Align the SST model with the NASA TMR definitions and fix the boundary energy (#1851)

Common/include/CConfig.hpp

@@ -1279,6 +1279,9 @@ class CConfig {
   nHistoryOutput, nVolumeOutput;  /*!< \brief Number of variables printed to the history file. */
   bool Multizone_Residual;        /*!< \brief Determines if memory should be allocated for the multizone residual. */
   SST_ParsedOptions sstParsedOptions; /*!< \brief Additional parameters for the SST turbulence model. */
+  su2double LDomain;           /*!< \brief Approximate length of the domain, for the far-field omega of TMRBC. */
+  su2double sstSustTkeAmb;     /*!< \brief Ambient k of the SST sustaining terms (dimensional), <= 0 for the default. */
+  su2double sstSustOmegaAmb;   /*!< \brief Ambient omega of the SST sustaining terms (dimensional), <= 0 for the default. */
   SA_ParsedOptions saParsedOptions;   /*!< \brief Additional parameters for the SA turbulence model. */
   LM_ParsedOptions lmParsedOptions;   /*!< \brief Additional parameters for the LM transition model. */
   su2double uq_delta_b;         /*!< \brief Parameter used to perturb eigenvalues of Reynolds Stress Matrix */
@@ -10360,6 +10363,27 @@ class CConfig {
    */
   SST_ParsedOptions GetSSTParsedOptions() const { return sstParsedOptions; }
 
+  su2double GetLDomain() const { return LDomain; }
+
+  /*!
+   * \brief Ambient (free-stream) k of the SST sustaining terms, dimensional.
+   * \note Default of Spalart and Rumsey (AIAA J 45(10), 2007), as in the NASA TMR SST-sust: 1e-6 U^2.
+   * \param[in] velMag - Free-stream velocity magnitude (dimensional).
+   */
+  su2double GetSSTSust_TkeAmb(su2double velMag) const {
+    return sstSustTkeAmb > 0.0 ? sstSustTkeAmb : 1e-6 * velMag * velMag;
+  }
+
+  /*!
+   * \brief Ambient (free-stream) omega of the SST sustaining terms, dimensional.
+   * \note Default of Spalart and Rumsey (AIAA J 45(10), 2007), as in the NASA TMR SST-sust: 5 U / L, with L the
+   *       defining length of the problem, taken as REYNOLDS_LENGTH.
+   * \param[in] velMag - Free-stream velocity magnitude (dimensional).
+   */
+  su2double GetSSTSust_OmegaAmb(su2double velMag) const {
+    return sstSustOmegaAmb > 0.0 ? sstSustOmegaAmb : 5.0 * velMag / Length_Reynolds;
+  }
+
   /*!
    * \brief Get parsed SA option data structure.
    * \return SA option data structure.

Common/include/option_structure.hpp

@@ -1101,33 +1101,36 @@ inline TURB_FAMILY TurbModelFamily(TURB_MODEL model) {
  * \brief SST Options
  */
 enum class SST_OPTIONS {
-  NONE,        /*!< \brief No SST Turb model. */
-  V1994,       /*!< \brief 1994 Menter k-w SST model. */
-  V2003,       /*!< \brief 2003 Menter k-w SST model. */
-  V1994m,      /*!< \brief 1994m Menter k-w SST model. */
-  V2003m,      /*!< \brief 2003m Menter k-w SST model. */
-  SUST,        /*!< \brief Menter k-w SST model with sustaining terms. */
-  V,           /*!< \brief Menter k-w SST model with vorticity production terms. */
-  KL,          /*!< \brief Menter k-w SST model with Kato-Launder production terms. */
-  UQ,          /*!< \brief Menter k-w SST model with uncertainty quantification modifications. */
-  COMP_Wilcox, /*!< \brief Menter k-w SST model with Compressibility correction of Wilcox. */
-  COMP_Sarkar, /*!< \brief Menter k-w SST model with Compressibility correction of Sarkar. */
-  DLL,         /*!< \brief Menter k-w SST model with dimensionless lower limit clipping of turbulence variables. */
+  NONE,          /*!< \brief No SST Turb model. */
+  V1994,         /*!< \brief 1994 Menter k-w SST model. */
+  V2003,         /*!< \brief 2003 Menter k-w SST model. */
+  V1994m,        /*!< \brief 1994m Menter k-w SST model. */
+  V2003m,        /*!< \brief 2003m Menter k-w SST model. */
+  SUST,          /*!< \brief Menter k-w SST model with sustaining terms. */
+  V,             /*!< \brief Menter k-w SST model with vorticity production terms. */
+  KL,            /*!< \brief Menter k-w SST model with Kato-Launder production terms. */
+  UQ,            /*!< \brief Menter k-w SST model with uncertainty quantification modifications. */
+  COMP_Wilcox,   /*!< \brief Menter k-w SST model with Compressibility correction of Wilcox. */
+  COMP_Sarkar,   /*!< \brief Menter k-w SST model with Compressibility correction of Sarkar. */
+  DLL,           /*!< \brief Menter k-w SST model with dimensionless lower limit clipping of turbulence variables. */
+  WALL_OMEGA_LIMIT, /*!< \brief Clip the omega wall value to the upper limit of omega. */
+  TMRBC,         /*!< \brief Far-field omega = 10 U / L_DOMAIN, original reference of the NASA TMR SST page. */
 };
 static const MapType<std::string, SST_OPTIONS> SST_Options_Map = {
   MakePair("NONE", SST_OPTIONS::NONE)
   MakePair("V1994m", SST_OPTIONS::V1994m)
   MakePair("V2003m", SST_OPTIONS::V2003m)
-  /// TODO: For now we do not support "unmodified" versions of SST.
-  //MakePair("V1994", SST_OPTIONS::V1994)
-  //MakePair("V2003", SST_OPTIONS::V2003)
+  MakePair("V1994", SST_OPTIONS::V1994)
+  MakePair("V2003", SST_OPTIONS::V2003)
   MakePair("SUSTAINING", SST_OPTIONS::SUST)
   MakePair("VORTICITY", SST_OPTIONS::V)
   MakePair("KATO-LAUNDER", SST_OPTIONS::KL)
   MakePair("UQ", SST_OPTIONS::UQ)
   MakePair("COMPRESSIBILITY-WILCOX", SST_OPTIONS::COMP_Wilcox)
   MakePair("COMPRESSIBILITY-SARKAR", SST_OPTIONS::COMP_Sarkar)
   MakePair("DIMENSIONLESS_LIMIT", SST_OPTIONS::DLL)
+  MakePair("TMRBC", SST_OPTIONS::TMRBC)
+  MakePair("WALL_OMEGA_LIMIT", SST_OPTIONS::WALL_OMEGA_LIMIT)
 };
 
 /*!
@@ -1142,6 +1145,8 @@ struct SST_ParsedOptions {
   bool compWilcox = false;                    /*!< \brief Bool for compressibility correction of Wilcox. */
   bool compSarkar = false;                    /*!< \brief Bool for compressibility correction of Sarkar. */
   bool dll = false;                           /*!< \brief Bool dimensionless lower limit. */
+  bool wallOmegaLimit = false;                /*!< \brief Bool for clipping the omega wall value (WALL_OMEGA_LIMIT). */
+  bool tmrBC = false;                         /*!< \brief Bool for the far-field values of the NASA TMR (TMRBC). */
 };
 
 /*!
@@ -1159,6 +1164,9 @@ inline SST_ParsedOptions ParseSSTOptions(const SST_OPTIONS *SST_Options, unsigne
     return std::find(SST_Options, sst_options_end, option) != sst_options_end;
   };
 
+  const bool found_tmrBC = IsPresent(SST_OPTIONS::TMRBC);
+  const bool found_wallOmegaLimit = IsPresent(SST_OPTIONS::WALL_OMEGA_LIMIT);
+
   const bool found_1994 = IsPresent(SST_OPTIONS::V1994);
   const bool found_2003 = IsPresent(SST_OPTIONS::V2003);
   const bool found_1994m = IsPresent(SST_OPTIONS::V1994m);
@@ -1200,13 +1208,10 @@ inline SST_ParsedOptions ParseSSTOptions(const SST_OPTIONS *SST_Options, unsigne
     SSTParsedOptions.production = SST_OPTIONS::UQ;
   }
 
-  // Parse compressibility options
+  // Parse compressibility options, stored in compWilcox and compSarkar so that they can be combined with a
+  // production modifier
   if (sst_compWilcox && sst_compSarkar) {
     SU2_MPI::Error("Please select only one compressibility correction (COMPRESSIBILITY-WILCOX or COMPRESSIBILITY-SARKAR).", CURRENT_FUNCTION);
-  } else if (sst_compWilcox) {
-    SSTParsedOptions.production = SST_OPTIONS::COMP_Wilcox;
-  } else if (sst_compSarkar) {
-    SSTParsedOptions.production = SST_OPTIONS::COMP_Sarkar;
   }
 
   SSTParsedOptions.sust = sst_sust;
@@ -1216,6 +1221,8 @@ inline SST_ParsedOptions ParseSSTOptions(const SST_OPTIONS *SST_Options, unsigne
   SSTParsedOptions.compSarkar = sst_compSarkar;
   SSTParsedOptions.dll = sst_dll;
 
+  SSTParsedOptions.tmrBC = found_tmrBC;
+  SSTParsedOptions.wallOmegaLimit = found_wallOmegaLimit;
   return SSTParsedOptions;
 }
 

Common/src/CConfig.cpp

@@ -1202,6 +1202,13 @@ void CConfig::SetConfig_Options() {
   /*!\brief SST_OPTIONS \n DESCRIPTION: Specify SA turbulence model options/corrections. \n Options: see \link SA_Options_Map \endlink \n DEFAULT: NONE \ingroup Config*/
   addEnumListOption("SA_OPTIONS", nSA_Options, SA_Options, SA_Options_Map);
 
+  /*!\brief L_DOMAIN \n DESCRIPTION: Approximate length of the computational domain, for the far-field omega of SST_OPTIONS= TMRBC (NASA TMR). \ingroup Config*/
+  addDoubleOption("L_DOMAIN", LDomain, 1.0);
+  /*!\brief SST_SUST_TKE_AMB \n DESCRIPTION: Ambient k of the SST sustaining terms (m^2/s^2), <= 0 for 1e-6 U^2. \ingroup Config*/
+  addDoubleOption("SST_SUST_TKE_AMB", sstSustTkeAmb, 0.0);
+  /*!\brief SST_SUST_OMEGA_AMB \n DESCRIPTION: Ambient omega of the SST sustaining terms (1/s), <= 0 for 5 U / REYNOLDS_LENGTH. \ingroup Config*/
+  addDoubleOption("SST_SUST_OMEGA_AMB", sstSustOmegaAmb, 0.0);
+
   /*!\brief KIND_INCOMP_SYSTEM \n DESCRIPTION: Incomp type \n OPTIONS: see \link Incomp_Map \endlink DEFAULT: NONE \ingroup Config*/
   addEnumOption("KIND_INCOMP_SYSTEM", Kind_Incomp_System, Incomp_Map, INCOMP_SYSTEM::DENSITY_BASED);
   /*!\brief KIND_PB_ITER \n  DESCRIPTION: Kind_PBIter \n OPTIONS: see \link PBIter_Map \endlink \ingroup Config*/
@@ -4974,6 +4981,14 @@ void CConfig::SetPostprocessing(SU2_COMPONENT val_software, unsigned short val_i
       Kind_Solver == MAIN_SOLVER::FEM_EULER)
     Kind_Turb_Model = TURB_MODEL::NONE;
 
+  /*--- SST has no engine or actuator-disk boundary conditions: the faces would get no turbulence flux at all.
+   Checked after the turbulence model of Euler zones is cleared (multizone). ---*/
+  if (Kind_Turb_Model == TURB_MODEL::SST &&
+      (nMarker_EngineInflow + nMarker_EngineExhaust + nMarker_ActDiskInlet + nMarker_ActDiskOutlet) > 0) {
+    SU2_MPI::Error("MARKER_ENGINE_INFLOW, MARKER_ENGINE_EXHAUST and MARKER_ACTDISK are not supported with the SST model.",
+                   CURRENT_FUNCTION);
+  }
+
   Kappa_2nd_Flow = jst_coeff[0];
   Kappa_4th_Flow = jst_coeff[1];
   Kappa_2nd_AdjFlow = jst_adj_coeff[0];
@@ -6676,16 +6691,12 @@ void CConfig::SetOutput(SU2_COMPONENT val_software, unsigned short val_izone) {
                 cout << "\nperturbing the Reynold's Stress Matrix towards " << eig_val_comp << " component turbulence";
                 if (uq_permute) cout << " (permuting eigenvectors)";
                 break;
-              case SST_OPTIONS::COMP_Wilcox:
-                cout << " with compressibility correction of Wilcox";
-                break;
-              case SST_OPTIONS::COMP_Sarkar:
-                cout << " with compressibility correction of Sarkar";
-                break;
               default:
                 cout << " with no production modification";
                 break;
             }
+            if (sstParsedOptions.compWilcox) cout << ", with compressibility correction of Wilcox";
+            if (sstParsedOptions.compSarkar) cout << ", with compressibility correction of Sarkar";
 
             if (sstParsedOptions.dll){
               cout << "\nusing non dimensional lower limits relative to infinity values clipping by Coefficients:" ;

SU2_CFD/include/numerics/CNumerics.hpp

@@ -1146,10 +1146,11 @@ class CNumerics {
    * \param[in] val_normal - Normal vector, the norm of the vector is the area of the face.
    * \param[in] val_scale - Scale of the projection.
    * \param[out] val_Proj_Jac_tensor - Pointer to the projected inviscid Jacobian.
+   * \param[in] val_tke - Turbulent kinetic energy contained in the total energy (SST), held fixed.
    */
   void GetInviscidProjJac(const su2double *val_velocity, const su2double *val_energy,
                           const su2double *val_normal, su2double val_scale,
-                          su2double **val_Proj_Jac_tensor) const;
+                          su2double **val_Proj_Jac_tensor, su2double val_tke = 0.0) const;
 
   /*!
    * \brief Compute the projection of the inviscid Jacobian matrices (incompressible).
@@ -1222,11 +1223,12 @@ class CNumerics {
    * \param[in] val_normal - Normal vector, the norm of the vector is the area of the face.
    * \param[in] val_scale - Scale of the projection.
    * \param[out] val_Proj_Jac_tensor - Pointer to the projected inviscid Jacobian.
+   * \param[in] val_tke - Turbulent kinetic energy contained in the total energy (SST), held fixed.
    */
   void GetInviscidProjJac(const su2double *val_velocity, const su2double *val_enthalphy,
                           const su2double *val_chi, const su2double *val_kappa,
                           const su2double *val_normal, su2double val_scale,
-                          su2double **val_Proj_Jac_tensor) const;
+                          su2double **val_Proj_Jac_tensor, su2double val_tke = 0.0) const;
 
   /*!
    * \brief Mapping between primitives variables P and conservatives variables C.
@@ -1253,7 +1255,7 @@ class CNumerics {
   void GetPMatrix(const su2double *val_density, const su2double *val_velocity,
                   const su2double *val_soundspeed, const su2double *val_enthalpy,
                   const su2double *val_chi, const su2double *val_kappa,
-                  const su2double *val_normal, su2double **val_p_tensor) const;
+                  const su2double *val_normal, su2double **val_p_tensor, su2double val_tke = 0.0) const;
 
   /*!
    * \brief Computation of the matrix P, this matrix diagonalize the conservative Jacobians in
@@ -1267,12 +1269,13 @@ class CNumerics {
   template <typename Matrix>
   void GetPMatrix(const su2double& density, const su2double* velocity,
                   const su2double& soundspeed, const su2double* normal,
-                  Matrix& p_tensor) const {
+                  Matrix& p_tensor, su2double tke = 0.0) const {
+    /*--- With SST the total energy contains k (tke): it is added to the kinetic energy of the energy row. ---*/
     const su2double rhooc = density / soundspeed;
     const su2double rhoxc = density * soundspeed;
 
     if (nDim == 2) {
-      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(2, velocity);
+      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(2, velocity) + tke;
       const su2double projvel = GeometryToolbox::DotProduct(2, velocity, normal);
 
       p_tensor[0][0] = 1.0;
@@ -1295,7 +1298,7 @@ class CNumerics {
       p_tensor[3][2] = 0.5 * (ke * rhooc + density * projvel + rhoxc / Gamma_Minus_One);
       p_tensor[3][3] = 0.5 * (ke * rhooc - density * projvel + rhoxc / Gamma_Minus_One);
     } else {
-      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(3, velocity);
+      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(3, velocity) + tke;
       const su2double projvel = GeometryToolbox::DotProduct(3, velocity, normal);
 
       p_tensor[0][0] = normal[0];
@@ -1430,7 +1433,7 @@ class CNumerics {
   void GetPMatrix_inv(su2double **val_invp_tensor, const su2double *val_density,
                       const su2double *val_velocity, const su2double *val_soundspeed,
                       const su2double *val_chi, const su2double *val_kappa,
-                      const su2double *val_normal) const;
+                      const su2double *val_normal, su2double val_tke = 0.0) const;
 
   /*!
    * \brief Computation of the matrix P^{-1}, this matrix diagonalize the conservative Jacobians
@@ -1444,7 +1447,8 @@ class CNumerics {
   template <typename Matrix>
   void GetPMatrix_inv(const su2double& density, const su2double* velocity,
                       const su2double& soundspeed, const su2double* normal,
-                      Matrix& inv_p_tensor) const {
+                      Matrix& inv_p_tensor, su2double tke = 0.0) const {
+    /*--- With SST the total energy contains k (tke), dp/drho = (gamma-1) (|u|^2/2 - k). ---*/
     const su2double rhoxc = density * soundspeed;
     const su2double c2 = pow(soundspeed, 2);
     const su2double gm1 = Gamma_Minus_One;
@@ -1455,7 +1459,7 @@ class CNumerics {
 
     if (nDim == 3) {
       const su2double k2orho = normal[2] / density;
-      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(3, velocity);
+      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(3, velocity) - tke;
       const su2double projvel_o_rho = GeometryToolbox::DotProduct(3, velocity, normal) / density;
 
       inv_p_tensor[0][0] = normal[0] + k1orho * velocity[2] - k2orho * velocity[1] - normal[0] * gm1_o_c2 * ke;
@@ -1488,7 +1492,7 @@ class CNumerics {
       inv_p_tensor[4][3] = -k2orho - gm1_o_rhoxc * velocity[2];
       inv_p_tensor[4][4] = gm1_o_rhoxc;
     } else {
-      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(2, velocity);
+      const su2double ke = 0.5 * GeometryToolbox::SquaredNorm(2, velocity) - tke;
       const su2double projvel_o_rho = GeometryToolbox::DotProduct(2, velocity, normal) / density;
 
       inv_p_tensor[0][0] = 1 - gm1_o_c2 * ke;

SU2_CFD/include/numerics/flow/convection/roe.hpp

@@ -45,6 +45,7 @@ class CUpwRoeBase_Flow : public CNumerics {
   su2double *ProjFlux_j = nullptr, *Conservatives_j = nullptr;
   su2double **P_Tensor = nullptr, **invP_Tensor = nullptr;
   su2double RoeDensity, RoeEnthalpy, RoeSoundSpeed, ProjVelocity, RoeSoundSpeed2, kappa;
+  su2double RoeTke = 0.0; /*!< \brief Roe-averaged k (SST, contained in the total energy). */
 
   su2double* Flux = nullptr;        /*!< \brief The flux accross the face. */
   su2double** Jacobian_i = nullptr; /*!< \brief The Jacobian w.r.t. point i after computation. */

SU2_CFD/include/numerics/flow/flow_sources.hpp

@@ -72,7 +72,9 @@ class CSourceBase_Flow : public CNumerics {
  */
 class CSourceAxisymmetric_Flow : public CSourceBase_Flow {
 protected:
-    bool implicit, viscous, rans;
+    bool implicit, viscous;
+    bool tkeInEnergy; /*!< \brief SST: k is part of the total energy (turb_ke_i is set by the solver). */
+    bool tkeInStress; /*!< \brief Standard (non-m) SST versions: -2/3 rho k is part of the stress tensor. */
     su2double yinv{0.0};
 
   /*!