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Michael Schafer

Computational Engineering
Introduction to
Numerical Methods

With 204 Figures

A \

^J Springer
Contents

Introduction 1
1.1 Usefulness of Numerical Investigations 1
1.2 Development of Numerical Methods 4
1.3 Characterization of Numerical Methods 6

Modeling of Continuum Mechanical Problems 11

2.1 Kinematics 11
2.2 Basic Conservation Equations 15
2.2.1 Mass Conservation 16
2.2.2 Momentum Conservation 18
2.2.3 Moment of Momentum Conservation 19
2.2.4 Energy Conservation 19
2.2.5 Material Laws 20
2.3 Scalar Problems 20
2.3.1 Simple Field Problems 21
2.3.2 Heat Transfer Problems 23
2.4 Structural Mechanics Problems 26
2.4.1 Linear Elasticity 27
2.4.2 Bars and Beams 30
2.4.3 Disks and Plates 35
2.4.4 Linear Thermo-Elasticity 39
2.4.5 Hyperelasticity 40
2.5 Fluid Mechanical Problems 42
2.5.1 Incompressible Flows 43
2.5.2 Inviscid Flows 45
2.6 Coupled Fluid-Solid Problems 46
2.6.1 Modeling 47
2.6.2 Examples of applications 49
Exercises for Chap. 2 56
VIII Contents
3 Discretization of Problem Domain 57
3.1 Description of Problem Geometry 57
3.2 Numerical Grids 60
3.2.1 Grid Types 61
3.2.2 Grid Structure 62
3.3 Generation of Structured Grids 66
3.3.1 Algebraic Grid Generation 67
3.3.2 Elliptic Grid Generation 69
3.4 Generation of Unstructured Grids 71
3.4.1 Advancing Front Methods 72
3.4.2 Delaunay Triangulations 74
Exercises for Chap. 3 76
4 Finite-Volume Methods 77
4.1 General Methodology 77
4.2 Approximation of Surface and Volume Integrals 81
4.3 Discretization of Convective Fluxes 84
4.3.1 Central Differences 85
4.3.2 Upwind Techniques 86
4.3.3 Flux-Blending Technique 88
4.4 Discretization of Diffusive Fluxes 89
4.5 Non-Cartesian Grids 91
4.6 Discrete Transport Equation 94
4.7 Treatment of Boundary Conditions 95
4.8 Algebraic System of Equations 97
4.9 Numerical Example 100
Exercises for Chap. 4 103
5 Finite-Element Methods 107
5.1 Galerkin Method 107
5.2 Finite-Element Discretization 110
5.3 One-Dimensional Linear Elements 112
5.3.1 Discretization 112
5.3.2 Global and Local View 115
5.4 Practical Realization 118
5.4.1 Assembling of Equation Systems 118
5.4.2 Computation of Element Contributions 120
5.4.3 Numerical Example 121
5.5 One-Dimensional Cubic Elements 123
5.5.1 Discretization 123
5.5.2 Numerical Example 126
5.6 Two-Dimensional Elements 128
5.6.1 Variable Transformation for Triangular Elements 129
5.6.2 Linear Triangular Elements 131
5.6.3 Numerical Example 132
 Contents IX
5.6.4 Bilinear Parallelogram Elements 138
5.6.5 Other Two-Dimensional Elements 140
5.7 Numerical Integration 143
Exercises for Chap. 5 146
Time Discretization 149
6.1 Basics 149
6.2 Explicit Methods 154
6.3 Implicit Methods 157
6.4 Numerical Example 161
Exercises for Chap. 6 165
Solution of Algebraic Systems of Equations 167
7.1 Linear Systems 167
7.1.1 Direct Solution Methods 168
7.1.2 Basic Iterative Methods 169
7.1.3 ILU Methods 171
7.1.4 Convergence of Iterative Methods 174
7.1.5 Conjugate Gradient Methods 176
7.1.6 Preconditioning 178
7.1.7 Comparison of Solution Methods 179
7.2 Non-Linear and Coupled Systems 182
Exercises for Chap. 7 184
Properties of Numerical Methods 187
8.1 Properties of Discretization Methods 187
8.1.1 Consistency 188
8.1.2 Stability 191
8.1.3 Convergence 195
8.1.4 Conservativity 196
8.1.5 Boundedness 197
8.2 Estimation of Discretization Error 199
8.3 Influence of Numerical Grid 202
8.4 Cost Effectiveness 206
Exercises for Chap. 8 206

Finite-Element Methods in Structural Mechanics 209

9.1 Structure of Equation System 209
9.2 Finite-Element Discretization 211
9.3 Examples of Applications 215
Exercises for Chap. 9 221
X Contents
10 Finite-Volume Methods for Incompressible Flows 223
10.1 Structure of Equation System 223
10.2 Finite-Volume Discretization 224
10.3 Solution Algorithms 230
10.3.1 Pressure-Correction Methods 231
10.3.2 Pressure-Velocity Coupling 235
10.3.3 Under-Relaxation 239
10.3.4 Pressure-Correction Variants 244
10.4 Treatment of Boundary Conditions 247
10.5 Example of Application 251
Exercises for Chap. 10 258
11 Computation of Turbulent Flows 259
11.1 Characterization of Computational Methods 259
11.2 Statistical Turbulence Mqdeling 261
11.2.1 The k-e Turbulence Model 263
11.2.2 Boundary Conditions 265
11.2.3 Discretization and Solution Methods 270
11.3 Large Eddy Simulation 271
11.4 Comparison of Approaches 275

12 Acceleration of Computations 277

12.1 Adaptivity 277
12.1.1 Refinement Strategies 278
12.1.2 Error Indicators 280
12.2 Multi-Grid Methods 281
12.2.1 Principle of Multi-Grid Method 282
12.2.2 Two-Grid Method 284
12.2.3 Grid Transfers 287
12.2.4 Multigrid Cycles 288
12.2.5 Examples of Computations 290
12.3 Parallelization of Computations 295
12.3.1 Parallel Computer Systems 296
12.3.2 Parallelization Strategies 297
12.3.3 Efficieny Considerations and Example Computations. . . 302
Exercises for Chap. 12 306
List of Symbols 307

References 313
Index 317