Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Thit k h iu khin cho vng bi t ch ng 4 cc s dng cc b
khuych i tuyn tnh
Control of a 4-pole magnetic bearing using linear amplifiers
Nguyn Quang ch
Trng HBK H Ni
e-Mail: dichnq@mail.hut.edu.vn


Tm tt
Bi bo ny gii thiu v mt loi vng bi t ch
ng c 4 cc. Trong , qu trnh phn tch cu trc
c bn v xy dng m hnh ton hc ca vng bi t
ch ng c m t v tho lun chi tit phn u.
Phn tip theo trnh by v nguyn tc iu khin theo
mch vng kn ca vng bi t ch ng. Da trn vic
phn tch m hnh ton hc ca vng bi t ch ng,
nguyn tc thit k b iu khin PID m bo vng
bi t lm vic n nh c gii thch. minh chng
cho phng php iu khin c gii thiu, m hnh
thc ca vng bi t ch ng 4 cc c ch to v
th nghim. Kt qu th nghim ch ra rng vng bi t
ny c th lm vic n nh theo tt c cc hng v
trc quay c nng hon ton khng c tip xc.

Abstract: This paper deals with a four-pole active
magnetic bearing. Firstly, basic structure, analysis and
mathematical model of the active magnetic bearing
are described and discussed in detail. The principle of
a feedback control strategy for the active magnetic
bearing is then introduced. Based on the analysis of
the mathematical model of the active magnetic
bearing, the design of a proportional-integral-
derivative (PID) controller is explained in order to
realize stable magnetic levitation. Finally, the four-
pole active magnetic bearing is developed in order to
confirm the proposed control method. The
experimental results show that the magnetic bearing
can work stably in all radial directions and the rigid
body is levitated without any contact.

K hiu
K hiu n v ngha

xc1+
,
xc1-

v
xc2+
,

xc-+
,
Wb T thng khe h pha trn v
di theo phng x ca
vng bi t 1 v 2 tng ng
F
x1+
, F
x1-
,
F
x2+
v
F
x2-

N Lc hp dn gia staor v
rotor ti khe h pha trn v
di theo phng x ca
vng bi t 2
F
x1
v F
x2
N Lc nng trc quay theo
phng x ca vng bi t 1
v 2
F
x1L
v
F
x2L

N Thnh phn tuyn tnh ca
lc nng trc quay theo
phng x
g
x1+
, g
x1-
, m khe h thc pha trn v
g
x2+
v g
x2-
di theo phng x ca
vng bi t 1 v 2 tng ng
x
1
v x
2
dch chuyn ca trc
quay theo phng x ti v tr
t cc vng bi t
i
x1+
, i
x2+
,
i
x1-
v i
x2

A Dng in thc cp cho cc
cun dy pha trn v di
theo phng x ca vng bi
t 1 v 2 tng ng
N vng S vng dy ca mt cun
dy
S m
2
Tit din ca mt cc t

0
H/m t thm tuyt i ca
chn khng
g
0
m Khe h khng kh gia
stator v rotor ti v tr cn
bng
i
0
A Thnh phn dng in c
nh cp cho cun dy ca
vng bi t
i
x1
, i
x2
A Thnh phn dng in iu
khin b s thay i ca
ph ti
K
P
, K
I
, K
D
H s t l, tch phn v vi
phn ca b iu chnh PID
K
a
H s khych i ca vng
bi t
K
n
cng ca vng bi t
m kg Khi lng ca trc quay

1. Phn m u
Thi gian gn y cc vng bi t ang c y
mnh nghin cu thay th cc vng bi c trong mt
s ng dng c bit. Bng cch s dng lc t
trng, vng bi t c kh nng nng cc vt chuyn
ng m khng c tip xc. u im ni bt ca vng
bi t l kh nng cho php trc quay chuyn ng vi
tc rt cao, c kh nng lm vic trong cc mi
trng rt khc nghit v khng cn s dng cht bi
trn [1]-[2].
Trong s cc vng bi t c gii thiu hin nay th
vng bi t ch ng ginh c s quan tm nhiu
nht do c lc nng ln v lc nng ny c th c
iu khin thng qua vic iu khin dng in cp
cho vng bi t. Cu trc ca vng bi t ch ng gm
hai b phn l rotor v stator, rotor ca vng bi t
thng c gn trc tip vo trc cn nng cn
stator th gm nhiu nam chm in c b tr theo
387
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
nhiu phng php khc nhau. Cc phng php b
tr cc t hin nay c phn thnh ba loi chnh l
loi ba cc, loi bn cc v loi tm cc. Loi vng bi
t ch ng ba cc c u im l nh gn, d ch to
v s lng b khuych i cng sut t. Tuy nhin
lc nng c phn b khng i xng, kh thc hin
vic tch knh v c tnh phi tuyn rt mnh, v vy
vic m bo vng bi t ch ng ba cc lm vic n
nh l rt kh khn v thng i hi h iu khin
phc tp [3]-[5]. Trong khi loi vng bi t ch
ng 8 cc c phn b lc nng i xng v d dng
thc hin iu khin tch knh nhng li c qu nhiu
cc dn ti s lng b khuych i cng sut v tn
hao trong vng bi t cng tng [6]-[8]. dung ha
c hai yu cu trn, bi bo ny s trnh by v dng
vng bi t ch ng 4 cc iu khin bng cch s
dng cc b khuych i tuyn tnh. c th xy
dng c cu trc iu khin ca vng bi t, trc
ht cu trc c bn v m hnh ton hc ca vng bi
t ch ng 4 cc c trnh by. M hnh ton hc
c xy dng da trn nguyn tc phn tch nng
lng t trng tch ly trong khe h khng kh gia
stator v rotor. Vng bi t l c cu chp hnh khng
n nh do phng php xy dng h iu khin
m bo vng bi t lm vic n nh dng b iu
khin tuyn tnh cng c miu t v tho lun chi
tit. chng minh cho phng php c gii thiu
th m hnh vng bi t 4 cc c thit k, ch to v
th nghim.

2. Thit k h iu khin cho vng bi t
2.1 Xy dng m hnh ton hc ca vng bi t
H. 1 gii thiu s cu trc ca mt vng bi t ch
ng 4 cc. Rotor ca vng bi t c dng hnh tr
c lm t cc l thp k thut in trnh tn hao
do dng xoy. Li stator ca vng bi t c 4 cc v
cng c lm t cc l thp k thut in. Kch
thc ca li thp cn phi ln m bo trnh
ch bo ha t v cng trnh rung ng do
lc nng gy ra. Khong trng xung quanh cc cc t
c dng cha dy qun. Mi stator ca vng bi
t c 4 cun dy qun tp trung, trong 2 cun trn
v di dng kim sot hng chuyn ng ca
trc quay theo phng x, cn hai cun tri v phi
dng kim sot hng chuyn ng ca trc quay
theo phng y. Khi cc cun dy ny c cp dng
in thng qua cc b khuych i tuyn tnh th
chng s sinh ra t trng, t trng ny sau s to
ra cc lc nng theo nguyn tc lc t tr gi trc
quay nm chnh gia stator. Trong H. 1 th t thng
theo phng x c m t bng ng dng du
chm.
nng c mt trc chuyn ng quay thng
dng t nht l hai vng bi t ging nhau t hai
pha u trc. Mi vng bi t s m nhim cc
hng chuyn ng ngang trc ca trc quay ti v tr
vng bi t c b tr. M hnh tng ng ca
vng bi t 4 cc trong h ta z-x c m t chi
tit H. 2.
Cc t thng c to ra bi cc cun dy ca vng
bi t theo hng x c k hiu chung l
xc1+
,
xc2+
,

xc1-
v
xc-+
, trong du cng (+) dng cho cc t
thng khe h pha trn cn du tr (-) cho cc t
thng khe h pha di. Ch s 1 dng cho vng bi t
th nht v ch s 2 dng cho vng bi t th hai.
Bng cch tng t th khe h khng kh ca hai vng
bi t theo phng x c nh ngha l g
x1+
, g
x1-
, g
x2+

v g
x2-
. Lc hp dn gia stator v rotor theo phng
x ti cc khe h khng kh c k hiu l F
x1+
, F
x1-
,
F
x2+
v F
x2-
. Dng in chy qua cc cun dy ca
vng bi t theo phng x c xc nh l i
x1+
, i
x2+
,
i
x1-
v i
x2-
. S vng dy ca mi cun l N.
Khi rotor nm chnh gia li stator th cc khe h
khng kh gia rotor v stator theo cc hng u
bng nhau, khe h ny khi c gi l khe h c
nh v c k hiu bng g
0
. Trong iu kin lm
vic bnh thng, cc khe h khng kh ca vng bi
t c xc nh nh sau:
1 0 1
1 0 1
2 0 2
2 0 2
x
x
x
x
g g x
g g x
g g x
g g x
+

= +

= +

(1)
Trong x
1
v x
2
l dch chuyn ca rotor theo
phng x ti v tr t ca hai vng bi t. m bo
H. 1 S cu trc ca vng bi t 4 cc

H. 2 S thay th ca vng bi t theo h ta z-x
388
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
nng n nh cho rotor th dng in cp cho cc cun
dy ca vng bi t c coi l cha hai thnh phn,
mt thnh phn c nh nng rotor v tr xc nh
cn thnh phn khc dng b thay i ca ph ti.
Khi t thng ca cc vng bi t theo phng x
c xc nh nh sau:
( )
( )
( )
( )
0 1 0 1 0 1
1
1 0 1 0 1
0 1 0 1 0 1
1
1 0 1 0 1
0 2 0 2 0 2
2
2 0 2 0 2
0 2 0 2 0 2
2
2 0 2 0 2
x x x
xc
x
x x x
xc
x
x x x
xc
x
x x x
xc
x
k i i SNi SNi
g g x g x
k i i SNi SNi
g g x g x
k i i SNi SNi
g g x g x
k i i SNi SNi
g g x g x

+ +
+
+

+ +
+
+

+ A
= = =

A
= = =
+ +

+ A

= = =

A
= = =

+ +

(2)
Vi l
0
t thm tuyt i ca chn khng
(
7
0
4 x10 H/m t

= ), S l tit din ca cc t, i
0
l
dng in c nh cn i
x1
, i
x2
l cc dng in iu
khin b thay i ph ti. Kt qu ta c th tnh
c lc nng ca cc vng bi t theo phng x nh
sau:
( )
( )
( )
( )
( )
( )
( )
( )
2 2
1 1
1 1 1
0 0
2 2
2
0 1 0 1
2 2
0
0 1 0 1
2 2
2 2
2 2 2
0 0
2 2
2
0 2 0 2
2 2
0
0 2 0 2
2 2
2
2 2
2
x x
x x x
x x
x x
x x x
x x
F F F
S S
i i i i
k
S
g x g x
F F F
S S
i i i i
k
S
g x g x

+
+
+
+

= = =

(
+ A A

= (

+ (

= = =

(
+ A A
= (
+ (

(3)
T phng trnh (3) d dng nhn thy cc lc nng
t trng c dng phi tuyn mnh, c th ng dng
c cc b iu khin tuyn tnh cc lc t ny c
tuyn tnh ha quanh im lm vic cn bng A(i
0
,
g
0
), kt qu sau khi tuyn tnh ha l:
1 1
1 1 1 1 1
1 1
A A
2 2
2 2 2 2 2
2 2
A A
x x
x L x a x n
x
x x
x L x a x n
x
F F
F i x K i K x
i x
F F
F i x K i K x
i x

c c
= A + = A +

c c

c c

= A + = A +

c c

(4)
vi
2
0
2
0 0
2
a
k i
K
Sg
= l h s khuych i v
2 2
0
3
0 0
2
n
k i
K
Sg
= l cng ca vng bi t
Bng cch tng t, cc lc nng cho vng bi t 1 v
2 theo phng y cng c th c xc nh nh sau:
1 1 1
2 2 2
y L a y n
y L a y n
F K i K y
F K i K y
= A +

= A +

(5)
Gi thit rng cc vng bi t c t v tr u trc
quay sao cho mi vng bi t m nhn mt na trng
lng ca trc quay cn nng, khi phng trnh
chuyn ng ca trc quay theo cc phng x v y l:
1 1 1 1
1 1 1 1
2 2 2 2
2 2 2 2
2
2 2
2
2 2
x L a x n
y L a y n
x L a x n
y L a y n
m
F K i K x x
m m
F K i K y y G
m
F K i K x x
m m
F K i K y y G

= A + =

= A + = +

= A + =

= A + = +

(6)
trong m l trng lng ca ton trc cn nng v G
l gia tc trng trng.
T phng trnh (6) d dng nhn thy rng m hnh
ton hc ca vng bi t c th c xy dng c
vi u vo l cc dng in cp cho vng bi t v
u ra l dch chuyn ca trc quay theo cc hng
x v y. y l dng m hnh tuyn tnh, tuy nhin
mch iu khin vng h ca vng bi t l khng n
nh. Do m bo n nh c lc nng th h
iu khin mch vng kn vi b iu khin PD hoc
PID cn c nghin cu ng dng.

2.2 Xy dng h iu khin cho vng bi t
Do tnh cht i xng ca vng bi t loi 4 cc, vic
thit k h thng iu khin c thc hin theo mt
hng, cc hng khc c thc hin mt cch
tng t. S cu trc h iu khin cho vng bi t
1 theo hng x c minh ha H. 3.
dch chuyn ngang trc x
1
ca trc quay c xc
nh nh vo cm bin khong cch c so snh vi
dch chuyn t x
1ref
. dch chuyn t thng
c t bng 0 m bo trc quay lun nm chnh
gia li stator. Sai lch gia dch chuyn thc v
dch chuyn t l u vo cho b iu chnh v tr
R
x
. u ra ca b iu chnh v tr l thnh phn dng
in b thay i ph ti trn trc quay i
x1
, dng in
ny c s dng tnh ton dng in t cho cc
cun dy bn trn v bn di ca vng bi t theo
phng x bng cch kt hp vi dng in c nh i
0
.
Nhng dng in t ny sau c khuych i
bi cc b khuych i tuyn tnh trc khi c
chuyn ti cc cun dy tng ng ca vng bi t.
Da trn phng trnh (6), mch vng iu khin kn
ca vng bi t 1 theo hng x c m t nh H. 4.
Rx
ix1
ix1+
x1
xref

_
Rotor
Vng bi t 1
Stator
Cm bin
khong cch
_
+
i0
PWM
PWM
ix1-
+
+
y1
x1

H. 3 S cu trc h iu khin vng bi t 1 phng x
389
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Vi K
amp
l h s khuych i ca b khuych i
tuyn tnh. Gi thit rng b iu khin PID c s
dng n nh lc nng t trng, khi hm
truyn ca mch vng h c xc nh nh sau:
0 . 2
2
2
I
P D amp a
n
K
G K sK K K
s ms K
| |
= + +
|

\ .
(7)
V hm truyn ca h kn l:
1
1 0
1
o
ref
G x
x G
=
+
. (8)
Theo tiu chun Hurwitz, h thng iu khin s m
bo n nh cho qu trnh nng trc quay khi tt c
cc hng s ca a thc di mu ca hm truyn kn
c cng du. Kt qu l khi iu kin:
0
0
0
P amp a n
D
I
K K K K
K
K
>

>

>

(9)
c m bo th h thng c th n nh.

2.3 B khuych i tuyn tnh
Trong h thng iu khin vng bi t, dng in t
c to ra thng qua vic xc nh dch chuyn
ca trc quay so vi v tr cn bng. Cc b bin i
in t cng sut c nhim v cp dng in ny ti
cun dy ca vng bi t. Ngoi vic khuych i
dng in t, cc b bin i in t cng sut c
nhim v m bo tc thay i ca dng in thc
nhanh so vi dng in t. Nu p ng dng
in khng nhanh, mch vng iu khin kn s tr
nn khng n nh khin cho trc quay c nguy c ri
xung stator. Trong bi bo ny m bo tc
p ng nhanh ca dng in, b khuych i dng
tuyn tnh s dng khuych i thut ton tuyn tnh
c s dng. S nguyn l ca b khuych i
dng tuyn tnh c th hin H. 5.
y l thc s l b khuych i dng vi dng in
u vo l I
in
v dng in u ra l I
1
c cp trc
tip cho cun dy ca vng bi t. in tr R
s
thng
c gi tr nh trnh tn hao do dng in chnh ca
cun dy chy qua n. Cc in tr khc nh R
F
, R
1

R
2
v R
3
c gi tr trong khong vi chc k. Mi
quan h ca dng in u ra v dng in u vo
ca mch c xc nh nh sau:
1
in
F
s
I
I R
R
=

(10)
m bo dng in u ra ca b khuych i
tuyn tnh lun nm trong gii hn cho php s
mch s dng hai in tr R
cl1
v R
cl2
c cng gi tr
hn ch dng in cp cho cun dy ca vng bi
t, gi tr ln nht ca dng in u ra c xc nh
theo cng thc:
1 ax
0, 65
m
cl
I
R
=

(10)

3. Th nghim v kt qu
3.1 Xy dng m hnh iu khin vng bi t
chng minh cho kh nng nng trc quay khng
c tip xc vi phng php iu khin trnh by
phn trn, m hnh th nghim ca vng bi t c
xy dng theo s nguyn l nh H. 6.
M hnh th nghim s dng hai vng bi t t hai
bn u trc quay. Cc rotor ca vng bi t ny c
lm t cc l thp silicon c ni cng vi trc
Cun dy
Stator
CC
R
s
R
1
R
2
R
3
R
cl
I
in
I
1
R
cl
R
F
+V
CC
-V
CC
_
+

H. 5 S nguyn l mch khuych i dng tuyn tnh
K dng K dng
x
1 y
1
y
2
x
2
t
ngang
trc
t
ngang
trc
C cu chp
hnh v cm
bin
H iu khin
(phn cng v
phn mm)
x
1
y
1
x
2
y
2
dSPACE 1104
i i

H. 6 S tng quan h iu khin m hnh th nghim
vng bi t

H. 7 Hnh nh vng bi t trong m hnh th nghim
R
x
_
2
ms
1
s
+
n
K
a
K
. amp
K
1 x
F
1 x
i
i
x1
1
x
1 x
1ref
x

H. 4 Cu trc h iu khin vng kn ca vng bi t theo
phng x
390
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
nng. ng knh ngoi ca rotor l 40mm v chiu
di l 20mm. Tng t vi rotor th stator ca vng bi
t cng c ch to t cc l thp silicon m bo
kh nng dn t ln vi tn hao nh. ng knh
trong ca stator l 42mm, do khe h khng kh
gia stator v rotor trong trng thi cn bng l 1mm.
Mi stator ca vng bi t c 4 cun dy qun tp
trung, mi cun dy c 200 vng v c cp dng
bi mt b khuych i tuyn tnh. Theo cch ny th
mt vng bi t 4 cc cn s dng 4 b khuych i
cng sut.
xc nh chnh xc dch chuyn ca trc quay
so vi v tr cn bng th 4 cm bin khong cch kiu
dng xoy (Shinkawa-VC202N) c lp theo cc
hng x v y ti v tr t vng bi t tng ng. Hnh
nh ca m hnh vng bi t c th hin H. 7 v
cc thng s k thut chnh c trnh by Bng 1.
Bng 1. Cc thng s chnh ca vng bi t
Kch thc mi cc t 20mm x 20 mm
in tr 1 cun dy 3.1
in cm 1 cun dy 12.61 mH
Dng in c nh i
0
0.1 A
Khi lng ca trc quay 1 Kg
M men qun tnh ca trc quay
theo phng z
0.00241 kgm
2

M men qun tnh ca trc quay
theo phng x v y
0.00298 kgm
2


H iu khin cho vng bi t c xy dng da trn
b x l tn hiu s chuyn dng dSpace DS1104 kt
hp vi phn mm Matlab/Simulink. B DS1104
nhn cc tn hiu t cc cm bin khong cch thng
qua cng chuyn i tng t - s (A/D) tnh ton
ra dng in t s dng cc thut ton c trnh
by mc 2. Dng in t ny sau c a vo
cc cun dy ca vng bi t thng qua cc b
khuych i dng tuyn tnh. Cc b khuych i
dng tuyn tnh s dng khuych i thut ton tuyn
tnh PA12 ca hng Apex c kh nng dn dng ti
10A.

3.2 Kt qu thc nghim
H. 8 miu t qu o ca hai u trc quay ti v tr
t vng bi t, dch chuyn ln nht khong
0,005mm. Gi tr ny l nh hn rt nhiu so vi
khong cch gia rotor v stator ti v tr cn bng
(1mm), vng bi t hot ng tt vi phng php
iu khin c gii thiu.
H. 9, H. 10, H. 11 and H. 12 th hin dch chuyn
ca trc nng ti cc v tr t vng bi t khi c xung
lc tc ng ln trc nng theo phng x. Ti thi
im c xung lc theo phng x tc ng ln trc th
v tr ca trc quay theo phng x c b thay i
nhng nhanh chng khi phc li v tr cn bng, cn
v tr ca trc quay theo phng y gn nh khng thay
i (H. 11) hoc thay i nh (H. 12). iu ny
chng t thng qua phng php iu khin nh trn,
cc v tr ngang trc theo phng x v y c iu
khin c lp vi nhau. Vng bi t cng hot ng tt


H. 8 Qu o ca trc quay

H. 9 Chuyn dch v tr ca trc quay theo phng x ca
vng bi t 1 (X1) so vi v tr cn bng

H. 10 Chuyn dch v tr ca trc quay theo phng x
ca vng bi t 2 (X2) so vi v tr cn bng
391
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
c trong trng hp khi c nhiu ph ti tc ng ln
trc quay.

4. Kt lun
Trong bi bo ny, m hnh th nghim nng trc
quay khng tip xc s dng cc vng bi t ch ng
4 cc c trnh by. H thng iu khin cho cc
vng bi t ny c thc hin da trn b x l tn
hiu s chuyn dng DS1104 kt hp vi b khuych
i dng tuyn tnh. Kt qu thc nghim chng t
rng trc quay c nng n nh ti v tr cn bng
bng lc t trng c trong iu kin bnh thng
cng nh khi c nhiu ti tc ng ln trc quay.

Ti liu tham kho
[1] Schweitzer G., Active Magnetic Bearing
Chances and Limitations, Int. Centre for
Magnetic Bearings, CH-8092, Zurich.
[2] M. Dussaux, The industrial application of the
active magnetic bearing technology, in Proc. of
2
nd
Int. Sym. on Magnetic Bearings, Tokyo, pp.
33-38, July, 1990.
[3] C.T.Hsu and S.L.Chen, Exact linearization of a
voltage-controlled 3-pole active magnetic
bearing system, IEEE Trans. on Control Syst
Technol., Vol.10, No.4, pp.618-625, Jul.2002.
[4] C.T.Hsu and S.L.Chen, Nonlinear control of a
3-pole active magnetic bearing system,
Automatica, Vol.39, pp.291-298, 2003.
[5] Adam Pilat, PD Control Strategy for 3 Coil
AMB, in Proc. of 10th Int. Sym. on Magnetic
Bearings, Switzerland, pp. 34-39, August, 2006.
[6] K. Matsuda, Y. Kanemitsu and S. Kijimoto,
Optimal Number of Stator Poles for Compact
Active Radial Magnetic Bearings IEEE Trans.
on Magnetics, Vol. 43, No.8, August 2007.
[7] L. Bakay, M. Dubois, P. Viarouge and J. Ruel,
Losses in an optimized 8-pole radial AMB for
Long Term Flywheel Energy Storage, in Proc.
of Int. Conference on Electrical Machines and
Systems, 2009, pp. 1-6.
[8] T. Ludvig and Kuczmann, Design of active
magnetic bearing, Journal of Optoelectronics
and Advanced Materials, Vol. 10, No. 7, pp.
1834-1836, July 2008.

Nguyn Quang ch
sinh nm 1975 ti Bc
Ninh, nhn bng K s
T ng ha XNCN ca
trng i hc Bch
Khoa H Ni nm 1997,
bng Thc s K thut
in ca trng i hc
Bch khoa Dresden,
CHLB c nm 2003 v
bng Tin s khoa hc
v k thut ca trng
i hc Ritsumeikan, Nht Bn nm 2010.
T nm 2000 n nay l ging vin ca B mn T
ng ha XNCN trng i hc Bch khoa H Ni.
Hng nghin cu ang quan tm v trin khai l
thit k v ch to vng bi t, ng c t nng v cc
ng dng ca chng.
H. 11 Chuyn dch v tr ca trc quay theo phng y
ca vng bi t 1 (Y1) so vi v tr cn bng

H. 12 Chuyn dch v tr ca trc quay theo phng y ca
vng bi t 2 (Y2) so vi v tr cn bng

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