Fundamentals of Vortex Dynamics
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Fundamentals of vortex dynamics Andrew David Gilbert, Mathematics Department, University of Exeter, UK Leverhulme Trust Research Fellowship - 2019 Motivation: vortices and more vortices • wing-tip vortices (NASA) • draining Lake Texoma, USA Turbulence • Leonardo da Vinci’s sketch • vortices in turbulence simulations • vortices in quantum turbulence Instabilities • von Karman vortex street • Crow instability • Kelvin-Helmholtz instability • Widnall vortex ring instability or or Dt⇢ + ⇢ u =0, D ⇢ + ⇢ u =0(2.25), (2.25) r · t r · which captures nicely the ideawhich that the captures density nicely of a the fluid idea element that the changes, density by of a fluid element changes, by D ⇢or, decreasing if the divergence of the fluid flow u > 0, and increasing if t Dt⇢, decreasing if ther divergence· of the fluid flow u > 0, and increasing if u < 0. u <D0.t⇢ + ⇢ u =0, r · (2.25) r · or r · r · whichor captures nicely the ideaor that the density of a fluid element changes, by Dt⇢ + ⇢ u =0, (2.25) Dt⇢, decreasing if the divergenceD ⇢ + of⇢ theu fluid=0r ,· flow Dtu⇢ +>⇢0, andu =0(2.25) increasing, if (2.25) 2.5 Navier–Stokeswhich captures equation nicely again2.5 the Navier–Stokest idea thatr · the equation density againr of· a fluidr element· changes, by uwhich< 0. captures nicely the ideawhich that captures the density nicely of the a fluid idea element that the changes, density of by a fluid element changes, by r · Dt⇢, decreasing if theD divergence⇢, decreasing of the if the fluid divergence flow ofu the> 0, fluid and flow increasingu > 0, if and increasing if Dt⇢, decreasing if the divergencet of the fluid flow u > r0,· and increasing ifr · u < 0. We nowu < have0. the Navier–Stokesr · equation (2.14) and the continuity equation We now haveru <· the0. Navier–Stokesr equation· (2.14) and the continuity equation (2.23),2.5 amountingr Navier–Stokes· to 4 equations equation(2.23), in 3-d again amounting space, for to 5 4 quantities, equations in the 3-d components space, for 5 quantities, the components u of u, p and ⇢. The system would need to be completed by an equation of ui of u,2.5p and2.5 Navier–Stokes⇢ Navier–Stokes. The system equation would equationi 2.5 again need Navier–Stokes again to be completed equation by again an equation of state, for example linking pressurestate, to for density. example linking pressure to density. We now have the Navier–Stokes equation (2.14) and the continuity equation We will however adopt the simplest fluid dynamical system in which to under- We willWe howeverWe now now have adopt have the the Navier–Stokes the simplest Navier–StokesWe fluid now equation havedynamical equation the (2.14) Navier–Stokes system and (2.14) the in and continuity which equation the to continuity under- equation (2.14) and equation the continuity equation (2.23), amounting to 4 equationsstand vortex in 3-d dynamics space, and for topological 5 quantities, aspects, the components taking the dynamic viscosity stand vortex(2.23),(2.23), dynamics amounting amounting and to 4 topological equations to 4(2.23), equations in amounting aspects, 3-d space, in 3-d taking to for space, 4 5 equations quantities, the for dynamic 5 quantities, in the 3-d components space, viscosity the for components 5 quantities, the components ui of u, p and ⇢. The systemµ and woulddensity need⇢ to be to constant be completed (and uniform by an in equation space). Then of the continuity µ and densityu of u, ⇢p toand be⇢. constant The system (andui of wouldu uniform, p needand ⇢ in to. The space). be completed system Then would by the an need continuity equation to be completed of by an equation of state,i forui of exampleu, p and linking⇢. Theequation pressure system expresses would to density. need that to the be fluid completed flow u is by divergenceless, an equation of and with this we equationstate, expresses for example that linkingthe fluid pressurestate, flow foru to exampleis density. divergenceless, linking pressure and with to density. this we state, for example linkingcan also pressure rewrite the to density. Navier–Stokes equation as: can also rewrite the Navier–Stokes equation as: WeWe will will however however adopt adopt the the simplestWe simplest will however fluid fluid dynamical adopt dynamical the system simplest system in which fluid in dynamical to which under- to system under- in which to under- We will however adopt the simplest fluid dynamical system in which2 to under- standstand vortex vortex dynamics dynamics and andstand topological topological vortexDtu aspects, dynamics=2 aspects,@tu taking+ andu taking topological theu = dynamic thep dynamic+ aspects, viscosity⌫ u, taking viscosity theu dynamic=0. viscosity(2.26) standDtu vortex= @tu + dynamicsu uNavier-Stokes= and topologicalp + ⌫ u, aspects,and· rEuleru taking=0r. equations the dynamic(2.26)r viscosityr · µ and density ⇢ to be· constantr µ andr (and density uniformr⇢ to in be space). constantr · Then (and the uniform continuity in space). Then the continuity µ and density ⇢ to be constantHere we have (and divided uniform through in space). by the Then constant the⇢ continuityand replaced p/⇢ by p (to equationµ and expresses density that⇢ to the beequation constant fluid flow expresses (andu is divergenceless, uniform that the in fluid space). and flow with Thenu is this divergenceless, the we continuity and with this we Hereequation we have expresses divided through thatavoid the by the fluid too constant many flow symbols!).u⇢isand divergenceless, replaced The kinematicp/⇢ by and viscosityp (to with⌫ this= µ/⇢ weis a constant, and canequation also rewrite expresses the Navier–Stokes that•canTake the also constant fluid equation rewrite flow density, the as:u Navier–Stokes isconstant divergenceless, viscosity, equation incompressible and as: with this flow we and write avoidcan too also many rewrite symbols!). the Navier–Stokes Thewe kinematic usually refer viscosity equation to this⌫ as: as= justµ/⇢ theis a viscosity constant, in and what follows. can also rewrite the Navier–Stokes equation as: 2 we usually refer to this as just the viscosityD intu what= @2tu follows.+ u u = p + ⌫ u, u =0. (2.26) Dtu = @tu + u u = p + ⌫ u, u =0. (2.26) · r r r 2 2r· r· r r r · Dtu =D@tutu=+@tuu + uu =u = p +p⌫+ ⌫u, u, u u=0=0. (2.26)(2.26) Here we have divided through2.6Here· Eulerr by we· ther have equationr constant dividedr for⇢r ideal throughandr flow replaced byr ther·p/· constant⇢ by p (to⇢ and replaced p/⇢ by p (to 2.6 Euler equation for ideal flow Hereavoid weHere too have we many divided have symbols!). divided through• Theavoidwith through kinematic kinematic too by many the by the viscosityconstantviscosity symbols!). constant ⌫ =⇢ The µ/and ⇢ ⇢ kinematicand isand replaced a replaced constant,replacing viscosityp/ andp/ ⇢ ⇢ by ⌫byby= p pµ/ for(to(to⇢ convenienceis a constant, and we usually refer to this as just the viscosity in what follows. avoidwe too usuallyavoid many too refer many symbols!). to this symbols!). asThe just The Euler the Thekinematic viscosity equation kinematic in viscosity is what the viscosity case follows.⌫ of=⌫ (2.26)=µ/µ/⇢ is⇢ withoutis a a constant, constant, viscosity and and⌫ =0,andforms Thewe Euler usuallywe equation usually refer is to refer the this case to asthe this• of justEuler basis as (2.26) thejust equation of withoutmuch viscosity the viscosityfor of ideal our viscosity in discussion flow what in what ⌫ follows.=0,andforms follows.below: (highly singular limit) the basis2.6 of much Euler equation of our discussion for ideal2.6 flow below: Euler equation for ideal flow Dtu = @tu + u u = p, u =0. (2.27) 2.6 Euler equation for ideal flow · r r r · 2.6 Euler equationDtu = @tu for+ idealu u flow= p, u =0. (2.27) The Euler equation is theSetting·The caser Euler of⌫ =0in(2.26)isahighlysingularlimitas (2.26)r equation withoutr is· the viscosity case of⌫ (2.26)=0,andforms without viscosity⌫ multiplies⌫ =0,andforms the highest Settingthe⌫ =0in(2.26)isahighlysingularlimitas basis of much of ourderivatives discussionthe basis below: in of the much equation! of our⌫ multiplies discussion A fluid with below: the⌫ highest=0isalsodescribedasanideral The Euler equation is the case of (2.26) without viscosity ⌫ =0,andforms derivatives in the equation! Afluid fluid—thereisnofrictionandnodissipationofenergy.TheEulerequation with ⌫ =0isalsodescribedasanideral The Euler equation is the case of (2.26)D withouttu = @tu + viscosityu u =⌫ =0,andformsp, u =0. (2.27) the basis ofD muchtu = of@cantu our+ beu discussion writtenu = in below: thep, attractiveu =0 form·.r r (2.27)r · fluidthe—thereisnofrictionandnodissipationofenergy.TheEulerequation basis of much of our discussion· r below:r r · can be written in the attractive formSetting ⌫ =0in(2.26)isahighlysingularlimitas⌫ multiplies the highest Setting ⌫ =0in(2.26)isahighlysingularlimitasDtu = @tu + u u = p,⌫@ multipliesu = u u =0! the. highestP, (2.27) (2.28) derivatives in· r the equation!r t A fluidr · ⇥ withr⌫ =0isalsodescribedasanideral derivatives in theDtu equation!= @tu A+ fluidu withu =⌫ =0isalsodescribedasanp, u =0. ideral (2.27) fluidSetting—thereisnofrictionandnodissipationofenergy.TheEulerequation⌫ =0in(2.26)isahighlysingularlimitas@t(usingufluid= u vector—thereisnofrictionandnodissipationofenergy.TheEulerequation·!r calculusP,r identityr (2.5)),· ⌫ wheremultiplies(2.28) the Bernoulli the highest function is can be⇥ writtenr in the attractive form Settingcanderivatives be⌫ written=0in(2.26)isahighlysingularlimitas in in the the attractive equation! form A fluid with ⌫ =0isalsodescribedasan⌫ multiplies the highestideral (using vector calculus