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A three-dimensional inverse heat conduction problem approach for estimating the heat flux and surface temperature of a hollow cylinder

This article has been downloaded from IOPscience. Please scroll down to see the full text article. 1997 J. Phys. D: Appl. Phys. 30 1326 (http://iopscience.iop.org/0022-3727/30/9/007) View the table of contents for this issue, or go to the journal homepage for more

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J. Phys. D: Appl. Phys. 30 (1997) 13261333. Printed in the UK

PII: S0022-3727(97)77314-5

A three-dimensional inverse heat conduction problem approach for estimating the heat ux and surface temperature of a hollow cylinder
Yue-Tzu Yang, Pao-Tung Hsu and Chao-Kuang Chen
Mechanical Engineering Department, National Cheng Kung University, Tainan, Taiwan Received 21 August 1996, in nal form 2 January 1997 Abstract. This study is intended to provide a different perspective for solving the three-dimensional, inverse, steady heat conduction problem for a hollow cylinder. At the beginning of the study, nite-difference methods are employed to discretize the problem domain and then a linear inverse model is constructed to identify the boundary conditions. The present approach is to rearrange the matrix forms of the differential governing equations and estimate unknown conditions. Then, the linear least-squares method is adopted to nd the solution. The results show that one needs only a few measuring points in order to estimate the boundary temperature and heat ux when the measurement errors are negligible. When the measurement errors are considerable, more measuring points are needed in order to increase the congruence of the estimated results to exact solutions.

Nomenclature a A A b B B1 B2 f (r, ) F (R, ) h N q(r, ) Q(R, ) r R R T T(R, , z) z Z the inner surface radius the matrix embodying the thermal properties the dimensionless inner radius, a/b the outer surface radius the coefcient matrix of the inner Biot number the outer Biot number an unknown temperature function the dimensionless top boundary condition the length of the cylinder the number of measuring points the heat ux at bottom of the cylinder the dimensionless bottom boundary condition the radius the reverse matrix of the inverse problem the dimensionless radial coordinate the uniform temperature of the environment the dimensionless temperature the axial position the dimensionless axial coordinate the probability of a random value the measurement error the circumferential position, 0 2
c 1997 IOP Publishing Ltd

the matrix embodying the boundary and initial conditions the coefcient vector of F (R, ) and Q(R, )

Subscripts i j k

the index of the dimensionless radial coordinate the index of the dimensionless angular coordinate the index of the dimensionless axial coordinate

1. Introduction In recent years the analysis of inverse heat conduction problems (IHCPs) has found numerous applications in various branches of science and engineering, such as prediction of the inner wall temperature of a reactor and determination of the heat transfer coefcient, the outer surface conditions during the re-entry of a space vehicle and the temperature or heat ux at the toolwork interface during machine cutting. In most cases, the IHCPs have basically dealt with one- and two-dimensional geometries. The difculties with three-dimensional IHCPs are much more pronounced and little research on it has been published. Various methods have been employed to handle the IHCPs in one-dimensional domains, including analytical

0022-3727/97/091326+08$19.50

3D inverse heat conduction

and numerical approaches, such as graphical [1], polynomial [24], Laplace transform [5], nite-difference and nite-element [612] methods, exact methods [13, 14] and dynamic programming [15]. In contrast, for twodimensional IHCPs, the rst analytical solution was introduced in 1978 by Trujillo [16]. Subsequently, most of the research related to the numerical treatment of twodimensional IHCPs has been based on different manners of combining nite-difference or nite-elements realizations with the future-temperature method of Beck [9]. The applications of these ideas have been presented in [17]. Details of more numerical experimentation can be found in [18]. More recently, a direct sensitivity coefcient method was presented by Tseng et al [19]. The different space-marching implementations of the mollication method were introduced by Liu and Murio [20]. For three-dimensional IHCPs on a nite cube, a mollication procedure, a fully explicit space-marching nite-difference scheme, has been developed by Zheng and Murio [21]. In this study, a methodology to solve the inverse problems is presented. This method rearranges the matrix forms of the direct problem in order to represent the unknown conditions explicitly. The inverse model can be used to solve the problem through the linear leastsquare error method. Furthermore, the accuracy of the estimation of the unknown conditions from knowledge of the temperatures, including measurement errors, is examined at the measurement points. 2. A description of the proposed method Consider a three-dimensional hollow cylinder of nite length with constant thermal properties, a r b, 0 z h and 0 2, as shown in gure 1. An unknown temperature function f (r, ) and a heat ux q(r, ) are applied to the top surface (z = h) and to the bottom surface (z = 0). At the boundary surfaces at r = a and r = b heat is dissipated into an environment at uniform temperature T by convection with known heat transfer coefcients h1 and h2 , respectively. A dimensionless mathematical formulation of the heat conduction problem is presented as 1 R R R T R + 1 2T 1 2T + =0 2 2 R H Z 2 (1)

T R

= B2 T
R=1

at R = 1, 0 Z 1, 0 2.

(5)

The various dimensionless parameters are dened as follows: A = a/b T = R = r/b T T T q(r, )b k T Z = z/ h F (R, ) = B1 = H = h/b

f (r, ) T T B2 = bh2 k

Q(R, ) =

bh1 k

where T is the ambient temperature. This inverse problem is to identify the applied unknown temperature F (R, ) and heat ux Q(R, ) from the temperature measurements taken at the interior points of the cylinder. Suppose that the applied surface temperature F (R, ) and heat ux Q(R, ) are represented as the following series forms or non-form in the problem domain: F (R, ) =
i=0

ai i (R, ) bi i (R, )
i=0

(or non-form) (or non-form)

(6) (7)

Q(R, ) =

where i (R, ) and i (R, ) can be any non-singular function in the problem domain. For illustration, the implicated nite-difference method is employed to demonstrate the analysis process. After discretization, the above governing equation combined with the F (R, ) and Q(R, ) can be expressed as the following recursive forms: 1 1 1 (Ti1,j,k 2Ti,j,k + Ti+1,j,k ) + 2 R2 Ri ( )2 1 1 (Ti,j 1,k 2Ti,j,k + Ti,j +1,k ) + Ri 2 R 1 1 (Ti+1,j,k Ti1,j,k ) + 2 H ( Z)2 (Ti,j,k1 2Ti,j,k + Ti,j,k+1 ) = 0 (8) where R, and Z are the increments in the spatial coordinates, i is the ith grid along the R coordinate, j is the j th grid along the coordinate, k is the kth grid along the Z coordinate and Ti,j,k is the temperature at the grid point (i, j, k). Using the recursive forms, a matrix equation can be expressed as AT = (9) where the matrix A is a function of the thermal properties and of the position and timescales. The components of T are the temperatures at discretized points and the components of are functions of the boundary conditions, namely the coefcients of F (R, ) and Q(R, ). The direct problem considered here is concerned with the determination of the temperatures at the nodes when the boundary conditions and other thermal properties are known.
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A R 1, 0 Z 1, 0 2.

The unknown boundary conditions at the bottom and top surfaces are 1 T = Q(R, ) H Z Z=0 at Z = 0, A R 1, 0 2

(2) (3)

T (R, , 1) = F (R, ) at Z = 1, A R 1, 0 2.

The convection boundary conditions at the inner and outer surfaces can be written as T = B1 T R R=A at R = A, 0 Z 1, 0 2 (4)

Yue-Tzu Yang et al

Figure 1. The geometry of the problem.

For the inverse problems, A can be constructed according to the known physical model and numerical methods and T can be measured by the thermocouples. Determination of the coefcients of F (R, ) and Q(R, ) is the main task to perform. De-coupling the coefcients of F (R, ) and R(R, ) from will transfer the direct formulation to the following inverse forms: AT = A (10)

where = B, B is the coefcient matrix of and is can the coefcient vector of F (R, ) and Q(R, ), then be solved by the least-squares error method as follows: = [(A1 B)T (A1 B)]1 (A1 B)T T (11)

According to the above derivation, it is possible to identify whether the solution is unique or not. The method by which to identify the properties of the solution is based on the theory of linear algebra, which will be shown in the following descriptions. If the rank of the reverse matrix is less than the number of elements of the coefcient vector, then the number of measurements in space domains needs to be increased. Furthermore, if the rank of the reverse matrix is equal to the number of elements of the coefcient vector, then the perpendicular distance from to the column space of A1 B needs to be checked. The solution becomes unique with vanishing distance. 3. Results and discussion The problem contained a number of examples to verify the accuracy, efciency and versatility of the proposed method for estimating the boundary conditions. In all examples, for the direct problem, the special interval 0.5 R 1.0 was divided into ve intervals, 0 2 was divided into eight intervals and 0.0 Z 1.0 was divided into 18 intervals. The iteration step corresponded to a mesh size of R = 0.1, = /4 and Z = 0.05. For the problems considered, the ratio of the inner to outer

where [(A1 B)T (A1 B)]1 (A1 B)T is the reverse matrix of the inverse problems and denoted as R. In equation (11) it is assumed that one ought to measure all discretized points in the problems. The realistic experimental approach is to measure only a few points or one position point in the problem. The parts of matrices R, T and corresponding to those measuring positions and times can be constructed in order to estimate the unknown conditions of the problem.
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3D inverse heat conduction

Figure 2. The estimation of the heat ux at z = 0 for example 2 without measured error.

radii, a/b = A, was 0.5, the ratio of the height of the cylinder to the outer diameter, h/b = H , was 1.5, the inner Biot number, B1 , was 0.1 and the outer Biot number, B2 was 0.1. Equations (8) and (9) were applied to obtain the temperatures at the nodes of the hollow pipe. The temperatures are assumed to be measured at all discretized points in the inverse problem. The simulated temperature in all examples is assumed to contain measurement errors. In other words, the random errors of measurements are added to the exact temperature computed from the solution of the direct problem. Thus, it can be written as Tmeasurement = Texact (1 + ) (12)

3.1. Example 1 The unknown boundary terms F (R, ) and Q(R, ) are expressed in the following form: Q(R, ) = 1 F (R, ) = 0 at Z = 0 at Z = 1.

For normal distribution errors, the probability of a random value, , in the range 3.0 3.0 is 99.43%. In the problem, the accuracy of the estimation of unknown conditions from knowledge of the temperature at measurement points is examined. As a result, the estimated solutions without measurement error ( = 0) converged to the solutions solved by the nite-difference method for all examples. Furthermore, the solutions were found to be unique through the proposed verifying method. Detailed descriptions for the problem are given as follows.

In this example, the results without measurement errors are shown in table 1, which shows that one has a very good approximation, even for two measurement points. This implies that the present method is very powerful and effective for three-dimensional inverse heat-conduction problems. The estimated results with errors 1.0% and 5.0% are also shown in table 1. In general, large errors make the estimated results deviate from the exact solution and more measuring points provide a better approximation for the results when the error measurements are included. 3.2. Example 2 The unknown normalized temperature F (R, ) is the same as for example 1, but the normalized heat ux Q(R, ) has no special form; it is expressed as follows: Q(R, 0.0 ) = 0.0
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Yue-Tzu Yang et al

Figure 3. The estimated heat ux at z = 0 with measurement errors for example 2. Table 1. Estimates of the normalized heat ux Q (R , ) and the surface normalized temperature F (R , ), for example 1 with measured error, at R = 0.8 and = 0.0 .

Q (R , )
Estimate

F (R , )
Estimate = 5% 0.8703 1.0239 1.0051 1.0003 0.9680 Exact 0.0000 0.0000 0.0000 0.0000 0.0000 = 0% 0.0000 0.0000 0.0000 0.0000 0.0000 = 1% 0.0043 0.0024 0.0007 0.0003 0.0001 = 5% 0.0211 0.0119 0.0037 0.0017 0.0005

N
2 3 6 10 18

Exact 1.0000 1.0000 1.0000 1.0000 1.0000

= 0% 1.0000 1.0000 1.0000 1.0000 1.0000

= 1% 0.9741 1.0048 1.0010 1.0001 0.9936

Q(R, 45 ) = 0.25 Q(R, 90 ) = 0.5 Q(R, 135 ) = 0.75 Q(R, 180 ) = 1.0 Q(R, 225 ) = 0.75 Q(R, 270 ) = 0.5 Q(R, 315 ) = 0.25. For this example, the estimated values without considering the measurement errors are shown in gure 2; one has a very good approximation for ten measurement points.
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Figure 3 shows a comparison of the estimated surface heat ux for = 1.0% and 5.0% with 54 and 72 measurement points for example 2. The full line is a true value. For 54 measurement points, the maximum discrepancies in heat ux at z = 0 were 16.64% and 83.2% for the 1.0% and 5.0% error cases, respectively. For 72 measurement points, the maximum discrepancies in heat ux at z = 0 were 1.63% and 8.15% for the 1.0% and 5.0% error cases, respectively. The corresponding estimated temperature at the top surface is shown in table 2. It is clear that a very good approximation was obtained for all cases.

3D inverse heat conduction

Figure 4. The estimation heat ux at z = 0 for example 3 without measured errors. Table 2. Estimates of the surface normalized temperature F (R , ), for example 2 with measured error.

F (R , )
Estimate

N
8 10 54 72

Exact

= 0%
8

= 1%

= 5%

1.000 00 1.587 29 10 1.000 00 4.3904 1010 1.000 00 6.6712 105 3.3356 104 1.000 00 6.6316 105 3.3157 104

3.3. Example 3 The unknown normalized temperature F (R, ) is the same as for example 1, but the normalized heat ux Q(R, ) has no special form, it is given as follows: Q(0.5, ) = 0.5 Q(0.6, ) = 1.0 Q(0.7, ) = 1.5 Q(0.8, ) = 1.5 Q(0.9, ) = 1.0 Q(1.0, ) = 0.5.

For this example, the estimate values without considering the measurement errors are shown in gure 4; one has a very good approximation for eight measurement points. Figure 5 shows a comparison of the estimated surface heat ux for = 1.0% and 5.0% with 54 and 72 measurement points for example 3. The full line is a true value. For 54 measurement points, the maximum discrepancies in heat ux at z = 0 were 18.0% and 74.56% for the 1.0% and 5.0% error cases, respectively. For 72 measurement points, the maximum discrepancies in heat ux at z = 0 were 4.12% and 24.3% for the 1.0% and 5.0% error cases, respectively. Table 3 shows the corresponding estimated temperature at the top surface; one has a very good approximation for all cases. For all of the examples discussed above, the magnitudes of the discrepancies in surface temperature and heat ux
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Yue-Tzu Yang et al

Figure 5. The estimated heat ux at z = 0 with measurement errors for example 3. Table 3. Estimates of the surface normalized temperature F (R , ), for example 3 with measured error.

F (R , )
Estimate

N
6 8 10 54 72

Exact

= 0%

= 1%

= 5%

1.000 00 1.613 73 106 1.000 00 1.0251 109 1.000 00 4.3244 1010 1.000 00 5.0894 105 2.5445 104 1.000 00 5.7515 105 2.8756 104

were directly proportional to the size of the measurement error and the inverse values were sensitive to the measurement error. The present results conrm that the inverse values are extremely sensitive to measurement error, which is one of the inherent characteristics of IHCPs, as mentioned by Beck et al [22] and Hensel [23]. By increasing the number of measurement points the accuracy of the estimated value is increased. 4. Conclusion The proposed method has been introduced for solving threedimensional hollow-cylinder inverse conduction problems.
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A direct inverse formulation is constructed using the reverse matrix which derives from the governing equation and the boundary conditions. Three examples have been used to show the robustness of the proposed method. From the results, it appears that the proposed method without measurement error, that is, the exact solution, can be found when using only a few point measurements. When the measurement errors are included, it is suggested that more measurement points need to be adopted for a better result in the example problem. This implies that the present model offers a great deal of exibility. Above all, the results conrm that the proposed method is effective for threedimensional inverse heat-conduction problems.

3D inverse heat conduction

References
[1] Hills R G, Mulholland G P and Matthews L K 1982 The application of the BackusGilbert method to the inverse heat conduction problem in composite media, ASME paper 82-HT-26 [2] Stolz G Jr 1960 Numerical solutions to an inverse problem of heat conduction for simple shapes J. Heat Transfer 82 206 [3] Frank I 1963 An application of least squares method to the solution of the inverse problem of heat conduction J. Heat Transfer C 85 3789 [4] Mulholland G P, Gupta B P and San Martin R L 1975 Inverse problem of heat conduction in composite media, ASME paper 75-WA/HT-83 [5] Arledge R G and Haji-Sheikh A 1978 An iterative approach to the solution of inverse heat conduction problems Numerical Heat Transfer 1 36576 [6] Krzysztof G, Cialkowski M J and Kaminski H 1981 An inverse temperature eld problem of the theory of thermal stresses Nucl. Eng. Design 64 16984 [7] Beck J V and Wolf H 1965 The non-linear inverse heat conduction problem, ASME paper 65-HT-40 [8] Fidelle T P and Zinsemeister G E 1968 A semi-discrete approximate solution of the inverse problem of transient heat conduction, ASME paper 68-WA/HT-26 [9] Beck J V 1970 Nonlinear estimation applied to the nonlinear inverse heat conduction problem Int. J. Heat Mass Transfer 13 70316 [10] DSouza N 1975 Numerical solution of one-dimensional inverse transient heat conduction by nite difference method, ASME paper 75-WA/HT-81 [11] Krutz G W, Schoenhals R J and Hore P S 1978 Application of the nite-element method to the inverse heat conduction problem Numerical Heat Transfer 1 48998

[12] Beck J V, Litkouhi B and St Clair C R Jr 1982 Efcient sequential solution of the nonlinear heat conduction problem Numerical Heat Transfer 5 27586 [13] Deverall L I and Channapragada R S 1966 An new integral equation for heat ux in inverse heat conduction J. Heat Transfer C 88 3278 [14] Burggraf O R 1964 An exact solution of the inverse problem in heat conduction theory and applications J. Heat Transfer 84 37382 [15] Sparrow E M, Haji-Sheikh A and Lundgren T S 1975 The inverse problem in transient heat conduction J. Appl. Mech. E 86 169375 [16] Trujillo D M 1978 Application of dynamic programming to the general inverse problem Int. J. Numerical Methods Eng. 12 61324 [17] Bass B R and Ott L J 1980 A nite element formulation of the two-dimensional inverse heat conduction problem Adv. Comput. Technol. 2 23848 [18] Yoshimura T and Ituka K 1985 Inverse heat conduction problem by nite element formulation Int. J. Systems Sci. 16 136576 [19] Tseng A A, Chen T C and Zhao F Z 1995 Direct sensitivity cofcient method for solving twodimensional inverse heat conduction problems by nite-element Numerical Heat Transfer B 27 291307 [20] Liu Y and Murio D A 1996 Numerical experiments in 2-D IHCP on bounded domains part I: the interior cube problem Computer Math. Applic. 31 1532 [21] Zheng H and Murio D A 1996 3D-IHCP on a nite cube Computer Math. Applic. 31 114 [22] Beck J V, Blackwell B and St Clair C R 1985 Inverse Heat Conduction Ill Posed Problem (New York: Wiley) [23] Hensel E 1991 Inverse Theory and Applications for Engineers (Englewood Cliffs, NJ: Prentice-Hall)

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