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Xa XT YT ZT Ya Za
XTYTZT XaYaZa
Fy = d (mv) dt
Fz = d (mw) dt
L= dH x dt
M = dH y dt
N = dH z dt
CM r
m
Xa
Ya Za
Vc
V =Vc + dr dt
Vc
Vitesse de CM
d2 c c dV d dr dV F =m + m =m + r m dt dt dt dt dt 2
rm = 0
->
F = m dV c dt
A scalaire ->
dA = dA + x A dt T dt a
->
F T =m dVc + m( xVc ) dt a
= ip + jq + kr
+ m ( x V c )
->
F T = m dV c dt
F = m du + qw vr dt
x
Fy =m dv + ru pw dt
FZ =m dw + pvqu dt
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CALCUL DES MOMENTS (2ime Loi de Newton) -> Hx = pIx q Ixy r Ixz Hy = - pIxy + q Iy r Iyz Hz = - pIxz - q Iyz + r Iz o Ii - Moment d'inertie de masse Iij - Produit d'inertie, i # j
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] = dH ] + H dt
T a
o H=I
->
& x + qH rH L= H
z
& z + pHy qH N =H
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CALCUL DES MOMENTS (2ime Loi de Newton) Plane xz -> Plane de symtrie de l'avion ->
L= Ix
dp I xz dr + ( I z I y ) qr I xz pq dt dt
M =I y
N =I xz
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XT
X1 O
&
YT Y1
ZT = Z1
1)
Tourner
-> X1Y1Z1
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&
YT
O Z2 ZT = Z1
&
Y1 = Y2
2)
Tourner
-> X2Y2Z2
&
YT
&
&
Y1 = Y2 Y3=Ya
3)
Tourner
-> X3Y3Z3
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1 2
-> ->
X2 = X3 = Xa XT X1 O
&
YT
Z3=Za
Z2 ZT = Z 1
&
&
Y1 = Y2 Y3=Ya
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&
YT
&
&
Y1 = Y2 Y3=Ya
ZT = Z1
dX =u cos v sin 1 dt 1
u1 =u 2 cos + w2 sin
u2 =u
dY =u sin + v cos 1 dt 1
v1 = v 2
dZ = w 1 dt
u2 =vcos wsin
w2 =vsin + wcos
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dX dt C C S S C C S C S C +S S u dY C S S S S +C C C S S S C v dt = w S C S C dZ C dt
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->
p q r
Intgrer
-> , ,
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Forces de gravit
Xa
Za
mg
Za
Ya
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p q r
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dX dt C C S S C C S C S C +S S dY C S S S S +C C C S S S C dt = dZ S SC C C dt
u v w
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u = u0 + u, v = v0 + v, w = w0 + w p = p0 + p, q = q0 + q, r = r0 + r X = X0 + X, Y = Y0 + Y, Z = Z0 + Z M = M0 + M, N = N0 + N, L =L0 + L
= 0 +
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& + qw vr ) X mgS = m (u
Remplacer variables des petites perturbations dans l'q des forces selon X
w0 = v0 = p0 = q0 = r0 = 0 = 0 = 0 q w = 0 et r v = 0 et u0 = constante ->
petit
->
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-> quation en X
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Thorie des petites perturbations suite Remplacer X dans l'q des forces sur l'axe des X ->
m d X u X w+(mgcos ) = X e + X dt u T 0 w e T
( )
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Thorie des petites perturbations suite Diviser l'q. par la masse m ->
d X dt
u X ww+(gcos ) = X e + X T 0 T
e
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& +Z q+ Z e + Z T Z=Z u+Z w+Z w & u w w q T e & +M q+M e +M T M=M u+M w+M w & u w w q T e
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