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Application to Coupled Flow Problems Daniel Arndt Georg-August-Universit at G ottingen Institute for Numerical and Applied Mathematics 5th deal.II-Workshop August 3-7, 2015 Introduction Rotating Frame of Reference Nodal-based MHD


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Application to Coupled Flow Problems

Daniel Arndt

Georg-August-Universit¨ at G¨

  • ttingen

Institute for Numerical and Applied Mathematics 5th deal.II-Workshop

August 3-7, 2015

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Table of Contents

1

Introduction

2

Rotating Frame of Reference

3

Nodal-based MHD

4

Non-Isothermal Flow

Daniel Arndt Application to Coupled Flow Problems 2

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Table of Contents

1

Introduction

2

Rotating Frame of Reference

3

Nodal-based MHD

4

Non-Isothermal Flow

Daniel Arndt Application to Coupled Flow Problems 3

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

The Full Set of Equations

Velocity and Pressure ∂tu − ν∆u + (u · ∇)u + ∇p + 2ω × u = f u − βθg + (∇ × b) × b, ∇ · u = 0 Magnetic Field ∂tb + λ∇ × (∇ × b) − ∇ × (u × b) = f b, ∇ · b = 0 Temperature ∂tθ − α∆θ + (u · ∇)θ = fθ

Daniel Arndt Application to Coupled Flow Problems 4

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Local Projection Stabilization

Idea Separate discrete function spaces into small and large scales Add stabilization terms only on small scales. Notations and prerequisites Family of shape-regular macro decompositions {Mh} Let DM ⊂ [L∞(M)]d denote a FE space on M ∈ Mh. For each M ∈ Mh, let πM : [L2(M)]d → DM be the

  • rthogonal L2-projection.

κM = Id − πM fluctuation operator Averaged streamline direction uM ∈ Rd : |uM| ≤ CuL∞(M), u − uML∞(M) ≤ ChM|u|W 1,∞(M)

Daniel Arndt Application to Coupled Flow Problems 5

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Assumptions

Assumption - Approximation It holds for all w ∈ W l,2(M), M ∈ Mh and l ≤ s ≤ k κMwL2(M) ≤ Chl

MwW l,2(M)

Assumption - Inf-Sup Stability Consider FE spaces (Vh, Qh) satisfying a discrete inf-sup-condition: inf

q∈Qh\{0}

sup

v∈Vh\{0}

(∇ · v, q) ∇vL2(Ω)qL2(Ω) ≥ β > 0 ⇒ V❤div := {vh ∈ Vh | (∇ · vh, qh) = 0 ∀qh ∈ Qh} = {0}

Daniel Arndt Application to Coupled Flow Problems 6

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Table of Contents

1

Introduction

2

Rotating Frame of Reference Analytical Results Numerical Results

3

Nodal-based MHD

4

Non-Isothermal Flow

Daniel Arndt Application to Coupled Flow Problems 7

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Frames of Reference

Navier Stokes Equations in an Inertial Frame of Reference ∂u ∂t + (u · ∇)u − ν∆u + ∇p = f in Ω × (0, T) ∇ · u = 0 in Ω × (0, T) Ω ⊂ Rd bounded polyhedral domain Navier Stokes Equations in a Rotating Frame of Reference ∂v ∂t + (v · ∇)v − ν∆v + 2ω × v + ∇ p = f in Ω × (0, T) ∇ · v = 0 in Ω × (0, T)

ω × (ω × r) = −1 2∇(ω × r)2

  • p = p − 1

2(ω × r)2

Daniel Arndt Application to Coupled Flow Problems 8

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Weak Formulation

Find Uh = (uh, ph) : (0, T) → V h × Qh, such that (∂tuh, v h) + AG(uh, Uh, Vh) + (2ω × uh, v h) = (f , v h) for all V❤ = (v h, qh) ∈ V h × Qh where AG(w; U, V) := aG(U, V) + c(w; u, v) aG(U, V) := ν(∇u, ∇v) − (p, ∇ · v) + (q, ∇ · u) c(w, u, v) := ((w · ∇)u, v) − ((w · ∇)v, u) 2

Daniel Arndt Application to Coupled Flow Problems 9

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Stabilization Terms

LPS Streamline upwind Petrov-Galerkin (SUPG) su(w h; uh, v h) :=

  • M∈Mh

τM(w M)(κM((w M · ∇)uh), κM((w M · ∇)v h))M grad-div th(w h; uh, v h) :=

  • M∈Mh

γM(w M)(∇ · uh, ∇ · v h)M LPS Coriolis stabilization ah(w h; uh, v h) :=

  • M∈Mh

αM(w M)(κM(ωM × uh), κM(ωM × v h))M

Daniel Arndt Application to Coupled Flow Problems 10

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Result

Theorem For a sufficiently smooth solution we obtain for eh = u❤ − juu: eh2

L∞(0,t;[L2(Ω)]d) +

t |||eh(τ)|||2

LPS dτ ≤ C exp(CGt)h2k

with a Gronwall constant CG(u) = 1 + C|u|L∞(0,T;W 1,∞(Ω)) + Chu2

L∞(0,T;W 1,∞(Ω))

The parameters have to satisfy (1 ≤ s ≤ k): hM ≤ C √ν uhL∞(M) τM ≤ τ0 h2(k−s)

M

|uM|2 γM = γ0 αM ≤ α0 h2(k−s−1)

M

ω2

L∞(M)

Daniel Arndt Application to Coupled Flow Problems 11

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Numerical Results, Rotating Poiseuille Flow

Ω = [−2, 2] × [−1, 1] u(x, y) =

  • (1 − y2, 0)T,

x = −2 (0, 0)T, |y| = 1 , (∇u · n)(x = 2, y) = 0 u0 = 0, p0 = 0, f = 0 ω = (0, 0, 100), ν = 10−3 Flow for the parameters ω = (0, 0, 1), ν = 10−1

Daniel Arndt Application to Coupled Flow Problems 12

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, grad-div

Daniel Arndt Application to Coupled Flow Problems 13

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, grad-div

Daniel Arndt Application to Coupled Flow Problems 14

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, SUPG Coriolis

Daniel Arndt Application to Coupled Flow Problems 15

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, SUPG Coriolis

Daniel Arndt Application to Coupled Flow Problems 16

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, SUPG Coriolis Adaptive

Daniel Arndt Application to Coupled Flow Problems 17

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Rotating Poiseuille Flow, SUPG Coriolis Adaptive

Daniel Arndt Application to Coupled Flow Problems 18

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Taylor-Proudman, Stewartson Layer

Navier Stokes Equations in a Rotating Frame of Reference ∂u ∂t + Ro(u · ∇)u + 2ˆ ez × u = Ek∆u − ∇p ∇ · u = 0 u = r sin θˆ eφ at r = ri u = 0 at r = ro ri = 1/2 ro = 3/2 Ro := ∆Ω/Ω Ek := ν Ω(ro − ri)2

Daniel Arndt Application to Coupled Flow Problems 19

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Taylor-Proudman, Stewartson Layer

Fluid structure between two rotating spheres

Figure: Ek = 10−6

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Taylor-Proudman, Stewartson Layer

Fluid structure between two rotating spheres

Figure: Ek = 10−4Ro = −.5

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Table of Contents

1

Introduction

2

Rotating Frame of Reference

3

Nodal-based MHD Analytical Results Numerical Results

4

Non-Isothermal Flow

Daniel Arndt Application to Coupled Flow Problems 22

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Incompressible Nodal-based MHD - Joint work with Benjamin Wacker

Stationary Linearized Incompressible Nodal-based MHD model −ν∆u + (a · ∇)u + ∇p − (∇ × b) × d = f u, ∇ · u = 0, λ∇ × (∇ × b) + ∇r − ∇ × (u × d) = f b, ∇ · b = u velocity field, p kinematic pressure a extrapolation for u b induced magnetic field, r magnetic pseudo pressure d extrapolation for b ν kinematic viscosity, λ magnetic diffusivity

Daniel Arndt Application to Coupled Flow Problems 23

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Weak Formulation

Find Uh := (uh, bh, ph, rh) ∈ V h × C h × Qh × Sh such that AG,u(Uh, Vh) + AG,b(Uh, Vh) = f u, v + f b, c, for all Vh := (v h, ch, qh, sh) ∈ V h × C h × Qh × Sh.

AG,u(U, V ) = ν(∇u, ∇v) + a · ∇u, v − (∇ × b) × d, v − (p, ∇ · v) + (∇ · u, q) AG,b(U, V ) = λ(∇ × b, ∇ × c) − ∇ × (u × d), c + (∇r, c) − (b, ∇s)

Daniel Arndt Application to Coupled Flow Problems 24

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Stabilization

LPS-SU s1(uh, v h)M := τSU(κM((aM · ∇)uh), κM((aM · ∇)v h))M grad-div velocity s2(uh, v h)M := τgd,u(∇ · uh, ∇ · v h)M LPS-Lorentz s3(bh, ch)M := τLor(κM((∇ × bh) × d M), κM((∇ × ch) × d M))M LPS-Induction s4(uh, v h)M := τInd(κM(∇ × (uh × d M)), κM(∇ × (v h × d M)))M PSPG s5(rh, sh)M := τPSPG(∇rh, ∇sh)M grad-div magnetic s6(bh, ch)M := τgd,b(∇ · bh, ∇ · ch)M

Daniel Arndt Application to Coupled Flow Problems 25

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Result

Theorem For sufficiently smooth solutions we obtain: Uh − U2

G + Uh − U2 LPS

≤ C

  • M

h2k

M

  • |u|2

k+1,ωM + |b|2 k+1,ωM + |p|2 k,ωM

  • with a parameter choice according to

hM ≤ C min

  • √ν

a∞,M , √ λ d∞M , √ν d∞,M + ∇d∞,M

  • τSU ≤ C h2(k−s)

M

|aM|2 τgd,u ∼ γ0 τLor, τInd ≤ C h2(k−s)

M

|d M|2 τPSPG ∼ L2

0,m

λ τgd,b ∼ h2

L2

0,m

Daniel Arndt Application to Coupled Flow Problems 26

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Analytical 2D Problem

Consider on Ω = (−1, 1) × (−1, 1) for t ∈ [0, 0.1] the solution: u (t, x, y) := b (t, x, y) := exp t 25 x4 sin πt 10

  • , −4x3y sin

πt 10 T , p (x, y) := x2 + y2, r (x, y) := 0 Boundary conditions: u|∂Ω = ub n × b = n × bD Parameters: ∆t = 10−4, ν = 10−6, λ = 10−6 τ2 = 1, τ5 = h2λ L2 , τ6 = L2 λ , L0 = 2 Ansatz spaces: Vh/Qh = Ch/Sh = [Q2]2 /Q1

Daniel Arndt Application to Coupled Flow Problems 27

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Results

10 -2 10 -1 10 0 10 1 10 -8 10 -6 10 -4 10 -2 10 0 10 2 L2(u) h3 10 -2 10 -1 10 0 10 1 10 -10 10 -8 10 -6 10 -4 10 -2 10 0 L2(b) h3

Figure: L2(Ω) Errors for the 2D-time-dependent analytical problem

Daniel Arndt Application to Coupled Flow Problems 28

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Results

10 -2 10 -1 10 0 10 1 10 -5 10 -4 10 -3 10 -2 10 -1 10 0 10 1 H1(u) h2 10 -2 10 -1 10 0 10 1 10 -5 10 -4 10 -3 10 -2 10 -1 10 0 10 1 L2(curl(b)) h2

Figure: Errors for the 2D-time-dependent analytical problem

Daniel Arndt Application to Coupled Flow Problems 29

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Results

10 -2 10 -1 10 0 10 1 10 -6 10 -5 10 -4 10 -3 10 -2 10 -1 10 0 10 1 L2(div(u)) h2 10 -2 10 -1 10 0 10 1 10 -7 10 -6 10 -5 10 -4 10 -3 10 -2 10 -1 L2(div(b)) h2

Figure: Divergence Errors for the 2D-time-dependent analytical problem

Daniel Arndt Application to Coupled Flow Problems 30

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Results

10 -2 10 -1 10 0 10 1 10 -5 10 -4 10 -3 10 -2 10 -1 10 0 10 1 L2(p) h2

Figure: Pressure Errors for the 2D-time-dependent analytical problem

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Table of Contents

1

Introduction

2

Rotating Frame of Reference

3

Nodal-based MHD

4

Non-Isothermal Flow Analytical Results Numerical Results

Daniel Arndt Application to Coupled Flow Problems 32

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Non-Isothermal Flow - Joint work with Helene Dallmann

Oberbeck-Boussinesq-Model ∂tu − ν∆u + (u · ∇)u + ∇p = f u − βθg ∇ · u = 0 ∂tθ − α∆θ + (u · ∇)θ = fθ velocity u, kinematic pressure p, temperature θ thermal diffusivity α, thermal expansion coefficient β, gravity g small temperature differences ⇒ density ̺ ≈ const.

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Weak Formulation

Find (Uh, θh) = (uh, ph, θh) : (0, T) → V div

h

× Qh × Θh such that (∂tuh, v h) + AG,u(uh, Uh, Vh) = (f , v h) − (βθhg, v h) (∂tθh, ψh) + AG,θ(uh, θh, ψh) = (fθ, ψh) for all (V h, ψh) = (v h, qh, ψh) ∈ V h × Qh × Θh where AG,u(w; U, V) := aG(U, V) + c(w; u, v) aG(U, V) := ν(∇u, ∇v) − (p, ∇ · v) + (q, ∇ · u) AG,θ(u, θ, ψ) := α(∇θ, ∇ψ) + c(u; θ, ψ) c(w, u, v) := ((w · ∇)u, v) − ((w · ∇)v, u) 2

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Stabilization terms

LPS-SUPG for the velocity su(uh; w h, v h) :=

  • M∈Mh

τ u

M(uh)(κu M(uM · ∇w h), κu M(uM · ∇v h))M

grad-div th(uh; θh, ψh) :=

  • M∈Mh

γM(uh)(∇ · w h, ∇ · v h)M LPS-SUPG for the temperature sθ(uh; θh, ψh) :=

  • M∈Mh

τ θ

M(uM)(κθ M(uM · ∇θh), κθ M(uM · ∇ψh))M

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Convergence Result

Theorem For sufficiently smooth solutions we obtain for eh = u − uh and eθ = θ − θh: eh2

L∞(0,t;L2(Ω)) +

t |||(eh(τ), 0)|||2

LPS dτ

+ eθ2

L∞(0,t;L2(Ω)) +

t |[eθ(τ)]|2

LPS dτ ≤ O(h2k)

with a parameter choice according to hM ≤ C √ν uL∞(M) hM ≤ C √α uL∞(M) τM ≤ τ0 h2(k−s)

M

|uM|2 τ θ

M ≤ τ0,θ

h2(k−sθ)

M

|uM|2 γM = γ0

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Bubble Enriched Ansatz Spaces

Enrich the tensor product-polynomial space Qk to obtain

1.0 0.5 0.0 0.5 1.0 1.0 0.5 0.0 0.5 1.0 0.4 0.2 0.0 0.2 0.4

Q+

k ( ˆ

T) := Qk( ˆ T) + ψ · span{ˆ xk−1

i

, i = 1, . . . , d} with bubble functions ψ(ˆ x) := d

i=1(1 − ˆ

x2

i ) .

Used spaces Taylor-Hood elements (Q2/Q1) for velocity and pressure Q2 or Q+

2 for the temperature

Q1 for the projection spaces

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Rayleigh–B´ enard Convection

R = .5 H = 1 β = 1 ν = Pr−0.5 · Ra0.5 α = Ra−0.5 · Pr−0.5

Flow driven by temperature difference Dirichlet BC’s for bottom and top plate: θbottom = 0.5, θtop = −0.5, and isolating hull: n · ∇θ|r=0.5 = 0 No-slip boundary conditions for the velocity: u = 0|∂Ω

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Isosurfaces of the Temperature, Pr = 0.786

Figure: Isosurfaces of the Temperature, T = 1000, Pr = 0.786, Ra = 105, Ra = 107, Ra = 109, N = 10 · 163, γM = 0.1

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Benchmark quantity - Nusselt number

Heat flux: bottom (warm) ⇒ top (cold) qz := uzθ − α∂zθ Nusselt number Nu(z0, t) := L αA∆θqzz=z0(z0, t) measure for convective heat transfer

conductive heat transfer

Nu(z0, t) independent of z0 for a stationary temperature field.

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Time-development

t

100 200 300

Nu(t)

2 4 6 8 10 Nuavg Nu(z = 0) Nu(z = 0.5) Nuref

t

100 200 300

Nu(t)

10 20 30 40 50 Nuavg Nu(z = 0) Nu(z = 0.5) Nuref

Figure: Time-development of Nu for t ∈ [0, 300], γM = 0.1 Pr = 0.786, Ra = 105 und Ra = 107 (N = 10 · 83)

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Dependence on Ra (N = 10 · 83 cells)

Ra γM Nuavg σ Nuref [DNS] 105 3.8396 0.0356 3.83 1 3.8364 0.0307 0.1 3.8372 0.0303 106 8.6457 0.3378 8.6 1 8.5148 0.0542 0.1 8.6475 0.0190 107 16.4143 1.8302 16.9 1 16.7361 0.1569 0.1 16.8767 0.1068 108 37.7301 29.4731 31.9 1 30.7236 0.7044 0.1 31.2902 0.6957

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Isotropic Mesh, Ra = 109 (N = 10 · 83)

γM τ u

M

τ θ

L

Nuavg

Id,th

σId,th Nuavg

Id,bb

σId,bb Nuref 0.01 41.4584 40.1989 47.5335 23.4029 63.1 0.01 hu1 38.7093 43.0326 44.2998 24.7851 0.01 hu1 37.6081 10.8360 54.2603 16.5349 0.01 hu1 hu1 37.0516 10.3065 49.1255 12.9235 th: (Q2/Q1) ∧ Q1 ∧ (Q2/Q1), bb: (Q+

2 /Q1) ∧ Q1 ∧ (Q+ 2 /Q1)

hu1: τ u/θ

M/L = 1 2h/uh∞,M/L

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Anisotropic mesh, Ra = 109 (N = 10 · 83) cells

γM τ u

M

τ θ

L

Nuavg

th

σth Nuavg

bb

σbb Nuref 118.7932 137.5588 63.1 0.01 55.5231 1.3464 58.1419 1.4833 0.01 hu1 53.8371 1.4130 58.2691 1.4702 0.01 hu1 52.4530 3.4847 56.5274 3.0578 0.01 hu1 hu1 51.8141 3.4344 54.0410 3.3333 th: (Q2/Q1) ∧ Q1 ∧ (Q2/Q1), bb: (Q+

2 /Q1) ∧ Q1 ∧ (Q+ 2 /Q1)

hu1: τ u/θ

M/L = 1 2h/uh∞,M/L

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Introduction Rotating Frame of Reference Nodal-based MHD Non-Isothermal Flow Summary

Vary Discretization

#cells #DoF(u) #DoF(p) #DoF(θ) Nuavg

γM=0.01

σγM=0.01 th 10 · 83 129,987 5,729 43,329 55.5231 1.3464 bb 10 · 83 176,067 5,729 58,689 58.1419 1.4833 th 10 · 163 1,011,075 43,329 337,025 60.4889 1.1574 bb 10 · 163 1,379,715 43,329 459,905 61.3628 0.4668

Ra

10 5 10 6 10 7 10 8 10 9

Nu avg /Ra0.3

0.11 0.115 0.12 0.125 0.13 0.135 0.14 N = 10 · 83 th N = 10 · 83 bb N = 10 · 163 th N = 10 · 163 bb [WSW12] [BCES10]

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Summary

Analytical and numerical framework for LPS stabilized model of incompressible flow with rotating frames of references temperature coupling magnetohydrodynamic coupling Next step: Combine all of these!

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References

Daniel Arndt, Helene Dallmann, and Gert Lube, Local Projection FEM Stabilization for the Time-Dependent incompressible Navier-Stokes Problem, Numerical Methods for Partial Differential Equations 31 (2015), no. 4, 1224–1250. Daniel Arndt and Gert Lube, FEM with Local Projection Stabilization for Incompressible Flows in Rotating Frames, Preprint. Helene Dallmann and Daniel Arndt, Stabilized Finite Element Methods for the Oberbeck-Boussinesq Model, In Preparation. Helene Dallmann, Finite Element Methods with Local Projection Stabilization for Thermally Coupled Incompressible Flow, Ph.D. thesis, Georg-August-Universit¨ at G¨

  • ttingen, 2015.

Benjamin Wacker, Daniel Arndt, and Gert Lube, Nodal-Based Finite Element Methods with Local Projection Stabilization for Linearized Incompressible Magnetohydrodynamics, CMAME (2015).

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Thanks for your attention!