Variational description of multi-fluid hydrodynamics: Uncharged fluids
Reinhard Prix
备注：
uses RevTeX 4; 20 pages. To appear in PRD. v2: removed discussion of charged fluids and coupling to electromagnetic fields, which are submitted as a separate paper for a clearer presentation v3: fixed typo in Eq.(9), updated some references
We present a formalism for Newtonian multi-fluid hydrodynamics derived from an unconstrained variational principle. This approach provides a natural way of obtaining the general equations of motion for a wide range of hydrodynamic systems containing an arbitrary number of interacting fluids and superfluids. In addition to spatial variations we use ``time shifts'' in the variational principle, which allows us to describe dissipative processes with entropy creation, such as chemical reactions, friction or the effects of external non-conservative forces. The resulting framework incorporates the generalization of the entrainment effect originally discussed in the case of the mixture of two superfluids by Andreev and Bashkin. In addition to the conservation of energy and momentum, we derive the generalized conservation laws of vorticity and helicity, and the special case of Ertel's theorem for the single perfect fluid.
We explicitly discuss the application of this framework to thermally conducting fluids, superfluids, and superfluid neutron star matter. The equations governing thermally conducting fluids are found to be more general than the standard description, as the effect of entrainment usually seems to be overlooked in this context. In the case of superfluid He4 we recover the Landau--Khalatnikov equations of the two-fluid model via a translation to the ``orthodox'' framework of superfluidity, which is based on a rather awkward choice of variables. Our two-fluid model for superfluid neutron star matter allows for dissipation via mutual friction and also ``transfusion'' via beta-reactions between the neutron fluid and the proton-electron fluid.
In this work we extend our previously developed formalism of Newtonian multi-fluid hydrodynamics to allow for coupling between the fluids and the electromagnetic and gravitational field. This is achieved within the convective variational principle by using a standard minimal coupling prescription. In addition to the conservation of total energy and momentum, we derive the conservation of canonical vorticity and helicity, which generalize the corresponding conserved quantities of uncharged fluids. We discuss the application of this formalism to electrically conducting systems, magnetohydrodynam…
A rigorous method for introducing the variational principle describing relativistic ideal hydrodynamic flows with all possible types of discontinuities (including shocks) is presented in the framework of an exact Clebsch type representation of the four-velocity field as a bilinear combination of the scalar fields. The boundary conditions for these fields on the discontinuities are found. We also discuss the local invariants caused by the relabeling symmetry of the problem and derive recursion relations linking invariants of different types. These invariants are of specific interest for stabili…
We apply the stochastic variational method to the action of the ideal fluid and showed that the Navier-Stokes equation is derived. In this variational method, the effect of dissipation is realized as the direct consequence of the fluctuation dissipation theorem. Differently from the previous works \cite{kk1,kk2}, we parameterize the Lagrangian of SVM in more general form. The form of the obtained equation is not modified but the definition of the transport coefficients are changed. We further discuss the formulation of SVM using the Hamiltonian and show that the variation of the Hamiltonian gi…
Variational time integrators are derived in the context of discrete mechanical systems. In this area, the governing equations for the motion of the mechanical system are built following two steps: (a) Postulating a discrete action; (b) Computing the stationary value for the discrete action. The former is formulated by considering Lagrangian (or Hamiltonian) systems with the discrete action being constructed through numerical approximations of the action integral. The latter derives the discrete Euler-Lagrange equations whose solutions give the variational time integrator. In this paper, we bui…
Hydrodynamics of the non-relativistic compressible fluid in the curved spacetime is derived using the generalized framework of the stochastic variational method (SVM) for continuum medium. The fluid-stress tensor of the resultant equation becomes asymmetric for the exchange of the indices, differently from the standard Euclidean one. Its incompressible limit suggests that the viscous term should be represented with the Bochner Laplacian. Moreover the modified Navier-Stokes-Fourier (NSF) equation proposed by Brenner can be considered even in the curved spacetime. To confirm the compatibility wi…
Incompressible, inviscid, irrotational, and unsteady flows with circulation $Γ$ around a distorted toroidal bubble are considered. A general variational principle that determines the evolution of the bubble shape is formulated. For a two-dimensional (2D) cavity with a constant area $A$, exact pseudo-differential equations of motion are derived, based on variables that determine a conformal mapping of the unit circle exterior into the region occupied by the fluid. A closed expression for the Hamiltonian of the 2D system in terms of canonical variables is obtained. Stability of a stationary drif…
General properties of conservative hydrodynamic-type models are treated from positions of the canonical formalism adopted for liquid continuous media, with applications to the compressible Eulerian hydrodynamics, special- and general-relativistic fluid dynamics, and two-fluid plasma model including the Hall-magnetohydrodynamics. A variational formulation is found for motion and interaction of frozen-in localized vortex structures and acoustic waves in a special description where dynamical variables are, besides the Eulerian fields of the fluid density and the potential component of the canonic…
We consider an isotropic compressible non-dissipative fluid with broken parity subject to free surface boundary conditions in two spatial dimensions. The hydrodynamic equations describing the bulk dynamics of the fluid as well as the free surface boundary conditions depend explicitly on the parity breaking non-dissipative odd viscosity term. We construct a variational principle in the form of an effective action which gives both bulk hydrodynamic equations and free surface boundary conditions. The free surface boundary conditions require an additional boundary term in the action which resemble…
A suitable expression for hydrodynamic impulse in a compressible fluid is deduced. The development of appropriate impulse formulation for compressible Euler equations confirms the propriety of the hydrodynamic impulse expression for a compressible fluid given here. Implications of the application of this formulation to a compressible vortex ring are pointed out. A variational characterization for an axisymmetric vortex system moving steadily in an ideal, compressible fluid is discussed.
The variational principle for the special and general relativistic hydrodynamics are discussed in view of its application to obtain approximate solutions to these problems. We show that effective Lagrangians can be obtained for suitable ansatz for the dynamical variables such as density profile of the system. As an example, the relativistic version of spherical droplet motion (Rayleigh-Plesset equation) is derived from a simple Lagrangian. For the general relativistic case the most general Lagrangian for spherically symmetric systems is given.
The variational principle of V. I. Arnold [J. Appl. Math. Mech. Vol. 29, P. 1002 (1965)] is extended to the general conservative inhomogeneous, compressible, and conducting fluid. The concept of iso-vortical flows is generalized to an "invariant foliation" of the phase space. The foliation, which may or may not correspond to explicit conservation laws, is derived from the equations of motion and used for Lyapunov stability. A nonlinear three-dimensional (magneto-) hydrodynamic stability criterion is formulated.
We present variational and Hamiltonian formulations of incompressible fluid dynamics with free surface and nonvanishing odd viscosity. We show that within the variational principle the odd viscosity contribution corresponds to geometric boundary terms. These boundary terms modify Zakharov's Poisson brackets and lead to a new type of boundary dynamics. The modified boundary conditions have a natural geometric interpretation describing an additional pressure at the free surface proportional to the angular velocity of the surface itself. These boundary conditions are believed to be universal sinc…
A new derivation of the Bernoulli equation for water waves in three-dimensional rotating and translating coordinate systems is given. An alternative view on the Bateman-Luke variational principle is presented. The variational principle recovers the boundary value problem governing the motion of potential water waves in a container undergoing prescribed rigid-body motion in three dimensions. A mathematical theory is presented for the problem of three-dimensional interactions between potential surface waves and a floating structure with interior potential fluid sloshing. The complete set of equa…
A necessary and sufficient condition for linear stability of inviscid parallel shear flow is formulated by a novel variational method, where the velocity profile is assumed to be monotonic and analytic. Unstable eigenvalues of the Rayleigh equation are shown to be associated with positive eigenvalues of a certain selfadjoint operator. The stability is therefore simply determined by maximizing a quadratic form, which is theoretically and numerically more tractable than directly solving the Rayleigh equation. This variational approach is based on the Hamiltonian nature of the inviscid fluid and …
Using the wave equation as an example, it is shown how to extend the hydrodynamic Lagrangian-picture method of constructing field evolution using a continuum of trajectories to second-order theories. The wave equation is represented through Eulerian-picture models that are distinguished by their Lorentz transformation properties. Introducing the idea of the relativity of the particle label, it is demonstrated how the corresponding trajectory models are compatible with the relativity principle. It is also shown how the Eulerian variational formulation may be obtained by canonical transformation…
We discuss heat conductivity from the point of view of a variational multi-fluid model, treating entropy as a dynamical entity. We demonstrate that a two-fluid model with a massive fluid component and a massless entropy can reproduce a number of key results from extended irreversible thermodynamics. In particular, we show that the entropy entrainment is intimately linked to the thermal relaxation time that is required to make heat propagation in solids causal. We also discuss non-local terms that arise naturally in a dissipative multi-fluid model, and relate these terms to those of phonon hydr…
The uncertainty relations in hydrodynamics are numerically studied. We first give a review for the formulation of the generalized uncertainty relations in the stochastic variational method (SVM), following the paper by two of the present authors [Phys. Lett. A382, 1472 (2018)]. In this approach, the origin of the finite minimum value of uncertainty is attributed to the non-differentiable (virtual) trajectory of a quantum particle and then both of the Kennard and Robertson-Schrödinger inequalities in quantum mechanics are reproduced. The same non-differentiable trajectory is applied to the moti…
The restriction of hydrodynamics to non-viscous, potential (gradient, irrotational) flows is a theory both simple and elegant; a favorite topic of introductory textbooks. It is known that this theory can be formulated as an action principle and expanded to include thermodynamicics. This paper presents an action principle for hydrodynamics that includes general, rotational flows. The new theory is a combination of Eulerian and Lagrangian hydrodynamics, with an extension to thermodynamics that includes all the elements of the Gibbsean variational principle. In the first place it is an action pri…
Gravitational waves from neutron-star and black-hole binaries carry valuable information on their physical properties and probe physics inaccessible to the laboratory. Although development of black-hole gravitational-wave templates in the past decade has been revolutionary, the corresponding work for double neutron-star systems has lagged. Neutron stars can be well-modelled as simple barotropic fluids during the part of binary inspiral most relevant to gravitational wave astronomy, but the crucial geometric and mathematical consequences of this simplification have remained computationally unex…
The random forced Navier-Stokes equation can be obtained as a variational problem of a proper action. In virtue of incompressibility, the integration over transverse components of the fields allows to cast the action in the form of a large deviation functional. Since the hydrodynamic operator is nonlinear, the functional integral yielding the statistics of fluctuations can be practically computed by linearizing around a physical solution of the hydrodynamic equation. We show that this procedure yields the dimensional scaling predicted by K41 theory at the lowest perturbative order, where the p…
The random forced Navier-Stokes equation can be obtained as a variational problem of a proper action. By virtue of incompressibility, the integration over transverse components of the fields allows to cast the action in the form of a large deviation functional. Since the hydrodynamic operator is nonlinear, the functional integral yielding the statistics of fluctuations can be practically computed by linearizing around a physical solution of the hydrodynamic equation. We show that this procedure yields the dimensional scaling predicted by K41 theory at the lowest perturbative order, where the p…
In the framework of the variational principle there are introduced canonical variables describing magnetohydrodynamic (MHD) flows of general type without any restrictions for invariants of the motion. It is shown that the velocity representation of the Clebsch type introduced by means of the variational principle with constraints is equivalent to the representation following from the generalization of the Weber transformation for the case of arbitrary MHD flows. The integrals of motion and local invariants for MHD are under examination. It is proved that there exists generalization of the Erte…
In this paper, we introduce a diffuse interface model for describing the dynamics of mixtures involving multiple (two or more) phases. The coupled hydrodynamical system is derived through an energetic variational approach. The total energy of the system includes the kinetic energy and the mixing (interfacial) energies. The least action principle (or the principle of virtual work) is applied to derive the conservative part of the dynamics, with a focus on the reversible part of the stress tensor arising from the mixing energies. The dissipative part of the dynamics is then introduced through a …
Carter and Lichnerowicz have established that barotropic fluid flows are conformally geodesic and obey Hamilton's principle. This variational approach can accommodate neutral, or charged and poorly conducting, fluids. We show that, unlike what has been previously thought, this approach can also accommodate perfectly conducting magnetofluids, via the Bekenstein-Oron description of ideal magnetohydrodynamics. When Noether symmetries associated with Killing vectors or tensors are present in geodesic flows, they lead to constants of motion polynomial in the momenta. We generalize these concepts to…
This chapter illustrates how to apply continuation techniques in the analysis of a particular class of nonlinear kinetic equations that describe the time evolution through transport equations for a single scalar field like a densities or interface profiles of various types. We first systematically introduce these equations as gradient dynamics combining mass-conserving and nonmass-conserving fluxes followed by a discussion of nonvariational amendmends and a brief introduction to their analysis by numerical continuation. The approach is first applied to a number of common examples of variationa…
Smoothed particle hydrodynamics (SPH) has been extensively studied in computer graphics to animate fluids with versatile effects. However, SPH still suffers from two numerical difficulties: the particle deficiency problem, which will deteriorate the simulation accuracy, and the particle clumping problem, which usually leads to poor stability of particle simulations. We propose to solve these two problems by developing an approximate projection method for incompressible free-surface flows under a variational staggered particle framework. After particle discretization, we first categorize all fl…
Holm (Proc. Roy. Soc 2015) introduced a variational framework for stochastically parametrising unresolved scales of hydrodynamic motion. This variational framework preserves fundamental features of fluid dynamics, such as Kelvin's circulation theorem, while also allowing for dispersive nonlinear wave propagation, both within a stratified fluid and at its free surface. The present paper combines asymptotic expansions and vertical averaging with the stochastic variational framework to formulate a new approach for developing stochastic parametrisation schemes for nonlinear wave fields. The approa…
