CHNG 3

NG LC HC C CU

TS. PHM HUY HONG

Chng 3:
ng lc hc c cu
I. M u:
1. Phn lai lc:
a. Ngai lc: Lc pht ng; Lc cn k thut (lc
cn c ch); Lc ma st do mi trng; Trng lc
cc khu; Lc qun tnh - Ngai lc gi.

b. Ni lc: p lc khp ng; Lc ma st trong

khp.

* Lc qun tnh - Ngai lc gi:

r
r
r
Fi = mi aSi ; M i + M F = J ie i
i
i
i
i

r
aSi

Si

i
M1

Lc qun tnh:
r
r
Fqt = - mi aS ; M qt = - J ie i
i
i
i

r
F2

r M2
F1

r
F4
r
F2

r M2
F1

Si

r r
r
Fi + Fqti = 0; M i + M F + M qti = 0
i
i
i

M1

r
F3

ei

r
Fqt
i

M qt
i

r
F3

r
F4

2. p lc ti cc khp phng thng gp:

a. Khp tnh tin lai 5: 2 n s - ln v im t
N kj

r
N kj =
N kj

M kj

M kj = x.N kj

2. p lc ti cc khp phng thng gp:

b. Khp bn l: 2 n s - ln v phng
lt i

ngng trc j
r
Rij
A
r
p

i
j

r
Rij =

2. p lc ti cc khp phng thng gp:

c. Khp lai 4: 1 n s - ln p lc

r
Nij

r
Nij =

3. Nhm tnh nh / Nhm Axua:

Nhm tnh nh: c th gii bi tan lc - s n bng s
phng trnh
Nhm Axua: bc t do bng 0
Xt nhm cc khu phng c: n khu ng, p4 khp lai 4 v
p5 khp lai 5
Bi ton lc: s phng trnh 3n, s n (p4+2 p5)
Bc t do: 3n - (p4+2 p5)
iu kin tnh nh iu kin Axua: 3n - (p4+2 p5) = 0

3. Nhm tnh nh / Nhm Axua:

Nhm phng ton khp thp: n khu ng v p5 khp lai 5
iu kin tnh nh iu kin Axua: 3n - 2 p5 = 0
Nhm {2 khu 3 khp}, {4 khu 6 khp}, {6 khu 9 khp},

4. Gii bi ton lc bng phng php phn tch lc:

a. Gii cc bi ton v tr, vn tc v gia tc, c s liu v
cc lc qun tnh trn mi khu.
b. Xc nh cc lc bit v cha bit, xc nh lc cn
bng dng no (lc hay moment) v tc ng trn khu
no.
Lc cn bng: ngai lc cha bit cn bng tt c cc ngai
lc cn li.
c. Tch c cu thnh cc nhm tnh nh v t cc p lc
khp ng ln cc thnh phn khp ng c lu ti s
bng nhau v ln v ngc chiu nhau cu lc v
phn lc ti cc khp (nh lut III Newton).

4. Gii bi ton lc bng phng php phn tch lc:

d. Gii bi ton lc (tm p lc ti cc khp ng) cho cc
nhm theo th t t xa v gn:
- Gii cho nhm xa hn ( nhm cha cc lc bit),
ly kt qu tm c lm d liu (coi nh lc bit) ca
nhm k tip v gn hn.
- Cng vic trn c ln lt thc hin cho ti khi ch cn
li khu dn.
e. Gii bi ton lc cho khu dn (tnh p lc khp ng ti
khp ni khu dn vi gi v lc cn bng).

5. Phng php cng o / di chuyn kh d:

r
Fi
r
vi

r
Fi

Mi
wi
r
Fqti
r
v Si
M qt
i
N cb

N cb = M cb .w1

M cb

r r
N cb = Pcb .v cb

r
Pcb

r
v cb

n r r
n r r
N cb + (Fi .vi + M i .wi ) + Fqti .vSi + M qti .wi = 0
i =1
i =1

II. V d 1:

B
1

r
F2

M qt 2
M1

w1
C

A
0

r
Fqt 3

r
F3

3
3
l AB = a, l BC = a 3, l BD = a, lCD =
a, CAB = 60o
2
2
w 1 = w const

F2 = F3 = 3Fqt 2 = 3Fqt 3 = 3F
M qt 2 = Fa
r
Rij = ?, M1 = ?

r
F2

r
R21

M qt 2
M1
w1

r
Fqt 3

r
R12 M
qt 2 r
R32
r
N 03
r
F3

M1

r
F3

r
F2

r
R01

r
R12

r
F2

M qt 2
r
N 03
r
F3

M 03

M 03
r
Fqt 3

r
Fqt 3
r
R23

r
R12 M
qt 2 r
R32

r
F2

r r
r
F2 + R 12+ R32 = 0
r
r
r

Mqt2 + M B (F2 ) + M B (R 12) + M B (R32) = 0

x
x
(1)
- F2 + R12 - R32 = 0
y
y
- R12 + R32 = 0
(2)

M + Rx 3 a - R y 3 a = 0 (3)
qt2 32 2
32 2

r
N 03
r
F3

M 03

r
Fqt 3
r
R23

r
r
r
r
F3 + Fqt 3 + R23 + N 03 = 0
r
r
r
r

M C ( F3 ) + M C ( Fqt 3 ) + M C ( R23 ) + M C ( N 03 ) + M 03 = 0
- F + F + R x = 0 ( 4 )
qt 3
23
3

y
N 03 - R23 = 0
(5)

( 6)
M 03 = 0

r
r
R12 = - R21 : R12x = R21x , R12y = R21y
r
r
R23 = - R32 : R23x = R32x , R23y = R32y
r
R12 M
qt 2 r
R32

r
N 03
r
F3

r
F2

r
R12

r
N 03
r
F3

M 03

r
Fqt 3
r
R23

r
F2

M qt 2

M 03
r
Fqt 3

R32x = R23x = F3 - Fqt 3 = 2 F

x
x
R12 = R21 = 5F

2( 3 + 1)
F
N 03 = R23y = R32y = R12y = R21y =
3

M 03 = 0

r
R 21

r
r
R21 + R01 = 0
r
r

M A ( R21) + M A ( R01) + M1 = 0
x
x
R01 = R21 = 5F

y
y 2( 3 + 1)
R01 = R21 =
F
3

3 x 1 y
M1 = 2 aR21 + 2 aR21

M1

r
R01

M1 = 17 3 + 2
Fa
6

r r
r
r r
M1w1 + F2vD 2 + M qt 2w2 + ( Fqt 3 + F3 )vC 3 = 0
M1w1 - F2v D 2 - M qt 2w2 + ( Fqt 3 - F3 )vC 3 = 0
M1w1 = F2v D 2 + M qt 2w2 + ( - Fqt 3 + F3 )vC 3
M1w1 = 3 F

3
w
2
17 3 + 2
aw1 + Fa 1 + ( - F + 3 F )
aw1 =
Faw1 > 0
2
3
3
6
r
v
r D2
F2

w1

M1

w2

M qt 2

r
Fqt 3

r
F3

r
v3

M1 = 17 3 + 2
Fa
6

III. V d 2:

l AB = a, l AC = a 3,

CAB = 90o

r
F3

M1

w 1 = w const

A
B M
qt 2

F2 = F3 = 3Fqt 2 = 3Fqt 3 = 3F

M qt 2 = Fa
r
Rij = ?, M1 = ?

3
M qt 3

0
M3

10

- N + R x = 0 (1)
r
r
32 12
R12 + N32 = 0

y
r
r
- R12 = 0
( 2)

M qt 2 + M 32 + M B ( R12 ) + M B ( N32 ) = 0
M qt 2 - M 32 = 0 (3)

r
N 32

M 32
M qt 2
r
R12

r
r
r
F3 + R03 + N 23 = 0
r
r
r

M C ( F3 ) + M C ( R03 ) + M C ( N 23 ) +

M 3 + M qt 3 + M 23 = 0

r
F3

M 23

r
N 23

M qt 3

- F cos 30o + N + R x = 0 ( 4)
M3
23
03
3
r
R03

y
- F3 sin 30o + R03 = 0 (5)

- F3 cos 30o CD + N 23BC - M 3 + M qt 3 + M 23 = 0 (6)

11

r
F3

r
r
x = Rx , R y = R y
R12 = - R21 : R12
21 12
21
r
r
x = Nx ,N y = N y
N 23 = - N32 : N 23
32 23
32
M 23 = M 32
x
9 3
x
R12 = R 21 = N 32 = N 23 = 4 F

R y = R y = 0
21
12
x
3 3
R
F
03 =
4

R y = 1 F3 = 3 F
03
2
2

M 23 = M 32 = M qt 2 = Fa

M qt 2
r
R12

M qt 3

M3
r
R03

r
F3

M 23
r
N 23

r
N 32

M 32
M qt 2
r
R12

M qt 3

M3
r
R03

x
x 9 3
R01 = R21 = 4 F
r
r

R01 + R21 = 0
y
y
R01 = R21 = 0
r
r

M A ( R21) + M A ( R01) + M1 = 0
M1 = R x AB cos 60o
21

r
R21

M1

r
R01

M1 = 9 3
Fa
8

12

r r
M 1w1 + F3v D 3 + M qt 2w 2 + M qt 3w3 + M 3w3 = 0
M 1w1 + F3v D 3 cos 150 o + M qt 2w 2 + M qt 3w3 - M 3w3 = 0
M 1w1 = - F3v D 3 cos 150 o - M qt 2w 2 - M qt 3w3 + M 3w3
M 1w1 = - F3 (CD w3 ) cos 150 o - M qt 2w 2 - M qt 3w3 + M 3w3

w
3
w
w
w
M 1w1 = - 3 F (3a 1 )( ) - ( Fa ) 1 - ( 2 Fa ) 1 + (3 Fa ) 1 > 0 r
4
2
4
4
4
F3

r
vD3

M1

M1 = 9 3
Fa
8

w1

M qt 2
w2 =w3
M qt 3

M3

13