Space‐time NURBS‐enhanced finite elements for free‐surface flows in 2D

The accuracy of numerical simulations of free‐surface flows depends strongly on the computation of geometric quantities like normal vectors and curvatures. This geometrical information is additional to the actual degrees of freedom and usually requires a much finer discretization of the computational domain than the flow solution itself. Therefore, the utilization of a numerical method, which uses standard functions to discretize the unknown function in combination with an enhanced geometry representation is a natural step to improve the simulation efficiency. An example of such method is the NURBS‐enhanced finite element method (NEFEM), recently proposed by Sevilla et al. The current paper discusses the extension of the spatial NEFEM to space‐time methods and investigates the application of space‐time NURBS‐enhanced elements to free‐surface flows. Derived is also a kinematic rule for the NURBS motion in time, which is able to preserve mass conservation over time. Numerical examples show the ability of the space‐time NEFEM to account for both pressure discontinuities and surface tension effects and compute smooth free‐surface forms. For these examples, the advantages of the NEFEM compared with the classical FEM are shown. Copyright © 2015 John Wiley & Sons, Ltd.     

An SPH model for free surface flows with moving rigid objects

This paper presents a computational model for free surface flows interacting with moving rigid bodies. The model is based on the SPH method, which is a popular meshfree, Lagrangian particle method and can naturally treat large flow deformation and moving features without any interface/surface capture or tracking algorithm. Fluid particles are used to model the free surface flows which are governed by Navier–Stokes equations, and solid particles are used to model the dynamic movement (translation and rotation) of moving rigid objects. The interaction of the neighboring fluid and solid particles renders the fluid–solid interaction and the non‐slip solid boundary conditions. The SPH method is improved with corrections on the SPH kernel and kernel gradients, enhancement of solid boundary condition, and implementation of Reynolds‐averaged Navier–Stokes turbulence model. Three numerical examples including the water exit of a cylinder, the sinking of a submerged cylinder and the complicated motion of an elliptical cylinder near free surface are provided. The obtained numerical results show good agreement with results from other sources and clearly demonstrate the effectiveness of the presented meshfree particle model in modeling free surface flows with moving objects. Copyright © 2013 John Wiley & Sons, Ltd.     

An adaptive numerical scheme for solving incompressible 2‐phase and free‐surface flows

In this paper, we present a numerical scheme for solving 2‐phase or free‐surface flows. Here, the interface/free surface is modeled using the level‐set formulation, and the underlying mesh is adapted at each iteration of the flow solver. This adaptation allows us to obtain a precise approximation for the interface/free‐surface location. In addition, it enables us to solve the time‐discretized fluid equation only in the fluid domain in the case of free‐surface problems. Fluids here are considered incompressible. Therefore, their motion is described by the incompressible Navier‐Stokes equation, which is temporally discretized using the method of characteristics and is solved at each time iteration by a first‐order Lagrange‐Galerkin method. The level‐set function representing the interface/free surface satisfies an advection equation that is also solved using the method of characteristics. The algorithm is completed by some intermediate steps like the construction of a convenient initial level‐set function (redistancing) as well as the construction of a convenient flow for the level‐set advection equation. Numerical results are presented for both bifluid and free‐surface problems.     

SPH方法Delaunay三角刨分与自由液面重构

光滑粒子法(SPH)作为一种拉格朗日型无网格方法,兼具欧拉网格方法和拉格朗日网格方法的优势,已经成功应用于科学和工程的众多领域。SPH方法后处理一般基于无规则分布的粒子,不如网格类方法后处理简便、直接。另外,SPH方法模拟自由液面流动等问题时,通过粒子位置难以重构自由液面的准确位置。发展一种基于Delaunay三角刨分的SPH后处理方法,即先基于SPH粒子位置利用Delaunay三角刨分建立三角网格,然后将粒子信息转化成网格单元/节点信息,从而可以在三角网格上进行后处理,实现基于网格方法的后处理功能,并可以在三角网格上直接提取或重构自由液面。将本文的方法应用到液滴碰撞和溃坝流SPH模拟结果的后处理中,得到了非常好的结果,表明本文的方法有效可靠。     

An improved SPH model for multiphase flows with large density ratios

This paper presents a new smoothed particle hydrodynamics (SPH) model for simulating multiphase fluid flows with large density ratios. The new SPH model consists of an improved discretization scheme, an enhanced multiphase interface treatment algorithm, and a coupled dynamic boundary treatment technique. The presented SPH discretization scheme is developed from Taylor series analysis with kernel normalization and kernel gradient correction and is then used to discretize the Navier‐Stokes equation to obtain improved SPH equations of motion for multiphase fluid flows. The multiphase interface treatment algorithm involves treating neighboring particles from different phases as virtual particles with specially updated density to maintain pressure consistency and a repulsive interface force between neighboring interface particles into the pressure gradient to keep sharp interface. The coupled dynamic boundary treatment technique includes a soft repulsive force between approaching fluid and solid particles while the information of virtual particles are approximated using the improved SPH discretization scheme. The presented SPH model is applied to 3 typical multiphase flow problems including dam breaking, Rayleigh‐Taylor instability, and air bubble rising in water. It is demonstrated that inherent multiphase flow physics can be well captured while the dynamic evolution of the complex multiphase interfaces is sharp with consistent pressure across the interfaces.     

A critical investigation of smoothed particle hydrodynamics applied to problems with free‐surfaces

In this paper, an in‐depth study of SPH method, in its original weakly compressible version, is achieved on dedicated 2D and 3D free‐surface flow test cases. These rather critical prototype problems shall constitute suitable test cases to get through when building a free‐surface SPH model. The present work aims at investigating various numerical aspects of this method, often little mentioned in literature. In particular, a great care is paid to the dynamic part of the solution, which is critical to the local hydrodynamic load prediction. The role of numerical errors in the development of acoustic frequencies in the pressure signals is discussed, as well as the influence of the choice of the sound velocity. On the shown test problems, it is also evidenced that some numerical tools are crucial to ensure the robustness and accuracy of the standard SPH method. The convergence of our model is heuristically proved on these nonlinear prototype tests, showing at the same time the very satisfactory level of accuracy reached. Through these tests, some other numerical specificities of the SPH method are discussed, such as the self‐redistribution of the particles occurring during the Lagrangian evolution. A higher order model is also proposed, and its advantages and drawbacks are discussed. Copyright © 2013 John Wiley & Sons, Ltd.     

An implicit three‐dimensional fully non‐hydrostatic model for free‐surface flows

An implicit method is developed for solving the complete three‐dimensional (3D) Navier–Stokes equations. The algorithm is based upon a staggered finite difference Crank‐Nicholson scheme on a Cartesian grid. A new top‐layer pressure treatment and a partial cell bottom treatment are introduced so that the 3D model is fully non‐hydrostatic and is free of any hydrostatic assumption. A domain decomposition method is used to segregate the resulting 3D matrix system into a series of two‐dimensional vertical plane problems, for each of which a block tri‐diagonal system can be directly solved for the unknown horizontal velocity. Numerical tests including linear standing waves, nonlinear sloshing motions, and progressive wave interactions with uneven bottoms are performed. It is found that the model is capable to simulate accurately a range of free‐surface flow problems using a very small number of vertical layers (e.g. two–four layers). The developed model is second‐order accuracy in time and space and is unconditionally stable; and it can be effectively used to model 3D surface wave motions. Copyright © 2004 John Wiley & Sons, Ltd.     

A fully hydrodynamic model for three‐dimensional,free‐surface flows

The hydrostatic pressure assumption has been widely used in studying water movements in rivers, lakes, estuaries, and oceans. While this assumption is valid in many cases and has been successfully used in numerous studies, there are many cases where this assumption is questionable. This paper presents a three‐dimensional, hydrodynamic model for free‐surface flows without using the hydrostatic pressure assumption. The model includes two predictor–corrector steps. In the first predictor–corrector step, the model uses hydrostatic pressure at the previous time step as an initial estimate of the total pressure field at the new time step. Based on the estimated pressure field, an intermediate velocity field is calculated, which is then corrected by adding the non‐hydrostatic component of the pressure to the estimated pressure field. A Poisson equation for non‐hydrostatic pressure is solved before the second intermediate velocity field is calculated. The final velocity field is found after the free surface at the new time step is computed by solving a free‐surface correction equation. The numerical method was validated with several analytical solutions and laboratory experiments. Model results agree reasonably well with analytical solutions and laboratory results. Model simulations suggest that the numerical method presented is suitable for fully hydrodynamic simulations of three‐dimensional, free‐surface flows. Copyright © 2003 John Wiley & Sons, Ltd.     

A marker‐and‐cell approach to free surface 2‐D multiphase flows

This work describes a methodology to simulate free surface incompressible multiphase flows. This novel methodology allows the simulation of multiphase flows with an arbitrary number of phases, each of them having different densities and viscosities. Surface and interfacial tension effects are also included. The numerical technique is based on the GENSMAC front‐tracking method. The velocity field is computed using a finite‐difference discretization of a modification of the Navier–Stokes equations. These equations together with the continuity equation are solved for the two‐dimensional multiphase flows, with different densities and viscosities in the different phases. The governing equations are solved on a regular Eulerian grid, and a Lagrangian mesh is employed to track free surfaces and interfaces. The method is validated by comparing numerical with analytic results for a number of simple problems; it was also employed to simulate complex problems for which no analytic solutions are available. The method presented in this paper has been shown to be robust and computationally efficient. Copyright © 2012 John Wiley & Sons, Ltd.     

Efficient computation of two‐dimensional steady free‐surface flows

We consider a family of steady free‐surface flow problems in two dimensions, concentrating on the effect of nonlinearity on the train of gravity waves that appear downstream of a disturbance. By exploiting standard complex variable techniques, these problems are formulated in terms of a coupled system of Bernoulli equation and an integral equation. When applying a numerical collocation scheme, the Jacobian for the system is dense, as the integral equation forces each of the algebraic equations to depend on each of the unknowns. We present here a strategy for overcoming this challenge, which leads to a numerical scheme that is much more efficient than what is normally used for these types of problems, allowing for many more grid points over the free surface. In particular, we provide a simple recipe for constructing a sparse approximation to the Jacobian that is used as a preconditioner in a Jacobian‐free Newton‐Krylov method for solving the nonlinear system. We use this approach to compute numerical results for a variety of prototype problems including flows past pressure distributions, a surface‐piercing object and bottom topographies.     

Computation of turbulent free‐surface flows around modern ships

This paper presents the calculated results for three classes of typical modern ships in modelling of ship‐generated waves. Simulations of turbulent free‐surface flows around ships are performed in a numerical water tank, based on the FINFLO‐RANS SHIP solver developed at Helsinki University of Technology. The Reynolds‐averaged Navier–Stokes (RANS) equations with the artificial compressibility and the non‐linear free‐surface boundary conditions are discretized by means of a cell‐centred finite‐volume scheme. The convergence performance is improved with the multigrid method. A free surface is tracked using a moving mesh technology, in which the non‐linear free‐surface boundary conditions are given on the actual location of the free surface. Test cases recommended are a container ship, a US Navy combatant and a tanker. The calculated results are compared with the experimental data available in the literature in terms of the wave profiles, wave pattern, and turbulent flow fields for two turbulence models, Chien's low Reynolds number k–εmodel and Baldwin–Lomax's model. Furthermore, the convergence performance, the grid refinement study and the effect of turbulence models on the waves have been investigated. Additionally, comparison of two types of the dynamic free‐surface boundary conditions is made. Copyright © 2003 John Wiley& Sons, Ltd.     

On the usage of NURBS as interface representation in free‐surface flows

When simulating free‐surface flows using the finite element method, there are many cases where the governing equations require information which must be derived from the available discretized geometry. Examples are curvature or normal vectors. The accurate computation of this information directly from the finite element mesh often requires a high degree of refinement—which is not necessarily required to obtain an accurate flow solution. As a remedy and an option to be able to use coarser meshes, the representation of the free surface using non‐uniform rational B‐splines (NURBS) curves or surfaces is investigated in this work. The advantages of a NURBS parameterization in comparison with the standard approach are discussed. In addition, it is explored how the pressure jump resulting from surface tension effects can be handled using doubled interface nodes. Numerical examples include the computation of surface tension in a two‐phase flow as well as the computation of normal vectors as a basis for mesh deformation methods. For these examples, the improvement of the numerical solution compared with the standard approaches on identical meshes is shown. Copyright © 2011 John Wiley & Sons, Ltd.     

Large‐scale SPH simulations of droplet impact onto a liquid surface up to the consequent formation of Worthington jet

In this study, the whole process of liquid droplet impact onto a liquid surface up to the consequent formation of the central column was simulated using the smoothed particle hydrodynamics method (SPH), and compared with an experiment using a high‐speed video camera. The surface tension tensor for the particle‐based expression was adequately included as the gradient of the surface tension and that enabled the simulation leading to the formations of crater and crown as well as the consequent central column. The simulated time series of the crater depth and diameter and crown height corresponded quantitatively well with the experimental result up to the rebound motion while discrepancies remained as a lower central column height in the simulation, and this seemed to be ascribed to the difficulty in realizing the complex surface structure that inevitably appeared in the fast rebound motion. Copyright © 2009 John Wiley & Sons, Ltd.     

Wave body interaction in 2D using smoothed particle hydrodynamics (SPH) with variable particle mass

Wave interaction with bodies is an important practical application for smoothed particle hydrodynamics (SPH) which in principle applies to steep and breaking waves without special treatment. However, few detailed tests have been undertaken even with small amplitude waves. In order to reduce computer time a variable particle mass distribution is tested here with fine resolution near the body and coarse resolution further away, while maintaining a uniform kernel size. We consider two well‐defined test cases, in two dimensions, of waves generated by a heaving semi‐immersed cylinder and progressive waves interacting with a fixed cylinder. But first, still water with hydrostatic pressure is tested. The open‐source code SPHysics ( http://www.sphysics.org )^{§Update made here after initial online publication.} is used with a Riemann solver in an Arbitrary Lagrangian–Eulerian formulation. For the heaving cylinder, SPH results for far field wave amplitude and cylinder force show good agreement with the data of Yu and Ursell (J. Fluid Mech. 1961; 11 :529–551). For wave loading on a half‐submerged cylinder the agreement with the experimental data of Dixon et al. (J. Waterway Port Coastal Ocean Div. 1979; 105 :421–438) for the root mean square force is within 2%. For more submerged cases, the results show some discrepancy, but this was also found with other modelling approaches. The sensitivity of results to the value of the slope limiter used in the MUSCL‐based Riemann solver is demonstrated. The variable mass distribution leads to a computer run speedup of nearly 200% in these cases. Copyright © 2011 John Wiley & Sons, Ltd.     

Explicit finite volume non‐oscillatory schemes for 2D transient free‐surface flows

A class of high‐resolution non‐oscillatory shock‐capturing Roe, TVD and ENO explicit schemes in finite volume approach are presented for the computation of 2D unsteady rapidly varied open channel flows. In order to apply these schemes to simulate the hydraulic phenomena in field, the Strang‐type operator splitting technique is adopted to treat the flow with bottom slope and friction terms. Verifications of the proposed schemes are made by comparison with analytical solutions or experimental data, and very good agreements are obtained. To illustrate the efficiency and stability of the present algorithms, four typical problems of rapidly varied flows are solved and the results of different schemes are compared. It is demonstrated that the proposed method is accurate, robust and highly stable even in the flows with very strong discontinuites, which need no tuning of any adjustable parameter, such as artificial viscosity coefficient, as other methods do, and is a reliable mathematical modeling for 2D practical hydraulic engineering applications. Copyright © 1999 John Wiley & Sons, Ltd.     

CFD simulation of two‐ and three‐dimensional free‐surface flow

The paper describes the implementation of moving‐mesh and free‐surface capabilities within a 3‐d finite‐volume Reynolds‐averaged‐Navier–Stokes solver, using surface‐conforming multi‐block structured meshes. The free‐surface kinematic condition can be applied in two ways: enforcing zero net mass flux or solving the kinematic equation by a finite‐difference method. The free surface is best defined by intermediate control points rather than the mesh vertices. Application of the dynamic boundary condition to the piezometric pressure at these points provides a hydrostatic restoring force which helps to eliminate any unnatural free‐surface undulations. The implementation of time‐marching methods on moving grids are described in some detail and it is shown that a second‐order scheme must be applied in both scalar‐transport and free‐surface equations if flows driven by free‐surface height variations are to be computed without significant wave attenuation using a modest number of time steps. Computations of five flows of theoretical and practical interest—forced motion in a pump, linear waves in a tank, quasi‐1d flow over a ramp, solitary wave interaction with a submerged obstacle and 3‐d flow about a surface‐penetrating cylinder—are described to illustrate the capabilities of our code and methods. Copyright © 2003 John Wiley & Sons, Ltd.     

Numerical solution of steady free‐surface flows by the adjoint optimal shape design method

Numerical solution of flows that are partially bounded by a freely moving boundary is of great importance in practical applications such as ship hydrodynamics. Free‐boundary problems can be reformulated into optimal shape design problems, which can in principle be solved efficiently by the adjoint method. In this work we investigate the suitability of the adjoint shape optimization method for solving steady free‐surface flows. The asymptotic convergence behaviour of the method is determined for free‐surface flows in 2D and 3D. It is shown that the convergence behaviour depends sensitively on the occurrence of critical modes. The convergence behaviour is moreover shown to be mesh‐width independent, provided that proper preconditioning is applied. Numerical results are presented for 2D flow over an obstacle in a channel. The observed convergence behaviour is indeed mesh‐width independent and conform the derived asymptotic estimates. Copyright © 2003 John Wiley & Sons, Ltd.     

Computation of free‐surface flows with local mesh adaptation

This paper describes a modern free‐surface capturing strategy implemented in an unstructured finite‐volume viscous flow solver that can handle moving grids composed of arbitrary‐shaped control volumes. An adaptive mesh strategy is fully integrated in the code making it a single tool for dynamically maintaining a prescribed density of grid points around the steady or unsteady interface between air and water. The whole adaptive procedure is described in detail. The efficiency of the overall approach is examined on two‐ and three‐dimensional hydrodynamic applications. The adaptive strategy achieves interesting gains in terms of computational and human efforts compared to single‐mesh computations. Copyright © 2005 John Wiley & Sons, Ltd.     

SPH simulation of oblique shocks in compressible flows

The Lagrangian smoothed particle hydrodynamics (SPH) method is used to simulate shock waves in inviscid, supersonic (compressible) flow. It is shown for the first time that the fully Lagrangian SPH particle method, without auxiliary grid, can be used to simulate shock waves in compressible flow. The wall boundary condition is treated with ghost particles combined with a suitable repulsive potential function, whilst corners are treated by a novel ‘angle sweep’ technique. The method gives accurate predictions of the flow field and of the shock angle as compared with the analytical solution. The study shows that SPH is a good potential candidate to solve complex aerodynamic problems, including those involving rarefied flows, such as atmospheric re‐entry. Copyright © 2016 John Wiley & Sons, Ltd.     

An improved KGF‐SPH with a novel discrete scheme of Laplacian operator for viscous incompressible fluid flows

The kernel gradient free (KGF) smoothed particle hydrodynamics (SPH) method is a modified finite particle method (FPM) which has higher order accuracy than the conventional SPH method. In KGF‐SPH, no kernel gradient is required in the whole computation, and this leads to good flexibility in the selection of smoothing functions and it is also associated with a symmetric corrective matrix. When modeling viscous incompressible flows with SPH, FPM or KGF‐SPH, it is usual to approximate the Laplacian term with nested approximation on velocity, and this may introduce numerical errors from the nested approximation, and also cause difficulties in dealing with boundary conditions. In this paper, an improved KGF‐SPH method is presented for modeling viscous, incompressible fluid flows with a novel discrete scheme of Laplacian operator. The improved KGF‐SPH method avoids nested approximation of first order derivatives, and keeps the good feature of ‘kernel gradient free’. The two‐dimensional incompressible fluid flow of shear cavity, both in Euler frame and Lagrangian frame, are simulated by SPH, FPM, the original KGF‐SPH and improved KGF‐SPH. The numerical results show that the improved KGF‐SPH with the novel discrete scheme of Laplacian operator are more accurate than SPH, and more stable than FPM and the original KGF‐SPH. Copyright © 2015 John Wiley & Sons, Ltd.