A 2D implicit time‐marching algorithm for shallow water models based on the generalized wave continuity equation

This paper builds upon earlier work that developed and evaluated a 1D predictor–corrector time‐marching algorithm for wave equation models and extends it to 2D. Typically, the generalized wave continuity equation (GWCE) utilizes a three time‐level semi‐implicit scheme centred at k, and the momentum equation uses a two time‐level scheme centred at k+12. It has been shown that in highly non‐linear applications, the algorithm becomes unstable at even moderate Courant numbers. This work implements and analyses an implicit treatment of the non‐linear terms through the use of an iterative time‐marching algorithm in the two‐dimensional framework. Stability results show at least an eight‐fold increase in the maximum time step, depending on the domain. Studies also examined the sensitivity of the G parameter (a numerical weighting parameter in the GWCE) with results showing the greatest increase in stability occurs when 1?G/τ_max?10, a range that coincides with the recommended range to minimize errors. Convergence studies indicate an increase in temporal accuracy from first order to second order, while overall error is less than the original algorithm, even at higher time steps. Finally, a parallel implementation of the new algorithm shows that it scales well. Copyright © 2004 John Wiley & Sons, Ltd.     

Two‐dimensional prediction of time dependent,turbulent flow around a square cylinder confined in a channel

This paper presents two‐dimensional and unsteady RANS computations of time dependent, periodic, turbulent flow around a square block. Two turbulence models are used: the Launder–Sharma low‐Reynolds number k–ε model and a non‐linear extension sensitive to the anisotropy of turbulence. The Reynolds number based on the free stream velocity and obstacle side is Re=2.2×10⁴. The present numerical results have been obtained using a finite volume code that solves the governing equations in a vertical plane, located at the lateral mid‐point of the channel. The pressure field is obtained with the SIMPLE algorithm. A bounded version of the third‐order QUICK scheme is used for the convective terms. Comparisons of the numerical results with the experimental data indicate that a preliminary steady solution of the governing equations using the linear k–ε does not lead to correct flow field predictions in the wake region downstream of the square cylinder. Consequently, the time derivatives of dependent variables are included in the transport equations and are discretized using the second‐order Crank–Nicolson scheme. The unsteady computations using the linear and non‐linear k–ε models significantly improve the velocity field predictions. However, the linear k–ε shows a number of predictive deficiencies, even in unsteady flow computations, especially in the prediction of the turbulence field. The introduction of a non‐linear k–ε model brings the two‐dimensional unsteady predictions of the time‐averaged velocity and turbulence fields and also the predicted values of the global parameters such as the Strouhal number and the drag coefficient to close agreement with the data. Copyright © 2009 John Wiley & Sons, Ltd.     

Analysis of hybrid algorithms for the Navier–Stokes equations with respect to hydrodynamic stability theory

Hybrid three‐dimensional algorithms for the numerical integration of the incompressible Navier–Stokes equations are analyzed with respect to hydrodynamic stability in both linear and nonlinear fields. The computational schemes are mixed—spectral and finite differences—and are applied to the case of the channel flow driven by constant pressure gradient; time marching is handled with the fractional step method. Different formulations—fully explicit convective term, partially and fully implicit viscous term combined with uniform, stretched, staggered and non‐staggered meshes, x‐velocity splitted and non‐splitted in average and perturbation component – are analyzed by monitoring the evolution in time of both small and finite amplitude perturbations of the mean flow. The results in the linear field are compared with correspondent solutions of the Orr–Sommerfeld equation; in the nonlinear field, the comparison is made with results obtained by other authors. Copyright © 2002 John Wiley & Sons, Ltd.     

A Petrov–Galerkin finite element model for one‐dimensional fully non‐linear and weakly dispersive wave propagation

A new finite element method is presented to solve one‐dimensional depth‐integrated equations for fully non‐linear and weakly dispersive waves. For spatial integration, the Petrov–Galerkin weighted residual method is used. The weak forms of the governing equations are arranged in such a way that the shape functions can be piecewise linear, while the weighting functions are piecewise cubic with C²‐continuity. For the time integration an implicit predictor–corrector iterative scheme is employed. Within the framework of linear theory, the accuracy of the scheme is discussed by considering the truncation error at a node. The leading truncation error is fourth‐order in terms of element size. Numerical stability of the scheme is also investigated. If the Courant number is less than 0.5, the scheme is unconditionally stable. By increasing the number of iterations and/or decreasing the element size, the stability characteristics are improved significantly. Both Dirichlet boundary condition (for incident waves) and Neumann boundary condition (for a reflecting wall) are implemented. Several examples are presented to demonstrate the range of applicabilities and the accuracy of the model. Copyright © 2001 John Wiley & Sons, Ltd.     

Calculation of turbulent fluid flow and heat transfer in ducts by a full Reynolds stress model

A computational method has been developed to predict the turbulent Reynolds stresses and turbulent heat fluxes in ducts by different turbulence models. The turbulent Reynolds stresses and other turbulent flow quantities are predicted with a full Reynolds stress model (RSM). The turbulent heat fluxes are modelled by a SED concept, the GGDH and the WET methods. Two wall functions are used, one for the velocity field and one for the temperature field. All the models are implemented for an arbitrary three‐dimensional channel. Fully developed condition is achieved by imposing cyclic boundary conditions in the main flow direction. The numerical approach is based on the finite volume technique with a non‐staggered grid arrangement. The pressure–velocity coupling is handled by using the SIMPLEC‐algorithm. The convective terms are treated by the van Leer scheme while the diffusive terms are handled by the central‐difference scheme. The hybrid scheme is used for solving the ε equation. The secondary flow generation using the RSM model is compared with a non‐linear k–ε model (non‐linear eddy viscosity model). The overall comparison between the models is presented in terms of the friction factor and Nusselt number. Copyright © 2003 John Wiley & Sons, Ltd.     

A 3‐D non‐hydrostatic pressure model for small amplitude free surface flows

A three‐dimensional, non‐hydrostatic pressure, numerical model with k–ε equations for small amplitude free surface flows is presented. By decomposing the pressure into hydrostatic and non‐hydrostatic parts, the numerical model uses an integrated time step with two fractional steps. In the first fractional step the momentum equations are solved without the non‐hydrostatic pressure term, using Newton's method in conjunction with the generalized minimal residual (GMRES) method so that most terms can be solved implicitly. This method only needs the product of a Jacobian matrix and a vector rather than the Jacobian matrix itself, limiting the amount of storage and significantly decreasing the overall computational time required. In the second step the pressure–Poisson equation is solved iteratively with a preconditioned linear GMRES method. It is shown that preconditioning reduces the central processing unit (CPU) time dramatically. In order to prevent pressure oscillations which may arise in collocated grid arrangements, transformed velocities are defined at cell faces by interpolating velocities at grid nodes. After the new pressure field is obtained, the intermediate velocities, which are calculated from the previous fractional step, are updated. The newly developed model is verified against analytical solutions, published results, and experimental data, with excellent agreement. Copyright © 2005 John Wiley & Sons, Ltd.     

Two‐dimensional,unstructured mesh generation for tidal models

The successful implementation of a finite element model for computing shallow‐water flow requires the identification and spatial discretization of a surface water region. Since no robust criterion or node spacing routine exists, which incorporates physical characteristics and subsequent responses into the mesh generation process, modelers are left to rely on crude gridding criteria as well as their knowledge of particular domains and their intuition. Two separate methods to generate a finite element mesh are compared for the Gulf of Mexico. A wavelength‐based criterion and an alternative approach, which employs a localized truncation error analysis (LTEA), are presented. Both meshes have roughly the same number of nodes, although the distribution of these nodes is very different. Two‐dimensional depth‐averaged simulations of flow using a linearized form of the generalized wave continuity equation and momentum equations are performed with the LTEA‐based mesh and the wavelength‐to‐gridsize ratio mesh. All simulations are forced with a single tidal constituent, M₂. Use of the LTEA‐based procedure is shown to produce a superior (i.e., less error) two‐dimensional grid because the physics of shallow‐water flow, as represented by discrete equations, are incorporated into the mesh generation process. Copyright © 2001 John Wiley & Sons, Ltd.     

A novel implicit numerical treatment for non‐linear turbulence models using high and low Reynolds number formulations

Non‐linear turbulence models can be seen as an improvement of the classical eddy‐viscosity concept due to their better capacity to simulate characteristics of important flows. However, application of non‐linear models demand robustness of the numerical method applied, requiring a stable discretization scheme for convergence of all variables involved. Usually, non‐linear terms are handled in an explicit manner leading to possible numerical instabilities. Thus, the present work shows the steps taken to adapt a general non‐linear constitutive equation using a new semi‐implicit numerical treatment for the non‐linear diffusion terms. The objective is to increase the degree of implicitness of the solution algorithm to enhance convergence characteristics. Flow over a backward‐facing step was computed using the control volume method applied to a boundary‐fitted coordinate system. The SIMPLE algorithm was used to relax the algebraic equations. Classical wall function and a low Reynolds number model were employed to describe the flow near the wall. The results showed that for certain combination of relaxation parameters, the semi‐implicit treatment proposed here was the sole successful treatment in order to achieve solution convergence. Also, application of the implicit method described here shows that the stability of the solution either increases (high Reynolds with non‐orthogonal mesh) or preserves the same (low Reynolds number applications). Additional advantages of the procedure proposed here lie in the possibility of testing different non‐linear expressions if one considers the enhanced robustness and stability obtained for the entire numerical algorithm. Copyright © 2010 John Wiley & Sons, Ltd.     

A new second‐moment closure approach for turbulent swirling confined flows

An improved anisotropic model for the dissipation rate—ε—of the turbulent kinetic energy (k), to be used together with a non‐linear pressure‐strain correlations model, is proposed. Experimental data from the open literature for two confined turbulent swirling flows are used to assess the performance of the proposed model in comparison to the standard ε transport equation and to a linear approach to model the pressure‐strain term that appears in the exact equations for the Reynolds‐stress tensor. For the less strongly swirling flow the predictions show much more sensitivity to the εtransport equation than to the pressure‐strain model. In opposition, for the more strongly swirling flow, the results show that the predictions are much sensitive to the pressure‐strain model. Nevertheless, the improved εtransport equation together with the non‐linear pressure strain model yield predictions in good agreement with experiments in both studied cases. Copyright © 2003 John Wiley & Sons, Ltd.     

The general boundary element method and its further generalizations

In this paper, the basic ideas of the general boundary element method (BEM) proposed by Liao [in Boundary Elements XVII, Computational Mechanics Publications, Southampton, MA, 1995, pp. 67–74; Int. J. Numer. Methods Fluids, 23 , 739–751 (1996), 24 , 863–873 (1997); Comput. Mech., 20 , 397–406 (1997)] and Liao and Chwang [Int. J. Numer. Methods Fluids, 23 , 467–483 (1996)] are further generalized by introducing a non‐zero parameter . Some related mathematical theorems are proposed. This general BEM contains the traditional BEM in logic, but is valid for non‐linear problems, including those whose governing equations and boundary conditions have no linear terms. Furthermore, the general BEM can solve non‐linear differential equations by means of no iterations. This disturbs the absolutely governing place of iterative methodology of the BEM for non‐linear problems. The general BEM can greatly enlarge application areas of the BEM as a kind of numerical technique. Two non‐linear problems are used to illustrate the validity and potential of the further generalized BEM. Copyright © 1999 John Wiley & Sons, Ltd.     

A high‐order Petrov–Galerkin finite element method for the classical Boussinesq wave model

A high‐order Petrov–Galerkin finite element scheme is presented to solve the one‐dimensional depth‐integrated classical Boussinesq equations for weakly non‐linear and weakly dispersive waves. Finite elements are used both in the space and the time domains. The shape functions are bilinear in space–time, whereas the weighting functions are linear in space and quadratic in time, with C⁰‐continuity. Dispersion correction and a highly selective dissipation mechanism are introduced through additional streamline upwind terms in the weighting functions. An implicit, conditionally stable, one‐step predictor–corrector time integration scheme results. The accuracy and stability of the non‐linear discrete equations are investigated by means of a local Taylor series expansion. A linear spectral analysis is used for the full characterization of the predictor–corrector inner iterations. Based on the order of the analytical terms of the Boussinesq model and on the order of the numerical discretization, it is concluded that the scheme is fourth‐order accurate in terms of phase velocity. The dissipation term is third order only affecting the shortest wavelengths. A numerical convergence analysis showed a second‐order convergence rate in terms of both element size and time step. Four numerical experiments are addressed and their results are compared with analytical solutions or experimental data available in the literature: the propagation of a solitary wave, the oscillation of a flat bottom closed basin, the oscillation of a non‐flat bottom closed basin, and the propagation of a periodic wave over a submerged bar. Copyright © 2008 John Wiley & Sons, Ltd.     

Two‐dimensional dispersion analyses of finite element approximations to the shallow water equations

Dispersion analysis of discrete solutions to the shallow water equations has been extensively used as a tool to define the relationships between frequency and wave number and to determine if an algorithm leads to a dual wave number response and near 2Δx oscillations. In this paper, we explore the application of two‐dimensional dispersion analysis to cluster based and Galerkin finite element‐based discretizations of the primitive shallow water equations and the generalized wave continuity equation (GWCE) reformulation of the harmonic shallow water equations on a number of grid configurations. It is demonstrated that for various algorithms and grid configurations, contradictions exist between the results of one‐dimensional and two‐dimensional dispersion analysis as a result of subtle changes in the mass matrix. Numerical experiments indicate that the two‐dimensional dispersion analysis correctly predicts the existence and onset of near 2Δx noise in the solution. Copyright © 2004 John Wiley & Sons, Ltd.     

Improved third‐order weighted essentially nonoscillatory schemes with new smoothness indicators

In this article, we present two improved third‐order weighted essentially nonoscillatory (WENO) schemes for recovering their design‐order near first‐order critical points. The schemes are constructed in the framework of third‐order WENO‐Z scheme. Two new global smoothness indicators, τ_L3 and τ_L4, are devised by a nonlinear combination of local smoothness indicators (IS_k) and reference values (IS_G) based on Lagrangian interpolation polynomial. The performances of the proposed schemes are evaluated on several numerical tests governed by one‐dimensional linear advection equation or one‐ and two‐dimensional Euler equations. Numerical results indicate that the presented schemes provide less dissipation and higher resolution than the original WENO3‐JS and subsequent WENO3‐N scheme.     

A new framework for studying the stability of genus-1 and genus-2 KP patterns

The Kadomtsev-Petviashvili equation - or KP equation - is a model equation for waves that are weakly two-dimensional in a horizontal plane, and models water waves in shallow water with weak three-dimensionality. It has a vast array of interesting genus—k pattern solutions which can be obtained explicitly in terms of Riemann theta functions. However the linear or nonlinear stability of these patterns has not been studied. In this paper, we present a new formulation of the KP model as a Hamiltonian system on a multi-symplectic structure. While it is well-known that the KP model is Hamiltonian - as an evolution equation in time - multi-symplecticity assigns a distinct symplectic operator for each spatial direction as well, and is independent of the integrability of the equation. The multi-symplectic framework is then used to formulate the linear stability problem for genus-1 and genus-2 patterns of the KP equation; generalizations to genus—k with k > 2 are also discussed.     

Numerical solution for the second‐order wave interaction with porous structures

This study mathematically formulates the fluid field of a water‐wave interaction with a porous structure as a two‐dimensional, non‐linear boundary value problem (bvp) in terms of a generalized velocity potential. The non‐linear bvp is reformulated into an infinite set of linear bvps of ascending order by Stokes perturbation technique, with wave steepness as the perturbation parameter. Only the first‐ and second‐order linear bvps are retained in this study. Each linear bvp is transformed into a boundary integral equation. In addition, the boundary element method (BEM) with linear elements is developed and applied to solve the first‐ and second‐order integral equations. The first‐ and second‐order wave profiles, reflection and transmission coefficients, and the amplitude ratio of the second‐order components are computed as well. The numerical results correlate well with previous analytical and experimental results. Numerical results demonstrate that the second‐order component can be neglected for a deep water‐wave and may become significant for an intermediate depth wave. Copyright © 1999 John Wiley & Sons, Ltd.     

Numerical simulation of turbulent free surface flow with two‐equation k–ε eddy‐viscosity models

This paper presents a finite difference technique for solving incompressible turbulent free surface fluid flow problems. The closure of the time‐averaged Navier–Stokes equations is achieved by using the two‐equation eddy‐viscosity model: the high‐Reynolds k–ε (standard) model, with a time scale proposed by Durbin; and a low‐Reynolds number form of the standard k–ε model, similar to that proposed by Yang and Shih. In order to achieve an accurate discretization of the non‐linear terms, a second/third‐order upwinding technique is adopted. The computational method is validated by applying it to the flat plate boundary layer problem and to impinging jet flows. The method is then applied to a turbulent planar jet flow beneath and parallel to a free surface. Computations show that the high‐Reynolds k–ε model yields favourable predictions both of the zero‐pressure‐gradient turbulent boundary layer on a flat plate and jet impingement flows. However, the results using the low‐Reynolds number form of the k–ε model are somewhat unsatisfactory. Copyright © 2004 John Wiley & Sons, Ltd.     

A fully coupled Navier–Stokes solver for calculation of turbulent incompressible free surface flow past a ship hull

This paper deals with the calculation of free surface flow of viscous incompressible fluid around the hull of a boat moving with rectilinear motion. An original method used to avoid a large part of the theoretical problems connected with free surface boundary conditions in three‐dimensional Navier–Stokes–Reynolds equations is proposed here. The linearised system of convective equations for velocities, pressure and free surface elevation unknowns is discretised by finite differences and two methods to solve the fully coupled resulting matrix are presented here. The non‐linear convergence of fully coupled algorithm is compared with the velocity–pressure weakly coupled algorithm SIMPLER. Turbulence is taken into account through Reynolds decomposition and k–ε or k–ω model to close the equations. These two models are implemented without wall function and numerical calculations are performed up to the viscous sub‐layer. Numerical results and comparisons with experiments are presented on the Series 60 CB=0.60 ship model for a Reynolds number Rn=4.5×10⁶ and a Froude number Fn=0.316. Copyright © 1999 John Wiley & Sons, Ltd.     

An extension of the SIMPLE based discontinuous Galerkin solver to unsteady incompressible flows

In this paper, we present a SIMPLE based algorithm in the context of the discontinuous Galerkin method for unsteady incompressible flows. Time discretization is done fully implicit using backward differentiation formulae (BDF) of varying order from 1 to 4. We show that the original equation for the pressure correction can be modified by using an equivalent operator stemming from the symmetric interior penalty (SIP) method leading to a reduced stencil size. To assess the accuracy as well as the stability and the performance of the scheme, three different test cases are carried out: the Taylor vortex flow, the Orr‐Sommerfeld stability problem for plane Poiseuille flow and the flow past a square cylinder. (1) Simulating the Taylor vortex flow, we verify the temporal accuracy for the different BDF schemes. Using the mixed‐order formulation, a spatial convergence study yields convergence rates of k + 1 and k in the L²‐norm for velocity and pressure, respectively. For the equal‐order formulation, we obtain approximately the same convergence rates, while the absolute error is smaller. (2) The stability of our method is examined by simulating the Orr–Sommerfeld stability problem. Using the mixed‐order formulation and adjusting the penalty parameter of the symmetric interior penalty method for the discretization of the viscous part, we can demonstrate the long‐term stability of the algorithm. Using pressure stabilization the equal‐order formulation is stable without changing the penalty parameter. (3) Finally, the results for the flow past a square cylinder show excellent agreement with numerical reference solutions as well as experiments. Copyright © 2015 John Wiley & Sons, Ltd.     

A numerical investigation of the flow over a pair of identical square cylinders in a tandem arrangement

This paper describes a numerical study of the two‐dimensional and three‐dimensional unsteady flow over two square cylinders arranged in an in‐line configuration for Reynolds numbers from 40 to 1000 and a gap spacing of 4D, where D is the cross‐sectional dimension of the cylinders. The effect of the cylinder spacing, in the range G = 0.3D to 12D, was also studied for selected Reynolds numbers, that is, Re = 130, 150 and 500. An incompressible finite volume code with a collocated grid arrangement was employed to carry out the flow simulations. Instantaneous and time‐averaged and spanwise‐averaged vorticity, pressure, and streamlines are computed and compared for different Reynolds numbers and gap spacings. The time averaged global quantities such as the Strouhal number, the mean and the RMS values of the drag force, the base suction pressure, the lift force and the pressure coefficient are also calculated and compared with the results of a single cylinder. Three major regimes are distinguished according to the normalized gap spacing between cylinders, that is, the single slender‐body regime (G < 0.5), the reattach regime (G < 4) and co‐shedding or binary vortex regime (G ≥4). Hysteresis with different vortex patterns is observed in a certain range of the gap spacings and also for the onset of the vortex shedding. Copyright © 2011 John Wiley & Sons, Ltd.     

A nodal Godunov method for Lagrangian shock hydrodynamics on unstructured tetrahedral grids

We present a nodal Godunov method for Lagrangian shock hydrodynamics. The method is designed to operate on three‐dimensional unstructured grids composed of tetrahedral cells. A node‐centered finite element formulation avoids mesh stiffness, and an approximate Riemann solver in the fluid reference frame ensures a stable, upwind formulation. This choice leads to a non‐zero mass flux between control volumes, even though the mesh moves at the fluid velocity, but eliminates volume errors that arise due to the difference between the fluid velocity and the contact wave speed. A monotone piecewise linear reconstruction of primitive variables is used to compute interface unknowns and recover second‐order accuracy. The scheme has been tested on a variety of standard test problems and exhibits first‐order accuracy on shock problems and second‐order accuracy on smooth flows using meshes of up to O(10⁶) tetrahedra. Copyright © 2014 John Wiley & Sons, Ltd.