关于Boussinesq型水波方程理论和应用研究的综述

Boussinesq型方程是研究水波传播与演化问题的重要工具之一,本文就1967-2018年常用的Boussinesq型水波方程从理论推导和数值应用两个方面进行了回顾,以期推动该类方程在海岸(海洋)工程波浪水动力方向的深入研究和应用。此类方程推导主要从欧拉方程或Laplace方程出发。在一定的非线性和缓坡假设等条件下,国内外学者建立了多个Boussinesq型水波方程,并以Stokes波的相关理论为依据,考察了这些方程在相速度、群速度、线性变浅梯度、二阶非线性、三阶非线性、波幅离散、速度沿水深分布以及和(差)频等多方面性能的精度。将Boussinesq型水波方程分为水平二维和三维两大类,并对主要Boussinesq型水波方程的特性进行了评述。进而又对适合渗透地形和存在流体分层情况下的Boussinesq型水波方程进行了简述与评论。最后对这些方程的应用进行了总结与分析。     

A weakly dispersive edge wave model

We derive a general linear, weakly dispersive, Boussinesq-type equation that can be used to study edge waves on beaches with slow cross-shore variation of the depth and the alongshore current. The equation is more accurate than the non-dispersive shallow water equations and simpler than the fully dispersive elliptic mild slope equation (especially for a non-zero alongshore current). The improved performance of the new Boussinesq-type model is demonstrated using analytic solutions for edge waves on a plane beach with zero alongshore current.     

Internal wave generation in an improved two-dimensional Boussinesq model

A set of Boussinesq-type equations with improved linear frequency dispersion in deeper water is solved numerically using a fourth order accurate predictor-corrector method. The model can be used to simulate the evolution of relatively long, weakly nonlinear waves in water of constant or variable depth provided the bed slope is of the same order of magnitude as the frequency dispersion parameter. By performing a linearized stability analysis, the phase and amplitude portraits of the numerical schemes are quantified, providing important information on practical grid resolutions in time and space. In contrast to previous models of the same kind, the incident wave field is generated inside the fluid domain by considering the scattered wave field in one part of the fluid domain and the total wave field in the other. Consequently, waves leaving the fluid domain are absorbed almost perfectly in the boundary regions by employment of damping terms in the mass and momentum equations. Additionally, the form of the incident regular wave field is computed by a Fourier approximation method which satisfies the governing equations accurately in water of constant depth. Since the Fourier approximation method requires an Eulerian mean current below wave trough level or a net mass transport velocity to be specified, the method can be used to study the interaction of waves and currents in closed as well as open basins. Several computational examples are given. These illustrate the potential of the wave generation method and the capability of the developed model.     

Finite-amplitude analysis of some Boussinesq-type equations

Recent progress in formulating Boussinesq-type equations includes improved features of linear dispersion and higher-order nonlinearity. Nonlinear characteristics of these equations have been previously analysed on the assumption of weak nonlinearity, being therefore limited to moderate wave height. The present work addresses this aspect for an important class of wave problems, namely, regular waves of permanent form on a constant depth. Using a numerical procedure which is valid up to the maximum wave height, permanent-form waves admitted by three sets of advanced Boussinesq-type equations are analysed. Further, the characteristics of each set of the Boussinesq-type equations are discussed in the light of those from the potential theory satisfying the exact free-surface conditions. Phase velocity, amplitude dispersion, harmonic amplitudes (namely, second and third) and skewness of surface profile are shown over a two-parameter space of frequency and wave height.     

New Numerical Scheme for Simulation of Hyperbolic Mild-Slope Equation

The original hyperbolic mild-slope equation can effectively take into account the combined effects of wave shoaling, refraction, diffraction and reflection, but does not consider the nonlinear effect of waves, and the existing numerical schemes for it show some deficiencies. Based on the original hyperbolic mild-slope equation, a nonlinear dispersion relation is introduced in present paper to effectively take the nonlinear effect of waves into account and a new numerical scheme is proposed. The weakly nonlinear dispersion relation and the improved numerical scheme are applied to the simulation of wave transformation over an elliptic shoal. Numerical tests show that the improvement of the numerical scheme makes efficient the solution to the hyperbolic mild-slope equation. A comparison of numerical results with experimental data indicates that the results obtained by use of the new scheme are satisfactory.     

A depth-integrated model for weakly dispersive, turbulent, and rotational fluid flows

A set of weakly dispersive Boussinesq-type equations, derived to include viscosity and vorticity terms in a physically consistent manner, is presented in conservative form. The model includes the approximate effects of bottom-induced turbulence, in a depth-integrated sense, as a second-order correction. Associated with this turbulence, vertical and horizontal rotational effects are captured. While the turbulence and horizontal vorticity models are simplified, a model with known physical limitations has been derived that includes the quadratic bottom friction term commonly added in an ad hoc manner to the inviscid equations. An interesting result of this derivation is that one should take care when adding such ad hoc models; it is clear from this exercise that (1) it is not necessary to do so – the terms can be included through a consistent derivation from the viscous primitive equations – and (2) one cannot properly add the quadratic bottom friction term without also adding a number of additional terms in the integrated governing equations. To solve these equations numerically, a highly accurate and stable model is developed. The numerical method uses a fourth-order MUSCL-TVD scheme to solve the leading order (shallow water) terms. For the dispersive terms, a cell averaged finite volume method is implemented. To verify the derived equations and the numerical model, four cases of verifications are given. First, solitary wave propagation is examined as a basic, yet fundamental, test of the models ability to predict dispersive and nonlinear wave propagation with minimal numerical error. Vertical velocity distributions of spatially uniform flows are compared with existing theory to investigate the effects of the newly included horizontal vorticity terms. Other test cases include comparisons with experiments that generate strong vorticity by the change of bottom bathymetry as well as by tidal jets through inlet structures. Very reasonable agreements are observed for the four cases, and the results provide some information as to the importance of dispersion and horizontal vorticity.     

Fully Nonlinear Boussinesq-Type Equations with Optimized Parameters for Water Wave Propagation

For simulating water wave propagation in coastal areas, various Boussinesq-type equations with improved properties in intermediate or deep water have been presented in the past several decades. How to choose proper Boussinesq-type equations has been a practical problem for engineers. In this paper, approaches of improving the characteristics of the equations, i.e. linear dispersion, shoaling gradient and nonlinearity, are reviewed and the advantages and disadvantages of several different Boussinesq-type equations are compared for the applications of these Boussinesq-type equations in coastal engineering with relatively large sea areas. Then for improving the properties of Boussinesq-type equations, a new set of fully nonlinear Boussinseq-type equations with modified representative velocity are derived, which can be used for better linear dispersion and nonlinearity. Based on the method of minimizing the overall error in different ranges of applications, sets of parameters are determined with optimized linear dispersion, linear shoaling and nonlinearity, respectively. Finally, a test example is given for validating the results of this study. Both results show that the equations with optimized parameters display better characteristics than the ones obtained by matching with padé approximation.     

强非线性和色散性Boussinesq方程数值模型检验

采用同位网格有限差分法,建立了强非线性和色散性Boussinesq方程数值计算模型。以稳恒波Fourier近似解给定入射波边界条件,对均匀水深深水和浅水域不同非线性的行进波、缓坡地形上深水至浅水域的浅水变形波、以及缓坡和陡坡地形上的波浪水槽实验进行了数值计算,并将计算结果与解析解、解析数值解以及实验值进行了较为详细的比较,从而检验了模型的色散性、非线性以及不同底坡下非线性波的浅水变形性能。     

A Modified Form of Mild-Slope Equation with Weakly Nonlinear Effect

Nonlinear effect is of importance to waves propagating from deep water to shallow water.Thenon-linearity of waves is widely discussed due to its high precision in application.But there are still someproblems in dealing with the nonlinear waves in practice.In this paper,a modified form of mild-slope equa-tion with weakly nonlinear effect is derived by use of the nonlinear dispersion relation and the steady mild-slope equation containing energy dissipation.The modified form of mild-slope equation is convenient to solvenonlinear effect of waves.The model is tested against the laboratory measurement for the case of a submergedelliptical shoal on a slope beach given by Berkhoff et al,The present numerical results are also comparedwith those obtained through linear wave theory.Better agreement is obtained as the modified mild-slope e-quation is employed.And the modified mild-slope equation can reasonably simulate the weakly nonlinear ef-fect of wave propagation from deep water to coast.     

A new kind of nonlinear mild-slope equation for combined refraction-diffraction of multifrequency waves

This paper presents the numerical solution of a new nonlinear mild-slope equation governing waves with different frequency components propagating in a region of varying water depth. There are two new nonlinear equations. The linear part of the equations is the mild-slope equation, and one of the models has the same non-linearity as the Boussinesq equations. The new equations are directly applicable to the problems of nonlinear wave-wave interactions over variable depth. The equations are first simplified with the parabolic approximation, and then solved numerically with a finite difference method. The Crank-Nicolson method is used to discretize the models. The numerical models are applied to a set of published experimental cases, which are nonlinear combined refraction-diffraction with generation of higher harmonic waves. Comparison of the results shows that the present models generally predict the measurements better than other nonlinear numerical models which have been applied to the data set.     

Practical modified scheme of linear shallow-water equations for distant propagation of tsunamis

A simple but practical numerical model describing a distant propagation of tsunamis is newly proposed by introducing an additional term to the existing modified scheme. The numerical dispersion of the proposed model is manipulated to replace the physical dispersion of the linear Boussinesq equations without any limitation. The new model developed in this study is applied to propagation of a Gaussian hump over a constant water depth and the predicted free surface displacements are compared with available analytical solutions. A very reasonable agreement is observed.     

Internal wave generation in an improved two-dimensional Boussinesq model

A set of Boussinesq-type equations with improved linear frequency dispersion in deeper water is solved numerically using a fourth order accurate predictor-corrector method. The model can be used to simulate the evolution of relatively long, weakly nonlinear waves in water of constant or variable depth provided the bed slope is of the same order of magnitude as the frequency dispersion parameter. By performing a linearized stability analysis, the phase and amplitude portraits of the numerical schemes are quantified, providing important information on practical grid resolutions in time and space. In contrast to previous models of the same kind, the incident wave field is generated inside the fluid domain by considering the scattered wave field in one part of the fluid domain and the total wave field in the other. Consequently, waves leaving the fluid domain are absorbed almost perfectly in the boundary regions by employment of damping terms in the mass and momentum equations. Additionally, the form of the incident regular wave field is computed by a Fourier approximation method which satisfies the governing equations accurately in water of constant depth. Since the Fourier approximation method requires an Eulerian mean current below wave trough level or a net mass transport velocity to be specified, the method can be used to study the interaction of waves and currents in closed as well as open basins. Several computational examples are given. These illustrate the potential of the wave generation method and the capability of the developed model.     

Extended Boussinesq equations for rapidly varying topography

We developed a new Boussinesq-type model which extends the equations of Madsen and Sørensen [1992. A new form of the Boussinesq equations with improved linear dispersion characteristics. Part 2. A slowly varying bathymetry. Coastal Engineering 18, 183-204.] by including both bottom curvature and squared bottom slope terms. Numerical experiments were conducted for wave reflection from the Booij's [1983. A note on the accuracy of the mild-slope equation. Coastal Engineering 7, 191-203] planar slope with different wave frequencies using several types of Boussinesq equations. Madsen and Sørensen's model results are accurate in the whole slopes in shallow waters, but inaccurate in intermediate water depths. Nwogu's [1993. Alternative form of Boussinesq equation for nearshore wave propagation. Journal of Waterway, Port, Coastal and Ocean Engineering 119, 618-638] model results are accurate up to 1:1 (V:H) slope, but significantly inaccurate for steep slopes. The present model results are accurate up to the slope of 1:1, but somewhat inaccurate for very steep slopes. Further, numerical experiments were conducted for wave reflections from a ripple patch and also a Gaussian-shaped trench. For the two cases, the results of Nwogu's model and the present model are accurate, because these models include the bottom curvature term which is important for the cases. However, Madsen and Sørensen's model results are inaccurate, because this model neglects the bottom curvature term.     

Interaction of dispersive water waves with weakly sheared currents of arbitrary profile

A set of depth-integrated equations describing combined wave–current flows is derived and validated. To account for the effect of turbulence induced by interactions between waves and currents with arbitrary horizontal vorticity, new additional stress terms are introduced. These stresses are functions of a parameter b that relates the relative importance of wave radiation stress and bottom friction stress to the wave–current interaction. To solve the equations, a fourth-order MUSCL-TVD scheme with an approximate Riemann solver is adopted. As a first-order check of the model, the Doppler shift effect and wave dispersion over linearly sheared currents are analytically shown to be retained appropriately in the equation set. The model results are then validated through comparisons with three experimental data sets. First, based on the experiments of Kemp and Simons (1982, 1983), a reasonable functional form of b is estimated. Second, simulations examining the propagation of a weakly dispersive wave over a depth-uniform or linearly sheared current are performed. Finally, the model is applied to a more complex configuration where bichromatic waves interact with spatially varying currents. Simulated results indicate that the model is capable of predicting nearshore interactions of waves with currents of arbitrary vertical structure. One of the unique properties of the developed model is its ability to assimilate an external current field from any source, be it from a circulation model or an observation, and predict the interaction of a nonlinear and dispersive wave field with that current.     

适合复杂地形的高阶Boussinesq水波方程

针对海底坡度较大(量阶为O(1))或海底曲率较大的复杂地形,建立了一个新型高阶Boussinesq水波方程.该方程可用于研究海底存在若干相互平行沙坝引起的Bragg反射问题.方程的水平速度沿水深的分布为四次多项式,色散性和变浅作用性能的精度比经典Boussinesq方程高了一阶.方程在浅水水域可以是完全非线性的.     

Applicability of numerical models to nonlinear dispersive waves

The applicability of three different wave-propagation models in nonlinear dispersive wave fields has been investigated. The numerical models tested here are based on three different wave theories: a fully nonlinear potential theory, a Stokes second-order theory, and a Boussinesq-type theory with an improved dispersion relation. Physical experiments and computations were conducted for wave evolutions during passage over a submerged shelf under various wave conditions. As expected, the fully nonlinear solutions agree better with the measurements than do the other solutions. Although the second-order solution has sufficient accuracy for smaller-amplitude wave cases, the truncation after the third harmonics causes significant discrepancies in wave form for larger waves. In addition, the second-order model markedly overestimates the first- and second-harmonic amplitudes in transmitted waves. The Boussinesq model provides excellent predictions of wave profile over the shelf even in larger wave cases. However, this model also overestimates the magnitudes of several higher harmonics in transmitted waves. These facts may indicate that energy transfer from bound components into free waves in these higher harmonics cannot be accurately evaluated by the Boussinesq-type equations.     

Numerical modeling of nonlinear water waves over heterogeneous porous beds

The transformation of nonlinear water waves over porous beds is studied by applying a numerical model based on Chen's [2006. Fully nonlinear Boussinesq-type equations for waves and currents over porous beds. Journal of Engineering Mechanics, 132:2, 220–230] Boussinesq-type equations for highly nonlinear waves on permeable beds. The numerical model uses a high-order time-marching solution and fourth-order finite-difference schemes for discretization of first-order spatial derivatives to obtain a computational accuracy consistent with the model equations. By forcing the wave celerity and spatial porous-damping rate of the linearized model to match the exact linear theory for horizontal porous bed over a prescribed range of relative depths, the values of the model parameters are optimally determined. Numerical simulations of the damped wave propagation over finite-thickness porous layer demonstrate the accuracy of both the numerical model and governing equations, which have been shown by prior theoretical analyses to be accurate for both nominal and thick porous layers. These simulations also elucidate on the significance of the higher-order porous-damping terms and the influence of the hydraulic parameters. Application of the model to the simulation of the wave field around a laboratory-scale submerged porous mound provides a measure of its capability, as well as useful insight into the scaling of the porous-resistance coefficients. For application to heterogeneous porous beds, the assumption of weak spatial variation of the porous resistance is examined using truncated forms of the governing equations. The results indicate that the complete set of Boussinesq-type equations is applicable to porous beds of nonhomogeneous makeup.     

An extended time-dependent numerical model of the mild-slope equation with weakly nonlinear amplitude dispersion

In the present paper, by introducing the effective wave elevation, we transform the extended ellip- tic mild-slope equation with bottom friction, wave breaking and steep or rapidly varying bottom topography to the simplest time-dependent hyperbolic equation. Based on this equation and the empirical nonlinear amplitude dispersion relation proposed by Li et al. (2003), the numerical scheme is established. Error analysis by Taylor expansion method shows that the numerical stability of the present model succeeds the merits in Song et al. (2007)’s model because of the introduced dissipation terms. For the purpose of verifying its performance on wave nonlinearity, rapidly vary- ing topography and wave breaking, the present model is applied to study: (1) wave refraction and diffraction over a submerged elliptic shoal on a slope (Berkhoff et al., 1982); (2) Bragg reflection of monochromatic waves from the sinusoidal ripples (Davies and Heathershaw, 1985); (3) wave transformation near a shore attached breakwater (Watanabe and Maruyama, 1986). Comparisons of the numerical solutions with the experimental or theoretical ones or with those of other models (REF/DIF model and FUNWAVE model) show good results, which indicate that the present model is capable of giving favorably predictions of wave refraction, diffraction, reflection, shoaling, bottom friction, breaking energy dissipation and weak nonlinearity in the near shore zone.     

Diffusion reduction in an arbitrary scale third generation wind wave model

The numerical schemes for the geographic propagation of random, short-crested, wind-generated waves in third-generation wave models are either unconditionally stable or only conditionally stable. Having an unconditionally stable scheme gives greater freedom in choosing the time step (for given space steps). The third-generation wave model SWAN (“Simulated WAves Nearshore”, Booij et al., 1999) has been implemented with this type of scheme. This model uses a first order, upwind, implicit numerical scheme for geographic propagation. The scheme can be employed for both stationary (typically small scale) and nonstationary (i.e. time-stepping) computations. Though robust, this first order scheme is very diffusive. This degrades the accuracy of the model in a number of situations, including most model applications at larger scales. The authors reduce the diffusiveness of the model by replacing the existing numerical scheme with two alternative higher order schemes, a scheme that is intended for stationary, small-scale computations, and a scheme that is most appropriate for nonstationary computations. Examples representative of both large-scale and small-scale applications are presented. The alternative schemes are shown to be much less diffusive than the original scheme while retaining the implicit character of the particular SWAN set-up. The additional computational burden of the stationary alternative scheme is negligible, and the expense of the nonstationary alternative scheme is comparable to those used by other third generation wave models. To further accommodate large-scale applications of SWAN, the model is reformulated in terms of spherical coordinates rather than the original Cartesian coordinates. Thus the modified model can calculate wave energy propagation accurately and efficiently at any scale varying from laboratory dimensions (spatial scale O(10 m) with resolution O(0.1 m)), to near-shore coastal dimension (spatial scale O(10 km) with resolution O(100 m)) to oceanic dimensions (spatial scale O(10 000 km) with resolution O(100 km).