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

 ing pressure
equation
state, for to density.
expresses
examplethat the pressure
linking fluid flow
to u is divergenceless, and with this we
density.
fluid
king flow utoisdensity.
pressure
e linking divergenceless, and with this we
can alsopressure
rewrite the to density.
Navier–Stokes equation as:
–Stokes
the We equation
simplest
will however as: adopt
fluid dynamical the system
simplest indynamical
fluid which tosystem
under-in which to under-
tadopt
the simplest fluid
the simplest dynamical
fluid system
dynamical in which
system to
in⌫r under-
which to under-
stand vortex dynamics and topological aspects, 2 taking
andNavier-Stokes rthe· u dynamic viscosity
ss· ru
and
amics µ=
topological
topological
and
and rp +
D
density
u
⌫r
topological
=
⇢
@
u,
to
u
and
2aspects,
t aspects, +
t takingu
aspects,
be r
·
·Euler
ru
taking
constantuthe=
=
taking0.
(and
equations
therp
dynamic
the
+
dynamic
(2.26)
dynamic
uniform
u,
viscosity
in
viscosity
viscosity
space).
= 0.
Then the
(2.26)
continuity
to
constant
constant
Here
be we
(and
(and
have
constant
uniform
uniform
divided
(and
in in
space).
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uniform
space).
in
Then
by the
space).
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the
constant
Then
the
continuity
⇢
the
continuity
and replaced
continuity p/⇢ bythis
p (to
at the equation
fluid expresses
flow u is that the
divergenceless, fluid flow
and u
with is divergenceless,
this we and with we
ugh
at by the
the
avoid fluid
too constant
flow
many u ⇢isand
symbols!). replaced
divergenceless,
The p/⇢ by
kinematic and p (to
with
viscosity ⌫ this
= µ/⇢ weisand
a constant, and
es that
• can
Take
Navier–Stokes the
also fluid
rewrite
constant
equationflowthe u
density, is divergenceless,
Navier–Stokes
constant equation
viscosity,
as:⌫ = µ/⇢ is a constant, and and as:with
incompressible this we
flow write
The kinematic
avier–Stokes
weNavier–Stokes
usually referviscosity
equation
to this as:
as just
the equation as: the viscosity in what 2
follows.
ust the viscosity
u + u · ru = rp t+ ⌫r u, Din u what
= @
2 t follows.
u + u ·
r ru· u == 0.rp + ⌫r u,
(2.26) r · u = 0. (2.26)
2 2
u=+@tuu ·+ru = rp
u · ru = rp + ⌫r + ⌫r u, u, r r · u· u
==0.0. (2.26)
(2.26)
2.6Here
through Euler
by equation
wethe
have
constantfor⇢ideal
divided and flow
through by thep/⇢
replaced constant
by p (to⇢ and replaced p/⇢ by p (to
al flow avoid too many symbols!). The kinematic viscosity ⌫ = µ/⇢ is a constant, and
through
vided
ols!). • with by the
kinematic
through
The constant
viscosity
by the
kinematic ⇢ and
constant
viscosity ⌫ = ⇢ and
µ/⇢ isreplaced
anda replacingp/⇢
replaced
constant, p/⇢by
and byppfor
by (to
(toconvenience
as we usually
symbols!).
just the refer tointhis
viscosity whatasfollows.
just the viscosity in what follows.
ls!).
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kinematic
Euler equation viscosity
viscosity
is the case⌫of=⌫(2.26)
=
µ/⇢µ/⇢ isa aconstant,
iswithoutconstant, and
and
viscosity ⌫ = 0, and forms
to
case
s as this
the•of as
Euler
basis
just just
(2.26) the viscosity
of without
equation
the much of ideal
for
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flow
viscosity
indiscussion
what = follows.
⌫ follows.
0, (highly
and forms
below: singular limit)
cussion
or 2.6flow
ideal Euler equation for ideal flow
below:
Dt u = @t u + u · ru = rp, r · u = 0. (2.27)
ion
+ u for
· ru ideal
= flow
rp, r · u = 0. (2.27)
or Setting
ideal flow
the Thecase Euler
⌫ =
of 0equation
(2.26) (2.26)is isthe
in without case of
a highly
viscosity (2.26)
⌫ singularwithout
= 0, and limit
formsasviscosity ⌫ = 0,the
⌫ multiplies and forms
highest
urhighlythe singular
basisbelow:
derivatives
discussion of the
in much ofasour
equation!
limit discussion
A fluid with
⌫ multiplies below:
the ⌫highest
= 0 is also described as an ideral
ionfluidis the
— case
there of
is (2.26)
no without
friction and viscosity
no ⌫ = of0,energy.
dissipation and formsThe Euler equation
A
the fluid
casewithof ⌫ =
(2.26) 0 is also
Dwithout
tu = r
described
@t u viscosity
+ as an
· ru =⌫ =
u 0. ideral
0, and
rp,(2.27) r ·forms
u = 0. (2.27)
h=and
of
@can
t our
u + u · ru
discussion
=
bedissipation
written in therp,
below: ·
attractiveu =form
no
ur discussion below: of energy. The Euler equation
tive
6) is Setting
form
a highly ⌫singular
= 0 in (2.26)
limit asis ⌫a multiplies
highly singular
the limit as ⌫ multiplies the highest
highest
D u = @ u + u · ru = rp, @ u =
t t t ru· u ⇥= ! 0. rP, (2.27) (2.28)
derivatives in the equation! A fluid with
ation! A fluid with ⌫ = 0 is also described ⌫ =ideral
as an 0 is also described as an ideral
 but wethus a non-local
often procedure:
slip into calling the flowWhatever
the pressure. and vorticity at all points
it is called, in th
obtaining P
D ! a↵ect
=
a↵ect @ !all+other
all u ·
other r!points.
=
points. ! In·In a anumerical
ru. numerical code, thisthis
code, Poisson
(2.34) equation
Poisson has to
equation
thus a non-local procedure: the flow and vorticity at all points in the doma
t t
solved each
solved each time-step.
time-step.
a↵ect all other points. In a numerical code, this Poisson equation has to
s for ideal flow, whereas for time-step.
⌫ > 0 we have instead
Vorticity equation
solved each
n also be written in2.7 the Vorticity
2.7 attractive
Vorticity form
equation, advection 2
and di↵usion of vorticity
Dt ! = @t ! + u · r! =equation, ! · ru +advection ⌫r !, and di↵usion of vorticity
(2.35)
2.7 Vorticity equation, advection and di↵usion of vorticity
• Take the curl of Taking⇥t u the= ucurl ⇥in (2.28) ⌅P eliminates the pressure term involving rP , and g
can replace either theTakingnonlinear terms
the curl or the viscous term giving
in (2.28) eliminates the pressure term involving rP ,
the vorticity equation
he Bernoulli function
Takingthetheis curl in equation
vorticity (2.28) eliminates @ ! the
= rpressure
⇥ (u ⇥ term
!), involving rP , and giv (2
• to obtain@tvorticity
!the r ⇥equation
= vorticity (u ⇥ !) for
equation ideal
⌫r ⇥ flow
(r ⇥ t
!). (2.36)
or (using (2.7)), 1 2 @t ! = r ⇥ (u ⇥ !),
or (using P = p + u @t ! = r ⇥ (u ⇥ !), (2.3
orticity equation, however it (2.7)),
is written, D
2 t ! = much
looks · r! = than
@t ! + usimpler ! · ru. the (2
r–Stokes equation oras(using
the (2.7)), has been eliminated
pressure Dt ! = @t !from + u ·the
r!equation.
= ! · ru.
vorticity is given by This is for ideal flow, D whereas
! = @ ! for
+ u⌫ ·>r!0 we
= have
! · instead
ru. (2.3
ny ways it is much easier to think of the behaviour of vorticity without
t t
• or for non-zero viscosity
This is for ⌅⇥
=ideal u whereas for ⌫ > 0 we have instead
flow,
n-local pressure field to deal with, and D this! =is the
@ ! great
+ u · r!benefit
= ! of
· ruworking
+ ⌫r 2
!, (2
This is for
another solenoidal vector field ideal flow, whereas
t for
t ⌫ > 0 we have instead
orticity instead of velocity. But, some of this simplicity is illusory as the 2
Dt ! the= t! + u!· r!
@nonlinear =⇥ · ru
! u. + ⌫rterm
!, giving
• eliminates pressure but still have
elocity u has to be found
or we from
can replace
Dt ! = the@ttricky
inverting
either ! + ulink
the curl = r
terms or the
· r! = ! · ru + ⌫r !,This
viscous
2
(2.3
⌅ · (compare
written as a Biot–Savart integral =0 finding the magnetic field b
or we can replace either@ ! = the
r ⇥ nonlinear
(u ⇥ !) terms
⌫r ⇥ or
(r the
⇥ viscous term giv
g from a given current
or wedistribution j = r⇥b
can replace either in magnetostatics).
the nonlinear
t viscous term giving (2
terms or theOverall !).
at by equation
g this taking the!= divergence,
r ⇥ u for uthe pressure
amounts to is given by
obtaining the pressure by⇥ !).
The vorticity equation, @ ! = r ⇥ (u ⇥ !) ⌫r ⇥ (r
t however it is written, looks much simpler than
g the elliptic equationNavier–Stokes
(2.32).
2
@ t ! = r ⇥ (u ⇥ !) ⌫r ⇥ (r ⇥ !). (2.3
equation as the pressure has been eliminated from the equat
⌅ P = ⌅ · (u ⇥ )
In many ways itequation,
is much easier to think
it is ofwritten,
the behaviour
looks of vorticity with
The The vorticity
vorticity equation, however however
it is written, looks much much
simpler simpler
than t
the non-local pressure
Navier–Stokes fieldastothe
equation deal with, and
pressure this
has is the
been great benefit
eliminated fromof the
work
we have lapsed here: P isequation
Navier–Stokes the
7 Bernoulli function,
as the pressure has been buteliminated
we oftenfrom slipthe equatio
Vortex filament motion

• local approximations giving the motion of a thin tube of vorticity - a vortex

filament

• by Helmholtz and Kelvin, the filament moves and stretches with the fluid
motion

• we can also invert by the Biot-Savart law

• combines dynamics and differential geometry of curves

Vortex filament: Biot-Savart integral

• integral links velocity to vorticity (suppress time-dependence)

• take vorticity confined to a thin tube along a curve and has circulation
(integral of vorticity across a surface area) of

• orthonormal Serret-Frenet basis

• arclength , curvature , torsion

Local velocity from a filament

• filament through origin O with axes aligned with (at O)

• as

• look at velocity at a point in plane perpendicular to vortex at O

Integration to give local flow

• Biot-Savart along a filament

• from a local length is

• put point and

• we want to be close to the filament , leaving

Local flow

• at position

• flow is

• including strong local circulation, which does not move the filament

• and a weaker flow in the binormal direction

• has a logarithmic dependence on cut-off and vortex filament width

• treat as a constant: velocity of vortex filament is now

• or by rescaling time,
Local induction approximation (LIA)

• points on the curve with Serret-Frenet

• and velocity

• or

• beautiful but highly idealised : no vortex stretching, only local induction,

vortex width and cut-off scale fudged
Evolution of curvature and torsion - I

• dash for derivative

• general motion (for present)

• now and so with

• have and

• equate these gives with

Evolution of curvature and torsion - II

• dash for derivative

• general motion (for present)

• have and

• equate these gives with

• have linked A, B, C, D, E, F, G, H, K to velocity components in

Evolution of curvature and torsion - III

• to close the system we use the fact that is an orthonormal basis

• and so

• with

• we have
Equations for curvature and torsion

• gives equation from arc-length parameterisation

• and give

• or for LIA
Equations for curvature and torsion under LIA

• a lot of manipulation… gives

• prime denotes derivative with respect to arclength

• …link to nonlinear Schrodinger equation (integrable PDE)…

Knot evolution under LIA

• Ricca, Samuels, Barenghi: evolve a torus knot under LIA

Evolution of F(2,3) and F(3,2) under LIA
Evolution of F(3,2) under LIA and Biot-Savart
William Irvine and collaborators (Chicago)

• vortex rings created by dragging a knotted aerofoil through water:

• https://www.youtube.com/watch?v=YCA0VIExVhg (1:10)

• https://www.youtube.com/watch?v=9CnilX-oLrI

• https://www.youtube.com/watch?v=LdOX24KwSUU

• https://www.youtube.com/watch?v=CoUglS21w6c
Vortex stretching
• this important phenomenon is not in the LIA though it appears in more
sophisticated models

• intense fine-scale vortices seen in 3-d turbulence

• vortex stretching creates fine scales

• question of the regularity of the 3-d Euler equation: Jörg Schumacher

• starting with smooth initial conditions, does the solution remain smooth for
all time?

• fundamental, unsolved problem:

Clay Millenium prizes
• In order to celebrate mathematics in the new millennium, The Clay
Mathematics Institute of Cambridge, Massachusetts (CMI) has named
seven Prize Problems. The Scientific Advisory Board of CMI selected these
problems, focusing on important classic questions that have resisted
solution over the years.

• Birch and Swinnerton-Dyer Conjecture

• Hodge Conjecture
• Navier-Stokes Equations
• P vs NP
• Poincaré Conjecture --- proven!
• Riemann Hypothesis
• Yang-Mills Theory
Navier-Stokes equations
Idealised vorticity stretching

• full equation

• idealised ODE

• solution

• singular blow-up at time

• but: vorticity tends to stretch perpendicular vorticity, not itself

• problem of geometrical complexity

• e.g. no stretching (no singularity) in two dimensions

Beale-Kato-Majda theorem

• rigorous result

• Suppose we start with a smooth Euler flow at time and that at time
it is no longer smooth. Then, necessarily

• clear numerical criterion to capture any loss of smoothness

• eliminates certain types of singularities, e.g. if the maximum

then
Exact solutions of blow-up

• Let A be any symmetric trace-free matrix, then

• satisfies the Euler equation. But infinite energy, blows up everywhere at

once, even in 2-d

• flows of the form

• e.g., in 2-d channel

• can show blow-up, e.g.,

Colliding vortices

• in 2-d a vortex pair of opposite signs translates, and similarly in 3-d

• no vortex stretching though

• try two pairs at right angles

 Colliding vortex pairs: Moffatt

• idea: two vortex pairs propagate towards, and stretch, each other

• vorticity intensified, feedback to faster evolution

• singularity? not clear ; viscosity may not stop a singularity if it occurs

Colliding vortex pairs: Pelz

• 8 pairs colliding; highly symmetrical flow

• using vortex filaments under Biot-Savart blow-up very clean

• but actual vortices tend to flatten, depleting nonlinearity in simulations

Evolution of anti-parallel vortices: Kerr/Bustamante

• vorticity intensifies strongly

• and flattens to form tadpole structures

• singularity at t* = 18.7 ?
Vortex ring collisions in three dimensions

• https://www.youtube.com/watch?v=XJk8ijAUCiI

• https://www.youtube.com/watch?v=USzOciNHeh0&t=182s

• vortex rings move with the fluid (Helmholtz)

• then stretch (vortex line stretching) and accelerate outwards - how quickly?

• geometry:

• approximate 2-d dipole travelling outwards

Theoretical ideas

• Childress, G, Valiant 2016

• major and minor axes ,

• conserve volume:

• problem… energy diverges:

Theoretical ideas

• Childress, G, Valiant 2016

• major and minor axes ,

• conserve energy:

• necessarily, volume goes down, vorticity shed

Vorticity shedding

• original picture a bit naive

• conserve energy:

• necessarily, volume goes down

• must `lose’ volume: shedding of vorticity in a tail behind the propagating

vortex ring pair (visible on movies)

• `tadpole’ or `snail’ structure emerges

Simulations

• in axisymmetric flow

• only one ring shown

Loss of symmetry

• up/down symmetry can be lost:

• also experiments reveal instabilities

More general geometry

• Bustamante & Kerr 2008

Conclusions

• vorticity perhaps best way to understand nearly inviscid flows

• many challenges both for mathematics and analysing physical processes

• such as stretching and reconnection

• with links to outstanding theoretical issues such as the finite-time singularity

question ….

• … and the nature of turbulence.