概述
常微分方程的一般形式的拉普拉斯变换推导。
方程表述
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(1)
Y^{'} = AY + B \tag{1}
Y′=AY+B(1)
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Y^{'} = \begin{bmatrix}y_1^{'}(t)\\y_2^{'}(t)\\\vdots\\y_n^{'}(t)\end{bmatrix}
Y′=⎣⎢⎢⎢⎡y1′(t)y2′(t)⋮yn′(t)⎦⎥⎥⎥⎤、
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Y = \begin{bmatrix}y_1(t)\\y_2(t)\\\vdots\\y_n(t)\end{bmatrix}
Y=⎣⎢⎢⎢⎡y1(t)y2(t)⋮yn(t)⎦⎥⎥⎥⎤、
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A=\begin{bmatrix} a_{11} & a_{12} & \cdots &a_{1n}\\ a_{21} & a_{22} & \cdots &a_{2n}\\ \vdots & \vdots & \vdots & \vdots\\ a_{n1} & a_{n2} & \cdots &a_{nn}\\ \end{bmatrix}
A=⎣⎢⎢⎢⎡a11a21⋮an1a12a22⋮an2⋯⋯⋮⋯a1na2n⋮ann⎦⎥⎥⎥⎤、
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B=\begin{bmatrix} b_1(t)\\ b_2(t)\\ \vdots\\ b_n(t) \end{bmatrix}
B=⎣⎢⎢⎢⎡b1(t)b2(t)⋮bn(t)⎦⎥⎥⎥⎤，分别带入等式(1)得
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(2)
\begin{bmatrix} y_1^{'}(t)\\ y_2^{'}(t)\\ \vdots\\ y_n^{'}(t) \end{bmatrix}= \begin{bmatrix} a_{11} & a_{12} & \cdots &a_{1n}\\ a_{21} & a_{22} & \cdots &a_{2n}\\ \vdots & \vdots & \vdots & \vdots\\ a_{n1} & a_{n2} & \cdots &a_{nn}\\ \end{bmatrix} \begin{bmatrix} y_1(t)\\ y_2(t)\\ \vdots\\ y_n(t) \end{bmatrix} + \begin{bmatrix} b_1(t)\\ b_2(t)\\ \vdots\\ b_n(t) \end{bmatrix} \tag{2}
⎣⎢⎢⎢⎡y1′(t)y2′(t)⋮yn′(t)⎦⎥⎥⎥⎤=⎣⎢⎢⎢⎡a11a21⋮an1a12a22⋮an2⋯⋯⋮⋯a1na2n⋮ann⎦⎥⎥⎥⎤⎣⎢⎢⎢⎡y1(t)y2(t)⋮yn(t)⎦⎥⎥⎥⎤+⎣⎢⎢⎢⎡b1(t)b2(t)⋮bn(t)⎦⎥⎥⎥⎤(2)
将等式(2)展开得
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(3)
\left \{ \begin{array}{rl} y_1^{'}(t) = a_{11}y_1(t) + a_{12}y_2(t) + \cdots+a_{1n}y_n(t) + b_1(t)\\ y_2^{'}(t) = a_{21}y_1(t) + a_{22}y_2(t) + \cdots+a_{2n}y_n(t) + b_2(t)\\ \vdots \qquad\qquad\qquad\qquad\qquad\\ y_n^{'}(t) = a_{n1}y_1(t) + a_{n2}y_2(t) + \cdots+a_{nn}y_n(t) + b_n(t)\\ \end{array} \right. \tag{3}
⎩⎪⎪⎪⎨⎪⎪⎪⎧y1′(t)=a11y1(t)+a12y2(t)+⋯+a1nyn(t)+b1(t)y2′(t)=a21y1(t)+a22y2(t)+⋯+a2nyn(t)+b2(t)⋮yn′(t)=an1y1(t)+an2y2(t)+⋯+annyn(t)+bn(t)(3)
对等式(3)进行拉普拉斯变换得
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(4)
\left \{ \begin{array}{rl} sY_1(s) - y_1(0)= a_{11}Y_1(s) + a_{12}Y_2(s) + \cdots+a_{1n}Y_n(s) + B_1(s)\\ sY_2(s) - y_2(0)= a_{21}Y_1(s) + a_{22}Y_2(s) + \cdots+a_{2n}Y_n(s) + B_1(s)\\ \vdots \qquad\qquad\qquad\qquad\qquad\qquad\\ sY_n(s) - y_n(0)= a_{n1}Y_1(s) + a_{n2}Y_2(s) + \cdots+a_{nn}Y_n(s) + B_n(s)\\ \end{array} \right. \tag{4}
⎩⎪⎪⎪⎨⎪⎪⎪⎧sY1(s)−y1(0)=a11Y1(s)+a12Y2(s)+⋯+a1nYn(s)+B1(s)sY2(s)−y2(0)=a21Y1(s)+a22Y2(s)+⋯+a2nYn(s)+B1(s)⋮sYn(s)−yn(0)=an1Y1(s)+an2Y2(s)+⋯+annYn(s)+Bn(s)(4)
将等式(4)写成矩阵形式为
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(5)
s \begin{bmatrix} Y_1(s)\\ Y_2(s)\\ \vdots\\ Y_n(s) \end{bmatrix}= \begin{bmatrix} a_{11} & a_{12} & \cdots &a_{1n}\\ a_{21} & a_{22} & \cdots &a_{2n}\\ \vdots & \vdots & \vdots & \vdots\\ a_{n1} & a_{n2} & \cdots &a_{nn}\\ \end{bmatrix} \begin{bmatrix} Y_1(s)\\ Y_2(s)\\ \vdots\\ Y_n(s) \end{bmatrix}+ \begin{bmatrix} B_1(s)\\ B_2(s)\\ \vdots\\ B_n(s)\\ \end{bmatrix}+ \begin{bmatrix} y_1(0)\\ y_2(0)\\ \vdots\\ y_n(0)\\ \end{bmatrix} \tag{5}
s⎣⎢⎢⎢⎡Y1(s)Y2(s)⋮Yn(s)⎦⎥⎥⎥⎤=⎣⎢⎢⎢⎡a11a21⋮an1a12a22⋮an2⋯⋯⋮⋯a1na2n⋮ann⎦⎥⎥⎥⎤⎣⎢⎢⎢⎡Y1(s)Y2(s)⋮Yn(s)⎦⎥⎥⎥⎤+⎣⎢⎢⎢⎡B1(s)B2(s)⋮Bn(s)⎦⎥⎥⎥⎤+⎣⎢⎢⎢⎡y1(0)y2(0)⋮yn(0)⎦⎥⎥⎥⎤(5)
由等式(5)得
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(6)
sY(s) = AY(s) + B(s) + y(0) \tag{6}
sY(s)=AY(s)+B(s)+y(0)(6)
s I n Y ( s ) − A Y ( s ) = B ( s ) + y ( 0 ) (7) sI_nY(s) - AY(s) = B(s) + y(0) \tag{7} sInY(s)−AY(s)=B(s)+y(0)(7)
Y ( s ) = ( s I n − A ) − 1 ( B ( s ) + y ( 0 ) ) (8) Y(s) = (sI_n - A)^{-1}(B(s) + y(0) ) \tag{8} Y(s)=(sIn−A)−1(B(s)+y(0))(8)
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