一种新的并行自适应网格有限元算法

给出了一种新的适用于流体力学问题的并行自适应有限元算法。首先，基于初始稀网格上获得的事后误差估算值，应用反复谱对剖分方法对初网格进行划分，使各子域上总体误差近似相等，从而解决并行自适应计算中的负载平衡问题。然后在各处理器上独立地求解整体问题，并进行指定子域上的网格自适应处理。最后将各子域上的自适应网格组合成一个整体网格，应用基于粘接元技术的区域分裂法在该网格上获得最终解。文末给出了数值实验结果。     

非线性最小二乘跟踪的对偶变量变分方法

最小二乘跟踪方法是近几年提出的一种计算动力系统跟踪轨迹的方法.基于最小二乘跟踪的灵敏度分析算法可以有效避免传统的非线性系统灵敏度分析方法中的病态初值问题,因此其在混沌系统灵敏度分析方面有着重要的应用.针对非线性的最小二乘跟踪问题,首先将其重新描述为带有约束的非线性最优控制问题,引入协态变量并将系统的哈密顿函数表示为关于状态变量和协态变量的函数.然后将目标函数的积分时间离散化,根据对偶变量变分原理,以离散区间两端的状态变量作为独立变量,用Lagrange插值多项式近似离散区间内的状态变量和协态变量,进而将非线性最优控制问题转化为求解非线性方程组问题.这种算法无需对原问题做线性化处理,避免了复杂的线性化过程以及可能因此造成的误差,同时为求解非线性最小二乘跟踪问题提供了新的思路.根据最小二乘方法可以得到两条设计参数有微小变化的状态轨迹,基于这两条状态轨迹可进一步计算出系统关于设计参数的灵敏度,范德波振子作为数值算例验证了该方法在求解最小二乘跟踪问题以及计算非线性系统灵敏度时的有效性.      

Optimal control of attitude for coupled-rigid-body spacecraft via Chebyshev-Gauss pseudospectral method

The attitude optimal control problem(OCP) of a two-rigid-body spacecraft with two rigid bodies coupled by a ball-in-socket joint is considered. Based on conservation of angular momentum of the system without the external torque, a dynamic equation of three-dimensional attitude motion of the system is formulated. The attitude motion planning problem of the coupled-rigid-body spacecraft can be converted to a discrete nonlinear programming(NLP) problem using the Chebyshev-Gauss pseudospectral method(CGPM). Solutions of the NLP problem can be obtained using the sequential quadratic programming(SQP) algorithm. Since the collocation points of the CGPM are Chebyshev-Gauss(CG) points, the integration of cost function can be approximated by the Clenshaw-Curtis quadrature, and the corresponding quadrature weights can be calculated efficiently using the fast Fourier transform(FFT). To improve computational efficiency and numerical stability, the barycentric Lagrange interpolation is presented to substitute for the classic Lagrange interpolation in the approximation of state and control variables. Furthermore, numerical float errors of the state differential matrix and barycentric weights can be alleviated using trigonometric identity especially when the number of CG points is large. A simple yet efficient method is used to avoid sensitivity to the initial values for the SQP algorithm using a layered optimization strategy from a feasible solution to an optimal solution. Effectiveness of the proposed algorithm is perfect for attitude motion planning of a two-rigid-body spacecraft coupled by a ball-in-socket joint through numerical simulation.     

Inverse design of supersonic diffuser with flexible walls using a Genetic Algorithm

An efficient algorithm for the design optimization of the compressible fluid flow problem through a flexible structure is presented. The methodology has three essential parts: first the behavior of compressible flow in a supersonic diffuser was studied numerically in quasi-one-dimensional form using a flux splitting method. Second, a fully coupled sequential iterative procedure was used to solve the steady state aeroelastic problem of a flexible wall diffuser. Finally, a robust Genetic Algorithm was implemented and used to calculate the optimum shape of the flexible wall diffuser for a prescribed pressure distribution.     

A new approach for computing the steady state fluid–structure interaction response of periodic problems

A special type of fluid–structure interaction (FSI) problems are problems with periodic boundary conditions like in turbomachinery. The steady state FSI response of these problems is usually calculated with similar techniques as used for transient FSI analyses. This means that, when the fluid and structure problem are not simultaneously solved with a monolithic approach, the problem is partitioned into a fluid and structural part and that each time step coupling iterations are performed to account for strong interactions between the two sub-domains. This paper shows that a time-partitioned FSI computation can be very inefficient to compute the steady state FSI response of periodic problems. A new approach is introduced in which coupling iterations are performed on periodic level instead of per time step. The convergence behaviour can be significantly improved by implementing existing partitioned solution methods as used for time step coupling (TSC) algorithms in the time periodic coupling (TPC) framework. The new algorithm has been evaluated by comparing the convergence behaviour to TSC algorithms. It is shown that the number of fluid–structure evaluations can be considerably reduced when a TPC algorithm is applied instead of a TSC. One of the most appealing advantages of the TPC approach is that the structural problem can be solved in the frequency domain resulting in a very efficient algorithm for computing steady state FSI responses.     

自主泳动弹性绳的轨迹模拟

研究柔性结构与流体间耦合作用,可以促进软体机器人的发展.通过速度快、精度高的数值模拟方法模拟水下机器人的实时运动轨迹,可以为真实实验提供测试方向与理论牵引,增大实验成功的可能性.本文研究有自主运动趋势的弹性绳在二维流场中的运动轨迹.首先,对弹性绳离散化建模并同时考虑拉压与扭转弹性力,从能量角度建立动力学方程,此模型可以较为真实地反映弹性绳内力对其运动产生的作用.然后基于半拉格朗日法建立流体求解器. 最后,提出简化的基于动量方程的浸入边界法作为耦合算法,通过直接修正网格速度代替浸入边界力法中力源项的作用.使用这种算法求解耦合作用兼具简便性与快速性.对弹性绳模型、流体模型与简化耦合模型依次解算,模拟了正弦形式波动弹性绳在水中的运动轨迹.结果显示,弹性绳在弹性内力与流固相互作用力共同影响下,该种新的浸入边界法可以实现对水下弹性绳运动轨迹的模拟.数值实验显示弹性绳的自主运动参考模型的初相位改变时,其前进方向会发生改变.该仿真模拟算法与平台可以为细长形软体水生机器人的研发提供参考.      

An algorithm for the computation of multiple Hopf bifurcation points based on Pade approximants

Recently, a numerical method was proposed to compute a Hopf bifurcation point in fluid mechanics. This numerical method associates a bifurcation indicator and a Newton method. The former gives initial guesses to the iterative method. These initial values are the minima of the bifurcation indicator. However, sometimes, these minima do not lead to the convergence of the Newton method. Moreover, as only a single initial guess is obtained for each computation of the indicator, the computational time to obtain a Hopf bifurcation point can be quite long. The present algorithm is an enhancement of the previous one. It consists in automatically computing several initial guesses for each indicator curve. The majority of these initial values leads to the convergence of the Newton method. This method is evaluated through the problem of the lid‐driven cavity with several aspect ratios in the framework of the finite element analysis of the 2D Navier–Stokes equations. The results prove the efficiency and the robustness of the proposed algorithm. Copyright © 2011 John Wiley & Sons, Ltd.     

Symplectic multi-level method for solving nonlinear optimal control problem

By converting an optimal control problem for nonlinear systems to a Hamiltonian system,a symplecitc-preserving method is proposed.The state and costate variables are approximated by the Lagrange polynomial.The state variables at two ends of the time interval are taken as independent variables.Based on the dual variable principle,nonlinear optimal control problems are replaced with nonlinear equations.Furthermore,in the implementation of the symplectic algorithm,based on the 2N algorithm,a multilevel method is proposed.When the time grid is refined from low level to high level,the initial state and costate variables of the nonlinear equations can be obtained from the Lagrange interpolation at the low level grid to improve efficiency.Numerical simulations show the precision and the efficiency of the proposed algorithm in this paper.     

基于Elman神经网络和Kalman滤波的捷联惯导精对准

在采用Kalman滤波进行捷联惯导精对准时,当模型存在误差或系统噪声不能反映实际噪声时,会降低滤波精度甚至导致滤波发散.针对这个问题,提出基于Elman神经网络和Kalman滤波的捷联惯导精对准方法.首先对已知噪声统计特性的系统进行Kalman滤波,将稳定可靠的状态估值作为网络期望输出用来训练Elman网络,然后再用训练好的网络对未知噪声统计特性系统进行状态估计.利用仿真数据对该算法进行验证,结果表明该算法能够克服Kalman滤波精对准的缺陷,提高了对准精度,尤其是航向角的精度.     

颗粒群碰撞搜索及CFD-DEM耦合分域求解的推进算法研究

在采用计算流体力学-离散元耦合方法(computational fluiddynamics-discrete element method, CFD-DEM)进行固液两相耦合分析时, 颗粒计算时间步的选取直接影响到耦合计算精度和计算效率. 为此, 本文选取每个目标颗粒为研究对象, 引入插值函数计算时间步的运动位移, 构建可变空间搜索网格; 通过筛选可能碰撞颗粒建立搜索列表, 采用逆向搜索方式判断碰撞颗粒, 从而提出一种改进的DEM方法(modified discreteelement method, MDEM). 该算法在颗粒群与流体耦合计算中, 颗粒计算初始时间步选取不受颗粒碰撞时间限制, 通过自动调整和修正实现大步长, 由颗粒和流体耦合条件实时更新流体计算时间步, 使颗粒计算时间步选取过小导致计算效率低、选取过大导致颗粒碰撞漏判的问题得以解决, 为颗粒与流体耦合的数值模拟提供了行之有效的计算方法. 通过两个颗粒和多个颗粒的数值模拟, 得到的颗粒间碰撞力、碰撞位置及次数, 与理论计算结果的相对误差均低于2%, 与传统的DEM碰撞搜索算法相比, 在选取的3种计算时间步均不会影响计算精度, 且有较高的计算效率. 通过多个颗粒与流体的耦合数值模拟, 采用传统的CFD-DEM方法, 只有颗粒计算时间步选取10$^{-6}$ s或更小才能得到精确解, 而采用本文方法取10$^{-4}$ s也能够得到精确解, 避免了颗粒碰撞随时间步增大而出现的漏判问题, 且计算耗时降低了16.7%.      

Shape optimization of a body located in low Reynolds number flow

The purpose of this study is to perform a numerical application of the shape optimization formulation of a body located in an incompressible viscous flow field. The formulation is based on an optimal control theory in which a performance function of the fluid force is introduced. The performance function should be minimized satisfying the state equation. This problem can be transformed into the minimization problem without constraint condition by the Lagrange multiplier method and the adjoint equations using adjoint variables corresponding to the state equations. As a numerical study, the drag force minimization problem in the steady Stokes flow, which means approximated equation of the low Reynolds number Navier–Stokes equation is carried out. After that, the unsteady Navier–Stokes flow is analysed. As the minimization algorithm, the steepest descent method is successfully applied. Copyright © 2005 John Wiley & Sons, Ltd.     

Optimization of heat‐transfer rate into time‐periodic two‐dimensional Stokes flows

The periodic boundary displacement protocol leading to the optimum wall‐to‐fluid heat‐transfer rate, or to the most efficient mixing rate, in 2‐D annular Stokes flows is determined by calculating the steady periodic velocity and temperature fields. To obtain the steady periodic state one usually solves the dynamical system obtained after the spatial coordinates have been discretized. Here, we calculate the steady periodic state using an implicit method based on the discretization of the time coordinate over a period and the asymptotic regime is enforced by the periodicity condition in the computed temperature field. The obtained system of equations is solved using a Newton‐type iterative algorithm with invariant Jacobian. At each iteration step, the sparse linearized system is solved using a multi‐grid algebraic technique of rapid convergence. From a computational point of view and for the problem considered here, this method is an order of magnitude faster than the one based on a spatial discretization. Copyright © 2006 John Wiley & Sons, Ltd.     

Control strategy of optimal deployment for spacecraft solar array system with initial state uncertainty

A control strategy combining feedforward control and feedback control is presented for the optimal deployment of a spacecraft solar array system with the initial state uncertainty. A dynamic equation of the spacecraft solar array system is established under the assumption that the initial linear momentum and angular momentum of the system are zero. In the design of feedforward control, the dissipation energy of each revolute joint is selected as the performance index of the system. A Legendre pseudospectral method (LPM) is used to transform the optimal control problem into a nonlinear programming problem. Then, a sequential quadratic programming algorithm is used to solve the nonlinear programming problem and offline generate the optimal reference trajectory of the system. In the design of feedback control, the dynamic equation is linearized along the reference trajectory in the presence of initial state errors. A trajectory tracking problem is converted to a two-point boundary value problem based on Pontryagin’s minimum principle. The LPM is used to discretize the two-point boundary value problem and transform it into a set of linear algebraic equations which can be easily calculated. Then, the closed-loop state feedback control law is designed based on the resulting optimal feedback control and achieves good performance in real time. Numerical simulations demonstrate the feasibility and effectiveness of the proposed control strategy.     

Control of the motion of a vessel with a heavy inhomogeneous liquid

The problem of controlling the internal waves inside a closed rectangular cavity filled with a heavy two-layer fluid is considered in the linear approximation. The fluid is assumed to be stably stratified, ideal, and incompressible. The controlling horizontal force is applied to the body containing the cavity. It is assumed that at the initial moment there are no oscillations of the fluid and the interface is horizontal. The problem is to bring the vessel as a whole into a prescribed state of linear motion without relative wave motion of the fluid. The Cauchy-Poisson problem and the self-consistent integro-differential equation of the vessel motion are solved using the Fourier method and taking into account the reaction of the internal waves. On the basis of an analysis of the corresponding generalized momentum problem, approaches are proposed for solving the problem of control. It is shown that a control action with a sufficiently high order of Steklov smoothness ensures the approximate solution of the control problem with the required accuracy for all the characteristics of the motion of the hybrid oscillating system under consideration.Translated from Izvestiya Rossiiskoi Akademii Nauk, Mekhanika Zhidkosti i Gaza, No. 3, pp. 11–22, May–June, 1995.The study was performed with financial support from the Russian Foundation for Fundamental Research (project No. 94-01-01368).     

A computational framework for fluid–porous structure interaction with large structural deformation

We study the effect of poroelasticity on fluid–structure interaction. More precisely, we analyze the role of fluid flow through a deformable porous matrix in the energy dissipation behavior of a poroelastic structure. For this purpose, we develop and use a nonlinear poroelastic computational model and apply it to the fluid–structure interaction simulations. We discretize the problem by means of the finite element method for the spatial approximation and using finite differences in time. The numerical discretization leads to a system of non-linear equations that are solved by Newton’s method. We adopt a moving mesh algorithm, based on the Arbitrary Lagrangian–Eulerian method to handle large deformations of the structure. To reduce the computational cost, the coupled problem of free fluid, porous media flow and solid mechanics is split among its components and solved using a partitioned approach. Numerical results show that the flow through the porous matrix is responsible for generating a hysteresis loop in the stress versus displacement diagrams of the poroelastic structure. The sensitivity of this effect with respect to the parameters of the problem is also analyzed.

     

A numerical approximation of the thermal coupling of fluids and solids

In this article we analyze the problem of the thermal coupling of fluids and solids through a common interface. We state the global thermal problem in the whole domain, including the fluid part and the solid part. This global thermal problem presents discontinuous physical properties that depend on the solution of auxiliary problems on each part of the domain (a fluid flow problem and a solid state problem). We present a domain decomposition strategy to iteratively solve problems posed in both subdomains and discuss some implementation aspects of the algorithm. This domain decomposition framework is also used to revisit the use of wall function approaches used in this context. Copyright © 2008 John Wiley & Sons, Ltd.     

优化迭代步长的两种改进增量谐波平衡法

增量谐波平衡法(IHB法)是一个半解析半数值的方法, 其最大优点是适合于强非线性系统振动的高精度求解. 然而, IHB法与其他数值方法一样, 也存在如何选择初值的问题, 如初值选择不当, 会存在不收敛的情况. 针对这一问题, 本文提出了两种基于优化算法的IHB法: 一是结合回溯线搜索优化算法(BLS)的改进IHB法(GIHB1), 用来调节IHB法的迭代步长, 使得步长逐渐减小满足收敛条件; 二是引入狗腿算法的思想并结合BLS算法的改进IHB法(GIHB2), 在牛顿-拉弗森(Newton-Raphson)迭代中引入负梯度方向, 并在狗腿算法中引入2个参数来调节BSL搜索方式用于调节迭代的方式, 使迭代方向沿着较快的下降方向, 从而减少迭代的步数, 提升收敛的速度. 最后, 给出的两个算例表明两种改进IHB法在解决初值问题上的有效性.      

Viscoelastic flow between eccentric rotating cylinders: unstructured control volume method

This paper reports a convergent numerical algorithm for the Upper-Convected Maxwell (UCM) fluid between two eccentric cylinders at various eccentricity ratios (?); the outer cylinder is stationary, and the inner one rotating. The problem is solved by an unstructured control volume method (UCV), which is designed for a general viscoelastic flow problem with an arbitrary computational domain. A self-consistent false diffusion technique and an iteration scheme are used in combination to solve the problem. The computations of the UCM fluid using the numerical algorithm are carried out to a higher value of the Deborah number (De) at each eccentricity tested than hitherto possible with previous numerical simulations. The solutions are compared with previous numerical results, confirming the effectiveness of the UCV method as a general technique for solving viscoelastic flow problems.     

Finite element computations for unsteady fluid and elastic membrane interaction problems

The interaction between the hydrodynamic forces of a flow field and the elastic forces of adjacent deformable boundaries is described by elastohydrodynamics, a coupled fluid–elastic membrane problem. Direct numerical solution of the unsteady, highly non-linear equations requires that the dynamic evolution of both the flow field and the domain shape be determined as part of the solution, since neither is known a priori. This paper describes a numerical algorithm based on the deformable spatial domain space–time (DSD/ST) finite element method for the unsteady motion of an incompressible, viscous fluid with elastic membrane interaction. The unsteady Navier–Stoke and elastic membrane equations are solved separately using an iterative procedure by the GMRES technique with an incomplete lower-upper (ILU) decomposition at every time instant. One-dimensional, two-dimensional and deformable domain model problems are used to demonstrate the capabilities and accuracy of the present algorithm. Both steady state and transient problems are studied. © 1997 John Wiley & Sons, Ltd.     

A volume-fraction based algorithm for hybrid barotropic and non-barotropic two-fluid flow problems

The aim of this paper is to describe a simple Eulerian interface-capturing approach for the efficient numerical resolution of a hybrid barotropic and non-barotropic two-fluid flow problem in more than one space dimension. We use the compressible Euler equations as a model system with the thermodynamic property of each of the barotropic and non-barotropic fluid components characterized by the Tait and Noble–Abel equations of state, respectively. The algorithm is based on a volume fraction formulation of the equations together with an extended equation of state that is devised to give an approximate treatment for the mixture of more than one fluid component within a grid cell. A standard high-resolution wave propagation method is employed to solve the proposed two-fluid model with the dimensional-splitting technique incorporated in the method for multidimensional problems. Several numerical results are presented in one and two space dimensions that show the feasibility of the algorithm as applied to a reasonable class of practical problems without the occurrence of any spurious oscillation in the pressure near the smeared material interfaces. This includes, in particular, solutions for a study on the variation of the jet velocity with the incident shock pressure arising from the collapse of an air cavity in water under a shock wave.