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SWIFT
SWIFTsim
Commits
8f4a0b4d
Commit
8f4a0b4d
authored
Feb 19, 2013
by
Matthieu Schaller
Browse files
Added the exact gadget-2 viscosity equations to the theory file.
Former-commit-id: 6faa6630dc55e4af2fbbc72a2cfa8fb0f5176ba1
parent
3c31465a
Changes
1
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theory/latex/swift.tex
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8f4a0b4d
...
...
@@ -380,7 +380,7 @@ The second loop is used to compute the accelerations (tertiary quantities). The
\label
{
eq:dudt
}
\\
\frac
{
dh
_
i
}{
dt
}
&
=
&
\frac
{
h
_
i
}{
3
}
\sum
_
j
\frac
{
m
_
j
}{
\rho
_
j
}
\left
(
\vec
{
v
_
j
}
-
\vec
{
v
_
i
}
\right
)
\cdot\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
, h
_
i)
\\
v
_{
sig,i
}
&
=
&
c
_
i + c
_
j +
\max
_
j(0, 3
\hat
{
r
}_{
ij
}
\cdot
(
\vec
{
v
}_
j -
\vec
{
v
}_
i))
v
_{
sig,i
}
&
=
&
c
_
i + c
_
j +
\max
_
j(0, 3
\hat
{
r
}_{
ij
}
\cdot
(
\vec
{
v
}_
j -
\vec
{
v
}_
i))
\label
{
eq:sigvel
}
\end{eqnarray}
In practice the loop is here performed over all pairs of particles such that
$
|
\vec
{
r
}_{
ij
}
| <
\zeta
h
_
i
$
or
...
...
@@ -562,108 +562,140 @@ function. It is just a more convenient way to represent entropy.
THESE QUANTITIES ARE CONSERVED ONLY IF ONE SINGLE TIME STEP IS USED FOR ALL PARTICLES !!
\section
{
Improved SPH equations
}
\section
{
Gadget-2 Viscosity
}
The equations
\ref
{
eq:acceleration
}
and
\ref
{
eq:dudt
}
correspond to a non-physical system with no viscosity and no
thermal conduction. The physical model can be improved by adding some terms which vary depending on the authors. We
follow here, D. Price and W. Dehnen.
These terms require second derivatives of the fields, which can be expressed in terms of the second derivative of
$
W
$
.
However, due to discreteness effects computing the derivatives of a field using
$
\partial
^
2
_{
rr
}
W
$
is very noisy even
when using high-order polynomial. For this reason a wrong second derivative is used based on the first derivative. We
first introduce
$
F
(
\vec
{
r
}_{
ij
}
,h
_
i
)
$
, the scalar part of the gradient of
$
W
$
. It is defined as
In
\gadget
, artificial viscosity is introduced by adding a term to both equation
\ref
{
eq:acceleration
}
and
\ref
{
eq:dudt
}
:
\begin{equation}
\nabla
_
r W(
\vec
{
r
}_{
ij
}
,h
_
i) = F(
\vec
{
r
}_{
ij
}
,h
_
i)
\hat
{
r
}_{
ij
}
\end{equation}
which in 3D implies that
\begin{equation}
F
_{
ij
}
(h
_
i)
\equiv
F(
\vec
{
r
}_{
ij
}
,h
_
i) =
\frac
{
1
}{
h
_
i
^
4
}
f'
\left
(
\frac
{
|
\vec
{
r
}_{
ij
}
|
}{
h
_
i
}
\right
)
\end{equation}
where
$
f
$
is the dimensionless part of the kernel introduced earlier. For symmetry reasons, we will use
\begin{eqnarray}
\bar
{
F
}_{
ij
}
&
=
&
\frac
{
1
}{
2
}
\left
(F
_{
ij
}
(h
_
i) + F
_{
ij
}
(h
_
j)
\right
)
\\
&
=
&
\frac
{
1
}{
2h
_
i
^
4
}
f'
\left
(
\frac
{
|
\vec
{
r
}_{
ij
}
|
}{
h
_
i
}
\right
) +
\frac
{
1
}{
2h
_
j
^
4
}
f'
\left
(
\frac
{
|
\vec
{
r
}_{
ij
}
|
}{
h
_
j
}
\right
)
\\
\end{eqnarray}
in the equations. A decent place-holder for the second derivative of
$
W
$
is then
$
-
2
F
_{
ij
}
/
|
\vec
{
r
}_{
ij
}
|
$
.
\subsection
{
Artificial viscosity
}
Artificial viscosity can be introduced by adding a term to both equation
\ref
{
eq:acceleration
}
and
\ref
{
eq:dudt
}
:
\begin{eqnarray}
\vec
{
a
_
i
}
&
\stackrel
{
visc
}{
=
}&
2
\sum
_
j m
_
j
\frac
{
\alpha
v
_{
sig
}
\left
(
\vec
{
v
}_
i -
\vec
{
v
}_
j
\right
)
\cdot\hat
{
r
}_{
ij
}}{
\left
(
\rho
_
i +
\rho
_
j
\right
)
}
\hat
{
r
}_{
ij
}
\cdot
\bar
{
F
}_{
ij
}
\label
{
eq:visc
}
\\
\frac
{
du
_
i
}{
dt
}
&
\stackrel
{
visc
}{
=
}&
-
\sum
_
j
\frac
{
m
_
j
}{
(
\rho
_
i +
\rho
_
j)
}
\alpha
v
_{
sig
}
\left
[\left(\vec{v}_i-\vec{v}_j\right)\cdot\hat{r}_{ij}\right]
^
2
\bar
{
F
}_{
ij
}
\end{eqnarray}
where
$
\alpha
$
is the dimensionless artificial viscosity and
\begin{equation}
v
_{
sig
}
=
\begin{cases}
\frac
{
1
}{
2
}
\left
[c_i + c_j - \beta\left(\vec{v}_i-\vec{v}_j\right)\cdot\hat{r}_{ij} \right]
&
\mbox
{
if
}
\quad
\left
(
\vec
{
v
}_
i-
\vec
{
v
}_
j
\right
)
\cdot
\hat
{
r
}_{
ij
}
< 0
\\
0
&
\mbox
{
if
}
\quad
\left
(
\vec
{
v
}_
i-
\vec
{
v
}_
j
\right
)
\cdot
\hat
{
r
}_{
ij
}
> 0
\end{cases}
\end{equation}
corresponds to the maximal (average) signal speed between pairs of particles.
GADGET uses
$
\alpha
=
1
$
(but can be changed) and
$
\beta
=
3
\alpha
$
(fixed). In addition, the Balsara switch is used.
\\
Modern implementations of SPH use a variable viscosity
$
\alpha
_
i
$
for each particle. The idea behind this is to switch
of viscosity in the part of the flows where the fluid is dissipation-less and to switch it on in shocks. This is done by
using a shock detector and then a slow decay of the viscosity with time. Following Price, we use
\begin{eqnarray}
\frac
{
d
\alpha
_
i
}{
dt
}
&
=
&
\left
(
\alpha
_{
max
}
-
\alpha
_
i
\right
)
\mathcal
{
S
}
~+
\frac
{
(
\alpha
_
i-
\alpha
_{
min
}
)c
_
i
\sigma
}{
h
_
i
}
\\
\mathcal
{
S
}
&
=
&
\max\left
(0, -
\nabla\cdot
\vec
{
v
}_
i
\right
)
\end{eqnarray}
with (usually)
$
\alpha
_{
max
}
=
2
$
,
$
\alpha
_{
min
}
=
0
.
1
$
and
$
\sigma
=
0
.
1
$
. The
$
\alpha
$
term in (
\ref
{
eq:visc
}
) is then
replaced by
$
\bar\alpha
=
\frac
{
1
}{
2
}
(
\alpha
_
i
+
\alpha
_
j
)
$
. The same applies to
$
\beta
$
which is now,
$
\beta
=
3
\bar\alpha
$
.
\\
The divergence of the velocity field can be computed in the density loop and the exact expression is
\begin{equation}
\label
{
eq:div
_
v
}
\nabla\cdot
v
_
i =
\frac
{
1
}{
\rho
_
i
}
\sum
_
j m
_
j
\left
(
\vec
{
v
}_
j -
\vec
{
v
}_
i
\right
)
\cdot
\nabla
_
r W(
\vec
{
r
}_{
ij
}
,h
_
i)
\end{equation}
\subsection
{
Thermal conductivity
}
The thermal conductivity which dissipates energy at discontinuities in the energy field can be modeled by adding
another term to the internal energy evolution equation (
\ref
{
eq:dudt
}
).
\begin{equation}
\frac
{
du
_
i
}{
dt
}
\stackrel
{
cond
}{
=
}
-
\sum
_
j
\alpha
_
u v
_{
sig,u
}
\left
(u
_
i - u
_
j
\right
)
\bar
{
F
}_{
ij
}
\end{equation}
\begin{eqnarray*}
\vec
{
a
_
i
}
&
\stackrel
{
visc
}{
=
}&
-
\frac
{
1
}{
4
}
\sum
_
j m
_
j
\Pi
_{
ij
}
\left
(
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
,
h
_
i)+
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
, h
_
j)
\right
) (f
_
i+f
_
j)
\\
\frac
{
du
_
i
}{
dt
}
&
\stackrel
{
visc
}{
=
}&
\frac
{
1
}{
8
}
\sum
_
j m
_
j
\Pi
_{
ij
}
(
\vec
{
v
}_
i -
\vec
{
v
}_
j)
\left
(
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
,
h
_
i)+
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
, h
_
j)
\right
) (f
_
i+f
_
j)
\end{eqnarray*}
This time, the signal velocity must vanish when we are dealing with a contact discontinuity as no energy should flow
between the two regions in this case. A good choice is to use
The viscosity tensor
$
\Pi
_{
ij
}$
is given by:
\begin{equation}
v
_{
sig,u
}
=
\sqrt
{
\frac
{
2|P
_
i-P
_
j|
}{
\rho
_
i+
\rho
_
j
}}
\end{equation}
\begin{eqnarray*}
\Pi
_{
ij
}
&
=
&
-
\alpha
\frac
{
\left
(c
_
i + c
_
j - 3w
_{
ij
}
\right
)w
_{
ij
}}{
\rho
_
i +
\rho
_
j
}
\\
w
_{
ij
}
&
=
&
\min\left
(0,
\frac
{
(
\vec
{
v
}_
i -
\vec
{
v
}_
j)
\cdot
(
\vec
{
r
}_
i -
\vec
{
r
}_
j
}{
|r
_{
ij
}
|
}
\right
)
\end{eqnarray*}
Once again, the
$
\alpha
$
-term is made to decay far from any discontinuity. In this case, the equation reads
The
$
w
_{
ij
}$
term can be re-used to express the signal velocity
\ref
{
eq:sigvel
}
. The viscosity parameter
$
\alpha
$
usually takes value in the range
$
[
0
.
5
,
2
]
$
. The Balsara switch
$
(
f
_
i
+
f
_
j
)
$
is built from two terms that are
pre-computed in the density loop:
\begin{eqnarray}
\frac
{
d
\alpha
_{
u,i
}}{
dt
}
&
=
&
\mathcal
{
S
}_
u -
\frac
{
\alpha
_{
u,i
}
c
_
i
\sigma
}{
h
_
i
}
\\
\mathcal
{
S
}_
u
&
=
&
\frac
{
h
_
i
\nabla
^
2 u
_
i
}{
10
}
\end{eqnarray}
\begin{eqnarray*}
f
_
i
&
=
&
\frac
{
|
\vec\nabla
\times
\vec
{
v
}_
i|
}{
|
\vec\nabla
\cdot
\vec
{
v
}_
i| + |
\vec\nabla
\times
\vec
{
v
}_
i| +
10
^{
-4
}
\frac
{
c
_
j
}{
h
_
j
}}
\\
\vec\nabla
\times
\vec
{
v
}_
i
&
=
&
-
\frac
{
1
}{
\rho
_
i
}
\sum
_
j m
_
j (
\vec
{
v
}_
j -
\vec
{
v
}_
i)
\times
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
, h
_
i)
\\
\vec\nabla
\cdot
\vec
{
v
}_
i
&
=
&
\frac
{
1
}{
\rho
_
i
}
\sum
_
j m
_
j (
\vec
{
v
}_
j -
\vec
{
v
}_
i)
\cdot
\vec
{
\nabla
_
r
}
W(
\vec
{
r
}_{
ij
}
,
h
_
i)
\end{eqnarray*}
where again
$
\sigma
=
0
.
1
$
as in the viscosity terms. As in the velocity divergence case, the laplacian of
$
u
$
can be
computed in the density loop and reads
\begin{equation}
\nabla
^
2 u
_
i =
\frac
{
2
}{
\rho
_
i
}
\sum
_
j m
_
j
\left
(u
_
j - u
_
i
\right
)
\frac
{
F
_{
ij
}}{
|
\vec
{
r
}_{
ij
}
|
}
\end{equation}
% The equations \ref{eq:acceleration} and \ref{eq:dudt} correspond to a non-physical system with no viscosity and no
% thermal conduction. The physical model can be improved by adding some terms which vary depending on the authors. We
% follow here, D. Price and W. Dehnen.
% These terms require second derivatives of the fields, which can be expressed in terms of the second derivative of $W$.
% However, due to discreteness effects computing the derivatives of a field using $\partial^2_{rr}W$ is very noisy even
% when using high-order polynomial. For this reason a wrong second derivative is used based on the first derivative. We
% first introduce $F(\vec{r}_{ij},h_i)$, the scalar part of the gradient of $W$. It is defined as
%
% \begin{equation}
% \nabla_r W(\vec{r}_{ij},h_i) = F(\vec{r}_{ij},h_i) \hat{r}_{ij}
% \end{equation}
%
% which in 3D implies that
%
% \begin{equation}
% F_{ij}(h_i) \equiv F(\vec{r}_{ij},h_i) = \frac{1}{h_i^4}f'\left(\frac{|\vec{r}_{ij}|}{h_i}\right)
% \end{equation}
%
% where $f$ is the dimensionless part of the kernel introduced earlier. For symmetry reasons, we will use
%
% \begin{eqnarray}
% \bar{F}_{ij} &=& \frac{1}{2} \left(F_{ij}(h_i) + F_{ij}(h_j)\right) \\
% &=& \frac{1}{2h_i^4}f'\left(\frac{|\vec{r}_{ij}|}{h_i}\right) +
% \frac{1}{2h_j^4}f'\left(\frac{|\vec{r}_{ij}|}{h_j}\right) \\
% \end{eqnarray}
%
% in the equations. A decent place-holder for the second derivative of $W$ is then $-2F_{ij}/|\vec{r}_{ij}|$.
%
% \subsection{Artificial viscosity}
%
% Artificial viscosity can be introduced by adding a term to both equation \ref{eq:acceleration} and \ref{eq:dudt}:
%
% \begin{eqnarray}
% \vec{a_i} &\stackrel{visc}{=}& 2\sum_j m_j \frac{\alpha v_{sig}\left(\vec{v}_i -
% \vec{v}_j\right)\cdot\hat{r}_{ij}}{\left(\rho_i + \rho_j\right)}\hat{r}_{ij}\cdot \bar{F}_{ij} \label{eq:visc}\\
% \frac{du_i}{dt} &\stackrel{visc}{=}& -\sum_j \frac{m_j}{(\rho_i + \rho_j)} \alpha
% v_{sig}\left[\left(\vec{v}_i-\vec{v}_j\right)\cdot\hat{r}_{ij}\right]^2 \bar{F}_{ij}
% \end{eqnarray}
%
% where $\alpha$ is the dimensionless artificial viscosity and
%
% \begin{equation}
% v_{sig} = \begin{cases}
% \frac{1}{2}\left[c_i + c_j - \beta\left(\vec{v}_i-\vec{v}_j\right)\cdot\hat{r}_{ij} \right] &
% \mbox{if} \quad \left(\vec{v}_i-\vec{v}_j\right)\cdot \hat{r}_{ij} < 0\\
% 0 & \mbox{if} \quad \left(\vec{v}_i-\vec{v}_j\right)\cdot \hat{r}_{ij} > 0
% \end{cases}
% \end{equation}
%
% corresponds to the maximal (average) signal speed between pairs of particles.
% GADGET uses $\alpha=1$ (but can be changed) and $\beta=3\alpha$ (fixed). In addition, the Balsara switch is used. \\
%
% Modern implementations of SPH use a variable viscosity $\alpha_i$ for each particle. The idea behind this is to switch
% of viscosity in the part of the flows where the fluid is dissipation-less and to switch it on in shocks. This is done by
% using a shock detector and then a slow decay of the viscosity with time. Following Price, we use
%
% \begin{eqnarray}
% \frac{d\alpha_i}{dt} &=& \left(\alpha_{max}-\alpha_i\right)\mathcal{S}~+\frac{(\alpha_i-\alpha_{min})c_i\sigma}{h_i}\\
% \mathcal{S} &=& \max\left(0, -\nabla\cdot \vec{v}_i \right)
% \end{eqnarray}
%
% with (usually) $\alpha_{max} = 2$, $\alpha_{min} = 0.1$ and $\sigma=0.1$. The $\alpha$ term in (\ref{eq:visc}) is then
% replaced by $\bar\alpha = \frac{1}{2}(\alpha_i + \alpha_j)$. The same applies to $\beta$ which is now, $\beta =
% 3\bar\alpha$.\\
% The divergence of the velocity field can be computed in the density loop and the exact expression is
%
% \begin{equation}
% \label{eq:div_v}
% \nabla\cdot v_i = \frac{1}{\rho_i}\sum_j m_j \left(\vec{v}_j - \vec{v}_i\right)\cdot \nabla_r W(\vec{r}_{ij},h_i)
% \end{equation}
%
% \subsection{Thermal conductivity}
%
% The thermal conductivity which dissipates energy at discontinuities in the energy field can be modeled by adding
% another term to the internal energy evolution equation (\ref{eq:dudt}).
%
% \begin{equation}
% \frac{du_i}{dt} \stackrel{cond}{=} - \sum_j \alpha_u v_{sig,u}\left(u_i - u_j\right)\bar{F}_{ij}
% \end{equation}
%
% This time, the signal velocity must vanish when we are dealing with a contact discontinuity as no energy should flow
% between the two regions in this case. A good choice is to use
%
% \begin{equation}
% v_{sig,u} = \sqrt{\frac{2|P_i-P_j|}{\rho_i+\rho_j}}
% \end{equation}
%
% Once again, the $\alpha$-term is made to decay far from any discontinuity. In this case, the equation reads
%
% \begin{eqnarray}
% \frac{d\alpha_{u,i}}{dt} &=& \mathcal{S}_u - \frac{\alpha_{u,i}c_i\sigma}{h_i} \\
% \mathcal{S}_u &=& \frac{h_i \nabla^2 u_i}{10}
% \end{eqnarray}
%
% where again $\sigma=0.1$ as in the viscosity terms. As in the velocity divergence case, the laplacian of $u$ can be
% computed in the density loop and reads
%
% \begin{equation}
% \nabla^2 u_i = \frac{2}{\rho_i} \sum_j m_j \left(u_j - u_i\right) \frac{F_{ij}}{|\vec{r}_{ij}|}
% \end{equation}
...
...
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