理论基础
1、控制方程
电磁场满足麦克斯韦方程组:
∇
×
H
=
σ
E
+
∂
D
∂
t
(
安培定律
)
∇
×
E
=
−
∂
B
∂
t
(
法拉第定律
)
∇
⋅
B
=
0
(
磁通量连续定律
)
∇
⋅
D
=
q
(
库伦定律
)
\begin{equation} \begin{aligned} &\nabla \times \mathbf{H}=\sigma \mathbf{E}+\dfrac{\partial \mathbf{D}}{\partial t} &&(安培定律) \\&\nabla\times\mathbf{E}=-\dfrac{\partial \mathbf{B}}{\partial t}&&(法拉第定律) \\&\nabla \cdot \mathbf{B}=0 &&(磁通量连续定律) \\&\nabla \cdot \mathbf{D}=\mathbf{q}&&(库伦定律) \end{aligned}\end{equation}
∇×H=σE+∂t∂D∇×E=−∂t∂B∇⋅B=0∇⋅D=q(安培定律)(法拉第定律)(磁通量连续定律)(库伦定律)
其中
E
(
V
/
m
)
\mathbf{E}(V/m)
E(V/m)为电场强度,
H
(
A
/
m
)
\mathbf{H}(A/m)
H(A/m)为磁场强度,
B
(
W
b
/
m
2
)
\mathbf{B}(Wb/m^2)
B(Wb/m2)为磁感应强度,
D
(
C
/
m
2
)
\mathbf{D}(C/m^2)
D(C/m2)为电位移矢量,
q
(
C
/
m
3
)
\mathbf{q}(C/m^3)
q(C/m3)为电荷密度,这四个物理量是电磁场的基本量,它们通过介质电性参数
ϵ
,
μ
\epsilon,\mu
ϵ,μ进行联系,在各向同性介质中,介质电性参数为标量。本构方程如下:
D
=
ϵ
E
H
=
B
μ
J
=
σ
E
\begin{equation} \begin{aligned} \mathbf{D}=\epsilon\mathbf{E} \\\mathbf{H}=\dfrac{\mathbf{B}}{\mu} \\\mathbf{J}=\sigma\mathbf{E} \end{aligned} \end{equation}
D=ϵEH=μBJ=σE其中,
J
\mathbf{J}
J为电流密度,
σ
\sigma
σ为介质导电率,
ϵ
\epsilon
ϵ为介质介电常数,
μ
\mu
μ为磁导率。
对安培定律和法拉第定律两边取旋度,并且考虑在场源外(
∇
⋅
D
=
0
\nabla\cdot\mathbf{D}=0
∇⋅D=0),有:
∇
×
∇
×
H
=
σ
∇
×
E
+
∂
∂
t
∇
×
D
∇
(
∇
⋅
H
)
−
∇
2
H
=
σ
(
−
∂
B
∂
t
)
+
∂
∂
t
ϵ
(
−
∂
B
∂
t
)
−
∇
2
H
=
ϵ
μ
∂
2
H
∂
t
2
+
σ
μ
∂
H
∂
t
\begin{equation} \begin{aligned} \nabla\times\nabla\times\mathbf{H}&=\sigma\nabla\times\mathbf{E}+\frac{\partial}{\partial t}\nabla\times\mathbf{D} \\\nabla(\nabla\cdot\mathbf{H})-\nabla^2\mathbf{H}&=\sigma(-\dfrac{\partial B}{\partial t})+\frac{\partial}{\partial t}\epsilon(-\dfrac{\partial B}{\partial t}) \\-\nabla^2\mathbf{H}&=\epsilon\mu\dfrac{\partial^2\mathbf{H}}{\partial t^2}+\sigma\mu\dfrac{\partial\mathbf{H}}{\partial t} \end{aligned} \end{equation}
∇×∇×H∇(∇⋅H)−∇2H−∇2H=σ∇×E+∂t∂∇×D=σ(−∂t∂B)+∂t∂ϵ(−∂t∂B)=ϵμ∂t2∂2H+σμ∂t∂H
∇
×
∇
×
E
=
∂
∂
t
∇
×
B
∇
(
∇
⋅
E
)
−
∇
2
E
=
∂
∂
t
μ
(
σ
E
+
ϵ
∂
E
∂
t
)
−
∇
2
E
=
ϵ
μ
∂
2
E
∂
t
2
+
σ
μ
∂
E
∂
t
\begin{equation} \begin{aligned} \nabla\times\nabla\times\mathbf{E}&=\frac{\partial}{\partial t}\nabla\times\mathbf{B} \\\nabla(\nabla\cdot\mathbf{E})-\nabla^2\mathbf{E}&=\frac{\partial}{\partial t}\mu(\sigma \mathbf{E}+\dfrac{\epsilon\partial \mathbf{E}}{\partial t}) \\-\nabla^2\mathbf{E}&=\epsilon\mu\dfrac{\partial^2\mathbf{E}}{\partial t^2}+\sigma\mu\dfrac{\partial\mathbf{E}}{\partial t} \end{aligned} \end{equation}
∇×∇×E∇(∇⋅E)−∇2E−∇2E=∂t∂∇×B=∂t∂μ(σE+∂tϵ∂E)=ϵμ∂t2∂2E+σμ∂t∂E上述分别为
H
\mathbf{H}
H和
E
\mathbf{E}
E满足的微分方程,称为电报方程
在CSAMT方法中,所激发的源是谐变场,即:
H
=
H
0
e
−
i
ω
t
,
E
=
E
0
e
−
i
ω
t
\begin{equation} \mathbf{H}=\mathbf{H}_0e^{-i\omega t},\mathbf{E}=\mathbf{E}_0e^{-i\omega t} \end{equation}
H=H0e−iωt,E=E0e−iωt
代入到微分方程组中,可以得到:
∇
×
H
=
σ
E
−
i
ω
ϵ
E
=
−
i
ω
ϵ
∗
E
,
ϵ
∗
=
ϵ
+
i
σ
ω
∇
×
E
=
i
ω
μ
H
∇
⋅
H
=
0
∇
⋅
E
=
0
\begin{equation} \begin{aligned} \nabla\times\mathbf{H}&=\sigma\mathbf{E}-i\omega\epsilon\mathbf{E}=-i\omega\epsilon^*\mathbf{E},\epsilon^*=\epsilon+i\dfrac{\sigma}{\omega} \\\nabla\times\mathbf{E}&=i\omega\mu\mathbf{H} \\\nabla\cdot\mathbf{H}&=0 \\\nabla\cdot\mathbf{E}&=0 \end{aligned} \end{equation}
∇×H∇×E∇⋅H∇⋅E=σE−iωϵE=−iωϵ∗E,ϵ∗=ϵ+iωσ=iωμH=0=0式中
ϵ
∗
=
ϵ
+
i
σ
ω
\epsilon^*=\epsilon+i\dfrac{\sigma}{\omega}
ϵ∗=ϵ+iωσ为复介电常数
同样的在方程两端取旋度,可以得到:
∇
×
∇
×
H
=
−
i
ω
ϵ
∗
∇
×
E
∇
(
∇
⋅
H
)
−
∇
2
H
=
−
i
ω
ϵ
∗
⋅
i
ω
μ
H
−
∇
2
H
=
ω
2
μ
ϵ
∗
H
\begin{equation} \begin{aligned} \nabla\times\nabla\times\mathbf{H}&=-i\omega\epsilon^*\nabla\times\mathbf{E} \\\nabla(\nabla\cdot\mathbf{H})-\nabla^2\mathbf{H}&=-i\omega\epsilon^*\cdot i\omega\mu\mathbf{H} \\-\nabla^2\mathbf{H}&=\omega^2\mu\epsilon^*\mathbf{H} \end{aligned} \notag\end{equation}
∇×∇×H∇(∇⋅H)−∇2H−∇2H=−iωϵ∗∇×E=−iωϵ∗⋅iωμH=ω2μϵ∗H令
k
2
=
ω
2
μ
ϵ
∗
=
ω
2
μ
ϵ
+
i
ω
μ
σ
k^2=\omega^2\mu\epsilon^*=\omega^2\mu\epsilon+i\omega\mu\sigma
k2=ω2μϵ∗=ω2μϵ+iωμσ,
k
k
k称为复波数,或者叫做传播系数,则可以得到:
∇
2
H
+
k
2
H
=
0
\begin{equation} \nabla^2\mathbf{H}+k^2\mathbf{H}=0 \end{equation}
∇2H+k2H=0
同理可以得到:
∇
2
E
+
k
2
E
=
0
\begin{equation} \nabla^2\mathbf{E}+k^2\mathbf{E}=0 \end{equation}
∇2E+k2E=0
上述两式被称为谐变电磁场的基本微分方程——亥姆霍兹(Helmholtz equation)齐次方程。
在求解电磁场边值问题时,使用
H
,
E
\mathbf{H},\mathbf{E}
H,E是不方便的,在这里引入一个矢量位
A
\mathbf{A}
A(磁矢量位),以此来减少求解过程中未知数,方便推导。
H
=
∇
×
A
\begin{equation} \mathbf{H}=\nabla\times\mathbf{A} \end{equation}
H=∇×A代入到
(
6
)
(6)
(6)式中,可以得到:
∇
×
E
=
i
ω
μ
∇
×
A
∇
×
(
E
−
i
ω
μ
A
)
=
0
\begin{equation} \begin{aligned} &\nabla\times\mathbf{E}=i\omega\mu\nabla\times\mathbf{A} \\&\nabla\times\left(\mathbf{E}-i\omega\mu\mathbf{A}\right)=0 \end{aligned} \end{equation}
∇×E=iωμ∇×A∇×(E−iωμA)=0根据矢量恒等式
∇
×
(
∇
U
)
=
0
\nabla\times(\nabla U)=0
∇×(∇U)=0,可得:
E
−
i
ω
μ
A
=
∇
U
E
=
i
ω
μ
A
+
∇
U
\begin{equation} \begin{aligned} &\mathbf{E}-i\omega\mu\mathbf{A}=\nabla U \\&\mathbf{E}=i\omega\mu\mathbf{A}+\nabla U \end{aligned} \end{equation}
E−iωμA=∇UE=iωμA+∇U其中
U
U
U为电磁场的标量位,在直流稳恒电场中,满足
E
=
−
∇
U
\mathbf{E}=-\nabla U
E=−∇U,再考虑
(
6
)
(6)
(6)式,得:
∇
×
∇
×
A
=
−
i
ω
ϵ
∗
(
i
ω
μ
A
−
∇
U
)
∇
∇
⋅
A
−
∇
2
A
=
ω
2
μ
ϵ
∗
A
+
i
ω
ϵ
∗
∇
U
∇
(
∇
⋅
A
−
i
ω
ϵ
∗
U
)
=
∇
2
A
+
k
2
A
\begin{equation} \begin{aligned} \nabla\times\nabla\times\mathbf{A}&=-i\omega\epsilon^*\left(i\omega\mu\mathbf{A}-\nabla U\right) \\\nabla\nabla\cdot\mathbf{A}-\nabla^2\mathbf{A}&=\omega^2\mu\epsilon^*\mathbf{A}+i\omega\epsilon^* \nabla U \\\nabla\left(\nabla\cdot\mathbf{A}-i\omega\epsilon^* U\right)&=\nabla^2\mathbf{A}+k^2\mathbf{A} \end{aligned} \end{equation}
∇×∇×A∇∇⋅A−∇2A∇(∇⋅A−iωϵ∗U)=−iωϵ∗(iωμA−∇U)=ω2μϵ∗A+iωϵ∗∇U=∇2A+k2A令上述等式的左端等于零,可以得到以下结论:
∇
(
∇
⋅
A
−
i
ω
ϵ
∗
U
)
=
0
U
=
∇
⋅
A
i
ω
ϵ
∗
∇
2
A
+
k
2
A
=
0
\begin{equation} \begin{aligned} \nabla\left(\nabla\cdot\mathbf{A}-i\omega\epsilon^* U\right)&=0 \\U&=\dfrac{\nabla\cdot\mathbf{A}}{i\omega\epsilon^*} \\\nabla^2\mathbf{A}+k^2\mathbf{A}&=0 \end{aligned} \end{equation}
∇(∇⋅A−iωϵ∗U)U∇2A+k2A=0=iωϵ∗∇⋅A=0上式即为磁矢量位的亥姆霍兹方程,结合式
(
11
)
(11)
(11)和
(
13
)
(13)
(13),可以得到电场强度
E
\mathbf{E}
E的表达式:
E
=
i
ω
μ
A
+
∇
U
=
i
ω
μ
A
+
∇
∇
⋅
A
i
ω
ϵ
∗
=
i
ω
μ
(
A
+
∇
∇
⋅
A
i
ω
ϵ
∗
⋅
i
ω
μ
)
=
i
ω
μ
(
A
−
∇
∇
⋅
A
k
2
)
\begin{equation} \begin{aligned} \mathbf{E}&=i\omega\mu\mathbf{A}+\nabla U \\&=i\omega\mu\mathbf{A}+\nabla \dfrac{\nabla\cdot\mathbf{A}}{i\omega\epsilon^*} \\&=i\omega\mu\left(\mathbf{A}+\dfrac{\nabla\nabla\cdot\mathbf{A}}{i\omega\epsilon^*\cdot i\omega\mu}\right) \\&=i\omega\mu\left(\mathbf{A}-\dfrac{\nabla\nabla\cdot\mathbf{A}}{k^2}\right) \end{aligned} \end{equation}
E=iωμA+∇U=iωμA+∇iωϵ∗∇⋅A=iωμ(A+iωϵ∗⋅iωμ∇∇⋅A)=iωμ(A−k2∇∇⋅A)至此问题简化为以下微分方程的求解:
∇
2
A
+
k
2
A
=
0
H
=
∇
×
A
E
=
i
ω
μ
(
A
−
∇
∇
⋅
A
k
2
)
\begin{equation} \begin{aligned} &\nabla^2\mathbf{A}+k^2\mathbf{A}=0 \\&\mathbf{H}=\nabla\times\mathbf{A} \\&\mathbf{E}=i\omega\mu\left(\mathbf{A}-\dfrac{\nabla\nabla\cdot\mathbf{A}}{k^2}\right) \end{aligned} \end{equation}
∇2A+k2A=0H=∇×AE=iωμ(A−k2∇∇⋅A)
2、边界条件
磁矢量
A
\mathbf{A}
A满足以下边界条件:
μ
1
A
x
1
=
μ
2
A
x
2
∂
A
x
1
∂
z
=
∂
A
x
2
∂
z
μ
1
A
y
1
=
μ
2
A
y
2
∂
A
y
1
∂
z
=
∂
A
y
2
∂
z
A
z
1
=
A
z
2
μ
1
k
1
2
∇
⋅
A
1
=
μ
2
k
2
2
∇
⋅
A
2
\begin{equation} \begin{aligned} \mu_1\mathbf{A}_{x1}&=\mu_2\mathbf{A}_{x2}&&\dfrac{\partial \mathbf{A}_{x1}}{\partial z}=\dfrac{\partial \mathbf{A}_{x2}}{\partial z} \\\mu_1\mathbf{A}_{y1}&=\mu_2\mathbf{A}_{y2}&&\dfrac{\partial \mathbf{A}_{y1}}{\partial z}=\dfrac{\partial \mathbf{A}_{y2}}{\partial z} \\\mathbf{A}_{z1}&=\mathbf{A}_{z2}&&\dfrac{\mu_1}{k_1^2}\nabla\cdot\mathbf{A}_1=\dfrac{\mu_2}{k_2^2}\nabla\cdot\mathbf{A}_2 \end{aligned} \end{equation}
μ1Ax1μ1Ay1Az1=μ2Ax2=μ2Ay2=Az2∂z∂Ax1=∂z∂Ax2∂z∂Ay1=∂z∂Ay2k12μ1∇⋅A1=k22μ2∇⋅A2