*本文只介绍计算方法,并不涉及计算原理。
1. 连续系统形式
对于一个线性定常连续系统,其一般形式为
W
(
s
)
=
b
m
s
m
+
b
m
−
1
s
m
−
1
+
⋯
+
b
1
s
+
b
0
a
n
s
n
+
a
n
−
1
s
n
−
1
+
⋯
+
a
1
s
+
a
0
(
n
,
m
∈
Z
,
n
≥
m
)
W(s) = \frac{b_m s^m + b_{m-1} s^{m-1} + \cdots + b_1 s + b_0}{a_n s^n + a_{n-1} s^{n-1} + \cdots + a_1 s + a_0} \quad \left( n, m \in Z, n \geq m \right)
W(s)=ansn+an−1sn−1+⋯+a1s+a0bmsm+bm−1sm−1+⋯+b1s+b0(n,m∈Z,n≥m)设其极点为
s
=
−
d
i
(
i
=
1
,
⋯
,
n
)
s = -d_i \left( i = 1, \cdots, n \right)
s=−di(i=1,⋯,n),则上式可以化为
W
(
s
)
=
∑
i
n
c
i
s
+
d
i
(1)
W(s) = \sum _i ^ n \frac{c_i}{s+d_i} \tag{1}
W(s)=i∑ns+dici(1)其中系数
c
i
c_i
ci可用留数定理计算:
c
i
=
W
(
s
)
(
s
+
d
i
)
∣
s
=
−
d
i
c_i = W(s) \left( s+ d_i \right) \Big\rvert _{s = -d_i}
ci=W(s)(s+di)
s=−di
2. 极点代换
连续系统为
s
s
s域,离散系统为
z
z
z域,两者之间存在变量代换。变量代换具有如下形式:
1
s
+
d
i
→
1
1
−
z
−
1
e
−
d
i
T
(2)
\frac{1}{s+d_i} \rightarrow \frac{1}{1-z^{-1} e^{-d_iT}} \tag{2}
s+di1→1−z−1e−diT1(2)其中
T
T
T为离散化时间单位(如0.01s)。
把式(1)中的每一项代换成式(2)的形式,即可将连续系统传函
W
(
s
)
W(s)
W(s)转换成其极点代换形式
W
d
(
z
)
W_d (z)
Wd(z)。
3. 等效离散系统
在得到了极点代换形式
W
d
(
s
)
W_d (s)
Wd(s)的基础上,通过如下公式得到原连续系统
W
(
s
)
W(s)
W(s)的等效离散系统
W
(
z
)
W(z)
W(z):
W
(
z
)
=
∣
W
(
j
ω
)
∣
∣
W
d
(
e
j
ω
T
)
∣
W
d
(
z
)
(3)
W(z) = \frac{ \big\lvert W \left( j \omega \right) \big\rvert}{ \big\lvert W_d \left( e^{j \omega T} \right)\big\rvert} W_d (z) \tag{3}
W(z)=
Wd(ejωT)
W(jω)
Wd(z)(3)其中
∣
W
(
⋅
)
∣
\big\lvert W(\cdot) \big\rvert
W(⋅)
指
W
(
⋅
)
W(\cdot)
W(⋅)的模值;
T
T
T为离散化时间单位,根据实际问题取值;
ω
\omega
ω取1。
4. 计算举例
以如下传递函数为例,计算其等效离散系统的传函。离散化时间间隔
T
=
0.01
s
T = 0.01s
T=0.01s。
W
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s
)
=
s
+
1
s
2
+
12
s
+
32
=
s
+
1
(
s
+
4
)
(
s
+
8
)
W(s) = \frac{s+1}{s^2 + 12s + 32} = \frac{s+1}{(s+4)(s+8)}
W(s)=s2+12s+32s+1=(s+4)(s+8)s+1(1) 首先利用留数定理将其写成式(1)形式。
c
1
=
W
(
s
)
(
s
+
4
)
∣
s
=
−
4
=
s
+
1
s
+
8
∣
s
=
−
4
=
−
0.75
c
2
=
W
(
s
)
(
s
+
8
)
∣
s
=
−
8
=
s
+
1
s
+
4
∣
s
=
−
8
=
1.75
c_1 = W(s) (s+4) \Big\rvert_{s=-4} = \frac{s+1}{s+8} \Bigg\rvert_{s=-4} = -0.75 \\ c_2 = W(s) (s+8) \Big\rvert_{s=-8} = \frac{s+1}{s+4} \Bigg\rvert_{s=-8} = 1.75
c1=W(s)(s+4)
s=−4=s+8s+1
s=−4=−0.75c2=W(s)(s+8)
s=−8=s+4s+1
s=−8=1.75于是
W
(
s
)
=
c
1
s
+
d
1
+
c
2
s
+
d
2
=
−
0.75
s
+
4
+
1.75
s
+
8
W(s) = \frac{c_1}{s+d_1} + \frac{c_2}{s+d_2} = \frac{-0.75}{s+4} + \frac{1.75}{s+8}
W(s)=s+d1c1+s+d2c2=s+4−0.75+s+81.75
(2) 极点代换。根据式(2),可以得到极点代换形式的传函:
W
d
(
z
)
=
c
1
1
−
z
−
1
e
−
d
1
T
+
c
2
1
−
z
−
1
e
−
d
2
T
=
−
0.75
1
−
z
−
1
e
−
4
T
+
1.75
1
−
z
−
1
e
−
8
T
∣
T
=
0.01
=
−
0.75
1
−
z
−
1
e
−
0.04
+
1.75
1
−
z
−
1
e
−
0.08
=
−
0.75
1
−
0.96079
z
−
1
+
1.75
1
−
0.92312
z
−
1
=
1
−
0.98904
z
−
1
1
−
1.88391
z
−
1
+
0.88692
z
−
2
=
z
2
−
0.98904
z
z
2
−
1.88391
z
+
0.88692
\begin{aligned} W_d (z) &= \frac{c_1}{1-z^{-1} e^{-d_1T}} + \frac{c_2}{1-z^{-1} e^{-d_2T}} \\ &= \frac{-0.75}{1-z^{-1} e^{-4T}} + \frac{1.75}{1-z^{-1} e^{-8T}} \Bigg\rvert_{T=0.01} \\ &= \frac{-0.75}{1-z^{-1} e^{-0.04}} + \frac{1.75}{1-z^{-1} e^{-0.08}} \\ &= \frac{-0.75}{1-0.96079z^{-1}} + \frac{1.75}{1-0.92312z^{-1}} \\ &= \frac{1-0.98904z^{-1}}{1-1.88391z^{-1}+0.88692z^{-2}} \\ &= \frac{z^2-0.98904z}{z^2-1.88391z+0.88692} \end{aligned}
Wd(z)=1−z−1e−d1Tc1+1−z−1e−d2Tc2=1−z−1e−4T−0.75+1−z−1e−8T1.75
T=0.01=1−z−1e−0.04−0.75+1−z−1e−0.081.75=1−0.96079z−1−0.75+1−0.92312z−11.75=1−1.88391z−1+0.88692z−21−0.98904z−1=z2−1.88391z+0.88692z2−0.98904z
(3) 等效离散系统。根据式(3),需要先计算两个模值
∣
W
(
j
ω
)
∣
\big\lvert W \left( j \omega \right) \big\rvert
W(jω)
和
∣
W
d
(
e
j
ω
T
)
∣
\big\lvert W_d \left( e^{j \omega T} \right)\big\rvert
Wd(ejωT)
。对于前者:
∣
W
(
j
ω
)
∣
=
∣
s
+
1
(
s
+
4
)
(
s
+
8
)
∣
s
=
j
ω
=
ω
2
+
1
ω
2
+
4
2
ω
2
+
8
2
∣
ω
=
1
=
2
17
65
=
0.04254
\begin{aligned} \Big\lvert W \left( j \omega \right) \Big\rvert &= \Bigg\lvert \frac{s+1}{(s+4)(s+8)} \Bigg\rvert_{s=j \omega} \\ &= \frac{ \sqrt{\omega^2 + 1} }{ \sqrt{\omega^2 + 4^2} \sqrt{\omega^2 + 8^2} } \Bigg\rvert_{\omega = 1} = \frac{ \sqrt{2} }{ \sqrt{17} \sqrt{65} } = 0.04254 \end{aligned}
W(jω)
=
(s+4)(s+8)s+1
s=jω=ω2+42ω2+82ω2+1
ω=1=17652=0.04254对于后者:
∣
W
d
(
e
j
ω
T
)
∣
=
∣
z
2
−
0.98904
z
z
2
−
1.88391
z
+
0.88692
∣
z
=
e
j
ω
T
=
∣
e
2
j
ω
T
−
0.98904
e
j
ω
T
e
2
j
ω
T
−
1.88391
e
j
ω
T
+
0.88692
∣
T
=
0.01
,
ω
=
1
=
∣
e
0.02
j
−
0.98904
e
0.01
j
e
0.02
j
−
1.88391
e
0.01
j
+
0.88692
∣
=
∣
(
cos
0.02
+
j
sin
0.02
)
−
0.98904
(
cos
0.01
+
j
sin
0.01
)
(
cos
0.02
+
j
sin
0.02
)
−
1.88391
(
cos
0.01
+
j
sin
0.01
)
+
0.88692
∣
=
∣
0.01081
+
0.01011
j
0.002904
+
0.0011599
j
∣
=
∣
4.40952
+
1.72018
j
∣
=
4.73317
\begin{aligned} \Big\lvert W_d \left( e^{j \omega T} \right) \Big\rvert &= \Bigg\lvert \frac{z^2-0.98904z}{z^2-1.88391z+0.88692} \Bigg\rvert_{z = e^{j \omega T} } \\ &= \Bigg\lvert \frac{e^{2 j \omega T}-0.98904e^{j \omega T}}{e^{2 j \omega T}-1.88391e^{j \omega T}+0.88692} \Bigg\rvert_{T=0.01, \\\ \omega = 1} \\ &= \Bigg\lvert \frac{e^{0.02j}-0.98904e^{0.01j}}{e^{0.02j}-1.88391e^{0.01j}+0.88692} \Bigg\rvert \\ &= \Bigg\lvert \frac{ \left( \cos 0.02+ j \sin 0.02 \right)-0.98904 \left( \cos 0.01+ j \sin 0.01 \right)}{\left( \cos 0.02+ j \sin 0.02 \right)-1.88391\left( \cos 0.01+ j \sin 0.01 \right)+0.88692} \Bigg\rvert \\ &= \Bigg\lvert \frac{0.01081+0.01011j}{0.002904+0.0011599j} \Bigg\rvert \\ &= \Big\lvert 4.40952+1.72018j \Big\rvert = 4.73317 \end{aligned}
Wd(ejωT)
=
z2−1.88391z+0.88692z2−0.98904z
z=ejωT=
e2jωT−1.88391ejωT+0.88692e2jωT−0.98904ejωT
T=0.01, ω=1=
e0.02j−1.88391e0.01j+0.88692e0.02j−0.98904e0.01j
=
(cos0.02+jsin0.02)−1.88391(cos0.01+jsin0.01)+0.88692(cos0.02+jsin0.02)−0.98904(cos0.01+jsin0.01)
=
0.002904+0.0011599j0.01081+0.01011j
=
4.40952+1.72018j
=4.73317代入(3),即可得到离散系统的传函:
W
(
z
)
=
∣
W
(
j
ω
)
∣
∣
W
d
(
e
j
ω
T
)
∣
W
d
(
z
)
=
0.04254
4.73317
W
d
(
z
)
=
0.008988
z
2
−
0.98904
z
z
2
−
1.88391
z
+
0.88692
=
0.008988
z
2
−
0.008889
z
z
2
−
1.88391
z
+
0.88692
\begin{aligned} W(z) &= \frac{ \big\lvert W \left( j \omega \right) \big\rvert}{ \big\lvert W_d \left( e^{j \omega T} \right)\big\rvert} W_d (z) = \frac{0.04254}{4.73317} W_d (z) \\ &= 0.008988 \frac{z^2-0.98904z}{z^2-1.88391z+0.88692} \\ &= \frac{0.008988z^2-0.008889z}{z^2-1.88391z+0.88692} \end{aligned}
W(z)=
Wd(ejωT)
W(jω)
Wd(z)=4.733170.04254Wd(z)=0.008988z2−1.88391z+0.88692z2−0.98904z=z2−1.88391z+0.886920.008988z2−0.008889z