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Article history:
Available online 9 February 2013
Keywords:
Low subsonic flow
Turbulent flow noise
LES/LPCE hybrid method
abstract
The sound of fluid at low Mach number is a special research area that poses diverse applications not only
in aerodynamics but also in bio-medical or biological fluids. The related Mach numbers are in the order
of O(102 ) or even less and therefore the compressibility effects are substantially low but still play an
important role in many aspects. A hybrid method of splitting the hydrodynamic field and the acoustic field
is of our present interest and attention is given to the linearized perturbed compressible equations (LPCE).
In this paper, the linearized perturbed compressible equations are reviewed with some discussion on the
acoustic source term, DP /Dt. A few selected applications of aerodynamic noise and bio-fluid sound are
demonstrated by the present hybrid method.
Crown Copyright 2013 Published by Elsevier Masson SAS. All rights reserved.
1. Introduction
The sound of fluids at low Mach numbers is often encountered
in many practical aerodynamic applications such as ground transportation vehicles, ventilation ducts and jets, etc. A typical flow
speed of automobiles, for example, is in the range of 50100 km/h
(or M = 0.040.08) and flows are mostly turbulent and at moderately high Reynolds numbers. The computation of low-subsonic
turbulent flow noise is, however, a difficult task because the noise
sources are highly localized in the turbulent boundary layer near
the wall or in the wake, while the acoustic wavelengths far exceed
the hydrodynamic length scales. In this case, a direct numerical
simulation (DNS) employing the full compressible NavierStokes
equations becomes very difficult and expensive, coping with the
fact that a long-time computation is often required to represent
the turbulence statistics, i.e. the noise sources.
The sound in bio-medical or biological fluids is also in the range
of very low Mach numbers. For example, the vocal fold of the human larynx [1], or an insect flapping wings [2] produces the sound
by periodically disturbing the flow with body oscillating at the frequency range of 50200 Hz. The associated Mach number can be
figured as M = Ub /co = (Lc f )/co , where Ub is the moving speed of
the body, Lc the distance of travel, f the oscillating frequency of the
body, and co the speed of sound. For a biological body with length
scale of 12 cm, the associated Mach numbers are in the range of
M = 0.00150.012.
For computing sound of fluids at such low Mach numbers,
numerical difficulties lie not only in scale disparity between the
0997-7546/$ see front matter Crown Copyright 2013 Published by Elsevier Masson SAS. All rights reserved.
doi:10.1016/j.euromechflu.2013.02.002
The present LES/LPCE hybrid method is based on a hydrodynamic/acoustic splitting method [3], in which the total flow
variables are decomposed into the incompressible and perturbed
compressible variables as,
(1)
p(
x, t ) = P (
x, t ) + p (
x, t ).
The incompressible variables represent hydrodynamic flow field,
while acoustic fluctuations and other compressibility effects are
resolved by perturbed quantities denoted by ( ).
The hydrodynamic turbulent flow field is first solved by incompressible LES. The filtered incompressible NavierStokes equations
are written as,
(2)
(3)
(4)
Here, is the mean radius of the grid cell (computed as cubic root
of its volume), Sij is the strain-rate tensor.
After a quasi-periodic stage of hydrodynamic field is attained,
the perturbed quantities are computed by the linearized perturbed
compressible equations (LPCE) [5]. A set of the linearized perturbed
compressible equations is written as,
+ (U ) + 0 ( u ) = 0
t
u
1
+ (u U ) + p = 0
t
0
+ b1
fi+2 fi2
41x
(8)
(9)
+ (u ) + ( u ) = 0
t
u
1
DU
1
+ (u )u + (u )U + p +
= fvis
t
Dt
p
+ (u )p + p( u ) + (u )P
t
DP
=
+ ( 1) q
Dt
p
DP
+ (U )p + P ( u ) + (u )P = .
t
Dt
21x
where the grid-resolved quantities are denoted by () and the unknown sub-grid tensor Mij is modeled as
2
Mij = U
i Uj Ui Uj = 2(Cs ) |S |Sij .
fi+1 fi1
2 fi
1 + fi + 2 fi+1 = a2
U j
=0
xj
U i
+ 0 (U i U j )
0
t
xj
U i
U j
P
+ 0
+
=
0 Mij ,
xi
xj xj
xi
xj
1 fi
1 + fi + 1 fi+1 = a1
2. Computational methodology
(x, t ) = 0 + (x, t )
(x, t ) = U (x, t ) + u (x, t )
u
51
(5)
(6)
(7)
(10)
(11)
(12)
), fvis
where D/Dt = / t + (U
is the perturbed viscous force
uj
ui
2 uk
+
ij
(13)
xj
xi
3 xk
by assuming viscosity
= 0 (=constant), and and q are ex-
fvis
,i = 0
xj
pressed as
uj
uk
2 ul
=
+
jk
xk
xj
3 xl
p
qj = k
.
xj
uk
,
xk
(14)
(15)
52
+ (u )
)u + (
+
( u )]
[(
)u] [(u )
I-a
I-b
II-a
II-b
II
( p) + Fvis ,
III
(16)
IV
where Fvis = (
fvis
0 2 U )/ .
In Eq. (16), one can clearly see that perturbed vorticity is
generated and diffused by source terms on the right hand side
through: (i) coupling effects between the hydrodynamic vorticity
and the perturbed velocities (terms I and II), (ii) entropy field
(term III), and (iii) viscous force (term IV). Term I is related to
the three-dimensional effect of vortex stretching: stretching of
hydrodynamic vorticity by perturbed velocities (term I-a) and
stretching of perturbed vorticity by total velocities (term I-b). Term
II represents a more direct coupling between the hydrodynamic
vorticity and the perturbed velocities. The convective effect of
hydrodynamic vorticity by perturbed velocity is represented by
term II-a, whereas term II-b is related to the dilatation rate effect.
Term III is not so important for low Mach number, non thermallydriven flows and term IV only provides physical diffusion to
the perturbed vorticity. In the previous study [5], it was shown
that term II-a is the most dominant source term that generates
perturbed vorticity and term II-b is considered less important at
low Mach numbers.
It is interesting to note that perturbed vorticity is not a radiating acoustic quantity but a convecting hydrodynamic vortical.
Its physical meaning represents modification of the hydrodynamic
vorticity through interactions between the hydrodynamic vorticity and the velocity fluctuations. At low Mach numbers, the magnitude of the perturbed vorticity is small but, if falsely resolved,
it becomes self-excited and grows to affect the acoustic solution.
Since term II-a is related to the gradient of hydrodynamic vorticity
, perturbed vorticity usually appears at the edge of the hydrodynamic vorticity and its length scale is similar to (or sometimes
smaller than) the hydrodynamic vortical scale. Therefore, acoustic
grid resolution must carefully be handled in calculation.
By neglecting the second-order, non-linear terms such as (
u
+ (U ) + 0 ( u ) = 0
t
u
1
+ (u U ) + p
t
0
DU
1
u ) (
= (
U )
+ fvis
0 Dt
0
(17)
(18)
p
+ (U )p + P ( u ) + (u )P
t
DP
=
+ ( 1) q
(19)
Dt
)u + (u )U = (u U ) +
with mathematical identity, (U
u ) + (
(
U ). Since the left hand side of Eq. (18) does not
generate any vortical component, only the right hand side terms
are responsible for the generation of perturbed vorticity. The first
u and
two terms,
U correspond to the dominant source
terms (terms I and II) in the perturbed vorticity transport equations
and the last two terms are associated with the entropy and viscous
effects (terms III and IV).
To show the Mach number dependence of each term, the perturbed momentum and energy equations, Eqs. (18)(19) are combined into a convective wave equation, neglecting the viscous and
thermal effect terms and then a Mach number scaling is conducted.
The hydrodynamic variables are scaled by their free stream values:
2
0 , U U , and P U
. For the perturbed variables,
a Mach number expansion approach [9,10] is employed; for example, u = U + Mu(1) + M 2 u(2) + M 3 u(3) + . So, the perturbed
velocity, u Mu(1) and from the linear acoustics, p ( c )u
and ( /c )u . The time is also scaled by l/c , where l is a
reference length scale and c is the speed of sound.
The resulting convective wave equation is written as
2 p
) p + U p
+
(
U
t2
t
t
O(M )
O(M 2 )
P 2
p +
0
P
P
u
P + (u )
+
( u )
t
t
t
O(M 3 )
u )} +
P {(
U ) + (
O(M 4 )
DP
.
t Dt
DU
0 Dt
+ (u U )
(20)
O(M )
3 (1) 2
3
Each term has the order of c
u /l (or c
U /l2 ) multiplied by a Mach number to the power denoted in Eq. (20). It is
clearly shown that the terms responsible for the generation of perturbed vorticity (i.e. the right hand side in Eq. (18)) have a Mach
number dependency O(M 4 ), whereas the leading-order terms
are O(M ). It is also interesting to note that the only explicit
acoustic source term, DP /Dt on the right hand side of Eq. (20) has
the same order as the first term in the convective wave equation,
2 p / t 2 .
Now, it is evident that the first two terms on the right hand
side of Eq. (18) are not so responsible for sound generation at low
Mach numbers and thereby one can exclude these to suppress
the generation of perturbed vorticity. The third term related to a
momentum correction to the perturbed mass can also be neglected
at low Mach numbers. The last term (perturbed viscous force)
is not necessary any more because there is no generation and
diffusion of perturbed vorticity. With the thermal terms neglected
in the perturbed energy equation, a set of linearized perturbed
compressible equations (LPCE) now read Eqs. (5)(7).
Because a curl of the linearized perturbed momentum equations, Eq. (6) yields
= 0,
t
(21)
Fig. 1. Instantaneous 1
D
Dt
Fig. 2. Instantaneous
53
1 DP
P Dt
3. Acoustic source
The aerodynamic noise at low Mach numbers is often dominated by vortex interactions with solid walls. When a vortex interacts with the solid body, its strength changes in time and as a
consequence, the circulation in the neighboring fluids is altered
and so are the local streamlines. The time-varying streamlines are
directly connected to the pressure change in time and space and
therefore a so-called vortex sound is produced.
A generation of dipole tone from a circular cylinder is, for example, due to an alternating formation of vortex behind the cylinder and therefore circulation around the cylinder oscillates in time.
When vortex is formed at the upper side, a negative circulation
around the cylinder lowers the stagnation point at the frontal face
of the cylinder with creation of positive lift force. At a certain spe-
cific time interval, the flow field and lift force are at the opposite
phase when the vortex is formed at the lower side.
D
54
Fig. 3. Instantaneous 1 Dt contours; positive (red) and negative (blue) (compressible NS eqs., ReD = 150, M = 0.2). (For interpretation of the references to colour in this
figure legend, the reader is referred to the web version of this article.)
Fig. 4. Instantaneous pressure fluctuation p contours (linearized perturbed compressible eqs. (LPCE) with acoustic source DP /Dt from the incompressible NS eqs.,
ReD = 150, M = 0.2).
= 0, and
v
y
55
Fig. 5. Instantaneous Q iso-surfaces around the trailing-edge (left); wall pressure fluctuations along the plate (right).
Fig. 6. Instantaneous DP /Dt contours on the acoustic (top) and hydrodynamic (bottom) grids (left); instantaneous pressure fluctuation field (right).
Fig. 7. Sound pressure level spectrum at r = 20c vertically away from the midchord of the plate; computation (blue), experiment (black). (For interpretation of
the references to colour in this figure legend, the reader is referred to the web
version of this article.)
56
the block length of 0.04 s, and the number of averages of 10. The
agreement is found excellent, especially for the match of the tonal
peak (peak level deviation is 2.7 dB), its spectral broadening, as
well as the other broadband part. This comparison indicates that
not only the noise sources but also their turbulence statistics are
well captured by the incompressible LES, while the propagation,
scattering, and diffraction of the acoustic waves around the plate
are accurately computed by the LPCE.
The directivity patterns at r = 20c are also presented in Fig. 8
for various Strouhal numbers (or ratios of the plate chord length
to the acoustic wavelength). At vortex shedding frequency (St =
0.2 or c / = 0.4), it represents a clear dipole. As the Strouhal
number increases or the acoustic wavelength becomes shorter
than the chord length, the waves diffracted at the leading and
trailing-edge of the plate are well captured; the directivity pattern
changes to a finger-like shape. It is worth noting that the first two
plots of St = 0.2 and 0.4 are consistent with what is expected
from analytical modeling based on zero-thickness assumption, as
shown for instance in the study of Roger and Moreau [15]. At
higher Strouhal numbers, the directivity pattern departs from the
analytical results, essentially by showing a secondary beaming
around 45 and 30 at St = 1 and 2, respectively. This could be
attributed to the plate thickness.
4.2. Porous trailing-edge
A porous treatment to the same flat plate for reduction of
trailing-edge noise is demonstrated, imposing a porous surface
with porosity of = 0.25 to a small, selected area of the trailingedge (2h upstream from the edge, with a plenum inside, see
Fig. 9), where the vortex shedding and eddy scattering produce a
dipole sound. The porous surface has a thickness of = 0.001c
and is characterized by non-dimensionalized permeability, K =
KU0 / c = 1 103 for case 1, 1 102 for case 2, and 1 101
for case 3. The porous flow is often modeled by employing the Ergun equation,
P s =
CE
U s + 0 U s U s
K
(22)
where CE denotes a dimensionless Ergun coefficient or Forchheimer constant, which is dependent on porosity and pore structure. The Forchheimer constant is, however, set to zero in the
present computation because the pore-level Reynolds number
based on the permeability and the transpiration velocity averaged
in time and space, ReK = Ut K 1/2 / turns out to be less than unity.
First, an xt plot of the wall pressure fluctuations is examined
along the plate and in the wake region. As shown in Fig. 10(left),
the solid trailing-edge exhibits distinct, regularly-spaced pressure
marks (1tUo /h 5) near the trailing-edge which corresponds
to the vortex shedding frequency at St 0.2. This is obviously
the noise source for producing the tone. With the porous surface
(K = 1 102 ), however, the strips of pressure marks are broken
into pieces (see Fig. 10(right)) by local blowing and suction of the
flow in the plenum.
The influence of the porous surface is more clearly explained
in Fig. 11 that the correlation length of the pressure fluctuations
57
Fig. 9. Depiction of porous surface (left); schematic of turbulent flow over a flat plate with porous trailing-edge (plenum inside) (right).
Fig. 10. Comparison of xt plot of wall pressure fluctuation at the mid-span near the trailing-edge; solid (left) and porous (right).
Fig. 11. Spatial correlation Rpp contours of wall pressure fluctuations (left); Rpp along the mid-span (right).
is substantially reduced in the streamwise direction, i.e. a significant reduction in the size of the dipole noise source. The spatial
correlation of the wall pressure fluctuations, Rpp along the midspan of the plate clearly indicates that the streamwise correlation length does not exceed 0.01c, i.e. 1% of the chord length with
K = 1 102 . The uncorrelated pressure field is resulted from
the transpiration velocity along the porous surface, non-uniformly
distributed in both the streamwise and the spanwise directions.
As discussed before, the far-field acoustics for the actual span
is directly related to the spanwise coherence length of the noise
source. Fig. 12 shows the spectrally-decomposed spanwise coherence lengths Lc at x = 0.02c. The most prominent reduction of
58
Fig. 12. Spanwise coherence length of wall pressure fluctuations for solid and
porous trailing-edges.
Fig. 13. Comparison of PSD spectra at r = 20c for porous trailing-edges with
different permeabilities.
brass calibration cube on the left side of the plate, glass prism,
and high-speed camera on the right. The surface grid evolution
of the human hemilarynx measured during one period of motion is monotonically interpolated in time and space: raw geometry(left); first interpolation(middle); second interpolation(right)
(see Fig. 15).
A 2D computational domain of flow and sound is configured
to include the hemilarynx vibrating at a fundamental frequency
of 140 Hz within a vocal track, 28 times of the vocal fold length
(L = 12 mm). Fig. 16 shows the moving grids at four different time
intervals in one period of the vocal fold motion at the mid-plane.
The first two figures are at the closure phase of the vocal fold,
whereas the last two are at the opening. The case considered here
corresponds to a flow rate of 0.0004 m3 /s with pressure difference
of 2.88 kPa, and in terms of non-dimensional quantities, the
corresponding flow condition is at ReL = 840 and M = 3.1 103 .
Fig. 17 shows the instantaneous vorticity contours of the flow
within the vocal track at the same time intervals as the moving
grids. A periodic disturbance introduced by the mucosal wave motion of the hemilarynx continuously makes the gap flow pulsating
at 140 Hz and as a result, the vortices are shed downstream the vocal track with a specific scale. The corresponding acoustic field is
computed with the same moving grids by the linearized perturbed
compressible equations with acoustic source acquired from the INS
solutions. As shown in Fig. 18, the top five figures are the instantaneous acoustic fields at closure of the vocal fold, whereas the remaining figures are at the opening phase. One can clearly note that
the sound waves generated in the human hemilarynx are very subtle to the vocal fold motion at each stage.
The computed 2D acoustics monitord at 11L upstream the
hemilarynx are compared in Fig. 19(left) with the experimental
data measured at the University Hospital Erlangen. Considering
the fact that the computed sound wave is a 2D solution, it depicts
well the basic characteristics of the sound produced by the human
hemilarynx. The main vocal sound at fundamental frequency of
140 Hz is well resolved by the present 2D model, whereas the
high frequency waves observed in the experiment is substantially
simplified as a discrete tone with frequency corresponding to the
scale shown in the vorticity pattern. From the present result, it is
worth to note that there exits an interesting correlation among the
hemilarynx motion, the vortical flow structure within the vocal
track, and the corresponding acoustic field. A similar correlation
can also be noted in Fig. 18 (right) on the computed sound wave
from the larynx vibrating with the same fundamental frequency.
The difference of the sound wave profile between the hemilarynx
and the larynx is attributed by the Coanda effect of the pulsating jet
in the gap, which was clearly depicted in the computed flow field
of the larynx.
A computation of the sound wave at this low Mach number
(i.e. M < O(103 )) can hardly be accessible with the compressible
NavierStokes equations and for this reason, the present hybrid
formulation may be considered as a viable tool for computing
diverse bio-medical fluid and sound applications at such low Mach
numbers. The full 3D surface geometry of the human larynx is
now undertaken by the present LES/LPCE hybrid method, and
one can expect more complex vortical structures produced by the
three-dimensional surface motions of the human larynx and their
associated sound waves in wider range of frequency scales, as
observed in the experiment.
5.2. Bumblebee
The unsteady flow and acoustic characteristics of the flapping
wing are numerically investigated for a two-dimensional model
of bumblebee at hovering and forward flight conditions. In this
study, the time-dependent flow and acoustic fields are computed
59
Fig. 14. Measurement of 3D surface of the human hemilarynx vibrating at the fundamental frequency (left); schematic of optical measurement system (right).
Fig. 16. Moving grids at four different time intervals in one period of the vocal fold motion at the mid-plane.
Fig. 17. Instantaneous vorticity contours at four different time intervals in one
period of the vocal fold motion; top two at closure, bottom two at opening.
for a prescribed flapping wing motion which mimics the real wing
kinematics employed by superposition of the pitching and heaving
motions, sometimes referred to as a figure-eight motion [16].
Fig. 18. Instantaneous pressure fluctuation contours at ten different time intervals in one period of the vocal fold motion; top five at closure, bottom five at opening.
60
Fig. 19. Sound wave profiles at 11L upstream the vocal fold; red (hemilarynx/compt.), blue (larynx/compt.), black (hemilarynx/exp.), L: vocal fold base length. (For
interpretation of the references to colour in this figure legend, the reader is referred to the web version of this article.)
Fig. 20. Flapping motion of an elliptic wing (downstroke by hollow, upstroke by filled) (left); moving grids at transverse and tangential motions (right).
61
Fig. 22. Instantaneous pressure fluctuation contours around the wing in hovering motion; flow fields representing the associated sound sources: (first and second) wing
loading by transverse motion and (third and fourth) vortex edge-scattering during tangential motion.
Fig. 23. Sound pressure level spectra around a hovering insect ( = 0 and = 0; U = 0 m/s) at r = 100c and every 45 position.
62
Fig. 24. Sound pressure level spectra around a hovering insect ( = 40 and = 0.3; U = 4.5 m/s) at r = 100c and every 45 position.
= 40, which is very similar to the real bumblebee [18] for the
flight speed at U = 4.5 m/s.
Due to the free stream effect, the vortices shed from the leading and trailing-edge of the wing during transverse motion are not
developed as symmetric as for the hovering case and so are the induced velocity fields. Therefore, these vortices cannot self-propel
away from the wing but rather remain in the stroke paths. Besides,
the ratio between the free stream velocity and the maximum translational velocity of the wing is close to 0.26 and so the convection
effect is quite weak. As a result, the vortices drifting around the
flapping wing encounter complex wing-vortex interactions. When
compared with the hovering case, this clear distinction in vortical
flow structure is expected to change the aerodynamic sound characteristics for the forward flight case.
The sound fields for the flapping wing in forward flight are investigated by comparing the sound spectra in Fig. 24. Similar to the
hovering case, the transverse motion of the dipolar axis results in
drag (St = 0.004) and lift dipoles (St = 0.008). It is, however,
important to note that the directivity change is not as clear as that
at hovering. The dominant frequency does not vary significantly
and both the drag and lift dipoles exhibit their peaks with comparable amplitudes, regardless of directions. One may also note that
the dipole tones generated at the trailing-edge (St = 0.02 and
0.024) are not as distinct as for the hovering case (Fig. 23). These are
largely due to the prominent interactions between the wing and
the vortices, being considered as a discernible difference in acoustic feature between hovering and forward flight. This indicates that
the radiation pattern and frequency composition can change with
flight conditions and it is expected that these could be used as some
biological functions such as communication, territory defense, and
echolocation.
6. Conclusions
The present LES/LPCE hybrid method has efficiently predicted
the low-subsonic, turbulent flow noise, with accuracy confirmed
by comparison of the far-field sound pressure level with the experiment. The present method with modeling of flow in porous
medium has been extended for reduction of the trailing-edge
noise via porous material at the same low-subsonic, turbulent
flow condition. For applications of bio-medical and biological-fluid
sound, capacity and future potential of the method has been well
demonstrated by the present study. The flow and sound in biomedical and biological applications is a unique research field which
requires a very sophisticated analysis tool to emulate very weak
compressibility effects; for example, sound of blood flows in the
circulatory system or sound of airway flows in the respiratory system. It is also shown that at low Mach number, the acoustic source
represented by a material derivative of the hydrodynamic pressure
(i.e. DP /Dt) scaled by itself in the incompressible NavierStokes solution is very closely related to the dilatation rate of the compressible counterpart, at any instant, and so is the rate of change of P1 DP
Dt
to that of the dilatation rate.
Acknowledgments
The author would like to thank Prof. Roger, M. at the Ecole
Centrale de Lyon and Prof. Doellinger, M. at the University Hospital
Erlangen for providing experimental data for the flat plate and the
human larynx, respectively, and students, Dr. Seo, J.H., Dr. Bae Y.M.,
Mr. Jo, Y.W. for their contributions during graduate study at Korea
University.
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