A NNALES DE L ’I. H. P., SECTION C
A LBERTO V ALLI
On the existence of stationary solutions to compressible Navier-Stokes equations
Annales de l’I. H. P., section C, tome 4, n
o1 (1987), p. 99-113
<http://www.numdam.org/item?id=AIHPC_1987__4_1_99_0>
© Gauthier-Villars, 1987, tous droits réservés.
L’accès aux archives de la revue « Annales de l’I. H. P., section C » (http://www.elsevier.com/locate/anihpc) implique l’accord avec les condi- tions générales d’utilisation (http://www.numdam.org/conditions). Toute uti- lisation commerciale ou impression systématique est constitutive d’une infraction pénale. Toute copie ou impression de ce fichier doit conte- nir la présente mention de copyright.
Article numérisé dans le cadre du programme Numérisation de documents anciens mathématiques
http://www.numdam.org/
On the existence of stationary solutions
to compressible Navier-Stokes equations
Alberto VALLI (*)
Dipartimento di Matematica, Universita’ di Trento, 38050, POVO (Trento), Italy
Vol. 4, n° 1, 1987, p. 99-113. Analyse non linéaire
ABSTRACT. - We prove the existence of a
stationary
solution to theNavier-Stokes
equations
forcompressible fluids,
under theassumption
that the external force field is small in a suitable sense. The
proof
is basedover an existence result for a linearized
problem,
followedby
a fixedpoint
argument.
Key-words : Navier-Stokes equations, Compressible fluids, Stationary solutions, Modified Stokes system.
RESUME. - Nous démontrons l’existence d’une solution stationnaire pour les
equations
de Navier-Stokes dans le cas de fluidescompressibles,
en supposant que le
champ
de force extérieur estpetit
en un sens conve-nable. La demonstration repose sur un resultat d’existence pour un pro- bleme linearise combine avec un argument de
point
fixe.l. INTRODUCTION AND MAIN THEOREM
Aim of this paper is to present a new method for
showing
the existenceof a solution to the system of
equations
which describe the motion of aviscous
compressible barotropic
fluid in thestationary
case.(*) Work partially supported by G. N. A. F. A. of C. N. R.
Annales de l’Institut Henri Poincaré - Analyse non linéaire - 0294-1449 Vol. 4/87/01/99/15/$ 3,50/© Gauthier-Villars
A. VALLI
The
equations
of motion can be written in the formwhere Q c R~ is a bounded
domain,
with smoothboundary (it
isenough
to suppose ~SZ E
C3, by choosing
local coordinates on aS2 as in[10 ] ; however,
for the sake of
simplicity,
we assume a~2 EC4
and we consider as localcoordinates the isothermal
coordinates, see § 2);
v and p are thevelocity
and the
density
of thefluid, respectively ;
p is the pressure, which is assumedto be a knowri
(increasing)
functionof p ; f is
the(assigned)
external forcefield;
the constants > 0and (
> 0 are theviscosity coefficients;
p > 0is the mean
density
of thefluid,
i. e. the total mass of fluid dividedby
The external force field
f
is assumed to be small in a suitable norm(see
the statement of the theorem at the end of thisIntroduction).
In the last years this
problem
has been studiedby
several authors. Atfirst Matsumura-Nishida
[~] ]
showed that there exists a solution whenf
= This case is muchsimpler
than thegeneral
one, since the fluidis at rest, i. e. v =
0,
and one hasonly
to determine thedensity
p.Later Padula
[5 ] found
a solution when the bulkviscosity coefficient (
is much
larger
than the shearviscosity
coefficient ,u. Herproof
isstrictly
based on the structure of
equation (1.1)1 (more precisely,
on the presence of the term V div v ; some ideas of herproof
are also used in this paper,see § 2 b ii). However,
in thegeneral physical
situation thecoefficients (
is not
larger than J1 (for
monoatomic gases the Stokesrelation )
= 0 isreasonably
correct; see Serrin[6 ],
p.239). Moreover,
from the mathe- maticalpoint
of view one expects that theprincipal
term in(1.1)~ is given by -
and that the term -((
+,u/3)~
div v could be omitted withoutchanging
the result.Actually,
in[9] ]
it wasproved
that astationary
solution does exist for eachpair
ofviscosity
coefficientssatisfying
thethermodynamic
restric-tions
>0, 03B6
> 0.However,
theproof
is not a direct one, since the solution is obtained(by
astability argument) by taking
the limit as t -~ + 00 ofeach
non-stationary
solutionstarting
in asufficiently
smallneighbourhood
p = p.
Let us remark that it is not
surprising
that thenon-stationary
case isin some sense «
simpler »
than thestationary
one. Infact,
the term whichgives
more troubles in theproof
of the existence of astationary
solutionis the term
v . Vp
in(1.1)2 (without it, (1.1)
would be a non-linearelliptic
system; moreover, it would bepossible
to get a solutionby using
theimplicit
Annales de l’lnstitut Henri Poincaré - linéaire
function
theorem).
On the contrary, in thenon-stationary
case oneeasily
observes that + v ~
Vp)
is the material derivative of p, hence the method of characteristics is an useful tool forconstructing
a solution.In this paper we present a new method for
showing
the existence of astationary
solution in thegeneral
case. Ourproof
is based on an existencetheorem for a system which is a natural linearization of
(1.1) (see (2.1)),
followed
by
a fixedpoint
argument. The main part of the paper is devotedto the
study
of the linear system(2 .1).
At first we find some apriori
estimatesin Sobolev spaces of
sufficiently high order,
then we show the existence of a solution in aparticular
case andfinally
we solve thegeneral
caseby using
thecontinuity
method. The existence of a fixedpoint
is then an easy consequence of Schauder’s theorem.We want to remark that it is not
possible
to prove the existence of asolution
by using
the usualimplicit
function theorem. Infact,
due to theterm v.
Vp,
there is a loss ofregularity
and the nonlinear operator and its Frechet differential at thepoint (0, p)
don’t operate between the same spaces. On the otherhand,
one of the basicassumptions
of the Nash-Moser
implicit
function theorem is that there exists aright
inverse for the Frechet differential at apoint
near(0, p).
Oneeasily
sees that this linear operator is morecomplicated
than the linear operatorexpressed by (2.1),
hence our
proof
issimpler
and moreprecise
than an eventual one basedon the Nash-Moser theorem.
At
last,
let us underline that we can obtain the same existence result also in thenon-barotropic
case(i.
e. the pressure p is a function of the -density
p and of the temperaturee),
and in the case of non-constantviscosity (and
heatconductivity)
coefficients(see
Remark3. 3).
As a final comment, we must also mention
that, during
thepreparation
of this paper, Beirao da
Veiga [7] ]
has obtained ananalogous result, by
means of acompletely
different method.Let us state now the main theorem. Since we are
searching
for a solu-tion in a
neighbourhood
of theequilibrium
solution v =0,
p =p,
it is useful to introduce the new unknownThe
equations
of motion thus becomeIt is clear that
(1. 3)
and(1.1)
areequivalent problems.
1-1987.
Denoting by
the usual Sobolev space(with norm ] ]
for k + 1e N,
we can at last state the main theorem of this paper.
THEOREM. -
Suppose
that the pressure p is aC2-function
in aneigh-
bourhood
of p,
and thatp’( p)
> 0.Suppose
moreover thatf
EH1(S2)
withsufficiently
small. Then there exists aunique
solutionin a
neighbourhood
of theorigin,
and moreover2. THE LINEAR PROBLEM We want to find a solution to the linear
problem
where p i m
p’( p)
>0,
v is agiven
vector fieldsatisfying vj ,q = 0,
andJG = 0.
It is dear that if we take
F = (a + p) [ f- (v . V)v ] + lp i - p’(a
+p) ]Va, G = 0,
then a fixed
point
of the mapis a solution of
problem (1.3).
2a) A priori
estimates.We shall
begin by proving
some apriori
estimates for a solution of(2 .1 ).
More
precisely,
we want to show that a solution(w, ri)
EH3(Q)
xsatisfies
for ~v ~3 ~ A,
A smallenough.
The constant cldepends
in a continuousway on ,u
and ) (but
it isindependent
of v ; of course, here and in thesequel
the constant
depends
also onQ,
pand p).
Observe that we are interested in
obtaining (2. 3)
since we need to controlthe behaviour of the non-linear terms contained in F.
Analogous
estimateslinéaire
in Sobolev spaces of lower order would not be sufficient to get a fixed
point
of 03A6(see § 3).
By using
well-known results about Stokesproblem (see
for instanceTemam
[8 ],
p.33)
weeasily
getLEMMA 2.1. - A solution
(w, r~)
EH3(Q)
xH~(Q)
of(2.1)
satisfiesHence our aim is to
estimate II
div wII2.
We canproceed
nowby following
a method which is
essentially
due(in
aslightly
differentcontext)
to Mat-sumura-Nishida
[4 ] (see
also Valli[9 ], § 4).
LEMMA 2 . 2. - A solution
(w, ~)
EH3(S2)
x of(2 .1)
satisfiesfor each G > 0.
Proof. - Multiply (2 .1 ) 1 by
w and(2 .1 )2 by integrate
in Q andadd these two
equations.
Sinceone has
hence
(2 . 6). (Observe that ) )
divc ~ ~ v I I 3).
DOne can repeat the same
procedure
for thehigher
order derivatives in the interior of Q. Take thegradient
of(2 .1 ) 1,
and(2.1)2,
and then mul-tiply
the firstequation by ~20Dw
and the secondequation by
where xo E
Co (SZ). Finally, integrate
in Q and add these twoequations.
If the same
procedure
isapplied
also for the second orderderivatives,
we get.LEMMA 2. 3. - A solution
(w, r~)
E x of(2.1)
satisfiesfor each 0 5 1.
Vol. 4, n° 1-1987.
A. VALLI
°
Proof
-By proceeding
as indicatedabove,
one obtainshence
(2.7).
Estimate
(2.8)
is obtained in the same way, sinceWe need to obtain now the estimates on the
boundary.
Choose forinstance as local coordinates the isothermal coordinates
~,(~r, qJ) (see
e. g.Spivak [7],
p.460 ;
Valli[9 ]).
Apoint x
in an open setQ
near aS2 can bewritten as
where n is the unit outward normal vector to
By setting y -
qp,r),
the
equations (2. 1) 1, (2 .1 ) 2
becomewhere
= is the entry
(k, j)
of(Jac A) -1 - (Jac
A -1)(A) (Jac
A has the termD~A‘
in the i-throw, j-th column),
andDk -
Here and in thesequel
we
adopt
the Einstein convention about summation overrepeated
indices.For the
tangential
derivatives one canessentially proceed
as before.One
applies
=1, 2,
to(2 . 9)
and(2.10),
and thenmultiplies by
and and
integrates
in U. Here J = det JacA,
andBy repeating
the sameprocedure
for the second orderderivatives,
one getsas in Lemma 2. 3 :
Annales de l’lnstitut linéaire
LEMMA 2.4. - W and H
satisfy
for each 0 5 1.
Let us consider now the normal derivatives. Take the normal derivative
of (2 . 2) 1, multiplied by (~
+4,u/3)/ p.
Then take the scalarproduct of (2 .1 )
1by n
and add these twoequations.
One hasand the term
(Aw . n -
V div w.n)
does not contain second order normal derivatives as can beeasily
seen in local coordinates.Multiplying (2.13) (written
in localcoordinates) by JX2D3H
andintegrating
in U oneobtains
LEMMA. 2 . 5. - W and H
satisfy
The same can be done for the second order derivatives:
LEMMA 2.6. - W and H
satisfy
On the other hand from
(2. .1)1 one
has1-1987.
hence
(2.14) (2.15)
and(2.16)
hold notonly
forD3H,
but also for(i.
e. V div w. n in localcoordinates).
It remains to estimate
By considering
thefollowing
Stokesproblem
where L and M can be calculated
by writing
theproblem
in local coordi- nates, one getsLEMMA 2.7. - W satisfies
Proof
One hasand
by evaluating
theintegral concerning
L(2.17)
follows. DWe are now in a
position
to obtain(2.3).
In factby using (2.4) (2.7) (2.11) (2.14) (for
andfinally (2.6)
forE= ~2, ~
smallenough,
we
get
Moreover,
by using (2.5) (2.8) (2.12) (2.15)
and(2.16) (for
and
(2.17)
one obtains for each 0 ~ 1Hence, by using (2.18)
andby choosing 6
smallenough,
we haveIf II v (I3 A,
A smallenough,
then(2. 3)
follows at once from this estimate.2b)
Existence.We want to prove the existence of a solution
(w, ri)
eH3(Q)
xto
(2.1),
under theassumptions
aS2 EC4,
F EH1(Q),
G E G =0,
v e
H3(Q),
= 0 and~~
v~I3 A,
A smallenough.
i ) Elliptic approximation.
First of
all,
we want tospend
some words aboutelliptic approximation.
Consider the
following
Neumannproblem
It is
possible
to show that for each 8 > 0 there exists aunique
solution(we,
EH3(S2)
x Infact,
the bilinear from associated to(2 . 20)
is continuous and
weakly-coercive
inHence
by following
a standard argument, the existence of a solution in X is a consequence of Fredholm’s alternative theorem(uniqueness
isgiven by
the apriori
estimatewhich is not difficult to be
proved.)
A
bootstrap
argument shows that the solution indeedbelongs
toH3(Q)
xH4(Q),
andby proceeding
as in§ 2 a
one obtains the estimatefor each 8 > 0 small
enough.
Hence
by
a compactness argument oneeasily
proves the existence of asolution
(w, ~)
E x toproblem (2.1).
However, (2.1)
is not anelliptic
system in the sense ofAgmon-Douglis- Nirenberg (unless v
=0;
in this case it is the Stokessystem),
hence theusual
regularization procedures
do not work(the
« bad » term is v.~r~
in
(2.1)2).
,On the other
hand,
due to theboundary
condition on w, one cannot proveVol. 4, n° 1-1987.
further
regularity by differentiating
theequations (as
it isgenerally
donefor first order
hyperbolic equations).
In
conclusion,
we have thusproved
that(2.1)
has a solutionbelonging
to
H~(Q)
xH~(Q),
but we don’t known if this solution is moreregular.
(Remark
moreover that estimate(2.22)
is in some sense the « best » pos- sible : we cannot const., as the normal derivative of the limitfunction 11
does not vanish onREMARK 2.8. - It is also
possible
toapproximate (2.1) by
means of adegenerate elliptic problem, by adding
to(2.1)2
the termsIn this way it is not necessary to
impose boundary
conditions on hence inprinciple
one can expectthat 1]£
converge inH~(Q)
to ~.However,
wehave not been able to get the estimates
assuring
the convergence. We haveonly
obtainedit is not sure that better estimates
hold. / ii )
Aparticular
case :03B6/ large enough.
We shall follow an alternative
approach,
which is related to the method of Padula[5 ].
If we define
then
(2.1)
is transformed intoWe can solve
(2.24) (2.25) by
means of a fixedpoint
argument.Being assigned (11*, ~c*)
in theright
hand side of(2. 24)2,
we get at first(w, n)
fromthe Stokes
problem (2.24) ,and consequently 11 by (2.25).
A fixedpoint
of the map
is a solution of
(2.24) (2.25).
Set
where B will be chosen later
(see (2.31)).
From well-known estimates on Stokes
problem
we getOn the other
hand, (2.25)
is solvedby
the usual methodsconcerning hyperbolic
first-orderequations (see
for instance Friedrichs[2],
Lax-Phillips [3 ]).
Ifone
easily
obtainshaving
used(2.28).
If we choose
and if we have
we get at
last
i. e. c
K 1.
The set
Ki
is a convex andcompact
set in Y =H~(Q)
xH~(Q),
andthe
K 1 -~ K 1
iseasily
shown to be continuous in theY-topology.
Hence
by
Schauder’s theorem 03A8 has a fixedpoint.
In this way we have solved
(2.1)
when(2.29)
and(2.32)
are satisfied.iii)
Thegeneral
case.We want to
apply
now thecontinuity
method. We can choose ,uo and~o
so small that
at the same time we can obtain that is
large enough.
In this way(2. 29)
and
(2. 32)
are satisfied for~o
and ~co.Vol. 4, n° 1-1987.
A. VALLI
Define now for t E
[0, 1 ]
We want to prove that the set
E
[o, 1 ]| for
each(F, G)
~ Y there exists aunique
solution(w, ~)
e His not empty, open and
closed,
i. e. T -[o,1 ].
of
Lt(w, r~)
_(F, G) ~
First of
all,
0 E T since(2 . 29)
and(2. 32)
are satisfied.Let now to E T : from
(2. 3)
we have thatwhere c 5 =
p, ~to). Equation
=(F, G)
can bewritten in the form
hence it can be solved if
i. e.
( E ~ Li 1 ~ ~~~~; ~~.
Observe that ingeneral Lt
does notbelong
to~( ~ ; ~) (as H2(S2)),
while(Lo - L1) belongs
to it.It remains to show that T is closed.
Let tn
-~ to,tn E T.
From(2 . 3)
we have that
(recall
that Cidepends continuously
on J1 and~).
Set(wn, ~n) - Ltn G) ;
from
(2.33)
we see that we can select asubsequence (wnk,
such that(wnk’ (w, ~) weakly
in~, (w, ~)
E Jf. Moreover oneeasily
obtainsthat
Ltnk
~r~) weakly
inH 1 (SZ)
xH 1 (S~),
i. e.(F, G)
=~).
This proves
that to
E T.We have thus shown that T =
[0, 1 ],
i. e. for each(F, G)
there existsa
unique
solution(w, ~)
E Yf to(2.1).
Annales de l’lnstitut Henri
3. THE NON-LINEAR PROBLEM
We are now in a
position
to prove the existence of a solution to(1.3)
when
f
is smallenough.
We consider
(D
to be chosenlater,
see(3.3);
in any case werequire
D A in such away that the results of
§
2 can beapplied).
Then we set in
(2.1)
We are
searching
for a fixedpoint
of the mapdefined in
(2.2).
First of
all,
from(2. 3)
we haveChoosing
and ~ fill
so small that D A and2c7(D+ 1)D2 D,
we get that03A6(K2)
cK2.
On the other hand
K2
is convex and compact in Z == xH1(Q).
To prove the
continuity
of C in thetopology
ofZ,
consider(v", 6")
-~(v, a)
in
Z, (vm
EK2.
Define -(w, r~)
-a). By using (2.18)
for(wn - w)
and(Yfn - Yf)
oneeasily
gets that(wn, ~n)
~(w, r~)
in Z.The existence of a fixed
point
for @ is now a consequence of Schauder’s theorem.REMARK 3.1. - It is also
possible
to find a solution of( 1. 3) by taking
the limit of a suitable sequence of successive
approximations.
More pre-cisely,
set vo =0,
a 0 =0,
and choose(vm an)
to be the solution of(2. I)
with F
given by (3 . 2)
and In this way oneeasily
obtainsthat
(vm an)
is bounded inH3(Q)
x and moreover,by looking
at(vn - (2.18) gives
that(vm an)
converges in Z to a solu- tion(v, a)
EH3(Q)
xREMARK 3.2. -
Uniqueness
andstability
of the solution of(1.3) (in
aneighbourhood
of theorigin)
areproved
in[9 ] (for
some results aboutuniqueness,
see also Padula[S ]). /
Vol. 4, n° 1-1987.
REMARK 3.3. - An
analogous
result can be obtained in the caseof
non-barotropic compressible
fluids and non-constantviscosity (and
heat
conductivity)
coefficients.In this case the linear
problem (2.1)
must be substitutedby
where
and 0 is the
boundary
datum for the absolute temperature 0.(One
musthave in mind that y = 0 -
0).
Theexpression
ofF,
G and H can beeasily
written
explicitly.
By proceeding
asin § 2,
one shows the existence of a solution to(3 . 4), satisfying
if ~ ~ v ~ ~ 3 _ A,
A smallenough. (For obtaining
theanalogous
of Lemma2 . 2,
one has to
multiply (3 . 4) 3 by
and to add the result to the other twoequations).
By using (3.5)
instead of(2.3),
one can solve the non-linearproblem by
means of Schauder’s fixedpoint
theorem. Moreprecisely,
assume that:~C1, 03B6~C1, ~~C1 (and
thespecific
heat at constant volumethe heat sources r E
with II r ~ ~ o
smallenough
and 0 Ewith !!
1 -81 ~ ~ 3~2
smallenough.
Then there exists a(locally) unique
solution(v, p, e) E H3(Q)
x x to the non-linearproblem.
If r Eand 8 E
H5~2(aS2),
then it iseasily
seen that 8 EACKNOWLEDGEMENT
It is a
pleasure
to thank Prof. Giovanni Prodi for many useful conver-sations about the
subject
of this paper.linéaire
REFERENCES
[1] H. BEIRÃO DA VEIGA, Stationary motions and incompressible limit for compressible viscous fluids. MRC Technical Summary Report, n° 2883, 1985 ; Houston J. Math.,
to appear.
[2] K. O. FRIEDRICHS, Symmetric positive linear differential equations, Comm. Pure Appl.
Math., t. 11, 1958, p. 333-418.
[3] P. D. LAX, R. S. PHILLIPS, Local boundary conditions for dissipative symmetric linear
differential operators, Comm. Pure Appl. Math., t. 13, 1960, p. 427-455.
[4] A. MATSUMURA, T. NISHIDA, Initial boundary value problems for the equations of
motion of general fluids, in Computing methods in applied sciences and engineering, V, ed. R. Glowinski, J. L. Lions, North-Holland Publishing Company, Amsterdam,
New York, Oxford, 1982.
[5] M. PADULA, Existence and uniqueness for viscous steady compressible motions,
Arch. Rational Mech. Anal., to appear.
[6] J. SERRIN, Mathematical principles of classicalfluid mechanics, in Handbuch der Physik,
Bd. VIII/1, Springer Verlag, Berlin, Göttingen, Heidelberg, 1959.
[7] M. SPIVAK, A comprehensive introduction to differential geometry, t. 4, Publish or Perish, Inc., Boston, 1975.
[8] R. TEMAM, Navier-Stokes equations. Theory and numerical analysis, North-Holland
Publishing Company, Amsterdam, New York, Oxford, 1977.
[9] A. VALLI, Periodic and stationary solutions for compressible Navier-Stokes equa- tions via a stability method, Ann. Scuola Norm. Sup. Pisa, 4, t. 10, 1983, p. 607-647.
[10] A. VALLI, W. M. ZAJACZKOWSKI, Navier-Stokes equations for compressible fluids:
global existence and qualitative properties of the solutions in the general case,
Comm. Math. Phys., t. 103, 1986, p. 259-296.
( Manuscrit le 18 novembre 1985)
Vol. 4, n° 1-1987.