2D forced-dissipative turbulence budgets

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A simulation of forced-dissipative two-dimensional turbulence. We solve the two-dimensional vorticity equation with stochastic excitation and dissipation in the form of linear drag and hyperviscosity. As a demonstration, we compute how each of the forcing and dissipation terms contribute to the energy and the enstrophy budgets.

Install dependencies

First let's make sure we have all required packages installed.

using Pkg
pkg"add GeophysicalFlows, Random, Printf, Plots"

Let's begin

Let's load GeophysicalFlows.jl and some other needed packages.

using GeophysicalFlows, Random, Printf, Plots
using FourierFlows: parsevalsum

Choosing a device: CPU or GPU

dev = CPU()     # Device (CPU/GPU)

Numerical, domain, and simulation parameters

First, we pick some numerical and physical parameters for our model.

 n, L  = 256, 2π              # grid resolution and domain length
 ν, nν = 2e-7, 2              # hyperviscosity coefficient and hyperviscosity order
 μ, nμ = 1e-1, 0              # linear drag coefficient
dt, tf = 0.005, 0.2 / μ       # timestep and final time
    nt = round(Int, tf / dt)  # total timesteps
    ns = 4                    # how many intermediate times we want to plot

Forcing

We force the vorticity equation with stochastic excitation that is delta-correlated in time and while spatially homogeneously and isotropically correlated. The forcing has a spectrum with power in a ring in wavenumber space of radius $k_f$ (forcing_wavenumber) and width $δ_f$ (forcing_bandwidth), and it injects energy per unit area and per unit time equal to $\varepsilon$. That is, the forcing covariance spectrum is proportional to $\exp{[-(|\bm{k}| - k_f)^2 / (2 δ_f^2)]}$.

forcing_wavenumber = 14.0 * 2π/L  # the forcing wavenumber, `k_f`, for a spectrum that is a ring in wavenumber space
forcing_bandwidth  = 1.5  * 2π/L  # the width of the forcing spectrum, `δ_f`
ε = 0.1                           # energy input rate by the forcing

grid = TwoDGrid(dev, n, L)

K = @. sqrt(grid.Krsq)             # a 2D array with the total wavenumber

forcing_spectrum = @. exp(-(K - forcing_wavenumber)^2 / (2 * forcing_bandwidth^2))
@CUDA.allowscalar forcing_spectrum[grid.Krsq .== 0] .= 0 # ensure forcing has zero domain-average

ε0 = parsevalsum(forcing_spectrum .* grid.invKrsq / 2, grid) / (grid.Lx * grid.Ly)
@. forcing_spectrum *= ε/ε0        # normalize forcing to inject energy at rate ε

We reset of the random number generator for reproducibility

if dev==CPU(); Random.seed!(1234); else; CUDA.seed!(1234); end

Next we construct function calcF! that computes a forcing realization every timestep. First we make sure that if dev=GPU(), then CUDA.rand() function is called for random numbers uniformly distributed between 0 and 1.

random_uniform = dev==CPU() ? rand : CUDA.rand

function calcF!(Fh, sol, t, clock, vars, params, grid)
  Fh .= sqrt.(forcing_spectrum) .* exp.(2π * im * random_uniform(eltype(grid), size(sol))) ./ sqrt(clock.dt)

  return nothing
end

Problem setup

We initialize a Problem by providing a set of keyword arguments. The stepper keyword defines the time-stepper to be used.

prob = TwoDNavierStokes.Problem(dev; nx=n, Lx=L, ν=ν, nν=nν, μ=μ, nμ=nμ, dt=dt, stepper="ETDRK4",
                                calcF=calcF!, stochastic=true)

Define some shortcuts for convenience.

sol, clock, vars, params, grid = prob.sol, prob.clock, prob.vars, prob.params, prob.grid

x, y = grid.x, grid.y

First let's see how a forcing realization looks like. Function calcF!() computes the forcing in Fourier space and saves it into variable vars.Fh, so we first need to go back to physical space.

Note that when plotting, we decorate the variable to be plotted with Array() to make sure it is brought back on the CPU when the variable lives on the GPU.

calcF!(vars.Fh, sol, 0.0, clock, vars, params, grid)

heatmap(x, y, Array(irfft(vars.Fh, grid.nx)'),
     aspectratio = 1,
               c = :balance,
            clim = (-200, 200),
           xlims = (-L/2, L/2),
           ylims = (-L/2, L/2),
          xticks = -3:3,
          yticks = -3:3,
          xlabel = "x",
          ylabel = "y",
           title = "a forcing realization",
      framestyle = :box)

Setting initial conditions

Our initial condition is a fluid at rest.

TwoDNavierStokes.set_ζ!(prob, ArrayType(dev)(zeros(grid.nx, grid.ny)))

Diagnostics

Create Diagnostics; the diagnostics are aimed to probe the energy and enstrophy budgets.

E  = Diagnostic(TwoDNavierStokes.energy,                               prob, nsteps=nt) # energy
Rᵋ = Diagnostic(TwoDNavierStokes.energy_dissipation_hypoviscosity,     prob, nsteps=nt) # energy dissipation by drag μ
Dᵋ = Diagnostic(TwoDNavierStokes.energy_dissipation_hyperviscosity,    prob, nsteps=nt) # energy dissipation by drag μ
Wᵋ = Diagnostic(TwoDNavierStokes.energy_work,                          prob, nsteps=nt) # energy work input by forcing
Z  = Diagnostic(TwoDNavierStokes.enstrophy,                            prob, nsteps=nt) # enstrophy
Rᶻ = Diagnostic(TwoDNavierStokes.enstrophy_dissipation_hypoviscosity,  prob, nsteps=nt) # enstrophy dissipation by drag μ
Dᶻ = Diagnostic(TwoDNavierStokes.enstrophy_dissipation_hyperviscosity, prob, nsteps=nt) # enstrophy dissipation by drag μ
Wᶻ = Diagnostic(TwoDNavierStokes.enstrophy_work,                       prob, nsteps=nt) # enstrophy work input by forcing
diags = [E, Dᵋ, Wᵋ, Rᵋ, Z, Dᶻ, Wᶻ, Rᶻ] # a list of Diagnostics passed to `stepforward!` will  be updated every timestep.

Visualizing the simulation

We define a function that plots the vorticity field and the evolution of the diagnostics: energy, enstrophy, and all terms involved in the energy and enstrophy budgets. Last, we also check (by plotting) whether the energy and enstrophy budgets are accurately computed, e.g., $\mathrm{d}E/\mathrm{d}t = W^\varepsilon - R^\varepsilon - D^\varepsilon$.

function computetendencies_and_makeplot(prob, diags)
  sol, clock, vars, params, grid = prob.sol, prob.clock, prob.vars, prob.params, prob.grid

  TwoDNavierStokes.updatevars!(prob)

  E, Dᵋ, Wᵋ, Rᵋ, Z, Dᶻ, Wᶻ, Rᶻ = diags

  clocktime = round(μ * clock.t, digits=2)

  dEdt_numerical = (E[2:E.i] - E[1:E.i-1]) / clock.dt # numerical first-order approximation of energy tendency
  dZdt_numerical = (Z[2:Z.i] - Z[1:Z.i-1]) / clock.dt # numerical first-order approximation of enstrophy tendency

  dEdt_computed = Wᵋ[2:E.i] + Dᵋ[1:E.i-1] + Rᵋ[1:E.i-1]
  dZdt_computed = Wᶻ[2:Z.i] + Dᶻ[1:Z.i-1] + Rᶻ[1:Z.i-1]

  residual_E = dEdt_computed - dEdt_numerical
  residual_Z = dZdt_computed - dZdt_numerical

  εᶻ = parsevalsum(forcing_spectrum / 2, grid) / (grid.Lx * grid.Ly)

  pζ = heatmap(x, y, Array(vars.ζ'),
            aspectratio = 1,
            legend = false,
                 c = :viridis,
              clim = (-25, 25),
             xlims = (-L/2, L/2),
             ylims = (-L/2, L/2),
            xticks = -3:3,
            yticks = -3:3,
            xlabel = "μt",
            ylabel = "y",
             title = "∇²ψ(x, y, μt=" * @sprintf("%.2f", μ * clock.t) * ")",
        framestyle = :box)

  pζ = plot(pζ, size = (400, 400))

  t = E.t[2:E.i]

  p1E = plot(μ * t, [Wᵋ[2:E.i] ε.+0*t Dᵋ[1:E.i-1] Rᵋ[1:E.i-1]],
             label = ["energy work, Wᵋ" "ensemble mean energy work, <Wᵋ>" "dissipation, Dᵋ" "drag, Rᵋ = - 2μE"],
         linestyle = [:solid :dash :solid :solid],
         linewidth = 2,
             alpha = 0.8,
            xlabel = "μt",
            ylabel = "energy sources and sinks")

  p2E = plot(μ * t, [dEdt_computed, dEdt_numerical],
           label = ["computed Wᵋ-Dᵋ" "numerical dE/dt"],
       linestyle = [:solid :dashdotdot],
       linewidth = 2,
           alpha = 0.8,
          xlabel = "μt",
          ylabel = "dE/dt")

  p3E = plot(μ * t, residual_E,
           label = "residual dE/dt = computed - numerical",
       linewidth = 2,
           alpha = 0.7,
          xlabel = "μt")

  t = Z.t[2:E.i]

  p1Z = plot(μ * t, [Wᶻ[2:Z.i] εᶻ.+0*t Dᶻ[1:Z.i-1] Rᶻ[1:Z.i-1]],
           label = ["enstrophy work, Wᶻ" "mean enstrophy work, <Wᶻ>" "enstrophy dissipation, Dᶻ" "enstrophy drag, Rᶻ = - 2μZ"],
       linestyle = [:solid :dash :solid :solid],
       linewidth = 2,
           alpha = 0.8,
          xlabel = "μt",
          ylabel = "enstrophy sources and sinks")


  p2Z = plot(μ * t, [dZdt_computed, dZdt_numerical],
         label = ["computed Wᶻ-Dᶻ" "numerical dZ/dt"],
     linestyle = [:solid :dashdotdot],
     linewidth = 2,
         alpha = 0.8,
        xlabel = "μt",
        ylabel = "dZ/dt")

  p3Z = plot(μ * t, residual_Z,
         label = "residual dZ/dt = computed - numerical",
     linewidth = 2,
         alpha = 0.7,
        xlabel = "μt")

  layout = @layout Plots.grid(3, 2)

  pbudgets = plot(p1E, p1Z, p2E, p2Z, p3E, p3Z, layout=layout, size = (900, 1200))

  return pζ, pbudgets
end

Time-stepping the Problem forward

Finally, we time-step the Problem forward in time.

startwalltime = time()
for i = 1:ns
  stepforward!(prob, diags, round(Int, nt/ns))

  TwoDNavierStokes.updatevars!(prob)

  cfl = clock.dt * maximum([maximum(vars.u) / grid.dx, maximum(vars.v) / grid.dy])

  log = @sprintf("step: %04d, t: %.1f, cfl: %.3f, walltime: %.2f min", clock.step, clock.t,
        cfl, (time()-startwalltime)/60)

  println(log)
end
step: 0100, t: 0.5, cfl: 0.158, walltime: 0.02 min
step: 0200, t: 1.0, cfl: 0.245, walltime: 0.04 min
step: 0300, t: 1.5, cfl: 0.283, walltime: 0.07 min
step: 0400, t: 2.0, cfl: 0.284, walltime: 0.09 min

Plot

And now let's see what we got. First we plot the final snapshot of the vorticity field.

pζ, pbudgets = computetendencies_and_makeplot(prob, diags)

pζ

And finaly the energy and enstrophy budgets.

pbudgets