Exponential Integrators for the Incompressible Navier-Stokes Equations

Abstract

We provide an algorithm and analysis of a high order projection scheme for time integration of the incompressible Navier-Stokes equations (NSE). The method is based on a projection onto the subspace of divergence-free (incompressible) functions interleaved with a Krylov-based exponential time integration (KBEI). These time integration methods provide a high order accurate, stable approach with many of the advantages of explicit methods, and can reduce the computational resources over conventional methods. The method is scalable in the sense that the computational costs grow linearly with problem size. Exponential integrators, used typically to solve systems of ODEs, utilize matrix vector products of the exponential of the Jacobian on a vector. For large systems, this product can be approximated efficiently by Krylov subspace methods. However, in contrast to explicit methods, KBEIs are not restricted by the time step. While implicit methods require a solution of a linear system with the Jacobian, KBEIs only require matrix vector products of the Jacobian. Furthermore, these methods are based on linearization, so there is no non-linear system solve at each time step. Differential-algebraic equations (DAEs) are ordinary differential equations (ODEs) subject to algebraic constraints. The discretized NSE constitute a system of DAEs, where the incompressibility condition is the algebraic constraint. Exponential integrators can be extended to DAEs with linear constraints imposed via a projection onto the constraint manifold. This results in a projected ODE that is integrated by a KBEI. In this approach, the Krylov subspace satisfies the constraint, hence the solution at the advanced time step automatically satisfies the constraint as well. For the NSE, the projection onto the constraint is typically achieved by a projection induced by the L2 inner product. We examine this L2 projection and an H1 projection induced by the H1 semi-inner product. The H1 projection has an advantage over the L2 projection in that it retains tangential Dirichlet boundary conditions for the flow. Both the H1 and L2 projections are solutions to saddle point problems that are efficiently solved by a preconditioned Uzawa algorithm.