Partial Differential Equations of Fluid Dynamics

Partial Differential Equations of Fluid Dynamics
A Preliminary Step for Pipe Flow Simulations
1
Ville Vuorinen,D.Sc.(Tech.)
1
Department of Energy Technology, Internal Combustion Engine Research Group
Aalto University
Department of Energy Technology

Outline
Introduction
Modeling Transport Phenomena Using PDE’s
Discretization of Derivatives
Numerical Solution of PDE’s
Matlab and PDE’s 2/27

Ville Vuorinen Simulation Course, 2012
Aalto University A Preliminary Step for Pipe Flow Simulations
Role of CFD in Modern Engine Computations 1
Turbulent Intake, Exhaust and Incylinder Flow Using LES (Courtesy of Sandia)

Fuel Injection and Turbulence Using LES (Courtesy of Sandia)

Cross-Section of Turbulence in Exhaust Manifold Using LES

Partial Differential Equations
Can Be Used to Model and Simulate 1D, 2D and 3D Flows
Diffusion, convection and radiation are basic trasport mechanisms of

mass, momentum and energy.


Diffusion, convection and radiation are basic trasport mechanisms
of mass, momentum and energy.


Example 1: heat conduction (diffusion) via walls of a hot engine
cylinder.


cylinder.
Example 2: transport of concentration of a radioactive cloud in
given wind conditions.


cylinder.
Example 3: convection of hot exhaust gases out of an engine.


cylinder.
The phenomena above can all be modeled with partial differential
equations.


cylinder.
The phenomena above can all be modeled with partial differential
equations.
This lecture gives an overview of linear PDE’s and the next lecture
on the (non-linear) Navier-Stokes equations.

Outline
Introduction

The General Form of Any Transport Phenomenon
Also the Navier-Stokes Equation is of This Form
The Convection-Diffusion Equation for the Quantity φ
temporal derivative
z}|{ convection term diffusion term source term
∂ρφ z }| { z }| { z }| {
+ ∇ · (uρφ) − ∇ · (ρν∇φ) = Sφ (φ)
∂t
φ convects and diffuses in a fluid (e.g. air,water...).

φ could represent e.g. concentration of soot particles in cigarette
smoke or water temperature in ocean currents etc.
ρ is the density of the fluid and u = u(x,y,z,t) the velocity field, and ν
the diffusivity (e.g. heat diffusivity) of φ.

In 1D the Convection-Diffusion Equation for Tem-
perature T Can Be Written as Follows
1D Form
temporal derivative convection term diffusion term

z}|{ z }| { z }| {
∂T ∂ ∂ ∂
+ (uT) − (ν T) = 0
∂t ∂x ∂x ∂x
Assumption
Fluid is incompressible i.e. ρ= constant (e.g. water or low velocity

<100m/s air).

When u = 0 One Obtains the Heat Diffusion Equa-
tion
1D Heat Equation
temporal derivative heat diffusion term

z}|{ z }| {
∂T ∂ ∂
= (ν T)
∂t ∂x ∂x

When ν =Constant the Heat Diffusion Equation
Further Simplifies
1D Heat Equation
temporal derivative heat diffusion term

z}|{ z }| {
∂T ∂ ∂
=ν ( T)
∂t ∂x ∂x

When ν = 0 One Obtains the Convection Equation
1D Convection Equation
temporal derivative convection term

z}|{ z }| {
∂T ∂
+ (uT) = 0.
∂t ∂x
Assumption

<100m/s air).

Again, When u =Constant the Convection Equa-
tion Further Simplifies
1D Convection Equation
temporal derivative convection term

z}|{ z }| {
∂T ∂
+ u (T) = 0.
∂t ∂x
Assumption

<100m/s air).

Outline
Introduction

How to Solve/Simulate the Basic PDE’s Using
Computers?
The continuous equations need to be discretized.

Computers?
This means that the derivatives have to be expressed using Taylor
series which allows numerical evaluation of the derivative terms.

Computers?
Space is divided into finite size elements by replacing dx → ∆x.

Computers?
Time is divided into finite size time steps by replacing dt → ∆t.

Computers?
The basic idea: timesteps are numbered from
0, 1, 2, ..., n − 1, n, n + 1, ..., N corresponding to physical times
total simulation period(s)
0, ∆t, 2∆t, ..., N∆t, where N = .
∆t

Computers?
The basic idea: timesteps are numbered from
0, 1, 2, ..., n − 1, n, n + 1, ..., N corresponding to physical times
total simulation period(s)
0, ∆t, 2∆t, ..., N∆t, where N = .
∆t
At nth timestep we want to know the solution at the (n + 1)th
timestep using solution Tn .

Computers? (cont.)
Here Tn = Tn (k · ∆x) = Tnk , where k = 0, 1, 2, ..., L/∆x i.e. the

solution at timestep is defined in discrete space points
0, ∆x, 2∆x, ....

Computers? (cont.)
Here Tn = Tn (k · ∆x) = Tnk , where k = 0, 1, 2, ..., L/∆x i.e. the

solution at timestep is defined in discrete space points
0, ∆x, 2∆x, ....
Simulation of e.g. heat or convection equation means that for every
single discrete point (or ’cell’) we want to find a general update
formula in order to advance the solution from timestep n to time
n + 1.

Discretization of Time
A Simple First Order Taylor Series Approximation Gives
temporal derivative numerical approximation

z}|{ z }| {
∂T Tn+1 − Tn
≈ +O(∆t).
∂t ∆t
Above, = O(∆t) is the time discretization error.

Discretization of Time
A Simple First Order Taylor Series Approximation Gives
temporal derivative numerical approximation

z}|{ z }| {
∂T Tn+1 − Tn
≈ +O(∆t).
∂t ∆t
Above, = O(∆t) is the time discretization error.

O(∆t) → 0 when ∆t → 0.

Discretization of First Derivative in Space
A Simple Second Order Central Difference Taylor Series

Approximation Gives
spatial derivative numerical approximation

z}|{ z }| {
∂T T k+1 − T k−1
≈ +O(∆x2 ).
∂x 2∆x
Above, = O(∆x2 ) is the space discretization error.

Discretization of First Derivative in Space
A Simple Second Order Central Difference Taylor Series

Approximation Gives
spatial derivative numerical approximation

z}|{ z }| {
∂T T k+1 − T k−1
≈ +O(∆x2 ).
∂x 2∆x

O(∆x2 ) → 0 when ∆x → 0.

Discretization of Second Derivative in Space
Central Difference Formula for T 00 (x)
second spatial derivative numerical approximation

z}|{ z }| {
∂2T T k+1 − 2T k + T k−1
≈ +O(∆x2 ).
∂x2 ∆x2

Discretization of Second Derivative in Space
Central Difference Formula for T 00 (x)
second spatial derivative numerical approximation

z}|{ z }| {
∂2T T k+1 − 2T k + T k−1
≈ +O(∆x2 ).
∂x2 ∆x2

O(∆x2 ) → 0 when ∆x → 0.

Outline
Introduction

Explicit Euler Method for the Convection Equation
Update Formula
k
Tn+1 − Tnk T k+1 − Tnk−1
+u n = 0.
∆t 2∆x
Or Moving the Known Terms to Right Hand Side
Courant Number
z }| {
k Tnk+1− Tnk−1 u∆t Tnk+1 − Tnk−1
Tn+1 = Tnk − u∆t = Tnk −
2∆x ∆x 2

Explicit Euler Method for the Heat (Diffusion)
Equation
Update Formula
k
Tn+1 − Tnk T k+1 − 2Tnk + Tnk−1
=ν n = 0.
∆t ∆x2
Or Moving the Known Terms to Right Hand Side
Courant-Friedrichs-Lewy Number
z }| {
k ν∆t
Tn+1 = Tnk + (Tnk+1 − 2Tnk + Tnk−1 )
∆x2

Stability Limits
Courant Number
u∆t
The Courant number Co = describes the propagation distance
∆x
of information during timestep ∆t.

Stability Limits
Courant Number
u∆t
∆x
It is necessary that Co < 1 for physically meaningfull solution.

Stability Limits
Courant Number
u∆t
∆x
It is necessary that Co < 1 for physically meaningfull solution.
For explicit Euler method Co < 1/2 sets the limit for timestep for the
algorithm to be numerically stable.

Stability Limits (cont.)
ν∆t
The Courant-Friedrichs-Lewy Number CFL = describes the
∆x2
diffusion distance of information during timestep ∆t.

ν∆t
∆x2
Again, it is necessary that CFL < 1 for physically meaningfull
solution.

ν∆t
∆x2
Again, it is necessary that CFL < 1 for physically meaningfull
solution.
Again, for explicit Euler method CFL < 1/2 sets the limit for
timestep for the algorithm to be numerically stable.

Matlab Implementation
The folder /demos2012/ shows demo files in which the Explicit

Euler method is applied for heat diffusion and convection-diffusion
equations.
ConvectionDiffusionEquation.m and HeatDiffusion.m
demonstrate these examples.
The files PlottingFigure.m, SurfaceAnimation.m and
DrawingSurface.m show how graphs can be drawn, surface motion
be animated etc.

Summary
An introduction to PDE’s and numerical solution using the explicit

Euler method was given.

Summary

It is very easy to extend the present knowledge to e.g. the
Runge-Kutta-methods which would provide more robustness and
stability.

Summary

It is very easy to extend the present knowledge to e.g. the
Runge-Kutta-methods which would provide more robustness and
stability.
In the next lecture we will show that you can already directly apply
the learned methods and PDE’s to non-linear the non-linear realistic
case of the Navier-Stokes equation for a 1D pipe flow.

The End
Thank you
Questions?


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Partial Differential Equations of Fluid Dynamics

A Preliminary Step for Pipe Flow Simulations

Department of Energy Technology

Modeling Transport Phenomena Using PDE’s

Numerical Solution of PDE’s

Matlab and PDE’s 2/27

Matlab and PDE’s 3/27

Matlab and PDE’s 4/27

Matlab and PDE’s 5/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Diffusion, convection and radiation are basic trasport mechanisms of

Matlab and PDE’s 6/27

Modeling Transport Phenomena Using PDE’s

Numerical Solution of PDE’s

Matlab and PDE’s 7/27

The Convection-Diffusion Equation for the Quantity φ

φ convects and diffuses in a fluid (e.g. air,water...).

Matlab and PDE’s 8/27

temporal derivative convection term diffusion term

Fluid is incompressible i.e. ρ= constant (e.g. water or low velocity

Matlab and PDE’s 9/27

temporal derivative heat diffusion term

Matlab and PDE’s 10/27

temporal derivative heat diffusion term

Matlab and PDE’s 11/27

temporal derivative convection term

Fluid is incompressible i.e. ρ= constant (e.g. water or low velocity

Matlab and PDE’s 12/27

temporal derivative convection term

Fluid is incompressible i.e. ρ= constant (e.g. water or low velocity

Matlab and PDE’s 13/27

Modeling Transport Phenomena Using PDE’s

Numerical Solution of PDE’s

Matlab and PDE’s 14/27

Matlab and PDE’s 15/27

Matlab and PDE’s 15/27

Matlab and PDE’s 15/27

Matlab and PDE’s 15/27

Matlab and PDE’s 15/27

Matlab and PDE’s 15/27

Here Tn = Tn (k · ∆x) = Tnk , where k = 0, 1, 2, ..., L/∆x i.e. the

Matlab and PDE’s 16/27

Here Tn = Tn (k · ∆x) = Tnk , where k = 0, 1, 2, ..., L/∆x i.e. the

Matlab and PDE’s 16/27

A Simple First Order Taylor Series Approximation Gives

temporal derivative numerical approximation

Above, = O(∆t) is the time discretization error.

Matlab and PDE’s 17/27