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d
d u
g
u
g So S f
x
x t
A
u
d
u
A
b
0
x
x
t
The average channel bed slope is small so that the cosine of the
angle it makes with the horizontal is approximately 1.
Control Volume
A1
V1
A2
V2
Continuity
CV in x,t plane
conservation of mass
A
x2
x1
A t1 dx Qx 2 Qx1 dt 0
t2
t2
t1
Momentum
Conservation of momentum
2
2
uA
uA
dx
u
A
u
A x 2 dt
t2
t1
x1
x1
t1
x2
t2
t2
t2
t2
t1
t1
t1
I1 x1 I1 x 2 dt
x2
x1
I 2 dx dt
A S
x2
x1
S f dx dt
b
Geometric Change Terms
vertical change
in cross-section
I1
h x
h-
()
h x x, d
0
x
h ho
A t 2
A
2 A t 2
A t1
t 2
...
t
t 2
Differential form
A Q
0
t x
Q Q 2
gI1 gA S o S f gI 2
t x A
gI1
h
gA x
gI 2
x
x
Q
h
uQ gA
S o gAS f 0
t x
x
b
t
h t
t
h 1 Q
0
t b x
Q Q 2
h
gA gA S f S o 0
t x A
x
remember b = b(h), A=A(h)
Each of these forms are a set of non-linear differential equations which do not
have any analytical solution.
The only way to solve them is by numerical integration.
using
A h A
Q
u
A
u
A u
A u
x
x
x
x
h A u
h u A
t b x
x b x
hcons tan t
0
h cons tan t
u
u
h
u
g
g S f So 0
t
x
x
Characteristic Form
Characteristic form
u
0
t b x
x
u
u
h
u
g
g S f So 0
t
x
x
Wave speed
A
b
c
c
u
2u c
0
t
x
x
2c
c
h
g
t
t
u
c
u
2c u
g S f So 0
t
x
x
Combining
Characteristics
g So S f
x
t
v c v 2c v 2c g So S f
x
Total differential
dt
x isdtsome
t property of the flow e.g.
If the variable
surface level,
if an observer is moving at velocity v,
the observer will see the surface level change
only with time relative to the observers' position.
If we take = (v + 2c)
Total differential is
d v 2c v 2c dx v 2c
dt
x
dt
t
Compare with
v c v 2c v 2c g S o S f
x
Clearly
and
dx
v c
dt
d v 2c
g So S f
dt
dt
d v 2c
g So S f
dt
d v 2c
g So S f
dt
for
for
dx
v c
dt
dx
v c
dt
Meaning of the
The paths of these observers that we have talked about
characteristics
can be represented by lines on this graph.
c2
dt
1
dx v c
dt
1
dx v c
c1
6
c4
c0
5
c5
3
2
Z o n e o f q u ie t
1
x
Information paths
c1
P
D o m a in o f d e p e n d e n c e o f P
c2
c1
Z o n e o f in flu e n c e o f Q
Stability
Calculation with
characteristics
dt
1
dx v5 c5
v6 2c6 v5 2c5 t g i j
dt
1
dx v3 c3
2c6 v3 2c3 t g i j
Characteristics solution
Adding equations
v6
v5 v3
c5 c3 t g i j
2
Subtracting
c6
v5 v3 c5 c3
4
2
t+ t
t
t
x
x
P
t+ t
t
t
O
x L
x
R
x R
x
Midstream discretisation
x L
vO cO
t
t+ t
t
t
O
x L
x
v L vO
dx
vP cP
dt
x L
v O vW
x
R
xR
x R
vO cO
t
x R
vO v E
v R vO
x
Solution
d v 2c
g So Sf
dt
vP 2cP vL 2cL t g So Sf L
d v 2c
g So Sf
dt
vP 2cP vR 2cR t g So Sf R
vP
vL vR
t g
So Sf L So Sf R
cL cR
2
2
cP
v L v R c L c R t g
So Sf L So Sf R
4
2
4
Stability
Considering characteristics
C 2
t+ t
dt
1
dx = v+c
dx
v c
dt
C 1
dt
1
d x = v -c
x
t
v c
x
t 0.9
v c max
Boundary conditions
Upstream boundary:
backward characteristic
Downstream boundary:
forward characteristic
t+ t
t
t
t+ t
b o u n d a ry
x R
x
x L
x
Boundary Conditions
vP 2cP vR 2cR t g So Sf R
vP vR 2 cR cP t g So Sf R
Spuer-critical - mid
t+ t
t
t
x R
x L
Super-critical - upstream
No characteristics
P
Super-critical downstream
2 characteristics
No boundary condition
P
t+ t
b o u n d a ry
t
t
O
x R
x L
Implicit
Explicit
Which Equations
t2
2
2
x1 uA t 2 uA t1 dx t1 u A x1 u A x 2 dt
x2
t2
t2
t1
t2
x2
t2
t1
t1
1 x1
x1
I1 x 2 dt
I 2 dx dt
A S
x2
x1
S f dx dt
Homogeneous Integral
Equations
A
x2
x1
t2
At1 dx Qx 2 Qx1 dt 0
t2
t1
2
2
Q
dx
u
A
gI
u
A I1 x1 dt 0
1 x2
t1
x1 t 2
t1
x2
t2
Grid based
fdx G f dt 0
ABCD
Q
f
A
G f Q 2
gI1
Gridpoints / Variables
f x, t n f i n1 1 f i n
0 1
Substitute in approximations
f
xi 1
xi
n 1
i 1
t n1
tn
n 1
i 1
1 f i n 1 f i n1 1 f i n dx
n 1
i 1
1 f i n 1 f i n1 1 f i n x
Difference equation
n 1
i 1
0
t
x
0
t
x
Several schemes
Features are
Preissmann Scheme
t
2t
Space derivative
x
x
Equations become
x n1
x n
Ai Ain11
Ai Ain1 t Qin11 Qin1 1 Qin1 Qin 0
2
2
x n1
x n
Qi 1 Qin1
Qi 1 Qin
2
2
n 1
2
Q2
Q
t
gI1
gI1
A
i 1 A
n 1
Q2
gI
1
n
Q2
gI1
A
i
i 1
n
I 2 AS f ASo n1 I 2 AS f AS o n1
j
j 1
gtx
n
n 1
2
1 I 2 AS f ASo j I 2 AS f AS o j 1
0
t b x
Q Q 2
h
gA gA S f S o 0
t x A
x
Priessmann
n1
1 n
n 1
f f i 1 f i
f i 1 f i n
2
2
0.5 < 1
Continuity:
h 1 Q
0
t b x
0
n 1
n 1
n
n
2
t
t x bi bi 1 1 bi bi 1
Priessmann
Momentum Equation
Q Q 2
h
gA gA S f S o 0
t x A
x
2
t
t
Q2
x A
n 1
i 1
Q
A
n1
Q2
x A
Q
A
i 1
1 n
n1
n1
g
Ai 1 Ai
Ai 1 Ain E 0
2
2
i
n
Source term
So-Sf
hin11 hin1
hin1 hin
E
1
x
x
n
n
n n
Qin11 Qin11 Qin1 Qin1
Q
Q
Q
i 1 i 1
i Qi
2
2
K K 1 K K
2
2
n1 2
i 1
n 1 2
i
n 2
i 1
n 2
i
Unknowns
Need to linearise
Linearise equations
Boundary Conditions
Junction
Continuity
Iterative solution
Cunge says
Stability
0.5 < 1
Explicit Schemes
Leap-Frog
Spatial derivative
f f
f
t
2t
n
i 1
gives
n
i 1
Temporal derivative
G f Gin1 Gin1
x
2x
n 1
A
t
n1
i
f i n1 f i n
Gin1 Gin1
2x
Qi
Stability
dx
v c
dt
Cr < 1
x
t
v c
fi
n 1
n
n
f
n
i 1
i 1
f i 1 1
2
For 0 1
Spatial derivative
n
n
G
G f
i 1
i1
2x
A
f
f
t
n 1
n
i
i 1
i 1
f i n1 f i 1
Gin1 Gin1
2
2x
Qi