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

VCCA-2011
Mt s kt qu nghin cu tch hp cng ngh iu khin ch hn
v qu o xe hn trong ch to h thng thit b hn t ng ni ng
ng knh ln trng thi khng quay

Some research results integrated technology to control the welding mode and
orbital welding tractor in manufacturing equipment systems for automatic
welding of large diameter pipe in the non-rotate position

Hong Vn Chu
1
, Lc Vn Thng
1
, Nguyn nh Sao
1
, Trn Duy Hip
2
1 - Phng th nghim trng im Cng ngh Hn v X l b mt - Vin Nghin cu C kh
S 4, Phm Vn ng, Cu Giy, TP H Ni, Vit Nam
2 - Cng ty CP thi cng c gii v lp my du kh PC-ME
E-Mail: hvchauweld@gmail.com; info@keylabws.gov.vn

Tm tt
Bi bo trnh by kt qu nghin cu tch hp
iu khin ch cng ngh hn (I, U, V) v qu o
xe hn p dng cho hn ni ng ng knh ln
trng thi khng quay theo ni dung ca ti nghin
cu khoa hc v pht trin cng ngh KC.05.09/06-
10: Nghin cu thit k ch to h thng thit b hn
t ng ni ng c ng knh ln trng thi khng
quay. nghin cu tch hp cng ngh iu khin
ch hn v qu o xe hn trong ch to h thng
thit b hn t ng v thit lp c ch cng
ngh ph hp bao gm cc thng s: dng in hn,
in p hn, tc hn, .. theo cc cung trong h ta
cc trn qu o ca ng m bo cht lng v
hnh dng mi ni hn.

Abstract
The article presents the results of the study
integrated control technology to welding mode (I, U,
V) and orbital welding tractor for welding the large
diameter steel pipe by contents of the Research Topic
of scientific and technological development
KC.05.09/06-10: Research, design and manufacture
systems and equipment for automatic welding of large
diameter pipe in the non-rotate position. Has studied
the integration control of the welding regime and
orbital welding tractor in manufacturing systems and
equipment for automatic welding of large diameter
pipe in the non-rotate position. Has established a
regime of appropriate technology including the
parameters: welding current, welding voltage, welding
speedunder the provision in the polar coordinates on
the orbits of the pipe and garantee the quality and the
shape of the weld joints.
K hiu
- I: Dng in hn.
- U: in p hn.
- V: Tc hn.
- R: Bn knh ng ng hn.
- L: Chiu di cung hn.
- P: Cng sut ng c in.

1. M u
Trong qu trnh thc hin, bng cc nghin cu
th nghim kt hp vi l thuyt, ti nghin
cu tch hp cng ngh iu khin ch hn v qu
o xe hn trong ch to h thng thit b hn t ng,
thit lp v xy dng c B c s d liu ch
cng ngh hn ni ng ng knh ln trng thi
khng quay p dng th nghim trong xy dng
cc cng trnh thu in va v nh phi hp cng vi
Cng ty C kh v Lp my Sng 9 l c s trin
khai chuyn giao cng ngh ca ti.

2. Nghin cu thit lp phng trnh ch
cng ngh hn trong h ta cc
T cc kt qa nghin cu thc nghim c rt
nhiu phng php xc nh cc phng trnh cng
ngh cho tng thng s cng ngh hn ring bit,
trong ti gii thiu mt trong cc phng php .
l phng php bnh phng nh nht.
Phng php bnh phng nh nht c dng
lp cng thc thc nghim. tm quan h hm s
gia hai i lng x v y cho bi cc kt qa o
c c khi tin hnh thc nghim di dng bng
cc tr s tng ng nh sau:
X x
1
x
2
x
3
.. x
i
x
n

Y y
1
y
2
y
3
. y
i
y
n

T bng s liu trn tm ra quan h hm s y = f(x)
c th gi l lp cng thc thc nghim (Phng trnh
thc nghim). Ni chung khng c kh nng tm ra
hm s f(x) ng hon ton. Ngay c vic tm hm s
xp x ca f(x) bng phng php bnh phng nh
nht cng rt phc tp nu khng bit trc c dng
ca hm s xp x.
V cc cp s (x
1
, y
1
), (x
2
, y
2
),.. (x
n
, y
n
) nhn c
t kt qu thc nghim ch l nhng gi tr xp x, do
vy chng khng nghim ng phng trnh y = f(x),
ngha l:
y
1
f(x
1
) =
1

y
2
f(x
2
) =
2

.
593
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
y
n
f(x
n
) =
n

Trong
1
,
2
,..
n
. L cc sai s gia gi tr thc
nghim v gi tri ca phng trnh xp x cn tm.
Phng php bnh phng nh nht l phng php
tm hm s xp x f (x) sao cho tng cc bnh phng
ca cc sai s ni trn l nh nht. Ngha l:
( )
2
1

=
=
n
i
i
S

(2.1)
hay
( )
2
) (
1
f
x
i
n
i
y
i
S
=
=
(2.2)
l nh nht.
gii bi ton trn c thun li, t bng s
liu thc nghim ta dng th theo cc s liu c.
T th dng c xc nh c dng tng qut
ca phng trnh cn tm sau da vo phng php
bnh phng nh nht xc nh phng trnh
(phng trnh thc nghim).
2.1. Xc nh cc phng trnh cng ngh hn
trong h ta cc
2.1.1. Dng in hn
a. th
Theo th dng hn cho ton b chu vi ng nh
kt qu hn thc nghim cho, ta chuyn thnh h
ta vi trc honh l gc tm nh sau.



H.1. th dng hn theo gc tm

b. Phng trnh dng hn
T th v theo cc s liu thc nghim ta thy
y l th hm s c dng: y = ax
3
+ bx
2
+ cx + d
trong a, b, c, d l cc tham s c xc nh bng
phng php bnh phng nh nht.

n
2 3 2
i
i=1
S= (y ) d cx bx ax

(2.3)
S nh nht a, b, c, d phi tha mn h phng trnh
2 3
1
2 3
1
2 2 3
1
3 2 3
1
2( 1)( ) 0
2( )( ) 0
2( )( ) 0
2( )( ) 0
n
i
i
n
i
i
n
i
i
n
i
i
S
y d cx bx ax
d
S
x y d cx bx ax
c
S
x y d cx bx ax
b
S
x y d cx bx ax
a
=
=
=
=
c
= =
c
c
= =
c
c
= =
c
c
= =
c

(2.4)
Sau khi rt gn ta c


= = = =
= + + +
n
i
i
n
i
n
i
n
i
i
y x x
x
i
d
i
c b na
1 1
3
1
2
1


y
x
x x x
x
i
n
i
i
n
i
n
i
n
i
n
i
i
i
d
i
c
i
b a

= = = = =
= + + +
1 1
4
1
3
1
2
1


y x x x x x
i
n
i
n
i
n
i
n
i
n
i
i i
d
i
c
i
b
i
a

= = = = =
= + + +
1
2
1
5
1
4
1
3
1
2
(2.5)

y x x x x x
i
n
i
n
i
n
i
n
i
n
i
i i
d
i
c
i
b
i
a

= = = = =
= + + +
1
3
1
6
1
5
1
4
1
3

y l mt h bn phng trnh bn n s a, b, c,
d. Gii h phng trnh ny ta nhn c a, b, c, d
phi tm.
Thay cc gi tr x
i
y
i
t bng thc nghim ta c:
a = 6,2 .10
-6
b = - 632 . 10
-6
c = 0,47 d = 155


i x
i
y
i
thnh gc tm v dng in hn I, ta c
phng trnh dng hn theo gc tm cho ton b
qu o hn l:
I = 6,2.10
-6

3
632.10
-6

2
+ 0,47 + 155 (2.6)
y l phng trnh cng ngh cho thng s dng
in hn trn ton b qu o hn (chu vi ng cn ni)
l mt phng trnh bc ba phc tp rt kh cho
vic iu khin sau ny. Mt khc, nh trn ni y
ch l phng trnh xp x gn ng, do vy chnh
xc hn v sau ny d iu khin hn ta chuyn thnh
h cc phng trnh tuyn tnh biu th quan h
gia dng hn I vi gc tm
c. H phng trnh dng hn
T th dng hn theo gc tm ta nhn thy c
th thay th on th vi t 90 180
0
bng on
thng m sai s vn m bo khng vt qu mc
cho php (on thng mu en), do vy ton b th
c ghp bi 8 on thng, vit phng trnh cho
th trn thc cht l vit phng trnh cho cc on
thng vi gc tm thuc cc min khc nhau.
- Dng hn khi t 0
0
- 30
0

I = C vi C=170A v thuc (0
0
- 30
0
) (2.7)
- Dng hn khi t 30
0
- 90
0

I=C+0.33(-30) vi C=170A v thuc (30
0
- 90
0
) (2.8)
- Dng hn khi t 90
0
- 180
0

I = I (90
0
) - 0.44 ( - 90) vi thuc (90
o
180
0
) (2.9)
- Dng hn khi t 180
0
- 210
0

I = I (90
0
) - ( -180) vi thuc (180
0
- 210
0
) (2.10)
- Dng hn khi t 210
0
- 240
0
I = I (210
0
) + 0.33(210) vi thuc (210
0
- 240
0
) (2.11)
- Dng hn khi t 240
0
- 270
0

I = I (240
0
) + 0.67(240) vi thuc (240
0
-270
0
) (2.12)
- Dng hn khi t 270
0
- 330
0

I = I (270
0
) + 0.33(270) vi thuc (270
0
330
0
) (2.13)
- Dng hn khi t 300
0
- 360
0

I = I (330
0
) vi thuc (330
0
- 360
0
) (2.14)
Tm li trn ton b qu o hn, dng hn cn
tha mn h phng trnh sau:
I = C & C = 170A, [0
0
- 30
0
]
I = C + 0.33 ( 30) & C = 70A, [30
0
- 90
0
]
I = I (90
0
) - 0.44 ( - 90) & [90
0
180
0
]
I = I (90
0
) - ( - 180) & [180
0
210
0
] (2.15)
I = I (210
0
) + 0.33 ( - 210) & [210
0
240
0
]
I = I (240
0
) + 0.67 ( - 240) & [240
0
- 270
0
]
I = I (270
0
) + 0.33 ( - 270) & [270
0
330
0
]
I = I (330
0
) & [330
0
- 360
0
]
594
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
2.1.2. in p hn
Tng t vi cch lm nh i vi dng hn, vi
in p hn ta c:
a. th in p hn

H 2. th in p hn theo gc tm
b. Phng trnh in p hn
Theo cc s liu thc nghim ta v c th
in p (U) hn theo gc tm . Ta thy y l th
hm s c dng y = ax
3
+ bx
2
+ cx+ d trong a, b, c,
d, l cc tham s c xc nh bng phng php
bnh phng nh nht. Tng t nh vi dng hn ta
xc nh c:
a = 3,12 . 10
-6
b = 315 . 10
-6

c = 0,055 d = 19,5
i x
i
y
i
thnh gc tm v in p hn U, ta c
phng trnh in p hn theo gc tm cho ton b
qu o hn l:
U = 3,12.10
-6

3
- 315.10
-6

2
+ 0,055 + 19,5 (2.16)
Tng t nh cch lm vi dng hn, ta chuyn
cc phng trnh gn ng thnh h cc phng trnh
tuyn tnh biu th quan h gia in p hn U vi
gc tm .
c. H phng trnh in p hn
T th in p hn theo gc tm ta nhn thy
c th thay th on th vi t 150
0
210
0
bng
on thng m sai s vn m bo khng vt qu
mc cho php (on thng mu en), do vy ton
b th c ghp bi 8 on thng, vit phng
trnh cho th trn thc cht l vit phng trnh cho
cc on thng vi gc tm thuc cc min khc
nhau.
- in p hn khi t 0 - 30
0

U = C vi C = 21V v thuc (0
0
- 30
0
) (2.17)
- in p hn khi t 30
0
- 90
0

U = C + 0.033( 30) vi C = 21V v thuc (30
0
-
90
0
) (2.18)
- in p hn khi t 90
0
- 120
0

U = U (90
0
) - 0.033( - 90) vi (90
0
120
0
) (2.19)
- in p hn khi t 120
0
- 150
0

U = U (120
0
) - 0.05 ( - 120) vi (120
0
- 150
0
) (2.20)
- in p hn khi t 150
0
210
0

U = U (150
0
) - 0.025( - 150) vi (150
0
- 210
0
) (2.21)
- in p hn khi t 210
0
- 270
0

U = U (210
0
) + 0.033( - 210) vi (210
0
- 270
0
) (2.22)
- in p hn khi t 270
0
330
0

U (270
0
) + 0.017 ( -270) vi (30
0
330
0
) (2.23)
- in p hn khi t 330
0
- 360
0

U = U (330
0
) vi (330
0
- 360
0
) (2.24)
Tm li trn ton b qu o hn, in p hn cn
tha mn h phng trnh sau:
U = C & C = 21V, [0
0
- 30
0
]
U = C + 0.033 ( 30) & C = 21V, [30
0
- 90
0
]
U = U(90
0
) - 0.033( - 90) & [90
0
- 120
0
]
U = U(120
0
) - 0.05( - 120) & [120
0
- 150
0
] (2.25)
U = U(150
0
) - 0.025( - 150) & [150
0
- 210
0
]
U = U(210
0
) + 0.033( - 210) & [210
0
- 270
0
]
U = U(270
0
) + 0.017( - 270) & [270
0
- 330
0
]
U = U(330
0
) & [330
0
- 360
0
]
2.1.3. Vn tc hn
Tng t vi cch lm nh i vi dng hn. Vi
vn tc hn ta c:
a. th vn tc hn

H. 3. th vn tc hn theo gc tm
b. Phng trnh vn tc hn
T th v theo cc s liu thc nghim ta thy
y l th hm s c dng y = ax
3
+ bx
2
+ cx + d
trong a, b, c, d l cc tham s c xc nh bng
phng php bnh phng nh nht.
n
2 3 2
i
i=1
S= (y ) d cx bx ax

(2.26)
Vi cch gii tng t nh phn tm phng trnh
dng hn ta c:
a = 2,28.10
-6
b = - 229.10
-6
c = 0,037 d = 7


i x
i
y
i
thnh gc tm v tc hn V, ta c
phng trnh tc hn theo gc tm cho ton b
qu o hn l:
V = 2,28.10
-6

3
- 229.10
-6

2
+ 0,037 +7 (2.27)
Hon ton tng t vi cch lm dng hn v in
p hn, ta chuyn cc phng trnh gn ng thnh h
cc phng trnh tuyn tnh biu th qua h gia tc
hn V vi gc tm .
c. H phng trnh vn tc hn
T th tc hn theo gc tm ta nhn thy
ton b th c ghp bi 9 on thng, vit
phng trnh cho th trn thc cht l vit phng
trnh cho cc on thng vi gc tm thuc cc
min khc nhau.
- Vn tc hn khi t 0 - 30
0

V = C vi C = 8m/h v (0
0
- 30
0
) (2.28)
- Vn tc hn khi t 30
0
- 90
0

V = C + 0.033( - 30) vi C = 8m/h v (30
0
- 90
0
) (2.29)
- Vn tc hn khi t 90
0
- 120
0

V = V (90
0
) - 0.033 ( - 90) vi (90
0
- 120
0
) (2.30)
- Vn tc hn khi t 120
0
- 150
0

V = V (120
0
) - 0.067 ( -120) vi (120
0
- 150
0
) (2.31)
595
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
- Vn tc hn khi t 150
0
210
0

V = V (150
0
) - 0.033 ( - 150) vi (150
0
- 210
0
) (2.32)
- Vn tc hn khi t 210
0
- 240
0

V = V (210
0
) vi (210
0
- 240
0
) (2.33)
- Vn tc hn khi t 240
0
300
0

V = V (240
0
) + 0.033( - 240) vi (300
0
- 330
0
) (2.34)
- Vn tc hn khi t 300
0
- 330
0

V = V (300
0
)

vi (300
0
- 330
0
) (2.35)
- Vn tc hn khi t 330
0
- 360
0

V = V (240
0
) + 0.033( - 330) vi (330
0
- 360
0
) (2.36)
Tm li trn ton b qu o hn, vn tc hn cn
tha mn h phng trnh sau:
V = C & C = 8m/h, [0
0
- 30
0
]
V = C + 0.033 ( 30) & C = 8m/h, [30
0
- 90
0
]
V = V (90
0
) - 0.033 ( - 90) & [90
0
- 120
0
]
V = V (120
0
) - 0.05 ( - 120) & [120
0
- 150
0
]
V = V (150
0
) - 0.025 ( - 150) & [150
0
- 210
0
] (2.37)
V = V (210
0
) & [210
0
- 240
0
]
V = V (240
0
) + 0.033 ( - 300) & [240
0
- 300
0
]
V = V (300
0
) & [300
0
- 330
0
]
V = V (330
0
) + 0.033 ( - 330) & [330
0
- 360
0
]
2.2. Cc thng s cng ngh khc
T kt qu thc nghim ta thy cc thng s cng
ngh khc nh: lu lng kh bo v, tn s dao ng
u hn, bin dao ng v chiu cao in cc
khng ph thuc vo v tr mi hn trn ton b qu
o hn (ng trong chu vi ng cn hn) do vy khi
chn c tr s ti u ca cc thng s ny, bo
m cho hnh dng cht lng mi hn, ta gi nguyn
cc tr s ca cc thng s , khng thay i trn
ton b ng hn. Ni cch khc cc thng s ny l
hng s khng ph thuc vo gc tm .
3. Nghin cu tch hp ch hn v tnh
ton thit k iu khin qu o xe hn
3.1. Tnh ton mch in iu khin v in ng
lc cho cc ng c cng sut nh.
T yu cu v thay tc , cng nh n nh
v tc ng c trong tng on hn th mch in
phi ph hp p ng c cc yu cu a ra.
Trong mch in ny m bo c vic thay i
tc ng c mt cch v cp vi thay i tc
ti a l 1/50 v n nh v chnh xc ca tc
ng c l 2%. Tc ng c hon ton t l tuyn
tnh vi in p vo phn ng ca ng c. gi
cho vn tc ng c khng i, theo iu kin cn
bng th cn b sung in p cp cho phn ng ca
ng c b vo s thay i . Do vy s n nh
tc ca ng c chnh l s n nh ca in p
cung cp cho phn ng ca ng c khi ti thay i.
Do tt c cc ng c ny u c chn vi cng
mt cp in p l 24VDC, c iu khin tc v
cp vi cng nguyn l nn trn tng mch ch cn
tnh n dng in cho ph hp vi tng cng sut
ca mi mt ng c
+ Vi ng c xe hn:
Ta c: P = 150 W, U = 24 V
T : I = P / U = 150 / 24 = 6,25A
T dng in v in p c tnh trn chn
- Van iode v thyristor loi 5A c:
+ I
m
= 5 A,
+ in p cho php 220 V.
+ in p xung m in p 4V, rng 10 s.
ng c xe hn, do c im ca cng ngh hn t
ng, ng c xe hn thng xuyn chy theo chiu
thun, s o chiu quay ca ng c xe hn t xy ra,
do vy trn mch in cung cp cho ng c ch cn
b tr cc tip im c kh ca cc rle in t.
thun tin cho cng vic iu khin v t dng in
nh mc ca ng c chn cc rle c thng s:
- Dng nh mc 10A
- in p cun ht 24V DC
+ ng c cp dy hn:
- Bin p 220 /25.5V 150W
- iode v thyristor loi 5A c
+ I
m
= 5 A,
+ in p cho php 220 V.
+ in p xung m in p 4V, rng 10 s.
- Cu ch u vo bo v ton b cho u cp dy
hn CC1 l 2A
- Cu ch bo v cho ng c cp dy hn l 5
bo m bn cho thit b do cc ng c dao
ng hot ng phi o chiu lin tc do trn
mch ng lc ca ng c ta b tr cc van bn dn
p ng c tn s o chiu ca ng c
- Cc van bn dn c:
+ in p nh mc 100V
+ Dng in nh mc 10A
+ Tn s lm vic 1 KHz
+ ng c kh sai lch u hn:
- Bin p 220/25.5V 75W
- iode v thyristor loi 3 A c
+ I
m
= 3 A,
+ in p cho php 220 V.
+ in p xung m in p 4V, rng 10s.
- Cu ch u vo bo v ton b cho b kh sai
lch u hn CC1 l 1A
- Cu ch bo v cho ng c kh sai lch u hn
l 3A
mch ny do khng cn thay i in p u ra
(c nh 24V DC) do vy khng cn c mch in t
m thyristor
Ngoi ra thun tin cho cng vic lp t v sa
cha sau ny, trong t in cn b tr n chiu sng
ni b v cm 220V- 10A (Cc thit b ny ch hot
ng khi cnh ca t in c m nh cng tc
ca t).
T cc phn tch v tnh ton trn ta c s cung
cp in cho ton b h thng thit b.
T cc bn v thit k mch cung cp in cho cc
thit b c, da vo kch c v kiu dng ca cc
vt t tin hnh g lp cc bn v v t in v cng
nh cc b iu khin cm tay.
3.2. Thit k h thng iu khin qu o xe hn
Hn t ng ni ng khng quay l hn ni cc
on ng vi nhau, cc on ng ny c chun
b t trc v phi t c mt s cc tiu chun
nht nh m bo cho vic hn t ng.
Trong hn t ng ni ng khng quay. ng c
hn ni (vt hn) l tnh ti, cn u hn chuyn ng
596
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
theo chu vi ca ng (qu o cn hn). Trong khi hn
theo qu o cn hn, cc thng s cng ngh v hn
phi c t ng thay i lin tc theo v tr ca u
hn trn qu o cn hn cho ph hp vi cc phng
trnh cng ngh, to ra ng hn xung quanh ng
c ni t c cc ch tiu v cht lng k thut
v kinh t. Ni mt cch khc, cc thng s cng ngh
hn thay i thng xuyn theo mt quy lut cng
ngh cho sn bi phng trnh cng ngh trn mi
im thuc qu o vi mt h qui chiu c
chn.
biu din c mt cch bao qut nht cho cc
loi on ng cn hn ni, chn h quy chiu l h ta
cc vi gc ta l tm trong ca ng ng
c hn ni (tm hnh hc, khng c trn thc t).
- Tr s vc t chnh l bn knh ng ng c
hn ni.
Vi h ta cc la chn nh trn, vi mi
mt bn knh ng ng cho (mt vt hn c th)
v tr u hn ch c cn mt thng s xc nh
l gc tm: . Gc ny c tr s t 0 360 so vi gc
chun = 0 m ta c th t t t trc (gc chun 0).
- Vi ng trn c xc nh trc, xc nh
c bn knh R v gc chun 0. Gc tm c xc
nh theo cng thc.
= L /R (3.1)
trong :
+ L: L di cung
+ R: Bn knh ng trn
T cc phn tch trn, tt c cc v tr ca u hn
trn ton b chu vi ca ng ng cn hn ni (qu
o cn hn) cho u c xc nh bi mt thng
s l gc tm .
Nh bit, t s gia chu vi ng trn vi bn
knh l 2, l mt s l. tin cho vic tnh ton
cc phng trnh cng ngh trong h ta cc, cc
sai s do s l ca gy ra c dn vo cc cung u
v cui (vi = 0 v = 180). T chn gc chun
0 ( = 0).
T gc chun 0 thun tin cho cng vic iu
khin mt cch t ng v bo m chnh xc cho
vic khp kn chu vi ng (qu o cn hn) chn thm
gc chun th hai i din vi gc chun 0 ( = 180).
Ti cc im ny t cc cng tc bt u v khp kn
qu o hn kh cc sai s ca php tnh do s l
gy ra nh nu trn.
Vi gc = 0 v = 180 nh chn trn. Cc
thng s v ch hn t th ti cc gc ny t thay
i do vy cc sai s v tr s cc thng s cng ngh
hn theo ta ca u hn (sai s gc tm ) t nh
hng ti cht lng mi hn
3.2.1. C s thut ton iu khin h thng
Trn ton b qu o cn iu khin, trong khng
gian v theo thi gian c chia nh thnh cc im
lin tip nhau, trong k thut iu khin gi l cc
mu, v b iu khin h thng thc hin cc cng
vic theo yu cu cng ngh ti cc v tr mu
(theo khng gian v thi gian).
Tn s ly mu quyt nh bm st ca h iu
khin vi phng trnh cng ngh nh trc qua
quyt nh chnh xc ca h thng. Thng
thng tn s ly mu cng ln, s lng mu cng
nhiu th b iu khin cng st vi phng trnh cng
ngh cho v h thng cng chnh xc. Th nhng
tn s ly mu li ph thuc vo thi gian tnh ton
ca b iu khin v thi gian thc hin cc lnh iu
khin ca cc c cu chp hnh, do vy tn s ly mu
l mt s c gii hn khng th tng qu ln.
Theo tnh ton v cng ngh hn t ng ni ng
khng quay, v qua cc s liu thc nghim thc t
hn th nghim trn cc mu ng khc nhau, tm c
cc phng trnh cng ngh theo h ta cc vi
bin thay i l gc tm nh nu trn cho cc
thng s cng ngh hn nh sau:
- Phng trnh dng in hn dng tng qut.
I ( ) = f
1
() (3.2)

T bng thng k tr s dng in hn trong qu
trnh hn thc nghim trn nhiu cc mu th nghim
khc nhau, bng cc phng php v cng c ton hc
khc nhau nh xp x hm, tim cn ta c c c
th phng trnh cng ngh cho dng in hn trong
h ta cc vi bin l gc tm .
- Phng trnh in p hn dng tng qut.
U () = f
2
() (3.3)
- Phng trnh vn tc hn (tc hn) dng
tng qut.
V () = f
3
() (3.4)
Thay vo cc phng trnh ca cc thng s cng
ngh hn cho ta tnh c cc sai s ca cc thng
s cng ngh hn. Da vo cc sai s cho php ca
cc thng s cng ngh hn cho (theo tiu chun),
v vi ng knh cc loi ng cn hn m nhim v
ti a ra
3.2.2. Lu iu khin h thng

Lu ny cn p ng c ton b cc yu cu
t ra. Cu trc bao gm:
597
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
- Chn ch iu khin.
phc v cho cng vic nghin cu v thc
hnh, ch hot ng ca h thng thit b hn ni
ng khng quay c chia thnh hai ch c lp
nhau.
+ Ch tay: Trong ch ny cc thng s
cng ngh hn c ngi vn hnh thay i thng
xuyn lin tc ph thuc vo vo v tr hin ti ca
u hn trong h ta cc bng cch thay i cc
chit p iu khin cc thng s cng ngh.
+ Ch t ng: Trong ch ny ton b mi
hot ng ca h thng thit b c iu khin thay i
t ng theo mt quy trnh cng ngh c t trc.
Cc thng s v cng ngh hn c trung tm iu
khin t ng thay i thng xuyn ph hp vi
phng trnh cng ngh ca cc thng s cng ngh trn
ton b cc v tr ca u hn nm trong qu o hn.
+ Ch t ng bao gm cc phn.
* Nhp cc thng s v vt hn gm: ng
knh ng hn, chiu dy thp ch to ng.
* Nhp cc thng s v cng ngh hn ti im
xut pht bt u hn trn qu o hn. Chng trnh
s da vo cc phng trnh cng ngh tnh cc
thng s cng ngh hn trn ton b qu o hn.
Da vo cc phng trnh cng ngh cho, v cc
d liu ban u c nhp chng trnh tnh tr s cc
thng s cng ngh ti cc v tr khc nhau ca u hn
trn ton b qy o hn v lu gi kt qu c tnh
ton vo trong cc vng nh c quy nh.
3.2.3. Lu nhp cc thng s d liu u vo

+ Cc thng s thay i theo qu o hn.
Dng in hn (I
0
)
in p hn (U
0
)
Tc hn (V
0
)
Cc thng s ny c nhp vi gi tr ti gc
chun 0 (
0
).
+ Cc thng s c nh.
Tn s dao ng.
Chiu cao in cc.
Bn knh ng.
Chiu dy thp lm ng.
Chiu dy mt lp hn.
Lu lng kh bo v.
+ Thng s thay i theo lp hn.
Trong cc thng s trn cc thng s c xc
nh bi phn cng bao gm:
Tn s dao ng.
Chiu cao in cc.
Lu lng kh bo v.
Cc thng s khc u c nhp bng cc phm
chc nng. Trong chng trnh ny cc loi thng s
cn nhp c sp xp theo th t, v c chn bng
mt phm chc nng ring. B m trong trung tm
iu khin m s ln c chn v so snh vi th t
c t a ra ch th v thng s cho ph hp.
Khi thng s c la chn s dng cc phm
chc nng tng hoc gim nhp gi tr ca thng s
. Cc gi tr ny c lu gi bng ba b nh m,
b nh m hng trm (x100), b nh m hng chc
(x 10), v b nh m hng n v (x1).
Khi nhp gi tr ca thng s (ba b nh
m c cc s liu) chng trnh s tnh tng
ca c ba b nh m v lu gi kt qu vo mt
nh u tin ca vng nh c a ch ring c
quy nh cho thng s , v a ra ch th s liu ca
thng s . Khi c tn hiu chn cc thng s khc
th b m t ng tng thm mt mc gi tr v cc
b nh m v ch th gi tr thng s s t xa v 0
v quy trnh c lp li .
Ch cc thng s cng ngh thay i theo qu o
hn l c vng nh ring, cn cc thng s c nh
khc c nh v cc nh c quy nh.
3.2.4. Lu chng trnh tnh ton

Trong chng trnh ny cc thng s thay i theo
qu o hn da vo cc s liu ban u v cc phng
598
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011
trnh cng ngh ca cc thng s di dng h ta
cc cho trn. B iu khin trung tm s tnh tr
s ca cc thng s cng ngh ca cc cung on
(cc cnh ca a gic u ni tip) trn ton b qu o
hn v lu gi cc kt qu vo cc nh tip theo
mt cch th t v ln lt vo cc vng nh ring
c quy nh cho tng loi thng s.
3.2.5. Lu chng trnh iu khin cng ngh hn

Trong chng trnh iu khin, b iu khin
trung tm da vo quy trnh c xc nh, ln lt
iu khin cc thit b hot ng thc hin qu trnh
hn. Trong qu trnh hn, trung tm iu khin lin tc
nhp cc s liu v cc tn hiu t cc sens thng bo
v on ng i ca u hn v s sai lch ca
u hn so vi qu o cn hn, t a ra cc
thng s cng ngh hn cho ph hp vi phng trnh
cng ngh ti im ang hn trn ton b qu o hn
v iu khin cc ng c iu chnh sai lch chnh
li s sai lch ca u hn.
m bo rng ca mi hn, trong khi hn,
u hn cn dao ng xung quanh tm ng hn.
Bin dao ng v thi gian tr ti cc bin tri,
phi v im gia mi hn c trung tm iu khin
kim sot v iu khin theo.
Khi hon thnh mt lp hn, bin dao ng s
c trung tm iu khin t ng tng thm mt gi
tr c nh trc, lm cho dao ng u hn rng
hn so vi lp trc, m bo rng ca mi hn.
V u hn t ng nng cao thm mt khong
nht nh c t trc bo m cao ca
in cc
Khi hn s lp hn cn thit, h thng thit
b s t ng dng hn theo quy trnh cng ngh
c lp sn m bo cng on x l in y vt
lm cui ng hn. H thng thit b tr v trang thi
sn sng cho nhim v tip theo.
thun tin cho vic nhp cc thng s v kim
tra cc thng s cng ngh, chng trnh cn c phn
hin th gi tr cc thng s vi lu .
4. Kt lun
1. Tnh ton thit k v ch to thnh cng h thng
thit b hn t ng ni ng ng knh ln trng
thi khng quay m bo yu cu tch hp ch
cng ngh hn v phi hp chuyn ng ca xe
hn theo qu o hn quanh chu vi ng ng
khng quay.
2. hon chnh phng php v thut ton tch
hp v xc nh cc phng trnh cng ngh hn t
ng ni ng c ng knh ln trng thi khng
quay tch hp vi h thng iu khin qu o xe
hn theo cc cung trong h ta cc trn qu o
ca ng m bo cht lng v hnh dng mi
ni hn.
Ti liu tham kho
[1]Blackman S.A., Dorling D.V. and Howard R. High-
speed tandem GMAW for pipeline welding.
International Pipeline Conference 2002, Calgary,
Paper IPC02-27295.
[2] Bertrand le Bourgeois. Soudage l'arc, tomes 1, 2,
3. Publications de la Soudure Autogne. Paris,
1989.
[3] Potapievski A. G. Gas-shielded welding. Kiev,
Naukova Dumka Publishers, 1983.
[4] Widgery D.J. Mechanised welding of pipelines.
SVETSAREN. The ESAB welding and cutting
journal vol.60. January 2005.
[5] Kenji Kitano, Hiromi Shiraishi, Tatsuya Kasatani.
Development of fully Automatic Both-Side Welding
(GMAW) for Pipeline. Automation Technology of
Arc Welding. Japan. 1996. pp. II-151 II-156.
[6] Yuji Sugitani, Yukio Kobayashi and Masatoshi
Murayama. Development of Highly Efficient and
Unmanned Welding System for Pipeline
Construction. Automation Technology of Arc
Welding. Japan. 1996. pp. II-157 II-160.
[7] U. Rembold. Computer Intergrated Manufacturing
and Engineering. Wesley, 1993.
[8] Danilina N. I., Dubrovskaya N. S., Kavsha O. P.,
Smirnov G. L. Computational mathematics. Mir
Publishers, Moscow, 1987.
[9] Terrence J. Akai. Applied numerical methods for
engineers. John Wiley anh Sons, Inc., 1994.







599
Hi ngh ton quc v iu khin v T ng ha - VCCA-2011
VCCA-2011

Hong Vn Chu sinh nm 1954.
Nhn bng Ph tin s KHKT v
My v Cng ngh Hn ti i hc
Bch khoa Kiev (KPI) Cng ha
Ukraina nm 1988. T nm 1989
n nay l cn b nghin cu ti
Vin Nghin cu C kh B Cng
Thng. Hin nay l Gim c
Phng th nghim trng im Cng ngh Hn v X l
b mt Vin Nghin cu C kh B Cng Thng.
Hng nghin cu chnh l Thit b, Vt liu v Cng
ngh Hn, Cng ngh X l b mt trong cng nghip.


Lc Vn Thng sinh nm 1979.
Tt nghip Cao hc nm 2010 ti
Vit Nam. T nm 2002 n nay l
cn b nghin cu ti Vin Nghin
cu C kh B Cng Thng.
Hin nay l Chnh vn phng -
Phng th nghim trng im Cng
ngh Hn v X l b mt Vin
Nghin cu C kh B Cng Thng. Hng nghin
cu chnh l Thit b, Vt liu v Cng ngh Hn,
Cng ngh X l b mt trong cng nghip.



Nguyn nh Sao sinh nm 1964. Tt nghip i hc
Bch Khoa. T nm 1992 n nay l cn b nghin
cu ti Vin Nghin cu C kh B Cng Thng.
Hin nay l cn b k thut - Phng th nghim trng
im Cng ngh Hn v X l b mt Vin Nghin
cu C kh B Cng Thng. Hng nghin cu
chnh l Thit b, Vt liu v Cng ngh Hn, Cng
ngh X l b mt trong cng nghip.

Trn Duy Hip sinh nm 1962. Tt nghip Cao hc
Bch Khoa. Hin ang lm NCS ti Vin Nghin cu
C kh. C quan cng tc: Cng ty CP thi cng c
gii v lp my du kh (PC-ME) Tp on Du kh
quc gia Vit Nam.













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