488

Basic Equations and Constitutive Equations of

Micropolar Magnetic Fluids with E-B Analogy and
the Abraham Expression of Electromagnetic Momentum

Yasushi IDO

A complete set of basic equations for magnetic uids with internal rotation is proposed
in this paper. The basic equations are derived from the conservation laws of mass, linear
momentum, angular momentum and energy, while the constitutive equations are obtained by
the thermodynamical method that is based on the free energy and the dissipation function.
The concrete expression of constitutive equations are determined by the principle of material
frame indierence and the principle of maximal dissipation rate. The Abraham expression
of the electromagnetic momentum and E-B analogy are adopted in this theory. It is shown
that the dierence in the basic equations in case of adopting the Abraham expression and
the Minkowski expression, respectively. The constitutive equation of magnetization which
includes the Shliomis relaxation equation (1972) is proposed.
Key Words: Magnetic Fluid, Constitutive Equation, Magnetohydrodynamics, Fluid Dy-
namics, Multiphase Flow, Micropolar Fluid, Basic Equation, Abraham Elec-
tromagnetic Momentum
1. Introduction
Continuum theory of magnetic uids has an im-
portant role in basic analyses of fundamental re-
searches and engineering applications. There have
been several researches of basic equations of mag-
netic uids without internal rotation, for instance, pre-
sented by Neuringer-Rosensweig
(1)
, Tarapov
(2)
, Shizawa-
Tanahashi
(3)
and the authors
(4)
. In case of consid-
ering internal rotation, Shliomis
(5), (6)
, Berkovsky, et
al.
(7)
, Jansons
(8)
, Tanahashi, et al.
(9)
, Kroh-Felderhof
(10)
,
Shizawa-Tanahashi
(11), (12)
, the authors
(13) (16)
, Liu
(17)
,
Felderhof-Kroh
(18)
, Felderhof
(19)
, M uller-Engel
(20)
and
M uller-Liu
(21)
reported the theoretical discussion on the
basic equations of magnetic uids. Tanahashi-Okanaga
(22)
and the authors
(23), (24)
reported the micropolar theory for
electrically conducting uids in which magnetic uids
were included. Although above-mentioned theories have
been proposed, the equation system for magnetic uids
is not yet established, especially, there have been sev-
eral problems in the constitutive equation of magnetiza-

Received 24th January, 2005 (No. 05-4004)

Quality Innovation Techno-Center, Nagoya Institute of

Technology, Gokiso-cho, Showa-ku, Nagoya 4668555,
Japan
tion. It is because that the magnetic uid behavior de-
pends on the complex interaction between ow eld and
electromagnetic eld. The relaxation equation of magne-
tization proposed by Shliomis
(5)
has been often used in
analyses of magnetic uid ow, however, this relaxation
equation were derived phenomenologically without strict
thermodynamical discussion, being applicable only when
the magnetic eld is steady and uniform. When the vol-
ume concentration of suspended ferromagnetic particles
tends to 1 under the assumption that electromagnetic
eld is steady and uniform, the equation of magnetization
should reduce to the relaxation equation for solid ferro-
magnetic materials. However, the constitutive equations
of magnetization proposed by Shizawa-Tanahashi
(12)
and
the authors
(14)
leads to MM
0
as 1, where M is the
magnetization and M
0
is the equilibrium magnetization.
On the other hand, there has been uncertainty concerning
whether the Abraham expression of electromagnetic mo-
mentum EH/c
2
(where E is the electric eld intensity
vector, H is the magnetic eld intensity vector and c is the
speed of light) or the Minkowski expression DB (where
D is the electric ux density vector and B is the mag-
netic ux density vector) is appropriate. Many physicists
insist that the Abraham expression is correct
(25)
and the
electromagnetic momentum of the Minkowski expression
is pseudo-conservative quantity only in the uniform mate-
Series B, Vol. 48, No. 3, 2005 JSME International Journal
489
rial. However, it has not been cleared which expression is
correct in the material control volume of magnetic uids.
In our previous papers
(4), (13) (15)
and Shizawa-Tanahashis
theory
(3), (11), (12)
, D-H analogy and the Minkowski expres-
sion of electromagnetic momentum were adopted, thus, it
is important to show the dierence in the basic equations
in cases of the Abraham expression and the Minkowski
expression, respectively.
In this paper, we obtain the system of basic equa-
tions and constitutive equations for non-conducting mag-
netic uids by the thermodynamical method based on the
free energy and the dissipation function
(4)
. We treat the
magnetic uids as micropolar uids to take into account
of internal rotation of suspended ferromagnetic particles.
The electric polarization of the magnetic uids is also ne-
glected. We adopt the Abraham expression of electro-
magnetic momentum and E-B analogy and compare the
concrete expressions of basic equations with those with
the Minkowski expression and D-H analogy. The elec-
tric eld intensity vector and the magnetic ux density
vector are treated as independent variables of electromag-
netic eld. Equations of electromagnetic eld are derived
from integral form of the Maxwell equations applying to
the material control volume. Balance equations are ob-
tained directly form the integral form of the conservation
laws. Constitutive equations are divided into two parts:
quasi-conservative part and dissipative part. The quasi-
conservative part is determined by the principle of mate-
rial frame indierence and the Gibbs equation expressed
by using the free energy, while the dissipative part is de-
rived by the principle of material frame indierence and
the principle of maximal dissipation rate
(26)
.
2. Equations of Electromagnetic Field
In this section, we introduce equations of electromag-
netic eld. The integral form of the Maxwell electromag-
netic equations in the material control volume is given by
_
C
m
E

dx=
d
dt
_
S
m
n B

da (1)
_
C
m
_
B

0
M

_
dx=
d
dt
_
S
m
n
0
E

da (2)
_
S
m
n B

da=0 (3)
_
S
m
n E

da=0 (4)
where M is the magnetization,
0
is the dielectric constant
in vacuum and the symbols with asterisk denote electro-
magnetic quantities with respect to the moving coordi-
nate system with velocity u against the stationary coordi-
nate system. Applying Reynolds transport theorem and
Stokes theorem to Eqs. (1) and (2), we obtain
E

=
DB

Dt
, (5)

_
B

0
M

_
=
0
DE

Dt
, (6)
where D/Dt is the substantial derivative for the transport
of ux which is dened by
DA
Dt
=
A
t
+( Au) +( A)u. (7)
Using Gauss theorem, Eqs. (3) and (4) can be rewritten as
B

=0, (8)
E

=0. (9)
Since the velocity of uid is generally much smaller than
that of light v/c 1, relations between electromagnetic
quantities in the stationary coordinate system and those in
the moving system are given by the following form.
E

=E+uB, (10)
B

=B, (11)
M

= M, (12)
H

=Hu
0
E. (13)
From Eqs. (5), (6), (8), (9), and (10) (13), the Maxwell
electromagnetic eld equations in the stationary coordi-
nate system are expressed by
E=
B
t
, (14)

_
B

0
M
_
=
0
E
t
, (15)
B=0, (16)
E=0. (17)
When we assume that the electric eld can be neglected
and the magnetic eld is quasi-stationary, the Maxwell
equations of electromagnetic eld can be written as
B=
0
M, (18)
B=0. (16)
3. Balance Equations
In this section, balance equations for micropolar mag-
netic uids are obtained directly from the conservation
laws of mass, linear momentum, angular momentum and
energy.
3. 1 Conservation law of mass
When we set up the material control surface in a de-
forming continuum, the conservation law of mass is ap-
plied to the material control volume and it can be de-
scribed as follows:
d
dt
_
V
m
dv =0. (19)
Applying Reynolds transport theorem to Eq. (19), the
well-known equation of continuity

t
+ (u) =0, (20)
or
JSME International Journal Series B, Vol. 48, No. 3, 2005
490
1

d
dt
=I : u, (21)
is obtained, where is the density of magnetic uids, u is
the velocity vector of uids.
3. 2 Conservation law of linear momentum
A change of linear momentum in a system with re-
spect to time is equal to the sumof surface forces and body
forces. Thus the balance equation of linear momentum is
written in the form
d
dt
_
V
m
(u+g

)dv =
_
S
m
tda+
_
V
m
f dv, (22)
where g

is the electromagnetic momentum, t is the stress

vector and f is the body force per unit mass. Substituting
Cauchys fundamental theorem
t =n T

, (23)
into Eq. (22) and applying Reynolds transport theorem
and Gauss theorem to this equation, the following equa-
tion, which corresponds to the Cauchy equation of motion,
is obtained.

du
dt
+
g

t
= T+f , (24)
where T and T

are the stress tensors:

T=T

ug

. (25)
3. 3 Conservation law of angular momentum
The kinematical law for angular momentum states
that a change of angular momentum in a system with re-
spect to time is equal to the sumof moments due to surface
forces and body forces. Hence the balance equation of an-
gular momentum is expressed as follows:
d
dt
_
V
m
[x(u+g

) +S]dv
=
_
S
m
(xt +)da+
_
V
m
(xf +l)dv, (26)
where is the couple stress vector, l is the volume couple
force per unit mass, S is the internal angular momentum
vector. Applying Reynolds transport theorem and Gauss
theorem to Eq. (26) and substituting Cauchys fundamen-
tal theorem
=n , (27)
into Eq. (26), the following equation is derived.

dS
dt
= + : T+l, (28)
where is the couple stress tensor and is the third rank
tensor corresponding to the Levi-Civita symbol.
3. 4 Conservation law of energy
A change of total energy in a system with respect to
time is equal to the sum of work done by forces and energy
supplied to a system. This conservation law of energy is
expressed by
d
dt
_
V
m
_
u
(e)
+
1
2
u
2
+
1
2
S
_
dv
=
_
S
m
(t u+ )da+
_
V
m
(b u+l )dv

_
S
m
n s

da
_
S
m
n qda+
_
V
m
rdv, (29)
where u
(e)
is the internal energy under electromagnetic
eld, is the averaged angular velocity of suspended fer-
romagnetic particles, s

is the Poynting vector dened by

s

= E

, q is the heat ux density vector, r is the in-

tensity of heat source per unit mass. The stress tensor T
can be expressed by the form
T=p
(e)
I +T
(v)
+
0
EE+BH+u(
0
EBg

),
(30)
where p
(e)
is the pressure under electromagnetic eld, T
(v)
is the viscous part of the stress tensor. Substituting this
equation into Eq. (29) and applying Reynolds transport
theorem and Gauss theorem, the following equation is de-
rived.

du
dt
=p
d
dt
_
1

_
+T
(v)
: (u )
+: M
J
Jt
_
B

_
q+r, (31)
where p is the pressure dened by
p= p
(e)
u
em
, (32)
and u is the internal energy dened by
u=u
(e)
u
em
/. (33)
u
em
is the linear electromagnetic energy expressed by the
following equation.
u
em
=
0
E
2
/2+B
2
/2
0
. (34)
The notation J/Jt is the corotational derivative dened by
J
Jt
=

t
+u . (35)
4. Thermodynamics
4. 1 First law of thermodynamics
From the rst law of thermodynamics for micropolar
magnetic uids, the following equation
T
ds
(e)
dt
=
_
q
T
_
+r, (36)
is obtained
(14)
, where s
(e)
is the entropy under electromag-
netic eld, T is the absolute temperature and is the dis-
sipation function given by
=T
(v)
: (u )+: M
(d)

J
Jt
_
B

q
T
T,
(37)
where M
(d)
is the dissipative part of magnetization. From
Eqs. (31), (36) and (37), we obtained the following ther-
modynamical relation.
Series B, Vol. 48, No. 3, 2005 JSME International Journal
491
du=Tds
(e)
pd
_
1

_
M
(q)
d
_
B

_
, (38)
where M
(q)
= M M
(d)
is the quasi-conservative part of
magnetization. Using the Helmholtz free energy dened
by
=uTs
(e)
, (39)
we obtain the Gibbs equation from Eq. (38) as follows:
d=s
(e)
dT (p+M
(q)
B)d
_
1

M
(q)

dB. (40)
From this equation, we derive these thermodynamical re-
lations.
s
(e)
=
_

T
_
1/,B
, (41)
p=
_

(1/)
_
T,B
M
(q)
B, (42)
M
(q)
=
_

B
_
T,1/
. (43)
4. 2 Second law of thermodynamics
When we apply the second law of thermodynamics to
a micropolar magnetic uids, it can be written in the form
d
dt
_
V
m
s
(e)
dv
_

_
S
m
n
q
T
da+
_
V
m
r
T
dv
_
0,
(44)
where q/T is regarded as local entropy ux. Apply-
ing Reynolds transport theorem and Gauss theorem to
Eq. (44), the following inequality, which corresponds to
the Clausius-Duhem inequality, is obtained.
T
ds
(e)
dt
+T
_
q
T
_
r =0. (45)
5. Constitutive Equations
In this section, we determine the constitutive equa-
tions for micropolar magnetic uids. The outline of de-
termination of the constitutive equations are as follows.
The Helmholtz free energy and the dissipation function are
constitutive quantities, thus, these quantities must satisfy
the principle of material frame indierence. This principle
states that the scalars, vectors and tensors which represent
the properties of materials must be independent of coor-
dinate systems. Hence, the free energy and the dissipa-
tion function can be written as polynomials of integrity
bases consisting of their variables. The integrity bases
are determined by the Chakrabarti-Wainwright theory
(27)
.
When the concrete expressions of and are derived,
quasi-conservative parts of the constitutive equations are
obtained from the thermodynamical relations (41) (43),
while the dissipative parts of them are determined by the
principle of maximal dissipation rate
(26)
. In this paper, a
compound process is assumed. From Eq. (40), the free en-
ergy, =(1/, T, B), is expressed by the integrity bases
composed of its variables, thus,
=
0
(1/, T) +
1
B B. (46)
Substituting Eq. (46) into Eq. (43) and assuming that the
quasi-conservative part of magnetization is propotional to
the magnetic eld, the quasi-conservative part of magneti-
zation can be written as
M
(q)
=

0
(1+
m
)
B, (47)
where
m
is the coecient corresponding to the magnetic
susceptibility which depends on the temperature, the den-
sity and the magnetic eld.
On the other hand, the dissipation function can be
expressed by the polynomial consisting of integrity bases
composed of , , (J/Jt)(B/) and T, where
=u =d+ (). (48)
d is the rate of deformation tensor dened by
d =[u+(u)
t
]/2, (49)
where superscript t means the transposed tensor. is the
angular velocity of uid dened by
=u/2. (50)
From the Chakrabarti-Wainwright theory
(27)
, the integrity
bases which form the dissipation function are given by
I
1
=tr, (51.a)
I
2
=tr( ), (51.b)
I
3
=tr(
t
), (51.c)
I
4
=tr(), (51.d)
I
5
=tr[() ()], (51.e)
I
6
=tr[() ()
t
], (51.f)
I
7
=
_
J
Jt
_
B

__

_
J
Jt
_
B

__
, (51.g)
I
8
=(T) (T), (51.h)
under the compound process. The dissipation function can
be expressed by the polynomial of these terms. From the
principle of maximal dissipation rate or the orthogonality
condition
(26)
, the dissipative parts of the constitutive equa-
tions are determined by the following equations.
T
(v)
=
3

n=1

n
I
n

, (52)
=
6

n=4

n
I
n
()
, (53)
M
(d)
=
7
I
7
[(J/Jt)(B/)]
, (54)

q
T
=
8
I
8
(T)
, (55)
where the coecients
n
are scalar quantities expressed
by the integrity bases (51). Substituting Eq. (51) into
Eqs. (52) (55) and taking the coecients appropriately,
the dissipative parts of the constitutive equations are de-
rived as follows:
JSME International Journal Series B, Vol. 48, No. 3, 2005
492
T
(v)
=
2
(tr d)I +2d+2
1
(), (56)
=( )I +()
t
+, (57)
M
(d)
=

0
(1+
m
)
J
Jt
_
B

_
, (58)
q=T. (59)
The notations here are as follows. : the shear viscosity,

1
: the vortex viscosity,
2
: the bulk viscosity, , and :
the spin viscosities, : the time corresponding to the relax-
ation time of magnetization, and : the coecient of heat
conductivity. From Eqs. (47) and (58), the magnetization
is given by
M=

0
(1+
m
)
B

0
(1+
m
)
J
Jt
_
B

_
. (60)
This magnetization equation includes Shliomis relaxation
equation
(5)
and it is determined by the thermodynamical
consideration. Thus, it satises the Clausius-Duhem in-
equality.
6. Concrete Expressions of Balance Equations
We summarize the results which we obtained in the
previous sections and show concrete expressions of ba-
sic equations. Assuming that the material coecients are
independent of position, basic equations for micropolar
magnetic uids with the Abraham expression of the elec-
tromagnetic momentum are given as follows:

t
+ (u) =0, (19)

du
dt
=(p
0
+p
em
) +(+
2
)( u) +
2
u
2
1
() +(M )B+M(B)

t
_
1
c
2
ME
_
+f , (61)
I
d
dt
=(+)( ) +
2

+4
1
() +MB+l, (62)
T
ds
(e)
dt
=+T
_
T
T
_
+r, (63)
E=
B
t
, (14)

_
B

0
M
_
=
0
E
t
, (15)
B=0, (16)
E=0, (17)
M=

0
(1+
m
)
B

0
(1+
m
)
J
Jt
_
B

_
. (60)
where the dissipation function and the electromagnetic
pressure p
em
are given, respectively, by
=
2
( u)
2
+2d : d+2
1
()
2
+( )
2
+()
t
: +:
+

0
(1+
m
)
_
J
Jt
_
B

__
2
+

T
T T, (64)
p
em
=
_
[
m
B/
0
(1+
m
)]
(1/)
dB+M B
0
M
2
.
(65)
under the assumption that the internal angular momentum
vector is given by S=i
2
, where the volume averaged ra-
dius of gyration i is independent of the position. I = i
2
is the sum of moments of particles per unit volume. The
equation of magnetization (60) represents the relaxation
phenomena of ferromagnetic particles. The rst term of
Eq. (60) shows the averaged magnetization of suspended
ferromagnetic particles, while the second term expresses
the eect of change in the magnetic eld and relaxation
produced by rotation of particles. This equation is ap-
plicable even for an unsteady magnetic eld in a non-
uniform density uid. Substituting the constitutive equa-
tion B =
0
(H+ M) into Eq. (60) and using Eq. (35), we
obtain
1

(M
m
H) =
d
dt
_
M

_
+M+
J
Jt
_
H

_
.
(66)
From Eq. (66), the consitutive equation (60) can be re-
duced to the relaxation equation proposed by Shliomis
(5)
,
dM
dt
=M
1

(M
m
H), (67)
when the following assumptions are satised: (a) the uid
is incompressible and (b) the corotational derivative of the
magnetic intensity vector can be neglected: (J/Jt)(H/) =
0, e.g., when the applied electromagnetic eld is steady
and spatially uniform and the direction of the magnetic
intensity vector is parallel to the angular velocity of sus-
pended particles. And when the volume concentration
tends to 1 under the conditions (a) and (b), Eq. (60)
becomes equivalent to the relaxation equation of ferro-
magnetic solid.
In our previous theory
(14), (15)
with D-H analogy and
the Minkowski expression of electromagnetic momentum,
the concrete expressions of the equation of motion and an-
gular momentum is expressed, respectively, by the follow-
ing equations.

du
dt
=p

+(+
2
)( u) +
2
u2
1
()
+(M )H+M(H) +f , (68)
I
d
dt
=(+)( ) +
2

+4
1
() +MH+l, (69)
where p

is the sum of the thermodynamical pressure p

0
and the pressure due to the magnetization. Comparing
the equations of motion (61) and (68), the Abraham force
(/t)(ME/c
2
) is newly included in Eq. (61). This term
can not be neglected under magnetic eld of high fre-
quency. The equation of angular momentum (62) and (69)
are completely the same in both cases. It is not necessary
Series B, Vol. 48, No. 3, 2005 JSME International Journal
493
to take the dierence between two expression of electro-
magnetic momentum into consideration under slowly uc-
tuating magnetic eld.
7. Concluding Remarks
We proposed the system of basic equations and con-
stitutive equations for micropolar magnetic uids with E-
B analogy and the Abraham expression of electromagnetic
momentum. The Abraham force can not be neglected un-
der magnetic eld of high frequency. In this paper, the
electric eld intensity vector and the magnetic ux den-
sity vector are treated as independent variables of elec-
tromagnetic eld. The constitutive equation of magnetiza-
tion derived in this paper is applicable even when ow and
electromagnetic eld are unsteady.
Acknowledgements
The author is thankful for the useful discussion with
Professor T. Tanahashi of Keio University.
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JSME International Journal Series B, Vol. 48, No. 3, 2005