现有任意一个三维矢量
A
⃗
\vec A
A（高维矢量的情况类似）：
(1)
A
⃗
=
A
1
e
^
q
1
+
A
2
e
^
q
2
+
A
3
e
^
q
3
\vec A=A_1\hat e_{q_1}+A_2\hat e_{q_2}+A_3\hat e_{q_3}\tag 1
A=A1e^q1+A2e^q2+A3e^q3(1)
e
^
q
i
(
i
=
1
,
2
,
3
)
\hat e_{q_i}(i=1,2,3)
e^qi(i=1,2,3)为空间中的坐标单位矢量，满足：
(2)
e
^
q
i
⋅
e
^
q
j
=
{
0
,
i
≠
j
1
,
i
=
j
\hat e_{q_i}\cdot\hat e_{q_j}=\left\{ \begin{aligned} 0 &, & i\ne j \\ 1 &, & i=j \end{aligned} \right.\tag 2
e^qi⋅e^qj={01,,i̸=ji=j(2)
(3)
e
^
q
1
×
e
^
q
2
=
e
^
q
3
e
^
q
3
×
e
^
q
1
=
e
^
q
2
e
^
q
2
×
e
^
q
3
=
e
^
q
1
\hat e_{q_1}\times\hat e_{q_2}=\hat e_{q_3}\\\hat e_{q_3}\times\hat e_{q_1}=\hat e_{q_2}\\\hat e_{q_2}\times\hat e_{q_3}=\hat e_{q_1}\tag 3
e^q1×e^q2=e^q3e^q3×e^q1=e^q2e^q2×e^q3=e^q1(3)
在此坐标系下，位矢全微分：
(4)
d
r
⃗
=
∑
i
=
1
3
h
i
d
q
i
e
^
q
i
d\vec r=\sum^3_{i=1}h_idq_i\hat e_{q_i}\tag 4
dr=i=1∑3hidqie^qi(4)
另有，无限小距离平方为：
(5)
(
d
s
)
2
=
(
d
r
⃗
)
2
=
∑
i
=
1
3
(
h
i
d
q
i
)
2
(ds)^2=(d\vec r)^2=\sum^3_{i=1}(h_idq_i)^2\tag 5
(ds)2=(dr)2=i=1∑3(hidqi)2(5)
h
i
h_i
hi为每一坐标方向上的距离微元与该坐标微元的比值，称为该坐标体系在此坐标上的度量系数：
(6)
h
i
=
d
r
⃗
⋅
e
^
q
i
d
q
i
h_i=\frac{d\vec r\cdot\hat e_{q_i}}{dq_i}\tag 6
hi=dqidr⋅e^qi(6)
于是，在该坐标体系中，每个坐标方向上的距离微元为：
(7)
d
l
i
=
h
i
d
q
i
dl_i=h_idq_i\tag 7
dli=hidqi(7)
面积微元为：
(8)
d
S
i
=
h
j
h
k
d
q
j
d
q
k
，
i
，
j
，
k
互
不
相
等
dS_i=h_jh_kdq_jdq_k，i，j，k互不相等\tag 8
dSi=hjhkdqjdqk，i，j，k互不相等(8)
体积微元为：
(9)
d
V
=
h
1
h
2
h
3
d
q
1
d
q
2
d
q
3
dV=h_1h_2h_3dq_1dq_2dq_3 \tag 9
dV=h1h2h3dq1dq2dq3(9)
一、散度
矢量 A ⃗ \vec A A在体积元 d V dV dV表面上的通量为：
(10)
d
Φ
=
−
A
1
h
2
h
3
d
q
2
d
q
3
+
(
A
1
+
∂
A
1
∂
q
1
d
q
1
)
(
h
2
+
∂
h
2
∂
q
1
d
q
1
)
(
h
3
+
∂
h
3
∂
q
1
d
q
1
)
d
q
2
d
q
3
−
A
2
h
1
h
3
d
q
1
d
q
3
+
(
A
2
+
∂
A
2
∂
q
2
d
q
2
)
(
h
1
+
∂
h
1
∂
q
2
d
q
2
)
(
h
3
+
∂
h
3
∂
q
2
d
q
2
)
d
q
1
d
q
3
−
A
3
h
1
h
2
d
q
1
d
q
2
+
(
A
3
+
∂
A
3
∂
q
3
d
q
3
)
(
h
1
+
∂
h
1
∂
q
3
d
q
3
)
(
h
2
+
∂
h
2
∂
q
3
d
q
3
)
d
q
1
d
q
2
=
A
1
h
2
∂
h
3
∂
q
1
d
q
1
d
q
2
d
q
3
+
A
1
h
3
∂
h
2
∂
q
1
d
q
1
d
q
2
d
q
3
+
∂
A
1
∂
q
1
h
2
h
3
d
q
1
d
q
2
d
q
3
+
A
2
h
1
∂
h
3
∂
q
2
d
q
1
d
q
2
d
q
3
+
A
2
h
3
∂
h
1
∂
q
2
d
q
1
d
q
2
d
q
3
+
∂
A
2
∂
q
2
h
1
h
3
d
q
1
d
q
2
d
q
3
+
A
3
h
1
∂
h
2
∂
q
3
d
q
1
d
q
2
d
q
3
+
A
3
h
2
∂
h
1
∂
q
3
d
q
1
d
q
2
d
q
3
+
∂
A
3
∂
q
3
h
1
h
2
d
q
1
d
q
2
d
q
3
=
[
∂
(
A
1
h
2
h
3
)
∂
q
1
+
∂
(
A
2
h
3
h
1
)
∂
q
2
+
∂
(
A
3
h
1
h
2
)
∂
q
3
]
d
q
1
d
q
2
d
q
3
\begin{aligned} d\Phi &=-A_1h_2h_3dq_2dq_3+(A_1+\frac{\partial A_1}{\partial q_1}dq_1)(h_2+\frac{\partial h_2}{\partial q_1}dq_1)(h_3+\frac{\partial h_3}{\partial q_1}dq_1)dq_2dq_3\\ &-A_2h_1h_3dq_1dq_3+(A_2+\frac{\partial A_2}{\partial q_2}dq_2)(h_1+\frac{\partial h_1}{\partial q_2}dq_2)(h_3+\frac{\partial h_3}{\partial q_2}dq_2)dq_1dq_3\\ &-A_3h_1h_2dq_1dq_2+(A_3+\frac{\partial A_3}{\partial q_3}dq_3)(h_1+\frac{\partial h_1}{\partial q_3}dq_3)(h_2+\frac{\partial h_2}{\partial q_3}dq_3)dq_1dq_2\\ &=A_1h_2\frac{\partial h_3}{\partial q_1}dq_1dq_2dq_3+A_1h_3\frac{\partial h_2}{\partial q_1}dq_1dq_2dq_3+\frac{\partial A_1}{\partial q_1}h_2h_3dq_1dq_2dq_3\\ &+A_2h_1\frac{\partial h_3}{\partial q_2}dq_1dq_2dq_3+A_2h_3\frac{\partial h_1}{\partial q_2}dq_1dq_2dq_3+\frac{\partial A_2}{\partial q_2}h_1h_3dq_1dq_2dq_3\\ &+A_3h_1\frac{\partial h_2}{\partial q_3}dq_1dq_2dq_3+A_3h_2\frac{\partial h_1}{\partial q_3}dq_1dq_2dq_3+\frac{\partial A_3}{\partial q_3}h_1h_2dq_1dq_2dq_3\\ &=[\frac{\partial (A_1h_2h_3)}{\partial q_1}+\frac{\partial (A_2h_3h_1)}{\partial q_2}+\frac{\partial (A_3h_1h_2)}{\partial q_3}]dq_1dq_2dq_3 \end{aligned}\tag {10}
dΦ=−A1h2h3dq2dq3+(A1+∂q1∂A1dq1)(h2+∂q1∂h2dq1)(h3+∂q1∂h3dq1)dq2dq3−A2h1h3dq1dq3+(A2+∂q2∂A2dq2)(h1+∂q2∂h1dq2)(h3+∂q2∂h3dq2)dq1dq3−A3h1h2dq1dq2+(A3+∂q3∂A3dq3)(h1+∂q3∂h1dq3)(h2+∂q3∂h2dq3)dq1dq2=A1h2∂q1∂h3dq1dq2dq3+A1h3∂q1∂h2dq1dq2dq3+∂q1∂A1h2h3dq1dq2dq3+A2h1∂q2∂h3dq1dq2dq3+A2h3∂q2∂h1dq1dq2dq3+∂q2∂A2h1h3dq1dq2dq3+A3h1∂q3∂h2dq1dq2dq3+A3h2∂q3∂h1dq1dq2dq3+∂q3∂A3h1h2dq1dq2dq3=[∂q1∂(A1h2h3)+∂q2∂(A2h3h1)+∂q3∂(A3h1h2)]dq1dq2dq3(10)
（以上忽略微元幂次在4次及以上的高阶项）
(11)
∇
⋅
A
⃗
=
d
Φ
d
V
=
1
h
1
h
2
h
3
[
∂
(
A
1
h
2
h
3
)
∂
q
1
+
∂
(
A
2
h
3
h
1
)
∂
q
2
+
∂
(
A
3
h
1
h
2
)
∂
q
3
]
\nabla \cdot \vec A=\frac{d\Phi}{dV} =\frac{1}{h_1h_2h_3}[\frac{\partial (A_1h_2h_3)}{\partial q_1}+\frac{\partial (A_2h_3h_1)}{\partial q_2}+\frac{\partial (A_3h_1h_2)}{\partial q_3}]\tag {11}
∇⋅A=dVdΦ=h1h2h31[∂q1∂(A1h2h3)+∂q2∂(A2h3h1)+∂q3∂(A3h1h2)](11)
二、旋度
矢量
A
⃗
\vec A
A在各个坐标平面上微环的环流为：
(12)
d
Γ
1
=
A
2
h
2
d
q
2
+
(
A
3
+
∂
A
3
∂
q
2
d
q
2
)
(
h
3
+
∂
h
3
∂
q
2
d
q
2
)
d
q
3
−
(
A
2
+
∂
A
2
∂
q
3
d
q
3
)
(
h
2
+
∂
h
2
∂
q
3
d
q
3
)
d
q
2
−
A
3
h
3
d
q
3
=
A
3
∂
h
3
∂
q
2
d
q
2
d
q
3
+
h
3
∂
A
3
∂
q
2
d
q
2
d
q
3
−
A
2
∂
h
2
∂
q
3
d
q
2
d
q
3
−
h
2
∂
A
2
∂
q
3
d
q
2
d
q
3
=
[
∂
(
A
3
h
3
)
∂
q
2
−
∂
(
A
2
h
2
)
∂
q
3
]
d
q
2
d
q
3
\begin{aligned} d\Gamma_1 &=A_2h_2dq_2+(A_3+\frac{\partial A_3}{\partial q_2}dq_2)(h_3+\frac{\partial h_3}{\partial q_2}dq_2)dq_3-(A_2+\frac{\partial A_2}{\partial q_3}dq_3)(h_2+\frac{\partial h_2}{\partial q_3}dq_3)dq_2-A_3h_3dq_3\\ &=A_3\frac{\partial h_3}{\partial q_2}dq_2dq_3+h_3\frac{\partial A_3}{\partial q_2}dq_2dq_3-A_2\frac{\partial h_2}{\partial q_3}dq_2dq_3-h_2\frac{\partial A_2}{\partial q_3}dq_2dq_3\\ &=[\frac{\partial (A_3h_3)}{\partial q_2}-\frac{\partial (A_2h_2)}{\partial q_3}]dq_2dq_3 \end{aligned}\tag {12}
dΓ1=A2h2dq2+(A3+∂q2∂A3dq2)(h3+∂q2∂h3dq2)dq3−(A2+∂q3∂A2dq3)(h2+∂q3∂h2dq3)dq2−A3h3dq3=A3∂q2∂h3dq2dq3+h3∂q2∂A3dq2dq3−A2∂q3∂h2dq2dq3−h2∂q3∂A2dq2dq3=[∂q2∂(A3h3)−∂q3∂(A2h2)]dq2dq3(12)
同理可得：
(13)
d
Γ
2
=
[
∂
(
A
1
h
1
)
∂
q
3
−
∂
(
A
3
h
3
)
∂
q
1
]
d
q
1
d
q
3
d\Gamma_2=[\frac{\partial (A_1h_1)}{\partial q_3}-\frac{\partial (A_3h_3)}{\partial q_1}]dq_1dq_3\tag {13}
dΓ2=[∂q3∂(A1h1)−∂q1∂(A3h3)]dq1dq3(13)
(14)
d
Γ
3
=
[
∂
(
A
2
h
2
)
∂
q
1
−
∂
(
A
1
h
1
)
∂
q
2
]
d
q
1
d
q
2
d\Gamma_3=[\frac{\partial (A_2h_2)}{\partial q_1}-\frac{\partial (A_1h_1)}{\partial q_2}]dq_1dq_2\tag {14}
dΓ3=[∂q1∂(A2h2)−∂q2∂(A1h1)]dq1dq2(14)
（以上忽略微元幂次在3次及以上的高阶项）
矢量
A
⃗
\vec A
A在各个坐标方向上的环流密度为：
(15)
r
o
t
1
A
⃗
=
d
Γ
1
d
S
1
=
[
∂
(
A
3
h
3
)
∂
q
2
−
∂
(
A
2
h
2
)
∂
q
3
]
d
q
2
d
q
3
h
2
h
3
d
q
2
d
q
3
=
1
h
2
h
3
[
∂
(
A
3
h
3
)
∂
q
2
−
∂
(
A
2
h
2
)
∂
q
3
]
rot_1\vec A=\frac{d\Gamma_1}{dS_1}=\frac{[\frac{\partial (A_3h_3)}{\partial q_2}-\frac{\partial (A_2h_2)}{\partial q_3}]dq_2dq_3}{h_2h_3dq_2dq_3}=\frac{1}{h_2h_3}[\frac{\partial (A_3h_3)}{\partial q_2}-\frac{\partial (A_2h_2)}{\partial q_3}]\tag {15}
rot1A=dS1dΓ1=h2h3dq2dq3[∂q2∂(A3h3)−∂q3∂(A2h2)]dq2dq3=h2h31[∂q2∂(A3h3)−∂q3∂(A2h2)](15)
(16)
r
o
t
2
A
⃗
=
d
Γ
2
d
S
2
=
[
∂
(
A
1
h
1
)
∂
q
3
−
∂
(
A
3
h
3
)
∂
q
1
]
d
q
1
d
q
3
h
1
h
3
d
q
1
d
q
3
=
1
h
1
h
3
[
∂
(
A
1
h
1
)
∂
q
3
−
∂
(
A
3
h
3
)
∂
q
1
]
rot_2\vec A=\frac{d\Gamma_2}{dS_2}=\frac{[\frac{\partial (A_1h_1)}{\partial q_3}-\frac{\partial (A_3h_3)}{\partial q_1}]dq_1dq_3}{h_1h_3dq_1dq_3}=\frac{1}{h_1h_3}[\frac{\partial (A_1h_1)}{\partial q_3}-\frac{\partial (A_3h_3)}{\partial q_1}]\tag{16}
rot2A=dS2dΓ2=h1h3dq1dq3[∂q3∂(A1h1)−∂q1∂(A3h3)]dq1dq3=h1h31[∂q3∂(A1h1)−∂q1∂(A3h3)](16)
(17)
r
o
t
3
A
⃗
=
d
Γ
3
d
S
3
=
[
∂
(
A
2
h
2
)
∂
q
1
−
∂
(
A
1
h
1
)
∂
q
1
]
d
q
1
d
q
2
h
1
h
2
d
q
1
d
q
2
=
1
h
1
h
2
[
∂
(
A
2
h
2
)
∂
q
1
−
∂
(
A
1
h
1
)
∂
q
2
]
rot_3\vec A=\frac{d\Gamma_3}{dS_3}=\frac{[\frac{\partial (A_2h_2)}{\partial q_1}-\frac{\partial (A_1h_1)}{\partial q_1}]dq_1dq_2}{h_1h_2dq_1dq_2}=\frac{1}{h_1h_2}[\frac{\partial (A_2h_2)}{\partial q_1}-\frac{\partial (A_1h_1)}{\partial q_2}]\tag{17}
rot3A=dS3dΓ3=h1h2dq1dq2[∂q1∂(A2h2)−∂q1∂(A1h1)]dq1dq2=h1h21[∂q1∂(A2h2)−∂q2∂(A1h1)](17)
故矢量
A
⃗
\vec A
A的旋度为：
(18)
∇
×
A
⃗
=
e
^
q
1
r
o
t
1
A
⃗
+
e
^
q
2
r
o
t
2
A
⃗
+
e
^
q
3
r
o
t
3
A
⃗
=
1
h
2
h
3
[
∂
(
A
3
h
3
)
∂
q
2
−
∂
(
A
2
h
2
)
∂
q
3
]
e
^
q
1
+
1
h
1
h
3
[
∂
(
A
1
h
1
)
∂
q
3
−
∂
(
A
3
h
3
)
∂
q
1
]
e
^
q
2
+
1
h
1
h
2
[
∂
(
A
2
h
2
)
∂
q
1
−
∂
(
A
1
h
1
)
∂
q
2
]
e
^
q
3
=
1
h
1
h
2
h
3
∣
h
1
e
^
q
1
h
2
e
^
q
2
h
3
e
^
q
3
∂
∂
q
1
∂
∂
q
2
∂
∂
q
3
h
1
A
1
h
2
A
2
h
3
A
3
∣
\begin{aligned} \nabla\times \vec A &=\hat e_{q_1}rot_1\vec A+\hat e_{q_2}rot_2\vec A+\hat e_{q_3}rot_3\vec A\\ &=\frac{1}{h_2h_3}[\frac{\partial (A_3h_3)}{\partial q_2}-\frac{\partial (A_2h_2)}{\partial q_3}]\hat e_{q_1}+\frac{1}{h_1h_3}[\frac{\partial (A_1h_1)}{\partial q_3}-\frac{\partial (A_3h_3)}{\partial q_1}]\hat e_{q_2}+\frac{1}{h_1h_2}[\frac{\partial (A_2h_2)}{\partial q_1}-\frac{\partial (A_1h_1)}{\partial q_2}]\hat e_{q_3}\\ &=\frac{1}{h_1h_2h_3}\left |\begin{matrix} h_1\hat e_{q_1} & h_2\hat e_{q_2} & h_3\hat e_{q_3} \\\\ \frac{\partial}{\partial q_1} & \frac{\partial}{\partial q_2} & \frac{\partial}{\partial q_3}\\\\ h_1A_1 & h_2A_2 & h_3A_3 \end{matrix} \right | \end{aligned}\tag {18}
∇×A=e^q1rot1A+e^q2rot2A+e^q3rot3A=h2h31[∂q2∂(A3h3)−∂q3∂(A2h2)]e^q1+h1h31[∂q3∂(A1h1)−∂q1∂(A3h3)]e^q2+h1h21[∂q1∂(A2h2)−∂q2∂(A1h1)]e^q3=h1h2h31∣∣∣∣∣∣∣∣∣∣h1e^q1∂q1∂h1A1h2e^q2∂q2∂h2A2h3e^q3∂q3∂h3A3∣∣∣∣∣∣∣∣∣∣(18)
三、散度以及旋度的矩阵形式
(19)
A
⃗
=
[
A
1
A
2
A
3
]
\vec A= \begin{bmatrix} A_1\\\\ A_2\\\\ A_3 \end{bmatrix}\tag{19}
A=⎣⎢⎢⎢⎢⎡A1A2A3⎦⎥⎥⎥⎥⎤(19)
(20)
∇
⋅
A
⃗
=
1
h
1
h
2
h
3
[
∂
∂
q
1
∂
∂
q
2
∂
∂
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T
[
h
2
h
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[
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\nabla \cdot\vec A=\frac{1}{h_1h_2h_3} \begin{bmatrix} \frac{\partial}{\partial q_1}\\\\ \frac{\partial}{\partial q_2}\\\\ \frac{\partial}{\partial q_3} \end{bmatrix}^T \begin{bmatrix} h_2h_3 & 0 & 0\\\\ 0 & h_3h_1 & 0\\\\ 0 & 0 & h_1h_2 \end{bmatrix} \begin{bmatrix} A_1\\\\A_2\\\\A_3 \end{bmatrix}\tag{20}
∇⋅A=h1h2h31⎣⎢⎢⎢⎢⎡∂q1∂∂q2∂∂q3∂⎦⎥⎥⎥⎥⎤T⎣⎢⎢⎢⎢⎡h2h3000h3h1000h1h2⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡A1A2A3⎦⎥⎥⎥⎥⎤(20)
(21)
∇
×
A
⃗
=
1
h
1
h
2
h
3
[
h
1
0
0
0
h
2
0
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h
3
]
[
0
−
∂
∂
q
3
∂
∂
q
2
∂
∂
q
3
0
−
∂
∂
q
1
−
∂
∂
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2
∂
∂
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1
0
]
[
h
1
0
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0
h
2
0
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h
3
]
[
A
1
A
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]
\nabla \times\vec A=\frac{1}{h_1h_2h_3} \begin{bmatrix} h_1 & 0 & 0\\\\ 0 & h_2 & 0\\\\ 0 & 0 & h_3 \end{bmatrix} \begin{bmatrix} 0 & -\frac{\partial}{\partial q_3} & \frac{\partial}{\partial q_2}\\\\ \frac{\partial}{\partial q_3} & 0 & -\frac{\partial}{\partial q_1}\\\\ -\frac{\partial}{\partial q_2} & \frac{\partial}{\partial q_1} & 0 \end{bmatrix} \begin{bmatrix} h_1 & 0 & 0\\\\ 0 & h_2 & 0\\\\ 0 & 0 & h_3 \end{bmatrix} \begin{bmatrix} A_1\\\\A_2\\\\A_3 \end{bmatrix}\tag{21}
∇×A=h1h2h31⎣⎢⎢⎢⎢⎡h1000h2000h3⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡0∂q3∂−∂q2∂−∂q3∂0∂q1∂∂q2∂−∂q1∂0⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡h1000h2000h3⎦⎥⎥⎥⎥⎤⎣⎢⎢⎢⎢⎡A1A2A3⎦⎥⎥⎥⎥⎤(21)
附：算子运算规则（举例说明）：
ϕ
(
x
,
y
,
z
)
\phi(x,y,z)
ϕ(x,y,z)与
ψ
(
x
,
y
,
z
)
\psi(x,y,z)
ψ(x,y,z)是两个函数，算子
∇
\nabla
∇（
∇
=
(
e
^
x
∂
∂
x
+
e
^
y
∂
∂
y
+
e
^
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∂
∂
z
)
\nabla=(\hat e_x\frac{\partial}{\partial x}+\hat e_y\frac{\partial}{\partial y}+\hat e_z\frac{\partial}{\partial z})
∇=(e^x∂x∂+e^y∂y∂+e^z∂z∂)）的运算规则如下：
(22)
ϕ
(
x
,
y
,
z
)
∇
ψ
(
x
,
y
,
z
)
=
ϕ
∂
ψ
∂
x
e
^
x
+
ϕ
∂
ψ
∂
y
e
^
y
+
ϕ
∂
ψ
∂
z
e
^
z
\phi(x,y,z)\nabla\psi(x,y,z)=\phi\frac{\partial\psi}{\partial x}\hat e_x+\phi\frac{\partial\psi}{\partial y}\hat e_y+\phi\frac{\partial\psi}{\partial z}\hat e_z\tag{22}
ϕ(x,y,z)∇ψ(x,y,z)=ϕ∂x∂ψe^x+ϕ∂y∂ψe^y+ϕ∂z∂ψe^z(22)
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