ACTA MECHANICA SINICA, Vol.20, No.

6, December 2004 ISSN 0567-7718

The Chinese Society of Theoretical and Applied Mechanics
Chinese Journal of Mechanics Press, Beijing, China
Allerton Press, INC., New York, U.S.A.

ADAPTIVE FINITE ELEMENT METHOD FOR HIGH-SPEED

FLOW-STRUCTURE INTERACTION*

Wiroj L I M T R A K A R N Pramote DECHAUMPHAI t

(Mechanical Engineering Department, Chulalongkorn University, Bangkok 10330, Thailand)

ABSTRACT: An adaptive finite element method for high-speed flow-structure interaction is pre-
sented. The cell-centered finite element method is combined with an adaptive meshing technique to
solve the Navier-Stokes equations for high-speed compressible flow behavior. The energy equation and
the quasi-static structural equations for aerodynamically heated structures are solved by applying the
Galerkin finite element method. The finite element formulation and computational procedure are de-
scribed. Interactions between the high-speed flow, structural heat transfer, and deformation are studied
by two applications of Mach 10 flow over an inclined plate, and Mach 4 flow in a channel.

KEY WORDS: flow-structure interaction, adaptive mesh, aerodynamic heating rate

1 INTRODUCTION predicting the flow and structure behaviors. A paral-

High-speed flow phenomena, aerodynamic heat-
ing rates on structural surfaces, structural tempera-
ture and their gradients, as well as structural defor-
mations and stresses, are important factors for the
design of high-speed flight vehicles such as hypersonic
airbreathing vehicles[ 1]. High-speed flow phenomena
normally include complex flow characteristics, such
as shock waves, shock-shock interactions, thin bound-
ary layers and shock-boundary layer interactions [2,31 .
Some of these characteristics, especially near the
structural surface, generate aerotherlnal loads on the
vehicle structures and normally affect the structural
temperature, deformation and stress. Within a few
seconds under an intense aerodynamic heating rate,
the structural t e m p e r a t u r e begins to rise and a sig-
nificant deformation may occur. In addition, the
deformed structure may significantly alter the high-
speed flow behavior and thus the aerothermal loads.
These coupled effects indicate that the analysis of
high-speed flow-structure interaction is important for
the high-speed vehicle design. Such coupled effects
have been studied by a number of researchers re-
cently. Reference [4] combined commercial compu-
tational fluid and structural dynamics programs for
Received 4 June 2003, revised 31 December 2003 o
* The project supported by the Thailand Research Fund (TRF)
t E-mail: fmepdc@eng.chula.ac.th
lel multilevel method for adaptively refined grids was
introduced in Ref.[5] to reduce the overall computa-
tional effort. Embedded boundaries between the flow
and the structure were proposed to effectively trans-
fer information between two different parts. The ap-
proach was later extended for unstructured grids to
minimize the computational time and the memory re-
quired for the flow analysis. The examples presented
in these references, however, do not include the ther-
mal response of the structure due to an intense aero-
dynamic heating rate from the high-speed flow.
In this paper, an integrated flow, thermal, and
structural analysis approach for predicting the be-
havior of each parts and their interactions is pre-
sented. For high-speed compressible flow, the cell-
centered finite element method [7~9] is combined with
an adaptive meshing technique to solve the Navier-
Stokes equations. Based on the solution obtained
from the previous mesh, the adaptive meshing tech-
nique generates an entirely new mesh that consists
of small elements in the regions with large change in
solution gradients, and large elements in the other re-
gions with small change in solution gradients. The
combined technique is used to improve the efficiency
598 ACTA MECHANICA SINICA 2004

of the finite-element flow solution and the aerothermal where the subscript T denotes the structural heat
loads, as well as to reduce the computational time transfer analysis. The vector UT contains the ther-
and memory. The GMerkin finite element method real conservation variable defined by,
is applied to solve the structural energy equation for
temperature distribution and the structural equations UT = pcT (4)
for deformations and stresses. The paper starts by where c is the specific heat of the structure and the
explaining the theoretical formulation of high-speed heat flux components ET and FT are
compressible flow, structural heat transfer, and struc-
tural response. Then the solution procedure for flow- -k ~ and : -k ~
ET = ax Oy (5)
thermal-structural interaction is presented. The basic
idea behind the adaptive meshing technique is then and GT is the heat source.
described. The combined procedure, the cell-centered 2.1.3 Structural Response
finite element method and the adaptive meshing tech- The structural response is governed by the quasi-
nique, and the integrated approach are evaluated by static equilibrium equations given by
analyzing two applications of Mach 10 flow over an
inclined plate and Mach 4 flow in a channel for the OEs+ ~yFs = 0 (6)
fluid-thermal-structural interaction.
where the subscript S denotes the structural analysis.
2 THEORETICAL FORMULATION AND The flux vector components E s and F s are
SOLUTION PROCEDURE
Es = and Fs = (7)
2.1 G o v e r n i n g E q u a t i o n s Txy 0-y
The equations for the high-speed compressible where the stress components ~x, Cry, and Txy are re-
flow, the structural heat transfer, and the structural lated to the strain and the temperature by the gener-
analysis in two dimensions are described below. alized Hook's law [m] .
2.1.1 High-Speed Compressible Flow 2.2 Finite Element Formulation
The equations for high-speed viscous compress- The cell-centered finite element method is ap-
ible flow are represented by the conservation of mass, plied to the Navier-Stokes equations to derive the fi-
momentums, and energy. These equations are written nite element equations. The Galerkin finite element
in the conservation form [1~ as approach is applied to the structural heat transfer
equation and the equilibrium equations to derive the
~-~UF + EF + FF = 0 (1) corresponding finite element equations. The deriva-
tion procedures are briefly described below.
where the subscript F denotes the fluid analysis. The
2.2.1 Finite-Element Flow Equations
vector UF contains the fluid conservation variables The method of weighted residuals [12[ is applied
defined by
to Eq.(1), over the element domain, f2, by using the
unit interpolation function as
pu
UF = pv (2)
/n ff--~UFdX?= -- ~ ~--~EFd ~ -
pc
where p is the fluid density, u and v are the velocity
/ n ~yFFd~? (8)
components in the x and y directions, respectively,
and e is the total energy. The vectors E and F con- The Gauss divergence theorem is then applied to the
sist of the flux components in the x and y directions, flux integral terms of Eq.(8) to yield
respectively[ s] .
2.1.2 Structural Heat Transfer L ~EFd/2 + ~ ~yFF dr2=
The thermal response of the structure is de-
scribed by the energy equation in the conservation
form as
ro(G~ + Gv). r (9)
where the flux vectors GI and G v are the inviscid
~UT + ET + FT = GT (3) and viscous flux vectors of EI + F I and E v + F v ,
Vol.20, No.6 Limtrakarn W & Dechaumphai P: FEM for High-speed Flow-structure Interaction
respectively, and fi is the unit vector normal to the
element boundary Fe. Equation (9) is evaluated by
summing the normal fluxes from all the sides, Fe, of
the element. The fluxes normal to the element sides
are then approximated by the numerical inviscid and
viscous fluxes, G1 and O r . By applying an explicit
time marching algorithm[ 1~ Eq.(9) becomes
A~e(U~+I - u~) = - ~ (~s(GI -~ GV) (10)
At
S JG
where vFirrn+l and U F'~are the conservation variables at
time steps n + 1 and n, respectively, Ar is the element
area, 5s is the length of the element side, and At is
the allowable time step following the CFL and viscous
stability requirement [sJ .
The basic concept behind the cell-centered finite
element method used in this paper is to determine
the flux across element interfaces by Roe's averaging
procedure [9]. The average inviscid flux GI is given by
Oi= ~[G~ § (11)
where the superscripts L and R denote the left and
right elements, respectively. The last term in Eq.(11)
may be viewed as the artificial diffusion needed for
solution stability.
By substituting E q . ( l l ) into Eq.(10), the incre-
ments of the conservation variables, AUF = U~ +1 -
U~, can be computed explicitly from
(V~ § - U~:)de 1
at = - 2 z as +aiR+
s elastic modulus matrix, F s is the surface traction ma-
IA*I(U)- sea)] - ~ asOv (12)
S
2.2.2 Finite-Element Structural Heat Transfer
Equations
The method of weighted residuals is applied to
Eq.(3), over the element domain, f2, by assuming a
linear distribution of the conservation variable UT,
and the flux components ET and FT in the form
UT(x,y,Q = N(x,y)UT(t) (13a)
ET(x,y,Q = N(x,y)ET(t) (13b)
FT(x,y,t) = N(x,y)FT(t) (13c)
where N(x, y) is the linear interpolation function ma-
trix. The finite element equations can then be derived
in the form
M A U ~ +1 = RT~~+ RT~ (14)
599
where M is the mass matrix, A U ~ +1 = U ~ +1 - U ~
at time n + 1. The /i~. 1 and R~. 2 vectors are as-
sociated with the thermal fluxes within element and
across element boundary, respectively, and are given
by
R~,l = fo ~--~zNdOE~ + f~ ~-y Ndf2F~r (15)
R~r2 = - / N(E~n~ + F~%)d_r (16)
2.2.3 Finite-element Structural Equations
The Galerkin finite element method is applied to
Eq.(6) in the same fashion as in the structural heat
transfer analysis. The finite element equations can
also be derived in the form
K U s = Rs + RT (17)
where K is the stiffness matrix, Us is the nodal dis-
placement vector, Rs is the external load vector, and
RT is the thermal load vector. These matrices are
defined by
K = ~ BTCBdY2 (18)
Rs = fv~ N T F s d F (19)
RT = f o BTCc~(T - T0)dO (20)
where B is the strain-interpolation matrix, C is the
trix, c~ is the thermal expansion coefficient vector, and
To is the reference temperature for zero stress state.
2.3 S o l u t i o n S e q u e n c e
For high-speed compressible flow, the flow be-
havior normally approaches the steady state in a much
shorter time than those for the thermal and structural
response of the structure. Typically, the heating rate
approaches the steady state in about a few millisec-
onds. At this period, the structural configuration re-
mains nearly undeformed at temperature only slightly
higher than the initial temperature. After a few sec-
onds, the structural temperature begins to rise appre-
ciably and significant deformation may occur. At this
time, the thermal and deformation coupling effect can
alter the flow field. The coupling effect continues to
alter the flow and structure behavior until the struc-
ture reaches the state of the thermal equilibrium.
Based on the fact that the high-speed flow be-
havior normally reaches the steady-state condition in
600 ACTA MECHANICA SINICA 2004

a much shorter time t h a n the structural response, the
analysis procedure of the flow-structure interaction
presented in this p a p e r consists of the solution se-
quence as described in Fig.1. This solution sequence
can reduce the total computational time by avoiding
detailed transient flow analysis which requires signifi-
cant computational effort. At the initial time, t = to,
the adaptive cell-centered finite element method is
first used to predict the high-speed flow behavior as
denoted by FA (Flow Analysis). The flow analysis
generates aerothermal loads t h a t include the heating
rate and pressure along the structural surface. Af-
ter a short interval of time at t = 11, the predicted
aerodynamic heating rate is applied to the structural
configuration and structural heat transfer analysis as
denoted by TA (Thermal Analysis) is used to solve
for the structural temperature. Both the structural
t e m p e r a t u r e and the fluid pressure are then used to
predict the structural response for deformation and
stresses as denoted by SA (Structural Analysis). The
same sequence is repeated to predict the new flow field
behavior, the aerothermal loads, the structural tem-
perature, as well as the new structural deformation
and stresses.

update / - - - computational
domain update
domain / fluid domain
/

initial time to ~,- time tl ~- time t: ..... 9

(9 = high-speed flow analysis @ structural heat transfer analysis

G structural response analysis

Fig.1 Solution sequence of flow-structure interaction for high-

speed flow over a flat plate

3 ADAPTIVE MESHING TECHNIQUE
Adaptive mesh generation techniques may be
classified into two major categories: (1) refinement/
derefinement, and (2) remeshing. The first category,
the adaptive refinement/derefinement technique, can
be further classified into three subcategories: (a) the
h method, (b) the p method, and (c) the 1" method.
In the h method, the elements in the initial mesh are
refined into smaller elements or derefined into larger
elements[13]. The p method maintains the geometry of
the elements of the initial mesh but increases (or de-
creases) the order of the polynomials used for the ele-
ment interpolation functions [141. The r method keeps
the number of elements and their connectivities the
same but relocates the nodes [15].
The remeshing technique, the second adaptive
mesh-generation category, generates an entirely new
mesh based on the solution obtained from an earlier
mesh [16'17]. The technique is combined with the cell-
centered finite element method in this paper to solve
high-speed compressible flow problems. The idea is
to construct a new mesh that consists of small el-
ements in the regions with large change in solution
gradients and large elements in the other regions with
small changes in solution gradients. As an exam-
ple, small elements are needed in the regions of shock
waves to capture shock resolution, whereas hrger el-
Vol.20, No.6 kimtrakarn W & Dechaumphai P: FEM for High-speed Flow-structure Interaction 601

ements can be used in the free-stream region because
the flow behavior is uniform. To determine proper
element sizes at different locations in the flow field,
the solid-mechanics concept of determining the prin-
cipal stresses from a given state of stresses at a point
is employed. Since the fluid density changes abruptly
across the shock waves, the density distribution can
be used as an indicator in the determination of proper
element sizes.
Because small elements must be placed in the re-
gion of shock waves with large changes in the density
gradients, the second derivatives of the density at a
point with respect to global coordinates x a n d / j are
to be computed
2p 02p ]
4.1 Mach 10 F l o w o v e r a n I n c l i n e d Plate
The problem statement of a Much 10 flow over
an inclined plate is illustrated in Fig.2(a). The flow
enters through the left boundary of the computationM
fluid domain and creates an oblique shock wave as
highlighted in the figure. The figure shows that a
panel is supported by the panel holder in an initial
flat orientation and is being heated at time t = 0 by
high-speed flow. At the left and right ends of the
panel, conduction heat transfer is permitted to tile
panel holder. The b o t t o m surface of the panel is as-
sumed perfectly insulated and at the top surface an
aerodynamic heating rate is applied as illustrated in
Fig.2(b). Temperature distribution on the panel is
then computed by the structural heat transfer analy-

i0 oTs / sis. The panel is constrainted on the b o t t o m corners

(21) at s = 0.1 and 0.2 m as shown in Fig.2(c). For these
02o 02,o [ boundary conditions, the panel deforms into a convex
J
shape as highlighted in the figure.
Then the principal quantities in the principal direc-
tions X and Y where the cross-derivatives vanish are
determined as

02P 02P (22) computational domain

A1 = ~X-2 and A2 =

These principal quantities are then used to compute Jl= l0

proper element sizes hi and ha in the two principal shock wave ~
directions using the condition[ is]

h~)h = h2A2 = constant = hmin)~max

2 (23)
O deft)ruled(t-0)-- -
undefommd~ J /" ,-e~_~ \
where hmin is the specified minimum element size, and
Am~x is the m a x i m u m principal quantity for the entire
model. \ panel ' \ 0 hn - - ' '
Based on the condition shown in Eq.(23), the "\ holder . . ~ ~-
\
\ 0.1m
element size is generated according to the given min-
imum element size hmi~. Specifying too small hmin
may result in a model with an excessive number of el- (a) Problem statement
ements. On the other hand, specifying too large brain
may result in an inadequate solution accuracy or ex-
cessive analysis and meshing cycles. These factors aerodynamic heating rate
must be considered prior to generating a new mesh.
Note that, because the technique generates an entirely
new mesh with different nodal locations with respect
to the old mesh, the interpolation of the solution from
the old to the new mesh should be used.
0 002m"~ ~ ~ panel

4 APPLICATIONS msulated

The capability and efficiency of the proposed

high-speed flow-structure interaction procedure are
evaluated by two applications of a Mach 10 flow over
an inclined plate and a Mach 4 flow in a channel.
(b) Boundary conditions for heat trans-
fer analysis
Fig.2 Mach 10 flow over an inclined plate
602 ACTA MECHANICA SINICA 2004
- pressure
The entire process is repeated eight times by updat-
ing the flow field and structural response every 30 s.
At time t = 240s, the adaptive mesh as shown in
Fig.4(a) consists of 11278 triangular elements and
1910 quadrilateral elements. The shock pattern is al-
tered by convex deformation of the constrainted panel
and small clustered elements are automatically gen-
erated to capture the shock line. Ten graded layers
of quadrilateral elements are still used in the bound-
S ~ fixed ary layer to provide accurate aerodynamic heating
rate. The predicted density distribution is obtained
(c) Boundary conditions for structural analysis
as shown in Fig.4(b) with curved shock altered by
Fig.2 Much i0 flow over an inclined plate the deformed panel. Figure 5 shows the comparison
(continued) of the aerodynamic heating rates along the entire
plate length at time t = 0 and 240 s. Figure 6 shows
The flow-thermal-structural interaction for the
inclined plate is analyzed using the solution sequence
described in Fig.1. At the initial time, t = 0s, the
flow field behavior is predicted by using the cell-
centered finite element method. Based on the flow
solution obtained from a previous mesh, the adap-
tive meshing technique as described in the preceding
section is then applied to obtain an optimized mesh
as shown in Fig.3(a). Small elements are automati-
cally generated along the shock line to provide good
shock resolution and large elements are generated in
the other regions. The total 10611 triangular ele-
ments are generated in the inviscid region and 5 050
quadrilateral elements in the boundary layer. Ten
graded layers of quadrilateral elements are used in
the boundary layer to capture steep temperature
gradients for accurate aerodynamic heating rate pre- (a) Adaptive mesh
diction. Typical flow solution from this adaptive
mesh in form of the density contours is presented in
Pig.3(b) indicating good shock and boundary layer
3.4xlff 4 1.%10-4
resolution. The structural heat transfer analysis is
used to predict the panel temperature response due ~ 13x1~
to the aerodynamic heating rate obtained from the
flow analysis. At the same time, the quasi-static
structural analysis is applied to compute the struc-
tural deformation due to both the pressure from the
flow analysis and the temperature response from the
thermal analysis. As the panel begins to deform into
the flow stream, it alters the flow field by introducing
local shocks, expansion regions, and shock boundary-
layer interactions. The computational fluid domain is
then updated by the deformed structural boundary.
The flow field behavior of the new fluid domain is
(b) Density distribution
again predicted by using the cell-centered finite ele-
ment method. The panel temperature response and Fig.3 Adaptive mesh and corresponding den-
deformation shape are then predicted by using the sity contours (kg/m 3) for Much 10 flow
thermal and structural analysis again, respectively. over an inclined plate at initial time
Vol.20, No.6 Limtrakarn W & Dechaumphai P: FEM for High-speed Flow-structure Interaction 603

40
/r~ -A undeformed
30
c~
20

10
0 I I J

0.0 0.1 0.2 0.3

x/m

Fig.6 Comparative pressure distribu-

tions for Mach 10 flow over the
undeformed and deformed panel

the predicted pressure distributions along the entire

(a) Adaptive mesh
plate length at the same time. These figures show that
the deformed structure can significantly alter the flow
field, and thus the aerodynamic heating rate and the

~ 2x10-4 pressure load.

/ /
(b) Density distribution
Fig.4 Adaptive mesh and corresponding
density contours (kg/m a) for Mach
10 flow over an inclined plate with
convex deformation
4.2 M a c h 4 F l o w in a C h a n n e l
To further evaluate the analysis procedure for
the high-speed flow-structure interaction, the problem
of a Mach 4 flow in a channel is studied. The prob-
lem statement and the sketch of the flow behavior are
shown in Fig.7. The flow behavior is more complex
than that shown in the preceding example. Due to
symmetry of the problem, only the upper half of the
entire domain is used for the analysis. The flow en-
ters from the left boundary and creates oblique shock
from the wedge that impinges at the middle of the
upper wall resulting in a reflecting shock wave. The
reflecting shock wave also intersects with the Mach
waves generated from the expansion ramp. It should
be noted that the flow behavior of the intersected zone
is not known a priori. The combined procedure of the
cell-centered finite element method and the adaptive
meshing technique is used to predict the flow beha-

6 ~ -0.3m~O.25m~i~[ 0.15m ~ -

- - undeformed ~ I i ~ 0.002m
4 ~ f o ~ m e _ d deformed ( t > 0 ) ~ 4
mdeformed (t ~0)~'f_panel / j / 0.2m
M=4 /~,, panelholder
~2

0
0.0
_1

0.1
x/m
I

0.2
J

0.3
0,m 0.09m

Fig.5 Comparative heat flux distributions

for Mach 10 flow over the unde-
formed and deformed panel Fig.7 A Mach 4 flow in a channel
604 ACTA MECHANICA SINICA 2004

vior in the same manner as described in the preceding
example. Small elements are generated automatically
in the regions of high change of the solution gradient
to provide the solution accuracy as shown in Fig.8(a).
The total 20 272 triangular elements are generated in
the inviscid region and 8 770 quadrilateral elements
in the boundary layer along the upper wall. Again,
ten graded layers of quadrilateral elements are used
in the boundary layer to capture steep t e m p e r a t u r e
gradients for accurate aerodynamic heating rate pre-
diction. The corresponding predicted density distri-
bution represented by the contour fines is presented
in Fig.8(b). For structural heat transfer and struc-
tural response analysis, the boundary conditions of
the panel are used in the same manner as presented
in the preceding application. With the predicted aero-
dynamic heating rate from the flow analysis, the tem-
perature distribution of the panel is computed by us-
ing the structural heat transfer analysis. The quasi-
static structural analysis is then performed to pre-
dict the structural deformation shape. The computa-
tional fluid domain and its boundary conditions are
then updated. The entire process is repeated every
20s. Figure 9(a) shows the adaptive mesh that con-
sists of 13 634 triangular elements and 7 050 quadrilat-
eral elements for the flow field after 60 s. The corre-
sponding predicted density distribution is shown in
Fig.9(b). The predicted heating rate and pressure
distributions on the deformed structure at this time
are compared with those for the initial undeformed
shape as shown in Figs.10 and 11, respectively. The
m a x i m u m aerodynamic heating rate and pressure oc-
curring at the impinged shock location of the upper
wall are plotted. These figures highlight the effect of
the deformed structure that can significantly alter the
flow field. T h e y also highlight the need of the flow-
thermal-structural analysis for predicting high-speed
flow-structure interaction phenomena.

(a) Adaptive mesh

3~ 2

(b) Density distribution

Fig.8 Adaptive mesh and corresponding density contours (kg/m a) for a Mach
4 flow in a channel at initial time
Vol.20, No.6 Limtrakarn W & Dechaumphai P: FEM for High-speed Flow-structure Interaction 605

(a) Adaptive mesh

3~

(b) Density distribution

Fig.9 Adaptive mesh and corresponding density contours for a Much 4 flow
in a channel with convex deformation at 60 s

50 1.0
- - undeformed
deformed 0.8
40 -- undelbrmed
0.6 deformed
3O
0.4
20 0.2
LI

0.0 __1 I F i __J

10
0, 0.2 0.3 0.4 0.5 0.6 0.7 0.1 0.2 0.3 0.4 0.5 0.6 0.7
x/m x/m

Fig.10 Comparative heat flux distributions F i g . l l Comparative pressure distributions

for a Much 4 flow in a channel with for a Mach 4 flow in a channel with
the undeformed and deformed panel the undeformed and deformed panel

5 CONCLUDING REMARKS g o r i t h m was used to predict the high-speed compress-

T h e adaptive finite element m e t h o d for flow-
s t r u c t u r e i n t e r a c t i o n was presented to analyze the
coupled behavior of high-speed compressible flow,
s t r u c t u r a l heat transfer, a n d s t r u c t u r a l response. T h e
finite element m e t h o d based on the cell-centered al-
ible flow behavior. T h e m e t h o d was c o m b i n e d with
the a d a p t i v e m e s h i n g t e c h n i q u e to improve the flow
accuracy. T h e technique generates a n entirely new
mesh based on the s o l u t i o n o b t a i n e d from the pre-
vious mesh. T h e new mesh consists of the clustered
elements in the region w i t h large change in the so-
606 ACTA MECHANICA SINICA
lution gradients to provide the high accuracy and
large elements are generated in the other regions to
minimize the computational time and memory. The
Galerkin finite element method was used to predict
the structural heat transfer and structural response
behaviors. The finite element formulation, the com-
putational procedure and the basic idea behind the
adaptive meshing technique were described. Two ap-
plications of high-speed flow-structure interaction, the
Mach 10 flow over an inclined plate and the Mach 4
flow in a channel, were studied to assess the capability
and efficiency of the proposed procedure. These ap-
plications demonstrate that the proposed procedure
can provide analysis solution accuracy and computa-
tional efficiency for predicting complex flow-thermal-
structural behavior of the fluid-structure interaction
problems.
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