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de mme base.
On dsigne par a le rayon de cette base et H son centre.
uuuur
ur
perpendiculaire Gz.
ur ur uur
R 0 (O,i 0 , j 0,k 0 ) est li un plan P0 avec lequel S est en contact en un point
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ko
Le repre
in
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On pose
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in
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fo
in
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in
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Partie 1
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ko
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Partie 2
On suppose que R0 est galilen et que la liaison ponctuelle en I est telle que
uuuuuuuuuuur r
V(I,S/P0 = 0 .
Partie 3
On suppose P0 que n'est pas fixe par rapport la Terre mais tourne autour de la
verticale ascendante vitesse angulaire constante ( liaison pivot d'axe Oz0 sur un
bti fixe dans le repre galilen
ur ur uur
R g (O,i g , jg , k g ) li la Terre ) maintenue par un
uuuuuuuuuuuur r
V ( I , S / P0 ) = 0
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pour que
in
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moteur.
D'autre part, on suppose qu'en I le coefficient de frottement est suffisamment lev
Rg ?
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uur
I z0 le moment d'inertie de P0 par rapport (O,k 0 )
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(on posera
in
in
fo
rapport
fo
S U P0 dans le
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4 Dterminez le couple que doit exercer le moteur sur P0 pour que la vitesse de
rotation reste constante, en crivant une quation de Lagrange spcifique.
De quelle autre manire pourrait-on dterminer ce couple?
Corrig
Partie 1
1 On crit que
uuuur uur
uur uur uuuur uur
OG.k 0 = z = (OI + IH + HG).k 0
(1)
z = a + h cos
uur
uur
mgk 0
Zk 0
SS = r + r =
0 G 0 I
uur
(Z mg)k 0
ur uur
Zhk k 0 G
On en dduit que
uuuuuuuuuuur ur
uuuuuuuuuuur ur
m ( G / R0 ).i 0 = 0 mV(G/R0 ).i 0 = Cte x ' = x'0
uuuuuuuuuuur ur
uuuuuuuuuuur ur
m ( G / R0 ).j0 = 0 mV(G/R0 ).j0 = Ct e y ' = y '0
9.
in
fo
ur
uuuuuuuuuuuuur ur
uuuuuuuuuuuuuru ur
d uuuuuuuuuuuuuru ur uuuuuuuuuuuuuru dk
(G,S/R 0 ).k = 0 (G,S/R 0 ).k (G,S/R 0 ). = 0 (G,S/R 0 ).k = Cte
dt
dt R 0
uuuuuuuuuuuuuru
uuuuuuuuuuur
r
ur
ur
(G,S/R0 ) = I G ( S / R0 ) = A( 'u + 'sin w) + C( '+ 'cos )k ' +' cos = r0
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in
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fo
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uuuuuuuuuuuuur uur
uuuuuuuuuuuuuru uur
(G,S/R 0 ).k 0 = 0 ( G , S / R0 ).k 0 = Cte A ' sin + C r0 cos = l
uuuuuuuuuuuuur r
uuuur
uur r
(H,S/R 0 ).u = HG, mgk 0 , u = mgh sin
uuuuuuuuuuuuur r
uuuuuuuuuuuuur uuuur
uuuuuuuuuuur r
(H,S/R 0 ).u = (G,S/R 0 ) + HG m ( G / R 0 ) .u =
r
uuuuuuuuuuur ur
d uuuuuuuuuuuuuru r uuuuuuuuuuuuuru du
(G,S/R
).u
(G,S/R
).
mh
( G / R0 ).w =
0
0
dt
dt R 0
A " '(A 'sin cos Cr0 sin )+ mh( "+ 'cos )sin
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uur uuuuuuuuuuuuur
uur uuuuuuuuuuur
dT(S/R 0 )
= Zk 0 .V(I,S/R 0 ) mgk 0 .V(G/R 0 ) = mgh 'sin
dt
dT(S/R 0 ) d
= ( mghcos )
dt
dt
m(ghcos + x' + y ' + h 'sin ) + A( ' + 'sin ) + C( '+ 'cos ) = Cte
Lp
Lx :mx" = 0 Ly :my" = 0
L :
d
[ c( '+ 'cos ) ] = 0 intgrale premire
dt
d
[ A 'sin + C( '+ 'cos )cos ] = 0 intgrale premire
dt
d
L : [ (A + mhsin) '] (mh ' + A ')sin cos + C( '+ 'cos ) 'sin = mghsin
dt
L :
Rappel :
uuur
uuuuuuuuuuur
uuuuuuuuuur OP
uuuuuuuuuur V ( P / R0 )
P S, on a Pi = ( P / R 0 ).
dm(P) = ( P / R0 ).
dm(P)
qi
q'i
S
S
in
fo
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i2
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in
fo
uuuuuuuuuuur
uuuuuuuuuur ur
ur uuuuuuuuuur
V ( P / R 0 ) ur
= i 0 Px = ( P / R 0 ).i 0dm = i 0 . ( P / R0 )dm
x '
S
S
uuuuuuuuuuur
ur
uuuuuuuuuur
ur
ur
uuuuuuuuuur
V ( P / R 0 )
= j0 Px = ( P / R0 ).j0dm = j0 . ( P / R0 )dm
y '
S
S
uuuuuuuuuuur
uuuuuuuuuur ur uuur
ur uuur uuuuuuuuuur
ur uuuuuuuuuuuuur
V ( P / R 0 ) ur uuur
= k GP Px = ( P / R0 )(k GP)dm = k. GP ( P / R 0) dm = k.( G , S / R0 )
'
S
S
uuuuuuuuuuur
uur
uuur
uuuuuuuuuur
uur
uuur
uur
uuur uuuuuuuuuur
uur uuuuuuuuuuuuur
V(P/R 0 )
= k 0 GP Px = ( P / R 0 )(k 0 GP)dm = k 0 . GP ( P / R 0) dm = k 0 .(G,S/R 0 )
'
S
S
uuuuuuuuuuur
uur
r
uuur
V ( P / R 0)
= hsin k 0 + u GP
'
uuuuuuuuuur
uur r uuur
uur uuuuuuuuuur
uur uuur uuuuuuuuuur
P = ( P / R 0 )( hsin k 0 + u GP)dm = hsink 0 . ( P / R 0) dm + k 0 . GP ( P / R 0 ) dm
uur uuuuuuuuuur
r uuuuuuuuuuuuur r uuuuuuuuuuuuur
= hsink 0 . ( P / R 0 ) dm + u.( G , S / R 0 ) = u.( H , S / R 0 )
fo
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Partie 2
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La dernire quation est aussi la drive de l'quation de liaison par rapport au temps.
2 Recensons les efforts extrieurs :
(S S) = (pesanteur S) + (P0 S)
uur
mgk 0
(pesanteur S) = r
0 G
r
r
uur
r
r
uur
r
r
uur
Xu + Yv + Zk 0 Xu + Yv + Zk 0
Xu + Yv + Zk 0
(P0 S) =
r
= uur
r
r =
uur
ur
r
r
0
I ak 0 (Xu + Yv) H ( ak 0 hk) (Xu + Yv) G
Et c'est parti!
uuuuuuuuuuur
uur
r
r mx" = Xcos Ysin
m ( G / R0 ) = (Z mg)k 0 + Xu + Yv
my" = Xsin + Ycos
in
fo
uuuuuuuuuuuur
uur
ur
uur
r
(I,S/R0 ) = (ak 0 + hk) mgk 0 = mghsin u
uuuuuuuuuuuur uur
uuuuuuuuuuuuur uur uuuuuuuuuuuuur uuuur
uuuuuuuuuuur uur
( I , S / R0 ).k 0 = 0 = (H,S/R 0 ).k 0 = ( G , S / R0 ) + HG m( G / R0 ) .k 0
uur ur
d uuuuuuuuuuuuuru uur
= ( G , S / R 0 ).k 0 + mh(k 0 k)
dt
d
[ A 'sin + C( '+ 'cos )cos ] + mhsin (x"cos + y"sin ) = 0 (4)
dt
uuuuuuuuuuuur r
uuuuuuuuuuuuur uuur
uuuuuuuuuuur r
( I , S / R0 ).v = 0 = (G,S/R0 ) + IG m ( G / R 0 ) .v
r
r uuur uuuuuuuuuuur
d uuuuuuuuuuuuuru r uuuuuuuuuuuuuru dv
= ( G , S / R0 ).v (G,S/R0 ) + m(v IG)( G / R0 )
dt
dt R0
(5)
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9.
d
[ A 'sin cos C( '+ 'cos )sin ] + A ' '+ m(a +hcos )(x"cos + y"sin ) = 0
dt
ko
uuuuuuuuuuuur r
uuuuuuuuuuuuur uuur
uuuuuuuuuuur r
( I , S / R0 ).u = mghsin = ( G , S / R0 ) + IG m ( G / R0 ) .u
in
ko
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9.
r
r uuur uuuuuuuuuuur
d uuuuuuuuuuuuuru r uuuuuuuuuuuuuru du
= ( G , S / R0 ).u (G,S/R0 ) + m(u IG)( G / R 0 )
dt
dt R
0
(6)
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3 on peut crire une intgrale premire de l'nergie car le contact en I est parfait.
4 Le champ de vitesses virtuelles est compatible avec la relation
compatible avec (2) et (3) x'*,y'*,'*,'*,'* sont quelconques.
Recherchons la puissance virtuelle des actions mcaniques sur S :
uur uuuuuuuuuuuuur
uuuuuuuuuuuur
uuuuuuuuuuuuur
mgk 0 * ( S / R0 ) R(P0 S) * ( S / R 0 )
P*(S S) = r uuuuuuuuuuuuuru +
r
uuuuuuuuuuuuuuur
0
0 V * ( G / R0 )
V * ( I , S / R0 )
uur uuuuuuuuuuuuuru
r
r
uur uuuuuuuuuuuuuuur
= mgk 0 .V*(G/R 0 ) + (Xu + Yv + Zk 0 ).V*(I,S/R0 )
uuuuuuuuuuuuuru
ur
ur
uur
On a V * ( G / R0 ) = x'*i 0 + y ' * j0 h '*sin k 0 et
uuuuuuuuuuuuuuur
r
V * ( I , S / R0 ) = [ x'*cos + y'*sin + (a '* h '*)sin ] u
r
+ [ x'*sin + y'*cos + (a + hcos ) '*] v
ce qui donne
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L :
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in
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r
r
Xu + Yv < f Z
uuuuuuuuuuuuuuur r
[ x'*cos + y'*sin + (a '* h '*)sin ] = 0 (2')
V * ( I , S / R0 ) = 0
[ x'*sin + y'*cos + (a + h cos ) '*] = 0 (3')
Alors
uur uuuuuuuuuuuuur
uuuuuuuuuuuur uuuuuuuuuuuuur
mgk 0 * ( S / R0 ) R(P0 S) * ( S / R0 )
P*(S S) = r uuuuuuuuuuuuuru +
r
r
0
0
0 V * ( G / R0 )
I
Attention !
Les quations (2') et (3') sont 2 relations de dpendance entre x'*, y'*, '*, '*, '*
La reprsentation de Lagrange dans laquelle les
valable.
Dans ce cas, on crira
Lqi :
2
d T T
=
Q
+
k i k o Qi est le coefficient du terme en q'*i dans P*
i
dt q'i qi
k=1
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9.
Pour obtenir
2 (2') + 3 (3')
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3 Y
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que 2
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Partie 3
= t + 0
(7)
7 paramtres : , x, y, z, , ,
1 Pour S :
L'action P0 S ne drive plus d'une fonction de force, on n'a plus d'intgrale
premire de l'nergie.
uuuuuuuuuuuur uuuuuuuuuuuuur
dT(S/R 0 ) d
= ( mghcos ) + R(P0 S).V(I,S/ R g )
dt ur uuuuuuuuuuuuuuur r
uuuuuuuuuuuuurdt uuuuuuuuuuuu
uur uur r
or V(I,S/R g ) = V(I,S/R 0 ) + V(I,R 0 / R g ) = 0 + k 0 OI 0!
En effet,
Pour
S P0 :
La liaison ponctuelle en I est parfaite, mais le temps intervient explicitement dans (7).
dT(S/R 0 ) d
= ( mghcos ) + Cm
dt
dt
S P0 dpend de 5
paramtres x, y, , , .
La liaison ponctuelle en I est parfaite.
Les actions de pesanteur drivent de U = - mgh cos
uuuuuuuuuuur2 uuuuuuuuuuur
uuuuuuuuuuur
2T(S P0 / R g ) = I z0 + mV(G/R g ) + ( S / R g). I G( ( S / R g ))
ce qui donne
Naturellement
T(S P0 / R g ) + U = 0 T1 (S P0 / R g ) T0 (S P0 / R g ) = U + Cte
t
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Ainsi
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I z0 (t) .
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ko
i2
uuuuuuuuuur uuuuuuuuuuur
( P / R g ).V(P/R 0 ) dm = (S S){V ( S / R 0 )}
fo
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9.
uuuuuuuuuur uuuuuuuuuur
uur uuuuuuuuuuur
uur
uur uuur
( P / Rg ) = ( P / R 0 ) + 2k 0 V ( P / R0 ) + k 0 ( k 0 OP)
uuuuuuuuuuur uuuuuuuuuuur uuuuuuuuuuur uuur
uuur uuuur uuur
or V ( P / R 0 ) = V(G/R 0 ) + ( S / R 0 ) GP et OP = OG + GP
Ainsi
d
T ( S / R0 )
dt
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9.
uuuuuuuuuur uuuuuuuuuuur
uuuuuuuuuur uuuuuuuuuuur
uur
uur uuur uuuuuuuuuuur
(
P
/
R
).V(P/R
)
dm
=
(
P
/
R
).V(P/R
)
dm
+
g
0
0
0
0 k 0 OP) .V(P/R0 ) dm
On reprend le tout
1 d
[ m(x' + y ' + h 'sin ) + A( ' + 'sin ) + C( '+ 'cos )]
2dt
+ {m [ xx'+ yy'] + (C A) 'sin cos } = mgh 'sin
On voit que ceci s'intgre pour donner
uuuuuuuuuur uuuuuuuuuuur
d
d
S ( P / R g ).V(P/R0 ) dm = dt T(S/R 0 ) dt T(S,R0 / Rg )
U = - mgh cos
uuuuuuuuuuuur uuuuuuuuuuuuuuur
P*(P0 S) = R(P0 S).V*(I,S/R0 )
On obtient l'quation de Lagrange L , dans laquelle on remplacera ' par
P*(moteur)=Cm '*
Cm =
d
{m [ x(y'+ x) y(x' y)] + A( + ')sin + Ccos [ '+ ( '+ ')cos ]}
dt
fo
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9.
in
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Jean-Paul Molina d'aprs TD ECP
in
fo
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in
fo
in
fo
uur
k0 ,
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en O et en projection sur