一、波浪运动的控制方程及其边界条件
{
G
.
D
.
E
:
∇
2
Φ
=
∂
2
Φ
∂
x
2
+
∂
2
Φ
∂
z
2
=
0
,
(
−
h
≤
z
≤
η
,
−
∞
≤
x
≤
+
∞
)
B
.
B
.
C
:
∂
Φ
∂
z
=
0
,
(
z
=
−
h
)
D
.
F
.
S
.
B
.
C
:
∂
Φ
∂
t
+
1
2
[
(
∂
Φ
∂
x
)
2
+
(
∂
Φ
∂
z
)
2
]
+
g
z
=
0
,
(
z
=
η
)
K
.
F
.
S
.
B
.
C
:
∂
η
∂
t
+
∂
η
∂
x
∂
Φ
∂
x
−
∂
Φ
∂
z
=
0
,
(
z
=
η
)
L
.
B
.
C
:
Φ
(
x
,
z
,
t
)
=
Φ
(
x
−
c
t
,
z
)
\begin{cases} G.D.E: &\nabla^2\Phi=\frac {\partial ^2 \Phi} {\partial x^2} + \frac {\partial ^2 \Phi} {\partial z^2}=0, \ \ (-h\le z\le\eta,\ -\infty\le x\le+\infty)\\\\ B.B.C: &\frac {\partial\Phi} {\partial z}=0,\ (z=-h)\\\\ D.F.S.B.C:&\frac {\partial\Phi} {\partial t}+\frac 1 2[(\frac{\partial\Phi} {\partial x})^2+(\frac{\partial\Phi} {\partial z})^2]+gz=0,\ \ (z=\eta)\\\\ K.F.S.B.C:&\frac {\partial\eta} {\partial t}+\frac {\partial\eta} {\partial x}\frac {\partial\Phi} {\partial x}-\frac {\partial\Phi} {\partial z}=0,\ \ (z=\eta)\\\\ L.B.C:&\Phi(x,z,t)=\Phi(x-ct,z) \end{cases}
⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧G.D.E:B.B.C:D.F.S.B.C:K.F.S.B.C:L.B.C:∇2Φ=∂x2∂2Φ+∂z2∂2Φ=0, (−h≤z≤η, −∞≤x≤+∞)∂z∂Φ=0, (z=−h)∂t∂Φ+21[(∂x∂Φ)2+(∂z∂Φ)2]+gz=0, (z=η)∂t∂η+∂x∂η∂x∂Φ−∂z∂Φ=0, (z=η)Φ(x,z,t)=Φ(x−ct,z)
【说明】
G.D.E: 波浪运动微分方程(控制方程)
B.B.C: 底部边界条件
D.F.S.B.C: 自由表面动力边界条件
K.F.S.B.C: 自由表面运动边界条件
L.B.C: 侧边界条件
上述原始的波浪运动控制方程在求解的过程中有两个难点:
(1). 两个自由表面边界条件D.F.S.B.C和K.F.S.B.C均有非线性项(分别为
+
1
2
[
(
∂
Φ
∂
x
)
2
+
(
∂
Φ
∂
z
)
2
]
+\frac 1 2[(\frac{\partial\Phi} {\partial x})^2+(\frac{\partial\Phi} {\partial z})^2]
+21[(∂x∂Φ)2+(∂z∂Φ)2]和
+
∂
η
∂
x
∂
Φ
∂
x
+\frac {\partial\eta} {\partial x}\frac {\partial\Phi} {\partial x}
+∂x∂η∂x∂Φ,难以求解;
(2). 自由水面位移
η
\eta
η在边界条件上的值是未知的,即自由表面边界条件不确定。
二、波浪运动方程的线性化及微幅波理论
为了解决上述两个难点,我们将基本方程线性化,实际上是对两个自由表面边界条件D.F.S.B.C和K.F.S.B.C线性化。
【假设条件】:假设波浪运动是缓慢,振幅
η
\eta
η远比波长
L
L
L和水深
h
h
h小,的考虑
H
<
<
L
,
H
<
<
h
H<<L, H<<h
H<<L,H<<h;根据波浪微小振幅假设,只保留一阶量,二阶量可忽略,且任意两个波浪要素之间的乘积也可忽略,于是有:
D.F.S.B.C:
∂
Φ
∂
t
+
1
2
[
(
∂
Φ
∂
x
)
2
+
(
∂
Φ
∂
z
)
2
]
+
g
z
=
0
,
(
z
=
η
)
(1)
\frac {\partial\Phi} {\partial t}+\cancel{\frac 1 2[(\frac{\partial\Phi} {\partial x})^2 +(\frac{\partial\Phi} {\partial z})^2]}+gz=0,\ \ (z=\eta)\tag{1}
∂t∂Φ+21[(∂x∂Φ)2+(∂z∂Φ)2]
+gz=0, (z=η)(1)
K.F.S.B.C:
∂
η
∂
t
+
∂
η
∂
x
∂
Φ
∂
x
−
∂
Φ
∂
z
=
0
,
(
z
=
η
)
(2)
\frac {\partial\eta} {\partial t}+\cancel{\frac {\partial\eta} {\partial x}\frac {\partial\Phi} {\partial x}}-\frac {\partial\Phi} {\partial z}=0,\ \ (z=\eta)\tag{2}
∂t∂η+∂x∂η∂x∂Φ
−∂z∂Φ=0, (z=η)(2)
【数学工具】:
泰勒展开式:
f
(
x
0
+
Δ
x
,
y
)
=
f
(
x
0
,
y
)
+
∂
f
(
x
0
,
y
)
∂
x
Δ
x
+
∂
2
f
(
x
0
,
y
)
∂
x
2
(
Δ
x
)
2
2
!
+
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.
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+
∂
n
f
(
x
0
,
y
)
∂
x
n
(
Δ
x
)
n
n
!
f(x_0+\Delta x,y)=f(x_0,y)+\frac {\partial f(x_0,y)} {\partial x}\Delta x+\frac {\partial^2 f(x_0,y)} {\partial x^2} \frac {(\Delta x)^2} {2!}+...+\frac {\partial^n f(x_0,y)} {\partial x^n} \frac {(\Delta x)^n} {n!}
f(x0+Δx,y)=f(x0,y)+∂x∂f(x0,y)Δx+∂x2∂2f(x0,y)2!(Δx)2+...+∂xn∂nf(x0,y)n!(Δx)n
只保留一阶:
f
(
x
0
+
Δ
x
,
y
)
=
f
(
x
0
,
y
)
+
∂
f
(
x
0
,
y
)
∂
x
Δ
x
(3)
f(x_0+\Delta x,y)=f(x_0,y)+\frac {\partial f(x_0,y)} {\partial x}\Delta x \tag{3}
f(x0+Δx,y)=f(x0,y)+∂x∂f(x0,y)Δx(3)
由于原波浪方程中
η
\eta
η的高度是未知不确定的,而在微幅波中我们认为
η
\eta
η足够小,于是可以用泰勒展开式将自由水面(
z
=
η
z=\eta
z=η)关联到静水面上(
z
=
0
z=0
z=0)
D.F.S.B.C:
[
∂
Φ
∂
t
+
g
z
]
z
=
η
=
0
[\frac {\partial\Phi} {\partial t}+gz]_{z=\eta}=0
[∂t∂Φ+gz]z=η=0泰勒展开:
[
∂
Φ
∂
t
+
g
z
]
z
=
0
+
∂
[
∂
Φ
∂
t
+
g
z
]
∂
z
η
=
0
[\frac {\partial\Phi} {\partial t}+gz]_{z=0}+\frac {\partial \cancel{[\frac {\partial \Phi} {\partial t}}+gz]} {\partial z}\eta=0
[∂t∂Φ+gz]z=0+∂z∂[∂t∂Φ
+gz]η=0
[
∂
Φ
∂
t
]
z
=
0
+
∂
g
z
∂
z
η
=
0
[\frac {\partial\Phi} {\partial t}]_{z=0}+\frac {\partial gz} {\partial z}\eta=0
[∂t∂Φ]z=0+∂z∂gzη=0
[
∂
Φ
∂
t
]
z
=
0
+
g
η
=
0
[\frac {\partial\Phi} {\partial t}]_{z=0}+g\eta=0
[∂t∂Φ]z=0+gη=0
η
=
−
1
g
∂
Φ
∂
t
,
(
z
=
0
)
(4)
{\eta=-\frac 1 g \frac {\partial\Phi} {\partial t}, (z=0)}\tag{4}
η=−g1∂t∂Φ,(z=0)(4)
【结论】:在线性波中,自由表面的位移和速度势函数的时间变化率成线性关系
K.F.S.B.C:
[
∂
η
∂
t
−
∂
Φ
∂
z
]
z
=
η
=
0
[\frac {\partial\eta} {\partial t}-\frac {\partial\Phi} {\partial z}]_{z=\eta}=0
[∂t∂η−∂z∂Φ]z=η=0泰勒展开:
[
∂
η
∂
t
−
∂
Φ
∂
z
]
z
=
0
+
∂
(
∂
η
∂
t
−
∂
Φ
∂
z
)
∂
z
η
=
0
[\frac {\partial\eta} {\partial t}-\frac {\partial\Phi} {\partial z}]_{z=0}+\frac {\partial (\cancel{\frac {\partial \eta} {\partial t}}-\cancel{\frac {\partial \Phi} {\partial z}})} {\partial z}\eta =0
[∂t∂η−∂z∂Φ]z=0+∂z∂(∂t∂η
−∂z∂Φ
)η=0
∂
η
∂
t
−
∂
Φ
∂
z
=
0
,
(
z
=
0
)
\frac {\partial\eta} {\partial t}-\frac {\partial\Phi} {\partial z}=0, (z=0)
∂t∂η−∂z∂Φ=0,(z=0)
∂
η
∂
t
=
∂
Φ
∂
z
,
(
z
=
0
)
(5)
\frac {\partial\eta} {\partial t}=\frac {\partial\Phi} {\partial z}, (z=0)\tag{5}
∂t∂η=∂z∂Φ,(z=0)(5)
至此,线性化之后的波浪运动控制方程及其边界条件可得:
{ G . D . E : ∇ 2 Φ = ∂ 2 Φ ∂ x 2 + ∂ 2 Φ ∂ z 2 = 0 , ( − h ≤ z ≤ η , − ∞ ≤ x ≤ + ∞ ) B . B . C : ∂ Φ ∂ z = 0 , ( z = − h ) D . F . S . B . C : η = − 1 g ∂ Φ ∂ t , ( z = 0 ) K . F . S . B . C : ∂ η ∂ t = ∂ Φ ∂ z , ( z = 0 ) L . B . C : Φ ( x , z , t ) = Φ ( x − c t , z ) \begin{cases} G.D.E: &\nabla^2\Phi=\frac {\partial ^2 \Phi} {\partial x^2} + \frac {\partial ^2 \Phi} {\partial z^2}=0, \ \ (-h\le z\le\eta,\ -\infty\le x\le+\infty)\\\\ B.B.C: &\frac {\partial\Phi} {\partial z}=0,\ (z=-h)\\\\ D.F.S.B.C:&{\eta=-\frac 1 g \frac {\partial\Phi} {\partial t}, (z=0)}\\\\ K.F.S.B.C:&\frac {\partial\eta} {\partial t}=\frac {\partial\Phi} {\partial z}, (z=0)\\\\ L.B.C:&\Phi(x,z,t)=\Phi(x-ct,z) \end{cases} ⎩⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎨⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎪⎧G.D.E:B.B.C:D.F.S.B.C:K.F.S.B.C:L.B.C:∇2Φ=∂x2∂2Φ+∂z2∂2Φ=0, (−h≤z≤η, −∞≤x≤+∞)∂z∂Φ=0, (z=−h)η=−g1∂t∂Φ,(z=0)∂t∂η=∂z∂Φ,(z=0)Φ(x,z,t)=Φ(x−ct,z)
因为采用线性化方法处理控制方程,故微幅波理论又称线性波理论;该方法由Airy最先提出,故又称Airy波理论。