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Fluid Flow Systems
Fluid Flow Systems
lecture notes
Csaba Hos
September 27, 2010
Contents
1 Some basic hydraulic principles and hydraulic
1.1 Continuity equation . . . . . . . . . . . . . . .
1.2 Bernoullis equation . . . . . . . . . . . . . . .
1.3 Energy equation for compressible flow . . . . .
1.4 Frictional head loss in pipes . . . . . . . . . . .
1.5 Head-discharge curves and operating point . . .
1.6 Parallel and series connection . . . . . . . . . .
2 Steady state hydraulic simulation
2.1 Formulating the equations . . . .
2.1.1 Nodes . . . . . . . . . . .
2.1.2 Branches . . . . . . . . .
2.1.3 Example network . . . . .
2.2 Solving the equations . . . . . . .
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machinery
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4 Homeworks
15
4.1 Homework 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1
1.1
In the absence of nuclear reactions, matter can neither be created or destroyed. This is the principle of energy conservation and gives the continuity
equation. Its general form is
+ div(v) = 0,
t
(1)
(2)
Note that the surface is defined by its normal unit vector dA and one has
to compute the scalar product vdA. One can resolve the velocity to a component parallel to and another perpendicular to the surface as v = v + v k .
Thus vdA = v dA.
In many engineering applications, there is an inflow A1 and an outflow
A2 , between which we have rigid walls, e.g. pumps, compressors, pipes, etc.
Let us denote the average perpendicular velocities and the densities at the
inlet A1 and outlet A2 by v1 , 1 and v2 , 2 respectively. Than, we have
1 v1 A1 = 2 v2 A2
1.2
(5)
Bernoullis equation
In the case of steady frictionless flow, the energy of the fluid along a
streamline remains constant. Mostly we deal with incompressible fluids, for
which the energy content per unit volume is
Energy per unit volume =
mgh + 21 mv 2 + pV
= p + v 2 + gh = constant.
V
2
(6)
3
1.3
Without derivation, we simply state that the energy equation for frictionless, stationary flow of a compressible ideal gas without heat transfer
takes the following form:
v2
+ cp T = constant,
2
(8)
where cp [J/kgK] is the specific heat capacity taken at constant pressure and
T [K] is the absolute (!) temperature.
1.4
In hydraulic machinery, instead of pressure p[P a], usually the term head
p
is used: H[m] = g
.
In real moving fluids, energy is dissipated due to friction, as well as
turbulence. Note that as the hydraulic power is P = gHQ, but - because of
the continuity equation - the flow rate is constant, the energy loss manifests
itself in head (pressure) loss.
Head loss is divided into two main categories, major losses associated
with energy loss per length of pipe, and minor losses associated with
bends, fittings, valves, etc. The most common equation used to calculate
major head losses is the DarcyWeisbach equation:
hf =
L 8Q2
L v2
=
,
D 2g
D D5 2
(9)
64
Re .
For transitional flow 2300 < Re < 4000, the value of is uncertain
and falls into the range of 0.03 . . . 0.08 for commercial pipes.
The Colebrook-White
both the smooth and rough
equation covers
e
1.88
1
regime: = 2 lg Re + 3.7D .
For relatively short pipe systems, with a relatively large number of bends
and fittings, minor losses can easily exceed major losses. These losses are
usually taken into account with the help of the loss factor in the form of
h = v 2 .
2
(10)
In design, minor losses () are usually estimated from tables using coefficients
or a simpler and less accurate reduction of minor losses to equivalent length
of pipe (giving the length of a straight pipe with the same head loss). Such
relationships can be found in [2], [1] or [3].
1.5
Let us consider a single pipe with several elbows, fittings, etc. that ends
up in a reservoir, see Figure 1. The head h = (p1 p0 )/(g) needed to convey
Q flow rate consists of two parts: geodetic height difference hb + h h1 and
the losses of the pipe hf :
Hs(ystem) = hb + h h1 +
{z
}
|
static head
X
X L v2
= A + BQ2
D 2g
{z
}
(11)
friction head
n
n1
2
(13)
p0
e
p1
e
h
h1
e
hb
1.6
When two (or more) elements (either pumps or other elements) are arranged in serial, their resulting performance curve is obtained by adding
their heads at same flow rate. For example, centrifugal pumps in series are
used to overcome larger system head loss than one pump can handle alone.
For two identical pumps in series the head will be twice the head of a single
pump at the same flow rate.
When two or more elements are arranged in parallel their resulting performance curve is obtained by adding their flow rates at the same head. E.g.
centrifugal pumps in parallel are used to overcome larger volume flows than
one pump can handle alone. For two identical pumps in parallel the flowrate
will double compared to a single pump if head is kept constant.
H
2Hmax
Hmax
Hmax
H1 + H2
H2
Q
Qmax 2Qmax
pipe 1
pipe 2
Qmax
H
Q
pipe 1
pipe 2
H1
Q
Q
Q1 Q2 Q1 + Q2
Figure 2: Two identical pumps (above) and (different) pipes (below) connected in series (left column) and parallel (right).
2.1
2.1.1
(14)
where Qi is the signed flow rate in the ith pipe and Qd is the demand flow
rate at the node (i.e. consumption). By convention, if the flow is towards
the node, Q is positive, if the flow is outwards the node, the flow rate is
negative. In many engineering situations, the density change is negligible, in
such cases, we have
X
Qi = Qd .
(15)
i
2.1.2
Branches
The branches connect the pressure of the starting node (ps ) and the
ending node (pe ) with an equation of the form
pb pe = f (Q).
(16)
Pipes
For a simple, straight pipe of constant diameter, we have
ps pe = he hs +
L
Q|Q|.
D 2A2
(17)
Pumps
Let us denote the performance curve of the pump by H(Q), and denote
the pressure side by p and the suction side by s. Than, we have
!
vp2 vs2
(18)
+ hp hs
pp ps = gH(Q) g
2
2
7
Reservoirs
By definition, the reservoir is connected to a starting node and the ending
node is virtual with p0 pressure. If the bottom level is Hb , the actual water
is level is Hw , and we neglect the losses in the connecting pipes, we have
ps = p0 + g(Hb + Hw hs ).
(19)
Q|Q|
.
2 A2ref
(20)
Example network
iv
d iii
iii
5
d iv
ii
d ii
dii = Q2 Q3 Q4
diii = Q4 Q5
div = Q5 + Q3 Q6
pi = p0 + g (Hb,1 + Hw,1 hi )
2
Q2
Q22
pump: pii pi = gH(Q2 ) g
+ hii hi
2A2p
2A2s
L3
Q3 |Q3 |
pipe 3: pii piv = hiv hii +
D3 2A23
L4
pipe 4: pii piii = hiii hii +
Q4 |Q4 |
D4 2A24
L5
Q5 |Q5 |
pipe 5: piii piv = hiv hiii +
D5 2A25
upper reservoir:
Thus we have 10 equations for the ten unknowns (pi...iv and Q1...6 ).
However, due to the branch equations, this is a system of nonlinear algebraic
equations that can be solved numerically.
2.2
We want to solve a general nonlinear algebraic equation of a single variable x of the form f (x) = 0. After providing a previous guess, say xn ,
Newtons technique - see Figure 4 - tries to find a better solution xn+1
along the tangent line:
f (xn )
= f (xn )
xn xn+1
xn+1 = xn
f (xn )
.
f (xn+1 )
(21)
f (xn )
f (x)
xn+1
xn
no. of step
0
1
2
3
4
5
x
2.00000
1.51829
1.29765
1.24019
1.23620
1.23618
f(x)
6.18141
1.50275
0.25924
0.01582
0.00007
0.00000
f(x)
12.83229
6.81068
4.51214
3.96501
3.92782
3.92765
Systems of equations
Let us assume now that we have to solve several (maybe hundreds of)
nonlinear equations simultaneously. Let x denote the vector of unknowns
and f (x) the equations to be solved:
0 = f (x).
(22)
fi
.
xj
(24)
0.
The Jacobian is:
J=
f1
x1
f2
x1
f1
x2
f2
x2
10
3x21 2 cos(x2 )
x22
2x1 x2 ;
(25)
3
3.1
Consider the water wave depicted in Fig. 5. We employ the small amplitude theory requiring that both a/L and a/d are small. Using this assumption and solving the equation of motion for small amplitude waves yields the
following expression for the wave celerity:
s
d
gL
c=
tanh 2
(26)
2
L
The shallow water wave requires
that d/L < 0.05. In this case, we
have
s
p
d
gL
csw = lim
tanh 2
= gd.
L
2
L
(27)
On the other hand, if d/L > 0.5 i.e.
a deep water wave, we have
r
gL
.
(28)
cdw =
2
L
a H
d
Figure 5: Wave
3.2
The flow of a fluid in a conduit may either be open channel or pipe flow.
Open channel flow has a free surface, whereas pipe flow has none. This free
surface is subject to atmospheric pressure, as depicted in Figure 6
Let us consider the energy balance of the fluid:
y+
v2
+ yb + h = const.,
2g
(29)
where y(x) [m] is the water height, relative to the bottom yb (x) [m] kpest.
v(x) [m/s] denotes the mean velocity of the lfuid, h (x) [m] stands for the
head loss. The flow rate through the channel is Q = A(x, y(x)) v(x) = konst,
with A(x, y(x)) being the wetted area. By differentiating (29) w.r.t. x we
obtain
dy
d v2
dh
0=
+
= 0,
(30)
i+
dx dx 2g
dx
where the slope of the channel was considered to be constant: i = d yf /dx =
(he hv )/L. The second term is
A A dy
1
Q2
Q2 d
d v(x)2
+
= 3
=
. (31)
dx
2g
2g dx A(x, y(x))2
gA
x
y dx
11
v12
2g
h+
h1
f
z1
v2
2g
v22
2g
fluid surface
g sin
bottom
g
h2
h
z2
In what follows, we consider prismatic channels, i.e. the channel profile does
not change in the x direction. The quantity B is defined as
B(y) =
A
,
y
(32)
i dh
dy
dx
=
Q2 B
dx
1 A3 g
(33)
Let us define the Froude number (similar to the Mach number in gas
dynamics) as the ratio of the flow velocity (v) and the wave velocity (c):
F r = v/c. Note that for a rectangular channel (A = By), we have
i dh
i dh
i dh
dy
dy
dx
dx
dx
=
=
=
=
Q2
Q2 B
dx
dx
1
F
r2
1 A3 g
1 AAg2
(34)
3.3
Let us fix the flow rate Q and calculate the energy-like quantity y +v 2 /2g
as a function of the water depth h:
e=y+
Q2
,
2gB 2 y 2
(35)
yc =
s
3
Q2
,
gB 2
(36)
Type of Conduit
Cement, neat surface
Cement, mortar
Wood, planed, untreated
Concrete, unfinished
Brick, glazed
Cast iron, new
Minimum
0.010
0.011
0.010
0.014
0.011
0.013
Maximum
0.013
0.015
0.014
0.020
0.015
0.017
3 Qg
3 Qg
3
=
= 3 vc y c g vc = y c g
=t
vc =
=
Q2
3
Byc
B
B
B gB 2
(37)
3.4
The friction term in (29) is usually computed with the Chezy formula
dh
v2
= 2
,
dx
C Rh
(38)
where Rh is the hydraulic radius, the ratio of the wetted area and perimeter
(Rh = A/P ). C is the Chezy constant, which can be calculate with the
Manning formula:
1
C = Rh6 /n.
(39)
d h
1/6
=
=
(40)
n = Rh
4
dx
2gD
8g
R3
h
3.5
Ry
1/6
Q
A(y) Rh n1
iR
p h
= 2
Qf ull
R (R/2)1/6 n1 iR/2
(42)
R
y
( sin cos )) 3
2
(43)
X: 1.879
Y: 1.076
Q/Q
full
1
0.8
0.6
0.4
0.2
0
0
0.5
1
y/R
1.5
14
Homeworks
4.1
Homework 1
and
Hp,2 = 70 2000Q2 ,
(44)
Element 1
E1
E1
E2
E1
E1
E2
Element 2
E1
E2
E2
E1
E2
E2
Connection
Series
Series
Series
Parallel
Parallel
Parallel
15
References
[1] P.R. Bhave and R. Gupta. Analysis of Water Distribution Systems.
Alpha Science, 2006.
[2] I.E. Idelchik. Handbook of Hydraulic Resistance. Jaico Publishing House,
2008.
[3] D.S. Miller. Internal Flow Systems. BHRA Fluid Engineering, 1978.
16