Aerodynamic Shape Optimization Using First and Second Order Adjoint and Direct Approaches
- 480 Downloads
- 27 Citations
Abstract
This paper focuses on discrete and continuous adjoint approaches and direct differentiation methods that can efficiently be used in aerodynamic shape optimization problems. The advantage of the adjoint approach is the computation of the gradient of the objective function at cost which does not depend upon the number of design variables. An extra advantage of the formulation presented below, for the computation of either first or second order sensitivities, is that the resulting sensitivity expressions are free of field integrals even if the objective function is a field integral. This is demonstrated using three possible objective functions for use in internal aerodynamic problems; the first objective is for inverse design problems where a target pressure distribution along the solid walls must be reproduced; the other two quantify viscous losses in duct or cascade flows, cast as either the reduction in total pressure between the inlet and outlet or the field integral of entropy generation. From the mathematical point of view, the three functions are defined over different parts of the domain or its boundaries, and this strongly affects the adjoint formulation. In the second part of this paper, the same discrete and continuous adjoint formulations are combined with direct differentiation methods to compute the Hessian matrix of the objective function. Although the direct differentiation for the computation of the gradient is time consuming, it may support the adjoint method to calculate the exact Hessian matrix components with the minimum CPU cost. Since, however, the CPU cost is proportional to the number of design variables, a well performing optimization scheme, based on the exactly computed Hessian during the starting cycle and a quasi Newton (BFGS) scheme during the next cycles, is proposed.
Keywords
AIAA Paper Adjoint Equation Adjoint Method Total Pressure Loss Adjoint VariablePreview
Unable to display preview. Download preview PDF.
References
- 1.Lighthill MJ (1945) A new method of two-dimensional aerodynamic design. Aeronautical Research Council Google Scholar
- 2.McFadden GB (1979) An artificial viscosity method for the design of supercritical airfoils. New York University Report C00-3077-158 Google Scholar
- 3.Davis L (1991) Handbook of genetic algorithms. Van Nostrand Reinhold, New York Google Scholar
- 4.Michalewicz Z (1994) Genetic algorithms + data structures = evolution programs, 2nd edn. Springer, Berlin MATHGoogle Scholar
- 5.Bäck T (1996) Evolutionary algorithms in theory and practice. Evolution strategies, evolutionary programming, genetic algorithms. Oxford University Press, Oxford MATHGoogle Scholar
- 6.Bäck T (1996) Evolutionary algorithms in theory and practice. Oxford University Press, Oxford MATHGoogle Scholar
- 7.Bertsekas DP (1996) Constrained optimization and Lagrange multiplier methods, 1st edn. Athena Scientific, Nashua Google Scholar
- 8.Bertsekas DP (1999) Nonlinear programming, 2nd edn. Athena Scientific, Nashua MATHGoogle Scholar
- 9.Gill PE, Murray W, Wright MH (1981) Practical optimization. Academic, New York MATHGoogle Scholar
- 10.Luenberger DG (2003) Linear and nonlinear programming, 2nd edn. Kluwer Academic, Dordrecht MATHGoogle Scholar
- 11.Fletcher R (1988) Practical methods of optimization, 2nd edn. Wiley, New York Google Scholar
- 12.Jin Y (2003) A comprehensive survey of fitness approximation in evolutionary computation. Soft Comput 9:3–12 CrossRefGoogle Scholar
- 13.Wang GG, Shan S (2006) Review of metamodelling techniques in support of engineering design optimization. Trans ASME, J Mech Des 129(4):370–380 CrossRefGoogle Scholar
- 14.El-Beltagy MA, Nair PB, Keane AJ (1999) Metamodeling techniques for evolutionary optimization of computationally expensive problems: Promises and limitations. In: GECCO99, genetic and evolutionary computation conference, Orlando, July 1999 Google Scholar
- 15.Giannakoglou K (2002) Design of optimal aerodynamic shapes using stochastic optimization methods and computational intelligence. Int Rev J Prog Aerosp Sci 38:43–76 CrossRefGoogle Scholar
- 16.Lions JL (1971) Optimal control of systems governed by partial differential equations. Springer, New York MATHGoogle Scholar
- 17.Pironneau O (1974) On optimum design in fluid mechanics. J Fluid Mech 64:97–110 MATHCrossRefMathSciNetGoogle Scholar
- 18.Pironneau O (1984) Optimal shape design for elliptic systems. Springer, New York MATHGoogle Scholar
- 19.Jameson A (1988) Aerodynamic design via control theory. J Sci Comput 3:233–260 MATHCrossRefGoogle Scholar
- 20.Jameson A, Reuther J (1994) Control theory based airfoil design using the Euler equations. AIAA Paper 94-4272 Google Scholar
- 21.Jameson A (1995) Optimum aerodynamic design using CFD and control theory. AIAA Paper 95-1729 Google Scholar
- 22.Jameson A, Pierce N, Martinelli L (1998) Optimum aerodynamic design using the Navier-Stokes equations. Theor Comput Fluid Dyn 10:213–237 MATHCrossRefGoogle Scholar
- 23.Anderson WK, Nielsen E (2001) Sensitivity analysis for Navier-Stokes equations on unstructured grids using complex variables. AIAA J 39(31):56–63 CrossRefGoogle Scholar
- 24.Lyness JN, Moler CB (1967) Numerical differentiation of analytic functions. In: ACM 22nd national conference Google Scholar
- 25.Martins R, Kroo IM, Alonso J (2000) An automated method for sensitivity analysis using complex variables. AIAA Paper 2000-0689 Google Scholar
- 26.Squire W, Trapp G (1998) Using complex variables to estimate derivatives of real functions. SIAM Rev 10(1):110–112 CrossRefMathSciNetGoogle Scholar
- 27.Newman JC, Anderson WK, Whitfield DL (1998) Multidisciplinary sensitivity derivatives using complex variables. Tech Rep MSSU-COE-ERC-98-08 Google Scholar
- 28.Nielsen EJ, Kleb WL (2005) Efficient construction of discrete adjoint operators on unstructured grids by using complex variables. AIAA Paper 2005-0324 Google Scholar
- 29.Courty F, Dervieux A, Koobus B, Hascoët L (2003) Reverse automatic differentiation for optimum design: from adjoint state assembly to gradient computation. Optim Methods Softw 18(5):615–627 MATHCrossRefMathSciNetGoogle Scholar
- 30.Griewank A (1989) On automatic differentiation. In: Mathematical programming: recent developments and applications. Kluwer Academic, Dordrecht Google Scholar
- 31.Hovland P, Mohammadi B, Bischof C (1997) Automatic differentiation of Navier–Stokes computations. Technical Report MCS-P687-0997, Argonne National Laboratory Google Scholar
- 32.Juedes D (1991) A taxonomy of automatic differentiation tools. In: Automatic differentiation of algorithms: theory, implementation, and application. SIAM, Philadelphia, pp 315–329 Google Scholar
- 33.Bischof C, Carle A, Corliss G, Griewank A, Hovland P (1991) ADIFOR Generating derivative codes from Fortran programs. Report CRPC-TR91185-S, Center for Research and Parallel Computation, Rice University Google Scholar
- 34.Giering R, Kaminski T (1998) Recipes for adjoint code construction. ACM Trans Math Softw 24:437–474 MATHCrossRefGoogle Scholar
- 35.Berz M (1990) The DA precompiler DAFOR. Technical Report, Lawrence Berkeley National Laboratory, Berkeley, CA Google Scholar
- 36.Horwedel J (1991) GRESS a preprocessor for sensitivity studies of Fortran programs. AIAA Paper 91-005 Google Scholar
- 37.Faure C (2005) An automatic differentiation platform: Odyssée. Future Gener Comput Syst 21(8):1391–1400 CrossRefMathSciNetGoogle Scholar
- 38.Stephens B (1991) Automatic differentiation as a general-purpose numerical tool. PhD thesis, School of Mathematics, University of Bristol, UK Google Scholar
- 39.Shiriaev D, Griewank A, Utke J (1996) A user guide to ADOL–F: automatic differentiation of Fortran codes. IOKOMO-04-1995 Google Scholar
- 40.Rhodin A (1997) IMAS–integrated modeling and analysis system for the solution of optimal control problems. Comput Phys Commun 107:21–38 MATHCrossRefGoogle Scholar
- 41.Christianson B (1992) Automatic Hessians by reverse accumulation. J Numer Anal 12:135–150 MATHCrossRefMathSciNetGoogle Scholar
- 42.Bischof C, Roh L, Mauer-Oats A (1997) ADIC An extensible automatic differentiation tool for ANSI-C. Preprint ANL/MCS-P626-1196, Argonne National Laboratory Google Scholar
- 43.Griewank A, Juedes D, Mitev H, Utke J, Vogel O, Walther A (1996) ADOL-C: a package for the automatic differentiation of algorithms written in C/C++. ACM Trans Math Softw 22(2):131–167 MATHCrossRefGoogle Scholar
- 44.Pierce NA, Giles MB (2000) An introduction to the adjoint approach to design. Flow Turbul Combust 65(3–4):393–415 MATHGoogle Scholar
- 45.Nadarajah S, Jameson A (2000) A comparison of the continuous and discrete adjoint approach to automatic aerodynamic optimization. AIAA Paper 2000-0667 Google Scholar
- 46.Nadarajah S, Jameson A (2001) Studies of the continuous and discrete adjoint approaches to viscous automatic aerodynamic shape optimization. AIAA Paper 2001-2530 Google Scholar
- 47.Spalart PR, Allmaras SR (1994) A one-equation turbulence model for aerodynamic flows. Rech Aerosp (1):5–21 Google Scholar
- 48.Roe P (1981) Approximate Riemann solvers, parameter vectors, and difference schemes. J Comput Phys 43:357–371 MATHCrossRefMathSciNetGoogle Scholar
- 49.Papadimitriou DI, Giannakoglou KC (2007) A continuous adjoint method with objective function derivatives based on boundary integrals for inviscid and viscous flows. J Comput Fluids 36:325–341 CrossRefGoogle Scholar
- 50.Anderson WK, Venkatakrishnan V (1997) Aerodynamic design optimization on unstructured grids with a continuous adjoint formulation. AIAA Paper 97-0643 Google Scholar
- 51.Anderson WK, Venkatakrishnan V (1997) Aerodynamic design optimization on unstructured grids with a continuous adjoint formulation. Comput Fluids 28:443–480 CrossRefGoogle Scholar
- 52.Asouti VG, Zymaris AS, Papadimitriou DI, Giannakoglou KC (2008) Continuous and discrete adjoint approaches for aerodynamic shape optimization with low Mach number preconditioning. Int J Numer Methods Fluids 57:1485–1504 MATHCrossRefMathSciNetGoogle Scholar
- 53.Arian E, Salas MD (1997) Admitting the inadmissible: adjoint formulation for incomplete cost functionals in aerodynamic optimization. NASA/CR-97-206269, ICASE Report No 97-69 Google Scholar
- 54.Baysal O, Ghayour K (2001) Continuous adjoint sensitivities for optimization with general cost functionals on unstructured meshes. AIAA J 39(1) Google Scholar
- 55.Jameson A, Kim S (2003) Reduction of the adjoint gradient formula in the continous limit. AIAA Paper 2003-0040 Google Scholar
- 56.Denton JD (1993) Loss mechanisms in turbomachines. ASME Paper 93-GT-435 Google Scholar
- 57.Davies MRD, O’Donnell FK, Niven AJ (2000) Turbine blade entropy generation rate, part I: the boundary layer defined. ASME Paper 2000-GT-265 Google Scholar
- 58.O’Donnell FK, Davies MRD (2000) Turbine blade entropy generation rate, part II: the measured loss. ASME Paper 2000-GT-266 Google Scholar
- 59.Papadimitriou DI, Giannakoglou KC (2006) Compressor blade optimization using a continuous adjoint formulation. ASME TURBO EXPO, GT2006/90466, Barcelona Google Scholar
- 60.Papadimitriou DI, Giannakoglou KC (2007) Total pressure losses minimization in turbomachinery cascades, using a new continuous adjoint formulation. Proc Inst Mech Eng, Part A: J Power Energy 222(6):865–872 CrossRefGoogle Scholar
- 61.Papadimitriou DI, Zymaris AS, Giannakoglou KC (2005) Discrete and continuous adjoint formulations for turbomachinery applications. In: UROGEN 2005, international conference proceedings, Munich, September 2005 Google Scholar
- 62.Papadimitriou DI, Giannakoglou KC (2006) A continuous adjoint method for the minimization of losses in cascade viscous flows. AIAA Paper 2006-0049 Google Scholar
- 63.Kim SK, Alonso JJ, Jameson A (2000) Two-dimensional high-lift aerodynamic optimization using the continuous adjoint method. AIAA Paper 2000-4741 Google Scholar
- 64.Kim SK, Alonso JJ, Jameson A (2002) Design optimization of high-lift configurations using a viscous continuous adjoint method. AIAA Paper 2002-0844 Google Scholar
- 65.Leoviriyakit K, Jameson A (2003) Aerodynamic shape optimization of wings including planform variations. AIAA Paper 2003-0210 Google Scholar
- 66.Leoviriyakit K, Kim S, Jameson A (2003) Viscous aerodynamic shape optimization of wings including planform variations. AIAA Paper 2003-3498 Google Scholar
- 67.Leoviriyakit K, Kim S, Jameson A (2004) Aero-structural wing planform optimization using the Navier-Stokes equations. AIAA Paper 2004-4479 Google Scholar
- 68.Leoviriyakit K, Jameson A (2005) Multi-point wing planform optimization via control theory. AIAA Paper 2005-0450 Google Scholar
- 69.Giles MB, Pierce NA (1997) Adjoint equations in CFD: duality, boundary conditions and solution behaviour. AIAA Paper 97-1850 Google Scholar
- 70.Giles MB, Pierce NA (1998) On the properties of solutions of the adjoint Euler equations. In: 6th ICFD conference on numerical methods for fluid dynamics, Oxford, UK, 1998 Google Scholar
- 71.Harbeck M, Jameson A (2005) Exploring the limits of transonic shock-free airfoil design. AIAA Paper 2005-1041 Google Scholar
- 72.Reuther J, Alonso JJ, Rimlinger MJ, Jameson A (1999) Aerodynamic shape optimization of supersonic aircraft configurations via an adjoint formulation on distributed memory parallel computers. Comput Fluids 28:675–700 MATHCrossRefGoogle Scholar
- 73.Nadarajah S, Kim SK, Jameson A, Alonso JJ (2002) Sonic boom reduction using an adjoint method for supersonic transport aircraft configuration. In: Symposium transsonicum IV, international union of theoretical and applied mechanics, September 2–6, 2002, DLR Gottingen, Germany Google Scholar
- 74.Nadarajah S, Jameson A, Alonso JJ (2002) Sonic boom reduction using an adjoint method for wing-body configurations in supersonic flow. AIAA Paper 2002-5547 Google Scholar
- 75.Alonso JJ, Kroo IM, Jameson A (2002) Advanced algorithms for design and optimization of quiet supersonic platform. AIAA Paper 2002-0144 Google Scholar
- 76.Nadarajah S, Jameson A, Alonso JJ (2002) An adjoint method for the calculation of remote sensitivities in supersonic flow. AIAA Paper 2002-0261 Google Scholar
- 77.Taasan S, Kuruvila G, Salas MD (1992) Aerodynamic design and optimization in one-shot. AIAA Paper 91-005 Google Scholar
- 78.Kuruvila G, Taasan S, Salas MD (1995) Airfoil design and optimization by the one-shot method. AIAA Paper 95-0478 Google Scholar
- 79.Hazra SB (2004) An efficient method for aerodynamic shape optimization. AIAA Paper 2004-4628 Google Scholar
- 80.Hazra S, Schulz V, Brezillon J, Gauger N (2005) Aerodynamic shape optimization using simultaneous pseudo-timestepping. J Comput Phys 204(1):46–64 MATHCrossRefMathSciNetGoogle Scholar
- 81.Hazra SB, Schulz V (2006) Simultaneous pseudo-timestepping for aerodynamic shape optimization problems with state constraints. SIAM J Sci Comput 28(3):1078–1099 MATHCrossRefMathSciNetGoogle Scholar
- 82.Held C, Dervieux A (2002) One-shot airfoil optimisation without adjoint. Comput Fluids 31:1015–1049 MATHCrossRefMathSciNetGoogle Scholar
- 83.Dadone A, Grossman B (2000) Progressive optimization of inverse fluid dynamic design problems. Comput Fluids 29:1–32 MATHCrossRefGoogle Scholar
- 84.Dadone A, Grossman B (2003) Fast convergence of inviscid fluid dynamic design problems. Comput Fluids 32:607–627 MATHCrossRefGoogle Scholar
- 85.Soto O, Lohner R (2004) On the computation of flow sensitivities from boundary integrals. AIAA Paper 04-0112 Google Scholar
- 86.Jameson A, Shankaran S, Martinelli L (2003) A continuous adjoint method for unstructured grids. AIAA Paper 2003-3955 Google Scholar
- 87.Kim S, Leoviriyakit K, Jameson A (2003) Aerodynamic shape and planform optimization of wings using a viscous reduced adjoint gradient formula. In: 2nd MIT conference on computational fluid and solid mechanics, Cambridge, MA, June 17–20, 2003 Google Scholar
- 88.Othmer C, de Villiers E, Weller HG (2007) Implementation of a continuous adjoint for topology optimization of ducted flows. AIAA Paper 2007-3947 Google Scholar
- 89.Mohammadi B, Pironneau O (2001) Applied shape optimization for fluids. Clarendon, Oxford MATHGoogle Scholar
- 90.Mohammadi B, Pironneau O (2004) Shape optimization in fluid mechanics. Annu Rev Fluid Mech 36:255–279 CrossRefMathSciNetGoogle Scholar
- 91.Soto O, Lohner R (2001) CFD shape optimization using an incomplete-gradient adjoint formulation. Int J Numer Methods Fluids 51:735–753 MATHGoogle Scholar
- 92.Soto O, Lohner R (2000) CFD optimization using an incomplete-gradient adjoint approach. AIAA Paper 00-0666 Google Scholar
- 93.Soto O, Lohner R (2000) CFD shape optimization using an incomplete-gradient adjoint approach. In: ECCOMAS, Barcelona, September 2000 Google Scholar
- 94.Soto O, Lohner R (2001) General methodologies for incompressible flow design problems. AIAA Paper 01-1061 Google Scholar
- 95.Soto O, Lohner R (2002) A mixed adjoint formulation for incompressible rans problems. AIAA Paper 02-0451 Google Scholar
- 96.Kim HJ, Sasaki D, Obayashi S, Nakahashi K (2001) Aerodynamic optimization of supersonic transport wing using unstructured adjoint method. AIAA J 39(6) Google Scholar
- 97.Nielsen EJ, Park MA (2005) Using an adjoint approach to eliminate mesh sensitivities in computational design. AIAA Paper 2005-0491 Google Scholar
- 98.Mavriplis DJ (2005) Formulation and multigrid solution of the discrete adjoint for optimization problems on unstructured meshes. AIAA Paper Google Scholar
- 99.Mavriplis DJ (2006) A discrete adjoint-based approach for optimization problems on three-dimensional unstructured meshes. AIAA Paper Google Scholar
- 100.Nielsen EJ, Anderson WK (2002) Recent improvements in aerodynamic design optimization on unstructured meshes. AIAA J 40(6):1155–1163 CrossRefGoogle Scholar
- 101.Nielsen EJ, Anderson WK (2001) Recent improvements in aerodynamic design optimization on unstructured meshes. AIAA Paper 2001-0596 Google Scholar
- 102.Elliot J, Peraire J (1996) Aerodynamic design using unstructured meshes. AIAA Paper 96-1941 Google Scholar
- 103.Elliot J, Peraire J (1997) Aerodynamic optimization using unstructured meshes with viscous effects. AIAA Paper 97-1849 Google Scholar
- 104.Elliot J, Peraire J (1997) Practical 3d aerodynamic design and optimization using unstructured meshes. AIAA J 35(9):1479–1485 CrossRefGoogle Scholar
- 105.Pulliam TH, Nemec M, Holst TL, Zingg DW (2003) Comparison of genetic and adjoint methods for multi-objective viscous airfoil optimizations. AIAA Paper 2003-0298 Google Scholar
- 106.Elliot J, Peraire J (1998) Constrained, multipoint shape optimisation for complex 3d configurations. Aeronaut J 102(1017):365–376 Google Scholar
- 107.Martins JRRA, Alonso JJ, Reuther JJ (2005) A coupled-adjoint sensitivity analysis method for high-fidelity aero-structural design. Optim Eng 6(1):33–62 MATHCrossRefGoogle Scholar
- 108.Leoviriyakit K, Jameson A (2004) Case studies in aero-structural wing planform and section optimization. AIAA Paper 2004-5372 Google Scholar
- 109.Leoviriyakit K, Jameson A (2004) Aero-structural wing planform optimization. AIAA Paper 2004-0029 Google Scholar
- 110.Nadarajah S, Jameson A (2002) Optimal control of unsteady flows using a time accurate method. AIAA Paper 2002-5436 Google Scholar
- 111.Nadarajah S, McMullen M, Jameson A (2002) Non-linear frequency domain based optimum shape design for unsteady three-dimensional flow. AIAA Paper 2002-2838 Google Scholar
- 112.Nadarajah S, Jameson A (2002) Optimum shape design for unsteady three-dimensional viscous flows using a non-linear frequency domain method. AIAA Paper 2002-2838 Google Scholar
- 113.Campobasso MS, Duta MC, Giles MB (2001) Adjoint methods for turbomachinery design. In: ISOABE conference, 2001 Google Scholar
- 114.Duta MC, Giles MB, Campobasso MS (2002) The harmonic adjoint approach to unsteady turbomachinery design. Int J Numer Meth Fluids 40(3–4):323–332 MATHCrossRefGoogle Scholar
- 115.Campobasso MS, Duta MC, Giles MB (2003) Adjoint calculation of sensitivities of turbomachinery objective functions. AIAA J Propuls Power 19(4) Google Scholar
- 116.Giannakoglou KC, Papadimitriou DI (2006) Formulation and application of the continuous adjoint method in aerodynamics and turbomachinery. Von-Karman institute lecture series Google Scholar
- 117.Anderson WK, Bonhaus DL (1997) Aerodynamic design on unstructured grids for turbulent flows. NASA Technical Memorandum Google Scholar
- 118.Anderson WK, Bonhaus DL (1999) Airfoil design on unstructured grids for turbulent flows. AIAA J 37(2):185–191 CrossRefGoogle Scholar
- 119.Nielsen EJ, Lu J, Park MA, Darmofal DL (2004) An implicit exact dual adjoint solution method for turbulent flows on unstructured grids. Comput Fluids 33:1131–1155 MATHCrossRefMathSciNetGoogle Scholar
- 120.Sherman LL, Taylor III AC, Green LL, Newman PA, Hou GW, Korivi VM (1996) First- and second-order aerodynamic sensitivity derivatives via automatic differentiation with incremental iterative methods. J Comput Phys 129:307–331 MATHCrossRefGoogle Scholar
- 121.Papadimitriou DI, Giannakoglou KC (2007) Direct, adjoint and mixed approaches for the computation of Hessian in airfoil design problems. Int J Numer Methods Fluids 56:1929–1943 CrossRefGoogle Scholar
- 122.Papadimitriou DI, Giannakoglou KC (2007) Computation of the Hessian matrix in aerodynamic inverse design using continuous adjoint formulations. Comput Fluids 37:1029–1039 CrossRefGoogle Scholar
- 123.Tortorelli D, Michaleris P (1994) Design sensitivity analysis: overview and review. Inverse Probl Eng 1(1):71–105 CrossRefGoogle Scholar
- 124.Hou GW, Sheen J (1993) Numerical methods for second-order shape sensitivity analysis with applications to heat conduction problems. Int J Numer Methods Eng 36:417–435 MATHCrossRefGoogle Scholar
- 125.Le Dimet FX, Navon IM, Daescu DN (2002) Second-order information in data assimilation. Mon Weather Rev 130(3):629–648 CrossRefGoogle Scholar
- 126.Veerse F, Auroux D, Fisher M (2000) Limited-memory BFGS diagonal preconditioners for a data assimilation problem in meteorology. Optim Eng 1:323–339 MATHCrossRefMathSciNetGoogle Scholar
- 127.Daescu DN, Navon IM (2003) An analysis of a hybrid optimization method for variational data assimilation. Int J Comput Fluid Dyn 17(4):299–306 MATHCrossRefMathSciNetGoogle Scholar
- 128.Arian E, Taasan S (1999) Analysis of the Hessian for aerodynamic optimization: inviscid flow. Comput Fluids 28(7):853–877 MATHCrossRefGoogle Scholar