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2 Derivation Flow Equations
2 Derivation Flow Equations
Derivation of Flow
Equations
Asst. Prof. Dr. Orhan GNDZ
Navier-Stokes
Equations
Saint-Venant
Equations
Three-dimensional Hydrodynamic
Equations of Flow
The three-dimensional hydrodynamic equations of fluid
flow are the basic differential equations describing the
flow of a Newtonian fluid.
In a three-dimensional cartesian coordinate system, the
conservation of mass equation coupled with the NavierStokes equations of motion in x, y and z dimensions form
the general hydrodynamic equations.
They define a wide range of flow phenomena from
unsteady, compressible flows to steady, incompressible
flows.
3
Three-dimensional Hydrodynamic
Equations of Flow
Developed by Claude-Louis Navier and George Gabriel Stokes,
these equations arise from applying Newton's second law to
fluid motion, together with the assumption that the fluid
stress is the sum of a diffusing viscous term (proportional to
the gradient of velocity), plus a pressure term.
Although Navier-Stokes equations only refer to the equations
of motion (conservation of momentum), it is commonly
accepted to include the equation of conservation of mass.
These four equations all together fully describe the
fundamental characteristics of fluid motion.
4
Velocity vector:
v = u i + j + wk
Unit
vectors
k
Dot product of two vectors:
a = [ a1 , a2 ,..., an ]
b = [b1 , b2 ,..., bn ]
n
a b = ai bi = a1b1 + a2b2 + ... + an bn
i =1
Del operator:
=
i+
j+ k
x
y
z
5
f f f
f =
i+
j+ k
x
y
z
Divergence of a vector field, v:
v = u i + j + wk
u w
div v = v =
+
+
x y z
In Euclidean space, the dot product of two unit vectors is simply the
cosine of the angle between them. (Ex: i.i=1x1xcos0=1,
i.j=1x1xcos90=0, i.k=1x1xcos90=0)
+ ( v) = 0
t
v
+ v v = + f
t
Continuity Equation
Momentum Equation
v
where
is
fluid
density,
is
flow
velocity
vector,
is stress tensor
f is body forces and is del operator.
xx xy xz
= yx yy yz
zx zy zz
where are the normal stresses and are shear stresses acting on the fluid
( u ) ( ) ( w)
+
+
+
=0
t
x
y
z
where is the density of the fluid, t is time and u, and w are the components of
the velocity vector in x, y and z coordinates.
xy yy zy
+u
+
+
+
+
+ gy
=
x
y
z x
y
z
t
w
w
w
w xz yz zz
+u
+
+
+
+
+ gz
=
x
y
z x
y
z
t
gx, gy and gz are gravitational acceleration along x, y and z axes. The terms
and are normal and shear stresses acting on the fluid, respectively. The
first subscript in the notation indicates the direction of the normal to the
plane on which the stress acts, and the second subscript indicates the
direction of the stress.
10
u
~
y
xx
u 2
= P + 2
v
x 3
yy
2
= P + 2
v
y 3
w 2
zz = P + 2
v
z 3
xy = yx
yz
u
= +
w
= zy =
+
zx = xz =
+
x z
12
z
3
y
z
2 2 2 1 u w
P
+u
+
+w
+ gy + 2 + 2 + 2 + +
+
=
z
3
2 w 2 w 2 w 1 u w
w
w
w
w
P
+u
+
+w =
+ gz + 2 + 2 + 2 + +
+
z
3
13
u w
+
+
=0
x y z
14
2u 2u 2 u
u
u
u
u
p
+ u + v + w = + gx + 2 + 2 + 2
x
y
z
x
y
z
t
x
2v 2v 2v
u
v
v
v
p
+ u + v + w = + gy + 2 + 2 + 2
x
y
z
y
t
x y z
2w 2w 2w
u
w
w
w
p
+u
+v
+ w = + gz + 2 + 2 + 2
x
y
z
z
y
z
t
x
15
Continuity Equation
v
2
+ v v = p + g + v
t
Unsteady
Acceleration
Convective
Pressure Other
Acceleration Gradient body
forces
Momentum Equation
Viscosity
16
22
23
DBsys
= bd + b V n dA
Dt
t cv
cs
where and are density and volume of fluid. V is
velocity vector. n is the unit vector normal to the
control surface and t is time. In this equation, the
intensive parameter is defined as extensive property per
unit mass. Therefore, if mass is the extensive property,
the intensive property becomes unity.
24
0 = d + V n dA
t cv
cs
25
A Q
+
q =0
t x
27
Momentum Equation
It is stated in the Newton's second law for a system that the
time rate of change of the linear momentum of the system is
equal to the sum of the external forces acting on the system.
Using this law in the Reynolds Transport Theorem yields
F = t Vd + V V n dA
cv
cs
28
Momentum Equation
For an open channel flow, there are five different forces
acting on the control volume:
1. the gravity force along the channel due to weight of
water (Fg)
2. the pressure force (Fp)
3. the friction force along the bottom and sides of the
channel (Ff)
4. the contraction/expansion force due to abrupt changes
in channel cross section (Fe)
5. the wind shear force (Fw)
F = Fg + Fp + Ff + Fe + Fw
29
Momentum Equation
Gravity Force: The gravity force acting on the control volume shown in
figure is a function of the volume of the fluid, which may be given as
d = Adx
The corresponding weight of the fluid can be expressed as
W = d g = gAdx
where g is the gravitational acceleration. The component of weight in the
direction of flow becomes the gravity force
Fg = gAdx sin
where is the angle of inclination of the channel bed. With the
assumption of a small angle of inclination of the channel bed, the sine of
the angle can be approximated as the tangent of the angle:
30
Momentum Equation
sin( ) tan( )
which is also equal to the slope of the channel bed, So. Therefore, for a small
angle of inclination of the channel bed, gravity force acting on the control
volume can be written as
Fg = gAdxSo
31
Momentum Equation
Pressure Force: The pressure force is the resultant of the hydrostatic force on
the left side of the control volume (Fpl), the hydrostatic force on the right side
of the control volume (Frl) and the pressure force exerted by the banks on the
control volume (Fpb) as can be seen from Figure 1.b:
Momentum Equation
dFpl = g ( y w ) bdw
where b is the width of the element across the channel. Integrating this
force over the cross section gives the total hydrostatic force on the left
end of the control volume
y
Fpl = g ( y w ) bdw
0
Using the Taylor's series expansion of the hydrostatic force on the left
end, Fpl, and ignoring the higher order terms, one might obtain the
hydrostatic force on the right end of the control volume as:
Fpl
Fpr = Fpl +
dx
x
33
Momentum Equation
The differential of Fpl with respect to x in the above equation is computed
using the Leibnitz rule for differentiation
Fpl
x
=
0
( g ( y w) b )
x
dw + g ( y y ) b
dy
d0
+ g ( y 0) b
dx
dx
where the second and third terms on the right hand-side of the
equation are evaluated as zero. The partial derivative term can be
expanded using the multiplication rule of differentiation and the
differential of Fpl with respect to x takes the following form
Fpl
y
b
= g bdw + g ( y w ) dw
x
x
x
0
0
34
Momentum Equation
The first integral in above equation can be simplified as
y
y
y
y
=
=
g
bdw
g
bdw
g
A
0 x
x 0
x
y
since
A = bdw
0
y
b
Fpb = g ( y w ) dw dx
x
0
35
Momentum Equation
Substituting:
Fpl
Fpl
Fp = Fpl Fpl +
dx + Fpb =
dx + Fpb
x
x
y
y
b
b
Fp = g
A + g ( y w) dw dx + g ( y w) dw dx
x
x
x
0
The resultant pressure force acting on the control volume can be written as:
Fp = g
y
Adx
x
36
Momentum Equation
Friction Force: The friction forces
created by shear stress along the
bottom and sides of the control
volume can be defined in terms of
the bed shear stress o and can be
given as -oPdx, where P is the
wetted perimeter. In accordance
with the assumptions stated
previously, the bed shear stress
can be defined in terms of the
steady uniform flow formula:
o = gRS f = g ( A / P) S f
where R is the hydraulic radius defined by the ratio of the flow area and the
wetted perimeter and Sf is the friction slope, which is derived from the
Manning's equation and given as
37
Momentum Equation
Sf =
n 2V 2
2R 4 / 3
Based on the definition of bed shear stress given in above equation, the
friction force acting on the control volume takes the final form given below
F f = gAS f dx
38
Momentum Equation
Contraction/Expansion Force: Abrupt contraction or expansion of the
channel causes energy loss through turbulence. These losses can be
considered similar to the losses in a pipe system. The magnitude of these
losses is a function of the change in velocity head, V2/2g=(Q/A)2/2g, through
the length of the channel. The forces associated with these eddy losses can
be defined similar to friction force except the term Sf is replaced by Se, which
is the eddy loss slope representing the loss of energy due to an abrupt
contraction or expansion
K ec (Q / A) 2
Se =
2g
x
Fe = gAS e dx
39
Momentum Equation
Wind Shear Force: The wind
shear force is caused by the
frictional resistance of wind
against the free surface of the
water. It can be defined as a
function of wind shear stress,
w, and written as wBdx. The
wind shear stress is defined as
the product of a wind shear
factor, Wf and fluid density
w = W f
Wf =
C f Vr Vr
2
Momentum Equation
Vr =
Q
Vw cos
A
Vw is the wind velocity and is the angle that wind direction makes with the
direction of average fluid velocity, (Q/A). Based on the definition of wind shear
stress given in above equation, the wind shear force acting on the control
volume takes the final form given below
Fw = W f Bdx
Finally, the sum of the five forces define the total force on the left-hand side of
the momentum equation
F = gAS o dx gA
y
dx gAS f dx gAS e dx W f Bdx
x
41
Momentum Equation
F = t Vd + V V n dA
cv
cs
The two momentum terms on the right-hand side represent the rate of
change of storage of momentum in the control volume and the net outflow
of momentum across the control surface, respectively
The net momentum outflow is the sum of momentum outflow minus the
momentum inflow to the control volume. The mass inflow rate to the
control volume is the sum of both stream inflow and the lateral inflow and
is defined as -(Q + qdx).
42
Momentum Equation
The momentum inflow to the control volume is computed by multiplying the
two mass inflow rates by their respective velocities and a momentum
correction factor, :
V (V n )dA = (VQ + x qdx)
inlet
1
V
dA
43
Momentum Equation
The momentum outflow from the control volume is also a function of mass
outflow from the control volume, which can be defined as the Taylor series
expansion of mass inflow. Hence, the momentum outflow from the control
volume is computed as:
( VQ )
(
V
n
)
dA
=
VQ
+
dx
outlet
Thus, net momentum outflow across the control surface
( VQ )
( VQ )
V
(
V
n
)
dA
=
VQ
+
qdx
+
VQ
+
dx
=
(
)
x
x
dx
cs
x
x
44
Momentum Equation
The time rate of change of momentum stored in the control volume is written
as a function of the volume of the elemental channel length dx. The
momentum associated with this elemental volume can be written as VAdx, or
Qdx and the time rate of change of momentum is given as
Q
V
dx
t cv
t
When all terms are combined and substituted back into the momentum
equation:
F = t Vd + V V n dA
cv
cs
gAS o dx gA
y
( VQ )
Q
45
Momentum Equation
This equation is simplified and rearranged to the following form if all terms are
divided by dx and V is replaced by Q/A
Q ( Q 2 / A)
y
+
+ gA
S o + S f + S e q x + W f B = 0
t
x
x
The water depth term in this equation can be replaced by the water surface
elevation (stage), h, using the equality
h= y+z
where z is the channel bottom above a datum such as mean sea level as
seen in figure. The derivative of this with respect to x is written as
h y z
+
=
x x x
46
Momentum Equation
However, the term z/x is equal to the negative of the slope of the channel,
so the equation can also be written as
h y
=
So
x x
+
+ gA
+ Sf + Se q x + Wf B = 0
t
x
x
47
Saint-Venant Equations
The continuity and momentum equations are always addressed together
and form the conservation form of the Saint-Venant equations
A Q
q = 0
+
t
x
Q ( Q 2 / A)
h
+
+ gA
+ Sf + Se q x + Wf B = 0
t
x
x
48
dQ
q =0
dx
d ( Q 2 / A)
dh
+ gA + S f + Se q x + W f B = 0
dx
dx
49