NGHIEN CUfU-TRAO061 Nguygn ly lam viec cua cdng true nhu sau: Cflng true di chuyin ra ngoai cdng xon ciia dim da ray 08, lip tren xa mu tru ciu, ha hai cum mdc cau cua tdi nang hang 03 d
Trang 1NGHIEN CUfU-TRAO D(!)l 3D /^J 5 > % 5 3 , ) i ^ 1
NGHIEN CU'U DONG LU'C HOC
CONG TRUC PHUC VU LAO LAP DAM CAU SUPER-T
LAP DAT TREN XA MU TRU CAU TRONG TRJONG HOP
NANG HANG KHONG CO DO CHUNG CAP
RESEACH DYNAMIC OF GANTRY CRANE ON THE CAP OF BRIDGE PIER
TO SERVE INSTALLATION SUPER-T BEAMS IN CASE LIFTING
WITHOUTH SLACK CABLE
PGSJS Nguyen Van Vinh, ThS, NCS Biii Thanh Danh, ThS Nguyln Thuy Chi
Bd mon May Xay dung- Xep do, Trudng Dai hgc Giao thdng Van tai
TOM TAT
Bdi bdo trinh bdy tdm tdt cdc kit qud nghien cuu dgng luc hgc (DLH) cong true lap dat tai
xd mU tru cdu, phuc VH lao lap ddm cdu SUPER-T, trong truong hop ndng hdng khdng cd do chung
cdp Tic nhiing kit qud nghien cicu, cdc tdc gid da xdc dinh dugc gid tri cung nhu qui lugt thay doi
cua dao dgng kit cdu thep (KCT) tdng trin, luc cdng cdp khi cong true ldm viec Ddng thai, cdc tdc
gid ciing da do dgc thuc nghiem nham kiim chung cdc kit qud tinh todn bdng ly thuyet Tic nhimg
kit qud nghien cuu thu dugc ndy, cdc tdc gid dd di xudt cdc gidi phdp ky thuat di ndng cao hiiu
qud khai thdc thiit bi ndy
Tir khda: Cdng true, dgng luc hgc, ddm Super-T
ABSTRACT
The paper presents briefly research results of dynamics of the gantry crane on the cap of
bridge pier to serve installation of SUPER-T beams without slack cable The authors determined
the values of the oscillation of upstair steel structure, force of cable, and also perform experimental
measurement to compare with theoretical results On the basic of these results, the authors will
propose technical solutions to improve the operation efficiency of this equipment
Keywords: Gantry crane, dynamics reseach SUPER-T beam cl
ISSN 0866 - 7056
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Trang 2NGHIEN CUfU-TRAO061
Nguygn ly lam viec cua cdng true nhu sau: Cflng true di chuyin ra ngoai cdng xon ciia dim da ray (08), lip tren xa mu tru ciu, ha hai cum mdc cau cua tdi nang hang (03) d§ nang philn dim ciu (04) hi xe dtd chd dim dudi m^t dit dua len cao, di chuyen vao phia trong va lan
lugt dat cac philn d i m vao cac vj tri gdi eiu tren
moi tru ciu Sau khi lao het toan bd cac phign dim cua mdt nhip, dimg can cau de nhac toan
bd cdng true xudng dudi dat va di chuyen toan
bg thilt bi sang mdt nhip khac de tiep tuc lao lip cac phien dam eiia nhip dd
2.2 XSy dung mo hinh ddng lure hgc cua cdng true khi nang h^ng khdng c6 d6 chiing cSp
a Cdc gid thiet tinh todn
- Khi bg may nang lam viec thi bd may di
chuyen diing yen
- Hang dang treo trong khdng gian, ngudi lai dieu khien dgng ca de nang hang di len DO chiing cap 5 ^ 0
- Chua xet tdi giam chan cua bg may nang, ha hang va cua ket cau thep cdng true
l D A T V A N D E
Cong true lap dat tren xa mu phuc vu lao
lap dam cau Super-T, la mgt trong nhirng thiet
hi thi cdng chuyen diing trong nganh Xay dung
eau Vi vay, viee nghien cuu tinh toan va thiet
ke Cling cd nhirng dac diem rieng Ket cau thep
cdng true nay thudng eo cau tao dang dan, khau
dg Idn Tren cdng true cd bd tri hai cum tdi nang
ha, mdi cum tdi nang dugc 40 tan Khi lam viec
eong true thudng xuyen nang va ha hang, vi vay,
ludn xuat hien cac tai trgng ddng tac dung len ket
cau ciia cdng true Do dd, viec nghien ciiu qui
luat bien thien eiing nhu cac gia tri cua tai trgng
ddng, sir dao dgng ciia KCT dan chinh phat sinh
trong qua trinh nang hang la rat cin thilt Kit
qua nghien ciiu thu dugc se giup eho eae ky su,
can bg quan ly de ra dugc cac giai phap ky thuat
trong thiet ke va su dung hgrp ly thilt hi
Bai bao nay, gidi thieu cac kit qua
thu dugc khi cae tae gia tien hanh nghien ciiu
ly thuyet va thue nghiem qua trinh nang hang
khdng CO do chiing cap Ndi dung chi tiet chung
toi se gidi thieu d phin tilp theo
2 NQI DUNG
2.1 Doi t u ^ g nghien cihi
- Hai bd may nang ha hang nhu nhau,
- Dii tugng nghien cihi la eing true phuc '^"^ ''^^^^ ^^"^ thdi
vy lao lap dam cau Super-T eo ciu tao tdng thi
dugc trinh bay tren hinh 1 ' *^^"^ ^^^ "^^n ^^ hudng cua tai trgng
gid
- Dam BTCT chuyin ddng di len theo phuong thing diing khi hai dilm lien kit cap vdi dam la A va B, cd do di chuyin diu (dim khong
bi xoay trong mat phing XOY)
- Do anh hudng cua trgng lugng ket cau thep va trgng lugng cua dim BTCT nen KCT tang tren bi vdng xudng mdt do vong tinh ban dau y
11 I'a-'M^L-m^l/^r.^^M^iM^f.T^i^iyr.i^Nr::^
/ Dan chinh 2 Cum puly miic cdu:
3 Cym lai ndng-ha hang 4.Ddm Super-T:
5 Lan Can 6 Cum chan cong Iruc; 7 BQ mdy di chuyen,
8 Dam da ray iren xa mu:
9 Cau Ihang: 10 Tru cau
Hinh ! Tdng the cdng true Idp dgt tren xd mu
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Trang 3NGHIEN CIJfU-TRA0e6i
- He ehi dao dgng theo phuang diing khi He dao ddng khi diem xuat phat ban dau nang hang tir vi tri can bing tinh (khdi lugng m^ co y,)
b) Xdy dfptg mo hinh dpng lire hgc DLH
Hinh 2 Md hinh dgng luc hgc cdng true lap ddt
tren xd mU try cdu
Cac ky hieu:
m^ - Khdi lugng cua hang nang (dam BTCT) va
cum puluy mdc cau, kg;
m^- Khdi lugng quy dan eua ket cau thep edng
tnic va bd may nang h^ hang ve diem giua ciia
KCT tang tren, kg;
9|, 9^ - Md men quan tinh quy dan cua roto dgng
CO dien va khdp ndi, kgm^;
M ( ^1) M( ^4 ) - Dudng dae tinh ngoai cua eae
ddng CO thugc bd may nang ha hang;
S, Do cimg cua mdt nhanh cap hang, N/m; S^
-Do Cling eua chan cdng true, N/m
K, - He sd dap tit dao dgng eua cap hang, Ns/m;
D - Dudng kinh tang cudn cap, m
i, - Ty sd truyen cua hop giam tdc thudc bg may
nang ha hang
ij - Sd nhanh cap treo puly di ddng (bgi suat cap)
q,, q_, - Chuyen vi gdc ciia ddng co, rad;
q^ - Chuyen vi thang cua hang, m
q^ - Chuyin vi (dao ddng) cua khdi lugng mj, m;
q - chuyen vi gdc cua trong cudn cap, rad Dat
md hinh DLH tren vao he tga do tuyet ddi XOY
c) Thiet lap phirang trinh chuyen dpng
Tir mo hinh DLH tren hinh 2 dat vao he mdt he true tga do tuyet ddi XOY, sii dung cae ly thuyet ve DLH trinh bay trong tai lieu [1], chiing
ta cd the viet dugc cac PTCD nhu sau: Phuang trinh Lagrange loai II de viet PTCD CO dang:
i ^ ( ^ ) _ 5 I , i i _ ^ = e (/=i*4) (1)
* a'q, ^? d'q, ^1
-Dong nang cua he xac dinh nhu sau:
?• = 2^11> 2'"'^'' +2'"'^' ^^'^'''' 2 " ' "
V d i V / = j : 2 + y , (2)
- The nang eua he:
The nang cua he bao gdm the nang tich lijy trong 16 xo S^, S^ va the nang vi tri ciia khdi lugng hang m^ va cua khfli lugng ket eau thep m^
U = U , + U2 +U3
U,: The nang bien dang cua cap hang va the nang
vj tri cua hang nang
U,: The nang tich luy trong Id xo S^ va the nang
vi tri eiia khdi lugng m^
U,: The nang bien dang cua ket cau thep tang tren
U,=-S,Ml^-SAllm,gq,
'''44^'''''^^"''^'''T'"'*'^=4m'''''^'"'?^'''^'
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Trang 4NGHIEN CUfU - TRAO D 6 I
voi bien dang tong A = Aj + A, + A^
V a i A , = ^ ; A 3 = n ; A , = ^
Cuoi ciing chiing ta co ham the nang;
- Ham hao tan: ^.lf,,ki^ +^K,k,^
Sau khi thay th6 ta co;
Voi each dat nhu tren, chung ta co thg viet he phuong trinh chuyen ddng nhu sau:
M(q,y''^-ER'A-DRA
( 7 ) 2
12= EC+DC
-D.U
S^ + S,'
(6)
(7)
(8)
+ (2+^;^!?, + %
Miq,y!^!^-ERB~DRB\ (9)
il> = -K,,l(,Rq,-q, + 'q,f+-K,,l{R'q,^q,+ 'q,f (4)
2 ~ _±
- Cac lire suy rong xac dinh nhu sau: 5
e, =M(,?,);Qj = 0;Q3 = 0 ; e 4 = A / ( ? , ) (5)
Bien d6i ti8p chiing ta co hS phuong Phuong trinh chuygn dong co thg vilt lai ^ ' ^ h chuyen dong:
duoi dang: D + P + N^ voi i = 1^ 4
mtA = (Rq,-q^+q^)
nen A = (Rq^-q^+q^)
C = {-Rq, + 2q,-2q,-Sq,);
-C =(Rq,~2q2+2q^+Rq^)
nen ~C = (Rq,~2'q, + 2'q,+R'q,)
D'ilS,; E = ilK,;F- % , - 2 ? j + 2 + V i 3
&
- Luc cang trong mot nhanh cap:
^ Ben trai:
'V,=^+'!*^,(«?,-ft+<?j)+4S,(/(,,-,,+?,) (10)
t- Ben phiii;
K, =~+i2K,(Rl,-l2-KI,)+hS,iRq,-'}2+1,) ( " )
d) Giai hlphirmig trinh chuyin dong
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Trang 5NGHIEN CUfU - TRAO D O I
Giai phucmg trinh tren voi cac thong so
cu the cua cong true nghien cuu nhu sau:
e, = 0,595 (kgm^), 94 = 0,595(kgm'), m^
25242(kg), m, = 80.000(kg);
g= 9,8(m/s2), f = 10(m); a= 2592, b= 25,8; S =
279412 (N/m),
S = 57142857 (N/m), K,= 1200 (Ns/m); D= 0,4
(m),i,= 92,21; ij= 12;
R= 0,00018 (m); co = 0,01(rad/s), S, = 9060000
(N/m), v_= 1,08 (m/ph)
Sit dung chuong tiinh MATLAB-SMULEMK
de giai cac phucmg trinh chuyen dpng So do
khoi thuat toan de giai PTCD nhu sau:
I ;:,'.''JlWMnAi'J>
- ^ ; , ^^ i Q , ^
£"U « _ ^ 1 "
Hm h 3 Sa dd thudt todn gidi he phuang trinh
chuyen dgng
ijtt
i!li«i
Kinh 6 Biiu do luc cdng cdp Fc
2.3 So sanh ket qua ly thuylt vdi thirc nghiem
Trong phan trudc, chiing ta da nghien cuu md hinh DLH va giai cac he phuang trinh chuyen ddng ciia he trong trudng hgp nang hang khdng ed do chung cap De so sanh va kiem tra muc do diing dan cua md hinh, do chinh xac cua cac ket qua tinh, nhdm tac gia da tien hanh do dae thuc nghiem tren may thuc dang lam viec tai cdng trudng [2] Mdt sd ket qua do da dugc chiing tdi so sanh vdi ket qua ly thuyet nhu sau:
e) Cdc kit qud nghien cuu theo ly thuyet
Sau khi chay ehuang trinh, chung tdi thu
dugc k8t qua nhu sau:
Hinh 7 Biiu dd chuyin v/ q
Hinh 8 Biiu do gia tdc q 3
T
Hinh 4 Bieu do chuyen vi q^
!
Hinh 5 Biiu do gia toe q^
\% 3 V»*>«flH»4.»**»<l*»t'<>%''»<lll»»t«
Hitth 9 Bieu do liec cang cdp Fc
ISSN 0866-7056
TAP CHl CO KHl VIET NAM, So 3 nam 2015
Trang 6Nhan x^t:
- Ve ehuyen vi dung cua ket cau thep
tAng tren tai diem chinh giira: Tu ket qua tinh
toan bang ly thuyet va do dac bang thuc nghiem
the hien tren hinh 4 va hinh 7 cho thay ve hinh
dang hai do thi kha tuong dflng (theo qui luat
hinh sin) Tuy nhien, d dudng thuc nghiem trong
khoang thdi gian t= 10 (s) thi ehuyen vi cua ket
cau khdng thay ddi nhieu, su thay ddi chi xay
ra sau khoang thdi nay Dieu nay da dugc kiem
nghiem trong qua trinh do dac tai hien trudng
[2] Nguyen nhan cua hien tugng nay la do do
dan hdi cua vat lieu, cau tao cua ket cau, qua
trinh dieu khien, v.v nhimg yeu td nay chua
dugc xet den trong md hinh tinh bang ly thuyet
- Ve dao ddng cua ket eau thep tang tren:
Tir cac ket qua tinh toan bang ly thuyet va do
dac bang th\rc nghiem the hien tren hinh 8 cho
thay, ve hinh dang hai dfl thi kha tuong ddng vdi
mire do sai khac khong nhieu Ket eau thep dao
dgng manh trong khoang thdi gian t= 4(s), sau
dd se giam dan, tdi thdi gian t= 6(s) dao dgng
gan nhu bj dap tat Bien dg dao ddng theo tinh
toan ly thuyet so vdi thuc nghiem khdng khac
nhau nhieu
- Ve luc cang cap: Tu cae k8t qua tinh
toan bang ly thuyet va do dac bang thuc nghiem
the hien tren hinh 9 cho thSy, v6 hinh dang hai
do thj kha tuang ddng Tuy nhien, dd thi thuc
nghiem ed do tre hon so vdi dd thi ly thuySt
Bien do dao ddng ciia luc cang cap theo tinh
toan ly thuyet Idn hem so vdi thue nghiem Thdi
gian dap tat dao dgng ciia lue cang cap theo thuc
nghiem nhanh hem so vdi ly thuyet Luc cang cap
trong trudng hgp nang hang khflng cd do chung
cap bien thien nhieu trong khoang thdi gian t=
7(s), quanh gia trj can b5ng tinh Fc= 33000(N)
Sau dd gia tri nay giam dan den khoang thdi gian
t= 10 (s) thi dao dgng hi dap tat hSn
3 KET LUAN
- Cac bi6u dd the hien luc cang cap, dao dgng thang dung, chuySn vi cua k^t cau thep tren eae hinh 7, hinh 8, hmh 9 cho thSy, dang dao dgng, tri sd cua cac thdng sd fren giila ly thuy8t va thuc nghiem tuang ddi sat nhau Di6u
dd th^ hien tinh diing dan va chinh xac cua mo hinh DLH cung nhu cac thdng sd diu vao phuc
vu cho tinh toan
- Sd dT dd thi thue nghiem cd do tre han
so vdi dd thi ly thuyet, bien do dao ddng, thdi gian dap tat dao ddng ciia luc cang cap khi thuc nghiem ngSn ban so vdi tinh toan ly thuyet la do trong qua trinh do d?ic thuc nghiem, dau do dugc treo tren mdt nhanh cap cudi ciing cua he puly (khdng treo true tiep vao mdc cau), he puly co bgi suat cap Idn (i=12), chieu cao nang Idn (f=10 met), nen da dap tat bdt cac luc ddng tac dung len dau do Vi vay, tin hieu thu dugc khflng
cd su bien ddi nhieu
- Trong khoang thdi gian dau t= 5(s) luc cang cap, dao ddng thang dung, ehuyen vi ciia ket eau thep thay doi Idn Vi vay, de giam anh hudng ciia chiing tdi qua trinh lam viec cua cong true chung ta cd the lap dat them bd giam chan tai vi tri lien ket giira cum mdc cau vdi hang hoac
su dung cac bd dieu khien mem vd cap (su dung bien tan dieu khien tdc do ddng co nang).*t*
Ngay nhan bai: 04/02/2015 Ngay phan bien: 15/3/2015
Tai lieu tham khao:
[1], PGS, TS Nguyen Van Vinh; Ddng luc hgc mdy
xdy dung-XD, Bai giang cao hgc, Tnrdng Dai lipc
Giao thong Van tai, 2013
[2] PGS,TS Nguyen Van Vinh, ThS, NCS Biii
Thanh Danh; Nghien cuu thuc nghiem xdc djnh lac
cdng cdp dgng trong cdp hdng cua cdng true phuc vii
lao lap ddm cdu Super-T, Tap chi Giao thong Van
tai, s6 thang 05/2014
ISSN 0866 - 7056 TAP CHI CO KHI V I £ T NAM, Sd 3 nam 2015