Xây dựng mô hình quan hệ nhân quả hệ thống lái ô tô có trợ lực thuỷ lực phục vụ công tác chẩn đoán

MO HINH QUAN HE NHAN QUA Chan dodn ky thudt d td la loai hinh tdc Md hinh quan he nhdn qud cua ddi tflpng ddng ky thudt vdo qud trinh khai thac sfl dung d chan doan la mpt Graf dinh hfl

NGHIEN CLfu - TRAO OOI

Xay dirng mo hinh quan he nhan qua he thong lai oto

CO tra luc thiiy luc phuc vu cong tac chan doan

Establishing the causality model for hydraulic power steering system in technical diagnosis

PGS.TS Nguyen Van Tan, TS Nguyen Vdn Dang, ThS Vu Quoc Bao

Hpc vien Ky thuat Quan sy

TOM TAT

Bdi bdo dd de xudt phUcfngphdp xdy ddng mo hinh Quan he nhdn qud doi vdi he thong ldi co trd Itic thuy liic tren Oto, thong qua do co the liia chon diidc tap thdng so phuc vu cho cong tdc chdn dodn tiep theo

ABTRACTS

The paper introduces a method to establishing the causality model for hydraulic power steering system in automobile, thereby selects a set of parameter for technical diagnosis

1 DAT VAN DE 2 MO HINH QUAN HE NHAN QUA

Chan dodn ky thudt d td la loai hinh tdc Md hinh quan he nhdn qud cua ddi tflpng ddng ky thudt vdo qud trinh khai thac sfl dung d chan doan la mpt Graf dinh hfldng G (X, U)

td, nham bao dam cho d td hoat ddng cd dp tin trong dd:

cdy, hilu qud cao bang cdch phdt hiln, dfl bdo kjp x- la tap cac nut bieu dien tap hpp cac thdi cdc hfl hdng va tinh trang ky thudt md khdng thdng sd cua ddi tflpng chan doan;

can phai thdo rdi cic chi tiet, cum, tdng thdnh cua u - la tap hflu han cac canh dinh hfldng,

^^' nd bieu thj cdc quan he gifla cac thdng sd rilng

^ ^ ^ bift dd xdc dinh hoac ta gia dinh Hfldng cua cdc

De chan dodn TTKT cua mdt ddi tflpng i, A' u ^.i, - - u ,j^ 4.' ^-^ ^^ ^A^

, ^ , , ^ ^ ° canh do phu thuoc vao hfldng tac dong gifla cac

cu the, cdng vile ddu tiln Id xdy dflng md hinh ,

chan doan, sau dd Ifla chpn tap thdng sd chan

Tap cac tham sd X la tap cua cac tap con

Cd nhieu phfldng phdp xdy dflng md hinh sau: X = KKJ RKJ F ^V ^ E

dp dung vdi tflng ddi tflpng cu the, trong dd cd the

sfl dung md hinh quan he nhdn qua Trong dd:

K = {kj, k^.-.k^} la tap con cac thdng sd dau vao

J TAP CHf CO KHf VIET NAM • Sd 10 (Thang l " nam 7011^

NGHIEN CLfu TRAO 061

(K) cac thdng sd nay khdng phdi la cac ham trang ạ Phan tich lua chon cac thong so (trang 134 thai, nhung hoat đng cua he thdng d dang tdng tai lieu Tham khao 2)

thi phu thupc vao chung;

- Cdc thdng sd đu vdo (k):

R = {r,, r.^ r^J- Id tap con cdc thdng sd Cdc thdng sd dac tinh (r):

dac tinh (r^) Nd chi ra múc dp thuc hien cac chuc Cdc thdng sd chiic ndng (f):

nang ca bdn vd cdc qua trinh ma đi tupng dupc Cdc thdng sd phu (v):

ghep ndi lai; Cac thdng sd cdu tnic (e):

Cdc hu hdng vd sir cd cua cdc phan tii

F = { f,, fj f }- Id tap con cdc thdng sd trong he thdng (d):

chiic nang (f) chiing xdc djnh cdc qua trinh co ban

dac trung cho hoat đng cua he thdng (tap cdc b Phan tich quan he giua cac thong so

thdng sd bilu hiln kit cdu);

Cdc canh ndi cua nut Graph-mđel dupc

E = { e,, ệ e }- la tap cdc thdng sd cdu dinh trin co sd cdc quan he tuong hd vd su phu

tnic (e) biiu thj cdc tinh chdt vdt ly, hoa hpc hinh thudc cua cdc tham sd Hudng cua cdc canh do hoc cua cdc phdn tu thudc hi; tuy thudc vdo hudng tac dung giiia cdc tham sd

Dl xdy dung Graph- mđel cua he thdng ldi can

V = { V , v, v }- la tap cdc thdng sd bd phdi xem xet cdc quan he phu thudc vi du nhu:

trp, đ la cdc thdng sd cua qud trinh bd trp diln

ra song song vdi qua trinh chinh, nhung khdng - Dp ro vdnh ldi (fl) cua he thdng lai se bj tham gia vao qua trinh chinh vd thudng khdng anh hudng cua tinh trang mdn co cdu lai (el), dp quan trpng ro dpc, ro ngang cua true lai(e2), dp kin cua cdc

van cua may nen khi su thay đi quan he đng Ngoai ra khi xay dung md hinh quan he hpc giiia cum co cdu ldi vdi khung xe (e5);

nhdn qud vdi chiic nang chan dodn, can phdi xem

xet tdi cac hu hdng, su cd (d) thudng xdy ra đi Luc diiu khiin vdnh tay ldi (f2) phu vdi DTCD trong qua trinh su dung, md nd biiu thudc dp ro dpc, ro ngang cua true lai (e2), tinh thi ra nhu sir thay đi trj s6(vupt qud gia trj cho trang an khdp cua cung rang vd thanh rang (e3), phep) eua cdc tham so cdu tnic Trong md hinh sd vdng quay true khuyu đng co (k5);

chdn dodn cdc hu hdng ndy khdng dupc biiu thj

nhu cdc nut đc lap ma nd dupc biiu thj kit hpp - Dp ro vdnh tay ldi, luc dilu khiln vdnh vdi cac tham sd cdu tnic (e) tay lai (fl, f2) dnh hudng din xe mdt khd nang

dn djnh chuyin đng thing, mdt cam giac diiu

3 XAY DUTVG MO HINH QUAN HE NHAN khiin, diiu khiin khdng chinh xdc, ldp bj mai QUA V 6 l CAC TAP THONG SO HE THONG mdn nhanh, lop cdc bdnh xe đn hudng bj mdn LAI OTO CO TRO L i r e THUY LlTC khac nhau (f4,f5,f6,f7), mdi mdn nhanh, lech

ldp;(f8) va gay ra lire diiu khiin khdng dn dinh

He thdng lai bd tri tren dtd la mdt he thdng (f 17), đn din mdt khd nang lai (£21);

duoc td hop tu: nhiiu cac cum chi tiit khac nhau,

Chung ludn cd mdi quan he mat thiit, va tuong Mdi liln he giiia cac tham sd dac tinh (r)

hd lln nhau di bao dam hieu qua va chdt lupng cdn lai va cac tham^ sd phu (v) la hien nhiln suy ra lam viec cua toan bd he thdng Tren co sd so đ tir cdc phdn tich trin

nguyen ly, kit cdu va nhirng hu hdng TTKT cua ^ ^

hi thdng trong qua trinh khai thdc, chung ta cd thi Cac tham so đu vao (k) dnh hudng din xac dinh duac cac tap thdng sd sau: hoat đng cua he thdng lai dupc hilu nhu sau: cF=

TAP CHf CO KHf VlfiT NAM *t* Sd 10 (Thdng 10 nam 2011)

NGHIEN CLfu - TRAO D6\

LflC tac dung lln vdnh tay ldi (kl) dnh 3* Tinh ma trdn R^ = Rf

hfldng dp nhay vd tinh dieu khiln cua h | thdng

ldi Vdi ddu "*" nghia Id khi tinh dinh R, X Rj

ta sfl dpng phip cdng vd phip nhdn Idgic cdc phan

Sd vdng quay true khuyu dpng cd (k5) tfl cua ma trdn R,

dnh hfldng tdc dp bdm dau dan den dnh hfldng

tdi dp sudt vd Iflu Iflpng dau bdi trdn Tfldng tfl ta tinh chd cdc ma trdn den

R = R =R"*

I ' I

Tfl Ciic mdi quan he trin ta cd thi lap dxicfc

mpt ma trdn vudng n x n Vdi n Id sd phdn tfl Xi Khi dd ma trdn R Id ma trdn dat dflpc cua (n- sd nut) Trong bdi todn ndy ta xet n = 80 Graph G (X,U) Trong dd, ddng thfl i bieu dien

mpi quan h | md, trong Graph tfl dinh i cd dp ddi Cdc phdn tfl a[i,j] trong ma trdn dflpc tfl 1 din n canh Ma trdn A va R Id ma trdn vudng gdn gid trj trong U nlu thdng sd i cd quan h | vdi dang n x n Khi tinh din R khdng can phai tinh thdng sd j (nghia la trong Graph- mddel cd canh din luy thfla bdc n Neu R,'^'= R,"^"^'^' thi R = R,"^' ndi tfl dinh i sang dinh j); thi a[i,j] = 1, ngflpc lai ( K<n ),

thi a[i,j] = 0

4* Phdn tich ma trdn:

Nhilm vu tilp theo ta can phdi thilt lap

thudt todn vd xdy dflng chfldng trinh xfl ly trin Nlu ma trdn R = Q trong dd Q = q[i,j] la may vi tinh de Idem tra vile phdn nut trong ma trdn cd q[i,j] = 1 vdi mpi i vd j , thi Graph la Graph- mddel da hpp ly chfla ddng phu thudc vd vile chia nhd tiep he thdng Id

khdng the dflpc Nghia la, he thdng trong trfldng

c Thuat toan kiem tra hdp nay bao gdm mdt he thdng con phu thudc

chat Nlu R 7^ Q thi thflc hiln tiep

i * Lap ma trdn A cda graph G(X, U ):

, 5 * Tinh RO cua Graph khdng dinh hUdng

Dd la mdt ma trdn vudng n x n, vdi n bieu

thi sd nut cua md hinh Graph- mddel (sd phan tfl GQ(X,U) tfldng flng vdi Graph dinh hfldng X) Cdc phan tfl a[i,j] trong ma trdn dflpc gdn gia G(X,U)

tri trong U neu thdng sd i cd quan he vdi thdng

so j (nghia Id trong md hinh cd canh ndi tfl dinh Vdi R^ = ( A +A^-i- D)"" trong dd T Id sfl

i sang dinh j ) thi a[i,j] =1, ngflpc lai thi a[i,j] = 0 nghich ddo cua ma trdn

Ma trdn A dflpc gpi la ma trdn ngudn

6* Xdc dinh Graph con phi4 thugc cda Graph 2*Tinhmatran:Rj=A+D dinh hUdng G (X, U):

Trong dd: D - Id ma trdn ddn vj; + Id Tap cdc dinh cua Graph con phu thudc

phep cdng Idgic dinh thfl i, dflpc xac dinh bang cac sd 1 trong

hang thfl i ciia ma tran RO Neu R^ = Q thi graph

Ma trdn R^ la ma trdn dat dflpc bdc 1, trong G (X,U) se bao gdm 1 graph con phu thudc Khi

dd hang thfl i phdn dnh mpi quan he md (la vet dd thflc hiln tiep bfldc 8 dfldi day Neu RQ^ Q thi khdng dinh hfldng cua mdt canh ddng kin khdng thflc hiln bfldc 7

cd sfl lap lai cua cdc canh)

7* Bo tri dinh graph G (X,U) trong ma tran A

Trong Graph tfl dinh thfl i din dinh cdn theo cdc graph con phii thugc

lai (theo tflng canh) dp ddi dfldng bang mdt canh

TAP CHf CO KHf VIET NAM • Sd 10 (Thang '." ^-^ 7n 11 ^

NGHIEN CLfu-TRAO061

7.1'^Ldp ma trdn C = R + R'^ 10* Lap ma tran A sao cho cac graph con phu

thudc bilu diln bang cac ma trdn con vudng Ecp

7.2* Tii ma trdn C lay graph con phu thugc: c : A: (p = 1,2,3 P

/ / * Lap ma tran Rf = (A^"+A/ + D"^)' *

Graph con phu thudc chfla dinh i dflpc

xac dinh bang cdc sd 2 trong hdng thfl i cua ma V = X-^Bep

trdn C p-i

7.3* Lap ma trdn A sao cho cdc graph con phu Trong dd:

thudc bieu dien bang cdc ma trdn con vudng A^" - la ma trdnphu thudc cua graph con

E(p CI A: 9= 1,2,3, ,P vdi tap hop dinh:

B - Ld tap con cua tap he thdng con phu

7.4* Lap ma tran Rt« = (ATO + A^^ + D^f *• thudc chat thu cp

Y _ V _ Y B (2? '^^^ ^^^ ^P dung thudt todn trin dl kilm

^ - 1 tra md hinh he thdng dupc thilt lap, nlu dap ung

dupc cdc ylu cdu dat ra (nghia la dau ra thu dupc

8*Lap ma tran C = R + RT mdt ma trdn vudng don vj), se khang djnh viec

phdn tich he thdng thuc hiln hodn todn chudn

9* Td- ma tran C lay graph con phu thuoc: xdc, md hinh thilt lap ddm bdo yeu cau dac trung

cho toan bd sir hoat ddng vd cdc biln ddi xdy ra Graph con phu thudc chua dinh i dupe xdc ddi vdi he thong vd cdc phdn tu trong qud trinh

djnh bang cac sd 2 trong hang thu i cua ma trdn C sir dung

\ v ^ 4 \ < f

V >

/

' iA

' - : ^ - - • : ' - V

\

V ^

> - ; / ' - - ^ - : - ' - • - V

Md hinh Graph-model he thdng ldi Otd cd trd lUc thuy lUc c:g=

TAP CHf C O KHf VIET N A M *t* Sd 10 (Thang 10 n a m 2011)

NGHIEN CLfu - TRAO D 6 I

4 KET LUAN tra vi|c phdn nut trong md hinh Graph-model

cua h? thdng, d\icfc thiet lap vdi 80 thdng sd Kit

Ddi vdi ddi tflpng cu thi Id he thdng ldi qud cho ra mdt h | tham so phu thupc, ddp flng trp Iflc thuy Iflc trin Otd Id mpt h | thdng phflc dflpc cdc ylu cau vdi dau ra thu dfldc mdt ma tap, khdng tdn tai cac quan he gidi tich chinh xdc trdn vudng ddn vj Nhfl vdy vi|c phdn tich he hoac mdi liln he thflc nghilm gifla cdc thdng sd thdng thflc hi|n hodn toan chuan xac, md hinh ddc trflng Bdi bdo da dp dung md hinh quan he thilt ldp dam bdo ylu cdu ddc trflng cho toan bd nhdn qua trong nghiln cflu, va Ifla chpn dflpc sfl hoat dpng vd cdc biln ddi xdy ra ddi vdi he tap cac thdng sd quan he ddc trflng cua he thdng, thdng vd cac phdn tfl trong qua trinh sfl dung, ddng thdi thilt lap dflpc thudt toan xfl ly trin ldm cd sd chd vile Ifla chpn tap thdng sd chan mdy tinh vdi phan mlm hd trp Matlab de kilm dodn hpp ly sau ndy.<»

T^i lifu tham khao:

[1] Nguyen Wn Kilu Thuy khi ddng Iflc ky thudt HVKTQS, 1999

[2] Vfl Qudc Bdo Bdo cdo Hdi nghi khoa hpc lan thfl 15 HVKTQS, 10/2011

[3] Phan Xudn Minh Ly thuylt dilu khien md.Nxb KHKT, 2000

[4] Nguyen Khac Trai Ky thudt chan dodn d td Nxb Giao thdng VT, 2007

[5] Martin t Stockel.Auto Service and repair Suoth Holand Ilinois, 1992

[6] Prof ing Marcel Kredl Csc Diagnosticke systemy Vydavatelstvi CVUT, 1997

[7] Uwe Heisel Simulation with Matlab- Simulink Stuttgart Verlag, 2006

[8] BAUEROVA, J., Matematicke metody feseni diagnostiky slozitych diagnostickych systemii,

KOR, VAAZ, Brno 1981

TAP CHf CO KHf VIET NAM • Sd 10 (Thar~ ' " " " " - ' ' " ^ ^ ^