Do An Tot Nghiep OK in - Verson New - 3

MC LC
LI NI U.
CHNG 1. O HM V TCH PHN CP PHN S
1.1 Kh|i nim v{ nh ngha m u o h{m v{ tch ph}n cp nguyn....
1.2 Biu thc hp nht gia o h{m v{ tch ph}n cp nguyn...
1.3 nh ngha o h{m v{ tch ph}n cp ph}n s ...
1.4 C|c tnh cht ca o h{m v{ tch ph}n cp ph}n s..
1.5 Mt s v d v o h{m, v{ tch ph}n cp ph}n s.
1.6 Php bin i Fourier v{ Laplace ca o h{m cp ph}n s. .............................
CHNG 2. CC PHNG PHP S TNH TON DAO NG C H C O HM CP PHN S
2.1 Xp x th{nh phn o h{m cp ph}n s.
2.2 Phng ph|p s gii phng trnh vi ph}n cp ph}n s..
2.2.1 Phng ph|p Newmark
2.2.2 Phng ph|p Runge-Kutta-Nystrm...
2.2.3 Phng ph|p Runge-Kutta.
2.2.4 Phng ph|p Gauss.
2.2.5 So s|nh chnh x|c v{ thi gian tnh gia c|c phng ph|p tnh.
2.3 Kt lun..
CHNG 3. TNH TON DAO NG CA MNG MY TRN NN N NHT CP PHN S..
3.1 Cc m hnh h {n nht..
3.2 H dao ng mt bc t do.
3.3 H dao ng hai bc t do...
3.4 H dao ng nhiu bc t do.
3.5 So snh kt qu tnh to|n gia c|c m hnh l thuyt v{ vi kt qu thc nghim
3.6 Kt lun.
CHNG 4. CHNG TRNH FDE SOLVER TNH TON DAO NG ....
4.1 Tng quan v chng trnh
4.2 S dng chng trnh
KT LUN..
TI LIU THAM KHO..
PH LC..

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GVHD: GS.TSKH. Nguyn Vn Khang

SVTH: Dng Vn Lc KSTN CT- K54 1

LI NI U
V{i thp k gn }y, nhiu ng dng ca o h{m cp ph}n s trong c|c lnh vc vt l, ha hc,
c kh, giao thng vn ti, x}y dng, t{i chnh v{ c|c ng{nh khoa hc kh|c ~ c quan t}m nghin
cu. Oldham v{ Spanier ng dng o h{m cp ph}n s v{o qu| trnh khuych t|n; Kempfle m t c
h tt dn; Bagley v{ Torvik, Caputo nghin cu v tnh cht ca c|c vt liu mi
C|c nh{ c hc cng bt u nghin cu vic |p dng o h{m cp ph}n s v{o c|c h dao
ng, ng lc hc nh h {n nht v{ nht do. Nutting (1921, 1943) l{ mt trong nhng nh{ nghin
cu u tin ngh rng hin tng chng ng sut c th c m hnh thng qua thi gian bc ph}n
s. Shimizu (1995) nghin cu dao ng v{ c tnh xung ca b dao ng vi m hnh Kelvin Voigt
ph}n s ca vt liu {n nht da trn gel silicone v{ chng minh mt s tnh cht kh|c bit gia kh
nng gim chn ca vt liu n{y so vi vt liu o h{m cp nguyn. Zhang v{ Shimizu (1999) nghin
cu mt v{i phng din quan trng v trng th|i tt dn ca b dao ng {n nht c m hnh bi
quy lut kt cu Kelvin Voigt ph}n s. H ~ tho lun s nh hng ca iu kin u ti trng th|i
tt dn
Ta ~ bit quan h gia lc v{ bin dng ca c|c b gim chn {n nht c dng

( ) ( ), 0 1.
p
f t D x t p q = < <
Trong
( ) f t l{ lc t|c dng,
( ) x t l{ dch chuyn, q l{ h s cn khng tuyn tnh,
p
p
p
d
D
dx
=
l{ to|n t o h{m cp ph}n s.
Thc t rng i vi nhng bin dng ln, |p ng phi tuyn xut hin. Mt s m hnh c
xut gii thch s |p ng phi tuyn. Mt m hnh c th c a ra l{ mt l xo phi tuyn
c thm v{o v phi ca phng trnh trn. Mt m hnh kh|c c a ra bi Zhimizu v Nasuno
yu cu i vi mt s vt liu {n nht, tnh phi tuyn xut ph|t t o h{m cp ph}n s ca bin
dng nn.
|n tt nghip n{y trnh b{y c|c m hnh c bn ca o h{m cp ph}n s, v{ c|c phng
ph|p s gii phng trnh vi ph}n cha o h{m cp ph}n s. p dng tnh to|n mt v{i m hnh dao
ng phi tuyn ca c|c h {n nht c cha o h{m cp ph}n s.
Qua }y em xin gi li cm n ch}n th{nh n thy GS.TSKH. Nguyn Vn Khang, thy ~ tn
tnh gip em trong sut thi gian thc hin |n tt nghip n{y.

H Ni, Ngy 10 thng 05 nm 2014
Sinh vin thc hin: Dng Vn Lc
Email: duonglacbk@gmail.com



CHNG 1Equation Chapter (Next) Section 1
O HM V TCH PHN CP PHN S
1.1 Kh|i nim v{ nh ngha m u o h{m v{ tch ph}n cp nguyn
Chng ta s dng n v N l{ nhng s nguyn dng, , , , , p q r o | v Q l{ nhng s bt k.
Cho mt h{m s
( ) f x . Ta k hiu o h{m cp 1, cp 2,... cp n ,ca h{m
( ) f x nh sau

( ) ( ) ( )
2
2
, ,..., ,...
n
n
df x d f x d f x
dx dx dx
(1.1)
Ngo{i ra ta cng c c|c k hiu o h{m tng t

( )
| |
( )
| |
( )
| |
2
2
, ,..., ,...
n
n
df x d f x d f x
dx
dx dx
(1.2)

o h{m ca h{m
( ) f x theo
( ) x a bng o h{m theo x ca n

( )
( ) ( )
( )
( ) ( )
( )
( )
2 2
2 2
, ,..., ,...
n n
n n
df x d f x d f x d f x d f x
df
dx d x a dx dx
d x a d x a
= = =
(
( (

(1.3)
Do tch ph}n l{ s nghch o ca o h{m nn ta vit

( )
| |
( )
1
0 0
1
0
x
d f x
f x dx
dx
=
}
(1.4)

C|c tch ph}n nhiu lp c k hiu

( )
| |
( )
1 2
1 0 0
2
0 0
x x
d f x
dx f x dx
dx
=
} }
(1.5)

( )
| |
( )
1 2 1
1 2 1 0 0
0 0 0 0
.
n
x x x x n
n n
n
d f x
dx dx dx f x dx
dx

=
} } } }
(1.6)
Khi gii hn di kh|c 0, c|c tch ph}n s c vit

( )
( )
( )
1
0 0
1
x
a
d f x
f x dx
d x a
=
(

}
(1.7)

( )
( )
( )
1 2 1
1 2 1 0 0
.
n
x x x x n
n n
n
a a a a
d f x
dx dx dx f x dx
d x a

=
(

} } } }
(1.8)
Lu phng trnh sau ng vi o h{m nhng khng ng vi tch ph}n

( )
( )
( )
n n
n n
d f x d f x
dx
d x a
=
(

(1.9)
Tc l{



( )
( )
( )
.
n n
n n
d f x d f x
dx
d x a

=
(

(1.10)
o h{m cpn thng c vit
( )
( )
n
f x
T ta s s dng i vi tch ph}n

( )
( ) ( )
1 2 1
1 2 1 0 0
.
n
x x x x
n
n n
a a a a
f x dx dx dx f x dx

=
} } } }
(1.11)
Vi pl{ s bt k

( )
( )
( )
| |
( )
( )
( ).
p p p
p
p p p
d f x d f x d f x
f x
dx
dx
d x a
= = =
(

(1.12)

( )
( ) ( )
( ).
p
p
p p
x b
d f x
d f
b
d x a d x a
=
=
( (

(1.13)
Mt s k hiu sau thng c s dng

( )
( )
( )
( ).
p
p
a x
p
p
a
D f x
d f x
D f x
d x a
=

(

(1.14)

1.2 Biu thc hp nht gia o h{m v{ tch ph}n cp nguyn
1.2.1 o h{m cp n
Trc khi gii thiu o h{m cp ph}n s, ta s rt ra biu thc hp nht cho o h{m v{ tch
ph}n cp nguyn. u tin, ta c nh ngha o h{m cp 1 ca h{m
( ) f x

( ) ( ) ( ) ( )
| | ( ) ( )
{ }
1
1
1
0 0
lim lim .
x x
d f x df x f x f x x
x f x f x x
dx x dx
o o
o
o o
o

( = = =

(1.15)
o h{m cp 2 ca h{m
( ) f x

( ) ( ) ( )
( ) ( ) ( ) ( )
| | ( ) ( ) ( )
{ }
2
0 0
2
0 0
2
0
2
lim lim
lim lim
lim 2 2
x x
x x
x
f x f x x f x x f x x
d f x f x f x x
x x
x x dx
x f x f x x f x x
o o
o o
o
o o o
o
o o
o o
o o o

' '
= =
( = +

(1.16)
Tng t ta c o h{m cp 3

( )
| | ( ) ( ) ( ) ( )
{ }
3
3
3
0
lim 3 3 2 3 .
x
d f x
x f x f x x f x x f x x
dx
o
o o o o
= + (

(1.17)
Bi c|c h s trong nhng phng trnh trn gn ging vi h s nh thc Newton, ta c th
vit o h{m cpn



( )
| | | | ( )
0
0
lim 1 .
n
n
n j
n
x
j
n d f x
x f x j x
j dx
o
o o
=

| |

=
`
|
\ .
)
(1.18)
Gi thit rng tt c c|c o h{m u tn ti v{
| |
x o tin ti 0 lin tc, ngha l{ tt c nhng gi|
tr ca n u tin ti 0. i vi s biu din hp nht vi tch ph}n, ta s cn c mt gii hn cht.
l{m c iu n{y, chia khong
| |
x a thnh N on bng nhau

| |
, 1, 2,3...
N
x x a N N o = = (1.19)
Thay v{o phng trnh (1.35)

( )
| |
| | | | ( )
0
0
lim 1 .
N
n
n
n j
N N
n
x
j
n d f x
x f x j x
j
dx
o
o o
=

| |

=
`
|
\ .
)
(1.20)
Ch rng h s nh thc
n
j
| |
|
\ .
= 0 nu j n > , (1.20) c vit li nh sau

( )
| |
| | | | ( )
1
0
0
lim 1 .
N
n
N
n j
N N
n
x
j
n d f x
x f x j x
j
dx
o
o o
=

| |

=
`
|
\ .
)
(1.21)
T (1.19) v{ (1.21) suy ra

( )
| |
| |
1
0
lim 1 .
n n
N
j
n
N
j
n d f x x a x a
f x j
j N N
dx
=

| | | | ( (
=
`
| |
( (

\ . \ .
)
(1.22)
1.2.2 Tch ph}n nhiu lp ca mt h{m s
B}y gi ta s ch v{o biu thc tch ph}n n lp ca
( ) f x . V mt tch ph}n cp nguyn c
nh ngha qua din tch, ta biu din n vi tng Riemann

( ) ( )
( )
( )
( )
( ) ( ) ( ) ( )
{ }
( )
1
1 1
0 0
1
0
1
0
0
lim 2
lim .
N
N
x
a x a x
a
N N N N
x
N
N N
x
j
d f x
I f x D f x f x dx
d x a
x f x f x x f x x f a x
x f x j x
o
o
o o o o
o o
=
= = =
(

( = + + + + +

=
`

)
}
(1.23)
Tch ph}n 2 lp:

( ) ( )
( )
( )
( )
| | ( ) ( ) ( ) ( )
{ }
| | | | ( )
1 2
2 2
1 0 0
2
2
0
1
2
0
0
lim 2 3 2
lim 1 .
N
N
x x
a x a x
a a
N N N N
x
N
N N
x
j
d f x
I f x D f x dx f x dx
d x a
x f x f x x f x x Nf a x
x j f x j x
o
o
o o o o
o o
=
= = =
(

( = + + + + +

= +
`

)
} }
(1.24)

i vi tch ph}n 3 lp



( ) ( )
( )
( )
( )
| |
| || |
( )
2 1 3
3 3
2 1 0 0
3
1
3
0
0
1 2
lim .
2 N
x x x
a x a x
a a a
N
N N
x
j
d f x
I f x D f x dx dx f x dx
d x a
j j
x f x j x
o
o o
=
= = =
(

+ +

=
`

)
} } }
(1.25)
Tng t vi tch ph}n n lp vit nh sau

( ) ( )
( )
( )
( )
| | ( )
1 1
1 2 0 0
1
0
0
1
lim .
n
N
x x x n
n n
a x a x n n
n
a a a
N
n
N N
x
j
d f x
I f x D f x dx dx f x dx
d x a
j n
x f x j x
j
o
o o

=
= = =
(

+ | |

=
`
|
\ .
)
} } }
(1.26)

( )
( )
1
0
1
lim .
n n
N
n
N
j
j n d f x
x a x a
f x j
j N N
d x a

=

+ | | | | ( (
=
`
| |
( (

\ . \ . (
)

(1.27)
1.2.3 S hp nht gia to|n t o h{m cp n v{ tch ph}n n lp
B}y gi ta thay n n = vi n nhn gi| tr }m th phng trnh (1.27) c dng

( )
( )
1
0
1
lim .
n n
N
n
N
j
j n d f x
x a x a
f x j
j N N
d x a
=

| | | | ( (
=
`
| |
( (

\ . \ . (
)

(1.28)
So s|nh phng trnh (1.22) v{ (1.28) ta thy

| |
1
1
j
n j n
j j

| | | |
=
| |
\ . \ .
(1.29)
Tht vy ta s chng minh cng thc (1.29)
Theo nh ngha

| | | |
( )( ) ( ) ( )( ) ( )
( )
( )
1 2 1 1 2
1 1
! !
1 1 !
! 1 !
j j
n n n n n j j n j n n
j j j
j n j n
j j n
+ | |
= =
|
\ .
| |
= =
|

\ .
(1.30)
Vi
( ) ( ) ( ) 1 !, 1 n n n n n I + = I + = I

( )( ) ( )
( )
( )
( ) ( )
1 2 1 1
!
! ! ! 1 1
m m m m m k m
m
k k k m k k m k
+ I + | |
= = =
|
I + I +
\ .

Thay
1 m j n
k j
=
ta c
( ) ( )
( ) ( )
( ) ( )
1 ,
1 1 ,
1 .
m j n
k j
m k n
I + = I
I + = I +
I + = I

Mt kh|c

| |
( )
( ) ( )
1
1
1
j
n j n j n
j j n j
I | | | |
= =
| |
I I +
\ . \ .
(1.31)
Do c th vit biu thc (1.22) v{ (1.28) di mt dng chung



( )
( )
( )
( )
( ) ( )
1
0
lim .
1
n n
N
n
a x
n
N
j
d f x j n x a x a
D f x f x j
N n j N
d x a
=

I | | ( (
= =
`
|
( (
I I +

\ . (
)

(1.32)
Trong n nhn c gi| tr nguyn }m v{ dng.
1.3 nh ngha o h{m v{ tch ph}n cp ph}n s
1.3.1 nh ngha o h{m v{ tch ph}n cp ph}n s theo Grnwald-Letnikov.
Cng thc (1.32) ng vi mi ty , ta t c nh ngha c bn v{ tng qu|t nht theo - Letnikov

( )
( )
( )
( )
( ) ( )
1
0
lim .
1
p p
N
p
a x
p
N
j
d f x j p
x a x a
D f x f x j
N p j N
d x a
=

I
| | ( (
= =
`
|
( (
I I +

\ . (
)

(1.33)
Vi p l{ s thc ty .
C|ch nh ngha theoGrunwald- Letnikov nh trn c u im l{ o h{m, tch ph}n cp ph}n
s c tm thng qua gi| tr ca h{m, khng cn c|c php tnh tch ph}n v{ o h{m ca n.
Mt kh|c ngi ta ~ chng minh c rng h{m
( ) ( ) 0 p p I > c th khng hu hn nhng
t s
( )
( )
j p
p
I
I
hu hn.
H s:
( )
( ) ( )
1
1
1
j
j p j p
A
j j p
+
I | |
= =
|
I + I
\ .
(1.34)
c gi l{ h s Grnwald
1.3.2 nh ngha o h{m v{ tch ph}n cp ph}n s theo Riemann Liouville.
Vi 0 < p o h{m, tch ph}n cp ph}n s c dng
( )
( )
( ) ( ) ( )
1 1
, 0 .
x
p
p
a x
a
D f x x y f y dy p
p

= <
I
}
(1.35)
Vi 0 > p
( ) ( ) ( ) ( )
1 1
, 0, 1 .
( )
x
n
n p
p
a x
n
a
d
D f x x y f y dy p n p n
n p dx

= > > >
I
}
(1.36)
nh ngha theo Riemann Liouville c ng dng rt ph bin. Tch ph}n trong phng trnh
(1.35) ch hi t vi 0 p < . Tuy nhin,vi 0 p > b{i to|n c bin i bng vic |p t iu kin
n p > trong phng trnh (1.36).
1.3.3 nh ngha o h{m v{ tch ph}n cp ph}n s theo Caputo.
Ta c
( )
( )
( ) ( ) ( )
1 1
, 1
t
n
n p
p
a t
n
a
d
D f t t f d n p n
n p dt
t t t

= < < +
I
}
(1.37)
Vi c|c gi| tr u



( )
( )
( )
1
1
2
2
lim ,
lim ,
lim .
p
a t
t a
p
a t
t a
p n
a t n
t a
D f t b
D f t b
D f t b
=
=
=
(1.38)
B{i to|n gi| tr u n{y v mt to|n hc ho{n to{n hp l nhng v mt ng dng, ngha vt
l ca nhng iu kin u rt kh l gii. gii quyt iu n{y, Caputo a ra mt nh ngha kh|c
ca o h{m v{ tch ph}n cp ph}n s nh sau
( )
( )
( )
( )
( ) ( )
1 1
, 0 1 .
x
n p
n C p
a x
a
D f x x y f y dy n p n
n p

= < < <
I
}
(1.39)
( )
( )
( )
( )
( )
( )
( )
1
lim .
x
n n n C p
a x
p n
a
D f x f a f y dy f x
= + =
}
(1.40)
1.3.4 Mt s nh ngha o h{m v{ tch ph}n cp ph}n s kh|c
1.3.4.1 o hm cp phn s dng dy (dng Miller Ross)
nh ngha

( )
( ) ( )
0 1 ;
,
p
np p p p
x x x x
n
d
D p
dx
D f x D D D f x
= s s
=
(1.41)
Phng trnh trn c gi l{ o h{m cp ph}n s dng d~y. Trong
p
x
D c nh ngha
dng Riemann Liouville (hoc dng Grunwald - Letnikov). Ta c nh ngha o h{m cp ph}n s
dng d~y

( ) ( )
( )
( )
( ) ( )
1 2
1 2
,
,
, 1 .
n
p p p p
x x x x
n
n p p
a x a x
n
D f x D D D f x
p p p p
d d d
D f x D f x n p n
dx dx dx

=
= + + +
= s s
(1.42)
Nu s dng dng Caputo

( )
( )
( ) ( ) , 1 .
n p C p C
a x a x
n
d d d
D f x D f x n p n
dx dx dx

= s s (1.43)
1.3.4.2 nh ngha dng Weyl (tch phn Weyl)
Xut ph|t t nh ngha Riemann Liouville, cho a ta c nh ngha dng Weyl
( )
( )
( ) ( )
1 1
.
x
p
W p
a x
D f x x y f y dy
p

=
I
}
(1.44)
1.3.4.3 nh ngha Davison Essex



( )
| |
( )
( )
1
1
0
,
1
x k
n k
p
x
n k k
x y d f y
d
D f x dy
dx dx
|
|
+
+
(
( =
I
(

}
(1.45)
Vi , 0 1, 0 1, p n k n n | | = + < < < < + l{ s nguyn.
Khi 0 k = nh ngha Davision Essex tr v nh ngha Riemann- Liouville vi 0, a p n | = =
( )
( )
( ) ( )
1
( )
1
0
1
.
1
x
n
p n
p
x
n
d
D f x x y f y dy
n p dx
+

+
(
= (
I +
(

}
(1.70)
1.4 C|c tnh cht ca o h{m v{ tch ph}n cp ph}n s
1.4.1 Tnh cht tuyn tnh
o h{m cp p ca tng

( ) ( )
( )
( )
( )
( )
( )
1 1 2 2
1 2
1 2
p
p p
p p p
d c f x c f x
d f x d f x
c c
d x a d x a d x a
( +

= +
( ( (

(1.46)
1.4.2 Quy tc Leibniz
o h{m v{ tch ph}n cp pca tch hai h{m f v g

( ) ( )
( )
( )
( )
( )
( ) 0
.
p
p j j
p p j j
j
d f x g x p d f x d g x
j
d x a d x a d x a
=
(
| |

=
|
\ . ( ( (

(1.47)
Trong h s nh thc c x|c nh bng vic thay th giai tha vi h{m Gamma tng ng.

( ) ( ) ( )
( )
( )
0
.
j p p j
a x a x
j
p
D f x g x D f x g x
j
=
| |
( =
|

\ .
(1.48)
1.4.3 Tnh cht bin i thang bc
Php bin i thang bc ca mt h{m s i vi gii hn di a

( ) ( ), f x f x a a + (1.49)
Vi l{ h s thang bc khng i. Nu gii hn di l{ 0, (1.49) tr th{nh

( ) ( ), f x f x (1.50)
Khi 0 a = , ta c s thay i thang bc

( )
( )
( )
( )
| |
, .
p p
p
p p
d f X d f X
X x a a
d x a d X a

= = +
( (

(1.51)
Khi 0 a =

( )
| |
( )
( )
.
p p
p
p p
d f x d f x
dx d x

=
(

(1.52)
1.4.4 o h{m v{ tch ph}n cp ph}n s ca mt chui



Cho 1 chui h{m hi t u ( )
0
j
j
f x
. o h{m v{ tch ph}n cp ph}n s ca chui

( )
( )
( ) 0 0
.
q
q
j
j
q q
j j
d f
d
f x
d x a d x a

= =
=
( (

(1.53)
Vi h{m c khai trin th{nh chui ly tha
( ) ( )
0
j
j
j
f x a x a
=
=
, |p dng cng thc

Riemann

( )
( )
( )
1
, 1
1
p q
q p
q
p x
d x
p
p q
d x a
I +
= >
I +
(

(1.54)

( )
| | | |
0 0
,
q
j j
p p q
n n
j j
q
j j
pn j n
d n
a x a a x a
pn qn j n
d x a
n

+ +
= =
+ + | |
I
|
\ .
=
+ + | |
(
I
|
\ .

(1.55)
Trong q ly gi| tr bt k nhng
( ) 0
1, 0,
j
p a n
n
+
+ > = e
1.4.5 Tnh cht hp th{nh
1.4.5.1 Khi m, n nguyn dng

( )
( )
( )
( )
( ) ( )
( )
( )
,
m n m n
n m
n m n m m n
d f x d f x d f x
d d
d x a d x a d x a d x a d x a
+
+

= =
` `
( ( ( ( (

) )
(1.56)

( )
( )
( )
( )
( ) ( )
( )
( )
.
m n m n
n m
n m n m m n
d f x d f x d f x
d d
d x a d x a d x a d x a d x a

= =
` `
( ( ( ( (

) )
(1.57)

( )
( )
( )
( )
.
n m n
m
m n m n
d f x d f x
d
dx
d x a d x a

=
`
( (

)
(1.58)

( )
( )
( )
( )
( )
| |
( )
( )
1
.
!
k
m m n
n n
m k n
n m m n
k n m
d f x d f x x a
d
f a
k
d x a d x a d x a

+

=

=
`
( ( (

)

(1.59)

V d 1.1 Cho hm
( )
3x
f x e
= . Hy tm

| |
( )
| | | |
( )
| |
3
3
3 3
, .
d f x df x
d d
dx dx
dx dx

` `

)
)

p dng (1.58) v (1.59) ta c

| |
( )
| |
( )
| |
( )
( )
( )
( )
( )
( )
3 2
2 2 1
3 2
0 0 .
d f x d f x
d
f x f x f
dx
dx dx

= =
`

)



( )
( )
( )
( )
1 1 3 3
0
1 1
0 ,
3 3
x
x x
f x e dx e f

= = =
}

( )
( )
( )
( )
2 2 3 3
0
1 1 1
0 ,
3 9 9
x
x x
f x e dx e f

= = =
}

Do
| |
( )
| |
3
3
3
1 1
.
9 3 9
x
d f x
d x
e
dx
dx

= +
`

)

T (1.59) ta tm c

| |
( )
| |
( )
| |
( )
2
3 2 2
3
3 2
1 1
0 .
2 9 3 9 2
x
df x d f x
d x x x
f e
dx
dx dx

= = +
`

)

1.4.5.2 Khi p, q l cc s bt k
Cng thc sau ch ng khi c iu kin x|c nh n{o

( )
( )
( )
( )
( )
,
p q p
q
q p q p
d f x d f x
d
d x a d x a d x a
+
+
(
(
=
(
( ( (

(1.60)
Gi s
( ) f x c khai trin th{nh chui ly tha

( ) | |
0
, 1, khng nguyn.
p j
j
j
f x a x a p j p
+
=
= + >
(1.61)
Khi (1.60) ch ng khi
( ) f x tha m~n iu kin di }y
( )
( )
( )
( )
0.
p
p
p p
d f x
d
f x
d x a d x a
(
(
=
(
( (

(1.62)
Tng qu|t, quy tc hp th{nh i vi , p q

( )
( )
( )
( )
( ) ( )
( )
( )
( )
( )
.
p
q
q p
q p p
q p p
q p q p p p
d f x
d
d x a d x a
d f x d f x
d d
f x
d x a d x a d x a d x a
+
+
+ +
(
(
(
( (

(

(
=
`
(
( ( ( (

)
(1.63)
Ch rng khi = p n ta c



( )
( )
( )
( )
( ) ( )
( )
( )
( )
( )
( )
( )
| |
( )
( )
( )
1
0
.
1
n
q
q n
q n n
q n n
q n q n n n
k q n k q n
n
q n
k
d f x
d
d x a d x a
d f x d f x
d d
f x
d x a d x a d x a d x a
d f x x a f a
k q n
d x a
+
+
+ +

+

+
=
(
(
(
( (

(

(
=
`
(
( ( ( (

)
=
I +
(

(1.64)
V d 1.2 Cho hm
( )
1 2
f x x
= .
Vi 0, 1 2, 1 2 a p q = = = .
a. Kim tra iu kin (1.62)

| | | | | |
( )
( )
1 2 1 2 1 2 1 2
1 2 1 2 1 2
1 2 1 2 1 2
1 2
0 0
0
d d x d
x x x
dx dx dx

( I

= = =
( `
I
(

)

Vy iu kin (1.62) khng c tha m~n.
b.Tnh
| | | |
1 2 1 2 1 2
1 2 1 2
d d x
dx dx

`

)

Theo (1.63) ta c

| | | | | | | | | | | |
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
1 2
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
.
d d x d x d d d x
x
dx dx dx dx dx dx
+ +
+ +

(

( =
` `
(

)
)

Do
| | | | | |
1 2 1 2 1 2 1 2 1 2
1 2 1 2 1 2
0 0
d x d d x
dx dx dx

(
( = =
(

Dn n

| | | | | | | |
{ }
1 2 1 2 1 2 1 2 1 2 1 2 1 2 1 2
1 2 1 2 1 2
1 2 1 2 1 2 1 2 1 2 1 2
0 0.
d d x d x d
x x x
dx dx dx dx
+ +

+ +

= = =
`

)

1.5 Mt s v d v o h{m, v{ tch ph}n cp ph}n s
1.5.1 o h{m v{ tch ph}n cp ph}n s ca mt hng s
Trc tin ta s dng nh ngha Grunwald , ta c o h{m v{ tch ph}n cp ph}n s ca 1 C =

| |
( )
( )
( ) ( )
1
0
1
lim .
1
p p
N
p
N
j
d j p N
x a j p
d x a
=

I
(
=
`
(
I + I

(
)

(1.65)
Theo tnh cht ca h{m Gamma



( )
( ) ( )
( )
( ) ( )
( )
( )
| |
( )
| |
( )
1
0
, lim 1.
1 1
1
.
1
p
N
N
j
p
p
p
j p N p N N p
p j p N N
d x a
p
d x a
( I I I
= =
(
I I + I I I

=
I
(

(1.66)
Khi C l{ mt hng s bt k ta c

| |
( )
| |
( )
| |
( )
1
.
1
p
p p
p p
d C d x a
C C
p
d x a d x a
= =
I
( (

(1.67)
1.5.2 o h{m v{ tch ph}n cp ph}n s ca h{m ( )
f x x a =
S dng nh ngha Grunwald - Letnikov i vi h{m
( ) f x x a =

| |
( )
( )
( ) ( )
( ) ( )
| |
( )
( ) ( )
( )
( ) ( )
1
0
1 1
1
1
0 0
lim
1
lim lim .
1 1
p p
N
p
N
j
N N
p
p p
N N
j j
d x a j p N x a j x a
N
x a j p N
d x a
j p j j p
x a N N
p j p j

= =

( I
(
=
` (
(
I + I

(
)

(

I I

( =
` `
I I + I I +
(

) )

(1.68)
Kt hp vi tnh cht ca h{m Gamma, s lin h gia c|c h{m Gamma
( )
( ) ( )
( ) ( )
( ) ( )
( ) ( ) ( )
1
0
, 2 1 1
2 1
N
j
j p p N p
p p p
p j p N
=
I I
= I = I
I I I I
ta c

| |
( )
| |
( ) ( )
1 1
,
1 2
p
p
p
d x a
p
x a
p p
d x a

(
= +
(
I I
(

(1.69)

| |
( )
| |
( ) ( )
| |
( )
1
1 1
.
2 2 2
p
p
p
p
d x a x a
p p
x a
p p p
d x a
= + =
(
I I I
(

(1.70)
1.5.3 o h{m v{ tch ph}n cp ph}n s ca ( ) | | ( )
1
p
f x x a p = >
Xut ph|t t nh ngha Riemann Liouville, mi lin h gia c|c h{m Bta v{ h{m Gamma, ta
c o h{m v{ tch ph}n cp q ca h{m
( ) f x

| |
( )
( )| |
( )
1
, 1.
1
p p q
q
q
d x a p x a
p
p q
d x a
I +
= >
I +
(

(1.103)
1.5.4 o h{m v{ tch ph}n cp ph}n s ca h{m ( ) | |
1
p
f x x =

x}y dng cng thc cho tt c gi| tr , p q ta vit
( ) 1 1 x a x a =
p dng cng thc nh thc cho h{m
( ) f x



( )
( )
( ) ( )
( ) ( ) ( )
0
1
1 1 1 .
1 1
p j p j j
j
p
x a x a
j p j
=
I +
=
I + I +
(1.71)
T cng thc o h{m v{ tch ph}n cp ph}n s ca mt chui s, cng thc Riemann cng vi
tnh cht ca h{m Gamma v{ h{m Bta, ta c

| |
( )
( )
( )
( )
1 1
, .
p p q
q
x
q
d x x
q q p
q
d x a

= B
I
(

(1.72)
vi
x
B l{ h{m bta khng y .
1.5.5 o h{m v{ tch ph}n cp ph}n s ca h{m bc nhy n v v{ h{m Delta Dirac
1.5.5.1 Hm Heaviside
Ta c hm Heaviside
( )
0
0
0
0 khi
.
1 khi
x x
H x x
x x
<
=
>

Khi
0
0, < < < p a x x

( )
( )
( )
( )
| |
( )
| |
( )
| |
( )
( )
0
0
0
0
1
0
1 1
1
1 0 1 1
.
1
x p
p p
a
p
x x
p p
a x
H x x
d
H x x dy
p
x y d x a
x x
dy dy
p p p
x y x y
+
+ +
=
I
(

= + =
I I I

}
} }
(1.73)

M rng vi h{m
( ) ( )
0
f x H x x
( ) ( )
( )
0
0
0
0 khi
khi
x x
f x H x x
f x x x
<
=

>
.

( )
( ) ( ) { } ( )
( )
( )
( )
0 0 0
0
.
p p
p p
d f x d
f x H x x H x x a x x
d x a d x x
= < <
( (

(1.74)
1.5.5.2 Hm Delta Dirac
( )
0
x x o
Ta c hm Delta Dirac
( )
0
o x x
( ) ( ) ( )
0 0
x
a
x x f y dy f x o =
}
nu
0
a x x < < .
Chn ( )
( )
( )
( ) ( )
1 1
0
0
1
0 ,
x
p p
p
a
x x
f x y dy x x p
x y
o

+
= = <
}

( )
( )
( )
( )
( )
( )
( )
1
0 0
0 1
1
.
p
x p
p p
a
x x x x
d
x x dy
p p
x y d x a
o
o

+

= =
I I
(

}
(1.75)



T (1.74) v{ (1.75) ta c mi lin h

( )
( )
( )
( )
( ) ( )
1
0 0
1
0 0
,
.
p p
p p
d H x x d x x
d x a d x a
d
H x x x x
dx
o
o
+
+

=
( (

=
(1.76)
1.5.6 o h{m v{ tch ph}n cp ph}n s ca h{m
( )
at
f t e =
Hm
( )
at
f t e =
c o h{m cp ph}n s
( )
( )
( )
1
0
1
,
t
p
p a
t
D f t t e d
p
t
t t

=
I
}
(1.77)
t u t t = ta c
( )
( )
( ) 1
0
1
t
a u t p p
t
D f t u e du
p
+
=
I
}
(1.78)
( )
( )
( )
1
1,1
0
.
t
at
p p au p
t p
e
D f t u e du t E at
p

= =
I
}

Trong
( )
1,1 p
E at
l hm Mittag Leffler hai tham s.

Vy :

( ) ( )
1,1
.
p p
t p
D f t t E at
= (1.79)
1.5.7 o h{m v{ tch ph}n cp ph}n s ca h{m
( ) ( ) sin , cos f t t f t t e e = =
Hm
( )
cx
f x e = c o h{m cp ph}n s
. =
p cx p cx
x
D e c e
Vi c ie = ta c ( ) .
e e
e =
p
p i x i x
x
D e i e

2 2
cos sin .
2 2
t t
t t
= = + =
i i p
p
i e i i e

( )
2
cos sin .
2 2
i x p
p i x p p p
x
D e e x p i x p
t
e
e
t t
e e e e e
+
| | | |
= = + + +
| |
\ . \ .
(1.80)
Mt kh|c ta c
( ) ( ) cos sin
i x
e x i x
e
e e = +
( ) ( ) ( ) ( )
cos sin cos sin
p i x p p p
x x x x
D e D x i x D x iD x
e
e e e e = + = + (

( )
( )
sin sin
2
.
cos cos
2
p p
x
p p
x
D x x p
D x x p
t
e e e
t
e e e
| |
= +
|
\ .

| |
= +
|
\ .
(1.81)



1.6 Php bin i Fourier v{ Laplace ca o h{m cp ph}n s
1.6.1 Php bin i Laplace
Php bin i Laplace l{ mt php bin i tch ph}n bin mt h{m
( ) f t trong min thi gian
sang
( )
L
f s trong mt phng phc
( ) ( ) ( ) ( ) ( ) { }
0
, .
st
L L
f t f s f s e f t dt f t
= =
}
L (1.82)
Laplace ngc ca nh
( )
L
f s

( ) { } ( ) ( ) { } { } ( )
1 1
.
L
f s f t f t f t

= = L L L (1.83)
Nu
( ) f t l{ mt h{m gc v{
( )
L
f s l{ nh ca n th ti mi im lin tc ca
( ) f t ta c
( ) ( )
1
.
2
i
st
L
i
f t e f s ds
i
o
o
t
+

=
}
(1.84)
Trong tch ph}n c tnh dc theo ng thng ng
( ) Re s o = .
1.6.2 S tn ti ca php bin i Laplace
Hm
( ) f t c gi l{ h{m cp m khi t nu tn ti c|c hng s C, K, T sao cho

( ) ,
CT
f t Ke t T s > (1.85)
Khi Laplace ca
( ) f t s tn ti vi . > s C
1.6.3 Tnh cht
a. nh l vi ph}n
Nu
( ) f t c c|c o h{m ti cp n v ( ) { } ( )
L
f t f s = L ta s c c|c o h{m ca n

( ) { } ( ) ( )
( ) { } ( ) ( ) ( )
( )
( )
{ }
( ) ( ) ( )
( )
( )
( )
( )
2
2 1 1 2
0 ;
0 0 ;
0 0 0 0 .
L
L
n n n n n n
L
f t s f s f
f t s f s sf f
f t s f s s f s f sf f

=
=
=
L
L
L
(1.86)
b. Tch chp ca 2 h{m s
Cho 2 h{m s
( ) f t v
( ) g t .Tch chp ca 2 h{m s l{ mt h{m s ca t
( ) ( ) ( ) ( )
0
,
t
f t g t f t g d t t t - =
}
(1.87)
Nu
( ) ( )
L
f t f s
L
,
( ) ( )
L
g t g s
L
, nh ca tch chp bng tch c|c nh

( ) ( ) ( ) ( ) ( ) . .
L L
f g f g f s g s - = = L L L . (1.88)
1.6.4 Php bin i Laplace ca o h{m v{ tch ph}n cp ph}n s



1.6.4.1 Php bin i Laplace ca o hm v tch phn cp phn s Riemann - Liouville
Khi 0 = a ta c

( )
( )
( ) ( ) ( )
( ) ( )
1
0
0
0
1
,
.
t
n p
p n
t
n
p
t n
g t t f d D f t
n p
d
g t D f t
dt
t t t

= =
I
=
}
(1.89)
Hay

( ) ( )
0 0
,
n p
t t
D g t D f t = (1.90)
Php bin i Laplace
( ) ( )
( )
( )
1
1
0
0
0 .
n
n k n n k
t L
k
D g t s g s s g

=
( =

L (1.91)
( )
( )
( ) ( )
( )
( ) ( )
1
1
0
1
,
t n p
n p t
g t t f d H t f t
n p n p
t t t

= = -
I I
}

( ) ( )
( )
( ) ( )
1
1
,
n p p n
L L
g s g t t f t s f s
n p

( = = = ( (

I
L L L

( )
( ) ( )
( ) ( ) ( )
1 1
0
1
1
0 0
0
0 0 ,
0 .
n k p k
t
n
p p k p k
t L t
k
g D f
D f t s f s s D f

=
=
( =

L
(1.92)
1.6.4.2 Php bin i Laplace ca o hm v tch phn cp phn s Caputo
( )
( )
( )
( )
( )
1
0
0
1
,
t
n p
n C p
t
D f t t f d
n p
t t t

=
I
}
(1.93)
t ( )
( )
( )
n
g f t t =

( )
( )
( ) ( ) ( ) ( )
( ) ( )
( )
( )
1
0 0
0
1
1
0
1
, 1
0 .
t
n p
C p p n
t t
n
p k C p p k
o t L
k
D f t t g d D g t n p n
n p
D f t s f s s f
t t t

=
= = < s
I
( =

}
L
(1.94)
1.6.5 Php bin i Fourier ca o h{m v{ tch ph}n cp ph}n s
1.6.5.1 Php bin i Fourier
nh ngha 1: Php bin i thun
( ) ( ) ( ) .
i t
F f t e f t dt
e
e

( = =
}
F (1.95)
Ch : Php bin i Fourier ca h{m
( ) f t tn ti khi
( ) f t l{ h{m kh tch tuyt i tc l ( )
f t
kh tch
( ) , ). Ni c|ch kh|c nu
( ) f t l{ h{m kh tch lin tc tng khc v{ tch ph}n ca h{m



( ) f t dt
<
}
th s tn ti php bin i Fourier ca
( ) f t .
nh ngha 2: Pho bin i Fourier ngc cho ta h{m gc
( ) f t
( ) ( ) ( )
1
1
.
2
i t
f t F e F d
e
e e e
t

= = (
}
F (1.96)
1.6.5.2 Php bin i Fourier ca o hm cp phn s
Gi s:

( ) ( )
( ) ( )
1
2
i t
f t F
f t F e d
e
e
e e
t

=
}
F
(1.97)
Do vy:

( ) ( ) ( )
1 1
2 2
p p i t p i t
D f t D F e d F D e d
e e
e e e e
t t

( = =
} }
(1.98)
Mt kh|c:
( )
q
q i t i t
D e i e
e e
e = (1.99)
Thay (1.99) vo (1.98) ta c:

( ) ( ) ( ) ( ) ( ) ( )
1 1 1
2 2 2
p p
p p i t i t i t
D x t F D e d F i e d i F e d
e e e
e e e e e e e e
t t t

( (
( ( = = =

} } }
(1.100)
Do vy ta c cp bin i Fourier i vi o h{m cp ph}n s l{:
( ) ( ) ( )
1
p
p
D x t i X e e
F
F
(1.101)
Trong :
( ) F e l{ nh ca
( ) f t qua php bin i Fourier:
1.6.5.3 Tnh cht ca php bin i Fourier
a. Bin i Fourier ca o h{m
( ) ( ) ( ) ( ).
d
f t F f t i F
dt
e e e
(
=
(

F , (1.102)
( ) ( ) ( ).
n
n
n
d
f t i F
dt
e e
(
=
(

F (1.103)
b. Tch chp ca 2 h{m s
Cho 2 h{m s
( ) f t v
( ) g t .Tch chp ca 2 h{m s l{ mt h{m s ca t
( ) ( ) ( ) ( )
, f t g t f t g d t t t
- =
}
(1.104)
Nu
( ) ( ) f t F e
F
,
( ) ( ) g t G e
F
, nh ca tch chp bng tch c|c nh

( ) ( ) ( ) ( ) ( ) . . f g f g F G e e - = = F F F . (1.105)



CHNG 2 Equation Section 2
CC PHNG PHP S TNH TON DAO NG CA C H
CHA O HM CP PHN S
2.1 Xp x th{nh phn o h{m cp ph}n s
2.1.1 nh ngha o h{m cp ph}n s
Theo nh ngha o h{m cp ph}n s p bi Riemann-Liouville vi
| | , x a b e .
( )
( )
( )( )
1 1
t n
n p
p
RL n
a
d
D x t x x d
n p d
t t t
t

=
I
}
(2.1)
Trong :
( ) . I l{ h{m Gamma, n l{ s nguyn tha m~n 1 n p n < < , hay
| | 1 n p = + . Mt c|ch kh|c
o h{m cp ph}n s c xp x bi Grnwald-Letnikov nh sau:

( ) ( ) ( )
0
0
1
lim 1
t p
t
k
p
GL p
t
k
p
D x t x t k t
k t
(
(
A
A
=
| |
= A
|
A
\ .
(2.2)
Trong cng thc n{y tng gii hn trn hi t tuyt i vi mi p>0. Tuy nhin chnh s di dc
trong cng thc m{ s dng cng thc n{y c mt s hn ch. V{ vic s dng cng thc n{y tnh
to|n th thng khng n nh, cng nh chnh x|c khng cao.
nh ngha o h{m cp ph}n s ca Caputo:
( )
( )
( )( )
1 1
t n
n p
p
C n
a
d x
D x t x d
n p d
t t t
t

=
I
}
(2.3)
Trong :
( ) . I l{ h{m Gamma, n l{ s nguyn tha m~n 1 n p n < < , hay
| | 1 n p = + . Theo nh
ngha ca Caputo c mt s thun li, nh trong vic bin i Laplace v{ tr|nh c phi x l iu
kin u.
Mnh lin h gia 2 nh ngha ca Riemann-Liouville v Caputo:
( ) ( ) ( )
( )
( )
1
0
1
p k
k n
p p
RL C k
k
x a
d x
D x t D x t a
dt p k
+
= +
I + +
(2.4)
Trong chng n{y s xut vic xp x vi 0 1 p < < v{ vi 1 2 p < < i vi nhng trng hp siu
khuch t|n chn.
2.1.2 Xp x th{nh phn cp ph}n s vi 0<p<1
2.1.2.1 S dng o hm cp mt
Xp x ,
n n
x x theo cng thc Newmark:
( )
1 1 1 2
1 1 1
1
2
n n n n n
x x x x x
t t | | |

| |
=
|
A A
\ .
(2.5)
( )
1 1 1 1 1
(1 ) 1 1
2
n n n n n n n n
x x tx tx x t x x x
t
o o o
o o
| | |

| | | |
= + A + A = +A +
| |
A
\ . \ .
(2.6)
Vi , l{ c|c h s Newmark.



Th{nh phn o h{m cp ph}n s c xp x nh sau:
( )
( ) ( )
( )
1
1
0
0 1
0
( ) 1 ( ) ( ) 1
(1 ) (1 ) (1 )
n n
n
t t
p p
RL n n n n p p
t
n n
x t x d x d
D x t t I I I
p p p
t t
t t t t
t t
(
= + + = + + A (
I I I

(

} }
(2.7)
Trong :

( )
1 2
0 1
1
1
0
( ) ( )
2
2 ( )
n
t
n
n
n p p p p
i
n n
n
x x x d h x ih
I
t h t ih
t
t t
t

=
(
= ~ + +
(
}
(2.8)

( )
1
1 2 2
1 1
( )
(1 )
1 (1 )(2 ) (1 )(2 )
n
n
t
p p p
n n n n p
t
n
x d t t t
I x x x
p p p p p
t
t t
o o
t

A A A
A = = + +

}
(2.9)
Thay (2.5) vo (2.9) ta c:

( )
( )
1
1
1 1 1
( )
2 1
(1 )(2 ) 2
n
n
t
p
n n n n n p
t
n
x d t
I x x p x tx
p p t
t
t t o o o
| | |
t

(
| | | | A
A = = + + A
( | |
A
\ . \ .

}
(2.10)
Do vy t (2.7) ta c:
( ) ( ) ( )
0 1 0 1 2 1 1 1
1
, , , , ,... , , ,
(1 )
p
n n n p n n n n
D x t I I I x x x x x x x
p
o |

= + + A =
I
(2.11)
2.1.2.2 S dng o hm cp hai.
Th{nh phn o h{m cp ph}n s c xp x nh sau:

( )
( )
( )
( )
( )
( ) ( )
( )
( )
( )( ) ( )( )
0
0
0
1 1
0
0
0
1 1 0
0
0
1 1
1 1 1
( ) 1
(1 ) (2 )
( ) 1
( ) ( )( )
(1 ) (2 )
1
(1 )
n n
n
n
n
t t
p p
RL n n q p
t
n n
t
t
p p
p
n n n
t
p p p
n n n
x x t x
d
D x t d t d
p dt p p
t t
x t
t x t x t d
p p
x t
t x t t x t d
p p
I
p
t t
t t
t t
t t t t t
t t t

= = +
I I I

(
= + +
(
I I
(

(
= + +
(
I I
(

=
I
} }
}
}
( )
( )
0 0
0 0 0 1 2 1
1
( )
(2 )
, , , , ...
n
p n
J J t
p
x x x x x x

+ +
I
=
(2.12)
Tong :

1
0 0
1
0 0
( ) ,
( ) ( )( ) ( )
n n
n
p
n
t t
p
n n t
J x t t
J t x t d y d t t t t t
=
= =
} }
(2.13)
Cng thc (2.13) c xp x bng cng thc hnh thang nh sau:



Hnh 2.1. Xp x tch ph}n bng cng thc hnh thang
Ta tnh c:

( )
0
1 2
1 1 1
0 0
1
/2 /2 1 /2
0
( ) 0
( ) ( ) ( ) ( ) ( ), ( 1)
2 2 2
( ) ( ) ( ), ( 0)
2 2 4
n n n n n
n n n
n n
n t j t j t j t j t n
j j
n
n t h j t h j t h n
j
J t
h h h
J t y y y y y t n
h h h
J t y y y t n
t t t t
t t

+ +
= =
+ + + +
=
=
( (
~ + = + + >

| |
(
+ ~ + + >
|

\ .

(2.14)
2.1.2.3 S dng sai phn
Theo t{i liu [31] th{nh phn o h{m cp ph}n s c xp x nh sau :

( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( )
( ) ( )
0
0
0
0 0
0
1 1
1 1
1 1
1 1
n n
n
t t
p p
RL n n q p
t
n n
t
n p p
n n n p
x x
d
D x t d x t t d
p dt p
t t
x t
x t t d x t t I t
p p
t t
t t
t t
t
t
t

(
= = + (
I I

(

(
( = + = +
(

I I
(

} }
}
(2.15)
Ta c:
( )
( ) ( )
( ) 1
1
0
0
n
j h t
n
n n
n
p p
j
jh
x t x t
I t d d
t t
t t
t t
+
=

= =
} }
(2.16)
S dng sai ph}n:
( )
1 n j n j
n
x v
x t
h
t

~ (2.17)
Thay (2.17) v{o (2.16) ta c:

( )
( )
( )
( )
( )
( )
( )
( )
( ) ( )
( )
1 1
1 1
1
1
0 0
1 1
1
1
1 1
1 1
0 0
1 1
1
1 1
j h j h
p n n
n j n j
n n j n j
p
j j
jh jh
n n
j h
p
p p
n j n j n j n j
p
jh
j j
x v
I t d x v d
h h
x v x v j j
h p h p
t
t t
t
t
+ +

= =

+

= =
= =
= = +

} }

(2.18)
Thay (2.18) v{o (2.15) ta c:

0

0



( )
( )
( )
( )
( )
( ) ( )
( )
( )
1
1
1
0 1
0
0 1 2 1
1
1 1
1
2 1
, , ,... ,
n
p
p p
n n j n j
p p p
j
p n n
p
D x t x t x v j j
h p n h p
x x x x x

= + +
`
I

)
=
(2.19)
2.1.2.4 S dng tch phn s
Vic xp x theo s im Gauss c li th l{ thi gian tnh to|n c
( ) n O tuy nhin vic xp x n{y l{
km chnh x|c hn c|c phng ph|p kh|c.
Xp x th{nh phn o h{m cp ph}n s
( )
( )
( )
( )
0
1
p p p
RL C
x t
D x t t D x t
p

= +
I
(2.20)
( )
( )
( )
( )
0
1
p
t
p
C
t
D x t Dx d
p
t
t t
=
I
}
(2.21)
Trong h{m Gamma c nh ngha:
( )
1
0
z p
p e z dz

I =
}
(2.22)
ng thi h{m Gamma c tnh cht sau:
( ) ( ) 1
sin( )
p p
p
t
t
I I = (2.23)
Thay (2.22) v (2.23) vo (2.21) ta c:
( )
( )
( )
0 0
2sin
p
t
p z
C
p
z dz
D x t e Dx d
t z
t
t t
t t
| |
(
=
|
(
|

\ .
} }
(2.24)
t:

( )
2
z t y t = (2.25)
Do vy t (2.24) v (2.25) ta nhn c:
( )
( )
( )
( )
2
2 1
0 0
2sin
t
t y p p
C
p
D x t y e Dx d dy
t
t
t t
t

| |
=
|
\ .
} }
(2.26)
t:
( )
( )
( )
( )
2
2 1
0
2sin
, ,
t
t y p
p
y t y e Dx d
t
t
| t t
t

= =
}
(2.27)
T (2.26) ta c:

( ) ( ) ( )
2 1 2
, ,
p
D y t y Dx t y y t | |
= (2.28)
S dng phng ph|p Gauss n im xp x o h{m cp ph}n s:
( ) ( ) ( )
0
, w ,
i
n
y p
C i i
i n
D x t y t dy e y t | |
=
= =
}
(2.29)
Trong : n l s im Gauss.



w :
i
l{ h{m trng lng
:
i
y l{ im Gauss ph thuc v{o s im Gauss dng xp x
( ) ,
i
y t | c x|c nh bng c|ch gii h phng trnh vi ph}n sau:

( ) ( ) ( )
2 1 2
, , , 1..
p
i i i i
y t y x t y y t i n | |
= = (2.30)
2.1.3 Xp x th{nh phn cp ph}n s vi 1<p<2
i vi trong c|c trng hp siu khuch t|n chn th th{nh phn o h{m cp ph}n s p s l{
1 2 p < < . Theo nh ngha ca Riemann-Liouville:
( )
( )
( )( )
2
1
2
1
2
t
p
p
R
a
d
D x t x t d
p dt
t t t
=
I
}
(2.31)
Theo nh ngha ca Caputo:
( )
( )
( )( )
1 1
2
t
p
p
C
a
D x t x t d
p
t t t
=
I
}
(2.32)
Ta c lin h gia 2 nh ngha Riemann-Liouville v{ Caputo nh sau.
( ) ( ) ( )
( )
( )
( )
( )
( )
1
1 2
p p
p p
RL C
t a t a
D x t D x t x a x a
p p
+

= + +
I + I +
(2.33)
Vic s dng nh ngha Riemann-Liouville trong trng hp 1 2 p < < i hi phi s l iu kin
u
( ) x a , v
( ) x a tuy nhin vic x l iu kin u l{ rt kh khn trong trng hp phng trnh
dao ng phc tp. Do vy xp x gi thit iu kin u c a ra l{
( ) ( ) 0, 0 x a x a = = . Vic xp
x tch ph}n (2.32) c th c thc hin tng t nh i vi trng hp 0 1 p < < , bng c|ch a v
o h{m cp 3 vic xp x c thc hin nh sau:

( )
( )
( )
( )
( )
( )( ) ( )( )
( )
( ) ( )( )
2 2
1
0
0 0
2
2
0
1 1 1
2 2 2
1
0
3
n
n
n
t t
t
p p
p
C n n n p
n
t
p
p
n n
x
D x t d x t x t d
p p p
t
x t x t d
p
t
t t t t t t
t
t t t

(
= = +
(
I I
(

(
= +
(
I
(

} }
}
(2.34)
Trong tnh ph}n: ( )( )
2
0
n
t
p
n
I x t d t t t
=
}
c xp x bng cng thc hnh thanh, nh mc 2.1.2
Mt c|ch kh|c ta cng c th s dng sai ph}n tin xp x nh sau:
( )
( ) ( )
1 1
1
, 1 2
p p
RL n RL n p
RL n
D x t D x t
D x t p
h

= < < (2.35)

Trong :
( ) ( )
1 1
1
,
p p
RL n RL n
D x t D x t

c tnh nh i vi trng hp 0 1 p < < .

Hoc xp x theo t|c gi E.Sousa [32], nh sau:



( )
( )
( )( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
1 1
1
0
2 1
2 1 ,
,1 , 2
0
1
, 2 1
0
1
2
2
1
2 2
2
3
k
k
x
j
p
p
C j j
k
x
p j
k k k p t
C j j k
k
p j
j k k k k
k
D x t x x d
p
x t x t x t
t
D x t d
p t p
t
d x t x t x t
p
t t t
+

=

+ + A
=

+ +
=
=
I
+
A
=
I A
A
= +
I
(2.36)
Trong :
( ) ( )
2 2
,
1
p p
j k
d j k j k

=
V d 2.1:
Xt hm:
( )
4
x t t = . Vi bc ca o h{m 1 2 p < s theo [32] ta c:
( ) ( ) ( )
( )
4
24
5
p p p p
C RL GL
D x t D x t D x t t
p

= = =
I
(2.37)
Kt qu thu c bng c|c c|ch xp x kh|c nhau:
- Kt qu s dng sai ph}n vi o h{m cp mt, v{ o h{m cp hai
- S dng o h{m cp mt
( )
1.5
1st d
D x

, o h{m cp hai
( )
1.5
2nd d
D x

, v{ sai s tuyt i tng ng
( ) ( )
1 2
,
st d nd d
o o

Bng 2.1 So s|nh kt qu xp x vi p=1.5.
Time ( )
1.5
exact
D x
( )
1.5
1st d
D x

( )
1st d
o

( )
1.5
2nd d
D x

( )
2nd d
o

0.1 0.0228 0.02283512 -1.6622e-006 0.02280769 -2.9094e-005
0.2 0.1292 0.12921109 2.6702e-005 0.12910254 -8.1846e-005
0.4 0.7308 0.73097847 2.0123e-004 0.730546647 -2.3059e-004
0.5 1.2766 1.276967347 3.5205e-004 1.276293360 -3.2194e-004
Nhn xt :
- i vi b{i to|n phi tnh to|n khi th{nh phn o h{m cp s
( ) x
p
D t vi 1 2 p < < :

( )
, x, , , 1 2
p
x f t D x x p = < <
Ta a th{nh phn o h{m cp ph}n s v dng D
o
vi 0 1 o < < , tht vy t:
( ) 1 , p y x t o = + =

Khi h phng trnh thu c l:

( ) ( )
( )
1
, x, , , x, ,
, y, y,
p
y
x
x f t D x x f t D x x
f t D x y
o
o
+
(
(
= = =
(
(
(

(2.38)
Vi iu kin u cn tha m~n l{:
( ) ( ) 0 0, 0 0 x x = =



2.2 Phng ph|p s gii phng trnh vi ph}n cp ph}n s
Xt phng trnh dao ng c dng tng qu|t nh sau:
( ) ( )
p
mx bx c x D x kx f t + + + = (2.39)
iu kin u:

0 0
(0) , (0) x x x x = = (2.40)
Chia li thi gian, vi bc h.

0 0
0,1, 2, 3...
n
t t nh t n t n = + = + A = (2.41)
Chuyn (2.39) v dng ch s.
( ) ( ), 0
p
n n n n n n
mx bx c x D x kx f t n + + + = > (2.42)
2.2.1 Phng ph|p Newmark
Xp x ,
n n
x x theo cng thc Newmark
Theo cng thc xp x Newmark.
( ) ( )
1 1 1 2 1 1 1 2
1 1 1
1 , , , ,
2
n n n n n n n n n
x x x x x x x x x
t t
|
| | |

| |
= =
|
A A
\ .
(2.43)

( )
( )
1 1 1 1 1
1 1 1 1
(1 ) 1 1
2
, , , , ,
n n n n n n n n
n n n n
x x tx tx x t x x x
t
x x x x
o o o
o o
| | |
o |

| | | |
= + A + A = + A +
| |
A
\ . \ .
=
(2.44)
i vi th{nh phn cp ph}n s ta c th c xp x theo o h{m cp mt, o hm cp hai hoc s
dng sai ph}n. Cui cng ta a (2.42) v phng trnh i s sau:

( ) ( )
2 1 1 1 1 1 1 1
, , , , , , , , , ( ) ( )
n n n n n n n n n p n n
m x x x x b x x x x c x kx f t | o |

+ + + = (2.45)
Phng trnh trn l{ phng trnh i s vi n l{
n
x , c gii bng phng ph|p s.
Tnh c
n
x , ri ta tnh c ,
n n
x x nh sau:

( )
1 1
1 1 1 2
(1 )
1 1 1
1
2
n n n n
n n n n n
x x tx tx
x x x x x
t t
o o
| | |

= + A + A
| |
=
|
A A
\ .
(2.46)
2.2.2 Phng ph|p Runge-Kutta-Nystrm
Ho{n to{n tng t, gii phng trnh vi ph}n cha o h{m cp ph}n s th mu cht l{ vic xp
x th{nh phn o h{m cp ph}n s. s dng cng thc Runge-Kutta-Nystrm ta c th xp x th{nh
phn o h{m cp ph}n s theo o h{m cp mt, o h{m cp hai hoc s dng sai ph}n. Bng c|ch
ta a c (2.42) v dng phng trnh vi ph}n cp 2 dng ch s nh sau:

( )
( ) ( )
1
( ) ( ) ( , , )
( , , )
n n n p n n
n n n n p n n n n
n n n n
mx bx c x kx f t
x f t bx c x kx g t x x
m
x g t x x

+ + + =
= =
=
(2.47)
iu kin u:



( ) ( )
0 0 0 0
, x t x x t x = = (2.48)

p dng cng thc Runge-Kutta-Nystrm:

( )
( )
1 1 2 3
1 1 2 3 4
1 1 1
x x x k k k ,
3
1
x x k 2k 2k k ,
3
x ( , x , x ).
n n n
n n
n n n n
h
h
g t h
+
+
+ + +
= + + + +
= + + + +
= +
(2.49)
Trong :

( )
( )
1
2 1 1
3 1 2
4 3 3
k , x , x ;
2
k , x x k , x k ;
2 2 2 4
k , x x k , x k ;
2 2 2 4
k , x x k , x 2k .
2
n n n
n n n n
n n n n
n n n n
h
g t
h h h h
g t
h h h h
g t
h
g t h h h
=
| |
= + + + +
|
\ .
| |
= + + + +
|
\ .
= + + + +
(2.50)
2.2.3 Phng ph|p Runge-Kutta
i vi c|c h c hc dao ng cp ph}n s nhiu bc t do ta c th a c v dng h phng
trnh vi ph}n cp mt nh sau:

( ) | |
( )
1
, , , ... , 0 1
T
n j
t p p p = = < <
p
x f x x p (2.51)
iu kin u :

( ) 0 = x 0
Thnh phn o h{m cp ph}n s c th c xp x theo o h{m cp mt, o h{m cp hai hoc s
dng sai ph}n. a (2.51) v phng trnh vi ph}n dng ch s nh sau:
( ) , ,
p
n n n
t
= x f x (2.52)
p dng cng thc Runge-Kutta cho h phng trnh vi ph}n cp mt (2.52) nh sau:

( )
1 1 2 3 4
1
2 2
6
i i
h
+
= + + + + x x k k k k (2.53)
Trong :

( )
( )
1
2 1
3 2
2 3
,
,
2 2
,
2 2
,
p
p
p
p
i i
i i
i i
i i
t
h h
t
h h
t
t h h
=
| |
= + +
|
\ .
| |
= + +
|
\ .
= + +
k f x
k f x k
k f x k
k f x k
(2.54)
2.2.4 Phng ph|p Gauss
i vi phng ph|p n{y phng trnh (2.39) c a v h phng trnh sau:



( ) ( )
( ) ( ) ( )
( )
( )
( ) ( ) ( )
1
2 1 2
1
w ,
, , , 1..
i
n
y
i i
i
p
i i i i
x t v t
c x
k
v t f t x t e y t
m m m
y t y v t y y t i n
|
| |
=
= =
(2.55)
Trong : n l s im Gauss ~ c trnh by c th mc 2.1 trn.
- w :
i
l{ h{m trng lng
- :
i
y l{ im Gauss ph thuc v{o s im Gauss dng xp x
V{ vic gii h phng trnh vi ph}n (2.55) c th c thc hin bng phng php Runge-Kutta nh
mc 2.2.3
2.2.5 So s|nh chnh x|c v{ thi gian tnh gia c|c phng ph|p tnh
2.2.5.1 So snh chnh xc
so s|nh chnh x|c ta xt v d sau:
V d 2.2

( ) ( ) ( )
0.5 3
0.8D x t x t x f t + + = (2.56)
Trong :

( )
( )
2
3
7 5 3 2
9 7 7 9
2 4 4 2
10 10 10 10
8 128 128 42 9 7
10 0.5 35 25 25 10 10
f t t t t t t t t
t t t t t t
| || | | | | |
= + + +
| | | |
\ .\ . \ . \ .
( | | | || |
+ + +
| | | (
I
\ . \ .\ .
(2.57)
iu kin u:

( ) ( ) 0 0, 0 0 x x = = (2.58)
Nghim chnh x|c ca (2.56) l:

2
ex
9 7
10 10
act
x t t t
| || |
=
| |
\ .\ .
(2.59)

th nghim ca (2.56) c biu din nh Hnh 2.2

Hnh 2.2. Nghim chnh x|c ca VD 2.2



Bng 2.1 So s|nh nghim chnh x|c v{ kt qu tnh to|n ca c|c phng ph|p (s im li: n=1000)

Time
Exact
x
anackovic At
x
Ray
x
Zhang Shimizu
x

Newmark
x
2
nd
derivative
RKN
x
2
nd
derivative
0.25 0.01828125 0.018253191 0.0182813 0.018507464 0.018508641 0.018281311
0.5 0.02 0.019851524 0.0200026 0.020643625 0.020647787 0.020000016
0.75 -0.00421875 -0.004492587
-
0.00419593
-0.003348193 -0.003343554 -0.004218918
1 0.03 0.029380011 0.0300995 0.030526185 0.030530651 0.029999869

Bng 2.2 So s|nh sai s % tng i ca c|c phng ph|p (s im li: n=1000)

Time
anackovic At
x
Ray
x
Zhang Shimizu
x

Newmark
x
2
nd
derivative
RKN
x
2
nd
derivative
0.25 0.153486% 0.000274% 1.237407% 1.243849% 0.000332%
0.5 0.742382% 0.013000% 3.218126% 3.238937% 0.000080%
0.75 6.490951% 0.540919% 20.635433% 20.745378% 0.003975%
1 2.066632% 0.331667% 1.753949% 1.768835% 0.000437%

2.2.5.2 So snh thi gian tnh ton
V d 2.3 Xt mt h mng m|y c phng trnh dao ng nh sau:

( )
( )
( )
2 0,39
0,17 616 1043 0;
1 342 ( )
x t
D x t D x t
x t
(
+ + =
(

(2.60)
iu kin u:

( ) ( ) 0 0; 0 0.64 x x = = (2.61)
Kt qu tnh to|n theo c|c phng ph|p:

Hnh 2.3. Kt qu gii, v{ thi gian tnh to|n ca c|c phng ph|p s



Bng 2.3 Thi gian tnh to|n ca c|c phng ph|p kh|c nhau theo s im li

n
Zhang Shimizu
t

1
st
derivative
Newmark
t
2
nd
derivative
RKN
t
2
nd
derivative
100 6.972 2.289 2.872
200 12.081 3.067 4.179
400 24.268 6.261 8.441
600 37.302 9.524 12.912
800 51.042 13.158 17.348
1000 64.862 16.58 21.608

,
n
mx A kx mg o + = (2.62)
Trong :
( )
( )
2
1 1 2
2
1
( ), 1 / ; 1, 08;
4
0.005( ); 0.277( ); 0.020( ); 4620( / ); 5020( / ); 60
(0) 0; (0) 2 1.08 /
q
n a
q
D c x H c A
H m m kg m k N m Ns m h mm
x x gh m s
t|
o
|
= = = =
= = = = = =
= = =
(2.63)

Kt qu thu c

Hnh 2.4. Kt qu gii, v{ thi gian tnh to|n ca c|c phng ph|p s VD2.4

Bng 2.4 Thi gian tnh to|n ca c|c phng ph|p kh|c nhau theo s im li

n
Zhang Shimizu
t

1
st
derivative
Newmark
t
2
nd
derivative
RKN
t
2
nd
derivative
100 7.193 1.896 2.201
200 13.27 3.813 4.424
400 26.912 7.072 8.339
600 41.478 9.898 12.606
800 55.552 14.147 17.415
1000 70.057 18.267 21.984



,
n
mx A kx mg o + = (2.64)
Trong :
( )
( )
2
3/ 2 1/ 2 2
1 1 2
2
2 1 1 1
; 1 / ; 1, 095;
3 3 4
0.005( ); 0.277( ); 0.020( ); 4620( / ); 5020( / ); 60
(0) 0; (0) 2 1.08 /
q q
n a a
q
D D c x H c A
H m m kg m k N m Ns m h mm
x x gh m s
t|
o

|
( | | | |
= + = = =
| | (
\ . \ .
= = = = = =
= = =
(2.65)

Kt qu thu c:

Hnh 2.5. Kt qu gii, v{ thi gian tnh to|n ca c|c phng ph|p s VD2.5

Bng 2.5. Thi gian tnh to|n ca c|c phng ph|p kh|c nhau theo s im li

n
Zhang Shimizu
t

Newmark
t
2
nd
derivative
RKN
t
2
nd
derivative
100 21.692 5.599 2.222
200 42.504 11.449 4.507
400 88.373 24.146 9.608
600 131.26 34.325 14.978
800 181.616 48.706 21.569
1000 224.114 59.445 27.942

2.3 Kt lun
- Mc 2.1.2 ~ a ra 3 phng ph|p xp x th{nh phn o h{m cp ph}n s: theo o h{m cp 1, o
h{m cp 2, v{ s dng sai ph}n. ng thi mc 2.2 a ra 3 phng ph|p gii l{ Newmark, Runge-
Kutta-Nystrm v Runge-Kutta do vy m{ ta c th c 9 cch gii kh|c nhau. im chung ca c|c
phng ph|p n{y l{ a mt phng trnh vi ph}n thng thng v dng phng trnh vi ph}n hoc
phng trnh i s dng ch s.
- Vic s dng phng ph|p Runge-Kutta-Nystrm tnh to|n dao ng phi tuyn cha o h{m cp
ph}n s cho nhiu u im vt tri v chnh x|c, thi gian tnh, cng nh vic lp trnh thut to|n
trn my tnh.



CHNG 3Equation Section 3
TNH TON DAO NG CA MNG MY TRN
NN N NHT CP PHN S
3.1 Cc m hnh h {n nht
Vi s ph|t trin khoa hc k thut, ng{y c{ng c nhiu c|c vt liu mi ra i (nh vt liu silicone,
vt liu cao su), nhng m hnh {n nht c in vi o h{m cp nguyn khng th hin c y
tnh cht ca vt liu. Do gii quyt vn n{y, o h{m cp ph}n s c |p dng bi c|c
nh{ nghin cu trong thi gian gn }y.

Hnh 1. M hnh c in Hnh 2. M hnh mi
Trong lc |p ng ca h {n nht c in c dng nh sau:

n
F kx cx = (3.1)
Vi c|c h {n nht mi, lc |p ng c dng cha th{nh phn cp ph}n s nh sau:

( ) ( ) ( )
p
v
F kx c x D xb x = (3.2)
Trong :
- C|c h s: , , k c l{ c|c h s ca vt liu.
- Cc hm iu chnh
( ) ( ) , c x b x .
Cc hm ( ) c x v ( ) b x l{ h{m ca x vi (0) (0) 1 c b = = . Hm ( ) b x gii thch t|c ng ca lc cn nht
trong trng hp bin dng ln.
Cc m hnh lc, theo t{i liu [5] ~ a ra 5 m hnh ( ) c x v ( ) b x nh sau:

- M hnh 1:

4
( ) 1 3 , ( ) 1 c x x b x = + =
- M hnh 2:

2
1 2
( ) 1 , ( ) 1 c x c x c x b x
u
= + + =
- M hnh 3:

2
1 2
2
1
( ) , ( ) 1
1
c x c x b x
c x
= + =

- M hnh 4:

1
1
( ) , ( ) 1
(1 )
c x b x
c x
u
= =

- M hnh 5:



1
1
( ) 1, ( )
1
c x b x
c x
= =

Ngoi ra ta c th vit (3.2) di dng ng sut g}y ra bn trong vt liu {n nht nh sau:

v x n
F kx f kx A o = + = + (3.3)
Vi A l{ din tch mt ct ngang ca vt mu, v{ trong trng hp n{y c xem nh vt mu l{ mt
vt tr.
Theo t{i liu [4] a ra 4 m hnh ng sut
n
o c dng nh sau:
- M hnh IIa v IVa:
( )
2
1
q
n a
x D o
| |
=
|
\ .
(3.4)
- M hnh IIIb:
( ) ( )
2 2
1
1 1
q q
n a a
x D D
o

| |
= +
|
\ .
(3.5)
- M hnh IIIc:
( ) ( )
3
3 2
2 1 1
1 1
3 3
q q
n a a
x D D
o

| |
= +
|
\ .
(3.6)

- M hnh IVc:
( )
3/2 1/2 2
2
2 1 1 1
3 3
q q
n a a
x D D o

(
| | | |
= +
| | (
\ . \ .

(3.7)

Trong :
1
1 / c x H =

Vi: H l{ chiu cao ca vt mu v{
1
c l{ h s iu chnh m hnh.
3.2 H dao ng mt bc t do
3.2.1 M hnh Kelvin Voigh

Hnh 3. M hnh Kelvin Voigh
lp phng trnh dao ng, ta s dng nh l chuyn ng khi tm:

e v
mx F f f F mg = = + + +
(3.8)
Trong :
m
F
x
k , c(x)



-
e
f : Th{nh phn lc tuyn tnh

e
f kx = (3.9)
-
v
f : Th{nh phn lc cn phi truyn cp ph}n s

( )
p
v
f c x D x = (3.10)
- F : Th{nh phn ngoi lc
Do vy (3.8) c vit li nh sau:

( )
p
mx c x D x kx F mg + + = + (3.11)
Vit di dng ng sut:

( )
n
mx A x kx F mg o + = + (3.12)
Nhn xt :
- i vi m hnh n{y ta c th |p dng cho c|c trng hp c th sau
+ H dao ng chu kch ng va p, phng trnh c dng nh sau.

( )
p
mx c x D x kx mg + + = (3.13)
Vi :
- m l{ khi lng ca vt dao ng v{ vt kch ng :
0 1
m m m = +
- iu kin u:
( ) ( )
0
0 ; 0 2
m
x x gh
m
=
+ H chu kch ng lch tm (iu ha), phng trnh c dng nh sau:

( )
2 2
sin( )
p
e
mx c x D x kx mg m e t e e + + = + (3.14)
Vi:
- m l{ khi lng ca vt, v{ vt lch t}m :
1 e
m m m = +
- iu kin u:
( ) ( ) 0 ; 0 x x



V d m phng s:
V d 3.1: Cho h mng my chu kch ng va p c phng trnh dao ng nh sau:

( ) ( ) ( ) ( ) ( ) ( )
( ) ( )
( ) ( ) ( )
2
0
4
0 1 0
4 0.5 0
0 1
0, 5; 0, 5; 1; 2; 1 3 ; 1,8
0.5
2 1 3 1; 0 0, 0 2 2.10.1,8 3
1
p
mD x t c x D x t b x t kx t mg
m m k c x x h
m
x x D x x x x gh
m m
( + + =

= = = = = + =
+ + + = = = = =
+
(3.15)
Kt qu thu c:

Hnh 3.1. Dch chuyn v{ gia tc ca VD 3.1
V d 3.2: Cho h mng m|y chu kch ng va p c phng trnh dao ng nh sau:

( )
( )
( ) ( )
( )
( )
( )
( )
( ) ( ) ( ) ( )
2
0 1 2
2
0 1 0
2 1/2 0
0 1
1
0, 5; 0, 5; 1; 2; 1 ; 1, 8
2 1 1; 0 0, 0 2 3
p
mx t c x c x D x t kx t mg
m m k c x x x h
m
x t x x D x t x t x x gh
m m
+ + + + =
= = = = = + + =
+ + + + = = = =
+
(3.16)
Kt qu thu c:





( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2
0 1
2
2
0 1 0
2 0
2
0 1
1
1
0, 5; 0, 5; 1; 2; 1, 8
1
2 1; 0 0, 0 2 3
1
p
p
mx t c x D x t kx t mg
c x
m m k h
m
x t x D x t x t x x gh
m m x
| |
+ + + =
|
\ .
= = = = =
| |
+ + + = = = =
|
+ \ .
(3.17)
Kt qu thu c:



( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
0
1
0 1 0
0
0 1
1
,
1
0, 5; 0, 5; 1; 2; 1, 8
1
2 1; 0 0, 0 2 3
1
p
p
mx t D x t kx t mg
c x
m m k h
m
x t D x t x t x x gh
x m m
+ + =
= = = = =
+ + = = = =
+
(3.18)
Kt qu thu c:





( )
( )
( ) ( )
( )
( )
( ) ( ) ( ) ( )
0
2
1
0 1 0
1/2 0
2
0 1
1
,
1
0, 5; 0, 5; 1; 2; 1, 8
1
2 1; 0 0, 0 2 3
1
p
mx t D x t kx t mg
c x
m m k h
m
x t D x t x t x x gh
m m
x
+ + =
= = = = =
+ + = = = =
+
(3.19)
Kt qu thu c:


2
3
1
, (0) 0; (0) 1.08( / )
1
0.277( ); 0.020( ); 4620( / );
0.005( ); 5020( / ); 1.08
x
q
x a
q
mx f kx mg x x m s
f A D
m kg m k N m
H m Ns m c

+ = = =
| |
=
|
\ .
= = =
= = =
(3.20)
Kt qu thu c:





( )
2 2
3
1
, (0) 0, (0) 1.08( / )
1
1 1
0.277( ); 0.020( ); 4620( / );
0.005( ); 5020( / ); 1.10
x
q q
x a a
q
mx f kx mg x x m s
f A D A D
m kg m k N m
H m Ns m c
+ = = =
| |
= +
|
\ .
= = =
= = =
(3.21)
Kt qu thu c:


( )
3
3 2
3
1
, (0) 0, (0) 1.08( / )
2 1 1
1 1
3 3
0.277( ); 0.020( ); 4620( / );
0.005( ); 5020( / ); 1.08
x
q q
x a a
q
mx f kx mg x x m s
f A D A D
m kg m k N m
H m Ns m c
+ = = =
| |
= +
|
\ .
= = =
= = =
(3.22)
Kt qu thu c:





3/ 2 1/ 2 2
2
3
1
, (0) 0, (0) 1.08( / )
2 1 1 1
3 3
0.277( ); 0.020( ); 4620( / );
0.005( ); 5020( / ); 1.148
x
q q
x a a
q
mx f kx mg x x m s
f A D A D
m kg m k N m
H m Ns m c

|
+ = = =
( | | | |
= +
| | (
\ . \ .
= = =
= = =
(3.23)
Kt qu thu c:


V d 3.10: Cho h mng m|y chu kch ng lch t}m (iu ha) c phng trnh dao ng nh sau:

( ) ( ) ( ) ( ) ( ) ( ) ( )
( ) ( ) ( )
2 2
0 0
4 0.5
sin( ),
1 3 sin(2 ), 0 0, 0 3
p
mD x t c x t D x t b x t kx t m e t
x x D x x t x x
e e ( + + =

+ + + = = =
(3.24)
Kt qu thu c:




V d 3.11: Cho h mng m|y chu kch ng iu ha c phng trnh dao ng nh sau:

( )
( )
( ) ( )
( )
( )
( ) ( ) ( ) ( )
2 2
0 1 2 0
2 1/2
1 sin( ),
2 1 sin(2 ); 0 0, 0 0
p
mx t c x c x D x t kx t m e t
x t x x D x t x t t x x
e e + + + + =
+ + + + = = =
(3.25)
Kt qu thu c:



( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2 2
0 1 0
2
2
2
2
1
sin( ),
1
1
2 sin(2 ), 0 0, 0 0,
1
p
p
mx t c x D x t kx t m e t
c x
x t x D x t x t t x x
x
e e
| |
+ + + =
|
\ .
| |
+ + + = = =
|
\ .
(3.26)
Kt qu thu c:





( ) ( ) ( )
( ) ( ) ( ) ( ) ( )
2
0 0
1
1
sin( ),
1
1
2 sin(2 ), 0 0, 0 0
1
p
p
mx t D x t kx t m e t
c x
x t D x t x t t x x
x
e e + + =
+ + = = =
(3.27)
Kt qu thu c:



( )
( )
( ) ( )
( )
( )
( ) ( ) ( ) ( )
2
0 0
2
1
1/2
2
1
sin( ),
1
1
2 sin(2 ), 0 0, 0 0
1
p
mx t D x t kx t m e t
c x
x t D x t x t t x x
x
e e + + =
+ + = = =
(3.28)
Kt qu thu c:




2.2.2 M hnh Maxwell

Hnh 4. M hnh Maxwell

e
e
mx F f F mg
f mx F mg
= = + +
=
(3.29)
Trong :
-
e

1 1
e
e
f
f kx x
k
= = (3.30)
-
v

( )
2 2
p
v
f c x D x = (3.31)
-
1 2
, x x : Dch chuyn ca th{nh phn tuyn tnh v{ phi tuyn cp ph}n s

1 2 2 1
x x x x x x + = = (3.32)
n gin, th h{m dch chuyn c(x) trong trng hp n{y c chn l{:
( ) 1 c x = .
Thay (3.32) vo (3.31) ta c:

( ) ( ) ( ) ( )
2 2 1 1 1
p p p
v
f c x D x c x x D x x D x x = = = (3.33)
Thay (3.30) vo (3.33) ta c:

( )
1
p p p p e
v e e
p p
e e
f
f f D x x D x D x D f
k k
f D x D f
k
| |
= = = + =
|
\ .
=
(3.34)
Thay (3.39) vo (3.34) ta c phng trnh dao ng ca h nh sau:

( )
2
p p
p p p
mx F mg D x D mx F mg
k
D x mx D x mg F D F
k k
+
=
+ + = + +
(3.35)
m
F
x
k

, c(x)=1



2.2.3 M hnh dao ng cp 3

Hnh 5. M hnh dao ng cp 3

e v
e v
mx F f f F mg
f mx f F mg
= = + + +
=
(3.36)
Trong :
-
v

( )
p
v
f c x D x = (3.37)
n gin, th h{m dch chuyn c(x) trong trng hp n{y c chn l:
( ) 1 c x = .
-
e

1 1
e
e
f
f kx x
k
= = (3.38)
-
c
f : Th{nh phn lc cn nht.

2 c
f cx = (3.39)
-
1 2
, x x : Dch chuyn ca th{nh phn tuyn tnh v{ phi tuyn cp ph}n s

1 2 2 1
x x x x x x + = = (3.40)
Thay (3.40) vo (3.39) ta c:

( )
2 1 c
f cx c x x = = (3.41)
Thay (3.28) v (3.41) ta c:

( )
2 1
e
c e
e e
f c
f cx c x x c x cx f
k k
c
f cx f
k
| |
= = = + =
|
\ .
=
(3.42)
Thay (3.36) vo (3.42) ta c phng trnh dao ng ca h nh sau:
m
F
x
, c(x) =1
k

c



( )
1
0
v v
p p
c
mx f F mg cx mx f F
k
c c c
mx mx D x cx D x F F mg
k k k

+
=
+ + + + = + +
(3.43)
V d m phng s:
V d 3.15: Cho h dao ng bc ba nh sau:

( )
( ) ( ) ( )
1,5
sin ,
0 0, 0 0, 0 0, 2
x x D x x x t
x x x
e
e
+ + + + =
= = = =
(3.44)
gii phng trnh trn ta a v dng h phng trnh vi ph}n bc mt sau:

( )
( ) ( ) ( )
0.5
, 0 0, 0 0, 0 0
sin
x y
y x
y z x y z
z x y
z t z D y y x e
=
=
= = = =

= =
(3.45)
Kt qu thu c:




3.3 H dao ng hai bc t do
Trong phn n{y ta xt m hnh ba rn trn nn {n nht cp ph}n s chu kch ng va p. Trong
khi lng
0
m l{ u ba,
1
m l{ e,
2
m l{ mng. Vi gi thit
0 1 0 2
, m m m m nn ln tnh v{
nh hng ng lc do
0
m g}y ra sau khi va chm l{ khng |ng k nn b qua khi kho s|t. C hai m
hnh c kho s|t nh sau:

Hnh 6. M hnh 1 Hnh 7. M hnh 2
( n gin cho vic lp h phng trnh vi phn th hm iu chnh c(x), v b(x) ca b cn nht cp
phn s c chn bng 1)
Thit lp h phng trnh dao ng i vi m hnh 1:
- Phng php s dng phng trnh Lagrange loi II:
Biu thc ng nng ca h c dng:

2 2
1 1 2 2
1 1
2 2
T m x m x = + (3.46)
Biu thc th nng, h{m hao t|n ca h:

2 2 2
1 2 1 2 2 1 2 1
1 1 1
( ) ; ( )
2 2 2
k x x k x c x x H = + u = (3.47)
Lc sinh ra do b {n nht:

( )
2 2
p
f D x = (3.48)
Biu thc lc suy rng:

( )
1 1 1 1 2 1 1 2 1
1 1
2 2 2 2 2 1 1 2 1 1 2 2 2
2 2
( ) ( )
( ) ( )
p
Q F k x x c x x F
x x
Q f F k x k x x c x x D x F
x x

cH cu
= + = +
c c
cH cu
= + + = + + +
c c
(3.49)
Th v{o phng trnh Lagrange loi II:
m
1
F
1
x
1
k
1
, p
m
2
F
2

k
2
, p
m
1
F
1
x
1
k
2
, p
m
2
F
2

k
1
c1



i
i i
d T T
Q
dt x x
| | c c
=
|
c c
\ .
(3.50)
Ta nhn c h phng trnh vi ph}n dao ng l:

1 1 1 1 2 1 1 2 1
2 2 2 1 1 2 1 1 2 2 2 2
( ) ( )
( ) ( ) ( )
p
m x c x x k x x F
m x D x k x x c x x k x F
+ + =
+ + =
(3.51)

- Phng php tch vt, s dng nh l chuyn ng khi tm

Hnh 8. Tch vt vi m hnh 1

Lc |p ng g}y nn bi h {n nht th nht:

( )
1 1 1 1 2 1 1 2
( )
up
F k l c l k x x c x x = A A = + (3.52)
Lc |p ng g}y nn bi h {n nht th hai:

( ) ( )
w 2 2 2 2
p p
do
F k l D l kx D x = A A = + (3.53)
p dng nh l chuyn nh khi t}m vi vt th nht:

( )
1 1 1 1 1 2 1 1 2
1 1 1 1 2 1 1 2 1
( )
( ) ( )
up
m x F F F k x x c x x
m x c x x k x x F
= =
+ + =
(3.54)
p dng nh l chuyn nh khi t}m vi vt th hai:
m
1
F
1

m
2
F
2
x
2



( ) ( )
( ) ( ) ( )
2 2 2 w 2 1 2 1 1 2 2 2
2 2 2 2 2 1 2 1 1 2 2
( )
( )
p
up do
p
m x F F F F k x x c x x kx D x
m x c x D x kx k x x c x x F
= + = + +
+ + =
(3.55)
Vy h phng trnh vi ph}n thu c l:

( ) ( )
1 1 1 1 2 1 1 2 1
2 2 2 1 1 2 1 1 2 2 2
( ) ( )
( )
p
m x c x x k x x F
m x D x k x x c x x kx F
+ + =
+ + =
(3.56)
Vit di dng ma trn:

( )
1 1 1 1 1 1 1 1 1
2 2 2 2 1 1 2 1 1 2 2 2
0 0
0
p
m x c c x k k x F
D x m x c c x k k k x F
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

(3.57)
Nu vit h phng trnh vi ph}n trn di dng ng sut ca b {n nht cp ph}n s, th h phng
trnh c dng nh sau:

( )
1 1 1 1 1 1 1 1 1
2 2 2 1 1 2 1 1 2 2 2
0 0
0
n
m x c c x k k x F
A x m x c c x k k k x F o
( ( ( ( ( ( ( (
+ + =
( ( ( ( ( ( ( (
+

(3.58)
Thit lp h phng trnh dao ng i vi m hnh 2:
- Phng php s dng phng trnh Lagrange loi II:
Biu thc ng nng ca h c dng:

2 2
1 1 2 2
1 1
2 2
T m x m x = + (3.59)
Biu thc th nng, h{m hao t|n ca h:

2 2
1 2 1 2 2
1 1
( ) ; 0
2 2
k x x k x H = + u = (3.60)
Lc sinh ra do b {n nht:

( ) ( )
1 1 1 2 2 2 2
;
p p
f D x x f D x = = (3.61)
Biu thc lc suy rng
( )
( ) ( )
1 1 1 1 1 2 1 1 2 1
1 1
2 2 1 2 2 2 1 1 2 2 1 1 2 2
2 2
( )
( )
p
p p
Q f F k x x D x x F
x x
Q f f F k x k x x D x D x x F
x x

cH cu
= + + = +
c c
cH cu
= + + = + +
c c

Th v{o phng trnh Lagrange loi II:
i
i i
d T T
Q
dt x x
| | c c
=
|
c c
\ .

Ta nhn c h phng trnh vi ph}n dao ng l:

( )
( )
1 1 1 1 2 1 1 2 1
2 2 2 2 1 1 2 1 1 2 2 2 2
( )
( ) ( )
p
p p
m x D x x k x x F
m x D x D x x k x x k x F

+ + =
+ + =
(3.62)



- Phng php tch vt, s dng nh l chuyn ng khi tm

Hnh 9. T|ch vt vi m hnh 2

Lc |p ng g}y nn bi h {n nht th nht:

( ) ( ) ( )
1 1 1 1 1 2 1 1 2
p p
up
F k l D l k x x D x x = A A = + (3.63)
Lc |p ng g}y nn bi h {n nht th hai:

( ) ( )
w 2 2 2 2 2 2 2 2
p p
do
F k l D l k x D x = A A = + (3.64)
p dng nh l chuyn nh khi t}m vi vt th nht:

( ) ( )
( )
1 1 1 1 1 1 2 1 1 2
1 1 1 1 2 1 1 2 1
( )
p
up
p
m x F F F k x x D x x
m x c x x D x x F
= =
+ + =
(3.65)
p dng nh l chuyn nh khi t}m vi vt th hai:

( ) ( ) ( )
( ) ( ) ( )
2 2 2 w 2 1 1 2 1 1 2 2 2 2 2
2 2 2 2 2 2 1 1 2 1 1 2 2
p p
up do
p p
m x F F F F k x x D x x k x D x
m x D x k x k x x D x x F

= + = + +
+ + =
(3.66)
Vy h phng trnh vi ph}n thu c l{:

( )
( ) ( ) ( )
1 1 1 1 2 1 1 2 1
2 2 2 2 2 1 1 2 1 1 2 2
( )
p
p p
m x c x x D x x F
m x D x kx k x x D x x F

+ + =
+ + =
(3.67)
Vit di dng ma trn:
m
1
F
1

m
2
F
2
x
2



( )
( ) ( )
1 1 1 1 1 1 1 1 2
2 2 1 1 2 2 2 2 2 1 1 2
0
0
p
p p
m x k k x F D x x
m x k k k x F D x D x x

( ( ( ( ( (
+ + =
(
( ( ( ( (
+

(3.68)
Nu vit h phng trnh vi ph}n trn di dng ng sut ca b {n nht cp ph}n s, th h phng
trnh c dng nh sau:

( )
( ) ( )
1
2 1
1 1 2
1 1 1 1 1 1
2 2 1 1 2 2 2 2 2 1 1 2
0
0
n
n n
A x x
m x k k x F
m x k k k x F A x A x x
o
o o
(
( ( ( ( (
+ =
(
( ( ( ( (
+
(

(3.69)
Nhn xt:
i vi b{i to|n h chu kch ng va p, iu kin u c tha m~n l:

1 2 1 2
0; 0; 0; ; 0; t x x x u x = = = = = (3.70)
Vn tc ban u u c x|c nh theo s va chm ca u ba v{ e. Gi thit qu| trnh va chm xy ra
l{ rt ngn nn c|c khi lng
0 1
, m m tha m~n nh lut xung lng

0 0 1 1 0 0 1 1 v v
m u mu m u mu + = + (3.71)
Vi:
0 1
,
v v
u u - vn tc trc va chm;
0 1
, u u - vn tc sau va chm;
Trong trng hp tng qu|t, tnh c|c gi| tr
0 1
, u u ngi ta s dng gi thit ca Newton:

0 1
0 1 v v
u u
k
u u
(3.72)
Trong c|c trng hp t ra ta c:
1 0
0; 2
v v
u u gh = = . T c|c phng trnh ta c :

0
0 1
(1 )
2
k m
u gh
m m
+
=
+
(3.73)

V d m phng s:
V d 3.16: Cho h c phng trnh dao ng nh sau:

( )
1 1 1
4 0.5
2 2 2 2 2
0 1 0 1 1 1 1 0
,
2(1 3 ) 0 1 0 0 1 2 0
x x x
x D x x x x
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

(3.74)
iu kin u:
( ) | | ( ) | |
T T
0 0 0 ; 0 5 0 = = x x
Kt qu thu c:



V d 3.17: Cho h phng trnh dao ng nh sau:

( )
( )
4 0.5
1 1 1 2 1 2
4 0.5
2 2 2 2
1 0 1 1 0 2(1 3( ) )
0 1 1 2 0 2(1 3 )
x x x x D x x
x x x D x
( + ( ( ( ( (
+ + =
(
( ( ( ( (
+

(3.75)
iu kin u:
( ) | | ( ) | |
T T
0 0 0 ; 0 5 0 = = x x
Kt qu thu c:


( )
1 1 1
4 0.5
2 2 2 2 2
0 1 0 1 1 1 1 0
2(1 3 ) 0 1 1 1 1 2 0
x x x
x D x x x x
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

(3.76)
iu kin u:
( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x
Kt qu thu c:





( )
( ) ( )
4 0.5
1 1 1 2 1 2
4 0.5 4 0.5
2 2 2 2 1 2 1 2
1 0 1 1 0 2(1 3( ) )
0 1 1 2 0 2(1 3 ) 2(1 3( ) )
x x x x D x x
x x x D x x x D x x
( + ( ( ( ( (
+ + =
(
( ( ( ( (
+ +

(3.77)
iu kin u:
( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x
Kt qu thu c:


( )
( )
1 1 1
2 2 2 2
1 1 2
0 1 0 1 1 1 1 0
0 1 1 1 1 2 0
1
; 1 / ; 1; 2; c 1.1; 3
n
q
n a
x x x
A x x x x
x D c x H A H
o
o
( ( ( ( ( ( ( (
+ + =
( ( ( ( ( ( ( (

| |
= = = = = =
|
\ .
(3.78)

iu kin u:
| | | |
T T
0 0 ; 3 0 = = x x



Kt qu thu c:


( )
( ) ( )
( )
1 1 2 1 1
2 2 1 1 2 2 2
1 1 2 1 2
1 0 1 1 0
0 1 1 2 0
1
; 1 / ; 1; 2; c 1.1; 3
n
n n
q
n a
A x x x x
A x A x x x x
x D c x H A A H
o
o o
o
( ( ( ( ( (
+ =
( ( ( ( ( (

| |
= = = = = = =
|
\ .
(3.79)

iu kin u:
( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x

Kt qu thu c:



3.4 H dao ng nhiu bc t do
i vi c|c h c nhiu bc t do ta c th a v dng sau:

( )
( )
t + + + =
p
Mx Cx Dx Kx F (3.80)
Trong :
- , , , M C K D l{ c|c ma trn khi lng, cn nht, cng, cn {n nht cp ph}n s.
-
(p)
x c dng nh sau :

( )
( )
1
( )
... ,
n
p
p
D
D
(
(
=
(
(

p
x
x
x
(3.81)
- D c dng nh sau :

11 12 1
21 22
1
...
... ...
... ... ... ...
... ...
n
n nn

(
(
(
=
(
(

D (3.82)
Ta d{ng a (3.80) v dng phng trnh cp 2 nh sau:

( )
( )
, , , f t =
p
x x x x
(3.83)
ng thi ta cng d d{ng a h (3.83) c v dng cp mt, tht vy:
t:
= y x (3.84)
H (3.83) a c v dng sau:

( )
( )
, , , f t
(
(
= (
(
(

p
y
x
x y x y
(3.85)
Hay (3.85) c dng sau:

( )
( )
, , f t =
p
z z z (3.86)
Trong :

(
=
(

x
z
y
(3.87)



3.5 So s|nh kt qu tnh to|n gia c|c m hnh l thuyt v{ vi kt qu thc nghim
3.5.1 So s|nh m hnh mng m|y mt bc t do
M hnh {n nht c in:

( ) ( ) ( )
2
mD x t cx t kx t F + + = (3.88)
M hnh {n nht mi:
- Dng m hnh lc:
( ) ( ) ( ) ( ) ( ) ( ) ( )
2
0
p
mD x t c x t D x t b x t kx t F ( + + =

(3.89)
- Dng m hnh ng sut:

( ) ( ) ( )
2
n
mD x t A x kx t F o + = (3.90)

iu kin u:

( ) ( ) 0 ; 0 x x (3.91)
V d m phng s:
- M hnh {n nht c in:
2 1 x x x + + = (3.92)
- M hnh {n nht mi dng m hnh lc:

( )
4 0.5
2 1 3 1 x x D x x + + + = (3.93)
iu kin u:

( ) ( ) 0 0, 0 3 x x = =

Kt qu thu c:

Hnh 3.22. So snh dch chuyn v{ gia tc ca VD 3.22



2 1 x x x + + = (3.94)
- M hnh {n nht mi dng ng sut:

( )
( )
1 1 2
1
1
; 1 / ; 1; 2; c 1.1; 3
n
q
n a
x A x x
x D c x H A H
o
o
+ =
| |
= = = = = =
|
\ .
(3.95)
iu kin u:

( ) ( ) 0 0, 0 0 x x = =

Kt qu thu c:

Hnh 3.23. So s|nh dch chuyn v{ gia tc ca VD 3.23

- M hnh {n nht dng m hnh lc:

( )
4 0.5
2 1 3 1 x x D x x + + + = (3.96)

( )
( )
1 1 2
1
1
; 1 / ; 1; 2; c 1.1; 3
n
q
n a
x A x x
x D c x H A H
o
o
+ =
| |
= = = = = =
|
\ .
(3.97)
iu kin u:
( ) ( ) 0 0, 0 0 x x = =

Kt qu thu c:



Hnh 3.24. So s|nh dch chuyn v{ gia tc ca VD 3.24

3.5.2 So snh m hnh mng my hai bc t do
M hnh {n nht c in:

1 1 1 1 1 1 1 1 1
2 2 1 1 2 2 1 1 2 2 2
0
0
m x c c x k k x F
m x c c c x k k k x F
( ( ( ( ( ( (
+ + =
( ( ( ( ( ( (
+ +

(3.98)
M hnh {n nht mi:
+ M hnh 1:
- Dng m hnh lc:

( )
1 1 1 1 1 1 1 1 1
2 2 2 2 1 1 2 1 1 2 2 2
0 0
0
p
m x c c x k k x F
D x m x c c x k k k x F
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

(3.99)
- Dng m hnh ng sut:

( )
1 1 1 1 1 1 1 1 1
2 2 2 1 1 2 1 1 2 2 2
0 0
0
n
m x c c x k k x F
A x m x c c x k k k x F o
( ( ( ( ( ( ( (
+ + =
( ( ( ( ( ( ( (
+

(3.100)
+ M hnh 2:
- Dng m hnh lc:

( )
( ) ( )
1 1 1 1 1 1 1 1 2
2 2 1 1 2 2 2 2 2 1 1 2
0
0
p
p p
m x k k x F D x x
m x k k k x F D x D x x

( ( ( ( ( (
+ + =
(
( ( ( ( (
+

(3.101)
- Dng m hnh ng sut:

( )
( ) ( )
1
2 1
1 1 2
1 1 1 1 1 1
2 2 1 1 2 2 2 2 2 1 1 2
0
0
n
n n
A x x
m x k k x F
m x k k k x F A x A x x
o
o o
(
( ( ( ( (
+ =
(
( ( ( ( (
+
(

(3.102)

iu kin u:
( ) ( ) 0 ; 0 x x (3.103)



V d m phng s:

1 1 1
2 2 2
1 0 1 1 1 1 0
0 1 1 3 1 2 0
x x x
x x x
( ( ( ( ( ( (
+ + =
( ( ( ( ( ( (

(3.104)
- M hnh {n nht mi dng m hnh lc:

( )
1 1 1
4 0.5
2 2 2 2 2
0 1 0 1 1 1 1 0
2(1 3 ) 0 1 1 1 1 2 0
x x x
x D x x x x
( ( ( ( ( ( ( (
+ + + =
( ( ( ( ( ( ( (
+

(3.105)
iu kin u:

( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x
Kt qu thu c:

Hnh 3.25.a Dch chuyn v{ gia tc ca m hnh {n nht c in VD 3.25

Hnh 3.25.b Dch chuyn v{ gia tc ca ca m hnh {n nht mi VD 3.25




1 1 1
2 2 2
1 0 2 2 1 1 0
0 1 2 4 1 2 0
x x x
x x x
( ( ( ( ( ( (
+ + =
( ( ( ( ( ( (

(3.106)

( )
( ) ( )
0.5
1 1 1 2
0.5 0.5
2 2 2 1 2
1 0 1 1 0 2
0 1 1 2 0 2 2
x x D x x
x x D x D x x
( ( ( ( ( (
+ + =
(
( ( ( ( (

(3.107)
iu kin u:

( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x

Kt qu thu c:






1 1 1
2 2 2
1 0 1 1 1 1 0
0 1 1 3 1 2 0
x x x
x x x
( ( ( ( ( ( (
+ + =
( ( ( ( ( ( (

(3.108)
- M hnh {n nht mi dng ng sut :

( )
( )
1 1 1
2 2 2 2
1 1 2
0 1 0 1 1 1 1 0
0 1 1 1 1 2 0
1
; 1 / ; 1; 2; c 1.1; 3
n
q
n a
x x x
A x x x x
x D c x H A H
o
o
( ( ( ( ( ( ( (
+ + =
( ( ( ( ( ( ( (

| |
= = = = = =
|
\ .
(3.109)
iu kin u:

( ) | | ( ) | |
T T
0 0 0 ; 0 3 0 = = x x

Kt qu thu c:






1 1 1
2 2 2
1 0 2 2 1 1 0
0 1 2 4 1 2 0
x x x
x x x
( ( ( ( ( ( (
+ + =
( ( ( ( ( ( (

(3.110)

( )
( ) ( )
( )
1 1 2 1 1
2 2 1 1 2 2 2
1 1 2 1 2
1 0 1 1 0
0 1 1 2 0
1
; 1 / ; 1; 2; c 1.1; 3
n
n n
q
n a
A x x x x
A x A x x x x
x D c x H A A H
o
o o
o
( ( ( ( ( (
+ =
( ( ( ( ( (

| |
= = = = = = =
|
\ .
(3.111)
iu kin u:

| | | |
T T
0 0 ; 3 0 = = x x

Kt qu thu c:


Ghi ch: c|c v d trn, k hiu
( ) t o c gi| tr ngc du vi gia tc, hay
( ) ( ) t a t o =



3.5.3 So s|nh kt qu tnh to|n gia c|c m hnh l thuyt vi kt qu thc nghim
Cho h dao ng mng my nh sau:

Hnh 3.29. H dao ng chu kch ng va p
(a) Trc va chm; (b) Bt u va chm; (c) Sau va chm.
Phng trnh dao ng ca h l{:

x
mx f kx mg + = (3.112)
iu kin u:
(0) 0; (0) 2 x x gh = = (3.113)
Vi h l{ cao ca vt nng ri.
Trong :
- m khi lng ca 2 vt.
1 2
m m m = +
-
x n
f A o = (
n
o c tnh theo cc m hnh [3.4-3.7])
S liu:
2
0.277( ); 0.020( ); 4620( / );
0.005( ); 5020( );
(0) 0; (0) 2
q
m kg m k N m
H m Ns m
x x gh
|
= = =
= =
= =

Kt qu thu c:
(Nt lin l kt qu tnh ton cc m hnh l thuyt, v ng chm chm l kt qu thc nghim)



- M hnh IIa v IVa vi kt qu thc nghim

Hnh 3.30. Kt qu so s|nh m hnh l thuyt IIa v{ thc nghim vi h=30mm





- M hnh IIb vi kt qu thc nghim

Hnh 3.33. Kt qu so s|nh m hnh l thuyt IIb v{ thc nghim vi h=30mm





- M hnh IIIc vi kt qu thc nghim

Hnh 3.36. Kt qu so s|nh m hnh l thuyt IIIc v{ thc nghim vi h=30mm





- M hnh IVc vi kt qu thc nghim

Hnh 3.39. Kt qu so s|nh m hnh l thuyt IVc v{ thc nghim vi h=30mm





3.6 Kt lun
- i vi c|c m hnh {n nht dng lc, v{ dng ng sut th cho kt qu l xp x nh nhau.
- i vi c|c m hnh {n nht mi cho kt qu tnh to|n trn th bng c|c ng phc tp hn, do
vy m{ ta c th s dng c|c m hnh n{y m hnh c|c vt liu mi, vi c|c tnh cht c hc phc
tp hn.
- Qua kt qu so s|nh kt qu so s|nh gia c|c m hnh l thuyt v{ thc nghim, ta thy rng m hnh
IVc l{ m hnh ph hp nht vi kt qu thc nghim.



CHNG 4 Equation Section 4
CHNG TRNH FDE SOLVER TNH TON DAO NG
C H C O HM CP PHN S
4.1 Tng quan v chng trnh FDE Solver
Chng trnh FDE Solver (Fractional Derivative Equation Solver) phin bn u tin (v1.0a) c
lp trnh gii c|c phng trnh dao ng cp ph}n s, dng nh sau:
( ) ( )
p
mx bx c x D x kx f t + + + = (4.1)
iu kin u:

( ) ( )
0
0 0, 0 x x v = = (4.2)
Giao din chnh ca chng trnh nh sau:

Hnh 4.1. Giao din chng trnh FDE Solver.
Cc thng s cn nhp:
- Khi lng ca vt: m

- H s cn nht: b

- H s cn {n nht:



- Bc o h{m cp ph}n s: p

- H{m dch chuyn: c(x)

- cng ca l xo: k

- iu kin u:
( )
0
0 x v =

La chn phng php trnh ton:
- Phng ph|p xp x o h{m cp ph}n s (bng o h{m cp mt/ o h{m cp hai)

- Phng ph|p gii (Newmark/ Runge-kutta-Nystrm)

Phn ha hin th th ca kt qu:

Hnh 4.2. Phn ha hin th kt qu tnh to|n



4.2 S dng chng trnh FDE Solver
s dng chng trnh, ta nhp c|c thng s ca phng trnh (4.1), v{ la chn phng ph|p gii
cho b{i to|n, sau nhn nt Calculate thc hin vic tnh to|n.
V d vi b{i to|n sau:

( ) ( ) ( )
4 0.5
1 3 1, 0 0, 0 3 x x D x x x x + + + = = = (4.3)
Kt qu thu c nh sau:

Hnh 4.3. Kt qu tnh to|n s dng chng trnh FDE Solver



KT LUN
Vi s ph|t trin khoa hc k thut, ng{y c{ng c nhiu c|c vt liu mi ra i (nh vt liu
silicone, vt liu cao su), nhng m hnh {n nht c in vi o h{m cp nguyn khng th hin
c y tnh cht ca vt liu. Do gii quyt vn n{y, o h{m cp ph}n s c |p dng
nghin cu trong thi gian gn }y. |n ~ bc u nghin cu tnh to|n dao ng ca mt s h
c hc c cha o h{m cp ph}n s. |n gm 4 chng vi ni dung nh sau:
Chng mt trnh b{y c|c vn c bn ca o h{m cp ph}n s da trn t{i liu [1, 5, 7, 30]
Chng hai trnh b{y v c|c phng ph|p s kh|c nhau xp x th{nh phn o h{m cp ph}n s,
cng nh c|c phng ph|p s tnh to|n dao ng ca c h cha th{nh phn o h{m cp ph}n s
da trn nhng t{i liu [3, 20, 28, 29, 30, 31, 32, 33]
Chng ba trnh b{y v tnh to|n dao ng ca mng m|y trn nn {n nht cp ph}n s.
Chng bn gii thiu v chng trnh PDE Solver tnh to|n dao ng.
|n a ra c|c phng ph|p s gii quyt c|c b{i to|n dao ng phi tuyn cp ph}n s.
Hng nghin cu sp ti l{ m rng tnh to|n dao ng cho nhiu m hnh phc tp hn, nghin cu
v iu kin u ca phng trnh vi ph}n cp ph}n s v{ s n nh ca c|c phng ph|p s, cng
nh x dng c|c kt qu thc nghim tm ra c|c quy lut phi tuyn cp ph}n s mi.
Hy vng nhng kt qu ca |n n{y c th l{m c s nghin cu cho c|c b{i to|n trong lnh
vc dao ng phi tuyn cp ph}n s. Tuy nhin do kh nng v{ trnh cn hn ch cng nh thi
gian c hn nn b|o c|o n{y ca em chc chn cn nhiu thiu st, em rt mong s nhn c nhng
kin ng gp ph bnh v{ b sung ca c|c thy c gi|o trong b mn em c th ho{n thin v{ b
sung thm kin thc.
Mt ln na em xin ch}n th{nh cm n Thy GS.TSKH. Nguyn Vn Khang ~ tn tnh gip em
trong thi gian nghin cu v{ ho{n th{nh |n ny!



TI LIU THAM KHO
[1] Nguyn Vn Khang (2009), Bi ging ng lc hc h c o hm cp phn s, Trng i hc
Bch Khoa.
[2] Nguyn Vn Khang (2004), Dao ng k thut, NXB Khoa hc k thut, H{ Ni.
[3] Nguyen Van Khang, N. Shimizu, M. Fukunaga, Duong Van Lac, Bui Thi Thuy, Calculation of
responses of a nonlinear fractional derivative model of impulse motion for viscoelastic
materials using Runge-Kutta-Nystrm method, Tuyn tp hi ngh c hc to{n quc, H{ Ni
(2014).
[4] M. Fukunaga and N. Shimizu. Comparison of fractional derivative models for nite
deformation with experiments of impulse response. Journal of Vibration and Control July
10, (2013).
[5] M. Fukunaga, N. Shimizu, H. Nasuno, A nonlinear fractional derivative model of impulse
motion for viscoelastic materials, Physica Scripta T136 (2009) 014010 (6pp).
[6] K. B. Oldham, J. Spanier, The Fractional Calculus, Academic Press, Boston, New York (1974).
[7] I. Podluny, Fractional Differential Equations, Academic Press, Boston, New York (1999).
[8] R.L. Bagley, P.J. Torvik, A theoretical basis for the application of fractional calculus to
viscoelasticity, Journal of Rheology, 27 (3), 201-210, (1983).
[9] R.L. Bagley, P.J. Torvik, Fractional calculus in the transient analysis of viscoelastically damped
structures, AIAA Journal, 23 (6), 918-925, (1985).
[10] K. Diethelm (1997), An Algorithm for the Numerical Solution of Differential Equations of
Fractional Order, IMA J. Numer. Anal., Vol.5, pp. 1-6.
[11] K. Diethelm (2003), Fractional Differential Equations, Vorlesunysskrifit der TU Braunschweig.
[12] L. E. Suarez, A. Shokooh (1995), Response of Systems with Damping Materials Modeled using
Fractional Calculus, ASME J. Appl. Mech, Vol.48, No.11, pp. 1-9.
[13] L. E. Suarez, A. Shokooh (1997), An Eigenvector Expansion Method for the Solution of Motion
Containing Fractional Derivatives, ASME J. Appl. Mech, Vol.64, pp. 629-635.
[14] M. Fukunaga, N. Shimizu (2003), Initial Condition Problems of Fractional Viscoelastic
Equations, Proceedings of the 2003 ASME Design Engineering Technical Conferences,
September 2-6, 2003, Chicago Illinois, VSA.
[15] M. Fukunaga, N. Shimizu (2004), Role of Prehistories in the Initial Value Problems of
Fractional Viscoelastic Equations, International Journal of Nonlinear Dynamics, Vol.38, No.1-2,
pp. 207-220.
[16] M. Fukunaga, N. Shimizu (2009), Analysis of Impulse Response of Gel by Nonlinear Fractional
Derivative Models, Proceedings of the ASME 2009 International Design Engineering Technical
Conferences, September 2, 2009, San Diego, California USA.
[17] Neville J. Ford and A. Charles Simpson (2003), Numerical and Analytical Treatment of
Differential Equations of Fractional Order, Numerical Analysis Report 387, Manchester Centre
for Computational Mathematics, Manchester.



[18] N. Gil-Negrete, J. Vinolas, L. Kari (2009), A Nonlinear Rubber Material Model Combing
Fractional Order Viscoelasticity and Amplitude Dependent Effects, ASME J. Appl. Mech, Vol.76,
pp. 110091-110099.
[19] N. Shimizu (1995), Dynamic Characteristics of a Viscoelastic Oscillator, Trans. Jps. Soc. Mech.
Eng., Vol.61, No.583, C, p. 166-170.
[20] N. Shimizu, W. Zhang (1999), Fractional Calculus Approach to Dynamic Problems of
Viscoelastic Materials, International Journal of JSME, Series C, Vol.42, No.4, pp. 825-837.
[21] N. Shimizu, H. Nasuno (2007), Modeling and Analysis of Nonlinear Viscoelastic Systems by
means of Fractional Calculus Numerical Integration Algorithms, International Conference on
Material Theory and Nonlinear Dynamics, Hanoi.
[22] P. G. Nutting (1921), A New General Law of Deformation, J. of the Frankin Inst, 191, pp. 679-
685.
[23] P.G. Nutting (1943), A General Stress-Strain-Time Formula, J. of the Frankin Inst, 235, pp.
513-524.
[24] R. C. Koller (1984), Applications of Fractional Calculus to the Theory of Viscoelasticity, ASME
J. Appl. Mech., Vol.51, pp. 299-307.
[25] S. Saha Ray, B. P. Poddar, R. K. Bera (2005), Analytical Solution of a Dynamic System
Containing Fractional Derivative of Order One-Half by Adomian Decomposition Method, ASME
J. Appl. Mech., Vol.72, pp. 290-295.
[26] S. Sakakibara (1997), Properties of Vibration with Fractional Derivative Damping of Order 1/2
, International Journal of JSME, Series C, Vol.40, pp. 393-399.
[27] W. Zhang, N. Shimizu (1999), Damping Properties of the Viscoelastic Material Described by
Fractional Kelvin-Voigt Model, International Journal of JSME, Vol.42, No.1, pp. 1-9.
[28] Zhang W., Shimizu N. (1998) Numerical algorithm for dynamic problems involving
fractional operators. Int J of the Japan Society of Mechanical Engineers, Series C. 41(3):
364-370.
[29] Lixia Yuan and Om. P. Agrawal. A numerical scheme for dynamic systems containing
fractional derivatives. J. Vib. Acoust., 124:321324, 2002.
[30] T.M. Atanackovic, B. Stankovic. On a numerical scheme for solving differential equations of
fractional Oder. Mechanics Research Communications, Volume 35, Issue 7, October 2008, pp.
429438
[31] Chan ghee KOH, James M. Kelly, Application of Fractional derivative to seismic analysis of base-
isolated models, Earthquake Engineering & Structural Dynamics Volume 19, Issue 2, February
1990, pp. 229241
[32] E.Sousa. How to approximate the fractional derivative of order 1 < 2. International Journal
of Bifurcation and Chaos, April 2012, Vol. 22, No. 04.
[33] Bi Th Thy (2010), Gp phn nghin cu dao ng phi tuyn ca c h c o h{m cp ph}n
s, Lun vn thc s khoa hc, trng H khoa hc t nhin i hc quc gia H{ Ni.



PH LC
1. HM GAMMA
1.1 nh ngha h{m Gamma hay tch ph}n Euler loi 2
Vi s>0 ta c nh ngha h{m Gamma (tch ph}n Euler loi 2)
( )
1
0
,
+

I =
}
x s
s e x dx
nh ngha trn c c bng php i bin
( ) u log t = trong nh ngha ban u ca Euler
( ) ( ) ( )
1
1
0
log .
I =
}
s
s x dx
1.2 Cng thc c bn th nht ca h{m Gamma

( ) ( ) ( ) 1 , 0 s s s s I + = I >

Vi
1
2
s = ta c:
2
0
1
2 2 ,
2 2
x
e dx
t
t
+
| |
I = = =
|
\ .
}

Mt kh|c theo cng thc trn ta c

( ) 1.3.5... 2 1
1 1 3 1 1
.
2 2 2 2 2 2
n
n
n n n t
| | | || | | |
I + = I =
| | | |
\ . \ .\ . \ .

1.3 Cng thc c bn th 2 ca h{m Gamma v{ h{m Bta
1.3.1 nh ngha hm Bta
Hm Bta (tch ph}n Euler loi 1) c dng
( ) ( ) ( )
1
1
1
0
, 1 , 0, 0 .
B = > >
}
q
p
p q x x dx p q
Bng php i bin
2
os x c = ta c hm B dng tch ph}n suy rng
( ) ( )
2
2 1 2 1
0
, 2 os .sin , 0, 0 .
t

B = > >
}
p q
p q c dx p q
t
2
sin x = ta cng bin i c h{m ( ) ( )
1
1
1
0
, 1
p
q
q p x x dx
B =
}
vi
( ) 0, 0 p q > > v
dng

( ) ( ) , , . p q q p B = B



Nh vy h{m B i xng v{ c th c tnh to|n thng qua h{m I nh tnh cht quan trng
sau
1.3.2 nh l

( )
( ) ( )
( )
( ) , , .
p q
p q q p
p q
I I
B = = B
I +

S dng tnh cht va chng minh ta c
( ) ( ) ( ) ( ) ( ) ( )
1
1
0
1 1 ,1 ,1 1 .
s
s
s s s s s s t t dt
I I = I B = B =
}

Thay
( ) 1
x
t
x
=
+
suy ra
( ) ( ) ( )
1
0
1 , 0 1 .
1 sin
s
x
s s dx s
x s
t
t
+
I I = = < <
+
}

1.3.3 Hm Gamma c th xem nh gii hn ca mt tch
Ta ~ bit gii hn
lim 1 ,
| |
=
|
\ .
n
x
n
x
e
n

( )
1 1
0 0
lim 1 .
n
x s s
n
x
s e x dx x dx
n
+ +

| |
I = =
|
\ .
} }

K hiu
( ) ( )
1
0
1 , 0 , 0 .
| |
I = s s >
|
\ .
}
k
n
s
k
x
s x dx k n s
n

Tch ph}n tng phn biu thc trn ta tnh c
( ) ( )
1
1
0
1 1 1 ,
0
| | | |
I = + = I +
| |
\ . \ .
}
k k
n s
s
k k
n
x x k x k
s x dx s
n s ns n ns

Mt kh|c ch rng
( )
1
0
0
.
0
n s s
s
n
x n
s x dx
s s
I = = =
}

Do vy:



( ) ( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( ) ( )
1 2
0
1
1 2
1
1 2 1
1 2 1
1.2 1.2
.
1 1 1
n n n
s n
s
n
n n n
s s s
ns ns n s
n n n
s n
ns n s n s n s n
n n n
n
s n s s s n n s s s n

+
I = I + = I +
+

= = I +
+ + +
= =
+ + + + +

Do h{m Gamma c th c biu din qua gii hn ca mt tch

( ) ( )
1.2
( ) lim , ( 0).
1
I = >
+ +
s
n
n
s n s
s s s n

Biu thc trn c th dng l{m nh ngha h{m Gamma. Khi , ta vn c cng thc truy to|n
c bn
( ) ( ) 1 s s s I + = I .
Tht vy

( )
( )( ) ( )
( ) ( )
( ) ( )
( )
1
1.2
1 lim
1 2 1
1.2
lim
1 1
1.2
. lim . lim .
1 1
+

I + =
+ + + +

=
`
+ + + +

)
= = I
+ + + +
s
n
s
n
s
n n
n
s n
s s s n
n n
s n
s s s n s n
n n
s n s s
s s s n s n

H{m Gamma c nh ngha qua gii hn ca mt tch nh trn c c|c cc im n l{ 0,-1,-
2,,- n ,
1.3.4 Hm Gamma v h s ca nh thc Newton
nh ngha:
( )( ) ( )
( )
( )
1 2 1
!
, .
! ! !
n n n n n k
n
k n
k k n k k
+ | |
= = s
|

\ .

C|c h qu
1, 0 khi ,
0
n n n
k n
n k
| | | | | |
= = = >
| | |
\ . \ . \ .

1
, , .
1 1 1 1
n n n n n n n
n
n k n k k k k
+
| | | | | | | | | | | | | |
= = = + =
| | | | | | |
+ +
\ . \ . \ . \ . \ . \ . \ .

Quan h gia h{m Gamma v{ h s ca nh thc:
( ) 1 ! n n I + =
( )
( )
( ) ( )
1
!
! ! 1 1
I + | |
= =
|
I + I +
\ .
n n
n
k n k k k n k



2 HM MITTAG LEFFLER
i vi nhng phng trnh tnh to|n cp nguyn, h{m m
z
e ng mt vai tr quan trng. Tng t
trong tnh to|n cp ph}n s, h{m Mittag-Leffler cng ng vai tr nh vy.
Vi h{m mi
| |
, 0
q
E az q > , Mittag-Leffler xt tham s a l{ mt s phc, tc l{
j
a a e
|
= . Khi
ng nghin cu h{m n{y, r r{ng l{ h{m va n nh (gim dn v 0), va khng n nh (tin ti )
khi z tng, ph thuc v{o tham s a v q c la chn nh th n{o. Kt qu l{ h{m vn b chn khi
tng z nu
2
. q
t
| >
2.1 C|c nh ngha
2.1.1 Hm Mittag Leffler mt tham s
Hm Mittag Leffler mt tham s c nh ngha
( )
( )
0
, 0.
1
k
k
z
z
k
o
o
o
=
E = >
I +

Dng khai trin l{ d~y v hn

( )
( ) ( ) ( )
2 3
1 ,
1 2 1 3 1
z z z
E z
o
o o o
= + + + +
I + I + I +

H{m n{y ~ c gii thiu bi Mittag-Leffler nm 1903.
Vi mt s gi| tr ca o ta c cc hm Mittag Leffler

( )
( )
( )
( )
( )
( )
( ) ( )
( ) ( )
3
3
0
1
2
3
2
3
4 4
4
1 2
1
,
1
,
cosh ,
1 3
2 cos ,
3 2
1
cos cosh ,
2
1 erf , 0.
E =
E =
E =
(
| |
E = +
( |
(
\ .

(
E = +

(
E = + >

x
x
x
x
x
x
x e
x x
x e e x
x x x
x e x x

2.1.2 Hm Mittag-Leffler hai tham s
Hm Mittag-Leffler hai tham s ng vai tr rt quan trng trong php tnh khng nguyn. Kiu
h{m n{y c a ra bi R.P.Agarwal v{ Erdelyi v{o nm 1953-1954.
H{m hai tham s c nh ngha
( )
( )
( )
,
0
0, 0 .
k
k
z
E z
k
o |
o |
o |
=
= > >
I +



( )
( )
( )
,1
0
1
k
k
z
E z E z
k
o o
o
=
=
I +
l hm Mittag-Leffler mt tham s.
Nhng ng nht thc sau c suy ra t nh ngha

( )
( )
( )
( ) ( ) ( )
( )
( ) ( ) ( )
1,1
0 0
1
1,2
0 0 0
2
1,3 2 2
0 0 0
,
1 !
1 1
,
2 1 ! 1 !
1 1
.
3 2 ! 2 !
k k
z
k k
k k k z
k k k
k k k z
k k k
z z
E z e
k k
z z z e
E z
k k z k z
z z z e z
E z
k k z k z

= =
+
= = =
+
= = =
= = =
I +
= = = =
I + + +

= = = =
I + + +

Phng trnh trn c dng tng qu|t
( )
2
1, 1
0
1
.
!
=
| |
=
|
\ .
k m
z
m m
k
z
E z e
z k

Nhng h{m lng gi|c v{ hyperbolic cng l{ nhng s biu hin ca hm Mittag-Leffler hai
tham s

( )
( ) ( )
( )
( )
( ) ( )
( )
2 2
2
2,1
0 0
2 2 1
2
2,2
0 0
cosh ,
2 1 2 !
sinh
1
,
2 2 2 1 !
k k
k k
k k
k k
z z
E z z
k k
z
z z
E z
k z k z

= =
+
= =
= = =
I +
= = =
I + +

2.1.3 Hm sai s
H{m sai s c nh ngha
( )
2
0
2
,
z
t
erf z e dt
t

=
}

v{ c biu din bi d~y
( )
( )
( )
2 1
3 5 7 9
0
1
2 2
.
2 1 ! 3 10 42 216
n
n
n
z
z z z z
erf z z
n n t t
+
=
| |
= = + + +
|
+
\ .

2.1.4 Hm b sai s
( ) ( )
2 2
0
2 2
1 1 .
z
t t
z
erfc z erf z e dt e dt
t t

= = =
} }

Khai trin d~y ca h{m b sai s



( ) ( )
( )
( )
( )
( )
( )
2
2
2
1
2
1
1.3.5... 2 1
1 1
2
2 !
1 1 .
! 2
z
n
n
n
z
n
n
n
n
e
erfc z
z
z
n
e
z n z
t
t

=

=
(
(
= +
(

(
= + (
(

2.1.5 Php bin i Laplace ca hm Mittag - Leffler
Ta c:

( ) ( )
L
f t f s

( )
( )
( )
1
,
,
k k
f t t E at
o | o
o |
+
=

( )
( )
1
!
.
L
k
s k
f s
s a
o |
o
+
=

Trong :
( )
( ) ( )
, ,
k
k
k
d
E t E t
dt
o | o |
= .
Vi 0 k > to|n t l{ vi ph}n ca h{m Mittag-Leffler v{ vi 0 k < to|n t l{ tch ph}n ca h{m
Mittag-Leffler.
( )
( )
1
,1
1
,1
Khi 1, 0 ,
.
s
k E at
s a
s
E at
s a
o
o
o o
o
o
o o
|

= =

+

2.1.6 Cc hm pht trin t hm Mittag - Leffler
Ta c:
( )
( )
( )
,
0
0, 0 .
k
k
z
E z
k
o |
o |
o |
=
= > >
I +

2.1.7 Hm Agarwal
Hm Mittag-Leffler c kh|i qu|t bi Agarwal v{o nm 1953. H{m n{y quan t}m c bit ti
h cp ph}n s do php bin i Laplace ca n c a ra bi Agarwal. H{m c nh ngha



( )
( )
( ) { }
1
,
0
,
,
.
1
m
m
t
E t
m
s
E t
s
|
o
o |
o |
o
o | o
o |
| |
+
|
\ .
=
=
I +
=
L

2.1.8 Hm Erdelyi
Erdelyi (1954) ~ nghin cu dng tng qu|t ca h{m Mittag-Leffler

( )
( )
,
0
, , 0
m
m
t
E t
m
o |
o |
o |
=
= >
I +

trong s m ca t l{ s nguyn.
2.1.9 Hm R v hm G suy rng
| |
( ) ( )
( )
( ) { }
| |
1 1
, ,
0
, , , .
1
n n q
q q
n
a t c
R a c t R a t c
n q
u
u u
u
+
=
I +

Trong , t l{ bin c lp v{ c l{ gii hn di ca o h{m v{ tch ph}n cp ph}n s. i vi
min t c > s quan t}m ca ta ti h{m n{y s l{ bnh thng.
Php bin i Laplace ca h{m R

( )
( )
,
,
, 0, ,
, , .
q q
cs
q q
s
R a t
s a
e s
R a c t
s a
u
u
u
u

( )
( ) ( )
( ) ( )
1,0
2 3 4 5
2
2,0
2 2 4 4
2
2,1
, 0, ,
, 0, sin ,
3! 5!
, 0, 1 cos .
2! 5!
at
R a t e
a t a t
aR a t a t at
a t a t
R a t at
=

= + =
`
)

= + =
`
)

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MC LC

. o h{m v{ tch ph}n cp ph}n s ca chui

, |p dng cng thc

l hm Mittag Leffler hai tham s.

= < < (2.35)

c tnh nh i vi trng hp 0 1 p < < .

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