Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Coupled Model of Shallow Water Equations and Sediment Transport on Unstructured Mesh
Xiaofeng Liu1 Marcelo H. Garca1
Lab, UIUC, USA

1 Hydrosystems

International Symposium on Environmental Hydraulics 2007

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Introduction

Numerial Models for Scour Problem

Two-dimensional Models: Fast Evaluation, Large Domain Three-dimensional Models: Details, Small Domain, Computational Cost

Two-dimensional Models
Depth-averaged equations Hydrostatic usually assumed

Model Developed in This Paper

Shallow water equations are used Sediment Transport + Exner Equation Hydrodynamcs and Morphadynamics are coupled Unstructured mesh

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations Shallow Water Equations

(uh) (vh) + + =0 t x y (u 2 h ) (uvh) (uh) + + t x y (vh) (uvh) (v 2 h ) + + t x y (hux ) (huy ) + x y (hvx ) (hvy ) + x y = wx bx gh + hfv x wy by gh hfu y

Exner Equation
z 1 + t 1
0

qsx qsy + x y

=0

Sediment Transport Rate (Grass formulation): qsx = Au u 2 + v 2

m 1 2

qsy = Av u 2 + v 2

m 1 2

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations Shallow Water Equations

(uh) (vh) + + =0 t x y (u 2 h ) (uvh) (uh) + + t x y (uvh) (v 2 h ) (vh) + + t x y (hux ) (huy ) + x y (hvx ) (hvy ) + x y = wx bx gh + hfv x wy by gh hfu y

Exner Equation
z 1 + t 1
0

qsx qsy + x y

=0

Sediment Transport Rate (Grass formulation): qsx = Au u 2 + v 2

m 1 2

qsy = Av u 2 + v 2

m 1 2

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

Splitting Purpose: obtain the hyperbolic formulation Slope Term Splitting

gh 1 ( 2 + 2 hs ) = g + g Sox x 2 x 1 ( 2 + 2 hs ) = g + g Soy y 2 y (1)

gh

(2)

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

New Shallow Water Equations

g ( 2 + 2 hs )) (u 2 h + 1 (uh) (uvh) (hux ) (huy ) 2 + + + t x y x y wx bx = g Sox + hfv

(3)

(v 2 h + 1 g ( 2 + 2 hs )) (vh) (uvh) (hvx ) (hvy ) 2 + + + t x y x y wy by = g Soy hfv

(4)

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

Figure: Scheme of the Computational Domain

Equations System
t Q d +
S

F ndS =

Hd

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

Vectors
F = [f g]T

g=

h uh Q= vh z vh uvh h u / y v 2 h + gh2 /2 h v / y 1/(1 0 )qsy

uh + h u / x f= uvh h v / x 1 / ( 1 ) q sx 0 0 ghSox ghSfx + wx / + hfv H= ghSoy ghSfy + wy / hfu 0 u2 h gh2 /2

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

Viscous and inviscid uxes

F = [f where fI = u2 h uh 2 + g ( + 2 hs )/2 uvh 1 q sx 1 0 0 h u x = h v 0
x

g]T = fI gV = f I f V nx + g I g V ny

fV

vh uvh gI = v 2 h + g ( 2 + 2 hs ) / 2 1 q 1 0 sy 0 h u y gV = h v y 0

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Governing Equations

Time Integration
(VQ ) t Qin+1 = Qin + t Vin
n

=
i Si

n n Fn i ndS + Vi Hi n +1 n i

(VQ ) t

+ (1 )
i

(VQ ) t

t min 2maxj (

Ri u 2 + v 2 + c )ij

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Numerical Schemes Standard Finite Volume Method

t FI i ,j = Q d +
S

F ndS =

Hd

1 I + + F (Qi ,j ) + FI (Qi ,j ) |A| (Qi ,j Qi ,j ) 2 | A| = R | | L

+ where Q+ i ,j and Qi ,j are reconstructed Riemann state variables on the right and left sides, respectively. A is the ux Jacobian matrix dened by

A= Fluxes evaluations:

F n Q

Figure: Control Volume

Viscous uxes: Roes approximate Riemann solver Inviscid uxes: Average value on the interfaces

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Numerical Schemes Flux Jacobian Matrix

A = Ax nx + By ny where Ax = and By = 0 uv v 2 + gh 3k
v u 2 +v 2 h

u 2 3k

0 + gh uv
u u 2 +v 2 h

1 2u v k
3u 2 +v 2 h

0 0 u 2k uv h 1 u 2v k
u 2 + 3v 2 h

0 gh 0 0 0 0 gh 0

0 v 0 2k uv h

| A| = R | | L

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Numerical Schemes Eigendecomposition of A

1 2

Properties of A: asymmetric, real 4 4 matrix Eigenvalue/vectors

Numerical: Most based on iterative method, slow Analytical: Asymptotic approximation, more efcient

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Hydrodynamic Part

1D steady ow over a bump (Goutal and Maurel, 1997)

1

Bump denition: zb (x ) = 0.2 0.05(x 10)2 if 8 < x < 12 0 otherwize

Flow regimes:
Depending on the initial and boundary conditions, the ow could be subcritical, transcritical with or without shock, or supercritical.

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Subcritical ow

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Transcritical ow with no shock

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Transcritical ow with shock

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Hydrodynamic Part

2D unsteady ow over a bump (LeVeque, 1998)

1

Bump denition:
hs (x , y ) = 1 1 exp 50 2 x 1 2
2

1 2

for 0 < x , y < 1

Initial conditions
u = 0, v = 0 free surface disturbance = 0.2 if 0.1m < x < 0.2m 0 otherwize

Introduction Hydrodynamic Part

Governing Equations

Numerical Schemes

Test Cases

Summary

2D unsteady ow over a bump

Introduction Coupled Model

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction Coupled Model

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Coupled Model Scour Around Spur Dike During a Surge Pass (Mioduszewski&Maeno, 2003)

Figure: Computational Domain

Figure: Unstructured Mesh

Introduction Coupled Model

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Coupled Model

Figure: Velocity Vectors

Introduction Coupled Model

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Coupled Model

Figure: Water Surface Elevation

Introduction Coupled Model

Governing Equations

Numerical Schemes

Test Cases

Summary

Test Case: Coupled Model Scour and Deposition around the Spur Dike

Figure: Experimental

Figure: Numerical

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Outline

Introduction Governing Equations Numerical Schemes Test Cases Hydrodynamic Part Coupled Model Summary

Introduction

Governing Equations

Numerical Schemes

Test Cases

Summary

Summary

1 2 3

2D coupled model for scour: SWE + Exner equation Numerical evaluation of wave speeds (Jacobian matrix A) Analytical evaluation of wave speeds can be used (future development) Unstructured mesh, complex domain Coupled approach vs. quasi-steady approach

4 5