Applied Computational Fluid Dynamics

Part I: Introduction and Governing Equations

Instructor: Dr. Yang-Cheng Shih

Department of Energy and Refrigerating Air-Conditioning Engineering
National Taipei University of Technology

February 2012

Applied Computational Fluid Dynamics

 Chapter 1 Introduction

OUTLINE
1.1 General Remarks
1.2 Methods for Solving Fluid Dynamics
Problems
1.3 The Impact of Computational Fluid
Dynamics---Some Other Examples
1 4 CFD Process
1.4
1.5 Introduction to ANSYS FLUENT
1.6 Governing Equations 1
Applied Computational Fluid Dynamics
 1.1 General Remarks (1)
Preface
Practice of engineering and science has been
dramaticall altered by
dramatically b the development
de elopment of
Scientific computing
Mathematics of numerical analysis
The Internet

Computational Fluid Dynamics is based upon the

logic of applied mathematics
provides tools to unlock previously unsolved problems
is used in nearly all fields of science and engineering
Aerodynamics, acoustics, bio-systems, cosmology, geology, heat
transfer, hydrodynamics, river hydraulics, etc…

2
Applied Computational Fluid Dynamics
 1.1 General Remarks (2)
Fluid Mechanics
Mechanics-1
1
Faces of Fluid Mechanics : some of the greatest minds of
history have tried to solve the mysteries of fluid mechanics

Archimedes Da Vinci Newton Leibniz Euler

Bernoulli Navier Stokes Reynolds Prandtl

3
Applied Computational Fluid Dynamics
 1.1 General Remarks (3)
Fluid Mechanics
Mechanics-22
From mid-1800’s to 1960’s, research in fluid mechanics
focused upon
Analytical methods
Exact solution to Navier
Navier-Stokes
Stokes equations ((~80
80 known for simple
problems, e.g., laminar pipe flow)
Approximate methods, e.g., Ideal flow, Boundary layer theory
Experimental methods
Scale models: wind tunnels, water tunnels, towing-tanks, flumes,...
Measurement techniques: pitot probes; hot-wire probes; anemometers;
laser-doppler
laser doppler velocimetry; particle
particle-image
image velocimetry
Most man-made systems (e.g., airplane) engineered using build-and-test
iteration.
1950’ss – present : rise of computational fluid dynamics (CFD)
1950

4
Applied Computational Fluid Dynamics
 1.1 General Remarks (4)
History of computing

Mastodons of computing, 1945-1960

Early computer engineers thought that only a few dozen computers required
worldwide
Applications: cryptography (code breaking), fluid dynamics, artillery firing
tables, atomic weapons
ENIAC, or Electronic Numerical Integrator Analyzor and Computer, was
developed by the Ballistics Research Laboratory in Maryland and was built at
the University of Pennsylvania's Moore School of Electrical Engineering and
completed in November 1945
5
Applied Computational Fluid Dynamics
 1.1 General Remarks (5)
High performance computing
High-performance
Top 500 computers in the world compiled: www.top500.org
Computers located at major centers connected to researchers via Internet

6
Applied Computational Fluid Dynamics
 1.1 General Remarks (6)
Motivation for Studying Fluid Mechanics
Fluid Mechanics is omnipresent
p
Aerodynamics
Bioengineering and biological systems
Energy generation
Geology
Hydraulics and Hydrology
Hydrodynamics
M l
Meteorology
Ocean and Coastal Engineering
Water Resources
…numerous other examples…

7
Applied Computational Fluid Dynamics
 1.1 General Remarks (7)
Aerodynamics

8
Applied Computational Fluid Dynamics
 1.1 General Remarks (8)
Bioengineering

9
Applied Computational Fluid Dynamics
 1.1 General Remarks (9)
Energy generation

10
Applied Computational Fluid Dynamics
 1.1 General Remarks (10)
Geology

11
Applied Computational Fluid Dynamics
 1.1 General Remarks (11)
River Hydraulics

12
Applied Computational Fluid Dynamics
 1.1 General Remarks (12)
Hydraulic Structures

13
Applied Computational Fluid Dynamics
 1.1 General Remarks (13)
Hydrodynamics

14
Applied Computational Fluid Dynamics
 1.1 General Remarks (14)
Meteorology

15
Applied Computational Fluid Dynamics
 1.1 General Remarks (15)
Water Resources

16
Applied Computational Fluid Dynamics
 1.2 Methods for Solving Fluid Dynamics
Problems (1)
‰ Over the past half century, we have witnessed the rise to
importance of a new methodology for attacking the complex
problems in fluid mechanics and heat transfer. The new
methodology has become known as Computational Fluid
Dynamics (CFD).
‰ In this approach, the equations that govern a process of interest
are solved numerically. The evolution of numerical methods,
especially finite-difference methods for solving ordinary and
partial differential equations, started approximately with the
beginning of the twentieth century.
‰ The explosion in computational activity did not begin until
general availability of high-speed digital computers,
occurred in 1960s.

17
Applied Computational Fluid Dynamics
 1.2 Methods for Solving Fluid Dynamics
Problems (2)
‰ Traditionally, both experimental and theoretical methods
ha e been used
have sed to de
develop
elop designs for equipment
eq ipment and vehicles
ehicles
involving fluid flow and heat transfer. With the advent of the
digital computer, a third method, the numerical approach,
h become
has b available.
il bl
‰ Over the years, computer speed has increased much more
p y than computer
rapidly p costs. The net effect has been a
phenomenal decrease in the cost of performing a given
calculation.
‰ The suggestion here is not that computational methods will
soon completely replace experimental testing as a means to
gather information for design purpose. Rather, it is believed
that computer methods will be used even more extensively
in the future.

18
Applied Computational Fluid Dynamics
 1.2 Methods for Solving Fluid Dynamics
Problems (3)
‰ The need for experiments will probably remain for quite some
time in applications involving
in ol ing turbulent
t rb lent flow,
flo where
here it is
presently not economically feasible to utilize computational
models that are free of empiricism for most practical
configurations.
fi ti Thi situation
This it ti is i destined
d ti d tot change
h eventually,
t ll
since it has become clear that turbulent flows can be solved by
direct numerical simulation (DNS) as computer hardware and
algorithms
l i h improve
i in
i the
h future.
f The
Th prospects are also
l bright
bi h
for the increased use of large-eddy simulations (LES), where
modeling is required for only the smallest scales.
‰ In applications involving multiphase flows, boiling, or
condensation, especially in complex geometries, the
experimental method remains the primary source of design
information. Progress is being made in computational models
for these flows.

19
Applied Computational Fluid Dynamics
 1.2 Methods for Solving Fluid Dynamics
Problems (4)
Analytical Fluid Dynamics (AFD)
Mathematical analysis of governing equations,
including exact and approximate solutions.
solutions
Computational Fluid Dynamics (CFD)
Numerical solution of the governing equations
Experimental Fluid Dynamics (EFD)
Observation and data acquisition.

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Applied Computational Fluid Dynamics
1.2 Methods for Solving Fluid Dynamics Problems (5)
Analytical Fluid Dynamics
How fast do tsunamis travel in the deep ocean?
Incompressible Navier-Stokes equations

Linearized wave equation for inviscid, irrotational flow

Shallow-water approximation, l/h >> 1

For g = 32.2 ft/s2 and h=10000 ft, c=567 ft/s = 387 miles/hr

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Applied Computational Fluid Dynamics
1.2 Methods for Solving Fluid Dynamics Problems (6)
Computational Fluid Dynamics

In comparison
p to
analytical methods, which
are good for providing
solutions
l i for
f simple
i l
geometries or behavior for
limiting conditions (such
as linearized shallow
waves) CFD
water waves),
provides a tool for solving
pproblems with nonlinear
physics and complex
Animation by Vasily V. Titov, Tsunami geometry.
Inundation Mapping Efforts
Efforts, NOAA/PMEL

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Applied Computational Fluid Dynamics
1.2 Methods for Solving Fluid Dynamics Problems (7)
Experimental Fluid Dynamics

Oregon State University

Wave Research Laboratory
Model-scale experimental
facilities
Tsunami Wave Basin
L
Large Wave
W Flume
Fl
Dimensional analysis
is very important in
designing a model
experiment which represents
physics of actual problem

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Applied Computational Fluid Dynamics
1.2 Methods for Solving Fluid Dynamics Problems (8)

‰Comparison of Approaches:

24
Applied Computational Fluid Dynamics
1.2 Methods for Solving Fluid Dynamics Problems (9)

Why use CFD?

Analysis and Design
1 Simulation-based
1. Simulation based design instead of “build & test”
More cost effective and more rapid than EFD
CFD p
provides high-fidelity
g y database for diagnosing
g g flow field
2. Simulation of physical fluid phenomena that are
difficult for experiments
F ll scale
Full l simulations
i l i (
(e.g., hi andd airplanes)
ships i l )
Environmental effects (wind, weather, etc.)
Hazards ((e.g.,
g , explosions,
p , radiation,, ppollution))
Physics (e.g., planetary boundary layer, stellar evolution)
Knowledge
g and exploration
p of flow pphysics
y
25
Applied Computational Fluid Dynamics
 1.3 The Impact of Computational Fluid
Dynamics---Some
Dynamics Some Other Examples (1)

‰ Historically, the early development of CFD in the 1960s and

1970s was driven byy the needs of the aerospace
p community.y
However, modern CFD cuts across all disciplines where the
flow of a fluid is important.

26
Applied Computational Fluid Dynamics
 1.3 The Impact of Computational Fluid
Dynamics---Some
Dynamics Some Other Examples (2)
Where is CFD used?
Aerospace
Automotive
Biomedical
Chemical Processing F18 Store Separation

HVAC
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Automotive Temperature and natural
convection currents in the eye
following
f ll i laser
l heating.
h ti

27
Applied Computational Fluid Dynamics
 1.3 The Impact of Computational Fluid
Dynamics---Some
Dynamics Some Other Examples (3)

Where is CFD used?

Aerospacee Chemical Processing
Automotive
Biomedical
Chemical Processing
HVAC
Hydraulics
Marine
Oil & Gas
Power Generation
Sports

HVAC Hydraulics
28
Applied Computational Fluid Dynamics
 1.3 The Impact of Computational Fluid
Dynamics---Some
Dynamics Some Other Examples (4)
Sports
Where is CFD used?
Aerospace Marine (movie)

Automotive
Biomedical
Chemical Processing
HVAC
Hydraulics
Marine
Oil & Gas
Power Generation
Sports

Oil & Gas Power Generation

29
Applied Computational Fluid Dynamics
 1.4 CFD Process (1)

Outline of CFD Process

Model Equations
Discretization
Grid Generation
Boundary Conditions
Solve
Post-Processing
U i
Uncertainty A
Assessment
Conclusions
Example: FLOWLAB

30
Applied Computational Fluid Dynamics
 1.4 CFD Process (2)
Model Equations

Most commercial CFD codes solve the continuity,

y,
Navier-Stokes, and energy equations
Coupled, non-linear, partial differential equations
For example, incompressible form
∂u ∂v ∂w
+ + =0
∂x ∂y ∂z
∂u ∂u ∂u ∂u 1 ∂p μ ⎛ ∂ 2 u ∂ 2 u ∂ 2 u ⎞
+u +v +w =− + ⎜⎜ 2 + 2 + 2 ⎟⎟
∂t ∂x ∂y ∂z ρ ∂x ρ ⎝ ∂x ∂y ∂z ⎠
∂v ∂v ∂ρ v ∂ρ v 1 ∂p μ ⎛ ∂ 2 v ∂ 2 v ∂ 2 v ⎞
+u +v +w =− + ⎜⎜ 2 + 2 + 2 ⎟⎟
∂t ∂x ∂y ∂z ρ ∂y ρ ⎝ ∂x ∂y ∂z ⎠
∂w ∂w ∂w ∂w 1 ∂p μ ⎛ ∂ 2 w ∂ 2 w ∂ 2 w ⎞
+u +v +w =− + ⎜⎜ 2 + 2 + 2 ⎟⎟
∂t ∂x ∂y ∂z ρ ∂z ρ ⎝ ∂x ∂y ∂z ⎠
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Applied Computational Fluid Dynamics
 1.4 CFD Process (3)
Discretization
Grid Generation

Flow field must be treated as a discrete set of points

p
(or volumes) where the governing equations are
solved.
Many types of grid generation: type is usually related
to capability of flow solver.
solver
Structured grids
Unstructured grids
Hybrid grids: some portions of flow field are structured
(viscous regions) and others are unstructured
Overset (Chimera) grids

32
Applied Computational Fluid Dynamics
 1.4 CFD Process (4)
Grid Generation: Structured Grids

33
Applied Computational Fluid Dynamics
 1.4 CFD Process (5)
Grid Generation: Structured Overset Grids
Submarine Surface Ship Appendages

Moving Control Surfaces Artificial Heart Chamber

34
Applied Computational Fluid Dynamics
 1.4 CFD Process (6)
Grid Generation: Unstructured Grids

Branches in Human Lung Structured-Unstructured Nozzle Grid

35
Applied Computational Fluid Dynamics
 1.4 CFD Process (7)
Discretization: Algebraic equations
To solve NSE, we must convert governing PDE’s to algebraic equations
Fi i difference
Finite diff methods
h d (FDM)
Each term in NSE approximated using Taylor series, e.g.,
∂U U i +1 − U i
= + O ( Δx )
∂x Δx
∂ 2U U i +1 − 2U i + U i −1
( )
2
= + O Δx
∂x 2 ( Δx )
2

Finite volume methods (FVM)

Use CV form of NSE equations on each grid cell ! Most popular approach,
especially for commercial codes

Finite element methods (FEM)

Solve
S l PDE’
PDE’s bby replacing
l i continuous
i functions
f i by
b piecewise
i i approximations
i i
defined on polygons, which are referred to as elements. Similar to FDM.

36
Applied Computational Fluid Dynamics
 1.4 CFD Process (8)
Boundary Conditions

Typical
yp conditions
Wall
No-slip (u = v = w = 0)
Sli (tangential
Slip ( i l stress = 0,
0 normall velocity
l i = 0)
With specified suction or blowing
With specified
p temperature
p or heat flux
Inflow
Outflow
Interface Condition, e.g., Air-water free surface
Symmetry and Periodicity
Usually set through the use of a graphical user
interface (GUI) – click & set
37
Applied Computational Fluid Dynamics
 1.4 CFD Process (9)
Solve
Run CFD code on computer
2D and small 3D simulations
can be run on desktop
computers
p (e.g.,
( g , FlowLab))
Unsteady 3D simulations still
require large parallel computers
Monitor Residuals
Defined two ways
Change in flow variables
between iterations
Error in discrete algebraic
equation

38
Applied Computational Fluid Dynamics
 1.4 CFD Process (10)
Uncertainty Assessment

Process of estimatingg errors due to numerics and

modeling
Numerical errors
Iterative non-convergence: monitor residuals
Spatial errors: grid studies and Richardson extrapolation
Temporal errors: time-step studies and Richardson extrapolation
Modeling errors (Turbulence modeling, multi-phase
h i closure
physics, l off viscous
i t
stress t
tensor f non-
for
Newtonian fluids)
Only way to assess is through comparison with benchmark data
which includes EFD uncertainty assessment.

39
Applied Computational Fluid Dynamics
 1.4 CFD Process (11)
Conclusions 1
Conclusions-1

Capabilities of Current Technology

Complex real-world problems solved using Scientific Computing
Commercial software available for certain problems
Simulation-based
i l i b d ddesign i (i.e.,
(i logic-based)
l i b d) is i being
b i realized.
li d
Ability to study problems that are either expensive, too small, too
large,
g , or too dangerous
g to study
y in laboratory
y
Very small : nano- and micro-fluidics
Very large : cosmology (study of the origin, current state, and future
of our Universe)
Expensive : engineering prototypes (ships, aircraft)
Dangerous : explosions, response to weapons of mass destruction

40
Applied Computational Fluid Dynamics
 1.4 CFD Process (12)
Conclusions 2
Conclusions-2

Limitations of Current Technology

gy
For fluid mechanics, many problems not adequately
described by Navier-Stokes equations or are beyond
current generation computers.
Turbulence
Multi-phase physics: solid-gas (pollution, soot), liquid-gas
(bubbles, cavitation); solid-liquid (sediment transport)
Combustion and chemical reactions
Non-Newtonian fluids (blood; polymers)
Similar modeling challenges in other branches of
engineering and the sciences

41
Applied Computational Fluid Dynamics
 1.4 CFD Process (13)
Conclusions 3
Conclusions-3

Because of limitations,, need for experimental

p
research is great
However focus has changed
However,
From
Research based solely upon experimental observations
Build and test (although this is still done)
To
High-fidelity measurements in support of validation and building
new computational models.
Currently, the best approach to solving engineering
problems often uses simulation and experimentation
42
Applied Computational Fluid Dynamics
 1.4 CFD Process (14)
Example: FlowLab-1
FlowLab
Educational software that uses the power of flow
visualization through CFD to teach basic fluid mechanics
principles
i i l in i the
th engineering
i i classroom.
l
Runs Fluent's general purpose CFD code, FLUENT, and
pre-processor,
pre processor, GAMBIT, in the background, with a user-
user
friendly, student-specific graphical user interface (GUI) on
its front end.
Based on ready-to-use exercises, FlowLab eliminates the
long learning curve associated with general fluid flow
modeling packages, making it easy to deploy as part of the
undergraduate or masters-level curriculum.
Templates for Problems 15-26 – 15-88 in Cengel and Cimbala.

43
Applied Computational Fluid Dynamics
 1.4 CFD Process (15)
Example: FlowLab-2
Templates
p are
Nearly self-guided
Designed to teach specific lessons
Effect of grid resolution
Effect of domain size
Flow physics and sensitivity to parameters, e.g., diffuser angle,
airfoil angle of attack, etc.
GUI for post-processing
post processing is easy to learn
Contours
Streamlines
Vector Plots

44
Applied Computational Fluid Dynamics
 1.4 CFD Process (16)
Example: FlowLab-3

Step 1: Select template from startup menu

45
Applied Computational Fluid Dynamics
 1.4 CFD Process (17)
Example: FlowLab-4
Step
p 2:
Read
problem
overview

46
Applied Computational Fluid Dynamics
 1.4 CFD Process (18)
Example: FlowLab-5
Step
p 3:
Create
Geometry

47
Applied Computational Fluid Dynamics
 1.4 CFD Process (19)
Example: FlowLab-6
Step
p 4:
Create
Mesh

48
Applied Computational Fluid Dynamics
 1.4 CFD Process (20)
Example: FlowLab-7
Step
p 5: Solve,,
monitor residuals

49
Applied Computational Fluid Dynamics
 1.4 CFD Process (21)
Example: FlowLab-8
Step
p 6: Post-
process
Compute CD
Plot velocity
profile
Other contours

50
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (1)
1.Geometry: DesignModeler

51
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (2)

1.Geometry: DesignModeler

52
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (3)

2.Meshing

53
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (4)

3.FLUENT Solver: Setup

p

54
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (5)

3.FLUENT Solver: Setup

55
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (6)

4.FLUENT Solver: Solution

56
Applied Computational Fluid Dynamics
1.5 Introduction to ANSYS FLUENT (7)

5.Results

57
Applied Computational Fluid Dynamics
 1.6 Governing Equations (1)
■ Integral form of the general transport equation

Gauss’ divergence theorem:

Appling
A li Gauss’
G ’ divergence
di theorem,
th the
th generall transport
t t equation
ti can be
b
written as follows:

58
Applied Computational Fluid Dynamics
 1.6 Governing Equations (2)
„ The General Differential Equation
The differential equation obeying the generalized conservation
principle can be written by the general differential equation as
∂ (ρφφ) v
+ ∇ • (ρv φ ) = ∇ • (Γ∇φ ) + s − − − −(1)
∂t
φ :dependent variable, such as velocity
p
components (u,v,w),
( , , ), h or T,, k,, ε
concentration, etc.
Γ : diffusion coefficients
s : source term
The four terms of eq.(1)
q ( ) are the unsteadyy term,, the convection term,, the
diffusion term and the source term.
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Applied Computational Fluid Dynamics
 1.6 Governing Equations (3)

C
Conservation
ti form
f off th
the governing
i equations
ti off fl
fluid
id flow
fl

∂ρ v
Mass : + ∇ • (ρv ) = 0
∂t
v
∂ (ρv ) vv v
Mometum : + ∇ • (ρv v ) = −∇p + ∇ • (μ∇v ) + S M
∂t
∂ (ρh ) v
Energy : + ∇ • (ρv h ) = ∇ • (k∇T ) + ST
∂t
∂ (ρc ) v
Species : + ∇ • (ρv c ) = ∇ • (D∇C ) + SC
∂t

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Applied Computational Fluid Dynamics