Navier-Stokes Module

The MOOSE Navier-Stokes module is a library for the implementation of simulation tools that solve the Navier-Stokes equations using the continuous Galerkin finite element (CGFE) method. The Navier-Stokes equations are usually solved using either the pressure-based, incompressible formulation (assuming a constant fluid density), or the density-based, compressible formulation.

The CGFE method has been implemented to solve either the incompressible or compressible Navier-Stokes equations. The original CGFE method is usually not numerically stable for solving problems when the Peclet number is greater than 2. An SUPG (Streamline Upwind Petrov Galerkin) scheme is implemented for stabilized solution in smooth compressible flows. A low-diffusion, discontinuity/shock-capturing scheme is required but currently absent for the CGFE method to obtain non-oscillatory solutions of flow problems that contain contact discontinuity or shock waves. For compressible flow problems, users can choose the CGFE method only when the flow field is sufficiently smooth.

For incompressible flow, we have implemented both pressure-stabilized Petrov-Galerkin (PSPG) and streamline-upwind Petrov-Galerkin (SUPG) methods. The former stabilization allows use of equal order shape functions by introducing an on-diagonal dependence in the pressure equation, removing the saddle-point nature of the problem. The latter SUPG method allows simulation at much higher Reynolds numbers than if SUPG was not used. For an overview of the incompressible Navier-Stokes capability, please see the journal article here or the pre-print here. Note that automatic differentiation versions of the incompressible objects have been created; these objects are currently not as performant as their hand-coded peers, but they can be used seamlessly in simulations with mesh deformation and are guaranteed to generate correct Jacobians.

Known limitations of AD INS implementation (these limitations are not present with the hand-coded INS implementation):

  • Stabilization methods will be inconsistent if a second order LAGRANGE_VEC basis is used for the velocity variable. This is because second derivatives are not implemented in libMesh for vector FE types, and consequently we cannot add in the contribution from the viscous term which includes a Laplacian operation

Notes on INS RZ

Notes regarding INS RZ equations derivation:

  • Two additional terms are introduced into the r-component of the strong representation of the momentum equation viscous term

  • One additional term is introduced into the r-component of the weak representation of the momentum equation viscous term

  • One additional term is introduced into the z-component of the strong representation of the momentum equation viscous term

  • Zero additional terms are introduced into the z-component of the weak representation of the momentum equation viscous term

  • An additional pressure term will enter the weak form of the r-component of the momentum equation if the pressure term was integrated by parts. No additional terms appear in the strong form if the term is integrated by parts (integration by parts is a part of forming the weak form)

  • An additional term is introduced into the mass balance equation

The derivation for the RZ weak form can be inspected here.

RZ INS tests

For a sufficiently long channel, flow should be fully developed at the channel exit and grad_u * normals should be equal to zero. If that premise is true, and if the pressure is integrated by parts and a natural boundary condition is "imposed" on the outflow boundary, then the pressure at the outflow should also be zero.

In the RZ channel tests, for a steady simulation the volumetric inflow rate should be equal to the volumetric outflow rate. The inflow is equal to .3926991, which corresponds to the exact integral of

where represents the inlet function for the normal velocity component at the inlet. Below is a summary of the voluemtric outflow for different INS formulations:

FormulationOutflow
Not integrated by parts, natural BC.3926991
Integrated by parts, natural BC.3926991
Not integrated by parts, NoBCBC.3926993
Integrated by parts, NoBCBC.3926993

For the NoBCBC cases, if Mesh/uniform_refine=2 is applied, then the outflow converges to the correct solution of .3926991. Note that the results in the above table are achieved whether using the standard variable, hand-coded Jacobian INS implementation or the vector variable, AD Jacobian INS implementation. In fact the steady tests for all of the four cases use the same gold files between the two implementations.

Stabilized RZ INS tests

Below is a summary of different stabilized INS RZ tests. A natural boundary condition is used on the outflow in all cases. Note that while a second order basis is capable of exactly capturing the quadratic character of the inlet flow function, a first order basis is not. Order in the below table refers to the velocity order.

FormulationInflowOutflow
AD, Not integrated by parts, first order, SUPG and PSPG.3599742.3384178
Hand-coded, Not integrated by parts, first order, SUPG and PSPG.3599742.3384178
AD, Integrated by parts, first order, SUPG and PSPG.3599742.3599742
Hand-coded, Integrated by parts, first order, SUPG and PSPG.3599742.3599742
AD, Not integrated by parts, second order, SUPG and PSPG.3926991.3756223
Hand-coded, Not integrated by parts, second order, SUPG and PSPG.3926991.3926991
AD, Integrated by parts, second order, SUPG and PSPG.3926991.3926991
Hand-coded, Integrated by parts, second order, SUPG and PSPG.3926991.3926991

Notes on the above table:

  • All cases which have the incorrect result for the outflow approach the correct solution with mesh refinement

  • While the second order hand-coded cases achieve the correct result at the base level of mesh refinement, the equivalent AD cases do not. (Yes the global outflow variable for the integrated by parts case is accurate to the comparison tolerance, but an exodiff executed between the AD and hand-coded cases shows the files are different.) Given that the first order cases are identical (we just symlink between hand-coded and AD first-order cases in the gold directory), the difference has to be due to the inability to calculate second derivatives for vector variables, which leads to an inability to include the Laplacian of the velocity in the strong form of the momentum residual. For a first order basis, the inability to include the Laplacian terms induces no error. However, for the second order basis it does.

INS Recommendations

  • If not computing on a displaced mesh, use the hand-coded INS implementation because it is slightly faster and it includes the Laplacian terms in SUPG and PSPG stabilization methods, meaning it is completely consistent and will exhibit less error in the finite element solution

  • If computing on a displaced mesh, use the AD implementation because it will include derivatives with respect to displacements in the Jacobian and the nonlinear solve will be more efficient.

  • If using the AD implementation, either run unstabilized with second order basis for the velocity and first order basis for the pressure, or if desiring stabilization use a first order basis for the velocity variable as it will not introduce any inconsistency. (Recall from above that the vector variable, AD implementation cannot currently include Laplacian terms. For a first order basis this incurs no error, but for a second order basis it does)

AuxKernels

AuxVariables

BCs

Functions

  • Navier Stokes App
  • WedgeFunctionFunction which computes the exact solution for Jeffery-Hamel flow in a wedge.

ICs

  • Navier Stokes App
  • NSInitialConditionNSInitialCondition sets intial constant values for all variables.

Kernels

  • Navier Stokes App
  • DistributedForce
  • DistributedPower
  • INSADBoussinesqBodyForceComputes a body force for natural convection buoyancy.
  • INSADEnergyAdvectionThis class computes the residual and Jacobian contributions for temperature advection for a divergence free velocity field.
  • INSADEnergyAmbientConvectionComputes a heat source/sink due to convection from ambient surroundings.
  • INSADEnergySUPGAdds the supg stabilization to the INS temperature/energy equation
  • INSADEnergySourceComputes an arbitrary volumetric heat source (or sink).
  • INSADGravityForceComputes a body force due to gravity.
  • INSADMassThis class computes the mass equation residual and Jacobian contributions (the latter using automatic differentiation) for the incompressible Navier-Stokes equations.
  • INSADMassPSPGThis class adds PSPG stabilization to the mass equation, enabling use of equal order shape functions for pressure and velocity variables
  • INSADMomentumAdvectionAdds the advective term to the INS momentum equation
  • INSADMomentumCoupledForceComputes a body force due to a coupled vector variable or a vector function
  • INSADMomentumPressureAdds the pressure term to the INS momentum equation
  • INSADMomentumSUPGAdds the supg stabilization to the INS momentum equation
  • INSADMomentumTimeDerivativeThis class computes the time derivative for the incompressible Navier-Stokes momentum equation.
  • INSADMomentumViscousAdds the viscous term to the INS momentum equation
  • INSChorinCorrectorThis class computes the 'Chorin' Corrector equation in fully-discrete (both time and space) form.
  • INSChorinPredictorThis class computes the 'Chorin' Predictor equation in fully-discrete (both time and space) form.
  • INSChorinPressurePoissonThis class computes the pressure Poisson solve which is part of the 'split' scheme used for solving the incompressible Navier-Stokes equations.
  • INSCompressibilityPenaltyThe penalty term may be used when Dirichlet boundary condition is applied to the entire boundary.
  • INSMassThis class computes the mass equation residual and Jacobian contributions for the incompressible Navier-Stokes momentum equation.
  • INSMassRZThis class computes the mass equation residual and Jacobian contributions for the incompressible Navier-Stokes momentum equation in RZ coordinates.
  • INSMomentumLaplaceFormThis class computes momentum equation residual and Jacobian viscous contributions for the 'Laplacian' form of the governing equations.
  • INSMomentumLaplaceFormRZThis class computes additional momentum equation residual and Jacobian contributions for the incompressible Navier-Stokes momentum equation in RZ (axisymmetric cylindrical) coordinates, using the 'Laplace' form of the governing equations.
  • INSMomentumTimeDerivativeThis class computes the time derivative for the incompressible Navier-Stokes momentum equation.
  • INSMomentumTractionFormThis class computes momentum equation residual and Jacobian viscous contributions for the 'traction' form of the governing equations.
  • INSMomentumTractionFormRZThis class computes additional momentum equation residual and Jacobian contributions for the incompressible Navier-Stokes momentum equation in RZ (axisymmetric cylindrical) coordinates.
  • INSPressurePoissonThis class computes the pressure Poisson solve which is part of the 'split' scheme used for solving the incompressible Navier-Stokes equations.
  • INSProjectionThis class computes the 'projection' part of the 'split' method for solving incompressible Navier-Stokes.
  • INSSplitMomentumThis class computes the 'split' momentum equation residual.
  • INSTemperatureThis class computes the residual and Jacobian contributions for the incompressible Navier-Stokes temperature (energy) equation.
  • INSTemperatureTimeDerivativeThis class computes the time derivative for the incompressible Navier-Stokes momentum equation.
  • MassConvectiveFlux
  • MomentumConvectiveFlux
  • NSEnergyInviscidFluxThis class computes the inviscid part of the energy flux.
  • NSEnergyThermalFluxThis class is responsible for computing residuals and Jacobian terms for the k * grad(T) * grad(phi) term in the Navier-Stokes energy equation.
  • NSEnergyViscousFluxViscous flux terms in energy equation.
  • NSGravityForceThis class computes the gravity force contribution.
  • NSGravityPowerThis class computes the momentum contributed by gravity.
  • NSMassInviscidFluxThis class computes the inviscid flux in the mass equation.
  • NSMomentumInviscidFluxThe inviscid flux (convective + pressure terms) for the momentum conservation equations.
  • NSMomentumInviscidFluxWithGradPThis class computes the inviscid flux with pressure gradient in the momentum equation.
  • NSMomentumViscousFluxDerived instance of the NSViscousFluxBase class for the momentum equations.
  • NSSUPGEnergyCompute residual and Jacobian terms form the SUPG terms in the energy equation.
  • NSSUPGMassCompute residual and Jacobian terms form the SUPG terms in the mass equation.
  • NSSUPGMomentumCompute residual and Jacobian terms form the SUPG terms in the momentum equation.
  • NSTemperatureL2This class was originally used to solve for the temperature using an L2-projection.
  • PressureGradient
  • TotalEnergyConvectiveFlux

Materials

  • Navier Stokes App
  • AirAir.
  • INSAD3EqnThis material computes properties needed for stabilized formulations of the mass, momentum, and energy equations.
  • INSADMaterialThis is the material class used to compute some of the strong residuals for the INS equations.
  • INSADStabilized3EqnThis is the material class used to compute the stabilization parameter tau for momentum and tau_energy for the energy equation.
  • INSADTauMaterialThis is the material class used to compute the stabilization parameter tau.

Modules

Modules/CompressibleNavierStokes

  • Navier Stokes App
  • CNSActionThis class allows us to have a section of the input file like the following which automatically adds Kernels and AuxKernels for all the required nonlinear and auxiliary variables.

Modules/IncompressibleNavierStokes

  • Navier Stokes App
  • INSActionThis class allows us to have a section of the input file for setting up incompressible Navier-Stokes equations.

Postprocessors

UserObjects

  • Navier Stokes App
  • INSADObjectTrackerUser object used to track the kernels added to an INS simulation and determine what properties to calculate in INSADMaterial

Variables