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o œLMN:xF4<65H<I7cp<DRe‹<e•3<67=<Opeˆdc;eTUG<RF6<65H
GyF4<6_GG•323OC75F
X X
XKKK
(B'-A  (B'-A(B-/ (B(A (BA -
Bn
B
CV
C
D
ω ω
∇
= − ∆ = − =
Với :
o
X
XKKKm
∇ =

6Q<RG6G67=CFTVG<;9
o Wœ7^<Dp67L9G6˜F6>67C;
B(K B(

>==
Lg
V
F
S
r
c;eTUG
<RF6<65HGyF4<6_GWœ?(BX

l±
D
‡(B m?(B(A
• œ
D
?(B@œ?(B@•(BA -?(BK
• WLMN`F66T‰F4<H;F]6…FG•3<NGeE>RG6<6RG6e=FO^F6Z^7
01 2345 18
  


'BXA 'BXA
(B/

 '  ' BKA
R
K K

C
 
 
− −
∆ = + = + =
 ÷
 ÷
 ÷
 ÷
+ +
 
 
'
'BXA
Bn
CV
x
K f f
D
 
 
= = =
 ÷
 ÷
 
 
7Kd\%&'()5e&b5)'##fD%)
•?(B@AC6H`F4G^G6<tCP]<DTVGG•3G6oFcp<<V7CP]<DTVGG•3O^F6
Z^7
3. Xác định lực thủy động tác dụng lên bánh lái và momen thủy động tác dụng lên

trục lái khi tàu chạy tiến :
a. Tính toán đặc tính thuỷ động của bánh lái:
•  F46U]ZqGvGj637<6;F6]6…F

DLR
+=
• yC5F<69•eEF4‰GIF6<DTVGG•3O^F6Z^7
 
<e
?5
Trong đó: 56H`F4G^G6<tGIF6<DTVGG•3O^F6Z^7e=Fe7QCe‹<ZqG
• yC5F<`7<DwF<DaGZ^7eTUG<RF6<65HGyF4<6_G

(
?•?l5‡3m
Trong đó: 5>6H`F4G^G6<t<DaGZ^7e=FGIF6<DTVGG•3O^F6Z^7
3>6H`F4G^G6<te7QCe‹<ZqGe=F<oC<DaGZ^7
DHF4O`F4''zXB <3d>•<69Y<<;9<6•d<Y]egG6HO7=<e‹G<RF6G•3O^F6Z^7Gj
-
'
==
λλ

DHF4<6qG<=<67=<>=<;9<6•dBO^F6Z^7<6T~F4Gj6LMN-F6f6bF-JG^G6LMN

&
B

c;


]6a<69EGD\<F6789c;H-FwF<3<RF6G^G6LMN\dG6HCs7O^F6Z^7F6TM39


?
'
k
'

&

ž <3d>•<69Y<<;9<6•d<Y]B''z X<D/(nŸ
01 2345 19
  
L
CC
'
+=
αα
ž <3d>•<69Y<<;9<6•d<Y]B''z K<D/(nŸ
Trong đó:
m
''
l
'
'
'
λλπ
−=
C
ž <3d>•<69Y<<;9<6•d<Y]B''z A<D/(nŸ

m
''
l
XBA/
'

λλπ
−=C
ž <3d>•<69Y<<;9<6•d<Y]B''z -<D/(nŸ
D3<DHF4O`F4''zXB <3d>•<69Y<<;9<6•d<Y]lXz<D3F4/(AmF4T~7<3G6HO7=<e‹G
<RF6G•3ZHI7Gj-²?-
'
?-c;6LMN>PH:;7-

?-

?'BAn
Suy ra :
m
''
l
'
'
'
λλπ
−=C
?
' ' '
l m
XB'K 'BAn -

−
?(B'K/
m
''
l
XBA/
'

λλπ
−=C
A/BX ' '
l m
XB'K 'BAn -
= −
?@BKXA
&Y]O`F4<RF6G^G6LMN
&
B

c;

GE<'|GE<KeTUGG6H47NF4F6T<DHF4O`F4''zX
cV7]Dy“7Fz(('ABG^GGE<>6^G<RF6<65HGyF4<6_G''z AB''z -M <3d>•<69Y<
ejF4<;9<6•d
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  
Q$%&'()1'5S<5H.K0IJ5S%.M
3•^GepF66LMNZqG<6«F44jGO^F6Z^7

<65HGyF4<6_GM39



?
&
GHM¬k

M7F¬
6H`F4G^G6<oC^]M9\<<tGIF6:‚FeTUG•^GepF6<65HGyF4<6_G
bl
N
M
b
C
C
e =

V7O
OZ
? B CG6789DEF4<D9F4OJF6G•3O^F6Z^7
ghQ+(45<()1'5S<5H.K0IJ5SQ%()%.()KDJ0M
^G]6P]<RF6eTUG<6qG67LF<DHF4O`F4193ej<3<6\deTUGDhF4Mq•w:pG6<oC^]
M9\<<65HG6789DEF4O^F6Z^7>6yF4cTU<Š9^'B ›<_GOhF4 -BKlCCm
‰7cJcV7F6™F44jG:‚FZVF6bF6LMNZqG<6«F44jG

ZVF6bFD\<F6789F6™F4<DpMN
<TbF4_F4cV74jG:‚FF6f6HFwFeQF6YFeTUGCyC5FF6f<DwF<DaZ^7B<3F6YFcp<DR
<DaGZ^7
(B Kn (B A'
(B A

a e
b b
+
= = =
01 2345 21
  
6H`F4G^G6<DaGZ^7<RF6<tCP]<DTVG<3d<D5Hl<I7G6789DEF4<D9F4OJF6O^F6Z^7mM‘Z;
3?(B K@O?(B K@ ?(BAAlCm
lQ<D^F667LF<TUF4GTV]Z^7FwF<3G6sF3[O?(B K@m
c. Lực tác dụng lên bánh lái:
• *(?(45%&T(4i(Q%()%.M
&?
&

OZ




R
V
ρ
?
&
/B/

'('B/-AB'@

?'(A' 
&

l>m
Trong đó: 
&
z6LMNZqG<6•deEF4
°?'('B/-l>

[C
K
mCY<eEFTVGO7QF

v
?AB'@C[M

cYF<NGG•3:xF4FTVG

OZ
?/B/lC

m:7LF<RG6O^F6Z^7
• *+(P5%F(412=Q%()%.M
?


OZ




R
V

ρ
?

/B/

'('B/-AB'@

?'(A' 

l>m
Trong đó : 

‡6LMNZqG<6•deEF4
• dh*j5%F(412=Q%()%.M
v?

DL
+
?

l'(A'  m l'(A'  m
L D
C C+
l>m
F3Aa(5)IB&T(45%F(4i(Q%()%.M
yC5F<6•deEF4<^GeEF4ZwFO^F6Z^7BcV7e7QCe‹<‰CP]:‚FG•3O^F6Z^7Z;

<:
?



OZ
O
OZ




R
V
ρ
?

/B/ B 

'('B/-AB'@

? X' /

l>Cm
V7 

6LMNCyC5F<6•deEF4

OZ
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ZwFO^F6Z^7
<e
eTUG<6Q67LFŠ93O`F4M39

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P*J12=Q+(45<()5Si(5JkM
&qGFoF4ZVFF6\<&
C3•
?KnnA'BKKl>m
&qGG`FZVFF6\<
C3•
?'X(n'B@K@l>m
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C3•
?A'-X@BA/nl>m?A(-K('BK/lm
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<:
?X'A''BAl>Cm?X(n( B AlCm
a3Aa(5Si(5S%.M

o td
M M N a= −
Với:




R
Nbl
V
CAN
ρ
=




ml

(
R
blNM
V
AaCbCM
ρ
−=⇔



ml

(
R
blN
V
ACb
b
a
b
e
M
ρ
−=⇔


ml@ n A
(
b
a
b
e
CM
N
−=⇔
=<Š9`<RF6eTUG<6Q67wF<DHF4O`F4M39
+(45<()A3Aa(5Si(5S%.M
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7^<Dp
(
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CyC5F<DwF<DaGZ^7G…FM©:aF4<RF6<H^F

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