Numerical Error in Weighting Function-Based Unsteady Friction Models for Pipe Transients

The accurate simulation of pressure transients in pipelines and pipe networks is becoming increasingly important in water engineering. Applications such as inverse transient analysis for condition assessment, leak detection, and pipe roughness calibration require accurate modeling of transients for longer simulation periods that, in many situations, requires improved modeling of unsteady frictional behavior. In addition, the numerical algorithm used for unsteady friction should be highly efficient, as inverse analysis requires the transient model to be run many times. A popular model of unsteady friction that is applicable to a short-duration transient event type is the weighting function-based type, as first derived by Zielke in 1968. Approximation of the weighting function with a sum of exponential terms allows for a considerable increase in computation speed using recursive algorithms. A neglected topic in the application of such models is evaluation of numerical error. This paper presents a discussion and quantification of the numerical errors that occur when using weighting function-based models for the simulation of unsteady friction in pipe transients. Comparisons of numerical error arising from approximations are made in the Fourier domain where exact solutions can be determined. Additionally, the relative importance of error in unsteady friction modeling and unsteady friction itself in the context of general simulation is discussed.