Contents of /trunk/doc/user/stokesflow.tex

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 1 2 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 3 % 4 % Copyright (c) 2003-2010 by University of Queensland 5 % Earth Systems Science Computational Center (ESSCC) 6 7 % 8 % Primary Business: Queensland, Australia 9 % Licensed under the Open Software License version 3.0 10 11 % 12 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% 13 14 \section{Stokes Flow} 15 \label{STOKES FLOW CHAP} 16 In this section we will look at Computational Fluid Dynamics (CFD) to simulate 17 the flow of fluid under the influence of gravity. 18 The \class{StokesProblemCartesian} class will be used to calculate the velocity 19 and pressure of the fluid. 20 The fluid dynamics is governed by the Stokes equation. In geophysical problems 21 the velocity of fluids is low; that is, the inertial forces are small compared 22 with the viscous forces, therefore the inertial terms in the Navier-Stokes 23 equations can be ignored. 24 For a body force $f$, the governing equations are given by: 25 % 26 \begin{equation} 27 \nabla \cdot (\eta(\nabla \vec{v} + \nabla^{T} \vec{v})) - \nabla p = -f, 28 \label{GENERAL NAVIER STOKES} 29 \end{equation} 30 % 31 with the incompressibility condition 32 % 33 \begin{equation} 34 \nabla \cdot \vec{v} = 0. 35 \label{INCOMPRESSIBILITY} 36 \end{equation} 37 % 38 where $p$, $\eta$ and $f$ are the pressure, viscosity and body forces, respectively. 39 Alternatively, the Stokes equations can be represented in Einstein summation 40 tensor notation (compact notation): 41 % 42 \begin{equation} 43 -(\eta(v_{i,j} + v_{j,i})),_{j} - p,_{i} = f_{i}, 44 \label{GENERAL NAVIER STOKES COM} 45 \end{equation} 46 % 47 with the incompressibility condition 48 % 49 \begin{equation} 50 -v_{i,i} = 0. 51 \label{INCOMPRESSIBILITY COM} 52 \end{equation} 53 % 54 The subscript comma $i$ denotes the derivative of the function with respect to $x_{i}$. 55 %A linear relationship between the deviatoric stress $\sigma^{'}_{ij}$ and the stretching $D_{ij} = \frac{1}{2}(v_{i,j} + v_{j,i})$ is defined as \cite{GROSS2006}: 56 % 57 % 58 %\sigma^{'}_{ij} = 2\eta D^{'}_{ij}, 59 %\label{STRESS} 60 % 61 % 62 %where the deviatoric stretching $D^{'}_{ij}$ is defined as 63 % 64 % 65 %D^{'}_{ij} = D^{'}_{ij} - \frac{1}{3}D_{kk}\delta_{ij}. 66 %\label{DEVIATORIC STRETCHING} 67 % 68 % 69 %where $\delta_{ij}$ is the Kronecker $\delta$-symbol, which is a matrix with ones for its diagonal entries ($i = j$) and zeros for the remaining entries ($i \neq j$). 70 The body force $f$ in \eqn{GENERAL NAVIER STOKES COM} is the gravity acting in 71 the $x_{3}$ direction and is given as $f=-g\rho\delta_{i3}$. 72 The Stokes equation is a saddle point problem, and can be solved using a Uzawa scheme. 73 A class called \class{StokesProblemCartesian} in \escript can be used to solve 74 for velocity and pressure. A more detailed discussion of the class can be 75 found in Chapter \ref{MODELS CHAPTER}. 76 In order to keep numerical stability and satisfy the Courant condition, the 77 time-step size needs to be kept below a certain value. 78 The Courant number is defined as: 79 % 80 \begin{equation} 81 C = \frac{v \delta t}{h} 82 \label{COURANT} 83 \end{equation} 84 % 85 where $\delta t$, $v$, and $h$ are the time-step, velocity, and the width of 86 an element in the mesh, respectively. The velocity $v$ may be chosen as the 87 maximum velocity in the domain. In this problem the time-step size was 88 calculated for a Courant number of $0.4$. 89 90 The following \PYTHON script is the setup for the Stokes flow simulation, and 91 is available in the \ExampleDirectory as \file{fluid.py}. 92 It starts off by importing the classes, such as the \class{StokesProblemCartesian} 93 class, for solving the Stokes equation and the incompressibility condition for 94 velocity and pressure. 95 Physical constants are defined for the viscosity and density of the fluid, 96 along with the acceleration due to gravity. 97 Solver settings are set for the maximum iterations and tolerance; the default 98 solver used is PCG. 99 The mesh is defined as a rectangle, to represent the body of fluid. 100 We are using $20 \times 20$ elements with piecewise linear elements for the 101 pressure and for velocity but the elements are subdivided for the velocity. 102 This approach is called \textit{macro elements}\index{macro elements} and 103 needs to be applied to make sure that the discretized problem has a unique 104 solution, see~\cite{LBB} for details\footnote{Alternatively, one can use 105 second order elements for the velocity and first order elements for pressure 106 on the same element. You can set \code{order=2} in \class{esys.finley.Rectangle}.}. 107 The fact that pressure and velocity are represented in different ways is 108 expressed by 109 \begin{python} 110 velocity=Vector(0., Solution(mesh)) 111 pressure=Scalar(0., ReducedSolution(mesh)) 112 \end{python} 113 The gravitational force is calculated based on the fluid density and the 114 acceleration due to gravity. 115 The boundary conditions are set for a slip condition at the base and the left 116 face of the domain. At the base fluid movement in the $x_{0}$-direction 117 is free, but fixed in the $x_{1}$-direction, and similarly at the left 118 face fluid movement in the $x_{1}$-direction is free but fixed in 119 the $x_{0}$-direction. 120 An instance of the \class{StokesProblemCartesian} class is defined for the 121 given computational mesh, and the solver tolerance set. 122 Inside the \code{while} loop, the boundary conditions, viscosity and body 123 force are initialized. 124 The Stokes equation is then solved for velocity and pressure. 125 The time-step size is calculated based on the Courant condition, to ensure stable solutions. 126 The nodes in the mesh are then displaced based on the current velocity and 127 time-step size, to move the body of fluid. 128 The output for the simulation of velocity and pressure is then saved to a file 129 for visualization. 130 % 131 \begin{python} 132 from esys.escript import * 133 import esys.finley 134 from esys.escript.linearPDEs import LinearPDE 135 from esys.escript.models import StokesProblemCartesian 136 from esys.weipa import saveVTK 137 138 # physical constants 139 eta=1. 140 rho=100. 141 g=10. 142 143 # solver settings 144 tolerance=1.0e-4 145 max_iter=200 146 t_end=50 147 t=0.0 148 time=0 149 verbose=True 150 151 # define mesh 152 H=2. 153 L=1. 154 W=1. 155 mesh = esys.finley.Rectangle(l0=L, l1=H, order=-1, n0=20, n1=20) 156 coordinates = mesh.getX() 157 158 # gravitational force 159 Y=Vector(0., Function(mesh)) 160 Y[1] = -rho*g 161 162 # element spacing 163 h = Lsup(mesh.getSize()) 164 165 # boundary conditions for slip at base 166 boundary_cond=whereZero(coordinates[1])*[0.0,1.0]+whereZero(coordinates[0])*[1.0,0.0] 167 168 # velocity and pressure vectors 169 velocity=Vector(0., Solution(mesh)) 170 pressure=Scalar(0., ReducedSolution(mesh)) 171 172 # Stokes Cartesian 173 solution=StokesProblemCartesian(mesh) 174 solution.setTolerance(tolerance) 175 176 while t <= t_end: 177 print(" ----- Time step = %s -----"%t) 178 print("Time = %s seconds"%time) 179 180 solution.initialize(fixed_u_mask=boundary_cond, eta=eta, f=Y) 181 velocity,pressure=solution.solve(velocity,pressure,max_iter=max_iter, \ 182 verbose=verbose) 183 184 print("Max velocity =", Lsup(velocity), "m/s") 185 186 # Courant condition 187 dt=0.4*h/(Lsup(velocity)) 188 print("dt =", dt) 189 190 # displace the mesh 191 displacement = velocity * dt 192 coordinates = mesh.getX() 193 mesh.setX(coordinates + displacement) 194 195 time += dt 196 197 vel_mag = length(velocity) 198 199 #save velocity and pressure output 200 saveVTK("vel.%2.2i.vtu"%t, vel=vel_mag, vec=velocity, pressure=pressure) 201 t = t+1. 202 \end{python} 203 % 204 The results from the simulation can be viewed with \mayavi, by executing the 205 following command: 206 % 207 \begin{verbatim} 208 mayavi2 -d vel.00.vtu -m SurfaceMap 209 \end{verbatim} 210 % 211 Colour-coded scalar maps and velocity flow fields can be viewed by selecting 212 them in the menu. 213 The time-steps can be swept through to view a movie of the simulation. 214 \fig{FLUID OUTPUT} shows the simulation output. 215 Velocity vectors and a colour map for pressure are shown. 216 As the time progresses the body of fluid falls under the influence of gravity. 217 % 218 \begin{figure}[ht] 219 \center 220 \subfigure[t=1]{\label{FLOW OUTPUT 01}\includegraphics[height=5cm]{stokes-fluid-t01}} 221 \hspace{1.6cm} 222 \subfigure[t=20]{\label{FLOW OUTPUT 10}\includegraphics[height=5cm]{stokes-fluid-t10}} 223 \hspace{1.6cm} 224 \subfigure[t=30]{\label{FLOW OUTPUT 20}\includegraphics[height=5cm]{stokes-fluid-t20}}\\ 225 \subfigure[t=40]{\label{FLOW OUTPUT 30}\includegraphics[height=5cm]{stokes-fluid-t30}} 226 \hspace{1cm} 227 \subfigure[t=50]{\label{FLOW OUTPUT 40}\includegraphics[height=5cm]{stokes-fluid-t40}} 228 \hspace{1cm} 229 \subfigure[t=60]{\label{FLOW OUTPUT 50}\includegraphics[height=5cm]{stokes-fluid-t50}} 230 %\includegraphics[scale=0.25]{stokes-fluid-colorbar} 231 \caption{Simulation output for Stokes flow. Fluid body starts off as a 232 rectangular shape, then progresses downwards under the influence of gravity. 233 Colour coded distribution represents the scalar values for pressure. 234 Velocity vectors are displayed at each node in the mesh to show the flow field. 235 Computational mesh used was 20$\times$20 elements.} 236 \label{FLUID OUTPUT} 237 \end{figure} 238 % 239 The view used here to track the fluid is the Lagrangian view, since the mesh 240 moves with the fluid. One of the disadvantages of using the Lagrangian view is 241 that the elements in the mesh become severely distorted after a period of time 242 and introduce solver errors. To get around this limitation the Level Set 243 Method can be used, with the Eulerian point of view for a fixed mesh. 244 %The Level Set Method is discussed in Section \ref{LEVELSET CHAP}. 245