Linear and Weakly Nonlinear Energetics of Global
Nonhydrostatic Normal Modes
Carlos Frederico M. Raupp
*and André Teruya
Department of Atmospheric Sciences
University of Sao Paulo, Sao Paulo/Brazil
MODES Workshop – Boulder / CO - USA – August 26
thto 28
th, 2015.
Financial Support: FAPESP (São Paulo Research Foundation - Grant 09/11643-4)
Introduction
Conventional coarse resolution global circulation atmospheric models (AGCMs)
neglect the vertical acceleration to prevent computational constraints related to
stability of numerical solution in explicit numerical schemes (hydrostatic assumption)
→ Hydrostatic AGCMs;
The increase of computer speed and memory, as well as the development of
massively parallel computing techniques, has allowed the development of global
nonhydrostatic modeling.
Thus, with the increasing development of global nonhydrostatic AGCMs, it is
important to understand the dynamics of these models in a theoretical point of view
→ For this purpose one needs to analyze the normal modes of global nonhydrostatic
atmospheric models;
Normal modes → small amplitude oscillations around a background state at rest
and characterized by a stable stratification → eigensolutions of linearized PDEs;
References on Nonhydrostatic Normal Modes
Linear theory of nonhydrostatic normal modes:
(i) Kasahara and Qian (MWR 2000) ⇒ “Normal modes of a Global Nonhydrostatic
Atmospheric Model”;
(ii) Qian and Kasahara ( Pure Appl. Geophys., 2003) ⇒ “Nonhydrostatic Atmospheric
Normal Modes on Beta Planes”;
(iii) Kasahara (J. Meteor. Soc. Japan, 2003) ⇒ “On the Nonhydrostatic Atmospheric
Models with the Inclusion of the Horizontal Component of the Earth’s Angular
Velocity” (non-traditional Coriolis terms);
(iv) Kasahara (JAS 2003) ⇒ “The Roles of the Horizontal Component of the Earth’s
Angular Velocity in Nonhydrostatic Linear Models”;
(v) Kasahara (NCAR Report 2003) ⇒ “ Free Oscillations of Deep Nonhydrostatic Global
Atmospheres: Theory and a Test of Numerical Schemes”;
Introduction
Goal of this Study
(i) First we further analyze the energetics of the linear eigenmodes of the shallow
global nonhydrostatic model presented by Kasahara and Qian (2000);
(Ii) Then we extend the theory of global nonhydrostatic normal modes by accounting
for the effect of nonlinearity.
Model and Governing Equations
Model: shallow nonhydrostatic fluid over a rotating sphere of radius a;
Traditional Approximation: r = a + z ≈ a, where a = 6370Km (Earth’s radius) and z is the height above the earth’s surface; ∂ / ∂r ≈ ∂ / ∂z
Governing Equations: λ → longitude;
ϕ→ latitude;
f = 2Ω sinϕ → Coriolis parameter; γ = Cp / Cv ;
g → gravity acceleration;
= (u,v) → horizontal wind field; p → pressure field;
T → Temperature field; ρ→ density field;
w → vertical component of wind field;
; ; λ ϕ ρ ϕ ∂ ∂ − = + − p a a u f Dt Du cos 1 v tan (1a) ϕ ρ ϕ ∂ ∂ − = + + p a a u f Dt D 1 u tan v (1b) z p g D H ∂ ∂ − − = ρ δ 1 Dt w (1c) 0 z w = ∂ ∂ + • ∇ + V Dt Dρ ρ (1d) Dt D RT Dt Dp =γ ρ (1e)
RT
p
=
ρ
(1f)V
z
V
t
Dt
D
∂
∂
+
∇
•
+
∂
∂
=
w
ϕ
λ
ϕ
∂
∂
+
∂
∂
=
∇
•
a
v
cos
a
u
V
(
)
∂
∂
+
∂
∂
=
•
∇
ϕ
ϕ
λ
ϕ
cos
v
cos
1
u
a
V
Model and Governing Equations
From the governing equations (1), we have considered small (but not infinitesimal) amplitude perturbations around a resting, hydrostatic and isothermal background state:
u = u0 + u’ ; v = v0 + v’ ; w = w0 + w’ , with u0 = v0 = w0 = 0;
p = p0(z) + p’ ; ρ = ρ0(z) + ρ’; with dp0 / dz = -ρ0 g and T = T0 + T’, with T0 = const; (2)
Inserting (2) into (1) and retaning only the terms until second order in terms of perturbations: ∂∂ − + ρ ϕ ∂∂λ = − •∇ + ∂∂ + ϕ + ρ ρ ϕ ∂∂λ' cos ' tan a ' v ' ' ' ' ' ' cos 1 v' ' 2 0 0 p a u z u w u V p a f t u
ϕ
ρ
ρ
ϕ
ϕ
ρ
∂ ∂ + − ∂ ∂ + •∇ − = ∂ ∂ + + ∂ ∂ ' ' tan ' ' v w' v' ' ' 1 u' v' 2 0 2 0 p a a u z V p a f t 2 0 2 0 2 0 ' ' ' ' w w' w' ' ' ' ' 1 t w' + ∂ ∂ + ∂ ∂ + •∇ − = − + ∂ ∂ + ∂ ∂ ρ ρ ρ ρ θ ρ z g p z V p C g z p S − ∂ ∂ + ∂ ∂ + • ∇ − ∂ ∂ + •∇ − = ∂ ∂ + • ∇ + − ∂ ∂ w' ' ' 1 w' ' ' p' ' w ' ' 1 w' ' w' ' 1 0 0 2 2 0 2 0 g t p T T C z V z p V C z V g t p Cs ρ s ρ s ρ ρ − ∂ ∂ + ∂ ∂ + •∇ = + ∂ ∂ w' ' ' z ' w' ' ' V -w' ' 0 0 2 2 0 g z p T T C g N t Sρ
θ
θ
ρ
θ
(3a) (3b) (3c) (3d) (3e)Model and Governing Equations
'
'
'
2ρ
θ
p
g
C
g
S−
=
g RT H = 0 Where: 0 0 0'
'
'
ρ
ρ
+
=
T
T
p
p
(3f) ; (3g)H
g
C
g
dz
d
g
N
Sκ
ρ
ρ
=
+
−
=
0 2 0 21
κ
γ
−
=
=
1
0 2gH
RT
C
S pC
R
=
κ
Following Kasahara and Qian (2000) we have rescaled the perturbations according to:
=
− − − 2 1 0 2 1 0 2 1 0 2 1 0 2 1 0 2 1 0p
w
v
'
'
p'
w'
'
v
'
ρρ
θρ
ρ
ρ
ρ
ρ
ρ
θ
u
u
(4)( )
[
]
∂ ∂ + + + ∇ • − = ∂ ∂ + − ∂ ∂ − − λ ϕ ρ ϕ ρ λ ϕ ' cos tan a v cos 1 v 2 1 0 p a u u wL u V p a f t u z (5a)( )
[
]
∂ ∂ + − + ∇ • − = ∂ ∂ + + ∂ ∂ − − ϕ ρ ϕ ρ ϕ ' tan a v v 1 u v 21 2 0 p a u wL V p a f t z (5b)( )
[
]
+ ∂ ∂ + + ∇ • − = − Γ + ∂ ∂ + ∂ ∂ − 2 -z 2 1 0 w wL w t w θ ρ ρ ρ g z p V p z p (5c)( )
[
]
(
( )
)
− ∂ ∂ − + + • ∇ − + ∇ • − = Γ − ∂ ∂ + • ∇ + ∂ ∂ − + − w 1 w wL 1 w w 1 0 2 z 2 2 1 0 2 g t p RT p C L V p p V C z V t p Csρ
sρ
Z sρ
(5d)( )
[
]
− ∂ ∂ − + + ∇ • = + ∂ ∂ + w RT p wL V 1 -w 1 0 2 2 z 2 2 1 -0 2 g z p C N g N t Nρ
θ
θ
Sρ
θ
(5e) Where,( )
H
z
dz
d
z
L
z2
1
2
1
0 0−
∂
∂
=
+
∂
∂
=
+ρ
ρ
( )
dz
z
H
d
z
L
z2
1
2
1
0 0+
∂
∂
=
−
∂
∂
=
−ρ
ρ
H
C
g
dz
d
S2
2
1
2
1
2 0 0κ
ρ
ρ
−
=
+
=
Γ
Model and Governing Equations
Substituting (4) into (3) we get:
Eigenmodes of the Linear Problem (Normal Modes)
If the second-order nonlinear terms are disregarded, equations (5) become:
0 cos 1 v = ∂ ∂ + − ∂ ∂ λ ϕ p a f t u (6a) 0 1 u v = ∂ ∂ + + ∂ ∂ ϕ p a f t (6b) 0 t w +Γ − = ∂ ∂ + ∂ ∂ θ p z p (6c) 0 w w 1 2 ∂ −Γ = ∂ + • ∇ + ∂ ∂ z V t p Cs (6d) 0 w 1 2 ∂ + = ∂ t N
θ
(6e) The eigensolutions of (6) were determined by Kasahara and Qian (2000) for the following boundary conditions:
(i) w = 0 at z = 0 and at z = zT (7a) (ii) Periodic solutions in longitude (7b) (iii) Regularity at the poles (7c)
Eigenmodes of the Linear Problem
( ) ( )
( ) ( )
( ) ( )
( ) ( )
( ) ( )
t i is e z P z iP z P z iV z U w p u σ λϕ
η
ϕ
ξ
ϕ
ξ
ϕ
ξ
ϕ
θ
− Θ = v (8)The eigensolutions of (6) with boundary conditions (7) are given by:
where: 0 1 1 2 = −Γ + − η η σξ dz d C gHe s
0
2=
+
Θ
−
σ
N
η
0
=
Θ
−
+
Γ
+
ξ
ξ
ση
dz
d
Vertical structure equations
0 cos = + − −
ϕ
σ
a sP fV U0
1
=
+
+
ϕ
σ
d
dP
a
fU
V
(
)
e gH P V d d sU a σ ϕ ϕ ϕ = + cos cos 1horizontal structure equations (Laplace’s tidal equations)
Eigenmodes of the Linear Problem
(
2)
0 2 2 = Γ − +λ
η
η
dz d The vertical structure equations can be written in terms of η as follows: ; with BCs: η = 0 at z = 0 and at z = zT ; = z z k A z T k
π
η
( ) sin , k = 1, 2, 3 ...(
2 2)
21
1
δ
σ
λ
H s eN
C
gH
−
−
=
The solution is given by: , provided that
2 2
Γ
+
=
T kz
k
π
λ
Eigenvalues of the vertical structure equations1 2 2 2 2 1 − − + = σ δ λ H s k s e N C g C H Separation constant:
(
s
l
H
e)
F
,
,
=
Eigenmodes of the Linear Problem
Different oscillation regimes: (I) → → inertio-acoustic modes;
(ii) → → inertio-gravity modes;
g C He S 2 > 2 2 N > σ g C He S 2 < 2 2 N < σ
Dispersion curves for acoustic and gravity modes for l = 0, k = 1, and symmetric about the equator.
Eigenmodes of the Linear Problem
Different oscillation regimes: (I) → → inertio-acoustic modes;
(ii) → → inertio-gravity modes;
g C He S 2 > 2 2 N > σ g C He S 2 < 2 2 N < σ
Equivalent heights He for acoustic and gravity modes for l = 0, k = 1, and symmetric about the equator.
Energetics of Normal modes
Kasahara and Qian (2000) have demonstrated the orthogonality condition for the eigenmodes:
(
)
∫ ∫ ∫
(
)
−=
+
+
+
+
−
T z H k j k j k ji
u
u
a
d
d
dz
i
0 2 0 2 2 2 2 * k j 2 S * k j * k j * *0
cos
N
C
p
p
w
w
v
v
π π πλ
ϕ
ϕ
θ
θ
δ
σ
σ
For the case j = k we have the total energy of the j-th eigenmode of the system:
[
]
∫ ∫ ∫
−>
+
+
=
T z j j j jK
E
A
a
d
d
dz
ET
0 2 0 2 2 20
cos
π π πλ
ϕ
ϕ
Where:∫ ∫ ∫
[
(
)
]
− + + = T z H j j j u a d d dz K 0 2 0 2 2 2 2 j 2 2 cos w v 2 1 π π πλ
ϕ
ϕ
δ
Kinetic energy∫ ∫ ∫
− = T z j a d d dz E 0 2 0 2 2 2 2 S 2 j cos C p 2 1 π π π λ ϕ ϕ elastic energy∫ ∫ ∫
− = T z j a d d dz A 0 2 0 2 2 2 2 2 j cos N 2 1 π π π λ ϕ ϕ θ Termobaric energyEnergetics of Normal modes
Energetics of Normal modes
Energetics of eastward inertio-acoustic modes with meridional index l = 0 and k = 1. Each energy type is normalized by total energy.
Energetics of Normal modes
Energetics of Normal modes
Energetics of eastward inertio-gravity modes with meridional index l = 0 and k = 1. Each energy type is normalized by total energy.
( )
[
]
∂ ∂ + + + ∇ • − = ∂ ∂ + − ∂ ∂ − − λ ϕ ρ ϕ ρ λ ϕ ' cos tan a v cos 1 v 2 1 0 p a u u wL u V p a f t u z (5a)( )
[
]
∂ ∂ + − + ∇ • − = ∂ ∂ + + ∂ ∂ − − ϕ ρ ϕ ρ ϕ ' tan a v v 1 u v 21 2 0 p a u wL V p a f t z (5b)( )
[
]
+ ∂ ∂ + + ∇ • − = − Γ + ∂ ∂ + ∂ ∂ − 2 -z 2 1 0 w wL w t w θ ρ ρ ρ g z p V p z p (5c) (5d) (5e) Where,( )
H
z
dz
d
z
L
z2
1
2
1
0 0−
∂
∂
=
+
∂
∂
=
+ρ
ρ
( )
dz
z
H
d
z
L
z2
1
2
1
0 0+
∂
∂
=
−
∂
∂
=
−ρ
ρ
H
C
g
dz
d
S2
2
1
2
1
2 0 0κ
ρ
ρ
−
=
+
=
Γ
Resonant Nonlinear Interactions of Global Nonhydrostatic Modes
( )
[
]
(
( )
)
− ∂ ∂ − + + • ∇ − + ∇ • − = Γ − ∂ ∂ + • ∇ + ∂ ∂ − + − w 1 w L p wL 1 w w 1 0 2 z z 2 2 1 0 2 g t p RT p C V p V C z V t p Cs ρ S ρ S ρ ( )
[
]
− ∂ ∂ − + + ∇ • − = + ∂ ∂ − + w wL 1 w 1 0 2 2 z 2 2 1 0 2 g t p RT p C N g V N t N ρ θ θ S ρ θ Ansatz ⇒ Solution with three modes:
With the following resonance relations satisfied:
k3 = k1 + k2 (not excluding) s1 = s2 + s3
σ1 = σ2 + σ3
condition for meridional structures satisfied
Nonlinear resonant triad interaction conditions
Resonant Interactions of nonhydrostaic nonrmal modes: general case
(
)
( )
( )
( )
e CC z z z z z z U t A e z z z z z z U t A e z z z z z z U t A t z u t i is t i is t i is . ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( ) , ( ) , ( ) , ( P ) , ( iW ) , ( iV ) , ( , , , p w v 3 3 2 2 1 1 3 3 3 3 3 3 3 2 2 2 2 2 2 2 1 1 1 1 1 1 1 + + + = − − −σ λ σ λ σ λ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ ρ ϕ θ ϕ ϕ ϕ ϕ ϕ λ ρ θ(
)
∫
± ± = T − z T z dz z z k k k I 0 3 2 1 2 1 0 cosπ
ρ
Substituting the ansatz into the PDEs (5) we get:
Resonant Interactions between Acoustic and Gravity Modes
3 2 23 1 1 1
i
A
A
dt
dA
ET
=
α
* 3 1 13 2 2 2i
A
A
dt
dA
ET
=
α
* 2 1 12 3 3 3i
A
A
dt
dA
ET
=
α
α123, α213 , α312 ⇒ Nonlinear coupling constants;
Resonant Interactions of nonhydrostaic nonrmal modes: general case
[
N
u
N
N
N
u
N
N
]
a
d
dz
T z u u 2 1 0 2 0 2 2 * 1 ) 3 , 2 ( * 1 ) 3 , 2 ( p * 1 ) 3 , 2 ( * 1 ) 3 , 2 ( w * 1 ) 3 , 2 ( v * 1 ) 3 , 2 ( 23 1v
w
p
cos
− −∫ ∫
+
+
+
+
+
=
θ
ϕ
ϕρ
α
π π θ[
N
u
N
N
N
u
N
N
]
a
d
dz
T z u u 2 1 0 2 0 2 2 * 2 ) 3 , 1 ( * 2 ) 3 , 1 ( p * 2 ) 3 , 1 ( * 2 ) 3 , 1 ( w * 2 ) 3 , 1 ( v * 2 ) 3 , 1 ( 13 2v
w
p
cos
− −∫ ∫
+
+
+
+
+
=
θ
ϕ
ϕρ
α
π π θ[
N
u
N
N
N
u
N
N
]
a
d
dz
T z u u 2 1 0 2 0 2 2 * 3 ) 2 , 1 ( * 3 ) 2 , 1 ( p * 3 ) 2 , 1 ( * 3 ) 2 , 1 ( w * 3 ) 2 , 1 ( v * 3 ) 2 , 1 ( 12 3v
w
p
cos
− −∫ ∫
+
+
+
+
+
=
θ
ϕ
ϕρ
α
π π θResonant Interactions of nonhydrostaic nonrmal modes: general case
( )
is p CP a u u u a a u is u Nu + + + + ∂ ∂ + − = 2 3 2 3 3 3 -z 2 3 2 3 3 2 ) 3 , 2 ( cos tan a v L w v cosϕ
ρ
ϕ
ϕ
ϕ
( )
p CP a u u a a is u N + ∂ ∂ + − + ∂ ∂ + − = ϕ ρ ϕ ϕ ϕ 3 2 3 2 3 -z 2 3 2 3 3 2 ) 3 , 2 ( v tan a v L w v v cos v( )
L
( )
p
g
CP
L
a
N
H z
+
z+
+
+
∂
∂
+
−
=
− + 3 2 3 2 3 2 3 2 3 3 2 ) 3 , 2 ( ww
w
w
v
w
is
cos
a
u
ρ
ρ
ρ
ϕ
ϕ
δ
( )
(
)
( )
(
i p g)
CP RT p C L u is a a p is a u C N S z S p + − − − + + ∂ ∂ + − + ∂ ∂ + − = + − 3 3 3 2 0 2 2 3 3 3 3 2 3 z 2 3 2 3 3 2 2 ) 3 , 2 ( w 1 w cos v cos 1 p L w p v cos 1 σ ρ ϕ ϕ ϕ ρ ϕ ϕ( )
(
i
p
g
)
CP
RT
p
N
C
g
a
is
a
u
N
N
S+
−
−
−
+
+
∂
∂
+
−
=
+ 3 3 3 2 0 2 2 2 3 z 2 3 2 3 3 2 2 ) 3 , 2 (w
L
w
v
cos
1
θ
ρ
σ
ϕ
θ
θ
ϕ
θ From the complex amplitude equations it is easy to get the energy equations:
Resonant Interactions of nonhydrostaic nonrmal modes
(
* *)
1 23 1 2 1 1Im
A
A
2A
3dt
A
d
ET
=
−
α
(
* *)
1 13 2 2 2 2Im
A
A
2A
3dt
A
d
ET
=
α
(
* *)
1 12 3 2 3 3Im
A
A
2A
3dt
A
d
ET
=
α
Condition for total energy to be conserved within a resonant triad interaction is:
0
12 3 13 2 23 1+
+
=
−
α
α
α
Mode 1 ⇒ unstable mode of the triad.
Resonant Interactions between Acoustic and Gravity Modes
Analytical solutions of the conservative triad equations, assuming that
( ) and the amplitude of mode 1 is zero initially:
( )
= m u sn A t A ET 13 2 2 23 1 2 2 2 1 1 ( ) 0 α α( )
=
m
u
cn
A
t
A
ET
2 2(
)
2 20
2 2( )
=
m
u
dn
A
t
A
ET
3 3(
)
2 30
2 2t
A
u
=
3(
0
)
α
123α
132 2 3 2 13 2 12 3)
0
(
)
0
(
=
A
A
m
α
α
Where sn, cn and dn are the Jacobian Elliptic functions, with argument u and parameter m given by 23 1 13 2 12 3
α
α
α
< <Resonant Interactions between Acoustic and Gravity Modes
Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:
Determination of a resonant triad involving a long inertio-acoustic, a short acoustic mode and a short gravity mode. The acoustic modes have k = 1 vertical structure, while the gravity mode has a k = 2 vertical structure.
Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:
Mode 1: unstable (pump) mode
Acoustic mode with k = 1; s = 476, l = 0 (first symmetric mode)
Mode 2:
Acoustic mode with k = 1, s = 1, l = 0 (first symmetric mode)
Mode 3:
Gravity mode with k = 2, s = 475, l = 0 (first symmetric mode)
Mode 1 Mode 2 Mode 3 σ1
(cHz) σ2 (cHz) σ3 (cHz) ET1 (J) ET2 (J) ET3 (J) α123 α 213 α312 (1,476,0,A) (1,1,0,A) (2,475,0, G) 6.293 5.888 0.407 1.3x 1010 1.3 x 1020 7x 106 4x1011 3.7x1011 2.6x1010
Resonant Interactions between Acoustic and Gravity Modes
Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:
Resonant Interactions between Acoustic and Gravity Modes
Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:
Resonant Interactions between Acoustic and Gravity Modes
Numerical results for a representative example of resonant triad containing two acoustic-inertia modes and one gravity-acoustic-inertia mode:
0<< m <1
Vertical velocity at ϕ = 10ºS and z = 9Km;zonal velocity at ϕ = 0o
and z = 4.5Km
Short acoustic mode activity.
Short gravity mode activity.
Summary and Remarks
Here we have investigated the possibility of resonant interactions involving
inertio-acoustic and inertio-gravity modes in a shallow-nonhydrostatic global atmospheric
model (weakly nonlinear extension of Kasahara and Qian (2000))
For the internal modes (rigid lid boundary condition), we found that the only
possibility for such resonances is that one gravity mode interacts with two acoustic
modes (similar to Rossby-gravity-gravity interaction in the hydrostatic dynamics);
This kind of resonant interaction can potentially yield vacillations in the dynamical
fields with periods varying from a daily (and intra-diurnal) time-scale up to almost a
month long, depending on the way in which the initial energy is distributed on the
triad components;
Acoustic modes are usually filtered out from numerical models to avoid
computational constraints associated with explicit numerical schemes, even in
Next Steps of the Project
To investigate the possibility of resonant interactions for the limiting case of
vertical modes where z
T→ ∞ .
To study the possibility of long-short wave interactions.
To investigate the dynamics of these resonant interactions with the inclusion of diabatic effects;