Turbulence Modeling for CFD by David C. Wilcox DCW Industries, Inc. La Cafiada, Californiamy Wife BARBARA my Children KINLEY and BOB and my Dad Turbulence Modeling for CFD Copyright © 1993, 1994 by DCW Industries, Inc. All rights reserved. F ; , Second Printing: — November, 1994 (with corrections) No part of this book may be reproduced or transmitted in any form or by any means, electronic ur mechanical, including photocopying, recording, or any information storage and retrieval system, without permission in writing from DCW Industries, Inc. DCW Industries, Inc. 5354 Palm Drive, La Cafada, California 91011 818/790-3844 (FAX) 818/952-1272 This book was prepared with ITgX, and was printed in the United States of America by Griffin Printing, Glendale, California. Library of Congress Cataloging in Publication Data cox, David C. Turbulence Modeling for CFD / David C. Wilcox—Ist ed. Includes bibliography, index and 32 inch floppy disk. 1, Turbulence-Mathematical Models. 2. Fluid Dynamics-Mathematical Models. 'TA357.5.T87 W542 1993 93-224752 ISBN 0-9636051-0-0About the Author Dr. David C, Wilcox, was born in Wilmington, Delaware. He did his undergraduate studies from 1963 to 1966 at the Massachusetts Institute of. ‘Technology, graduating with a Bachelor of Science degree in Aeronautics and Astronautics. From 1966 to 1967, he was an Engineer Scientist Spe- cialist at McDonnell Douglas Aircraft Division in Long Beach, California, working for A. M. O. Smith. His experience with McDonnell Douglas was primarily in subsonic and transonic flow calculations. From 1967 to 1970, he attended the C: Tr eof Technolo; of gy, graduating with a Ph.D Aeronautics. In 1970 he joined TRW Systems, Inc. in Redondo Beach, Cal- ifornia, as a Member of the Technical Staff. He performed studies of both high- and low-speed fiuid-mechanical and heat-transfer problems, such as turbulent hypersonic flow and thermal radiation from a flame. From 1972 to 1973, he was a staff scientist for Applied Theory, Inc., in Los Angeles, California, responsible for scientific-project inanagement. Ie participated directly in many research efforts involving numerical computation and anal- ysis of a wide range of fluid flows such as separated turbulent flow, tran- sitional flow and hypersonic plume-body interaction. In 1973, he founded DCW Industries, Inc., a La Caiada, California firm engaged in engineering research, software development and publishing, for which he is currently the President. He has taught several fluid mechanics and applied mathematics courses at the University of Sonthern California and at the University of California, Los Angeles. Dr. Wilcox has published many papers and reports on turbulence mod- dynamics, honndary-layer separation, boundary layer transition, thermal radiation, and rapidly rotating fluids. He is an Associate Fellow of the American Institute of Aeronautics and Astronau- tics (AIAA) and has served as an Associate Editor for the ATAA Journal. iiiContents Notation xi Preface 1 Introduction 1 La ‘ i 1.2 How Complex Does a Turbulence Model Have toBe?.... 1 1.3 Comments on the Physics of Turbulence ........ « 2 14 A Brief History of Turbulence Modeling... 0... 06-5 05 2 The Closure Problem u 2.1 Reynolds Averaging u 2.2 Correlations... 15 23 Reynolds-Averaged Equations 15 24 The Keynolds-Stress Equation... ...........005 it 3 Algebraic Models 23 Molecular Transport of Momentum... ... 0.0... 24 : 2 ‘The Mixing-Length Hypothesis 27 3.3. Application to Free Shear Flows 30 3.3.1 ‘The Far Wake 32 3.3.2 ‘The Mixing Layer 38 $94 Tied vee eet e teens at 3.4 Modem Variants of the Mixing Vength Model . 44 3.4.1 Cebeci-Smith Model . . SS 50 3.4.2 Baldwin-Lomax Model . Lees 52 3.5 Application to Wall-Bounded Flows ....... « 53 3.5.1 Channel and Pipe Flow ..... . 53 3.5.2 Boundary Layers 59 3.6 Separated Flows .........- 00-0000 2 eee 61vi CONTENTS 3.7 The 1/2Equation Model... 2.2... eee ee 65 3:8 Ratige Of Applicability: i aie aciesds gen seauniger .. 67 Turbulence Energy Equation Models 13 4.1 The Turbulence Energy Equation . . . ” 4.2 One-Equation Models 7 4.3. Two-Equation Models . . 83 4.3.1 ‘The k-w Model . . 84 43.2 The k-e Model ...... 87 43.3 Other Two-Equation Models ey 90 a a ee a a ae 92 4.5 Application to Free Shear Flows : : 95 4.6 Perturbation Analysis of the Boundary Layer ........ 104 46.1 The LogLayer ................ - 105 46.2 The Defect Layer... 110 4.6.3 The Viscous Sublayer 122 4.7 Surface Boundary Conditions 126 4.7.1 Wall Functions ...... 126 4.7.2 Surface Roughness ....... 128 4.7.3 Surface Mass Injection... . . 131 4.8 Application (o Wall-Bounded Flows 131 4.8.1 Channel and Pipe Flow 129 4.8.2 Boundary Layers . . 133 4.9 Low-Reynolds-Number Effects . 138 4.9.1 Asymptotic Consistency... 138 4.9.2 Transition 146 4.10 Separated Flows : 160 4.11 Range of Applicability . 163 Effects of Compressibility 171 5.1 Physical Considerations 171 5.2 Favre Averaging Lee 172 5.3 Favre-Averaged Equations... . . we ang 5.4 Compressible-Flow Closure Approximations . . . 180 5.5 Dilatation Dissipation ........ 18s 6.6: Compressible Law of the Wall) ig 5.7 Compressible Boundary Layers : i9d 5.8 Shock-Induced Boundary-Layer Separation 203CONTENTS 6 O:. @ Beyond the Boussinesq Approximation 6.1 Boussinesq-Approximation Deficiencies 6.2 Nonlinear Constitutive Relations. 6.3 Second-Order Closure Models . . . 63.1 Closure Approximations 6.3.2 Launder-Reece-Rodi Model . . 6.3.3. Wilcox Multiscale Model 84 Tar 6.5 Application to Free Shear Flows 6.6 Application to Wall-Bounded Flows 6.6.1 Surface Boundary Conditions 6.6.2 Channel and Pipe Flow .......... 6.6.3 Boundary Layers a 6.7 Application to Separated Flows 00s... 6.8 Range of Applicability ............-- 7.1 Multiple Time Scales and Stiffness... .. . 7.2 Numerical Accuracy Near Boundaries 2 AdiGolid Surinces| (iia ia iiss 7.22 Turbulent/Nonturbulent Interfaces 7.3. Parabolic Marching Methods ...... 7.4 Blementary ‘Lime-Marching Methods... .. . « de 7.6 Solution Convergence and Grid Sensitivity . . . New Horizons 8.1 Background Information .............. 8.2. Direct Numerical Simulation 8.3. Large Eddy Simulation. . . . : 84 Chass ......... ee Rudiments of Perturbation Methods Companion Software C.1 Overview i C1 Program Structure . C.1.2 Program Input . C.1.3° Program Output C.2 Free Shear Flows . . . vii 213 213 218 223 224 231 232 ORK 242 243 244 248 253 261 266 273 275 275 279 287 292 297 303 313 313 316 322 328 331 337 349 349 350 351 352 353viii C3 C4 C5 C6 C.2.1 Program WAKE: Far Wake . 2... 2.2 Program MIXER: Mixing Layer. . C23 Program JET: Plane, Round and Radial Jet. C24 Program PLOTF: Plotting Utility Channel and Pipe Flow... . i 3.1 Program PIPE: Channel and Pipe Flow ©.3.2 Program PLOTP; Plotting Utility Boundary-Layer Perturbation Analysis . C.4.1 Program SUBLAY: Viscous Sublayer . C42 Program DEFECT: Defect Layer C43 Program PLOTS: Sublayer Plotting Utility C44 Program PLOTD: Defect-Layer Plotting Utility SA MmCOrOTnIn SUCMRRAIPM pc egee eeca C.5.1. Function ERF: Error Function C.5.2 Subroutine NAMSYS: Fortran Portability . C.d.8 Subroutine KKGS: Kunge-Kutta Integration CA4 Snhrontine RTNI- Newton's Ite CONTENTS C.5.5 Subroutine TRI: Tridiagonal Matrix Inversion . Diskette Contents sree D Program EDDYBL ania: D2 D3 DA D5 se slates latte alate talaga D.1.1 Acknowledgments D.1.2 Required Hardware and Software Getting Started Quickly... 2.2.0... Installing SETEBL He D.3.1 Boot-Console Installation... .. . . D.3.2 Remote-Terminal Installation . Installing EDDYBL Running a General Case : D.5.1 Preliminary Operations . . D.5.2 Units Selection .. . . - D.5.3 Main Parameters . D.54 Taking a Lunch Break D.5.6 Edge/Wall Conditions . . . D.5.6 Preparing Edge/Wall Condition Data Files D.5.7 Generating Edge/Wall Conditions . . . D.5.8 Initial Profiles... .. . en D.5.9 Selecting a Turbulence Model - D.5.10 Logical Unit Numbers and Plotting Files D.5.ii Running the Boundary-Layer Program D5.12 Restart Run..........-.205 355 357 359 361 364 365 367 371 373 375 376 379 382 383. 384 386, a 389 390 391 391 391 392 392 397 307 398 398 399 399 400 400 402 403 404 406 406 408 408 4i0 410CONTENTS 1.5.13 Gas Properties and Profile Printing : D'B.14 Selecting Laminar, Transitional or ‘Turbulent Flow . D.6 Applicability and Limitations . . . Ha ae D.7 BDDYBL Output Parameters . . . D.& Program PLOTER: Plotting Utility D.9 Adapting to Other Compilers/Systems . D.10 Compile and Link Commands... . « Rein: Mean- I Information low Equations . . . . D.11.2 kw and Multiscale Model Kquations . . D.11.3 k-e Model Equations D.11.4 Transformed Equations D.12 Software Package Modules E Plotting Program Details ARs ea MORMMM gigi eel atattni BQ Vi E3 Plotting Colors... . EA Hardcopy Devices . . Bibliography Index all 412 412 413 415 419 420 423 423, 424 426 429 432 433 433, 433, 435 435 437 456Notation This section includes the most commonly used notation in this book. In order to avoid departing too much from conventions normally used in liter- ature on turbulence modeling and general fluid mechanics, a few symbols denote more than one quantity. English Symbols Symbol a Gijei An Bus Cus Du Ay Ais bi B Co1, C2 a Soe Cwis Cw2, Cw C1, Cr Cop, Cok Cp, Ce Caig, Cte CK Cia, Cro Cp C., Ce Cs Cu Cs Definition Speed of sound Rapid pressure-strain tensor Coefficients in tridiagonal matrix equation Van Driest damping constant Slow pressure-strain tensor ne D oteopy tensor Additive constant in the law of the wall Closure coefficients Skin friction based on edge velocity, 7 /(4pU?) Skin friction based on freestream velocity, Ty /($pU2,) Closure coefficients Closure coefficients Closure coefficients Closure coefficients Kolmogorov constant Closure coefficients Specific heat at constant pressure; pressure cocfficient Closure coefficients Smagorinsky constant Specific heat at constant volume Shear-layer spreading rate xixii Ca, Cer, Cos Cri, Cra Cu Cy Cie D dD; é be i) En) En Sus fur fas fe i NOTATION Closure coefficients Closure coefficients Closure coefficient LES cross-term stress tensor Turbulent transport tensor Drag per unit body width Production tensor, TimQUy,/O2j + T}mOUmn /Ox: Specific internal energy ; small-eddy energy ‘otal energy; viscous damping function Energy spectral density Dimensionless self-similar dissipation rate Discretization error Viscous damping functions Turbulence flux vectors Dimensionless self-similar streamfunction Mean-flow flux vectors Amplitude factor in von Neumann stability analysis LES filter Specific enthalpy Total enthalpy; channel height; shape factor, 5° /0 Teaviside step function Unit vectors in 2, y, z directions Unit (identity) matrix Siress iensor invariants ‘Two-dimensional (j = 0), axisymmetric (j = 1) index Specific momentum flux (flux per unit mass) Kinetic energy of turbulent fluctuations per unit mass Geometric progression ratio Surface roughness height Distortion parameter Dimensionless self-similar turbulence kinetic energy Effective Karmén constant for compressible flows Knudsen number ‘Turbulence length scale; characteristic eddy size Mean free path Mixing length Characteristic length scale Leonard stress tensor Mach number Repid Convective Mach number ff intermittency functionNOTATION M, Mio N(n) Neri 7,0, 2 R Ris Rij(x,tsx) R Ris (x, 50’) RY Rg, Re, Ry Rez Rey Re, far Ser Sky Sus Sw Sp Sr t 4 tig Turbulence Mach number, V2k/a Closure coefficient Dimensionless self-similar eddy viscosity CEL number Constant in near-wall solution for w Navier-Stokes operator Instantaneous static pressure h Mean static pressure Production tensor, timOU;/O2m + TmOUi/Ozm Net production per unit dissipation of k, w, ¢ Laminar, turbulent Prandtl number Heat-flux vector Surface heat flux Laminar, turbulent mean heat-flux vector LES stress tensor, Cyj + Rij Dependent variable vector Cylindrical polar coordinates Pipe radius; channel half height; perfect gas constant SGS Reynolds stress tensor Two-point velocity correlation tensor Radius of curvature Autocorrelation tensor Sublayer scaled radius or half height, u,R/v Closure coefficients in viscous damping functions Reynolds number based on length L ‘Turbulence Reynolds number, k/?¢/v Sublayer scaled radius or half height, R* ‘Turbulence Richardson number Near-wall turbulence Reynolds number, k!/?y/v Instantaneous strain-rate tensor Source-term vectors uum-fluy tensor 18 diesipation Mean strain-rate tensor Oldroyd derivative of $i; Source terms in a similarity solution Dimensionless surface mass injection function Dimensionless surface roughness function ‘Time 1 ‘Temperature; characteristic time scalexiv i rms; tems uju uy a UVW U; NOTATION Freestream turbulence intensity Instantaneous velocity components in 2, y, z directions Instantaneous velocity in tensor notation Instantaneous velocity in vector notation Fluctuating velocity components in x, y, 2 directions Fluctuating velocity in tensor notation Fluctuating velocity in vector notation Favre-averaged velocity components in z, y, z directions Favre-averaged velocity in tensor notation Favre-averaged velocity in vector notation Favre fluctuating velocity components in z, y, z directions Favre fluctuating velocity in tensor notation Fayre fluctuating velocity; fluctuating molecular velocity RMS fluctuating velocity components in , y directions Temporal average of fluctuating velocities Friction velocity, VTw/Pu Velocity perturhatian vector Mean velocity components in z, y, 2 directions Mean velocity in tensor notation Mean velocity in vector notation Dimensionless, sublayer-scaled, velocity, U/u, Maximum or centerline velocity Dimensionless self-similar streamwise velocity Mixing velocity Thermal velocity Surface injection velocity Dimensionless self-similar normal velocity Dimensionless self-similar specific dissipation rate Rectangular Cartesian coordinates Position vector in tensor notation Position vector in vector notation Dimensionless, sublayer-scaled, distance, ury/v yt at first grid point above surface Inner/outer layer matching point Greek Symbols Symbol a, ae 64 Qo, a Definition Closure coefficients Closure «: coefficients Closure coefficients in viscous damping functionsNOTATION er, or, wr B, B* or 6 ij FReSH eEtE S3*3 HT. mgs a> Ee qa * 3 a Or, Ori, O72 xv Defect-laycr similarity parameters Closure coefficients Equilibrium parameter, (6°/tw)dP/de Specific heat ratio, Cp/Cy Boundary layer or shear layer thickness Displacement thickness, [7 (1 -£e) yy Velocity thickness, f° (1— #) dy Finite-difference matrix operator Kronecker delta LES filter width Clauser thickness, U.5* /ur Incremental change in Q, z, y Timestep Dissipation per unit mass Dilatation dissipation Solenaidal dissipation Dissipation tensor Permutation tensor Second viscosity coefficient Kolmogorov length scale; similarity variable Momentum thickness, {j £4 (1 - ge) dv Kérmén constant; thermal conductivity; wavenumber flows with mass injection Taylor microscale Largest eigenvalue Molecular viscosity Eddy viscosity Inner-layer eddy viscosity Outer-layer eddy viscosity Kinematic molecular viscosity, p/p Kinematic eddy viscosity, prr/p Closure coefficients Coles’ wake-strength parameter Pressure-strain correlation tensor Mass density Closure coefficients Closure coefticients ts Closure coefficientsxvi Tturnover Tey Tex) Tyy> Tex NOTATION Nonequilibrium parameter Instantaneous total stress tensor Kolmogorov time scale; turbulence dissipation time Reynolds stress tensor Eddy turnover time Reynolds shear stress Normal Reynolds stresses To Surface shear stress v Kolmogorov velocity scale; closure coefficient é Dimensionless parameter, (4p /pu3)dP/de x Free shear layer closure coefficient v Streamfunction Ye,Yee Parabolic marching scheme coefficients w Specific dissipation rate; vorticity vector magnitude Other Symbol Definition 0f/8q Turbulence flux-Jacobian matrix OF/0Q Mean-flow flux-Jacobian matrix 8s/8q Source-Jacobian matrix Subscripts Symbol Definition DNS Direct Numerical Simulation e Boundary-layer-edge value 9 Equilibrium value LES Large Eddy Simulation o Centerline value v Viscous w Wall (surface) value oo Freestream value Superscripts Symbol Definition + Sublayer-scaled value