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Solution of the St Venant

Equations / ShallowWater equations of open


channel flow
Dr Andrew Sleigh
School of Civil Engineering
University of Leeds, UK
www.efm.leeds.ac.uk/CIVE/UChile

St. Venant Equations

d
d u
g
u

g So S f
x
x t
A
u
d
u
A
b
0
x
x
t

St Venant Assumptions of 1-D


Flow
Flow is one-dimensional i.e. the velocity is uniform over the cross

section and the water level across the section is horizontal.

The streamline curvature is small and vertical accelerations are


negligible, hence pressure is hydrostatic.

The effects of boundary friction and turbulence can be accounted for


through simple resistance laws analogous to those for steady flow.

The average channel bed slope is small so that the cosine of the
angle it makes with the horizontal is approximately 1.

Cunge J A : Practical Aspect of Computational River Hydraulics

Control Volume

A1
V1

A2
V2

Continuity

CV in x,t plane

between cross sections x=x1 and x=x2


between times t=t1 and t=t2

conservation of mass

A
x2

x1

A t1 dx Qx 2 Qx1 dt 0
t2

t2

t1

Momentum

Conservation of momentum
2
2

uA

uA
dx

u
A

u
A x 2 dt
t2
t1
x1
x1
t1
x2

t2

t2

t2

t2

t1

t1

t1

I1 x1 I1 x 2 dt

x2

x1

I 2 dx dt

A S
x2

x1

S f dx dt

b
Geometric Change Terms

vertical change
in cross-section
I1

h x

h-

()

h x x, d

change in width along the length of the


channel.
h x

I 2 h x
d

0
x

h ho

Integral / Differential Forms

Integral form do not require that any flow


variable is continuous
We will see later finite difference methods
based on this integral form.
Can derive differential form but

Must assume variables are continuous and


diferentable
Replace variable with Taylors series

A t 2

A
2 A t 2
A t1
t 2
...
t
t 2

Differential form

A Q

0
t x

Q Q 2


gI1 gA S o S f gI 2
t x A

gI1
h
gA x
gI 2
x
x

Q
h

uQ gA
S o gAS f 0
t x
x

In terms of Q(x,t) and h(x,t):

Where b = b(h), A=A(h)


A h A h
h

b
t
h t
t

h 1 Q

0
t b x
Q Q 2
h
gA gA S f S o 0

t x A
x
remember b = b(h), A=A(h)
Each of these forms are a set of non-linear differential equations which do not
have any analytical solution.
The only way to solve them is by numerical integration.

In term of u(x,t) and h(x,t):

using

A h A
Q
u
A
u
A u
A u

x
x
x
x

h A u
h u A

t b x
x b x

hcons tan t

0
h cons tan t

u
u
h
u
g
g S f So 0
t
x
x

Characteristic Form

The St Venant equations may be written in a


quite different form know as the Charateristic
Form.
Writing the equations in this form enables
some properties and behaviour of the St
Venant equations become clearer.
It will also help identify some stability criteria
for numerical integration
will help with the definition of boundary
conditions.

Characteristic form

Consider a prismatic channel


h A u
h

u
0
t b x
x
u
u
h
u
g
g S f So 0
t
x
x

Wave speed

Consider the speed, c, of a wave travelling in


the fluid.
c g

A
b

with respect to x and t gives:


c
h
2c g
x
x

c
c
u
2u c
0
t
x
x

2c

c
h
g
t
t

u
c
u
2c u
g S f So 0
t
x
x

Combining

Adding equations (3) and (4) gives


v
v
c
c
v c 2 2 v c
g So S f
t
x
t
x

Subtracting equations (3) and (4) gives


v
v
c
c
v c 2 2 v c
g So S f
t
x
t
x

Characteristics

Equations (5) and (6) can be rearranged to


give respectively
v 2c v 2c
v c

g So S f
x
t

v c v 2c v 2c g So S f
x

Total differential

For some function of x and t


d sense.
dx
In a physical

dt
x isdtsome
t property of the flow e.g.
If the variable
surface level,
if an observer is moving at velocity v,
the observer will see the surface level change
only with time relative to the observers' position.

The characteristic form of the St


Venant equations

If we take = (v + 2c)

Total differential is
d v 2c v 2c dx v 2c

dt
x
dt
t

Compare with

v c v 2c v 2c g S o S f
x

Clearly

and

dx
v c
dt
d v 2c
g So S f
dt

Characteristic form of the St


Venant Equations

These pairs are known as the Characteristic


form of the St Venant Equations
d v 2c
dx
g S S for
v c
dt
o

dt

d v 2c
g So S f
dt

d v 2c
g So S f
dt

for

for

dx
v c
dt

dx
v c
dt

Meaning of the
The paths of these observers that we have talked about
characteristics
can be represented by lines on this graph.
c2

dt
1

dx v c

dt
1

dx v c

c1

6
c4

c0
5

c5

3
2

Z o n e o f q u ie t

1
x

Information paths

it takes time for information to travel


E.g. a flood wave at u/s end
The channel downstream will not receive the
flood for some time.
For how long?
The line C0 represents the velocity of flood
wave
Everything below C0 is zone of quite

Zones of Dependence and


Influence

The idea that characteristics carry information


at a certain speed gives two important
concepts
c2
t

c1
P

D o m a in o f d e p e n d e n c e o f P

c2

c1

Z o n e o f in flu e n c e o f Q

Stability

These zones imply a significance to


numerical methods and stability of any
solver

The numerical method must take only


information from within the domain of
dependence of P

this limits the size of time step

Calculation with
characteristics

If we know the solution at points 3 and 5


Can determine the solution at point 6.

For C5-6 then


d v 2c
g i j
dt

For C3-6 then


d v 2c
g i j
dt

dt
1

dx v5 c5
v6 2c6 v5 2c5 t g i j

dt
1

dx v3 c3

2c6 v3 2c3 t g i j

Characteristics solution

Adding equations
v6

v5 v3
c5 c3 t g i j
2

Subtracting
c6

v5 v3 c5 c3

4
2

MOC on Rectangular Grid


t
P

t+ t
t
t

x
x
P

t+ t
t
t

O
x L
x

R
x R
x

Midstream discretisation

Away from boundaries


dx
vL cL
dt

x L
vO cO
t

t+ t
t
t

O
x L
x

v L vO

dx
vP cP
dt

x L
v O vW
x

R
xR

x R
vO cO
t

x R
vO v E
v R vO
x

Solution
d v 2c
g So Sf
dt

vP 2cP vL 2cL t g So Sf L

d v 2c
g So Sf
dt

vP 2cP vR 2cR t g So Sf R

vP

vL vR
t g
So Sf L So Sf R
cL cR
2
2

cP

v L v R c L c R t g

So Sf L So Sf R
4
2
4

Stability

Considering characteristics

C 2

t+ t

dt
1
dx = v+c

dx
v c
dt

C 1

dt
1
d x = v -c

x
t
v c

x
t 0.9
v c max

Boundary conditions
Upstream boundary:

backward characteristic

Downstream boundary:

forward characteristic
t+ t

t
t

t+ t

b o u n d a ry

x R
x

x L
x

Boundary Conditions

The second equation is a

boundary condition equation

Upstream depth boundary


c p ghp
hP = H(t)

vP 2cP vR 2cR t g So Sf R
vP vR 2 cR cP t g So Sf R

Spuer-critical - mid

Right characteristic moves to left


P

t+ t
t
t

x R
x L

solution method is exactly the same

Super-critical - upstream

No characteristics
P

Super-critical downstream
2 characteristics

No boundary condition
P

t+ t

b o u n d a ry

t
t

O
x R
x L

Finite Difference Schemes

Two basics classes

Implicit
Explicit

Commercial packages use implicit


Explict

for high accuracy (sometimes!)


Testing / understanding behaviour
Class examples!

Which Equations

Not always clear what equations a being used!


What are the shallow water equation?
We will look at schemes based on the integral
equations:
x1 A t 2 A t1 dx t1 Qx 2 Qx1 dt 0
x2

t2

2
2
x1 uA t 2 uA t1 dx t1 u A x1 u A x 2 dt
x2

t2

t2

t1

t2

x2

t2

t1

t1

1 x1

x1

I1 x 2 dt

I 2 dx dt

A S
x2

x1

S f dx dt

Homogeneous Integral
Equations

Without the gravity / frictions terms

A
x2

x1

t2

At1 dx Qx 2 Qx1 dt 0
t2

t1

2
2

Q
dx

u
A

gI

u
A I1 x1 dt 0
1 x2
t1
x1 t 2
t1
x2

t2

Grid based

Consider the grid

Integrate around the cell

Considering the cell ABCD,

Integral can be written in the general vector form :

fdx G f dt 0

ABCD

Q
f
A

G f Q 2
gI1

Gridpoints / Variables

Variables are all known or will be calculated


at the grid points

xi represents the value of x at position i


tn represents the value of t at position n

Derivation approximates values:


G xi , t Gin1 1 Gin
0 1

f x, t n f i n1 1 f i n
0 1

Substitute in approximations

And the equation become

f
xi 1

xi

n 1
i 1

t n1

tn

n 1
i 1

1 f i n 1 f i n1 1 f i n dx

n 1
i 1

1 Gin1 Gin 1 1 Gin dt 0

1 f i n 1 f i n1 1 f i n x

Gin11 1 Gin1 Gin 1 1 Gin t 0

Difference equation

n 1
i 1

Divide through byx t

And can see that it is an approximation of


f G f

0
t
x

1 f i n 1 f i n1 1 f i n Gin11 1 Gin1 Gin 1 1 Gin

0
t
x

i.e. starting with integral form


discretisation is also valid for diferential form

Several schemes

This is a general discretisation scheme

Vary the parameters and


Get a family of different finite difference schemes

Features are

They are implicit for values of > 0. else explicit.


They link together only adjacent nodes.
Space interval can vary no loss of accuracy.
They are first order, except for the special case of
==0.5 when they are second order.

Preissmann Scheme

= 0.5 gives Preissmann 4-point scheme


Time derivative
f
f i n11 f i n1 f i n1 f i n

t
2t

Space derivative

G f Gin11 1 Gin1 Gin 1 1 Gin

x
x

Equations become

x n1
x n
Ai Ain11
Ai Ain1 t Qin11 Qin1 1 Qin1 Qin 0
2
2

x n1
x n
Qi 1 Qin1
Qi 1 Qin
2
2
n 1
2
Q2

Q
t
gI1

gI1
A
i 1 A

n 1

Q2

gI
1

n
Q2


gI1
A
i
i 1
n

I 2 AS f ASo n1 I 2 AS f AS o n1
j
j 1
gtx

n
n 1
2

1 I 2 AS f ASo j I 2 AS f AS o j 1

More common form

The terms I1 and I2 are often difficult


(expensive / time consuming)

(when originally attempted)

Usual form used in packages


h 1 Q

0
t b x

Q Q 2
h
gA gA S f S o 0

t x A
x

Priessmann

Function represented by,

n1
1 n
n 1

f f i 1 f i
f i 1 f i n
2
2

0.5 < 1
Continuity:

h 1 Q

0
t b x

1 hin11 hin1 hin1 hin


2 Qin11 Qin1 1 Qin1 Qin

0
n 1
n 1
n
n
2
t
t x bi bi 1 1 bi bi 1

Priessmann

Momentum Equation
Q Q 2
h
gA gA S f S o 0

t x A
x

1 Qin11 Qin1 Qin1 Qin

2
t
t

Q2

x A

n 1

i 1

Q

A

n1

Q2

x A

Q

A
i 1

1 n
n1

n1
g
Ai 1 Ai
Ai 1 Ain E 0
2
2



i
n

Source term

So-Sf

hin11 hin1
hin1 hin

E
1
x
x

n
n
n n
Qin11 Qin11 Qin1 Qin1
Q
Q

Q
i 1 i 1
i Qi

2
2

K K 1 K K

2
2

n1 2
i 1

n 1 2
i

n 2
i 1

n 2
i

Unknowns

There are the 4 unknowns


h nj1 , h nj11 , Q nj1 , Q nj11 ,

Plus k, b, A which are functions of h and Q

h nj1 , h nj11 , Q nj1 , Q nj11 ,

Need to linearise

Linearise equations

Ah nj1 Bh nj11 CQ nj1 DQ nj11 RHS

A, B, C, D and RHS are funtion of the


unknowns.

But not strongly

Boundary Conditions

In implicit scheme specify h or Q

Use characteristics to decide appropriately

Or relation between h and Q

2N unknowns (h, Q at each node)

2N 2 equations from internal points


2 boundary equations

Junction

At a junction each chanel share the same


node

hjuntion 1 = hjuntion 2 = hjuntion 3 ..= hjuntion n = h

Continuity

Sum of inflow and outflow equal to zero

Iterative solution

Need to iterate updating coeficients

Cunge says

iterates rapidly one or two iterations

Newton-Raphson methods used in packages

Stability

Formally unconditionally stable for all time


steps

0.5 < 1

Further away from Cr = 1 less accurate


Cr = 20 is common
Because of linearisation may fail for extreme
flows or those that are too far from original
assumptions

Explicit Schemes

Not used in simulations of real rivers


Time step limitations.

Important features of explicit schemes

they are simple to implement


allow experiment with weights, time-step and
space-step to understand behaviour of the
solution.

There are MANY schemes

Leap-Frog

Earliest scheme aplied to wave equations

Spatial derivative

f f
f

t
2t
n
i 1

gives

n
i 1

Temporal derivative
G f Gin1 Gin1

x
2x

n 1

A
t
n1
i
f i n1 f i n
Gin1 Gin1
2x
Qi

Stability

All explict scheme have time step limit


Courant confition (CFL)

dx
v c
dt

Cr < 1

x
t
v c

Lax Explict Scheme

Similar to leap from with weighting, , in time


f

fi

n 1

n
n

f
n
i 1
i 1

f i 1 1
2

For 0 1
Spatial derivative

n
n

G
G f
i 1
i1

2x

Lax Explict Scheme

Leads to function solution


n 1
n
n

A
f

f
t
n 1
n
i
i 1
i 1
f i n1 f i 1

Gin1 Gin1
2
2x
Qi

Boundary conditions must be applied using


method of characteristics

Some useful texts

Rather old- still basis of many commercial


programs.
Cunge, J.A., Holley, F.M. and Verwey, A. (1980):
Practical Aspects of Computational River Hydraulics
Mahmood and Yevjevich (1975): Unsteady Flow in
Open Channels - Fort Collins, Colorado
Liggett & Cunge (1975)
Preissmann, A. (1960): Propogation des
Intumescenes dans les Canaue et Rivieres - 1st
Congress de l'Assoc. Francaise de Calcul, Grenoble

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