复数
z
=
a
+
b
i
z=a+bi
z=a+bi
其中,
i
2
=
−
1
i^2=-1
i2=−1,
a
a
a称为实部,
b
b
b称为虚部。我们可以用一个向量表示一个复数:
z
=
[
a
b
]
.
\left.z=\left[\begin{array}{c}a\\b\end{array}\right.\right].
z=[ab].
也可以用矩阵来表示:
z
=
[
a
−
b
b
a
]
\left.z=\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]
z=[ab−ba]
在复平面上的一个点如下:
复数乘法
因为复数加法比较简单,就不介绍了。
若有两个复数
z
1
=
a
+
b
i
,
z
2
=
c
+
d
i
z_1=a+bi,z_2=c+di
z1=a+bi,z2=c+di,其乘积为:
z
1
z
2
=
(
a
+
b
i
)
(
c
+
d
i
)
=
a
c
+
a
d
i
+
b
c
i
+
b
d
i
2
=
a
c
−
b
d
+
a
d
i
+
b
c
i
=
a
c
−
b
d
+
(
a
c
+
a
d
)
i
=
[
a
−
b
b
a
]
[
c
d
]
\begin{aligned} z_{1}z_{2}& =(a+bi)(c+di) \\ &=ac+adi+bci+bdi^{2} \\ &=ac-bd+adi+bci \\ &=ac-bd+(ac+ad)i \\ &=\left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]\left[\begin{array}{c}\color{red}{c}\\\color{red}{d}\end{array}\right] \end{aligned}
z1z2=(a+bi)(c+di)=ac+adi+bci+bdi2=ac−bd+adi+bci=ac−bd+(ac+ad)i=[ab−ba][cd]
右侧的 [ c d ] \left.\left[\begin{array}{c}c\\d\end{array}\right.\right] [cd]是用向量的形式来表示的 z 2 z_2 z2,左侧的 [ a − b b a ] \left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right] [ab−ba]是 z 1 z_1 z1的矩阵形式。
复数的相乘也可以表示为矩阵的相乘,
z
1
z
2
=
[
a
−
b
b
a
]
[
c
−
d
d
c
]
=
[
a
c
−
b
d
−
(
b
c
+
a
d
)
b
c
+
a
d
a
c
−
b
d
]
.
\begin{aligned} z_{1}z_{2}& \left.=\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]\left[\begin{array}{cc}c&-d\\d&c\end{array}\right] \\ &\left.=\left[\begin{array}{cc}ac-bd&-(bc+ad)\\bc+ad&ac-bd\end{array}\right.\right]. \end{aligned}
z1z2=[ab−ba][cd−dc]=[ac−bdbc+ad−(bc+ad)ac−bd].
(复数的相乘是符合交换律的)
特殊复数的矩阵形式
1
=
[
1
0
0
1
]
=
I
\left.1=\left[\begin{array}{cc}1&0\\0&1\end{array}\right.\right]=I
1=[1001]=I
i
=
[
0
−
1
1
0
]
\left.i=\left[\begin{array}{cc}0&-1\\1&0\end{array}\right.\right]
i=[01−10]
当我们对虚数进行平方时,
i
2
=
i
⋅
i
=
[
0
−
1
1
0
]
[
0
−
1
1
0
]
=
[
−
1
0
0
−
1
]
=
−
I
=
−
1.
\left.i^2=i\cdot i=\left[\begin{array}{cc}0&-1\\1&0\end{array}\right.\right]\left[\begin{array}{cc}0&-1\\1&0\end{array}\right]=\left[\begin{array}{cc}-1&0\\0&-1\end{array}\right]=-I=-1.
i2=i⋅i=[01−10][01−10]=[−100−1]=−I=−1.
复数的模长与共轭
模长:
∥
z
∥
=
a
2
+
b
2
.
\|z\|=\sqrt{a^2+b^2}.
∥z∥=a2+b2.
共轭:若
z
=
a
+
b
i
z=a+bi
z=a+bi,则其共轭为
z
‾
=
a
−
b
i
.
\overline{z}=a-bi.
z=a−bi.
其中,计算
z
z
‾
z\overline{z}
zz,
z
z
‾
=
(
a
+
b
i
)
(
a
−
b
i
)
=
a
2
−
a
b
i
+
a
b
i
+
b
2
=
a
2
+
b
2
=
∥
z
∥
2
.
\begin{aligned} z\overline{z}& =(a+bi)(a-bi) \\ &=a^{2}-abi+abi+b^{2} \\ &=a^{2}+b^{2}=\|z\|^{2}. \end{aligned}
zz=(a+bi)(a−bi)=a2−abi+abi+b2=a2+b2=∥z∥2.
所以复数的模长又可以通过乘积的方式进行计算,
∥
z
∥
=
z
z
‾
.
\|z\|=\sqrt{z\overline{z}}.
∥z∥=zz.
复数相乘与2D旋转
与复数相乘代表着 [ a − b b a ] \left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right] [ab−ba]矩阵所作出的变换
对这个矩阵进行一些变形,
[
a
−
b
b
a
]
=
a
2
+
b
2
[
a
a
2
+
b
2
−
b
a
2
+
b
2
b
a
2
+
b
2
a
a
2
+
b
2
]
.
\left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]=\sqrt{a^2+b^2}\left[\begin{array}{cc}\frac{a}{\sqrt{a^2+b^2}}&\frac{-b}{\sqrt{a^2+b^2}}\\\frac{b}{\sqrt{a^2+b^2}}&\frac{a}{\sqrt{a^2+b^2}}\end{array}\right].
[ab−ba]=a2+b2[a2+b2aa2+b2ba2+b2−ba2+b2a].
可以看到,
∥
z
∥
\|z\|
∥z∥是复数
z
z
z与坐标轴所形成的三角形的斜边长,通过三角函数可以得到,
a
a
2
+
b
2
=
cos
(
θ
)
,
b
a
2
+
b
2
=
sin
(
θ
)
\frac{a}{\sqrt{a^{2}+b^{2}}}=\cos(\theta) ,\frac{b}{\sqrt{a^{2}+b^{2}}}=\sin(\theta)
a2+b2a=cos(θ),a2+b2b=sin(θ)
代入到上述矩阵中,可得到:
[
a
−
b
b
a
]
=
a
2
+
b
2
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
=
∥
z
∥
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
=
∥
z
∥
⋅
I
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
=
[
∥
z
∥
0
0
∥
z
∥
]
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
.
\begin{aligned} \left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]& \left.=\sqrt{a^{2}+b^{2}}\left[\begin{array}{cc}{\cos(\theta)}&{-\sin(\theta)}\\{\sin(\theta)}&{\cos(\theta)}\end{array}\right.\right] \\ &\left.=\|z\|\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right.\right] \\ &\left.=\|z\|\cdot I\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right.\right] \\ &\left.=\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right]\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right]. \end{aligned}
[ab−ba]=a2+b2[cos(θ)sin(θ)−sin(θ)cos(θ)]=∥z∥[cos(θ)sin(θ)−sin(θ)cos(θ)]=∥z∥⋅I[cos(θ)sin(θ)−sin(θ)cos(θ)]=[∥z∥00∥z∥][cos(θ)sin(θ)−sin(θ)cos(θ)].
[ ∥ z ∥ 0 0 ∥ z ∥ ] \left.\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right] [∥z∥00∥z∥]是缩放矩阵,而 [ cos ( θ ) − sin ( θ ) sin ( θ ) cos ( θ ) ] \left.\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right.\right] [cos(θ)sin(θ)−sin(θ)cos(θ)]是2D的旋转矩阵(旋转矩阵)
接下来,我们对
[
1
0
]
\left.\left[\begin{array}{c}1\\0\end{array}\right.\right]
[10]和
[
0
1
]
\left.\left[\begin{array}{c}0\\1\end{array}\right.\right]
[01]进行变换。
对
[
1
0
]
\left.\left[\begin{array}{c}1\\0\end{array}\right.\right]
[10]:
[
a
−
b
b
a
]
[
1
0
]
=
[
∥
z
∥
0
0
∥
z
∥
]
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
[
1
0
]
=
[
∥
z
∥
0
0
∥
z
∥
]
[
cos
(
θ
)
sin
(
θ
)
]
.
\begin{gathered} \left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]\left[\begin{array}{c}1\\0\end{array}\right] \left.=\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right]\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right]\left[\begin{array}{c}1\\0\end{array}\right] \\ \left.=\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right]\left[\begin{array}{c}\cos(\theta)\\\sin(\theta)\end{array}\right]. \end{gathered}
[ab−ba][10]=[∥z∥00∥z∥][cos(θ)sin(θ)−sin(θ)cos(θ)][10]=[∥z∥00∥z∥][cos(θ)sin(θ)].
第一步将
[
1
0
]
\left.\left[\begin{array}{c}1\\0\end{array}\right.\right]
[10]变换到了
[
cos
(
θ
)
sin
(
θ
)
]
\left.\left[\begin{array}{c}\cos(\theta)\\\sin(\theta)\end{array}\right.\right]
[cos(θ)sin(θ)]的位置,也就是逆时针旋转了
θ
\theta
θ度;第二部将其进行缩放
∥
z
∥
\|z\|
∥z∥倍;
对
[
0
1
]
\left.\left[\begin{array}{c}0\\1\end{array}\right.\right]
[01]同理:
[
a
−
b
b
a
]
[
0
1
]
=
[
∥
z
∥
0
0
∥
z
∥
]
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
[
0
1
]
=
[
∥
z
∥
0
0
∥
z
∥
]
[
−
sin
(
θ
)
cos
(
θ
)
]
.
\begin{gathered} \left.\left[\begin{array}{cc}a&-b\\b&a\end{array}\right.\right]\left[\begin{array}{c}0\\1\end{array}\right] \left.=\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right]\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right]\left[\begin{array}{c}0\\1\end{array}\right] \\ \left.=\left[\begin{array}{cc}\|z\|&0\\0&\|z\|\end{array}\right.\right]\left[\begin{matrix}-\sin(\theta)\\\cos(\theta)\end{matrix}\right]. \end{gathered}
[ab−ba][01]=[∥z∥00∥z∥][cos(θ)sin(θ)−sin(θ)cos(θ)][01]=[∥z∥00∥z∥][−sin(θ)cos(θ)].
所以,复数的相乘其实是旋转与缩放的复合操作;一个复数
z
=
a
+
b
i
z=a+bi
z=a+bi,那么
z
z
z与任意一个复数
c
c
c相乘都会将
c
c
c逆时针旋转
θ
=
atan2
(
b
,
a
)
\theta=\operatorname{atan2}(b,a)
θ=atan2(b,a)度,并将其缩放
∥
z
∥
=
a
2
+
b
2
\|z\|=\sqrt{a^{2}+b^{2}}
∥z∥=a2+b2
若
∥
z
∥
=
1
\|z\|=1
∥z∥=1,即
a
2
+
b
2
=
1
a^2+b^2=1
a2+b2=1,则复数可以用一个单位向量来表示,则其表示的几何意义就只剩下旋转,
z
=
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
\left.z=\left[\begin{array}{cc}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{array}\right.\right]
z=[cos(θ)sin(θ)−sin(θ)cos(θ)]
将其写成复数的形式,
cos
(
θ
)
+
i
sin
(
θ
)
.
\cos(\theta)+i\sin(\theta).
cos(θ)+isin(θ).
可以得到2D的旋转公式:
v
′
=
z
v
=
(
cos
(
θ
)
+
i
sin
(
θ
)
)
v
\begin{aligned}v'&=zv\\\\&=(\cos(\theta)+i\sin(\theta))v\end{aligned}
v′=zv=(cos(θ)+isin(θ))v
其中,
v
=
[
x
y
]
\left.\mathbf{v}=\left[\begin{array}{c}{x}\\{y}\\\end{array}\right.\right]
v=[xy]看作是一个复数
v
=
x
+
y
i
v=x+yi
v=x+yi,
z
=
cos
(
θ
)
+
i
sin
(
θ
)
z=\cos(\theta)+i\sin(\theta)
z=cos(θ)+isin(θ)
复数的极坐标型
根据欧拉公式:
cos
(
θ
)
+
i
sin
(
θ
)
=
e
i
θ
.
\cos(\theta)+i\sin(\theta)=e^{i\theta}.
cos(θ)+isin(θ)=eiθ.
根据这个公式,可以将复数
z
z
z表示为,
z
=
∥
z
∥
[
cos
(
θ
)
−
sin
(
θ
)
sin
(
θ
)
cos
(
θ
)
]
=
∥
z
∥
(
cos
(
θ
)
+
i
sin
(
θ
)
)
=
∥
z
∥
e
i
θ
.
\begin{aligned} z& = \left.\|z\|\left[\begin{matrix}\cos(\theta)&-\sin(\theta)\\\sin(\theta)&\cos(\theta)\end{matrix}\right.\right] \\ &=\|z\|(\cos(\theta)+i\sin(\theta)) \\ &=\|z\|e^{i\theta}. \end{aligned}
z=∥z∥[cos(θ)sin(θ)−sin(θ)cos(θ)]=∥z∥(cos(θ)+isin(θ))=∥z∥eiθ.
定义
r
=
∥
z
∥
r=\|z\|
r=∥z∥,得到复数的极坐标形式:
z
=
r
e
i
e
z=re^{ie}
z=reie
一个向量
v
=
[
x
y
]
\left.\mathbf{v}=\left[\begin{array}{c}{x}\\{y}\end{array}\right.\right]
v=[xy]进行旋转以及缩放,,得到:
v
′
=
r
e
i
θ
v
.
v'=re^{i\theta}v.
v′=reiθv.
旋转的复合
对一个向量进行两种旋转:
z
1
=
cos
(
θ
)
+
i
sin
(
θ
)
z_{1}=\cos(\theta)+i\sin(\theta)
z1=cos(θ)+isin(θ),
z
2
=
cos
(
ϕ
)
+
i
sin
(
ϕ
)
z_{2}=\cos(\phi)+i\sin(\phi)
z2=cos(ϕ)+isin(ϕ),得到:
v
′
′
=
(
z
2
z
1
)
v
=
z
net
v
z
net
=
z
2
z
1
.
\begin{aligned}v''&=(z_2z_1)v=z_\text{net}v\end{aligned}\\z_\text{net}=z_2z_1.
v′′=(z2z1)v=znetvznet=z2z1.
通过一系列计算简化,得到:
z
n
e
t
=
(
cos
(
θ
)
+
i
sin
(
θ
)
)
(
cos
(
ϕ
)
+
i
sin
(
ϕ
)
)
=
cos
(
θ
+
ϕ
)
+
i
sin
(
θ
+
ϕ
)
.
\begin{aligned} z_{\mathrm{net}}& =(\cos(\theta)+i\sin(\theta))(\cos(\phi)+i\sin(\phi)) \\ &=\cos(\theta+\phi)+i\sin(\theta+\phi). \end{aligned}
znet=(cos(θ)+isin(θ))(cos(ϕ)+isin(ϕ))=cos(θ+ϕ)+isin(θ+ϕ).