Space-Time Finite Element Method For One Dimensional Piston Cylinder System

Space-time Finite Element Method for One Dimensional Piston Cylinder System
Muhammad Sadiq Sarfaraz CSE Masters Student
Institut fr Statik Technische Universitt Braunschweig
Muhammad Sadiq Sarfaraz - Institut fr Statik 1
Objectives of Student Project
To demonstrate different approaches for Fluid Structure Interaction (FSI) problems using simplified model (based on ODEs) for Piston cylinder system.
Implementation of Finite Element Method (FEM) for fluid problem in relation with its application to Fluid part for Piston cylinder system with increased complexity (1D Euler Equations) Finally to develop a monolithic (coupled) framework for the complete system using Space-time FEM
1D Piston Cylinder System
Demonstration of different approaches for FSI problems using simplified model for Piston cylinder system.
Governing Equations
spring mass system
Isentropic gas law
: mass of piston : spring stiffness : area of piston : ratio of specific heats
: displacement
: pressure
: acceleration : volume of cylinder
Governing Equations
Reformulating variables for spring-mass system

( displacement )
( velocity )
Using the fact that two arbitrary states of gas can be related through isentropic gas law and that the volume can be expressed as a function of displacement the pressure is given by:
Governing Equations for Coupled Approach
Differential Equations for
Obtained by differentiating w.r.t time Equations integrated in time as a coupled system

Governing Equations for Elimination Approach
Differential Equations for from second equation.
only. Pressure eliminated
Pressure is computed after temporal evolution of is obtained from above equations

Governing Equations for Partitioned Approach
Differential Equations for are same as considered in Coupled approach, considering constant.
4 Variable exchange 1 3 1 Step 1 for next time step
For a give time step repeatedly until
proccess1
4 is carried out
Results from Applied FSI Approaches
Input parameters
Constant parameters for Spring mass system
Constant parameters for Gas cylinder system
Input parameters
Initial Conditions
Solver for time Integration: Matlab ode23t applies Trapezoidal rule for integration. Symplectic in nature i.e. preserves geometrical structure of solution. Trapezoidal rule is A-stable and second order accurate

Displacement x(t)
For partitioned approach amplitude decreases in time
Phase plot x(m) vs v(m/s)
For partitioned approach locus of points spirals inwards i.e. demonstrating dissipative behavior
Isentropic law
For partitioned approach locus of points shrinks along the hyperbolic curve
Finite Element Formulation for Fluid problem
Finite Element Formulation for Fluid problem
Objective: Implementation of FE formulation for gas in cylinder governed by 1D Euler Equations Follwing steps are applied:
FEM for Convection Diffusion Equation
Investigate Instability 1 Proposal of Stabilized schemes FEM for Nonlinear Convection Diffusion Equation
Picard Scheme 2 Newton Scheme Spacetime FEM for Transient problems
Advection Equation 3 Burgers Equation
Investigate Instability Proposal of Stabilized schemes
Governing Equation:
Boundary conditions:
:independent variable :solution variable :convection coefficient :diffusion coefficient :source term
Weak form:
where
is the appropriate weighting function
Discretization of domain shown with isolated element
Ansatz functions for solution variable ,independent variable and weighting function for element in terms of local coordinates variable
Definition of derivatives in terms of local coordinates
where
: jacobi matrix defines transformation of derivatives between local and global variables. For given linear ansatz functions:
The resulting element matrices and Load vector

Convection Matrix:
Diffusion Matrix:
Load Vector (assuming constant source term):
Application to model problem:

Considering 10 uniform element giving
and is computed using Peclet number determines the behavior of solution
, which
Convection dominated Diffusion dominated
Analytical solution for
and
instability in solution observed for
Cause of instability for Convection dominated case (
Standard Galerkin approach does not account for the direction of flow governed by convection coefficient Numerically: the amount of diffusion introduced by Galerkin approach is less than the required amount, to get a stable solution. Approximation of convection term is same as taking its central difference approximation in Finite difference method which is same as unstable unstable.
central difference approximation
Alternate FEM Formulations studied:

1. Upwind Type Finite Elements.
2. Streamline Upwind (SU) Type Finite Elements.

3. Stabilized Formulations.
In (1) and (2) the ansatz function is different for weighting functions as compared to element solution approximation. (3) is based on addition of stabilization term in standard formulation .
Weighting functions for Upwind Type Finite Elements
FEM for Convection Diffusion Equation (Upwind type FEM)

Results for
Exact solution at nodes for optimal
Excessively diffusive solution for
Weighting functions for Streamline Upwind (SU) Type Finite Elements
FEM for Convection Diffusion Equation (SU type FEM)

Results using optimal value

Remarks on is vital for accurate solution , since it scales the additional diffusion required for stable solution. Optimal value for yields exact solution at nodes. For more general cases(e.g. unknown exact solution ,variable source term) it is not available explicitly. Remarks on Upwind and SU type FEM schemes: Upwind schemes are more diffusive as compared to SU schemes. However SU schemes result in non residual formulation, (also called Inconsistent SU ) hence do not perform well for general cases (see results for Stabilized schemes)
Stabilized Formulations
Modified Weak form:
where
Variants of Stabilized Formulations based on

1. Galerkin Least squares (GLS) approach
2. Streamline Upwind Petrov Galerkin (SUPG) approach

Stabilization parameter
For given problem ( ):
Expression for derived for the given problem using exact solution and numerical scheme.
Such analytical expression may not available for more general cases (unknown exact solution or complex source term ) For system of differential equations matrix assumes the form of
Note: For SUPG the same
is used ,which was derived for
FEM for Nonlinear Convection Diffusion Equation
Picard Scheme Newton Scheme

Governing Equation:
Nonlinearity: the convection coefficient is solution variable
Boundary conditions:
Weak Form:

Element nonlinear convection matrix from FEM discretization:
Nonlinearity: solution variable appearing in convection matrix

Solution strategies for Nonlinear System of Equations
For PICARD iteration scheme the assembly procedure is same as for linear case i.e stiffness matrices for elements are assembled to get their nonlinear Global counterpart
Solve for
iteratively until
: successive iteration levels
: specified vector norm to measure the error

:specified tolerance to end the iterative procedure

Solution strategies for Nonlinear System of Equations
For NEWTON scheme the Global residual vector is expanded around using Taylor series and set to zero neglecting higher order terms
where (Tangent stiffness matrix) Solution update: Procedure continues until


Exact solution for Burgers Equation with domain defined on
stationary solution considered ( let
Considering 20 elements with uniform spacing

Results
Picard
Newton
Convergence comparison
Newton method converges faster Quadratic or higher degree ansatz functions required for further error reduction
Space-time FEM for Transient problems
Advection Equation Burgers Equation

Considering 1D transient Convection diffusion Equation
with certain initial and boundary conditions

Discretization of Domain in Space-time FEM In Space-time FEM, the time dimension is treated as a spatial dimension.
Discretization of domain with isolated element


Space-time discontinuous Galerkin formulation Considers elements to be discontinuous in time dimension
Interface of elements at time level
Continuity in time is weakly enforced as shown in weak form for a discrete element
enforces inter-element continuity in time

Element ansatz functions for weighting function , solution approximation and independent variables , in terms of

Definition of derivatives in terms of local coordinates the element for
Jacobian of transformation between local and global variables

Stabilization term For stabilization Galerkin Least Square formulation is used (Stabilized Finite element formulation)
Stabilization parameter

Application to Linear Advection Equation
Time evolution of a unit step profile Sdd 100 elements considered for spatial domain Time evolution till seconds. Spacing of element in time is based on Courant number
Result are shown for


without stabilization
Results for
with GLS stabilization
instability

Application to Burgers Equation
Weak form for a Space-time slab

Stabilization term for the element (GLS Stabilization)
Similarly stabilization parameter
is a variable itself since it depends on solution variable

without stabilization with GLS stabilization
instability
Instability damped significantly
Space-time FEM for 1D Euler Equations

Now implementing FEM for 1D Euler Equations since we already have
Investigated stability issues regarding FEM implementation for Fluid problems and proposed remedial measures Demonstrated solution schemes for nonlinear system of equations arising from FEM application to nonlinear problems FEM method for transient problems: application to both, linear and nonlinear model problems

1D Euler Equations in Conservative form
Solution variable vector (mass, momentum, energy)
Flux vector
Flux jacobian matrix Total Energy per unit mass Total Enthalpy per unit mass Ideal gas law Ratio of specific heat values

Weak form for a Space-time Slab (element)
Stabilization term (GLS formulation)
Inter-element continuity enforced in time (Time discontinuous Galerkin formulation)

Definition of ansatz functions for weighting function, solution variables and independent variables remain the same as discussed for advection and Burgers Equation The definition of jacobian also remains unaltered Only difference is in the structure of resulting matrics since we are dealing with system of Equations (mass, momentum and energy) Stabilization parameter

Application to Shock tube problem
Initial state at
Domain:
Time evolution for:
Element spacing:
Constant parameter
and gas constant
assume the values that of Air

Total Energy
Density
Velocity
Pressure
Space-time FEM for Piston cylinder system
Space-time FEM for Piston cylinder system

Objective :To develop a monolithic framework for the given problem using Space-time FEM Steps required:
1. FEM implementation for Structural part. (Spring mass system)

2. Space-time FEM formulation for Euler Equation. (modification required to incorporate deforming domain) 3. Coupling between the Structural and Fluid part. 4. Solution procedure and Mesh update.
FEM for Spring mass system

The governing equations for are recast in form consistent with FEM Formulation
Time discontinuous Galerkin approach
solution discontinuous at nodes

Weak form for a discrete element

Ansatz function for solution variables, weighting functions and independent variable in terms of local coordinates
unknown known
Final matrix form

Results from some test cases
critically damped system damped System with force term
System with no force and damping term

Using primitive (non conservative) form of Euler Equations for which:
Primitive variables: 1.Density 2.Velocity 3. Pressure is not the Flux jacobian in primitive form
The standard matrix form for Equations remains same as for conservative case. Primitive form makes the coupling procedure simpler.
Space -time discontinuous Galerkin approach is used.


How to account for the deforming domain ?
Fluid domain deformation during time step Deformed element
Answer: Space-time FEM takes care of deforming domain automatically through the definition of jacobian matrix

Definition of Jacobian for the element in deforming domain
Unlike the non deforming domain these elements of are variables
Hence the mapping from the global to local domain is handled by Jacobian
Coupling between Structural and Fluid problems

For Monolithic(Coupled) FSI approach the Global matrices are assembled as one single system
Structure of Global matrix at interface node 1
Solution procedure and Mesh update

Steps followed:
For given time step the spatial nodes are considered explicitly known. The Global nonlinear system is solved using Picard scheme. The nodal positions for Fluid domain are updated using displacement at node 1 (from structure) employing linear interpolation. The steps above are performed repeatedly until desired convergence is achieved

Space-Time Finite Element Method For One Dimensional Piston Cylinder System

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Space-time Finite Element Method for One Dimensional Piston Cylinder System

Muhammad Sadiq Sarfaraz CSE Masters Student

Institut fr Statik Technische Universitt Braunschweig

Muhammad Sadiq Sarfaraz - Institut fr Statik 1

Objectives of Student Project

Muhammad Sadiq Sarfaraz - Institut fr Statik 2

1D Piston Cylinder System

Muhammad Sadiq Sarfaraz - Institut fr Statik 3

Muhammad Sadiq Sarfaraz - Institut fr Statik 4

spring mass system

Isentropic gas law

: mass of piston : spring stiffness : area of piston : ratio of specific heats

Reformulating variables for spring-mass system

Muhammad Sadiq Sarfaraz - Institut fr Statik 6

Governing Equations for Coupled Approach

Differential Equations for

Obtained by differentiating w.r.t time Equations integrated in time as a coupled system

Governing Equations for Elimination Approach

Differential Equations for from second equation.

only. Pressure eliminated

Pressure is computed after temporal evolution of is obtained from above equations

Governing Equations for Partitioned Approach

4 Variable exchange 1 3 1 Step 1 for next time step

For a give time step repeatedly until

Results from Applied FSI Approaches

Constant parameters for Gas cylinder system

Muhammad Sadiq Sarfaraz - Institut fr Statik 10

Results from Applied FSI Approaches

Results from Applied FSI Approaches

Muhammad Sadiq Sarfaraz - Institut fr Statik 12

Phase plot x(m) vs v(m/s)

Muhammad Sadiq Sarfaraz - Institut fr Statik 13

Muhammad Sadiq Sarfaraz - Institut fr Statik 14

Finite Element Formulation for Fluid problem

Muhammad Sadiq Sarfaraz - Institut fr Statik 15

Finite Element Formulation for Fluid problem

Picard Scheme 2 Newton Scheme Spacetime FEM for Transient problems

Advection Equation 3 Burgers Equation

Muhammad Sadiq Sarfaraz - Institut fr Statik 16

FEM for Convection Diffusion Equation

FEM for Convection Diffusion Equation

Investigate Instability Proposal of Stabilized schemes

Muhammad Sadiq Sarfaraz - Institut fr Statik 17

FEM for Convection Diffusion Equation

Muhammad Sadiq Sarfaraz - Institut fr Statik 18

FEM for Convection Diffusion Equation

is the appropriate weighting function

Discretization of domain shown with isolated element

Muhammad Sadiq Sarfaraz - Institut fr Statik 19

FEM for Convection Diffusion Equation

Muhammad Sadiq Sarfaraz - Institut fr Statik 20

FEM for Convection Diffusion Equation

Definition of derivatives in terms of local coordinates

Muhammad Sadiq Sarfaraz - Institut fr Statik 21

FEM for Convection Diffusion Equation

The resulting element matrices and Load vector

Load Vector (assuming constant source term):

Muhammad Sadiq Sarfaraz - Institut fr Statik 22

FEM for Convection Diffusion Equation

Application to model problem:

and is computed using Peclet number determines the behavior of solution

Convection dominated Diffusion dominated

Analytical solution for