TS. Phm Anh Tun TS.

Phan Mnh Dn

NG LC HC H NHIU VT
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Internet

Trao i
Nhm tin ca lp http://groups.yahoo.com/group/henhieuvat Email n mi thnh vin cng lc Ti liu Lin kt Tho lun Facebook, Yahoo chat, email
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Ti liu tham kho

1. Shabana, A. A. (2005): Dynamics of multibody systems, Cambridge University Press 2. Nguyn Vn Khang (2007): ng lc hc h nhiu vt, NXB Khoa hc v K thut 3. Institute of Mechatronics (2000): Hng dn s dng alaska (Bn dch ting Vit ca Vin C hc) 4. Wittenburg, J. (2008): Dynamics of multibody systems, Springer.
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Chng 1

M U

Ni dung chnh
1. 2. 3. 4. 5. 6. H nhiu vt H ta tham chiu C hc cht im C hc vt rn Vt n hi Chuyn ng c rng buc.
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1. H nhiu vt: nh ngha

nh ngha
Tp hp cc vt rn v vt n hi c lin kt vi nhau chu cc dch chuyn ln

Cc h nhiu vt in hnh
Robot C cu my Cc kt cu khng gian My bay, tu v tr Phng tin giao thng v.v.
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Cc h nhiu vt in hnh

nh v h nhiu vt
Mt vt rn trong khng gian c th c nh v bng 6 ta suy rng Ni chung chuyn ng ca cc vt trong h b hn ch do tn ti cc khp ni Chuyn v (quay v tnh tin) ca cc vt l ln
Cc phng trnh chuyn ng phi tuyn cao, gy kh khn trong vic phn tch v m phng.

2. H quy chiu
V tr ca cc vt trong h nhiu vt c m t so vi mt h quy chiu hay h ta Thng thng h ta -cc vung gc c s dng Mt vc-t c nh v trong h quy chiu bng 3 ta
= 1 2 3

hay
= 1 1 + 2 2 + 3 3 .

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H quy chiu tng th v h quy chiu gn vi vt

Mt h quy chiu c nh c dng nh v ton h. Cn gi l h quy chiu qun tnh H quy chiu gn vi vt c chn cho mi vt trong h Mt vc-t th c biu din trong c h quy chiu tng th v h quy chiu gn vi vt.
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Ma trn chuyn v
Vc-t biu din trong h ta vt = 1 1 + 2 + 3 2 3 Vc-t biu din trong h ta tng th = 1 1 + 2 2 + 3 3 Tn ti ma trn chuyn v = V d: khng gian 2 chiu cos sin = sin cos

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3. C hc cht im
ng hc: kho st chuyn ng khng quan tm n lc ng lc hc: kho st ng thi chuyn ng v cc lc gy ra n ng hc cht im: chuyn ng tnh tin ca im Ta
= x1 1 + x2 2 + x3 3
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C hc cht im: ng hc
Vn tc
= x1 1 + x2 2 + x3 3 = = = x1 1 + x2 2 + x3 3

Gia tc

= = x1 1 + x2 2 + x3 3

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C hc cht im: ng lc hc
ng lc hc cht im
C hc Newton c dng nghin cu S dng cc nh lut ca Newton

nh lut 2 (nh lut chuyn ng)

= ()
=

= .

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Mt cht lch s c hc c in
Mt s hc gi Hi gio: Ibn al-Haytham, al-Biruni, alKhazini, v.v. Johannes Kepler: Chuyn ng ca cc hnh tinh Galileo Galilei: Thp nghing Pisa Sir Isaac Newton:
Ba nh lut chuyn ng C s ca c hc c in Biu din chnh xc bng ton hc

B tc ca khoa hc
C hc lng t.

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Cc nhnh ca c hc
C hc
C hc c in C hc lng t

C hc c in
Tnh hc, ng hc & ng lc hc Newton, Hamilton & Lagrange V tr, Lin tc (rn & lng), Tng i, Thng k

Albert Einstein: Imagination is more important than

knowledge

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Cc nhnh

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4. C hc vt rn
Vt rn c khi lng phn tn Mt vt c nh v bng 6 ta suy rng: 3 cho tnh tin, 3 cho nh hng Vc-t nh v cho mt im trn vt: = + Vc-t khng i, c biu din trong h quy chiu vt v c biu din trong h quy chiu tng th
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C hc vt rn (tip)
C nhiu cch xc nh hng ca vt
Cc gc Euler Cc gc Bryan Tham s Euler Tham s Rodinguez Ma trn c-sin ch phng v.v.

Cn c ma trn chuyn i ta t h quy chiu vt <-> h quy chiu tng th

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Phng trnh ng hc
Vn tc
= / = +

V d trong h ta 2 chiu:

1 2 = 1 + 2 = 1 2 1 2

nh ngha vc-t vn tc gc
= 3

C th thy chng minh c

=

Do vy

= +

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C hc vt rn (tip)
Gia tc
= = + + = 3

nh ngha gia tc gc T

= + +

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ng lc hc vt rn
Phng trnh ng lc hc: Newton-Euler
3 phng trnh tnh tin: m t chuyn ng ca gc ta vt (Newton) 3 phng trnh quay: m t s thay i hng ca h ta vt (Euler)

Trng hp ring: Vt chuyn ng song phng

= =
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5. C hc vt n hi
Khong cch gia hai im trn vt thay i = + + 0
Vc-t bin dng thay i theo khng gian v thi gian Dn ra h phng trnh vi phn tng phn

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Cu hi

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