Pergamon

Mathl. Comput. Modelling Vol. 25, No. 3, pp. 25-36, 1997

Copyright@1997 Elsevier Science Ltd
Printed in Great Britain. All rights reserved
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PII: s0895-7177(97)00013-7
A New Averaging Scheme
for the Riemann Problem in Pure Water
TZE- JANG CHEN
Department of Applied Mathematics
Feng-Chia University, Taiwan, R.O.C.
C. H. COOKE
Department of Applied Mathematics and Statistics
Old Dominion University, Norfolk, VA 23529, U.S.A.
(Received September 1996; accepted November 1996)
Abstract-The numerical investigation of shock phenomena in gas or liquid media where enthalpy
is the preferred thermodynamic variable poses special problems. When an expression for internal
energy is available, the usual procedure is to employ a splitting scheme to remove source terms from
the Euler equations, then upwind-biased shock capturing algorithms are built around the Riemann
problem for the conservative system which remains. However, when the governing equations are
formulated in terms of total enthalpy, treatment of a pressure time derivative as a source term leads
to a Riemann problem for a system where one equation is not a conservation law. The present,
research establishes that successful upwind-biased shock capturing schemes can be based upon the
pseud+conservative system. A new averaging scheme for solving the associated Riemann problem is
developed. The method is applied to numerical simulations of shock wave propagation in pure water.
Keywords-Riemann problem in water, Roe averaging, Numerical solution of P.D.E., Numerical
model.
1. INTRODUCTION
Previous numerical studies of underwater shock phenomena, for the most part, have employed
the simplified Tait equation of state [I]. With this equation of state, Ho11 [2] has established that,
to good approximation, a functional form equivalence exists between the shock relations for the
ideal gas and water. Thus, the Riemann problems for the two media can be solved using identical
methods (31. In this research, the problem of numerically calculating shock wave propagation in
liquid media with Modified-Tait equation of state is considered. This gives rise to the difficulty
that techniques for exact solution of the Riemann problem may be unknown.
A further complicating factor is the assumption (true particularly for water) that a relation
specifying the dependence of internal energy upon the variables of state is unknown. However,
when a relation between enthalpy and the variables of state is available, an enthalpy formulation
for the Euler equations of compressible flow can be useful. Unfortunately, there appears in the
energy equation a term involving the time derivative of pressure, which most conveniently can be
treated as a source term. When source terms are removed by splitting, the resulting equations
do not all represent conservation laws, although a divergence form is exhibited.
Due to the absence of energy conservation, it is clear that the pseudo-system does not fully
describe shock dynamics. Still, it can be used as a base upon which to build effective shock
capturing algorithms. Demonstration of this fact is the major contribution of the present research.
It is shown that the piecewise linearization technique of Roe [4] can be employed. However, the
Typeset by A@-QX
25
26 T.-J. CHEN AND C. H. COOKE
averaging scheme which aids piecewise linearization must be carefully formulated. Although our
aims and methods of accomplishing this by means of a new averaging scheme are similar to those
of Glaister [5-81, the results are applicable under entirely different and unexpected circumstances.
For quality assurance, a well-known problem for the ideal gas is investigated. Next, the shock
capturing method is applied to the Riemann problem for pure water, where the modified-Tait
equation of state for sea water is used to approximate the state of pure water. Numerical solutions
of the benchmark problem appear excellent.
2. CONSTITUENT EQUATIONS FOR PURE WATER
(MODIFIED-TAIT EQUATION OF STATE)
The modified-Tait equation of state has been used [2] for predicting the hydrodynamic proper-
ties of seawater at the front of a propagating shockwave. Ho11 [2] shows that when this equation
is applicable, by making substitutions P* = P + B and y* = N, the Riemann problem for water
can be approximately solved using well-known gas-dynamic methods. This equation has the form
N
P=B p -1.
10 1
PO
Here B = B(T) is essentially constant, and p0 is the density, where P = P, with P, = 0. For pure
water, the values B = 2959 bars (2922 atm) and N = 7.415 give the correct speed of sound [9]
(4865 ft/sec) at 20 C and 1 atm. The speed of sound is given by
NP
$=---.
P
3. GOVERNING EQUATIONS AND WEAK SOLUTION
FOR PSEUDO-CONSERVATIVE SYSTEMS
The one-dimensional equations of motion for an inviscid, non-heat-conducting flow of a gas
or liquid, where specific enthalpy, h, rather than specific internal energy, e, is the preferred
thermodynamic variable, can be written in the form
ut I- F(U), + W(U) = 0.
(3)
Here,
with
and
P
u= pu
[ 1 PH
PfJ
F = p+pz?
[ 1 PHU
(4)
(5)
(6)
The unknowns are P, pressure; p, density; U, velocity; h, specific enthalpy; and H, specific total
enthalpy (H = h + u2/2). The independent variables are t, time, and 2, streamwise distance.
Glaister [5] has analyzed the averaging method as a technique for piecewise linearization, for
a fully conservative system where both the perfect gas law and a general equation of state are
considered. Perhaps surprisingly, he arrives at identical expressions for the averages 0, although
expressions for eigenvalues and eigenvectors are radically different. Hence, the averaging appears
to be uninfluenced by the particular expression used for pressure. Thus, in view of the extremely
complicated general equation of state for water, the approach to be used here is the following:
an averaging scheme for the pseudo-conservative system (3)-(5) will be proposed in the sequel
where the Tait equation of state will be employed. The full system (3)-(6) is to be solved by
means of operator splitting.
3.1. An Approximate
Consider the Riemann
A New Averaging Scheme 27
Riemann Solver (Weak Formulation)
problem for the Pseudo-Conservative system of hyperbolic equations
U, + F, = 0.
(7)
The nonlinear Riemann problem is to be approximately solved by means of the locally linearized
Riemann problems
U~+A( UL, UR) +U~=O, 03)
U(x,O) =
UL,
if 2 < 0,
UR,
if z > 0.
(9)
Here A(UL, UR)+ satisfies the following.
1. A(UL, UR)Q is a constant matrix.
2. A(UL, UR)Q depends on the path Q(s; UL, UR).
3. GJ is the path which links the states UL, UR.
4. When s = 0, @(O; U,, UR) = UL.
5. When s = 1, (a(l; UL, UR) = UR.
6. A(UL, UR)+ satisfies
s
1
A(@(s; V, , UR) ) ~( S; U, , UR) ds =A( UL, UR) +( UR- UL) , ( 10)
0
AW U), = A(U),
where
A(u) = g.
7. A(UL, UR)+ has real eigenvalues and a complete set of eigenvectors.
For example, if the path is considered as the straight line which links UL
and
~( s; uL, uR) =uL+s( uR- UL) , s E [ O, 11,
1
AWL, uR) @ =
s
A (UL + s (UR - UL)) ds.
0
Several extensions of Roes linearization to an arbitrary equation of state
Grossman and Walters [lo] follow the original method that introduced a
have been proposed.
parameter vector w
such that u and f(u) are both quadratic functions of w, to obtain a Roe-averaged matrix.
Glaister [5-8,111 uses direct approximations of the eigenvalues and eigenvectors of A(uR, us)
to provide linearizations valid for general convex equation of state. The approach of Liou [12]
assumes that A(ILR, ILL) is the exact J acobian matrix evaluated at some average state ti,
(11)
(12)
and UR,
(13)
(14)
A(UL,UR) =A(U).
05)
Since A(UL, UR) is hard to be directly calculated from (lo)-( 12), one can choose another vari-
able fc(w) such that the Riemann solver in [13] is constructed by letting fc satisfy
1. fc is a smooth function,
2. f o( w~) = UL, f O( wR> = UR, and
3. Ao(w) = $$f is a regular matrix for 20.
Km 25-3-8
28 T.-J. CHEN AND C. H. COOKE
The path @e linking UL and UR satisfies
@o(s;uL, UR) = fO(WL +s(WR - WL)). (16)
From (16),
J
1
0
A(Qo (3; UL,UR))z (s;UL,UR) ds,
=(WR-WL) [lA(f~(W~+S(W~-W~)))A~(W~+s(W~-WL))ds. (17)
JO
Since
J
1
UR-UL=(WR-WL)
Ao(WL+~(WR-WL)) ds,
0
it is seen that
WR-wL=
UR-UL
J; Ao(WL + s(WR - WL)) ds'
where
Upon substituting (19) into (17) and comparing with (lo), it is easy to see that
A.+0 =CB-'.
Hence, from (17)-(19)
where
A(UL,UR)~,, = C(UL,UR)Q~B(UL,UR)&
B (UL,UR)+, =
J
1
Ao(WL+~(WR-W~))ds,
0
and
1
c (UL,UR)a, =
J
A(~o(WL + s(WR - WL)))AO(WL +s(WR -WL)) ds.
0
(1%
(20)
(21)
(22)
(23)
Hence, one can compare Aap, = CB-l with A(U) in order to find the proper average for the
primitive variables.
An outline of the method follows.
1. Given
w= (Wr,?.L$ )...( WJ T.
2. Resolve the state variable U into variable w such that
3. Find
4. Find
A =dfo
0
dW
1
B (UL,UR)@,, =
J
Ao(WL +s(WR -WL))ds.
0
5. Find
A(U)= g,
as a function A(u(w)).
6. Find
A New Averaging Scheme
A(u(w))Ao(w).
29
7. Find
s
1
c (UL, uR)+., = A (fo (WL + s (WR - WL))) Ao (WL + s (WR - WI ,)) ds.
0
8. Find
A@, = CB-l.
9. Compare Aa., = CB- with A(U) to find the proper average.
3.2. Pseudo-Conservation Form of the Euler Equations
The one-dimensional equations of motion for an inviscid, non-heat-conducting, flow of a gas
or liquid, where specific enthalpy, h, rather than specific internal energy, e, is the preferred
thermodynamic variable, can be written in the form
u, + F(U), + W(U) = 0.
(24)
Here
with
and
F=
w=
PU
P + pu2
PHU
0
0
pt
1
(25)
(26)
(27)
The unknowns are P, pressure; p, density; u, velocity; h, specific enthalpy; and H, specific total
enthalpy (H = h + u2/2). The independent variables are t, time, and 2, streamwise distance.
The quantities p, u represent the one dimensional density and velocity which are functions of
streamwise distance z and time t. The following identities hold:
PE=PH-P,
H=h+$
E=e+%,
N
p=p y -1 )
D 1
PO
(28)
where /3, ~0, and N are constants. In the state variables
u = (~1, ~2, wl T = (P, P, pWT 1 (29)
and
f(u) = (f1,.f2,h)~ = (P~,P+PU~+PH)~ =
( ) [(-f&)N-l]+$,y)T. (30)
~12 P
30 T.-J. CHEN AND C. H. COOKE
Also,
U, + A(U)Uz =0,
SX
where A(U) is the J acobian matrix aU,
0 1 0
iv N-l
PNP; UI
4
_~ $2 0
111 111
1.
(31)
(32)
-u2u3 113 u2
u1
T iy
u1
Derivation of the averaging method can be outlined further as follows.
1. Given w = (Wl,W2,2~3)~ = J is(l,~,H)~.
2. Resolve the state variable U into variable w such that to(w) = U(w).
Hence,
3. Find Ao(w) = 2.
fO(W) = u(W).= (W:,WIWZIW~W~)~.
(33)
8fO
Ao(w) = -
dW
(34)
2Wl 0 0
= [ WJ Wl 0 1
.
(35)
W3 0 Wl
4. Find B(UL,UR)+~ = s, Ao( WL +s( wR - WL) ) ~.
where i = 1,2,3. Hence,
1
B=
Ao ( w~+s( wR- - WL) ) ds
[
2til 0 0
- -
= w2 Wl 0
a3 0 ?iIl
1
>
where
where i = 1,2,3.
B- =
l oo
Si Fl
@2
1
-- -
2?i$ ,281
0
a3
_iq
0 -!-
a1
ds
(36)
(37)
(38)
(39)
(40)
(41)
(42)
(43)
(44)
(45)
A New Averaging Scheme 31
5. Find A(U) = $$, as a function of w such that A(u(w)).
I
0 1 o-
4
44~)) =
oNpiN - 2 22 0
-WY% W3 W2
- -
WI
Wl Wl-
6. Find A(u(w))Ao(w).
(46)
W2 Wl 0
A(L~(w))Ao(w) = 2pNp,N~;N- 2~2 o .
0
w3 W2 1
7. Find C(UL, UF& = J i A(~o(WL +S(WR - WL)))AO(WL +S(WR - WL)) ds.
a2
ZiQ 0
2@Np,NGi;N- 2ti2 0 ,
0 ti3 ti2 1
where
1
-2N-1
WI =
SC
WlL + s (f&R - WlL)
2N-1 ds
0
>
wg - w
1L
2N (WlR - WlL)
if WlR # WlL,
ZZ
2N- 1
WlL
if W1R = W1L.
8. Find Aa,, = CB-.
[
0 1 0
Aao = ~N,zI ,~~~- --ii* 2ii 0 .
-Hii IT ii
1
9. Compare AaPo = CB- with A(U) to find the proper average.
also,
p=
= N--l
d
PZ - Pf
N k'R - PL)
hence for WR # WL,
2N
-2N-1 =
w 1
WiN - WL
2N (WR - WL)
(47)
(48)
(49)
(50)
(51)
(52)
(53)
(54)
(55)
32 T.-J. CHEN AND C. H. COOKE
4. EIGENVALUES AND EIGENVECTORS
FOR THE PSEUDO-CONSERVATION EQUATIONS
The eigenvalues (Xl, X2, and Xs) and eigenvectors (ei, es, and es) for the medium pure water
will now be indicated.
General Equation of State
Here,
au3
1
e2,3 =
[ 1
U+;g*fi .
Ii
T&t Equation of State
For the Tait equation of state the eigenvalues and eigenvectors are
Xl = u,
x2 = 21 + a,
and
X3 = u - a,
and
e2,3 =
[ 1
x2,3 .
H
(56)
(57)
(58)
(59)
(61)
(62)
(63)
(64)
(65)
5. THE NUMERICAL METHOD
The form (3)-(6) for the Euler equations is rarely employed when studying gas dynamic or
other flow problems where a specifying relation for internal energy is known. However, in cir-
cumstances where the constituent equations involve enthalpy rather than internal energy, this
form is necessary. I n the present research, the problem of adapting shock capturing techniques
which have been useful in gas dynamics to the numerical calculation of shocked flows involving
pure water, with general equation of state, is attempted. Constituent relations h = h(T) and
A New Averaging Scheme 33
P = P(p,T), though complicated, exist; however, expressions for internal energy are unknown
to the authors.
Here, the usual approach is followed: the source term in equation (1) is removed through Sods
operator splitting technique [14], and effective shock capturing methods are determined for the
equation
u, + F(U), = 0,
(66)
by means of the averaging approach previously outlined.
In the second stage of the splitting, pressure effects are incorporated by solving
ut + W(U) = 0.
(67)
Let A(U) be the Jacobian matrix of the flux function, and let xk; lc = 1, M be a uniform
partition of a computational domain for solutions of (3)-(6), with Ax = x~+~ -xcj, and Aj+ilalJ =
U 3+1 - Uj. Piecewise linearization as a technique for solving (3)-(5) leads to a sequence of linear
Riemann problems
U, + A (0) U, = 0,
(68)
u CxTtn) = [Ujlx < Xj+1/ 2; Uj+l,X > Xj+l/ 2] , (69)
which are to be solved using Roes scheme and the new averaging previously discussed.
The numerical solution of equations (3)-(5) now proceeds via the upwind-biased shock captur-
ing scheme
uj
n+l = Ujn + 2 (F*j+1/ 2 - F*j-112) .
(70)
Here, one expression for the flux F* is
Fj+1/2 =
F (Uj) + F (U,,,) - x$k lAk\ Rk
2
3 (71)
where the eigenvalues X and eigenvectors R are evaluated on the average value fi,,1,2. The
constants LY result from the usual eigenvector projection.
6. COMPUTATIONAL EXPERIMENTS
Several numeral experiments have been accomplished, whose purpose is to assess effectiveness
of the shock-capturing scheme previously indicated.
CASE I: THE IDEAL GAS. The Riemann problem for the ideal gas, whose solution is well known,
is now considered. Results for the case in which pi = PL = 1.0, UL = 0.0, and PR = PR == 0.1,
UR = 0.0 are reported in [15,16].
The first question to be settled concerns the necessity of iterating the second stage of the
splitting, or incorporation of the source term. Figures 1 and 2 show significant differencfes in
comparison of results for the pressure and velocity profiles, with and without iteration. As far as
accuracy in general, the results obtained by iteration agree well with those of [15,16], in terms of
shock location and strength. Three point shock resolution is about what is to be expected from
first-order accuracy. Thus, there has been obtained a viable algorithm for numerically solving
the Euler equations with total enthalpy the preferred thermodynamic variable.
The next issue concerns relative effectiveness of the averaging schemes proposed in Section 3.
CASE II: PURE WATER. For pure water, the Riemann problem to be considered is characterized
by PL = 997.286, PR = 0.955 bar, with pr, = 1037.8, PR = 997.94 kg/m3, zero initial velocity, and
temperature 25 C, 30 C. For the Tait equation of state, pc = 997.04796, N = 7.2, B = 2996.
34 T.-J . CHEN AND C. H. COOKE
1.5
-.50 0.2 0.4 0.6 0.8 1
Strearuwise Distance Streanjwise Distance
1.5
1
x
.Y
1.
I
~.._......_.
ii
---..._..
5.
Q 0.5
....
.....
-.............-..-..
*.....__
I
.....
Oo 0.2 0.4 0.6 0.8 1
Streamwise Distance Streamwise Distance.
Figure 1. The well-known Riemann problem for the ideal gas (noniterated), pr, =
PL = 1.0, uL = 0.0, and PR = PR = 0.1, UR = 0.0, which are reported in [15,16].
1 4
_.._ . -..-._ . .._..... _..._..
,:.
. . . . . . . . . __.*._
3
.:.
2
3 _ Y..
$ 0.5 - - E 2-
:..
E!
X.
3
'.....
Da
'..
l-
--------..-_-.
0 ii; 0.4 0.6 0.8 . 1 '0 0.2 0.4 0.6 0.8 '-i
Streamwise Distance Streamwise Distance
1 . C.. 1~ . . :,
':*
. . . .
x . . . . . .
-5 0.5 - 's. '%., - zi 2 0.5 - :.. . . . .
B
k.-......_._..,~
'.....
. . N...-_..~~-.~~~
~.m.."....-._
Ei
'0 0.2 0.4 0.6 0.8
Streamwise Distance
1 '0 0.2 0.4 0.6 0.8
Streamwise Distance
1
Figure 2. The well-known Riemann problem for the ideal gas (iterated), pr, = PL =
1.0, UL = 0.0, and PR = PR = 0.1, UR = 0.0, which are reported in [15,16].
Figures 3 and 4 show comparison of results for the solution at time 0.0002 seconds, for Tait
equation of state. In Figure 3 and 4, density variations across the contact surface are too slight
to be visible, although contact surface position is apparent.
Using the correspondence p = P +B, y =N, the Riemann problem (for the Tait equation of
state) can be solved using a gas dynamics Remann solver. The results indicate that the contact
surface speed (the maximum velocity), together with shock strengths, are reasonably what is to
be expected.
7. CONCLUSIONS
The method of Roe and a new averaging scheme has been adapted to the problem of obtaining
a first order accurate, upwind-biased shock capturing scheme for the medium pure water and Tait
equation of state. With minor modification, the method could be applied to seawater problems.
A New Averaging Scheme 35
~________ ..I......_. __..._._..._..___
Streamwise Distance
I
g800
I
0.2 0.4 0.6 0.8 1
Streamwise Distance
I
OO
I
0.2 0.4 0.6 0.8 1
Streamwise Distance
:------.
8.4980
. . . . .._ __....___.:
0.2 0.4 0.6 0.8 1
Streamwise Distance
Figure 3. For pure water, the Riemann problem to be considered is characterized by
Pr, = 997.286, PR = 0.955 bar, with pi = 1037. 8, pi = 997. 94 kg/m3, zero initial
velocity, and temperature 25 C. For the Tait equation of state, pe = 997.04796,
N = 7. 2, B = 2996.
Streamwise Distance
1040 )_-.__.. s
$ :I 1 ....____..___.._.._.._ _ ..,,, ____._ .j
g800m
Streamwise Distance
0 0.2 0.4 0.6 0.8
Streamwise Distance
9 XW
_ _..___. --..____ ._.,
1
8% 1 0.2 0.4 0.6 0.8 1
Streamwise Distance
Figure 4. For pure water, the Riemann problem to be considered is characterized by
PL = 997.286, PR = 0.955 bar, with pi = 1037.8, PR = 997.94kg/m3, zero initial
velocity, and temperature 25 C. For the Tait equation of state, po = 997.04796,
N = 7.2, B = 2996.
An averaging scheme which aids shock recognition and which allows Roes piecewise lineariza-
tion method to be applied to the enthalpy oriented Euler equations (3)-(6) has been derived,
and tested. I t is seen that the new averaging can be applied, perhaps unexpectedly, to pseudo
conservative, divergence form systems. Equivalent numerical results are obtained, for the new
averaging and Roe-Glaister averaging. Availability of these averaging schemes now allows appli-
cation of the excellent second-order accurate TVD scheme of Harten, by means of Strangs [14]
operator splitting, to calculation of shockwaves in water.
36 T.-J . CHEN AND C. H. COOKE
The method has been demonstrated, through application to typical Riemann problems for both
the ideal gas and the medium pure water.
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