1. Introduction
Mathematical models of natural processes in domains with reentrant corners on the boundary play an important role in fracture mechanics. The presence of reentrant corner on the boundary causes a singularity in the solution of the problem. The solution of the Dirichlet problem for the Poisson equation in the domain with one corner with vertex at the origin can be written as
where r is a distance from point to is a sufficiently smooth function, are polar coordinates at the point and is the cutoff function [1].The generalized solution of this problem belongs to the space , where for is any positive number. The classical finite element method (FEM) or finite difference method lose accuracy in the process of finding an approximate solution This happens due to the presence of a singular component in the solution of a boundary value problem. According to the principle of coordinated estimates, the approximate solution converges to the exact one with a rate (see [2,3]). This leads to a significant increase in computer power and computation time to find a solution with a given accuracy. Traditionally, the acceptable rate of convergence of the approximate solution to the exact solution is .
We note several approaches to find an approximate solution of hydrodynamic problems in domains with corner singularity that increase its convergence rate compared to classical approaches. The first one [4] is based on enrichment of the FE spaces by singular components. The second approach [5] use mesh geometrically refined in the neighborhood of a reentrant corner. The third method [6] relies on the definition of dual functions to the singular components and the extension of the variational problem statement using auxiliary equations. The fourth approach [7] is based on the approximation of stress coefficients for the singular components of the solution, knowing that we find the regular components of the solution. In the fifth method (see [8]), the original non-convex polygonal domain is divided into subdomains with simple geometry (without reentrant corners) and the Strang-Fix algorithm is implemented So that the dimension of the discrete space increases in the vicinity of the singularity point. The sixth one relies on the selection of several neighborhoods for the singularity point and introduction of auxiliary bilinear forms, the so-called energy-corrected FEM (see [9]).
We proposed to define the solution of a boundary value problem with a singularity as an -generalized one [10]. The introduction of a weight function into the definition of a weak solution makes it possible to reduce the influence of the singularity on the accuracy in finding the approximate solution. We have proposed a weighted FEM, which allow us to find an approximate solution of boundary value problems with a strong and corner singularity, without loss of accuracy with a rate . The method was constructed and investigated for the third boundary value problem for a second-order elliptic Equation [11], for the Maxwell’s Equations [12,13], for the Lamé system [14,15] and for an elasticity problem with a crack [16,17]. In [18,19,20], weighted FEM was developed for the Stokes and Oseen problems.
To create and research the convergence of numerical methods for problems with a corner singularity, it is necessary to study the existence, uniqueness and regularity of the solution. The early work on the study of the regularity theory in non-convex domains for hydrodynamics problems include a paper [21], which was developed in [22,23,24,25]. In particular, in [22,23] authors used and generalized the results for the Stokes and Navier–Stokes problems in the Sobolev spaces with Kondrat’ev-type weights, which were proposed in [1] for elliptic and parabolic problems. In recent years, it should be noted papers [26,27,28] which are devoted to study the differential properties of hydrodynamic problems solutions.
The study of the existence and uniqueness of the -generalized solution of boundary value problems for the second-order elliptic equations and the Lamé system was held in [29,30,31]. To investigate the -generalized solution of hydrodynamic problems with a corner singularity, it is required to examine the properties of their operators in a nonsymmetric variational formulation. This paper is devoted to the study of special weighted sets related to the operators of the Stokes problem.
The structure of the paper is as follows. In Section 2, we state a Stokes problem and introduce the necessary notation. Define the -generalized solution in a nonsymmetric variation formulation in weighted sets. Section 3 is devoted to the study of properties of sets related to the operators of the Stokes problem. Finally, some concluding remarks are given in Section 4.
2. Problem Statement
The Stokes problem is to find the velocity field and pressure p which satisfy the system of differential equations and boundary conditions
(1)
(2)
(3)
Let be a non-convex polygonal domain with one reentrant corner with vertex at the origin Let us briefly describe the behavior of the solution of Equations (1)–(3) in a neighborhood of the reentrant corner (for more details see, for example, [1,21]). The components of solution in polar coordinates are linear combinations of singular components and regular remainders. The singular ones of the function and p have an asymptotic and , respectively, where is an eigenvalue of the Stokes operator, satisfying, in the case homogeneous Dirichlet boundary conditions, the following equation:
In particular, if is equal to then the smallest positive eigenvalue, characterizing the behavior of the solution in the neighborhood of the reentrant corner is approximately equal to
In order to determine the -generalized solution of the Equtions (1)–(3) we introduce the spaces and sets of functions. Denote by the intersection of the disk of radius centered at the origin with a closure of Define the function in which we will call a weight function satisfying the conditions: if and otherwise. Let , are non-negative integers, , .
Denote by weighted spaces of functions with bounded norms
(4)
(5)
respectively. Let be the seminorm of the second space. Denote by a closure relative to the norm (5) of the set of infinitely differentiable compactly supported functions in .We define the following conditions for the functions
(6)
(7)
(8)
where is a positive constant, is a small positive parameter that does not depend on andDenote by the set of functions from the space satisfying (6) and (7) with bounded norm (4). Define the subset with bounded norm (4). Let and are sets of functions from the spaces and , respectively, satisfying (6)–(8) with bounded norm (5). We will assume that a linear combination of functions from () also belongs to ().
We will highlight space (set) of vector functions in bold style, that is, () with bounded vector norm Analogically spaces (sets) of vector functions and ( and ) with a vector norm (5).
Define bilinear and linear forms
(9)
The pair is called an -generalized solution of the problem (1)–(3), satisfies a condition (3) almost everywhere on such that for all pairs integral identities
hold, where
Let us introduce the notation
3. Properties of Functions from Sets and
3.1. Construction of the Function Using the Function and Their Relationship
Let For any function there exists a function (see [32]), such that The function belongs to the space and satisfies the following conditions:
(10)
(11)
(12)
We define a function and prove the following lemma.
Components of the function satisfy a condition (6) and conditions (7) and (8) up to constants.
Without loss of generality, consider
Firstly, note that in , hence the condition (6) is satisfied.
Secondly,
For an arbitrary , we have
(13)
Apply Equation (13), with then
using the inequalities , (10) and (11) for , we have(14)
The condition (7), up to a constant, is satisfied.
Thirdly,
Using (13), we conclude
then, applying the inequalities , (11) and (12), we deriveFurther
then, applying the inequalities , (11) and (12), we getThe condition (8), up to a constant, is satisfied.
Lemma 1 is proved. □
It will be proved in Theorem 1 that the function In view of this fact, Lemma 1 and an equality we conclude that
3.1.1. Auxiliary Statements
We need the following auxiliary statements.
(Friedrichs’s inequality). For any the inequality
(15)
holds, where is a positive constant that does not depend on z.Let us prove the statement connecting the integrals in and .
For any satisfying the conditions (6) and (7), the inequality
(16)
holds, where is a positive constant equal to , is the value of of the corner ω change in polar coordinates.Taking into account the condition (7), we conclude
(17)
Using the condition (6), we have
(18)
We combine the inequalities (17) and (18), we get the estimate (16) with a constant
Lemma 3 is proved. □
Lemma 3 implies the following corollaries.
For any satisfying the conditions (6) and (14), the inequality
(19)
holds, whereFor any satisfying the conditions (10) and (11), the inequality
(20)
holds.Let us prove the connection between functions from the sets and
Function if and only if and the inequalities
(21)
(22)
hold.1. Let , then the function and vanishes on . Further
Hence,
(23)
Let us estimate the second term on the right-hand side (23). Using (13), we have
(24)
Let in (24), hence by Lemma 3, Equation (16):
(25)
Substituting (25) into (23), we obtain the estimate (21). Since then combined with (21), we have a sequence of inequalities
Thus,
2. Let then the function and vanishes on . Let us show that under conditions (6)–(8), i.e., We estimate the quantity . We have
and henceUsing the same reasoning as in the output (25), we conclude
(26)
Since applying (26), we get estimates (22) and
Combined with the conditions (6)–(8) we conclude that
Lemma 4 is proved. □
Let us prove an analogue of the Friedrichs’s inequality in the set
Let then there exists such that for any and any function the inequality
(27)
holds, where constantConsider an arbitrary function By Lemma 4 then using the estimates (15) and (21), we conclude
that isFor there exists such that and for any sequence of inequalities
holds. Therefore, the inequality (27) is true.Lemma 5 is proved. □
3.1.2. Belonging of the Function to the Set
In Lemma 6 we estimate the norm of the function by the norm of the function of the space and in Lemma 7 we estimate their seminorms of the space
Let then there exists such that for any any function and for represented as an estimate
(28)
holds, whereBy definition we have
then that is(29)
Estimate the second term on the right-hand side (29), using (13) and (24) for . Applying (10) and (11) and the arguments of Lemma 3, we get
(30)
Substituting (30) into (29), we conclude
(31)
Let us apply Lemma 5 to the function and use the fact that , then (31) will take the form
Lemma 6 is proved. □
Let then there exists such that for any any function and for represented as an estimate
(32)
holds, whereBy definition we have
For arbitrary :
Hence
(33)
Summing up the inequalities (33) for all :
We get
(34)
Now we estimate and separately, using (13) and (24).
For
(35)
Consider two cases
(1) if then
(2) if then
Therefore
Due to the fact that we conclude
(36)
Applying Corollary 2, its estimate (20), to (36), we derive
(37)
For we use (35), so that
applying Lemma 3, its inequality (16), we obtain(38)
Similarly to we estimate
(39)
Substituting the right-hand sides of inequalities (37)–(39) instead of the left-hand ones in (34), we have
(40)
Applying Lemma 5 to the second term on the right-hand side (40), then taking into account and using Lemma 5 to the function (obtained sum of the last two terms on the right-hand side), we conclude
Lemma 7 is proved. □
Let us prove that the function belongs to the set We obtain an estimate of its norm by the norm of the function in the spaces
Let then there exists , such that for any any function represented as function belongs to the set and an estimate
(41)
holds, whereCombining the results of Lemmas 6 and 7, their inequalities (28) and (32), respectively, we obtain
Considering Remark 1, we conclude that
Theorem 1 is proved. □
3.1.3. Connection between the Function in the Norm of the Space and the Bilinear Form
We introduce the notation
(42)
Let us estimate J from (42) in the next lemma.
Let then there exists such that for any any function and for represented as an equality
(43)
holds.We have
(44)
Due to the fact that
we expressUsing this, definitions (44) and a function in terms of , we estimate J presented by (42):
Applying formula (24), for we conclude
then, using this and Corollary 1, its inequality (19), we have(45)
The first term on the right-hand side (45) is estimated by analogy with (21), applying inequalities (14) and (40). So that we get a sequence of inequalities
Due to this fact, the estimate (45) will take the form (43).
Lemma 8 is proved. □
Let us prove the main result of Section 3.1.3.
There exists such that for there exists such that for any any function and for represented as the estimate
(46)
holds.We write out the bilinear form (see (9)) for and represented by
(47)
In addition, we need the definition of the function in the norm of the space
(48)
Insofar as
then(49)
Let us take the derivative in (49) with respect to the variable we get
(50)
Now we express , as in (50), another way:
(51)
Substitute the representations (51) and (50) into (48), then
Thus
(52)
Now we estimate from (52) separately.
1. We have
(53)
2. Using (13), with , we get
Applying the inequality, we conclude
(54)
Find the sum of terms from (54) over using the representation and in terms of , the definition and Corollary 1 for :
that is(55)
3. Using (13), with , we have
Consider two cases: (a) if then
and(56)
We use the inequality for both terms on the right-hand side (56):
(57)
(b) if then
and(58)
We use the inequality for the right-hand side (58):
(59)
Find the sum of the terms (57) and (59) over using the representation of and by , the definition and Corollary 2, then
that is(60)
4. Using (13), with , we have
then(61)
Let us use the inequality for the right-hand side (61), the definition of in terms of and Lemma 3 for :
that is(62)
5. Using (13), with , we have
then(63)
Let us use the inequality for the right-hand side (63), the definition of in terms of and Lemma 3 for :
that is(64)
6. Using (13), with and , we have
then(65)
Let us estimate the right-hand side (65) using the definitions of and in terms of , Lemma 3 for and Corollary 1 for :
that is(66)
7. Using (13), with and , we have
Similarly, as in the study of the , we consider two cases:
(a) if then
and that is(67)
(b) if then
and that is(68)
We estimate the sum of terms (67) and (68) using Lemma 3 and Corollary 2:
that is(69)
8. Using (13), with and , we have
Consider two cases:
(a) if , then
(70)
(b) if then
that is(71)
We estimate the sum of terms (70) and (71) and using Lemma 3 for :
that is(72)
Apply inequalities (53), (55), (60), (62), (64), (66), (69) and (72) to evaluate the right-hand side of (52):
then, using the definition (42) we have(73)
We apply the result of Lemma 8, the inequality (43), to estimate the third term on the right-hand side of (73):
(74)
Now we estimate the second, fourth and fifth terms on the right-hand side (74). For the second term we apply Lemma 4, the inequality (22) for vector functions, then
We estimate the fourth term using the inequality (28) of Lemma 6:
For the fifth term we apply the inequality (27) of Lemma 5, then
Substituting the relations obtained above into (74), we conclude
(75)
whereIt remains to apply Lemma 2 for the last term on the right-hand side (75):
Hence
(76)
where .If we choose in (76) then for there exists for which and for any ( is less than of Lemma 5) the sequence of inequalities
holds.Theorem 2 is proved. □
3.2. Construction of the Function Using the Function and Their Relationship
Let Consider a function such that there exists a function , where ( satisfies the conditions (10)–(12)), which has the form
(77)
Next, we define the function
(78)
It will be proved in Theorem 3 that the function of the form (78) belongs to the space Due to this, the conditions (6)–(8) and equality— we conclude that
3.2.1. Belonging of the Function to the Set
In Lemma 9 we estimate the norm of the function using the norm of the function in the space and in Lemma 10 we estimate the seminorm in the space using the seminorm of in the space and norm in the space
Let then there exists , such that for any arbitrary function which has the form (77) and for represented as (78), the inequality
(79)
holds.We have then and
that is(80)
Applying (24), for , estimates (27) and (30), we obtain a sequence of inequalities
thus(81)
We estimate the second term on the right-hand side (80) using the inequality (81), then
andFor there exists , such that for any the following sequence of inequalities
holds, thus(82)
Due to the fact that
the estimate (79) of the lemma follows directly from the relation (82).Lemma 9 is proved. □
Let then there exists , such that for any arbitrary function which has the form (77) and for represented as (78), the inequality
(83)
holds, where a constant .By definition of the functions and we have
For arbitrary (see Lemma 7), we get
then and thus(84)
Note that and coincide with the corresponding and in the inequality (34) of Lemma 7. Hence, by analogy with the derivation of (40), we conclude
(85)
Applying Lemma 5, its estimate (27), to the second term on the right-hand side (85) and using the fact that we have
(86)
Using the inequality (79) to estimate the second term on the right-hand side (86), we obtain the estimate (83).
Lemma 10 is proved. □
Let us prove the main result of Section 3.2.1.
Let then there exists , that for any arbitrary function represented as function belongs to the set and an estimate
(87)
holds, where a constant is equal toLet us use Lemmas 9 and 10, their estimates (79) and (83), respectively, then
Taking into account Remark 2, we conclude thatTheorem 3 is proved. □
3.2.2. Connection between the Function in the Norm of the Space and the Bilinear Form
Let us prove the main result of Section 3.2.2.
There exists such that for there exists such that for arbitrary an arbitrary function which has the form (77), and for the function represented as (78), the inequality
(88)
holds.For we express from the equality (49), we have
Then, we take the derivative with respect to the variable
(89)
Let us express as in (89), in another way:
(90)
Using the representations (90) and (89), we have
thus(91)
We will estimate each term in (91) separately.
1. We have
(92)
2. Due to the fact that (see Theorem 2), then using the inequality, by analogy with (64), we conclude
(93)
The first term on the right-hand side (93) has the form (42), then applying the inequality (45), we derive
(94)
3. To estimate , we employ the inequality
(95)
Using (13), for we have
Consider two cases:
(a) if then
and(96)
(b) if then
and(97)
Summing the inequalities (95) over all , and applying the estimates (96) and (97), and Corollary 2, we conclude
hence(98)
By analogy with (93), applying the estimate (45) to the first term on the right-hand side (98), we derive
(99)
4. Using (13), for we have
thenSumming over applying Corollary 2 and using the equality we conclude
(100)
By analogy with (93), applying the estimate (45) to the first term on the right-hand side (100), we get
(101)
5. Due to the fact that (see Theorem 2) and applying the inequality, by analogy with (55), we have
(102)
6. Due to the fact that (see Theorem 2), by analogy with (66), we conclude
(103)
7. Using (13), with and we have
Consider two cases:
(a) if then
and therefore(104)
(b) if then
and we get(105)
Combining the inequalities (104) and (105) for and using the definition of the vector function , Corollaries 1 and 2 for the components and the function estimates (19) and (20), respectively, we conclude
hence(106)
8. Using (13), with and we have
andConsider two cases:
(a) if then
that is(107)
(b) if then
that is(108)
Combining the inequalities (107) and (108) for using the definition functions and , Lemma 3 and Corollary 1 for their components, estimates (16) and (19), respectively, we conclude
hence(109)
Substituting the obtained estimates (92), (94), (99), (101)–(103), (106), (109) to (91), we get
that is(110)
Evaluating the third term on the right-hand side (110) using Lemma 10 (see (83)), by analogy with (22), taking into account (14), we conclude
hence(111)
To estimate the norm of the last term on the right-hand side (110), we apply Lemma 5, its inequality (27), then
(112)
To evaluate the last two terms on the right-hand side (110), we apply (112) in combination with the inequality (79) of Lemma 9, then
(113)
Due to the fulfillment of Lemma 2, taking into account the inequalities (111) and (113), the estimate (110) takes the following form:
where andIf we choose then for there exists , such that and for any :
Theorem 4 is proved. □
4. Conclusions
In the present paper, an -generalized solution of the Stokes problem with a corner singularity in a nonsymmetric variational formulation is defined. The properties of functions from special sets of the corresponding operators of the variational formulation are proved. The statements established in the paper will contribute to the study of the existence and uniqueness of the -generalized solution in weighted sets. The results and methods of the paper are supposed to be generalized to other problems of hydrodynamics with a corner singularity in a nonsymmetric variational formulation. In particular, for solving problems with the mixed boundary conditions. In the case when the domain filled up with fluid. One part of the boundary is a fixed wall and the other one is both the input and output of the channel. For example, when the homogeneous Dirichlet condition is set on the first part expressing a no-slip behavior of the fluid on the fixed walls of the channel. On the second part a condition where is the outer normal vector expresses the “do nothing“ boundary condition.
Previously, we assumed that an -generalized solution of hydrodynamic problems (see, for example, [18,20]) exists and is unique in the corresponding weighted sets. So certain decision makes it possible to create an efficient numerical approach—weighted FEM for finding an approximate solution of the problem with high accuracy. Using the weighted method, the ranges for choosing the optimal approach parameters, such as , and ( is the exponent of the weight function in the FE basis) are experimentally established depending on the value of the reentrant corner to achieve convergence . We have established that the order of convergence does not depend on the value of the reentrant corner for the Stokes [19], Oseen [20] and elasticity theory problems (see, for example, [15]) in the case when the Dirichlet conditions are set on the boundary. In addition, a numerical analysis of the elasticity problem [33] was carried out in the case when the Dirichlet boundary condition is set on one side of the reentrant corner, and the Neumann condition on the other one. As it is known [2], in this case the classical FEM loses its order of accuracy twice as compared to when the Dirichlet-Dirichlet or Neumann-Neumann conditions are given on the sides of the reentrant corner. If we apply a weighted FEM based on the concept of the -generalized solution, then there is no loss of accuracy. Moreover, the approximate solution (see [33]) converges to the exact one with the first order with respect to the grid step, regardless of the reentrant corner. The weighted FEM is simple to implement and does not require mesh refinement in the vicinity of the singularity point.
V.A.R. and A.V.R. contributed equally and significantly in writing this article. All authors have read and agreed to the published version of the manuscript.
The reported study of V.A.R. presented in Theorems 3 and 4 was supported by Russian Science Foundation, project No. 21-11-00039,
Not applicable.
Not applicable.
Not applicable.
The authors declare no conflict of interest.
Publisher’s Note: MDPI stays neutral with regard to jurisdictional claims in published maps and institutional affiliations.
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Abstract
The weighted finite element method makes it possible to find an approximate solution of a boundary value problem with corner singularity without loss of accuracy. The construction of this numerical method is based on the introduction of the concept of an
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1 Computing Center of the Far Eastern Branch of the Russian Academy of Sciences, Kim Yu Chen Str. 65, 680000 Khabarovsk, Russia
2 Institute of Applied Mathematics of the Far Eastern Branch of the Russian Academy of Sciences, Dzerzhinsky Str. 54, 680000 Khabarovsk, Russia;