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Lectures 8, 9 and 10. Finite Difference Discretization of Hyperbolic Equations: Linear Problems. First Order Wave Equation. INITION BOUNDARY VALUE PROBLEM (IBVP) Initial Condition: Boundary Conditions:. Solution. First Order Wave Equation. Characteristics. General solution.

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lectures 8 9 and 10

Lectures 8, 9 and 10

Finite Difference Discretization of Hyperbolic Equations:Linear Problems

first order wave equation
First Order Wave Equation

INITION BOUNDARY VALUE PROBLEM (IBVP)

Initial Condition:

Boundary Conditions:

first order wave equation3

Solution

First Order Wave Equation

Characteristics

General solution

model problem
Model Problem

Initial condition:

Periodic Boundary conditions:

constant

model problem8

Example

Model Problem

Periodic Solution (U>0)

finite difference solution

Discretization

Finite DifferenceSolution

Discretize (0,1) into J equal intervals

And (0,T) into N equal intervals

finite difference solution11

Discretization

Finite DifferenceSolution

NOTATION:

  • approximation to
  • vector of approximate values at time ;
  • vector of exact values at time ;
finite difference solution12

Approximation

Finite DifferenceSolution

For example … for ( U > 0 )

Forward in Time Backward (Upwind) in Space

finite difference solution14

First Order Upwind Scheme

Finite DifferenceSolution

Interpretation

Use Linear Interpolation

j – 1, j

finite difference solution15

First Order Upwind Scheme

Finite DifferenceSolution

Explicit Solution

no matrix inversion

exists and is unique

convergence

Definition

Convergence

The finite difference algorithm converges if

For any initial condition .

consistency

Definition

Consistency

The difference scheme ,

is consistent with the differential equation

if:

For all smooth functions

when .

consistency20

First Order Upwind Scheme

Consistency

Difference operator

Differential operator

consistency21

First Order Upwind Scheme

Consistency

First order accurate in space and time

truncation error
Truncation Error

Insert exact solution into difference scheme

Consistency

stability

Definition

Stability

The difference scheme is stable if:

There exists such that

for all ; and n, such that

Above condition can be written as

stability26
Stability

Stable if

Upwind scheme is stable provided

lax equivalence theorem
Lax EquivalenceTheorem

A consistent finite difference scheme for a partial differential equation for which the initial value problem is well-posed is convergent if and only if it is stable.

lax equivalence theorem28

Proof

Lax EquivalenceTheorem

( first order in , )

lax equivalence theorem29

First Order Upwind Scheme

Lax EquivalenceTheorem
  • Consistency:
  • Stability: for
  • Convergence

or

and are constants independent of ,

lax equivalence theorem30

First Order Upwind Scheme

Lax EquivalenceTheorem

Example

Solutions for:

(left)

(right)

Convergence is slow !!

cfl condition

Domains of dependence

CFL Condition

Mathematical Domain of Dependence of

Set of points in where the initial or boundary

data may have some effect on .

Numerical Domain of Dependence of

Set of points in where the initial or boundary

data may have some effect on .

cfl condition32

Domains of dependence

CFL Condition

First Order Upwind Scheme

Analytical

Numerical ( U > 0 )

cfl condition33

CFL Theorem

CFL Condition

CFL Condition

For each the mathematical domain of de-

pendence is contained in the numerical domain of dependence.

CFL Theorem

The CFL condition is a necessary condition for the convergence of a numerical approximation of a partial differential equation, linear or nonlinear.

fourier analysis
Fourier Analysis
  • Provides a systematic method for determining stability → von Neumann Stability Analysis
  • Provides insight into discretization errors
fourier analysis36

Continuous Problem

Fourier Analysis

Fourier Modes and Properties…

Fourier mode: ( integer )

  • Periodic ( period = 1 )
  • Orthogonality
  • Eigenfunction of
fourier analysis37

Continuous Problem

Fourier Analysis

…Fourier Modes and Properties

  • Form a basis for periodic functions in
  • Parseval’s theorem
fourier analysis39

Discrete Problem

Fourier Analysis

Fourier Modes and Properties…

Fourier mode: ,

k ( integer )

fourier analysis40

Discrete Problem

Fourier Analysis

…Fourier Modes and Properties…

Real part of first 4 Fourier modes

fourier analysis41

Discrete Problem

Fourier Analysis

…Fourier Modes and Properties…

  • Periodic (period = J)
  • Orthogonality
fourier analysis42

Discrete Problem

Fourier Analysis

…Fourier Modes and Properties…

  • Eigenfunctions of difference operators e.g.,
fourier analysis43

Discrete Problem

Fourier Analysis

Fourier Modes and Properties…

  • Basis for periodic (discrete) functions
  • Parseval’s theorem
fourier analysis44

von Neumann Stability Criterion

Fourier Analysis

Write

Stability

Stability for all data

fourier analysis46

von Neumann Stability Criterion

Fourier Analysis

…First Order Upwind Scheme…

amplification factor

Stability if which implies

fourier analysis47

von Neumann Stability Criterion

Fourier Analysis

…First Order Upwind Scheme

Stability if:

fourier analysis48

von Neumann Stability Criterion

Fourier Analysis

FTCS Scheme…

Fourier Decomposition:

fourier analysis49

von Neumann Stability Criterion

Fourier Analysis

…FTCS Scheme

amplification factor

Unconditionally Unstable Not Convergent

lax wendroff scheme

Time Discretization

Lax-WendroffScheme

Write a Taylor series expansion in time about

But …

lax wendroff scheme51

Spatial Approximation

Lax-WendroffScheme

Approximate spatial derivatives

lax wendroff scheme52

Equation

Lax-WendroffScheme

no matrix inversion

exists and is unique

lax wendroff scheme53

Interpretation

Lax-WendroffScheme

Use Quadratic

Interpolation

lax wendroff scheme54

Analysis

Lax-WendroffScheme

Consistency

Secondorder accurate in space and time

lax wendroff scheme55

Analysis

Lax-WendroffScheme

Truncation Error

Insert exact solution into difference scheme

Consistency

lax wendroff scheme56

Analysis

Lax-WendroffScheme

Stability

Stability if:

lax wendroff scheme57

Analysis

Lax-WendroffScheme

Convergence

  • Consistency:
  • Stability:
  • Convergence
  • and are constants independent of
lax wendroff scheme60

Example

Lax-WendroffScheme

Solutions for:

C = 0.5

= 1/50(left)

= 1/100 (right)

lax wendroff scheme61

Example

Lax-WendroffScheme

= 1/100

C = 0.5

Upwind (left)

vs.

Lax-Wendroff (right)

beam warming scheme

Derivation

Beam-WarmingScheme

Use Quadratic

Interpolation

method of lines
Method of Lines

Generally applicable to time evolution PDE’s

  • Spatial discretization

Semi-discrete scheme (system of coupled ODE’s

  • Time discretization (using ODE techniques)

Discrete Scheme

By studying semi-discrete scheme we can better

understand spatial and temporal discretization errors

method of lines65
Method of Lines

Notation

approximation to

vector of semi-discrete approximations;

method of lines66

Spatial Discretization

Method of Lines

Central difference … (for example)

or, in vector form,

method of lines67

Spatial Discretization

Method of Lines

Fourier Analysis …

Write semi-discrete approximation as

inserting into semi-discrete equation

method of lines68

Spatial Discretization

Method of Lines

… Fourier Analysis …

For each θ, we have a scalar ODE

Neutrally stable

method of lines69

Spatial Discretization

Method of Lines

… Fourier Analysis …

Exact solution

Semi-discrete solution

method of lines71

Time Discretization

Method of Lines

Predictor/Corrector Algorithm …

Model ODE

Predictor

Corrector

Combining the two steps you have

method of lines72

Time Discretization

Method of Lines

…Predictor/Corrector Algorithm

Semi-discrete equation

Predictor

Corrector

Combining the two steps you have

method of lines74

Fourier Stability Analysis

Method of Lines

Application factor

with

Stability

method of lines75

Fourier Stability Analysis

Method of Lines

PDE

Semi-discrete

Discrete

Semi-discrete Fourier

Discrete Fourier

method of lines76

Fourier Stability Analysis

Method of Lines

Path B …

Semi-discrete

Fourier semi-discrete

Predictor

Corrector

Discrete

method of lines77

Fourier Stability Analysis

Method of Lines

…Path B

  • Give the same discrete Fourier equation
  • Simpler
  • “Decouples” spatial and temporal discretization

For each θ, the discrete Fourier equation is the

result of discretizing the scalar semi-discrete

ODE for the θ Fourier mode

method of lines78

Methods for ODE’s

Method of Lines

Model equation: complex- valued

Discretization

EF

EB

CN

method of lines79

Methods for ODE’s

Method of Lines

Absolute Stability Diagrams …

Given and complex-valued

(EF) or (EB) or …;

is defined such that

method of lines80

Methods for ODE’s

Method of Lines

…Absolute Stability Diagrams …

EF

EB

CN

method of lines81

Methods for ODE’s

Method of Lines

…Absolute Stability Diagrams

method of lines82

Methods for ODE’s

Method of Lines

Application to the wave equation…

For each

Thus,

  • (and ) is purely imaginary
  • for
method of lines83

Methods for ODE’s

Method of Lines

…Application to the wave equation…

EF is unconditionally unstable

EB is unconditionally stable

CN is unconditionally stable

method of lines84

Methods for ODE’s

Method of Lines

…Application to the wave equation…

Stable schemes can be obtained by:

1) Selecting explicit time stepping algorithm which

have some stability on imaginary axis

2) Modifying the original equation by adding “artificial

viscosity”

method of lines85

Methods for ODE’s

Method of Lines

…Application to the wave equation…

Explicit Time Stepping Scheme

Predictor/Corrector

method of lines86

Methods for ODE’s

Method of Lines

…Application to the wave equation…

Explicit Time Stepping Scheme

4 Stage Runge-Kutta

method of lines87

Methods for ODE’s

Method of Lines

…Application to the wave equation…

Adding Artificial Viscosity

Additional Term

EF Time First Order Upwind

EF Time Lax-Wendroff

method of lines88

Methods for ODE’s

Method of Lines

…Application to the wave equation…

Adding Artificial Viscosity

For each Fourier mode θ,

Additional Term

method of lines89

Methods for ODE’s

Method of Lines

…Application to the wave equation…

First Order Upwind Scheme

method of lines90

Methods for ODE’s

Method of Lines

…Application to the wave equation

Lax-Wendroff Scheme

dissipation and dispersion

Model Problem

Dissipation andDispersion

with and periodic boundary conditions.

Solution

dissipation and dispersion92

Model Problem

Dissipation andDispersion

represents Decay

dissipation relation

represents Propagation

dispersion relation

For exact solution of

no dissipation

(constant)no dispersion

dissipation and dispersion93

Modified Equation

Dissipation andDispersion

First Order Upwind

Lax-Wendroff

Beam-Warming

dissipation and dispersion94

Modified Equation

Dissipation andDispersion
  • For the upwind scheme dissipation dominates over dispersion Smooth solutions
  • For Lax-Wendroff and Beam-Warming dispersion is the leading error effect Oscillatory solutions ( if not well resolved)
  • Lax-Wendroff has a negativephase error
  • Beaming-Warming has (for ) a positive phase error
dissipation and dispersion96

Examples

Dissipation andDispersion

Lax-Wendroff (left)

vs.

Beam-Warming (right)

dissipation and dispersion97

Exact Discrete Relations

Dissipation andDispersion

For the exact solution

, and

For the discrete solution

, and