Upwind Conservative Scheme for the Saint Venant Equations

An upwind conservative scheme with a weighted average water-surface-gradient approach is proposed to compute one-dimensional open channel flows. The numerical scheme is based on the control volume method. The intercell flux is computed by the one-sided upwind method. The water surface gradient is evaluated by the weighted average of both upwind and downwind gradients. The scheme is tested with various examples, including dam-break problems in channels with rectangular and triangular cross-sections, hydraulic jump, partial dam-break problem, overtopping flow, a steady flow over bump with hydraulic jump, and a dam-break flood case in a natural river valley. Comparisons between numerical and exact solutions or experimental data demonstrated that the proposed scheme is capable of accurately reproducing various open channel flows, including subcritical, supercritical, and transcritical flows. The scheme is inherently robust, stable, and monotone. The scheme does not require any special treatment, such as artificial viscosity or front tracking technique, to capture steep gradients or discontinuities in the solution.     

Numerical Modeling of Bed Evolution in Channel Bends

A two-dimensional numerical model is developed to predict the time variation of bed deformation in alluvial channel bends. In this model, the depth-averaged unsteady water flow equations along with the sediment continuity equation are solved by using the Beam and Warming alternating-direction implicit scheme. Unlike the present models based on Cartesian or cylindrical coordinate systems and steady flow equations, a body-fitted coordinate system and unsteady flow equations are used so that unsteady effects and natural channels may be modeled accurately. The effective stresses associated with the flow equations are modeled by using a constant eddy-viscosity approach. This study is restricted to beds of uniform particles, i.e., armoring and grain-sorting effects are neglected. To verify the model, the computed results are compared with the data measured in 140° and 180° curved laboratory flumes with straight reaches up- and downstream of the bend. The model predictions agree better with the measured data than those obtained by previous numerical models. The model is used to investigate the process of evolution and stability of bed deformation in circular bends.     

Depth-Averaged Two-Dimensional Numerical Modeling of Unsteady Flow and Nonuniform Sediment Transport in Open Channels

A depth-averaged two-dimensional (2D) numerical model for unsteady flow and nonuniform sediment transport in open channels is established using the finite volume method on a nonstaggered, curvilinear grid. The 2D shallow water equations are solved by the SIMPLE(C) algorithms with the Rhie and Chow’s momentum interpolation technique. The proposed sediment transport model adopts a nonequilibrium approach for nonuniform total-load sediment transport. The bed load and suspended load are calculated separately or jointly according to sediment transport mode. The sediment transport capacity is determined by four formulas which are capable of accounting for the hiding and exposure effects among different size classes. An empirical formula is proposed to consider the effects of the gravity on the sediment transport capacity and the bed-load movement direction in channels with steep slopes. Flow and sediment transport are simulated in a decoupled manner, but the sediment module adopts a coupling procedure for the computations of sediment transport, bed change, and bed material sorting. The model has been tested against several experimental and field cases, showing good agreement between the simulated results and measured data.     

Preserving Steady-State in One-Dimensional Finite-Volume Computations of River Flow

When using finite-volume methods and the conservative form of the Saint Venant equations in one-dimensional flow computations, it is important to establish the correct balance between the discretized flux vector and the geometric source terms. Over the last few years various improvements to numerical schemes have been presented to achieve this correct balance, focusing on the capability to simulate water at rest on irregular geometries (C-property). In this paper it is shown that common schemes can lead to energy-violating solutions in the case of steady flow. We present developments based on the Roe TVD finite-volume scheme for one-dimensional Saint Venant equations, which results in a method that not only satisfies the C-property, but also preserves the correct steady flow when stationary boundary conditions are used. We also present a totally irregular channel test case for the verification of the method.     

One-Dimensional Numerical Model for Nonuniform Sediment Transport under Unsteady Flows in Channel Networks

In this study, the proposed one-dimensional model simulates the nonequilibrium transport of nonuniform total load under unsteady flow conditions in dendritic channel networks with hydraulic structures. The equations of sediment transport, bed changes, and bed-material sorting are solved in a coupling procedure with a direct solution technique, while still decoupled from the flow model. This coupled model for sediment calculation is more stable and less likely to produce negative values for bed-material gradation than the traditional fully decoupled model. The sediment transport capacity is calculated by one of four formulas, which have taken into consideration the hiding and exposure mechanism of nonuniform sediment transport. The fluvial erosion at bank toes and the mass failure of banks are simulated to complement the modeling of bed morphological changes in channels. The tests in several cases show that the present model is capable of predicting sediment transport, bed changes, and bed-material sorting in various situations, with reasonable accuracy and reliability.     

Treatment of Natural Geometry in Finite Volume River Flow Computations

A method is proposed for the treatment of irregular bathymetry in one-dimensional finite volume computations of open-channel flow. The strategy adopted is based on a reformulation of the Saint-Venant equations. In contrast with the usual treatment of topography effects as source terms, the method accounts for slope and nonprismaticity by modifying the momentum flux. This makes it possible to precisely balance the hydrostatic pressure contributions associated with variations in valley geometry. The characteristic method is applied to the revised equations, yielding topographic corrections to the numerical fluxes of an upwind scheme. Further adaptations endow the scheme with an ability to capture transcritical sections and wetting fronts in channels of abrupt topography. To test the approach, the scheme is first applied to idealized benchmark problems. The method is then used to route a severe flood through a complex river system: the Tanshui in Northern Taiwan. Computational results compare favorably with gauge records. Discrepancies in water stage represent no more than a fraction of the magnitude of typical bathymetry variations.     

3D Numerical Modeling of Flow and Sediment Transport in Laboratory Channel Bends

The development of a fully three-dimensional finite volume morphodynamic model, for simulating fluid and sediment transport in curved open channels with rigid walls, is described. For flow field simulation, the Reynolds-averaged Navier–Stokes equations are solved numerically, without reliance on the assumption of hydrostatic pressure distribution, in a curvilinear nonorthogonal coordinate system. Turbulence closure is provided by either a low-Reynolds number k?ω turbulence model or the standard k?ε turbulence model, both of which apply a Boussinesq eddy viscosity. The sediment concentration distribution is obtained using the convection-diffusion equation and the sediment continuity equation is applied to calculate channel bed evolution, based on consideration of both bed load and suspended sediment load. The governing equations are solved in a collocated grid system. Experimental data obtained from a laboratory study of flow in an S-shaped channel are utilized to check the accuracy of the model’s hydrodynamic computations. Also, data from a different laboratory study, of equilibrium bed morphology associated with flow through 90° and 135° channel bends, are used to validate the model’s simulated bed evolution. The numerically-modeled fluid and sediment transportation show generally good agreement with the measured data. The calculated results with both turbulence models show that the low-Reynolds k?ω model better predicts flow and sediment transport through channel bends than the standard k?ε model.     

Modeling Unsteady Open-Channel Flow for Controller Design

An approximated linear model of unsteady open-channel flow is necessary to design the water-level controller for irrigation open channels. Toward this end, this paper presents the matrix approach to derive the linear model of open-channel system in analytical form mainly according to the Saint Venant equations and the backwater profile at the steady state of open channel. The hydraulic model of the check structure at the downstream end of open channel is also incorporated into the linear model. A practical example indicates that the frequency response of the open-channel system can be accurately analyzed with the linear model. The simulation results in the time domain show that the dynamic behavior of the linear model approximates to that of the nonlinear model of the open-channel system. Finally, the limitations of the linear model are discussed.     

Conservative Formulation for Natural Open Channels and Finite-Element Implementation

This investigation considers an approximate formulation of the St. Venant equations for natural channels, in which the fully conservative form is developed by revising the boundary pressure term accounting for the topographic variation in the momentum equation. As such a formulation has the potential to enhance the performance of existing models used in practice, the accuracy implications for this approximate formulation are examined using an error analysis for a simplified case. Further, an energy calculation is performed which illustrates that an earlier formulation actually results in energy gain for some cases. A more general formula for the constant water surface elevation that corrects this is introduced and tested. It is found that the refined formulation presented here is accurate for hydraulic jumps, steep surge waves, and flood wave propagation in natural channels. The shock capturing capability of the approximate formulation is illustrated for both steady- and unsteady-flow situations using the finite-element method, for which this approximate equation formulation adapts naturally. Using the characteristic-dissipative-Galerkin finite-element scheme, good results are obtained for the case of a hydraulic jump in a diverging rectangular channel, with the maximum percent error associated with the approximate formulation determined to be only 0.34%. For the case of dam break wave propagation in a converging and diverging rectangular channel, the model performs similarly well, with the maximum error only 0.0064%. Further, the approximate formulation is used to simulate the flood routing in a natural channel, the Oldman River in southern Alberta. The computational results are in good agreement with the observed data. The arrival time of peak flow is 5?h earlier and the magnitude of peak discharge is only 3.8% lower than the observed value.     

Numerical Modeling of Basin Irrigation with an Upwind Scheme

In recent years, upwind techniques have been successfully applied in hydrology to simulate two-dimensional free surface flows. Basin irrigation is a surface irrigation system characterized by its potential to use water very efficiently. In basin irrigation, the field is leveled to zero slope and flooded from a point source. The quality of land leveling has been shown to influence irrigation performance drastically. Recently, two-dimensional numerical models have been developed as tools to design and manage basin irrigation systems. In this work, a finite volume-based upwind scheme is used to build a simulation model considering differences in bottom level. The discretization is made on triangular or quadrilateral unstructured grids and the source terms of the equations are given a special treatment. The model is applied to the simulation of two field experiments. Simulation results resulted in a clear improvement over previous simulation efforts and in a close agreement with experimental data. The proposed model has proved its ability to simulate overland flow in the presence of undulated bottom elevations, inflow hydrographs, and colliding fronts.     

Steady and Unsteady Simulations of Turbulent Flow and Transport in Ultraviolet Disinfection Channels

The effects of unsteadiness in the turbulent flow through a staggered array of circular cylinders, modeling an ultraviolet disinfection system, are studied by means of solutions of the two-dimensional Reynolds-averaged Navier–Stokes equations incorporating the standard k–? turbulence model. Time averaging is applied to the unsteady solution, and the time-averaged characteristics are compared with a solution where a steady flow is a priori assumed, as well as with time-averaged measurements. Differences between the predictions of time-averaged and the steady-flow models are found to be largest in the entrance region of the array, and to decline in importance in the downstream direction. Comparison with measurements indicate that, while the time-averaged unsteady model predictions exhibited better agreement in some respects, the turbulent kinetic energy remained substantially underpredicted. Predictions of head losses through the array are also discussed.     

Numerical Modeling of Bed Deformation in Laboratory Channels

A depth-average model using a finite-volume method with boundary-fitted grids has been developed to calculate bed deformation in alluvial channels. The model system consists of an unsteady hydrodynamic module, a sediment transport module and a bed-deformation module. The hydrodynamic module is based on the two-dimensional shallow water equations. The sediment transport module is comprised of semiempirical models of suspended load and nonequilibrium bedload. The bed-deformation module is based on the mass balance for sediment. The secondary flow transport effects are taken into account by adjusting the dimensionless diffusivity coefficient in the depth-average version of the k–ε turbulence model. A quasi-three-dimensional flow approach is used to simulate the effect of secondary flows due to channel curvature on bed-load transport. The effects of bed slope on the rate and direction of bed-load transport are also taken into account. The developed model has been validated by computing the scour hole and the deposition dune produced by a jet discharged into a shallow pool with movable bed. Two further applications of the model are presented in which the bed deformation is calculated in curved alluvial channels under steady- and unsteady-flow conditions. The predictions are compared with data from laboratory measurements. Generally good agreement is obtained.     

Local Time Stepping for Modeling Open Channel Flows

This paper presents two time accurate local time stepping (LTS) algorithms developed within aeronautics and develops the techniques for application to the Saint-Venant equations of open channel flow. The LTS strategies are implemented within an explicit finite volume framework based on using the Roe Riemann solver together with an upwind treatment for the source terms. The benefits of using an LTS approach over more traditional global time stepping methods are illustrated through a series of test cases, and a comparison is made between the two LTS algorithms. The results demonstrate how local time stepping can reduce computer run times, increase the reliability of the error control, and also increase the accuracy of the solution in certain regions.     

Two-Dimensional Depth-Averaged Flow Modeling with an Unstructured Hybrid Mesh

An unstructured hybrid mesh numerical method is developed to simulate open channel flows. The method is applicable to arbitrarily shaped mesh cells and offers a framework to unify many mesh topologies into a single formulation. A finite-volume discretization is applied to the two-dimensional depth-averaged equations such that mass conservation is satisfied both locally and globally. An automatic wetting-drying procedure is incorporated in conjunction with a segregated solution procedure that chooses the water surface elevation as the main variable. The method is applicable to both steady and unsteady flows and covers the entire flow range: subcritical, transcritical, and supercritical. The proposed numerical method is well suited to natural river flows with a combination of main channels, side channels, bars, floodplains, and in-stream structures. Technical details of the method are presented, verification studies are performed using a number of simple flows, and a practical natural river is modeled to illustrate issues of calibration and validation.     

Numerical Simulation of Swirling Flow in Complex Hydroturbine Draft Tube Using Unsteady Statistical Turbulence Models

A numerical method is developed for carrying out unsteady Reynolds-averaged Navier-Stokes (URANS) simulations and detached-eddy simulations (DESs) in complex 3D geometries. The method is applied to simulate incompressible swirling flow in a typical hydroturbine draft tube, which consists of a strongly curved 90° elbow and two piers. The governing equations are solved with a second-order-accurate, finite-volume, dual-time-stepping artificial compressibility approach for a Reynolds number of 1.1 million on a mesh with 1.8 million nodes. The geometrical complexities of the draft tube are handled using domain decomposition with overset (chimera) grids. Numerical simulations show that unsteady statistical turbulence models can capture very complex 3D flow phenomena dominated by geometry-induced, large-scale instabilities and unsteady coherent structures such as the onset of vortex breakdown and the formation of the unsteady rope vortex downstream of the turbine runner. Both URANS and DES appear to yield the general shape and magnitude of mean velocity profiles in reasonable agreement with measurements. Significant discrepancies among the DES and URANS predictions of the turbulence statistics are also observed in the straight downstream diffuser.     

Kinematic and Diffusion Waves: Analytical and Numerical Solutions to Overland and Channel Flow

Flood wave propagation is the unifying concept in representing open channel and overland flow. Therefore, understanding flood wave routing theory and solving the governing equations accurately is an important issue in hydrology and hydraulics. In an attempt to contribute to the understanding of this subject, in this study: (1) an analytical solution is derived for diffusion waves with constant wave celerity and hydraulic diffusivity applied to overland flow problems; and (2) an algorithm is developed using the MacCormack explicit finite difference method to solve the kinematic and diffusion wave governing equations for both overland and open channel flow. The MacCormack method is particularly well suited to approximate nonlinear differential equations. The analytical solutions provide the practicing engineer with computational speed in obtaining results for overland flow problems, and a means to check the validity of the numerical models. On the other hand, for larger scale catchment-stream problems, the verified numerical methods provide efficient and accurate algorithms to obtain solutions. Both the analytical approaches and the MacCormack algorithm are used to solve the same synthetic examples. Comparison of results shows that the numerical and analytical solutions are in close agreement. Furthermore, the MacCormack algorithm is applied to a real catchment: a segment of the Duke University West Campus storm water drainage system. In order to check the accuracy of the results obtained by the MacCormack method, the results are compared to predictions of the Environmental Protection Agency storm water management model (SWMM) as calibrated with measured rainfall and surface runoff flow data. The results obtained from SWMM are in good agreement with the results obtained from applying the MacCormack algorithm.     

Dam-Break Flows: Acquisition of Experimental Data through an Imaging Technique and 2D Numerical Modeling

This paper presents experimental and two-dimensional (2D) numerical results of four tests concerning rapidly varying flows induced by the sudden removal of a sluice gate. For the acquisition of the experimental data, an imaging technique capable of providing spatially distributed information was adopted: a coloring agent was added to the water, the opalescent bottom of the facility was backlighted, and photographs of the area of interest were taken. The gray tones of the acquired images were converted into water depths by means of transfer functions derived from a static calibration. The potential sources of error of the proposed procedure are discussed. A local comparison with an ultrasonic device showed a 20% maximum deviation in 95% of the observations. The tests were simulated through a 2D MUSCL-Hancock finite volume numerical model, based on the classical shallow water approximations, in which the intercell water depths are estimated according to the surface gradient method. A global analysis of the relative frequency distributions of the deviation between numerical and experimental results is performed. Despite some evident differences at a local scale, the adopted 2D numerical model is capable of reproducing the main features of the flow fields under investigation.     

Downstream Hydraulic Geometry of Alluvial Channels

This study extends the earlier contribution of Julien and Wargadalam in 1995. A larger database for the downstream hydraulic geometry of alluvial channels is examined through a nonlinear regression analysis. The database consists of a total of 1,485 measurements, 1,125 of which describe field data used for model calibration. The remaining 360 field and laboratory measurements are used for validation. The data used for validation include sand-bed, gravel-bed, and cobble-bed streams with meandering to braided planform geometry. The five parameters describing downstream hydraulic geometry are: channel width W, average flow depth h, mean flow velocity V, Shields parameter τ*, and channel slope S. The three independent variables are discharge Q, median bed particle diameter ds, and either channel slope S or Shields parameter τ* for dominant discharge conditions. The regression equations were tested for channel width ranging from 0.2 to 1,100?m, flow depth from 0.01 to 16?m, flow velocity from 0.02 to 7?m/s, channel slope from 0.0001 to 0.08, and Shields parameter from 0.001 to 35. The exponents of the proposed equations are comparable to those of Julien and Wargadalam (1995), but based on R2 values of the validation analysis, the proposed regression equations perform slightly better.     

Dynamic Wave Study of Flow in Tidal Channel System of San Juan River

In this work the complete equations of one-dimensional unsteady flow in open channels in integral form, and compatibility equations at the junctions of a channel network, are solved numerically. Analytical integration in space is used between each pair of consecutive irregular sections of a channel, and the nonprismatic term is expressed in terms of uncoupled functions of the geometry at the sections. The linearized system of equations for each time interval is solved by an elimination method based on a double-sweep algorithm. The model is applied to the estuary of the San Juan River in Venezuela, where oscillating currents by effect of semidiurnal tides take place and the amplitude of the wave at the mouth is amplified toward the inland direction. Alternating drying and filling is simulated by means of slight modifications in the bed geometry of upper river sections. Measured water elevation and flow rates available at two stations are used to calibrate the model, and a very accurate adjustment of the tidal levels observed in the river is obtained.