什么样的矢量偏微分方程可以求解呢?
亥姆霍兹定理就是用来解决这个问题的。该定理表示:如果一个矢量场的散度、旋度和边界条件确定的话,那么就可以通过散度、旋度和边界条件来求解出该矢量场,而且该解唯一。
求解矢量场的思路是:
- 将矢量场表示为 δ ( r ) \delta(r) δ(r)函数与矢量的空间卷积。
- 由于 δ ( r ) \delta(r) δ(r)函数为标量函数 − 1 4 π 1 ∣ r ∣ -\frac{1}{4\pi}\frac{1}{|r|} −4π1∣r∣1的拉普拉斯运算 δ ( r ) = − 1 4 π ∇ 2 1 ∣ r ∣ \delta(r)=-\frac{1}{4\pi}\nabla^2 \frac{1}{|r|} δ(r)=−4π1∇2∣r∣1,因此矢量场就与散度和旋度产生了关系。
- 通过矢量三重积公式 ∇ 2 A = ∇ × ( ∇ × A ) − ∇ ( ∇ ⋅ A ) \nabla^2 A =\nabla \times(\nabla \times A)-\nabla(\nabla \cdot A) ∇2A=∇×(∇×A)−∇(∇⋅A),从而可以将矢量场表示为一无散场 ∇ × A \nabla \times A ∇×A的旋度与一标量场 ∇ ⋅ A \nabla \cdot A ∇⋅A的梯度之差。
在网上看了百度文库中的《亥姆霍兹定理的证明》【1】、百度文库中《格林公式证明亥姆霍兹定理》【2】、知乎中的《亥姆霍兹定理》【3】。文献【1】中的证明最简洁清晰;【2】中竟然对矢量函数应用格林定理,又对标量函数应用矢量三重积公式,我没明白是什么技巧,而且很明显多处公式错误,真有点怀疑作者和编辑;【3】中也存在对矢量函数应用格林定理的毛病(对公式4中最后一项就是用格林公式展开的)。
下面把自己对【1】的理解重新整理一下,更改了其中部分错误,优化局部的证明思路!
一、 δ ( r ) \delta(r) δ(r)函数和空间卷积
我认为这是亥姆霍兹定理的基点,类似信号系统中的冲激响应函数。有了该函数,矢量函数就可以表示为自己与
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\bar{F}(r)=\iiint_V \bar{F}(r^\prime) \delta(r-r^\prime)dV^\prime
Fˉ(r)=∭VFˉ(r′)δ(r−r′)dV′。
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\delta(r)=-\frac{1}{4\pi} \nabla^2(\frac{1}{|r|})
δ(r)=−4π1∇2(∣r∣1),所以,
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\bar{F}(r)=-\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) \nabla^2(\frac{1}{|r-r\prime|})dV^\prime
Fˉ(r)=−4π1∭VFˉ(r′)∇2(∣r−r′∣1)dV′ (1)
基于该卷积中的拉普拉斯算子,从而引导出来了积分、散度和旋度等对象,从而得到了亥姆霍兹定理:矢量场可以表示为旋度和梯度。
二、矢量三重积
1.拉普拉斯算子移到积分外
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-\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) \nabla^2(\frac{1}{|r-r\prime|})dV^\prime = -\frac{1}{4\pi}\nabla^2 \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime
−4π1∭VFˉ(r′)∇2(∣r−r′∣1)dV′=−4π1∇2∭VFˉ(r′)(∣r−r′∣1)dV′(2)
上式关键难点是:式左边是拉普拉斯运算是对标量,式右边是拉普拉斯运算是对矢量。为什么相等?
首先拉普拉斯算子是对 r求导,而不是对r’求导;其次,上式是一个矢量相等公式,相当于三个标量等式。写详细一些,对上式右边应用拉普拉斯算子的定义公式
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(\nabla^2A)_x=\frac{\partial^2A_x}{\partial x^2}+\frac{\partial^2A_x}{\partial y^2}+\frac{\partial^2A_x}{\partial z^2}
(∇2A)x=∂x2∂2Ax+∂y2∂2Ax+∂z2∂2Ax展开即可得证:
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-\frac{1}{4\pi}\nabla^2 \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime = \\ -\frac{1}{4\pi}\iiint_V \{ e_{x} (\frac{\partial^2}{\partial x^2}+\frac{\partial^2}{\partial y^2}+\frac{\partial^2}{\partial z^2})[\bar{F}_{x^\prime}(r^\prime) (\frac{1}{|r-r\prime|})] \\+ e_{y} (\frac{\partial^2}{\partial x^2}+\frac{\partial^2}{\partial y^2}+\frac{\partial^2}{\partial z^2})[\bar{F}_{y^\prime}(r^\prime) (\frac{1}{|r-r\prime|})] \\+ e_{z} (\frac{\partial^2}{\partial x^2}+\frac{\partial^2}{\partial y^2}+\frac{\partial^2}{\partial z^2})[\bar{F}_{z^\prime}(r^\prime) (\frac{1}{|r-r\prime|})] \}dV^\prime \\ = -\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) \nabla^2(\frac{1}{|r-r\prime|})dV^\prime
−4π1∇2∭VFˉ(r′)(∣r−r′∣1)dV′=−4π1∭V{ex(∂x2∂2+∂y2∂2+∂z2∂2)[Fˉx′(r′)(∣r−r′∣1)]+ey(∂x2∂2+∂y2∂2+∂z2∂2)[Fˉy′(r′)(∣r−r′∣1)]+ez(∂x2∂2+∂y2∂2+∂z2∂2)[Fˉz′(r′)(∣r−r′∣1)]}dV′=−4π1∭VFˉ(r′)∇2(∣r−r′∣1)dV′(3)
2. 将拉普拉斯运算转换为梯度偏导和矢量三重积之差
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\nabla^2A = \nabla (\nabla \cdot A)- \nabla \times(\nabla \times A)
∇2A=∇(∇⋅A)−∇×(∇×A)
上式为矢量三重积公式,即可以得到向量场的求解公式:
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\bar F(r) =-\nabla \Phi(r)+\nabla \times \bar A(r)
Fˉ(r)=−∇Φ(r)+∇×Aˉ(r)(4)
其中:
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\Phi(r) = \nabla \cdot (\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime )
Φ(r)=∇⋅(4π1∭VFˉ(r′)(∣r−r′∣1)dV′)(5)
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\bar A(r) = \nabla \times (\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime )
Aˉ(r)=∇×(4π1∭VFˉ(r′)(∣r−r′∣1)dV′)(6)
3. Φ ( r ) \Phi(r) Φ(r)的进一步推导
应用等式:
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\nabla \cdot (\bar F(r') \delta(r))= \bar F(r') \cdot \nabla \delta(r)
∇⋅(Fˉ(r′)δ(r))=Fˉ(r′)⋅∇δ(r) 以及等式:
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\nabla(\frac{1}{|r-r'|})=-\nabla' (\frac{1}{|r-r'|})
∇(∣r−r′∣1)=−∇′(∣r−r′∣1) ,可以得到:
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\Phi(r) = \nabla \cdot (\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime ) =\frac{1}{4\pi} \iiint_V \frac{\nabla \cdot \bar{F}(r') }{|r-r'|}dV' - \frac{1}{4\pi} \iint_{S'} \frac{\bar{F}(r') \cdot dS' }{|r-r'|}
Φ(r)=∇⋅(4π1∭VFˉ(r′)(∣r−r′∣1)dV′)=4π1∭V∣r−r′∣∇⋅Fˉ(r′)dV′−4π1∬S′∣r−r′∣Fˉ(r′)⋅dS′
(7)
4. A ˉ ( r ) \bar A(r) Aˉ(r) 的进一步推导
这个推导难度较大。
首先要证明:
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\nabla \times (\frac{\bar F(r')}{|r-r'|})=-\bar F(r') \times \nabla (\frac{1}{|r-r'|})
∇×(∣r−r′∣Fˉ(r′))=−Fˉ(r′)×∇(∣r−r′∣1) (8)
由于
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\nabla \times (\frac{\bar F(r')}{|r-r'|})= \frac{\nabla \times \bar F(r')}{|r-r'|} - \bar F(r') \times \nabla(\frac{1}{|r-r'|})
∇×(∣r−r′∣Fˉ(r′))=∣r−r′∣∇×Fˉ(r′)−Fˉ(r′)×∇(∣r−r′∣1) ,因为
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∇×Fˉ(r′)=0,故上式成立!
另外一种证明方式是将叉乘写成行列式形式,求偏导时 可以视为常量,因此下面推导成立[3]:
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\left| \begin{matrix} e_x & e_y & e_z\\ \frac{\partial}{\partial x} & \frac{\partial}{\partial y} &\frac{\partial}{\partial z}\\ \frac{\bar F_{x'}(r')}{|r-r'|} & \frac{\bar F_{y'}(r')}{|r-r'|} &\frac{\bar F_{z'}(r')}{|r-r'|} \\ \end{matrix} \right| = \left| \begin{matrix} e_x & e_y & e_z\\ \frac{\partial}{\partial x}\frac{1}{|r-r'|} & \frac{\partial}{\partial y}\frac{1}{|r-r'|} &\frac{\partial}{\partial z}\frac{1}{|r-r'|} \\ \bar F_{x'} & \bar F_{y'}(r') &\bar F_{z'}(r') \\ \end{matrix} \right| =- \left| \begin{matrix} e_x & e_y & e_z\\ \bar F_{x'} & \bar F_{y'}(r') &\bar F_{z'}(r') \\ \frac{\partial}{\partial x}\frac{1}{|r-r'|} & \frac{\partial}{\partial y}\frac{1}{|r-r'|} &\frac{\partial}{\partial z}\frac{1}{|r-r'|} \\ \end{matrix} \right|
∣
∣ex∂x∂∣r−r′∣Fˉx′(r′)ey∂y∂∣r−r′∣Fˉy′(r′)ez∂z∂∣r−r′∣Fˉz′(r′)∣
∣=∣
∣ex∂x∂∣r−r′∣1Fˉx′ey∂y∂∣r−r′∣1Fˉy′(r′)ez∂z∂∣r−r′∣1Fˉz′(r′)∣
∣=−∣
∣exFˉx′∂x∂∣r−r′∣1eyFˉy′(r′)∂y∂∣r−r′∣1ezFˉz′(r′)∂z∂∣r−r′∣1∣
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其次要证明:
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\iiint_V \nabla \times \bar F(r') dV' = \iint_S \bar{dS'} \times \bar F(r') =-\iint_S \bar F(r') \times \bar{dS'}
∭V∇×Fˉ(r′)dV′=∬SdS′ˉ×Fˉ(r′)=−∬SFˉ(r′)×dS′ˉ(9)
将等式左边的叉乘进行行列式展开,并且由于
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\iiint_V \frac{\partial F} {\partial x} dxdydz =\iint_S Fdydz
∭V∂x∂Fdxdydz=∬SFdydz,因此可推导得出下式成立:
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\begin{align} \nabla \times \bar F(r') dV' &= \left| \begin{matrix} e_x & e_y & e_z\\ \frac{\partial}{\partial x'} & \frac{\partial}{\partial y'} &\frac{\partial}{\partial z'}\\ \bar F_{x}(r')dV' & \bar F_{y}(r')dV' &\bar F_{z}(r')dV' \\ \end{matrix} \right| \\ &= \left| \begin{matrix} e_x & e_y & e_z\\ \frac{\partial}{\partial x'}dV' & \frac{\partial}{\partial y'} dV'&\frac{\partial}{\partial z'}dV'\\ \bar F_{x}(r') & \bar F_{y}(r') &\bar F_{z}(r') \\ \end{matrix} \right| \\ &= \nabla dV' \times \bar F(r') \\ &= \bar{dS'} \times \bar F(r') \\ &= - \bar F(r') \times \bar{dS'} \\ \end{align}
∇×Fˉ(r′)dV′=∣
∣ex∂x′∂Fˉx(r′)dV′ey∂y′∂Fˉy(r′)dV′ez∂z′∂Fˉz(r′)dV′∣
∣=∣
∣ex∂x′∂dV′Fˉx(r′)ey∂y′∂dV′Fˉy(r′)ez∂z′∂dV′Fˉz(r′)∣
∣=∇dV′×Fˉ(r′)=dS′ˉ×Fˉ(r′)=−Fˉ(r′)×dS′ˉ(10)
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Aˉ(r)进一步展开的推导如下:
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1
4
π
∭
V
F
ˉ
(
r
′
)
×
∇
(
1
∣
r
−
r
′
∣
)
d
V
′
=
1
4
π
∭
V
F
ˉ
(
r
′
)
×
∇
′
(
1
∣
r
−
r
′
∣
)
d
V
′
=
1
4
π
∭
V
(
∇
′
×
F
ˉ
(
r
′
)
∣
r
−
r
′
∣
−
∇
′
×
(
F
ˉ
(
r
′
)
∣
r
−
r
′
∣
)
)
d
V
′
=
1
4
π
∭
V
∇
′
×
F
ˉ
(
r
′
)
∣
r
−
r
′
∣
d
V
′
−
1
4
π
∬
S
d
S
′
ˉ
×
F
ˉ
(
r
′
)
∣
r
−
r
′
∣
\begin{align} \bar A(r) & = \nabla \times (\frac{1}{4\pi} \iiint_V \bar{F}(r^\prime) (\frac{1}{|r-r\prime|})dV^\prime ) \\ &=\frac{1}{4\pi} \iiint_V \nabla \times (\frac{\bar{F}(r')}{|r-r'|})dV' \\ &=-\frac{1}{4\pi} \iiint_V \bar{F}(r') \times\nabla (\frac{1}{|r-r'|})dV'\\ &=\frac{1}{4\pi} \iiint_V \bar{F}(r') \times\nabla ' (\frac{1}{|r-r'|})dV' \\ &=\frac{1}{4\pi} \iiint_V (\frac{\nabla ' \times\bar{F}(r')}{|r-r'|}-\nabla' \times (\frac{\bar{F}(r')}{|r-r'|}))dV' \\ &=\frac{1}{4\pi} \iiint_V \frac{\nabla ' \times\bar{F}(r')}{|r-r'|} dV' -\frac{1}{4\pi} \iint_S \frac{\bar{dS'} \times\bar{F}(r')}{|r-r'|} \end{align}
Aˉ(r)=∇×(4π1∭VFˉ(r′)(∣r−r′∣1)dV′)=4π1∭V∇×(∣r−r′∣Fˉ(r′))dV′=−4π1∭VFˉ(r′)×∇(∣r−r′∣1)dV′=4π1∭VFˉ(r′)×∇′(∣r−r′∣1)dV′=4π1∭V(∣r−r′∣∇′×Fˉ(r′)−∇′×(∣r−r′∣Fˉ(r′)))dV′=4π1∭V∣r−r′∣∇′×Fˉ(r′)dV′−4π1∬S∣r−r′∣dS′ˉ×Fˉ(r′)(11)
三、矢量场唯一性定理证明
由上可知,矢量场可以通过其散度、旋度和边界S上约束来计算。进一步可以证明矢量的散度、旋度和边界条件确定的矢量场是唯一的。使用反证法,假设不唯一,则存在
δ
F
ˉ
=
F
ˉ
1
−
F
ˉ
2
\delta \bar F = \bar F_1 -\bar F_2
δFˉ=Fˉ1−Fˉ2,则:
{
∇
⋅
δ
F
ˉ
=
0
∇
×
δ
F
ˉ
=
0
\left \{ \begin{align} & \nabla \cdot \delta \bar F = 0 \\ & \nabla \times \delta \bar F =0 \\ \end{align} \right.
{∇⋅δFˉ=0∇×δFˉ=0
并且在边界曲面S上法向分量或切向分量给定,则:
e
n
⋅
δ
F
ˉ
=
0
,或
e
n
×
δ
F
ˉ
=
0
\begin{align} & e_n \cdot \delta \bar F = 0 ,或\\ & e_n \times \delta \bar F =0 \\ \end{align}
en⋅δFˉ=0,或en×δFˉ=0,
假设
δ
F
ˉ
=
∇
Φ
\delta \bar F = \nabla \Phi
δFˉ=∇Φ,即
∇
2
Φ
=
0
\nabla ^2 \Phi = 0
∇2Φ=0。应用标量函数第一格林公式可得:
∭
V
(
∣
∇
Φ
∣
2
+
Φ
∇
2
Φ
)
d
V
′
=
∬
S
Φ
∂
Φ
∂
n
d
S
′
\iiint_V (|\nabla \Phi|^2 +\Phi \nabla ^2 \Phi)dV' = \iint_S \Phi \frac{\partial \Phi}{\partial n}dS'
∭V(∣∇Φ∣2+Φ∇2Φ)dV′=∬SΦ∂n∂ΦdS′(12)
∭
V
(
∣
∇
Φ
∣
2
)
d
V
′
=
∬
S
Φ
∂
Φ
∂
n
d
S
′
\iiint_V (|\nabla \Phi|^2 )dV' = \iint_S \Phi \frac{\partial \Phi}{\partial n}dS'
∭V(∣∇Φ∣2)dV′=∬SΦ∂n∂ΦdS′(13)
如果
e
n
⋅
δ
F
ˉ
=
0
e_n \cdot \delta \bar F = 0
en⋅δFˉ=0,即式(13)左边项为0,从而
δ
F
ˉ
=
0
\delta \bar F =0
δFˉ=0。
如果在边界面S上
e
n
×
δ
F
ˉ
=
0
e_n \times \delta \bar F = 0
en×δFˉ=0,则在边界S上
Φ
\Phi
Φ 为常数。结合散度定理:
∬
V
∇
2
Φ
d
V
′
=
∬
S
∇
Φ
⋅
d
S
′
ˉ
=
∬
S
∂
Φ
∂
n
d
S
′
\iint_V \nabla ^2 \Phi dV' = \iint_S \nabla \Phi \cdot \bar {dS'} = \iint_S \frac{\partial \Phi}{\partial n}dS'
∬V∇2ΦdV′=∬S∇Φ⋅dS′ˉ=∬S∂n∂ΦdS′ ,可做如下推导:
∬
S
Φ
∂
Φ
∂
n
d
S
′
=
Φ
s
∬
S
∂
Φ
∂
n
d
S
′
=
Φ
s
∭
V
∇
2
Φ
d
V
′
=
0
\begin{align} \iint_S \Phi \frac{\partial \Phi}{\partial n}dS' &=\Phi_s \iint_S \frac{\partial \Phi}{\partial n}dS' \\ &=\Phi_s \iiint_V \nabla^2\Phi dV' \\ &=0 \end{align}
∬SΦ∂n∂ΦdS′=Φs∬S∂n∂ΦdS′=Φs∭V∇2ΦdV′=0
补充证明:如果在边界面S上
e
n
×
∇
Φ
=
0
e_n \times \nabla \Phi = 0
en×∇Φ=0,则在边界S上
Φ
\Phi
Φ为常数。
设边界曲面S的函数为:
Ψ
(
x
,
y
,
z
)
=
0
\Psi(x,y,z)=0
Ψ(x,y,z)=0 。
因曲面S上:
e
n
×
∇
Φ
=
0
e_n \times\nabla \Phi = 0
en×∇Φ=0,即
∇
Ψ
∣
∇
Ψ
∣
×
∇
Φ
=
0
\frac{\nabla \Psi}{|\nabla \Psi|}\times \nabla \Phi=0
∣∇Ψ∣∇Ψ×∇Φ=0
所以,
∇
Ψ
×
∇
Φ
=
0
\nabla \Psi \times \nabla \Phi =0
∇Ψ×∇Φ=0
所以,
∇
Ψ
=
k
∇
Φ
\nabla \Psi = k \nabla \Phi
∇Ψ=k∇Φ
所以曲面S上,
Φ
(
x
,
y
,
z
)
=
k
Ψ
(
x
,
y
,
z
)
+
C
o
n
s
t
a
n
t
=
C
o
n
s
t
a
n
t
\Phi(x,y,z) = k \Psi(x,y,z)+Constant = Constant
Φ(x,y,z)=kΨ(x,y,z)+Constant=Constant ,得证!