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This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in the nonlinear turbulent regime. The novel strategy is effective in reducing the supply of available energy to feed the turbulent fluctuations, expressed as reducing a bound on the supply rate to a quadratic storage function. The nonlinearity present in the equations that govern the dynamics of the flow is known to be passive and can be considered as a feedback forcing to the linearised dynamics (a Lur'e decomposition). Therefore, one is only required to control the linear dynamics in order to make the system close to passive. The ten most energy-producing spatial modes of a turbulent channel flow were identified. Passivity-based controllers were then generated to control these modes. The controllers require measurements of streamwise and spanwise wall-shear stress, and they actuate via wall transpiration. Nonlinear direct numerical simulations demonstrated that these controllers were capable of significantly reducing the turbulent energy and skin-friction drag of the flow.

This paper addresses the problem of obtaining low-order models of fluid flows for the purpose of designing robust feedback controllers. This is challenging since whilst many flows are governed by a set of nonlinear, partial differential-algebraic equations (the Navier-Stokes equations), the majority of established control theory assumes models of much greater simplicity, in that they are firstly: linear, secondly: described by ordinary differential equations, and thirdly: finite-dimensional. Linearisation, where appropriate, overcomes the first disparity, but attempts to reconcile the remaining two have proved difficult. This paper addresses these two problems as follows. Firstly, a numerical approach is used to project the governing equations onto a divergence-free basis, thus converting a system of differential-algebraic equations into one of ordinary differential equations. This dispenses with the need for analytical velocity-vorticity transformations, and thus simplifies the modelling of boundary sensing and actuation. Secondly, this paper presents a novel and straightforward approach for obtaining suitable low-order models of fluid flows, from which robust feedback controllers can be synthesised that provide a priori guarantees of robust performance when connected to the (infinite-dimensional) linearised flow system. This approach overcomes many of the problems inherent in approaches that rely upon model-reduction. To illustrate these methods, a perturbation shear stress controller is designed and applied to plane channel flow, assuming arrays of wall mounted shear-stress sensors and transpiration actuators. DNS results demonstrate robust attenuation of the perturbation shear-stresses across a wide range of Reynolds numbers with a single, linear controller., Accepted for publication in the Journal of Fluid Mechanics

A new theory of coherent structure in wall turbulence is presented. The theory is the first to predict packets of hairpin vortices and other structure in turbulence, and their dynamics, based on an analysis of the Navier-Stokes equations, under an assumption of a turbulent mean profile. The assumption of the turbulent mean acts as a restriction on the class of possible structures. It is shown that the coherent structure is a manifestation of essentially low-dimensional flow dynamics, arising from a critical layer mechanism. Using the decomposition presented in McKeon & Sharma (J. Fluid Mech, 658, 2010), complex coherent structure is recreated from minimal superpositions of response modes predicted by the analysis, which take the form of radially-varying travelling waves. By way of example, simple combinations of these modes are offered that predicts hairpins and modulated hairpin packets. The phase interaction also predicts important skewness and correlation results known in the literature. It is also shown that the very large scale motions act to organise hairpin-like structures such that they co-locate with areas of low streamwise momentum, by a mechanism of locally varying the shear profile. The relationship between Taylor's hypothesis and coherence is discussed and both are shown to be the consequence of the localisation of the response modes around the critical layer. A pleasing link is made to the classical laminar inviscid theory, whereby the essential mechanism underlying the hairpin vortex is captured by two obliquely interacting Kelvin-Stuart (cat's eye) vortices. Evidence for the theory is presented based on comparison to observations of structure reported in the experimental, transitional flow and turbulent flow numerical simulation literature., Accepted for publication in the Journal of Fluid Mechanics. 41 pages

A family of compressible exact periodic solutions is reported for the first time in an open cavity flow setup. These are found using a novel framework which permits the computation of such solutions in an arbitrary complex geometry. The periodic orbits arise from a synchronised concatenation of convective and acoustic events which strongly depend on the Mach number. This flow-acoustic interaction furnishes the periodic solutions with a remarkable stability and it is found to completely dominate the system's dynamics and the sound directivity. The periodic orbits, which could be called `exact Rossiter modes', collapse with a family of equilibrium solutions at a subcritical Hopf bifurcation, occurring in the quasi-incompressible regime. This shows compressibility has a destabilising effect in cavity flows, which we analyse in detail. By establishing a connection with previous 2D and 3D stability studies of cavity flows, we are able to isolate the effect of purely compressible two-dimensional flow phenomena across Mach number. A linear stability analysis of the equilibria provides insight into the compressible flow mechanisms responsible for the instability. A close look at the adjoint modes suggests that an eigenvalue merge occurs at a Mach number between 0.35 and 0.4, which boosts the receptivity of the leading mode and determines the onset of the unstable character of the system. The effect of the choice of base flow over the transition dynamics is also discussed, where in the present case, the frequencies associated to the leading eigenmodes show a strong connection with the frequencies of the periodic orbits at the same Mach numbers.

Previous work has established the usefulness of the resolvent operator that maps the terms nonlinear in the turbulent fluctuations to the fluctuations themselves. Further work has described the self-similarity of the resolvent arising from that of the mean velocity profile. The orthogonal modes provided by the resolvent analysis describe the wall-normal coherence of the motions and inherit that self-similarity. In this contribution, we present the implications of this similarity for the nonlinear interaction between modes with different scales and wall-normal locations. By considering the nonlinear interactions between modes, it is shown that much of the turbulence scaling behaviour in the logarithmic region can be determined from a single arbitrarily chosen reference plane. Thus, the geometric scaling of the modes is impressed upon the nonlinear interaction between modes. Implications of these observations on the self-sustaining mechanisms of wall turbulence, modelling and simulation are outlined., Comment: Accepted for publication in Philosophical Transactions of the Royal Society A. arXiv admin note: substantial text overlap with arXiv:1409.6047

A novel method to estimate unsteady aerodynamic force coefficients from pointwise velocity measurements is presented. The methodology is based on a resolvent-based reduced-order model which requires the mean flow to obtain physical flow structures and pointwise measurement to calibrate their amplitudes. A computationally-affordable time-stepping methodology to obtain resolvent modes in non-trivial flow domains is introduced and compared to previous existing matrix-free and matrix-forming strategies. The technique is applied to the unsteady flow around an inclined square cylinder at low Reynolds number. The potential of the methodology is demonstrated through good agreement between the fluctuating pressure distribution on the cylinder and the temporal evolution of the unsteady lift and drag coefficients predicted by the model and those computed by direct numerical simulation., In review

The relationship between Koopman mode decomposition, resolvent mode decomposition and exact invariant solutions of the Navier-Stokes equations is clarified. The correspondence rests upon the invariance of the system operators under symmetry operations such as spatial translation. The usual interpretation of the Koopman operator is generalised to permit combinations of such operations, in addition to translation in time. This invariance is related to the spectrum of a spatio-temporal Koopman operator, which has a travelling wave interpretation. The relationship leads to a generalisation of dynamic mode decomposition, in which symmetry operations are applied to restrict the dynamic modes to span a subspace subject to those symmetries. The resolvent is interpreted as the mapping between the Koopman modes of the Reynolds stress divergence and the velocity field. It is shown that the singular vectors of the resolvent (the resolvent modes) are the optimal basis in which to express the velocity field Koopman modes where the latter are not a priori known.

We report that many exact invariant solutions of the Navier-Stokes equations for both pipe and channel flows are well represented by just few modes of the model of McKeon & Sharma J. Fl. Mech. 658, 356 (2010). This model provides modes that act as a basis to decompose the velocity field, ordered by their amplitude of response to forcing arising from the interaction between scales. The model was originally derived from the Navier-Stokes equations to represent turbulent flows and has been used to explain coherent structure and to predict turbulent statistics. This establishes a surprising new link between the two distinct approaches to understanding turbulence., 21 figures

This paper employs the theoretical framework developed by Luhar et al. (J. Fluid Mech., 768, 415-441) to consider the design of compliant walls for turbulent skin friction reduction. Specifically, the effects of simple spring-damper walls are contrasted with the effects of more complex walls incorporating tension, stiffness and anisotropy. In addition, varying mass ratios are tested to provide insight into differences between aerodynamic and hydrodynamic applications. Despite the differing physical responses, all the walls tested exhibit some important common features. First, the effect of the walls (positive or negative) is greatest at conditions close to resonance, with sharp transitions in performance across the resonant frequency or phase speed. Second, compliant walls are predicted to have a more pronounced effect on slower-moving structures because such structures generally have larger wall-pressure signatures. Third, two-dimensional (spanwise constant) structures are particularly susceptible to further amplification. These features are consistent with many previous experiments and simulations, suggesting that mitigating the rise of such two-dimensional structures is essential to designing performance-improving walls. For instance, it is shown that further amplification of such large-scale two-dimensional structures explains why the optimal anisotropic walls identified by Fukagata et al. via DNS (J. Turb., 9, 1-17) only led to drag reduction in very small domains. The above observations are used to develop design and methodology guidelines for future research on compliant walls.

A novel reduced-order model for time-varying nonlinear flows arising from a resolvent decomposition based on the time-mean flow is proposed. The inputs required for the model are the mean-flow field and a small set of velocity time-series data obtained at isolated measurement points, which are used to fix relevant frequencies, amplitudes and phases of a limited number of resolvent modes that, together with the mean flow, constitute the reduced-order model. The technique is applied to derive a model for the unsteady three-dimensional flow in a lid-driven cavity at a Reynolds number of 1200 that is based on the two-dimensional mean flow, three resolvent modes selected at the most active spanwise wavenumber, and either one or two velocity probe signals. The least-squares full-field error of the reconstructed velocity obtained using the model and two point velocity probes is of the order of 5 % of the lid velocity, and the dynamical behaviour of the reconstructed flow is qualitatively similar to that of the complete flow.

A novel adjoint-based framework oriented to optimal flow control in compressible direct numerical simulations is presented. Also, a new formulation of the adjoint characteristic boundary conditions is introduced, which enhances the stability of the adjoint simulations. The flow configuration chosen as a case study consists of a two dimensional open cavity flow with aspect ratio $L/H=3$ and Reynolds number $Re=5000$. This flow configuration is of particular interest, as the turbulent and chaotic nature of separated flows pushes the adjoint approach to its limit. The target of the flow actuation, defined as cost, is the reduction of the pressure fluctuations at the sensor location. To exploit the advantages of the adjoint method, a large number of control parameters is used. The control consists of an actuating sub-domain where a two-dimensional body force is applied at every point within the sub-volume. This results in a total of $2.256 \cdot 10^6$ control parameters. The final actuation achieved a successful reduction of the cost of $79.6\%$, by altering the directivity of the sound radiated by the trailing edge of the cavity and breaking up the large shear layer instabilities into smaller structures.

This paper extends the resolvent formulation proposed by McKeon & Sharma (J. Fluid Mech., vol. 658, 2010, pp. 336–382) to consider turbulence–compliant wall interactions. Under this formulation, the turbulent velocity field is expressed as a linear superposition of propagating modes, identified via a gain-based decomposition of the Navier–Stokes equations. Compliant surfaces, modelled as a complex wall admittance linking pressure and velocity, affect the gain and structure of these modes. With minimal computation, this framework accurately predicts the emergence of the quasi-two-dimensional propagating waves observed in recent direct numerical simulations. Further, the analysis also enables the rational design of compliant surfaces, with properties optimized to suppress flow structures energetic in wall turbulence. It is shown that walls with unphysical negative damping are required to interact favourably with modes resembling the energetic near-wall cycle, which could explain why previous studies have met with limited success. Positive-damping walls are effective for modes resembling the so-called very-large-scale motions, indicating that compliant surfaces may be better suited for application at higher Reynolds number. Unfortunately, walls that suppress structures energetic in natural turbulence are also predicted to have detrimental effects elsewhere in spectral space. Consistent with previous experiments and simulations, slow-moving spanwise-constant structures are particularly susceptible to further amplification. Mitigating these adverse effects will be central to the development of compliant coatings that have a net positive influence on the flow.

An analytical framework for studying the logarithmic region of turbulent channels is formulated. We build on recent findings (Moarref et al., J. Fluid Mech., 734, 2013) that the velocity fluctuations in the logarithmic region can be decomposed into a weighted sum of geometrically self-similar resolvent modes. The resolvent modes and the weights represent the linear amplification mechanisms and the scaling influence of the nonlinear interactions in the Navier-Stokes equations (NSE), respectively (McKeon & Sharma, J. Fluid Mech., 658, 2010). Originating from the NSE, this framework provides an analytical support for Townsend's attached-eddy model. Our main result is that self-similarity enables order reduction in modeling the logarithmic region by establishing a quantitative link between the self-similar structures and the velocity spectra. Specifically, the energy intensities, the Reynolds stresses, and the energy budget are expressed in terms of the resolvent modes with speeds corresponding to the top of the logarithmic region. The weights of the triad modes -the modes that directly interact via the quadratic nonlinearity in the NSE- are coupled via the interaction coefficients that depend solely on the resolvent modes (McKeon et al., Phys. Fluids, 25, 2013). We use the hierarchies of self-similar modes in the logarithmic region to extend the notion of triad modes to triad hierarchies. It is shown that the interaction coefficients for the triad modes that belong to a triad hierarchy follow an exponential function. The combination of these findings can be used to better understand the dynamics and interaction of flow structures in the logarithmic region. The compatibility of the proposed model with theoretical and experimental results is further discussed., Submitted to J. Fluid Mech

We combine resolvent-mode decomposition with techniques from convex optimization to optimally approximate velocity spectra in a turbulent channel. The velocity is expressed as a weighted sum of resolvent modes that are dynamically significant, non-empirical, and scalable with Reynolds number. To optimally represent direct numerical simulations (DNS) data at friction Reynolds number 2003, we determine the weights of resolvent modes as the solution of a convex optimization problem. Using only 12 modes per wall-parallel wavenumber pair and temporal frequency, we obtain close agreement with DNS-spectra, reducing the wall-normal and temporal resolutions used in the simulation by three orders of magnitude.

We study the Reynolds number scaling and the geometric self-similarity of a gain-based, low-rank approximation to turbulent channel flows, determined by the resolvent formulation of McKeon & Sharma (2010), in order to obtain a description of the streamwise turbulence intensity from direct consideration of the Navier-Stokes equations. Under this formulation, the velocity field is decomposed into propagating waves (with single streamwise and spanwise wavelengths and wave speed) whose wall-normal shapes are determined from the principal singular function of the corresponding resolvent operator. Using the accepted scalings of the mean velocity in wall-bounded turbulent flows, we establish that the resolvent operator admits three classes of wave parameters that induce universal behavior with Reynolds number on the low-rank model, and which are consistent with scalings proposed throughout the wall turbulence literature. In addition, it was shown that a necessary condition for geometrically self-similar resolvent modes is the presence of a logarithmic turbulent mean velocity. We identify the scalings that constitute hierarchies of self-similar modes that are parameterized by the critical wall-normal location where the speed of the mode equals the local turbulent mean velocity. For the rank-1 model subject to broadband forcing, the integrated streamwise energy density takes a universal form which is consistent with the dominant near-wall turbulent motions. When the shape of the forcing is optimized to enforce matching with results from direct numerical simulations at low turbulent Reynolds numbers, further similarity appears. Representation of these weight functions using similarity laws enables prediction of the Reynolds number and wall-normal variations of the streamwise energy intensity at high Reynolds numbers (${Re}_��\approx 10^3 - 10^{10}$)., The paper is to appear in the Journal of Fluid Mechanics

A direct transient growth analysis for three-dimensional perturbations to flow past a periodic array of T-106/300 low-pressure turbine fan blades is presented. The methodology is based on a singular value decomposition of the flow evolution operator, linearised about a steady or periodic base flow. This analysis yields the optimal growth modes. Previous work on global mode stability analysis of this flow geometry showed the flow is asymptotically stable, indicating a non-modal explanation of transition may be more appropriate. The present work extends previous investigations into the transient growth around a steady base flow, to higher Reynolds numbers and periodic base flows. It is found that the notable transient growth of the optimal modes suggests a plausible route to transition in comparison to modal growth for this configuration. The spatial extent and localisation of the optimal modes is examined and possible physical triggering mechanisms are discussed. It is found that for longer times and longer spanwise wavelengths, a separation in the shear layer excites the wake mode. For shorter times and spanwise wavelengths, smaller growth associated with excitation of the near wake are observed.

A method for finding reduced-order approximations of turbulent flow models is presented. The method preserves bounds on the production of turbulent energy in the sense of the [Formula: see text] norm of perturbations from a notional laminar profile. This is achieved by decomposing the Navier–Stokes system into a feedback arrangement between the linearized system and the remaining, normally neglected, nonlinear part. The linear system is reduced using a method similar to balanced truncation, but preserving bounds on the supply rate. The method involves balancing two algebraic Riccati equations. The bounds are then used to derive bounds on the turbulent energy production. An example of the application of the procedure to flow through a long straight pipe is presented. Comparison shows that the new method approximates the supply rate at least as well as, or better than, canonical balanced truncation.