Getting started: CFD notation

u u
2u
pu
u
,
.
.
.
,
,
,
,
.
.
.
,
x1
xn t x1 x2
tp

PDE of p-th order

f u, x, t,

scalar unknowns

u = u(x, t),

vector unknowns

v = v(x, t),

Nabla operator

= i x
+ j y
+ k z

u =

i u
x

v =

vx
x

j u
y
+

v = det

vy
y

k u
z
+

x Rn , t R,
v Rm ,

u u u
x , y , z

vx vy vz

u = (u) = 2 u =

m = 1, 2, . . .
v = (vx , vy , vz )

gradient
z

vz
z

=0

n = 1, 2, 3

x = (x, y, z),

iT

divergence

=

2u
x2

vz
y
vx
z
vy
x

2u
y 2

vy
z
vz
x
vx
y

2u
z 2

curl

Laplacian

Tensorial quantities in fluid dynamics

Velocity gradient

v = [vx , vy , vz ] =

vy
x
vy
y
vy
z

vx
x
vx
y
vx
z

vz
x
vz
y
vz
z

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1111111111111111

Remark. The trace (sum of diagonal elements) of v equals v.

Deformation rate tensor (symmetric part of v)


T
D(v) = (v + v ) =
2

Spin tensor

1
2

1
2

S(v) = v D(v)

vx
x

vx
y

vx
z

vy
x +
vy
 y
1 vy
2
z +

1
2

vy
x
vz
x

vx
y

vz
y

1
2
1
2

(skew-symmetric part of v)

vz
x

vz
y

vz
z

vx
z

vy
z

Vector multiplication rules

Scalar product of two vectors
a, b R3 ,

a b = aT b = [a1 a2 a3 ]
b2 = a1 b1 + a2 b2 + a3 b3 R
b3
v u = vx

Example.

b1

u
u
u
+ vy
+ vz
x
y
z

convective derivative

Dyadic product of two vectors

a, b R ,

a1
a1 b1

a b = abT =
a2 [b1 b2 b3 ] = a2 b1
a3
a3 b1

a1 b2
a2 b2
a3 b2

a1 b3

33
a2 b3
R
a3 b3

Elementary tensor calculus

T = {tij } R33 , R

1.

T = {tij },

2.

T 1 , T 2 R33 , a R3
T 1 + T 2 = {t1ij + t2ij },

t t t
3
11 12 13 P
ai [ti1 , ti2 , ti3 ]
a T = [a1 , a2 , a3 ] t21 t22 t23 =
| {z }
i=1
t31 t32 t33
i-th row

t
a
t t t
3
1j
11 12 13 1 P
T a = t21 t22 t23 a2 =
t2j aj (j-th column)
j=1
t3j
a3
t31 t32 t33

2
2
2
1
1
1

 3
t11 t12 t13
t11 t12 t13
P

t1ik t2kj
T 1 T 2 = t121 t122 t123 t221 t222 t223 =
k=1
t231 t232 t233
t131 t132 t133

3.

4.

5.

6.

2 T

T : T = tr (T (T ) ) =

3
3 P
P

i=1 k=1

t1ik t2ik

Divergence theorem of Gau

Let R3 and n be the outward unit normal to the boundary = \.

Then

f dx =

f n ds

for any differentiable function f (x)

Example. A sphere: = {x R3 : ||x|| < 1},

where

||x|| =

Consider f (x) = x
volume integral:
surface integral:

xx=

so that

x2 + y 2 + z 2

= {x R3 : ||x|| = 1}

is the Euclidean norm of x

f 3 in

and n =

x
||x||

on


4 3
f dx = 3
dx = 3|| = 3 1 = 4
3

Z
Z
Z
Z
xx
f n ds =
ds =
||x|| ds =
ds = 4
||x||

Governing equations of fluid dynamics

Physical principles

Mathematical equations

1. Mass is conserved

continuity equation

2. Newtons second law

momentum equations

3. Energy is conserved

energy equation

It is important to understand the meaning and significance of each equation

in order to develop a good numerical method and properly interpret the results

Description of fluid motion

z
v

Eulerian

monitor the flow characteristics

(x1 ; y1 ; z1 )

in a fixed control volume

i

Lagrangian

track individual fluid particles as

they move through the flow field

(x0 ; y0 ; z0 )

Description of fluid motion

Trajectory of a fluid particle
z

x = x(x0 , t)

v
(x1 ; y1 ; z1 )

(x0 ; y0 ; z0 )

k
i

x = x(x0 , y0 , z0 , t)
y = y(x0 , y0 , z0 , t)
z = z(x0 , y0 , z0 , t)

dx
= vx (x, y, z, t),
dt
dy
= vy (x, y, z, t),
dt
dz
= vz (x, y, z, t),
dt

x|t0 = x0
y|t0 = y0
z|t0 = z0

Definition. A streamline is a curve which is tangent to the velocity vector

v = (vx , vy , vz ) at every point. It is given by the relation
y

dx
dy
dz
=
=
vx
vy
vz

dy
dx

v
y(x)

vy
vx

Streamlines can be visualized by injecting tracer particles into the flow field.

Flow models and reference frames

Lagrangian
S

fixed CV of a finite size

dS
dV

fixed infinitesimal CV

integral

moving CV of a finite size

dS
dV

moving infinitesimal CV

Good news: all flow models lead to the same equations

differential

Eulerian

Eulerian vs. Lagrangian viewpoint

d
is the rate of change for a moving
Definition. Substantial time derivative dt

fluid particle. Local time derivative t

is the rate of change at a fixed point.

Let u = u(x, t), where x = x(x0 , t). The chain rule yields
u u dx u dy u dz
u
du
=
+
+
+
=
+ v u
dt
t
x dt
y dt
z dt
t
substantial derivative = local derivative + convective derivative
Reynolds transport theorem
d
dt

u(x, t) dV =

V Vt

Vt

rate of change in
a moving volume

u(x, t)
dV +
t

rate of change in
a fixed volume

SSt

u(x, t)v n dS

convective transfer
through the surface

Derivation of the governing equations

Modeling philosophy
1. Choose a physical principle
conservation of mass

conservation of momentum
conservation of energy

2. Apply it to a suitable flow model

Eulerian/Lagrangian approach
for a finite/infinitesimal CV

3. Extract integral relations or PDEs

which embody the physical principle

Generic conservation law

Z
Z
Z

u dV +
f n dS =
q dV
t V
S
V
S

f = vu du

V
dS

flux function

Divergence theorem yields

Z
Z
Z
u
dV +
f dV =
q dV
t
V
V
V
Partial differential equation
u
+f =q
t

in V

Derivation of the continuity equation

Physical principle: conservation of mass
Z
Z
Z
d

dm
=
dV +
dV =
v n dS = 0
dt
dt Vt
t
SSt
V Vt
accumulation of mass inside CV = net influx through the surface
Divergence theorem yields

Z 

+ (v) dV = 0
t
V

Continuity equation

+ (v) = 0
t

Lagrangian representation
(v) = v + v
Incompressible flows:

d
dt

=v =0

d
+ v = 0
dt

(constant density)

Conservation of momentum
Physical principle:

dV

dS
n
h

f = ma

(Newtons second law)

total force

f = g dV + h dS,

body forces

gravitational, electromagnetic,. . .

surface forces

pressure + viscous stress

Stress tensor

= pI +

where

h=n

momentum flux

For a newtonian fluid viscous stress is proportional to velocity gradients:

= ( v)I + 2D(v),

where

xx =
yy =
zz =

1
(v + vT ),
2

2

3

Shear stress: deformation

Normal stress: stretching

x
v + 2 v
x
v
v + 2 yy
z
v + 2 v
z

D(v) =

xy = yx =

xx

xz = zx
yz = zy

vy
x

vx
y

` x

vz
= v
+
x
z
v
z
+ zy
= v
y

y
yx

Derivation of the momentum equations

Newtons law for a moving volume
Z
Z
Z
d
(v)
v dV =
dV +
(v v) n dS
dt Vt
t
V Vt
SSt
Z
Z
=
g dV +
n dS
V Vt

SSt

Transformation of surface integrals


Z
Z 
(v)
+ (v v) dV =
[ + g] dV,
t
V
V

= pI +

(v)
+ (v v) = p + + g
t




(v)
v

dv
+ (v v) =
+ v v + v
+ (v) =
t
t
t
dt
|
|
{z
}
{z
}

Momentum equations

substantial derivative

continuity equation

Conservation of energy
Physical principle:
dV

dS
n
h

e = s + w

(first law of thermodynamics)

accumulation of internal energy

heat transmitted to the fluid particle

rate of work done by external forces

Heating: s = q dV fq dS
q

internal heat sources

fq

diffusive heat transfer

absolute temperature
thermal conductivity

Work done per unit time =

Fouriers law of heat conduction

fq = T
the heat flux is proportional to the
local temperature gradient
total force velocity

w = f v = g v dV + v ( n) dS,

= pI +

Derivation of the energy equation

Total energy per unit mass:

|v|2
2

specific internal energy due to random molecular motion

e
|v|
2

E =e+

specific kinetic energy due to translational motion

Integral conservation law for a moving volume

Z
Z
Z
(E)
d
E dV =
E v n dS
dV +
dt Vt
t
V Vt
SSt
Z
Z
=
q dV +
T n dS
V Vt
SSt
Z
Z
v ( n) dS
g v dV +
+
V Vt

accumulation
heating
work done

SSt

Transformation of surface integrals


Z 
Z
(E)
+ (Ev) dV =
[ (T ) + q + ( v) + g v] dV,
t
V
V
where ( v) = (pv) + ( v) = (pv) + v ( ) + v :

Different forms of the energy equation

Total energy equation
(E)
+ (Ev) = (T ) + q (pv) + v ( ) + v : + g v
t





dE
(E)
E
+ (Ev) =
+ v E + E
+ (v) =
t
t
t
dt
{z
}
{z
}
|
|
substantial derivative

Momentum equations

dv
= p + + g
dt

continuity equation

(Lagrangian form)

dE
de
dv
(e)
= +v
=
+ (ev) + v [p + + g]
dt
dt
dt
t

Internal energy equation

(e)
+ (ev) = (T ) + q p v + v :
t

Summary of the governing equations

1. Continuity equation / conservation of mass

+ (v) = 0
t
2. Momentum equations / Newtons second law
(v)
+ (v v) = p + + g
t
3. Energy equation / first law of thermodynamics
(E)
+ (Ev) = (T ) + q (pv) + v ( ) + v : + g v
t
|v|2
E =e+
,
2

(e)
+ (ev) = (T ) + q p v + v :
t

This PDE system is referred to as the compressible Navier-Stokes equations

Conservation form of the governing equations

Generic conservation law for a scalar quantity
u
+ f = q,
t

where

f = f (u, x, t)

Conservative variables, fluxes and sources

U =
v v + pI
v , F =
(E + p)v T v
E

is the flux function

Q=

0
g
(q + g v)

Navier-Stokes equations in divergence form

U
+F=Q
t

U R5 ,

F R35 ,

Q R5

representing all equations in the same generic form simplifies the programming
it suffices to develop discretization techniques for the generic conservation law

Constitutive relations
Variables:

, v, e, p, , T

Equations: continuity, momentum, energy

The number of unknowns exceeds the number of equations.

1. Newtonian stress tensor
= ( v)I + 2D(v),

D(v) =

1
(v + vT ),
2

2

3

2. Thermodynamic relations, e.g.

p = RT

ideal gas law

specific gas constant

e = cv T

caloric equation of state

cv

specific heat at constant volume

Now the system is closed: it contains five PDEs for five independent variables
, v, e and algebraic formulae for the computation of p, and T . It remains to
specify appropriate initial and boundary conditions.

Initial and boundary conditions

Initial conditions

|t=0 = 0 (x),

v|t=0 = v0 (x),

e|t=0 = e0 (x)

Let = in w out

Boundary conditions

in = {x : v n < 0}

Inlet

= in ,

v = vin ,

in

e = ein

in

out

prescribed density, energy and velocity

w

Solid wall

w = {x : v n = 0}

Outlet

out = {x : v n > 0}

v n = vn

or

v=0

no-slip condition

T = Tw


fq
T
n =

given temperature or

v s = vs

prescribed heat flux

prescribed velocity

or

p + n n = 0
s n=0

vanishing stress

The problem is well-posed if the solution exists, is unique and depends continuously
on IC and BC. Insufficient or incorrect IC/BC may lead to wrong results (if any).