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Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, FL 33431, USA
Department of Aerospace Engineering, Indian Institute of Technology Madras, Chennai 600036, TN, India
a r t i c l e
i n f o
Article history:
Received 17 December 2012
Received in revised form 19 January 2014
Accepted 6 February 2014
Available online 22 February 2014
Keywords:
Lid driven cavity
Spectral collocation
Coordinate mapping
Inuence matrix method
a b s t r a c t
We describe the use of a spectral collocation method to compute the characteristics of incompressible,
viscous ow in a lid driven right triangular cavity with wall motion away from the right angle. First,
the 2-D GaussLobatto grid on the square 1; 1 1; 1 is mapped to a triangular domain by means
of a singular mapping. A singularity subtraction technique is used to account for the most singular terms
of the asymptotic expansions near the top corners of the ow. The unsteady NavierStokes equations in
the vorticitystreamfunction formulation are then solved in this transformed grid using an inuence
matrix technique. A third order Adams Bashforth/Backward differentiation method appears to provide
excellent numerical stability for the scheme and also permits a larger critical time step. Detailed characteristics of the ow and comparisons with published results are presented.
2014 Elsevier Ltd. All rights reserved.
1. Introduction
Flows in closed geometries have for long attracted the attention
of CFD practitioners and numerical analysts. Shankar and Deshpande [19] note that the importance of cavity ows is in the study of
basic uid mechanics. Complex phenomena including corner eddies, instability and transition to turbulence occur naturally in
these ows. The eddy structures found in driven cavity ows provide insight about such structures in applications as diverse as drag
reducing riblets and mixing cavities used to synthesize ne polymeric composites Zumbrunnen et al. [21].
Specically, the ow in a square cavity has become a benchmark problem for testing and validating CFD codes. The simplicity
of the geometry and unambiguous nature of the boundary conditions make it an attractive choice as a framework in which detailed
comparisons can be made between different numerical, experimental and theoretical studies. Among numerous studies for this
problem found in the literature are the well known computations
of Ghia et al. [7], Schreiber and Keller [17] and Botella and
Peyret [2] who have presented benchmark spectral results for this
problem. Published results for the 2-D square cavity ow generally
agree well for a wide range of Reynolds numbers. However, there is
41
@x
@x
@x
1 @2x @2x
u
v
2
@t
@x
@y Re @x2
@y
r w x
@w
u
;
@y
2:1a
2:1b
@w
@x
1
1 x1 y 1
4
1
g y 1
2
n
3:1a
3:1b
2:1c
2n 1
1
g1
y 2g 1
3:2b
un
The well known difculty of spectral collocation methods is
that they are not immediately applicable to problems in domains
of arbitrary shape. This is due to the fact that it is possible to employ the standard Chebyshev-GaussLobatto nodes in both directions (for 2-D problems) only if the domain is the square
1; 1 1; 1. More generally, they can be applied to any rectangle by an afne transformation. However, the extension to complex
geometries is not immediate. Methods have been devised to overcome this limitation: for example, by using domain decomposition
techniques. Another possibility is to use a mapping between the
3:2a
g1
unn
ux
3:3a
2
g1
n1
ug 2
ugg 4
uxx
g 12
n 12
g 1
3:3b
ux 2uy
uxx 8
3:3c
n1
g 1
uxy 4
n1
g 13
ux 4uyy
3:3d
(
Du
)
2
2
n 12
n1
n1
uxx 8
4
uxy 4
ux 4uyy
g1
g 12
g 13
g 14
3:4
4. Singularity subtraction
42
(a)
(b)
Fig. 2. Grid transformation (a) the ChebyshevGaussLobatto grid on the square 1; 1 1; 1; (b) transformed grid on the right triangle.
wP
xP
1
X
rk Rek1 fkP h
k1
1
X
r k2 Rek1 g Pk h
4:1
4:2
k1
wP rf 1 h r 2 Re f2P h
4:3
xP g P1 h=r Re g P2 h
4:4
ws wE wF
4:5a
xs xE xF
4:5b
us uE uF
4:5c
vs vE vF
4:5d
^ ws
ww
^ xs
xx
^ us
uu
4:6a
4:6b
v v^ v s
4:6d
4:6c
^ n1 kx
^ n1 gxn ; xn1 ; xn2 ;un ;un1 ;un2 ; v n ; v n1 ; v n2 5:1
r2 x
^ n1 x
^ n1
r2 w
5:2
43
^ ws on C
w
^ h @ n ws on C
@nw
5:3
5:4
^ x
e x
x
5:5a
e w
^w
w
5:5b
(
(
e kx
e g
r2 x
e 0
x
5:6
on C
e x
e
r2 w
e ws
w
kx
0
r2 x
c
x
5:8
on C
x
r2 w
0
w
5:9
on C
For solving Eq. (5.8), values of vorticity, c on the boundary are required. We obtain this by making use of the boundary condition
for the normal derivative of w. This is done by rst considering x
under the form given by Eqs. (5.10a) and (5.10b).
and w
x
N
X
f x
5:10a
w
N
X
f w
5:10b
(
(
kx
0
r2 x
jam d;m
x
5:11
on C
x
r2 w
j 0
w
am
Nx
Ny
HFD1 H
58
81
101
134
82
114
142
188
2.018e + 011
3.437e + 012
2.251e + 013
2.45e + 014
2.859
3.042
3.21
3.108
Table 3
Condition numbers for the inuence matrix for Re 1000.
Nx
Ny
RMC
58
81
101
134
82
114
142
188
35.06
49.03
67.33
53.54
5.82
7.025
8.23
7.345
5:7
on C
Table 2
Condition numbers for the Helmholtz operator with and without preconditioning for
Re 1000.
5:12
on C
N
X
j h @ n w
e @ n ws j
f @ n w
am
am
5:13
with 1 6 m 6 N. That is, N number of such equations can be obtained and the system of equations can be expressed in matrix form
as
MN E
5:14
^ jG xs jG
x
where m is the index of the point am on the boundary C. It is worth are solved only
and w
while to note that the above equations for x
once at the pre-processing stage. Now the no-slip condition, Eq.
(5.4) can be written as
Table 1
Condition numbers for the Laplacian operators with and without preconditioning.
Nx
Ny
LFD 1 L
58
81
101
134
82
114
142
188
2.136e + 014
3.585e + 015
4.282e + 016
1.232e + 018
6.733
7.27
7.595
7.973
^ c on C
x
5:15
^ ws
w
5:16
on C
44
Table 4
Grid convergence of characteristics of rst three vortices of the ow for Re 1000.
Nx
Ny
Primary
Secondary
Tertiary
wp np ; gp
xp
ws ns ; gs
xs
wt nt ; gt
xt
58
82
0.05322
(0.3906, 0.1320)
7.0214
0.00746
(0.7878, 0.2903)
0.9250
0.000010
(0.9040, 0.7555)
0.0080
81
114
0.05320
(0.3905, 0.1319)
7.0069
0.00752
(0.7873, 0.2920)
0.9032
0.000012
(0.9015, 0.7539)
0.0137
101
142
0.05320
(0.3906, 0.1319)
7.0097
0.00756
(0.7870, 0.2921)
0.9096
0.000013
(0.9014, 0.7532)
0.0130
134
188
0.05320
(0.3905, 0.1319)
7.0092
0.00755
(0.7870, 0.2919)
0.9099
0.000013
(0.9012, 0.7575)
0.0135
wp and xp stand for stream function and vorticity at the primary eddy center.
ws and xs stand for stream function and vorticity at the secondary eddy center.
c
wt and xt stand for stream function and vorticity at the tertiary eddy center.
b
Table 5
Extrema of horizontal and vertical velocities along the line joining centers of EG and FG for Re 1000.
Nx
Ny
umax
numax
58
81
101
134
82
114
142
188
0.0000
0.0000
0.0000
0.0000
(0.5000,
(0.5000,
(0.5000,
(0.5000,
1.0000)
1.0000)
1.0000)
1.0000)
umin
numin
v max
nv max
v min
nv min
0.0262
0.0266
0.0269
0.0268
0.7392
0.7400
0.7406
0.7405
0.0156
0.0159
0.0162
0.0162
0.6140
0.6136
0.6143
0.6149
0.0164
0.0167
0.0170
0.0170
0.8791
0.8786
0.8780
0.8780
Table 6
Extrema of horizontal and vertical velocities along line joining G to the center of EF for Re 1000.
Nx
Ny
umax
r umax
umin
r umin
v max
r v max
v min
r v min
58
81
101
134
82
114
142
188
0.1891
0.1889
0.1888
0.1888
0.9190
0.9192
0.9192
0.9192
1.0000
1.0000
1.0000
1.0000
1.1180
1.1180
1.1180
1.1180
0.2437
0.2434
0.2431
0.2433
0.9582
0.9584
0.9584
0.9584
0.0025
0.0026
0.0027
0.0027
0.4814
0.4825
0.4810
0.4808
(a)
(b)
(c)
Fig. 3. Streamline contours for ow in a right triangular driven cavity. (a) Re 100; (b) Re 500; and (c) Re 1000.
45
wp np ; gp
xp
ws ns ; gs
100
0.06454
5.0289
0.000063
(0.5535, 0.1479)
500
0.06062
0.05320
wt nt ; gt
5.7536
0.00250
0.0412
3:73 10
(0.9680, 0.9025)
2:529 104
0.4802
1:50 106
(0.9285, 0.8291)
2:957 103
0.9099
1:48 105
(0.9012, 0.7575)
1:403 102
(0.7799, 0.4502)
7.0092
(0.3905, 0.1319)
0.00755
xt
8
(0.8737, 0.7017)
(0.4518, 0.1507)
1000
xs
(0.7870, 0.2919)
(a)
(b)
(c)
Fig. 4. Vorticity contours for ow in a right triangular driven cavity. (a) Re 100; (b) Re 500; and (c) Re 1000.
6. Pre-conditioning
As we have seen, the vorticitystream-function formulation requires the solution of the Poisson and Helmholtz equations for the
streamfunction and vorticity respectively at every time step. Both
of these are linear PDEs, and consequently the discretized 2-D
problem reduces to the solution of the matrix equations
^ x
^
Lw
^ g
Hx
6:1
6:2
Table 8
Comparison of characteristics of the primary vortex (N x 134; N y 188) with results of [5,1].
Re
wp np ; gp
xp
Present
Ref. [1]
Ref. [5]
Present
Ref. [1]
Ref. [5]
100
0.06454
(0.5535, 0.1479)
0.06452
(0.5528, 0.1480)
0.06451
(0.5527, 0.1484)
5.02899
5.02972
5.01902
500
0.06062
(0.4518, 0.1507)
0.06072
(0.4514, 0.1518)
0.06065
(0.4531, 0.1504)
5.75363
5.75854
5.73737
1000
0.05320
(0.3905, 0.1319)
0.05325
(0.3919, 0.1322)
0.05306
(0.3906, 0.1309)
7.0092
6.99701
7.02235
46
0.08
0.06
(a)
(a)
Re=100
Re=500
Re=1000
0.04
0.02
0
0.02
0.04
0.5
0.03
0.02
0.6
0.7
0.8
0.9
(b)
(b)
0.01
0
0.01
Re=100
Re=500
Re=1000
0.02
0.03
0.5
1
0.5
0.6
0.7
0.8
0.9
(c)
(c)
0
0.5
1
Re=100
Re=500
Re=1000
1.5
2
0.5
0.6
0.7
0.8
0.9
Fig. 5. Velocity and vorticity along the line joining the centers of EG and FG
(N x 134; N y 188). (a) Horizontal velocity, u; (b) vertical velocity, v ; and (c)
vorticity, x.
Therefore, for its inversion, it is useful to use a row and column scaling procedure. To understand how this is done, we rewrite Eq. (6.1)
for the second order nite difference operator as follows:
^ Rx
^
RLFD CC 1 w
6:3
6:4
1
Equipped with the operator LFD , we can again rewrite Eq. (6.1) as
^ LFD 1 x
^
LFD 1 Lw
6:5
Fig. 6. Velocity and vorticity along the median from G to the center of EF
(N x 134; N y 188). (a) Horizontal velocity, u; (b) vertical velocity, v ; (c) vorticity,
x.
each of the four grids. Table 2 presents the same numbers for the
Helmholtz operator for Re 1000. We see that for both these operators we are able to bring down the condition numbers from
O1018 and O1014 to single digit values.
Finally, the inuence matrix, as described in the previous section is well conditioned. Its condition number can be further reduced by taking advantage of the rowcolumn scaling procedure
described above. The results of this are in Table 3. An already well
conditioned matrix with condition numbers of O101 is brought
down to O1.
Note that, for both the Helmholtz operator and the inuence
matrix, the condition number slightly decreases for the largest
grid. This seemingly unexpected behavior is due to the fact that
both these operators depend on Dt, which, for stability, is chosen
47
to be 104 for the largest grid. This is signicantly smaller than the
value of 5 104 which was the size of the time step for
N x 101; N y 142. As the Laplacian operator is independent of
the time step, the trend in the condition numbers is along expected
lines.
Table 9
Vorticity along sliding wall EF (N x 134; N y 188).
n
Re 100
Re 500
Re 1000
0.9500
0.9000
0.8500
0.8000
0.7500
0.7000
0.6500
0.6000
0.5500
0.5000
0.4500
0.4000
0.3500
0.3000
0.2500
0.2000
0.1500
0.1000
0.0500
48.4712
26.5495
18.7961
14.7422
12.2142
10.6449
9.6403
9.1266
9.0569
9.3930
10.1156
11.2279
12.7773
14.9075
17.9556
22.6132
30.5460
46.6508
95.3758
65.7513
41.1100
32.2989
27.3605
23.8789
20.5015
17.2705
14.2217
11.8099
10.4740
10.3620
11.4010
13.4672
16.4169
20.2094
25.0998
32.0036
45.4791
89.5508
81.1425
52.1853
41.5317
35.9274
33.4479
31.8904
30.5471
27.2432
21.5422
15.4732
11.7655
11.4030
13.6169
17.2559
22.0892
28.5531
36.9266
50.2124
90.6664
the fact that we know not only the values at the grid points, but
rather the interpolating polynomials in each direction too. This enables us to obtain the locations of the extrema with spectral
accuracy.
It is seen in Table 4 that the value of the streamfunction at the
eddy centers has converged up to 5 decimal places and the location
of the eddy centers has converged to about 4 decimal places,
whereas the vorticity has converged to almost 3 decimal places.
Gupta and Manohar [9] state that for the square driven cavity ow,
the value of the streamfunction at the primary vortex center is a
reliable indicator of accuracy. The vorticity value is sensitive to
the boundary conditions, which in this case, we enforce in an indirect way using the inuence matrix method to nd the values of
vorticity that would ensure the no-slip condition to be satised
on the boundaries. Further, Botella and Peyret [2] too note in their
benchmark study that the vorticity is the most sensitive quantity
since it is obtained by differentiation of the primitive variables.
Thus it might be reasonable to expect a lower convergence rate
for this variable than for the streamfunction.
The velocities and vorticity along the line joining the midpoints
of the two sides of the triangle EG and FG and parallel to the n axis
are plotted for the three Res considered in Fig. 5. A reversal of
trends is clearly observed for all the variables in the case of
Re 500 and Re 1000. On the contrary, the velocity and streamfunction along the median joining G to the center of EF, plotted in
Fig. 6 as a function of distance from the corner G indicate a more
clear trend. The extreme value of the vertical velocity, v along this
line shows a denite increase with Reynolds number. Further, it is
seen that the locations of the extrema of both horizontal and
Table 10
Velocity and vorticity along line joining center of EG to center of FG for Re 1000
(N x 134; N y 188).
n
1.0000
0.9500
0.9000
0.8500
0.8000
0.7500
0.7000
0.6500
0.6000
0.5500
0.5000
0.0000
0.0031
0.0108
0.0190
0.0247
0.0268
0.0260
0.0233
0.0188
0.0117
0.0000
0.0000
0.0097
0.0162
0.0159
0.0093
0.0000
0.0089
0.0148
0.0159
0.0111
0.0000
0.1832
0.2115
0.1534
0.0509
0.0368
0.0735
0.0539
0.0249
0.1656
0.3572
0.5802
48
Table 11
Velocity and vorticity along the line joining G to the center of EF for Re 1000
(N x 134 and N y 188).
r
1.1180
1.0062
0.8944
0.7826
0.6708
0.5590
0.4472
0.3354
0.2236
0.1118
1.000000
0.027353
0.172177
0.017579
0.025082
0.026788
0.010957
0.001436
0.000149
0.000004
0.000000
0.198062
0.164001
0.033678
0.014373
0.000005
0.002398
0.000529
0.000004
0.000001
15.473226
3.635667
2.202352
0.831338
0.337278
0.073492
0.056842
0.034892
0.003575
0.000819
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