三大变换
傅里叶变换、拉普拉斯变换、Z变换
1. 傅里叶变换
2. 拉普拉斯变换
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F(s) = L[f(t)] = \int_0^\infty f(t)e^{-st}dt
F(s)=L[f(t)]=∫0∞f(t)e−stdt
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s = \sigma+j\omega
s=σ+jω 复变量
将实数域上的实变函数变成复数域上的复变函数
一.经典函数的拉式变换
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单位阶跃函数(1函数)
1 ( t ) = { 1 , t < 0 0 , t ≥ 0 1(t) = \left \{\begin{array}{cc} 1, & t<0\\ 0, & t\ge0 \end{array}\right. 1(t)={1,0,t<0t≥0
L [ 1 ( t ) ] = ∫ 0 ∞ 1 ( t ) e − s t d t = 1 s L[1(t)] =\int_0^\infty 1(t)e^{-st}dt =\frac{1}{s} L[1(t)]=∫0∞1(t)e−stdt=s1 -
单位脉冲函数
δ ( t ) = { ∞ , t = 0 0 , t ≠ 0 \delta(t) = \left \{\begin{array}{cc} \infty, & t=0\\ 0, & t\neq0 \end{array}\right. δ(t)={∞,0,t=0t=0
单位脉冲函数满足
1) ∫ 0 ∞ δ ( t ) d t = 1 \int^\infty_0 \delta(t)dt = 1 ∫0∞δ(t)dt=1
2) L [ δ ( t ) ] = ∫ − ∞ ∞ δ ( t ) e − s t d t = 1 L[\delta(t)] = \int^\infty_{-\infty} \delta(t)e^{-st}dt = 1 L[δ(t)]=∫−∞∞δ(t)e−stdt=1
根据2)可得
L [ 1 ( t ) ] = ∫ 0 ∞ δ ( t ) e − s t d t = 1 L[1(t)] =\int_0^\infty \delta(t)e^{-st}dt =1 L[1(t)]=∫0∞δ(t)e−stdt=1 -
单位斜坡函数
f ( t ) = { 0 t < 0 t t ≥ 0 f(t)= \left\{\begin{array}{cc} 0&t<0\\ t&t\geq0 \end{array} \right. f(t)={0tt<0t≥0
L [ f ( t ) ] = 1 s 2 L[f(t)] =\frac{1}{s^2} L[f(t)]=s21 -
指数函数
f ( t ) = A e − a t , t ≥ 0 f(t)=Ae^{-at},t\geq0 f(t)=Ae−at,t≥0
L [ f ( t ) ] = A s + a L[f(t)] =\frac{A}{s+a} L[f(t)]=s+aA -
正余弦函数
(推到需要欧拉公式和指数函数变换)
L [ sin ω t ] = ω s 2 + ω 2 L[\sin \omega t] = \frac{\omega}{s^2+\omega^2} L[sinωt]=s2+ω2ω
L [ cos ω t ] = s s 2 + ω 2 L[\cos \omega t] = \frac{s}{s^2+\omega^2} L[cosωt]=s2+ω2s
二.拉氏变换定理
若 L [ f ( t ) ] = F ( s ) L[f(t)] = F(s) L[f(t)]=F(s) 则:
- 线性定理
L [ α f 1 ( t ) + β f 2 ( t ) ] = α F 1 ( s ) + β F 2 ( s ) L[\alpha f_1(t)+\beta f_2(t)] = \alpha F_1(s) +\beta F_2(s) L[αf1(t)+βf2(t)]=αF1(s)+βF2(s) - 位移定理
L [ e − a t f ( t ) ] = F ( s + a ) L[e^{-at}f(t)] = F(s+a) L[e−atf(t)]=F(s+a) - 微分定理
L [ d f ( t ) d t ] = s F ( s ) − f ( 0 ) L[\frac {df(t)}{dt}] = sF(s)-f(0) L[dtdf(t)]=sF(s)−f(0) - 积分定理
L [ ∫ f ( t ) d t ] = F ( s ) s + ∫ f ( 0 ) d t s L[\int f(t){dt}] = \frac{F(s)}{s}+ \frac{\int f(0){dt}}{s} L[∫f(t)dt]=sF(s)+s∫f(0)dt - 终值定理 (要求极限存在)
lim t → ∞ f ( t ) = lim s → 0 s F ( s ) \lim_{t\rightarrow \infty} f(t) = \lim_{s\rightarrow 0}sF(s) t→∞limf(t)=s→0limsF(s) - 初值定理
lim t → 0 f ( t ) = lim s → ∞ s F ( s ) \lim_{t\rightarrow 0} f(t) = \lim_{s\rightarrow \infty}sF(s) t→0limf(t)=s→∞limsF(s) - 卷积定理
L [ ∫ 0 ∞ f 1 ( t − τ ) ⋅ f 2 ( τ ) d τ ] = F 1 ( s ) ⋅ F 2 ( s ) L[\int^\infty_0f_1(t-\tau)\cdot f_2(\tau) d\tau]=F_1(s)\cdot F_2(s) L[∫0∞f1(t−τ)⋅f2(τ)dτ]=F1(s)⋅F2(s)
二.拉氏反变换
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L^{-1}[F(s)]=f(t)
L−1[F(s)]=f(t)
部分分式展开法:
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F(s)=\frac{A(s)}{B(s)}=\frac{A(s)}{(s+p_1)(s+p_2)\cdots(s+p_n)}
F(s)=B(s)A(s)=(s+p1)(s+p2)⋯(s+pn)A(s)
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p_1,p_2,\cdots,p_n为B(s)的根,又称F(s)的极点
p1,p2,⋯,pn为B(s)的根,又称F(s)的极点
- 无重根
F ( s ) = A ( s ) ( s + p 1 ) ( s + p 2 ) ⋯ ( s + p n ) = α 1 s + p 1 + α 2 s + p 2 + ⋯ + α n s + p n F(s)=\frac{A(s)}{(s+p_1)(s+p_2)\cdots(s+p_n)}= \frac{\alpha_1}{s+p_1}+\frac{\alpha_2}{s+p_2}+\cdots+\frac{\alpha_n}{s+p_n} F(s)=(s+p1)(s+p2)⋯(s+pn)A(s)=s+p1α1+s+p2α2+⋯+s+pnαn
α k 为 s = − p k 处 的 留 数 \alpha_k为s=-p_k处的留数 αk为s=−pk处的留数
α k 求 解 办 法 : 等 式 两 边 × ( s + p k ) , 再 带 入 s = − p k 即 \alpha_k求解办法:等式两边×(s+p_k), 再带入s=-p_k即 αk求解办法:等式两边×(s+pk),再带入s=−pk即
α k = [ ( s + p k ) A ( s ) B ( s ) ] s = − p k \alpha_k=\left[(s+p_k)\frac{A(s)}{B(s)}\right]_{s=-p_k} αk=[(s+pk)B(s)A(s)]s=−pk - 有重根
F ( s ) = A ( s ) ( s + p 1 ) 3 ( s + p 2 ) ⋯ ( s + p n ) = α 1 ( s + p 1 ) 3 + α 1 ( s + p 1 ) 2 + α 1 ( s + p 1 ) 1 + α 1 s + p 2 + ⋯ + α n s + p n F(s)=\frac{A(s)}{(s+p_1)^3(s+p_2)\cdots(s+p_n)}= \frac{\alpha_1}{(s+p_1)^3}+\frac{\alpha_1}{(s+p_1)^2}+\frac{\alpha_1}{(s+p_1)^1}+\frac{\alpha_1}{s+p_2}+\cdots+\frac{\alpha_n}{s+p_n} F(s)=(s+p1)3(s+p2)⋯(s+pn)A(s)=(s+p1)3α1+(s+p1)2α1+(s+p1)1α1+s+p2α1+⋯+s+pnαn
3. Z变换
f ( t ) = { f(t)= \left\{\begin{array}{cc} \end{array} \right. f(t)={