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1 vues18 pagesMethods for Multiphase Computational Fluid Dynamics

Mar 28, 2019

© © All Rights Reserved

Methods for Multiphase Computational Fluid Dynamics

© All Rights Reserved

1 vues

Methods for Multiphase Computational Fluid Dynamics

© All Rights Reserved

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B.G.M. van Wachem∗ , A.E. Almstedt

Department of Thermo and Fluid Dynamics, Chalmers University of Technology, SE-412 96 Gothenburg, Sweden

Abstract

This paper presents an overview of the physical models for computational fluid dynamic (CFD) predictions of multiphase flows. The

governing equations and closure models are derived and presented for fluid–solid flows and fluid–fluid flows, both in an Eulerian and a

Lagrangian framework. Some results obtained with these equations are presented. Finally, the capabilities and limitations of multiphase

CFD are discussed.

© 2003 Elsevier B.V. All rights reserved.

Keywords: Multiphase flow; Computational fluid dynamics

gorithms. Almost all CFD codes apply extensions of

Multiphase flows are encountered in many processes in in- single-phase solving procedures, leading to diffusive or

dustrial operations. Numerous examples can be found in the unstable solutions, and require very short time-steps, or

chemical, petroleum, pharmaceutical, agricultural, biochem- CFL numbers.

ical, food, electronic, and power-generation industries. Due

In spite of the major difficulties mentioned above, signif-

to the inherent complexity of multiphase flows, from a phys-

icant progress has been made in various areas of multiphase

ical as well a numerical point of view, “general” applicable

flow CFD. In their famous article from 1967, Anderson and

computational fluid dynamics (CFD) codes are non-existent.

Jackson [1] derive the continuum equations of motion for

The reasons for the lack of fundamental knowledge on mul-

gas–particle flow. Garg and co-workers [2,3] perform im-

tiphase flows are three-fold:

pressive computations based upon these governing equa-

(1) Multiphase flow is a very complex physical phenomenon tions, obtaining bubble behaviour in a particle bed. Later,

where many flow types can occur (gas–solid, gas–liquid, many authors (for instance, [4–20]) improve the constitu-

liquid–liquid, etc.) and within each flow type several tive models and/or perform simulations for various gas–solid

possible flow regimes can exist (annular flow, jet flow, flows.

slug flow, bubbly flow, etc.). In 1975, Ishii [21] derives multiphase fluid–fluid govern-

(2) The complex physical laws and mathematical treatment ing equations from first principles, going through the details

of phenomena occurring in the presence of the two of the derivation in great detail. The inherent assumptions

phases (interface dynamics, coalescence, break-up, drag, of this derivation are slightly different from the assump-

. . . ) are still largely undeveloped. For example, to date tions applied by Anderson and Jackson [1], which constrain

there is still no agreement on the governing equations. the types of multiphase flow to which they can be applied.

In addition, proposed constitutive models are empirical Ishii [21] also gives appropriate closure models for various

but often lack experimental validation for the conditions gas–liquid flow conditions.

they are applied under. Up till the early 1980s, most computational models for

(3) The numerics for solving the governing equations and multiphase flow on an application level describe both the

closure laws of multiphase flows are extremely com- continuous phase and the dispersed phase by a so-called Eu-

plex. Very often multiphase flows show inherent oscil- lerian model. In these models the dispersed phase, like the

continuous phase, is described as a continuous fluid with ap-

∗ Corresponding author. propriate closures. Hence, one calculates only the average

E-mail address: berend@tfd.chalmers.se (B.G.M. van Wachem). local volume fraction, velocity, etc. and not the properties

URL: http://www.tfd.chalmers.se/∼berend. of each individual dispersed particle or droplet. This type

1385-8947/$ – see front matter © 2003 Elsevier B.V. All rights reserved.

doi:10.1016/j.cej.2003.08.025

82 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

η = 21 (1 + e)

a acceleration (m s−2 )

θ contribution due to particle collisions

c velocity (m s−1 )

Θ granular temperature (m2 s−2 )

C fluctuating velocity (m s−1 )

κ solids thermal conductivity (kg m−1 s−1 )

C empirical coefficient

λ solids bulk viscosity (Pa s)

Cd drag coefficient

λmfp mean free path (m)

d diameter (m)

¯ µ solids shear viscosity (Pa s)

D̄ strain rate tensor (s−1 ) µ friction coefficient

e coefficient of restitution ξ color function

f probability density function ξ tangential coefficient of restitution

f fluid phase point property ρ density (kg m−3 )

F force (kg m s−2 ) σ particle radius (m)

Fr empirical material constant (N m−2 ) σ̄¯ total stress tensor (N m−2 )

g(r) weighting function τ̄¯ viscous stress tensor (N m−2 )

g gravitational constant (m s−2 ) φ particle property, any

g velocity difference (m s−1 ) φ angle of internal friction

g0 radial distriubtion function at particle contact χ contribution due to particle collisions

I moment of inertia (kg m2 ) ω rotational velocity (s−1 )

I interphase momentum exchange due to form

and viscous drag (N s−1 ) Subscripts

J slip velocity (m s−1 ) am added mass

J impulse transfer during collision (kg m s−1 ) b dispersed phase conglomerates (e.g. bubble)

k stiffness coefficient drag drag

L interfacial area per unit volume (m−1 ) e external

m particle mass (kg) e effective

M total interphase momentum exchange (N s−1 ) f frictional

n empirical constant in frictional stress g gas phase

n number density hist history

n normal vector (m) i interface

p empirical constant in frictional stress j either phase, not k

P pressure (N m−2 ) k either phase

P impulse transfer between two particles kinetic kinetic theory

(kg m s−1 ) lift lift

q relative velocity (m s−1 ) min minimum; kick-in value

r point in space (m) max maximum

t time (s) p particle

u velocity vector (m s−1 ) r relative

U velocity component (m s−1 ) s solids phase

v velocity vector (m s−1 ) turb turbulent

V velocity component (m s−1 ) w wall

V volume (m3 )

Vr ratio of terminal velocity of a group of

particles to that of an isolated particle of modeling is discussed in Section 2. With the increase of

W velocity component (m s−1 ) computational power, however, also the Lagrangian formu-

x position vector (m) lation of the dispersed phase becomes feasible, but unfortu-

X phase indicator nately the amount of dispersed particles or droplets that can

be tracked is, even today and in the near future, very lim-

Greek letters ited. However, specific features of gas–fluid or droplet–fluid

β interphase drag constant (kg m−3 s−1 ) flow can be effectively studied [22–25]. This is discussed in

γ dissipation of granular energy (kg m−3 s−1 ) in Section 3.

γ angle between impact and normal A separate class of methods to track interfaces in fluid–

δ particle–particle overlap (m) fluid flow are volume-of-fluid (VOF), level-set or front track-

volume fraction ing methods. Although the idea behind these methods is

similar, their numerical implementation, and thus behaviour,

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 83

may differ greatly. These methods describe both fluids with Table 1

one set of equations and solve another equation for the evo- The governing equations for fluid–fluid and fluid–solid flows

lution of the interfaces between the two fluids. The equation Continuity equations (equal for both phases)

prescribing the evolution of the interface may be formulated ∂

+ ∇(v) = 0

in a Eulerian framework [26–28] or in a Lagrangian frame- ∂t

work [29,30] or in a combination of both [31]. These types Momentum equations for fluid–solid flow

∂v g

of models are described in Section 4. ρ g g + v g · ∇v g = −g ∇P + g ∇ · τ̄¯ g + g ρg g − I

∂t

∂v s

ρs s + v s · ∇v s = −s ∇P + s ∇ · τ̄¯ g + ∇ · τ̄¯ s

2. Eulerian–Eulerian modeling ∂t

− ∇Ps + s ρs g + I

Many authors propose governing equations without cit- Momentum equations for fluid–fluid flow

∂v i

ing, or incorrectly citing, a reference for the basis or deriva- ρ i i + v i · ∇v i = −i ∇P + ∇ · i τ̄¯ i + i ρi g − I

∂t

tion of the equations they employ. There are a number of

∂v j

sources for the derivation of governing equations for multi- ρj j + v j · ∇v j = −j ∇P + ∇ · j τ̄¯ j + j ρj g + I

∂t

phase systems, but the inherent assumptions in the different

derivations constrain the types of multiphase flow to which

they can be applied. There is a lot of research on the clo- where 1/Lj is the interfacial area per unit volume, Pk is the

sure models for these governing equations. Here, we give pressure in the bulk of phase k, Pki is the average pressure

a short derivation and overview of the governing equations of phase k at the interface, τ̄¯ k the shear stress in the bulk,

for various types of multiphase flows. and τ̄¯ ki represents the average shear stress at the interface.

Mass transfer between the phases is not assumed. The terms

2.1. Fluid–fluid flows (Pki − Pk )nk and nk (τ̄¯ ki − τ̄¯ k ) are identified by Ishii [21]

as the form drag and the viscous drag, respectively, making

2.1.1. Governing equations up the total drag force. The other terms can be written out as

In a fluid–fluid formulation, both phases can be averaged

over a fixed volume, cf. Ishii [21]. This volume is relatively M k =I +Pk ∇k +(Pki −Pk )∇k − (∇k ) · τ̄¯ ki (4)

large compared to the size of individual molecules. A phase

indicator function is introduced, Xk (r), which is unity when where I represents the total form and viscous drag. Accord-

the point r is occupied by phase k, and zero if it is not. ing to Ishii and Mishima [32], the last term on the right hand

Averaging over this function leads to the volume fraction of side is an interfacial shear term which is important in a sep-

both phases, arated flow. According to Ishii [21], the term (Pki − Pk )

only plays a role when the pressure at the bulk is signif-

1

k = Xk (r)dVr (1) icantly different from that at the interface as in stratified

V V

flows. For many applications both terms are negligible, and

where V is the averaging volume. Since both the continu-

ous and dispersed phases are liquids, they are treated in the M k = I + Pk ∇k (5)

same way in the averaging process. Hence, the momentum

The final resulting governing equations are shown in Table 1.

balances for both phases are the same,

∂k ρk v k 2.1.2. Closure models

+ ∇(k ρk v k v k )

∂t In the Euler–Euler concept, sometimes called the two-

= −∇ · (k Pk ) + ∇ · (k τ̄¯ k ) + k ρk g + M k (2) fluid approach, both the continuous and dispersed phases are

considered as continuous media. These models incorporate

where k is the phase number and M k is the interphase

mo-

two-way coupling, which is especially important for high

mentum exchange between the phases, with i M i = 0.

voidage flows. A drawback of these models is, however, that

The density terms ρk are averaged in the same way as the

they need complex closure relations.

velocity. The distribution of stress within both phases is im-

The interfacial momentum transfer between the liquid and

portant since the dispersed phase is considered as a fluid.

the gas includes a number of force contributions,

Hence, “jump” conditions are used to determine M k . The

interphase momentum transfer is defined as I = I drag + I am + I hist + I turb + I lift (6)

1

Mk = − (Pk nk − nk · τ̄¯ k ) where I drag denotes the form and viscous drag, I am denotes

Lj

j the added mass force which is an inertial force caused by rel-

1 ative acceleration, I hist is the history or Basset force, which

= [(Pki − Pk )nk − Pki nk − nk · (τ̄¯ ki − τ̄¯ k ) is a viscous force caused by relative acceleration, I turb de-

Lj

j notes the effect of turbulent fluctuations on the effective mo-

+ nk · τ̄¯ ki ] (3) mentum transfer, and I lift is the lift force which denotes the

84 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

transverse force caused by rotational strain, velocity gradi- where Cli,r and Cli,v are the lift force coefficients associated

ents, or the presence of walls [9]. with rotational strain and velocity gradients, respectively.

The drag force represents the mean interphase momentum From laminar, inviscid flow the value of 1/2 can be deter-

transfer coming from the local perturbations induced by the mined for the lift force coefficient for rotational strain. In lit-

dispersed phase erature, a wide range of values can be found for the lift force

coefficient, as the above equations originates from inviscid

ρk 3 Cd

I drag = j ρj |v r |v r (7) flow around a single sphere. Tomiyama et al. [37] have per-

ρj 4 db

formed experiments of single bubbles in simple shear flows

where db is the average size of the dispersed phase con- and have found positive and negative values for the lift force

glomerates (e.g. bubbles), Cd the drag coefficient [33], and coefficient, depending upon the specific bubble characteris-

v r is the local relative velocity between the dispersed phase tics. According to Lathouwers [34] the lift force coefficient

and the surrounding fluid flow. This expression for the drag in multiple bubble modelling is sometimes used to correct

is valid for relative dilute systems. As the dispersed frac- for other effects unaccounted for by present models.

tion increases, the effect of mutual hindrance between the

dispersed phase conglomerates plays an increasing role, and 2.2. Fluid–solid flows

this effect is not taken into account. Expressions to deter-

mine the drag at high dispersed phase fractions are highly 2.2.1. Governing equations

empirical of nature and applicable to a limited number of Anderson and Jackson [1] and Jackson [38,39] use a for-

systems [34]. mal mathematical definition of local mean variables to trans-

The added mass force takes into account the inertial forces late the point Navier–Stokes equations for the fluid and the

due to the relative acceleration between the phases. A general Newton’s equation of motion for a single particle directly

equation for this force is given by into continuum equations representing momentum balances

Dk v k Dj v j for the fluid and solid phases. The point variables are av-

I am = j ρk Cam − (8) eraged over regions large with respect to the particle diam-

Dt Dt

eter but small with respect to the characteristic dimension

where the added mass coefficient, Cam , is a function of the of the complete system. A weighting function, g(|x − y|),

volume fraction [35]. is introduced in forming the local averages of system point

The history force is a viscous force due to the relative variables, where |x − y| denotes the separation of two arbi-

acceleration between the two phases. Most often, this force trary points in space. The integral of g over the total space

is ignored in continuum modelling, and there is not even is normalized to unity:

full agreement of its formulation even for the single bubble ∞

case [34]. Drew and Lahey [36] give an expression for the 4π g(r)r 2 dr = 1 (13)

history force combined with the lift force, 0

9 ρj µj t a(r, t) The ‘radius’ l of function g is defined by

I hist = k √ dτ (9)

dp π 0 t−τ l ∞

g(r)r 2 dr = g(r)r 2 dr (14)

where the appropriate frame-indifferent acceleration, ac- 0 l

cording to [36], is given by

Provided g is chosen so that l satisfies a l L, where a

D j uj Dj uj is the particle radius and L is the shortest macroscopic length

a(r, t) = − − (uj − uj ) × (∇ × uj ) (10)

Dt Dt scale, averages defined should not depend significantly on

The effect of turbulence on interphase momentum transfer the particular functional form of g or its radius.

is largely unknown. An important turbulent effect comes in The gas-phase volume fraction g (x) and the particle

the form and viscous drag. The relative velocity, v r , in this number density n(x) at point x are directly related to the

equation should contain the averages of fluctuating velocity, weighting function g:

sometimes referred by as the turbulent drift velocity [5]. This

type of models typically leads to dispersive forces (∼∇j ). g (x) = g(|x − y|) dVy (15)

Vg

The lift force represents the transverse force due to rota-

tional strain, velocity gradients, or the presence of walls. A n(x) = g(|x − x p |) (16)

general equation for the lift force caused by rotational strain p

is given by

where Vg is the fluid phase volume, and x p is the position

I lift,r = j ρi Cli,r (v j − v i ) × Ω (11) of the center of particle p. The local mean value of the fluid

and the equation for the lift force caused by velocity gradi- phase point properties, f g is defined by

ents is given by

g (x)f g (x) = f (y)g(|x − y|) dVy (17)

I lift,v = j ρi Cli,v (v j − v i ) × (∇ × v i ) (12) Vg

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 85

The solid-phase averages are not defined analogous to the Note that the forces due to fluid traction are treated dif-

continuous fluid phase averages since the motion of the solid ferently in the fluid- and solid-phase momentum balances.

phase is determined with respect to the center of the particle In the particle phase, only the resultant force acting on the

and average properties need only depend on the properties center of the particle is relevant; the distribution of stress

of the particle as a whole. Hence, the local mean value of within each particle is not needed to determine its motion.

the solid-phase point properties is defined by Hence, in the solid-phase momentum balance, the resultant

forces due to fluid traction acting everywhere on the sur-

n(x)f s (x) = f s g(|x − x p |) (18) face of the particles are calculated first, then these are av-

p

eraged to the particle centers. In the fluid-phase momentum

The average space and time derivatives for the fluid and solid balance, the traction forces fluid–solid interaction are calcu-

phases follow from the above definitions. The averaging lated at the particle surface, and are employed there. Hence,

rules are then applied to the point continuity and momentum the fluid-phase traction term is given as

balances for the fluid. For the solid phase, the averaging rules

are applied to the equation of motion of a single particle p: σ̄¯ g · n(y)g|x − y| dsy

p Sp

∂v s

ρs Vp = σ̄¯ g (y)n(y) dsy + f qp + ρs Vp g (19)

∂t Sp = g|x − x p | σ̄¯ g · n(y) dsy

q=p

p Sp

where v s is the particle velocity, ρs is the particle density, Vp

is the volume of particle p, σ̄¯ g is the gas-phase stress tensor,

− ∇ a g|x−x p | (σ̄¯ g · n(y))n(y) dsy +O(∇ 2 )

Sp denotes the surface of particle p, and f qp represents the Sp

p

resultant force exerted on the particle p from contacts with

other particles. (23)

The resulting momentum balances for the fluid and solid which is a result of a Taylor series expansion in g|x − y|

phases, dropping the averaging brackets on the variables, about the center of the particle with radius a. Here, terms of

are as follows: O(∇ 2 ) and higher have been neglected. Note that the first

∂ term on the right hand side of Eq. (23) is the same as the

ρg g v g + v g · ∇v g fluid traction term in the particle-phase momentum balance.

∂t

The difference in the manner in which the resultant forces

= ∇(g σ̄¯ g ) − σ̄¯ g · n(y)g|x − y| dsy + ρg g g due to fluid traction act on the surfaces of the particles is

p Sp a key distinction between the Jackson (see Eq. (23)) and

(20) Ishii (Eq. (3)) formulations. In the Ishii [21] formulation,

applicable to fluid droplets, the fluid-droplet traction term is

the same in the gas phase and the dispersed phase governing

∂

ρs s v s + v s · ∇v s equations.

∂t

The integrals involving the traction on a particle surface

= g|x − x p | σ̄¯ g n(y) dsy + ∇ · σ̄¯ s + ρs s g (21) have been derived by [40] and are given in [38]

p Sp

I Dg v g

g|x − x p | σ̄¯ g · n(y) dsy = + ρ g s g + ρ g s

The first term on the right hand side of the gas phase equa-

p Sp s Dt

tion of motion represents the effect of stresses in the gas

(24)

phase, the second term on the right hand side represents the

traction exerted on the gas phase by the particle surfaces,

and the third term represents the gravity force on the fluid.

The first term on the right hand side of the solid-phase equa- ∇ a g|x − x p | (σ̄¯ g · n(y))n(y) dsy = −∇(s Pg )

p Sp

tion of motion represents the forces exerted on the particles

by the fluid, the second term on the right hand side rep- (25)

resents the force due to solid-solid contacts, which can be

described using concepts from kinetic theory, and the third where I is the interphase momentum transfer coefficient,

term represents the gravity force on the particles. The aver- including viscous and form drag, lift force, etc. The final

aged shear tensor of the gas phase can be rewritten with the governing equations are presented in Table 1.

Newtonian definition as Comparing the fluid–fluid and fluid–solid momentum bal-

µg ances from Table 1, the differences are two-fold. First, in the

σ̄¯ g = −Pg Ī¯ + (∇v g + (∇v g )T ) (22) fluid–solid case, the solid volume fraction multiplied by the

g

gradient of the total gas-phase stress tensor in included in

where the gas phase volume fraction is introduced in the the solid-phase momentum balance. In the fluid–fluid case,

volume averaging process. only the solid volume fraction multiplied by the gradient

86 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

of the pressure is included. Secondly, in the fluid–fluid ap- for solids concentrations applying the Richardson and Zaki

proach in the gas-phase momentum balance, the pressure correction factor [42]. 0.01 ≤ s ≤ 0.63:

carries the gas volume fraction outside the gradient opera- 3 (1 − s )s ρg |v g − v s |

tor; the shear stress carries the gas volume fraction inside the β = Cd (1 − s )−2.65 (29)

4 ds

gradient operator. In the fluid–solid approach both stresses

are treated equally with respect to the gas volume fraction Both equations lead to similar results [20].

and the gradient operators. When the gas phase shear stress

plays an important role, these differences may be significant 2.2.2.2. Kinetic theory of granular flow. When the gov-

near large gradients of volume fraction, i.e. near interfaces. erning equations derived in the previous section are used

Some authors employ liquid–liquid governing equations to to predict the behaviour of fluid–solid flows, closures are

describe gas–solid flows (for instance [4,9]) and the impact required. Closure of the solid-phase momentum equation

of the discrepancy between the two sets of governing equa- requires a description for the solid-phase stress. When col-

tions depends upon the application [20]. lisional interactions play an important role in the motion

of the particles, concepts from kinetic gas theory [45] can

2.2.2. Closure models be used to describe the effective stresses in the solid phase

resulting from particle streaming (kinetic contribution) and

2.2.2.1. Interphase momentum transfer. In dilute flows, direct collisions (collisional contribution). Constitutive re-

the interphase momentum transfer due to form and viscous lations for the solid-phase stress based on kinetic theory

drag is modelled with a model after the drag on a single concepts have been derived by Lun et al. [46] allowing for

particle in an infinite fluid, with the same equation as in the inelastic nature of particle collisions.

fluid–fluid flow: The derivation of the closures start with the Boltzmann

description of a mixture of particles. The distribution of ve-

ρg 3 Cd

I drag = s ρg |v r |v r (26) locities among a large number of particles in a volume ele-

ρs 4 dp ment dr can be represented by the distribution of their veloc-

where Cd is the drag coefficient [33,41], dp is the average ity points c in the velocity space. The number density of this

local particle diameter, and v r is the relative local velocity volume element will generally be a function of the location

between the fluid and the solid phase. Although most authors in space, r, of the time, t, as well of the velocity c. There-

take this relative velocity as the difference of the local fluid fore, the number density of the particles at volume r with

and the solid velocities, this is formally not correct; the velocity c at time t is denoted by f(c, r, t). This definition

undisturbed turbulent fluid velocity should be used instead. implies that the probable number of particles which at time

This is discussed later on. t are situated in the volume element (r, r + dr), and have

In more dense flows, the form drag and viscous drag are velocities lying in the range (c, c + dc) is f(c, r, t) dc dr,

generally combined in one empirical parameter, the inter- where f is called the probability density function.

phase drag constant β, in the modeling of the momentum We consider particles in which each particle is subject to

transfer between the two phases. The interphase momentum an external force with acceleration a. Between times t and

transfer is then written as t + dt the velocity c of any particle that does not collide

with another particle will change to c + a dt, and its position

I drag = βv r (27) vector r will change to r + c dt. The number of particles

f(c, r, t) dc dr at time t is equal to the number of particles

The drag coefficient β is typically obtained experimentally f(c+a dt, r+c dt, t+dt) dc dr if collisions between particles

from pressure drop measurements in fixed, fluidized, or set- are neglected. The change in f over dt is caused only by

tling beds, or by volume fraction dependent sedimentation collisions of particles:

experiments [42]. Ergun [43] performed measurements in

fixed liquid–solid beds at packed conditions to determine {f(c + a dt, r + c dt, t + dt) − f(c, r, t)} dc dr

the pressure drop. Based upon this model, Gidaspow [12] ∂e f

= dc dr dt (30)

proposed the drag model: ∂t

where ∂e f/∂t is the rate of change of f at a fixed point due

2s µg 7 s ρg |v g − v s |

150 + , if s > 0.2 to particle collisions. By dividing by dcdr dt and making dt

(1 − s )ds2 4 ds tend to zero, Boltzmann’s equation for f is obtained:

β=

3 Cd (1 − s )s ρg |v g − v s | (1 − s )−2.65 , if s ≤ 0.2

∂f ∂f ∂e f

4 ds + c · ∇f + a = (31)

∂t ∂c ∂t

(28) or

∂e f

Wen and Yu [44] have performed settling experiments of Df = (32)

solid particles in a liquid over a wide range of solid volume ∂t

fractions and have correlated their data and that of others where Df denotes the left hand side of Eq. (31).

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 87

Now, let φ be any particle property. If the Boltzmann ∂f ∂φ ∂φ

φ dC = [φf ]U,V,W=∞

U,V,W=−∞ − f dC = −n

equation is multiplied by φdc and integrated over the ∂C ∂C ∂C

velocity-space, the equation of change of particle properties (41)

is obtained:

in which φf → 0 as any velocity component approaches

φDf dc = nC(φ) (33) ±∞. By the same argument

∂f ∂φC ∂φ

in which the right hand term denotes the influence of bi- φ C dC = −n = −nφ − n C (42)

nary, instantaneous collisions, so it is the integrated form of ∂C ∂C ∂C

∂e f/∂t. For convenience, the fluctuating velocity C is used Using these results, we obtain the Enskog equation, which

as an independent variable instead of c: is a generalization of Maxwell’s equation:

C ≡ c − c (34)

Dnφ ∂c ∂nφC

nC(φ) = + nφ +

The dependency of f should also be changed to C, for Dt ∂r ∂r

example, for ∂f(C)/∂t Dφ ∂φ ∂φ

−n + C + a

∂f(c − c) ∂f ∂C ∂f ∂(c − c) Dt ∂r ∂C

= =

∂t ∂C ∂t ∂C ∂t Dc ∂φ ∂φ ∂c

− · − C : (43)

∂c ∂f ∂f ∂c Dt ∂C ∂C ∂r

=− + (35)

∂t ∂C ∂t ∂C Setting φ = 1, the mass balance is obtained:

Hence, ∂f/∂t and ∂f/∂r have to be replaced by, respectively, Dn ∂c

+n =0 (44)

∂f ∂c ∂f ∂f ∂c ∂f Dt ∂r

− and −

∂t ∂t ∂C ∂r ∂r ∂C This equation is also called the equation of continuity, ex-

in order to take account of the dependence of f on t and r pressing the conservation of the number of particles in the

through the dependence of C on c. Hence, the expression suspension. Inserting the equation of continuity into the En-

for Df becomes skog equation (Eq. (43)), simplifies the Enskog equation to

∂f ∂c ∂f ∂f ∂c ∂f ∂f Dφ ∂nφC

− + (c + C) − +a (36) nC(φ) = n +

∂t ∂t ∂C ∂r ∂r ∂C ∂C Dt

∂r

Now the ‘mobile operator’ or ‘time-derivative following the Dφ ∂φ ∂φ Dc ∂φ

−n + C + a −

motion’ is introduced as Dt ∂r ∂C Dt ∂C

D ∂ ∂ ∂φ ∂c

= + c − C : (45)

Dt ∂t ∂r ∂C ∂r

This is the time derivative following the mean flow. Then With φ = C, this simplified Enskog equation corresponds

Df ∂f ∂f Dc ∂f ∂f ∂c to the balance of linear momentum:

Df = +C +a − − C: (37)

Dt ∂r ∂C Dt ∂C ∂C ∂r Dc ∂nCC

n + = na + nC(C) (46)

With this, Eq. (33) can be rewritten into Dt ∂r

because C = 0. The first term denotes the change, fol-

Df ∂f ∂f Dc ∂f ∂f ∂c

φ +C +a − − C: dC lowing the motion, of momentum. The second term denotes

Dt ∂r ∂C Dt ∂C ∂C ∂r

the stress tensor due to particle movement. The first term

= nC(φ) (38) on the right hand side represent the external body-forces, as

For further development of this equation, the following in- fluid influences and gravity. The last term on the right hand

tegrals are used for the transformation: side denotes the momentum change due to collisions. The

momentum equation and the continuity equation are identi-

Df D Dφ cal with the equations of continuity and momentum derived

φ dC = φf dC − f dC

Dt Dt Dt for a continuous fluid in hydrodynamics. This provides a

D(nφ) Dφ justification for the hydrodynamical treatment of a particle

= −n (39) suspension.

Dt Dt

With φ = CC, the mean of the second moment of velocity

fluctuation is obtained from the simplified Enskog equation:

∂f ∂ ∂φ

φC dC = · φCf dC − · Cf dC

∂r ∂r ∂r DCC ∂nCCC ∂c

n + = −2nCC : + 2naC

∂nφC ∂φ Dt ∂r ∂r

= −n C (40)

∂r ∂r + nC(CC) (47)

88 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

velocity fluctuation. The second term represents the third mj

moment of velocity fluctuation. The first term on the right

hand side represents the transport of the second moment cj

n

of velocity fluctuation due to the average velocity of the mi ci

particles. The second term on the right hand side represents

the influence of the external forces. It can be readily seen, − cj

that if the force does not depend on C, this term vanishes. g

The last term represents the influences of collisions on the ci

second moment of velocity fluctuation. The balance of third

moment of velocity fluctuation is obtained by inserting φ = Fig. 1. A pair of colliding particles.

CCC:

DCCC ∂nCCCC ∂c

n + = −3nCCC : + 3naCC With Eqs. (50) and (51), the equation for P can be derived:

Dt ∂r ∂r

∂c mi mj

+ 3nCCc + nC(CC) P =− (1 + e)(g · n)n (52)

∂r mi + m j

(48) Consider the motion of the center of particle j relative to the

Balances of higher order momenta are fairly easily gener- center of the first particle, i.e. relative to axes moving with

ated. However, most methods only consider up to second the center of particle i (see Fig. 2). For such a collision to

order, and the third order term is closed with a Boussinesq occur, the center of particle j must cut a plane through (σi +

approximation, e.g. σj )2 n dn, where σi represents the radius of particle i. Hence,

the center of particle j must lie in a volume (g dt)[(σi +

CCCC = −ηe ∇CCC (49) σj )2 n dn]. In a collision between two particles, the value φj ,

representing a property of particle j, is changed to φj . Thus

where ηe is the effective viscosity, which can be related to the particle property φ for this particle is changed by the

the mean free path of the particles. amount φj − φj . The change in φj due to all collisions

In kinetic theory for granular flow, collisions are con- where particle i has a velocity in (ci , ci + dci ), particle j

sidered binary and instantaneous. Since only smooth and has a velocity in (cj , cj + dcj ), occurring in the direction in

spherically symmetrical particles are considered, the force (n, n + dn), and in time (t, t + dt) is

which either exerts on the other is directed along the line

joining their centers. Moreover, rotation is not considered. It (φj − φj )f(2) (ci , r i , cj , r i + (σi + σj )n, t)(σi + σj )2

is supposed that the effect of any external force which acts

× (g · n) dn dci dcj dr dt (53)

on the particle during collision can be neglected compared

to the dynamic effect of the collision. With these assump- f(2) (ci , r i , cj , r j , t) represents the pair probability density

tions, the velocities before and after a collision have def- function, indicating the number density of a pair of particles,

inite values, which are denoted ci , cj before the collision, where the first particle is located at r i with velocity ci , and

and ci , cj after the collision. The details of the collision it- the second particle located at r j with velocity cj at time t.

self are of no importance for the theory; it is only impor- f(2) characterizes the statistics of binary collisions.

tant to know the relation between the initial and the final

velocities.

Integration over all values of c1 and c2 gives the total

change during dt in φi , summed over all particles in dr,

Before the collision, the relative velocity of the two parti- due to collisions. Since the number of particles in dr is

cles is g ≡ (ci − cj ), and by definition g · n > 0 (otherwise

the particles move away from each other), where n is the

normal unit vector lying in the direction of the vector join-

ing the center of the two particles, defined with its origin at

the point of contact (see Fig. 1). The collision impulse P

exerted by particle j on particle i is directed along the line

n

connecting the centers,

P = mi (ci − ci ) = −mj (cj − cj ) (50)

tion of the normal component of the relative velocity, using

the coefficient of restitution e, with 0 ≤ e ≤ 1:

Fig. 2. The outlines of two possible colliding particles. Both particles

g · n = −eg · n (51) must lie in a volume (g dt)[(σi + σj )2 n dn] to possibly collide.

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 89

ndr, this integral must equal ndrC(φ)dt. Dividing by dr dt where Θ is the transfer contribution, due to the transport of

results in: φ during collision, and χ is a source-like contribution, due

to the change of property φ during collision. Note that the

nC(φ)j = (φj − φj )f(2) (ci , r i , cj , r i derivative in the parenthesis of the last term is an argument

g·n>0

to the function Θ.

+ (σi + σj )n, t)(σi + σj )2 (g · n) dn dci dcj (54) The stress tensor and the flux of fluctuating velocity are

where the condition g · n > 0 indicates that the integration

ρ 2µ 8

is to be taken over all values of n, ci , and c2 for which a ρCC = C2 Ī¯ − 1 + η(3η − 2)s g0 D̄ ¯

3 η(2 − η)g0 5

collision is impending. For the particle j the rate of increase

of property φ can be found by the same arguments as above, (59)

only by interchanging the roles of the colliding particles by

interchanging subscripts i and j and replacing n by −n. This 1 ζ 12 2 1 2

contribution may thus be written as ρC2 C = − 1+η (4η − 3)s g0 ∇ C

2 g0 5 3

12 d 2 C 2

nC(φ)i = (φi −φi )f(2) (ci , r j −(σi + σj )n, cj , r j ) + η(2η − 1)(η − 1) ( g0 ) ∇n

g·n>0 5 ds s 3n

× (σi + σj )2 (g · n) dn dci dcj (55) (60)

In early development of kinetic theory, the pair probability with the abbreviations

distribution function was expressed as the product of the two 8λ

individual probability distribution functions: ζ= (61)

η(41 − 33η)

f(2) (ci , r i , cj , r j , t) ≈ f(ci , r i , t)f(cj , r j , t) (56)

75m C2 /3π

This is called the assumption of molecular chaos. In the λ= (62)

64σ 2

molecular chaos assumption, particles are assumed to be

randomly distributed, without their volume playing a role. η = 21 (1 + e) (63)

Hence, particles may overlap. In very dilute systems this

may not lead to a large error, as the chance that two particles 5m(C2 /3π)

µ= (64)

overlap is very small. For denser gases, Eq. (56) is rewritten 15σ 2

as nm n

s = = (65)

f(2) (ci , r i , cj , r j , t) ≈ g0 f(ci , r i , t)f(cj , r j , t) (57) ρ V

where g0 is called the radial distribution function at contact. ¯

¯ = 1 (∇c + {∇c}T ) − 1 (∇ · cĪ)

D̄ (66)

g0 is equal to one for a dilute particle system, and increases 2 3

with increasing particle number density, becoming infinite For the momentum equation, the source like contribution,

as the particle system approaches the state in which the parti- χ, is zero, and thus only the transport contribution Θ re-

cles are packed so closely together that motion is impossible. mains. Thus, the total collisional contribution to the momen-

The effect of g0 is to reduce the volume in which the center tum equation has the exact same form as the stress tensor.

of any particle can lie, and so to increase the probability of Therefore, most researchers denote this contribution as ‘the

a collision. By the first assumption of molecular chaos, g0 collisional contribution to the particle–particle stress’. The

is only a function of the position and not a function of the term for the momentum equation is

velocity. The function g0 needs only to be evaluated at the

point of contact and not for every position in the system. ¯ ¯ 4 ¯

Θ̄ momentum ≡ P̄ c = ρC ηs g0 Ī

2

The above equation assumes that the two probabilities fi 3

and fj are uncorrelated. However, in most practical flows, 16µs 8 ¯

− 1 + η(3η − 2)s g0 D̄

this will not be the case, but there will be a correlation 5(2 − η) 5

between the probability density functions of two nearby

256 6¯

particles. Simonin and co-workers [22] have researched this − ηµ22 g0 D̄ + (∇ · c)Ī¯ (67)

5π 5

influence, and it is not discussed here.

The integrals, Eqs. (54) and (55), are solved by Lun et al. These equations can be directly used to solve the ensemble

[46] by using the Enskog series expansion [45] and by Jenk- averaged momentum equations for a granular material, as

ins and Richman [47] employing Grads 13 moment system they can be transformed to the hydrodynamic definitions of

[48]. For the momentum equations, the collisional contribu- viscosities and normal pressure. For the energy equation,

tion is written in the form

both Θ and χ are non-zero. The form of Θ is added in the

∂Θ(φ) ∂c ∂φ same form as the flux of fluctuating energy, and is therefore

nC(φ) = χ(φ) − − Θ (58)

∂r ∂r ∂C often described as the addition to the flux of fluctuating

90 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

energy due to collisions. These terms are properties of particles are negligible compared to particle–

particle interactions (collisions and friction) and the mean

Θ energy ≡ q c fluid-particle velocity coupling (drag). Therefore, the fluid

12ηζs 12 phase is often modelled as laminar and fluid property

=− 1 + η2 (4η − 3)s g0 correlations with the fluctuating particle velocities are

5 5

omitted.

16

+ (41 − 33η)ηs g0 At high solids volume fraction, sustained contacts be-

15π

tween particles occur. The resulting frictional stresses must

1 2 12 be accounted for in the description of the solid-phase

×∇ C η(2η − 1)

3 5 stress. Zhang and Rauenzahn [55] conclude that particle

collisions are no longer instantaneous at very high solids

d 2 C2

× (η − 1) ( g0 ) ∇n (68) volume fractions, as is assumed in kinetic theory. Several

ds s 3n

approaches have been presented in the literature to model

3/2 the frictional stress for dense packed particles, mostly orig-

48 ρ2 C2

χenergy = √ η(1 − η) g0 (69) inating from geological research groups. Typically, the fric-

π σ 3

tional stress, σ̄¯ f , is written in an incompressible Newtonian

Inserting e = 1 (η = 1) into Eq. (69) leads to χ = 0, form:

σ̄¯ f = Pf Ī¯ + µf (∇v + (∇v)T )

which shows that the energy equation becomes a conserved

(70)

quantity for systems where collisions are fully elastic.

A CFD simulation of a dense gas–solid fluidized bed is The frictional stress is added to the stress predicted by

shown in Fig. 3. This simulation has employed the kinetic kinetic theory for s > s,min :

theory of granular flow combined with the interphase mo-

mentum transfer model of Wen and Yu. It is shown by nu- Ps = Pkinetic + Pf (71)

merous authors [5,8–10,49–54] that simulations of fluidized

beds can give good qualitative prediction. µs = µkinetic + µf (72)

2.2.3. Dense particle flows Johnson and Jackson [56] propose a semi-empirical equation

In dense-phase flows, such as fluidized beds, the fluctu- for the frictional pressure, Pf

ating velocity of the fluid phase and its correlation with the (s − s,min )n

Pf = Fr (73)

(s,max − s )p

expression is valid for s > s,min , where s,min is the solids

volume fraction at which frictional stresses become impor-

tant. The order of magnitude of the frictional pressure, with

material constants determined by various authors, is shown

in Fig. 4. The frictional viscosity is then related to the fric-

tional pressure by the linear law proposed by Coulomb [60],

60

10

Ocone et al. (1993)

Johnson and Jackson (1987)

40 Johnson et al. (1990)

10 Syamlal et al. (1993)

Normal stress [Pa]

20

10

0

10

10

bed. The color indicates the solid volume fraction, red high solids volume 0.5 0.52 0.54 0.56 0.58 0.6 0.62 0.64

fraction, and blue for high gas volume fraction. (For interpretation of the Solids volume fraction [-]

references to color in this figure legend, the reader is referred to the web

version of this article.) Fig. 4. The normal frictional stress with empirical constants from [57–59].

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 91

e=0.99 tively insignificant and the unrealistic volume fraction con-

0.1 e=1.0 tours reappear.

solids volume fraction [−]

0.08 composition of the Eulerian two-fluid equations and found

a large number of terms arising from this. Hrenya and Sin-

0.06 clair [64] have modelled three of the time averaged terms

arising from this decomposition with the eddy mixing length

0.04 gradient assumption. They found significant improvement

of the results, with solids volume fraction contours similar

0.02 to experimental data. Although Ljus [19] did not use ki-

netic theory, they found the same improvement for horizon-

0 tal pipe-flow.

0 0.2 0.4 0.6 0.8 1

r/R [−] The type of time-averaging that [19,64] proposed, gives

rise to an additional term in the continuity equation. Apart

Fig. 5. The axial solids volume fraction profile for 2 values of the particle from the problems with numerical scheme this introduces, it

restitution coefficient.

also introduces scaling in the eddy viscosity coefficient with

the volume fraction. When using Favre averaging instead,

or Schaeffer [61]: the only additional terms arise in the momentum equations.

The most important term arises as the correlation between

Pf sin φ

µf = the fluctuating particle velocity and the fluctuating particle

(1/6)((∂us /∂x − ∂vs /∂y)2 + (∂vs /∂y)2 volume fraction. When this term is closed with a gradient

s

+ (∂us /∂x)2 ) + (1/4)(∂us /∂y + ∂vs /∂x)2 assumption, this leads to additional dispersion terms in the

momentum balance of the order of β∇.

(74)

Simonin and co-workers [5,14] have used a different

The stresses in the dense regime predicted by frictional stress expression for the interphase momentum transfer. In their

models are typically much larger than those predicted by model, they use not the averaged gas velocity as-is, but

kinetic theory. A comparison by Srivastava and Sundaresan recognize that the undisturbed local fluid turbulent veloc-

[62] shows that the above model is as suitable for dense ity should be used instead. The differing term, called the

gas–solid flow as more complex frictional stress models. turbulent drift velocity [68], can be modelled with a dis-

persion coefficient and the gradients of the solids and fluid

2.2.4. Dilute particle flows volume fraction. Hence, the form of the dispersive term is

The kinetic theory as derived by [46] is able to predict the same as obtained from Favre averaging. The advantage

many types of complex gas–solid flows. Sundaresan and with using the turbulent drift velocity is that it gives the

co-workers [63], however, showed that this model exhibits a order of magnitude of the coefficients in the model, as well

very strong, unrealistic degree of sensitivity to the coefficient as it dependency upon other flow properties.

of restitution, e. To illustrate this sensitivity, Fig. 5 shows

the solids volume fraction in a one dimensional vertical pipe

flow for e = 1 and 0.99. Although the prediction is fairly 3. Lagrangian modeling of the dispersed phase

good for e = 1, as shown in [17], this value of e is unrealistic.

Lower values of e give a completely incorrect prediction 3.1. Fluid–solid modeling

of the location of the solids in the tube, as was pointed

out by [64]. Almstedt and Ljus showed that in horizontal With increasing computer power, discrete particle mod-

gas–particle pipe-flow, without applying kinetic theory, the els, or Lagrangian models, have become a very useful

modelling results are even worse, leading to that all the solids and versatile tool to study the hydrodynamic behavior of

fall to the bottom of the pipe [19]. particulate flows. In these models, the Newtonian equa-

One of the important things that are missing to obtain a tions of motion are solved for each individual particle,

model suitable for dilute gas–solid flow is gas-phase turbu- and a collision model is applied to handle particle en-

lence. While the magnitude of the gas-phase turbulence is counters. Recently, such particle models have been com-

negligible in dense gas–solid flow, it may play a major role bined with an Eulerian model for the continuous phase

in more dilute flows. Several authors have researched the to simulate freely bubbling and circulating fluidized beds

gas-phase turbulence terms, which are present in the diffu- [25,69–71].

sion term after closing them with a eddy viscosity model

[65,66], and these models were successful in predicting the 3.1.1. Fluid phase

flow of extremely dilute flows. However, at slightly more The motion of the fluid phase is calculated from the

dense flows, when the drag between the gas and the solids averaged fluid-phase governing equations as presented in

92 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

Section 2.2.1. The continuity equation for the fluid phase is is calculated. The calculation of the paths of the particles

∂g ρg consists of two steps: (i) calculation of the particle motion,

+ ∇ · g v g = 0 (75) and (ii) treatment of the collision of a particle with another

∂t

particle.

and the momentum balance is The motion of individual particles is completely deter-

∂g ρg v g mined by Newton’s second law of motion. The forces acting

+ ∇(g ρg v g v g )

∂t on each particle, next to collisions, are gravity and the trac-

= −g ∇P + g ∇ · τ̄¯ g + g ρg g tion force of the fluid phase on the particle. Thus, the mo-

K mentum equation describing the acceleration of the particle

Vs,i β(v g − v s,i )δ(x − x s,i )

− i=1 K (76) is

i=1 Vs,i Vs

ms a s = ms g + Vs ∇ · τ̄¯ g − Vs ∇P + β (v g − v s ) (79)

where the compressible fluid phase stress tensor is defined s

as

where a s is the acceleration of one particle, Vs the volume of

¯ − 2 µ tr(D̄

τ̄¯ g = 2µD̄ ¯ )Ī¯ (77) one particle, P the local pressure, s the local solids volume

g 3 g

fraction, τ̄¯ g the fluid phase stress tensor, and β represents

¯ is the strain rate tensor,

where D̄ g the interphase momentum transfer coefficient.

¯ = 1 (∇v + (∇v )T )

D̄ (78)

For describing the collisions of particles, two types of

g 2 g g

approaches are possible, the hard-sphere approach and soft-

and µ the fluid-phase viscosity. sphere approach.

The last term in Eq. (76) represents the interphase mo-

mentum transfer between the fluid phase and each individ- 3.1.3. Hard-sphere approach

ual particle. δ represents a pulse function, which is one if In the hard-sphere approach, collisions between particles

its argument is zero and zero otherwise. The last term is to are assumed binary and instantaneous. The velocities of the

ensure that the interphase momentum transfer is only taken particles emerging from a collision are calculated by con-

into account in the fluid-phase momentum equation at the sidering the balance of linear and angular momenta in the

location of the corresponding particle. As was indicated collision. During a collision, energy is stored in elastic de-

earlier, a problem of this Lagrangian–Eulerian approach is formations associated with both the normal and the tangen-

the length-scale of the averaging. In the Eulerian–Eulerian tial displacements of the contact point relative to the center

approach the length scales of the averaged fluid- and of the sphere. Because the release of this energy may af-

particle-phase are equal and the “sub-grid” behavior of the fect the rebound significantly, coefficients of restitution as-

particles is described with the kinetic theory of granular sociated with both the normal and tangential components

flow. In the Lagrangian–Eulerian approach, the length-scale of the velocity at the point of contact are taken into ac-

of the fluid-phase is larger than the length-scale of the par- count. This model is employed for both particle–particle and

ticle phase. The information of fluid induced movement of particle–wall collisions.

particles, as well as particle induced movement of fluid, We consider two colliding spheres with diameters d1 and

cannot be transferred between the phases on the eddy or d2 , masses m1 and m2 , and centers located at r 1 and r 2 . The

individual particle scale. Hence, a computational cell in unit normal along the line joining the centers of two spheres

which a small cluster of particles is present is penetrated by is n = (r 1 − r 2 )/|r 1 − r 2 |. During the collision, sphere 2

the fluid-phase, similar as a fixed porous medium and the exerts an impulse J onto sphere 1. Prior to the collision the

fluid phase does not discriminate between homogeneously spheres have translational velocities c1 and c2 and angular

distributed particles or clustered particles within one cell. velocities ω1 and ω2 . The corresponding velocities after the

In reality, the fluid-phase “dodges” the particle clusters. collision are denoted by primes. The velocities before and

Particle clustering due to the local fluid flow (“micro-scale” after collision are related by

clustering) is thus not captured in the Lagrangian–Eulerian

m1 (c1 − c1 ) = −m2 (c2 − c2 ) = J (80)

approach. This shortcomings of the outlined model, in the

particle–fluid phase coupling, should be well kept in mind and

when attempting to use this simulation method. So-called

2I1 2I2

“true” direct numerical simulations can be carried out to (ω − ω1 ) = − (ω − ω2 ) = −n × J (81)

solve the actual fluid field around each particle (e.g. [72]) d1 1 d2 2

but this is extremely computationally expensive and can where, for example, I = md2 /10 is the moment of inertia

only be done for a very limited number of particles. about the center of a homogeneous sphere. In order to de-

termine the impulse J , the relative velocity q at the point

3.1.2. Solid phase of contact is defined:

For the solids, we consider flows of inelastic spheres. In a

Lagrangian calculation, the path of each individual particle q = (c1 − c2 ) − ( 21 d1 ω1 + 21 d2 ω2 ) × n (82)

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 93

With the above equations, the contact velocities before and 3.1.4. Soft-sphere approach

after the collision are given by In the soft-sphere approach the particle interactions are

modelled through a potential force. This model for contact

7 1 1 5 1 1

q −q = + J− + n(J · n) (83) forces was first proposed by [73]. The physical motivation

2 m1 m 2 2 m1 m2 for the soft-sphere approach is that when two particles

collide they actually deform. This deformation, in the

The coefficient of restitution, e, characterizes the incomplete

soft-sphere model described by the overlap displacement of

restitution of the normal component of q:

two particles, is the driving parameter of the force model.

n · q = −en · q (84) The larger the overlap displacement, the larger the repulsive

force. In such a particle–particle interaction, the particles

where 0 ≤ e ≤ 1. In collisions that involve sliding, the lose kinetic energy. When two particles slide under the

sliding is assumed to be resisted by Coulomb friction and application of a normal force, a frictional force results. Con-

the tangential and normal components of the impulse are sidering these forces, the soft-sphere model is composed

related by the coefficient of friction µ: of three mechanical elements, i.e. a spring, dashpot, and

friction slider, cf. Fig. 7. The spring simulates the effect of

|n × J | = µ(n · J ) (85) deformation and the dashpot the damping effect. The slider

simulates the sliding force between two particles. The ef-

where µ ≥ 0. Combining Eqs. (83)–(85) provides an expres-

fects of these mechanical components on particle motion

sion for the impulse transfer in the case when the collision

appear through the following parameters: the stiffness k,

is sliding:

the damping coefficient η, and the friction coefficient µ.

(1+e)(q · n)n+µ(1 + e) cot γ[q − n(q · n)] The normal component of the forces acting during particle

J (1) = (86)

1/m1 + 1/m2 contact is given by the sum of forces modelled by a spring

and a dashpot,

where γ is the angle between q and n and the superscript

1 denotes that the collision involves sliding. With small γ F n,ij = (−kn,ij δn,ij − ηn,ij v r · n)n (90)

the collision is sliding, and as γ increases the sliding stops where δ is the normal overlap between particles i and j,

when and v r is the relative velocity between the two particles.

n × q = −ξn × q (87) The tangential component of the contact force acting during

particle interaction is given by the sum of forces modelled by

or equivalently a spring and a dashpot, or a spring and a slider, depending on

the magnitude of the ratio between the normal and tangential

2(1 + ξ) component, which physically indicates if a particle is sliding

cot γ0 = (88)

7(1 + e)µ or not.

where 0 ≤ ξ ≤ 1 is the tangential coefficient of restitution.

−kt,ij δ − ηt,ij J ij , | − kt,ij δ − ηt,ij | ≤ µ|F n,ij |

Collisions with γ ≥ γ0 do not involve sliding but sticking, F t,ij = J ij

and in this case the impulse is found by combining Eqs. (83),

−µ|F n,ij | |J | , | − kt,ij δ − ηt,ij | > µ|F n,ij |

ij

(84) and (87):

(91)

(1+e)(q · n)n+(2/7)(1 + ξ)[q − n(q · n)]

J (2) = − (89) where J ij is the slip velocity at the point of contact and µ

1/m1 + 1/m2

is the friction coefficient which indicates when the interac-

In this expression, the superscript 2 denotes the collision tion between to particles is considered sliding. The force on

does not involve sliding, but sticking. The three parameters each particle in the system consists out of the above nor-

e, µ, and ξ are taken to be constant and independent of the mal and tangential forces caused by the respective particle

velocities. overlap.

Collisions with a flat wall are treated by considering the The stiffness coefficient k and the damping coefficient η

wall as a particle with infinite mass and with the appropriate may be related to physical particle properties by means of

wall values of e, µ, and ξ. Hertzian contact theory [25] and the displacement theory of

Fig. 6 shows a CFD simulation of a gas fluidized bed Mindlin and Deresiewicz [74].

employing a hard-sphere model. Various strategies to trans- The time-step which can be taken in hard-sphere collision

late the presence of the two-dimensional “disks” to a dynamics is governed by the successive time between col-

three-dimensional volume fraction are compared to each lisions. In dense systems this time-step may be very small,

other and with experiments. Although these strategies have leading to very long computational times. The time-step in

been put forward in the literature [69–71], none of them soft-sphere collision dynamics is governed by the stiffness of

give satisfying results, and three-dimensional simulations the normal and tangential forces. Unfortunately, the Hertzian

are advised here. contact theory predicts such high stiffness that in practical

94 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

Fig. 6. Ten snapshots of a visual representation of the location of the particles at equidistant times (given at the bottom of the series in ‘s’) at a superficial

gas velocity of U = 0.9 m/s. The three series on the top are simulations with different strategies to translate the presence of the two-dimensional particles

to a three-dimensional volume fraction, and the series at the bottom is an experimental result. For details, see [71].

cases this also leads to very small possible time-steps in 4. Interface tracking methods

denser suspensions. Tsuji et al. [25] have suggested to use

a lower value for the stiffness coefficient. According to When studying the behaviour of a relatively small number

[25,75,76], the physical impact of this is low, but the exact of interfaces, for instance to study a few droplets or bubbles

meaning or limits of this are unknown. in a fluid–fluid flow, methods which track the location of the

interface can be applied. One of the most well-known meth-

ods is the volume-of-fluid method [26]. In the VOF method,

the fluid location is recorded by employing a volume-of-fluid

function, or color function, which is defined as unity within

the fluid regions and zero elsewhere, hence representing the

Spring

local volume fraction of one of the phases. In practical nu-

merical simulations employing a VOF algorithm, this func-

Slider

tion is unity in computational cells occupied completely by

Dash-pot fluid of phase 1, zero in regions occupied completely by

phase 2, and a value between these limits in cells which

contain a free surface. In the VOF algorithm, the color func-

tion is discontinuous over the interface. In the closely re-

lated level-set algorithm, a color function is also employed,

but this function is continuous and having no direct phys-

ical meaning. The local volume fraction is translated from

Fig. 7. A spring–damper–dashpot system to model particle contact. the local value or gradient of the color function.

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 95

An advantage of the level-set algorithm is its simplicity accurate numerical scheme for solving the color transport

to compute derivatives of the color function, required for in- equation. However, the accurate calculation of the curvature

stance to calculate the curvature of the surface. A disadvan- of the interface, by determining the derivative of the color

tage of this approach, is that the numerical representation of function, is difficult from a numerical point of view.

the transport equation to determine the values of the color Recently, significant progress has been made in the nu-

function is prone to numerical error and leads to a loss or merics and application of the VOF and level-set algorithms,

gain of mass when calculating the local volume fractions. e.g. [77,78]. However, there is very little experimental vali-

Successful implementations of the level-set methods have dation to verify VOF or level-set simulation results. More-

been demonstrated, for instance, by [27,28]. However, sim- over, when employing the VOF algorithm, it is still difficult

ulations of gas/liquid systems using this method have not to obtain a good estimate of the curvature of the free surface.

been validated experimentally yet. A separate class of methods are the so-called front track-

In VOF methods, the color function is a semi-discontinuous ing methods [79,31] where fictitious particles are placed

function, facilitating the calculation of the properties of along the interface. The particles move with the fluid and the

each of the phases and making it possible to present an interface is reconstructed from the location of the particles.

Fig. 8. The simulation of a droplet falling upon a liquid layer in a box with hydrophobic walls. Units are in metre. For details, see [30].

96 B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98

The results are reported to be accurate, but expensive. Also, 5. Discussion and conclusion

the reconstruction of the interface can be troublesome, es-

pecially when break-up or coalescence of the interface oc- This article provides an overview of physical models and

curs. Then, this method needs to be combined with another closures employed for computational fluid dynamic predic-

method to produce accurate results [31]. tions of multiphase flows. A separate description is given

All interface tracking methods consider two separate, of the Eulerian framework and the Lagrangian framework.

incompressible fluid phases. The two phases are separated Also, a separate class of multiphase CFD models are dis-

by a reconstructed interface, from some color function or cussed, namely the interface tracking methods.

another Lagrangian representation of the interface. The Concerning the Eulerian framework, we have compared

Navier–Stokes equation for the incompressible fluid phases the different formulations for fluid–fluid flow and fluid–solid

reads flow. The differences between these formulations lie in the

fact that the points inside one particle are fully correlated to

∂u

ρ + ρ∇(uu) = −∇P + ∇ · τ̄¯ + ρg + S (92) each other unlike in a fluid droplet or bubble. For applica-

∂t tions where the gradient of the volume fraction is expected

to be small, the differences are minor. However, when the

with the continuity equation for an incompressible fluid,

gradient of the volume fraction plays an important role, for

∇ ·u=0 (93) instance in cluster formation in dilute flows, it is believed

that the two formulations will quantitatively differ.

where ρ is the density of the local fluid, P the local pressure, A number of important closures are required in the Eu-

S the surface tension, τ̄¯ the viscous stress tensor, and u the lerian framework for fluid–fluid flow. These are often not

velocity field. The velocity field holds both the liquid and accurate at high dispersed phase volume fractions. On some

the gas velocity. Viscosity and density are assumed constant of the closures, there is even a dispute on their formulation,

in each of the phases, but may vary from phase to phase, while others are difficult to implement numerically.

with values ρi and µi for phase i. For the fluid–solid Eulerian closure models this article

In the standard VOF or set-level methods, a transport explains the kinetic theory starting, from first principles by

equation to determine the evolution of the color function is deriving the Boltzmann and Enskog equations. The resulting

solved [26] equations give a powerful basis to implement further closure

models, for example, for fluid phase turbulence interactions

∂ξ with the particles. A particle collision model is employed

+ u · ∇ξ = 0 (94) taking into account the inelastic nature of particles, but ne-

∂t

glecting the particle rotation. The probability correlation be-

in which ξ is represented as a color function, denoting either tween two colliding particles due to the flow of the fluid is

phase 1 or phase 2. In the level-set method the scalar ξ is neglected, but it is expected that this is an important phe-

a smooth function, and in the VOF method ξ represents the nomenon, especially in dilute flows where the fluid phase

local volume fraction of phase 1. plays a dominant role. The final closures arising from the

The first VOF type approach was suggested by [26]. Al- kinetic theory of granular flow are presented, which have

though this scheme is still often applied, it performs badly been used with a fair amount of success in fluid–solid calcu-

on the Rudman translation test [80], in which the fluid is lations. Also, a short discussion is given of physical features

translated diagonally over the mesh, and the Rider–Kothe arising from dilute and dense flows.

reversed single vortex test [81], in which the fluid is con- In the Lagrangian framework, two common methods are

servedly rotated. Also other piecewise constant schemes used in fluid–solid modelling: i.e. the hard-sphere approach

(e.g. [82]) show a large amount of smearing of the interface and the soft-sphere approach. In the hard-sphere approach,

and a violation of the conservation of each of the phases particle collisions are assumed binary and instantaneous, like

[77]. The application of so-called surface sharpening mod- the collision between to billiard balls. This might be an ap-

els, as present in some commercial CFD codes, can some- propriate model for dilute flows, but for dense flows colli-

what prevent the smearing of the interface. sions are far from binary and instantaneous. An alternative to

Piecewise linear schemes are able to track a linear surface, the hard-sphere approach, is the soft-sphere approach, where

including its orientation. Youngs’s VOF method [83] and particles can overlap and particle interactions can be en-

the stream scheme [84] are examples of these. This piece- during. This is modelled by a slider–spring–dashpot model,

wise linear profile obtained from these methods more closely with associated friction, spring, and damping coefficients.

represents the actual interface geometry. These schemes are When employing physical values for these coefficients, un-

much more complex then piecewise constant schemes, espe- fortunately, the equations become stiff and numerically hard

cially in three dimensions, but they have been shown to be to solve.

significantly more accurate in numerical tests [30,80,81,84]. Interface tracking methods, of which the volume-of-fluid

An example of a falling and colliding droplet calculated with model is the most common in multiphase flow, can be

a Lagrangian piecewise linear method is shown in Fig. 8. employed to study the behaviour of a small number of

B.G.M. van Wachem, A.E. Almstedt / Chemical Engineering Journal 96 (2003) 81–98 97

interfaces. The idea behind these interface tracking methods [12] D. Gidaspow, Multiphase Flow and Fluidization, first ed., Academic

is that the same set of equations is solved for predicting the Press, San Diego, 1994.

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Thesis, University of Twente, The Netherlands, 1990.

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ity and density which can locally vary due to the local fluid, interactions between colliding particles and a homogeneous isotropic

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ent ways formulating and solving this equation. Interface 228.

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coefficient of restitution on stresses developed by sheared granular

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From this review it has hopefully become apparent that Ph.D. Thesis, Princeton University, Princeton, 1991.

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Acknowledgements [19] C. Ljus, On Particle Transport and Turbulence Modification in

air-particle flows, Ph.D. Thesis, Chalmers University of Technology,

Göteborg, Sweden, 2000.

Berend van Wachem is a former Ph.D. student of C.M. van

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den Bleek and has received excellent guidance during his Comparative analysis of CFD models of dense gas–solid systems,

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