Introduction To Computational Fluid Dynamics (CFD)

Introduction to
Computational Fluid Dynamics (CFD)
Le Thi Minh Nghia

Tran Tien Anh
Duong De Tai
1Facultyof Transportation Engineering, Ho Chi Minh City University of Technology (HCMUT),

Ho Chi Minh City, Vietnam.
2Vietnam National University Ho Chi Minh City (VNU-HCM), Ho Chi Minh City, Vietnam.
Learning outcome
After completing this course students will be able to:
1. Describe methods for numerical solution of compressible

and incompressible fluid mechanics problems
2. Identify system of equations: hyperbolic, parabolic or elliptic
equations
3. Analyze discretization, finite differences, finite volumes
4. Recognize stability of solutions
5. Construct computational grids
6. Describe multi-grid methods
7. Outline turbulent models
2021/03/03 CFD club@HCMUT 2

Textbooks
① Fluid mechanics_ Fundamentals and applications

(2020,4th,Çengel)
② Computational methods for fluid dynamics
(2020,4th,Ferziger)
③ An introduction to computational fluid dynamics_
The finite volume method (2007,2nd,Versteeg)

Textbooks

International journals
1. Numerical Heat Transfer, Part A- Applications; Part B Fundamentals

2. International Journal of Numerical Methods in Fluids.
3. Computer & Fluids
4. Journal of Computational Physics
5. International Journal of Numerical Methods in Engineering
6. International Journal of Numerical Methods for Heat and Fluid Flow
7. Computer Methods of Applied Mechanics and Engineering
8. Engineering Computations
9. Progress in Computational Fluid Dynamics
10. Computer Modeling in Engineering & Sciences (CMES)
11. ASME Journal of Heat Transfer
12. International Journal of Heat and Mass Transfer
13. ASME Journal of Fluids Engineering
14. International Journal of Heat and Fluid Flow
15. AIAA Journal

Contents
1. What is CFD
2. Why use CFD
3. Where is CFD used?
4. What are the advantages and limitations of CFD?
5. Physics of Fluid
6. Numerical methods
7. Discretization for equations
8. Modeling
9. Types of CFD codes
10. CFD process
11. CFD Educational Interface
12. Example of CFD analysis process

1 What is CFD?

What is CFD?
• CFD is the simulation of fluids engineering systems using modeling

(mathematical physical problem formulation) and numerical methods
(discretization methods, solvers, numerical parameters, and grid generations,
etc.)
• Historically only Analytical Fluid Dynamics (AFD) and Experimental Fluid
Dynamics (EFD).
• CFD made possible by the advent of digital computer and advancing with
improvements of computer resources
(500 flops, 194720 teraflops, 2003 1.3 pentaflops, Roadrunner at Las
Alamos National Lab, 2009.)

What is CFD?
• What is CFD and its objective?
– Computational Fluid Dynamics

– Historically Analytical Fluid Dynamics (AFD) and EFD
(Experimental Fluid Dynamics) was used. CFD has become
feasible due to the advent of high speed digital computers.
– Analysis of such a system based on computer simulation for
prediction fluid-flow, heat transfer or chemical reactions
phenomena.
– The objective of CFD is to model the continuous fluids with
Partial Differential Equations (PDEs) and discretize PDEs into
an algebra problem (Taylor series), solve it, validate it and
achieve simulation based design.

What is CFD?
• Computational fluid dynamics (CFD) is the science of predicting fluid

flow, heat transfer, mass transfer, chemical reactions, and related
phenomena by solving the mathematical equations which govern
these processes using a numerical process
 We are interested in the forces (pressure , viscous stress etc.)
acting on surfaces (Example: In an airplane, we are interested in the
lift, drag, power, pressure distribution etc)
 We would like to determine the velocity field (Example: In a race
car, we are interested in the local flow streamlines, so that we can
design for less drag)
 We are interested in knowing the temperature distribution
(Example: Heat transfer in the vicinity of a computer chip)

What is CFD?
• Simply put, CFD is the calculation of properties of a

flowing fluid.
• Practical problems may include energy flow, chemical
reactions, phase changes, …
• Domain is often ( irregular ) 3D, plus time.
• Results may be scalar, but more often are n-D
• Relevant industries include automotive, chemical
processing, aerospace, HVAC, . . .

What is CFD?
Fluid
Problem Comparison &
Fluid Mechanics Analysis
Simulation Results
Physics of Fluid
C
Mathematics Computer
F
Navier-Stokes Equations
D Computer Program
Programming
Numerical
Methods Language
Geometry
Discretized Form Grids

2 Why use CFD?

Why use CFD?
• Analysis and design

1. Simulation-based design instead of “build & test”
More cost effective and more rapid than EFD
CFD provides high-fidelity database for diagnosing flow field
2. Simulation of physical fluid phenomena that are difficult
for experiments
Full scale simulations (e.g., ships and airplanes)
Environmental effects (wind, weather, etc.)
Hazards (e.g., explosions, radiation, pollution)
Physics (e.g., planetary boundary layer, stellar evolution)
• Knowledge and exploration of flow physics

Why use CFD?
• Why use CFD?

– Analysis and design
• Simulation-based design instead of “build & test”
– More cost effectively and more rapidly than with experiments
– CFD solution provides high-fidelity database for interrogation of
flow field
• Simulation of physical fluid phenomena that are difficult to be
measured by experiments
– Scale simulations (e.g., full-scale ships, airplanes)
– Hazards (e.g., explosions, radiation, pollution)
– Physics (e.g., weather prediction, planetary boundary layer,
stellar evolution)
– Knowledge and exploration of flow physics

Why use CFD?
Simulation(CFD) Experiment
Cost Cheap Expensive
Time Short Long
Scale Any Small/Middle
Information All Measured Points
Repeatable All Some
Security Safe Some Dangerous

3 Where is CFD used?

Where is CFD used?
Where is CFD used? (Aerospace)
• Where is CFD used?

– Aerospace
– Appliances
– Automotive
F18 Store Separation
– Biomedical
– Chemical Processing
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Power Generation
– Sports Wing-Body Interaction Hypersonic Launch
Vehicle
Where is CFD used?
Aeronautics

Where is CFD used?
NASA Ames’ virtual wind tunnel

Where is CFD used?
Where is CFD used? (Appliances)

– Aerospace
– Appliances
– Automotive
– Biomedical
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas Surface-heat-flux plots of the No-Frost
refrigerator and freezer compartments helped
– Power Generation Bosch- Siemens engineers to optimize the
– Sports location of air inlets.

Where is CFD used?
Where is CFD used? (Automotive)

– Aerospace
– Appliances
– Automotive
– Biomedical
– Chemical Processing External Aerodynamics Undercarriage
Aerodynamics
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports
Interior Ventilation
2021/03/03 CFD club@HCMUT Engine Cooling 22
Where is CFD used?
Automotive aerodynamics . . .

Where is CFD used?
. . . Internal combustion engine

Where is CFD used?
Where is CFD used? (Biomedical)

– Aerospace
– Appliances
– Automotive
– Biomedical
Medtronic Blood Pump
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
Temperature and natural
– Power Generation convection currents in the eye
following laser heating.
– Sports
2021/03/03 Spinal
CFD Catheter
club@HCMUT 25
Where is CFD used?
Where is CFD used? (Chemical processing)

– Aerospace
– Appliances
– Automotive
– Biomedical Polymerization reactor vessel - prediction
of flow separation and residence time
effects.
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
Twin-screw extruder
– Power Generation modeling
– Sports
Shear rate distribution in twin-
screw extruder simulation
Where is CFD used?
Process engineering

Where is CFD used?
Where is CFD used? (HVAC&R)

– Aerospace
– Appliances
– Automotive
Particle traces of copier VOC emissions
– Biomedical colored by concentration level fall
Streamlines for workstation behind the copier and then circulate
– Chemical Processing ventilation through the room before exiting the
exhaust.
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports Flow path lines colored by
pressure quantify head loss
Mean age of air contours indicate
2021/03/03 CFD club@HCMUT in ductwork 28
location of fresh supply air
Where is CFD used?
. . . And interior comfort . . .

Where is CFD used?
HVAC

Where is CFD used?
Where is CFD used? (Hydraulics)

– Aerospace
– Appliances
– Automotive
– Biomedical
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports
Where is CFD used?
Where is CFD used?
• Where is CFD used? Hydraulics

• Aerospace
• Automotive
• Biomedical
• Chemical Processing
• HVAC
• Hydraulics
• Marine
• Oil & Gas
• Power Generation
• Sports

Where is CFD used?
Where is CFD used? (Marine)

– Aerospace
– Appliances
– Automotive
– Biomedical
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports
Where is CFD used?
Where is CFD used?
Marine (movie)

• Aerospace
• Automotive
• Biomedical
• HVAC
• Hydraulics
• Marine
• Oil & Gas
• Sports

Where is CFD used?
Where is CFD used? (Oil & Gas)

– Aerospace
Volume fraction of gas
– Appliances
– Automotive
– Biomedical
Flow vectors and pressure Volume fraction of oil
– Chemical Processing distribution on an offshore oil rig
– HVAC&R
– Hydraulics
Volume fraction of water
– Marine
Analysis of multiphase
– Oil & Gas separator
– Sports
Flow of lubricating
2021/03/03 CFDmud over drill bit
club@HCMUT 35
Where is CFD used?
Where is CFD used? (Power generation)

– Aerospace
– Appliances
– Automotive
– Biomedical
Flow around cooling Flow in a
– Chemical Processing towers burner
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports Path lines from the inlet
Flow pattern through a water colored by temperature
turbine. during standard
2021/03/03 CFD club@HCMUT operating conditions 36
Where is CFD used?
Where is CFD used? (Sports)

– Aerospace
– Appliances
– Automotive
– Biomedical
– HVAC&R
– Hydraulics
– Marine
– Oil & Gas
– Sports

Where is CFD used?
Where is CFD used?
• Where is CFD used? Sports

• Aerospace
• Automotive
• Biomedical
• HVAC
• Hydraulics
• Marine
• Oil & Gas
• Sports

Where is CFD used?
Applications
• Car safety thermal imaging using CFD

• Heat exchanger imaging
• Imaging of missile prototypes

Where is CFD used?
Visualization examples

4 What are the advantages
and limitations of CFD?

What are the advantages and limitations of CFD?
Advantages of CFD
• Relatively low cost.
– Using physical experiments and tests to get essential
engineering data for design can be expensive.
– CFD simulations are relatively inexpensive, and costs are
likely to decrease as computers become more powerful.
• Speed.
– CFD simulations can be executed in a short period of time.
– Quick turnaround means engineering data can be
introduced early in the design process.
• Ability to simulate real conditions.
– Many flow and heat transfer processes can not be (easily)
tested, e.g. hypersonic flow.
– CFD provides the ability to theoretically simulate any
physical condition.

Advantages of CFD
• Ability to simulate ideal conditions.

– CFD allows great control over the physical process, and provides
the ability to isolate specific phenomena for study.
– Example: a heat transfer process can be idealized with adiabatic,
constant heat flux, or constant temperature boundaries.
• Comprehensive information.
– Experiments only permit data to be extracted at a limited number
of locations in the system (e.g. pressure and temperature probes,
heat flux gauges, LDV, etc.).
– CFD allows the analyst to examine a large number of locations in
the region of interest, and yields a comprehensive set of flow
parameters for examination.

Advantages
• Relatively low cost.

– CFD simulations are relatively inexpensive, and costs are
likely to decrease as computers become more powerful.
• Speed.
– CFD simulations can be executed in a short period of
time.
• Ability to simulate real conditions.
– CFD provides the ability to theoretically simulate any
physical condition.
• Comprehensive information.
– CFD allows the analyst to examine a large number of
locations in the region of interest, and yields a
comprehensive set of flow parameters for examination.
Limitations of CFD
• Physical models.
– CFD solutions rely upon physical models of real world
processes (e.g. turbulence, compressibility, chemistry,
multiphase flow, etc.).
– The CFD solutions can only be as accurate as the physical
models on which they are based.
• Numerical errors.
– Solving equations on a computer invariably introduces
numerical errors.
– Round-off error: due to finite word size available on the
computer. Round-off errors will always exist (though they can
be small in most cases).
– Truncation error: due to approximations in the numerical
models. Truncation errors will go to zero as the grid is refined.
Mesh refinement is one way to deal with truncation error.

Limitations of CFD
• Boundary conditions.
– As with physical models, the accuracy of the CFD solution is
only as good as the initial/boundary conditions provided to
the numerical model.
– Example: flow in a duct with sudden expansion. If flow is
supplied to domain by a pipe, you should use a fully-
developed profile for velocity rather than assume uniform
conditions.
Computational Domain Computational Domain
Fully Developed Inlet

Profile
Uniform Inlet
Profile
poor better
Limitations
• The CFD solutions can only be as accurate as the physical models

on which they are based.
• Solving equations on a computer invariably introduces numerical
errors.
– Round-off error: due to finite word size available on the
computer. Round-off errors will always exist (though they can be
small in most cases).
– Truncation error: due to approximations in the numerical
models. Truncation errors will go to zero as the grid is refined.
Mesh refinement is one way to deal with truncation error.
• Boundary conditions.
– As with physical models, the accuracy of the CFD solution is
only as good as the initial/boundary conditions provided to the
numerical model.

5 Physics of Fluid

Physics of fluid
 Fluid = Liquid + Gas

 Density ρ
const incompressible
 
variable compressible
Viscosity μ:
resistance to flow of a fluid
 Ns 
   3   ( Poise)
m 
Substance Air(18ºC) Water(20ºC) Honey(20ºC)
Density(kg/m3) 1.275 1000 1446
Viscosity(P) 1.82e-4 1.002e-2 190

Components of fluid mechanics
Fluid mechanics
Inviscid Viscous
Laminar Turbulence
Internal External
Compressible Incompressible (airfoil, ship)
(pipe, valve)
(air, acoustic) (water)

Conservation Law
m in m out
in M out
dM
 m in  m out
dt
m in  m out
Mass
dM Momentum
0
dt Energy

Governing equations
(Equations based on “average” velocity)
   
  ux   uy   uz  0
t x y z
Continuity
 u ux ux ux   p     

 x      g
  ux  uy  uz        
 t x y z  x  x xx y yx z zx  x
 
Equation of motion

Navier- Stokes equations
Claude-Louis Navier George Gabriel Stokes

Navier-Stokes equations (constant r and m)
 u ux ux ux  p  2 u  2

u  2
u 
 x   x x x 
  ux  uy  uz      2   2 
 g x
 t x y z  x  x y 2
z 

 u uy uy uy  p  2 u  2
u  2
u 
 y   y y y 
  ux  uy  uz      2   2 
 g y
 t x y z  y  x y 2
z 

 u uz uz uz  p  2 u  2
u  2
u 
 z     z z z   g
  ux  uy  uz    2   2 
 t x y z  z  x y 2
z  z

D
 v  p  2v   g
Dt

6 Numerical methods

Three basic methods and their relations
Analytical
Experimental Numerical

Basic idea for numerical solution
① Discretization for a domain

② Discretization for equations
③ Solution of the algebraic equations
④ Analysis of results

So how is CFD calculated ?

Classic differential equations

• Navier-Stokes: u   1 2 1 
  u   u   P  g u  F
t  
• Continuity:

• Cons. Energy:   (vn)dA  t   dV  0
 Q  Ws  W  P 
     e   (vn)dA   e  dV
dt dt dt   t

Fourth order Runge-Kutta
k1  hf (x n , yn )
h k1
k2  hf (x n  , yn  )
2 2
h k2
k3  hf (x n  , yn  )
2 2
k 4  hf (x n  h, yn  k3 )
k1 k2 k3 k 4
yn 1  yn      O(h 5 )
6 3 3 6

7 Discretization for equations

Discretization
Discretization
Analytical Equations Discretized Equations
 Discretization Methods
 Finite Difference
Straightforward to apply, simple, sturctured grids
 Finite Element
Any geometries
 Finite Volume
Conservation, any geometries

Finite Volume I
General Form of Navier-Stokes Equation
      
  U i      q    1, U j , T 
t xi  xi 
Local change with time Flux Source
Integrate over the 

Control Volume(CV) V xi dV  S   ni dS
Integral Form of Navier-Stokes Equation

      
V t dV  S  U i    xi   ni dS  V q dV
Local change Flux Over Source in CV
with time in CV the CV Surface

Finite Volume II
Conservation of Finite Volume Method
      
V t dV  S  U i    xi   ni dS  V q dV
A B
A B

Finite Volume III
UP UE
Approximation of Volume Integrals
m    dV   pV ; mu   i ui dV   Pu PV
Vi Vi
Approximation of Surface Integrals ( Midpoint Rule)
 P dV   P dS   Pk S k k  n, s, e, w
Ue Vi Si
k
Interpolation
 
U P if (U  n ) e  0
Upwind Ue    
U E if (U  n ) e  0
Central xe  x P
U e  U E e  U P (1  e ) e 
xE  xP

One Control Volume
aPuP  aN uN  aS uS  aW uW  aE uE  0
Whole Domain
 a11 a12 a1l   u1  0 
a a22 a23 a2,l 1   u  0 
 21   2   
 . . . .   .  .
     
 . . . .   .  .
 ak 1 . . . al 1,n 1   .  .
    
 ak 1,2 . . . al ,n   .  .
 . . . .   .  .
     
 . . . .   .  .
 an 1,n  k 1 an 1,n  2 an 1,n 1 an 1,n  u   0 
   n 1   
 an ,n  k an ,n 1 ann   un  0 
Discretization of
Continuity Equation
FV Discretization of Incompressible N-S Equation
Muh  0
duh
  C (uh )uh  Duh  Mqh  0
dt
Unsteady Convection Diffusion Source
 Time Discretization

n 1
f (u n Explicit
du h  h)

dt  f (uhn , uhn 1 ) Implicit
Discretization of
Navier-Stokes Equation
8 Modelling

Modeling
• Modeling is the mathematical physics problem formulation in

terms of a continuous initial boundary value problem (IBVP)
• IBVP is in the form of Partial Differential Equations (PDEs) with
appropriate boundary conditions and initial conditions.
• Modeling includes:
1. Geometry and domain
2. Coordinates
3. Governing equations
4. Flow conditions
5. Initial and boundary conditions
6. Selection of models for different applications

Modeling (geometry and domain)
• Simple geometries can be easily created by few geometric

parameters (e.g. circular pipe)
• Complex geometries must be created by the partial differential
equations or importing the database of the geometry(e.g. airfoil)
into commercial software
• Domain: size and shape
• Typical approaches
• Geometry approximation
• CAD/CAE integration: use of industry standards such as
Parasolid, ACIS, STEP, or IGES, etc.
• The three coordinates: Cartesian system (x,y,z), cylindrical
system (r, θ, z), and spherical system(r, θ, Φ) should be
appropriately chosen for a better resolution of the geometry
(e.g. cylindrical for circular
2021/03/03 pipe).
CFD club@HCMUT 70
Modeling (coordinates)
z Cartesian z Cylindrical z Spherical

(x,y,z) (r,,z) (r,,)

z
y y y
 r  r
x x x
General Curvilinear Coordinates General orthogonal

Coordinates

Modeling (governing equations)
• Navier-Stokes equations (3D in Cartesian coordinates)

u u u u pˆ   2u  2u  2u 
  u  v  w    2  2  2 
t x y z x  x y z 
v v v v  pˆ   2v  2v  2v 
  u  v  w    2  2  2 
t x y z y  x y z 
w w w w pˆ  2w 2w 2w 
  u  v  w     2  2  2 
t x y z z  x y z 
Local Convection Piezometric pressure gradient Viscous terms

acceleration
    u     v     w 
    0 Continuity equation
t x y z
p  RT Equation of state
D 2R 3 DR 2 pv  p
R  ( )  Rayleigh Equation
Dt 2 2 Dt L
Modeling (flow conditions)
• Based on the physics of the fluids phenomena, CFD can be distinguished into
different categories using different criteria
• Viscous vs. inviscid (Re)
• External flow or internal flow (wall bounded or not)
• Turbulent vs. laminar (Re)
• Incompressible vs. compressible (Ma)
• Single- vs. multi-phase (Ca)
• Thermal/density effects (Pr, g, Gr, Ec)
• Free-surface flow (Fr) and surface tension (We)
• Chemical reactions and combustion (Pe, Da)
• etc…

Modeling (initial conditions)
• Initial conditions (ICS, steady/unsteady flows)

• ICs should not affect final results and only affect convergence
path, i.e. number of iterations (steady) or time steps (unsteady)
need to reach converged solutions.
• More reasonable guess can speed up the convergence
• For complicated unsteady flow problems, CFD codes are
usually run in the steady mode for a few iterations for getting a
better initial conditions

Modeling (boundary conditions)
•Boundary conditions: No-slip or slip-free on walls, periodic, inlet (velocity inlet,

mass flow rate, constant pressure, etc.), outlet (constant pressure, velocity
convective, numerical beach, zero-gradient), and non-reflecting (for compressible
flows, such as acoustics), etc.
No-slip walls: u=0,v=0
Inlet ,u=c,v=0 Outlet, p=c

r Periodic boundary condition in
v=0, dp/dr=0,du/dr=0 spanwise direction of an airfoil
o x
Axisymmetric
Boundary conditions
 Typical Boundary conditions

No-slip (Wall), Axisymmetric, Inlet, Outlet, Periodic
No-slip walls: u=0,v=0
Inlet ,u=c,v=0 Outlet, du/dx=0

dv/dy=0,dp/dx=0
r
v=0, dp/dr=0,du/dr=0
o x
Periodic boundary condition in
Axisymmetric
spanwise direction of an airfoil

Modeling (selection of models)
• CFD codes typically designed for solving certain fluid

phenomenon by applying different models
• Viscous vs. inviscid (Re)
• Turbulent vs. laminar (Re, Turbulent models)
• Incompressible vs. compressible (Ma, equation of state)
• Single- vs. multi-phase (Ca, cavitation model, two-fluid
model)
• Thermal/density effects and energy equation
(Pr, g, Gr, Ec, conservation of energy)
• Free-surface flow (Fr, level-set & surface tracking model) and
surface tension (We, bubble dynamic model)
• Chemical reactions and combustion (Chemical reaction
model)
• etc…
Modeling (Turbulence and free surface models)
• Turbulent flows at high Re usually involve both large and small scale
vortical structures and very thin turbulent boundary layer (BL) near the wall
• Turbulent models:
• DNS: most accurately solve NS equations, but too expensive
for turbulent flows
• RANS: predict mean flow structures, efficient inside BL but excessive
diffusion in the separated region.
• LES: accurate in separation region and unaffordable for resolving BL
• DES: RANS inside BL, LES in separated regions.
• Free-surface models:
• Surface-tracking method: mesh moving to capture free surface,
limited to small and medium wave slopes
• Single/two phase level-set method: mesh fixed and level-set
function used to capture the gas/liquid interface, capable of
studying steep or breaking waves.
Examples of modeling (Turbulence and free surface models)
URANS, Re=105, contour of vorticity for turbulent

flow around NACA12 with angle of attack 60 degrees
DES, Re=105, Iso-surface of Q criterion (0.4) for

turbulent flow around NACA12 with angle of attack 60
degrees
URANS, Wigley Hull pitching and heaving

Numerical methods
• The continuous Initial Boundary Value Problems (IBVPs) are

discretized into algebraic equations using numerical methods.
Assemble the system of algebraic equations and solve the system
to get approximate solutions
• Numerical methods include:
1. Discretization methods
2. Solvers and numerical parameters
3. Grid generation and transformation
4. High Performance Computation (HPC) and post-
processing

Discretization methods
• Finite difference methods (straightforward to apply, usually for

regular grid) and finite volumes and finite element methods
(usually for irregular meshes)
• Each type of methods above yields the same solution if the grid is
fine enough. However, some methods are more suitable to some
cases than others
• Finite difference methods for spatial derivatives with different
order of accuracies can be derived using Taylor expansions, such
as 2nd order upwind scheme, central differences schemes, etc.
• Higher order numerical methods usually predict higher order of
accuracy for CFD, but more likely unstable due to less numerical
dissipation
• Temporal derivatives can be integrated either by the explicit
method (Euler, Runge-Kutta, etc.) or implicit method (e.g. Beam-
Warming method)
Discretization methods (cont’d)
• Explicit methods can be easily applied but yield conditionally

stable Finite Different Equations (FDEs), which are restricted by
the time step; Implicit methods are unconditionally stable, but
need efforts on efficiency.
• Usually, higher-order temporal discretization is used when the
spatial discretization is also of higher order.
• Stability: A discretization method is said to be stable if it does not
magnify the errors that appear in the course of numerical solution
process.
• Pre-conditioning method is used when the matrix of the linear
algebraic system is ill-posed, such as multi-phase flows, flows with
a broad range of Mach numbers, etc.
• Selection of discretization methods should consider efficiency,
accuracy and special requirements, such as shock wave tracking.

Discretization methods (example)
• 2D incompressible laminar flow boundary layer

(L,m+1)
y
u v m=MM+1
 0 (L-1,m) (L,m) m=MM
x y
2 m=1
u u   p u m=0
u v     2 (L,m-1) L-1 L
x
x y x  e  y
u uml
u  uml  uml 1   2u 
x x  2  2 uml 1  2uml  uml 1 
y y
u vml
v  uml 1  uml  FD Sign( v l )<0 2nd order central difference
y y m
i.e., theoretical order of accuracy
vml Pkest= 2.
 uml  uml 1  BD Sign( l )>0
y vm
1st order upwind scheme, i.e., theoretical order of accuracy Pkest= 1
Discretization methods (example)
B
 B2 1  3 B1
 ul  FD  l l
 y 2    v    v 
 m  vml  2  uml   2  m FD  uml 1   2  m BD  uml 1
 x 1
BD y   y y   y y 
 y 
uml l 1 
 um  ( p / e)lm
 l
x x
Bu l
1 m 1
l
Bu Bu
2 m
l
3 m 1 Bu l 1
4 m   p / e m B4
x
l
 l 1   p   Solve it using
l  B4u1    
 B2 B3 0 0 0 0 0 0   u1   x  e 1  Thomas algorithm
B B B 0 0 0 0 0    
 
 1 2 3      
      
     
     
 0 0 0 0 0 B 1 B2 B3     

 0 0 0 0 0 0 B1 B2  umm   l
  p 
l
l 1
 B4umm    
To be stable, Matrix has to be  x  e  mm 
Diagonally dominant.
Solvers and numerical parameters
• Solvers include: tridiagonal, pentadiagonal solvers, PETSC solver,

solution-adaptive solver, multi-grid solvers, etc.
• Solvers can be either direct (Cramer’s rule, Gauss elimination, LU
decomposition) or iterative (Jacobi method, Gauss-Seidel method, SOR
method)
• Numerical parameters need to be specified to control the calculation.
• Under relaxation factor, convergence limit, etc.
• Different numerical schemes
• Monitor residuals (change of results between iterations)
• Number of iterations for steady flow or number of time steps for
unsteady flow
• Single/double precisions

Numerical methods (grid generation)
• Grids can either be structured (hexahedral) or
unstructured (tetrahedral). Depends upon structured
type of discretization scheme and application
• Scheme
Finite differences: structured
Finite volume or finite element:
structured or unstructured
• Application
Thin boundary layers best resolved
with highly-stretched structured grids
Unstructured grids useful for complex unstructured
geometries
Unstructured grids permit automatic
adaptive refinement based on the
pressure gradient, or regions
interested (FLUENT)

Grids
 Structured Grid
+ all nodes have the same number of elements around
it
– only for simple domains
 Unstructured Grid
+ for all geometries
– irregular data structure
 Block Structured Grid

Numerical methods (grid transformation)
y h
Transform
o x o x
Physical domain Computational domain
•Transformation between physical (x,y,z) f f x f h f f

and computational (x,h,z) domains,    xx  hx
x x x h x x h
important for body-fitted grids. The partial
f f x f h f f
derivatives at these two domains have the    x y  h y
y x y h y x h
relationship (2D as an example)

High performance computing
• CFD computations (e.g. 3D unsteady flows) are usually very expensive which
requires parallel high performance supercomputers (e.g. IBM 690) with the
use of multi-block technique.
• As required by the multi-block technique, CFD codes need to be developed
using the Massage Passing Interface (MPI) Standard to transfer data
between different blocks.
• Emphasis on improving:
• Strong scalability, main bottleneck pressure Poisson solver for incompressible flow.
• Weak scalability, limited by the memory requirements.
Figure: Weak scalability of total times without I/O for CFDShip-Iowa V6

Figure: Strong scalability of total times without I/O for CFDShip-
and V4 on IBM P6 (DaVinci) and SGI Altix (Hawk) are compared with
Iowa V6 and V4 on NAVO Cray XT5 (Einstein) and IBM P6
ideal scaling.
(DaVinci) are compared with ideal scaling.
Post- processing
• Post-processing:
 1. Visualize the CFD results (contour, velocity vectors, streamlines, path lines,
streak lines, and iso-surface in 3D, etc.), and
 2. CFD UA: verification and validation using EFD data (more details later)
• Post-processing usually through using commercial software
Figure: Isosurface of Q=300 colored using piezometric pressure, free=surface colored using z for fully appended Athena,
Fr=0.25, Re=2.9×108. Tecplot360 is used for visualization.

9 Types of CFD codes

CFD code
• CFD codes typically designed for representation of

specific flow phenomenon
– Viscous vs. inviscid (no viscous forces) (Re)
– Turbulent vs. laminar (Re)
– Incompressible vs. compressible (Ma)
– Single- vs. multi-phase (Co)
– Thermal/density effects and energy equation (Pr, g, Gr, Ec)
– Free-surface flow and surface tension (Fr, We)
– Chemical reactions, mass transfer
– etc…

How does a CFD code work?
All codes contain three main elements:

•A pre-processor
•A solver and
•A post-processor

Types of CFD codes
• Commercial CFD code: FLUENT, Star-CD,

CFDRC, CFX/AEA, etc.
• Research CFD code: CFDSHIP-IOWA
• Public domain software (PHI3D, HYDRO,
and WinpipeD, etc.)
• Other CFD software includes the Grid
generation software (e.g. Gridgen, Gambit)
and flow visualization software (e.g.
Tecplot, FieldView)
CFDSHIPIOWA
CFD Educational Interface

10 CFD process

CFD process
• Purposes of CFD codes will be different for different applications:

investigation of bubble-fluid interactions for bubbly flows, study of wave
induced massively separated flows for free-surface, etc.
• Depend on the specific purpose and flow conditions of the problem, different
CFD codes can be chosen for different applications (aerospace, marines,
combustion, multi-phase flows, etc.)
• Once purposes and CFD codes chosen, “CFD process” is the steps to set up
the IBVP problem and run the code:
1. Geometry
2. Physics
3. Mesh
4. Solve
5. Reports
6. Post processing

CFD process
Geometry Physics Mesh Solve Reports Post-

Processing
Select Heat Transfer Unstructured Steady/ Forces Report Contours

Geometry ON/OFF (automatic/ Unsteady (lift/drag, shear
manual) stress, etc)
Compressible Structured Iterations/ XY Plot Vectors

Geometry ON/OFF (automatic/ Steps
Parameters manual)
Domain Flow Convergent Verification Streamlines

Shape and properties Limit
Size
Viscous Precisions Validation

Model (single/
double)
Boundary Numerical
Conditions Scheme
Initial
Conditions

Geometry
• Selection of an appropriate coordinate

• Determine the domain size and shape
• Any simplifications needed?
• What kinds of shapes needed to be used to best resolve the
geometry? (lines, circular, ovals, etc.)
• For commercial code, geometry is usually created using
commercial software (either separated from the commercial
code itself, like Gambit, or combined together, like FlowLab)
• For research code, commercial software (e.g. Gridgen) is used.

Physics
• Flow conditions and fluid properties

1. Flow conditions: inviscid, viscous, laminar, or
turbulent, etc.
2. Fluid properties: density, viscosity, and
thermal conductivity, etc.
3. Flow conditions and properties usually presented in
dimensional form in industrial commercial CFD software,
whereas in non-dimensional variables for research codes.
• Selection of models: different models usually fixed by codes,
options for user to choose
• Initial and Boundary Conditions: not fixed by codes, user needs
specify them for different applications.

Mesh
• Meshes should be well designed to resolve important flow

features which are dependent upon flow condition parameters
(e.g., Re), such as the grid refinement inside the wall boundary
layer
• Mesh can be generated by either commercial codes (Gridgen,
Gambit, etc.) or research code (using algebraic vs. PDE based,
conformal mapping, etc.)
• The mesh, together with the boundary conditions need to be
exported from commercial software in a certain format that can
be recognized by the research CFD code or other commercial CFD
software.

Solve
• Setup appropriate numerical parameters

• Choose appropriate Solvers
• Solution procedure (e.g. incompressible flows)
Solve the momentum, pressure Poisson equations and get
flow field quantities, such as velocity, turbulence intensity,
pressure and integral quantities (lift, drag forces)

Reports
• Reports saved the time history of the residuals of the velocity,

pressure and temperature, etc.
• Report the integral quantities, such as total pressure drop,
friction factor (pipe flow), lift and drag coefficients (airfoil flow),
etc.
• XY plots could present the centerline velocity/pressure
distribution, friction factor distribution (pipe flow), pressure
coefficient distribution (airfoil flow).
• AFD or EFD data can be imported and put on top of the XY plots
for validation

Post-processing
• Analysis and visualization

• Calculation of derived variables
 Vorticity
 Wall shear stress
• Calculation of integral parameters: forces,
moments
• Visualization (usually with commercial software)
Simple 2D contours
3D contour isosurface plots
Vector plots and streamlines (streamlines are
the lines whose tangent direction is the same
as the velocity vectors)
Animations

Post-processing (Uncertainty assessment)
• Simulation error: the difference between a simulation result S and

the truth T (objective reality), assumed composed of additive
modeling δSM and numerical δSN errors:
Error: S  S  T   SM   SN Uncertainty: U S2  U SM
2 2
 U SN
• Verification: process for assessing simulation numerical
uncertainties USN and, when conditions permit, estimating the sign
and magnitude Delta δ*SN of the simulation numerical error itself and
the uncertainties in that error estimate USN
J
 SN   I   G   T   P   I    j 2
U SN  U I2  U G2  U T2  U P2
j 1
I: Iterative, G : Grid, T: Time step, P: Input parameters
• Validation: process for assessing simulation modeling uncertainty

USM by using benchmark experimental data and, when conditions
permit, estimating the sign and magnitude of the modeling error δSM
itself.
2 2 2
E  D  S    (   ) U V  U D  U SN
D SM SN
D: EFD Data; UV: Validation Uncertainty E  UV Validation achieved

Post-processing (UA, verification)
• Convergence studies: Convergence studies require a minimum of

m=3 solutions to evaluate convergence with respective to input
parameters. Consider the solutions corresponding

to fine , 
medium ,and coarse Smeshes Sk2 Sk3
k1
    Monotonic Convergence
 k 21  Sk 2  Sk1  k 32  Sk 3  Sk 2
Rk   k 21  k 32
(i). Monotonic convergence: 0<Rk<1
(ii). Oscillatory Convergence: Rk<0; | Rk|<1 Monotonic Divergence Oscillatory Convergence
(iii). Monotonic divergence: Rk>1

(iv). Oscillatory divergence: Rk<0; | Rk|>1
• Grid refinement ratio: uniform ratio of grid spacing between meshes.
rk  xk 2 xk1  xk3 xk 2  xk m xk m1

Post-processing (Verification, RE)
• Generalized Richardson Extrapolation (RE): For monotonic

convergence, generalized RE is used to estimate the error δ*k and
order of accuracy pk due to the selection of the kth input
parameter.
• The error is expanded in a power series expansion with integer
powers of xk as a finite sum.
• The accuracy of the estimates depends on how many terms are
retained in the expansion, the magnitude (importance) of the
higher-order terms, and the validity of the assumptions made in
RE theory

Post-processing (Verification, RE)
*
 SN   SN   SN εSN is the error in the estimate
*
SC  S   SN SC is the numerical benchmark
Finite sum for the kth
Power series expansion parameter and mth solution
J
p k i 
Sˆk  S k   I  S C   k    *jm
* * n
m m km m  k*   xk
m m
 g ki 
j 1, j  k
i 1
pk(i )
n pk( i ) J
Sˆkm  SC   xkm   g k(i )   *
jm
order of accuracy for the ith term
i 1 j 1, j  k
J J
Sˆk1  SC  xk1   pk(1)
g (1)
k   *
j1 
Sˆk 2  SC  rk xk1  pk(1)
g (1)
k  *
 j2

j 1, j  k j 1, j  k
J
pk(1)

Sˆk3  SC  r xk1 k
2
 g (1)
k   *
j3 Three equations with three unknowns
j 1, j  k
pk 

ln  k32  k21  * *
k
   21
lnrk  k1 REk 1
rkpk  1
Post-processing (UA, verification, cont’d)
• Monotonic Convergence: Generalized Richardson Extrapolation
ln   k 32  k 21  rkpk  1  9.6 1  C 2  1.1  * 1  Ck  0.125

Ck  
U k    REk 1
k
pk  rk
pkest
1
ln  rk  *
  2 1  Ck  1  REk1
1  Ck  0.125
1. Correction  k 21
 2.4 1C 2  0.1  RE
*
factors  RE  pk k
* 1  Ck  0.25
k1
r k 1 U kc    1C 1  * * k1
pkest is the theoretical order of accuracy, 2 for 2nd

[|1 kCk |] RE| k 1RE | k1
| 1  C k | 0.25
order and 1 for 1st order schemes U k is the uncertainties based on fine mesh
Ck is the correction factor solution,U kc is the uncertainties based on
numerical benchmark SC
2. GCI approach *
U kc  Fs  1  RE
U k  Fs  RE k1
*
k1
FS: Factor of Safety
• Oscillatory Convergence: Uncertainties can1 be estimated, but without
signs and magnitudes of the errors. U k  SU  S L 
• Divergence 2
• In this course, only grid uncertainties studied. So, all the variables with
subscribe symbol k will be replaced by g, such as “Uk” will be “Ug”

Post-processing (UA, verification, cont’d)
• Verification for velocity profile using AFD: To avoid ill-defined

ratios, L2 norm of the G21 and G32 are used to define RG and PG
RG   G21 G pG 

ln  G32
2
G 21 2

2 32 2
ln rG 
Where <> and || ||2 are used to denote a profile-averaged quantity (with ratio of
solution changes based on L2 norms) and L2 norm, respectively.
NOTE: For verification using AFD for axial velocity profile in laminar pipe flow (CFD
Lab1), there is no modeling error, only grid errors. So, the difference between CFD and
AFD, E, can be plot with +Ug and –Ug, and +Ugc and –Ugc to see if solution was
verified.

Post-processing (Verification: Iterative convergence)
•Typical CFD solution techniques for obtaining steady state solutions

involve beginning with an initial guess and performing time marching or
iteration until a steady state solution is achieved.
•The number of order magnitude drop and final level of solution residual
can be used to determine stopping criteria for iterative solution techniques
(1) Oscillatory (2) Convergent (3) Mixed oscillatory/convergent
(a) 1 (b)
UI  ( SU  S L )
2
Iteration history for series 60: (a). Solution change (b) magnified view of total
resistance over last two periods of oscillation (Oscillatory iterative convergence)
Post-processing (UA, validation)
• Validation procedure: simulation modeling uncertainties

was presented where for successful validation, the comparison
error, E, is less than the validation uncertainty, Uv.
• Interpretation of the results of a validation effort
E  U V Validation achieved E  D  S   D  ( SM   SN )
2
U V  E Validation not achieved U V  U SN  U D2
• Validation example
Example: Grid study
and validation of
wave profile for
series 60

11 Example of CFD process
using CFD Educational Interface

Example of CFD process using CFD Educational Interface (Geometry)
• Turbulent flows (Re=143K) around Clarky airfoil with

angle of attack 6 degree is simulated.
• “C” shape domain is applied
• The radius of the domain Rc and downstream length Lo
should be specified in such a way that the domain size
will not affect the simulation results
Example of CFD process (Physics)
No heat transfer

Example of CFD process (Mesh)
Grid need to be refined near the

foil surface to resolve the boundary
layer
Example of CFD process (Solve)
Residuals vs. iteration

Example of CFD process (Reports)

Example of CFD process (Post-processing)

12 Example of CFD
analysis process

CFD analysis process
1. Formulate the Flow Problem
2. Model the Geometry
3. Model the Flow (Computational) Domain
4. Generate the Grid
5. Specify the Boundary Conditions
6. Specify the Initial Conditions
7. Set up the CFD Simulation
8. Perform and Monitor the CFD Simulation
9. Examine and Process the CFD Results
10. Further Analysis?
11. Report the Findings
The objective is confidence that the CFD results provide accurate,

credible, and useful information.

Formulate the flow problem
Determine the following:

1. What is the objective?
Engineering quantities
Performance
Proof of concept
2. What is known?
Free stream conditions
Geometry ONERA M6 Wing
Configuration - Section coordinates and wing tip shape
- Tunnel test section: M, Re, Tt
3. What is best analysis approach? - Wing: 
Steady or unsteady flow? - Aerodynamics quantities to determine:
Are viscous forces important? Static pressure distributions (loading)
Are shocks present? Lift and drag coefficients
What equations to solve?
What other flow models are needed?

Model the geometry
Determine the following:

1. What geometric features are significant?
Steps, leading edges, trailing edges
2. Any simplification of the geometry needed?
Smooth over small steps
3. What computational format for geometry?
Lines, curves, surfaces
CAD file format (IGES, Step, …)
ONERA M6 Wing
- Table of airfoil coordinates
- Drawing of planform shape
- Develop a CAD model of wing

Model the flow domain
The flow (computational) domain is the

Wing
control volume (bounded by the control
surface) in which the flow field is computed. Reflection
Plane Outflow
• Body is part of surface of flow domain.
• The geometry of the flow domain is also
computationally modeled (CAD).
• Shape of the flow domain usually considers
the grid topology (this is especially true of
structured grids).
• Extent of flow domain depends on choice of
boundary conditions. Farfield
- Subsonic flow boundaries need to be farther
out since waves travel in all directions. ONERA M6 Wing
- Wing surface part of domain boundary
- Supersonic flow boundaries can be closer to
body if one considers wave motion. - Reflection plane at root of wing
- Farfield boundaries out 15 chord lengths
- Reflection (flow symmetry) planes can
- Outflow boundary downstream
effectively reduce the size of the flow domain.

Generate the grid
A grid is generated within the flow domain.

• The grid consists of finite-volume cells on
which the CFD equations are approximated.
• The flow domain may be divided into zones
for various reasons:
- Simplify grid generation.
- Reduce memory requirements.
- Divide grid for parallel computation.
• Grids can be structured or unstructured.
• Software packages are available for grid
generation: Gridgen, ICEM CFD, VGRID.
• WIND assumes grid has been
generated. ONERA M6 Wing
- Single-zone C-grid wrapped about the wing
- Cluster grid normal to wall (y+30)
- Clustering downstream helps resolve wake
- Stretch grid away from wing (15-20%)

Specify the boundary conditions
Numerical conditions need to be applied at Viscous Wall BC

the boundaries of the flow domain and
zones. Reflection BC
Outflow BC
• Specify types of boundary condition:
Viscous (no-slip) wall
Inflow / outflow
Reflection
Coupled
• Zone-to-zone boundaries and overlapped

zones require topology and coupling
specifications. Free stream BC
• Specification of boundary conditions may be ONERA M6 Wing
part of grid generation package. - Free stream BC at farfield boundary
• Additional inputs may be required in the - Outflow BC at outflow boundary
flow code input process (i.e. flow rates, - No-slip, adiabatic wall BC at wing surface
- Reflection BC at reflection plane
pressures,…).

Specify the initial conditions
Marching numerical methods require

a flow field from which to start.
• One choice is to start with a uniform flow
field with conditions of the freestream or
inflow conditions.
• Initial transients in the flow at the start of
the marching may inhibit convergence
and perhaps cause the simulation to fail.
• An auxiliary program can be developed to
approximate the final solution to enhance
convergence.
• An initial solution that satisfies mass ONERA M6 Wing
conservation helps simulations of internal - Initialize flow with tunnel flow conditions
flows.

Set up the CFD simulation
The simulation requires several input files:

Grid file
Initial solution file
Input data file
Auxiliary files (i.e. multi-processor, local boundary
conditions, chemistry,…)
Input Data File

Reference state Numerical algorithm inputs
Free stream flow conditions (Mach, p, T, Re) Time-marching / space-marching
Configuration (angle-of-attack & sideslip) Explicit / implicit operators
Damping schemes
Physical model inputs
Convergence acceleration
Dimensionality (3D, 2D, axisymmetric)
Convergence monitoring
Flow equations (RANS, PNS, Euler)
Turbulence model
Gas model / chemistry ONERA M6 Wing
Common Grid File (m6wing.cgd)
Common Solution File (m6wing.cfl)
Input Data File (m6wing.dat)
Multi-Processor Control File (m6wing.mpc)

Perform and monitor the CFD simulation
• Simulations typically require CPU times

on the order of hours and days.
• Marching methods are monitored to
determine iterative convergence.
• Residuals of conservation equations
should approach zero as the number of Lift on the M6 wing
iterations increases.
• Satisfaction of conservation statements
(mass, momentum, energy, …) are also
useful for monitoring iterative
convergence. ONERA M6 Wing
• Convergence to design / performance Monitored the residuals, as well as, the
lift and drag on the wing with number of
quantity (lift, drag, recovery) is often a
iterations.
critical test for iterative convergence.

Examine and process the CFD results
Visualization: Static pressures on the M6 wing

• View flow properties (Mach, pressure, vectors) to get
overall view of flow (CFD: Colorful Fluid Dynamics).
• Various packages: FAST, Fieldview, Ensight, TecPlot,
CFPOST.
Solution Processing:
• Extract data (lift, drag, recovery, spillage, etc…) useful
for iterative convergence monitoring and engineering
design (CFPOST).

Further analysis?
Once a simulation has reached iterative convergence and the results

examined and processed, there may be various reasons to make changes and
continue with another simulation:
• Change of physical model parameters to examine sensitivity.
Turbulence model / parameters
Gas / chemistry model
• Change of numerical algorithm parameters to examine sensitivity.
Implicit or explicit method
Time step parameters
Numerical flux parameters
• Change or refine the grid to examine grid sensitivity.
• Change the geometry as part of design parametric study.
• Change initial solution to examine iterative convergence.

Report the findings
CFD results, like any other data, should be reported along with some idea of the
level of error that it contains and indications of how much confidence one has in
the data.
• What are engineering results and uncertainty of those results?
• How much error is there in the iterative convergence?
• How much error is there in the grid convergence?
• How sensitive are the results to model parameters (turbulence, etc…)
• How sensitive are the results to algorithm parameters (CFL, etc…)
• How do the results compare to similar experimental or theoretical data?
• Statistical analysis may be useful for reporting such information.

Conclusions
① Computational Fluid Dynamics is an important tool in many

branches of science and engineering.
② Results are typically n-D, over 3-D plus time.
③ CFD calculations require simultaneous solution of many sets of
differential equations, typically involving 4th order Runge-Kutta in
3-D space.
④ Visualization of CFD data is an important and challenging problem,
requiring clever use of all available visualization tools and skills.

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Introduction To Computational Fluid Dynamics (CFD)

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Introduction to

Computational Fluid Dynamics (CFD)

Le Thi Minh Nghia

1Facultyof Transportation Engineering, Ho Chi Minh City University of Technology (HCMUT),

After completing this course students will be able to:

1. Describe methods for numerical solution of compressible

2021/03/03 CFD club@HCMUT 2

① Fluid mechanics_ Fundamentals and applications

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1. Numerical Heat Transfer, Part A- Applications; Part B Fundamentals

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• CFD is the simulation of fluids engineering systems using modeling

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• What is CFD and its objective?

– Computational Fluid Dynamics

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• Computational fluid dynamics (CFD) is the science of predicting fluid

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• Simply put, CFD is the calculation of properties of a

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• Analysis and design

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• Why use CFD?

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Time Short Long

Scale Any Small/Middle

Information All Measured Points

Repeatable All Some

Security Safe Some Dangerous

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Where is CFD used? (Aerospace)

• Where is CFD used?

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NASA Ames’ virtual wind tunnel

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Where is CFD used? (Appliances)

• Where is CFD used?

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Where is CFD used? (Automotive)

• Where is CFD used?

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. . . Internal combustion engine

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Where is CFD used? (Biomedical)

• Where is CFD used?

• Where is CFD used?

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• Where is CFD used?

. . . And interior comfort . . .

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• Where is CFD used?