The Finite Element Method for Fluid Dynamics

The Finite Element Method for Fluid Dynamics

Seventh Edition

O.C. Zienkiewicz, CBE, FRS

Previously UNESCO Professor of Numerical Methods in Engineering

International Centre for Numerical Methods in Engineering, Barcelona

Previously Director of the Institute for Numerical Methods in Engineering

University of Wales, Swansea

R.L. Taylor

Professor of the Graduate School

Department of Civil and Environmental Engineering

University of California at Berkeley

Berkeley, California

P. Nithiarasu

Civil and Computational Engineering Centre

School of Engineering, Swansea University

Table of Contents

Cover image

Title page

Author Biography

Copyright

Dedication

List of Figures

List of Tables

Preface

Chapter 1. Introduction to the Equations of Fluid Dynamics and the Finite Element Approximation

Abstract

1.1 General Remarks and Classification of Fluid Dynamics Problems Discussed in this Book

1.2 The Governing Equations of Fluid Dynamics

1.3 Inviscid, Incompressible Flow

1.4 Incompressible (or Nearly Incompressible) Flows

1.5 Numerical Solutions: Weak Forms, Weighted Residual, and Finite Element Approximation

1.6 Concluding Remarks

References

Chapter 2. Convection-Dominated Problems: Finite Element Approximations to the Convection-Diffusion-Reaction Equation

Abstract

2.1 Introduction

2.2 The steady-state problem in one dimension

2.3 The steady-state problem in two (or three) dimensions

2.4 Steady state: Concluding remarks

2.5 Transients: Introductory remarks

2.6 Characteristic-based methods

2.7 Taylor-Galerkin procedures for scalar variables

2.8 Steady-state condition

2.9 Nonlinear waves and shocks

2.10 Treatment of pure convection

2.11 Boundary conditions for convection-diffusion

2.12 Summary and concluding remarks

References

Chapter 3. The Characteristic-Based Split (CBS) Algorithm: A General Procedure for Compressible and Incompressible Flow

Abstract

3.1 Introduction

3.2 Nondimensional form of the Governing Equations

3.3 Characteristic-Based Split (CBS) Algorithm

3.4 Explicit, Semi-Implicit, and Nearly Implicit Forms

3.5 Artificial Compressibility and Dual Time Stepping

3.6 Circumvention of the Babuška-Brezzi (BB) Restrictions

3.7 A Single-Step Version

3.8 Splitting Error

3.9 Boundary Conditions

3.10 The Performance of Two- and Single-Step Algorithms on an Inviscid Problem

3.11 Performance of Dual Time Stepping to Remove Pressure Error

3.12 Concluding Remarks

References

Chapter 4. Incompressible Newtonian Laminar Flows

Abstract

4.1 Introduction and The Basic Equations

4.2 Use of The CBS Algorithm for Incompressible Flows

4.3 Adaptive Mesh Refinement

4.4 Adaptive Mesh Generation for Transient Problems

4.5 Slow Flows: Mixed and Penalty Formulations

4.6 Concluding Remarks

References

Chapter 5. Incompressible Non-Newtonian Flows

Abstract

5.1 Introduction

5.2 Non-Newtonian Flows: Metal and Polymer Forming

5.3 Viscoelastic Flows

5.4 Direct Displacement Approach To Transient Metal Forming

5.5 Concluding Remarks

References

Chapter 6. Free Surface and Buoyancy Driven Flows

Abstract

6.1 Introduction

6.2 Free surface flows

6.3 Buoyancy driven flows

6.4 Concluding remarks

References

Chapter 7. Compressible High-Speed Gas Flow

Abstract

7.1 Introduction

7.2 The Governing Equations

7.3 Boundary Conditions: Subsonic and Supersonic Flow

7.4 Numerical Approximations and the CBS Algorithm

7.5 Shock Capture

7.6 Variable Smoothing

7.7 Some Preliminary Examples for the Euler Equation

7.8 Adaptive Refinement and Shock Capture in Euler Problems

7.9 Three-Dimensional Inviscid Examples in Steady State

7.10 Transient Two- and Three-Dimensional Problems

7.11 Viscous Problems in Two Dimensions

7.12 Three-Dimensional Viscous Problems

7.13 Boundary Layer: Inviscid Euler Solution Coupling

7.14 Concluding Remarks

References

Chapter 8. Turbulent Flows

Abstract

8.1 Introduction

8.2 Treatment of incompressible turbulent flows

8.3 Treatment of compressible flows

8.4 Large eddy simulation (LES)

8.5 Detached eddy simulation (DES) and monotonically integrated LES (MILES)

8.6 Direct numerical simulation (DNS)

8.7 Concluding remarks

References

Chapter 9. Generalized Flow and Heat Transfer in Porous Media

Abstract

9.1 Introduction

9.2 A generalized porous medium flow approach

9.3 Discretization procedure

9.4 Forced convection

9.5 Natural convection

9.6 Concluding remarks

References

Chapter 10. Shallow-Water Problems

Abstract

10.1 Introduction

10.2 The basis of the shallow-water equations

10.3 Numerical approximation

10.4 Examples of application

10.5 Drying areas

10.6 Shallow-water transport

10.7 Concluding remarks

References

Chapter 11. Long and Medium Waves

Abstract

11.1 Introduction and Equations

11.2 Waves in Closed Domains: Finite Element Models

11.3 Difficulties in Modeling Surface Waves

11.4 Bed Friction and other Effects

11.5 The Short-Wave Problem

11.6 Waves in Unbounded Domains (Exterior Surface Wave Problems)

11.7 Unbounded Problems

11.8 Local NonReflecting Boundary Conditions (NRBCs)

11.9 Infinite Elements

11.10 Convection and Wave Refraction

11.11 Transient Problems

11.12 Linking to Exterior Solutions (or DtN Mapping)

11.13 Three-Dimensional Effects in Surface Waves

11.14 Concluding Remarks

References

Chapter 12. Short Waves

Abstract

12.1 Introduction

12.2 Background

12.3 Errors in Wave Modeling

12.4 Recent Developments in Short-Wave Modeling

12.5 Transient Solution of Electromagnetic Scattering Problems

12.6 Finite Elements Incorporating Wave Shapes

12.7 Refraction

12.8 Spectral Finite Elements for Waves

12.9 Discontinuous Galerkin Finite Elements (DGFE)

12.10 Concluding Remarks

References

Chapter 13. Fluid–Structure Interaction

Abstract

13.1 Introduction

13.2 One-dimensional fluid–structure interaction

13.3 Multidimensional problems

13.4 Concluding remarks

References

Chapter 14. Biofluid Dynamics

Abstract

14.1 Introduction

14.2 Flow in Human Arterial System

14.3 Image-Based Subject-Specific Flow Modeling

14.4 Concluding Remarks

References

Chapter 15. Computer Implementation of the CBS Algorithm

Abstract

15.1 Introduction

15.2 The Data Input Module

15.3 Solution Module

15.4 Output Module

References

Appendix A. Self-Adjoint Differential Equations

Appendix B. Nonconservative Form of Navier-Stokes Equations

Appendix C. Computing the Drag Force and Stream Function

C.1 Drag calculation

C.2 Stream function

Appendix D. Convection-Diffusion Equations: Vector-Valued Variables

D.1 The Taylor-Galerkin method used for vector-valued variables

D.2 Two-step predictor-corrector methods: Two-step Taylor-Galerkin operation

References

Appendix E. Integration Formulae

E.1 Linear triangles

E.2 Linear tetrahedron

Appendix F. Edge-Based Finite Element Formulation

Appendix G. Boundary Layer–Inviscid Flow Coupling

Appendix H. Multigrid Method

References

Appendix I. Mass-Weighted Averaged Turbulence Transport Equations

I.1 Turbulence models

Author Index

Subject Index

Author Biography

Professor O.C. Zienkiewicz, CBE, FRS, FREng died on January 2, 2009. Prior to his death he was Professor Emeritus at the Civil and Computational Engineering Centre, University of Wales, Swansea and previously was Director of the Institute for Numerical Methods in Engineering at the University of Wales, Swansea, UK. He also held the UNESCO Chair of Numerical Methods in Engineering at the Technical University of Catalunya, Barcelona, Spain. He was the head of the Civil Engineering Department at the University of Wales, Swansea between 1961 and 1989. During this period he established that department as one of the primary centers of finite element research. In 1968 he became the Founder Editor of the International Journal for Numerical Methods in Engineering which still remains today the major journal in this field. The recipient of 27 honorary degrees and many medals, he was a member of five academies—an honor he received for his many contributions to the fundamental developments of the finite element method. In 1978, Professor Zienkiewicz became a Fellow of the Royal Society and the Royal Academy of Engineering. This was followed by his election as a foreign member to the US Academy of Engineering (1981), the Polish Academy of Science (1985), the Chinese Academy of Sciences (1998), and the National Academy of Science, Italy (Academia dei Lincei) (1999). He published the first edition of this book in 1967 and it remained the only book on the subject until 1971.

Professor R.L. Taylor has more than 50 years’ experience in the modeling and simulation of structures and solid continua including 8 years in industry. He is Professor of the Graduate School and the Emeritus T.Y. and Margaret Lin Professor of Engineering at the University of California at Berkeley and also Corporate Fellow at Dassault Systèmes SIMULIA in Providence, Rhode Island. In 1991 he was elected to membership in the US National Academy of Engineering in recognition of his educational and research contributions to the field of computational mechanics. He is a Fellow of the US Association of Computational Mechanics—USACM (1996) and a Fellow of the International Association of Computational Mechanics—IACM (1998). He has received numerous awards including the Berkeley Citation, the highest honor awarded by the University of California at Berkeley, the USACM John von Neumann Medal, the IACM Gauss-Newton Congress Medal, and a Dr.-Ingenieur ehrenhalber awarded by the Technical University of Hannover, Germany. He has written several computer programs for finite element analysis of structural and nonstructural systems, one of which, FEAP, is used worldwide in education and research environments. A personal version, FEAPpv, available at his UC website, is incorporated into this book.

Professor P. Nithiarasu has over 20 years’ experience in finite element–based computational fluid dynamics research. He moved to Swansea in 1996 after completing his PhD research at IIT Madras and is currently Professor in the Civil and Computational Engineering Centre at Swansea University. He was awarded the Zienkiewicz silver medal and prize of the Institution of Civil Engineers, UK in 2002. In 2004 he was selected to receive the European Community on Computational Methods in Applied Sciences (ECCOMAS) award for young scientists in computational engineering sciences. He is the author of nearly 300 articles in the area of fluid dynamics, porous medium flows, and the finite element method. He is the founding editor of the International Journal for Numerical methods in Biomedical Engineering.

Copyright

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First published 1967 by McGraw-Hill

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Sixth edition 2005

Reprinted 2006

Seventh edition 2014

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Notices

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Dedication

This book is dedicated to the memory of Olgierd C. (Olek) Zienkiewicz: Pioneer, mentor, and close friend.

List of Figures

List of Tables

Preface

The present revision of The Finite Element Method was undertaken shortly before the passing in January 2009 of our close friend and co-author Olgierd C. (Olek) Zienkiewicz. His inspiration and guidance has been greatly missed in the intervening years. However, we hope that the essence of his writings is retained in the new work so that current and future scholars can continue to benefit from his insights and many contributions to the field of computational mechanics. The story of his life and works is summarized in International Journal for Numerical Methods in Engineering, 80, 2009, pp. 1–45.

It is our intention that the present text could be used by investigators familiar with the finite element method in general terms and introduce them to the subject of fluid dynamics. It can thus in many ways stand alone. Although the finite element discretization is briefly covered here, many of the general finite element procedures may not be familiar to a reader introduced to the finite element method through different texts and therefore we advise that this volume be used in conjunction with the The Finite Element Method: Its Basis and Fundamentals by Zienkiewicz, Taylor, and Zhu to which we make frequent reference.

In fluid dynamics, several difficulties arise. The first is that of dealing with incompressible or almost incompressible situations. These as we already know present special difficulties in formulation even in solids. The second difficulty is introduced by convection, which requires rather specialized treatment and stabilization. Here, particularly in the field of compressible high-speed gas flow many alternative finite element approaches are possible and often different algorithms for different ranges of flow have been suggested. Although slow creeping flows may well be dealt with by procedures almost identical to those of solid mechanics, the high-speed range of the supersonic and hypersonic kind will require a very particular treatment. In this text we shall use the so-called characteristic-based split (CBS) introduced several years ago by the authors. It turns out that this algorithm is applicable to all ranges of flow and indeed gives results which are at least equal to those of specialized methods.

We organized the text into 15 individual chapters. The first chapter introduces the topic of fluid dynamics and summarizes all relevant partial differential equations together with appropriate constitutive relations. Chapter 1 also provides a brief summary of the