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Turbulence Modeling for CFD by David C. Wilcox DCW Industries, Inc. La Cafiada, California Dedicated to my Wife BARBARA my Children KINLEY and BOB and my Dad Turbulence Modeling for CFD Copyright © 1993, 1994 by DCW Industries, Inc. All rights reserved. First Printing: July, 1993 Second Printing: | November, 1994 (with corrections) No part of this book may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or any information storage and retrieval system, without permission in writing from DCW Industries, Inc. DCW Industries, Inc. 5354 Palm Drive, La Cafiada, California 91011 818/790-3844 (FAX) 818/952-1272 This book was prepared with IATgX, and was printed in the United States of America by Griffin Printing, Glendale, California. Library of Congress Cataloging in Publication Data Wilcox, David C. Turbulence Modeling for CFD / David C. Wilcox—lst ed. Includes bibliography, index and 33 inch floppy disk. 1. Turbulence-Mathematical Models. 2. Fluid Dynamics-Mathematical Models. ‘TA357.5.T87 W542 1993 93-224752 ISBN 0-9636051-0-0 About the Author Dr. David C. Wilcox, was born in Wilmington, Delaware. He did his undergraduate studies from 1963 to 1966 at the Massachusetts Institute of Technology, graduating with a Bachelor of Science degree in Aeronautics and Astronautics. From 1966 to 1967, he was an Engineer Scientist Spe- cialist at McDonnell Douglas Aircraft Division in Long Beach, California, working for A. M. O. Smith. His experience with McDonnell Douglas was primarily in subsonic and transonic flow calculations. From 1967 to 1970, he attended the California Institute of Technology, graduating with a Ph.D. in Aeronautics. In 1970 he joined TRW Systems, Inc. in Redondo Beach, Cal- ifornia, as a Member of the Technical Staff. He performed studies of both high- and low-speed fluid-mechanical and heat-transfer problems, such as turbulent hypersonic flow and thermal radiation from a flame. From 1972 to 1973, he was a staff scientist for Applied Theory, Inc., in Los Angeles, California, responsible for scientific-project management. He participated directly in many research efforts involving numerical computation and anal- ysis of a wide range of fluid flows such as separated turbulent flow, tran- sitional flow and hypersonic plume-body interaction. In 1973, he founded DCW Industries, Inc., a La Cafiada, California firm engaged in engineering research, software development and publishing, for which he is currently the President. He has taught several fluid mechanics and applied mathematics courses at the University of Southern California and at the University of California, Los Angeles. Dr. Wilcox has published many papers and reports on turbulence mod- eling, computational fluid dynamics, boundary-layer separation, boundary- layer transition, thermal radiation, and rapidly rotating fluids, He is an Associate Fellow of the American Institute of Aeronautics and Astronau- tics (AIAA) and has served as an Associate Editor for the AIAA Journal. iii Contents Notation xi Preface xvii 1 Introduction 1 1.1 Definition of an Ideal Turbulence Model : 1 12 How Complex Does a Turbulence Model Have to Be? « 1 1.3 Comments on the Physics of Turbulence . 2 14 A Brief History of Turbulence Modeling ........... 5 2 The Closure Problem u 2.1. Reynolds Averaging ul 2.2. Correlations . . . 15 23 Reynolds-Averaged Equations 15 2.4 The Reynolds-Stress Equation 7 3. Algebraic Models 23 3.1 Molecular Transport of Momentum. 24 3.2. The Mixing-Length Hypothesis... . . 27 3.3. Application to Free Shear Flows 30 3.3.1 The Far Wake 32 3.3.2 The Mixing Layer 38 333 TheJet....... 4 3.4. Modern Variants of the Mixing- Lena Model - 44 3.4.1 Cebeci-Smith Model . 50 4.2 Baldwin-Lomax Model . 52 3.5. Application to Wall-Bounded Flows 53 3.5.1 Channel and Pipe Flow . 53 3.5.2 Boundary Layers . . . 59 3.6 Separated Flows 61 vi 37 3.8 The 1/2-Equation Model Range of Applicability 4 Turbulence Energy Equation Models 41 42 43 44 4.6 AT 48 49 4.10 Separated Flows The Turbulence Energy Equation One-Equation Models... .. « ‘Two-Equation Models 4.3.1 The k-w Model oo 4.3.2 The k-eModel 2.0.2... 4.3.3 Other Two-Equation Models (Ciostire| Coctiicients) tye te tt Application to Free Shear Flows CONTENTS Perturbation Analysis of the Boundary Layer . . 4.6.1 The Log Layer ............-4 46.2 The Defect Layer 4.6.3. The Viscous Sublayer Surface Boundary Conditions 4.7.1 Wall Functions . . 4.7.2 Surface Roughness 4.7.3. Surface Mass Injection . . . Application to Wall-Bounded Flows 4.8.1 Channel and Pipe Flow 4.8.2 Boundary Layers . . Low-Reynolds-Number Effects . 4.9.1 Asymptotic Consistency 4.9.2 Transition 4.11 Range of Applicability . 5 Effects of Compressibility 5.1 Physical Considerations... ... . Favre Averaging Le Favre-Averaged Equations . Compressible-Flow Closure Approximations . Dilatation Dissipation . . . Compressible Law of the Wall . Compressible Boundary Layers... . Shock-Induced Boundary-Layer Separation 65, 67 73 74 oe 83 84 87 90 92 95 104 105 110 122 126 126 128 131 131 132 133 138 138 146 160 163 171 171 172 174 180 183 189 195 203 CONTENTS 6 Beyond the Boussinesq Approximation 61 6.2 6.3 6.4 6.5 6.6 6.7 68 Boussinesq-Approximation Deficiencies . . . . . Nonlinear Constitutive Relations . . . Second-Order Closure Models... . . 6.3.1 Closure Approximations . . . . 6.3.2 Launder-Reece-Rodi Model . . 6.3.3. Wilcox Multiscale Model : Application to Homogeneous Turbulent Flows . . Application to Free Shear Flows Application to Wall-Bounded Flows 6.6.1 Surface Boundary Conditions . 6.6.2 Channel and Pipe Flow 6.6.3 Boundary Layers . Application to Separated Flows Range of Applicability . . . 7 Numerical Considerations 7A ae 73 14 75 76 Multiple Time Scales and Stiffness. . Numerical Accuracy Near Boundaries 7 721 Solid Surfaces... .....0--00-% 122 Turbulent/Nonturbulent Interfaces Parabolic Marching Methods .......... Elementary Time-Marching Methods . Block-Implicit Methods Lee Solution Convergence and Grid Sensitivity... 2... 8 New Horizons 8.1 8.2 8.3 8.4 Background Information... 2.2.0.2 ve eee Direct Numerical Simulation ...........-- Large Eddy Simulation . Chaos... A Cartesian Tensor Analysis B Rudiments of Perturbation Methods C Companion Software cl Overview ; C11 Program Structure . C.1.2. Program Input . . C.1.3. Program Output . . Free Shear Flows . . . 213 213 218 223, 224 231 232 235, 242 243 244 248 253 261 266 273 273 275 275, 279 287 292 297 303 313 313 316 322 328 331 viii C3 C4 C5 C6 CONTENTS 2.1 Program WAKE: Far Wake... . « C.2.2 Program MIXER: Mixing Layer. . C23 Program JET: Plane, Round and Radial Jet . C24 Program PLOT i i Channel and Pipe Flow .........-...04 C.3.1 Program PIPE: Channel and Pipe Flow ... C32 Program PLOTP: Plotting Utility . . Boundary-Layer Perturbation Analysis. . . . C.4.1 Program SUBLAY: Viscous Sublayer . C42 Program DEFECT: Defect Layer... .. C.4.3. Program PLOTS: Sublayer Plotting Utility C44 Program PLOTD: Defect-Layer Plotting ae . Miscellaneous Routines... ...... 5.1 Function ERF: Error Function . 5.2 Subroutine NAMSYS: Fortran Portability eee C5.3. Subroutine RKGS: Runge-Kutta Integration C54 Subroutine RTNI: Newton's Iterations . . . C5.5 Subroutine TRE: “eidingonal Matrix Inversion . Diskette Contents... 2.0... 0.0000. : D Program EDDYBL DA D2 D3 DA D5 Overview ......... D.1.1 Acknowledgments D.12 Required Hardware and Software Getting Started Quickly. Installing SETEBL . D.3.1 Boot-Console Installation. |. D.3.2_ Remote-Terminal Installation . Installing EDDYBL Running a General Case . go6 D.5.1 Preliminary Operations Diba! Units Selection errr te) D.5.3. Main Parameters........ D.5.4 Taking a Lunch Break D.5.5 Edge/Wall Conditions... ... . D.5.6 Preparing Edge/Wall Condition Data Files D.5.7 Generating Edge/Wall Conditions 18) initial Profiles 8 a1 D.5.9 Selecting a Turbulence Model D.5.10 Logical Unit Numbers and Plotting Files D.5.11 Running the Boundary- Layer Program . D.5.12 Restart Run. . . 355 357 359 361 364 365 367 371 373 375 376 379 382 383 384 386, 388 389 390 391 391 391 392 392 397 397 398 398 399 399 400 400 402 403 404 406, 406 408 408 410 410 CONTENTS 1.5.13 Gas Properties and Profile Printing ......... D.5.14 Selecting Laminar, ‘Transitional or Turbulent Flow D.6 Applicability and Limitations . . . beeen ee D.7 EDDYBL Output Parameters D.8 Program PLOTEB: Plotting Utility D.9 Adapting to Other Compilers/Systems D.10 Compile and Link Commands .. . . . D.11 Additional Technical Information D.11.1 Mean-Flow Equations... . . ene D,11.2 kw and Multiscale Model Bauations Lee D.11.3 k-e Model Equations . _ D.11.4 Transformed Equations D.12 Software Package Modules . . . Plotting Program Details E.1 Font Files E.2 Video Devices . . E.3 Plotting Colors . E4 Hardcopy Devices Bibliography Index Notation This section includes the most commonly used notation in this book. In order to avoid departing too much from conventions normally used in liter- ature on turbulence modeling and general fluid mechanics, a few symbols denote more than one quantity. English Symbols Symbol a ijt An; BnsCn,Dn At Ai bis B Cyr, Cb2 ey foo Cw1y Cw2s Cws Ci, C2 Cops Cok Cp, Ce Cais, Cxies Ck Ct, Cra c Cu, Ce Cs CG Cs Definition Speed of sound Rapid pressure-strain tensor Coefficients in tridiagonal matrix equation Van Driest damping constant Slow pressure-strain tensor Dimensionless Reynolds-stress anisotropy tensor Additive constant in the law of the wall Closure coefficients Skin friction based on edge velocity, 7w/(4U?) Skin friction based on freestream velocity, Tw /(pU2,) Closure coefficients Closure coefficients Closure coefficients Closure coefficients Closure coefficients Kolmogorov constant. Closure coefficients Specific heat at constant pressure; pressure coefficient Closure coefficients Smagorinsky constant Specific heat at constant volume Shear-layer spreading rate xi Ca, Ca, Cea Cr, Cre a Cy Cie D Dy e E E(n) E(n) En Sus fis fas fe FO) Ftes(ys6) G G(x — €) h H H(z) ijk T Ur NOTATION Closure coefficients Closure coefficients Closure coefficient. LES cross-term stress tensor Turbulent transport tensor Drag per unit body width Production tensor, timOUm/02; + T7mOUm /Oxi Specific internal energy ; small-eddy energy ‘Total energy; viscous damping function Energy spectral density Dimensionless self-similar dissipation rate Discretization error Viscous damping functions Turbulence flux vectors Dimensionless self-similar streamfunction Klebanoff intermittency function Mean-flow flux vectors Amplitude factor in von Neumann stability analysis LES filter Specific enthalpy ‘Total enthalpy; channel height; shape factor, 6°/8 Heaviside step function Unit vectors in x, y, z directions Unit (identity) matrix Stress tensor invariants Two-dimensional (j = 0), axisymmetric (j = 1) index Specific momentum flux (flux per unit mass) Kinetic energy of turbulent fluctuations per unit mass Geometric progression ratio Surface roughness height Distortion parameter Dimensionless self-similar turbulence kinetic energy Effective Karman constant for compressible flows Knudsen number Turbulence length scale; characteristic eddy size Mean free path Mixing length Characteristic length scale Leonard stress tensor Mach number Rapid pressure-strain tensor Convective Mach number NOTATION M; Moo N(n) Neri No N(us) P Pj P Py Pry Pas Pe Pry, Per q qw 5s WT 55 Ser St» Sur Sw Sp Sr t tis i Turbulence Mach number, V2k/a Closure coefficient Dimensionless self-similar eddy viscosity CEL number Constant in near-wall solution for w Navier-Stokes operator Instantaneous static pressure Instantaneous momentum-flux tensor Mean static pressure Production tensor, rimOU;/82m + Tjm9Ui/O2m Net production per unit dissipation of k, w, € Laminar, turbulent Prandt] number Heat-flux vector Surface heat flux Laminar, turbulent mean heat-flux vector LES stress tensor, Cij + Ray Dependent variable vector Cylindrical polar coordinates Pipe radius; channel half height; perfect gas constant SGS Reynolds stress tensor ‘Two-point velocity correlation tensor Radius of curvature Autocorrelation tensor Sublayer scaled radius or half height, u,R/v Closure coefficients in viscous damping functions Reynolds number based on length L ‘Turbulence Reynolds number, k/?¢/v Sublayer scaled radius or half height, R* ‘Turbulence Richardson number Near-wall turbulence Reynolds number, k1/?y/v Instantaneous strain-rate tensor Source-term vectors Source term — production minus dissipation Mean strain-rate tensor Oldroyd derivative of $i; Source terms in a similarity solution Dimensionless surface mass injection function Dimensionless surface roughness function Time Instantaneous viscous stress tensor Temperature; characteristic time scale xiv rms, Vrms uy uy a U,V,W U; U ut Um un) Umiz Uh ww v(n) W(n) NOTATION Freestream turbulence intensity Instantaneous velocity components in z, y, z directions Instantaneous velocity in tensor notation Instantaneous velocity in vector notation Fluctuating velocity components in z, y, 2 directions Fluctuating velocity in tensor notation Fluctuating velocity in vector notation Favre-averaged velocity components in z, y, z directions Favre-averaged velocity in tensor notation Favre-averaged velocity in vector notation Favre fluctuating velocity components in z, y, z directions Favre fluctuating velocity in tensor notation Favre fluctuating velocity; fluctuating molecular velocity RMS fluctuating velocity components in 2, y directions Temporal average of fluctuating velocities Friction velocity, /Tw/Pw Velocity perturbation vector Mean velocity components in 2, y, z directions Mean velocity in tensor notation Mean velocity in vector notation Dimensionless, sublayer-scaled, velocity, U/ur Maximum or centerline velocity Dimensionless self-similar streamwise velocity Mixing velocity ‘Thermal velocity Surface injection velocity Dimensionless self-similar normal velocity Dimensionless self-similar specific dissipation rate Rectangular Cartesian coordinates Position vector in tensor notation Position vector in vector notation Dimensionless, sublayer-scaled, distance, u,y/v y* at first grid point above surface Inner/outer layer matching point Greek Symbols Symbol a, a" 4, BF Ao, OS Definition Closure coefficients Closure coefficients Closure coefficients in viscous damping functions NOTATION ap, Or, wr B, B* or 7 é SPERMS ar q Ob, Oe O11, O42 Ory Ori, Ora xv Defect-layer similarity parameters Closure coefficients Equilibrium parameter, (6*/ry )dP/de Specific heat ratio, Cp/Cy Boundary layer or shear layer thickness Displacement thickness, Tac Velocity thickness, {¢ (1 . #) dy Finite-difference matrix operator Kronecker delta LES filter width Clauser thickness, Ue6*/u, Incremental change in Q, 2, Timestep Dissipation per unit mass Dilatation dissipation Solenoidal dissipation Dissipation tensor Permutation tensor Second viscosity coefficient Kolmogorov length scale; similarity variable Momentum thickness, fe £4 (1 #) dy Kérmén constant; thermal conductivity; wavenumber Effective Karman constant for flows with mass injection Taylor microscale Largest eigenvalue Molecular viscosity Eddy viscosity Tnner-layer eddy viscosity Outer-layer eddy viscosity Kinematic molecular viscosity, ¢/p Kinematic eddy viscosity, ur/p Dimensionless streamwise distance Closure coefficients Coles’ wake-strength parameter Pressure-strain correlation tensor Mass density Closure coefficients Closure coefficients Closure coefficients Closure coefficients o(2) Oj i ti Turnover Tey Tex) Tyys Taz Tw v NOTATION Nonequilibrium parameter Instantaneous total stress tensor Kolmogorov time scale; turbulence dissipation time Reynolds stress tensor Eddy turnover time Reynolds shear stress Normal Reynolds stresses Surface shear stress Kolmogorov velocity scale; closure coefficient é Dimensionless parameter, (vw /pu2)dP/de x Free shear layer closure coefficient v Streamfunction Uz, Ve,u Parabolic marching scheme coefficients w Specific dissipation rate; vorticity vector magnitude Other Symbol Definition af /8q ‘Turbulence flux-Jacobian matrix 8F/8Q Mean-flow flux-Jacobian matrix as /8q Source-Jacobian matrix Subscripts Symbol Definition DNS Direct Numerical Simulation e Boundary-layer-edge value eq Equilibrium value LES Large Eddy Simulation ° Centerline value v Viscous w Wall (surface) value oo Freestream value Superscripts Symbol Definition + Sublayer-scaled value

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