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 cos( ψ) sin( ψ) 0   cos( θ) 0 −sin( θ)  1 0 0 

Γψ =  −sin( ψ) cos( ψ) 0  Γθ =  0 1 0  Γφ = 0 cos( φ) sin( φ) 



     
 0 0 1  sin( θ) 0 cos( θ)   0 −sin( φ) cos( φ) 

 cos( ψ) ⋅ cos( θ) cos( θ) ⋅ sin( ψ) −sin( θ) 


Γφ⋅ Γθ⋅ Γψ = cos( ψ) ⋅ sin( φ) ⋅ sin( θ) − cos( φ) ⋅ sin( ψ) cos( φ) ⋅ cos( ψ) + sin( φ) ⋅ sin( ψ) ⋅ sin( θ) cos( θ) ⋅ sin( φ) 

 
 sin( φ) ⋅ sin( ψ) + cos( φ) ⋅ cos( ψ) ⋅ sin( θ) cos( φ) ⋅ sin( ψ) ⋅ sin( θ) − cos( ψ) ⋅ sin( φ) cos( φ) ⋅ cos( θ) 

 0   0   φp 
ψ' =  0  θ' =  θp  φ' =  0 
 ψp  0  0 
     

ωL = Γφ⋅ Γθ⋅ Γψ⋅ ψ' + Γφ⋅ Γθ⋅ θ' + Γφ⋅ φ'

1 0 0   cos( θ) 0 −sin( θ)   cos( ψ) sin( ψ) 0   0   1 0 0   cos( θ) 0 −sin( θ)   0   1 0 0   φp 


     
 0 cos( φ) sin( φ)  ⋅  0 1 0  ⋅  −sin( ψ) cos( ψ) 0  ⋅  0  +  0 cos( φ) sin( φ)  ⋅  0 1 0  ⋅  θp  +  0 cos( φ) sin( φ)  ⋅  0 
        
 0 −sin( φ) cos( φ)   sin( θ) 0 cos( θ)   0 0 1   ψp   0 −sin( φ) cos( φ)   sin( θ) 0 cos( θ)   0   0 −sin( φ) cos( φ)   0 

 φp − ψp ⋅ sin( θ) 
 
 θp ⋅ cos( φ) + ψp ⋅ cos( θ) ⋅ sin( φ) 
 ψ ⋅ cos( φ) ⋅ cos( θ) − θ ⋅ sin( φ) 
 p p 
 ωxL   φp − ψp ⋅ sin( θ) 
   
 ω ⋅ sin( φ)   θ ⋅ cos( φ) + ψ ⋅ cos( θ) ⋅ sin( φ) ⋅ sin( φ) 
 yL cos( θ)  ( p p ) cos( θ) 
 cos( φ)
  cos( φ)

 ωzL⋅  ( ψp ⋅ cos( φ) ⋅ cos( θ) − θp ⋅ sin( φ) ) ⋅ 
 cos( θ)   cos( θ) 

 ωxL   (φp − ψp⋅ sin(θ)) 


   
 ωyL⋅ cos( φ)   ( θp ⋅ cos( φ) + ψp ⋅ cos( θ) ⋅ sin( φ) ) ⋅ cos( φ) 
 ω ⋅ −sin( φ)   ψ ⋅ cos( φ) ⋅ cos( θ) − θ ⋅ sin( φ) ⋅ −sin( φ) 
 zL  ( p p ) 
sin( φ) cos( φ) sin( φ) cos( φ)
ωyL⋅
cos( θ)
+ ωzL⋅
cos( θ)
(θp⋅ cos(φ) + ψp⋅ cos(θ)⋅ sin(φ))⋅ cos(θ) + (ψp⋅ cos(φ)⋅ cos(θ) − θp⋅ sin( φ))⋅ cos( θ)

ωyL⋅
sin( φ)
cos( θ)
+ ωzL⋅
cos( φ)
cos( θ)
(cos(φ)2 + sin(φ)2)⋅ψp
ωxL⋅ cos( φ) + ωyL⋅ −sin( φ) (θp⋅ cos(φ) + ψp⋅ cos(θ)⋅ sin(φ))⋅ cos( φ) + (ψp⋅ cos(φ)⋅ cos(θ) − θp⋅ sin(φ) )⋅ −sin( φ)
ωyL⋅ cos( φ) + ωzL⋅ −sin( φ) (cos(φ)2 + sin(φ)2)⋅θp
ωxL +  ωyL⋅
sin( φ) cos( φ) 
+ ωzL⋅  ⋅ sin( θ) φp
 cos( θ) cos( θ) 
 ωyL⋅
sin( φ)
+ ωzL⋅
cos( φ) 
 ψp   cos( θ) cos( θ) 
   
 θp  = ωyL⋅ cos( φ) + ωzL⋅ −sin( φ) 
φ   
 p ωxL +  ω ⋅ sin( φ) + ω ⋅ cos( φ)  ⋅ sin( θ)
 yL cos( θ) zL cos( θ) 
   
d v 
 dt x 
   Fx + Tx   0 ωz −ωy   vx 
 d v  = 1 ⋅  F +
   
Ty  +  −ωz 0 ωx  ⋅  vy 
 dt y  m  y   ω −ω 0   v 
   Fz + Tz
  y x   z
 d vz 
 dt 

 Jx 0 −Jxz   Jx 0 −Jxz   ωx   Jx⋅ ωx − Jxz⋅ ωz 


      
J= 0 Jy 0  K= 0 Jy 0  ⋅  ωy  K= Jy⋅ ωy 
 −J 0 Jz
  −J 0 Jz
 ω   J ⋅ω − J ⋅ω 
 xz   xz   z  z z xz x 
J ⋅  d ω  − J ⋅  d ω  
 x  dt x xz  dt z    Jy⋅ ωy⋅ ωz − Jz⋅ ωy⋅ ωz + Jxz⋅ ωx⋅ ωy 
   0 ωz −ωy   Jx⋅ ωx − Jxz⋅ ωz   
    
d
K=  d
Jy⋅  ωy    −ωz 0 ωx  ⋅  Jy⋅ ωy  = J ⋅ω − J ⋅ω − J ⋅ω ⋅ω + J ⋅ω ⋅ω 
 2 2
dt   dt    xz z xz x x x z z x z
 ω −ω 0   J ⋅ ω − J ⋅ ω 
   y x   z z xz x   Jx⋅ ωx⋅ ωy − Jy⋅ ωx⋅ ωy − Jxz⋅ ωy⋅ ωz 
Jz⋅  d ωz  − Jxz⋅  d ωx   
  dt   dt  
J ⋅  d ω  − J ⋅  d ω  
 x  dt x  xz  dt z    Jy⋅ ωy⋅ ωz − Jz⋅ ωy⋅ ωz + Jxz⋅ ωx⋅ ωy 
     Mx + MxT 
   
 d
Jy⋅  ωy  − J ⋅ω − J ⋅ω − J ⋅ω ⋅ω + J ⋅ω ⋅ω 
 2 2 =  M y + M yT 
  d t    xz z xz x x x z z x z
M + M 
   Jx⋅ ωx⋅ ωy − Jy⋅ ωx⋅ ωy − Jxz⋅ ωy⋅ ωz   z zT 
Jz⋅  d ωz  − Jxz⋅  d ωx   
  dt   dt  

J ⋅  d ω  − J ⋅  d ω  
 x  dt x  xz  dt z  
   Mx + MxT   Jy⋅ ωy⋅ ωz − Jz⋅ ωy⋅ ωz + Jxz⋅ ωx⋅ ωy 
   
 d
Jy⋅  ωy  =  M y + M yT  +  J ⋅ ω 2 − J ⋅ ω 2 − J ⋅ ω ⋅ ω + J ⋅ ω ⋅ ω 
   M + M  
 d t  xz z xz x x x z z x z
   z zT   Jx⋅ ωx⋅ ωy − Jy⋅ ωx⋅ ωy − Jxz⋅ ωy⋅ ωz 
Jz⋅  d ωz  − Jxz⋅  d ωx  
  dt   dt  

  Jxz 
2 
1  Jxz   Jy − Jx 
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅  − 1
   Jz  
Jxz 
Jz
dt

2
    Jz 
1 − ( J ⋅ J )  ⋅ Jx
 x z

Jx − Jz Jxz
⋅  ωx − ωz 
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy  

  Jxz 
2
 Jz − Jy 
1  Jxz 
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅  + 1
   Jx  
Jxz 
Jx
dt

2
    Jx 
1 − ( J ⋅ J )  ⋅ Jz
 x z
Prima forma a ecuatiilor de miscare
1
d
dt
vx = ⋅
m
(Fx + Tx) − vz⋅ ωy + vy⋅ ωz
1
d
dt
vy = ⋅
m
(Fy + Ty) − vx⋅ ωz + vz⋅ ωx
1
d
dt
vz = ⋅
m
(Fz + Tz) − vy⋅ ωx + vx⋅ ωy
  Jxz   Jy − Jx 
2
1  Jxz 
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅  − 1
   Jz  
Jxz 
dt 2 Jz Jz
     
1 − ( J ⋅ J )  ⋅ Jx
 x z

Jx − Jz Jxz
⋅  ωx − ωz 
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy  

  Jxz  
2
1  Jxz   Jz − Jy
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅  + 1
   Jx  
Jxz 
Jx
dt

2
    Jx 
1 − ( J ⋅ J )  ⋅ Jz
 x z

d
x = vx⋅ cos( ψ) ⋅ cos( θ) − vy⋅ cos( φ) ⋅ sin( ψ) + vz⋅ sin( φ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ cos( ψ) ⋅ sin( θ) + vy⋅ cos( ψ) ⋅ sin( φ) ⋅ sin( θ)
dt

d
y = vy⋅ cos( φ) ⋅ cos( ψ) − vz⋅ cos( ψ) ⋅ sin( φ) + vx⋅ cos( θ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ sin( ψ) ⋅ sin( θ) + vy⋅ sin( φ) ⋅ sin( ψ) ⋅ sin( θ)
dt

d
z = vz⋅ cos( φ) ⋅ cos( θ) − vx⋅ sin( θ) + vy⋅ cos( θ) ⋅ sin( φ)
dt

d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)

d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt

d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)
A doua forma a ecuatiilor la miscare

vx = V⋅ cos( α) ⋅ cos( β)
vy = V⋅ sin( β)
vz = V⋅ sin( α) ⋅ cos( β)

1
d
dt
( )
( V⋅ cos( α) ⋅ cos( β) ) = ⋅ Fx + Tx − V⋅ sin( α) ⋅ cos( β) ⋅ ωy + V⋅ sin( β) ⋅ ωz
m

1
d
dt
( )
( V⋅ sin( β) ) = ⋅ Fy + Ty − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
m

1
d
dt
( )
( V⋅ sin( α) ⋅ cos( β) ) = ⋅ Fz + Tz − V⋅ sin( β) ⋅ ωx + V⋅ cos( α) ⋅ cos( β) ⋅ ωy
m

1
d
dt
d d
( )
V ⋅ cos( α) ⋅ cos( β) − V⋅ sin( α) ⋅ cos( β) ⋅ α − V⋅ cos( α) ⋅ sin( β) ⋅ β = ⋅ Fx + Tx − V⋅ sin( α) ⋅ cos( β) ⋅ ωy + V⋅ sin( β) ⋅ ωz
dt dt m

1
d
dt
d
( )
V ⋅ sin( β) + V⋅ cos( β) ⋅ β = ⋅ Fy + Ty − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
dt m

1
d
dt
d d
( )
V ⋅ sin( α) ⋅ cos( β) + V⋅ cos( α) ⋅ cos( β) ⋅ α − V⋅ sin( α) ⋅ sin( β) ⋅ β = ⋅ Fz + Tz − V⋅ sin( β) ⋅ ωx + V⋅ cos( α) ⋅ cos( β) ⋅ ωy
dt dt m

d V   1 ⋅ F + T − V⋅ sin( α) ⋅ cos( β) ⋅ ω + V⋅ sin( β) ⋅ ω 


 dt   m ( x x) y z 
cos( α) ⋅ cos( β) −( V⋅ sin( α) ⋅ cos( β) ) −( V⋅ cos( α) ⋅ sin( β) )     
 sin( β) 0 V⋅ cos( β)  ⋅  d 
α =  1
⋅ ( F + T ) − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
   dt  m y y 
 sin( α) ⋅ cos( β) V⋅ cos( α) ⋅ cos( β) −( V⋅ sin( α) ⋅ sin( β) )     1 
d β   ⋅ ( Fz + Tz) − V⋅ sin( β) ⋅ ωx + V⋅ cos( α) ⋅ cos( β) ⋅ ωy 
 dt   m 
 cos( β) ⋅ cos( α) sin( β) cos( β) ⋅ sin( α) 
 
cos( α) ⋅ cos( β) −( V⋅ sin( α) ⋅ cos( β) ) −( V⋅ cos( α) ⋅ sin( β) )   − sin( α) cos( α) 
 sin( β)  0

0 V⋅ cos( β)
  V⋅ cos( β) V⋅ cos( β) 
 sin( α) ⋅ cos( β) V⋅ cos( α) ⋅ cos( β) −( V⋅ sin( α) ⋅ sin( β) )   cos( α) ⋅ sin( β) cos( β) sin( β) ⋅ sin( α) 
− − 
 V V V 
d V   1 
 dt   cos( β) ⋅ cos( α) sin( β) cos( β) ⋅ sin( α)   m ⋅ ( Fx + Tx) − V⋅ sin( α) ⋅ cos( β) ⋅ ωy + V⋅ sin( β) ⋅ ωz 
 
  
 − sin( α) cos( α)  1
d α   ⋅  m ⋅ ( Fy + Ty) − V⋅ cos( α) ⋅ cos( β) ⋅ ωz + V⋅ sin( α) ⋅ cos( β) ⋅ ωx
0
= V⋅ cos( β) V⋅ cos( β)
 dt   cos( α) ⋅ sin( β) cos( β) sin( β) ⋅ sin( α)  
  
− −   1 ⋅ F + T − V⋅ sin( β) ⋅ ω + V⋅ cos( α) ⋅ cos( β) ⋅ ω
d β   V V V 
 m z
( z ) x y 

 dt 

 Fx + Tx Fy + Ty Fz + Tz 
d V   ⋅ cos( α) ⋅ cos( β) + ⋅ sin( β) + ⋅ sin( α) ⋅ cos( β) 
 dt   m m m 
   sin( α)  x F + T  cos( α)  z F + T  
d α  =
x z
ωy − ⋅ + ωz⋅ sin( β)  + ⋅ − ωx⋅ sin( β)  
 dt  cos( β)  V⋅ m  cos( β)  V⋅ m 
 
   Fy + Ty  x x
F + T   z
F + T  
d β  ⋅ cos( β) −  ⋅ sin( β) + ωz ⋅ cos( α) − 
z
⋅ sin( β) − ωx ⋅ sin( α) 
 dt  
 V⋅ m  V⋅ m   V⋅ m  
  Jxz 
2
 Jy − Jx 
1  Jxz 
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅  − 1
   Jz  
Jxz 
Jz
dt

2
    Jz 
1 − ( J ⋅ J )  ⋅ Jx
 x z
Jx − Jz Jxz
⋅  ω − ωz 
1
d
dt Jy
(
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅) Jy

Jy  x
2 2

  Jxz 
2 
1  Jxz   Jz − Jy 
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅  + 1
   Jx  
Jxz 
Jx
dt

2
    Jx 
1 − ( J ⋅ J )  ⋅ Jz
 x z

d
x = V⋅ cos( α) ⋅ cos( β) ⋅ cos( ψ) ⋅ cos( θ) − V⋅ sin( β) ⋅ ( cos( φ) ⋅ sin( ψ) − cos( ψ) ⋅ sin( φ) ⋅ sin( θ) ) + V⋅ sin( α) ⋅ cos( β) ⋅ ( sin( φ) ⋅ sin( ψ) + cos( φ) ⋅ cos( ψ) ⋅ sin( θ) )
dt
d
y = V⋅ cos( α) ⋅ cos( β) ⋅ cos( θ) ⋅ sin( ψ) + V⋅ sin( β) ⋅ ( cos( φ) ⋅ cos( ψ) + sin( φ) ⋅ sin( ψ) ⋅ sin( θ) ) + V⋅ sin( α) ⋅ cos( β) ⋅ ( cos( φ) ⋅ sin( ψ) ⋅ sin( θ) − cos( ψ) ⋅ sin( φ) )
dt
d
z = V⋅ sin( α) ⋅ cos( β) ⋅ cos( φ) ⋅ cos( θ) − V⋅ cos( α) ⋅ cos( β) ⋅ sin( θ) + V⋅ sin( β) ⋅ cos( θ) ⋅ sin( φ)
dt
d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)

Ecuatiile miscarii longitudinale


1
d
dt
vx = ⋅
m
(Fx + Tx) − vz⋅ ωy + vy⋅ ωz
1
d
dt
vz = ⋅
m
(Fz + Tz) − vy⋅ ωx + vx⋅ ωy
Jx − Jz Jxz
⋅  ω − ωz 
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy  x 

d
x = vx⋅ cos( ψ) ⋅ cos( θ) − vy⋅ cos( φ) ⋅ sin( ψ) + vz⋅ sin( φ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ cos( ψ) ⋅ sin( θ) + vy⋅ cos( ψ) ⋅ sin( φ) ⋅ sin( θ)
dt
d
z = vz⋅ cos( φ) ⋅ cos( θ) − vx⋅ sin( θ) + vy⋅ cos( θ) ⋅ sin( φ)
dt
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt

Prima forma simplificata


vy = 0 ψ=0 φ=0 ωx⋅ ωz = 0 Jxz = 0
1
d
dt
( )
vx = ⋅ Fx + Tx − vz⋅ ωy
m
1
d
dt
( )
vz = ⋅ Fz + Tz + vx⋅ ωy
m
1
d
dt
(
ωy = ⋅ M y + M yT
Jy
)
d
x = vx⋅ cos( θ) + vz⋅ sin( θ)
dt
d
z = vz⋅ cos( θ) − vx⋅ sin( θ)
dt
d
θ = ωy
dt
A doua forma

Fx + Tx Fy + Ty Fz + Tz
d
V= ⋅ cos( α) ⋅ cos( β) + ⋅ sin( β) + ⋅ sin( α) ⋅ cos( β)
dt m m m

d sin( α)  Fx + Tx  cos( α)  Fz + Tz 
α = ωy − ⋅ + ωz⋅ sin( β)  + ⋅ − ωx⋅ sin( β) 
dt cos( β)  V⋅ m  cos( β)  V⋅ m 
Jx − Jz Jxz
⋅  ωx − ωz 
1
( )
d 2 2
ωy = ⋅ M y + M yT − ωx⋅ ωz⋅ −
dt Jy Jy Jy  
d
θ = ωy⋅ cos( φ) − ωz⋅ sin( φ)
dt
vx = V⋅ cos( α) ⋅ cos( β)

vz = V⋅ sin( α) ⋅ cos( β)

A doua forma simplificata

vy = 0 β=0 ψ=0 φ=0 ωx⋅ ωz = 0 Jxz = 0

Fx + Tx Fz + Tz
d
V= ⋅ cos( α) + ⋅ sin( α)
dt m m

d  Fx + Tx   Fz + Tz 
α = ωy − sin( α) ⋅   + cos( α) ⋅  
dt  V⋅ m   V⋅ m 

1
d
dt
(
ωy = ⋅ M y + M yT
Jy
)

d
θ = ωy
dt

vx = V⋅ cos( α)

vz = V⋅ sin( α)

vz
tan( α) =
vx
Varianta

Fτ + Tτ
d
V=
dt m
Fν + Tν
d
γ=
dt V⋅ m
1
d
dt
(
ωy = ⋅ M y + M yT
Jy
)
d
θ = ωy
dt
vx = V⋅ cos( θ − γ)
vz = V⋅ sin( θ − γ)

Ecuatiile miscarii laterale


1
d
dt
( )
vy = ⋅ Fy + Ty − vx⋅ ωz + vz⋅ ωx
m
  Jxz   Jy − Jx 
2
1  Jxz 
⋅ ( M z + M zT) − ωy⋅ ωz⋅ Jz − Jy +
d
ωx = ⋅ M x + M xT + − ωx⋅ ωy⋅ Jxz⋅  − 1
   Jz  
Jxz 
dt 2 Jz Jz
     
1 − ( J ⋅ J )  ⋅ Jx
 x z

  Jxz  
2
1  Jxz   Jz − Jy
⋅ ( M z + M zT) + ⋅ ( M x + M xT) − ωx⋅ ωy⋅ Jy − Jx −
d
ωz = − ωy⋅ ωz⋅ Jxz⋅  + 1
   Jx  
Jxz 
Jx
dt

2
    Jx 
1 − ( J ⋅ J )  ⋅ Jz
 x z

d
y = vy⋅ cos( φ) ⋅ cos( ψ) − vz⋅ cos( ψ) ⋅ sin( φ) + vx⋅ cos( θ) ⋅ sin( ψ) + vz⋅ cos( φ) ⋅ sin( ψ) ⋅ sin( θ) + vy⋅ sin( φ) ⋅ sin( ψ) ⋅ sin( θ)
dt

d sin( φ) cos( φ)
ψ = ωy⋅ + ωz⋅
dt cos( θ) cos( θ)

d
dt
( )
φ = ωx + ωy⋅ sin( φ) + ωz⋅ cos( φ) ⋅ tan( θ)
Forma simplificata a ecuatiilor miscarii laterale

sin( ψ) = ψ cos( ψ) = ⋅ 1 sin( φ) = φ cos( φ) = 1 Jxz = 0 ωy = 0 θ=0

1
d
dt
( )
vy = ⋅ Fy + Ty − vx⋅ ωz + vz⋅ ωx
m

1
d
dt
(
ωx = ⋅ M x + M xT
J
)
x

1
d
dt
((
ωz = ⋅ M z + M zT
Jz
))
d
y = vx⋅ ψ + vy − vz⋅ φ
dt

d
ψ = ωz
dt

d
φ = ωx
dt