1

Shallow water equations with variable density

1.1
1.1.1

Non-linear Shallow Equations

Continuity equation
h hu hv
+
+
=0
t
x
y

1.1.2

Momentum equations

hu
+
t
x

1
u2 h + gh2
2

hv uvh

+
+
t
x
y
1.1.3

(1.1)

uvh
z
= gh
Sfx
y
x

(1.2)



1
z
2
2
v h + gh = gh
Sfy
2
y

(1.3)

Diffusion equation
Ch uCh vCh

+
+
=
t
x
y
x

C
Dx h
x

+
y



C
Dy h
y

(1.4)

Here, C represents the sediment concentration in the mixture.

1.1.4

Matrix form
Qt + F(Q)x + G(Q)y = S(Q)

hu

hv

(1.5)

z
hu
u h + 21 gh2

gh x
Sfx
uvh

Q=
, F (Q) =
, G(Q) = 2
, S(Q) =

z
1
2
hv

v h + 2 gh

gh y Sfy
uvh





C

D
h
+
D
h
Ch
uCh
vCh
x
y
x
x
y
y
(1.6)

1.2

Dimensionless equations

Firstly, dimensional scales are defined:

Horizontal: L
Vertical: H
Velocity: V
Mass: M
Froud Number: F r =

U
gH

g =

U2
F r2 H

Then, the transformed variables are:

x L
x
y L
y
z H
z

h Hh
1

u U u

v U v
L
Ut

L3

Dx LU Dx
1.2.1

Continuity equation

Starting from the continuity equation for variable density flow presented in 1.1:
1 hu M
1 hv
M U h M
H
+ 3 HU
+ 3 HU
=0
L3 L t
L
L x
L
L y

(1.7)

Simplifying:
h
t
1.2.2

hu

hv
y

=0

(1.8)

Momentum equations

As from the momentum equation in the x direction 1.2:

U hu M 2 1
U2 M 2 1
M
HU
+ 3U H
u2 h +
H
3
L
L t
L
L x
F r2 H L3
L x

1
gh2
2

M 2 1 uvh
U H
=
L3
L y
M U2
H z
3
H h
x
L F r2 H L x
+

(1.9)

Simplifying:
hu
t

u2 h +

1
2F r 2

uvh
1
z
gh2 +
=
x
h
2
x
y
Fr
x

(1.10)

Similarly, for the y direction, from equation 1.3:

hv
t

uvh
x

v 2 h +

2F r 2

1
z
gh2 =
h
y
2
y
Fr
y

(1.11)

Where, j , j = x, y represents the dimensionless friction shear stress.

1.2.3

Diffusion equation

The diffusion equation is exhibited in 1.4. To write in terms of dimensionless variables:

U Ch
1 uCh
1 vCh
1
1
H
+ UH
+ UH
= ULH
L t
L x
L y
L
L x





C
1
1
C
Dx h
+ ULH
Dy h
x
L
L y
y

(1.12)

Simplifying:
Ch
t

uCh
x

vCh
y

Dx h

C
x


+


Dy h

C
y


(1.13)

1.2.4

Matrix form
Qt + F(Q)x + G(Q)y = S(Q)

(1.14)

hu
h

u h + 2Fgr2 h2
hu

,
F (Q) =
Q=
,

hv

uvh

Ch
uCh

0
hv

F1r2 h x
x
uvh

G(Q) =
, S(Q) =

z
1
g
v 2 h + 2F r2 h2

F r2 h y y




C
D
h
+
D
h
vCh
x
y
x
x
y
y

2
2.1

(1.15)

Non-conservative form of the Cartesian equations

Continuity

From dimensionless equations 1.8, applying the chain ruler:

Since c =

h
F r2 ,

(u)
h
(v)
h
+h
+h
+ u
+h
+ v
=0
t
t
x
x
y
y

(2.1)

we can express variations in h in terms of c:

h
c
= 2F r2 c
t
t

h
c
= 2F r2 c
x
x

h
c
= 2F r2 c
y
y

(2.2)

Applying relations 2.2 in the continuity equation:

2 c
2
2 (u)
2 c
2 (v)
2 c
2
F r
c + c2
F r
+ c2
F r
+ 2uc
F r
+ c2
F r
+ 2vc
F r
=0
t
t
x
x
y
y

(2.3)

Simplifying:
c2
t

2.2

(uc2 )
x

(vc2 )
y

=0

(2.4)

Momentum equations

Following the same procedure from the homogeneous form of equation 1.10:
(uc2 ) (u2 c2 )
(c2 ) uvc2
+
+ c2
+
=0
t
x
x
y

(2.5)

Applying the chain ruler , and simplifying with the equation 2.4


(c2
)
u
(c2
u)
u
(c2 )
u
(c2
v)
u  + c2
+ u  + c2 u
+ c2
+ c2 v
+ u  = 0

t
t
x
x
x
y
y



(2.6)

2
2 u
2 u
2 1 (c )
2 u


c
+
c
u
+
c
+
c
v
=0
 t  x
x
y

u
t

+u

u
x

1 (c2 )

+v

u
y

(2.7)

=0

(2.8)

=0

(2.9)

Similarly, the momentum equation on the y axis is obtained:

v
t

2.3

+u

v
x

+v

v
y

1 (c2 )

Diffusion equation

Applying the chain rule in the equation 1.13 and using the equation 1.8:

c2 F r2

C
h
Cu
h
Cv
h

+C
+h
+ Cu
+h
+ Cv
=
t
t
x
x
y
y
x





C

C
Dx h
+
Dy h
x
y
y

C
c
Cu
c
Cv
c
+ 2F r2 cC
+ c2 F r 2
+ 2F r2 cCu
+ c2 F r2
+ 2F r2 cCv
t
t
x
x
y
y





C
= 2F r2 c
Dx c
+ 2F r2 c
Dy c
(2.11)
x
x
y
y

c
Cu
c
Cv
c

C
+ 2C
+c
+ 2Cu
+c
+ 2Cv
=2
c
t
t
x
x
y
y
x

+2
s w t

(2.10)

w
s w

C
Dx c
x

+2
y



C
Dy c
y

(2.12)




w c
c
w c
v
+
+ 2v
=
s w x s w y
s w y




2

Dx c
+
Dy c
(2.13)
s w x
x
s w y
y

c
c
u
+
+ 2u
t s w x

c
u
c
v
c
+ 2 ( w )
+c
+ 2u ( w )
+c
+ 2v ( w )
=
t
t
x
x
y
y





2
Dx c
+2
Dy c
(2.14)
x
x
y
y

c
c
c
u
c
c
v
c
c
+ 2w
+c
+ 2u
2uw
+c
+ 2v
2vw
=
t
t
t
x
x
x
y
y
y





2
Dx c
+2
Dy c
(2.15)
x
x
y
y

c
c cu
c
c
cv
c
c
c
+ 2w
+
+ u
2uw
+
+ v
2vw
=
t
t
t
x
x
x
y
y
y





2
Dx c
+2
Dy c
(2.16)
x
x
y
y
4


C
h
C
uh
C
vh

h
+C
+ uh
+ C  + vh
+C
=
t
t
x  x
y
y
x





C

C
Dx h
+
Dy h
x
y
y

(2.17)

Dividing by h:
C
C
1
C
+u
+v
=
t
x
y
h x

C
Dx h
x

1
+
h y



C
Dy h
y

(2.18)

To express equation in terms of the density of the mixture, the relation = (1 C)w + Cs is used,
where w y s represent the fluid and sediment density, respectively. Thereby, replacing C =

w
s w

in

the equation 1.13:

s w










w

w





+u
u 
+v

x s w
t s w
x s w
y s w








w
1



v 
=
Dx h
+
Dy h
(2.19)
y s w
h(s w ) x
x
h(s w ) y
y









1 
1 

1 
+
+
=
u
v






x s w
y
s w t s w




1

Dx h
+
Dy h
(2.20)




h
x
h
y
(
(
s w ) x
s w ) y





+u
+v
=
Dx h
+
Dy h
(2.21)
t
x
y
h x
x
h y
y


The homogeneous version of equation 2.20 is:

2.4

+u

+v

=0

(2.22)

Matrix Form
Wt + B1 (W)Wx + B2 (W)Wy = 0

c2
u

1
u 1

W =
,B =
v
0

3
3.1
3.1.1

c2
u
0
0

0 2 0
,B =

u 0

0 u
0
0

(2.23)

c2

(2.24)

Curvilinear equations
Dimensionless equations
Continuity equation
h uh
uh
vh
vh
+
+
+
+
=0
t
x
x
y
y
h
+J
t

uh 1
uh 1
vh 1
vh 1
+
+
+
x J
x J
y J
y J
5

(3.1)


=0

(3.2)

 







h
hux
hux
hvy
hvy
+J
+
+
+
=0
t

(3.3)

 



h
h(ux + vy )
h(ux + vy )
+J
+
=0
t

(3.4)

h
t
3.1.2


+J

hU1


+

hU2



=0

(3.5)

Momentum equations
1 h2
uvh
h z
hu u2 h
+
+
+
=
1
t
x
2F r2 x
y
F r2 x

hu u2 h
u2 h
1
+
+
+
t
x
x 2F r2

h2
h2
+
x
x


+

(3.6)

uvh
uvh
+
=
y
y


z
h z
1
+
F r2 x x





hu
u2 h x
u2 h x
1
h2 x
h2 x
uvh y
uvh y
+J
+
+
+
+
+
=
t
J
J
2F r2
J
J
J
J
h
(z x + z x ) 1
F r2

  2



  2 


hu
u hx
u2 hx
J
h x
h2 x
+J
+
+
+
t

J
2F r2
J

J



 
uvhy
h
uvhy
+
=
(z x + z x ) 1
+J

J
F r2

(3.7)

(3.8)

(3.9)

 



  2 


hu
uh(ux + vy )
uh(ux + vy )
1
h x
h2 x
+J
+
+
+
t

J
2F r2
J

J
h
=
(z x + z x ) 1 (3.10)
F r2

hu
t


+J

uhU1


+

uhU2



2F r 2

h2 x

hv
t


+J

vhU1
J


+

vhU2
J


+

1
2F r 2

J
h
F r2

h2 y


+

F r2

h2 x



(z x + z x ) 1

J
h

h2 y

(3.11)



(z y + z y ) 2

(3.12)

3.1.3

Diffusion equation
Ch uCh vCh
2 C
2 C
+
D
h
+
+
= Dx h
y
t
x
y
x2
y 2

(3.13)



Ch
2 C
x uCh x uCh x vCh x vCh
2 C
+ Dy h
+J
+
+
+
= Dx h
2
t
J
J
J
J
x
y 2
3.1.4

Matrix form
Qt + JF + JG = S

hu
1

Q=
,F = J
0
hv

3.2
3.2.1

(3.14)

c2

(3.15)

0 2 0
,B =
1

u 0

0
0 u

0
0

c2

(3.16)

Non-conservative form of the Curvilinear equations

Continuity equation
 



h
hU1
hU2
+J
+
=0
t

(3.17)

"
#
 

 



 
 (hv)
h




x  x (hu)
x
x (hu)
y
y (hv)
y
y
+J hu 
+ hv 
+ hu 
+
+ hv 
+
+
+
t
J
J
J
J
J
J
 J
 J







h
x (hu) y (hv) x (hu) y (hv)
+
J
+
+
+
=0
t
J
J
J
J




h
t
3.2.2

+ x

(hu)

+ y

(hv)

+ x

(hu)

+ y

(hv)

=0

(3.19)

(3.20)

Momentum equations

 



  2 


hu
uhU1
uhU2
1
h x
h2 x
+J
+
+
+
t

J
2F r2
J

J
h
=
(z x + z x ) 1
F r2

  2







hu
u hx
uvhy
u2 hx
uvhy
+J
+
+
+
t

J
  2 
 2 
1
h x
h x
h
+
+
=
(z x + z x ) 1
2F r2
J

J
F r2

(3.21)

(3.22)

  2







hu
u hx
uvhy
u2 hx
uvhy
+J
+
+
+
t

J
  2 
 2 
1
h x
h x
h
+
(z x + z x ) 1
+
=
2F r2
J

J
F r2

(3.23)


 
 
 y 
x (u2 h)
x
y
y (uvh) x (u2 h)
 x 
hu
2
+ uvh
+
+J
+ u h
+ uvh
+
+
+ u2 h
t
J

J
J
J

J
J
J







2
2
1
x (h )
x (h )
h
x
1
x
=
(z x + z x ) 1
+ h2
+
+ h2
2F r2 J
J
2F r2 J
J
F r2
(3.24)
hu
(u2 h)
(uvh)
(u2 h)
(uvh)
+ x
+ y
+ x
+ y
+
t



(h2 )
1
(h2 )
h
+ x
(z x + z x ) 1
x
=
2F r2

F r2

hu
+
t

hu
t

 2 

hx
(uh)
(vh)
h x
(h)
2
u x uvy
+ (2ux + vy )
+ (uy )

+
F r2

2F r2
 2 


(uh)
(vh)
h x
hx
(h)
u2 x uvy
+ (2ux + vy )
+ (uy )

F r2

2F r2
h
=
(z x + z x ) 1
F r2



+

hx

F r2

hx
F r2


uU1
uU2

(h)


(h)

+ (U1 + ux )
+ (U2 + ux )

(uh)

(uh)

+ uy
+ uy

(vh)

(vh)

hv
+
t

hv
t

(3.25)

h
F r2

h2 x

2F r 2
 2 
h x
2F r 2

(3.26)

(z x + z x ) 1


 2 
hy
(h)
(uh)
(vh)
h y
2
v y uvx
+ (vx )
+ (ux + 2vy )

+
F r2

2F r2


 2 
hy
(h)
(uh)
(vh)
h y
v 2 y uvx
+ (vx )
+ (ux + 2vy )

2
Fr

2F r2
h
=
(z y + z y ) 2
F r2

(3.27)


+

hy
F r2

hy
F r2


vU1

vU2

(h)

(h)

+ vx
+ vx

(uh)

(uh)

(vh)

+ (U1 + vy )
+ (U2 + vy )

(vh)

h
F r2

2F r 2


h2 y
h2 y
2F r 2

(3.28)

(z y + z y ) 2

(3.29)

3.2.3

Diffusion equation

1 2 (2 w )

1 2 (2 w )
+
D
+ (ux + vy )
+ (ux + vy )
= Dx
y
t

x2

y 2

3.2.4

+ U1

+ U2

= Dx

1 2 (2 w )
x2

+ Dy

1 2 (2 w )
y 2

(3.32)

h2 x

hu 1 Fhrx2 uU1 U1 + ux
uy
2F r 2
,A =
,
U =
2
hy

h
F r2 vU1
hv
vx
U1 + vy 2F r2y

0
0
0
U1

0
x
y
0
0

hx

h2 x
F r2 uU2 U2 + ux

b
uy
2F r 2

A2 =
,S =
2
hy

h
F r2 vU2
c
vx
U2 + vy 2F r2y

d
0
0
0
U2

3.3
3.3.1

(3.31)

Matrix Form
Ut + A1 U + A2 U = S

3.2.5

(3.30)

Eigenvalues of Jacobian matrices

r
r
h(x2 + y2 ) 1
h(x2 + y2 )
1
1
1
1 = U1
,

=
U
,

=
U
,

=
U
+
1
1
1
2
3
4
F r2
F r2
r
r
h(x2 + y2 ) 2
h(x2 + y2 )
2
2
21 = U2
,

=
U
,

=
U
,

=
U
+
2
2
2
2
3
4
F r2
F r2

(3.33)

(3.34)
(3.35)

Non-conservative form of the transformed Curvilinear equations

Continuity equation

Applying the chain ruler in the equation:

(hu)
(hv)
(hu)
(hv)
h
+ x
+ y
+ x
+ y
=0
t

(3.36)

h
(u)
h
(v)
h
(u)
h
(v)
h
+
+ x h
+ x u
+ y h
+ y v
+ x h
+ x u
+ y h
+ y v
=0
t
t

(3.37)
q
Since c = Fhr2 , we can express h and the variations in h in terms of c:
h

h = c2 F r2

h
c
= 2F r2 c
t
t

h
c
= 2F r2 c

h
c
= 2F r2 c

(3.38)

c2 F r2

c
(u)
c
(v)
c

+ 2F r2 c + x c2 F r2
+ 2F r2 cx u
+ y c2 F r2
+ 2F r2 cy v
t
t

(u)
c
(v)
c
+ x c2 F r2
+ 2F r2 cx u
+ y c2 F r2
+ 2F r2 cy v
=0

c
c
c
2
2 (u)
2
2 (v)
2
2
+ 2
F r
c + x c2
F r
+ 2
F r
cx u
+ y c2
F r
+ 2
F r
cy v
c2
F r
t
t

c
c
2 (u)
2 (v)
2
2
F r
F r
+ x c2
+ 2
F r
cx u
+ y c2
+ 2
F r
cy v
=0

c2

c2
(u)
c2
(v)
c2
+
+ x c2
+ x u
+ y c2
+ y v
t
t

(u)
c2
(v)
c2
+ x c2
+ x u
+ y c2
+ y v
=0

 2 
 2 
 2 
 2 
c2
c u
c v
c u
c v
+ x
+ y
+ x
+ y
=0
t

Applying again the chain rule:

(3.39)

(3.40)

(3.41)

(3.42)

c2
u
c2
v
c2
u
c2
v
c2
+ x u
+ x c2
+ y v
+ y c2 + x u
+ x c2
+ y v
+ y c2
= 0 (3.43)
t

c2
c2
u
v
c2
u
v
+ (x u + y v)
+ x c2
+ y c2
+ (x u + y v)
+ x c2
+ y c2
=0
t

c2
t
3.3.2

+ U1

c2

+ x c 2

+ y c2

+ U2

c2

+ x c2

+ y c2

=0

(3.44)

(3.45)

Momentum equations

h h2 x hx h
u
h
u

h
+ u
+
+
huU1
uU1
+ h (U1 + ux )
+ u (U1 + ux )
t
t
F r2
F r2

 2 
2
v
h
h x h x hx h

h
u
+ huy
+ uvy

+
+
huU2
uU2
+ h (U2 + ux )

2F r2
F r2
F r2

 2 
h
v
h
h x
h
(z x + z x ) 1 (3.46)
+ u (U2 + ux )
+ huy
+ uvy

2F r2
F r2
h

u
c

c
+ 2F r2 cu + c4 F r2 x
+ 2F r2 c3 x
c2 F r2 uU1
2F r2 cuU1
t
t

 4 2 
u
c
v
c
c F r x
2
2
2
2
2
2
+ c F r (U1 + ux )
+ 2F r cu (U1 + ux )
+ c F r uy
+ 2F r cuvy

c
u
+ c4 F r2 x
+ 2F r2 c3 x
c2 F r2 uU2
2F r2 cuU2
+ c2 F r2 (U2 + ux )

 4 2 
c
v
c
c F r x
+2F r2 cu (U2 + ux )
+c2 F r2 uy
+2F r2 cuvy

= c2 (z x + z x )1

c2 F r2

(3.47)

10

c2

u
c

c
+ 2cu + c4 x
+ 2c3 x
c2 uU1
2cuU1
t
t

 4 
u
c
v
c
c x
2
2
+ c (U1 + ux )
+ 2cu (U1 + ux )
+ c uy
+ 2cuvy

c
c

u
+ c4 x
+ 2c3 x
c2 uU2
2cuU2
+ c2 (U2 + ux )

 4 
c
v
c
c x
+ 2cu (U2 + ux )
+ c2 uy
+ 2cuvy

= c2 (z x + z x ) 1

(3.48)

c2
c2
c2
u

c2

u
+ u
+ c4 x
+ c2 x
c2 uU1
uU1
+ c2 (U1 + ux )
+ u (U1 + ux )
t
t

 4 
2
2
2
c
c

c
v

u
x
+ c2 uy
+ uvy

+ c4 x
+ c2 x
c2 uU2
uU2
+ c2 (U2 + ux )

 4 
2
c2
c

v
c
x
+ u (U2 + ux )
+ c2 uy
+ uvy

= c2 (z x + z x ) 1 (3.49)

c2

 4 
c2 u
c x
c2 u
c2
c2
c2 v
c2
+ c2 x
uU1
+ (U1 + ux )
+ uy

+ c2 x
t

 4 
2
2
2
c u
c x
c
c v
uU2
+ (U2 + ux )
+ uy

= c2 (z x + z x ) 1

2
  c4 x 

c2
c
v
c2 u
c2

2 u
2


+ c x uU1
+ (U1 + 
ux )
+ u

u  +c
y
t

 t



2
2
2
4


c
c 
v
c u
c x
+ c2 x uU2
+ (U2 + 
u
+ u

= c2 (z x + z x ) 1
y 
x)

c2

 4 

2

c2

c2
u
c x
u
c

2
2


+ c2 x 
+
c
U
+

+
c

uU
uU
uU
1
x
1
1
2


t





4
2
u
c
 c x = c2 (z x + z x ) 1
+ c2 U2
+ uU
2


2

c4 x
2

c2
u
+
c
+
c2
U1

 t

2u

2 x

c4 x
2

x c2
u
+ c2
+
c2
U2

x c2

+ U1

c 2 x

x c2

+ U2

c2 x

(3.51)

(3.52)

2
= 
c
(z x + z x ) 1

(3.50)

(3.53)

= (z x + z x ) 1
(3.54)

v
t

y c2

+ U1

c 2 y
2

y c2

+ U2

c 2 y
2

= (z y + z y ) 2
(3.55)

11

3.3.3

Diffusion equation

3.3.4

+ U1

+ U2

= Dx

1 2 (2 w )
x2

+ Dy

1 2 (2 w )

(3.56)

y 2

Matrix form
Wt + B1 (W)Wx + B2 (W)Wy = 0

W =

U
1

u 1
,B =
y

c2

c2 x

c2 y

U1

U1

U
2

x
x c2
2
2
=
2,B
y
y c

U1
0
0

12

(3.57)

c2 x

c2 y

U2

U2

x c2

2
2
y c

U2

(3.58)