Computational Fluid Dynamics (CFD) Course

General Lecture

Ramesh K. Agarwal
Washington University in St. Louis, MO 63130, USA
Phone: +1-314-935-6091, Email: rka@wustl.edu

SV National Institute of Technology, Surat, India, 5-9 July 2010

 CFD as an Acronym
• By far the most well-known in computational sciences
and engineering
• What are CSM, CSD, CEM, CAA, CBS, CFS, CQM,
etc?
Who coined the word CFD?
• Unclear, someone at NASA Ames, confusing and
unsubstantiated tales
 Source of CFD Acronym?
• In literature, first reference to CFD acronym is
attributed to
D. R. Chapman, H. Mark, and M.W. Pirtle,
“Computers vs. Wind Tunnels for Aerodynamic Flow
Simulations,” Astronautics and Aeronautics, Vol. 13,
pp. 22-30, 1975.
 Computers vs. Wind Tunnels
Famous quote: “Computers should begin to supplant
wind tunnels in the aerodynamic design and testing
process. Eventually they would serve as numerical
wind tunnel.”
Anecdotal quote: “The only use of wind tunnels in the
future may be to store the computer output stacks.”
 A Brief History of Major
Developments in CFD
Reference: R. K. Agarwal, “Computational Fluid
Dynamics of Whole-Body Aircraft,” Annual Review of
Fluid Mechanics, Vol. 31, pp. 125-169, 1999.
– Provides a brief history of major developments from
1970 to 2000 in
• Geometry Modeling and Surface Mesh Generation
• Volume Grid Generation
• Grid Adaptation
• Numerical Algorithms for Euler and Navier-Stokes
Equations
 A Brief History of Major
Developments in CFD (Contd.)

•Convergence Acceleration Methods

•Turbulence Modeling
•Three-Dimensional Flow Solvers/Examples
•Parallel Computing
•Aerodynamic Design

– Article can be downloaded free from

www.AnnualReviews.org
 CFD – Colorful Fluid Dynamics
• Air changes color as it moves over a body?
CFD – An Analysis and Design Tool
• Analysis of an existing configuration for a wide
range of parameters resulting in improved
design
• Design of a new configuration
 Course Outline
• General remarks on the discipline of CFD and its impact on
engineering analysis and design
• Mathematical classification of governing equations of fluid
dynamics
• Fundamentals of finite-difference, finite-volume and finite-
element methods
• Order of discretization of derivatives and truncation error
• Numerical algorithms for parabolic, elliptic and hyperbolic
equations
• Types of error: dissipative and dispersive
• Convergence, stability, and consistency of numerical
algorithms
• Modified equation analysis and design of algorithms
• Explicit and implicit schemes for model, parabolic, elliptic
and hyperbolic equations
• Grid generation techniques
 Course Outline (Cont.)
• Finite-volume method:
- Numerical solution of incompressible Navier-Stokes equations
- Numerical solution of compressible Navier-Stokes equations
• Application Examples
- Flow Field and Heat Transfer in a Refrigerated Dairy Display
Case
- Flow Field and Energy Analysis of Various Cooling Systems
for Buildings
- Biomedical Application – Flow in Stenotic Arteries and Valves
- Flow Over an Automobile/Truck – Drag Reduction Study
- Some Examples of Aerospace Applications
- Some Examples of Non-Aerospace Applications
 References
Some of the material presented in this short course has been
taken from the following sources:
1. M. Ninomiya and K. Onishi, Flow Analysis Using a PC, CRC
Press Inc., 1991.
2. Jean-Jacques Chattot, Computational Aerodynamics and Fluid
Dynamics - An Introduction, Springer, 2002.
3. H. K. Versteeg and W. Malalasekera, An Introduction to
Computational Fluid Dynamics-The Finite-Volume Method,
Prentice Hall, 1995.
4. J. C. Tannehill, D. A. Anderson and R. H. Pletcher,
Computational Fluid Dynamics and Heat Transfer, 2nd ed.
Taylor and Francis, 1997.
 What is Computational Fluid Dynamics (CFD)?

z Numerical Solution of Appropriate Governing Equations

(for a given physical problem) of Fluid Dynamics (including
turbulence models) for a given configuration (domain) using a
computer.
It requires:
- Digitized description of the configuration or domain known
as “Geometry Modeling”
- Mesh generation on the surface of the geometry (object)
- Volume grid generation in the computational domain
- Discretization of governing equations on the volume mesh
 What is Computational Fluid Dynamics
(CFD)?

Discretization of boundary conditions on the surface mesh

Solution of the discretized equations (algebraic equations)
using appropriate numerical algorithms
Implementation of solution methodology on a computing
platform (Workstation, parallel computer etc.)
Interpretation and visualization of computed data (pressure,
velocity, temperature etc.) in the flow field
Integrated values of computed data
COMPUTATIONAL SOLUTION PROCESS

Flow Solver
Geometry Surface Mesh Volume Grid Discretization of
Modeling Generation Generation Governing Equations
Using an Appropriate
Numerical Algorithm
Pre-Processor Grid-Generation
Code

Integrated Quantities Interpretation and Solution on a

of Interest Visualization of Data Computing Platform

Post-Processor
Equations of Fluid Dynamics
Physical Models
Flow Solver
 Geometric Complexity
• Cartesian coordinate systems

• Cylindrical, Spherical, Conical coordinate systems

• Coordinate transformations, similarity of solution on

selective coordinate dimensions

• x vs. sqrt (y/x) coordinate (boundary layer theory,

similarity transformation)
 Geometric Complexity
• Coordinate transformations

• Conformal mapping (mapping to the unit

circle)

• Schwarz-Christoffel transformations
(transforming objects with corners to the unit
circle)
 Geometric Complexity
• General curvilinear coordinates and the
general coordinate transformation

• Body fitted coordinate transformations

• Numerical vs. analytic (discrete vs. continuous)

coordinate transformation

• Grid generation
 Grid Generation
• Elliptic grid generation

• Algebraic (multi-surface method and transfinite

interpolation)

• Hyperbolic grid generation

• Parabolic grid generation

• Mesh morphing
 Geometric Complexity – Grid Types
• Single block structured
• Multiple block structured (zonal)
• Single block unstructured
• Multiple block unstructured
• Patched and overset grids
• Cartesian grids with nested refinement
• Adaptive meshes
• Moving meshes
 Grid Types
Cartesian Single Block
Structured

Multi-Block Chimera/
Structured Overset

Unstructured Hybrid
 Numerical Algorithm Design
• Taylor series expansions and Linear stability
analysis
• Total Variation Diminishing (TVD) schemes,
monotonicity preservation, oscillation-free
schemes (ENO and WENO)
- Non-linear schemes for even linear equations
- Slope limiters, flux limiters
• Implementation Framework
- Finite-difference, Finite-volume, Finite-element,
Spectral, Particle methods etc.
 Conventional Numerical Analysis
Accuracy – defines equivalent extent of series expansion

Consistency – Numerical prescription matches mathematical

statement

Stability – Von Neumann analysis determines necessary linear

stability condition

Lax’s Equivalence Theorem:

Stability + consistency = convergence
=> Unfortunately this only applies to linear systems
Most practical problems are non-linear…
 Beyond Conventional
Numerical Analysis
• Formal (mathematical) order of accuracy is sometimes
less important than other physical attributes

• In complex non-linear systems, one must enforce other

known physical attributes

• This process is referred to as enforcing realizability

• CFD and CEM etc. enforce many forms of realizability

in the mathematical modeling, in the numerical
modeling and the computational implementation
 Realizability –Manifestations
• Negative pressures
• Negative eddy diffusivities
• Violation of Schwartz or higher-moment inequalities
• Unbounded stress components
• Singularities from vanishing scale parameters

Note
• These are not implied by classical numerical analysis
• Any of the above can cause a simulation to fail
 Realizability of Physical Processes
e.g., Reynolds-stress transport equations:

∂ ui′u ′j ∂ ui′u ′j ⋅ uk
+ = Pij + d ij + φ − ε ij *

∂t ∂xk
ij

Evolution                     Convection                   Production    Diffusion   Redistribution   Dissipation

Each term/process has unique properties requiring

specifically-tailored treatment
 Illustration of Physical Processes

∂ ui′u′j ⋅ uk
Convection:
∂xk

Production: Pij

Dissipation: ε ij

Redistribution: φij*

Diffusion: dij

∂ ui′u′j
Evolution: ∂t
 Practical Considerations
Convection: ∂ ui′u′j ⋅ uk
Positivity, TVD?
∂xk
Production: Boundedness?
Pij
Dissipation: Asymptotic limit as k
ε ij vanishes?

Redistribution: φij* Limit as components

vanish?

Diffusion: dij Traditional treatments loose

positivity on skewed meshes

Evolution: ∂ ui′u′j Must preserve constraints

∂t applied to any other physical
terms
 Numerical Algorithms
Incompressible Navier- Stokes Equations
• Stream-function/Vorticity formulation in 2-D
• Velocity/Vorticity formulation in 3D
• Scalar/Vector Potential formulation
• Pressure – Velocity Coupling Approach in Primitive
Variables on a Staggered Grid
• - SIMPLE Algorithm and its Variations
(Patankar – Spalding)
- Most widely used in commercial codes
(FLUENT, ANSYS, STAR-CD etc.)
• Artificial Compressibility Method
 Numerical Algorithms
Compressible Navier-Stokes Equations
• Central-Differencing Based Classical Explicit Schemes
- Lax, Lax-Wendroff, MacCormack, Leap-Frog
- Jameson – Schmidt and Turkel
• Central-Differencing Based Classical Explicit Schemes
- Beam – Warming, Briley – Macdonald etc.
• Upwind Schemes
- Flux-Vector Splitting
- Approximate Riemann Solvers
 Modern Numerical Algorithms
for Compressible Navier- Stokes Equations
Exact Riemann Problem and
Approximate Riemann Solvers
• Compressible Flow Problems (Shock tube)
• Riemann Initial Value Problem (IVP)
• The Riemann Solver as a Building Block
(Godunov Scheme)
• The Approximate Riemann Solver
• Unification with Central Differencing + Smoothing
(Lax-Friedrichs Scheme)
• Glimm’s scheme
 Upwind Schemes
• Flux splitting
• Flux vector splitting
• Flux difference splitting
• Flux (difference) redistribution (multidimensional)
• Kinetic flux vector splitting
• Roe, Van-Leer, HLL, HLLC, etc.
• Splitting the advective flux from the sound
propagation flux
Treatment in Multiple Dimensions

• One-dimensional schemes to multidimensional

schemes, how did they evolve?

• Alternating direction explicit (ADE)

• Alternating direction implicit (ADI)

• Approximate Factorization (AF)

• Steady state depends on value of time step used?

 Generalizations From Spatial
Dimensionality
• Approximate factorization but using “+” factor and “-” factor (LU
factorization)

• “Snakes” on unstructured grids

• Fractional step formulations

• Inviscid terms factor, viscous terms factor, source terms factor, each
spatial dimension factor, etc.

• Different time step size for each factor?

• Order of temporal accuracy of factored/fractional step schemes?

 Application Examples
ƒ Flow Field and Heat Transfer in a Refrigerated Dairy Display Case
ƒ Flow Field and Energy Analysis of Various Cooling Systems for Buildings
ƒ Biomedical Application – Flow in Stenotic Arteries and Valves
ƒ Flow Over an Automobile/Truck – Drag Reduction Study
ƒ Some Examples of Aerospace Applications
ƒ Some Examples of Non-Aerospace Applications
 CFD Now and Future
• Old but alive and well
• More wiser than before
• CPU vs. GPU
• Looking for bigger playing field – Petaflop,
Exaflop…….computing
• Many unsolved problems – of course
turbulence (what is new about that?)
• Bio, Optical, Quantum, Nano, Molecular and
Atomic Computing