Computational Fluid Dynamics

Computational Fluid Dynamics

http://www.nd.edu/~gtryggva/CFD-Course/! Outline!

The Derivation of the equations governing fluid flow in

integral form!
Equations !Conservation of Mass!
!Conservation of Momentum!
Governing !Conservation of Energy!

Fluid Motion! Differential form!

Summary!
Incompressible flows!
Inviscid compressible flows!
Grtar Tryggvason!
Spring 2011!

Computational Fluid Dynamics

Computational Fluid Dynamics

Conservation of Mass!

In general, mass can be added or removed:!

Conservation!
of! time t! time t+t!
Mass! The conservation law must be stated as:!

Final! Original! Mass! Mass!

=! +! -!
Mass! Mass! Added! Removed!

Computational Fluid Dynamics

Computational Fluid Dynamics

Conservation of Mass! Conservation of Mass!

Control
volume V!
Rate of
Net influx
increase of =! Control
of mass!
mass! The rate of surface S!
change of
total mass in
the control

t V
volume is
We now apply this statement to given by:!
dv
an arbitrary control volume in an
arbitrary flow field!
Rate of Total
change! mass!
 Computational Fluid Dynamics
Computational Fluid Dynamics

Conservation of Mass! Conservation of Mass!

Control Select a small rectangle outside the boundary

volume V! such that during time t it flows into the CV:!

Control
surface S! Ut!
Mass flow
Density ! through the
Velocity Ux! A! boundary
A during t
time t! time t+t! is: !
To find the mass flux through! U x tA
the control surface, lets examine!
a small part of the surface where where Ux = -un!
the velocity is normal to the surface!

Computational Fluid Dynamics

Computational Fluid Dynamics

Conservation of Mass! Conservation of Mass!

The sign of the normal component of the velocity

Conservation of Mass Equation in Integral Form!
determines whether the fluid flows in or out of the
control volume. We will take the outflow to be positive:!
un<0 Inflow!

t V
The net in-flow through the boundary of the control
volume is therefore:!
dv = S u n ds
Negative since
this is net inflow!
u n ds
S Rate of change Net inflow of mass!
Integral over Mass flow normal of mass!
the boundary! to boundary!

Computational Fluid Dynamics

Computational Fluid Dynamics

Conservation of momentum!

Momentum per volume: ! u

Conservation! Momentum in control volume: ! V

u dv
of!
momentum! Rate of
increase of =!
Net influx of
+! Body +! Surface
momentum! forces! forces!
momentum!
 Computational Fluid Dynamics
Computational Fluid Dynamics

Rate of change of momentum! In/out flow of momentum!

Select a small rectangle outside the boundary

Control
such that during time t it flows into the CV:!
volume V!
Density ! Uxt!
Control Momentum
Velocity u!
The rate of surface S! flow through
change of A! the boundary
momentum A during t is:!
in the control time t! time t+t!
volume is ( u )U x tA
t V
u dv
given by:!
Ux"
Rate of
change!
Total Ux = -un so the net influx of momentum uu n ds
momentum! per unit time (divided by t ) is:!

Computational Fluid Dynamics

Computational Fluid Dynamics

Body force! Viscous force!

Control Control
volume V! volume V!
dv
Control
ds
surface S!
Body forces, The viscous
such as f! force is given Tn!
gravity act on by the dot
the fluid in the product of the
control normal with
volume.!
V
f dv the stress T n dS
S
tensor T!

Total body force! Total stress force!

Computational Fluid Dynamics

Computational Fluid Dynamics

Viscous flux of momentum! Pressure force!

Stress Tensor! Control

T = ( p + u )I + 2 D For volume V!
incompressible
Control
Deformation Tensor! flows! ds
surface S!
D = (u + uT )
1 The pressure
u=0
2 produces a
normal force
pn!
Whose components are:! And the stress
on the control
tensor is!
1 u u surface. The
Dij = i + j
2 x j xi
T = pI + 2D total force is:! S
pn dS

Total pressure force!

 Computational Fluid Dynamics
Computational Fluid Dynamics

Conservation of Momentum!

Gathering the terms!

t
u dv = uu n ds Tn ds + f dv

Substitute for the stress tensor! T = pI + 2D

Conservation!
of!
t
u dv = uu n ds pn ds + 2 D n ds + f dv

Rate of Net inflow of

Total Total Total energy!
change of momentum! viscous body
pressure!
momentum! force! force!

Computational Fluid Dynamics

Computational Fluid Dynamics

Conservation of energy!

The energy equation in integral form!

Net inflow of
Rate of change of
kinetic+internal
kinetic+internal
energy!
energy!
Differential Form!
1 1
t
e + u 2 dv = e + u 2 u n ds of!
2 2
+ u f dv +
V n (uT)ds n q ds the Governing Equations!
Net work Net heat
Work
done by flow!
done by
body the stress
forces! tensor!

Computational Fluid Dynamics

Computational Fluid Dynamics

Differential form! Differential form!

Start with the integral form of the mass conservation equation!

The Divergence or Gauss Theorem can be used to

t V
convert surface integrals to volume integrals! dv = S u n ds

Using Gausss theorem!

a dv = a n ds
V S
u n ds = ( u)dv
S V

The mass conservation equations becomes!

t V
dv = V ( u)dv
 Computational Fluid Dynamics
Computational Fluid Dynamics

Differential form! Differential form!

Rearranging!

+ (u) dv = 0
t V
dv + V (u)dv = 0 V t

Since the control volume is fixed, the derivative can be This equation must hold for ANY control volume, no
moved under the integral sign! matte what shape and size. Therefore the integrand
must be equal to zero!

V t
dv + V ( u)dv = 0
+ ( u) = 0
Rearranging!
t

+ (u) dv = 0
V t

Computational Fluid Dynamics

Computational Fluid Dynamics

Differential form! Differential form!

Expanding the divergence term:! The differential form of the momentum equation is
derived in the same way:!
(u) = u + u Start with!

The mass conservation equation becomes:!
t
u dv = f dv + (nT u(u n))ds
Rewrite as:!
+ (u) = + u + u
t t u dv = f dv + (T uu )dv
t
or! D
+ u = 0 To get:!
Dt u
D() () = f + (T uu)
where! = + u () Convective t
Dt t derivative!

Computational Fluid Dynamics

Computational Fluid Dynamics

Differential form! Differential form!

Using the mass conservation equation the The momentum equation equation!
advection part can be rewritten:!
u
u = f + (T uu)
+ uu = t
t
u
u + u u + + u u = Can therefore be rewritten as!
t t Du
Du Du = f + T
u + u + = Dt
t Dt Dt
where! Du u
=0, by mass
= + u u
conservation! Dt t
 Computational Fluid Dynamics
Computational Fluid Dynamics

Differential form! Differential form!

The mechanical energy equation is obtained by taking

the dot product of the momentum equation and the
velocity:!
u
The energy equation equation can u + u u = f + T
be converted to a differential form in
t
the same way. It is usually simplified
The result is:!
by subtracting the mechanical
energy ! u 2 u2
= u + u fb + u ( T)
t 2 2
The mechanical energy equation!

Computational Fluid Dynamics

Computational Fluid Dynamics

Differential form! Differential form!

Subtract the mechanical energy equation from the The final result is!
energy equation!
De
The final result is! + p u = + kT
Dt
De
T u + q = 0 where!
Dt = ( u) 2 + 2D D
Using the constitutive relation presented earlier for is the dissipation function and is the rate at which
the stress tensor and Fouries law for the heat work is converted into heat.!
conduction:!
Generally we also need:!
T = ( p + u )I + 2 D p = p(e, ); T = T (e, );
q = kT and equations for ! , , k

Computational Fluid Dynamics

Computational Fluid Dynamics

Integral Form!

dv = u n ds
Summary! t V S

of! t
u dv = f dv + (nT u(u n))ds

governing equations! 1 1
t
(e + u 2 )dv = u f dv + n (uT (e + u 2 ) q)ds
2 2
 Computational Fluid Dynamics
Computational Fluid Dynamics

Conservative Form! Convective Form!

D
+ ( u) = 0 + u = 0 Special Cases!
t Dt

u Du Compressible inviscid flows!

= f + (T uu) = f + T Incompressible flows!
t Dt
!Stokes flow!
Not in this course!!
1 De !Potential flows!
(e + u 2 )= = T u q
t 2 Dt
1
(e + u 2 )u uT + q
2

Computational Fluid Dynamics

Computational Fluid Dynamics

Inviscid, compressible flows! = 0 and = 0

T = ( p + u )I + 2 D

Inviscid compressible T = pI

flows! D
+ u = 0
Dt
Du
= f p
Dt
De
= p u
Dt

Computational Fluid Dynamics

Computational Fluid Dynamics

U E F G
+ + + =0
t x y z





u






u
u 2 + p






v
uv






u
uw



Incompressible flow!
U= v E= uv
F= v 2 + p
G= vw


w
uw
vw w 2 + p



E


( E + p ) u
( E + p ) v ( E + p ) u

p = RT; e = c v T; h = c p T; = c p /c v
R ( 1)e
cv = ; p = ( 1)e; T = ;
1 R
 Computational Fluid Dynamics
Computational Fluid Dynamics

Objectives:!

Incompressible flows:! The 2D Navier-Stokes Equations for incompressible, !

D homogeneous flow:!
=0
Dt
D u u u 1 P 2 u 2 u
+ u = 0 u=0 +u +v = + +
Dt t x y x x 2 y 2
Navier-Stokes equations (conservation of momentum)!
v v v 1 P 2 v 2 v
+u +v = + +
u = uu- P + fb + (u + T u) t x y y x 2 y 2
t
For constant viscosity! u v
+ =0
x y
u + u u = -P + fb + 2u
t

Computational Fluid Dynamics

Computational Fluid Dynamics

Pressure and Advection!

Incompressibility (conservation of mass)!

Advection:!

u n ds = 0
S !Newtons law of motion: In the absence of forces,
a fluid particle will move in a straight line!
Navier-Stokes equations (conservation of momentum)!
The role of pressure:!

t V
udV = uu ndS + u ndS 1 pn x dS Needed to accelerate/decelerate a fluid particle:
S S S
Easy to use if viscous forces are small!

t V
vdV = Svu ndS + Sv ndS 1 S pny dS Needed to prevent accumulation/depletion of fluid
particles: Use if there are strong viscous forces!

Computational Fluid Dynamics

Computational Fluid Dynamics

Pressure! Pressure!

The pressure opposes local accumulation of fluid. For Increasing pressure slows the fluid down and
compressible flow, the pressure increases if the decreasing pressure accelerates it!
density increases. For incompressible flows, the
pressure takes on whatever value necessary to
prevent local accumulation:!

Pressure Pressure
increases! decreases!

High Pressure! Low Pressure! Slowing down! Speeding up!

u < 0 u > 0
 Computational Fluid Dynamics
Computational Fluid Dynamics

Viscosity!

Diffusion of fluid momentum is the result of friction

between fluid particles moving at uneven speed. The
velocity of fluid particles initially moving with different
velocities will gradually become the same. Due to
friction, more and more of the fluid next to a solid wall Nondimensional
will move with the wall velocity.!
Numbersthe Reynolds
number!

Computational Fluid Dynamics

Computational Fluid Dynamics

Nondimensional Numbers! Nondimensional Numbers!

u u u 1 P 2 u 2 u
+u +v = + +
t x y x x 2 y 2
u u u L 1 P L U 2 u 2 u
u,v x, y Ut + u + v = 2 + +
u,v = ; x, y = ; t= t x y U L x U 2 L2 x 2 y 2
U L L
U 2 u u u 1 P U 2 u 2 u L 1 P 1 P P P
+ u + v = + + = = where! P =
L t x y L x L2 x 2 y 2 U L x U 2 x x
2
U 2
L U 1
u u u L 1 P L U 2 u 2 u = = UL
+ u + v = 2 + + U L UL Re
2 2
where! Re =
t x y U L x U 2 L2 x 2 y 2

Computational Fluid Dynamics

Computational Fluid Dynamics

Nondimensional Numbers! Outline!

The momentum equations are:! Derivation of the equations governing fluid flow in
u u u P 1 2 u 2 u integral form!
+ u + v = + + !Conservation of Mass!
t x y x Re x 2 y 2 !Conservation of Momentum!
!Conservation of Energy!
v v v P 1 2 v 2v
+ u + v = + + Differential form!
t x y y Re x 2 y 2 Summary!
Incompressible flows!
The continuity equation is unchanged! Inviscid compressible flows!
u v
+ =0
x y