Modelling dam-break flows over mobile beds using a 2D coupled approach

Dam-break flows usually propagate along rivers and floodplains, where the processes of fluid flow, sediment transport and bed evolution are closely linked. However, the majority of existing two-dimensional (2D) models used to simulate dam-break flows are only applicable to fixed beds. Details are given in this paper of the development of a 2D morphodynamic model for predicting dam-break flows over mobile beds. In this model, the common 2D shallow water equations are modified, so that the effects of sediment concentrations and bed evolution on the flood wave propagation can be considered. These equations are used together with the non-equilibrium transport equations for graded sediments and the equation of bed evolution. The governing equations are solved using a matrix method, thus the hydrodynamic, sediment transport and morphological processes can be jointly solved. The model employs an unstructured finite volume algorithm, with an approximate Riemann solver, based on the Roe-MUSCL scheme. A predictor–corrector scheme is used in time stepping, leading to a second-order accurate solution in both time and space. In addition, the model considers the adjustment process of bed material composition during the morphological evolution process. The model was first verified against results from existing numerical models and laboratory experiments. It was then used to simulate dam-break flows over a fixed bed and a mobile bed to examine the differences in the predicted flood wave speed and depth. The effects of bed material size distributions on the flood flow and bed evolution were also investigated. The results indicate that there is a great difference between the dam-break flow predictions made over a fixed bed and a mobile bed. At the initial stage of a dam-break flow, the rate of bed evolution could be comparable to that of water depth change. Therefore, it is often necessary to employ the turbid water governing equations using a coupled approach for simulating dam-break flows.     

A high order WENO finite difference scheme for incompressible fluids and magnetohydrodynamics

We present a high order accurate weighted essentially non-oscillatory (WENO) finite difference scheme for solving the equations of incompressible fluid dynamics and magnetohydrodynamics (MHD). This scheme is a direct extension of a WENO scheme that has been successfully applied to compressible fluids, with or without magnetic fields. A fractional time-step method is used to enforce the incompressibility condition. Two basic elements of the WENO scheme, upwinding and wave decomposition, are shown to be important in solving the incompressible systems. Numerical results demonstrate that the scheme performs well for one-dimensional Riemann problems, a two-dimensional double-shear flow problem, and the two-dimensional Orszag–Tang MHD vortex system. They establish that the WENO code is numerical stable even when there are no explicit dissipation terms. It can handle discontinuous data and attain converged results with a high order of accuracy.     

Well-balanced high-order centered schemes on unstructured meshes for shallow water equations with fixed and mobile bed

In this paper, we study the numerical approximation of the two-dimensional morphodynamic model governed by the shallow water equations and bed-load transport following a coupled solution strategy. The resulting system of governing equations contains non-conservative products and it is solved simultaneously within each time step. The numerical solution is obtained using a new high-order accurate centered scheme of the finite volume type on unstructured meshes, which is an extension of the one-dimensional PRICE-C scheme recently proposed in Canestrelli et al. (2009) [5]. The resulting first-order accurate centered method is then extended to high order of accuracy in space via a high order WENO reconstruction technique and in time via a local continuous space–time Galerkin predictor method. The scheme is applied to the shallow water equations and the well-balanced properties of the method are investigated. Finally, we apply the new scheme to different test cases with both fixed and movable bed. An attractive future of the proposed method is that it is particularly suitable for engineering applications since it allows practitioners to adopt the most suitable sediment transport formula which better fits the field data.     

A method of accelerating transport simulation when groundwater pumping is simulated

In solving groundwater transport problems with numerical models, the computation time (CPU processing time) of transport simulation is approximately inversely proportional to the transport time-step size. Therefore, large time-step sizes are favorable for achieving short computation time. However, transport time-step size must be sufficiently small to avoid numerical instability if an explicit scheme is used (and to guarantee enough model accuracy if an implicit scheme is used). For a transport model involving groundwater pumping, a small transport time-step size is often required due to the high groundwater velocities near the pumping well. Small grid spacing often specified near the pumping well also limits the time-step size. This paper presents a method to increase transport time-step size in a transport model when groundwater pumping is simulated. The key to this approach is to numerically decrease the groundwater seepage velocities in grid cells near the pumping well by increasing the effective porosity so that the transport time-step size can be increased without violating stability constraints. Numerical tests reveal that by using the proposed method, the computation time of transport simulation can be reduced significantly, while the transport simulation results change very little.     

Numerical simulation of dam-break flow and bed change considering the vegetation effects

Existing numerical investigations of dam-break flows rarely consider the effects of vegetation.This paper presents a depth-averaged two-dimensional model for dam-break flows over mobile and vegetated beds.In the model,both the consequences of reducing space for storing mass and momentum by the existence of vegetation and dragging the flow are considered:the former is considered by introducing a factor (1-c) to the flow depth,where c is the vegetation density;the later is considered by including an additional sink term in the momentum equations.The new governing equations are discretized by the finite volume method;and an existing second-order central-upwind scheme embedded with the hydrostatic reconstruction method for water depth,is used to estimate the fluxes;the source terms are estimated by either explicit or semi-explicit methods fulfilling the stability requirement.Laboratory experiments of dam-break flows or quasi-steady flows with/without vegetation effects/sediment transport are simulated.The good agreements between the measurements and the numerical simulations demonstrate a satisfactory performance of the model in reproducing the flow depth,velocity and bed deformation depth.Numerical case studies of six scenarios of dam-break flows over a mobile and vegetated bed are conducted.It is shown that when the area of the vegetation zone,the vegetation density,and the pattern of the vegetation distribution are varied,the resulted bed morphological change differs greatly,suggesting a great influence of vegetation on the dam-break flow evolution.Specifically,the vegetation may divert the direction of the main flow,hindering the flow and thus result in increased deposition upstream of the vegetation.     

Numerical modelling of two-dimensional morphodynamics with applications to river bars and bifurcations

We study the numerical approximation of the two-dimensional morphodynamic model governed by the shallow water and Exner equations to simulate reach-scale two-dimensional morphodynamics of bedload-dominated alluvial rivers. The solution strategy relies on a full coupling of the governing equations within each time step. The resulting system of governing equations contains nonconservative products related to the longitudinal and lateral bed slopes and source terms related to friction. The full problem is solved numerically on unstructured triangular grids, simultaneously updating the principal part and adding the source terms (friction) using a splitting technique.The principal part is solved by means of a novel second-order accurate upwind-biased centred scheme of the finite volume type, while the source terms are added to the problem by solving a system of ordinary differential equations. A new algorithm for treating the wetting-and-drying is also proposed.The model is applied to well-established test problems in order to verify the accuracy of the proposed method, the robustness of the wetting-and-drying algorithm and the ability of the model in dealing with transcritical flows. Finally we test the model ability to reproduce two dimensional morphodynamic processes occurring at the scale of tens of channel widths in bedload dominated alluvial rivers with homogeneous grain size. This is achieved by comparing model outcomes with those of analytical theories and flume experiments on the same morphodynamic processes. These selected “benchmarks” include migrating free bars spontaneously developing in straight reaches, steady bars forced by abrupt river planform changes and the dynamics of channel bifurcations.     

A GPU-based numerical model coupling hydrodynamical and morphological processes

Sediment transport simulations are important in practical engineering. In this study, a graphics processing unit (GPU)-based numerical model coupling hydrodynamical and morphological processes was developed to simulate water flow, sediment transport, and morphological changes. Aiming at accurately predicting the sediment transport and sediment scouring processes, the model resolved the realistic features of sediment transport and used a GPU-based parallel computing technique to the accelerate calculation. This model was created in the framework of a Godunov-type finite volume scheme to solve the shallow water equations (SWEs). The SWEs were discretized into algebraic equations by the finite volume method. The fluxes of mass and momentum were computed by the Harten, Lax, and van Leer Contact (HLLC) approximate Riemann solver, and the friction source terms were calculated by the proposed a splitting point-implicit method. These values were evaluated using a novel 2D edge-based MUSCL scheme. The code was programmed using C++ and CUDA, which could run on GPUs to substantially accelerate the computation. The aim of the work was to develop a GPU-based numerical model to simulate hydrodynamical and morphological processes. The novelty is the application of the GPU techniques in the numerical model, making it possible to simulate the sediment transport and bed evolution in a high-resolution but efficient manner. The model was applied to two cases to evaluate bed evolution and the effects of the morphological changes on the flood patterns with high resolution. This indicated that the GPU-based high-resolution hydro-geomorphological model was capable of reproducing morphological processes. The computational times for this test case on the GPU and CPU were 298.1 and 4531.2 s, respectively, indicating that the GPU could accelerate the computation 15.2 times. Compared with the traditional CPU high-grid resolution, the proposed GPU-based high-resolution numerical model improved the reconstruction speed more than 2.0–12.83 times for different grid resolutions while remaining computationally efficient.     

A three dimensional model for water-sediment movement

A three-dimensional k-ε-Ap two-fluid turbulence model is proposed to study liquid-particle two-phase flow and bed deformation.By solving coupled liquid-phase and solid-phase governing equations in a finite-volume method,the model can calculate the movement of both water and sediment.The model was validated by water-sediment transport in a 180° channel bend with a movable bed.The validation concerns two-phase time-averaged velocities,bed deformation,water depth,depth-averaged streamwise velocity,cross-stream bed profiles,and two-phase secondary flow velocity vectors.The agreement between numerical results and experimental results was generally good.The comparisons of the numerical results of different models show that the three-dimensional k-ε-Ap two-fluid turbulence model has a relatively higher accuracy than one-fluid model.     

Two-dimensional numerical model of two-layer shallow water equations for confluence simulation

This study presents a finite-volume explicit method to solve 2D two-layer shallow water equations. This numerical model is intended to describe two-layer shallow flows in which the superposed layers differ in velocity, density and rheology in a two-dimensional domain. The rheological behavior of mudflow or debris flow is called the Bingham fluid. Thus, the shear stress on rigid bed can be derived from the constitutive equation. The computational approach adopts the HLL scheme, a novel approach for the purpose of computing a Godunov flux and solving the Riemann problem approximately proposed by Harten, Lax and van Leer, as a basic building block, treats the bottom slope by lateralizing the momentum flux, and refines the scheme using the Strang splitting to manage the frictional source term. This study successfully performed 2D two-layer shallow water computations on a rigid bed. The proposed numerical model can describe the variety of depths and velocities of substances including water and mud, when the hyperconcentrated tributary flows into the main river. The analytical results in this study will be valuable for further advanced research and for designing or planning hydraulic engineering structures.     

Flow modelling in gravel‐bed rivers: rethinking the bottom boundary condition

A key problem in computational fluid dynamics (CFD) modelling of gravel‐bed rivers is the representation of multi‐scale roughness, which spans the range from grain size, through bedforms, to channel topography. These different elements of roughness do not clearly map onto a model mesh and use of simple grain‐scale roughness parameters may create numerical problems. This paper presents CFD simulations for three cases: a plane bed of fine gravel, a plane bed of fine gravel including large, widely‐spaced pebble clusters, and a plane gravel bed with smaller, more frequent, protruding elements. The plane bed of fine gravel is modelled using the conventional wall function approach. The plane bed of fine gravel including large, widely‐spaced pebble clusters is modelled using the wall function coupled with an explicit high‐resolution topographic representation of the pebble clusters. In these cases, the three‐dimensional Reynolds‐averaged continuity and Navier–Stokes equations are solved using the standard k ? ε turbulence model, and model performance is assessed by comparing predicted results with experimental data. For gravel‐bed rivers in the field, it is generally impractical to map the bed topography in sufficient detail to enable the use of an explicit high‐resolution topography. Accordingly, an alternative model based on double‐averaging is developed. Here, the flow calculations are performed by solving the three‐dimensional double‐averaged continuity and Navier‐Stokes equations with the spatially‐averaged 〈k ? ε〉 turbulence model. For the plane bed of fine gravel including large, widely‐spaced pebble clusters, the model performance is assessed by comparing the spatially‐averaged velocity with the experimental data. The case of a plane gravel bed with smaller, more frequent, protruding elements is represented by a series of idealized hypothetical cases. Here, the spatially‐averaged velocity and eddy viscosity are used to investigate the applicability of the model, compared with using the explicit high‐resolution topography. The results show the ability of the model to capture the spatially‐averaged flow field and, thus, illustrate its potential for representing flow processes in natural gravel‐bed rivers. Finally, practical data requirements for implementing such a model for a field example are given. Copyright © 2011 John Wiley & Sons, Ltd.     

Coupled simulation of transient bed evolution in alluvial channels

Abstract

In dealing with the transient sediment transport problem, the commonly used uncoupled model may not be suitable. The uncoupling technique is intended to separate the physical coupling phenomenon of water flow and sediment transport into two independent processes. Very often, as a result, severe numerical oscillation and solution instability problems appear in the simulation of transient sediment transport in alluvial channels. The coupled model, which simultaneously solves water flow continuity, momentum and sediment continuity equations, gives fewer numerical oscillation and solution instability problems. In this article, a coupled model using a matrix double-sweep method to solve the system of nonlinear algebraic equations has been developed. Several test runs designed on the basis of a schematic model have been performed. The numerical oscillation and solution instability problems have been investigated through a comparison with those obtained from an uncoupled model. Based on the proposed case studies, it can be concluded that, for transient bed evolution, the performance of the coupled model is much better than that of the uncoupled model. The numerical oscillation is reduced and the solution is more stable. This newly developed coupled model was also applied to the Cho-Shui River in Taiwan. This application study implied that the effect of the peaky flood wave propagation on the bed evolution could be simulated better by the coupled model than by the uncoupled model.     

Numerical analysis of synthetic granulate deposition in a physical model study

The current study focuses on the application of a three-dimensional numerical model for the prediction of morphological bed changes. The sediment deposition in a reservoir during a 10-year-flood was investigated and the results of the simulation were validated with data derived from a physical model study. Because of the small grain sizes in the prototype, synthetic granulate was used in the physical model. The numerical computation domain was a reproduction of the physical model, including the grain sizes and the density of the particles, in order to ensure comparability. The CFD code SSIIM, which solves the RANS-equations in three-dimensions, was used for the simulations. The sediment transport in SSIIM is divided into suspended sediment transport, computed by solving the convection-diffusion equation, and bed-load transport, calculated by an empirical formula. The results of the numerical simulation correspond well to the results of the physical model study. The simulated location and the pattern of the sediment deposition in the reservoir are an accurate representation of the observed distribution in the physical model.     

Flow,bed topography,grain size and sedimentary structure in open channel bends: A three-dimensional model

Bed topography and grain size are predicted for steady, uniform flow in circular bends by consideration of the balance of fluid, gravity and frictional forces acting on bed load particles. Uniform flow pattern is adequately described by conventional hydraulic equations, with bed shear defined as that effectively acting on bed load grains. This analysis is used as a basis to predict bed topography and grain size for steady, non-uniform flow in non-circular bends (represented by a ‘sine-generated’ curve). The non-uniform flow pattern is calculated using the method of Engelund (1974a). Equilibrium bed form, hence sedimentary structure, is found by comparison of existing flow conditions with one of the schemes describing the hydraulic stability limits of the various bed forms. The model was compared with bankfull flow observations from a channel bend on the River South Esk, Scotland. Theoretical bed topography and velocity distribution were very close to the observed data. However, bed shear stress showed only a broad agreement, probably because of the use a constant friction coefficient value. Mean grain size distribution showed good agreement, but theory did not account adequately for gravel sizes in the talweg region and on the upstream, inner part of the bar, possibly due to theoretical underestimation of effective bed shear. Bed form and sedimentary structure are predicted well using the familiar stream power-grain size scheme. The behaviour of the model under unsteady uniform flow conditions in circular bends was analyzed, and suggests that any variation of grain size and bed topography with stage is likely to be limited to deeper parts of the channel.     

Modelling offshore sand wave evolution

We present a two-dimensional vertical (2DV) flow and morphological numerical model describing the behaviour of offshore sand waves. The model contains the 2DV shallow water equations, with a free water surface and a general bed load formula. The water movement is coupled to the sediment transport equation by a seabed evolution equation. Using this model, we investigate the evolution of sand waves in a marine environment. As a result, we find sand wave saturation for heights of 10–30% of the average water depth on a timescale of decades. The stabilization mechanism, causing sand waves to saturate, is found to be based on the balance between the shear stress at the seabed and the principle that sediment is transported more easily downhill than uphill. The migration rate of the sand waves decreases slightly during their evolution. For a unidirectional steady flow the sand waves become asymmetrical in the horizontal direction and for a unidirectional block current asymmetrical in the vertical. A sensitivity analysis showed the slope effect of the sediment transport plays an important role herein. Furthermore, the magnitude of the resistance at the seabed and the eddy viscosity influence both the timescale and height of sand waves. The order of magnitudes found of the time and spatial scales coincide with observations made in the southern bight of the North Sea, Japan and Spain.     

Curvilinear immersed boundary method for simulating coupled flow and bed morphodynamic interactions due to sediment transport phenomena

The fluid-structure interaction curvilinear immersed boundary (FSI-CURVIB) numerical method of Borazjani et al. [3] is extended to simulate coupled flow and sediment transport phenomena in turbulent open-channel flows. The mobile channel bed is discretized with an unstructured triangular mesh and is treated as a sharp-interface immersed boundary embedded in a background curvilinear mesh used to discretize the general channel outline. The unsteady Reynolds-averaged Navier-Stokes (URANS) equations closed with the k − ω turbulence model are solved numerically on a hybrid staggered/non-staggered grid using a second-order accurate fractional step method. The bed deformation is calculated by solving the sediment continuity equation in the bed-load layer using an unstructured, finite-volume formulation that is consistent with the CURVIB framework. Both the first-order upwind and the higher-order hybrid GAMMA schemes [12] are implemented to discretize the bed-load flux gradients and their relative accuracy is evaluated through a systematic grid refinement study. The GAMMA scheme is employed in conjunction with a sand-slide algorithm for limiting the bed slope at locations where the material angle of repose condition is violated. The flow and bed deformation equations are coupled using the partitioned loose-coupling FSI-CURVIB approach [3]. The hydrodynamic module of the method is validated by applying it to simulate the flow in an 180° open-channel bend with fixed bed. To demonstrate the ability of the model to simulate bed morphodynamics and evaluate its accuracy, we apply it to calculate turbulent flow through two mobile-bed open channels, with 90° and 135° bends, respectively, for which experimental measurements are available.     

A three dimensional k-ε-A_p model for water-sediment movement

A three-dimensional k-ε-Ap two-fluid turbulence model is proposed to study liquid-particle two-phase flow and bed deformation. By solving coupled liquid-phase and solid-phase governing equations in a finite-volume method, the model can calculate the movement of both water and sediment. The model was validated by water-sediment transport in a 180° channel bend with a movable bed. The validation concerns two-phase time-averaged velocities, bed deformation, water depth, depth-averaged streamwise velocity, cross-stream bed profiles, and two-phase secondary flow velocity vectors. The agreement between numerical results and experimental results was generally good. The comparisons of the numerical results of different models show that the three-dimensional k-ε-Ap two-fluid turbulence model has a relatively higher accuracy than one-fluid model.     

Simulation of dam-break waves on movable beds using a multi-stage centered scheme

This paper presents the application of the multi-stage first-order centered scheme GMUSTA to solve a two-phase flow model with four equations for simulating dam-break floods without and with sediment transport.Computation of generalized Riemann invariants can be particularly complex and costly in simulating dam-break floods with sediment transport.GMUSTA numerical scheme,which does not require complete knowledge of the eigenstructure of the hyperbolic mathematical model,offers a suitable and attractive option.The quality of the dam-break flood simulations with GMUSTA scheme is verified by comparing the results against laboratory tests and some experimental data available in the literature,on fixed and mobile bed conditions,with different bed materials and flush or stepped bottoms.The numerical results reproduce quite well the experimental evidence,proving that the model is capable of predicting the temporal evolution of the free-surface and the bed.The GMUSTA scheme,which is not only simple to implement but also both accurate and computationally efficient,is proposed as an appropriate tool for integrating non-equilibrium sediment-transport models.     

High-order balanced CWENO scheme for movable bed shallow water equations

In this work the numerical integration of 1D shallow water equations (SWE) over movable bed is performed using a well-balanced central weighted essentially non-oscillatory (CWENO) scheme, fourth-order accurate in space and in time. Time accuracy is obtained following a Runge–Kutta (RK) procedure, coupled with its natural continuous extension (NCE). Spatial accuracy is obtained using WENO reconstructions of conservative variables and of flux and bed derivatives. An original treatment for bed slope source term, which maintains the established order of accuracy and satisfies the property of exactly preserving the quiescent flow (C-property), is introduced in the scheme. This treatment consists of two procedures. The former involves the evaluation of the point-values of the flux derivative, considered as a whole with the bed slope source term. The latter involves the spatial integration of the source term, analytically manipulated to take advantage from the expected regularity of the free surface elevation. The high accuracy of the scheme allows to obtain good results using coarse grids, with consequent gain in terms of computational effort. The well-balancing of the scheme allows to reproduce small perturbations of the free surface and of the bottom otherwise of the same order of magnitude of the numerical errors induced by the non-balancing. The accuracy, the well-balancing and the good resolution of the model in reproducing free surface flow over movable bed are tested over analytical solutions and over numerical results available in literature.     

Coupled and splitting bedload sediment transport models based on a modified flux-wave approach

Numerical modeling of free-surface flow over a mobile bed with predominantly bedload sediment transport can be done by solving the shallow water and Exner equations using coupled and splitting approaches.The coupled method uses a coupling of the governing equations at the same time step leading to a non-conservative solution.The splitting method solves the Exner and the shallow water equations in a separate manner,and is only capable of modeling weak free-surface and bedload interactions.In the current study,an extended version of a Godunov-type wave propagation algorithm is presented for modeling of morphodynamic systems using both coupled and splitting approaches.In the introduced coupled method the entire morphodynamic system is solved in the form of a conservation law.For the splitting technique,a new wave Riemann decomposition is defined which enables the scheme to be utilized for mild and strong interactions.To consider the bedload sediment discharge within the Exner equation,the Smart and Meyer-Peter&Müller formulae are used.It was found that the coupled solution gives accurate predictions for all investigated flow regimes including propagation over a dry-state using a Courant-Friedrichs-Lewy(CFL)number equal to 0.6.Furthermore,the splitting method was able to model all flow regimes with a lower CFL number of 0.3.