A Smooth Particle Hydrodynamics discretization for

the modelling of free surface ows and rigid body

dynamics
Ricardo B. Canelas
1
, Jose M. Domnguez
2
, Alejandro J. Crespo
2
, Moncho
Gomez-Gesteira
2
, Rui M.L. Ferreira
1
Abstract
Unsteady hydrodynamic forces on an unrestricted rigid body are of considerable
practical importance, considering that the solid material advected by a uid
ow may contribute signicantly to the momentum balance. It is also of great
theoretical interest since the motion of the solid mass may be dicult to model
due to the complexity of the modes and range of scales involved in momentum
transfer by the uid motion.
This work describes a unied discretization of rigid solids and uids, allowing
for detailed and resolved simulations of uid-solid ows. The model is based
on the fundamental conservation laws of hydrodynamics, namely the continuity
and Navier-Stokes equations, and Newtons equations for rigid body dynamics.
The numerical solution, based on Smoothed Particle Hydrodynamics (SPH),
resolves solid-uid interactions in a broad range of scales. Such entails details
of momentum transfer at solid boundaries to large scales typical of engineering
problems, such as transport of debris or hydrodynamic actions on structures. A
-SPH term is added to the continuity equation, allowing for a correct interface
description.
A general overview of the method is presented, and a set of numerical ex-
periments are carried out in order to compare the results with analitical and
known numerical solutions.
Keywords: Smooth Particle Hydrodynamics, Rigid Body Dynamics,
Multi-phase, Free-surface, Meshless methods
1
CEHIDRO, Instituto Superior Tecnico, UL, Lisbon, Portugal, e-mail: ri-
cardo.canelas@ist.utl.pt, ruimferreira@ist.utl.pt
2
Environmental Physics Laboratory (EPHYSLAB), Universidade de Vigo, Ourense,
Spain, e-mail: jmdominguez@uvigo.es; alexbexe@uvigo.es; mggesteira@uvigo.es, web:
http://ephyslab.uvigo.es
Preprint submitted to Journal of Computational Physics February 4, 2014
1. INTRODUCTION
The interaction of solid material and a uid ow is a common occurrence
and, at the engineering scales, it may be associated with highly unsteady events.
A number of areas, from coastal, to oshore, maritime and uvial hydraulics
provide a large spectrum of problems whose solution can be approximated by 5
considering the solid material perfectly rigid. A model that is capable of pro-
viding meaningful solutions for all of these areas and is scalable, from the com-
putational point of view, to be applied to real engineering cases is of paramount
importance, since it can provide immediate means for risk analysis and allow
for optimization of consequent mitigation measures. 10
For many applications treating the ow as single phase, or a continuum
medium, is clearly insucient. A model that can shed light into the mechanisms
of these ows must attempt to characterise all relevant interactions at their
proper scale. The main diculties with modelling the events from the said
areas arise from the characteristics of the phenomena and scale. The latter 15
poses a problem even for the simplest models, since modelling a single event
can require remarkably large domains. This relates directly with the former,
since the type of interaction and its relevant scales may require high resolution
adding to such large domains. Hence the need for high performance models and
implementations. 20
Within the meshless framework, eorts have been made on unifying solid and
uid modelling. Koshizuka et al. (1998) modelled a rigid body as a collection
of Moving Particle Simulation (MPS) uid particles, rigidied by default. This
has become the standard approach due to its simplicity and elegance. Mon-
aghan et al. (2003) and Rogers et al. (2010), employing the same principle, 25
modelled the eects of wave interaction on rigid bodies resorting to Smoothed
Particle Hydrodynamics (SPH) and special considerations for the particles that
belonged to the solid body, eectively including a form of frictional behaviour.
For normal interactions, continuum potential based forces were used, not based
in contact mechanics theories. Maruzewski et al. (2010) modelled the solid as a 30
rigid boundary with imposed motion, using the ghost particle technique. Such
approach encounters generalisation issues for arbitrary geometries and is usually
used for simple cases, as spheres or other smooth surfaces.
This work relies on the DualSPHyics code (www.dual.sphysics.org), and rep-
resents an eort to improve and validate the solid-uid descriptions. It uses the 35
same fundamental technique of Koshizuka et al. (1998): particles that consti-
tute a rigid body have their relative position xed and are regarded by the
uid particles as SPH particles. This allows for a simple coupling between uid
and solid descriptions, since no special treatment of the interaction with the
solid phase is needed. A -SPH (Molteni & Colagrossi, 2009) term is added to 40
the continuity equation, controlling the density eld uctuations and contribut-
ing for the mitigation of known solid-uid interface deciencies (Colagrossi &
Landrini, 2003). The implementation has been already validated for interac-
tion between uid and xed structures (Crespo et al., 2011; Gomez-Gesteira
et al., 2012). The DualSPHysics code enables simulation of millions of particles 45
2
at a reasonable computation time by using GPU cards (Graphics Processing
Units) as the execution devices. This allows to somewhat alleviate the previ-
ously expressed concerns about requirements of scale and resolution, since the
computations are made up to two orders of magnitude faster than on normal
CPU systems (Domnguez et al., 2013a). A Multi-GPU code was developed to 50
further phase out the increased memory consumption by running large-scale,
high-resolution simulations. Domnguez et al. (2013b) showed that very high
eciency was achieved for hundreds of GPUs using the Multi-GPU implemen-
tation of DualSPHysics.
A set of numerical experiments and analytical solutions are recovered from 55
the literature in order to provide a benchmark for the results achieved with
the revised DualSPHysics implementation. Previous eorts with the methodol-
ogy focus mainly on practical applications (Rogers et al., 2010), not providing
a more systematic study of the fundamental properties of these systems. Im-
portant features that the model should respect include free stream consistency, 60
simple dynamics of a buoyant body with various densities and the correct re-
covery of equilibrium states. This work addresses these topics in an attempt to
characterise the presented model with regards to the quality of its solutions and
possible limitations.
2. METHOD FORMULATION 65
In SPH, the uid domain is represented by a set of nodal points where
physical quantities such as position, velocity, density and pressure are known.
These points move with the uid in a Lagrangian manner and their properties
change with time due to the interactions with neighbouring nodes. The therm
Smoothed Particle Hydrodynamics arises from the fact that the nodes, for all
intended means, carry the mass of a portion of the medium, hence being eas-
ily labelled as particles, and their individual angular velocity is disregarded,
hence smooth. The method relies heavily on integral interpolant theory (Mon-
aghan, 2005), that can be resumed to the exactness of
A(r) =
_

A(r

) (r r

) dr

, (1)
for any continuous function A(r) dened in r

, where is the domain, is the

Dirac delta function and r is a position in space. The nature of the Dirac delta
function renders this identity numerically useless however, and an approxima-
tion at r can be obtained by replacing it with a suitable weight function W,
called a kernel function. W should be an even function, dened on a compact
support, i.e. if the radius is h then W(r r

, h) = 0 if |r r

| h, with
lim
h0
W = and
_

W (r

, h) dr

= 1, where h is the smoothing length and

denes the size of the kernel support (Liu, 2003). This leads to
A(r) =
_

A(r

) W (r r

, h) dr

, (2)
3
known as the integral interpolant. An approximation to discrete Lagrangian
points can be made, by a proper discretization of the integral
A
i

j
A
j
W(r
ij
, h)V
j
, (3)
called the summation interpolant, extended to all particles j, |r
ij
| = |r
i
r
j
|
h, where V
j
is the volume of particle j and A
i
is the approximated variable at
particle i. The cost of such approximation is that particle rst order consistency,
i.e., the ability of the kernel approximation to reproduce exactly a rst order
polynomial function, may not be assured by the summation interpolant, since

j
V
j
W(r
ij
, h) 1, (4)
which is especially understandable in situations were the kernel function does
not verify compact support, for example near the free surface or other open
boundaries in our cases. Mitigations may be considered, as the Shepard and
MLS corrections. In the work of Colagrossi & Landrini (2003) spatial gradientes
are computed using the gradient of the kernel function. 70
3. DISCRETIZATION OF GOVERNING EQUATIONS
3.1. Equations of motion in SPH
The proposed SPH formulation relies on the discretization of the compress-
ible Navier-Stokes system
dv
dt
=
p

+
2
v + g (5)
d
dt
= v, (6)
where v is the velocity eld, p is the pressure, is the density and and g
are the kinematic viscosity and body forces, respectively. This is to avoid the
necessity of solving a Poisson equation, using p = f() (Lee et al., 2010). The
continuity equation is discretized as
d
i
dt
=
i

j
(v
i
v
j
)W(r
ij
, h) +
i
, (7)
where m
i
is the mass of particle i and
i
is a diusive term (Molteni & Cola-
grossi, 2009), designed to stabilize the density eld from high-frequency oscilla-
tions, written as

i
= 2hc
0

j
(
j

i
)
r
ij
W(r
ij
, h)
|r
ij
|
2
+
2
m
j

j
, (8)
4
where is a free parameter, c
0
is the numerical sound velocity and is a small
number to present singularities with very close particles. Equation (5) can be
written as
dv
i
dt
=

j
m
j
_
p
i

2
i
+
p
j

2
j
_
W(r
ij
, h)+
+

j
m
j
_
4r
ij
W(r
ij
, h)
(
i
+
j
)(|r
ij
|
2
+
2
)
_
v
ij
+

j
m
j
_

2
i
+

j

2
j
_
W(r
ij
, h) + g
(9)
The rst term of the right side is a symmetrical, balanced form of the pressure
term (Monaghan, 2005). The second and third terms represent a laminar vis-
cosity term (Morris et al., 1997) and a sub-partcile stress (SPS) (Dalrymple &
Rogers, 2006), respectivley. The SPS term introduces the eects of turbulent
motion at smaller scales than the spatial discretization. Following the eddy
viscosity assumption and using Favre-averaging, the SPS stress tensor for a
compressible uid can be written as

= 2
t
S

2
3
k

2
3
C
I

|S

|
2
, (10)
where

is the sub-particle stress tensor,

t
= (C
S
|r
ij
|)
2
|S

| is the eddy
viscosity, C
S
is the Smagorinsky constant, k is the SPS turbulence kinetic en-
ergy, C
I
= 6.6 10
3
and S

is the local strain rate tensor, with |S

| = 75
(2S

)
1/2
.
Rigid bodies are groups of SPH particles whose variables are integrated
in time with a dierent set of equations. Newtons equations for rigid body
dynamics are used, and the discretization consists of summing the contributions
from each SPH node, as
M
I
dV
I
dt
=

kI
m
k
f
k
(11)
I
I
d
I
dt
=

kI
m
k
(r
k
R
I
) f
k
, (12)
where body I possesses a mass M
I
, velocity V
I
, inertial tensor I
I
, angular
velocity
I
and center of gravity R
I
. f
k
is the force by unit mass applied
to particle k, belonging to body I. This force encompasses body forces, uid
resultants as well as the result of any rigid contact that might occur, a case 80
not contemplated in this work. The uid forces are computed with Equation
9, where the viscous formulation should provide an adequate viscous drag. The
model can be seen as an application of the Dynamic Bounday Conditions (Cre-
spo et al., 2007), where the boundary is made to additionally follow Equations
(11) and (12). No ad-hoc terms are added, since all the dynamics are a result of 85
the fundamental, particle-wise, solution of Equations (11) and (12). A known
5
diculty of this formulation is the overestimation of the density (Price, 2008;
Saitoh & Makino, 2013), resulting from an entropy jump across the interface.
This results in an increased distance of uid-solid particles due to the added
force from the pressure gradient, eectively disturbing the viscous forces com- 90
puted at that interface (Colagrossi & Landrini, 2003). The inclusion of the
-SPH diusive term in Equation (7) allows for a correct density estimation
across the interface, thus mitigating the deciency problem that aected the
viscous forces.
3.2. Pressure eld recovery, stability region and particle movement 95
Following Monaghan (2005), the commonly used estimate relationship between
pressure and density is Taits equation
p
i
=

0
c
2
0

__

0
_

1
_
(13)
where
0
is a reference density, c
0
is a numerical speed of sound on the medium
and = 7 for a uid like water. According to Equation (13), the compressibility
of the uid depends on c
0
, in such a way that for a high enough sound celerity
the uid is virtually incompressible. However the value of c
0
in the model should
not be the actual speed of sound, as the stability region is dened by
t = C min
_
_
min
i
_
h
|f
i
|
_
; min
i
_
_
h
c
0
+ max
j
|
hvijrij
r
2
ij
|
_
_
_
_
, (14)
where C is a constant of the order of 10
1
(Gomez-Gesteira et al., 2010). The
rst term results from the consideration of force magnitudes and the second is
a version of the classical CFL condition. This expression takes into account
numerical information celerities and a restriction arising from the viscous terms
(Gomez-Gesteira et al., 2010). If the sound celerity in the simulation is too 100
high, it will render t very small and the computation more expensive. Follow-
ing Monaghan (2005), c
0
is kept to an articial value of around 10 times the
maximum ow speed, restricting the relative density uctuations at less than
1%. As a consequence, the estimated pressure eld given by Equation (13) usu-
ally shows some instabilities and may be subject to scattered distributions. The 105
-SPH diusive terms contribute to the density eld and smooth most of the
high frequency oscillations.
Particle positions are updated every time-step, but instead of integrating
dr
i
/dt = v
i
, the XSPH smoothed velocity variant (Monaghan, 2005) is used,
with the recomended parameter values. This procedure results in a locally 110
smoother velocity eld, while preserving linear and angular momentum. The
particles are moved more orderly and no dissipation but dispersion is introduced.
4. RESULTS
In this section, a set of numerical and analytical solutions are used to com-
pare the results of the SPH model. These include free-stream studies, and 115
6
buoyancy tests. These comparisons should demonstrate a set of properties that
are fundamental for modelling uids and solids, such as that no spurious errors
are introduced at the interface of the mediums, forces are correctly reproduced
and taken into account and that unstable equilibrium solutions are not favoured
or tolerated by the discretization. 120
A Quintic (Wendland, 1995) kernel is employed for all the results. It is as
W(r
ij
, h) =
D
_
1
q
2
_
4
(2q + 1) , 0 q 2, (15)
where q = |r
ij
/h|,
D
= 7/(4h
2
) in 2D and (21/16h
3
) in 3D.
Simulations in section 4.1 were ran in a 3D domain, with sections 4.2 and 4.3
showing results from 2D simulations in order to compare to the available bench-
mark solutions. The smoothing length is dened as h = 1.2
_
dx
2
+ dy
2
+ dz
2
.
The C parameter from the stability region condition, Equation (14), was set at 125
0.20 for all simulations.
4.1. Free stream consistency
A simple property of a discretization method should be free stream com-
pliance. For a given velocity of the uid and the rigid body, given that initial
relative velocities are zero, they should remain zero as time evolves and the 130
equations are integrated, showing that there are no errors in the integrators
and that these are robust regarding truncation errors. The rst case consists
of a 6 6 6 m patch of uid and a 2 2 2 m rigid square in the center of
the uid, with a dx = dy = dz = 0.05 m initial inter particle spacing. Both are
given a v = 1 ms
1
initial velocity, gravity acceleration is zero and there are no 135
solid boundaries. Figure 1 shows a slice of a detail of the velocity eld, around
the lower right corner of the rigid square.
Figure 1: Velocity eld detail for a corner of the square at any time step.
The eld is constant in time, no deviations along the solid-uid interface
were introduced during the 30 s of simulation.
A more demanding case is to consider a non-zero acceleration, since numer- 140
ical errors arising from the usage of two sets of equations (for uid and rigid
bodies) should be more noticeable. The same geometry as for the previous ex-
ample is set up, but with zero initial velocity and non-zero constant acceleration.
Figure 2 shows a slice of the velocity elds at three separate instants.
7
Figure 2: Velocity eld detail for a corner of the square at t = 5 s, t = 10 s and t = 15 s.
The same conclusions as for the rst case can be drawn: the velocity eld 145
evolves without any irregularities being developed at the uid-solid interface,
streamlines are not disturbed by numerical errors.
4.2. Unsteady motion of bodies through a free surface
This section deals with the motion of cylinders in a uid, subjected exclu-
sively to buoyant forces. Three sets of results are compiled and compared with 150
the current results. Moyo & Greenhow (2000) studied the problem using a po-
tential ow model and Fekken (2004) later compared the results with an added
mass model solution and a numerical model that employs a Volume of Fluid
(VOF) discretization. The latter provides the most relevant comparison, since
viscous forces are considered for both body and uid and the used VOF method 155
is compatible with topological changes of the free surface geometry without any
special treatment (unlike the used potential ow method). Cylinders with a
r = 1 m radius of several relative densities are placed at specic depths and the
simulation is allowed to evolve. The 2D simulation has a domain of an 8 m long
periodic box with a uid depth of 7 m and a rigid boundary at the bottom, with 160
an initial inter particle spacing of dx = dz = 0.03 m. Velocities are considered
at the centroid of the cylinder and are non-dimensionalised as V = v/

gr, were
v is the velocity and g is the gravity acceleration magnitude. Time is made
non-dimensional as T = t
_
g/r.
Cylinders of = 0.6
w
and = 0.9
w
are placed at a depth of D = 5 m. 165
Figure 3 shows the system for the = 0.6
w
case at four instants and Figure 4
shows the velocity of the cylinders for both cases.
Both the potential ow model and the added mass model show a linear
evolution of the velocity, expectable since no drag is taken into account on
the rst and the uid is not aected by the drag computed on the second. 170
The Fekken and SPH solutions however show a non-linear acceleration on the
ascending part of the solution. Given the lower buoyant force of the = 0.9
w
case, the acceleration is much less pronounced and so are the added mass eects
and viscous drag on the dynamics of the system. The results again follow the
same trends as for the = 0.6
w
, but a oscillation is seen in the velocity signal. 175
This is due to pressure waves travelling on the domain and reecting at the
bottom.
8
Figure 3: Rising cylinder with = 0.6w. T = 0; T = 3.13; T = 6.26; T = 9.40.
0 2 4 6 8 10
0
0.2
0.4
0.6
0.8
1
1.2
1.4
T()
V
(

)


0 5 10 15 20
0
0.1
0.2
0.3
0.4
0.5
0.6
T()
V
(

)


Figure 4: Non-dimensional vertical velocity for a cylinder. Left - = 0.6w; Right - = 0.9w.
Added mass modelFekken (2004)( ); Moyo & Greenhow(Moyo & Greenhow, 2000)();
FekkenFekken (2004)( ); DualSPHysics().
The interface between uid and solid particles is subjected to the same de-
ciencies as described for large density ratio cases (Colagrossi & Landrini, 2003),
in this case generated by forcing the relative position of the solid phase particles. 180
An overestimation of the density on the solid particles occurred, producing a
hydrophobic eect that resulted in a drastic reorganization of the uid particles.
This happened in order to cope with the increased density gradient at the inter-
face and the entropy jump that occurred, considering that the solid particles are
ordered very strictly, not necessarily generating a constant equilibrium distance 185
for a uid particle across the interface. The -SPH term eectively curbs these
cascade behaviours by not allowing an erroneous density eld to be computed at
the interface locus. Across the simulations the uid particles remain at a similar
distance from the solid and other uid particles. This enables the viscous term
to be computed as intended. 190
For a case of engulfment, a cylinder with = 1.2
w
at D = 0m (half
submerged) is set. Figure 5 shows the state of the system at four instants and
9
Figure 6 plots the vertical displacement and velocity of the cylinder.
Figure 5: Sinking cylinder with = 1.2w. T = 1.57; T = 3.13; T = 4.70; T = 6.27.
0 2 4 6 8
5
4
3
2
1
0
T ()
D
i
s
p
l
a
c
e
m
e
n
t

(
m
)


0 2 4 6 8
0.8
0.6
0.4
0.2
0
T ()
V

(

)


Figure 6: Left - Displacement of cylinder; Right - Non-dimensional vertical velocity for a
cylinder of = 1.2w. Moyo & Greenhow (2000)(); Fekken (2004)( ); DualSPHysics(
).
Again, one can see how the SPH results are close to the VOF solution but
with less pronounced drag. The inections on the velocity plots are a result of 195
kinetic energy transfer from the body to the uid, in order to accommodate the
free surface deformations that occurred.
4.3. Equilibrium position of oating bodies
An important scenario is equilibrium position retrieval of oating bodies.
It is demanding for a numerical discretization since the system is set in an 200
unstable equilibrium position and is then allowed to evolve until it reaches a
stable equilibrium. Fekken (2004) introduces numerical results for a 0.100.05m
rectangle, vertically placed in a tank, half submerged, with = 0.5
w
. The SPH
simulations were set with dx = dz = 0.003 m. Figure 7 shows the evolution
of the system and the angle of the object with the horizontal () along time, 205
comparing with the data from Fekken.
The cylinder correctly nds the stable equilibrium position, at = 90 de-
grees and the damped oscillatory rotation around that point closely matches the
VOF results. This result is particularly important since it shows that the system
avoids unstable positions, correctly reproduces the dynamics of the event and 210
10
0 1 2 3 4 5
120
100
80
60
40
20
0
Time(s)

(
d
e
g
)


Figure 7: Left - Displacement of rectangle at t = 0.0s, t = 1.1s and t = 5.0s; Right - Angle
history of the rectangle. Equilibrium( ); Fekken (2004)( ); DualSPHysics().
is robust even with low resolution simulations. Unlike on the VOF simulations,
no force was imposed in the rst instants of the simulation in order to force the
system to diverge from the initial position. This appears to be a result of the
large amount of interactions involved in every time-step, together with machine
precision and non-repeatability of the thread order of the parallel implementa- 215
tion. Very small numerical unbalances, that would otherwise be diused, are
amplied by the unstable conguration of the system.
5. CONCLUSIONS AND FUTURE WORK
A general SPH discretization, expanded to support the inclusion of arbitrar-
ily shaped rigid solids, was presented and discussed. This allows for a unied 220
description of the media, without using extra terms in the discretization to ac-
count for coupling and geometrical eects. A -SPH term allows to stabilise
the density eld, a known diculty with the used formulation, and at the same
time manages to minimize another known issue: systematic density overestima-
tion at interfaces. This term seemed to be the missing ingredient to the correct 225
characterisation of the uid-solid interface.
The comparison of results from the SPH approach with known solutions is
presented. This allowed to characterise the behaviour of the model by testing
three main properties: (I) conservation of the velocity eld in free stream cases;
(II) buoyancy induced dynamics; (III) fate of unsteady equilibrium congura- 230
tions.
This work focuses exclusively on uid-solid interaction, however, multi-body
systems with solid-solid contacts are also within the capabilities of the model,
employing ideas from contact mechanics, as well as considering the solid de-
formable. Work is being developed around these topics, that represent a relevant 235
contribution to the SPH method.
11
Acknowledgements
This research was partially supported by project PTDC/ECM/117660/2010,
funded by the Portuguese Foundation for Science and Technology (FCT). First
author acknowledges FCT for his PhD grant, SFRH/BD/75478/2010. 240
This work was partially nanced by Xunta de Galicia under project Pro-
grama de Consolidacion e Estructuracion de Unidades de Investigacion Com-
petitivas (Grupos de Referencia Competitiva) co-funded by European Regional
Development Fund (FEDER), and also nanced by Ministerio de Economa y
Competitividad under Project BIA2012-38676-C03-03. 245
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