Godunov-Type Solutions for Transient Flows in Sewers

This work is part of a long term project which aims at developing a hydraulic model for real-time simulation of unsteady flows in sewers ranging from gravity flows, to partly gravity–partly surcharged flows to fully surcharged flows. The success of this project hinges on the ability of the hydraulic model to handle a wide range of complex boundaries and to provide accurate solutions with the least central processing unit time. This first paper focuses on the development and assessment of two second-order explicit finite-volume Godunov-type schemes (GTS) for unsteady gravity flows in sewers, but with no surcharging. Traditionally, hydraulic transients have been modeled using the method of characteristics (MOC), which is noted for its ability to handle complex boundary conditions (BCs). The two GTS described herein incorporate BCs in a similar manner to the MOC. The accuracy and efficiency of these GTS schemes are investigated using problems whose solution contains features that are relevant to transient flows in sewers such as shock, expansion, and roll waves. The results show that these GTS schemes are significantly faster to execute than the fixed-grid MOC scheme with space-line interpolation, and in some cases, the accuracy produced by the two GTS schemes cannot be matched by the accuracy of the MOC scheme, even when a Courant number close to one and a large number of grids is used. Furthermore, unlike the MOC solutions, which exhibit increasing numerical dissipation with decreasing Courant numbers, the resolution of the shock fronts was maintained by the GTS schemes even for very low Courant numbers (0.001).     

Efficient Quasi-Two-Dimensional Model for Water Hammer Problems

Quasi-two-dimensional models for turbulent flows in water hammer are necessary for advancing the understanding of flow behavior in pipe transient; conducting detailed investigation of the fate of transient-induced contamination; and validating one-dimensional water hammer models. An existing quasi-two dimensional numerical model for turbulent water hammer flows has the attributes of being robust, consistent with the physics of wave motion and turbulent diffusion, and free from the inconsistency associated with the enforcement of the no slip condition while neglecting the radial velocity at boundary elements, such as valves and reservoirs. However, this scheme is computationally intensive making it unsuitable for practical pipe systems or for conducting numerical experiments. This paper addresses the efficiency and stability of this existing scheme. In particular, algebraic manipulations show that the original scheme can be decoupled into two tridiagonal systems, one for piezometric head and radial flux and another for axial velocity. This decoupling is the reason for the high efficiency of the modified scheme. The original and proposed schemes are applied to a pipe–reservoir–valve system. It is found that, for the same spatial and temporal discretization, both schemes are of equal accuracy. However, significant saving in computer execution time is achieved by using the modified scheme. Application of the modified scheme to pipes of realistic dimensions and wavespeeds (length 35.2 km, diameter 200 mm, and wave speed 1000 m/s) takes only a few minutes to execute. This small execution time requirement makes the current quasi-two-dimensional model suitable for application to practical water hammer problems. The stability domain of the proposed scheme is established using the Von Neumann method.     

Interpolation Errors in Rectangular and Diamond Characteristic Grids

Analytical predictions of numerical errors in method of characteristics analyses using time-line interpolation in a rectangular grid are obtained for (1) both time-line and space-line interpolation and (2) both rectangular and diamond grids. Amplitude and frequency errors are investigated for each of these four cases using purpose-developed polynomial transfer matrices. Both semiinfinite and finite pipes are investigated. The time-line analysis permits reach back in time and the space-line analysis permits reach out in space. A common definition is adopted for the Courant number in the four cases and it is shown why stability can be achieved in reach-out analyses with Courant numbers greater than 1. In contrast with most work on error estimation, the predicted errors are obtained analytically, not numerically. This is made possible by restricting the analysis to special, but important, cases such as liquid-filled pipes in which the waves may be assumed to propagate at constant speed. Furthermore, the development is restricted to inviscid flows, thereby enabling interpolation errors to be assessed in the absence of complicating influences of discretization errors. In contrast with the latter, it is found that interpolation errors are more sensitive to the shape of numerical grids (i.e., Courant number and rectangular versus diamond grid) than to the size of the numerical time step.     

Practical Aspects in Comparing Shock-Capturing Schemes for Dam Break Problems

The results of a survey aimed at comparing the performances of first-order and total variation diminishing (TVD) second-order upwind flux difference splitting schemes, first-order space-centered schemes, and second-order space-centered schemes with the TVD artificial viscosity term are reported here. The schemes were applied to the following dam-break wave cases: in a dry frictionless horizontal channel; in a dry, rough and sloping channel; and in a nonprismatic channel. Among first-order schemes, the diffusive scheme provides only slightly less accurate results than those obtained by the Roe scheme. For TVD second-order schemes, no significant difference between the upwind scheme and central schemes are reported. In the case of a dam break in a dry frictionless horizontal channel, the second-order schemes were two- to five-fold more accurate than the diffusive scheme and Roe’s scheme. These differences in scheme performances drastically reduce when the results obtained for the rough sloping channel test and for the nonprismatic channel test are analyzed. In particular, the accuracy of the diffusive and Roe’s schemes is similar to second-order schemes when such features of dam break wave, relevant from an engineering viewpoint, like wave peak arrival time and maximum water depths, are considered.     

Finite-Difference TVD Scheme for Computation of Dam-Break Problems

A second-order hybrid type of total variation diminishing (TVD) finite-difference scheme is investigated for solving dam-break problems. The scheme is based upon the first-order upwind scheme and the second-order Lax-Wendroff scheme, together with the one-parameter limiter or two-parameter limiter. A comparative study of the scheme with different limiters applied to the Saint Venant equations for 1D dam-break waves in wet bed and dry bed cases shows some differences in numerical performance. An optimum-selected limiter is obtained. The present scheme is extended to the 2D shallow water equations by using an operator-splitting technique, which is validated by comparing the present results with the published results, and good agreement is achieved in the case of a partial dam-break simulation. Predictions of complex dam-break bores, including the reflection and interactions for 1D problems and the diffraction with a rectangular cylinder barrier for a 2D problem, are further implemented. The effects of bed slope, bottom friction, and depth ratio of tailwater∕reservoir are discussed simultaneously.     

长距离输水工程瞬态水力计算及处理措施设计

运用Hammer软件对长距离输水工程瞬态进行动态模拟,清晰地呈现了瞬态发生时,随着压力波的推移,管道系统因为管道负压而引起弥合水锤的过程.针对模拟情况,采取在输水管道系统的合理位置增设三功能排气阀、抗水锤泄压阀,在泵站出口设置抗水锤气压罐等联合措施,有效地消除瞬态条件下在管道系统内产生的水锤,保证输水管道系统瞬态的安全...     

Valve Closure in Graph-Theoretical Models for Slow Transient Network Analysis

A valve closure algorithm is presented for inclusion within a slow transient (rigid water column) pipe network model. The algorithm is specifically formulated for (but not limited to) node-based, graph-theoretical models and is both direct and accurate. It is distinguished from conventional approaches by its direct assignment of the final discharge at closure to zero and subsequent use of the head loss at the closing valve to compute the flow rate in pipes incident to the closing valve. As a result, redistribution of residual flow prior to closure to these incident pipes is not required, leading to a less computationally demanding and more robust algorithm than previously published valve closure procedures. Application of the valve closure algorithm is illustrated in a pipe network, which also nicely demonstrates again the relation between rigid water column and water hammer models.     

Discretization of Integral Equations Describing Flow in Nonprismatic Channels with Uneven Beds

Application of the finite-volume method in one dimension for open channel flow predictions mandates the direct discretization of integral equations for mass conservation and momentum balance. The integral equations include source terms that account for the forces due to changes in bed elevation and channel width, and an exact expression for these source term integrals is presented for the case of a trapezoidal channel cross section whereby the bed elevation, bottom width, and inverse side slope are defined at cell faces and assumed to vary linearly and uniformly within each cell, consistent with a second-order accurate solution. The expressions may be used in the context of any second-order accurate finite-volume scheme with channel properties defined at cell faces, and it is used here in the context of the Monotone Upwind Scheme for Conservation Laws (MUSCL)-Hancock scheme which has been adopted by many researchers. Using these source term expressions, the MUSCL-Hancock scheme is shown to preserve stationarity, accurately converge to the steady state in a frictionless flow test problem, and perform well in field applications without the need for upwinding procedures previously reported in the literature. For most applications, an approximate, point-wise treatment of the bed slope and nonprismatic source terms can be used instead of the exact expression and, in contrast to reports on other finite-volume-based schemes, will not cause unphysical oscillations in the solution.     

Case Study: Malpasset Dam-Break Simulation using a Two-Dimensional Finite Volume Method

The accuracy, stability, and reliability of a numerical model based on a Godunov-type scheme are verified in this paper, through a comparison between calculated results and observed data for the Malpasset dam-break event, which occurred in southern France in 1959. This event is an unique opportunity for code validation because of the availability of extensive field data on the flooding wave due to the dam failure. In the code the shallow water equations are discretized using the finite volume method, and the numerical model allows second order accuracy, both in space and time. The classical Godunov approach is used. More specifically, the Harten, Lax, and van Leer Riemann solver is applied. The resulting scheme is of high resolution and satisfies the total variation diminishing condition. For the numerical treatment of source terms relative to the friction slope, a semi-implicit technique is used, while for the source terms relative to the bottom slope a new explicit method is developed and tested.     

High-Resolution Method for Modeling Hydraulic Regime Changes at Canal Gate Structures

A method for modeling flow regime changes at gate structures in canal reaches is presented. The methodology consists of using an approximate Riemann solver at the internal computational nodes, along with the simultaneous solution of the characteristic equations with a gate structure equation at the upstream and downstream boundaries of each reach. The conservative form of the unsteady shallow-water equations is solved in the one-dimensional form using an explicit second-order weighted-average—flux upwind total variation diminishing (TVD) method and a Preissmann implicit scheme method. Four types of TVD limiters are integrated into the explicit solution of the governing hydraulic equations, and the results of the different schemes were compared. Twelve possible cases of flow regime change in a two-reach canal with a gate downstream of the first reach and a weir downstream of the second reach, were considered. While the implicit method gave smoother results, the high-resolution scheme—characteristic method coupling approach at the gate structure was found to be robust in terms of minimizing oscillations generated during changing flow regimes. The complete method developed in this study was able to successfully resolve numerical instabilities due to intersecting shock waves.     

Weighted Averaged Flux-Type Scheme for Shallow-Water Equations with Fractional Step Method

A numerical model describing two-dimensional fluid motions has been developed on an unstructured grid system. By using a fractional step method, a two-dimensional problem governed by the two-dimensional shallow-water equations is treated as two one-dimensional problems. Thus it is possible to simulate two-dimensional numerical problems with a higher computational efficiency. One-dimensional problems are solved by using an upwind total variation diminishing version of the second-order weighted averaged flux method with an approximate Riemann solver. Numerical oscillations commonly observed in second-order numerical schemes are controlled by exploiting a flux limiter. For the general purpose, the model can simulate on an arbitrary topography, treat a moving boundary, and resolve a shock. Five ideal and practical problems are tested. Very accurate results are observed.     

Nonconservative Formulation of Unsteady Pipe Flow Model

A new approach to numerical modeling of water hammer is proposed. An unsteady pipe flow model incorporating Brunone’s unsteady friction model is used, but in contrast to the standard treatment of the unsteady friction term as a source term, the writers propose a nonconservative formulation of source term. Second-order flux limited and high order weighted essentially nonoscillating numerical schemes were applied to the proposed formulation, and results are in better agreement with measurements when compared with results obtained with standard form.     

Accuracy Order of Crank–Nicolson Discretization for Hydrostatic Free-Surface Flow

Application of Crank–Nicolson (CN) discretization to the hydrostatic (or shallow-water) free-surface equation in two-dimensional or three-dimensional Reynolds-averaged Navier–Stokes models neglects a second order term. The neglected term is zero at steady state, so it does not appear in steady-state accuracy analyses. A new correction term is derived that restores second-order accuracy. The correction is significant when the amplitude of the surface oscillation is within two orders of magnitude of the water depth and the barotropic Courant–Friedrichs–Lewy (CFL) stability condition is less than unity. Analysis shows that the CN accuracy for an unforced free-surface oscillation is degraded to first order when the barotropic CFL stability condition is greater than unity, independent of whether or not the new correction term is applied. The results indicate that the semi-implicit Crank–Nicolson method, applied to the hydrostatic free-surface evolution equation, is only first-order accurate for the time and space scales typically used in lake, estuarine, and coastal ocean studies.     

尾矿干堆技术在黄金矿山的应用实践

中国黄金集团石湖矿业有限公司(原石湖金矿)在原尾矿库容量达到设计之时,探讨研究了新建尾矿库设计方案。通过方案比较,决定采用尾矿干堆形式储存尾矿,充分利用原尾矿库外围土地,减少征地费用,大幅度降低了建库成本,缩短了建库时间,充分利用尾矿回水,达到节能、减排、环保的目的。通过新尾矿库试运行,基本达到设计要求。通过新设备、新技术的运用证明,该尾矿库安全稳定,库容大,经济、环保。     

Dam-Break Waves in Power-Law Channel Section

The aim of this work is to highlight the effects of cross-sectional shape on dam-break wave propagation along channels by the solution of 1D conservative equations assuming a power-law variation of the channel width. An exact Riemann solution that allows a second-order accuracy of the solution for the power-law section shape is provided and is applied to the dam-break problem in valleys with different shapes but the same dam area. The streamflow state variables upstream of the bore and the bore speed for some typical sectional shapes (rectangular, triangular, concave, and convex banks) are determined as functions of variable flow depth differences and of the power law index.     

Finite Volume Model for Nonlevel Basin Irrigation

A finite volume model for unsteady, two-dimensional, shallow water flow is developed and applied to simulate the advance and infiltration of an irrigation wave in two-dimensional basins of complex topography. The fluxes are computed with Roe's approximate Riemann solver and the monotone upstream scheme for conservation laws is used in conjunction with predictor-corrector time-stepping to provide a second-order accurate solution. Flux-limiting is implemented to eliminate spurious oscillations and the model incorporates an efficient and robust scheme to capture the wetting and drying of the soil. Model predictions are compared with experimental data for one- and two-dimensional problems involving rough, impermeable, and permeable beds, including a poorly leveled basin.     

Dynamic Memory Computation of Impedance Matrix Method

The computational efficiency of the impedance matrix method has been greatly improved for large pipe networks with various dimensions and complexity. Several numerical methods for solving linear system were modified to deal with the complex domain operation and used into impedance evaluation. Two different memory reduction schemes were developed based on one-dimensional storage and implemented with the biconjugate gradient method and the Gaussian elimination scheme, respectively. A new implementation of the impedance matrix method, namely, the dynamic memory allocation scheme, was introduced to efficiently model hydraulic transients in pipeline systems that have large topological structures. Three hypothetical pipe networks, the multiseries system, the multilooped system, and the multiblock system, were used to test the performance of the developed schemes. The impact of randomizing pipeline parameters, i.e., friction factor, length, and wave speed, on computation efficiency was evaluated and compared. The dynamic memory allocation scheme not only reduces costs substantially in CPU execution time and memory space compared to other schemes but also shows significant potential as a real-time unsteady flow predictor for large pipe networks.     

Eulerian–Lagrangian Method for Constituent Transport in Water Distribution Networks

The transport and mixing of contaminants in conduits is governed by advection, dispersion, and decay. Several models are available to trace the transport of such constituents and most assume that the principal mechanisms for transport are advection and reaction only. However in pipes where low velocities prevail, longitudinal dispersion is significant and models that neglect the dispersion effects fail to properly simulate the observed concentrations in low velocity pipes. This work presents a method for simulating the advection-dispersion-reaction process of constituent transport in water networks. A Eulerian–Lagrangian method is employed whereby the dispersion term in the governing equation is approximated using finite differences and the resulting first-order partial differential equation is then integrated using the method of characteristics. Analytical solutions of the transport equation are also derived to quantify the effect of neglecting dispersion at pipe junctions and to assess the accuracy of the proposed method. The Eulerian-Lagrangian method is tested on benchmark networks and on the field study at the Cherry Hill/Brushy Plains network. Results show that the model developed is capable of simulating transport with equal accuracy for low and high velocity flows with and without significant dispersion effects. It also performs better than other models because of the nonuniform grid distribution and the interpolation schemes used.     

Explicit Schemes for Dam-Break Simulations

Dam-break problems involve the formation of shocks and rarefaction fans. The performance of 20 explicit numerical schemes used to solve the shallow water wave equations for simulating the dam-break problem is examined. Results from these schemes have been compared with analytical solutions to the dam-break problem with finite water depth and dry bed downstream of the dam. Most of the numerical schemes produce reasonable results for subcritical flows. Their performance for problems where there is a transition between subcritical and supercritical flows is mixed. Although many numerical schemes satisfy the Rankine-Hugoniot condition, some produce solutions which do not satisfy the entropy condition, producing nonphysical solutions. This was the case for the majority of first-order schemes examined. Numerical schemes which consider critical flow in the solution are guaranteed to produce entropy satisfying solutions. Second-order schemes avoid the generation of expansive shocks; however, some form of flux or slope limiter must be used to eliminate oscillations that are associated with these schemes. These limiters increase the complexity and the computational effort required, but they are generally more accurate than their first-order counterparts. The limiters employed by these second-order schemes will produce monotone or total variation diminishing solutions for scalar equations. Some limiters do not exhibit these properties when they are applied to the nonlinear shallow water wave equations. This comparative study shows that there are a variety of shock-capturing numerical schemes that are efficient, accurate, robust, and are suitable for solving the shallow water wave equations when discontinuities are encountered in the problem.