Absorbing boundary conditions for nonlinear Euler and Navier–Stokes equations based on the perfectly matched layer technique

Absorbing boundary conditions for the nonlinear Euler and Navier–Stokes equations in three space dimensions are presented based on the perfectly matched layer (PML) technique. The derivation of equations follows a three-step method recently developed for the PML of linearized Euler equations. To increase the efficiency of the PML, a pseudo mean flow is introduced in the formulation of absorption equations. The proposed PML equations will absorb exponentially the difference between the nonlinear fluctuation and the prescribed pseudo mean flow. With the nonlinearity in flux vectors, the proposed nonlinear absorbing equations are not formally perfectly matched to the governing equations as their linear counter-parts are. However, numerical examples show satisfactory results. Furthermore, the nonlinear PML reduces automatically to the linear PML upon linearization about the pseudo mean flow. The validity and efficiency of proposed equations as absorbing boundary conditions for nonlinear Euler and Navier–Stokes equations are demonstrated by numerical examples.     

Stable Robin solid wall boundary conditions for the Navier–Stokes equations

In this paper we prove stability of Robin solid wall boundary conditions for the compressible Navier–Stokes equations. Applications include the no-slip boundary conditions with prescribed temperature or temperature gradient and the first order slip-flow boundary conditions. The formulation is uniform and the transitions between different boundary conditions are done by a change of parameters. We give different sharp energy estimates depending on the choice of parameters.     

A Fourier spectral method for the Navier–Stokes equations with volume penalization for moving solid obstacles

An efficient numerical scheme to compute flows past rigid solid bodies moving through viscous incompressible fluid is presented. Solid obstacles of arbitrary shape are taken into account using the volume penalization method to impose no-slip boundary condition. The 2D Navier–Stokes equations, written in the vorticity-streamfunction formulation, are discretized using a Fourier pseudo-spectral scheme. Four different time discretization schemes of the penalization term are proposed and compared. The originality of the present work lies in the implementation of time-dependent penalization, which makes the above method capable of solving problems where the obstacle follows an arbitrary motion. Fluid–solid coupling for freely falling bodies is also implemented. The numerical method is validated for different test cases: the flow past a cylinder, Couette flow between rotating cylinders, sedimentation of a cylinder and a falling leaf with elliptical shape.     

An Asymptotic-Preserving all-speed scheme for the Euler and Navier–Stokes equations

We present an Asymptotic-Preserving ‘all-speed’ scheme for the simulation of compressible flows valid at all Mach-numbers ranging from very small to order unity. The scheme is based on a semi-implicit discretization which treats the acoustic part implicitly and the convective and diffusive parts explicitly. This discretization, which is the key to the Asymptotic-Preserving property, provides a consistent approximation of both the hyperbolic compressible regime and the elliptic incompressible regime. The divergence-free condition on the velocity in the incompressible regime is respected, and an the pressure is computed via an elliptic equation resulting from a suitable combination of the momentum and energy equations. The implicit treatment of the acoustic part allows the time-step to be independent of the Mach number. The scheme is conservative and applies to steady or unsteady flows and to general equations of state. One and two-dimensional numerical results provide a validation of the Asymptotic-Preserving ‘all-speed’ properties.     

An efficient method for the incompressible Navier–Stokes equations on irregular domains with no-slip boundary conditions,high order up to the boundary

Common efficient schemes for the incompressible Navier–Stokes equations, such as projection or fractional step methods, have limited temporal accuracy as a result of matrix splitting errors, or introduce errors near the domain boundaries (which destroy uniform convergence to the solution). In this paper we recast the incompressible (constant density) Navier–Stokes equations (with the velocity prescribed at the boundary) as an equivalent system, for the primary variables velocity and pressure. equation for the pressure. The key difference from the usual approaches occurs at the boundaries, where we use boundary conditions that unequivocally allow the pressure to be recovered from knowledge of the velocity at any fixed time. This avoids the common difficulty of an, apparently, over-determined Poisson problem. Since in this alternative formulation the pressure can be accurately and efficiently recovered from the velocity, the recast equations are ideal for numerical marching methods. The new system can be discretized using a variety of methods, including semi-implicit treatments of viscosity, and in principle to any desired order of accuracy. In this work we illustrate the approach with a 2-D second order finite difference scheme on a Cartesian grid, and devise an algorithm to solve the equations on domains with curved (non-conforming) boundaries, including a case with a non-trivial topology (a circular obstruction inside the domain). This algorithm achieves second order accuracy in the L^∞ norm, for both the velocity and the pressure. The scheme has a natural extension to 3-D.     

A matched interface and boundary method for solving multi-flow Navier–Stokes equations with applications to geodynamics

We have developed a second-order numerical method, based on the matched interface and boundary (MIB) approach, to solve the Navier–Stokes equations with discontinuous viscosity and density on non-staggered Cartesian grids. We have derived for the first time the interface conditions for the intermediate velocity field and the pressure potential function that are introduced in the projection method. Differentiation of the velocity components on stencils across the interface is aided by the coupled fictitious velocity values, whose representations are solved by using the coupled velocity interface conditions. These fictitious values and the non-staggered grid allow a convenient and accurate approximation of the pressure and potential jump conditions. A compact finite difference method was adopted to explicitly compute the pressure derivatives at regular nodes to avoid the pressure–velocity decoupling. Numerical experiments verified the desired accuracy of the numerical method. Applications to geophysical problems demonstrated that the sharp pressure jumps on the clast-Newtonian matrix are accurately captured for various shear conditions, moderate viscosity contrasts and a wide range of density contrasts. We showed that large transfer errors will be introduced to the jumps of the pressure and the potential function in case of a large absolute difference of the viscosity across the interface; these errors will cause simulations to become unstable.     

Spectrally-accurate algorithm for moving boundary problems for the Navier–Stokes equations

A spectral algorithm based on the immersed boundary conditions (IBC) concept is developed for simulations of viscous flows with moving boundaries. The algorithm uses a fixed computational domain with flow domain immersed inside the computational domain. Boundary conditions along the edges of the time-dependent flow domain enter the algorithm in the form of internal constraints. Spectral spatial discretization uses Fourier expansions in the stream-wise direction and Chebyshev expansions in the normal-to-the-wall direction. Up to fourth-order implicit temporal discretization methods have been implemented. It has been demonstrated that the algorithm delivers the theoretically predicted accuracy in both time and space. Performances of various linear solvers employed in the solution process have been evaluated and a new class of solver that takes advantage of the structure of the coefficient matrix has been proposed. The new solver results in a significant acceleration of computations as well as in a substantial reduction in memory requirements.     

A 6th order staggered compact finite difference method for the incompressible Navier–Stokes and scalar transport equations

In a previous paper we have developed a staggered compact finite difference method for the compressible Navier–Stokes equations. In this paper we will extend this method to the case of incompressible Navier–Stokes equations. In an incompressible flow conservation of mass is ensured by the well known pressure correction method  and . The advection and diffusion terms are discretized with 6th order spatial accuracy. The discrete Poisson equation, which has to be solved in the pressure correction step, has the same spatial accuracy as the advection and diffusion operators. The equations are integrated in time with a third order Adams–Bashforth method. Results are presented for a 1D advection–diffusion equation, a 2D lid driven cavity at a Reynolds number of 1000 and 10,000 and finally a 3D fully developed turbulent duct flow at a bulk Reynolds number of 5400. In all cases the methods show excellent agreement with analytical and other numerical and experimental work.     

Improvements on open and traction boundary conditions for Navier–Stokes time-splitting methods

We present in this paper a numerical scheme for incompressible Navier–Stokes equations with open and traction boundary conditions, in the framework of pressure-correction methods. A new way to enforce this type of boundary condition is proposed and provides higher pressure and velocity convergence rates in space and time than found in the present state of the art. We illustrate this result by computing some numerical and physical tests. In particular, we establish reference solutions of a laminar flow in a geometry where a bifurcation takes place and of the unsteady flow around a square cylinder.     

Stabilization and scalable block preconditioning for the Navier–Stokes equations

This study compares several block-oriented preconditioners for the stabilized finite element discretization of the incompressible Navier–Stokes equations. This includes standard additive Schwarz domain decomposition methods, aggressive coarsening multigrid, and three preconditioners based on an approximate block LU factorization, specifically SIMPLEC, LSC, and PCD. Robustness is considered with a particular focus on the impact that different stabilization methods have on preconditioner performance. Additionally, parallel scaling studies are undertaken. The numerical results indicate that aggressive coarsening multigrid, LSC and PCD all have good algorithmic scalability. Coupling this with the fact that block methods can be applied to systems arising from stable mixed discretizations implies that these techniques are a promising direction for developing scalable methods for Navier–Stokes.     

A stable and conservative high order multi-block method for the compressible Navier–Stokes equations

A stable and conservative high order multi-block method for the time-dependent compressible Navier–Stokes equations has been developed. Stability and conservation are proved using summation-by-parts operators, weak interface conditions and the energy method. This development makes it possible to exploit the efficiency of the high order finite difference method for non-trivial geometries. The computational results corroborate the theoretical analysis.     

An accurate and efficient method for the incompressible Navier–Stokes equations using the projection method as a preconditioner

The projection method is a widely used fractional-step algorithm for solving the incompressible Navier–Stokes equations. Despite numerous improvements to the methodology, however, imposing physical boundary conditions with projection-based fluid solvers remains difficult, and obtaining high-order accuracy may not be possible for some choices of boundary conditions. In this work, we present an unsplit, linearly-implicit discretization of the incompressible Navier–Stokes equations on a staggered grid along with an efficient solution method for the resulting system of linear equations. Since our scheme is not a fractional-step algorithm, it is straightforward to specify general physical boundary conditions accurately; however, this capability comes at the price of having to solve the time-dependent incompressible Stokes equations at each timestep. To solve this linear system efficiently, we employ a Krylov subspace method preconditioned by the projection method. In our implementation, the subdomain solvers required by the projection preconditioner employ the conjugate gradient method with geometric multigrid preconditioning. The accuracy of the scheme is demonstrated for several problems, including forced and unforced analytic test cases and lid-driven cavity flows. These tests consider a variety of physical boundary conditions with Reynolds numbers ranging from 1 to 30000. The effectiveness of the projection preconditioner is compared to an alternative preconditioning strategy based on an approximation to the Schur complement for the time-dependent incompressible Stokes operator. The projection method is found to be a more efficient preconditioner in most cases considered in the present work.     

Liouville-Type Theorems for the Forced Euler Equations and the Navier–Stokes Equations

In this paper we study the Liouville-type properties for solutions to the steady incompressible Euler equations with forces in ${\mathbb {R}^N}$ . If we assume “single signedness condition” on the force, then we can show that a ${C^1 (\mathbb {R}^N)}$ solution (v, p) with ${|v|^2+ |p| \in L^{\frac{q}{2}}(\mathbb {R}^N),\,q \in (\frac{3N}{N-1}, \infty)}$ is trivial, v = 0. For the solution of the steady Navier–Stokes equations, satisfying ${v(x) \to 0}$ as ${|x| \to \infty}$ , the condition ${\int_{\mathbb {R}^3} |\Delta v|^{\frac{6}{5}} dx < \infty}$ , which is stronger than the important D-condition, ${\int_{\mathbb {R}^3} |\nabla v|^2 dx < \infty}$ , but both having the same scaling property, implies that v = 0. In the appendix we reprove Theorem 1.1 (Chae, Commun Math Phys 273:203–215, 2007), using the self-similar Euler equations directly.     

The Elastoplast Discontinuous Galerkin (EDG) method for the Navier–Stokes equations

The present work details the Elastoplast (this name is a translation from the French “sparadrap”, a concept first applied by Yves Morchoisne for Spectral methods [1]) Discontinuous Galerkin (EDG) method to solve the compressible Navier–Stokes equations. This method was first presented in 2009 at the ICOSAHOM congress with some Cartesian grid applications. We focus here on unstructured grid applications for which the EDG method seems very attractive. As in the Recovery method presented by van Leer and Nomura in 2005 for diffusion, jumps across element boundaries are locally eliminated by recovering the solution on an overlapping cell. In the case of Recovery, this cell is the union of the two neighboring cells and the Galerkin basis is twice as large as the basis used for one element. In our proposed method the solution is rebuilt through an L² projection of the discontinuous interface solution on a small rectangular overlapping interface element, named Elastoplast, with an orthogonal basis of the same order as the one in the neighboring cells. Comparisons on 1D and 2D scalar diffusion problems in terms of accuracy and stability with other viscous DG schemes are first given. Then, 2D results on acoustic problems, vortex problems and boundary layer problems both on Cartesian or unstructured triangular grids illustrate stability, precision and versatility of this method.     

Fourier spectral and wavelet solvers for the incompressible Navier–Stokes equations with volume-penalization: Convergence of a dipole–wall collision

In this study, we use volume-penalization to mimic the presence of obstacles in a flow or a domain with no-slip boundaries. This allows in principle the use of fast Fourier spectral methods and coherent vortex simulation techniques (based on wavelet decomposition of the flow variables) to compute turbulent wall-bounded flow or flows around solid obstacles by simply adding one term in the equation. Convergence checks are reported using a recently revived, and unexpectedly difficult dipole–wall collision as a benchmark computation. Several quantities, like the vorticity isolines, truncation error, kinetic energy and enstrophy are inspected for a collision of a dipole with a no-slip wall and compared with available benchmark data obtained with a standard Chebyshev pseudospectral method. We quantify the possible deteriorating effects of the Gibbs phenomenon present in the Fourier based schemes due to continuity restrictions of the penalized Navier–Stokes equations on the wall. It is found that Gibbs oscillations have a negligible effect on the flow evolution allowing higher-order recovery of the accuracy on a Fourier basis by means of postprocessing. An advantage of coherent vortex simulations, on the other hand, is that the degrees of freedom of the flow computation can strongly be reduced. In this study, we quantify the possible reduction of degrees of freedom while keeping the accuracy. For an optimal convergence scenario the penalization parameter has to scale with the number of Fourier and wavelet modes. In addition, an implicit treatment of the Darcy drag term in the penalized Navier–Stokes equations is beneficial since this allows one to set the time step independent from the penalization parameter without additional computational or memory requirements.     

Least-squares spectral element solution of incompressible Navier–Stokes equations with adaptive refinement

Least-squares spectral element solution of steady, two-dimensional, incompressible flows are obtained by approximating velocity, pressure and vorticity variable set on Gauss–Lobatto–Legendre nodes. Constrained Approximation Method is used for h- and p-type nonconforming interfaces of quadrilateral elements. Adaptive solutions are obtained using a posteriori error estimates based on least squares functional and spectral coefficient. Effective use of p-refinement to overcome poor mass conservation drawback of least-squares formulation and successful use of h- and p-refinement together to solve problems with geometric singularities are demonstrated. Capabilities and limitations of the developed code are presented using Kovasznay flow, flow past a circular cylinder in a channel and backward facing step flow.     

A low numerical dissipation immersed interface method for the compressible Navier–Stokes equations

A numerical method to solve the compressible Navier–Stokes equations around objects of arbitrary shape using Cartesian grids is described. The approach considered here uses an embedded geometry representation of the objects and approximate the governing equations with a low numerical dissipation centered finite-difference discretization. The method is suitable for compressible flows without shocks and can be classified as an immersed interface method. The objects are sharply captured by the Cartesian mesh by appropriately adapting the discretization stencils around the irregular grid nodes, located around the boundary. In contrast with available methods, no jump conditions are used or explicitly derived from the boundary conditions, although a number of elements are adopted from previous immersed interface approaches. A new element in the present approach is the use of the summation-by-parts formalism to develop stable non-stiff first-order derivative approximations at the irregular grid points. Second-order derivative approximations, as those appearing in the transport terms, can be stiff when irregular grid points are located too close to the boundary. This is addressed using a semi-implicit time integration method. Moreover, it is shown that the resulting implicit equations can be solved explicitly in the case of constant transport properties. Convergence studies are performed for a rotating cylinder and vortex shedding behind objects of varying shapes at different Mach and Reynolds numbers.     

An implicit high-order hybridizable discontinuous Galerkin method for the incompressible Navier–Stokes equations

We present an implicit high-order hybridizable discontinuous Galerkin method for the steady-state and time-dependent incompressible Navier–Stokes equations. The method is devised by using the discontinuous Galerkin discretization for a velocity gradient-pressure–velocity formulation of the incompressible Navier–Stokes equations with a special choice of the numerical traces. The method possesses several unique features which distinguish itself from other discontinuous Galerkin methods. First, it reduces the globally coupled unknowns to the approximate trace of the velocity and the mean of the pressure on element boundaries, thereby leading to a significant reduction in the degrees of freedom. Moreover, if the augmented Lagrangian method is used to solve the linearized system, the globally coupled unknowns become the approximate trace of the velocity only. Second, it provides, for smooth viscous-dominated problems, approximations of the velocity, pressure, and velocity gradient which converge with the optimal order of k + 1 in the L²-norm, when polynomials of degree k?0 are used for all components of the approximate solution. And third, it displays superconvergence properties that allow us to use the above-mentioned optimal convergence properties to define an element-by-element postprocessing scheme to compute a new and better approximate velocity. Indeed, this new approximation is exactly divergence-free, H (div)-conforming, and converges with order k + 2 for k ? 1 and with order 1 for k = 0 in the L²-norm. Moreover, a novel and systematic way is proposed for imposing boundary conditions for the stress, viscous stress, vorticity and pressure which are not naturally associated with the weak formulation of the method. This can be done on different parts of the boundary and does not result in the degradation of the optimal order of convergence properties of the method. Extensive numerical results are presented to demonstrate the convergence and accuracy properties of the method for a wide range of Reynolds numbers and for various polynomial degrees.     

Fourier spectral embedded boundary solution of the Poisson’s and Laplace equations with Dirichlet boundary conditions

A Fourier spectral embedded boundary method, for solution of the Poisson’s equation with Dirichlet boundary conditions and arbitrary forcing functions (including zero forcing function), is presented in this paper. This iterative method begins by transformation of the Dirichlet boundary conditions from the physical boundaries to some corresponding regular grid points (which are called the numerical boundaries), using a second order interpolation method. Then the transformed boundary conditions and the forcing function are extended to a square, smoothly and periodically, via multiplying them by some suitable error functions. Instead of direct solution of the resulting extended Poisson’s problem, it is suggested to define and solve an equivalent transient diffusion problem on the regular domain, until achievement of the steady solution (which is considered as the solution of the original problem). Without need of any numerical time integration method, time advancement of the solution is obtained directly, from the exact solution of the transient problem in the Fourier space. Consequently, timestep sizes can be chosen without stability limitations, which it means higher rates of convergence in comparison with the classical relaxation methods. The method is presented in details for one- and two-dimensional problems, and a new emerged phenomenon (which is called the saturation state) is illustrated both in the physical and spectral spaces. The numerical experiments have been performed on the one- and two-dimensional irregular domains to show the accuracy of the method and its superiority (from the rate of convergence viewpoint) to the other classical relaxation methods. Capability of the method, in dealing with complex geometries, and in presence of discontinuity at the boundaries, has been shown via some numerical experiments on a four-leaf shape geometry.     

Weak and strong wall boundary procedures and convergence to steady-state of the Navier–Stokes equations

We study the influence of different implementations of no-slip solid wall boundary conditions on the convergence to steady-state of the Navier–Stokes equations. The various approaches are investigated using the energy method and an eigenvalue analysis. It is shown that the weak implementation is superior and enhances the convergence to steady-state for coarse meshes. It is also demonstrated that all the stable approaches produce the same convergence rate as the mesh size goes to zero. The numerical results obtained by using a fully nonlinear finite volume solver support the theoretical findings from the linear analysis.