Lecture5 CFD

From conservation laws to Navier-Stokes equations
Finite Volume formulation of Navier-Stokes equations

Discretization of RANSE
A generalized unstructured finite volume

discretisation - Part 1
Michel VISONNEAU
LHEEA - CNRS UMR 6598
Ecole Centrale de Nantes, Nantes, FRANCE
CFD in ship hydrodynamics - Kul.24-Z course

November - December, 2013
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A generalized unstructured finite volume discretisation - Part 1

Outline of lecture 5
From conservation laws to Navier-Stokes equations,

Finite-Volume formulation of Navier-Stokes equations,
Mass and Momentum equations,
Volume and surface integral evaluation
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Derivation according to an arbitrary velocity field
Let U d be an arbitrary velocity field and g ( x , t ) a scalar function.

g g
=
+ g Ud
t
t
For a domain Dd with a boundary Dd moving with the velocity U d ,

we have :
ZZZ
Dd
g
dV +
Dd t
ZZZ
gdV =
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ZZ
g U d n dS
Dd

This relation can be interpreted as follows :
Convective
flux
Variation of the inteIntegral of the temconvectif
of
g
gral of g in the moving = poral variation of g +
across the bounddomain Dd
on Dd
ary Dd
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Let us recall the theorem establishing the expression of the material

derivative of a volume integral.
Let Dm be a material domain. With some regularity hypothesis on the
fields, we have :
d
dt
ZZZ
g
dV +
Dm t
ZZZ
gdV =
Dm
ZZ
g U n dS
(1)
Dm
For the material domain Dm coinciding with Dd at time t, we get the

following relation :
d
dt
ZZZ
g dV =
Dm
ZZZ
ZZ
g dV +
Dd
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U U d n dS
(2)
Dd

RANSE formulation
Reynolds Averaged Navier-Stokes Equations
Mass conservation
For isothermal viscous flows, conservation laws are reduced to

momentum and mass conservation. Let us consider a domain Dd of
boundary Dd moving with the velocity U d and Dm , a material domain

coinciding with the material domain at time t.
Mass conservation :
d
dt
ZZZ
Dm
dV = 0
Momentum conservation :
ZZZ
ZZZ
ZZ
U dV =
f v dV +
T dS
dt
Dm
Dm
Dm
v
f : volumic force (for us, gravity)

T : Surface constraint T = n , : constraint tensor
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RANSE formulation
Mass conservation
For a Newtonian fluid:
= (p +
2
3
div ( U )) I + 2 D
where p is the pressure, the dynamic viscosity, I the identity tensor

and D the rate-of-strain tensor.
Using this relation leads to:
d
dt
ZZZ
Dm
U dV
f v dV

ZZ Dm
ZZ
2
p+
div ( U ) n dS +
ZZZ
Dm
2D n dS
Dm
(3)
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RANSE formulation
Mass conservation
Using relation (2) and the Gauss theorem, we get the new expression
of the mass and momentum conservation equations:
ZZZ
Dd
ZZ
ZZZ
Dd
dV +
U dV +
ZZZ
Dd
Dd
h
i

( U Ud )
n dS = 0
(4)
ZZZ
i
h

n dS =
f v dV
U ( U Ud )
Dd
Dd

ZZZ
p + div ( U ) dV +
div (2 D) dV
ZZ
Dd
(5)
where f v includes the gravity g and additional source terms to be

specified later.
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RANSE formulation
Mass conservation
Notations
Let us consider an incompressible and isothermal flow of a fluid

defined by its density and dynamic viscosity . Let Ui be the
cartesian components in directions i of velocity, fi the components of
the volume forces and p the pressure.
Momentum and mass conservation laws may be written under an
integral formulation for a volume V bounded by surfaces S , moving at
velocity U d . n is an outbound normalized normal-to-the-face vector.
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RANSE formulation
Mass conservation
From equations (4) and (5), one gets :
ZZ
ZZZ
Dd
dV +
Dd
h
i

( U Ud )
n dS = 0
(6)
ZZZ
h
i
d

Ui dV +
Ui ( U U ) n dS =
fvi dV
Dd
Dd
Dd

(7)
ZZZ
ZZZ
p+
div ( U ) dV +
2
Dij dV
3
xj
Dd
Dd xi
ZZZ
ZZ
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RANSE formulation
Mass conservation
RANSE formulation
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RANSE formulation
Mass conservation
Mean and fluctuating parts decomposition 1/3
The instantaneous velocity components and pressure are

decomposed into mean and fluctuating parts:
Ui
p
= Ui + ui0
= p + p0
(8)
which leads to the modified mass and momentum conservation

equations (also called Reynolds Averaged Navier-Stokes Equations
(RANSE)).
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RANSE formulation
Mass conservation
One gets the mean mass and momentum conservation equations:
t
ZZZ
ZZ
ZZZ
Dd
dV +
Dd

(Uj Ujd )nj dS = 0
(9)
ZZ

d
U i dV +
U i (U j Uj )nj dS +
ui0 uj0 nj dS =
Dd
D
d
d

ZZZ
2
fiv dV
p+
div ( U ) dV
3
Dd
Dd xi
ZZZ

+
2Dij dV
Dd xj
t
ZZZ
ZZ
(10)
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RANSE formulation
Mass conservation
The Reynolds stress tensor ui0 uj0 is defined by :

2
ui0 uj0 = k ij + 2t Dij + f EASM

3
(11)
where ij is the Kronecker symbol.

Terms t , k and f EASM are the turbulent viscosity coefficient, turbulent
kinetic energy and source terms associated with the non-linear EASM
turbulence closure, respectively. For isotropic linear turbulence
closures, f EASM = 0.
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RANSE formulation
Mass conservation

Once the definition of the Reynolds stresses is included in the
equations, one finally gets :
Dd
ZZZ
t
ZZZ
Dd
Dd
ZZ
ZZZ
dV +
ZZ
U i dV +
(fiv
Dd
+ fiEASM )dV
Dd

(Uj Ujd )nj dS = 0
(12)

U i (U j Ujd )nj dS =
pT
dV +
Dd xi
ZZZ
ZZZ

2eff Dij dV
Dd xj
(13)
with:
pT
= p+
eff
= + t
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div ( U ) +
2k
3
(14)

RANSE formulation
Mass conservation
Mass conservation for a fluid with uniform density
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RANSE formulation
Mass conservation
If the density is uniform and constant, then the mass conservation

equation becomes:
Z
Z

(15)
dV + ( U U d ) n dS = 0
t V
S
The displacement of a surface limiting a volume control should verify
the following spatial conservation formula (geometrical identity) :
Z
Z

dV U d n dS = 0
(16)
t V
S
And, then, even for a moving domain, mass conservation equation
reads as follows :
Z
U n dS = 0
(17)
which gives, once discretized :
Uf Sf =0
(18)
f
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RANSE formulation
Mass conservation
Reynolds Averaged Navier-Stokes Equations 1/2
This leads to further simplifications of the mean momentum equations.
(2eff Dij ) =
xj
=

U i U j
( + t )(
+
)
xj
xj xi
U i
t U j
( + t )(
) +
xj
xj
xj xi
(19)
where the reduced incompressibility condition div ( U ) = 0 has been

used to simplify this formulation.
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RANSE formulation
Mass conservation
Reynolds Averaged Navier-Stokes Equations 2/2
Using the incompressibility condition and Gauss theorem leads to the

final formulation of the momentum conservation :
ZZZ
ZZ
ZZZ

d
U i dV +
U i (U j Uj )nj dS =
(fiv + fiEASM )dV
t ZZ Dd
Dd

ZZZ
ZZ Dd
t U j
U i
nj dS +
dV
pT ni dS +
eff
xj
Dd xj xi
Dd
Dd
(20)
with:
2k
pT
= p+
(21)
3
eff
= + t
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Finite volume discretisation

Evaluation of volume integrals
Evaluation of surface integrals
Principles of finite volume discretisation
The computational domain is discretized with an unstructured grid and

each individual cell volume V is considered as a control volume where
the integral formulation of the Navier-Stokes equations has to be
satisfied.
All variables are located at the cell geometric centers of control volume
V and no hypothesis is made concerning the shape of this control
volume i.e. a control volume is made of an arbitrary number of
constitutive faces noted S .
This peculiarity is fundamental if one wants to implement local mesh
adaption strategies later on.
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Principles of finite volume discretisation
Typical unstructured control volume

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Volume integrals
If we postulate a spatial linear variation of Q leading to a second order
discretisation in space:
Q (x) = QP + (x xP ) (Q )P
(22)
with QP = Q (xP ). The integral of a function Q over a domain V is

approximated by:
ZZZ
ZZZ
QdV =
(QP + (x xP ) (Q )P )dV
V
V
ZZZ
ZZZ
(23)
= QP
dV +
(x xP ) (Q )P )dV
= QP V
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Surface integrals
The surface integral splits into a sum of faces of the discrete volume of
integration V :
ZZ
ZZ
QndS =
nQf dSf
S
f ZZS
=
n(Qf + (x xP ) (Q )f )dSf
(24)
S
f
Sf Qf
f
RR
where Sf = S ndSf is the surface-oriented vector and Qf is the value
of Q at the center of the face. All variables Q being located at the
center of cells, one has first to rebuild the value of function at the
center of the face (noted here Qf ) from the cell-centered values of the
function (QL et QR ) from each side of the face.
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Discretization of the momentum equations

Transport equation for a generic variable Q for a cell V of center C
and limited by an arbitrary number of faces f is given by :
(VQ )C + (VQ )C + (F c f F d f ) = (SQV ) + (SQf ) (25)
t
f
f
ZZ

Q (U j Ujd )nj dS
F cf
F df
= mf Qf

ZZ
Q
=
eff
nj dS
xj
S
= (U j Ujd )nj Sf
mf
. S
(26)
Terms F c f and F d f are respectively convection and diffusion fluxes

.
V and S f
across the face f , mf being the mass flux across this face. SQ
Q
are surface and volume source terms.
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Discretization of the momentum equations

For momentum equations, Q = U i and the pressure term associated
to the i momentum equation will be included in the surface source term
as:
ZZ
f
SQ
=
pT ni dS
Temporal derivatives are evaluated by upwind second-order

discretisation :
A
u ec Ac + ep Ap + eq Aq
t
(27)
(28)
Subscript c stands for the current time step, and p et q refer to

previous time steps.
Remark These coefficients will be noted eq , ep , ec or eq , ep , ec in
these lectures.
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The first term of the left-hand side of equation (25) corresponds to a

pseudo-steady term needed to stabilize the solution procedure for
steady flows. The corresponding derivative is evaluated by :
A
= (Ac Ac0 )/
(29)
Ac0 is the previous estimation of Ac within the non-linear loop. Finally,

a generic discrete transport equation reads :
(ec + 1/)(VQ )cC + (F c f F d f ) = (SQV ) + (SQf )

f
(30)
(eVQ )pC (eVQ )qC + (VQ )c0

C /
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Lecture5 CFD

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From conservation laws to Navier-Stokes equations

Finite Volume formulation of Navier-Stokes equations

A generalized unstructured finite volume

CFD in ship hydrodynamics - Kul.24-Z course

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

From conservation laws to Navier-Stokes equations,

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

From conservation laws to Navier-Stokes equations,

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

From conservation laws to Navier-Stokes equations,

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

From conservation laws to Navier-Stokes equations,

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Derivation according to an arbitrary velocity field

Derivation according to an arbitrary velocity field

Let U d be an arbitrary velocity field and g ( x , t ) a scalar function.

For a domain Dd with a boundary Dd moving with the velocity U d ,

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Derivation according to an arbitrary velocity field

This relation can be interpreted as follows :

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Derivation according to an arbitrary velocity field

Let us recall the theorem establishing the expression of the material

For the material domain Dm coinciding with Dd at time t, we get the

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

For isothermal viscous flows, conservation laws are reduced to

boundary Dd moving with the velocity U d and Dm , a material domain

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

For a Newtonian fluid:

where p is the pressure, the dynamic viscosity, I the identity tensor

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

where f v includes the gravity g and additional source terms to be

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Let us consider an incompressible and isothermal flow of a fluid

velocity U d . n is an outbound normalized normal-to-the-face vector.

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

From equations (4) and (5), one gets :

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Mean and fluctuating parts decomposition 1/3

The instantaneous velocity components and pressure are

which leads to the modified mass and momentum conservation

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Mean and fluctuating parts decomposition 2/3

One gets the mean mass and momentum conservation equations:

A generalized unstructured finite volume discretisation - Part 1

From conservation laws to Navier-Stokes equations

Mean and fluctuating parts decomposition 3/3

The Reynolds stress tensor ui0 uj0 is defined by :