A pressurized model for compressible pipe flows: derivation including friction. · 2014-06-13 · A...

A pressurized model for compressiblepipe flows: derivation including friction.

M. Ersoy, IMATH, ToulonMTM workshop

Bilbao,June 12-13, 2014

Outline of the talkOutline of the talk

1 Physical background, Mathematical motivation andprevious works

2 Derivation of the model including friction

3 Numerical experiment and concluding remarks

M. Ersoy (IMATH) Compressible pipe flow including friction Bilbao, June 12-13, 2014 2 / 23

OutlineOutline

Pressurized flows : overviewSimulation of pressurized flows

plays an important role in many engineering applications such asI storm sewersI wasteI or supply pipes in hydroelectric installations, . . . .

“geyser” effect −→ pressure can reach severe values and may causeirreversible damage !

requiring efficient mathematical models and accurate numerical schemes

(a) Orange-Fish tunnel (b) Sewers . . . in Paris (c) Forced pipe

Pipe friction : definition and applications

Friction law

F (u) = −k(uτ )uτ , uτ : tangential fluid flow

tangential constraint

σ(u)n · τ = ρk(uτ )uτ , ρ : density, σ : total stress tensor

k can be writtenk(uτ ) = Cl + Ct|uτ |.

Cl and Ct are the so-called friction factor given byI empirical laws depending

F on the fluid flow : laminar, transient, turbulentF on the material (roughness, geometry, hydraulic radius, . . . )

I approximated and not always applicable

Hydraulic engineering applications : canal, irrigation, dam-break, sedimenttransport, geyser, energy loss, failure pumping, fluid blockage, boundary layer,. . .

Friction law

Cl and Ct are the so-called friction factor given by

I empirical laws dependingF on the fluid flow : laminar, transient, turbulentF on the material (roughness, geometry, hydraulic radius, . . . )

Friction law

How to determine the friction factorThe friction factor is called Fanning friction factor (whenever it is related to theshear stress) or Darcy friction factor (whenever it is related to the head loss = 4×Fanning friction factor) and

C = C(Re, δ, Rh, . . .) .

Examples :

laminar flows

I Cl =C0

Retransient flows

I Colebrook (1939) formula :1√C

= −2 log10

Re√C

)I or approximated Colebrook formula : Blasius, Haaland, Swamee-Jain,. . .

turbulent flows

I Chezy (1776), Manning (1891), Strickler (1923) : Ct =1

K2sRh(S(x))4/3

C = C(Re, δ, Rh, . . .) .

Examples :

laminar flows

I Cl =C0

transient flows

= −2 log10

Re√C

turbulent flows

K2sRh(S(x))4/3

C = C(Re, δ, Rh, . . .) .

Examples :

laminar flows

I Cl =C0

Retransient flows

= −2 log10

Re√C

turbulent flows

K2sRh(S(x))4/3

C = C(Re, δ, Rh, . . .) .

Examples :

laminar flows

I Cl =C0

Retransient flows

= −2 log10

Re√C

turbulent flows

K2sRh(S(x))4/3

C = C(Re, δ, Rh, . . .) .

These coefficients are determined through the Moody diagram.

Schematic : circular pipe

Mathematical motivations : thin-layer approximationMathematical motivations

to reduce Viscous Compressible 3D NS p(ρ) = cρ → inviscid compressible 1DSW-like model

to obtain the “motion by slices” through a Neumann problem

I u(t, x, y, z) = u(t, x) + ˜u(t, x, y, z),

˜u(t, x, y, z) dy dz = 0,

I ˜u(t, x, y, z) = O(ε) where ε is the aspect-ratio.

I u(t, x)2 ≈ u(t, x)2

to include the friction with its geometrical dependency as well as othergeometrical source terms

general barotropic law p(ρ) = cργ , γ 6= 1

ργ ≈ ργ

J.-F. Gerbeau, B. Perthame

Derivation of viscous Saint-Venant system for laminar shallow water ; numerical validation.Discrete Contin. Dyn. Syst. Ser. B, 1(1) :339–365, 2001.

C. Bourdarias, M. Ersoy, S. Gerbi,

A model for unsteady mixed flows in non uniform closed water pipes : a Full Kinetic Approach.Accepted in Numerische Mathematik, 2014.

I u(t, x, y, z) = u(t, x) + ˜u(t, x, y, z),

˜u(t, x, y, z) dy dz = 0,

I u(t, x)2 ≈ u(t, x)2

ργ ≈ ργ

I u(t, x, y, z) = u(t, x) + ˜u(t, x, y, z),

˜u(t, x, y, z) dy dz = 0,

I u(t, x)2 ≈ u(t, x)2

ργ ≈ ργ

I u(t, x, y, z) = u(t, x) + ˜u(t, x, y, z),

˜u(t, x, y, z) dy dz = 0,

I u(t, x)2 ≈ u(t, x)2

ργ ≈ ργ

OutlineOutline

SettingsLet us consider a compressible fluid confined in a three dimensional domain P, anon deformable pipe of length L oriented following the i vector,

(x, y, z) ∈ R3; x ∈ [0, L], (y, z) ∈ Ω(x)

where the section Ω(x), x ∈ [0, L], is

Ω(x) = (y, z) ∈ R2; y ∈ [α(x, z), β(x, z)], z ∈ [−R(x), R(x)]

(d) Configuration (e) Ω-plane

Figure : Geometric characteristics of the pipe

The Compressible Navier-Stokes equations ∂tρ+ div(ρu) = 0 ,∂t(ρu) + div(ρu⊗ u)− divσ − ρF = 0 ,

p = p(ρ) = cργ with γ = 1 ,

velocity : u =

density : ρ,

gravity : F = g

sin θ(x)0

− cos θ(x)

tensor : σ =

(−p+ λdiv(u) + 2µ∂xu R(u)t

R(u) −pI2 + λdiv(u)I2 + 2µDy,z(v)

dynamical viscosity : µ,volume viscosity : λ,

and R(u) = µ (∇y,zu+ ∂xv) , ∇y,zu =

(∂yu∂zu

), Dy,z(v) = ∇y,zv +∇ty,zv

The Compressible Navier-Stokes equations ∂tρ+ div(ρu) = 0 ,∂t(ρu) + div(ρu⊗ u)− divσ − ρF = 0 ,

p = p(ρ) = cργ with γ = 1 ,

velocity : u =

density : ρ,

gravity : F = g

sin θ(x)0

− cos θ(x)

tensor : σ =

(−p+ λdiv(u) + 2µ∂xu R(u)t

R(u) −pI2 + λdiv(u)I2 + 2µDy,z(v)

dynamical viscosity : µ,volume viscosity : λ,

and R(u) = µ (∇y,zu+ ∂xv) , ∇y,zu =

(∂yu∂zu

), Dy,z(v) = ∇y,zv +∇ty,zv

Boundary conditions : inner wall ∂Ω(x), ∀x ∈ (0, L)

wall-law condition including a general friction law k :

(σ(u)nb) · τbi = (ρk(u)u) · τbi , x ∈ (0, L), (y, z) ∈ ∂Ω(x)

where τbi is the ith vector of the tangential basis. with

nb =1√

(∂xϕ)2 + n · n

(−∂xϕ

)where n =

(−∂yϕ

)is the outward normal vector in the Ω-plane.

completed with a no-penetration condition :

u · nb = 0, x ∈ (0, L), (y, z) ∈ ∂Ω(x)

nb =1√

(∂xϕ)2 + n · n

(−∂xϕ

)where n =

(−∂yϕ

u · nb = 0, x ∈ (0, L), (y, z) ∈ ∂Ω(x)

nb =1√

(∂xϕ)2 + n · n

(−∂xϕ

)where n =

(−∂yϕ

u · nb = 0, x ∈ (0, L), (y, z) ∈ ∂Ω(x)

thin-layer assumption and asymptotic ordering

“thin-layer” assumption : ε =D

U 1 and T =

dimensionless quantities :

t, (x, y, z), (u, v, w), ρ

non-dimensional numbers :

Fr, FL, Rµ, Rλ,Ma, C

asymptotic ordering :

R−1λ = ελ0, R−1

µ = εµ0, K = εK0 .

U 1 and T =

Udimensionless quantities :

I time t =t

I coordinate (x, y, z) =( xL,y

)I velocity field (u, v, w) =

( uU,v

)I density ρ =

t, (x, y, z), (u, v, w), ρ

R−1λ = ελ0, R−1

µ = εµ0, K = εK0 .

U 1 and T =

dimensionless quantities : t, (x, y, z), (u, v, w), ρ

Fr Froude number following the Ω-plane : Fr =U√gD

FL Froude number following the i-direction : FL =U√gL

Rµ Reynolds numbers with respect to µ : Rµ =ρ0UL

Rλ Reynolds numbers with respect to λ : Rλ =ρ0UL

Ma Mach number : Ma =U

C Oser number : C =Ma

R−1λ = ελ0, R−1

µ = εµ0, K = εK0 .

U 1 and T =

dimensionless quantities : t, (x, y, z), (u, v, w), ρ

non-dimensional numbers : Fr, FL, Rµ, Rλ,Ma, C

R−1λ = ελ0, R−1

µ = εµ0, K = εK0 .

The non-dimensional systemDropping the ·, the system becomes :

∂tρ+ ∂x(ρu) + divy,z(ρv) = 0 ,

∂t(ρu) + ∂x(ρu2) + divy,z(ρuv) + ∂xρ

= −ρ sin θ(x)

+divy,z

(R−1µ

ε2∇y,zu

ε2 (∂t(ρv) + ∂x(ρuv) + divy,z(ρv⊗ v)) +∇y,zρ

−ρ cos θ(x)

+Gρv ,

where the source terms are

Gρu = divy,z(R−1µ ∂xv

)+ ∂x

(2R−1

µ ∂xu+R−1λ div(u)

Gρv = ∂x (εRε(u)) + divy,z(R−1λ div(u) + 2R−1

µ Dy,z(v)).

keeping in mind :R−1λ = ελ0, R−1

µ = εµ0

The non-dimensional systemDropping the ·, the system becomes :

= −ρ sin θ(x)

+divy,z

(R−1µ

ε2∇y,zu

ε2 (∂t(ρv) + ∂x(ρuv) + divy,z(ρv⊗ v)) +∇y,zρ

−ρ cos θ(x)

+Gρv ,

Gρu = divy,z(R−1µ ∂xv

)+ ∂x

(2R−1

µ ∂xu+R−1λ div(u)

Gρv = ∂x (εRε(u)) + divy,z(R−1λ div(u) + 2R−1

µ Dy,z(v)).

µ = εµ0

The non-dimensional systemThe system becomes :

= −ρ sin θ(x)

+divy,z(µ0

ε2∇y,zu

)∇y,z

−ρ cos θ(x)

+Gρv ,

Gρu = +divy,z (µ0ε∂xv) + ∂x (2µ0ε∂xu+ λ0εdiv(u)) ,

Gρv = ∂x (εRε(u)) + divy,z (λ0εdiv(u) + 2µ0εDy,z(v)) + O(ε2) .

µ = εµ0

The non-dimensional systemThe system becomes :

= −ρ sin θ(x)

+divy,z(µ0

ε∇y,zu

)∇y,z

−ρ cos θ(x)

+Gρv ,

Gρu = O(ε)

Gρv = O(ε)

µ = εµ0

The first order approximation

Formally, dropping all terms of order O(ε), we obtain the so-called hydrostaticapproximation :

∂tρε + ∂x(ρεuε) + divy,z(ρεvε) = 0

∂t(ρεuε) + ∂x(ρεu2ε) + divy,z(ρεuεvε) +

∂xρε = −ρεsin θ(x)

+divy,z(µ0

ε∇y,zuε

∇y,zρε =

−ρε cos θ(x)F 2r

Remark

Let us emphasize that even if this system results from a formal limit of Equationsas ε goes to 0, we note its solution (ρε, uε,vε) due to the explicit dependency onε.

The first order approximation

Formally, dropping all terms of order O(ε), we obtain the so-called hydrostaticapproximation :

∂tρε + ∂x(ρεuε) + divy,z(ρεvε) = 0

+ divy,z(µ0

ε∇y,zuε

∇y,zρε =

−ρε cos θ(x)F 2r

Remark

Let us emphasize that even if this system results from a formal limit of Equationsas ε goes to 0, we note its solution (ρε, uε,vε) due to the explicit dependency onε.

The boundary conditions

& the Neumann problem

Boundary conditions : ∀x ∈ (0, L), (y, z) ∈ ∂Ω(x) :

ε∇y,zuε · n = ρεK0(u) +O(ε) and µ0∇y,zuε = O(ε) .

Neumann problemdivy,z (µ0∇y,zuε) = O(ε) , (y, z) ∈ Ω(x)µ0∂nuε = O(ε) , (y, z) ∈ ∂Ω(x)

Momentum equation on ρεuε :

+divy,z(µ0

ε∇y,zuε

+divy,z(µ0

ε∇y,zuε

)Order

divy,z (µ0∇y,zuε) = O(ε)

+divy,z(µ0

ε∇y,zuε

)Order

divy,z (µ0∇y,zuε) = O(ε)

Neumann condition

ε∇y,zuε · n = ρεK0(u) +O(ε) −→ µ0∇y,zuε · n = O(ε)

The boundary conditions & the Neumann problem

“motion by slices”

Consequence : first order approximation

“motion by slices”uε(t, x, y, z) = uε(t, x) +O(ε) =⇒ uε(t, x, y, z) = uε(t, x) .

non-linearity : u2ε = uε

stratified structure of the density :

∇y,zρε =

−ρε cos θ(x)

⇐⇒ (∂yρε∂zρε

−ρεC2 cos θ(x)

ρε(t, x, y, z) = ξε(t, x) exp(−C2 cos θ(x)z

)for some positive function ξε

stratified structure of the density :

∇y,zρε =

−ρε cos θ(x)

⇐⇒ (∂yρε∂zρε

−ρεC2 cos θ(x)

ρε(t, x) =ξε(t, x)Ψ(x)

Ψ(x) =

∫Ω(x)

exp(−C2 cos θ(x)z) dy dz : weighted pipe section ,

S(x) =

∫Ω(t,x)

dydz : physical pipe section .

Momentum :

ρεuε =1

ρεuε dydz =ξεΨ

Suε = ρε uε

ρεuε = ρε uε

ρεu2ε = ρε u2

= ρε uε2

ρεuε = ρε uε

ρεu2ε = ρε u2

ε = ρε uε2

The averaged model : P-model

Integration of the hydrostatic equations over the cross-section Ω :

∂t(ρεS) + ∂x(ρεSuε) =

∫∂Ω(x)

ρε (uε∂xm− vε) · n ds

∂t(ρεSuε) + ∂x

(ρεSuε

)= −ρεS

sin θ(x)

ρεSdS

∫∂Ω(x)

ρεuε (uε∂xm− v) · n ds

−∫∂Ω(x)

ε∇y,zuε · n ds

I Using Leibniz FormulaI m = (y, ϕ(x, y)) ∈ ∂Ω(x) : the vector ωm

I n =m

|m| : the outward normal to ∂Ω(x) at m in the Ω-plane

∂t(ρεS) + ∂x(ρεSuε) =

∫∂Ω(x)

ρε (uε∂xm− vε) · n ds

(ρεSuε

)= −ρεS

sin θ(x)

ρεSdS

∫∂Ω(x)

ρεuε (uε∂xm− v) · n ds

−∫∂Ω(x)

ε∇y,zuε · n ds

no-penetration condition =⇒ (uε∂xm− vε) · n = 0

∂t(ρεS) + ∂x(ρεSuε) = 0

(ρεSuε

)= −ρεS

sin θ(x)

ρεSdS

−∫∂Ω(x)

ε∇y,zuε · n ds

Friction term :

∫∂Ω(x)

ε∇y,zuε · n ds =

∫∂Ω(x)

ρεK0(uε) ds =(ξεΨ(x)

(K0(uε)

)= ρεSK(x, uε)

ψ : the curvilinear integral of z → exp(−C2 cos θ(x)z) along ∂Ω(x) calledweighted wet perimeter.

(ρεSuε

)= −ρεS

sin θ(x)

ρεSdS

−ρεSK (x, uε)

ψ : weighted wet perimeter of Ω =⇒(ψ(x)

: weighted hydraulic radius

I Meaning that the friction is also a function of the Oser numberI Neglected by engineers since ψ = wet perimeter.

∂t(ρεSuε) + ∂x(ρεSuε

2 + c2ρεS)

= −gρεS sin θ(x) + c2ρεSdS

−gρεSK (x, uε)

multiply Equations byρ0DU

∂t(A) + ∂x(Auε) = 0

∂t(Auε) + ∂x(Auε

2 + c2A)

= −gA sin θ(x) + c2A

−gAK (x, uε)

Lset A = ρεS : the wet area

∂t(A) + ∂x(Q) = 0

∂t(Q) + ∂x

A+ c2A

)= −gA sin θ(x) + c2

−gAK(x,Q

Lset A = ρεS : the wet area

set Q = Auε : the discharge

OutlineOutline

A “dam-break” like experiment (C=1)

Generalized kinetic scheme introduced by Bourdarias, Ersoy and Gerbi (2014)

Manning-Strickler friction law (Ks =1

We consider :Horizontal circular pipe : L = 100 m, D = 1 m.

(a) M = 0 (b) M = 0.2

A “dam-break” like experiment (C=1)

Figure : Influence of the friction

Concluding remarks

the case p(ρ) = ργ , γ = 1 : second order approximation(ε = 10−3, C = 1)−→ paraboloid profile

IsoValue7.03551e-062.11065e-053.51775e-054.92485e-056.33196e-057.73906e-059.14616e-050.0001055330.0001196040.0001336750.0001477460.0001618170.0001758880.0001899590.000204030.0002181010.0002321720.0002462430.0002603140.000274385

IsoValue1.91188e-065.73565e-069.55941e-061.33832e-051.72069e-052.10307e-052.48545e-052.86782e-053.2502e-053.63258e-054.01495e-054.39733e-054.7797e-055.16208e-055.54446e-055.92683e-056.30921e-056.69159e-057.07396e-057.45634e-05

the case p(ρ) = ργ , γ 6= 1

Concluding remarks

I hydrostatic equation −→ ρε(t, x, y, z) = ξε(t, x)N(t, x, z) where

N(t, x, z) =

(1 + zC2 cos θ(x)

1− γγξε(t, x)γ−1

) 1γ−1

Concluding remarks

N(t, x, z) =

(1 + zC2 cos θ(x)

) 1γ−1

I the assumption ργ ≈ ργ is wrong ! ! !

Concluding remarks

N(t, x, z) =

(1 + zC2 cos θ(x)

) 1γ−1

I the assumption ργ ≈ ργ is wrong ! ! !I except if the Oser number C 1 −→ a class of low Oser compressible γ

models. This occurs when the gravity has no influence.

Concluding remarks

I First order Pressurized γ model can be derived in a similar way :

∂t(ξεS) + ∂x(ξεSu) = 0

∂t(ξεSuε) + ∂x

(ξεSuε

ξγεS

)= −ξεS

sin θ(x)

ξγεdS

dx−ξεK(x, uε)

Concluding remarks

I Second order approximation (ε = 10−3, C = 10−3) : paraboloid profile

IsoValue6.23256e-061.86977e-053.11628e-054.36279e-055.60931e-056.85582e-058.10233e-059.34884e-050.0001059540.0001184190.0001308840.0001433490.0001558140.0001682790.0001807440.0001932090.0002056750.000218140.0002306050.00024307

IsoValue5.99634e-061.7989e-052.99817e-054.19744e-055.3967e-056.59597e-057.79524e-058.99451e-050.0001019380.000113930.0001259230.0001379160.0001499080.0001619010.0001738940.0001858860.0001978790.0002098720.0002218650.000233857

PerspectivesMain objectives are

make the asymptotic analysis rigorous for γ > 0

applications dealing with the impact of sediment transport during floodingbased on

I Pressurised γ models for the hydrodynamicsI Exner like equations for the morphodynamics (derived from Vlasov equations)

to findI optimal pipe shapeI including variable rugosity

(a) what happen inside the pipe (b) This is not a river ! ! !

(c) what happen inside the pipe (d) This is not a river ! ! !

(e) what happen inside the pipe (f) This is not a river ! ! !

Thank youThank you

for yourfor your

attentionattentio

A pressurized model for compressible pipe flows: derivation including friction. · 2014-06-13 · A...

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