Talk Shock Tube

Tobias Knopp
DLR Gottingen, AS-NV

The Riemann problem and the shock tube problem
for the Euler equations
Tobias Knopp
Vorlesung, 31.5.2006
Tobias Knopp
Shock tube problem
Special Riemann problem with zero initial velocity
U +
x
F(
U) =

0
U(x, 0) =
_
U
L
if x < 0
U
R
if x > 0
t
x
Rarefaction
fan
contact Shock
Diaphragm
pressure
high
pressure
low
1
1
2
2
3
3
4
4
Tobias Knopp
General Riemann problem for Euler eq.
Structure of the solution
initial discontinuity at (x, t) = (0, 0) breaks up into 4 regions

of constant state
In the x t-plane, these 4 regions of constant state are

divided by 3 characteristic waves
x
t
shock or
rarefaction fan
discontinuity
contact
rarefaction
or
shock
fan
U U
U U
1
2 3
4
Tobias Knopp
Nonlinear hyperbolic system. Denition
state
R
3
set of all admissible values for (, u, E) R
3
.
U +
x
F(
U) = 0 .
strictly hyperbolic, i.e., for any state

U
state
, the Jacobian
A(
U) =

U
, (A(
U))
ij
=
F
i
x
j
(1 i , j 3)
has m distinct eigenvalues
i
(
U) which are assumed to be ordered
1
(
U) <
2
(
U) <
3
(
U)
With each eigenvalue
i
(
U) we associate a right eigenvector r

i
(
U)
A(
U) r
i
(
U) =
i
(
U) r
i
(
U)
and a left eigenvector
l
i
(
U) (i.e., an eigenvector of (A(
U))
T
)
l
i
(
U)
T
A(
U) =
i
(
U)
l
i
(
U)
T
with (as eigenvalues are distinct)

l
i
(
U)
T
r
j
(
U) = 0 i = j
one characteristic wave for each eigenvalue
the
2
= u characteristic wave is always a contact
discontinuity
x
x
x
x
t
t
t
t
Tobias Knopp
Characteristic wave pattern for Euler eq.
the
2
= u characteristic wave is always a contact
discontinuity ( u and p continuous, but discontinuous)
the
1/3
= u a characteristic wave is either a shock
(piecewise constant discontinuity) or a rarefaction wave
(continuous, piecewise smooth)
x
x
x
x
t
t
t
t
Tobias Knopp
Characterization of elementary waves
characteristics run into the shock

i
(
U
l
) > S
i
>
i
(
U
r
)
parallel characteristics at contact

i
(
U
l
) = S
i
=
i
(
U
r
)
fan-like divergence of characteristics at a rarefaction
i
(
U
l
) <
i
(
U
r
)
x
t
rarefaction
shock
contact
U
U
U
U
1
2
3
4
Tobias Knopp
Characterization of elementary waves (cont.)
change in wave speed

i
between states

U
l
and

U
r
Rankine-Hugoniot cond.:

U
r
=

U
l
+ r (
U
l
) + O(
2
)
= consider change in
i
(
U) in direction of r
i
The
i
-characteristic eld is genuinely nonlinear if
i
(
U) r
(i )
(
U) = 0

U
state
= characteristic speed is not constant across the wave
The
i
-characteristic eld is linearly degenerate, if
i
(
U) r
(i )
(
U) = 0

U
= characteristic speed is constant across the wave (as in a
linear system with constant coecients)
i
(
U) =
_
i
u
1
,

i
u
2
,

i
u
3
_
,

i
(
U) r
(i )
=
3
j =1
i
u
j
r
(i )
j
Tobias Knopp
Genuinely non-linear and linear degeneracy
The
2
-characteristic eld is lin. degenerate:
2
= u = u
2
/u
1
2
(
U) =
_
2
u
1
,

2
u
2
,

2
u
3
_
=
_

u
1
u
2
u
1
,

u
2
u
2
u
1
,

u
3
u
2
u
1
_
=
_
u
2
u
2
1
,
1
u
1
, 0
_
=
_
,
1
, 0
_
=

2
(
U) r
2
(
U) =
_
,
1
, 0
_
_
1, u,
1
2
u
2
_
T
= 0
The
1
,
3
-characteristic elds are genuinely non-linear.
x
nonlinear t
genuinely
nonlinear
degenerate
genuinely
linearly
Tobias Knopp
Rarefaction waves
We seek a continuous self-similar weak solution of the form
U(x, t) =
_
U
L
,
x
t

k
(
U
L
)
v
_
x
t
_
,
k
(
U)
L

x
t

k
(
U
R
)
U
R
,
x
t

k
(
U
R
)
If

U(x, t) = v(x, t) solves
t
U + A(
U)
x
U =
0, then
_
x
t
2
_
v
_
x
t
_
+
_
1
t
_
A
_
v
_
x
t
__
v
_
x
t
_
= 0
Then by setting = x/t, we obtain
( A(v()) I ) v
() =

0
so that either v
() =
0, i.e.,

U is constant (
U =

U
l
or

U =

U
r
), or
there exists an index k 1, . . . , m such that
v
() = () r
k
(v()) ,
k
(v()) =
Tobias Knopp
Rarefaction waves (cont.)
We consider v
() = ()r
k
(v()) ,
k
(v()) =
Dierentiation of the second equation with respect to
k
(v()) v
() = 1.
Substitution into the rst equation gives
1 =

k
(v()) v
() = ()

k
(v()) r
k
(v())
If the kth characteristic eld is linearly degenerate
k
(v()) r
k
(v()) = 0, then we cannot solve for v.
If the kth eld is genuinely nonlinear, we use the

normalization

k
(
U) r
k
(
U) = 1 and then () = 1.
Then we can solve for v provided
k
(
U
l
) <
k
(
U
r
)
Tobias Knopp
Riemann invariants
The solution v(x/t) is constant along each ray

x =
k
(v(x/t))t
The wave speed

k
(v) is constant along each ray
= The characteristic curves are straight lines
x
t
U
L
U
R
=
k
(
U
L
)
x
t
t
x
=
k
U
R
( )
Tobias Knopp
k-Riemann invariants
A k-Riemann invariant is a smooth function w :
state
R,
U w(
U) with
w(
U) r
(k)
(
U) = 0 ,

U
state
There exist (locally) (m 1) k-Riemann invariants w
1
, . . . , w
m1
whose gradients are linearly independent, which are independent of
the set of independent variables chosen.
If the
k
-characteristic eld is linearly degenerate, then
k
is a
k-Riemann invariant.
The 2-Riemann invariants may be computed from
w(

W) r
2
(

W) = 0
_
w
,
w
u
,
w
p
_
_
_
1
0
0
_
_
= 0
i.e., two linear-independent 2-RI are w
1
(
U) = u, and w
2
(
U) = p
Tobias Knopp
k-Riemann invariants (cont.)
On a k-rarefaction wave, all k-Riemann invariants are

constant.
The two Riemann invariants of a k-rarefaction are

w
1
(

W) = s = c
v
ln(p) c
p
ln()
w
2
(

W) = u +
2a
1
= (const) for x = (u a)t
resp. w
2
(

W) = u
2a
1
= (const) for x = (u + a)t
Increase in entropy describes the loss in information about a

physical system
For a continuous solution, there is no loss in information
For diverging characteristics, s = 0 (for each point (x, t), its

prior history and its future is uniquely determined)
For shocks, s > 0: for (x, t) on the shock, its prior history is
not known (did the point run from the left into the shock or
from the right)
Tobias Knopp
Isentropic relations for ideas gases
s = c
v
ln(p) c
p
ln() = c
v
ln(p) c
v
ln(
) = c
v
ln
_
p
_
s = c
v
ln(e) R ln()
= c
v
ln(c
v
T) (c
p
c
v
) ln() = (const) + c
v
ln
_
T
1
_
Then for isentropic processes s = 0
p = (const)
T = (const)
1
a = (const)
(1)/2
Tobias Knopp
Rarefaction waves for Euler eq.
Here
1
wave: Recalll the 1-Riemann invariant
u +
2a
1
= (const) f ur x = (u a)t
Using x = (u a)t and hence a = u x/t we get
u +
2
1
_
u
x
t
_
= u
L
+
2a
L
1
= u
R
+
2a
R
1
Solving this equation for u gives the solution for u in the expansion
u(x, t) =
2
+ 1
_
x
t
+
1
2
u
L
+ a
L
_
=
2
+ 1
_
x
t
+
1
2
u
R
+ a
R
_
a(x, t) = u(x, t)
x
t
p = p
L
_
a
a
L
_
2/(1)
= p
R
_
a
a
R
_
2/(1)
Tobias Knopp
Shock tube problem for Euler eq.
Special Riemann problem with zero initial velocity
U +
x
F(
U) =

0
U(x, 0) =
_
U
L
if x < 0
U
R
if x > 0
t
x
Rarefaction
fan
contact Shock
Diaphragm
pressure
high
pressure
low
1
1
2
2
3
3
4
4
Tobias Knopp
Shock tube problem for Euler eq. (cont.)
The states to the left and right of the shock

U
3
and

U
4

U
R
are
related by
a
2
3
a
2
4
=
p
3
p
4
+1
1
+
p
3
p
4
1 +
+1
1
p
3
p
4
u
3
= u
4
+
a
4
p
3
p
4
1
_
+1
2
_
p
3
p
4
1
_
+ 1
S = u
4
+ a
4
+ 1
2
_
p
3
p
4
1
_
+ 1
The states to the left and right of the contact

U
2
and

U
3
are
related by
u
3
= u
2
p
3
= p
2
Tobias Knopp
The states to the left and right of the expansion

U
1
=

U
L
and

U
2
are connected by
u(x, t) =
2
+ 1
_
x
t
+
1
2
u
1
+ a
1
_
a(x, t) = u(x, t)
x
t
=
2
+ 1
_
x
t
+
1
2
u
1
+ a
1
_
x
t
p = p
1
_
a
a
1
_
2/(1)
As u + 2a/( 1) is constant across the fan
u
2
+
2a
2
1
= u
1
+
2a
1
1
The we use the isentropic relations
u
2
= u
1
+
2a
1
1

2a
2
1
, a
2
= a
1
_
p
2
p
1
_
(1)/2
= u
2
= u
1
+
2a
1
1
_
1
_
p
2
p
1
_
(1)/2
_
Tobias Knopp
u
2
= u
1
+
2a
1
1
_
1 (p
2
/p
1
)
(1)/2
_
u
3
= u
1
+
2a
1
1
_
1
_
p
3
p
4
p
4
p
1
_
(1)/2
_
We solve this equation for p
1
/p
4
and obtain
p
1
p
4
=
p
3
p
4
_
1 +
1
a
1
(u
1
u
3
)
_
2/(1)
We nally substitute u
3
and get an implicit equation for p
3
/p
4
.
We set x p
3
/p
4
and solve for x using Newtons method
p
1
p
4
=
p
3
p
4
_
_
1 +
1
a
1
_
_
_
_
u
1
u
4
a
4
p
3
p
4
1
_
+1
2
_
p
3
p
4
1
_
+ 1
_
_
_
_
_
_
2/(1)
Tobias Knopp
L
= 1kg/m
3
,
u
L
= 0m/s
p
L
= 100000N/m
2
R
= 0.125kg/m
3
,
u
R
= 0m/s
p
R
= 10000N/m
2
Acoustic wave: u
1
a
1
= 3.74 10
2
m/s
Acoustic wave: u
2
a
2
= 2.22 10
1
m/s
Contact: u
3
= u
2
= 2.93 10
2
m/s
Acoustic wave: u
2
+ a
2
= 6.93 10
2
m/s
Shock wave: S = 5.54 10
2
m/s
Acoustic wave: u
1
+ a
1
= 3.35 10
2
m/s
Tobias Knopp
Test case 1: Shock tube problem
u and p are continuous at the contact
largest decrease in p due to rarefaction

Tobias Knopp
M < 1: ow is subsonic, no strong (compression) shock
jump in (a, and M) at contact discont.

Tobias Knopp
L
= 1kg/m
3
,
u
L
= 0m/s
p
L
= 100000N/m
2
R
= 0.01kg/m
3
,
u
R
= 0m/s
p
R
= 1000N/m
2
Acoustic wave: u
1
a
1
= 3.74 10
2
m/s
Acoustic wave: u
2
a
2
= 3.55 10
1
m/s
Contact: u
3
= u
2
= 6.08 10
2
m/s
Acoustic wave: u
2
+ a
2
= 1.14 10
3
m/s
Shock wave: S = 8.87 10
2
m/s
Acoustic wave: u
1
+ a
1
= 3.74 10
2
m/s
Tobias Knopp
u and p are continuous at the contact
largest decrease in p due to rarefaction

Tobias Knopp
subsonic and supersonic ow regions
jump in (a, and M) at contact discont.


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Tobias Knopp

DLR Gottingen, AS-NV

initial discontinuity at (x, t) = (0, 0) breaks up into 4 regions

In the x t-plane, these 4 regions of constant state are

U) which are assumed to be ordered

U) we associate a right eigenvector r

U) (i.e., an eigenvector of (A(

one characteristic wave for each eigenvalue

characteristics run into the shock

parallel characteristics at contact

fan-like divergence of characteristics at a rarefaction

change in wave speed

If the kth characteristic eld is linearly degenerate

If the kth eld is genuinely nonlinear, we use the

The solution v(x/t) is constant along each ray

The wave speed

On a k-rarefaction wave, all k-Riemann invariants are

The two Riemann invariants of a k-rarefaction are

Increase in entropy describes the loss in information about a

For a continuous solution, there is no loss in information

For diverging characteristics, s = 0 (for each point (x, t), its

u and p are continuous at the contact

largest decrease in p due to rarefaction

M < 1: ow is subsonic, no strong (compression) shock

jump in (a, and M) at contact discont.

u and p are continuous at the contact

largest decrease in p due to rarefaction

subsonic and supersonic ow regions

jump in (a, and M) at contact discont.

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