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The discrete Green's function paradigm for two-way coupled Euler-Lagrange simulation
We outline a methodology for the simulation of particle-laden flows whereby the dispersed and fluid phases are two-way coupled. The drag force which couples fluid and particle momentum depends on the undisturbed fluid velocity at the particle location, and this latter quantity requires modelling. We demonstrate that the undisturbed fluid velocity, in the low particle Reynolds number limit, can be related exactly to the discrete Green's function of the discrete Stokes equations. The method is general in that it can be extended to other partial differential equations which may be associated with particle-laden flows, such as the thermal energy equation or Maxwell's equations. In this work, we demonstrate the method of discrete Green's functions by obtaining these functions for the Navier-Stokes equations at low particle Reynolds number in a two-plane channel geometry. We perform verification at low and finite particle Reynolds number for the case of a point-particle settling under gravity parallel to a plane wall, for different wall normal separations. In comparing to other point-particle schemes the discrete Green's function approach is the most robust at low particle Reynolds number, accurate at all wall-normal separations and is the most accurate in the near wall region at finite Reynolds number. We discuss how the accuracy away from the wall at finite Reynolds number could be improved by appealing to Oseen-like discrete Green's functions. Finally we demonstrate that the discrete Green's function approach can have important implications on statistics of particle-laden turbulent channel flow.
Lagrangian and Eulerian drag models that are consistent between Euler-Lagrange and Euler-Euler (two-fluid) approaches for homogeneous systems
The undisturbed flow of a particle is of fundamental importance since it controls both the undisturbed flow force and the perturbation force (which includes quasisteady, added-mass, and history forces). Here we use the pairwise interaction extended point particle framework to evaluate the undisturbed flow of each particle through superposition of the perturbation flow induced by all its neighbors. This approach allows calculation of various statistics related to undisturbed fluid velocity under conditions of both stationary and nonstationary particles. In a random distribution of stationary particles, while the macroscale undisturbed flow is slowly varying, the microscale undisturbed flow that arises due to the perturbation flow of neighbors varies substantially from one particle to another and this in turn leads to large variation in the hydrodynamic force exerted on the particles. The effect of particle motion is generally to increase the particle-to-particle variation in the undisturbed fluid velocity of the particles. We observe that this increase is greater for the transverse component than for the streamwise component. As a result, with increasing random particle motion, the distribution of undisturbed fluid-velocity fluctuation becomes isotropic. Three different normalized forces are defined: $Φ^L$ is the Lagrangian normalized force on an individual particle suitable for application in a microscale-informed Euler-Lagrange simulation, $Φ^E$ is the Eulerian normalized average force suitable for application in an Euler-Euler simulation, and $Φ^{LE}$ is the Lagrangian normalized force on an individual particle suitable for application in the standard Euler-Lagrange simulation. In this work, we establish precise relations between these different definitions. The drag laws developed based on particle-resolved direct numerical simulation results and experiments are appropriate for application only as the Eulerian normalized average force. We introduce the force consistency relation and use it to obtain an expression for $Φ^L$, which when applied to each particle and averaged over all the particles equals $Φ^E$. The results are first obtained in the limit of stationary particles and then extended to the general case of nonstationary particles.
Compressible pairwise interaction extended point-particle model for force prediction of shock-particle bed interaction
We propose a pairwise influence framework for the complex unsteady compressible particle-laden flow problem by accounting for the scattered hydrodynamic waves emitting from neighboring particles in a Euler-Lagrange simulation. It has been observed from particle-resolved (PR) simulations of randomly dispersed particle beds under a loading shock that the compressible pseudoturbulence dominates the flow system even after the primary shock has passed, which causes fluctuations observed in the forces experienced by the particle. Moreover, the fact that each particle exists in the vicinity of a random arrangement of other particles modifies the time history of the drag force experienced by each particle during and after the passage of the shock. First, the scattering flow field due to an incoming shock interacting with a single sphere is constructed using an analysis of the flow in the acoustic limit. Then we examine the validity of the compressible Maxey-Riley-Gatignol force model by comparing the force prediction against a PR simulation of two interacting particles for various particle arrangements and incoming shock strength. Subsequently, the neighboring influences are stored as a library of maps that can be used readily in the calculation of the perturbation force. Lastly, the pairwise interaction assumption is evaluated by comparing the force predicted with the model with PR simulations of a randomly packed particle bed of 10% volume fraction for both water and air as the fluid medium for an incoming shock Mach number 1.22. With a considerably lower cost for the implementation of the model compared to PR simulations, it is verified that the model is reasonably accurate in pinpointing particles whose peak force is significantly larger or smaller than the mean drag but also to capture the prolonged fluctuations after the initial shock.
Toward particle-resolved accuracy in Euler–Lagrange simulations of multiphase flow using machine learning and pairwise interaction extended point-particle (PIEP) approximation
This study presents two different machine learning approaches for the modeling of hydrodynamic force on particles in a particle-laden multiphase flow. Results from particle-resolved direct numerical simulations (PR-DNS) of flow over a random array of stationary particles for eight combinations of particle Reynolds number (Re) and volume fraction (φ) are used in the development of the models. The first approach follows a two-step process. In the first flow prediction step, the perturbation flow due to a particle is obtained as an axisymmetric superposable wake using linear regression. In the second force prediction step, the force on a particle is evaluated in terms of the perturbation flow induced by all its neighbors using the generalized Faxén form of the force expression. In the second approach, the force data on all the particles from the PR-DNS simulations are used to develop an artificial neural network (ANN) model for direct prediction of force on a particle. Due to the unavoidable limitation on the number of fully resolved particles in the PR-DNS simulations, direct force prediction with the ANN model tends to over-fit the data and performs poorly in the prediction of test data. In contrast, due to the millions of grid points used in the PR-DNS simulations, accurate flow prediction is possible, which then allows accurate prediction of particle force. This hybridization of multiphase physics and machine learning is particularly important, since it blends the strength of each, and the resulting pairwise interaction extended point-particle model cannot be developed by either physics or machine learning alone.
Two-way coupled particle-turbulence interaction: Effect of numerics and resolution on fluid and particle statistics
Euler-Lagrange point-particle simulation has emerged as a premier methodology for studying dispersed particle-laden flows. This method's popularity stems from its ability to resolve fine-scale fluid structures while also tracking individual particles at reduced cost using an appropriate particle acceleration model. However, the point-particle model has known convergence issues in that refinement of the fluid grid can lead to changes in the predicted statistics. The reasons for non-convergence are twofold: the point-particle two-way coupling force in the Navier-Stokes equations requires a numerical regularization and, without careful implementation, yields a singular force on the fluid with grid refinement. The second factor that yields grid-dependent statistics is that the point-particle force model in general depends on the undisturbed fluid velocity. When the undisturbed fluid velocity is not robustly modeled in a grid-insensitive way, the calculated force for both particles and fluid will be grid-dependent, contaminating their respective statistics. While the first issue regarding regularizing the point-particle source term has received attention in the literature, the consequences of robustly modeling the undisturbed velocity in the context of grid refinement of turbulence has received little attention. Here, we consider decaying homogeneous isotropic turbulence laden with particles at different Stokes numbers. For a given Stokes number, we systematically refine the grid and demonstrate that explicitly modeling the undisturbed fluid velocity yields relative grid insensitivity for the energy of the particle and fluid phases, as well as acceleration of the particles. We also demonstrate that an appropriately defined dissipation rate is also grid-insensitive when an undisturbed fluid velocity correction is used. In contrast, when the undisturbed fluid velocity is modeled using the conventional approach of interpolating the local fluid velocity to the particle location, we show this procedure yields divergent statistics with grid refinement. In particular, we show that higher-order interpolation of the fluid velocity in two-way coupled problems is worse than lower-order interpolation, in the absence of a correction procedure to estimate the undisturbed fluid velocity. We also examine velocity derivative statistics of the fluid phase and demonstrate that these statistics are not in general convergent even when the undisturbed fluid velocity is explicitly modeled. Collectively, the observations in this paper are used to present a philosophy on the types of questions which are answerable with point-particle methods.
Program manual for HILTOP, a heliocentric interplanetary low thrust trajectory optimization program. Part 1: User's guide
A performance-analysis computer program, that was developed explicitly to generate optimum electric propulsion trajectory data for missions of interest in the exploration of the solar system is presented. The program was primarily designed to evaluate the performance capabilities of electric propulsion systems, and in the simulation of a wide variety of interplanetary missions. A numerical integration of the two-body, three-dimensional equations of motion and the Euler-Lagrange equations was used in the program. Transversality conditions which permit the rapid generation of converged maximum-payload trajectory data, and the optimization of numerous other performance indices for which no transversality conditions exist are included. The ability to simulate constrained optimum solutions, including trajectories having specified propulsion time and constant thrust cone angle, is also in the program. The program was designed to handle multiple-target missions with various types of encounters, such as rendezvous, stopover, orbital capture, and flyby. Performance requirements for a variety of launch vehicles can be determined.
International Space Station Centrifuge Rotor Models A Comparison of the Euler-Lagrange and the Bond Graph Modeling Approach
The assembly and operation of the International Space Station (ISS) require extensive testing and engineering analysis to verify that the Space Station system of systems would work together without any adverse interactions. Since the dynamic behavior of an entire Space Station cannot be tested on earth, math models of the Space Station structures and mechanical systems have to be built and integrated in computer simulations and analysis tools to analyze and predict what will happen in space. The ISS Centrifuge Rotor (CR) is one of many mechanical systems that need to be modeled and analyzed to verify the ISS integrated system performance on-orbit. This study investigates using Bond Graph modeling techniques as quick and simplified ways to generate models of the ISS Centrifuge Rotor. This paper outlines the steps used to generate simple and more complex models of the CR using Bond Graph Computer Aided Modeling Program with Graphical Input (CAMP-G). Comparisons of the Bond Graph CR models with those derived from Euler-Lagrange equations in MATLAB and those developed using multibody dynamic simulation at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) are presented to demonstrate the usefulness of the Bond Graph modeling approach for aeronautics and space applications.
Structured adaptive grid generation using algebraic methods
The accuracy of the numerical algorithm depends not only on the formal order of approximation but also on the distribution of grid points in the computational domain. Grid adaptation is a procedure which allows optimal grid redistribution as the solution progresses. It offers the prospect of accurate flow field simulations without the use of an excessively timely, computationally expensive, grid. Grid adaptive schemes are divided into two basic categories: differential and algebraic. The differential method is based on a variational approach where a function which contains a measure of grid smoothness, orthogonality and volume variation is minimized by using a variational principle. This approach provided a solid mathematical basis for the adaptive method, but the Euler-Lagrange equations must be solved in addition to the original governing equations. On the other hand, the algebraic method requires much less computational effort, but the grid may not be smooth. The algebraic techniques are based on devising an algorithm where the grid movement is governed by estimates of the local error in the numerical solution. This is achieved by requiring the points in the large error regions to attract other points and points in the low error region to repel other points. The development of a fast, efficient, and robust algebraic adaptive algorithm for structured flow simulation applications is presented. This development is accomplished in a three step process. The first step is to define an adaptive weighting mesh (distribution mesh) on the basis of the equidistribution law applied to the flow field solution. The second, and probably the most crucial step, is to redistribute grid points in the computational domain according to the aforementioned weighting mesh. The third and the last step is to reevaluate the flow property by an appropriate search/interpolate scheme at the new grid locations. The adaptive weighting mesh provides the information on the desired concentration of points to the grid redistribution scheme. The evaluation of the weighting mesh is accomplished by utilizing the weight function representing the solution variation and the equidistribution law. The selection of the weight function plays a key role in grid adaptation. A new weight function utilizing a properly weighted boolean sum of various flowfield characteristics is defined. The redistribution scheme is developed utilizing Non-Uniform Rational B-Splines (NURBS) representation. The application of NURBS representation results in a well distributed smooth grid by maintaining the fidelity of the geometry associated with boundary curves. Several algebraic methods are applied to smooth and/or nearly orthogonalize the grid lines. An elliptic solver is utilized to smooth the grid lines if there are grid crossings. Various computational examples of practical interest are presented to demonstrate the success of these methods.
Numerical Predictions of Dust-Induced Heat Flux Augmentation in Hypersonic Blunt-Body Flows Using a Discontinuous Galerkin Multiphase Flow Solver
Recent interest in human-scale missions to Mars has motivated the need for high-fidelity simulations of reentry flows. During a dust storm, there can be high levels of suspended dust in the Martian atmosphere, which cannot only enhance erosion of thermal protection systems but also transfer energy and momentum to the shock layer, thereby significantly augmenting the surface heat flux. Second-order finite-volume schemes are typically employed for hypersonic flow simulations, but such schemes suffer from a number of disadvantages. An attractive alternative is discontinuous Galerkin methods, which benefit from arbitrarily high spatial order of accuracy, geometric flexibility, and other properties. To enable accurate computations of high-speed particle-laden flows, an Euler-Lagrange methodology was developed in which the Eulerian field of the carrier gas is calculated using a discontinuous Galerkin scheme while the disperse phase is treated with Lagrangian particle tracking. We discuss challenges associated with coupling these two formulations and how to handle them. Momentum and energy transfer between the carrier gas and the particle phase is considered, and the importance of accounting for interparticle collisions is assessed. In addition, we describe the physical model of the particle phase and examine effects of its uncertainties on the numerical solution. We demonstrate the performance of the Euler-Lagrange method in representative testcases, with focus on the accurate prediction of particle trajectories and heating augmentation. Quantitative comparisons with experiments are provided.
Discovering exact, gauge-invariant, local energy-momentum conservation laws for the electromagnetic gyrokinetic system by high-order field theory on heterogeneous manifolds
Gyrokinetic theory is arguably the most important tool for numerical studies of transport physics in magnetized plasmas. However, exact local energy-momentum conservation laws for the electromagnetic gyrokinetic system have not been found despite the continuous effort. Without such local conservation laws, energy and momentum can be instantaneously transported across spacetime, which is unphysical and casts doubt on the validity of numerical simulations based on the gyrokinetic theory. The standard Noether procedure for deriving conservation laws from corresponding symmetries does not apply to gyrokinetic systems because the gyrocenters and electromagnetic fields reside on different manifolds. To overcome this difficulty, we develop a high-order field theory on heterogeneous manifolds for classical particle-field systems and apply it to derive exact, local conservation laws, in particular the energy-momentum conservation laws, for the electromagnetic gyrokinetic system. A weak Euler-Lagrange equation is established to replace the standard Euler-Lagrange equation for the particles. It is discovered that an induced weak Euler-Lagrange current enters the local conservation laws. And it is the new physics captured by the high-order field theory on heterogeneous manifolds. A recently developed gauge-symmetrization method for high-order electromagnetic field theories using the electromagnetic displacement-potential tensor is applied to render the derived energy-momentum conservation laws electromagnetic gauge-invariant.
Safe Tracking Control of an Uncertain Euler-Lagrange System with Full-State Constraints using Barrier Functions
This paper presents a novel, safe tracking control design method that learns the parameters of an uncertain Euler-Lagrange (EL) system online using adaptive learning laws. A barrier function (BF) is first used to transform the full-state constrained EL-dynamics into an equivalent unconstrained dynamics. An adaptive tracking controller is then developed along with the parameter update law in the transformed state space such that the states remain bounded for all time within a prescribed bound. A stability analysis is developed that considers the EL-dynamics’ uncertainty, yielding a semi-globally uniformly ultimately bounded (SGUUB) tracking error and the parameter estimation error. The controller design is validated in simulations using a two-link planar manipulator. The results show the proposed method’s ability to track the reference trajectory while remaining inside each of the predefined state bounds.
CFD Modeling of the Multipurpose Hydrogen Test Bed (MHTB) Self-Pressurization and Spray Bar Mixing Experiments in Normal Gravity: Effect of the Accommodation Coefficient on the Tank Pressure
A CFD model for simulating the self-pressurization of a large scale liquid hydrogen storage tank is utilized in this paper to model the MHTB self-pressurization experiment. The kinetics-based Schrage equation is used to account for the evaporative and condensi ng interfacial mass flows in this model. The effect of the accommodation coefficient for calculating the interfacial mass transfer rate on the tank pressure during tank selfpressurization is studied. The values of the accommodation coefficient which were considered in this study vary from 1.0e-3 to 1.0e-1 for the explicit VOF model and from 1.0e-4 to 1.0e-3 for the implicit VOF model. The ullage pressure evolutions are compared against experimental data. A CFD model for controlling pressure in cryogenic storage tanks by spraying cold liquid into the ullage is also presented. The Euler-Lagrange approach is utilized for tracking the spray droplets and for modeling the interaction between the droplets and the continuous phase (ullage). The spray model is coupled with the VOF model by performing particle tracking in the ullage, removing particles from the ullage when they reach the interface, and then adding their contributions to the liquid. Droplet-ullage heat and mass transfer are modeled. The flow, temperature, and interfacial mass flux, as well as droplets trajectories, size distribution and temperatures predicted by the model are presented. The ul lage pressure and vapor temperature evolutions are compared with experimental data obtained from the MHTB spray bar mixing experiment. The effect of the accommodation coefficient for calculating the interfacial and droplet mass transfer rates on the tank pressure during mixing of the vapor using spray is studied. The values used for the accommodation coefficient at the interface vary from 1.0e-5 to 1.0e-2. The droplet accommodation coefficient values vary from 2.0e-6 to 1.0e-4.
Settling of two-way momentum and energy coupled particles subject to Boussinesq and non-Boussinesq heating
This work establishes a procedure to accurately compute heat transfer between an Eulerian fluid and Lagrangian point-particles. Recent work has focused on accurately computing momentum transfer between fluid and particles. The coupling term for momentum involves the undisturbed fluid velocity at the particle location which is not directly accessible in the simulation. Analogously, in the context of thermal coupling, the undisturbed fluid temperature at the particle location is not directly accessible in simulations and must be estimated. In this paper, we develop a scheme to accurately estimate the undisturbed fluid temperature of a point-particle exchanging thermal energy with a surrounding fluid. Furthermore, the temperature disturbance is correlated with the enhanced temperature curvature in the vicinity of the particle and is formally valid in the low heating, low convection limit. We conduct extensive verification of the correction procedure for a settling particle subject to radiation. This setup allows the simultaneous testing of thermal and momentum corrections. By considering equations of drag and Nusselt number extended to finite Péclet and Boussinesq numbers, we establish a large range over which the correction procedure can be applied.
A correction procedure for self-induced velocity of a finite-sized particle in two-way coupled Euler–Lagrange simulations
The importance of incorporating a correction to undo the self-induced perturbation velocity of a particle, when its size becomes comparable to the Eulerian grid, in a two-way coupled Euler–Lagrange (EL) simulation is now well appreciated. The present work improves upon the prior correction procedures in a few important ways. First, the past correction procedures have been scalar-based with the assumption that the quasi-steady force is the source of self-induced velocity perturbation. Here we generalize to a vector correction procedure and thereby the directions of feedback force and relative velocity can be different. This allows the correction procedure to be used even in the presence of added-mass, history, and lift forces. Second, the effect of a nearby wall has been systematically included in the correction procedure. The correction procedure depends on fundamental Oseen solutions of streamwise and transverse regularized feedback forces. We present a Fourier transform-based analytical approach to obtaining these regularized Oseen solutions. We also present a step-by-step numerical procedure for obtaining the Oseen solutions in any EL code. With the analytical or numerical Oseen functions, the correction procedure can be easily implemented in any EL code. Iterations are required in solving the implicit correction equations and it is demonstrated that the correction procedure converges rapidly within three or four iterations. In conclusion, a simple empirical approach is also presented to account for unsteady effects in the correction procedure.