PRINCIPE DHAMILTON

Principe des Puissances Virtuelles

 u
B

e3 F(t)
A
3

e1
e2 F( t) = F ( t) e
i =1
i i

F(t) = Forces extrieures + Forces intrieures

Pi (u)
+ Pe (u)
= A(u)

 t2
&& u
F( t) u = mu t1
[ F(t) u mu&& u ] dt

t2 t2 t2
t1
m &&
u u dt = t1
m u& u& dt = t1
T( t) dt

1
T( t) = m u& 2 = nergie cintique
2
 V
Energie Potentielle : Fc ( t) = grad V =
e
t2 t2 t2

t1
F( t) u dt = t1
Fc ( t) u dt + t1
Fnc ( t) u dt
t2 t2
= t1
V( t) dt + t1
Wnc ( t) dt

t2

t1
[ F( t) u mu&& u ] dt

t2 t2

t1
(T V) dt + t1
Wnc dt = 0