Tony Arber

University 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 dierent forms MHD wavesAlfvens Frozen Flux TheoremLine Conservation TheoremCharacteristicsShocks

Applications of MHD, i.e. all the interesting stu!, 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 uid 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 uids

Low frequency Maxwell

Adiabatic equation for uids

Ideal Ohms Law for uids

Mass Conservation - Continuity Equation

x x+x

m =

Z x+xx

dx

F (x+x)F (x)

Mass m in cell of width changes due to rate of mass leaving/entering the cell

xF (x)

@

@t

Z x+xx

dx

!= F (x) F (x+x)

@

@t= limx!0

F (x) F (x+x)x

@

@t+

@F (x)

@x= 0

Mass ux - conservation laws@

@t+

@F (x)

@x= 0

Mass ux 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 uid dynamics the relation between total and partial derivatives is

Rate of change of quantity at a xed point in space

Convective derivative:

Rate of change of quantity at a point moving with the uid.

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 uid elements pressure and volume (moving with the uid) is adiabatic

PV = constant

d

dt(PV ) = 0

Where is ration of specic heats

Moving with a packet of uid the mass is conserved so V / 1

d

dt

P

= 0

Momentum equation - Euler uid

x x+x

Total momentum in cell changes due to pressure gradient

P (x) P (x+x)uxx

Now F is momentum ux per second F = uxux

@

@t(ux) +

@F

@x= rP

@

@t(uxx) = F (x) F (x+x) + P (x) P (x+x)

Momentum equation - Euler uid

@ux@t

+ ux@ux@x

= rP

Use mass conservation equation to rearrange as

@ux@t

+ ux@ux@x

= rP

duxdt

= rP

dux(x, t)

dt=

@ux@t

+@x

@t

@ux@x

Since by chain rule

Momentum equation - MHD

du

dt= rPFor Euler uid how does this change for MHD?

Force on charged particle in an EM eld 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 = jBWhere j is the current density. Hence

du

dt= rP + jB

Note jxB is the only change to uid equations in MHD. Now need an equation for the magnetic eld 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 nd current density j

Low-frequency Maxwell equations

So for low velocities/frequencies we can ignore the displacement current

Displacement current

Quasi-neutrality

For a pure hydrogen plasma we have

Multiply each by their charge and add to get

where 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 uid is moving this becomes

Equations of motion for ion uid is

Magnetohydrodynamics (MHD)

Valid for:

Low frequency

Large scales

If =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

Eulerian form of MHD equations

@

@t= r.(v)

@P

@t= Pr.v

@v

@t= v.r.(v) 1

r.P + 1

jB

@B

@t= r (v B)

j =1

0rB

Final equation can be used to eliminate current density so 8 equations in 8 unknowns

Lagrangian form of MHD equations

j =1

0rB

D

Dt= r.v

DP

Dt= Pr.v

Dv

Dt= 1

r.P + 1

jB

DB

Dt= (B.r)v B(r.v)

D

Dt

B

=B

.rv

=P

( 1)

Alternatives

Specic 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

20

v B(v.B)

@B

@t= r(vBBv)

E =P

1 +v2

2+B2

20The 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

=20P

B2

Low beta means dynamics dominated by magnetic eld, high beta means standard Euler dynamics more important

/ c2s

v2A

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 eld

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)

(Alfvn waves)

Alfvn speed

Sound speed

B k

Dispersion relation

Incompressible no change to density or pressure

Group speed is along B does not transfer energy (information) across B elds

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

But

So

Magnetic pressureMagnetic tension

Magnetic pressure and tension

Pressure perturbations

Phase speeds:

: Group speeds

Phase and group speeds

Throwing a pebble into a plasma lake...For low plasma beta

Three types of MHD waves

Alfvn waves magnetic tension (=VAk)

Fast magnetoacoustic waves magnetic with plasma pressure (VAk)

Slow magnetoacoustic waves magnetic against plasma pressure (CSk)

transv. velocity density

MHD Waves Movie

vA >> cs

1. The perturbations are waves

2. Waves are dispersionless

3. and k are always real

4. Waves are highly anisotropic

5. There are incompressible - Alfvn 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) +

0r2B

If we assume the resistivity is constant then

Ratio of advective to diusive terms is the magnetic Reynolds number

Rm =0L0v0

Usually in space physics (106-1012). This is based on global scale lengths . If is over a small scale with rapidly changing magnetic eld, i.e. a current sheet, then

Rm >> 1

Rm ' 1L0 L0

Alfvens theorem

d

dt

ZSn.B dS =

ZSn@B

@tdS

Ilv B.dl

= ZSr (E+ v B).n dS

Rate of change of ux through a surface moving with uid

Magnetic ux through a surface moving with the uid is conserved if ideal MHD Ohms law, i.e. no resistivity

Often stated as- the ux is frozen in to the uid

Line Conservation

x(X, t)

x(X+ X, t)

X

Consider two points which move with the uid

x

xi =@xi@Xj

Xj

x(X+ X, 0)

x(X, 0) = X

=@ui@xk

@xk@xj

Xj

= (x.r)u

D

Dtx =

@ui@Xj

Xj

Line Conservation -2

D

Dtx = (x.r)u

Equation for evolution of the vector between two points moving with the uid is

D

Dt

B

=B

.rv

Also for ideal MHD

Hence if we choose to be along the magnetic eld at t = 0 then it will remain aligned with the magnetic eld.

Two points moving with the uid which are initially on the same eld-line remain on the same eld 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

B0j0

Where superscript zero refers to initial values

Bi =@xi@Xj

B0j

0

0

= =

@(x1, x2, x3)

@(X1, X2, X3)

Bi =@xi@Xj

B0j

Cauchy solution

MHD based on Cauchy

Bi =@xi@Xj

B0j

0

= =

@(x1, x2, x3)

@(X1, X2, X3)

P = const

Dv

Dt= 1

r.P + 1

0(rB)B

Only need to know position of uid elements and initial conditions for full MHD solution

dx

dt= v

Resistivity

Coriolis GravityOther

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

Properties of the Jacobian

Left and right eigenvectors/eigenvalues are real

Diagonalisable:

Characteristic waves

But

w is called the characteristic eld

A = RR1 so R1A = R1

@

@t

R1U

+.

@

@x

R1U

= 0

1. 0 with t x

+ = = w w 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 nite time, form a singular gradient. These are shocks and the dierentially form of MHD is not valid.

Also formed by sudden release of energy, e.g. are, or supersonic ows.

Rankine-Hugoniot relations

U

xS(t)xrxl

ULUR

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

The End