简单的一维二阶弹簧模型:
A是振幅
β是阻尼系数
m是振子质量
k是胡克系数
m * a = -β * v - k * x (β >= 0, m > 0, k > 0)
微分方程:
m * dx2 / dt2 + β * dx / dt + k * x = 0
Laplace transform:
m * [s2 * X(s) – s * x(0) - x’(0)] + β * [s * X(s) – x(0)] + k * X(s) = 0
初始条件:
x(0) = A
v(0) = x’(0) = 0
得:
m * s2 * X(s) + β * s * X(s) + k * X(s) = A * (m * s +β)
(m * s2 + β * s + k) * X(s) = A * (m * s + β)
X(s) = A * (m * s + β) / (m * s2 + β * s + k)
X(s) = A * (s + β/m) / (s2 + β/m * s + k/m)
设:
2 * n =β/m ω2 = k/m
得:
X(s) = A * (s + 2n) / (s2 + 2n * s + ω2)
s2 + 2n * s +ω2 = 0
Δ = 4 * n2 – 4 * ω2 = β2 / m2 – 4 * k/m
s0 = - n – sqrt(n2 – ω2)
s1 = - n + sqrt(n2 – ω2)
设:
X(s) = A * [u / (s - s0) + v / (s – s1)]
X(s) = A * (u * s – u * s1 + v * s – v * s0)/ (s - s0) * (s – s1)
X(s) = A * [(u + v) * s – (u * s1 + v * s0)]/ (s - s0) * (s – s1)
{ u + v = 1
{ (u * s1 + v * s0) = -2 * n
{ u = 1 / 2 - n / 2 / sqrt(n2 – ω2)
{ v = 1 / 2 + n / 2 / sqrt(n2 – ω2)
Inverse Laplace transform:
x(t) = A * (u * es0*t + v * es1*t)
v(t) = x’(t) = A * (u * s0 * es0*t + v * s1 * es1*t)
a(t) = v’(t) = A * (u * s02 * es0*t + v * s12 * es1*t)
如果β > 0,有阻尼
如果Δ > 0,过阻尼
β2 / m2 – 4 * k/m > 0 (β > 0, m > 0, k > 0)
β2 / m – 4 * k > 0
β2 > 4 * m * k
β > 2 * sqrt(m * k)
如果Δ = 0,临界阻尼
β = 2 * sqrt(m * k)
x(t) = A * (1 + n * t) * e-n*t
如果Δ < 0,小阻尼
0 < β < 2 * sqrt(m * k)
如果β = 0,无阻尼,就是简谐振动了
x(t) = A * cos(ω * t + φ) φ是初始相位,根据初始条件来求解