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Chapitre 1
Matrice de Park
2
1
[P ()] =
2
sin ()
sin 2
cos ()
2
2
cos
1
2
cos +
sin +
(1.1)
1.2
(1.4)
Matrice de Concordia
2
1
[c] =
2
1
2
(1.5)
1
2
1
2
3
2
3
2
= [C31 C32 ]
1
2
1
2
1
2
[c31 ] =
[c32 ] =
2
1
2
3
2
3
2
(1.7)
[C31 ]t [C32 ] = [0 0]
1
(1.6)
(1.8)
(1.9)
" #
t
[C32 ] [C31 ] =
0
0
"
(1.10)
1 0
[C32 ]t [C32 ] =
0 1
(1.11)
2 1 1
1
[C32 ] [C32 ]t = 1 2 1
3
1 1 2
1.3
(1.12)
1
0
0
(1.13)
= [C] [R ()]
o [R ()] est la matrice de rotation
1
0
0
[R22 ()] =
1.4
(1.14)
(1.15)
Relations utiles
ls
Ms Ms
Ms
[Ls ] = Ms ls
Ms Ms ls
(1.16)
(1.17)
cos +
cos ()
cos +
2
3
2
3
2
3
cos +
cos ()
cos
cos
2
3
cos ()
2
3
2
3
(1.18)
1.5
(1.19)
(1.20)
(1.21)