Turbulence Prof. E.G.

Tulapurkara
Chapter-3

Chapter 3

Lecture 16

Equations for turbulent flows - 1

Topics

3.1 Reynolds averaged Navier-Stokes (RANS) equations

3.2 Equations for Reynolds stresses  ρui u j 

 
3.3 Equations for kinetic energy of mean and turbulent motion

3.1 Reynolds averaged Navier-Stokes equations (RANS)

The equations of motion for a viscous, compressible flow (N-S equations) have been
derived in Appendix ‘C’ on “Basic concepts and equations of fluid dynamics”. Turbulent
flows are governed by three-dimensional unsteady N-S equations. The solution of these
equations which is called Direct Numerical Simulation (DNS) has been attempted in
some cases. However, as pointed out earlier (section 1.1), this approach is computation
intensive. Alternate approach is (a) to decompose the instantaneous value of a turbulent
quantity as a sum of the time averaged value and the fluctuating part for example U = U
+u’ , (b) substitute this sum in the N-S equation, (c) take time average and (d) solve the
resulting equations. In this chapter these equations are derived and examined. The
decomposition U = U +u’ is called ‘Reynolds decomposition’.
The incompressible flow case is considered first. In this case the changes in pressure
and temperature in the flow field are small and the density (ρ) and viscosity (μ) are
regarded as constants. The equations in this case are available as Eqs.(C.41), (C.51)
and (C.61). They are reproduced below.

U V W
  =0 (3.1)
x y z

U U U U 1 p   2U  2U  2U 
+U + V +W =- +  2 + 2 + 2  (3.2)
t x y z ρ x  x y z 

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Turbulence Prof. E.G. Tulapurkara
Chapter-3

V V V V 1 p  2V 2V 2V 

U V W =-   2  2  2 
t x y z ρ y  x y z  (3.3)

W W W W 1 p  2W 2W 2W 

U V W =-   2  2  2  (3.4)
t x y z ρ z  x y z 

DT 1 DP    2T  2T  2T 
c =       (3.5)
Dt ρ Dt ρ  x 2 y 2 z2 


 U   V   W  
2 2 2 2 2
  V U   W V   U W 
2
(3.6)
 = 2               
 x   y   z  
   x y   y z   z x 

D    
where, = +U + V + W
Dt t x y z
and c = specific heat of the fluid.

Following Reynolds decomposition, U, V, W, p and T can be written as :

U = U+u, V = V + v , W = W + w ,
p = p +p and T = T + θ (3.7)

Substituting these in Eq.(3.1),gives:

  
(U+u)  ( V  v)  ( W + w ) = 0 (3.7a)
x y z

Expanding and taking time averages yields:

U u V v W w 
     =0 (3.8)
x x y y z z

It may be recalled that (Eqs. 1.20 to 1.24):

f f
U = U, u' = 0, (U+ V) = U + V,(UV) = UV +uv, = , (3.9)
x x

Noting these, Eq.(3.8) reduces to :

U V W
  = 0; (3.10)
x y z

Subtracting Eq.(3.10) from Eq.(3.7 A) gives:

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Turbulence Prof. E.G. Tulapurkara
Chapter-3

u v w

  =0
x y z (3.11)

In tensor notations, Eqs.(3.10) and Eq.(3.11) appear as:

Ui ui
= 0 and =0 (3.12)
xi xi

Substituting from Eq.(3.7) in Eq.(3.2) gives:

 (U+u) (U  u) (U+u)

t
 
U+u  (U+u)
x
 (V +v)
y
 (W + w)
z
1 (p +p)   2 (U+u)  2 (U+u)  2 (U+u) 
=-     (3.13)
ρ x  x
2
 y2  z2 

Using relations in Eq.(3.9) and taking time averages, gives:

U U U  U 1  p   2 U  2 U  2U    u'  u  u 
U V W =-   2  2  2    u'  v'  w'  (3.14)
t x y z ρ x x y z   x y z 

 u v w  
Add u     to Eq.(3.14) ; note that from Eq.(3.11) the added term is zero.This yields :
 x y z 

  2 U  2 U  2 U  u   u' v'  uw

2
U U U U 1 p
U V W -   2  2  2     (3.15)
t x y z ρ  y  x y z   x y z

Carrying out similar operations on Eqs.(3.3) and (3.4) gives:

  2 V  2 V  2 V  uv  v   vw 
2
V V V V 1 p
U V W =-   2  2  2  -    3.16 
t x y z ρ y  x y z  x y z

1 p   2 W  2 W  2 W  uw   v w   w  
2
W W W W
U V W     2  2     3.17 
t x y z ρ z  x 2 y z  x y z

In tensor notation Eqs.(3.15) to (3.17) can be expressed as:

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Turbulence Prof. E.G. Tulapurkara
Chapter-3

Ui Ui 1 p 1 
 Uj =-  ( ij -ρuu
i j ) (3.18)
t x j ρ xi ρ x j
 U Uj 
where,  ij = μ  i 
 x j xi  (3.19)
 

Equation (3.5) with Reynolds decomposition becomes:

DT  2 T 2 T 2 T    uθ  vθ  w θ   ui

c =  +   2  2  2  - ρc       ij
t  x y z   x y z   xj

 Ui
where,  =  i j ,
 xj

  Ui  Uj 
 ij = μ  
  x j  x i 
 

  ui  uj 
 ij = μ  
  x j  x i 
 

This equation in tensor notation can be written as:

DT 2 T  u θ  Ui  'ij  Ui
c = - ρc i   ij + (3.20)
Dt  xi  x j  xi  xj  xj
Remarks:
i) Equations.(3.12),(3.18) and (3.20 ) together, form the set of equations called
Reynolds Averaged Navier-Stokes equations (RANS).

ii) The terms - ρ u'  ,  ρ v'  ,  ρ w'  ,  ρu'v' ,  ρv ' w' ,  ρw'u' are called ‘Reynolds
2 2 2

stresses’. In tensor notation they can be written as -ρ ui uj

iii) The terms -ρcu'θ' ,  ρcv'θ ' ,  ρ c w'θ' can be considered as turbulent ‘heat fluxes’. In
tensor notation they can be written as - ρc ui θ .

iv) The terms -ρ  u'  , ....,  ρ u' w' , and  ρ c u' θ',...,  ρc w'θ'
2
are the result of carrying

out averaging over non-linear equations. The process of averaging masks some

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Turbulence Prof. E.G. Tulapurkara
Chapter-3

information and that appears as Reynolds stresses and heat fluxes. The set of
equations to be solved for a turbulent flow would be Eqs. (3.10), (3.15), (3.16), (3.17)
and (3.20). However, it is noticed that they involve Reynolds stresses and heat fluxes.
These quantities are additional unknowns and equation for these stresses and heat
fluxes are needed to make the set of equations a closed set. It may be recalled that in a
closed set of equations, the number of equations equals the number of unknowns. For
example, in a laminar, incompressible flow there are four unknowns (U,V, W and p) and
there are four equation viz. continuity and the three momentum equations. Thus, the set
of equations for laminar flow is a closed set. As regards the turbulent flow, the equations
for Reynolds stresses are derived and subsequently the problem of closure is dealt with.

3.2 Equations for Reynolds stresses  ρui u j 

 
Deriving these equations in the long hand notation using U,V,W and x,y,z is very
cumbersome. Hence, the derivation is done in tensor notation. Further, ρ is dropped
as the flow is being treated as incompressible.
The outline of the steps, to derive the equation for Reynolds stress, is as follows.
(i) Start with momentum equation in tensor notation.
(ii) Substitute Ui = Ui +ui and p = p+p in the momentum equation. The resulting

equation involves Ui and ui .Subtracting from this the equation for Ui gives an equation

for ui .

(iii) Write similar equation for uj . Multiply equation for ui by uj and that for uj by ui . Add

the two equations. Taking time average and simplifying, an equation for ui uj , is

obtained.
I) Equations (3.3) to (3.5) which represent the momentum equations can be written in
tensor notation as:
 Ui  Ui 1 p  2 Ui
 Uj =- + (3.21)
t  xj ρ  xi  x j x j
II) Substituting, Ui = Ui + ui' and p= p +p' , gives:

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Turbulence Prof. E.G. Tulapurkara
Chapter-3


 Ui + ui  
 Ui + ui  = - 1  p+p    U +u  
2

 
i i
Uj + u j (3.22)
t  xj ρ  xi  xj  xj

Subtracting Eq. (3.18) from Eq. (3.22) yields:

 ui  Ui  ui  1  p  2 ui

t
+uk
 xk
 Uk +
 xk  xk
ui uk -ui uk = - 
ρ  xi
+
 xk  xk
 (3.23)

III) Analogous to Eq. (3.23), an equation for the fluctuation uj can be written as:

 uj  Uj  uj  1  p  2uj

t
 uk
 xk
 Uk 
 xk  xk
uj uk - uj uk = -
ρ  xj

 xk  xk
 (3.24)

IV) Multiplying Eq. (3.23) by uj and Eq. (3.24) by ui’ and adding the resulting two
equations gives:

 uj  ui  Ui  Uj   u
   uj  
ui
t
+uj
t
 uj uk
 xk
 ui uk
 xk
 Uk  uj i  ui
  uj ui uk  ui uj uk  uj 
ui uk 
  xk
 xk xk  xk  xk
 1   p  p    2ui  2uj 
 ui
 xk
 
uj uk =   uj
ρ   xi
 ui 
  j
u
 x j   xk xk
 u
i
xk xk 
 (3.25)

It can be shown that :

  
 xk
 ui uj uk  = uj
 xk
ui uk   ui
 xk
uj uk 

1   p  p  p   uj  ui 
Further,   uj  ui  when added and subtracted with -    becomes
ρ   x i  x j  ρ   xi  x j 
1    p   u  u    p 
 
   xi
 p uj  
 xj
p ui  +  j  i  = -   ui δ j k  ujδik  
 ρ   xi  x j   xk  ρ 

Where, δij is Kronecker delta.

Lastly,

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 Turbulence Prof. E.G. Tulapurkara
Chapter-3

 2ui  2uj
 uj  ui can be rewritten as:
 xk  xk  xk  xk
   ui  uj

 xk  xk
 ui uj   2
 xk  xk

Then, Eq.(3.25) can be written as:

    Ui  Uj     ui  uj
ui uj  Uk ui uj =   ujuk  ui uk   ui ujuk  uj ui uk  2
t  xk   xk  xk   xk xk  xk  xk

p  ui uj     p 
  
  x j xi
  ui uj uk  ui uj  
ui δ jk  uj δik    3.26 
 xk  xk ρ 

(V) Taking time averages on both sides of Eq. (3.26), the second and third terms on the

right hand side drop out and the equation for ui uj is obtained as:

Dui uj  ui uj    Uj  Ui   ui  uj

=  Uk ui uj =  ui uk  uj uk   2 
Dt t  xk   xk  xk   xk  xk
I II III

p   ui  uj     p 
     ui uj uk   ui uj   ui δ jk  uj δik  
ρ   x j  xi   xk   xk ρ 
IV V
(3.27)
Note: The quantities ui uj are the Reynolds stresses divided by ρ. Expressions for these

involves ui uj uk which has 27 terms like  u  ,  v  ,  w   ,  u'  v' etc. Thus, additional
3 3 3 2

unknowns are brought in picture. Expression has been derived for ui uj uk but, it

involves ui uj uk ul . Thus, Reynolds Averaged Navier-Stokes (RANS) equations are not a

closed set. This is called the ‘closure problem’. Expressing higher order correlation in

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Turbulence Prof. E.G. Tulapurkara
Chapter-3

terms of chosen correlations, for which equations are being solved, is the process of
formulating models of turbulence. This is discussed in chapter 5.
To appreciate (a) the process of conversion of the energy of the mean flow into the
turbulent kinetic energy (k) and (b)the conversion of ‘k’ into heat (i.e. dissipation),
requires the equations for (a) kinetic energy of the mean motion and (b) for ‘k’ .
These are derived in the next section.

3.3 Equations for kinetic energy of mean and turbulent motion

The derivations of the equations for the kinetic energy of the mean motion and the
kinetic energy of turbulent motion are carried out through the following steps:
The kinetic energy of the mean notion is given by :

U2 + V 2 + W 2 Ui Ui
ρ =ρ
2 2

Ui Ui
The equation for ρ is obtained starting with the mean momentum equation for
2

Ui i.e. Eq.(3.18) which is written as.

  p 
t
 
ρ Ui 
 xk

ρUi Uk =  
 xi  xk
 
 ik  ρui uk  (3.28)

Similarly, the mean momentum equation for U j can be written as:

  p 
t

ρUj  
 Xk

ρ Uj Uk =  
 x j  xk
 
 jk  ρuj uk  (3.29)

Now, (a) Multiply Eq. (3.28) by U j and Eq. (3.29) by Ui , (b) add the resulting equations
and (c) rearrange the terms. These steps gives the following equation.
  p p 
t

ρ Ui Uj 
 xk
 
ρ Ui Uj Uk = -Uj
 xi

-Ui
 xj
+ Uj
 xk

 ik  ρui uk 
(3.30)

Uj
 xk

 jk  ρ uj uk 

Putting i=j ,in Eq. (3.30), dividing by two and rearranging gives:
Dept. of Aerospace Engg., Indian Institute of Technology, Madras 8
Turbulence Prof. E.G. Tulapurkara
Chapter-3

 1   1 p  
 ρUi Ui  +
t 2

 ρUi Ui Uk  = -Ui
  xk  2 

 xi  xk 

Ui  ik  ρui uk  
 
 Ui  Ui
ρui uk  ik  3.31
 xk  xk
D  Ui Ui  p   Ui   Ui
Or ρ
Dt  2 
 = -Ui 
 xi  x j
 
ρ Ui ui uj  ρui uj 
 x j x j

Ui  ij  ij 
 xj
(3.31a)

Equation (3.31a) is the desired equation for the kinetic energy of the mean motion.
The turbulent kinetic is defined as :

k=
ρ
2  2 2

ρ
u'  +  v'  +  w'  = ui ui
2

2
(3.32)

When the flow is treated as incompressible i.e. ρ is constant, the turbulent kinetic
energy is also written as:
ui ui
k= (3.33)
2

u1  , u2  and  u3 

2 2 2
An equation for ‘k’ can be obtained by (a) writing equations for

from Eq. (3.27), (b) adding them and (c) dividing by two. The equation for ‘k’ is:

Dk  Ui  ui  ui  1   p ui δij 

  ui uj    ui ui uj  ui ui   (3.35)
Dt  xj  xk  xk  x j  2 2  xj ρ 

The second term on the right hand side of Eq. (3.35) can be written as:

  ui  uj   uj  2 ui uj

    
  x j  xi   xi  xi  x j
 

Then, Eq.(3.35) becomes :

Dk  Ui  uj    ui ui p       ui  uj 



 
= - ui u j 
   ij  
u j       
ui    (3.36)
Dt  Xj  xi  x j   2 ρ   xj     x j  Xi 


Note:

Dept. of Aerospace Engg., Indian Institute of Technology, Madras 9

Turbulence Prof. E.G. Tulapurkara
Chapter-3

  u  u 
1.  ij =  i + j 
x x 
 j i 

p   ui  uj 
2. The term (IV) in Eq. (3.27) namely    , which is called ‘pressure velocity
ρ   x j  xi 

ui
correlation’, is absent in equation for k, (Eq. 3.36). This is because when, i = j, ,
x j

ui
becomes and is zero due to continuity in incompressible flow(Eq. 3.11). This has
x i
implication for turbulence modeling (see chapter 5).It will be pointed out that pressure
velocity correlation does not change turbulent kinetic energy but tends to distribute the

energy among  u1  ,  u2  and  u3  components.

2 2 2

Dept. of Aerospace Engg., Indian Institute of Technology, Madras 10