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Introduction to computational aerodynamics-lecture 1

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Rimon Arieli

Faculty of Aerospace Engineering TECHNION Israel Institute of Technology Haifa, , Israel 32000

Outline

1. 1 2. 3. 4. 5. What, What why and where of CFD? Modeling Numerical methods Types yp of CFD codes CFD Process

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What is CFD?

CFD is the simulation of fluids engineering systems using modeling (mathematical physical problem formulation) and numerical methods (discretization methods, solvers, numerical parameters and grid generations, parameters, generations etc.) etc ) Historically only Analytical Fluid Dynamics (AFD) and Experimental Fluid Dynamics (EFD). CFD made possible by the advent of digital computer and advancing with improvements of computer resources (500 flops, 194720 teraflops, 2003)

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Analysis and Design

1. Simulation-based design g instead of build & test More cost effective and more rapid than EFD CFD provides high-fidelity database for diagnosing flow field 2. Simulation of physical fluid phenomena that are difficult for experiments Full scale simulations (e.g., ships and airplanes) Environmental effects (wind, weather, etc.) Hazards H d ( (e.g., explosions, l i radiation, di ti pollution) ll ti ) Physics (e.g., planetary boundary layer, stellar evolution)

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Where is CFD used? Aerospace Automotive Biomedical

Chemical Processing HVAC Hydraulics Marine P Power G Generation ti Sports

Automotive Aerospace

Biomedical

F18 Store Separation

Temperature and natural convection ti currents t in i the th eye following laser heating.

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Where is CFD used?

Aerospacee Automotive Biomedical

Polymerization reactor vessel - prediction of flow separation and residence time effects.

Chemical Processing

HVAC

Hydraulics

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Marine (movie) Sports

Aerospace Automotive Biomedical Chemical Processing HVAC Hydraulics y

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Modeling

Modeling is the mathematical physics problem formulation

in terms of a continuous initial boundary value problem (IBVP) IBVP is in the form of Partial Differential Equations (PDEs) with appropriate boundary conditions and initial conditions. Modeling includes: 1. Geometry and domain 2 Coordinates 2. 3. Governing equations 4. Flow conditions 5. Initial and boundary conditions 6. Selection of models for different applications

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Simple geometries can be easily created by few geometric

parameters (e.g. circular pipe) Complex geometries must be created by the partial differential equations or importing the database of the geometry (e.g. airfoil) into commercial software

Geometry approximation CAD/CAE integration: use of industry standards such as Parasolid, ACIS,

, or IGES, , etc. STEP,

z), and spherical system (r, , ) should be appropriately chosen for a geometry y (e.g. ( g cylindrical y for circular pipe). pp ) better resolution of the g

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Modeling (coordinates)

z Cartesian (x,y,z) z Cylindrical (r,,z) z y x x r y x r y z Spherical (r,,)

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Navier-Stokes Navier Stokes equations (3D in Cartesian coordinates)

2u 2u 2u p u u u u + + 2 + = + w + v + u 2 z 2 y x z y x t x 2v 2v 2v v v v v p + u + v + w = + 2 + + 2 2 x y z t x y z y

2w 2w 2w w w w w p + u + v + w = + 2 + 2 + 2 y z z y z t x x

Local acceleration

Convection

Viscous terms

( u ) ( v ) ( w ) + + + = 0 Continuity equation t x y z

p = RT

Equation of state

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Initial conditions (ICS, steady/unsteady flows) ICs should not affect final results and only affect

convergence path, i.e. number of iterations (steady) or time steps p (unsteady) ( y) need to reach converged g solutions. More reasonable g guess can speed p up p the convergence ??? For complicated unsteady flow problems, CFD codes are usually run in the steady mode for a few iterations for getting a better initial conditions

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Boundary conditions: No-slip or slip-free on walls, periodic,

inlet ( (velocity y inlet, , mass flow rate, , constant pressure, p , etc.), ), outlet (constant pressure, velocity convective, numerical beach, zerogradient), and non-reflecting (for compressible flows, such as ), etc. acoustics),

Periodic boundary condition in spanwise direction of an airfoil

v=0, dp/dr=0,du/dr=0

Axisymmetric

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Based on the physics of the fluids, CFD is distinguished into

different categories using different criteria, and designed for solving certain fluid phenomenon by applying different models:

(Re)

Turbulent vs. laminar (Re, Turbulent models) Incompressible vs. compressible (M, equation of state) Single- vs. multi-phase (Ca, cavitation model, two-fluid model) Thermal/density effects and energy equation

(Pr, , Gr, Ec, conservation of energy)

surface tension (We, bubble dynamic model)

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Turbulent flows at high Re usually involve both large and small scale

vortical structures and very thin turbulent boundary layer (BL) near the wall

Turbulent models:

DNS: most accurately solve NS equations, but too expensive for turbulent flows RANS: predict mean flow structures, efficient inside BL but excessive diffusion in

the separated p region. g

DES: RANS inside BL, LES in separated regions.

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URANS, Re=105, contour of vorticity for turbulent flow

around NACA-0012 with angle of attack 60 degrees

turbulent flow around NACA12 with angle of attack 60 degrees

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Numerical methods

The continuous Initial Boundary Value Problems (IBVPs)

are discretized di i d into i algebraic l b i equations i using i numerical i l methods. Assemble the system of algebraic equations and solve the system to get approximate solutions Numerical methods include:

1. 1 2. 3. 4. Discretization methods Solvers and numerical parameters Grid generation and transformation High Performance Computation (HPC) and post-processing

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Discretization methods

Finite difference methods (straightforward to apply, usually for regular

grid) Finite volumes and finite element methods ( (usually y for irregular g meshes) Each type of methods above yields the same solution if the grid is fine enough. However, some methods are more suitable to some cases than others Finite difference methods for spatial derivatives with different order of accuracies can be derived using Taylor expansions, such as 2nd order upwind scheme, central differences schemes, etc. Higher order numerical methods usually predict higher order of accuracy for CFD, but more likely unstable due to less numerical dissipation Temporal derivatives can be integrated either by the

explicit method (Euler, Runge-Kutta, etc.) or implicit method (e.g. Beam-Warming method)

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Explicit methods can be easily applied but yield conditionally stable

Finite Different Equations q (FDEs), ( ), which are restricted by y the time step; p; Implicit methods are unconditionally stable, but need efforts on efficiency. Usually, higher-order temporal discretization is used when the spatial discretization is also of higher order order. Stability: A discretization method is said to be stable if it does not magnify the errors that appear in the course of numerical solution process. Pre-conditioning method is used when the matrix of the linear algebraic system is ill-posed, such as multi-phase flows, flows with a broad range of Mach numbers, etc. Selection of discretization methods should consider efficiency, accuracy and special i l requirements, i t such h as shock h k wave tracking. t ki

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2D i incompressible ibl laminar l i flow fl boundary b d layer l

(L,m+1)

y m=MM+1 m=MM m=1 m 1 m=0

u v =0 + x y

(L-1,m)

(L,m)

u u p 2u +v = + 2 u x e x y y

l u um l l 1 u u u = m m x x

(L,m-1)

L-1

2u l l l 2= 2 u u u 2 + m m m + 1 1 y y

l FD Sign( vm )<0

l u vm l l = v u u m +1 m y y l vm l l = u u m m 1 y

BD Sign( v l )>0 m

st

20

3 1 B1 B2 FD l l ul l l 2 l vm vm y l m 2 um + 2 + FD um +1 + 2 BD um + vm 1 1 x y y y y y BD y

l l l l 1 B1um + B u + B u = B u 1 2 m 3 m +1 4 m

B2 B 1 0 0

B3 B2 0 0

0 B3 0 0

0 0 0 0

0 0 0 0

0 0 B1 0

0 0 B2 B1

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l p / e ( )m x

l um l 1 = um ( p / e)lm x x

B4

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Solvers include: tridiagonal, pentadiagonal solvers, solution-adaptive

solver, multi-grid solvers, etc. Solvers can be either: direct (Cramers rule, Gauss elimination, LU decomposition) or iterative (Jacobi method, Gauss-Seidel method, SOR method) Numerical i l parameters need d to be b specified f d to control l the h calculation. l l Under relaxation factor, convergence limit, etc. Different numerical schemes Monitor residuals (change of results between iterations) Number of iterations for steady flow or number of time steps for unsteady flow Single/double precisions

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Grids can either be structured (hexahedral) structured or unstructured (tetrahedral). Depends

upon type of discretization scheme and application Scheme Finite differences: structured Finite Fi it volume l or finite fi it element: l t structured or unstructured Application Thin boundary layers best resolved with highly-stretched structured grids Unstructured grids useful for complex geometries Unstructured grids permit automatic adaptive refinement based on the pressure gradient, or regions interested (FLUENT)

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unstructured

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y

Transform

o Physical domain

o Computational domain

f f f f f = + = x + x x x x

f f f f f = + = y +y y y y

and computational ( , , ) domains, domains important for body-fitted grids. The partial derivatives at these two domains have the relationship p (2D ( as an example) p )

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Commercial CFD code: FLUENT, Star-CD,

CFDRC, CFX/AEA, ESI-Fastran, EZNSS, etc. Research CFD code: Other CFD software includes the Grid generation software (e.g. Gridgen, Gambit) and flow visualization software (e.g. (e g Tecplot, FieldView)

CFDSHIPIOWA

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CFD Process

Purposes of CFD codes will be different for different applications:

investigation of bubble-fluid interactions for bubbly flows, study of wave induced massively separated flows for free-surface, free surface, etc. Depend on the specific purpose and flow conditions of the problem, different CFD codes can be chosen for different applications (aerospace, marines, combustion, multi-phase flows, etc.) Once purposes and CFD codes chosen, CFD process is the steps to set up the IBVP problem and run the code: y 1. Geometry 2. Physics 3. Mesh 4 Solve 4. 5. Reports 6. Post processing

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CFD Process

Geometry Physics Mesh Solve Reports PostProcessing

Contours Select Geometry Heat Transfer ON/OFF Unstructured (automatic/ manual) Steady/ Unsteady Forces Report

(lift/drag, shear stress, etc)

Geometry Parameters

Compressible ON/OFF

Iterations/ Steps

XY Plot

Vectors

Flow properties

Convergent Limit

Verification

Streamlines

Viscous Model

Validation

Boundary Conditions

Numerical Scheme

Initial Conditions

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Geometry

Selection of an appropriate coordinate Determine the domain size and shape Any simplifications needed? What kinds of shapes p needed to be used to best resolve the geometry? (lines, circular, ovals, etc.) For commercial code, geometry is usually created using i commercial i l software ft (either ( ith separated t d from f the commercial code itself, like Gambit, or combined together, like FlowLab) For research code, commercial software (e.g. Gridgen) is used.

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Physics

Flow conditions and fluid properties

1. Flow conditions: inviscid, viscous, laminar, or turbulent, etc. 2. Fluid properties: density, viscosity, and thermal conductivity, y, etc. 3. Flow conditions and properties usually presented in dimensional form in industrial commercial CFD software, , whereas in non-dimensional variables for research codes. Selection of models: different models usually fixed by codes, opt options o s for o use user to c choose oose Initial and Boundary Conditions: not fixed by codes, user needs specify them for different applications.

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Mesh

Meshes should be well designed to resolve important

flow features which are dependent upon flow condition parameters (e.g., Re), such as the grid refinement inside the wall boundary layer Mesh h can be b generated d by b either h commercial l codes d (Gridgen, Gambit, etc.) or research code (using algebraic vs vs. PDE based based, conformal mapping mapping, etc.) etc ) The mesh, together with the boundary conditions need to be exported p from commercial software in a certain format that can be recognized by the research CFD code or other commercial CFD software software.

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Solve

Setup appropriate numerical parameters Choose Ch appropriate i Solvers S l Solution procedure (e.g. incompressible flows) S l the Solve th momentum, t pressure P Poisson i equations and get flow field quantities, such as velocity turbulence intensity velocity, intensity, pressure and integral quantities (lift, drag forces)

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Reports

Reports saved the time history of the residuals

of the velocity, pressure and temperature, etc. Report the integral quantities, such as total pressure drop, friction factor (pipe flow), lift and drag coefficients (airfoil flow), flow) etc etc. XY plots could present the centerline velocity/pressure distribution, friction factor distribution (pipe flow), flow) pressure coefficient distribution (airfoil flow). AFD or EFD data can be imported p and put p on top of the XY plots for validation

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Post-processing

Analysis and visualization

Vorticity Wall

shear stress Calculation of integral parameters: forces, moments Visualization (usually with commercial software) Simple 2D contours 3D contour isosurface plots Vector plots and streamlines (streamlines are the lines whose tangent direction is the same as the velocity vectors) Animations

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Simulation Si l ti error: the difference between a simulation result and the

truth (objective reality), assumed composed of additive modeling and numerical errors:

when hen conditions permit, pe mit estimating the sign and magnitude magnit de of the simulation numerical error itself and the uncertainties in that error estimate

benchmark experimental data and, when conditions permit, estimating the g and magnitude g of the modeling g error itself. sign

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Convergence C studies: t di C Convergence studies t di require i a minimum i i of f

m=3 solutions to evaluate convergence with respective to input parameters. Consider the solutions corresponding to fine, fine medium, medium and coarse meshes

(i). Monotonic convergence: (ii). Oscillatory Convergence: (iii). Monotonic divergence: (iv). Oscillatory divergence:

Grid refinement ratio: uniform ratio of grid spacing between meshes meshes.

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involve beginning with an initial guess and performing time marching or iteration until a steady state solution is achieved achieved. The number of order magnitude drop and final level of solution residual can be used to determine stopping criteria for iterative solution techniques (1) Oscillatory (2) Convergent (3) Mixed oscillatory/convergent

(b)

(a)

UI =

1 ( SU S L ) 2

Iteration i history: hi (a). ( ) Solution l i change h (b) magnified ifi d view i of f total l resistance i over last l two periods of oscillation (Oscillatory iterative convergence)

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Generalized Richardson Extrapolation (RE): For

monotonic convergence, generalized RE is used to estimate the error and order of accuracy due to the selection of the input parameter. The error is expanded in a power series expansion with integer powers of x as a finite sum. The accuracy of the estimates depends on how many terms are retained in the expansion, the magnitude (importance) of the higher-order terms, and the validity of the assumptions made in RE theory

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Grid need to be refined near the foil surface f to resolve l the h boundary b d layer l

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Residuals vs. iteration

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