2.065/2.

066 Acoustics and Sensing

Lecture 2

Massachusetts Institute of Technology

Professor Nicholas Makris

 3-D Acoustic Wave Equation (free space)

Dynamic Variables
p = p0 + p1 + p2 + . . .
~u = ~u0 + ~u1 + ~u2 + . . .
ρ = ρ0 + ρ1 + ρ2 + . . .
p0  p1  p2  . . .

1. Equation of State
(p − p0 )2 ∂ 2 ρ 
 
∂ρ 
ρ(p) = ρ(p)|p=p0 + (p − p0 ) + + ...
∂p p=p0 2! ∂p2 p=p0

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 3-D Acoustic Wave Equation (free space)
2. Conservation of Mass (Continuity)
z

Velocity vector
~u = ui~x + v i~y + wi~z y

Total change of mass per unit time

∂
ρ∆x∆y∆z = (ρu)x ∆y∆z − (ρu)x+∆x ∆y∆z
∂t
+ (ρv)y ∆x∆z − (ρv)y+∆y ∆x∆z
+ (ρw)z ∆x∆y − (ρw)z+∆z ∆x∆y
 3-D Acoustic Wave Equation (free space)

 
∂ρ (ρu)x+∆x − (ρu)x (ρv)y+∆y − (ρv)y (ρw)z+∆z − (ρw)z
=− + +
∂t ∆x ∆y ∆z
 
∂(ρu) ∂(ρv) ∂(ρw)
=− + +
∂x ∂y ∂z

∂ρ Conservation of Mass
∂t + ∇ · (ρ~u) = 0 (Continuity)

incompressible: ∇ · ~u = 0

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 3-D Acoustic Wave Equation (free space)
3. Conservation of Momentum
Newton’s Law: ma = F
D
ρ ~u = −∇p
Dt
where
 
D~u ∂u ∂u ∂u ∂u ~
= +u +v +w ix
Dt ∂t ∂x ∂y ∂z
 
∂v ∂v ∂v ∂v ~
+ +u +v +w iy
∂t ∂x ∂y ∂z
 
∂w ∂w ∂w ∂w ~
+ +u +v +w iz
∂t ∂x ∂y ∂z

ρ ∂~
u
u · ∇~u = −∇p
∂t + ρ~
Conservation of Momentum
 Zeroth Order Equations
ρ ≈ ρ0 , p ≈ p0 , ~u ≈ ~u0 = 0 (fluid at rest)
I Continuity
0
∂ρ0
7 0
 + ∇ · (ρ0 ~
u0) = 0
∂t
I Momentum
0
0 0
∂ ~u
0 0
ρ0 0 · ∇~
+ ρ0 ~u u0 = −
∇p
*
0
∂t
I State
:0  :2 0 2 

 

0−
(p p
0 ) ∂ρ  0−
(p p
0) ∂ ρ 
ρ0 = ρ(p)|p=p0 + + +. . .
1! ∂p  2! ∂p2 
 
p=p0 p=p0

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 First Order Equations
ρ ≈ ρ0 + ρ1 , p ≈ p0 + p1 , ~u ≈ ~u1
I Continuity
∂(ρ0 + ρ1 )
+ ∇ · [(ρ0 + ρ1 )(~u0 + ~u1 )] = 0
∂t
∂ρ1
⇒ + ∇ · (ρ0 ~u1 + ρ1 ~u1 ) = 0
∂t

∂ρ1
∂t + ρ0 ∇ · ~u1 = 0
I Momentum
∂(~u0 + ~u1 )
(ρ0 + ρ1 ) + (ρ0 + ρ1 )(~u0 + ~u1 ) · ∇(~u0 + ~u1 )
∂t
= −∇(p0 + p1 )

ρ0 ∂~
u1
∂t = −∇p1

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 First Order Equations

I State

(p0 + p1 − p0 ) ∂ρ 
ρ(p0 + p1 ) = ρ(p)|p=p0 +
1! ∂p p=p0
(p0 + p1 − p0 )2 ∂ 2 ρ 

+ + ...
2! ∂p2 p=p0

∂ρ 
ρ0 + ρ1 ≈ ρ0 + p1 
∂p p=p0

ρ1 = p1 ∂ρ ρ1 = 1
c2 p 1

∂p p=p
0

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 Derivation of First Order Acoustic Equation
∂ρ1
Continuity: + ρ0 ∇ · ~u1 = 0

∂t 




∂ 2 ρ1

∂~
u1
Time derivative: = −ρ0 ∇ ·


∂t2 ∂t 



∂ 2 ρ1
⇒ ∇2 p1 =
Momentum: ρ0 ∂~
u1
∂t
+ ∇p1 = 0 

∂t2




Divergence:




∂~
u1
∇2 p1 ≡ ∇ · ∇p1 = −ρ0 ∇ ·


∂t


1
State: ρ1 = c2 p1




1 ∂ 2 p1

⇒ ∇ 2 p1 − c2 ∂t2 =0
∂ 2 ρ1 1 ∂ 2 p1
Time derivative: =


∂t2 c2 ∂t2 
Linear Acoustic


Wave Equation

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 Free Space Solution to the Acoustic Wave Equation
Plane Wave
~
p(~r, t) = Aej(k·~r−ωt) = A[cos(~k · ~r − ωt) + j sin(~k · ~r − ωt)]

r: Position where sound is received

~r = xîx + y îy + z îz
~k: Wavenumber vector
~k = kx îx + ky îy + kz îz
|~k| = k = ωc

ω = 2πf ~k = k îk
2π
k= ~r = rîr
λ
c = λf îk · ~r ≡ R
 Solution to the Wave Equation
?
I Is this a propagating wave with space-time duality? p(~r, t) = p(R − ct)

~ ω~
p(~r, t) = Aej(k·~r−ωt) = Aej(kîk ·~r−ωt) = Aej( c ik ·~r−ωt)
ω ω
= Aej( c R−ωt) = Aej c (R−ct) = Aejk(R−ct)

I Does the plane wave satisfy the acoustic wave equation?

∂2 ∂2 ∂2
 
~
2
∇ p= + + Aej(k·~r−ωt)
∂x2 ∂y 2 ∂z 2
~ ~
= (−kx2 − ky2 − kz2 )Aej(k·~r−ωt) = −k 2 Aej(k·~r−ωt)

1 ∂2p 1 ∂2 ~
2 2
= 2 2 Aej(k·~r−ωt)
c ∂t c ∂t
ω2 ~ ~
= (− 2 )Aej(k·~r−ωt) = −k 2 Aej(k·~r−ωt)
c

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Approximate spherical wave as plane wave

Source Plane Wave

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