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Flow control applied to transitional flows: input-output analysis, model reduction and control

Flow control applied to transitional flows: input-output analysis, model reduction and control. Dan Henningson collaborators Shervin Bagheri, Espen Åkervik Luca Brandt, Peter Schmid. Outline. Introduction with input-output configuration

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Flow control applied to transitional flows: input-output analysis, model reduction and control

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  1. Flow control applied to transitional flows:input-output analysis, model reduction and control Dan Henningson collaborators Shervin Bagheri, Espen Åkervik Luca Brandt, Peter Schmid

  2. Outline • Introduction with input-output configuration • Matrix-free methods for flow stability using Navier-Stokes snapshots • Edwards et al. (1994), … • Global modes and transient growth • Cossu & Chomaz (1997), … • Input-output characteristics of Blasius BL and reduced order models based on balanced truncation • Rowley (2005), … • LQG feedback control based on reduced order model • Conclusions

  3. Message • Need only snapshots from a Navier-Stokes solver (with adjoint) to perform stability analysis and control design for complex flows • Main example Blasius BL, but many other more complex flows are now tractable …

  4. Linearized Navier-Stokes for Blasius flow Continuous formulation Discrete formulation

  5. Input-output configuration for linearized N-S

  6. Solution to the complete input-output problem • Initial value problem: flow stability • Forced problem: input-output analysis

  7. The Initial Value Problem • Asymptotic stability analysis: Global modes of the Blasius boundary layer • Transient growth analysis: Optimal disturbances in Blasius flow

  8. Dimension of discretized system • Matrix A very large for complex spatially developing flows • Consider eigenvalues of the matrix exponential, related to eigenvalues of A • Use Navier-Stokes solver (DNS) to approximate the action of matrix exponential or evolution operator

  9. Krylov subspace with Arnoldi algorithm • Krylov subspace created using NS-timestepper • Orthogonal basis created with Gram-Schmidt • Approximate eigenvalues from Hessenberg matrix H

  10. Global spectrum for Blasius flow • Least stable eigenmodes equivalent using time-stepper and matrix solver • Least stable branch is a global representation of Tollmien-Schlichting (TS) modes

  11. Global TS-waves • Streamwise velocity of least damped TS-mode • Envelope of global TS-mode identical to local spatial growth • Shape functions of local and global modes identical

  12. Optimal disturbance growth • Optimal growth from eigenvalues of • Krylov sequence built by forward-adjoint iterations

  13. Evolution of optimal disturbance in Blasius flow • Full adjoint iterations (black) sum of TS-branch modes only (magenta) • Transient since disturbance propagates out of domain

  14. Snapshots of optimal disturbance evolution • Initial disturbance leans against the shear raised up by Orr-mechanism into propagating TS-wavepacket

  15. The forced problem: input-output • Ginzburg-Landau example • Input-output for 2D Blasius configuration • Model reduction

  16. Ginzburg-Landau example • Entire dynamics vs. input-output time signals

  17. Input-output operators • Past inputs to initial state: class of initial conditions possible to generate through chosen forcing • Initial state to future outputs: possible outputs from initial condition • Past inputs to future outputs:

  18. Most dangerous inputs and the largest outputs • Eigenmodes of Hankel operator – balanced modes • Controllability Gramian • Observability Gramian

  19. Input Controllability Gramian for GL-equation • Correlation of actuator impulse response in forward solution • POD modes: • Ranks states most easily influenced by input • Provides a means to measure controllability

  20. Observability Gramian for GL-equation • Correlation of sensor impulse response in adjoint solution • Adjoint POD modes: • Ranks states most easily sensed by output • Provides a means to measure observability • Output

  21. Balanced modes: eigenvalues of the Hankel operator • Combine snapshots of direct and adjoint simulation • Expand modes in snapshots to obtain smaller eigenvalue problem

  22. Snapshots of direct and adjoint solution in Blasius flow Direct simulation: Adjoint simulation:

  23. Balanced modes for Blasius flow adjoint forward

  24. Properties of balanced modes • Largest outputs possible to excite with chosen forcing • Balanced modes diagonalize observability Gramian • Adjoint balanced modes diagonalize controllability Gramian • Ginzburg-Landau example revisited

  25. Model reduction • Project dynamics on balanced modes using their biorthogonal adjoints • Reduced representation of input-output relation, useful in control design

  26. Impulse response Disturbance Sensor Actuator Objective Disturbance Objective DNS: n=105 ROM: m=50

  27. Frequency response From all inputs to all outputs DNS: n=105 ROM: m=80 m=50 m=2

  28. Feedback control • LQG control design using reduced order model • Blasius flow example

  29. Optimal Feedback Control – LQG cost function g (noise) Ly f=Kk z w controller Find an optimal control signal f(t) based on the measurements y(t) such that in the presence of external disturbances w(t) and measurement noise g(t) the output z(t) is minimized.  Solution: LQG/H2

  30. LQG controller formulation with DNS • Apply in Navier-Stokes simulation

  31. Performance of controlled system controller Noise Sensor Actuator Objective

  32. Control off Cheap Control Intermediate control Expensive Control Performance of controlled system Noise Sensor Actuator Objective

  33. Conclusions • Complex stability/control problems solved using Krylov/Arnoldi methods based on snapshots of forward and adjoint Navier-Stokes solutions • Optimal disturbance evolution brought out Orr-mechanism and propagating TS-wave packet automatically • Balanced modes give low order models preserving input-output relationship between sensors and actuators • Feedback control of Blasius flow • Reduced order models with balanced modes used in LQG control • Controller based on small number of modes works well in DNS • Outlook: incorporate realistic sensors and actuators in 3D problem and test controllers experimentally

  34. Background • Global modes and transient growth • Ginzburg-Landau: Cossu & Chomaz (1997); Chomaz (2005) • Waterfall problem: Schmid & Henningson (2002) • Blasius boundary layer, Ehrenstein & Gallaire (2005); Åkervik et al. (2008) • Recirculation bubble: Åkervik et al. (2007); Marquet et al. (2008) • Matrix-free methods for stability properties • Krylov-Arnoldi method: Edwards et al. (1994) • Stability backward facing step: Barkley et al. (2002) • Optimal growth for backward step and pulsatile flow: Barkley et al. (2008) • Model reduction and feedback control of fluid systems • Balanced truncation: Rowley (2005) • Global modes for shallow cavity: Åkervik et al. (2007) • Ginzburg-Landau: Bagheri et al. (2008)

  35. Jet in cross-flow Countair rotating vortex pair Shear layer vortices Horseshoe vortices Wake region

  36. Direct numerical simulations • DNS: Fully spectral and parallelized • Self-sustained global oscillations • Probe 1– shear layer • Probe 2 – separation region 1 2 Vortex identification criterion 2

  37. Unsteady Time-averaged Steady-state Basic state and impulse response • Steady state computed using the SFD method (Åkervik et.al.) • Energy growth of perturbation Steady state Perturbation

  38. Global eigenmodes • Global eigenmodes computed using ARPACK • Growth rate: 0.08 • Strouhal number: 0.16 1st global mode time Perturbation energy Global mode energy

  39. Optimal sum of eigenmodes

  40. Global view of Tollmien-Schlichting waves • Global temporal growth rate damped and depends on length of domain and boundary conditions • Single global mode captures local spatial instability • Sum of damped global modes represents convectively unstable disturbances • TS-wave packet grows due to local exponential growth, but globally represents a transient disturbance since it propagates out of the domain

  41. 3D Blasius optimals • Streamwise vorticies create streaks for long times • Optimals for short times utilizes Orr-mechanism

  42. Input-output analysis • Inputs: • Disturbances: roughness, free-stream turbulence, acoustic waves • Actuation: blowing/suction, wall motion, forcing • Outputs: • Measurements of pressure, skin friction etc. • Aim: preserve dynamics of input-output relationship in reduced order model used for control design

  43. A long shallow cavity • Basic flow from DNS with SFD: • Åkervik et al., Phys. Fluids 18, 2006 • Strong shear layer at cavity top and recirculation at the downstream end of the cavity Åkervik E., Hoepffner J., Ehrenstein U. & Henningson, D.S. 2007. Optimal growth, model reduction and control in a separated boundary-layer flow using global eigenmodes. J. Fluid Mech. 579: 305-314.

  44. Global spectra • Global eigenmodes found using Arnoldi method • About 150 eigenvalues converged and 2 unstable

  45. Most unstable mode • Forward and adjoint mode located in different regions • implies non-orthogonal eigenfunctions/non-normal operator • Flow is sensitive where adjoint is large

  46. Maximum energy growth • Eigenfunction expansion in selected modes • Optimization of energy output

  47. Development of wavepacket • x-t diagrams of pressure at y=10 using eigenmode expansion • Wavepacket generates pressure pulse when reaching downstream lip • Pressure pulse triggers another wavepacket at upstream lip

  48. LQG feedback control cost function Reduced model of real system/flow Estimator/ Controller

  49. Riccati equations for control and estimation gains

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