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25/10/2006
Apprendre analyser et
Dimensionner efficacement
Plan du cours
Mthodes dapproximations.
Alain BLAISE ...Mcanique des structures I
Alain Blaise
2
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Introduction
Conclusions :
3
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INTRODUCTION
tude
Observer
Modliser :
Mthodes dapproximations
Donnes Inconnues ?
Alain BLAISE ...Mcanique des structures I
Alain Blaise
4
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Alain Blaise
6
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Alain Blaise
8
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Introduction
Conclusions :
9
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Mise en
quations :
mthodes dapproximations :
Rayleigh-Ritz , lments Finis
Termes de couplages par effet de :
Masse Amortissement - Raideur
x (t ) x (t ) K K x (t ) F (t )
M11 M1N
1
1
1
1
11
1N
11
1N
+ + =
M
x (t )
(t ) K
(t ) F (t )
N 1 NN x
N 1 K NN x
N 1 M NN
N
N
N N
Matrice de Masses
ou dinerties :
Couplages fluides structures
Paramtres hors Centre dinertie
Matrice de Raideurs:
Couplages fluides structures
Contacts
Matrice damortissements ou
de dissipations visqueuses :
Alain Blaise
Sollicitations ou
Actions vibratoires
10
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Exemple vu en TD :
Poutre dformable Disque indformable
Poutre mince
homogne section
droite constante : S1
U B (t )
X (U(x,y,t))
Disque mince
homogne : S2
(t )
VB (t )
Y (V(x,y,t))
Couplage TC
Flexion
TC
TC
b2 M 2 UB (t ) K1TC
M2
L2 M 2 / 2 VB (t ) + 0
L2 M 2 / 2
C2* (t ) 0
M2
0
b M
2 2
0
K1 fv
K1 fv
Flexion
U B (t ) 0
K1 fv VB (t ) = 0
K1 f (t ) 0
0
Flexion
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X2(t)
K12
K1
G1
F1(t)
M1
F2(t)
12
K2
G25
M2
X1(t)
K1(X1(t))
F1(t)
K12(X2(t)-X1(t))
Couplage 1 2
G1
1(X1(t))
X2(t)
M1
-K12(X2(t)-X1(t))
12(X2(t)-X1(t))
F2(t)
Systme 1 Seul
Couplage 1 2
Alain Blaise
Systme 2 Seul
K1(X1(t))
G2
12(X2(t)-X1(t))
M2
1(X1(t))
12
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Vibrations libres :
0
F (t ) =
0
x (t ) *
0
M11
1 + 11
0 M
22 x (t ) 12
12 x1(t ) K11*
+
22* x2 (t ) K12
ii* = ii + ij
M ii = M i
Vibrations forces :
Excitations Harmoniques
x (t ) *
0
M11
1
11
+
0 M
22 x (t ) 12
K12 x1(t ) 0
=
*
K22
x2 (t ) 0
F10 jt
F (t ) =
.e
F
20
12 x1(t ) K11*
+
22* x2 (t ) K12
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OBJECTIFS :
Amortissement structural
K * = K (1 + j )
X2(t)
K*
K*
F1(t)
Facteur de perte
G1
K*
G2
F2(t)
F1
V(L/3,t)
Alain BLAISE ...Mcanique
des structures I
Y
Alain Blaise
F2
V(2L/3,t)
14
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Vibrations libres :
0
F (t ) =
0
x (t ) (1 + )
0
x1(t ) (1 + ) K *
K * x1(t ) 0
1
+
+
=
M
x (t )
(1 + ) x (t ) K * (1 + ) K * x (t ) 0
2
2
2
M
0
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x (t ) x10
rt
=
e
x2 (t ) x20
1
Solution de la forme
0 2 (1 + )
(1 + ) K *
K * x10 0
r +
r+
=
M
(1 + ) K * (1 + ) K * x 0
20
Solution triviale
x1 (t ) 0
=
(
)
0
x
t
2 Pas de VIBRATIONS
det( Z ij ) = 0
VIBRATIONS
quation caractristique ou
15
aux frquences 25/10/2006
Z12 x10 0
=
Z22 x 0
20
M
0
0 2 (1 + ) K
K x10 0
r
+
=
K
M
(1 + ) K x 0
20
Mr 2 + (1 + ) K
K
det
=0
K
Mr 2 + (1 + ) K
det( Z ij ) = 0
( Mr
+ (1 + ) K ) ( K ) = 0
2
Polynme de degr 2 en r2
2 DL
( Mr
+ (1 + ) K K )( Mr 2 + (1 + ) K + K ) = 0
r12 = 12 = K / M
r12 = 22 = K (1 + 2 ) / M
1 = K / M
Alain BLAISE ...Mcanique des structures I
Alain Blaise
<
2 = K (1 + 2 ) / M
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det( Z ij (1,2 )) = 0
M l2 + (1 + ) K
x10
K
0
=
2
0
M l + (1 + ) K x
K
20
l
x10
0
M + (1 + ) K K
=
x
0
20 l
2
l
x
20l
OU
OU
x10
0
K M l2 + (1 + ) K
=
0
x
20 l
x
10l
( M
=
2
l
+ (1 + ) K )
( M
=
2
l
+ (1 + ) K )
x
10l
x
20l
Application :
2 = K (1 + 2 ) / M
1 = K / M
M l2 (1 + )
x
=
+
x
20l K
10l
MK (1 + )
x
=
+
201 KM
x
=1
10l
SCHEMA MODAL du
Systme Conservatif Associ
<Pulsation ; Vecteur>
Vecteur
Propre ou modal(e)
MODE 1 :
12 ; V 1 = 10
x
x
20 1
K 1
;
M 11
Alain Blaise
MK (1 + 2 ) (1 + )
x
=
+
20 2
KM
22 ; V 2 = 10
x
x
20 2
MODE 2 :
K (1 + 2 ) 1
;
M
12
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MODE 1 : Symtrique
12 ; V 1 = 10
x
x20 1
22 ; V 2 = 10
K 1
;
M 1
x20 2
MODE 2 : Antisymtrique
V(L/3,t)
K (1 + 2 ) 1
;
M
1
V(L/3,t)
V(2L/3,t)
XX
V(2L/3,t)
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SCHEMA MODAL du
Systme Conservatif Associ:
Caractristiques modales
MODE 1 :
MODE 2 :
M
m1 = 1 1
0
M
m2 = 1 1
0
0 1
= 2M
M 1
(1 + ) K
k1 = 1 1
K
k1 = 2 K
K 1
(1 + ) K 1
12 =
k1 2 K
=
m1 2 M
Alain Blaise
0 1
= 2M
M 1
(1 + ) K
k2 = 1 1
K
k1 = 2(1 + 2 ) K
K 1
(1 + ) K 1
22 =
k2 2 K (1 + 2 )
=
m2
2M
20
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10
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SCHEMA MODAL du
Systme Conservatif Associ:
PROPRIETES DORTHOGONALITE
Orthogonalit par rapport loprateur de masse
M
m12 = 1 1
0
M
0 1
m
=
1
1
21
=0
M 1
0
0 1
=0
M 1
(1 + ) K
k12 = 1 1
K
K 1
=0
(1 + ) K 1
(1 + ) K
k21 = 1 1
K
K 1
=0
(1 + ) K 1
21
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MODE 2 : Antisymtrique
MODE 1 : Symtrique
Alain Blaise
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SYSTEME A 2 DL
X1(t)
X2(t)
K*
K*
G1
K*
G2
MODE 1 :
MODE 2 :
12 ; V 1 = 10
x
x
20 1
22 ; V 2 = 10
x
K 1
;
M 11
x
20 2
a1(t)
m1
m1 = V1 ( M pq ) {V1 }
a2(t)
k1
k1 = V1 ( K pq ) {V1 }
12 =
K (1 + 2 ) 1
;
M
12
m2 = V2
m2
( M ){V }
pq
k2
k2 = V2
( K ){V }
pq
k
22 = 2
m2
k1
m1
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1
(1 + )
1 = 1 1
= 2
(1 + ) 1
1 =
=
et 1c = 2 k1m1
1c 2 KM
MODE 2 :
1
(1 + )
2 = 1 1
= 2(1 + 2 )
(1 + ) 1
2 =
2
(1+2 )
=
et 2 c = 2 k2 m2
2c
(1+2 )KM
1
(1 + )
12 = 1 1
= 12 = 0
(1 + ) 1
12 = 12 / 1c
21 = 21 / 2 c
Alain Blaise
24
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12
25/10/2006
= 1 (1 + j1 )
2* = 2 (1 + j 2 )
a1 = 1 (1 12 )
a 2 = 2 (1 22 )
*
1
12 =
K
M
1 =
2 KM
<1
22 =
K (1 + 2 )
M
2 =
(1+2 )
<1
(1+2 )KM
AMORTISSEMENT
si alors i
si alors ai
Attention laugmentation est limite
2 Effets Antagonistes
25
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Amortissement Structural
M
< Vi >i
0
0 2 (1 + )
K *
(1 + ) K *
i +
ji +
{Vi }i
M
(1 + )
K * (1 + ) K *
i = Vi ( pq ) {Vi }
Kj 1
(1 + ) Kj
= 2 Kj
(1 + ) Kj 1
Kj
MODE 1 : j.k1 .1 = 1 1
1 =
MODE 2 :
2 K
=
2K
Kj 1
(1 + ) Kj
j.k2 . 2 = 1 1
= 2(1 + 2 ) Kj
(1 + ) Kj 1
Kj
2(1 + 2 ) K
2 =
=
2(1 + 2 ) K
Alain Blaise
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Kj 1
(1 + ) Kj
jk112 = 1 1
= jk2 21 = 0
(1 + ) Kj 1
Kj
ATTENTION CECI est UN CAS COURANT en
MODELISATION par EF
11*
12
0 K11*
12
M11
+ b
=a
22* 0 M 22 K12
K12
*
K22
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ai(t)
mi = Vi
mi
ki
i2 =
( M ){V }
pq
ki
mi
( K ){V }
ki = Vi
pq
i = Vi
( ){V }
pq
jki i = Vi
Structural
( j
pq
K pq ) {Vi }
i = i / ic et ic = 2 ki mi
par rapport loprateur de masse
mij = Vi
PROPRIETES DORTHOGONALITE
Alain Blaise
pq
i j
kij = Vi
Alain BLAISE ...Mcanique des structures I
( M ){V } = 0
( K ){V } = 0
pq
i j
28
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14
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Amortissement structural
K * = K (1 + j )
X1(t)
K*
G1
M
Facteur de perte
X2(t)
K*
K*
G2
M
x (t ) (1 + )
0
x1(t ) (1 + ) K *
K * x1(t ) 0
1
+
+
=
M
x (t )
(1 + ) x (t ) K * (1 + ) K * x (t ) 0
2
2
2
x1 (t = 0) x10
(
0)
x
t
=
x
2
20
Vitesses Initiales
x1 (t = 0) x10
x
t
x
(
=
0)
2
20
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1 Mthode directe :
2 Mthodes de rsolutions :
2 Mthode Modale :
1 Mthode directe :
Solution de la forme
x1 (t ) x10
rt
=
e
x2 (t ) x20
0 2 (1 + )
(1 + ) K
K x10 0
+
r
+
r
M
(1 + ) K
(1 + ) K x 0
20
Z12 x10 0
Z
Solution Non triviale de : 11
=
det( Z ij ) = 0
Mr 2 + (1 + ) r + (1 + ) K
r K
det
=0
2
r K
Mr + (1 + ) r + (1 + ) K
Alain Blaise
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( Mr
( Mr
+ (1 + ) r + (1 + ) K ) ( r + K ) = 0
2
+ r + K )( Mr 2 + (1 + 2 ) r + (1 + 2 ) K ) = 0
2 DL
r2 +
r+
Polynme de degr 2 en r2
K
=0
M
r2 +
r 2 + 2 22 r + 22 = 0
r 2 + 211r + 12 = 0
' = (11 ) 12 = 12 (1 12 ) = ( ja1 )2
2
' = ( 22 ) 22 = 22 (1 22 ) = ( ja 2 )2
2
r3,4 = 2 2 j a 2
r1,2 = 11 j a1
si 1 < 1
(1 + 2 )
(1 + 2 ) K
r+
=0
M
M
si 2 < 1
Mouvements vibratoires
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x1 (t )
1 x1
2 x1
3 x1
4 x1
j a 1t
j a 1t
j a 2t
j t
11t
2 2t
=
e
(
e
+
e
)
+
e
(
e
+
e a2 )
x2 (t )
1 x2
2 x2
3 x2
4 x2
Mri2 + (1 + ) ri + (1 + ) K
i x1 rti
ri K
e = 0
2
K
+
(1
+
+
(1
+
)
Mr
r
K
i
i
i
i x2
i x 0
Mri2 + (1 + ) ri + (1 + ) K ri K 1 =
i x2 0
OU
x
2
( Mr
=
ri K
i x 0
ri K Mri2 + (1 + ) ri + (1 + ) K 1 =
i x2 0
ix
1
Alain Blaise
+ (1 + ) ri + (1 + ) K )
i
x
1
x
2
OU
( Mr
=
+ (1 + ) ri + (1 + ) K )
ri K
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16
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x1 (t )
1 j t
1 j t
t
= e 1 1 ( 1 x1 e a 1 + 2 x1 e a 1 ) +
x2 ( t )
1
2
( Mr
=
1
1
e 22t ( 3 x1 e ja 2t + 4 x1 e ja 2t )
2
4
+ (1 + ) ri + (1 + ) K )
ri K
x1 (t = 0) x10
=
x2 (t = 0) x20
x1 (t = 0) x10
=
x2 (t = 0) x 20
x10
1
1
1
1
= 1 x1 + 2 x1 + 3 x1 + 4 x1
1
2
4
x20
3
Vitesses Initiales
x10
1
1
1
1
= 11 ( 1 x1 + 2 x1 ) 2 2 ( 3 x1 + 4 x1 )
1
2
4
x 20
3
1
1
1
1
+ j a1 ( 1 x1 + 2 x1 ) + j a 2 ( 3 x1 + 4 x1 )
1
2
4
3
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11 j a1
1 ( 11 j a1 )
1
2
11 + j a1
( 11 + j a1 )
2 2 j a 2
( 2 2 j a 2 )
1 x1 x10
x x
4
2 1 = 20
2 2 + j a 2 3 x1 x10
x
4 ( 2 2 + j a 2 ) 4 x1
20
1
x1 (t )
1 j t
1 j t
t
= e 1 1 ( 1 x1 e a 1 + 2 x1 e a 1 ) +
x2 ( t )
1
2
1
1
e 22t ( 3 x1 e ja 2t + 4 x1 e ja 2t )
2
4
( Mr
=
+ (1 + ) ri + (1 + ) K )
ri K
Alain Blaise
34
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2 Mthode Modale :
x1 (t )
t
j t
j t
= {Vi }i e i i ( ai 0 e ai + bi 0 e ai )
x (t )
2 i =1,2
Solution de la forme
Vecteur propre
pulsation propre
= = {Vi }i ( ai 0 + bi 0 )
x2 (t = 0) x20 i =1,2
x1 (t = 0) x10
= = {Vi }i ( ai 0 ( j ai ii ) bi 0 ( j ai + ii ))
x2 (t = 0) x20 i =1,2
Multiplions a gauche ces deux expressions par :
Vl
(M )
pq
35
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x10
= Vl
20 i =1,2
( M ){V }
( ai 0 + bi 0 )
x10
= Vl
20 i =1,2
( M ){V }
( ai 0 ( j ai ii ) bi 0 ( j ai + ii ))
Vl
(M ) x
Vl
( M ) x
pq
pq
pq
pq
i
i
i
i
mli = Vl
( M ){V } = 0
pq
i l
Pour l=1,2
x10
= ml ( al 0 + bl 0 )
20
Vl
(M ) x
Vl
( M ) x
pq
pq
x10
= ml ( al 0 ( j al l l ) bl 0 ( j al + l l ))
20
Alain Blaise
36
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18
al 0 + bl 0 =
Vl
25/10/2006
(M ) x
pq
ml
10
x20
Pour l=1,2
al 0 ( j al l l ) bl 0 ( j al + l l ) =
j al ( al 0 bl 0 ) ( al 0 + bl 0 ) l l =
al 0 bl 0 =
al 0 bl 0 =
Vl
Vl
Vl
( M ) x
pq
j al .ml
Vl
( M ) x
pq
ml
10
x20
( M ) x
pq
ml
10
x20
( al 0 + bl 0 ) ll
10
+
j al
x20
( M ) x
pq
j al .ml
l l Vl ( M pq ) x10
10
+
ml
x20 j al
x20
2al 0 = (1 j
Vl ( M pq ) x10
l l Vl ( M pq ) x10
)
j
ml
al
al .ml x20
x20
2bl 0 = (1 + j
Vl ( M pq ) x10
l l Vl ( M pq ) x10
)
+ j
= 2a l 0
ml
al
al .ml x20
x20
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x1 (t )
Vi ( M pq ) t x10
e i i ( cos( ai t )
= {Vi }i
x
(
t
)
mi
x20
2 i =1,2
1 x10 ii x10
+
+
sin( ai t ))
20
ai x20
ai
Remarque : en vibrations libres amorties
pour des CI quelconques
la rponse est multifrequentielle
APPLICATION : Conditions Initiales du mouvement :
CAS A :
Positions Initiales
Vitesses Initiales
x1 (t = 0) x10
=
x2 (t = 0) 0
x1 (t = 0) 0
=
x2 (t = 0) 0
Alain Blaise
38
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19
x1 (t )
= {Vi }i
x2 (t ) i =1,2
Vi
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x10
(M ) 0
pq
ai
mi
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<<1
x1 (t )
= {Vi }i
x2 (t ) i =1,2
Vi
( M ) 0
x10
pq
mi
cos( t )
i
Coupled.gif
Alain Blaise
40
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20
25/10/2006
CAS B :
Positions Initiales
x1 (t = 0) x10
=
x2 (t = 0) x10
Vitesses Initiales
x1 (t = 0) 0
=
x2 (t = 0) 0
x1 (t )
= {Vi }i x10
x2 (t ) i =1,2
Vi
( M ) 1
pq
mi
Mode 1
e ii t (cos( t ) + ii sin( t ))
ai
ai
ai
x1 (t ) 1
1
t
sin( a1t ))
CAS C :
Positions Initiales
x1 (t = 0) x10
x2 (t = 0) x10
Vitesses Initiales
x1 (t = 0) 0
=
x2 (t = 0) 0
x1 (t )
= {Vi }i x10
x
(
t
)
2 i =1,2
Vi
( M ) 1
1
pq
mi
Mode 2
ai
x1 (t ) 1
2
t
sin( a 2 t ))
= x10 e 2 2 (cos( a 2 t ) +
1 22
x2 (t ) 11
Alain Blaise
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21
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Conclusions :
43
25/10/2006
Vibrations forces ou
entretenues harmoniques:
F10 ( ) j t
F (t ) =
.e
F20 ( )
Pulsation force
Amortissement structural
K * = K (1 + j )
Facteur de perte
M
0
G1
M
K*
G2
M
F2(t)
x1 (t ) (1 + )
0
x1 (t )
+
x2 (t )
M
(1 + ) x2 (t )
K * x1 (t ) F10 ( ) j t
(1 + ) K *
+
x (t ) = F ( ) .e
K
*
(
1
+
)
K
*
2 20
Alain BLAISE ...Mcanique des structures I
Alain Blaise
K*
K*
F1(t)
X2(t)
44
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22
2 Mthodes de
rsolutions :
25/10/2006
t x1 (t )
1 j t
1 j t
t
= e 1 1 ( 1 x1 e a 1 + 2 x1 e a 1 ) +
1
2
t x2 ( t )
Solution transitoire
de la forme
1
1
e 22t ( 3 x1 e ja 2t + 4 x1 e ja 2t )
2
4
Solution permanente
de la forme
= e
p x2 (t ) x20
2 Mthode Modale :
Solution transitoire
de la forme
t x1 (t )
t
j t
j t
= {Vi }i e i i ( ai 0 e ai + bi 0 e ai )
t x2 (t ) i =1,2
Solution permanente
de la forme
p x1 (t )
j t
= {Vi }i ai 0 e
p x2 (t ) i =1,2
2 inconnues Modales
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25/10/2006
Solution permanente
de la forme
= e
p x2 (t ) x20
x1 (t ) (1 + )
0
x1 (t )
+
x2 (t )
M
(1 + ) x2 (t )
K * x1 (t ) F10 ( ) j t
(1 + ) K *
+
=
.e
(1 + ) K * x2 (t ) F20 ( )
K *
M
0
Z11
Z
12
Z 22 x20 (t ) F20 ( )
x10 (t ) Z11
=
x
(
t
)
20 Z12
Z11 = Z 22 = M 2 + j (1 + ) + (1 + ) K *
Alain BLAISE ...Mcanique des structures I
Alain Blaise
Z12 F10 ( )
Z 22 F20 ( )
Z12 = j K *
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F10 j t
F (t ) = .e
0
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F10 j t
F (t ) = .e
0
Antirsonance relative X1
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2 Mthode Modale :
M
0
Solution permanente
de la forme
p x1 (t )
j t
= {Vi }i ai 0 e
p x2 (t ) i =1,2
2 inconnues Modales
x1 (t ) (1 + )
0
x1 (t )
+
x2 (t )
M
(1 + ) x2 (t )
K * x1 (t ) F10 ( ) j t
(1 + ) K *
+
x (t ) = F ( ) .e
K
*
(
1
+
)
K
*
2 20
Vl
( M ){V } = 0
mli = Vl
pq
i l
kli = Vl
( K ){V } = 0
pq
i l
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pour l=1,2
2 Vl
M
l
0
+ Vl
mi
pour i=1,2
2 Vi
0
(1 + )
V
a
+
j
V
{
}
{Vi }i ai 0
i
i0
l l
i
M i =1,2
(1 + ) i =1,2
K *
F10 ( )
(1 + ) K *
V
a
=
V
{
}
0
i
i
l
K *
l
i
(1 + ) K * i =1,2
F20 ( )
M
i
0
0
{Vi }i ai 0 + j Vi
M
ki (1 + ji )
+ Vi
Action gnralise
ou modale
K *
(1 + ) K *
{Vi }i ai 0 = Vi
K *
(1 + ) K *
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(1 + )
{Vi }i ai 0
i
(1 + )
Fi
i
F10 ( )
F20 ( )
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pour i=1,2
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Amortissement visqueux
modal
( m + j
2
Masse modale
ai 0 =
ai 0 =
Facteur damortissement
structural modal
+ ki (1 + ji ) ) ai 0 = Fi
Raideur modale
Excitation modale
Amplitude modale
Fi
( 2mi + ji + ki (1 + ji ))
Fi
2
ki (1 + ji ) + 2 j i
i
i
i = i / ic et ic = 2 ki mi
Alain BLAISE ...Mcanique des structures I
Amplitude modale
Comportement Modal
Mode 1
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Mode 2
a1
a2
2
k1
Influence des paramtres
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1
k2
m1
m2
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p x1 (t )
=
x
t
(
)
p 2 i =1,2
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{Vi }
Fi
ki (1 + j i ) + 2 j i
i
i
e j t
Rponse Modale
F10 j t
F (t ) = .e
0
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Spectre damplitudes
en module
F10 j t
F (t ) = .e
0
Interprtations :
pour [0, ar ]
Mode 1
Antirsonance relative X1
Phnomne dantirsonance :
Le D.L. sollicit ne rpond pas
cas du systme idal conservatif
Mode 1
Spectre de phases
cas du systme dissipatif
le D.L. sollicit rpond moins que lautre
Mode 2
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Appropriation modale
Excitation modale :
Fi = Vi
F10 ( )
Si
F20 ( )
Fi = 0
ai 0 =
i
2
(1+ j ) +2 j
i
i
i
i
i
F10 ( )
1
= F0
1
F20 ( )
F10 ( )
1
= F0
1
F20 ( )
1
F1 = 1 1 F0 = 2 F0
1
1
1
F1 = 1 1 F0 = 0
1
1
2 F0
a10 =
=0
1 (1+ j1 ) +2 j1
1
1
1
F2 = 1 1 F0 = 0
2
1
a10 = 0
1
F2 = 1 1 F0 = 2 F0
2
1
a20 =
a20 = 0
2F
0
2
2 (1+ j2 ) +2 j 2
2
2
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p x1 (t )
1 j t
2 F0
=
e
2
p x2 (t ) k1 (1+ j1 ) + 2 j1 11
F0
F0
F0
l
V(L/3,t)
p x1 (t )
1
2 F0
j t
=
e
2
x
(
t
)
p
2
k2 (1+ j2 ) + 2 j 2 2
V(2L/3,t)
Alain Blaise
-F0
l
V(L/3,t)
XX
V(2L/3,t)
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Solution relle
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10 dB
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Conclusions :
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Identifications :
Modlisation quantification des paramtres
F M M I K ....
Validations
Hypothses approximations : Linarit
Recalage de modles Maquette prototype
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31