Week 08 - Gov Eqs

11/4/2013
1
2011 Sajid
Chapter
Dr Muhammad Sajid
Assistant Professor
NUST, SMME.
Reference Text:
Fundamental of
Computational Fluid
Dynamics, J. Anderson.
Email: m.sajid@smme.nust.edu.pk
Tel: 9085 6065
Computational Fluid
Dynamics
4-Nov-13
0
3
Governing Equations
Review
Conservation of mass
Conservation of Linear
Momentum
Navier Stokes Equation
Computational Fluid Dynamics
Introduction
CFD is fundamentally based on the governing
equations of fluid dynamics.
These equations represent mathematical
statements of the laws of physics regarding the
conservation of mass, momentum and energy.
The purpose of this chapter is to introduce the
derivation and discussion of these equations.
All of CFD is based on these equations; we must
therefore begin our understanding at the most
basic description of the fluid flow processes.

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Introduction
After these equations are obtained, forms suited
for use in formulating CFD solutions will be
highlighted.
At the end of this chapter, some of the mysteries
surrounding CFD based predictions of fluid flow
problems will be replaced with an understanding
of the equations governing the fluid transport.

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Computational Fluid Dynamics 3
Review of basic concepts
Fluid properties:
Physical laws are stated in terms of parameters like v, a etc.
Let u represent a fluid parameter/property and the amount
of that parameter per unit mass, i.e. u = m.
u is extensive property and is an intensive property.
Fluid element is a volume stationary in space,
Fluid particle is a volume of fluid moving with the flow.
A fluid particle in motion experiences two rates of
changes:
Due to changes in the fluid as a function of time.
Due to the fact that it moves to a different location in the fluid
with different conditions.
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The sum of these two rates of changes for a
property per unit mass | (extensive) is called
the total or substantive derivative D| /Dt:

With dx/dt=u, dy/dt=v, dz/dt=w, this results in:
dt
dz
z dt
dy
y dt
dx
x t Dt
D
c
c
+
c
c
+
c
c
+
c
c
=
| | | | |
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3

|
| |
V +
c
c
= . u
t Dt
D
(
(
(
=
w
v
u
u
z y x c
c
+
c
c
+
c
c
= V
( ) ( ) ( ) ( ) ( )
z
w
y
v
x
u
t Dt
D
c
c
+
c
c
+
c
c
+
c
c
=
| | | | |
Fluid element and properties
The behavior of the fluid is
described in terms of macroscopic
properties:
Velocity u.
Pressure p.
Density .
Temperature T.
Energy E.
oy
ox
oz
(x,y,z)
1 1
2 2
W E
p p
p p x p p x
x x
o o
c c
= = +
c c
Properties at faces are expressed as first
two terms of a Taylor series expansion,
e.g. for p: and
Properties are averages of a sufficiently large
number of molecules.
A fluid element can be thought of as the smallest
volume for which the continuum assumption is
valid.
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Field representation
The flow field of a fluid can be thought of as being
comprised of a large number of finite sized fluid particles
which have mass, momentum, internal energy, and other
properties.
The distribution of fluid parameters (, v, P & a) over
space and time is called field representation.
Velocity field
Representation of fluid velocity as function of spatial
coordinates and time, V = f(x,y,z,t).

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k
) , , , ( j
) , , , ( i
) , , , ( t z y x w t z y x v t z y x u V + + =
( )
2 2 2
w v u V V + + = =

System:
A fixed quantity of matter, and no mass is allowed to
cross the system boundary.
Control Volume:
A space of interest where mass can cross the boundary,
cv.
Control Surface:
The boundary of the control volume is called the control
surface, cs.
Reynolds transport theorem
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( ) dA n V V d
t Dt
D
cs cv
sys
} }
+
c
c
=
() () () V +
c
c
= V
t Dt
D

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Lagrangian approach:
Fluid particles are tagged/identified
and their properties are determined
as they move in space.
Eulerian approach:
Fluid properties are determined at
fixed points in space as fluid flows
by.
Governing equations can be
derived using each method and
converted to the other form.

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The governing equations include the following
conservation laws of physics:
Conservation of mass.
Newtons second law: the change of momentum
equals the sum of forces on a fluid particle.
First law of thermodynamics (conservation of energy):
rate of change of energy equals the sum of rate of heat
addition to and work done on fluid particle.
The fluid is treated as a continuum. For length
scales of, say, 1m and larger, the molecular
structure and motions may be ignored.
Governing equations
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Time rate of change of system mass = 0

For a fixed and nondeforming control volume:

t - ot, t (coincident), t + ot
From Reynolds transport theorem, we have.

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11
0 =
sys
m
Dt
D
}
=
sys
sys
V d m
( )dA n V V d
t
m
Dt
D
cs cv
sys
} }
+
c
c
=

( ) dA n V V d
t Dt
D
cs cv
sys
} }
+
c
c
=

Conservation of mass & Continuity

Or,

The continuity equation is an expression for the
conservation of mass in a control volume.

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(
(
(
+
(
(
(
=
(
(
(
rface control su
orugh of mass th
f flow net rate o
lume control vo
side the of mass in
of change time rate
system coincident
s of the of the mas
of change time rate
}
c
c
=
(
(
(
cv
V d
t
lume control vo
side the of mass in
of change time rate
( )
}
=
(
(
(
cs
dA n V
rface control su
rough of mass th
f flow net rate o

( ) 0 = +
c
c
} }
dA n V V d
t
cs cv

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Consider a differential fluid element.

Let density and velocities components at the
center of the element be , u, v and w.
The volume integral can be expressed as.

Next, we need to find the mass flow rate
through the surfaces

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( ) 0 = +
c
c
} }
dA n V V d
t
cs cv

z y x
t
V d
t
cv
o o o
c
c
~
c
c
}
If u is the horizontal mass flux at the center of
the element than at the faces the mass flux in
horizontal direction is.

Net rate of mass flowing through the surfaces is.

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( ) ( ) ( )
z y x
x
u
z y
x
x
u
u z y
x
x
u
u o o o
o o
o
o o
o
c
c
c
c

(
c
c
+
2 2
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The inflows (positive) and outflows (negative)
in all directions are:
x
y
z
( ) 1
.
2
w
w z x y
z
o o o
c | |
+
|
c \ .
( ) 1
.
2
v
v y x z
y
o o o
| | c
+
|
c
\ .
z y x
x
u
u o o o
|
.
|
\
|
c
c
2
1
.
) (
z x y
y
v
v o o o
|
|
.
|
\
|
c
c
2
1
.
) (
y x z
z
w
w o o o
|
.
|
\
|
c
c
2
1
.
) (
( ) 1
.
2
u
u x y z
x
o o o
c | |
+
|
c \ .
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Mass flow rate in the y and z directions is.

Combining these equations we get.

Thus,

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16
( )
z y x
y
v
o o o
c
c
= direction y' ' in rate flow mass net
( )
( ) ( ) ( )
z y x
z
w
y
v
x
u
dA n V
cs
o o o

c
c
+
c
c
+
c
c
=
}
rate flow mass net
( ) ( ) ( )
0 =
(
c
c
+
c
c
+
c
c
+
c
c
z y x
z
w
y
v
x
u
z y x
t
o o o

o o o
( )
z y x
y
w
o o o
c
c
= direction z' ' in rate flow mass net
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Continuity equation
Summing all terms in the previous slide and
dividing by the volume oxoyoz results in:

In vector notation:

For incompressible fluids c /c t = 0, and the
equation becomes: div u = 0.
Alternative ways to write this:
0
) ( ) ( ) (
=
c
c
+
c
c
+
c
c
+
c
c
z
w
y
v
x
u
t

0 ) ( = +
c
c
u
div
t
Change in density
Net flow of mass across boundaries
Convective term
0 =
c
c
+
c
c
+
c
c
z
w
y
v
x
u
0 =
c
c
i
i
x
u
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CONSERVATION OF MOMENTUM
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Momentum equation in three dimensions
Newtons second law:
the sum of forces equals the rate of change of
momentum.
Rate of increase of momentum along x, y, and z
axis's.

Forces on fluid particles are:
Surface forces such as pressure and viscous forces.
Body forces, which act on a volume, such as gravity,
centrifugal and electromagnetic forces.

Dt
Dw
Dt
Dv
Dt
Du

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() () () V +
c
c
= V
t Dt
D

Conservation of Momentum
The surface forces are due to the stresses, t
exerted on the sides of the fluid element.
Stresses are forces per area. t = N/m
2
or Pa.
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Two types of stresses:
normal stress (t
ij
), often shown as
(o
ij
) and
shear stress (t
ij
).
i refers to the axis normal to the surface,
j represents the direction of the stress.
Forces in direction of an axis are
positive, else negative.
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All surface forces acting in the x-direction on the
fluid element are:

Conservation of momentum
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x
z
y
z y x
x
p
p o o o )
2
1
. (
c
c
+
z y x
x
p
p o o o )
2
1
. (
c
c
z y z
z
zx
zx
o o o
t
t )
2
1
. (
c
c
+
y x z
z
zx
zx
o o o
t
t )
2
1
. (
c
c

z x y
y
yx
yx
o o o
t
t )
2
1
. (
c
c

z x y
y
yx
yx
o o o
t
t )
2
1
. (
c
c
+
z y x
x
xx
xx
o o o
t
t )
2
1
. (
c
c

z y x
x
xx
xx
o o o
t
t )
2
1
. (
c
c
+
Set the rate of change of x-momentum for a
fluid particle Du/Dt equal to:
the sum of the forces due to surface stresses
shown in the previous slide, plus
the body forces. These are usually lumped
together into a source term S
M
:

p is a compressive stress and t
xx
is a tensile
stress.
Mx
zx
yx
xx
S
z y x
p
Dt
Du
+
c
c
+
c
c
+
c
+ c
=
t
t
t
) (
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Similarly for y- and z-momentum:
Mx
zx
yx
xx
S
z y x
p
Dt
Du
+
c
c
+
c
c
+
c
+ c
=
t
t
t
) (
My
zy yy xy
S
z y
p
x Dt
Dv
+
c
c
+
c
+ c
+
c
c
=
t t t
) (
Mz
zz
yz
xz
S
z
p
y x Dt
Dw
+
c
+ c
+
c
c
+
c
c
=
) ( t
t
t
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Cauchys equation of motion
It is an expression for the acceleration, the
body forces, the pressure gradient forces, and
the viscous forces coupled with Newtons 2
nd

Law:

Note that this is an incredibly succinct
equation, and is much more complicated than
it at first appears.
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ij
P k g
Dt
v D
t V + V =

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The full expanded version can be written for
each component, x, y, and z as:

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z y x z
P
k g
z
v
v
y
v
v
x
v
v
t
v
z y x y
P
z
v
v
y
v
v
x
v
v
t
v
z y x x
P
z
v
v
y
v
v
x
v
v
t
v
zy yy xy
z
z
z
y
z
x
z
zy yy xy y
z
y
y
y
x
y
zx
yx
xx x
z
x
y
x
x
x
c
c
+
c
c
+
c
c
+
c
c
=
(
c
c
+
c
c
+
c
c
+
c
c
c
c
+
c
c
+
c
c
+
c
c
=
(
c
c
+
c
c
+
c
c
+
c
c
c
c
+
c
c
+
c
c
+
c
c
=
(
c
c
+
c
c
+
c
c
+
c
c
t t t

t t t
t
t
t

Things to notice about these equations:
only the z component equation has a body force,
because gravity only works in the z direction;
the x- and y-component equations are identical except
for subscripts;
the equations cannot be solved in their present form
because the stresses have not yet been recast in
terms of velocities.
In order to solve this equation for a specific
substance, like a fluid, we need to substitute
expressions involving velocity for the viscous
stress gradients.
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Constitutive Relationship for Viscous Fluids
The mechanical behavior of every substance can
be described in terms of stress and strain, and the
relationship between these variables is called a
constitutive relationship.
Generally, these must be determined through
experiments and differ for every type of substance
(i.e., rock, plastic, fluid, gas, etc.).
Mathematically, the relationship is between the
stress tensor
and the strain tensor
(for rigid
solids) or strain-rate tensor
(for fluids).
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Constitutive Relationship for Viscous Fluids
Strain is a measure of distortion and the strain-
rate tensor has nine components just like the
stress tensor:

The diagonal entries
, and
represent
normal strain rates (elongation, contraction) and
the off-diagonal strains represent shear strains
rates. Remember

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31
|
|
|
.
|
\
|
=
zz zy zx
yz yy yx
xz xy xx
ij
c c c
c c c
c c c
c

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Strain and strain rate
The strain rates in the strain-rate tensor can be described
in terms of velocity gradients.
Consider a small elongate element of fluid moving in the
x-direction with a non-constant velocity.
The element is stretching as it is moving, resulting in a
normal strain-rate in the x-direction.
The element has a length of x and undergoes strain
which stretches it to x + x in the time t. x is the
small elongation of x and is always smaller than x.
The strain
xx
is:

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x
x
xx
A
=
o
oc
There are different ways to determine the
relationship between strain rate and velocity gradients.
First Method:
The only way the box can deform (i.e., stretch; i.e.,
strain) is if the right-hand side moves faster than the
left-hand slide, which happens when > 0.
The rate of strain will equal because this is the
amount by which the right-hand side is moving faster
than the left-hand side.
So we can deduce the answer as:

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Second Method:
Take the expression for strain
= and
divide by the time increment, t;

The term in parentheses is the rate at which the
increment x grows with time or differential velocity,
the difference in velocity between the left and right
sides of the original box.

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x
v
x
v
x
x t
x
x t
x x xx
xx
c
c
=
c
c
A
A
=
|
.
|
\
|
A
= =
1 1
o
o
o
oc
c
x
v
x v
x
v
x v v v
t
x
x
L
x
L L R
c
c
A = |
.
|
\
|
c
c
A + = =
o
o
x
x
xx
A
=
o
oc
|
.
|
\
|
A
=
A
=
t
x
x t x
x
t
xx
o
o
o
o
o
oc 1
Similar arguments show that the other diagonal
elements in the strain-rate tensor, are:

This is an example how just one of the 9
components of the strain-rate tensor is related to
the gradients of velocity in the x, y, and z
directions.

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z
v
y
v
z
zz
y
yy
c
c
=
c
c
= c c ;
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The full strain-rate tensor can be expressed in terms of
velocity gradients as follows:

This is a symmetric tensor across the diagonal elements.
This strain-rate tensor is valid for all materials, including fluids.
It expresses the strain rates as a function of the velocity
gradients, and is constructed entirely from geometry.
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37
|
|
|
|
|
|
|
|
.
|
\
|
c
c
|
|
.
|
\
|
c
c
+
c
c
|
.
|
\
|
c
c
+
c
c
|
|
.
|
\
|
c
c
+
c
c
c
c
|
|
.
|
\
|
c
c
+
c
c
|
.
|
\
|
c
c
+
c
c
|
|
.
|
\
|
c
c
+
c
c
c
c
=
|
|
|
.
|
\
|
=
z
v
y
v
z
v
x
v
z
v
y
v
z
v
y
v
x
v
y
v
x
v
z
v
x
v
y
v
x
v
z z
y
z x
z
y y y
x
z x
y
x x
zz zy zx
yz yy yx
xz xy xx
ij
2
1
2
1
2
1
2
1
2
1
2
1
c c c
c c c
c c c
c

Week 08 - Gov Eqs

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11/4/2013

Computational Fluid Dynamics

Computational Fluid Dynamics

and the strain tensor

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