Revision of Electromagnetic Theory Lecture 1 Maxwell’S Equations Static Fields Electromagnetic Potentials Electromagnetism and Special Relativity
Total Page:16
File Type:pdf, Size:1020Kb
Revision of Electromagnetic Theory Lecture 1 Maxwell’s Equations Static Fields Electromagnetic Potentials Electromagnetism and Special Relativity Andy Wolski University of Liverpool, and the Cockcroft Institute Electromagnetism in Accelerators Electromagnetism has two principle applications in accelerators: magnetic fields can be used to steer and focus beams; • electric fields can be used to control the energy of particles. • However, understanding many diverse phenomena in accelerators, and the design and operation of many different types of components, depends on a secure knowledge of electromagnetism. Electromagnetism 1 Lecture 1: Fields and Potentials Electromagnetism in Accelerators In these lectures, we will revise the fundamental principles of electromagnetism, giving specific examples in the context of accelerators. In particular, in this first lecture, we will: revise Maxwell’s equations and the associated vector • calculus; discuss the physical interpretation of Maxwell’s equations, • with some examples relevant to accelerators; see how the dynamics of particles in an accelerator are • governed by the Lorentz force; discuss the electromagnetic potentials, and their use in • solving electrodynamical problems; briefly consider energy in electromagnetic fields; • show how the equations of electromagnetism may be • written to show explicitly their consistency with special relativity. The next lecture will be concerned with electromagnetic waves. Electromagnetism 2 Lecture 1: Fields and Potentials Further Reading Recommended text: • I.S.Grant and W.R. Phillips, “Electromagnetism” Wiley, 2nd Edition, 1990 Free to download: • B. Thide, “Electromagnetic Field Theory” http://www.plasma.uu.se/CED/Book/index.html Comprehensive reference for the very ambitious: • J.D.Jackson, “Classical Electrodynamics” Wiley, 3rd Edition, 1998 Electromagnetism 3 Lecture 1: Fields and Potentials Electromagnetism in Accelerators Understanding the properties of electromagnetic fields is essential for understanding the design, operation and performance of a wide variety of accelerator components. Electromagnetism 4 Lecture 1: Fields and Potentials Maxwell’s Equations Maxwell’s equations determine the electric and magnetic fields in the presence of sources (charge and current densities), and in materials of given properties. D~ = ρ, (1) ∇ · B~ = 0 , (2) ∇ · ∂B~ E~ = , (3) James Clerk Maxwell, ∇ × − ∂t ∂D~ 1831–1879 H~ = J~ + . (4) ∇ × ∂t ρ is the electric charge density, and J~ the electric current density. The electric field E~ and magnetic field (flux density) B~ determine the force on a charged particle (moving with velocity ~v ), according to the Lorentz force equation: F~ = q E~ + ~v B~ . (5) × Electromagnetism 5 Lecture 1: Fields and Potentials Permittivity and Permeability The electric displacement D~ and magnetic intensity H~ are related the the electric and magnetic fields by: D~ = εrε0E,~ (6) B~ = µrµ0H.~ (7) The quantities ε0 and µ0 are fundamental physical constants; respectively, the permittivity and permeability of free space: ε 8.854 10 12 Fm 1, (8) 0 ≈ × − − µ = 4 π 10 7 Hm 1. (9) 0 × − − Note that: 1 8 1 µ0 c = 2.998 10 ms − , Z 0 = 376 .73 Ω . (10) √µ0ε0 ≈ × s ε0 ≈ Electromagnetism 6 Lecture 1: Fields and Potentials Permittivity and Permeability The relative permittivity εr and relative permeability µr are dimensionless quantities that characterise the response of a material to electric and magnetic fields. Often, the relative permittivity and permeability of a given material are approximated by constants; in reality, they are themselves functions of the fields that are present, and functions also of the frequency of oscillations of the external fields. Electromagnetism 7 Lecture 1: Fields and Potentials Vector Operators Maxwell’s equations are written in differential form using the operators div (divergence): ∂F x ∂F y ∂F z F~ + + , (11) ∇ · ≡ ∂x ∂y ∂z and curl: xˆ yˆ zˆ ∂F z ∂F y ∂F x ∂F z ∂F y ∂F x ∂ ∂ ∂ F~ , , . ∂x ∂y ∂z ∇ × ≡ ∂y − ∂z ∂z − ∂x ∂x − ∂y ! ≡ Fx Fy Fz (12) We will also encounter the grad (gradient) operator: ∂φ ∂φ ∂φ φ , , , (13) ∇ ≡ ∂x ∂y ∂z ! and the Laplacian: ∂2φ ∂2φ ∂2φ 2φ + + . (14) ∇ ≡ ∂x 2 ∂y 2 ∂z 2 Electromagnetism 8 Lecture 1: Fields and Potentials Integral Theorems We wrote down Maxwell’s equations as a set of differential equations; however, the physical interpretation becomes clearer if the equations are converted to integral form. This may be achieved using two useful integral theorems. First, we consider Gauss’ theorem: F~ dV F~ dS,~ (15) ZV ∇ · ≡ I∂V · where ∂V is a closed surface enclosing volume V . Electromagnetism 9 Lecture 1: Fields and Potentials Gauss’ Theorem Let us apply Gauss’ theorem to Maxwell’s equation: D~ = ρ, (16) ∇ · to give: D~ dS~ = ρ dV. (17) I∂V · ZV This is the integral form of Maxwell’s equation (1). From this form, we can find a physical interpretation of Maxwell’s equation (1). The integral form of the equation tells us that the electric displacement integrated over any closed surface equals the electric charge contained within that surface. Electromagnetism 10 Lecture 1: Fields and Potentials Gauss’ Theorem and Coulomb’s Law In particular, if we consider a sphere of radius r bounding a spherically symmetric charge q at its centre, then performing the integrals gives: 4πr 2 D~ = q, (18) ~ ~ which, using D = εrε0E becomes Coulomb’s law: q ~ = ˆ (19) E 2 r. 4πε rε0r Electromagnetism 11 Lecture 1: Fields and Potentials Gauss’ Theorem Similarly, we can find an integral form of Maxwell’s equation (2): B~ dS~ = 0 . I∂V · In this case, we see that the total magnetic flux crossing any closed surface is zero. In other words, lines of magnetic flux only occur in closed loops. Put yet another way, there are no magnetic monopoles. Electromagnetism 12 Lecture 1: Fields and Potentials Stokes’ Theorem Next, we consider Stokes’ theorem: F~ dS~ F~ d~`, (20) ZS ∇ × · ≡ I∂S · where ∂S is a closed loop bounding a surface S. This tells us that the integral of the curl of a vector field over a surface is equal to the integral of that vector field around a loop bounding that surface. Electromagnetism 13 Lecture 1: Fields and Potentials Stokes’ Theorem If we apply Stokes’ theorem to Maxwell’s equation (3): ∂B~ E~ = , ∇ × − ∂t we obtain Faraday’s law of electromagnetic induction: ∂ E~ d~` = B~ dS.~ (21) I∂S · −∂t ZS · This is the integral form of Maxwell’s equation (3). It is often written as: ∂Φ = , (22) E − ∂t where is the electromotive force around a loop, and Φ the E total magnetic flux passing through that loop. Electromagnetism 14 Lecture 1: Fields and Potentials Stokes’ Theorem Finally, we can apply Stokes’ theorem to Maxwell’s equation (4): ∂D~ H~ = J~ + , ∇ × ∂t to find the integral form: ∂ H~ d~` = I + D~ dS,~ (23) I∂S · ∂t ZS · where I is the total electric current flowing through the closed loop ∂S . Electromagnetism 15 Lecture 1: Fields and Potentials Stokes’ Theorem and Amp`ere’s Law Note that there are two terms on the right hand side of (23). The first term, I, is simply a flow of electric current; in this context, it is sometimes called the conduction current . In the case of a uniform current flow along a long straight wire, the conduction current term leads to Amp`ere’s law: I H~ = θ.ˆ (24) 2πr Electromagnetism 16 Lecture 1: Fields and Potentials Displacement Current The second term on the right hand side of the integral form of Maxwell’s equation (23) is sometimes called the displacement current , ID: ∂ ~ ~ ID = D dS. (25) ∂t ZS · The need for this term can be understood by considering the current flow into a parallel-plate capacitor. We must find the same magnetic field around the wire using Stokes’ theorem, whether we integrate over a surface cutting through the wire, or over a “deformed” surface passing between the plates... Electromagnetism 17 Lecture 1: Fields and Potentials Displacement Current Using Maxwell’s equation (1): D~ = ρ, (26) ∇ · and applying Gauss’ theorem over a volume enclosing the surface of one plate of the capacitor, we find: D~ dV = D~ dS~ = q, (27) ZV ∇ · ZS · where q is the charge on one plate. The conduction current is: dq ∂ ~ ~ I = = D dS = ID. (28) dt ∂t ZS · In this case, we see that the displacement current between the plates is equal to the conduction current carrying charge onto the plates. Hence, we arrive at the same magnetic field, no matter which surface we choose. Electromagnetism 18 Lecture 1: Fields and Potentials Displacement Current and Conservation of Charge The displacement current term in Maxwell’s equation (4) has an important physical consequence. If we take the divergence of this equation, we obtain: ∂ H~ = J~ + D.~ (29) ∇ · ∇ × ∇ · ∂t ∇ · Now, if we use the vector identity: F~ 0, (30) ∇ · ∇ × ≡ and Maxwell’s equation (1), we find: ∂ρ J~ + = 0 . (31) ∇ · ∂t This is the continuity equation , which expresses local conservation of electric charge. Electromagnetism 19 Lecture 1: Fields and Potentials Displacement Current and Conservation of Charge The physical interpretation of the continuity equation becomes clearer if we use Gauss’ theorem, to put it into integral form: ∂ J~ dS~ = ρ dV. (32) Z∂V · −∂t ZV We see that the rate of decrease of electric charge in a region V is equal to the total current flowing out of the region through its boundary, ∂V . Since current is the rate of flow of electric charge, the continuity equation expresses the local conservation of electric charge. Electromagnetism 20 Lecture 1: Fields and Potentials Example 1: The Betatron Donald Kirst with the world’s first induction accelerator, at the University of Illinois, 1940. A betatron uses a time-dependent magnetic field passing through a toroidal vacuum chamber to accelerate a beam. By Maxwell’s equation (3): ∂B~ E~ = , ∇ × − ∂t the varying magnetic field induces an electromotive force around the vacuum chamber, which accelerates the particle.