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The unsteady 1-D Euler Equations can be written in the general conservation form-
0
U F
t x
+
-------- (1)
where,
U Dependent variables Vector
u
e
,
and, F Flux Vector
2
( )
u
p u
e p u
_
+
+
,
Here,
e
Energy per unit volume
2
1
2
u +
2
1
2
v
c T u +
2
1
1 2
R
T u
2
1
,
1 2
p
or e u
------(A)
So, we can write,
2
1
1 2
p
e p u
+ +
------(B)
We can also write these equations separately as Continuity, Momentum and Energy
Equation as,
Continuity Equation:
( ) ( )
0
u
t x
+
0
u
u
t x x
+ +
---------(2)
Momentum Equation:
Page 1 of 9
2
( ) ( )
0
u p u
t x
+
+
2
2 0
u p u
u u u
t t x x x
+ + + +
0
u u u p
u u u
t x x t x x
_
+ + + + +
,
1
0
u u p
u
t x x
+ +
---------(3)
Energy Equation:
( ) {( ) }
0
e e p u
t x
+
+
2 3
1 1
0
1 2 1 2
p pu
u u
t x
1 1
+ + +
1 1
] ]
2 3 2
1 1 1 3
0
1 2 1 1 2 2
p u u p u
u u p u u u
t t t x x x x
_ _ _
+ + + + + +
, , ,
2
1 1 1
0
2 1
u u u p p p u
u u u u u p
t x x t x x t x x
_ _ _ _
+ + + + + + + +
, , , ,
0
p p u
u p
t x x
+ +
---------(4)
Thus, equations, (2), (3) and (4) can be written in terms of the primitive variable
vector, V, given by,
V u
p
_
,
Thus, the 1DEE can also be written as,
0
V V
A
t x
+
-----------(5)
where,
0
1
0
0
u
A u
p u
,
-----(6)
Page 2 of 9
i.e.
0
1
0 0
0
u
u u u
t x
p p
p u
_
_ _
+
, ,
,
--------(7)
1DEE in conservation form: 0
U F
t x
+
-------- (1)
1DEE in non-conservation form: 0
U U
A
t x
+
---------(8)
where,
F
A
U
Flux Jacobian
It will be shown later that,
1
A N AN
A
have identical eigenvalues.
Expressing F in terms of the dependent variables
We have,
1
2
3
F
F F
F
_
,
2
( )
u
p u
e p u
_
+
+
,
and,
1
2
3
U
U U
U
_
,
u
e
,
So,
1 1
F u U
------------(9)
Now,
2
2
F p u +
( )
2 2
1
1
2
e u u
_
+
,
[p is substituted from (A)]
( )
2 2
2 2
3
1 1
1
1
2
U U
U
U U
_
+
,
( )
2
2
2 3
1
3
, 1
2
U
or F U
U
_
+ +
,
--------(10)
Page 3 of 9
And,
3
( ) F e p u +
pu eu +
( )
2
2 3 2 2
3
1 1 1
1
1
2
U U U U
U
U U U
_ _
+
, ,
3
2 3 2
3 2
1 1
1
,
2
U U U
or F
U U
_
,
-------(11)
So, the flux vector can be expressed in terms of the dependent variables as,
2
2
2
3
1
3
2 3 2
2
1 1
3
( 1)
2
1
2
U
U
F U
U
U U U
U U
_
_
+
,
_
,
,
--------(12)
The Flux Jacobian
So,
1 1 1
1 2 3
1 2 3 2 2 2
1 2 3 1 2 3
3 3 3
1 2 3
( , , )
( , , )
F F F
U U U
F F F F F F F
A
U U U U U U U
F F F
U U U
_
,
--------(13)
A is called Flux Jacobian, whose elements are given by,
1
1
0
F
U
1
2
1
F
U
1
3
0
F
U
2
2 2 2
2
1 1
3 3
2 2
F U
u
U U
_ _
, ,
2 2
2 1
(3 ) (3 )
F U
u
U U
( )
2
3
( 1) 1
F
U
( )
3
3 3 2 3 2
2 3
1 1 1
( 1) 1
F U U U eu
u
U U U
2 2
3 3 2
2
2 1 1
3( 1) 3( 1)
2 2 2
F U U e u
U U U
3 2
3 1
F U
u
U U
Page 4 of 9
Thus,
2
3 2
0 1 0
3
(3 ) ( 1)
2
3
( 1) ( 1)
2
A u u
eu e
u u u
_
_
,
+
,
----------(14)
Also,
2
1
2
p
H c T u +
2
1
,
2
v
or H c T u + ---------(15)
Now, ( )
3
1
eu
u
+
( )
2 3
1
1
2
v
u c T u u
_
+ +
,
( )
3 3
1
2
v
u c T u u
+
( )
3
2 3 3
1
1
2 2 2
v
u
u c T u u u
_
+ + +
,
( )
3 3
( 1)
1
2
Hu u u
+
3
( 1)
2
u Hu
Also, ( )
2
3
1
2
e
u
( )
2 2
1 3
1
2 2
v
c T u u
_
+
,
( )
2 2 2 2
1 1 3
1
2 2 2 2
v
c T u u u u
_
+ +
,
( )
2 2
1 3
1
2 2
H u u
_
+
,
( )
2
1 H u
Thus, we can write,
2
3 2
0 1 0
3
(3 ) ( 1)
2
1
( 1)
2
A u u
u Hu H u u
_
_
,
_
, ,
-------(16)
Page 5 of 9
The right eigenvectors are given by,
1
1
r u a
H ua
_
,
2
2
1
1
2
r u
u
_
,
And,
3
1
1 r u
H ua
_
+
+
,
It can be shown that F AU ; homogeneity property. This property is made use by
Steger and Warming to construct their Flux Vector Splitting Scheme.
Similarity of the matrices Aand
A
Now, 1DEE in primitive variables is,
0
V V
A
t x
+
-----(5)\
Now,
2
1
1 2
dU d u
p
u
_
+
,
2
1 2
d
du ud
dp u
udu d
_
+
+ +
,
Page 6 of 9
2
1 0 0
0
1
2 1
d
u du
dp
u
u
_
_
,
,
or, dU NdV ------(17)
where,
2
1 0 0
0
1
2 1
N u
u
u
,
-------(18)
Thus,
U V
N
t t
--------(19)
And,
U V
N
x x
--------(20)
Now, multiplying both sides of equation (5) by N
0
V V
N N A
t x
+
0
V V
N N A
t x
+
( )
1
0
U V
N AN N
t x
( )
1
0
U U
N AN
t x
+
--------(21)
Comparing equation (21) with equation (8), we see that,
1
A N AN
---------(22)
Thus,
( )
( ) A A
----------(23)
Proof:
If x is an eigenvector of
A
, then,
Ax x
N Ax Nx
Let,
1
x N y
So,
1 1
N AN y NN y
Ay y
Thus, is an eigenvalue of A also, with corresponding eigenvector as,
y Nx
Page 7 of 9
To find the eigenvalues of A
As
A
is simpler, so we shall find the eigenvalues of
A
, since
( )
( ) A A
.
Characteristic equation is,
| | 0 A I
0 0
1
det 0 0
0
u
u
p u
,
( ) ( )
2
0
p
u u
1
1
]
( ) ( )
2
2
0 u u a
1
]
, , , , u or u a or u a +
The system,
0
t x
U AU +
is called hyperbolic, if A has real eigenvalues and
distinct eigenvectors. The system is hyperbolic if A is diagonizable with real eigenvalues.
So,
( ) , A u u a t
Right eigenvectors of A:
. .
i i
Ar r
Left eigenvectors of A:
. .
i i
l A l
Matrix of the right eigenvectors of A: R = [r
1
r
2
r
3
]
Matrix of the left eigenvectors of A:
1
2
3
l
L l
l
_
,
A can be written in Jordan Canonical Form as,
1 1
A R L R R L L
,
So,
1 1
, , L R and R L
And, Diagonal matrix with the eigenvalues of A as the diagonal elements.
1
2
3
0 0
0 0
0 0
,
Euler equation is written as,
Page 8 of 9
0
U U
A
t x
+
1
0
U U
R R
t x
+
1 1
0
U U
R R
t x
+
If we freeze the Jacobian (locally), then,
0
U U
t x
+
,
which represents the wave equation (decoupled):
0
i i
i
U U
t x
+
, where,
1, 2, 3 i
----------(24)
Thus from equation (24) we can infer that the eigenvalues,
i
i
U is invariant along direction,
i
dx
dt
.
i
U is called Riemann invariant.
It is seen that for
| | u a <
, there are waves present, which move in opposite
directions. As the numerical scheme must upwind difference the waves, so in such cases,
one-sided or central differencing for the flux fails.
Page 9 of 9