CFD I

CFD I
Computational Fluid Dynamics I
CFD I

Pablo Rodrguez-Vellando Fernndez-Carvajal
Hochschule Magdeburg-Stendal
Fachbereich Wasser und Kreislaufwirtschaft
Universidad de A Corua
Escuela Tcnica Superior de Ingenieros de Caminos, Canales y Puertos
CFD I
First term, MSc International Master in Water Engineering, 6 ECTS
Lectures timetable: Tuesday and Thursday 12:45-14:35
Grades: Attendance + Courseworks
Lecturers
Pablo Rguez-Vellando (Coord)
Acacia Naves
Jaime Fe Marqus
CFD I
Main Bibliography
Taylor, C.C., Hughes T.G., Finite element programming of the Navier-Stokes equations.
Pineridge, 1981
Thomasset, Franois. Implementation of finite element methods for Navier-Stokes

equations / Franois Thomasset. Springer-Verlag, 1981.
G. Carey, J. Oden, Finite Elements, Prentice-Hall,1984
A. Chadwick, Hydraulics in Civil Engineering, Allen&Unwin, 1986
T.J. Chung, Computational Fluid Dynamics, Cambridge University Press, 2002
J. Donea, Finite Element Methods for Flow Problems Wiley, 2003
CFD I
Main Bibliography
J. Ferziger, M. Peric, Computational methods for Fluid Dynamics
P. Gresho, R Sani, Incompressible flow and the finite element method, Wiley, 2000
O. Pironneau, Finite Element Methods for Fluids, Wiley, 1989
J. Puertas Agudo, Apuntes de Hidrulica de Canales, Nino, 2000
Singiresu Rao, The Finite Element Method in Engineering, Elsevier 2005
O. C. Zienkiewicz, R.L. Taylor& P. Nithiarasu, The Finite Element Method for Fluid
Dynamics, Elsevier 2005
CFD I
0.
Introduction to CFD. Revision of concepts (4h)
1.
MATLAB (8h)
2.
Saint-Venant equations. Step Method CW1
2.
HEC-RAS (6h) CW5
2.
Introduction to CFD
3.
Mathematical preliminaries
Governing equations (4h)

1. Navier-Stokes
2. Potential, stream function, stokes flow
3. Shallow Water equations
4. Convection-diffusion eq
2.
Finite elements and fluids hydrodynamics (12 h)

1. Finite elements and fluids
2. Variational and weighted residuals methods CW2
3. Discretization
4. Potential flow CW3 ,CW4
5. Stokes flow
6. Stable velocity-pressure pairs
7. Unsteady convective flow
8. Penalty methods
9. Shallow water equations
10. Stabilizing techniques
11. Flow in porous media
12. Conservative transport
13. Non-isothermal transport of reactives
3.
End user programmes (26h)
Open channel flow. A revision
1.
1.
4.
Introduction to Finite Volumes (8h)
3.
SMS//RMA2 (6h) CW6
4.
EPANET (6h) CW7
CFD I
i I y
1 Fr 2 y
5
4
3
2
1
0
-12000
-10000
-8000
-6000
x
-4000
2 2
2 2 0
x
y
2
-2000
Example 1
0
CFD I
u v w

0
x y z
2u 2u 2u
u
u
u
u
1 p
fx
2 2 2
u
v w
y
z
t
x
x x y z
2v 2v 2v
v
v
v
v
1 p
2 2 2
u v w fy
t
x
y
z
y x y z
2w 2w 2w
1 p
w
w
w
w
2 2 2
fz
w
v
u
z
z
y
z
y
x
t
x
CFD I
CFD I
CFDI 1. Introduction to CFD
CFD I
In previous subjects we have regarded the Open Channel and Pipe flows
In the pipe flow the geometry is given and the unknowns are the pressure p(x,t)
and the velocity v(x,t). Some computational approaches apply (e.g. EPANET)
In the open channel flow there is a hydrostatic distribution of pressures, the

unknowns are the shape (depth y(x,t)) and the velocity. Some computational
approaches apply (e.g. HEC-RAS)
p(z)
y
CFD I
As we can recall, the one dimensional flow in channels depends on space

(x) and time (t) and can be characterized as
Gradually varied
Unsteady
Rapidly varied
Open channel
Gradually varied flow

Flow profiles (Curvas de remanso)
Non-uniform
Steady flow
Rapidly varied flow
/ t 0
Uniform (i=I)
/ x 0
Broadcrested weir, hydraulic

jump, sudden discharge
variations,
CFD I
The open channel flow takes place into natural channels and also in irrigation,
navegation, spillways, sewers, culverts and drainage ditches
Prismatic channels are assumed (all the cross sections are equal)
Basic notation
B
y(x,t)
h
v(x,t)
Depth (y), Stage (h) height from datum, Area (A), Wetted perimeter (P), Surface
width (B), Ground height from datum (z)
Hydraulic radius (R), (R=A/P)
Hydraulic mean depth (Dm), (D=A/B)
CFD I
Saint-Venant equations allow for a resolution of the one dimensional flow

The continuity equation is given by the conservation of mass as
y
y A v
v
0
t
x B x
The dynamic equation is given by the conservation of momentum as
v
v
y
v g g I i 0
t
x
x
In these differential equations the unknowns are the velocity v and the depth y for a given horizontal
direction x
i is the geometric slope (i=-dz/dx)
I is the friction slope (I=- dE/dx)
E is the Energy per unit weight given by Bernoullis eq as, E=z+y+v2/2g= z+pgv2/2g
CFD I
Saint-Venant equations assume :
The slope is small i<0.1

Flow straight and parallel. Hydrostatic distribution of pressures
Turbulent flow fully developed
Uniform velocity within the section (Coriolis factor, =1)
Non-erodible boundaries
Prismatic channel
Finding the value of dv/dx in the steady continuity equation and substituting it in the
steady dynamic equation we obtain
dy
iI
iI
2
dx 1 Bv / gA 1 v 2 / gy
That can also be written as
i I y
1 Fr 2 y
Slow regime (Fr<1), fast regime (Fr>1)
CFD I
The friction slope can be obtained from the Manning coefficient as

2 2
43
The equation
i I y
1 Fr 2 y
has no analytic solution and has to be solved by a numerical method

The solution of which will be an expression of the form y y x
M1
yn
yc
M2
M3
CFD I
CFD I
The solution to the equation
f f
df x
k 1 k
x
dx
can be solved on a finite element
Fr* Frk 1 Frk / 2
where
and
Frk
i I y
1 Fr 2 y
basis, to obtain
1 Fr *2
xk 1 y
xk
iI*
I * I k 1 I k / 2
Q
yk B gyk
I k n 2Q 2
2 yk B 4 / 3
Byk 10 / 3
The finite difference problem can be completed by using an initial condition x y0 x0
yn
y9
yn=y10
x10
y0
x9
x8
x7
x6
x5
x4
x3
x2 x1 x0=0
CFD I
First proposed in XIX c. by Boudine (1861) and further developed by Bakhmeteff (1932)
Assuming that the initial condition is given downstream (y0 ) and that he stretch is long
enough for the normal depth to be reached, the iterative expression can be used N times
varying the value of y from y0 up to yn at vertical equidistant intervals, and finally obtaining
the x for which the depth is the normal one
2009_10
Tramo 3
k
fr
fr*
I*
0
1
2
3
4
5
6
7
8
9
10
1,54
1,632
1,724
1,816
1,908
2
2,092
2,184
2,276
2,368
2,46
1,0023876
0,9188329
0,8462737
0,7827859
0,7268574
0,6772855
0,6331028
0,5935233
0,5579026
0,5257075
0,4964941
0,00364198
0,00309299
0,00265301
0,00229591
0,00200275
0,0017596
0,00155607
0,00138424
0,00123806
0,00111282
0,00100482
0,9606102
0,88255329
0,8145298
0,75482162
0,70207141
0,65519413
0,61331306
0,57571295
0,54180505
0,51110081
0,003367485
0,002873
0,002474459
0,002149326
0,001881175
0,001657836
0,001470155
0,001311153
0,001175445
0,001058825
0
-3,00106646
-13,8612733
-34,8600141
-69,2997436
-122,243592
-202,060268
-324,134734
-521,80908
-892,257412
-2047,68149
Tramo 4
Calado
2,7
2,5
2,3
2,1
1,9
1,7
1,5
1,3
1,1
0,9
0,7
-2500
-2000
-1500
-1000
Distancia
-500
Tra
CFD I
Even the one-dimensional Saint-Venant equations are difficult to resolve and

some numerical procedure is to be needed. Step, characteristics, finite
differences, finite volumes and finite elements are some of those
The extension of the Saint-Venant equations to the three dimensions are called
the Navier-Stokes. They are also made up of continuity and dynamic equation
u v w

0
x y z
2u 2u 2u
u
u
u
u
1 p
u
v w
fx

t
x
y
z
x x 2 y 2 z 2
2v 2v 2v
v
v
v
v
1 p
u v w fy

t
x
y
z
y x 2 y 2 z 2
2w 2w 2w
1 p
w
w
w
w
2 2 2
fz
w
v
u
z
y
z
z
y
x
t
x
the unknowns in these equations will be the velocities u(t,x,y,z), v(t,x,y,z), w(t,x,y,z)
and the presure p(t,x,y,z)
CFD I
That is
u v w

0
x y z
u i ,i 0
2u 2u 2u
u
u
u
u
1 p
u
v w
2 2 2 f x
t
x
y
z
x x y z
2v 2v 2v
1 p
v
v
v
v
u v w
2 2 2 f y
y
z
y x y z
t
x
ui ,t u j ui , j f i
p,i ui , jj
2w 2w 2w
w
w
w
w
1 p
u
v
w
2 2 2 f z
y
z
y
z
t
x
z
x
with boundary conditions:
Dirichlet ui bi in (prescribed velocity)

Newman ij n j ti in 2 (prescribed normal stress )
with initial conditions (unsteady flow)
ui x j ,0 ui 0 x j
CFD I
Anyway, in most of the cases some other equations are used to provide a
simplified but meaningful solution to the flow problems. Among these we can
quote as some of the most important
Potential and stream function equations

Stokes flow eqs.
Shallow water flow eqs. (SSWW)
CFD I
The potential flow equation is a simplification that uses the potential variable to
solve the continuity equation
In the stream/vorticity formulation the u and p variables are written in terms of

the variables and , obtaining in this way simplified N-S equations
In the Stokes equations the convective term is dropped
The Shallow Water equations are the result of the integration in depth of the
three dimensional equations, therefore a two dimensional model is obtained
CFD I
The flow in a porous media simplifies Navier-Stokes eq. and is also to be

considered
Once the velocity field is obtained, we can use it as an input value to resolve the
transport equation that gives the concentration of a given species in the flow
The transport equation can be also considered for non-isothermal reactives
The equations of the transport of sediments are also needed for the case in
which non-soluble substances are included in the flow
For convective enough flows, a turbulent model is to be required
CFD I
With respect to the dynamic macroscopic behaviour, flows can be regarded

as laminar or turbulent
The laminar flow is ordered and it takes place in layers
In the turbulent flow, particles move on an irregular, fluctuant and erratic

way -> turbulents models are required
This situation takes place for a Reynolds number Re(=UL/ > 2000
The Reynolds number indicates the weight of the convection with respect to
the viscous losses
CFD I
When the Reynolds number is large enough, the velocity unknown is split
into a mean velocity U and a fluctuating term that depends on time u(t),
leading to u(t)=U+u(t)
The most common models are the algebraic, de one equation models
(Prandtl's, Baldwin-Barth, etc...) and the two eq. (k k,...)
CFD I
The FEM was developed in the 50s to be applied to the aeronautic

engineering
Advantages:
Suitable to model complex geometries
Consistent treatment of b.c.
Possibility of being programmed in a flexible and general way
Fluid materials change their shape and that leads to a important

complexity
Structural or heat problems lead to a diffusive equation that turns into a

symmetric stiffness matrices
For those cases, Galerkin formulation leads to convergent iterative

solutions in an easy way
CFD I
The presence of a convective acceleration in the fluids formulation leads to the

obtaining of non-symmetric stiffness matrices
That is the reason of the Galerkin formulation not being appropriate anymore.
When using it, spurious wiggles show up in the solution
CFD I
In order to do avoid these oscillations, some techniques have been developed since the
70s which are known as stabilization techniques. The most important of which are
SUPG (Streamline Upwind Petrov-Galerkin)
GLS (Galerkin Least Squares)
FIC (Finite Increment Calculus),...
A correct coupling in the selection of the pressure and velocity variables is required for
convergence
The heterogeneity of the unknowns require the use of the so-called mixed and penalized
methods
The mesh refinement also leads to the stabilization (but means high computational
costs)
introduction to CFD
derivative operators
computational fluid dynamics I
f (x,t) is a 1D scalar field
f (x,t) is a 3D vector field
= scalar product
Index notation
Gradient , divergence
Laplacian
ab a j b j a1b1 a2b2 a3b3
ui , j
ui
x j

, ,
x y z
2 2 2
2 , 2 , 2
x y z
introduction to CFD
Reference System
Lagrangian coordinates (the net follows the particle)

Not able to model big deflections (even in structures)
Allows to follow the interface between different materials
Eulerian coordinates (the net is fixed and the fluid moves

with respect to it)
Allows for a characterization of big deflections (fluids)
Difficulties to evaluate interfaces and free surfaces
ALE coordinates (mixture of both)

The net moves with an independent velocity from that of the
particles
introduction to CFD
eulerian coordinates
In the Lagrangian coordinates there are no convective effects and the material
derivative is just a temporal derivative
In the Eulerian coordinates there is a relative movement of the material

coordinates with respect to the spatial ones, and the material derivative of an
scalar field f is given by
df f f x j
dt t x j t
df f
uf
dt t
df ( xi , t ) f f dx f dy f dz f
f
uj
t x dt y dt z dt t
dt
x j
introduction to CFD
The total derivative of a vector field is given by
df i f i f i x j
dt t x j t
df f
u f
dt t
df1 ( xi , t ) f1 f1 dx f1 dy f1 dz f1
f1
uj
dt
x j
t x dt y dt z dt t
df 2 ( xi , t ) f 2 f 2 dx f 2 dy f 2 dz f 2
f
uj 2
dt
x j
t x dt y dt z dt t
df 3 ( xi , t ) f 3 f 3 dx f 3 dy f 3 dz f 3
f 3
uj
dt
x j
t x dt y dt z dt t
introduction to CFD
The compact integral forms are:

a(u,v ) u v d
a(u, v ) u :v d
( w, q ) w q d
b(u, q ) qv d
c( v; w, u ) w( vu ) d
( w, h)N w h d
N
where
u i u
xi
u v
u v
xi xi
c( v; w , u ) w (v )u d
u ij ui
x j
u : v
ui vi
x j x j
w v u wi v j
ui
x j
CFD I
0.
Introduction to CFD. Revision of concepts (6h)
1.
MATLAB (8h)
2.
Saint-Venant equations.
2.
HEC-RAS (4h)
2.
Introduction to CFD
3.
SMS//RMA2 (8h)
3.
Mathematical preliminaries
Governing equations (6h)

1. Navier-Stokes
2. Potential, stream function, stokes flow
3. Shallow Water equations
4. Convection-diffusion eq
2.
Finite elements and fluids hydrodynamics (24 h)

1. Finite elements and fluids
2. Variational and weighted residuals methods
3. Discretization
4. Potential flow
5. Stokes flow
6. Stable velocity-pressure pairs
7. Unsteady convective flow
8. Penalty methods
9. Shallow water equations
10. Stabilizing techniques
11. Flow in porous media
12. Conservative transport

13. Non-isothermal transport of reactives
3.
End user programmes (20h)
Open channel flow. A revision
1.
1.
4.
Introduction to Finite Volumes (8h)
governing equations
CFDI2. Governing Equations
governing equations
stress() and strain() of fluids
For solids, Hookess law states E

For Newtonian fluids (air and water are included) Newtons viscosity law
states
du
dn
kg is the dynamic viscosity
where
m2
and
is the cinematic viscosity
For non-newtonian fluids (plastics, coloidal suspensions, emulsions,...) the

viscosity is not a constant
For the non-frictional flow or non-viscous flow (inviscid) viscosity is
negligible
In what follows, the Navier-Stokes eq., governing the viscous flow, are
described for compressible fluids (gases is not a constant) and for noncompressible fluids (liquids, c)
governing equations
continuity equation
The principle of conservation of mass states that in any time interval and for any
control volume the volume of mass entering must equal the volume of mass
leaving, i.e.
inQin out Qout
in uin Ain out uout Aout

As velocity and density depend on time and space, the equilibrium of mass in a
differential volume dxdydz can be stated from
udydz
u x u dx dydz
governing equations
continuity equation
The flux of mass per second, this is
dxdydz ,
t
is equal to (subtract in figure)
dxdydz u dxdydz v dxdydz wdxdydz

z
t
x
y
Since the control volume is independent of time
u v w
t x
y
z
For incompressible fluids is a constant and the continuity equation results into
u v w

u ui ,i 0
x y z
governing equations
dynamic equation
Newtons second law states that
d mv dm
v ma
dt
dt
In the control volume there is no variation in mass, and therefore
dFi dxdydzai
The equilibrium of forces gives
yx
yx
dy dxdz
y
zx dxdy
xx
xx x dx dydz
xx dydz
yx dxdz
zx
dz dxdy
zx
z
governing equations
dynamic equation
Newtons second law can be written for the x direction as

xx
dFx dxdydzBx xx dydz xx

dx dydz
x
yx
dy dxdz
yx dxdz yx
x
zx
dz dxdy
zx dxdy zx
x
where Bx are the body forces in the x direction

Dividing by the control volume and making the same operations for the three
dimensions in space it is obtained
xx yx zx
y
x
z
a y B y xy yy zy
y
x
z
a z Bz xz yz zz
x
y
z
a x Bx
governing equations
stresses in solids
Which is the value of ij ?
Let us see first how solids behave
In solids the strains are related to the stresses as

xx
1
xx yy zz ,...
E
xy
xy
,...
G
where E is the Young Modulus or Elasticity Modulus, is the Poisson Ratio and G
is the Modulus of Rigidity or Shear Modulus
governing equations
stresses in solids
The volume of expansion e can be defined as follows

e
V 1 xx 1 yy 1 zz dxdydz dxdydz
V
dxdydz
e xx yy zz
1 2
xx yy zz 1 2 3
E
E
where is the mean of the three normal stresses

The first strain can therefore be expressed as
xx
1
1
1
xx yy zz xx xx yy zz xx xx 3 xx
E
E
E
xx
E
3
xx
1
1
governing equations
stresses in solids
Therefore, writing in terms of e
xx
E
E
Ee
3
xx

xx
1 1 2
1
1
1
Noting that Youngs and shear modulus and Poissons ratio are related as
G
it is obtained
E
21
xx 2G xx
2G
e
1 2
governing equations
stresses in solids
Subtracting from both sides of the former equation we obtain

xx 2G xx
2G
2G
E
e
e 2G xx
1 2
1
2
3
1
2
2G 2G 1
2G 1
2G 2 1
e 2G xx
e

e 2G xx
1
2
3
1
2
1
2
3
1
2
3 3
xx 2G xx
e
3
e
3
e
3
Or
xx 2G xx
Similarly
yy 2G yy
zz 2G zz
For the shear stresses it is already known that

xy G xy
yz G yz
zx G zx
governing equations
stresses in fluids
Up to this point we have been concerned with solids. It has been shown
empirically that stresses in fluids are related not to strain but to time rate of strain
We have just shown that
e
xx 2G xx
Replacing the rigidity modulus by a quantity in terms of its dimensions (kg/s/m), the
stresses in fluids would be of the form
xx 2kg/(s m)
e
xx
t
3
Where the proportionality constant is known as the dynamic viscosity and has
the dimensions (kg/(s m))
The equations result into
xx 2
xx 2 e
,...
t
3 t
xy
xy
t
,...
governing equations
stresses in fluids
Taking the mean pressure as p, the equations are
xx p 2
yy p 2
zz p 2
xx 2 e

t
3 t
yy
xy
2 e

t
3 t
yz
zz 2 e

t
3 t
zx
xy
t
yz
t
zx
t
Let us now find out the value of the time derivatives of xy and e in terms of
u,v and w
governing equations
stresses in fluids
If the coordinates of a point before deformation are x,y,z and after

deformations are x y+, z+the strains are given by
xx
yy
zz
xy
y x
yz
z y
zx
x z
The rate of strain and volume of expansion would be therefore

xx u

,...
t
t x x t x
xy
t
u v
,...
t y x y t x t y x
e
u v w
xx yy zz

u
t t
x y z
governing equations
dynamic equation
And consequently the stresses result into
u 2
2 e
xx p 2 xx p 2 u
3 t
t
x 3
v 2
yy p 2 u
y 3
zz p 2
w 2
u
z 3
v u

t
x y
w v

y z
xy
yz
xy
u w
zx
It is obtained for the first dimension

ax
1 xx 1 yx 1 zx
u
u
u
u
Bx
v w
u
x
y
z
z
y
x
t
1
u 1 v u 1 u w
u
u
u
u

Bx
v w
u
p 2
x
x y x y z z x
z
y
x
t
governing equations
dynamic equation
The first dynamic equation is transformed into

1
u 1 v u 1 u w
u
u
u
u

Bx
v w
u
p 2
x
x y x y z z x
z
y
x
t
1 p
2v
2u
2u
2w
u
u
u
2u
u
Bx
2 2
2 2
u
v w
x
x
yx
y
z
zx
t
x
y
z
u
u
u
u
2u
2u
2u
u v w
1 p
u
v w
Bx
2 2 2
t
x
y
z
x
y
z
x x y z
x
2u 2u 2u
u
u
u
u
1 p
Bx

u
v w
y
z
t
x
x x 2 y 2 z 2
Proceeding in the same way for for y and z, the 3D Navier equations are finally
ui ,t u j ui , j f i
p,i ui , jj
1
u
u u p u f
t
governing equations
dynamic equation
That is
u v w

0
x y z
2u 2u 2u
u
u
u
u
1 p
fx
u
v w
x x 2 y 2 z 2
t
x
y
z
2v 2v 2v
1 p
v
v
v
v
fy
u v w

y x 2 y 2 z 2
t
x
y
z
2w 2w 2w
1 p
w
w
w
w
2 2 2 f z
u
v
w
z
t
x
y
z
y
z
x
with boundary conditions:
Dirichlet ui bi in (prescribed velocity)

Newman ij n j ti in 2 (prescribed normal stress )
with initial conditions (unsteady flow)
ui x j ,0 ui 0 x j
When the flow is non-isothermal, the temperature of the fluid has to be solved making use of
the energy equation, which represents the conservation of energy
governing equations
stokes flow
The Stokes flow simplification is obtained when the flow is taken as steady and
the convective term is dropped. For the two dimensional case leads to
u v
0
x y
1 p
u f x 0
x
1 p
v f y 0
y
The equation can be solved in terms of the variables as

Stream function formulation
Stream-vorticity function formulation
Potential function formulation
Velocity-pressure formulation
governing equations
potential flow
A flow is said to be inviscid (or non-viscous) when the effect of viscosity is small
compared to the other forces (convection). The viscosity is therefore assumed to be
null. No fluid is really inviscid, but this can be assumed for instance in flow through
orifices, over weirs or in channels
A flow is said to be irrotational when its particles do not rotate and maintain the same
orientation wherever along the streamline
irrotational
rotational
governing equations
potential flow
In irrotational flows the rotational of the velocity vector is zero
rot u
x
u
y
v
k
w v u w v u

i
j k 0
z y z z x x y
w
Therefore in irrotational flows it is verified that
w v
0
y z
u w
0
z x
v u
0
x y
Far from the boundaries, most of the flows of fluids with low viscosity (such as air and
water) behave as irrotational and these simplification can be assumed, that is why the
inviscid flow can be considered in certain occasions as irrotational
governing equations
potential flow
The potential flow equations are a simplified version of the N-S equations in which the
potential function is used to solve the continuity equation
We define in such a way that its partial derivatives with respect to the space, give the
velocity in that direction
u
v
v
y
x
Substituting this expression into the 2-D continuity equation it is obtained
u v
0
x y
2 2
2 2 0
y
x
2
It is also verified that
u v
y x

y x x y
and the assumption of a velocity potential requires the flow to be irrotational
governing equations
potential flow
With this formulation we can solve problems such as flow around a cylinder, flow out of an
orifice or around an airfoil
The flow through a saturated homogeneous porous media results as well in a
Laplacian, as the Darcys law is given by u k dh dx , where h is the water level, can be
written as
u k
where k is the hydraulic conductivity
Taking this equation to the continuity equation it is obtained
k k f
assuming k as a constant
governing equations
potential flow
computational fluid dynamics 1
The governing equations of the two dimensional potential flow are therefore given by
2 2
2 2 0
y
x
2
where the velocity components are given by u

with the boundary conditions
0
Dirichlet
Newman
Vn
lx
l y V0
n x
y
in
in
in 2
were lx and ly are the direction cosines of the outward unit vector n to 2
governing equations
stream function
The stream function ( formulation is an alternative way of describing the motion of

the fluid that has some important advantages compared to the velocity-pressure
formulation
The streamline is a line that connects points at a given instant whose velocity
vectors are tangent to the line
The path line connects points through which a fluid particle of fixed identity passes
as it moves in space
In steady flow both lines are the same
Since the velocity vector meets the streamlines tangentially no fluid can cross the
streamline
In the stream-function formulation the unknown is defined as. Proof follows
u
y
v
x
governing equations
stream function
If a unit thickness of the fluid is considered, is defined as the volume rate

(volume per unit distance/time) (discharge) of fluid between streamlines AB and
CD. Let CD be a streamline very close to CD. Let the flow between CD and CD
be d
D
u
dy
D
P
v dx
C
C
B
A
At a point P (with velocities u and v), the distance between CD and CD is
denoted by dx and dy
Since no fluid crosses the streamlines, the volume rate of flow across dy is u and
the volume rate across dx is v, therefore
d udy vdx
governing equations
stream function
Therefore
v
x
u
y
And the continuity equation is automatically satisfied by the stream function

u v

x y x y
y
x
If the flow is irrotational, the equation to be satisfied is

v u
0
x y
Substituting u and v by its values in terms of it is obtained
u
0

x x y x
And therefore
2 2
2 2 0
y
x
2
governing equations
shallow waters
The equations governing the steady 2-D Newtonian flow are

u v
0
x y
u
u
u
1 p
u
v
u f x
t
x
y
x
v
v
v
1 p
u v
v f y
t
x
y
y
or identically
u
1
u u f p u
t
ui ,i 0
i 1,2
But this is just a theoretical example in which the flow is assumed to have
null thickness
If we want to make a more adequate approach that takes into account the
third dimension we have to use the Shallow Water equations (SSWW)
governing equations
shallow waters
The assumptions to be made are

The distribution of the horizontal velocity along the vertical direction is assumed
to be uniform
An integration in height is carried out, and the horizontal velocity is taken as the
mean value of the horizontal velocities along the vertical direction
The main direction of the flow is the horizontal one, and only very small flows
take place on vertical planes
The acceleration in the vertical direction is negligible compared to gravity and a
hydrostatic distribution of the pressure is assumed
governing equations
shallow waters. continuity eq.
Integrating the continuity equation along the z-axis

h
u v w

0
x y z
h
hb
u
v
dz
h x h y dz wh whb 0
h
As the Leibniz rule to bring the derivatives into the integral sign gives
u
h
h
h
h x dz x h udz uh x uhb xb 0
h
it is obtained
h
h
hb h
h
hb
udz
u
h
u
h
vdz
v
h
v
h
wh whb 0
b
b
x h
x
x y h
y
y
b
H=h+hb
governing equations
shallow waters. continuity eq.
w(h), (vertical component of the velocity on the surface) is given by

wh
dh h h
h
u h vh
dt t x
y
Substituting in the former equation

h
h
h hb
0
udz
vdz
x h
y h
t t
b
Noting that
hb
0 , and taking and renaming the main velocities as
t
h
h
u
1
udz u
H hb
1
vdz v
H hb
the continuity equation is obtained as

h uH vH
0
t
x
y
governing equations
shallow waters. dynamic eq.
As the vertical acceleration is negligible, the third dynamic equation

2w 2w 2w
1 p
w
w
w
w
u
v
w
2 2 2 f z
z
y
z
y
z
t
x
x
can be written as
1 p
fz 0
z
Integrating this equation in depth and assuming the atmospheric pressure

to be zero it is obtained
h
h p
f z dz
hb
hb
dz
f z h hb ph phb p
Deriving with respect to x and y

fz
h
1 p
x
x
fz
h
1 p
y
y
governing equations
The first dynamic equation results into

2u 2u 2u
u
u
u
h
u
fx fz
2 2 2
u
v w
x
y
z
t
x
y
z
x
Adding the continuity equation multiplied by u, it is obtained

2u 2u 2u
u v w
u
u
u
u
h
f x f z
u
v w u
2 2 2
z
x
y
z
t
x
y
x y z
x
this is
as
2u 2u 2u
h
u u 2 uv uw
fx fz
2 2 2
z
t x
y
z
x
y
x
u u 2 uv uw u
u u
v u
w
2u
vu
wu
t x
y
z
t
x y
y z
z
governing equations
Integrating in depth the former expression
2u 2u 2u
h
u u 2 uv uw
2 2 2
fx fz
y
z
y
z
x
t x
x
hb
h h 2
h
h
2
2
u
h
udz
u
h
u
dz
u
h
b
t hb
t x hb
x
x
h
hb
h
h
h
uvdz
u
h
v
h
u
h
v
h
u
h
w
h
u
h
w
h
f
H
udz
x
b
b
b
b
z
hb
y hb
y
y
dh h h
h
u h vh , it is obtained
dt t x
y
hb
h
h
h h 2
2
2
udz
u
h
u
dz
u
h
u
h
h
h
b
b
t
t x
x
x
Taking into account that wh
h
h h
h h

h
h
h
h
h
h
uvdz u h vh u hb vhb b u h u h vh u hb b b u hb b vhb f x f z H udz
hb
y
x
y
x
y hb
y
y
t x
Cancelling terms
h
h
h 2
h
h
udz
u
dz
uvdz
f
H
udz
x
h
h
h
h
b
b
b
b
t
x
y
x
governing equations
Taking mean velocities it is obtained

h
h
uH u 2 H uvH
f x f z H udz
hb
x
y
x
t
The viscosity effects can be evaluated as

2u 2u
hbudz x 2 y 2 H sx bx
h
where v is the turbulent viscosity

Where s x , bxare the shear stresses acting on the surface (due to the wind action)
and on the bottom (due to the roughness of the channel)
s
i
Cw a W Wi
CW = Wind drag coefficient

n = Manning coefficient
Wi = Wind velocity components
a = Air density
b H
i
gn 2 V ui
H h4 3
governing equations
Developing the derivatives in the left hand side

H
u
v
H
H
u
uH u 2 H uvH u
H u
H u2
( v u ) H uv
2u
y
y
t
x
x
y
t
x
y
t
Taking into account the continuity eq.

h uH vH h u
H v
H
H u
H v
0
x
y
t x
y
t
x y
the former eq becames

H u
H v
H
u
uH u 2 H uvH u
u
H u
H u(
H u
H v
) vH
t
x
t x
x y
y
y
t
x
y
uH u 2 H uvH u
u
u
H u
H 0 vH
t
x
y
t
x
y
governing equations
The derivatives of the depth with respect to x and y are

H h hb h
x
x
x
Carrying out the same operations for the y dimension, and developing the
derivatives taking into account the last expression it is obtained
2u 2u Cw a W Wx gn 2 V u
u
u
u
h
f c v 2 2
u
v
g
x
y
H
H h4 3
t
x
y
x
2 v 2 v Cw a W W y gn 2 V v
v
v
v
h
f c u 2 2
u v g
x
H
H h4 3
t
x
y
y
where fc is the Coriolis factor
governing equations
shallow waters
The shallow water equations result into

h uH vH
0
t
x
y
2u 2u Cw a W Wx gn 2 V u
u
u
u
h
f c v 2 2
u
v
g
x
y
H
H h4 3
t
x
y
x
v
v
v
h
f c u 2 2
u v g
x
y
H
H h4 3
t
x
y
y
with boundary conditions

impermeability u N 0 , uT 0 (no slip)
discharge Hu N ds Q
contour stresses N N , T T
water level ht h t
0
governing equations
convection-diffusion equation
If in the N-S dynamic equation we substitute the non-linear velocities by a known

velocity field and the rest of the velocities by the a scalar unknown we arrive to
the convection diffusion equation that rules the transport of substances by
convective and diffusive actions.
The equations are
2 2 2
U
V
W
k 2 2 2 f
y
z
y
z
t
x
x
,t U j, j k, jj Q 0
or in 1D

U
k
Q 0
x x x
t
where is the quantity being transported, k is the diffusion coefficient, Ui is the

known velocity field, and Q are the external sources of the quantity. These are
also known as the Transport Equations
finite elements in fluids

CFDI
3. Finite Elements in Fluids

general issues
There is no analytical solution for most engineering problems such as

fluid flow
The determination of the velocity and pressure field is required in a

domain of infinite degrees of freedom
The Finite Element Method (developed about 1950 for structures)

substitutes the domain by another with a finite number of freedom
degrees, thus an approximation of the solution is obtained
Some important names in the finite element history are Courant, Turner,
Clough, Zienkiewicz, Brookes, Hughes,
Now it is used not only in structural mechanics but also in heat

conduction, seepage flow, electric and magnetic fields, and of course
in fluid dynamics

general issues
sms.avi

general issues
largo modulos.avi
2D h zoom at the mine.avi
3D H(x,y), water depth colour (only 600 days).avi

general issues
250
VEL
1.78125
1.6625
1.54375
1.425
1.30625
1.1875
1.06875
0.950002
0.831252
0.712501
0.593751
0.475001
0.356251
0.237501
0.11875
1.69975E-06
9.60324E-07
4.19696E-07
8.11084E-08
200
150
100
50
0
0
100
200
2D H (water level).avi

general issues

general issues
The main way of solving continuum problems in the finite element method are the
following
The direct approach (matrix analysis), by using a direct physical reasoning to establish
the element properties. Requires very simple basic elements (bars, pipelines,)
Variational approach (e.g. Rayleigh-Ritz based method), in this method the stiffness
matrix is obtained as a result of the resolution of a variational problem
Weighted residual approach (e.g. Galerkin Method), as a result of weighting the
differential equations and integrating them in the domain

general issues
Main steps of the finite element method

1. Subdivide the domain in a finite number of elements interconnected at the nodes,
where the unknowns (p, u) are going to be determined
2. It is assumed that the variation of the unknowns can be approximated by a simple
function
3. The approximation functions are defined in terms of the values of the field
variables at the nodes
4. When the equilibrium or variational equation has been obtained, the new finite
unknowns are introduced into the equations
5. The system of equations is solved and the unknowns are determined at the
nodes
6. The approximation functions give the solution in the rest of the domain
points
Following, the fem solution of the one simple 1-D problem is to be considered
on a 6-step basis

general issues
'...as the nature of the universe is the most perfect and the work of the
Creator is wiser, there's nothing that takes place in the universe in
which the ratio of maximum and minimum does not appear. So there is
no doubt whatsoever that any effect of the universe can be explained
satisfactorily because of its final causes, through the help of the method
of maxima and minima, as can be by the very causes taking place
Leonhard Euler
(Basel,1707- Saint Petersburg,1783)
In the traditional Rayleigh-Ritz methods the interpolating functions have to be

defined over the entire domain and have to satisfy the boundary conditions.
Meanwhile in the FEM the interpolating trial functions are defined on a finite element
basis, being more versatile when the shape is not simple enough
The limitation is that the FEM
trial functions have to satisfy in addition some
convergence conditions (continuity and completeness and compatibility)

variational approach
When using a variational approach, the aim is to find the vector function of
unknowns, that makes a minimum or a maximum of the functional I (typically
the energy)

I F , ,...dV g , ,... dS
x
x
After the discretization has been carried out in terms of E smaller parts the
piecewise approximation is introduced so that
aprox
or in terms of the so called shape functions Ni

e
e N11 N 2 2
where i are the values of the unknowns at the nodes

Afterwards, the condition of extremezation of I with respect to i is imposed

I 1
I
I 2
0

i
I
M
Adding all those element contributions it is obtained

E
I
I e
0
i e 1 i
Assuming I to be a quadratic functional of the element equation results in

I e
e e
e
e K P

After the assembling process it is obtained
K P
K K and
E
where
e 1
P P e
e 1
After applying the boundary conditions the system is solved for the nodal
unknowns i
Once i are known, we can obtain other variables as a post-processing value

variational approach, example
Example. Find the velocity distribution of an inviscid fluid flowing trough a

varying cross section pipe shown in the figure
The governing equations are defined by finding the potential that minimizes the
energy integral equation
1 L d
I A dx
2 0
dx
2
with the boundary condition u(x=0)=u0, where the cross section area is
A0
A1
u0
A2
2
l(1)
3
l(2)
A A0 e x L

1st step. Discretization

Divide the continuum into two finite elements. The values of the potential
function at the three nodes will be the unknowns of the fem
2nd step. Select an interpolation model, easy but leading to convergence
The potential function will be taken as linear
x a bx
and can be evaluated at each element as
e x 1e 2e 1e
where l(e) is the length of the e element
l e

3rd step. Derivation of stiffness matrices K(e) and load vectors P(e) by using
a variational principle
Deriving the interpolating function with respect to x it is obtained
e
1 l e 2e 1e
A 2e 1e 2 2e 1e
d
e 1 l
l e
I A dx A
dx
x
o
2
2 0
2 0
l e
dx
2l e
A 2e 1e 2 2e 1e
2
2l e
1
2
e
1
1 1e 1 e T e e
1 1 e 2 K
A 1
e
where the cross sectional areas can be taken for the first and second element
as
A0 A1
2
and
A1 A2
2
where the nodal unknowns are respectively (1)
2
1 and
( 2)

3
2

3rd step. (cont)

The minimal potential energy principle gives I 0, if we take into account the
i
external inflow
2
2
A 2e 1e 2 2e 1e
e
e e
e e 1 e T e e
e T e
I
2l
1 Q2 2
2
where Q is the mass flow rate across section Q Au

therefore, if we derive the functional I for each basic element
2
2
I e
A
A
e
2e 1e 2 2e 1e
Q1( e ) 1e Q2( e ) 2e e 1e 2e Q1( e ) 0
1 2l 1
1
l
2
2
I e
A
A
e
2e 1e 2 2e 1e
Q1( e ) 1e Q2( e ) 2e e 2e 1e Q2( e ) 0
2 2l 2
2
l
or in matrix form
T
T
I e 1
e K e e e Q e K e e Q e 0
i 2 i

4th step. Assembly of the stiffness and load vectors

Once we have obtained the matrices for all the basic elements as
K
A1 1
l 1
1
1 1
A2 1
l 2
A1u1
Q 1
1
1 1
0
Q 2
A3u2
we can assemble the system K Q to obtain

A1
1
l 1
A
l 1
A1
l 1
A1
l 1
A2
l 2
A2
l 2
A0u0
2 1
A
2 2 0
l
A2 3 A2u2
l 2
0

5th step. Resolution of the system

As we need a reference value for the potentials (u3 is an unknown) we can set
equal to 0
Taking A(1) as 0.80 A0 and A(2) as 0.49 A0, and l(1)= l(2)=L/2, the system of two
equations with two unknowns gives
1 1.65u0 L
2 1.027u0 L
6th step. Computation of the results

Once we have obtained the potentials, the velocities can be derived by using
the equivalence
u
d 2 1
dx
l 1
which gives the velocities at elements 1 and 2 as
u 1 1.25u0
u 2 2.05u0

weighted residuals
In this method the FE equations can be directly obtained from the governing
equations (or equilibrium equations)
F G
The discretization is made and the field variable is approximated as
n
x i N i x
~
i 1
where i are constants and Ni(x) are linearly independent functions chosen
such that the boundary conditions are satisfied
A quantity R known as the residual or error is defined as
~
~
RG F
The weighted function of the residual is taken as
where f(R)=0 when R=0
wf R dV 0

weighted residuals
There are several approaches to the weighted residuals method such as the
collocation method, the Least Squares method and the most commonly used of
all, the Galeking method
In the Galerkin method the weighting functions are chosen to be equal to the
trial functions and f(R) is taken as R
N RdV 0
i
with i=1,2,,n
In the rest of the aspects the method is similar to the variational

weighted residuals
Example. Find the velocity distribution of an inviscid fluid flowing trough a

varying cross section tube shown in the figure
The governing equations are given by the continuity equation
d 2
0
dx 2
with the boundary condition u(x=0)=u0, where the cross section area is
A1
A2
u0
A3
2
l(1)
3
l(2)
A A1e x L

weighted residuals
1st step. Discretization

Divide the continuum into two finite elements. The values potential function in
the three nodes will be the unknowns of the fem
2nd step. Select an interpolation model, easy but leading to convergence
The potential function will be taken as linear
x a bx
and can be evaluated at each element as
x 1e 2e 1e
where l(e) is the length of element e
l e

weighted residuals
This can also be obtained through the shape functions which have to be 1 at its
node and zero at the others, that is
N1 1
1
l(e)
x 1 N1 x 2 N 2 x
1
l(e)
this is
x
x
x
x 1 1 e 2 e 1 2 1 e
l
l
l
(the same as obtained before)
N2
l e
l e

weighted residuals
3rd step. Derivation of stiffness matrices K(e) and load vectors P(e) by using
equilibrium. Obtaining of a weak form
The integral of the weighted residual is
l e
integrating by parts
l e
d 2
wi 2 dx 0
dx
d 2
dv 2 dx
dx
u wi
du dwi
d
dx
l e
e
l e d
d
d 0 l e d dwi
d
e d l

wi 2 dx wi
dwi wi l
dx 0
wi 0
0
0
dx
dx
dx
dx
dx
dx
dx 0
l e
dwi d
dx wi l e u2 wi 0 u1
dx dx

weighted residuals
This is
l e
l e dw dN
dwi d
i
1
N11 N 2 2 dx 0
dx dx
dx dx
dN 2 1
e
dx
w
l
u 2 wi 0 u1
i
dx 2
The elementary matrices result into

K e e P e 0
As
where
dN1
dN
K e dx 1
dN
2 dx
dx
dN1
dN 2
dx dx
dx
dN 2
dx
As the derivatives are
dN1
dx
dN1
dx
dN1
1
dx
L
the elementary matrices result into

1
2
e l e
K
1
e 2
l
dN1
dx
dN 2
dx
dN 2
dx dx
dN 2
dx
dN 2 1
dx
L
1
2 e
l e l dx 1 1 1
1 0
l e 1 1
2
l e
u
P e 1
u2

(1) 1
2

( 2 ) 2
3

weighted residuals
4th step. Assembly of the stiffness and load vectors

Once we have obtained the matrices for all the basic elements as
K 1
1 1 1
l 1 1 1
K 2
1 1 1
l 2 1 1
u
P 1 0
0
we can assemble the system K Q to obtain

1
l 1
1
1
l
0
l 1
1
l
l 2
1
l 2
0
1 u 0
1
2 2 0
l
1 3 u2
l 2
0
P 2
u2

weighted residuals
5th step. Resolution of the system
6th step. Computation of the results
As can be seen, the system of equations obtained by the weighted residuals

method is the same as in the variational method except for the absence of the
density (which can be removed as it is a constant), and the cross section areas.
The areas are not present in the second formulation as the system is solved in
velocities and not in flow rates. To avoid this fact a two dimensional model
should be considered.

discretization
Finite elements = Piecewise approximation of the solution by dividing the

region into small pieces
This approximation is usually made in terms of a power series (polynomial) which
is easy to integrate and easy to be improved in accuracy by increasing the order,
fitting in this way the shape of the polynomial to that of the solution (see figure)
When the polynomial is of higher order (bigger than one) the midside and/or
interior nodes have to be used in addition to the corner nodes
Some other approximations such as Fourier series could also be used
Problems involving curved boundaries can be solved using isoparametric
elements which are not straight-sided

discretization

discretization
The mesh can be improved by
Subdividing selected elements (h-refinement)
Increasing the order of the polynomial of selected elements (p-refinement)
Moving node points (r-refinement)
Defining a new mesh
In higher order elements the midside and/or interior nodes have to be used in
addition to the corner nodes in order to match the number of nodal degrees of
freedom with the number of constants
As it will be shown a different interpolation for the velocity and pressure

unknowns is required for fem in fluids
Basic elements to be considered
Triangular linear
Quadrilateral linear
Triangular linear (natural)
Triangular quadratic

discretization, convergence
The FEM is an approximation that converges to the exact solution as the element
size is reduced if:
i. The field variable and its derivatives must have representation as the element
size reduces to zero
For example, second derivatives cannot be represented with linear functions
Then the elements are said to be complete
ii. The field variable and its derivatives should be continuous within the element (Cr
piecewise differentiable, where r is the maximum order of derivatives within the
integrand)
r
d
dx r dx
(The polynomials are inherently continuous and satisfy this requirement)

The field variable and its derivatives, up to the r-1-th, must be continuous at the
element boundaries
Then the elements are said to be compatible or conforming

discretization, convergence
If we had for instance, flat penthouses as interpolating functions, the

interpolating surface would be discontinuous (would break and split up)
Still, there are many fem basic elements that not verifying the former properties
still provide meaningful solutions (such as the checker board pressure mode)
100.00
55.00
90.00
50.00
80.00
45.00
70.00
40.00
60.00
35.00
50.00
30.00
40.00
25.00
20.00
30.00
15.00
20.00
10.00
10.00
5.00
0.00
0.00
10.00
20.00
30.00
40.00
50.00
60.00
70.00
80.00
90.00
100.00
5.00
10.00
15.00
20.00
25.00
30.00
35.00
40.00
45.00
50.00
55.00

discretization, triangular linear b.e.
Let the basic linear triangular element connecting nodes 1, 2,and 3 be
The equation that gives the

surface (plane) is
x , y 1 2 x 3 y
3
1
x2 , y 2
x
x3 , y3
x1 , y1
that leads to the following

equations
1 1 2 x1 3 y1
2 1 2 x2 3 y 2
3 1 2 x3 3 y3
(1)

The solution of the former system gives

1
where
1
a11 a22 a33
2A
1
b11 b22 b33
2A
1
c11 c22 c33
3
2A
1 x1
1
A 1 x2
2
1 x3
y1
y2
y3
(2)
a1 x2 y3 x3 y2
b1 y2 y3
c1 x3 x2
a2 x3 y1 x1 y3
b2 y3 y1
c2 x1 x3
a3 x1 y2 x2 y1
b3 y1 y2
c3 x2 x1
substituting (2) in (1) and rearranging terms it is obtained

The interpolating function results

x, y N1 x, y 1 N 2 x, y 2 N 3 x, y 3
where
N1 x , y
1
a1 b1 x c1 y 1 x2 y3 x3 y2 x y2 y3 yx3 x2
2A
2A
N 2 x, y
1
2A
2A
N 3 x, y
1
2A
2A
(3)
The shape functions take the value of 1 at its node and cero at the rest
These expressions are complicated and depend on x and y

discretization, triangular linear
For an A element matrix equal to

N i N j N i N j
dxdy
x
y y
x
A e Aij
The integrals are

N1
x
N
A e 2
x
e
N 3
x
N1 N1 N1
x
y y
N1 N 2 N1
y y
x
N1 N 3 N1
x
y y
N1
x
N 2
x
N 3
x
N 2 N1 N 2
x
y y
N 2 N 2 N 2
y y
x
N 2 N 3 N 2
x
y y
N1 N 3 N1 N 3
x x
y y
N 2 N 3 N 2 N 3
dxdy
y y
x x
N 3 N 3 L3 N 3
x x
y y
As the integrand is a constant there is no need to integrate numerically

y2 y3 2 x3 x2 2

A e
e 2
4A
sim
y2 y3 y3 y1 x3 x2 x1 x3 y2 y3 y1 y2 x3 x2 x2 x1
y3 y1 2 x1 x3 2
y3 y1 y1 y2 x1 x3 x2 x1 dxdy

y1 y2 2 x2 x1 2

discretization, triangular linear
The basic element matrix results

y2 y3 2 x3 x2 2

A e
4 A e
sim
y3 y1 2 x1 x3 2
y3 y1 y1 y2 x1 x3 x2 x1
y1 y2 2 x2 x1 2
That now can be assembled

in the stiffness matrix to yield
6
2
9
1 f1
f
2 2
3 f3

4 f4
5 f5

6 f6
f
7 7
8 f8
f
9 9
10 f10

discretization, triangular natural
The need of integrating the shape functions and their derivatives over
the domain in connection with the use of quadratic basic elements
leads to the use of the natural (local) coordinates, which allows for an
element based integration that simplifies the calculations
The natural triangular system of reference is defined with the linear
dependent coordinates L1, L2, and L3
3
L1
A1
A
L2
A2
A
L3
L1 L2 L3 1
A2 A1
P
A3
A3
A
where Ai is the area defined by the point P and the opposite side
(The shape functions for the triangular linear element would be)
N i Li
i 1,2,3

discretization, triangular quadratic
When the basic triangular element is quadratic

2
4
6
x2 , y 2
x
x3 , y3
x1 , y1
It is more convenient to express the shape functions in terms of the local (or
natural) coordinates which are referred to every single basic element.

For natural coordinates in triangles one of the three coordinates is

linear dependant and can be dropped from the integration leading to a
change in the integration limits
L2
(0,1)
L1 L2 L3 1
L1+L2=1
L1
(1,0)
1 1 L1
f x, y dxdy
0 0
1 1 L1
J f x, y dL2 dL1
0 0
g L1 , L2 dL2 dL1

The unknown function is now expressed as
x, y N11 N 2 2 N 6 6
The shape functions for this triangular quadratic elements result
N i Li 2 Li 1
N 4 4 L1 L2
i 1,2,3
N 5 4 L2 L3 4 L2 (1 L1 L2 ) 1
N 3 1 L1 L2 1 2 L1 2 L2 N 6 4 L1 L3 4 L1 (1 L1 L2 )
4
4
4
4
4
4
4
3
8

If we had used the natural coordinates for the linear elements, the
shape functions would have been
1 xj
N i Li
1
1 xk
2A
1 x
N i x, y Li x, y
yj
2A
yk i
2A
y
1
x j yk xk y j xy j yk yxk x j
2A
A2 A1
P
A3
Or in matrix form
L1
x2 y3 x3 y2
1
L
2 2 A x3 y1 x1 y3
L3
x1 y2 x2 y1
y2 y3 x3 x2 1
y3 y1 x1 x3 x
y1 y2 x2 x1 y
Through the inverse matrix
1 1
x x
1
y y1
1
x2
y2
1 L1
x3 L2
y3 L3
1 x1
1
A 1 x2
2
1 x3
y1
y2
y3

The derivatives of x and y with respect of of L1, L2 being

x
( x1 x3 )
L1
x
( x2 x3 )
L2
y
( y1 y3 )
L1
y
( y 2 y3 )
L2
Where the Jacobian determinant is
2A
x y
x y
2A
L1 L2 L2 L1

For a A matrix equal to

N N j N i N j
N i N j N i N j
J dL2 dL1
dxdy i
A Aij
y y
y y
x x
x x
Ne Ne Ne Ne Ne Ne Ne Ne
1 1
1 2 1 2
1 1
y y
x x y y
x x
e
e
e
e
N N N N Ne Ne Ne Ne
2 1 2 1
2 2 2 2
A J
x x
y y
x x y y
e e
e
e
e
e
e
e
N6 N1 N6 N1 N6 N2 N& N2
x x y y
y y
x
x
Ne Ne Ne Ne
1 6 1 6
x x y y
Ne Ne Ne Ne
2 6 2 6
dL dL
x x y y 2 1
e
e
e
e
N N N N
6
6
6
6
x x y y
The integrals are

N i 1 N i y N i y
(
)
x
J L1 L2 L2 L1
N i 1
N x N i x
( i
)
J
L1 L2 L2 L1
y

Because
N i N i x N i y
x L1 y L1
L1
N i N i x N i y
x L2 y L2
L2
And inverting the matrix

N i 1 N i y N i y
(
)
x
J L1 L2 L2 L1
N i 1
N x N i x
( i
)
J
L1 L2 L2 L1
y

For elementary triangles the numerical integration in terms of the

natural coordinates gives
I
Order

f L , L , L d w f L , L , L
n
Triang. Coord.
Weights
Linear (O(h2))
1 1 1
, ,
3 3 3
Quad, (O(h3))
1 1
, ,0
2 2
1
3
1 1
0, ,
2 2
1 1
,0 ,
2 2
1
3
1
3
i 1
i
1
i
2
i
3
for instance, if a four point Gauss rule is used it is obtained

I
11
1
1
1 1
1 1
0
0
f
L
,
L
,
L
f
,
,
f
,0 ,
1
2
3
2 3
2
2
2
2
2 2

discretization, triangular natural linear
For an A element matrix equal to

L L j Li L j
N i N j N i N j
dL2 dL1
A e Aij
dxdy 2 A i
x
x x
x
y
y
y
y
The integrals of the linear element lead to

L1
x
1 1 L1
L
A e 2 Ae 2
x
0 0
L3
x
L1 L1 L1
x y y
L1 L2 L1
x y y
L1 L3 L1
x y y
L1
x
L2
x
L3
x
L2 L1 L2
x y y
L2 L2 L2
x
y y
L2 L3 L2
y y
x
L1
x
L2
x
L3
x
L3 L1 L3
x y y
L3 L2 L3
dL2 dL1
x
y y
L3 L3 L3
x y y
As the integrand is a constant there is no need to integrate numerically

y2 y3 2 x3 x2 2
2A
A e
4 A2
sim
y2 y3 y3 y1 x3 x2 x1 x3 y2 y3 y1 y2 x3 x2 x2 x1 1 1 L
y3 y1 2 x1 x3 2
y3 y1 y1 y2 x1 x3 x2 x1 dL2 dL1
0 0
y1 y2 2 x2 x1 2

discretization, triangular natural linear
Integrating the basic element area it is obtained

1 1 L1
dL dL L
1
1 L1
2 0
L12
1
dL1 1 L1 dL1 L1
0
2 0 2
(it is a half of the area of the square)

The integrals are
y2 y3 2 x3 x2 2

e
A
4 A e
sim
y3 y1 2 x1 x3 2
y3 y1 y1 y2 x1 x3 x2 x1
y1 y2 2 x2 x1 2
which, as can be seen gives the same result as the one obtained with
the global linear coordinates

discretization, quadrilateral linear b.e.
(-1,1)
(-1,-1)
(1,1)
(1,-1)

For linear quadrilateral elements The unknown function is now

expressed as
4
, N , j
h
j 1
where the quadrilateral natural coordinates are given by the lines that
join the midpoints of opposite lines
The shape functions for this triangular quadratic elements result
1
N 1 1 1
4
N2
1
1 1
4
1
N 3 1 1
4
N4
1
1 1
4
(-1,1)
(-1,-1)
(1,1)
(1,-1)

The derivatives that show up in the integrals leading to the basic

matrices are made in terms of the global coordinates
f x, y dxdy f x, y J dd g , dd
where the jacobian determinant is
J
x y x y

f(x,y) is a function of Ni and its derivatives, where its derivatives with

respect to global coordinates can be written in terms of the local
coordinates as
N i 1 N i y N i y
J
x
N i 1 N i x N i x
J
y
where Cartesian and natural coordinates are related as follows
4
x N k xk
i 1
y N k yk
k 1
N k
x
xk
N k
x
xk
N k
y
yk
N k
y
yk

For a A matrix equal to
A Aij

N i N j N i N j
dxdy
x
y y
x

N e N e
1 1
x x
N e N e
2 1
x x
A J
e e
N3 N1
x x
N e N e
4 1
x x
N i N j N i N j
J dd
y y
x x
N e N e N e N e N e N e N e N e N e N e N e N e N e N e
1 1
1 2 1 2
1 3 1 3
1 4 1 4
y y
x x
y y
x x
y y
x x
y y
2 2 2 2
2 3 2 3
2 4 2 4
2 1
y y
x x
y y
x x
y y
x x
y y
dd
3 2 3 2
3 3 3 3
3 4 3 4
3 1
y y
x x
y y
x x
y y
x x
y y
4 2 4 2
4 3 4 3
4 4 4 4
4 1
y y
x x
y y
x x
y y
x x
y y
The integrals are

Aij
1
J
N i
N i

yk
k 1
x
k 1
N k N i
N k N i
x
K 1
yk
K 1
N k
N k N j
N j

x
k 1
yk
k 1
N k N j
N k N j
x
K 1
N k
y
K 1
dd
N k

The integration of the elementary matrices has to be done in terms of

a numerical procedure the most common of which is the Gauss
integration. The integrals are evaluated as
I
n
1
f , dd H H f
1
1 1
j i
Hi=Hj
2.0
0.57735
1.0
0
0.77459
0.88888
0.55555
i 1 j 1
,i
-1
-1
for instance, if a four point Gauss rule is used it is obtained

I (1.00)(1.00) f 0.57, 0.57 f 0.57,0.57 f 0.57,0.57 f 0.57,0.57
A Gauss surface integration with nxn Gauss points will be enough to

obtain the exact solutions for polynomials of grade up to 2n-1 in each
direction of the space.

2D potential flow
The governing equation of the two dimensional potential flow is therefore given by
2 2
2 2 0
x
y
2
where the velocity components are given by u

with the boundary conditions
0
Dirichlet
x
in
Newman Vn nx n y V0
n
in
in 2
were nx and ny are the direction cosines of the outward unit vector n to 2

2D potential flow, Galerkin approach
1.- Divide the region into E finite elements of p nodes each

2.- Assume a suitable interpolation model for e in element e as
x, y N i x, y ie
i 1
3.- Set the integral of the weighted (with weights equal to the interpolation
functions (Galerkin)) residue over the regions of the elements equal to zero
2 e 2 e
I Ni
d 0
2
2
x
y
i=1,2,,p
4.- Integration by parts (Green-Gauss theorem)
N i e N i e
e
e

nx
n y d 0
d N i
x x
y y
y
x
e
e

2D potential flow, green-gauss integ.
The first second derivative in the integral, i.e.

2
I Ni
x 2
xL
can be integrated by parts making

I N i

dxdy udv dy
x x
yT

N i
I
N
dy
this results in
i
yB x x
x x dxdy
L
and therefore
yT
yB
xR
I Ni
dy
d
xR
v dx
x x
x
u Ni
with
dy nx d
N i
nx d
d
x x
x
2 e
N i e
e
e N i x 2 d e x x d e N i x nx d 0
or
Carrying out the same procedure for the derivatives with respect to y

2D potential flow, integral equation
and writing the contour integral in terms of the boundary conditions as

e
e
N i
nx
n y d N iV0 d2
y
e
e
e
x
1 2
2
the integral equation results
N i e N i e
e x x y y d e N iV0 d2
2
therefore, the Newman boundary conditions are naturally introduced
K e
In matrix form
with
B B d
T
V0 N d2
2

2D potential flow, matrix formulation
where
N1
x
B N
1
y
N 2
x
N 2
y
N 3
x
N 3
y
N 2 N 2
1 1
x y
T
B B
sim.
N1 N 2 N1 N 2
x x
y y
N 2 N 2
x
y
(for a linear triangular basic element)

Assembling the elementary matrices it is obtained
K P
N1 N 3 N1 N 3
x x
y y
N 2 N 3 N 2 N 3
x x
y y
2
2
N 3 N 3

x
y

2D potential flow, matrix formulation
for a linear triangular basic element the elementary stiffness matrix results in
1
ai bi x ci y
Ni
2A
and the source matrix
bi2 ci2
1
K e B T B d
4 Ae
sim
b b
b
i
j
2
j
ci c j
c 2j
bibk ci ck
b b
b
j
c
c
k
j k
2
2
k ck
1
V
s
e
0 ij
P V0 N d2
1
2
2
0
T
when the fluid is entering the edge ij of length sij with a velocity V0 normal to the
edge
If the fluid is entering the edges jk or ik the elementary vectors are
0
V
s
e
0 jk
1
P
2
1
1
e V s
P 0 ik 0
2
1

2D potential flow, example
Let us apply the so-obtained formulation to the obtaining of the confined flow
around a cylinder. Due to its symmetry, the domain can be chosen to be a forth
of the total area
n 0
2
3
4
2
3
1
n 1
11
12
13
10
12
8
9
8
13
10
11
n 0
The boundary conditions will be:

An inlet constant velocity V0=1 normal to boundary 1-9
Constant potential in boundary 4-13 due to the symmetry (taken as cero for
convenience
Tangential velocity (V0=0) in the rest of the boundaries

For the nodes coordinates shown the node-1 basic stiffness matrices are
obtained as
5
Nodo
9.17
12
9.17
5.5
12
5.5
10
11
12
9.17
2.83
13
12
1.025 0.4 0.625

0.4
0
K 1
sim
0.625
2
1
P 0
2
5
6
1
5
6
1

Notes
As the potentials 4= =0, the corresponding rows and columns can be
eliminated from the system of equations to be solved for 1, 5, ,
9, , 12.
The velocity can be obtained as a post-process value making
ui j
j i
x j xi
x
vi j
j i
y j yi
y

2D laminar NS, preliminary issues
Up to this point some simple flow problems have been solved, but there are
many flow problems in which the Navier-Stokes equations have to be solved
The Navier-Stokes equations present two important problems that did not
arise before i.e.:
The presence an heterogeneous set of unknowns (velocity and pressure) that
requires special treatment.
This has to do with the verification of the continuity equation and causes
instabilities in the pressure field, no matter the Reynolds number is.
Therefore a proper combination of the velocity and pressure field is required
unless special formulation to circumvent this is added
The non-linear convective term appears, turns the stiffness matrix into a nonsymmetric one and leads to a certain amount of instability.
The Galerkin formulation lacks stability when convective effects dominate (this
is for large Reynolds numbers, Re=uL/v) and alternative stabilizing techniques
have to be used (Petrov-Galerkin, Characteristics Galerkin, GLS, SUPG, Finite
Increment Calculus, Bubble functions,...)

2D laminar NS, velocity & pressure
The need of verifying the continuity condition (divergence free

condition) together with the existence of two different types of
variables is mainly solved in two different ways:
Keeping both variables and both sets of equations leads to the socalled mixed formulation, the stiffness matrix becomes a partitioned
one with a null submatrix in the diagonal and a proper selection of the
basic elements has to be made to verify the LBB condition or
circumvent it
The penalty formulation takes
u p
instead of the continuity condition, where is a very small parameter,

and takes it into the dynamic equation.
The selection of is a difficult task as being too small may cause a loss
of accuracy and being too big may prevent the convergence

2D laminar NS, algebra issues
Some kind of functions to which the velocity and pressure fields must belong
to are presented
L2
H k
L20
H 01
Sobolev space of square integrable functions within

Hilbert space, subspace of L2 of functions whose
derivatives up to the k-th also belong to L2
Subspace of L2 with a null mean in the domain (to be
used in relation to the pressure. Can be avoided by
setting a given pressure at a certain point)
Subspace of functions that, belonging to H1, are
cancelled at the boundary

2D laminar NS, algebra issues
With respect to the velocity, u, the space of trial solutions is denoted by

S, which must be a subspace of H1 that satisfies the Dirichlet
conditions on the boundary
The weighting functions of the velocity, w, will belong to the V spaces

which belong to H1 and vanish on the boundary where the velocity is
prescribed
Finally the subspace Q will be introduced for the pressure. As no

explicit boundary conditions are prescribed for pressure and no
derivatives of the pressure show up in the weighted formulation as it
will be seen, it is only required that Q belongs to L2 for both the trial
and weighting functions

2D laminar NS, weighted residuals
Once weve got the governing Navier-Stokes differential equation, we are

going to solve it by using the finite element method, that is, to obtain the
n
approach
u u i N i
1
where Ni are the shape functions defined on a local basis for each element
and where the coefficients i are the unknowns for each of the nodes
In order to do so, we need to express the governing equation as
G ud g ud
m
e 1
G j d e g j d
so as to obtain the integral forms, we can apply the weighted residuals

method (de Galerkin) or the variational

The 2D equations to be solved are
u i ,t u j u i , j
p,i ui , jj f i 0
ui ,i 0
Multiplying the equation by the weighting functions and integrating within the
domain, it is obtained
1
wi u i ,t u j u i , j p,i u i , jj f i d 0
qu
i ,i
d 0
if these integral expressions are verified for any wi, q, then, the differential
equations will be satisfied within the whole domain

The viscous term is
2 ui 2 ui
wi ui , jj d wi 2 2
y
x
Integrating the first term by parts(in 2D)

I wi
ui
dxdy udv dy
x x
u wi
ui
u
dx i
x x
x
The integral b.p. results into

I
ui
wi
dy
yB
x
xL
xR
yT
wi
ui
n x d
x
n
xL
d
xR
wi ui
dxdy
x x
wi ui
d
x x
dy
yT
yB
dy n x d

2D laminar NS, Green theorem
Proceeding in an analogous way with the second term, it is obtained
wi
ui
y y
wi
ui
n y d
y
wi ui
d
y y
therefore
wi ui , jj d wi , j ui , j d wi ui , j n j d
Proceeding in an analogous way with the pressure term

1
wi p,i d
wi ,i pd
w pn d
i
The viscous component of the boundary integral is small compared to

the pressure component and its often dropped

2D laminar NS, weak form
The stationary formulation that also ignores the convective terms gives
wi , j ui , j d
wi ,i pd wi f i d ti wi d2
2
qu
i,i
d 0
ui 1 bi
q Q
wi V
ij n j ti
2
or in vectorial notation
u : wd
pwd w f d t wd2
qud 0

2D laminar NS, matrices
The Stokes simplification can be written as

B x T
B x u f x
B y v f y
p
where
Aij
wi N j wi N j
d
x x y y
Bxij
f xi wi f xi d wi t xi d
e
wi
j d
x
B yij
wi
j d
y
f yi wi f yi d wi t yi d
e

2D laminar NS, LBB
As stated before, the selection of the basic functions N and is not trivial, as it
involves different types of equations and unknowns
The matrix expression of the stationary flow results into
K
T
B
B u f

0 p 0
nxn
nxm
mxn
where the dimension of K is nxn (n range) and the dimension of B is nxm. In

order to obtain a unique solution, the stiffness matrix (with dimensions
(n+m)x(n+m)) must be non-singular and in order to achieve so, it is required
(although not sufficient) that
h
h
dim Q dim V
in other case the range of matrix B would be n (its range cannot be bigger than
n) there would be more equations than unknowns, and the system would be
non-compatible

2D laminar NS, LBB
The sufficient condition is the so called LBB (Ladyzhenskaya -BabuskaBrezzi) condition, that sets that for a given value of regardless of the
mesh size, the existence of an approximate solution (uh, ph), requires an
election for subspaces Vh, Qh, so that
inf sup
q Q
h
wih V h
from the system
q h wih,i d
h
i 1
Ku Bp f
BT u 0
solving first equation for u gives
u K 1 f Bp
that once introduced at the second one gives
B K B p B K
T

2D laminar NS, LBB
If the velocity-pressure pair verifies the LBB condition, that is, it ensures
that ker B = 0, the matrix BTK-1B is positive definite, the stiffness matrix
is regular (non-null determinant) and the problem of finding u h V h p h Q h
verifying the equations is univocally determined
We are going to illustrate this condition with some particular examples
of velocity-pressure pairs. After that, the most popular pairs for fluid
problems will be presented
In order to do so the particular case of a square domain of n by n nodes
(like the one being used to evaluate the cavity flow) will be presented
400
Level
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
350
300
250
200
150
100
vel
0.95
0.9
0.85
0.8
0.75
0.7
0.65
0.6
0.55
0.5
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
50
0
50
100
150
200
250
300
350
400
450
500
1
2
3
:
..

2D laminar NS, LBB
For a domain divided into P1P0 (linear velocity/constant pressure)

triangular elements of nxn nodes, the number of equations/unknowns
in the continuity equation is
Equations (pressure unknowns): 2(n-1)2-1
Unknowns (velocities): 2(n-2)2
1
..
2
3
:
As the number of equations is bigger than the number of unknowns

the only possible solution is the trivial and the problem is locked

2D laminar NS, LBB
For a domain divided into P2P1 (quadratic velocity/linear pressure)

triangular elements of nxn corner nodes, the number of equation and
unknowns in the continuity equation is
Equations (pressure unknowns): n2-1
Unknowns (velocities): 2(2n-3)2
1
..
2
3
:
As the number of equations is smaller than the number of unknowns (n>2),

the pair allows for a solution different from the trivial

2D laminar NS, LBB
Similarly, for a domain divided into Q1P0 (bilinear velocity/constant

pressure) triangular elements of nxn corner nodes, the number of
equations/unknowns in the continuity equation is
Equations (pressure unknowns): (n-1)2-1
Unknowns (velocities): 2(n-2)2
1
..
2
3
:
As the number of equations is smaller than the number of unknowns (n>4),

the pair allows for a solution different from the trivial, but not necessarily
exact as it leads to a discontinuous checkerboard pressure mode

2D laminar NS, LBB
Some of the most popular velocity-pressure pairs are

;
Q1P0 (bi-linear velocity constant
pressure)
LBB is not verified , discontinuous pressure
P1P0 (linear velocity - constant pressure)

LBB is not verified , discontinuous pressure
Q1Q1 (bi-linear velocity bi-linear pressure)
LBB is not verified
P1P1 (linear velocity - linear pressure)
LBB is not verified

2D laminar NS, LBB
P2P1 (quadratic velocity linear pressure)

;
LBB is verified
Q2Q1 Taylor-Hood(bi-quadratic velocity, bi-linear pressure)

LBB is verified
Q2Q1 Taylor-Hood serendipity (bi-linear velocity and pressure)

LBB is verified

2D laminar NS
Taking the unsteady convective flow equations
wi ui ,t u j ui , j f i d wi , j ui , j d
qu
i,i
wi ,i pd t i wi d2 0
2
d 0
wi V
q Q
u i x j ,0 u i 0 x j
ui 1 bi
or in vector notation
1
w
u
u
f
d
u
:
w
d
qud 0
pw d ti wi d2 0
2

When the transient convective flow is being used, a finite different approach can
be considered to integrate the differential equation. The derivatives with respect to
time can be taken as
n n 1
M
M
t
t
where n 1 are the velocities obtained for the previous temporal step
1
1
n
n
n
n 1
M C u n , v n A Bp n f
M
t
t
BT 0
n

When the convective term is included a non-linear convective term is obtained that
can be evaluated making use of Newton-Raphson or a successive approximation
technique, the former leading to
C u n , v n C u n 1 , v n 1
n
where u n 1 , v n 1 are the velocities obtained for the previous convection step and
can be estimated as zero for the first step
1
1
n
n
n
n 1
M C u n 1 , v n 1 A Bp n f M
t
t
BT 0
n
For each time step the iterations for convection should be carried out

When the transient and convective flows are taken into account it is obtained
n
n 1
n 1
M u C u , v
1
vn

t
p n

B x T
C u n 1 , v n 1
u n

v n
p n
n 1
B x u n f x
M u
1

v n1
M
B y v n f y
t
n
n
1
p
p
where
M ij wi N j d
e
N j
N j
d
N k vk
Cij wi N k uk
x
y

2D laminar NS, solver
The direct solvers are one-step methods that give an exact solution to the
systems. Nevertheless, the memory requirements involved are very high even
with skyline storing and specially for fluids
The sparse storage allows to drop all the non-zero elements but cannot be used
in combination with a direct solver due to the fact that some elements could be
thrown out of the sparse stencil
The row-indexed sparse storage mode requires a memory space of only twice the
number of the non-zero matrix elements uses an integer pointer vector (p) and a
real vector (v), where the sparse elements are loaded
An iterative solver of the Kryliov type, such as the (PBCG or the GMRES) can be
used in connection with the sparse matrix storing

2D laminar NS, benchmark
400
400
350
350
300
300
250
250
200
200
Benchmark problem: Cavity flow Re uL / 10000
150
150
100
100
50
50
50
100
150
200
250
300
350
400
450
500
Level
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
50
100
150
200
250
300
350
400
450
vel
0.95
0.9
0.85
0.8
0.75
0.7
0.65
0.6
0.55
0.5
0.45
0.4
0.35
0.3
0.25
0.2
0.15
0.1
0.05
500

Benchmark problem: Cavity flow Re uL / 10000
Re = 10000
55
66
66
66
55
14
61732
15
111
54
5
55
400
16
1101
9
8 9
33
300
350
5 5
44
200
5
4
100
3
5
1.2
1
0.8
Ghia 129x129
Present 41x41
0.6
0.4
0.2
50
55
150
66
6
6
07
0
250
Level
h
19
0.0380309
18
0.0350167
17
0.0320026
16
0.0289885
15
0.0259744
14
0.0229602
13
0.0199461
12
0.016932
11
0.0139179
10
0.0109037
9
0.00788962
8
0.0048755
7
0.00186137
6
-0.000170322
5
-0.00115275
4
-0.00286752
3
-0.00416688
2
-0.00550366
1
-0.0062906
100
200
300
400
500
-0.5
0.5
1.5

Benchmark problem: Backward step Re uD / 1200

8
7
6
5
4
3
2
1
0
10
15
20
25
30
35
40
45
50
8
7
VEL
0.937568
0.875064
0.812559
0.750055
0.68755
0.625046
0.562541
0.500036
0.437532
0.375027
0.312523
0.250018
0.187514
0.125009
0.0625046
5
4
3
2
1
0
10
20
30
40
50
8
7
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
5
4
25
30
15
11
11
11
10
99 9
7
88
99
10
4 4
5
15
20
14
8
99
13
10
11
1515
14
13 13
15
12 12 12 12
10
4
3
11
10
4
5
3344 5
5
3
2 3 4
2
1
35
40
45
50
-0.00618127
-0.0126782
-0.0191752
-0.0256722
-0.0321692
-0.0386661
-0.0451631
-0.0516601
-0.0581571
-0.064654
-0.071151
-0.077648
-0.084145
-0.0906419
-0.0971389

Benchmark problem: Backward step Re uD / 1200
s3
s2
s1
Reattachment length s3
30
25
20
s3 Armaly exp
s3 Armaly cal
15
Present
10
5
0
0
200
400
600
800
1000
1200
1400

penalty formulation
The penalty method can be interpreted as enabling a relaxation of the

incompressibility constraint so that the incompressible problem is
approached by a slightly compressible formulation
The pressure unknown is removed from the mixed formulation and
therefore the only unknowns of the problem will now be the velocities

penalty formulation
The penalty formulation is based upon substituting the incompressibility condition

by
ui ,i p
where tends to zero, and drive it into the dynamic equation to obtain
1
(
u
w
f
w
i , j i , j i i ui ,i wi ,i )d 0
equation that does not depend upon the pressure unknown, so avoiding the
problems found in the mixed formulation

penalty formulation
In order to impose the incompressibility condition, is required to be very small,

but not to much, because in that case, the penalty term (if it leads to a regular
matrix) promotes the obtaining of a unique trivial solution
In order to avoid it, it is required to carry out a reduced integration or selective
integration, that is to carry out a roughly approximating of the penalized term,
leading to a similar effect to that obtained for the mixed elements verifying the
LBB condition
It is recommended to chose as
c max ,Re
with c=107

penalty formulation, reduced integrat.
Q1P0 (2x2, reducida 1)
P1P0 (1, reducida 1)
P2P1 (3, reducida 1)
Q2Q1 (3x3, reducida 2x2)
Q2Q1 (3x3, reducida 2x2)

penalty formulation, matrices
Proceeding in the same way as in the mixed formulation it is obtained
h
h
h h
h
h
h
w
u
u
u
w
u
i
i
t
j
i
j
i
i
j
i
,
,
,
, j d
uih,i wih,i d t ih wih d2 0

2
or in matrix notation
M
1
C u, v A B f
t
u A u 1 B x
M u Cu, v
T
M t v
Cu, v v A v D
D u f x
B y v f y

penalty formulation, matrices
Where the basic matrices are

1
t
M u n C u n , v n
M n
u n A u n 1 B x

T
C u n , v n v n A v n D
M ij wi N j d
e
Aij
wi N j wi N j
d
x x y y
Bxij
wi N j
d
y y
f xi wi f xi d wi t xih d
e
D u n f x 1 M u n 1
B y v n f y t M v n 1
N j
N j
d
N k vk
Cij wi N k uk
B yij
wi N j
d
x x
Dij
wi N j
d
x y
f yi wi f yi d wi t yih d
e

ssww equations
As we know, the Shallow Water equations are

h uH vH
0
t
x
y
2u 2u C w a W Wx gn 2 V u
u
u
h
u
u
v
g
f c v 2 2
H
H h4 3
t
x
y
x
v
v
h
v
u v g
f c u 2 2
H
H h4 3
t
x
y
y

ssww equations
Following a similar procedure as the one carried out for the 2D laminar equations
in the continuity equation it is obtained
h uH vH
0
t
x
y
qh Hu d 0
,t
i ,i
qh d q Hu d qHu d
,t
,i
qh
,t
Hq,i ui d qHu N d

ssww equations
Identically, with the dynamic equation, it is obtained

2u 2u C w a W Wx gn 2 V u
h
u
u
u
g
f c v 2 2
u
v
x
y
H
H h4 3
y
x
t
x
v
v
v
h
u v g
f c u 2 2
t
x
y
y
H
H h4 3
u,t u, j ui , j ui , jj gh,i gh,i Si
w u
h
i
h
i ,t
u hj uih, j S i d wih, j uih, j d g wih,i h h d h tih wih d2

h

ssww equations
And the matrix expressions are
B x u f x
u A
Cu, v
A
B
C
u
v
y v f y
h D x h D y h h f h
N j
N j
d
Cij wi N k u k
N k vk
e
Bxij g
f xi wi S xi d wi t xi d
e
wi
j d
x
Dxij H k k
e
Aij
wi N j wi N j
d
x x y y
B yij g
i
N j d
x
wi
j d
y
D yij H k k
e
f yi wi S yi d wi t yi d
e
i
N j d
y
f hi qi Hu N d
e

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CFD I

Computational Fluid Dynamics I

Computational Fluid Dynamics I

First term, MSc International Master in Water Engineering, 6 ECTS

Lectures timetable: Tuesday and Thursday 12:45-14:35

Grades: Attendance + Courseworks

Pablo Rguez-Vellando (Coord)

Thomasset, Franois. Implementation of finite element methods for Navier-Stokes

G. Carey, J. Oden, Finite Elements, Prentice-Hall,1984

A. Chadwick, Hydraulics in Civil Engineering, Allen&Unwin, 1986

T.J. Chung, Computational Fluid Dynamics, Cambridge University Press, 2002

J. Donea, Finite Element Methods for Flow Problems Wiley, 2003

J. Ferziger, M. Peric, Computational methods for Fluid Dynamics

O. Pironneau, Finite Element Methods for Fluids, Wiley, 1989

J. Puertas Agudo, Apuntes de Hidrulica de Canales, Nino, 2000

Singiresu Rao, The Finite Element Method in Engineering, Elsevier 2005

Introduction to CFD. Revision of concepts (4h)

Saint-Venant equations. Step Method CW1

HEC-RAS (6h) CW5

Governing equations (4h)

Finite elements and fluids hydrodynamics (12 h)

End user programmes (26h)

Open channel flow. A revision

Introduction to Finite Volumes (8h)

SMS//RMA2 (6h) CW6

EPANET (6h) CW7

CFDI 1. Introduction to CFD

In the open channel flow there is a hydrostatic distribution of pressures, the

As we can recall, the one dimensional flow in channels depends on space

Gradually varied flow

Rapidly varied flow

Broadcrested weir, hydraulic

Saint-Venant equations allow for a resolution of the one dimensional flow

Saint-Venant equations assume :

The slope is small i<0.1

Slow regime (Fr<1), fast regime (Fr>1)

The friction slope can be obtained from the Manning coefficient as

has no analytic solution and has to be solved by a numerical method

The solution to the equation

can be solved on a finite element

Fr* Frk 1 Frk / 2

The finite difference problem can be completed by using an initial condition x y0 x0

Even the one-dimensional Saint-Venant equations are difficult to resolve and

with boundary conditions:

Dirichlet ui bi in (prescribed velocity)

with initial conditions (unsteady flow)

Potential and stream function equations

In the stream/vorticity formulation the u and p variables are written in terms of

In the Stokes equations the convective term is dropped

The flow in a porous media simplifies Navier-Stokes eq. and is also to be

The transport equation can be also considered for non-isothermal reactives

For convective enough flows, a turbulent model is to be required

With respect to the dynamic macroscopic behaviour, flows can be regarded

The laminar flow is ordered and it takes place in layers

In the turbulent flow, particles move on an irregular, fluctuant and erratic

The FEM was developed in the 50s to be applied to the aeronautic

Fluid materials change their shape and that leads to a important

Structural or heat problems lead to a diffusive equation that turns into a

For those cases, Galerkin formulation leads to convergent iterative

The presence of a convective acceleration in the fluids formulation leads to the

f (x,t) is a 1D scalar field

f (x,t) is a 3D vector field

ab a j b j a1b1 a2b2 a3b3

Lagrangian coordinates (the net follows the particle)