A parallel block preconditioner for large-scale poroelasticity with highly heterogeneous material parameters

Large-scale simulations of coupled flow in deformable porous media require iterative methods for solving the systems of linear algebraic equations. Construction of efficient iterative methods is particularly challenging in problems with large jumps in material properties, which is often the case in realistic geological applications, such as basin evolution at regional scales. The success of iterative methods for such problems depends strongly on finding effective preconditioners with good parallel scaling properties, which is the topic of the present paper. We present a parallel preconditioner for Biot’s equations of coupled elasticity and fluid flow in porous media. The preconditioner is based on an approximation of the exact inverse of the two-by-two block system arising from a finite element discretisation. The approximation relies on a highly scalable approximation of the global Schur complement of the coefficient matrix, combined with generally available state-of-the-art multilevel preconditioners for the individual blocks. This preconditioner is shown to be robust on problems with highly heterogeneous material parameters. We investigate the weak and strong parallel scaling of this preconditioner on up to 512 processors and demonstrate its ability on a realistic basin-scale problem in poroelasticity with over eight million tetrahedral elements.     

A locally conservative finite element framework for the simulation of coupled flow and reservoir geomechanics

In this paper, we present a computational framework for the simulation of coupled flow and reservoir geomechanics. The physical model is restricted to Biot’s theory of single-phase flow and linear poroelasticity, but is sufficiently general to be extended to multiphase flow problems and inelastic behavior. The distinctive technical aspects of our approach are: (1) the space discretization of the equations. The unknown variables are the pressure, the fluid velocity, and the rock displacements. We recognize that these variables are of very different nature, and need to be discretized differently. We propose a mixed finite element space discretization, which is stable, convergent, locally mass conservative, and employs a single computational grid. To ensure stability and robustness, we perform an implicit time integration of the fluid flow equations. (2) The strategies for the solution of the coupled system. We compare different solution strategies, including the fully coupled approach, the usual (conditionally stable) iteratively coupled approach, and a less common unconditionally stable sequential scheme. We show that the latter scheme corresponds to a modified block Jacobi method, which also enjoys improved convergence properties. This computational model has been implemented in an object-oriented reservoir simulator, whose modular design allows for further extensions and enhancements. We show several representative numerical simulations that illustrate the effectiveness of the approach.     

Convergence analysis of fixed stress split iterative scheme for anisotropic poroelasticity with tensor Biot parameter

We perform a convergence analysis of the fixed stress split iterative scheme for the Biot system modeling coupled flow and deformation in anisotropic poroelastic media with tensor Biot parameter. The fixed stress split iterative scheme solves the flow subproblem with all components of the stress tensor frozen using a multipoint flux mixed finite element method, followed by the poromechanics subproblem using a conforming Galerkin method in every coupling iteration at each time step. The coupling iterations are repeated until convergence and Backward Euler is employed for time marching. The convergence analysis is based on studying the equations satisfied by the difference of iterates to show that the fixed stress split iterative scheme for anisotropic poroelasticity with Biot tensor is contractive. We also demonstrate that the scheme is numerically convergent using the classical Mandel’s problem solution for transverse isotropy.     

Discrete fracture model for coupled flow and geomechanics

We present a fully implicit formulation of coupled flow and geomechanics for fractured three-dimensional subsurface formations. The Reservoir Characterization Model (RCM) consists of a computational grid, in which the fractures are represented explicitly. The Discrete Fracture Model (DFM) has been widely used to model the flow and transport in natural geological porous formations. Here, we extend the DFM approach to model deformation. The flow equations are discretized using a finite-volume method, and the poroelasticity equations are discretized using a Galerkin finite-element approximation. The two discretizations—flow and mechanics—share the same three-dimensional unstructured grid. The mechanical behavior of the fractures is modeled as a contact problem between two computational planes. The set of fully coupled nonlinear equations is solved implicitly. The implementation is validated for two problems with analytical solutions. The methodology is then applied to a shale-gas production scenario where a synthetic reservoir with 100 natural fractures is produced using a hydraulically fractured horizontal well.     

Convergence of iterative coupling of geomechanics with flow in a fractured poroelastic medium

We consider an iterative scheme for solving a coupled geomechanics and flow problem in a fractured poroelastic medium. The fractures are treated as possibly non-planar interfaces. Our iterative scheme is an adaptation due to the presence of fractures of a classical fixed stress-splitting scheme. We prove that the iterative scheme is a contraction in an appropriate norm. Moreover, the solution converges to the unique weak solution of the coupled problem.     

一种高性能迭代预处理方法及其在岩土工程中的应用

岩土工程建设的发展极大地促进了三维数值模拟的应用。大规模三维有限元计算需要求解一系列大型线性方程组,这些线性方程组的求解直接影响着整个有限元计算的效率。复杂岩土工程问题通常涉及多相和多体耦合相互作用,各相之间或不同固体材料之间性质差别显著,可能导致Krylov子空间迭代法收敛缓慢,甚至求解失败。为了提高Krylov子空间迭代法的求解效率和可靠性,提出一种新的高效预处理技术,通过算例验证了所提出的分区块迭代预处理方法的有效性。     

Parallel inexact constraint preconditioning for ill-conditioned consolidation problems

Constraint preconditioners have proved very efficient for the solution of ill-conditioned finite element (FE) coupled consolidation problems in a sequential computing environment. Their implementation on parallel computers, however, is not straightforward because of their inherent sequentiality. The present paper describes a novel parallel inexact constraint preconditioner (ParICP) for the efficient solution of linear algebraic systems arising from the FE discretization of the coupled poro-elasticity equations. The ParICP implementation is based on the use of the block factorized sparse approximate inverse incomplete Cholesky preconditioner, which is a very recent and effective development for the parallel preconditioning of symmetric positive definite matrices. The ParICP performance is experimented with in real 3D coupled consolidation problems, proving a scalable and efficient implementation of the constraint preconditioning for high-performance computing. ParICP appears to be a very robust algorithm for solving ill-conditioned large-size coupled models in a parallel computing environment.     

The analysis of consolidation by a quasi-Newton technique

A quasi-Newton algorithm is implemented for the solution of multi-dimensional, linear consolidation problems. The study is motivated by the need to implement an efficient equation-solving technique for the solution of large systems of equations typical in problems of consolidation of saturated porous media. The proposed procedure obviates the need to reassemble and re-factorize the global coefficient matrix every load increment, albeit the time step may be held variable in the analysis. The method employs the combined techniques of ‘line search’ and BFGS updates applied to the coupled equations. A numerical example is presented to show that the proposed method is computationally more efficient than the conventional direct equation-solving scheme, particularly when solving large systems of finite element equations.     

Parallel solution to ill‐conditioned FE geomechanical problems

Parallel computers are potentially very attractive for the implementation of large size geomechanical models. One of the main difficulties of parallelization, however, relies on the efficient solution of the frequently ill‐conditioned algebraic system arising from the linearization of the discretized equilibrium equations. While very efficient preconditioners have been developed for sequential computers, not much work has been devoted to parallel solution algorithms in geomechanics. The present study investigates the state‐of‐the‐art performance of the factorized sparse approximate inverse (FSAI) as a preconditioner for the iterative solution of ill‐conditioned geomechanical problems. Pre‐and post‐filtration strategies are experimented with to increase the FSAI efficiency. Numerical results show that FSAI exhibits a promising potential for parallel geomechanical models mainly because of its almost ideal scalability. With the present formulation, however, at least 4 or 8 processors are required in the selected test cases to outperform one of the most efficient sequential algorithms available for FE geomechanics, i.e. the multilevel incomplete factorization (MIF). Further research is needed to improve the FSAI efficiency with a more effective selection of the preconditioner non‐zero pattern. Copyright © 2011 John Wiley & Sons, Ltd.     

Comparative analysis of some geomechanics problems using finite and infinite element methods

Four classical geomechanics problems involving semi-infinite linear elastic media have been solved numerically using recently developed mapped infinite elements coupled to finite elements.The effect of the remoteness of the truncated boundary and the location of infinite element coupling on solution accuracy has been studied. The results of conventional analyses using finite elements over a relatively large but restricted region are compared to the coupled analyses. Comparison of the results shows that for the same number of degrees of freedom the performance of the coupled solutions is superior to the conventional approach with respect to accuracy of solution and computational efficiency. Finally, some general guidelines are proposed for the efficient numerical solution of these types of problems using the coupled finite/infinite element approach.     

Performance studies of the fixed stress split algorithm for immiscible two-phase flow coupled with linear poromechanics

In this work, we measure the performance of the fixed stress split algorithm for the immiscible water-oil flow coupled with linear poromechanics. The two-phase flow equations are solved on general hexahedral elements using the multipoint flux mixed finite element method whereas the poromechanics equations are discretized using the conforming Galerkin method. We introduce a rigorous calculation of the update in poroelastic properties during the iterative solution of the coupled system equations. The effects of the coupling parameter on the performance of the fixed stress algorithm is demonstrated in two field studies: the Frio oil reservoir and the Cranfield injection site.

     

Efficient block preconditioners for the coupled equations of pressure and deformation in highly discontinuous media

Large‐scale simulations of flow in deformable porous media require efficient iterative methods for solving the involved systems of linear algebraic equations. Construction of efficient iterative methods is particularly challenging in problems with large jumps in material properties, which is often the case in geological applications, such as basin evolution at regional scales. The success of iterative methods for this type of problems depends strongly on finding effective preconditioners. This paper investigates how the block‐structured matrix system arising from single‐phase flow in elastic porous media should be preconditioned, in particular for highly discontinuous permeability and significant jumps in elastic properties. The most promising preconditioner combines algebraic multigrid with a Schur complement‐based exact block decomposition. The paper compares numerous block preconditioners with the aim of providing guidelines on how to formulate efficient preconditioners. Copyright © 2010 John Wiley & Sons, Ltd.     

Versatile Two-Level Schwarz Preconditioners for Multiphase Flow

Numerically modeling groundwater flow on finely discretized two- and three-dimensional domains requires solution algorithms appropriate for distributed memory multiprocessor architectures. Multilevel and domain decomposition algorithms are appropriate for preconditioning or solving linear systems in parallel and have, therefore, been applied to linear models for saturated groundwater flow. These algorithms have also been incorporated into more complex nonlinear multiphase flow models in the context of a linearization procedure such as Newton's method. In this work, we study a class of parallel preconditioners based on two-level Schwarz domain decomposition applied in a nonlinear two-phase flow numerical model. The restriction and interpolation operators are based on an aggregation approach that has a straightforward implementation for a variety of applications arising in subsurface modeling: structured and unstructured discretizations, finite elements and finite differences, and multicomponent model equations. We present model formulations, results from numerical experiments, and a comparison of a standard one-level Schwarz method to three two-level aggregation-based methods.     

Iterative analysis of pore‐dynamic models discretized by finite elements

This work proposes an iterative procedure to analyze dynamic linear/nonlinear fully saturated porous media considering time‐domain finite element discretization. In this iterative approach, each phase of the coupled problem is treated separately, uncoupling the governing equations of the model. Thus, simpler, smaller, and better conditioned systems of equations are obtained, rendering more attractive techniques. A relaxation parameter is introduced in order to improve the efficiency and robustness of the iterative solution, and an expression to compute optimal values for the relaxation parameter is discussed. At the end of the paper, numerical examples are presented, illustrating the effectiveness and potentialities of the proposed methodology. Copyright © 2013 John Wiley & Sons, Ltd.     

Particle finite element analysis of large deformation and granular flow problems

A version of the Particle Finite Element Method applicable to geomechanics applications is presented. A simple rigid-plastic material model is adopted and the governing equations are cast in terms of a variational principle which facilitates a straightforward solution via mathematical programming techniques. In addition, frictional contact between rigid and deformable solids is accounted for using an approach previously developed for discrete element simulations. The capabilities of the scheme is demonstrated on a range of quasi-static and dynamic problems involving very large deformations.     

A fully implicit and consistent finite element framework for modeling reservoir compaction with large deformation and nonlinear flow model. Part I: theory and formulation

Reservoir depletion results in rock failure, wellbore instability, hydrocarbon production loss, oil sand production, and ground surface subsidence. Specifically, the compaction of carbonate reservoirs with soft rocks often induces large plastic deformation due to rock pore collapse. On the other hand, following the compaction of reservoirs and failure of rock formations, the porosity and permeability of formations will, in general, decrease. These bring a challenge for reservoir simulations because of high nonlinearity of coupled geomechanics and fluid flow fields. In this work, we present a fully implicit, fully coupled, and fully consistent finite element formulation for coupled geomechanics and fluid flow problems with finite deformation and nonlinear flow models. The Pelessone smooth cap plasticity model, an important material model to capture rock compaction behavior and a challenging material model for implicit numerical formulations, is incorporated in the proposed formulation. Furthermore, a stress-dependent permeability model is taken into account in the formulation. A co-rotational framework is adopted for finite deformation, and an implicit material integrator for cap plasticity models is consistently derived. Furthermore, the coupled field equations are consistently linearized including nonlinear flow models. The physical theories, nonlinear material and flow models, and numerical formulations are the focus of part I of this work. In part II, we verify the proposed numerical framework and demonstrate the performance of our numerical formulation using several numerical examples including a field reservoir with soft rocks undergoing serious compaction.     

A parallel, implicit, cell‐centered method for two‐phase flow with a preconditioned Newton–Krylov solver

A new parallel solution technique is developed for the fully implicit three‐dimensional two‐phase flow model. An expandedcell‐centered finite difference scheme which allows for a full permeability tensor is employed for the spatial discretization, and backwardEuler is used for the time discretization. The discrete systems are solved using a novel inexact Newton method that reuses the Krylov information generated by the GMRES linear iterative solver. Fast nonlinear convergence can be achieved by composing inexact Newton steps with quasi‐Newton steps restricted to the underlying Krylov subspace. Furthermore, robustness and efficiency are achieved with a line‐search backtracking globalization strategy for the nonlinear systems and a preconditioner for each coupled linear system to be solved. This inexact Newton method also makes use of forcing terms suggested by Eisenstat and Walker which prevent oversolving of the Jacobian systems. The preconditioner is a new two‐stage method which involves a decoupling strategy plus the separate solutions of both nonwetting‐phase pressure and saturation equations. Numerical results show that these nonlinear and linear solvers are very effective.     

A contact problem for a poroelastic halfspace containing an embedded inextensible membrane

The paper examines the axisymmetric problem of the indentation of a poroelastic halfspace that is reinforced with an inextensible permeable/impermeable membrane located at a finite depth by a rigid indenter. The constitutive behavior of the poroelastic halfspace is described by the three-dimensional theory of poroelasticity proposed by M.A. Biot. The contact conditions between the indenter and the poroelastic halfspace are varied to accommodate both adhesive/frictionless contact and impermeable/permeable conditions. The formulation of the mixed boundary value problems uses the stress function approaches applicable to semi-infinite domains. Successive applications of Laplace and Hankel integral transforms are used to reduce the mixed boundary value problems to sets of coupled Fredholm integral equations of the second kind. These integral equations are solved using numerical approaches, applicable both for the solution of the systems of coupled equations and for Laplace transform inversion, to examine the time-dependent displacement of the rigid indenter. The analytical-numerical estimates for the time-dependent displacements of the rigid indenter are compared with results obtained using a finite element approach.     

Decoupling and Block Preconditioning for Sedimentary Basin Simulations

The simulation of sedimentary basins aims at reconstructing its historical evolution in order to provide quantitative predictions about phenomena leading to hydrocarbon accumulations. The kernel of this simulation is the numerical solution of a complex system of partial differential equations of mixed parabolic–hyperbolic type. A discretisation and linearisation of this system leads to large ill-conditioned nonsymmetric linear systems with three unknowns per mesh element. The preconditioning which we will present for these systems consists in three stages: (i) a local decoupling of the equations which (in addition) aims at concentrating the elliptic part of the system in the “pressure block”; (ii) an efficient preconditioning of the pressure block using AMG; (iii) the “recoupling” of the equations. In all our numerical tests on real case studies we observed a reduction of the CPU-time for the linear solver (up to a factor 4.3 with respect to the current preconditioner ILU(0)) and almost no degradation with respect to physical and numerical parameters. This revised version was published online in July 2006 with corrections to the Cover Date.     

Cell to node projections: An assessment of error

Reservoir simulators typically use cell‐centered finite volume schemes and do not model directly the coupling of the flow processes with the geomechanics. Coupling of geomechanics with fluid flow can be important in many cases, but introducing fully coupled geomechanical effects in those simulators is not a trivial issue, because the geomechanics is better done by using the Galerkin vertex‐centered finite element methods by which the solid displacements are computed at the vertices of the cells. This creates difficulties in interfacing cell variables with nodal variables. Uncoupled or loosely coupled models are used by many researchers/practitioners by which a reservoir model is coupled to a geomechanical model by staggering in‐time flow and deformation via a sophisticated interface that repeatedly calls first flow and then mechanics. The method therefore requires projection of the reservoir cell variables onto the nodes of the geomechanics Galerkin finite element mesh. In this note, we attempt to quantify the errors associated with cell to node projection operations. For that purpose, we use a simple model of the pressure equation for a heterogeneous medium in one dimension. We are able to derive the exact analytical solution for this problem for both nodal and cell pressures. This allows us to compute the errors due to projection analytically, function of meshing refinement and permeability field variations. We compute upper and lower bounds for the errors, and analyze their magnitude for a variety of cases. We conclude that, in general, cell to node projection operations lead to substantial errors. Copyright © 2010 John Wiley & Sons, Ltd.