曲率求解
Let
α
:
I
→
R
3
\alpha:I \rightarrow R^3
α:I→R3 be a regular parametrized curve(not necessarily by arc length) and let
β
:
J
→
R
3
\beta:J\rightarrow R^3
β:J→R3 be a reparametrization of
α
(
I
)
\alpha(I)
α(I) by the arc length
s
=
s
(
t
)
s=s(t)
s=s(t),mearusred from
t
0
∈
I
t_0 \in I
t0∈I(see Remark 2).Let
t
=
t
(
s
)
t=t(s)
t=t(s) be the inverse function of
s
s
s and set
d
α
d
t
=
α
′
\dfrac{d\alpha}{dt}=\alpha'
dtdα=α′,
d
2
α
d
t
2
=
α
′
′
\dfrac{d^2\alpha}{dt^2}=\alpha''
dt2d2α=α′′,etc.Prove that
a.
d
t
d
s
=
1
∣
α
′
∣
\dfrac{dt}{ds}=\dfrac{1}{|\alpha'|}
dsdt=∣α′∣1,
d
2
t
d
s
2
=
−
α
′
⋅
α
′
′
∣
a
′
∣
4
\dfrac{d^2t}{ds^2}=-\dfrac{\alpha'\cdot \alpha''}{|a'|^4}
ds2d2t=−∣a′∣4α′⋅α′′
b. The curvature of
α
\alpha
α at
t
∈
I
t \in I
t∈I is
k
(
t
)
=
∣
α
′
∧
α
′
′
∣
∣
α
′
∣
3
k(t)=\dfrac{|\alpha'\land\alpha''|}{|\alpha'|^3}
k(t)=∣α′∣3∣α′∧α′′∣
该题是曲线和曲面的微分几何的习题。对于理解曲线的曲率和挠率非常重要,因此将证明过程记录如下:
答:
a) 因为
s
(
t
(
s
)
)
=
s
,
d
s
d
t
=
∣
α
′
∣
s(t(s))=s,\dfrac{ds}{dt}=|\alpha'|
s(t(s))=s,dtds=∣α′∣,对两边s求导有:
d
s
d
t
d
t
d
s
=
1
\dfrac{ds}{dt}\dfrac{dt}{ds}=1
dtdsdsdt=1
所以
d
t
d
s
=
1
∣
α
′
∣
\dfrac{dt}{ds}=\dfrac{1}{|\alpha'|}
dsdt=∣α′∣1
d
2
t
d
s
2
=
d
1
∣
α
′
∣
d
s
=
d
1
∣
α
′
∣
d
t
d
t
d
s
=
−
1
∣
α
′
∣
2
d
∣
α
′
∣
d
t
1
∣
α
′
∣
\dfrac{d^2t}{ds^2}=\dfrac{d\dfrac{1}{|\alpha'|}}{ds}=\dfrac{d\dfrac{1}{|\alpha'|}}{dt}\dfrac{dt}{ds}=-\dfrac{1}{|\alpha'|^2}\dfrac{d|\alpha'|}{dt}\dfrac{1}{|\alpha'|}
ds2d2t=dsd∣α′∣1=dtd∣α′∣1dsdt=−∣α′∣21dtd∣α′∣∣α′∣1
又因为
d
∣
α
′
∣
d
t
=
d
(
∂
α
x
∂
t
)
2
+
(
∂
α
y
∂
t
)
2
+
(
∂
α
z
∂
t
)
2
d
t
\dfrac{d|\alpha'|}{dt}=\dfrac{d\sqrt{(\dfrac{\partial \alpha_x}{\partial t})^2+(\dfrac{\partial \alpha_y}{\partial t})^2+(\dfrac{\partial \alpha_z}{\partial t})^2}}{dt}
dtd∣α′∣=dtd(∂t∂αx)2+(∂t∂αy)2+(∂t∂αz)2,最终求导可以得到
d
∣
α
′
∣
d
t
=
1
2
∣
α
′
∣
(
2
∂
α
x
∂
t
∂
2
α
x
∂
t
2
+
2
∂
α
y
∂
t
∂
2
α
y
∂
t
2
+
2
∂
α
z
∂
t
∂
2
α
z
∂
t
2
)
=
(
α
′
⋅
α
′
′
)
∣
α
′
∣
\dfrac{d|\alpha'|}{dt}=\dfrac{1}{2|\alpha'|}(2\dfrac{\partial \alpha_x}{\partial t}\dfrac{\partial^2 \alpha_x}{\partial t^2}+2\dfrac{\partial \alpha_y}{\partial t}\dfrac{\partial^2 \alpha_y}{\partial t^2}+2\dfrac{\partial \alpha_z}{\partial t}\dfrac{\partial^2 \alpha_z}{\partial t^2})=\dfrac{(\alpha' \cdot\alpha'')}{|\alpha'|}
dtd∣α′∣=2∣α′∣1(2∂t∂αx∂t2∂2αx+2∂t∂αy∂t2∂2αy+2∂t∂αz∂t2∂2αz)=∣α′∣(α′⋅α′′)
所以
d
2
t
d
s
2
=
−
α
′
⋅
α
′
′
∣
α
′
∣
4
\dfrac{d^2t}{ds^2}=-\dfrac{\alpha'\cdot\alpha''}{|\alpha'|^4}
ds2d2t=−∣α′∣4α′⋅α′′
b)
因为
β
\beta
β 为
α
\alpha
α的重参数化,并且
β
\beta
β是以arc length s为参数的参数化曲线。所以
α
\alpha
α在
t
∈
I
t \in I
t∈I处的曲率
k
(
t
)
k(t)
k(t)与
β
\beta
β在
s
∈
J
s \in J
s∈J处的曲率相等。除此之外,根据
β
\beta
β的定义,有
β
=
α
∘
t
\beta=\alpha \circ t
β=α∘t,即
β
\beta
β是
α
\alpha
α和
t
t
t的复合函数。
因此有:
k
(
t
)
=
∣
d
2
β
d
s
2
∣
k(t)=|\dfrac{d^2\beta}{ds^2}|
k(t)=∣ds2d2β∣
而 d β d s = d α ∘ t d s = d α d t d t d s = α ′ 1 ∣ α ′ ∣ \dfrac{d\beta}{ds}=\dfrac{d\alpha \circ t}{ds}=\dfrac{d\alpha}{dt}\dfrac{dt}{ds}=\alpha'\dfrac{1}{|\alpha'|} dsdβ=dsdα∘t=dtdαdsdt=α′∣α′∣1
所以, d 2 β d s 2 = d α ′ ∣ α ′ ∣ d s = d α ′ ∣ α ′ ∣ d t d t d s = d α ′ ∣ α ′ ∣ − α ′ d ∣ α ′ ∣ ∣ α ′ ∣ 2 d s d t = α ′ ′ ∣ α ′ ∣ − α ′ d ∣ α ′ ∣ ∣ α ′ ∣ 2 d s d t \dfrac{d^2\beta}{ds^2}=\dfrac{d\dfrac{\alpha'}{|\alpha'|}}{ds}=\dfrac{d\dfrac{\alpha'}{|\alpha'|}}{dt}\dfrac{dt}{ds}=\dfrac{d\alpha'|\alpha'|-\alpha'd|\alpha'|}{|\alpha'|^2}\dfrac{ds}{dt}=\dfrac{\alpha''|\alpha'|-\alpha'd|\alpha'|}{|\alpha'|^2}\dfrac{ds}{dt} ds2d2β=dsd∣α′∣α′=dtd∣α′∣α′dsdt=∣α′∣2dα′∣α′∣−α′d∣α′∣dtds=∣α′∣2α′′∣α′∣−α′d∣α′∣dtds
而由之前计算得到的
d
∣
α
′
∣
d
t
=
(
α
′
⋅
α
′
′
)
∣
α
′
∣
\dfrac{d|\alpha'|}{dt}=\dfrac{(\alpha' \cdot\alpha'')}{|\alpha'|}
dtd∣α′∣=∣α′∣(α′⋅α′′)
可得
d
2
β
d
s
2
=
α
′
′
∣
α
′
∣
−
α
′
α
′
⋅
α
′
′
∣
α
′
∣
∣
α
′
∣
3
\dfrac{d^2\beta}{ds^2}=\dfrac{\alpha''|\alpha'|-\alpha'\dfrac{\alpha'\cdot\alpha''}{|\alpha'|}}{|\alpha'|^3}
ds2d2β=∣α′∣3α′′∣α′∣−α′∣α′∣α′⋅α′′
所以
k
(
t
)
=
∣
α
′
′
∣
α
′
∣
−
α
′
α
′
⋅
α
′
′
∣
α
′
∣
∣
α
′
∣
3
∣
k(t)=|\dfrac{\alpha''|\alpha'|-\alpha'\dfrac{\alpha'\cdot\alpha''}{|\alpha'|}}{|\alpha'|^3}|
k(t)=∣∣α′∣3α′′∣α′∣−α′∣α′∣α′⋅α′′∣
所以
k
(
t
)
2
=
∣
α
′
′
∣
α
′
∣
−
α
′
α
′
⋅
α
′
′
∣
α
′
∣
∣
α
′
∣
3
∣
2
k(t)^2=|\dfrac{\alpha''|\alpha'|-\alpha'\dfrac{\alpha'\cdot\alpha''}{|\alpha'|}}{|\alpha'|^3}|^2
k(t)2=∣∣α′∣3α′′∣α′∣−α′∣α′∣α′⋅α′′∣2
而根据
∣
x
⃗
−
y
⃗
∣
2
=
∣
x
⃗
∣
2
−
2
x
⃗
y
⃗
+
∣
y
⃗
∣
2
|\vec x -\vec{y}|^2=|\vec x|^2-2\vec x\vec y+|\vec y|^2
∣x−y∣2=∣x∣2−2xy+∣y∣2
可得
k
(
t
)
2
=
1
∣
α
′
∣
6
(
∣
α
′
∣
2
∣
a
′
′
∣
2
−
2
∣
α
′
∣
α
′
⋅
α
′
′
∣
α
′
∣
(
α
′
⋅
α
′
′
)
+
(
α
′
⋅
α
′
′
∣
α
′
∣
)
2
∣
α
′
∣
2
)
=
1
∣
α
′
∣
6
(
∣
α
′
∣
2
∣
α
′
′
∣
2
−
α
′
⋅
α
′
′
)
k(t)^2=\dfrac{1}{|\alpha'|^6}(|\alpha'|^2|a''|^2-2|\alpha'|\dfrac{\alpha'\cdot\alpha''}{|\alpha'|}(\alpha'\cdot\alpha'')+(\dfrac{\alpha'\cdot\alpha''}{|\alpha'|})^2|\alpha'|^2)=\dfrac{1}{|\alpha'|^6}(|\alpha'|^2|\alpha''|^2-\alpha'\cdot\alpha'')
k(t)2=∣α′∣61(∣α′∣2∣a′′∣2−2∣α′∣∣α′∣α′⋅α′′(α′⋅α′′)+(∣α′∣α′⋅α′′)2∣α′∣2)=∣α′∣61(∣α′∣2∣α′′∣2−α′⋅α′′)
而根据叉乘公式
∣
u
∧
v
∣
2
=
∣
u
∣
2
∣
v
∣
2
(
1
−
c
o
s
2
θ
)
=
∣
u
∣
2
∣
v
∣
2
(
1
−
(
u
⋅
v
∣
u
∣
∣
v
∣
)
2
)
=
∣
u
∣
2
∣
v
∣
2
−
(
u
⋅
v
)
2
|u\land v|^2=|u|^2|v|^2(1-cos^2\theta)=|u|^2|v|^2(1-(\dfrac{u\cdot v}{|u||v|})^2)=|u|^2|v|^2-(u\cdot v)^2
∣u∧v∣2=∣u∣2∣v∣2(1−cos2θ)=∣u∣2∣v∣2(1−(∣u∣∣v∣u⋅v)2)=∣u∣2∣v∣2−(u⋅v)2
可得
k
2
(
t
)
=
1
∣
α
′
∣
6
∣
α
′
∧
α
′
′
∣
2
k^2(t)=\dfrac{1}{|\alpha'|^6}|\alpha' \land \alpha''|^2
k2(t)=∣α′∣61∣α′∧α′′∣2
所以最终得到
k
(
t
)
=
α
′
∧
α
′
′
∣
α
′
∣
3
k(t)=\dfrac{\alpha'\land\alpha''}{|\alpha'|^3}
k(t)=∣α′∣3α′∧α′′