Simulations of Cavitation – from the Large Vapour Structures to the Small Bubble Dynamics

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Simulations of Cavitation – from the Large Vapour Structures to the Small Bubble Dynamics Simulations of cavitation – from the large vapour structures to the small bubble dynamics Aurélia Vallier June 2013 . Thesis for the degree of Doctor of Philosophy in Engineering. ISSN 0282-1990 ISRN LUTMDN/TMHP-13/1092-SE ISBN 978-91-7473-517-8 (print) ISBN 978-91-7473-518-5 (pdf) c Aurélia Vallier, June 2013 Division of Fluid Mechanics Department of Energy Sciences Faculty of Engineering Lund University Box18 S-221 00 LUND Sweden A Typeset in LTEX Printed by MediaTryck, Lund, May 2013. i Populärvetenskaplig sammanfattning Mycket få människor omkring oss vet innebörden av ordet kavitation, förutom de som såg filmen "The Hunt for Red October" och kan relatera kavitation till Sean Connery i en ubåt. Kavitation motsvarar bildandet av bubblor, som kan likna kokande vatten i en kastrull. Men den uppstår inte på grund av en hög temperatur utan på grund av ett lågt tryck. Den finns i de flesta tekniska anläggningar som innehåller vätska i rörelse. Problemet med kavitation är dess negativa konsekvenser. Till exempel orsakar den oljud vilket inte är onskvärt för en ubåt. Den kan också leda till förstörelse av ytor, vilket inte är onskvärt i en vattenturbin. Kavitation i vattenturbiner orsakar förändringar och instabilitet i strömningen, och im- plosion av bubblor. Detta resulterar i en minskning i effektivitet, vibrationer och erosion (skador på ytor). Kavitation kan undvikas om turbinen ställts tillräckligt låg, så att det statiska trycket är tillräckligt högt för att förhindra att vatten övergår till gasform. Men byggkostnaderna för en sådan låg inställning är mycket höga. Därför måste man hitta en kompromiss mellan motstridiga krav på en låg installationskostnad och undvikande av neg- ativa effekter från kavitation. Kavitation är mycket komplex. En stor mängd forskning har gjorts under de senaste 30 åren för att förbättra förståelsen för detta fenomen. För att få mer kunskap om kavitation i vattenturbiner, kan man använda sig av numeriska modeller. Genom att lösa lämpliga ek- vationer kan man beskriva hur kavitation börjar och utvecklas. Det finns modeller för varje specifik företeelse. Dock är kavitationsmodellering fortfarande mycket utmanande eftersom fenomenet leder till snabba variationer av strömingsegenskaper och samspelet mellan vat- ten, ånga och gas. Ångan som bildas vid kavitation kan uppträda i varierande storlek och form, från mikroskopiska sfäriska bubblor, till stora sammanhängande strukturer. Dessu- tom är strömningen turbulent. Alla dessa egenskaper kräver lämpliga modeller för att exakt förutsäga kaviterande strömningar. I detta arbete utförs beräkningar för att utvärdera resultaten av olika modeller. En ny flerskalig modell utvecklas och används på en kaviterande strömning kring en vingprofil. Den nya modellen omfattar både små sfäriska bubblor, stora icke-sfäriska ånga strukturer och övergången mellan dessa regimer. Det är mycket intressant att ha en modell som kan förutsäga hur dem minsta bubblorna transporteras till regioner med lågt statiskt tryck, där de växer och sen imploderar. Genom att mäta tryckvågen som släpps från bubblan, kan man förutse risken för att närliggande ytor ska skadas. Tack vare den förbättrade modellen, kan man förutse där kavitation orsakar skador. Denna kunskap kan i ett senare skede hjälpa till att utforma geometrier som minskar de negativa effekterna av kavitation. Särskild omsorg kan då tas, så att bubbelimplosionerna sker långt ifrån ytor. Detta skulle minimera skador på ytorna, och därmed minska underhållskostnaderna. ii iii Abstract Very few people around us know the meaning of the word cavitation, except from those who saw the movie The Hunt for Red October and can relate cavitation to Sean Connery in a submarine. Some of them know that it corresponds to the formation of bubbles, due to a pressure drop, and causes erosion and noise. However, cavitation is much more complex. A large amount of research work has been done over the last thirty years in order to improve the understanding of the interactions between the various physical processes involved. The present work aims at gaining more knowledge about cavitation in water turbines. Some of the properties of cavitation at a water turbine runner blade are similar to those at a hydrofoil in a water test tunnel. Therefore, the overall purpose of this work is to improve the numerical models for cavitation inception and development on a hydrofoil. The focus of this thesis lies on numerical methodologies that include the broad range of cavity sizes, using appropriate models for each specific phenomenon. The smallest bubbles, called nuclei, are tracked in the flow with the Discrete Bubble Model, and their dynamics is resolved with the Rayleigh-Plesset equation. This approach can predict how the nuclei are transported over a hydrofoil to regions of low static pressure, where they grow and either collapse or contribute to the formation of large-scale vapour cavities. The large non-spherical structures are commonly modelled using the Volume-Of-Fluid method together with a mass transfer model for vaporisation and condensation. This ap- proach predicts the development of the vapour cavity, such as its breakup and the shedding process observed experimentally in the context of cavitating hydrofoils. The present work implements the above-mentioned models in the OpenFOAM C++ library, and performs simulations to assess the performance of the models. A new multi- scale model is developed, implemented and used on a cavitating hydrofoil. The multi-scale model includes both the small spherical bubbles, the large non-spherical vapour structures, and the transition between those regimes. iv v List of publications This thesis is based on the following papers. 1. Comparisons of numerical and experimental results for rising air bubbles. Aurélia Vallier and Johan Revstedt. Submitted to Journal of Fluids. 2. Modelling of bubble dynamics related to cavitation. Aurélia Vallier, Johan Revstedt and Håkan Nilsson. Submitted to Computers and Fluids. 3. Mass transfer cavitation model with variable density of nuclei. Aurélia Vallier, Johan Revstedt and Håkan Nilsson. 7th International Conference on Multiphase Flow, ICMF 2010, Tampa, Florida, 2010 4. Numerical procedure for simulating the break-up of cavitation sheet. Aurélia Vallier, Johan Revstedt and Håkan Nilsson. 4th International meeting on Cavitation and Dynamic Problems in Hydraulic Machin- ery and Systems, Belgrade, Serbia, 2011. 5. A new multi-scale approach for modelling cavitation on hydrofoils. Aurélia Vallier, Johan Revstedt and Håkan Nilsson. Submitted to International Journal for Numerical Methods in Fluids. vi vii Acknowledgements The research presented in this thesis was carried out as a part of "Swedish Hydropower Center - SVC". SVC has been established by the Swedish Energy Agency, Elforsk and Svenska Kraftnät together with Luleå University of Technology, The Royal Institute of Technology, Chalmers University of technology and Uppsala University. The computations were performed on resources provided by the Swedish National Infras- tructure for Computing (SNIC) at LUNARC, center for scientific and technical computing at Lund University. I would like to thank my supervisor Johan Revstedt and my co-supervisor Håkan Nilsson for their guidance and advice during this work. Thanks also to Bengt Sundén for letting me follow my family to Helsinki, to finish this work under the best possible conditions. viii ix Contents 1 Introduction 1 1.1 Objectives ..................................... 2 1.2 Achievements ................................... 3 2 Cavitation description 4 2.1 Cavitation inception . ............................ 4 2.2 Cavitation effect on efficiency .......................... 5 2.3 Cavitation development ............................. 6 3 Modelling of multiphase flow 9 3.1 The Volume-Of-Fluid (VOF) method ...................... 11 3.1.1 Treatment of the advection term .................... 11 3.1.2 Treatment of the surface tension ..................... 13 3.2 The Discrete Bubble Model (DBM) ....................... 14 3.2.1 Bubble equations of motion ....................... 14 3.2.2 Influence from the bubbles on the flow ................. 16 3.2.3 Bubble-wall collisions ........................... 18 3.2.4 Bubble interactions ............................ 18 4 Cavitation modelling 21 4.1 Cavitation models ................................. 21 4.2 Mass transfer models .............................. 22 4.2.1 The model of Sauer and Schnerr [62] .................. 23 4.3 The cavitation bubble model ........................... 24 4.3.1 Dynamics of a still bubble in an unbounded domain .......... 24 4.3.2 Bubble dynamics in the cavitation bubble model ............ 28 5 The new multi-scale model 30 5.1 Transition from the Eulerian to the Lagrangian frame ............. 32 5.1.1 Algorithm ................................. 32 5.2 Transition from the Lagrangian to the Eulerian frame ............. 33 6 Unpublished results 34 6.1 Liquid jet breakup ................................ 34 6.2 Nuclei distribution and its effects on the cavity shape ............. 37 7 Summary of appended papers 41 x 8 Conclusions and future work 45 xi Nomenclature Roman symbols Cdrag Drag coefficient [−] Clift Lift coefficient [−] c0 Chord length [m] D Diameter [m] F Force [kg m s−2] g Gravitational constant [ms−2] m Mass [kg] n Unit normal vector [−] −3 nnuc Nuclei density [m ] p Pressure [kg m−1 s−2] R Radius [m] S Source term [kg m−2 s−2]or[s−1] t Time [s] t Unit tangential vector [−] U Velocity [ms−1] V Volume [m3] x Position [m] Greek symbols
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