Dao động của ô tô tải sản xuất lắp ráp ở việt nam khi vận chuyển gỗ có tính đến xoắn của khung xe

Bai bao nay trinh bay phuang phap va ket qua xay dung md hinh toan hgc va khao sat dao dgng cua xe tai chd gd klii chuyen dgng tten dudng lam nghiep, lam ca sd cho viec kiem tra ben khun

Cong nghiip rirng

\JDAO DONG CUA 6 TO TAI SAN X U A T LAP RAP 6 VIET NAM KHI VAJV CHUYEN GO CO TINH DEN XOAN CUA KHUNG XE Nguyen Hdng Quang', Nguyin Van B a n g \ Nguyin Nhat Chieu^

'•^Trucmg Dai hpc Ldm nghiep

'Tmcmg Dai hpc Giao thong Van tai

TOM TAT

6 to tai san xuat lap rap a Viet Nam da va dang diigfc sir dung de van chuyen go rimg trong Do chuyen dong tren duong lam nghiep chat lugmg khong cao, hay gap map mo, nen xe thuang bi dao dong lam giam do em diu chuyen dong va lam cho khung xe bi xoan Bai bao trinh bay ket qua xay dung mo hinh toan hgc va khao sat dao dgng ciia xe tai cho go co tinh den sir xoan khung xe

Tu khoa: Do em dju chuyen dgng, dutmg lam nghiep, mo hinh toan hoc, o to tai, van chuyen go rimg trong

I DAT VAN DE

Hien nay cd nhieu ca sd trong nude lien

doanh vdi nude ngoai san xuat \ a lap rap cac

loai xe tai nhd va trung binh Da cd nhieu cac

cdng ty, hd san xuat kinh doanh rimg su dung

loai xe nay vao viec van chuyen gd rimg trdng

Su dung cac loai xe nay khdng ddi hdi vdn ldn

cho viec mua sam xe ciing nhu khdng can thiet

phai lam dudng rong den cac khu rimg trdng

Do chuyen ddng tren dudng lam nghiep, hay

gap nhirng map md, d ga, gay nen dao ddng

cho xe, anh hudng den do em diu chuyen ddng

va lam cho khung xe bi xoan

Bai bao nay trinh bay phuang phap va ket

qua xay dung md hinh toan hgc va khao sat

dao dgng cua xe tai chd gd klii chuyen dgng

tten dudng lam nghiep, lam ca sd cho viec

kiem tra ben khung xe va hoan thien them ket

cau he thdng treo

n N(31 DUNG, PHlTONG PHAP NGHIEN CUU

Ddi tugng nghien cim la dao ddng cua d td

tai dugc san xuat lap rap d Viet Nam Thaco

165 K chd gd, xe chuyen ddng tren nhinig

doan dudng thang vdi van tdc khdng ddi

De lap md hinh tinh toan dao dgng ciia xe

trong trudng hgp nay, cdng nhan mgt sd gia

thiet sau; (i) Tren xe chd day go va coi khoi go

tren xe nliu mgt khoi dac do da dugc bd chat;

(ii) Khung xe bi xoan do cac goc nghieng d

dang trudc va sau khung khac nhau; (iii) Cac

banii xe ludn bam dudng, bd qua anh hudng

ciia su trugt ciia cac banh xe; (iv) Mat dudng coi nliu cimg tuyet ddi; (v) Khdi lugng cua xe

va gd dugc lien ket cung vdi san thiing xe khdi lugng tdng hgp dugc dat tai trgng tam chung cua chiing; (vi) Bd qua anh hudng cua luc can khdng khi va ma sat d cac d true ciia cac banh xe; (vii) Dao dgng cua xe dugc xet la cac dich chuyen quanh vi tri can bang tinh; (viii) Ket cau cua xe va tai trgng phan bd ddi xiing qua mat phang thang dung dgc [ 1 ]

\'di cac gia thiet tren, xay dung md hinh nghien ciiu dao dgng ciia xe quanh vi tri can bang tinh klii di chuyen tren dudng lam nghiep

Sii dung nguyen ly D'Alambert de thiet lap

phuang trinh \i phan dao dgng cua khdi lugng

dugc tteo va khdng dugc treo cau trudc; sau do thiet lap phuong trinh vi phan dao ddng cua klioi lugng dugc treo va khong dugc treo cau sau tuong tir nhu ddi voi cau trudc, vdi chu y

ve dau ciia luc tuong tac giua khdi lugng dugc treo phan bd len cau trudc \ a khdi lugng dugc treo phan bd len cau sau

Cac he phuang trinh neu tren dugc giai bang phan mem Matlab - Simulink sau klii da xac dinh cac thdng so dau \'ao bang thuc nghiem

111 KET QUA NGHIEN CUtl

Md hinh dao dgng khdng gian cua xe tai Thaco 165K co tinh den xoan kliung chiing tdi

da xav duns duac cidi thieu d hinh 01

TAP CHI KHOA HOC vA CONG NGHE LAM NGHlEP SO 6-2016 193

Cong nghiep rirng

Hinh 01 Mo hinh dao dong cua xe trong khong gian co ke den xoan khung

Cac ky hieu tren hinh ve dugc giai thich

nhu sau:

+ Zki, Pki - dich chuyen va gdc lac ciia khdi

lugng dugc treo phan bd len cau trudc;

+ Zk2, Pk2 - dich chuyen va gdc lac cua khdi

lugng dugc treo phan bd len cau sau;

+ zi, PJ - dich chuyen va gdc lac cua khdi

lugng khdng dugc treo cau trudc;

+ Z2, P2 - dich chuyen va gdc lac ciia khdi

lugng khdng dugc treo ciu sau;

+ mid, Iki - khdi lugng dugc treo phan bd

len cau trudc, md men quan tinh cua khdi

lugng dugc treo phan bd len cau trudc ddi vdi

true ddi xiing dgc;

+ mia, Ik2 - khdi lugng dugc treo phan bo

len cau sau, md men quan tinh ciia khdi lugng

dugc treo phan bd len ciu sau ddi vdi true ddi

ximg dgc;

+ mi, Il - khdi lugng khdng dugc treo ciu

trudc, md men quan tinh ciia khdi lugng khdng

dugc treo cau trudc ddi vdi true ddi xiing dgc;

+ m2, I2 - khdi lugng khdng dugc treo cau

sau, md men quan tinh cua khdi lugng khdng

dugc treo cau sau ddi vdi true ddi xiing dgc cua d td;

-I- Kni, Cni - he sd can va do ciing ciia he thdng treo tren mgt banh xe cau trudc;

+ Kn2, Cn2 - he SO Can va do ciing cua he

thdng treo tren mgt ben banh xe ciu sau; + Kl, Ci - he sd can va do ciing cua banh xe ciu trudc;

+ K2, C2 - he sd can va do ciing cua banh xe ciu sau;

+ Ct - do Cling chdng lac ngang cua he thdng treo ciu trudc;

-I- Cs - do Cling chdng lac ngang ciia he thdng treo ciu sau;

+ Cx do Cling xoan ciia khung xe theo phuang dgc;

+ qit, qip - chieu cao map md mat dudng tai

vi tri banh xe trudc trai va trudc phai;

+ q2t, q2p - chieu cao map md mat dudng tai

vi tri banh xe sau trai va sau phai;

-I- bl , ci - khoang each giiia hai nhip cua he thdng treo cau trudc va sau;

+ b2 , e2- khoang each giua tam hai vdt

banh xe cau trudc va cau sau

Cong nghiep rieng Cac phuang trinh vi phan dao ddng da lap Phuong trinh dao ddng cua khdi lugng dugc

duac nhu sau: treo ciu trudc:

mt^h, + KJ,, - IK J -h 2C„,Z„ - 2C„,Z, = 0 hA,+2l^K,A-2l^-Kj, + 26rC„,Ai -2b;C„,jB, + C,(^„ -/?,)+ Q ( A , - A J = 0

Phuang trinh dao dgng ciia khdi lugng khdng dugc treo ciu trudc:

m,z, - IK J,, + IK J - 2C„,z„ + 2C„,z, + lK,z, + 2C,z, - K,ii,, -K,q,^- qg„ - C,q,^ = 0

I A -2bXA> + 2Z.Xi A -2^rC„,Ai +2Z.rC„, - C,A, -p,)+lb\KA ~hK,q, + b,K,q,^ + + 2b^C,fi, - b,C,q„ + b,qq,^ = 0

Viet lai cac he phucmg trinh tren dudi Phuang trinh dao ddng ctia khdi lugng dugc dang khac: treo ciu trudc:

«.ii.i + 2^„,i„ - 2KJ + 2C„,z,, - 2C„,z, = 0 Ij„ + 2&,^^„,Ai - 2bXA + {2bK, + C, )A, - (2/>,^Q, + C, )fi, + C, (/?„ - A , ) = 0

Phuang trinh dao ddng cda khdi lugng khdng dugc treo ciu trudc:

"'A - 2KJ,, + {2K„, + 2K,)z, - 2C„,z„ + (2C„, + 2C, )z, - K,q, -K,q,^- C,q„ - C,q,^ = 0 7,4 - 2^^XiA, + {2bX„, + 2b;K, >, - (26rC„, + C, K , + {2&rC„, + 2i,^C, + C, )A

- b,K,% + b,K,q,^ - b,C,q„ + bX,q,^ = 0

Chuyen cac he phuang trinh tren sang dang ma tran:

A^x^ -I- B^i^ -h C ^x^ -I- D^ = 0

Tron a dd:

C

^/ =

.4 =

B,=

^k\

A,

^ 1

m„ 0

0 /,,

0 0

0 0

2K^

0

-2K„,

0

IC,

0

(b 2 C ,

0

0

m

0

0

b[

0

b{K:

0

0

0

0

A

- 2K„, 0

0 -2hrK„, i2K^.~2K,) 0

0 i2brK„, ^ 2b;K,'

- 2C.,- 0

Q - C + C J 0 (2b'C„,+C + C.J

0 26;

C-( 2 Q , + 2 C | 0

+ C ) 0 ilhrC., ^ 2b: C + C

T.AP CHi KHOA HOC VA CONG NGHE LAM NGHIEP SO 6-2016 195

Cong nghiep rung

Df-0

0

- K,% - K^q^p - C^q,, - C^q,^

- *2^]?i, + ^2-^1^1;, + bjQqu + hQq,^

Phuang trinh dao ddng ciia khdi lugng dugc treo ciu sau:

' " t 2 ^ « + K„2h2 - 2^,2^2 + 2C„2Zj, - 2C„2Z, = 0

h:Pn+2^Kj,,-2e^K„A+2^C„,P,,-2e^C„,P,+C^(fi,,-p,)+CXPn - A 2 ) = 0

Phuang trinh dao ddng ciia khdi lugng khdng dugc treo cau sau:

'"222 - 2KJ,^ + lK„,z^ - 2C„3Z,, -H 2C„2Zj -l- IK^z^ + 2 Q z , - K,q^, - K^q,^ - C^q^, - C,q^^ = 0

Ij, - 2elK„An + 2 ^ X 2 ^ - 2e,'C„,A2 + ^^C„, - C^^a " A ) + ^^KJ, - e,K,q^, + e,K,q,^ + + 2e\C^li^ - e^C,q^, + efi^q^^ = 0

Viet lai cac he phuang trinh tren dudi dang: treo ciu sau:

Phuang trinh dao ddng ciia khdi lugng dugc

rntiiu + 2K„,z,, - 2K„^z^ -h 2C„,z„ - 2C„,z, = 0

hA, + 2elK„An - 2 ^ X 2 ^ + (2e,^C„, + Cj;ff„ -(2e,^C„, + c)p, + Q ( A , -/3,,)=0

Phuang trinh dao ddng ciia khdi lugng khdng dugc treo ciu sau:

m,z, - 2K„,z,, + {2K„, + 2K,)z, -2C„,z„ + (2C„, + 2 Q ) Z , - K,q„ - K,q,^ - C,q„ - C,q,^ = 0

I A, - 2eXA2 + {2^K„, + le\K, )p, - {2e^C„, + C, K 2 + (26,^C„, + 2ejQ + Q ) A

- «2'*^292, + ^2^292, - S j Q ^ i , + e2C2?2p = 0

Chuyin cac phuang trinh tren vd dang ma tran:

A , x , + B X + C , x ^ + D , = 0

Trong dd:

A:

A

mn

0

0

0

2^„2

0

- 2 ^ „ 2

0

0 0 0 / „ 0 0

0 ra, 0

0 0 7,

0 -2K„,

ef 0

0 {2K„,+2K,)

e^K„2 0

0

- 2 ^ X 2

0 (2^X2+ 2 e X ;

196 TAP CHi KHOA HOC vA CONG NGHE LAM NGHIEP SO 6-2016

Cong nghiep rirng

C =

A =

2C., 0

0 {^C„, + C,+CJ

2 C „ , 0

-0 (2efC„,-HCJ

0

0

- • ^ 2 9 2 , - ^ 2 9 2 , - Q ? 2 ,

- 62.^:2^2, -1- 62^:2^2;, + e2C29

- 2 C „ 2

0 (2C„2 + 2C2)

0

, + ^ 2 ^ 2 9 2 ; ,

0 (2e,^C„2+C, + C J

0 (2e,^C„2 + 2e2'C2 + Q ;

Phuang trinh lien he khi ke tdi do ciing xoan ciia khung xe:

xoan ciia khung xe nhu sau: M^ -CXPk\~ Pti)

Md men Mang tie giiia khdi lugng dugc Phuong trinh chuyen ddng lie ngang ciia treo phin bd len ciu trudc va khdi lugng dugc kh^j , y ^ g j ^ ^ j treo phin bd len ciu trudc: treo phin bd len ciu sau khi ke tdi do cung

I,A, + 26X„iA -2ftX„,A + (2fti'C„, + C , K , -(2Z>,=C„, + C,)^, + C,{j3,, -/3j=0

Phuang trinh chuyen ddng lac ngang cua khdi lugng dugc treo phin bd len ciu sau:

7,2^2+2^X2^2 - 2 ^ X 2 ^ + ( 2 ^ X 2 + c , K 2 -(2^1 c „ 2 + C J A - c , ( A , - ^ 2 ) = 0

Chuang trinh khao sat dao ddng d td khi Simulink cd ke den xoan khung nhu sau

di qua mip md dom bang phin mem Matlab - (hinh 02)

BO HUHCO ^ E l B I ' l i HDOIGtQCVIG ^ ^ I C U ' l R U I G x E

e^

•Dtttittuna >* I

b HhMit Ih^e T K C aiOsj 1

Hmh 02 Chuong trinh khao sat dao dong 6 to TAP CHi KHOA HOC vA CONG NGHE L A M NGHIEP SO 6-2016 197

Cong nghiep rirng

Cdc IcSt qud khao sdt dao dpng cda xe: Trong cac do thi, chi so 1 la trudng hgp ke

* Truong hpp banh xe truac trdi di tren mat den do ciing cua xoin ciia khung xe, chi sd 2 la ducmg CO dang buac nhdy, cdc banh xe cdn lai trudng hgp khdng ki &in dg ciing xoan cua chuyin dpng tren mat phdng khung xe (coi khung xe ciing tuyet ddi)

Q15

E 0-1

QCB

' 1 — -«l

:

; ;

Hinh.03 Bien dang m^t duong

tai banh trirdc trai

Hinh 04 D|ch chuyen than xe cua trong tam o to

QCB

Qce

/ / //

V p*>i

*—^;

Hmh 05 Gdc lac ngang cua tr^ng tam 6 to

Hinh 06 Djch chuyin ciia khoi luwng khong dugc treo cau trudc

Hmh 07 Dich chuyen cua khoi luong

khong dugc treo cau sau

QCB

QQE

ace

3 Q

—

5

N;^^^

1.5

pBUl [Bte2,

2 2 5 3

Hinh 08 Goc lac ngang cua khoi luong khong dvgrc treo cau trudc

: ' ^ : 1- SS

: \'

\ y

/'' ^ — ; y

-Q 1

Qoe

QQ6

Qce

0

Hinh 09 Goc lac ngang ciia khoi Ivgng

khong dugc treo cau sau

Hinh 10 Goc xoan ciia khung xe

198 TAP CHI KHOA HOC VA CONG NGHE LAM NGHIEP SO 6-2016

* Trucmg hcrp banh xe truac trdi vd banh xe

sau phdi di tren mat ducmg co dang buac

Cong nghiep rirng

1 41tf>-|

Hinh 15 Dich chuyen cua khoi Ivgng

khong dvgrc treo cau sau

-QGQ

-QOt

-006

-ao6

pas»2

^ - ' ~ ~ - ~ — ^ —

y'

nhdy, cdc banh xe cdn lai chuyen dpng tren mat duang phdng

Hinh 11 Bien dang mat dvong ciia

hanh xe trvdc trai va sau phai

Hinh 13 Gdc lie ngang cua trgng tam 6 to

Hinh 12 Djch chuyen than xe tai trgng tam d to

Hinhl4 Dich chuyen ciia khoi lugng khong dugc treo cau trvdc

Qoe

0 0 4

QOZ

;

Hinh 16 Goc lac ngang ciia khoi Ivgng khong dvgc treo cau trvuc

Hmh 17 Goc lac ngang ciia khdi Ivgrng

khong dugc treo can sau

Hinh 18 Goc xoan ciia khung xe

TV KET LUAN

Tren ca sd nghien cuu ket ciu xe tai Thaco

2,5 tin chd gd rimg trdng da xay dung dugc

md hmh dao ddng khdng gian cd tinh dSn su

xoan khung xe Bang viec ling dung nguyen ly

D'ALambert da thiet lap dugc he phuang trinh

vi phin dao ddng ciia d td tai Thaco chd gd rimg trdng cd ke den su xoan khung xe

Bang viec ling dung phan mem Matlab -Simulink da giai he PTVP, md phdng dao ddng

TAP CHi KHOA HOC VA CONG NGHE L A M NGHIEP SO 6-2016 199

Cong nghiep riimg

cua d td khi xe gap cac map md don, tii do xac dao dpng 6 to van tdi nhiiu cdu Luan an tien SI ky

djnh duoc gdc xoin khung xe thuat Ha Npi .„„ ^x„„

\ , 4 Nguyen Van Himg (2016) A^gAien cuu dao (fpng

T A I L I E U T H A M K H A O ^ ^ „ ^ ^ „ ^ ^ ^ ^.^^„^^,^^^^^^^ ,^,- j/;^,Afam Luan

1 Nguyen Van Khang (2001) Dao dpng l^ thuat ^ ngn ^i ky thuat Hoc vi|n Ky thuat Quan sir,Ha Noi

Nha xuat ban Khoa hpc va ky thuat Ha Npi

2 Vo Van Huong (2004) Thiit lap mo hinh khao sdt

FLUCTUATION OF TRUCK PRODUCED AND ASSEMBLED

IN VIETNAM IN PROCESS OF WOOD TRANSPORTATION TAKING

TWISTED CHASSIS INTO ACCOUNT Nguyen Hong Quang', Nguyen Van Bang^, Nguyen Nhat Chieu^

'•^Vietnam National University of Forestry

^University of Transport and Communications

SUMMARY

The trucks produced and assembled in Vietnam have been used to transport plantation timber Because of transportation on low quality forest roads, the trucks often experience large oscillations that reduces mellow motion and causes chassis twist This paper presents the results of mathematical modeling and oscillatioii surveys of trucks for timber transportation taking the twisted chassis into account

Keywords: Forestry roads, mathematical model, plantation timber transportation, the mellow motion truck

Ngirori phan bien

Ngay nhin bai

Ngay phan bien

Ngay quyet dinh dang

PGS.TS Duong Van Tai 16/10/2016

25/10/2016 02/11/2016

200 TAP CHi KHOA HOC vA CONG NGHE LAM NGHIEP SO 6-2016