NGHIEN ciru-TRAO001
NGHIEN CJU ANH HUONG CUA AP SUAT DAU THUY LLfC HE THONG LAI DEN Q U T D A O QUAY VONG XE XUC LAT
STUDYING INFLUENCE OF HYDRAULIC PRESSURE OF STEERING SYSTEM HOW TO CHANGE ROTATED ORBIT
OF THE WHEEL LOADER
Luyen Van Hieu, Dao Chi CiroTig Trudng Dai hpc Su pham Ky thuat Hung Yen
T O M T A T
Nghien cuu quy dgo chuyen ddng cua xe xuc Idt Id mdt vdn de khd vd chua cd nghiin cuu nao & Viet Nam di sdu vdo gidi quyet. Trong khudn khd bdi bdo ndy, tdc gid da dua ra md hinh nghien ciru quy dgo chuyen ddng cua xe xiic Igt khi di chuyin trin du&ng bang vd ddnh gid tdc ddng cua su thay ddi dp sudt cua hi thdng Idi din quy dgo chuyin ddng cua xe ndy. Tdc gid dua ra md hinh lam ca sa cho viec thiet lap hi phuang trinh viphdn vd gidi he phuang trinh bdng chuang trinh Matlab-simulink.
Tir khoa: Xe xuc Idt; Ap sudt ddu thuy luc hi thdng Idi.
ABSTRACT
Studying orbit of the vehicle two bodies is difficult and there is little studying about them to solve in Viet Nam. In this paper writer introduce for everyone influence of hydraulic pressure of steering system how to change rotated orbit of the wheel loader operating on plane surface. Writter show method figuring model, set up mathematical diflerential equations and solve them by Matlab - simulink program.
Keywords: The wheel loader; Hydraulic pressure of steering system.
1. DAT VAN DE jtidt van de mdi d nude ta, gitip eho chiing ta xac Xe xiic lat la dong xe hai than su dung phd ^^^ ^^^ ^^"^ '^"^^ "^""^ ^^^ ^^' ^^^^ ^^ P^^""
biln d ITnh vuc xay dung va khai khoang hien ^* ^ ^ ^ " ^ ^ ^^^ ^^ ^ ° ^ ^ ^^^ ^ ' ^ ^ ^ ^^"^•
nay. Nghien cuu ve quy dao chuyen ddng cua la Cd nhilu yeu td anh hudng d i n quy dao quay I f i n TAP CHi CO KHi VIET NAM, S6 3 nam 2014
NGHIEN cuu-TRAO DOI vdng eua xe nhu: Kich thudc ban than xe, ttpng
lugng ban than xe, do ciing ciia banh xe, dieu kien dia hinh, tde do di chuyen eiia xe... va dae biet la he thdng lai cua xe. Vi dilu kien ve thdi gian, tac gia mdi dimg nghien euu anh hudng ap suat dau thuy lire cua he thdng lai den quy dao chuyen ddng ciia xe xiie lat.
2. XAY DUTVG QUY D^O CHUYEN DONG CUA XE XUC LAT
De xay dung phuong trinh vi phan md ta quy dao chuyen ddng cua xe xiic lat ehiing ta ed eae gia thiet tinh toan nhu sau: Xe chuyen ddng tren mat dudng bang phang, bd qua lire can khdng khi, bd qua sir bien dang ciia banh xe, bd qua lire dan hoi cua dau thiiy lire trong xi lanh lai, bd qua lire can dan hdi ciia banh xe, xe di chuyen vdi van tdc cham v = 2,5m/s.
Vdi cac gia thilt tren ta cd md hinh tinh toan nhu hinh ve sau:
Hinh 1: Md hinh mdt vet xe xuc Idt.
Hinh 2: Sa dd lien kit 2 thdn xe.
- Tga dp eua trgng tam than trudc va than sau xe dupe xac dinh qua cac phuang trinh sau:
X, = jv.cos{\\f^)dt (0
y, = \v.sin(\^i )dt (^)
^,-'F,^2a (3) x^^Xi+a.xosW+b^^.cosW^ (4) y2^yi'^^2f^^^^,^ ^2r^'"^2 (^) Viet phuong trmh can bang md men eho than xe phia trudc, phia sau va ap dung dinh ly Steiner- Huygens tai tam O ta duge:
(J^ + m^ .bl )yi/2 - {T.k.sin a + T.s. cos (^ = 0 (^) (J^ + m^.cq^ j.\}/', - (T.ksin a + T.s.cos a) = 0 (V
Do vay ta ed:
T.k.sina+T.s.cos a /o\
w, = (8) (J,+m,.bl)
T.k.sina + T.s.cosa (J^+m,.al) (g^
Tir so do hinh 2, quan he trd lire lai T vdi cae thdng sd:
TAP CHi CO KHi VIET NAM, S6 3 nam 2014 www.cokhivietnam.vn
NGHIEN cuu-TRAODOI
T^.(sina.k+ cosa.s)+ T,.(cosa.s- sina.k) T(sina.k+ cosa.s) (10)
Vai T^^D'-d'-) (11) 4
Bdtffa)
T^=ELD^-(12)
" 4 s.coso. -k.sifta k.sina +s.cosa (13)
Thay (1-11), (1-12) vd (1-13) vdo (1-10) Ta CO dugc:
,^^n.D\p.(\-V+f(^ (14) 4
Ban kinh quay vong die thai R = ^ (15) Giai he phuong trinh va ket qua:
Su dung chuang trinh Matlab simulmk giai hg phuang trinh gdm eae phuong trinh (1), (2), (3), (4), (5), (8), (9) va (14), vdi tham sd ap suatngu6ii p khac nhau (ta se xae dinh duge quy dao chuyen ddng ciia than trudc xe xiie lat nhu hinh 6 dudi),
O u t i i n l O " ' ^
O u t 3 O u t 4 I n 2 O u t 5
Oute
T o Woitcspace6
Hinh 3: Chuang trinh tinh todn quy dgo cua xe vd quy dgo vai p khac nhau.
M 6 h i n h m o p h o n g t i n h n 5 n g q u a y v o n g c u a M a y files Mo(tel_quay_wong_xexuc mdi
Plot_quav_vong m
Hinh 4: Md hinh tinh ndng quay vdng cua mdy xuc.
Vai sd lieu nhap theo [3] vd tin hieu gdc be Idi dau vdo a gid thiet gdc be Idi hai thdn xe thay doi tu 0 den 30° trong thai gian 2s.
TAP CHI CO KHi VIET NAM, So 3 nam 2014
NGHIEN ciru-TRAO001
35 30 _ 2 5 -o o
d 20
> • ^ (B
S 15 o o
«= 10 5 0 0.5
Do thi xoay goc lai a(t)
1.5 2 Ms]
2.5
Hinh 5; Tin hieu gdc lai.
3.5
K§t qua:
4 3.5 3
>r 2
1.5 1 0.5 0
Quy dao quay vong phu thuoc vao ap suat p p=[210 150 100 80] bar
2.. L..lj1jp...
1 2 3 4
Xl [m]
Hinh 6; Quy dgo quay xe vdi dp sudt nguon p khac nhau.
TAP CHi CO KHi VIET NAM, S8 3 nam 2014 www.cokhivietnam.vn
NGHIEN ciru-TRAO 001
Ti.(sina.k+ cosa.s)+ T^.(cosa.s- sina.k) T.(sina.k+cosa.s) (10)
Vol 7", p.Tl (D'-d') (11) T =BLD'(12)
4
„ .., , s.cosa -ksitta ,,,,
Bdtf(a) = (IV k.sina +s.cosa
Thay (1-11), (1-12) vd (1-13) vdo (1-10) Ta CO duoc:
^ n . D - . p . ( l - ? . ' + / ( c O ) (14) 4
Ban kinh quay vong tire thai R = ^ (IS) Giai he phuang trinh va k6t qua:
Sir dung chuang trmh Matlab sunirlink giai he phuang trinh g6m cac phuong trinh (1), (2), (3), (4), (5), (8), (9) va (14), vai tham so ap su4t nguto p khac nhau (ta se xac dinh dugc quy dao chuyen dong ciia than truac xe xuc lat nhu hinh 6 ducri).
Outi rr.1 °^
Out3 0ut4 ln2 Oui6
Out6
T o \ri^oikspace6
Hinh 3: Chuang trinh tinh todn quy dgo cua xe vd quy dgo vaip khdc nhau.
M6 hinh mo phong tinh n i n g quay vong
Ein-
HC&-S
»-»«u|—4T|->cD
*C
Hinh 4: Md hinh tinh ndng quay vdng cua mdy xiic.
Vdi sd lieu nhap theo [3] vd tin hieu gdc be Idi ddu vdo a gid thiet gdc be Idi hai thdn xe thay ddi tu &
den 30" trong thdi gian 2s.
| f ; f l TAP CHI CO KHi VIET NAM, S6 3 nam 2014
NGHIEN ciru-TRAO 001
35 30 _ 25 o
• o
d 20
5 S - .
S 15
U o
'= 10 5 0
Do thi xoay goc lai ot.(t)
Ket qua:
4 3.5 3
1 ' '
=r 2
1.5 1 0.5 0
0.5 1.5 2 2.5 3.5
Hinh 5; Tin hieu gdc lai.
Quy dao quay vong phu thuoc vao ap suat p p=[210 150 100 80] bar
1 2 3 4
Hinh 6: Quy dgo quay xe vai dp sudt nguon p khdc nhau.
TAP CHi CO KHi VIET NAM, S6 3 nam 2014 www.coldiivietnam.vn
NGHIEN CIJU-TRAO 0 0 1
Ban kinh quay vong R phu thuoc vao ap suat p p=[210 150 100 80] bar
111 ^ ^ li ^ ^
:l3s
Hinh 7: Bdn kinh quay vdng tdc thdi vdi dp sudt ngudn p khdc nhau.
Nhan xet:
Tu hinh 6 va hinh 7 tren, ta thSy quy dao quay vong eua xe thay doi theo su thay doi cua ap suit ngudn ckp theo ty le nghieh, ap suSt ngudn ckp cang Ion thi ban kinh quay vong ciia xe cang nho. Vcd ap suat dau nho nhdt (p^SObar) co ban kinh quay vong lan nhat. Vai ap suAt dau lan nhdt (p^210bar) co ban kinh quay vong la nho nhat.
3. KET LUAN
Su thay ddi ap sudt dku lam viec cua he thong lai thiiy luc tren xe xuc lat eo anh huong den quy dao chuyen dong cua xe, vai van toe quay v6 lang nhu nhau, ap suat dau lam viec cang Ion thi khong gian quay vong xe xiic lat cang giam.
Cong viec van hanh su dung xe xiic lat trong qua trinh su dung chiing ta can phai quan tam den khSu kiem tra chat luang eua he thong lai va dae biet la ap suat dau thiiy luc ciia nguon cap.<*
Ngay nhan bai: 21/02/2014 Ngay phan bien: 19/3/2014 Tai lieu tham khao:
[1]. PTS. Nguyen Khac Trai, Tinh dieu khien vd quy dgo chuyen ddng cua d td, NXB. Giao thong Van tai, Ha Noi, (1997).
[2]. Nguyin Phung Quang, Matlab vd Simulink. NXB. Khoa hoc va Ky thuat, (2004).
[3]. Marian J.Lopatka, Tomasz Muszynski, The Possibility of Directional Stability Improvement of Articulated Tool- Carriers - 22'"', Intemational Symposium on Automation and Robotics in Construction ISARC 2005- September 11-14-2005, ferrara (Italy).
TAP CHi CO KHi VIET NAM, So 3 nam 2014
