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7/26/2019 Chng 5_CBvitri.ppt
1/29
Chng 5. CM BiN O V TR
V CHUYN DCH
7/26/2019 Chng 5_CBvitri.ppt
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5.1 Nguyn l o v tr v dch chuynVic xc !"nh #" $%& #' ("ch ch)*+n !,ng #-i$% %/$ 0)-n $%1ng $%2ng 34 $h)$. Hin n-* c,h-i 6hng 6h6 c 78n !+ xc !"nh #" $%& #'("ch ch)*+n.
9 :hng 6h6 $h; nh/$< B= c8> 7i?n c)ng
c/6 $&n hi) @' h'> 6hA $h)=c #'2 #" $%& c->=$ $%2ng cc 6hn $ c- c8> 7i?nE !Fng$hGi 6hn $ n'* c, @in 0)-n !?n #$ cn xc!"nh ("ch ch)*+n.
9 :hng 6h6 $h; h-i< Ing #Ji >=$ ("chch)*+n c 78nE c8> 7i?n 6h$ %- >=$ x)ng.Vic xc !"nh #" $%& #' ("ch ch)*+n !Kc $i?n
h'nh 7Lng cch !?> x)ng 6h$ %-.
7/26/2019 Chng 5_CBvitri.ppt
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M=$ c8> 7i?n 3hng !i hPi @in 3?$ c h1cgiQ- c8> 7i?n #' #$ cn !2 #" $%& h2c ("chch)*+n. Mi @in h giQ- #$ ("ch ch)*+n #'c8> 7i?n !Kc $hSc hin $hng 0)- #-i $%$%)ng gi-n c- !in $%GngE $ $%Gng h2c!in $ $%GngE nh ng.
T%2ng chng n'* $%nh 7'* cc @2i c8> 7i?n$hng (Ang (Wng !+ xc !"nh #" $%& #' ("chch)*+n c- #$ nh !in $h? 3? !in $%XE c8>
7i?n !in c8>E c8> 7i?n !in ()ngE c8> 7i?n(Wng ,ng !'n hFi.
7/26/2019 Chng 5_CBvitri.ppt
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5.2 in th k in tr
c !i+>ch !in !c 7i$ !+ x @[
$&n hi).T)* nhin #Ji cc !in $h? 3? !in $%X c,
c2n ch* c h1c c, S c1 x$ g\* Fn #' >nE
@n (Ang $h/6 #' ch") 8nh hXng @Jnc- >i $%Gng 3hi c, 7Ai #' ]>.
7/26/2019 Chng 5_CBvitri.ppt
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1. in th k dng con ch!y c" h#c
$% &'u t!o v nguyn l l( vic
&)( *in g+( (,t in tr c- nh n/trn 0 c0 (,t ti 3c in c0 th dichuyn 4c g#i l con ch!y.
6i7 tr c8$ in tr gi9$ con ch!y v(,t :u c8$ in tr nl h( h; thu,cvo v tr con ch!y
nx RL
lR =
7/26/2019 Chng 5_CBvitri.ppt
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in $h? 3?
RnE E ^
RxE @
RRn
Rn
R
Hnh _.` Cc (ng in th k1) in tr 2) Con chy
-a
7a ca
12
1
1
21
2
7/26/2019 Chng 5_CBvitri.ppt
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9 Cc !in $%X (ng c)=n (\* $hGng !Kc ch?$2 $ cc hK6 3i> Ni C%E Ni C) E Ni C% bE
dg :( 0)/n $h'nh #ng x2en (ng @ x2 $%n@fi cch !in 7Lng $h) $inhE g> h2c nhS-aEgiQ- cc #ng (\* cch !in 7Lng >-* h2c@J6 2x*$ 7 >$.
9 Cc !in $%X (ng 7jng (kn !Kc ch? $27Lng ch/$ (l2 $%=n 7=$ (kn !in @' c-c72n h2c3i> @2i cm h$ `op>.
9 Cc !in $%X !Kc ch? $2 #Ji cc gi $%" RnnL> $%2ng 3h28ng `3!?n `oo3E !i 3hi !$$Ji M.
7/26/2019 Chng 5_CBvitri.ppt
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*% &7c
7/26/2019 Chng 5_CBvitri.ppt
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2. in th k dng con tr= t>
9 H-i $ !in $%X R`#' Rp>ec ni $i?6 #' >=$
n-> ch\> #unh cQ) gen #Ji $%Ac 0)-* c-!in $h? 3?a 7-2 6h @n >=$ 6hn c- !in $%XR`#' RpE #" $%& 6hn 7" 7-2 6h 6hA $h)=c g,c0)-* c- $%Ac.
9 in 6 ng)Fn v!Kc !$ giQ- h-i !i+> `a#' waE !in 6 !2 V>@/* $ !i+> ch)ng pa #'>=$ $%2ng h-i !) `a h2c waE
in 6 !2 !Kc xc !"nh 7Xi cng $h;c
7/26/2019 Chng 5_CBvitri.ppt
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R`@' h'> 6hA $h)=c #" $%& c- $%Ac 0)-*E #" $%&n'* xc !"nh 6hn c- R`ch") 8nh hXng c-$ $%Gng cn R R`y Rp c2n$.
Rp
R`
`
p
w
Hnh 4.5 in th k in t
woz
5oz
{oz
oO `|oO w}oO
V>
rvt
-a 7a
7/26/2019 Chng 5_CBvitri.ppt
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?.@ &)( *in in c)(
C8> 7i?n !in c8> @' nh,> cc c8> 7i?n@'> #ic (S- $%n ng)*n @[ c8> ;ng !in $.V$ cn !2 #" $%& h2c ("ch ch)*+n !Kc gen#'2 >=$ 6hn $ c- >ch $ g\* nn S7i?n $hin $ $hng 0)- c)=n !2
1. &)( *in tA c)(
$% &)( *in tA c)( c0 khB t> *in thin
CDnh ?.E &)( *in tA c)(1% FGi HIt t> 2% &u,n dJy @% Kh:n ,ng
7/26/2019 Chng 5_CBvitri.ppt
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Hnh _.} $%nh 7'* !F ng)*n @[ c/) $2 c->=$ @2i c8> 7i?n $S c8> !n
Hnh _.} C8> 7i?n $S c8>1) "ch t# 2) Cu$n %&y ') (hn $ng
~V~V
-a 7a ca
`
p
w`
p
w
`
p
R
7/26/2019 Chng 5_CBvitri.ppt
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H $S c8> c- c)=n (\* c, $h+ $h-* !si (2$h-* !si $sn h-2 inh %- 7Xi (ng !in x2* 3hi6hn !=ng ne6 >ch $a ("ch ch)*+n (Ji $c!=ng c- !i @Kng !2 ~#.N?) 7P 0)- !in $%X c- c)=n (\* #' $ $%X c-@fi $h6 $- c, 7i?n 7i?n @' h'> $)*?n$&nh #Ji $i?$ (in 3h hX 3hng 3h& t #' 6hi
$)*?n #Ji chi) ('i 3h hX 3hng 3h& .
Hnh _.{ tS 6hA $h)=c giQ- E #Ji chi) ('i 3h hX 3hng 3h&
^ a
5oooH a
5ooH a
E ^
I
7/26/2019 Chng 5_CBvitri.ppt
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2. &)( *in tA c)( kL lI thBo kiu vi H$iM
+ $jng != nh* c- c8> 7i?n #' $jng !2n!c $&nh $)*?n $&nh ngGi $- $hGng (Wng c8>7i?n $S c8> 36 >ec $h2 3i+) #i -i
~V
~V
~V
-a 7a ca
Hnh _.| C8> 7i?n $S c8> 36 >ec $h2 3i+) #i -i
?
7/26/2019 Chng 5_CBvitri.ppt
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9 c $&nh c- c8> 7i?n $S c8> 36 #i -i
Hnh 4.9 ! t"nh !#$ !%m &in t' !%m k() l*) +i s$i
^` a
^` ^p a
^p a
F
7/26/2019 Chng 5_CBvitri.ppt
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9 &)( *in tA c)( c0 lGi t> di ,ng
DJi $c !=ng c- ~#E @fi $ ("ch ch)*+n @'> ch2 !=('i @c- @fi $ nL> $%2ng c)=n (\* $h-* !siE 32 $h2S $h-* !si h $S c8> ^ c- c)=n (\*. tS 6hA$h)=c c- ^ #'2 @@' h'> 3hng $)*?n $&nhE
Hnh 4.10 S, - n/n l !%m &in t' !%m !3 li t1 6/7n 8 2 Li t
@o @
@
~V
`
p
7/26/2019 Chng 5_CBvitri.ppt
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@. &)( *in h c)(
9 C/) $2 c- c8> 7i?n h c8> $ng $S c8>7i?n $S c8> chq 3hc X ch c, $h> >=$ c)=n(\* !2 hnh _.``a.
9 T%2ng cc c8> 7i?n !n 3hi
y chi) ('i 3h hX 3hng 3h& $h-* !si hnh -ay $i?$ (in 3h hX 3hng 3h& $h-* !si hnh 7a
y $sn h-2 (2 (ng !in x2* $h-* !si hnh ca
@'> ch2 $ $hng c- >ch $ 7i?n $hin32 $h2 )/$ !in !=ng $%2ng c)=n !2 $h-*!si.
?
7/26/2019 Chng 5_CBvitri.ppt
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C8> 7i?n h c8>
Hnh 4.11 6%m &in h: !%m
1 6/7n s, !;) 2 li t 8i 7n 4 6/7n
-a
w
~V
`
p
7a
` p
w
ca
~V
w
_
~V
_
` p
(a
~V
a
~V
a
_
`
`
p
w
_
? + ?
7/26/2019 Chng 5_CBvitri.ppt
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C8> 7i?n #i -i< !+ $jng != nh* #' != $)*?n$&nh c- !c $&nh c8> 7i?n ngGi $- >ec c8>7i?n $h2 !F #i -i hnh _.``(E!Ea. Zhi >ec
#i -i != nh* c- c8> 7i?n $jng g/6 !i #'6h> #i @'> #ic $)*?n $&nh >X %=ng !ng 3+.
Bi?n $h? #i -i c, @fi $< gF> 7n c)=n (\*
gh6 !Fng $%Ac $2 $h'nh h-i c8> 7i?n !n !ix;ngE 7n $%2ng c, @fi $ (i !=ng !Kc hnh_.`pa. Cc c)=n $h; c/6 !Kc ni ngKc #Ji
nh-) -2 ch2 )/$ !in !=ng $%2ng chng $%i$$i) @kn nh-).
8 ?
7/26/2019 Chng 5_CBvitri.ppt
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9 C8> 7i?n #i -i
Hnh _.`p C8> 7i?n h c8> #i -i1) Cu$n * c+, 2) Cu$n th- c+, ') ./i t#
`
pp
w
? ? &)
7/26/2019 Chng 5_CBvitri.ppt
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?.? &)( *in in dung
9 &)( *in t; in "n
Cc c8> 7i?n $A !in !n @' >=$ $A !in6hng h2c hnh $%A c, >=$ 78n cSc gen c!"nh #' >=$ 78n cSc !=ng (i ch)*+n @in 3?$#Ji #$ cn !2. Zhi 78n cSc !=ng (i ch)*+n 32 $h2 S $h-* !si !in ()ng c- $A!in.
i #Ji c8> 7i?n hnh _.`w-< (Ji $c !=ngc- !i @Kng !2 ~#E 78n cSc !=ng (i ch)*+nE3h28ng cc giQ- cc 78n cSc $h-* !siE 32$h2 !in ()ng $A !in 7i?n $hin.
i (
7/26/2019 Chng 5_CBvitri.ppt
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in ()ng
hLng !in >i c- >i $%Gng.
2 hLng !in >i c- ch\n 3hng.9 (in $&ch nL> giQ- h-i !in cSc.
3h28ng cch giQ- h-i 78n cSc.
=
s6 0
7/26/2019 Chng 5_CBvitri.ppt
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i #Ji c8> 7i?n hnh _.`w7< (Ji $c !=ngc- !i @Kng !2 ~VE 78n cSc !=ng (i ch)*+n0)-*E (in $&ch giQ- cc 78n cSc $h-* !siE 32$h2 S $h-* !si c- !in ()ng $A !in.
~V
~V
~V
-a 7a ca
Hnh _.`w 6Bm &iCn tD EiFn EGn
7/26/2019 Chng 5_CBvitri.ppt
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g,c ;ng #Ji 6hn h-i 78n cSc !i (innh-).
i #Ji c8> 7i?n hnh _.`wc< (Ji $c !=ng c-!i @Kng !2 ~VE 78n cSc !=ng (i ch)*+n $hng(1c $%AcE (in $&ch giQ- cc 78n cSc $h-* !siE
32 $h2 S $h-* !si c- !in ()ng.
=
= .
>H0
Is6
2
00
l.5IJIlA@
26
12
0=
C8 7i? $ 3 i i
7/26/2019 Chng 5_CBvitri.ppt
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9 C8> 7i?n $A 36 #i -i
9 TA 36 #i -i c, 3h28ng cch giQ- cc 78n cSc7i?n $hin ("ch ch)*+n $hng hnh _.`_-a h2c
c, (in $&ch 78n cSc 7i?n $hin ("ch ch)*+n0)-* hnh _.`_7a #' ("ch ch)*+n $hng hnh_.`_ca gF> 7- 78n cSc.
7a
ca
Hnh _.`_ C8> 7i?n $A 36 #i -i
~V
-a
~V
~V
dp d` dw
dp
d`
dw
dp
d`
dw
7/26/2019 Chng 5_CBvitri.ppt
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9 B8n cSc !=ng d`("ch ch)*+n giQ- h-i 78n cScc !"nh dp#' dw$2 $h'nh cWng #Ji h-i 78n cScn'* h-i $A !in c, !in ()ng Cp`#' Cw`7i?n$hin ngKc chi) nh-).
9 = nh* #' != $)*?n $&nh c- $A 36 #i -i c-2hn $A !n #' @Sc $ng h giQ- cc 78n cSc$%i$ $i) @kn nh-) (2 ngKc chi) nh-).
O h
7/26/2019 Chng 5_CBvitri.ppt
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9 O!ch o
Thng $hGng >ch !2 (Wng #Ji c8> 7i?n!in ()ng @' cc >ch c) 3hng c\n 7Lngc)ng c/6 7Lng (ng x2-* chi).
Mch !2 cn $h28 >n cc *) c) -) @2i !+$%nh 8nh hXng c- !in $%Gng ng2'i.
Zhng !Kc >ec cc !in $%X 2ng 2ng #Jic8> 7i?n.
Chng ]> $$.
!F h 7i? Ji h i h h $ !i
7/26/2019 Chng 5_CBvitri.ppt
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9 !F >ch c) 7i?n 6 #Ji h-i nhnh $A !in
t U%-d`dw
dp
R
R
Co
Cx
U%-t
Hnh _.`5 Mch o thng %0ng vi c 3in t4 in