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2017,29(4):542-551
DOI: 10.1016/S1001-6058(16)60767-9
Liu-chao Qiu (邱流潮)1, Feng Jin (金峰) 2, Peng-zhi Lin (林鹏智)3, Yi Liu (刘毅)4, Yu Han (韩宇)1
1. College of Water Resources and Civil Engineering, China Agricultural University, Beijing 100083, China,
E-mail: qiuliuchao@cau.edu.cn
2. State Key Laboratory of Hydroscience and Hydraulic Engineering, Tsinghua University, Beijing 100084, China
3. State Key Laboratory of Hydraulics and Mountain River Engineering, Sichuan University, Chengdu 610065,
China
4. State Key Laboratory of Simulation and Regulation of Water Cycle in River Basin, China Institute of Water
Resources and Hydropower Research, Beijing 100038, China
Abstract: This paper presents the simulation of tsunamis due to rigid and deformable landslides with consideration of submerged
conditions by using particle methods. The smoothed particle hydrodynamics (SPH), as a particle based method, is for solving
problems of fast moving boundaries in the field of continuum mechanics. Other particle based methods, like the discrete element
method (DEM), are suitable for modeling the displacement and the collision related to the rigid landslides. In the present work, we
use the SPH and the DEM to simulate tsunamis generated by rigid and deformable landslides with consideration of submerged
conditions. The viscous free-surface flows are solved by a weakly compressible SPH and the displacement and the rotation of the
rigid body slides are calculated using a multi-sphere DEM allowing for modeling solids of arbitrarily complex shapes. The fluid-solid
interactions are simulated by coupling the SPH and the DEM. A rheology model combining the Papanastasiou and the
Herschel-Bulkley models is applied to represent the viscoplastic behavior of the non-Newtonian flow in the submarine deformable
landslide cases. Submarine landslide tsunamis due to rigid and deformable landslides are both simulated as typical landslide cases in
this investigation. Our simulated results and the previous experimental results in the literatures are in good agreement, which shows
that the proposed particle based methods are capable of modeling the submarine landslide tsunamis.
Key words: Landslide tsunamis, fluid-solid interaction, free-surface flows, smoothed particle hydrodynamics, discrete element method
laboratory experiment, the analytical solution and the contrast to the mesh-based techniques, the meshless
numerical modeling are three main methods to investi- methods do not require an interface capturing scheme
gate the landslides and the landslide-generated water nor the moving mesh technology, which is a clear
waves. The analytical solution is generally available advantage when the problem involves breaking waves
only for simple cases and is unable to account for the and moving boundaries. In this respect, Qiu[9]
whole process of landslides. The laboratory experi- successfully applied the SPH method to simulate the
ment is the most important and straightforward way to landslide-generated water waves, Fu and Jin[10] used
study the landslides and its induced water waves and the MPS method in predicting the landslide pheno-
the resulted experimental data can be used to validate mena. However, in most numerical simulations, the
numerical models. However, a scale model experi- rigid body landslide is treated as a series of moving
ment may be both time-consuming and costly to carry particles with a pre-defined motion. Hence, it is
out. By contrast, the numerical modeling, if properly difficult to predict the landslide movement, especially
validated with laboratory experiments, may serve as a for practical cases. As for a rigid landslide dominated
more flexible and efficient tool. Moreover, the nu- by discontinuity, numerical methods, including the
merical modeling can more easily provide flow discrete element method (DEM) and the discontinuous
variables at any point of space and, hence, is better deformation analysis (DDA), are capable of modeling
suited to a detailed study of physical processes. Follo- the movement and the interaction between discon-
wing Wang et al.[2] and in terms of the mathematical tinuous slides. Wang et al.[2] developed a coupled
formulations, the numerical models can be categorized DDA-SPH model to simulate landslide-generated
into the Boussinesq-type model[3], the shallow water impulsive waves with consideration of the solid-fluid
equation model[4] and the fully Navier-Stokes model[5]. interaction. For deformable landslide simulations, the
In particular, the depth-integrated shallow water equa- rheology models are desirable. As in most numerical
tion is widely used to simulate the water wave pro- studies of landslides, the prediction of the motion and
blems and is solved by using the standard finite di- the deformation of non-Newtonian fluids such as soils
fference or finite volume methods. However, the and clays relies on the rheology model. The available
application of this method requires knowledge of the rheology models in literature can be classified into
evolution of the bathymetry, the velocity of the sliding three groups: the viscous models, the viscoplastic mo-
mass and an estimation of the drag coefficients. In dels, and the frictional models. The linear viscoplastic
addition, neglecting the vertical acceleration leads to Bingham model is most widely used to describe the
inaccuracy in the generation zone where the depth rheology of a debris or mud flow.
changes rapidly, and on the shore, where the run-up This work aims to describe and validate the nu-
and the wave-breaking occur[6]. Heidarzadeh et al.[7] merical methods combining the SPH and the DEM to
made an excellent review of the state-of-the-art nume- simulate the submarine rigid and deformable land-
rical tools for modeling the landslide-generated waves. slides and the induced water waves. The SPH, as a
The wave generation mechanism depends on the particle based Lagrangian method, was originally de-
initial position of a landslide with respect to the sur- veloped for astrophysical simulations and was then
face of the water at rest. Therefore, three types of extended to simulate free surface flows. Instead of a
landslides can be identified: the subaerial type, the mesh, the SPH method uses a set of interpolation
partially submerged type and the submarine type. The points placed arbitrarily within the fluid, with several
present work will mainly focus on the numerical advantages as compared to the mesh based methods
modeling of the impulse waves generated by the when simulating a complex flow involving free sur-
submarine landslides. faces and moving boundaries. More complete reviews
Numerical methods used for modeling the of the SPH can be found in Refs.[11] and [12]. The
landslide generated water waves can be divided into DEM is also a particle based Lagrangian method
two major categories: the mesh-based methods and the which was developed to describe granular materials
meshless methods. The traditional mesh-based me- and is nowadays widely used in particulate flows.
thods such as the finite difference method and the Within the meshless framework, some effort was
finite volume method are widely used for modeling made to couple the SPH and the DEM to model solids
the landslides, as very mature methods[8]. However, moving in free surface flows. Ren et al.[13] developed
due to some limitations in the mesh generation, the a two-dimensional SPH-DEM model to simulate the
remeshing and constructing the approximation scheme. wave-structure interaction by describing the move-
the public interests turn to use the meshless methods ment of the solids based on the multisphere DEM.
that remove the limitations of the classical mesh-based Canelas et al.[14] used a coupled SPH and DEM to
methods. In the past decades, the meshless methods, describe the motion of arbitrarily shaped solids in
like the smoothed particle hydrodynamics (SPH) and viscous fluids based on the concept of the distributed
the moving particle semi-implicit (MPS) method, contact DEM introduced by Cummins and Cleary[15].
were developed within the Lagrangian framework. In In this study, the viscous free surface flow is solved
544
where the constant B = c02 0 / , 0 is the reference plastic model using a pseudo-Newtonian viscosity in
the un-yielded region and a Bingham viscosity in the
density, c0 is the sound speed at the reference
yielded region. The Herschel-Bulkley model is a com-
density and = 7 for a fluid like water. The speed of bination of a Bingham model and a power law model.
sound c0 is generally chosen as 10 times of the In the Herschel-Bulkley model, as in the Bingham
maximum velocity in the fluid to ensure that the model, no shear stress appears before the yield stress
fluctuations of the density are less than 1%. point with a singularity at the point where the shear
It is a challenging task to implement the solid strain is zero. To avoid this occurrence, Papanastasiou
boundaries in the SPH due to the kernel truncation. In proposed the regularization of the Bingham fluid
this work, the so-called dynamic boundary condi- model by introducing an exponential term, which
tions[22] are adopted for both the moving and fixed decreases quickly with m D , where m is an adjus-
boundaries. This method consists of creating boundary table parameter, thus smoothing out the viscosity
particles that satisfy the same equations of continuity function in a Bingham fluid. With this idea, a model is
(6) and state (8) as the fluid particles, but without created, that is valid in both the liquid and solid
updating their positions using the momentum Eq.(7) regions of the material. In the present work, we use
and their positions remaining fixed (fixed boundaries) the Papanastasiou adaptation for a Herschel-Bulkley
or moving according to some externally imposed fluid, which takes the following form
function (moving objects).
Finally the particle positions are updated every n 1 y m D
time-step using the XSPH variant[12] τ = [2 p D + (1 e )]D (11)
D
dxa m
= va + b vab aWab (9) where y and p represent the yield stress and the
dt b ab
plastic viscosity, respectively, and m is the stress
where ab = ( a b ) / 2 and is a constant, with growth exponent. In the limit case of m , the
Herschel-Bulkley model is recovered and hence the
its value in the range between 0 and 1, = 0.5 , as is
choice of the parameter m is actually a tradeoff
often used. This method is a correction for the
between the numerical issues and the accuracy of the
velocity of a particle a . This correction makes the
mechanical response. All simulations in this work are
particles more organized and, for high fluid velocities,
performed by using m = 1 000 s .
helps to avoid the particle penetration.
its second invariant D = D D ij ij . This formu- where the mass M I , the velocity U I , and the angu-
lation can also be used to handle visco-plastic fluids. lar velocity ΩI are for the solid I , and g is the
The Bingham model is one of the simplest model
and provides a satisfactory description of the visco- gravity acceleration. The force FI f is due to the fluid-
plastic behaviour of the non-Newtonian fluid. A solid interaction and the force FIc represents any
variety of other Bingham models such as the bi-visco- solid contact that might occur. Integrating Eq.(12) in
sity and Herschel-Bulkley models are often used for time advances the linear motion of the solid whereas
submarine sediments to simulate the Bingham rheo- Eq.(13) accounts for the rotational motion.
logy of a viscoplastic material in low and high stress In order to calculate the fluid-solid interaction
states[23]. A bi-viscosity model is a piecewise visco-
546
force FI f , the boundary of a moving solid is sphere centres. vij , n is the normal relative velocity,
represented by groups of SPH particles and these and n is the normal damping coefficient given by
moving boundary particles have an inter-particle
spacing equal half of the fluid particle spacing to
prevent the fluid particles from penetrating the mo- 2 lg eij m* kn
n = (18)
ving solid boundary. The fluid-solid interaction is ( lg eij )2 + 2
ensured through the interactive force balance condi-
tion based on the Newton’s third law of motion. Follo-
wing Ren et al.[13], the fluid-solid interaction force where eij is the restitution coefficient. The effective
FI f can be determined as mass m* = (mi + m j ) / mi m j , where mi and m j are
the masses of surface spheres i and j , respectively.
p p The tangential component of the contact force
FI f = mi ma a2 + 2i aWai (14)
i a a i fij , t is calculated by a Coulomb friction law using a
coefficient of friction ij . It can be expressed as
where the inner summation means the total force on a
moving boundary particle i belonging to solid I
due to the neighborhood fluid particle a . f ij , t = kt δt tij t vij ,t , f ij , t ij f ij , n (19a)
Following Latham et al.[24], a multi-sphere app-
roach is used for modeling the complex-shaped multi-
f ij , t = ij f ij , n tij , f ij , t ij f ij , n (19b)
body dynamics, in which the surface of each solid is
represented by a cluster of small spheres of a diameter
equivalent to the spacing of the moving boundary par- where kt , δt and t are the tangential spring sti-
ticles. The solids are allowed to interact via the con- ffness, the tangential overlap, and the tangential dam-
tact forces when the surface spheres of different solids ping coefficient, respectively. The tangential relative
overlap. No relative movement between spheres of the velocity vij , t = vij vij , n and the tangential unit vector
same body is allowed. Based on the multi-sphere app-
roach, the resultant contact forces and torque acting tij = vij , t / vij , t . The tangential damping coefficient is
upon a solid I are evaluated as given by
FIc = (f ij , n + f ij , t ) (15)
2lg eij mkn
i j
t = (20)
( lg eij )2 + 2
TI = (Ri nij f ij , t ) (16)
where kt = 2/7kn and m = 2/7m* , The value of 2/7
i j
fij , t are the normal and tangential forces, respectively, 2.1 Submarine rigid body sliding
on surface sphere i of solid I due to surface As the first numerical validation case, the sub-
sphere j of solid J . The normal contact forces merged rigid landslide is investigated in this section.
The numerical model used in this simulation is based
f ij , n are calculated by on a laboratory experiment in literature[16]. In this
experiment, the landslide was modeled by a rigid
fij , n = kn δn nij n vij , n (17) wedge sliding freely into the water along a 45o
inclined slope. The cross section of the wedge is an
where kn is the normal spring stiffness, The overlap isosceles triangle with a length of 0.5 m. The initial
water depth is 1m and the top of the wedge is slightly
δn = (Ri + R j ) xi x j , where Ri and R j are the below the water surface. The initial configuration used
surface sphere radii, and xi and x j are the surface in our simulation is shown in Fig.1.
5477
Fig.12 (Color online) Sliding process and water velocity contour of submerged sand landslides
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