Low-Order Tools For Aero-And Thermo-Acoustic Instabilities: Wolfgang Polifke Lehrstuhl Für Thermodynamik TU München

Technische Universitt Mnchen
VKI Lecture Series Advances in Aero-Acoustics & Thermo-Acoustics

Nov 15-19, 2010, von Karman Institute, Rhode-St-Gense, Belgium
Low-Order Tools for Aero- and

Thermo-Acoustic Instabilities
Wolfgang Polifke
Lehrstuhl fr Thermodynamik
TU Mnchen
Outline of Talk
Stability Analysis
Transient Simulation
Eigenmodes and -frequencies
Nyquist Plots
Energy Balance
System Models
CFD
Computational Acoustics
Network Model
Galerkin Methods
State Space Model
W. Polifke - Advances in Aero- and Thermoacoustics, VKI, Nov 2010 - Low Order Models 2
Instability
Small perturbations of initial or boundary conditions cause a
violent response, such that system variables (output) change
drastically or grow to large amplitudes
Widespread in science and technology
(fluid-)mechanic, electro-/aero-/thermo-acoustic,
(see e.g. London Millenium Bridge Opening on youtube)
Complete breakdown of initial state is often observed

(bifurcation)
New (oscillating) system states appear
(limit cycles, quasi-periodic orbits, attractors, ...)
Feedback is often important
Thermo-Akustische Instabilitt
Thermo-acoustic feedback instability
Eingeschlossene Flamme
(p, u) Q (p, u)
Rckkopplung zwischen Fluktuationen

!
der Strmung (p,u) und der Wrmefreisetzung
! !
Q
Rayleighs criterion: Instability requires p Q dt > 0,
-> Selbsterregte Schwingungen !
!
"#
! =Q ! (! ),
Premix flames are
Stabilittskriterium nach Rayleigh: velocity sensitive: Q Q!p! d" > 0.
p!
System acoustics controls phase p ! ! : Z = .
!
W . Polifke / divide et imp era Ercoftac TecTag / 2
Flame dynamics & system acoustics
Flame dynamics controls
magnitude and phase of response to perturbations

System acoustics controls
Impedance at the flame ( phase between velocity and
pressure)
Losses of acoustic energy (dissipation and radiation).
Intensity, phase and dispersion of convective waves
(equivalence ratio, entropy).
Rayleigh criterion is necessary, but not sufficient.
Multi-physics, multi-scale
wave length
combustor
flame
fuel jets
turbulent eddies
reaction zone
-4 -3 -2 -1 0 1
10 10 10 10 10 10
chemical time scales
turbulent time scales
acoustic osciallations
time delays
growth / saturation of
instabilities
Modelling -- with CFD ?
URANS or LES capture (in principle) all relevant effects:

but:
turbulent, reacting, compressible flow at low Mach-# !
acoustic boundary conditions !?
wide range of length and time scales !
... many different modelling approaches

Time Domain Frequency Domain
Finite Element
Finite Volume,
CFD Computational Acoustics

nonlinear PDEs - linearized PDEs -
Navier-Stokes often extended Helmholtz
Mode-Based
Galerkin Methods Network Models

ODE algebraic equations
Nonlinear Linearized Equations

Classical (linear) stability analysis
Stable means stable against perturbations

Stability analysis
find out how the system responds to perturbations !
Special case: small perturbation amplitudes
neglect non-linear terms linear stability analysis
Dominant mode has largest growth rate
Eventually, nonlinearities become significant
Limit Cycle is established
Q = 385 7 W; vmean = 0.0218 0.0002 m/s
Instability in a Rijke tube
Experiment by Lumens, Kopitz 2006

Stability analysis by transient simulation

1D CFD Model of Rijke tube

with source term for energy Q(t) = (t )
30
[m/s]
20
Velocity atv [mgauze
/s]
10
c
-10
0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7
Time [s]
t [s]
Polifke et al, JSV, 2001

transient simulation
+ Straightforward
+ Simulation of (turbulent, reacting,) compressible flow
captures all relevant phenomena
+ Nonlinearities included
- Computationally expensive
- Only the dominant mode is identified
- Numerical vs. physical instability
- Results can depend on initial perturbation
- Boundary conditions (acoustic impedance !) are a problem.
Stability analysis with

eigenmodes and eigenfrequencies
Mode - a pattern of vibration
Eigen - German: own, peculiar, characteristic
Eigenmode / Eigenfrequency
- a mode / frequency that is easily excited in the system
- once established, an eigenmode will persist for some time
Typically, a system has many eigenmodes.
several eigenmodes may be unstable
one mode will be most unstable
Eigenmodes and -frequencies

Linear algebra: eigenvectors
! m of operator A are vectors left
unchanged up to factors m the eigenvalues:
A
! m = m
!m .
Helmholtz-equation for harmonic waves p! (, t) exp(m t) sin(km )
2 p!
= (km c)2 p!
t 2
where wave number km = m/ L for a duct with open-open ends
Eigenmodes / frequencies of a Rijke tube

computed with a low-order model
.
p=0 Q p=0
i c h x
Acoustic waves travel between i and c, h and x:

! " ! "! "
fc eikl 0 fi
= , k= .
gc eikl 0 gi c
! ! " ! ! "
1 p ! 1 p !
f= +u , g= u .
2 c 2 c
Coupling relations at the heat source

.
p=0 Q p=0
i c h x
At the heat source:

! !
no pressure drop, hp = p c
! ! !
time-lagged heat release, uh (t) = uc (t) + nuc (t ).
h ch
(fh + gh ) = (fc + gc ),
c cc
! "
fh gh = 1 + ne i
(fc gc ),
Boundary conditions
.
p=0 Q p=0
i c h x
open / closed ends:
p! = 0 f + g = 0,
u! = 0 f g = 0,
Rijke tube system matrix

.
u! p=0
=0 Q p=0
i c h x
fi

0

Matrix
of .. = .. .
. .

Coefficients gx 0
Eigenfrequencies satisfy Det (S()) = 0, which yields:

! "
cos kc lc cos kh lh sin kc lc sin kh lh 1 + n e i
= 0,
Eigenfrequency vs. time lag (n = 0.1)
1.9 0.2
1.8
0.1
1.7
Re()
Im()
0
1.6
0.1
1.5
1.4 0.2
0 1 2 3 0 1 2 3

numerical (--------------) vs. weak coupling approximation (- - - -)

Stability map Rijke tube:

.
Q
u! =
p=0
0 p=0
i c h x
! "
cos kc lc cos kh lh sin kc lc sin kh lh 1 + neit = 0,
m=3
Mode - #
m=2
m=1
m=0
0 1 2 3
Modal (dynamic) stability analysis
+ Computationally inexpensive
+ Build system of equations in software network model
(LOTAN, taX tools in AETHER)
+ Results as presented agree with Rayleigh
+ Nonlinearities through describing function
- Matrix coefficients must be known
analytical only for simple elements
experiments difficult (yield only real-valued frequencies)
CFD & System Identification (next lecture)
Network models
Fuel Supply
Air Supply Burner Flame Combustor
f1

0

Matrix
of .. = .. .
. .

Coefficients gN 0
Non-plane modes in thin annular duct
! " ! "! "

d ek+ 0
= .
gd 0 ek g
!
" #2
2
k = k
c
Non-zero Mach number
! " ! "! "

d ek+ 0
= .
gd 0 ek g
$
% &2
/ c k m
k = M 1 (1 M2 ) , k .
1 M2 / c R
Mixed mode in annular combustor
Compact element ( L ! )
Au
Ad
xu xd

p! % & p!
c = 1 i k leff M c .
! i k lred
u d
u! u
! xd
Au
leff dx.
xu A(x)
Contoured duct
A(x)
1 2 3 4
(x)
! " ! "
ek+ 1 0 0 1
T=
0 ek 1 1 0
! " ! "
ek+ 2 0 1 0

0 ek 2 0 N
Transfer matrix of (compact) flame
Linearize Rankine-Hugoniot relations

(conservation of mass, momentum, energy across discontinuity)
! " ! " " ! # $
p!
p !
TH u!c Q !
= 1 u c Mc + ,
c h c c TC uc Q
! " # ! !
$
T H Q p
u!h = uc +
!
1 uc c
.
TC Q pc
closure with flame frequency response,
Q ! u!
= F ()
Q u
Modal (dynamic) stability analysis
+ Build system of equations in software network model

(LOTAN, taX tools in AETHER)
+ Results as presented agree with Rayleigh
+ Nonlinearities through describing function
- Matrix coefficients must be known
analytical only for simple elements
experiments difficult (yield only real-valued frequencies)
CFD & System Identification (next lecture)
- Iterative search for eigenfrequencies in complex plane can be
tedious and incomplete !
Stability Analysis in Control Theory

x0 x1
x1 = G(s) (x0 x1 ), or G(s)
G(s)
x1 = x0 .
G(s) + 1
1
Roots of characteristic equation determine stability

G(s) + 1 = 0.
PN (s) an sn + . . . + a0
In control applications: G(s) = = .
PD (s) bm s + . . . + b0
m
Routh-Hurwitz criterion based on polynomial

coefficients !
N; ! < 4 ?*) 5)9'% ); #$ #* -"' (#+"- ",9;=59,*'B: -"'* -"' %1%-'6 #% %-,
" < 47
N; ! % 4: -"'* -"' 5)#*- !F 9#'% #*%#2' -"' G1H0#%- $)*-)0( ,*2 -"'(' 6
Nyquist#*Criterion in Control
-"' (#+"-=",9; "=59,*'7 Theory
E#+0(' @7A #990%-(,-'% 5)%#-#.' ,*2 *'+,-#.' '*$#(
ss G
HG H
1 1
N =1 N =0
Cauchys argument principle: N = Z - P
!"#$%& '()( OP,659'% ); 5)%#-#.' ,*2 *'+,-#.' '*$#($9'6'*-% )
N # of clockwise encirclements of critical point (-1,i0)
G1H0#%- $)*-)0(7
Z # of zeros of the open loop transfer function G(s)
P # of poles in the right half plane
System is stable
K% , 3*,9 if N =!'P*)-'
('6,(J: ! -",- -"' 5)(-#)* ); -"' G1H0#%- 5,-" ;)( "
-"' #$=59,*'7 Q-"'(!#%': -"' #*#-#,9 .,90' -"')('6 +#.'% ;)( -"' ('%5)*%'
' ?& < 4MB < 9#6 "#$ ( ?"B
Open loop transfer function of a network

model
Fuel Supply
Burner 1
Air Supply Combustor
& Flame
With fu ()
G() ,
fd
eigenfrequencies are mapped to the critical point -1
OLTF G() as conformal mapping
Im() Im(G())
G()
Re() + 2i
Re() + i
m
-1 Re(G())
Re()
Nyquist Criterion:
A mode is stable if the critical point -1 lies to the left
of the image curve of the real axis.
Growth rate from the Nyquist Plot

A conformal mapping twists & shrinks
Distance from critical point and scale factor Im()

Stability analysis with Nyquist plot
+ no iterative searches for eigenmodes

+ growth rate can be estimated from the OLTF
+ this is not the Barkhausen Criterion (http://web.mit.edu/klund)
The Barkhausen Stability Criterion is simple, intuitive, and wrong.
+ it is sufficient to know transfer matrices / transfer functions
for real-valued frequencies |R.
- no rigorous proof !
- what is passage of the critical point !?
- singularities in OLTF close to m give trouble (R. Kaess, 2010)
Eigenmodes of Rijke tube

Kopitz & Polifke 08
10
4
Growth Rate [%]
-2
-4
-6
-8
-1 0
0 1000 2000 3000
Frequency [Hz]
o - Iterative search for eigenmodes

- Nyquist
1.2. Basic diagnostic techniques
Stability map ECP perforated plate burner

Kaess et al, 08,09
R
Perforated plate Flames anchored on
the perforated plate
$
cut
Resonant
$
cavity Figure 1.1: Burner

Low-order
CFD for flame
scale). Air and met
"#
network model L
#"
for acoustics Text separately in a prem

burner cavity length
l
by a piston sliding int
!
!
tube (R = 3.5 cm, 1

Premix Burner 2rp The reactive mixture
Airtight (ECP) the piston from which

piston the resonant cavity t
! "# $
apertures. Flames a
Open Loop Transfer Function (OLTF) forated plate termina
Nyquist Diagram
(Linear) Premixing
Stability of Eigenmodes
duct take a conical sh
pipe
Stability map ECP perforated plate burner

Kaess et al, 08,09
1000
900
800
Frequency [Hz]
700
600
500
400
300
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Length of plenum [m]
isothermal / adiabatic walls o unstable / + stable
Acoustic energy budget

(Nicoud & Poinsot, 05; Ibrahim et al., 06, 07)
Density of acoustic energy:
!" # $
! 2
p
e + ! !
ui ui
2 c
Conservation of energy:
e 1 u !
+ (p! u!i ) + (eui ) = 2
p ! !
q i !
ij
t xi xi c xj
! "# $

Balance of acoustic energy in the system:

! ! ! !

!e"dV = ! !
!p ui "dAi !eui "dAi + !"dV.
t V A A V
Stability analysis with energy budget

(Ibrahim et al., 06, 07)
An eigenmode is unstable, if amplification outweighs losses

+ intuitive
+ should be useful to identify dangerous frequency regimes
- so far, mostly overly simplistic configurations tested
- this is not a complete model:
needs a system model to predict losses,
needs a system model to predict impedance at the flame,
needs external information about the flame dynamics
Energy budget from Large Eddy Simulation

(Nicoud and Poinsot, 05; Giauque et al., 06, 07)
Idea: work out the acoustic energy balance from LES results !
+ with LES, its possible to analyze all terms in great detail
entropy fluctuations
non-linear terms
non-zero mean flow
variable material properties
- many terms, very complicated
- what is acoustic energy or fluctuation energy ?
System Modelling
Finite Element
Finite Volume,

Mode-Based


Modal expansion (Galerkin) method

2
m
1D Helmholtz-equation without sources: + km
2
m = 0
x2
Eigenmodes m (x) = sin(km x) are orthogonal (!?)

! L
m n dx = mn .
0
Project eigenmodes on PDE with source:

!
2
d m 1 L
2
+ m m =
2
2
q! (x) m (x) dx.
dt Em 0
Projection on orthogonal basis of modes

ODEs for modal coefficients
Wave eqn. with heat source
2 p! 2 !
p
q !
2
c2
2 = ( 1) .
t xi t
! d2 m !
q !
2
sin(km x) + c 2
m km sin(km x) = ( 1) .
m
dt2 m
t
! L
multiply with sin(kn x), integrate . . . dx
0
!
2 d m
2 L
q!
Em ( 2 + m 2 m ) = ( 1) sin km x dx.
dt 0 t
Stability analysis by time-marching or dynamical systems

Galerkin
+ very efficient
+ can handle non-linearities
+ eigenmodes of full problem need not be close to the
expansion functions of the homogeneous problem
+ for complicated geometries, use FE to get the s
- non-normal modes for non-trival boundary conditions
- input on flame dynamics is needed, determination of
source term may be non-trivial.
System Modelling
Finite Element
Finite Volume,

Mode-Based

State-Space
Approach
Discrete-time state-space model of resonator

(t)
fx,m
u'=0 u'=0
(t) - value of wave amplitude at time t mt

,m
tomorrows yesterday is today:

(t+1) (t)
,1 = ,0 history update
2 time steps t for one cycle:
(t+1) (t)
,0 = ,1 physics
Discrete-time state-space model of resonator

! "(t+1) ! "! "(t) ! "(t)
,0 0 1 ,0 ,0
= =L .
,1 1 0 ,1 ,1
! " ! "
1 1
1 = 1, v1 = , 2 = 1, v2 =
1 1
c
L
1 t = 1 =
L
quarter wave mode
Increase time resolution

(t+1) (t)
,0 0 0 1 0 ,0
,1 1 0 0 0,1
= .
,2 0 1 0 ,2
0
,3 0 0 0 1 ,3

1 1
1
1 = e/ 2 , v1 =
1
; 2 = e , v2 =
1
; 3 , 4 = . . .
c
L
1 t = 1 =
2 L
quarter wave mode
Increase time resolution

(t+1) (t)
,0 0 0 1 0 ,0
,1 1 0 0 0,1
= .
,2 0 1 0 ,2
0
,3 0 0 0 1 ,3

1 1
1
1 = e/ 2 , v1 =
1
; 2 = e , v2 =
1
; 3 , 4 = . . .
1
2 c
2 t = 2 =
L
2nd mode with wave length L
Spectrum of a circulant matrix
Network model
fi fc fh fx
h = c ,
gc = gh , Rx
(t+1) (t)
c,0 = gc,C ; (C + 1)t = c ,
gi gc gh gx
(t+1) (t)
gh,0 = R h,H ; (H + 1)t = h .
lc lh
(t+1) (t)
h,0 0 0 0 1 h,0
h,1 1 0 0 0 h,1
= .
gc,0 0 1 0 0 gc,0
gc,1 0 0 1 0 gc,1
physics history update

... add an n- heat source

fi fc fh fx
pressure coupling: Rx
(t+1) (t+1) (t+1) (t+1)
h,0 + gh,0 = c,0 + gc,0 ,
gi gc gh gx
lc lh
velocity coupling:
! "
(t+1) (t+1) (t+1) (t+1) (t+1) (t+1)
h,0 gh,0 = c,0 gc,0 +n c,Q gc,Q .
with Qt = :
(t+1) 1 (t) 2 (t) n (t) n (t)

h,0 = R h,H + gc,C gc,Q1 + gc,C+Q ,
1+ 1+ 1+ 1+
(t+1) 2R (t) 1 (t) n (t) n (t)
gc,0 = h,H + gc,C gc,Q1 + gc,C+Q .
1+ 1+ 1+ 1+
Spectrum of n- thermoacoustic system

fi fc fh fx
Eigenmodes
Matlab: 0.2 Rx
gi gc gh gx
eig(L) lc lh
0
Cycle Increment
0.2
0.4
0.6 ! frequency-domain
state-space .
0.8
0 5 10 15
Angular Frequency
time lag = 0.1 ratio of specific impedances =1

interaction index n = 0.25 downstream reflection coefficient R = 0.75
Time evolution of most unstable mode
0
fh
1
0 0.5 1 1.5 2 2.5 3 3.5 4
t []
Cycle increment = 0.0097

= 0.1, n = 0.25, = 1, R = 0.75
Time step sizes t = 0.1 (") and t = 0.02 ()
State space model
+ both time and frequency domain

+ no iterative search for eigenfrequencies / modes
+ flexible (network topology, element physics)
+ complex geometry with SSM based on FE-modes
(Schuermans, 2004)
+ nonlinearities & non-normaliteis can be considered
- work in progress

Low-Order Tools For Aero-And Thermo-Acoustic Instabilities: Wolfgang Polifke Lehrstuhl Für Thermodynamik TU München

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Low-Order Tools For Aero-And Thermo-Acoustic Instabilities: Wolfgang Polifke Lehrstuhl Für Thermodynamik TU München

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Technische Universitt Mnchen

VKI Lecture Series Advances in Aero-Acoustics & Thermo-Acoustics

Low-Order Tools for Aero- and

Complete breakdown of initial state is often observed

Rckkopplung zwischen Fluktuationen

Flame dynamics & system acoustics

Flame dynamics controls

magnitude and phase of response to perturbations

Modelling -- with CFD ?

URANS or LES capture (in principle) all relevant effects:

... many different modelling approaches

CFD Computational Acoustics

Galerkin Methods Network Models

Nonlinear Linearized Equations

Classical (linear) stability analysis

Stable means stable against perturbations

Instability in a Rijke tube

Experiment by Lumens, Kopitz 2006

Stability analysis by transient simulation

Polifke et al, JSV, 2001

Stability analysis with

Eigenmodes and -frequencies

Helmholtz-equation for harmonic waves p! (, t) exp(m t) sin(km )

where wave number km = m/ L for a duct with open-open ends

Eigenmodes / frequencies of a Rijke tube

Acoustic waves travel between i and c, h and x:

Coupling relations at the heat source

At the heat source:

open / closed ends:

Rijke tube system matrix

Eigenfrequencies satisfy Det (S()) = 0, which yields:

Eigenfrequency vs. time lag (n = 0.1)

numerical (--------------) vs. weak coupling approximation (- - - -)

Stability map Rijke tube:

Modal (dynamic) stability analysis

Air Supply Burner Flame Combustor

Non-plane modes in thin annular duct

! " ! "! "

Non-zero Mach number

! " ! "! "

Mixed mode in annular combustor

Transfer matrix of (compact) flame

Linearize Rankine-Hugoniot relations

closure with flame frequency response,

Modal (dynamic) stability analysis

+ Build system of equations in software network model

Stability Analysis in Control Theory

Roots of characteristic equation determine stability

Routh-Hurwitz criterion based on polynomial

Open loop transfer function of a network

eigenfrequencies are mapped to the critical point -1

OLTF G() as conformal mapping

Growth rate from the Nyquist Plot

Distance from critical point and scale factor Im()

Stability analysis with Nyquist plot

+ no iterative searches for eigenmodes

Eigenmodes of Rijke tube

o - Iterative search for eigenmodes

Technische Universitt Mnchen

Stability map ECP perforated plate burner

cavity Figure 1.1: Burner

for acoustics Text separately in a prem