H ( s ) H ( s ) U ( s )= T s )(1+ T s ) H ( s )= K =20 T =100 ms T =10 ms T =1 ms C ( s ) K (1+ T s )(1+ M C T C M R =0 : 3 m R 0 : 5 m 0 : 2 m M M M T M M Moteur M2 (central)traction TMesure de tractionMoteur 1Moteur 3Enrouleuse M3Enrouleuse M1

(1)

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Moteur M2 (central)

traction T

Mesure de traction

Moteur 1 Moteur 3

Enrouleuse M3 Enrouleuse M1

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M 1

UsX

M 3

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T

^v

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M 2

v

M 2

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M 1

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R

]Ufrh°RQSR2Zrp2UnhmjZrUUWpSXojU

0.5m

^UYX

0.2m

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fih9R}QmR2Zrp2Ug]U

R = 0.3m

^v

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C n

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M 1

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T c

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frUqVYQS_2x2frU

C

[:Qm_2jop2Z0xthmjzf\U9|9QCXoUs_2jqGUWdyXgjkWlm_2frkmvDw+UWVsZVYQSpt]_2Z\X&_tpÃd¯d4Xo®s|9UG]2UqjkWlm_2fihnXoZ\QSp¼Z\|R2joZr{>_2kWU~jkWlm_2fihnXoZ\QSp ]2U&VYQm_tx2f\UzUsXjkWlm_2fihnXoZ\QSp]UzXojohSVXZrQmp}¡+VsQm|9|9Uzf\Ugx2jokWdUsp>XoUfihtlm_2joU&Äv2NPOQSRT4UWVYXZ\[Â]_`^b UWdyX]U&]ksXUsjo|9Z\ptUsjfrUWd]UW_

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M 1

hSdd_2jhCp>X+fihqVYQSp>SUsjdyZrQmpXUspdyZrQmpuVYQS_2x2frUUed4X&Í

H 2 (s) = C(s)

U (s) = K 2 (1 + T 1 s) (1 + T 2 s)(1 + T 3 s)

hSUWV

K 2 = 20

T 1 = 100ms

T 2 = 10ms

T 3 = 1ms

mvÎHWFJIIJ@qmÅnÅ2mHWÈ>n~WHW~ÏFJ@qI

H 2 (s)

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H 2 (s)

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(2)

Tc ε

− −

+ C

T

R1 Cn + R2 u H2(s) H1(s)

Enrouleuse 1 Moteur 1

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H 2 (s)

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H 2 (s)

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×

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t r = 0.4ms

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R 2 (s)

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R 2 (s)H 2 (s)

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Nh[:QSptVXoZ\QSp]UXojohmptdy[:UsjXGhC_2XQm_tj]_ÝxQSZ\p>XptQm|9Z\phCf

R = 0.3m

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H 1 (s) = T (s)

C(s) = K 1 ω ² n

s ² + 2ξω n s + ω ² n

hmUWV

K 1 = 93

ξ = 0.12

ω n = 1.8rad/s

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H 1 (s)

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H 2 BF (s) = _C ^C _n ⁽ _(s) ^s ⁾

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H 2 BF (s)

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H 1 (s)

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H 2 BF (s)

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t m = 0.4s

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R 1 (s)

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(3)

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R 1 (s)H 1 (s)

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R

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H 1 (s)

^v

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Ûhmf\UW_2j]U

R ξ ω n K 1

0.2m

^Ò2v^Òmãmê

2.25rad/s

^ëmÄ

0.3m

^Ò2vreÄ

1.8rad/s

^Ømã

0.5m

^Ò2v¢ÄSë

1.1rad/s

^ëìtvíë

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H 1 (s)

x2joUsptp2Usp>XfrUWdÂnhCfrUs_2jd

H ( s ) H ( s ) U ( s )= T s )(1+ T s ) H ( s )= K =20 T =100 ms T =10 ms T =1 ms C ( s ) K (1+ T s )(1+ M C T C M R =0 : 3 m R 0 : 5 m 0 : 2 m M M M T M M Moteur M2 (central)traction TMesure de tractionMoteur 1Moteur 3Enrouleuse M3Enrouleuse M1

Moteur M2 (central)

traction T

Mesure de traction

Moteur 1 Moteur 3

Enrouleuse M3 Enrouleuse M1

M 1

M 3

T

M 2

M 2

M 1

R

0.5m

0.2m

R = 0.3m

C n

M 1

T c

C

M 1

H 2 (s) = C(s)

U (s) = K 2 (1 + T 1 s) (1 + T 2 s)(1 + T 3 s)

K 2 = 20

T 1 = 100ms

T 2 = 10ms

T 3 = 1ms

H 2 (s)

H 2 (s)

Tc ε

− −

+ C

T

R1 Cn + R2 u H2(s) H1(s)

Enrouleuse 1 Moteur 1

H 2 (s)

H 2 (s)

◦

t r = 0.4ms

R 2 (s)

R 2 (s)H 2 (s)

R = 0.3m

H 1 (s) = T (s)

C(s) = K 1 ω 2 n

s 2 + 2ξω n s + ω 2 n

K 1 = 93

ξ = 0.12

ω n = 1.8rad/s

H 1 (s)

H 2 BF (s) = C C n ( (s) s )

H 2 BF (s)

H 1 (s)

H 2 BF (s)

t m = 0.4s

R 1 (s)

R 1 (s)H 1 (s)

R

H 1 (s)

R ξ ω n K 1

0.2m

2.25rad/s

0.3m

1.8rad/s

0.5m

1.1rad/s

H 1 (s)

C(s) = K 1 ω ² n

s ² + 2ξω n s + ω ² n

H 2 BF (s) = _C ^C _n ⁽ _(s) ^s ⁾