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TD7
TD7
"!$#&%'(*)*+-,/..-0214365798:.";<.>=?,@>.A (*'0B)*CD+>(E."FD.G7H3I=?=?.-7H)*.-5J=K(
L&M-N*OQPSRTPSNU
VW PSX WZY RT[]\SOQN^ W_ OQXP`N YY ^ Y [NbacX W P
dRTX W [NbdQOQe WZY acN*Ofd
H(s) =
1000
s(s + 10)2
H(s) =
1000
s(s + 10)2
HgihjN YkY dQ\SlmNnN Y dilmR Y [Ze WZY ^ W e YQY NSOQo>R YQY N*lpN W drqsONSdXH^ZOt^ W RudQeHRuOQNve?o9N*Pb^ W PSXHOQONEP
dQNS^]O _ OQX _ XHOdRTX WZW NSwxy[Nnz>e{R W
gZ|X WZW NSOrwTN Y P~}]*lUenacX W P
dQRuX W]W N*wJ[^ YfkY d\SlmN e YY NSOQo-Rg
gikhe{wP`^ZwuN*OrwTepoKe{wTNS^]Ot[]^z>e{R W k ^]RJe YY ^]OQNeH^ YkY dQ\SlmNb^ W NlUe{OQzHNb[N _ }Ze Y Nb> g
grJeP`X WIY RTz W NnN Y d^ WY RTz W eHwJ*P~}ZNSwTX W ^ W RudQeHRuOQNHghe{wP`^]wTNSOw NSOQOQNS^]ON W OQSz9RulmN _ NSOQlUe W N W dN W dOQN weP`X WZY Ruz W N N`dwTe
Y XHOdRTNb[]^ YkY dQ\SlmNHg]t _ X W [OQNqpwTeplmSlmN ^]N Y dRTX WY RwTemPSX WZY Ruz W NN Y dt^ W NO~e{l _ N[N _ N W dQNUHg
Zg VW [ Y RuOQNe?oHX9RuOlUe{R W dN W e W dr^ W e YQY N*Oo-R YY NS lmN W dON Yf_ N*P`dQe W drwTN Y P`X W [RudRTX WZYrY ^]RToKe W dN Y
NSNSOQOQOON*N*^]^]OOrY[d~NbeKddRO~ e?^] W N e{W z9^]NiwuwT NHW RuN p() = 0 g
xXH^]OtPSNa:e{RTON9X W eH[?X9R W dte{^p()
P`X9OOQN*=P`d5%
N*^]O _ OX _ X9OfdQRuX W]W N*w6x]^ W PSXHOQONEP
dQNS^]OrqpONSdQeHOQ[[N _ }Ze Y N9g
|X W]W N*OrwuN W XH^]o9N*e{^ Y P~}ZSlUevacX W P`dRTX W]W N*w[Nw e YY NSOQo-R YQY N*lmN W d*g
he{wP`^ZwuN*OrwuN Y_ e{O~e{lm\`dQON Y [^"P`XHOQOQN*P
dQNS^]OEg
L&M-N*OQPSRTPSN
VW PSX WZY RT[]\SOQN[N W XH^]o9N*e{^wuN YkY dQ\SlmN[NbacX W P
dRTX W [NbdQOQe WZY acN*Ofd
VW [ Y RTONOQ*e{wTR Y N*Oj^ W e YQY NSOQo>R YQY N*lpN W djqpONSdXH^ZO^ W Rd~e{RTON _ NSOQlpNSdfd~e W dt[N Y e{dR Y a:eHRuOQNiwTNPSe{}ZRuN*O[]NbP~}Ie{OQzHN YY ^]RuoKe W db
OQ[ _ _ X e WZYQYY N*NblmX NY P`W RTdrwuwNeKWdQXH RTOX9N^ZN P`WwTNb acX9NSOQ^ZlmP`wTSNbN acNSOQlmSN9
dN*l _ZY [NOQ _ X WZY Nbqm>[NZg Y D BF 5%
NSOQOQNS^]O Y dQeKdQR ^]N W ^]wTwuN9g
yc
+
C(s)
H(s)
Correcteur
Avance de phase
1000
s(s + 10)2
tS*PSORud^ZON[NbweU
H(s) =
10
s 1+
s 2
10
10k
s 1+
s 2
10
= + BO (C0 )
C0
m = 2arctan
2
10
C0
m =
=
2arctan
2
10
4
C0
2arctan
=
10
4
C0 = 10tan
8
i C0 = 4.14rad/s g
|`dN*OlmR W eKdQRuX W []N k
Je _ ^Zw Y eKdQRuX W C0 oH*ORuZNbwTepOQNSweKdQRuX W
10k
C0 1 +
2
C0
100
|HBO (jC0 )| = 1
= 1
C0 1 +
10
2
C0
100
i k = 0.48
gL&OQON*^]O Y dQeKdQR ^]N
N YkY dQ\SlmNN Y dt[N P`we YQY Np ^ W R W d*zHO~eKdN*^]O
p() = 0
L&OQON*^]Ot[NdO~e? W eHzHNXH^"[Nbo-RdQN YQY N
N YkY dQ\SlmNN Y dt[N P`we YQY Np ^ W R W d*zHO~eKdN*^]O
N*OOQNS^ZO[]No-RudN YY N W RTNlmeHR YW X WW ^]wuwTNHg
1 e?o9N*P
v () =
Kv = lim sHBO (s) = 10k
s0
Kv
Zgt k-W d}]\ Y N[^"PSXHOQONEP
dN*^]OrqpONSdQe{O~[[]N _ }Ze Y N
[]^PSXHOQONEP
dQNS^]Orx
1 + T s e?oHN*P
C(s) = b
b>1
1 + bT s
1 + Ts
10
1 + bT s s 1 + s 2
10
Nrx[]XHRudre{XH^dQNSOrN W e YY N Y acOQ ^]N W P`N Y wuNbz>e{R WW EP`N YY e{RTON _ XH^]Ote?o9XHRTOwe _ OQ*P`R Y RuX W [ Y RTO*NHg
tX9^]oHN*wuwTNbN`M _ OQN YQY RTX W [Nw N*OOQNS^]Or[NdQOQeK W eHzHN
1 e?o9N*P
v () =
Kv = lim sHBOC (s) = 10kb
s0
Kv
he{wP`^Zw[NwTepoKe{wTNS^ZOt[N b
v () =
1
5
=
10kb
100
2
b=
k
i b 4 g
he{wP`^Zw[N
xXH^]O W N _ e TY lmX[RuZNSOrweplmeHOz9N[]N _ }Ze Y N _ OQ*P`E[NSlmlmN W drOQSzHwTSN9Ruwa:e{^diP~}]X9R Y RTO
dN*w ]^ NU
c0
10
1
T
T
10
c0
i T = 10
L&M-N*OQPSRTPSN
[^ YfkY d\*lpN
c0
T = 2.4s
H(s) =
1000
s(s + 10)2
H(s) =
10
s 2
s(1 + 10
)
tS*PSORud^ZON[NbweU
DBF% 5% BF = 0.7
3
= 0.7 n,BF tr5 % = 3 n,BF =
tr5 %
n,BF = 5rad/s
c0
_ OEP`*[]N W dN
= + (C0 )
C0
m = 2arctan
2
10
C0
m =
2arctan
2
10
m = 37
i
rN*lmeHO ^]NweoKe{wTNS^]OP`Ru[N YQY ^ Y N Y d wTelUe{OQzHNm[N _ }Ze Y N ^ e{^]O~e{RudbwuN Y kY dQ\SlmN Y R Y eacO ^ZN W PSNm[]NsP`XH^ _ ^]OQNmq
H[ZN Y d _ wTe9P`*NtN W c0 = 5rad/s g>L&wTwuNN Y d[RuBSOQN W dNi[]Niwe lUe{OQzHNt[N _ }Ze Y Nie9P
dQ^]NSwTNi[^ YkY dQ\SlmN ^]R6N Y dj[N
qpwTe _ ^ Y w Y e{dRTX W c0 = 6.8rad/s X dN W ^]N Y XH^ Y lme{dwe `g
Zgt -k W d}]\ Y N[^"PSXHOQONEP
dN*^]O
[]^PSXHOQONEP
dQNS^]O
C(s) = Kc
e?oHNEP
1 + aT s
1 + Ts
a>1
&KuSD{v]{KU`p
N YfkY d\*lpNve _]_ XHOdN*OQeHRdi^ W NnlUe{OQzHNv[N _ }Ie Y Nv[N > gIxX9^]Oe?o9XHRTOrwTelUe{OQzHNn[N _ }Ze Y Nn[]N 6RTwJa:eH^d ^]NvwuN
P`X9OOQN*P`dN*^]Ore _]_ XHOdNb^ W N _ }Ie Y N Y ^ _]_ wu*lpN W dQe{RTOQNb[]N m = 33 g
c,max
= m = arcsin
a =
a1
a+1
1 + sin(m )
1 sin(m )
&KuSD{v]{KU`
& e?oKe W PSN[]N _ }Ze Y NblUeKMRulUeHwuNbN Y dte _]_ uw R ^]SN qpwe _ ^]w Y eKdQRuX W
c,max
C0
1
= C0
T a
1
C0 a
&KuSD{s9{
Nbz>e{R W Kc _ N*OlmKN`cdi[]N _ wTe9P`N*Ow eKMN V []qmwe _ ^]w Y eKdQRuX W
C0
gV O
|C(jC0 )| = Kc a
10
Kc a
2 ) = 1
C0
C0 (1 + 100
e9P~}Ze W d ]^ N
X W N W []*[^]Rudn
2 )
C0
C0 (1 + 100
Kc =
10 a
Y X9Rd
H(s)
C(s)H(s)
Yc (s) +
D(s)
1 + C(s)H(s)
1 + C(s)H(s)
C0
o9SOQRZNbwepON*wTe{dRTX W
D(s) =
1
s
N`d
Yc (s) =
1
s
lim sE(s)
s0
lim
s0
1
H(s)
1 + C(s)H(s) 1 + C(s)H(s)
1
1 + C(s)H(s)
1
lim
1+aT
s
s0 1 + Kc
1+T s
lim
s0
10
s 2
s(1+ 10
)
1 () = 0
N*OlmN
2 () =
2 () =
2 () =
H(s)
1 + C(s)H(s)
10
10
1 + aT s
lim
1 + Kc
s 2
s0
1 + Ts s 1 + s 2
s 1 + 10
10
1
Kc
lim
s0
hjX W PSwu^ Y RTX W 6w NSOQON*^]O Y dQe{dR ^]N W N Y d _ e YW ^ZwuwTNnN WG_ OQ Y N W PSNn[N _ NSOd^ZO e{dRTX WZY gZxX9^]O*wuRTlmR W NSObP`N`ddNvwTe _ N*Of
d^]O eKdQRuX W PSX WZY dQe W dNHX W R W dOQX[^]Rudt^ W `P XHOQOQN*P
dQNS^]Ox&N W_ wT^ Y [Nw txg
-k W dQ}]\ Y N[^"P`X9OOQN*P`dNS^ZOx4
[^x&
C(s) = Kc2
1 + Ti s
Ti s
NsP`X9OOQN*P`dN*^]Ox&bN Y dnOQSzHwTU[NUa:e9`X W q"PSX WZY NSOQoHN*OwTN Yn_ N*OfacX9OlUe W P`N Yb_ OEP`E[N W dN Y X dN W ^]N Y e?oHNEPpw txg VW
P~}]XHR Y Rud Ti [Na:eH`X W qpe?o9XHRTO
i
c0
10
1
Ti
Ti
10
c0
Ti = 10c0 Ti = 2
Yg