信号与系统(18)-连续时间系统的复频域分析:拉普拉斯反变换1
拉普拉斯的正变换相对容易,但是反变换中,其积分表现为一个在 s s s平面的二维复函数积分,其积分相对复杂,如果使用单纯的公式计算求解会有很多麻烦。这样的积分的求法通常有两种常用方法:分部分式展开法以及留数法。这一部分内容将对分部分式展开法进行介绍。
1. 分部分式展开法
分部分式展开法,是根据拉普拉斯变换的线性特性,将复杂的拉普拉斯变换展开为多个简单的拉普拉斯变换的组合,并通过对这些简单拉普拉斯变换求解他们的反变换,依据拉普拉斯变换的齐次性和叠加性,进而得到原拉普拉斯变换的拉普拉斯反变换。
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F(s)为某信号的拉普拉斯变换,如果F(s)可以展开为一个有理函数形式,即:
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F(s)=\frac{N(s)}{D(s)}=\frac{b_ms^m+b_{m-1}s^{m-1}+b_{m-2}s^{m-2}+\cdots +b_1s+b_0}{a_ns^n+a_{n-1}s^{m-1}+a_{n-2}s^{m-2}+\cdots +a_{1}s+a_0}
F(s)=D(s)N(s)=ansn+an−1sm−1+an−2sm−2+⋯+a1s+a0bmsm+bm−1sm−1+bm−2sm−2+⋯+b1s+b0
则
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F(s)可以进行分部分式展开,表示为多个简单的有理分式之和。
在进行分部分式展开式,根据 m m m和 n n n的关系,以及 D ( s ) = 0 D(s)=0 D(s)=0有无重根的情况,需要对展开方式及其相应的反变换的方法进行分类讨论。
1.1 当 m < n m<n m<n,且 D ( s ) = 0 D(s)=0 D(s)=0没有重根
1.1.1 没有重根,且根均为实数时
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\begin{aligned} F(s)&=\frac{K_1}{s-s_1}+\frac{K_2}{s-s_2}+\cdots+\frac{K_n}{s-s_n} \\&=\sum_{i=1}^{n}\frac{K_i}{s-s_i} \end{aligned}
F(s)=s−s1K1+s−s2K2+⋯+s−snKn=i=1∑ns−siKi
其中系数
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Ki的求法有很多,常见以下三种:
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系数平衡法:即将 ∑ i = 1 n K i s − s i \sum_{i=1}^{n}\frac{K_i}{s-s_i} ∑i=1ns−siKi进行通分,得到带有系数 K i K_i Ki的分子,通过对比等式左边的 F ( s ) F(s) F(s)分子的系数,得到有关 K i K_i Ki的方程组,从而计算得到系数的值。
如求解: F ( s ) = 1 s 2 + 3 s + 2 F(s)=\frac{1}{s^2+3s+2} F(s)=s2+3s+21
其待定系数的分部分式为: K 1 s + 1 + K 2 s + 2 \frac{K_1}{s+1}+\frac{K_2}{s+2} s+1K1+s+2K2
通分后得: K 1 ( s + 1 ) + K 2 ( s + 2 ) ( s + 1 ) ( s + 2 ) \frac{K_1(s+1)+K_2(s+2)}{(s+1)(s+2)} (s+1)(s+2)K1(s+1)+K2(s+2)
对比 F ( s ) = 1 s 2 + 3 s + 2 F(s)=\frac{1}{s^2+3s+2} F(s)=s2+3s+21,可得方程组: K 1 + K 2 = 0 , K 1 + 2 K 2 = 1 K_1+K_2=0, K_1+2K_2=1 K1+K2=0,K1+2K2=1
进而求得: K 1 = 1 , K 2 = − 1 K_1=1, K_2=-1 K1=1,K2=−1
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利用 K i = ( s − s i ) ⋅ F ( s ) K_i=(s-s_i)\cdot F(s) Ki=(s−si)⋅F(s)求得
如求解: F ( s ) = 1 s 2 + 3 s + 2 F(s)=\frac{1}{s^2+3s+2} F(s)=s2+3s+21
其待定系数的分部分式为: K 1 s + 1 + K 2 s + 2 \frac{K_1}{s+1}+\frac{K_2}{s+2} s+1K1+s+2K2,且 s 1 = − 1 , s 2 = − 2 s_1 = -1, s_2=-2 s1=−1,s2=−2
进而求得:
K 1 = F ( s ) ⋅ ( s − s 1 ) ∣ s = s 1 = [ 1 s 2 + 3 s + 2 ] ⋅ ( s + 1 ) ∣ s = − 1 = 1 K_1 =F(s)\cdot (s-s_1)|_{s=s_1}= [\frac{1}{s^2+3s+2}]\cdot (s+1)|_{s=-1} = 1 K1=F(s)⋅(s−s1)∣s=s1=[s2+3s+21]⋅(s+1)∣s=−1=1,
K 2 = F ( s ) ⋅ ( s − s 2 ) ∣ s = s 2 = [ 1 s 2 + 3 s + 2 ] ⋅ ( s + 2 ) ∣ s = − 2 = − 1 K_2 =F(s)\cdot (s-s_2)|_{s=s_2} =[\frac{1}{s^2+3s+2}]\cdot (s+2)|_{s=-2} = -1 K2=F(s)⋅(s−s2)∣s=s2=[s2+3s+21]⋅(s+2)∣s=−2=−1
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利用 K i = N ( s ) D ′ ( s ) ∣ s = s i K_i = \frac{N(s)}{D'(s)}|_{s=s_i} Ki=D′(s)N(s)∣s=si
如求解: F ( s ) = 1 s 2 + 3 s + 2 F(s)=\frac{1}{s^2+3s+2} F(s)=s2+3s+21
其待定系数的分部分式为: K 1 s + 1 + K 2 s + 2 \frac{K_1}{s+1}+\frac{K_2}{s+2} s+1K1+s+2K2,且 s 1 = − 1 , s 2 = − 2 s_1 = -1, s_2=-2 s1=−1,s2=−2
进而求得:
K 1 = 1 ( s 2 + 3 s + 2 ) ′ ∣ s = s 1 = 1 2 s + 3 ∣ s = − 1 = 1 K_1 = \frac{1}{(s^2+3s+2)'}|_{s=s_1}=\frac{1}{2s+3}|_{s=-1}=1 K1=(s2+3s+2)′1∣s=s1=2s+31∣s=−1=1
K 2 = 1 ( s 2 + 3 s + 2 ) ′ ∣ s = s 2 = 1 2 s + 3 ∣ s = − 2 = − 1 K_2 = \frac{1}{(s^2+3s+2)'}|_{s=s_2}=\frac{1}{2s+3}|_{s=-2}=-1 K2=(s2+3s+2)′1∣s=s2=2s+31∣s=−2=−1
根据幂函数的拉式变换:
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L\{e^{\alpha t}\varepsilon(t)\}=\frac{1}{s-\alpha} \Longleftrightarrow L^{-1}\{\frac{1}{s-\alpha}\}=e^{\alpha t}\varepsilon(t)
L{eαtε(t)}=s−α1⟺L−1{s−α1}=eαtε(t)
因此:
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\begin{aligned} L^{-1}\{F(s)\}&=L^{-1}\{\sum_{i=1}^{n}\frac{K_i}{s-s_i}\} \\&=L^{-1}\sum_{i=1}^{n}\{\frac{K_i}{s-s_i}\} \\&=\sum_{i=1}^{n}K_ie^{s_it}\varepsilon(t) \end{aligned}
L−1{F(s)}=L−1{i=1∑ns−siKi}=L−1i=1∑n{s−siKi}=i=1∑nKiesitε(t)
举例,如求解下列拉普拉斯变换的拉普拉斯反变换:
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F(s)=\frac{1}{s^2+3s+2},\space \space 收敛区间为:Re(s)>-1
F(s)=s2+3s+21, 收敛区间为:Re(s)>−1
将
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F(s)=\frac{K_1}{s+1}+\frac{K_2}{s+2}
F(s)=s+1K1+s+2K2
则
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s_1 = -1, s_2=-2
s1=−1,s2=−2
系数
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K1=1,K2=−1
求出求解分部分式的拉普拉斯的反变换:
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\begin{aligned} L^{-1}\{\frac{1}{s+1}\} \Longleftrightarrow e^{-t}\varepsilon(t) \\L^{-1}\{\frac{-1}{s+2}\} \Longleftrightarrow -e^{-2t}\varepsilon(t) \end{aligned}
L−1{s+11}⟺e−tε(t)L−1{s+2−1}⟺−e−2tε(t)
因此,最终的
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f(t) =e^{-t}\varepsilon(t) -e^{-2t}\varepsilon(t)
f(t)=e−tε(t)−e−2tε(t)
1.1.2 没有重根,且根存在共轭复根时
具有待定系数的分部分式展开后,当
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F(s)=\frac{K_1}{s-s_1}+\frac{K_2}{s-s_2}+\cdots+\frac{K_n}{s-s_n}
F(s)=s−s1K1+s−s2K2+⋯+s−snKn
若
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\begin{aligned} s_1&=a_1+j\omega \\s_2&=a_1-j\omega \\s_3&=a_3 \\\cdot \\\cdot \\\cdot \\s_n&=a_n \\a_1 &\cdots a_n为实数, a_1=a_2 \end{aligned}
s1s2s3⋅⋅⋅sna1=a1+jω=a1−jω=a3=an⋯an为实数,a1=a2
则系数为:
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\begin{aligned} K_1 = \frac{N(s)}{D'(s)}|_{s=s_{1}}&= \frac{N(s)}{D'(s)}|_{s=a_1+j\omega} \\K_2 = \frac{N(s)}{D'(s)}|_{s=s_{2}}&= \frac{N(s)}{D'(s)}|_{s=a_1-j\omega} \\K_3 = \frac{N(s)}{D'(s)}|_{s=s_{3}}&=\frac{N(s)}{D'(s)}|_{s=a_3} \\\cdot \\\cdot \\\cdot \\K_n = \frac{N(s)}{D'(s)}|_{s=s_{n}}&=\frac{N(s)}{D'(s)}|_{s=a_n} \end{aligned}
K1=D′(s)N(s)∣s=s1K2=D′(s)N(s)∣s=s2K3=D′(s)N(s)∣s=s3⋅⋅⋅Kn=D′(s)N(s)∣s=sn=D′(s)N(s)∣s=a1+jω=D′(s)N(s)∣s=a1−jω=D′(s)N(s)∣s=a3=D′(s)N(s)∣s=an
举例:求解下列拉普拉斯变换的反变换:
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F(s)=\frac{s+3}{s^2+2s+5}
F(s)=s2+2s+5s+3
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\begin{aligned} &s^2+2s+5=0 \\\Rightarrow &(s+1)^2+4=0 \\\Rightarrow &s_1=-1+j2, s_2=-1-j2 \end{aligned}
⇒⇒s2+2s+5=0(s+1)2+4=0s1=−1+j2,s2=−1−j2
因此,其对应的系数为:
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\begin{aligned} K_1=\frac{N(s)}{D'(s)}|_{s=s_{1}}=\frac{s+3}{2s+2}|_{s=-1+j2}=0.5-j0.5=0.5\sqrt{2}e^{-j45^\circ} \\K_2=\frac{N(s)}{D'(s)}|_{s=s_{2}}=\frac{s+3}{2s+2}|_{s=-1-j2}=0.5+j0.5=0.5\sqrt{2}e^{j45^\circ} \end{aligned}
K1=D′(s)N(s)∣s=s1=2s+2s+3∣s=−1+j2=0.5−j0.5=0.52e−j45∘K2=D′(s)N(s)∣s=s2=2s+2s+3∣s=−1−j2=0.5+j0.5=0.52ej45∘
因此系数也是共轭复数,并且系数引入了一个相角,即
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K2=K1∗,则分部分式展开为:
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\begin{aligned} F(s)&=\frac{0.5-j0.5}{s-(-1+j2)}+\frac{0.5+j0.5}{s-(-1-j2)} \\&=\frac{0.5-j0.5}{s-(-1+j2)}+\frac{0.5+j0.5}{s-(-1-j2)} \end{aligned}
F(s)=s−(−1+j2)0.5−j0.5+s−(−1−j2)0.5+j0.5=s−(−1+j2)0.5−j0.5+s−(−1−j2)0.5+j0.5
因此,
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\begin{aligned} L^{-1}\{F(s)\}&=L^{-1}\{\frac{0.5-j0.5}{s-(-1+j2)}+\frac{0.5+j0.5}{s-(-1-j2)}\} \\&=(0.5-j0.5)e^{(-1+j2)t}\varepsilon(t)+(0.5+j0.5)e^{(-1-j2)t}\varepsilon(t) \\&=(0.5-j0.5)e^{(-1+j2)t}\varepsilon(t)+(0.5+j0.5)e^{(-1-j2)t}\varepsilon(t) \\&=0.5\sqrt{2}e^{-j45^\circ}\cdot e^{(-1+j2)t}\varepsilon(t) + 0.5\sqrt{2}e^{j45^\circ} \cdot e^{(-1-j2)t}\varepsilon(t) \\&=0.5\sqrt{2}e^{-t}\cdot [e^{(j2t-j45^{\circ})}+e^{(j2t+j45^{\circ})}] \\利用欧拉公式:&\Rightarrow \sqrt{2}e^{-t}\cdot cos(2t+45^{\circ}) \end{aligned}
L−1{F(s)}利用欧拉公式:=L−1{s−(−1+j2)0.5−j0.5+s−(−1−j2)0.5+j0.5}=(0.5−j0.5)e(−1+j2)tε(t)+(0.5+j0.5)e(−1−j2)tε(t)=(0.5−j0.5)e(−1+j2)tε(t)+(0.5+j0.5)e(−1−j2)tε(t)=0.52e−j45∘⋅e(−1+j2)tε(t)+0.52ej45∘⋅e(−1−j2)tε(t)=0.52e−t⋅[e(j2t−j45∘)+e(j2t+j45∘)]⇒2e−t⋅cos(2t+45∘)
通过上式可知:
若
D
(
s
)
=
0
D(s)=0
D(s)=0有一对共轭复根
s
1
,
s
2
s_{1}, s_{2}
s1,s2,且
s
2
=
s
1
∗
s_{2}=s^*_{1}
s2=s1∗,则与之相关的系数
K
1
,
K
2
K_1, K_2
K1,K2也为复数,且也为共轭关系,即
K
2
=
N
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s
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D
′
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∣
s
=
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N
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∣
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∗
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)
D
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]
∗
∣
s
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s
1
=
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1
∗
K_{2} =\frac{N(s)}{D'(s)}|_{s=s_{2}}=\frac{N(s)}{D'(s)}|_{s=s^*_{1}}=[\frac{N(s)}{D'(s)}]^*|_{s=s_{1}} = K_1^*
K2=D′(s)N(s)∣s=s2=D′(s)N(s)∣s=s1∗=[D′(s)N(s)]∗∣s=s1=K1∗
因此带有一对复根的拉普拉斯变换
F
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s
)
F(s)
F(s)为:
F
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=
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s
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K
2
s
−
s
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s
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K
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s
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s
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∗
F(s) = \frac{K_1}{s-s_1}+\frac{K_2}{s-s_2}= \frac{K_1}{s-s_1}+\frac{K_1^*}{s-s_1^*}
F(s)=s−s1K1+s−s2K2=s−s1K1+s−s1∗K1∗
其拉普拉斯反变换为:
K
1
e
s
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⋅
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cos
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\begin{aligned} K_{1} e^{s_{1} t} \varepsilon(t)+K_{2} e^{s_{2} t} \varepsilon(t) &=\left[K_{1} e^{s_{1} t}+K_{1}^{*} e^{s_{1}^{*} t}\right] \varepsilon(t) \\&={\left[\left|K_{1}\right| e^{j \phi_{1}} e^{\left(\sigma_{1}+j \omega_{0}\right) t}+\left|K_{1}\right| e^{-j \phi_{1}} e^{\left(\sigma_{1}-j \omega_{0}\right) t}\right] \varepsilon(t)} \\&=\left[e^{j \omega_{0} t+\phi_{1}}+e^{-j \omega_{0} t+\phi_{1}}\right] \cdot\left|K_{1}\right| e^{\sigma_{1} t} \varepsilon(t) \\&=2\left|K_{1}\right| e^{\sigma_{1} t} \cos \left(\omega_{0} t+\phi_{1}\right) \varepsilon(t) \end{aligned}
K1es1tε(t)+K2es2tε(t)=[K1es1t+K1∗es1∗t]ε(t)=[∣K1∣ejϕ1e(σ1+jω0)t+∣K1∣e−jϕ1e(σ1−jω0)t]ε(t)=[ejω0t+ϕ1+e−jω0t+ϕ1]⋅∣K1∣eσ1tε(t)=2∣K1∣eσ1tcos(ω0t+ϕ1)ε(t)
上式中,
ϕ
1
\phi_1
ϕ1为复数
K
1
K_1
K1的相角,由上述推导可知,最终,当存在一对共轭复根时,其拉普拉斯反变换仍然是一个实数信号,因此其计算方式与实数根计算方式可以统一考虑。
因此:在 **当 m < n m<n m<n,且 D ( s ) = 0 D(s)=0 D(s)=0没有重根(包括共轭复根)**条件下,最终反变换的结果一定是一个实数,在计算时,要最终化简到没有虚数为止。
1.2 当 m < n m<n m<n,且 D ( s ) = 0 D(s)=0 D(s)=0有重根时
设
D
(
s
)
=
0
D(s)=0
D(s)=0的重根为
s
1
s_1
s1的p次重根,则多项式分母
D
(
s
)
D(s)
D(s)可通过因式分解表示为:
D
(
s
)
=
(
s
−
s
1
)
p
(
s
−
s
2
)
⋯
(
s
−
s
n
)
D(s)=(s-s_1)^p(s-s_2)\cdots(s-s_n)
D(s)=(s−s1)p(s−s2)⋯(s−sn)
因此,
F
(
s
)
F(s)
F(s)表示为:
F
(
s
)
=
K
1
p
(
s
−
s
1
)
p
+
K
1
(
p
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)
(
s
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)
p
−
1
+
⋯
+
K
12
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s
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s
1
)
2
+
K
11
(
s
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s
1
)
1
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∑
i
=
2
n
K
i
s
−
s
i
\begin{aligned} F(s)&=\frac{K_{1p}}{(s-s_1)^{p}}+\frac{K_{1(p-1)}}{(s-s_1)^{p-1}}+\cdots+\frac{K_{12}}{(s-s_1)^{2}}+\frac{K_{11}}{(s-s_1)^{1}} +\sum_{i=2}^{n}\frac{K_i}{s-s_i} \end{aligned}
F(s)=(s−s1)pK1p+(s−s1)p−1K1(p−1)+⋯+(s−s1)2K12+(s−s1)1K11+i=2∑ns−siKi
上式中:
- K 1 p ( s − s 1 ) p + K 1 ( p − 1 ) ( s − s 1 ) p − 1 + ⋯ + K 12 ( s − s 1 ) 2 + K 11 ( s − s 1 ) 1 \frac{K_{1p}}{(s-s_1)^{p}}+\frac{K_{1(p-1)}}{(s-s_1)^{p-1}}+\cdots+\frac{K_{12}}{(s-s_1)^{2}}+\frac{K_{11}}{(s-s_1)^{1}} (s−s1)pK1p+(s−s1)p−1K1(p−1)+⋯+(s−s1)2K12+(s−s1)1K11 为 p p p阶重根 s 1 s_1 s1对应的分部分式展开;
- K 1 p K_{1p} K1p, K 1 ( p − 1 ) K_{1(p-1)} K1(p−1), K 1 ( p − 1 ) K_{1(p-1)} K1(p−1), ⋯ \cdots ⋯, K 11 K_{11} K11为根 s 1 s_1 s1的 p p p阶重根对应分部展开式的系数;
- ∑ i = 2 n K i s − s i \sum_{i=2}^{n}\frac{K_i}{s-s_i} ∑i=2ns−siKi、代表非重根 s i s_i si对应的分部分式展开;
- K i , i ≥ 2 K_i, i\geq 2 Ki,i≥2代表非重根 s i s_i si对应分部展开式的系数。
其中,非重根项的系数可根据1.1中的方法求得,而重根系数可通过下述方法求得:
K
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1
2
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2
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⋅
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=
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1
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s
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⋅
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∣
s
=
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1
\begin{aligned} K_{1p}&=[(s-s_1)^p\cdot F(s)]|_{s=s_1} \\K_{1(p-1)}&=\frac{d}{ds}[(s-s_1)^p\cdot F(s)]|_{s=s_1} \\K_{1(p-2)}&=\frac{1}{2!}\frac{d^2}{ds^2}[(s-s_1)^p\cdot F(s)]|_{s=s_1} \\\cdot \\\cdot \\\cdot \\K_{11}&=\frac{1}{(p-1)!}\frac{d^{p-1}}{ds^{p-1}}[(s-s_1)^p\cdot F(s)]|_{s=s_1} \end{aligned}
K1pK1(p−1)K1(p−2)⋅⋅⋅K11=[(s−s1)p⋅F(s)]∣s=s1=dsd[(s−s1)p⋅F(s)]∣s=s1=2!1ds2d2[(s−s1)p⋅F(s)]∣s=s1=(p−1)!1dsp−1dp−1[(s−s1)p⋅F(s)]∣s=s1
为方便表示通式,将
s
1
s_1
s1重根项的第
k
k
k阶对应的分式的系数记为
K
1
k
K_{1k}
K1k,则系数
K
1
k
K_{1k}
K1k的通式可以表示为:
K
1
k
=
1
(
p
−
k
)
!
d
p
−
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s
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−
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K_{1k}=\frac{1}{(p-k)!}\frac{d^{p-k}}{ds^{p-k}}[(s-s_1)^p\cdot F(s)]|_{s=s_1}
K1k=(p−k)!1dsp−kdp−k[(s−s1)p⋅F(s)]∣s=s1
如:
K 11 K_{11} K11为 ( s − s 1 ) (s-s_1) (s−s1)的一阶分式 1 ( s − s 1 ) 1 \frac{1}{(s-s_1)^1} (s−s1)11的系数,则 K 11 = 1 ( p − 1 ) ! d p − 1 d s p − 1 [ ( s − s 1 ) p ⋅ F ( s ) ] ∣ s = s 1 K_{11}=\frac{1}{(p-1)!}\frac{d^{p-1}}{ds^{p-1}}[(s-s_1)^p\cdot F(s)]|_{s=s_1} K11=(p−1)!1dsp−1dp−1[(s−s1)p⋅F(s)]∣s=s1
K 12 K_{12} K12为 ( s − s 1 ) (s-s_1) (s−s1)的二阶分式 1 ( s − s 1 ) 2 \frac{1}{(s-s_1)^2} (s−s1)21的系数,则 K 12 = 1 ( p − 2 ) ! d p − 2 d s p − 2 [ ( s − s 1 ) p ⋅ F ( s ) ] ∣ s = s 1 K_{12}=\frac{1}{(p-2)!}\frac{d^{p-2}}{ds^{p-2}}[(s-s_1)^p\cdot F(s)]|_{s=s_1} K12=(p−2)!1dsp−2dp−2[(s−s1)p⋅F(s)]∣s=s1
K 1 p K_{1p} K1p为 ( s − s 1 ) (s-s_1) (s−s1)的p阶分式 1 ( s − s 1 ) p \frac{1}{(s-s_1)^p} (s−s1)p1的系数,则 K 1 p = [ ( s − s 1 ) p ⋅ F ( s ) ] ∣ s = s 1 K_{1p}=[(s-s_1)^p\cdot F(s)]|_{s=s_1} K1p=[(s−s1)p⋅F(s)]∣s=s1
将系数求出后,即可得到拉普拉斯变换的分部分解展开形式:
F
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\begin{aligned} F(s)&=\frac{K_{1p}}{(s-s_1)^{p}}+\frac{K_{1(p-1)}}{(s-s_1)^{p-1}}+\cdots+\frac{K_{12}}{(s-s_1)^{2}}+\frac{K_{11}}{(s-s_1)^{1}} +\sum_{i=2}^{n}\frac{K_i}{s-s_i} \end{aligned}
F(s)=(s−s1)pK1p+(s−s1)p−1K1(p−1)+⋯+(s−s1)2K12+(s−s1)1K11+i=2∑ns−siKi
上式中,第
k
k
k阶重根项的拉普拉斯反变换可通过下列关系求得:
L
−
1
{
K
1
k
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k
}
=
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L^{-1}\{\frac{K_{1k}}{(s-s_1)^k}\}=\frac{K_{1k}}{(k-1)!}\cdot t^{k-1}e^{s_1 t}\varepsilon(t)
L−1{(s−s1)kK1k}=(k−1)!K1k⋅tk−1es1tε(t)
如:
L
−
1
{
K
1
p
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p
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=
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\begin{aligned} L^{-1}\{\frac{K_{1p}}{(s-s_1)^p}\}=&\frac{K_{1p}}{(p-1)!}\cdot t^{p-1}e^{s_1 t}\varepsilon(t) \\L^{-1}\{\frac{K_{1(p-1)}}{(s-s_1)^{p-1}}\}=&\frac{K_{1(p-1)}}{(p-2)!}\cdot t^{p-2}e^{s_1 t}\varepsilon(t) \\&\cdot \\&\cdot \\&\cdot \\L^{-1}\{\frac{K_{11}}{(s-s_1)^{1}}\}=&e^{s_1 t}\varepsilon(t) \end{aligned}
L−1{(s−s1)pK1p}=L−1{(s−s1)p−1K1(p−1)}=L−1{(s−s1)1K11}=(p−1)!K1p⋅tp−1es1tε(t)(p−2)!K1(p−1)⋅tp−2es1tε(t)⋅⋅⋅es1tε(t)
举例:求解下列拉普拉斯变换的原函数:
F
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=
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+
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s
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+
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F(s)=\frac{s+2}{s(s+3)(s+1)^2}
F(s)=s(s+3)(s+1)2s+2
首先令
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s
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=
s
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s
+
3
)
(
s
+
1
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2
=
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D(s)=s(s+3)(s+1)^2=0
D(s)=s(s+3)(s+1)2=0,则
D
(
s
)
=
0
D(s)=0
D(s)=0具有四个根,包括两个单根
s
1
=
0
,
s
2
=
−
3
s_1=0, s_2=-3
s1=0,s2=−3,以及两个重根
s
3
=
s
4
=
−
1
s_3=s_4=-1
s3=s4=−1。
因此部分分式展开为:
F
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=
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+
2
s
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s
+
3
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2
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+
[
K
32
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31
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1
]
F(s)=\frac{s+2}{s(s+3)(s+1)^2}=\frac{K_1}{s-0}+\frac{K_2}{s-(-3)}+[\frac{K_{32}}{(s+1)^2}+\frac{K_{31}}{(s+1)^1}]
F(s)=s(s+3)(s+1)2s+2=s−0K1+s−(−3)K2+[(s+1)2K32+(s+1)1K31]
根据之前所述的求解系数的方法,
K
1
=
[
s
N
(
s
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D
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]
s
=
0
=
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s
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12
K
32
=
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1
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2
N
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D
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31
=
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[
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2
N
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\begin{aligned} K_{1}&=\left[s \frac{N(s)}{D(s)}\right]_{s=0}&=&\left[\frac{s+2}{(s+3)(s+1)^{2}}\right]_{s=0}&=\frac{2}{3} \\K_{2}&=\left[(s+3) \frac{N(s)}{D(s)}\right]_{s=-3}&=&\left[\frac{s+2}{s(s+1)^{2}}\right]_{s=-3}&=\frac{1}{12} \\K_{32}&=\left[(s+1)^{2} \frac{N(s)}{D(s)}\right]_{s=-1}&=&\left[\frac{s+2}{s(s+3)}\right]_{s=-1}&=-\frac{1}{2} \\K_{31}&=\frac{d}{ds}\left[(s+1)^{2} \frac{N(s)}{D(s)}\right]_{s=-1}&=&\left[\frac{s(s+3)-(s+2)(2s+3_)}{s^2(s+3)^2}\right]_{s=-1}&=-\frac{3}{4} \end{aligned}
K1K2K32K31=[sD(s)N(s)]s=0=[(s+3)D(s)N(s)]s=−3=[(s+1)2D(s)N(s)]s=−1=dsd[(s+1)2D(s)N(s)]s=−1====[(s+3)(s+1)2s+2]s=0[s(s+1)2s+2]s=−3[s(s+3)s+2]s=−1[s2(s+3)2s(s+3)−(s+2)(2s+3)]s=−1=32=121=−21=−43
因此完成的分部分式为:
F
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3
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12
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−
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14
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s
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)
]
F(s)=\frac{2}{3s}+\frac{1}{12(s+3)}+[-\frac{1}{2(s+1)^2}-\frac{3}{14(s+1)}]
F(s)=3s2+12(s+3)1+[−2(s+1)21−14(s+1)3]
所以原函数为:
L
1
{
F
(
s
)
}
=
[
2
3
+
1
12
e
−
3
t
−
1
2
(
t
+
3
2
e
−
t
)
]
⋅
ε
(
t
)
L_1\{{F(s)}\}=[\frac{2}{3}+\frac{1}{12}e^{-3t}-\frac{1}{2}(t+\frac{3}{2}e^{-t})]\cdot \varepsilon(t)
L1{F(s)}=[32+121e−3t−21(t+23e−t)]⋅ε(t)
1.2 当 m ≥ n m\geq n m≥n时
当
m
≥
n
m\geq n
m≥n时,则分子的阶数高于分子的阶数,因此需要将
F
(
s
)
F(s)
F(s)通过长除法,化简为一个真分式,和一个多项式的和,即:
F
(
s
)
=
N
(
s
)
D
(
s
)
=
M
(
s
)
+
N
1
(
s
)
D
(
s
)
F(s)=\frac{N(s)}{D(s)}=M(s)+\frac{N_1(s)}{D(s)}
F(s)=D(s)N(s)=M(s)+D(s)N1(s)
- 其中 M ( s ) M(s) M(s)为多项式,可以利用 L − 1 { s n } = δ n ( t ) L^{-1}\{s^n\}=\delta^n(t) L−1{sn}=δn(t)求解。
- N 1 ( s ) D ( s ) \frac{N_1(s)}{D(s)} D(s)N1(s)为真分式,根据这个真分式的分母和分子的阶数关系以及根的情况,可以根据1.1和1.2中的原则和方法求解原函数,
举例:求解下列拉普拉斯变换的反变换
F
(
s
)
=
s
3
s
2
+
3
s
+
2
F(s)=\frac{s^3}{s^2+3s+2}
F(s)=s2+3s+2s3
通过长除法,上式可以化简为:
F
(
s
)
=
s
−
3
+
7
s
+
6
s
2
+
3
s
+
2
F(s)=s-3+\frac{7s+6}{s^2+3s+2}
F(s)=s−3+s2+3s+27s+6
再对
7
s
+
6
s
2
+
3
s
+
2
\frac{7s+6}{s^2+3s+2}
s2+3s+27s+6进行分部分式展开:
7
s
+
6
s
2
+
3
s
+
2
=
−
1
s
+
1
+
8
s
+
2
\frac{7s+6}{s^2+3s+2} = \frac{-1}{s+1}+\frac{8}{s+2}
s2+3s+27s+6=s+1−1+s+28
分别对上式中的多项式和真分式求解拉式反变换:
L
−
1
{
s
}
=
δ
′
(
t
)
L
−
1
{
−
3
}
=
−
3
δ
(
t
)
L
−
1
{
7
s
+
6
s
2
+
3
s
+
2
}
=
−
e
−
t
ε
(
t
)
+
8
e
−
2
t
ε
(
t
)
\begin{aligned} &L^{-1}\{s\}&=&\delta'(t)& \\&L^{-1}\{-3\}&=&-3\delta(t)& \\&L^{-1}\{\frac{7s+6}{s^2+3s+2}\}&=&-e^{-t}\varepsilon(t) +8e^{-2t}\varepsilon(t)& \end{aligned}
L−1{s}L−1{−3}L−1{s2+3s+27s+6}===δ′(t)−3δ(t)−e−tε(t)+8e−2tε(t)
因此最终的拉式反变换为:
f
(
t
)
=
δ
′
(
t
)
−
3
δ
(
t
)
−
e
−
t
ε
(
t
)
+
8
e
−
2
t
ε
(
t
)
f(t)=\delta'(t)-3\delta(t)-e^{-t}\varepsilon(t) +8e^{-2t}\varepsilon(t)
f(t)=δ′(t)−3δ(t)−e−tε(t)+8e−2tε(t)
2. 总结
这一部分的内容虽然不难,但是内容非常庞杂,这里通过流程图的方式对上述内容进行总结,帮助理解和记忆:
谢谢阅读,若有不当之处欢迎批评指正!