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SUT-V*WYX[Z\X[V]
^_ X[` _ba Z\cRd[WYVe _"af ahg d[ijVkc VmlK` _ X g Z\` _ c V g Won _Oa lKV*W g V _p `NebX[qrVm`8eRsNV*W g VEt
HBO (s) =

K
(s + 3)3

n>s8V*X

K >0

V ahg e _v nwZ _ sCnwWYZxn p q\VNyOzQV af-a{g d*ijV|V ahg~} q\n8XkcRn _Oa e _ V p `NebX[qrV c n aYa V[WYs=Z aYa V*iPV _=g WV g `8eRWe _ Z g nNZrWYVNy
NyS g ebc Z\V[W~qxn ahg n p Z\qrZ g  cRV XV a{f a{g d*iPVmV _p `NeOXq\VlKV*Wij*VNy
y ^_ c  a Z\WV n>s8`NZ\We _ VEijnNW v V c V }R n a Vk v nNqrV j= y5 g V[WYijZ _ V*Wqxn]sCnwq\V[eRWc e v nNZ _" eRZ } V*WijV g c V a n g Z a l9nwZ\WV
XV g{g VkVT Z v V _ X[VNy
SUT-V*WYX[Z\X[V
nElK` _ X g Z\` _ c V g Won _Oa lKV*W g V _p `NebX[qrVk`8eRsNV*W g V|c e _ n aYa V[WYs=Z aYa V*iPV _=g WYV g `8eRWe _ Z g nNZrWYVmV a{g c Vkq\nElK`8WijVjt
n>sNVX K > 0
K
HBO (s) =

`8u

sn (1 + T s)2

 g V[WYijZ _ V*W K T V g n } `8eRW e V _p `8ebXq\V|lKV[WYij[V qrV af-a{g d*ijVkW } ` _ c Vknwe TVT Z v V _ X[V aa eRZrsCn _8g V a t
Nyq\V a Z vN_ nNqc V X` _ba Z vN_ V g n _=g e _ VkWYnNi } Vkc V } V _=g V 1rad/s q V[WYWV*eRWc V g Won> _ n v VV ahg c V 1 rad
50
yqxnEi]nNW v V|c V v nwZ _ V ahg cRV 6dB y
SUT-V*WYX[Z\X[V tRn aYa V*Ws-Z aa V[ijV _=g c V } ` a Z g Zr` _
`NZ g qrV } WY` XV aYa e a n aYa V*Ws-Zc Vkqxn v eRWYVj|WY*nNqrZ a n _=g e _ n aa V[WYs-Z aYa V[ijV _=g cRV } ` a Z g Z\` _ y
yc

comparateur

vis
sans fin

Moteur

y (position)

kc

K&F a X [i]njc Vkq n aa V[WYs-Z aYa V*ijV _=g c V } ` a Z g Z\` _


zQV a X *ijnjX[`Ni } WYV _ ct
e _ ij` g V[eRW X`8eRWon _=g X[` _=g Z _ e"c Vms=Z g V aa Vkc VkWY` g n g Z\` _
e _"p q\` Xkc V } eRZ aYa n _ XV a V[WYsCn _=g~ nwq\ZrijV _=g V[W~q\Vkij` g V*eRW X[`NeRWon _=g X` _8g Z _ eV g| ebZV a{g n aYa ZrijZ\q\n p qrV e _ nNi } qrZrR
X[n g V*eRW~c V v nNZ _ sCnwWYZ\n p qrV
e _ Vs-Z a]a n _ba _2 eRZ g WYn A_ba lK`NWYiPVqxns-Z g V aYa VcRVWY` g n g Zr` _ V _ e _ V g WYn _ba qxn g Zr` _ q\Z _ nwZ\WV y = kvis n>sNVX q\n
} ` a Z g Zr` _ n _Rv eRqxnwZ\WYV
e _} ` g V _=g Zr`8iPd g WYVc VPWVX` } ZrV a V*WsCn _=g cRVPX*n } g V[eRWmc V } ` a Z g Z\` _ V gm eRZFWnwq\Z a V qxnX[` _ sNV*W a Zr` _ c Vqxn } ` a Z g Zr` _ V _
e _"a Z v8_ nwq*qrVX g WYZ ebV
y
V a X *ijnEc eij` g V[ebWQV ahg WyV c} =WY a kV c_=yg  a eRWq\n v eRWV y ` _ V _=g WY[V u(t) V ahg q\n g V _ba Z\` _ c V|X[`Niji]n _ cRVc eiP` g V*eRW*y V a
nNe g WYV a_ ` g n g Z\` _baa ` _=g} WY*X[Z a [V a X[Zc V aa `Ne a y
tRWY a Z ahg n _ X[VV g Z _ cRebX g n _ X[V c e"XZ\WYX[eRZ g c Z _ c eRZ g c eij` g V*eRW e(t) t l9XV*iZ _ c eRZ g V ke tbX` _bahg n _=g Vmc Vml9X[V[iy
R, L_ g
R
t
Z
V[W Z\Vkc eiP` g V*eRW f tRX`-V[]X[ZrV _=g c V|lKW` g{g V*ijV _=g s-Z aY eRV[e T ki tRX` _ba{g n _=g VmcRV X`Ne } qrV8y
J
^_"a e }R} ` a V[Won eRV ki = kb = k V g L = 0 y
Ny` _R_ V*WkqrV a X *ijnlK` _ X g Zr` _R_ V[qQc eiP` g V*eRW*yS _ c *c ebZrWYVjq\nlK` _ X g Zr` _ cRV g WYn _ba lKV[W g c eiP` g V*eRW Hm(s) = (s)
u(s)
a `Ne a qxnElK`NWYiPV H(s) = K y UWY*X[Z a V[W Km V g Tm yJX
lVT V*WYX[Z\X[V| R
y
q\ZrVkqxn s } ` a Z g Z\` _ V g q\nPs-Z g V aYa Vkc VmWY` g n g Z\` _ c eij` g V[eRWy
yS g n p q\ZrWq\nPWYV[qxn g Z\` _ eRZ1+T
m


 
i

f
e

Cm

K& a X [i]nEcReij` g V[ebW X[`NeRWon _=g X` _=g Z _ e


Ry` _R_ V*W~q\V a X *i]nlK` _ X g Zr` _R_ V*q v  _ [Wonwqc Vkq n aYa V*Ws-Z aa V[ijV _=g c V } ` a Z g Zr` _ V _ WV*i } q\n8[n _=g q\V ap q\` X a c VkqxnP v eRWV
 } nwWq\V a lK` _ X g Zr` _ba c V g WYn _ba lKV*W g X[`NWYWV a{} ` _ cbn _=g V a y
y` _R_ V*Wq\nElK` _ X g Zr` _ cRV g Won _ba lKV[W g cRe af ahg d[ijVmV _p `NebX[qrVk`8eRsNV*W g VNy
A <CAR6w)?=<>HJ([)H94F.-(j)*.-6>0FH94F.-(
iP` g V*eRWkt km = 10rad.s1.V 1 Tm = 0.075s k = 2.51 102
s=Z aa n _ba _ t kvis = 1.33 102m.rad1
} ` g V _=g Zr`8iPd g WYVkc VkWVX` } ZrVPt kc = 5V.m1 y
y _ Z g Zxnwq\V[ijV _=g q\V v nwZ _ A = 1 y znNq\X[eRqrV*W&qxnki]nwW v VcRV }R n a V|c VX[V g n aYa V*Ws-Z aa V[ijV _=g y=zQ` _ X[qrebWV a eRWQq\n ahg n p Z\q\Z g c e
af-a{g d*ijV|V _p `8ebXq\V|lKV[WYiP*VNy
y S g n p q\ZrWq\nPlK` _ X g Zr` _ c V g WYn _ba lKV[W g V _p `8ebXq\V|lKV[WYij[V c e af-a{g d*ijVNyb"` _=g WYV[W e V _p `8ebXq\VmlKV[WYij[V qrV af ahg d[ijV a V
X`8i } `8W g VX`8ijiPV|e _ c V[e T Z\d[ijV|`NWoc WV|c ` _=g ` _} WXZ a V*WYnkq VT } WYV aYa Z\` _ cRe v nNZ _ahg n g Z eRV KBF c V|qxn } ebq a n g Zr` _
V g c el9nNX g V*eRWc nwij`NW g Z aYa V*iPV _=g BF yIeRV*q ghf-} Vc VWY } ` _ba V]Z _ c ZxXZ\V[q\qrV9` a XZ\qrqxn g `NZ\WV]`8e/n } [WYZr` c Z eRV
n,BF af ahg
nwebWYnEqrV d[ijV
yeRV*qrq\VV ahg V ahg qxnsCnwq\V[ebWcRV A eRZ } V[WYiPV g c ` p g V _ Z\WV _p `NeOXq\VlKV*Wij*Ve _g V*i }ba c VmW } ` _ba V j8 ijZ _ Z\ieRiy
znwqxXebqrV*Wq\n _ `8eRsNV*qrq\VmijnNW v V|cRV }R n a VmV g X`8i } nwWYV[WnweX[n a} WY*Xc V _=g y
yV a Z v8_ nwqcRV X` _Oa Z vN_ V|V a{g e _ *X V[q\` _ c nNi } qrZ g ebcRV E0 yznwqxXeRq\V[Wq V*WWYV[eRW p() V _ W v Z\ijV } V[WYi]n _ V _8g y
ynjX[` _ba Z v8_ VmV a{g ijnNZ _=g V _ n _8g e _"a Z v8_ nwqWonwi } V yc = v(t) yznwqxXeRq\V[Wq V*WWYV[ebW v () V _ WY v ZrijV } V[WYijn _ V _=g y
SUT-V*WYX[Z\X[V
yc

C(s)

H(s)

K&5 a X [i]nEc e _ n aa V[WYs-Z aYa V*ijV _=g WYV g `NeRWe _ Z g nNZrWYV
`NZ g qrV a X [i]njc n aYa V*Ws-Z aa V[ijV _=g c Vkq\nE v eRWYVmbyRnElK` _ X g Z\` _ c V g WYn _ba lKV[W g c e af ahg d[ijVmV a{g t
H(s) =

8
(1 + 2s)(1 + 0.5s)

V g qrV X[`NWYWVX g V[eRWV a{g e _v nNZ _ C(s) = Kc y


Ny _ Z g Zxnwq\V[ijV _=g ` _a e }R} ` a V Kc = 1 y
9n=` _R_ V[Wqxn lK` _ X g Zr` _ c V g WYn _ba lKV*W g V _p `8ebXq\VlKV[WYiP*V|cRe af ahg d[ijV HBF yR"` _=g WV*W eRV HBF a V|ijV g~a `8e a q\n
lK`NWYiPVkc e _"af-a{g d*ijVmcRe 2e `8WYcRWVmc ` _=g ` _} WY*X[Z a V[Won q\V a~} nwWonwijd g WV a KBF BF V g n,BF
p nPX` _Oa Z vN_ V yc(t) V a{g e _ X V[q\` _ e _ Z g nwZ\WYVNybznwqxXeRq\V[Wq\V|cR } n aa V[ijV _=g V g q\V g V[i }ba c VmWY } ` _ba V j8 tr,5%
c V"q\nWY } ` _Oa VZ _ c ZxXZ\V[q\qrV"V _2p `NeOXq\VlKV[WYiP*VNyeRV[q\qrVV ahg q V*WWYV[ebW ahg n g Z eRV p() cRe af ahg d[ijV"V _
` _R_ V[WqxnPi]nwW v Vmc V }R n a V8y


 

9XnjX` _ba Z vN_ VV ahg i]nwZ _=g V _ n _=g e _ VkWonwi } VmcRV } V _=g V a y5ebV[q\qrVmV a{g q V*WWYV[eRWc V g WYnC _ n v V v ()
^

y _ sNV[e g nwij[q\Zr`8WV*WQqxn } WY*XZ a Zr` _ V _ c Z\s-Z a n _=g q V*WWYV[eRW a{g n g Z ebV p() } nwW y F`8eRW~XV*q\n ` _ sCn]n v Z\W a ebWqrV v nNZ _
c e"X`8WWYV*X g V*eRW Kc y
9n="eRV[q\qrVksCnNqrV*eRWl9nwe g ;ZrqcR` _R_ V*W Kc kS _ c *c ebZrWYVkqrV a} nNWYnNiPd g WYV a c e af ahg d[ijV c e 2e `8WYcRWVm eRZ\sCnwq\V _=g qrV
g V[i }ba cRVkW } ` _ba VmV g q\V c  } n aYa V*ijV _=g yOznNq\X[eRqrV*Wq\n _ `8eRsNV*qrq\VmijnNW v V|cRV }R n a VNyOzQ`8i } nwWYV[WnweX[n a Kc = 1 y
p GeRV[q\qrVkV ahg q\n _ `NeRs8V[q\qrVksCnwq\V[ebWc V q V*WWYV[ebW~c V g Won> _ n v VPeRV[q\qrV a `Nq\e g Zr` _"} V*e g ;` _} WY` } ` a V[W } `NebW~Wc eRZ\WV
qJ V[WYWV*eRWc V g Won> _ n v V
9XS ahg Z\q } ` aa Z p qrVEV _ `Nebn _8g e _ Z eRV[ijV _=g a eRWq\V v nwZ _ Kc c ` pRg V _ ZrW|qrVjc  } n aYa V*ijV _=g c VPqxn eRV a{g Z\` _  g `Ne g
V _ n f n _=g q\n } WY*X[Z a Z\` _ c Vkq\n eRV ahg Zr` _ yR~W v eRijV _=g V[WsN` g WYVWY } ` _Oa V8y
SUT-V*WYX[Z\X[V
`NZ g qrV af ahg d[ijVkc VmlK` _ X g Z\` _ c V g Won _Oa lKV*W g V _p `NebX[qrVk`8eRsNV*W g V|c [ _ Z\V } nwWkt
HBO (s) =

K
s(s + 1)2

NyznwqxXebqrV*WqJ V[WYWV*eRW ahg n g Z eRVkc e af-a{g d*ijV } q\n8XkcRn _Oa e _ V p `NebX[qrV WYV g `8eRWe _ Z g nNZrWYVNy
y g V*WijZ _ V[WFqxn~sCnwq\V[eRWIc e v nwZ _ K ebZ } V[WYijV g c ` p g V _ Z\WFe _ V } ebq a n g Zr` _ c VX`Ne } eRWYV 0dB  v nNqrV c0 = 2rad/s y
Ry g V*WijZ _ V[Wqxnji]nwW v Vmc V }R n a V } `NeRW~X[V gg VksCnwq\V[eRW~cRV K V g X` _ Xq\eRWV a eRWqxn a{g n p Z\qrZ g  c e af ahg d[ijVNy

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