Computer Modeling of Free-Surface and Pressurized Flows NATO ASI Series Advanced Science Institutes Series A Series presenting the results of activities sponsored by the NATO Science Committee, which aims at the dissemination of advanced scientific and technological knowledge, with a view to strengthening links between scientific communities. The Series is published by an international board of publishers in conjunction with the NATO Scientific Affairs Division A Life Sciences Plenum Publishing Corporation B Physics London and New York C Mathematical Kluwer Academic Publishers and Physical Sciences Dordrecht, Boston and London D Behavioural and Social Sciences E Applied Sciences F Computer and Systems Sciences Springer-Verlag G Ecological Sciences Berlin, Heidelberg, New York, London, H Cell Biology Paris and Tokyo I Global Environmental Change NATO-PCO-DATA BASE The electronic index to the NATO ASI Series provides full bibliographical references (with keywords and/or abstracts) to more than 30000 contributions from international scientists published in ail sections of the NATO ASI Series. Access to the NATO-PCO-DATA BASE is possible in two ways: - via online FILE 128 (NATO-PCO-DATA BASE) hosted by ESRIN, Via Galileo Galilei, I-00044 Frascati, Italy. - via CD-ROM "NATO-PCO-DATA BASE" with user-friendly retrieval software in English, French and German (© WTV GmbH and DATAWARE Technologies Inc. 1989). The CD-ROM can be ordered through any member of the Board of Publishers or through NATO-PCO, Overijse, Belgium. Series E: Applied Sciences - Vol. 274 Computer Modeling of Free-Surface and Pressurized Flows edited by M. Hanif Chaudhry Washington State University, Pullman, WA, U.S.A. and Larry W. Mays Arizona State University, Tempe, AZ, U.S.A. Springer-Science+Business Media, B.V. Proceedings of the NATO Advanced Study Institute on Computer Modeling of Free-Surface and Pressurized Flows Pullman, WA, U.S.A. June 28-July 9, 1993 A C.I.P. Catalogue record for this book is available from the Library of Congress ISBN 978-94-010-4417-2 ISBN 978-94-011-0964-2 (eBook) DOI 10.1007/978-94-011-0964-2 Printed on acid-free paper All Rights Reserved ©1994 Springer Science+Business Media Dordrecht Originally published by Kluwer Academic Publishers in 1994 Softcover reprint of the hardcover 1 st edition 1994 No part of the material protected by this copyright notice may be reproduced or utilized in any form or by any means, electronic or mechanical, including photo copying, recording or by any information storage and retrieval system, without written permission from the copyright owner. Table of Contents List of Major Contributors IX Part I. Free-Surface Flows 1. Governing Equations for Free-Surface Flows by J. A. Liggett 3 2. Finite-Difference Methods for Shallow-Water Flow Analysis by J. A. Liggett 33 3. Computation of Flows With Shocks and Bores by M. H. Chaudhry 63 4. Boundary Integral Equation Method for Free-Surface Flow Analysis by J. A. Liggett 83 5. Finite-Element Methods for Free-Surface Flows by J. l. Finnie 115 6. Application of Finite Element Models to Free-Surface Flows by R. Mayerle, A. Malcherek, and W. Zielke 147 7. Upwinding and Characteristics in FD and F-E Methods by A. Malcherek and W. Zielke 173 8. Introduction to Turbulence Models by J. l. Finnie 205 9. Development and Application of a Three-Dimensional Hydrodynamic Model by B. H. Johnson, K. W. Kim, R. E. Heath, and H. L. Butler 241 10. Sediment Transport Models and Their Testing by Y. Onishi 281 11. Contaminant Transport Modeling in Surface Waters by Y. Onishi 313 12. Modeling of Dam-Break Flows by A. Betamio de Almeida and A. Bento Franco 343 13. Flood Routing Models by R. K. Price 375 14. Simulation of Urban Drainage Systems by R. K. Price 409 Part II. Pressurized Flows 15. Derivation of One-Dimensional Conservation Equations of Pressure Transients by C. S. Martin 447 16. Numerical Methods for Solution of Governing Equations by A. P. Baldy 459 17. Methodologies for Reliability Analysis of Water Distribution Systems by L. W. Mays 485 18. Pressure Wave Propagation in Two-Component Flow by C. S. Martin 519 19. Development of Water Quality Models by R. M. Clark 553 20. Applying Water Quality Models by R. M. Clark 581 21. Slow Transients in Closed Conduit Flow by B. U. Rogalla and A. Wolters 613 22. Modeling of Rapid Transients by A. P. Baldy 673 VI 23. Verification of Rapid Transient Models by A. P. Boldy 699 24. Modeling of Complex Closed Conduit Systems. The Case of Cooling Water Systems by A. Betamio de Almeida and E. Koelle 709 Preface Computers are being widely used for the analysis, design, and operation of water resource projects. This gives accurate results, allows the analysis of complex systems which may not have been possible otherwise, and the investigation and comparison of several different alternatives in a short time, thereby reducing the project costs, optimizing design, and efficient utilization of resources. Several computational procedures and computer models have been developed. In order to provide a common forum where these methods and models could be presented and discussed, an Advanced Study Institute was held in Pullman, WA, USA from June 28 to July 9, 1993. This volume compiles an edited version of the lecture notes specially prepared for the institute by 14 well-known European and North American researchers. Part I of the proceedings deals with free-surface flows: Governing equations are derived and their solution by the finite-difference, finite-element, and boundary-integral meth ods are discussed. Then, turbulence models, three-dimensional models, dam-break flow models, sediment transport models, and flood routing models are presented. Part II is related to the modeling of steady and transient pressurized flows. Governing equations for both single and two-component flows are derived and numerical methods for their solution are presented. The modeling of water quality in pipe networks, of cooling water systems, and slow and rapid transients is then discussed. Fifty three participants from eighteen different countries attended the institute; many of them could be considered experts in the field themselves. Lively and detailed discussions following each lecture helped in modifying some of the lecture notes. M. Ranif Chaudhry Larry W. Mays vii Acknowledgements NATO Scientific Affairs Division provided funds to hold the institute. The traveling and living expenses of the lecturers were covered in full and those of the participants from the academic institutions of NATO countries were partially reimbursed. National Science Foundation of the United States of America covered the traveling and living expenses of an engineering professor from each of the following countries: Bangladesh, Egypt, India, Jordan, and Lebanon through Grant No. INT-9312378. The financial support of NATO and NSF is thankfully acknowledged. viii List of Major Contributors A. Betamio de Almeida, Professor of Civil Engineering, Technical University, Lisbon, Portugal. Adrian P. Boldy, Department of Civil Engineering, University of Warwick, Coventry, UK. M. Hanif Chaudhry, Professor of Civil Engineering, Washington State University, Pull man, WA, USA. Robert M. Clark, Director, Drinking Water Division, EPA, Cincinnati, OH, USA. John I. Finnie, Department of Civil Engineering, Moscow, ID, USA. B. H. Johnson, Waterways Experiment Station, Vicksburg, MS, USA. James A. Liggett, Professor of Civil Engineering, Cornell University, Ithaca, USA. C. Sam Martin, Professor of Civil Engineering, Georgia Institute of Technology, Atlanta, GA, USA. Larry W. Mays, Chairman of Civil Engineering Department, Arizona State University, Tempe, AZ, USA. Bernd Rogalla, 3S Consult GmbH, Garbsen, Germany. Yasuo Onishi, Battelle Pacific Northwest, Richland, WA, USA. Roland K. Price, Manager, Wallingford Software, Wallingford, Oxfordshire, UK. Werner Zielke, Professor, University of Hannover, Hannover, Germany. ix Part I Free-Surface Flows