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Introduction of Particle Image Velocimetry
Introduction of Particle Image Velocimetry
Introduction of Particle Image Velocimetry
Velocimetry
Ken Kiger
Burgers Program For Fluid Dynamics
Turbulence School
College Park, Maryland, May 24-27
Slides largely generated by
J. Westerweel & C. Poelma of Technical University of Delft
Adapted by K. Kiger
Introduction
Particle Image Velocimetry (PIV):
Imaging of tracer particles, calculate displacement: local fluid velocity
Frame 1: t = t0
Measurement
section
Light sheet
optics
Frame 2: t = t0 + t
Twin Nd:YAG
laser
CCD camera
Introduction
Particle Image Velocimetry (PIV)
992
1004
32
32
Introduction
Particle Image Velocimetry (PIV):
Instantaneous measurement of 2 components in a plane
conventional methods
(HWA, LDV)
whole-field method
non-intrusive (seeding
single-point measurement
traversing of flow domain
time consuming
only turbulence statistics
Introduction
Particle Image Velocimetry (PIV):
Instantaneous measurement of 2 components in a plane
instantaneous vorticity field
whole-field method
non-intrusive (seeding
hairpin
vortex
Overview
PIV components:
- tracer particles
- light source
- light sheet optics
- camera
Hardware (imaging)
- measurement settings
- interrogation
- post-processing
Tracer particles
Assumptions:
- homogeneously distributed
- follow flow perfectly
- uniform displacement within interrogation region
Criteria:
-easily visible
-particles should not influence fluid flow!
Image density
Assumption:
uniform flow
in interrogation area
Bx By
R(i, j) =
1
2
2
2
( Ia (k,l) Ia ) ( Ib (k + i,l + j) Ib )
k=1
l=1
k=1 l=1
Bx By
k=1 l=1
1
Ia
Bx B y
Bx By
Bx
By
I
k 1 l 1
(k , l )
Cross-correlation
Ia
Ib
Bx
(I (k) I )( I (k + i) I )
a
R(i) =
k=1
Bx
B x
2
2
2
( Ia (k) Ia ) ( Ib (k + i) Ib )
k=1
k=1
Bx By
k=1 l=1
1
2
2
2
( Ia (k,l) Ia ) ( Ib (k + i,l + j) Ib )
k=1
l=1
k=1 l=1
Bx By
1
Ia
Bx B y
Bx By
Bx
By
I
k 1 l 1
(k , l )
Bx By
k=1 l=1
1
2
2
2
( Ia (k,l) Ia ) ( Ib (k + i,l + j) Ib )
k=1
l=1
k=1 l=1
Bx By
1
Ia
Bx B y
Bx By
Bx
By
I
k 1 l 1
(k , l )
Bx By
k=1 l=1
1
2
2
2
( Ia (k,l) Ia ) ( Ib (k + i,l + j) Ib )
k=1
l=1
k=1 l=1
Bx By
1
Ia
Bx B y
Bx By
Bx
By
I
k 1 l 1
(k , l )
Cross-correlation
This shifting method can formally be expressed as a cross-correlation:
R (s) I1 x I 2 x s dx
- I1 and I2 are interrogation areas (sub-windows) of the total frames
- x is interrogation location
- s is the shift between the images
Backbone of PIV:
-cross-correlation of interrogation areas
-find location of displacement peak
Cross-correlation
peak: mean
displacement
RC
correlation
of the mean
RF
RD
correlation due
to displacement
Influence of NI
RD (s D ) ~ N I
NI = 5
Cz0 2
NI
DI
2
M0
NI = 10
C
z0
DI
M0
particle concentration
light sheet thickness
int. area size
magnification
NI = 25
Influence of NI
NI = 5
NI = 10
NI = 25
X / DI = 0.00
FI = 1.00
0.28
0.64
0.56
0.36
RD (s D ) ~ N I FI FI (X , Y ) 1
DI
0.85
0.16
Y
DI
Z / z0 = 0.00
FO = 1.00
0.25
0.75
RD (s D ) ~ N I FI FO
0.50
0.50
z
FO ( z ) 1
z0
0.75
0.25
Influence of gradients
Displacement differences <
3-5% of int. area size, DI
a M0ut
a / DI = 0.00
a / d = 0.00
0.05
0.50
RD (s D ) ~ N I FI FO F
R.D. Keane & R.J. Adrian
0.10
1.00
0.15
1.50
F ( a) exp( a 2 / d2 )
image density
NI >10
in-plane motion
|X| < DI
M0ut < d
Window shifting
in-plane motion
|X| < DI
Window shifting
in-plane motion
|X| < DI
Window shifting
in-plane motion
|X| < DI
matched windows
Raffel,
Willert and
Kompenhans
Sub-pixel accuracy
Maximum in the correlation plane: single-pixel resolution of displacement?
Sub-pixel accuracy
three-point estimators
peak centroid
R1 R1
R1 R0 R1
R1 R1
2 R1 R1 2 R0
ln R1 ln R1
2 ln R1 ln R1 2 ln R0
balance
normalization
Peak locking
0.2
Pixel
Radiu
s 0.5
R=
Polynomial fit
Gaussian fit
0.1
0
-0.1
-0.2
-0.3
-0.5
0.3
Interpolation error (pixels)
0.2
-0.25
0
0.25
Actual peak location (pixels)
0.5
Polynomial fit
Gaussian fit
0.1
R = 1.0
-0.1
-0.2
-0.3
-0.5
0.3
Interpolation error (pixels)
0.3
0.2
-0.25
0
0.25
Actual peak location (pixels)
0.5
Polynomial fit
Gaussian fit
0.1
R = 1.5
-0.1
-0.2
-0.3
-0.5
-0.25
0
0.25
Actual peak location (pixels)
0.5
Peak locking
Histogram of velocities in a turbulent flow
Sub-pixel accuracy
optimal resolution:
particle image size: ~2 px
Smaller: particle no longer resolved
Larger: random noise increase
three-point estimators:
Peak centroid
Parabolic peak fit
Gaussian peak fit
...
total
error
bias errors
random errors
d / dr
displacement measurement
error
window matching
fixed windows
matched windows
FI ~ 0.75
FI ~ 1
velocity pdf
measurement
error
u2
signal
u2
C2
noise
4C2u2
u2 / C2
SNR
1 / 4C2
application example:
grid-generated turbulence
X = 7 px
fixed windows
u/U = 2.5%
matched windows
Data Validation
article
lab
Spurious vectors
Three main causes:
-
gradients
Remedies
increase NI
practical limitations:
optical transparency of the fluid
two-phase effects
image saturation / speckle
Detection methods
human perception
peak height
amount of correlated signal
peak detectability
peak height relative to noise
lower limit for SNR
residual vector analysis
fluctuation of displacement
multiplication of correlation planes
fluid mechanics
continuity
fuzzy logic & neural nets
Residual analysis
r U U ref
2.3
5
2.2
3.0
3.7
3.1
3.2
2.4
3.5
2.7
Mean
2.9
RMS
0.53
2.2
2.3
2.4
2.7
3.0
3.1
3.2
3.5
3.7
Mean
3.7
2.3
9.7
3.0
3.7
3.1
3.2
2.4
3.5
2.7
RMS
2.29
2.3
2.4
2.7
3.0
3.1
3.2
3.5
3.7
9.7
Median test
1
ri = ui uref
0.1andr0* > 2
Interpolation
Overlapping windows
Method to increase data yield:
Allow overlap between adjacent interrogation areas
a
Data acquisition
Reduce non-uniformity
of illumination; Reflections
Image pre-processing
PIV cross-correlation
Median test,
Search window
Vorticity, interpolation
of missing vectors, etc.
Laser control,
Camera settings, etc.
Vector validation
Post-processing
Pre-shift; Decreasing
window sizes
PIV software
Free
PIVware: command line, linux (Westerweel)
JPIV: Java version of PIVware (Vennemann)
MatPiv: Matlab PIV toolbox (Cambridge, Sveen)
URAPIV: Matlab PIV toolbox (Gurka and Liberzon)
DigiFlow (Cambridge), PIV Sleuth (UIUC), MPIV, GPIV, CIV, OSIV,
Commercial
PIVtec
TSI
Dantec
LaVision
Oxford Lasers/ILA
PIVview
Insight
Flowmap
DaVis
VidPIV
dv p
dv
1 du
d
u
p
g
mp
3D u v p m f
mp 1
mf
dt
2 dt
dt
dt
Inertia
Where
Viscous drag
Added mass
Pressure
gradient
buoyancy
D 3
m p = p
,theparticlemass
6
D 3
m f = f
,fluidmassofsamevolumeasparticle
6
D = particlediameter
= fluidviscosity
r
u= fluidvelocity
r
vp = particlevelocity
g = fluiddensity
p = particlematerialdensity
0fort
<0
u =
0
Ufort
dv p
18
1
=
U
v
=
(
)
(U v p )
p
dt
p D2
p
vp+
1
1
vp = U
p
p
u, vp
U
u( t ) =
du( t )
=
dt
( ) exp(it ) d
v p (t) =
( ) exp(it ) d
dt
( ) exp(it ) d
( ) exp(it ) d
2m p dv p
m f m p du
dv p m f m p du
= 2( u v p ) +
+
2
3D dt
m p 3D dt
dt m p 3D dt
p D2
2 18 p i exp(it )d =
0
dv p ( t )
2(
p ) exp(it )d +
2iSt p = 2( f p ) + iSt [ 3 f p ]
St =
f p D2
i [ 3 f p ] exp(it ) d
p 18
p
f
p D2
18
f
p
? ?1 2
?A 2 + B 2 ?1 2
vp
pp
r = ? ? = ? 2
?
u ? f f ? ? A + 1 ?
?Im( / ) ?
?A(1 B) ?
p
f
?= tan1? 2
tan ?
?
?
?
A
+
B
Re
/
?
?
(
)
p
f
?
?
1
2
St 2
3
B
2
A
Examine