The Finite Element Method for Fluid Dynamics

Sixth edition
O.C. Zienkiewicz, CBE, FRS
Professor Emeritus, Civil and Computational Engineering Centre University of Wales Swansea UNESCO Professor of Numerical Methods in Engineering International Centre for Numerical Methods in Engineering, Barcelona

R.L Taylor
Professor in 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 University of Wales Swansea

ELSEVIER
BUTTERWORTH HEINEMANN

AMSTERDAM BOSTON HEIDELBERG LONDON NEW YORK OXFORD PARIS SAN DIEGO SAN FRANCISCO SINGAPORE SYDNEY TOKYO

Contents

Preface Acknowledgements 1 Introduction to the equations of fluid dynamics and the finite element approximation 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 Convection dominated problems - finite element approximations to the convection-diffusion-reaction equation 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 Non-linear waves and shocks 2.10 Treatment of pure convection 2.11 Boundary conditions for convection-diffusion 2.12 Summary and concluding remarks References The characteristic-based split (CBS) algorithm. A general procedure for compressible and incompressible flow 3.1 Introduction 3.2 Non-dimensional form of the governing equations 3.3 Characteristic-based split (CBS) algorithm

xi xiii 1 1 4 11 13 14 26 27 28 28 31 45 49 50 53 65 66 66 70 72 73 74 79 79 81 82

viii

Contents

3.4 3.5 3.6 3.7 3.8 3.9

Explicit, semi-implicit and nearly implicit forms Artificial compressibility and dual time stepping 'Circumvention'of the BabuSka-Brezzi (BB) restrictions A single-step version Boundary conditions The performance of two-step and one-step algorithms on an inviscid problem 3.10 Concluding remarks References

92 95 97 98 100 103 104 105 110 110 112 123 131 131 136 136 141 141 141 154 163 165 166 170 170 170 189 191 193 197 197 198 199 202 203 205 206 212 217 226 227 240

Incompressible Newtonian laminar flows 4.1 Introduction and the basic equations 4.2 Use of the CBS algorithm for incompressible 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

flows

Incompressible non-Newtonian flows 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 Free surface and buoyancy driven 6.1 Introduction 6.2 Free surface 6.3 Buoyancy driven 6.4 Concluding remarks References flows flows flows

Compressible high-speed gas flow 7.1 Introduction 7.2 The governing equations 7.3 Boundary conditions - subsonic and supersonic 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

flow

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ix

7.13 7.14 8

Boundary layer-inviscid Euler solution coupling Concluding remarks References

241 242 242 248 248 251 264 267 270 270 271 271 274 274 275 279 282 282 284 288 289 292 292 293 297 298 310 311 313 314 317 317 318 320 320 320 321 324 324 327 327 328 330 332

Turbulent flows 8.1 Introduction 8.2 Treatment of incompressible turbulent 8.3 Treatment of compressible 8.4 Large eddy simulation 8.5 Detached Eddy Simulation (DES) 8.6 Direct Numerical Simulation (DNS) 8.7 Concluding remarks References Generalized flow through porous media 9.1 Introduction 9.2 A generalized porous medium flow approach 9.3 Discretization procedure 9.4 Non-isothermal flows 9.5 Forced convection 9.6 Natural convection 9.7 Concluding remarks References

flows flows

10 Shallow water problems 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 11 Long and medium waves 11.1 Introduction and equations 11.2 Waves in closed domains - finite element models 11.3 Difficulties in modelling 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 Non-Reflecting Boundary Conditions (NRBCs) 11.9 Infinite elements 11.10 Mapped periodic (unconjugated) infinite elements 11.11 Ellipsoidal type infinite elements of Burnett and Holford 11.12 Wave envelope (or conjugated) infinite elements 11.13 Accuracy of infinite elements

Contents

11.14 11.15 11.16 11.17 11.18 11.19

Trefftz type infinite elements Convection and wave refraction Transient problems Linking to exterior solutions (or DtN mapping) Three-dimensional effects in surface waves Concluding remarks References

332 333 335 336 338 344 344 349 349 349 351 351 352 352 364 372 374 378 378 382 382 383 384 387 387 389 391 392 395 397 405 407 409 413 417 427

12 Short waves 12.1 Introduction 12.2 Background 12.3 Errors in wave modelling 12.4 Recent developments in short wave modelling 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 13 Computer implementation of the CBS algorithm 13.1 Introduction 13.2 The data input module 13.3 Solution module 13.4 Output module References Appendix A Appendix B Appendix C Appendix D Appendix E Appendix F Appendix G Appendix H Appendix I Author index Subject index Non-conservative form of Navier-Stokes equations Self-adjoint differential equations Postprocessing Integration formulae Convection-diffusion equations: vector-valued variables Edge-based finite element formulation Multigrid method Boundary layerinviscid flow coupling Mass-weighted averaged turbulence transport equations