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Full Ebook of 2D Electrostatic Fields A Complex Variable Approach 1St Edition Robert L Coffie Online PDF All Chapter
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2D Electrostatic Fields
2D Electrostatic Fields
A Complex Variable Approach
Robert L. Coffie
First edition published 2022
by CRC Press
6000 Broken Sound Parkway NW, Suite 300, Boca Raton, FL 33487-2742
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Preface xv
Author xix
Symbols xxi
vii
viii Contents
Chapter 2 Electrostatics 41
2.1 Coulomb’s Law 41
2.2 Electric Field Intensity 42
2.3 Electric Fields of Dipoles and Multipoles 43
2.4 Continuous Charge Distributions 47
2.5 Gauss’s Law in 2D 49
2.6 Polarization 52
2.7 Maxwell’s Equations 55
2.8 Boundary Conditions 56
2.9 Electrostatic Potential 57
2.10 Complex Potential 59
2.11 Complex Potential for a Dipole 61
2.12 Complex Potential for a Double Layer 62
2.13 Transforming Poisson’s Equation into Laplace’s Equation 64
2.14 Equipotential Contours 66
2.15 Lines of Force 67
2.16 Field Maps 68
2.17 Gauss’s Law for Inhomogeneous Mediums 70
2.18 Dielectric Boundary Conditions for Φ 72
2.19 Uniqueness Theorem 73
2.20 Conductors and Insulators 74
2.21 Capacitance 75
2.22 Method of Curvilinear Squares 78
2.23 Energy in the Electrostatic Field 81
2.24 Green’s Reciprocation Theorem 83
2.25 Induced Charges on Grounded Conductors 85
REFERENCES 89
Contents ix
Index 357
Preface
xv
xvi Preface
xix
Symbols
SYMBOL DESCRIPTION
xxi
xxii Symbols
Functions of a Complex
Variable
z = x + jy (1.1)
√
where x and y are real numbers and j = −1. In this notation, x is
referred to as the real part of z or Re[z] and y is the imaginary part of z
or Im[z]. For two complex numbers to be equal, their real and imaginary
parts must be equal.
Geometrically, real numbers can be viewed as points on a one-
dimensional number line and complex numbers can be viewed as points
1
2 2D Electrostatic Fields: A Complex Variable Approach
and
x2 + y 2 , θ = arg[z] = tan−1 [y/x]
p
r= (1.4)
This allows expressing z as
z = rejθ (1.7)
Thus, the distance from the origin of the two points are multiplied and
their angles are added. Since division is just multiplication by the recip-
rocal of a number, we have
z1 r1 j(θ1 −θ2 ) x1 x2 + y1 y2 y 1 x 2 + x 1 y2
= e = 2 2 +j (1.9)
z2 r2 x2 + y2 x22 + y22
FIGURE 1.2 Geometric representation of (a) addition and (b) multiplication of two
complex numbers in the z-plane.
Before proving the generalized triangle inequality, we first prove the tri-
angle inequality. Let z1 and z2 represent two complex numbers. Expand-
ing |z1 + z2 |2 gives
gives
|z1 + z2 |2 ≤ |z1 |2 + |z2 |2 + 2 |z1 | |z2 | = (|z1 | + |z2 |)2 (1.15)
Taking the square root of both sides gives the triangle inequality
|z1 + z2 | ≤ |z1 | + |z2 | (1.16)
Extending the triangle inequality to more than two complex points is
easily done by replacing z2 with a sum of complex points. For example,
replacing z2 with z2 + z3 in (1.16) gives
|z1 + z2 + z3 | ≤ |z1 | + |z2 + z3 | ≤ |z1 | + |z2 | + |z3 | (1.17)
where (1.16) was used on |z2 + z3 | to produce the final inequality. This
approach can be extended to any number of points giving the generalized
triangle inequality (1.12.4).
where u and v are real functions of x and y with partial derivatives that
exist and are continuous. To express f in terms of complex variables, we
use what are known as complex conjugate coordinates (or just conjugate
coordinates) by replacing x and y with
x= 1
2 (z + z ∗ ) , y = − 12 j (z − z ∗ ) (1.22)
where u and v are real functions of x and y with partial derivatives that
exist and are continuous. Under these conditions, the differentials of u
and v are
∂u ∂u ∂v ∂v
du = dx + dy, dv = dx + dy (1.24)
∂x ∂y ∂x ∂y
Now we can write the differential of f as
∂u ∂v ∂u ∂v
df = du + jdv = +j dx + +j dy (1.25)
∂x ∂x ∂y ∂y
∂f ∂u ∂v ∂f ∂u ∂v
= +j , = +j (1.26)
∂x ∂x ∂x ∂y ∂y ∂y
Functions of a Complex Variable 7
dx = 1
2 (dz + dz ∗ ) , dy = 1
2 (dz − dz ∗ ) /j (1.28)
gives
1 ∂f ∂f ∂f ∂f
∗
df = −j dz + +j dz (1.29)
2 ∂x ∂y ∂x ∂y
Defining the operators [1]
∂ 1 ∂ ∂ ∂ 1 ∂ ∂
= −j , ∗
= +j (1.30)
∂z 2 ∂x ∂y ∂z 2 ∂x ∂y
∂f ∂f
df = dz + ∗ dz ∗ (1.31)
∂z ∂z
In terms of conjugate coordinates, a necessary condition for an analytic
function is that it only depend on z [3]. In order for f to be independent
of z ∗ , we have the condition
∂f 1 ∂f ∂f
= +j =0 (1.32)
∂z ∗ 2 ∂x ∂y
Substituting (1.26) into (1.32) and setting the real and imaginary parts
equal to zero leads to the requirements
∂u ∂v ∂u ∂v
= , =− (1.33)
∂x ∂y ∂y ∂x
∂r ∂s ∂r ∂s
= , =− (1.35)
∂x ∂y ∂y ∂x
Thus g is also an analytic function of z = x + jy.
z + z1∗ z − z1∗
f [z] = 2u , − (f [z1 ])∗ (1.36)
2 2j
where f (n) [z0 ] represents the nth derivative of f with respect to z eval-
uated at z = z0 . With the coefficients determined, the infinite series can
be written as ∞
f (n) [z0 ]
(z − z0 )n
X
f [z] = (1.41)
n=0
n!
and is called the Taylor series for f [z] at z0 . The mth order Taylor
polynomial approximation of f is a polynomial made up of the first m
terms of the Taylor series. When z0 = 0, the Taylor series and polynomial
are also called the Maclaurin series and polynomial for f .
Convergence of the infinite series for values near z0 (radius of con-
vergence greater than zero) is required in order for (1.39) to be valid.
In the complex plane, the radius of convergence is simply the distance
from the center of the Taylor series expansion (z0 ) to the nearest singu-
larity (location where f [z] does not exist) or branch point [5]. Branch
points are encountered when dealing with multi-valued functions in the
complex plane.
FIGURE 1.4 Mapping of small closed loops in the z-plane into the w-plane for
√
w = z. Loop C1 does not enclose a branch point since it has the same start and
end points in the w-plane. Loop C2 has different start and end points in the w-plane
√
since it encircles the origin (a branch point for w = z) of the z-plane.
without proof. First, the value of f [z] at the branch point is common to
all branches of f [z]. Second, branch points exist at the start and end of
branch cuts. The only point contained in loop C2 that gives the same
value for all branches is z = 0. Thus, z = 0 is a branch point. The second
√
branch point for w = z is z = ∞. This can be confirmed by making
√
a change in variable of z = 1/z1 , so that w = 1/ z1 . Performing the
same loop analysis between the z1 -plane and w-plane shows the origin
of the z1 -plane is a branch point confirming z = ∞ as a branch point
√
for w = z. It is important to note that branch points are a property
of the function and independent of the branch lines used. Branch lines
are not unique and do not even need to be lines.
The complex logarithm function
w = ln[z] (1.45)
is a multifunction with an infinite number of branches. Each branch
is separated from the others by multiples of 2πj with branch points of
z = 0 and z = ∞. To make ln[z] single valued, the restriction 0 ≤ θ < 2π
(branch line along the positive real axis) or −π < θ ≤ π (branch line
along negative real axis) is commonly used. Unless stated otherwise, we
place the branch line along the positive real axis for the ln[z].
In general, branch points and lines for an arbitrary multifunction
can be complicated. Often, knowing a function is a multifunction and
the location of the branch lines are enough to perform proper analysis.
With mathematical software, this can be accomplished with a surface
or contour plot of the imaginary part of the function. A discontinuity
in the surface or contour indicates the location of a branch line. Since
12 2D Electrostatic Fields: A Complex Variable Approach
branch lines are not unique, plotting the function should be performed
even if the branch lines have been chosen without the use of software.
This allows confirming that the branch lines used by the software are
the same as the chosen branch lines. Surface plots of the imaginary parts
√
of w = z and w = ln[z] are shown in Fig. 1.5. The discontinuity in
the surface plot along the negative real axis shows that the software
has placed a branch line along the negative real axis for both of these
functions. Since branch lines start and end on branch points, the branch
points are z = 0 and z = ∞ as previously determined. Let
√
FIGURE 1.5 Surface plots of (a) Im z and (b) Im[ln[z]]. The discontinuities in
the surface plots correspond to branch lines for each function.
h p i
w = sin−1 [z] = −j ln jz + 1 − z2 (1.46)
A surface plot of the imaginary plot of (1.46) is shown in Fig. 1.6 (a).
Two discontinuities corresponding to two branch lines are observed in
the surface plot. One branch line occurs along the real axis for x > 1
and the other along the real axis for x < −1. Thus, the two finite branch
points are z = ±1. For the next multifunction, let
w = ln[z + 1] − ln[z − 1] (1.47)
A surface plot of the imaginary plot of (1.47) is shown in Fig. 1.6 (b).
A single discontinuity along the real axis for −1 < x < 1 corresponding
to a branch line is observed. Thus, branch lines do not always extend to
infinity and in this case, the two branch points are z = ±1.
FIGURE 1.6 Surface plots of (a) Im sin−1 [z] and (b) Im[ln[z + 1] − ln[z − 1]]. The
discontinuities in the surface plots correspond to branch lines for each function.
g = |g|ejθg (1.51)
In general, the ejθ term gives the vector its direction in complex notation
and can represent any unit vector in 2D with the appropriate choice of
θ.
In addition to complex notation for vectors, we also need to develop
complex notation for vector operators. We start with the gradient oper-
ator ∇ that acts on a scalar function V to produce a vector
g = ∇V (1.53)
f · g = us + vt, f × g = ut − vs (1.58)
Functions of a Complex Variable 15
f ∗ g = f · g + j (f × g)
or (1.60)
f · g = Re[f ∗ g] , f × g = Im[f ∗ g]
In both 2D and 3D, the dot product of two vectors is a scalar. In 3D, the
cross product of two vectors produces another vector that is perpendicu-
lar to the plane defined by the two vectors. In 2D, both vectors lie in the
complex plane and therefore, the cross product should produce a vector
perpendicular to the complex plane. Since this third dimension does not
exist in 2D, the definition given by (1.58) for the 2D cross product is
used instead and the 2D cross-product is a scalar. In 3D notation, the
2D cross product is
FIGURE 1.7 (a) 3D view of f and g with the direction k̂ defined. (b) Parallelogram
defined by f and g.
The dot product and cross product of two vectors can also be ex-
pressed in terms of their magnitudes and the angle between them. First
we write the polar representation of vectors f and g as
From (1.65) it is seen that the dot product of two vectors is zero if the
vectors are perpendicular to each other (θf = θg ± π/2) and the cross
product of two vectors is zero if the two vectors are parallel (θf = θg ) or
anti-parallel (θf = θg + π) to each other.
The dot product of a vector with length one (a unit vector) and the
gradient of a scalar function provides the rate of change of the scalar
function in the direction of the unit vector. Let ŝ be the unit vector
and f be the scalar function. We can obtain the derivative of f in the
direction of ŝ as
∂f ∂f
= ∇f · ŝ = Re 2 ejθs (1.66)
∂s ∂z
where θs defines the direction of ŝ.
The dot product of the gradient operator and a vector is called the
divergence of the vector. The cross product of the gradient operator and
a vector is called the curl of the vector. Letting ∇ = f in (1.60) allows
Functions of a Complex Variable 17
FIGURE 1.8 (a) Graphical representation showing the dot product and 2D cross
product of vector f and g in the complex plane. (b) Geometric justification for the
dot product representation of the 2D cross product (1.63).
∂2 ∂2
∇2 = ∇ · ∇ = + (1.68)
∂x2 ∂y 2
In terms of conjugate coordinates, the Laplacian operator is
∂2
∇2 = ∇∗ ∇ = 4 (1.69)
∂z∂z ∗
The mathematics of complex variable functions is equivalent to 2D
vector operations and manipulations. Translating from complex notation
to vector notation is typically performed with the use of (1.60). One
source of possible confusion when translating from complex notation to
vector notation is a scalar quantity vs. a vector that is parallel to the
real axis. Since scalar quantities and vectors have different symbols in
vector notation, no confusion occurs. In complex notation, this is not the
18 2D Electrostatic Fields: A Complex Variable Approach
FIGURE 1.9 Definition of different vectors in the line integral of a vector. (a) Di-
rection along contour C is from A to B and (b) direction along contour C is from
B to A.
where t̂ is a unit vector parallel to the path. The definition of the unit
vector normal (n̂) and tangential ( t̂) to C1 for the two possible directions
along C1 are shown in Fig. 1.9. In complex notation, ds, t̂, and n̂ are
ds = |dz| , t̂ = dz/ |dz| , n̂ = −jdz/ |dz| (1.79)
Using (1.60) and (1.63), vector line integrals for the normal and par-
allel components along a path in the complex plane have the compact
notation Z Z Z
∗
F dz = F · t̂ ds + j F · n̂ ds (1.80)
C1 C1 C1
FIGURE 1.10 Definition of ∆zi and ξi for the summation approximation of a contour
integral.
where ξi is a point on the contour between zi and zi+1 (see Fig. 1.10).
An accurate estimate of the contour integral can be obtained without
passing to the limit if ξi are the midpoints between zi and zi+1 [5].
Evaluating the magnitude of the contour integral in summation form
gives
Z n
X
f [z] dz = lim f [ξi ] ∆zi
n→∞
C i=1
n Z (1.82)
X
≤ lim |f [ξi ]| |∆zi | = |f [z]| |dz|
n→∞
i=1 C
Thus the magnitude of the line integral must be less than the length of
the contour times the maximum magnitude of f [z] on the contour.
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