Finite Volume Method

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Finite Volume Method

Praveen. C
Computational and Theoretical Fluid Dynamics Division
National Aerospace Laboratories
Bangalore 560 017
email: praveen@cfdlab.net

Workshop on Advances in Computational Fluid Flow and Heat Transfer


Annamalai University
October 17-18, 2005

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Topics to be covered

1. Conservation Laws
2. Finite volume method
3. Types of finite volumes
4. Flux functions
5. Spatial discretization schemes
6. Higher order schemes
7. Boundary conditions
8. Accuracy and stability
9. Computational issues
10. References
Hyperbolic equations, Compressible flow, unstructured grid schemes

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Conservation Laws and FVM

• Basic laws of physics are conservation laws - mass, momentum, energy


• Differential form
∂U ∂f ∂g ∂h
+ + + =0
∂t ∂x ∂y ∂z
U - conserved variables
f, g, h - flux vector
• Compressible flows - shocks and other discontinuities
• Classical solution may not exist
• Integral form (using divergence theorem)
Z I

U dxdydz + (f nx + gny + hnz )dS = 0
∂t Ω ∂Ω

Rate of change of U in Ω = - (Net flux across the boundary of Ω)



Starting point for finite volume method
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• Discontinuities are a consequence of conservation laws
• Rankine-Hugoniot jump conditions [9, 10]
(f nx + gny + hnz )R − (f nx + gny + hnz )L = s(UR − UL)

n
UR
Shock

UL

• Solution satisfying integral form - weak solution


• Definition (Weak solution)
1. Satisfies the differential form in smooth regions
2. Satisfies jump condition across discontinuities
• Hyperbolic conservation laws - non-uniqueness
• Limit of a dissipative model: Navier-Stokes → Euler
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• Entropy condition - second law of thermodynamics
• Entropy satisfying weak solution - unique (Kruzkov)
• Conservative scheme (FVM) - correct shock location (Warnecke)
• Useful for solving equations with discontinuous coefficients
• FVM can be applied on arbitrary grids - structured and unstructured

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• Entropy condition - second law of thermodynamics
• Entropy satisfying weak solution - unique (Kruzkov)
• Conservative scheme (FVM) - correct shock location (Warnecke)
• Useful for solving equations with discontinuous coefficients
• FVM can be applied on arbitrary grids - structured and unstructured

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• Entropy condition - second law of thermodynamics
• Entropy satisfying weak solution - unique (Kruzkov)
• Conservative scheme (FVM) - correct shock location (Warnecke)
• Useful for solving equations with discontinuous coefficients
• FVM can be applied on arbitrary grids - structured and unstructured

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FVM in 1-D

• Divide computational domain [a, b] into N cells


a = x1/2 < x3/2 < . . . < xN +1/2 = b
Ci = [xi−1/2, xi+1/2]

C
i

i−3/2 i−1/2 h i+1/2 i+3/2


i

• Conservation law for cell Ci


∂ xi+1/2
Z
U dx + f (xi+1/2, t) − f (xi−1/2, t) = 0
∂t xi−1/2

• Cell average value Z xi+1/2


1
Ui(t) = U (x, t)dx
hi xi−1/2

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• Conservation law for cell Ci
dUi
hi + f (xi+1/2, t) − f (xi−1/2, t) = 0
dt

U i+1

Ui

i+1/2

• Riemann problem at each interface


• Numerical flux function (Godunov approach)
Fi+1/2(t) = F (Ui(t), Ui+1(t))

• Semi-discrete update equation (ODE system)


dUi 1
= − [Fi+1/2(t) − Fi−1/2(t)]
dt hi

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• Method of lines approach
– Discretize in space
– Integrate the ODE system in time
• Explicit Euler scheme [ Uin ≈ U (xi, tn) ]
Ui(tn+1) − Ui(tn) 1
= − [Fi+1/2(tn) − Fi−1/2(tn)]
∆t hi

∆t n
Uin+1 = Uin − [Fi+1/2 n
− Fi−1/2 ]
hi
• Conservation: Telescopic collapse of fluxes
X dUi X
hi = − [Fi+1/2(t) − Fi−1/2(t)]
i
dt i
= −[f (b, t) − f (a, t)]

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Numerical Flux Function

• Simple averaging
Fi+1/2 = f ((Ui + Ui+1)/2) or Fi+1/2 = (fi + fi+1)/2

• Equivalent to central differencing


dUi 1
+ (fi+1 − fi−1) = 0 (unstable)
dt hi
• Two approaches
1. Central differencing with artificial dissipation [13]
1
Fi+1/2 = (fi + fi+1) − di+1/2
2
2. Upwind flux formula [9, 10, 13, 20, 22]
FVS: Fi+1/2 = f +(Ui) + f −(Ui+1)
1 1
FDS: Fi+1/2 = (fi + fi+1) − [(∆f )− +
i+1/2 − (∆f )i+1/2 ]
2 2
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• Example: convection-diffusion equation
∂U ∂f ∂U
+ = 0, f = aU − ν
∂t ∂x ∂x

∂U
Fi+1/2 = aUi+1/2 − ν
∂x i+1/2
• Upwind definition of interfacial state
(
Ui if a ≥ 0
Ui+1/2 =
Ui+1 if a < 0
• Central-difference for viscous term

∂U Ui+1 − Ui
=
∂x i+1/2 xi+1 − xi
• Upwind numerical flux
1 |a| Ui+1 − Ui
Fi+1/2 = (aUi + aUi+1) − (Ui+1 − Ui) − ν
2 2 xi+1 − xi

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Significance of conservative scheme

• Inviscid Burgers equation


U2 U2
 
∂U ∂
+ = 0, f (U ) =
∂t ∂x 2 2
• Rankine-Hugoniot condition
1
fR − fL = s(UR − UL) =⇒ s = (UL + UR )
2
• Non-conservative form
∂U ∂U
+U =0
∂t ∂x
• Upwind scheme (assume U ≥ 0)
Uin+1 − Uin n n
n Ui − Ui−1
+ Ui =0
∆t h
or
∆t n n
Uin+1 = Uin − n
Ui (Ui − Ui−1 )
h
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• Initial condition (
1 if x < 0
U (x, 0) =
0 if x > 0
• Numerical solution
Uin = Uio =⇒ stationary shock
• Exact solution (shock speed = 1/2)
(
1 if x < t/2
U (x, t) =
0 if x > t/2
• Conservation form from physical considerations
∂ U2
 
∂U
U +U =0
∂t ∂x 2
or
∂ U2 ∂ U3
   
+ =0
∂t 2 ∂x 3
 2 2

2 UL +UL UR +UR
• Jump conditions not identical: s = 3 U +U L R

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Higher order scheme in 1-D

• Constant-in-cell representation
C i+1

 

Ci
C i−1

 
 


i−3/2 i−1/2 i+1/2 i+3/2

• First order accurate


|Ui − U (xi)| = O(h)
h = max hi
i

• Reconstruction - evolution - projection

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Higher order scheme in 1-D

• Reconstruct the variation within a cell


Left state C i+1

 

Ci
C i−1 Right

 
state
 


i−3/2 i−1/2 i+1/2 i+3/2

• Linear reconstruction
Ũ (x) = Ui + si(x − xi), x ∈ [xi−1/2, xi+1/2]

• Biased interpolant
L R
Ui+1/2 = Ui + si(xi+1/2 − xi), Ui+1/2 = Ui+1 + si+1(xi+1/2 − xi+1),

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• Flux for higher order scheme
Fi+1/2 = F (Ui, Ui+1)

• Reconstruction variables
1. Conserved variables - conservative
2. Characteristic variables - better upwinding but costly
3. Primitive variables (ρ, u, p) - computationally cheap
• Unsteady flows - reconstruction must preserve conservation
Z
1
Ũ (x)dx = Ui
hi Ci
• Gradients for reconstruction: backward, forward, central difference
Ui − Ui−1 Ui+1 − Ui Ui+1 − Ui−1
si,b = , si,f = , si,c =
xi − xi−1 xi+1 − xi xi+1 − xi−1

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• Flux for higher order scheme
L R
Fi+1/2 = F (Ui+1/2 , Ui+1/2 )

• Reconstruction variables
1. Conserved variables - conservative
2. Characteristic variables - better upwinding but costly
3. Primitive variables (ρ, u, p) - computationally cheap
• Unsteady flows - reconstruction must preserve conservation
Z
1
Ũ (x)dx = Ui
hi Ci
• Gradients for reconstruction: backward, forward, central difference
Ui − Ui−1 Ui+1 − Ui Ui+1 − Ui−1
si,b = , si,f = , si,c =
xi − xi−1 xi+1 − xi xi+1 − xi−1

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• Solution with discontinuity

1/2

i−1 i i+1

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• Central-difference: Non-monotone reconstruction

1/2

i−1 i i+1

• Limited gradients [9, 12]


si = Limiter(si,b, si,f , si,c)

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FVM in 2-D

• Divide computational domain into disjoint polygonal cells, Ω = ∪iCi


• Integral form for cell Ci
Z I

U dxdy + (f nx + gny )dS = 0
∂t Ci ∂Ci

• Cell average value


Z
1
Ui(t) = U (x, y, t)dxdy, |Ci| = area of Ci
|Ci| Ci

• Cell connectivity: N (i) = {j : Cj and Ci share a common face}

Ci
Ci

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I X Z
(f nx + gny )dS = (f nx + gny )dS
∂Ci j∈N (i) Ci ∩Cj

• Approximate flux integral by quadrature

Cj
nij

Ci

Z
(f nx + gny )dS ≈ Fij ∆Sij
Ci ∩Cj
• Semi-discrete update equation
dUi X
|Ci| =− Fij ∆Sij
dt
j∈N (i)

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• Numerical flux function
Fij = F (Ui, Uj , n̂ij )

• Properties of flux function


1. Consistency
F (U, U, n̂) = f (U )nx + g(U )ny
2. Conservation
F (V, U, −n̂) = −F (U, V, n̂)
3. Continuity
kF (UL, UR , n̂) − F (U, U, n̂)k ≤ C max (kUL − U k, kUR − U k)
• Flux functions [10, 13, 20, 22]
– FVS: Steger-Warming, Van Leer, KFVS, AUSM
– FDS: Godunov, Roe, Engquist-Osher
• Integrate in time using a Runge-Kutta scheme [5, 12]

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Grids and Finite Volumes

• Elements in 2-D

• Elements in 3-D

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• Boundary layers - prism and hexahedra
• Cell-centered and vertex-centered scheme [5, 18, 21]

• Median (dual) cell


Centroid
– join centroid to mid-point of sides
Mid−point
– well-defined for any triangulation

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• Voronoi cell
– join circum-center to mid-point of sides
– smooth area variation
– not defined for obtuse triangles
• Containment circle tessalation

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Median and containment-circle tessalation

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• Stretched triangles - median dual and containment-circle

• Containment-circle finite volume

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• Turbulent flow over RAE2822 airfoil: vertex-centered scheme

Mach = 0.729, α = 2.31 deg, Re = 6.5 million

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Higher order scheme in 2-D

• Bi-linear reconstruction in cell Ci


Ũ (x, y) = Ui + ai(x − xi) + bi(y − yi), (x, y) ∈ Ci

 

R
U Cj

L
U

 

Ci

• Define left/right states


U L = Ui + ai(xij − xi) + bi(yij − yi)
U R = Uj + aj (xij − xj ) + bj (yij − yj )
• Flux for higher order scheme
Fij = F (U L, U R , n̂ij )
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• Gradient estimation using
1. Green-Gauss theorem
2. Least squares fitting
• Green-Gauss theorem
Z I
∇U dxdy = U n̂dS
Ci ∂Ci

• Approximate surface integral by quadrature


Z
1 X
∇Ui ≈ U n̂dS
|Ci| face face

• Face value
1
Uface = (UL + UR )
2
• Non-uniform cells
Uface = αUL + (1 − α)UR , α ∈ (0, 1)
• Accuracy can degrade for non-uniform grids [4, 6, 8, 14]
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• Least-squares reconstruction [3, 5]

3
0 1

Uo + ao(xj − xo) + bo(yj − yo) = Uj , j = 1, 2, 3, 4


• Over-determined system of equations - solve by least-squares fit
X
min [Uj − Uo − ao(xj − xo) − bo(yj − yo)]2, wrt ao, bo
j
X X
ao = αj (Uj − Uo), bo = βj (Uj − Uo)
j j

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• Limited reconstruction
– Cell-centered: Min-max [3, 5], Venkatakrishnan [5], ENO-type [1, 14]
– Vertex-centered: edge-based limiter [17]
• Min-max limiter
Umin ≤ Uo + ao(xj − xo) + bo(yj − yo) ≤ Umax, j = 1, 2, 3, 4
(ao, bo) ←− (φao, φbo), φ ∈ [0, 1]
– Very dissipative - smeared shocks
– Performance degrades on coarse grids
– Stalled convergence - limit cycle
– Useful for flows with large discontinuities
• Venkatakrishnan limiter
– Smooth modification of min-max limiter
– Better control - depends on cell size
– Better convergence properties
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• Vertex-centered cell: Edge-based limiter

L R i+2
i+1
i−1 i

 
1 |P P
i i+1 |
U L = Ui + Limiter (Ui+1 − Ui), (Ui − Ui−1)
2 |PiPi−1|
• Using vertex-gradients
1 h i
U = Ui + Limiter (Ui+1 − Ui), (P~i+1 − P~i) · ∇Ui
L
2
• Van-albada limiter
(a2 + )b + (b2 + )a
Limiter(a, b) = , 1
a2 + b2 + 2

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Higher order flux quadrature

R
U1
L
U1

  



Cj

  
R
U2
L
Ci U2

• Quadratic reconstruction in cell Ci


Ũ (x, y) = Ũi + ai(x − xi) + bi(y − yi)
+ ci(x − xi)2 + di(x − xi)(y − yi) + ei(y − yi)2

• 2-point Gauss quadrature for flux


Fij = ω1F (U1L, U1R , n̂ij ) + ω2F (U2L, U2R , n̂ij )

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Discretization of viscous flux

• Viscous terms
∇ · µ∇u
• Finite volume discretization
Z I
(∇ · µ∇u)dV = (µ∇u · n̂)dS
Ci ∂Ci

• Simple averaging
1
∇uij = (∇ui + ∇uj )
2
– Odd-even decoupling on quadrilateral/hexahedral cells
– Large stencil size
• 1-D case: ut = uxx
∆t n
un+1
i = uni + (ui−2 − 2uni + uni+2)
2h
• Correction for decoupling problem [5]
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• Green-Gauss theorem for auxiliary volume
Face−centered volume

j
i

• Least-squares gradients
– Quadratic reconstruction: gradients and hessian [3]
– Face-centered least-squares
• Vertex-centered scheme
– Galerkin approximation on triangles/tetrahedra
– Nearest neighbour stencil

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Turbulence models

• Reynolds-average Navier-Stokes equations - need turbulence models


• Differential equation based models: k − , k − ω, Spalart-Allmaras
• Turbulence quantities must remain positive
• Discretize using first order upwind finite volume method
Example: Spalart-Allmaras model
Z X
∇ · (ν̃u)dV ≈ [(uij · n̂ij )+ν̃i + (uij · n̂ij )−ν̃j ]∆Sij
Ci j∈N (i)

(·) ± |(·)| 1
, (·)± = uij = (ui + uj )
2 2
• Coupled or de-coupled approach
• Stiffness problem - positivity preserving implicit methods

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Boundary conditions

• Cell-centered approach
1. Ghost cell
2. Flux boundary condition

Boundary
w

Ghost cell g

• Inviscid flow (slip flow - zero normal velocity)


ρg = ρw , pg = pw , ug = uw , vg = −vw
• Viscous flow (noslip flow - zero velocity)
ρg = ρw , pg = pw , ug = −uw , vg = −vw

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• Boundary flux depends on pressure only
F (Uw , Ug , n̂) = function of p only
• Flux boundary condition
(F~ · n̂)wall = p[0, nx, ny , 0]>
1. Extrapolate pressure from interior cells
2. Solve normal momentum equation [2]
• Vertex-centered approach - flux boundary condition
• Boundary cell in vertex-centered scheme

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Accuracy and Stability

• FVM with linear reconstruction - second order accurate on uniform and


smooth grids
• On non-uniform grids =⇒ formally first order accurate
• Local truncation error not a good indicator of global error [22]
• r’th order reconstruction and ng Gaussian points for flux quadrature - accu-
racy is min(r, 2ng ) [19]
• Semi-discrete scheme
dUi X
= aij (Uj − Ui), aij ≥ 0
dt
j∈N (i)

• Local Extremum Diminishing (LED) property - maxima do not increase and


minima do not decrease (Jameson)

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• If Ui is a local maximum =⇒ Uj − Ui ≤ 0
dUi X
= aij (Uj − Ui) ≤ 0 =⇒ Ui does not increase
dt
j∈N (i)

• Fully discrete scheme


X X 1
Uin+1 = (1 − ∆t aij )Uin + aij Ujn, ∆t ≤ P
j j j aij
• Convex linear combination
min Ujn ≤ Uin+1 ≤ max Ujn
j∈N (i) j∈N (i)

• Prevents oscillations (Gibbs phenomenon) near discontinuities


• Stable in maximum norm
min Ujn ≤ Uin+1 ≤ max Ujn
j j

• Elliptic equations - discrete maximum principle


min Uj ≤ Ui ≤ max Uj
j∈∂Ω j∈∂Ω

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Data structures and Programming

• Data structure for FVM


– Coordinates of vertices
– Indices of vertices forming each cell
• Cell-based updating

------------------------------------------------------
for cell = 1 to Ncell
FluxDiv = 0
for face = 1 to Nface(cell)
cellNeighbour = CellNeighbour(cell, face)
flux = NumFlux(cell, cellNeighbour)
FluxDiv += flux
end
Unew(cell) = Uold(cell) - dt*FluxDiv
end
------------------------------------------------------
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• Face-based updating

------------------------------------------------------
FluxDiv(:) = 0
for face = 1 to Nface
LeftCell = FaceCell(face,1)
RightCell = FaceCell(face,2)
flux = NumFlux(LeftCell, RightCell)
FluxDiv(LeftCell) += flux
FluxDiv(RightCell) -= flux
end
Unew(:) = Uold(:) - dt*FluxDiv(:)
------------------------------------------------------
• Flux computations reduced by half - speed-up of two
• Other geometric quantities - cell centroids, face areas, face normals, face
centroids

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[22] Wesseling P., Principles of Computational Fluid Dynamics, Springer, 2001.

Thank You
These slides can be downloaded from

http://pc.freeshell.org/pub/annamalai.pdf

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