The Finite Element Method for Fluid Dynamics
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The Finite Element Method for Fluid Dynamics offers a complete introduction the application of the finite element method to fluid mechanics. The book begins with a useful summary of all relevant partial differential equations before moving on to discuss convection stabilization procedures, steady and transient state equations, and numerical solution of fluid dynamic equations.
The character-based split (CBS) scheme is introduced and discussed in detail, followed by thorough coverage of incompressible and compressible fluid dynamics, flow through porous media, shallow water flow, and the numerical treatment of long and short waves. Updated throughout, this new edition includes new chapters on:
- Fluid-structure interaction, including discussion of one-dimensional and multidimensional problems
- Biofluid dynamics, covering flow throughout the human arterial system
Focusing on the core knowledge, mathematical and analytical tools needed for successful computational fluid dynamics (CFD), The Finite Element Method for Fluid Dynamics is the authoritative introduction of choice for graduate level students, researchers and professional engineers.
- A proven keystone reference in the library of any engineer needing to understand and apply the finite element method to fluid mechanics
- Founded by an influential pioneer in the field and updated in this seventh edition by leading academics who worked closely with Olgierd C. Zienkiewicz
- Features new chapters on fluid-structure interaction and biofluid dynamics, including coverage of one-dimensional flow in flexible pipes and challenges in modeling systemic arterial circulation
Olek C Zienkiewicz
O. C. Zienkiewicz was one of the early pioneers of the finite element method and is internationally recognized as a leading figure in its development and wide-ranging application. He was awarded numerous honorary degrees, medals and awards over his career, including the Royal Medal of the Royal Society and Commander of the British Empire (CBE). He was a founding author of The Finite Element Method books and developed them through six editions over 40 years up to his death in 2009. Previous positions held by O.C. Zienkiewicz include UNESCO Professor of Numerical Methods in Engineering at the International Centre for Numerical Methods in Engineering, Barcelona, Director of the Institute for Numerical Methods in Engineering at the University of Wales, Swansea, U.K.
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The Finite Element Method for Fluid Dynamics - Olek C Zienkiewicz
The Finite Element Method for Fluid Dynamics
Seventh Edition
O.C. Zienkiewicz, CBE, FRS
Previously UNESCO Professor of Numerical Methods in Engineering
International Centre for Numerical Methods in Engineering, Barcelona
Previously Director of the Institute for Numerical Methods in Engineering
University of Wales, Swansea
R.L. Taylor
Professor of 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, Swansea University
Table of Contents
Cover image
Title page
Author Biography
Copyright
Dedication
List of Figures
List of Tables
Preface
Chapter 1. Introduction to the Equations of Fluid Dynamics and the Finite Element Approximation
Abstract
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
Chapter 2. Convection-Dominated Problems: Finite Element Approximations to the Convection-Diffusion-Reaction Equation
Abstract
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 Nonlinear waves and shocks
2.10 Treatment of pure convection
2.11 Boundary conditions for convection-diffusion
2.12 Summary and concluding remarks
References
Chapter 3. The Characteristic-Based Split (CBS) Algorithm: A General Procedure for Compressible and Incompressible Flow
Abstract
3.1 Introduction
3.2 Nondimensional form of the Governing Equations
3.3 Characteristic-Based Split (CBS) Algorithm
3.4 Explicit, Semi-Implicit, and Nearly Implicit Forms
3.5 Artificial Compressibility and Dual Time Stepping
3.6 Circumvention
of the Babuška-Brezzi (BB) Restrictions
3.7 A Single-Step Version
3.8 Splitting Error
3.9 Boundary Conditions
3.10 The Performance of Two- and Single-Step Algorithms on an Inviscid Problem
3.11 Performance of Dual Time Stepping to Remove Pressure Error
3.12 Concluding Remarks
References
Chapter 4. Incompressible Newtonian Laminar Flows
Abstract
4.1 Introduction and The Basic Equations
4.2 Use of The CBS Algorithm for Incompressible Flows
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
Chapter 5. Incompressible Non-Newtonian Flows
Abstract
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
Chapter 6. Free Surface and Buoyancy Driven Flows
Abstract
6.1 Introduction
6.2 Free surface flows
6.3 Buoyancy driven flows
6.4 Concluding remarks
References
Chapter 7. Compressible High-Speed Gas Flow
Abstract
7.1 Introduction
7.2 The Governing Equations
7.3 Boundary Conditions: Subsonic and Supersonic Flow
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
7.13 Boundary Layer: Inviscid Euler Solution Coupling
7.14 Concluding Remarks
References
Chapter 8. Turbulent Flows
Abstract
8.1 Introduction
8.2 Treatment of incompressible turbulent flows
8.3 Treatment of compressible flows
8.4 Large eddy simulation (LES)
8.5 Detached eddy simulation (DES) and monotonically integrated LES (MILES)
8.6 Direct numerical simulation (DNS)
8.7 Concluding remarks
References
Chapter 9. Generalized Flow and Heat Transfer in Porous Media
Abstract
9.1 Introduction
9.2 A generalized porous medium flow approach
9.3 Discretization procedure
9.4 Forced convection
9.5 Natural convection
9.6 Concluding remarks
References
Chapter 10. Shallow-Water Problems
Abstract
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
Chapter 11. Long and Medium Waves
Abstract
11.1 Introduction and Equations
11.2 Waves in Closed Domains: Finite Element Models
11.3 Difficulties in Modeling 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 NonReflecting Boundary Conditions (NRBCs)
11.9 Infinite Elements
11.10 Convection and Wave Refraction
11.11 Transient Problems
11.12 Linking to Exterior Solutions (or DtN Mapping)
11.13 Three-Dimensional Effects in Surface Waves
11.14 Concluding Remarks
References
Chapter 12. Short Waves
Abstract
12.1 Introduction
12.2 Background
12.3 Errors in Wave Modeling
12.4 Recent Developments in Short-Wave Modeling
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
Chapter 13. Fluid–Structure Interaction
Abstract
13.1 Introduction
13.2 One-dimensional fluid–structure interaction
13.3 Multidimensional problems
13.4 Concluding remarks
References
Chapter 14. Biofluid Dynamics
Abstract
14.1 Introduction
14.2 Flow in Human Arterial System
14.3 Image-Based Subject-Specific Flow Modeling
14.4 Concluding Remarks
References
Chapter 15. Computer Implementation of the CBS Algorithm
Abstract
15.1 Introduction
15.2 The Data Input Module
15.3 Solution Module
15.4 Output Module
References
Appendix A. Self-Adjoint Differential Equations
Appendix B. Nonconservative Form of Navier-Stokes Equations
Appendix C. Computing the Drag Force and Stream Function
C.1 Drag calculation
C.2 Stream function
Appendix D. Convection-Diffusion Equations: Vector-Valued Variables
D.1 The Taylor-Galerkin method used for vector-valued variables
D.2 Two-step predictor-corrector methods: Two-step Taylor-Galerkin operation
References
Appendix E. Integration Formulae
E.1 Linear triangles
E.2 Linear tetrahedron
Appendix F. Edge-Based Finite Element Formulation
Appendix G. Boundary Layer–Inviscid Flow Coupling
Appendix H. Multigrid Method
References
Appendix I. Mass-Weighted Averaged Turbulence Transport Equations
I.1 Turbulence models
Author Index
Subject Index
Author Biography
Professor O.C. Zienkiewicz, CBE, FRS, FREng died on January 2, 2009. Prior to his death he was Professor Emeritus at the Civil and Computational Engineering Centre, University of Wales, Swansea and previously was Director of the Institute for Numerical Methods in Engineering at the University of Wales, Swansea, UK. He also held the UNESCO Chair of Numerical Methods in Engineering at the Technical University of Catalunya, Barcelona, Spain. He was the head of the Civil Engineering Department at the University of Wales, Swansea between 1961 and 1989. During this period he established that department as one of the primary centers of finite element research. In 1968 he became the Founder Editor of the International Journal for Numerical Methods in Engineering which still remains today the major journal in this field. The recipient of 27 honorary degrees and many medals, he was a member of five academies—an honor he received for his many contributions to the fundamental developments of the finite element method. In 1978, Professor Zienkiewicz became a Fellow of the Royal Society and the Royal Academy of Engineering. This was followed by his election as a foreign member to the US Academy of Engineering (1981), the Polish Academy of Science (1985), the Chinese Academy of Sciences (1998), and the National Academy of Science, Italy (Academia dei Lincei) (1999). He published the first edition of this book in 1967 and it remained the only book on the subject until 1971.
Professor R.L. Taylor has more than 50 years’ experience in the modeling and simulation of structures and solid continua including 8 years in industry. He is Professor of the Graduate School and the Emeritus T.Y. and Margaret Lin Professor of Engineering at the University of California at Berkeley and also Corporate Fellow at Dassault Systèmes SIMULIA in Providence, Rhode Island. In 1991 he was elected to membership in the US National Academy of Engineering in recognition of his educational and research contributions to the field of computational mechanics. He is a Fellow of the US Association of Computational Mechanics—USACM (1996) and a Fellow of the International Association of Computational Mechanics—IACM (1998). He has received numerous awards including the Berkeley Citation, the highest honor awarded by the University of California at Berkeley, the USACM John von Neumann Medal, the IACM Gauss-Newton Congress Medal, and a Dr.-Ingenieur ehrenhalber awarded by the Technical University of Hannover, Germany. He has written several computer programs for finite element analysis of structural and nonstructural systems, one of which, FEAP, is used worldwide in education and research environments. A personal version, FEAPpv, available at his UC website, is incorporated into this book.
Professor P. Nithiarasu has over 20 years’ experience in finite element–based computational fluid dynamics research. He moved to Swansea in 1996 after completing his PhD research at IIT Madras and is currently Professor in the Civil and Computational Engineering Centre at Swansea University. He was awarded the Zienkiewicz silver medal and prize of the Institution of Civil Engineers, UK in 2002. In 2004 he was selected to receive the European Community on Computational Methods in Applied Sciences (ECCOMAS) award for young scientists in computational engineering sciences. He is the author of nearly 300 articles in the area of fluid dynamics, porous medium flows, and the finite element method. He is the founding editor of the International Journal for Numerical methods in Biomedical Engineering.
Copyright
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The Boulevard, Langford Lane, Kidlington, Oxford, OX5 1GB
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First published 1967 by McGraw-Hill
Fifth edition published by Butterworth-Heinemann 2000
Reprinted 2002
Sixth edition 2005
Reprinted 2006
Seventh edition 2014
Copyright © 2014, 2005, 2000 Elsevier Ltd. All rights reserved
No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or any information storage and retrieval system, without permission in writing from the publisher. Details on how to seek permission, further information about the Publisher’s permissions policies and our arrangement with organizations such as the Copyright Clearance Center and the Copyright Licensing Agency, can be found at our website: www.elsevier.com/permissions.
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Notices
Knowledge and best practice in this field are constantly changing. As new research and experience broaden our understanding, changes in research methods, professional practices, or medical treatment may become necessary.
Practitioners and researchers must always rely on their own experience and knowledge in evaluating and using any information, methods, compounds, or experiments described herein. In using such information or methods they should be mindful of their own safety and the safety of others, including parties for whom they have a professional responsibility.
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ISBN: 978-1-85617-635-4
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14 15 16 17 10 9 8 7 6 5 4 3 2 1
Dedication
This book is dedicated to the memory of Olgierd C. (Olek) Zienkiewicz: Pioneer, mentor, and close friend.
List of Figures
List of Tables
Preface
The present revision of The Finite Element Method was undertaken shortly before the passing in January 2009 of our close friend and co-author Olgierd C. (Olek) Zienkiewicz. His inspiration and guidance has been greatly missed in the intervening years. However, we hope that the essence of his writings is retained in the new work so that current and future scholars can continue to benefit from his insights and many contributions to the field of computational mechanics. The story of his life and works is summarized in International Journal for Numerical Methods in Engineering, 80, 2009, pp. 1–45.
It is our intention that the present text could be used by investigators familiar with the finite element method in general terms and introduce them to the subject of fluid dynamics. It can thus in many ways stand alone. Although the finite element discretization is briefly covered here, many of the general finite element procedures may not be familiar to a reader introduced to the finite element method through different texts and therefore we advise that this volume be used in conjunction with the The Finite Element Method: Its Basis and Fundamentals by Zienkiewicz, Taylor, and Zhu to which we make frequent reference.
In fluid dynamics, several difficulties arise. The first is that of dealing with incompressible or almost incompressible situations. These as we already know present special difficulties in formulation even in solids. The second difficulty is introduced by convection, which requires rather specialized treatment and stabilization. Here, particularly in the field of compressible high-speed gas flow many alternative finite element approaches are possible and often different algorithms for different ranges of flow have been suggested. Although slow creeping flows may well be dealt with by procedures almost identical to those of solid mechanics, the high-speed range of the supersonic and hypersonic kind will require a very particular treatment. In this text we shall use the so-called characteristic-based split (CBS) introduced several years ago by the authors. It turns out that this algorithm is applicable to all ranges of flow and indeed gives results which are at least equal to those of specialized methods.
We organized the text into 15 individual chapters. The first chapter introduces the topic of fluid dynamics and summarizes all relevant partial differential equations together with appropriate constitutive relations. Chapter 1 also provides a brief summary of the