悬链线问题-1

物理问题

悬链线是一条平面曲线，其形状对应于悬挂的均匀柔性链，其末端支撑并在重力作用下下垂。如图$1$所示，假设一条质量分布均匀、长度为$L$的链，在仅受重力作用的情况下悬挂在点$I$,$J$上（可能处于不同的高度）。这条链有杨氏模量$E$、截面积$A$、线膨胀系数$E_T$。

理论推导

考虑长度链中一小部分元素$\Delta s$的平衡作用在链条截面上的力是重力的分布力。
$$\begin{array}{r}\Delta P=\rho gA\Delta s=w\Delta s.\end{array}$$

其中，$\rho $是材料密度，$g$是重力加速度，$A$是横截面积。

在点$x$和$x+\Delta x$的拉力分别为$T(x)$和$T(x+\Delta x)$。

将受力平衡条件在$Ox$和$Oy$上进行投影，可得：

$$\begin{array}{r}-T\left(x\right)\cos \alpha \left(x\right)+T\left(x+\Delta x\right)\cos \alpha \left(x+\Delta x\right)=0,\end{array}$$
$$\begin{array}{r}-T\left(x\right)\sin \alpha \left(x\right)+T\left(x+\Delta x\right)\sin \alpha \left(x+\Delta x\right)-\Delta P=0.\end{array}$$

从方程$(2)$可以看出，拉力的水平分量$T(x)\cos \alpha (x)$始终是一个常量：

$$\begin{array}{r}T\left(x\right)\cos \alpha \left(x\right)=T_0=\text{const}.\end{array}$$

将方程$(3)$改写成微分形式：

$$\begin{array}{r}\mathrm{d}\left(T\left(x\right)\sin \alpha \left(x\right)\right)=\mathrm{d}P\left(x\right).\end{array}$$

根据方程$(4)$可以将$T(x)$写为$T(x)=\frac{T_0}{\cos \alpha (x)}$，因此有：

$$\begin{array}{r}\mathrm{d}\left(T_0\tan \alpha \left(x\right)\right)=\mathrm{d}P\left(x\right),\Rightarrow T_0\mathrm{d}\left(\tan \alpha \left(x\right)\right)=\mathrm{d}P\left(x\right).\end{array}$$

考虑到$\tan \alpha \left(x\right)=\frac{\mathrm{d}y}{\mathrm{d}x}=y^{\prime }$，所以平衡方程可以用微分形式写成:

$$\begin{array}{r}{T}_0\mathrm{d}\left(y^{\prime }\right)=\mathrm{d}P\left(x\right),\Rightarrow T_0\mathrm{d}\left(y^{\prime }\right)=\rho gA\mathrm{d}s=w\mathrm{d}s.\end{array}$$

悬链的长度$\Delta s$由公式$(8)$表示：

$$\begin{array}{r}\mathrm{d}s=\sqrt{1+{\left(y^{\prime }\right)}^2}\mathrm{d}x.\end{array}$$

根据$(7),(8)$，我们得到了悬链线的微分方程：

$$\begin{array}{r}{T}_0\frac{\mathrm{d}{y}^{\prime }}{\mathrm{d}x}=\rho gA\sqrt{1+{(y^{\prime })}^2},\Rightarrow T_0{y}^{\prime \prime }=\rho gA\sqrt{1+{(y^{\prime })}^2}=w\sqrt{1+{(y^{\prime })}^2}.\end{array}$$

设$y^{\prime }=z$，则可将方程降阶为一阶方程：

$$\begin{array}{r}{T}_0{z}^{\prime }=\rho gA\sqrt{1+{(z)}^2}=w\sqrt{1+{(z)}^2}.\end{array}$$

此方程可以通过分离变量的方式来求解：

$$\begin{array}{rl}& T_0\mathrm{d}z=\rho gA\sqrt{1+z^2}\mathrm{d}x,\\ \Rightarrow & \frac{\mathrm{d}z}{\sqrt{1+z^2}}=\frac{\rho gA}{T_0}\mathrm{d}x=\frac{w}{T_0}\mathrm{d}x,\\ \Rightarrow & \int \frac{\mathrm{d}z}{\sqrt{1+z^2}}=\frac{\rho gA}{T_0}\int \mathrm{d}x=\frac{w}{T_0}\int \mathrm{d}x,\\ \Rightarrow & \ln \left(z+\sqrt{1+z^2}\right)=\frac{x}{a}+C_1.\end{array}$$

其中$\frac{1}{a}=\frac{\rho gA}{T_0}=\frac{w}{T_0}$。

$$\begin{array}{rl}& z+\sqrt{1+z^2}=e^{\frac{x}{a}+C_1},\\ \Rightarrow & (z+\sqrt{1+z^2})(z-\sqrt{1+z^2})=(z-\sqrt{1+z^2})e^{\frac{x}{a}+C_1},\\ \Rightarrow & z^2-(1+z^2)=(z-\sqrt{1+z^2})e^{\frac{x}{a}+C_1},\\ \Rightarrow & -1=(z-\sqrt{1+z^2})e^{\frac{x}{a}+C_1},\\ \Rightarrow & z-\sqrt{1+z^2}=-e^{-(\frac{x}{a}+C_1)}.\end{array}$$

$(15)+(19)$得：

$$\begin{array}{rl}& z+\sqrt{1+z^2}+z-\sqrt{1+z^2}=e^{(\frac{x}{a}+C_1)}-e^{-(\frac{x}{a}+C_1)},\\ \Rightarrow & z=\frac{e^{(\frac{x}{a}+C_1)}-e^{-(\frac{x}{a}+C_1)}}{2}=\sinh \left(\frac{x}{a}+C_1\right),\\ \Rightarrow & y^{\prime }=\sinh \left(\frac{x}{a}+C_1\right).\end{array}$$

对$(22)$再次积分给出了悬链线形状的最终表达式：

$$\begin{array}{r}y=a\cosh \left(\frac{x}{a}+C_1\right)+C_2.\end{array}$$

根据边界条件：

$$\begin{array}{rl}& y^{\prime }{|}_{x=0}=\frac{F_2}{F_1},\\ & y{|}_{x=0}=0,\\ & T_0=-F_1.\end{array}$$

将$(24),(26)$带入$(22)$中：

$$\begin{array}{rl}& \sinh (C_1)=\frac{F_2}{F_1},\\ \Rightarrow & C_1=\mathrm{arcsinh}\frac{F_2}{F_1},\\ \Rightarrow & C_1=\ln \left|\frac{F_2}{F_1}+\sqrt{{\left(\frac{F_2}{F_1}\right)}^2+1}\right|,\\ \Rightarrow & C_1=\ln \left|\frac{F_2}{F_1}+\sqrt{\frac{F_2^2+F_1^2}{F_1^2}}\right|,\\ \Rightarrow & C_1=\ln \left|\frac{F_2+\sqrt{F_2^2+F_1^2}}{F_1}\right|.\end{array}$$

因为$T_1^2=F_1^2+F_2^2$，对图1所示的模型进行分析，可得$F_1$恒为负值，$F_2,T_1$恒为正值。所以解得$C_1$：

$$\begin{array}{r}{C}_1=\ln \left(\frac{F_2+T_1}{-F_1}\right).\end{array}$$

将$(25),(26),(32),\frac{1}{a}=\frac{w}{-F_1}$带入$(23)$中，解得$C_2$：

$$\begin{array}{rl}& \frac{-F_1}{w}\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)+C_2=0,\\ \Rightarrow & C_2=\frac{F_1}{w}\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right).\\ & \text{Because}\cosh x=\frac{e^x+e^{-x}}{2},\\ \Rightarrow & C_2=\frac{F_1}{w}\left(\frac{e^{\ln \left(\frac{F_2+T_1}{-F_1}\right)}+e^{-\ln \left(\frac{F_2+T_1}{-F_1}\right)}}{2}\right),\\ \Rightarrow & C_2=\frac{F_1}{2w}\left(\frac{F_2+T_1}{-F_1}+\frac{-F_1}{F_2+T_1}\right),\\ \Rightarrow & C_2=\frac{F_1}{2w}\times \frac{{\left(F_2+T_1\right)}^2+F_1^2}{-F_1\left(F_2+T_1\right)},\\ \Rightarrow & C_2=\frac{F_1}{2w}\times \frac{F_2^2+2F_2{T}_1+T_1^2+F_1^2}{-F_1\left(F_2+T_1\right)},\\ \Rightarrow & C_2=\frac{F_1}{2w}\times \frac{2T_1\left(F_2+T_1\right)}{-F_1\left(F_2+T_1\right)},\\ \Rightarrow & C_2=-\frac{T_1}{w}.\end{array}$$

将$(32),(41)$代回到方程$(23)$中，即可得到：

$$\begin{array}{rl}y=& -\frac{F_1}{w}\left(\cosh \left(\frac{w}{-F_1}x+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\right),\\ =& -\frac{F_1}{w}\cosh \left(\frac{w}{-F_1}x+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\frac{T_1}{w}.\end{array}$$

已知$L,V,H$，则$V$有如下关系式：

$$\begin{array}{r}V=-\frac{F_1}{w}\left(\cosh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\right).\end{array}$$

$L$是通过对$(42)$进行曲线积分得到的：

$$\begin{array}{rl}L& ={\int }_0^H\sqrt{1+{y^{\prime }}^2}\mathrm{d}x,\\ & ={\int }_0^H\sqrt{1+{\sinh }^2\left(\frac{w}{-F_1}x+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)}\mathrm{d}x,\\ & ={\int }_0^H\cosh \left(\frac{w}{-F_1}x+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\mathrm{d}x,\\ L& =-\frac{F_1}{w}\left(\sinh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\sinh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\right).\end{array}$$

$L,V,H$三者的关系有：

$$\begin{array}{r}{V}^2-L^2={\left(-\frac{F_1}{w}\right)}^2({\left(\cosh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\right)}^2\\ -{\left(\sinh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-\sinh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\right)}^2).\end{array}$$

利用双曲三角函数的变换，即有公式$(49),(50),(51)$：

$$\begin{array}{rl}& {\cosh }^2\left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-{\sinh }^2\left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)=1,\\ & {\cosh }^2\left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)-{\sinh }^2\left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)=1,\\ & \cosh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\cosh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\\ & -\sinh \left(\frac{w}{-F_1}H+\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\sinh \left(\ln \left(\frac{F_2+T_1}{-F_1}\right)\right)\\ & =\cosh \left(\frac{w}{-F_1}H\right).\end{array}$$

$(48)$即可变为：

$$\begin{array}{rl}& {\left(-\frac{w}{F_1}\right)}^2(V^2-L^2)=2-2\cosh \left(\frac{w}{-F_1}H\right).\end{array}$$

利用二倍角公式有：

$$\begin{array}{rl}& {\left(-\frac{w}{F_1}\right)}^2(V^2-L^2)=-4{\sinh }^2\left(\frac{w}{-2F_1}H\right).\end{array}$$

令$\lambda =-\frac{wH}{2F_1}$，则有

$$\begin{array}{rl}& {\left(\frac{\lambda }{H}\right)}^2(V^2-L^2)=-{\sinh }^2\left(\lambda \right),\\ & L^2=V^2+H^2\frac{{\sinh }^2\left(\lambda \right)}{{\lambda }^2}.\end{array}$$

由于已知量为$L,V,H$，因此为了求解$F_2$，可以将$F_2$写为$L,V,H$的函数，并观察到$L,V$即公式$(43),(47)$的相关性，有：

$$\begin{array}{rl}\text{First},& \\ V=& -\frac{F_1}{w}\left(\cosh \left(2\lambda +C_1\right)-\cosh \left(C_1\right)\right),\\ L=& -\frac{F_1}{w}\left(\sinh \left(2\lambda +C_1\right)-\sinh \left(C_1\right)\right).\\ \text{So that},& \\ V\cosh \left(\lambda \right)-L\sinh \left(\lambda \right)=& -\frac{F_1}{w}\left(\cosh \left(2\lambda +C_1\right)\cosh \left(\lambda \right)-\cosh \left(C_1\right)\cosh \left(\lambda \right)\right)\\ & +\frac{F_1}{w}\left(\sinh \left(2\lambda +C_1\right)\sinh \left(\lambda \right)-\sinh \left(C_1\right)\sinh \left(\lambda \right)\right),\\ =& -\frac{F_1}{w}\left(\cosh \left(C_1+\lambda \right)-\cosh \left(C_1-\lambda \right)\right),\\ =& -\frac{2F_1}{w}\sinh C_1\sinh \lambda ,\\ \text{Second},& \\ \sinh C_1=& \frac{F_2}{F_1}.\\ \text{So that},& \\ V\cosh \left(\lambda \right)-L\sinh \left(\lambda \right)=-& \frac{2F_2}{w}\sinh \lambda ,\\ F_2=& \frac{w}{2}\left(-V\frac{\cosh \left(\lambda \right)}{\sinh \left(\lambda \right)}+L\right).\end{array}$$

接下来，将细致分析其几何关系。

由微元体的几何协调条件和平衡条件，可得：

$$\begin{array}{rl}& {\left(\frac{\mathrm{d}H}{\mathrm{d}{s}^{\prime }}\right)}^2+{\left(\frac{\mathrm{d}V}{\mathrm{d}{s}^{\prime }}\right)}^2=1,\\ & T(s)\frac{\mathrm{d}H}{\mathrm{d}{s}^{\prime }}=F_3=-F_1,\\ & T(s)\frac{\mathrm{d}V}{\mathrm{d}{s}^{\prime }}=F_4=-F_2+ws,\\ & T(s)=EA(\frac{\mathrm{d}{s}^{\prime }}{\mathrm{d}s}-1).\end{array}$$

联立$(64)\sim (66)$，可得：

$$\begin{array}{r}T(s)=\sqrt{F_1^2+{\left(F_2-ws\right)}^2}.\end{array}$$

对$(67)$进行整理，可得：

$$\begin{array}{r}\mathrm{d}{s}^{\prime }=\left(\frac{T(s)}{EA}+1\right)\mathrm{d}s.\end{array}$$

将$(69)$代入，$(65)$中，有：

$$\begin{array}{rl}& T(s)\mathrm{d}H=-F_1\left(\frac{T(s)}{EA}+1\right)\mathrm{d}s,\\ & \mathrm{d}H=-F_1\left(\frac{1}{EA}+\frac{1}{T(s)}\right)\mathrm{d}s,\\ & {\int }_0^H\mathrm{d}H=-F_1{\int }_0^{L_{uo}}\left(\frac{1}{EA}+\frac{1}{\sqrt{F_1^2+{\left(F_2-ws\right)}^2}}\right)\mathrm{d}s,\\ & H=\left[-F_1\left(\frac{1}{EA}s+\frac{1}{w}\left(\ln \left(ws-F_2+\sqrt{F_1^2+{\left(F_2-ws\right)}^2}\right)-\ln F_1\right)\right)\right]{|}_0^{L_{uo}},\\ & H=-F_1\left(\frac{L_{uo}}{EA}+\frac{1}{w}\ln \left(\frac{F_4+T_J}{T_I-F_2}\right)\right).\end{array}$$

将$(69)$代入，$(66)$中，有：

$$\begin{array}{rl}& T(s)\mathrm{d}V=\left(-F_2+ws\right)\left(\frac{T(s)}{EA}+1\right)\mathrm{d}s,\\ & \mathrm{d}V=\left(-F_2+ws\right)\left(\frac{1}{EA}+\frac{1}{T(s)}\right)\mathrm{d}s,\\ & \mathrm{d}V=\left(-\frac{F_2}{EA}+\frac{ws}{EA}-\frac{F_2}{T(s)}+\frac{ws}{T(s)}\right)\mathrm{d}s,\\ & {\int }_0^V\mathrm{d}V={\int }_0^{L_{uo}}\left(-\frac{F_2}{EA}+\frac{ws}{EA}-\frac{F_2}{T(s)}+\frac{ws}{T(s)}\right)\mathrm{d}s,\\ & V=\left[\frac{w{s}^2}{2EA}-\frac{F_{2}s}{EA}\right]{|}_0^{L_{uo}}-\left[F_2{\int }_0^{L_{uo}}\frac{1}{T(s)}\mathrm{d}s-\frac{wT(s)}{w^2}-\frac{2F_2{w}^2}{2w^2}{\int }_0^{L_{uo}}\frac{1}{T(s)}\mathrm{d}s\right]{|}_0^{L_{uo}},\\ & V=\left[\frac{w^2{s}^2-w{F}_{2}s+F_2^2-F_2^2}{2EAw}\right]{|}_0^{L_{uo}}-\left[-\frac{T(s)}{w}\right]{|}_0^{L_{uo}},\\ & V=\left[\frac{(ws-T_2{)}^2-F_2^2}{2EAw}\right]{|}_0^{L_{uo}}+\left[\frac{T(s)}{w}\right]{|}_0^{L_{uo}},\\ & V=\frac{1}{2EAw}\left(F_4^2-F_2^2\right)+\frac{T_J-T_I}{w}.\end{array}$$

对$(69)$进行积分。

$$\begin{array}{rl}& {\int }_0^L\mathrm{d}{s}^{\prime }={\int }_0^{L_{uo}}\left(\frac{\sqrt{F_1^2+{\left(F_2-ws\right)}^2}}{EA}+1\right)\mathrm{d}s,\\ & L=L_{uo}+\frac{1}{EA}{\int }_0^{L_{uo}}\sqrt{F_1^2+{\left(F_2-ws\right)}^2}\mathrm{d}s,\\ & L=L_{uo}+\frac{1}{EA}\left[\frac{1}{2w}\left(ws-F_2\right)T(s)+\frac{F_1^2}{2w}\ln \left(ws-F_2+T(s)\right)\right]{|}_0^{L_{uo}},\\ & L=L_{uo}+\frac{1}{2EAw}\left(F_4{T}_J+F_2{T}_I+F_1^2\ln \left(\frac{F_4+T_J}{T_I-F_2}\right)\right).\end{array}$$

对以上理论推导进行总结，有如下公式：

$$\begin{array}{rl}& L^2=V^2+H^2\frac{{\sinh }^2\left(\lambda \right)}{{\lambda }^2},\\ & \lambda =-\frac{wH}{2F_1},\\ & F_2=\frac{w}{2}\left(-V\frac{\cosh \left(\lambda \right)}{\sinh \left(\lambda \right)}+L\right).\\ & H=-F_1\left(\frac{L_{uo}}{EA}+\frac{1}{w}\ln \left(\frac{F_4+T_J}{T_I-F_2}\right)\right),\\ & V=\frac{1}{2EAw}\left(F_4^2-F_2^2\right)+\frac{T_J-T_I}{w},\\ & L=L_{uo}+\frac{1}{2EAw}\left(F_4{T}_J+F_2{T}_I+F_1^2\ln \left(\frac{F_4+T_J}{T_I-F_2}\right)\right).\end{array}$$