1. 正变换
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f(t)在
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[0,\infty)
[0,∞)有定义,则有
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∫
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F(s) = \int_{0_{-}}^\infty f(t)e^{st}dt
F(s)=∫0−∞f(t)estdt
2. 反变换
- 步骤一:变换为
F ( s ) = N ( s ) D ( s ) F(s) = \frac{N(s)}{D(s)} F(s)=D(s)N(s)
令 D ( s ) = 0 D(s) = 0 D(s)=0,求其根 p p p
(1) 单根
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步骤二:列出带未知数的展开式
F ( s ) = K 1 s − p 1 + K 2 s − p 2 + K 3 s − p 3 F(s) = \frac{K_1}{s- p_1} + \frac{K_2}{s- p_2} + \frac{K_3}{s- p_3} F(s)=s−p1K1+s−p2K2+s−p3K3 -
步骤三:依次求出 K i K_i Ki
K i = N ( s ) D ′ ( s ) ∣ s = p i K_i = \frac{N(s)}{D'(s)}|_{s=p_i} Ki=D′(s)N(s)∣s=pi -
步骤四:把求得的 K i K_i Ki与 p i p_i pi代入步骤二的 F ( s ) F(s) F(s)
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步骤五:根据 L 1 [ A s + a ] = A e − a t \mathscr{L}^1[\frac{A}{s + a}] = A e^{-at} L1[s+aA]=Ae−at,对每一项依次变换,得到 f ( t ) f(t) f(t)
(2) 共轭复根
p 1 = α + j ω p_1 = \alpha + j\omega p1=α+jω, p 2 = α − j ω p_2 = \alpha - j\omega p2=α−jω
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步骤二:列出带有未知数的结果
f ( t ) = 2 ∣ K 1 ∣ e a t c o s ( ω + θ 1 ) f(t) = 2|K_1|e^{at}cos(\omega + \theta_1) f(t)=2∣K1∣eatcos(ω+θ1) -
步骤三:求出 K 1 K_1 K1, θ 1 \theta_1 θ1
K 1 = N ( s ) D ′ ( s ) ∣ s = a + j ω K_1= \frac{N(s)}{D'(s)}|_{s=a + j\omega} K1=D′(s)N(s)∣s=a+jω
θ 1 = K 1 的 辅 角 \theta_1 = K_1的辅角 θ1=K1的辅角 -
步骤四:把 K 1 K_1 K1、 α \alpha α、 ω \omega ω、 θ 1 \theta_1 θ1 代入 f ( t ) f(t) f(t),得最终结果。
(3) 重根
p 1 = p 2 = ⋅ ⋅ ⋅ = p q p_1 = p_2 =··· = p_q p1=p2=⋅⋅⋅=pq
- 步骤二:列出含有未知数的 F ( s ) F(s) F(s)
F ( s ) = K 1 q s − p 1 + K 1 ( q − 1 ) ( s − p 1 ) 2 + ⋅ ⋅ ⋅ + K 11 ( s − p 1 ) q F(s) = \frac{K_{1q}}{s-p_1}+ \frac{K_{1(q-1)}}{(s-p_1)^2}+···+\frac{K_{11}}{(s-p_1)^q} F(s)=s−p1K1q+(s−p1)2K1(q−1)+⋅⋅⋅+(s−p1)qK11
- 步骤三:求出
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K
12
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⋅
⋅
⋅
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K_{11},K_{12},···,K_{1q}
K11,K12,⋅⋅⋅,K1q
K 11 = ( s − p 1 ) q F ( s ) ∣ s = p 1 K_{11} = (s-p_1)^qF(s)|_{s = p_1} K11=(s−p1)qF(s)∣s=p1
K 12 = d d s [ ( s − p 1 ) q F ( s ) ] ∣ s = p 1 K_{12} = \frac{d}{ds}[(s-p_1)^qF(s)]|_{s = p_1} K12=dsd[(s−p1)qF(s)]∣s=p1
K 13 = 1 2 d 2 d s 2 [ ( s − p 1 ) q F ( s ) ] ∣ s = p 1 K_{13} = \frac{1}{2} \frac{d^2}{ds^2}[(s-p_1)^qF(s)]|_{s = p_1} K13=21ds2d2[(s−p1)qF(s)]∣s=p1
K 1 q = 1 ( q − 1 ) ! d q − 1 d s q − 1 [ ( s − p 1 ) q F ( s ) ] ∣ s = p 1 K_{1q} = \frac{1}{(q-1)!} \frac{d^{q-1}}{ds^{q-1}}[(s-p_1)^qF(s)]|_{s = p_1} K1q=(q−1)!1dsq−1dq−1[(s−p1)qF(s)]∣s=p1
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步骤四:带入 F ( s ) F(s) F(s)
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步骤五:依据 L [ 1 ( s + a ) n + 1 ] = 1 n ! t n e − a t \mathscr{L}[\frac{1}{(s+a)^{n+1}}] = \frac{1}{n!}t^ne^{-at} L[(s+a)n+11]=n!1tne−at,对 F ( s ) F(s) F(s)进行变换。
附录:拉普拉斯变换表
原函数 | 象函数 |
---|---|
1 | 1 s \frac{1}{s} s1 |
A e − α t Ae^{-\alpha t} Ae−αt | A s + α \frac{A}{s+\alpha} s+αA |
A δ A\delta Aδ(t) | A |
A ε A\varepsilon Aε(t) | A s \frac{A}{s} sA |