University of Warwick - UCL - London's Global University of Warwick STFC Advanced School, MSSL...
Transcript of University of Warwick - UCL - London's Global University of Warwick STFC Advanced School, MSSL...
Tony ArberUniversity of Warwick
STFC Advanced School, MSSL September 2013.
Fundamentals of Magnetohydrodynamics
(MHD)
Aim
Derivation of MHD equations from conservation lawsQuasi-neutralityValidity of MHDMHD equations in different forms MHD wavesAlfven’s Frozen Flux TheoremLine Conservation TheoremCharacteristicsShocks
Applications of MHD, i.e. all the interesting stuff!, will be in later lectures covering Waves, Reconnection and Dynamos etc.
Derivation of MHD
Possible to derive MHD from
• N-body problem to Klimotovich equation, then take moments and simplify to MHD
• Louiville theorem to BBGKY hierarchy, then take moments and simplify to MHD
• Simple fluid dynamics and control volumes
First two are useful if you want to study kinetic theory along the way but all kinetics removed by the end
Final method followed here so all physics is clear
Ideal MHD
8 equations with 8 unknowns
Maxwell equations
Mass conservation
F = ma for fluids
Low frequency Maxwell
Adiabatic equation for fluids
Ideal Ohm’s Law for fluids
Mass Conservation - Continuity Equation
x
x+�x
m =
Zx+�x
x
⇢ dx
F (x+�x)F (x)
Mass m in cell of width changes due to rate of mass leaving/entering the cell
�x
F (x)
@
@t
Zx+�x
x
⇢ dx
!= F (x)� F (x+�x)
@⇢
@t
= lim�x!0
F (x)� F (x+�x)
�x
@⇢
@t
+@F (x)
@x
= 0
Mass flux - conservation laws@⇢
@t
+@F (x)
@x
= 0
Mass flux per second through cell boundary
In 3D this generalizes to
This is true for any conserved quantity so if conserved
@⇢
@t+r.(⇢v) = 0
F (x, t) = ⇢(x, t) vx
(x, t)
ZU dx
@U
@t+r.F = 0
Hence applies to mass density, momentum density and energy density for example.
Convective Derivative
In fluid dynamics the relation between total and partial derivatives is
Rate of change of quantity at a fixed point in space
Convective derivative:
Rate of change of quantity at a point moving with the fluid.
Often, and frankly for no good reason at all, write
D
Dtinstead of
d
dt
Adiabatic energy equation
If there is no heating/conduction/transport then changes in fluid element’s pressure and volume (moving with the fluid) is adiabatic
PV
� = constant
d
dt(PV �) = 0
Where is ration of specific heats�
Moving with a packet of fluid the mass is conserved so V / ⇢�1
d
dt
✓P
⇢�
◆= 0
Momentum equation - Euler fluid
x
x+�x
Total momentum in cell changes due to pressure gradient
P (x) P (x+�x)⇢u
x
�x
Now F is momentum flux per second F = ⇢ux
ux
@
@t
(⇢ux
) +@F
@x
= �rP
@
@t
(⇢ux
�x) = F (x)� F (x+�x) + P (x)� P (x+�x)
Momentum equation - Euler fluid
⇢
@u
x
@t
+ ⇢u
x
@u
x
@x
= �rP
Use mass conservation equation to rearrange as
⇢
✓@u
x
@t
+ u
x
@u
x
@x
◆= �rP
⇢du
x
dt= �rP
du
x
(x, t)
dt
=@u
x
@t
+@x
@t
@u
x
@x
Since by chain rule
Momentum equation - MHD
⇢du
dt= �rPFor Euler fluid how does this change for MHD?
Force on charged particle in an EM field is
F = q(E+ v ⇥B)
Hence total EM force per unit volume on electrons is
�nee(E+ v ⇥B)
and for ions (single ionized) is
nie(E+ v ⇥B)
Where are the electron and ion number densitiesne and ni
Momentum equation - MHD
Hence total EM force per unit volume
If the plasma is quasi-neutral (see later) then this is just
en(ui � ue)⇥B = j⇥B
Where j is the current density. Hence
⇢du
dt= �rP + j⇥B
Note jxB is the only change to fluid equations in MHD. Now need an equation for the magnetic field and current density to close the system
e(ni � ne)E+ (eniui � eneue)⇥B
Maxwell equations
Not allowed in MHD!
Initial condition only
Used to update B
‘Low’ frequency version used to find current density j
Quasi-neutrality
For a pure hydrogen plasma we have
Multiply each by their charge and add to get
where σ is the charge density and j is the current density
From Ampere's law if we look only at low frequencies
Hence for low frequency processes this is quasi-nuetrality
MHD
8 equations with 11 unknowns! Need an equation for E
Maxwell equations
Mass conservation
Momentum conservation
Low frequency Maxwell
Energy conservation
Ohm's Law
Assume quasi-neutrality, subtract electron equation
Note that Ohm's law for a current in a wire (V=IR) when written in terms of current density becomes
This is called the generalized Ohm's law
When fluid is moving this becomes
Equations of motion for ion fluid is
Magnetohydrodynamics (MHD)
Valid for:
• Low frequency
• Large scales
If η=0 called ideal MHD
Missing viscosity, heating, conduction, radiation, gravity, rotation, ionisation etc.
Validity of MHD
Assumed quasi-neutrality therefore must be low frequency and speeds << speed of light
Assumed scalar pressure therefore collisions must be sufficient to ensure the pressure is isotropic. In practice this means:
• mean-free-path << scale-lengths of interest• collision time << time-scales of interest• Larmor radii << scale-lengths of interest
However as MHD is just conservation laws plus low-frequency MHD it tends to be a good first approximation to much of the physics even when all these conditions are not met.
Eulerian form of MHD equations
@⇢
@t= �r.(⇢v)
@P
@t= ��Pr.v
@v
@t= �v.r.(v)� 1
⇢r.P +
1
⇢j⇥B
@B
@t= r⇥ (v ⇥B)
j =1
µ0r⇥B
Final equation can be used to eliminate current density so 8 equations in 8 unknowns
Lagrangian form of MHD equations
j =1
µ0r⇥B
D⇢
Dt= �⇢r.v
DP
Dt= ��Pr.v
Dv
Dt= �1
⇢r.P +
1
⇢j⇥B
DB
Dt= (B.r)v �B(r.v)
D
Dt
✓B
⇢
◆=
B
⇢.rv
✏ =P
⇢(� � 1)
Alternatives
Specific internal energy density
D✏
Dt= �P
⇢r.v
Conservative form
@⇢
@t= �r.(⇢v)
@⇢v
@t= �r.
✓⇢vv + I(P +
B2
2)�BB
◆
@E
@t= �r.
✓✓E + P +
B2
2µ0
◆v �B(v.B)
◆
@B
@t= �r(vB�Bv)
E =P
� � 1+
⇢v2
2+
B2
2µ0The total energy density
Plasma beta
A key dimensionless parameter for ideal MHD is the plasma-beta
It is the ratio of thermal to magnetic pressure
� =2µ0P
B2
Low beta means dynamics dominated by magnetic field, high beta means standard Euler dynamics more important
� / c2sv2A
Assume initially in stationary equilibrium
MHD Waves
r.P0 = j0 ⇥B0
Apply perturbation, e.g. P = P0 + P1
Simplify to easiest case with constant and no equilibrium current or velocity
⇢0, P0,B0 = B0z
Univorm B field
Constant density, pressureZero initial velocityApply small perturbation to system
MHD Waves
Ignore quadratic terms, e.g. P1r.v1
Linear equations so Fourier decompose, e.g.
P1(r, t) = P1 exp i(k.r� !t)
Gives linear set of equations of the form ¯A.u = �u
Where u = (P1, ⇢1, v1, B1)
Solution requires det| ¯A� � ¯I| = 0
(Fast and slow magnetoacoustic waves)
(Alfvén waves)
Alfvén speed
Sound speed
B k
α
Dispersion relation
• Incompressible – no change to density or pressure
• Group speed is along B – does not transfer energy (information) across B fields
Alfven Waves
For zero plasma-beta – no pressure
• Compresses the plasma – c.f. a sound wave
• Propagates energy in all directions
Fast magneto-acoustic waves
Throwing a ‘pebble’ into a ‘plasma lake’...For low plasma beta
Three types of MHD waves
• Alfvén waves magnetic tension (ω=VAkװ)
• Fast magnetoacoustic waves magnetic with plasma pressure (ω≈VAk)
• Slow magnetoacoustic waves magnetic against plasma pressure (ω≈CSkװ)
transv. velocity density
MHD Waves Movie
vA >> cs
1. The perturbations are waves
2. Waves are dispersionless
3. ω and k are always real
4. Waves are highly anisotropic
5. There are incompressible - Alfvén waves - and compressible - magnetoacoustic – modes
However, natural plasma systems are usually highly structured and often unstable
Linear MHD for uniform media
Non-ideal terms in MHD
Ideal MHD is a set of conservation laws
Non-ideal terms are dissipative and entropy producing
• Resistivity• Viscosity• Radiation transport• Thermal conduction
Resistivity
Electron-ion collisions dissipate current
@B
@t= r⇥ (v ⇥B) +
⌘
µ0r2B
If we assume the resistivity is constant then
Ratio of advective to diffusive terms is the magnetic Reynolds number
Rm =µ0L0v0
⌘
Usually in space physics (106-1012). This is based on global scale lengths . If is over a small scale with rapidly changing magnetic field, i.e. a current sheet, then
Rm >> 1
Rm ' 1L0 L0
Alfven’s theorem
d
dt
Z
Sn.B dS =
Z
Sn@B
@tdS �
I
lv ⇥B.dl
= �Z
Sr⇥ (E+ v ⇥B).n dS
Rate of change of flux through a surface moving with fluid
Magnetic flux through a surface moving with the fluid is conserved if ideal MHD Ohm’s law, i.e. no resistivity
Often stated as- the flux is frozen in to the fluid
Line Conservation
x(X, t)
x(X+ �X, t)
�X
Consider two points which move with the fluid
�x
�xi =@xi
@Xj�Xj
x(X+ �X, 0)
x(X, 0) = X
=@ui
@xk
@xk
@xj�Xj
= (�x.r)u
D
Dt�x =
@ui
@Xj�Xj
Line Conservation -2
D
Dt�x = (�x.r)u
Equation for evolution of the vector between two points moving with the fluid is
D
Dt
✓B
⇢
◆=
B
⇢.rv
Also for ideal MHD
Hence if we choose to be along the magnetic field at t = 0 then it will remain aligned with the magnetic field.
Two points moving with the fluid which are initially on the same field-line remain on the same field line in ideal MHD
Reconnection not possible in ideal MHD
�x
Cauchy Solution
Shown that satisfy the same equation hence B
⇢and �x
�xi =@xi
@Xj�Xj
ImpliesBi
⇢
=@xi
@Xj
B
0j
⇢
0
Where superscript zero refers to initial values
Bi =@xi
@XjB
0j⇢
⇢
0
⇢
0
⇢
= � =@(x1, x2, x3)
@(X1, X2, X3)
Bi =@xi
@Xj
B
0j
�
Cauchy solution
MHD based on Cauchy
Bi =@xi
@Xj
B
0j
�
⇢
0
⇢
= � =@(x1, x2, x3)
@(X1, X2, X3)
P = const ⇢
�
Dv
Dt= �1
⇢r.P +
1
µ0⇢(r⇥B)⇥B
Only need to know position of fluid elements and initial conditions for full MHD solution
dx
dt= v
Resistivity
Coriolis Gravity“Other”
Thermal
Conduction
Radiation Ohmic heating
“Other”
Non-ideal MHD
Sets of ideal MHD equations can be written as
All equations sets of this types share the same properties
• they express conservation laws
• can be decomposed into waves
• non-linear solutions can form shocks
• satisfy L1 contraction, TVD constraints
MHD Characteristics
Characteristics
is called the Jabobian matrix
For linear systems can show that Jacobian matrix is a function of equilibria only, e.g. function of p0 but not p1
Characteristic waves
But
w is called the characteristic field
A = R⇤R�1 so R�1A = ⇤R�1
@
@t
�R�1U
�+⇤.
@
@x
�R�1U
�= 0
1. 0 with t x
−∂ ∂+ = =∂ ∂w wΛ w R U
This example is for linear equations with constant A
is diagonal so all equations decouple
i.e. characteristics wi propagate with speed
Solution in terms of original variables UThis analysis forms the basis of Riemann decomposition used for treating shocks, e.g. Riemann codes in numerical analysis
⇤
Riemann problems
In MHD the characteristic speeds are i.e. the fast, Alfven and slow speeds
vx
, vx
± cf
, vx
± vA
, vx
± cs
Basic ShocksTemperature
x
c2s = �P/⇢
T = T (x� cst)
Without dissipation any 1D traveling pulse will eventually, i.e. in finite time, form a singular gradient. These are shocks and the differentially form of MHD is not valid.
Also formed by sudden release of energy, e.g. flare, or supersonic flows.
Rankine-Hugoniot relations
U
xS(t)xrxl
UL
UR
Integrate equations from xl to xr across moving discontinuity S(t)
Use
Let xl and xr tend to S(t) and use conservative form to get
•Rankine-Hugoniot conditions for a discontinuity moving at speed vs
•All equations must satisfy these relations with the same vs
Jump Conditions