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6.013/ESD.013J Electromagnetics and Applications, Fall 2005

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6.013 - Electromagnetics and Applications

Fall 2005

Lecture 22 - Acoustic Waves

Prof. Markus Zahn

December 8, 2005

I. Useful identity ( - any quantity)

d
dt

1
dV =
t

dV (t + t)

V (t+t)

dV (t)
V (t)

V(t+t)
_ _
da = nda
V(t+t)

_
t
V(t)

d
dt

1
t

1
dV [(t + t) (t)] +
t
V (t)

v (t + t)
=
dV
+
da
t
V (t)
S

=
dV
+
dV [(t)
v]
t
V (t)
V (t)

=
dV
+ (v)
t
V (t)

dV =

Image by MIT OpenCourseWare.

dV (t + t)
vt
V =da

II. Conservation of Mass ( - mass density)

dV = 0 =
dV
+ (v)
dt V
t
V

Since V is arbitrary:
+ (v) = 0
(Conservation of mass)
t

III. Conservation of Momentum, ith component (i = x, y, or z)

dV vi =
dV
(vi ) + (vi v) =
dV FT i

dt V
t
V
V

Total force
density

(vi ) + (vi v) = FT i
t

vi
+
+ vi (v) + (
v )vi = FT i
t
t

vi
vi
+ (v) +
+ (
v )vi = FT i
t
t

vi

=0
(mass conservation)

+ (
v )
v = FT
t
IV. Force density due to pressure (force/area)

P
z

P
P

P
x
z

Image by MIT OpenCourseWare.

Fp = { [p(x + x) p(x)] ix yz [p(y + y) p(y)] iy xz [p(z) p(z z)] iz xy}

[p(x + x) p(x)]
[p(y + y ) p(y)]
[p(z) p(z z)]
ix
iy
iz
x
y
z

p
p
p
=
ix + iy +

iz

y
z
x
= p
=

V. Governing Fluid Equations

+ (v) = 0
t

+ (
v )
v = p
t
2

1
xyz

VI. Small Perturbations About Equilibrium of Stationary Fluid

= 0 +

( 0 )

v = 0 + v
p = p0 + p

v
t

+ 0 v = 0

+ (
v )
v = p

+ 0 v = 0

0 v
t = p

=0
second order

VII. Pressure / Density Constitutive Law

A. Ideal Gas - p = RT , R is the Gas Constant = Rg / molecular weight in grams
1. Isothermal (T constant) Rg = 8.31 103 kg Joules
(mole) K
p = RT
p = RT
where mole indicates the molecular weight in grams.
2. Adiabatic
p
p
p0
p = constant p =
=

0
cp
5
=
= ratio of specic heats = (monatomic ideal gas)
cv
3
B. Liquid or Solid
p

= p = , where is the Bulk Modulus

0
VIII. Acoustic Wave Equation
v

0
= p 0 ( v ) = (p ) = 2 p
t
t

1
+ 0 v = 0 v =
t
0 t
2

+2 p = + 2
t
1/2
p
cs =

RT

p
0
cs =
0

(Units:

nt
kg
m2 m
3

nt-m
m2
= 2 = (velocity)2
kg
s

Isothermal Ideal Gas

Adiabatic Ideal Gas
Liquid or Solid
3

In air: (Adiabatic, = 1.4), 0 = 1.29 kg/m3 , p0 = 1.01105 mnt2 (1 atmosphere), cs =

p0
0

330 m/s
In water: cs 1500 m/s
p2
1 2 p
2

p
=
(cs is the speed of sound)
c2s
c2s t2
2 p 2 p 2 p
+
+
2 p =
x2
y 2
z 2

2 =

IX. Acoustic Waveguide

A. Parallel plate waveguide

X
x(x = d) = 0

d
Z
0

Y
x(x = 0) = 0

Image by MIT OpenCourseWare.

p = Re p(x)ej(tkz z)
1 2 p
d2 p
2
2

k
p

p
z
c2s t2
dx2
cs2

d2 p 2
2
+

k
p = 0
z

dx2
c2
s

2 p =

kx2

d2 p
+ kx2 p = 0 p(x) = A sin(kx x) + B cos(kx x)
dx2
v
dp
0
= p 0 jvx =
= kx [A cos(kx x) B sin(kx x)]
t
dx
0 jvz = jkz p
vx (x = 0) = 0 A = 0
Bkx
vx =
sin(kx x)
0 j
vx (x = d) = 0 sin(kx d) = 0 kx d = m, m = 0, 1, 2, . . .
p(x) = B cos(kx x)
Bkx
Bkz
v = vxix + vziz =
sin(kx x)ix +
cos(kx x)iz
0 j
0
2 m 2
kx2 + kz2 = 2 =
+ kz2
cs
d

2 m 2

kz =
c2s
d
4

m = 0 - TEM mode
Bkz
B
iz =
iz
0
0 cs
p=B
p
= 0 cs is the Acoustic Impedance
s =
vz
v =

B. Rectangular Acoustic Waveguide

x=a
Z
x=0
y=0

y=b

Image by MIT OpenCourseWare.

B.C.

ux (x = 0) = ux (x = a) = 0
uy (y = 0) = uy (y = b) = 0

p = Re p(x, y)ej(tkz z)

p(x, y) = [A sin(kx x) + B cos(kx x)] [C sin(ky y) + D cos(ky y)] kx2 + ky2 + kz2 = 2 /c2s
1 p

0 j x

1 p

vy =
0 j y

kz
vz =
p
0

p = A cos(kx x) cos(ky y)

A
v
=
[ix kx sin(kx x) cos(ky y) iy ky cos(kx x) sin(ky y) + kziz cos(kx x) cos(ky y)]
0 j

kx =
, m = 0, 1, 2, . . .
a
n
ky =
, n = 0, 1, 2, . . .
b

2 m 2 n 2

kz =

c2s
a
b
vx =

X. Poynting Theorem

v
1

2
v 0
= p
0 |v | = (
v )p
t
t 2

1
1
p

1
2
p v =

=
2

p ( v ) =
p
0 t
0 cs t

t
20 c2s

2
1
1
p
= (p v )
0 |v |2 +

t 2

2
0 c2

1
1 p2

2

Integral form:

da

p v =

dV
0 |
v |
+
dt
V

2
0 c2

S
s