Professional Documents
Culture Documents
2 Derivation Flow Equations PDF
2 Derivation Flow Equations PDF
Derivation of Flow
Equations
Velocity vector: j
Unit
v = u i + υ j + wk
i 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
Some fundamental concepts
∂f ∂f ∂f
∇f = i+ j+ k
∂x ∂y ∂z
v = u i + υ j + wk
∂u ∂υ ∂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) 6
Navier-Stokes Equations of Fluid Flow
∂ρ
+ ∇ ⋅ ( ρ v) = 0
Continuity Equation
∂t
∂v
ρ + v ⋅∇v = ∇ ⋅ σ + f Momentum Equation
∂t
σ
where ρ is fluid density, v is flow velocity vector, is stress tensor
f is body forces and ∇ is del operator.
7
Navier-Stokes Equations of Fluid Flow
σ xx τ xy τ xz
σ = τ yx σ yy τ yz
τ zx τ zy σ zz
where σ are the normal stresses and τ are shear stresses acting on the fluid
8
Navier-Stokes Equations of Fluid Flow
∂ρ ∂ ( ρ u ) ∂ ( ρυ ) ∂ ( ρ w)
+ + + =0
∂t ∂x ∂y ∂z
where ρ is the density of the fluid, t is time and u, υ and w are the components of
the velocity vector in x, y and z coordinates.
9
Navier-Stokes Equations of Fluid Flow
∂u ∂u ∂u ∂u ∂σ xx ∂τ yx ∂τ zx
ρ + u +υ + ω = + + + ρ gx
∂t ∂x ∂y ∂z ∂x ∂y ∂z
∂υ ∂υ ∂υ ∂υ ∂τ xy ∂σ yy ∂τ zy
ρ +u +υ +ω = + + + ρgy
∂t ∂x ∂y ∂z ∂x ∂y ∂z
∂w ∂w ∂w ∂w ∂τ xz ∂τ yz ∂σ zz
ρ +u +υ +ω = + + + ρ gz
∂t ∂x ∂y ∂z ∂x ∂y ∂z
gx, gy and gz are gravitational acceleration along x, y and z axes. The terms σ
and τ 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
Navier-Stokes Equations of Fluid Flow
∂u 2 ∂u ∂υ
τ xy = τ yx = µ +
σ xx = − P + 2µ − µ∇ v ∂ ∂
∂x 3 y x
∂υ 2 ∂υ ∂w
σ yy = − P + 2µ − µ∇ v τ yz = τ zy = µ +
∂y 3 ∂z ∂y
∂w 2 ∂w ∂u
σ zz = − P + 2 µ − µ∇ v τ zx = τ xz = µ +
∂z 3 ∂x ∂z
12
Navier-Stokes Equations of Fluid Flow
∂u ∂u ∂u ∂u ∂P ∂ 2u ∂ 2u ∂ 2u 1 ∂ ∂u ∂υ ∂w
ρ + u +υ + w = − + ρ gx + µ 2 + 2 + 2 + µ + +
∂t ∂x ∂y ∂z ∂x ∂x ∂y ∂z 3 ∂
x ∂x ∂y ∂z
∂υ ∂υ ∂υ ∂υ ∂P ∂ 2υ ∂ 2υ ∂ 2υ 1 ∂ ∂u ∂υ ∂w
ρ +u +υ +w =− + ρgy + µ 2 + 2 + 2 + µ + +
∂t ∂x ∂y ∂z ∂y ∂x ∂y ∂ z 3 ∂
y ∂x ∂y ∂z
∂w ∂w ∂w ∂w ∂P ∂ 2 w ∂ 2 w ∂ 2 w 1 ∂ ∂u ∂υ ∂w
ρ +u +υ +w =− + ρ gz + µ 2 + 2 + 2 + µ + +
∂t ∂x ∂y ∂z ∂z ∂ x ∂ y ∂ z 3 ∂
z ∂x ∂y ∂z
13
Incompressible Newtonian Fluid
∂u ∂υ ∂w
+ + =0
∂x ∂y ∂z
14
Navier-Stokes Equations of Fluid Flow
(Incompressible Flow of Newtonian Fluids)
∂u ∂u ∂u ∂u ∂p ∂ 2u ∂ 2u ∂ 2 u
ρ + u + v + w = − + ρ gx + µ 2 + 2 + 2
∂t ∂x ∂y ∂z ∂x ∂x ∂y ∂z
∂u ∂v ∂v ∂v ∂p ∂ 2v ∂ 2v ∂ 2v
ρ + u + v + w = − + ρgy + µ 2 + 2 + 2
∂t ∂x ∂y ∂z ∂y ∂x ∂y ∂z
∂u ∂w ∂w ∂w ∂p ∂2w ∂2w ∂2w
ρ +u +v + w = − + ρ gz + µ 2 + 2 + 2
∂t ∂x ∂y ∂z ∂z ∂x ∂y ∂z
15
Navier-Stokes Equations of Fluid Flow
(Incompressible Flow of Newtonian Fluids)
∇⋅v = 0 Continuity Equation
∂v
2
ρ + v ⋅∇v = −∇p + ρ g + µ∇ v
Momentum Equation
∂t
16
Saint-Venant Equations of Channel Flow
The Saint Venant equations that were derived in the early 1870s
by Barre de Saint-Venant, may be obtained through the application
of control volume theory to a differential element of a river reach.
22
Plan view (X-Y plane)
23
Reynolds Transport Theorem
The equations of mass and momentum conservation can
be derived starting from the Reynolds Transport
Theorem . If Bsys and b are defined as extensive and
intensive parameters of the system, respectively, the
Reynolds Transport Theorem for a fixed non-deforming
control volume can be stated as
DBsys∂
(
= ∫ ρ bd ∀ + ∫ ρ b V ⋅ n dA )
Dt ∂t cv cs
where ρ 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
Continuity Equation (Conservation of Mass)
∂
(
0 = ∫ ρ d ∀ + ∫ ρ V ⋅ n dA )
∂t cv cs
∂Q ∂ ( ρ Adx)
ρ (Q + qdx) − ρ (Q + dx) =
∂x ∂t
Applying the assumption of constant density and
rearranging produces the conservation form of the
continuity equation, which is valid for any irregular
cross section
∂A ∂Q
+ −q =0
∂t ∂x
27
Momentum Equation
∂
∑ F = ∂t ∫ ρVd ∀ + ∫ ρV V ⋅ n dA
( )
cv cs
∑ 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 = ρ d ∀g = ρ gAdx
where g is the gravitational acceleration. The component of weight in the
direction of flow becomes the gravity force
Fg = ρ gAdx sin θ
sin(θ ) ≈ tan(θ )
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 = ρ 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:
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
Fpl = ∫ ρ 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 y
∂ ( ρ g ( y − w) b ) dy d0
=∫ dw + ρ g ( y − y ) b + ρ g ( y − 0) b
∂x 0
∂x 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
y y
∂Fpl ∂y ∂b
= ∫ ρ g bdw + ∫ ρ g ( y − w ) dw
∂x 0
∂x 0
∂x
34
Momentum Equation
y y
∂y ∂y ∂y
∫0 ∂x
ρ g bdw = ρ g ∫
∂x 0
bdw = ρ g
∂x
A
y
since
∫
A = bdw
0
y ∂b
Fpb = ∫ ρ g ( y − w ) dw dx
0 ∂x 35
Momentum Equation
Substituting:
∂Fpl ∂Fpl
Fp = Fpl − Fpl + dx + Fpb = − dx + Fpb
∂x ∂x
∂y
y
∂b y ∂b
Fp = − ρ g A + ∫ ρ g ( y − w) dw dx + ∫ ρ g ( y − w) dw dx
∂x 0
∂x 0 ∂x
The resultant pressure force acting on the control volume can be written as:
∂y
Fp = − ρ g 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 τo and can be
given as -τoPdx, 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:
τ o = ρgRS f = ρg ( 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
n 2V 2
Sf =
µ 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 = − ρgAS 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 = − ρgAS 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,
τw, and written as τwBdx. The
wind shear stress is defined as
the product of a wind shear
factor, Wf and fluid density
τ w = − ρW f
C f Vr Vr
Wf =
2
where Cf is a shear stress coefficient and Vr is the velocity of fluid relative to
the boundary, which can be written as
40
Momentum Equation
Q
Vr = − Vw cos ω
A
Vw is the wind velocity and ω 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 = − ρW f Bdx
Finally, the sum of the five forces define the total force on the left-hand side of
the momentum equation
∂y
∑ F = ρgAS o dx − ρgA
∂x
dx − ρgAS f dx − ρgAS e dx − ρW f Bdx
41
Momentum Equation
∂
∑ F = ∂t ∫ ρVd ∀ + ∫ ρV 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 -ρ(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, β:
∂ ( β VQ )
∫∫
V ρ (V ⋅ n ) dA = ρ β VQ + dx
outlet ∂ x
∂ ( β VQ ) ∂ ( β VQ )
∫cs
V ρ (V ⋅ n ) dA = − ρ ( β VQ + βυ x qdx ) + ρ β VQ + dx = − ρ βυ
x q − dx
∂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 ρVAdx, or
ρQdx and the time rate of change of momentum is given as
∂ ∂Q
∂t cv∫
V ρ d ∀ = ρ dx
∂t
When all terms are combined and substituted back into the momentum
equation:
∂
∑ F = ∂t ∫ ρVd ∀ + ∫ ρV V ⋅ n dA ( )
cv cs
∂y ∂( βVQ ) ∂Q
ρgAS o dx − ρgA dx − ρgAS f dx − ρgAS e dx − W f Bρdx = − ρ βυ x q − dx + ρ dx
∂x ∂x ∂t
45
Momentum Equation
This equation is simplified and rearranged to the following form if all terms are
divided by ρdx and V is replaced by Q/A
∂Q ∂( βQ 2 / A) ∂y
+ + gA − S o + S f + S e − βqυ 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
∂Q ∂( βQ 2 / A) ∂h
+ + gA + Sf + Se − βqυ 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 ∂( βQ 2 / A) ∂h
+ + gA + Sf + Se − βqυ x + Wf B = 0
∂t ∂x ∂x
48
Saint-Venant Equations – Steady State
Under steady state assumption, Saint-Venant equations simplify to:
dQ
−q =0
dx
d ( β Q 2 / A) dh
+ gA + S f + Se − β qυ x + W f B = 0
dx dx
49