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Exercice 1 : (5 points)
Equation dynamique :
𝑀𝑦̈ = 𝑀𝑔 − 𝑘𝑟 𝑦 − 𝑘𝑑 𝑦̇
Fonction de transfert :
1
𝐹(𝑆) =
𝑀𝑆 2 + 𝑘𝑑 𝑆 + 𝑘𝑟
1 𝐾𝜔02
𝐹(𝑆) = =
𝑀𝑆 2 + 𝑘𝑑 𝑆 + 𝑘𝑟 𝑆 2 + 2𝜉𝜔0 𝑆 + 𝜔02
1 𝑘𝑑
𝜉=
2 √𝑀𝑘𝑟
𝑘𝑟
𝜔0 = √
{ 𝑀
1 𝑘𝑑 1 𝑘𝑑2
𝜉<1 ⟹ <1⟹𝑀> ⟹ 𝑀 > 0.1 kg
2 √𝑀𝑘𝑟 4 𝑘𝑟
𝑀𝑔
⟹ 𝑦𝑓 = = 0.2 ⟹ 𝑀 = 0.204 kg
𝑘𝑟
1
𝑘𝑟
𝜔0 = √ = 2 ⟹ 𝑀 = 2.5 kg
𝑀
𝐹𝑟 = 𝑘𝑟 𝑦𝑓 = 0 ⟹ 𝑦𝑓 = 0 ⟹ 𝑀 = 0 kg
Exercice 2 : (8 points)
Equations électriques :
𝑑𝑖
50 = 𝐿 + 𝑅𝑖𝑅
𝑑𝑡
{ 1
𝑅𝑖𝑅 = ∫ 𝑖𝐶 𝑑𝑡
𝐶
Transformée de Laplace :
50
= 𝐿𝑆[𝐼𝑅 + 𝐼𝐶 ] + 𝑅𝐼𝑅 = 𝐿𝑆[𝐼𝑅 + 𝑅𝐶𝐼𝑅 ] + 𝑅𝐼𝑅
𝑆
50 1 50 1
⟹ 𝐼𝑅 = ∙ = ∙ (1.5 pt)
𝑆 𝑅 + 𝐿𝑆 + 𝑅𝐿𝐶𝑆 2 𝑆 200 + 2.5𝑆 + 5. 10−4 𝑆 2
105 1
⟹ 𝐼𝑅 = ∙
𝑆 (𝑆 + 100). (𝑆 + 400)
10 1 10 1 10 1
⟹ 𝐼𝑅 = ∙ − ∙ + ∙
4 𝑆 3 𝑆 + 100 12 𝑆 + 400
1 10 −100𝑡 10 −400𝑡
⟹ 𝑖𝑅 (𝑡) = − ∙𝑒 + ∙𝑒 (1.5 pt)
4 3 12
𝑑𝑖𝑅
𝑖𝐶 (𝑡) = 𝑅𝐶
𝑑𝑡
−3
103 −100𝑡 103 −400𝑡
⟹ 𝑖𝐶 (𝑡) = 2 ∙ 10 [ ∙𝑒 − ∙𝑒 ]
3 3
2
⟹ 𝑖𝐶 (𝑡) = ∙ [𝑒 −100𝑡 − 𝑒 −400𝑡 ] (1.5 pt)
3
2
2) Valeur maximale de 𝑖𝐶 (𝑡) : (1.5 pt)
𝑑𝑖𝐶 2
= 0 ⟹ ∙ [−100 ∙ 𝑒 −100𝑡 + 400 ∙ 𝑒 −400𝑡 ] = 0
𝑑𝑡 3
⟹ −1 + 4𝑒 −300𝑡 = 0
ln(4)
⟹ 𝑡= = 4.6 ∙ 10−3 sec
300
⟹ 𝑖𝐶𝑚𝑎𝑥 = 0.31 V
𝐹 = 𝑀𝑥̈ 1 + 𝑘𝑑 (𝑥̇ 1 − 𝑥̇ 2 )
{ (1 pt)
𝑘𝑑 (𝑥̇ 1 − 𝑥̇ 2 ) = 𝑘𝑟 𝑥2
𝑥2 𝑥1
𝑘𝑟 𝑘𝑑
𝐹Ԧ
𝑀
(1 pt)
Exercice 3 : (7 points)
Equations électriques :
50 = 𝑅𝑖 + 𝑣𝑠
1
{𝑣𝑠 = 𝑅𝑖1 = ∫ 𝑖2 𝑑𝑡
𝐶
𝑖 = 𝑖1 + 𝑖2
Transformée de Laplace :
50 𝑉𝑠
= 𝑅 [ + 𝐶𝑆𝑉𝑠 ] + 𝑉𝑠 = [2 + 𝑅𝐶𝑆] ∙ 𝑉𝑠
𝑆 𝑅
50 1
⟹ 𝑉𝑠 (𝑆) = ∙ (1.5 pt)
𝑆 2 + 𝑅𝐶𝑆
3
25 25 ∙ 𝑅𝐶 25 25
⟹ 𝑉𝑠 (𝑆) = − = −
𝑆 2 + 𝑅𝐶𝑆 𝑆 2/𝑅𝐶 + 𝑆
2
⟹ 𝑣𝑠 (𝑡) = 25 − 25 ∙ 𝑒 −(𝑅𝐶)𝑡
4.10−4
−( )𝑡
⟹ 𝑣𝑠 (𝑡) = 25 [1 − 𝑒 𝐶 ] (1 pt)
4∙10 −4
𝑣𝑠 (𝑡) −( )𝑡
1− =𝑒 𝐶
25
𝑣𝑠 (𝑡) 4. 10−4
⟹ ln (1 − ) = −( )𝑡
25 𝐶
𝑣 (𝑡)
ln(1− 𝑠 )
25
⟹ ∙ 𝐶 = −𝑡 (1 pt)
4.10−4
Forme matricielle :
−2052 −0.1
[−4023] ∙ 𝐶 = [−0.2] ⟺ 𝐻. 𝐶 = 𝑌 (1 pt)
−6314 −0.3
3) Comparaison : (2 pt)
4.10−4
−( )𝑡
𝑣𝑠 (𝑡) = 25 [1 − 𝑒 𝐶 ]
𝑣𝑠𝑒 −𝑣𝑠𝑟
Précision : 𝑃 = | | × 100 (0.75 pt)
𝑣𝑠𝑒