# An Introduction to Acoustics

S.W. Rienstra & A. Hirschberg Eindhoven University of Technology 11th November 2001

(extended and revised edition of IWDE 92-06)

Contents
Preface 1 1.1 1.2 Some ﬂuid dynamics Conservation laws and constitutive equations . . . . . . . . . . . Approximations and alternative forms of the conservation laws for ideal ﬂuids . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Wave equation, speed of sound, and acoustic energy 2.1 2.2 Order of magnitude estimates . . . . . . . . . . . . . . . . . . . . . . Wave equation for a uniform stagnant ﬂuid and compactness 1 1 5 11 11 16 16 17 19 20 20 22 22 24 26 27 27 27 29 33 34

2

2.2.1 Linearization and wave equation . . . . . . . . . . . . . . 2.2.2 Simple solutions . . . . . . . . . . . . . . . . . . . . . . . 2.2.3 Compactness . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Speed of sound . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.1 Ideal gas . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.2 Water . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3.3 Bubbly liquid at low frequencies . . . . . . . . . . . . . . 2.4 2.5 2.6 Inﬂuence of temperature gradient . . . . . . . . . . . . . . . . . Inﬂuence of mean ﬂow . . . . . . . . . . . . . . . . . . . . . . . Sources of sound . . . . . . . . . . . . . . . . . . . . . . . . . . 2.6.1 Inverse problem and uniqueness of sources . . . . . . . . . 2.6.2 Mass and momentum injection . . . . . . . . . . . . . . . 2.6.3 Lighthill’s analogy . . . . . . . . . . . . . . . . . . . . . 2.6.4 Vortex sound . . . . . . . . . . . . . . . . . . . . . . . . 2.7 Acoustic energy . . . . . . . . . . . . . . . . . . . . . . . . . .

ii

Contents 2.7.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . 2.7.2 Kirchhoff’s equation for quiescent ﬂuids . . . . . . . . . . 2.7.3 Acoustic energy in a non-uniform ﬂow . . . . . . . . . . . 2.7.4 Acoustic energy and vortex sound . . . . . . . . . . . . . . 34 36 39 40 44 44 44 47 48 50 50 51 53 55 56 60 60 61 61 62 62 63

3 3.1

Green’s functions, impedance, and evanescent waves Green’s functions . . . . . . . . . . . . . . . . . . . . . . . . . . 3.1.1 Integral representations . . . . . . . . . . . . . . . . . . . 3.1.2 Remarks on ﬁnding Green’s functions . . . . . . . . . . . . 3.2 Acoustic impedance . . . . . . . . . . . . . . . . . . . . . . . . 3.2.1 Impedance and acoustic energy . . . . . . . . . . . . . . . 3.2.2 Impedance and reﬂection coefﬁcient . . . . . . . . . . . . 3.2.3 Impedance and causality . . . . . . . . . . . . . . . . . . 3.2.4 Impedance and surface waves . . . . . . . . . . . . . . . . 3.2.5 Acoustic boundary condition in the presence of mean ﬂow . 3.2.6 Surface waves along an impedance wall with mean ﬂow . . 3.3 Evanescent waves and related behaviour . . . . . . . . . . . . . . 3.3.1 An important complex square root . . . . . . . . . . . . . 3.3.2 The Walkman . . . . . . . . . . . . . . . . . . . . . . . . 3.3.3 Ill-posed inverse problem . . . . . . . . . . . . . . . . . . 3.3.4 Typical plate pitch . . . . . . . . . . . . . . . . . . . . . . 3.3.5 Snell’s law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.6 Silent vorticity

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Contents 4 4.1 4.2 One dimensional acoustics Plane waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic equations and method of characteristics . . . . . . . . . . . 4.2.1 The wave equation . . . . . . . . . . . . . . . . . . . . . 4.2.2 Characteristics . . . . . . . . . . . . . . . . . . . . . . . . 4.2.3 Linear behaviour . . . . . . . . . . . . . . . . . . . . . . 4.2.4 Non-linear simple waves and shock waves . . . . . . . . . 4.3 4.4 Source terms . . . . . . . . . . . . . . . . . . . . . . . . . . . . Reﬂection at discontinuities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.1 Jump in characteristic impedance ρc . . . . . . . . . . . . 4.4.2 Monotonic change in pipe cross section 4.4.3 Oriﬁce and high amplitude behaviour . . . . . . . . . . . . 4.4.4 Multiple junction . . . . . . . . . . . . . . . . . . . . . . 4.4.5 Reﬂection at a small air bubble in a pipe . . . . . . . . . . 4.5 Attenuation of an acoustic wave by thermal and viscous dissipation 4.5.1 Reﬂection of a plane wave at a rigid wall . . . . . . . . . . 4.5.2 Viscous laminar boundary layer 4.6 . . . . . . . . . . . . . .

iii 67 67 69 69 70 71 76 79 83 83 85 85 90 91 95 95 99

4.5.3 Damping in ducts with isothermal walls. . . . . . . . . . . 100 One dimensional Green’s function . . . . . . . . . . . . . . . . . 103 4.6.1 Inﬁnite uniform tube . . . . . . . . . . . . . . . . . . . . 103 4.6.2 Finite uniform tube . . . . . . . . . . . . . . . . . . . . . 104 4.7 Aero-acoustical applications . . . . . . . . . . . . . . . . . . . . 105 4.7.1 Sound produced by turbulence . . . . . . . . . . . . . . . 105 4.7.2 An isolated bubble in a turbulent pipe ﬂow . . . . . . . . . 108 4.7.3 Reﬂection of a wave at a temperature inhomogeneity . . . . 110

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iv 5

Contents Resonators and self-sustained oscillations 5.1 5.2 117

Self-sustained oscillations, shear layers and jets . . . . . . . . . . 117 Some resonators . . . . . . . . . . . . . . . . . . . . . . . . . . 126 5.2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . 126 . . . . . . . . . 133 5.2.2 Resonance in duct segment . . . . . . . . . . . . . . . . . 126 5.2.3 The Helmholtz resonator (quiescent ﬂuid) 5.2.4 Non-linear losses in a Helmholtz resonator . . . . . . . . . 135 5.2.5 The Helmholtz resonator in the presence of a mean ﬂow . . 136

5.3 5.4

Green’s function of a ﬁnite duct 5.4.1 Introduction

. . . . . . . . . . . . . . . . . . 138

Self-sustained oscillations of a clarinet . . . . . . . . . . . . . . . 140 . . . . . . . . . . . . . . . . . . . . . . . . 140 5.4.2 Linear stability analysis . . . . . . . . . . . . . . . . . . . 141 5.4.3 Rayleigh’s Criterion . . . . . . . . . . . . . . . . . . . . . 143 5.4.4 Time domain simulation . . . . . . . . . . . . . . . . . . 143

5.5

Some thermo-acoustics . . . . . . . . . . . . . . . . . . . . . . . 145 5.5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . 145 . . . . . . . . 153 163 . . . . . . . . . . . . . . . . . . 163 5.5.2 Modulated heat transfer by acoustic ﬂow and Rijke tube . . 147

5.6 6 6.1 6.2 6.3 6.4 6.5 6.6

Flow induced oscillations of a Helmholtz resonator Spherical waves Introduction Pulsating and translating sphere

. . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

Multipole expansion and far ﬁeld approximation . . . . . . . . . . 170 Method of images and inﬂuence of walls on radiation . . . . . . . 175 Lighthill’s theory of jet noise . . . . . . . . . . . . . . . . . . . . 179 Sound radiation by compact bodies in free space . . . . . . . . . . 182 6.6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . 182 6.6.2 Tailored Green’s function . . . . . . . . . . . . . . . . . . 183 6.6.3 Curle’s method . . . . . . . . . . . . . . . . . . . . . . . 185

6.7

Sound radiation from an open pipe termination

. . . . . . . . . . 188

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Contents 7 7.1 7.2 7.3 Duct acoustics Rectangular ducts Impedance wall

v 196

Cylindrical ducts . . . . . . . . . . . . . . . . . . . . . . . . . . 196 . . . . . . . . . . . . . . . . . . . . . . . . . 201 . . . . . . . . . . . . . . . . . . . . . . . . . . 201

7.3.1 Behaviour of complex modes . . . . . . . . . . . . . . . . 201 7.3.2 Attenuation . . . . . . . . . . . . . . . . . . . . . . . . . 203 7.4 7.5 7.6 Annular hard-walled duct modes in uniform mean ﬂow . . . . . . . 206 Behaviour of soft-wall modes and mean ﬂow . . . . . . . . . . . . 210 Source expansion . . . . . . . . . . . . . . . . . . . . . . . . . . 212 7.6.1 Modal amplitudes . . . . . . . . . . . . . . . . . . . . . . 212 7.6.2 Rotating fan . . . . . . . . . . . . . . . . . . . . . . . . . 213 7.6.3 Tyler and Soffrin rule for rotor-stator interaction . . . . . . 214 7.6.4 Point source in a duct wall 7.7 7.8 8 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9 . . . . . . . . . . . . . . . . . 216 7.6.5 Vibrating duct wall . . . . . . . . . . . . . . . . . . . . . 218 Reﬂection and transmission at a discontinuity in diameter . . . . . 218 7.7.1 The iris problem . . . . . . . . . . . . . . . . . . . . . . . 222 Reﬂection at an unﬂanged open end . . . . . . . . . . . . . . . . 222 Approximation methods Regular Perturbations 8.1.1 Webster’s horn equation 227 . . . . . . . . . . . . . . . . . . 228

. . . . . . . . . . . . . . . . . . . . . . . 228

Multiple scales . . . . . . . . . . . . . . . . . . . . . . . . . . . 231 Helmholtz resonator with non-linear dissipation . . . . . . . . . . 235 Slowly varying ducts . . . . . . . . . . . . . . . . . . . . . . . . 238 Reﬂection at an isolated turning point Ray acoustics in temperature gradient Refraction in shear ﬂow Matched asymptotic expansions . . . . . . . . . . . . . . . 241 . . . . . . . . . . . . . . . 245

. . . . . . . . . . . . . . . . . . . . . . 249 . . . . . . . . . . . . . . . . . . 251

Duct junction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

8.10 Co-rotating line-vortices . . . . . . . . . . . . . . . . . . . . . . 263

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. . . . . . . .2. . .1 9. . . . . . . . . . . . . . . . . . . .1 Fourier transforms . .1 Causality condition . . . . . . . . . . 289 C. .1 Reynolds’ transport theorem . . . . . . . . . . . . . .2 Generalized functions . . . . . . . . 281 A. . . . . .2 9. . . . . .3 The delta function and other examples . . . . . . . . . . . . . . . . . . . . . . . . . . 293 C. . .2. 272 Moving point source and Doppler shift . . 281 A. . . . . . . . . .7 Higher dimensions and Green’s functions . . . . . . . . . . . . 269 Ffowcs Williams & Hawkings equation for moving bodies . 298 C. . . . . . . . . . . 301 C. . .6 Products . . . . . . . . . . . . . Fourier transforms and generalized functions 284 285 C. . . . . . . . . . . . .3 Rotating monopole and dipole with moving observer 269 . . . . . . . . . . . . . .2. . . . . . . .3 Normal vectors of level surfaces . . .2. . . . . .1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294 C. .2 Conservation laws . . 295 C. .vi 9 Contents Effects of ﬂow and motion 9.2. . . . .4 Derivatives . . . . . 305 D E Bessel functions Free ﬁeld Green’s functions 307 314 RienstraHirschberg 11th November 2001 12:00 . . . . . . . . . . . . . .2 Formal deﬁnition . . . . . . . . .8 Surface distributions . . . . . . . . . . . . . . 296 C. . . . . . 299 C. . 283 B C Order of magnitudes: O and o. . .2.3. . . . . . . . . . . . . . . . . . . . . . . .3 Fourier series . . .1 Introduction . . . . . . . . . . . . . . . . . . . . . .1 The Fast Fourier Transform . . . .2. . . . . . . . . . . . . . . 275 Appendix 281 281 A Integral laws and related results A.5 Fourier transforms . . . 285 C. 297 C. . .2. . . . . . . . . 293 C. . . . 298 C. .

. .2. . .5 Irrotational isentropic ﬂow . .2. . . . . . . . 317 F. . . .2. . . . . . . . . . . .1 F. . .2. . . . 317 F. . . . .3 Zero mean ﬂow . . . . 318 F. . . . . . . . 319 F. . . . . . . . . . . . . . . . . . .2 Perturbations of a mean ﬂow . . . . . . . . 319 G Answers to exercises. . . . . . . . . . . . . . . 315 Acoustic approximation . . 318 F. . .1 Inviscid and isentropic . . . . . . . . . . . . . . .4 Time harmonic . . . . . . . . Bibliography Index 321 333 344 .2. . . . . .F F.2 Summary of equations for ﬂuid motion 315 Conservation laws and constitutive equations . . . . .6 Uniform mean ﬂow . . . . . . .2. . . . . . . . . . . . . . . . . . . 317 F. . . . . .

2. . however. the summation over the values 1. 175. We will see.1) or where ρ is the ﬂuid density and v = (vi ) is the ﬂow velocity at position x = (xi ) and time t. which assumes that the ﬂuid properties are continuous and that derivatives exist. 137. for example.1 1. on the other hand. In some cases we will therefore use the more general integral laws. In the latter. 185].1 Some ﬂuid dynamics Conservation laws and constitutive equations In ﬂuid dynamics we consider gas and liquids as a continuum: we assume that we can deﬁne a “ﬂuid particle” which is large compared to molecular scales but small compared to the other length scales in our problem. The mass source term m can. In principle as we consider a non-relativistic situation mass is conserved hence in general m = 0. See also the appendix of [10]. 1 For convenience later we present the basic conservation laws here both in the Gibbs notation and the Cartesian tensor notation. some arbitrariness in the deﬁnition of m. momentum and energy conservation applied to an elementary ﬂuid particle. There is. be used as a representation for a complex process which we do not want to describe in detail. Applying these laws to an inﬁnitesimal volume element yields the equations in differential form. A conservation law in differential form may be written as the time derivative of the density of a property plus the divergence of the ﬂux of this property being equal to the source per unit volume of this property in the particle [10. The integral form of the equations of conservation are given in Appendix A.3 is understood with respect to all sufﬁxes which appear twice in a given term. In differential form1 we have for the mass conservation: ∂ρ + ∇ · (ρv) = m ∂t ∂ ∂ρ + (ρvi ) = m ∂t ∂ xi (1. We can describe the ﬂuid motion by using the laws of mass. 142. that the action of a pulsating sphere or of heat injection is well approximated by such a mass source term. which we will specify later when we discuss the conservation of momentum and energy.

we can neglect the viscous stresses. When this relation is linear the ﬂuid is described as Newtonian and the resulting momentum conservation equation is referred to as the Navier-Stokes equation. for compressible ﬂuids as we consider in acoustics. i j 3 δ = 1 if i = j. that the ﬂuid is in local thermodynamic equilibrium. ij ij RienstraHirschberg 11th November 2001 12:00 . so that the pressure p and the thermodynamic pressure are equivalent. the equations are quite complicated.4) (1. expressed in the rate-of-strain tensor ∇v + (∇v)T . A considerable simpliﬁcation is obtained when we assume Stokes’ hypothesis. and δi j the Kronecker3 delta. δ = 0 if i = j. rather than the deformation itself. When this is not the case one usually assumes a relationship between τ and the deformation rate of the ﬂuid element. In such a case we have: τ = η(∇v + (∇v)T ) − 2 η(∇ · v) I 3 or τi j = η ∂vi ∂v j + ∂x j ∂ xi ∂vk 2 − η 3 ∂ xk δi j (1. It should be noted that a characteristic of a ﬂuid is that it opposes a rate of deformation. Even with such a drastic simpliﬁcation.3) 2 The dyadic product of two vectors v and w is the tensor vw = (v w ). In most of the applications which we consider in the sequel. In some cases one can represent the effect of an object like a propeller by a force density f acting on the ﬂuid as a source of momentum.2 1 Some ﬂuid dynamics The momentum conservation law is2 : ∂ (ρv) + ∇ · ( P + ρvv) = f ∂t ∂ ∂ (P j i + ρv j vi ) = f i (ρvi ) + ∂t ∂x j (1. The ﬂuid stress tensor is related to the pressure p and the viscous stress tensor τ = (τi j ) by the relationship: P = p I −τ or Pi j = p δi j − τi j where I = (δi j ) is the unit tensor.2) or where f = ( f i ) is an external force density (like the gravitational force) and P = (Pi j ) is minus the ﬂuid stress tensor. as in the case of a solid.

4) is what we call a constitutive equation. e is the internal energy per unit of mass4 and q is the heat ﬂux due to heat conduction.5) or where v = |v|.8) 4 We call this the speciﬁc internal energy. 137. These effects are also signiﬁcant in the propagation of sound in dusty gases or in air over large distances [185]. At high frequencies the assumption of thermodynamic equilibrium may partially fail resulting in a dissipation related to volume changes ∇· v which is described with a volume viscosity parameter not simply related to η [195. Note the convention (∇v) = ∂ v .1 Conservation laws and constitutive equations 3 where η is the dynamic viscosity. Equation (1.2) with v. ij ∂x j · · · · i RienstraHirschberg 11th November 2001 12:00 . obtained by taking the inner product of the momentum conservation law (equation 1.7) and the equation for mechanical energy. 142]. In general (m = 0) the energy conservation law is given by ([10. 185]): ∂ ρ e + 1 v 2 + ∇ · ρv(e + 1 v 2 ) = 2 2 ∂t − ∇ · q − ∇ · ( pv) + ∇ · (τ · v) + f · v ∂ ∂ ρ e + 1 v2 + ρvi (e + 1 v 2 ) = 2 2 ∂t ∂ xi ∂ ∂ ∂qi − ( pvi ) + (τi j v j ) + f i vi − ∂ xi ∂ xi ∂ xi (1. A commonly used linear constitutive equation for q is Fourier’s law: q = −K ∇T. (1. The viscosity η is determined experimentally and depends in general on the temperature T and the pressure p. and simply the energy when there is no ambiguity. we obtain the equation for the entropy5 ρT or ρT ∂s + v ·∇s = −∇ · q + τ :∇v ∂t ∂s ∂s + vi ∂t ∂ xi =− ∂v j ∂qi + τi j ∂ xi ∂ xi (1. Using the fundamental law of thermodynamics for a reversible process: T ds = de + p d(ρ −1 ) (1.1.6) where K is the heat conductivity which depends on the pressure p and temperature T . 5 τ :∇v = ∇ (τ v) − v (∇ τ ) since τ is symmetric.

the ﬂow is isentropic . the ﬂow is adiabatic. Note that some authors deﬁne this type of ﬂow isentropic.9) Except for regions near walls this approximation will appear to be quite reasonable for most of the applications considered. When the same equation of state c(ρ.12) is a deﬁnition of the thermodynamic variable c(ρ. which implies with equation (1. If initially the entropy is equal to a constant value s0 throughout the ﬂuid.7): p = ρ2 T = ∂e ∂s ∂e ∂ρ ρ (1. and we have simply a ﬂow of uniform and constant entropy s = s0 . s) is valid for the entire ﬂow we say that the ﬂuid is homogeneous. When heat conduction 6 ∇ · q and viscous dissipation τ :∇v may be neglected.12) s ∂p ∂s ds ρ (1. ∂t (1. When the ﬂuid is homogeneous and the entropy uniform (ds = 0) we call the ﬂow homentropic. it retains this value. When the density depends only on the pressure we call the ﬂuid barotropic. RienstraHirschberg 11th November 2001 12:00 . While equation (1.9) still contain more unknowns than equations.10b) In many cases we will specify an equation of state p = p(ρ. In differential form this becomes: d p = c2 dρ + where c2 = ∂p ∂ρ (1. s). 6 When heat transfer is negligible. s).10a) s (1. This means that the entropy s of a ﬂuid particle remains constant: ∂s + v ·∇s = 0. As closure condition we introduce an additional constitutive equation. for example e = e(ρ.1–1. s). we will see that c indeed is a measure for the speed of sound. It is isentropic when it is adiabatic AND reversible. Equations (1.4 1 Some ﬂuid dynamics where s is the speciﬁc entropy or entropy per unit of mass. s) rather than e = e(ρ.11) is the square of the isentropic speed of sound c.

15) We call this a perfect gas.1. the divergence corresponds to 7 The total derivative D f /Dt of a function f = f (x .14) For an ideal gas with constant thermal properties we will often use the simpliﬁed relation e = C V T. i.16) we can write the mass conservation law (1. moving with a particle along xi = xi (t).3. i ordinary time derivative d f /dt of f (xi (t). Indeed. (1.17) which clearly shows that the divergence of the velocity ∇· v is a measure for the relative change in density of a ﬂuid particle. A justiﬁcation for some of the simpliﬁcations introduced will be given in chapter 2 where we will consider the order of magnitude of various effects and derive the wave equation. RienstraHirschberg 11th November 2001 12:00 . Before going further we consider some useful approximations and some different notations for the basic equations given above. t) for a path xi = xi (t) deﬁned by x i = vi . (1.1) in the absence of a source (m = 0) in the form: 1 Dρ = −∇ · v ρ Dt (1. t) and velocity ﬁeld v denotes just the i .13) For an ideal gas the energy e is a function of the temperature only e(T ) = 0 T C V dT.e. Expressions for the pressure p and the speed of sound c will be given in section 2.2 Approximations and alternative forms of the conservation laws for ideal ﬂuids In the following chapters we will use the heat capacity at constant volume CV which is deﬁned for a reversible process by CV = ∂e ∂T . V 5 (1.2 Approximations and alternative forms of the conservation laws for ideal ﬂuids ∂ D = + v ·∇ Dt ∂t Using the deﬁnition of convective (or total) derivative7 D/Dt : (1. 1.

The presence of a non-vanishing mass production m in the continuity equation (1.19) which should 8 Dilatation rate = rate of relative volume change.20) where c = c(ρ.12) s is not necessarily a constant. (1.1) implies an additional term −mv in the right hand side of (1.9) which states that the entropy of a particle remains constant. t t t t t · · · · · RienstraHirschberg 11th November 2001 12:00 . The equation of state commonly used in an isentropic ﬂow is Dρ Dp = c2 Dt Dt (1.6 1 Some ﬂuid dynamics the dilatation rate8 of the ﬂuid particle which vanishes when the density is constant. In the absence of friction there are no tangential stresses acting on the surface of the ﬂuid particle. Hence. which corresponds to the second law of Newton (force = mass × acceleration) applied to a speciﬁc ﬂuid element with a constant mass. is measured or derived theoretically. The motion is induced by the normal stresses (pressure force) −∇ p and the bulk forces f . a function of ρ and s.19) This is Euler’s equation. s). 9 (ρv) + ∇ (ρvv) = ρ v + ρv + ∇ (ρv)v + ρ(v ∇)v = [ρ + ∇ (ρv)]v + ρ[v + (v ∇)v]. The mass conservation law (1. The heat and momentum transfer are governed by the same processes of molecular collisions.1) without mass source (m = 0) we can write9 the momentum conservation law for a frictionless ﬂuid (∇· τ negligible) as: ρ Dv = −∇ p + f .17) simply expresses the fact that a ﬂuid particle has a constant mass. the mass conservation law reduces to: ∇ · v = 0. This is a consequence of the fact that heat conduction is negligible in a frictionless gas ﬂow. Note that in this equation c2 = ∂p ∂ρ (1. By using the mass conservation law (1. Dt (1. The corresponding energy equation for a gas is Ds =0 Dt (1.18) This is the continuity equation for incompressible ﬂuids. if we can neglect density changes. The mass remains constant because we consider a speciﬁc material element.

ρ Dt (1. Hence we have11 : ω = ∇ × (∇ × ) = −∇ 2 . = ( i ) a vectorial velocity potential or vector stream function.2). ∂x j where ϕ is a scalar velocity potential. or 213. (1.21) 7 This corresponds to the hypothesis that the injected mass has no velocity in the laboratory frame of reference. ijk   0 if any two indices are alike 11 For any vector ﬁeld A: ∇ × (∇ × A) = ∇(∇ A) − ∇ 2 A. Dt (1. We have from (1. (1. The amount of momentum mv has to be provided to this mass by the surrounding ﬂuid in order to accelerate the injected mass up to the local velocity v.  10 = −1 if i j k = 321. 132. Under reasonably general conditions [118. When ρ = ρ( p) is a function of p only. can be split into an irrotational part and a solenoidal part: v = ∇ϕ + ∇ × or vi = ∂ϕ + ∂ xi ijk with ∇ · with = 0.1.23) From this it is obvious that the ﬂow related to the acoustic ﬁeld is an irrotational ﬂow. RienstraHirschberg 11th November 2001 12:00 .53] the velocity v.22) ∂ k ∂x j ∂ j = 0. This is an important concept because the acoustic aspects of the ﬂow are linked to ϕ. A useful deﬁnition of the acoustic ﬁeld is therefore: the unsteady component of the irrotational ﬂow ﬁeld ∇ϕ. A ﬂow described by the scalar potential only (v = ∇ϕ) is called a potential ﬂow. and i j k the permutation symbol10 . or 312. like in a homentropic ﬂow  +1 if i j k = 123. like any vector ﬁeld. With external force and mass production equation (1. · Note that v × w = ( i j k v j wk ).19) instead of the original momentum conservation law (1.24) It can be shown that the vorticity ω corresponds to twice the angular velocity of a ﬂuid particle. because ∇ × ∇ϕ = 0. p. 231.19) becomes: ρ Dv = −∇ p + f − mv.2 Approximations and alternative forms of the conservation laws for ideal ﬂuids not be forgotten if we start a derivation from (1.17): 1 Dρ = −∇ 2 ϕ. The vector stream function describes the vorticity ω = ∇ × v in the ﬂow. This is seen from the fact that ∇· (∇ × ) = 0 so that the compressibility of the ﬂow is described by the scalar potential ϕ.

and in the absence of tangential forces due to the viscosity (τ = 0).29) (1. Using the vector identity13 : (v ·∇)v = 1 ∇v 2 + ω × v 2 12 The stretching of an incompressible particle of ﬂuid implies by conservation of angular momen- tum an increase of rotation. In a viscous ﬂow tangential forces due to the viscous stress do change the ﬂuid particle angular momentum. 0). ∂t ρ (1.25) 12 We see that vorticity of the particle is changed either by stretching or by a non-conservative external force ﬁeld. because the particle’s lateral dimension is reduced. Using the deﬁnition of the speciﬁc enthalpy i: i =e+ p ρ (1. ωz ) is not affected by stretching because there is no ﬂow component in the direction of ω. ρ (1.27) Hence we can write Euler’s equation (1. with velocity v = (vx . 2 (1.19) as: 1 Dv = −∇i + f . Dt ρ We deﬁne the total speciﬁc enthalpy B (Bernoulli constant) of the ﬂow by: B = 1 v 2 + i.7) we ﬁnd for a homentropic ﬂow (homogeneous ﬂuid with ds = 0): di = dp . Apart from the source term ∇ × f . Hence we can say that (and ω) is linked to the kinematic aspects of the ﬂow. the momentum conservation law reduces to a purely kinematic law.26) and the fundamental law of thermodynamics (1. 0. we can eliminate the pressure and density from Euler’s equation by taking the curl of this equation. to obtain 1 ∂ω + v ·∇ω = ω ·∇v − ω∇ · v + ∇ × f . v y . ∂ 13 [(v )∇v] = · i j v j ∂ x vi j RienstraHirschberg 11th November 2001 12:00 . In a two-dimensional incompressible ﬂow (∇ · v = 0). because they exert a torque on the ﬂuid particle.28) The total enthalpy B corresponds to the enthalpy which is reached in a hypothetical fully reversible process when the ﬂuid particle is decelerated down to a zero velocity (reservoir state). the vorticity ω = (0.8 1 Some ﬂuid dynamics (uniform constant entropy ds = 0).

1) and (1.31b) or where g(t) is a function determined by boundary conditions.5) and the second law of thermodynamics (1. ∂t ∂ ρ(e + 1 v 2 ) + ∇ · (ρv B) = f · v . ∂t which may be integrated to Bernoulli’s equation: ∂ϕ +B ∂t ∂ϕ 1 2 + v + ∂t 2 = g(t). 2 ∂t (1.30) 9 which will be used when we consider the sound production by vorticity. In acoustics the Bernoulli equation will appear to be very useful. with v = ∇ϕ and hence ω = ∇ × ∇ϕ = 0. dp = g(t) ρ (1. absorb g(t) into ϕ and use g(t) = 0.1.32b) or Exercises a) Derive Euler’s equation (1. b) Derive the entropy conservation law (1.32a) (1. RienstraHirschberg 11th November 2001 12:00 .7 that for a homentropic ﬂow we can write the energy conservation law (1. we can rewrite (1.9) from the energy conservation law (1. without loss of generality. The acceleration ω×v corresponds to the acceleration of Coriolis experienced by an observer moving with the particle which is rotating at an angular velocity of = 1 ω.31a) (1.2).19) from the conservation laws (1.19) in Crocco’s form: 1 ∂v = −∇ B − ω × v + f ∂t ρ (1.30). As only the gradient of ϕ is important (v = ∇ϕ) we can.7). We will see in section 2.2 Approximations and alternative forms of the conservation laws for ideal ﬂuids we can write Euler’s equation (1. 2 When the ﬂow is irrotational in the absence of external force ( f = 0).9) in the form: ∂ (ρ B − p) + ∇ · (ρv B) = f · v .28) into: ∂∇ϕ + ∇ B = 0.31b) from Crocco’s equation (1. c) Derive Bernoulli’s equation (1.

Calculate the force necessary to move the piston if the water compressibility can be neglected and the water forms a free jet at the exit of tube 2. What is the ratio of the pressure drop over the two tubes at t = 0? RienstraHirschberg 11th November 2001 12:00 . as a model for a water pistol. a piston pushing with a constant acceleration a water from a tube 1 with surface area A 1 and length 1 through a tube 2 of surface A2 and length 2 .10 1 Some ﬂuid dynamics d) Is the trace 1 Pii of the stress tensor Pi j always equal to the thermodynamic pressure 3 p = (∂e/∂ρ −1 )s ? e) Consider. Neglect the non-uniformity of the ﬂow in the transition region between the two tubes.

and acoustic energy Order of magnitude estimates Starting from the conservation laws and the constitutive equations given in section 1. (2. (which corresponds to a policeman’s whistle!). – a jet airplane at take off produces about 105 Watts.). The Sound Power Level (PWL) is given in decibel (dB) by: PWL = 10 log10 (Power/10−12 W).1 Wave equation. sound is a small perturbation of a steady state. We limit ourselves to air and water. – when shouting we produce about 10−5 Watts. This implies that we can justify the approximation introduced in section 1. (2. In section 2. In dry air at 20◦ C the speed of sound c is 344 m/s. In view of this large range of power levels and because our ear has roughly a logarithmic sensitivity we commonly use the decibel scale to measure sound levels. Sound involves a large range of power levels: – when whispering we produce about 10−10 Watts.2.3 we will discuss the dependence of the speed of sound on various parameters (such as temperature. the typical range of frequency of the human ear is: 20 Hz ≤ f ≤ 20 kHz. while in water a typical value of 1500 m/s is found. We therefore consider here some order of magnitude estimates of the various phenomena involved in sound propagation.2 2. speed of sound.2 we will obtain after linearization a wave equation in the next section. (homentropic ﬂow). We have deﬁned sound as a pressure perturbation p which propagates as a wave and which is detectable by the human ear.2) . For harmonic pressure ﬂuctuations. so that second order effects can be neglected.1) The maximum sensitivity of the ear is around 3 kHz. and that we can show that in general. etc.

The corresponding relative density ﬂuctuations ρ /ρ0 are given at atmospheric pressure p0 = 105 Pa by: ρ /ρ0 = p /γ p0 ≤ 10−3 (2. In general.7) 2 The factor 1/ρ0 c0 is the adiabatic bulk compressibility modulus of the medium. by deﬁning the speed of sound following equation 1. The sound intensity I is deﬁned as the energy ﬂux (power per surface area) corresponding to sound propagation. and where pref = 2 · 10−5 Pa in air and pref = 10−6 Pa in other media.2 · 10 Pa. When large expansion waves are created in water the pressure can 1 The SPL which we can only endure for a very short period of time without the risk of permanent ear damage. RienstraHirschberg 11th November 2001 12:00 .6) where γ = C P /C V is the ratio of speciﬁc heats at constant pressure and volume respectively. and acoustic energy The Sound Pressure Level (SPL) is given by: SPL = 20 log10 ( prms / pref ) (2.12 2 Wave equation.5 · 103 m/s we see that ρ0 c0 9 2. Linear theory will therefore apply to such compression waves.12. so that a compression wave of 10 bar corresponds to relative density ﬂuctuations of order 10−3 in water.5) will be derived later. The threshold of pain1 (140 dB) corresponds in air to pressure ﬂuctuations of prms = 200 Pa. speed of sound. The Intensity Level (IL) is given by: IL = 10 log10 (I /10−12 W/m2 ).5) where ρ0 c0 = 4 · 102 kg/m2 s for air under atmospheric conditions. s (2. Equation (2. The reference intensity level Iref = 10−12 W/m2 is related to this pref = 2 · 10−5 Pa in air by the relationship valid for progressive plane waves: 2 I = prms /ρ0 c0 (2.4) The reference pressure level in air pref = 2 · 10−5 Pa corresponds to the threshold of hearing at 1 kHz for a typical human ear. the relative density ﬂuctuations are given by: 1 1 ρ = p = 2 ρ0 ρ0 ρ0 c0 ∂ρ ∂p p. 2 Since for water ρ0 = 103 kg/m3 and c0 = 1.3) where prms is the root mean square of the acoustic pressure ﬂuctuations p . (2.

20b): u = p /ρ0 c0 . prms = 2 · 10−5 Pa. the acoustic displacement δ should be small compared to the characteristic length scale L in the geometry considered. In the absence of mean ﬂow (u 0 = 0) this implies that a convective term such as ρ(v·∇)v in the momentum conservation (1. On the other hand. This is a strongly non-linear effect which becomes important with decreasing frequency.20a. however.2. In particular. (2. We see from the data given above that the particle displacement δ can be significantly smaller than the molecular mean free path ¯ which in air at atmospheric pressure is about 5 · 10−8 m. By dividing 2 (2.8) by c0 we see by using (1.8) The factor ρ0 c0 is called the characteristic impedance of the ﬂuid. So a small acoustical Strouhal number R/δ implies that non-linear effects due to vortex shedding are important. In other words. Hence.9) In order to justify a linearization of the equations of motion. prms = 2 · 102 Pa. because δ increases when ω decreases. SPL = 0 dB. if δ is larger than the radius of curvature R of the wall at edges the ﬂow will separate from the wall resulting into vortex shedding. a progressive plane wave involves displacement of ﬂuid particles with a velocity u which is given by (as we will see in equations 2. 2. u = 5 · 10−8 m/s.1 Order of magnitude estimates 13 decrease below the saturation pressure of the liquid and cavitation bubbles may appear. which results in strongly non-linear behaviour. δ = 1 · 10−11 m. It should be noted that a continuum hypothesis as assumed in chapter 1 does apply to sound even at such low amplitudes because δ is not the relevant length scale. (2.19) is of second order and can be neglected in a linear approximation. the acoustical Strouhal number Sra = L/δ should be large.12) in the form p = c0 ρ that the acoustic Mach number u /c0 is a measure for the relative density variation ρ /ρ0 . The continuum hypothesis is valid if we can deﬁne RienstraHirschberg 11th November 2001 12:00 . The amplitude of the ﬂuid particle displacement δ corresponding to harmonic wave propagation at a circular frequency ω = 2π f is given by: δ = |u |/ω. δ = 8 · 10−5 m. u = 5 · 10−1 m/s. for f = 1 kHz we have in air: SPL = 140 dB. strong expansion waves (negative pressures of the order of 103 bar!) can be sustained in water before cavitation appears. since the formation of bubbles in pure water is a slow process. For acoustic waves in a stagnant medium.

= ¯ ν ν (2.11) This relates the diffusion length (ν/ f )1/2 for viscous effects to the acoustic wave length λ. the ratio between the acoustic wave length λ and the mean free path ¯. diameter D = 5 mm) or to the wave length λ. As a result from this relation ν ∼ c ¯. Note that this is not the case in ﬂuids.3) where NA is the Avogadro number RienstraHirschberg 11th November 2001 12:00 . pth In gases the continuum hypothesis is directly coupled to the assumption that the wave is isentropic and frictionless. This result is obtained by calculating the num2 ber of molecules N colliding within half an oscillation period with our eardrum : c0 1020 and N ∼ n D 2√/2 f .7 cm) compared to ¯. As N −5 p0 / N we ﬁnd that pth 10 Pa. this ratio can also be considered as an unsteady Reynolds 2 The thermal velocity of molecules may be estimated to be equal to c . 0 3 n is calculated for an ideal gas with molar mass M from: n = N ρ/M = N p/M RT = A A p/RT (see section 2. speed of sound. where n is the air molecular number density3 . Both the kinematic viscosity ν = η/ρ and the heat diffusivity a = K /ρCP of a gas are typically of the order of c ¯. Moreover. In terms of our ear drum we can say that although a displacement of δ = 10−11 m of an individual molecule cannot be measured. but large compared to the mean free path ¯ = 5 · 10−8 m. can also be interpreted as an acoustic Fourier number: λ2 f λc λ = . Therefore. This is related to the fact that c is in a gas a measure for the random (thermal) molecular velocities that we know macroscopically as heat and momentum diffusion. the same displacement averaged over a large amount of molecules at the ear drum can be heard as sound. It appears that for harmonic signals of frequency f = 1 kHz the threshold of hearing pref = 2·10−5 Pa corresponds to the thermal ﬂuctuations pth of the atmospheric pressure p0 detected by our ear. and acoustic energy an air particle which is small compared to the dimensions of our measuring device (eardrum. isothermal rather than isentropic wave propagation is common for normal frequencies. which is an acoustic Knudsen number.10) is still large (λ 1. the product of sound speed c and mean free path ¯. in gases the absence of friction goes together with isentropy. Here. It is obvious that we can satisfy this condition since for f = 20 kHz the wave length: λ = c0 / f (2.14 2 Wave equation.

As a general rule. The amplitude of a plane wave travelling along a tube of cross-sectional surface area A and perimeter L p will decrease with the distance x along the tube following an exponential factor e−αx . the heat conduction is not signiﬁcant even in the presence of walls (γ = 1).) For air γ = CP /C V = 1.4 while ν/a = 0. the airport) away to large distances (10 km).5. vibration). α = 0.2. πfν 1+ √ 2Ac ν/a (2. at low amplitudes the viscous dissipation is dominant in woodwind instruments at the fundamental (lowest) playing frequency.05m−1 so that a frictionless approximation is not a very accurate but still a fair ﬁrst approximation. We therefore expect viscosity to play a signiﬁcant rôle only if the sound propagates over distances of 107 wave lengths or more (3 · 103 km for f = 1 kHz).12) which is for a plane acoustic wave just the ratio between inertial and viscous forces in the momentum conservation law. In general the attenuation of sound waves increases with frequency. In practice the kinematic viscosity appears to be a rather unimportant effect in the attenuation of waves in free space.g. where the damping coefﬁcient α is given at reasonably high √ √ ν/ω but ω A/c0 < 1) by [142]: frequencies (A/L p α= γ −1 Lp . RienstraHirschberg 11th November 2001 12:00 . Similar arguments hold for water.13) (This equation will be derived in section 4. For air ν = 1.1 Order of magnitude estimates number Re t : ∂u 2 ∂t ∼ λ f . At higher frequencies the radiation losses which we will discuss later (chapter 6) become dominant. For a musical instrument at 400 Hz. due to the relatively long relaxation times of molecular motion associated to the internal degrees of freedom (rotation. The main dissipation mechanism is the departure from thermodynamic equilibrium. Re t = ν ∂ 2u η 2 ∂x ρ 15 (2. This explains why we hear the lower frequencies of an airplane more and more accentuated as it ﬂies from near the observation point (e.5 · 10−5 m2 /s so that for f = 1 kHz we have Re t = 4 · 107 . This effect is related to the so-called bulk or volume viscosity which we quoted in chapter 1. except that because the temperature ﬂuctuations due to compression are negligible. such as the clarinet. In the presence of walls the viscous dissipation and thermal conduction will result into a signiﬁcant attenuation of the waves over quite short distances.72.

s0 . (2. Such conditions are also described in the literature as a quiescent ﬂuid. When dissipation is very small acoustic waves can propagate over such large distances that non-linear effects always become signiﬁcant (we will discuss this in section 4. . This justiﬁes the use of a linear approximation of the equations describing the ﬂuid motion which we presented in chapter 1. and acoustic energy A small ratio ρ /ρ0 of acoustic density ﬂuctuations ρ to the mean density ρ0 implies that over distances of the order of a few wave lengths non-linear effects are negligible.). ρ0 .14b) (2. . s . In a quiescent ﬂuid the equations of motion given in chapter 1 simplify to: ∂ρ + ρ0 ∇ · v = 0 ∂t ∂v +∇p = 0 ρ0 ∂t ∂s =0 ∂t (2. ρ .2. . v . .12) becomes: 2 p = c0 ρ .14a) (2.) of a stagnant (u0 = 0) uniform ﬂuid ( p0 .2 Wave equation for a uniform stagnant ﬂuid and compactness 2. Even with the additional assumption that the ﬂow is frictionless.16 2 Wave equation. are also small.15) RienstraHirschberg 11th November 2001 12:00 . A derivation of general linearized wave equations is discussed by Pierce [142] and Goldstein [55]. . We ﬁrst limit ourselves to the case of acoustic perturbations ( p . of the order of (ρ /ρ0 )c0 . We also have seen that the ﬂuid velocity ﬂuctuation v associated with the wave propagation. The constitutive equation (1.1 Linearization and wave equation In the previous section we have seen that in what we call acoustic phenomena the density ﬂuctuations ρ /ρ0 are very small.2). 2. the equations one obtains may still be complex if we assume a non-uniform mean ﬂow or a nonuniform density distribution ρ0 .14c) where second order terms in the perturbations have been neglected. speed of sound.

17a) (2.20b) 4 In the case considered this property follows from the fact that ∇ × (ρ ∂ v + ∇ p) = ρ ∂ (∇ × 0 ∂t 0 ∂t RienstraHirschberg 11th November 2001 12:00 . ∂t 2 Using the linearized Bernoulli equation: p ∂ϕ + =0 ∂t ρ0 (2.16) 2 Using the constitutive equation p = c0 ρ (2.18) is used to translate the results obtained for ϕ into less abstract quantities such as the pressure ﬂuctuations p. v = ρ0 c0 v ) = 0.14b) we eliminate v to obtain: ∂ 2ρ − ∇ 2 p = 0.19) ∂t 2 Taking the gradient of (2. 1 f (x − c0 t) − g(x + c0 t) . the potential ϕ is convenient for many calculations in acoustics. The linearized Bernoulli equation (2. 2. ∂t 2 (2.2. In general this property is imposed by the deﬁnition of the acoustic ﬁeld. In 1-D we have the general solution p = f (x − c0 t) + g(x + c0 t). Although a rather abstract quantity.14a) from the divergence of the momentum conservation law (2.18) 4 which should be valid because the acoustic ﬁeld is irrotational . We ﬁnd therefore that ϕ satisﬁes the same wave equation as the pressure and the density: ∂ 2ϕ 2 − c0 ∇ 2 ϕ = 0.2 Simple solutions Two of the most simple and therefore most important solutions to the wave equation are d’Alembert’s solution in one and three dimensions.20a) (2. (2.19) we obtain a wave equation for the velocity v = ∇ϕ .2.2 Wave equation for a uniform stagnant ﬂuid and compactness 17 By subtracting the time derivative of the mass conservation law (2.17b) ∂ 2ρ 2 − c0 ∇ 2 ρ = 0.15) to eliminate either ρ or p yields the wave equations: or ∂2 p 2 − c0 ∇ 2 p = 0 ∂t 2 (2.17a) a wave equation for ∂ϕ /∂t. (2. we can derive from (2.

or wave vector. In 3-D we have a general solution for spherically symmetric waves (i. and free ﬁeld plane waves. written in radial coordinates. speed of sound. however. It should be noted. To allow for a general orientation of the coordinate system. that unlike in the 1-D case.21a) (2. a free ﬁeld plane wave is in general written as p = f (n · x − c0 t).14b). the corresponding radial velocity vr is rather more complicated.18 2 Wave equation. The velocity v is obtained from the pressure p by using the linearized momentum equation (2. and acoustic energy where f and g are determined by boundary and initial conditions. in free ﬁeld any sum (or integral) over directions n may be taken.e. because the combination r p(r. k = nk = nc0 . v ∼ e iωt−ik·x . but otherwise they are arbitrary.2). indicates the direction of propagation of the wave. This solution is especially useful to describe low frequency sound waves in hard-walled ducts. Rather than only left. We have for pressure and radial velocity 1 1 f (r − c0 t) + g(r + c0 t). (2. As is seen from the respective arguments x ± c0 t. They are rather similar to the 1-D solution. ω where the wave-number vector. Since the outward radiated wave energy spreads out over the surface of a sphere.and right-running waves as in the 1-D case. v = n f (n · x − c0 t).21b) RienstraHirschberg 11th November 2001 12:00 . − ρ0 c0 r r p = 5 The physical quantity considered is described by the real part. The velocity should be determined from the pressure by time-integration of the momentum equation (2. r r 1 1 1 f (r − c0 t) − 2 F(r − c0 t) vr = ρ0 c0 r r 1 1 1 g(r + c0 t) − 2 G(r + c0 t) . t) happens to satisfy the 1-D wave equation (see section 6. the inherent 1/r-decay is necessary from energy conservation arguments. the “ f ”-part corresponds to a right-running wave (in positive x-direction) and the “g”-part to a left-running wave.14b). depending only on radial distance r). A time harmonic plane wave of frequency ω is usually written in complex form5 as p . ρ0 c0 where the direction of propagation is given by the unit vector n.

but we can use a slightly modiﬁed form of the boundary condition in r. Since the rôle of r and t is symmetric in f and anti-symmetric in g.2. of which the radius grows linearly in time with velocity c0 . we may formulate the causality condition in t also as a boundary condition in r. The general solution of sound radiation from spheres may be found in [119. the RienstraHirschberg 11th November 2001 12:00 . f (z) = 0 for z = r − c0 t ≥ r − c0 t0 ≥ −c0 t0 because r ≥ 0.22a) (2.2. this implies that g(z) ≡ 0 for all z. which means for any physical solution that the ﬁeld vanishes before some time t0 (causality).2 Wave equation for a uniform stagnant ﬂuid and compactness 19 where F(z) = f (z)dz and G(z) = g(z)dz.23) (2.2].2. For example.21b) is especially useful to describe the ﬁeld of small symmetric sources (monopoles). Hence.22b) r→∞ A more general discussion on causality for a time-harmonic ﬁeld will be given in section C. r2 r 1 x 2 2 f (r − c0 t) − f (r − c0 t) + 2 F(r − c0 t) . ch7. we have r x 1 f (r − c0 t) − f (r − c0 t) .1. Furthermore. This remains true for any ﬁeld in free space from a source of ﬁnite size. This solution (2. (2. and g(z) = 0 for any z = r + c0 t ≤ r + c0 t0 .21a. A causal wave vanishes outside a large sphere. Since r is not restricted from above. since ∂∂x r = x . Usually we have only outgoing waves. called Sommerfeld’s radiation condition: lim r ∂p ∂p + c0 ∂t ∂r = 0.3 Compactness In regions –for example at boundaries– where the acoustic potential ϕ varies signiﬁcantly over distances L which are short compared to the wave length λ. In the case of the idealization of a time-harmonic ﬁeld we cannot apply this causality condition directly. modelled in a point.1. vr = 2 ρ0 c0 r r r p = where f denotes the derivative of f to its argument. because far away the ﬁeld simpliﬁes to that of a point source (although not necessarily spherically symmetric). by differentiation to the source position other solutions of the wave equation can be generated (of dipole-type and higher). 2.

and acoustic energy acoustic ﬂow can locally be approximated as an incompressible potential ﬂow. as suggested above. For a more precise deﬁnition we should assume that we can distinguish a typical time scale τ or frequency ω and length scale L in the problem. being multiplied by the small He. and a source of size. When τ and L are well chosen. This allows us to use incompressible potential ﬂow theory to derive the local behaviour of an acoustic ﬁeld in a compact region. much smaller than λ.25) This may occur.20 2 Wave equation.3. usually allowing a relatively simple acoustic ﬁeld. in many interesting cases c0 is non-uniform in space and RienstraHirschberg 11th November 2001 12:00 . In a compact region we have: He 1. Such a region is called compact. The matching procedure is usually carried out almost intuitively in the ﬁrst order approximation. or at low frequencies when time derivatives become small. is a compact source.24) ¯ where t = t/τ = ωt and xi = xi /L . ¯ ∂t ∂ xi2 ¯ He = ωL L 2π L = = kL = c0 τ c0 λ (2. the solutions may be determined. Higher order approximations are obtained by using the method of Matched Asymptotic Expansions (section 8. ∂2 ϕ /∂ t 2 and ∂ 2 ϕ /∂ xi2 are of the same order of magnitude.3 Speed of sound 2.26) which describes an incompressible potential ﬂow (∇· v = 0). The dimensionless number He is called the ¯ ¯ ¯ Helmholtz number. may be ignored and the potential satisﬁes to leading order the Laplace equation: ∇ 2ϕ = 0 (2. However. In dimensionless form the wave equation is then: 3 i=1 ∂ 2ϕ ∂ 2ϕ = (He )2 2 . If the compact region is embedded in a larger acoustic region of simpler nature. [32]). plane waves).1 Ideal gas In the previous section we have assumed that the speed of sound c2 = (∂ p/∂ρ)s 0 is constant. it acts on the scale of the larger region as a point source. 2. near a singularity where spatial gradients become large.8. speed of sound. (2. By matching the local incompressible approximation to this “far ﬁeld” solution (spherical waves. Within the compact region the time derivatives. and the character of the wave motion is completely described by He .

38066 · 10−23 J/K and the Avogadro number NA = 6. T CV ρ (2. For an ideal gas we have further the relationship: R = C P − CV .14) leading to de = CV dT .31) with the deﬁnition of the speed of sound c2 = (∂ p/∂ρ)s yields: c = (γ p/ρ)1/2 or c = (γ RT )1/2 .30) By using (2. we ﬁnd for an isentropic process (ds = 0): C V dT = − p d(ρ −1 ) or R dρ dT = . ρ is the density and T is the absolute temperature.27) and (2. (2. with (1. The equation of state for an ideal gas is: p = ρ RT. (2.022 · 1023 mol−1 by: R = k B NA /M. ρ T p ρ where: γ = C P /C V (2.29) we ﬁnd for an isentropic process: dp dρ dρ dT + = =γ . Comparison of (2. so that by using the second law of thermodynamics. respectively. For air R = 286. Air at atmospheric pressure behaves as an ideal gas. (2.32) (2. For an ideal gas the internal energy e depends only on the temperature [137].27) where p is the pressure.28) where M is the molar mass of the gas (in kg/mol).2.31) is the Poisson ratio.33) 6 The universal gas constant is: R = k N = 8.3 Speed of sound 21 this affects the propagation of waves.29) where C P and C V are the speciﬁc heats at constant pressure and volume. R is the speciﬁc gas constant6 which is related to the Boltzmann constant kB = 1.31431 J/K mol. (2. B A RienstraHirschberg 11th November 2001 12:00 .73 J/kg K. We therefore give here a short review of the dependence of the speed of sound in gas and water on some parameters like temperature.

3.34) where Mi is the molar mass of component i.36) where c0 = 1447 m/s. due to departure from thermodynamic equilibrium [185]. The speed of sound is by deﬁnition determined by the “mass” RienstraHirschberg 11th November 2001 12:00 .2 Water For pure water.35) because γi /(γi − 1) = Mi C p. speed of sound. The temperature dependence of the speed of sound is responsible for spectacular differences in sound propagation in the atmosphere. 2.i . The Poisson constant γ of the mixture can be calculated by: γ = X i γi /(γi − 1) X i /(γi − 1) (2.0 m/sK. T0 = 283. the speed of sound in the temperature range 273 K to 293 K and in the pressure range 105 to 107 Pa can be calculated from the empirical formula [142]: c = c0 + a(T − T0 ) + bp (2.i /R and γi = C p. in a way that we hear trafﬁc over much larger distances than on a hot summer afternoon. 2. a = 4. These refraction effects will be discussed in section 8. whilst the speed of sound at T = 273.3. and acoustic energy We see from this equation that the speed of sound of an ideal gas of given chemical composition depends only on the temperature. The presence of salt in sea water does signiﬁcantly affect the speed of sound.45 m/s.3 Bubbly liquid at low frequencies Also the presence of air bubbles in water can have a dramatic effect on the speed of sound ([94.16 K and b = 1. 32]).15 K is c = 331. Moisture in air will only slightly affect the speed of sound but will drastically affect the damping. For example.6.6 · 10−6 m/sPa. the vertical temperature stratiﬁcation of the atmosphere (from colder near the ground to warmer at higher levels) that occurs on a winter day with fresh fallen snow refracts the sound back to the ground level. For air γ = 1. For a mixture of ideal gases with mole fraction X i of component i the molar mass M is given by: M= i Mi X i (2.i /C V.402.22 2 Wave equation.

given by: c = (Ks /ρ) 2 1 (2.38). As the Ks of the mixture can approach that for pure air.38). The density ρ of the mixture is given by: ρ = (1 − β)ρ + βρg .2. If we consider a small change in pressure d p we obtain: dρ dρg dβ dρ = (1 − β) +β + (ρg − ρ ) dp dp dp dp (2.38) increases with increasing stiffness.40) where we assume both the gas and the liquid to compress isothermally [32]. A small fraction of air bubbles present in water considerably reduces the bulk modulus Ks . and decreases with increasing inertia (density ρ).3 Speed of sound density ρ and the isentropic bulk modulus: Ks = ρ ∂p ∂ρ 23 (2. we can understand this behaviour intuitively. one observes in such mixtures velocities of sound much lower than in air (or water).37) s which is a measure for the “stiffness” of the ﬂuid. In a one-dimensional model consisting of a discrete mass M connected by a spring of constant K.41) RienstraHirschberg 11th November 2001 12:00 . The behaviour of air bubbles at high frequencies involves a possible resonance which we will discuss in chapter 4 and chapter 6. If no gas dissolves in the liquid. except for the fact that he used the isothermal bulk modulus KT rather than Ks . (2. dp dp ρ dp (2.39) where ρ and ρg are the liquid and gas densities. we derive an expression for the soundspeed c of the mixture as a function of the volume fraction β of gas in the water. we have: ρg dρg βρg dρ dβ +β − = 0. following Crighton [32]. This resulted in an error of γ 1/2 in the predicted speed of sound in air which was corrected by Laplace [185]. The speed of sound c. This massspring model was used by Newton to derive equation (2. so that the mass fraction (βρg /ρ) of gas remains constant. while at the same time the density ρ is not strongly affected. which allows a low frequency approximation. We now assume that the bubbles are in mechanical equilibrium with the water. Combining this assumption with (2.

41): 1−β β 1 = + .43) 2 The gas fraction determines the bulk modulus ρg cg /β of the mixture. ∂t (2. we ﬁnd by elimination of dβ/d p from (2.24 2 Wave equation. (2. we can use the fact 2 ρ c2 and ρg ρ . which we have ignored here.17a) for an homogeneous stagnant medium. and acoustic energy 2 Using the notation c2 = d p/dρ.5. or c2 2 ρ g cg β(1 − β)ρ . Air bubbles are also introduced in sea water near the surface by surface waves. The minimum speed of sound occurs at β = 0. The dynamics of bubbles involving oscillations (see chapter 4 and chapter 6) appear to induce spectacular dispersion effects [32].17a). to approximate (2. It is however interesting to derive a wave equation in the more general case: for a stagnant ideal gas with an arbitrary temperature distribution. and at 1 bar we ﬁnd for example in a water/air mixture c 24 m/s! In the case of β not being close to zero or unity.44c) RienstraHirschberg 11th November 2001 12:00 . We start from the linearized equations for the conservation of mass. In many cases. (2.44a) (2.42) 2 2 ρc2 ρ g cg ρc It is interesting to see that for small values of β the speed of sound c drops drastically from c at β = 0 towards a value lower than cg . 2. cg = d p/dρg and c2 = d p/dρ . We have seen in section 2.44b) (2.42) by: that ρg cg ρc2 2 ρ g cg β . Hence.2 we derived a wave equation (2. while the water determines the density (1 − β)ρ .40) and (2. speed of sound. momentum and energy for a stagnant gas: ∂ρ + ∇ · (ρ0 v ) = 0 ∂t ∂v +∇p = 0 ρ0 ∂t ∂s + v ·∇s0 = 0. when the acoustic wave length is small compared to the temperature gradient length (distance over which a signiﬁcant temperature variation occurs) we can still use the wave equation (2. we see that the presence of bubbles around a ship may dramatically affect the sound propagation near the surface.3 that the speed of sound in the atmosphere is expected to vary considerably as a result of temperature gradients.4 Inﬂuence of temperature gradient In section 2.

we have 2 that ρ0 c0 . (2.44a) we ﬁnd: ∂p 2 + v ·∇ p0 + ρ0 c0 ∇ · v = 0. given by: 2 ρ0 c0 = γ p0 is a constant so that equation (2.47) 2 For an ideal gas c0 = γ p0 /ρ0 .48) RienstraHirschberg 11th November 2001 12:00 . ∂t (2.47) can be written in the form: ∂2 p 2 − ∇ · (c0 ∇ p ) = 0.45) If we consider temperature gradients over a small height (in a horizontal tube for ∇T0 /T0 ).15)? (2. By elimination of ∇· v we obtain: 1 ∂2 p 2 − c0 ρ0 ∇ · ∇p 2 ∂t ρ0 = 0.46) by: ∇· v = − 1 ∂p . and since we assumed p0 to be uniform. 2 ρ0 c0 ∂t Taking the divergence of the momentum conservation law (2.44b) yields: 1 ∂ (∇ · v ) + ∇ · ∇p ∂t ρ0 = 0. ∂t ∂t Combining (2.46) (2.4 Inﬂuence of temperature gradient 25 where ρ0 and s0 vary in space.45) with the continuity equation (2. ∂t 2 7 Why do we not use (2. we example) so that the variation in p0 can be neglected (∇ p0 / p0 can approximate (2. The constitutive equation for isentropic ﬂow (Ds/Dt = 0): Dp 2 Dρ = c0 Dt Dt can be written as7 : ∂p 2 ∂ρ + v ·∇ p0 = c0 + v ·∇ρ0 .2.

49a) (2. Which acoustic variable is selected to work with is only indifferent in a quiescent ﬂuid. ∂t (2. speed of sound. This approximation is called geometrical or ray acoustics. v 0 ·∇ p0 = c0 v 0 ·∇ρ0 . 2.e. and constitutive equation for isentropic ﬂow. We will in section 1 and 8. ∂t (2.5 Inﬂuence of mean ﬂow See also Appendix F. It is interesting to note that.45).26 2 Wave equation.49b) (2. ρ0 v 0 ·∇v 0 = −∇ p0 . In the presence of a mean ﬂow that satisﬁes 2 ∇ · ρ0 v 0 = 0. the linearized conservation laws.48) for the pressure ﬂuctuation p in a stagnant non-uniform ideal gas is not valid for the density ﬂuctuations. unlike in quiescent (i. the wave equation (2. uniform and stagnant) ﬂuids. become (without sources): ∂ρ ∂t ∂v ∂t ∂s ∂t ∂p ∂t + v 0 ·∇ρ + v ·∇ρ0 + ρ0 ∇ · v + ρ ∇ · v0 = 0 + v 0 ·∇v + v ·∇v 0 + ρ v 0 ·∇v 0 = −∇ p + v0 ·∇s + v ·∇s0 = 0.6.50) RienstraHirschberg 11th November 2001 12:00 .6 consider approximate solutions for this equation in the case (∇c /ω) 0 for large propagation distances.49c) ρ0 ∂ρ + v0 ·∇ρ + v ·∇ρ0 . For a uniform medium with uniform ﬂow velocity v0 = 0 we obtain ∂ 2 2 + v 0 ·∇ p − c0 ∇ 2 p = 0 ∂t where ∂ + v 0 ·∇ denotes a time derivative moving with the mean ﬂow. v 0 ·∇s0 = 0. 2 + v 0 ·∇ p + v ·∇ p0 = c0 (2. This is because here the density ﬂuctuations ρ not only relate to pressure ﬂuctuations but also to convective effects (2.49d) A wave equation can only be obtained from these equations if simplifying assumptions are introduced. and acoustic energy This is a rather complex wave equation. This will be elaborated further in the discussion on the sources of sound in section 2. since c0 is non-uniform.

The wave equation will now be non-homogeneous.2. 2.2) were absent.6 Sources of sound 2. ∂t 2 ∂t 2 (2.52) In general this source is not equal to q. i.6. for example F = q itself! This ﬁeld is outside the source region exactly equal to the original ﬁeld p . we may ﬁnd in the absence of mean ﬂow: ∂2 p 2 − c0 ∇ 2 p = q. for example [49]: p + F. As we will see later the acoustic ﬁeld p can formally be determined for a given source distribution q by means of a Green’s function.6. because it satisﬁes a wave equation with another source: ∂2 ∂2 2 2 − c0 ∇ 2 ( p + F) = q + − c0 ∇ 2 F.51).1 Inverse problem and uniqueness of sources Until now we have focused our attention on the propagation of sound. This solution p is unique.e. Without these restrictions we still can (under speciﬁc conditions) derive a wave equation. As starting point for the derivation of wave equations we have used the linearized equations of motion and we have assumed that the mass source term m and the external force density f in (1. On the other hand. It should be noted that the so-called inverse problem of determining q from the measurement of p outside the source region does not have a unique solution without at least some additional information on the structure of the source. it will contain a source term q. it is not the solution of equation (2.6 Sources of sound 27 2. For example.2 Mass and momentum injection As a ﬁrst example of a non-homogeneous wave equation we consider the effect of the mass source term m on a uniform stagnant ﬂuid.e. F = 0 wherever q = 0).51) Often we will consider situations where the source q is concentrated in a limited region of space embedded in a stagnant uniform ﬂuid. We further assume that RienstraHirschberg 11th November 2001 12:00 . This proves that the measurement of the acoustic ﬁeld outside the source region is not sufﬁcient to determine the source uniquely [39].1) and (1. for any smooth function F that vanishes outside the source region (i. This statement is easily veriﬁed by the construction of another sound ﬁeld. ∂t 2 (2.

t) injected at a rate ∂ (βρm ). for simplicity.28 2 Wave equation.54) (ρv) + ∇ p = f . it can be shown in an analogous way that in linear approximation the presence of a uniform force ﬁeld (a uniform gravitational ﬁeld. primarily because of the displacement of a volume fraction β of the original ﬂuid ρf .56) where the injected matter does not mix with the original ﬂuid. ∂t 2 ∂t (2. then ∂2 1 ∂2 p − ∇ 2 p = 2 (βρ f ) − ∇ · f 2 ∂t c0 ∂t 2 (2. speed of sound. Substitute (2. because ∂2 βρ f /∂t 2 vanishes. the total ﬂuid density is m= ρ = βρm + (1 − β)ρ f (2. We see from (2.59) that a continuous injection of mass of constant density does not produce sound.53) and eliminate βρm ∂ ∂ ρ f + ∇ · (ρv) = (βρ f ). ∂t The source m consists of mass of density ρm of volume fraction β = β(x.56) in (2.59) which shows that mass injection is a source of sound. Consider the inhomogeneous equation of mass conservation ∂ ρ + ∇ · (ρv) = m (2.57) (2.54) and (2. Hence injecting mass with a large density ρm is not necessarily an effective source of sound. In addition. and acoustic energy a linear approximation is valid. ∂t ∂t Eliminate ρv from (2. RienstraHirschberg 11th November 2001 12:00 .57) ∂2 ∂2 ρ f − ∇ 2 p = 2 (βρ f ) − ∇ · f . Since the injected mass displaces the original mass ρ f by the same (but negative) amount of volume. (2. where ρ f is the ﬂuctuating part of ρ f which corresponds to the sound ﬁeld outside the source region. that p = c0 ρ f everywhere. for example) does not affect the sound ﬁeld in a uniform stagnant ﬂuid.53) ∂t and a linearized form of the equation of momentum conservation ∂ (2.55) ∂t The source region is where β = 0.58) 2 If we assume.

one may model a clarinet as an idealized resonator formed by a closed pipe. For example. ∂t∂ xi ∂t ∂t ∂t ∂t 2 By taking the divergence of the momentum conservation law (1.6.3 Lighthill’s analogy We now indicate how a wave equation with aerodynamic source terms can be derived. At least we assume that the listener which detects the acoustic ﬁeld at a point x at time t is surrounded by a uniform stagnant ﬂuid characterized by a speed of sound c0 . The most famous wave equation of this type is the equation of Lighthill.57) we ﬁnd: ∂ 2ρ ∂m ∂ 2ρ f ∂ 2 βρ f ∂2 − 2 =− 2 + (ρvi ) = . it is only useful when we consider the case of a limited source region embedded in a uniform stagnant ﬂuid. 66]. Hence the acoustic ﬁeld at the listener should accurately be described by the wave equation: ∂ 2ρ 2 − c0 ∇ 2 ρ = 0 ∂t 2 (2.6 Sources of sound 29 2.1) and eliminating ∂m/∂t as in (2. The notion of “analogy” refers here to the idea of representing a complex ﬂuid mechanical process that acts as an acoustic source by an acoustically equivalent source term. The key idea of the so-called “aero-acoustic analogy” of Lighthill is that we now derive from the exact equations of motion a non-homogeneous wave equation with the propagation part as given by (2. By taking the time derivative of the mass conservation law (1. derived without approximation from the Navier-Stokes equations).e.17b). While Lighthill’s equation is formally exact (i.60) RienstraHirschberg 11th November 2001 12:00 . density ρ0 and pressure p0 at the listener’s location is assumed to extend into the entire space. and any departure from the “ideal” acoustic behaviour predicted by (2. with the effect of the ﬂow through the mouth piece represented by a mass source at one end.2) we ﬁnd: ∂2 ∂ fi ∂2 (ρvi ) = − (Pi j + ρvi v j ) + . 99. 145.61) (2. ∂t∂ xi ∂ xi ∂ x j ∂ xi (2. Hence the uniform stagnant ﬂuid with sound speed c0 .2.17b) where we have chosen ρ as the acoustic variable as this will appear to be the most convenient choice for problems like the prediction of sound produced by turbulence. In that particular case we express by this analogy the fact that the internal acoustic ﬁeld of the clarinet is dominated by a standing wave corresponding to a resonance of the (ideal) resonator.17b) is equivalent to a source of sound for the observer [98.

and acoustic energy Hence we ﬁnd from (2. p ): ρ = 0 0 ρ − ρ0 .66) we distinguish three basic aero-acoustic processes which result in sources of sound: – the non-linear convective forces described by the Reynolds stress tensor ρvi v j . – the deviation from a uniform sound velocity c0 or the deviation from an isen2 tropic behaviour ( p − c0 ρ ). (2.60) and (2.61) the exact relation: ∂2 ∂ 2 βρ f ∂ fi ∂ 2ρ f = (Pi j + ρvi v j ) + − .64) We used 2 c0 2 ∂ 2 (c0 ρ δi j ) ∂ 2ρ = ∂ xi ∂ x j ∂ xi2 (2. 8 The perturbations are deﬁned as the deviation from the uniform reference state (ρ . speed of sound. In equation (2. – the viscous forces τi j . In this way we have obtained the famous equation of Lighthill: 2 ∂ 2 Ti j ∂ 2 βρ f ∂ fi ∂ 2ρ 2∂ ρ − c0 2 = + − 2 2 ∂t ∂ xi ∂ x j ∂t ∂ xi ∂ xi (2.65) which is exact because c0 is a constant.62) Because ρ f = ρ0 + ρ where only ρ varies in time we can construct a wave 2 equation for ρ by subtracting from both sides of (2. Making use of deﬁnition (1. and p = p − p0 . RienstraHirschberg 11th November 2001 12:00 . 2 2 ∂t ∂ xi ∂ x j ∂t ∂ xi (2.30 2 Wave equation.66) which is the usual form in the literature8 .3) we can also write: 2 Ti j = ρvi v j − τi j + ( p − c0 ρ )δi j (2.63) where Lighthill’s stress tensor Ti j is deﬁned by: 2 Ti j = Pi j + ρvi v j − (c0 ρ + p0 )δi j .61) a term c0 (∂ 2 ρ /∂ xi2 ) where in order to be meaningful c0 is not the local speed of sound but that at the listener’s location.

The usefulness of (2. while.6 Sources of sound 31 As no approximations have been made. we have used four equations: the mass conservation and the three components of the momentum conservation to derive a single equation. equation (2. as we will see.67) shows that the deviation from an isentropic be2 haviour leads to a source term of the type (∂2 /∂ xi2 )( p −c0 ρ ) when we choose ρ as 2 the acoustic variable. This is the case when unsteady heat release occurs such as in combustion problems. (2.62) in the form: ∂ 2ρ ∂2 ∂2 p = 2 + (τi j − ρvi v j ) ∂t ∂ xi ∂ x j ∂ xi2 −2 where we assumed that m = 0 and f = 0. This is an efﬁcient approach because an order of magnitude estimate of ∂2 Ti j /∂ xi ∂ x j involves the estimation of spatial derivatives which is very difﬁcult. 99]. In fact. For a given experimental or numerical set of data on the ﬂow ﬁeld in the source region. while we ﬁnd a term (∂2 /∂t 2 )( p /c0 −ρ ) when we choose p RienstraHirschberg 11th November 2001 12:00 . Such estimation procedure is based on the physical interpretation of the source term. We are therefore certainly not closer to a solution unless we introduce some additional simplifying assumptions.63) with (2.63) is that we can introduce some crude simpliﬁcations which yield an order of magnitude estimate for ρ . This crucial step was not recognized before the original papers of Lighthill [98. a key step of Lighthill’s analysis is to delay this physical interpretation until an integral equation formulation of (2. If we derive a wave equation for p instead of ρ . the structure of the source terms will be different.63) has been obtained.63) is exact and not easier to solve than the original equations of motion. in an integral formulation we will need only an estimate for an average value of Ti j in order to obtain some relevant information on the acoustic ﬁeld. In some cases it appears to be more convenient to use p instead of ρ .2. However.4) to affect the character of the wave equation. we ﬁnd by subtraction of c0 (∂ 2 /∂t 2 ) p on both sides: ∂2 p ∂2 ∂ 2 p0 ∂2 p 1 ∂2 p − = (ρvi v j − τi j ) + + 2 2 −ρ 2 ∂ xi ∂ x j ∂t c0 c0 ∂t 2 ∂ xi2 ∂ xi2 where the term ∂ 2 p0 /∂ xi2 vanishes because p0 is a constant.67) Comparing (2. the integral formulation of Lighthill’s analogy often provides a maximum amount of information about the generated acoustic ﬁeld. Unlike in the propagation in a uniform ﬂuid the choice of the acoustic variable appeared already in the presence of a temperature gradient (section 2. Starting from equation (2.

RienstraHirschberg 11th November 2001 12:00 . 2 c0 In a free jet the ﬁrst term in −∂2 ρe /∂t 2 vanishes for an ideal gas with constant heat 2 capacity (because c2 /c0 − 1 + ρe /ρ = 0). We see that sound is produced both by spatial density variations ∇· (vρe ) and as a result of non-isentropic processes 2 (ρ 2 /c0 )(∂ T /∂ρ)s (Ds /Dt).68) where we made use of the thermodynamic relation: ∂p ∂s = ρ2 ∂T ∂ρ (2. like combustion.11) that: D Dt p −ρ 2 c0 = ∂p ∂s ρ Ds .7) in the form: de = T ds − p d(ρ −1 ).32 2 Wave equation. Hence ρ is more appropriate to describe the sound generation due to non-uniformity as for example the so-called acoustic “Bremsstrahlung” produced by the acceleration of a ﬂuid particle with an entropy different from the main ﬂow. using the mass conservation law.7) where the “excess density” ρe is deﬁned as: ρe = ρ − p . As a ﬁnal result. Dt (1. we ﬁnd − ∂ ∂ 2 ρe = 2 ∂t ∂t c2 ρ2 ∂ T ρe Dρ + 2 −1+ 2 ρ Dt c0 c0 ∂ρ Ds + ∇ · (vρe ) s Dt (2.11) ρ2 Dρ c2 + 2 −1 2 Dt c0 c0 ∂T ∂ρ s Ds Dt (2. which is intuitively more easily understood (Crighton et al.70) (1. speed of sound. and acoustic energy as the acoustic variable. The sound production by unsteady heat transfer or combustion is easier to describe in terms of p (Howe [66]).69) s ρ derived from the fundamental law of thermodynamics (1. [32]) when using the thermodynamic relation (1.11) applied to a moving particle: Dρ Dp = c2 + Dt Dt We ﬁnd from (1. 2 We see that (∂/∂t)( p /c0 − ρ ) acts as a mass source term m.

Considering a homentropic non-conductive frictionless ﬂuid. on its turn.6.6 Sources of sound 33 2. Howe [66] and Doak [38] based on the concept of vortex sound is most appropriate. This is due to the fact that the vorticity ω = ∇ × v is a very convenient quantity to describe a low Mach number ﬂow. this formulation is not very convenient when one considers the sound production by a ﬂow which is.73) 9 This is not a necessary condition for the use of Lighthill’s analogy. ρ Dt (1. (2. When such a feedback is signiﬁcant.11) and (1. 9 inﬂuenced by the acoustic ﬁeld. with any feedback from the acoustic ﬁeld to the ﬂow somehow already included. (2.71) As the entropy is constant (ds = 0) we have.2.72) This can be rewritten as 2 ∂ 1 D2 B 1 D0 B − ∇ 2 B = ∇ · (ω × v) + 2 0 − c2 Dt c Dt ∂t 1 Di c2 Dt (2. and in general for homentropic low Mach number ﬂow. with (1.17) we obtain by subtraction: ∂ ∂t 1 Dρ ρ Dt − ∇ 2 B = ∇ · (ω × v). and the continuity equation: 2 1 Dρ = −∇ · v.27): ∂ ∂t 1 Di c2 Dt − ∇ 2 B = ∇ · (ω × v). In Lighthill’s procedure the ﬂow is assumed to be known. It is the commonly used procedure in which we derive information on the acoustic ﬁeld from data on the ﬂow in the source region.17) (1.30) Taking the divergence of (1. we start our derivation of a wave equation from Euler’s equation in Crocco’s form: ∂v + ∇ B = −ω × v ∂t where B = i + 1 v 2 .30) and the time derivative of (1.4 Vortex sound While Lighthill’s analogy is very convenient for obtaining order of magnitude estimates of the sound produced by various processes. the aerodynamic formulation of Powell [145]. RienstraHirschberg 11th November 2001 12:00 .

There is then no need to assume free ﬁeld conditions nor a compact source region. Historically an energy conser2 vation law was ﬁrst derived by Kirchhoff for stagnant uniform ﬂuids. Alternative formulations have been proposed and are still being studied [124]. and acoustic energy ∂ where B = B − B0 and D0 = ∂t + U 0 ·∇.74) which explicitly stresses the fact that the vorticity ω is responsible for the generation of sound. RienstraHirschberg 11th November 2001 12:00 . He started from the linearized conservation laws (2.30) with this interpretation Howe [67. (Note: i = p /ρ0 and B = i + v0 · v .7. 2. Disselhorst & van Wijngaarden [37]. At high Mach numbers. Considering Crocco’s equation (1. At low Mach number M = v/c0 we have the inhomogeneous wave equation: 2 1 D0 B − ∇ 2 B = ∇ · (ω × v) 2 c0 Dt 2 (2. The use of a vortex sound formulation is particularly powerful when a simpliﬁed vortex model is available for the ﬂow considered.) Some of the implications of (2.1 Introduction Acoustic energy is a difﬁcult concept because it involves second order terms in the perturbations like the kinetic energy density 1 ρ0 v 2 . Such a procedure is ad-hoc. For the reference ﬂow U 0 we choose a Dt potential ﬂow with stagnation enthalpy B0.49a–2. 70] realized that the natural reference of the analogy is a potential ﬂow rather than the quiescent ﬂuid of Lighthill’s analogy. The result is that the Coriolis force fc = ρ0 (ω ×v) appears to act as an external force on the acoustic ﬁeld. both Lighthill’s and Howe’s analogy become less convenient.74) will be considered in more detail in the next section. and Howe [71]. Howe [66] therefore proposes to deﬁne the acoustic ﬁeld as the unsteady scalar potential ﬂow component of the ﬂow: ua = ∇ϕ where ϕ = ϕ − ϕ0 and ϕ0 is the steady scalar potential. Examples of such ﬂows are discussed by Howe [66]. speed of sound.49d).7 Acoustic energy 2. In free space for a compact source region Powell [144] has derived this analogy directly from Lighthill’s analogy. when the source is not compact. Peters & Hirschberg [139].34 2 Wave equation.

the zeroth. ﬁrst and neglected second order terms are (in a sense) not important and an acoustic energy conservation equation may be derived which is indeed the same as found by Kirchhoff [142]. RienstraHirschberg 11th November 2001 12:00 . We will start our analysis with Kirchhoff’s equation for an inviscid non-conducting ﬂuid. The only way to obtain some kind of acoustic energy conservation equation (implying deﬁnitions for acoustic energy density and ﬂux) is to redirect certain parts to the “right hand side” to become source or sink terms. 128] by expanding the energy equation for small perturbations is due to Myers. If required. is not an approximation of the total energy. In such a case the question of deﬁnition. which of course results in a different deﬁnition of acoustic energy. ﬁrst and neglected second order terms of the expansion may still be ignored. in particular which part of the ﬁeld is to be called acoustic. The foregoing approach of generalized expressions for acoustic energy for homentropic [126] and more general nonuniform ﬂows [127. Things become much less obvious in the presence of a non-uniform mean ﬂow including entropy variations and vorticity. but now at the expense of a resulting energy equation which is not a conservation law any more.5) will contain zeroth and ﬁrst order terms and potentially relevant second order terms O((ρ /ρ0 )2 ) which are dropped with the linearization of the mass and momentum equations. However. an energy expression of the approximation. In contrast to this approach Jenvey [78] calls any pressure ﬂuctuations “acoustic”. since a small perturbation expansion of the full non-linear ﬂuid energy conservation law (1. Pressure ﬂuctuations related to vorticity. it appears that for a quiescent ﬂuid these zeroth. Finally we will consider a relationship between vorticity and sound generation in a homentropic uniform inviscid non-conducting ﬂuid at low Mach numbers. is essential and until now it remains subject of discussion. as Myers showed [126]. As stated before.7 Acoustic energy 35 and the result.2. which do not propagate. This approach may be extended to non-uniform ﬂows as long as they are homentropic and irrotational. we will consider as acoustical only that part of the ﬁeld which is related to density variations and an unsteady (irrotational) potential ﬂow. and extend the results to those obtained by Myers. derived by Howe [67]. are often referred to in the literature as “pseudo sound”.

15) between density and pressure. D =− pm −v ρ0 ·f . we obtain the equation pm 1 ∂ p 2 1 ∂v 2 + ρ0 + ∇· ( p v ) = +v 2 ∂t 2 ∂t ρ0 2ρ0 c0 ∂E + ∇ · I = −D ∂t ·f (2. RienstraHirschberg 11th November 2001 12:00 .15) After multiplying (2.75b) where we assumed that f and m are of acoustic order. + 2 2 2ρ0 c0 (2.7. (2.76) which can be interpreted as a conservation law for the acoustic energy (2. the energy ﬂux or intensity11 I and the dissipation D as: E= ρ0 v 2 p2 .75b) by v .15) valid we have implicitly assumed that the injected mass corresponding to m has the same thermodynamic properties as the original ﬂuid. and utilizing the foregoing relation (2.75a) (2.75a) by p /ρ0 and (2. (2. ∂t ∂v +∇p = f . Some authors deﬁne the acoustic intensity as the acoustic energy ﬂux. 11 There is no uniformity in the nomenclature.77) if we DEFINE the acoustic energy density E. Since we assumed the mean ﬂow to be quiescent and uniform there is no mean mass source (m0 = 0) or force ( f 0 = 0). ρ0 ∂t (2. and acoustic energy 2.36 2 Wave equation.78a) (2. adding the two equations.78c) 10 Note that in order to keep equation (2. others as the time-averaged acoustic energy ﬂux. From the assumption of homentropy (ds = 0) we have10 2 p = c0 ρ .2 Kirchhoff’s equation for quiescent ﬂuids We start from the linearized mass and momentum conservation laws for a quiescent inviscid and non-conducting ﬂuid: ∂ρ + ρ0 ∇ · v = m .55). The ﬂow would otherwise not be homentropic! In this case m /ρ0 corresponds to the injected volume fraction β of equation (2.78b) I = pv. speed of sound.

2.7 Acoustic energy

37

In integral form this conservation law (2.77) can be written for a ﬁxed control volume V enclosed by a surface S with outer normal n as d dt V E dx + S I · n dσ = − V D dx, (2.79)

where we have used the theorem of Gauss to transform ∇ · I dx into a surface integral. For a periodic acoustic ﬁeld the average E of the acoustic energy over a period is constant. Hence we ﬁnd P = S I · n dσ = − V D dx, (2.80)

where P is the acoustic power ﬂow across the volume surface S. The left-hand side of (2.80) simply corresponds with the mechanical work performed by the volume injection (m /ρ0 ) and the external force ﬁeld f on the acoustic ﬁeld. This formula is useful because we can consider the effect of the movement of solid boundaries like a piston or a propeller represented by source terms m and f . We will at the end of this chapter use formula (2.80) to calculate the acoustic power generated by a compact vorticity ﬁeld. We will now derive the acoustic energy equation starting from the original nonlinear energy conservation law (1.5). We consider the perturbation of a uniform quiescent ﬂuid without mass source term (v0 = 0, m = 0, f 0 = 0, p0 and ρ0 constant). We start with equation (1.5) in standard conservation form: 1 1 ∂ ρe + ρv 2 + ∇ · v ρe + ρv 2 + p ∂t 2 2 =

− ∇ · q + ∇ · (τ · v) + f · v, (2.81) where we note that the total ﬂuid energy density is 1 E tot = ρe + ρv 2 , 2 and the total ﬂuid energy ﬂux is 1 I tot = v(ρe + ρv 2 + p). 2 (2.82b) (2.82a)

We have dropped here the mass source term m because, in contrast to the force density f , it does not correspond to any physical process.

RienstraHirschberg 11th November 2001 12:00

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2 Wave equation, speed of sound, and acoustic energy

For future reference we state here some related forms, a.o. related to the entropy variation of the ﬂuid. Using the continuity equation we obtain v2 D e+ = −∇ · ( pv) − ∇ · q + ∇ · (τ · v) + f · v, (2.83) Dt 2 which by using the fundamental law of thermodynamics (1.7) may yield an equation for the change in entropy s of the ﬂuid: ρ ρT p Dρ ρ Dv 2 Ds − + = −∇ · ( pv) − ∇ · q + ∇ · (τ · v) + f · v. (2.84) Dt ρ Dt 2 Dt

By subtraction of the inner product of the momentum conservation equation with the velocity, this may be further recast into Ds = −∇ · q + τ : ∇v. (2.85) Dt In the absence of friction (τ = 0) and heat conduction (q = 0) we have the following equations for energy and entropy: ρT 1 D e + v 2 = −∇ · ( pv) + f · v (2.86) Dt 2 Ds = 0. (2.87) Dt We return to the energy equation in standard conservation form, without friction and heat conduction: 1 1 ∂ ρe + ρv 2 + ∇ · v(ρe + ρv 2 + p) = v · f . (2.88) ∂t 2 2 From the fundamental law of thermodynamics (1.7): ρ p ∂e = 2 , and so we have for isentropic perturbations: ∂ρ s ρ 2 ∂ ρe p 1 ∂p c2 ∂ρe = e + = i, = = , ∂ρ s ρ ∂ρ 2 s ρ ∂ρ s ρ T ds = de + p d(ρ −1 ) (1.7)

where i is the enthalpy (1.26) or heat function. We can now expand the total energy density, energy ﬂux and source for acoustic (i.e. isentropic) perturbations up to second order, to ﬁnd (v0 = 0): ρ 2 1 + 2 ρ0 v 2 , (2.89a) ρe + 1 ρv 2 = ρ0 e0 + i 0 ρ + 1 ρ0 c0 2 2 2 ρ0 2 1 (2.89b) v(ρe + 2 ρv + p) = v (i 0 ρ0 + i 0 ρ + p ), v· f = v

·f

.

(2.89c)

RienstraHirschberg 11th November 2001 12:00

2.7 Acoustic energy

39

Noting that the steady state is constant, and using the equation of mass conservation ∂ρ + ∇ · (ρ0 v + ρ v ) = 0 ∂t in (2.88), with (2.89a–2.89c) substituted in it, we ﬁnd that the zeroth and ﬁrst order terms in ρ /ρ0 vanish so that (2.88) becomes within an accuracy of O((ρ /ρ0 )3 ): ∂ p2 ρ0 v 2 + ∇· ( p v ) = v + 2 ∂t 2ρ0 c0 2

·f

,

(2.90)

which demonstrates that Kirchhoff’s acoustic energy conservation law (2.77) is not only an energy-like relation of the approximate equations, but indeed also the consistent acoustic approximation of the energy equation of the full ﬂuid mechanical problem.

2.7.3 Acoustic energy in a non-uniform ﬂow
The method of Myers [126] to develop a more general acoustic energy conservation law follows similar lines as the discussion of the previous section. We consider a homentropic ﬂow (ds = 0, so that de = ( p/ρ2 )dρ) with v0 = 0. In this case the total enthalpy B = e + p/ρ + 1 v 2 appears to be a convenient variable. In terms of 2 B the energy conservation law (2.88) becomes: ∂ (ρ B − p) + ∇ · (ρ Bv) = v · f . ∂t The momentum conservation law in Crocco’s form (1.30) also involves B: ∂v + ∇ B + ω × v = f /ρ. ∂t (2.92) (2.91)

By subtracting ρ0 v 0 times the momentum conservation law (2.92) plus B0 times the continuity equation (1.17) from the energy conservation law (2.91), substituting the steady state momentum conservation law: ∇ B0 + ω0 × v 0 = f 0 /ρ0 , (2.93)

subtracting the steady state limit of the resulting equation, and using the vector identity v · (ω × v) = 0, Myers obtained the following energy corollary: ∂ E∗ + ∇ · I ∗ = −D ∗ ∂t (2.94)

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2 Wave equation, speed of sound, and acoustic energy

where E ∗ , I ∗ and D ∗ are deﬁned by: E ∗ = ρ(B − B0 ) − ( p − p0 ) − ρ0 v 0 · (v − v 0 ) I ∗ = (ρv − ρ0 v 0 )(B − B0 ) D ∗ = (ρv − ρ0 v 0 ) · (ω × v − ω0 × v 0 ) − (v − v 0 ) · ( f − f 0 ) − (1 − ρ0 /ρ)v 0 · f − (1 − ρ/ρ0 )v · f 0 . (2.95c) These auxiliary quantities E∗ , I and D ∗ have the important property, as Myers showed, that their zeroth and ﬁrst order terms in the acoustic perturbation expansion in (ρ /ρ0 ) vanish, while the quadratic terms are only a function of the mean ﬂow and acoustic (ﬁrst order) quantities. As a result, the second order approximation of the exact quantities E∗ , I ∗ and D ∗ yield (for homentropic ﬂow) a general acoustic energy deﬁnition12 : E=
2 c0 ρ 2 ρ0 v 2 + ρ v0 · v + 2ρ0 2 c2 ρ I = (ρ0 v + ρ v 0 ) 0 + v 0 · v ρ0 ∗

(2.95a) (2.95b)

(2.96a) (2.96b)

D = −ρ0 v 0 · (ω × v ) − ρ v · (ω0 × v 0 ) − (v + ρ v 0 /ρ0 ) · ( f − ρ f 0 /ρ0 ). (2.96c) This equation is identical to the acoustic energy conservation law derived by Goldstein [55] starting from the linearized equations of motion (with f0 = 0). It is important to note that, on the one hand, we have indeed obtained expressions entirely in ﬁrst order quantities; on the other hand, however, these expressions represent only an acoustic energy conservation law if we adopt the deﬁnition that vorticity is non-acoustic and embodies possible acoustic sources or sinks. The present expressions for homentropic ﬂow are further generalized by Myers in recent papers [127] and [128].

2.7.4 Acoustic energy and vortex sound
Averaging (2.94) over one period for a periodic acoustic ﬁeld and integrating over space yields, if f = 0: P = S I · n dσ = − V ρ0 v 0 · (ω × v ) + ρ v · (ω0 × v0 ) dx (2.97)

12 Use the vector identity a (b × c) = −c (b × a).

·

·

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2.7 Acoustic energy

41

where P is the acoustic power generated by the ﬂow. It is interesting to compare this expression with the one derived by Howe [67] for a low Mach number compact vorticity distribution ω in free space in the presence of compact solid surfaces: P =− V where ua is the acoustic velocity deﬁned as the part of the unsteady velocity ﬁeld v which is the gradient of a potential (irrotational ∇ × ua = 0). While (2.97) is not restricted to low Mach numbers it only allows small time dependent perturbations ω of the time average vorticity ω0 and in this sense is more restrictive than Howe’s formula. Furthermore, (2.97) is difﬁcult to interpret physically because v includes the solenoidal velocity perturbations ω = ∇ × v . Howe’s equation (2.98) has a simple physical interpretation which in the same way as Lighthill’s theory can be called an aero-acoustic analogy (vortex sound). In the absence of vorticity the ﬂow of an inviscid and non-conducting ﬂuid is described by Bernoulli’s equation (1.31b): ∂ϕ + B = 0. ∂t (1.31b) ρ0 (ω × v) · ua dx (2.98)

If in the same way as in Lighthill’s analogy13 we extend the potential ﬂow v = ∇ϕ in a region where vorticity is present (ω = 0) then we can think of the vorticity term (ω × v) in Crocco’s equation: ∂v + ∇ B = −ω × v ∂t (1.28)

equivalent to an external force ﬁeld f acting on the potential ﬂow (acoustic ﬁeld). Hence we have: f = −ρ(ω × v) (2.99)

which is the density of the Coriolis force acting on the ﬂuid particle as a result of the ﬂuid rotation. For a compact region at low Mach numbers we can neglect density variation and use the approximation: f = −ρ0 (ω × v).
region.

(2.100)

13 In Lighthill’s analogy the uniform quiescent ﬂuid at the listener is extended into the source

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2 Wave equation, speed of sound, and acoustic energy

In the absence of mean ﬂow outside the source region we see by application of the integral form of Kirchhoff’s energy equation (2.80) that we recover Howe’s formula (2.98): P = V This could also have been deduced from a comparison of the wave equation (2.74) in which we introduced the approximation B = i = p /ρ0 because v0 = 0: 1 ∂2 p − ∇ 2 p = ρ0 ∇ · (ω × v) 2 c0 ∂t 2 and the wave equation (2.59) (without mass injection, m = 0): 1 ∂2 p − ∇ 2 p = −∇ · f . 2 c0 ∂t 2 (2.103) (2.102) f · ua dx. (2.101)

This corresponds to Powell’s approximation of the vortex sound theory in which we neglect terms of order M both in the wave region and in the source region (B = p /ρ0 ). In the presence of a uniform ﬂow outside the source region, Goldstein [55] ﬁnds the wave equation: 1 D2 p 0 − ∇ 2 p = −∇ · f 2 Dt 2 c0 where ∂ D0 = + v 0 ·∇. Dt ∂t The energy equation corresponding to (2.104) is for f0 = 0: P = V ua + ρ v0 ρ0 (2.104)

·f

dx

(2.105)

which suggests a generalization of Howe’s equation with f = ρ0 (ω × v): P = −ρ0 V (ω × v) · ua + ρ v0 ρ0 dx, (2.106)

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2.7 Acoustic energy

43

which corresponds with the use of B = p /ρ0 + ua · v 0 as acoustical variable, and I = B (ρv) as the intensity with (ρv) = ρ0 ua + ρ v 0 the ﬂuctuation of mass ﬂux. This generalization of Howe’s equation is indeed derived by Jenvey [78]. Although the above discussion provides an intuitive interpretation of Jenvey’s result, it is not obvious that Jenvey’s deﬁnition of acoustic ﬁeld agrees with Howe’s deﬁnition. The range of validity of this energy corollary is therefore not obvious. In practice Howe’s energy corollary is convenient because it is formulated by an integral. Similar to Lighthill’s analogy in integral form, it is not sensitive to “random errors” in the model. Integration over the volume and averaging over a period of oscillation smooths out such errors. Exercises
a) Calculate the minimum speed of sound of air/water mixtures at a depth of 100 m below sea surface. Assume a temperature T 0 = 300 K. Is it true that this speed of sound is independent of the gas as long as γ = C p /C V is the same? b) Derive (2.91) from (2.88). c) Is the choice of c 0 in the analogy of Lighthill arbitrary? d) Does the acoustic source
∂2 (p ∂t 2 2 /c0 − ρ ) vanish for isentropic ﬂows?

e) Is the acoustic variable ρ the most convenient choice to describe the sound production by unsteady combustion at low Mach numbers? f) Is the deﬁnition of acoustic intensity I = p v valid in the presence of a mean ﬂow? g) Is it correct that when using B as acoustic variable instead of p , one obtains a more accurate prediction of vortex sound in a compact region with locally a high Mach number?
2 h) Is the equation p = c0 ρ always valid in a stagnant ﬂuid?

i) Is it correct that the acoustic impedance ρc of an ideal gas depends only on the pressure p?

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3
3.1

Green’s functions, impedance, and evanescent waves
Green’s functions

3.1.1 Integral representations
Using Green’s theorem we can construct an integral equation which combines the effect of sources, propagation, boundary conditions and initial conditions in a simple formula. The Green’s function G(x, t| y, τ ) is the pulse response of the wave equation:
2 ∂ 2G 2∂ G − c0 2 = δ(x − y)δ(t − τ ). ∂t 2 ∂ xi

(3.1)

Note that the Green’s function is a generalized function! (See Appendix C.) The pulse δ(x − y)δ(t − τ ) is released at the source point y at time τ and G is measured at the observation point x at time t. The deﬁnition of G is further completed by specifying suitable boundary conditions at a surface S with outer normal n enclosing the volume V in which x and y are localized: n ·∇G + bG = 0. (3.2)

Furthermore, one usually assumes a causality condition for G that there is no ﬁeld other than due to the δ-source: G(x, t| y, τ ) = 0 and ∂ G(x, t| y, τ ) = 0 ∂t (3.3)

for t < τ . When the boundary conditions deﬁning the Green’s function coincide with those of the physical problem considered the Green’s function is called a “tailored” Green’s function. The integral equation is in such a case a convolution of the source q( y, τ ) with the pulse response G(x, t| y, τ ). Of course, if the source q is known (and not dependent on the ﬁeld) this integral equation is at the same time just the solution of the problem. A tailored Green’s function is, in general, not

−t | y2 . appear that sometimes.5b) multiplied by G1 yields after integration over x and t in V from t = −∞ until a time t larger than τ1 and τ2 : t −∞ G2 V ∂ 2G1 ∂ 2G2 ∂ 2G1 ∂ 2G2 2 − G 1 2 − c0 G 2 − G1 ∂t 2 ∂t ∂ xi2 ∂ xi2 dx dt = G( y 1 . (3. this property can be derived by starting from the deﬁnition of the two Green’s functions G1 = G(x.4). τ1 ) and G 2 = G(x. −t| y2 . −τ2 ) − G( y2 . t| y. such as the important reciprocity relation: G(x. It will.6) Partial integration of the left-hand side yields: G2 V ∂ G1 ∂ G2 − G1 dx ∂t ∂t 2 − c0 t −∞ t=t t=−∞ G2 S ∂ G1 ∂ G2 − G 1 2 n i dσ dt = 0 (3. −t).1 Green’s functions 45 easy to ﬁnd. −τ1 | y2 .5a) by G2 and subtracting (3.3). −τ2 ) = 0 and ∂ G 2 /∂t|t=t = 0 because of causality. ∂t 2 ∂ xi2 (3. t| y1 . the choice of a Green’s function which is not tailored is more convenient. −τ2 ): 2 ∂ 2G1 2 ∂ G1 − c0 = δ(x − y1 )δ(t − τ1 ) ∂t 2 ∂ xi2 (3. τ1 ).4) For the free ﬁeld this relation follows immediately from symmetry and causality.5b) Multiplying (3. for certain speciﬁc problems. In general [118].5a) and 2 ∂ 2G2 2 ∂ G2 − c0 = δ(x − y2 )δ(t − τ2 ). Before we can discuss this. The second integral vanishes because G 1 and G 2 satisfy the same boundary conditions on boundary S.6) yields (3. (3.7) 2 ∂ xi ∂ xi where the ﬁrst integral vanishes because for t = −∞ both G1 and G 2 vanish because of the causality condition (3. RienstraHirschberg 11th November 2001 12:00 . τ2 | y1 . τ ) = G( y. therefore. −τ |x. At t = t the ﬁrst integral vanishes because −t is earlier than −τ2 (t > τ2 ) and therefore both G2 = G(x. we have to consider some general properties of Green’s functions. Replacing y1 and τ1 by y and τ and y2 and τ2 by x and t in the right-hand side of (3.3.

t| y. ∂τ 2 ∂ yi (3. ∂τ 2 ∂ yi (3. t) = + t+ t0 t+ t0 q( y. τ ) also satisﬁes the equation: 2 ∂ 2G 2∂ G − c0 2 = δ(x − y)δ(t − τ ). τ ) d ydτ V RienstraHirschberg 11th November 2001 12:00 . τ ) −G d ydτ ∂τ 2 ∂τ 2 ρ ( y.4) and interchanging the notation x ↔ y and t ↔ τ we ﬁnd (3.46 3 Green’s functions. We have now all that is necessary to obtain a formal solution to the wave equation: 2 ∂ 2ρ 2∂ ρ − c0 2 = q( y. −t| y.1): 2 ∂2 2 ∂ G(x. −τ ) = δ(x − y)δ(t − τ ). τ ) d ydτ V ρ ( y. from equation (3. −t| y.8). (3. τ ).11) ∂ yi2 ∂ yi2 V 2 − c0 t+ t0 Partial integration over the time of the second integral and over the space of the third integral in the right-hand side of (3. τ )G(x.8.9) ∂t 2 ∂ xi Using now the reciprocity relation (3.8) We ﬁrst note that because of the symmetry of δ(t − τ ) the time-reversed function G(x. t) = t t0 q( y. (3. τ ) ∂2G ∂ 2 ρ ( y. τ ) −G d ydτ.11) yields: ρ (x. t| y. t| y. −t| y. we obtain: ρ (x. −τ ) satisﬁes (3. and then integration to y over V and to τ between +t0 and t. −τ ) − c0 2 G(x. impedance.10) After subtracting equation 3. multiplied by ρ ( y. τ ) V ∂2G ∂ 2 ρ ( y. t| y. multiplied by G(x.10). τ ). τ )G(x. τ ). and evanescent waves We now will prove that the Green’s function G(x.

Also as stated earlier the integral equation is most convenient for introducing approximations because integration tends to smooth out the errors of the approximations. t| y.1 Green’s functions t t0 47 2 − c0 ρ ( y. Even in such a case the integral representation is useful because we have split up the problem into a purely linear problem of ﬁnding a Green’s function and a second problem of solving an integral equation. see chapter 7) is possible.1. τ ) ∂G ∂ρ ( y. The treatment given here is taken from the textbook of Morse and Feshbach [118].12) or (3. it is not possible to give a general recipe how to ﬁnd a Green’s function for a given problem. τ ) −G n i dσ dτ ∂ yi ∂ yi  ρ ( y. For a tailored Green’s function.13) is only an explicit solution of the wave equation if q is given. For the present time we should remember that (3. τ )  −G d y ∂τ ∂τ τ =t0 (3. t) = t −∞ q( y. V (3. When the sound source q depends on the acoustic ﬁeld ρ these equations are integral equations rather than an explicit solution. RienstraHirschberg 11th November 2001 12:00 . An integral formula for the convective wave equation (2. τ )G(x.50) and the corresponding Green’s function and integral formulation are found in Goldstein [55].12) where the second integral vanishes for a tailored Green’s function and the third integral represents the effect of the initial conditions at τ = t0 . τ ) S   − V ∂G ∂ρ ( y. Therefore. Sometimes an expansion in eigenfunction or modes (like in duct acoustics. we have the superposition principle over elementary sources which we expect intuitively: ρ (x. 3. τ ) d ydτ.2 Remarks on ﬁnding Green’s functions In general. and if t0 = −∞.3. a (tailored) Green’s function is only marginally easier to ﬁnd than the full solution of an inhomogeneous linear partial differential equation.13) In chapter 4 and 6 we will again reconsider the Green’s functions in more detail.

by and large. The impedance is a complex number and a function of ω and position. while a table is given in Appendix E. 1 In mechanics. It is a measure of the amount by which the motion induced by a pressure applied to a surface is impeded. i.48 3 Green’s functions. impedance denotes originally the ratio between a force amplitude and a velocity amplitude. with the result that the impedance is indeed the same for any solution. the Green’s function of the problem without the usually complicating boundaries.e. A quantity. We reserve the nomenclature “speciﬁc impedance” to the (dimensionless) ratio of the impedance and the ﬂuid impedance ρ0 c0 . The response of such a surface to an acoustic wave is linear and pointwise.6. with a ˆ v limited relevance. In some texts. the ratio acoustic pressure/velocity is therefore called “impedance per area” or speciﬁc impedance. this is not the case for the class of so-called locally reacting linear surfaces. If the medium is uniform in all directions. 3. because Z depends also on the acoustic ﬁeld. However. ω) = p(x. the only independent variables are the distance to the source |x − y| and time lag t − τ . ω) ˆ v (x. impedance. important to note that very often we can simplify a problem already. by using free ﬁeld Green’s functions. a natural choice for this measure is the ratio between pressure and velocity1 . RienstraHirschberg 11th November 2001 12:00 . Furthermore. Or in other words: a measure of the lumpiness of the surface. proportional to velocity. and therefore a property of the surface alone. and depend on the initial values of the signal is not very interesting. the delta-function source may be rendered into a more easily treated form by spatial Fourier transformation. however. ω) · n S (x) ˆ (3. and evanescent waves It is. In the most general situation the ratio Z = p/(ˆ · n S ) is just a number.2. impedance is deﬁned via the Fourier transformed signal as: Z(x. the imaginary part is called the reactance. Examples are given in Appendix C. We cannot consider the impedance Z as a property of the surface S.7 and section 4. Therefore. that would vary with time. for example by integral representations as above.14) at a point x on a surface S with unit normal vector nS pointing into2 the surface. and its inverse 1/Z is called the admittance. Since frictional forces are.2 Acoustic impedance A useful quantity in acoustics is impedance. The real part is called the resistance. however. 2 Note that usually the normal vector of a surface is deﬁned out of the surface.

and a tube to ˆ correspond to a transmission line. Via the general Green’s function representation p= ˆ S the Helmholtz equation reduces to an integral equation in p if surface S has an ˆ impedance Z: p= ˆ S Sometimes it is instructive to describe the coupling between two adjacent regions of an acoustic ﬁeld by means of an equivalent impedance. z-plane.3). that the presence of the surface would generate the same sound ﬁeld in region 1 as there exists without surface. with an impedance such. positioned parallel to the y. ˆ Z (3. This inherent impedance of the ﬂuid is used to make Z dimensionless leading to the speciﬁc impedance Z/ρ0 c0 . a compact volume is the equivalent of a capacity. Suppose we place between these regions (say.2 Acoustic impedance 49 Mathematically it is important to note that an impedance boundary condition is of “mixed type”. a free ﬁeld plane wave e iωt−ikx . The one-dimensional approach then allows the use of all mathematical tools developed for electrical circuits if we assume p to be the equivalent ˆ of the electric voltage. The pressure difference is in linear approximation due to the inertia of the air in the oriﬁce and hence proportional to the acceleration (∂/∂t)(u· n) (section 4. In such a case the impedance is the ratio of the acoustic pressure p and the volume ﬂux (u· n)S leaving the ˆ ˆ control volume. It may be worthwhile to note that for such models many authors ﬁnd it convenient to divide Z by the surface S of the pipe cross section.4. with k = ω/c0 and satisfying iωρ0v + ∇ p = 0. Many other examples are found in 1-dimensional (pipe-) models of acoustic systems where local 3-dimensional behaviour is “packed” in an effective impedance. For example. So for plane waves and in the far ﬁeld (where the waves become approximately plane) the ﬂuid may be said to have the impedance ρ0 c0 .15a) RienstraHirschberg 11th November 2001 12:00 . ˆ ∇G · n S + ikρ0 c0 G p dσ.3.15b) ˆ p∇G + ikρ0 c0 v G ˆ · nS dσ (3. region 1 and region 2) a ﬁctitious interface. and a compact oriﬁce is a self induction. (u · n)S the equivalent of the electric current. would not be reﬂected by a screen. Further. In that case we could say that the effect of region 2 onto region 1 is described by this impedance. if this screen has the impedance Z = ρ0 c0 .

ρ0 c0 (3.2.1 Impedance and acoustic energy For a quiescent ﬂuid the acoustic power ﬂow across a surface S is for a timeharmonic ﬁeld (2. p + is the amplitude of the wave incident at x = 0 from x < 0 and p− is the amplitude of the wave reﬂected at x = 0 by an impedance Z.2 Impedance and reﬂection coefﬁcient If we consider the acoustic ﬁeld for x < 0 in a tube at low frequencies. 1 Re(Z)|ˆ · n S |2 dσ. ˆ ˆ 2 (3.16b) ω 2π 2π/ω Re p e iωt Re (ˆ · n S ) e iωt dt dσ ˆ v 0 1 ( p v∗ + p∗ v) · n S dσ ˆˆ ˆ ˆ 4 (3. t) = p(x) e iωt = p+ e iωt−ikx + p− e iωt+ikx ˆ (3. impedance.50 3 Green’s functions.80) P = S = S = S If the surface has an impedance Z this becomes P = S Hence.20) RienstraHirschberg 11th November 2001 12:00 .19) If we deﬁne the reﬂection coefﬁcient R0 at x = 0 as: R0 = p − / p + (3. if Re(Z) < 0 it is active and produces energy.2. Using the linearized momentum conservation law ρ0 (∂v/∂t) = −∂ p/∂ x we ﬁnd: v(x) = ˆ 1 p+ e−ikx − p− e ikx . the real part of the impedance (the resistance) is related to the energy ﬂow: if Re(Z) > 0 the surface is passive and absorbs energy. we can write p(x. and evanescent waves 3.18) where k = ω/c0 .17) 1 Re( p∗ v · n S ) dσ.16a) 3. v 2 (3.

Z cos θ + ρ0 c0 (3.24) and for the reﬂection coefﬁcient R0 = (3. with impedance Z(ω). Fig. Consider a plane wave (amplitude p+ ).26b) RienstraHirschberg 11th November 2001 12:00 .23) (3. + − p− v(x. cos θ) where θ is the angle with the y-axis (c. 1 f (t − x/c0 ) − g(t + x/c0 ) .2. the impedance should have a particular form.26a) (3. and reﬂecting into pr = g(t + x/c0 ) by an impedance wall at x = 0. The pressure ﬁeld is given by p(x.25) 3. v(x. p e ρ0 c0 (3. The total acoustic ﬁeld is given for x < 0 by: p(x. t) = ρ0 c0 (3. propagating in the direction (sin θ.6). ˆ The y-component of the velocity is v(x. y) = ˆ cos θ −ikx sin θ + −iky cos θ e − p− e iky cos θ .3. Consider an arbitrary plane wave pi = f (t − x/c0 ) incident from x < 0. 0) ˆ cos θ p cos θ 1 − R0 Z cos θ − ρ0 c0 . − cos θ).2 Acoustic impedance we see that because Z = p(0)/v(0) : ˆ ˆ R0 = Z − ρ0 c0 . Here it reﬂects into a wave (amplitude p− ) propagating in the direction (sin θ. and approaching from y < 0 an impedance wall at y = 0. y) = e−ikx sin θ p+ e−iky cos θ + p− e iky cos θ . t) = f (t − x/c0 ) + g(t + x/c0 ). 0) ˆ = = .22) so we have for the impedance Z= ρ0 c0 p+ + p− ρ0 c0 1 + R0 p(x.3 Impedance and causality In order to obtain a causal solution of a problem deﬁned by boundary conditions expressed in terms of an impedance Z. Z + ρ0 c0 51 (3.f.21) In two dimensions we have a similar result. 3.

under conditions as given in theorem (C. t) = = ∞ −∞ ∞ −∞ p(0. τ ) dτ (3. ω) = A(ω)v(0. ˆ ˆ RienstraHirschberg 11th November 2001 12:00 . ω) e iωt dω ˆ (3.28b) leading to the convolution product: p(0. impedance. t) = 1 2π ∞ −∞ z(t − τ )v(0. and evanescent waves The reﬂected wave g is determined via the impedance condition.28a) (3.27) More information can be obtained.1) (p.32) Z(ω) = A(ω) B(ω) and apply the same arguments to the modiﬁed relation B(ω) p(0. and therefore via the Fourier transforms of the p and v. (3. (3.290). the Fourier transform z(t) of the impedance Z(ω) has to satisfy the causality condition: z(t) = 0 for t < 0. ω). ω) e iωt dω ˆ Z(ω)v(0. As we have seen above (equation 3.30) Since p(0. 3 If Z is not Fourier transformable.29) if the Fourier transform z(t) of Z(ω) exists3 : z(t) = ∞ −∞ Z(ω) eiωt dω.31) which requires.52 3 Green’s functions. we have for the Fourier transforms fˆ and g: ˆ g(ω) = ˆ Z(ω) − ρ0 c0 ˆ f (ω). Z(ω) + ρ0 c0 (3. t) should only depend on the values of v(0. however.21). Z(ω) is analytic in Im(ω) < 0. t) of the past (τ < t). we can try to ﬁnd Fourier transformable A and B (3. if we transform the boundary condition back to the time domain p(0.

z has to be real. 3. consider an impedance wall of Helmholtz resonator type which is widely used in turbo fan aircraft engine inlets [158].33) Equation (3. Examples of these type of solutions are found as RienstraHirschberg 11th November 2001 12:00 . Substitution of (3.37) where δ (t) denotes the derivative of δ(t). so that we can Fourier transform back to the time domain to ﬁnd: z(t) = Rδ(t) + mδ (t) + δ(t) + 2 δ t− 2πρ0 c0 n=1 ∞ 2nL c0 (3. (3. which implies that Z has to satisfy the reality condition: Z ∗ (ω) = Z(−ω). t].29) yields an integral equation for g if we use equations (3.26b) to eliminate p and v: f (t) + g(t) = 1 2πρ0 c0 ∞ −∞ z(t − τ ) f (τ ) − g(τ ) dτ.26a) and (3.4 Impedance and surface waves Part of sound that is scattered by an impedance wall may be conﬁned to a thin layer near the wall.3. (3. similar to the type of evanescent waves discussed in section 3. so that all in all the inﬁnite integral reduces to an integration over the interval [0.37) in (3.35) shows that g can be expressed as a ﬁnite sum. As an example. t]: f (t) + g(t) = 1 2πρ0 c0 t 0 z(t − τ ) f (τ ) − g(τ ) dτ. Such a wall is described (see next chapter) by: Z(ω) = ρ0 c0 R + iωm − i cot ωL c0 .35) For any time t. since both p and v are real.2 Acoustic impedance 53 Furthermore.2. (3.36) Note that indeed Z ∗ (ω) = Z(−ω). g(t) is built up from f (t) and the history of f and g along [0. and behave like a surface wave. From the causality condition it follows that the poles of cot(ωL) belong to the upper half of the complex ω-plane.3. (3.34) For any incident wave starting at some ﬁnite time (t = 0) we have f (t) = 0 for t < 0.

1:−∞ −0 . 0) = Z ∂∂y p(x. y)-space. impedance.0 0.2 X= −0 . satisfying ∇ 2 p + k 2 p = 0. In order to have one and the same expression for all α. X = 0. The solutions we are interested in remain restricted to the wall.0 5 . Consider in (x. and k = ω/c0 . 1 X= R= 0. with ik p(x.45 and ﬁgure 3. The sign of γ depends of course on our deﬁnition of the square root. ∝ e−(ikαx+ikγ y). y) = A e−(ikαx±ikγ y).54 3 Green’s functions.0 1 R= 0. y)e iωt .e.1 0 1 2 3 4 Figure 3. it is therefore most convenient to select the branch and branch cuts of γ such that Im(γ ) ≤ 0 everywhere (see equation 3. From the boundary condition it follows that the only solutions that can occur RienstraHirschberg 11th November 2001 12:00 0. and evanescent waves 5 4 3 2 1 R= X= −0. which means that ± Im(γ ) ≤ 0. Suitable solutions are p(x. . i. or as sound that propagates with less than the usual 1/r 2 -decay along an acoustically coated surface. y ≥ 0.5).1:∞ Fixed R & X = 0:−0. a harmonic pressure ﬁeld p(x.2 0 R = 0.1 1 −1 R = 0.1 Trajectories of α for varying Z = R + iX (no ﬂow). γ (α) = 1 − α2 where α is to be determined. . 0) where Z denotes the speciﬁc impedance (scaled on ρ0 c0 ) of the wall y = 0.2 irregular modes in lined ducts (section 7.3). Fixed X & R = 0:0.2 −4 −5 −5 −4 −3 −2 −1 X= −0.0 −1 −2 R= −3 X = 0.

2 Acoustic impedance have to satisfy γ (α) = −Z −1 . 55 It follows that the only impedances that may bear a surface wave have to satisfy Im(Z) ≤ 0. Associate to S0 an orthogonal curvilinear co-ordinate system (α.1. to leading order. the free ﬁeld wave length. t) + O(ε2 ). To include all complex values of Z. Note that un-attenuated waves occur for purely imaginary Z. which has to be taken into account. This was recognized by several authors for various special cases. Consider the unsteady surface S(t). In linearized form it is applied at the wall’s mean or unperturbed position. The mean ﬂow v 0 is tangent to the steady surface (section A.2. are plotted in ﬁgure 3. Without mean ﬂow. where λ = 2π/k. scaling on a small parameter ε.5 Acoustic boundary condition in the presence of mean ﬂow The boundary condition to describe a vibrating impermeable wall is that the ﬂuid particles follow the wall motion.3). the linearized condition simply says that acoustic and wall’s normal velocity match.38) Trajectories of these wave numbers. The complex values of scaled wave number α.3. The thickness of the layer occupied by the wave is of the order y = O(λ| Im(Z)|). which is a perturbation. 3. as function of Z. so v 0 ·∇α = 0 at α = 0. With mean ﬂow the situation is more subtle. corresponding to these solutions. β. of the steady surface S0. which we will summarize here. γ . Both the actual normal vector and the mean ﬂow velocity at the actual position differ from the mean values by an amount of acoustic order. Myers gave in [125] the most general formulation. (3. RienstraHirschberg 11th November 2001 12:00 . are given by α = ± 1 − Z −2 . Let S(t) be described. by α = εg(β. we have drawn two fan-shaped families of curves: one for ﬁxed Re(Z) and one for ﬁxed Im(Z). γ ) such that α = 0 corresponds to S0.

40) As is usual. where εv is the acoustic velocity.40) may be found in [159. in the lined inlet duct of a turbo fan aircraft jet engine. Since a vortex sheet cannot support a pressure difference. the pressure at the wall is the same as near the wall in the ﬂow. directed away from S0 into the ﬂuid. 3. y)-space. and a harmonic ﬁeld ∼ e iωt satisfying (see equation 2. a uniform mean ﬂow in x-direction with Mach number M. O(ε) when ε → 0.e. impedance. If Z ≡ 0. the velocity and therefore the position g of S(t) is known in terms of the pressure: g=− 1 |∇α| p iω Z α=0 . the normal vector nS of S0 is now selected to be directed into the wall. y ≥ 0.50) ik + M ∂ ∂x 2 ∂2 ∂2 + 2 p=0 ∂x2 ∂y ∂ v +∇p = 0 ik + M ∂x p− RienstraHirschberg 11th November 2001 12:00 . i. (3.2. This can be found. The steady surface S0 coincides with the impedance wall. 161]. the boundary condition is just p = 0. for example. the impedance wall is now felt as v · n S = iω + v 0 ·∇ − n S · (n S ·∇v 0 ) p iω Z at S0. and evanescent waves The condition of ﬂuid particles following the surface S(t) becomes ∂ (α − εg) + (v 0 + εv ) ·∇(α − εg) = O(ε 2 ) ∂t at α = εg.6 Surface waves along an impedance wall with mean ﬂow Consider in (x. The linearization we seek is the acoustic order. the unsteady surface S(t) is the position of a (ﬁctitious) vortex sheet. modelling the boundary layer. An application of this boundary condition (3.39) where n is the normal of S0 . (3.56 3 Green’s functions. In the mean ﬂow. If the wall has an impedance Z = 0 for harmonic perturbations ∼ e iωt (see 3.14). This appears to be [125] v ·n = ∂ g + v 0 ·∇ − n · (n ·∇v 0 ) ∂t |∇α| at α = 0. An important application of this result is an impedance wall (section 3.2) with inviscid mean ﬂow.

α2 + 2 = (1 − α M)2 . σ = M + β 2 α. From the equations and boundary condition it follows that (1 − α M)2 + Z = 0. V.35).41) RienstraHirschberg 11th November 2001 12:00 . For further analysis it is convenient to introduce the Lorentz or Prandtl-Glauert type transformation (see 7. . . I Im(Z ) = 2M 1 − M 2 3 −2 2Mi 1 3 (1 − M 2 ) 2 (1 + M 2 ) 2 II III 0 √ 4 2 1+ 3+ 1 1 + 8M 2 2 3 1 + 8M 2 2 1 − M2 −3 2 IV V −i 1 2 √ 2M 3+ 3 1 + 8M 2 2 1 1 + 8M 2 2 3 1 − M2 2 1 + Figure 3. .3. σ H S ∈ V.5 is taken. V. Solutions that decay for y → ∞ are of the type discussed in section 3. y) = A e−ikαx−ik y . . Thick lines map to the branch cuts in ﬁgure 3.3. At y = 0 we have an impedance boundary condition given by (see equation 3. No solutions in I. β= 1 − M 2.40) ik Zv = − ik + M ∂ p ∂x where Z denotes the constant speciﬁc wall impedance and v the vertical velocity. .2 Acoustic impedance 57 2 where k = ω/c0 . γ =β . σ S L ∈ IV .2 Complex impedance Z-plane. σ H I ∈ II . V. In the ﬁgure M = 0.3 p(x. γ = 1 − σ2 (3. Pressure p is made dimensionless on ρ0 c0 and velocity v on c0 . σ S R ∈ III . with regions of different numbers of surface waves. .

1. Inside the egg we have acoustic surface waves (a right-running σS R and a leftrunning σS L ). 162]) we have the equation for the reduced axial complex wave number σ as a function of Z (1 − Mσ )2 + β 3 γ (σ )Z = 0 (3. Outside the egg we have hydrodynamic modes (they disappear to inﬁnity with vanishing Mach number) σH S and σ H I . To investigate the occurrence of these solutions. Thick lines map to the imaginary Z-axis in ﬁgure 3. such that σH S is decaying (stable) and σH I is increasing (unstable).3. inside and outside of which we have 4 regions where solutions σ may occur. From a careful analysis (see [157. This unstable RienstraHirschberg 11th November 2001 12:00 . while in the σ -plane we can identify an egg-shaped area.4.5).2 (except for the part in region I where no solutions exist). See the ﬁgures 3. So in our problem we have at most 4 solutions. because it is there where possible solutions may appear from or disappear to the second Riemann sheet of γ . we analyse in detail the behaviour of possible solutions σ along the branch cuts of γ . In the ﬁgure. and 4 solutions σ . with the branch and branch cuts of γ (σ ) selected such that Im(γ ) ≤ 0 (see equation 3. with regions of existence of surface waves.3 Complex reduced wave number σ -plane. 162]) it appears that in the Z-plane there are 5 distinct regions with 0. M = 0. As a result (see [157.45 and ﬁgure 3. 2.5 is taken.2. and ﬁgure 3. and evanescent waves no solutions iM −1 σH I σS L − 1+8M 2 +1 2M Re γ <0 Re γ >0 branch cuts (Im γ = 0) no solutions Re γ >0 Re γ <0 1+8M 2 −1 2M M −1 no solutions σS R σH S −iM −1 no solutions Figure 3. 3.58 3 Green’s functions. probably both right-running. 3.42) By squaring we obtain a 4-th order polynomial equation with 4 complex roots. of radius M −1 . impedance.

43) RienstraHirschberg 11th November 2001 12:00 .3. σS L ±1 ∓ (1 ∓ M)4 . 162]. 2Z 2 β 6 (3. i.4 Trajectories of σ for varying Z = R + iX and M = 0. σH S ±i β3 Z.6i −2i −3i i 1 − 2i 1 − 3i 1−i 1−i i − −3i −2i i Z =0 −0. for |Z| → ∞ while Im Z < 0.2 Acoustic impedance 5 4 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 0 1 2 3 4 5 .6i 1 − 3i −3. and can be proven for an impedance of mass-spring-damper type in the incompressible limit [157. 1 − 3.e.4i 1+i Z =1 1 − 0.4i 59 1 − 2i Figure 3.2:∞ behaviour depends on the frequency-dependence of Z. . Fixed X & R = 0:0. M2 σS R .2:∞ Fixed R & X = −∞:0.5. In the limit for hard walls. the hydrodynamic surface waves σH I and σ H S disappear to inﬁnity while the acoustic surface waves σ S R and σS L approach ±1 in the following way σH I .

which scales on the size of the object. including the largest α−1 . and shows that compact sources are acoustically inefﬁcient. Outside this regime the generated disturbances are exponentially decaying (evanescent) in y without an associated sound ﬁeld. and the real interval |α| ≤ k. y.e. This near ﬁeld with |α| > k is essentially of hydrodynamic nature. y) = ∞ −∞ A(α) e−iαx−iγ y dα (3.5) γ (α) = k 2 − α2.25). Consider in the 2-D half space y ≥ 0 the harmonic sound ﬁeld p(x.45) We see that only that part of p0 (x) is radiated into y > 0 which corresponds to real positive γ .44) with the important square root (with branch cuts along the imaginary axis.3 Evanescent waves and related behaviour 3. see ﬁgure 3. is given at y = 0 as the Fourier integral p(x. and evanescent waves 3. If this is true for all α. If p. ω) e iωt satisfying the Helmholtz equation ∇ 2 p + k 2 p = 0.1 An important complex square root The wave equation in 2-D has the very important property that a disturbance of (positive) frequency ω and wave number α in (say) x-direction is only radiating sound if frequency and wave number satisfy the inequality |α| < ω/c0 (a similar inequality holds in 3-D). it is easily veriﬁed that the ﬁeld in y ≥ 0 may be written as p(x.60 3 Green’s functions.3. with |α| < k. where k = ω/c0 . The rest decays exponentially with y. This distinction between radiating acoustic and non-radiating near ﬁeld has far reaching implications. γ (0) = k. i. and becomes just an incompressible ﬂow ﬁeld for |α| k. (3. Im(γ ) ≤ 0. RienstraHirschberg 11th November 2001 12:00 . 0) = p0 (x) = ∞ −∞ A(α) e−iαx dα. generated by (say) the surface y = 0. it is equivalent to the condition of compactness (2. impedance. We give some examples. This is seen as follows. and is undetectable for y → ∞.

Therefore.2 The Walkman The low frequencies of a small Walkman headphone are not radiated as sound. We do.3. the inverse problem of determining p from 0 a measured far ﬁeld is very difﬁcult (ill-posed). γ (α) −iα sign(Re α) if |α| k.3. The above boundary condition p(x. for example p(x. 3.5 Branch cuts and signs of γ = k 2 − α 2 in complex α-plane. k]. however. 0) = p0 (x) and any other with the same α-spectrum on [−k. 0) = p0 (x) = ˜ k −k A(α) e−iαx dx produce the same far ﬁeld. The deﬁnition of γ (α) adopted here is the branch of the multi-valued complex square root that corresponds to Im(γ ) ≤ 0 for all α. detect the pressure when our ear is in the hydrodynamic near ﬁeld. 3. Fine details. Im(γ ) = 0 along the branch cuts.3 Evanescent waves and related behaviour 61 α∈ Im(γ ) = 0 ÀÀ À real axis −k • Re(γ ) < 0 branch cut γ (0) = k ¡ ¡ « ¡ Re(γ ) = 0 Re(γ ) > 0 Re(γ ) > 0 k • branch cut Re(γ ) = 0 Re(γ ) < 0 É É É Im(γ ) ≤ 0 everywhere imaginary axis Im(γ ) = 0 Figure 3.3 Ill-posed inverse problem Inﬁnitely many boundary conditions are equivalent in the far ﬁeld. with a spatial structure RienstraHirschberg 11th November 2001 12:00 .3.

3. the angle used is between the propagation direction and the normal vector of the interface. Now. (the 4 Traditionally. 3. bending waves are excited with time. With soundspeed c1 in medium 1 and angle4 of incidence ϑ1 the disturbance velocity.and supersonic wave crests.and space-spectra depending on. Indeed.62 3 Green’s functions. say. waves are in general more scattered by large than by small objects. for any α only the frequencies larger than αc0 are radiated.3. the smallest frequency that is radiated is given by ωmin = αmin c0 = c0 /L. RienstraHirschberg 11th November 2001 12:00 . the point of reﬂection in medium 1 generates a disturbance in medium 2 (Fig.5 Snell’s law θ2 ØÖ Ò×Ñ ØØ Û Ú Ñ ÒØ Ö ÙÑ ¾ ci sin θi Ò ÒØ Û Ú Ñ ÙÑ ½ Ö ­ Ø Û Ú θ1 Figure 3. measured along the interface.4 Typical plate pitch If a metal plate is hit by a hammer. Also the transmission of sound waves across an interface between two media is most directly described via this notion of sub. are essentially not radiating. As seen above. impedance. not all frequencies will be radiated as sound.6 Reﬂection and transmission at a discontinuity. If a plane wave is incident onto the interface. 3. and evanescent waves described by |α| > k.3. frequency (ω) and wave number (α) respectively. Therefore.6). However. say 1/L. the smallest α occurring is by and large determined by the size of the plate (if we ignore ﬂuid-plate coupling).

142]). silent. RienstraHirschberg 11th November 2001 12:00 .3. A potential discontinuity corresponds to a vortex sheet.46) 3. but. Near a solid surface (typically the surface from which the vorticity is shed) the velocity corresponding to the free vorticity cannot exist. or a ﬂag pole in the wind.6 Silent vorticity The ﬁeld of a moving point source may be entirely acoustical. We will not consider the generation process here in detail. apparently from the surface but of course really the vorticity is the source. In case of transmission the phase speeds of the incident and transmitted wave has to match (the trace-velocity matching principle. and the trailing edge noise – as far as it is due to shed-vorticity – from a blunt-edged airfoil. resulting into so-called total reﬂection (the transmitted wave is exponentially small). Although convected vorticity is silent (it exists without pressure ﬂuctuations) its presence may still be acoustically important. described by the Kutta condition). a propeller blade. c1 c2 (3. possible.3. Typical examples are (the trailing edge of) a ﬂuctuating wing. Examples are the whistling sound produced by a thin pipe or wire in the wind (aeolian sound). with essentially no other than convection effects. usually not included in an acoustic model. See for example [154]. that a ﬂuctuating moving line force generates a surface or sheet of trailing vorticity. or subsonically. Depending on ϑ1 and the ratio of sound speeds c1 /c2 this disturbance moves with respect to medium 2 either supersonically. and physically indeed usual. from which we can determine the angle θ2 of the transmitted wave with the interface: sin ϑ2 sin ϑ1 = . It is. This induces a ﬂuctuating pressure along the surface which radiates out as sound. apart from some coupling effects. resulting into transmission of the wave. as the ﬁeld has to satisfy the vanishing normal velocity condition. however. [142]). Indeed. this vorticity solution comes into the problem as an eigensolution as soon as continuity of the potential along mean ﬂow streamlines is released as condition.g. The amount of generated vorticity is not a priori known but depends on details of the vortex shedding process (e.3 Evanescent waves and related behaviour 63 phase speed) is c1 / sin ϑ1 . but only indicate the presence of the eigensolution for a distinct source far upstream. This yields immediately Snell’s law ([39. This vorticity is generated in addition of the acoustic ﬁeld and is itself also of acoustic order.

∂t ∂x ϕ→0 for |y| → ∞. ∂t ∂x ∂p ∂p 2 +U + ρ0 c0 ∇ 2 ϕ = 0. 0) with velocity perturbations ∇ϕ and pressure perturbations p small enough for linearization. If this is physically unacceptable.48c) for suitable functions f (x. y.64 3 Green’s functions. say. T = βt + M x/c0 β. An integrable singularity in ∇ψ. but if we allow f to be discontinuous along. corresponds without ﬂow to a ﬁnite pressure. y.48b) (3.49) This discontinuity relates to a concentrated layer of vorticity (vortex sheet). In this way we may obtain from any no-ﬂow solution ψ a solution to the problem with ﬂow. for example if the edge is a trailing edge and the sound ﬁeld induces the shedding of vorticity. y. a Kutta condition of ﬁnite pressure is required and the solution is to be modiﬁed to include the ﬁeld of the shed vorticity (a discontinuous ϕ). then we may ﬁnd with Fourier transformation ϕ(x. y) ∇ 2 f (x. The shedding 5 Equations (3.47c) This may be combined to a wave equation. y. Bernoulli’s equation and the mass conservation equation become then ρ0 ∂ϕ ∂ϕ + ρ0 U + p = 0. impedance. t) = f (x − U t. care should be taken. β = (1 − M 2 ) to the ordinary wave equation for ψ. However. as would occur at a sharp edge. and evanescent waves Consider in a 2D medium a uniform mean ﬂow (U.48a) (3. t) = 0 ϕ(x. M = U/c0 . and a pressure given by p = −ρ0 (ψT + U ψ X )/β. y) = 0. although the hydrodynamic ﬁeld is more easily recognized in the present form5 . Possible eigensolutions (solutions without source) for the free ﬁeld problem (no solid objects) are given by p(x. t) = ψ(X. y = 0 (any surface parallel to the mean ﬂow is possible).47a) (3.47b) (3. of course under the additional conditions at y = 0 of a continuous pressure p and continuous vertical velocity ∂ϕ/∂ y. With ﬂow it corresponds to a singular pressure (from the ψX -term).3. T ) with √ X = x/β. y).47b) may be combined to the convected wave equation 2 c0 ∇ 2 ϕ − (ϕtt + 2U ϕxt + U 2 ϕx x ) = 0 which reduces under the Prandtl-Glauert transformation (see 7.47a. (3. (3. A non-trivial solution f decaying both for y → ∞ and y → −∞ is not possible if f is continuous.35) ϕ(x. t) = ∞ −∞ F(α) sign(y) e−α|y|−iα(x−U t) dα. (3. RienstraHirschberg 11th November 2001 12:00 . and is a typical (hydrodynamic) phenomenon of acoustics with mean ﬂow.

Calculate the sound ﬁeld at some distance away from the plane. 154. directed in x-direction.3. Together with a suitable length scale L it yields the dimensionless number ωL/U called “Strouhal number”. equal to (note that p ≡ 0) 1 ∂ϕ I · e x = Uρ0 2 ∂x ∞ −∞ 2 = ω2 ω |F0 |2 e−2 U |y| . m = 0. 2. ﬁred impulsively. Show that constructive interference in the far ﬁeld will only occur in directions with an angle θ such that kd cos θ = 2πm. Exercises a) Consider the sound produced by thunder.50) This important parameter ω/U is called the “hydrodynamic wave number”. y.3 Evanescent waves and related behaviour 65 of vorticity (on the scale of the linear acoustics) would not occur without mean ﬂow. U2 The total power output in ﬂow direction is then I · e x dy = ω |F0 |2 . U U (3. and in addition to the purely hydrodynamic power (3. the vortex sheet y = 0 ([96. modelled as an inﬁnite line source. placed in the x. z-plane a distance d from each other. . z)-space the plane z = 0.51) In the case of an acoustic ﬁeld (for example the ﬁeld that triggered the vortices associated to the hydrodynamic ﬁeld) the intensity has a non-zero component in ydirection. 70. covered uniformly with point sources which are all ﬁred instantaneously at t = τ : δ(t − τ )δ(x − x 0 )δ(y − y0 )δ(z) (z 0 = 0). RienstraHirschberg 11th November 2001 12:00 . Explain the typical long decay after the initial crack. b) Consider in (x. a Von Kármán vortex street modelled by an undulating vortex sheet) with frequency ω we have only one wave number α = ω/U in the problem: ϕ(x. . where k = ω/c0 . . For a harmonic force (for example. U (3. t) = F0 sign(y) exp iωt − i ω ω x − |y| .51) some acoustic energy disappears into. 1. or appears from. 57]). c) Consider an inﬁnite equidistant row of harmonically oscillating line sources iωt n δ(x − nd)δ(y) e . It may be noted that this hydrodynamic ﬁeld has an averaged intensity.

33b).35) for the reﬂected wave g in the case of formula (3. seen from x < 0. by using surface distributions. with impedance Z 0 of the plane x = 0 seen from the x < 0 side.37) with m = 0.33a) and (C. Calculate ˆ reﬂection coefﬁcient R and impedance Z for such an open end. and evanescent waves d) The same question for a row of alternating line sources. Prove. ∇ · v dx = S V h) Work out the expression (3. i) We deﬁne an ideal open end as a position at which p = 0 in a tube.66 3 Green’s functions. impedance. g) Consider a ﬁnite volume V with surface S and outward surface normal n. e) What is the dimension of δ(x) if x denotes a physical coordinate with dimension “length”? f) Prove the identities (C. Calculate Z L . On V is deﬁned a smooth vector ﬁeld v. j) The same question for an ideal closed end deﬁned by v = 0. Gauss’ theorem v · n dσ. the impedance of the plane x = −L. RienstraHirschberg 11th November 2001 12:00 . ˆ k) Given a uniform duct between x = −∞ and x = 0.

As we will see from the discussion in section 6. The exact value of fc depends on the shape of the pipe cross section. We will assume that the side walls are rigid. .. the (propagating part of the) acoustic ﬁeld in a pipe consists only of plane waves. t).1 One dimensional acoustics Plane waves Plane waves are waves in which the acoustic ﬁeld only depends on the spatial coordinate (say: x) in the direction of propagation: p(x. For simplicity we will also assume that any mean ﬂow u 0 = u 0 (x) is also one dimensional.1 the cut-off frequency f is of c the order of c0 /2d where d is the pipe width (or diameter). . (Check what happens for larger pipes. We will consider simple models for the boundary conditions.) This implies that such an approximation should be interesting when studying pulsations in pipe systems. 2d For air ν = 1. t). etc. This implies that there . speech production. then below the cut-off frequency.5 × 10−5 m2 /s while for water a typical value is ν = 10−6 m2 /s. or as waves propagating at a frequency lower than a critical frequency fc called the cut-off frequency in a hard-walled pipe. If we can neglect friction.4 and section 7. In order to make a plane wave approximation reasonable 1. as approximations for spheric waves at large distance from a point source. the effect of viscosity is conﬁned to boundary layers of thickness δA = (2ν/ω)1/2 (where ν = η/ρ is the kinematic viscosity of the ﬂuid) near the walls. We therefore focus our attention in this chapter on the one-dimensional approximation of duct acoustics. At high frequencies. musical acoustics. v(x. t). The condition for the validity of a frictionless approximation yields a lower bound for the frequency we can consider. Such waves may emerge..4 4. ρ(x. Hence we see that a plane wave approximation will in air be valid over the three decades of the audio range for a pipe with a diameter d = O(10−2 m). Hence the frequency we should have thin viscous boundary layers: δA /d range in which a plane wave approximation is valid in a pipe is given by: 2ν π d2 f < c0 . for example.

This is a drastic assumption which excludes any application of our theory to the prediction of environmental noise induced by pipe ﬂows. RienstraHirschberg 11th November 2001 12:00 . air bubbles.4. This will in fact exclude the accumulation of acoustic energy and phenomena like resonance. We further ignore this crucial problem. In the present chapter we will assume an inﬁnitely long or semi-inﬁnite pipe.2).. but we can assume that they are uniform within the bubble. a convolution product in the time domain (section 3. In general the transmission of sound through elastic structures is described in detail by Cremer and Heckl [26]. multiple junctions. and Junger and Feit [81]. The boundary conditions for this compact region are related to the plane wave regions by means of integral conservation laws (Appendix A).. The acoustic impedance is a general linear relation in the frequency domain between velocity and pressure. as we will see in section 8.). These effects will be discussed in chapter 5. turbulence. A large amplitude in the pipe may be harmless if the acoustic energy stays inside the pipe! Extensive treatment of this transmission problem is given by Norton [133] and Reethof [152]. i. taking possible three dimensional effects into account.e. In such cases the transmission of the sound from the internal ﬂow to the environment is a crucial factor. jumps in cross sections. we will include this end by a linear boundary condition of impedance type. If the end of the pipe is part of the problem. In principle the approximation we will use is limited to pipes with uniform cross sections A or. In this way we will consider a large variety of phenomena (temperature discontinuities. We will treat these regions separately.68 4 One dimensional acoustics is no transmission of sound through these walls. The (inner-) solution in the compact region 1 is approximated by that of an incompressible ﬂow or a region of uniform pressure . The most interesting applications of our apsections (dA/dx proximation will concern sound generated in compact regions as a result of sudden changes in cross section or localized ﬂuid injection. This effect is discussed in the next chapter. to pipes with slowly varying cross √ A λ). This is a pipe which is so long that as a result of friction the waves travelling towards the pipe end do not induce signiﬁcant reﬂections. Since pressure cannot depend on 1 For example. A consequence of this assumption is that the acoustic ﬁeld will not have a large amplitude and that we can usually neglect the inﬂuence of the acoustic ﬁeld on a source. The ﬂow is calculated locally with our previously discussed compact region approximation ignoring any acoustical feedback. As we consider low frequencies ( f < c0 /2d) a region with a length of the order of the pipe width d will be by deﬁnition compact. This excludes fascinating effects such as whistling. the air density ﬂuctuations in an oscillating acoustically compact air bubble in water cannot be neglected.

We restrict ourselves now to very low mean ﬂow Mach numbers outside the source regions. Convective effects on the wave propagation will be discussed in chapter 9.4. These problems will be reconsidered later for free ﬁeld conditions in chapter 6.1 The wave equation We consider a one-dimensional ﬂow in a pipe with uniform cross section. u 0 ). We will show how the Green’s function formalism can be used to obtain information on aero-acoustic sound generation by turbulence and to estimate the scattering of sound by a temperature non-uniformity. 4.1b) where ρβ corresponds to an external mass injection in the ﬂow and fx is an external force per unit volume.2 Basic equations and method of characteristics 69 the future of the velocity (or vice versa) the discussion of such a linear boundary condition involves the concept of causality (section 3.2.1a) (4.2). We assume now that the ﬁeld consists of a uniform state (ρ0 . p . p0 . It will then be interesting to see how strong the effect of the conﬁnement is by a comparison of the results obtained in this chapter and chapter 5 with those obtained in chapter 6. If we neglect friction the conservation laws of mass and momentum are for a one dimensional ﬂow given by: ∂ρ ∂u ∂(ρβ) ∂ρ +u +ρ = ∂t ∂x ∂x ∂t ∂u ∂p ∂u +u + = fx ρ ∂t ∂x ∂x (4.2 Basic equations and method of characteristics 4. u ) small enough to allow linearization: ρ = ρ0 + ρ.2c) RienstraHirschberg 11th November 2001 12:00 .2b) (4.2a) (4. (4. p = p0 + p . plus a perturbation (ρ . u = u0 + u .

3a) (to eliminate u ): ∂ ∂ + u0 ∂t ∂x 2 2 p − c0 ∂ fx ∂2 p ∂ 2β 2 . when considering high amplitude wave propagation (non-linear acoustics or gas dynamics) the method of characteristic will still allow an analytical solution to many interesting problems [185. We substitute (4. = c0 ρ0 2 − 2 ∂x ∂t ∂x (4. being the cause of the perturbation. Neglecting second and higher order terms we obtain the linearized equations: ∂ρ ∂u ∂β ∂ρ + u0 + ρ0 = ρ0 ∂t ∂x ∂x ∂t ∂p ∂u ∂u + ρ0 u 0 + = fx ρ0 ∂t ∂x ∂x We can eliminate ρ by using the constitutive equation: 2 p = c0 ρ (4. In acoustics this procedure is just equivalent with other procedures. 137].3a) (4.2.3b) from the convected time derivative (∂t + u 0 ∂x ) of mass conservation law (4. This allows a simple geometrical interpretation of the solution of initial condition and boundary condition problems with the help of a so-called (x.1b). must therefore by deﬁnition be small. 93.2c) in (4. Using the constitutive equation ∂p ∂ρ ∂ρ ∂p +u = c2 +u ∂t ∂x ∂t ∂x we can write the mass conservation law (4. A one-dimensional wave equation is obtained by subtracting the divergence of the momentum conservation law (4.2a–4.4) which implies that we assume a homentropic ﬂow.3b) (4.2 Characteristics As an alternative we now show the wave equation in characteristic form. t) diagram.1a) and (4.1a) as: ∂p ∂u c ∂(ρβ) 1 ∂p +u +c = ρc ∂t ∂x ∂x ρ ∂t RienstraHirschberg 11th November 2001 12:00 . However. and in particular their conditions of stability.5) 4.70 4 One dimensional acoustics ∂β/∂t and f x . Also the characteristics play a crucial rôle in numerical solutions as they determine optimal discretization schemes.

2 Basic equations and method of characteristics 71 by addition. t) =u+c ρc dt dp dx = constant along c− = (x.6a) (4. we ﬁnd the non-linear wave equation in characteristic form: ∂ ∂ + (u ± c) ∂t ∂x u± dp fx c ∂(ρβ) = ± .8b) RienstraHirschberg 11th November 2001 12:00 . of the momentum conservation law (4. t) =u−c ρc dt (4.2. u = ρ0 c0 (4.6b) In the presence of source terms we have: ± − ± 0 = c± 2 ρ0 c0 ∂β ± c0 f x dt ∂t (4.4.8a) (4. ρc ρ ρ ∂t ± In the absence of source terms this simply states that along the characteristics c the Riemann invariant ± is conserved: + =u + =u − − dp dx = constant along c+ = (x. For an ideal gas with constant speciﬁc heat we ﬁnd by using the fact that the ﬂow is isentropic: 2c dp = .3 Linear behaviour In the absence of source terms (the homogeneous problem) we can write the linear perturbation p as the sum of two waves F and G travelling in opposite directions (along the c+ and c− characteristics): p = F (x − (c0 + u 0 )t) + G(x + (c0 − u 0 )t).1b) divided by ρ. ρc γ −1 In linear approximation in the absence of sources we have ± =u ± p dx = u 0 ± c0 . along the lines deﬁned by c± : ρ0 c0 dt 4. respectively subtraction. 1 F (x − (c0 + u 0 )t) − G(x + (c0 − u 0 )t) .7) where the integration is along the respective characteristic.

9) u p dt where we have: (4.1 Solution by means of characteristics. The characteristic c1 : x = c0 t corresponds to the path of the ﬁrst disturbance generated at t = 0 by the starting piston. Region I is a region in which perturbations induced by the movement of the piston + cannot be present. t) te − c1 I ¹ x x p (te ) Figure 4.1) that there are two regions for x > 0: region I below the line x = c0 t and region II above the line x = c0 t. Using the method of characteristics we ﬁrst observe in a (x. Hence the ﬂuid in region − I is undisturbed and we can write by considering a c− characteristic (c1 ) leaving this region: p − ρ0 c0 u = 0. If u p /c0 approximation to solve the problem.10a) u = up RienstraHirschberg 11th November 2001 12:00 . Let us ﬁrst consider a semi-inﬁnite pipe closed by a rigid piston moving with a 1 we can use an acoustic velocity u p (t) starting at t = 0 and x = 0. The functions F and G are determined by the initial and boundary conditions. − This c1 characteristic will meet the piston path xp (t) = t 0 (4.72 4 One dimensional acoustics t x p (t) II + c2 + c1 − c2 (x. t) diagram (ﬁgure 4. This solution can be readily veriﬁed by substitution into the homogeneous wave equation. As an example we consider two simple problems for the particular case of a quiescent ﬂuid u0 = 0.

Suppose that the pipe is closed at x = 0 by a ﬁxed rigid wall (u (x = 0) = 0) and that in the region 0 < x < L the ﬂuid is undisturbed while for x > L there is originally a uniform disturbance ( p0 .4.9) and (4. (4.14a) (4. We can easily delimit the uniform regions I and II in which the RienstraHirschberg 11th November 2001 12:00 .13a) (4.8a. We now consider an initial value problem in a semi-inﬁnite pipe.12) + This is the time at which the disturbance travelling along c2 and reaching an observer at (x.10b) + Now starting from a point x p (t) on the piston.13b) We could have obtained this solution directly simply by using (4.2 Basic equations and method of characteristics 73 c0 ). Combining (4. t) has been generated by the piston. implicitly given by te = t − x − x p (te ) . At any point (x. Hence from (4.14b) Using the boundary condition u = u p at the piston x = x p we ﬁnd the retarded (or emission) time equation (4. we have only waves travelling in the positive x direction so that (with u0 = 0): p = F (x − c0 t) u = F (x − c0 t)/ρ0 c0 .12) and so the solution (4.2).9) + is valid.11) we see that along c2 we have: u = u p (te ) p = ρ0 c0 u p (te ). c0 (4. u 0 = 0) (ﬁgure 4.13a.11) (4.4.8b). Because the tube is semi-inﬁnite and the piston is the only source of sound.9) and because we assume the ﬂuid to stick to the piston (up (4.10a) we have the pressure at the piston for any time: p = ρ0 c0 u p . we can draw a c+ characteristic (c2 ) along which we have: p + ρ0 c0 u = ( p + ρ0 c0 u ) p = 2ρ0 c0 u p (te ) where te is the retarded or emission time. (4. t) along c+ we 2 − can ﬁnd a c2 characteristic originating from the undisturbed region for which (4.13b). u 0 ) of the uniform quiescent ﬂuid state valid for x > 0 ( p0 . the general solution of the homogeneous equation. (4.4.

t) diagram for the initial value problem. t) = (L . 0).17b) − c1 : p − ρ0 c0 u = p0 − ρ0 c0 u 0 .18b) Finally for any point in the region IV above the line x = c0 (t − L/c0 ) we have: − c3 + c3 : p + ρ0 c0 u = p0 − ρ0 c0 u 0 (4. − We draw the characteristic c2 emanating from region II along which we have: − c2 : p − ρ0 c0 u = p0 − ρ0 c0 u 0 . + − initial state will prevail by drawing the c1 and c1 characteristics emanating from the point (x.74 4 One dimensional acoustics t A L c0 + c3 − c2 C IV − c3 + c2 − c1 III + c1 B II L + c1 p =0 u =0 I p = p0 u = u0 x ¹ Figure 4. The state in region IV at the closed pipe end is the next easiest one to determine.15) At the closed pipe end u = 0 so that for t > L/c0 : pIV (x = 0) = p0 − ρ0 c0 u 0 (4. Hence: pIII = 1 ( p0 − ρ0 c0 u 0 ) 2 u III = − 1 ( p0 2 − ρ0 c0 u 0 )/ρ0 c0 .17a) (4. (4. (4.2 (x.19a) (4.19b) : p − ρ0 c0 u = p0 − ρ0 c0 u 0 RienstraHirschberg 11th November 2001 12:00 .18a) (4.16) + In region III we obtain the solution by considering the intersection of the waves c 1 − and c1 emanating from regions I and II respectively: + c1 : p + ρ0 c0 u = 0 (4.

. RienstraHirschberg 11th November 2001 12:00 . t) diagram in combination with the method of characteristics: a) Indicate on the x and t axis the initial and boundary conditions. . t) plane in uniform regions. c0 . u = ρ0 c0 (4.4. and k is the wave number (k = ω/c0 ).4.20a) (4. Of course we could have solved this problem without an (x.4. c) Consider reﬂection of these boundary characteristics at boundary conditions.) This yields a further subdivision of the (x. From the previous two examples simple rules are obtained to use an (x. e) Determine the state in regions where two characteristics of opposite families c+ and c− emanating from regions where the solution is known meet. will be discussed in section 4. b) Draw the characteristics delimiting the undisturbed regions in which the initial conditions prevail. While for initial value problems the method of characteristics is most efﬁcient. ρ0 .2 Basic equations and method of characteristics so that we have: u IV = 0 pIV = p0 − ρ0 c0 u 0 75 (4. t) diagram.8b) becomes: p = p+ e iωt−ikx + p− e iωt+ikx 1 ( p+ e iωt−ikx − p− e iωt+ikx ).21b) where p± are amplitudes which are functions of ω. but this requires quite an intellectual effort. d) Determine the state at the boundaries at the moment the ﬁrst message from the initial conditions arrives.20b) as we already found at the closed pipe end (x = 0).8a. (Contact surface delimiting regions of different uniform state p0 . we will use Fourier analysis when we consider boundary condition problems.. For a steady harmonic perturbation equation (4.21a) (4.

23) yields. we conclude that all thermodynamic variables are √ + constant along the c . speciﬁc to that particular c+ : + =u+ dp . In the particular case of a wave propagating into a uniform region the solution is considerably simpliﬁed by the fact that the characteristics emanating from the uniform region all carry a uniform message. In particular the speed of sound c = (∂ p/∂ρ)s is constant along a c+ in the simple wave. t) at x = 0. and the characteristic is a straight line in an (x. As an example of an application we consider the simple wave generated for x > 0 by a given boundary condition p(0. We will show that as a consequence of this the other characteristics in this wave are straight lines in the (x. (4. RienstraHirschberg 11th November 2001 12:00 . Therefore.24a) (4. the velocity u is constant along the c+ considered. the result u = 1( 2 dp = 1( 2 ρc + − (4.24b) Hence. t) at x = 0 is calculated by using the equation of state ρ γ p = p0 ρ0 2 For a homogeneous ﬂuid the thermodynamic state is fully determined by two thermodynamic variables. The message carried by the c− -characteristics is: dp − − = 0 for all c− . The sound speed c(0. t)-plane. we have in addition that + is equal to another constant.23) Addition and subtraction of (4.22) ρc If we now consider a c+ -characteristic in the simple wave. As in addition to the thermodynamic quantity (d p/ρc) also the entropy s is constant along the c+ (be2 cause the ﬂow is homentropic). along the c+ . Such a wave is called a simple wave. =u− (4. ρc + + − 0 ). the slope (u + c) of the c+ characteristic is constant. Let us for example consider a wave propagating along c+ -characteristics which meets c− -waves emanating from a uniform region. assuming a uniform quiescent ﬂuid (u 0 = 0) with a speed of sound c = c0 for t < 0. t)-diagram.22) and (4.76 4 One dimensional acoustics 4.2.4 Non-linear simple waves and shock waves A general solution of the non-linear one dimensional homentropic ﬂow equations can only be obtained by numerical methods. − 0 ).

characteristics at the peak of a compression wave have a higher speed (u + c) than those just in front of it.26) For t > ts or x > xs the solution found by integration of the differential equations becomes multiple valued and loses its physical meaning. We can now easily construct the simple wave by drawing at each time t the c+ characteristic emanating from x = 0. and of course the opposite for a decompression or expansion. t) and u(0. As a result. t) > 0 implies an increase of both c(0. t). For large pressure differences across the wave the ﬁnal gradients are so large that the wave thickness is only a few times the molecular mean free path.25a) (4. x=0 ∂t (4.2 Basic equations and method of characteristics which implies c = c0 p p0 γ −1 2γ 77 . (4. We see from these equations that a compres∂ sion ∂t p(0. This limits the process of wave deformation.25b) For weak compressions we ﬁnd the approximation for an ideal gas with constant γ: xs c0 ts = 2γ p0 c0 γ +1 ∂p ∂t −1 x=0 .4. This nonlinear deformation of the wave will in the end result into a breakdown of the theory because neighbouring c+ -characteristics in a compression intersect for travelling times larger than ts or distances larger than xs given by ts = − xs = −ts2 −1 ∂(u + c) . The approximation on which the equations are based will already fail before this occurs because the wave steepening involves large gradients so that heat conduction and friction cannot be ignored anymore. so that a continuum theory fails. The message from the c− -characteristics implies u= c 2c0 2c0 −1 = γ − 1 c0 γ −1 p p0 γ −1 2γ −1 . t=0 ∂x ∂(u + c) . The wave structure is in the continuum approximation a discontinuity with jump conditions determined by integral conservation RienstraHirschberg 11th November 2001 12:00 . This results into a gradual steepening of the compression wave.

t) = p cos(ωt). The RienstraHirschberg 11th November 2001 12:00 ph (kPa) ph (kPa) ph (kPa) . the solution is also dissipative.003 0. This may. closed on both sides by a rigid wall. Re0. p The non-linear wave distortion 1 due to the wave propagation 0.5 cent papers discussing such ef0 fects are the review of Crighton ([32]) and the work of Ockmf 1 endon e. ([136]). Under t (s) such conditions non-linear ef. Apart from discontinuous. mezzoforte (mf). [194]. a wave travels easily hundreds of wave lengths before it is attenuated signiﬁcantly by friction. for example. c0 (γ + 1) p ˆ In a pipe segment.a. However. ˆ If the wave is initiated by a harmonic perturbation p (0. as shown in ﬁgure (4. the shock ∂ formation distance corresponding to the largest value of ∂t p is given by 2γ p0 xs ω = .78 4 One dimensional acoustics laws. as there is production of entropy in the shock wave.3). occur in a trombone where the pressure at the exit of the horn shows very sharp peaks. the wave steepening may lead to a shock wave formation before the open end has been reached. t).004 in ﬁrst approximation.Figure 4.5 during half an oscillation pe0 riod is compensated. [42]) can appear before non-linear wave distortion becomes dominant. in the following half period. When the pipe segment is open at one 0. We call this a shock wave. at least 0 0. the open pipe termination (Disselhorst & Van Wijngaarden [37]) or even turbulence in the acoustical boundary layer ([111].5 end. Therefore. when the pipe is driven by a strongly non-harmonic pressure signal p (0. the wave is inverted each 0 time it reﬂects at the open end.002 0.001 0.3 The pressure signal measured at the exit of the fects due to ﬂow separation at horn for three playing levels: piano (p). even at apparently modest amplitudes of p/ p0 = O(10−2 ) ˆ horn exit pressure ph shock waves can appear in a ff closed tube driven by a piston 1 at its resonance frequency. [3]. and fortissimo (ff).

Hence if we introduce a source term ∂2 (ρβ)/∂t 2 this term will be a representation of a complex process which we include in the 1-D inviscid ﬂow model as a source term. Of course.6.27) 4. We focus here on some additional features which we will use in our applications of the theory. this kind of representation of a complex process by a simple source is only possible if we can ﬁnd a model to calculate this source.4. When the non-linear deformation is small. This is only attractive if a simpliﬁed model or an order of magnitude estimate can be used.1b) which can be realized by non-uniform gravitational or electromagnetic forces. When the source region is compact we will be able to ﬁnd such simple relationships between a simpliﬁed local ﬂow model and the corresponding 1-D sources by applying integral conservation laws over the source region and neglecting variations in emission time over the source region. In mufﬂers of combustion engines shock waves are also common.3 Source terms 79 increase of the wave distortion with the amplitude explains in such a musical instrument the increase of brightness (the higher harmonics) of the sound with increasing sound level (Hirschberg [62]). is given by [142]: ˆ x p1 ˆ = p ˆ 2xs (4.1a) does not correspond to the creation of mass (because we consider non-relativistic conditions). In a compact region of length L and ﬁxed volume V enclosed by a surface S. the generation of the ﬁrst harmonic p ˆ1 at 2ω0 by a signal p.3 Source terms While f x is a source term in (4. the source term ∂2 (ρβ)/∂t 2 in (4. In the case of fx we may also ﬁnd useful to summarize the effect of a complex ﬂow such as the ﬂow around a ventilation fan by assuming a localized momentum source in a one dimensional model. The general treatment of the aero-acoustic sources has already been given in section 2. In open-air loudspeaker horns wave propagate in non-linear way. For example the effect of ﬂuid injection through a porous side wall in the pipe can be considered by assuming a source term in a uniformly ﬁlled pipe with rigid impermeable walls. we RienstraHirschberg 11th November 2001 12:00 . This is called an actuator disk model. originally harmonic with frequency ω0 .

28a) has no source term.30) RienstraHirschberg 11th November 2001 12:00 .28a) where P is the stress tensor (Pi j ).29) If we assume L to be small compared to the acoustic wave length (compact) and the source term ∂ 2 (ρβ)/∂t 2 to be uniform we can write in linearized form : ∂β = ∂t u δ(x − y) (4.1a) over the source region yields for a uniform S V A n n¹ 1 ϕex ¹ 2 L Figure 4. However. In order to understand this we compare the actual source region with a 1-dimensional representation of this source region (ﬁgure 4. ∂t (4. so (4. Within the volume V we describe the ﬂow here in full three dimensional detail. Integration of (4.80 4 One dimensional acoustics will use the conservation laws for mass and momentum in integral form (App. A): d dt V d dt V ρv dx + S ρ dx + S ( P + ρvv) · n dσ = V f dx (4. pipe cross section: L 0 ∂ρ dx + (ρu)2 − (ρu)1 = ∂t L 0 ∂(ρβ) dx.4 One dimensional representation of source region.28b) ρv · n dσ = 0 (4.4). the source term ∂2 (ρβ)/∂t 2 in the one dimensional representation of the mass conservation law is supposed to include the effect of the volume integral (d/dt) ρ dx.

28a) to the actual situation. if we can neglect the volume contribution (d/dt) ρv dx to the integral conservation law. we obtain: A[(ρu)2 − (ρu)1 ] = − d dt V where ϕex is the externally injected mass ﬂux into V through the side walls.3 Source terms 81 for a small source region around x = y. differences in density and speed of sound ((ρ − ρ0 )/ρ0 A more formal discussion of this effect is given by Morfey in [115].5).31) In a similar way. (4. We can write for a homentropic ﬂow u =− ϕex V dp + . If the volume Vp of the ﬂuid particle is much smaller than the nozzle volume V and if the properties of the ﬂuid particle do not differ much from that of the rest of RienstraHirschberg 11th November 2001 12:00 . We will ﬁrst consider the problem by using the linearized form of the integral conservation laws for small 1 and (c − c0 )/c0 1). 2 dt Aρ0 Aρ0 c0 ρ dx + ϕex . density and pressure gradients are negligible and we can replace the volume integral by the averaged value.30) is found by application of (4.4. If we assume the ﬂow to be uniform at the planes 1 and 2 of cross-section A. we obtain in linear approximation (neglecting ρ u 2 2 and 0 ρ0 u 1 2 ): fx = p δ(x − y). As an example of a sound source we consider now the effect of the convection of a small ﬂuid particle with a density ρ and speed of sound c (different from ρ and 0 c0 ) passing through a sudden change in pipe cross section in which we assume a steady isentropic and subsonic ﬂow u0 (x) (ﬁgure 4. For identical ﬂuids at both sides and in linearized approximation for a compact source region we have: Aρ0 u = − d dt V Since typical wavelengths are much larger than the compact source region. where it enters and leaves the volume V . (4. The value of u = (u 2 − u 1 ) to be used in (4.33) This source term for the 1-dimensional wave equation can be used as a representation of a complex ﬂow such as that around a ventilation fan.32) ρ dx + ϕex (4.

u p =x p = u 0 (x p ).39) du 0 ρ − ρ0 Vpu0 δ(x − y).35) because we assume that the particle is convected with the mean ﬂow velocity u0 . p0 (x) is given by Bernoulli’s equation: p0 (x) + 1 ρ0 u 2 (x) = constant. As the particle is small the pressure over the particle will be uniform and in ﬁrst approximation equal to the main ﬂow pressure p0 (x). additional to that of the mean ﬂow.37) d p0 (x p (t)) dt (4. we can assume that the particle is convected with the undisturbed steady ﬂow velocity u0 (x).36) 1 ∂ρ ρ ∂p S = 1 ρc2 (4. (4.38) (4.82 4 One dimensional acoustics A 1234567890123 1234567890123 1234567890123 1234567890123 1234567890123 1234567890123 1234567890123 1234567890123 1234567890123 u 0 (x) Figure 4.5 Particle convected with the main ﬂow u0 (x) through a nozzle. 0 2 (4. A dx RienstraHirschberg 11th November 2001 12:00 . Furthermore the particle will exert an additional force on the ﬂuid due to the density difference (ρ − ρ0 ) which implies a force source term: fx = =− p δ(x − y) = − ρ − ρ0 Du p Vp δ(x − y) A Dt (4. the ﬂuid. which is related to the variation in the ﬂuid compressibility K= by: A u = −(K − K0 )V p which implies a source term: K − K0 d ∂β =− V p p0 (x p (t))δ(x − y) ∂t A dt where: .34) The variation in pressure p0 (x) will induce a volume variation of the particle.

called Webster’s horn equation. to describe the wave propagation (see section 8.6).4.41) This can be interpreted as the linearized continuity equation (4. RienstraHirschberg 11th November 2001 12:00 .4 Reﬂection at discontinuities 83 This force is due to the difference in inertia between the particle and its environment.1 Jump in characteristic impedance ρc The procedure described in the previous section to incorporate sources in a compact region into a one dimensional model can also be applied to determine jump conditions over discontinuities in a pipe.42) 4.e.3a) with a volume source term u ∂A ∂β = ∂t A ∂x (4. allowing also higher order corrections. This will be worked out in more detail in chapter 8. In that case sound production will be due to the difference of inertia between the entropy spot and the surrounding ﬂuid. In a similar way we can describe the effect of a slow variation of the tube cross √ d A λ). dx A care we can derive a suitable one-dimensional approximation. With some section area A on sound waves of low frequency (i. 1 and 2. is obtained by using the method of Matched Asymptotic Expansions.4. The mass conservation law. To leading order the momentum conservation law is not affected by the cross section variation. γp (4. It should be noted that a mathematically more sound derivation. becomes: ρ0 ∂ Au ∂ρ + =0 ∂t A ∂x (4. Note that for an ideal gas the compressibility K is given by: K= 1 . however.40) Hence for a small particle in this linear approximation the volume source term (4. This term vanishes if we consider the convection of a hot gas particle (not chemically different from the environment) which we call an entropy spot. Howe [66] refers to this as acoustical “Bremsstrahlung”.4 Reﬂection at discontinuities 4. We ﬁrst consider an abrupt change at x = y in speed of sound c and density ρ between two media. in a pipe with uniform cross section (ﬁgure 4.37) is due to a difference in γ .5).

45b) + c1 (x c2 The factor R between G1 and F1 is called the reﬂection coefﬁcient and the factor T between F2 and F1 the transmission coefﬁcient.43a) (4. F2 (y − c2 t) − G2 (y + c2 t) F1 (y − c1 t) − G1 (y + c1 t) = .44b) for ρ1 c1 = ρ2 c2 also shows that the only solution is F1 = F2 and G1 = G2 .43b) By using the general solution (4. respectively: F1 (y − c1 t) + G1 (y + c1 t) = F2 (y − c2 t) + G2 (y + c2 t).8a. ρ2 c2 + ρ1 c1 ρ2 c2 + ρ1 c1 c1 )y c2 (4. p = p2 − p1 = 0. This corresponds to results obtained already in section 3. we have a source at x < y generating an incident wave F1 .4. for example. Inspection of (4. (4.45a) − c2 t) . (4. F2 (x − c2 t) = T F1 (1 − where R = 2ρ2 c2 ρ2 c2 − ρ1 c1 .2 when considering harmonic waves. we ﬁnd from the laws of mass and momentum conservation. Considering a thin control volume (between the dotted lines 1 and 2). T = .8b) of the homogeneous wave equation. in a tube of inﬁnite length so that G2 = 0. We observe that if ρ1 c1 = ρ2 c2 the acoustic wave is not reﬂected at the contact discontinuity. respectively u = u 2 − u 1 = 0.44a) (4.4. RienstraHirschberg 11th November 2001 12:00 .44b) If. we obtain G1 (x + c1 t) = RF1 2y − (x + c1 t) .44a.6 Jump in acoustic impedance. enclosing the contact surface between the two media and moving with the ﬂuid. ρ1 c1 ρ2 c2 (4.84 4 One dimensional acoustics ρ1 c1 1 2 ρ2 c2 x x=y Figure 4. we have at x = y for the jump conditions in the pressure and velocity.

7) we have continuity of ﬂux A1 u 1 = A(x)u (x).4. this is a stronger result than just a continuity condition (see section 4.31b): ∂ p = 1 ρ0 (u 1 2 − u 2 2 ) − ρ0 ∂t ϕ.4). (4.3 Oriﬁce and high amplitude behaviour Instead of a monotonic variation of the pipe area A we consider an oriﬁce placed in the pipe with an opening area Ad and a thickness L (ﬁgure 4. We start with RienstraHirschberg 11th November 2001 12:00 .4 Reﬂection at discontinuities 85 2 1 A1 A2 L Figure 4. We then have a pressure uniform of ρ0 ωu 1 L. (4.46) where ϕ = ϕ2 − ϕ1 is the potential difference. 2 (4.2 Monotonic change in pipe cross section We now consider a compact transition in pipe cross sectional area from A to A2 .47) For a compact smooth change in cross section as in ﬁgure (4.4. 4. This condition p = 0 can be combined with the linearized mass conservation law in the low frequency approximation ρ0 A1 u 1 = ρ0 A2 u 2 to calculate the reﬂection at a pipe discontinuity. which is negligible when Lω/c0 over the entire region. Note that while this is a very crude approximation. The pressure difference p is of the order 1 u dx 1. while the potential difference can be estimated as ϕ = 2 2 u 1 1 ( A1 / A(x))dx ∼ u 1 L.8).48) 4.7 Abrupt cross sectional area change. In linear approximation: p ∂ −ρ0 ∂t ϕ. 1 If the ﬂow is homentropic and there is no ﬂow separation (vorticity is zero) the pressure difference p = p2 − p1 across the discontinuity can be calculated by using the incompressible unsteady Bernoulli equation (1.4.4.

49) yields a lower bound for the pressure drop across the oriﬁce because we neglected the inertia of the air in the region outside the oriﬁce. Assuming a uniform velocity and an incompressible ﬂow without friction we have from (4. When the acoustic particle displacement ud /ω becomes comparable to the radius of curvature of the edges at the entrance and the exit of the oriﬁce non-linear effects and friction will result into acoustically induced vortex shedding [76. we see that the oriﬁce will be completely “transparent” to the A we ﬁnd experimentally a signiﬁcant effect acoustic waves. if we use the approximations (4. Ad (4. 77. However.8 Oriﬁce. For a circular oriﬁce of radius a in a thin plate we have Leff = π a/2 (see [142]).51) where δ appears to be of the order of ( Ad /π )1/2 . In principle. L Ad ∂t (4.47) and (4. the problem of acoustic wave propagation through a stagnant ﬂuid (u0 = 0).49) where u is the acoustic velocity in the pipe. if Ad of such an oriﬁce which is due to the inertia of the air in the opening. This effect can be taken into account by introducing an “end correction” δ on both sides: L eff = L + 2δ (4. This explains why a thin oriﬁce (L → 0) also affects the propagation of acoustic waves in a pipe. Typically (8/3π )(Ad /π )1/2 for a circular oriﬁce and a larger value for a slit [75]. RienstraHirschberg 11th November 2001 12:00 .86 4 One dimensional acoustics 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 A Ad L Figure 4.48) and if we neglect the potential jump ϕ. If we consider a narrow oriﬁce the local velocity ud in the oriﬁce may become quite large.50) In practice (4.47): p −ρ0 A ∂u . We could also simply have obtained this result by considering the pressure difference p necessary to accelerate the mass of ﬂuid (ρ0 Ad L) in the oriﬁce and noticing that the particle velocity in the oriﬁce is given by: ud = A u.

1. As explained by Bechert [7].9a) or when the edges are rounded at the downstream side [202. Flow instabilities of this type also occur around pipe arrays such as used in heat exchangers [14]. 61] (ﬁgure 4. We will describe the formation of a free jet in section 5. The acoustical effect of this discontinuity can be represented in an acoustical model by a pressure discontinuity ( p)source which is calculated by subtracting from the actual pressure difference p the pressure difference ( p)pot . This occurs in particular if the oriﬁce has sharp edges at the entrance where the vortices are shed [5] (ﬁgure 4. for any oriﬁce placed at the end of a pipe one can ﬁnd a Mach number at which the reﬂection coefﬁcient for long acoustic waves vanishes. The consequence of this effect is that an oriﬁce placed in a tube with a mean ﬂow is a very efﬁcient damping mechanism. 177]. This device is indeed used downstream of a compressor in order to avoid the low frequency pulsations that may be induced by the compressor into the pipe system. A generalization of the procedure which we introduced intuitively for the oriﬁce can be obtained for an arbitrary compact discontinuity in a pipe system. in a way that at low frequencies friction is quite inefﬁcient. Hence. When this sound source couples with a resonator (see next chapter) large amplitudes may be generated. This is not the case with the effect of friction and heat transfer which are strongly frequency dependent (equation 3. suppressing low frequency-pulsations (being mechanically dangerous) with an oriﬁce may be paid by the generation of high frequency noise which is an environmental problem. It is interesting. The vorticity responsible for this is located in the shear layer that conﬁnes the free jet. Such an oriﬁce acts thus an anechoic termination for low frequencies! A beautiful property of this damping mechanism is that it is not frequency dependent as long as the frequency is low enough. This is an explanation for human whistling [202. In the case of an externally imposed acoustic wave.13). corresponding to a RienstraHirschberg 11th November 2001 12:00 . This effect is of course a result of the force ρ0 (ω × v) in Howe’s analogy (section 2.6). Whistling corresponds to self-sustained ﬂow instabilities. the periodic vortex shedding is a non-linear phenomenon which will generate higher harmonics. to note that under special ﬂow conditions an oriﬁce can produce sound as a result of vortex shedding.9b). The frequency of the sound produced by the vortex shedding is such that the period of oscillation roughly corresponds to the travel time of a vortex through the oriﬁce (a Strouhal number Sr = f L/( Au0 / Ad ) = O(1)).88 4 One dimensional acoustics We see from this equation that even in the linear approximation energy is transferred (ρ0 ( A/ Ad )2 u 0 u 2 ) from the acoustic ﬁeld to the ﬂow (where it is dissipated by turbulence). however.

The potential ﬂow difference ( p)pot is calculated.4. The actual pressure difference p can be measured or calculated as a function of the main ﬂow velocity u0 and the acoustical velocity ﬂuctuation u . This procedure is in particular powerful when we can use a quasi-stationary ﬂow model. When convective effects are taken into account in the wave propagation. We then use the incompressible continuity equation and Bernoulli: Su = constant and p + 1 ρ0 u 2 = constant. while p is measured in the form p = CD 1 ρu 2 as a function 2 of various parameters. to 2 calculate ( p)pot . potential ﬂow with the same velocity boundary conditions: ( p)source = p − ( p)pot .9 Vortex shedding at an oriﬁce. it appears to be important to deﬁne the aeroacoustic source in terms of a discontinuity ( B)source in the total enthalpy rather than in the pressure. RienstraHirschberg 11th November 2001 12:00 .4 Reﬂection at discontinuities 89 u0 b) u0 a) Figure 4.

result into pulsation levels of the order of p the amplitude of these pulsations depends crucially on the shape of the edges of the junction.10). 89. It is interesting to note that ﬂow may also drastically affect the acoustic properties of a multiple junction and make the use of this device quite dangerous. The conservation of mass for a compact junction yields: A1 u 1 + A2 u 2 + A3 u 3 = 0 while from the equation of Bernoulli we ﬁnd: p1 = p2 = p3 (4. the shear layer separating the main ﬂow from the stagnant ﬂuid in the pipe is unstable.4.10 Multiple junction. Again. respectively (ﬁgure 4. More about this will be explained in the next chapter. Coupling of this instability with a resonant acoustic ﬁeld may O(ρc0 u 0 ) ([17.4 Multiple junction In the previous sections we used the equation of Bernoulli to derive pressure jump conditions for a discontinuous change in pipe diameter. 204]). in the same way as the shape of the edges was crucial in the oriﬁce problem. The use of Bernoulli is a stronger procedure. RienstraHirschberg 11th November 2001 12:00 . As an example consider a T shaped junction between three pipes of cross-sectional surface A1 . To illustrate this statement we consider the reﬂection of waves at a multiple junction. 3 A3 ¹ 2 ¹ We deﬁne along each pipe a x-coordinate with a positive direction outwards from the junction. In particular if we consider junctions with closed side branches. A2 and A3 .55) Note that closed side branches are very popular as reﬂectors to prevent the propagation of compressor induced pulsations. We could also have obtained a similar expression by considering the law of energy conservation.90 4 One dimensional acoustics 4. 1 A1 x3 x1 x2 A2 Figure 4.56) (4.

4. Since the airﬁlled bubble is much more compressible than water. 4. where K is unity for a uniform main ﬂow. If the bubble is small compared to the characteristic acoustic wave length we can assume that the pressure pb in the bubble will be uniform.4 Reﬂection at discontinuities 91 For a T-shaped junction of a main pipe with a closed side branch or a grazing ﬂow along an oriﬁce in the wall the quasi-steady theory for a main ﬂow u0 indicates that the shear layer can be represented by an acoustical pressure discontinuity: ( p)source = −Kρ0 u 0 u .7 because of the velocity defect in the boundary layer relative to the main ﬂow velocity u0 . In the low frequency limit.4. when the inertial forces in the ﬂow around the bubble can be neglected.5 Reﬂection at a small air bubble in a pipe Air bubbles in the water circuit of the central heating of a house are responsible for a very characteristic. We neglect surface tension effects and assume that the bubble pressure p is equal to b the surrounding water pressure. The bubble will react quasi-statically to the imposed acoustic pressure variation p . For an oriﬁce small compared to the boundary layer thickness of the main ﬂow K is of the order of 0. giving rise to a jump in acoustic velocity across a control volume including the bubble: u − Vp d p Aγ p0 dt (4. This effect is discussed by Ronneberger [168].57) where we neglected the water compressibility compared to the air compressibility (Kair = 1/γ p0 ) and we assume an adiabatic compression (taking γ = 1 would imply an isothermal compression as we expect for very low frequencies). the pressure induced by a passing acoustic plane wave in the water around the bubble will be practically uniform: p = 0. As a ﬁrst step to the understanding of this effect we now consider the reﬂection of a harmonic wave on a small air bubble of radius a (Volume Vp = (4π/3)a3 ) placed in a pipe ﬁlled with water at a static pressure p0 . the presence of the bubble results into a volume source term. high-frequency sound. The reﬂection coefﬁcient for a wave F1 incident to the bubble can now be calculated from the jump conditions for p and u . Tijdeman [187] and Cummings [35].58) RienstraHirschberg 11th November 2001 12:00 . Assuming G2 = 0 we ﬁnd from the continuity of pressure: F1 + G1 − F2 = 0 (4.

60) The inertia of the water around the bubble will dramatically inﬂuence the interaction between the bubble and acoustic waves at higher frequencies. Hence we have for the radial velocity vr : vr = a r 2 ∂a ∂t iω a0 r 2 a e iωt ˆ (4.57): F1 − G1 − F2 = ρw cw V p d (F1 + G1 ).65) RienstraHirschberg 11th November 2001 12:00 . The oscillations of the bubble radius: ˆ a = a0 + a e iωt (4.62) where we have assumed a/a0 ˆ ˆ pb = p0 + pb e iωt 1.92 4 One dimensional acoustics and from (4.58) from (4.59) By subtraction of (4. Aγ p0 dt (4.61) around the equilibrium value a0 will induce a radial ﬂow of the water around the bubble if we assume that the bubble is small compared to the pipe diameter. ∂t ∂t ∞ a (4. If we assume that the acoustic wave lengths in both air and water are very large compared to the bubble radius we still can assume a uniform pressure in the bubble.62) we can calculate (ϕ − ϕb ): ϕ − ϕb = so that: ˆ p − pb = ρw ω2 a0 a e iωt .66) vr dr iωa0 a e iωt ˆ (4.64) Using (4. This implies also that the bubble will remain spherical. The pressure variation in the bubble: (4.59) we can eliminate F2 and ﬁnd: G1 = − ρw cw V p d (F1 + G1 ) 2Aγ p0 dt (4. In the low frequency approximation considered here. (4. this ﬂow is incompressible.63) can be related to the incompressible far ﬁeld (still near the bubble compared to the pipe radius) by applying the linearized Bernoulli equation: p + ρw ∂ϕ ∂ϕb = pb + ρ0 .

For small bubbles. Since p = 0.67) (4.58) and (4. when the diffusion length for heat transfer into the bubble is comparable to the bubble radius.69) where the resonance frequency ω0 (Minnaert frequency) is deﬁned by: 2 ω0 = 3γ p0 . we ﬁnd: 1 ∂ pb 3 ∂a 1 ∂ρb = =− ρb ∂t γ pb ∂t a ∂t or in linear approximation: a ˆ pb ˆ = −3γ .4. 2 a0 ρw (4. and the reﬂection coefﬁcient is R = −1.68) (4. only one of the many amplitude-limiting mechanisms.72) We see that at resonance ω = ω0 the wave is fully reﬂected by the bubble. The compressibility of the water ﬂow around the bubble yields already such a mechanism which limits the amplitude of the oscillation at the resonance frequency ω0 .4 Reﬂection at discontinuities γ 93 Assuming the air in the bubble to be an ideal gas with pb ∼ ρb and neglecting the dissolution of air in water so that a3 ρb = constant. We have of course obtained such a dramatic result because we have neglected all the dissipation mechanisms which can limit the amplitude of the bubble oscillation. RienstraHirschberg 11th November 2001 12:00 .66) with (4. heat transfer is a signiﬁcant energy loss [146].71a) 4π iωa0 (F1 + G1 ) 2 Aρw (ω2 − ω0 ) (4.70) The reﬂection coefﬁcient R = G1 /F1 can now be calculated in a similar way as 2 ˆ from (4.59) with the modiﬁed source term u = 4π iωa0 a A−1 e iωt . however.68) and assuming that p = p0 + p e iωt we have: 2 ˆ p = ρw a0 a(ω2 − ω0 ) ˆ (4. (4.71b) . p0 a0 ˆ Combining (4. we have: F1 + G1 − F2 = 0 and F1 − G1 − F2 = ρw cw or R= 2 A(ω 2 − ω0 ) G1 =− 1+ F1 2π iωcw a0 −1 (4. This is.

On the one hand. Now. At each drop size there is one drop velocity where 3 i. This is a result of the following coincidence. not any combination of drop size and drop velocity generates bubbles upon impact on water. For smaller bubbles the compression occurs isothermally and one should put γ = 1 in the theory. a volume V T proportional to p implies for a periodic oscillation W ∼ 0 p (d p /dt)dt = 0. As a result the bubbly mixture will be stiffer than water. and c > cw ! Sound speeds of up to 2500 m/s were indeed observed in bubbly water with β = 2 × 10−4 ! Another fascinating effect of bubble resonance is its role in the very speciﬁc. the change of γ from 1. On the other hand. Above the anti-resonance frequency ω0 cw /cair the bubble movement is in opposition to the applied pressure ﬂuctuations. in spite of the wide range of velocities and sizes of rain drops that occurs. This is due to the large compressibility of the air in the bubbles. We have seen that a small volume fraction of bubbles can considerably reduce the speed of sound. The radius increases when the pressure increases. a large amount of bubbles will have a dramatic effect.4 to 1 does not introduce damping. the universality of the sound of rain is due to the fact that only bubbles are formed of just one3 particular size. universal. In section 2. sound that rain is known to generate when it hits a water surface [147]. For larger bubbles heat transfer is negligible. 81].11). If a → 0 the ˆ 0 pressure in the bubble increases dramatically ( pb ∼ a −3γ ).) Another limitation of the amplitude of the oscillation is the highly non-linear behaviour of the pressure for oscillation amplitudes a comparable to a . a narrow range RienstraHirschberg 11th November 2001 12:00 . (As it is the T work W = p dV = 0 p (dV /dt)dt which determines the losses. However. First it should be noted that bubble oscillation is such an efﬁcient source of sound that any rain impact sound is dominated by it. This is just opposite to the low frequency behaviour (ﬁgure 4. In the frequency range ω < 0 ω < ω0 cw /cair no wave propagation is possible in an ideal bubbly liquid.3 we already considered the low frequency limit for the speed of sound in a bubbly liquid. As an isolated air bubble already has a strong effect on the acoustics of a water ﬁlled tube. not any combination of drop size and drop velocity occurs: rain drops fall at terminal velocity (balance of air drag and drop weight) which is an increasing function of the droplet radius. It is only in the intermediate range that the heat ﬂux results in a signiﬁcant rate of volume change in phase with the acoustic pressure. Linear theory fails and the bubble may start showing chaotic behaviour (referred to as acoustical chaos) [94].94 4 One dimensional acoustics This occurs for: a = O((Kair /ωρairC P )1/2 ).e. As ω reaches ω0 this effect will become dramatic resulting in a full reﬂection of the waves (speed of sound zero) [32.

Without visco-thermal losses.5 Attenuation of an acoustic wave by thermal and viscous dissipation 4.5 Attenuation of an acoustic wave by thermal and viscous dissipation 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 1 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 123456789012345678901234567890 95 c cw clow Ð Ö ÑÔ Ò ω0 ω0 cw /cair ω ¹ Figure 4. t) = p+ (0. with just one bubble size. t). Inside the pipe a plane wave p+ (x.43). Combining these increasing and decreasing functions.4. slightly lower than cw . bubbles are formed. 4. is given in equation (2. ρ0 c0 RienstraHirschberg 11th November 2001 12:00 . we see that they intersect just at one combination of radius and velocity. the boundary condition of vanishing velocity becomes u(0. The low-frequency limit clow . closed at x = 0 by a rigid wall. t) = 0. This bubble formation velocity is a decreasing function of the droplet radius.1 Reﬂection of a plane wave at a rigid wall Consider a pipe −∞ < x ≤ 0.42) or (2.5. t) = F (t − x/c0 ) travels in positive direction and reﬂects into a left-running wave p− (x. t) − p− (0.11 Idealized frequency dependence of the speed of sound in a bubbly liquid.

and the bulk temperature T of the gas. x-dependent. t) = p(x) e−iωt ˆ with amplitude p outside the neighbourhood of the wall being given by p(x) = ˆ ˆ + e−ikx − e ikx +p ˆ .8) the thermal boundary layer thickness δ as the T width of the region near the wall in which the rate of increase of internal energy is just balancing the net rate of heat conduction (in this region the wave equation is not valid): ρ0 C p ∂ T ∼ ωρ0C p T ∂t K0 ∂2 T T ∼ K0 2 ∂x2 δT . the characteristic length scale for the thermal boundary layer is δT = 2K 0 . which remains practically constant. This excess density ρe has to be supplied by a ﬂuid ﬂow towards the wall ˆ at the edge of the boundary layer. as due to a displacement dT of the rigid wall in RienstraHirschberg 11th November 2001 12:00 . ωρ0C p (4. slightly reducing the reﬂection coefﬁcient. We will limit our analysis to small temperature differences (T − Tw ) and small departures from the quiescent reference state. Hence. t) = F (t + x/c0 ). denoted in complex form as p(x. equal in amplitude and shape to the incident wave. This heat transfer is a result from the difference between the wall temperature Tw . so that we can consider the reﬂection of a harmonic wave. and therefore a reﬂection coefﬁcient of unity R= p− (0. This velocity u∞ can be interpreted by an obˆ ˆ server. (Likewise. p+ (0.73) We will now calculate the temperature proﬁle within the thermal boundary layer. This allows a linearized theory.) We deﬁne (see also section 8. in the following the hatted quantities with “ˆ ” will p ˆ denote their corresponding. outside the boundary layer. which varies with the adiabatic pressure ﬂuctuations p = p+ + p− .96 4 One dimensional acoustics This implies a reﬂected wave p− (x. t) = 1. complex amplitudes. ˆ ˆ 2 This will allow us to calculate the deviation ρe = ρ − p/c0 between the density ˆ ﬂuctuations in the boundary layer and the density ﬂuctuations p/c2 corresponding ˆ 0 to adiabatic compression of an ideal acoustic ﬂow as found outside the boundary layer. t) In reality unsteady heat transfer at the wall will act as a sink of sound.

iωC V ρ0 T = − p0 dx dx iωρ = −ρ0 ˆ (4. ρ∞ ). ˆ ˆ where we have introduced.74b) (4. ˆ and eliminating ρ by means of an ideal gas law.1. This approximation is based on the key assumption that the acoustic wave length 1. is much larger than the thickness δT of the thermal boundary layer: ωδT /c0 In such a case we can assume at the edge of the boundary layer a uniform adiabatic ˆ ˆ ﬂow. The work performed by this “virtual” wall displacement on the acoustic ﬁeld corresponds to the sound dissipation by the thermal conduction in the boundary layer.1. The non-uniformity associated ˆ with the acoustic wave propagation is negligible on the length scale we consider.1. T0 γ p0 ˆ ˆ p(x) → p∞ = p+ + p− (x/δT → −∞). T (0) = Tw . the ﬂuctuation of the wall temperature ˆ ˆ Tw . dx d p 4 d2 u ˆ ˆ iωρ0u = − + η0 2 . (du/dx)∞ = 0. u(0) = 0. for generality. we obtain ˆ iω ˆ ˆ ˆ γ −1 p d2 T T − = a0 2 T0 γ p0 dx T0 RienstraHirschberg 11th November 2001 12:00 . ˆ dx 3 dx ˆ du ˆ d2 T ˆ + K0 2 . After the study of the reﬂection of a wave at an isothermal wall (Tw = 0) we can use the same theory to calculate the sound generated by ﬂuctuations of the wall ˆ temperature (Tw = 0). p0 ρ0 T0 The boundary conditions are given by: ˆ ˆ T∞ γ − 1 p∞ ˆ ˆ ˆ = .2. The boundary layer ﬂow is described by the one-dimensional conservation laws (1. We assume an ideal gas with: ˆ ρ ˆ T p ˆ = + . of a uniform ﬂuid ( p∞ . After eliminating u from the energy equation by using the mass conservation law.5 Attenuation of an acoustic wave by thermal and viscous dissipation 97 a hypothetical ﬂuid without heat conduction.5.74a) (4.6) in linearized form: du ˆ .4.74c) Since in a liquid acoustic wave propagation is isothermal we can limit our analysis to a gas.1.

ρ− 2 = ˆ ρ0 ρ0 ρ0 γ p0 γ p0 T0 c0 this equation becomes iω d2 ρe γ − 1 d2 ˆ p ˆ ρe ˆ = a0 2 − a0 . ρ0 RienstraHirschberg 11th November 2001 12:00 .) u(0) − u(−δT ) = −iω ˆ ˆ 0 −δT ρ ˆ dx. with ˆ ˆ 1 p ˆ γ −1 p T p ˆ ρ ˆ ρe ˆ = − = − . ρ0 dx ρ0 This equation has the solution ρe ˆ ρe ˆ = ρ0 ρ0 where ρe ˆ ρ0 exp (1 + i)x/δT = ˆ ˆ γ − 1 p∞ Tw − .98 4 One dimensional acoustics where a0 = K 0 /ρ0 C p is the heat diffusivity coefﬁcient.75) w w Using the equation of mass conservation.73) is of the order of ω2 δ 2 ρ ˆ p − p∞ ˆ ˆ ∼ 2T p0 ρ0 c0 ˆ while ρe /ρ0 is of the same order of magnitude as ρ/ρ0 . dx 2 3 dx Assuming that viscosity is not dominant – which we can check from the solution to be obtained – we see that ˆ ω2 ρ = − p ˆ d2 2 p dx 0 − ω2 γ ρ ˆ ˆ ω2 ρ =− 2 . 2 p ρ0 dx ρ0 γ dx 0 Combining the momentum and mass conservation laws we have ˆ ˆ d2 p 4 d3 u + η0 3 . In terms of the excess density. γ p0 T0 (4. p0 c0 ρ0 The relative pressure variation across the boundary layer (4. ˆ 2 2 This implies that if we neglect terms of the order of ω2 δT /c0 . we have iω d2 ρe ˆ ρe ˆ = a0 2 . the velocity u(−δT ) at the edge of the ˆ boundary layer is given by the integral of the density across the boundary layer as follows. because γ − 1 = O(1). (Note that we have chosen the positive x-direction towards the wall.

75) yields ρe ˆ ˆ . 3. have the same effect to the incident acoustic wave as an impedance of the ˆ wall.2 Viscous laminar boundary layer The viscous attenuation of a plane acoustic wave propagating along a pipe can often be described in a similar way as the thermal attenuation by means of a disˆ placement thickness dV of the wall.4. We consider ﬁrst the simple case of a laminar boundary layer in the case of wave propagation in a stagnant and uniform ﬂuid. deﬁned as the ratio of the acoustic pressure ˆ ﬂuctuations p∞ at the wall and the ﬂow velocity uT directed towards the wall (c.5 Attenuation of an acoustic wave by thermal and viscous dissipation 99 The difference between this velocity and the velocity −iω(ρ∞ /ρ0 )δT that would ˆ occur in the absence of heat conduction. dT = 1 (1 − i)δT 2 ρ0 w ˆ γ − 1 p∞ = 1 (1 − i)δT 2 γ p0 (4. This equivalent impedance ZT .14).f.76a) if Tw = 0 (an isothermal wall). (4. ρ0 ˆ where dT is the ﬁctitious wall displacement amplitude. ˆ Eq. can be interpreted as a ﬁctitious wall velocity uT given by ˆ ˆ u T = iωdT = iω ˆ 0 −δT ρ − ρ∞ ˆ ˆ dx = iω ρ0 0 −∞ ρe ˆ dx. RienstraHirschberg 11th November 2001 12:00 .5. is then given by ZT = p∞ ˆ p∞ ˆ (1 − i)c0 = = ρ0 c0 ˆ uT ˆ (γ − 1)ωδT iωdT The corresponding time averaged acoustic intensity is found to be IT = p u = Re(1/Z T )| p∞ |2 ˆ ωδT = 1 (γ − 1) | p∞ |2 ˆ 4 2 ρ0 c0 1 2 which indicates an energy ﬂux from the acoustic ﬁeld towards the wall and therefore an absorption of energy. 4. leading to the effective velocity u T .76b) ˆ For an isothermal wall (Tw = 0) these wall effects. Substitution of solution (4.

The ymomentum conservation law reduces to the pressure being uniform across the viscous boundary layer. ˆ ˆ The displacement thickness dV is deﬁned as the ﬁctitious wall position for which the acoustical mass ﬂux of a uniform ﬂow with the velocity u∞ is equal to the ˆ actual mass ﬂow.5.5.100 4 One dimensional acoustics The wave propagates in the x-direction and induces an acoustic velocity parallel to the wall which has an amplitude u∞ in the bulk of the ﬂow. where Pr = ν0 ρ0 C p /K 0 is Prandtl’s number.2 we have described the laminar viscous boundary layer associated to a plane wave propagating along a duct (parallel to the wall).3 Damping in ducts with isothermal walls. The boundary conditions are u(0) = u w = 0.79) 4. induces a viscous boundary layer of thickness ˆ √ (4. 2 u∞ ˆ (4. In the previous section 4.77) δV = 2ν0 /ω = δT Pr . determined by the pressure ﬂuctuations p∞ in the bulk of the ﬂow. This viscous boundary layer is usually referred to as the Stokes layer. Using the concept of displacement thickness we will calculate the attenuation of a plane wave travelling in x-direction along a pipe of cross-sectional area A and RienstraHirschberg 11th November 2001 12:00 . uw = 0. In a gas such a propagation will also induce a thermal boundary layer. In section 4.5. This implies: ˆ dV = 0 ∞ 1− u ˆ dy = − 1 (1 − i)δV .78) u(y) → u ∞ if y/δV → −∞. The expression ˆ for the displacement thickness dT derived in section 4. dy 2 where y is the direction normal to and towards the wall (so y ≤ 0). The no-slip condition ˆ at the wall. Neglecting terms of the order of (ωδV /c0 )2 we can write the x-momentum conservation law in the boundary layer as ˆ iωρ0u = η0 d2 u ˆ .1 can be applied.1 we have considered the attenuation of an acoustic wave that reﬂects normally to a wall.5. This attenuation was due to the heat conduction in the thermal boundary layer. (4. ˆ ˆ The solution is then u = u ∞ 1 − exp ˆ ˆ (1 + i)y δV .

when the acoustical boundary layers are not thin. where k is a complex wave number (the imaginary part will describe the attenuation).80) which corresponds to equation (2. satisfying Euler’s equation in linear approximation: ˆ p∞ = p∞ e iωt−ikx . The bulk of the ﬂow is described by the following plane wave. At high frequencies the viscosity becomes signiﬁcant also in the bulk of the ﬂow (Pierce [142]).4. A δV (4. RienstraHirschberg 11th November 2001 12:00 . We assume that the boundary layers are thin compared to the pipe diameter. More accurate expressions at low frequencies. 2 k0 A − 1 (1 − i)L p δV 2 where k0 = ω/c0 . we obtain the result of Kirchhoff k − k0 = 1 (1 − i) 4 Lp δT δV k0 1 + (γ − 1) .79) ˆ γ − 1 p∞ ˆ . we ﬁnd a homogeneous ˆ linear equation for p∞ . are discussed by Tijdeman [186] and Kergomard [85]. Expanding this expression for small δT and δV (using the fact √ that δV /δT = Pr = O(1)) and retaining the ﬁrst order term. After substitution ˆ ˆ ˆ of the expressions for the displacement thickness dT (4.5 Attenuation of an acoustic wave by thermal and viscous dissipation 101 cross-sectional perimeter L p . 2 and elimination of u∞ by means of the Euler’s equation.76b) and dV (4. Incorporating the displacement thickness to the mass conservation law integrated over the pipe cross section yields (Lighthill [102]) ∂ ∂ ρ∞ ( A + L p dT ) = ρ∞ u ∞ ( A + L p d V ) ∂t ∂x In linear approximation for a harmonic wave this becomes iω p∞ ˆ ˆ ˆ A + ρ0 L p dT = ikρ0 u ∞ ( A + L p dV ) ˆ 2 c0 2 ˆ where we made use of the isentropic relationship p∞ = c0 ρ∞ . iωρ0u ∞ = ikp∞ . dT = 1 (1 − i)δT 2 γ p0 ˆ and dV = − 1 (1 − i)δV .13). which yields the dispersion relation ˆ A + 1 (1 − i)(γ − 1)L p δT k2 2 = .

In the presence of a mean ﬂow various approximations describing the interaction between the acoustic waves and the turbulent main ﬂow have been discussed by Ronneberger [169] and Peters [140]. Verzicco [194]). Akhavan [3]. Akhavan [3] presents results indicating that a quasi-stationary turbulent ﬂow model provides a fair ﬁrst guess of the wall shear stress. For smooth pipes. we can use a quasi-stationary approximation. In such a case the damping becomes essentially non-linear. This makes a low frequency limit difﬁcult to establish. Eckmann [42]. δV . Prandtl proposed a correlation formula for cf as a function of the Reynolds number of the ﬂow. ˆ The transition from laminar to turbulent damping can therefore be a mechanism for saturation of self-sustained oscillations (see chapter 5). Such data are discussed by Schlichting [175]. Note that since (k−k0 ) depends on the 2 amplitude u∞ of the acoustical velocity this model implies a non-linear damping. RienstraHirschberg 11th November 2001 12:00 . The formula of Kirchhoff derived above appears to be valid at low Mach numbers 1) as long as the Stokes viscous boundary layer thickness δV remains (U0 /c0 √ less than the laminar sublayer δL 15ν/ τw ρ0 of the turbulent main ﬂow (where 1 2 the wall shear stress τw = c f 8 ρ0U0 ).102 4 One dimensional acoustics At high amplitudes (u∞ δV /ν ≥ 400) the acoustical boundary layer becomes turbuˆ lent (Merkli [111].These references also provide information about the Mach number dependence of the wave number. For an isothermal (liquid) ﬂow the quasi-steady approximation yields 2 k 2 − k0 = − 1 ik0 4 Lp c f u∞ ˆ A where the friction coefﬁcient c f is deﬁned (and determined) by cf = − 4A 2 L p 1 ρ0 U0 2 d p0 dx which relates the mean pressure pressure gradient (d p0 /dx) to the stagnation pres2 sure 1 ρ0U0 of a mean ﬂow through the pipe. The inﬂuence of wall roughness is described in the Moody diagram. In the case of a turbulent gas ﬂow the thermal dissipation is rather complex. The transition from When δ L the high frequency limit to the quasi-stationary limit is discussed in detail by Ronneberger [169] and Peters [139].

As the acoustic ﬁeld observed at position x far from a source placed at y is induced by a plane wave.6 One dimensional Green’s function 103 4.1 Inﬁnite uniform tube We consider a one dimensional approximation for the propagation of waves in a pipe. Hence as the source position within a cross section is indifferent we can consider the source to be smeared out over this cross section resulting in a 1-dimensional source.2). t|y.83) x > y. ∂t 2 ∂x (4.30) which implies that g is the pres2 sure wave generated by a piston moving with a velocity u = (2ρ0 c0 )−1 H (t − τ ) 2 for x = y + ε and a second piston with a velocity u = −(2ρ0 c0 )−1 H (t − τ ) for x = y − ε.6. the observer position in the cross section of the pipe is indifferent. RienstraHirschberg 11th November 2001 12:00 . This result is obtained intuitively by using (4. Applying the reciprocity principle (section 3. This approximation will be valid only if the frequencies generated by the sources of sound in the pipe are lower than the cut-off frequency.5) for fx = 0 and: 1 ∂β = H (t − τ )δ(x − y). τ ) = x−y  1    2c H t − τ − c 0 0 (4.5) in the presence of source term ρ0 ∂β/∂t and forces fx : 2 ∂ fx ∂ 2β ∂2 p 2∂ p 2 − c0 2 = c0 ρ0 2 − 2 ∂t ∂x ∂t ∂x (4. τ ) deﬁned by: 2 ∂ 2g 2∂ g − c0 2 = δ(t − τ )δ(x − y).4. Equations (4. We therefore look for the corresponding one-dimensional Green’s function g(x. 2 ∂t ρ0 c0 For an inﬁnitely long tube the solution is:  x−y  1    2c H t − τ + c 0 0 g(x. t|y.81) Comparison of this wave equation with the wave equation (4.5) indicates that we can assume that (4.81) is a particular case of (4.83) are then obtained by using the method of characteristics (section 4. (4.1) we see that in the low frequency approximation the signal observed at x should also be indifferent for the position of the source in the cross section of the tube at y.6 One dimensional Green’s function 4.82) for for x < y.

τ ) = |x − y| 1 H t −τ − .87) This solution could also have been obtained by assuming the pipe to be part of an inﬁnitely long pipe. This time is called the retarded or emission time te : te = t − |x − y| . τ ) = 1 2c0 H t −τ + x−y x−y +H t −τ − c0 c0 x + y − 2L −H t − τ + c0 (4. In such a case we will have to consider the contribution of an inﬁnite number of images corresponding to the reﬂections of the original waves at the boundaries.85) 4.2 Finite uniform tube We can also fairly easily construct a Green’s function for a semi-inﬁnite pipe (x < L) terminated at x = L by an ideal open end at which by deﬁnition g(L . called image source. RienstraHirschberg 11th November 2001 12:00 . This second source. and therefore brings into effect the boundary condition at x = L. By constructing the wave reﬂecting at this ideal open end with the method of characteristics we ﬁnd: g(x. t|y. τ ) = 1 2c0 H t −τ − |x − y| c0 −H t − τ − |x + y − 2L| c0 .83) is more efﬁciently written as: g(x. in which at the point x = 2L − y a second point source is placed with opposite sign of and synchronous with the original point source at x = y. t|y.84) The combination t − |x − y|/c0 is the time at which the signal observed at (x. 2c0 c0 (4. is constructed such that it generates the ﬁeld due to reﬂection by the boundary at x = L in the original problem. τ ) = 0. This method of images can be generalized to the case of a ﬁnite pipe segment (0 < x < L).6. t) has been emitted by the source at y. the above result (4. t|y. c0 (4. (4.104 4 One dimensional acoustics Of course. t|y.86) which we can also write for x < L as: g(x.

7. τ ) = 2c0 ∞ H t −τ − n=−∞ |x − y − 2n L| c0 |x + y − 2n L| c0 . . .4. (4. . When the end conditions are such that multiple reﬂections are physically relevant they imply that constructive and destructive interferences will select waves corresponding to standing wave patterns or resonances of the tube.) This is of particular interest in the 2 time-harmonic case.12 Turbulent jet in a pipe.1 Sound produced by turbulence We consider a turbulent jet in an inﬁnitely extended pipe (ﬁgure 4.88) + H t −τ − The Green’s function is clearly more complex now.81 of ∞ δ(t − τ ) δ(x − y − 2n L) + δ(x + y − 2n L) n=−∞ and a solution 1 g(x. Furthermore. t|y. This problem will be discussed further in the next chapter. RienstraHirschberg 11th November 2001 12:00 . ±4L ± y. the addition of mass by the source in the ﬁnite volume results into a (roughly) linear growth of g in t. 4. ±2L ± y. (Verify this for x = y = 1 L and τ = 0. We suppose S d Figure 4.7 Aero-acoustical applications 4. the ﬁeld in a ﬁnite pipe with hard walled ends is equivalent with the ﬁeld in an inﬁnite pipe with equal sources in x = −y. . This comes down to a right-hand-side of equation 4.7 Aero-acoustical applications 105 For example.12).

τ )S −1 d ydτ. The exact range of validity is still subject of research.92) We moved the differentiation from the unknown source term towards the known.93) 4 While the assumption that friction is a negligible source of sound was already formulated by Lighthill. 4. t| y.90) Using the approximate Green’s function derived in the previous section (Eq. ∂y c0 ∂y 2c0 (4. τ )S −1 ρ0 u 2 d ydτ. ∂ y2 (4. t) = t t0 V ∂ 2 (ρ0 vi v j ) g(x. t) = t t0 V ∂ 2 (ρ0 vi v j ) G(x.89) As we use a tailored Green’s function (we neglect the effect of the ﬂow injection device) the density ρ can be estimated by: ρ (x.106 4 One dimensional acoustics that the jet diameter d and the jet velocity u0 are such that the characteristic frequency u0 /d of the sound produced in the pipe is low enough to use a one dimensional approximation. we obtain: ρ (x.91) After two partial integrations. t|y. ∂ yi ∂ y j (4. t|y. We now note that: 1 |x − y| ∂|x − y| ∂g = − 2δ t − τ − . and explicitly available. If Reynolds number Re = u0 d/ν 1 we can use Lighthill’s analogy in the form4 : M = u 0 /c0 2 ∂ 2 (ρ0 vi v j ) ∂ 2ρ 2∂ ρ − c0 2 = . assuming that the mean ﬂow in the pipe is negligible. τ ) d ydτ. ∂t 2 ∂ xi ∂ x j ∂ xi (4. a reasonable conﬁrmation of its validity was only provided thirty years later by the work of Morfey [116] and Obermeier [135]. We also assume that the jet temperature and density is the same as that of the environment (homogeneous ﬂuid 1 and Mach number and homentropic ﬂow). t) = t t0 V ∂2 g(x. ∂ yi ∂ y j (4. We will use the integral formulation of Lighthill to obtain an order of magnitude estimate for the sound pressure level produced by this ﬂow. Green’s function (4. assuming the source to be limited in space.84) we have: ρ (x. RienstraHirschberg 11th November 2001 12:00 .84).

96) with te = t − |x − y|/c0 . we can now remove one of the differentiations to x from the integral. Hence we ﬁnd at large distances: ρ ∼ implying: ρ2∼ 2 1 3 ρ0 M0 d 2 /S . resulting in the expression: ρ (x.94) we have the following important symmetry in the Green’s function of an inﬁnite pipe: ∂g ∂g =− . 2 M0 ρ 0 u 2 3 0 d 2 d 2Sc0 (4.4. the volume of the free jet contributing to the sound production is limited to a region of the order of d3 . In this region the turbulent velocity ﬂuctuations are of the order of u0 .92). The time integration can now be carried out: ρ (x. RienstraHirschberg 11th November 2001 12:00 . ∂y ∂x (4. Hence we can estimate: ∂ ∂x 1 ∂ u0 M0 ∼ = .99) (4.98) Because the sound production by turbulence decreases very fast with decreasing mean ﬂow velocity. t) = ∂ ∂x 1 [ρ u 2 ]τ =te sign(x − y) d y 2 0 2Sc0 (4. c0 ∂t c0 d d (4. At sufﬁciently large distances the only length scale in the solution is the characteristic wave length c d/u 0 corre0 sponding to the characteristic frequency5 u 0 /d of the turbulence in the jet.7 Aero-acoustical applications so that from: ∂|x − y| ∂|x − y| = − sign(x − y) = − ∂y ∂x 107 (4.97) V where we used the property (C.95) We substitute this result in (4.23) of the δ-function. Since the integration is to the source position g. 2 2Sc0 (4.100) 5 We assume a jet with circular cross section. t) = ∂ ∂x t t0 V ρ0 u 2 δ(te − τ ) sign(x − y) d ydτ.

Reethof ﬁnds for subsonic jets 3 (M0 < 1) a ratio of the radiated power to the ﬂow power ηac = 3 × 10−4 M0 .4. are much smaller than the bubble resonance frequency ω0 . 2 −3 1/2 For supersonic jets (M0 > 1) typical values are ηac = 1. This implies that correlations developed for subsonic circular jets are useless for planar jets. If we assume that the frequencies in the turbulence. The dependence of the sound production on the jet geometry is discussed by Verge [193] and Hirschberg [63].2 An isolated bubble in a turbulent pipe ﬂow Consider an isolated bubble of radius a0 small compared to the pipe diameter D. be enhanced by the presence of the bubble. This Mach number dependence has indeed been observed in a pipe downstream of an oriﬁce for sufﬁciently high Mach numbers.03u0 / h (Bjørnø [11]. At low Mach numbers the sound production is dominated by the dipole contribution of O(M4 ) due to the interaction of the ﬂow with the oriﬁce [112]. ˆ (4. we can calculate the sound produced by the interaction of the bubble with the turbulence. For planar jets issued from a slit of height h the typical frequencies are of the order of 0. given by: ˆ pb = − ˆ ω0 ω 2 2 ω0 1− ω 2π ia0 cw − Sω pin .72) with pin = F1 and p = F2 ). For the sake of simplicity we consider this incident ˆ ˆ wave to be harmonic pin = pin e iωt−ikx . locally. A discussion of the sound production by conﬁned circular jets is provided by Reethof [152] for arbitrary jet Mach numbers.102) RienstraHirschberg 11th November 2001 12:00 . where p1 / p2 is the ratio of the pressure across the oriﬁce. Sato [174]). The bubble pressure response pb is. We consider the acoustic response of the bubble for a plane wave emitted from the observer position x towards the bubble. Assume a turbulent pipe ﬂow. 4. The Green’s function is calculated by using the reciprocity principle. In 2 2 that case the Mach number is taken from M0 = γ −1 [( p1 / p2 )(γ −1)/γ − 1].101) Using Bernoulli and the continuity equation we can calculate the pressure distribution around the bubble: p − pb = −ρw iω(ϕ − ϕb ) ˆ ˆ (4.108 4 One dimensional acoustics This is the result obtained by Ffowcs Williams [48]. The sound produced by the turbulence will.7. typically O(u0 /D).5 (use (4.6 × 10 (M0 − 1) . as is ˆ shown in 5.

If r = O(a0 ) we see that the 1 RienstraHirschberg 11th November 2001 12:00 .108) 2 At the resonance frequency ω0 this yields a factor (a0 S/4πr 3 )(ρw cw /3γ p0 ) 2 while 3 2 for low frequencies we ﬁnd (a0 /r) (ρw cw /3γ p0 ). · ω0 2 2π ia0 cw 1− − ω Sω 1− 2 ω0 ω − (4.103) Furthermore. a0 3γ p0 so that p(r) is given by: ˆ ω ω0 2 (4. with and without bubble. we have: a ˆ pb ˆ =− . dr = iωaa0 1 − ˆ r2 r (4.4. (4. t|y.107) If we consider a small turbulent spot in the direct neighbourhood of the bubble the ratio of the responses is given by: ∂ 2Gb ∂r 2 ∂ 2G0 ∂ y2 ∂ 2Gb ∂r 2 ∂ 2G0 ∂x2 2 cw a0 ω 2r 3 = = ω0 1− ω 2 2π ia0 cw − Sω .104) p = pb 1 − ˆ ˆ 1− a0 r a0 r p .7 Aero-acoustical applications where: ϕ − ϕb = r a0 109 iωaa0 ˆ 2 a0 .105) Taking for pin the Fourier transform of (2c0 S)−1 H (t − τ − |x − y|/c0 ) we obtain ˆ ˆ as p the Fourier transform G(x|y) of the Green’s function G(x. ˆ = ω0 2 2π ia0 cw in 1− − ω Sω 1− 2 ω0 ω − (4. We obtain by partial integration: ρ = t t0 ρ0 vi v j V ∂ 2G d ydτ. ∂ yi ∂ y j (4. τ ): ˆ ˆ G(x|y) = e−iωτ −ik|x−y| 2iωcw S a0 r .106) Using Lighthill’s analogy we now can compare the response of the pipe to turbulence.

4.48): ∂ 2 ∂p ∂2 p c − 2 ∂t ∂x ∂x can be approximated by: 2 ∂ ∂2 p 2∂ p 2 ∂p (c2 − c0 ) in .110) where ρ0 .7. We assume the pipe to be horizontal and that gravity is negligible. at rest the pressure is uniform. An important reason for this is that for typical conditions in water ﬂow. T0 and c0 are the properties of the uniform region. The major contribution of the bubble turbulence interaction will be at low frequencies. the length scale of vortices corresponding to pressure ﬂuctuations at the bubble resonance frequency ω0 /2π is much smaller than the bubble radius [33]. In those cases. The gas density is given by: ρ/ρ0 = T /T0 and the speed of sound c is given by: c/c0 = (T /T0 ) 2 1 (4. We now further as1 so that we can use a linear approximation in which we sume that |T − T0 |/T0 assume that the scattered sound wave p is weak compared to the amplitude pi of the incident wave. however. − c0 = ∂t 2 ∂x2 ∂x ∂x =0 (4.111) RienstraHirschberg 11th November 2001 12:00 . An example of sound production by bubbles in a pipe ﬂow is the typical sound of a central heating system when air is present in the pipes. In such a case we can write p = pin + p . Also the romantic sound of water streams and fountains is dominated by bubbles.109) (4. we have a three-dimensional environment. so that the linearized 1-D wave equation (2. In such a case these pressure ﬂuctuations are averaged out at the bubble surface and do not have any signiﬁcant contribution to the spherical oscillations of the bubble.3 Reﬂection of a wave at a temperature inhomogeneity As a last example of the use of the integral equation based on the Green’s function formalism we consider the interaction of a wave with a limited region in which the gas temperature T (x) is non-uniform (0 < x < L).110 4 One dimensional acoustics sound produced by turbulence in the neighbourhood of the bubble will be dramatically enhanced. Hence.

then we have for (say) x < 0 L 0 (4. RienstraHirschberg 11th November 2001 12:00 .117) otherwise.4. ∂ y in If we take for example ˆ pin = pin H (x − c0 t) 2 and use the relation c2 /c0 = T /T0 .114) δ(te − τ ) ∂ pin dτ dy ∂y (4. It is the source term considered by Powell [145] for the description of sound scattering at entropy spots.13) and the one dimensional Green’s function g we ﬁnd: p = ∞ −∞ 0 L ∂ 2 2 ∂p (c − c0 ) in g dydτ. Using the integral formulation (3. ∂y ∂y (4.7 Aero-acoustical applications 111 The source term has been linearized by assuming that the pressure ﬂuctuations are equal to the (undisturbed) incident wave amplitude. te ) dy.115) ∂ p (y.84) we have 1 ∂g = 2 sign(x − y)δ(te − τ ) ∂y 2c0 (with te = t − |x − y|/c0 ) and hence p =− =− 1 2 2c0 1 2 2c0 L 0 L 0 2 sign(x − y)(c2 − c0 ) 2 sign(x − y)(c2 − c0 ) ∞ −∞ (4.116) ˆ p = 1 pin 4   1 T ( 1 (x + c0 t)) − 1  p ˆin 2 T0 = 4   0 x + c0 t T − T0 dy δ y− T0 2 if 0 < x + c0 t < 2L (4.113) From equation (4.112) Partial integration yields p =− ∞ −∞ 0 L 2 (c2 − c0 ) ∂ pin ∂g dydτ. ∂y ∂y (4.

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At a distance L from the piston there is a temperature jump of 30 K . The wave number k is deﬁned as k = ω/c 0 . h) Calculate the reﬂected and transmitted acoustic intensities I for questions f) and g). l) A closed pipe end can be considered as a change of area such.7 Aero-acoustical applications 113 g) Same question as f) for a discontinuity in temperature of 30 K in air at atmospheric pressure (corresponding to the temperature difference from inside our mouth to outside in the winter). Calculate the reﬂection and transmission coefﬁcients R = F1 /G1 and T = F3 /G1 for an incident harmonic wave G1 = e iωt+ikx 1 if we assume that G3 = 0. 100 Hz and 1000 Hz) if there is no mean ﬂow. i) Consider a semi-inﬁnite tube closed at x = 0 by a harmonically moving piston ˆ (u p = u p e iωt ). p) When ﬂow separation occurs as a result of mean ﬂow.14). Assuming no other incident wave (G 2 = G3 = 0) calculate the reﬂection and transmission coefﬁcients.4. without sharp edges. while an open end can be approximated by a change with A 2 /A1 → ∞. j) Calculate the reﬂection coefﬁcient R and the transmission coefﬁcient T for a low frequency wave F 1 incident from the left to a stepwise area change from A 1 to A 2 in an inﬁnitely long pipe. What are the conditions for which R = 0 ? What are the conditions for which R = 1 ? What are the conditions for which R = −1? RienstraHirschberg 11th November 2001 12:00 . Calculate the amplitude of the waves in steady state conditions. The tube is ﬁlled with air. ﬁlled with air at room conditions. At which amplitude (in dB) one would expect non-linear losses due to acoustical ﬂow separation for a harmonic wave (with a frequency of 10 Hz. m) Calculate the reﬂection coefﬁcient for a harmonic wave at an oriﬁce. in a pipe. n) What are the conditions for which we can neglect friction in the oriﬁce? o) Consider an oriﬁce of d = 1 mm diameter. and A 3 ). At low frequencies by about a factor 3 compared to high frequencies or the linear behaviour without ﬂow separation. the end correction δ is affected. Assume linear behaviour and no mean ﬂow.A 2 . of diameter D = 1 cm. Such oriﬁces are used in hearing-aid devices for protection. Explain qualitatively this effect. Calculate in both cases the reﬂection coefﬁcient R. that A 2 /A1 → 0. k) Same exercise as j) for a combined stepwise change in cross section and speciﬁc acoustic impedance jump ρc of the ﬂuid. (Why can we expect a decrease of δ?) q) Consider a wave G 1 (t + x 1 /c0 ) incident on a junction of three semi-inﬁnite tubes (with cross sections A 1 . using the result of exercise j). assuming linear behaviour and no mean ﬂow. r) Consider a pipe of cross sectional area A 1 (A 1 = A3 ) with a closed side branch of section A 2 and of length L (ﬁgure 4.

w) In the above model we assumed the bubble to be small compared to the pipe diameter.81) and then using section C.81). τ ) = g(x. Is this a reasonable approximation for a bubble with a radius a 0 = 1 mm placed in a pipe of diameter D= 1 cm ﬁlled with water at ambient pressure? Assume a frequency ω = ω 0 . RienstraHirschberg 11th November 2001 12:00 . and far from the walls. τ )/S for |x − y| a tube of uniform cross section S. √ S in C) Show that for low frequencies G(x.114 4 One dimensional acoustics A1 x1 x2 A2 Figure 4.4.) t) Calculate the pressure p b in an air bubble of mean radius a 0 in water for an incident 2 ˆ a0 .5) the pressure in the bubble is assumed to be uniform. x) Is the model valid for a bubble which is large compared to the pipe diameter? Why? y) Determine the physical dimensions of the Green’s function by substitution in the wave equation (4.14 Tube with closed side branch. t| y.84) by Fourier transformation of (4. t|y. wave pin = pin e iωt−ikx in a pipe of cross section A p u) In the model described above (section 4. A) Construct the Fourier transformed Green’s function for a semi-inﬁnite (x < L) tube terminated at x = L by an impedance Z L . Estimate ω 0 for a bubble placed at the wall. Is this a reasonable approximation for an air bubble of 1 mm radius in water up to the resonance frequency ω 0 for p0 = 1 bar? v) In the above model the acoustic pressure imposed on the bubble by the incident acoustic ﬁeld is assumed to be uniform across the pipe diameter. B) Construct the Fourier transformed Green’s function for a source placed left from a small bubble placed in an inﬁnite tube. Assume p0 = 1 bar. A3 x3 L ¹ s) Calculate the low frequency limit of the reﬂection coefﬁcient R = F 1 /G1 for an air bubble of 1 mm in a pipe of 1 cm diameter for a harmonic wave of frequency ω.1. z) Verify (4. 2 2 2 (Answer: R = −(1 + iω0 A/2πωcw a0 )−1 with ω0 = 3γ p0/ρw a0 .

Consider a ﬂow velocity of 1 m/s. Figure 4. Are the assumptions valid in this case? Are the assumptions valid if u 0 = 102 m/s ? F) Same question as E) for a jet placed at the end of a semi-inﬁnite pipe closed by a rigid wall.95) in terms of the effect of displacement of the source or observer on the Green’s function for an inﬁnite tube. H) In principle the turbulent pressure ﬂuctuations in a pipe have a broad spectrum with a maximum around a characteristic frequency u 0 /D. Do you expect the characteristic frequency of turbulence to be large or small compared to the resonance frequency ω 0 /2π of an air bubble with 2a 0 = 1 mm as in question G)? I) For a small bubble the surface tension σ contributes signiﬁcantly to the internal pressure pb of the bubble.15 Exercise F) G) Calculate the ampliﬁcation factor for turbulence noise at resonance 1 2 2 2 (S/a0 )(ρw cw /3γ p0) 2 . E) Calculate using (4. Assume atmospheric conditions and room temperature. calculate the bubble radius for which the surface tension becomes important. and at low frequencies ρ w cw /3γ p0 for an air bubble of diameter 2a0 = 1 mm in a pipe of D = 1 cm diameter ﬁlled with water at atmospheric pressure. For a spherical bubble we have: pb = pwater (a) + 2σ .15. as indicated in ﬁgure 4.4. Given the surface tension σ of water is 7 × 10 −2 N/m.7 Aero-acoustical applications 115 D) Explain (4. Derive this formula. a In equilibrium p water (a) = p0 . RienstraHirschberg 11th November 2001 12:00 .99) the sound pressure level in a tube of 10cm diameter due to the inﬂow of a air jet of 1 cm diameter with a velocity of 10 m/s. If we consider the oscillation of such a bubble we ﬁnd a resonance frequency: ω0 = 3γ p0 4σ + 2 3 ρw a0 ρw a0 1 2 .

The movement will be damped out by radiation.116 4 One dimensional acoustics J) The sound in bubbly liquid is often due to the oscillations of bubbles caused by a rapid local acceleration or to oscillations induced by the coalescence or collapse of bubbles. This difference in volume is due to surface tension effects (see previous question). Assume that the new bubble is released with a radius a corresponding to the original volume of the two smaller bubbles. As an example consider the difference in volume V between the sum of the volumes of two bubbles of equal radii a 0 = 10−4 m and a single bubble containing the same gas (after coalescence). The bubble will oscillate around its new equilibrium radius. Calculate the amplitude of the acoustic pressure waves generated in a pipe of 1 cm diameter ﬁlled with water as a function of time. RienstraHirschberg 11th November 2001 12:00 . This yields the typical “bubbling” noise of a fountain or brook.

This separation point appears to be a localized region where the acoustic ﬂow and the hydrodynamic ﬂow are strongly coupled. due to the instability of the ﬂow. We will now consider this interaction in some detail. shear layer) at a sharp edge where the ﬂow separates from the wall.5 5. This assumption was not justiﬁed but it seems reasonable if the acoustic velocities in the ﬂow are “small enough”. if the ﬂow were frictionless and is described accurately by a potential ﬂow.1.1 we have assumed that the sound source is independent of the acoustic ﬁeld. In principle. shear layers and jets When using Lighthill’s analogy to estimate the intensity of the sound produced by a turbulent ﬂow in section 4. Whistling. In many of these cases the acoustic feedback (inﬂuence of the sound ﬁeld on the sound source) results in the occurrence of a sharply deﬁned harmonic oscillation. This can be understood by considering the ﬂow in a pipe at a bend (ﬁgure 5.7. In general the maintenance of such oscillations implies the existence of a feedback loop as shown in ﬁgure 5. the velocity at an edge would be inﬁnitely large. . edge hydrodynamic instability acoustic resonator hydrodynamic feedback acoustic feedback Figure 5.1 Resonators and self-sustained oscillations Self-sustained oscillations.1 Flow-acoustic oscillator. In fact this hypothesis breaks down in a large number of very interesting cases. jet-screech and reheat-buzz are examples of such oscillations.2). In most cases the acoustic ﬁeld interacts with an intrinsically unstable hydrodynamic ﬂow (jet.

tells that the pressure decrease implies a decrease of potential energy p which is compensated by an increase of kinetic energy 1 ρv 2 . The Bernoulli equation. We call this thin region of thickness δ a vis. If the ﬂow is star tionary it is obvious that there should be a centripetal force compensating the centrifugal force. In a frictionless ﬂow the only force available is the pressure gradient −∂ p/∂r. we see that the v pressure at the outer wall in the bend should be ∂p − larger than at the inner wall.3 Frictionless ﬂow in a bend. The pressure built up at the wall yields the force necessary to bend the streamlines. Using the equation ∂r of Bernoulli for a stationary incompressible ﬂow ( p + 1 ρv 2 = constant) we conclude that the ve2 Figure 5. A particle in the ﬂow close to the inner wall is just like a ball rolling into a well (ﬁgure 5. When leaving the well (bend) the kinetic energy 2 is again converted into pressure as the particle climbs again (the adverse pressure gradient).118 5 Resonators and self-sustained oscillations The ﬂuid particles passing the bend feel a centrifuρv 2 2 gal force ρuϑ /r per unit volume.3. The fact that the pressure is larger at the outer wall can also be understood as a consequence of the inertia of the ﬂow which is trying to follow a straight path and “hits” the wall. A frictionless ﬂow is only possiv ble far from the wall.4). which represents in this case the law of conservation of mechanical energy.) 1234567 1234567 1234567 1234567 1234567 1234567 v r We could also have found this result kinematically by noticing that if a particle in an irrotational ﬂow follows a curved path there should be a gradient ∂v/∂r which “compensates” the rotation which the particle undergoes by following a curved path. Hence. Figure 5.Figure 5.2 Flow in a bend. cous boundary layer. v RienstraHirschberg 11th November 2001 12:00 . locity is larger at the inner wall than at the outer wall! (See ﬁgure 5. Even at high Reynolds numbers there is always a thin region at the wall where friction forces are of the same order of magv nitude as the inertial forces.4 Ball passing along a well.

veriﬁed by integration of the radial momentum conservation law.6) just behind the bend. Taking the circulation along a path enclosing part of such a shear layer clearly shows that the RienstraHirschberg 11th November 2001 12:00 . The boundary layer is a region of concentrated vorticity. In the boundary layer x the friction decelerates the ﬂow to satisfy the “no-slip boundary condition” at the wall: v = 0 Figure 5. As is clear from ﬁgure 5. shear layers and jets 119 It can be shown that because the ﬂow is quasiparallel the pressure in the boundary layer is uniform and equal to the local pressure of the y U (y) frictionless ﬂow just outside the boundary layer.4 in the case of a very deep well and in presence of friction. (for a ﬁxed wall.) The assumptions used to derive the ﬂow pattern break down: the viscous term η∇2 v which we have neglected in the equation of motion becomes dominant near the edge.6). b) actual ﬂow.1 Self-sustained oscillations. This vorticity is concentrated in the shear layer separating the mean ﬂow from a dead water region (ﬁgure 5.5 Boundary layer velocity proﬁle.6 Sharp bend.5).5. The ﬂow separation can be understood qualitatively when we think of the ball in ﬁgure 5.5 the ﬂow in the boundary layer is not irrotational. This results into a ﬂow separation. U0 123456789012345678901234567890121234567890123456789012345678 123456789012345678901234567890121234567890123456789012345678 123456789012345678901234567890121234567890123456789012345678 123456789012345678901234567890121234567890123456789012345678 123456789012345678901234567890121234567890123456789012345678 123456789012345678901234567890121234567890123456789012345678 If we consider now a sharp bend the velocities following potential ﬂow theory should now become inﬁnitely large at the inner edge (ﬁgure 5. ﬁgure 5. The separation of the boundary layer at the edge implies an injection of vorticity in the main stream. In such a case the ball never succeeds in climbing up the strong pressure gradient just behind the edge. (This can be 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 1234567890123456789012345678901212345678901234 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12345678901234567890123456789012123456789012345678 123456789012345678901234567890 a) b) Figure 5. a) potential ﬂow. δ More accurately: this implies that the normal pressure gradient n·∇ p at the wall is negligible in the boundary layer.

At this moment for a sharp edge this is an accepted principle. The shear layer contains a distribution of vorticity such that the velocity induced at the edge by the vorticity just compensates the singularity of the potential ﬂow (which would exist in absence of shear layer). It is not surprising therefore that in nature the feedback from the acoustic ﬁeld on a ﬂow will often be concentrated at an edge. We see therefore that within a potential ﬂow theory the sharp edges play a crucial 1 rôle because they are locations at which a potential ﬂow can generate vorticity. Hence if next to a stationary ﬂow we impose an unsteady potential ﬂow (acoustic perturbation) the amount of vorticity shed at the edge will be modulated because we modify the singular potential ﬂow at the edge.7). Self-sustained oscillations imply an ampliﬁcation of the acoustic perturbations of the main ﬂow by ﬂow instability (this is the energy supply in the feedback loop).120 5 Resonators and self-sustained oscillations circulation per unit length (d /d ) in the shear layer is just equal to the velocity jump across the layer: d /d = v (ﬁgure 5. between the vortical and potential ﬂow which can change ω within the ﬂow. 1 In a two dimensional frictionless incompressible ﬂow Dω/Dt = 0 so that there is no interaction RienstraHirschberg 11th November 2001 12:00 . This so-called “Kutta condition” implies that a thin shear layer should be shed at the edge. It can be shown that this condition also implies that the shear layer is shed tangentially to the wall at the side of the edge where the ﬂow velocity is the largest. The validity of a Kutta condition for an unsteady ﬂow has been the subject of quite a long controversy.7 Circulation in the shear layer This complex process of separation can be described within the frame of a frictionless theory by stating that the velocity at a sharp edge should remain ﬁnite. v = U0 e x > d = ¹ ¹ v · ds = −U0 d 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 12345678901234567890123456 d v=0 shear layer Figure 5.

a metastable situation as any perturbation will induce a growing ﬂow instability. v= 1 2π + 1 2 + ··· v=− v= 2π + 1 2π + 1 2 + ··· v=− 2π Figure 5. any perturbation will result in a break up of the wake RienstraHirschberg 11th November 2001 12:00 .8b) that a modulation of the vorticity by acoustic perturbations can induce a roll up of the shear layer into a vortex structure as shown in ﬁgure 5.8). The velocity induced by a line vortex of strength law: uϑ = 2πr . For example a lateral displacement of one of the vortices out of the row is sufﬁcient. The most unstable type of ﬂows is the ﬂow between two shear layers of opposite vorticity: jets and wakes (ﬁgure 5. however. is calculated using Biot-Savart’s (5.5. A wake appears to be so unstable that when friction forces are sufﬁciently small (above a certain Reynolds number) it is absolutely unstable [72].1 Self-sustained oscillations.9.8a a row of vortices is (meta)stable because the velocity induced on a given vortex by the vortices left of the point are just compensated by the velocities induced by the vortices at the right (by symmetry).1) where r is the distance between the point at which we consider the velocity and the vortex. Hence we understand (ﬁgure 5. This is. shear layers and jets 121 The instability of a thin shear layer can be understood by considering as a model an inﬁnitely long row of line vortices in a 2-D ﬂow (ﬁgure 5. Hence.10). As we see in ﬁgure 5.8 Instability of a vortex row induced by a non-uniformity of d /d .

which is known as the Von Kármán vortex street [14]. In the ﬁrst case the jet oscillations are controlled by placing a sharp edge in the jet. At low Mach numbers the ﬂow can be described locally as an incompressible ﬂow (compact) and a description of the jet oscillation can be obtained without considering sound propagation or radiation [30]. 167].10. Rockwell [165. A jet left alone (free jet) will also exhibit some speciﬁc oscillations at moderate Reynolds numbers (Re = O(103 )) [12]. The interaction of the jet with the edge induces a complex time dependent ﬂow. kill any clear structure at higher Reynolds numbers. – the jet screech. This periodic vortex shedding is responsible for the typical whistle of an empty luggage grid on a car. periodically shed from a cylinder for Re > 50. As the phase condition in the RienstraHirschberg 11th November 2001 12:00 . however. We consider here only two examples: – the edge tone. A typical result of this is the occurrence of vortices. Turbulence will. and Verge [190].122 5 Resonators and self-sustained oscillations Figure 5. there are many ways to persuade him to whistle! Extensive reviews of these jet oscillations are given by Blake and Powell [13]. structure shown in ﬁgure 5. However.9 Shear layer instability. A jet needs a little help to start whistling.

Self-sustained oscillations occur for those frequencies for which the phase of the signal changes by a multiple of 2π as the signal travels around the feedback loop. As a rough ﬁrst order estimate the perturbations travel in the shear layer with a compromise between the velocities at both sides of the shear layer (about 1 V0 ). The phase shift is therefore determined by the jet. 151]. shear layers and jets 123 feedback loop is determined by the travel time of perturbations along the jet. just like mechanical energy can accumulate in the oscillations of a mass-spring system.10 Jet and wake. tions under which the system is stable or unstable. the crudest models such as proposed by Holger [64] are not less realistic than apparently more accurate models.Figure 5. We assume an instantaneous feedback from the jet-edge interaction towards the separation point from which the shear layers bounding the jet emerge. jet wake The most reasonable linear theory until now is the one proposed by Crighton [30]. Like in the case of many other familiar phenomena there does not exist any simple “exact” theory for jet oscillations. A resonator is a limited region of space in which acoustic energy can accumulate. Both models do predict an amplitude for sound production by the oscillating ﬂow. In spite of the apparent simplicity of the geometry an exact analytical theory of edge tone instabilities is not available yet. The sound radiated by the edge-jet interaction RienstraHirschberg 11th November 2001 12:00 . A major problem of such a linear theory is that it only predicts the condi.5. Placing such an edge tone conﬁguration near an acoustic resonator will dramatically inﬂuence its behaviour. Actually. At the end of this chapter we will discuss the model of Nelson [132] for a shear-layer which is very similar to the model of Holger [64] for an oscillating free jet. It is not able to predict the amplitude of self-sustained oscillations. the oscillation frequency will be roughly proportional to the main ﬂow velocity V in 0 the jet. 2 A more accurate estimate can be obtained by considering the propagation of inﬁnitesimal perturbations on an inﬁnite jet as proposed by Rayleigh [12.1 Self-sustained oscillations.

This reduces the jet oscillations. As stated by Coltman [23] this is “a rather circular procedure in view of the fact that there are many gaps in the theoretical basis for both”. a small variation in frequency results into a large phase shift and this easily compensates the change in travel time along the jet. 193]. 190. The interaction of acoustic perturbations with the edges at the pipe exit results into the formation of periodically shed vortices. In many textbooks the ﬂute oscillation is described as an acoustically driven edgetone system. Simpliﬁed models of the recorder are proposed by Fabre [44] and Verge [192. We will discuss these types of oscillations after we have discussed the acoustics of some elementary type of acoustic resonators. RienstraHirschberg 11th November 2001 12:00 . In particular the interaction with the third cell appears to result into a localized periodic source of sound. 191. It is rather tragi-comic that one describes a system which we would like to understand in terms of the behaviour of a system which we hardly understand. The oscillation condition is still that the total phase change should be a multiple of 2π . demonstrating that the feedback loop described is the one which controls the jet oscillations. In the jet screech we have a supersonic jet which has a cell structure due to the formation of shocks and expansions when the jet pressure at the exit is not equal to that of the environment (ﬁgure 5. An example of such a system is the ﬂute or the recorder. It indeed appears that a recorder is not simply an “edge tone” coupled to a resonator.124 5 Resonators and self-sustained oscillations results now in a second feedback path through the oscillations of the resonator. The acoustic wave travels back towards the pipe exit via the quiescent environment of the jet. When the frequency is close to the resonance frequency of the resonator. In such a case the resonator often imposes its resonance frequency to the system. 167]. We do not always need an edge for jet oscillations. A review of some related supersonic ﬂow oscillations is given by Jungowski [82]. The phase change that a signal undergoes as it travels around the feedback loop is now not only determined by the jet but also by the delay in the acoustic response of the participating resonator. This feedback loop can be blocked by placing a wall of absorbing material around the jet [143. The vortex interaction with a shock wave appears to generate strong acoustic pulses.11). Many of the features observed in a jet oscillation can also be observed in a shear layer separating a uniform main ﬂow from a dead water region in a cavity [166] (closed side branch in a pipe system or open roof of a car).

shear layers and jets 125 Figure 5.1 Self-sustained oscillations. We observe acoustic waves generated by the interaction of a vortex with the shock. The vortex is shed periodically at the nozzle lip.5.11 Under-expanded supersonic jet with typical cell structure. Acoustical feedback has been reinforced in this experiment of Poldervaart and Wijnands (TUE) by placing reﬂectors around the jet nozzle. RienstraHirschberg 11th November 2001 12:00 .

Furthermore resonators are also used to impede the propagation of sound or to enhance absorption.2. We can now calculate the acoustic ﬁeld by using the method of characteristics as described in section 4.126 5 Resonators and self-sustained oscillations 5.2. We then will discuss the behaviour of the Helmholtz resonator. in order to simplify the notation.5). However. The most efﬁcient way to do this is to consider this behaviour in linear approximation for a harmonically oscillating piston. a reader only interested in the ﬁnal RienstraHirschberg 11th November 2001 12:00 .2 Resonance in duct segment We will ﬁrst discuss the behaviour of a pipe segment excited by an oscillating piston.2. We will describe the calculation in detail. The piston starts oscillating at t = 0 and we assume that initially ((ν/ω A)1/2 the ﬂuid in the pipe is quiescent and uniform (u0 = 0).1 Introduction Before considering other types of acoustically controlled ﬂow instabilities we will focus our attention on the acoustic resonator.3) 1 so that an acoustic approximation is valid. An example of this behaviour is the reﬂection of acoustic waves by an air bubble in a pipe ﬁlled with water (section 4. We will see at the end of this section that at critical frequencies the theory does not provide a solution if we neglect friction. We start our discussion with explaining the occurrence of resonance in a duct segment.2) where. We conWe assume that u p /c0 ˆ 1) and we neglect friction and heat transfer sider only plane waves (ω A1/2 /c0 1). we introduced in this subsection the auxiliary function E(t) = H (t) e iωt . Consider a pipe segment 0 < x < L closed at x = L by a rigid wall (u· n = 0) ˆ and at x = 0 by an oscillating piston with a velocity up (t): ˆ u p = u p E(t) at x =0 (5. In the time domain we can understand this so-called resonance behaviour more easily.4. In such a case at least for short times the linear (acoustic) approximation is valid. This is an essential step because in many applications the identiﬁcation of the resonator is sufﬁcient to ﬁnd a cure to self-sustained oscillations. For this reason we will start our discussion by considering the problem in the time domain. 5. (5.2 Some resonators 5.

5. In region I we have a quiescent ﬂuid: pI = 0 and u I = 0. equation (5. (5.6) In region III we have a superposition of the c+ waves emanating from region II and the c− waves generated at the wall x = L: + pIII = pII t − x x−L − + pIII t + .12 Wave pattern induced by a moving piston at x = 0.4) In region II we have the c+ waves generated at the piston: + pII = pII t − x . c0 (5. starting at t = 0.2 Some resonators 127 result can jump to the ﬁnal result.16).7) − pIII can be determined by application of the boundary condition uIII = 0 at x = L: upE t − ˆ L 1 − p (t) = 0. c0 c0 (5.12. (5. The (x. VI t =(4 L + x ) /c 0 t =(4 L − V x ) /c 0 t IV t =(2 L + x ) /c 0 t =(2 L − III x ) /c 0 II t = x /c 0 I x Figure 5.8) RienstraHirschberg 11th November 2001 12:00 .5) Using the boundary condition uII = u p for x = 0 we ﬁnd: + ˆ pII (t) = ρ0 c0 u p (t) = ρ0 c0 u p E(t). − c0 ρ0 c0 III (5. t) diagram is shown in ﬁgure 5.

pV is determined by applying the boundary condition uV = 0 at x = L. Substituting x = 0 in (5. (5.128 5 Resonators and self-sustained oscillations Hence we have: ˆ pIII = ρ0 c0 u p E t − x x − 2L +E t+ c0 c0 .11) ˆ pIV = ρ0 c0 u p E t − .13) and generalizing the structure of the formula we ﬁnd for 2N L/c0 < t < 2(N + 1)L/c0 : N ˆ p2N = 2ρ0 c0 u p e iωt n=0 e−2iknL H t − 2n L 1 .10) + pIV is determined by applying the boundary condition uIV = u p at x = 0: upE t − ˆ and so we ﬁnd: 2L 1 + p (t) = u p E(t) ˆ − c0 ρ0 c0 IV x x − 2L x + 2L +E t+ +E t− c0 c0 c0 (5. c0 c0 (5.12) In region V we have the c+ waves from region IV superimposed on the c− waves generated at the wall x = L: + pV = pIV t − x x−L − + pV t + . where k = ω/c0 .9) In region IV we have a superposition of the c− waves from region III and the c+ waves generated at the piston x = 0: − pIV = pIII t + x−L x + + pIV t − .15) RienstraHirschberg 11th November 2001 12:00 . − c0 2 (5. (5. (5. c0 c0 (5. These original waves have now an additional phase of 2k L. We ﬁnd: ˆ pV = ρ0 c0 u p E t − x x − 2L +E t+ c0 c0 x − 4L x + 2L +E t+ +E t − c0 c0 .13) − As before.14) If we now limit ourselves to the position x = 0 we see that after each period of time 2L/c0 a new wave is added to the original waves reﬂected at the wall and piston.

.6. the pressure increases without limit. n=1 N if a = 1. at least as long as linear theory is valid. 3 . If k L = π for any = 1. where = 1. . if k L = π . It may be veriﬁed that after substitution of x = 0 in (5.. We consider the piston as a volume source placed at x = 0+ . For k L = π . We call this a resonance of the tube. with the resonance frequencies given by 1 c0 /L. c0 t − x c0 t + x . so we obtain: p e−iωt = ρ0 c0 u p ˆ  −2ik(N1 +1)L 1 − e−2ik N2 L e−ikx 1 − e  + e ikx−2ik L 1 − e−2ik L 1 − e−2ik L   −ikx e (N1 + 1) + e ikx N2 (5. N1 = 2L 2L where q denotes the integer part of q. (5.2. . Placing image sources in an inﬁnitely extended tube at x = ±2n L/c0 and summing up all the waves generated yields: ˆ p = ρ0 c0 u p E t − ˆ +ρ0 c0 u p n=1 ∞ |x| c0 E t− |x − 2n L| |x + 2n L| +E t− c0 c0 .16) Note that this series contains always only a ﬁnite number of non-zero terms. RienstraHirschberg 11th November 2001 12:00 . because for large n the argument of the Heaviside function in E becomes negative.5. The resulting 2   1 − a N+1  n = 2 Note that: 1−a a  N + 1 n=0 N if a = 1. .15). N2 = . p converges towards a ﬁnite value. with N = c0 t/2L . We call this the steady state limit. The geometric series may be summed2 .   1 − aN  n = a 1−a a  N if a = 1. and allowing for a small amount of damping by giving ω a small negative imaginary part. 3 .2 Some resonators 129 This structure could also have been obtained by using the method of images described in section 4. 2.. if a = 1.16) we ﬁnd (5.17) if k L = π . 2. So we have (for t > 0) p e−iωt = e−ikx ρ0 c0 u p ˆ N1 e n=0 −2iknL N2 +e ikx n=1 e−2iknL .

22]. Assuming a dominant fundamental harmonic u sin ωt.2).130 5 Resonators and self-sustained oscillations equations are p e−iωt ρ0 c0 u p ˆ  −i cos(kx − k L)   sin k L →   cos(kx) c0 t L if k L = π .13a).18) if k L = π .3. As a result of the temperature dependence of the speed of sound the compression waves tend to steepen up and shock waves are formed. This extreme behaviour will. In an open tube at high amplitudes vortex shedding at the pipe end will limit the amplitude [36]. the power We ˆ corresponding to the energy losses due to the formation of the jet can be calculated RienstraHirschberg 11th November 2001 12:00 . Shock waves are very thin regions with large velocity and temperature gradients in which viscous force and heat transfer induce a signiﬁcant dissipation [4. If we assume an acoustic particle displacement at the open pipe end which is large compared to the tube diameter d we can use a quasi-stationary model to describe (locally) the ﬂow. such a case ﬂow separation will occur only while the acoustic ﬂow is outgoing (ﬁgure 5.13. (5.4. This is a model similar to the one discussed for an oriﬁce in section 4. In u x =0 x=L u Figure 5. only occur in closed tubes at high pressures or at high amplitude (section 4. Let’s assume that the tube is terminated by a horn as shown in ﬁgure 5. When resonance occurs the linearized wave equation is only valid during the initial phase of the build up and if there are no losses at the walls.13 Flow at an open pipe termination at high acoustic amplitudes. however.

23) where u is measured at the open pipe exit. (5.19) where p = − 1 ρ0 u 2 for 0 < t < 1 T and u > 0 because a free jet is formed 2 2 which cannot sustain a pressure difference3 . ˆ 2 (5. Hence: We − 1 ρ u3 S ˆ 2 0 1 2T (5. ˆ 3π (5. while potential ﬂow theory would predict p = pex − 1 ρ0 u 2 .5. i.22) Assuming that friction losses at the pipe wall are negligible we have: Wp 1 Su p ρ0 c0 u.21) The amplitude of the acoustic ﬁeld in the tube can now be estimated by assuming that the losses We at the open end balance the acoustic power Wp delivered by the piston: Wp = S T T 0 u p p (x = 0) dt. that we can represent by a pressure source p = −1 ρ0 u 2 . In terms of the Vortex Sound theory of Howe we would say that when the jet is formed during the outﬂow there is a deviation from potential ﬂow resulting into p = pex .e. We assume also that ﬂow separation occurs at the junction between the pipe and the horn. ωd < u. This is due to the vorticity in the jet which results 2 into a source of sound.20) T sin3 ωt dt = − 0 1 ρ0 u 3 S. 2 For 1 T < t < T and u < 0 we have: 2 p=0 because we have a potential inﬂow into the pipe. ˆ 3 We assume that due to turbulence all the kinetic energy in the jet is dissipated further downstream.2 Some resonators from: We = S T T 131 u 0 p dt (5. since the separation is expected to be delayed considerably by the gentle divergence of the horn. RienstraHirschberg 11th November 2001 12:00 . This is quite pessimistic. 2 c0 (5. Hence we ﬁnd from We + W p = 0: ˆ u ˆ = c0 3π u p .24) The model proposed here is valid when the Strouhal number based on the diameter and the acoustical velocity is smaller than 1.

25) as: up = ˆ p+ − p− Zc (5. To leading order approximation one ﬁnds [102]: Zc = p k0 = ±Z 0 u k (5.132 5 Resonators and self-sustained oscillations The non-linear behaviour of resonators. derived in section 4.7). (In a liquid one should assume γ 1. is now complex and is in ﬁrst order approximation given by: k = k0 + (1 − i)α (5. The boundary conditions at x = 0 and x = L can be written in terms of equation (5.29) RienstraHirschberg 11th November 2001 12:00 . We will now further limit our discussion to the case of harmonic waves.26) where k0 = ω/c0 and α is the damping coefﬁcient given by equation (2.28) While friction is relatively easily taken into account for harmonic waves.27) where the sign indicates the direction of the wave propagation (+x or −x) and Z 0 = ρ0 c0 . When a plane wave approximation is valid a harmonic acoustic ﬁeld in a pipe with uniform cross section can in the absence of mean ﬂow still be described by: p = p+ e iωt−ikx + p− e iωt+ikx .5. makes such devices efﬁcient sound absorbers.7. We will discuss the inﬂuence of radiation from an open pipe end in section 6. however. Hence we seek only for a steady state solution and we assume that linear acoustics is valid. in the time domain friction involves a convolution integral which makes the solution of problems more difﬁcult to analyse [22]. ˆ As an example we consider a piston with a velocity up = u p e iωt at x = 0 exciting a tube of cross section S closed at x = L by a rigid wall. occurring for example with ﬂow separation. In many cases the most signiﬁcant losses are friction losses at the wall. We neglect the radiation losses at x = L (which we will discuss further in section 6. (5. Sound is “caught” by the resonator and dissipated by vortex shedding.25) The wave number k. We further see that wave speed c is affected: c = c0 Re(k) k0 (5.13).) Damping also affects the impedance Zc of an inﬁnite tube.

5. Hence we may in ﬁrst order approximation assume that the pressure perturbation pin and the potential ϕin in the bottle are uniform (Bernoulli in compact region). The impedance Zp seen by the piston at x = 0 is given by: Zp = p+ + p− = −iZ c cot(k L). up ˆ (5. 3.33) When the damping (α L) predicted by laminar boundary layer theory is small the oscillation amplitudes may become so large that the acoustical boundary layers become turbulent. If the cross-sectional area Sb of the bottle is large compared to the cross sectional area Sn of the neck. When the bottle is small compared to the acoustic wave length (for low frequencies). In many technical applications this would imply that resonators used to absorb sound should be large (and expensive). 1 − e−2ik L 133 (5.3. αL (5. Furthermore as we have assumed the bottle neck (length ) to RienstraHirschberg 11th November 2001 12:00 .32) 1: Upon resonance.5.30) (5. 5.14).31) In contrast to our earlier example p+ does not become inﬁnitely large with resonance because k is complex. A solution to this problem is to use a non-uniform pipe in the shape of a bottle. the acoustic velocities in the bottle will be small compared to those in the neck. we ﬁnd for the case α L Zp Zc .3 The Helmholtz resonator (quiescent ﬂuid) The resonance conditions for a duct segment (5.25) imply that the tube length should be of the order of magnitude of the acoustic wave length (k L = O(1))..2 Some resonators and 0 = p+ e−ik L − p− e ik L so that we ﬁnd: p+ = Zcu p ˆ ... This implies a non-linear energy dissipation as discussed in section 4.2. Re(k) = nπ/L with n = 1. . the body of the bottle acts as an acoustic spring while the neck of the bottle is an acoustic mass (ﬁgure 5. 2.

34) Neglecting non-linear terms (i. we can neglect compressibility and 1 dϕin 1 dϕex + ρ0 u 2 + pin = ρ0 + ρ0 u 2 + pex . in ex dt 2 dt 2 (5. the use of a reasonable estimate for δ is important. Intermezzo: End correction As in many technical applications an oriﬁce is used instead of bottle neck ( = 0). Hence we have: ϕex − ϕin = ( + 2δ)u n . assuming the ﬂow to be uniform. dt (5. (5. If we use the neck velocity un . added by a small end correction δ (4. k apply Bernoulli in the form: ρ0 1.85 Sn π 1 2 (5. be short compared to the wave length. For an oriﬁce with a circular aperture: δ = 0. (5.35) The potential difference ϕex − ϕin .36) will evidently scale on a typical length times a typical velocity. u2 and u 2ex ) we have: in ρ0 d (ϕin − ϕex ) = pex − pin .e.37) . frictionless and incompressible in a pipe with uniform cross section. then the corresponding length will be the neck length .38) RienstraHirschberg 11th November 2001 12:00 . given by ϕex − ϕin = ex in u · dx.51) to take into account the inertia of the acoustic ﬂow at both ends just outside the neck (inside and outside the resonator).14 Helmholtz resonator as mass-spring system.134 5 Resonators and self-sustained oscillations pex Sn K m un Sb V u in pin 0 Figure 5.

Flow separation will certainly occur when the acoustic particle displacement RienstraHirschberg 11th November 2001 12:00 .2. 2 dt 2 Sn c0 (5.40) We can ﬁnd a second equation by applying the integral mass conservation law on the volume V of the bottle.4 Non-linear losses in a Helmholtz resonator The theory described in the previous section assumes that there is no-ﬂow separation.39) See also section 6.42) yields: ( + 2δ)V d2 pin + pin = pex .35) we ﬁnd: ρ0 ( + 2δ) du n = pin − pex .43) Hence we see that the Helmholtz resonator reacts as a mass-spring system with a resonance frequency ω0 given by: 2 ω0 = 2 Sn c0 .41) and (5. In linearized form we ﬁnd for the density perturbation ρin : V dρin = −ρ0 u n Sn .37) in Bernoulli (5.2 Some resonators For an unﬂanged thin-walled open-pipe end we can use the approximation: δ = 0. dt (5. ( + 2δ)V (5. Values of δ for various other geometries are given by Ingard [75].61 Sn π 1 2 135 .40) by using (5.41) Assuming an adiabatic compression of the ﬂuid in the bottle we can eliminate ρ in by using the constitutive equation: 2 pin = c0 ρin . Using (5.5. (5. (5.7.42) Elimination of ρin and u n from (5.44) 5. dt (5.

Furthermore losses occur for an oriﬁce in both ﬂow directions.6 [34]. When Sr = O(1) ﬂow separation will occur even if these edges are rounded off.136 5 Resonators and self-sustained oscillations has an amplitude comparable to the diameter of the neck. In the case of an oriﬁce with sharp edges. A multiplescales solution for this problem may be found in section 8. Using V Q0 u in pin 0 u0 + un Sn Figure 5.2.15).15 Helmholtz resonator with a mean ﬂow. 5. one should take into account the fact that the jet diameter tends to be smaller than the oriﬁce diameter by a factor β called the vena contracta factor. The Strouhal number 1 ﬂow separaSr = ω(Sn /π )1/2 /u n yields a measure for this effect. while in a pipe with horn we assumed losses to occur only upon outgoing acoustic ﬂow.3. When Sr tion will only occur locally at sharp edges of the neck (or oriﬁce).45) where we have applied Bernoulli between a point at the entrance of the neck and a point just at the exit and we have neglected the velocities in the resonator (S b Sn ).2. (This is a reasonable assumption RienstraHirschberg 11th November 2001 12:00 .2). We have assumed that the pressure in the jet is uniform and equal to p . In principle the effect of ﬂow separation can under these circumstances be described by assuming the formation of a quasi-stationary jet as for the pipe end (section 5.5 The Helmholtz resonator in the presence of a mean ﬂow We consider a Helmholtz resonator of volume V . the ex ﬂuctuations due to an external acoustic source. For a thin oriﬁce β 0. neck length and neck surface Sn in which we inject a continuous volume ﬂow Q0 = u 0 Sn (ﬁgure 5. the equation of Bernoulli we now ﬁnd ρ0 ( + 2δ) du n + 1 ρ0 (u 0 + u n )2 + pex = p0 + pin 2 dt (5. Using a quasi-stationary Bernoulli equation this implies an enhancement of the pressure loss p by a factor β −2 .

48) 2 Eliminating ρin by using the constitutive equation pin = c0 ρin and eliminating pin from (5. on its turn. This is true. We see that the mean ﬂow induces a damping factor which we might a priori not have expected because we did not assume friction losses nor heat transfer. For a harmonic excitation pex = pex e iωt we ﬁnd: ˆ 2 M0 + iω1 ω/ω0 ˆ ρ0 c0 u n =− 2 pex ˆ 1 − (ω/ω0)2 + iM0 ω1 ω/ω0 (5. pex − + 2δ dt ρ0 c0 ρ0 ( + 2δ) dt ω0 is deﬁned by equation (5.47) (5. This conﬁrms that the Kutta condition is indeed a quite signiﬁcant assumption [29].5. which is.47) and (5. dt (5. dt (5.1)! This implies that a varying exit velocity un modulates the vorticity shed at the edges of the pipe exit.44) and M0 = u 0 /c0 . The key assumption which has introduced damping is that we have assumed that the pressure perturbation at the pipe exit is equal to the environment pressure perturbation pex . RienstraHirschberg 11th November 2001 12:00 . which implies separation of the ﬂow at the pipe exit and a Kutta condition to be added to an inviscid model (section 5. because the ﬂow leaves the exit as a jet4 .49) where ω1 = c0 /( +2δ). 4 A very interesting proof of the fact that a quasi-stationary subsonic free jet cannot sustain any pressure difference with the environment is provided by Shapiro [178]. Separating the zero and ﬁrst order terms for u 0 /c in the acoustic perturbations and neglecting second order terms we ﬁnd p0 = 1 ρu 2 0 2 and ρ0 ( + 2δ) du n + ρ0 u 0 u n + pex = pin . a loss of kinetic energy for the acoustic ﬁeld.46) Using the linearized mass conservation law we have neglecting terms of order (u 0 /c0 )2 : V dρin = −(ρ0 u n + ρex u 0 )Sn .2 Some resonators 137 1 and ω(Sn /π )1/2 /u 0 1).48) we ﬁnd: d2 u n + dt 2 d pex u 0 du n ω 2 M0 1 2 + ω0 u n = − 0 .

so that their sum will automatically satisfy these conditions if this sum converges uniformly.50) The Green’s function is the sum of all the contributions of these sources: Figure 5.2.2 and section 5. . The functions fn we will consider will (only) satisfy the boundary conditions at x = 0 and x = L. Another representation for the 1-D Green’s function on [0. (5.52) in a suitable basis { fn }.16 Images of source at x = y. For a pipe segment 0 < x < L closed by rigid walls a source at x = y in the pipe segment is represented by a row of sources (in an inﬁnitely long pipe) at positions given by (ﬁgure 5. 2.3 Green’s function of a ﬁnite duct Formally. In this case we will not start from elementary solutions of the wave equation.16) xn = ±(2n + 1)L ± y..51) It is clear that such a formal solution has no simple physical interpretation.. the Green’s function of a ﬁnite duct can be obtained if we neglect friction and losses at the pipe terminations by using the method of images (section 4.2). 3. L] that might be useful in some applications is found by a series expansion of the Fourier transform g of ˆ g: ∞ g= ˆ n=0 An f n (x) (5. τ ) = 1 2c0 H t −τ + n=0 x + (2n + 1)L − y c0 x + (2n + 1)L + y c0 x − (2n + 1)L − y + H t −τ − c0 x − (2n + 1)L + y + H t −τ − c0 + H t −τ + . n = 0. t|y. (5.138 5 Resonators and self-sustained oscillations 5. 1. Hence we will construct RienstraHirschberg 11th November 2001 12:00 .6. ∞ g(x.

it is evidently necessary that the basis { fn } is complete. and convenient that it is orthogonal to some suitable inner product. which is easily seen by direct integration: If n = m: L 0 L f n (x) fm (x) dx. (5. fn approaches the Fourier-sine series basis. fm ) = 0 ∗ (Note: not . if Z L /k L = iC and C is real.55) (5. (n + 1 )π Z L 2 (5. we note that { fn } is orthogonal to the L2 inner product: ( fn .. For example.. fm (x) . The number of solutions between 0 and (n + 1 )π (for n → ∞) is not always exactly n. there is no purely imaginary solution Y = iσ with tanh(σ )/σ = −C if C > 0 or C < −1. Depending 2 on Z L /k L it may differ by 1..56) sin(K n x) sin(K m x) dx = sin(K n L − K m L) sin(K n L + K m L) − =0 2(K n − K m ) 2(K n + K m ) (5. which disappears to inﬁnity if C → 0.54). Consider: f n = sin(K n x) with K n determined by the equation ZL tan(Y ) =i Y kL with K n L = Y .59) RienstraHirschberg 11th November 2001 12:00 . If n = m: L 0 sin2 (K n x) dx = 1 L − 2 sin(2K n L) = 4K n n. and exactly one solution if −1 < C < 0. Furthermore.57) after application of (5.5. deﬁned by: δ(x − y) ˆ d2 g + k2g = − ˆ 2 2 dx c0 (5.58) We now seek an expression for the Green’s function. Let’s now for simplicity assume that the pipe segment is limited by a rigid wall at x = 0 and an impedance ZL at x = L.).53) so that for large n. (5.54) (5. Note that for n → ∞ (Z L = 0) Kn L (n + 1 )π + 2 ik L + .3 Green’s function of a ﬁnite duct 139 now a tailored Green’s function (section 3. Finally.1)..

4 Self-sustained oscillations of a clarinet 5. and ii) any source with a frequency ω = Kn c0 (so that Kn = k) yields an inﬁnite ﬁeld.61) We see explicitly that: i) the Green’s function is indeed symmetric in x and y (source and observation points) as stated earlier in section 3. section 5. in other words: resonance. When the frequency ω of the source is close to a resonance frequency this resonance will dominate the response of the pipe segment and we can use a single mode approximation of the Green’s function.140 5 Resonators and self-sustained oscillations in the form (5. (5. Note that in general Kn is complex. 2 (K n − k 2 ) n (5.and right-hand side by fm .60) Hence we have: g(x.4. This is the approximation which we will use when discussing the thermo-acoustic oscillations in a pipe segment (Rijke tube. and integrating over [0. so that such a source strength increases exponentially in time. multiplication left. Substitution of the series. – the temporal simulation. 5. In some case such a coupling can cause the failure of a security valve.5). Instead of looking at a technical application we are going to consider a musical instrument. L] yields (because of orthogonality): 2 (k 2 − K m ) m Am 2 = − f m (y)/c0 . y) = ˆ 1 2 c0 ∞ n=0 f n (x) f n (y) .1 Introduction The coupling of acoustic oscillations to mechanical vibrations is a technically important problem [198]. RienstraHirschberg 11th November 2001 12:00 .52).1 (reciprocity). The model used is very crude and only aims at illustrating the principles of two methods of analysis: – the stability analysis.

Sr is the surface of the reed and h is the aperture of the reed channel through which the air ﬂows from the mouth to the pipe.2 Linear stability analysis A simpliﬁed model of a reed instrument like a clarinet is a cylindrical pipe fed by a pressure reservoir P0 (the mouth) through a valve (reed).17 Simpliﬁed clarinet. The reed has a mass mr and is maintained at a rest position hr by a spring of constant Kr . The aim of the simpliﬁcation is to allow for a real time simulation of a clarinet! We will restrict our discussion to the principle of the solution of the problem. The equation of motion of the reed is: Sr h mr Kr L Figure 5.63) RienstraHirschberg 11th November 2001 12:00 .17). u p S p 0 uB mr d2 h dh + K r (h − h r ) = −Sr (P0 − p ) = −Sr p. In the second case we consider a simpliﬁed non-linear model developed by McIntyre et al.5. We assume that the ﬂow in the reed channel is quasi-stationary and that at the end of the reed channel a free jet is formed. The results of the calculations can be found in the literature. + γr 2 dt dt (5.4 Self-sustained oscillations of a clarinet 141 In the ﬁrst case we consider a linear model and deduce the minimal blowing pressure necessary to obtain self-sustained oscillations. Neglecting pressure recovery by mixing of the jet with the air in the pipe we assume the pressure p to be uniform in the jet and equal to the pressure at the pipe inlet.62) γr is the damping coefﬁcient of the reed. The ﬂow volume Qr of air into the pipe is given in this approximation (if we neglect friction) by the equation of Bernoulli: Q r = u B hw = hw(2| p|/ρ) 2 sign( p) 1 (5. 5.4. The aperture h of the valve is assumed to be controlled by the pressure difference p = P − p 0 between the mouth pressure P0 and the acoustic pressure p in the pipe just behind the reed (ﬁgure 5. [107] which can be used for time domain simulation.

If we consider a small perturbation of the P0 ) we can linearize the equations and consider the behaviour rest position ( p of a harmonic perturbation p = p e iωt . u 0 = (2P0 /ρ0 ) 2 .65b) (5.142 5 Resonators and self-sustained oscillations where w is the width of the reed channel and uB the (Bernoulli) velocity of the air in the jet.65d) Since the system of equations 5. ˆ The steady state values of h and Qr are given by: h0 = hr − Sr P0 . This allows to determine the threshold of pressure above which oscillations occur and the frequency of the most unstable mode which starts oscillating.65a) (5. 1 The linear perturbations are governed by the equations: ˆ ˆ (−ω2m r + iωγr + K r )h = Sr p uB = − ˆ u0 p ˆ 2P0 (5.65c) ˆ ˆ ˆ Q r = w(hu 0 + h 0 u B ). The acoustic velocity u at the entrance of the pipe (x = 0) is given by: u = Qr S (5.66) If Im(ω) > 0 the perturbations are damped. If we assume Im(ω) = 0 equation (5. K Q 0 = u 0 h 0 w. We further assume that the acoustical behaviour of the pipe is described by an impedance Z p (ω) so that: ˆ p = Z p Q r /S. It is clear that the steady state amplitude in a clarinet can only be reached by non-linear saturation of the system because linear theory predicts a monotonically growing or decaying amplitude. When Im(ω) = 0 the perturbations are neutral.65a–5. they do not change in amplitude. ˆ (5. (5. A discussion of the solution of this clarinet RienstraHirschberg 11th November 2001 12:00 . it can only be satisﬁed if the determinant vanishes.64) where S is the pipe cross sectional area.66) becomes an equation for Re(ω) and P0 . and if Im(ω) < 0 the perturbations grow in time.65d is homogeneous. This condition yields an equation from which we can calculate ω for a given P0 : −ω2 m r + iωγr + K r = Sr u 0 h 0u 0 S + Z pw 2P0 −1 .

RienstraHirschberg 11th November 2001 12:00 . This is for example the case in harmonium reeds [181] and for valves in water like river gates [88]. Fluctuations Q r = (dQ r /d p ) p in Q r induced by pressure ﬂuctuations in the pipe are negative for p < pcrit and positive for p > pcrit . is given by Gazengel [53] and Kergomard in [61].4. A discussion of the ﬂow through double reeds and the vocal folds is given by Hirschberg [61]. The acoustical power 3 W= 1 T p dV = 1 T T p 0 1 dV dt = dt T T p Q r dt 0 produced by the ﬂuctuating volume ﬂow Qr = dV should at least be positive.4 Time domain simulation Early attempts to describe the non-linearity of a clarinet were based on a modal expansion of the acoustic ﬁeld in the pipe.3 Rayleigh’s Criterion An interesting analysis of the problem of clarinet oscillation is already obtained by considering the very simple quasi-stationary reed model: h = hr − Sr p K and Q r = hw 2| p| sign( p). We will use it again in the analysis of thermo-acoustical oscillations. This implies that the Green’s function 5 was approximated by taking the contribution of a few (one to three) modes into 5 Standing waves in the pipe closed at the reed end.5. It is interesting to note that in some cases the inertia of the ﬂow in the reed which we neglected is the main driving force for instability. 5. We dt consider here an oscillation period T in order to sustain oscillations. The criterion p Q r dt > 0 is called the Rayleigh criterion for acoustical instability. 5. When p > hr K /Sr = pmax the reed closes and h = 0.4. Between these two zero’s of Qr it is obvious that Qr > 0 and should be a maximum at a pressure difference which we call critical pcrit 1 pmax . including non-linear effects.4 Self-sustained oscillations of a clarinet 143 model. This explains the presence of a blowing pressure threshold below which the clarinet does not play. ρ0 √ When p = 0 there is obviously no ﬂow because u = 2| p|/ρ0 sign( p) vanishes.

70) where ∗ indicates a convolution (equation C. Zc (5. The key feature of a clarinet mouthpiece is that this abrupt non-linearity is replaced by a softer non-linearity because upon touching the wall the reed gradually closes as it is bent on the curved wall of the mouthpiece (called the lay) and its stiffness increases because the oscillating part is becoming shorter. and (5. Elimination of p+ and p− from (5. we ﬁnd: p− = r ∗ p+ (5.70) yields: p = Z c u + r ∗(Z c u + p ) where u is calculated at each time step by using (5. The collision of the reed against the wall of the mouthpiece can result in a chaotic behaviour [53]. In fact the most spectacular non-linearity is due to the limited movement of the reed upon closing. (5.63).66).144 5 Resonators and self-sustained oscillations account (equation (5.68) The pipe has a characteristic impedance Zc (= ρ0 c0 when friction is neglected) so that: u = p+ − p− .71) sign( p).65d). As stated by McIntyre [107] the non-linearity in a clarinet is not weak. 2 However.69) If we now deﬁne the reﬂection function r(t) as the acoustic wave p− induced by a pressure pulse p+ = δ(t). A full solution is obtained by the method of harmonic balance discussed by Gilbert [54].10). The numerical procedure is further based on the knowledge that the acoustic pressure p at the reed is composed of an outgoing wave p+ and an incoming wave p− (result of the reﬂection of earlier p+ wave at the pipe end): p = p+ + p− .62): K r (h − h r ) = −Sr (P0 − p ) = −Sr p (5.64) and (5. The typical procedure is further to assume a weak nonlinearity which implies that a perturbation method like the method of averaging can be used to calculate the time dependence of the modes [52]. Hence McIntyre [107] proposes to use the steady approximation of (5.63).72) RienstraHirschberg 11th November 2001 12:00 .68)–(5.61)). the high resonance frequency of the reed ωr = K r /m r suggests that a quasi-stationary model of the reed could be a fair ﬁrst approximation.67) combined with (5.67): w Sr p hr − u = S Kr 2| p| ρ0 1 2 (5. (5. (5. (5.

18).72) to ﬁnd a solution. however.71) step by step. In section 2.5.73) is a numerically slowly converging integral because zp has an oscillatory character corresponding to the response p of a close tube to a pulse u = δ(t) (tube closed at pipe inlet).73) which can be combined with (5. function which is not tailored may be more appropriate than a tailored one. using the previous value of p to calculate u in the convolution of the right-hand side (5. It appears. At low Mach numbers in gases. that (5.5 Some thermo-acoustics 145 The solution is obtained by integrating (5.6 we have seen that variations s in entropy should act as a volume sound source (if we use p as acoustic variable). entropy variations due RienstraHirschberg 11th November 2001 12:00 .1 Introduction We have focused our attention until now on wave propagation and interaction of acoustic ﬁelds with isentropic ﬂows.5. The reﬂection function r is in fact calculated in a semi-inﬁnite tube and therefore has not such an oscillatory character (ﬁgure 5.5 Some thermo-acoustics 5. Using z p would have given the integral equation: p = z p ∗u (5.71). the Fourier transform of Z p . We will now discuss such effects as an interesting example of self-sustained oscillations in resonators. So it appears that a Green’s u = δ(t) p = zp y=0 p+ = δ(t) b) p− = r p− y=L a) Figure 5. 5. The interesting point in McIntyre’s approach is that he uses a reﬂection function r(t) (which is the Fourier transform of R(ω) = (Z p − ρc)/(Z p + ρc)) rather than z p .18 Difference between z p and r .

Gervais [141]. acoustic waves interacting with a wall induce a transfer of heat which can be used to design an acoustically driven cooling machine. This phenomenon has been extensively studied by Rott [121. The fascinating aspect of this phenomenon is that it can be inverted. For ideal gases one can. among which Merk [110]. We will now focus our attention on the effect of unsteady heat transfer at walls. Mixing of hot and cold gases results into ﬂuctuations of the entropy caused by the unsteady heat conduction (equation 2. Candel & Poinsot [19]. Entropy ﬂuctuations occur mainly as a result of combustion (or vapour condensation) in the bulk of the ﬂow or as a result of heat conduction at the wall. He found that placing an electrically heated gauze in the lower part of a vertical tube open at both ends would induce strong acoustical oscillations. in a very systematic series of papers. can lead to instability. Hence temperature ﬂuctuations associated with pressure ﬂuctuations will induce variation in combustion rate. show that this sound source has a vanishing monopole strength (Morfey [115]. Placed in a closed tube a ﬂame can couple with standing waves. Even in free space this implies a strong increase in sound production. This implies a source of sound which. [32]. and Putnam [148]. Convection of entropy spots during the mixing of a hot jet with the environment dominates the low Mach number behaviour (Crighton [32]. Bayly [6].2 M2 ). Obermeier [134]). 172. The subject has been studied as a model for combustion instability by many scientists. The ultimate engine consists of two thermo-acoustic couples (el- RienstraHirschberg 11th November 2001 12:00 .85).146 5 Resonators and self-sustained oscillations to dissipation are negligible (order 0. 205]. More recent information on the interaction of combustion with acoustic is found in Crighton et al. Morfey [115]). This type of instability is known in aircraft engine as a re-heat buzz (Keller [84]. Radebaugh [149] and Swift [183]. Such engines have been studied by Wheatley [200]. We experience this effect when we ignite the ﬂame of a gas burner. Kwon and Lee [91]. McIntosh [106]. Closely related phenomena of acoustical oscillations induced by a temperature gradient in a tube is used by scientists to detect the level of liquid Helium in a reservoir. however. 173. if it is in phase with the acoustic ﬁeld. This type of interaction has already attracted the attention of Rayleigh [151] in the form of the Rijke tube oscillation. Bloxsidge et al. [15]). Heckl [59]. The reaction rates depend exponentially on T . This experiment was carried our ﬁrst by De Rijke around 1848 [164]. Combustion instability is often triggered by the strong dependence of combustion processes on temperature. 171. De Rijke considered the use of such a device as an organ pipe. and Raun [150]. The “singing ﬂame” has already been discussed extensively by Rayleigh [151]. This sound source has the character of a dipole. 170.

We will limit our discussion to a simple analysis of the Rijke tube oscillation.74) (5. We now limit ourselves to the ﬂat plate (n = 0) and we use a low frequency limit from which the memory effect will become more obvious than from Schlichting’s solution. T∞ − Tw δT u(y) = (5. corresponding to ωw/u∞ layers the ﬂow is uniform. In this approximation the viscous stress τw at the wall is given by: τw = η u∞ δV (5.5.75) Such an approximation is only valid for low frequencies and small perturbation 1 and u /u 0 1. We further approximate the velocity and temperature proﬁles in the boundary layers by: u∞ y δV y T (y) − Tw = . This is a cooling machine without moving parts! driver cooler very hot cold very cold cold Figure 5.2 Modulated heat transfer by acoustic ﬂow and Rijke tube We consider a thin strip of metal of temperature Tw and width w aligned along the mean ﬂow direction in a uniform ﬂow u∞ . We assume that δV /w and δT /w 1.76) RienstraHirschberg 11th November 2001 12:00 .19 Heat driven acoustical cooling engine. Along the strip viscous and thermal boundary layers δV (x) and δT (x) will develop.19) [184]. 5.5 Some thermo-acoustics 147 ements with a a temperature gradient): one at the hot side which induces a strong acoustic ﬁeld and a second at the cold side which is driven by the ﬁrst (ﬁgure 5. For small ﬂuctuations u are small and that ωw/u∞ of u ∞ around an average value u0 the ﬂuctuations in the heat transfer coefﬁcient can be calculated as described by Schlichting [175] for any mean ﬂow of the type u 0 ∼ x n (wedge ﬂow). Outside the boundary amplitudes. while δV /δT = O(1).5.

77) q = −K ∂ y y=0 δT Using an integral formulation of the conservation law in boundary layer approximation we ﬁnd [175]: 2δ 2 ∂u ∞ u∞ ∂ 2 ∂ + δV = 4ν − V (5. however. (5. The boundary conditions are: δV (0) = δT (0) = 0 at x = 0.80) In air we have Pr < 1 and hence in general δV < δT .78a) ∂t 3 ∂x u ∞ ∂t 2 1 δT ∂ 2 δT 3 ∂ 2 ∂ + u∞ δT = 4a + u ∞ δ for δT < δV ∂t 3 δV ∂ x 3 δV ∂ x V (5.148 5 Resonators and self-sustained oscillations and the heat transfer q at the wall by: T∞ − Tw ∂T = −K . (5. − ∂t 3 ∂x 3 ∂x 3 δ0 u0 ∂ x (5.83a) (5. (5. (5.82) Using the notation δ0 = δT = δV for the stationary solution we ﬁnd in linear approximation: 1 ∂ 1 δ0 ∂u u ∂δ0 δ ∂ + u0 δV = − − u0 V + ∂t 3 ∂x u 0 ∂t 3 δ0 u0 ∂ x 2 ∂ 1 1 ∂δ u ∂δ0 δ − δT ∂ + u0 δT = + u 0 V + u 0 V . This is certainly a very crude approximation in a Rijke tube.81) (5. use further the assumption Pr = 1 because we do not expect an essentially different physical behaviour.78b) δT 2 ∂ 2 2 δT ∂ 2 ∂ + u∞ 1 − δ = 4a − u ∞ − δ for δT > δV ∂t δV ∂x T 3 δV ∂ x V (5.78a) is: 12νx 1 2 u0 while δT can be calculated from (5.78b): δV = δT = δ V .83b) RienstraHirschberg 11th November 2001 12:00 . We will.78c) where a is the thermal diffusivity of the gas: K .79) a= ρC P 1 in order to keep the Note that we have used the assumption (Tw − T∞ )/T∞ equations simple. The stationary solution of (5.

Hence we will assume that only the fundamental mode can be excited. When the tube is horizontal we impose u0 by blowing.5 Some thermo-acoustics where u ∞ = u 0 + u .20 Rijke tube.5. When the tube is vertical a ﬂow u0 will be induced by free convection (the tube is a chimney). As shown in ﬁgure 5. This corresponds to a single mode expansion of the Green’s function (5. Figure 5. We see that the perturbations 3 in δT move along the strip with a phase velocity 2 u 0 which 3 implies a “memory” of the heat transfer q for perturbations u of the mean ﬂow.20). This memory is crucial for the understanding of the Rijke tube instability. x=L p = p(x) cos ωt ˆ x =0 u =− x = −L d p sin ωt ˆ dx ρ0 ω u0 Figure 5. These equations can be solved by integration along the characteristics: (x = 1 u 0 t) for (5. at a quarter of the tube length in the upstream direction (at the lower part of the tube for a vertical tube).83a) 3 and (x = 2 u 0 t) for (5.21 Pressure p and acoustic velocity u distribution for the fundamental mode.83b). x=L 149 x=0 hot grid It appears that the tube starts oscillating at its fundamental x=−L u0 frequency f0 = c/4L when the heating element is placed 1 at x = − 2 L.61). As proposed by Rayleigh [151] we start our analysis by placing the warming element at the center of the tube (x = 0). In the pipe we place a row of hot strips (or a hot gauze).21 the acoustic velocity u at x = 0 will vanish for the funda- RienstraHirschberg 11th November 2001 12:00 . The Rijke tube is an open pipe of length 2L (ﬁgure 5. We will now explain this. Note that some excitation of higher modes can be obtained but these are weak because of increased radiation losses at high frequencies.

68) has been substituted: 1 ∂2 p − ∇2 p 2 c0 ∂t 2 ρ0 ∂ T 2 c0 T0 ∂ρ ∂ ∇· q S ∂t (5.87). An optimal amplitude of q is obtained just at the end of the pipe at x = −L where u has the largest amplitude.67 in which (2. The variation of heat transfer q is only due to the temperature ﬂuctuations T = (γ − 1)γ −1 p of the gas in the main ﬂow.85) This equation can also be derived from the equation for the work A performed by volume variation dV : A= p dV (5. Hence we understand that the Rijke tube oscillation is due to modulation of q by the acoustic velocity ﬂuctuations u .7 the power W produced by the source is (2. If we neglect the “memory” effect of the heat capacity of the boundary layers the heat ﬂux q decreases when p increases because Tw − T is reduced.86) which can be written as: A= 0 T p dV dt dt (5.63) or in linearized form ∂(m/ρ0 )/∂t.84) which corresponds to a volume source term ∂2 (βρ f )/∂t 2 in (2. As derived in section 2.85) that the source is ineffective at this position. However.150 5 Resonators and self-sustained oscillations mental mode. at this place p is close to zero so that we see from (5. Furthermore. We now easily understand that as q is opposite in phase with p the presence of a hot element at x = 0 will damp oscillations of the fundamental mode of the pipe. We therefore see that the position x = −1 L is a compromise between 2 RienstraHirschberg 11th November 2001 12:00 .87) where dV /dt = m/ρ0 dV and T = 2π/ω is the oscillation period. The acoustic effect of the unsteady heat transfer q is given in a quantitative way by the linearized equation 2. The rate of volume injection dV /dt corresponds to the volume integral V ∇ · q dx = S q · n dσ which is the integral of the heat transfer from the heating element. as the transfer of heat from the wall to the gas implies an expansion of the gas we can also understand (5.84) in terms of (5.80): W= V p m dV. ρ0 (5.

22 for ωτ = 1 π . t) Figure 5.83b) that: τ=O 3w 2u 0 (5. As the delay τ is due to the “memory” of the boundary layer we expect that τ > 0.5 Some thermo-acoustics 151 an optimum for p and an optimum for q. If the heat transfer would react instantaneously on u then q would vary as sin(ωt) while p varies as cos(ωt). A memory effect of 1 π will shift the phase of the heat transfer q 2 from that of u (the quasi-steady approximation) toward that of p . Pulsations induced by a hot grid placed at x > 0 would involve a larger delay: ωτ = 3 π . ¡ « u (x > 0. As we will explain such a condition implies a 2 very low ﬂow velocity and hence much weaker oscillations. t) È p (x. t) È Ã t u (x < 0. Also when π ≤ ωτ ≤ 2π we expect that the oscillations will be damped out. and cannot anticipate on perturbations of u . t) τ ¹ q(x. The time delay τ is determined by the time that a perturbation in δT remains along the strip. the delayed heat ﬂux q is 2 in phase with p if x < 0. Hence the occurrence of oscillations is due to a delay τ in the reaction of q on u . The key of this is that for x < 0 the pressure p 2 2 increases when the acoustic velocity u enters the pipe (u > 0) upwards while for x > 0 the velocity is downwards at that time.5. The hot gas remains around the warming element blocking the heat transfer.22 Sketch of time dependence of p and u in the upper (x > 0) and lower (x < 0) part of the tube. Hence.88) where w denotes the length of the heated strip in ﬂow direction. since the boundary layer integrates. As we see from the diagram of ﬁgure 5. As a consequence W integrated over a period of oscillation would vanish. In practice this oscillation mode at low velocities is not observed. We still have to understand why it should be x = − 1 L and not x = 1 L. an optimum of RienstraHirschberg 11th November 2001 12:00 . It is the part of q which is in phase with p that produces the sound in a Rijke tube. When we blow very hard the residence time τ of a perturbation δT in the boundary layer on the strip will be very short because we expect from (5. When we do not blow hard enough the boundary layers δ0 will be very thick.

This gaze can be cut in a square of 2. RienstraHirschberg 11th November 2001 12:00 . ωw (5.5 cm2 . the wires being separated by a distance in the order of 1 mm.152 5 Resonators and self-sustained oscillations pulsations may be expected for ωτ = 1 π : 2 π wω = .89) and (5. that pulsations disappear.2 mm to 0. In experiments with a horizontal pipe it is quite easily observed that blowing too hard reduces τ such. We now understand. Note that at very large amplitudes (u /ωw > 1) there is a wake upstream of the strip during part of the oscillation period. 6 Since the design of a vertical Rijke tube driven by natural convection is not easy we provide here the dimensions of a simple tube. Of course in order to obtain a stable oscillation the temperature Tw should reach a critical limit. u0 3 (5.5 mm diameter.89) This behaviour is indeed veriﬁed by experiments. The proposed saturation model has ﬁrst been used by Heckl [59]. has not yet been presented.90) back ﬂow will occur from the wake towards the strip. On the contrary. one should use a metal gaze made of wires of 0. We see that such a theory is not necessary to predict the order of magnitude of the oscillation amplitude.90). A comprehensive theory of the Rijke tube oscillation. A small candle is a very 2 suitable heat source. The strip is then surrounded by pre-heated gas and this blocks the heat transfer. The most obvious effect is that when the acoustic particle displacement becomes comparable to the width of the strip: u = O(1). The pipe will produce its sound after the candle is drawn back. why in the experiment one ﬁnds typical amplitudes of the order of u = O(u 0 ). imposed by blowing through the pipe. by combination of (5. including non-linear effects and the inﬂuence of large temperature differences. this is less critical6 than in a vertical pipe where the temperature element also drives the main ﬂow u0 . For a glass pipe of 2L=30 cm length and an inner diameter of d =2. While we have seen that certain conditions are favourable for an oscillation we did not yet discuss the non-linear effects leading to saturation. For a horizontal tube at a ﬁxed u0 .5 cm.5×2. it is sufﬁcient to isolate the essential limiting non-linearity. It is interesting to note that Rayleigh [151] describes this non-linear effect of saturation as a “driving” mechanism. The bended corners can be used to ﬁx the gaze at its position (x = − 1 L).

131. 132. u0 V u0 w V Figure 5. We now ignore these effects for the sake of simplicity and because we do not have available any theory that predicts these corrections.23 Helmholtz resonator in a wall with grazing ﬂow. These corrections are either due to “end corrections” or to the transition from a pressure perturbation p in the resonator to a velocity or displacement perturbation of the shear layer.6 Flow induced oscillations of a Helmholtz resonator 153 5.5. 73. We will now discuss models which can be used to predict the order of magnitude of the pulsations. When ω = ω0 we ﬁnd a maximum of the pulsation amplitude and the phase condition is entirely determined by the shear layer. 40. RienstraHirschberg 11th November 2001 12:00 . 36.6 Flow induced oscillations of a Helmholtz resonator In view of the large amount of applications in which they occur. ﬂow induced pulsations of a Helmholtz resonator or wall cavity have received considerable attention in the literature [8. 68. 18. We will now more speciﬁcally consider a grazing uniform ﬂow. The conﬁguration which we consider is shown in ﬁgure 5. 69.1.23. 58. 166. 168]. In principle the ﬂow instability has already been described qualitatively in section 5. 109. Self-sustained oscillations with a frequency ω close to the resonance frequency ω 0 of the resonator occur when the phase condition for a perturbation in the feedback loop (shear layer/resonator) is satisﬁed and the gain is sufﬁciently large. In principle we should add to the convection time of the perturbation along the shear layer a phase shift at the “receptivity” point upstream and another at the “excitation” point downstream.

In the experiments one observes in most cases for a grazing uniform ﬂow a spectacular non-linear behaviour of the shear layer [17]. 166. However. The ﬁrst hydrodynamic mode (n = 1) is usually the strongest because it corresponds with the highest velocity at which pulsations occur.4u 0 .91) 0. In most experiments mode numbers higher than n = 5 are not observed. 2.4u 0 across the slot (see ﬁgure 5.. 166]. (5. It appears that a linear theory is only valid for low pulsation amplitudes. 3. . A remarkable exception is the oscillation found inside solid propellant rockets for which 6 ≤ n ≤ 12 [196]. It is often assumed that the perturbations along the shear layer grow according to a linear theory.23 in ﬁrst order approximation perturbations of the shear layer (at the opening of the resonator) propagate with a velocity uc of the order of 1 u 0 . Equation (5.92) imposes an upper bound to the hydrodynamic mode instability. 61.154 5 Resonators and self-sustained oscillations In both conﬁgurations of ﬁgure 5. It appears from experiment that when the travel time of a perturbation 2 across the opening width w roughly matches the oscillation period 2π/ω of the 0 resonator (or a multiple of 2π/ω0) pulsations occur. ..4u 0 (5. At moderate acoustic amplitude u /u 0 = O(10−1 ) one can assume that the acoustic ﬁeld only triggers the ﬂow instability but does not modify drastically the amount of vorticity shed at the upstream edge of the slot. A new vortex is generated following Nelson’s experimental observations at the moment that the RienstraHirschberg 11th November 2001 12:00 . Equation (5. Furthermore when the hydrodynamic wave length (w/n) becomes comparable to the gradient length δ in the grazing velocity proﬁle (boundary layer thickness at the wall) the ﬂow becomes stable and the perturbations are damped. 168]. The vorticity of the shear layer is concentrated into discrete vortices. we found in some experiments that this is no guarantee for stability [17]. 132] in which one assumes a vortex of strength given by: d dx d = · = u0 · 1 u0 (5. 131.92) the ﬂow is linearly stable. This leads to the model of Nelson [17. Typically one ﬁnds a velocity u c 0.92) can be used to choose a reasonable spoiler height. Typically for: δω0 >2 0. in the range of u /u 0 ≤ 10−3 . A currently used cure for pulsations is to place a device called “spoiler” which increases δ just upstream of the cavity [17. n = 1.4u 0 More complex phase condition depending on the geometry and the Mach number has been reported by [12.7). Hence the phase condition for instability is [61]: ω0 w = 2π n.93) 2 dt dx dt travelling at a velocity uc = 0.

(ω × v) · u dV. Using Howe’s analogy as described in section 2.25) because −(ω × v) is opposite to u . The amplitude of the pulsations depends critically on the shape of the edge at which vortex shedding ocurs.7 one can calculate the acoustic pulsation amplitude. As friction and radiation losses scale on u 2 .98) RienstraHirschberg 11th November 2001 12:00 .6 and 2. At a sharp edge u is large because the potential (acoustic) ﬂow is singular. radiation and heat transfer losses with the power generated by the vortices.24 Rounded upstream edge. As the source strength ∇· (ω × v) is independent of u we ﬁnd a ﬁnite amplitude by balancing the friction. we would expect from this theory to ﬁnd pressure amplitudes scaling with the dynamical pressure of the ﬂow p = O( 1 ρu 2 ).5. This effect can be understood as follows. When an edge is rounded off u is not singular and the initial absorption will be modest. the acoustic power W generated by vortices due to instability of the grazing ﬂow along an oriﬁce of area (w × B) is given by W = O(5 · 10−2 ) 1 ρ0 u 2 w Bu 0 2 where u is the amplitude of the acoustic velocity ﬂuctuations through the oriﬁce. u0 vortex V Figure 5. This occurs indeed when 0 2 the edges of the slot are sharp. (2.6 Flow induced oscillations of a Helmholtz resonator 155 acoustic velocity u is zero and is increasing (directed into the resonator. Upon formation of a new vortex the acoustic ﬁeld u is directed towards the interior of the resonator. Typically. Using Howe’s formula: W = −ρ0 V we see that the vortex is initially absorbing energy from the acoustic ﬁeld (ﬁgure 5. p in the resonator is at a minimum).

3). 132] provide insight but are not able to predict accurately the amplitude of the oscillations. when u0 is so large that the travel time (w/0. A typical amplitude observed in Helmholtz resonators is u /u 0 = O(10−1 ). If we increase the blowing velocity the sound disappears. This effect can easily be experienced by whistling with our lips.156 5 Resonators and self-sustained oscillations −(ω × v) W production t v T u absorption Figure 5.2. 191]. This amplitude is also typical of a recorder ﬂute or a whistle [61. 89]. The discussion given here provides some qualitative indications for various basic phenomena of cavity oscillation. when those 0 effects balance each other. Howe [70] observes that at high amplitudes the vortex sound absorption scales on u 3 whereas the sound production scales on u u 2 . The net sign of W over a period T = 2π/ω0 of oscillation depends of course also on the amount of energy produced by the vortex in the second half of the acoustic period when the acoustic velocity u is directed outwards from the resonator [17. This behaviour is indeed observed [17. In many engineering applications insight is sufﬁcient for taking remedial mea- RienstraHirschberg 11th November 2001 12:00 . the amplitude u scales on u0 . Hence. then only absorption 2 occurs. In [89] it is observed that at very high amplitudes (u /u 0 = O(1)) in a resonator formed by side branches along a pipe. Self-sustained oscillations are impossible in this case. is the shedding of vorticity by the acoustic ﬂow. The main amplitude limitation mechanism at high amplitudes. Another possible mechanism at high amplitudes is the transition of acoustical ﬂow from laminar into turbulent (section 4. u /u 0 > 0. At the upstream edge this implies an increase of the shed vorticity with u and a dependence of the initial damping on u 3 .25 Absorption of acoustic energy by vortex shedding.5. non-linear wave propagation resulting into the generation of non-resonant cavity modes was a major amplitude limiting mechanism. 89].4u0 < 1 T ). Of course. Models as the one of Nelson [131.4u0 ) of the vortex across the slot is shorter than half a period (w/0.

Assume that the two pistons move harmonically with the same velocity u p e iωt .28a. The edges of the junction at the main pipe are rounded off.26) of cross sectional surface S. Calculate the amplitude p of the acoustic ﬁeld at the piston following linear theory ˆ for ωS 1/2 /c < 1 as a function of S1 /S2 and L. b) When the impedance Z (L) at a pipe end is small. when a prediction of the amplitude is required a more detailed ﬂow model is needed.27). |Z (L)| ρ 0 c0 . Such models are not yet available. How large is the amplitude of the acoustic ﬁeld under these circumstances for 0 < x < L? d) Consider a piston placed at the end of a closed side branch of cross sectional surface S1 along a main pipe with a cross sectional surface S 2 (ﬁgure 5. b and c. Estimate the largest amplitudes that may be reached before linear theory fails. Sp S up x =0 Figure 5. Show that ˆ under speciﬁc conditions the acoustic ﬁeld vanishes for x > L and x < 0. Assume that u p = 1 m/s which ˆ ˆ RienstraHirschberg 11th November 2001 12:00 . Calculate the amplitude of the acoustic ﬁeld for Z (L) = ∞. For Z (L) = ∞ (closed wall) calculate the power generated by the piston. Neglect friction in the pipe. Neglect friction in the tube. Assume that radiation losses at the open ends are negligible. e) What is the impedance Z p of the piston for the conﬁgurations of ﬁgure 5.5.26 Two pistons along a pipe. Are these conﬁgurations at certain critical frequencies equivalent to closed resonators? f) Consider a clarinet as a cylindrical pipe segment of 2 cm diameter and 1 m long driven by a piston with a velocity u p = u p e iωt . up x=L x c) Consider two identical pistons of surface S p placed at a distance L from each other along an inﬁnitely extended pipe (ﬁgure 5. δ is called the end correction of the pipe.6 Flow induced oscillations of a Helmholtz resonator 157 sures. The side branch has a length L. Derive a relationship between δ and Z (L). Exercises a) Calculate the impedance seen by a piston placed at the end x = 0 of a tube closed at x = L by an impedance Z (L). one can consider the pipe being terminated at virtual position x = L + δ by a purely resistive impedance Z (L) = Re Z (L). However.

27 T-junction. Calculate the pressure at the piston assuming an ideal open RienstraHirschberg 11th November 2001 12:00 . Assume that the pipe is driven at the ﬁrst (lowest) resonance frequency. L S2 2 3 p 0 a) L 1 up S1 S 2 1 3 S L 5 2L 4 b) L up S S up S p c) 0 1 2 S L p 0 L Figure 5.158 5 Resonators and self-sustained oscillations S2 L up S1 Figure 5.28 Coupled T-junctions. is a typical order of magnitude.

which is closed by an elastic membrane (tension T .. Assuming an ideal open end at x = L 1 + L 2 + L 3 ..and outside the cavity: ˆ ∇ 2 p + k 2 p = 0.6 Flow induced oscillations of a Helmholtz resonator 159 end behaviour without radiation losses or ﬂow separation.5. Calculate the amplitude of the ﬂuid particle displacement at the pipe end. Calculate the same quantities if a quasi-stationary model is used at the pipe end to describe ﬂow separation of the outgoing acoustic ﬂow while friction is neglected. ˆ ˆ iωρ0 u + ∇ p = 0 ˆ ˆ ˆ for k = ω/c0 . Is a quasi-stationary model reasonable? up S1 S2 S1 L3 p 0 L1 L2 up S1 L1 L2 S2 L3 S1 p 0 Figure 5. Two solutions can be considered S 2 > S1 and S1 < S2 (ﬁgure 5.) the pressure difference across the ˆ membrane: T ∇ 2 η + ω2 σ η = pupper − plower ˆ ˆ The normal velocity u · n at both sides of the membrane is equal to ∂η/∂t = ˆ iωη e iωt . provide a set of equations from which we can calculate the amplitude of the acoustic velocity u end at the pipe end for a given velocity u p of the piston.29a and b). g) A pipe segment with a different cross sectional area S 2 than the cross section S1 of the rest of the pipe can be used as a ﬁlter to prevent the propagation of waves generated by a piston. The membrane displacement η = η e iωt is driven by (and drives. with acoustic perturbations p = p e iωt in. as the air follows the membrane. mass density σ ). ˆ RienstraHirschberg 11th November 2001 12:00 . The cavity is hard-walled on all sides (u · n = 0) except one. ˆ ˆ h) Introduction: A possible 3-D model for a kettle drum consists of a cavity in free space.29 Resonators in a pipe.

j) Assuming that p ex = 0. Calculate the transmitted acoustic ﬁeld following linear theory. closed at x = 0. with Im(ω n ) > 0. Are there solutions with Im(ω) = 0? How are these to be interpreted physically? i) Consider the Helmholtz resonator as an acoustic mass-spring system. RienstraHirschberg 11th November 2001 12:00 . for which (discrete) set {ωn } does there exist a solution without forcing? Note that since the waves radiate away into free space any solution will decrease and die out (called “radiation damping”). ∞) at x = L at x = 0 at x = L for x → ∞. a piston moving in the bottom wall). i. and (in general) the possible ω n ’s will be complex. solve this for some simple cases. and kept in position by a spring. L) ∪ (L.e.30 Helmholtz resonator driven by a piston k) Consider a Helmholtz resonator in a semi-inﬁnite pipe driven by a piston at x = 0 (ﬁgure 5. Problem: A 1-D variant of the kettle drum problem is a semi-inﬁnite pipe (0 ≤ x < ∞) of typical radius a. What is the condition for which there is no transmission.30).g. how would the Helmholtz resonator react to a periodic ˆ volume injection Q = Q e iωt into the bottle (e. Determine the equation for ω. and try to indicate the general solution graphically in the complex ω-plane for dimensionless groups of parameters. What are the acoustic mass m and the spring constant K of this mass-spring system. L up Sn V S Figure 5. and a piston-like element at x = L (modelling the membrane) driven by the pressure difference across x = L.160 5 Resonators and self-sustained oscillations A basic musical question is: what is the spectrum of this system. ˆ px x + k 2 p = 0 ˆ −8T a −2 η + ω2 σ η = p(L+) − p(L−) ˆ ˆ ˆ ˆ px = 0 ˆ p x = ω2 ρ0 η ˆ ˆ outgoing waves for x ∈ (0.

τ ) ∂τ y=0 dτ. L] using the Green’s function g a corresponding to the geometry of ﬁgure 5.18a (with (∂g a /∂y) y=0 = 0 and (ga ) y=L corresponding to the impedance of the pipe seen from the position y = 0) we ﬁnd: 2 p = −ρ0 c0 t −∞ ∂ga u (y.6 Flow induced oscillations of a Helmholtz resonator 161 Sp Figure 5.12). 1 n) Assuming ρ0 ω u ˆ ˆ2 ˆ 2 ρ0 u . Compare this with the maximum pressure which can be reached in a 1 λ pipe resonator (with one open end). RienstraHirschberg 11th November 2001 12:00 . p) Using the integral formulation (3. This equation is equivalent to (5. V air water Sp S Figure 5.32 Exercise m m) Consider a volume V ﬁlled with air connected by a short pipe of length to a pipe ﬁlled with water (ﬁgure 5. estimate the maximum acoustic velocity u which can ˆ e iωt in a Helmholtz resonator if friction be reached for given volume injection Q and heat transfer are neglected.32). 4 o) Calculate the value of p in / pex at resonance for a Helmholtz resonator in the presˆ ˆ ence of mean ﬂow of velocity u 0 through the neck. Calculate the reﬂection and transmission coefﬁcient following linear theory for a wave p + e iωt−ikx incident from the left. Calculate the transmission coefﬁcient and reﬂection coefﬁcient following linear theory for an acoustic wave p + e iωt−ikx incident from the left.31 Two oriﬁces V Sd l) Consider the volume V between two oriﬁces of equal aperture surface S d S p in a pipe of surface S p (ﬁgure 5.31). Derive this equation starting from (3.5.12) on [0.73).

3 m. Given that the maximum power is given by W = 0. Assume that the effective neck length is w.05 1 ρ0 u 2 uwB 0ˆ 2 estimate the amplitude of the acoustic pressure p in the resonator for air if: ˆ V = 3 m3 .5 m.25 m. Do you expect that at this amplitude vortex shedding at the pipe end will be a signiﬁcant acoustic energy loss mechanism? r) Consider a Helmholtz resonator with a volume V and a slot aperture w × B placed in a wall with a grazing ﬂow (ﬁgure 5. (A car with open roof!). B = 0. RienstraHirschberg 11th November 2001 12:00 . s) Give an order of magnitude of the acoustical pressure ﬂuctuations in a clarinet. w = 0.162 5 Resonators and self-sustained oscillations q) Calculate the expected acoustic optimal amplitude in a vertical Rijke tube of 1 m length and 5 cm diameter in which a gauze with a strip of width w = 1 mm has been placed at x = −0.23).

6 6. for the particular case of a spherically symmetric acoustic ﬁeld the wave equation reduces . However. However. 6.1 Spherical waves Introduction In the previous chapter we have considered the low frequency approximation of the acoustics of pipes and resonators. Furthermore.5) we will consider the radiation of a compact body by using Curle’s formalism (section 6. Finally the radiation from an open pipe termination will be discussed (section 6. quadrupole.6).2 Pulsating and translating sphere The wave equation in 3-D allows quite complex solutions.4).6.2) we will derive an expression for the free ﬁeld Green’s function G0 (6. Two-dimensional acoustic waves have a complex structure as may be seen from the Green’s functions given in Appendix E (see the discussion by Dowling et al.7). Note. Taylor’s series expansion of G0 will be used to introduce the concepts of monopole. and therefore could be neglected in our analysis. The method of images will appear to be a very powerful tool to get insight into the effect of boundaries on radiation (section 6. Starting from an exact solution of the acoustic ﬁeld induced by the pulsation and translation of a sphere (section 6. This will be used to get insight into the sound generated by a ventilator. After a summary of the classical application of Lighthill’s analogy to free jets (section 6. Hence. for the calculation of environmental noise the radiation is crucial.37). dipole. the vibration of elastic structures is an essential part of the radiation path. etc. if sound would not escape we would not hear it.36. and multipole expansion (section 6. Radiation of sound from such systems was assumed to be a small effect for the internal acoustic ﬁeld. To keep things manageable we will assume that the vibrating objects are small compared to the wave length (compact bodies) and that we radiate sound into an unbounded homogeneous quiescent ﬂuid (free space). [39]). as sound often is transferred through walls.3).

4) RienstraHirschberg 11th November 2001 12:00 .1) where r is the distance between the observation point and the origin.3a) and the linearized mass conservation law: ∂(v r 2 ) ∂(ρ r 2 ) = −ρ0 . and eliminate v by subtracting the time derivative of r2 times the momentum equation (6. Hence. Compared to 1-D waves the relationship between pressure p and acoustic velocity v now shows a drastically new behaviour which depends on the ratio of r and the acoustic wave length.164 to: 6 Spherical waves 1 ∂ 2 ∂p 1 ∂2 p r − 2 2 ∂t 2 r ∂r ∂r c0 =0 (6. 2 ∂r 2 c0 ∂t 2 (6. The general. We eliminate ρ by using the constitutive 2 equation p = c0 ρ . The key for solving (6.3a) from the spatial derivative of the mass equation (6. formal solution of (6. These features may be derived from the radial component of the (linearized) momentum conservation law: ρ0 ∂p ∂v =− ∂t ∂r (6. while for kr 1 we ﬁnd a “far ﬁeld” region in which the waves behave locally as plane waves. The radius of curvature of the wave front is large compared to the wave length.1) is that we can formulate a 1-D wave equation for (r p ): 1 ∂ 2 (r p ) ∂ 2 (r p ) − = 0.3b). This yields the wave equation (6.3b) The mass in a volume shell 4πr2 dr changes as a result of the difference between 4πr 2 v and 4π(r + dr)2 v (r + dr) in ﬂux.78a).2) is: rp = F t − r r +G t + . c0 c0 (6.1). ∂t ∂r (6. as the surface of a spherical wave increases with r2 the amplitude p (r) should decrease as r−1 to keep energy constant as the wave propagates.2) This result can easily be understood because acoustic energy scales with p 2 (equation 2. In three dimensions we have a region with kr 1 called “near ﬁeld” in which we ﬁnd a behaviour of v which is close to that of an incompressible ﬂow.

2 Pulsating and translating sphere 165 combining an outgoing wave F and an incoming wave G.5): ρ0 1 a ∂ 2a 1 F = 2F t − + 2 ∂t a c0 c0 a t− a . in contrast with the 1-D situation.6) ˆ The ﬁrst term in v is 1 π out of phase with p and therefore does not contribute to ˆ 2 I = p v .9) 2 1). This behaviour is found by substitution of (6.5) We now observe that the ﬁrst term of (6. we can use linear acoustics. Hence: ˆˆ ˆ ˆ p v = 1 (v p∗ + v ∗ p) = 4 p p∗ ˆˆ . RienstraHirschberg 11th November 2001 12:00 . the second derivative to time of the volume of the sphere is the source of sound.21a. iωρ0r ρ0 c0 ρ0 c0 kr (6. the acoustic velocity v has a rather complex behaviour. Using (6. If (∂a/∂t)/c0 movement of the sphere boundary yields the equation derived from (6.3a): ρ0 1 r ∂v 1 = 2F t − F + ∂t r c0 c0r t− r . Only the second term does contribute to the acoustic energy ﬂux I = p v . while the sphere of radius a(t).5) we can now determine the acoustic ﬁeld generated by a pulsating 1.23). so we deﬁne the “free ﬁeld” as the region for which G = 0.6.5): ˆ p = p e iωt = we ﬁnd v= ˆ p ˆ p ˆ i p ˆ + = − +1 .5) corresponds. to an incompressible ﬂow behaviour (r2 v = constant) while the second term corresponds to wave-like phenomena.8) A very systematic discussion of this fundamental solution is given by Lighthill [102]. This result of a vanishing incoming wave in free space may also be formulated as a boundary condition at r → ∞ (2.4) into the momentum conservation law (6. 2ρ0 c0 (6. for r/c0 much smaller than the typical inherent time scale. This may be veriﬁed by substitution of a harmonic solution into (6.2.7) A iωt−ikr e 4πr (6. c0 (6. c0 (6.59). We ﬁnd For a compact sphere the ﬁrst term is dominating (a(∂2 a/∂t 2 )/c0 exactly the result which we could anticipate from (2.2.21b. Far away there is no incoming wave. As already stated.

14) RienstraHirschberg 11th November 2001 12:00 . If ϕ is a (spherically symmetric) solution of the wave equation: 1 ∂ 2ϕ − ∇ 2ϕ = 0 2 c0 ∂t 2 (6.6) by substitution of v = iωa in (6. The solution of the problem is easily obtained since we can generate from the spherically symmetric solution (6.9) is dominating for large sphere 2 1).7) at r = a0 . in contrast to the monopole source corresponding to a compact pulsating sphere.7) we ﬁnd: ika0 ika0 + (ka0 )2 Z = = .166 6 Spherical waves A steady expansion of the sphere (∂a/∂t = constant) does not (in this approximation) generate sound. This is what 0 we call a dipole radiation source. The second term of (6.13) Hence (see (3. For harmonic oscillations of the sphere ˆ (a = a0 + a e iωt ).12) 1) (6. ˆ ˆ p(a0 ) = ˆ Hence p(r) = − ˆ ˆ ω2 ρ0 aa0 −ik(r−a0 ) e .17)) a compact vibrating object in free space will be a very ineffective source of sound. ρ0 c0 1 + ika0 1 + (ka0 )2 We see that the real part of the radiation impedance of a compact sphere (ka 0 is very small: Re Z ρ0 c0 (ka0 )2 (6. (1 + ika0 )2 (6. 4π a0 1 + ika0 We can also determine the acoustic impedance Z Z(ω) = p(a0 ) ˆ p(a0 ) ˆ = v(a0 ) ˆ iωa ˆ (6.10) A −ika0 ω 2 ρ0 a ˆ e =− .11) Using (6.4) non-spherically symmetric solutions by taking a spatial derivative (see equation 2.22b). The most simple example of this behaviour is a translating sphere of constant radius a . In such a case the action of the wall movement is that radii (a(∂ 2 a/∂t 2 )/c0 of a piston which generates plane waves. the amplitude A of the radiated ﬁeld is found from (6. This effect becomes even more dramatic when we consider the radiation of a compact vibrating object of constant volume.

ϑ) = v0 · r a0 |r|=a0 = v0 cos ϑ.6.17) can be written as: p= ˆ ˆ 3 −iωρ0v0 a0 cos ϑ ∂ e−ik(r−a0 ) .3a): ˆ iωρ0v = − A cos ϑ ∂ 2 e−ikr .19) so that the pressure ﬁeld (6. This pressure ﬁeld simply corresponds to ˆ 2 the inertia of the incompressible ﬂow induced by the movement of the ﬂuid from RienstraHirschberg 11th November 2001 12:00 .16) ˆ we can use the derivative in the x-direction. any derivative of Eq. 1− r kr (6.21) (6.2 Pulsating and translating sphere then any derivative of ϕ .18) Using the boundary condition (6. This pressure is related to the acoustic velocity v by the momentum conservation law (6. For a harmonic oscillation v = v0 e iωt 0 with (v0 /ωa0 ) ˆ 1 the pressure ﬁeld p is given by: p=A ˆ ∂ e−ikr ∂x r = A cos ϑ ∂ e−ikr ∂r r (6. So if we try to ﬁnd the ﬁeld of a translating sphere with velocity v0 (in x-direction). where at its surface the radial ﬂow velocity is given by: v (a0 . ∂r 2 r (6.17) ∂r because ∂ x = cos ϑ. (6. (6.16) for r = a0 we can now calculate the amplitude A for given v0 : ˆ iωv0 = − A ˆ 2 + 2ika0 − (ka0 )2 −ika0 e 3 a0 (6. 2 + 2ika0 − (ka0 )2 ∂r r 1 we see that: i a0 cos ϑ e−ikr .6) is a solution. such as (∂ϕ /∂ xi ) or (∂ϕ /∂t).20) In the limit of (ka0 ) p ˆ ˆ − 1 (ka0 )2 ρ0 c0 v0 2 Again we observe a near ﬁeld behaviour with a pressure decreasing as r−2 and ˆ for which p is 1 π out of phase with v0 .15) in particular. 167 (6. is also a solution: 1 ∂ 2 ∂ϕ 2 c0 ∂t 2 ∂ xi − ∇2 ∂ϕ ∂ xi = 0.

We have neglected surface tension.23) where pr (a0 ) is the acoustic pressure due to the spherical waves generated by the bubble oscillation.168 6 Spherical waves the front towards the back of the moving sphere. We can locally assume the pressure pb in the bubble to be uniform and we assume a spherical oscillation of the bubble of equilibrium radius a0 : ˆ a = a0 + a e iωt . we will now consider some speciﬁc free ﬁeld effects. Having discussed aspects of bubble acoustics in a pipe in section 4.4. pr (a) is related to a by the impedance condition: ˆ ˆ pr (a) = iωa Z ˆ (6.21) for r = a0 with 1 we see that: (ka0 ) p(a0 ) ˆ 1 ρcv ˆ 4 0 0 0 cos ϑ 2ika0 + i(ka0 )3 + (ka0 )4 . which does not produce any signiﬁcant sound directly. Note. because it has a chaotic behaviour [107]. If this is not the case the two oscillators start a complex interaction.25) where γ = 1 for isothermal compression and γ = CP /C V for isentropic compresˆ sion. This is a factor (ka0 )2 weaker than the already weak radiation power of a compact pulsating sphere. (6. While the string is a compact oscillating cylinder (row of oscillating spheres). Consider the oscillation of a compact ˆ air bubble in water as a response to an incident plane wave pin = pin e iωt−ikx in free space (deep under water). we assume an ideal gas behaviour in the bubble: pb a = −3γ p0 a0 (6. which is called for a violin a “wolf tone”.26) RienstraHirschberg 11th November 2001 12:00 . Furthermore. scales as a0 Re[ p(a0 )]. In order to provide a stable sound one should avoid in string instruments elastic resonances of the body which are close to that of the string. which is in phase with v0 .24) (6. The pressure in the bubble is given by: pb = pin + pr (a0 ) (6. as the drag on the sphere. it induces vibrations of a plate which has dimensions comparable with the acoustic wave length and hence is radiating with an acoustic impedance ρ0 c0 which is a factor (ka0 )4 more efﬁcient than direct radiation by the string. So we now understand the need of a body in string instruments or of a sound board in a piano.5. ˆ ˆ2 2 we see that the acoustic power generated by the sphere scales as ρ0 c0 v0 a0 (ka0 )4 . From (6.22) 2 ˆ Hence.

2 Pulsating and translating sphere 169 and Z(ω) is given by equation (6.33) Hence the ﬁsh scatters sound with an effective cross section of the order of the acoustic wave length at ω0 (an effective increase of the cross section by a factor (k0 a0 )−1 ). 94]. 2 For water ρ0 c0 = 2 × 104 bar.24) with (6.28) ˆ pr (a0 ) = iωa Z = − ˆ and ˆ pr = pr (a0 ) ˆ a0 −ik(r−a0 ) e . at resonance sound is scattered quite efﬁciently: pr = −i ˆ pin −ik(r−a0 ) ˆ e . r Using (6.26) we ﬁnd: − or: 3γ p0 a = pin + iωa Z ˆ ˆ ˆ a0 pin ˆ 3γ p0 1−i ωa0 Z (6.12) we can write (6.6.30) 3γ p0 . hence up to p0 = 100 bar one can still assume bubble oscillations at resonance to be compact.31) It is interesting to note that at resonance (ω = ω0 ) under typical conditions a bubble is compact because: (k0 a0 )2 = ω0 a0 c0 2 = 3γ p0 2 ρ0 c0 (6. k0 r (6.29) ω0 2 1− 1 + ika0 ω where ω0 is the Minnaert frequency deﬁned by: 2 ω0 = (6. Furthermore. RienstraHirschberg 11th November 2001 12:00 . As we know a0 from ω0 the intensity of the scattered ﬁeld yields information on the amount of ﬁsh. 2 ρ0 a0 (6.28) as: pr (a0 ) = − ˆ pin ˆ (6.30) has many interesting further applications [39.25) and (6.32) is small as long as p0 2 ρ0 c0 .12). Hence combining (6. sonar detection of ﬁshes by using a sweeping incident sound frequency yields information about the size of ﬁshes because the resonance frequency ω0 of the swim bladder yields information on the size a0 of the ﬁsh. For example. Another fascinating effect of bubble resonance is the very speciﬁc sound of rain impact on water [147].27) (6. Equation (6.

2 ∂ xi2 2π c0 (6.23). may be found in Appendix E.170 6 Spherical waves 6.1) ∂ 2G0 2 − c0 ∂t 2 ∂ 2G0 = δ(x − y)δ(t − τ ) ∂ xi2 (3. If 2 we let ε → 0 we ﬁnd that A = (2π c0 )−1 e−iωτ . Integration of (6.34) has the form (see equation (6. G 0 can only be a function of distance r = |x − y|.3 Multipole expansion and far ﬁeld approximation The free ﬁeld Green’s function G0 deﬁned by equation (3.1) and the Sommerfeld radiation condition (2. given by. r = ε.34) ∞ −∞ ˆ G 0 e iωt dω ˆ where k = ω/c0 .36) RienstraHirschberg 11th November 2001 12:00 .34) over a small sphere Bε around y. yields by application of Gauss’ theorem ˆ ∂ 2G0 ˆ + k 2 G 0 dx = ∂ xi2 ˆ ∂ G0 n i dσ + ∂ xi − Bε 1 δ(x − y) e−iωτ dx = 2 2π c0 Bε ˆ k 2 G 0 dx = Bε ˆ 1 −iωτ ∂ G0 e + O(ε 2 ) = − A + O(ε) = − 2 ∂r 2π c0 ∂ Bε 4π ε2 where n i denotes the outward normal of Bε .35) where A is to be determined. So we have: ˆ G0 = e−iω(τ +r/c0 ) e−iωτ −ikr = 2 2 8π 2 c0 r 8π 2 c0 r (6. but ˆ can be derived as follows. and we used the fact that ε is small. We start with considering the Fourier transform G 0 of G 0 . From symmetry arguments. say. so the solution of (6.6)) A −ikr ˆ e G0 = 4πr (6. with G0 = and satisfying ˆ 1 ∂ 2G0 ˆ + k2G0 = − δ(x − y) e−iωτ .

6.3 Multipole expansion and far ﬁeld approximation and, using equation (C.30), G0 = δ(t − τ − r/c0 ) . 2 4πrc0

171

(6.37)

For a given source distribution q( y, τ ) in a compact region of volume V (enclosed by the surface S) we can ﬁnd a representation based on a Taylor series expansion in which the source q( y, τ ) is replaced by a series of elementary sources (monopole, dipole, quadrupole...) placed at the origin ( y = 0). Of course, to be meaningful such a representation should converge rapidly, which corresponds to the condition that V is compact (k| y| 1). We start from the integral formulation (3.13) for a tailored Green’s function and ﬁnd:
t

p ρ = 2 = c0

G 0 (x, t| y, τ )q( y, τ ) d ydτ.
−∞

(3.13)

V

The expansion of (3.13) can be obtained by expanding the Green’s function G0 in a Taylor series or by carrying out ﬁrst the time integral. Using (6.37) we ﬁnd: ρ = V q( y, t − r/c0 ) d y. 2 4πrc0 (6.38)

By expansion of q/r around y = 0, this formal approach described by Goldstein [55] yields:

ρ (x, t) =
j,k,l=0

∂ j +k+l
k l ∂ x1 ∂ x2 ∂ x3 j

(−1) j +k+l m j kl (t − |x|/c0 ) 2 4π |x|c0

(6.39)

where m j kl (t) is deﬁned by: m j kl (t) = V
k l y1 y2 y3 q( y, t) d y. j ! k! l! j

(6.40)

The ( j kl)-th term of the expansion (6.39) is called a multipole of order 2j +k+l . Since each term is a function of |x| only, the partial derivatives to xi can be rewritten into expressions containing derivatives to |x|. In general, these expressions are rather complicated, so we will not try to give the general formulas here. It is, however, instructive to consider the lowest orders in more detail as follows.

RienstraHirschberg 11th November 2001 12:00

172

6 Spherical waves

Starting from the original formula (3.13), we expand the Green’s function: G 0 (x, t| y, τ ) = G 0 (x, t|0, τ ) + yi and write (3.13) in the form:
t

∂ G 0 (x, t|0, τ ) + · · · . ∂ yi

(6.41)

ρ =
−∞

G 0 (x, t|0, τ ) + yi V

∂ G 0 (x, t|0, τ ) + · · · q( y, τ ) d ydτ. ∂ yi (6.42)

The ﬁrst term corresponds to the monopole:
t

ρ0 =
−∞ t

G 0 (x, t|0, τ )q( y, τ ) d ydτ V G 0 (x, t|0, τ )
−∞

=

q( y, τ )d y dτ. V

(6.43)

This becomes, by using the properties of the delta function in (6.37): ρ0 = V m 0 (t − |x|/c0 ) q( y, t − |x|/c0 ) dy = 2 2 4π c0 |x| 4π c0 |x| (6.44)

where we wrote for brevity m0 = m 000 . We have concentrated the source at the origin and m 0 (t) = V The next term is the dipole term:
t 3

q( y, t) d y.

(6.45)

ρ1 =
−∞

yi V
i=1

∂ G 0 (x, t|0, τ )q( y, τ ) d ydτ. ∂ yi

(6.46)

RienstraHirschberg 11th November 2001 12:00

6.3 Multipole expansion and far ﬁeld approximation Since G 0 is a function of r = |x − y| rather than yi we can write1 :
t 3

173

ρ1 =
−∞ 3

yi − V
i=1

xi ∂ G 0 (x, t|0, τ ) q( y, τ ) d ydτ |x| ∂|x| yi q( y, t − |x|/c0 ) dy 2 4π c0 |x| (6.47)

=−
i=1 3

xi ∂ |x| ∂|x|

V

=−
i=1

xi ∂ m 1,i (t − |x|/c0 ) 2 |x| ∂|x| 4π c0 |x|

where we wrote for brevity: m1,1 = m 100 , m 1,2 = m 010 and m 1,3 = m 001 . If q is a point source this dipole term is easily visualized as shown in ﬁgure 6.1.

.....

Figure 6.1 First step in the multipole expansion of a point source.

The dipole of strength m1,i , which we should place at the origin ( y = 0): m 1,i (t) = V is obtained by bringing the (point) source q towards the origin while increasing its strength and that of the opposite (point) source −q at the origin in such a way that we keep | y|q constant. A dipole ﬁeld is not isotropic because in a direction normal to the vector y the two sources forming the dipole just compensate each other, while in the other directions due to a difference in emission time there is a net acoustic ﬁeld. This effect of the
1

yi q( y, t) d y,

(6.48)

∂G 0 ∂r ∂G 0 ∂r ∂G 0 ∂G = =− = − 0. ∂ yi ∂ yi ∂r ∂ xi ∂r ∂ xi

RienstraHirschberg 11th November 2001 12:00

174

6 Spherical waves

x−y ϑ x y y·x |x|

Figure 6.2 Retarded or emission time difference is ( y · x/|x|)/c0 = (| y| cos ϑ)/c0 .

difference in retarded time (ﬁgure 6.2) between the sources in the dipole simpliﬁes in the far ﬁeld as follows. Writing (6.47) as:
3

ρ1 = −
i=1

xi |x|

V

yi 1 ∂ q( y, t − |x|/c0 ) − 2 c0 |x| ∂t 4π c0 − 1 q( y, t − |x|/c0 ) d y (6.49) |x|2

we see that for large distances (k|x| contribution is given by:
3

1) the acoustic ﬁeld due to the dipole

ρ1
i=1 3

xi ∂ 3 2 ∂t 4π c0 |x|

yi q( y, t − |x|/c0 ) d y V
te =t−|x|/c0

=
i=1

xi d m 1,i (te ) 3 2 dt 4π c0 |x| e

(6.50)

where m 1,i (t) is the dipole strength. The source term for a force density fi is given by (2.63):
3

q( y, τ ) = −
i=1

∂ fi . ∂ yi

(6.51)

RienstraHirschberg 11th November 2001 12:00

6.4 Method of images and inﬂuence of walls on radiation Hence, we have by application of (3.13) and partial integration:
t

175

ρ =
−∞ t

q( y, τ )G 0 (x, t| y, τ ) d ydτ V
3

=
−∞

V

i=1

∂ G0 f i ( y, τ ) d ydτ. ∂ yi

(6.52)

The remaining surface integral terms vanish because we assumed a ﬁnite source region, outside which f = 0. By comparison of (6.52) with (6.41) and (6.50) we see that the force ﬁeld fi is equivalent to an acoustic dipole of strength: m 1,i = V which corresponds simply to the total force F on V . In a similar way it is clear that the Lighthill stress tensor Ti j induces a quadrupole ﬁeld because from (2.63) we have: q= ∂ 2 Ti j . ∂ yi ∂ y j i, j =1
3

fi d y

(6.53)

The strength of the quadrupole is: m 2,i j = V where we wrote for brevity m2,11 = m 200 , m 2,12 = m 110 , m 2,13 = m 101 , etc. . In the far ﬁeld approximation, where the retarded (or emission) time effect can be −1 estimated by replacing (∂/∂|x|) by −c0 (∂/∂t), we ﬁnd:
3

Ti j dx,

(6.54)

ρ
i, j =1

xi x j 1 d2 m 2,i j (te ) 2 2 4π c0 |x|3 c0 dte 2

te =t−|x|/c0

.

(6.55)

6.4

Method of images and inﬂuence of walls on radiation

Using G 0 we can build the Green’s function in presence of walls by using the method of images as discussed in section 4.6. The method of images is simple for

RienstraHirschberg 11th November 2001 12:00

176

6 Spherical waves

a plane rigid wall and for a free surface. In the ﬁrst case the boundary condition v · n = 0 is obtained by placing an image of equal strength q at the image point of the source position (ﬁgure 6.3). For a free surface, deﬁned by the condition p = 0

u’. n = 0

+
a) hard wall p’ = 0

+

+

+

b) free surface

− +

Figure 6.3 Images of sources in plane surfaces

(air/water interface seen from the water side), we place an opposite source −q at the image point. For a rigid wall at x1 = 0 we simply have the Green’s function: G(x, t| y, τ ) = where r= r∗ = (x1 − y1 )2 + (x2 − y2 )2 + (x3 − y3 )2 , (x1 + y1 )2 + (x2 − y2 )2 + (x3 − y3 )2 . δ(t − τ − r/c0 ) δ(t − τ − r ∗ /c0 ) + 2 2 4π c0 r 4π c0 r ∗ (6.56)

We easily see from ﬁgure 6.3 that a source placed close to a rigid wall will radiate 1) while a source close to a free surface as a source of double strength (|y1 |k will radiate as a dipole. When more than a wall is present the method of images can be used by successive reﬂections against the walls. This is illustrated in ﬁgure 6.4. When a harmonic source is placed half way between two rigid walls separated by a distance h (at

RienstraHirschberg 11th November 2001 12:00

6.4 Method of images and inﬂuence of walls on radiation

177

a) corner

h

h θ θ nλ b) duct θ h

Figure 6.4 Application of the method of images.

y = 1 h) the radiated ﬁeld is equivalent to that of an inﬁnite array of sources placed 2 at a distance h from each other (ﬁgure 6.4b). We immediately see from this that there are directions ϑ in which the sources in the array interfere positively. The interference condition is simply: h sin ϑ = nλ; n = 0, 1, 2, ... (6.57)

where λ is the acoustic wave length. For this symmetrically placed source only symmetric modes can occur. When the source is placed at one of the walls (y = 0 or h) we ﬁnd the interference condition given by h sin ϑ = 1 nλ; 2 n = 0, 1, 2, ... (6.58)

since the source and its images form an array of sources placed at a distance 2h from each other. The condition n = 0 corresponds to plane waves in a tube. The conditions n > 0 correspond to higher order mode propagation in the “duct” formed by the two

RienstraHirschberg 11th November 2001 12:00

This can also be seen for a duct of square cross section for which the image source array becomes two-dimensional. For a sphere we should place a source q∗ at r ∗ deﬁned by: q ∗ = q a/|r| and r ∗ = r (a/|r|)2 (6.60) while in order to keep the mass balance we place a line of uniformly spaced sinks of total strength q∗ stretching from r∗ to the center of the sphere (r = 0) [113]. This explains the difference between condition (6. The method of images can also be used for a line source close to a compact cylinder of radius R or a point source near a compact sphere of radius a [113].57) and (6. We see also that at low frequencies (for plane waves) the radial position of a source does not affect the radiation efﬁciency. We clearly see from this construction that higher order modes will not propagate at low frequencies because when (h < 1 λ).178 6 Spherical waves walls. A more comprehensive treatment of pipe modes is given in chapter 7. r∗ R r Figure 6.5). a sink) at r = 0 on the cylinder axis (ﬁgure 6. the sound ﬁeld is not uniform in the duct cross section and the source radiation impedance is position dependent.5 Image of a line source in a compact cylinder. This justiﬁes the plane wave approximation used in chapter 4 (see further chapter 7). For a higher mode. 2 there are no other solutions than ϑ = 0 to equation (6.61) (6. For a line source near a cylinder we should place an identical line source at the inverse point r ∗ deﬁned by: r ∗ = r (R/|r|)2 (6.58) for the excitation of a higher mode.58). The ﬁrst non-planar mode has a pressure node on the duct axis and cannot be excited by a volume source placed on the axis ( p Q dt = 0).59) and an opposite line source (i. RienstraHirschberg 11th November 2001 12:00 .e. on the other hand.

5 Lighthill’s theory of jet noise Consider a free turbulent jet formed at the exit of a circular pipe of diameter D. t) = −∞ V ∂ 2G0 Ti j ( y.6.63) as: ∂2 ρ (x. hence we have replaced the problem of the estimate of a space derivative (∂/∂ yi ) at the source by the problem RienstraHirschberg 11th November 2001 12:00 . 2 4π c0 r (6. t| y.13) and using the free space Green’s function G 0 given by (6. Using now (6.37) we ﬁnd: t ρ (x. τ ) d ydτ. t| y. t) = −∞ V ∂ 2 Ti j G 0 (x.64) Approaching the source towards the observation point has the same effect as approaching the observation point towards the source. τ )Ti j ( y. t) = ∂ xi ∂ x j t G 0 (x.63) Because G 0 is only a function of r = |x − y| we have: ∂ G0 ∂ G 0 ∂r xi − yi ∂ G 0 ∂ G0 =− = =− .66) V In the far ﬁeld the only length scale is the wave length. ∂ yi ∂ y j (6. We assume that u0 uniform (air jet in air with uniform temperature). −∞ (6. The c0 and that the entropy is mean ﬂow velocity in the pipe is u0 . The key idea of Lighthill was that the sound produced by the turbulence was originated from a volume of order D3 and that the inﬂuence of the pipe walls on the sound radiation could be neglected. t) = ∂2 ∂ xi ∂ x j Ti j ( y. In such a case combining (2.62) Partial integration (twice) yields: t ρ (x. ∂ yi ∂r ∂ yi r ∂r ∂ xi (6.37) we can carry out the time integration: ρ (x. t − r/c0 ) d y.5 Lighthill’s theory of jet noise 179 6. Hence we can write (6. ∂ yi ∂ y j (6.63) with (3.65) V The integration variable yi does not interfere with xi . τ ) d ydτ. τ ) d ydτ.

. If we assume a homentropic compact ﬂow we have (2. 153].c. 0 – the relevant volume V is of order D3 . l. Equation (6. RienstraHirschberg 11th November 2001 12:00 .180 6 Spherical waves of the estimate of the characteristic frequency of the produced sound. variation of intensity with U8 is now generally accepted as deﬁning jet mixing noise . see ﬁgure 6. (6. This directivity pattern results from Doppler effects and refraction of the sound waves by the shear layer surrounding the jet. post U8 . 12. t − |x|/c0 ) d y. rather than with the jet exhaust turbulent mixing downstream of the engine. which was then quickly recognized. |x| (6. before the publication of U8 . represents a triumph of theory over experiment.68) The ﬁrst estimates of Lighthill for a circular2 free jet are: – the characteristic time scale for large eddy’s in the ﬂow is (D/u0 ).70) tells us that turbulence in free space is a very ineffective source of sound.67) and we ﬁnd: ρ (x. as associated with noise sources within the engine itself. 2 See Bjørnø [11] for planar jets.67) V For high Reynolds number we can neglect the effect of viscosity (if it were not small turbulence would not occur!). Hence we should replace (∂/∂t) by u0 /D in (6. (6.70) This is the celebrated 8-th power law of Lighthill which ".). When a more detailed description of the ﬂow is used to estimate Ti j one can also ﬁnd the directivity pattern of the radiation ﬁeld [55..6. In the far ﬁeld approximation we have: ρ (x.69) or in terms of intensity ρ 2 and Mach number M0 = u 0 /c0 : ρ2∼ ρ0 D 4π |x| 2 8 M0 ." (Crighton. t) ∼ 1 u0 4 D 4π c0 2 ρ0 u 2 D 3 0 |x| (6. In fact. – the Reynolds stress scales as ρu2 .66): Ti j ρ0 vi v j . most reports of measured jet noise data gave a U 4 variation. t) xi x j ∂2 2 2 4π c0 |x|2 c0 ∂t 2 Ti j ( y.

71) Hence at Mach M0 = 0. However.6. This natural upper bound prevails above M > 1 and the sound 0 4 2 3 intensity scales above M > 1 as M0 . Following Goldstein [55] the acoustic power W generated by a subsonic homentropic jet is given by W 1 ρ u3π D2 8 0 0 5 = 8 × 10−5 M0 . These shocks generate noise by interaction with turbulence (random vorticity) and vortices (coherent structures) [51]. As the Mach number approaches unity the character of the sound production changes drastically because the ﬂow is not compact any more (D/λ ∼ M0 ) and because at higher Mach numbers shock waves appear if the jet is not properly expanded. The typical fraction of ﬂow power transferred to the acoustic ﬁeld at high Mach number by a properly expanded supersonic jet is 10−4 (M > 1). There is a natural maximum corresponding to the kinetic energy ﬂux in the jet 1 ρu 3 · π D 2 .6 Sound power generated by a jet. Moreover. This is the key of the problem of calculating the acoustic ﬁeld from a numerical calculation of the ﬂow pattern at low Mach numbers. it is obvious that the generated power cannot grow indeﬁnitely with a power M 8 . In order to achieve this we have to calculate the ﬂow ﬁeld within an accuracy which is far above the typical score (5%) of turbulence modelling nowadays. the simple scaling law of Lighthill already tells us that RienstraHirschberg 11th November 2001 12:00 .5 Lighthill’s theory of jet noise 181 200 180 160 SPL (dB) 140 120 100 U [m/s] U3 ets rock gines jet en ves cur del mo U8 80 65 140 300 650 1400 3000 Figure 6.1 we can estimate that only a fraction 10−9 of the hydrodynamic power is transferred to the acoustic ﬁeld. (6.

when a compact body is present in a ﬂow we have two possible methods to calculate the sound radiation when using Lighthill’s theory (section 2.72) RienstraHirschberg 11th November 2001 12:00 .1 Introduction In principle. When a hot gas with constant caloric properties is mixed with the cold environment the monopole sound source is negligible compared to the dipole due to convective effects ([115]). Such calculations can be based on an incompressible model which by itself does not include any acoustic component.4).67) is often used to obtain acoustical information from numerical calculations of turbulent ﬂow. 12]. In hot jets with combustion.12) into account.182 6 Spherical waves in order to reduce turbulence noise we should reduce the Mach number. This second method is called Curle’s method [55. A very useful result as we will see from exercise k) below. Upon increasing the Mach number the turbulent Reynolds stress can become dominant and a transition 8 to the cold jet behaviour (M0 ) can be observed in some cases. In the ﬁrst case we use a tailored Green’s function which is often easy to calculate in the far ﬁeld approximation by using the reciprocity principle (3. vapour condensation or strongly temperature dependent caloric gas properties the monopole source dominates ([32]). In the second case we can use the free ﬁeld Green’s function G0 which implies that we should take surface contributions in equation (3. When the jet has a different entropy than the environment (hot jet or different ﬂuid) the sound production at low Mach numbers is dominated by either Morfey’s dipole 2 2 source term (∂/∂ yi )((c2 − c0 )/c0 )(∂ p /∂ yi ) or by a volume source term due to diffusion and heat transfer (entropy ﬂuctuations).6). 6. Obermeier [135] and Iafrati [74].6. One ﬁnds 6 then a sound power which at low Mach numbers scales at M0 . Lighthill’s analogy in the form of equation (6.6 Sound radiation by compact bodies in free space 6. The advantage of the method of Curle is that we still can use the symmetry properties of G0 like: ∂ G0 ∂ G0 =− . The inﬂuence of the viscosity on the sound generation by a free jet has been studied by Morfey [116]. and a typical M4 0 scaling law is found for ρ 2 . ∂ yi ∂ xi (6.

we will see that the surface terms have for compact rigid bodies quite simple physical meaning. however.6. The construction of the tailored Green’s function in the far ﬁeld approximation is in fact equivalent to considering the acoustic response of the body to a plane incident wave.7). In applications like the effect of a bubble on turbulence noise we already did this for a bubble in a duct (section 4. RienstraHirschberg 11th November 2001 12:00 . in general not have a simple symmetry relation allowing to move the space derivative outside the integral. b) Sound emitted by the source in the same observers direction. as shown in ﬁgure 6.7 a) Acoustic response to a plane wave.7. We will. The method of images discussed in section 6. We will see that the pulsation of the volume of the body is a volume source while the force on the body is an aero-acoustic dipole. x pin x pr y y source a) b) image Figure 6.4 is an efﬁcient procedure to construct a Green’s function for simple geometries. ignoring further the presence of the body in the calculation of the radiation. The acoustic ﬁeld in y is built out of the incident wave pin and the wave reﬂected at the surface pr . 6. Using the reciprocity principle we send a plane wave pin and look at the resulting acoustic ﬁeld in the source point y.6 Sound radiation by compact bodies in free space 183 Furthermore. In this way we can in fact say that if we know the aerodynamic (lift and drag) force on a small propeller we can represent the system by the reaction force acting on the ﬂuid as an aero-acoustic source. In the method of images we simply assume that pr comes from an image source.6.2 Tailored Green’s function The method of tailored Green’s function has of course the nice feature of a simple integral equation (3.13). This is obvious when we consider a plane rigid wall.

39. τ ) d ydτ. ∂ yi ∂ y j (6.76) A= ∂ yi ∂ y j c0 ∂t 2 2 (∂ 2 G 0 /∂t 2 )/c0 in the where we made use of the approximation ∂2 G 0 /∂ xi ∂ x j far ﬁeld. 55] that turbulence near the edge of 5 a semi-inﬁnite plane produces a sound ﬁeld for which ρ 2 scales as M0 which −3 1 a dramatic increase (by a factor M0 ) compared to free ﬁeld implies for M0 conditions. τ )G(x.36) that: pin = ˆ e−ikr 2 8π 2 c0 r (6. For compact bodies or sources close to a surface we can neglect the variation in travel time of p over in the source region and we ﬁnd: pin = δ(−t + τ − |x|/c0 ) 2 4π |x|c0 (6. (3.184 6 Spherical waves When calculating the Green’s function we should take in free space as amplitude of the incident wave pin the amplitude calculated from (6. When considering harmonic waves we have from (6.13): t ρ (x. t) = −∞ V Comparison of the space derivative of the tailored Green’s function with that of the free space Green’s function G0 yields an ampliﬁcation factor A of the radiated ﬁeld: 1 ∂ 2G0 ∂2G / 2 (6. Once a tailored Green’s function has been obtained we ﬁnd by using (3. and assumed that the ﬂow is not inﬂuenced by the foreign body (T j = i constant).63) which are limited to a small region of space we ﬁnd: t ρ (x. t) = −∞ q( y.4). This contribution to trailing edge noise is very important in aircraft noise and wind turbine noise.37). RienstraHirschberg 11th November 2001 12:00 .74) where in the far ﬁeld approximation r |x|.75) Using this procedure one can show [12. The Green’s function is found by ˆ adding the system response pr (or pr ) to the incident wave pin .13) V By partial integration and assuming that the sources are the volume sources ∂ 2 Ti j /∂ xi ∂ x j as deﬁned in (2. t| y.73) where the signs of t and τ have been changed because of reciprocity relation (3. ∂2G Ti j d ydτ.

(6. A cylinder will affect the ﬂow. 14. By deﬁnition the lift force is perpendicular to the mean ﬂow direction (u0 ).78) where is the circulation of the ﬂow around the cylinder. RienstraHirschberg 11th November 2001 12:00 .6 Sound radiation by compact bodies in free space 185 6. the cylinder will not only enhance the radiation by the already present turbulence.6. We will now see that Curle’s method relates directly the data on the lift and drag to the sound production. CL is strongly affected by small disturbances and the lift force is not always coherent along the cylinder. In dimensionless form the lift is expressed as a lift coefﬁcient CL : CL = L 1 ρu 2 d 0 2 .77) Hence the sound produced by vortex shedding has in contrast with turbulence a well-deﬁned frequency. This results in a CL for a rigid stationary cylinder ranging from (C L )rms to (C L )rms while (C L )peak and (C L )peak 0.79) The lift coefﬁcient of a cylinder is in a laminar ﬂow of order unity.5 × 10 [12.1 0. The frequency fV of the vortex shedding is roughly given by: fV d = 0. However. The drag force has a ﬂuctuating component corresponding to (CD )rms Elastic suspension of a cylinder enhance considerably the coherence of vortex 1.03. Behind the cylinder at high Reynolds numbers we have an unstable wake. for Re ≤ 2 × 105 (C L )rms for Re ≥ 2 × 105 . Above a Reynolds number of Re = u0 d/ν = 40 5 the wake structure is dominated by periodic vortex shedding if 40 ≤ Re ≤ 3 × 10 6 and for Re ≥ 3.2. u0 (6.6. with an amplitude L per unit length given by L = −ρ0 u 0 .0 for Re ≤ 2 × 105 for Re ≥ 5 × 105 . (6.3 1. The calculation of the sound shedding resulting into a typical value of CL production by vortex shedding when using a tailored Green’s function is possible but is not the easiest procedure. The periodic shedding of vorticity causes an oscillating lift force on the cylinder. 0. 60].3 Curle’s method When we place a cylinder of diameter d in a turbulent jet with a main ﬂow velocity u 0 .

(6. τ ) d ydτ ∂ yi ∂ y j t − 2 c0 −∞ ρ S ∂ G0 ∂ρ − G0 n i dσ dτ. (6.12) combined with Lighthill’s analogy (2.63). [39]!) Using equation (3.186 6 Spherical waves Consider a body which. The outer normal n on S is directed towards the body enclosed by S. ignoring external mass sources and force ﬁelds and taking t0 = −∞ yields t ρ = −∞ V ∂ 2 Ti j G 0 (x. for generality.64) we ﬁnd: t ρ = −∞ V ∂ 2G0 d ydτ + Ti j ∂ yi ∂ y j − t G0 S −∞ ∂ Pi j + ρvi v j n i dσ dτ ∂yj ∂ G0 n i dσ dτ.80) ∂ yi ∂ yi Applying partial integration twice yields: t ρ = −∞ Ti j V ∂ 2G0 d ydτ + ∂ yi ∂ y j t −∞ G0 S ∂ρ ∂ G0 2 ni − ρ ni + c0 G 0 ∂ yi ∂ yi ∂ Ti j ∂ G0 n j − Ti j ni ∂ yi ∂yj dσ dτ. (Note that we use here the Figure 6.8 Control volume V and surface S convention opposite from Dowling et al. is allowed to pulsate.82) ∂yj t Pi j + ρvi v j −∞ S RienstraHirschberg 11th November 2001 12:00 . t| y. and outer normal n. We want n to calculate the ﬁeld ρ in the ﬂuid and V hence we deﬁne the control volume V S at the ﬂuid side of S. (6.81) Using the deﬁnition (2.64) of Ti j and its symmetry (Ti j = T j i ): 2 Ti j = Pi j + ρvi v j − c0 ρ δi j (2.8). and is enclosed by a control surface S (ﬁgure 6.

71).85) −∞ S Using the δ-function in G0 of equation (6.6. we obtain: t ρ = −∞ V ∂ 2G0 d ydτ − Ti j ∂ xi ∂ x j t t G0 S −∞ ∂(ρvi ) n i dσ dτ ∂τ ∂ G0 n i dσ dτ.83) ∂x j + −∞ Pi j + ρvi v j S The spatial partial derivatives (∂/∂ x j ) do not refer to y and can be taken outside the integral. in the second integral in (6. (6.84) we therefore ﬁrst move the time derivative (∂/∂τ ) from ρvi towards G 0 by partial integration. Furthermore.86) RienstraHirschberg 11th November 2001 12:00 .6 Sound radiation by compact bodies in free space 187 Using the momentum conservation law (1. ∂t ∂τ (6. (6.2) in the absence of external forces ( fi = 0): ∂ ∂ Pi j + ρvi v j = 0 ρvi + ∂τ ∂yj and the symmetry of G0 (6.84) (The effect of listening later is the same as shooting earlier!) In order to use (6. we can carry out the time integrals and we have Curle’s theorem ρ xi x j ∂ 2 4 4π |x|2 c0 ∂t 2 Ti j r V dy − 1 ∂ 2 4π c0 ∂t ρvi n i r S ni r t=te t=te t=te dσ ∂ xj − 3 ∂t 4π |x|c0 Pi j + ρvi v j S dσ (6. We ﬁnally obtain: ρ xi x j ∂ 2 2 |x|2 c0 ∂t 2 t −∞ Ti j G 0 d ydτ − V xj ∂ − c0 |x| ∂t t ∂ ∂t t −∞ ρvi G 0 n i dσ dτ S Pi j + ρvi v j G 0 n i dσ dτ.37). In the far ﬁeld they can be approximated by the time derivatives −1 −(x j /|x|)c0 (∂/∂t).83) we can make use of the general symmetry in the time coordinate of any Green’s function: ∂G ∂G =− .

ﬁxed.87) The ﬁrst term in (6. In the case of a compact. This term is important when the body is pulsating. and we have r |x|. (6. we can neglect the emission time variation along the body. For a rigid body at a ﬁxed position we have vi n i = v · n = 0. If the frequency is low enough compared to the pipe diameter. the ﬂow RienstraHirschberg 11th November 2001 12:00 . We consider now the radiation of sound from such a tube. rather than a mass injection. For a compact body we have then a simple volume source term.86) is the momentum ﬂux through the surface and the pressure and viscous forces. We know the behaviour of sound waves in a duct at low frequencies (chapter 4). This term can be used to describe the ﬂow out of a pipe. The instantaneous force Fi of the ﬂuid on the body (lift and drag) is then Fi (te ) S Hence.7 Sound radiation from an open pipe termination Horns and tubes are used as an impedance matching between a volume source and free space. The last integral in (6.86) is simply the turbulence noise as it would occur in absence of a foreign body (except for the fact that the control volume V excludes the body). Note that ρ is the ﬂuid density just outside the control surface so that we consider the displacement of ﬂuid around the body. For a ﬁxed rigid body ρvi v j = 0 because v = 0 at a surface (“no slip” condition in viscous ﬂow). t) = xi x j ∂ 2 4 4π |x|3 c0 ∂t 2 Ti j ( y. We are now able to ﬁnd the radiation behaviour of a pipe end by matching the two solutions in a suitable way. t − |x|/c0 ) d y V − ∂ xj F (t − |x|/c0 ).88) 6. (6. and rigid body. We use such a device to speak! Without vocal tract the volume source due to the vocal fold oscillation would be a very inefﬁcient source of sound. We know how sound propagates from a point source in free space. (6. The second term is the result of movement of the body. for a ﬁxed rigid compact body we have: ρ (x.89) 2 c3 ∂t j 4π |x| 0 Pi j t=te n j dσ.188 6 Spherical waves where r = |x − y| and the retarded time te is te = t − r/c0 t − |x|/c0 .

6.93) which is for a pipe of radius a: Re(Z p ) = 1 (ka)2 ρ0 c0 . the pressure is a factor ρ0 c0 kr lower than the acoustic velocity. 4 (6. (6. in the near ﬁeld of the monopole. which is much smaller than the ρ0 c0 of inside the pipe (see equation 6.90) The acoustic velocity in the pipe is related to the acoustic pressure in the pipe by: ˆ v = v e iωt = p+ − p− . This seen as follows. For convenience. The strength of this monopole is determined by the pipe end velocity v .94) This result is the low frequency limit of the well-known theory of Levine and Schwinger [97].7 Sound radiation from an open pipe termination 189 near the pipe end is incompressible in a region large enough to allow the pipe opening to be considered as a monopole sound source. The imaginary part Im(Z p ) takes into account the inertia of the air ﬂow in the compact region just outside the pipe. The pressure p in the pipe consists of a right-running incident wave and a left-running reﬂected wave: p = p+ + p− . the outside ﬁeld forces the inside pressure to vanish at RienstraHirschberg 11th November 2001 12:00 . ρ0 c0 (6. by using (6.7). It appears that Im(Zp ) is equal to kδ. Therefore. where δ is the so-called “end correction”.91) Assuming a redistribution of the acoustic mass ﬂow v S through the pipe end with cross section S into the surface of a compact sphere of radius r and surface 4πr2 (conservation of mass). Just outside the pipe end. we assume that the pipe end is acoustically described for the ﬁeld inside the pipe by an impedance Zp .92) From this conservation of energy relation we ﬁnd for the real part of the radiation impedance Z p of an unﬂanged pipe: Re(Z p ) = 1 2 k Sρ0 c0 4π (6. ˆ =1 2 4πr 2 4πr 2 (6. we can calculate the radiated power for a harmonic ﬁeld in.and outside the pipe.13): ˆˆ I S = p v S = 1 v v ∗ Re(Z p )S 2 S ∗ 2 2 S v ˆ v (k r ρ0 c0 )(4πr 2 ).

Up to order (ka)2 this impedance can now be expressed as: Z p = (ikδ + 1 (ka)2 )ρ0 c0 4 where it appears that3 : 0. Hence the radiated I intensity increases by a factor 4. 1 1 π 0 x2 ∞ 8 2 0 J1 (x) dx = 3π = 0. Explain why a body translating in an oscillatory manner close to the ﬂoor produces more sound when it moves horizontally than vertically. What are the source and the sink forming the dipole? (Explain qualitatively. 3 − 1 ∞ log(2I (x)K (x)) dx = 0.848826363 . How much does the power generated by the source increase? g) The cut-off frequency f c above which the ﬁrst higher mode propagates in a duct with square cross section appears to be given by 1 λ = 1 c0 f c = h. . Moving parts of a rigid machine also act as dipoles if they are compact. f) The acoustic pressure p generated by a monopole close to a wall increases by a factor 2 in comparison with free ﬁeld conditions. ﬁgure 6.21) we ﬁnd the typical cos ϑ = x i yi /|x|| y| directivity. .95) for circular pipes [140]. What is the reason for this difference in directivity of electrical and acoustic dipoles? d) Why is the boundary condition p = 0 reasonable for acoustic waves reﬂecting at a water/air interface (on the water side)? e) We have seen (section 6.190 6 Spherical waves about the pipe end. . it is a property of the pipe end and therefore δ = O(a).612701035 . The lower limit corresponds to an unﬂanged pipe while the upper limit corresponds to a pipe end with an inﬁnite bafﬂe (ﬂanged). where the wave in the pipe is assumed to satisfy the condition p = 0.2) that a translating sphere induces a dipole ﬁeld. Explain the difference.8.4 2 2 suggests that this would be c 0 fc = h for a source placed in the middle of the duct. See also section 7. (Explain qualitatively. Exercises a) Note that the acoustic ﬁeld generated by a compact translating sphere is a dipole (equation 6.) b) A vortex ring with time dependent vorticity is a dipole. Although the exact position of this ﬁctitious point x = δ (the “end correction”). This implies that the end correction amounts to leading order in ka to nothing but a phase shift of the reﬂected wave and so to a purely imaginary impedance Z p . .96) (6.61a ≤ δ ≤ 0. 2 x RienstraHirschberg 11th November 2001 12:00 .85a (6. depends on geometrical details.) c) An electrical dipole radiates perpendicularly to the axis of the dipole. .

Relate the dipole strength δ Q to the amplitude of the acoustic waves for f < f c in a pipe of cross sectional area S.9 A line quadrupole near a cylinder.6. Assuming a low Mach number estimate the ratio of the sound power generated by both engines. parallel to the axis of the cylinder (ﬁgure 6. (This explains that turbulence near such a cylinder will radiate quite effectively [108]!) Figure 6. Discuss the radiation as function of the oscillation frequency and the direction of oscillation (along the duct axis or normal to the axis). Explain this and calculate f c for a square channel cross section h = 3 m. will radiate as a line dipole.7 Sound radiation from an open pipe termination 191 h) In a water channel with open surface sound does not propagate below a certain cutoff frequency f c . l) Which scaling rule do you expect for the Mach number dependence of the sound produced by a hot steam in cold air? RienstraHirschberg 11th November 2001 12:00 . respectively. j) Explain by using the method of images why a line quadrupole placed near a cylinder. k) Consider two jet engines developing the same thrust with diameters D 1 and D2 = 2D1 . h h i) Consider a sphere oscillating (translating periodically) in an inﬁnite duct with hard walls and square cross section.9).

How does this affect sound production? RienstraHirschberg 11th November 2001 12:00 . q) Same question for a small air bubble of diameter 2a near a free jet of diameter D and speed u 0 . Why? 1 is compact if we consider the sound produced by p) Estimate the ampliﬁcation of turbulence noise due to the presence of a cylinder of diameter d near a free jet of diameter D at a main speed u 0 if we assume that the cylinder does not affect the ﬂow.1 ω R. What is the effect of having a second blade on the ventilator? (See ﬁgure 6. per unit length. If we concentrate on the tip of the fan (r = R) we have a lift force L. The magnitude of L is given by: L= 1 2 ρv DC L 2 eff where D is the width of the proﬁle of the blade.10 The forces on a fan blade (Exercise r) r) Consider a small ventilator rotating at a radial frequency ω in a uniform ﬂow u 0 . The fan feels at a certain distance r from the axis of the ventilator an effective wind velocity v eff which is a combination of the axial velocity u 0 and the tangential velocity ωr (where we neglect the air rotation induced by the fan) (ﬁgure 6.192 6 Spherical waves m) Which scaling rule do you expect for the Mach number dependence of the sound produced by a bubbly liquid jet in water? n) Typical entropy ﬂuctuations due to friction at the pipe wall from which the jet is 0. Assume that u 0 = 0.10). Typically C L is O(1) for a welldesigned ventilator. At which Mach leaving correspond to temperature ﬂuctuations T /T0 number do you expect such effect to become a signiﬁcant source of sound? o) A subsonic jet with M turbulence. ωR veff L u0 D Figure 6. Assume a low frequency response of the bubble. Discuss the contribution of the tangential and axial components of the lift for L on the noise.) A welldesigned ventilator has many blades. Consider ﬁrst a ventilator with a single blade.11. which is normal to v eff .2M 2 .

13).13 Piston in cylindrical pipe (Exercise x) 2a x) Assuming a low frequency. calculate the power radiated in free space by a piston placed at the end of a circular pipe of radius a and length L (ﬁgure 6. v p (t) L Figure 6.7 Sound radiation from an open pipe termination 193 R D ω Figure 6.12)..12 Propeller in pusher position (Exercise t) t) Consider an airplane with a rotor placed just behind the wing (ﬁgure 6. u) Can we consider an aircraft propeller as a compact body? v) What is the Mach number dependence of the sound produced by a small (compact) body placed in a turbulent ﬂow? w) Estimate the low frequency impedance Z p of a ﬂanged pipe termination.6..).11 Single and dual bladed ventilator (Exercise r) ω s) How does the presence of duct walls inﬂuence the low-frequency sound production of an axial ventilator placed in the duct. Discuss the sound production (frequency. directivity. What is RienstraHirschberg 11th November 2001 12:00 . Figure 6.

194 6 Spherical waves the ratio between this power at resonance k 0 L = (n + 1 )π.14). when using a Walkman we are actually provided with real. We hear low frequencies because our ear is artiﬁcially guessing these low frequencies when we supply a collection of higher harmonics (ﬁgure 6. Assume a tube radius of 1 cm and a length of 1 m.14 Piston in conical pipe (Exercise y) y) Consider a conical pipe driven by a piston of surface S 1 and with an outlet surface S 2 (ﬁgure 6. Why is this possible even though the loudspeaker is a miniature device? f0 2 f0 3 f0 4 f0 f0 2 f0 3 f0 4 f0 Figure 6. What is the difference between the radiation losses of a clarinet and of a ﬂute with the same pipe dimensions. Hint.15). and the power which 2 would be radiated by the piston without a pipe.15 We hear the missing fundamental! (Exercise z) A) Calculate the friction and radiation losses in a clarinet. On the other hand. low frequencies. Use spherical waves centred at the cone top! z) A small transistor radio is not able to produce low frequencies (why?). Carry out the calculation for the ﬁrst three modes of the instrument. S1 v p (t) S2 L Figure 6. Determine the sound ﬁeld inside the pipe. RienstraHirschberg 11th November 2001 12:00 .

7 Sound radiation from an open pipe termination 195 B) How far can we be heard when we scream in quiescent air if we produce 10 −5 W acoustic power? C) Calculate the ratio between the acoustic impedance experienced by an air bubble of radius a0 = 1 mm in water at atmospheric pressure: – in free space. placed along each other in such a way that corresponding ends of either pipe just touch each other. RienstraHirschberg 11th November 2001 12:00 . How does the radiation losses of the system scale with L and a. Assume that the pipes are acoustically excited and oscillate in opposite phase.6. D) Consider two twin pipes of length L and radius a. – in an inﬁnite duct of cross sectional area S = 10 −4 m2 .

and others) the Helmholtz (and Laplace) equation is separable. We will consider in some detail here the conﬁguration of a circularly cylindrical duct. t) ≡ p(x. To simplify the formula’s we will reduce the problem to dimensionless form. r. ξ3 ) = F1 (ξ1 )F2 (ξ2 )F3 (ξ3 ). When the boundary conditions in p and/or ∇ p · n are to be applied at coordinate surfaces ξi = constant. For any such coordinates (ξ1 . with radius a. uniform sound speed c0 and mean density ρ0 . These solutions are called modes. ξ2 . 7. (7. In the usual complex notation (with +iωt–sign convention) p(x. elliptic-cylindrical. ξ2 . and the resulting ﬁeld has the property that it retains its shape in a direction ξj . cylindrical. they are interesting because the usually complicated behaviour of the total ﬁeld is easier understood via the simple properties of the elements. ϑ. We scale our variables as follows 2 x := ax. ω) e iωt 1 in dimensional form better known as ka. the dimensionless frequency or dimensionless free ﬁeld wave number1 . time-harmonic acoustic waves of angular frequency ω. Physically.1 Cylindrical ducts A practically very important problem of the class discussed above is that of sound propagation in ducts. Note that ω. and ω := ωc0 /a. ξ3 ) there exist solutions of the type p(ξ1 . ρ := ρ0 ρ. r. 3 3 while intensity scales on ρ0 c0 and power on ρ0 c0 a 2 . circular. p := ρ0 c0 p. Consider in a duct. unless indicated otherwise.7 Duct acoustics In the usual coordinate systems (Cartesian. these solutions are interesting because (in general) they form a complete basis by which any other solution can be represented as a sum.1) . Mathematically. v := c0 v. ϑ. spherical. is just the Helmholtz number. the equations for Fi may be decoupled. t := at/c0 .

(b) G(r) = Jm (αmµr). The associated eigensolutions are called modes.2b) (7.5b) (7. iωv + ∇ p = 0. αmµ = jmµ is the µ-th nonnegative non-trivial zero of Jm . with: 2 kmµ = ω2 − αmµ such that Re(kmµ ) ≥ 0. The sets {(m. Im(kmµ ) ≤ 0. kmµ )} are called the eigenvalues. (7.3b) ∂x2 ∂r r ∂r r ∂ϑ Note that more general solutions may be constructed via Fourier synthesis (equation C.3a) 1 ∂2 ∂2 ∂2 1 ∂ + 2 2. Use is made of the condition of continuity from ϑ = 0 to ϑ = 2π . µ = 1.1 Cylindrical ducts the acoustic ﬁeld satisﬁes ∇ 2 p + ω2 p = 0. 2. ±2. We start with a hard walled duct: ∂p =0 ∂r at r = 1. Mathematically.2). αmµ )} or {(m. · · · . ±1. where: Jm denotes the ordinary Bessel function of the ﬁrst kind (Appendix D). ∂x ∂r r ∂ϑ 197 (7.2a) (7. where in the present polar coordinates ∇ = ex ∇2 = ∂ ∂ 1 ∂ + er + eϑ . they form a complete set of building (7.5a) (7.5c) RienstraHirschberg 11th November 2001 12:00 . to satisfy the boundary condition G (1) = 0. · · · . (c) F(x) = e∓ikmµ x . m = 0.4) In the usual way. + 2+ (7. solutions of the type p = F(x)G(r)H (ϑ) exist if d2 H /H = −m 2 dϑ 2 m2 1 dG d2 G /G = 2 − α 2 + dr 2 r dr r 2 d F /F = α 2 − ω2 2 dx so that (a) H (ϑ) = e−imϑ .7.

Umµ (r) = Nmµ Jm (αmµ r). they are particular shape-preserving solutions of the equations. Nmµ = 1 (1 2 2 − m 2 /αmµ ) Jm (αmµ )2 −1/2 (7. ω = 5). The branch we selected here of the complex 15 −k05 10 −k04 −k03 −k01 −k02 k02 k03 k04 k05 k01 5 0 -5 -10 -15 -8 -6 -4 -2 0 2 4 6 8 Figure 7. Physically. ϑ) = Umµ (r) e−imϑ∓ikmµ x . square root is such that e−ikmµ x describes a right-running wave and e ikmµ x a leftrunning wave. kmµ are called the axial wave number (some real.1).1 Complex axial wave numbers (m = 0. This will be further clariﬁed later. with easily interpretable properties. These modes (normalized for convenience) pmµ (x. form (for ﬁxed x) a complete set (in L2 -norm over (r. see ﬁgure 7. r.7) RienstraHirschberg 11th November 2001 12:00 .198 7 Duct acoustics blocks suitable for constructing any sound ﬁeld in a duct.6) . ϑ)). αmµ are called the radial wave number (all real). so by superposition we can write any solution as the following modal expansion: ∞ ∞ p(x. (7. ϑ) = m=−∞ µ=1 ( Amµ e−ikmµ x +Bmµ e ikmµ x )Umµ (r) e−imϑ . r.

i.84118 · · · all modes are cut-off except for the plane wave. the smallest being given by j11 = 1. So we see that there are always a ﬁnite number of modes with real kmµ (see ﬁgure 7. this is the only non-trivial eigenvalue equal to zero. for ω < j11 = 1. considering only the ﬁrst mode) is applicable if we are far enough away from any sources. This cut-on and cut-off modes are essentially similar to the radiating and evanescent waves discussed in section 3. k01 = ω. there are for any ω always 2 4 2 a (ﬁnite) µ = µ0 and m = m 0 beyond which αmµ > ω2 . and the mode decays exponentially in x. An important special case is the plane wave m = 0.84118 · · · . In fact.1 Cylindrical ducts 199 The normalization factor Nmµ is chosen such that a modal amplitude Amµ scales with the energy content of the corresponding mode (see below). or other scattering objects. they are called cuton. are evanescent and therefore called cut-off.1). with imaginary kmµ . changes in boundary condition. p01 = 2 e−iωx . The remaining inﬁnite number of modes. For low frequency.e. Since the zeros of Jm form an ever increasing sequence both in m and in µ (with jmµ (µ + 1 m − 1 )π for µ → ∞) (see Appendix D). for the generated evanescent modes to become negligible.7. µ = 1. All others are greater. From the orthogonality relation2 1 0 0 2π Umµ (r) e−imϑ Unν (r) e−inϑ ∗ r dϑdr = 2π δmn δµν (7. so that kmµ is purely imaginary.8) we ﬁnd by integration of the time-averaged axial intensity I · e x = 1 ( pu ∗ + p∗ u) 4 2 δ = 1 if i = j.e. In this case a plane wave approximation (i. α01 = 0.3. N01 = 2. Since they are the only modes that propagate (see below). ij δi j = 0 if i = j RienstraHirschberg 11th November 2001 12:00 . with √ √ j01 = 0.

e. and the product A∗ Bmµ is therefore quickly negligible. t) 2 f (ω0 ) sin ε(t − κ0 x) iω0 t−iκ0 x e t − κ0 x (7. with a Fourier representation concentrated near a single frequency ω = ω0 : φ(x. it is clear that a cuton exp(−ikmµ x)-mode propagates in positive direction. By taking either Amµ or Bmµ equal to zero. the respective cut-off modes decay in the propagation direction. so that φ(x. and we can say that a mode propagates or decays exponentially depending on the frequency being lower or higher than the cut-off or resonance frequency . It should be noted.10) 2π a As is clear from the second part of expression (7.200 7 Duct acoustics over a duct cross section x = constant the transmitted acoustic power P = π ω ∞ ∞  Re(kmµ )(|Amµ |2 − |Bmµ |2 ) m=−∞ µ=1  +2 Im(kmµ ) Im(A∗ Bmµ ). Indeed.9). For cut-on modes this is (in axial direction) ω (7. however.9) The summation over Re(kmµ ) contains only a ﬁnite number of non-zero terms: the cut-on modes. κ0 = dκ(ω0 )/dω.or left-running cut-off modes Amµ or Bmµ are exponentially small. that (depending on the choice of the origin x = 0) usually either the right. cut-off modes may transport energy by interaction between right. or pulse or any other ﬁnite wave package.12) f (ω0 ) e iω0 t−iκ0 x e i(ω−ω0 )t−i(ω−ω0 )κ0 x dω with κ0 = κ(ω0 ). For this we have to consider the time dependent problem of an almost harmonic problem. and a cut-on exp(ikmµ x)mode in negative direction (for the present +iωt–sign convention). mµ (7. (7. t) = ∞ −∞ jmµ c0 f (ω) eiωt−iκ(ω)x dω = ω0 +ε ω0 −ε ω0 +ε ω0 −ε f (ω) e iωt−iκ(ω)x dω (7. mµ fc = The phase velocity of a wave is that velocity for which the phase Re(ωt − κ x) = constant. with Im(kmµ ) ≤ 0.13) RienstraHirschberg 11th November 2001 12:00 . i.11) vph = kmµ The group velocity is the speed of the energy.and left-running (Amµ and Bmµ ) modes.

1. spiralling around the x-axis. b 2 n = 0. and therefore travelling with the velocity 1/κ0 . 2. p(x. . a mπ . 7. of sound propagation in a rectangular hard walled duct. y. 2. αn = m = 0. where α and β are eigenvalues to be determined from the hard-wall boundary conditions. For a cut-on mode we thus have (in axial direction) vg = Note that vg vph = 1.7. 1. but rather follow a longer path.1 Behaviour of complex modes When the duct is lined with sound absorbing material of a type that allows little or no sound propagation in the material parallel to the wall. H (z) = e where Re(knm ) ≥ 0 and Im(knm ) ≤ 0.3 Impedance wall 7.1. . z) = F(x)G(y)H (z) applied to ∇2 p + ω2 p = 0 in the duct 0 ≤ x ≤ a. (7. . with vg < 1 < vph .7). 0 ≤ y ≤ b. So the general solution is ∞ ∞ nπ . We obtain F(x) = cos(αn x). similar to (7.2 Rectangular ducts In a completely analogous way as in the foregoing section 7. the general modal solution. βm = ∓iknm z 2 2 1/2 .3. .2 Rectangular ducts 201 which describes a wave package centred around t = κ0 x. z) = n=0 m=0 cos(αn x) cos(βm y)( Anm e−iknm z +Bnm e iknm z ). Separation of variables p(x. G(x) = cos(βm x). y. results into Fx x = −α 2 F. can be found as follows. .16) 7. G yy = −β 2 G and Hzz = −(ω2 − α 2 − β 2 )H . the material is called RienstraHirschberg 11th November 2001 12:00 . . ω (7. (7. with a right-hand rotation for m > 0 and a left-hand rotation for m < 0.15) dkmµ dω −1 = kmµ . knm = (ω − αn − βm ) .14) The axial group velocity is lower than the soundspeed because the modal wave fronts do not propagate parallel to the x-axis.

with αmµ = jmµ . αmµ varies from its |Z| = ∞-value jmµ to its Z = 0-value jmµ .19) Qualitatively. (7. all modes may be found not too far from their hard wall values on the real interval (−ω. a couple of two modes wander into their quarter of the complex plane in a more irregular way. and in general quite RienstraHirschberg 11th November 2001 12:00 . is also here applicable. The previous concept of a modal expansion..µ+1 < etc.18) but another normalization may be more convenient.17) the impedance being deﬁned as p/(v · n) with n a normal pointing into the surface.202 7 Duct acoustics locally reacting and may be described by a wall impedance Z(ω) (scaled on ρ c0 ). αmµ Jm (αmµ ) ω related to kmµ by the same square root as before: kmµ = 2 ω2 − αmµ .7). if we vary Z from |Z| = ∞ to Z = 0. However. ω) or the imaginary axis (that is.) More precisely. ( jmµ is the µ-th zero of Jm . The general solution has a form similar to (7. Only the eigenvalues αmµ are now deﬁned by iZ Jm (αmµ ) = . A typical practical example is: the inlet of an aircraft turbojet engine. (7. 0 This gives in the acoustic problem the following boundary condition in the frequency domain: iωp = −Z(ω) ∂p ∂r . with modes again retaining their shape travelling down the duct. and Im(kmµ ) ≤ 0. r=1 r=1 (7. A normalization that preserves the relation 1 0 ∗ Umµ (r)Umµ (r)r dϑdr = 1 (note that now the modes are not orthogonal) is Nmµ = |αmµ Jm (αmµ )|2 Re(Z) 2 Im(αmµ )ω −1/2 . if Im(Z) < 0 (for +iωt-sign convention).6) and (7. the hard walled case. so the corresponding kmµ are also interlaced and shift into a direction of increasing mode number µ. If Im(Z) > 0.) These jmµ and jmµ are real and interlaced according to the inequalities jmµ < jmµ < jm. the behaviour of these modes in the complex kmµ -plane is as follows.

It is interesting to note that the corresponding axial wave num2 ber kmµ = (ω2 + mµ )1/2 is now larger than ω.7.) For small enough Re(Z) Z∈ real axis imaginary axis Re(Z ) =constant Figure 7. described by Jm (αmµ r) = im Im ( mµr). is exponentially restricted to the immediate neighbourhood of r = 1 and indeed shows the surface wave character. may be found3 satisfying if − ω < X < 0. The group velocity (7. (Note the notation! α in the 2-D problem corresponds to kmµ here. the modal phase velocity is smaller than the sound speed.3 this behaviour is depicted by the trajectories of the modes as the impedance varies along lines of constant real part (ﬁgure 7. mµ real. say.20) X Im ( mµ ) =− ω mµ Im ( mµ ) The modal shape in r. lining is applied to reduce the sound level by dissipation. (smaller than.4.2 Attenuation Usually. A solution αmµ = i mµ . 7.2). This is most purely the case for an imaginary impedance Z = iX. It is a simple exercise to verify that the time-averaged intensity at the wall directed into the wall as z → ∞.3. and away from the wall they decay exponentially ([157]).2 Complex impedance plane. and then returning as a (for example) µ=4 or 2 mode when Im(Z) is positive. which is indeed to be expected for a non-radiating surface wave. m (7. with h(0) = m. which may be considered as the high-frequency approximation of the duct problem.3 Impedance wall 203 far away from the others. and h(z) ∼ z m m RienstraHirschberg 11th November 2001 12:00 . 3 The function h(z) = z I (z)/I (z) increases monotonically in z. In ﬁgure 7.1 of the related 2-D problem. Compare this ﬁgure with ﬁgure 3. Hence. See ﬁgure 7. since the modiﬁed Bessel function Im (x) has exponential behaviour for x → ∞.14) is now larger than the sound speed. 2) we see the ﬁrst (µ=1) mode being launched into the complex kmµ -plane when Im(Z) is negative. We will call these irregular modes surface waves: their maximum is at the wall surface.

RienstraHirschberg 11th November 2001 12:00 . (b) 1.0. (c) 1.0.3 Trajectories of kmµ (m = 0. (d) 2.5. ω = 5) for Im(Z) varying from −∞ to ∞ and ﬁxed Re(Z) = (a) 0.5.204 7 Duct acoustics 15 −k05 10 −k05 −k04 ¹ ¹ −k01 5 −k04 −k03 (a) −k01 k02 k03 −k03 ¹ (b) 0 −k02 −k02 Í Ã k02 k01 -5 k04 ¹ k03 k01 k04 -10 k05 -15 15 k05 −k05 10 ¹ ¹ ¹ −k05 −k04 (c) −k03 −k01 −k02 ¹ ¹ ¹ −k04 −k03 −k01 −k02 (d) 5 0 ¹ ¹ ¹ ¹ k02 k01 -5 k02 k01 k03 k04 k05 k03 k04 k05 -10 -15 -8 -6 -4 -2 0 2 4 6 8 -8 -6 -4 -2 0 2 4 6 8 Figure 7.

22) Jm (αmµ )2 + 1 − 2 Jm (αmµ )2 = 0.e. i. and to maximize the decay rate of the least attenuated mode. the net reduction may beneﬁt from reﬂections at discontinuities in the duct (hard/soft walls. so that a (relatively) large decay rate is obtained if the ﬁrst and second mode (of the most relevant m) coalesce (Cremer optimum). many answers. yielding the additional condition m2 (7. we have to include the way Z = Z(ω) depends on ω. This question has. A further simpliﬁcation is based on the observation that the decay rate Im(kmµ ) of a mode increases with increasing order.e.21) A natural practical question is then: which impedance Z gives the greatest reduction. varying cross section). the dissipated power density) of a mode is 2 I · er ∝ Im(αmµ ).0 (i.18) vanishes. If more than one frequency contributes. (7. In general. Although it is strictly speaking not dissipation. ω = 5) for Im(Z) varying from −∞ to ∞ and ﬁxed Re(Z) = 0. the one with the smallest | Im(kmµ )|. however.3 Impedance wall 205 −k05 10 −k04 −k03 surface wave 5 0 −k01 −k02 k02 k01 k03 k04 k05 surface wave ¹ -5 -10 -20 -15 -10 -5 0 5 10 15 20 Figure 7. This is obtained if also the derivative to αmµ of (7.7.4 Trajectories of kmµ (m = 0. Also the geometry may play a rôle. A simple approach would be to look at the reduction per mode. the optimum will depend on the source of the sound. αmµ RienstraHirschberg 11th November 2001 12:00 .

At Z = (1. An example is given in ﬁgure 7. αmµ x Jm (αmµ r) − ikmµ r Jm (αmµr) Nmµ e−ikmµ x−imϑ .5 Trajectories of kmµ (m = 0.4165 . Im(Z) varies from −∞ to ∞ and Re(Z) is ﬁxed at 1. RienstraHirschberg 11th November 2001 12:00 .23b) 7. Note that no mode is lost.-0.4 Annular hard-walled duct modes in uniform mean ﬂow With uniform mean ﬂow (see equation 2.3057. we consider an annular duct of (scaled) inner radius h. In view of applications.50).5. the modal theory still applies.8857). ω = 5) passing the Cremer optimum. as the two corresponding modes degenerate into Jm (αmµ r)Nmµ e−ikmµ x−imϑ . (7.4165.6082) the ﬁrst two modes coalesce as k01 =k02 =(4.206 6 7 Duct acoustics 4 2 ¿ 0 ° Â Â Â Â ° · -2 -4 -6 -6 -4 -2 0 2 4 6 Figure 7.23a) (7. -0.

such that ∇ · v = 0 and p ≡ 0.29) RienstraHirschberg 11th November 2001 12:00 .28c) = −ωM ± 2 ω2 − (1 − M 2 )αmµ 1 − M2 and solution Umµ (r) = Nmµ cos(τmµ ) Jm (αmµr) − sin(τmµ )Ym (αmµ r) . + 2+ ∂x2 ∂r r ∂r r ∂ϑ (7.4 Annular hard-walled duct modes in uniform mean ﬂow 207 Consider the following linearized equations for small perturbations iω + M ∂ p + ∇ · v = 0. (7. however. θ) = m=−∞ µ=1 Amµ e−ikmµ x +Bmµ e−ikmµ x Umµ (r) e−imθ + − (7.24b) with hard-wall boundary conditions.28a) (7. (7. and we may expand the general solution in Fourier-Bessel modes ∞ ∞ p(x.25) becomes iω + M ∂ ∂x 2 ω p− 1 ∂2 ∂2 ∂2 1 ∂ + 2 2 p = 0. Fully written out. iω + M ∂x (7.28b) (7. ∂x ∂ v + ∇ p = 0. the possibility of convective incompressible pressureless disturbances of the form v = F(r.26) The eigenvalue problem can now be solved.25) Note.24a) (7. Eliminate v to obtain the convected wave equation iω + M ∂ ∂x 2 p − ∇ 2 p = 0. equation (7.27) where the radial modes and radial and axial wave numbers satisfy 1 m2 2 Umµ + Umµ + αmµ − 2 Umµ = 0 r r 2 2 αmµ = (ω − Mkmµ )2 − kmµ ± kmµ (7.7. r. θ) e−i M x .

Other choices. γmµ = 1 − σmµ .34) It is convenient to introduce the Lorentz or Prandtl-Glauert type transformation (see 3. . Mathematically. = β (7.30) dr = 1 (c. αmµ = γmµ ± σmµ − M 2 .41) β= 1 − M 2. [156]). (7.31) Jm (αmµ )2 + Ym (αmµ )2 and τmµ = arctan Jm (αmµ ) . are also possible. for example without the factor sign(Ym ).35) RienstraHirschberg 11th November 2001 12:00 . ± kmµ x = β X. The modes are physically interesting because their shape remains the same.32) This implies the following choice of signs cos τmµ = sign(Ym (αmµ )) sin τmµ = sign(Ym (αmµ )) Ym (αmµ ) Jm (αmµ )2 + Ym (αmµ )2 Jm (αmµ ) Jm (αmµ )2 + Ym (αmµ )2 .208 7 Duct acoustics Eigenvalues αmµ are determined via boundary condition Umµ (1) = Umµ (h) = 0 Jm (α)Ym (αh) − Jm (αh)Ym (α) = 0 The normalisation is such that Nmµ = 1 2 h U (r)r 1 2 2 1 − m 2 /αmµ (7. they are interesting because they form a complete and orthonormal L2 basis for the solutions of the convected wave equation (except for the pressureless convected perturbations): 2π 0 h 1 Umµ (r)Unν (r) eimθ e−inθ r drdθ = 2π δmn δµν (7. Ym (αmµ ) − Jm (αmµ h)2 + Ym (αmµ h)2 (7.f.33b) with the advantage that it reduces to the expected limit Nmµ Jm (αmµr) for h → 0. so 2 π αmµ 2 1 − m 2 /αmµ h 2 1 2 √ (7. ω = β .33a) (7.

θ)Umµ (r) eimθ r drdθ (7. r. r. the corresponding amplitudes Amµ and Bmµ are found from identifying Pmµ = Amµ + Bmµ Vmµ = leading to Amµ = Bmµ = 2 (1 − Mσmµ )(σmµ + M)Pmµ + (1 − M 2 σmµ )Vmµ (7.38a) (7.4 Annular hard-walled duct modes in uniform mean ﬂow 209 then we have for pressure p and axial acoustic velocity v ∞ ∞ p= m=−∞ µ=1 ∞ ∞ Amµ e−i σmµ X +Bmµ ei σmµ X ei MX Umµ (r) e−imθ (7.40a) 2σmµ (1 − M 2 ) (7. r.36b) If we have at position x = 0 a given pressure and axial velocity proﬁles P(0.39b) σmµ − M σmµ + M Amµ − Bmµ 1 − Mσmµ 1 + Mσmµ 2σmµ (1 − M 2 ) 2 (1 + Mσmµ )(σmµ − M)Pmµ − (1 − M 2 σmµ )Vmµ (7.39a) (7. θ).40b) RienstraHirschberg 11th November 2001 12:00 .37a) V (0.36a) v= m=−∞ µ=1 σmµ − M Amµ e−i 1 − Mσmµ σmµ + M Bmµ ei 1 + Mσmµ σmµ X − ei MX σmµ X Umµ (r) e−imθ (7. θ) and V (0. θ)Umµ (r) eimθ r drdθ V (0. θ) = m=−∞ µ=1 ∞ ∞ Pmµ Umµ (r) e−imθ Vmµ Umµ (r) e−imθ (7.37b) where Pmµ = Vmµ 1 2π 1 = 2π 2π 0 2π 0 h h 1 1 P(0.7. r. r. we can expand these proﬁles in the following Fourier-Bessel series ∞ ∞ P(0. θ) = m=−∞ µ=1 (7. r.38b) If these pressure and velocity proﬁles satisfy the above propagation model of sound in uniform mean ﬂow.

7. From the boundary condition (see equation 3.40) iω Zv = iω + M ∂∂x p we ﬁnd the equation for reduced axial wave number σ for any given Z.and right-running cut-off modes. and ω (1 − Mσ )2 Jm ( γ ) − iβ 3 Zγ Jm ( γ ) = 0. (7.43) A graphical description of their behaviour as a function of Im Z (from +∞ down to −∞) and ﬁxed Re Z is given in the series of ﬁgures (7. We start with modes of the same form as for the hard wall case (equations 7. v= iβγ e−i 1 − Mσ σ X+i M X Jm ( γ r). although their behaviour with respect to possible surface waves is more complicated [162].42) + 2πβ 4 m=−∞ µ=µ0 · ∗ 2 ∗ Im( Amµ Bmµ )(1 − M 2 σmµ ) − Re(Amµ Bmµ )2M|σmµ | where µ0 is the number of cut-on modes. where γ 2 + σ 2 = 1 and the sign selected of σ depends (in general) on the direction of propagation. and 7.36a) for pressure p and radial velocity v p = e−i σ X+i M X Jm ( γ r). For this conﬁguration the acoustic ﬁeld allows again modes.35.27 with 7.41) we obtain the axial power: ∞ µ0 P = πβ 4 m=−∞ µ=1 ∞ σmµ ∞ |Bmµ |2 |Amµ |2 − + (1 − Mσmµ )2 (1 + Mσmµ )2 |σmµ | · 2 (1 + M 2 σmµ )2 +1 (7. Note the coupling between left. similar to the no-ﬂow situation. We dropped the exponentials with iωt and imθ.210 7 Duct acoustics From the axial intensity in hard-walled ﬂow duct Ix = 1 2 Re (1 + M 2 ) pu ∗ + M| p|2 + M|u|2 (7.5 Behaviour of soft-wall modes and mean ﬂow Consider a cylindrical duct with soft wall of speciﬁc impedance Z and uniform mean ﬂow of Mach number M. RienstraHirschberg 11th November 2001 12:00 . m.6).

(3.5. ω = 5) where M = 0.5+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 5 4 Z=0.6 Trajectories of reduced wave number σmµ (m = 1.5 Behaviour of soft-wall modes and mean ﬂow 211 5 4 Z=3+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 5 4 Z=1+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 5 4 Z=0.7.01+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4 5 Figure 7. RienstraHirschberg 11th November 2001 12:00 . for Im(Z) varying from −∞ to ∞ and ﬁxed Re(Z).42) are included as black lines.3+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 3 4 5 5 4 Z=2+ i⋅↓ 3 2 1 0 −1 −2 −3 −4 −5 −5 −4 −3 −2 −1 5 4 Z=0. The 2D surface wave solutions of eqn.

The “egg” (ﬁgure 3. the mode described is really of acoustic nature.3). the imaginary part of γ becomes signiﬁcant. RienstraHirschberg 11th November 2001 12:00 .42). ω. ϑ) produces in a hard walled duct a sound ﬁeld (7. Note that. deﬁned by p(x. The modes change position with a neighbour.2. The 2D surface wave solutions are indicated by black lines. and the mode is radially restricted to the duct wall region. ﬁgures 7. only contribute to higher order modes and do not generate sound if these modes are cut-off. For lower values of Re Z the behaviour becomes more irregular. is drawn in the ﬁgures by a dotted line. the modes remain near their hard-wall values.3. when σ is far enough away from a hard-wall value. For large Re Z.8)).6 (eqn. and the same in x < 0 but with A and B interchanged. 3.6 Source expansion 7. ϑ)Umµ (r) e imϑ r drdϑ (7. 7. ϑ) x=0 = p0 (r.3.7) with modal amplitudes given by (in x > 0) Amµ = Bmµ 1 2π =0 2π 0 0 a p0 (r.1 Modal amplitudes A source at x = 0. and some become temporarily a surface wave. indicating the location of possible surface waves in the 2D limit. of two-dimensional nature.212 7 Duct acoustics For large enough frequency. details of the source (averaged out for the lower modes in the process of integration). The behaviour of the modes is to a certain extent similar to the no-ﬂow situation (section 7.44b) (use (7.3). extending radially through the whole duct. it has become a surface wave. The complex Bessel function Jm ( γ r) becomes exponentially decaying away from the wall. similar to the evanescent waves of section 3.43).44a) (7. The two hydrodynamic modes disappear to inﬁnity for Im Z → −∞ like is described in equation (3. the behaviour of the modes can be classiﬁed as follows.1. approximately described by the theory of section 3. However.6. r. In other words. When σ is near a hard-wall value. although the effect of the mean ﬂow is that we have now 4 rather than 2 possible surface waves.

0) = n=−∞ qn (r) e−in Bϑ . rotating with angular speed . t) = k=0 q ϑ− t− 2πk .r B This function. 0) = q(ϑ. r) + · · · + q(ϑ − (B − 1) ϑ. may be expanded in a Fourier series: ∞ p(ϑ. c0 m (7.6. An interesting consequence for a rotor in a duct is the observation that it is not obvious if there is (propagating) sound generated at all: the frequency must be higher than the cut-off frequency. Note that each frequency ω = n B is now linked to a circumferential periodicity m = n B.45) ∗ (with q−n = qn because p is real).46) which is for the tip Mach number Mtip the condition Mtip = a j > m1 . r) . t.2 Rotating fan Of practical interest. and we jump with steps B through the modal m-spectrum. especially in aircraft noise reduction [188]. = k=0 q ϑ− 2πk . then from periodicity the total ﬁeld is described by p(r. Since the plane wave (m = 0) is generated with frequency ω = 0 it is acoustically not interesting.47) RienstraHirschberg 11th November 2001 12:00 . r). So at a time t t−in Bϑ Since the ﬁeld is associated to the rotor. is the following model of a propeller or fan with B identical blades. If at some time t = 0 at a ﬁxed position x the ﬁeld due to one blade is given by the shape function q(ϑ. the ﬁeld is built up from harmonics of the blade passing frequency B . equally spaced ϑ = 2π/B radians apart. and we may ignore this component. periodic in ϑ with period 2π/B. r) + q(ϑ − B−1 ϑ.r B = n=−∞ qn (r) e in B (7. r. r. it is a function of ϑ − B−1 ∞ p(ϑ. Evidently.7. ϑ. For any harmonic (n > 0) we have: fm = j c0 m > m1 2π 2π a (7.6 Source expansion 213 7.

or fan. Of course.7) to compensate for the rotation in the ﬂow due to the rotor. 7. if the perturbations resulting from blade thickness and lift forces alone are dominating as in aircraft engines. On the other hand. Behind the inlet rotor. A very simple but at the same time very important and widely used device to reduce this sound is the “Tyler and Soffrin selection rule” ([179. The viscous and inviscid wakes from the rotor blades hit the stator vanes which results into the generation of sound ([176]). acousti c lining stator by-pass duct rotor inlet duct spinner inlet plane (core engine) nacelle Figure 7. and amounts to nothing more than a clever RienstraHirschberg 11th November 2001 12:00 .7 Sketch of high by-pass turbo fan engine. It is based on elegant manipulation of Fourier series. and indeed the inlet fan noise level of many aircraft turbo fan engines is greatly enhanced at take off by the inlet fan rotating supersonically (together with other effects leading to the so-called buzzsaw noise ([179])). The other compressor stages (intermediate and high pressure) are only indicated. a stator is positioned (ﬁgure 7. For example. ingested turbulence and the turbulent wake of the blades are not periodic and will therefore not follow this cut-off reduction mechanism. 188]). in practice a ducted fan with subsonically rotating blades will not be entirely silent. it implies that the tip must rotate supersonically (Mtip > 1) for the fan to produce sound.3 Tyler and Soffrin rule for rotor-stator interaction The most important noise source of an aircraft turbo fan engine at inlet side is the noise due to interaction between inlet rotor and neighbouring stator. Fan or inlet rotor of low pressure compressor is drawn.214 7 Duct acoustics Since the ﬁrst zero of Jm is always (slightly) larger than m (Appendix D).6. the present result is signiﬁcant.

A recent development is that the second harmonic. we observe that the ﬁeld generated by rotor-stator interaction must have the time dependence of the rotor. equally spaced ϑ = 2π/B radians apart. and is therefore built up from harmonics of the blade passing frequency B . In detail: for a cut-off n-th harmonic (we only have to consider positive n) we need j c0 nB < m1 2π 2π a or n B Mtip < jm1 .6 Source expansion 215 choice of the rotor blade and stator vane numbers. However. with B identical blades. this component is effectively absent for a long enough inlet duct. ϑ) e in B t = n=−∞ m=−∞ Q nm (r) e in B t−imϑ . it is periodic in ϑ. equally spaced ϑ = 2π/ V radians apart. ϑ. In this case the rotor itself acts as a shield obstructing the spiralling modes to leave the duct ([176]). rotating with angular speed . t) = n=−∞ m=−∞ Q nm (r) e in B (t− t)−im(ϑ− ϑ) . so it may be written as ∞ ∞ ∞ p(r.7. only the ﬁrst harmonic is reduced in this way. t) = n=−∞ Q n (r. The ﬁeld is periodic in ϑ with the stator periodicity 2π/ V in such a way that when we travel with the rotor over an angle ϑ = 2π/ V in a time step t = ϑ/ the ﬁeld must be the same: ∞ ∞ p(r. is reduced by selecting the mode number m to be of opposite sign of n. and n the harmonic of interest. which is usually cut-on. RienstraHirschberg 11th November 2001 12:00 . In practice. This yields for any m the restriction: −in B m = kV + n B t + im ϑ = 2π ik. or (7. Consider the same rotor as above. First. ϑ. which means: counter rotating with respect to the rotor. to link the ﬁrst (few) harmonics of the sound to duct modes that are cut-off and therefore do not propagate. By selecting B and V such that the lowest |m| possible is high enough for the harmonic of interest to be cut-off. because most of the m-components are just zero.48) where k is any integer. we can do better than that.3) n B ≤ |m| = |kV + n B|. Since typically Mtip is slightly smaller than 1 and jm1 is slightly larger than |m| we get the analogue of evanescent wave condition k < |α| (section 3. Furthermore. and a stator with V identical vanes.

so that 1 ∂p iω ∂r ∞ = δ(x) r=1 n=−∞ δ(ϑ − 2π n) ∞ −∞ −iγ x 1 = 2π e 1 dγ 2π ∞ m=−∞ e−imϑ . 77. appear naturally) p(x. −11. The generated m-modes are for the ﬁrst two harmonics: for n = 1: m = · · · . If we make the step size V big enough so that we avoid this interval for k = −1. −33. we avoid it for any k. 7. which indeed corresponds to only cut-off modes of the ﬁrst harmonic (m = 22 and larger) and a counter rotating cut-on second harmonic (m = −11).4 Point source in a duct wall As a last example we consider the ﬁeld from a source v· er = −δ(x) in the duct wall. For simplicity we take a point source in x = 0. unlike the previous case. 22. p(x. r = 1. · · · . as a realistic example. Consider. γ ) e−imϑ−iγ x dγ ˆ (7. ϑ) = ∞ ∞ −∞ m=−∞ pm (r. γ ) = Am (γ ) Jm (α(γ )r) ˆ α(γ )2 = ω2 − γ 2 .2a) formally via Fourier transformation in x. ϑ) = − ω e−imϑ 4π 2 i m=−∞ ∞ ∞ −∞ (7. for n = 2: m = · · · . · · · . From the (Fourier transformed) boundary condition (7. r.50) pm (r. ϑ = 0. and Fourier series expansion in ϑ (the modes will. the following conﬁguration of a rotor with B = 22 blades and a stator with V = 55 vanes.52) RienstraHirschberg 11th November 2001 12:00 .49) it follows that α Am Jn (α) = −ω/4π 2 i.49) We solve equation (7.216 7 Duct acoustics The only values of kV for which this inequality is not satisﬁed automatically is in the interval −2n B < kV < 0. (7. α Jm (α) (7. 99. r.51) Jm (αr) −iγ x e dγ . 44.6. So we have ﬁnally the condition: V ≥ 2n B.

53) m=−∞ µ=1 Jm (αmµ r) e−ikmµ |x|−imϑ 1 2 (1 − m 2 /αmµ ) Jm (αmµ )kmµ 2 where the contribution of the m = 0. and since the waves must be outgoing the integration contour in the γ -plane must be located as in ﬁgure 7. mµ is Jm (α(γ )) RienstraHirschberg 11th November 2001 12:00 . This is indeed the modal expansion we could have anticipated: p(x. Closing the contour via Im(γ ) → −∞ for x > 0 and via Im(γ ) → +∞ yields 5 the solution. the poles of the meromorphic4 integrand are found at γ = ±kmµ . 2π 4 A meromorphic function is analytic on the complex plane except for isolated poles. ϑ) = − ω = 4π 1 2π ∞ ∞ m=−∞ ∞ e−imϑ ∞ µ=1 ω Jm (αmµ r) −ikmµ |x| e kmµ Jm (αmµ ) (7. −1 5 Near γ = k −(γ − kmµ )kmµ αmµ Jm (αmµ ). µ = 1 plane-wave mode is 1 −iω|x| e .6 Source expansion 217 Evidently. in the form of a series over the residue-contributions in γ = ±kmµ . × × × × −ω • × × × × × × × • × ×× ω γ ∈ Figure 7. r.8.8 Contour of integration in the γ -plane.7.

When two segments of different prop- RienstraHirschberg 11th November 2001 12:00 . does not satisfy the boundary condition of the moving wall.or left-running modes. r. while it is only the limit which is physically relevant.6.54) then the solution may be found as follows.288). a ﬁnite part of the wall vibrates (e. i. ϑ) = iω2 1 L −L 2 αmµ k α2 m=−∞ µ=1 mµ mµ ··· − m2 Jm (αmµr) −imϑ e ··· Jm (αmµ ) (7. however. and the solution is again just a modal sum ˆ of right. ˆ Similar to above we ﬁnd the solution p(x. its radial derivative). ϑ) = m=−∞ e −imϑ ηm (x) = m=−∞ e−imϑ ηm (γ ) e−iγ x dγ . [90]) as r = 1 − η(x. built up from hard-wall modes with vanishing r-derivative at the wall. by using result (7.218 7 Duct acoustics 7.7 Reﬂection and transmission at a discontinuity in diameter One single modal representation is only possible in segments of a duct with constant properties (diameter. for |x| > L.53) and the Convolution Theorem (C.10) (p. ϑ) e iωt ∞ for −L≤x ≤L ∞ ∞ −∞ (7. 7.5 Vibrating duct wall When. r.g. Although in the source region no simple modes can be recognized. This is not the case. because the inﬁnite series is not uniformly converging (at least. A naive interpretation of this formula might suggest the contradictory result that the ﬁeld. Pointwise. the remaining integral is just the Fourier transform times exponential. outside this region. ϑ) as a formal Fourier integral. ηm (±kmµ ) exp(−kmµ |x|).e. instead of a point. which can be rewritten. We write as a Fourier sum η(x. as ∞ ∞ p(x. the value at the wall is not equal to the limit to the wall. wall impedance).55) ηm (x ) e−ikmµ |x−x | dx with the plane-wave contribution L iω −L η0 (x ) e−iω|x−x | dx .

(7. or B = R A. with (for deﬁniteness) a > b. The ﬁeld pin . Furthermore. so we will consider only a single m-mode. Rmµν Amν . but since the modes are different we have to reformulate the expansion of the incident ﬁeld into an expansion of the transmitted ﬁeld in the neighbouring segment.6) ∞ pin = µ=1 Amµ Umµ (r) e−ikmµ x−imϑ . and a part of the incident ﬁeld is reﬂected.7.7 Reﬂection and transmission at a discontinuity in diameter 219 r =a r =b Figure 7.56b) Bmµ = RienstraHirschberg 11th November 2001 12:00 . these continuity conditions cannot be satisﬁed with a transmission ﬁeld only. Because of circumferential symmetry there is no scattering into other m-modes. Consider a duct with a discontinuity in diameter at x = 0 (ﬁgure 7.9 Duct with discontinuous diameter. erties are connected to each other we can use a modal representation in each segment. incident from x = −∞ and given by (see equation 7. ν=1 (7. Each mode is scattered into a modal spectrum of transmitted and reﬂected modes. This is called: mode matching.9): a radius a along x < 0 and a radius b along x > 0. using conditions of continuity of pressure and velocity.56a) is scattered at x = 0 into the reﬂected wave pref ∞ pref = µ=1 ∞ BmµUmµ (r) e ikmµ x−imϑ .

56c) ˆ ˆ Umµ (r) = Nmµ Jm (βmµr). they produce the reﬂection and transmission ﬁeld amplitude vectors B and C. after multiplication with Umλ (r)r. ∞ Cmµ = ν=1 Tmµν Amν . b]. Im(kmµ ) ≤ 0. they are called “reﬂection matrix” and “transmission matrix”. At the edges we have the so-called edge condition [114]: the energy integral of the ﬁeld in a neighbourhood of an edge must be ﬁnite (no source hidden in the edge). integration from 0 to b. while αmµ = jmµ /a. ˆ ˆ Umµ (r) and Nmµ are the obvious generalizations of Umµ (r) and Nmµ on the interval [0.57) ˆ yields.220 7 Duct acoustics and into the transmitted wave ptr ∞ ptr = µ=1 ˆ Cmµ Umµ (r) e−i mµ x−imϑ . At the walls we have the boundary condition of vanishing normal velocity. When acting on the incident ﬁeld amplitude vector A. (7. Since the problem is linear it is sufﬁcient to determine the scattered ﬁeld of a single µ-mode. Although its rôle remains in the usual engineering practice somewhat in the background. kmµ = βmµ = jmµ /b. and using or- RienstraHirschberg 11th November 2001 12:00 .2). whereas the differential equation is not valid at the boundary. The matrices R and T are introduced to use the fact that each incident mode reﬂects and transmits into a modal spectrum. 2 ω2 − βmµ . At the interface x = 0. This condition is necessary in a geometry with edges because the boundary conditions lose their meaning at an edge. mµ 2 ω2 − αmµ . It then follows that the continuity of pressure at the interface ∞ ∞ (Rmνµ + δνµ )Umν = ν=1 ν=1 ˆ Tmνµ Umν (7. Suitable conditions of convergence of the inﬁnite series are assumed. In the context of modal series expansions this condition is related to the convergence rate of the series. Therefore. section C. the edge condition is certainly important in the present problem. Im( mµ ) = ≤ 0. A δ-function type of a spurious edge source generates a divergent series expansion (to be interpreted as a generalized function. or C = T A. 0 ≤ r ≤ b we have continuity of pressure and axial velocity.

59) yields.58) and (7. b mν mνµ (7. This integral may be evaluated by using equations (D. using px = 0 on b ≤ r ≤ a. RienstraHirschberg 11th November 2001 12:00 .Umν b . The continuity of axial velocity at the interface ∞ ∞ kmν (Rmνµ − δνµ )Umν = − ν=1 ν=1 mν Tmνµ Umν ˆ (7. (7. So we have formally the solution R = (k − M M)−1 (k + M M) (7. 6 δ = 1 if i = j. the following relation expressing Rmλµ in the vector Tm·µ : ∞ kmλ (Rmλµ − δλµ ) = − ν=1 ˆ Umλ .53).62) which can be evaluated by standard techniques for any sufﬁciently large truncated matrices.60) are valid for any λ and µ.58) where f . ij δi j = 0 if i = j .7 Reﬂection and transmission at a discontinuity in diameter thonormality. given by ˆ Mλν = Umλ .60) Both equations (7. integration from 0 to a of the left hand side. and from 0 to b of the right hand side.52) and (D. λν = δλν mλ . matrix M and its transpose M .7. the following relation6 to express Tmλµ in the vector Rm·µ : ∞ ν=1 221 ˆ Umλ . T. (7. after multiplication with Umλ (r)r. so we can write in matrix notation M(R + I ) = k (R − I ) = M T. and diagonal matrices k and .61) for identity matrix I . kλν = δλν kmλ .Umν b (Rmνµ + δνµ ) = Tmλµ . Umν T .g b = b 0 f (r)g(r)r dr.

The behaviour near the edge depends on the way we let P and Q tend to inﬁnity. either not or very slowly converge to the correct (i. A canonical problem amenable to analysis is that of a hard-walled. so that we obtain RP×P and T Q×P .e. It should be noted that if we take P/Q very much different from a/b. 160]. allowing for a certain balance between the accuracy in x < 0 and in x > 0. This is not an artefact of the method: the solution is indeed not unique. The exact solution (by means of the Wiener-Hopf technique) was ﬁrst found by Levine and Schwinger (for m = 0) in their celebrated paper [97]. is to include proportionally more terms in the wider duct: a truncation of the series of (7. physical) solution. In this case one might be tempted to solve the problem directly by matching the modal expansions at either side of the iris plate. Since the matrices of each transition are similar. say. the ﬁnal system of matrix equations may be further simpliﬁed [160].7. Generalizations for higher modes may be found in [199] and with uniform [156] or jet mean ﬂow [122. This gives truncated matrices MQ×P . however. we call this an iris. is well applicable to this problem too. Q×Q . 7.60) after Q terms. with P/a Q/b. Each transition (from duct 1 to the iris. µ and pipe wall thickness. we may converge for P.1 The iris problem When an abrupt contraction of the duct diameter is immediately followed by an expansion to the previous diameter (an inﬁnitely thin oriﬁce plate).58) after. Q → ∞ to another solution (7. k P×P . The above method of section 7. Inside the pipe we have the incident mode with reﬂected ﬁeld. 105. r. P terms and of (7. semi-inﬁnite pipe of vanishing wall thickness. mode numbers m. because we have not yet explicitly satisﬁed the edge condition. 123]. and the edge condition is satisﬁed if their ratio remains: P/Q a/b. M P×Q .62) than the physical one.222 7 Duct acoustics A suitable choice of truncation [104. given by p(x. 7. if we consider the iris as a duct (albeit of zero length) connecting the two main ducts at either side of the iris. cylindrical.7. however. ϑ) = RienstraHirschberg 11th November 2001 12:00 . This solution will. and from the iris to duct 2) is to be treated as above.8 Reﬂection at an unﬂanged open end The reﬂection at and radiation from an open pipe end of a modal sound wave depends on the various problem parameters like Helmholtz number ω.

If kmν is real and ν = µ.96.63) Outside the pipe we have in the far ﬁeld pm (x. the zeros of Dmµ (ξ ) are found at ξ = arcsin(αmν /ω). µ=1 (7. • • • • • RienstraHirschberg 11th November 2001 12:00 .39). where δ = 0. which have to be evaluated numerically. and no reﬂection in any other mode. In the forward arc. ν and the ν. the main lobe is located at ξmµ = arcsin(αmµ /ω). Dmµ (ξ ) consists of lobes (maxima interlaced 2 √ by zeros). the radiation pattern of the plane wave mµ = 01 becomes spherically shaped and small like O(ω2 ). r = sin ξ . Rmµν = 0. The dimensional distance δa is called the end correction. If the mode is cut on. r) = Umµ (r) e−ikmµ x + ∞ 223 Rmµν Umµ (r) e ikmν x . A reciprocity relation between the µ. the behaviour of the phase arg(Rmµν (ω)) is similar but reversed: linearly from the right and like a square root from the left. See also (6. Rmµµ = −1. r) Dmµ (ξ ) e−iω ω (ω → ∞). 1 π ≤ ξ < π . 2 In the rearward arc.8 Reﬂection at an unﬂanged open end pm (x. r) e−imϑ where pm (x. and |Dmµ (ξ )| is the radiation pattern. and like a square root from the right side. while the reﬂection coefﬁcient becomes R011 − exp(−i 2δω). Some important properties are: • • • At resonance ω = αmµ we have total reﬂection in itself. and Dmµ (ξ ) is called the directivity function. and tends to zero for 2 ξ → π if m ≥ 1 and to a ﬁnite value if m = 0. while D01 (0) = 1 2 iω2 and Dmµ (0) = 0. The reﬂection matrix {Rmµν } and the directivity function are both described by complex integrals. Near resonance ω ∼ αmµ the modulus |Rmµν (ω)| behaves linearly from the left.6127. If ω → 0. (7. µ-coefﬁcients: kmν Rmµν = kmµ Rmνµ .7.5. at which the wave appears to reﬂect with p = 0. Dmµ (ξ ) is free of zeros. 0 < ξ < 1 π . since x = δa is a ﬁctitious point just outside the pipe.64) where x = cos ξ .

6 7 Duct acoustics |R011| 1.2 0 1 0.5 −1 1.4 0.224 1 0. as a function of ω = 0 . µ. 2.6 0.5 |R222| −1 φ222 φ φ212 φ221 211 φ022 φ φ012 φ021 011 |R021| 0.5 1 0. .5 −1 1.8 0. RienstraHirschberg 11th November 2001 12:00 .6 0. 7.4 0. 2.4 |R211| 0.2 0 |R | 221 |R012| |R 022 | 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 φ122 φ 111 φ112 φ121 |R112| 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 |R212| 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 Figure 7.10 Modulus and phase of reﬂection coefﬁcients Rmµν for m = 0 .5 ×π 0 −0.2 0 1 0.5 1 0. ν = 1.5 1 |R111| |R | 121 |R122| 0.5 ×π 0 −0. .8 0.5 ×π 0 −0. .8 0. .

Furthermore. as given in ﬁgures 7. ω = 1.11 Radiation pattern 20 log10 |Dmµ | + 71. 4.0◦ . 6. 7.e.8412 and 5.7061 for m = 2. Of the reﬂection coefﬁcient we have plotted modulus |Rmµν (ω)| and phase φmµν = arg(Rmµν ) as a function of ω = 0 ..0542 and 6. . while the zeros are found for ω = 4 at ξ = 73. 4. As the mode spirals through the duct. . i. for m = 0 . Indeed. dimensionless 1) and the axial phase velocity vph (7.8317 and 7.4◦ . on dB-scale. ν = 1. the angle of the main lobe.7 for mµ = 01. 4. plots of Rmµν and |Dmµ (ξ )| may be generated. For m = 1 we have the main lobe at ξ11 = 67. and ω = 3. and for ω = 6 at ξ = 39. It is instructive to compare the wave front velocity of a mode (the sound speed. 120 90 100 60 120 90 100 60 60 60 150 20 30 150 20 30 180 0 180 0 210 330 210 330 240 270 300 240 270 300 Figure 7.11. The zero is found at ξ = 62. . 2. 6.3314 for m = 1.8 Reﬂection at an unﬂanged open end 225 Based on the method presented in [156]. ξmµ = arccos(kmµ /ω) = arcsin(αmµ /ω) is the angle at which the mode radiates out of the open end.7◦ . and ω = 2. of the ﬁrst radial mode (µ = 1) for m = 0 and m = 1.10 and 7. .7.9◦ for ω = 2. For m = 0 the main lobe is at ξ01 = 0. = 11 and ω = 2.11).7◦ for ω = 6. Note that the resonance (cut-off) frequencies are ω = 3.0156 for m = 0.3◦ . and the sound radiates more and more like rays [21]. RienstraHirschberg 11th November 2001 12:00 . 2 and µ. 27. 17. The radiation pattern is plotted. the wave front makes an angle ξmµ with the x-axis such that cos(ξmµ ) = 1/vph = kmµ /ω. 6. the trend is clear that for higher frequencies the refraction effects become smaller.

ignoring details like r -variation of higher-order modes: what is the necessary distance D? – What is D for frequency f tending to zero ? b) Investigate the behaviour of k mµ (equation 7.1 m with an acoustic medium with c0 = 340 m/s. – What is the cut-off frequency ? – Assuming that all excited modes have about the same initial amplitude. RienstraHirschberg 11th November 2001 12:00 . such that the plane wave is detected at least 20 dB louder than the other modes. the ﬁeld of a harmonic point source inside a hard-walled inﬁnite duct. c) Find in a similar way as for equation (7.20) for ω → ∞. Find analytical approximate expressions of the surface waves. Verify this by an alternative approach based on representation (D.53). A harmonic source with frequency f = 500 Hz is positioned at x = 0 half-way the radius.51). A microphone is to be placed an axial distance x = D away from the source. by Fourier transformation to x.226 7 Duct acoustics Exercises a) Consider a hard-walled duct of radius a = 0.

The question is: how can we use this gradual transition between models of different level. If we accept approximate solutions. previously absent from our model. and study small but signiﬁcant effects in the most efﬁcient way. Either explicitly and systematically. Usually. is included in our model. etc. zero or inﬁnite lengths rather than ﬁnite lengths. are not “isolated islands of knowledge” provided with a logical ﬂag. but gradual and smooth changes from one form into another. or necessary extensions. Examples are numerous: simpliﬁed geometries reducing the spatial dimension. There are always in the higher-level theory one or more inherent modelling parameters which become large or small and hence giving in the limit a simpler description [31].8 Approximation methods Almost any mathematical model of a physical phenomenon can be considered as one in a hierarchy of increasing complexity. a distinction is made between regular and singular perturbations. Of course. only true if we are merely interested in exact or numerically “exact” solutions. any modelling process consists of selecting a suitable model. and subsequently moving up or down in the hierarchy. small amplitudes allowing linearization. Models and theories. But an exact solution of an approximate model is not better than an approximate solution of an exact model. This is. or implicitly on a more intuitive basis. when a certain aspect or effect. The methods utilizing systematically this approach are called “perturbations methods”. we do have the possibilities to gradually increase the complexity of a model. So there is absolutely no reason to demand the solution to be more exact than the corresponding model. small relative viscosity allowing inviscid models. low velocities and long time scales allowing incompressible description. however. applicable in a certain situation. labelling it “valid” or “invalid”. based on the inherent small or large modelling parameters. investigating possible reductions or simpliﬁcations. . A (loose deﬁnition of a) regular perturbation is where the solution of the approximate problem is everywhere close to the solution of the unperturbed problem. It is important to realize that these levels of modelling are not discrete steps. the change is abrupt and usually the corresponding equations are more complex and more difﬁcult to solve.

The others are examples of singular perturbations. we usually have to resort to numerical methods. For an arbitrary non-uniform medium or complex boundary conditions. rather than x. k = εκ. are necessary. Analytical approximations and perturbation methods come into play for cases in between where the problem differs only a little from one which allows full analytical treatment. valid in spatially distinct regions. and its axial gradient scales on ε. an example of a regular perturbation.1) By writing R as a function of slow variable X. and write for the duct surface and wave number k r = R(X.1.1 Webster’s horn equation Consider the following problem of low frequency sound waves propagating in a slowly varying duct or horn. many exact analytical results are available. where the typical axial length scale is much greater than the transverse length scale. we have made our formal assumption of slow variation explicit in a convenient and simple way. and of the same order of magnitude as the sound wave length. We will consider here three methods relevant in acoustical problems. θ). For a uniform medium and simple boundary conditions. The typical length scale of duct variation is assumed to be much larger than a diameter. RienstraHirschberg 11th November 2001 12:00 .228 8 Approximation methods In acoustics we have as typical examples of modelling hierarchies: wave propagation in a uniform medium or with simple boundaries being considerably simpler than in a non-uniform medium or with complicated boundaries. X = εx. Any initial or entrance effects are absent or have disappeared. We introduce the ratio between a typical diameter and this length scale as the small parameter ε. since ∂ R = ε R X = O(ε). ∂x The crucial step will now be the assumption that the propagating sound wave is only affected by the geometric variation induced by R. The method of matched asymptotic expansions is used to analyse problems in which several approximations. rather than x. as ∂∂x p = O(ε). for example a wave propagating through a slowly varying environment. (8. As a result the acoustic ﬁeld p is a function of X.1 Regular Perturbations 8. The ﬁrst is the problem of Webster’s horn. The method of multiple scales (related to the WKB method) describes problems in which in the problem several length scales act in the same direction. 8.

5) at the solid wall the boundary condition of vanishing normal velocity ∇ p ·∇ S = ε2 p X S X + ∇⊥ p ·∇⊥ S = 0 at S = 0. To obtain an equation for p0 in X we continue with the O(ε2 )-equation and corresponding boundary condition 2 ∇⊥ p1 + p0 X X + κ 2 p0 = 0. r.7) RienstraHirschberg 11th November 2001 12:00 . ∇ S = εS X ex + Sr er + eθ = −ε R X ex + er − r r Sθ Rθ eθ . Sθ Rθ eθ .8. An obvious solution is p0 ≡ 0. θ) 2 ∇⊥ p0 = 0 with ∇⊥ p0 ·∇⊥ S = 0 at S = 0. further expansion in powers of ε2 and equating like powers of ε.5) and boundary condition (8. After substitution in equation (8.6). θ) = 0.6) This problem is too difﬁcult in general. is normal to the duct circumference S(X = c. so we try to utilize in a systematic manner the small parameter ε. θ) + ε 2 p1 (X. θ). Since the solution of the Laplace equation with boundary conditions in the normal derivative are unique up to a constant (here: a function of X). ∇⊥ p1 ·∇⊥ S = − p0 X S X . Sr er + eθ = er − ∇⊥ S = r r 229 (8. we obtain to leading order a Laplace equation in (r.2) (8. θ) + O(ε 4 ). Inside the duct we have the reduced wave equation (Helmholtz equation) 2 ε 2 p X X + ∇⊥ p + ε2 κ 2 p = 0. ε) = p0 (X.1 Regular Perturbations It is convenient to introduce the following function S and its gradients S = r − R(X. (8. while the transverse gradient ∇ S. r. directed in the plane of a cross ⊥ section X = const.3). r. we have p0 = p0 (X).4) At the duct surface S = 0 the gradient ∇ S is a vector normal to the surface (see section A.. we assume the asymptotic expansion p(X. (8.3) (8. θ. Since the perturbation terms are O(ε2 ). (8. r.

given by d 1 d A p0 + k 2 p0 = 0. we have obtained for the leading order ﬁeld p0 the Webster horn equation [142. we obtain 2 ∇⊥ p1 + p0 X X + κ 2 p0 dσ = ∇⊥ p1 · n⊥ d + A( p0 X X + κ 2 p0 ) = A p0 X ∂A 2π R R X dθ + A( p0 X X + κ 2 p0 ) = A X p0 X + A( p0 X X + κ 2 p0 ) = 0. In the special case m → 0 such that a = 1 ( A0 + A1 /m) and b = 1 ( A0 − A1 /m). using Gauss’ theorem. √ p0 = φ/ A (parameterized by a. A dx dx (8. 0 Finally. The parameter m is clearly most important since it determines whether the wave is propagating (m < k) or cut-off (m > k). and that a circumferential line element is given by 2 2 d = (R 2 + Rθ )1/2 dθ.7) over a cross section A of area A(X). with A = a e mx +b e−mx 2 . and m) the equation (8.8) This can be solved analytically for certain families of cross sectional shapes A. By integrating equation (8. and not2π ing that A = 0 1 R 2 dθ. For b = 0 we have the exponential horn. which is. for convenience written in the original variables x and k. RienstraHirschberg 11th November 2001 12:00 . the shape reduces to the conical horn 2 2 A = ( A0 + A1 x)2 . b. For example.230 8 Approximation methods The boundary condition can be rewritten as ∇⊥ p1 · n⊥ = p0 X R R X p0 X R X = |∇⊥ S| 2 R 2 + Rθ where n⊥ = ∇⊥ S/|∇⊥ S| is the transverse unit normal vector.8) simpliﬁes to φx x + (k 2 − m 2 )φ = 0 which can solved by elementary methods. 117]. and if b = a the catenoidal horn.

but over larger distances it will somehow have to change its shape in accordance with its new environment. or waves propagating in a slowly varying duct. The exact solution is readily found to be (8. this method has grown out of practice. and works well for certain types of problems.11) which appears to be not a good approximation for large t for the following reasons: RienstraHirschberg 11th November 2001 12:00 . In both cases there is a small parameter in the problem which is the corner stone of the approximation. and on the other hand two rapidly interacting quantities (kinetic and potential energy) controlling the phase. utilizing this difference between small scale and large scale behaviour is the method of multiple scales ([129. and will propagate approximately as in the constant case.8. it is clear that over a short distance (a few wave lengths) the wave only sees a constant medium or geometry. the multiple scale method is applicable to problems with on the one hand a certain global quantity (energy. This small parameter is the ratio between a typical wave length and the length scale over which the medium or duct varies considerably (say. As with most approximation methods. 9]).2 Multiple scales 231 8. Typically. dy(0) =1 dt (8. y(0) = 0. order 1).2 Multiple scales Introduction By means of the method of multiple scales we will consider problems typically of waves propagating in a slowly varying but otherwise inﬁnite medium (ray acoustics). power) which is conserved or almost conserved and controls the amplitude.10) y(t) = sin( 1 − ε2 t) e−εt / 1 − ε2 A naive approximation for small ε and ﬁxed t would give y(t) = sin t − εt sin t + O(ε2 ) (8. Intuitively. An illustrative example We will illustrate the method by considering a damped harmonic oscillator dy d2 y +y=0 + 2ε 2 dt dt with 0 < ε (t ≥ 0). A technique.9) 1.

ε) = y0 (t) + εy1 (t) + ε2 y2 (t) + · · · . etc. perturbation series: secular = occurring once in a century. resulting in resonance. the quantity yn is excited (by the “source”-terms −2dyn−1 /dt) in its eigenfrequency. In the following we shall demonstrate that this type of error occurs also if we construct a straightforward approximate solution directly from equation (8. As is seen from the structure of the equations for yn .9). knowing the character of the error.14) 1 From astronomical applications where these terms occurred for the ﬁrst time in this type of RienstraHirschberg 11th November 2001 12:00 .232 8 Approximation methods 1) if t = O(ε−1 ) the second term is of equal importance as the ﬁrst term and nothing is left over of the slow exponential decay. dt dy1 (0) with y1 (0) = 0. Apart from being of limited validity. expansion (8. ε) = Y (t.13) and identify the solution y with a suitably chosen other function Y that depends on both variables t and T : y(t. dy0 (0) = 1. we may then try to avoid them. T . The algebraically growing terms of the type t n sin t and t n cos t that are generated are called in this context: secular1 terms. Suppose we can expand y(t. saeculum = generation. ε). = 0. the straightforward. (8. when εt ≥ O(1). Substitute in (8.12) that is generated breaks down for large t. However. Introduce the slow time scale T = εt (8. dt with y0 (0) = 0. For certain classes of problems it is therefore advantageous to incorporate this structure explicitly in the approximation. the expansion reveals nothing of the real structure of the solution: a slowly decaying amplitude and a frequency slightly different from 1. (8. Indeed. 2) if t = O(ε−2 ) the phase has an error of O(1) giving an approximation of which even the sign may be in error. Poincaré type.12) then y1 (t) = −t sin t.9) and collect equal powers of ε: O(ε 0 ) : d2 y0 + y0 = 0 dt 2 d2 y1 dy0 O(ε 1 ) : + y1 = −2 2 dt dt y0 (t) = sin t.

Since the time derivatives of y turn into partial derivatives of Y ∂Y ∂Y dy = +ε . With the unwelcome appearance of secular terms in mind it is natural to think of conditions. ε) that are equal to y(t. ∂ Y0 (0. There are. ∂t 2 ∂ 2 Y0 ∂Y0 ∂ 2 Y1 −2 .16) (8.16) to obtain to leading orders ∂ 2 Y0 + Y0 = 0. T ) = A0 (T ) sin t with (8. 0) = − Y0 (0. dt ∂t ∂T equation (8. T ) + · · · and substitute this into equation (8. + Y1 = −2 ∂t 2 ∂t ∂t∂ T with initial conditions Y0 (0. 0) = 0. Y1 (0.9) becomes for Y ∂ 2Y ∂Y ∂ 2Y + + Y + 2ε ∂t 2 ∂t ∂t∂ T Assume the expansion Y (t. ∂t ∂T A0 (0) = 1.18) which gives a right-hand side for the Y1 -equation of −2 A0 + ∂ A0 cos t.15) The solution for Y0 is easily found to be Y0 (t. inﬁnitely many functions Y (t. T )-space. T ) + εY1 (t.8. ε) along the line T = εt in (t. (8. ∂t ∂ ∂ Y1 (0. 0).19) RienstraHirschberg 11th November 2001 12:00 .2 Multiple scales 233 The underlying idea is the following. T . 0) = 1. (8.17) + ε2 ∂Y ∂ 2Y +2 ∂T 2 ∂T = 0. chosen such that no secular terms occur when we construct an approximation. 0) = 0. ∂T No secular terms occur (no resonance between Y1 and Y0 ) if this term vanishes: A0 + ∂ A0 =0 ∂T −→ A0 = e−T . T . So we have now some freedom to prescribe additional conditions. (8. ε) = Y0 (t. T ) + ε 2 Y2 (t. of course.

20) ˜ (The need for the 1/ε-factor is immediately clear if we observe that t = ε−1 ωεt = ωt for a constant ω = O(1). +2 ∂T ∂T ∂T 2 ∂T Note that the secular terms are now not explicitly suppressed. (8.9) and suppressing the exponential factor yields ∂ A ∂ω ∂A ∂2 A + A + 2ω A + ε 2 = 0. this is indeed not completely straightforward. Sometimes. that we determine Y0 fully only on the level of Y1 . ε) dτ.21).21) RienstraHirschberg 11th November 2001 12:00 . and that each higher order correction is no more secular than its predecessor. In this case the fast variable is to be strained locally by a suitable strain function in the following way ˜ t= 1 ε εt ω(τ . ε) = ω0 (T ) + ε 2 ω2 (T ) + · · · . however. We see that a second time scale T2 = ε 2 t is necessary. With some luck and ingenuity this is just sufﬁcient to determine A and ω. (8. The present approach is by and large the multiple scale technique in its simplest form. yielding terms O(ε2 t).234 8 Approximation methods Note (this is typical).22) −1 Tω(τ . On a longer time scale (t = O(ε−2 )) we have in Y2 again resonance because of the “source”: e−T sin t. (1 − ω2 ) A + iε 2ω Finally. So much freedom may be left that ambiguities can result.) For linear wave-type problems we may anticipate the structure of the solution and assume the WKB hypothesis (see [9. without having to solve Y1 itself. The necessary additional condition is here that the solution of the present type exists (assumption 8.ε) dτ 0 . 65]) y(t. In general. we have not completely got rid of secular terms. the occurrence of higher order time scales is really an artefact of the fast variable being slowly varying due to external effects. (8. ε) = A(T . Variations on this theme are sometimes necessary. the solution is found as the following expansion A(T . ε) e iε We have ∂ A iε −1 Tω dτ ∂y 0 e = iω A + ε ∂t ∂T ∂ω ∂A ∂2y ∂2 A −1 T + iε A + ε 2 2 e iε 0 ω dτ = −ω2 A + 2iεω 2 ∂t ∂T ∂T ∂T so that substitution in (8. For example. ε) = A0 (T ) + ε A1 (T ) + ε 2 A2 (T ) + · · · ω(T . like a slowly varying problem parameter.

the velocity uex outside the resonator may now be neglected. with a jet formed respectively inside and outside the resonator. Substitute and collect equal powers of ε: O(ε 0 ) : O(ε 1 ) : 2 (1 − ω0 ) A0 = 0 → ω0 = 1. For a low enough frequency the ﬂow may be considered quasi-stationary. In this way we will be able to investigate the small non-linear terms that will be seen to represent a small damping. → A0 = e−T .3 Helmholtz resonator with non-linear dissipation An interesting application of the multiple scale technique is the Helmholtz resonator.2. the neck velocity un is effectively equivalent to the outside velocity uex . we may neglect the internal velocity uin . except in the transitional phase (which we will ignore) when the ﬂow turns its direction and the jet isn’t fully developed yet.4). in ex 2 dt dt (5. when the internal pressure is low. RienstraHirschberg 11th November 2001 12:00 . Two points inside and outside may now be connected by Bernoulli’s equation ρ0 dϕin 1 dϕex + 2 ρ0 u 2 + pin = ρ0 + 1 ρ0 u 2 + pex .34) If the exit is small enough compared to the volume V . First we have to describe the model in a bit more detail. and the volume is small compared to a typical wave length (i. ∂ A0 + A0 = 0 ∂T ∂ A1 + A1 = (1 + 2ω2 ) e−T O(ε 2 ) : 2i ∂T The solution that emerges is indeed consistent with the exact solution. as discussed before (5. but now without linearization (section 5. On the other hand. Furthermore.8.3 Helmholtz resonator with non-linear dissipation T 235 Note that ω1 may be set to zero since the factor exp(i 0 ω1 (τ ) dτ ) may be incorporated in A. while at the same time the neck velocity is equivalent to uin .34). 2 A1 = 0. the internal density ρin is practically uniform. and therefore related to the neck ﬂow velocity un by V dρin = −ρ0 u n Sn . The oscillating internal pressure sucks and blows the ﬂow inward and outward through the exit.41) When the internal pressure is high and the ﬂow is blown outward. 8. → ω2 = − 1 . compact). dt (5.e.

T . For this we need an inherent timescale and pressure. dτ (8. For a proper analysis it is most clarifying to rewrite the equation into non-dimensional variables. ε) = 0. ∂τ ∂T (8. So for a pressure that is a small fraction of this level we have a problem with only little damping. we arrive at V 2 d pin d pin V d2 pin + pin = pex . 0. and prescribe a (small) pin at t=0. y(τ . Following the same lines as for equation (5. we will assume pex = 0.and outﬂow to be symmetric. ε) = 0. (8. ∂Y ∂Y dy = +ε . and split up the time dependence in two by introducing the slow timescale T and the dependent variable Y T = ετ.236 8 Approximation methods For simplicity we assume the effect of in. Y (0. and we introduce a length . So we make dimensionless t= to obtain dy dy d2 y + y = 0. 0. so its period (c Sn / V )1/2 0 is the obvious timescale of the nonlinear problem.26) RienstraHirschberg 11th November 2001 12:00 . ε). equal to the neck length plus any necessary end correction.24) By comparing the acceleration y with the damping εy |y | it may be inferred that on a timescale ετ the inﬂuence of the damping is O(1).25) V 2 c0 Sn 1 2 τ. ε) = Y (t. By dividing the damping term by 2 the acceleration term we ﬁnd the pressure level 2ρ0 c0 Sn / V at which the damping would be just as large as the other terms.43). 2 pin = 2ερ0 c0 Sn y V where 0<ε 1.23) As we will only consider the response to a stepwise change of external pressure.25) ∂Y ∂Y ∂ 2Y ∂ 2Y + + O(ε 2 ) = 0 +Y +ε 2 2 ∂τ ∂τ T ∂τ ∂τ ∂ ∂ +ε Y (0. + 2 4 2 dt Sn c0 dt 2 2ρ0 c0 Sn dt (8. dτ ∂τ ∂T and obtain for equation (8. For vanishing 2 amplitudes the equation describes a harmonic oscillator. +ε dτ 2 dτ dτ with y(0) = 1. that relates the potential difference to the neck velocity: ϕex − ϕin = ex in u · dx = u n . So we conjecture a slow timescale ετ . dy(0) = 0.

0) = 1.28) 0 )| + A2 sin(τ − 0 − with corresponding initial conditions.27) 0 (T )). The secular terms are suppressed if the ﬁrst harmonics of the right-hand side cancel.3) 8 sin τ | sin τ | = − π ∞ n=0 sin(2n + 1)τ (2n − 1)(2n + 1)(2n + 3) d 0 =0 dT (8. T ) + εY1 (t. 0) = 0 ∂τ A0 (0) = 1.31) Sn cos τ .29) and we obtain the equations 8 2 dA0 + A =0 2 dT 3π 0 with solution 0 = 0 and 1 . where = 0. For this we use the Fourier series expansion (section C.8. 4 V 1 + 3π ετ with τ = 2 c0 Sn V 1 2 t. and is of The error of O(ε2 ) results from the approximation ∂τ Y + ε ∂T Y ∂τ ∂ course only valid outside a small neighbourhood of the points where ∂τ Y = 0. RienstraHirschberg 11th November 2001 12:00 . We expand Y (t. A0 (T ) = 4 1 + 3π T All together we have ﬁnally: pin 2 2ερ0 c0 and (8. T .3 Helmholtz resonator with non-linear dissipation 237 ∂ ∂ ∂ Y . (8. For the ﬁrst order we have the equation ∂ 2 Y0 ∂Y0 ∂Y0 ∂ 2 Y1 − + Y1 = −2 ∂τ 2 ∂τ T ∂τ ∂τ =2 dA0 sin(τ − dT 0) − A0 d 0 cos(τ − dT 0 )| sin(τ 0) (8. Comparison with a numerically ob−4 tained “exact” solution shows a relative error in the amplitude of less then 2 · 10 for ε = 0. 0 (0) (8.30) (8. ∂ Y0 (0. ε) = Y0 (t. T ) + O(ε 2 ) and ﬁnd for the leading order ∂ 2 Y0 + Y0 = 0.1.32) This approximation happens to be quite good. ∂τ 2 with solution Y0 = A0 (T ) cos(τ − with Y0 (0.

f.35) We know that for constant a and constant k the general solution can be built up from modes of the following type (chapter 7) p = AJm (αmµr) e−imθ−ikmµ x .34) where k = k(εx) = ω/c0 (εx). θ) as r = a(εx) (8. 2 2 kmµ = k 2 − αmµ . (8. with boundary condition a vanishing normal velocity component at the wall. so n ·∇ p = 0 Since (section A. r. 159. described in polar coordinates (x.4 Slowly varying ducts Consider a hard-walled circular cylindrical duct with a slowly varying diameter (c. Im(kmµ ) ≤ 0.33) with ε a dimensionless small parameter. (where a (z) = da(z)/dz) this is ∂p ∂p − εa (εx) =0 ∂r ∂x at r = a(εx). that there are solutions close to these modes. Sound waves of circular frequency ω are described by a variant of the Helmholtz equation ∇· 1 ∇p + p = 0 k2 (8.3) n ∝ ∇ r − a(εx) = er − εa (εx)e x . following the previous section. 130]). αmµ = jmµ /a.238 8 Approximation methods 8.36) at r = a(εx). and we assume for the present problem. [161. (8. In this duct we have an acoustic medium with constant mean pressure and a slowly varying sound speed c0 = c0 (εx) (for simplicity no variation in r and θ is assumed). 163.37) Re(kmµ ) ≥ 0. (8. We introduce the slow variable X = εx RienstraHirschberg 11th November 2001 12:00 .

ε) dξ 0 239 (8. ε) = A0 (X.39) where we introduced for short the Bessel-type operator (see Appendix D) L( A) = m2 ∂2 A 1 ∂ A + k2 − γ 2 − 2 A + ∂r 2 r ∂r r and rewrote the right-hand side in a form convenient later. r.8. After suppressing the exponential factor.34) after multiplication with k2 : −γ 2 A − 2iεγ ∂γ ∂A ∂A 1 ∂k ∂2 A − iε A + ε 2 2 − 2ε −iγ A + ε ∂X ∂X ∂X k ∂X ∂x + ∂ 2 A 1 ∂ A m2 − 2 A + k 2 A exp · · · + ∂r 2 r ∂r r −1 Xγ (ξ .4 Slowly varying ducts so that k = k(X). ∂a ∂A + iε γA=0 ∂r ∂X (8. ε) e−imθ e−iε Since ∇· 1 ∂2 p 1 ∂p 1 ∂2 p ∂ 1 ∂p 1 + 2 + 2 2 ∇p = + k2 ∂ x k2 ∂ x k ∂r 2 r ∂r r ∂θ ∂A ∂p = −iγ A + ε exp · · · ∂x ∂X ∂2 A ∂γ ∂A ∂2 p − iε A + ε 2 2 exp · · · = −γ 2 A − 2iεγ ∂x2 ∂X ∂X ∂X we have for (8. ε) = γ0 (X) + O(ε 2 ) RienstraHirschberg 11th November 2001 12:00 .38) = 0. A ∂ X k2 at r = a(X). this is up to order O(ε) L(A) = iε k 2 ∂ γ A2 . r) + O(ε 2 ) γ (X. Expand A(X. r) + ε A1 (X. and we seek a solution of slowly varying modal type: p = A(X. r.

and follows from a solvability condition for A1 . (8. r) = P0 (X) Jm (α(X)r). k2 ∂ X 0 = −i For the right-hand side we apply Leibnitz’s rule a i 0 ∂ γ0 A2 d 0 r dr = i 2 ∂X k dX a 0 γ0 a ∂a 2 rγ0 A2 0 A . γ02 (X) = k 2 (X) − α 2 (X). (8. and collect like powers of ε.41) with r A0 /k 2 and integrate to r from 0 to a(X).42) The amplitude P0 is still undetermined. O(1) : L( A0 ) = 0 ∂ A0 =0 ∂r L( A1 ) = i k 2 ∂ γ0 A2 0 A0 ∂ X k 2 ∂a ∂ A1 = −i γ0 A0 ∂r ∂X (8.39). a 0 1 r A0 L( A1 ) dr = 2 2 k k = a 0 r A0 L(A1 ) − r A1 L(A0 ) dr a 0 ∂ A1 ∂ A0 1 − r A1 r A0 2 k ∂r ∂r γ0 a ∂a 2 A . Im(γ0 ) ≤ 0. Re(γ0 ) ≥ 0.40) than that of a parameter.41) at r = a(X).40) at r = a(X).240 8 Approximation methods substitute in (8. As before. dr − i 2 2 k k ∂X 0 RienstraHirschberg 11th November 2001 12:00 . Multiply left. O(ε) : Since variable X plays no other rôle in (8. α(X) = jmµ /a(X). amplitude P0 is determined at the level of A1 . without A1 necessarily being known.and right-hand side of (8. we have for A0 the “almost-mode” A0 (X. For the left-hand side we utilize the self-adjointness of L.

(8. 8. The trans- It is not accidental that the above integral mitted power of p is to leading order P = 0 2π 0 a 1 2 Re( pu ∗ )r drdθ = a 0 π ωρ0 a Im p 0 ∂ ∂x p∗ r dr = π −1 X Re(γ0 ) e 2ε 0 Im(γ0 ) dξ ωρ0 |A0 |2r dr. equal to the constant mean pressure.5 Reﬂection at an isolated turning point An important property of expression (8.43) is constant. In a small interval around X0 the mode does not vary slowly and locally a different approximation is necessary. the present method breaks down.5 Reﬂection at an isolated turning point As a result a 0 241 rγ0 A2 γ0 2 2 m 2 0 dr = P r − 2 Jm (αr)2 k2 2k 2 0 α = γ0 P02 2 a 2k 2 1− 2 a 0 m Jm ( jmµ )2 = constant 2 jmµ or: P0 (X) = const.8. 2 = constant ρ0 a 2 γ0 ρ0 c0 = const.43) for P is that it becomes invalid when 0 γ0 = 0. √ a(X) γ0 (X) γ0 (X) a 2 2 0 (rγ0 A0 /k ) dr (8. 2 since ρ0 c0 is.44) This is for propagating modes (γ0 real) constant: P = m2 π 1 γ0 |P0 |2 2 a 2 1 − 2 Jm ( jmµ )2 ωρ0 jmµ γ0 k 2 2 1 a = const. apart from a factor. So when the medium and diameter vary in such a way that at some point X = X 0 wave number γ0 vanishes. RienstraHirschberg 11th November 2001 12:00 . k(X)α(X) k(X) √ = const.

8. where a mode changes from cut-on to cut-off. it is clear that 0 no power is transmitted beyond X0 (Re(γ0 ) = 0 in (8. the steps in the process of determining the boundary layer thick- ness and equations. So in X < X0 . a point where wave number γ0 vanishes is called a “turning point”. in the context of the WKB method (see [9. When γ02 changes sign. If X0 is isolated. Therefore.1 Turning point X 0 . However. and ﬁnally the matching. RienstraHirschberg 11th November 2001 12:00 . c0 (X 0 ) a(X 0 ) or α (X 0 ) − k (X 0 ) > 0. 65]). since the physics of the subject is most relevant in 2 this section on slowly varying ducts. and γ0 changes from real into imaginary.8. the mode is split up into a cut-on reﬂected part and a cut-off transmitted part. Therefore.43). to keep the present example concise.44)).38. where γ0 is imaginary 2 As is explained in section 8. Consider an incident.242 8 Approximation methods X0 Figure 8. Asymptotically. Assume at X = X 0 a transition from cut-on to cut-off. are very much coupled. we will present the pertaining results here .45) with reﬂection coefﬁcient R to be determined. such that there are no interfering neighbouring points of vanishing γ . r. In X > X0 . a turning point region is a boundary layer and the appropriate analysis is that of matched asymptotic analysis (section 8. where γ0 is real positive. reﬂected and transmitted wave of the type found above (equations 8. we will present the results with a limited amount of explanation.8. and usually too lengthy to present in detail. and the wave has to reﬂect at X 0 .42. θ) = √ γ0 (X) +R e iε −1 X X 0γ0 (X ) dX (8. we have the incident and reﬂected waves X k(X)α(X) −iε −1 X γ0 (X ) dX 0 Jm (α(X)r) e−imθ e p(x. so ∂∂X γ02 < 0 or c0 (X 0 ) a (X 0 ) − > 0.8).

k0 = k (X 0 ). From the limiting behaviour of the outer solution in the turning point region (see below). inner and outer solution are asymptotically matched. Inside the turning point region this approximation breaks down.5 Reﬂection at an isolated turning point negative. ¯ {2εk0 (α0 − k0 )}1/6 |ξ |1/4 (8.47) RienstraHirschberg 11th November 2001 12:00 . etc.34) are now dominant. r. From a balance of terms in the differential equation (8.34).46) 1 with transmission coefﬁcient T to be determined. we have 1 ε X X0 γ0 (X ) dX = ¯ − 2 |ξ |3/2 = −ζ. Since for ε → 0 γ02(X) = γ02(X 0 + ε 2/3 ξ ) = −2ε2/3 k0 (α0 − k0 )ξ + O(ε 4/3 ξ 2 ). if ξ > 0 3 where we introduced ¯ ξ = {2k0 (α0 − k0 )}1/3 ξ and ¯ ζ = 2 |ξ |3/2 . The approximation is invalid here. leading to a boundary layer variable ξ given by X = X 0 + ε 2/3 ξ. To determine the unknown constants (here: R and T ). valid outside the turning point region. if ξ < 0 3 ¯ −i 2 ξ 3/2 = −iζ. we can estimate the order of magnitude of the solution.34) it transpires that the turning point boundary layer is of thickness X − X0 = O(ε 2/3 ).e. For the matching it is necessary to determine the asymptotic behaviour of the outer solution in the limit X → X0 . because neglected terms of equation (8. This will give us the inner or boundary layer solution. while be taken..8. where k0 = k(X 0 ). √ γ0 = e− 4 πi √ |γ0 | will This set of approximate solutions of equation (8. 3 The limiting behaviour for X ↑ X0 is now given by p k 0 α0 Jm (α0r) e−imθ e iζ +R e−iζ . θ) = T √ γ0 (X) 243 (8. and another approximate equation is to be used. we have the transmitted wave X k(X)α(X) −iε −1 X γ0 (X ) dX 0 Jm (α(X)r) e−imθ e . constitute the outer solution. p(x. the appropriate local coordinate). and the boundary layer thickness (i.

equivalent to Airy’s equation (D. the behaviour of the incident mode remains rather unaffected in radial direction. we ﬁnd that for ξ large −2/3 ¯ . written in variable ξ .34) yields k 2∇· 1 ∇ p + k2 p k2 ∂2 p + γ02 p = ∂ξ 2 ∂ 2ψ − 2k0 (α0 − k0 )ξ ψ = 0 ε 2/3 Jm (α(X)r) e−imθ ∂ξ 2 ε2/3 ¯ which is. and thus √ 1 2 π T k0 α0 e 4 πi a= .1). r. θ) = Jm (α(X)r)ψ(ξ ) e−imθ . also compared to the radial coordinate. equation (8. ¯ ∂ξ 2 This has the general solution (see ﬁgure 8.48) matches the inner solution if with 1 ξ ε e 4 πi k0 α0 a b e−ζ . equation (8.D. T ¯ {2εk0 (α0 − k0 )}1/6 ξ 1/4 1 (8.48) Since the boundary layer is relatively thin. + ∂r 2 r ∂r r ∂θ Hence.76) for Airy functions. and we can assume in the turning point region p(x. parallel with R and T . we can only have b = 0. Using ¯ the asymptotic expressions (D.74) ∂ 2ψ ¯ − ξ ψ = 0.244 8 Approximation methods while it is for X ↓ X 0 given by p e 4 πi k0 α0 Jm (α0r) e−imθ e−ζ .2) ¯ ¯ ψ(ξ ) = a Ai(ξ ) + b Bi(ξ ). From the properties of the Bessel equation (D. √ 1/4 e−ζ + √ 1/4 e ζ ∼ T 1/6 ξ 1/4 ¯ ¯ ¯ 2 πξ πξ {2εk0 (α0 − k0 )} 1 Since e ζ → ∞. we have 1 ∂2 p ∂2 p 1 ∂p + 2 2 + k 2 p = γ02 p = O(ε 2/3 ) p. where a and b.75. are now determined from matching. {2εk0 (α0 − k0 )}1/6 RienstraHirschberg 11th November 2001 12:00 .

In contrast to the duct. RienstraHirschberg 11th November 2001 12:00 .6 Ray acoustics in temperature gradient 245 2. This means that rays are not localized “beams” of sound. So.5 −10 −8 −6 −4 −2 Figure 8.6 Ray acoustics in temperature gradient When a sound wave propagates in free space through a medium that varies on a much larger scale than the typical wave length (typically: temperature gradients.5 2 1. ﬁnally.34).47) matches the inner solution if k 0 α0 a cos(ζ − 1 π ) ∼ (e iζ +R e−iζ ). and ﬁnd that equation (8.75).8. but only the tangents of the intensity vectors of a sound ﬁeld. we have T = 1. R = i. so that we have again equation (8. √ 4 1/4 ¯ ¯ π |ξ | {2εk0 (α0 − k0 )}1/6 |ξ |1/4 or T e 4 πi (e iζ − 4 πi + e−iζ + 4 πi ) = T e iζ +T i e−iζ ∼ e iζ +R e−iζ . or wind with shear).49) 1 1 1 8. where the wave is conﬁned by the duct walls. the waves may now freely refract and follow curved paths. Consider an inﬁnite 3D medium with varying temperature (typical length scale L) but otherwise with a constant mean pressure.5 0 0.2 Bi(x) Ai(x) 0 2 4 Airy functions ¯ ¯ If −ξ is large with 1 −ξ ε −2/3 we use the asymptotic expression (D. (8. These paths are called rays. the same ideas of multiple scales may be applied.5 1 0.

∇ 2 p := ε 2 ∇ A − 2iε∇ A · ∇τ − iε A∇ τ − A|∇τ |2 e−iτ/ε . to scale the problem on L and to consider the wave length “short” or the frequency “high”. The surfaces τ (X) = εωt (8.52) in (8.52) describe the propagating wave front. .3). The small parameter ε relates the typical wave length λ ∼ 2π c0 /ω to L. to consider L “large”.54a) (8.54b) to obtain (k 2 − |∇τ |2 ) A − iε Expand A(X.e. ∂ X ∂Y ∂ Z so that ∇ = ε∇. i.50) (8.53) (8. Another.51) for a time harmonic sound ﬁeld p ∝ e iωt . ε) = τ0 (X) + O(ε 2 ) 3 It should be noted that our point of view here is to think of the problem as a wave in a slowly varying medium. equally valid point of view is to think of a medium with a high frequency wave. 2 A k k (8. 2 2 (8. Assuming the ﬁeld to be locally plane we try an approximate solution having the form of a plane wave but with slowly varying (real) amplitude A and phase τ p(x) = A(X.55) RienstraHirschberg 11th November 2001 12:00 . so ε ∼ λ/L.50): ∇ p := ε∇ A − iA∇τ e−iτ/ε . ε) = A0 (X) + ε A1 (X) + O(ε 2 ) τ (X.e.ε)/ε where X = εx the slow variable. Note that the vector ﬁeld ∇τ is normal to the surfaces τ = constant (section A.246 8 Approximation methods but now k varying more generally3 : ∇· 1 ∇p + p = 0 k2 ω k = k(εx) = c0 (εx) (8. k2 A2 ∇τ 1 ∇· + ε 2 k 2 ∇ · 2 ∇ A = 0. Deﬁne the operator ∇= ∂ ∂ ∂ . i. Substitute (8. ε) e−iτ (X.

q x ∂qi RienstraHirschberg 11th November 2001 12:00 . is called a characteristic. of hyperbolic type. other equivalent forms of the solution q(x) exist. It relates the amplitude variation to diverging or converging rays. In general the characteristic depends on the solution.6 Ray acoustics in temperature gradient and collect like powers in (8. We ﬁnd to leading order τ0 and A0 : |∇τ0 |2 = k 2 ∇· A2 ∇τ0 0 = 0. with consistent boundary conditions on a surface S. p. which can always be reduced to an ordinary differential equation along characteristics [25].56) is the eikonal equation.57) is called the transport equation and describes the conservation of wave action. Equation (8. the solution is not unique. By rewriting equation (8. dλ ∂τ where the curve x = χ(λ). The eikonal equation is a nonlinear ﬁrst order partial differential equation.1) (p.247). This is summarized by the following theorem ([201. and in general inconsistent. which determines the wave fronts and the ray paths. If more than one point of a characteristic is part of S. dλ dτ = q ·∇q H.1 (General solution of 1st order PDE) The solution of the ﬁrst-order partial differential equation H (q.8. which is here equivalent to conservation of energy [101. is given by the system of ordinary differential equations4 dχ = ∇q H. dλ ∂H dq = −q − ∇x H.55). q = ∇τ. If more than one characteristic passes through a point. similar for ∇ H . The characteristics are here identical to the rays.56) (8. Theorem 8. x) = 0.65]). k2 247 (8. A characteristic forms a path along which the information of the boundary values on S is transferred to the point of observation. Note that since λ is only an auxiliary variable. τ. the characteristic 2 2 4 ∇ H denotes the gradient in q: ( ∂ H ). and both characteristic and solution are to be determined together.57) Equation (8. 201]. the boundary conditions are not independent. with parameter λ.56) as 1 2 ε(c0 /ω)|∇τ0 |2 − 1 εω = 0 and using theorem (8.

the amplitude varies according to the relation A2 (X) 0 S(X) = constant k(X) along a ray tube. there is a desert area called “Zona del Silencio”. (8. a name that might well refer to this acoustic effect. and we have the expected τ0 (X(t)) = εωt along a ray X = X(t) given by dX c2 ∇τ0 . the transport equation (8.60) From equation (8. Once we know the rays. Consider a small area S1 of the surface τ0 = C1 . and not at all along for example hot sand. This explains why sound is carried far along a cold surface like water or snow.59) tube S2 S1 If we associate to a ray X(t) a ray-tube with cross section S = S(X).57) can be solved as follows. RienstraHirschberg 11th November 2001 12:00 .248 8 Approximation methods variable is just the time t. In combination with reﬂection at the surface the sound is trapped and tunnels through the layer adjacent to the surface. When the surface is hot there is a negative soundspeed gradient which causes the sound to bend upwards and so to disappear into free space 5 . When the surface is cold there is a positive soundspeed gradient which causes the sound waves to bend downwards to the surface.58) and (8. k (8. 5 In the north of Mexico. except for S1 and S2 where it is just ∇τ0 = kn. dt c0 Equations (8. Then the volume of rays connecting S1 and S2 is called a ray-tube. Since ∇τ0 = 0 along its surface. = ε 0 ∇τ0 = εc0 dt ω |∇τ0 | ω d ∇τ0 = −ε ∇c0 . in Chihuahua.59) it can be inferred that a ray (with direction ∇τ0 ) bends away from regions with higher sound speed.59) are called: the “ray-tracing equations”. and connect the points of S1 via the rays (following the vector ﬁeld ∇τ0 ) with the corresponding area S2 on the surface τ0 = C2 .58) (8. we have ∇· A2 ∇τ0 0 dX = k2 A2 0 ds − k A2 0 ds = 0.

the communication between two people.8. Furthermore. Y )-plane satisfy d X dt d Y dt = = 2 εc0 ∂τ0 ω ∂X 2 εc0 ∂τ0 ω ∂Y (8. so that dc0 /dY is constant. The one upstream is easier to understand for the one downstream than the other way around. then dX/dY can be integrated with respect to Y . dX ∂τ0 /∂ X ∂τ0 = constant. if c0 varies linearly.61a) (8.63) which corresponds with a circle in the (x. 8. This is not because the wind “carries the RienstraHirschberg 11th November 2001 12:00 . ∂X ∂τ0 ∂X 2 + ∂τ0 ∂Y 2 = ω2 . For example.7 Refraction in shear ﬂow 249 We can make this more explicit when the sound speed varies in only one direction.56) ∂τ0 /∂Y dY = . So rays in a linear sound speed medium follow circular paths. dt ∂Y c0 dY Since we have from equation (8. is not symmetric. y)-plane.61c) (8. 2 c0 it follows that the angle θ with the vertical satisﬁes the relation 1 sin θ = c0 c0 dY dX 2 +1 −1 2 = 1 ∂τ0 (0) = constant ω ∂X (8. Then rays in the (X.61d) d ∂τ0 = 0 dt ∂ X εω dc0 d ∂τ0 =− .62) which is just Snell’s law. say c0 = c0 (Y ). one downstream and one upstream.61c) and (8.7 Refraction in shear ﬂow The propagation of sound waves in the atmosphere is greatly affected by wind. with the result 2 c0 + dc0 dY 2 (X − X 0 )2 = 1 ∂τ0 (0) ω ∂X −2 = constant (8.61b) (8.61a-8.

1) (p. 2 P(1 − v 0 ·∇τ ) = c0 R(1 − v 0 ·∇τ ). waves faster”. R(1 − v 0 ·∇τ ) = ρ0 V ·∇τ. 2 yielding S = 0. V (x).64) This equation is similar to equation (8. but it is due to refraction by the wind gradient (the atmospheric boundary layer). s = P(x). with L a typical length scale for variations in the mean ﬂow velocity v0 . ρ.49a-2.3 Refraction in shear ﬂow. We assume the sound ﬁeld to be time harmonic with a frequency high enough to adopt a ray approximation.250 8 Approximation methods U (z) Figure 8. (8.49a-2. to obtain to leading order ρ0 V (1 − v 0 ·∇τ ) = P∇τ.247). 2 0 2 the characteristic variable is just the time t. S(x) × e iωt−iωτ (x) which are substituted in (2. and an eikonal equation for the phase function τ : |∇τ |2 = 1 1 − v 0 ·∇τ 2 c0 2 .49d) for sound in an arbitrary mean ﬂow. Similar to the foregoing chapter we introduce p. v. S(1 − v 0 ·∇τ ) = 0. This is seen as follows ([101]).64) as 1 2 c |∇τ |2 /(1 − v 0 ·∇τ ) − 1 (1 − v 0 ·∇τ ) = 0 and using theorem (8. P = c0 R. The small parameter is now the ratio c0 /ωL.56). R(x). and we have τ (x) = t RienstraHirschberg 11th November 2001 12:00 . Consider the acoustic wave equations (2.49d). By rewriting equation (8.

8.8 Matched asymptotic expansions along the ray x = x(t), given by6 dx ∇τ = v0 + c0 , dt |∇τ | d ∇τ = −∇v0 ·∇τ − |∇τ |∇c0 . dt For a simple parallel ﬂow in x-direction, varying only in z: v 0 (x) = (U0 (z), 0, 0) this becomes d ∂τ dt ∂ x d ∂τ dt ∂ z = d ∂τ = 0, dt ∂ y dU0 (z) ∂τ . dz ∂x

251

(8.65a) (8.65b)

(8.66a) (8.66b)

=−

So, if we start with for example a vertical wave front τ ∝ x, then a positive wind shear (dU0 /dz > 0) will decrease the z-component ∂τ/∂ z. In other words, the rays will bend towards the low wind-speed regions. Propagating with the wind, the waves bend down and remain near the ground; against the wind they bend up and disappear in the free space.

8.8

Matched asymptotic expansions

Introduction
Very often it happens that a simplifying limit applied to a more comprehensive model gives a correct approximation for the main part of the problem, but not everywhere: the limit is non-uniform. This non-uniformity may be in space, in time, or in any other variable. For the moment we think of non-uniformity in space. This non-uniformity may be a small region near a point, say x = 0, or it may be far away, i.e. for x → ∞, but this is of course still a small region near the origin of 1/x, so for the moment we think of a small region. If this region of non-uniformity is crucial for the problem, for example because it contains a boundary condition, or a source, we may not be able to utilize the
6

∇v ·∇τ = (

∂v j ∂τ j ∂ x i ∂ x j ).

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8 Approximation methods

pursued limit and have to deal with the full problem (at least locally). This, however, is usually not true. The local nature of the non-uniformity itself gives often the possibility of another reduction. In such a case we call this a couple of limiting forms, “inner and outer problems”, and are evidence of the fact that we have apparently physically two connected but different problems as far as the dominating mechanism is concerned. (Depending on the problem) we now have two simpler problems, serving as boundary conditions to each other via continuity or matching conditions. Suppose we are interested in the solution of ε dy + y = sin x, dx y(0) = 1, x ≥0

for small positive ε, and suppose for the moment that we are not able to ﬁnd an exact solution. It is natural to try to use the fact that ε is small. For example, from the structure of the problem, where both the source and the boundary value are O(1), it is very likely to conclude that y = O(1). If also the derivative y is not very large (which is true for the most, but not, as we will see, everywhere), then a ﬁrst approximation is clearly y0 sin x.

We could substitute this into the original equation, and ﬁnd a correction y1 sin x − εy0 = sin x − ε cos x.

We can continue this indeﬁnitely, and hope for a better and better approximation of the real solution. However, this can not be true: the approximate solution found this way is completely determined without integration constants, and we cannot apply anywhere the boundary condition y(0) = 1. In fact, the value at x = 0 that appears is something like −ε . . . , and quite far away from 1. What’s happening here? The cause of this all, is the fact that in the neighbourhood of x = 0, to be exact: for x = O(ε), the solution changes its character over a very short distance (boundary layer), such that the derivative y is now not O(1), but very large: O(ε−1 ). Since equation and solution are evidently closely related, also the equation becomes essentially different, and the above approximation of the equation is not valid anymore. The remedy to this problem is that we have to stretch the variables such that the order of magnitude of the solution is reﬂected in the rescaling. In general this is far

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8.8 Matched asymptotic expansions

253

from obvious, and certainly part of the problem. In the present example it goes as follows. We write x = εξ and y(x) = Y (ξ ), so that dY + Y = sin(εξ ), dξ Y (0) = 1,

Now we may construct another approximation, locally valid for ξ = O(1) dY0 + Y0 dξ 0, Y0 (0) = 1,

with solution Y0 (ξ ) = e−ξ . We may continue to construct higher order corrections. Then we will see that for ξ large, respectively x small, this inner solution Y 0 smoothly changes into the above outer solution y0 (matching), and together they form a uniform approximation.

General methodology
In the following we will describe some of the mathematical methodology in more detail ([129, 9, 41, 95, 32, 65, 92, 86]). We are interested in the limiting behaviour for ε ↓ 0 of a sufﬁciently smooth function (x; ε) with, say, 0≤x≤1, 0<ε≤ε0 . has a regular asymptotic approximation on [0, 1] if there exists a gauge-function µ0 (ε) and a shape-function 0 (x) such that
ε→0

lim

(x; ε) − µ0 (ε)

0 (x)

=0

uniform in x

or: (x; ε) = µ0 (ε)
0 (x)

+ o(µ0 )

(ε → 0, uniform in x).

A regular asymptotic series expansion, with gauge-functions µn (ε) and shapefunctions n (x) is deﬁned by induction, and we say
N

(x; ε) =
n=0

µn (ε)

n (x)

+ o(µ N )

(ε → 0, uniform in x).

(8.67)

Note that neither gauge- nor shape-functions are unique. Furthermore, the series is only asymptotic in ε for ﬁxed N. The limit N → ∞ may be meaningless.

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8 Approximation methods

The functions that concern us here do not have a regular asymptotic expansion on the whole interval [0, 1] but say, on any partial interval [A, 1], A > 0, A ﬁxed. We call this expansion the outer-expansion, valid in the “x = O(1)”-outer region.
N

(x; ε) =
n=0

µn (ε)ϕn (x) + o(µ N )

ε → 0, x = O(1).

(8.68)

The functions do not have a regular expansion on the whole interval because the limit ε → 0, x → 0 is non-uniform and may not be exchanged. There is a gaugefunction δ(ε), with lim δ(ε) = 0, such that in the stretched coordinate
ε→0

x ξ= δ(ε) the function (ξ ; ε) = (δ(ε)ξ ; ε) has a non-trivial regular asymptotic series expansion on any partial interval ξ ∈ [0, A], A > 0, A ﬁxed. The adjective nontrivial is essential: the expansion must be “signiﬁcant”, i.e. different from the outer-expansion in ϕn rewritten in ξ . For the largest δ(ε) with this property we call the expansion for the inner-expansion or boundary layer expansion, the region ξ = O(1) or x = O(δ) being the boundary layer with thickness δ, and ξ the boundary layer variable. A boundary layer may be nested and may contain more boundary layers. Suppose, (x; ε) has an outer-expansion
n

(x; ε) =
k=0

µk (ε)ϕk (x) + o(µn )

(8.69)

and a boundary layer x = O(δ) with inner-expansion
m

(ξ ; ε) =
k=0

λk (ε)ψk (ξ ) + o(λm )

(8.70)

and suppose that both expansions are complementary, i.e. there is no other boundary layer in between x = O(1) and x = O(δ), then the “overlap-hypothesis” says that both expansions represent the same function in an intermediate region of overlap. This overlap region may be described by a stretched variable x = η(ε)σ , asymptotically in between O(1) and O(δ), so: δ η 1. In the overlap region both expansions match, which means that asymptotically both expansions are equivalent and reduce to the same expressions. A widely used and relatively simple procedure is Van Dyke’s matchings rule [189]: the outer-expansion, rewritten in the

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8.8 Matched asymptotic expansions

255

inner-variable, has a regular series expansion, which is equal to the regular asymptotic expansion of the inner-expansion, rewritten in the outer-variable. Suppose that
n m

µk (ε)ϕk (δξ ) =
k=0 m k=0 n

λk (ε)ηk (ξ ) + o(λm ) µk (ε)θk (x) + o(µn )
k=0

(8.71a) (8.71b)

λk (ε)ψk (x/δ) =
k=0

then the expansion of ηk back to x
n n

λk (ε)ηk (x/δ) =
k=0 k=0

µk (ε)ζk (x) + o(µn )

is such that ζk = θk for k = 0, · · · , n. The idea of matching is very important because it allows one to move smoothly from one regime into the other. The method of constructing local, but matching, expansions is therefore called “Matched Asymptotic Expansions” (MAE). The most important application of this concept of inner- and outer-expansions is that approximate solutions of certain differential equations can be constructed for which the limit under a small parameter is apparently non-uniform. Typical examples in acoustics are small Helmholtz number problems where long waves are scattered by small objects or are otherwise connected to a small geometrical size. The main lines of argument for constructing a MAE solution to a differential equation + boundary conditions are as follows. Suppose is given by the equation D( , , x; ε) = 0 + boundary conditions, (8.72)

= d /dx. Then we try to construct an outer solution by looking for where “non-trivial degenerations” of D under ε → 0, that is, ﬁnd µ0 (ε) and ν0 (ε) such that
ε→0 −1 lim ν0 (ε)D(µ0 ϕ0 , µ0 ϕ0 , x; ε) = D0 (ϕ0 , ϕ0 , x) = 0

(8.73)

has a non-trivial solution ϕ0 . A series ϕ = µ0 ϕ0 + µ1 ϕ1 + · · · is constructed by −1 repeating the process for D − ν0 D0 , etc. Suppose, the approximation is non-uniform (for example, not all boundary conditions can be satisﬁed), then we start looking for an inner-expansion if we have

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8 Approximation methods

reasons to believe that the non-uniformity is of boundary-layer type. Presence, location and size of the boundary layer(s) are now found by the “correspondence principle”, that is the (heuristic) idea that if behaves somehow differently in the boundary layer, the deﬁning equation must also be essentially different. Therefore, we search for “signiﬁcant degenerations” or “distinguished limits” of D. These are degenerations of D under ε → 0, with scaled x and , that contain the most information, and without being contained in other, richer, degenerations. The next step is then to select from these distinguished limits the one(s) allowing a solution that matches with the outer solution and satisﬁes any applicable boundary condition. Symbolically: ﬁnd x0 , δ(ε), λ(ε), κ(ε) with x = x0 + δξ, such that B0(ψ0 , ψ0 , ξ ) = lim κ −1 D(δ −1 λ
ε→0

(x; ε) = λ(ε) (ξ ; ε) , λ , x0 + δξ ; ε)

has the “richest” structure, and there exists a solution of B0(ψ0 , ψ0 , ξ ) = 0 satisfying boundary and matching conditions. Again, an asymptotic expansion may be constructed inductively, by repeating the argument. It is of practical importance to note that the order estimate λ of in the boundary layer is often determined a posteriori by boundary or matching conditions.

Simple example
A simple example to illustrate some of the main arguments is D(ϕ , ϕ, x; ε) = ε d2 ϕ dϕ − 2x = 0, + dx 2 dx ϕ(0) = ϕ(1) = 2. (8.74)

The leading order outer-equation is evidently (with µ0 = ν0 = 1) D0 = dϕ0 − 2x = 0 dx

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8.8 Matched asymptotic expansions with solution ϕ0 = x 2 + A

257

The integration constant A can be determined by the boundary condition ϕ (0) = 2 0 at x = 0 or ϕ0 (1) = 2 at x = 1, but not both, so we expect a boundary layer at either end. By trial and error we ﬁnd that no solution can be constructed if we assume a boundary layer at x = 1, so, inferring a boundary layer at x = 0, we have to use the boundary condition at x = 1 and ﬁnd ϕ0 = x 2 + 1 The structure of the equation suggests a correction of O(ε), so we try the expansion ϕ = ϕ0 + εϕ1 + ε 2 ϕ2 + · · · . This results for ϕ1 into the equation dϕ1 d2 ϕ0 + = 0, dx dx 2 which has the solution ϕ1 = 2 − 2x. Higher orders are straightforward: dϕn = 0, dx with ϕn (1) = 0 with ϕ1 (1) = 0 (the O(ε)-term of the boundary condition),

leading to solutions ϕn ≡ 0, and we ﬁnd for the outer expansion ϕ = x 2 + 1 + 2ε(1 − x) + O(ε N ). (8.75)

We continue with the inner expansion, and ﬁnd with x0 = 0, ϕ = λψ, x = δξ λ dψ ελ d2 ψ − 2δξ = 0. + 2 dξ 2 δ δ dξ Both from the matching (ϕouter → 1 for x ↓ 0) and from the boundary condition (ϕ(0) = 2) we have to conclude that ϕinner = O(1) and so λ = 1. Furthermore, the boundary layer has only a reason for existence if it comprises new effects, not described by the outer solution. From the correspondence principle we expect that

RienstraHirschberg 11th November 2001 12:00

A1 . it must be exactly as large. It is important to note that a matching is possible at all! Only a part of the terms can be matched by selection of the undetermined constants.76) → → → ψ0 = 2 + A0 (e−ξ −1) ψ1 = A1 (e−ξ −1) ψ2 = ξ 2 − 2ξ + A2 (e−ξ −1) where constants A0 . From the principle that we look for the equation with the richest structure. So εδ−2 must be at least as large as δ−1 . This is RienstraHirschberg 11th November 2001 12:00 . A1 = −2. It is a simple matter to ﬁnd d2 ψ0 dψ0 = 0 . since the equation for this order would be the same as for the leading order. Thus we have κ = ε−1 . A full matching is obtained if we choose: A0 = 1. the largest of δ−1 and δ. from matching with the outer solution: ϕouter → 1 + 2ε + ε2 (ξ 2 − 2ξ ) + · · · (x = εξ.76) for ξ → ∞: 2 − A0 − ε A1 + x 2 − 2εx − ε2 A2 + · · · . · · · are to be determined from the matching condition that outer expansion (8. ψ1 (0) = 0 + dξ 2 dξ d2 ψ2 dψ2 = 2ξ . However. For example.258 8 Approximation methods new effects are only included if (d2 ψ/dξ 2 ) is included. the coefﬁcients of the x and x2 terms are already equal. So we substitute the series expansion: ψ = ψ0 + εψ1 + ε 2 ψ2 + · · · . A2 = 0. implying a boundary layer thickness δ = ε. ξ = O(1)) we see that an additional O(ε)-term is to be included.75) for x → 0 : 1 + x 2 + 2ε − 2εx + · · · must be functionally equal to inner expansion (8. ψ0 (0) = 2 + dξ 2 dξ d2 ψ1 dψ1 = 0 . + 2 dξ dξ From this equation it would seem that we have a series expansion without the O(ε)term. and the inner equation dψ d2 ψ − 2ε2 ξ = 0. A2 . ψ2 (0) = 0 + dξ 2 dξ (8. without free constants.

ii) it allows us to determine unknown constants of integration. If no matching appears to be possible. giving us conﬁdence in the correctness. Particularly notorious are logarithmic singularities of the outer ﬁeld. The problem will appear to be so simple that the apparatus of MAE could justiﬁably be considered as a bit of an overkill. A sound wave with potential ϕin = e iωt−ikx is incident from x = −∞. only in rather rare cases. not uncommon in 2D acoustical radiation problems ([95]). we assume that in terms of ε the ratio A / A2 1 is not close to 1 or 0: A1 / A2 = O(1). at least as long as no real proof is available. However. Apart from a region near this junction. probably related to exceptional physical phenomena.9 Duct junction A very simple problem that can be solved with matched asymptotic expansions is the reﬂection and transmission of low-frequency sound waves through a junction of two ducts with different diameter. in some (here rather irrelevant) way joined together at x = 0 (ﬁgure 8. the ducts have a constant cross section with a wall normal vector nwall independent of the axial position. (8. the method is completely analogous in many other duct problems.77) To avoid uninteresting complications.and outer expansion plays an important rôle in the following ways: it provides information about the sequence of order (gauge) functions {µ } k and {λk } of the expansions. Summarizing: matching of inner. 8. and is therefore a good illustration. cross section A2 for x > 0.9 Duct junction 259 an important consistency check on the found solution. Even for such a simple (looking) problem as that of a plane wave scattered by a static compact sphere a careful approach is necessary to get the right results ([28]). allows any extension to higher orders. no matching couple of inner and outer solutions is possible at all. Introduce dimensionless variables RienstraHirschberg 11th November 2001 12:00 . On the other hand. The wavelength is large compared to the duct diameter: k A1 = ε 1. A1 = A2 . almost certainly one of the assumptions made with the construction of the solution have to be reconsidered. Consider two straight hard walled ducts with cross section A1 for x < 0. i) iii) it provides a check on the consistency of the solution.8.4).

z) = O(1) we expand in powers of ε (not ε2 as will be clear in the end) ϕ(x.78a) (8. y.80b) O(ε 2 ) :  ϕ2 = ϕ2 (X).   ∇ϕ1 · nwall = 0 (8.260 8 Approximation methods incident A1 reﬂected x <0 x =0 transmitted x >0 A2 Figure 8.79) and substitute in (8. ∇ϕ2 · nwall = 0 ∂ X2 (8.80a) O(ε) : (8. ∂ 2 ϕ2 ∂ 2 ϕ2 ∂ 2 ϕ0  + + + ϕ0 = 0  2 2 2 ∂y ∂z ∂X −→ 2 ∂ ϕ0   + ϕ0 = 0. y := y/ A1 .4 Duct junction.78b) ∇ϕ · nwall = 0 In the outer region x = (X. Then for a uniform acoustic medium we have for a time harmonic scattered ﬁeld ϕ ε2 ∂ 2ϕ ∂ 2ϕ ∂ 2ϕ + 2 + 2 + ε2ϕ = 0 ∂ X2 ∂y ∂z at the wall. √ √ X := kx.   ∇ϕ0 · nwall = 0  ∂ 2 ϕ1 ∂ 2 ϕ1  + = 0 ∂ y2 ∂ z2 −→ ϕ1 = ϕ1 (X). (8.80c) RienstraHirschberg 11th November 2001 12:00 . ε) = ϕ0 (x) + εϕ1 (x) + ε2 ϕ2 (x) + · · · (8. z := z/ A1 .78a) to ﬁnd that all terms are function of the axial coordinate X only: O(1) :  ∂ 2 ϕ0 ∂ 2 ϕ0  + = 0 2 2 ∂y ∂z −→ ϕ0 = ϕ0 (X).

The equation for becomes =0 (8. and applying Gauss’ theorem ∂ 2 ϕ2 ∂ 2 ϕ2 ∂ 2 ϕ0 + + + ϕ0 ds ∂ y2 ∂ z2 ∂ X 2 = ∂A def A (∇ϕ2 · nwall ) d + ∂ 2 ϕ0 + ϕ0 |A| = 0. y. 2 2 T0 + ε(T1 − ix T0 ) + ε 2 (T2 − ix T1 − 1 x 2 T0 ) + · · · . ∂ X2 Evidently. and we introduce x = X/ε.8.9 Duct junction 261 = This last result is obtained from integration over a cross section A = {X = constant} with surface |A|. RienstraHirschberg 11th November 2001 12:00 . = ϕ(εx. X ↑ 0 and X ↓ 0 of the outer solution (8.82) (8.81a) (8. z.e. this process can be continued and we obtain ϕ0 = ϕn = e−iX +R0 e iX T0 e−iX Rn e iX Tn e−iX (X < 0) (X > 0) (X < 0) (X > 0) (8. The region X = O(ε) appears to be a boundary layer. but now with matching conditions for x → −∞ and x → +∞. 2 Guided by the behaviour under matching we assume the expansion = 0 +ε 1 + ε2 2 ··· .83) ∂2 ∂2 ∂2 + + 2 + ε2 ∂x2 ∂ y2 ∂z ∇ · nwall = 0 at the wall.81a-8. ε).81b): x → −∞ : x → +∞ : 1 + R0 + ε(R1 − ix + ix R0 ) +ε 2 (R2 + ix R1 − 1 x 2 − 1 x 2 R0 ) + · · · .81b) (where n ≥ 1). i.

However. but if we follow the same 1 we ﬁnd ∇2 V 2 dx = − 0 |V | = − A1 ∂ 2 ds + ∂x A2 ∂ 2 ds = ∂x −|A1 |(iR1 − x1 − x1 R0 ) +|A2 |(−iT1 − x2 T0 ) = −T0 (x2 |A2 | − x1 |A1 | + θ1 ) RienstraHirschberg 11th November 2001 12:00 . so that we can use the matching conditions). together with equation (8. we can again make use of Gauss’ theorem. is difﬁcult in a general situation. We integrate over this volume to obtain: ∇2 V 1 dx = − A1 ∂ 1 ds + ∂x A2 ∂ 1 ds ∂x = −(−i + iR0 )|A1 | − iT0 |A2 | = 0 so that: 1 − R0 = T0 |A2 | |A1 | (8.85) which.84). We continue with the O(ε2 ) term: O(ε 2 ) : Again.84) In general.262 then 8 Approximation methods O(1) : O(ε) : ∇2 ∇2 0 1 = 0 −→ = 0 −→ 0 1 = constant −→ 1 + R0 = T0 = not necessarily constant. Consider a large volume V . The size of V is denoted by |V |. (8. to obtain arguments as for ∇2 2 2 =− 0. the solution 1 is difﬁcult to obtain. the sizes of A1 and A2 by |A1 | and |A2 |. reaching from x = x1 large negative. if we are for the moment only interested in the global effects on reﬂection and transmission. At x = x1 the surface of V consists of a cross section A1 . determines R0 and T0 fully. and at x = x2 a cross section A2 . to x = x2 large positive (large in variable x but small in variable X.

and R2 and T2 . will radiate away as sound [120. in terms of the integral (check yourself!) θ2 = V 1 dx − 0 x1 (R1 − ix + iR0 x) dx − 0 x2 (T1 − iT0 x) dx = i|A1 |R2 + i|A2 |T2 . at least formally. 27]. For example. due to obvious details of the junction geometry. By symmetry this vortex will not move but of course will contribute to the rotating motion of the other two. So the reﬂection and transmission amplitudes (i. the next step for 3 gives a relation for R1 and T1 . however. (8. y = r sin θ and RienstraHirschberg 11th November 2001 12:00 . and produce a ﬂuctuating velocity and pressure ﬁeld (for a ﬁxed observer). For each n-th step more and more information of solution n−2 is needed.10 Co-rotating line-vortices 263 where θ1 denotes the difference.8. move in each others velocity ﬁeld. Two equally strong and equally orientated vortices rotate around a common centre. A small fraction of the energy.e. Note that the corrections R1 and T1 are imaginary and therefore appear as a phase shift in the reﬂected and transmitted (outer-) waves. The above identity results into |A1 |R1 + |A2 |T1 = −iT0 θ1 .86) This process can be continued. absolute value) are given by R0 and T0 up to O(ε2 ). Inviscid compressible irrotational ﬂow depending on x = r cos θ. 8. For a physically consistent problem (it is not possible in an inviscid medium to change the total amount of circulation) we position at the common centre a third vortex with a double but opposite vortex strength. this ﬁeld will be practically incompressible. between |V | and the sum of the two duct parts x2 |A2 | − x1 |A1 |. however. If the velocities are relatively low.10 Co-rotating line-vortices In an inviscid inﬁnite 2D medium a stationary line vortex produces a time-independent velocity and pressure ﬁeld. Two of such vortices.

c2 = with density ρ.f.91) Introduce dimensionless variables (where we keep for convenience the same notation): t := t /a 2 .87b) (8. ∂t ρ ∂t and so 2 c0 − (γ − 1)Q ∇ 2 ϕ = ∇Q + c2 ∇ρ = 0 ρ ∂Q + ∇ϕ ·∇ Q. ∂t ρ∇ ∂ϕ + ∂t 1 2 (8. velocity potential ϕ. x := x/a. ϕ := ϕ/ . positioned opposite to each other on the circle r = a. pressure p.87c) ∇ϕ γ 2 + ∇ p = 0.88) (constant) (8. and we assume this to be small enough compared to the sound speed for locally incompressible ﬂow: ε= ac0 1. γp dp = . Introduce the auxiliary quantity (c. y := y/a. Q := Qa2 / 2 .264 8 Approximation methods t is described by ∂ρ + ∇ϕ ·∇ρ + ρ∇ 2 ϕ = 0. dρ ρ ρ p = p0 ρ0 . (1.90) We will consider two vortices with vortex strength − . Their motion around each other will be incompressible as follows.87a) (8. Hence c2 ∂ρ ∂Q + = 0.89) where under the assumption that ϕ → 0 for r → ∞ the constant c0 is the far ﬁeld sound speed. (8. sound speed c and gas constant γ .31b)) Q= then 2 (γ − 1)Q + c2 = c0 ∂ϕ + ∂t 1 2 ∇ϕ 2 (8. ∂t (8. Typical induced velocities are of the order of /a. RienstraHirschberg 11th November 2001 12:00 . and a vortex of strength 2 at the origin r = 0.

π 2π r cos 2θ − cos ωt (8.97) For matching with the outer ﬁeld we need the behaviour of inner solution ϕ for r → ∞: ϕ sin(ωt − 2θ) + ··· 2πr 2 (r → ∞). ∂t 265 (8.96) Solution (8.95b) From symmetry x 2 = −x 1 . Apart from an irrelevant phase shift the solution along the circle |x| = 1 is given by x1 = cos( 1 ωt).8.94) can now be written as ϕ= 1 r 2 sin 2θ − sin ωt 1 θ− arctan 2 .90) is then in dimensionless form 1 − (γ − 1)ε2 Q ∇ 2 ϕ = ε 2 ∂Q + ∇ϕ ·∇ Q .93) The position vector x1 (t) = (x1 (t). 2π (8. y1 (t)) (and similarly x2 (t)) is determined by the observation that a vortex is just a property of the ﬂow and therefore the velocity . 2 2 2 + (y − y )2 dt 2π (x1 − x2 ) π x1 + y1 1 2 (8.92) In the inner region r = O(1). RienstraHirschberg 11th November 2001 12:00 .98) 7 Equation (8.95a) (8. x 1 (t) must be equal to the induced velocity of the other vortices at x = x1 : 1 y1 − y2 y1 1 dx1 = − 2 2 2 + (y − y )2 dt 2π (x1 − x2 ) π x1 + y1 1 2 1 x1 − x2 1 x1 dy1 =− + . π x 2π x − x1 (t) 2π x − x2 (t) (8.10 Co-rotating line-vortices Equation (8. 2 y1 = sin( 1 ωt). 2 where ω= 3 .93) is linear. (8. we have to leading order the Laplace equation for incompressible potential ﬂow ∇ 2ϕ = 0 with solution the sum7 of the contributions of the three co-rotating vortices ϕ= y 1 y − y1 (t) 1 y − y2 (t) 1 arctan − arctan − arctan .94) (8.

Together we have: r = r /ε ˜ ˜ ϕ = ε2 ϕ Q = ε2 which gives ˜ ∂Q ˜ ˜ ˜ ˜ ˜ ˜ ˜ + ε4∇ ϕ · ∇ Q 1 − (γ − 1)ε4 Q ∇ 2 ϕ = ∂t To leading order. it follows from match˜ ing with equation (8. ϕ satisﬁes the wave equation ˜ 2 ˜ ˜ ˜ ∂ ϕ ∇ 2ϕ − 2 = 0 ∂t (8.98) for r ↓ 0. so this is the same everywhere. and hence A = −1 ω2 . For matching it is necessary that the behaviour for r ↓ 0 coincides ˜ with (8. Relevant point source solutions are (2) ˜ ϕ = Re AHn (ωr) e iωt−inθ ˜ (8.99c) (8. This matching condition says that.99b) ∂ϕ 1 4 ˜ ˜ + 2 ε ∇ϕ ˜ ∂t 2 ˜ = ε2 Q (8.266 8 Approximation methods For the outer region we ﬁrst observe that the time scale is dictated by the source.98) that ϕ = O(δ2 ). the inner solution behaves like a harmonic point source ˜ ∝ e 2iωt at r = 0. In dimensional variables the acoustic far ﬁeld is given by ϕ M 3/2 a 2 πr 1/2 cos (t − r/c0 ) − 2θ + 1 π . on the ˜ scale of the outer solution. and a condi˜ tion of matching with (8.99a) (8. Then.92) is obtained if δ = ε. with properties to be determined. 4 (8.100) (8.98): ε 2 Re − A (n − 1)! 2 iπ ωr ˜ n e iωt−inθ ∼ sin(ωt − 2θ) 2πr 2 (8.103) (if n ≥ 1). there is no other possibility than n = 2. Clearly. A signiﬁcant degeneration of (8.101) with outward radiation conditions for r → ∞ (no source at inﬁnity).104) RienstraHirschberg 11th November 2001 12:00 . if we scale r = δ(ε)r. and order n and amplitude A to be determined.102) (2) with Hn a Hankel function (Appendix D). when ∇2 ϕ and ∂ 2 ϕ/∂t 2 balance each other. 8 Note that this order 2 indicates an acoustic ﬁeld equivalent to that of a rotating lateral quadrupole.

− We have now obtained the solution to leading order. ˆ b) In a hot desert. structed in a similar fashion. 9 r (8.104) to be a 8 3 I = πρ0 c0 M 7 . This is. We ﬁnally note that from a simple calculation the outward radiated 2D power is 3 equal to 16 π 2 ρ0 c0 a M 7 . 2c0 267 3 ω = . 2 a 2π a 2 We see that for ﬁxed θ the waves radiate outwards (r − c0 t constant). this amount of energy per time leaks 9 away from the total energy of the system of vortices (which scales on ρ0 2 ). in an exponential horn with radius a e mx . given RienstraHirschberg 11th November 2001 12:00 . impossible in the present model. however.5 Three co-rotating vortices. and we could try to include a small decay in time of the vortex strength . The mouth of the man and the ears of the audience are at a height of y = h = 1.8. and forms a conﬁrmation of the estimates for turbulence in the Lighthill analogy. The outward radiating time-averaged energy ﬂux or intensity is found from equation (8. with p(0) = p0 . a man is giving a speech to an audience.70). Higher orders may be conFigure 8. For higher orders more and more equivalent far ﬁelds of higher order multipoles will appear. Exercises a) Determine (using Webster’s horn equation) the right-running wave p(x). and at a ﬁxed time 2 t the wave crests are localized along spirals (r + 2θc0 / constant). This may be compared with a rotating lawn sprinkler.10 Co-rotating line-vortices where frequency = and vortex Mach number M are given by M= a . for ﬁxed r the waves rotate with positive orientation (θ − 1 t constant). but we will limit ourselves to the present one.5 m above the ﬂat ground. Strictly speaking.105) 2 − This functional dependence on U7 in 2D is to be compared with the U 8 -law of Lighthill for turbulence noise (equation 6.

106) A (ρ0 A)−1 d d dφ Aρ0 − iω + U dx dx dx (8.19) and (F.107) RienstraHirschberg 11th November 2001 12:00 . We assume for the region relevant here that this proﬁle corresponds to a sound speed which is linear in y.24) the following generalised Webster equations A−1 d dx c2 dσ dp + ω2 p = 0. Since the sound speed gradient is negative the sound waves are refracted upwards and will disappear into the air. The sound speed 1 proﬁle is given by: c(y) = c 0 (1−εy). where c0 = 360 m/s and ε = 250 m−1 .268 8 Approximation methods by y = 0. dx (8. The ground is so hot compared to the air that a vertically stratiﬁed uniform temperature proﬁle is established in the air. what is the largest distance over which the man can be heard? c) Determine the suitable modelling assumptions and derive from the wave equations (F. Under the assumptions that the man speaks loud enough. dx c−2 iω + U d φ = 0. that a typical wave length is small enough for ray acoustics to be applicable. and that we only consider rays that skim along the ground.

and many others.2) Using the δ-function integral (C. is given by 4π ϕ(x.25) this representation is very elegantly1 [39] reduced to the Liénard-Wiechert potential ([80. τ ) = 1 2 4π c0 |x − y| δ t −τ − |x − y| . p.25) ∞ −∞ δ(h(τ ))g(τ ) dτ = i h(τi ) = 0 (C.9 Effects of ﬂow and motion Being a ﬂuid mechanical phenomenon itself. The generated sound ﬁeld is described by ∂ 1 ∂2 p Q(t)δ(R(t)) . We will brieﬂy consider here some of these effects. R(τ ) c0 g(τi ) . . moving subsonically along the path x = xs (t) in a uniform acoustic medium. t| y. an acoustic wave may be greatly affected by mean ﬂow effects like convection. p. (9. (9. refraction in shear.721] for the less general problem of a point source moving with constant speed along a straight line. c0 ∂ the solution for potential ϕ.37) or Appendix E) G(x. 9. |h (τi )| R = |R|. − ∇ 2 p = ρ0 2 ∂t 2 ∂t c0 R(t) = x − x s (t).1 Moving point source and Doppler shift Consider a point (volume) source of strength Q(t) (the volume ﬂux). t) = − ∞ −∞ R(τ ) Q(τ ) δ t −τ − dτ.1) Using the free ﬁeld Green’s function (equation (6. coupling with vorticity.127]) 1 To appreciate the elegance the reader might compare it with the more traditional derivation as found in [119. scattering by turbulence. with p = −ρ0 ∂t ϕ.

the scalar and vectorial Mach number of the source. but not with the 2 A generalization to supersonic motion of the source involves in general a summation. where M and M are. Restriction (9. Therefore.25). t) = − Qe .4).3) with respect to time. while the O(Re )-part dominates the near ﬁeld [103].5) −1 −2 The O(Re )-part dominates the far ﬁeld. (9. R M cos ϑ = R · M.4) Absolute values are suppressed because we assumed |Me | < 1. Re (1 − Me cos ϑe ) (9. te is a function of both t and x. 2 Re (1 − Me cos ϑe )2 Re (1 − Me cos ϑe )3 (9. ∂t 1 − Me cos ϑe 2 Re · M e − c0 Me ∂ (Re Me cos ϑe ) = .4). or retarded time. we ﬁnally have 4π p(x. The combination M cos ϑ is often also denoted by Mr . It is important to note that by its implicit deﬁnition (9. RienstraHirschberg 11th November 2001 12:00 . t) = Re · M e + c0 Me (cos ϑe − Me ) ρ0 Q e + ρ0 Q e . M = |M|. over more than one solution of equation (9. Other convenient notations used here and below are M = x s /c0 .4) we obtain the identities 1 ∂te = . By applying the chain rule to equation (9. while ϑ is the angle between the source velocity vector and the observer’s position. according to (C.4) is entirely natural and to be expected. respectively.270 9 Effects of ﬂow and motion 4π ϕ(x. A typical effect of motion is that both the pressure and the potential ﬁelds are increased by the “Doppler factor” (1 − Me cos ϑe )−1 . te is usually called emission time.3) where the subscript e denotes evaluation at time te . given by the equation c0 (t − te ) − R(te ) = 0. ∂t 1 − Me cos ϑe c0 Me cos ϑe ∂ Re =− . If we trace the observed acoustic perturbation back to its origin. seen from the source. we will ﬁnd2 it to be created at time te by the source at position x s (te ) and strength Q(te ). ∂t 1 − Me cos ϑe After differentiation of equation (9.

t).8) (9. (See Crighton [28]. 0. ∇(Re Me cos ϑe ) = M e − Re (1 − Me cos ϑe ) c0 ∇ Re = −c0 ∇te = so that we have the general expression for a moving point force: 4π p(x. Analogous to the above point volume source. By application of the chain rule to equation (9.) The name “Doppler factor” is due to its appearance in the well-known frequency shift of moving harmonic sources.7) Here we see that a rotating force is not the same as a rotating ∇· F -ﬁeld. and eliminate ρ and v to obtain: 1 ∂2 p − ∇ 2 p = −∇ · F(t)δ(R(t)) . or monopole. t) = −∇ · Fe Re (1 − Me cos ϑe ) (9. t) = 2 Re · M e + c0 (1 − Me ) Re · F e − c0 M e · F e + (Re · F e ) .5) at position x: ω(t) = ω0 d (ω0 te ) = . Furthermore.1 Moving point source and Doppler shift 271 same power. and p with external force F(t)δ(x − xs (t)). more Doppler factors appear for higher order multipole sources. Expression (9. 0) in which case Me is constant and xs = 0. we can deduce the ﬁeld of a moving point force. v. 2 c0 ∂t 2 Following the same lines as in the monopole problem we have the solution 4π p(x.9) RienstraHirschberg 11th November 2001 12:00 . or dipole. dt 1 − Me cos ϑe (9.4) we derive: Re . since te = te (x.9.5) is quite general. The more common forms are for a straight source path with constant velocity xs (t) = (V t. 2 3 c0 Re (1 − Me cos ϑe )2 c0 Re (1 − Me cos ϑe )3 (9. Assume Q(t) = Q 0 e iω0 t with frequency ω0 so high that we can deﬁne an instantaneous frequency ω for an observer of (9. Re (1 − Me cos ϑe ) Re · M e Re 2 − Me .6) This describes the Doppler shift of frequency ω0 due to motion. For this we return to the original linearized gas dynamics equations in ρ.

9. moving along helical path xs (t).1 Trajectory of point. where M R = ωa/c0 . . . a=a ˜ 1 2 1 − M F sin2 ϑ .5). ˜ c0 c0 where k = ω/c0 and te = t − r =r ˜ M F cos ϑ + 1− 2 1 − M F sin2 ϑ 2 MF . M F = U/c0 . e a 2 2 2 Me = M R + M F . With R(o) = x o (t) − x s (te ) we obtain the relations e 2 (o) R(o) · M e = M R r sin ϑ sin(φ − ωte ) + M F r sin ϑ + M F Re . e r 2 R(o) · M e = c0 M R 1 − sin ϑ cos(φ − ωte ) . Since 2 (o) c0 (t − te )2 = (Re )2 = r 2 − 2ar sin ϑ cos(φ − ωte ) + a 2 + 2Ur(t − te ) cos ϑ + U 2 (t − te )2 and noting that asymptotically t − te = O(r/c0 ). r cos ϑ + U t). and substitute for position vector x the position of a co-moving observer xo = (xo . z o ). RienstraHirschberg 11th November 2001 12:00 . given in spherical coordinates by x o (t) = (r cos φ sin ϑ.2 Rotating monopole and dipole with moving observer x 273 z y Figure 9. yo . The “far ﬁeld” denotes the asymptotic behaviour for (a/r) → 0. we have for a/r → 0 r ˜ a ˜ + sin ϑ cos(φ − ωt + k r) + . the stationary medium by equation (9. r sin φ sin ϑ.

Note the 2-lobe radiation pattern. f 0 = 700 N. i. c0 = 316 m/s. for an observer moving with and in the plane of the source at a distance x0 = 2.5 m. The rotating point force will portray a very simple propeller model. Furthermore. the blade surface will practically coincide with the screw plane described by the effective velocity ﬁeld V = U ex − ωa eθ . and minima in the direction of the axis where sin ϑ = 0. q0 = 1. a nearly harmonic signal. and in spite of the dQ(t)/dt = 0. No far-ﬁeld approximation is made.5): 4π p(x.11) In ﬁgure 9. ω = 17 · 2π /s. in a direction perpendicular to the blade. We assume the propeller to be concentrated in one point (this is a plausible approximation for the lowest harmonics) by a point force equal to the blade thrust force (the pressure jump across the blade integrated over the blade).2 kg/m3 .10) We do have a O(1/r) decay. ωa) (9. −U cos ωt.e.274 9 Effects of ﬂow and motion With this we ﬁnd: (o) Re r − a sin ϑ cos(φ − ωt + k r) ˜ ˜ ˜ 2 (1 − M F )M R sin ϑ sin(φ − ωt + k r) + MF cos ϑ ˜ 2 2 +M F 1 − M F sin2 ϑ Me cos ϑe M F cos ϑ + 2 1 − M F sin2 ϑ Altogether in equation (9.8 m3 /s.28 m. 2 maxima perpendicular to the axis of rotation where sin ϑ = 1. for the following parameters: U = 145 m/s. So we have a force F(t) = f0 U 2 + (ωa)2 (U sin ωt. ρ0 = 1. RienstraHirschberg 11th November 2001 12:00 . t) = − ρ0 c0 q0 ar (R(o) · M e ρ0 c0 q0 e 2 + Me cos ϑe − Me 2 Re (1 − Me cos ϑe )3 c0 2 2 (1 − M F )2 M R sin ϑ cos(φ − ωt + k r ) ˜ M F cos ϑ + 2 1 − M F sin2 ϑ 2 1 − Me cos ϑe 3 (9.2 plots are made of the time history of the sound pressure generated by the above point source and point force. a = 1.

9. enclosed by a surface S(t).08 0.9. because a given ﬁeld can be created by inﬁnitely many equivalent but different sources (section RienstraHirschberg 11th November 2001 12:00 . Although originally meant to include the effect of moving closed surfaces into Lighthill’s theory for aerodynamic sound.2.04 0.2 Time history of sound pressure generated by spiralling point source (left) and point force (right).1 0.02 0.86) showed that the effect of a rigid body can be incorporated in the aeroacoustical analogy of Lighthill as additional source and force terms Qm and F.1 0.3 Ffowcs Williams & Hawkings equation for moving bodies 275 30 30 20 20 10 Pa sec.02 0. even when turbulence noise is of little or no importance.06 0.8) is an example of elegance and efﬁciency. Their derivation by means of generalized functions (surface distributions.12 -30 0 0.3 Ffowcs Williams & Hawkings equation for moving bodies Curle (6. ¹ 10 0 0 -10 -10 -20 -20 -30 0 0.04 0. it is now a widely used starting point for theories of noise generation by moving bodies like propellers. section C.08 0.06 0. This approach has been generalized by Ffowcs Williams and Hawkings who derived [50] a very general formulation valid for any moving body.12 Figure 9. There is no unique relation between a source and its sound ﬁeld.

µ). Introduce a (smooth) function f (x. If we multiply any physical quantity by the Heaviside function H ( f ) – such as ρ H ( f ) – we obtain a new variable which vanishes identically within V because H ( f ) = 1 in the ﬂuid. moving continuously in space. and H ( f ) = 0 inside V. remains at the surface for all time. A surface point xS (t) ∈ S (consider λ and µ ﬁxed). This is.1.1. Like the auxiliary function f . The choice put forward by Ffowcs Williams and Hawkings was both simple and transparent: just force any ﬂow variable to vanish inside the enclosed volume. Consider a ﬁnite volume V = V(t) with sufﬁciently smooth surface S = S(t). however. t) such that  < 0 if x ∈ V(t). . RienstraHirschberg 11th November 2001 12:00 . by coordinates3 (t.276 9 Effects of ﬂow and motion 2. the outward normal n of S is given by (section A. it is natural to assume a spatial parametrization which is materially attached to the surface. t) = ∇f |∇ f | . and a simple and transparent choice is preferable. there is no unique way to describe the effect of a surface S(t) in terms of an acoustic source distribution. t) = 0 for all t.2) of motion for the ﬂuid by H ( f ): H( f ) H( f ) ∂ρ + ∇ · (ρv) = 0. t) = 0 if x ∈ S(t). Therefore. and therefore ∂f . so f (xS (t). ∂t 3 When S(t) is the surface of a solid and undeformable body.1). not necessary. this parametrization is not unique. moving with velocity U = x S .   > 0 if x ∈ V(t).6. ∂t ∂ (ρv) + ∇ · ( P + ρvv) = 0. and use can be made of the free ﬁeld Green’s function.  f (x. Since ∇ f |f =0 is directed normal outwards from V. = − x S ·∇ f = −(U · n)|∇ f |. but that will appear to be of no importance. We now start the derivation by multiplying the exact equations (1. λ. ∂t It is important to note that the normal velocity (U · n) is a property of the surface. The resulting equations are automatically valid everywhere. but otherwise arbitrary. n(x. and is independent of the choice of f or parametrization. f =0 Let the surface S(t) be parametrized in time and space.3).

we ﬁnd the Ffowcs Williams-Hawkings equations [50]: ∂2 2 ρ H ( f ) − c0 ∇ 2 ρ H ( f ) = ∂t 2   2 ∇ · ∇ · ρvv − τ + ( p − c0 ρ ) I H ( f )  + ∂ ∂t ρ(v − U) + ρ0 U ·∇ H ( f ) ·∇ H ( f ) . Of course. if the surface S is solid such that v· n = U · n. Although the original equations were only valid outside the body. Moreover. and describes the noise generated by the ﬂuid displaced by the moving body. ∂ [ρ H ( f )] + ∇ · [ρv H ( f )] = [ρ0 U + ρ(v − U)] ·∇ H ( f ). and we change from density to pressure as our ﬁeld variable. as with Lighthill’s analogy. the equations can be rewritten as equations for the new variables ρ H ( f ) and ρv H ( f ) as follows. p − ∇2 p = ¯ ¯ 2 ∂t 2 ∂t c0 (9. and so they are valid everywhere. and a time derivative and divergence of sources only present at the surface f = 0.12) is not simpler to solve than the original Navier-Stokes equations.63). 2 Very often.13) The ﬁrst source term is of purely geometrical nature. without including the very small acoustic back-reaction. ∂ and using the identity ∂t H ( f ) = −U ·∇ H ( f ). the new equations are trivially satisﬁed inside V. ∂t Using the same procedure (subtracting the time-derivative of the mass equation from the divergence of the momentum equation) as for Lighthill’s analogy (2. By reordering the terms.12) − ∇· ρv(v − U) + p I − τ The sources at the right hand side consist of the double divergence of the common quadrupole-type Lighthill stress tensor. However. The associated ﬁeld is called RienstraHirschberg 11th November 2001 12:00 .9. and in principle this equation (9. the source terms are of aerodynamic nature. which is widely used for subsonic propeller and fan noise (no shocks) [46] ∂ 1 ∂2 ρ0 U · n|∇ f |δ( f ) − ∇ · p n|∇ f |δ( f ) . (9. and deﬁne p = p H ( f ). and can be solved separately. ∂t ∂ [ρv H ( f )] + ∇ · [(ρvv + P)H ( f )] = [ρv(v − U) + P] ·∇ H ( f ). we have a reduced form of the Ffowcs Williams-Hawkings equa¯ tion. the right hand side contains all the unknowns.3 Ffowcs Williams & Hawkings equation for moving bodies 277 where ρ = ρ − ρ0 and ρ0 is the mean level far away from the body. Lighthill’s stress tensor ρvv − τ + ( p − c0 ρ ) I and the shear stresses at the surface are negligible.

If we know the pressure distribution along the surface. and describes the noise generated by the moving force distribution.36) and write 4π ϕ(x. From this auxiliary solution we can RienstraHirschberg 11th November 2001 12:00 . The second part depends on the normal surface stresses due to the pressure distribution. t) = S(te ) Qe dσ. Analogous to the point source ﬁeld (9.35). Noting that |∇ f |δ( f ) is just equivalent to the surface distribution of S(t) (equation C. Let us consider ﬁrst the following prototype problem 1 ∂2 ϕ − ∇ 2 ϕ = Q(x. given by c0 (t − τ ) − R = 0. symbolically denoted by S(te ).1.15) As before. t) = S(t) Q( y. Re (1 − Me cos ϑe ) (9. in a way similar to the problem of the moving point source of section 9. subscript e denotes evaluation at emission time te . R The integral over τ can be evaluated by noting that any contributions come from the solution τ = te of the emission-time equation (the zero of the argument of the remaining δ-function). t) a surface in ( y. and M cos ϑ is the component of the vectorial Mach number of the source in the direction of the observer (in some literature also denoted by Mr ).14) where R = |x − y(τ )|. τ ) δ(t − τ − R/c0 ) dσ dτ. which describes (for given x. the distance between observer’s and source’s position.34 or C. we can integrate δ( f ) (equation C. 2 c0 ∂t 2 By using the free ﬁeld Green’s function we can write 4π ϕ(x.278 9 Effects of ﬂow and motion thickness noise. τ )-space. The associated ﬁeld is called loading or lift noise. t)|∇ f |δ( f ). t) = Q( y. τ ) δ(t − τ − R/c0 )|∇ f |δ( f ) d y dτ.3) we have then 4π ϕ(x. we can in principle solve this equation. R (9.

and denoting the total force of the ﬂuid on the body by F(t) = S(t) we have the compact limit of equation (9. 46]. see e. the volume of V.2).9.2) 4π p (x. ∂t Re (1 − Me cos ϑe ) ∂t Re (1 − Me cos ϑe ) S(te ) V(te ) Since the volume integral of the constant 1 is just V . and Re and Me cos ϑe refer only to a single typical source coordinate xs . It is therefore interesting to consider the compact limit. for example the centre of gravity.16) Extreme care should be taken in interpreting this equation. The emission time does not vary signiﬁcantly over the source region.3 Ffowcs Williams & Hawkings equation for moving bodies now formulate a solution for p as follows ¯ 4π p (x. t) = ¯ ρ0 U e · ne ∂ dσ ∂t Re (1 − Me cos ϑe ) S(te ) − ∇· S(te ) pe ne dσ. The source becomes equivalent to a point source (section 9. we have for the thickness noise component of equation (9. because for any x and t the emission time te varies over the source region. in which case the typical wave length is much longer than the body size. Using ρ0 U · n|∇ f |δ( f ) = ∂ ρ0 (1 − H ( f )). while at the same time the source varies its position! Other forms of the solution are available which might be easier to handle in certain applications. ∂t 2 Re (1 − Me cos ϑe ) Re (1 − Me cos ϑe ) (9. t) ¯ ∂2 ρ0 V Fe − ∇· .g. Re (1 − Me cos ϑe ) 279 (9. RienstraHirschberg 11th November 2001 12:00 .16) (see also section 9.9. Farassat [45.16) ρ0 U e · ne ρ0 ∂2 ∂ dσ = 2 d y. ∂t and noting that the function 1 − H ( f ) equals unity inside the body V and zero elsewhere.17) p · n dσ. A particularly interesting form (Farassat [46]) for the thickness noise component is found by writing the surface integral as a volume integral.1.

11 without forward speed (U = 0) and ﬁnd the approximation for the far ﬁeld.9) for the windtunnel situation: a moving source x s = V t e x and a moving observe x = a + V t e x .5) and point force (9. RienstraHirschberg 11th November 2001 12:00 .280 9 Effects of ﬂow and motion Exercises a) Evaluate the expressions for the acoustic ﬁeld of the propeller of equation 9. What can you tell about the typical lobes in the radiation pattern? b) Evaluate the expressions for the acoustic ﬁeld of a moving point volume source (9.

2 Conservation laws The conservation laws (mass.1) This theorem. Mass conservation (F = ρ): d dt V ρ dx = 0. known as Reynolds’ Transport Theorem (see equation C.A Integral laws and related results A. For an arbitrary single-valued scalar function F = F(xi . momentum. and can be labelled. t) (denoting any property of the ﬂuid) with continuous derivatives the following integral relation holds: d dt V = V F dx = V DF + (∇ · v)F Dt ∂F dx + ∂t S dx Fv · n dσ. We call this a material volume. (A.37). A. but small compared to the macroscopic scales in the problem. (A.1 Reynolds’ transport theorem Conservation laws such as mass conservation are understood most easily when they are applied to a volume V = V (t) (enclosed by the surface S = S(t)) which is contained in the ﬂuid.2) . The concept arises when considering a ﬂuid particle which is large in number of molecules. energy) in integral form are more general than in differential form because they can be applied to ﬂows with discontinuous properties. For a certain –diffusion controlled– period of time the particle keeps its identity. A detailed derivation may be found in [137] or [185]. We will give here a summary of the basic formulae. is used to translate integral conservation laws into differential conservation laws.

7) can be used to eliminate the ﬁrst integral on the right-hand side of (A.2) and (A. and where b is the local velocity of S∗ . (A. (A.5) with F = ρ we ﬁnd: d dt ρ dx = V∗ V∗ ∂ρ dx = − ∂t V S ∂ρ dx + ∂t ρbi n i dσ S∗ (A. Reynolds’ theorem becomes: ∂F d dx + F dx = Fbi n i dσ.6) to obtain: d ρ dx = ρ(bi − vi )n i dσ.5) dt ∂t V∗ S∗ V∗ Applying (A.4) For an arbitrary control volume V (t) with surface S (t).9) ρvi (v j − b j )n j dσ RienstraHirschberg 11th November 2001 12:00 . (A. hence (A. v 2 = vi vi ): 2 d dt V = V ∗ ρ(e + 1 v 2 ) dx 2 f i vi dx − S ∗ Pi j v j n i dσ − S qi n i dσ. In a similar way we have for the momentum: d dt ρvi dx + V∗ S∗ = V∗ f i dx − S∗ Pi j n j dσ (A.8) dt ∗ ∗ V S This can be applied to any volume V ∗ and in particular to a ﬁxed volume (bi = 0).7) (A. (A.3) Energy conservation (F = ρ(e + 1 v 2 ).6) ρvi n i dσ.282 A Integral laws and related results Momentum conservation (F = ρvi ): d ρvi dx = f i dx − dt V V S Pi j n j dσ. At a given instant V ∗ coincides with a given material volume V .

Since in the limit for |h| → 0 the vector ∇ S(x0 ) is normal to the tangent vector ∇S h. S(x) varies. A. S ∗ (A. z). the unit normal vector nS = |∇ S| (at S = 0) is directed from the S < 0-side to the S > 0-side. So S(x) = 0 if and only if x ∈ S. only in the coordinate normal to the surface. Expand S(x 0 + h) into a Taylor series in h. RienstraHirschberg 11th November 2001 12:00 . so. both on the surface S.3 Normal vectors of level surfaces A convenient way to describe a smooth surface S is by means of a suitable smooth function S(x).11) where the equality is valid when the processes in the ﬂow are reversible.10) For the entropy s we further ﬁnd: d dt ρs dx + V∗ S∗ ρs(vi − bi )n i dσ + S∗ 1 qi n i dσ ≥ 0 T (A.3 Normal vectors of level surfaces and for the energy: d dt ρ(e + 1 v 2 ) dx + 2 V∗ = V ∗ 283 ρ(e + 1 v 2 )(vi − bi )n i dσ 2 S∗ Pi j v j n i dσ − S ∗ f i vi dx − qi n i dσ. y.A. If we expand S(x) near x0 ∈ S we have S(x) = (x − x0 ) ·∇ S(x 0 ) + . We then obtain S(x 0 + h) = S(x 0 ) + h ·∇ S(x 0 ) + O(h 2 ) h ·∇ S(x 0 ) = 0. . near the surface. . where x = (x. chosen such that the level surface S(x) = 0 is just equivalent to S. . Consider a point x0 and a neighbouring point x0 + h. Furthermore. to leading order. it is normal to the surface S.

in which case the estimate O(g) is only an upper limit. Theorem B.2 If lim f (x) = 0. Similarly for x → −∞. When x ↓ a the interval is one-sided: (a. a + h). a + h): | f (x)| ≤ C|g(x)|. then f (x) = O(g(x)). and is ﬁnite. similarly for x ↑ a. that there is a constant C and an interval (a − h. In many cases it is necessary to indicate in a compact way the behaviour of some function f (x).2 f (x) = O(g(x)) as x → ∞ means. etc. Theorem B. ∞) such that for all x ∈ (x0 . that for every positive δ there is an interval (a − η. g(x) Note that f = o(g) implies f = O(g). For the behaviour at inﬁnity we have Deﬁnition B. that there is a constant C and an interval (x0 . For this we have the order symbols O and o. When f is essentially smaller than g we have Deﬁnition B. . a + η): | f (x)| ≤ δ|g(x)|.1 If lim f (x) g(x) exists. a + h) such that for all x ∈ (a − h. we have Deﬁnition B. with obvious generalizations to x ↓ a. When f is comparable with or dominated by g. then f (x) = o(g(x)). a + η) such that for all x ∈ (a − η.B Order of magnitudes: O and o.1 f (x) = O(g(x)) as x → a means. x → ∞. deﬁned by Deﬁnition B. as x tends to some limit (ﬁnite or inﬁnite).4 f (x) = Os (g(x)) means: f (x) = O(g(x)) but f (x) = o(g(x). ∞): | f (x)| ≤ C|g(x)|. of variable or parameter x. and not as informative as the “sharp O”. The usual way to do this is by comparing with a simpler function g(x).3 f (x) = o(g(x)) as x → a means.

1) while according to Fourier’s inversion theorem. 100. and the sign of the phase iωt are common in the literature. frequency ω = 2π f . (C. – p is continuous. 2 – | p(t)| and | p(t)|2 are integrable. . Especially the prevailing e±iωt -convention should always be checked when referring or comparing to other work. and physically. because the equation simpliﬁes greatly if the coefﬁcients in the wave equation are time-independent. it is the same operation: Fp−1 (t) = 2π F p (−t).1 Fourier transforms The linearity of sound waves allows us to build up the acoustic ﬁeld as a sum of simpler solutions of the wave equation. not necessary) conditions [20.C Fourier transforms and generalized functions C. Then the Fourier transform p(ω) of p(t) is deﬁned as the complex function ˆ = p(ω) = F p (ω) = ˆ def 1 2π ∞ −∞ p(t) e−iωt dt. Mathematically. ˆ (C. It is important to ˆ ˆ note that slight differences with respect to the factor 1/2π . because the Fourier spectrum represents the harmonic perception of sound. 138. or Fourier analysis. The most important example is the reduction into time harmonic components. Apart from a sign change and a factor 2π . Consider a function p(t) with the following (sufﬁcient. except for at most a ﬁnite number of discontinuities where p(t) = 1 [ p(t + 0) + p(t − 0)]. 79. 203].2) The Fourier transform and its inverse are closely related. p(t) is equal to the inverse Fourier transform = p(t) = F p−1 (t) = ˆ def ∞ −∞ p(ω) e iωt dω. This is attractive in several respects.

and on the other hand the approximate “model” p(t). 2π(α + iω) (C. not depending on the arbitrary choice of the interval size. 2π −∞ where α > 0. that is difﬁcult to interpret. dt = √ √ √ e e t 2 π α + iω 1 1 e−iωt dt = e−|ω| .3b) (C. will be introduced later in terms of generalized functions. Is there a way to approximate. Therefore.3d) 1 H (t) −αt −iωt . which is not always Fourier-transformable. a constant. the ordinary square root is taken. we deal in practice with simpliﬁed models. So we have on the one hand the “real” p(t) which is Fouriertransformable. as for example: 1 2π 1 2π N −N N −N e−iωt dt = sin ωN πω sin(ω0 − ω)N i sin(ω0 + ω)N − 2π ω0 + ω ω0 − ω sin(ω0 t) e−iωt dt = We see a large maximum (∼ N/π ) depending on N near the dominating frequencies.3c) (C. RienstraHirschberg 11th November 2001 12:00 . and for the other frequencies an oscillatory behaviour. Although it may seem to be no serious restriction to assume that a physically relevant signal p(t) vanishes at t = ±∞.g. This is too vague and too arbitrary for general use. yielding expressions for p(t) which do not decay at inﬁnity (e. N].286 C Fourier transforms and generalized functions Some examples of Fourier transforms are: 1 2π 1 2π 1 2π 1 2π ∞ −∞ ∞ −∞ ∞ −∞ ∞ H (t) e−αt e−iωt dt = 1 . the real Fourier transform. a mathematically more consistent and satisfying approach. sin(ω0 t)). and H (t) denotes Heaviside’s unit step function (C. using the approximate p(t)? One way is to assume p to vanish outside a certain large interval [−N.26). or at least get an idea of.3a) (C. 2 1+t 2 1 1 2 1 2 e− 2 t e−iωt dt = √ e− 2 ω . which is H (t) = 1 for t > 0 and H (t) = 0 for t < 0. also depending on N.

∇ 2ϕ + ˆ ω2 ϕ = 0. k = (ρ sin α. (2π )n Ê n (C.6) The Hankel transform Hm ( f .8) where x = (r cos ϑ. given by Hm (φ. f (x) = 1 2π ∞ m=−∞ f m (r) e−imϑ and use is made of equation (D.5) Further reduction is possible by Fourier transformation in space variables. ˆ (C. ρ cos α).C. ρ) (C. r sin ϑ).1 Fourier transforms 287 Derivative Since a derivative to t corresponds to a multiplication by iω as follows d p(t) = dt ∞ −∞ iω p(ω) e iωt dω. RienstraHirschberg 11th November 2001 12:00 .7) arises naturally when the 2D Fourier transform of a function f (x) is re-written in polar coordinates. More dimensions and Hankel transform Fourier transforms in n space dimensions is usually denoted as fˆ(k) = Ê n f (x) e ik·x dx. ρ) = 0 ∞ φ(r) Jm (ρr)r dr (C.57). ρ) of a function φ(r).4) the wave equation reduces to the Helmholtz equation ∇ 2ϕ − 1 ∂ 2ϕ =0 c2 ∂t 2 =⇒ F.T. ˆ c2 (C. f (x) = 1 fˆ(k) e−ik·x dk. fˆ(k) = f (x) e ik·x ∞ Ê 2 dx = m=−∞ eimα Hm ( f m .

also known as the Convolution Theorem ( p∗q)(t) = 1 2π ∞ −∞ p(t )q(t − t ) dt = ∞ −∞ p(ω)q(ω) e iωt dω. result (C.11) which is in a suitable context a measure of the total energy of a signal p(t). Poisson’s summation formula Intuitively. it is clear that the high frequencies relate to the short time behaviour. A given p(ω) corresponds to a real signal p(t) ˆ ˆ 1 z ∗ = x − iy denotes the complex conjugate of z = x + iy. dt n (C. RienstraHirschberg 11th November 2001 12:00 . λ (C. ∞ p(λn) = n=−∞ 2π λ ∞ p ˆ n=−∞ 2π n . An elegant result due to Poisson is making this explicit.10) ˆ ˆ Note that in terms of generalized functions.288 C Fourier transforms and generalized functions Multiplication and convolution Fourier transformation is basically a linear operation and little can be said about other than linear combinations of transformed functions. Reality condition Although p(ω) is complex. and the low frequencies to the long time behaviour. to be introduced below.12) Sampling with large steps (λ large) of p yields information about the low part of the spectrum and vice versa. not any p(ω) can occur.9) for the product with ωn is a special case of the convolution theorem.9) For multiplication with a general q(ω) we ﬁnd the convolution product of p(t) and ˆ q(t). Only for multiplication with powers of ω we have ∞ −∞ (iω)n p(ω) e iωt dω = ˆ dn p(t). (C. obtained by taking1 q(t ) = p∗ (−t ) and t = 0: ∞ −∞ | p(ω)|2 dω = ˆ 1 2π ∞ −∞ | p(t )|2 dt (C. ˆ Therefore. A particular case is Parseval’s theorem. the corresponding p(t) is in any physical context real.

3b).3a) and (C. switched on at t = 0. In such a case causality. i. if p(t) = O(e−αt ) for t → ∞. is called causal. or in general based on Fourier analysis.13) This is just the consequence of p(t).e. However. where it sufﬁces to require a zero ﬁeld before the switchon time. Stationary means that it exists forever and has always existed. The fact that the sound should be produced before we observe it (causality) is not a property automatically implied by our equations. given by equation (C. being identically equal to its complex conjugate. 2 Inﬁnitely often differentiable in the complex variable ω. A process p(t) that starts by some cause at some ﬁnite time t = t0 . No physical process can exist for all time. of equations (C. but are indeed analytic in the half-plane Im(ω) < α.C. when we consider a time-harmonic solution. C.15) Examples are the exponentially decaying functions. and it should be imposed to the solution. while it vanishes before t0 .1 Causality condition The wave equation and the equation of motion do not impose a direction for the time. The problem is simple for an initial value problem. It is therefore of interest to investigate conditions for the Fourier transform that guarantees a causal signal. ˆ ˆ 289 (C.14) ˆ has the property that. if dissipation effects are neglected. (C. the difference between cause and effect. RienstraHirschberg 11th November 2001 12:00 . The Fourier transforms are non-analytic in the upper halfplane (singularities at ω = iα and a branch cut from iα up to i∞). p(ω) is analytic2 in the lower complex half-space Im(ω) < α. The corresponding Fourier transform p(ω) = ˆ 1 2π ∞ t0 p(t) e−iωt dt (C.2).1 Fourier transforms if it satisﬁes the reality condition p(−ω) = p(ω)∗ . it is not obvious any more because we assume the solution to be built up from stationary oscillations. is not readily clear.1.

However. RienstraHirschberg 11th November 2001 12:00 . So the part along the real axis is also zero.3b) at ω = iα moves to ω = 0. and the results are not the same. the integral of f along C is equal to zero: C f (z)dz = 0. −π < θ < 0. Hence. the contribution from the large semi-circle becomes exponentially small and vanishes. so the contour can be closed via the upper half plane. Under the conditions stated in theorem (C. and a pole there would make the result of the 6 integral ambiguous. the case of a general t0 is similar). This is a bit of a problem if we are interested in the inverse transform5 . When t > 0 the exponential factor e iωt = e i Re(ω)t e − Im(ω)t decays in the upper half plane.1) (p. So. which is on the real axis. is equal to zero. The factor e iωt = e i Re(ω)t e − Im(ω)t decays exponentially fast to zero in the lower complex ω-plane because − Im(ω)t < 0. It should be noted that in the limit of no damping (α ↓ 0) the singularity of (C. because the real ω-axis is just the contour of integration. Consider as a typical example the inverse transform of equation (C. and vanishes for t < t0 . resulting in 2π i times the residue4 of the pole in iα. R] and the semi-circle ω = R e iθ . the inverse Fourier transform of p. When t < 0 the contour can be closed via the lower half plane. ∞ −∞ e iωt e−αt dω = 2π(α + iω) 0 if t > 0. 0 0 f 0 5 We ignore for the moment the problem that for α = 0 the original time signal is only Fourier transformable in the context of generalized functions.290 C Fourier transforms and generalized functions This leads3 [138] to the following theorem.3a) and (C.3a). then: p(t) is causal. with zero result because the integrand is analytic there: causal as it should be.1 (Causality Condition) If: p(ω) is analytic in Im(ω) ≤ 0. but this is either over or under the singularity. ˆ | p(ω)|2 is integrable. without further information this would leave us with two possible but different answers! 3 Cauchy’s theorem [87] for analytic functions says that if f is analytic in the inner-region of a closed contour C in the complex plane. Theorem C. if t < 0. So its integral along the closed contour consisting of the real interval [−R.290) the function p(ω) exp(iωt) is analytic in the ˆ lower-half complex ω-plane. ˆ 4 If z =z is a simple pole of f (z). The integral is to be interpreted via a suitable deformation of the contour. this is just p(t). ˆ ˆ there is a real t0 such that e iωt0 p(ω) → 0 for ω → −i∞. then the residue of f at z is: Res (z ) = lim z→z 0 (z−z 0 ) f (z). Let R → ∞ while t < 0 (= t0 . 6 The integral of an analytic function does not change with deformation of the integration contour within the region of analyticity.

and the t-dependence. ω) e iωt−ikx dkdω. Consider the following example. is the following. the contour must be indented in Im(ω) < 0 around ω = ω0 and ω = −ω0 (ﬁgure C. If it occurs that.1). this Fourier transform has singularities along the real ω axis.1 Integration contour in complex ω-plane. dealing with complicated manipulations in two complex planes. A more subtle example. however. p(x. so that the integration contour can be closed with zero result if t < 0. p(t) = H (t) sin(ω0 t). described via the inverse transform of its Fourier transform. described via a Fourier integral for both the x. due to inherent idealizations of the model. t) = ∞ −∞ ∞ −∞ p(k. The transformed harmonic-like signal p(ω) = − ˆ 1 ω0 2 − ω2 2π ω 0 has to be analytic in the lower half plane.1 Fourier transforms 291 We do know. ˜ RienstraHirschberg 11th November 2001 12:00 .C. The singularity is to be considered to belong to the upper half-plane. Therefore. Consider the ﬁeld p(x. t). so we have to indent the contour under the pole. This example is typical of the more general case of a signal p(t). that this singularity comes from the complex upper half. The result is then ω∈ real axis −ω0 • ω0 • imaginary axis Figure C. the causality condition tells us how to deal with this problem. so it is safe to indent the contour into the lower half-plane. This is exactly in agreement with the argument of causality: a causal signal has a Fourier transform that is analytic in the lower complex half-plane.

in a direction opposite to the limit (Fig. −ω/c0 real axis k∈ • ´ ´ • ω/c0 imaginary axis Figure C. the value of ˆ the integral may be either the limit from above or from below. The arrows indicate the path of the poles ±ω/c0 in the k-plane. Since causality requires that p(x. so p(x. p(x.e.16) then the time-Fourier transformed p(x. and thereˆ fore p(x.and space-Fourier transformed p(x.17) p(x. C. t). as Im(ω) ↑ 0. when a pole k = ω/c0 or k = −ω/c0 crosses the contour. ω) = ˜ 1 1 . For any value of ±ω/c0 not on the k-contour. ω). 2 2 2 4π 2 c0 k − ω2 /c0 1 2 4π 2 c0 ∞ −∞ (C. the integral exists and can be differentiated to ω any times.2). So. here. ω) is anaˆ lytic in ω. these limits are most conveniently incorporated by a small deformation of the contour. ω) = ˆ 4π ic0 ω RienstraHirschberg 11th November 2001 12:00 . i. The result is e−iω|x|/c0 . when ω moves in its complex ω-plane from the negative imaginary half onto the real axis. from below for the pole k = ω/c0 and from above for the pole k = −ω/c0 .292 C Fourier transforms and generalized functions If p(k.2 Integration contour in complex k-plane. ω) is not analytic for any ±ω/c0 on the contour. is given by: ˜ p(k. This is seen as follows.2). ω) jumps discontinuously by an amount of the residue at that pole. the time. ω) = ˆ e−ikx dk. 2 k 2 − ω2 /c0 must be analytic in Im(ω) ≤ 0. This means that the contour in the complex k-plane (the real axis) must be indented up-around k = ω/c0 and down-around k = −ω/c0 (ﬁgure C. (C. ω) is the analytic continuation from Im(ω) < 0. However. Since a deformation of the integration contour for an analytic function does not change the integral. ω). given by ˆ p(x. we have to take the ˆ limit Im(ω) ↑ 0.

mathematically not equivalent.1 Introduction In reality dissipative effects will cause any discontinuity to be smooth and any signal to decay for t → ∞. or too restricted to be useful? No. = 2c0 (C. to extend our meaning of function to the so-called generalized functions [100.). which (classically) cannot be Fourier transformed: for some frequencies the Fourier integral is not deﬁned and for others just inﬁnitely large. Heaviside function. even vital for a lucid theory.2 Generalized functions C.84)) p(x. but all containing the elements most important in applications (delta function. etc. the pole ω = 0 belongs to the upper ω-half plane. not at all. not the case in most of our idealized models. t) = ∞ iω(t−|x|/c0 ) e 1 dω 4π ic0 −∞ ω 1 H (t − |x|/c0 ).C. Still. the spectrum of sin(ωt).18) If we read x − y for x and t − τ for t. Technically speaking. is almost a prototype! Does that mean that our idealized models are wrong. and we have (c. while any signal can be regarded to be absent for t → −∞. weak functions and distributions when derivatives are guaranteed. So the classical concept of (smooth) functions is more than adequate to describe any property of a real sound ﬁeld. 47]. generalized functions or tempered distributions are not functions with a pointwise deﬁnition. (4. C. this is just the one-dimensional Green’s function. Only our mathematical apparatus of functions is too restricted. It is therefore convenient. 79. Another example is a non-decaying signal. RienstraHirschberg 11th November 2001 12:00 . 83. (See also below). For example. however. where it is inﬁnitely large. 203.f. a point source of vanishing size but ﬁnite source strength cannot be described by any ordinary function: it would be something that is zero everywhere except in one point.2 Generalized functions 293 As before. even as common as sin(ωt). 7 For example: generalized functions and tempered distributions when Fourier transformation is guaranteed. There are many deﬁnitions and terminology7 of generalized function spaces. consisting of two isolated peaks at ω and −ω. This is. Their meaning is always deﬁned in an integrated sense. See for example [47].2.

a generalized function is not an ordinary function. Furthermore. . (C. it is not a function with a pointwise and explicit meaning. −n d where f (k) (x) = dx k f (x). RienstraHirschberg 11th November 2001 12:00 . . and may be identiﬁed to it. A sequence ( fn ) ⊂ G deﬁnes a generalized function if for every testfunction g ∈ G the sequence of real numbers ∞ n→∞ lim −∞ f n (x)g(x) dx (C.2.19) (k) = O(|x| ) (|x| → ∞) for any n. We start with the space of the real. and write for a generalized function f deﬁned by the sequence ( fn ) and any g ∈ G ∞ −∞ f (x)g(x) dx = lim = def ∞ −∞ n→∞ f n (x)g(x) dx. generalized functions really extend our deﬁnition of ordinary functions.2 Formal deﬁnition In the present context we will follow the deﬁnition that is intuitively most appealing: the limit8 in a suitable function space G.294 C Fourier transforms and generalized functions C. smooth. such that derivatives and Fourier transforms are always deﬁned. On the other hand. It can be shown. Therefore. Care is to be taken: although it is the limit of a sequence of ordinary functions. and very fast decaying good functions = G= def f : Ê → Ê | f (k) ∈ C ∞ (−∞. It is only deﬁned by the way its corresponding sequence ( fn ) acts under integration. k ≥ 0 . ∞) and f k (C.21) 8 Technically termed: closure of. This deﬁnition is analogous to the deﬁnition of real numbers by convergent sequences of rational numbers. that any reasonably behaving ordinary function is equivalent to a generalized function. a generalized function may be deﬁned by many equivalent regular sequences because it is only the limit that counts.20) exists as a real number (depending on g. we retain the symbolism for integration. of course). In particular.

as it has the inverse dimension of its argument (or put in another way: δ(x)dx is dimensionless). deﬁned (for example) by δn (x) = n π 1/2 e−nx .2.26) H (x) = 2   1 (x > 0) RienstraHirschberg 11th November 2001 12:00 . This result may be derived from the fact that δ(h(x)) is locally. |h (xi )| h(xi ) = 0 (C. 2 or δn (x) = sin nx −x 2 /n2 e .C.3 The delta function and other examples A very important generalized function is the delta function δ(x). |a| (C. πx (C.25) where the summation runs over all the zeros of h.2 Generalized functions 295 C. Highly oscillatory behaviour outside the origin may be sufﬁcient for the integral to vanish. If the Heaviside generalized function is used as an ordinary function it has the pointwise deﬁnition  (x < 0) 0  1 (x = 0) (C.22) In the limit for n → ∞ all contributions in the integral except from near x = 0 are suppressed. The sequence Hn (x) = 1 2 tanh(nx) + 1 2 e−x 2 /n 2 deﬁnes the Heaviside stepfunction H (x). (C.22) illustrates that it is not necessary for a representation of δ(x) to vanish pointwise outside x = 0. for a sufﬁciently smooth function h with h = dh = 0 at any zero of h. such that ∞ −∞ δ(x)g(x) dx = g(0). so that δ(h(x)) = δ(x − xi )/|h (xi )|.24) which at the same time shows that a delta function is not necessarily dimensionless.23) The second expression of (C. A useful identity is δ(ax) = 1 δ(x). equivalent to δ(h (xi )(x − xi )). near a zero xi . A generalization of this identity yields. the following result: dx ∞ −∞ δ(h(x))g(x) dx = i g(xi ) .

with algebraic behaviour for |x| → ∞ (for example.27) C. (C.4 Derivatives Every generalized function f deﬁned by ( fn ) has a derivative f deﬁned by ( fn ).2.2 (General representation) A necessary and sufﬁcient condition for f (x) to be a generalized function. with the solution f (x) = Cδ(x) which is unique. deﬁnes a generalized function (also called f ) via the sequence fn (x) = f (x) exp(−x 2 /n 2 ).296 C Fourier transforms and generalized functions Any C ∞ -function f . Theorem C. RienstraHirschberg 11th November 2001 12:00 . and also satisfying ∞ −∞ f (x)g(x) dx = − ∞ −∞ f (x)g (x) dx.28) Although generalized functions do not have a pointwise meaning. For example. since for any good g ∞ n→∞ lim −∞ f n (x)g(x) dx = ∞ −∞ f (x)g(x) dx. We have the general form given by the following theorem. up to the multiplicative constant C. they are not arbitrarily wild. is that there exist a continuous function h(x) and positive numbers r and k such that f (x) is a generalized r-th order derivative of h(x) f (x) = dr h(x) dx r while h(x) has the property that h(x) (1 + x 2 )k/2 is bounded on Ê . Any C ∞ –function h with algebraic behaviour for |x| → ∞ multiplied by a good function is a good function. so that the product of such a h with a generalized function f is well-deﬁned. polynomials). the equation x f (x) = 0 has a meaning in generalized sense. (C.

Examples of Fourier transforms are 1 2π ∞ −∞ δ(x) e−iωx dx = ∞ −∞ 1 2π (C. since the Fourier transform g of a good function g is a good function. which means that under the integration sign ∞ the singularity is to be excluded in the following symmetric way: P. dx δ(x) = 1 d2 |x|.C.V.2 Generalized functions For example: sign(x) = 1 + 2H (x) = d |x|. we have using the convolution theorem a well-deﬁned ∞ −∞ fˆ(ω)g(ω) dω = lim ˆ = = ∞ −∞ n→∞ ˆ fˆn (ω)g(ω) dω ∞ −∞ 1 lim 2π n→∞ 1 2π ∞ −∞ f n (x)g(−x) dx (C.29) f (x)g(−x) dx. denotes “principal value”. 2 2 ∞ −∞ 1 2π H (x) e−iωx dx = P.5 Fourier transforms Every generalized function f deﬁned by ( fn ) has a Fourier transform fˆ deﬁned by ˆ ( fˆn ) which is itself a generalized function.2. 1 1 + 1 δ(ω) = 2 π iω 2π i(ω − i0) where P. −∞ = −ε ∞ limε↓0 −∞ + ε . C.17).30) 1 2π ∞ −∞ 1 2π e−iωx dx = δ(ω) cos(ω0 x) e−iωx dx = 1 δ(ω − ω0 ) + 1 δ(ω + ω0 ). Indeed. RienstraHirschberg 11th November 2001 12:00 . similar to (C.V. 2 dx 2 297 By differentiation of the equation xδ(x) = 0 we obtain for the n-th derivative δ (n) (x) the identity x n δ (n) (x) = (−1)n n!δ(x). The notation ω − i0 means that the pole ω = 0 is assumed to belong to the complex upper half plane.V.

and many results are fairly straightforward after an obvious introduction of multi-dimensional good functions. which is to be interpreted as a multiplication of the integrand with suitable Heaviside functions.6 Products Products of generalized functions are in general not deﬁned. provided δ (r) is considered to be an odd function in r. and we have for the back transform in time domain ∞ ∞ iωt ∞ −∞ −i cot(ω) e dt = 2π n=−∞ e inπt = 4π n=−∞ δ(t − 2n) (C. δ(t − τ )δ(τ ) dτ = δ(t).7 Higher dimensions and Green’s functions A generalization to several dimensions is possible [167]. C. we may get δ(x)H (x) = Cδ(x) for any ﬁnite C.24). is not always deﬁned. For the delta function in Ê3 this leads to δ(x) = δ(x)δ(y)δ(z) Care is required near the singular points of a coordinate transformation. integration along a semi-inﬁnite or ﬁnite interval. or as a direct product when they depend on different variables. the poles ω = nπ belong to the complex upper half plane.41a) and (C.2. t) dt dx. depending on the deﬁning sequences of δ(x) and H (x). For example. Two generalized functions may be multiplied only when either of the two is locally equivalent to an ordinary function. we may deﬁne a new generalized function f (x)g(y) in Ê2 by the direct product of f (x) and g(y). Therefore. For example.298 C Fourier transforms and generalized functions If −i cot(ω) is a causal Fourier transform.  δ(x) ∞ −∞ δ(x)δ(t) f (x. C. Some results are δ(x)H (x + 1) = δ(x).31) where we used (C. the 2-D delta function RienstraHirschberg 11th November 2001 12:00 . t) dt dx =  δ(t) f (x. For example.2. x0 −x 0 ∞ −∞ ∞ −∞ ∞ −∞ δ(x) f (x) dx = ∞ −∞ δ(x) f (x) dx ∞ −∞ if x0 > 0.

for the Laplace.18). π 299 (C. cos θ.2-. 0) satisﬁes ∇· v = 2π δ(x.33a) 1 (C.33b) v = (− sin θ. the Green’s function given by expression (C. y). and 3-D. and heat equations.8 Surface distributions Of particular interest are the so-called surface distributions δ (x) deﬁned by the surface integral Ê 3 δ (x)φ(x) dx = φ(x) dσ (C. Helmholtz. p.C.f.306]) as  ∞  δ(r − r0 )   δ(ϑ − ϑ0 − 2π n) if r0 = 0. after the described transformation back into space and time domain. (4. y)ez . 0) satisﬁes ∇ × v = 2π δ(x.2 Generalized functions δ(x − x 0 ) may be written in polar coordinates ([79. sin θ. r The line vortex is a delta function type vorticity ﬁeld: (C. Classically.34) RienstraHirschberg 11th November 2001 12:00 .2. wave.32) Relevant in the theory of 2-D incompressible potential ﬂow are the following identities. Consider for example the one dimensional wave equation (c. C.16) (apart from the amplitude) and then. the Green’s function G is deﬁned in a rather complicated way.81)) 2 ∂ 2G 2∂ G − c0 2 = δ(x − y)δ(t − τ ). r A most important application of (more-dimensional) delta functions in the present context is that they allow a very direct deﬁnition of Green’s functions. See Appendix E for a table of free ﬁeld Green’s functions in 1-. r0 δ(x − x 0 ) = n=−∞  δ (r)  − (r ≥ 0) if r0 = 0. ∂t 2 ∂x After Fourier transformation to t and x we obtain 2 ˜ ˜ −ω2 G + c0 k 2 G = 1 −iωτ iky e e 4π 2 which yields equation (C. but in the context of generalized functions it appears to be just the ﬁeld resulting from a delta function source. The line source is a delta function source term in the mass equation: 1 v = (cos θ.

RienstraHirschberg 11th November 2001 12:00 .3).300 C Fourier transforms and generalized functions where φ is an arbitrary test function. λ. This concept of surface distributions has numerous important applications. f =0 Let the surface S(t) be parametrized in time and space.35) Note that this result is in fact a generalization of formula (C. integral theorems like that of Gauss or Green [83]. we have δ (x) = δ(ν) = |∇ S0|δ(|∇ S0|ν) = |∇ S0 |δ(S). moving continuously in space. Like the auxiliary function f .3) n S (x.36) where the summation runs over all the surfaces Si deﬁned by the equation h(x) = 0. In practice. but otherwise arbitrary. For example. the outward normal nS of S is given by (section A. Near a point x0 on the surface. t) = 0 if x ∈ S(t). S(x) varies to leading order only in the direction of the surface normal eν = ∇ S0/|∇ S0 |. the coordinate normal to the surface. We show it for Reynolds’ Theorem and leave Gauss’ theorem as an exercise. t) = − ∇f |∇ f | . a surface is often deﬁned by an equation S(x) = 0 (section A.  f (x. and Reynolds’ Transport Theorem (section A. (C. and denotes a smooth surface in Ê3 with surface element dσ . Introduce a (smooth) function f (x. by coordinates (t. Consider a ﬁnite volume V = V(t) with sufﬁciently smooth surface S = S(t).1) may be derived very elegantly and efﬁciently. after a suitable rotation and transformation of coordinates. A surface point xS (t) ∈ S (consider λ and µ ﬁxed).25). this parametrization is not unique. but that will appear to be of no importance. Since δ is locally. Since ∇ f | f =0 is directed normal inwards into V. t) such that  > 0 if x ∈ V(t). equivalent to a onedimensional delta function in ν. For sufﬁciently smooth h we have Ê 3 δ(h(x))g(x) dx = i g(x) dσ Si |∇h(x)| (C. µ). where ν = (x − x 0 ) · eν and S0 indicates evaluation at x0 .   < 0 if x ∈ V(t). S(x) = (x − x 0 ) ·∇ S0 + · · · |∇ S0 |ν.

integrated over V. ∞ f (x) = n=−∞ cn e 2πinx/L . Note that. is now given by d d F(x. On the other hand. = − x S ·∇ f = |∇ f | b · n S .37) = S V ∂t where H denotes the Heaviside function. t) dx + (b · n S ) F(x. with period L. if a coordinate shift x + L yields the same generalized function f (x) = f (x + L).3 Fourier series 301 . Fourier series appear to have a much simpler structure when they are embedded in the generalized functions. t) dx = H ( f )F(x. and so ∂f .39) Classically. Fourier series are equivalent to the Fourier transform of periodic generalized functions. t). so f (xS (t). t) + δ( f ) ∂ f F(x. remains at the surface for all time. however. moving with velocity b =x S . t) dx dt V dt Ê 3    H ( f ) ∂ F(x. t) dσ.38) If the series converges. the Fourier series precedes both the Fourier transform and generalized functions. RienstraHirschberg 11th November 2001 12:00 . t) = 0 for all t. in particular it is independent of the selected function f and parametrization. ∂t The variation of a quality F(x. f is periodic with period L.35). The classic theory is. rather complicated. (C. C.C.3 Fourier series A Fourier series (in complex form) is the following function f (x). deﬁned by the inﬁnite sequence {cn }∞ n=−∞ . its normal component b· n S is unique. in the following sense. For sufﬁciently well-behaved functions f the coefﬁcients are given by cn = 1 L L 0 f (x) e−2πinx/L dx. t)dx = 3 ∂t ∂t Ê ∂ F(x. (C. A generalized function f is said to be periodic. and use is made of equation (C. and therefore also its time-derivative. although in general b is not unique. (C.

203]).302 C Fourier transforms and generalized functions We have the following couple of theorems ([100. Theorem C. This means. If we are dealing with a generalized function deﬁned by a periodic absolutelyintegrable ordinary function. and vice versa. and the Fourier series is still to be interpreted in a generalized sense. and the expression for c n simpliﬁes to the classical form (C.41a) 9 As the generalized limit of.40c) 2π n ).3 (From Fourier series to generalized function) A Fourier series (C. m 2πinx/L . Although in such a case the Fourier series may converge in ordinary sense. then U is not necessary. while the Fourier transform is a periodic array of delta functions: ∞ f (x) = fˆ(ω) = cn = n=−∞ ∞ cn e 2πinx/L .39).4 (From generalized function to Fourier series) The most general periodic generalized function is just the Fourier series: any periodic generalized function can be written as a Fourier series with Fourier coefﬁcients cn . when singularities coincide with the end points). telling us when a Fourier series is a generalized function. cn δ(ω − n=−∞ ∞ (C. U (x) + U (x − 1) = 1 for 0 ≤ x ≤ 1. n=m cn e (C. f (x) = exp(−x 2 /m 2 ) m RienstraHirschberg 11th November 2001 12:00 . for example. this is not guaranteed. U is necessary because a generalized function may not be integrable along a ﬁnite interval (for example.40b) (C. Examples are the “row of delta’s” ∞ ∞ ∞ δ(x − n) = n=−∞ n=−∞ e 2πinx =1+2 n=1 cos(2π nx). Theorem C. but otherwise arbitrary. L x −2πinx/L e dx. The generalized function it deﬁnes is periodic and unique. that there is a constant N such that cn = O(|n| N ) for |n| → ∞.38) converges9 to a generalized function if and only if the coefﬁcients cn are of slow growth. L 1 L −∞ f (x)U Any Fourier series can be differentiated and integrated term by term.40a) (C. U ∈ C ∞ is an auxiliary smoothing function with the following properties: U (x) = 0 for |x| ≥ 1.

41e) denotes a sum excluding n = 0. In general it is true that any generalized Fourier series. L]: ∞ f (x) L = n=−∞ x B( L − n) f (x − n L). otherwise. 2 (2π in) 2π 2 n 2 n=−∞ n=1 ∞ ∞ (C. (C.3 Fourier series with its Fourier transform 1 2π ∞ 303 e n=−∞ −iωn ∞ = n=−∞ δ(ω − 2π n).C. Apart from an additional x and 1 x 2 .41e) is 2 the second integral of the row of delta’s of (C.41d) and a sequence of parabola’s. the sawtooth with simple discontinuities at x = n 1 2 −x 1 e 2πinx = = 2π in n=−∞ ∞ ∞ n=1 sin(2π nx) .41d) is the ﬁrst integral and (C. RienstraHirschberg 11th November 2001 12:00 . and B denotes the unit block function B(x) = H (x) − H (x − 1) ≡ 1 0 if 0 ≤ x ≤ 1. (C.41c) Furthermore. (C. πn (C. This shows that there is a limit to the seriousness of the singularities that these functions can have [100]. is the (N + 2)-th derivative of a continuous function. continuous at x = n 1 2 x − x2 − 1 6 1 = e 2πinx cos(2π nx) =− . with coefﬁcients cn = O(|n| N )(|n| → ∞).41b) and its N-th derivative ∞ δ n=−∞ (N) ∞ (x − n) = n=−∞ (2π in) N e 2πinx .41a). [ · ]L denotes the L-periodic continuation of a function f (x) deﬁned on the interval [0.

Theorem C. Theorem C.e. f (x1 ±). when dealing in practice with divergent series. . such that f (x) = 1 [ f (x+) + f (x−)]. . . x N−1 < x < L on which f is continuous. . 0 < x < x1 . then it converges absolutely and uniformly to a continuous periodic function f .304 C Fourier transforms and generalized functions Related examples of some interest are: ∞ − log |2 sin π x| = n=1 ∞ 1 2 cos(2π nx) . such that c are just n f ’s Fourier coefﬁcients. .42d). No attempt must be made to sum such a series numerically term by term! Numerical evaluation is only possible for classically convergent Fourier series. L]. .41e) and (C. n sin(2π nx). ∞ π | sin x| = 2 − n=1 cos 2nx . i. Note that the similar looking (C.41d). An example of the ﬁrst theorem is (C. For a given Fourier series we have the following theorem. L] if there are a ﬁnite number of open subintervals RienstraHirschberg 11th November 2001 12:00 .42a) just falls outside this category. . . Some of the most important results are the following. For a given function f we have the following theorem. (C. n2 − 1 4 Until now we have considered only generalized Fourier series because of their more transparent properties. f (L−) exist. Examples of the second are (C.42c) (C.42d) cot(π x) = n=1 ∞ − 1 tan(π x) = 2 n=1 (−1)n sin(2π nx).42a) (C. then the Fourier series of f converges for every x to the L2 periodic continuation of f . We have to be very cautious.42b) (C.5 (Existence of ordinary Fourier series) If a function f is piecewise smooth10 on the interval [0.6 (Continuity of ordinary Fourier series) If a Fourier series is absolutely convergent. 10 f is piecewise smooth on [0. while the limits f (0+). however. |cn | < ∞.

3. and consider only the values ω = 2π k/T .1 The Fast Fourier Transform The standard numerical implementation of the calculation of a Fourier transform or Fourier coefﬁcient is the Fast Fourier Transform algorithm [24]. A Fourier transform (C. j = 0. .1) is determined as follows. N − 1. 1 N − 1. −1T 2 T 1 2T p(t) e−iωt dt + 0 If we ﬁnally discretize the integrals 2π k p ˆ T T 2π N + 1 2 N−1 p( j T /N) exp(−2π i j k/N) j =0 N−1 T 2π N p( j T /N − T ) exp(−2π i j k/N). Restrict the inﬁnite integral to a large enough ﬁnite interval [−1 T. .39) is calculated by discretizing the integral 1 cn = L L 0 f (x) e −2πinx/L dx 1 N N−1 f ( j L/N) exp(−2π i j n/N) j =0 and identifying x j = f ( j L/N) and cn = X n /N. N − 1 very efﬁciently (especially if N is a power of 2) the Discrete Fourier Transform N−1 Xk = j =0 x j exp(−2π i j k/N). . . . . k = 0. . (C. j= 1 N 2 RienstraHirschberg 11th November 2001 12:00 . . This algorithm calculates for a given complex array {xj }.43) A Fourier coefﬁcient (C. . 2 2 for k = − 1 N.3 Fourier series 305 C. Then we have 2 2 1 p(ω) = ˆ 2π 1 = 2π ∞ −∞ 1 2T p(t) e −iωt dt 1 2π 1 2π 1 2T p(t) e−iωt dt p(t − T ) e−iωt dt. 1 T ]. .C. . .

2 1 N 2 ≤ j ≤ N − 1. 2 RienstraHirschberg 11th November 2001 12:00 . 2 if 0 ≤ k ≤ 1 N − 1. p ˆ T 2π k = T 2π N if − 1 N ≤ k ≤ −1.306 C Fourier transforms and generalized functions we obtain the required result by identifying xj = p( j T /N) p( j T /N − T ) X k+N Xk if if 0 ≤ j ≤ 1 N − 1.

Ym (x).5) (D.1) has two independent solutions [197.4) 0<arg(x)≤π. 1. m (D. Y−m (x) = (−1) Ym (x). Ym (−x) = (−1)m Ym (x) + 2iJm (x) . J−m (x) = (−1)m Jm (x). ψ(n) = −γ + k=1 γ = 0. for m ≥ 0 is: ∞ Jm (x) = k=0 (−1)k ( 1 x)m+2k 2 k!(m + k)! m−1 (D.3) Ym (x) = − − 1 π 1 π k=0 2 (m − k − 1)! 1 −m+2k ( 2 x) + log( 1 x)Jm (x) 2 k! π (−1)k ( 1 x)m+2k 2 k!(m + k)! 1 . m-th order ordinary Bessel function of the 1st kind.7) .D Bessel functions 1 m2 y + 1− 2 y =0 x x The Bessel equation for integer m y + (D.2b) Jm is regular in x = 0. (D. (D.  (−1)m Ym (x) − 2iJm (x) . Standardized forms are Jm (x). 56]. 43.2a) (D. m-th order ordinary Bessel function of the 2nd kind. −π<arg(x)≤0.577215664901532 Jm (−x) = (−1)m Jm (x).6) (D. k ∞ ψ(k + 1) + ψ(m + k + 1) k=0 n−1 with ψ(1) = −γ . Ym is singular in x = 0 with branch cut along x < 0.

2 1 π 2 . (2) Hm (x) = Jm (x) − iYm (x).13) (D. (D.308 D Bessel functions Other common independent sets of solutions are the Hankel functions (1) Hm (x) = Jm (x) + iYm (x).19) (x) = −4i/π x = −1/x = −2/π x 1/x Im (x)K m (x) − K m (x)Im (x) Jm (x)Ym+1 (x) − Ym (x) Jm+1 (x) Im (x)K m+1 (x) + K m (x)Im+1 (x) = Jm (x) and Jm (x) have an inﬁnite number of real zeros. −π <arg(x)≤− 1 π. K m (x) = = satisfying y + 1 m2 y − 1+ 2 y =0 x x (D.17) (D. 2 (D. m (D. Wronskians (with prime denoting derivative): Jm (x)Ym (x) (1) (2) Hm (x)Hm (x) − Ym (x) Jm (x) − (2) (1) Hm (x)Hm = 2/π x (D. −2π i(−1)m Im (x). 2 − 1 π <arg(x)≤ π.8a) (D.12) (D. all of which are simple with the possible exception of x = 0..9b) 1 (2) π(−i)m+1 Hm (−ix). The µ-th positive (= 0) zeros are denoted by j µ m RienstraHirschberg 11th November 2001 12:00 .18) (D. 2 +2π i(−1)m Im (x). <arg(x)≤ π. (D.9c) Im is regular in x = 0. (D. Im (−x) = (−1)m Im (x) K m (−x) = (−1)m K m (x) + π iIm (x).9a) −π <arg(x)≤ 1 π. I−m (x) = Im (x).8b) Related are the modiﬁed Bessel functions of the 1st and 2nd kind Im (x) = i−m Jm (ix)..14) (−1) K m (x) − π iIm (x). 2 (D.10) 1 (1) π im+1 Hm (ix). Km is singular in x = 0 with branch cut along x < 0.11) 0<arg(x)≤ π. .16) (D.15) (D. K −m (x) = K m (x). −π <arg(x)≤0.

24) (D.20b) (D. ∓i(m − 1)!( 1 x)−m /π.22) (D. 2 RienstraHirschberg 11th November 2001 12:00 . 2 ( 1 x)m /m! . 1 (m 2 (D. 2 2 4 ( 1 π x)− 2 exp[±i(x − 1 mπ − 1 π )].33) Im (x) K m (x) (| arg(x)| < 1 π ). 2 2 4 (2π x)− 2 e x . 2 Asymptotic behaviour for |x| → ∞: Jm (x) Ym (x) (1. except that x = 0 is counted as the ﬁrst zero of J : j01 = 0. −(m − 1)! ( 1 x)−m /π.µ = j1. Asymptotic behaviour for x → 0: Jm (x) Y0 (x) Ym (x) (1.26) (D.30) (D. 1 1 1 1 1 (D.2) Hm (x) ( 1 x)m /m! . (D. 2 (| arg(x)| < 3 π ).29) (D.309 and jmµ respectively.31) (D. (2x/π )− 2 e−x . 2 − log(x).28) Im (x) K 0 (x) K m (x) − 1)! ( 1 x)−m . Asymptotically the zeros behave like jmµ jmµ jm1 (µ + 1 m − 1 )π + O(µ−1 ) 2 4 (µ + 1 m − 3 )π + O(µ−1 ) 2 4 m + 0. 2 2 log(x)/π. 0 It follows that j0.25) (D. 2 ±2i log(x)/π.32) (D.20c) Not only asymptotically but in general it is true that jm1 ≥ m.21) (D.2) Hm (x) ( 1 π x)− 2 cos(x − 1 mπ − 1 π ).23) (D.20a) (D.µ−1 .2) H0 (x) (1.8086 m 1/3 + O(m −1/3 ) (µ → ∞) (µ → ∞) (m → ∞). 2 2 4 ( 1 π x)− 2 sin(x − 1 mπ − 1 π ).27) (D.

x 2Jm (x). valid for x > 1.39) cos(mζ+ − m arctan ζ+ − 1 π ).310 D Bessel functions Asymptotic behaviour for m → ∞: Jm (x) Jm (m) Jm (mx) Ym (x) Ym (m) Ym (mx) where ζ+ = √ (2π m)− 2 (ex/2m)m . 2Im (x). 2 4 1 − 1 −( 2 π mζ− ) 2 exp(−mζ− + m artanh ζ− ). x 2 − 1. 2 m Ym (x).40) (D. 2 3 /(3 3 ( 2 )m 3 ). K m−1 (x) − K m+1 (x) = −2 m K m (x). I0 (x) = I1 (x). (D. x (D.34) (D. 2 −2 3 /(3 6 ( 2 )m 3 ).36) (D. valid for 0 < x < 1.38) (D. Important recurrence relations are Jm−1 (x) + Jm+1 (x) = Jm−1 (x) − Jm+1 (x) = Ym−1 (x) + Ym+1 (x) = Ym−1 (x) − Ym+1 (x) = Im−1 (x) + Im+1 (x) = Im−1 (x) − Im+1 (x) = 2 m Jm (x). 3 1 ( 1 π mζ+ )− 2 2 1 (2π mζ− )− 2 1 1 2 1 1 (D.48) RienstraHirschberg 11th November 2001 12:00 .42) (D. 3 1 1 1 ( 1 π mζ+ )− 2 sin(mζ+ − m arctan ζ+ − 1 π ).46) (D.43) (D.45) (D. 1 −( 1 π m)− 2 (ex/2m)−m . and ζ− = √ 1 − x 2 . 2 m Im (x).44) (D. K 0 (x) = −K 1 (x).47) K m−1 (x) + K m+1 (x) = −2K m (x). 4 exp(mζ− − m artanh ζ− ). x In particular: J0 (x) = − J1 (x).41) (D.35) (D. x 2Ym (x). Y0 (x) = −Y1 (x).37) (D.

m2 ˜ )Cm (αx) C m (αx) α2 ˜ xDm (αx)D m (βx) dx = α2 (D.56) (D. Hm and Hm . ∞ Jm ( jmµr0 ) Jm ( jmµr)   (0 < r. r0 < 1).51) (D.55) ˜ − 1 x 2 Dm (αx)D m (αx).  1  2 µ=1 2 (1 − m 2 /jmµ ) Jm ( jmµ )2 1 δ(r − r0 ) = ∞  Jm ( jmµr0 ) Jm ( jmµr) r0   (0 < r.49) (D. π 0 1 2π π −π m2 ˜ )Dm (αx)D m (αx) α2 e ix cos ϑ cos(mϑ) dϑ = 1 2 π −π e ix cos ϑ+imϑ dϑ = π im Jm (x).52) ˜ x Cm (αx) C m (αx) dx = 1 2 (x 2 (D. m=−∞ ∞ (D.57) e−imϑ+ix sin ϑ dϑ = Jm (x). (D.50) e im(ϑ−ϕ) Jm (kr) Jm (k ). − β2 (D. Ym . where: R 2 = r 2 + 2 − 2r cos(ϑ − ϕ).  1  J ( j )2 2 m mµ µ=1 Relations involving integrals: ˜ x Cm (αx) C m (βx) dx = α2 x ˜ ˜ β Cm (αx) C m (βx) − α Cm (αx) C m (βx) . RienstraHirschberg 11th November 2001 12:00 . r0 < 1). C m is any linear combination of Jm .53) ˜ + 1 x 2 Cm (αx) C m (αx) .311 Some useful relations involving series are e ix cos ϑ = J0 (k R) = m=−∞ ∞ im Jm (x) e imϑ . Dm is any linear combination of Im and K m . 2 − (1) (2) ˜ where Cm . 2 ˜ xDm (αx)D m (αx) dx = 1 2 (x 2 + ˜ where Dm .54) −x ˜ ˜ βDm (αx)D m (βx) − αDm (αx)D m (βx) . − β2 (D.

Im(γ )≤0.69) (D. β > 0) (α.312 D Bessel functions ∞ 0 ∞ e−ikr α −iγ |z| e .58) (D. Val. J0 ( α) dα = γ −ir (1. β α m (D. Im(γ )≤0. (D.   (D.  γ = k 2 − α 2 − β 2 . . dαdβ = 2π −ir r= x 2 + y 2 + z 2 . (Princ.59) (D.66) (D.   −ikr e .70) (D. Im(γ )≤0. r= 2 + z 2 . k>0. β > 0) (D.68) β 2 − α2 H (β − α) Y0 (αx) cos(βx) dx = − . √ γ = k 2 − α 2 .61) H (t − r) (2) H0 (ωr) e iωt dω = 4i √ . β > 0) (α. (α. k>0.71) K 0 (αx) cos(βx) dx = 1 π 2 α2 + β2 RienstraHirschberg 11th November 2001 12:00 . α arcosh( β ) (0<α<β). β > 0) (α. γ 1 −iαx−iβ y−iγ |z| e γ ∞ −∞ √ γ = k 2 − α 2 .63) x Jm (αx) Jm (βx) dx = δ(α − β) √ αβ (D. (α. k>0. α (α. t2 − r2 −∞−i0 ∞ 0 ∞ 0 ∞ 0 ∞ 0 ∞ 0 (1) 1 π iH0 (kr) x J0 (xr) 2 dx = (2) x 2 − k2 − 1 π iH0 (kr) 2 ∞−i0 (D.67) 1 2 xYm (αx) Jm (βx) dx = 2 − β2 πα J0 (αx) sin(βx) dx = J0 (αx) cos(βx) dx = H (β − α) β 2 − α2 α2 − β 2 1 . r= x 2 + y 2 . β > 0) H (α − β)  2  π 2   π ∞ 0 ∞ Y0 (αx) sin(βx) dx = α2 − β 2 −1 arcsin( β ) (0<β<α).). α 2 + β2 α 0 ∞ 0 (D. (Im(k) < 0). β > 0).65) (D.2) e±ix cosh y dy = ±π iH0 (x). β 2 − α2 0 ∞ 1 K 0 (αx) sin(βx) dx = arsinh( β ).64) (D.60) −∞ ∞ −∞ 1 −iαx−iγ |y| (2) e dα = π H0 (kr).62) (Im(k) > 0).

(D.1 Bessel function Jn (x) as function of order and argument. (x → −∞). (D.74) Ai(x) Bi(x) 1 0. with the following asymptotic behaviour (introduce ζ = 2 |x|3/2 ) 3  1  cos(ζ − 4 π )  √  π |x|1/4  e−ζ  √  2 π x 1/4  1  cos(ζ + 4 π )  √  π |x|1/4 ζ  √e  π x 1/4 (x → −∞).313 Related to Bessel functions of order by Ai(x) = 1 π 1 Bi(x) = π ∞ 0 1 3 are the Airy functions Ai and Bi [1].76) (x → ∞).72) (D.73) ∞ 0 They are solutions of y − x y = 0. (D. RienstraHirschberg 11th November 2001 12:00 .5 0 2 4 6 8 10 12 14 Figure D.75) (x → ∞). given cos( 1 t 3 + xt) dt 3 exp(− 1 t 3 + xt) + sin( 1 t 3 + xt) dt 3 3 (D.

the wave equation. and the diffusion equation (heat equation) are summarized in the table below for 1-. The boundary conditions applied are (depending on the equation): symmetry. the reduced wave equation (Helmholtz equation).E Free ﬁeld Green’s functions Some relevant Green’s functions for the Laplace equation. . r = x 2 + y 2 + z 2. Equation ∇ 2 G = δ(x) ∇ 2 G + k 2 G = δ(x) 1-D 1 |x| 2 i −ik|x| e 2k 2-D 1 log R 2π i (2) H (k R) 4 0 3-D − − 1 4πr e−ikr 4πr ∂2G 1 1 H (t − R/c) H (t − |x|/c) − c2 ∇ 2 G = δ(x)δ(t) 2 ∂t 2c 2π c2 t 2 − R 2 /c2 ∂G − α∇ 2 G = δ(x)δ(t) ∂t H (t) e−x /4αt (4π αt)1/2 2 δ(t − r/c) 4π c2r H (t) e−r /4αt (4π αt)3/2 2 H (t) e−R /4αt 4π αt 2 Notation: R= x 2 + y2. and 3-dimensional inﬁnite space. outward radiating (assuming a e iωt convention) and causality (vanishing before t = 0). the function or its derivative vanishing at inﬁnity. 2-.

F Summary of equations for ﬂuid motion For general reference we will describe here a large number of possible acoustic models. F. ρ (F. upon which linearization and Fourier time-analysis is possible. Further simpliﬁcations are considered based on axi-symmetric geometry and mean ﬂow. systematically derived from he compressible Navier-Stokes equations. momentum and energy conservation. velocity vector v.1) (F. and the ﬂuid being a perfect gas. The ﬂow is described by a stationary mean ﬂow and small perturbations. 2 It is often convenient to introduce enthalpy or heat function h =e+ p . density ρ. (F. viscous stress tensor τ . under the assumptions of absence of friction and thermal condition. and heat ﬂux vector q. scalar velocity v = |v|. internal energy e.6) .4) ∂ ρ ∂t ∂ (ρv) ∂t ∂ (ρ E) ∂t + ∇ · (ρv) + ∇ · (ρ Ev) = −∇ · q − ∇ · ( pv) + ∇ · (τ v) + ∇ · (ρvv) = −∇ p + ∇ · τ =0 (F.2) (F.1 Conservation laws and constitutive equations The original laws of mass. are given by mass: momentum: energy: while E = e + 1 v2.5) (F. written in terms of pressure p.3) or entropy s and temperature T via the fundamental law of thermodynamics for a reversible process T ds = de + pdρ −1 = dh − ρ −1 d p.

(F. R is the speciﬁc gas constant and γ the Poisson ratio.73 J/kg K.8a. de = C V dT.b) From equation (F.7e) = −∇ · q − p∇ · v + τ :∇v p − ∇ · q + τ :∇v = −∇ · q + τ :∇v.7a) (F.10) while isentropic perturbations (ds = 0).7c) (F. like sound. dh = C P dT (F. ρ (F. CP is the heat capacity or speciﬁc heat at constant pressure [93].b.7d) (F. s = C V log p − C P log ρ.7b) (F. γ = CP = 1.316 F Summary of equations for ﬂuid motion d ∂ With dt = ∂t + v ·∇ for the convective derivative. CV = C V (T ) and C P = C P (T ) are in general functions of temperature.6) it then follows for an ideal gas that ds = C V dp dρ − CP p ρ (F.9a.11) s For a perfect gas. and we can integrate (apart from an immaterial integration constant) e = C V T.c) RienstraHirschberg 11th November 2001 12:00 .b. For an ideal gas we have the following relations p = ρ RT. propagate with the sound speed c given by c2 = ∂p ∂ρ = γp = γ RT. h = C P T.12a. which are practically constant and given by (the ﬁgures refer to air) R = C P − C V = 286. the above conservation laws may be reduced to mass: momentum: energy : d ρ dt d ρ dt v d ρ dt e d ρ dt h d ρT dt s = −∇ p + ∇ · τ = d dt = −ρ∇ · v (F.7e) is the most convenient.402 CV (F. For acoustic applications the entropy form (F. the speciﬁc heats are constant (independent of T ).c) where C V is the heat capacity or speciﬁc heat at constant volume.

2 c0 = (F.F. along streamlines.14) and linearize for small amplitude. the viscous or turbulent stress terms will be assumed to play a role only in an aerodynamic source region.2. ρ = ρ0 + ρ . and thus dh = ρ−1 d p.1 Inviscid and isentropic In the acoustic realm we will consider.2 Acoustic approximation F.15d) RienstraHirschberg 11th November 2001 12:00 .2 Perturbations of a mean ﬂow When we have a stationary mean ﬂow with instationary perturbations.13a) (F. p = p0 + p . while any perturbation is too fast to be affected by thermal conduction. Furthermore. c2 = γp .13c) which means that entropy remains constant.2.15c) γ p0 ρ0 (F. s = s0 + s (F.2 Acoustic approximation 317 F. given by v = v0 + v . such that we have d ρ dt d ρ dt v d s dt = −ρ∇ · v = −∇ p =0 (F. Therefore. we obtain for the mean ﬂow ∇ · (ρ0 v 0 ) = 0 ρ0 (v 0 ·∇)v 0 = −∇ p0 (v 0 ·∇)s0 = 0 while s0 = C V log p0 − C P log ρ0 . we will assume the gas to be perfect.15b) (F.15a) (F. for the applications of acoustic propagation we will ignore viscous shear stress (τ ) and thermal conduction (q).13b) (F. ρ (F. with the following thermodynamical closure relations s = C V log p − C P log ρ.13d) F.

18) F.16a) (F.19) F. If the mean ﬂow is homentropic (s0 = constant). for example when v0 = 0 and s0 = constant.17) If the perturbations are entirely isentropic (s ≡ 0).2.21c) (F. (F. p = Re( p eiωt ).21a) (F.2.4 Time harmonic When the perturbations are time-harmonic.16c) p ρ − p0 ρ0 while s = CV CP CV 2 p − ρ = p − c0 ρ . s = Re(ˆ eiωt ).318 F Summary of equations for ﬂuid motion and the perturbations ∂ ρ0 ∂t + v 0 ·∇ v + ρ0 v ·∇ v 0 + ρ (v 0 ·∇)v 0 = −∇ p ∂ ( ∂t + v 0 ·∇)s + v ·∇s0 = 0 ∂ ρ ∂t + ∇ · (v 0 ρ + v ρ0 ) = 0 (F.16d) where the expression for c usually serves no purpose.16b) (F. (F. ρ = Re(ρ eiωt ). given by ˆ ˆ ˆ s v = Re(v eiωt ). p0 ρ0 p0 c = 1 c0 2 (F. the pressure and density perturbations are related by the usual 2 p = c0 ρ . for example when p0 and ρ0 are constant. such that v0 = ∇ p0 = 0. (F. and pressure and density are related by ∂ ∂t 2 + v 0 ·∇ p = c0 ∂ ∂t + v0 ·∇ ρ (F. ˆ p0 (F.20) we have in the usual complex notation ˆ ˆ iωρ + ∇ · v 0 ρ + v ρ0 = 0 ˆ ˆ ˆ ˆ ˆ ρ0 iω + v 0 ·∇ v + ρ0 v ·∇ v 0 + ρ v 0 ·∇ v 0 = −∇ p ˆ ˆ iω + v 0 ·∇ s + v ·∇s0 = 0 s= ˆ Cv 2 ˆ p − c0 ρ . the equations may be reduced to ∂2 ∂t 2 2 p − ∇ · c0 ∇ p = 0.21b) (F. the perturbations are isentropic along streamlines.3 Zero mean ﬂow Without mean ﬂow.21d) RienstraHirschberg 11th November 2001 12:00 .

(F.6 Uniform mean ﬂow The simplest.23a) and for the acoustic perturbations ˆ ˆ ˆ iω + v 0 ·∇ ρ + ρ∇ · v 0 + ∇ · ρ0 ∇ φ = 0. mean pressure p0 . where v = ∇φ. Axial mean velocity u0 . ρ0 iω + u 0 ∂∂x v + ∇ p = 0. and obtain the important simpliﬁcation c2 ∂ φ + 1 v2 + = constant.24) F. 2 ∂t γ −1 p = constant. is the one with a uniform mean ﬂow. we can introduce a potential for the velocity.2.25b) (F.2 Acoustic approximation 319 F. ˆ (F.25c) iω + u 0 ∂∂x RienstraHirschberg 11th November 2001 12:00 . and use the fact ˆ ˆ that ∇ · (ρ0 v 0 ) = 0.25a) (F.5 Irrotational isentropic ﬂow When the ﬂow is irrotational and isentropic everywhere (homentropic). but therefore probably most important conﬁguration with mean ﬂow. such that we can integrate the momentum equation. and express p as a function of ρ only. ˆ ˆ 2 ˆ p − c0 ρ = 0. density ρ0 and sound speed c0 are constants. where φ = φ0 + Re(φ eiωt ). we have then for the mean ﬂow 2 c0 = constant.2. ργ (F. to the rather general convected wave equation −1 −2 ˆ ˆ ρ0 ∇ · ρ0 ∇ φ − iω + v 0 ·∇ c0 iω + v 0 ·∇ φ = 0. γ = constant ρ0 1 2 v 2 0 + (F. γ −1 p0 ∇ · (ρ0 v 0 ) = 0. 2 p = c0 ρ.F. so we have ˆ ˆ iω + u 0 ∂∂x ρ + ρ0 ∇ · v = 0.23b) These last equations are further simpliﬁed if we eliminate p and ρ. ˆ ˆ (F.22) ˆ For mean ﬂow with harmonic perturbation. ˆ ˆ ρ0 iω + v 0 ·∇ φ + p = 0.

the arbitrariness in ψ (we may add any ∇ f . vorticity and pressur/density perturbations are decoupled.22) by introducing the vector potential (stream function) ψ and ˆ as follows scalar potential φ ˆ ˆ v = ∇×ψ + ∇ φ. this equation may be transformed to the ordinary reduced wave equation 2 c0 ∇ 2 p + 2 p=0 (F. we can eliminate φ and ρ to obtain the convected reduced wave equation for the pressure 2 ˆ c0 ∇ 2 p − iω + u 0 ∂∂x 2 p = 0.25a.25a) becomes ˆ ˆ iω + u 0 ∂∂x ρ + ρ0 ∇ 2 φ = 0 (F. Since the diverˆ ˆ ˆ ˆ gence of a curl is zero.27) By taking the curl of equation (F. v (F. RienstraHirschberg 11th November 2001 12:00 .25b) we can eliminate p and φ to produce an equation for the vorticity: ˆ ˆ − iω + u 0 ∂∂x ∇ 2 ψ = iω + u 0 ∂∂x ξ = 0.28) This shows that vorticity perturbations are just convected by the mean ﬂow. ∇· v = ∇ · (∇×ψ + ∇ φ) = ∇ 2 φ. since ∇×∇ f ≡ 0) may be ˆ removed by adding the gauge condition ∇· ψ = 0. we note that we did not assume isentropy or irrotationality. and using equations (F.29) By taking the divergence of equation (F. Without sources of vorticity.25c) shows that entropy perturbations are just convected by the mean ﬂow. r. ω) = p(X. Indeed. ω = β . r. We may split the perturbation velocity into a vortical part and an irrotational part ˆ (see equation 1.25c). θ.30) Again.31) by introducing p(x. ˆ (F.32) 1 − M 2. the ﬁeld is irrotational if we start without vorticity. such that the vorticity is given by ˆ ˆ ˆ ˆ ξ = ∇×ˆ = ∇(∇ · ψ) − ∇ 2 ψ = −∇ 2 ψ. equation (F. θ. β = c0 M c0 (F.25b). u0 x = β X. Without sources of entropy. M = . With some care.26) ˆ If desired. especially taking due notice of any singular edge behaviour. the ﬁeld is isentropic if we start with zero entropy.320 F Summary of equations for ﬂuid motion Equation (F. (F.F. ) exp(i ˆ where X). ˆ (F.

The ﬂuid should be stagnant and uniform (quiescent). the equation of Bernoulli becomes. Chapter 1 d) Only if thermodynamic equilibrium prevails.18) for an incompressible ﬂuid we ﬁnd by continuity of the volume ﬂux A 1 v1 = A 2 v2 .43) we have a speed of sound of 75 m/s. any sound speed can be used. f) Certainly not. of A v1 1 = 1 1. ∂t 2 ρ0 By neglecting the non-uniformity of the ﬂow we have φ= 2 1 v·d v1 1 + v2 2 . p is more appropriate. In an isentropic ﬂow is Ds = 0.G Answers to exercises. e) The pressure on the piston p1 can be related to the atmospheric pressure p2 in the free jet by using the unsteady Bernoulli equation (1. Note that ρg cg = γ p so that c depends only on γ and not on other gas properties. hence an air density ρg which is ten times 2 higher than at 1 bar. g) Yes. d) Not necessarily. Hence. ρ0 A2 2 A2 At t = 0 we have a ratio of the pressure drop. e) No. determined by the ratio of the potential difference. c) Mathematically. but the simple physical meaning only appears when we choose the value that prevails at the listener’s position. v2 2 A2 2 Chapter 2 a) A depth of 100 m corresponds to a pressure of 10 bar. h) No. Using the mass conservation law (1. Following (2. √ i) No. but ∇· (vρ0 )) vanishes only for an homentropic Dt ﬂow. with v1 = at.31b) applied to an incompressible ﬂuid (ρ = ρ0 ): ∂ φ 1 2 p − p1 2 + (v2 − v1 ) + 2 = 0. . ρc2 = γ p so that ρc depends also on the temperature because c = γ RT . p1 − p2 1 A1 2 A =a 1+ 1 2 + − 1 (at)2 .

ˆ ˆ ˆ Since p(x0 ) = 0 and v(x0 ) = 0 we have simply Z = 0. or kd cos θ = (2m + 1). b) The ﬁeld P of one point source is given by (see Appendix E) Ptt − c2 ∇ 2 P = δ(t − τ )δ(x − x0 )δ(y − y0 )δ(z) with solution P = δ(t − τ − r 0 /c)/4πc2 r0 where r0 = {(x − x0 )2 + (y − y0 )2 + z 2 }1/2 . such that Rn ··· r − nd cos θ 1i 4 1 (r → ∞). we have   0 = ∇ · H ( f )v dx =  H ( f ) ∇ · v + δ( f ) v ·∇ f dx ∇ · v dx − v · n dσ. to the observer. The outward normal n is then given by n = −(∇ f/|∇ f |) f =0 . d) The condition is now exp(−iπn + iknd cos θ) = 1. Since H ( f )v vanishes outside V . i) p(x) = e−ikx +R e ikx . z) = 1 i 4 ∞ H0 (k Rn ) 1 (2) n=−∞ ∞ 1 1i ( 1 πk Rn )− 2 exp( 1 πi − ik Rn ) 4 2 4 n=−∞ 1 where Rn = ((x − nd)2 + y 2 ) 2 = (r 2 − 2r nd cos θ + n2 d 2 ) 2 . y0 . V S h) Only the terms contribute which satisfy 0 < 2n L ≤ c0 t. This part of the series looks like ( 1 πkr )− 2 exp( 1 πi − ikr + iknd cos θ) 2 4 and grows linearly with the number of terms if exp(iknd cos θ) = 1. and obtain the total ﬁeld y0 = y + {r0 0 ∞ p= P dx0 dy0 = 2π 2 |z| δ(t − τ − r0 /c) dr0 = (2c)−1 H (t − τ − |z|/c). So the dimension of δ(x) is (length)−1 . x 1 x e) If we make x dimensionless by a length scale L. y) and integrate ··· = − 2π ∞ 1 φr dr dθ = 2πφ(0. such that f (x) > 0 if and only if x ∈ V . 2 Integrate over all x0 . Chapter C a) Every point of the line source has a different distance. introduce x0 = x + {r0 − z 2 }1/2 cos θ0 and 2 − z 2 }1/2 sin θ . we have δ(x) = δ( L L) = L δ( L ). Consider the sources satisfying −r nd r . If p(x0 ) = 0. or kd cos θ = 2πm. so we obtain = c0 t/2L (2 + R)g(t) = R f (t) + 2 n=1 f t − 2nL − g t − 2nL c0 c0 . y. f) Multiply by a test function φ(x.322 G Answers to exercises. c) From Appendix E we ﬁnd the total ﬁeld p(x. Note the tail of the 2-D wave-equation Green’s function (Appendix E) (2πc2 )−1 H (t− R/c)/ t 2 − R 2 /c2 . ˆ RienstraHirschberg 11th November 2001 12:00 . 4πc This could have been anticipated from the fact that the problem is really one dimensional. we have R = − e−2ikx 0 . and therefore different travel time. φr dx dy = − r 0 0 g) Let S be given by an equation f (x) = 0. 0).

air = −0.I u and pII = −ρ0.2 = 2ρ2 c2 A 1 /(ρ1 c1 A 2 + ρ2 c2 A 2 ). p 1 ρw (u 0 A/S)2 .323 j) v(x) = (ρ0 c0 )−1 (e−ikx −R e ikx ). + − + − + − + + + − + ( p1 + p1 )( p1 − p1 )/ρ1 c1 = I1 − I1 = I2 . lim R1. m) For an oriﬁce with wall thickness L and cross-sectional area Ad in a pipe of cross-sectional area − + A p we have: R = p1 / p1 = 8 √ ik(L + 2δ)A p /[2Ad + ik(L + 2δ)A p ]. The force amplitude 2 ˆ ρ0 c0 105 Pa we can use a is: F = S(ρ I cI + ρ II cII )ωa = 9. This implies that p = −ρ0 c0 u along any C − characteristic. If v(x 0 ) = 0. ˆ ˆ k) With p(x) = e−ikx +R e ikx and v(x) = (ρ0 c0 )−1 (e−ikx −R e ikx ) we have R = (Z 0 − ˆ ρ0 c0 )/(Z 0 + ρ0 c0 ). we have R = e−2ikx 0 .5 × 104 Pa.2 . T1.15 N. p1 = (ρ1 c1 u p )/(1 − R1. while mass conservation implies: A1 u 1 = A 2 u 2 .0256.9989. Integration with respect to time yields: ρ0 u = − p /c0 .05. Tair.water = 0. ˆ + + e−ik L − e ik L p2 = p1 + p1 .99945. Rwater.2 − 1 = (ρ2 c2 − ρ1 c1 )/(ρ2 c2 + ρ1 c1 ).0011.II c0. 1 ∂ ∂ Alternatively. √ g) T1 − T2 = 30 K. As pI − pII = 915 Pa linear theory. Substitution of the mass conservation law in the energy conservation law yields: p1 = p2 .01 m/s we ﬁnd p1 = − p2 = 1.2 = 0. p1 = R1. The pressure p2 can reach −15 bar if there is no cavitation.2 = (A 1 − A 2 )/(A 1 + A 2 ). R1.97. δ 3π A d /π. so e ik L +R e−ik L Z + iρ0 c0 tan(k L) Z L = ρ0 c0 ik L = ρ0 c0 0 . 2 e) Energy conservation implies: A1 p1 u 1 = A 2 p2 u 2 . A2 / A1 →0 A2 / A1 →∞ − + 2 h) (I1 /I1 ) = R1.2 = (ρ1 c1 − ρ2 c2 )2 /(ρ1 c1 + ρ2 c2 )2 . k) T1.2 = 1 − T1. R1. l) lim R1. d) v j = 2cw (A/S)(1 − 1 − (u 0 /cw )) u 0 A/S. For u 0 = 0.water = 1.2 = 1. j) T1.2 = 0. (I2 /I1 ) = 1 − (I1 /I1 ). RienstraHirschberg 11th November 2001 12:00 . R1.5 × 106 Pa.2 p1 e−2ik L . c0 ) and u 0 = 0 the C + characteristics carry the message: p + ρ0 c0 u = 0 in the entire wave region. b) The piston induces the pressures pI = ρ0.2 = 2A1 /(A 1 + A 2 ). Rair. For u 0 = 1 m/s we ﬁnd p1 = 1. where k = ω/c0 .air = 0. ρ1 c1 /ρ2 c2 = T2 /T1 = 1.2 e−2ik L ). −ik L ρ0 c0 + iZ 0 tan(k L) e −R e Chapter 4 a) For a wave p = G(x + c0 t) corresponding to a C − characteristic propagating in a uniform region with (ρ0 .2 = 1 − T1. f) R1.I c0.II u .99945.2 = T1. ˆ ˆ ˆ Since v(x0 ) = 0 and p(x0 ) = 0 we have simply Z = ∞. c) The ﬂow perturbation u is such that the total ﬂow velocity u0 + u = 0 at the closed valve. + − + i) R1. we have from the momentum conservation law: ρ0 ∂t u = − ∂∂x p = − c0 ∂t p because p is a function of (x + c0 t) along a C − characteristic.2 = −1. Otherwise it is limited to the vapour pressure of the water.2 = −0. Twater. Hence we have p1 = −ρw cw u = ρw cw u 0 and p1 = − p2 .03.

2. ˆ− ˆ ˆ ˆ ˆ s) p1 + p1 = pb + ρw ω2 a0 a. pb / p0 = −3γ a/a0 . ˆ 2 v) 3γl p0 /ρw cw = O(10−4 ) hence a0 ω/cw < 10−2 . o) Flow separation always occurs when the particle displacement is of the order of the diameter of the oriﬁce: u d ∼ ωd. In the pipe we have: u D = u d (d/D)2 . 2 2 ˆ ˆ z) ω2 g − c0 d 2 g = e−iωτ δ(x − y)/2π.5).324 G Answers to exercises. ˆ+ + 2ˆ ˆ− ˆ+ ˆ+ ˆ− ˆ+ A( p1 − p1 ) = A p2 − (ρw cw )iω4πa0 a. − + r) R = p1 / p1 = [(A 1 − A 3 ) cos(k L) − iA 2 sin(k L)]/[(A 1 − A 3 ) cos(k L) + iA 2 sin(k L)]. . p) Without mean ﬂow (u 0 = 0): 2 • At low amplitudes. R = 0 for A2 = 0 when A1 = A 3 and R = 1 for A3 = 0 when k L = nπ (n = 0. y+ ω t) pb / pin = [1 + ( ω )2 ( 2πia0 − 1)]−1 . ). In some circumstances negative end corrections are found ( Ajello [2]. p) In a stationary subsonic free jet induced by a mean ﬂow we expect a uniform pressure. . sound is transferred from the ampliﬁer (at the back of the ear) to the ear-drum by means of a pipe of D = 1 mm. u) ω0 a0 /cl = 3ρl /ρw d ˆ ˆ ˆ [ dx g]± = ∓ik g ± . ρl /ρw = O(10−3 ). Indeed the theory for open pipe termination of Rienstra [155] indicates that we cannot predict end corrections intuitively. At 100 Hz this corresponds to SPL = 130 dB. we have the same answer as for large amplitudes. 2 /ω2 A ≥ 1. ﬂow separation will occur. An oriﬁce of d = 0.1 mm placed in this pipe. − + q) R = p1 / p1 = [A 1 − (A 2 + A 3 )]/[A 1 + (A 2 + A 3 )]. p1 + p1 = p2 . x) When a0 = O(D) we do not have a radial ﬂow around the bubble. We have reached a high Reynolds number limit. 3. . 2 2 2 w) ω0 3γl p0 /2ρw a0 . Such devices are indeed in everyday use. when linear theory is valid. Within a hearing-aid device. At 1000 Hz this corresponds to SPL = 150 dB. The approximation used for small bubbles fails. RienstraHirschberg 11th November 2001 12:00 . At p0 = 1 bar. The critical level is given by p ∼ ρ0 c0 ωd(d/D)2 . At 10 Hz this corresponds to SPL = 110 dB. Flow separation is induced • At large amplitudes. y) [g] = s/m. friction is negligible when δv = 2ν/ω Ad . At x = y we have g± = e−iωτ /4πiωc0 . u d 2 A d then the exact value of the viscosity is not important to predict ﬂow by viscosity. With mean ﬂow (u 0 = 0). 1. will protect the ear by limiting sound level around 1 kHz to SPL = 130 dB. Peters [140]). dx d ˆ 2 Integration around x = y yields: −[ dx g] y − = e−iωτ /2πc0 . ˆ ˆ Ak 0 2 2 2 1. This leads to the common assumption that the end correction of a thin oriﬁce with a mean ﬂow is at low frequencies half of the end correction in the absence of mean ﬂow. R = −[1 + A(ω2 − ω0 )/2πiωa0 ]−1 . while the inertial effects in the jet are negligible. Experiments by Ajello [2] indicate a much stronger reduction of the end-correction. If δv separation. R = −1 for k L = π(n + 0. The ﬁrst intuitive guess for a quasi-stationary theory is to assume that the inertial effects upstream of the oriﬁce remain unchanged.

. As Re Z(0) = 0 for Z L = ∞ the piston does in general not generate any acoustical power unless there is resonance. τ ) dy2 dy3 = SG(x. B) The same answer as the previous exercise with (section 4. ˆ with: p ˆ S + 2S p (S + 2S p ) − (S − 2S p ) e−2ik0 L RienstraHirschberg 11th November 2001 12:00 .5 kHz. 1 SPL = 60 dB. ∂g This implies that: g = ∂g y = − ∂ x x. t|y1 .325 Hence g± = gx=y e∓ik(x−y) with “+” for x > y and “-” for x < y. .4. τ ) as a displacement x = − y of the observer in the direction of the source. ˆ ˆ± Therefore: g = e−iωτ e−ik|x−y| /4πiωc0 . ˆ Hence: p+ = 1 (Z(0) + ρ0 c0 )u p . ˆ 2 The condition that there is no radiation. 1. b) Z L a) Z(0) = ρ0 c0 ˆ ˆ c) For x < 0 we have p+ = 0 while: p− = 1 ρ0 c0 (S p /S)u p (1 + e−ik0 L ).1 kHz. t| y. 2 ˆ The acoustical ﬁeld in the pipe is given by: p = p+ e−ik0 x + p− e ik0 x . y3 ) of the source in the cross section of the pipe. a0 the bubble radius and ω0 the Minnaert frequency of the bubble. 2 2 G) (S/a0 )(ρw cw /3γ p0 ) 2 = 2. where ˆ n = 0. t| y. E) p 2 F) SPL = 63 dB.5): 2 R = −1/[1 + A(ω2 − ω0 )/(2πiωcw a0 )] where A is the pipe cross-sectional area.e. p− = 0. k0 L = (n + 1 )π. Z(0)u p = p+ + p− . .4 × 103 or 75 dB. √ 2 S| and k0 S 1 the Green’s function is independent of the position C) For |x 1 − y1 | (y2 . p− = 1 (Z(0) − ρ0 c0 )u p . is obtained for: k0 L = (2n + 1)π. Chapter 5 (Z L + ρ0 c0 ) + (Z L − ρ0 c0 ) e−2ik0 L (Z L + ρ0 c0 ) − (Z L − ρ0 c0 ) e−2ik0 L For Z L = ∞ we have Z(0) = iρ0 c0 cot(k0 L). ˆ ˆ ˆ ˆ ˆ This corresponds to the waves generated by the original source at y and an image source at 2L − y. ˆ R= g − (L) ˆ Z L − ρ0 c0 = + . t|y. ˆ d) p = p+ e ik0 L + p− e−ik0 L . and p− = ˆ p . ˆ A) Using the result of exercise z) we ﬁnd: ˆ g + (L|y) = g0 (L|y) ˆ with g0 (x|y) = e−iωτ e−ik|x−y| /4πiωc0 . 2. τ ) = ∞ ∞ −∞ −∞ G(x. τ ). . ˆ ˆ ˆ ˆ ˆ The amplitudes p+ and p− are calculated from the piston velocity u p by using: ρ0 c0 u p = ˆ ˆ ˆ ˆ ˆ p+ − p− . 2 ρw cw /3γ p0 = 5. ˆ ˆ ˆ ˆ 2 2 Z L + iρ0 ωδ. ∂y Hence: 2 2 ρ c0 ∼ M0 1 ρ0 U0 (d 2 /S) = 2 × 10−2 Pa. Hence we have: g(x1 . i. ρ0 c0 g (L) − g − (L) ˆ ˆ g(x|y) = g+ + g − = g0 (x|y) + R g0 (x|2L − y). ω0 /2π = 6. H) f ∼ U0 /D = 0. D) Moving the source towards the observer by a distance y should induce the same change g in g(x. The distance |x − y| is in both cases reduced by the same amount. ˆ ˆ ρ0 c0 u p (S + 2S p ) S − 2S p + ˆ += .3 × 104 or 87 dB. Z L + ρ0 c0 g (L) ˆ Furthermore: ˆ g + (L) + g − (L) ˆ ZL = + .

The system is in resonance for k0 L = (n + 1 )π. (n = 1.24) u = ( 3 π u p c0 ) and p ˆ 2 ˆ losses are comparable and the acoustical ﬂuid particle displacement is of the order of the pipe diameter.. 3. ˆ ˆ ˆ ˆ If we assume friction losses to be dominant we have: p− = p+ e−2α L ˆ 1 πν γ −1 0. Z 5 = ρ0 c0 . 2 h) p = A cos(kx) for x < L. Flow separation becomes √ dominant at the junction when: 2 ˆ ˆ ( p+ − p− )/ρc0 = O(k0 S1 ). . λ = ρ0 L/σ . .6 × 104 Pa.027 m−1 . ρ0 c0 u ex = p3 e−ik0 L 3 − p3 e ik0 L 3 . Friction losses and ﬂow separation 5. . and p = p+ + p− 2 p+ . . (Z + ρ0 c0 ) + (Z 1 − ρ0 c0 ) e−2ik0 L . ˆ ˆ ˆ− ˆ+ ˆ− ( p2 e−ik0 L 2 − p2 e ik0 L 2 )S2 = ( p3 − p3 )S3 . p1 e−ik0 L 1 + p1 e ik0 L 1 = p2 + p2 . The amplitude of the second harmonic p1 . (Z 3 (2L) + ρ0 c0 ) − (Z 3 (2L) − ρ0 c0 ) e−2ik0 L Z 3 (2L) = S3 Z 4 Z 5 /(S4 Z 5 + S5 Z 4 ). ˆ− ˆ ˆ+ ˆ− ˆ+ ˆ− g) p1 − p1 = ρ0 c0 u p .326 G Answers to exercises.6 × 103 Pa. 2. where: α = 1+ √ D c0 L ν/a (Z 1 + ρ0 c0 ) + (Z 1 − ρ0 c0 ) e−2ik0 L . while p = B e−ikx for x > L. (Z 3 (2L) + ρ0 c0 ) + (Z 3 (2L) − ρ0 c0 ) e−2ik0 L Z 3 (0) = ρ0 c0 . can be estimated from: 2 ˆ ( p1 / p+ ) ∼ k0 L( p+ /ρ0 c0 ). (Z 1 + ρ0 c0 ) − (Z 1 − ρ0 c0 ) e−2ik0 L where: Z 1 = S1 Z 2 Z 3 /(S2 Z 3 + S3 Z 2 ). 2 Conﬁguration c): Z p = 1 ρ0 c0 i tan(k0 L). √ In that case we have the membrane-in-vacuum vibration z α 8 + . The system is not a closed resonator because the condition of zero pressure at the junction is never satisﬁed. Z 3 = iρ0 c0 tan(k0 L). Conﬁguration b): Z p = ρ0 c0 1 (Z 1 + ρ0 c0 ) − (Z 1 − ρ0 c0 ) e−2ik0 L where: Z 1 = S1 Z 2 Z 3 (0)/(S2 Z 3 (0) + S3 Z 2 ). Z 2 = ρ0 c0 . 2 The system is resonant for k0 L = (n + 1 )π. ˆ If we assume non-linear losses at the open pipe termination to be dominant we have (equation √ ˆ ρ0 c0 u ˆ 1. and the closed pipe λ + .). where the propagation speed of transversal waves in the √ membrane c M = T/σ is introduced. ˆ ˆ e) Conﬁguration a): Z p = ρ0 c0 f) At the mouthpiece we have: ρ0 c0 u p = p+ − p− . ˆ ˆ+ ˆ− p3 ˆ λ → 0 when the air density becomes negligible or when the membrane becomes very heavy. Suitable dimensionless groups are ˆ ˆ z = k L. Z 4 = iρ0 c0 cot(k0 L). . ˆ+ ( p1 e−ik0 L 1 − p1 e ik0 L 1 )S1 = ( p2 − p2 )S2 . Z 2 = ρ0 c0 . ˆ ˆ ˆ ˆ Hence we ﬁnd: p+ 7. α = c M L/c0 a. ˆ+ ˆ− ˆ+ ˆ− + e−ik0 L 2 − e ik0 L 2 + − p2 ˆ + p2 ˆ = p3 + p3 . The resonance equation is then (z − 8α 2 z −1 ) sin z = λ e iz . ˆ+ + e−ik0 L 3 − e ik0 L 3 + p3 ˆ = 0. generated by nonˆ linearities. modes z nπ + 2 nπ−8α /nπ RienstraHirschberg 11th November 2001 12:00 . ˆ The corresponding ﬂuid particle oscillation amplitude at the open pipe termination is: p/(ρ0 c0 ω) 7 × 10−2 m.

t|y. τ ) ∂τ u dτ . 2 2 i) m = ρ0 Sn ( + 2δ). τ ) ∂ga ρ (y. r) Using an energy balance between sound production and dissipation by vortex shedding we have: ˆ 0. 2 p1 ˆ+ (1 + ik0 S p /Sd )[1 − (ω2 /ω0 ) + (ik0 V /2S p )] p− ˆ (ik0 S p /Sn ) − 1 R= 1 =T+ . ˆ RienstraHirschberg 11th November 2001 12:00 . The internal pressure pin is related to the acoustical velocity u through the neck by the ˆ ˆ momentum conservation law: pin = ρ0 iω u. with ω0 = c0 Sn /( V ) and ω1 = c0 / . (ik0 S p /Sn ) + 1 p1 ˆ+ √ √ 2 2 where: ω0 = c0 2Sd /( V ). ˆ √ √ ˆ This yields: u = (3πω Q/4Sn ) which is a factor (2Sn k0 /S p ) smaller than for a 1 λ open ˆ 4 pipe resonator. 2 ) − (iωV /c S)] e ik0 L −(iωV /c S) e−ik0 L ρ0 c0 u p ˆ [2(1 − ω2 /ω0 0 0 There is no transmission when both ω = ω0 and k0 L = (n + 1 )π. We expect vortex shedding at the pipe ends to be a minor effect in a Rijke tube. ω0 = . The ratio of acoustical particle displacement to pipe diameter is w/D = 2 × 10−2 . t| y. where we assumed that pin and Q are in 2 ˆ T = p2 ˆ+ 1 phase and that vortex shedding at the neck can be described by means of a quasi-stationary ˆ model. At y = 0 we have (∂ga /∂ yi )n i = 0. 2 Sn 1 − ω2 ω0 k) 2 2(1 − ω2 /ω0 ) − (iωV /c0 S) ptransmitted ˆ = . y=0 ∂ yi ∂ yi where ga (x.05 1 ρ0 u 2 u B × w ρ0 u 3 B × w.327 So when λ = 0 (no energy is radiated) there are indeed undamped solutions with Im(z) = Im(ω) = 0. Fur∂ 2 2 thermore we have: ρ0 ∂τ u = −c0 ∂∂y ρ . ˆ ˆ ˆ q) f c0 /(2L). and: 1. u/(ωw) 1 m/s. τ ) n i dτ . we have: t 2 ρ (x. τ ) − ga (x. S Other contributions from the surface integral vanish if we assume that G has the same boundary conditions as the acoustic ﬁeld on these surfaces.22u0 . −1 iωρw cw γ p0 S 2 m) T = 2 2 − . The ﬁnal result is obtained by partial integration. R = T − 1. and n 1 = −1 at y = 0. 2 pex ˆ ω1 u 0 ω1 p) As there are no sources q = 0. or: 2 0ˆ |u| 0. p ρ0 c0 u 4 × 102 Pa. t|y. t) = −c0 −∞ ρ (y. K = ρ0 c0 Sn /V . 2 V ρw S p (γ p0 /V )(1 − ω2 /ω0 ) 2 ˆ ˆ ˆ ˆ n) An energy balance yields: 1 pin Q = 3π ρ0 u 3 Sn . τ ) = G(x. ω2 p ˆ ω u − c0 2 2 o) in = 1 + 0 0 + i 1 + 0 . 2 l) Transmission and reﬂection coefﬁcient: = . ˆ iωρ0 ( + 2δ) Q j) pin = ˆ .6 Sd /π Sd . which yields: p = c0 ρ = ∂ 2 t ρ0 c0 −∞ ga (x. t|y. τ ) dS( y).

03u0 / h. 134] by the difference in acceleration between neighbouring particles experiencing the same pressure gradient but having different densities. The characteristic frequency for turbulence in a free jet with circular cross section is u0 /D which implies that: D/λ = D f /c ∼ u 0 /c0 . Assuming 1 2 8 D 2 = (u D)8 /D 6 . This corresponds to a force in terms of the analogy of Lighthill and a dipole source of sound. Hence a subsonic free jet is a compact ﬂow region with respect to sound production by turbulence. q) Sound production due to volume ﬂuctuations V of the bubble is given by: 2 ρ = (4π|x|cwater )−1 (∂ 2 /t 2 )V . The large contrast in compressibility K between the bubbly liquid and the surrounding water results into a monopole type source (ﬂuctuating volume). The sound is produced [115. Note: for a free jet with a rectangular cross section w×h and w h the characteristic frequency of the turbulence is 0. The distance between the source and sink forming the second dipole is reduced by a factor 2 (R 2 /r2 ) while the strength of each image is equal to that of the original source. and V ∼ D 3 . Hence: I /I = D 6 /D 6 = 26 or a subsonic free cold jets we have: I ∼ u 1 2 2 1 difference of 36 dB.329 of the other dipole is very close (r2 = R 2 /r2 R) to the axis of the cylinder and very weak. As the compressibility of an ideal gas is determined by the mean pressure there appears to be no monopole sound production upon mixing of a hot jet with a cold gas environment with equal Poisson ratio γ . In practice a low sound production does also correspond to a lower power 1 ρu 3 D 2 ∼ 2 (u D)3 /D. t − V ∂ and ∂t ∼ u 0 /D. we have: V /V0 = − p /γair p0 . F j ∼ ρ0 u 2 d D. we obtain: 0 0 ρ ∼ u0 d + . but it appeared to be also a very efﬁcient noise reduction method. This effect is not signiﬁcant in subsonic free jets. Blowing on a ﬁnger we indeed observe a signiﬁcantly larger sound production than blowing without ﬁnger. Then the radiation of the dipole close to the surface is enhanced by a factor two. A very similar behaviour is found when the dipoles forming the quadrupole are normal to the radius of the cylinder (in tangential direction). The introduction of high bypass jet engines was aimed to reduce the propulsion costs. If ρ1 = ρ2 we have u 1 D1 = u 2 D2 . This corresponds to a scaling rule I ∼ M 4. 3 D 4π|x|c0 c0 ρ0 u 3 D 0 xj ∂ |x| |x| dy + Fj t − 3 c0 c0 4π|x|2 c0 ∂t The cylinder induces an enhancement of turbulence sound production by a factor (1+dc0 /Du 0 ). Therefore the radiation scales in a subsonic case at I ∼ M6 . Assuming ∂/∂t ∼ u 0 /D we ﬁnd 0 RienstraHirschberg 11th November 2001 12:00 . while that of the other dipole is not affected. Ti j ∼ ρ0 u 2 . assuming isentropic oscillations of the bubble of initial 3 volume V0 = 4πa0 /3 at p0 . where. The typical pressure ﬂuctuations in a free jet are of the order p ∼ ρw u 2 . 2 2 Equal thrust implies: ρ1 u 2 D1 = ρ2 u 2 D2 . As a result the dipole far away from the cylinder radiates independently of the dipole close to the cylinder. Using Curle’s formula: ρ = xi x j ∂2 4 4π|x|3 c0 ∂t 2 k) l) m) n) o) p) Ti j y.

5 cm. (iii) k 11 = −18. ˆ ˆ ˆ ˆ for f 2 = 5 f 0 : (1 − | p− / p+ |) f = 1. In such a case the oscillation of the system is called a Parker mode and does not radiate because the oscillation frequency is below the cut-off frequency for the ﬁrst transverse mode. ϑ0 = 0. ϑ) = ωQ 4π ∞ 1 δ(r − r0 ) r0 ∞ δ(ϑ − 2πm) m=−∞ ∞ Jm (αmµr0 )Jm (αmµr ) e−ikmµ |x|−imϑ 1 (a 2 − m 2 /α 2 )J (α 2 mµ m mµ a) kmµ 2 .2 · 10−4 . t. (1 − | p− / p+ |)r = 1 · 10−3 . Im /Im → 1 and αmµ = iσmµ −ikρ0 c0 / X. we have p(x) = p0 e−i k −m x−mx . (ii) k 11 = −15. This kind of oscillations have been reported by Spruyt [180] for grids placed in front of ventilators. r c) A simple point mass source Qδ(x − x0 ) e iωt . (1 − | p− / p+ |)r = 3 · 10−3 . b) Since σmµ a → ∞. The friction is proportional to ω. In fact the twin pipes forms with its images an inﬁnite row of pipes. gives rise to the equation ∇ 2 p + k 2 p = −iωQδ(x) with solution p(x. C) In free space the bubble experiences the impedance of a compact sphere: 2 Re(Z) = ρwater cwater (k0 a0 )2 .331 √ by using the formula of Kirchhoff.4 i. B) Assuming a perfectly reﬂecting ground surface. (1 − | p− / p+ |)r = 1. ˆ ˆ ˆ ˆ for f 0 ˆ ˆ ˆ ˆ for f 1 = 3 f 0 : (1 − | p− / p+ |) f = 9 · 10−2 .93 i. so D = 12. and are proportional to ω2 . Using Radiation losses are given by: (1 − | p ˆ r ˆ 2 0 the results of exercise (5.f) we ﬁnd : (1 − | p− / p+ |) f = 5 · 10−2 . In a similar way such modes can occur in rotors or stators of turbines.84118. ˆ RienstraHirschberg 11th November 2001 12:00 .3 Hz.5 cm. As Imin = 10−12 W/m2 . Chapter 7 a) (i) kc a = 2π f c a/c0 = j11 = 1.2 · 10−1 . where we take x0 = 0. In a duct a wall placed along the duct axis can form such a system of twin pipes if it is longer than the duct width. The friction losses increase by a factor √ 2 due to the higher frequency.3D = −20. Such systems are therefore acoustically almost closed. − / p+ |) = 1 (k a)2 . In a ﬂute of the same size as a clarinet the radiation losses are increased by a factor eight (two radiation holes and twice the fundamental frequency). so fc = 996. we ﬁnd for Wr = 5 × 10−5 W that r 4 km. For r a Jm (αmµr ) −ikmµ x e Jm (αmµ a) 2 a 1/2 −σmµ (a−r) −i k 2 +σmµ x e e . the energy is distributed over a semi-sphere: I = Wr /(2πr 2 ). so 20 log10 | e−ik11 D | = −20|k11 |D log10 e = −138. and D = 14. m=−∞ µ=1 Chapter 8 √ 2 2 a) Since A(x) = πa 2 e 2mx . D) As the twin pipes oscillate in opposite phase the radiation has a dipole character and is a factor (k0 2a)2 weaker than for an individual pipe. In a pipe we have: Re(Z) = ρwater cwater 8πa0 /S.

t) − 2 f0 M R sin θ cos θ cos(φ − ωt + kr ) RienstraHirschberg 11th November 2001 12:00 . and 180◦ . and y = 0 at x = 1 L. so te = t − a/c0 .332 G Answers to exercises.2 we ﬁnd . to obtain 2 2 L= 8hε−1 (1 − 1 εh) = 54. such that x0 = 1 L.11) is directed in z-direction only. t) = 2 a(1 − M cos α) a (1 − M cos α)3 a · Fe 1 (1 − M 2 )(a · F e ) 4π p(x. and cos α − M ρ0 Q e + ρ0 Q e V 2 . t) = 2 − M · Fe + 3 .7 m.63) 2 2 c0 (1 − εy)2 + c0 (εx − εx0 )2 = constant with y = h at x = 0 and L. 90◦ . 2 Chapter 9 a) With the propeller in vane position (no angle of attack) the lift force as deﬁned in (9. b) Use the relation (8. and R · M = Ma cos α. R = a. 4πar (1 − M R sin θ cos(φ − ωt + kr ))3 The radiation pattern has zeros in the directions θ = 0◦ . c0 a (1 − M cos α2 ) a (1 − M cos α)3 p(x. b) R = a. Using the results of section 9. 4π p(x. and Me = M R . while it has its main directions of radiation in (near) the conical surfaces θ = 45◦ and 135◦ .

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4 Bessel function. 48. 30. 297 Cremer optimum. 266. 52. 247. 299 Green’s function. 231. 235. 165 internal. 103. 178. 34. 4. 236 energy. 39. 170. 298. 180. 244. 196 open end. 281–283 density. 308 Hankel transform. 203. 3. 272. 29. 81. 89 entropy. 16. 103. 144. 138. 225. 12. 137. 93. 19. 39. 105–109. 35. 33. 37. 200. 75. 307 Airy function. 12. 163. 40. 44. 81. 46. 302 Doppler. 74. 7. 146 evanescent waves. 213. 41 Curle. 71. 279 constitutive equations. 298. 103. 58. 168 non-isentropic. 8. 230. 275 Fourier analysis. 70. . 126. 49. 83. 199. 99. 189. 36. 180. 104. 182. 237. 199. 67. 9. 3. 79–81. 212 Ffowcs Williams-Hawkings equation. 259 modal amplitude. 185. 99. 14. 187. 40. 169. 297. 50. 245. 223. 275. 212 modes. 44. 44. 21. 168. 199. 78. 218. 133. 6. 201 slowly varying. 180–182. 196 junction. 198. 303 generalized function. 196 cylindrical.Index acoustic intensity. 163. 34. 228 end correction. 149. 216. 75. 189. 205 Crocco. 60. 222 rectangular. 184. 25. 179. 19. 36. 135. 68. 203. 215. 37. 138. 267 Avogadro number. 32. 108–110. 183 causality. 24. 145. 267. 21 enthalpy. 299. 289 FFT. 87. 200. 39. 259. 38. 197. 139. 38. 8. 45. 14 series. 9. 14. 68. 111. 60. 218. 3. 287 Biot-Savart law. 164 convolution. 220. 91–95. 35. 70–72. 43. 122. 31. 90. 34. 283 homentropic. 85. 126. 36. 239. 166. 77. 1. 172. 109. 269–271 duct acoustics. 238 vibrating wall. 182. 169. 96. 25. 218 Webster’s horn. 39. 242 cut-on. 140–144 compact. 171. 68. 214. 213. 47. 41. 4. 86. 181 isentropic. 67. 289 bubble. 32 spot. 244 Hankel function. 189. 121 blade passing frequency. 218. 168. 52. 199–201. 275 cut-off. 22–24. 21 barotropic. 289–292. 285–287. 301–304 transform. 314 characteristics. 111. 288. 305 law. 169. 3 number. 60. 54. 216. 197. 299. 242 delta function. 70. 21 branch cut. 165. 247 clarinet. 68. 65. 139. 220. 180. 188. 43. 134. 106. 15. 37 ﬂux. 51–53. 164. 212–216. 85. 76. 38. 65. 88. 293 surface distribution. 64. 289–294. 295. 33. 97. 13. 83. 49. 215 Boltzmann constant. 101. 6. 200. 145. 146. 199.

93. 201–203. 136 acoustical. 130. 33. 259 Minnaert frequency. 84. 168. 51. 34–36. 183 impedance. 34. 49. 140. 205. 53. 86–89. 124. 299. 62. 178 reactance. 220. 222. 121. 63. 220. 129. 156. 56. 61 RienstraHirschberg 11th November 2001 12:00 . 21. 299 shedding. 106. 122. 259. 130. 286. 248 wind shear. 97. 277 matched asymptotic expansions. 238. 93. 27 vortex. 13. 48. 132. 132. 50 radiation. 102 Liénard-Wiechert potential. 68. 145. 222. 49. 135. 222 Kármán. 180 temperature gradient. 13. 63–65 sound. 20. 65. 51 resistance. 85–91. 267. 262 coefﬁcient. 255 resonator. 117. 152 rotor-stator interaction. 96. 136 Parseval’s theorem. 287. 248. 102. 295. 50. 126. 169 multiple scales. 263 trombone. 41. 314 Heaviside function. 49 surface wave. 121 Walkman. 188–190 admittance. 267. 50. 168. 205. 250 resonance. 48 speciﬁc. 171. 108–110. 176. 275. 166. 249 Sommerfeld’s condition. 88. 90. 155. 218 iris. 278 surface wave. 163. 60. 300 Riemann invariant. 235. 34. 243. 131. 169. 49. 106. 231. 229. 14. 144. 53. 131 street. 218. 156. 101. 122 Kirchhoff. 314 number. 63. 65. 48 reﬂection. 23. 301 Helmholtz equation. 142.Index 345 170. 42. 83. 215 Snell’s law. 203. 88. 185 sheet. 243. 56. 78. 99. 125. 299. 185 stress. 218. 104. 13 surface distributions. 269 Lighthill. 214. 48. 133. 180. 34. 43. 30. 200. 225. 63. 83 energy. 223. 62. 93. 129. 175–178. 259. 232–234 Reynolds number. 139. 135. 146–150. 263–265. 182 transport theorem. 144. 196. 94 ray acoustics. 263 turning point. 223. 136. 104. 288 rain. 276. 163. 144. 170 Strouhal number. 78 uniqueness. 91. 179–182. 65. 133. 187. 249. 241 refraction. 242. 226 transmission. 180. 212. 29. 71 Rijke tube. 118. 220. 134. 88. 175. 68. 52 characteristic. 235 ill-posed. 105. 109. 94. 110. 19. 242. 22 summation. 121. 40–42. 154–156 line. 108. 186. 49. 22. 95. 153. 124. 262 coefﬁcient. 245 oriﬁce. 68. 245. 293. 62. 140. 153. 84. 55–59. 210. 129. 75. 39. 61 images. 53 wall. 138. 53. 250 reﬂection. 225 shear layer. 133. 234. 298. 288 Poisson ratio. 29–31. 91. 184. 48 causality. 122 vorticity.