High-speed imaging of dynamic shock wave reflection phenomena

K. Naidoo and B. W. Skews School of Mechanical, Industrial, and Aeronautical Engineering, University of the Witwatersrand, Johannesburg, 2050, South Africa
ABSTRACT
Dynamic shock wave reflection generated by a rapidly pitching wedge in a steady supersonic free stream have been studied with numerical simulation previously. This paper publishes the development and design of an experimental facility to characterize these dynamic shock wave reflection phenomena. The paper documents details of the experimental rig, flow visualization technique and the high-speed imaging system. High-speed schlieren images from tests with gradual, but dynamic wedge pitch are included. Flow field images are captured with a Photron Ultima APXRS high-speed camera at 250 fps. Tests were conducted at Mach 1.9 and Mach 3.0 free stream conditions in a supersonic wind tunnel. The high-speed imaging enabled the accurate determination of the point of transition between regular and Mach reflection. The wedge incidence for which the shock system is swallowed and disgorged was also measured during these tests. Keywords: dynamic shock reflection, high-speed imaging, flow visualization, transition, disgorge, swallow, supersonic flows

INTRODUCTION

Consider the shock wave reflection pattern generated by a steady wedge of infinite span in close proximity to an ideal wall in a supersonic free stream. The two and three shock configurations possible (Figure 1) in a supersonic free stream under these conditions, are well known as well as transition between these configurations for the steady state case [1]. Transition criteria for the steady, two-dimensional case are derived by consideration of local flow conditions at the reflection point and were published by Ben-Dor [2]. Theoretical curves for the wedge incidence, , at transition are presented in Figure 2. Dynamic effects due to rapid rotation of the wedge result in an unsteady flow field in which these transition criteria are not valid [3].
Wedge Surface

Supersonic free stream

Wedge Surface Reflected Shock Wave

Supersonic free stream Reflected Shock Wave Incident Shock Wave

Incident Shock Wave

Triple Point Mach stem (b) Shear Layer

Ideal Slip Wall (a)

Ideal Slip Wall

Figure 1: (a) Regular reflection (RR) and (b) Mach reflection (MR)

28th International Congress on High-Speed Imaging and Photonics, edited by Harald Kleine, Martha Patricia Butrn Guilln, Proc. of SPIE Vol. 7126, 71260E 2009 SPIE CCC code: 0277-786X/09/$18 doi: 10.1117/12.821850

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Analytical Transition
30 Detachment Condition , D 25

Wedge Incidence, (degrees)

20

von Neumann Condition ,

15

10

5 1.5 2 2.5

Free Stream Mach Number, M

3.5

4.5

Figure 2: Theoretical predictions for RR MR transition for the steady case

Flow field computations of the unsteady shock wave reflection phenomena generated by a rapidly pitching wedge, in close proximity to an ideal wall, in steady supersonic free stream conditions were considered by Felthun and Skews [3] and Naidoo and Skews [4],[5] at free stream Mach numbers, M = 2.0, 3.0 and 4.0. Given that VT is the tangential tip velocity of the rotating wedge and a is the free stream acoustic velocity, define a dimensionless parameter MT as follows
MT = VT a

(1)

In the flow field simulations wedges were started impulsively and rotated at a constant pitch rate. Simulation pitch rates were such that 0.01 MT 0.1 in 0.01 increments for increasing wedge incidence and decreasing wedge incidence. Computed density contours about a wedge are shown in Figure 3 to illustrate the shock reflection pattern generated by a rapidly pitching wedge pitch. The most discernable feature is the curvature on the incident and reflected shock waves in comparison to the steady shock reflection pattern at the same incidence.

Curvature on incident and reflected shock waves

(a)

(b)

Figure 3: Reflection pattern for M = 4.0 at = 25.8 about (a) a steady wedge and (b) a rapidly pitching wedge; initial = 19.0; MT = 0.1

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Results from the flow field simulations summarise as follows [5]: Shock incidence angle at the ideal wall at transition between RR and MR, as well as the unsteady features in the flow field depend on rotation rate, pivot point, initial deflection angle and free stream Mach number. Transition between RR and MR was continuous for all conditions tested, i.e. no discontinuous development of the Mach stem beyond the detachment condition. Curvature was observed on the incident and reflected shock waves for rapid pitch rates Mach stem growth for increasing and decreasing wedge incidence was non-linear with respect to wedge incidence

This research paper documents the development of an experimental facility to characterize the dynamic shock wave reflection phenomena generated by rapidly pitching wedges. The experimental facility includes a rig for rapid wedge pitch in a supersonic wind tunnel, a schlieren flow visualization system and a high-speed imaging camera. This paper also publishes high-speed images, captured at 250 fps, from a baseline test series at M = 1.9 and M = 3.0. Wedges are pitched at a gradual rate during these baseline tests. These results will be used to quantify dynamic effects in future tests with rapid wedge pitch.

2
2.1 Wind tunnel facility

EXPERIMENTAL FACILITY

The rig was designed for the supersonic wind tunnel facility at the Aeronautics Programme at the Council for Scientific and Industrial Research (CSIR) in South Africa. The blow-down wind tunnel consists of a 450 mm x 450 mm test section and has a free stream speed range between Mach 0.6 and Mach 4.3. Maximum available blow times range between 15 30 seconds depending on free stream conditions. 2.2 Experimental Rig A rig was designed and developed to generate shock reflection phenomena with pitching wedges in the supersonic wind tunnel. Wedges may be moved dynamically in supersonic free stream conditions at small pitch rates, with a servo motor, and at larger pitch rates with a spring energized actuator. The rig consists of two large aspect ratio wedges mounted symmetrically about a horizontal image plane. Each wedge has an aspect ratio (span to chord ratio) of 4.25 to ensure two-dimensional flow in the vertical wedge centre plane. Skews [7] demonstrated that transition between RR and MR in the wedge centre plane approaches the theoretical predictions, presented in Figure 2, for wedge aspect ratios larger than 4.0. The motion of both wedges is synchronized to maintain a perfectly horizontal image plane, which simulates an ideal wall.

Figure 4 : Experimental rig for the investigation of dynamic shock reflection phenomena

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A servo motor changes the wedge incidence gradually at approximately 5.0 deg/sec. This actuator was developed for baseline tests. Various concepts were considered for the actuation of the wedges at large pitch rates, viz. spring loaded, dynamic impact and hydraulics. As these experiments are the first of their kind in the supersonic tunnel, the spring loaded mechanism was considered for the first series of rapid wedge pitch tests, primarily for the sake of mechanical simplicity and cost effectiveness. Other options may be considered pending the outcome of the tests with the spring loaded actuator. Actuator Performance Requirements at M = 2.0: Assume free stream stagnation pressure, PO = 250.0 103 Pa; free stream stagnation temperature, TO = 300.0 K; specific heat ratio for air, = 1.4; universal gas constant for air, R = 287.06 J.kg-1.K-1 and wedge chord, c = 40.0 mm. Free stream static temperature is calculated by
1 2 T = TO 1 + M 2
1

= 166.67 K

(2)

Free stream acoustic velocity is given by

a = RT = 258.8 m.s 1 Given that is the wedge pitch rate expressed in radians per second (rad.s-1)
V c MT = T = a a

(3)

(4)

Then for MT = 0.1

= 647.02 rad.s -1 = 37071.26 deg/sec

(5)

and
VT = 25.88 m.s-1

(6)

For MT = 0.01
= 64.7 rad.s -1 = 3707.13 deg/sec

(7)

and
VT = 2.59 m.s -1

(8)

Assume a total pitch scan of = 25.0. Total time to pitch is given by

t =

(9)

t = 0.67 10-3 sec for MT = 0.1 and t = 6.7 10-3 sec for MT = 0.01. In the flow field simulations previously done, the wedges were pitched instantaneously at full pitch rate. This is not realizable in practice. However, it is possible to accelerate the wedges such that 0.01 MT average 0.1. The springs for the actuator were designed to ensure that the average pitch rate for the pitch event was the same as that calculated above. This would result in a different dynamic flow field from that observed in the results of the computations. However, the motion of the wedges will be measured during the experiments. Flow field simulations with the actual motion will be performed and compared with high-speed images from experiment.

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The second order ordinary differential equation governing the response of an undamped spring mass system was used to estimate the required spring stiffness. Assume that m is the mass being accelerated and k is the spring stiffness, then
m x + kx = 0

(10)

The solution of (10) is given by

x x ( t ) = x o cos( n t ) + o sin ( n t ) n

(11)

Where n is the natural frequency of vibration of the system and is given by

k n = m

(12)

Assume an initial displacement, xo = 13.0 mm, which is the linear travel of the actuator required to achieve 25.0 pitch and m = 1.3 kg, which is the mass of the system connected to the actuator. Assume zero initial velocity, i.e.
xo = 0

(13)

A spring stiffness of approximately 72 103 N/m is sufficient to achieve the total pitch motion in approximately t = 6.7 10-3 sec, i.e. MT average = 0.01. The initial load, Finitial, on the actuator is approximately 936.0 N. These design values were feasible for implementation within the space constraints of the rig and tunnel test section. For MT average = 0.05, t = 3.35 10-3 sec, k = 292 103 N/m and Finitial = 3.8 103 N. A spring energized actuator is also feasible here. For MT -3 6 3 average = 0.1, t = 0.67 10 sec, k = 7.2 10 N/m and Finitial = 93.6 10 N. A spring energized actuator of this magnitude is not feasible given the space constraints in the supersonic wind tunnel test section and rig. Were it possible to position an actuator of this magnitude outside the tunnel, operation of this actuator would be impractical. Alternative methods of actuation will be considered for MT = 0.1. In summary, the implementation of a spring energized actuator is feasible for 0.01 MT average 0.05.
Direction of Motion

Shafts to actuate wedge

1Potentiometer

Compression Springs

f/

I
/

,Solenoid
I

,Latch rock

Latch

WiAAWlI ' AYAVViiWAY

0
0

0 0
I!

I!AIAV&VA!&V&IAVIIuI
0

Figure 5 : Schematic of the spring energised actuator illustrating operation of the latch and release mechanism

A pair of compression springs were designed and manufactured for MT average = 0.01, with the required stiffness, given the space constraints of the rig. A latch mechanism was also designed and developed for holding the required actuation load

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until released remotely. A view of the latch and release mechanism from the CAD model is shown in Figure 5. When energized, a solenoid moves the latch lock, through a lever, away from the latch thereby releasing the spring load. This release results in the actuation of the drive shafts connected to the wedges. The actuator performance was measured, without wind tunnel operation, and a total response time of approximately 6.0 10-3 sec was achieved. A second pair of springs will be manufactured for MT average = 0.05 on successful completion of the first dynamic test series. The latch and release mechanism must be modified for these stiffer springs.
2.3 Flow visualization and high-speed imaging

A z-type schlieren system [6] was used for supersonic flow field visualization during the baseline tests. High-speed schlieren images of the dynamic flow field during wedge pitch were captured with a digital high-speed camera, the Photron Ultima APX-RS. Images were captured at the cameras maximum resolution (1024 x 1024 pixels) at 250 fps for the baseline tests. High-speed schlieren images were used to determine the wedge incidence at transition, T, between RR and MR accurately. High-speed schlieren images were also used to determine the wedge incidence at which the shock wave system is disgorged, d, and the wedge incidence at which the system is swallowed, S.

3
Table 1: Baseline test series

HIGH-SPEED IMAGING: BASELINE TEST SERIES

Case 1 2 3 4

M 1.9 1.9 3.0 3.0

Initial Wedge Incidence, i 5.4 23.5 10.6 31.0

Final Wedge Incidence, f 23.5 4.6 30.4 11.6

Table 1 lists the test matrix for the baseline test series. Each case was repeated once. Images were captured at 250 fps. The results presented in subsequent subsections are averaged results. Figure 6 highlights critical flow features that will be referred to during the discussion of results. Transition between RR and MR at the wedge centre plane is measured and compared with transition predictions for the steady, two-dimensional case. All subsequent discussion regarding transition between RR and MR are with respect to the vertical wedge centre plane.

Shear layer Wedge surface Incident shock Triple point Reflected shock Mach stem

Figure 6: Critical flow features

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3.1 Case 1: M 1.9, Increasing Wedge Incidence

At M = 1.9 there is a single theoretical transition point between RR and MR. Starting with a steady RR pattern and increasing wedge incidence gradually, transition to MR is expected at the detachment condition, D, at 11.68 wedge incidence (see Figure 2). At the point of transition to MR the Mach stem height is zero. For further increase in wedge incidence there is a continuous increase in Mach stem height until the wave system disgorges. High spatial and temporal resolution is necessary to determine the point of transition between RR and MR accurately, since one has to observe the development of the Mach stem. In the absence of sufficient image resolution in the region of the Mach stem one has to consider alternative visual means of determining the point of transition. A unique feature of MR is the shear layer generated at the triple point (Figure 1 b). The shear layer develops due to the difference in flow conditions downstream of the Mach stem and the reflected shock wave respectively. The region of interest is the shock reflection pattern in the volume between the two wedges. In the images presented here the appearance of the shear layer downstream of the reflection point was used to approximate the point of transition to MR. A steady RR was established in Figure 7 (a) at wedge incidence, i = 5.4, before the wedge incidence was increased gradually. A RR pattern was maintained until the shear layer between the two wedges first appeared in Figure 7 (d) at T = 11.7. This marked the transition for RR MR at M = 1.9, approximately 0.02 above D. The Mach stem height increased with increasing wedge incidence until the shock system disgorged in Figure 7 (i). The wedge incidence just prior to disgorge was d = 13.6 in Figure 7 (h). The pitch scan terminated at approximately f = 23.5 in Figure 7(j). Though the images are sufficiently resolved to determine the point of transition, they are inadequate to measure the growth of the Mach stem accurately.

'I ytI

S.

/ ex

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

Figure 7 (a) (j): High-speed schlieren images of shock reflection patterns for increasing wedge incidence at M = 1.9

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3.2 Case 2: M = 1.9, Decreasing Wedge Incidence

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

Figure 8 (a) (j) : High-speed schlieren images of shock reflection patterns for decreasing wedge incidence at M = 1.9

Transition from MR RR may be identified when the shear layer from the triple point disappears. A steady disgorged flow was established at i = 23.5 in Figure 8 (a). The wedge incidence was reduced gradually and the shock system was swallowed at S = 16.2 in Figure 8 (c), approximately 2.6 above d in case 1. Figure 8 (c) was captured at the instant the shock system was being swallowed. Subsequently, a MR pattern developed and was maintained until T = 11.7 after which time the shear layer vanished in Figure 8 (h). The transition point is considered to be the last wedge incidence for which a shear layer is visible on the reflection plane, viz. Figure 8 (g) at T = 11.7 approximately 0.02 above D. For reducing wedge incidence a RR pattern was maintained until the test was terminated at f = 4.6.
3.3 Case 3: M = 3.0, Increasing Wedge Incidence

For M = 3.0, N = 19.7 and D = 21.5. A steady RR was established in Figure 9(a) at i = 10.6, before the wedge incidence was increased gradually. A RR pattern was maintained until the shear layer at the triple point first appeared in MR at M = 3.0, approximately 0.9 above N and 0.9 Figure 9(d) at T = 20.6. This marked the transition for RR below D. There is insufficient resolution in the region of interest to measure the growth of the Mach stem immediately after transition. The Mach stem grew with increasing wedge incidence until the shock system disgorged at approximately d = 27.9. Figure 9(i) captured the shock system just before disgorge. The pitch scan terminated at approximately f = 30.4 in Figure 9(j).

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(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

Figure 9 (a) (j): High-speed schlieren images of shock reflection patterns for increasing wedge incidence at M = 3.0

3.4 Case 4: M = 3.0, Decreasing Wedge Incidence

(a)

(b)

(c)

(d)

(e)

(f)

(g)

(h)

(i)

(j)

Figure 10 (a) (j): High-speed schlieren images of shock reflection patterns for decreasing wedge incidence at M = 3.0

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A steady disgorged flow was established at i = 31.0 in Figure 10(a). The wedge incidence was reduced gradually and the shock system was swallowed at S = 23.5 in Figure 10(c), approximately 4.4 below d for case 3. Subsequently, a MR pattern developed and was maintained until T = 20.1 in Figure 10(g) (T = 20.6 for case 3) after which time the MR was measured at approximately 0.4 above N and 1.4 below D. This shear layer vanished. Transition for RR was only 0.5 below the measured transition point for case 3. As the Mach stem is insufficiently resolved in the region of interest for the purpose of accurate Mach stem height measurement it is difficult to measure the Mach stem behaviour after transition for increasing wedge incidence and before transition for decreasing incidence. It would be premature to suggest that hysteresis was observed without higher resolution images.

CONCLUSIONS AND RECOMMENDATIONS

4.1 Transition prediction with high-speed images

See Figure 11. At M = 1.9, the incidence at transition was easily identified from the high-speed schlieren images and was measured at T = 11.7, 0.02 beyond detachment. At M = 3.0 transition is expected between the von Neumann and detachment conditions. Transition was observed between these theoretical bounds in the experiment. The high-speed images captured with the Photron Ultima APX-RS enabled the point of transition to be identified and measured very accurately. The estimated error in wedge incidence measurement from the images is approximately 0.5. Image resolution was insufficient to resolve the Mach stem growth accurately. An optical system which magnifies the region of interest is recommended for future tests.

17

29 Wedge Incidence (degrees) 27 25 23 21 19

16
Wedge Incidence (degrees)

15 14 13 12 11 10 9 8 1.7 1.8 1.9 2 2.1 2.2

Mach Number

von Neumann Detachment Transition, case 3 Transition, case 4 Incidence at Disgorge Incidence at Swallow

Detachment Condition

Detachment condition Transition, case 1 Transition, case 2 Incidence at Disgorge Incidence at Swallow

Detachment Condition

von Neumann Condition

17 2.6 2.8 Mach Number 3 3.2

(a)

(b)

Figure 11 : Summary of experimental results, viz. T, S and d at (a) M = 1.9 (b) M = 3.0

4.2 Shock disgorge and shock swallow

Figure 11 summarises the measured d and S at both free stream conditions. At M = 1.9 there was a significant difference between S and d and S > d. At M = 3.0, there was also a significant difference between S and d here. However, S < d here. The phenomena of shock disgorge and swallow for a large aspect ratio wedge in close proximity to an ideal wall is not well understood at this stage. Further experiments are recommended, with higher image resolution in the region of interest to investigate these phenomena.

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4.3 Rig design and development for rapid wedge pitch

The rig and spring energized actuator design was presented. A spring energized actuator is feasible for 0.01 MT average 0.05 and was implemented for MT average = 0.01. The actuator was tested and has performed to specification outside the supersonic tunnel test section.
4.4 Camera frame rate for rapid wedge pitch

Currently, the spring energized actuator developed for the rapid wedge tests produces a pitch-up scan in approximately 6.0 10-3 sec. It is desired that this event be imaged at 3000 fps (1/3000th sec shutter speed). This is the maximum frame rate for which the Photron Ultima APX-RS can acquire images at 1024 x 1024 pixel resolution and is an acceptable compromise between image capture rate and image resolution for the purpose of capturing the dynamic flow field. However, this frame rate is insufficient to determine the point of transition accurately. In this case one may image a single wedge flow at 512 x 512 pixel resolution at a maximum rate of 10000 fps to maintain image resolution in the region of interest. Tests with rapid wedge pitch rate are scheduled for October 2008 and results will be presented at the 28th ICHSIP.
Acknowledgement: The authors would like to thank Piet Ramaloko and David Reinecke of the Landwards Sciences Competency, Defence Peace Safety and Security, Council for Scientific and Industrial Research who provided and operated the high-speed camera for these tests. The research funding from the Aeronautics Systems Competency and the Human Capital Development Unit of the CSIR is gratefully acknowledged.

REFERENCES
[1] [2] [3] [4] [5] [6] [7]

Ben-Dor, G.: Shock wave reflection phenomena. Springer-Verlag, New York, 1991. Ben-Dor G.: Hysteresis phenomena in shock wave reflections in steady flows. Proceedings, 22nd International Symposium on Shock Waves, Paper 6000, Imperial College, London, 1999. Felthun L.T., Skews B.W.: Dynamic Shock Wave Reflection. AIAA Journal, Vol. 42, No. 8, pp. 1633-1639, 2004. Naidoo K., Skews B.W.: Computational and experimental investigation of dynamic shock reflection phenomena. Proceedings, 26th International Symposium on Shock waves, Paper 2390, Gttingen, Germany, 2007. Naidoo K., Skews B.W.: Dynamic shock reflection phenomena in ideal, two-dimensional flows. Proceedings, 25th International Symposium on Shock Waves, Paper 1187, Bangalore, India, 2005. Settles G.S.: Schlieren and Shadowgraph Techniques: Visualising Phenomena in Transparent Media. Springer, 2001. Skews B.W.: Three-dimensional effects in wind tunnel studies of shock wave reflection. J. Fluid Mech., Vol. 407, pp. 85-104, 2002.

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