2006 Annual Report Conference on Electrical Insulation and Dielectric Phenomena

Derivation of the Korteweg-Helmholtz Electric and Magnetic Force Densities Including

Electrostriction and Magnetostriction from the Quasistatic Poynting’s Theorems
Markus Zahn
Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science and the
Laboratory for Electromagnetic and Electronic Systems, Cambridge, MA, USA
Abstract: The Korteweg-Helmholtz electric and Minkowski forms of Maxwell’s equations with linear
magnetic force densities for quasistatic systems constitutive laws corrected for motion using Galilean
including the Coulomb-Lorentz force density on free transformations. Then, using conservation of mass, a
charge and free currents; polarization and magnetizat- generalized Poynting’s theorem is derived that gives a
ion force densities; and electrostriction and magneto- modified Poynting vector, differing from the usual
striction force densities are derived from Poynting’s E × H by a compressibility term, but with the usual
theorem. In this derivation, stationary frame linear EQS and MQS energy densities and power dissipation
constitutive laws are used for dielectric, magnetic, and density, and most importantly the EQS and MQS
ohmic conducting media with dielectric permittivity Korteweg-Helmholtz force densities.
ε(ρ) and magnetic permeability µ(ρ), which can be
functions of mass density ρ, itself a function of position II. Minkowski Formulation of Maxwell’s
and time, and σ is the ohmic conductivity which can be Equations
space and time varying. Using the quasistatic Galilean
transformations for electric and magnetic field variables The relativistically correct Minkowski form of
with conservation of mass and Poynting’s theorem, Maxwell’s equations are:
results give a modified Poynting vector, differing from ∂B
∇×E = − (Faraday’s Law) (1)
the usual E × H by a compressibility term, but with the ∂t
usual electroquasistatic and magnetoquasistatic energy ∂D (Ampere’s Law with Maxwell’s
(2)
densities, power dissipation density, and Korteweg- ∇× H = Jf + Displacement Current Correction)
Helmholtz force densities straight forwardly derived. ∂t
∇i D = ρ f (Gauss’ Law for Electric Field) (3)
I. Background (4)
(Gauss’ Law for Magnetic Field)
∇i B = 0
There has been a confusion in the literature for the The analysis is restricted to media with linear
correct force density on compressible dielectric and constitutive laws in a stationary reference frame
magnetizable media [1]. The usually accepted force D = ε (ρ )E , B = µ (ρ )H , J f = σ E (5)
densities are the Korteweg-Helmholtz force density [1-
5], valid for mass density (ρ) dependent constitutive where E is the electric field, B is the magnetic flux
relations, D = ε ( ρ ) E and B = µ ( ρ ) H ; and the Kelvin density, H is the magnetic field intensity, J f is the free
force density, based on non-interacting electric and volume current density, ρf is the free volume charge
magnetic dipole models, with arbitrary constitutive density, ε ( ρ ) is the dielectric permittivity and µ ( ρ ) is
laws [1,2,6]. However, when the Kelvin force density the magnetic permeability both dependent on the media
is applied to media with linear constitutive laws, the mass density ρ , and σ is the ohmic conductivity where
Kelvin and Korteweg-Helmholtz force densities differ
by the gradient of a scalar quantity. When applied to an ρ and σ can be a function of position and time. The
incompressible medium, the total force on linear mass density ρ satisfies the conservation of mass
constitutive law media is the same for Kelvin and condition
Korteweg-Helmholtz force densities, but the ∂ρ (6)
correctness of the force densities for compressible + ∇ i( ρ v ) = 0
∂t
media seem to be not well understood.
where v is the inertial frame velocity of the medium.
Most derivations of the Korteweg-Helmholtz force
density involve complicated perturbation analysis of III. Quasistatic Formulations
energies, volume and surface integrations over all Maxwell’s Equations: At low frequencies, such that
space, and complicated explanations [1-3]. However, the electromagnetic wavelength, λ = c / f , is much
this work will start from the differential form of the
larger than the size of the system, long time constants
electroquasistatic (EQS) and magnetoquasistatic (MQS)
compared to the electromagnetic wave transit time

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across the system, and for velocities v much less than We broke up the last term on the right of (20) into two
the speed light c, v<<c, Maxwell’s equations divide equal parts in (21) so that the first two terms on the
into an approximate electroquasistatic (EQS) part where right side of (21) can form a total differential
the electric fields E and D dominate while H and B ∂ ∂ E iE E i E ∂ε ( ρ )
are very small and an approximate magnetoquasistatic −E i (ε ( ρ ) E ) = − (ε ( ρ ) )− (22)
∂t ∂t 2 2 ∂t
(MQS) part where the magnetic fields H and B
We can further reduce the last term on the right of (22)
dominate while E and D are small [6],
using
EQS MQS
(7) (11) E i E ∂ε ( ρ ) E i E d ε ( ρ ) ∂ρ E i E dε ( ρ )
∇×E ≈ 0 ∂B
∇×E = −
= =− ∇ i( ρ v )
2 ∂t 2 d ρ ∂t 2 dρ
∂t
(8) (12) (23)
∇i D = ρ f ∇× H ≈ Jf
(9) (13) where we used (6). Further expanding the divergence
∂D ∇i B = 0
∇× H = Jf + operator in (23) results in
∂t 1 dε (ρ ) 1 dε (ρ )
∇i B = 0 (10) ∇i D = ρ f (14) E iE ∇ i( ρ v ) = E i E [ ρ∇ i v + v i∇ρ ]
2 dρ 2 dρ
Galilean transformations: Because the quasistatic
E iE dε (ρ ) ρ dε (ρ ) ρ dε (ρ )
forms of Maxwell’s equations are no longer = v i[ ∇ρ − ∇[ E i E ]] + ∇ i[ E i Ev ]
relativistically correct, relationships between time and 2 dρ 2 dρ 2 dρ
space now obey Galilean transformations rather than
Lorentz transformations [7]. Then the current density E iE ρ dε (ρ ) ρ dε ( ρ )
= v i[ ∇ε − ∇ ( E i E )] + ∇ i( E i Ev )] (24)
constitutive laws for EQS and MQS ohmic media 2 2 dρ 2 dρ
moving at inertial frame velocity v relative to the
stationary coordinate system where (5) is valid are: where we recognize that
EQS MQS dε (ρ ) (25)
∇ρ = ∇ε ( ρ )
J = σE + ρf v (15) J = σ ( E + v × B ) (16) dρ
Note that for EQS systems that D and E do not Substituting (24) into (19)-(23) expresses (19) as
change and B and H do change between Galilean ∂ E iE dε (ρ ) E iE
∇ i( E × H ) = −σ E i E − [ε ( ρ ) ] + ∇ i[ ρ v]
inertial reference frames while for MQS inertial ∂t 2 dρ 2
reference frames H and B do not change and E and 1 1 dε (ρ )
D do change between Galilean inertial reference − v i[ ρ f E − E i E ∇ε + ∇ ( ρ E i E )] (26)
frames. 2 2 dρ

IV. EQS Poynting Theorem Then (26) can be rewritten as

∂w
Compressible Dielectric Media: We start with the ∇ i S E = − PE − E − FE i v (27)
vector identity ∂t
(17) where
∇ i ( E × H ) = H i ( ∇ × E ) − E i (∇ × H )
1 dε (ρ )
Using the EQS Maxwell’s equations in (7)-(10) yields SE = E × H − ρ E i Ev ; PE = σ E i E (28)
2 dρ
∂D
∇ i ( E × H ) = − E i (∇ × H ) = − E i J f − E i (18) 1 1 1 dε (ρ )
∂t wE = ε ( ρ ) E i E ; FE = ρ f E − E i E ∇ε ( ρ ) + ∇ ( ρ E iE )
2 2 2 dρ
Using the constitutive laws of (5) and (15) results in
∂ S E is the EQS Poynting vector representing electric
∇ i( E × H ) = −σ E i E − ρ f E i v − E i (ε ( ρ ) E ) (19)
∂t and mechanical power going in or out of the electrodes,
We expand the last term as PE is the power dissipation per unit volume, wE is the
∂ ∂E ∂ε ( ρ )
−E i (ε ( ρ ) E ) = −ε ( ρ ) E i − E iE (20) stored electric energy per unit volume, and FE is the
∂t ∂t ∂t Korteweg-Helmholtz force per unit volume. Note in
∂ 1 1 ∂ε ( ρ ) 1 ∂ε ( ρ ) (28) that S E is modified from the usual E × H by a
= −ε ( ρ ) ( E iE ) − E iE − E iE (21)
∂t 2 2 ∂t 2 ∂t compressibility term.

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Incompressible Dielectric Media: Note that for an V. MQS Poynting Theorem
incompressible medium where ∇ i v = 0 that any
pressure-like term which is the gradient of a scalar Compressible Magnetizable Media: We start again
quantity, ∇p , can be added to FE with a corresponding with (17) with the MQS Maxwell’s equations in (11)-
(14) to obtain
change in S E of − pv . However, the total force on an ∂B
∇ i ( E × H ) = H i (∇ × E ) − E i ( ∇ × H ) = − H i − E iJ f (35)
incompressible medium will be unchanged. This is ∂t
shown by integrating ∇p as the last term of (27) over all Using the stationary medium constitutive laws of (5)
space including dielectrics and surrounding free space with (16) written as
∫ ∇ pi vdV = ∫ ∇i( pv )dV = ∫ pv ida E = J f /σ − v × B (36)
V V S (29)
lets us rewrite (35) as:
The surface S in (29) is bounded by rigid electrodes so
∂ J f iJ f
that v i da = 0 . The remaining surface is at infinity and ∇ i( E × H ) = − H i [µ (ρ )H ] − + J f i( v × B )
∂t σ
the last integral in (29) is zero if
lim ∂ J f iJ f
r →∞ ∫ pv ida = 0 (30)
= −H i
∂t
[µ (ρ )H ] −
σ
− ( J f × B )i v
(37)
S
For example, the Kelvin force density for a linear where we used the scalar triple product identity
dielectric is (38)
J f i( v × B ) = − J f i( B × v ) = − ( J f × B )i v
FK = ρ f E + ( P i∇ ) E = ρ f E + (ε − ε )( E i∇ ) E
Following the methodology of (20)-(23), we expand the
0

1 first term on the right of (37) as

= ρf E + (ε − ε )∇ ( E i E )
0
2 ∂ ∂H ∂µ ( ρ )
−H i [µ (ρ )H ] = −µ (ρ )H i − H iH
1 1 ∂t ∂t ∂t
= ρ f E + ∇ ( (ε − ε 0 ) E i E ) − E i E∇ε (31)
2 2 ∂ 1 1 ∂µ ( ρ ) 1 ∂µ ( ρ )
If we take = −µ (ρ ) ( H iH ) − H iH − H iH
∂t 2 2 ∂t 2 ∂t
1 dε (ρ )
p = pE = [ε ( ρ ) − ε − ρ0
]E i E (32)
2 dρ ∂ 1 1 d µ ( ρ ) ∂ρ
=− ( µ (ρ )H iH ) − H iH
then ∂t 2 2 dρ ∂t
FT = FE + ∇p E = ρ f E + (ε − ε 0 )( E i∇ ) E = FK (33)
∂ 1 1 d µ (ρ )
=− ( µ (ρ )H iH ) + H iH ∇ i( ρ v ) (39)
If E decreases with radial distance faster than 1/r as ∂t 2 2 dρ
the surface extends to infinity, then (30) is satisfied where in the last equality we use the conservation of
lim 1 dε (ρ ) mass relationship of (6). As in (24), the last term on the
r →∞ ∫ 2[ε ( ρ ) − ε 0
−ρ
dρ
]E i Ev i da = 0 (34) right in (39) can be further expanded to
S
1 d µ (ρ ) 1 d µ (ρ )
Note that even if the velocity v is finite at infinity, for H iH ∇ i( ρ v ) = H i H [ ρ∇ i v + v i∇ρ ]
2 dρ 2 dρ
an EQS system with zero net charge, E dies off as a
dipole field as 1/r3 while the area increases as r2 so that 1 1 d µ (ρ ) 1 d µ (ρ )
(34) goes to zero as 1/r4. The integral in (34) would = v i[ H i H ∇µ − ρ H i H ] + ∇ i[ ρ H i Hv ]
also be zero even if one or more electrodes are at 2 2 dρ 2 dρ
infinity so that the system for r < ∞ has net charge so (40)
where in analogy to (25) we recognize that
that E dies off with radial distance as a point charge,
1/r2, so that (34) goes to zero as 1/r2. d µ (ρ )
∇ρ = ∇µ ( ρ ) (41)
dρ
This shows that using the Kelvin or Korteweg- We now use (38)-(41) in (37) to obtain
Helmholtz force densities or any such force density
∂ 1 J f iJ f
supplemented with an arbitrary ∇pE where pE v goes to ∇ i( E × H ) = − [ µ ( ρ ) H i H ] −
∂t 2 σ
2
zero faster than 1/ r at infinity will give the same total
H iH d µ(ρ ) H iH d µ(ρ ) H iH
force on an incompressible material. − v i[ J f × B − ∇µ + ρ ] + ∇i[ ρ v]
2 dρ 2 dρ 2
(42)

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Then in analogy to (26)-(28), (42) can be rewritten as VI. Conclusion
∂w By a straight forward use of the Minkowski formulation
∇ i S M = − PM − M − FM i v (43)
∂t of Maxwell’s equations in electroquasistatic and
where magnetoquasistatic limits to derive Poynting’s theorem
ρ d µ ( ρ ) H i Hv J f iJ f µ (ρ )H iH using only conservation of mass and Galilean
SM = E × H − ; PM = ; wM = transformations for the current density-electric field
dρ 2 σ 2 constitutive law, we were able to directly derive the
1 1 d µ(ρ ) Korteweg-Helmholtz force densities for compressible
FM = J f × B − H i H ∇µ ( ρ ) + ∇ ( ρ H iH ) (44) linear dielectric and magnetic media whose permittivity
2 2 dρ
and magnetic permeability depend only on mass
S M is the MQS Poynting vector representing magnetic density, including Coulomb and Lorentz forces if the
and mechanical power going in or out of the electrodes, dielectric media is charged or if the magnetic media is
PM is the power dissipation per unit volume, wM is the carrying current. Adding a pure gradient of a scalar
quantity to the Korteweg-Helmholtz force density for
stored magnetic energy per unit volume, and FM is the
an incompressible material will not change the total
Korteweg-Helmholtz force per unit volume. Note again force on a material. In addition, the Poynting vector
in (44) that S M is modified from the usual E × H by a power flow is modified from the usual E × H by a
compressibility term. compressibility term.

Incompressible Magnetizable Media: Using (29)-(30) References

and analogous relations to (31)-(34), the Kelvin force 1. P. Penfield, Jr. and H.A. Haus, Electrodynamics of
density for an incompressible linear magnetic material Moving Media, M.I.T. Press, Cambridge, MA, 1967.
can be obtained by adding a gradient of pressure term to
FM where 2. J.R. Melcher, Continuum Electromechanics, M.I.T.
Press, Cambridge, MA, 1981, Chapter 3.
1 d µ (ρ )
p = pM = [µ (ρ ) − µ − ρ0
]H i H (45) 3. J.A. Stratton, Electromagnetic Theory, McGraw-Hill,
2 dρ
New York, 1941, Chapter 2.
Then
H iH 4. D.J. Korteweg, “Ueber die Veränderung der Form
FT = FM + ∇pM = J f × µ ( ρ ) H − ∇µ ( ρ ) und des Volumens dielectrisher Körper unter
2
Einwirkung electrischer Kräfte”, (“Concerning the
1 d µ (ρ ) 1 d µ(ρ ) change of shape and volume of dielectric bodies caused
+ ∇( ρ H i H ) + ∇( [ µ ( ρ ) − µ0 − ρ ]H i H )
2 dρ 2 dρ by electric forces”), Annalen der Physik und Chemie”,
1 V. 9, pp. 48-61, 1880.
= J f × µ (ρ )H − ( µ ( ρ ) − µ0 )∇( H i H ) (46)
2 5. H. Helmholtz, “Ueber die auf das Innere magnetisch
oder dielectrisch polarisirter Körper wirkenden Kräfte”,
Using the identity
(“Concerning the governing forces on magnetic or
1 dielectric polarized bodies”), Annalen der Physik und
∇ ( H i H ) = H i ∇H − ( ∇ × H ) × H
2 (47) Chemie, V. 13, p. 385-406, 1881.
= H i ∇H − J f ×H 6. H.A. Haus and J.R. Melcher, Electromagnetic Fields
reduces (46) to and Energy, 1991, Chapter 11.
FT = J × µ ( ρ ) H + ( µ ( ρ ) − µ )( H i∇H − J × H )
f 0 f 7. H.H. Woodson and J.R. Melcher, Electromechanical
= µ 0 J f × H + ( µ ( ρ ) − µ 0 ) H i∇ H (48) Dynamics, Parts I (Discrete Systems) and II (Fields,
Forces, and Motion), John Wiley & Sons, Inc., New
= µ 0 J f × H + µ 0 M i∇H = FK York, Chapters 6 and 8, 1968.
where FK is the magnetic Kelvin force density. Note that Author Address: Markus Zahn, Massachusetts
the Lorentz force contribution to the Kelvin force density Institute of Technology, Room 10-174, Cambridge, MA
in (48) is µ 0 J f × H , while the Lorentz force contribution 02139, Email: zahn@mit.edu
to the Korteweg-Helmholtz force density in (44) is
µ (ρ )J f × H .

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