A nonlinear initial and boundary-value problem for the Kelvin–Voigt equations with anisotropic diffusion, relaxation and absorption/damping terms is considered in this work. The global and local unique solvability of the problem was established in (J. Math. Anal. Appl.473(2) (2019) 1122–1154). In the present work, we show how all the anisotropic exponents of nonlinearity and all anisotropic coefficients should interact with the problem data for the solutions of this problem display exponential and polynomial time-decays. We also establish the conditions for the solutions of this problem to blow-up in a finite time in three different cases: problem without convection, full anisotropic problem, and the problem with isotropic relaxation.
Kelvin–Voigt equations are used in the applications to model the response of materials that exhibit all intermediate range of properties between an elastic solid and a viscous fluid, as, for instance, polymers. Simple constitutive relations describing the behaviour of these materials go back to the works of Maxwell [23] and Kelvin [30], and are usually obtained by combining Hook’s law of linear elasticity with Newton’s law of viscosity (see e.g. [11]). Motivated by Kelvin’s work, Voigt [32] has derived a system of equations describing the behavior of elastic solids with viscous properties, which is known today by the names of Voigt equations, Kelvin equations, or Kelvin–Voigt equations. Later on, inspired in the works by Kelvin and Voigt, Oskolkov [25] has derived the following system of equations for homogeneous and incompressible fluids with elastic properties,
where u denotes the velocity field, π is the pressure, ρ is the constant density, f is the external forces field, κ denotes the relaxation time and μ is the fluid viscosity. Oskolkov denoted the system (1.1)–(1.2) as the Kelvin–Voigt equations for fluid flows with elastic properties, but it should be noted that neither Kelvin nor Voigt have suggested any stress-strain relation or system of governing equations for viscoelastic fluids. Mathematically speaking, the main feature of the Kelvin–Voigt equations (1.2), is that the term works as a regularization of the Navier–Stokes equations in the sense that the correspondingly incompressible initial and boundary-value 3d problem has a unique global solution [18,26]. These equations have also been proposed as a good model for numerical simulations of the Navier–Stokes equations, provided is small [12]. Kelvin–Voigt equations of the type (1.1)–(1.2) have been already considered in different settings, including with viscous or relaxation terms described by different power-laws, or considered with an extra damping/absorption term [8,9,33]. The present paper is a continuation of the work [4], where we have considered the initial and boundary-value problem posed by the following full anisotropic Kelvin–Voigt equations perturbed by anisotropic relaxation, diffusion and damping,
in a cylinder , where its boundary is denoted by . Here, , , is a bounded domain with its boundary denoted by , and is some fixed time. The vector function and the scalar function π are the unknowns of problem, whereas the vector function is a given datum. The notation is understood as the partial derivative of u with respect to : , where for any . The exponents , and are assumed to be constant with possible distinct values and such that for all , whereas , and are possible distinct constants such that
In the scope of Fluid Mechanics, the extra term in the equation (1.4) accounts for a sink or a source within the system. If , this term describes a sink in the direction of , whereas if it depicts a source in the direction of . Interestingly is the fact that we may have sinks in some directions and sources in another directions.
In [4], we have established the conditions for the global and local existence of weak solutions to the problem (1.3)–(1.6), and for the uniqueness as well. Here, we proceed our analysis for the problem (1.3)–(1.6), specifically by studying the large time behavior of the solutions in the case for all (with anisotropic absorption term). In the case of for all (with anisotropic damping term), we study the blow-up in a finite time of the solutions to the problem (1.3)–(1.6).
When , , , and for all , equations (1.3)–(1.4) reduce to the Kelvin–Voigt model (1.1)–(1.2) studied by Oskolkov [26] and Ladyzhenskaya [18]. The case of for all , corresponds to the anisotropic Navier–Stokes equations studied by Antontsev and Oliveira [1–3,13]. If in addition to , , and , we have and , we fall in the generalized Kelvin–Voigt with damping worked out by Antontsev and Khompysh [8,9]. On the other hand, if, in addition to , , , we also have for all , we get the generalized Navier–Stokes equations that govern incompressible power-law fluids and which have been studied during the last 50 years, after the pioneer works by Ladyzhenskaya [19] and Lions [21].
In recent years, a sort of damped Navier–Stokes equations are being used, in the applications, to model certain porous media flows, where the damping terms account for the Darcy and Forchheimer drags due to the porous matrix (see e.g. [24]). Damped Navier–Stokes equations appear also as a regularization technique to prove existence results for generalized Navier–Stokes equations that govern flows of generalized Newtonian fluids (see e.g. [15]). But, the main feature of damped Navier–Stokes equations is that, due to the damping term, one can proves some qualitative properties, as the confinement of the solutions in some subdomain or its extinction in a finite time, that otherwise would be impossible to obtain (see e.g. [1,5,6]).
This work is organized as follows. In Section 2, we introduce the anisotropic function spaces with which we will work with and we recall some auxiliary lemmas that will be used in the sequel and give the definition of weak solutions. The energy inequalities are proved in Section 3. In Sections 4 we establish polynomial and exponential time-decay properties for the weak solutions to the problem (1.3)–(1.6) with anisotropic absorption terms (with , ). The blow-up of the solutions to the problem (1.3)–(1.6) with anisotropic damping terms (with , ) is proved in Section 5, in the case without the convective term. In the general case, with the convective term, the blow-up is established in Section 6. The case of linear isotropic relaxation, for which existence of weak solutions is known, is studied in Section 7.
The notation used throughout this article and the main notions of the considered (isotropic) function spaces are largely standard in the literature of Partial Differential Equations and in Mathematical Fluid Mechanics as well. We address the reader e.g. to the monographs [21,22,29] for any question related to that matter.
Preliminaries
Anisotropic function spaces
The presence of different exponents , and for distinct directions, lead us to look for the solutions to the problem (1.3)–(1.6) in some anisotropic Sobolev space. We define the vectors q, p and m in , whose components are the exponents of the anisotropic terms considered in (1.3), by
with for all . To avoid any misunderstand that q, p and m are in fact multi-component, we shall emphasize this by writing , and , respectively, in the rest of our work. For the sake of simplifying the notation, we assume throughout the text that the components of , and satisfy
Considering the unidirectional Sobolev spaces
which are Banach spaces for the norms
we define the following anisotropic Sobolev space
with the norm defined by
An important limitation of the anisotropic Sobolev space , is that, for bounded domains Ω, the validity of the Sobolev imbeddings is restricted to rectangular domains (see e.g. [16]). In fact, for rectangular domains Ω, the following imbedding is continuous (cf. [28, Theorem 1])
where denotes the Sobolev conjugate of , the harmonic mean of :
Moreover, the imbedding (2.6) is compact (cf. [28, Theorem 2]), and we denote this fact by writing
In some situations, not only it is possible to remove the restrictions on the shape of the domain, but it is also feasible to enlarge the interval of s for the validity of (2.6) and (2.7). Let us see this fact by defining
In this case, we have (cf. [14, Theorem 1]), in the interesting case of , that
where is the critical exponent defined by
Note that, for , and therefore . But, if , it may well happen that . In fact, for ,
This means that, in typical situations when , if, at least, one of the components of is too far apart from the others. For instance, when , , we have if and only if . In this example, the first two components and are relatively close to each other, but we may have all the three components , and sufficiently far apart one from each other, as shows the example for which if and only .
Auxiliary results
As a particular case of (2.8), it can be derived the following result, originally proved by Troisi [31] and later on extended in [14,27].
Letbe an open bounded domain with a Lipschitz-continuous boundary. Then for anyforif, orotherwise, and whereis a positive constant.
The proof combines [31, Theorem 1.2], [27, Theorem 3.1] and [14, Theorem 1]. □
Next, we recall two lemmas which are very important in the proofs of the results we shall establish in the sequel.
Suppose that a positive and differentiable functionsatisfies the following nonlinear differential inequality,for some positive constants α and C. Then the following assertions are valid:
For the proofs of some results established in this work, we will make use of the following version of Young’s inequality,
In the case of and in (2.13), we will refer to this case as Cauchy’s inequality with ε.
Weak formulation
We recall the classical function spaces of Mathematical Fluid Mechanics,
We define the anisotropic analogue of as follows,
where, similarly to (2.14),
We introduce the parabolic anisotropic spaces,
which are Banach spaces for the norms defined by
Now, we consider the unidirectional Bochner space,
which is a Banach space for the norm
Then we define the anisotropic Banach space
whose norm is defined by
We are now in conditions to define the notion of weak solutions to the problem (1.3)–(1.6) we are interested in.
Let and , and , with for all . Assume that , where and . A vector field u is a weak solution to the problem (1.3)–(1.6), if:
;
;
For every
in the distribution sense on , and where θ is defined by
As usual, condition is interpreted in the following sense:
The assumption is necessary to control the boundedness of the convective integral term when u merely belongs to . But, if we just need to require that , since, in this case, there hold the imbeddings , , and . In particular, if and , we only need to require that .
Note that, according to Riesz representation theorem, each element ϕ belonging to the dual space of , where , can be identified with exactly one , where , such that
and . Throughout this work, the integral term of (2.17) involving the forces field shall be understood in this sense.
It should also be noted that assumption for assures us that one of the alternatives holds: (i) ; (ii) ; (iii) ; where and are the d-uples with components and , respectively.
Previous results
The following global existence result has been established in [4, Theorem 7.1].
(Global existence).
Let Ω be a bounded domain in,, with a Lipschitz-continuous boundary. Assume thatandfor all,, and,or. Assume one of the alternatives:
If, let us suppose that one and only one of the following conditions is verified,
If, let us suppose that one and only one of the following conditions is verified,
In addition to the alternatives (1) and (2), let us assume that one and only one of the conditions in each one of the following two sets of hypotheses is verified,andMoreover, assume thatand, in the case of, let us further assume thatThen there exists, at least, a weak solutionto the problem (
1.3
)–(
1.6
) in the sense of Definition
2.1
.
The following local existence result has been established in [4, Theorem 7.2] just in the case of .
(Local existence).
Let Ω be a bounded domain in,, with a Lipschitz-continuous boundary. Assume thatandfor all, and,or. If, assume that the following conditions are both fulfilled,Assume also thatand that one and only one of the following conditions is verified,Then there exists, depending on the problem data, such that the problem (
1.3
)–(
1.6
) has, at least, a weak solution in the cylinderand in the sense of Definition
2.1
.
Energy inequality
In this section, we consider the initial and boundary-value problem (1.3)–(1.6) in the case of
and we assume that one of the alternatives holds,
We assume that also holds
To simplify the writing, let us fix the notation for the different energies associated with the problem (1.3)–(1.6),
Note that, due to assumption (3.1), for all . Functions and will be used, not only in the present section, but throughout the rest of the paper.
Letube a weak solution to the problem (
1.3
)–(
1.6
) in the sense of Definition
2.1
and assume that (
3.4
) is verified together with the alternative (1) of Theorem
2.1
. In addition, assume that one of the conditions (
3.2
) or (
3.3
) holds. Then there exists an independent of t and positive constant C such thatwhereandif (
3.2
) holds, orandif it is (
3.3
) holding.
For the smallest integer , we define . Let be an orthogonal family in and orthonormal in H. Given , we consider the n-dimensional space spanned by , …, . For each , we search for a Galerkin approximation of (2.17) in the form
This function is found by solving the following system of n nonlinear ordinary differential equations, with respect to the n unknowns , obtained from (2.17):
for , with
and where are chosen in such a way that
In the case of the alternative (1) of Theorem 2.1 holds, it was proven in [4, Lemma 5.1], under the assumptions (3.9)–(3.10) and (3.11)–(3.12), the existence of a n-upple such that is a solution to the system (3.8)–(3.10) in the interval and such that
Moreover, in [4, Lemma 5.1], it was proved that the Galerkin approximations satisfy
for some positive constant C not depending on n. Thus, in view of (3.14) and by means of separability and reflexivity, there exists a subsequence (still denoted by) and there exists a function u such that
From (3.15) and (3.16), it follows that
for all .
Now, we integrate (3.13) between and , with and , and using assumption (3.1), we obtain
Using the convergence results (3.15)–(3.19) and a classical property of weak limits, together with the notations (3.5)–(3.6), we obtain from (3.20),
Thus, we can write for every , with ,
From (3.16)–(3.17), we infer that , which, together with one of the assumptions (3.2) or (3.3), shows that
In consequence, by Lebesgue’s differentiation theorem, every term on the right-hand side of (3.21) has a limit, for a.e. , as . This in turn yields the existence of a limit of the left-hand side of this inequality, for a.e. and as . Whence we can write for all
If (3.2) holds, we can use Holder and Young inequalities together with Troisi’s inequality (2.9) to estimate the right-hand side of (3.22) as follows,
for some positive constant . Alternatively, if (3.3) holds, we use Holder and Young inequalities so that
for some positive constant . Using (3.23) or (3.24), and observing the notations (3.5)–(3.6), we obtain (3.7). □
Large time behavior
Let u be a weak solution to the problem (1.3)–(1.6) in the conditions of Theorem 3.1 and let be the energy function defined by (3.5). In this section, we are interested in the solutions to the problem (1.3)–(1.6) with a finite energy . Therefore, we may assume that
Normalizing (4.1), we obtain
It follows from (3.5) and (4.2) that
Next, we shall consider the exponential and polynomial time-decay properties of the solutions. We introduce the notation
Exponential time-decay
Letube a weak solution to the problem (
1.3
)–(
1.6
) in the conditions of Theorem
3.1
. Assume that one of the following alternatives holds:
,for alland
andfor all.
Assume also thatwhereif (
3.2
) holds, orif it is (
3.3
) holding. Then there exist two positive constantsandsuch that
(1) Let and assume that for all . Then, in view of (4.5), we can use Troisi’s inequality (2.9), together with (4.3) and with the facts that for all and (see assumptions (3.1) and (4.5)), so that
where μ is defined at (4.4), is the positive constant from the inequality (2.9) and
(2) Now, we consider the case and for all . In this case, we have
where and
Then, if we plug (4.7) or (4.8) into (3.7), we get, in any case, the following ordinary differential inequality
where in the case of the alternative (1), or in the case (2). After applying Gronwall’s lemma to (4.9), we obtain (4.6) with the constants and , where denotes here the constant from the right-hand side of the energy inequality (3.7). □
Polynomial time-decay
In order to state the main result of this subsection, let us define the following quantities
where μ is defined in (4.4) and
and where u is a weak solution to the problem (1.3)–(1.6) in the conditions of Theorem 3.1.
Letube a weak solution to the problem (
1.3
)–(
1.6
) in the conditions of Theorem
3.1
and assume that (
4.5
) is verified.
In addition, consider the notation for α, defined above at (
4.11
), and assume that one of the following alternatives holds:
Ifa.e. in, then there exist an independent of t positive constantsuch that
If, but exist positive constants, …,and, …,such thatfor allandorthen there exist an independent of t positive constantsuch that
Note that, by the alternatives (4.12) and (4.13), we have, in any case, and therefore
Using (4.3) and (4.5), and reasoning as we did for (4.7), but using here the fact that instead of , we get the following chain of inequalities for ,
where β is defined above at (4.10). In the derivation of (4.19) we have denoted by the positive constant from (2.9) and we have used the following notations,
In the expression for , denotes the d-Lebesgue measure of the domain Ω.
From (4.19) and (4.10), and observing (3.6), we get
where
and and are defined above at (4.10). Plugging (4.20) into (3.7), we obtain the following nonlinear differential inequality
where , is the constant from the right-hand side of the energy inequality (3.7), and α is defined above at (4.11).
(1) If a.e. in , we can, in view of (4.18), apply Lemma 2.2 to the nonlinear differential inequality (4.21) so that
which in turn implies (4.14), with
and where, due to assumption (3.4),
(2) Now we assume that and satisfies to (4.15), or alternatively to (4.16). Using any of these conditions in the nonlinear differential inequality (4.21), we obtain
where , and , are the positive constants given in (4.21).
Let us now look for solutions of the form to the ordinary differential equation
where is a positive constant to be found below and is a positive solution to the equation
Since, , and, due to (4.18), , by Bolzano’s theorem the equation has a root . On the other hand, can be estimated from below as follows
or
Next, we introduce the new function
which in turn satisfies the following linear differential inequality
where
Now, we choose the constant stated at (4.22) in such a way that , i.e., . Using this information, the linear differential inequality (4.24) becomes homogeneous. Solving the resulting homogeneous differential inequality, we obtain
Imposing also that
it follows, from (4.25), that
As a consequence, by the estimate (4.23), we can see that a choice of proves that
and, finally, the decay property (4.17) follows by taking . □
Blow-up without the convective term
In this section, we consider the problem (1.3)–(1.6) in the case of and without the convective term, i.e. we consider the following initial and boundary value problem
Before we state the next result, we recall that, from what we have assumed in (2.1)–(2.3),
Recall also the notations (3.5) and (3.6) for the functions and .
Let,andfor all, and assume thatand thatThen there exists a finite timesuch that the strong solutions to the problem (
5.1
)–(
5.4
) blow-up in the following sense
If for all , then the system (5.1)–(5.4) becomes the Stokes problem with anisotropic diffusion and damping. In this case, the blow-up property still holds.
The proof of this theorem is based on the method worked out in [10]. Let us introduce the function
where stands for the energy function defined at (3.5). For every nontrivial solution to the problem (5.1)–(5.4), we have
Multiplying, formally, the equation (5.1), first by u and then by , and integrating the resulting equations over Ω, we get, respectively, the following energy relations,
Plugging (5.9) into (5.10), we get
Integrating (5.11) from 0 to , and then, using assumption (5.7), we obtain
Using the assumption (5.5) together with (2.3), and observing the identity (5.12), we can estimate the right-hand side of (5.13) as follows,
Combining this inequality with (5.13), we obtain
Let us denote by the time of existence of the solution u,
where is the energy function defined at (3.5). By virtue of (5.8), (5.9) and (5.14), we can infer that, for every nonstationary solution u the problem (5.1)–(5.4),
In order to obtain a contradiction, let us assume the blow-up does not occur in a finite time, i.e., the nonstationary solution u exists for all time and so .
Using (5.9) and (5.14) together with the Hölder inequality, we get the following chain of inequalities
Since , and for all , it follows that , as . From here, and by virtue of assumption (5.6), we can infer that, for every σ such that , one has
Thus, from (5.15), it follows that for every fixed there exists a moment such that
Using (5.15) together with last inequality, we get
Hence
Integrating (5.16) between and t, leads us to the inequality
As a consequence, we have
which contradicts our assumption that . □
Blow-up with anisotropic relaxation, diffusion and damping
In this section we consider the problem (1.3)–(1.6) with and for all . Recall that, from what we have assumed in (2.1)–(2.3)
Recall also here the notations (3.5) and (3.6) for the functions and . In particular, taking in (3.5) and observing (1.5), we have
Let be,,for alland assume thatAssume, in addition, thatwhereandare positive constants, defined below at (
6.30
).
Then there exists a finite timesuch that the strong solutions to the problem (
1.3
)–(
1.6
) blow-up in the following sense
By Lemma 2.3 one can takes the upper bound of the interval for (see (6.33) below).
The proof of this theorem is based on the method developed in [9]. Let us introduce the functions
where is the energy function defined at (3.5) and is a nonnegative constant to be chosen later on.
Multiplying, formally, the equation (1.3) first by u and then by , and integrating the resulting equations over Ω, we get, respectively, the following energy relations,
and
Using the notations introduced above at (6.7)–(6.8), we can rewrite (6.9) as
and (6.10) as
Deriving (6.11) with respect to t, and then combining the resulting equation with (6.12), gives
On the other hand, observing the notation set forth at (3.5), it follows from (6.7) that
Arguing as we did for (5.15) and using the expression (6.14), we can estimate as follows,
We estimate the term on right-hand side of (6.13) by applying Cauchy’s inequality with ε. Next, for each , we use Young’s inequality (2.13) with , to be defined later on, and , which is possible due to assumption (6.1)1
where
For the term on the right-hand side of (6.13), we also first use Cauchy’s inequality with , with to be defined later on. Then, for each and in view of assumption (6.3), we can use Young’s inequality (2.13) with , to be chosen below, and with . After all, we obtain
Now, for each , we choose so that
where
For the term , we proceed analogously, using, in this case, Cauchy’s inequality with , with to be defined later on, and next, for each , we use Young’s inequality (2.13) with , with to be chosen later on, and with , which is possible due to assumption (6.2)2. This way, we obtain
where
Plugging (6.16), (6.17) and (6.18) into (6.13), we obtain
where
Owe to assumption (6.1)1, we can use, for each , the continuous imbedding , to get from (6.11) the following inequality
For each , we now choose and , considered in the estimates (6.16) and (6.18), respectively, so that
Then plugging (6.21) into (6.19), one has
where
where Λ is defined at (6.20). Gathering (6.7) and (6.23), we obtain
where is defined above at (6.24) and is the constant from (6.7) that is chosen as satisfying the identity
Then, combining (6.25)–(6.26) with (6.15), and using the assumptions (6.1)2 and (6.4), we have
where we have set
Observing again the assumption (6.4), we can choose
so that . Thus, we can now apply Lemma 2.3, by taking there , with defined by (6.7), and so that (6.27) matches with (2.10) for α, and defined at (6.28). In particular, first and third conditions of the assumption (2.11) are immediately satisfied in view of (3.5), (6.7) and (6.26), and of (6.28), respectively. With respect to the second condition of (2.11), we can see that, by using the notations (3.5), (6.7), (6.26) and (6.28) together with the identity (6.11), it is satisfied, because the inequality (6.5) is assumed to be verified for
Using the expressions for and α, and defined at (6.26) and (6.28), respectively, these constants and can be computed as follows
and where ε is to be chosen according to (6.29).
Hence, by Lemma 2.3, the blow-up property (6.6) holds true for
where again and α, and are the positive constants defined at (6.26) and (6.28), respectively. □
Blow-up in the case
In this final section, we consider the problem (1.3)–(1.6) in the case of and considering a linear and isotropic relaxation term, i.e. we assume that in the equation (1.3)
Existence and uniqueness results for the problem (1.3)–(1.6), under the assumption (7.1), have been proved in Theorems 7.1 and 8.1 of ours previous work [4]. In view of the assumption (7.1), the notations (3.5), (6.7), and (6.8) can now be written as
where is the constant defined in (6.26) with the simplifications derived from assuming (7.1). In particular, taking and observing (1.5), we have
Let,for all, and assume that (
7.1
) holds together withIn addition, assume thatfor the constantsanddefined at (
6.31
)–(
6.32
) and whose writing can be simplified by virtue of (
7.1
).
Then there exists a finite timesuch that the strong solution to the problem (
1.3
)–(
1.6
) blows up in the following sense
The proof follows exactly the same approach of the proof of Theorem 6.1, with the simplifications underlying the assumption (7.1), i.e. and for all .
The main difference with the proof of Theorem 6.1, relies in the estimate of the term established in (6.18). In the present case, we estimate this term as follows
where now
Other difference relies on the choice of the constants in the application of Young’s inequality in (6.22). In the present situation, for each , we choose
Then, arguing as we did in the proof of Theorem 6.1, we get the inequality (6.27), in this case with
Therefore Lemma 2.3 applies in this case as well. Here, the constants and are also defined by (6.30), but with the simplifications underlying to the assumption (7.1). Explicit formulae for and can be obtained by the application of assumption (7.1) to (6.31) and (6.32). In particular, the constant that appears in (6.32), can be depicted from (6.24) and (6.26) as follows
This concludes the proof. □
Footnotes
Acknowledgements
The first author was supported by the Research Project 19-11-00069 of the Russian Science Foundation, Russia (30 percent of all results of this paper). The second author was supported by the Grant no. SFRH/BSAB/135242/2017 of the Portuguese Foundation for Science and Technology, Portugal. Both first and second authors were also partially supported by National Funding from FCT – Fundação para a Ciência e a Tecnologia, under the project: UIDB/04561/2020. The third author was partially supported by the Grant no. AP08052425 of the Ministry of Science and Education of the Republic of Kazakhstan (MES RK), Kazakhstan.
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