Abstract
Under the necessary compatibility condition and some mild regularity assumptions on the interior and the boundary data, we prove the existence, uniqueness, and stability of solution in \([L^{m+1}(\Omega )]^{d}\times(W^{1, \frac{m+1}{m}}(\Omega)\cap L^{2}_{0}(\Omega))\) for a generalized Darcy–Forchheimer model, governing a non-Darcy flows in porous media with dimension \(d=2, 3\) and \(m\in(1, 2]\).
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1 Introduction
The applications of nonlinear differential equations are seen in many fields (see [1–4]). In the field of fluid dynamics, the nonlinear correction to Darcy’s law has been an active area of research for many years. Theoretical, experimental, and numerical analyses [5–7] have been performed to ascertain the exact form and magnitude of the nonlinearity effect. However, until now, no single correction seems to be acceptable by all (see [7]). Non-Darcy effects are prevalent in fluid transport through porous media, especially for high velocity flows [8, 9]. Worthy of note includes Darcy–Forchheimer which serves as a mathematical model for many high velocity flows in porous media, most especially for gas reservoirs and hydrodynamic flows [10–12]. The generalized nonlinear Darcy–Forchheimer equation takes the form
In (1), p is the pressure, u and ρ are the velocity and density of the fluid, respectively, f is a vector function, usually the gradient of the depth function. Different forms of (1) have been considered by several researchers, see, for example, [10–15]. Forchheimer in his work [5] established three empirical nonlinear formulas: \(-\nabla p= \alpha\boldsymbol{v}+\beta|\boldsymbol{v}|\boldsymbol{v}\), \(-\nabla p= \alpha\boldsymbol{v}+ \beta|\boldsymbol{v}|\boldsymbol{v} + \gamma|\boldsymbol{v}|^{2}\boldsymbol{v}\), and \(-\nabla p= \alpha \boldsymbol{v}+ \beta|\boldsymbol{v}|^{m-1}\boldsymbol{v}\), \(m\in (1, 2)\), to account for the inadequacies of Darcy law with α, β, and γ empirical constants deduced from experimental data. The model of interest in this article is the following generalized flow law:
where Ω is an open bounded domain of \(\mathbb{R}^{d}\) \((d=2 \mbox{ or } 3)\) with a Lipschitz boundary Γ, \(\boldsymbol{u}:\Omega\longrightarrow\mathbb{R}^{d}\) and \(p: \Omega \longrightarrow\mathbb{R}\) denote the unknown velocity vector and scalar pressure field, respectively, and f is a given function. The permeability tensor is assumed to be uniformly positive definite and bounded, while the parameters μ, ρ, and β are assumed to be constants. We denote by \(|\cdot|\) the Euclidean norm such that \(|\boldsymbol{u}|^{m-1}=(\boldsymbol {u}\cdot\boldsymbol{u})^{\frac{m-1}{2}}\). For \(m=2\), Equation (2) reduces to the classical Darcy–Forchheimer law [5, 16, 17].
We solve (2) subject to the following conditions:
In (3), b and g are the interior and boundary data, respectively, satisfying the compatibility condition
Equation (2)–(4) is a reliable model for describing a single-phase strong inertia flow [18, 19] in simple and complex porous media.
In this article, we establish the well-posedness of (2)–(4). Our technique of proof is similar to the one in [20] with some necessary modifications due to the nature of the nonlinear term. We now state our main result, which will be proved by a combination of classical arguments for saddle point problems [21, 22] and monotone nonlinear elliptic problems [23, 24].
Theorem 1.1
Provided \(b\in L^{\frac{d(m+1)}{d+(m+1)}}(\Omega)\) and \(g\in L^{\frac {(d-1)(m+1)}{d}}(\Gamma)\) satisfy (4), Problem (2)–(4) has a unique solution \((\boldsymbol{u},p)\), with \(\boldsymbol {u}\in[L^{m+1}(\Omega)]^{d}\) and \(p\in W^{1,\frac{m+1}{m}}(\Omega)\cap L^{2}_{0}(\Omega)\).
The remainder of the article is organized as follows: Some preliminaries are presented in Sect. 2. The variational formulation will be given in Sect. 3. We prove the existence and uniqueness of solution in Sect. 4, while the stability is established in Sect. 5.
2 Preliminaries
This section is devoted to recalling some notations, definitions, and some classical results. Let Ω be a measurable subset of \(\mathbb{R}^{d}\),
The \(L^{p}\) norm of a function f is given by
For a given domain Ω and for any \(k\in\mathbb{N}\), let \(\|\cdot \|_{W^{k,p}(\Omega)}\) and \(|\cdot|_{W^{k,p}(\Omega)}\), \(1\leq p<\infty \), be the norm and semi-norm, respectively, on the standard Sobolev space \(W^{k,p}(\Omega)\) (see [25]). For a vector-valued function \(\boldsymbol{v} =(v_{1},v_{2},\ldots,v_{d}) \in[W^{k,p}(\Omega )]^{d}\), the norm
Similarly, the semi-norm is given by
Note that \(\|\cdot\|_{[W^{k,p}(\Omega)]^{d}}\) reduces to \(\|\cdot\| _{[L^{p}(\Omega)]^{d}}\) when \(k=0\).
The following inequalities will be useful in our calculations and can be found in [24, 25]:
Lemma 2.1
([26])
Let \((X,\|\cdot\|_{X})\) and \((M, \|\cdot\|_{M})\) be two reflexive Banach spaces. Let \((X^{*}, \|\cdot\|_{X^{*}})\), \((M^{*}, \|\cdot\|_{M^{*}})\) be their corresponding duals. Let \(\mathcal{B}\): \(X\longrightarrow M^{*} \) be a linear continuous operator and \(\mathcal{B}^{*}: M\longrightarrow X^{*}\) be the dual of \(\mathcal{B}\). Let \(V= \operatorname{ker}(\mathcal{B})\) be a kernel of \(\mathcal{B}\). Denote by \(V^{0}\subset X\) the polar subspace of V, \(V^{0}= \lbrace x^{*}\in X^{*} |\langle x^{*}, v\rangle=0, \forall v\in X \rbrace\) and \(\dot{\mathcal{B}}:X/V\longrightarrow M^{*}\) the quotient operator associated with \(\mathcal{B}\). Then the following properties are equivalent:
-
(i)
There exists a constant \(\alpha>0\) such that
$$ \inf_{q\in M \setminus\lbrace0 \rbrace}\sup_{u\in X \setminus\lbrace0 \rbrace} \frac{\langle\mathcal{B}u, q\rangle}{ \Vert q \Vert _{M} \Vert u \Vert _{X}}\geq\alpha; $$(9) -
(ii)
\(\mathcal{B}^{*}\) is an isomorphism from M onto \(V^{0}\) and
$$ \bigl\Vert \mathcal{B}^{*}q \bigr\Vert _{X^{*}}\geq\alpha \Vert q \Vert _{M},\quad \forall q\in M; $$(10) -
(iii)
\(\dot{\mathcal{B}}\) is an isomorphism from \(X/V\) onto \(M^{*}\) and
$$ \Vert \dot{M}\dot{u} \Vert _{M^{*}}\geq\alpha \Vert \dot{u} \Vert _{X/V}, \quad \forall\dot{u}\in X/V. $$(11)
3 Variational formulation
We define the following spaces:
The zero mean condition is required to guarantee the uniqueness of the pressure p. We consider the following variational formulation:
For any \(\boldsymbol{f}\in X^{*}\), find a pair of functions \((\boldsymbol {u}, p)\in X\times M\) such that
\(\forall\boldsymbol{\varphi}\in X\), \(\forall q\in M\), with \(b\in L^{\frac{d(m+1)}{d+(m+1)}}(\Omega)\) and \(g\in L^{\frac {(d-1)(m+1)}{d}}(\Gamma)\) satisfying (4).
Problems (12)–(13) and (2)–(4) are equivalent. To see this, we multiply equation (2) by \(\boldsymbol {\varphi}\in X\) and integrate over Ω. We then apply the conditions in equation (3) to the Green’s formula (14):
with
Define the following operators:
With these operators, an equivalent form of (12)–(13) is as follows:
Given \((\boldsymbol{f},g)\in X^{*} \times M^{*}\), we want to find a pair \((\boldsymbol{u}, p)\in X\times M \) such that
Problem (15) can also be rewritten as
where
In the sequel, Problems (15) and (16) are used interchangeably just for convenience.
Lemma 3.1
The following inf-sup condition holds:
Proof
By representation of a dual norm,
By setting \(\boldsymbol{v}= \nabla q\), we get
Since q belongs to the space of zero mean, we have the following:
Equivalently,
Now substituting (23) in (24) yields the required result. □
Proposition 3.1
For each \(b\in L^{\frac{d(m+1)}{d+(m+1)}}(\Omega)\) and \(g\in L^{\frac {(d-1)(m+1)}{d}}(\Gamma)\) satisfying (4), there is unique \(\boldsymbol{u}_{\ell}\in[L^{m+1}(\Omega)]^{d}/V\) satisfying
Furthermore,
where C is a constant depending on Ω only.
Proof
Denote
Equation (15)2 can be written as follows:
where \(F(q)= - \int_{\Omega}bq\,\boldsymbol {d}{x} + \int_{\Gamma}gq\,\boldsymbol {d}{\sigma}\). Now let us estimate the right-hand side of (28).
This implies
By the trace theorem and Sobolev embeddings [25], we obtain
The map \(q\mapsto-\int_{\Omega}bq\,d\boldsymbol{x}+ \int_{\Gamma}gq \,d\sigma\) is a bounded linear map, so it belongs to \(M^{*}\). Therefore, using the inf-sup condition in Lemma (3.1) and the equivalence statements in Lemma 2.1, there is unique \(\boldsymbol{u}_{\ell}\in{ [L^{m+1}(\Omega)]^{d}/V} \) satisfying (25). Hence,
Applying Lemma 3.1 in (32), (26) is established. □
Based on Proposition 3.1, we split the solution u into \(\boldsymbol{u}_{0} +\boldsymbol {u}_{\ell}\), where \(\boldsymbol{u}_{0}\in V\) and \(\boldsymbol{u}_{\ell}\in [L^{m+1}(\Omega)]^{d}\). An equivalence variational formulation of (12)–(13) is as follows: For any \(f\in X^{*}\), find \({\boldsymbol {u}}_{0}\in V\) such that
Proposition 3.2
Problem (12)–(13) is equivalent to Problem (33).
Proof
Suppose \((\boldsymbol{u}, p)\), with \(\boldsymbol{u}\in X\), \(p\in M\), is a solution of (12)–(13). Then we write \(\boldsymbol {u}=\boldsymbol{u}_{0}+\boldsymbol{u}_{\ell}\), where \(\boldsymbol{u}_{\ell}\in[L^{m+1}(\Omega)]^{d}/V\) solves (26). It follows that \(\boldsymbol{u}_{0}\) satisfies (33).
Conversely, take \(\boldsymbol{u}_{0}\) to be a solution of (33); then
Equivalently, \(\boldsymbol{f}-\mathcal{A}(\boldsymbol{u}_{0}+\boldsymbol {u}_{\ell}) \in V^{0}\), where
It follows from the closed range theorem [27] that \(\boldsymbol {f}-\mathcal{A}(\boldsymbol{u}_{0}+\boldsymbol{u}_{\ell})\in \operatorname{Image}(\boldsymbol{B}^{*})\).
Thanks to the inf-sup condition in Lemma 3.1 and the isomorphism in Lemma 2.1, there exists unique \(p\in M\) such that
Consequently,
Hence,
Since \(\boldsymbol{u}=\boldsymbol{u_{0}}+\boldsymbol{u}_{\ell}\), (12) is satisfied. Furthermore, since \(\boldsymbol{u}_{0}\in V\), we have
This implies that (13) is satisfied. □
In view of the equivalence in Proposition (3.2), Problem (33) will be the focus of our analysis.
Lemma 3.2
For any pair \((\boldsymbol{v}, \boldsymbol{w})\in\mathbb{R}^{n}\times \mathbb{R}^{n}\),
Proof
Let \((\boldsymbol{v}, \boldsymbol{w})\in\mathbb{R}^{n}\times \mathbb{R}^{n} \), \(\psi(\boldsymbol{v}):=|\boldsymbol{v}|^{m-1}\boldsymbol{v}, \psi (\boldsymbol{w}):=|\boldsymbol{w}|^{m-1}\boldsymbol{w}\).
For \(n=2\), set
It follows that
The Jacobian matrix \(\psi^{\prime}(\boldsymbol{v})\) is \(2\times2\) symmetric, so its norm \(\|\psi^{\prime}(\boldsymbol {v})\|\) is the larger eigenvalue (spectral radius). The eigenvalues are computed by the following formula:
We have
Then \(\lambda_{1,2}=\frac{1}{2} [ (m-1)|\boldsymbol{v}|^{m-1} +2|\boldsymbol{v}|^{m-1}\pm(m-1)|\boldsymbol{v}|^{m-1} ] \).
The larger eigenvalue is given by
Therefore, the norm of the Jacobian matrix is given by \(\|\psi^{\prime}(\boldsymbol {v})\|= m|\boldsymbol{v}|^{m-1}\).
Application of the mean value theorem for vector-valued functions [28] yields
So, in view of inequality (7), we obtain
□
4 Existence and uniqueness
To prove the existence and uniqueness of solution for (33), it suffices to demonstrate that the map \(\mathcal{A}\) defined in (17) satisfies the following properties in \([L^{m+1}(\Omega)]^{d}\): boundedness, strict monotonicity, coercivity, and hemi-continuity [23, 24]. We let the least eigenvalue of K be \(\lambda_{s}\). Therefore,
Lemma 4.1
The operator \(\mathcal{A}: [L^{m+1}(\Omega)]^{d}\rightarrow[L^{\frac {m+1}{m}}(\Omega)]^{d}\) satisfies the following bounds: \(\forall{\boldsymbol {v}}, \forall{\boldsymbol {w}} \in[L^{m+1}(\Omega)]^{d}\),
and
Proof
Let \(\boldsymbol{u},\boldsymbol{v}\in[L^{m+1}(\Omega)]^{d}\). \(\boldsymbol{v}\in[L^{m+1}(\Omega)]^{d} \implies\mathcal{A}(\boldsymbol {v})\in L^{\frac{m+1}{m}}(\Omega)\). Therefore,
Hence,
Using dual norm representation (22) and the last line above, we deduce (40). The estimate in (41) follows from (38). □
Lemma 4.2
The map \(\boldsymbol{u}\mapsto\mathcal{A}(\boldsymbol{u}+\boldsymbol {u}_{\ell})\) defined in (17) is strongly monotone, that is, for all \(\boldsymbol{u},\boldsymbol{v}\in[L^{m+1}(\Omega)]^{d}\), we have
Proof
Define \(F: [L^{m+1}(\Omega)]^{d}\longrightarrow\mathbb{R}\) by
For all \(\boldsymbol{v},\boldsymbol{w}\in[L^{m+1}(\Omega)]^{d}\) and \(h\in \mathbb{R}\), we have
Therefore,
Thanks to the Lebesgue convergence theorem [29], we get
Hence,
We have
Consequently,
It follows that
Therefore,
Now we observe that \(F^{\prime\prime}\) is positive definite and symmetric. Indeed,
Let u, v be in \([L^{m+1}(\Omega)]^{d}\). Set \(\hat{\boldsymbol{u}}=\boldsymbol{u}+\boldsymbol{u}_{\ell}\) and \(\hat {\boldsymbol{v}}=\boldsymbol{v} +\boldsymbol{u}_{\ell}\), where \(\boldsymbol{u}_{\ell}\) is fixed in \([L^{m+1}(\Omega)]^{d}\). Then
That is,
Furthermore, by the mean value theorem, we have
Therefore, (47) becomes
Thanks to (46), equation (49) becomes
Hence, we have (42) since \(\hat{\boldsymbol{u}}-\hat{\boldsymbol {v}}= \boldsymbol{u}-\boldsymbol{v}\). □
Lemma 4.3
The map \(\boldsymbol{u}\mapsto\mathcal{A}(\boldsymbol{u}+\boldsymbol {u}_{\ell})\) in (17) is coercive in \([L^{m+1}(\Omega)]^{d}\), for any \(\boldsymbol{u}_{\ell}\) fixed in \([L^{m+1}(\Omega)]^{d}\),
Proof
Let \(\boldsymbol{u}\in[L^{m+1}(\Omega)]^{d}\) be arbitrary chosen and assign \(\hat{\boldsymbol{u}} =\boldsymbol{u}+\boldsymbol{u}_{\ell}\). Then
Thanks to (43), we see that
With the last line above, (52) becomes
We have
This implies
Now, we estimate the second term on the right-hand side of (53).
Substituting (54) and (55) into (53), we get
Hence,
If \(\|\boldsymbol{u}\|_{[L^{m}(\Omega)]^{d}} \longrightarrow\infty\), then
Therefore,
Recalling that
As \(\|\boldsymbol{u}\|_{[L^{m}(\Omega)]^{d}}\longrightarrow\infty\), we obtain
since \(\|\boldsymbol{u}\|_{[L^{m+1}(\Omega)]^{d}}\geq2\|\boldsymbol {u}_{\ell}\|_{[L^{m+1}(\Omega)]^{d}}\).
Hence,
It follows that
Letting \(\|\boldsymbol{u}\|_{[L^{m+1}(\Omega)]^{d}}\longrightarrow\infty \), the desired result (51) is achieved. □
Proposition 4.1
For \(\boldsymbol{u}_{\ell}\) fixed in \([L^{m+1}(\Omega)]^{d}\), the map
is continuous on \(\mathbb{R}\) for all u, v, \(\boldsymbol{w}\in [L^{m+1}(\Omega)]^{d}\). In other words, \(\mathcal{A}\) is hemi-continuous in \([L^{m+1}(\Omega)]^{d}\).
Proof
Let u and v in \([L^{m+1}(\Omega)]^{d}\) be arbitrary functions and assign \(\hat{\boldsymbol{u}}=\boldsymbol{u}+\boldsymbol{u}_{\ell}\).
For any \(\theta_{1}, \theta_{2}\in\mathbb{R}\),
Thanks to (43), the last line becomes
Similarly,
Therefore,
Now, we define
By the mean value theorem [29],
In fact,
Therefore, (59) becomes
Using (61), it follows from (58) that
In view of (44), the term on the RHS of (62) goes to zero as \(\theta_{2}-\theta_{1}\) goes to zero. Thus Proposition (4.1) is proved. □
4.1 Proof of the main result (Theorem 1.1)
In view of Lemmas 4.1, 4.2, 4.3 and Proposition 4.1, the existence and uniqueness of u follows from the Minty–Browder theorem [23]. The inf-sup condition in Lemma 3.1 guarantees the existence and uniqueness of p [21, 26], so that the pair \((\boldsymbol{u}, p)\) solves Problem (12)–(13).
5 Stability
In this section, we prove the stability of the solution in Theorem 1.1.
Theorem 5.1
For any lifting \(\boldsymbol{u}_{\ell}\) in \([L^{m+1}(\Omega)]^{d}\) satisfying (26), the pair of functions \((\boldsymbol{u}, p)\) in Theorem 1.1 satisfies the following estimates:
where \(\boldsymbol{u}_{\ell}\) satisfies the bound in (26) and
Proof
Setting \(\boldsymbol{\varphi}=\boldsymbol{u}_{0}\) in (33) gives
Therefore,
We estimate the LHS of (66) as follows:
The RHS of (66) gives the following bound:
In view of (40), we get
Substituting (67) and (68) into (66) yields
Then, for any \(\epsilon>0\) and \(m>1\),
It follows that
We choose \(\epsilon=\frac{2\lambda_{s}}{C\|K^{-1}\|_{L^{\infty}(\Omega )}}\) and (71) becomes
Hence (63) is established.
In view of (34), we have
Now, applying (40) to the RHS of (73), we get
Thus (64) is established, since \(\boldsymbol{u}=\boldsymbol {u}_{0}+ \boldsymbol{u}_{\ell}\). □
6 Conclusion
The well-posedness of Darcy–Forchheimer model was first established in [20]. In this paper, we extended the well-posedness results to the generalized Darcy–Forchheimer model in a two- or three-dimensional porous domain using classical arguments for nonlinear monotone saddle point problems.
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The authors would like to express their sincere thanks to King Fahd University of Petroleum and Minerals for its support.
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Audu, J.D., Fairag, F.A. & Messaoudi, S.A. On the well-posedness of generalized Darcy–Forchheimer equation. Bound Value Probl 2018, 123 (2018). https://doi.org/10.1186/s13661-018-1043-6
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DOI: https://doi.org/10.1186/s13661-018-1043-6