Numerical Methods in Computational Fluid

Dynamics (CFD)
Tao Xing and Fred Stern

IIHRHydroscience & Engineering
C. Maxwell Stanley Hydraulics Laboratory
The University of Iowa

58:160 Intermediate Mechanics of Fluids
http://css.engineering.uiowa.edu/~me_160/
Sept. 24, 2007
Outline

1. Introduction to Numerical Methods
2. Components of Numerical Methods
2.1. Properties of Numerical Methods
2.2. Discretization Methods
2.3. Application of Numerical methods in PDE
2.4. Numerical Grid and Coordinates
2.5. Solution of Linear Equation System
2.6. Convergence Criteria
3. Methods for Unsteady Problems
4. Solution of Navier-Stokes Equations
5. Example

2
Introduction to numerical methods
Approaches to Fluid Dynamical Problems:
1. Simplifications of the governing equations AFD
2. Experiments on scale models EFD
3. Discretize governing equations and solve by computers
CFD
CFD is the simulation of fluids engineering system using
modeling and numerical methods
Possibilities and Limitations of Numerical Methods:
1. Coding level: quality assurance, programming
defects, inappropriate algorithm, etc.
2. Simulation level: iterative error, truncation error, grid
error, etc.

3
Components of numerical methods
(Properties)
Consistence
1. The discretization should become exact as the grid spacing
tends to zero
2. Truncation error: Difference between the discretized equation
and the exact one
Stability: does not magnify the errors that appear in the course
of numerical solution process.
1. Iterative methods: not diverge
2. Temporal problems: bounded solutions
3. Von Neumanns method
4. Difficulty due to boundary conditions and non-linearities
present.
Convergence: solution of the discretized equations tends to-nhm ti
the exact solution of the differential equation as the grid spacing
tends to zero.
4
Components of numerical methods
(Properties, Contd)
Conservation
1. The numerical scheme should on both local and global basis respect
the conservation laws.
2. Automatically satisfied for control volume method, either individual
control volume or the whole domain.
3. Errors due to non-conservation are in most cases appreciable only on
relatively coarse grids, but hard to estimate quantitatively
Boundedness:
1. Numerical solutions should lie within proper bounds (e.g. non-
negative density and TKE for turbulence; concentration between 0%
and 100%, etc.)
2. Difficult to guarantee, especially for higher order schemes.
Realizability: models of phenomena which are too complex to treat
directly (turbulence, combustion, or multiphase flow) should be
designed to guarantee physically realistic solutions.
Accuracy: 1. Modeling error 2. Discretization errors 3. Iterative errors

5
Components of numerical methods (Discretization
Methods)
Finite Difference Method (focused in this lecture)
1. Introduced by Euler in the 18
th
century.
2. Governing equations in differential form domain with grid replacing
the partial derivatives by approximations in terms of node values of the
functions one algebraic equation per grid node linear algebraic
equation system.
3. Applied to structured grids
Finite Volume Method (not focused in this lecture)
1. Governing equations in integral form solution domain is subdivided into
a finite number of contiguous control volumes conservation equation
applied to each CV.
2. Computational node locates at the centroid of each CV.
3. Applied to any type of grids, especially complex geometries
4. Compared to FD, FV with methods higher than 2
nd
order will be difficult,
especially for 3D.
Finite Element Method (not covered in this lecture):
1. Similar to FV
2. Equations are multiplied by a weight function before integrated over the
entire domain.
6
Discretization methods (Finite Difference,
introduction)
First step in obtaining a numerical solution is to discretize
the geometric domain to define a numerical grid
Each node has one unknown and need one algebraic
equation, which is a relation between the variable value at
that node and those at some of the neighboring nodes.
The approach is to replace each term of the PDE at the
particular node by a finite-difference approximation.
Numbers of equations and unknowns must be equal

7
Discretization methods (Finite Difference,
approximation of the first derivative)
Taylor Series Expansion: Any continuous differentiable function, in
the vicinity of x
i
, can be expressed as a Taylor series:
( ) ( ) ( )
( ) ( ) ( )
H
x n
x x
x
x x
x
x x
x
x x x x
i
n
n
n
i
i
i
i
i
i
i i
+
|
|
.
|

\
|
c
u c
+ +
|
|
.
|

\
|
c
u c
+
|
|
.
|

\
|
c
u c
+
|
.
|

\
|
c
u c
+ u = u
!
...
! 3 ! 2
3
3
3
2
2
2
8
( )
H
x
x x
x
x x
x x x
i
i i
i
i i
i i
i i
i
+
|
|
.
|

\
|
c
u c

|
|
.
|

\
|
c
u c

u u
=
|
.
|

\
|
c
u c
+ +
+
+
3
3
2
1
2
2
1
1
1
6 2
Higher order derivatives are unknown and can be dropped
when the distance between grid points is small.
By writing Taylor series at different nodes, x
i-1
, x
i+1
, or both x
i-
1
and x
i+1
, we can have:
i i
i i
i
x x x
u u
~
|
.
|

\
|
c
u c
+
+
1
1
1
1

u u
~
|
.
|

\
|
c
u c
i i
i i
i
x x x
1 1
1 1
+
+

u u
~
|
.
|

\
|
c
u c
i i
i i
i
x x x
Forward-FDS Backward-FDS
Central-FDS
1
st
order, order of accuracy P
kest
=1
2
nd
order, order of accuracy P
kest
=2
Discretization methods (Finite Difference,
approximation of the first derivative, Contd)
Polynomial fitting: fit the function to an interpolation curve and
differentiate the resulting curve.
Example: fitting a parabola to the data at points x
i-1
,x
i
, and x
i+1
, and
computing the first derivative at x
i
, we obtain:
9
Compact schemes: Depending on the choice of parameters ,
, and , 2
nd
order and 4
th
order CDS, 4
th
order and 6
th
order
Pade scheme are obtained.
( ) ( ) ( ) ( ) | |
( )
1 1
2 2
1
2
1 1
2
1
+ +
+ + +
A + A A A
A A u + A u A u
~
|
.
|

\
|
c
u c
i i i i
i i i i i i i
i
x x x x
x x x x
x
1
= A
i i i
x x x
2
nd
order truncation error on any grid. For uniform meshing, it
reduced to the CDS approximation given in previous slide.
x x x x x
i i i i
i i i
A
u u
+
A
u u
=
|
.
|

\
|
c
u c
+
|
.
|

\
|
c
u c
+
|
.
|

\
|
c
u c
+ +
+
4 2
2 2 1 1
1 1
| o o
Non-Uniform Grids: to spread the error nearly uniformly over
the domain, it will be necessary to use smaller Ax in regions
where derivatives of the function are large and larger Ax
where function is smooth
Discretization methods (Finite Difference,
approximation of the second derivative)
Geometrically, the second derivative is the slope of the line
tangent to the curve representing the first derivative.
10
i i
i i
i
x x
x x
x
|
.
|

\
|
c
u c

|
.
|

\
|
c
u c
~
|
|
.
|

\
|
c
u c
+
+
1
1
2
2
Estimate the outer derivative by FDS, and estimate the inner
derivatives using BDS, we get
For equidistant spacing of the points:
( ) ( ) ( )
( ) ( )
1
2
1
1 1 1 1 1 1
2
2
+
+ + +

u u + u
~
|
|
.
|

\
|
c
u c
i i i i
i i i i i i i i i
i
x x x x
x x x x x x
x
( )
2
1 1
2
2
2
x x
i i i
i
A
u + u u
~
|
|
.
|

\
|
c
u c
+
Higher-order approximations for the second derivative can be
derived by including more data points, such as x
i-2
, and x
i+2
, even
x
i-3
, and x
i+3
Discretization methods (Finite Volume)

} }
=
k
S S
k
fdS fdS
11
W
P
WW E EE
N
Typical CV and the notation for Cartesian 2D
n
ne nw
se sw
e w
s
Ax
Ay
n
e

NW NE
SW SE
x
y
i
j
FV defines the
control volume
boundaries while FD
define the
computational
nodes
Computational
node located at
the Control
Volume center
Global
conservation
automatically
satisfied
FV methods uses the integral form of the conservation equation
FV methods uses the integral form of the conservation equation
Application of numerical methods in PDE
Fluid Mechanics problems are governed by the laws of physics, which
are formulated for unsteady flows as initial and boundary value
problems (IBVP), which is defined by a continuous partial differential
equation (PDE) operator L
T
(no modeling or numerical errors, T is the
true or exact solution)

12
Analytical and CFD approaches formulate the IBVP by selection
of the PDE, IC, and BC to model the physical phenomena
Using numerical methods, the continuous IBVP is reduced to a
discrete IBVP (computer code), and thus introduce numerical
errors:
Numerical errors can be defined and evaluated by transforming
the discrete IBVP back to a continuous IBVP.
( ) 0 = T L
T
( ) ( ) t H t x T BC
T B
= , : ( ) ( ) x G t x T IC
T
= = 0 , :
( ) 0 = M L
M
( ) ( ) x G t x M IC
M
= = 0 , : ( ) ( ) t H t x M BC
M B
= , :
( )
1
I = S L
N
( ) ( ) x g t x S IC
N
= = 0 , :
( ) ( ) t h t x S BC
N B
= , :
( )
i
j
i
J
j i
i
j
C
x
S
i
x
S S
c
c
A
+ =

=

= 1 1
!
( ) ( )
N M Modified
S L S L I = =
( ) ( ) x G t x S IC
Modified
= = 0 , :
( ) ( ) t H t x S BC
Modified B
= , :
( )
1
I = S L
N

=
I + I = I
J
j
j N
1
1
Truncation error
A1
A2
A3
A4
Application of numerical methods in PDE
(Truncation and Discretization errors)
Subtracting equations A2 and A4 gives the IBVP that
governs the simulation numerical error

13
( )

=
I + I = I = =
J
j
j N SN M M
L M S L
1
1
) ( o
An IBVP for the modeling error M-T can be obtained by
subtracting A1 and A2:
( ) ( ) ( ) x G x G t x IC
M Modified SN
= = 0 , : o
( ) ( ) ( ) t H t H t x BC
M Modified B SN
= , : o
M S
SN
= o
( ) ( ) T L L T M L
M M SM M M
= I = = o ) (
( ) ( ) ( ) x G x G t x IC
T M SM
= = 0 , : o
( ) ( ) ( ) t H t H t x BC
T M B SM
= , : o
A5
A6
Adding A5 and A6
( )
M N S M M
L T S L I + I = = o ) (
( ) ( ) ( ) x G x G x IC
T Modified S
= 0 , : o
( ) ( ) ( ) t H t H t x BC
T Modified B S
= , : o
SM SN S
T S o o o + = =
Numerical grids and coordinates
The discrete locations at which the variables are to
be calculated are defined by the numerical grid
Numerical grid is a discrete representation of the
geometric domain on which the problem is to be
solved. It divides the solution domain into a finite
number of sub-domains
Type of numerical grids: 1. structured (regular grid),
2. Block-structured grids, and
3. Unstructured grids
Detailed explanations of numerical grids will be
presented in the last lecture of this CFD lecture
series.
Different coordinates have been covered in
Introduction to CFD
14
Components of numerical methods
(Solution of linear equation systems, introduction)
The result of the discretization using either FD or FV,
is a system of algebraic equations, which are linear or
non-linear


For non-linear case, the system must be solved using
iterative methods, i.e. initial guess iterate
converged results obtained.
The matrices derived from partial differential
equations are always sparse with the non-zero
elements of the matrices lie on a small number of
well-defined diagonals
15
Q A = u
Solution of linear equation systems (direct
methods)
Gauss Elimination: Basic methods for solving linear systems of algebraic equations but does not vectorize or parallelize well and
is rarely used without modifications in CFD problems.






LU Decomposition: the factorization can be performed without knowing the vector Q

Tridiagonal Systems: Thomas Algorithm or Tridiagonal Matrix Algorithm (TDMA) P95
i i
i
E i
i
P i
i
W
Q A A A = u + u + u
+ 1 1
16
1
1

=
i
P
i
E
i
W
i
P
i
P
A
A A
A A
1
*
1
*

=
i
P
i
i
W
i i
A
Q A
Q Q
i
P
i
i
E i
i
A
A Q
1
*
+
u
= u
|
|
|
|
|
|
|
|
.
|

\
|
= .
. . .
. . . . .
. . . . .
. . . . .
. . .
. . .
3 2 1
2 23 22 21
1 13 12 11
nn n n n
n
n
A A A A
A A A A
A A A A
A
|
|
|
|
|
|
|
|
.
|

\
|
= .
. . . 0 0 0
. . . . .
. . . . .
. . . . .
. . . 0
. . .
2 23 22
1 13 12 11
nn
n
n
A
A A A
A A A A
U
nn
n
n
A
Q
= u
ii
n
i k
k ik i
i
A
A Q

+ =
u
= u
1
LU A= Y U = u
Q LY =
Solution of linear equation systems (iterative
methods)
Why use iterative methods:
1. in CFD, the cost of direct methods is too high since the
triangular factors of sparse matrices are not sparse.
2. Discretization error is larger than the accuracy of the
computer arithmetic
Purpose of iteration methods: drive both the residual and iterative error to be zero
Rapid convergence of an iterative method is key to its effectiveness.
Q A = u
17
n n
Q A = u
n n
u u = c
n n
A c =
Approximate solution after n iteration
n
u
residual
n

n
c
Iteration error
Solution of linear equation systems (iterative
methods, contd)
Typical iterative methods:
1. Jacobi method
2. Gauss-Seidel method
3. Successive Over-Relaxation (SOR), or LSOR
4. Alternative Direction Implicit (ADI) method
5. Conjugate Gradient Methods
6. Biconjugate Gradients and CGSTAB
7. Multigrid Methods
18
Solution of linear equation systems (iterative
methods, examples)
Jacobi method:
ii
k
i
k
i
k
i
A
R
+ u = u
+1
19
1
n
k k
i i ij j
j
R Q A
=
= u

Gauss-Seidel method: similar to Jacobi method, but

most recently computed values of all are used in all
computations.
( ) n i ,..., 2 , 1 =
i
u
ii
k
i
k
i
k
i
A
R
+ u = u
+1
1
1
1
i n
k k k
i i ij j ij j
j j i
R Q A A

+
= =
= u u

( ) n i ,..., 2 , 1 =
Successive Overrelaxation (SOR):
ii
k
i
k
i
k
i
A
R
e + u = u
+1
1
1
1
i n
k k k
i i ij j ij j
j j i
R Q A A

+
= =
= u u

( ) n i ,..., 2 , 1 =
Solution of linear equation systems (coupled
equations and their solutions)
Definition: Most problems in fluid dynamics require solution of
coupled systems of equations, i.e. dominant variable of each
equation occurs in some of the other equations
Solution approaches:
1. Simultaneous solution: all variables are solved for
simultaneously
2. Sequential Solution: Each equation is solved for
its dominant variable, treating the other variables
as known, and iterating until the solution is
obtained.
For sequential solution, inner iterations and outer iterations are
necessary
20
Solution of linear equation systems (non-
linear equations and their solutions)
Definition:
Given the continuous nonlinear function f(x), find the value
x=, such that f()=0 or f()=
Solution approaches:
1. Newton-like Techniques: faster but need good
estimation of the solution. Seldom used for solving Navier-
Stokes equations.



2. Global: guarantee not to diverge but slower, such as
sequential decoupled method
( ) ( ) ( )( )
0 0
'
0
x x x f x f x f + ~
21
( )
( )
1
'
1
1

=
k
k
k k
x f
x f
x x
Solution of linear equation systems
(convergence criteria and iteration errors)
Convergence Criteria: Used to determine when to
quite for iteration method
1. Difference between two successive iterates
2. Order drops of the residuals
3. Integral variable vs. iteration history
c < Au
+1
,
k
j i
22
Inner iterations can be stopped when the
residual has fallen by one to two orders of
magnitude.
Details on how to estimate iterative errors have
been presented in CFD lecture.

k
j i
k
j i
f
,
1
,
c < Au
+
c < Au

+
n
j i
k
j i
,
1
,
c <
u
Au

+
n
j i
k
j i
k
j i
,
,
1
,
( ) c <
|
|
.
|

\
|
Au

+
2 1
,
2
1
,
n
j i
k
j i
(for all i, j) (for all i, j)
Methods for unsteady problems
(introduction)
Unsteady flows have a fourth coordinate direction time,
which must be discretized.
Differences with spatial discretization: a force at any space
location may influence the flow anywhere else, forcing at a
given instant will affect the flow only in the future (parabolic
like).
These methods are very similar to ones applied to initial value
problems for ordinary differential equations.



23
The basic problem is to find the solution a short
time At after the initial point. The solution at t
1
=t
0
+ At,
can be used as a new initial condition and the solution
can be advanced to t
2
=t
1
+ At , t
3
=t
2
+ At, .etc.
u
Methods for unsteady problems
Methods for Initial Value Problems in ODEs
1. Two-Level Methods (explicit/implicit Euler)
2. Predictor-Corrector and Multipoint Methods
3. Runge-Kutta Methods
4. Other methods



Application to the Generic Transport Equation
1. Explicit methods
2. Implicit methods
3. Other methods
2
2
x x
u
t c
u c I
+
c
u c
=
c
u c

24
( )
( ) ( ) t t f
dt
t d
u =
u
,
( )
0
0
u = u t
Methods for unsteady problems
(examples)
Methods for Initial Value Problems in ODEs (4
th
order Runge-
Kutta method)
( )
n
n
n
n
t f
t
u
A
+ u = u
+
,
2
*
2
1
25
|
|
.
|

\
|
u
A
+ u = u
+ + +
*
2
1
2
1
* *
2
1
,
2
n n
n
n
t f
t
|
|
.
|

\
|
u A + u = u
+ +
+
* *
2
1
2
1
*
1
,
n n
n
n
t tf
( ) ( )
(
(

u +
|
|
.
|

\
|
u +
|
|
.
|

\
|
u + u
A
+ u = u
+ +
+ + + +
+ *
1 1
* *
2
1
2
1
*
2
1
2
1
1
, , 2 , 2 ,
6
n n
n n n n
n
n
n n
t f t f t f t f
t
Methods for Initial Value Problems in ODEs (explicit and
implicit Euler method)
( ) t t f
n
n
n n
A u + u = u
+
,
1
explicit
( ) t t f
n
n
n n
A u + u = u
+
+
+ 1
1
1
,
implicit
Methods for unsteady problems
(examples)
( )
t
x
x
u
n
i
n
i
n
i
n
i
n
i
n
i
n
i
A
(

A
u u + u I
+
A
u u
+ u = u
+ +
+
2
1 1 1 1
1
2
2
26
Application to the Generic Transport Equation
(Explicit Euler methods)

Assume constant velocity
( )
n
i
n
i
n
i
n
i
c
d
c
d d
1 1
1
2 2
2 1
+
+
u
|
.
|

\
|
+ + u
|
.
|

\
|
+ u = u
( )
2
x
t
d
A
IA
=

x
t u
c
A
A
=
Courant number, when diffusion negligible,
Courant number should be smaller than unity to
make the scheme stable
Time required for a disturbance to be transmitted
By diffusion over a distance Ax
Methods for unsteady problems
(examples)
( )
t
x x
u
n
i
n
i
n
i
n
i
n
i
n
i
n
i
A
(

A
u u + u I
+
A
u u
+ u = u
+ +

+
+
+

+
+
+
2
1 1
1
1
1
1
1
1
1
1
2
2
27
Application to the Generic Transport Equation
(Implicit Euler methods)

Assume constant velocity
( )
n
i
n
i
n
i
n
i
d
c
d
c
d u = u
|
.
|

\
|
+ u
|
.
|

\
|
+ u +
+

+
+
+ 1
1
1
1
1
2 2
2 1
Advantage: Use of the implicit Euler method allows
arbitrarily large time steps to be taken
Disadvantage: first order truncation error in time
and the need to solve a large coupled set of
equations at each time step.
Solution of Navier-Stokes equations
Special features of Navier-Stokes Equations
Choice of Variable Arrangement on the Grid
Pressure Poisson equation
Solution methods for N-S equations
28
Solution of N-S equations (special features)
Navier-Stokes equations (3D in Cartesian coordinates)
(

c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2

z
w
y
w
x
w
z
p
z
w
w
y
w
v
x
w
u
t
w

29
(

c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2

z
u
y
u
x
u
x
p
z
u
w
y
u
v
x
u
u
t
u

(

c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2

z
v
y
v
x
v
y
p
z
v
w
y
v
v
x
v
u
t
v

( ) ( ) ( )
0 =
c
c
+
c
c
+
c
c
+
c
c
z
w
y
v
x
u
t

Convection Piezometric pressure gradient Viscous terms
Local
acceleration
Continuity equation
Discretization of Convective, pressure and Viscous terms
Conservation properties: 1. Guaranteeing global energy conservation in a
numerical method is a worthwhile goal, but not easily attained;
2. Incompressible isothermal flows, significance is kinetic energy; 3. heat
transfer: thermal energy>>kinetic energy

Solution of N-S equations (choice of variable
arrangement on the grid)
30
Colocated arrangement:
1. Store all the variables at the same set of grid points and to use the
same control volume for all variables
2. Advantages: easy to code
3. Disadvantages: pressure-velocity decoupling, approximation for terms
Staggered Arrangements:
1. Not all variables share the same grid
2. Advantages: (1). Strong coupling between pressure and velocities, (2).
Some terms interpolation in colocated arrangement can be calculated
withh interpolcation.
3. Disadvantages: higher order numerical schemes with order higher than
2
nd
will be difficult

Colocated
Staggered
Solution of Navier-Stokes equations (Pressure
Poisson equation)
Why need equation for pressure: 1. N-S equations
lack an independent equation for the pressure; 2. in
incompressible flows, continuity equation cannot be
used directly
Derivation: obtain Poisson equation by taking the
divergence of the momentum equation and then
simplify using the continuity equation.
Poisson equation is an elliptic problem, i.e. pressure
values on boundaries must be known to compute the
whole flow field

( )
(
(

c
c
c
c
=
|
|
.
|

\
|
c
c
c
c
j
j i
i i i
x
u u
x x
p
x
31
Solution methods for the Navier-Stokes
equations
Analytical Solution (fully developed laminar pipe flow)
Vorticity-Stream Function Approach
The SIMPLE (Semi-Implicit Method for pressure-Linked Equations)
Algorithm:
1. Guess the pressure field p*
2. Solve the momentum equations to obtain u*,v*,w*
3. Solve the p equation (The pressure-correction equation)
4. p=p*+p
5. Calculate u, v, w from their starred values using the
velocity-correction equations
6. Solve the discretization equation for other variables, such as
temperature, concentration, and turbulence quantities.
7. Treat the corrected pressure p as a new guessed pressure p*,
return to step 2, and repeat the whole procedure until a
converged solution is obtained.

32
Example (lid-driven cavity)
The driven cavity problem is a
classical problem that has wall
boundaries surrounding the
entire computational region.
Incompressible viscous flow in
the cavity is driven by the
uniform translation of the
moving upper lid.
the vorticity-stream function
method is used to solve the
driven cavity problem.
33
U
TOP

o
y
x
u=v=0
u=v=0 u=v=0
u=U
TOP
, v=0
Example (lid-driven cavity, governing
equations)
( ) ( )
y
v
x
u
y
v
x
u
c
c
+
c
c
=
c
c
+
c
c , , , ,
34
0 =
c
c
+
c
c
y
v
x
u
|
|
.
|

\
|
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
2
2
2
2
y
u
x
u
x
p
y
u
v
x
u
u
t
u
v
|
|
.
|

\
|
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
2
2
2
2
y
v
x
v
y
p
y
v
v
x
v
u
t
v
v
y
u
x
v
c
c

c
c
= ,
v
x
u
y
=
c
c
=
c
c

|
|
.
|

\
|
c
c
+
c
c
=
c
c
+
c
c
+
c
c
2
2
2
2
Re
1
y x y
v
x
u
t
l
, , , , ,
,

=
c
c
+
c
c
2
2
2
2
y x
(
(

|
|
.
|

\
|
c c
c

|
|
.
|

\
|
c
c
|
|
.
|

\
|
c
c
=
c
c
+
c
c
2
2
2
2
2
2
2
2
2
2
2
y x y x y
p
x
p
v
Ul
l
= Re
Example (lid-driven cavity, boundary
conditions)
35
0 =
on all walls
( ) ( ) | |
3
2
2
2
1
2
1
n o
n
n
n
n
w w w w
A +
c
c
A +
c
c
A + =
+


( )
( )
2
1 , ,
,
2
y
y
NJ i NJ i
NJ i
A
A
=


,
( )
( )
2
1
2
n
w w
w
A

=
+

,
w
l
w
n s
p
c
c
=
c
c ,
Re
1
|
|
.
|

\
|
A
+
=
A

+ + +
n s
p p
w s w s w s
l
w s w s
2
4 3
Re
1
2
2 , 1 , , , 1 , 1
, , ,
The other
Three walls
The top wall
For wall pressures, using the tangential momentum
equation to the fluid adjacent to the wall surface, get:
* s is measured along the wall surface and n is normal to it
* Pressure at the lower left corner of the cavity is assigned 1.0
Example (lid-driven cavity, discretization
methods)
36
|
|
.
|

\
|
A
+
+
A
+
=
A

+
A

+
A

+ +
+ + + +
+
2
1 , , 1 ,
2
, 1 , , 1
1 , 1 , 1 , 1 , , 1 , 1 , 1 , 1 ,
1
,
) (
2
) (
2
Re
1
2 2
y x
y
v v
x
u u
t
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
l
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
, , , , , ,
, , , , , ,
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
y x
,
2
1 , , 1 ,
2
, 1 , , 1
) (
2
) (
2
,

=
A
+
+
A
+
+ +
(
(

|
|
.
|

\
|
A A
+

|
|
.
|

\
|
A
+
|
|
.
|

\
|
A
+
=
A
+
+
A
+
+ + + + + +
+ +
2
1 , 1 1 , 1 1 , 1 1 , 1
2
1 , , 1 ,
2
, 1 , , 1
2
1 , , 1 ,
2
, 1 , , 1
4 ) (
2
) (
2
2
) (
2
) (
2
y x y x
y
p p p
x
p p p
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i
n
j i

2
nd
order central difference scheme used for all spatial derivatives
1
st
order upwind for
time derivative
Example (lid-driven cavity, solution
procedure)
1. Specify the geometry and fluid properties
2. Specify initial conditions (e.g. u=v= = =0).
3. Specify boundary conditions
4. Determine At
5. Solve the vorticity transport equation for
6. Solve stream function equation for
7. Solve for u
n+1
and v
n+1
8. Solve the boundary conditions for on the walls
9. Continue marching to time of interest, or until the steady state is
reached.
,
37

1 + n
,
1 + n

1 + n
,
Example (lid-driven cavity, residuals)
8
,
1 , 1
,
1
,
10 1
1

= =
= =
+
s

NJ j NI i
j i
n
j i
n
j i
NJ NI
, ,
38
8
,
1 , 1
,
1
,
10 1
1

= =
= =
+
s

NJ j NI i
j i
n
j i
n
j i
NJ NI
, ,
and
Example (lid-driven cavity, sample results)
39
3
3
5
5
7
7
7
9
9
9
9
1
1
1
1
1
1
1
1
1
3
1
3
1
3
1
3
1
3
1
5
1
5
1
4
1
5
15
1
7
1
7
1
7
1
7
17
1
9
19
1
9
1
9
19
2
1
2
1
21
2
1
2
1
21
2
3
2
3
23
2
3
2
3
23
2
5
2
5
25 2
3
2
5
2
5
25
2
7
2
7
27
27
2
7
2
7
27
2
8
2
9
2
9
29
2
9
2
9
2
9
29
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Level psi
31 0.0018
29 -0.0009
27 -0.0064
25 -0.0119
23 -0.0174
21 -0.0228
19 -0.0283
17 -0.0338
15 -0.0393
13 -0.0448
11 -0.0502
9 -0.0557
7 -0.0612
5 -0.0667
3 -0.0721
1 -0.0776
y
x
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1 1.1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
y
x
3
5
5
5
7
7
7
9
9
1
1
1
1
1
3
1
3
1
5
1
5
1
7
1
7
1
9
1
9
2
1
2
3
25
27 29
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Level p
29 1.1905
27 1.1754
25 1.1604
23 1.1454
21 1.1303
19 1.1153
17 1.1003
15 1.0852
13 1.0702
11 1.0552
9 1.0401
7 1.0251
5 1.0101
3 0.9950
1 0.9800
y
x
4 9
11
8
14
13
16
15
17
17
19 19
1
9
2
1
21
21
2
1
2
1
2
1
2
1
2
3
2
4
2
3
25
2
5
2
5
2
7
2
7
2
9
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
Level zeta
29 11.2711
27 8.3232
25 5.3753
23 2.4273
21 -0.5206
19 -3.4686
17 -6.4165
15 -9.3644
13 -12.3124
11 -15.2603
9 -18.2082
7 -21.1562
5 -24.1041
3 -27.0521
1 -30.0000
y
x
Some good books
40
1. J. H. Ferziger, M. Peric, Computational Methods for Fluid
Dynamics, 3
rd
edition, Springer, 2002.
2. Patric J. Roache, Verification and Validation in
Computational Science and Engineering, Hermosa
publishers, 1998
3. Frank, M. White, Viscous Fluid Flow, 3
rd
edition,
McGraw-Hill Inc., 2006