计算声学
@rz_wen
第一部分·物理基础
流体力学
符号说明
c i j k i , j , k = 1 , 2 , 3 c_{ijk} \qquad i,j,k=1,2,3 cijki,j,k=1,2,3
c i j k X j Y k = X × Y c_{ijk}X_j Y_k = X \times Y cijkXjYk=X×Y
逆序数为奇数个为-1,偶数为+1,其余为0; c 231 c_{231} c231 2>1,3>1 所以逆序数为2
Reynolds输运定理
d [ ∭ V ( t ) [ B ( x ⃗ , t ) d v ] / d t = ∭ V ( t ) ∂ B ∂ t d v + ∬ ∂ V ( t ) B u ⃗ d S d [ \iiint_{V(t)}[B ( \vec x , t ) d v ] / d t = \iiint_{V(t)} \frac{\partial B}{\partial t} dv + \iint_{\partial V(t)} B \vec{u} dS d[∭V(t)[B(x,t)dv]/dt=∭V(t)∂t∂Bdv+∬∂V(t)BudS
d [ ∭ V ( t ) [ B ( x ⃗ , t ) d v ] / d t = ∭ V ( t ) ∂ B ∂ t + ∇ ⋅ ( B u ⃗ ) d v d [ \iiint_{V(t)}[B ( \vec x , t ) d v ] / d t = \iiint _ { V ( t ) } \frac {\partial B}{\partial t}+ \nabla \cdot ( B \vec u ) dv d[∭V(t)[B(x,t)dv]/dt=∭V(t)∂t∂B+∇⋅(Bu)dv
Reynolds输运定理实际上就是三维Leibniz积分法则在流体力学中的应用,右端第一项是本地变化率,第二项是边界上的输入变化率
质量守恒
将流场中的物理量
B
B
B换成密度
ρ
\rho
ρ,任意一个流体微元在运动的过程中,其质量都不会发生改变,对于任意体积V都满足
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d [ \int \int \int_{V(t)}[B ( \vec x , t ) d v ] / d t = 0
d[∫∫∫V(t)[B(x,t)dv]/dt=0.可得:
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\frac{\partial \rho}{\partial t}+\nabla \cdot (\rho \vec u)=0
∂t∂ρ+∇⋅(ρu)=0
d ρ d t + ρ ∇ ⋅ u ⃗ = 0 \frac{d \rho}{dt}+\rho \nabla \cdot \vec u =0 dtdρ+ρ∇⋅u=0
动量守恒
体积 V ( t ) V(t) V(t)中的流体,其动量单位时间的变化应当等于外界动量的输入,而外力包含体积力 f ⃗ \vec f f(单位体积收到的力)和应力两部分。
d d t ∭ V ( t ) ρ u ⃗ d v = ∭ V ( t ) f ⃗ ( x ⃗ , t ) d v + ∬ ∂ V ( t ) σ d S ⃗ \frac{d}{dt} \iiint_{V(t)} \rho \vec u dv = \iiint _{V(t)} \vec f(\vec x,t)dv+\iint_{\partial V(t)} \sigma d \vec S dtd∭V(t)ρudv=∭V(t)f(x,t)dv+∬∂V(t)σdS
由高斯定理可得:
∬ ∂ V ( t ) σ d S = ∭ V ( t ) ∇ ⋅ σ d v \iint_{\partial V(t)} \sigma d S = \iiint_{V(t)} \nabla \cdot \sigma dv ∬∂V(t)σdS=∭V(t)∇⋅σdv
由Reynolds输运定理可得:
d d t ∭ V ( t ) ρ u ⃗ d v = ∭ V ( t ) f ⃗ + ∇ ⋅ σ d v \frac{d}{dt} \iiint_{V(t)} \rho \vec u dv = \iiint_{V(t)} \vec f + \nabla\cdot \sigma dv dtd∭V(t)ρudv=∭V(t)f+∇⋅σdv
即
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\rho [\frac{\partial \vec u}{\partial t} + (\vec u \cdot \nabla)\vec u ]= \nabla \cdot \sigma + \vec f
ρ[∂t∂u+(u⋅∇)u]=∇⋅σ+f
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\frac{d \vec u}{dt} = \frac{\partial \vec u}{\partial t}+(\vec u \cdot \nabla)\vec u
dtdu=∂t∂u+(u⋅∇)u 可得另一种Cauchy方程:
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\rho\frac{d \vec u}{d t} = \nabla \cdot \sigma + \vec f
ρdtdu=∇⋅σ+f
速度散度的物理意义实际上就是体积变化率,对于不可压缩流体或固体,其体积变化率为0,所以
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\nabla \cdot \vec u=0
∇⋅u=0,所以固体Cauchy方程
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\rho \frac{\partial \vec u}{\partial t} = \nabla\cdot \sigma + \vec f
ρ∂t∂u=∇⋅σ+f
能量守恒
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\frac{d(E_k+Ei)}{dt}=P_w-Q
dtd(Ek+Ei)=Pw−Q
其中Q定义为流出的热量,带入各量的表达式,
e
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e 是单位质量蕴含的能量
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\frac{d[\iiint_{V(t)} (\rho u_i u_i/2+\rho e)dv]}{dt}=\iint_{\partial V(t) }T_i u_i ds+\iiint_{V(t)} f_i u_i dv - \iint_{\partial V(t)} q_i n_i ds
dtd[∭V(t)(ρuiui/2+ρe)dv]=∬∂V(t)Tiuids+∭V(t)fiuidv−∬∂V(t)qinids
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\frac{d[\iiint_{V(t)} (\rho u_i u_i/2+\rho e)dv]}{dt}=\iiint_{V(t)}[(T_{ij}u_i)_{,j}+ f_i u_i -q_{i,j}]dv
dtd[∭V(t)(ρuiui/2+ρe)dv]=∭V(t)[(Tijui),j+fiui−qi,j]dv
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\iiint_{V(t)}[\rho d(u_i u_i/2+e)/dt] dv=\iiint_{V(t)}[(T_{ij}u_i)_{,j}+ f_i u_i -q_{i,j}]dv
∭V(t)[ρd(uiui/2+e)/dt]dv=∭V(t)[(Tijui),j+fiui−qi,j]dv
移项并去除积分号
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\rho d(u_i u_i/2+e)/dt-[(T_{ij}u_i)_{,j}- f_i u_i +q_{i,j}]=0
ρd(uiui/2+e)/dt−[(Tijui),j−fiui+qi,j]=0
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(\rho \frac{du_i}{dt}-T_{ij,j}-f_i)u_i+\rho \dot e -T_{ij}u_{i,j}+q_{i,j}=0
(ρdtdui−Tij,j−fi)ui+ρe˙−Tijui,j+qi,j=0
已知
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\rho \frac{du_i}{dt}-T_{ij,j}-f_i=0
ρdtdui−Tij,j−fi=0,即得
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\rho \dot e -T_{ij}u_{i,j}+q_{i,j}=0
ρe˙−Tijui,j+qi,j=0
应力应变
当小体元发生形变是收到周围相邻部分力地作用,小体院单位表面上的力称为应力,固体中能产生法向应力和切应力,表面一般收到9个应力分量 T i j T_{ij} Tij, i = j i=j i=j时代表法向应力, i ≠ j i \neq j i=j时代表切应力,且具有对称性
T i j = T j i T_{ij}=T_{ji} Tij=Tji
确定应力特性需要6个分量
柯西应变可以分为主应变(normal strain)与剪切应变(角应变,shear strain)两种。一维定义 e = lim L → 0 Δ L L e=\lim_{L\to0}\frac{\Delta L}{L} e=limL→0LΔL,在三维中用柯西应变张量可方便地表示
虎克定律
σ = E e \boldsymbol{\sigma}=Ee σ=Ee,其中 σ = F / A , {\boldsymbol{\sigma}}=F\:/\:A, σ=F/A,
广义虎克定律可以描述应力与应变的本构关系,一般情况下,应力与应变具有线性关系,每个分量均对应变有贡献,即每个应力均是6个应变分量的线性函数。
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T_{ij}=C_{ijkl} \varepsilon_{kl}
Tij=Cijklεkl
[ T 11 T 22 T 33 T 32 T 13 T 13 T 21 ] = [ C 11 C 12 C 13 C 14 C 15 C 16 C 21 C 22 C 23 C 24 C 25 C 26 C 31 C 32 C 33 C 34 C 35 C 36 C 41 C 42 C 43 C 44 C 45 C 46 C 51 C 52 C 53 C 54 C 55 C 56 C 61 C 62 C 63 C 64 C 65 C 66 ] [ ε 11 ε 22 ε 33 ε 32 ε 13 ε 21 ] \begin{bmatrix}T_{11}\\ T_{22}\\ T_{33}\\ T_{32}\\ T_{13}\\ T_{13}\\ T_{21}\end{bmatrix} = \begin{bmatrix}C_{11}&C_{12}&C_{13}&C_{14}&C_{15}&C_{16}\\ C_{21}&C_{22}&C_{23}&C_{24}&C_{25}&C_{26}\\ C_{31}&C_{32}&C_{33}&C_{34}&C_{35}&C_{36}\\ C_{41}&C_{42}&C_{43}&C_{44}&C_{45}&C_{46}\\ C_{51}&C_{52}&C_{53}&C_{54}&C_{55}&C_{56}\\ C_{61}&C_{62}&C_{63}&C_{64}&C_{65}&C_{66} \end{bmatrix} \begin{bmatrix}\varepsilon_{11}\\ \varepsilon_{22}\\ \varepsilon_{33}\\ \varepsilon_{32}\\ \varepsilon_{13}\\ \varepsilon_{21}\end{bmatrix} T11T22T33T32T13T13T21 = C11C21C31C41C51C61C12C22C32C42C52C62C13C23C33C43C53C63C14C24C34C44C54C64C15C25C35C45C55C65C16C26C36C46C56C66 ε11ε22ε33ε32ε13ε21
其中 C i j C_{ij} Cij为弹性系数,固体具有 36 36 36个弹性系数,具有对称性 C i j = C j i C_{ij}=C_{ji} Cij=Cji,可减少到 21 21 21个,各向同性固体可减少到 2 2 2个
[ T 11 T 22 T 33 T 32 T 13 T 13 T 21 ] = [ c 11 c 11 − 2 c 44 c 11 − 2 c 44 0 0 0 c 11 − 2 c 44 c 11 c 11 − 2 c 44 0 0 0 c 11 − 2 c 44 c 11 − 2 c 44 c 11 0 0 0 0 0 0 c 44 0 0 0 0 0 0 c 44 0 0 0 0 0 0 c 44 ] [ ε 11 ε 22 ε 33 2 ε 32 2 ε 13 2 ε 21 ] \begin{bmatrix}T_{11}\\ T_{22}\\ T_{33}\\ T_{32}\\ T_{13}\\ T_{13}\\ T_{21}\end{bmatrix}=\begin{bmatrix}{{c_{11}}}&{{c_{11}-2c_{44}}}&{{c_{11}-2c_{44}}}&{{0}}&{{0}}&{{0}}\\ {{c_{11}-2c_{44}}}&{{c_{11}}}&{{c_{11}-2c_{44}}}&{{0}}&{{0}}&{{0}}\\ {{c_{11}-2c_{44}}}&{{c_{11}-2c_{44}}}&{{c_{11}}}&{{0}}&{{0}}&{{0}}\\ {{0}}&{{0}}&{{0}}&{{c_{44}}}&{{0}}&{{0}}\\ {{0}}&{{0}}&{{0}}&{{0}}&{{c_{44}}}&{{0}}\\ {{0}}&{{0}}&{{0}}&{{0}}&{{0}}&{{c_{44}}}\end{bmatrix} \begin{bmatrix}\varepsilon_{11}\\ \varepsilon_{22}\\ \varepsilon_{33}\\ 2\varepsilon_{32}\\ 2\varepsilon_{13}\\ 2\varepsilon_{21}\end{bmatrix} T11T22T33T32T13T13T21 = c11c11−2c44c11−2c44000c11−2c44c11c11−2c44000c11−2c44c11−2c44c11000000c44000000c44000000c44 ε11ε22ε332ε322ε132ε21
其中
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c_{44}=c_{55}=c_{66},c_{11}=c_{22}=c_{33}
c44=c55=c66,c11=c22=c33
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c_{ij}=c_{11}-2c_{44},(i \neq j)
cij=c11−2c44,(i=j)
波动方程
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\rho(\partial u_{_i}\:/\:\partial t)-\vec{f}_{_i}+P_{_i}=0
ρ(∂ui/∂t)−fi+Pi=0
忽略体力
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\rho(\partial\vec{u}\:/\:\partial t)+\nabla P=0
ρ(∂u/∂t)+∇P=0
因
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\vec{u}=\frac{\partial \vec{d}}{\partial t}
u=∂t∂d,方程两端同时取
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\rho\partial^{2}(\nabla\cdot\vec{d}\:)\:/\:\partial^{2}t+\nabla\cdot\nabla P=0
ρ∂2(∇⋅d)/∂2t+∇⋅∇P=0
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\rho\partial^{2}(\theta \:)\:/\:\partial^{2}t+\nabla\cdot\nabla P=0
ρ∂2(θ)/∂2t+∇⋅∇P=0
其中
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θ是体积张量
流体中波动方程
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\partial^2P\:/\:\partial^2t=c^2\nabla^2P
∂2P/∂2t=c2∇2P
其中声速 c = k ρ c=\sqrt{\frac{k}{\rho}} c=ρk,体积模量 k = − P θ k=-\frac{P}{\theta} k=−θP
固体中直接用表面力表示
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\rho\partial v_{i}\:/\:\partial t\:-\:f_{i}(\vec{x},t)\:-\:T_{i j,j}=0
ρ∂vi/∂t−fi(x,t)−Tij,j=0
其中
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\dot{T}_{ij}=C_{ijkl}\:\nu_{k,l}
T˙ij=Cijklνk,l
分析力学
约束
对非自由体的某些位移起限制作用的条件称为约束
通常只能知道约束力的作用,但无法知道详细的约束力,通过约束力关联的变量之间不独立。为了解决这个问题,我们引入广义坐标。
完整约束的广义坐标等于其自由度数目,非完整约系统的有些速度项无法消去,所以其广义坐标数一般大于系统的自由度的数目
q ˙ \dot q q˙ 和 q {q} q 是不同的两个变量
广义速度
对广义坐标求全导数,下式中
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qj用了求和约定
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\dot{r}_i=dr_i\:/\ dt=\partial r_i\:/\partial t+(\partial r_i\:/\partial q_j)\dot{q}_j
r˙i=dri/ dt=∂ri/∂t+(∂ri/∂qj)q˙j
可以写成矩阵形式,A可以称为 雅可比矩阵(Jacobian matrix),是一阶偏导数以一定方式排列成的矩阵,其行列式称为雅可比行列式
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\dot{\mathbf r}=A\dot{\mathbf q}+\mathbf B
r˙=Aq˙+B
B = ( ∂ r 1 / ∂ t ∂ r 2 / ∂ t ∂ r 3 / ∂ t . . . . . . . . . . ∂ r 3 N / ∂ t ) , A = [ ∂ r 1 / ∂ q 1 , ∂ r 1 / ∂ q 2 , … , … , ∂ r 1 / ∂ q M ∂ r 2 / ∂ q 1 , ∂ r 2 / ∂ q 3 , … … , ∂ r 2 / ∂ q M ∂ r 3 / ∂ q 1 , ∂ r 3 / ∂ q 2 , … … , ∂ r 3 / ∂ q M … … … … … … … … … … … … ∂ r 3 N / ∂ q 1 , ∂ r 3 N / ∂ q 2 , … … ∂ r 3 N / ∂ q M ] \mathbf{B}={\left(\begin{array}{l}{\partial r_{1}\:/\ \partial t}\\ {\partial r_{2}\ /\ \partial t}\\ {\partial r_{3}\ /\ \partial t}\\ {..........}\\ {\partial r_{3N}\ /\ \partial t}\end{array}\right)},\: \mathbf{A}={\left[\begin{array}{l l}{\partial r_{1}/\partial q_{1},} \: {\partial r_{1}/\partial q_{2},\ldots,\ldots,\partial r_{1}/\partial q_{M}}\\ {\partial r_{2}/\partial q_{1},} \: {\partial r_{2}/\partial q_{3},\ldots\ldots,\partial r_{2}/\partial q_{M}}\\ {\partial r_{3}/\partial q_{1},} \: {\partial r_{3}/\partial q_{2},\ldots\ldots,\partial r_{3}/\partial q_{M}}\\{\ldots\ldots\ldots\ldots\ldots\ldots\ldots\ldots\ldots\ldots\ldots\ldots}\\ {\partial r_{3N}/\partial q_{1},\partial r_{3N}/\partial q_{2},\ldots\ldots\partial r_{3N}/\partial q_{M}}\end{array}\right]} B= ∂r1/ ∂t∂r2 / ∂t∂r3 / ∂t..........∂r3N / ∂t ,A= ∂r1/∂q1,∂r1/∂q2,…,…,∂r1/∂qM∂r2/∂q1,∂r2/∂q3,……,∂r2/∂qM∂r3/∂q1,∂r3/∂q2,……,∂r3/∂qM………………………………∂r3N/∂q1,∂r3N/∂q2,……∂r3N/∂qM
达朗伯原理
虚位移跟时间相互独立, δ r α = d r α = ( ∂ r α / ∂ q i ) δ q i \delta r_{\alpha}=d r_{\alpha}=\left(\partial r_{\alpha}/\partial q_{i}\right)\delta q_{i} δrα=drα=(∂rα/∂qi)δqi
虚功 δ W = F α δ r α = F α ( ∂ r α / ∂ q i ) δ q i \delta W=F_{\alpha}\delta r_{\alpha}=F_{\alpha}(\partial r_{\alpha}/\partial q_{_{i}})\delta q_{i} δW=Fαδrα=Fα(∂rα/∂qi)δqi
广义力 Q = α ( ∂ r α / ∂ q i ) Q=_{\alpha}(\partial r_{\alpha}/\partial q_{_{i}}) Q=α(∂rα/∂qi)
广义动量 p i = ∂ T / ∂ q ˙ i = ∂ L / ∂ q ˙ i p_{i}=\partial T\:/\:\partial\dot{q}_{i}=\partial L\:/\:\partial\dot{q}_{i} pi=∂T/∂q˙i=∂L/∂q˙i
当一个有约束的力学系统处于力学平衡时,考虑某个时刻 t 系统坐标的一个微小的、与运动方程和约束条件都兼容的虚位移,由于每个质点都处于力学平衡即
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\mathbf{F}_i=0
Fi=0,可知
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\sum_i\mathbf F_i\cdot\delta\mathbf x_i=0\:
i∑Fi⋅δxi=0
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Fi=Fi(a)+Fi(c)
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\mathbf{F}_{i}^{(a)}
Fi(a)为主动力,
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Fi(c)为约束力,许多完整约束的约束力的虚功之和为零,可得到虚功原理所有主动力的虚功之和为0
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\sum_i\mathbf{F}_i^{(a)}\cdot\delta\mathbf{x}_i=0
i∑Fi(a)⋅δxi=0
当力学系统不平衡时,可以将
F
i
=
0
\mathbf{F}_{i}=0
Fi=0替换成牛顿方程
F
i
−
p
˙
i
=
0
\mathbf{F}_{i}-\dot{\mathbf{p}}_{i}=0
Fi−p˙i=0可得到达朗伯原理(d’Alembert’s principle):
∑
i
(
F
i
(
a
)
−
p
˙
i
)
⋅
δ
x
i
=
0
\sum_i(\mathbf{F}_i^{(a)}-\dot{\mathbf{p}}_i)\cdot\delta\mathbf{x}_i=0
i∑(Fi(a)−p˙i)⋅δxi=0
F
i
(
a
)
⋅
δ
x
i
=
F
i
(
a
)
⋅
∂
x
i
∂
q
i
δ
q
j
=
Q
j
δ
q
j
\mathbf F_i^{(a)}\cdot\delta\mathbf x_i=\mathbf F_i^{(a)}\cdot\dfrac{\partial\mathbf x_i}{\partial q_i}\delta q_j=Q_j\delta q_j
Fi(a)⋅δxi=Fi(a)⋅∂qi∂xiδqj=Qjδqj
由全导数易知
∂
x
˙
i
∂
q
˙
j
=
∂
x
i
∂
q
j
\dfrac{\partial\mathbf{\dot x}_i}{\partial\dot{q}_j}=\dfrac{\partial\mathbf{x}_i}{\partial q_j}
∂q˙j∂x˙i=∂qj∂xi
p
˙
i
⋅
δ
x
i
=
m
i
x
¨
i
⋅
∂
x
i
∂
q
j
δ
q
j
=
[
d
d
t
(
m
i
x
˙
i
⋅
∂
x
i
∂
q
j
)
−
m
i
x
˙
i
⋅
d
d
t
(
∂
x
i
∂
q
j
)
]
δ
q
j
\dot{\mathbf{p}}_i\cdot\delta\mathbf{x}_i=m_i\ddot{\mathbf{x}}_i\cdot\dfrac{\partial\mathbf{x}_i}{\partial q_j}\delta q_j = [\dfrac{d}{dt}\left(m_i\dot{\mathbf{x}}_i\cdot\dfrac{\partial{\mathbf{x}}_i}{\partial q_j}\right)-m_i\dot{\mathbf{x}}_i\cdot\dfrac{d}{dt}\left(\dfrac{\partial{\mathbf{x}}_i}{\partial q_j}\right)]\delta q_j
p˙i⋅δxi=mix¨i⋅∂qj∂xiδqj=[dtd(mix˙i⋅∂qj∂xi)−mix˙i⋅dtd(∂qj∂xi)]δqj
[
d
d
t
∂
T
∂
q
˙
j
−
∂
T
∂
q
j
−
Q
j
]
δ
q
j
=
0
\left[\dfrac{d}{dt}\dfrac{\partial T}{\partial\dot{q}_j}-\dfrac{\partial T}{\partial q_j}-Q_j\right]\delta q_j=0
[dtd∂q˙j∂T−∂qj∂T−Qj]δqj=0
对于完整约束,
q
j
q_{j}
qj都是独立的变量因此可得一种形式的欧拉-拉格朗日方程
d
d
t
∂
T
∂
q
˙
j
−
∂
T
∂
q
j
=
Q
j
\dfrac{d}{dt}\dfrac{\partial T}{\partial\dot{q}_j}-\dfrac{\partial T}{\partial q_j}=Q_j
dtd∂q˙j∂T−∂qj∂T=Qj
如果主动力是由不依赖于速度的势能
V
\boldsymbol{V}
V给出
Q
j
=
−
∂
V
∂
q
j
Q_j=-\dfrac{\partial V}{\partial q_j}
Qj=−∂qj∂V
定义拉格朗日量为系统的动能与势能之差
L
=
T
−
V
\boldsymbol{L}=T-V
L=T−V欧拉-拉格朗日方程也可以写为
d
d
t
∂
L
∂
q
˙
j
−
∂
L
∂
q
j
=
0
\dfrac{d}{dt}\dfrac{\partial L}{\partial\dot{q}_j}-\dfrac{\partial L}{\partial q_j}=0
dtd∂q˙j∂L−∂qj∂L=0
哈密顿原理
哈密顿作用量 为对拉格朗日函数对时间积分,为洛伦兹标量;原理可叙述为完整、保守系统在具有相同时间间隔,从起始到终了位置的一切可能运动和真实运动相比较,真实运动的哈密顿作用量为极值
S
=
∫
t
1
t
2
L
(
q
,
q
˙
,
t
)
d
t
S=\int_{t_1}^{t_2}L(q,\dot{q},t)dt
S=∫t1t2L(q,q˙,t)dt
δ S = δ ∫ t 1 t 2 L ( q , q ˙ , t ) d t = 0 \delta S=\delta\int_{t_1}^{t_2}L\ (q,\dot{q},t)\mathrm{d}t=0 δS=δ∫t1t2L (q,q˙,t)dt=0
可通过变分法推导出拉格朗日方程
δ
S
=
∫
t
1
t
2
L
(
q
c
+
δ
q
,
q
c
˙
+
δ
q
˙
,
t
)
d
t
−
∫
t
1
t
2
L
(
q
c
,
q
c
˙
,
t
)
d
t
=
∫
t
1
t
2
d
t
(
∂
L
∂
q
˙
i
δ
q
˙
i
+
∂
L
∂
q
i
δ
q
i
)
=
0
\delta S=\int_{t_1}^{t_2}L(q_c+\delta q,\dot{q_c}+\delta\dot{q},t)dt-\int_{t_1}^{t_2}L(q_c,\dot{q_c},t)dt=\int_{t_1}^{t_2}dt\left(\dfrac{\partial L}{\partial\dot{q}_i}\delta\dot{q}_i+\dfrac{\partial L}{\partial q_i}\delta q_i\right)=0
δS=∫t1t2L(qc+δq,qc˙+δq˙,t)dt−∫t1t2L(qc,qc˙,t)dt=∫t1t2dt(∂q˙i∂Lδq˙i+∂qi∂Lδqi)=0
∂
L
∂
q
˙
i
δ
q
˙
i
=
d
d
t
(
∂
L
∂
q
˙
i
δ
q
i
)
−
[
d
d
t
(
∂
L
∂
q
˙
i
)
]
δ
q
i
\dfrac{\partial L}{\partial\dot{q}_i}\delta\dot{q}_i=\dfrac{d}{dt}\left(\dfrac{\partial L}{\partial\dot{q}_i}\delta q_i\right)-\left[\dfrac{d}{dt}\left(\dfrac{\partial L}{\partial\dot{q}_i}\right)\right]\delta q_i
∂q˙i∂Lδq˙i=dtd(∂q˙i∂Lδqi)−[dtd(∂q˙i∂L)]δqi
δ
S
=
∂
L
∂
q
˙
i
δ
q
i
∣
t
1
t
2
+
∫
t
1
t
2
d
t
(
∂
L
∂
q
i
−
d
d
t
∂
L
∂
q
˙
i
)
δ
q
i
=
0
\delta S=\left.\dfrac{\partial L}{\partial\dot{q}_i}\delta q_i\right|_{t_1}^{t_2}+\int_{t_1}^{t_2}dt\left(\dfrac{\partial L}{\partial q_i}-\dfrac{d}{dt}\dfrac{\partial L}{\partial\dot{q}_i}\right)\delta q_i=0
δS=∂q˙i∂Lδqi
t1t2+∫t1t2dt(∂qi∂L−dtd∂q˙i∂L)δqi=0
由于变分
δ
q
\delta q
δq为无穷小量且为时间的任意函数,所以
δ
q
(
t
1
)
=
δ
q
(
t
2
)
=
0
\delta q(t_{1})=\delta q(t_{2})=0
δq(t1)=δq(t2)=0,第一项为 0,第二项系数也必为 0,得真实运动满足的欧拉-拉格朗日方程 (f个自由度的完整约束系统)
∂
L
∂
q
i
−
d
d
t
∂
L
∂
q
i
˙
=
0
,
i
=
1
,
2
,
⋯
,
f
\:\dfrac{\partial L}{\partial q_i}-\dfrac{d}{dt}\dfrac{\partial L}{\partial\dot{q_i}}=0\:,\quad i=1,2,\cdots,f\:
∂qi∂L−dtd∂qi˙∂L=0,i=1,2,⋯,f
哈密顿正则方程
广义动量 p i = ∂ L ∂ q ˙ i p_i=\dfrac{\partial L}{\partial\dot{q}_i} pi=∂q˙i∂L
广义力 d p i d t = ∂ L ∂ q i \dfrac{dp_i}{dt}=\dfrac{\partial L}{\partial q_i} dtdpi=∂qi∂L
哈密顿量 是拉格朗日函数的勒让德变换,以广义坐标和共轭的广义动量为变量的函数,在数值上等于系统的能量
H
(
p
,
q
,
t
)
=
p
i
q
˙
i
−
L
H(p,q,t)=p_i\dot{q}_i-L
H(p,q,t)=piq˙i−L
d
H
=
q
˙
i
d
p
i
−
p
˙
i
d
q
i
−
∂
L
∂
t
d
t
dH=\dot{q}_i dp_i-\dot{p}_i dq_i-\dfrac{\partial L}{\partial t}dt
dH=q˙idpi−p˙idqi−∂t∂Ldt
由哈密顿量的微分可知
q
˙
i
=
∂
H
∂
p
i
,
p
˙
i
=
−
∂
H
∂
q
i
\dot{q}_i=\dfrac{\partial H}{\partial p_i}\:,\:\:\:\:\dot{p}_i=-\dfrac{\partial H}{\partial q_i}
q˙i=∂pi∂H,p˙i=−∂qi∂H
若系统的哈密顿量不显含时间,则同样可得
d
H
d
t
=
∂
H
∂
t
=
−
∂
L
∂
t
\dfrac{dH}{dt}=\dfrac{\partial H}{\partial t}=-\dfrac{\partial L}{\partial t}
dtdH=∂t∂H=−∂t∂L
这一组方程为哈密顿正则方程
哈密顿-雅可比方程
L
=
d
S
d
t
=
∂
S
∂
t
+
∂
S
∂
q
i
q
i
˙
=
∂
S
∂
t
+
p
i
q
i
˙
L=\dfrac{dS}{dt}=\dfrac{\partial S}{\partial t}+\dfrac{\partial S}{\partial q_i}\dot{q_i}=\dfrac{\partial S}{\partial t}+p_i\dot{q_i}
L=dtdS=∂t∂S+∂qi∂Sqi˙=∂t∂S+piqi˙
∂
S
∂
t
+
p
i
q
i
˙
−
L
=
0
\dfrac{\partial S}{\partial t}+p_i\dot{q_i}-L=0
∂t∂S+piqi˙−L=0
根据哈密顿量的定义可得
∂
S
∂
t
+
H
=
0
\dfrac{\partial S}{\partial t}+H=0
∂t∂S+H=0
参考:
分析力学 刘川
数学物理方法 王德新
计算声学讲义 王秀明
(王秀明老师的学生不要照搬哦)