Professional Documents
Culture Documents
Trang 1 ca 10
Vt l Da M hnh m phng cc Dynamics ca thp Cn cu
ShihChung Kang (jessy@stanford.edu) v Eduardo Miranda
(emiranda@stanford.edu), i hc Stanford
1 Gii thiu v ng lc
Mc tiu ca nghin cu ny l tng s hiu bit v hnh vi ng trong cn cu
hot ng, v pht trin cc phng php my tnh h tr ci thin vic o to cc
nh khai thc cn cu. Ch
khong 125.000 cn cu hot ng hin nay trong ngnh cng nghip xy dng, chu
trch nhim
phn ln cc hot ng cng cng. Tht khng may, nhiu tai nn xy ra mi nm
M v
cc nc khc lin quan n hot ng ca cn cu ti cng trng xy dng. V d
vo ngy 28 thng 11,
Nm 1989, mt thp cn cu sp trong khi xy dng mt ta nh San Francisco
git cht bn
cng nhn xy dng, mt thng dn v lm b thng 28. Theo s liu thng k t
ngh nghip
Qun l sc khe an ton (OSHA), c 137 trng hp t vong lin quan n cn
cu 1992-2001 trong
M. Mt trang web Internet ni ting m theo di cc v tai nn lin quan n cn cu
(craneaccidents.com), bo co tai nn 516 v 277 trng hp t vong t nm 2000
n nm 2002. Cc thng k
cho thy rng mc d nhiu bin php c thc hin gim s lng cn cu
lin quan
tai nn (Braam, 2002), s v tai nn lin quan n cn cu vn cn rt ln. iu quan
trng l
nhn ra rng mi cng trnh t vong lin quan n khng ch l mt mt mt con
ngi tuyt vi, nhng cng lm tng
chi ph bo him, cc v kin, v ngn sch xy dng do chm tr ca d n (Paulson
1992).
K t khi hot ng khng ng l nguyn nhn chnh gy ra tai nn cn cu, n l
ng gi tng
n lc nghin cu pht trin cc phng php hiu qu hn to iu kin cho
cc hot ng cn cu. Mt trong nhng chnh
thch thc cho s vn hnh cn cu l kim sot swing ca cp cn cu, i hi
o to chuyn su cho cc nh khai thc. Tuy nhin, o to kim sot hnh vi
ng ca cn cu
l rt nguy him v kh khn c thc hin trong cc trang web xy dng thc
t. V vy, vic nghin cu l
Trang 2 trong 10
c th hc vn hnh cn cu thp mt cch an ton v hiu qu s dng thng tin
hn ch t
xem ca s ca cabin v xem camera.
Trang 3 ca 10
cn cu thp vn l nhng thit b cng cng thng c s dng nht trong cc d
n xy dng hin hnh,
nghin cu xut da trn vic ci thin kh nng ca cn cu thp hin c
1x
2x
2y
1n
trang 4
Trang 4 trong 10
Hnh 2 ng cn bng
1
1
L
2
L
1
m
Mt
B
2
m
2
mg
2
2
G
Ti q qq
1
mg
111
mL
qq
11
G
Ti q qq
1
1
m
2
m
21
1
2
2
2
1
2
(
)
(
)
m
LL
m
L
+
+
qq
qq
qq
2
mg
2
2
m
21
1
2
2
2
1
2
(
)
(
)
m
LL
m
L
+
+
qq
qq
qq
2
2
G
Ti q qq
Ngoi ra, chng ta biu th nh xoay mc bng trc z (xoay ngang). Trong hu ht
cc cn cu thp, cc
mc c php xoay hon thnh nhim v xy dng khc nhau. DOF ny thng
c kim sot
bi nhn vin ti ch khi cc yu t cu trc u c tip cn v tr mc tiu ca n.
q v qq i din cho vn tc gc quay v gia tc gc tng ng.
dq
v
d qq
l vn tc v gia tc ca chuyn ng xe y;
dq
v
d qq
l vn tc v gia tc ca cp
1
0
0
2
1
22
21
12
11
2
1
22
21
12
11
k
k
k
k
m
m
m
m
qq
qq
(1)
n gin ha qu trnh ny, chng ta xem xt
mt hng u tin v khi qut n
Khng gian 3D. c c phng trnh 2-DOF ca
chuyn ng, chng ta cn phi bao gm hai phng trnh cn bng ng. u tin,
chng ta c c th min ph ti im
A, tng s thi im trong A phi l s khng. V th,
0
=
M
0)
ti
ti
(
)
(
)
()
(
)
(
ti
2
2
1
1
2
1
2
2
2
1
2
1
2
2
2
2
1
1
A
2
2
2
1
1
1
11
2
1
11
11
=
+
+
+
+
+
+
+
+
+
+
+
L
LGM
k
L
LL
m
L
L
m
ti
GLM
k
L
m
ti
G
G
qq
qq
qq
qq
qq
qq
......... (2)
Tng t nh vy, c c th min ph ti im B, tng cc thi im trong B l s
khng qu.
0
=
M
0
ti
)
(
))
(
)
((
2
2
2
1
2
2
2
B
1
2
2
1
2
1
2
2
2
=
+
+
+
+
+
GLM
k
L
L
L
L
m
ti
qq
qq
qq
qq
(3)
T chc li tt c cc mc ma trn nh dng, v c c ma trn khi lng v
cng.
+
+
+
=
2
2
2
2
2
1
2
1
2
2
2
1
2
1
1
22
21
12
11
)
(
Lm
ti
LLM
LLM
Lm
m
ti
m
m
m
m
G
G
(4)
+
+
+
+
=
2
2
2
2
1
2
1
2
1
22
21
12
11
0
)
(
GLM
k
k
GL
m
m
k
k
k
k
k
k
(5)
trang 5
Trang 5 ca 10
gii quyt cc phng trnh chuyn ng, chng ta cn phi phn hy cc h thng
2-DOF thnh hai mc duy nht ca
h thng t do. n gin ha cc biu hiu, vit li phng trnh 1 nh l mt dng
ma trn:
0
M
K
+
=
qq
(6)
Trong M l ma trn khi lng, K l ma trn cng (nhim k ma xun), v =
[
]
1
2
t
l ma trn chuyn
gii quyt cc phng trnh 2-DOF, chng ta cn phi bnh thng ha cc ma trn
M v K nh cc bc sau y:
(7)
2. Xc nh ma trn q. Bt k b N vect c lp c th c s dng nh mt c s
i din cho bt k
vector khc v trt t N. Do , c th c i din bi q nh sau:
11 1
12 2
21 1
22 2
q
q
q
q
q
=
=
(s 8)
Phng trnh 6 c th c vit li nh sau
0
MqKq
+
=
qq
.
3. Nhn cc ma trn ng cho
Premultiplying
+
=
+
=
qq
qq
(9)
V M 'v K' l ma trn ng cho, chng ti c th phn hy cc h thng 2-DOF
thnh hai
phng trnh vi phn thng nh sau:
11 1
11 1
22
t
2
22
2
'
'
0
'
'
0
MqKq
M
qKq
+
=
+
=
qq
qq
(10)
Trng hp M 'ij ij l mc trong M' ma trn v K 'ij ij c mc trong K' ma trn
Cc lc lng bn ngoi ca h thng ng lc c xc nh bi cc chuyn ng
ca cn trc thp.
Theo nh lut th hai ca Newton, chng ta c th chuyn gia tc ca chuyn ng
xe y v cn cu
lun chuyn cho cc lc lng bn ngoi. Nh th hin trong hnh 3, chng ta biu th
kh nng tng tc ca chuyn ng xe y l d
qq
v gia tc gc ca cn cu nh qq.
K hiu P 1x (t) l lch s thi gian ca lc lng bn ngoi trong x hng p dng
trong mc v P 2x (t) l
lch s thi gian ca i tng b treo c. W x i din cho cc hiu ng gi trong x
hng. y chng ta b qua
hiu ng gi trn mc, nhng ch xem xt lc lng gi p dng cho cc i
tng. Cn nhc vic
y mnh phong tro xe y v lc ly tm ca mt vng quay:
2
1
1
1
2
2
2
1
()
(
)
()
(
)
x
x
x
Pt
m
d
mt
Pt
m
d
mt
W
=+
=+
+
q
q
(11)
P 1n (t) l lch s thi gian ca lc lng bn ngoi theo hng y p dng treo, v
P 1n (t) c p dng cho
vt. W y l hiu ng gi theo hng y. Xem xt hiu ng gi, gia tc gc ca
cu thp quay, v phong tro xe y, chng ta c th c c lc lng bn ngoi nh
sau:
trang 6
Trang 6 trong 10
1
11
2
21
()
()
y
y
y
Pt
md
Pt
md
W
==+
qq
qq
(12)
By gi chng ti m rng phng trnh chuyn ng rung min ph (phng trnh 1)
ca cc lc lng bn ngoi, v xem xt
chuyn ng theo hng X v Y hng ring bit. M x K x i din cho khi lng v
cng ma trn
theo hng X v M y, K y i din cho h trong hng y. Do , chng ta c th ly
c phng trnh 13 nh
sau:
x
x
x
M
K
P
+
=
qq
u
[
]
1
2
()
()
x
x
x
P
Pt
Pt
=
y
y
y
M
K
P
+
=
qq
u
1
2
()
()
y
y
y
P
Pt
Pt
(13)
Sau cc th tc phn hy trong phn trc, chng ti
T
+
=
=
qq
'
'
'
t
y
y
y
y
y
y
y
Mq
Kq
P
P
+
=
=
qq
(14)
tm tt phng trnh trc, gii quyt sau y
phng trnh vi phn thng, s nng ng ca mt dy cp cn cu
s c ly.
11
1
11
1
11
1
21
2
22
2
22
2
12
1
22
2
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Mq
Kq
P
P
Mq
Kq
P
P
+
=
+
+
=
+
qq
qq
11
1
11
1
11
1
21
2
22
2
22
2
12
1
22
2
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
y
Mq
Kq
P
P
Mq
Kq
P
P
+
=
+
+
=
+
qq
qq
(15)
Nghin cu gii thiu Caughey gim xc m phng phn r ca bin . y
chng ta nh ngha nh
gim xc t l. Nu c cng k khng i v khi lng m, chng ta c th c c
gim xc lin tc c.
2
c
km
=
(16)
4 Thc hin cc gii phng trnh
Thi gian thc t phng trnh chuyn ng ngi gii quyt cho mt cn cu thp
xy dng pht trin trong nghin cu c th
tnh ton swing ca cp cn cu ca cc thng s hot ng cn cu v mi trng
lc lng. Gii php phn tch cho cc phng trnh sau y thng l khng th. Cc
nghin cu s dng
Phng php thi gian bc s cho php lp ca phng trnh vi phn. Cc phng
trnh sau
cn phi c gii quyt:
Cc phng trnh 17 v 18 cho thy cc phng trnh chuyn ng ang thay i
trong mi bc thi gian. Ni cch khc,
ngi gii quyt c tnh ton v xy dng li cc ma trn khi lng, v ma trn
cng, gim xc
ma trn, ma trn v lc lng bn ngoi trong tng thi gian tng.
P (t)
P (t)
P (t)
P (t)
Lc lng Hnh 3. External
2x
2y
1x
1n
trang 7
Trang 7 ca 10
Bc tip theo l tch cc h thng nng ng. Vector ring s c tnh ton
bng cch s dng
phng php lp ngc. S dng cc vector ring c th chuyn trc giao h thng
nng ng
phi hp ma trn i chng cho [M] x hoc [M] y cho ma trn nght [K] x hoc
[K] y, v
tng ng lc lng bn ngoi [P] x hoc [P] y c th thu c.
Sau khi phn hy h thng chuyn ng, ngi gii quyt c c bn phng trnh
vi phn thng pht trin
(ODEs), v s s dng phng php Newmark gii quyt cc phng trnh. Bn
phng trnh i din
h dn ng ca cp cn cu trong 1 ch st v 2 ch th hai trong x v y hng
tng ng.
Cui cng, ngi gii quyt s thay i ch hnh vi 1 st v 2 nd ng n cc gc
ca cp
xch u. Cc quy trnh lm vic ca ton b th tc gii quyt c th hin trong
hnh 4.
4.1 ODE gii
B gii ODE cn phi gii quyt mt -of-t do duy nht vn ca mi bc thi
gian. cc phng trnh
ca chuyn ng l:
() () () () () ()
()
i
i
i
i
tut
tut
+
+
=
+
+
q
q
qq
qq
2
2
1
1
1
()
() () () [(0,5
()] () [()] ()
ti
ti
ti
ti
ti
ut
ut
tut
tut
tut
+
+
+
=
+
+
-
q
qq
qq
Cc tham s v xc nh s bin i ca
tng tc hn mt bc thi gian v xc nh cc
s n nh v chnh xc c im ca phng php.
Phn tiu biu cho
0.5
=
, V 1/6
1/4
l
t yu cu trong hu ht cc tnh hung. Bi v gi s
tng tc trong qu t i t i + 1 vn khng i,
nghin cu la chn
0.5
=
v
0.25
=
(Chopra 2000).
Bc 2.
2
()
()
()
()
ti
ti
ti
k kt
ct
mt
t
t
=
+
+
Bc 3.
1
()
()
ti
ti
mt
mt
ct
t
=
+
v
1
()
(
1)
2
2
ti
ti
b
mt
t
c
=
+
Bc 4.
()
()
()
ti
ti
ti
p
pt au t bu t
=
+
+
q
qq
Bc 5.
/
u
pk
=
Bc 6.
()
(1
) ()
2
ti
ti
u
u
ut
t
ut
t
=
+
q
q
qq
Xy dng phng trnh chuyn ng
-Xy Dng [m]
-Xy Dng [k]
-Xy Dng [p]
Tch ring h thng ng
-find Eigenvector *
-Orthogonal L Matrix [M]
-Orthogonal Stiffness Matrix [K]
-External Force [P]
Gii quyt Ordinary Differential Equations **
ch -1st
ch -2nd
Bin Hai ch System ng
i vi mi bc thi gian
i=x
i=y
khi i = y
khi i = x
Hot ng cn cu v lc lng mi trng
(Gc Acceleration, xe y Acceleration, Cable
i
Trang 8 trong 10
Bc 7. cp nht
1
()
()
ti
ti
ut
ut
u
+
=
+ ,
1
()
()
ti
ti
ut
ut
u
+
=
+
q
q
q
4.2 eigenvector gii
Cc vn eigenvalue, kt qu t s rung ng t do ca mt h thng khng b
nght c th c biu
nh l nh dng ton hc Kq
mq
=
. Phng php lp ngc c p dng tm eigenvector ca
cho ma trn khi lng m v ma trn cng k. Th tc nh sau:
Bc 1. Khi to eigenvector 1
x v eigenvalue
+
+
+
+
=
Bc 4. L bnh thng ha
1
1
1/2
1
1
1
(
)
j
j
T
j
j
x
x
x Mx
+
+
+
+
=
Bc 5. Nu
1
/
j
j
j
lng khoan dung
+
+
<
tr v
1
j
x + khc bc 2.
Cc eigenvector th hai c th c tm thy bng cch thay i quang ph. Sau khi
thay i, phng trnh tr thnh
(
)
K
Mq
mq
=
u
Trang 9 ca 10
sau khi dng gi. Nhng con s sau y cho thy hai clip trong cc hnh nh ng ca
cn cu vt l c s
m hnh.
5 S dng Vt l Da Crane mu cho cc mc ch gio dc
Nghin cu ny xy dng thnh cng mt m hnh cn cu cho php to ra nng
ng, thc t
hnh vi ca mt cn cu thp trong khi hot ng. Thi gian gii quyt thc s ca
phng trnh chuyn ng l
pht trin v chng minh tnh kh thi cho mc ch hnh dung thi gian thc. Cc hnh
nh ng ca
cn cu rung ng to ra bi cc m hnh gn cc quan st trong cng trng xy
dng thc t.
M hnh da trn vt l c th c tip tc pht trin cho mc ch gio dc khc
nhau, chng hn nh
chng trnh o to cho cc nh khai thc cn cu, hoc ti liu kha hc cho sinh
vin i hc. t c
mc tiu ny, cc hot ng sau y c th c tip tc pht trin:
Pht trin cc bi hc bc theo bc cc suy ngh v d dng lm theo cho cc
cn cu o to
nh khai thc. Trong cc bi hc, cc nh khai thc mi bt u t nhng bi hc c
bn nh thao tc
ca cn trc thp, c biu ph ti, v bi u xe hoc tht cht cc cn cu, vv
Sau khi
bi hc c bn, bi hc m phng s gip cc nh iu hnh mi lm quen vi cc
Trang thit b. Cc hc vin phi hc lm th no vn hnh mt cn cu thp xem
xt c
an ton v hiu qu. Sau hc sinh c th so snh cc ng dn v chuyn ng
ca chng i vi nhng
Trang 10 ca 10
an ton hn xy dng. Cui cng, vi loi ny ca cc cng c thit k s c kh
nng xem xt
c hai vn thit k thi cng v trong giai on thit k.
6 Ti liu tham kho
Amatucci, E., Bostelman, R., Dagalakis, N., Tsai, T. (1997). "Tm tt cc m hnh ha
v m phng cho NIST
RoboCrane Applications ", K yu Hi Ngh m phng Deneb quc t nm 1997 v
Cng ngh Showcase, Detroit, MI, 29 Thng Chn - 3 Thng Mi.
Braam, AC (2002). "Tai nn cu nh gi ri ro v tnh kh thi ca hot ng tim
nng
loi b / gim ln xut hin trong tng lai ", Bc Carolina S Giao thng vn ti,
thng By.
Bennett, C., v Ditlinger, S. (1994). "Bechtel t ng h thng k hoch nng," K
yu Robotics cho
mi trng y thch thc, pp. 401-409.
Bostelman, R., Albus, J., Dagalakis, N., Jacoff, A., Gross, J. (1994). "ng dng ca
NIST RoboCrane"
K yu Hi tho quc t ln th 5 v Robotics v Sn xut, Maui, HI, August 14-18
Nm 1994.
Bostelman, R., Albus, J., v Stone, B. (2001). "Hng ti th h My xy dng," K
yu
Tnh n ngy hi M ht nhn Society 9 quc t ti v Robotics v h thng t
xa, Seattle,
WA, ngy 4-8.
Chui, ML (2000). "Mt mi trng thc t o m phng xy dng", K yu 17
Hi tho quc t IAARC v t ng ha v Robotics (ISARC), i Bc, i Loan,
pp. 1147-1152.
. Chopra, KA (2000) ng thi ca cu trc: l thuyt v ng dng k thut ng
t, PrenticeHall, Upper Saddle River, NJ, USA.
Crane Tai nn Thng k. (2003). Bo co tai nn nhn cho nm 2001, 2002, 2003. Ly
Thng Mi Mt 10, 2003, t http://craneaccidents.com/stats.htm.
Leung, WT, Tam, CM (1999). "M hnh cho nh gi ti ko Times ca thp Cn
cu", Tp ch
k thut xy dng v qun l, 125 (6), tr. 385-391.
Liberty J. (2003). Lp trnh C #, Third Edition, O'Reilly & Hip hi, Inc.
Lipman, RR, Reed KA (2000). "S dng VRML trong ng dng Cng nghip Xy
dng," Web3D: VRML
2000 Hi ngh chuyn tho. 21-ngy 24 Thng 2, Monterey, CA, tr. 1-7.
Lipman, RR, Reed KA (2003). "Hnh nh ca m hnh cu thp sn phm," Tp ch
in t ca
Cng ngh thng tin trong xy dng, 8, tr. 43-50.
Paulson, B., Chan, W., v Koo, CC (1987). "Chin dch m phng xy dng bng my
vi tnh,"
Tp ch k thut xy dng v qun l, 113 (2), tr. 302-314
Prosise, J. (2002). Lp trnh Microsoft .NET, Microsoft Press.
Tam, CM, Tong, KL, v Chan, KW (2001). "Thut ton di truyn ti u ha cung
cp v tr xung quanh
cu thp, "Tp ch k thut xy dng v qun l, 127 (4), tr. 315-321.
Woo, M., Neider J., Davis, T. v Shreiner, D. (1997). OpenGL Programming Guide
Third Edition, Addison
Wesley.