Computers & Fluids 30 (2001) 903916

www.elsevier.com/locate/compuid

On some approaches to solve CFD problems

V. Kovenya *, S. Cherny, S. Sharov, V. Karamyshev, A. Lebedev
Institute of Computational Technologies, Siberian Division of the Russian Academy of Sciences, 6 Lavrentiev Avenue,
Novosibirsk 630090, Russia
Accepted 1 March 2001

Abstract
This paper presents two ecient methods for spatial ows calculations. In order to simulate of incompressible viscous ows, a second-order accurate scheme with an incomplete LU decomposed implicit
operator is developed. The scheme is based on the method of articial compressibility and Roe ux-difference splitting technique for the convective terms. The numerical algorithm can be used to compute both
steady-state and time-dependent ow problems. The second method is developed for modeling of stationary compressible inviscid ows. This numerical algorithm is based on a simple ux-dierence splitting
into physical processes method and combines a multi level grid technology with a convergence acceleration
procedure for internal iterations. The capabilities of the methods are illustrated by computations of steadystate ow in a rotary pump, unsteady ow over a circular cylinder and stationary subsonic ow over an
ellipsoid. 2001 Elsevier Science Ltd. All rights reserved.
Keywords: Euler and NavierStokes equations; Articial compressibility; Incomplete LU decomposition; Convergence
acceleration; Multigrid method

1. Introduction
In recent years, various approaches have been reported for solving the Euler and NavierStokes
equations in a complex domain. A modern technology of constructing robust and highly ecient
numerical methods consists of three basic steps: the adapted grid generation, the approximation
of the dierential problem on both structured and unstructured meshes, and the development of
eective iterative methods of solving the discretized equations. In this paper, two methodologies

Corresponding author. Fax: +7-3832-331-342.

E-mail address: kovenya@adm.ict.nsc.ru (V. Kovenya).

0045-7930/01/$ - see front matter 2001 Elsevier Science Ltd. All rights reserved.
PII: S 0 0 4 5 - 7 9 3 0 ( 0 1 ) 0 0 0 3 4 - 2

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

for numerical simulation of incompressible and compressible ows in complex domains are described.
In the rst place, a nite volume method of solving the incompressible NavierStokes equations
in 3-D generalized curvilinear coordinates is considered. The algorithm is based on the method of
articial compressibility [1,2] and uses a third-order ux-dierence splitting technique [3,4] for the
convective terms and the second-order central dierence for the viscous terms. An incomplete
LU decomposition method is implemented as a basic iterative process of solving the discretized
equations. This technique allows the use large time step leading to fast convergence for steadystate problems. According to Refs. [5,6], the time-dependent solution capability comes from extending the articial compressibility method by subiterating at each physical time step and driving
the divergence of velocity toward zero. Introducing the articial compressibility relation for each
physical time step produces a hyperbolic system of equations; the same mechanism that is used for
steady-state solutions used to obtain the time-dependent solution for each discrete physical time
step.
Secondly, an ecient approach for steady-state compressible ow calculations on both a
structured and a triangular grid is considered. Numerical algorithms are based on a ux-dierence
splitting into physical processes technique. Large non-linear systems of discretized equations are
solved with an preconditioned Richardson method of an unfactorized type that provides fast
convergence to the numerical solution. A large linear system at each iteration is solved using an
iterative technique which combines an block-relaxation method and the method of convergence
acceleration [7]. In the case of sub-transonic ow calculations, a multi level grid technology is
used.

2. Grid generation
There are several alternative strategies to generate grids in complex domains. One of them is
based on a segmentation of a computational area and the construction of structured meshes in
topologically simple subdomains. In the present study, this methodology was applied to grid
generation for a rotary pump (Fig. 1). An algebraic method, which is based on the spline

Fig. 1. Structured grid for a rotary pump.

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

905

Fig. 2. Triangular grid.

approximation technique [8], is used for the body-tted mesh generation in each subdomains. This
simple and robust methodology allows eciently to use dierent numerical methods, which has
been developed for structured grids, in investigations of complex technical aerodynamics problems. Note that an essential diculty of its realization is the fulllment of agreement conditions
between adjacent subdomains.
Another approach of a domain discretization involves methods of unstructured grid generation. This is a very exible technology, which allows constructing adapted grids in arbitrary
domains, but requires a large amount of computer memory and CPU time. As an example, Fig. 2
shows an adapted to singularities of the domain geometry mech. This grid was generated by using
an original technique, which allows automatically obtaining an optimal triangulation for a distribution of distances between nodes.

3. Numerical methods for incompressible ows

3.1. Governing equations
Modied by addition of articial compressibility [1,2] 3-D NavierStokes equations can be
written in integral form using the Cartesian coordinate system as
Z
I
Z
o
Q dV
H
dS F dV ;
1
R
ot V
V
oV

where

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

Q p; u; v; wT ;
R diag1=e2 ; 1; 1; 1;
F 0; fx ; fy ; fz T ;
H H in H vis ;
H in u; uu pe1 ; vu pe2 ; wu pe3 T ;
H vis

1
0; ru; rv; rwT ;
Re
T

u u; v; w :
Here, p, u, v, w, fx , fy , and fz are the pressure, Cartesian velocity components, and Cartesian
volume force components, respectively. Moreover, V denotes an arbitrary control volume xed in
time and space, oV is the closed boundary of the volume, dS is the outward area element vector
along oV . The unit vectors of the Cartesian coordinate system are given by e1 , e2 , e3 , and hence the
velocity vector is u ue1 ve2 we3 . The e2 denotes an articial compressibility parameter.
Assuming H vis 0, we obtain equations for inviscid, incompressible ows.
3.2. Discretization
Let us consider the case of a regular mesh, when the physical domain is divided into hexahedral
cells by the generation of a boundary-tted grid (see Fig. 1). In the following, the indices i, j, k
designate the cell centers. As Eq. (1) is valid for any arbitrary control volume, it also holds locally
for each cell Vijk in the mesh. Therefore, the implicit nite-volume scheme is derived by discretization of the Eq. (1) for each computational cell:
Qn1
Qnijk
ijk
Vijk RHSn1
R
ijk ;
Dt

where
RHSn1
ijk

H
Sn1
i1=2

n1
H
Sn1
i 1=2 H
Sj1=2

n1
1=2

H
Sk

n1
H
Sn1
j 1=2 H
Sk1=2

Fn1
ijk
Vijk :

n1
Here Qijk is the average value Q in the cell Vijk , Dt is time step, and H
Sn1
i1=2 , H
Sj1=2 , H

Sn1
k1=2 are the uxes through the cell faces Si1=2 , Sj1=2 , Sk1=2 , respectively. Note that
throughout the present paper the indices i, j, k are omitted for simplicity whenever possible. The
outward-pointing interface normal Sm1=2 has the magnitude of the area of the face m 1=2
(m i; j; k).
Introducing an articial time derivative to the continuity equation produces a hyperbolic
system of equations. Hence, we can use techniques that have been developed for the compressible
Euler equations for approximating of the inviscid mass and momentum uxes. Using the method
of Roe [3] and TVD method [4], we obtain

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

in
H in
Sm1=2 12 Hmin Hm1

Sm1=2
jAj A

jAjm1=2 Dm1=2 Q

1=2

907

Wm1=2 ;

A ;

Dm1=2 Q Qm1 Qm ;
i 1 /h
1 /h
Wm1=2
Nm3=2 M
Mm1=2
m 1=2
4
4
Nm3=2 minmodAm3=2 Dm3=2 Q; bAm1=2 Dm1=2 Q;
M
m

minmodAm

i
N
m1=2 ;

1=2 Dm 1=2 Q; bAm1=2 Dm1=2 Q;

Mm1=2 minmodAm1=2 Dm1=2 Q; bAm3=2 Dm3=2 Q;

N
m1=2 minmodAm1=2 Dm1=2 Q; bAm

1=2 Dm 1=2 Q;

minmodx; y signx
max0; minjxj; y
signx;

1 6 b 6 3

/=1

/;

m i; j; k:

Here Wm1=2 is the antidiusive ux-limited term added to the rst-order accurate ux. The unlimited form of the Euler ux (3) has the third-order accuracy at / 1=3. The Jacobian matrix
of the Euler ux A is splitted into two matrices A and A with positive and negative eigenvalues:
A

oH in
S
A A :
oQ

For incompressible ow, non-linear Roe's averaging procedure comes to a linear arithmetic averaging:
Qm1=2 0:5Qm Qm1 :
In this case, the following equality is exactly satised:
in
Hm1

Hmin
Sm1=2 Am1=2 Qm1

Qm :

This equality guarantees the equivalency of discrete conservation laws (2) to original conservation
n1
laws (1). For an approximation of the viscous terms H vis
Si1=2 , the second-order central nitedierence formulae [9] are used.
The Jacobian matrix A can be split into matrices with positive and negative eigenvalues (4)
by dierent techniques. The most ecient splitting (with respect to stability of the method and
arithmetic operation number for its implementation) is given by
A 0:5A  qI;
p
where q jU j U 2 S
S is the spectral radius of A, and U u
S.
3.3. Linearization and LU-factorization
Note that an implicit scheme in the form (2) is too expensive, since it calls for the solution of
coupled non-linear equations at each time step. The Newton linearization of the scheme (2) at the
n 1 time level leads to the following system of linear algebraic equations:

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916


R

V
Dt

oRHS
oQ

n 

Qn1

Qn RHSn :

Using the rst-order upwind dierencing for inviscid uxes in the implicit operator, we obtain

V
R Ci1=2 Di1=2 Ci 1=2 Di 1=2 Cj1=2 Dj1=2 Cj 1=2 Dj 1=2 Ck1=2 Dk1=2
Dt


Ck 1=2 Dk 1=2 DWn1 RHSn ;

6
where
1
am1=2 D;
Re
Qn ;


Cm1=2
A
m1=2 

DWn1 Qn1
am1=2

Sm1=2
Sm1=2
;
Vm1=2

D diag0; 1; 1; 1; Vm1=2 Vm1 Vm =2:

In order to simplify the numerical method (6), an incomplete LU decomposition of the implicit
operator is used. This is a generalization of known alternate-triangular method [10], which obtained wide spreading in recent years. There are several variants of LU factorization. The most
ecient of them for considered in the paper problems is
h
i

n



1

DWijk B
RHSijk Ci 1=2 DWi 1jk Cj 1=2 DWij 1k Ck 1=2 DWijk 1 ;

h
i
7

n1
n1
n1
1

DW
B


C
DW
DW

C
DW
DWn1

C
;
i1=2
j1=2
k1=2
ijk
ijk
i1jk
ij1k
ijk1
where
BR

V
1 X
am

Dt Re mi;j;k

1=2

am1=2 D 0:5

X
mi;j;k

qm

1=2

qm1=2 I:

Note that Eq. (7) may be solved in two steps using economical sweeps.
3.4. Second-order time dierencing
The time accuracy for unsteady problems is impotent, which led us to choose accurate time
schemes. According to the approach [5,6], we obtain the following iterative scheme with a secondorder time dierencing

s1 
s

s1
n1
n1
n1

s1
Qijk
Qijk
3 Qijk
4Qnijk Qnijk 1
;
8
Vijk R1
Vijk RHSn1
R
ijk
Ds
2Dt
where R1 diag0; 1; 1; 1 and Ds is a relaxation parameter (pseudotime step).
After some manipulations (see Section 3.3), we can reduce the iterative process in Eq. (8) to an
iterative scheme with an LU-factorized implicit operator. This approach provides the means by

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

909

which the system of nite-dierence equations can be advanced in physical time, using a small
number of iterations.
4. Numerical methods for compressible unviscid ows
4.1. Governing equations
Let us consider the time-dependent compressible Euler equations in an integral form over some
arbitrary control volume V:
I
Z
o
U dV
F
dS;
9
ot V
oV

where U q; qu; qv; qw; qET is the conservative variable vector, q is the density, and F U is the
inviscid ux. The specic total energy is given by E e u2 =2 H p=q, where e is the specic
total internal energy and H is the specic total enthalpy. In present work, we assume a perfect gas
with a constitutive equation of the form p c 1qe, where c is the ratio of specic heats.
Using a nite-volume approach, we can approximate Eq. (9) on both a structured and unstructured mesh. In the following section, a brief description of nite-dierence schemes on a
triangular grid is given.
4.2. Discretization
Let a triangulation of the ow domain V is given, as for example, indicated in Fig. 2. Then we
compose of non-overlapping control volumes that cover the domain (Fig. 3). A control volume Vi
(barycentric cell) is dened as the union of the subtriangulars resulting from the subdomains by
means of the medians of each triangle that is connected to vertex i.
Assuming that Ui hods for both cell average and vertex value, we get the semi-discretization
form of Eq. (9) for each Vi
dUi
areaVi

dt

Ni
X

Fij jdSij j;

10

j1

where Fij is the interface ux normal to the control volume interface oVij Vi \ Vj between
adjacent control volumes Vi and Vj . The N i denotes the number of neighbors of the central nod
of Vi , dSij is an approximation of dVij , which is calculated by length-averaging the unit normals
corresponding to the pair of segments making up the interface oVij .
The contravariant ux term Fij in Eq. (10) can be approximated at the control interface by
using dierent ways. One of them based on the well-known Roe ux dierence splitting [3]. Many
codes are written using this idea (see, for example, Refs. [11,12]). Although Roe ux-dierence
splitting has been commonly accepted as one of the most accurate scheme, this methodology
requires matrix operations in its realization. More simple approximation can be constructed by
using a splitting-up method into physical processes [13]. In this case, we obtain

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

Fig. 3. Control volumes for the triangular grid.

1
Fij F
Fj nij ;
2 i
where nij Sij =jSij j, the normal uxes F
i nil , Fj nil are given by
1
qi Vni
B qui Vni C
C
B
F
i @ qu V A;
i ni
qvi Vni
0

1
0
B pj nxi C
C
Fj B
@ Pj nyi A if Vn P 0;
0
0

or
1
0
B pi nxi C
C
B
F
i @ P n A;
i yi
0
0

1
qj Vnj
B quj Vnj C
C
Fj B
@ qvj Vnj A if Vn < 0;
qHj Vnj
0

where Vni Vi nij , Vnj Vj nij , Vn Vni Vnj =2 are the contravariant velocities, nx and ny are the
components of the unit normal nij . Note that the same approximation has been considered in Ref.
[12].
In order to achieve second-order accuracy, a TVD extension [4,13] can be used. It is clear
that the method can be easily reformulated for a structured grid and extended on the 3-D
equations.

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

911

4.3. Basic iterative scheme

The simplest time discretization of Eq. (10) is






Un1
Uni
i
J Uni Un1
Uni ;
11
L Un1
i
i
Dt


denotes the right-hand-side of Eq. (10), which is calculated at time level
where, of course, L Un1
i
n 1, and J U is an approximation of oLU=oU. In present work, a linear operator J U involves only rst-order dierencing. The system of linear Eq. (11) can be eciently solved by using
a block-relaxation method and the algorithm of convergence acceleration [7].
Note that for steady state solution, we actually want to solve
areaVi

LU 0:

12

In this case, the scheme (12) will approach to the Newton method for Eq. (11) when the time step
becomes very large.
4.4. Convergence acceleration
For this discussion, it is convenient to rewrite Eq. (11) as
Ax b;
where the vector x denotes the exact solution of Eq. (11). The algorithm of convergence acceleration [7] involves the following steps:
1.
2.
3.
4.

Start with an initial vector x0:

Calculate x1 ; x2 ; . . . ; xm2 using a relaxation method.
. . . ; m 1.
Calculate zn xn1 xn n
P1;
m
Calculate the vector ym2 i1 ai zi1 . Coecients ai i 1; . . . ; m should be determined from
the system
m
X

zi

zi1 ; zj

zj1 ai zm ; zj

zj1 ;

j 1; . . . ; m:

i1

5. xm2
xm2 ym2 .
6. If the conditions of iteration convergence are not satised, then x0
7. End of iterations.

xm2 and repeat steps 25.

There is no need to use large values of the parameter m in the algorithm. Good results can be
obtained already at m 2 (see Ref. [7]). The algorithm can be directly applied to the scheme (7)
[14].
4.5. Multigrid method
The multigrid method was rst proposed by Fedorenko [15]. The idea is to use corrections
calculated on a sequence of successively coarser grids to improve the solution on a ne grid. The

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

multigrid technique was rst applied by South and Brandt [16] to the transonic small-perturbation
equation with SLOR as a basic iterative scheme. Nowadays, this procedure is widely used to
accelerate convergence of iterative methods for the Euler and NavierStokes equations. For example, in Refs. [11,17] the multigrid method was adapted to unstructured grids. In present work,
we used a simple multi-level grid technique, which is described in Refs. [16,17], with the method
(11) as a basic iterative scheme.

5. Numerical results
The articial compressibility scheme (7) has been veried with a lot computations, ranging from
very simple steady-state ows, where the numerical results agree well with the known analytical
solutions, to complex ows (including vortex ows in hydraulic turbines), where successful comparison between experimental data and other computational data was made [18,19]. For example,
Figs. 4 and 5 show some results of numerical simulation of a steady-state inviscid ow in a rotary
pump (Fig. 1).
The second-order time accurate scheme (8) was applied to calculate unsteady ow over circular
cylinder at Reynolds number 100. This case was run using a 80  120 O-grid with points clustered
near the body. The outer boundary extended to 40 diameters from the cylinder. In Fig. 6, the
streamlines at various stages during one period are plotted. Table 1 demonstrates a good agreement between present results and other computational data.
Fig. 7 shows the result of a transonic ow calculation by method (11), which has been adapted
to a structured ellipsoidal grid, using three-level grid technique with a ne (38  38  38), a
medium (19  19  19) and a coarse (10  10  10) mesh. In a simple V-cycle, one, two and four

Fig. 4. Computed velocity eld in the wheel of the pump.

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

Fig. 5. Computed density contours in the transmission channel.

Fig. 6. Streamlines for ow over circular at Reynolds number 100.

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V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

Table 1
Lift and drag coecients and Strouhal numbers for circular cylinder ow at Reynolds number 100
Calculation data

Cl

Cd

St

[6,2022]
Present

0.358
0.325

1:376  0:011
1:309  0:010

0.160.163
0.161

Fig. 7. Computed pressure counters for transonic ow over an ellipsoid at M1 0:85.

Table 2
Relative computational costs
Internal iterations

One grid

Two grid

Three grid

Without acceleration
With acceleration

100
15

18
7

9
5

the Newton iterations (11) were cared out on a ne, a medium and a coarse grid, respectively.
Only four accelerated subiterations were cared out for each Newton iteration.
Table 2 presents the computational costs required to obtain the steady-state solution on the ne
grid by dierent manners. We see that suggested methodology allow signicantly to accelerate the
convergence of the basic iterative process and, consequently, to reduce the cost.
Finally, we consider an example when basic iterative method associated with a local multigrid
technique. A similar algorithm (but not recursive) was investigated in Ref. [23]. The previous
problem was solved on local embedded grids as shown in Fig. 8. In consequence, we obtain the
solution accuracy like on the 80  80  80 grid. The total calculation is equivalent to using the
tree-level grid technique with the 57  57  57 ne grid.
Some interesting preliminary results were obtained on triangular grids, but they are in need of
additional verications.

V. Kovenya et al. / Computers & Fluids 30 (2001) 903916

915

Fig. 8. Embedded grid topology.

6. Conclusions
Dierent numerical aspects related to grid generation, discretization of the dierential problems
and convergence acceleration have been considered in this paper. As consequence, ecient and
robust numerical methods for predicting of both steady and unsteady 3-D ows are presented.
The methods combine modern computational technologies, provide high accuracy of numerical
results, fast convergence to steady-state solution, and allow simulating viscous and inviscid ows
in complex domains for reasonable computational costs.
Acknowledgements
The research described in this publication was made possible in part by grants no. 99-01-00619,
98-0100742 from The Russian Fund of Fundamental Investigations.
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