连续时间系统的时域分析
一.引言
在系统的微分方程中,包含有表示激励和响应的时间函数以及他们对于时间的各阶导数的线性组合。系统的复杂性常由系统的阶数来表示,系统阶数就是描述该系统的微分方程的阶数。
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近代时域法
近代时域法将响应分为零输入响应和零状态响应
r ( t ) = r z i ( t ) + r z s ( t ) r(t)=r_{zi}(t)+r_{zs}(t) r(t)=rzi(t)+rzs(t)零输入响应 r z i ( t ) r_{zi}(t) rzi(t):系统无外加激励,仅由初始状态(储能)引起的响应。
零状态响应 r z s ( t ) r_{zs}(t) rzs(t):系统无初始状态(储能),仅由外加激励引起的响应。
全响应 r ( t ) r(t) r(t)
二.系统方程的算子表示
1.微分算子表示方法
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描写线性系统的激励函数和响应函数间的关系的微分方程如:
a n ⋅ d n r d t n + a n − 1 ⋅ d n − 1 r d t n − 1 + ⋯ + a 1 ⋅ d r d t + a 0 ⋅ r = b m ⋅ d m e d t m + b m − 1 ⋅ d m − 1 e d t m − 1 + ⋯ + b 1 ⋅ d e d t + b 0 ⋅ e (1) a_{n}\cdot \frac{d^nr}{dt^n}+a_{n-1}\cdot \frac{d^{n-1}r}{dt^{n-1}}+\cdots+a_{1}\cdot \frac{dr}{dt}+a_{0}\cdot r = b_{m}\cdot \frac{d^me}{dt^m}+b_{m-1}\cdot \frac{d^{m-1}e}{dt^{m-1}}+\cdots+b_{1}\cdot \frac{de}{dt}+b_{0}\cdot e\tag{1} an⋅dtndnr+an−1⋅dtn−1dn−1r+⋯+a1⋅dtdr+a0⋅r=bm⋅dtmdme+bm−1⋅dtm−1dm−1e+⋯+b1⋅dtde+b0⋅e(1) -
在 ( 1 ) (1) (1)中 d n d t n \frac{d^n}{dt^n} dtndn和 d d t \frac{d}{dt} dtd等为时域中的微分算子符,定义用 p p p来表示,可将等式 ( 1 ) (1) (1)写为等式 ( 2 ) (2) (2):
a n ⋅ p n ⋅ r + a n − 1 ⋅ p n − 1 ⋅ r + ⋯ + a 1 ⋅ p ⋅ r + a 0 ⋅ r = b m ⋅ p m ⋅ e + b m − 1 ⋅ p m − 1 ⋅ e + ⋯ + b 1 ⋅ p ⋅ e + b 0 ⋅ e (2) a_{n}\cdot p^n\cdot r+a_{n-1}\cdot p^{n-1}\cdot r+\cdots+a_{1}\cdot p\cdot r+a_{0}\cdot r=b_{m}\cdot p^m\cdot e+b_{m-1}\cdot p^{m-1}\cdot e+\cdots+b_{1}\cdot p\cdot e+b_{0}\cdot e\tag{2} an⋅pn⋅r+an−1⋅pn−1⋅r+⋯+a1⋅p⋅r+a0⋅r=bm⋅pm⋅e+bm−1⋅pm−1⋅e+⋯+b1⋅p⋅e+b0⋅e(2) -
同时又把积分算子符号表示为 1 p \frac{1}{p} p1,即:
∫ − ∞ t ( ) d τ = 1 p ( ) \int\limits_{-\infty}^t()d\tau=\frac{1}{p}() −∞∫t()dτ=p1()
2.微分算子运算规则
1).由微分算子
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2).算子方程中涉及到乘除计算时,代数的运算法则有时成立有时不成立,例如
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p⋅p1:表示先积分再微分,积分得到的3常数项在微分是被去掉
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p1⋅p:表示先微分再积分,最后积分会得到一个常数项
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C=0的时候两个等式是不成立的
3).可以将
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(2)的式子整合为:
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D(p)=a_{n}\cdot p^n+a_{n-1}\cdot p^{n-1} +\cdots+a_{1}\cdot p +a_{0}\tag{3}
D(p)=an⋅pn+an−1⋅pn−1+⋯+a1⋅p+a0(3)
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N(p)=b_{m}\cdot p^m+b_{m-1}\cdot p^{m-1}+\cdots+b_{1}\cdot p+b_{0}\tag{4}
N(p)=bm⋅pm+bm−1⋅pm−1+⋯+b1⋅p+b0(4)
- 由 ( 2 ) ( 3 ) ( 4 ) (2)(3)(4) (2)(3)(4)可得:
D ( p ) ⋅ r ( t ) = N ( p ) ⋅ e ( t ) (5) D(p)\cdot r(t)=N(p)\cdot e(t)\tag{5} D(p)⋅r(t)=N(p)⋅e(t)(5)
- 将
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D(p)放到右边可得:
r ( t ) = N ( p ) D ( p ) ⋅ e ( t ) (6) r(t)=\frac{N(p)}{D(p)}\cdot e(t) \tag{6} r(t)=D(p)N(p)⋅e(t)(6) - 简化表示:
H ( p ) = N ( p ) D ( p ) (7) H(p)=\frac{N(p)}{D(p)} \tag{7} H(p)=D(p)N(p)(7)
则
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H(p)
H(p)为整电路中对激励进行操作的运算,经过该电路的激励需要经过的运算。从数学运算上完成求解响应。
即:
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r(t)=H(p)\cdot e(t)\tag{8}
r(t)=H(p)⋅e(t)(8)
三.零输入响应
零输入响应正是由初始系统能量分布状态,即初始条件所决定的。
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零输入响应时, e ( t ) = 0 e(t)=0 e(t)=0所以可得:
D ( p ) r ( t ) = ( a n ⋅ p n + a n − 1 ⋅ p n − 1 + ⋯ + a 1 ⋅ p + a 0 ) r ( t ) = 0 (9) D(p)r(t)=(a_{n}\cdot p^n+a_{n-1}\cdot p^{n-1}+\cdots+a_{1}\cdot p+a_{0})r(t)=0 \tag{9} D(p)r(t)=(an⋅pn+an−1⋅pn−1+⋯+a1⋅p+a0)r(t)=0(9) -
这时我们可以看出这个需要用到高数中微分方程的齐次解的经典求法:
1).特征方程:
a n ⋅ p n + a n − 1 ⋅ p n − 1 + ⋯ + a 1 ⋅ p + a 0 = 0 (10) a_{n}\cdot p^n+a_{n-1}\cdot p^{n-1}+\cdots+a_{1}\cdot p+a_{0}=0 \tag{10} an⋅pn+an−1⋅pn−1+⋯+a1⋅p+a0=0(10)
2).化简可得:
( p n − λ n ) ⋅ ( p n − 1 − λ n − 1 ) ⋯ ( p − λ 1 ) = 0 (11) (p^n-\lambda_{n})\cdot(p^{n-1}-\lambda_{n-1})\cdots(p-\lambda_{1})=0 \tag{11} (pn−λn)⋅(pn−1−λn−1)⋯(p−λ1)=0(11)
3).解得:
r ( t ) = c 1 e λ 1 ⋅ t + c 2 e λ 2 ⋅ t + ⋯ + c n e λ n ⋅ t (12) r(t)=c_{1}e^{\lambda_{1}\cdot t}+c_{2}e^{\lambda_{2}\cdot t}+\cdots+c_{n}e^{\lambda_{n}\cdot t} \tag{12} r(t)=c1eλ1⋅t+c2eλ2⋅t+⋯+cneλn⋅t(12) -
系数 c x c_{x} cx求解:
1).方法一:
将 r ( 0 ) , r ′ ( 0 ) , ⋯ , r n − 1 ( 0 ) r(0),r^{\prime} (0),\cdots,r^{n-1} (0) r(0),r′(0),⋯,rn−1(0)代入下面式中求解
{ r ( 0 ) = c 1 + c 2 + ⋯ + c n r ′ ( 0 ) = c 1 ⋅ λ 1 + c 2 ⋅ λ 2 + ⋯ + c n ⋅ λ n r ′ ′ ( 0 ) = c 1 ⋅ λ 1 2 + c 2 ⋅ λ 2 2 + ⋯ + c n ⋅ λ n 2 r ′ ′ ′ ( 0 ) = c 1 ⋅ λ 1 3 + c 2 ⋅ λ 2 3 + ⋯ + c n ⋅ λ n 3 ⋮ r n − 1 ( 0 ) = c 1 ⋅ λ 1 n − 1 + c 2 ⋅ λ 2 n − 1 + ⋯ + c n ⋅ λ n n − 1 (13) \left\{ \begin{aligned} r(0)&=c_{1}+c_{2}+\cdots+c_{n} \\ r^{\prime} (0)&=c_{1}\cdot\lambda_{1}+c_{2}\cdot\lambda_{2}+\cdots+c_{n}\cdot\lambda_{n} \\ r^{\prime \prime} (0)&=c_{1}\cdot\lambda_{1}^2+c_{2}\cdot\lambda_{2}^2+\cdots+c_{n}\cdot\lambda_{n}^2 \\ r^{\prime \prime \prime} (0)&=c_{1}\cdot\lambda_{1}^3+c_{2}\cdot\lambda_{2}^3+\cdots+c_{n}\cdot\lambda_{n}^3 \\ &\vdots&\\ r^{n-1} (0)&=c_{1}\cdot\lambda_{1}^{n-1}+c_{2}\cdot\lambda_{2}^{n-1}+\cdots+c_{n}\cdot\lambda_{n}^{n-1} \end{aligned} \right.\tag{13} ⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧r(0)r′(0)r′′(0)r′′′(0)rn−1(0)=c1+c2+⋯+cn=c1⋅λ1+c2⋅λ2+⋯+cn⋅λn=c1⋅λ12+c2⋅λ22+⋯+cn⋅λn2=c1⋅λ13+c2⋅λ23+⋯+cn⋅λn3⋮=c1⋅λ1n−1+c2⋅λ2n−1+⋯+cn⋅λnn−1(13)
2).方法二:
由式 ( 13 ) (13) (13)可以记为如下矩阵:
[ r ( 0 ) r ′ ( 0 ) r ′ ′ ′ ( 0 ) ⋮ r n − 1 ( 0 ) ] = [ 1 1 1 ⋯ 1 λ 1 λ 2 λ 3 ⋯ λ n λ 1 2 λ 2 2 λ 3 2 ⋯ λ n 2 ⋮ ⋮ ⋮ ⋮ λ 1 n − 1 λ 2 n − 1 λ 3 n − 1 ⋯ λ n n − 1 ] ⋅ [ c 1 c 2 c 3 ⋮ c n ] . \left[ \begin{matrix} r(0)\\r^{\prime} (0)\\r^{\prime \prime \prime} (0)\\\vdots\\ r^{n-1} (0) \end{matrix} \right] = \left[ \begin{matrix} 1&1&1&\cdots&1\\ \lambda_{1}&\lambda_{2}&\lambda_{3}&\cdots&\lambda_{n}\\ \lambda_{1}^2&\lambda_{2}^2&\lambda_{3}^2&\cdots&\lambda_{n}^2\\ \vdots&\vdots&\vdots& &\vdots\\ \lambda_{1}^{n-1}&\lambda_{2}^{n-1}&\lambda_{3}^{n-1}&\cdots&\lambda_{n}^{n-1} \end{matrix} \right] \cdot \left[ \begin{matrix} c_{1}\\ c_{2}\\ c_{3}\\\vdots\\c_{n} \end{matrix} \right]. ⎣⎢⎢⎢⎢⎢⎡r(0)r′(0)r′′′(0)⋮rn−1(0)⎦⎥⎥⎥⎥⎥⎤=⎣⎢⎢⎢⎢⎢⎡1λ1λ12⋮λ1n−11λ2λ22⋮λ2n−11λ3λ32⋮λ3n−1⋯⋯⋯⋯1λnλn2⋮λnn−1⎦⎥⎥⎥⎥⎥⎤⋅⎣⎢⎢⎢⎢⎢⎡c1c2c3⋮cn⎦⎥⎥⎥⎥⎥⎤.- 应用克拉默定理转化
[ c 1 c 2 c 3 ⋮ c n ] = [ 1 1 1 ⋯ 1 λ 1 λ 2 λ 3 ⋯ λ n λ 1 2 λ 2 2 λ 3 2 ⋯ λ n 2 ⋮ ⋮ ⋮ ⋮ λ 1 n − 1 λ 2 n − 1 λ 3 n − 1 ⋯ λ n n − 1 ] − 1 ⋅ [ r ( 0 ) r ′ ( 0 ) r ′ ′ ′ ( 0 ) ⋮ r n − 1 ( 0 ) ] (14) \left[ \begin{matrix} c_{1}\\ c_{2}\\ c_{3}\\\vdots\\c_{n} \end{matrix} \right] = \left[ \begin{matrix} 1&1&1&\cdots&1\\ \lambda_{1}&\lambda_{2}&\lambda_{3}&\cdots&\lambda_{n}\\ \lambda_{1}^2&\lambda_{2}^2&\lambda_{3}^2&\cdots&\lambda_{n}^2\\ \vdots&\vdots&\vdots& &\vdots\\ \lambda_{1}^{n-1}&\lambda_{2}^{n-1}&\lambda_{3}^{n-1}&\cdots&\lambda_{n}^{n-1} \end{matrix} \right]^{-1} \cdot \left[ \begin{matrix} r(0)\\r^{\prime} (0)\\r^{\prime \prime \prime} (0)\\\vdots\\ r^{n-1} (0) \end{matrix} \right] \tag{14} ⎣⎢⎢⎢⎢⎢⎡c1c2c3⋮cn⎦⎥⎥⎥⎥⎥⎤=⎣⎢⎢⎢⎢⎢⎡1λ1λ12⋮λ1n−11λ2λ22⋮λ2n−11λ3λ32⋮λ3n−1⋯⋯⋯⋯1λnλn2⋮λnn−1⎦⎥⎥⎥⎥⎥⎤−1⋅⎣⎢⎢⎢⎢⎢⎡r(0)r′(0)r′′′(0)⋮rn−1(0)⎦⎥⎥⎥⎥⎥⎤(14)
- 补充:可逆矩阵求法:
A ⋅ E = E ⋅ A − 1 (15) A\cdot E=E\cdot A^{-1} \tag{15} A⋅E=E⋅A−1(15)
所以零输入响应结果为:
r z i ( t ) = r ( t ) = c 1 e λ 1 ⋅ t + c 2 e λ 2 ⋅ t + ⋯ + c n e λ n ⋅ t (16) r_{zi}(t)=r(t)=c_{1}e^{\lambda_{1}\cdot t}+c_{2}e^{\lambda_{2}\cdot t}+\cdots+c_{n}e^{\lambda_{n}\cdot t} \tag{16} rzi(t)=r(t)=c1eλ1⋅t+c2eλ2⋅t+⋯+cneλn⋅t(16)
四.零状态响应
(一).奇异函数
(1).阶跃函数
定义:
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\epsilon(t) = \left\{ \begin{aligned} &1&,&t>0\\ &0&,&t<0 \end{aligned} \right. \tag{17}
ϵ(t)={10,,t>0t<0(17)
为单位阶跃函数,如果给他乘上一个常数
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u_{a}(t) = \left\{ \begin{aligned} &E&,&t>0\\ &0&,&t<0 \end{aligned} \right. \tag{18}
ua(t)={E0,,t>0t<0(18)
称为阶跃函数。
函数说明:
- 函数 ϵ ( t ) \epsilon(t) ϵ(t)在 t = 0 t=0 t=0时发生跃变。
- 同时 ϵ ( t − t 1 ) \epsilon(t-t_{1}) ϵ(t−t1)在 t = t 1 t=t_{1} t=t1时发生跃变。
- 任何一个函数
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ϵ(t−t1)后可得:
f ( t ) ⋅ ϵ ( t − t 1 ) = { f ( t ) , t > t 1 0 , t < t 1 (19) f(t) \cdot \epsilon(t-t_{1})=\left \{ \begin{aligned} &f(t)&,&t>t_{1}\\ &0&,&t<t_{1} \end{aligned} \right . \tag{19} f(t)⋅ϵ(t−t1)={f(t)0,,t>t1t<t1(19)
这个性质我称之为取范围或确定定义域 - 补充:门函数与阶跃函数之间的关系
G τ ( t − t 1 ) = ϵ ( t − t 1 − τ 2 ) − ϵ ( t − t 1 + τ 2 ) (20) G_{\tau}(t-t_{1}) = \epsilon(t-t_{1} - \frac{\tau}{2}) - \epsilon(t-t_{1}+\frac{\tau}{2}) \tag{20} Gτ(t−t1)=ϵ(t−t1−2τ)−ϵ(t−t1+2τ)(20)
τ \tau τ为门函数的门宽;
t 1 t_{1} t1为门函数对称轴的横坐标。
(2).冲激函数
1.定义:在极限情况下,得到一个脉冲函数
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\left \{ \begin{aligned} &\int_a^b \delta(t)\cdot dt&=1&,&t=0\\ &\delta(t)&=0&,&t\not ={0} \end{aligned} \right. \tag{21}
⎩⎪⎨⎪⎧∫abδ(t)⋅dtδ(t)=1=0,,t=0t=0(21)
2.运算规则:
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\int_{- \infty}^{+ \infty}f(t) \cdot \delta(t) dt=f (0)\int_{- \infty}^{+ \infty} \delta(t) d t=f(0) \tag{22}
∫−∞+∞f(t)⋅δ(t)dt=f(0)∫−∞+∞δ(t)dt=f(0)(22)
注:冲击函数在整个定义域中积分值为1
推广:
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\int_{- \infty}^{+ \infty} f (t) \cdot \delta (t-t0) d t=f (t0)\int_{- \infty}^{+ \infty} \delta(t-t0) d t \tag{23}
∫−∞+∞f(t)⋅δ(t−t0)dt=f(t0)∫−∞+∞δ(t−t0)dt(23)
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\because \int_{- \infty}^{+ \infty} \delta(t-t0) d t=1\tag{24}
∵∫−∞+∞δ(t−t0)dt=1(24)
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\int_{- \infty}^{+ \infty} f (t) \cdot \delta (t-t0) d t=f(t0)\tag{25}
∫−∞+∞f(t)⋅δ(t−t0)dt=f(t0)(25)
该运算性质称为抽样性质,在求解零状态时作为中转函数进行取样得到对应时间点
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(3).阶跃函数和冲击函数之间的关系
{ δ ( t ) = d ϵ ( t ) d t ϵ ( t ) = ∫ − ∞ + ∞ δ ( t ) ⋅ d t (26) \left \{ \begin{aligned} &\delta (t)&=&\frac{d \epsilon (t) }{d t}\\ &\epsilon (t) &=& \int_{- \infty}^{+ \infty} \delta(t)\cdot dt \end{aligned} \right. \tag{26} ⎩⎪⎪⎨⎪⎪⎧δ(t)ϵ(t)==dtdϵ(t)∫−∞+∞δ(t)⋅dt(26)
(二).阶跃和冲激响应
对于一个线性非时变系统,如果在施加激励函数
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\lim_{\Delta t \rightarrow 0} \frac{e(t)-e(t-\Delta t)}{\Delta t}=\Delta t \tag{27}
Δt→0limΔte(t)−e(t−Δt)=Δt(27)
时将得到响应函数
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\lim_{\Delta t \rightarrow 0} \frac{r(t)-r(t-\Delta t)}{\Delta t}=\Delta t \tag{28}
Δt→0limΔtr(t)−r(t−Δt)=Δt(28)
同时当激励函数
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dtde(t)时,响应函数为
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dtdr(t)。
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下面开始推导如何求零状态响应
单位冲激响应以符号 h ( t ) h(t) h(t);
单位阶跃响应符号: r ϵ ( t ) r_{\epsilon}(t) rϵ(t)。
由阶跃函数和冲击函数之间的关系可得:
h ( t ) = d d t r ϵ ( t ) (29) h(t)= \frac{d}{ d t}r_{\epsilon}(t) \tag{29} h(t)=dtdrϵ(t)(29)
也可以得到单位阶跃响应是单位冲激响应的积分的结论:
r ϵ ( t ) = ∫ 0 − t h ( τ ) d τ (30) r_{\epsilon}(t)= \int_{0^-}^t h(\tau) d\tau \tag{30} rϵ(t)=∫0−th(τ)dτ(30)
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从激励到响应是经过一个作用来完成的,用数学表达式表示为等式 ( 6 ) (6) (6): r ( t ) = H ( p ) ⋅ e ( t ) r(t)=H(p)\cdot e(t) r(t)=H(p)⋅e(t) ;对响应 e ( t ) e(t) e(t)进行作用的是 H ( p ) H(p) H(p);
-
先解释一下 H ( p ) H(p) H(p)到底是什么
举几个例子吧
1.若 r ( t ) r(t) r(t)为电流, e ( t ) e(t) e(t)为电压,那么这里的 H ( p ) H(p) H(p)就是导纳,相当于 Y Y Y
2.若 r ( t ) r(t) r(t)为电压, e ( t ) e(t) e(t)为电流,那么这里的 H ( p ) H(p) H(p)就是阻抗,相当于 Z Z Z
那么现在可以大致的理解了,这个 H ( p ) H(p) H(p)就是在输入输出中间作用的黑箱子。 -
当激励函数 e ( t ) e(t) e(t)为单位冲激函数 δ ( t ) \delta (t) δ(t);
当响应函数 r ( t ) r(t) r(t)为系统的冲激响应 h ( t ) h(t) h(t)
可以表示成微分算子的形式:
h ( t ) = H ( p ) ⋅ δ ( t ) (31) h(t)=H(p)\cdot \delta (t)\tag{31} h(t)=H(p)⋅δ(t)(31)
由
H ( p ) = a n ⋅ p n + a n − 1 ⋅ p n − 1 + ⋯ + a 1 ⋅ p + a 0 b m ⋅ p m + b m − 1 ⋅ p m − 1 + ⋯ + b 1 ⋅ p + b 0 (32) H(p)=\frac{a_{n}\cdot p^n+a_{n-1}\cdot p^{n-1} +\cdots+a_{1}\cdot p +a_{0}}{b_{m}\cdot p^m+b_{m-1}\cdot p^{m-1}+\cdots+b_{1}\cdot p+b_{0}}\tag{32} H(p)=bm⋅pm+bm−1⋅pm−1+⋯+b1⋅p+b0an⋅pn+an−1⋅pn−1+⋯+a1⋅p+a0(32)
可化简为
H ( p ) ⋅ δ ( t ) = k 1 p − λ 1 ⋅ δ ( t ) + k 2 p − λ 2 ⋅ δ ( t ) + ⋯ + k n p − λ n ⋅ δ ( t ) (33) H(p) \cdot \delta(t)=\frac{k_{1}}{p-\lambda_{1}}\cdot \delta(t)+ \frac{k_{2}}{p-\lambda_{2}}\cdot \delta(t)+ \cdots+ \frac{k_{n}}{p-\lambda_{n}}\cdot \delta(t)\tag{33} H(p)⋅δ(t)=p−λ1k1⋅δ(t)+p−λ2k2⋅δ(t)+⋯+p−λnkn⋅δ(t)(33)
由公式:
k 1 p − λ 1 ⋅ δ ( t ) = k 1 ⋅ e λ 1 t ϵ ( t ) \frac{k_{1}}{p-\lambda_{1}}\cdot \delta(t)=k_{1} \cdot e^{\lambda_{1} t} \epsilon (t) p−λ1k1⋅δ(t)=k1⋅eλ1tϵ(t)
k ( p − λ ) 2 ⋅ δ ( t ) = k ⋅ t ⋅ e λ t ϵ ( t ) \frac{k}{(p-\lambda)^2}\cdot \delta(t)=k \cdot t \cdot e^{\lambda t} \epsilon (t) (p−λ)2k⋅δ(t)=k⋅t⋅eλtϵ(t)
k ( p − λ ) n ⋅ δ ( t ) = k ⋅ t n − 1 ( n − 1 ) ! ⋅ e λ t ϵ ( t ) \frac{k}{(p-\lambda)^n}\cdot \delta(t)=k \cdot \frac{t^{n-1}}{(n-1)!} \cdot e^{\lambda t} \epsilon (t) (p−λ)nk⋅δ(t)=k⋅(n−1)!tn−1⋅eλtϵ(t)
可得:
h ( t ) = ∑ i = 1 n k i ⋅ e λ i t ⋅ ϵ ( t ) (34) h(t)=\sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} t} \cdot \epsilon (t)\tag{34} h(t)=i=1∑nki⋅eλit⋅ϵ(t)(34)
(三).叠加积分
-
假设线性非时变系统的冲击响应为 h ( t ) h(t) h(t)
(1)根据时不变特性,系统对 δ ( t − τ ) \delta(t-\tau) δ(t−τ)的响应为 h ( t − τ ) h(t-\tau) h(t−τ);
(2)根据齐次性,系统对 e ( τ ) δ ( t − τ ) e(\tau)\delta(t-\tau) e(τ)δ(t−τ)的响应为 e ( τ ) h ( t − τ ) e(\tau)h(t-\tau) e(τ)h(t−τ);- 解释 一下这个
e
(
τ
)
δ
(
t
−
τ
)
e(\tau)\delta(t-\tau)
e(τ)δ(t−τ)和
e
(
τ
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h
(
t
−
τ
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e(\tau)h(t-\tau)
e(τ)h(t−τ);
e ( τ ) δ ( t − τ ) e(\tau)\delta(t-\tau) e(τ)δ(t−τ)利用抽样性质,取得 e ( τ ) e(\tau) e(τ)在 t t t时刻的函数值 e ( t ) e(t) e(t)
同时 e ( τ ) h ( t − τ ) e(\tau)h(t-\tau) e(τ)h(t−τ)是在对 e ( τ ) e(\tau) e(τ)的响应函数在 t t t时刻的抽样
(3)根据叠加性,系统对 ∫ 0 t e ( τ ) δ ( t − τ ) d τ \int_0^t e(\tau)\delta(t-\tau) d\tau ∫0te(τ)δ(t−τ)dτ的响应为 ∫ 0 t e ( τ ) h ( t − τ ) d τ \int_0^te(\tau)h(t-\tau) d\tau ∫0te(τ)h(t−τ)dτ;
由此系统对 e ( t ) = ∫ 0 t e ( τ ) δ ( t − τ ) d τ e(t)=\int_0^t e(\tau)\delta(t-\tau) d\tau e(t)=∫0te(τ)δ(t−τ)dτ的响应为 r ( t ) = ∫ 0 t e ( τ ) h ( t − τ ) d τ r(t)=\int_0^te(\tau)h(t-\tau) d\tau r(t)=∫0te(τ)h(t−τ)dτ - 解释 一下这个
e
(
τ
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δ
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t
−
τ
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e(\tau)\delta(t-\tau)
e(τ)δ(t−τ)和
e
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τ
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h
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t
−
τ
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e(\tau)h(t-\tau)
e(τ)h(t−τ);
由上面可得阶跃响应
r
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t
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=
∫
0
−
t
e
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τ
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h
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t
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d
τ
(35)
r(t)=\int_{0^-}^te(\tau)h(t-\tau) d\tau\tag{35}
r(t)=∫0−te(τ)h(t−τ)dτ(35)
最终就得到了零状态响应
r
z
s
(
t
)
=
r
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t
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r_{zs}(t)=r(t)
rzs(t)=r(t)
上面可以得到 r ( t ) = e ( t ) ∗ h ( t ) r(t)=e(t)*h(t) r(t)=e(t)∗h(t)是由激励和冲激响应卷积的得到的。
- 总的写出来为:
r z s ( t ) = r ( t ) = ∫ 0 − t e ( τ ) h ( t − τ ) d τ = ∫ − ∞ + ∞ e ( τ ) ⋅ H ( p ) ⋅ δ ( t − τ ) d τ = H ( p ) ⋅ ∫ − ∞ + ∞ e ( τ ) ⋅ δ ( t − τ ) d τ = H ( p ) ⋅ e ( t ) (36) r_{zs}(t)=r(t)=\int_{0^-}^te(\tau)h(t-\tau) d\tau =\int_{- \infty}^{+ \infty} e(\tau) \cdot H(p) \cdot \delta (t-\tau) d\tau=H(p) \cdot \int_{- \infty}^{+ \infty} e(\tau)\cdot \delta (t-\tau) d\tau=H(p) \cdot e(t)\tag{36} rzs(t)=r(t)=∫0−te(τ)h(t−τ)dτ=∫−∞+∞e(τ)⋅H(p)⋅δ(t−τ)dτ=H(p)⋅∫−∞+∞e(τ)⋅δ(t−τ)dτ=H(p)⋅e(t)(36)
r z s ( t ) = r ( t ) = ∫ 0 − t e ( τ ) h ( t − τ ) d τ = ∫ 0 − t e ( τ ) ⋅ ∑ i = 1 n k i ⋅ e λ i ( t − τ ) ⋅ ϵ ( t − τ ) d τ = ∑ i = 1 n k i ⋅ e λ i t ⋅ ∫ 0 − t e ( τ ) ⋅ e − τ ⋅ ϵ ( t − τ ) d τ (37) r_{zs}(t)=r(t)=\int_{0^-}^te(\tau)h(t-\tau) d\tau = \int_{0^-}^t e(\tau) \cdot \sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} (t-\tau)} \cdot \epsilon (t-\tau) d\tau= \sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} t} \cdot\int_{0^-}^t e(\tau) \cdot e^{-\tau} \cdot \epsilon (t-\tau) d\tau \tag{37} rzs(t)=r(t)=∫0−te(τ)h(t−τ)dτ=∫0−te(τ)⋅i=1∑nki⋅eλi(t−τ)⋅ϵ(t−τ)dτ=i=1∑nki⋅eλit⋅∫0−te(τ)⋅e−τ⋅ϵ(t−τ)dτ(37)
五.卷积积分
- 定义:两个具有共同变量
t
t
t的函数
f
1
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t
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f_{1}(t)
f1(t)和
f
2
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t
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f_{2}(t)
f2(t)相卷积而成为第三个相同变量
t
t
t的函数
g
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t
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g(t)
g(t),这种运算关系是由下式定义的:
g ( t ) = f 1 ( t ) ∗ f 2 ( t ) = ∫ − ∞ + ∞ f 1 ( τ ) ⋅ f 2 ( t − τ ) d τ (38) g(t) = f_{1}(t)*f_{2}(t)=\int_{- \infty}^{+ \infty }f_{1}( \tau ) \cdot f_{2}(t - \tau) d \tau\tag{38} g(t)=f1(t)∗f2(t)=∫−∞+∞f1(τ)⋅f2(t−τ)dτ(38)
卷积有时也称褶积
卷积积分的表格这个可以上网随便搜一个用就行
卷积积分表
- 性质:
- 互换律:
u ( t ) ∗ v ( t ) = v ( t ) ∗ u ( t ) (39-a) u(t)*v(t)=v(t)*u(t)\tag{39-a} u(t)∗v(t)=v(t)∗u(t)(39-a) - 分配律:
u ( t ) ∗ [ v ( t ) + w ( t ) ] = u ( t ) ∗ v ( t ) + u ( t ) ∗ w ( t ) (39-b) u(t)*[v(t)+w(t)]=u(t)*v(t)+u(t)*w(t)\tag{39-b} u(t)∗[v(t)+w(t)]=u(t)∗v(t)+u(t)∗w(t)(39-b) - 结合律:
u ( t ) ∗ [ v ( t ) ∗ w ( t ) ] = [ u ( t ) ∗ v ( t ) ] ∗ w ( t ) (39-c) u(t)*[v(t)*w(t)]=[u(t)*v(t)]*w(t)\tag{39-c} u(t)∗[v(t)∗w(t)]=[u(t)∗v(t)]∗w(t)(39-c) - 函数相卷积后的微分:
d d t [ u ( t ) ∗ v ( t ) ] = d u ( t ) d t ∗ v ( t ) + u ( t ) ∗ d v ( t ) d t (39-d) \frac{d}{d t}[u(t)*v(t)]=\frac{d u(t)}{d t}*v(t) + u(t)*\frac{d v(t)}{d t }\tag{39-d} dtd[u(t)∗v(t)]=dtdu(t)∗v(t)+u(t)∗dtdv(t)(39-d) - 函数相卷积后的积分:
∫ − ∞ t [ u ( x ) ∗ v ( x ) ] d x = u ( t ) ∗ [ ∫ − ∞ t v ( x ) d x ] + [ ∫ − ∞ t u ( x ) d x ] ∗ v ( t ) (39-e) \int_{- \infty}^{t}[u(x)*v(x)] dx = u(t)*[\int_{- \infty}^{t}v(x)dx]+[\int_{- \infty}^{t}u(x)dx]*v(t)\tag{39-e} ∫−∞t[u(x)∗v(x)]dx=u(t)∗[∫−∞tv(x)dx]+[∫−∞tu(x)dx]∗v(t)(39-e) - 函数延时后的卷积:
f 1 ( t ) ∗ f 2 ( t ) = g ( t ) (39-f1) f_{1}(t)*f_{2}(t) = g(t)\tag{39-f1} f1(t)∗f2(t)=g(t)(39-f1)
f 1 ( t − t 1 ) ∗ f 2 ( t − t 2 ) = g ( t − t 1 − t 2 ) (39-f2) f_{1}(t-t_{1})*f_{2}(t - t_{2}) = g(t - t_{1} - t_{2})\tag{39-f2} f1(t−t1)∗f2(t−t2)=g(t−t1−t2)(39-f2) - 相关与卷积
R x y ( t ) = ∫ − ∞ + ∞ x ( τ ) ⋅ y ( t − τ ) d τ R_{xy}(t) = \int_{- \infty}^{+ \infty}x(\tau) \cdot y(t - \tau) d \tau Rxy(t)=∫−∞+∞x(τ)⋅y(t−τ)dτ
R y X ( t ) = ∫ − ∞ + ∞ y ( τ ) ⋅ x ( t − τ ) d τ R_{yX}(t) = \int_{- \infty}^{+ \infty}y(\tau) \cdot x(t - \tau) d \tau RyX(t)=∫−∞+∞y(τ)⋅x(t−τ)dτ
R x y ( t ) = R y x ( − t ) (39-g) R_{xy}(t)=R_{yx}(-t)\tag{39-g} Rxy(t)=Ryx(−t)(39-g)
- 互换律:
六.线性系统的时域求解
(1).解题步骤:
- 先根据题目得出
D ( p ) ⋅ r ( t ) = N ( p ) ⋅ e ( t ) D(p)\cdot r(t)=N(p)\cdot e(t) D(p)⋅r(t)=N(p)⋅e(t) - 求零输入响应:(
e
(
t
)
=
0
e(t)=0
e(t)=0)
D ( p ) ⋅ r ( t ) = 0 D(p)\cdot r(t)=0 D(p)⋅r(t)=0- 根据
(
10
)
(
11
)
(
12
)
(10)(11)(12)
(10)(11)(12)可以求得:
r z i ( t ) = r ( t ) = c 1 e λ 1 ⋅ t + c 2 e λ 2 ⋅ t + ⋯ + c n e λ n ⋅ t = ∑ i = 1 n c i ⋅ e λ i t ⋅ ϵ ( t ) r_{zi}(t)=r(t)=c_{1}e^{\lambda_{1}\cdot t}+c_{2}e^{\lambda_{2}\cdot t}+\cdots+c_{n}e^{\lambda_{n}\cdot t}=\sum_{i=1}^nc_{i} \cdot e^{\lambda_{i}t}\cdot \epsilon(t) rzi(t)=r(t)=c1eλ1⋅t+c2eλ2⋅t+⋯+cneλn⋅t=i=1∑nci⋅eλit⋅ϵ(t)
- 根据
(
10
)
(
11
)
(
12
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(10)(11)(12)
(10)(11)(12)可以求得:
- 求零状态响应:(
e
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t
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≠
0
e(t) \not ={0}
e(t)=0)
r ( t ) = N ( p ) D ( p ) ⋅ e ( t ) ⟶ r ( t ) = H ( p ) ⋅ e ( t ) r(t)=\frac{N(p)}{D(p)}\cdot e(t) \longrightarrow r(t)=H(p) \cdot e(t) r(t)=D(p)N(p)⋅e(t)⟶r(t)=H(p)⋅e(t)- 由
(
33
)
(
34
)
(33)(34)
(33)(34)可先求得单位冲激响应
h
(
t
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h(t)
h(t):
h ( t ) = ∑ i = 1 n k i ⋅ e λ i t ⋅ ϵ ( t ) h(t)=\sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} t} \cdot \epsilon (t) h(t)=i=1∑nki⋅eλit⋅ϵ(t)-
求 k i k_{i} ki:
k i = H ( p ) ⋅ ( p − λ i ) ∣ p = λ i (40) k_{i} = H(p) \cdot (p - \lambda_{i}) \mid_{p = \lambda_i} \tag{40} ki=H(p)⋅(p−λi)∣p=λi(40)H ( p ) = k 1 p − λ 1 + k 2 p − λ 2 + ⋯ + k n p − λ n (41) H(p) =\frac{k_{1}}{p-\lambda_{1}}+ \frac{k_{2}}{p-\lambda_{2}}+ \cdots+ \frac{k_{n}}{p-\lambda_{n}}\tag{41} H(p)=p−λ1k1+p−λ2k2+⋯+p−λnkn(41)
由 ( 40 ) ( 41 ) (40)(41) (40)(41)可以求得 k i k_{i} ki。
-
- 通过卷积积分可以得到系统零状态响应为:
r z s ( t ) = r ( t ) = e ( t ) ∗ h ( t ) = ∫ 0 − t e ( τ ) h ( t − τ ) d τ = ∑ i = 1 n k i ⋅ e λ i t ⋅ ∫ 0 − t e ( τ ) ⋅ e − τ ⋅ ϵ ( t − τ ) d τ r_{zs}(t)=r(t)= e(t)*h(t) =\int_{0^-}^te(\tau)h(t-\tau) d\tau = \sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} t} \cdot\int_{0^-}^t e(\tau) \cdot e^{-\tau} \cdot \epsilon (t-\tau) d\tau rzs(t)=r(t)=e(t)∗h(t)=∫0−te(τ)h(t−τ)dτ=i=1∑nki⋅eλit⋅∫0−te(τ)⋅e−τ⋅ϵ(t−τ)dτ
- 由
(
33
)
(
34
)
(33)(34)
(33)(34)可先求得单位冲激响应
h
(
t
)
h(t)
h(t):
- 由系统零状态响应和零输入响应分量组成全响应为:
r ( t ) = r z i ( t ) + r z s ( t ) = { ∑ i = 1 n c i ⋅ e λ i t ⋅ ϵ ( t ) + ∑ i = 1 n k i ⋅ e λ i t ⋅ ∫ 0 − t e ( τ ) ⋅ e − τ ⋅ ϵ ( t − τ ) d τ } ⋅ ϵ ( t ) r(t)=r_{zi}(t)+r_{zs}(t)= \left \{ \sum_{i=1}^nc_{i} \cdot e^{\lambda_{i}t}\cdot \epsilon(t) + \sum_{i=1}^n k_{i} \cdot e^{\lambda_{i} t} \cdot\int_{0^-}^t e(\tau) \cdot e^{-\tau} \cdot \epsilon (t-\tau) d\tau \right \} \cdot \epsilon(t) r(t)=rzi(t)+rzs(t)={i=1∑nci⋅eλit⋅ϵ(t)+i=1∑nki⋅eλit⋅∫0−te(τ)⋅e−τ⋅ϵ(t−τ)dτ}⋅ϵ(t)
(2).响应分解:
r ( t ) = r(t)= r(t)=零状态响应 + + +零输入响应=自然响应 + + +受迫响应=瞬态响应 + + +稳态响应
- 自然响应:由零状态响应求得的 e λ i t e^{\lambda_i t} eλit中得 λ i \lambda_i λi,在化简后含有 e λ j t e^{\lambda_j t} eλjt项中 λ j = λ i \lambda_j=\lambda_i λj=λi的项的总和称为自然响应。
- 受迫响应:除去自然响应后其他部分的总和为受迫响应。
- 稳态响应:不含 e λ t e^{\lambda t} eλt项的总和。
- 瞬态响应:除去稳态响应项后其他项的总和。
八.总结
由激励来得到响应计算过程比较固定,对电路或者黑匣子的作用要先了解才能得到 H ( p ) H(p) H(p),在求解中,得到 H ( p ) H(p) H(p)后其他的只要按照步骤完成计算就可得到结果,理解起来不容易,但是解题方法固定,还是比较好解的,主要式先要理解一下每个过程式为什么,取样时什么,阶跃函数和激励函数这两个只要理解其性质,对于整个求解过程就非常的明白了!