T 1 (p) T 3 (p) 2 (p) + T
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1 εt) ut) Ep) ɛp) Tp) Sp) Ep) ɛp) T p) Up) T 2 p) T 3 p) Sp) Ep) ɛp) Cp) Up) Tp) Sp) Ep) ɛp) T p) Up) T 2 p) Cp) T 3 p) Sp)
2 Ep) εp) K p Up) Tp) Sp) Cp) = Up) εp) = K p. ε i Tp) = Ks Np) p α Dp) α = ε i = E O K K = K p K s Ep) ɛp) Up) K p p,2 p 2 Sp) K = 5 K = t 2 3 K = 5 K = 4 ω db ω db M P 2 2 MP ε i d T p ω p
3 ut) u t) = t ε u) du T i C i p) = T i p. Ep) ɛp) Up) T i p p,2 p 2 Sp) ω db ω db ω db T i =,9 s T i = 8s 2 t M P > M P M P <
4 u t) = K p ε t) T i t ) ε u) du Ep) ɛp) K p T i p T i p Up) Tp) C pi p) =K p ) T = i p K p T i p T i p. Sp) K p 2 T i T i =, K p =,2; ; K p =,2 T i =, ;,5;, K p T i K p K p T i T i T i p) K p T i
5 Ep) ɛp) T K i p Up) 5 p T i p. p) 2,5 p) T i =, s K p =, 4 t Sp) ω db ω db M P MP 27 2
6 5, p) 2,5 p) T max =, s, p T i = T max =, s C i p) =K p, p K p = K p K db = 7 db K p = 7 2, K db = 7 db K p = T i =, s 27 2 M P
7 ω db db ω db = 5,3 rad s T i =,9 s ω db K p = K p =, 9 T i =,9 s K p = K p 45 4dB K p = 4 2,9 t ω 2 = 5, ω i = T K = 4 db K p = T i =,9 s M P 36 2 Gp) = 5 4 pp 2 ),5 p) 2
8 u t) = T d dεt) dt C di p) =T d p T d C dr p) = T d p τ T τ p d ω lim < τ 9 u t) = K p ε t) T d dεt) ) dt C PDi p) =K p T d p) C PD p) =K p T d p τ p τ T d 9
9
10 Fp) = p 2,5 p) Ep) ɛp) Up) Sp) K p T d p) p 2,5 p) T BOp) =K d p p p 2,5 p) T d = T max = 5s T max =,5 s K p = BOp) = 5 p p 2,5 p) K p 45 8dB K p = 8 2, ω db ω db ω db 3 K p = T d = 5s K p =, 4 T d = 5s M P M P M P t
11 C ap = K p a T a p T a p a > 3 2 log a 2 log a 9 a T a T a ) arcsin a a a Ta log a ω max = a Ta ω Ta = ω ata = T a Φω max )=arctan db) A db ω max )= log a a T a a a ) a 2 Φω max )=arcsin a )
12 T max a T a = T max a ω db db ω db = 2,25 rad s M P 7 a ) a M P arctan 2 = 45 a 4, 2 a ω db = ω db T a,26 s a Ta a T a K p = K p ω db K p = loga) 2, 48 t M PMP
13 T r p C rp p) =K p b T r p b >. log b 2 log b 2 b T r b Tr T r ) arcsin b b b
14 b > a > a = b T r p C avr p) =K p b T r p a T a p T a p 2 b T r T r a T a Ta
15 Cp) =K p T i p T d p; Cp) =K p ) T T i p d p) ; Cp) =K p ) T i p T d p. K p ɛp) T i p Up) ɛp) K p T i p Up) T d p T d p ɛp) K p T i p T d p Up) Cp) =K p T i p T d p τ p T d τ. C m p) =K pm ) T im p T dm p = K pm K pm T im p K pm T dm p
16 C m p) =K pm ) T im p T T dm p = im p T im T K dm p 2 pm T im p C m p) =K pm 2 z d ω dm p p2 ω dn T im p ω dn = z T im T d = Tim dm 2 T dm z d > T im > 4 T dm C s p) =K ps ) T T is p ds p) C s p) =K p ) T T i p d p) T i Td Td T i
17 ω < T i 9 2dB/dec T i < ω < T d 2 logk p ) ω > T d 9 2dB/dec T i T d K p K p T i > 4 T d T i T d Gp) = 4,2 p, p 2 ),5 p) 5 p) 5 s C s p) =K ps T is p ) T ds p) t T is = T = 5s T ds = T 2 =,5 s K ps = C s p) = ) 5 p),5 p),5 p) = 5 p 5 p
18 BOp) =C s p) Gp) = 55 5 p, p) K ps 8 5 = 3 4dB K ps = 4 2, K p = K p =, 63 5 p),5 p) C s p) =,63 5 p
19 Θ c ɛ A Up) Mp) Ωp) p Θ s p) DTp) Θ c ɛ A Up) K m Ωp) Mp) = T m p p Θ s p) Mp) A A A K m BOp) = p T m p) BFp) = Θ sp) Θ c p) = A K m A K m p T m p 2 BFp) = A K m p T m p A K m A K 2 m K = A Km ω n = T m z = 2 A K m T m DTp) =K d
20 Θ c ɛ A Up) Mp) Ωp) p Θ s p) DTp) Ωp) Up) = M dp) M d p) = Mp) K d Mp) = K m K m K d T m p M d p) = K md T md p = K m K m K d T m p K m K d T md = T m K m K d, K md = K m K m K d Θ c ɛ Up) K A Mp) = md Ωp) Θ s p) T md p p BO c p) = A K md p T md p) BF c p) = Θ sp) Θ c p) = A K md A K md p T md p2 BF c p) = A K md p T md p A K md A K 2 md K c = A Kmd A Km ω nc = = T md T m z = = z K m K 2 A K md T d ) md
21 A K d
22 K osc T osc T osc T osc ɛp) K p T i p Système Sp) T d p K p K osc K osc T osc K p T i T d K p =,5 K osc K p =,45 K osc T i =,83 T osc K p =,6 K osc T i =,5 T osc T d =,2 T osc z,4 ω osc = ω OdB K osc
23 t st) ɛp) K p T i p Système Sp) T d p K BO T r T T r t T r K BO T T r T K p T i T d T K p = T K BO T r T K p =,6 T T K BO T d =,5 T r
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