NumOpOpenFOAM Tutorial Finite Volume Method, Dictionary Syntax and Implementation DetailsenFOAM - P01

[302.
044] Numerical Methods

in Fluid Dynamics
Introduction to FVM
Conservation Laws, Fluxes Approach,
and Discretization Strategies
Univ. Assist. MSc. Francesco Roman

francesco.romano@tuwien.ac.at
December 11th, 2014
Outline
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
1 Conservation Laws
2 Discrete Approach
3 Finite Volume Method
1D FVM
2D FVM
Discretization Strategy
[302.044] Univ. Assist. MSc. Francesco Roman
2/21
IntegralDifferential Problems
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
Example ConvectionDiffusion Equation

(
T,t +u T = (T )
u=0
T = transported quantity;
u = advection velocity
= diffusion coefficient.
3/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

(
T,t +u T = (T )
u=0
T = transported quantity;
u = advection velocity
= diffusion coefficient.
. To obtain the conservative form:
T,t +u T = (T )
u=0
(uT ) = u T + T u
T,t + (uT ) = (T )
3/21
Conservation Laws
Conservation
Laws
Discrete
Approach

T,t + (uT ) = (T ) ,
x = I d, t 0
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
4/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

T,t + (uT ) = (T ) ,
x = I d, t 0
. Being the PDE pointwise valid, it can be integrated over

infinitesimal volumes V :
Z
Z
Z
T,t dV +
(uT )dV =
(T )dV
V
4/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

T,t + (uT ) = (T ) ,
x = I d, t 0

infinitesimal volumes V :
Z
Z
Z
T,t dV +
(uT )dV =
(T )dV
V
. Introducing the Reynolds theorem:
R
R
dR
T dV = V T,t dV + V T udV
V
dt
u=0
Z
Z
Z
d
T dV +
(uT )dV =
(T )dV
dt V
V
V
4/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

T,t + (uT ) = (T ) ,
x = I d, t 0

infinitesimal volumes V ;
. Introducing the Reynolds theorem;
5/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

T,t + (uT ) = (T ) ,
x = I d, t 0

infinitesimal volumes V ;
. Introducing the Reynolds theorem;
. Introducing the Greens divergence theorem:
Z
Z
fdV =
f ndS
V
dt
S=V
Z
n (uT )dS =
T dV +
V
n (T )dS
S
5/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
6/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

. Differential form:
(
T,t +u T = (T )
u=0
6/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

(
T,t +u T = (T )
u=0
. Integral form:
d
dt
Z
n (uT T )dS = 0
T dV +
V
6/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

(
T,t +u T = (T )
u=0
. Integral form:
d
dt
Z
n (uT T )dS = 0
T dV +
V
. Generic conservation law:

d
dt
Z
U dV +
n FdS
=0
6/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
Generic Conservation Laws

Z
Z
d
U dV +
n FdS
=0
dt V
S
1D FVM
2D FVM
Discretization
Strategy
7/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Integrating the differential equation lowers the derivative
order. Its importance is due to solutions which change
so rapidly in space that the spatial derivative does not
exist (e.g. supersonic shock waves);
7/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Discontinuous functions do not have derivatives at the
discontinuity location, so the differential form is invalid
there. On the contrary, because of weaker constraints,
the integral conservation law is still valid;
7/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Discontinuous functions do not have derivatives at the
discontinuity location, so the differential form is invalid
there. On the contrary, because of weaker constraints,
the integral conservation law is still valid;
. Reducing the order of the spatial derivative simplifies the
special treatment generally required for discontinuities.
7/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
8/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. The Navier-Stokes system, in its most general form, is
written in terms of conservation laws:
R
R
,t dV + S u ndS = 0
R (u), dV + R (u)u ndS = R fdV R pndS + R dS

t
S
S
V
S
V
R
R
2
2
V [(e + u2 + )],t dV + S [(e + u2 + )]u ndS =
R
R
S q ndS S n udS
8/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Lower derivatives order;
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Weaker constraints for the representable solutions;
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Simpler treatment for discontinuities;
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Natural treatment for Fluid Dynamics equations;
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Intrinsic conservativity property for the discrete schemes;
9/21
Conservation Laws
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Intrinsic conservativity property for the discrete schemes;
. Finite Volume Methods are preferred to Finite Difference
Methods in solving problems whose solution is not so
smooth or has local discontinuities.
9/21
Conservation Laws
Discrete Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
Conservation Laws Discrete Approach

Z
Z
d
U dV +
n FdS
=0
dt V
S
1D FVM
2D FVM
Discretization
Strategy
10/21
Conservation Laws
Discrete Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
. Averaging the solution in each elementary volume:
Z
= 1
U
U dV
V V
10/21
Conservation Laws
Discrete Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
Z
= 1
U
U dV
V V
. Discretizing the flux integral:
Z
X
nk Fk
n FdS
f aces
10/21
Conservation Laws
Discrete Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

Z
Z
d
U dV +
n FdS
=0
dt V
S
Z
= 1
U
U dV
V V
. Discretizing the flux integral:
Z
X
nk Fk
n FdS
f aces
. Conservation law discretized in space:

V
X
dU
nk Fk
dt
f aces
10/21
Finite Volume Method

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

. Starting point for each FVM:
V
X
dU
nk Fk
dt
f aces
11/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces
. At first the domain is divided into computational cells where

j is known;
the shape of the cell average function U
11/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces

j is known;
. The fluxes Fk are the unknowns of the FVM and they are
calculated in two steps:
11/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces

j is known;
function reconstruction:
Fk requires the calculation of the function values and
eventually of their derivative values at cell edges;
U is approximated with a polynomial whose coefficients
are determined recovering the cell averages over a
certain number of cells.
11/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces
12/21

General Approach
Conservation
Laws
Discrete
Approach

Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
X
dU
nk Fk
dt
f aces
function reconstruction:
P
X
=
U
an n (x) , {n } = P interpolation functions
n=1
dV = U
j+m Vj+m , m = 0, 1, 2, ..., P 1
U
Vj+m
{Vj+m } = P cells surrounding the cell Vj

12/21

General Approach
Conservation
Laws
Discrete
Approach

Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
X
dU
nk Fk
dt
f aces
Introducing suitable quadrature formulae in dependence on the

chosen polynomial rank, no quadrature errors are committed.
13/21

General Approach
Conservation
Laws
Discrete
Approach

Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
X
dU
nk Fk
dt
f aces
function reconstruction1
P
X
=
U
an n (x) , {n } = P interpolation functions
n=1
P
X
n=1
1
j+m Vj+m Am,n =

Am,n an = U
Z
n dV
Vj+m
Introducing suitable quadrature formulae in dependence on the

chosen polynomial rank, no quadrature errors are committed.
13/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces

j is known;
function reconstruction;
14/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

V
X
dU
nk Fk
dt
f aces

j is known;
function reconstruction;
fluxes evaluation.
14/21

General Approach
Conservation
Laws
Discrete
Approach
Finite Volume Method 1D Case

. The cell volume reduces to the width of the segment xi ;
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
15/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

. The flux integrals reduce to evaluation of the term at the
cell edges:
i
dU
Fi+1/2 Fi1/2
=
dt
xi
15/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

cell edges:
i
dU
Fi+1/2 Fi1/2
=
dt
xi
15/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method

. n is a piecewise constant polynomial:
i = a0
U
1D FVM
2D FVM
Discretization
Strategy
16/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0
U
. One unknown coefficient means a single constraint:
Z xi+1/2
i xi a0 = U
i
a0 dx = U
xi1/2
16/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0
U
. One unknown coefficient means a single constraint:
Z xi+1/2
i xi a0 = U
i
a0 dx = U
xi1/2
. Donor-Cell Scheme:
(
i )
F (U
if i+1/2 0
Fi+1/2 =
F (Ui+1 ) if i+1/2 < 0
where =
F
U
16/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

. n is a piecewise linear polynomial:
i = a0 + a1 , = x xi
U
xj
17/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0 + a1 , = x xi
U
xj
. Two unknown coefficient means a double constraint
(symmetric stencil: x [xi1/2 , xi+3/2 ] [1/2, 3/2]):
R
1/2
1/2 (a0 + a1 )d = Ui
3/2 (a0 + a1 )d = xi+1 U

i+1
xi
1/2
(
i
a0 = U
i+1 U
i
a1 = U
17/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0 + a1 , = x xi
U
xj
. Two unknown coefficients mean a double constraint
(symmetric stencil: x [xi1/2 , xi+3/2 ] [1/2, 3/2]);
18/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0 + a1 , = x xi
U
xj
. Two unknown coefficients mean a double constraint
(symmetric stencil: x [xi1/2 , xi+3/2 ] [1/2, 3/2]);
. Centred Scheme:
Fi+1/2 =
i ) + F (U
i+1 )
F (U
2
18/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
19/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

. n is a piecewise parabolic polynomial:
i = a0 + a1 + a2 2 , = x xi
U
xj
19/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0 + a1 + a2 2 , = x xi
U
xj
. Three unknown coefficients mean a triple constraint;
19/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

i = a0 + a1 + a2 2 , = x xi
U
xj
. Three unknown coefficients mean a triple constraint;
. QUICK Scheme:
Fi+1/2 =
i1 ) + 6F (U
i ) + 3F (U
i+1 )
F (U
8
19/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method

. The cell volume reduces to the width of the area of the
element;
1D FVM
2D FVM
Discretization
Strategy
20/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

element;
cell edges:
20/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

element;
cell edges:
3 fluxes for triangular elements;

4 fluxes for quadrangular elements;
5 fluxes for pentangular elements;
...
20/21

General Approach
Conservation
Laws
Discrete
Approach
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy

element;
cell edges:
3 fluxes for triangular elements;

4 fluxes for quadrangular elements;
5 fluxes for pentangular elements;
...
Vi
X
dUi
nik Fik
dt
f aces
20/21

Conservation
Laws
Discrete
Approach
Finite Volume Method Discretization Strategy

. The equations will be considered in their conservative form;
Finite
Volume
Method
1D FVM
2D FVM
Discretization
Strategy
21/21

Conservation
Laws
Discrete
Approach
Finite
Volume
Method
. An integral approach is a natural representation for the

NavierStokes system and it is the most suitable one for
Finite Volume Methods;
1D FVM
2D FVM
Discretization
Strategy
21/21

Conservation
Laws
Discrete
Approach
Finite
Volume
Method
. An integral approach is a natural representation for the

NavierStokes system and it is the most suitable one for
Finite Volume Methods;
1D FVM
2D FVM
Discretization
Strategy
. The Finite Volume Method will be only used as a spatial

discretization method. To discretize in time, Finite
Difference Methods can be employed (Euler, RungeKutta,
AdamsBashforth/Moulton Methods, etc...). The time
integration scheme cannot be chosen independently from the
spatial approximation because of stability reasons.
21/21

NumOpOpenFOAM Tutorial Finite Volume Method, Dictionary Syntax and Implementation DetailsenFOAM - P01

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[302.

044] Numerical Methods

Univ. Assist. MSc. Francesco Roman

December 11th, 2014

3 Finite Volume Method

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

Example ConvectionDiffusion Equation

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

. Being the PDE pointwise valid, it can be integrated over

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

. Being the PDE pointwise valid, it can be integrated over

. Introducing the Reynolds theorem:

Example ConvectionDiffusion Equation

. Being the PDE pointwise valid, it can be integrated over

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

. Being the PDE pointwise valid, it can be integrated over

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

[302.044] Univ. Assist. MSc. Francesco Roman

Example ConvectionDiffusion Equation

. Generic conservation law:

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

R (u), dV + R (u)u ndS = R fdV R pndS + R dS

V [(e + u2 + )],t dV + S [(e + u2 + )]u ndS =

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

[302.044] Univ. Assist. MSc. Francesco Roman

Generic Conservation Laws

Conservation Laws Discrete Approach

[302.044] Univ. Assist. MSc. Francesco Roman

Conservation Laws Discrete Approach

[302.044] Univ. Assist. MSc. Francesco Roman

Conservation Laws Discrete Approach

[302.044] Univ. Assist. MSc. Francesco Roman