连续系统的S域分析
一、从傅里叶变换到拉普拉斯变换
傅里叶变换要满足Dirichlet(狄利克雷)条件中的绝对可积,对于某些增长信号,如 e a t ( a > 0 ) e^{at}(a>0) eat(a>0) ,它就不存在傅里叶变换。
引入一个衰减因子 e − σ t ( σ 为任意实数) e^{-\sigma t}(\sigma 为任意实数) e−σt(σ为任意实数) ,使它与 f ( t ) f(t) f(t) 相乘,于是 e − σ t f ( t ) e^{-\sigma t}f(t) e−σtf(t) 得以收敛。
F b ( s ) = ∫ − ∞ ∞ f ( t ) e − s t d t (1) F_{b}(s)=\int _{-\infty}^{\infty} f(t) e^{-st}dt \tag1 Fb(s)=∫−∞∞f(t)e−stdt(1)
f ( t ) = 1 2 π j ∫ σ − ∞ σ + ∞ F ( s ) e s t d s (2) f(t)=\frac{1}{2\pi j}\int_{\sigma-\infty}^{\sigma+\infty} F(s)e^{st }ds \tag2 f(t)=2πj1∫σ−∞σ+∞F(s)estds(2)
( 1 ) (1) (1) 双边拉氏变换, F b ( s ) F_b(s) Fb(s) :象函数
( 2 ) (2) (2) 双边拉氏逆变换, f ( t ) f(t) f(t) :原函数
二、拉氏变换收敛域
使 f ( t ) f(t) f(t) 拉氏变换存在的 σ \sigma σ 取值范围称为 F ( s ) F(s) F(s) 的收敛域
取值范围不同,变换的结果也不同
三、单边拉氏变换
带有初始时刻的信号,双边拉氏变换就转化成单边拉氏变换。
F
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∞
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t
F_{b}(s)=\int _{0_-}^{\infty} f(t) e^{-st}dt
Fb(s)=∫0−∞f(t)e−stdt
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=
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2
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j
∫
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∞
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⋅
ϵ
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f(t)=[\frac{1}{2\pi j}\int_{\sigma-\infty}^{\sigma+\infty} F(s)e^{st }ds] \cdot\epsilon(t)
f(t)=[2πj1∫σ−∞σ+∞F(s)estds]⋅ϵ(t)
四、常见函数的拉氏变换
1、 δ ( t ) ⟷ 1 , σ > − ∞ \delta(t) \longleftrightarrow 1, \sigma>-\infty δ(t)⟷1,σ>−∞
2、 ϵ ( t ) 或 1 ⟷ 1 s , σ > 0 \epsilon(t) 或 1 \longleftrightarrow \frac{1}{s},\sigma>0 ϵ(t)或1⟷s1,σ>0
3、指数函数
e
−
s
0
t
⟷
1
s
+
s
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,
σ
>
−
R
e
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s
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e^{-s_0 t} \longleftrightarrow \frac{1}{s+s_0}, \sigma>-Re[s_0]
e−s0t⟷s+s01,σ>−Re[s0]
4、三角函数
cos
ω
0
t
⟷
s
s
2
+
w
0
2
\cos\omega_0t \longleftrightarrow \frac{s}{s^2+w_0^2}
cosω0t⟷s2+w02s
sin
ω
0
t
⟷
ω
0
s
2
+
w
0
2
\sin\omega_0t \longleftrightarrow \frac{\omega_0}{s^2+w_0^2}
sinω0t⟷s2+w02ω0
Tips
拉普拉斯变换与傅里叶变换的基本差别在于:
傅氏变换将时域函数 f ( t ) f(t) f(t) 变换为频域函数 F ( ω ) F(\omega) F(ω) ,或作相反变换,时域中的变量 t t t 和频域中的变量 ω \omega ω 都是实数;而拉氏变换是将时间函数 f ( t ) f(t) f(t) 变换为复变函数 F ( s ) F(s) F(s) ,或作相反变换,这时,时域变量 t t t 虽是实数, F ( s ) F(s) F(s)的变量 s s s 却是复数,与 ω \omega ω 相比较,变量 s s s 可称为“复频率”。
傅里叶变换建立了时域和频域间的联系,而拉氏变换则建立了时域与复频域( s s s 域)间的联系。
五、 Laplace变换性质
1.线性性质
若 :
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,
R
e
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>
σ
1
\mathcal{L}[f_1(t)]=F_1(s) , Re[s]>\sigma_1
L[f1(t)]=F1(s),Re[s]>σ1
L [ f 2 ( t ) ] = F 2 ( s ) , R e [ s ] > σ 2 \mathcal{L}[f_2(t)]=F_2(s) , Re[s]>\sigma_2 L[f2(t)]=F2(s),Re[s]>σ2
则: L [ a 1 f 1 ( t ) + a 2 f 2 ( t ) ] = a 1 F 1 ( t ) + a 2 F 2 ( t ) , R e [ s ] > m a x ( σ 1 , σ 2 ) \mathcal{L}[a_1f_1(t)+a_2f_2(t)]=a_1F_1(t)+a_2F_2(t),Re[s]>max(\sigma_1,\sigma_2) L[a1f1(t)+a2f2(t)]=a1F1(t)+a2F2(t),Re[s]>max(σ1,σ2)
例: L [ δ ( t ) + ϵ ( t ) ] = 1 + 1 / s , σ > 0 \mathcal{L}[\delta(t)+\epsilon(t)]=1+1/s,\sigma>0 L[δ(t)+ϵ(t)]=1+1/s,σ>0
2.尺度变换
若 :
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=
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,
R
e
[
s
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>
σ
0
,
且有实数
a
>
0
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0,且有实数 a>0
L[f(t)]=F(s),Re[s]>σ0,且有实数a>0
则:
L
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a
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]
=
1
a
F
(
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a
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,
R
e
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>
a
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\mathcal{L}[f(at)]=\frac{1}{a}F(\frac{s}{a}),Re[s]>a\sigma_0
L[f(at)]=a1F(as),Re[s]>aσ0
3.时移特性
若 :
L
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]
=
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,
R
e
[
s
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>
σ
0
,
且有实常数
t
0
>
0
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0,且有实常数 t_0>0
L[f(t)]=F(s),Re[s]>σ0,且有实常数t0>0
则:
L
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−
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ϵ
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−
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0
)
]
=
e
−
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0
F
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,
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e
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s
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>
σ
0
\mathcal{L}[f(t-t_0)\epsilon(t-t_0)]=e^{-st_0}F(s),Re[s]>\sigma_0
L[f(t−t0)ϵ(t−t0)]=e−st0F(s),Re[s]>σ0
例:
L
[
f
(
a
t
−
t
0
)
ϵ
(
a
t
−
t
0
)
]
=
?
\mathcal{L}[f(at-t_0)\epsilon(at-t_0)]=?
L[f(at−t0)ϵ(at−t0)]=?
先时移,再尺度变换,可得: L [ f ( a t − t 0 ) ϵ ( a t − t 0 ) ] = 1 a e − s a t 0 F ( s a ) \mathcal{L}[f(at-t_0)\epsilon(at-t_0)]=\frac{1}{a}e^{-\frac{s}{a}t_0}F(\frac{s}{a}) L[f(at−t0)ϵ(at−t0)]=a1e−ast0F(as)
4.复频移特性
若 :
L
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t
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]
=
F
(
s
)
,
R
e
[
s
]
>
σ
0
,
且有复常数
s
a
=
σ
a
+
j
ω
a
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0,且有复常数 s_a=\sigma_a+j\omega_a
L[f(t)]=F(s),Re[s]>σ0,且有复常数sa=σa+jωa
则:
L
[
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e
s
a
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]
=
F
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−
s
a
)
,
R
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>
σ
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+
σ
a
\mathcal{L}[f(t)e^{s_a t}] =F(s-s_a),Re[s]>\sigma_0+\sigma_a
L[f(t)esat]=F(s−sa),Re[s]>σ0+σa
例:因果信号 f ( t ) f(t) f(t) 的象函数 F ( s ) = s s 2 + 1 F(s)=\frac{s}{s^2+1} F(s)=s2+1s
问: L [ e − t f ( 3 t − 2 ) ] = ? \mathcal{L}[e^{-t}f(3t-2)]=? L[e−tf(3t−2)]=?
先时移,再尺度变换,最后复频移
L [ f ( t ) ] = s s 2 + 1 ⟹ L [ f ( t − 2 ) ] = s s 2 + 1 ⋅ e − 2 s \mathcal{L}[f(t)]=\frac{s}{s^2+1}\implies\mathcal{L}[f(t-2)]=\frac{s}{s^2+1}\cdot e^{-2s} L[f(t)]=s2+1s⟹L[f(t−2)]=s2+1s⋅e−2s
L [ f ( 3 t − 2 ) ] = 1 3 ⋅ s / 3 ( s / 3 ) 2 + 1 ⋅ e − 2 ( s / 3 ) = s s 2 + 9 ⋅ e − 2 s 3 \mathcal{L}[f(3t-2)]=\frac{1}{3}\cdot\frac{s/3}{(s/3)^2+1}\cdot e^{-2(s/3)}=\frac{s }{s ^2+9}\cdot e^{-\frac{2s}{3}} L[f(3t−2)]=31⋅(s/3)2+1s/3⋅e−2(s/3)=s2+9s⋅e−32s
L [ e − t f ( 3 t − 2 ) ] = = s + 1 ( s + 1 ) 2 + 9 ⋅ e − 2 ( s + 1 ) 3 \mathcal{L}[e^{-t}f(3t-2)]==\frac{s+1 }{(s+1) ^2+9}\cdot e^{-\frac{2(s+1)}{3}} L[e−tf(3t−2)]==(s+1)2+9s+1⋅e−32(s+1)
5.时域的微分特性
若 :
L
[
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t
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]
=
F
(
s
)
,
R
e
[
s
]
>
σ
0
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0
L[f(t)]=F(s),Re[s]>σ0
则:
L
[
f
′
(
t
)
]
=
s
F
(
s
)
−
f
(
0
−
)
\mathcal{L}[f'(t)]=sF(s)-f(0_{-})
L[f′(t)]=sF(s)−f(0−)
L
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′
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=
s
2
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−
s
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−
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−
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′
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\mathcal{L}[f''(t)]=s^2F(s)-sf(0_{-})-f'(0_{-})
L[f′′(t)]=s2F(s)−sf(0−)−f′(0−)
L
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n
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(
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=
s
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Σ
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−
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−
)
\mathcal{L}[f^{(n)}(t)]=s^nF(s)-\Sigma_{m=0}^{n-1}s^{n-1-m}f^{(m)}(0_{-})
L[f(n)(t)]=snF(s)−Σm=0n−1sn−1−mf(m)(0−)
若: f ( t ) f(t) f(t) 为因果信号,则 L [ f ( n ) ( t ) ] = s n F ( s ) \mathcal{L}[f^{(n)}(t)]=s^nF(s) L[f(n)(t)]=snF(s)
因果信号时间轴从零开始, f ( 0 − ) = 0 f(0_{-})=0 f(0−)=0
例:(1) L [ δ ( n ) ( t ) ] = ? \mathcal{L}[\delta^{(n)}(t)]=? L[δ(n)(t)]=? (2) L [ d d t [ ϵ ( t ) cos 2 t ] ] = ? \mathcal{L}[\frac{d}{dt}[\epsilon(t)\cos2t]]=? L[dtd[ϵ(t)cos2t]]=? (3) L [ d d t [ cos 2 t ] ] = ? \mathcal{L}[\frac{d}{dt}[ \cos2t]]=? L[dtd[cos2t]]=?
(1) L [ δ ( n ) ( t ) ] = s n \mathcal{L}[\delta^{(n)}(t)]=s^n L[δ(n)(t)]=sn
(2) ϵ ( t ) cos 2 t \epsilon(t)\cos2t ϵ(t)cos2t 含有 ϵ ( t ) \epsilon(t) ϵ(t) ,为因果信号,利用公式,可得: L [ d d t [ ϵ ( t ) cos 2 t ] ] = s ⋅ s s 2 + 4 , ( L [ cos 2 t ] = s s 2 + 4 ) \mathcal{L}[\frac{d}{dt}[\epsilon(t)\cos2t]]=s\cdot\frac{s}{s^2+4},(\mathcal{L}[\cos2t]=\frac{s}{s^2+4}) L[dtd[ϵ(t)cos2t]]=s⋅s2+4s,(L[cos2t]=s2+4s)
(3) cos 2 t \cos2t cos2t 非因果信号,利用公式,可得: L [ d d t [ cos 2 t ] ] = s F ( s ) − f ( 0 − ) = s ⋅ s s 2 + 4 − 1 , { F ( s ) = L [ cos 2 t ] = s s 2 + 4 } \mathcal{L}[\frac{d}{dt}[ \cos2t]]=sF(s)-f(0{-})=s\cdot\frac{s}{s^2+4}-1,\lbrace F(s)=\mathcal{L}[\cos2t]=\frac{s}{s^2+4}\rbrace L[dtd[cos2t]]=sF(s)−f(0−)=s⋅s2+4s−1,{F(s)=L[cos2t]=s2+4s}
6.时域的积分特性
若 :
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[
f
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t
)
]
=
F
(
s
)
,
R
e
[
s
]
>
σ
0
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0
L[f(t)]=F(s),Re[s]>σ0
则:
L
[
∫
0
t
f
(
τ
)
d
τ
]
=
F
(
s
)
s
+
f
(
−
1
)
(
0
−
)
s
\mathcal{L}[\int _{0}^{t}f(\tau)d\tau]=\frac{F (s)}{s}+\frac{f^{(-1)}(0_{-})}{s}
L[∫0tf(τ)dτ]=sF(s)+sf(−1)(0−)
例: L [ t 2 ϵ ( t ) ] = ? \mathcal{L}[t^2\epsilon(t)]=? L[t2ϵ(t)]=?
(1) L [ t ϵ ( t ) ] = L [ ∫ 0 t ϵ ( τ ) d τ ] = 1 s ⋅ 1 s = 1 s 2 , ( L [ ϵ ( t ) ] = 1 s ) \mathcal{L}[t\epsilon(t)]= \mathcal{L}[\int _{0}^{t}\epsilon(\tau)d\tau]=\frac{1}{s}\cdot \frac{1}{s}=\frac{1}{s^2},(\mathcal{L[\epsilon(t)]=\frac{1}{s}}) L[tϵ(t)]=L[∫0tϵ(τ)dτ]=s1⋅s1=s21,(L[ϵ(t)]=s1)
(2) L [ t 2 ϵ ( t ) ] = 2 L [ ∫ 0 t τ ϵ ( τ ) d τ ] = 2 ⋅ 1 s ⋅ 1 s 2 = 2 s 3 \mathcal{L}[t^2\epsilon(t)]= 2\mathcal{L}[\int _{0}^{t}\tau \epsilon(\tau)d\tau]=2\cdot\frac{1}{s}\cdot\frac{1}{s^2}=\frac{2}{s^3} L[t2ϵ(t)]=2L[∫0tτϵ(τ)dτ]=2⋅s1⋅s21=s32
7.卷积定理
时域:若因果函数
L [ f 1 ( t ) ] = F 1 ( s ) , R e [ s ] > σ 1 \mathcal{L}[f_1(t)]=F_1(s),Re[s]>\sigma_1 L[f1(t)]=F1(s),Re[s]>σ1
L [ f 2 ( t ) ] = F 2 ( s ) , R e [ s ] > σ 2 \mathcal{L}[f_2(t)]=F_2(s),Re[s]>\sigma_2 L[f2(t)]=F2(s),Re[s]>σ2
则: L [ f 1 ( t ) ∗ f 2 ( t ) ] = F 1 ( s ) F 2 ( s ) \mathcal{L}[f_1(t)*f_2(t)]=F_1(s)F_2(s) L[f1(t)∗f2(t)]=F1(s)F2(s)
s域卷积定理:
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⋅
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=
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∫
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∞
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+
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1
(
η
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s
−
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d
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\mathcal{L}[f_1(t)\cdot f_2(t)]=\frac{1}{2\pi j}\int_{\sigma-j\infty}^{\sigma+j\infty}F_1(\eta)F_2(s-\eta)d\eta
L[f1(t)⋅f2(t)]=2πj1∫σ−j∞σ+j∞F1(η)F2(s−η)dη
8.s域的微分与积分
若 :
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[
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]
=
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(
s
)
,
R
e
[
s
]
>
σ
0
\mathcal{L}[f(t)]=F (s) , Re[s]>\sigma_0
L[f(t)]=F(s),Re[s]>σ0
则:
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[
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−
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=
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s
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=
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d
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\mathcal{L}[(-t)f(t)]=\frac{dF(s)}{ds},\mathcal{L}[(-t)^nf(t)]=\frac{d^nF(s)}{ds^n}
L[(−t)f(t)]=dsdF(s),L[(−t)nf(t)]=dsndnF(s)
L
[
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t
)
t
]
=
∫
s
∞
F
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)
d
η
\mathcal{L}[\frac{f(t)}{t}]=\int_{s}^{\infty}F(\eta)d\eta
L[tf(t)]=∫s∞F(η)dη
例: L [ t 2 e − 2 t ϵ ( t ) ] = ? \mathcal{L}[t^2e^{-2t}\epsilon(t)]=? L[t2e−2tϵ(t)]=?
L [ e − 2 t ϵ ( t ) ] = 1 s + 2 ⟹ L [ t 2 e − 2 t ϵ ( t ) ] = d 2 d s 2 ( 1 s + 2 ) = 2 ( s + 2 ) 3 \mathcal{L}[ e^{-2t}\epsilon(t)]=\frac{1}{s+2}\implies \mathcal{L}[t^2 e^{-2t}\epsilon(t)]=\frac{d^2}{ds^2}(\frac{1}{s+2})=\frac{2}{(s+2)^3} L[e−2tϵ(t)]=s+21⟹L[t2e−2tϵ(t)]=ds2d2(s+21)=(s+2)32
9.初值定理和中值定理
初值:
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lim
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=
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→
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f(0_{+})=\lim_{t\to 0_{}+}f(t)=\lim_{s\to \infty}sF(s)
f(0+)=t→0+limf(t)=s→∞limsF(s)
终值:若
f
(
t
)
f(t)
f(t) 当
t
→
∞
t\to \infty
t→∞ 时存在 ,且
L
[
f
(
t
)
]
=
F
(
s
)
,
R
e
[
s
]
>
σ
0
,
σ
0
<
0
\mathcal{L}[f(t)]=F (s),Re[s]>\sigma_0,\sigma_0<0
L[f(t)]=F(s),Re[s]>σ0,σ0<0
则:
f
(
∞
)
=
lim
s
→
0
s
F
(
s
)
f(\infty)=\lim_{s\to 0}sF(s)
f(∞)=s→0limsF(s)
六、Laplace逆变换求解方法
拉普拉斯逆变换求解方法:
(1)根据定义,复变函数积分(比较困难)
(2)部分分式分解(常用)
(3)留数定理
(4)数值计算(计算机)
部分分式分解
若象函数
F
(
s
)
F(s)
F(s) 是
s
s
s 的有理分式,可写为:
F
(
s
)
=
b
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s
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+
b
m
−
1
s
m
−
1
+
.
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+
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1
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+
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0
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a
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s
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−
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+
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.
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+
a
1
s
+
a
0
F(s)=\frac{b_ms^m+b_{m-1}s^{m-1}+...+b_1s+b_0}{s^n+a_{n-1}s^{n-1}+...+a_1s+a_0}
F(s)=sn+an−1sn−1+...+a1s+a0bmsm+bm−1sm−1+...+b1s+b0
若 m ≥ n m \ge n m≥n (假分式),可用多项式除法将象函数 F ( s ) F(s) F(s) 分结尾有理多项式 P ( s ) P(s) P(s) 与有理真分式之和。
F ( s ) = P ( s ) + B 0 ( s ) A ( s ) F(s)=P(s)+\frac{B_0(s)}{A(s)} F(s)=P(s)+A(s)B0(s)
有理真分式的情形
若
F
(
s
)
F(s)
F(s) 是
s
s
s 实系数有理真分式(
m
<
n
m<n
m<n),则可写为:
F
(
s
)
=
B
(
s
)
A
(
s
)
=
b
m
s
m
+
b
m
−
1
s
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F(s)=\frac{B (s)}{A(s)}=\frac{b_ms^m+b_{m-1}s^{m-1}+...+b_1s+b_0}{s^n+a_{n-1}s^{n-1}+...+a_1s+a_0}
F(s)=A(s)B(s)=sn+an−1sn−1+...+a1s+a0bmsm+bm−1sm−1+...+b1s+b0
A ( s ) A(s) A(s) 称为特征多项式,方程 A ( s ) = 0 A(s)=0 A(s)=0 称为特征方程,它的根称为特征根,也称为 F ( s ) F(s) F(s) 的固有频率。 n n n 个特征根 p i p_i pi 称为 F ( s ) F(s) F(s) 的极点。
1、极点为实数,无重根
例: F ( s ) = 2 s + 1 s ( s + 2 ) ( s + 3 ) F(s)=\frac{2s+1}{s(s+2)(s+3)} F(s)=s(s+2)(s+3)2s+1
解:令: F ( s ) = k 1 s + k 2 s + 2 + k 3 s + 3 F(s)=\frac{k_1}{s}+\frac{k_2}{s+2}+\frac{k_3}{s+3} F(s)=sk1+s+2k2+s+3k3
k 1 = s F ( s ) ∣ s = 0 = 1 / 6 , k 2 = ( s + 2 ) F ( s ) ∣ s = − 2 = 3 / 2 k 3 = ( s + 3 F ( s ) ∣ s = − 3 = − 5 / 3 k_1=sF(s)|_{s=0}=1/6,\\k_2=(s+2)F(s)|_{s=-2}=3/2\\k_3=(s+3F(s)|_{s=-3}=-5/3 k1=sF(s)∣s=0=1/6,k2=(s+2)F(s)∣s=−2=3/2k3=(s+3F(s)∣s=−3=−5/3
故: F ( s ) = 1 6 s + 3 2 ( s + 2 ) + − 5 3 ( s + 3 ) F(s)=\frac{ 1}{6s}+\frac{3}{2(s+2)}+\frac{-5}{3(s+3)} F(s)=6s1+2(s+2)3+3(s+3)−5
F ( s ) F(s) F(s) 拉式反变换为 f ( t ) = ( 1 6 + 3 2 e − 2 t − 5 3 e − 3 t ) ϵ ( t ) f(t)=( \frac{ 1}{6}+\frac{3}{2}e^{-2t}-\frac{5}{3}e^{-3t})\epsilon(t) f(t)=(61+23e−2t−35e−3t)ϵ(t)
2、包含共轭复数极点
例: F ( s ) = s 2 + 3 ( s + 2 ) ( s 2 + 2 s + 5 ) F(s)=\frac{s^2+3}{ (s+2)(s^2+2s+5)} F(s)=(s+2)(s2+2s+5)s2+3
解: F ( s ) = s 2 + 3 ( s + 1 + j 2 ) ( s + 1 − j 2 ) ( s + 2 ) F(s)=\frac{s^2+3}{(s+1+j2)(s+1-j2)(s+2)} F(s)=(s+1+j2)(s+1−j2)(s+2)s2+3
令: F ( s ) = k 1 s + 1 − j 2 + k 2 s + 1 + j 2 + k 3 s + 2 F(s)=\frac{k_1}{s+1-j2}+\frac{k_2}{s+1+j2}+\frac{k_3}{s+2} F(s)=s+1−j2k1+s+1+j2k2+s+2k3
p 1 , 2 = − α ± j β , ( α = 1 , β = 2 ) p_{1,2}=-\alpha\pm j\beta,(\alpha=1,\beta=2) p1,2=−α±jβ,(α=1,β=2)
k 1 = ( s + 1 − j 2 ) F ( s ) ∣ s = − 1 + j 2 = − 1 + j 2 5 k_1=(s+1-j2)F(s)|_{s={-1+j2}}=\frac{-1+j2}{5} k1=(s+1−j2)F(s)∣s=−1+j2=5−1+j2
即: k 1 , 2 = A ± j B , ( A = − 1 5 , B = 2 5 ) 即:k_{1,2}=A\pm jB,(A=-\frac{1}{5},B=\frac{2}{5}) 即:k1,2=A±jB,(A=−51,B=52)
k 1 = ( s + 2 ) F ( s ) ∣ s = − 2 = 7 5 k_1=(s+2)F(s)|_{s=-2}=\frac{7}{5} k1=(s+2)F(s)∣s=−2=57
故: F ( s ) = − 1 + j 2 5 s + 1 − j 2 + − 1 − j 2 5 s + 1 + j 2 + 7 5 s + 2 F(s)=\frac{\frac{-1+j2}{5}}{s+1-j2}+\frac{\frac{-1-j2}{5}}{s+1+j2}+\frac{\frac{7}{5}}{s+2} F(s)=s+1−j25−1+j2+s+1+j25−1−j2+s+257
F ( s ) F(s) F(s) 拉式反变换为 f ( t ) = { 2 e − t [ − 1 5 cos ( 2 t ) − 2 5 sin ( 2 t ) ] + 7 5 e − 2 t } ϵ ( t ) f(t)=\lbrace 2e^{-t}[-\frac{1}{5}\cos(2t)-\frac{2}{5}\sin(2t)]+\frac{7}{5}e^{-2t}\rbrace \epsilon(t) f(t)={2e−t[−51cos(2t)−52sin(2t)]+57e−2t}ϵ(t)
3、有多重极点
例: F ( s ) = s − 2 s ( s − 1 ) 2 F(s)=\frac{s-2}{s(s-1)^2} F(s)=s(s−1)2s−2
解:令: F ( s ) = k 11 ( s − 1 ) 2 + k 12 ( s − 1 ) + k 2 s F(s)=\frac{k_{11}}{(s-1)^2}+\frac{k_{12}}{(s-1) }+\frac{k_2}{s} F(s)=(s−1)2k11+(s−1)k12+sk2
令: F 1 ( s ) = ( s − 1 ) 2 F ( s ) = s − 2 s F_1(s)=(s-1)^2F(s)=\frac{s-2}{s} F1(s)=(s−1)2F(s)=ss−2
k 11 = F 1 ( s ) ∣ s = 1 = − 1 , k 12 = d d s F 1 ( s ) = s − ( s − 2 ) s 2 ∣ s = 1 = 2 , k 2 = s F ( s ) ∣ s = 0 = − 2 k_{11}=F_1(s)|_{s=1}=-1,k_{12}=\frac{d}{ds}F_1(s)=\frac{s-(s-2)}{s^2}|_{s=1}=2,k_2=sF(s)|_{s=0}=-2 k11=F1(s)∣s=1=−1,k12=dsdF1(s)=s2s−(s−2)∣s=1=2,k2=sF(s)∣s=0=−2
故: F ( s ) = − 1 ( s − 1 ) 2 + 2 ( s − 1 ) + − 2 s F(s)=\frac{-1}{(s-1)^2}+\frac{2}{(s-1) }+\frac{-2}{s} F(s)=(s−1)2−1+(s−1)2+s−2
F ( s ) F(s) F(s) 拉式反变换为 f ( t ) = ( − t e t + 2 e t − 2 ) ϵ ( t ) f(t)=(-te^t+2e^t-2)\epsilon(t) f(t)=(−tet+2et−2)ϵ(t)
微分方程变换解
解:微分方程两边取拉氏变换,可得:
( s 2 + 5 s + 6 ) Y ( s ) − s y ( 0 − ) − y ′ ( 0 − ) − 5 y ( 0 − ) = ( 2 s + 10 ) F ( s ) (s^2+5s+6)Y(s)-sy(0_{-})-y'(0_{-})-5y(0_{-})=(2s+10)F(s) (s2+5s+6)Y(s)−sy(0−)−y′(0−)−5y(0−)=(2s+10)F(s)
整理:
Y ( s ) = s + 6 s 2 + 5 s + 6 + 2 s + 10 s 2 + 5 s + 6 ⋅ F ( s ) Y(s)=\frac{s+6}{s^2+5s+6}+\frac{2s+10}{s^2+5s+6}\cdot F(s) Y(s)=s2+5s+6s+6+s2+5s+62s+10⋅F(s)
故: Y X ( s ) = s + 6 s 2 + 5 s + 6 = 4 s + 2 + − 3 s + 3 , Y f ( s ) = 2 s + 10 s 2 + 5 s + 6 = − 6 s + 2 + 2 s + 3 + 4 s + 1 Y_X(s)=\frac{s+6}{s^2+5s+6}=\frac{4}{s+2}+\frac{-3}{s+3},Y_f(s)=\frac{2s+10} {s^2+5s+6}=\frac{-6}{s+2}+\frac{2}{s+3}+\frac{4}{s+1} YX(s)=s2+5s+6s+6=s+24+s+3−3,Yf(s)=s2+5s+62s+10=s+2−6+s+32+s+14
零状态响应: y f ( t ) = ( 2 e − 3 t + 4 e − t − 6 e − 2 t ) ϵ ( t ) y_f(t)=(2e^{-3t}+4e^{-t}-6e^{-2t})\epsilon(t) yf(t)=(2e−3t+4e−t−6e−2t)ϵ(t)
零输入响应: y X ( t ) = ( 4 e − 2 t − 3 e − 3 t ) ϵ ( t ) y_X(t)=( 4e^{-2t}-3e^{-3t})\epsilon(t) yX(t)=(4e−2t−3e−3t)ϵ(t)
全响应: y ( t ) = ( − e − 3 t + 4 e − t − 2 e − 2 t ) ϵ ( t ) y(t)=(-e^{-3t}+4e^{-t}-2e^{-2t})\epsilon(t) y(t)=(−e−3t+4e−t−2e−2t)ϵ(t)
七、系统与系统函数
1.系统函数
系统函数定义为:
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H(s)=\frac{Y_f(s)}{F(s)}=\frac{B(s)}{A(s)}
H(s)=F(s)Yf(s)=A(s)B(s)
它只与系统的结构、元件的参数有关,而与激励、初始状态无关。
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y_f(t)=h(t)*f(t) \longrightarrow Y_f(s)=\mathcal{L}[h(t)]F(s)
yf(t)=h(t)∗f(t)⟶Yf(s)=L[h(t)]F(s)
2.系统的s域框图
例:
解:设左边加法器输出为: X ( s ) X(s) X(s)
则: X ( s ) = F ( s ) − 5 s − 1 X ( s ) − 4 s − 2 X ( s ) X(s)=F(s)-5s^{-1}X(s)-4s^{-2}X(s) X(s)=F(s)−5s−1X(s)−4s−2X(s)
Y ( s ) = X ( s ) + 4 s − 2 X ( s ) Y(s)=X(s)+4s^{-2}X(s) Y(s)=X(s)+4s−2X(s)
可得: X ( s ) = s 2 s 2 + 5 s + 4 F ( s ) X(s)=\frac{s^2}{s^2+5s+4}F(s) X(s)=s2+5s+4s2F(s)
Y ( s ) = s 2 + 4 s 2 + 5 s + 4 F ( s ) , 即: ( s 2 + 5 s + 4 ) Y ( s ) = ( s 2 + 4 ) F ( s ) Y(s)=\frac{s^2+4}{s^2+5s+4}F(s),即:({s^2+5s+4})Y(s)=(s^2+4)F(s) Y(s)=s2+5s+4s2+4F(s),即:(s2+5s+4)Y(s)=(s2+4)F(s)
(1)微分方程: y ′ ′ ( t ) + 5 y ′ ( t ) + 4 y ( t ) = f ′ ′ ( t ) + 4 f ( t ) y''(t)+5y'(t)+4y(t)=f''(t)+4f(t) y′′(t)+5y′(t)+4y(t)=f′′(t)+4f(t)
(2)系统函数: H ( s ) = s 2 + 4 s 2 + 5 s + 4 H(s)=\frac{s^2+4}{s^2+5s+4} H(s)=s2+5s+4s2+4
(3) H ( s ) = s 2 + 4 s 2 + 5 s + 4 = 1 + 5 3 ( s + 1 ) − 20 3 ( s + 4 ) H(s)=\frac{s^2+4}{s^2+5s+4}=1+\frac{5}{3(s+1)}-\frac{20}{3(s+4)} H(s)=s2+5s+4s2+4=1+3(s+1)5−3(s+4)20
h ( t ) = L − 1 [ H ( s ) ] = δ ( t ) + ( 5 3 e − t − 20 3 e − 4 t ) ϵ ( t ) h(t)=\mathcal{L^{-1}}[H(s)]=\delta(t)+(\frac{5}{3}e^{-t}-\frac{20}{3}e^{-4t})\epsilon(t) h(t)=L−1[H(s)]=δ(t)+(35e−t−320e−4t)ϵ(t)
本文作者:AXYZdong
本文地址:https://axyzdong.github.io/Signals-and-Systems
仓库地址:https://github.com/AXYZdong/Signals-and-Systems
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