Chapter 4: Basic Equations in Integral Form For A Control Volume

Chapter 4: Basic Equations in
Integral Form for a Control Volume
4-1 Reynolds Transport Theorem (RTT)

4-2 Continuity Equation
4-3 The Linear Momentum Equation
4-4 The Angular Momentum Principle
4-5 The First Law of Thermodynamics
4-6 The Second Law of Thermodynamics
Fluid Mechanics Chapter 4 Basic Equations in Integral Form

Y.C. Shih Spring 2009 for a Control Volume
4-1 Reynolds Transport Theorem (RTT) (1)
Conservation of Mass:
4-1
Fluid Mechanics Chapter 4: Basic Equations in Integral Form

System and fixed control volume. 4-2

• • • r ∧
B net = B out − B in = ∫ ρb(V ⋅ n) dA (inflow if negative) (11-41)
CS
BCV =
CV
∫ ρb dV (11 - 42)
dBsys d → ∧
General :
dt
= ∫
dt CV
ρb dV + ∫ ρb(V ⋅ n)dA
CS
(11 - 43)
4-3

Interpreting the Scalar Product:
4-4

Special Case 1: Steady Flow
dBsys → ∧
Steady flow : = ∫ ρb(V ⋅ n)dA (11 - 44)
dt CS
Special Case 2: One-Dimensional Flow

One - dimensional flow :
dBsys d
= ∫ ρb dV + ∑ ρ e beVe Ae - ∑ ρ i biVi Ai (11 - 45)
dt dt CV out
1424 3 in 1 424 3
for each exit for each exit
dBsys d • ∗
dt
= ∫ ρb dV + ∑
dt CV out
m e be - ∑ mi bi
in
(11 - 46)
4-5

Extensive and Intensive Properties:
4-6

4-2 Continuity Equation (1)
An Application: The Continuity Equation
d → ∧
Continuity equation : 0= ∫
dt CV
ρdV + ∫ ρ(V ⋅ n)dA
CS
(11 - 47)
• •
Steady flow : ∑m = ∑m
out
e
in
i (11 - 48)
Single stream, ρ = constant :

ρV1 A 1 = ρV2 A 2 or V1 A1 = V2 A2 (11 - 49)
4-7

Conservation of Mass:
9 Incompressible Fluids
9 Steady, Compressible
Flow
4-8

The amount of mass flowing through a

control surface per unit time is called
the mass flow rate and is denoted m &
The dot over a symbol is used to
indicate time rate of change.
Flow rate across the entire cross-
sectional area of a pipe or duct is
obtained by integration
m& = ∫ δ m = ∫ ρVn dAc

Ac Ac
While this expression for is exact, it
&
is not always convenient for m
engineering analyses.
4-9

Average Velocity and Volume Flow Rate:
9Integral in m& can be replaced with average values of

ρ and Vn 1
Ac A∫c
Vavg = Vn dAc
9For many flows variation of r is very small: m& = ρVavg Ac

9Volume flow rate V& is given by
V& = ∫ Vn dAc = Vavg Ac = VAc
Ac
9Note: many textbooks use Q instead of V& for

volume flow rate.
9Mass and volume flow rates are related by
m& = ρ V&
4-10

Conservation of Mass Principle:
The conservation of mass principle

can be expressed as
dmCV
m& in − m& out =
dt
4-11

Steady—Flow Processes:
9For steady flow, the total amount of

mass contained in CV is constant.
9Total amount of mass entering must be
equal to total amount of mass leaving
∑ m& = ∑ m&
in out ∑ m& = ∑ m&
in out
9For incompressible flows,
∑V A = ∑V A
in
n n
out
n n
4-12

4-3 The Linear Momentum Equation (1)
→
→ →
dV d →
∑ F = m a = m dt = dt (mV ) (11 - 50)
→ d →
∑ F = dt ∫ V ρdV (11 - 51)
sys
→
d (m V ) sys d → → → ∧
dt
= ∫
dt CV
ρV dV + ∫ ρ V (V ⋅ n)dA
CS
(11 - 52)
→ d → → → ∧
General : ∑ F = dt ∫ ρV dV + ∫ ρV (V ⋅ n )dA (11 - 53)
CV CS
4-13

4-14

Stress vector acting on the control surface. 4-15

Special Cases
→ → → ∧
Steady flow : ∑ F = ∫ ρ V (V ⋅ n)dA (11 - 54)
CS
One - dimensional flow :
→ d → • → • →
∑ F = dt ∫ ρ V dV + ∑
out
me Ve - ∑m
in
i Vi (11 - 55)
CV
Steady,one - dimensional flow :

→ • → • →
∑F = ∑m out
e Ve - ∑m
in
i Vi (11 - 56)
4-16

Steady,one - dimensional flow

→ • → →
(one - inlet, one - exit) : ∑ F = m (V 2 -V 1 ) (11 - 57)
→ • → →
Along x coordinate : ∑F x
= m ( V 2,x - V 1,x ) (11 - 58)
4-17

Choosing a Control Volume:
CV is arbitrarily chosen by fluid dynamicist,
however, selection of CV can either simplify or
complicate analysis.
Clearly define all boundaries. Analysis is often
simplified if CS is normal to flow direction.
Clearly identify all fluxes crossing the CS.
Clearly identify forces and torques of interest
acting on the CV and CS.
Fixed, moving, and deforming control volumes.
For moving CV, use relative velocity,
For deforming CV, use relative velocity all

deforming control surfaces,
4-18

Forces Acting on a CV:
Forces acting on CV consist of body forces that act
throughout the entire body of the CV (such as gravity, electric,
and magnetic forces) and surface forces that act on the control
surface (such as pressure and viscous forces, and reaction
forces at points of contact).
• Body forces act on each volumetric

portion dV of the CV.
• Surface forces act on each portion
dA of the CS.
4-19

Body Forces: The most common body force is

gravity, which exerts a downward
force on every differential element
of the CV
The different body force
Typical convention is that

acts in the negative z-direction,
Total body force acting on CV
4-20

Surface Forces: Surface forces are not as simple to analyze

since they include both normal and
tangential components
Diagonal components σxx, σyy, σzz are called
normal stresses and are due to pressure and
viscous stresses
Off-diagonal components σxy, σxz, etc., are
called shear stresses and are due solely to
viscous stresses
Total surface force acting on CS
4-21

Body and Surface Forces Surface integrals are cumbersome.

Careful selection of CV allows
expression of total force in terms of
more readily available quantities like
weight, pressure, and reaction forces.
Goal is to choose CV to expose only
the forces to be determined and a
minimum number of other forces.
4-22

Special Case: Control Volume Moving with

Constant Velocity:
Momentum Equation for Inertial Control Volume

with Rectilinear Acceleration
4-23

4-4 The Angular Momentum Principle (1)
Angular Momentum:
*Motion of a rigid body can be considered to be the

combination of
-the translational motion of its center of mass (Ux, Uy, Uz)
-the rotational motion about its center of mass (ωx, ωy, ωz)
*Translational motion can be analyzed with linear momentum
equation.
*Rotational motion is analyzed with angular momentum equation.
*Together, the body motion can be described as a 6–degree–of–
freedom (6DOF) system.
4-24

Review of Rotational Motion:

Angular velocity ω is the
angular distance θ traveled
per unit time, and angular
acceleration α is the rate of
change of angular velocity.
4-25

Review of Angular Momentum:

Moment of a force:
Moment of momentum:
For a system:
Therefore, the angular momentum equation can be

written as:
To derive angular momentum for a CV, use RTT with
and 4-26

Basic Law, and Transport Theorem:
4-27

General form
Approximate form using average properties at

inlets and outlets
Steady flow
4-28

4-5 The First Law of Thermodynamics (1)
Basic Law, and Transport Theorem:
4-29

General Energy Equation:

The energy content of a closed system
can be changed by two mechanisms:
heat transfer Q and work transfer W.
Conservation of energy for a closed
system can be expressed in rate form as
& & dEsys
Qnet ,in + Wnet ,in =
dt
Net rate of heat transfer to the system:
Q& net ,in = Q& in − Q& out
Net power input to the system:
W&net ,in = W&in − W&out
4-30

b=e
dE ∂ v v
Q& − W& = ) system = ∫ e ρ dV + ∫ e ρ V • dA
dt ∂t cv cs
V2
e=u+ + gz
2
W& = W&shaft + W&normal + W&shear + W&other
4-31

Where does expression for pressure work

come from?
When piston moves down ds under the
influence of F=PA, the work done on the
system is δWboundary=PAds.
If we divide both sides by dt, we have
r r
&
δ W pressure = − PdAVn = − PdA V ⋅ n ( )
For generalized control volumes:
ds
δ W& pressure = δ W&boundary = PA = PAV piston
dt
Note sign conventions:
r
n is outward pointing normal
Negative sign ensures that work done is
positive when is done on the system.
4-32

Work Involves Recall that Pυ is the flow work,

which is the work associated with
9 Shaft Work pushing a fluid into or out of a CV
9 Work by Shear Stresses at per unit mass.
the Control Surface
9 Other Work 4-33

As with the mass equation, practical analysis is often

facilitated as averages across inlets and exits
d & + ∑ m& ⎛ P + e ⎞ − ∑ m& ⎛ P + e ⎞
Qnet ,in + Wshaft ,net ,in = ∫
dt CV
ρ edV
out
⎜ρ
⎝
⎟
⎠ in ⎝
⎜ρ ⎟
⎠
r r
m= ∫ (
AC
)
ρ V ⋅ n dAc
Since e=u+ke+pe = u+V2/2+gz
d ⎛ P V 2
⎞ ⎛ P V 2
⎞
Qnet ,in + Wshaft ,net ,in = ∫ ρ edV + ∑ m& ⎜ + u +
& + gz ⎟ − ∑ m& ⎜ + u + + gz ⎟
dt CV out ⎝ρ 2 ⎠ in ⎝ ρ 2 ⎠
4-34

Energy Analysis of Steady Flows:
⎛ V2 ⎞ ⎛ V2 ⎞
Qnet ,in + Wshaft ,net ,in = ∑ m& ⎜ h + + gz ⎟ − ∑ m& ⎜ h + + gz ⎟
out ⎝ 2 ⎠ in ⎝ 2 ⎠
For steady flow, time rate of change of the energy
content of the CV is zero.
This equation states: the net rate of energy transfer to
a CV by heat and work transfers during steady flow is
equal to the difference between the rates of outgoing
and incoming energy flows with mass.
4-35


For single-stream devices,
mass flow rate is constant.
V22 − V12
qnet ,in + wshaft ,net ,in = h2 − h1 + + g ( z2 − z1 )
2
P1 V12 P2 V22
wshaft ,net ,in + + + gz1 = + + gz2 + ( u2 − u1 − qnet ,in )
ρ1 2 ρ2 2
P1 V12 P2 V22
+ + gz1 + wpump = + + gz2 + wturbine + emech ,loss
ρ1 2 ρ2 2
4-36


Divide by g to get each term in units of length
P1 V12 P2 V22
+ + z1 + hpump = + + z2 + hturbine + hL
ρ1 g 2 g ρ2 g 2 g
Magnitude of each term is now expressed as an equivalent
column height of fluid, i.e., Head
4-37

If we neglect piping losses, Limitations on the use of the

and have a system without Bernoulli Equation
pumps or turbines Steady flow: d/dt = 0
Frictionless flow
P1 V12 P2 V22 No shaft work:
+ + z1 = + + z2
ρ1 g 2 g ρ2 g 2 g wpump=wturbine=0
Incompressible flow:
This is the Bernoulli
equation
ρ = constant
No heat transfer:
3 terms correspond to: Static,
qnet,in=0
dynamic, and hydrostatic
Applied along a
head (or pressure).
streamline (except for
irrotational flow)
4-38

4-6 The Second Law of Thermodynamics
4-39


Chapter 4: Basic Equations in Integral Form For A Control Volume

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Chapter 4: Basic Equations in

Integral Form for a Control Volume

4-1 Reynolds Transport Theorem (RTT)

Fluid Mechanics Chapter 4 Basic Equations in Integral Form

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

System and fixed control volume. 4-2

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Interpreting the Scalar Product:

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

 Special Case 1: Steady Flow

 Special Case 2: One-Dimensional Flow

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Extensive and Intensive Properties:

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Single stream, ρ = constant :

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

The amount of mass flowing through a

m& = ∫ δ m = ∫ ρVn dAc

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Average Velocity and Volume Flow Rate:

9Integral in m& can be replaced with average values of

9For many flows variation of r is very small: m& = ρVavg Ac

9Note: many textbooks use Q instead of V& for

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Conservation of Mass Principle:

The conservation of mass principle

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

9For steady flow, the total amount of

9For incompressible flows,

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Stress vector acting on the control surface. 4-15

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Steady,one - dimensional flow :

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Steady,one - dimensional flow

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

For deforming CV, use relative velocity all

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

• Body forces act on each volumetric

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Body Forces: The most common body force is

Typical convention is that

Total body force acting on CV

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Surface Forces: Surface forces are not as simple to analyze

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Body and Surface Forces Surface integrals are cumbersome.

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Special Case: Control Volume Moving with

Momentum Equation for Inertial Control Volume

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

*Motion of a rigid body can be considered to be the

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Review of Rotational Motion:

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Review of Angular Momentum:

Therefore, the angular momentum equation can be

Fluid Mechanics Chapter 4: Basic Equations in Integral Form

Basic Law, and Transport Theorem:

Special Case 1: Steady Flow

Special Case 2: One-Dimensional Flow