A novel nonlinear feedback control design methodology for incompressible fluid flows aiming at the optimisation of long-time averages of flow quantities is presented. It applies to reduced-order finite-dimensional models of fluid flows, expressed as a set of first-order nonlinear ordinary differential equations with the right-hand side being a polynomial function in the state variables and in the controls. The key idea, first discussed in Chernyshenko et al. 2014, Philos. T. Roy. Soc. 372(2020), is that the difficulties of treating and optimising long-time averages of a cost are relaxed by using the upper/lower bounds of such averages as the objective function. In this setting, control design reduces to finding a feedback controller that optimises the bound, subject to a polynomial inequality constraint involving the cost function, the nonlinear system, the controller itself and a tunable polynomial function. A numerically tractable approach to the solution of such optimisation problems, based on Sum-of-Squares techniques and semidefinite programming, is proposed.
To showcase the methodology, the mitigation of the fluctuation kinetic energy in the unsteady wake behind a circular cylinder in the laminar regime at Re=100, via controlled angular motions of the surface, is numerically investigated. A compact reduced-order model that resolves the long-term behaviour of the fluid flow and the effects of actuation, is derived using Proper Orthogonal Decomposition and Galerkin projection. In a full-information setting, feedback controllers are then designed to reduce the long-time average of the kinetic energy associated with the limit cycle. These controllers are then implemented in direct numerical simulations of the actuated flow. Control performance, energy efficiency, and physical control mechanisms identified are analysed. Key elements, implications and future work are discussed.
Phase synchronization between the vortex shedding behind a two-dimensional circular cylinder and its vibrations is investigated using the phase-reduction analysis. Leveraging this approach enables the development of a one-dimensional, linear model with respect to the limit-cycle attractor of the laminar wake, which accurately describes the phase dynamics of the high-dimensional, nonlinear fluid flow and its response to rotational, transverse and longitudinal vibrations of the cylinder. This phase-based model is derived by assessing the phase-response and sensitivity of the wake dynamics to imp…
We investigate the synchronization properties of the two-dimensional periodic flow over a circular cylinder using the principles of phase-reduction theory. The influence of harmonic external forcings on the wake dynamics, and the possible synchronization of the vortex shedding behind the cylinder to these forcings, is determined by evaluating the phase response of the system to weak impulse perturbations. These horizontal and vertical perturbations are added at different phase values over a period, in order to develop a linear one-dimensional model with respect to the limit cycle that describe…
Tidal turbines are deployed in sites which have elevated levels of free stream turbulence (FST). Accounting for elevated FST on their operation become vital from a design standpoint. Detailed experimental measurements of the dynamic near-wake of a tidal turbine model in elevated FST environments is presented; an active grid turbulence generator developed by our group was used to seed in the elevated FST and evaluate the influence of turbulence intensity (Ti) and inflow integral length scale (L) on the near-wake of the turbine. Three inflow conditions are tested: a quasi-laminar flow with Ti ~ …
We analyze the primitive variables of fluid flow and scalar fields through fast Fourier transform (FFT) in the near and far wake of an elliptic cylinder. Numerical simulation of flow and scalar fields behind an elliptic cylinder of axis ratio 0.4 at a Reynolds number of 130 is performed. The semi-major axis of the elliptic cylinder is kept perpendicular to the incoming flow, where the fluid flow is two-dimensional and the Prandtl number is 0.71. The scalar is injected into the flow field by means of heating the cylinder continuously. The simulation is run for a long time to show that the secon…
We perform direct numerical simulations of laminar separated flows over finite-aspect-ratio swept wings at a chord-base Reynolds number of $Re = 400$ to reveal a variety of wake structures generated for a range of aspect ratios ($sAR=0.5-4$), angles of attack ($α=16^{\circ}-30^{\circ}$), and sweep angles ($Λ=0^{\circ}-45^{\circ}$). Flows behind swept wings exhibit increased complexity in their dynamical features compared to unswept-wing wakes. For unswept wings, the wake dynamics are predominantly influenced by the tip effects. Steady wakes are mainly limited to low-aspect-ratio wings. Unstead…
We reveal the effects of sweep on the wake dynamics around NACA 0015 wings at high angles of attack using direct numerical simulations and resolvent analysis. The influence of sweep on the wake dynamics is considered for sweep angles from $0^\circ$ to $45^\circ$ and angles of attack from $16^\circ$ to $30^\circ$ for a spanwise periodic wing at a chord-based Reynolds number of $400$ and a Mach number of $0.1$. Wing sweep affects the wake dynamics, especially in terms of stability and spanwise fluctuations with implications on the development of three-dimensional wakes. We observe that wing swee…
Direct numerical simulations are used to study the interaction of a stream of small heavy inertial particles with the laminar and turbulent wakes of an immobile sphere facing an incompressible uniform inflow. Particles that do not collide with the obstacle but move past it, are found to form preferential concentrations both in the sphere boundary layer and in its wake. In the laminar case, the upstream diverging flow pattern is responsible for particle clustering on a cylinder that extends far downstream the sphere. The interior of this surface contains no particles and can be seen as a shadow…
Forward-swept wings offer unique advantages in the aerodynamic performance of air vehicles. However, the low-Reynolds-number characteristics of such wings have not been explored in the past. In this work, we numerically study laminar separated flows over forward-swept wings with semi aspect ratios $sAR=0.5$ to 2 at a chord-based Reynolds number of 400. Forward-swept wings generate wakes that are significantly different from those of backward-swept wings. For low-aspect-ratio forward wings, the wakes remain steady due to the strong downwash effects induced by the tip vortices. For larger aspect…
Unsteady laminar vortex shedding over a circular cylinder is predicted using a deep learning technique, a generative adversarial network (GAN), with a particular emphasis on elucidating the potential of learning the solution of the Navier-Stokes equations. Numerical simulations at two different Reynolds numbers with different time-step sizes are conducted to produce training datasets of flow field variables. Unsteady flow fields in the future at a Reynolds number which is not in the training datasets are predicted using a GAN. Predicted flow fields are found to qualitatively and quantitatively…
Transonic buffet refers to the self-sustained periodic motion of shock waves observed in transonic flows over wings and limits the flight envelope of aircraft. Based on the boundary layer characteristics at the shock foot, buffet has been classified as laminar or turbulent and the mechanisms underlying the two have been proposed to be different (Dandois et al., 2018, J. Fluid Mech., vol. 18, pp. 156-178). The effect of various flow parameters (freestream Mach and Reynolds numbers and sweep and incidence angles) on laminar transonic buffet on an infinite wing (Dassault Aviation's supercritical …
We investigate the instabilities, bifurcations and transition in the wake behind a 45-degree inclined 6:1 prolate spheroid, through a series of direct numerical simulations (DNS) over a wide range of Reynolds numbers (Re) from 10 to 3000. We provide a detailed picture of how the originally symmetric and steady laminar wake at low Re gradually looses its symmetry and turns unsteady as Re is gradually increased. Several fascinating flow features have first been revealed and subsequently analysed, e.g. an asymmetric time-averaged flow field, a surprisingly strong side force etc. As the wake parti…
An integral quantity is presented that relates the wake of a body in nominally two-dimensional flow to its drag, for Reynolds numbers ranging from 9,000 to 144,000. It is defined as the ratio of the kinetic energy to the vorticity in the fluid boundary and, for the special case of laminar flow, is proportional to the angular momentum in the wake bubble. The new quantity is useful for correlating drag data for circular and rectangular cylinders, wedges, v-gutters, and normal flat plates with and without splitter plates. The correlation indicates that the drag force is proportional to the flow s…
The flow transformation and the generation of vortex structures by a strong magnetic dipole field in a liquid metal duct flow is studied by means of three-dimensional direct numerical simulations. The dipole is considered as the paradigm for a magnetic obstacle which will deviate the streamlines due to Lorentz forces acting on the fluid elements. The duct is of square cross-section. The dipole is located above the top wall and is centered in spanwise direction. Our model uses the quasi-static approximation which is applicable in the limit of small magnetic Reynolds numbers. The analysis covers…
It is argued that ejections of wall fluid in the bursting process disturb the flow beyond the wall layer and result in the emergence of two new layers in the flow field: the law of the wake and log-law layers. The wall layer represents the extent of penetration of viscous momentum into the main flow and remains constant once it has reached a critical value at the end of the laminar regime. The identification of the three flow regimes: laminar, transition and fully turbulent is conveniently achieved by monitoring the emergence of these three layers
We present a dynamic decomposition analysis of the wake flow in fluid-structure interaction (FSI) systems under both laminar and turbulent flow conditions. Of particular interest is to provide the significance of low-dimensional wake flow features and their interaction dynamics to sustain the free vibration of a square cylinder at a relatively low mass ratio. To obtain the high-dimensional data, we employ a body-conforming variational fluid-structure interaction solver based on the recently developed partitioned iterative scheme and the dynamic subgrid-scale turbulence model for a moderate Rey…
Detailed flow dissection using Dynamic Mode Decomposition (DMD) and Proper Orthogonal Decomposition (POD) is carried out to investigate the dynamics of the flow-field around a NACA-0012 aerofoil at a Reynolds number of $5\times 10^4$, Mach number of $0.4$, and at various angles of attack around the onset of stall. Three distinct dominant flow modes are identified by the DMD and the POD: 1) a globally oscillating flow mode at a low-frequency (LFO mode 1); 2) a locally oscillating flow mode on the suction surface of the aerofoil at a low-frequency (LFO mode 2); and 3) a locally oscillating flow …
We investigate the laminar shedding of hairpin vortices in the wake of a truncated square cylinder placed in a duct, for Reynolds numbers around the critical threshold of the onset of vortex shedding. We single out the formation mechanism of the hairpin vortices by means of a detailed analysis of the flow patterns in the steady regime. We show that unlike in previous studies of similar structures, the dynamics of the hairpin vortices is entwined with that of the counter-rotating pair of streamwise vortices, which we found to be generated in the bottom part of the near wake (these are usually r…
Viscoelasticity weakens the asymmetry of laminar shedding flow behind a blunt body in a free domain. In the present study, this finding is confirmed by four unsteady viscoelastic flows with asymmetric flow configuration, i.e., flow over an inclined flat plate with various angles of incidence, flow over a rotating circular cylinder, flow over a circular cylinder with asymmetric slip boundary distribution, and flow over an inclined row of eight equally closely spaced circular cylinders (which can be considered as a single large blunt body) through direct numerical simulation combined with the Pe…
For channel flow at subcritical Reynolds numbers ($Re<5772$), a laminar-to-turbulent transition can emerge due to a large transient amplification in the kinetic energy of small perturbations, resulting in an increase in drag at the walls. The objectives of the present study are three-fold: (1) to study the nonlinear effects on transient energy growth, (2) to design a feedback control strategy to prevent this subcritical transition, and (3) to examine the control mechanisms that enable transition suppression. We investigate transient energy growth of linear optimal disturbance in plane Poiseuil…
The flow phenomena around a rotating elliptic cylinder in a channel is studied numerically. The value of the confinement parameter βis varied as \frac{1}{k}, where k = 2, 4, 6, and 8 respectively, to demonstrate the vortex-shedding patterns around the cylinder in the downstream wake. The non-dimensional rotation rate αtakes up 0.5, 1, and 2 as its value. Additionally, the Reynolds number (\textit{Re}) based on the cylinder diameter is taken to be 50, 100, and 150 respectively. A parametric study is performed to explain the changes in drag coefficient \textit{(C_{D})}, lift coefficient \textit{…
We present a machine learning-based mesh refinement technique for steady and unsteady flows. The clustering technique proposed by Otmani et al. arXiv:2207.02929 [physics.flu-dyn] is used to mark the viscous and turbulent regions for the flow past a cylinder at Re=40 (steady laminar flow) and Re=3900 (unsteady turbulent flow). Within this clustered region, we increase the polynomial order to show that it is possible to obtain similar levels of accuracy to a uniformly refined mesh. The method is effective as the clustering successfully identifies the two flow regions, a viscous/turbulent dominat…
We investigate the capability of neural network-based model order reduction, i.e., autoencoder (AE), for fluid flows. As an example model, an AE which comprises of a convolutional neural network and multi-layer perceptrons is considered in this study. The AE model is assessed with four canonical fluid flows, namely: (1) two-dimensional cylinder wake, (2) its transient process, (3) NOAA sea surface temperature, and (4) $y-z$ sectional field of turbulent channel flow, in terms of a number of latent modes, a choice of nonlinear activation functions, and a number of weights contained in the AE mod…
Large eddy simulations are performed to study tonal noise generation by a NACA0012 airfoil at an angle of attack ${α= 3}$ deg. and freestream Mach number of ${M_{\infty} = 0.3}$. Different Reynolds numbers are analyzed spanning ${0.5 \times 10^5 \le Re \le 4 \times 10^5}$. Results show that the flow patterns responsible for noise generation appear from different laminar separation bubbles, including one observed over the airfoil suction side and another near the trailing edge, on the pressure side. For lower Reynolds numbers, intermittent vortex dynamics on the suction side results in either c…
Transient energy growth of flow perturbations is an important mechanism for laminar-to-turbulent transition that can be mitigated with feedback control. Linear quadratic optimal control strategies have shown some success in reducing transient energy growth and suppressing transition, but acceptable worst-case performance can be difficult to achieve using sensor-based output feedback control. In this study, we investigate static output feedback controllers for reducing transient energy growth of flow perturbations within linear and nonlinear simulations of a sub-critical channel flow. A static …
Morphing wings comprised of fixed leading sections with piezocomposite trailing control surfaces have emerged as a novel active control technique for unmanned aerial vehicles. However, the wake dynamics and aerodynamic performance of such hybrid airfoil configuration has not been thoroughly investigated. In this paper, direct numerical simulations of two-dimensional flows over hybrid airfoils comprised of NACA 0012 leading sections with piezocomposite trailing control surfaces are performed at a fixed Reynolds number of 1000. The effects of length and camber of the trailing control surface on …
The wake of a SAE squareback vehicle model is studied both experimentally and numerically for a Reynolds-number of $ Re_h = 1.0 \hspace{5pt} 10^6 $.The investigation focuses on the coherent structures of the intermediate to largest length and time scales. Flow field as well as base pressure fields are observed for the understanding of the relation between the signals of these quantities. Generalizations and differentiations are made by comparison with the documented behavior of Ahmed or similar vehicle models or three-dimensional bluff bodies. In comparison the vortex shedding acts similar but…
Two-dimensional (2D) flows are efficiently controlled with spanwise waviness, i.e. spanwise-periodic (SP) wall blowing/suction/deformation. We tackle the global linear stability of 2D flows subject to small-amplitude 3D SP control. Building on previous work for parallel flows (Boujo et al. 2015), an adjoint method is proposed for computing the 2nd-order eigenvalue sensitivity. Such control has a zero 1st-order linear effect, so the 2nd-order quadratic effect prevails. The sensitivity operator allows one (i) to predict the effect of any control without computing the controlled flow, (ii) to com…
This study investigates the linear stability of a laminar premixed flame, anchored on a square cylinder and confined inside a channel. Many modern linear analysis concepts have been developed and validated around non-reacting bluff-body wake flows, and the objective of this paper is to explore whether those tools can be applied with the same success to the study of reacting flows in similar configurations. It is found that linear instability analysis of steady reacting flow states accurately predicts critical flow parameters for the onset of limit-cycle oscillations, when compared to direct nu…
A comprehensive and detailed overview of the flow topology over a cambered NACA 65(1)-412 airfoil at Re = 20,000 is presented for angles of attack ranging from 0° to 10° using high-order direct numerical simulations. It is shown that instabilities bifurcate the flow and cause it to change at a critical angle of attack from laminar separation without reattachment over a laminar separation bubble at the trailing edge to a bubble at the leading edge. The transition of the flow regimes is governed by the Karman vortex shedding of the pressure side boundary layer at the trailing edge, Kelvin-Helmho…
A comparative assessment of machine learning (ML) methods for active flow control is performed. The chosen benchmark problem is the drag reduction of a two-dimensional Kármán vortex street past a circular cylinder at a low Reynolds number ($Re=100$). The flow is manipulated with two blowing/suction actuators on the upper and lower side of a cylinder. The feedback employs several velocity sensors. Two probe configurations are evaluated: 5 and 11 velocity probes located at different points around the cylinder and in the wake. The control laws are optimized with Deep Reinforcement Learning (DRL) …
We present a numerical study to investigate the fluid-structure interaction of a flexible circular cantilever cylinder in a uniform cross-flow. We employ a fully-coupled fluid-structure solver based on the three-dimensional Navier-Stokes equations and the Euler-Bernoulli beam theory. We examine the dynamics of the cylinder for a wide range of reduced velocities ($U^*$), mass ratios ($m^*$), and Reynolds numbers ($Re$). Of particular interest is to explore the possibility of flow-induced vibrations in a slender cantilever cylinder of aspect ratio $AR=100$ at laminar subcritical $Re$ regime (i.e…
We report an experimental investigation of the wake of free falling super-hydrophobic spheres. The mutual interaction between the air layer (plastron) encapsulating the super-hydrophobic spheres and the flow is emphasised by studying the hydrodynamic performances. It is found that the air plastron adapts its shape to the flow-induced stresses which compete with the surface tension. This competition is characterised by introducing the Weber number $\mathcal{W}e$, whilst the plastron deformation is estimated via the aspect ratio $χ$. While noticeable distortions are locally observed, the plastro…
The fluctuations of turbulence intensity in a pipe flow around the critical Reynolds number is difficult to study but important because they are related to turbulent-laminar transitions. We here propose a rare-event sampling method to study such fluctuations in order to measure the time-scale of the transition efficiently. The method is composed of two parts: (i) the measurement of typical fluctuations (the bulk part of an accumulative probability function) and (ii) the measurement of rare fluctuations (the tail part of the probability function) by employing dynamics where a feedback control o…
A networked oscillator based analysis is performed for periodic bluff body flows to examine and control the transfer of kinetic energy. Spatial modes extracted from the flow field with corresponding amplitudes form a set of oscillators describing unsteady fluctuations. These oscillators are connected through a network that captures the energy exchanges amongst them. To extract the network of interactions among oscillators, amplitude and phase perturbations are impulsively introduced to the oscillators and the ensuing dynamics are analyzed. Using linear regression techniques, a networked oscill…
Many transitional wall-bounded shear flows are characterised by the coexistence in state-space of laminar and turbulent regimes. Probing the edge boundary between the two attractors has led in the last decade to the numerical discovery of new (unstable) solutions to the incompressible Navier-Stokes equations. However, the iterative bisection method used to achieve this can become prohibitively costly for large systems. Here we suggest a simple feedback control strategy to stabilise edge states, hence accelerating their numerical identification by several orders of magnitude. The method is illu…
Machine learning has recently become a promising technique in fluid mechanics, especially for active flow control (AFC) applications. A recent work [J. Fluid Mech. (2019), vol. 865, pp. 281-302] has demonstrated the feasibility and effectiveness of deep reinforcement learning (DRL) in performing AFC over a circular cylinder at $Re = 100$, i.e., in the laminar flow regime. As a follow-up study, we investigate the same AFC problem at an intermediate Reynolds number, i.e., $Re = 1000$, where the turbulence in the flow poses great challenges to the control. The results show that the DRL agent can …
We propose a novel active-flow-control (AFC) strategy for bluff bodies to hide their hydrodynamic traces from predators. A group of windward-suction-leeward-blowing (WSLB) actuators are adopted to control the wake of a circular cylinder submerged in a uniform flow. An array of velocity sensors are deployed in the near wake to provide feedback signals. Through the data-driven deep reinforcement learning (DRL), effective control strategies are trained for the WSLB actuation to mitigate the cylinder's hydrodynamic signatures, i.e., strong shears and periodically shed vortices. Only a 0.29% defici…
We present an efficient deep learning technique for the model reduction of the Navier-Stokes equations for unsteady flow problems. The proposed technique relies on the Convolutional Neural Network (CNN) and the stochastic gradient descent method. Of particular interest is to predict the unsteady fluid forces for different bluff body shapes at low Reynolds number. The discrete convolution process with a nonlinear rectification is employed to approximate the mapping between the bluff-body shape and the fluid forces. The deep neural network is fed by the Euclidean distance function as the input a…
This paper focuses on a drag-reducing control strategy on a 2D-simulated laminar flow past a cylinder. Deep reinforcement learning algorithms have been implemented to discover efficient control schemes, using two synthetic jets located on the cylinder's poles as actuators and pressure sensors in the wake of the cylinder as feedback observation. The present work focuses on the efficiency and robustness of the identified control strategy and introduces a novel algorithm (S-PPO-CMA) to optimise the sensor layout. An energy-efficient control strategy reducing drag by 18.4% at Reynolds number 120 i…
We consider estimation and control of the cylinder wake at low Reynolds numbers. A particular focus is on the development of efficient numerical algorithms to design optimal linear feedback controllers when there are many inputs (disturbances applied everywhere) and many outputs (perturbations measured everywhere). We propose a resolvent-based iterative algorithm to perform i) optimal estimation of the flow using a limited number of sensors; and ii) optimal control of the flow when the entire flow is known but only a limited number of actuators are available for control. The method uses resolv…
Information-theoretic machine learning for time-varying mode decomposition of separated aerodynamic flows
Department of Aerospace Engineering, Tohoku University（东京东京大学航空工程系）；Department of Mechanical and Aerospace Engineering, Tokyo University of Science（东京科学大学机械与航空航天工程系）
