Vis sans fin

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‹~Œ@aŽs‘ˆ’VSa”“•DTVQ–a—aSa˜@™LŒ

š o‡fƒlk,c„uy_4uƒlnpr„c„k_guj{+o‡_ao+u_a›sck9byu_a{+uj›suœnpw+qc„žz{+_4žz{+cbyuynsoqk`gucebmk,{qumwqnpwqce_au‚{+oŸk,c„›soxnpržz{+_gr`<\Ioqžz{+_}_go@€s\‘tIƒ7 ‰k\so_aoIbyuƒa_sŠ

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signal u

i(t)

ω

stylo

Vis sans fin

Potentiometre

+E −E

Alimentation moteur

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¨ _Oky`œ+ƒavUnU`g\svUw+uy_goqf¢

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ω

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`gnpb_a{+umf_4›Insceo€‘npuyc„ns]+re_

A

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±Evolts

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y

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position A

u Moteur

capteur

k ω vis sans fin

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A

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k capteur

k,\Iozb‚f+_akj›InsceoxkgŠ+Y>_7vU\sb_g{qu‚_ak,bJnskyk,c„vUcernp]+r„_4 R{+o‡k,tk,b|gvU_4f{w+uy_gvUc„_guj\suœfuy_}f+_dˆ\Ioq`byce\Io‡f_7buœnpoqk,dˆ_gub4¢

H m (s) = k m

1 + T m s

Yn‰`<\Ioz€I_guœk,c„\sof_4rnU€@c«by_akyk,_Of_&u\sbyn‘byce\Io~f+{‡vR\sb_a{+um_go‡{qoŸfƒgw+rns`g_gvU_gozbmwqnsumrnU€zckmkynpoqk‚†qo_ak,bJvU\@f+ƒgr„c„kynp]+r„_4wqnsumr„n

dˆ\Ioq`byce\Io‡f_}buœnpoqk,dˆ_gub‚k,{+c„€‘npozb_‰¢

H vis = k vis

s

´¬µ

 µ

ŽsSa¶z‘”aSa¸·QŒ@‰SlŒzŽº¹V•¸·QŒ@

§DvU\pby_g{+u4¢

k m = 10rad.s ^{− 1} .V ^{− 1}

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T m = 0.075s

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§»npvUw+r„ce†x`gnpb_g{qumf_4w+{+ckkynpox`<_R¢+ceoqc«byc„nsre_avR_aozb

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\Iow+uy_goxfuyn

A = 1

^©

§D€@c„k‚kynpoxkK†qoF¢

k vis = 1.33 × 10 ^{− 2} m.rad ^{− 1}

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§Dw\pb_aozbc„\svU|<byu_4f_4uy_a`g\sw+c„_¬¢

k capteur = 2V.m ^{− 1}

^Š

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sŠ‚ÃSaQVTŒSl¹¶@“xº¸·QŒ

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H = P osition(s) U(s)

Š

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²Š‚ÃSaQVTŒ’V µ Sa¸·QŒ

§DÄ[`<uyceuy_‰k,\I{qk7re_Ur„\s›Ic„`gce_arȍlŽs¸¾ µ ÁD{qow+uy\s›IuynsvUvR_¬wx_auvU_gb,bynsozb&f_‰k,c„v&{+r„_gu}r„_‰`<\svUw\sub_avR_aozb4f+_Rr³Z_go+uy_g›Ic„k,buy_g{+u

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§»Y>nOuyƒgw\soxk,_\s]by_go@{+_7_ak,b,…É_gr„re_7knpbck9d”nsc„kynpozb_¬Êˆ_gofZnp{byu_lk)by_guyvU_ak

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š ouyƒansreck,_7r³ZnIkk_guy€@c„kyk,_avU_gozbjk{+c„€‘npozb4¢

y comparateur

u ε A Moteur position

capteur

k

ω vis

sans fin

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sŠ‚ÃSaQVTŒSl¹¶@“xº¸·QŒ

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H BF = ^Y _U(s) ^(s)

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rnOk,\Iu,byce_mf+{k,tk,b|avR_

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§ ¨

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f+_4r¸Z_go+uy_g›Ic„k,buy_g{quK_ao~d”npcknsoIbj€‘npuyce_au‚re_}›znpc„o

A

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A

ʔwqnpum_gÆ_gvUw+r„_

A = 5

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A = 15

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A = 30

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sŠ‚ÃSaQVTŒSl¹¶@“xº¸·QŒ

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H BF

k\s{qkKrnRdˆ\suyvU_7oq\suyvUnsreckƒg_}fZ{qo

2 ^e

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A

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×Jƒgb_guyvUceoq_gum`<_gb,by_4€ºnsre_a{+u‚r„cevUceb_sŠ

²Š‚ÃSaQVTŒ’V µ Sa¸·QŒ

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\Iky`<c„rern‘byce\Io

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ω = 0.1rad/s

^©

ω = 1rad/s

^©

ω = 2rad/s

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¨

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sŠjÛozbuy\f{q`byce\Io

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š

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