuyn ng quay trn hnh 2.15.

62








D = 20 cm
3
/vg (1,2 in
3
/vg)
Van
l 200 x 15 (8 x 0,5 in)
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 :

+
+
+

=
2
D
V
1
2
D
V
1
. 2
D
000 . 10
B
C
2 L 1 L
2
H

Tnh theo h mt : V
L1
=
3
2
cm 3 , 35
10
200
.
4
5 , 1 .
=

; V
L2
= V
L1
= 35,3 cm
3

C
H
=

+
+
+

2
20
3 , 35
1
2
20
3 , 35
1
2
20
000 . 10
10 . 4 , 1
2
7
= 6,3.10
2
N.m/rad
C
H
= 6,3.10
2
N.m/rad
Tnh theo h Anh : V
L2
= V
L1
=

4
5 , 0 .
2
.8 = 1,6 in
3

C
H
= 2.10
5
.

+
+
+

2
2 , 1
6 , 1
1
2
2 , 1
6 , 1
1
2
2 , 1
2

C
H
= 6,6.10
3
lbs/rad.

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 38 (1,5 in)
L1000 (40 in)
m
D 75 (3 in)
l 50 x 20
(2 x 0,75 in)
Van
m = 1500 Kg
W
l
= 3300 lbs
l = 1200 x 20 (48 x 0,75 in)









Hnh 2.16. S xc nh tn s dao ng ring ca cm truyn ng
thy lc chuyn ng tnh tin
Tnh theo h mt : A
p
=
4
5 , 7 .
2

= 44 cm
2
; A
R
= A
p
-
4
8 , 3 .
2

= 33 cm
2
V
L1
=

4
2 .
2
.5 = 16 cm
3
; V
L2
=

4
2 .
2
.120 = 377cm
3
C
H
= B

+
+
+
2
A . 1
V
A
2
A . l
V
A
R
2 L
2
R
P
1 L
p
2
= 1,4.10
7

+
+
+ 33 .
2
100
377
33
44 .
2
100
16
44
2 2

= 1,97.10
7
N/m
Tn s dao ng ring tnh theo cng thc (2.46) l :

n
=
m
C
H
=
1500
10 . 97 , 1
7
= 115 rad/s hay f
n
=
2
115
= 18 Hz
Tnh theo h Anh :
A
P
=
4
3 .
2

= 7,1 in; A
R
= A
P
- in 3 , 5
4
5 , 1 .
2
=

V
L1
=
3
2
in 9 , 0 2 .
4
75 , 0 .
=

; V
L2
=
3
2
in 2 , 21 48 .
4
75 , 0 .
=

63
C
H
= 2.10
5
.

+
+
+ 3 , 5 .
2
40
2 , 21
3 , 5
1 , 7 .
2
40
9 , 0
1 , 7
2 2
; C
H
= 1,1.10
5
lbf/in
Tn s dao ng ring : f
n
=
380
3300
10 . 1 , 1
.
. 2
1
5

= 18 Hz
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.
64








Van
T
P
l 200 x 15 (8 x 0,5 in)
D = 20 cm
3
/vg (1,2 in
3
/vg)
Hp gim tc
20
1
i =
J
J = 2,5 NmS
2
(22 inlbfs
2
)

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 C
H
= 6,3.10
2
N.m/rad
- Mmen qun tnh khi lng thu gn hnh 2.1 c xc nh theo cng thc :
J
tg
= J.i
2
= 2,5.
3
2
10 . 25 , 6
20
1

=

N.ms
2
.
- Tn s dao ng ring :
3
2
tg
H
n
10 . 25 , 6
10 . 3 , 6
J
C

= = = 318 rad/s ;

=
2
318
2
f
n
n
= 50 Hz
Tnh theo h Anh : C
H
= 6,6.10
3
lbf/rad ; J
tg
= 22.
2 2
2
inlbfs 10 . 5 , 5
20
1

=

2
3
tg
H
n
10 . 5 , 5
10 . 6 , 6
J
C

= = = 346 rad/s ;

=
2
346
2
f
n
n
= 55 Hz
Do lm trn khi chuyn i n v tnh nn tn s khi tnh theo h Anh c sai khc
vi h mt.
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 R
L
.

P
Q
C
C
Q
L
R
L
Q
T








Hnh 3.1. Mch thy lc c R
L
- C

Phng trnh cn bng lu lng l :
Q
T
= Q
C
+ Q
L
(3.1)


dt
dP
C Q
C
= v
L
L
R
P
Q = (3.2)
hay : Q
T

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



65

P
2
P(t)
O
t
O
Q
L
(t)
t
O
Q
c
(t)
t
t
Q
T
(t)
C.
(P
3 -
P
2
)
T
5
C.
P
1
T
1
C.
(P
2
-P
1
)
T
3
P
1
R
L
P
2
R
L
P
3
R
L
T
1
T
2
T
3
T
4
T
5 T
6
P
3
P
1
O




a)







b)







c)







d)


Hnh 3.2. th xc nh lu lng Q
T
t c tnh p sut
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 Q
T
.


66

3.1.2. Xc nh quy lut thay i p sut khi bit lu lng cung cp Q
I
trong
mch R
L
C thy lc

Nu bit lu lng cung cp Q
I
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 Q
I
(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.
67









O
P(t)
t
Vng chuyn bin nhanh
Vng p sut "dng"
b)
t 0
Q
C
I
R
L
Q
L
Q
I
a)
P(t)
C
Hnh 3.3. M hnh nghin cu quy lut thay i p sut
a- S mch thy lc R
L
C; 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 R
L
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 R
L
v 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 R
L

tng dn. Kt qu cht lng r qua R
L
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 R
L
. 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 R
L
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 :
Q
I
= Q
L
+ Q
C
=
dt
dp
. C
R
P
L
+ (3.4)
Gi s P(t) tng theo quy lut hm m v dng tng qut l :
P(t) = P
S
+ P
o
.e (3.5)
t . S
trong : P
O
- p sut thi im ban u (t 0);
P
S
- p sut trng thi "dng" (p sut lm vic n nh).
Thay (3.5) vo (3.4) ta c :
Q
I
= (
L
0
L
S
R
e . P
R
P
t . S
+ ) + C.
dt
) e . P P ( d
t . S
0 S
+
(3.6)
hay : Q
I
=
L
t . S
0
L
S
R
e . P
R
P
+ + C.S.P
0
.e (3.7)
t . S
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 :
Q
I
=
L
S
R
P
(3.8)
v :
L
0
R
e . P
t . S
+ C.S.P
0
.e = 0 (3.9)
t . S
do e suy ra :
t . S
0
L
0
R
P
+ C.S.P
0
= 0 (3.10)
hoc : 0 C . S
R
1
L
= + nn : S = -
C . R
1
L
(3.11)
Thay (3.8) v (3.11) vo (3.5) ta c :
P(t) =Q
I
. R
L
+ P
0.
e
t .
C .
L
R
1

(3.12)
Ta bit ti thi im t = 0 van bt u ng th P(0) = 0 nn :
P(0) =Q
I
. R
L
+ P
0.
e = 0 (3.13)
0
V e = 1 nn : P
0
= - Q
I.
R
L
(3.14)
0
Vy : P(t) = Q
I.
R
L

t .
C .
L
R
1
e 1 (3.15)
Trng hp khi van m hon ton (t = 0) m p sut P(0) 0 th
P(0) = Q
I.
R
L
+ P
0.
e (3.16)
0
68
Suy ra : P
0
= P(0) - Q
I
. R
L
(3.17)
Thay (3.17) vo (3.12) ta c : P(t) =Q
I
. R
L
+ [ P(0) - Q
I
. R
L
].
t .
C .
L
R
1
e

(3.18)
hay : P(t) = P
S
+ [ P(0) - P
S
].

t
e (3.19)
trong : (3.20) C . R
L
=
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 R
L
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
max
P
min
t
ng van
M van
0
P(t)
Np RC
Phng RC
69






Q
I
C
Q
C
Q
L
R
L
P(t)

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 P
max
gim v P
min
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 .
Lc ma st quan h n vn tc chuyn ng tun theo c tnh hnh 3.5a. Trong
gi tr F
0
l lc ma st cn thit vt thot khi trng thi tnh do hin tng trt
dnh v F
v
l ma st nht khi vt chuyn ng vi vn tc v. Gi tr F
v
s lin quan n
hin tng tt dn dao ng trong cc dao ng. F
R
l lc ma st c gi tr khng i.

70









F
R
0
Thc t
tuyn tnh
ha
F
0
0
-F
R
-F
ms
-F
0
-v
-F
V
v
F
0
F
ms
F
R
F
V
F
ms
v
a) b)

Hnh 3.5. th quan h gia lc ma st v vn tc chuyn ng
a- th quan h F
ms
- v thc t; b- th v tuyn tnh ho quan h F
ms
- v.

Thc t vn tc lc dnh kt F
0
gim xung F
R
rt nh ( ) 0 nn c th coi F
V

xut hin ti v 0.
Cc thnh phn lc trn c xc nh nh sau :
F
0
=
0
. F
N
(3.21)
F
R
=
R
. F
N
(3.22)
trong : F
N
- 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 F
v
chia ra thnh tng on nh tuyn tnh th ta c
cng thc :
F
v
= f
1
. v
(1)
+ f
2
. v
(2)
+ f
3
. v
(3)
+... + f
n
. v
(n)
(3.23)
trong f
i
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
F
v,
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 F
V
vit li l :
F
V
= f
V
.v (3.24)
trong : v - vn tc chuyn ng; f
V
- h s ma st nht.
Thc t F
R
rt nh, c th b qua, F
0
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

. (3.25)
trong : M

- mmen do ma st nht gy ra;
f

- h s ma st nht (f

f
V
);
- vn tc gc ca h ma st chuyn ng quay.

3.3. Vn tc chuyn ng ca pittng khi tnh n ma st nht


71





f
F
L
v
(t)
m
A
P
Q
p
A
R









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
lc (hnh 3.6b) nh sau : P.A
P
F
ms
F
L
= m
dt
dv
(3.26)
c)
v(t)
t
V
S
v (t)
a)
F
L
F
qt
F
ms
p
m
A
P
v
b)
F
ms
= 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) = v
S
+ v
0
.e
S.t
(3.27)
th (3.26) c vit li bng cch thay (3.27) vo (3.26) :
P.A
P
f.v
S
f.v
0
.e
S.t
F
L
= m.s.e
S.t
.v
0
(3.28)
Tch (3.28) thnh hai phng trnh c lp theo tnh cht ca phng trnh vi phn
tuyn tnh :
P.A
P
F
L
f.v
S
= 0 (3.29)
v f.v
0
.e
S.t
= s.m.e
S.t
.v
0
(3.30)
Suy ra : v
S
=
f
F A . P
L P

(3.31)
Cng thc (3. 30) c e
S.t
0 nn : f + s.m = 0 hay s =
m
f
(3.32)
Ti thi im t = 0 th v
(0)
= v
S
+ v
0
.s
0
hay v
0
= v(0) v
S
(3.33)
Lc ny : v(t) = v
S
+ (v
(0)
- v
S
).

t
m
f
e (3.34)
hoc : v(t) = v
S
+ [v
(0)
v
s
]

t
e (3.35)
vi
s
m
= , gi l hng s thi gian ca c tnh vn tc.

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, R
L
th hin sc cn chng li kh nng r du
trong h thy lc. Nng lng P. Q
L
qua R
L
bin thnh nhit nng. Cng vi ma st F
ms

R
L
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 :
Q
I
= Q
L
+ Q
C
+ Q
V
=
P
L
A . v
dt
dp
. C
R
P
+ + (3.36)
72
Phng trnh cn bng lc :

dt
dv
m ma F A . P
L P
= = (3.37)
hay :
m
F
m
A . P
dt
dv
a
L P
= = (3.38)



73






















Q
V
P(t)
I
R
L
Q
L
Q
I
Q
c
C
T = 0
F
L
A
P
a)
O
t
b)
V(t)
P
S
P(t)
v(t)
P(t)
m
v
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 :


= = =
t
0
L
t
0
P
t
0
t
0
dt F
m
1
Pdt
m
A
v dt .
dt
dv
adt (3.39)
Thay (3.39) vo (3.36) ta c :

+ + =
t
0
L
P
t
0
2
P
L
I
dt F
m
A
dt . P
m
A
dt
dP
. C
R
P
Q (3.40)
Do Q
I
l hng s nn 0
dt
dQ
I
= :
0 F .
m
A
P .
m
A
dt
P d
. C
dt
dP
R
1
dt
dQ
L
P
2
P
2
2
L
I
= + + = (3.41)
Mt khc P(t) = P
S
+ P
0
.e
S.t
nn :

0
t . S
P . e . S
dt
dP
= v
0
t . S 2
2
2
P . e . S
dt
P d
= (3.42)
Thay (3.42) vo (3.41) :
0 F .
m
A
e . P .
m
A
P .
m
A
e . P . C . S e .
R
P
. S
L
P t . S
0
2
P
S
2
P t . S
0
2 t . S
L
0
= + + + (3.43)
Theo tnh cht ca phng trnh vi phn tuyn tnh th (3.43) c th tch ra thnh
hai phng trnh sau :
0 F .
m
A
P .
m
A
L
P
S
2
P
= (3.44)
v : 0 e . P .
m
A
C . S
R
S
St
0
2
P 2
L
=

+ + (3.45)
T (3.44) ta rt ra c p sut trng thi n nh l :
P
L
S
A
F
P = (3.46)
Cng thc (3.45) c P
0
0 v e
S.t
0 nn
0
m
A
C . S
R
S
2
P 2
L
= + +
hay : 0
C . m
A
S .
C . R
1
S
2
P
L
2
= + + (3.47)

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

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

C . m
A 4
C . R
1
2
P
2 2
L
> (3.49)
v nu t
1
1
1
S

= v
2
2
1
S

= l :

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

(3.50)

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

(3.51)
Thay S
1
v S
2
vo P(t) = P
S
+ P
0
.e
S.t
ta c
(3.52)
2 1
/ t
02
/ t
01 S
e . P e . P P ) t ( P

+ + =
P
01
v P
02
xc nh theo iu kin u.
2. Kh nng th hai : S c hai nghim kp l :
S
1
= S
2
=
C . R 2
1 1
L
=

(3.53)
nn :
( )

+ + =
/ t
02 01 S
e . P P P ) t ( P (3.54)
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.
S
1
= + j (3.55)
S
2
= - j
vi
C . R . 2
1
L
= ,
2 2
L
2
P
C . R
1
C . m
A . 4
2
1
= ,

<
C . m
A . 4
C . R
1
2
P
2 2
L
(3.56)
p sut P(t) c xc nh theo cng thc sau :

t j t t j t
e . e P e . e . P P ) t ( P
02 01 S

+ + = (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 :
t sin .
t
e . B t cos . e . A P ) t ( P
t
S


+ + =

(3.58)
hay : ( ) ) t cos( . e . B A P t P
t 2 2
S
+ + + =

(3.59)
75
vi :
A
B
arctg = ;

=

A
B
tg
1

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

76











Trn tt dn
Tt dn gii hn
P
S
P(t)
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 :
Q
I
=
P
L
A . v
dt
dp
. C
R
P
+ + (3.60)
P.A
P
f.v F
L
= m.
dt
dv
(3.61)
trong : f.v = F
ms
l lc ma st nht;
f l h s ma st nht.
Ly o hm 0
dt
dQ
I
= ca phng trnh (3.60) :
0
dt
dv
. A
dt
p d
. C
dt
dp
.
R
1
P
2
2
L
= + + (3.62)
Suy ra :
2
2
P P L
dt
p d
.
A
C
dt
dp
.
A . R
1
dt
dv
= (3.63)
Thay (3.63) v (3.60) vo cng thc (3.61) ta c :
P.A
P
- f

2
2
P P L
L
P P L P
I
dt
p d
.
A
C
dt
dp
.
A . R
1
. m F
dt
dp
.
A
C
A . R
P
A
Q
(3.64)
Bin i (3.64) nh sau :
P
I
L P
P L P L P
2
2
P
A
Q . f
F p . A
A . R
f
dt
dp
.
A . R
m
A
f . C
dt
p d
.
A
C . m
+ =

+ +

+ + (3.65)
hay :
C . m
Q . f
C . m
A . F
p .
C . m
A
C . R . m
f
dt
dp
.
C . R
1
m
f
dt
p d
I P L
2
P
L L
2
2
+ =

+ +

+ + (3.66)
Tng t nh mc 3.4.1 ly o hm bc nht v bc hai ca P(t) = P
S
+ P
0
.e
S.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 :
P
S
=
2
P
L
P L I
A
R
f
A . F Q . f
+
+
(3.67)
v : S
2
+ 0
C . m
A
C . R . m
f
S .
C . R
1
m
f
2
P
L L
=

+ +

+ (3.68)
Cc h s ca phng trnh (3.68) ng thi tn ti cc yu t nh m, A
P
, C, R
L
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 P
S
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 Q
I
, 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
Q
I
= C. v . A
dt
dp
P
+ (3.69)
P.A
P
f.v = m.
dt
dv
(3.70)











Hnh 3.9. M hnh kho st c tnh vn tc ca pittng khi khng tnh n
tn tht lu lng

Rt
dt
dp
t cng thc (3.69) ri thay vo cng thc (3.70) ta c :
2
2
P
dt
v d
. m
dt
dv
. f A .
dt
dp
= (3.71)

v .
C
A
C
Q
P I
.A
P
f
2
2
dt
v d
. m
dt
dv
= (3.72)
A
R
m
A
P
P(t)
Q
V
I
C
Q
I
Q
C
t 0
v(t)
f
hay :
I
P
2
P
2
2
Q .
C . m
A
v .
C . m
A
dt
dv
.
m
f
dt
v d
= + + (3.73)
Nghim ca phng trnh vi phn bc hai (3.73) theo v(t) s c dng hm m
v(t) = v
S
+ v
0
.e
S.t
nh gii thiu mc 3.3. Vi :

t . S
0
e . v . S
dt
dv
= v
t . S
0
2
2
2
e . v . S
dt
v d
=
th (3.73) c th vit li l :
S
2
.v
0
.e
S.t
+ S.v
0
.
I
P t . S
0
2
P
S
2
P t . S
Q .
C . m
A
e . v .
C . m
A
v .
C . m
A
e .
m
f
= + + (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 :
I
P
S
2
P
Q .
C . m
A
v .
C . m
A
= (3.75)
v :

+ +
C . m
A
S .
m
f
S
2
P
2
.v
0
. e
S.t
= 0 (3.76)
T (3.75) rt ra c vn tc trng thi n nh l :
v
S
=
P
I
A
Q
(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 Q
I
trng thi n nh ch y pittng
chuyn ng. Phng trnh (3.76) c cc s hng ph thuc theo thi gian v c
e
S.t
0; vn tc ban u ( thi im t = 0) l v
0
= 0. Tuy nhin y ta quan tm n
trng hp : S

2
+ 0
C . m
A
S .
m
f
2
p
= + (3.78)
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 :
S
2
+ 2 = 0 (3.79)
2
n n
S . . +
trong : h s tt dn;
tn s dao ng ring (rad/s).
n
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 :
C . m
A
R . C . m
f
2
P
L
2
n
+ = (3.80)
hay :
m
C
C
A
R . C
f
m
1
H
2
P
L
=

+ = (3.81)
79
hoc : f
n
=

2
n
(Hz) (3.82)
trong : C
H
=
C
A
R . C
f
2
P
L
+ (3.83)
C
H
c gi l cng thy lc.
2.
C . R
1
m
f
.
L
n
+ =
hay : ]
C . R
1
m
f
.[
. 2
1
L n
+

= (3.84)
Trong a s cc trng hp h s ma st f nh hn nhiu so vi h s cn r du R
L

nn gn ng ly : C
H

V
A . B
C
A
2
p
2
P
= (3.85)
v : f
n

m
1
.
V
A . B
2
1
2
p

(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 f
n
min th C
H
phi l max. Quan h gia f
n
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 R
L
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 ).


ng c v h
truyn ng
Tc ra
Tn hiu
vo
a)
ng c v h
truyn ng
Tc ra
thay i
Tn hiu
vo
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 t
o
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.




82







G
R
t
0
R
U.G = R
U
U
U
a)
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.
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.


v
a)
m
P
Q
I
R
L
C
t 0









Q
Q
I
t
V
S
O
0
p ng l thuyt
L
t
v
p ng thc 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).


0,25
0,75
0,1 0,08 0,06 0,02 0,04
0,50
1,00
R(t)
t
84






a) b)
t
2 4 6 8 10
R(t)
1,00
0,75
0,50
0,25
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)
G
V
(s)
I(s)
K
A
(s) R(s)

Hnh 4.5. S khi mch iu khin ca van in, thy lc
Trong s trn hnh 4.5, K
A
(s) l hm truyn ca b khuch i v G
v
(s) l hm
truyn ca van. Nu b khuch i c hm truyn l mt khu khuch i K
A
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). K
A
(4.1)
R(s) = I(s). G
v
(s)
hoc : R(s) = K
A
. G
v
(s). U(s) (4.2)
hm truyn : G
AV
(s) = ) s ( G . A
) s ( U
) s ( R
v
= (4.3)
Thc t thi gian p ng ca cm van in thy lc cng rt nh nn khi cn thit
c th coi G
AV
(s) l mt khu khuch i, tc G
AV
= K
A
.G
V
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
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.

85








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 K
c
hoc H.








Hnh 4.7. S khi ca mch iu khin h kn
a- S chnh tc; b- S khi ly tn hiu phn hi.
ng c v h
truyn ng
B iu
khin
10
30
60
9
120
150
Tn hiu phn hi
Tn hiu tc ng vo
Cc yu t tc ng bn ngoi
Tc
U(S)
G(S)
+ E(S)
H(S)
F(S)
R(s)
a)
U(S)
G(S)
F(S) = 0
H(S)
+ F(S) E(S)
R (s)
b)
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) (4.4)
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) (4.5)
p ng thc l : R(s) = E(s).G(s) (4.6)
R(s) = [U(s) R(s).H(s)].G(s) = U(s).G(s)R(s).H(s).G(s) (4.7)
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) = ) s ( U .
) s ( G ). s ( H 1
) s ( G
+
(4.8)
Hm truyn ca h kn s l :
) s ( U
) s ( R
=
) s ( G ). s ( H 1
) s ( G
+
= G
K
(s) (4.9)
trong : G(s) - hm truyn h h;
G
K
(s)- hm truyn h kn.
Theo m hnh mch h hnh 4.7b th :
) s ( U
) s ( F
= G(s). H(s) (4.10)
Tn hiu phn hi F(s) cn s dng iu chnh cc h s hiu chnh cng nh h
s khuch i K
A
ph hp vi yu cu ca mch iu khin.
Nu G(s). H(s) >> 1 th cng thc (4.9) c th ly l :
G
K
(s) =
) s ( U
) s ( R
=
) s ( G ). s ( H 1
) s ( G
+

) s ( G ). s ( H
) s ( G
=
) s ( H
1
(4.11)
ngha l G(s).H(s) ln, tc G(s) ln th hm truyn G
K
(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.

87







Hnh 4.8. th biu din mi quan h gia sai s v tr v
0
G(S)
N
M
G
(S)
max
n nh vi hm truyn G(s)
M- Biu th cho sai s v tr; N- Biu th cho mc khng n nh;
max
) s (
G - 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








E(s)
K
I(s)
G
Q
Q(s)
1
A
P
V(s)

x(s)
H
F(s)
U(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; G
Q
-H s khuch i lu lng ca van; H -
H s khuch i ca khu phn hi; 1/ A
P
-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.
Cc i lng K, G
Q
,
P
A
1
v H trn hnh 4.9 ch xc lp l cc hng s.
V tr ca pittng c xc nh theo cng thc :
x(t) = ) s ( v
S
1
) s ( x dt ) t ( v
t
0
=

(4.12)
trng thi n nh, quan h gia vn tc v dng in iu khin xc nh l :
QP
s
s
G
I
v
= (4.13)
trong :
V
s
- vn tc ca pittng trng thi n nh;
I
S
- dng in iu khin van trng thi n nh.
Hm truyn ca cm van - xylanh trng thi n nh l :
G
QP
=
P
Q
A
1
. G
Hm truyn h kn hnh 4.9 s l :
H . G . K S
G . K
) s ( G
) s ( U
) s ( x
QP
QP
K
+
= = (4.14)
trong : K, G
QP
, H l h s chuyn i ca tn hiu phn hi v c th nguyn l :
H . G . K
QP

giay
1
cm
von
.
giay . ampe
cm
.
von
ampe
= (
s
1
) (4.15)

s
1
l th nguyn tn s.
Nh vy tn s ca h l :

=
. 2
H . G . K
f
QP
H
(Hz) (4.16)
v :
H . G . K
1
QP
= , (s) (4.17)
l hng s thi gian.

Theo l thuyt iu khin t ng, thi gian p ng ca h nu ly gn ng s l
T
S
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 P
A
v P
B
thay i theo quy lut nh c tnh trong hnh
4.10.

89

I
P
B P
A
P
P
B
A
H
x
F
L
-F
+
P
A
f
D
A B
T
P
T
I
E
A
P
U
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 = ) x x ( H U x . H x . H U
A
I
+ = =

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

F
L
+
U
F = H.(x + x)
x +x
I
K
I
E

=
1
S
G
QP
K
H








a)
0
X(t)
x
F
(3) (2)
v
S

b)
(1)








t



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 = x . H
A
I
=

90
hay : A . H
x
I
=

(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 :
f
H
=

2
G
.
x
I
QP
(4.20)
Hnh 4.11b trnh by c tnh v tr ca mch iu khin pittng-xylanh thy lc.
iu khin c gi tr x
F
th pittng phi tri qua ba giai on lm vic :

- Giai on (1) v (3) : pittng chuyn ng c qun tnh.
- Giai on (2) : 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 v
S
v v
S
c xc nh theo cng thc sau :
v
S
= G
QP
.I (4.21)
Tn s dao ng ca vng ny s l :
f
H
(2)
=
) 2 (
S
x . 2
v

(4.22)
Tn s cng hng f
c
ca h s l gi tr ln nht ca f
H
v f
H
(2)
:
f
c
= max{ f
H
; f
H
(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 ( a
1
= const v a
3
= const), cn vng vn tc khng i th gia tc bng 0
(a
2
= 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 v
S
(vng 2).
91


92























t
V (t)
Vn tc
t
t
T
T
a
1
= const
a
2
= 0
T
3
T
2
T
1
a
3
= const
v
S
(1)
(2)
(3)
x
1
x
2
x
3
x
T
x (t)
Gia tc
a (t)
V tr
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 (T
T
) l tng thi gian ca cc vng vn tc,
tc l :
T
T
= T
1
+ T
2
+T
3
(4.24)
Vn tc (v) v v tr (x) xc nh theo cng thc sau :
v = ; x = (4.25)

+
t
0
0
v adt

+
t
0
0
x dt . v
trong : a- gia tc chuyn ng;
b- vn tc chuyn ng;
x- v tr iu khin;
x
0
- v tr iu khin ti t = 0;
v
0
- vn tc ti thi im t = 0.

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

+
t
0
0
v dt
0
(4.27)
x =

+ + = + +
t
0
0 0
2
0 0
x t v t . a
2
1
x dt ) v at ( (4.28)
T ta c v tr iu khin X
T
c xc nh l :
x
T
=
S 3 S 2 S 1
v . T
2
1
v . T v . T
2
1
+ + (6.29)
hay : v
S
=
3 2 1
T
T
2
1
T T
2
1
x
+ +
(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 T
1
0; T
3
0 nn T
2
T
T
.
y l trng hp c bit ca sng hnh thang.
V tr iu khin c xc nh l :
x
T
v
S
.T
2
= v
S
.T
T
(4.31)

93






v(t)
T
2
T
1
v
S
t
Hnh 4.13. th vn tc chuyn ng l sng ch nht
4.3.3. Vn tc chuyn ng l sng tam gic


v(t)
t
v
s
T
1
T
3
T
2
0






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 T
2
0 th : x
1

2
1
.v
S.
.(T
1
+ T
3
) =
2
1
v
S
.T
T
(4.32)
hay : v
S
=
T
T
T
x . 2
(4.33)
4.3.4. Xc nh vn tc v
S
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 x
1
, x
2
, x
3
v T
T
th v
S
xc nh nh sau :
Ta bit rng : T
T
= T
1
+ T
2
+ T
3
(4.33)
m : x
1
=
2
1
v
S
.T
1
; x
2
= v
S
.T
2
; x
3
=
2
1
v
S
.T
3
nn : T
T
=
S
3
S
2
S
1
v
x 2
v
x
v
x 2
+

hay : v
S
=
T
3 2 1
T
x 2 x x 2 + +
(4.34)
Khi bit T
T
, x
T
v gia tc chuyn ng th v
S
xc nh l :
Ta bit : x
T
=
3 S 2 S 1 S
T . v
2
1
T . v T . v
2
1
+ +
m : v
S
= a
1
.T
1
T
1
=
1
S
a
v
; v
S
= a
3
.T
3
T
3
=
3
S
a
v

nn : x
T
=
3
2
S
2 . S
1
2
S
a
v
2
1
T v
a
v
2
1
+ + (4.35)
94
ng thi : T
T
=
3
S
2
1
S
a
v
T
a
v
+ + (4.36)
Nhn c hai v phng trnh (4.36) vi - v
S
v cng vi phng trnh (4.35) ta c :
x
T
- v
S
.T
T
=
3
2
S
1
2
S
a
v
2
1
a
v
2
1
+ (4.37)
hay : x
T
- v
S
T
T
+

+
3 1
2
S
a
1
a
1
2
v
= 0

2
S
3 1
v .
a
1
a
1
2
1

+ - v
S
T
T
+ x
T
= 0 (4.38)
phng trnh (4.38) l phng trnh bc 2 ca v
S
, nghim ca n s l :

+
=
3 1
T
2 1
2
T T
S
a
1
a
1
x .
a
1
a
1
2 T T
v (4.39)
vi iu kin sau :
T
2 1
2
x .
a
1
a
1
2 T

+ (4.40)
4.4. Phng php iu khin v tr bng sng hnh thang nhiu cp








t
x
t
v(t) v
S
A
1
T
1
T
2
T
3
T
4
T
5
z
A
2
t
t
T
5
T
4
T
3
T
2
T
1
v
S
D
v
S
v(t)
Hnh 4.15. c tnh ca vn tc iu khin l sng hnh thang hai cp gim tc
a) b)
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 x
T
c xc nh nh sau :
95
x
T
=
2
1
.T
1
.v
S
+ (T
2
T
1
).v
S
+
+ ( ) ( ) ( ) ( )
D
v
T T .
2
1
T T
D
v
D
v
T T
D
v
v . T T
2
1
S
4 5 3 4
S S
2 3
S
S 2 3
+ + +

(4.41)
trong : x
T
- tng khong hnh trnh iu khin;
D - h s lm chm.
Cc vng A
1
v A
2
hnh 4.15b l cc nn vn tc cho php khi gim tc, cn t v
t
x
l cc khong thi gian cho php thc hin gim tc. Thng thng : A
1
= A
2
hay : t
x
= (D 1).t (4.42)
ngha l : t.
x
s S
S
t .
D
v
D
v
v =

hay : t
x
= (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.

U
Q
M
P
V
F
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

dt
dp
.
B 2
V
p .
dt
dy
. F x . Q + + = = (4.44)
Phng trnh cn bng lc :
2
2
dt
y d
. M p . F = (4.45)
Chuyn qua phng trnh Laplace :
p . s .
B 2
V
) s ( p . ) s ( y . s . F ) s ( x . ) s ( Q + + = = (4.46)
) s ( y . s .
F
M
) s ( p ) s ( y . s . M ) s ( p . F
2 2
= = (4.47)
Thay (4.47) vo (4.46) ta c : ) s ( y . s .
F . B 2
M . V
s .
F
M .
s . F ) s ( x . ) s ( Q
3 2

+ = = (6.48)
Hm truyn h h s l :
s
1
.
s .
F . B 2
M . V
s .
F
M .
1
1
.
F ) s ( x
) s ( y
2
2

= (4.49)
t :
F
K

= ;
2
n
F
M . Z . 2
=

v
M . V
F . B . 2
2
n
= (4.50)
Phng trnh (4.49) c dng :

s
1
.
s .
1
s .
z . 2
1
1
. K
) s ( x
) s ( y
2
2
n n

+

+
= (4.51)
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.

97


x(s) y(s)

a)








b)
Hnh 4.17. S khi ca h h (a) v s khi ca h phn hi n v (b)
Hm truyn h kn :
K
S
1
2
2
n n
s . . 1

+
1
s
Z . 2
1
Ux
(s) y(s)
K 2
2
.
1
.
. 2
1
1
s s
Z
n n

+ +
s
1
x(s)

+ +
=

+
+

+

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


K
V
K
0
K
C
m X
(+)
V,p
1
F
1
P
T
P
S I
U
K
A














a)

98






U
-
+
B khuch
i K
A
Van servo
K
V
Cm piston
v k.lng m
x
Q
I
E
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; F
1
-Din tch ca piston; p
1
-p sut cung cp ca van;
K
A
-H s khuch i ca b khuch i; K
v
-H s khuch i ca van; K
C
- 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; K
0
-H s thot du ca van servo.
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
dt
dx
. F p . K I . K Q
1 1 O V 1
= = ;

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

) s ( x . S . F ) s ( p . K ) s ( I . K ) s ( Q
1 1 O V 1
= = ;
(4.54)

) s ( x . S . m ) s ( p . F
2
1 1
=
) s ( I K ). s ( E
A
=

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


99





E(s)
s . F
1
1
x(s)
p(s)
K
V
1
2
F
s . m
I(s)
K
V
K
V


a)




E(s)
) S . m . K F ( S
K . K . F
0
2
1
V A 1
+
x(s)




b)

Hnh 4.19. S khi bin i hm truyn ) s ( E / ) s ( x
a - S dng tng qut; b - S dng rt gn.

Nh vy hm truyn h h s l :

( ) S . m . K F . S
K . K . F
) s ( E
) s ( x
) s ( W
O
2
1
V A 1
+
= = (4.55)
- Trng hp x < 0 :
( ) S . m . K F . S
K . K . F
) s ( W
O
2
2
V A 2
+
= (4.56)
b- Khi c phn hi (h kn vi x > 0)


E(s)
) S . m . K F .( S
K . K . F
0
2
1
V A 1
+
K
C
U(s)
F(s)

x(s)







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 :

C
W
K ). s ( W 1
) s ( W
) s ( W
+
=
hay :
C V A 1
2
1
2
O
V A 1
W
K . K . K . F S . F S . m . K
K . K . F
) s ( U
) s ( x
) s ( W
+ +
= = (4.57)

1 S . T S . T
K
) s ( W
2
2 2
1
W
W
+ +
= (4.58)
trong :
C V A 1
O
1
K . K . K . F
m . K
T = ;

C V A
1
2
K . K . K
F
T = ; (4.59)

C
W
K
1
K = .
Hm truyn (4.57) c th vit di dng (4.60) nh sau :

1
S
. . 2
S
K
) s ( U
) s ( x
) s ( W
O
2
O
W
W
+

= = (4.60)
trong :
m . K
K . K . K . F
T
1
O
C V A 1
1
O
= = - tn s dao ng ring ca h thng;

m . K . K . K . K
F
.
2
1
T . 2
T
O C V A
3
1
1
2
= = - h s tt dn ca h thng.


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

U
Q
p
D
m
J

K
C
Cm bin
V.B

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; D
m
-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; K
c
-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 :
p .
dt
dp
.
B . 2
V
dt
d
. D x . Q
m
+ +

= = (4.61)
Phng trnh cn bng lc :

2
2
m
dt
d
. J p . D

= (4.62)
Phng trnh Laplace :
) s ( p . ) s ( p . s .
B . 2
V
) s ( . s . D ) s ( x . ) s ( Q
m
+ + = =
(4.63) ) s ( . s . J ) s ( p . D
2
m
=
Phng trnh (4.63) c th vit li l :
) s ( . s .
D
J
. ) s ( . s .
D . B 2
J . V
) s ( . s . D ) s ( x . ) s ( Q
2
m
3
m
m
+ + = = (4.64)
Hm truyn :
s
1
.
s .
D . B 2
J . V
s .
D
J .
1
D
) s ( x
) s (
2
2
m
2
m
m
+

(4.65)
Vi
dt
d
= th ) s ( . s ) s ( = . Nu thay vo (4.65) ta c hm truyn :

101

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

(4.66)
t :
J . V
D . B 2
;
D
J . Z 2
;
D
K
2
m
n
2
m n m
=

= (4.67)
ta c :
s
1
.
s .
1
s .
Z 2
1
1
. K
) s ( x
) s (
2
2
n n

+

+
=

(4.68)

2
2
n n
s .
1
s .
Z 2
1
1
. K
) s ( x
) s (

+
=

(4.69)
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.


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

+
s
1
K
a)
(s) x(s)




x(s)
2
2
n n
s .
1
s .
Z . 2
1
1

+
s
1
K
K
C
U b)
(s)





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 :

( )
2
2
n n C
C
s .
1
s .
Z 2
1
K . K
s
1
K 1
) s ( U
) s (

+ +
=

(4.70)

( )
2
2
n n C
C
s .
1
s .
Z 2
1
K . K
1
1
K 1
) s ( U
) s (

+ +
=

(4.71)
102
4.5.4. H thu lc chuyn ng quay iu khin bng van servo


103









Q

J

K
C

V.B
p
D
m
K
A
U
K
V

K
0
F
E
f
I
P
T
0
P
S
Cm bin v tr
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 :
Phng trnh lu lng : p .
dt
dp
.
B . 2
V
dt
d
. D Q
m
+ +

= (4.72)
Phng trnh cn bng lc nu k n ma st (vi h s ma st nht f) l :

dt
d
. f
dt
d
. J p . D
2
2
m

= (4.73)
Phng trnh Laplace : ) s ( p . ) s ( p . s .
B . 2
V
) s ( . s . D ) s ( Q
m
+ + =
(4.74) ) s ( . s . f ) s ( . s . J ) s ( p . D
2
m
+ =
Phng trnh (4.74) c th vit li l :
( ) ) s ( p . s .
B 2
V
) s ( . s . D ) s ( Q
m
+ + = (4.75)
) s ( .
D
) s . f s . J (
) s ( p
m
2

+
= (4.76)
Thay (4.76) vo (4.75) ta c :
) s ( .
D
s . f s . J
. s .
B . 2
V
) s ( . s . D ) s ( Q
m
2
m

+ + =
- i vi h h :
Hm truyn :
s
1
.
D
f s . J
. s .
B 2
V
D
1
) s ( Q
) s (
m
m

+ +
=

(4.77)

=

) s ( Q
) s (

s
1
.
s .
) f . D ( B 2
J . V
s .
) f . D .( B 2
. J . B 2 f . V
1
D
) f . D (
2
2
m
2
m
m
2
m
+
+
+
+
+
+
(4.78)
Nu t :
m
2
m
D
f . D
K
+
= ;

) f . D .( B 2
J . V
T
2
m
1
+
= ;
J . V
) f . D .( B 2
T
1
2
m
1
0
+
= = (4.79)

) f . D .( B 2
. J . B 2 f . V
T
2
m
2
+
+
= ;
) f . D ( J . V . B 2
. J . B 2 f . V
2
1
T . 2
T
2
m
1
2
+
+
= = (4.80)
th
s
1
).
1 s . T . 2 s . T
K
(
s
1
).
1 s . T s . T
K
(
) s ( Q
) s (
1
2 2
1 2
2 2
1
+ +
=
+ +
=

(4.81)
trong :
K - h s khuch i ca khu dao ng;
T
1
,T
2
- 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.


(s)
1 s . T s . T
K
2
2 2
1
+ + s
1
Q(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 :
; ) s ( p . K ) s ( I . K ) s ( Q
0 V
= ) s ( E . K ) s ( I
A
= ; ) s ( . K ) s ( U ) s ( E
C
= (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.




m
2
D
) s . f s . J ( +
0
K
1 s . T s . T
K
2
2 2
1
+ + s
1
V
K
A
K
C
K
p(s)
(s)
Q(s) I(s) E(s)
U(s)



(s)





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

104
t :
1 s . T s . T
K
A
2
2 2
1
+ +
=
v
m
D
) f s . J .( s
B
+
=
Bin i s khi hnh 4.25 ta c s nh hnh 4.26a.



0
K . B .
s
A
1
s
A
+
V
K
A
K
C
K
I(s) E(s)
U(s)
(s)


a)




0
V A
K . B . A s
A . K . K
+
C
K
E(s)
U(s)
(s)


b)



Hnh 4.26. S khi bin i

Khai trin s khi trn hnh 4.26b ta c :


0
m 2
2 2
1
2
2 2
1
V A
K .
D
) f s . J .( s
.
1 s . T s . T
K
s
1 s . T s . T
K
K . K
) s ( E
) s (
+
+ +
+
+ +
=

(4.83)
Khai trin (4.83) ta c :

+
+
+
+
+
+
=

1 s .
f . K . K D
J . K . K D . T
s .
f . K . K D
D . T
. s
f . K . K D
D . K . K . K
) s ( E
) s (
0 m
0 m 2 2
0 m
m
2
1
0 m
m V A
(4.84)
Nu t :
f . K . K D
D . K . K . K
K
0 m
m V A
+
=

) f . K . K D (
D
.
) f . D .( B 2
J . V
f . K . K D
D . T
0 m
m
2
m 0 m
m
2
1
1
+ +
=
+
= (4.85)
105
) f . K . K D ).( f . D .( B 2
) f . D ( J . K . K . B 2 D . . J . B 2 D . f . V
f . K . K D
J . K . K D . T
0 m
2
m
2
m 0 m m
0 m
0 m 2
2
+ +
+ + +
=
+
+
=

th phng trnh (4.84) s l :

s
1
.
1 s . s .
K
) s ( E
) s (
2
2 2
1
+ +
=

(4.86)
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.




106







1 s . s .
K
2
2 2
1
+ + s
1
C
K
(s) E(s)
U(s)
(s)
Hnh 4.27. S khi ca h thng thy lc iu khin v tr

Hm truyn h kn
) s ( U
) s (
sau khi bin i s khi hnh 4.27 s l bc 3.


















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
T A
P
x
0
=0
A T
P




c) a)

x
0
>0
I
x
Q
x
0
<0
x
0
= 0

A
x
0
< 0
T
P





b)
d)

Hnh 5.1. S cc loi mp iu khin ca van
a - Van c mp iu khin dng (+x
0
);
b - Van c mp iu khin trung gian(x
0
= 0);
c - Van c mp iu khin m (-x
0
);
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 x
0
> 0 gi l van trt c mp iu khin dng, con trt di chuyn trong
vng x
0
lu lng vn bng 0 v vng ny c th gi l vng "cht" (hoc vng che
ph).
- Khi x
0
= 0 gi l van trt c mp iu khin trung gian.
- Khi x
0
< 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 (x
0
= 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 = x
0
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 servo
k tht s
Van servo
sut cao
Van t l hiu Van t l Van t l
khng c
phn hi
Van ng m
iu khin
con trt
Van ng
m
van
servo
Van t l Van ng
m

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.

a)
6
4
3
2
1



5


109










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.



110



a)
L xo
3
Van
2
Nam chm
4
L xo
1




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).
Ca tit lu L xo Nam chm Cm bin
Vt hiu chnh Vt hiu chnh






a)

s
T P
B
A




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.
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
N
Nam chm
vnh cu
Phn ng
Ming phun du
+
i
N
S S
P
R
Cnh chn
Cun dy Cun dy 1
i
+


ng n hi






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 i
1
i
2
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.

113










Lc du
Cng n hi
ng phun du
Nam chm
Vt hiu chnh con
trt
Thn van
a)












P
L tit lu
Lc du
Cng n hi
ng n hi
Li nam chm
ng phun
Cun dy
Cng
Con trt
b)







T
P
c)
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.


114




























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.
























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.


115
















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; 7-
Cng iu khin in-thy lc; 8-ng phun; 9,10-Bung du ca van
chnh.

116

















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.















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

Dch chuyn ca
cng n hi
p sut A
St
v B
St
p sut %
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 P
S
khng i v ch khng ti trng (hnh 5.14).


-Q
I -I
Q
S
(+)
Q

Q
I
S
(+
)
(3)
I
A
(+)
I
0
(+)
(2)
I
0
I
S
(-)
I
A
(-)
(3)
(2)
(1)
Q
S
(-)











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 = Q
max
).
Vng bo ha l vng m con trt ang v tr trung gian (
Q
1% Q
S
), c xc
nh theo cng thc :
D
Z

( )
( )
) (
S
) (
S
) (
0
) (
0
I I
I I
+
+

(5.1)
Khi thit k van, D
Z
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 :
D
A

( )
( )
) (
S
) (
S
) (
A
) (
A
I I
I I
+
+

(5.2)
Vng lu lng bo ho Q
S
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. Q
S
cn c gi l lu
lng t l.
i vi van servo, p sut cung cp xy dng c tnh trn l P
S
= 70 bar.
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

118










Q
Q
tuyn tnh
Q
max
I
max
Q
thc t
I
0
Phm vi
lm vic

Hnh 5.15 Tuyn tnh ho quan h Q - I.
Cc gi tr Q
max
v I
max
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 :

0
L
P
Q
dI
dQ
K
=
(5.3)

Q
x
0
< 0
x
0
=0
x
0
> 0
I
I
0
(x
0
)


P A T B




p

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 x
0
= 0, x
0
> 0 v x
0
< 0.
Khi coi c tnh Q - I l tuyn tnh th h s khuch i lu lng s l :

I
Q
K
Q
= (5.4)
K
Q
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,
c xc nh theo cng thc sau : Kp =
I
p
(5.5)

119


P A T B
p
P
L
= 0
P A T B
p
P
L







a) b)










P
P
s
X
0
>0
X
0
<0
X
0
= 0
I
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 P
L
= 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.
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
*
%.I
max
).
I
0
I
*
Q



120





a)
I
*
I
max
Q
I
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 :
Q P K
o
(5.6)
trong : K
0
- 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:
Q
L
= Q
R
.
100
I
A
.
70
P
V

(h mt) (5.7)
hoc : Q
L
= Q
R
.(
100
I
A
).
1000
P
v

(h Anh) (6.8)
trong : Q
L
- lu lng ra ng vi dng iu khin I
A
;
Q
R
- lu lng t l (lu lng ln nht ng vi I
max
);
P
V
- st p qua van v P
v
c xc nh l : P
v
=P
S
P
l
P
T
(5.9)
P
S
- p sut cung cp; P
T
- p sut ca ra ca van;
P
L
- p sut cn thit c cu chp hnh hot ng.
Quan h gia lu lng v st p ca P
v
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.
121












Hnh5.19. th c tnh Q - P
V
b)
Q
(1)
(2)
(3)
100% I
max
75% I
max
50% I
max
P
V
a)
a- c tnh Q- P
v
vi cc dng iu khin khc nhau;
b - c tnh Q-P
v
v trong to logarit.

V d : Van servo c lu lng t t Q
R
= 38 l/p. Tnh lu lng Q
L
qua van khi
P
v
=35 bar (500psi) v dng in u vo I
A
= 75%I
max
.
T c tnh trn hnh 5.19b ta thy, ti P
V
=35 bar th lu lng l Q
R
=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 :
Q
L
= 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)
Nu b qua tn tht lu lng th lu lng qua c cu chp hnh bng lu lng
qua van.
Khi P
V
tng th Q
L
s tng, nhng nu P
V
tng th p sut P
L
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 (P
V
= 1/3 P
S
). Qu trnh thay i cng sut theo p
sut th hin hnh 5.20b.
122










B
C
P
V
P
S
P
S
1
3
N
max
N
A
P
Q
N = Q.P

b) a)

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
Phn hi
Con trt
Nam chm
Tn hiu vo
V tr
con trt

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










Tn hiu vo
Tn hiu ra
0
t
Hnh trnh ca
con trt
A

t
Hnh trnh ca
con trt
Tn hiu vo
Tn hiu ra
0
b)
a)

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 =

)
Vao
Ra
( log 20 (5.11)
trong : u ra l t l % tn hiu u ra cc i;
u vo l t l % tn hiu u vo cc i.


123


124








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 :
1 =
vo u
ra u
nn log = 0 v tt dn lc ny c dB = 0.

0
1 10 100 Tn s log
0
45
0
90
0
Tn s
gii hn
dB
-3
Tn s log 100 1 10
0
rng ca

di tn s







a) b)

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 20 =
100
70
log 20 = )
vo u
ra u
( .(0.155) = 3
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 90
0
) 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

Tn hiu vo
B phn khuch i
Mun khuch i


Van iu khin




Tn hiu phn hi

a)


Tn hiu
vo
2
3
P
S
1
I
S
2
Thit lp li
4
6
5
7
9
8
+
1
B
A
Tn hiu phn hi




n
van





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 S
1
ng v hot ng theo
khu tch phn (I) nu S
2
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.

(V/s)
Tc
gia tng
in p
ra
Hiu chnh h
s khuch i (K
I
)






in p
ra
Hiu chnh h
s khuch i (K
P
)

in p vo in p vo

b) a)


in p
ra (+)

in p vo (+)
Hiu chnh





Hnh 5.26. c tnh ca h s khuch i
a- c tnh ca hiu chnh h s K
P
;
b- c tnh ca hiu chnh h s K
I
;
c- c tnh ca hiu chnh in p vo v ra.
c)


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.

R
2
R
1
(2)
(1)
C
D
B
A
u vo


u ra



a)
in p
128








t
p sut vo
p sut
dc
p sut ra
dc
c)
t
in p vo
in p ra
dc
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.
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 R
1
ri truyn n b khuch i tch
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 R
2
s cho
dc khc.
Tn hiu ra
+
Ln
Xung Ln Xung
Rle
R
1
R
2
R
3
R
5
Bin tr hiu chnh in p












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
129






U
E +
R
b)
U
A U
E
U
A
a)

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
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

U
A
+6V
-4V
t
+
1 2
U
A
U
E
U
E
+10V
-10V
t






c,
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
qua b khng ch c th iu chnh c in p ra l V V 10
A
= + 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

-5V
+5V
U
AQ
t


130


-5V
+5V
U
E
t
-1
U
A
U
E
U
A
= -U
E

a)
c)
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 , khi qua b o tn hiu s cho ta tn hiu ra ngc du cng gi tr tuyt
i vi tn hiu vo nn h s khuch i
V 5
1
U
U
E
A
= (hnh 5.31).
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.

I
A
U
E.
I
U
U
A
H
U
H



a) b)

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 U
A
.

5. B ngt in

(0)
(1)
U
A
t
Dng
Chy




131


U
E
U
2
U
1
Dng Chy
t
c)
U
A
U
E

a)
b)

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 U
E
vt qu U
1
th in p ra vn gi nguyn U
1
tng ng vi
trng thi (1). Khi in p vo gim xung di U
2
th in p ra vn gi nguyn U
2

tng ng vi trng thi (0).
Nh vy in p t U
1
n U
2
tng ng vi trng thi (1) th thit b hot ng v
trng thi (0) th thit b dng hot ng (hnh 5.33).

6. B tng (cng hoc tr )















U
A
t
Tn hiu ra
+4
V
+2
V
-4
V
-2
V
0
U
E1
Tn hiu vo U
E1
0
+4
V
t
t
Tn hiu vo U
E2
-2
V
0
U
E2
a) b)
c)
U
E2
U
E1
U
A
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 U
E1
v U
E2
qua b tng s cho ta mt tn hiu ra U
A
:
U
A
= (U
E1
+ U
E2
)
7. B so snh v b khuch i tng thch.
132




Tn hiu
iu khin
+
U
E U
A
Tn hiu ra
K
U
E
U
A
U
F
- Tn hiu phn hi
a)

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.


133











































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













































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).


Tn hiu
s
phn
gii S
i lng o 0







Tnh hiu
tng t
i lng o
Thc t
Tuyn tnh ho
A
B
C
0
v
V

b) a)
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 :
% = 100 .
V
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 = 05 , 0
100
V 10 . 5 , 0
= V
v sai s p sut ln nht tng ng s l :

10
400
. V 05 , 0 = 2 bar
136
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

S


x
U
x
U
0
L
+

2

2

2

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

a)
b)


137








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

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.

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 U
0

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 U
x
tng ng. Ta c quan h sau :

L
x
U
U
0
x
= hay x =
x
c
x
0 0
x
U .
K
1
U .
U
L
U
L . U
= =
vit li l :
C
x
K
x
U
=
K
C
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 U
x=0
= 0
H s khuch i ca cm bin l : K
C
=
cm 10
V 10
L
U
0
= = 1 V/cm
Nu x = 5 cm th U
X
= K
C
.x = 1x 5 = 5 V
Nu x = 4 cm th U
X
= 1.( 4) = 4 V










+5
V
-5
V
x
(+)
U
x
- Tn hiu ra
L = 10
cm
-4
cm
x
U
X
+5
V
+ 4
V
5
cm
0 4
cm
-5
V
L
-4
V
a)

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.

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













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.


Vch m
chun
T bo quang
in
M vch chun
Thc o
H lng knh
Vch ca thc
quang hc
Ngun sng







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


U

U
a)

x b)
DCm bin
Vt me
ng c
du
t
x
2.
H
K
C
U
x
c)

x
H
ng c du
Bn my

t
x







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 :
U
X
=
X C X
max
0
. K .
U
=

trong : K
C
- h s khuch i ca cm bin;

x
- gc quay v U
x
- 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

Ngun sng
a m
T bo
quang in






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).

N
S
Phn ng
Cun dy
C gp
Tn hiu u ra
Nam chm
vnh cu








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).







142


Lu lng
Con trt
L xo
Ca van
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
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.
143








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 U
X
t l vi p sut vo P.


P
ng xp
Bin tr
U
0
U
x
X
(+)
L xo Con trt



a)






144








P
ng xp
b)
L xo
X
(+)
U
x
Li st t
E
1
E
2
B chuyn i
Cun dy
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 E
1
= E
2
, khi li st di chuyn th E
1
tng v E
2
gim, nu
li st di chuyn ngc li th E
1
gim v E
2
tng. Qua b phn chuyn i s cho ta tn
hiu in p ra U
X
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.










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 pittng-
xylanh 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.

145














Chuyn ng
quay
ng c du
Chuyn ng tnh
tin
Chuyn ng tnh tin
Xylanh
Quay
a)
b)
c)
ng c du
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.
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 : 014 , 0
360
5
0
= mm.
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.

B A
p
T
(b) (a)




146








Lu lng t P n B
Cun dy (b) c in
Cun dy (a) c in
Lu lng t P n A
t
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.
- 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).


A B
T
P
m
V tr tc ng
Kho gii hn
Kho logic








a)

I
B A
T
P
m
Kho gii
Kho logic
Vng dng









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

L tit lu
Gim tc
Tng tc
Q
V
t
B
A
T
B
P
A
T
Con trt






L xo
a)

b)

I
A B
T
P
m
Khong dng
tit lu
Khong dng
tit lu
Kho gii hn
Kho logic












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















149

Hnh 6.5. S mch iu khin v tr h h ng dng
B phn
khuch i
m
P
T
B o in p
cung cp
I
Q v
t Tng
b)
Gim tc
Tn hiu iu
a)
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.
















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.
min
h = 1000 mm
x
P
T
A B
(Tn hiu vo)
0 10 V
+
E
F
C
+ 10 V
0 V
Cm bin v tr
(Potentionmeter)
I
m
max
Tn hiu
Phn hi
B khuch i
150







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).

















Hnh 6.8. th nghin cu vng cht ca van trt iu khin
0
t (s)
2 1
H
(mm)
Hnh
trnh
5v
3,2v
2v
500
320
200
Vn
Tn hiu iu khin
C
Tn hiu
phn hi
E
F
Q
Vng cht
100% 50%
25%
T A
T
B
P
x
0 x
0
x
x (I)
a)
Vn
5
V
2,5
V
Tn hiu phn hi
Sai s 2,5
V
do vng cht
Tn hiu iu khin
b)
x
Q
Vng cht
1%
100% 50%
(I)
c)
d)
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 x
0
th du mi bt u qua van. Thng thng
x
0
= 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
152









m
Con trt
ca van
B khuch i
ca van
B khuch i
ca h
Phn hi
ca van
Phn hi
ca h
Tn hiu

vo
Nam chm in
Xi lanh
Tn hiu ra
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.
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.

153






B truyn
Thanh o
B iu khin
Van
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).
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
c) b) a)
Van 1
Chiu
L tit lu
iu chnh





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.


Van in
I
Tit lu






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.


155












P
T
A B
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.
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.


Tn hiu so snh
(E)





156

Tn hiu
vo
Tn hiu ra
P
E
+
Tn hiu phn hi
t
a)


Tn hiu so snh
(E)






Tn hiu
vo
Tn hiu ra
I
E +
Tn hiu phn hi
t
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).

6.3. iu khin ti trng

F
b)
P
a)
P

F








d)
P
+
F








Cm bin
p sut
Tn hiu
phn hi
+
Tn hiu vo
c)
P
F


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.

P
T
I
+
Cm bin p sut
F




Tn hiu phn hi



Tn hiu vo

a)
b)
P
T
iu khin
p sut
iu khin
v tr
Tn hiu
vo
Tn hiu
vo
Cm
bin
Cm bin v












158


Tn hiu
vo
P
Tn hiu phn hi
+
E
+
+
I

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/cm
2
) : 0 76,734 l/p (1278,9 cm
3
/s ).
- p sut lm vic l : 15 315 Bar (15,466 316,35 kg/cm
2
) .
- Dng in nh mc : 100 mA .
- in tr ca cun dy : 28 .
- Nhit lm vic : 1
0
106
0
C .
- Tn tht p sut t nht l : 30% .
- tuyn tnh ca c tnh I - Q : 10%.
- sai lch do t tr ca c tnh I - Q : 5%.
- trt ca c tnh I - Q : 2%.
159
* c tnh k thut ca cm bin v tr o chiu di :
- S PN 9810903, Waters Lofngellow.
- L
MAX
: 12 in (30,48 cm).
- in tr : 5 k .
- in p max : < 100 V DC.

- Nhit n : 70
0
c.
- 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 : 0
0
C 70
0
C .
- 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 0
0
70
0
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 :

2
X
) t . 2 (
M
J

=
(6.1)






M H

J
a) b)

Hnh 6.19. M hnh quy i ca bn cng tc

S h thng iu khin c xy dng nh trn hnh 6.20.

H

J

H
F
A
E
F
U
I
B Khuch i
Vt me bi
ng c thy
lc
V
D

Q
A
B
p
P
T
Van t l
Cm bin
v tr











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; K
A
-H s khuch i ca b khuch i A;
I-Dng in iu khin; K
V
-H s khuch i ca van; Q-Lu lng cung cp ca van;
-H s tn tht lu lng; p
S
-p sut cung cp; p
T
-p sut ra khi van; p-p sut
lm vic ca ng c thy lc; D
m
-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; K
c
-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; t
X
- 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 :
p .
dt
dp
.
B 2
V
dt
d
. D I . K Q
m V
+ +

= = (6.2)
Phng trnh cn bng mmen trn trc rto :

2
2
m
dt
d
. J p . D

= (6.3)
Quan h gia dng in iu khin van vi tn hiu iu khin v tn hiu phn hi l :
) K . H U .( K I
C A
= (6.4)

H
F
K
C
=

Quan h gia lng dch chuyn ca bn cng tc H v gc quay ca trc rto l :

= .
2
t
H
X
(6.5)
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 :
2
2
m
dt
d
.
D
J
p

= ,
3
3
m
dt
d
.
D
J
dt
dp
= (6.6)
v
3
3
m
2
2
m
m
dt
d
.
D . B 2
J . V
dt
d
.
D
J .
dt
d
. D Q

+

+

=
(6.7)
Phng trnh Laplace ca (6.7) l :

) s ( . s ). s .
D . B 2
J . V
s .
D
J .
D ( ) s ( Q
2
m m
m
+

+ =
(6.8)
163
Hm truyn
) s ( Q
) s (
l :
s
1
.
) s .
D . B 2
J . V
s .
D
J .
1 (
D
1
) s ( Q
) s (
2
2
m
2
m
m
+

+
=

(6.9)
hoc :
s
1
.
s . T s . T . . 2 1
K
) s ( Q
) s (
2 2
M
+ +
=

(6.10)
trong :
2
m
D . B 2
J . V
T = - Hng s thi gian;
V . D 2
J . . B
2
m
2

= - H s tt dn;

J
C
J . V
D . B 2
T
1
H
2
m
0
= = =
- Tn s dao ng ring; (6.11)

V
D . B 2
C
2
m
H
= - cng thy lc;
m
M
D
1
K =
- H s khuch i.

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


164









K
V
K
M
1+ 2..T.s + T
2
.s
2

1
s
K
c
H (s)
(s)
(s) I(s)
Q(s)
K
A
F(s)
U(s)
E(s)
t
x
2.
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 :

C
X
m
V A H
K .
2
t
.
D
1
. K . K K

= , (1/s) (6.12)
Thi gian khng i :
H
K
1
= , (s) ; Thi gian p ng t 5 .
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.
- Cm bin v tr : Longfellow, Data Instruments , Sai s tuyn tnh 0,1%.
- Cc thng s chnh : p=35 kg/cm
2
; Q=11 l/p ; m=5 kg; D
m
=12 cm
3
/rad;
K
C
= 0,327 V/cm; K
V
=11,5 (cm
3
/s)/mA; =1,4.107 kg/cm
2
; t
X
= 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.


165









B khuch i
Van t l
C TL -vt
me bi-ti
Cm bin tc
Tn hiu
vo
Chng trnh iu
khin
Lab - PC
+
PC
A/ D A/ D
Tc
quay









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.
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.

166





E

m
;
n
D
m
; V
Kv ; Ko
Tn hiu phn hi F
B
A
V
L2
P
AB
T
Kc
M
j
M
f
J
P
S
I
Tn hiu vo U
K
A
+
V
L1



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; K
V
- H s khuch i ca van servo; K
0
- H s thot du
qua van servo; Q- Lu lng cung cp ca van; p
S
- p sut cung cp; p
T
- p sut ra
khi van; p- p sut lm vic ca ng c thy lc; f- H s ma st nht; D
m
- 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; K
c
- H s khuch i ca cm
bin tc ; K
A
- 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 :

p .
dt
dp
.
B . 2
V
. D Q
m
+ + =
(6.13)
+

= . f
dt
d
. J p . D
m
(6.14)
Phng trnh Laplace :
) s ( p . ) s ( p . s .
B . 2
V
) s ( . D ) s ( Q
m
+ + =
) s ( . f ) s ( . s . J ) s ( p . D
m
+ = (6.15)
) s ( p . K ) s ( I . K ) s ( Q
0 V
=
; ) s ( E . K ) s ( I
A
= ) s ( . K ) s ( U ) s ( E
C
=
Suy ra :
) s ( .
D
f s . J
. s .
B . 2
V
) s ( . D ) s ( Q
m
m

+ + =

Hm truyn :
2
2
m
2
m
m
2
m
s .
) f . D ( B 2
J . V
s .
) f . D .( B 2
. J . B 2 f . V
1
D
) f . D (
) s ( Q
) s (
+
+
+
+
+
+
=

(6.16)
Nu t :
m
m
2
V
D
f . D
K
+
= ;

) f . D .( B 2
J . V
T
2
m
1
+
= ;
) f . D .( B 2
. J . B 2 f . V
T
2
m
2
+
+
=
; (6.17)

J . V
) f . D .( B 2
T
1
2
m
1
0
+
= = ;
) f . D ( J . V . B 2
. J . B 2 f . V
2
1
T . 2
T
2
m
1
2
+
+
= =
th :
)
1 s . T . 2 s . T
K
( )
1 s . T s . T
K
(
) s ( Q
) s (
1
2 2
1 2
2 2
1
+ +
=
+ +
=

(6.18)
v :
1 s . s .
K
) s ( E
) s (
2
2 2
1
+ +
=

(6.19)
vi :
f . K . K D
D . K . K
K
0 m
m V
+
=

;

) f . K . K D (
D
.
) f . D .( B 2
J . V
f . K . K D
D . T
0 m
m
2
m 0 m
m
2
1
1
+ +
=
+
=
(6.20)

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


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.



K

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


167


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

168








B khuch i
Van servo
C TL +
Ti
Cm bin tc
Tn hiu
vo
Chng trnh iu
khin
Lab - PC
+
PC
A/ D A/ D
Tc
quay









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 :
K
V
= K
A
.K
V
.K
m
.K
C
= K

.K
C
, (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.

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.
169

F
S
x
P
T
Q
1
P
1
Q
2
P
2
P
S
R =
2
1
A
A

F
C
F
E
m
A
2
A
1











Hnh 7.1. S tnh ton p sut v lu lng ca h thy lc chuyn ng tnh tin

- Lc qun tnh : F
a
= m.a (7.1)
F
a
= a .
g
W
L
- theo h Anh
- Lc ma st : F
c
= m.g.f (7.2)
F
c
= W
L
.f - theo h Anh
- Lc ma st trong xylanh F
S
thng bng 10% lc tng cng, ngha l :
F
S
= 0,10.F (7.3)
- Lc do ti trng ngoi F
E
.
- Lc tng cng tc dng ln pittng s l :
F =
1000
a . m
+ F
C
+ F
S
+ F
E
(daN) (7.4)
hoc theo h Anh :
F =
E S c
L
F F F
12 . 2 , 32
a . W
+ + + (lbf) (7.5)
Trong cc cng thc trn :
m - khi lng chuyn ng, kg;
W
L
- trng lc, (lbf);
a - gia tc chuyn ng, cm/s
2
(in/s
2
);
F
C
- lc ma st ca b phn chuyn ng, daN (lbf);
F
E
- ngoi lc, daN (lbf);
F
s
- lc ma st trong pittng-xylanh, daN (lbf).
Phng trnh cn bng pittng :
P
1
.A
1
= P
2
.A
2
+ F (7.6)
i vi xylanh khng i xng th lu lng ra v vo khng bng nhau.
Q
1
= Q
2
.R vi R =
2
1
A
A
(7.7)
st p qua van s t l vi bnh phng h s din tch R, ngha l :
P
S
- P
1
= (P
2
P
T
).R
2
(7.8)
trong : P
1
v P
2
- p sut 2 bung ca xylanh;
P
S
- p sut du cung cp cho van;
P
T
- p sut du ra khi van;
A
1
v A
2
- din tch hai pha ca pittng.
T cng thc (7.6) v (7.8) ta tm c P
1
v P
2
nh sau :
P
1
=
( )
( )
3
2
2 T
2
2 S
R 1 . A
A . P F R A . P
+
+ +
(7.9)
P
2
= P
T
+
2
1 S
R
P P
(7.10)
Lu lng du vo xylanh pittng chuyn ng vi vn tc cc i l :
Q
L
= v
max
.A
1
, (cm
3
/s) (7.11)
hoc : Q
L
=
1
max
A .
7 , 16
v
, (l/p) (7.12)
Nu tnh theo h Anh th : Q
L
= v
max
.A
1
, (in
3
/s)
hoc : Q
L
=
1
max
A .
85 , 3
v
, (usgpm)
Lu lng du qua van ng vi st p 35 bar (500 PSI) l :
170
Q
R
= Q
L
.
1 S
P P
35

, (l/ b) (7.13)
Tnh theo h Anh :
Q
R
= Q
L
.
1 S
P P
500

, (usgpm)
Vi cch phn tch nh trn khi pittng lm vic theo chiu ngc li th :
P
1
= P
T
+ (P
S
- P
2
).R
2
(7.14)
P
2
=
( )
3
2
2 T
3
2 S
R 1 . A
R . A . P F R . A . P
+
+ +
(7.15)
V Q
R
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 (A
1
= A
2
) 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 =
E S C
F F F
1000
a . m
+ + + (7.16)
Vi : a = 16 m/s
2
= 1600 cm/s
2
F
C
= m.g.f = 1200 x 9,81 x 0,32 = 3767 N 3767 daN
F
E
= 17500 N = 1750 daN
Thay cc s liu vo cng thc (7.16) ta c :
F =
1000
1600 x 1200
+ 377 + 1750 + F
S
A
1
= 53,5 cm
2
(8,3 in
2
) ; A
2
= 38,1 cm
2
(5,9 in
2
) ;
P
S
= 210 bar (3000 PSI) ; P
T
= 5,25 bar (75 PSI) ;
F
E
= 17500 N (3930 lbf) ; m = 1200 kg (W
L
= 2645 lbf) ;
a = 16 m/s
2
(52,5 fl/s
2
) ; V
max
= 30 cm/s (12 in/s) ;
F = 4045 + F
S
(7.17)


171
172

F
S
x
+
F
E
P
T
Q
1
P
1
Q
2
P
2
P
S
F
C
m
A
2
A
1











Hnh 7.2. S v d v tnh p sut v lu lng ca h
thy lc chuyn ng tnh tin

Gn ng ly F
S
10% x 4045 = 0,10 x 4045 = 405 daN v thay F
S
vo cng
thc (7.17) ta c :
F = 4045 + 405 = 4450 daN
Xc nh p sut P
1
v P
2
nh sau :
P
1
=
( )
( )
3
2
2 T
2
2 S
R 1 A
A . P F R A . P
+
+ +
; R = 4 , 1
1 , 38
5 , 53
A
A
2
1
= =
P
1
=
( )
( )
3
2
4 , 1 1 . 1 , 38
1 , 38 x 25 , 5 4450 4 , 1 1 , 38 x 210
+
+ +
= 120 bar
P
2
= P
T
+
2 2
1 S
4 , 1
120 210
25 , 5
R
P P
+ =

= 51 bar
Xc nh lu lng Q
L
v Q
R
nh sau :
Q
L
=
16,7
30x53,5
16,7
A v
1 max.
= = 96 l/p
Q
R
= Q
L
.
120 210
35
96
P P
35
1 S

=

= 60 l/p
Xt hnh trnh m (x), tc l pittng chuyn ng theo chiu ngc li v gi thit l
v
max
, a, F
E
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 P
1
, P
2
v lu lng Q
L
, Q
R
l :
P
2
=
( )
3
2
2 T
3
2 S
R 1 . A
R . A . P F R . A . P
+
+ +

=
( )
3
3
4 , 1 1 1 , 38
4 , 1 x 1 , 38 x 25 , 5 4450 4 , 1 x 1 , 38 x 210
+
+ +
= 187 bar
P
1
= P
T
+

(P
S
- P
2
).R
2
= 5,25 + (210 - 187).1,4
2
= 50 bar
Q
L
=
7 , 16
1 , 38 . 30
7 , 16
A . v
1 max
= = 68 l/p
Q
R
= Q
L
.
187 210
35
. 68
P P
35
2 S

=

= 84 l/p
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 Q
R
84 l/p.
Bi ton trn nu tnh theo h Anh s cho cc gi tr sau :
F =
386
a . W
L
+ F
C
+ F
E
+ F
S
(lbf)
trong : a = 52,5 ft/s
2
= 630 in/s
2
F
C
= W
L
.f = 2645x 0,32 = 846 lbf
F
E
= 3930 lbf
F =
S
F 3930 846
386
630 x 26450
+ + + = 9093 + F
S
vi : F
S
0,10x 9093 909 lbf th F = 9093 + 909 10.000 lbf
P
1
=
( )
( )
3
2
2 T
2
2 S
R 1 A
A . P F R A . P
+
+ +
(PSI)
=
( )
( )
3
2
4 , 1 1 9 , 5
9 , 5 . 75 000 . 10 4 , 1 9 , 5 . 3000
+
+ +
= 1728 PSI
P
2
= P
T
+

2
1 S
R
P P
= 75 +

2
4 , 1
1728 3000
= 724 PSI
Q
L
=
85 , 3
A . v
1 max
(usgpm) =
85 , 3
3 , 8 x 12
= 26 usgpm
Q
R
= Q
L
.
1728 3000
500
. 26
P P
500
1 S

=

= 16 usgpm
Trng hp pittng lm vic theo chiu ngc li v vi cc gi thit nh tnh theo
h mt, ta c :
173
P
2
=
( )
3
2
2 T
3
2 2
R 1 . A
R . A . P F R . A . P
+
+ +
(PSI)

( )
3
3
4 , 1 1 . 9 , 5
4 , 1 9 , 5 75 10000 4 , 1 . 9 , 5 3000
+
+ +
=
x x x
= 2678 PSI
P
1
= P
T
+ (P
S
P
2
).R
2
(PSI)
= 75 + (3000 2678).1,4
2
= 706 PSI
Q
L
=
85 , 3
A . V
2 max
(usgpm) =
85 , 3
9 , 5 12x
= 18 usgpm
Q
R
= Q
L
.
2 S
P P
500

(usgpm) = 18.
2678 3000
500

= 22 usgpm

7.1.2. H thy lc thc hin chuyn ng quay

174











P
T
Q
1
P
1
Q
2
P
2
P
S
D
M
L
, M
D
J
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 : M
a
= j. , N.m (lbfin) (7.17)
J - mmen qun tnh khi lng trn trc ng c du, (Nms
2
), (inlbs
2
).
- gia tc gc ca trc ng c du, (rad/s
2
).
- Mmen do ma st nht trn trc ng c du M
D
, (Nm), (lbfin).
- Mmen do ti trng ngoi M
L
, (Nm), (lbfin).
- Mmen xon tng cng s l :
M = J. + M
D
+ M
L
, Nm (lbfin) (7.18)
Theo phng php tnh ton nh h chuyn ng thng, p sut P
1
v P
2
trong h
chuyn ng quay c xc nh theo cng thc sau :
P
1
=

+
D
M . . 10
2
P P
T S
, bar (7.19)
P
2
= P
S
P
1
+ P
T
, bar (7.20)
Nu tnh theo h Anh th :
P
1
=

+
D
M .
2
P P
T S
, (PSI)
P
2
= P
S
P
1
+ P
T
, (PSI)
Lu lng lm quay trc ng c du vi vn tc n
m
l :
Q
L
=
1000
D . n
m
, l/p (7.21)
Theo h Anh : Q
L
=
231
.D n
m
, (usgpm)
trong : n
m
- s vng quay ln nht ca trc ng c du, v/p;
D - th tch ring ca ng c du, cm
3
/vg (in
3
/vg).
Lu lng cung cp ca van c xc nh l :
Q
R
= Q
L
.
1 S
P P
35

, l/p (7.22)
Theo h Anh : Q
R
= Q
L
.
1 S
P P
500

, (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 Q
R
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 :
M
a
= J. = 0,2x100 = 20 Nm
M = M
a
+ M
L
+ M
D
= 20 + 30 + 6,5 = 56,5 Nm
175
P
1
=
82
5 , 56 . . 10
2
0 210
D
M . . 10
2
P P
T S

+
+
=

+
= 127 bar
P
2
= P
S
P
1
+ P
T
= 210 127 + 0 = 83 bar
Q
L
=
1000
82 x 95
1000
D . n
m
= = 7,8 l/p
Q
R
= Q
L
.
127 210
35
x 8 , 7
P P
35
1 S

=

= 50 l/p

176










P
T
= 0
Q
1
P
1
Q
2
P
S
M
L
, M
D
J
P
2
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 :
n
m
= 95 v/p ; = 100 rad/s
2
;
J = 0,2 N.m.s
2
(1,77 lbfins
2
);
M
L
= 30 N.m (266 lbfin) ; M
D
= 6,5 N.m (58 lbfin);
D = 82 cm
3
/vg (5 in
3
/vg) ; P
S
= 210 bar (3000 PSI);
P
T
= 0.
Tnh theo h Anh : M
a
= J. = 1,77.100 = 177 lbfin
M = M
a
+ M
L
+ M
D
= 177 + 266 + 58 = 501 lbfin
P
1
=
5
3,14x501
2
0 3000
D
.M
2
P P
T S
+
+
=

+
= 1815 PSI
P
2
= P
S
- P
1
+ P
T
= 3000 - 1815 + 0 = 1185 PSI
Q
L
=
231
95x5
231
.D n
m
= = 2,1 usgpm
Q
R
= Q
L
.
1815 3000
500
x 1 , 2
P P
500
1 S

=

= 1,4 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 K
V
ca h thng
Mt thng s quan trng ca mch iu khin h kn l h s khuch i K
V
. Thc
cht K
V
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 :

B khuch i
m
Tn hiu vo
P
T P
S
Van servo
Xylanh
x
(+)


B o in p

Tn hiu
phn hi









177





a)
Van
servo
Xy
lanh
B o in p
Tn hiu phn hi
Tn hiu
vo
A
Ti
B khuch
i
V tr
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.

- H s khuch i ca b khuch i G
A
l t s gia tn hiu dng in ra v in
p vo, mA/V.
- H s khuch i ca van servo G
SV
l t s gia lu lng ra v dng in vo,
(cm
3
/s)/mA.[theo h Anh (in
3
/s)/mA].
- H s khuch i ca xylanh G
X
l t s gia vn tc ca pittng v lu lng vo
xylanh : (cm/s)/(cm
3
/s) =
2
cm
1
(hoc
2
in
1
)
- H s khuch i phn hi H
x
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 K
V
l :
K
V
= G
A
.G
SV
.G
X
.H
X
(7.23)
Th nguyn theo h mt :
K
V
=
1
2
3
s
s
1
cm
V
.
cm
1
.
mA
s / cm
.
v
mA

= = (7.24)
Th nguyn theo h Anh :
K
V
=
1
2
3
s
s
1
in
V
.
in
1
.
mA
s / in
.
v
mA

= =

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

1000 mA/V
m
6 (cm
3
/s)/mA
[0,4 (in
3
/s)/mA]
+
+10V 0V
0 110V
60 cm
2
(10 in
2
) L 50 cm (20in)











Hnh 7.6. S v d v tnh h s khuch i K
V
ca h thy lc
iu khin v tr chuyn ng tnh tin
178
Theo cng thc : K
V
= G
A
. G
SV
.G
X
.H
X
trong : G
A
= 1000 mA/v
G
sv
= 6 (cm
3
/s)/mA
G
X
=
2
cm
1
0167 , 0
60
1
A
1
= =
H
X
=
cm
V
50
10
= 0,2 V/cm
th : K
V
= 1000x 6.x 0167x0,2 = 20 s
-1
Theo h Anh : G
A
= 1000 mA/V ; G
SV
= 0,4 (in
3
/s)/mA
G
X
=
10
1
= 0,1 1/in
2
; H
X
=
in 20
10
V
= 0,5 V/in
th : K
V
= 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.
t
5 4 3 2
1
V tr
Tn hiu vo
p ng
Hng s thi gian








a)
1
2 3 4 5
t
p ng
Tn hiu vo
Tn hiu vo
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.
=

0
0
v
x
du ban tc Vn
chuyn di ch c ng Kho
; s
s / cm
cm
= (7.25)
p ng s t n gi tr iu khin sau khong thi gian l 5 .
Ta bit rng khong di chuyn x
0
bng tn hiu in p phn hi chia cho h s
khuch i phn hi, ngha l :
x
0
=
x
H
u

( )

= cm
cm / v
v
(7.26)
Vn tc ban u : v
0
= u.G
A
.G
SV
.
A
1
(7.27)
Nn =
V
X SV A SV A
x
K
1
H .
A
1
. G . G
1
A
1
. G . G . u
H / u
= = , (s) (7.28)
Theo (7.28) th hng s thi gian bng nghch o ca h s khuch i K
V
, ngha
l khi tng h s khuch i K
V
th thi gian p ng s ngn. Tuy nhin nu K
V
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 K
V
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 C
H
;
- 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 C
H
lin quan n tn s dao ng ring
n
ca
cm xylanh - ti trng v xc nh l :

n
=
m
C
H
(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 K
V
< 2
S
. Tuy
nhin khi K
V
< 2
S
th thi gian p ng s lu nn ngi ta chn :
<
max
V
K
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
> 3
n
th chn
S
=
n
v = 0,2
K
v
max
=
S
= 0,2
S
, (s
-1
) (7.31)
- Trng hp B : Nu 3
n
>
V
> 0,3
n
th chn :

S
=
V n
V n
.
+

v = 0,2
K
V
max
= 0,2.

+

V n
V n
.
, (s
-1
) (7.32)
- Trng hp C : Nu
n
> 3
V
th chn :
S
=
V
v = 0,4
K
V
max
= 0,4.
S
, (s
-1
) (7.33)
V d 7.5:
Xc nh h s khuch i ln nht (K
V
max
) ca h thy lc chuyn ng tnh tin
hnh 7.8. Cho tn s ring ca van f
V
= 40 Hz.

181









d38
l 1200 x 20
m = 1500 kg
l 50 x 20
f
V
= 40 Hz
P
S
P
T
m
D 75 L = 1000 mm
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
< 3
n
nn tn s ring ca h xc nh theo cng thc :

S
=
V n
V n
.
+

=
251 115
251 x 115
+
= 78,9 rad/s
H s khuch i s l : K
V
max
= 0,2.
S
= 0,2x78,9 = 16 s
-1
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
= 0,2 V/m
m
60 cm
2
(10in
2
)
Van
G
A
= 500 mA/V
A
+
I
max
= 200 mA
+10V
H
x
=
10V
50cm
0V
a)
G
SV
= 6 (cm
3
)/mA
[0,4 (in
3
/s)/mA]


L = 50 cm (20 in)










0V + 10V
182

















u vo
p ng
Chiu tng K
VX
t
t
23
cm
25
cm
Di chuyn
ca
u ra
V tr cn iu khin
V tr ra
Tc khng i
b)
Di 2
cm
c)
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 K
VX
;
c - p ng biu din di sai s iu khin.

Nh gii thiu mc 7.3 vi tn hiu vo bc thang, khi tng K
VX
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.
G
A
=
A
G
A ca ra u
A ca vo u
A ca vo u
A ca ra u
= (7.34)
C th u vo ca A =
mA/V 500
mA 200
= 0,4 Vn
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 10
cm 50
= 2 cm
V nu tn hiu vo 5 V s tng ng vi hnh trnh l : 5V.
V
V 10
cm 50
= 25 cm
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).

I
Q
G
L
SV
=
.
mA
s / cm
. 6 Q
3
L

= 200 (mA) = 1200 cm

3
/s
v
nax
=
) cm ( 60
) s / cm ( 1200
A
Q
2
3
1
L
= = 20 cm/s
Khi hnh trnh 23 cm chuyn ng vi vn tc l 20 cm/s th mt ht thi gian l :
t =
20
23
= 1,15 s
H s khuch i K
V
:
183
K
VX
= G
A
.G
SV
.G
X
.H
X
=

cm
v
2 , 0 .
cm
1
60
1
.
mA
s / cm
6 .
v
mA
500
2
3
= 10 s
-1
Hng s thi gian : =
10
1
K
1
VX
= = 0,1 s
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 =
500
200
= 0,4 vn
C 10 Vs tng ng vi 20 in di chuyn th 0,4 V s tng ng 0,4x
10
20
= 0,8 in
di chuyn v di t l l : 0,8 in
Khi tn hiu iu khin l 5 vn s tng ng vi hnh trnh di chuyn l :
5x
10
20
= 10 in
Khong hnh trnh di chuyn vi vn tc cc i l : 10 0,8 = 9,2 in
G
SV
=
I
Q
L
Q
L
= 200 x 0,4 = 80 in
3
/s
v
max
=
10
80
A
Q
1
L
= = 8 in/s
Thi gian di chuyn 9,2 in vi vn tc cc i l :
t =
8
2 , 9
= 1,15 s
H s khuch i : K
VX
= 500.

v
mA
.0,4

in
v
. 5 , 0 .
in
1
10
1
.
mA
s / in
2
3
= 10 s
-1
Hng s thi gian : =
VX
K
1
=
10
1
= 0,1 s
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
Tng h s
khuch i K
VX
Dao ng
b)
t
Tn hiu vo
p ng
x
a)







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 K
VX
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 =
VX
K
v
, cm (in) (7.35)
trong : v - vn tc di chuyn, cm/s (in/s);
K
VX
- 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 K
VX
tng. Tuy nhin nu K
VX

tng qu ln h s khng n nh (hnh 9.10b), h n nh ta chn K
VX
max
l :
K
VX
max
= .
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 : x
u
= 0,04.
A . K
Q
VX
Rp
, cm (in) (7.37)
185
trong : Q
Rp
- lu lng ca van ti p sut lm vic, cm
3
/s (in
3
/s);
A - din tch ca pittng, cm
2
(in
2
);
K
VX
- h s khuch i ca h iu khin theo v tr, s
-1
.
Q
Rp
= Q
R
.
70
P
S
, l/p (7.38)
hoc : Q
Rp
= Q
R
.
1000
P
S
, (usgpm)
* Sai s v tr do ti trng ngoi :
x
E
= 0,02
A . P
F
.
A . K
Q
S
E
VX
RP

, cm (in) (7.39)
trong : F
E
- ngoi lc do ti, daN (lbf); P
S
- p sut cung cp ca h, bar (PSI).
* Sai s do cm bin v tr x
H
.
Vy sai s tng cng l : x = x
U
+ x
E
+ x
H
, cm (7.40)
V d 7.7:
Xc nh sai s v tr ca h iu khin hnh 7.11.






186







m
P
S
(13200 lbf) F
E
= 6000 daN
Q
R
= 60 l/P
[16 usgpm]
Tn hiu vo
60 cm
2
[10 in
2
]
Tn hiu
phn hi
K
VX
= 30 s
-1

P
S
= 140 bar [2000 PSI]

Hnh 7.11. S v d xc nh sai s v tr ca h thy lc chuyn ng tnh tin
Q
RP
= Q
R
70
140
. 60
70
P
S
= = 85 l/p hay Q
RP
= 85.
60
1000
= 1417 cm
3
/s
x
u
= 0,04
60 x 30
1417
. 04 , 0
A . K
Q
1 V
RP
=

= 0,03 cm
x
E
= 0,02
60 x 140
6000
.
60 x 30
1417
. 02 , 0
A . P
F
.
A . K
Q
1 S
E
1 VX
RP
=

= 0,011 cm
Nu x
H
= 0 th sai s tng cng l : x = x
u
+ x
E
= 0,3 + 0,11 = 0,41 mm
Tnh theo h Anh :
Q
RP
= Q
R
1000
2000
. 60
1000
P
S
= = 22,6 usgpm = 22,6.
60
231
= 87 in
3
/s
x
u
= 0,04
60 x 30
87
. 04 , 0
A . K
Q
1 VX
RP
=

= 0,012 in
x
E
= 0,02
10 x 2000
13200
.
10 x 30
87
. 02 , 0
A . P
F
.
A . K
Q
1 S
E
1 VX
RP
=

= 0,004 in
Sai s tng cng l : x = x
u
+ x
E
= 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



187





Tn hiu
vo
Van servo
Xylanh-ti
Cm bin tc
a)
Vn tc
t
p ng vn tc
x
Tn hiu vo
b)








Hnh 7.12. S khi v p ng ca h iu khin vn tc
a- S khi; b- p ng vn tc.
H s khuch i :
K
VV
= G
A
.G
SV
.G
X
.H
V
(7.41)
Th nguyn theo h mt :
K
VV
=

s / cm
n v
.
cm
1
.
mA
s / cm
.
v
s / mA
2
3
= s
-1
(9.42)
Th nguyn theo h Anh :
K
VV
=

s / in
n v
.
in
1
.
mA
s / in
.
v
s / mA
2
3
= s
-1

Khi h s khuch i K
VV
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 =
VV
K
a
, cm/s (in/s) (7.43)
trong : a- gia tc chuyn ng, cm/s
2
;
K
VV
- 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

Van
Tn hiu
phn hi









Van
Tn hiu
phn hi
a)
b)

189











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 :
K
VP
= G
A
.G
SV
.G
X
.H
P
(s
-1
) (7.44)
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.

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 (P
D
)
P
D
= 2.10
-5
.
S
AB
VP
2
1
H RP
P
P
.
K . A
C . Q

, bar (7.45)
trong :
C
H
- cng ca b truyn ng thy lc (xylanh hoc ng c du), (N/m);
Q
RP
- lu lng ca van ti p sut lm vic, (cm/s);
A
1
- din tch lm vic ca pittng, (cm
2
);
K
VP
- h s khuch i ca h iu khin theo ti trng, (s
-1
);
P
AB
- hiu p gia hai bung lm vic ca xylanh, (bar);
P
S
- p sut cung cp cho van (bar).
Nu tnh theo h Anh :
P
D
= 2.10
-2
.
S
AB
VP
2
1
H RP
P
P
.
K . A
C . Q

, (PSI)
Vi th nguyn l : Q
RP
(in
3
/s); C
H
(lbf/in); A
1
(in
2
); K
VP
(s
-1
); P
AB
(PSI); P
S
(PSI).

2. Sai s p sut do sai s c tnh ca van (hin tng t tr, vng chuyn i
ca con trt...)
P
U
= 4.10
-5

VP
2
1
H RP
K . A
C . Q
, bar (7.46)
Nu tnh theo h Anh :
P
U
= 4.10
-2

VP
2
1
H R
K . A
C . Q
, (PSI)
3. Sai s p sut do h truyn ng (xylanh hoc ng c du)
P
E
= v .
K . A
C
.
1000
1
VP 1
H

, bar (7.17)
trong v l vn tc di chuyn ca xylanh, cm/s.
Nu tnh theo h Anh :
P
E
= v .
K . A
C
VP 1
H
, (PSI)
Vy sai s p sut tng cng s l :
P = P
D
+ P
U
+ P
E
, bar (7.48)
190
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 :
P
R
=
VP
K
t / P
, bar (7.49)
trong :
t
P

- tc thay i p sut, c th nguyn l bar/s (hoc PSI/s);

K
VP
- 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.

191










V
L2
m
A
2
L = 50 cm (20 in)
Van
A
1
Q
R
= 57 l/p
[15 usgpm]
f
V
= 60 Hz


v = 12 cm/P (4,75 in/p)
A
1
= 300 cm
2
(46,5 in
2
)
A
2
= 200 cm
2
(31 in
2
)
V
L1
= 1000 cm
3
(61in
3
)
V
L2
= 1000 cm
3
(61in
3
)
V
L1
F

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 :
C
H
= B.

+
+
+
2 2 L
2
2
1 1 L
2
1
A .
2
L
V
A
A .
2
L
V
A

= 1,4.10
7
.

+
+
+ 200 .
2
50
1000
200
300 .
2
50
1000
300
2 2
= 2,4.10
8
N/m
Tn s dao ng ring ca xylanh :

n
=
500
10 . 4 , 2
m
C
8
H
= = 690 rad/s
Tn s ring ca h
S
c xc nh nh sau :
f
v
= 60 Hz
V
= 260 = 377 rad/s
Ta thy
V
< 3
n
nn ta chn
S
l :

S
=
377 690
377 x 690 .
V n
V n
+
=
+

= 244 rad/s
H s khuch i ca h l :
K
VP
= 0,2.
S
= 0,2 x 244 = 50 s
-1
Lu lng ca van ti p sut lm vic l :
Q
RP
= Q
R
.
70
100
60
1000
. 57
70
P
S
= = 1135 cm
3
/s
st p do sai s ca c tnh ca van l :
P
U
= 4.10
-5

VP
2
1
H RP
K . A
C . Q
= 4.10
-5
.

50 x 300
10 x 5 , 2 x 1135
2
8
= 2,4 bar
st p do di chuyn ca pittng- xylanh l :
P
E
= v .
K . A
C
1000
1
VP 1
H

=
60
12
.
50 x 300
10 x 4 , 2
1000
1
8

= 3,2 bar
Sai s p sut tng cng (nu khng tnh n P
D
) l :
P = P
U
+ P
E
= 2,4 + 3,2 = 5,6 bar

Tnh theo h Anh :
C
H
= 2.10
5

+
+
+ 31 .
2
20
61
32
5 , 46 .
2
20
61
5 , 46
2 2
= 1,3.10
6
lbf/in

n
=
386 / 1100
10 . 3 , 1
6
= 690 rad/s

V
= 2.60 = 377 rad/s
V
V
< 3
n
nn tn s dao ng ring ca h l :
192

S
=
377 690
377 x 690 .
V n
V n
+
=
+

= 244 rad/s
K
VP
= 0,2
S
= 0,2 x244 = 50 s
-1
Q
RP
= Q
R
.
1000
1450
60
231
15
1000
P
S

= = 69,5 in
3
/s
P
U
= 4.10
-2

50 x 5 , 46
10 x 3 , 1 x 690
2
6
= 34,5 PIS
P
E
=
60
75 , 4
.
50 x 5 , 46
10 x 3 . 1
6
= 45,6 PSI
Sai s p sut tng cng l :
P = P
U
+ P
E
= 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 A
1
c thay
bng D
m
=
. 2
D
.
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

193











2
1
x
A
A
=
M
A
2
Q
R
A
1
V
L2
P
S
G
SV
Phn hi
H
FB
P
AB
A B
V
L1
F
E
x, v
S
Tn hiu vo
G
A
+

Hnh 7.15. S mch iu khin ca h chuyn ng tnh tin

cng thy lc :
C
H
= B.
( )

+
+
+
0 2 2 L
2
2
0 1 1 L
2
1
x S . A V
A
x . A V
A

Tn s dao ng ring ca cm truyn ti :

n
=
m
C
H

Tn s dao ng ring ca van :

V
= (tn s ti im chuyn i pha 90
0
) x (h s hiu chnh p sut lm vic).
1. iu khin v tr
Sai s v tr do van gy nn :
x
U
= 0,04

A . K
Q
Vx
RP

Sai s v tr do ngoi lc :
x
E
= 0,02.

A . K
Q
Vx
RP
.

A . P
F
S
E

Sai s tng cng nu khng k n sai s cm bin s l :
x = x
U
+ x
E
.
Sai s ln nht trng thi n nh vi tn hiu tuyn tnh :
x
S
=
V
K
v

- H s khuch i K
VX
tnh nh sau :
khi
V
> 3
n

S
=
n
v = 0,2
max
Vx
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
Vx
V n
V n
K v
.
+

= 0,2
S
khi
V
< 0,3
n

S
=
n
v = 0,4
max
Vx
K
S
2. iu khin vn tc
- H s khuch i K
VV
tnh nh sau :
khi
V
> 3
n

S
=
n
v = 0,2
max
VV
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
VV
V n
V n
K v
.
+

= 0,2
S
194
khi
V
< 0,3
n

S
=
n
v = 0,4
max
VV
K
S
- Sai s v tr : x = x
U
+ x
E
+ x
FB
= 0
- Sai s vn tc trng thi n nh vi tn hiu tuyn tnh :
v
F
=
VV
K
a
, (a l gia tc di)
3. iu khin p sut
- H s khuch i K
VP
tnh nh sau :
khi
V
> 3
n

S
=
n
v = 0,2
max
VP
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
VP
V n
V n
K v
.
+

= 0,2
S
khi
V
< 0,3
n

S
=
n
v = 0,4
max
VP
K
S
- Sai s p sut do c tnh ca van :
P
U
= 4.10
-5

2
VP
RP H
A . K
Q . C
, (bar)
hoc : P
U
= 4.10
-2

2
VP
RP H
A . K
Q . C
, (PSI)
- Sai s p sut do r du :
P
D
= 2.10
-5

2
VP
RP H
A . K
Q . C
.

S
AB
P
P
, (bar)
hoc : P
D
= 2.10
-2

2
VP
RP H
A . K
Q . C
.

S
AB
P
P
, (PSI)
- Sai s p sut do ngoi lc :
P
E
= v .
A . K
C
.
1000
1
VP
H

, (bar)
hoc : P
E
= v .
A . K
C
VP
H

, (PSI)
- Sai s p sut tng (khng tnh n sai s do cm bin gy nn) :
P = P
U
+ P
D
+ P
E
- Sai s p sut trng thi n nh vi tn hiu vo tuyn tnh :
195
P
F
=
VP
K
t / P

7.4.2. H thy lc chuyn ng quay

m
n
m

D
Q
R
Tn hiu phn hi
B
A
V
L2
P
AB
T
H
FB
M
L
M
D
J
P
S
G
SV
Tn hiu vo
G
A
+



V
L1








Hnh 7.16. S mch iu khin ca h chuyn ng quay
cng thy lc :
C
H
=

+
+
+

2
D
V
1
2
D
V
1
. 2
D
.
10000
B
2 L 1 L
2
theo h mt
C
H
=

+
+
+

2
D
V
1
2
D
V
1
. 2
D
. B
2 L
1 L
2
theo h Anh
Tn s dao ng ring ca cm truyn ti :

n
=
J
C
H

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 K
V
tnh nh sau :
196
khi
V
> 3
n

S
=
n
v = 0,2
max
V
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
V
V n
V n
K v
.

+

= 0,2
S
khi
V
< 0,3
n

S
=
n
v = 0,4
max
V
K
S
- Sai s v tr do c tnh ca van :

U
= 0,04.

2
D
. K
Q
V
RP

- Sai s v tr do mmen xon bn ngoi gy nn :

E
= 0,2.

2
D
. P
M
.
2
D
. K
Q
S
L
V
RP
theo h mt

E
= 0,02.

2
D
. P
M
.
2
D
. K
Q
S
L
V
RP
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
=

V
K

2. iu khin vn tc
- H s khuch i K
V
tnh nh sau :
khi
V
> 3
n

S
=
n
v = 0,2
max
V
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
V
V n
V n
K v
.

+

= 0,2
S
khi
V
< 0,3
n

S
=
n
v = 0,4
max
V
K
S
- Sai s v tr :
=
U
+
E
+
FB
= 0
- Sai s vn tc trng thi n nh vi tn hiu tuyn tnh :
197

=
V
F
K
vi l gia tc gc
3. iu khin p sut
- H s khuch i K
VP
tnh nh sau :
khi
V
> 3
n

S
=
n
v = 0,2
max
VP
K
S
khi 0,3
n
<
V
< 3
n

S
=
max
VP
V n
V n
K v
.
+

= 0,2
S
khi
V
< 0,3
n

S
=
n
v = 0,4
max
VP
K
S
- Sai s p sut do c tnh ca van :
P
U
= 4.10
- 5
.

2
VP
RP H
2
D
. K
Q . C
theo h mt
P
U
= 4.10
- 2
.

2
VP
RP H
2
D
. K
Q . C
theo h Anh
- Sai s p sut do r du :
P
D
= 2.10
- 5
.

S
AB
2
VP
RP H
P
P
2
D
. K
Q . C
theo h mt
P
D
= 2.10
- 2
.

S
AB
2
VP
RP H
P
P
2
D
. K
Q . C
theo h Anh
- Sai s p sut do mmen xon bn ngoi gy nn :
P
E
= v .
2
D
. K
C
10000
1
VP
H

theo h mt
198
P
E
= v .
2
D
. K
C
VP
H

theo h Anh
- Sai s p sut tng cng :
P = P
U
+ P
D
+ P
E
- Sai s p sut trng thi n nh vi tn hiu tuyn tnh :
P
F
=
VP
K
t / P
.

7.5. m hnh v k hiu c tnh ca Cc khu thng gp
7.5.1. Khu khuch i (P)

X
e
= K
P
.X
e

X
a
=
l
l
1
2
l
2
l
1
X
e

X
a
X
e

X
a


(P)

b)
a)

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
K
P
.
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 - T
1
)
M hnh tnh ton ca khu qun tnh P - T
1
c dng :
T.
a
a
X
dt
dx
+ = K.X
e
(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. v . f F
dt
dv
= vi f l h s ma st nht (7.51)
199

200













t
v
f
F
m
a)
X
e

X
a

K
0,63 K
T
(P-T
1
)
c) b)

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 :
f
m
.s.v(s) + v(s) =
f
) s ( F
(7.52)
hay :
1 s . T
K
1 s .
f
m
f / 1
) s ( F
) s ( v
+
=
+
= (7.53)
7.5.3. Khu dao ng (P - T
2
)
M hnh ton c dng :
a
a
z 2
a
2
2
x
dt
dx
. T . D . 2
dt
x . d
. T + + = K.x
e
(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 x . C
dt
dx
. f F
dt
x d
2
2
= (7.55)
x
dt
dx
.
C
f
dt
x d
.
C
m
2
2
+ + = F .
C
1
(7.56)

F
m
f
C
x



a)

K
t
Dz>1
Dz <1
X
a
X
e

K
t




(P-T
2
)


c) b) 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 =
C
m
; 2Dz.T =
C
f
; K =
C
1
. (7.57)
Dz =
C . m . 2
f
;
0
=
T
1
.
th phng trnh (7.56) s l :
K.F x
dt
dx
T. 2D
dt
x d
. T
z
2
2
2
= + +
(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
=
2
z
D 1 .
0
=
T
D 1
2
z

(7.59)
7.5.4. Khu tch phn (I)
M hnh ton ca khu tch phn th hin l tn hiu ra bng tch phn ca tn hiu
vo : X
a
= K
I
. (7.60)

dt ) t ( x
e
K
I
l h s khuch i ca khu tch phn.
V d : Hnh trnh ca pittng- xylanh tnh theo lu lng vo l :
S =

= dt . Q . K dt . Q .
A
1
I
(7.61)
201
A l din tch ca pittng v K
I
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 :
= K
0
. (7.62)

dt .
B truyn vt me ai c c quan h nh sau :
S = t
x
. (7.63)

dt . n

t
x
n
S - Hnh trnh m





a)

s
t

X
a

X
e


(I)

b)
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 = t
x
. 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 :
x
a
= K
D
.
dt
dx
e
(7.64)
V d quan h gia dng in v in p qua t in C th hin theo cng thc l :
I
c
= C.
dt
du
. K
dt
du
c
D
c
= (7.65)
trong : K
D
= C - h s khuch i ca khu D;
I
c
- dng in l tn hiu ra;
U
c
- in p l tn hiu vo.

202
I
C
U
C

X
a
X
e


C

(D)


a)
c)
Hnh 7.21. S v d v k hiu c tnh ca khu vi phn
a- S v d; b- K hiu.
7.5.6. Phn t tr theo thi gian (T
t
)
V d : Cn bng nh lng trn hnh 7.22a c cc phng trnh m t sau :
203


















a)
c)
X
a
X
e
(T
t
)
b)
X
a

t
B cha
x
h(t)
A - Din tch b
X
a
(t)
Cn bng nh lng
v(t)
L
X
e
(t)
Phu
Hnh 7.22. S v d v k hiu c tnh ca khu T
t
a- S v d; b- c tnh; c- K hiu.
Thi gian vt liu i ht qung ng L trn cn bng l :
T
t
=
v
L
, vi L- chiu di bng ; v - vn tc bng (10.17)

Chiu cao vt liu trong b cha : h(t) =

t
0
a
dt X
A
1
(7.66)
X
a
(t) = X
e
(t T
t
) (7.67)
hay : h(s) = L
-1
[h(t)]=
S . A
1
. (7.68)
t
T . S
e

7.5.7. Cc khu phi hp

Ngoi cc khu trn, trong b khuch i cn c cc khu sau :
- Khu iu chnh PI :
) s ( X
) s ( X
e
a
= K
P
+
S
K
I
(7.69)
X
e

X
a

(PI)
K
P
K
I







1
t

a)
b)

Hnh 7.23. c tnh v k hiu ca khu PI
a- c tnh; b- K hiu.
- Khu iu chnh PD :
) s ( X
) s ( X
e
a
= K
P
+ K
D
.S (7.70)
X
X
a

K
P






t
a)
b)

Hnh 7.24. c tnh v k hiu ca khu PD
a - c tnh ; b - K hiu.
- Khu iu chnh PD - T
1
:
) s ( X
) s ( X
e
a
= (K
P
+ K
D
.S).
1 S . T
1
1
+
(7.71)

204







t
K
P
K
D
T
1

b)
X
e
T1
X
a

a)
Hnh 7.25. c tnh v k hiu ca khu PD - T
1
a - c tnh ; b - K hiu.
- Khu iu chnh PID :

) s ( X
) s ( X
e
a
= K
P
+ +
S
K
I
K
D
S (7.72)








Hnh 7.26. c tnh v k hiu ca khu PID
a - c tnh; b - K hiu.
- Khu iu chnh PID - T
1
:
) s ( X
) s ( X
e
a
= (K
P
+ +
S
K
I
K
D
S).
1 S . T
1
1
+
(7.73)
t
a)
K
I

K
P

1
0
b)
X
e
X
a

t
T
1
K
P
X
e
K
D
T
b)




X
a


a)
Hnh 7.27. c tnh v k hiu ca khu PID - T
1
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.
206

i
X
X
F
Van servo
Q
ng c du
MU
Truyn ng c kh
X
W
w

.

P
Cm bin v tr
B khuch i










a)









i Q
Xylanh thy lc
X
W
w
X
F
X
.
X
p
Van servo
B khuch i
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 - T
1
;
- Van servo l khu PT
2
;
- ng c du gm hai khu l : P - T
2
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
Cm bin
v tr
M
X,X
.
+
U
W
Van servo
Xylanh
F
S
I
A
F
U
F











a)

207











U
W
K
P
.K
I
2
z
2
s
S .
v
v
d 2
1
Q
K

+
2
z
2
S
S .
z
z
D 2
1
A / 1

+
S
1
A
K
PQ
K
H
+
X
+
+
U
F
Q
-
+
Q
Van servo
I
B khuch i
U
Cm bin v tr
Xylanh
b)




208










K
P
.K
I
A
1

dt .
.
X
A
PQ
K
K
H
+
+
X
U
F
Q
Q
B khuch i
K
Q
Van servo
I U
U
W
Cm bin v tr
Xylanh
X
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 :
K
V
= K
P
.K
I
.K
Q
.
A
1
.K
H
, 1/s (7.74)
trong : K
P
- h s khuch i ca b khuch i;
K
I
- h s khuch i cng sut;
K
Q
- h s khuch i lu lng;
A - din tch ca pittng;
K
H
- h s khuch i ca cm bin v tr ;
K
PQ
=
P
Q
K
K

bar
s / cm
3
- h s khuch i p sut - lu lng;

V
- tn s ring ca van;
z
- tn s ring ca xylanh;
d
V
- h s tt dn ca van; D
Z
- h s tt dn ca xylanh.;
x - hnh trnh iu khin.

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


















p
T
A B
M
X
U
U
I
B pht Rampe RA1
B phn khuch i ca van servo
Chy
+
t
t
Hnh trnh
x
t
x
v =
7
6 5
3
4
9
1
X
8
1

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


















U
I
2
3 4
P
T
A B
W
7
8
10
X
W
-X
PI
9
5
6
1


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
211



















B phn khuch i ca van servo
V
U
p
T
A B
5
6
7
U
I
+
4
3
I
1
II
I
X
W
X
8
9
2
a)












C
R
1
y X
W
R
0
+
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.





















P
U
p
T
A
B
5
7
U
I
+
4
3 2
1
Chy
I
8
P
II
W
-X
X
W
I
9
6
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 :
G
P
= 2.d
V.

V
.T
P
(10.27)
trong : d
V
- h s tt dn ca van;

V
- tn s ring ca van (1/s);
T
P
- hng s thi gian ca iu khin p sut.
Vi T
P
xc nh nh sau :
T
P
= ;
K . B
V
PQ

max
max
PQ
P
Q
K = (10.28)
trong : V- th tch du c p sut, (cm
3
);
B- mun n hi ca du 1,4.10
5
, (N/cm
2
);
212
K
PQ
- h s khuch i p sut / lu lng ca van ,
bar
/s) (cm
3
.
- H s khuch i ti u thng ly nh sau : G
P
0

3
1
G
P
(10.29)
- Bin A
V
ca con trt : A
V
= 20log (
V
d 2
1
) (10.30)
- H s tt dn d
V
: d
V
= 10
2
) 20 / A (
V
(10.31)


































213
214

Cc k hiu, n v v ngha c bn trong cc cng thc

K hiu n v
ngha
H mt H Anh
a cm/s
2
in/s
2
Gia tc di
A
P
(A
1
) cm
2
in
2
Din tch pittng pha p sut cao
A
R
(A
2
) cm
2
in
2
Din tch pittng pha p sut thp

rad/s
2
rad/s
2
Gia tc gc
B kg/cm.s
2
lbf/in
2
Mun n hi ca du
C
H
N/m lbf/in cng thy lc ca h chuyn ng
thng
(C
H
) N.m/rad lbfin/rad cng thy lc ca h chuyn ng
quay
D
m
cm
3
/vg

in
3
/vg Th tch ring ca ng c du
D cm
3
/rad

in
3
/rad H s kt cu ca ng c du
f
V
Hz Hz Tn s ring ca van
f
n
Hz Hz Tn s ring ca b truyn ti (xylanh
hoc ng c du)
F
E
daN daN Ngoi lc
F
S
daN daN Lc ma st trong xylanh
F
C
daN daN Lc ma st ca b phn ti
G
A
mA/v mA/v H s khuch i ca b khuch i
G
AI
(mA/s)/v (mA/s)/v H s khuch i tch phn
G
V
(cm
3
/s)/mA (cm
3
/s)/mA H s khuch i ca van
H
x
(K
C
) V/cm V/in H s khuch i ca cm bin v tr
chuyn ng thng
H

V/rad V/rad H s khuch ca cm bin o gc

quay
H
V
V/(cm/s) V/(in/s) H s khuch i ca cm bin o vn
tc di
H

V/(rad/s) V/(rad/s) H s khuch i ca cm bin o vn

tc gc
H
P
V/bar V/PIS H s khuch i ca cm bin p sut
J N.ms
2
inlbf.s
2
Mmen qun tnh khi lng
215
K
V
s
-1
s
-1
H s khuch i h thng
W
L
kg.cm/s
2
lbf Trng lc
m kg lbfs
2
/in Khi lng
M N.m Inlbf Mmen xon
P
bar PSI Hiu p
P/t
bar/s PSI/s Tc bin i p sut
P bar PSI
p sut
Q cm
3
/s

in
3
/s Lu lng
V cm/s in/s Vn tc chuyn ng thng
V
L1
, V
L2
cm
3
in
3
Th tch du trong ng ng
V
1
, V
2
cm
3
cm
3
Th tch du trong cc bung ca
xylanh

rad/s rad/s Vn tc gc

rad/s rad/s Tn s ring
x
cm In Sai s v tr chuyn ng thng

rad rad Sai s gc quay
n
m
vg/p vg/p S vng quay ca ng c du
















216

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