Dynamic Mesh Handling in OpenFOAM

Hrvoje Jasak and Henrik Rusche

[email protected], [email protected]

Wikki, United Kingdom and Germany

Advanced Training at the OpenFOAM Workshop

21.6.2010, Gothenborg, Sweden

Dynamic Mesh Handling in OpenFOAM – p. 1

Introduction

Objective
• Present the layout and use of dynamic mesh features in OpenFOAM
• Demonstrate how object orientation makes it easy to set up complex interacting
motion and topological changes
Topics
• Definition of a mesh motion problem
• Geometry handling in OpenFOAM: polyhedral cell support
• Deforming mesh strategies
• FE-based automatic mesh motion solver for the FVM
• Support in the Finite Volume Discretisation
• Topological mesh changes
• Algorithmic implications
• Dynamic mesh classes with examples: 6-DOF bodies, IC engines, FSI
• New features: GGI interface, RBF mesh motion, immersed boundary method
• Summary

Dynamic Mesh Handling in OpenFOAM – p. 2

Background

Simulations with Time-Varying Geometry in CFD

• In many simulations, shape of computational domain changes during the solution,
either in a prescribed manner or as a part of the solution
• In cases of prescribed motion, it is possible to pre-define a sequence of meshes
or mesh changes which accommodate the motion
• . . . but mesh generation now becomes substantially more complex
• Solution-dependent motion implies the shape of computational domain is a part
of the solution itself: depends on solution parameters
• Examples of solution-dependent motion
◦ Contact stress analysis: shape and location of contact region is unknown
◦ Free surface tracking simulation: unknown shape of free surface
◦ Fluid-structure interaction

Dynamic Mesh Handling in OpenFOAM – p. 3

Prescribed Mesh Motion

Example: Prescribed Mesh Motion

• Domain shape is changing during the simulation in a prescribed manner
• Motion is known and independent of the solution
• . . . but it is usually only prescribed at boundaries
• Definition of moving mesh involves point position and mesh connectivity for every
point and cell for every time-step of the simulation. This is typically defined with
reference to a pre-processor or parametrically in terms of motion parameters
(crank angle, valve lift curve, etc.)
• Solution-dependent mesh changes are out of the question: eg. mesh refinement
• Can we simplify mesh generation for dynamic mesh cases?

Dynamic Mesh Handling in OpenFOAM – p. 4

Solution-Dependent Motion

Example: Solution-Dependent Motion

• External shape of the domain is
unknown and a part of the
solution
• By definition, it is impossible to
pre-define mesh motion a-priori
• In all cases, it is the motion of
the boundary that is known or
calculated
• Automatic mesh motion deter-
mines the position of internal
points based on boundary motion

Dynamic Mesh Handling in OpenFOAM – p. 5

Geometry Handling

Handling Complex Geometry in OpenFOAM

N
sf
df • Complex geometry is a rule, not exception
f • Polyhedral cell support
P
◦ Polyhedral cell with polygonal faces
◦ Consistent handling of all cell types
r
z
◦ More freedom in mesh generation

y
• Interfaces to mesh generation packages
V

Native Automatic Mesh Generation

x
• Two techniques under active development,
based on STL surface geometry description
• Polyhedral dual mesh; surface-adjusted octree
hexahedral mesh
Dynamic Mesh Handling
• Supporting cases of deforming geometry using
automatic mesh motion solvers
• For extreme mesh deformation, mesh topol-
ogy is modified during the simulation using the
topology change engine

Dynamic Mesh Handling in OpenFOAM – p. 6

Automatic Mesh Motion Solver

Definition of Automatic Mesh Motion

• Automatic mesh motion will determine the position of mesh points based on the
prescribed boundary motion
• Motion will be obtained by solving a mesh motion equation, where boundary
motion acts as a boundary condition
• Properties of motion equation: preserve spatial consistency
• The “correct” space-preserving equation is a large deformation formulation of
linear elasticity . . . but it is too expensive to solve
• Choices for a simplified mesh motion equation:
◦ Spring analogy: insufficiently robust
◦ Linear + torsional spring analogy: complex, expensive and non-linear
◦ Laplace equation with constant and variable diffusivity

∇•(k∇u) = 0

◦ Linear pseudo-solid equation for small deformations

∇•[µ(∇u + (∇u)T ) + λI ∇•u] = 0

Dynamic Mesh Handling in OpenFOAM – p. 7

Automatic Mesh Motion Solver

Control of Mesh Spacing and Discretisation Error

• Mesh spacing and quality control by variable diffusivity (Tuković, 2005)
• Changing diffusivity implies re-distribution of the boundary motion through the
volume of the mesh: it is not necessarily good to absorb deformation next to the
moving boundary
◦ Distance-based methods: 1/L, quadratic or exponential distance from a
moving boundary
◦ Quality- and distortion-based methods
Preserving Mesh Quality
• Definition of valid motion from an initially valid mesh implies that no faces or cells
are inverted during motion
• Face area and cell volume on polyhedral meshes is calculated using
triangular/tetrahedral decomposition of the cell of face. Motion validity is
guaranteed if no triangles or tetrahedra in the cell and face decomposition are
inverted during motion
• The rest reduces to controlling the discretisation error in the motion equation

Dynamic Mesh Handling in OpenFOAM – p. 8

Automatic Mesh Motion

Effect of Variable Diffusivity: Oscillating Airfoil Simulation

• Initial mesh; constant diffusivity
• Distance-based diffusivity 1/l2 ; deformation energy; distortion energy

Z X

Dynamic Mesh Handling in OpenFOAM – p. 9

Choice of Motion Solvers

Motion Solver Equations in OpenFOAM

• Second-order Finite Element method with polyhedral support
◦ Vertex-based method: no interpolation required
◦ FE shape function does not allow tetrahedral or triangular flip: perfect for large
boundary deformation
◦ Mini-element technique involves enriching the point set: more equations but
lower discretisation error
◦ Choice of element decomposition
∗ Cell decomposition: additional point in every cell centroid
∗ Cell-and-face decomposition: additional point in cell and face centroid
◦ Validated and efficient for large deformation, eg. internal combustion engines
• Cell-based methods
◦ Solving motion equation on cell centres, interpolating motion into points
◦ Special corrections and extrapolation on corners and patch intersections
◦ Smaller equation set, but problems in cell-to-point interpolation

Dynamic Mesh Handling in OpenFOAM – p. 10

Moving Mesh Finite Volume Method

Finite Volume Moving Mesh Support

• Definition of conservation laws will involve a moving volume rather than a
stationary one, where ub is the “mesh velocity”
• Additional terms relate to the change of cell volume and mesh motion fluxes

d
Z I I Z
φdV + ds•(u − ub )φ = ds•qφ + s(φ)dV
dt V S S V
d
Z I
dV − ds•ub = 0
dt V S
I XZ
ds•ub = ds•ub = Fm
S f Sf

• Volume change appears in the rate-of-change term and is handled automatically

• Mesh motion flux appears in all convection terms and needs to be accounted for
algorithmically
• Note: in incompressible flows, there are two possible formulations on the pressure
equation, working either with relative or absolute fluxes. As a result, moving mesh
solvers are not yet consistently integrated with static mesh solvers (efficiency)

Dynamic Mesh Handling in OpenFOAM – p. 11

Topological Mesh Changes

Topological Changes on Polyhedral Meshes

• For extreme cases of mesh motion, changing point positions is not sufficient to
accommodate boundary motion and preserve mesh quality
• Definition of a topological change: number or connectivity of points, faces or cells
in the mesh changes during the simulation
• Motion can be handled by the FVM with no error (moving volume), while a
topological change requires additional algorithmic steps
• Cell insertion and deletion will formally be handled as a combination of mesh
motion (collapsing cells and faces to zero volume/area) and a change in
connectivity after the face and cell collapse

Dynamic Mesh Handling in OpenFOAM – p. 12

Topological Mesh Changes

Implementation of Topological Changes in OpenFOAM

• Primitive mesh operations
◦ Add/modify/remove a point, a face or a cell
◦ This is sufficient to describe all cases, even to to build a mesh from scratch
◦ . . . but using it directly is very inconvenient
• Topology modifiers
◦ Typical dynamic mesh operations can be described in terms of primitive
operations. Adding a user-friendly definition and triggering logic creates a
“topology modifier” class for typical operations
◦ Some implemented topology modifiers
∗ Attach-detach boundary
∗ Cell layer additional-removal interface
∗ Sliding interface
∗ Error-driven adaptive mesh refinement
• Dynamic meshes
◦ Combining topology modifiers and user-friendly mesh definition, create
dynamic mesh types for typical situations
◦ Examples: mixer mesh, 6-DOF motion, IC engine mesh (valves + piston),
solution-dependent crack propagation in solid mechanics

Dynamic Mesh Handling in OpenFOAM – p. 13

Topology Modifiers

“Set-and-Forget” Definition of Topology Modifiers

• layerAdditionRemoval mesh modifier removes cell layers when the mesh is
compressed and adds cells when the mesh is expanding. Definition:
◦ Oriented face zone, defining an internal surface
◦ Minimum and maximum layer thickness in front of the surface
◦ Both internal and patch faces are allowed
• slidingInterface allows for relative sliding of components. Definition:
◦ A master and slave patch, originally external to the mesh
◦ Allows uncovered master and slave faces to remain as boundaries
right mixerSlider
{ {
type layerAdditionRemoval; type slidingInterface;
faceZoneName rightExtFaces; masterPatchName outsideSlider;
minLayerThickness 0.0002; slavePatchName insideSlider;
maxLayerThickness 0.0005; projection visible;
active on; active on;
} }

• Even for simple cases, it is easier to speak about problem classes (mixer vessels,
engines, 6-DOF bodies) rather than working out individual topology modifiers

Dynamic Mesh Handling in OpenFOAM – p. 14

Dynamic Mesh Classes

Implementation of Dynamic Mesh Motion

• Definition or details of motion are irrelevant from top-level solver
• . . . but it makes sense to simplify mesh setup: a suite of problem- or
algorithm-specific classes with a common interface
• Virtual base class: dynamicFvMesh

class dynamicFvMesh
:
public fvMesh
{
static autoPtr<dynamicFvMesh> New(const IOobject& io);

// Destructor
virtual ˜dynamicFvMesh();

//- Update the mesh for both mesh motion and topology change
virtual bool update() = 0;
};

class topoChangerFvMesh : public dynamicFvMesh

{ ... };

Dynamic Mesh Handling in OpenFOAM – p. 15

Dynamic Mesh Classes

Dynamic Mesh with Automatic Mesh Motion

• dynamicMotionSolverFvMesh: dynamic mesh with motion solver

class dynamicMotionSolverFvMesh
:
public dynamicFvMesh
{
autoPtr<motionSolver> motionPtr_;

virtual bool update()

{
fvMesh::movePoints(motionPtr_->newPoints());

// Mesh motion only - return false

return false;
}
};

• Boundary motion is prescribed by setting a boundary condition on the motion

equation: from top-level code, moving mesh class, boundary condition etc.
• Example: 6-DOF dynamic mesh = motion solver + 6-DOF solid body motion solver
setting up its boundary condition

Dynamic Mesh Handling in OpenFOAM – p. 16

Automatic Motion: Surface Tracking

Hydrofoil Under A Free Surface Single Solver, Complex Coupling

• Flow solver gives surface displacement • FVM on moving meshes:
• Mesh adjusted to free surface position segregated p − u solver
• Automatic mesh motion
• Finite Area Method (FAM)
vb = −vF

Free-Rising Air Bubble with Surfactants

• Two meshes coupled on free surface

vF y′ aF
SB
SA o′ x′
Free
rF
surface
y

o
x

Dynamic Mesh Handling in OpenFOAM – p. 17

Dynamic Mesh: Floating Body

Example: Single Floating Body in Free Surface Flow (VOF)

• Single phase VOF free surface flow model with accurate pressure reconstruction
• 6-DOF force balance for solid body motion: solving an ODE
• Variable diffusivity Laplacian motion solver with 6-DOF boundary motion as the
boundary condition condition

Problem Setup
1. Specify mesh, material properties and initial + boundary flow conditions
2. Dynamic mesh type: sixDofMotion. Mesh holds floatingBody objects
3. A floating body holds 6-DOF parameters: mass, moment of inertia, support, forces
4. Flow solver only sees a dynamicMesh: encapsulated motion

Dynamic Mesh Handling in OpenFOAM – p. 18

Dynamic Mesh: IC Engine

Example: Multi-Valve Engine Mesh

• For complex topological changes, multiple interacting topology modifiers are used
and need to be synchronised and used in unison with mesh motion
• Case setup requires the mesh class to adhere to the “language of the problem”
• Example: Engine valve
◦ Definition identifies valve stem, top and bottom surface in geometry
◦ Topology modifiers: layer addition-removal on top and bottom surface; sliding
interface along valve curtain
◦ Valve motion defined in terms of valve lift curves and crank angle degree
◦ Result: topology modifiers are added automatically for each valve
• Engine mesh components
◦ Piston class, with motion defined in terms of crank angle degree and cell
layering thickness
◦ List of valves, each with own lift curve
◦ Identification of intake and exhaust ducts, piston bowl etc.
• The user builds the mesh and associates various surfaces to engine components:
easy setup after initial static mesh generation

Dynamic Mesh Handling in OpenFOAM – p. 19

More Dynamic Mesh Examples

Example: In-Cylinder Flow with Moving Piston and Valves

• Exhaust and intake stroke in a 2- and 4-stroke engine
• Moving piston and operating valves using topological changes
• Interacting topological modifiers and mesh motion handled by the mesh class
• Politecnico di Milano: combining mesh deformation, topological changes and
re-meshing to achieve optimum resolution and quality (SAE 2007-01-0170)
Example: Fluid-Structure Interaction
• Formally, considerably more complex than floating body cases
• . . . but due to automatic mesh motion only limited changes are needed
• Dynamic mesh class transfers data on surface and uses automatic motion
• (Close coupling: shared matrix format or Reduced Rank Extrapolation)

Dynamic Mesh Handling in OpenFOAM – p. 20

New Features: GGI Interface

General Grid Interface (GGI)

• Coupling between multiple mesh components may be performed at the level of
discretisation: mesh does not change topologically
• General Grid Interface (GGI) uses a conservative interpolation stencil based on
polygon clipping: mesh on the other side may be “virtual”
• Important in turbomachinery use: cyclic GGI, partial overlap GGI
• Rotor-stator interfaces with variable pitch can be handled without simplification
• Parallelisation of all variants of GGI is complete

Dynamic Mesh Handling in OpenFOAM – p. 21

New Features: GGI Interface

• Implemented in version 1.5-dev, for special purposes

• Integral and flux-conservative patch-to-patch interpolation
• Stencil is assembled based on analysis of sliding interface cutting, where original
cell faces on patch-to-patch interface are replaced by patch cutting facets
• Current usage: GGI patch field, non-matching cyclic boundaries, partial overlap
GGI and mixing plane interface (turbomachinery)
• GGI to be used in all face-based data interpolation where both value and flux
conservation is important. Example: conjugate heat transfer interface

111111
000000
rotor side 000000
111111
000000
111111
000000
111111
stator side 0000
1111000000
111111
000000
111111
0000
1111
0000
1111000000
111111
0000
1111000000
111111
0000
1111000000
111111
0000
1111000000
111111
0000
1111000000
111111
000000
111111
0000
1111

Dynamic Mesh Handling in OpenFOAM – p. 22

New Features: GGI Interface

Example: Single Capsizing Body with GGI

• Full capsize of a floating body cannot be handled without topology change
• Mesh motion is decomposed into translational and rotational component
◦ External mesh performs only translational motion
◦ Rotation on capsize accommodated by a GGI interface
• Automatic motion solver handles the decomposition, based on 6-DOF solution
• Mesh inside of the sphere is preserved: boundary layer resolution
• Precise handling of GGI interface is essential: boundedness and mass
conservation for the VOF variable must be preserved

Dynamic Mesh Handling in OpenFOAM – p. 23

New Interpolation Tools

Radial Basis Function Interpolation

• General interpolation for clouds of points
• Mathematical tool which allows data interpolation from a small set of control points
to space with smoothness criteria
• Used for mesh motion in cases of large deformation: no cross-over
• Implemented by Frank Bos, TU Delft and Dubravko Matijašević, FSB Zagreb

Dynamic Mesh Handling in OpenFOAM – p. 24

New Features: Immersed Boundary

Immersed Boundary Method

• Handling of moving obstacles in the flow domain whose size is larger than mesh
resolution: covering multiple cells
• Mesh topology and connectivity does not change: immersed STL surface
• Presence of boundary implicitly accounted for in discretisation, with appropriate
handling of boundary conditions

Immersed Boundary

ibPolyPatch

Fluid cells

φP
φib ′
δib P’
φb nb ib kib
b ib P PP b δib P
nib

Dynamic Mesh Handling in OpenFOAM – p. 25

New Features: Immersed Boundary

Immersed Boundary Method: Vortex Shedding in a channel (Ferziger, Perić)

Lift coefficient, Re = 100, St = 0.306 Drag coefficient, Re = 100

0.8 3.12
0.6 3.115
0.4 3.11
0.2 3.105
3.1

CD
CL

0
3.095
-0.2 3.09
-0.4 3.085
-0.6 3.08
-0.8 3.075
95 96 97 98 99 100 95 96 97 98 99 100
Time, s Time, s

How about a moving cylinder? Željko Tuković, FSB Zagreb

Dynamic Mesh Handling in OpenFOAM – p. 26

Summary

Summary
• OpenFOAM implements polyhedral mesh handling in library form
• Mesh analysis classes separated from discretisation support classes
• Built-in support for mesh motion and topological changes
• Simple handling of moving boundary problems: automatic mesh motion solver
• Topological changes support
◦ Basic operations: add/modify/remove point/face/cell
◦ Mesh modifier classes operate in terms of basic operations. Triggering of
topological changes is a part of the class (automatic)
◦ Pre-defined mesh modifiers available for standard operations
• Dynamic mesh classes encapsulate topology modifiers and (automatic) mesh
motion for easy handling of classes of dynamic mesh problems
• Top-level physics solver is separated from dynamic mesh handling for
inter-operability of components. Example: 6-DOF moving body in flow
• Quest for a fully automatic polyhedral mesh generator continues: snappyHexMesh

Dynamic Mesh Handling in OpenFOAM – p. 27