Introduction To Computational Fluid Dynamics

Introduction to Computational
Fluid Dynamics
Adapted from notes by:
Tao Xing and Fred Stern
The University of Iowa
Outline
What
is CFD?
Why use CFD?
Where is CFD used?
Physics
Modeling
Numerics
CFD process
Resources
What is CFD?
What is CFD and its objective?
Computational Fluid Dynamics

Historically Analytical Fluid Dynamics (AFD) and EFD
(Experimental Fluid Dynamics) was used. CFD has become
feasible due to the advent of high speed digital computers.
Computer simulation for prediction of fluid-flow phenomena.
The objective of CFD is to model the continuous fluids with
Partial Differential Equations (PDEs) and discretize PDEs into
an algebra problem (Taylor series), solve it, validate it and
achieve simulation based design.
Why use CFD?

Why
use CFD?
Analysis and Design
Simulation-based design instead of build & test

More cost effectively and more rapidly than with experiments
CFD solution provides high-fidelity database for interrogation of
flow field
Simulation of physical fluid phenomena that are difficult to be

measured by experiments
Scale simulations (e.g., full-scale ships, airplanes)
Hazards (e.g., explosions, radiation, pollution)
Physics (e.g., weather prediction, planetary boundary layer, stellar
evolution)
Knowledge and exploration of flow physics
Where is CFD used? (Aerospace)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
F18 Store Separation
Chemical Processing
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Wing-Body Interaction
Hypersonic Launch Vehicle
Where is CFD used? (Appliances)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Surface-heat-flux plots of the No-Frost

refrigerator and freezer compartments helped
BOSCH-SIEMENS engineers to optimize the
location of air inlets.
6
Where is CFD used? (Automotive)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
External Aerodynamics
HVAC&R
Undercarriage
Aerodynamics
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Interior Ventilation
Engine Cooling 7
Where is CFD used? (Biomedical)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
Medtronic Blood Pump
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Temperature and natural

convection currents in the eye
following laser heating.
Sports
Spinal Catheter
Where is CFD used? (Chemical Processing)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
Polymerization reactor vessel - prediction

of flow separation and residence time
effects.
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Twin-screw extruder
modeling
Sports
Shear rate distribution in twinscrew extruder simulation
9
Where is CFD used? (HVAC&R)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
Streamlines for workstation

ventilation
HVAC&R
Particle traces of copier VOC emissions

colored by concentration level fall
behind the copier and then circulate
through the room before exiting the
exhaust.
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Mean age of air contours indicate
location of fresh supply air
Flow pathlines colored by

pressure quantify head loss
in ductwork
10
Where is CFD used? (Hydraulics)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
11
Where is CFD used? (Marine)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
12
Where is CFD used? (Oil & Gas)
Where is CFD used?

Aerospace
Volume fraction of gas
Appliances
Automotive
Biomedical
Chemical Processing
Flow vectors and pressure distribution

on an offshore oil rig
Volume fraction of oil
HVAC&R
Hydraulics
Marine
Volume fraction of water
Oil & Gas
Analysis of multiphase separator
Power Generation
Sports
Flow of lubricating mud
over drill bit
13
Where is CFD used? (Power Generation)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Flow in a burner
Chemical Processing Flow around cooling towers

HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
Flow pattern through a water turbine.
Pathlines from the inlet

colored by temperature
during standard operating
14
conditions
Where is CFD used? (Sports)
Where is CFD used?

Aerospace
Appliances
Automotive
Biomedical
Chemical Processing
HVAC&R
Hydraulics
Marine
Oil & Gas
Power Generation
Sports
15
Physics
CFD
codes typically designed for representation of

specific flow phenomenon
Viscous vs. inviscid (no viscous forces) (Re)

Turbulent vs. laminar (Re)
Incompressible vs. compressible (Ma)
Single- vs. multi-phase (Ca)
Thermal/density effects and energy equation (Pr, , Gr, Ec)
Free-surface flow and surface tension (Fr, We)
Chemical reactions, mass transfer
etc
16
Physics
Fluid Mechanics
Inviscid
Viscous
Laminar
Compressible
(air, acoustic)
Incompressible
(water)
Internal
(pipe,valve)
Turbulence
External
(airfoil, ship)
Components of Fluid Mechanics

17
0
x
y
z
tutxuxxyuxyxzuzxyxpzxyyxzzxgx
Governing Equations
(Equations based on average velocity)
Continuity
Equation of motion
18
Navier-Stokes Equations
Claude-Louis Navier
George Gabriel Stokes
C.L. M. H. Navier, Memoire sur les Lois du Mouvements des Fluides, Mem. de lAcad. d. Sci.,6, 398 (1822)
C.G. Stokes, On the Theories of the Internal Friction of Fluids in Motion, Trans. Cambridge Phys. Soc., 8, (1845)
D
tvpvg
utuxtyzuxxuxuxxyzuyyuyuxyyzzuzuzxuzzyxpzyp2xu22xxuzy2yu22yxzy2zu22zxuzygxgzy
2
Navier-Stokes Equations
(constant and )
20
uadtyyp
yxu0dydauyx2txyu2xy20,duguyypyy0aztguzyLC11x2yp2xuy2yy2zuygy
0IBn.tCegr
12Ldypg C
2
NavierStokes Example
FinalExpresion
uy21dypg(Lx-2)
Fluid
L
Laminar Flow
Static Parallel Plates
21
Modeling
Mathematical representation of the physical problem

Some problems are exact (e.g., laminar pipe flow)
Exact solutions only exist for some simple cases. In these cases nonlinear terms
can be dropped from the N-S equations which allow analytical solution.
Most cases require models for flow behavior [e.g., K-, K-, Reynolds
Averaged Navier Stokes equations (RANS) or Large Eddy Simulation (LES)
for turbulent flow]
Initial Boundary Value Problem (IBVP), include: governing Partial Differential
Equations (PDEs), Initial Conditions (ICs) and Boundary Conditions (BCs)
22
Turbulent Flow Representation

(K- as an example)
u i u u' Where : u' deviating velocity, u constant net velocity
in the direction of flow, and u i instantaneous velocity
23
Turbulent Boundary Layer

y
Bulk Stream
x
U0
Edge of boundary layer

Outer layer
Fully turbulent layer

Sublayer + buffer layer
Wall
24
Wall Shear Stress

dU
dy
y u y
y
Friction Velocity
u
y 0
Viscous Length Scale
y+ is similar to a local Reynolds number.

Small y+ - Viscous effects dominate
Large y+ - Turbulence dominates
25
y+ and Turbulence Models

COMSOL has many turbulent models available
Low-Re models require a y+ resolution of < 1 to guarantee
accuracy
Low-Re models are necessary to accurately estimate skin
friction and flow separation
High-Re models use wall functions to approximate averaged
turbulent flow properties
Less accurate, but more computationally efficient
In COMSOL, a minimum y+ of 11.06 is enforced. To
maintain accuracy, ensure cells meet this requirement
26
Numerics / Discretization
Computational
solution of the IBVP

Method dependent upon the model equations and
physics
Several components to formulation
Discretization and linearization
Assembly of system of algebraic equations
Solve the system and get approximate solutions
27
uxi,ji1,jxi,jx2ui,j2x3ui,j6x2
Finite Differences
Finite difference
representation
Truncation error
Methods of Solution
Direct methods
Cramers Rule, Gauss elimination

LU decomposition
Iterative methods
Jacobi method, Gauss-Seidel

Method, SOR method
28
ui1,ji,jui,jx2ui,j2x23ui,j6x3
Numeric Solution
(Finite Differences)
jmax
j+1
j
j-1
i-1 i i+1
imax
Discrete Grid Points
Taylors Series Expansion

u i,j = velocity of fluid
29
2
n
2
n
afft((:x)x
2
x
xi,jn!
x)s0in.?2ff((xx))f(x)f0.9xx512 xi,j2
fE
(x0a.c2ts)olui0n.2for
c(0.os[)2
(09.8)]302E
)r
.o98075percnt
Finite Difference Truncation Error
30
CFD process
Geometry
description
Specification of flow conditions and properties
Selection of models
Specification of initial and boundary conditions
Grid generation and transformation
Specification of numerical parameters
Flow solution
Post processing: Analysis, and visualization
Uncertainty assessment
31
Geometry description
Typical
approaches
Make assumptions and
simplifications
CAD/CAE integration
Engineering drawings
Coordinates include Cartesian
system (x,y,z), cylindrical system (r,
, z), and spherical system(r, , )
32
Flow conditions and properties

Flow
conditions and properties required are

unique for each flow code and application
FlowLab requires all variables in dimensional
form
Because of focused application, research codes
often use non-dimensional variables.
33
Selection of models for flow field
Direct Numerical Simulations (DNS) is to solve the N-S equations

directly without any modeling. Grid must be fine enough to resolve
all flow scales. Applied for laminar flow and rare be used in
turbulent flow.
Reynolds Averaged Navier-Stokes (NS) equations (RANS) is to
perform averaging of NS equations and establishing turbulent
models for the eddy viscosity. Too many averaging might damping
vortical structures in turbulent flows
Large Eddy Simulation (LES), Smagorinsky constant model and
dynamic model. Provide more instantaneous information than
RANS did. Instability in complex geometries
Detached Eddy Simulation (DES) is to use one single formulation
to combine the advantages of RANS and LES.
34
Initial and boundary conditions

For
steady/unsteady flow
IC should not affect final solution, only convergence path, i.e.

iteration numbers needed to get the converged solution.
Robust codes should start most problems from very crude IC, .
But more reasonable guess can speed up the convergence.
Boundary
conditions
No-slip or slip-free on the wall, periodic, inlet (velocity
inlet, mass flow rate, constant pressure, etc.), outlet

(constant pressure, velocity convective, buffer zone,
zero-gradient), and non-reflecting (compressible flows,
such as acoustics), etc.
35
Grid generation
Grids can either be structured (hexahedral) or

unstructured (tetrahedral). Depends upon type
of discretization scheme and application
Scheme
Finite differences: structured
Finite volume or finite element:
structured or unstructured
Application
Thin boundary layers best resolved
with highly-stretched structured grids
Unstructured grids useful for complex
geometries
Unstructured grids permit automatic
adaptive refinement based on the
pressure gradient, or regions of interest
(FLUENT)
36
Grid Resolution
37
Grid generation and transformation
Grids designed to resolve important

flow features which are dependent
upon flow parameters (e.g., Re)
Commercial codes such as Gridgen,
Gambit
For research code, grid generated by
one of several methods (algebraic vs.
PDE based, conformal mapping)
For complex geometries, body-fitted
coordinate system will have to be
applied (next slide). Grid
transformation from the physical
domain to the computational domain
will be necessary
Sample grid established by

Gambit of FLUENT
38
Grid transformation
y
o
Physical domain
Transformation
between physical (x,y,z)

and computational () domains,
important for body-fitted grids. The partial
derivatives at these two domains have the
relationship (2D as an example)
Computational domain
f f f
f
f
x
x
x x x
f f f
f
f
y
y
y y y
39
Numerical parameters & flow

solution
Numerical parameters are used to control flow solution.
Under relaxation factor, tridiagonal or pentadiagonal solvers
CFD Labs using FlowLab
Monitor residuals (change of results between iterations)
Number of iterations for steady flow or number of time steps for unsteady flow
Flow solution
Solve the momentum, pressure Poisson equations and get flow field quantities, such as velocity, turbulence intensity, pressure
and integral quantities (drag forces)
40
Numerical parameters & flow

solution
Typical
time
history of
residuals
The closer the
flow field to the
converged
solution, the
smaller the speed
of the residuals
decreasing.
Solution converged, residuals do

not change after more iterations
41
Post-processing
Analysis, and visualization

Calculation of derived variables
Vorticity
Wall shear stress
Calculation of integral parameters: forces, moments
Visualization (usually with commercial software)
Simple X-Y plots
Simple 2D contours
3D contour carpet plots
Vector plots and streamlines (streamlines are the lines
whose tangent direction is the same as the velocity vectors)
Animations (dozens of sample pictures in a series of time
were shown continuously)
42
Post-processing (Parallel Plates)
43
Post-Processing (example)
Pressure
contour and
velocity vectors .
Note the locations of
the highest and lowest
pressure regions.
44
Uncertainty assessment
Rigorous methodology for uncertainty assessment using

statistical and engineering concepts
Verification: process for assessing simulation numerical uncertainty
Iterative convergence: monitoring point & integral quantities should
change within the convergence criterions
Grid independent studies: 3-grids and Richardson Extrapolation
Validation: process for assessing simulation modeling uncertainty by
using benchmark experimental data
Certification: full Verification and Validation done for a

certain range of geometries & parameters which are well
known and then extrapolated, qualitatively as well as
quantitative
Simulating flows for which experiments are difficult (e.g., full-scale
Reynolds numbers, hypersonic flows, off-design conditions)

Objective: Simulation-based design
45
CFD Example
Sulzer Chemtech
250 Y Plastic
Structured Packing
46
Geometry
CT > STL > CFD
CT = 0.322 mm
Min Resolution
Copy/Pasted 2x
Surface Wrapping
Adaptive Meshing
Tetrahedral Mesh
Polyhedral Mesh
47
Mess Dimensions
48
Experiment vs. Simulation
49
Velocity Map
50
Software and resources
CFD software was built upon physics, modeling, numerics .

Two types of available software
Commercial (e.g., FLUENT, CFX, Star-CCM, COMSOL)
Research (e.g., CFDSHIP-IOWA, U2RANS)
More information on CFD can be got on the following website:
CFD Online: http://www.cfd-online.com/
CFD software
FLUENT: http://www.fluent.com/
COMSOL http://www.comsol.com/
CD-adapco: http://www.cd-adapco.com/
Grid generation software
Gridgen: http://www.pointwise.com
GridPro: http://www.gridpro.com/
Visualization software
Tecplot: http://www.amtec.com/
Fieldview: http://www.ilight.com/
51

Introduction To Computational Fluid Dynamics

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Introduction To Computational Fluid Dynamics

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Introduction to Computational

What is CFD and its objective?

Computational Fluid Dynamics

Why use CFD?

Analysis and Design

Simulation-based design instead of build & test

Simulation of physical fluid phenomena that are difficult to be

Knowledge and exploration of flow physics

Where is CFD used? (Aerospace)

Where is CFD used?

F18 Store Separation

Hypersonic Launch Vehicle

Where is CFD used? (Appliances)

Where is CFD used?

Surface-heat-flux plots of the No-Frost

Where is CFD used? (Automotive)

Where is CFD used?

Where is CFD used? (Biomedical)

Where is CFD used?

Medtronic Blood Pump

Temperature and natural

Where is CFD used? (Chemical Processing)

Where is CFD used?

Polymerization reactor vessel - prediction

Where is CFD used? (HVAC&R)

Where is CFD used?

Streamlines for workstation

Particle traces of copier VOC emissions

Flow pathlines colored by

Where is CFD used? (Hydraulics)

Where is CFD used?

Where is CFD used? (Marine)

Where is CFD used?

Where is CFD used? (Oil & Gas)

Where is CFD used?

Flow vectors and pressure distribution

Volume fraction of oil

Volume fraction of water

Oil & Gas

Analysis of multiphase separator

Where is CFD used? (Power Generation)

Where is CFD used?

Chemical Processing Flow around cooling towers

Pathlines from the inlet

Where is CFD used? (Sports)

Where is CFD used?

codes typically designed for representation of

Viscous vs. inviscid (no viscous forces) (Re)

Components of Fluid Mechanics

(Equations based on average velocity)

George Gabriel Stokes

Mathematical representation of the physical problem

Turbulent Flow Representation

Turbulent Boundary Layer

Edge of boundary layer

Fully turbulent layer

Wall Shear Stress

Viscous Length Scale