Acoustic Wave Equation

Acoustic Variables

Pressure p P - Po
Density Condensation o
s
o
Velocity (particle)

u
t
Temperature
 Sound Speed
Bulk modulus B
c
density

Air Water Steel

Bulk Modulus 1.4(1.01 x 105) Pa 2.2 x 109 Pa ~2.5 x 1011 Pa
Density 1.21 kg/m3 1000 kg/m3 ~104 kg/m3
Speed 343 m/s 1500 m/s 5000 m/s

Please Memorize!!!
Necessary Differential Equations
to Obtain a Wave Equation
Mass Continuity
Equation of State
Force Equation N2L

Assumptions: homogeneous, isotropic, ideal fluid

 Equations of State
Ideal Gasses: P = rTk
P P


Po o Po o

P 1 2P
P = Po o 2 o ...
2
Real Fluids:
o 2
o

V P
p B B Bs B o
V o
 Continuity Equation
u x x u x xdx dM dm x dm y dmz
dz
dt dt dt dt
dy
dM dm y dmz
dx
u x x dydz u x x dx dydz
dt dt dt

dM
u x
dm y dmz
u x x dydz u x x dx dydz
dt
x x dt dt

dM u x u y u z
dxdydz dxdydz dxdydz
dt x x y z z
y

d u x u y u z
u 0
dt x x y
y
z z
t
 Force Equation
P x P x dx
dz df x P x dydz P x dx dydz
dy
dx

P P
df x P x dydz P x dx dydz dxdydz
x x x x

P P P

df i j k dxdydz dmg Pdxdydz dmg
x x y y z z

 Fluid Acceleration
u
Pdxdydz gdxdydz dxdydz
t

u x, y, z, t u x dx, y dy, z dz, t dt

u x dx, y dy, z dz, t dt u x, y, z, t

a lim
t 0 t
u u u u
u x dx, y dy, z dz, t dt u x, y, z, t dx dy dz dt
x y z t
u u u u
u x, y, z, t u x dt u y dt u z dt dt
x y z t

u u u u u u u
a
x
ux uy uz
y z
ux
t t x
uy
y
uz u
z

t t
u u
 Lagrangian and Eulerian Variables
Du u
a
Dt t
u u Convective
Term

Material, substantial
Eulerian Derivative
or Lagrangian Derivative

Eulerian Fixed Moorings

Lagrangian Drifting Buoys
 Newtons Second Law
u

Pdxdydz gdxdydz dxdydz u u
t

u

P g u u
t


u 0
t
P
p Bs B o
o
Linear Continuity Equation
P Po p
o so

o so
u o so u 0
t t
so
o u 0
t

s
u 0
t
Linear Force Equation
P Po p
o so

u
P g u u
t

u
Po p g o so p gso o
t

u
p o
t
 Linear Wave Equation
u s
p o
t
p Bs t
u 0

u 2s u
p o
2
0
t t 2
t

s o p
2 2
p o 2
2

t B t 2

1 2
p B
p 2 2
2
c
2

c t o
Velocity Potential

u
p o o
t t

o p o p 0
t t

o p 0
t
Variation of sound speed with temperature
P Po
B o P c 2
c
2

o o
o o

P = rTk Po = o rTko
o rTko
c
2
rTko c2 rTk
o
o

c2 Tk Tk 273 TC TC
2
1
co Tko 273 273 273

TC
c co 1
273
 Speed of sound in water-
temperature, pressure, and salinity
c t, z,S 1449.2 4.6t 5.5x102 t 2 2.9x104 t 3 1.34 102 t S 35 1.6x102 z
with the following limits:
0 t 35 C Sound Speed Variations with Temperature and Salinity
0 S 45 p.s.u. (z = 0 m)

0 z 1000 meters 1580

1560
Sound Speed (m/s)

1540 ppt salinity

1520 0
1500
30
1480
35
1460
1440 40
1420
1400
1380
0 5 10 15 20 25 30 35 40
Temperature (C)
 Class Sound Speed Data
Class Sound Speed in Water Data
y = 0.0004x 3 - 0.0807x 2 + 6.2061x + 1393.4
1520

1500
Sound Speed (m/s)

1480

Series1
1460
Poly. (Series1)

1440

1420

1400
0 5 10 15 20 25
Temp (C)
 Harmonic 1-D Plane Waves
1 2
p j t kx j t kx
p 2 2
2
p Ae Be
c t
u
p o
t
u

Ae j t kx Be j t kx Ake j t kx Bke j t kx o
t

u
1
o

Ake j t kx
Bke j t kx

t

1 k j t kx
u A e
o
k j t kx 1
B e


o c
Ae
j t kx
Be j t kx

Condensation and Velocity Potential
p p
s 2
B c

u
1
o c

Ae j t kx Be j t kx
1 1 j t kx 1 j t kx p jp
A e B e
o c jk jk jo ck o
 Specific Acoustic Impedance
f
Z Mechanical Impedance
u
Z f /A p Pa s
z rayl
m
A u u
Ae j t kx
1 o c
For a
p o c
Ae
j t kx

plane z
u Be j t kx
wave: 1 o c

o c

Be j t kx
r specific acoustic resistance
In general: z r jx
x specific acoustic reactance
 Sound Speed
Bulk modulus B
c
density

Air Water Steel

Bulk Modulus 1.4(1.01 x 105) Pa 2.2 x 109 Pa ~2.5 x 1011 Pa
Density 1.21 kg/m3 1000 kg/m3 ~104 kg/m3
Speed 343 m/s 1500 m/s 5000 m/s
Spec. Ac. Imp. 415 Pa-s/m 1.5 x 106 Pa-s/m 5 x 107 Pa-s/m

Analogous to E-M wave impedance

z c Z


Plane wave in an arbitrary direction

j t k x x k y y k z z
p Ae
1 2
p
p 2 2
2

c t
2

j t k x x k y y k z z


Ae
j t k x x k y y k z z 1
2 Ae 2
c t 2

k 2
x k k
2
y
2
z Ae
j t k x x k y y k z z
2
2 Ae
c
j t k x x k y y k z z

2
k k k 2
2
x
2
y
2
z
c
 Shorthand
k k x i k y j k z k r xi yj zk

j t k x x k y y k z z
j t k r
p Ae Ae
kx
z cos
k
k Direction
Cosines cos
ky
k
y kz
cos
x k
Propagation Vector

k r k Surfaces (planes) of constant phase

k k 2x k 2y k 2z k cos 2 cos 2 cos 2 k r const

2
1
1
0
-1 0.5
-2
-1 0
-0.5
0 -0.5

0.5
1 0.5
-1
0 -0.5
1 -1

10

1
0.5
0
-0.5
-1
 k in x-y plane
kx
y x n2
kz

k k cos i k sin j
k

j t kx cos kysin
p Ae
 Energy
1 1
E k mu o Vo u 2
2

2 2
x V
E p Fdx pdV
x0 V0

V const. dV Vd 0
d dp
dV V V 2
P p c
B o c 2

o

V p
dp 1 p 2
E p pdV pV 2 Vo
V0 0
c 2 o c 2
 Energy Density
1 1 p 2
1 p 2

E E k E p o u Vo
2
Vo o u 2 2 Vo
2

2 2 o c 2
2 o c

E 1 2 p2 p 2
Ei o u 2 2 o u 2
Vo 2 o c o c2
P
p Pcos t kx u cos t kx U cos t kx
o c

1 P cos t kx
T T 2 2
1 P2
E Ei E i dt dt
T
T0 T0 o c 2
2o c2

o U 2 o U P PU
E
2 2 o c 2c
 Average Power and Intensity

dE T
Ei T
Acdt
A

cdt dE
T
EAc
dt T

U 2
1 P 2
1
I T
Ec o c PU
T
A 2 2 o c 2
For plane waves
Effective Average - RMS
T
1 2
Fe Frms f t dt
T0

U P
Ue Pe
2 2

2
P
I o cU
2
Pe U e
e

o c
T e
 p2 P2
Intensity of sound I
o c 2o c

Loudness intensity of the wave. Energy

transported by a wave per unit time across a unit
area perpendicular to the energy flow.
Source Intensity (W/m2) Sound Level
Jet Plane 100 140
Pain Threshold 1 120
Siren 1x10-2 100
Busy Traffic 1x10-5 70
Conversation 3x10-6 65
Whisper 1x10-10 20
Rustle of leaves 1x10-11 10
Hearing Threshold 1x10-12 1
 Sound Level - Decibel
I W
IL 10log I ref 1x10 12

m2
Iref
 Why the decibel?

Ears judge loudness on a logarithmic vice

linear scale
I
Alexander Graham Bell "bel" log
1 Iref
deci =
10
1 bel = 10 decibel
I
IL(in dB) 10log
Iref
 Reference Level Conventions
p 2ref
I ref =
o c

Reference Reference
Location
Intensity Pressure

Air 1 x 10-12 W/m2 20 Pa

Water 6.67 x 10-19 W/m2 1 uPa

 Historical Reference

1 microbar
1 bar = 1 x 105 Pa
1 bar = 1 x 105 Pa

105 Pa
20log 100 dB
1 Pa
So to convert from intensity levels referenced to
1 bar to intensity levels referenced to 1 Pa,
simply add 100 dB
 Sound Pressure Level
Mean Squared Quantities: I
Power, Energy, Intensity IL 10log
Iref
Intensity Level

Root Mean Squared Quantities:

Voltage, Current, Pressure
p2
SPL 20 log 20 log p rms
p ref p ref

Sound Pressure Level
 Example
Tube with a piston driver
a=2.5 cm
f = 1 kHz
154 dB in air
What are the
rms piston displacement
intensity
power
 Spherical Waves
1 p 2
p 2 2
2

c t

1 2 p 1 p 1 2p 1 2p
p 2 r
2
2 sin 2 2 2 2
r r r r sin r sin 2
c t

jn kr m Standing wave
p Pn cos e jm e jwt
y n kr n=0,1,2,3,
m=-n,,+n
n kr
h (1)
p (2) Ynm cos e jme jwt
h n kr Traveling wave

h (1),(2)
n jn jy n
 Spherical Waves For Us
e jkr
h (1),(2)
n
r
z A j t kr
x ac p e
r
rac
1 1 jkr
u p
o c jkr

kr
z o c
k r jkr
2 2
j 1 k 2r 2
z o c ze
1 k 2r 2 1
tan
kr
 z
x ac

rac