MMME3093 Computer Modelling Techniques: Introduction To CFD and Navier-Stokes Equations

MMME3093
Computer Modelling
Techniques
Lecture 1
Introduction to CFD and
Navier-Stokes Equations
Dr Cheng Xinwei
xinwei.cheng@nottingham.edu.my
MMME3093 Computer Modelling Techniques 1
MMME3093 Computer Modelling Techniques
Learning Outcomes
• Introduction to CFD
• Review the governing equations for thermo-fluids
• Understand boundary and initial conditions
• Understand numerical schemes (spatial)
• Pressure-velocity coupling
• Viscous models
Reading List
1. Versteeg, H. K., and W. Malalasekera. An introduction to
computional fluid dynamics: The Finite Volume Method.
Pearson.
2. Ferziger, Joel H., and Milovan Peric. Computational
methods for fluid dynamics. Springer.
Topics covered
• Governing equations
• Boundary conditions
• Meshing
• Discretisation schemes
• Finite volume method
• Diffusive, convective-diffusive flows
• Pressure-velocity coupling
• Viscous modelling

Recall fluid mechanics

• Continuity equations
• Navier-Stokes equations
A B C
Initial properties Final properties

pi, Ti, Vi, ui pf, Tf, Vf, uf

Navier-stokes equations
• A set of equations to describe mathematically how
velocity, pressure, temperature and density of a moving
fluid are related and including the effects of viscosity on
the flow.
• This is a maths problem but can be used to describe
such as
• Water flowing from a smaller to a larger pipe
• An airplane flying faster than the speed of sound
• Air flows in lungs
• Solution depends on the fluid properties i.e. viscosity,
density and also the boundary conditions of the domain.
What is CFD?
• CFD stands for Computational Fluid Dynamics.
• Relies on modelling of fluid mechanic equations of
motion i.e. fluid flow, heat transfer and associated
phenomena like chemical reactions.
• The computational aspect comes into it from finding a
numerical method to solve the equations.
• The equations involved are complex, inhomogeneous
partial differential equations (PDE) in 4 dimensions i.e.
3 space and 1 time.

Why CFD?
• Provides an insight of flow patterns that are
expensive or difficult to be studied using
experiment
• Cheaper, faster, parallel, multi-purpose
• However, CFD simulation cannot be 100%
reliable
WHY??
• Input data involve guessing
• Accuracy of results depends on computing power
• Mathematical model is inadequate

CFD software

CFD applications

CFD processes
Differential Differential
Physical Numerical
/algebraic /algebraic
processes results
equations equations
Modelling Numerical
Computers
techniques techniques

Numerical solution
• The conservation laws produce a group of partial differential

equations (PDEs). Usually there is no analytical solution to
such PDEs, so we have to rely on numerical techniques to
find approximate solutions.
• User has to translate complex mathematical calculations
into these “simple” algebraic operations for the computer to
execute, either by using commercial programs or
developing user source code.

Mathematical notations
Gradient (𝛻): A vector pointing in the direction of the greatest
rate of increment (to the greatest increasing direction).
𝜕𝑓 𝜕𝑓 𝜕𝑓
𝛻𝑓 = ∙ 𝑖Ԧ + ∙ 𝑗Ԧ + ∙ 𝑘 = 𝑔𝑟𝑎𝑑 (𝑓)
𝜕𝑥 𝜕𝑦 𝜕𝑧
Divergence (𝛻): Measures how the vectors are converging

or diverging at a given location (volume density of the
outward flux of a vector field from an infinitesimal volume
around a given point).
𝜕𝐹𝑥 𝜕𝐹𝑦 𝜕𝐹𝑧
𝛻∙𝐹 = + + = 𝑑𝑖𝑣 𝐹
𝜕𝑥 𝜕𝑦 𝜕𝑧

Governing principles
Like any physical system, the thermo-fluid system obeys
the 3 famous laws of conservation:
• Conservation of mass
• Conservation of momentum
• Conservation of energy

Conservation of mass
Rate of increase of mass = Net rate of flow of mass into

in fluid element fluid element
(mass flow in – mass flow out)
𝑑𝑚
= ෍ 𝑚ሶ 𝑖𝑛 − 𝑚ሶ 𝑜𝑢𝑡
𝑑𝑡
𝜕(𝜌𝑤)
𝜕(𝜌𝑣) 𝜌𝑤 + 𝑑𝑧
𝜌𝑣 + 𝑑𝑦 𝜕𝑧
𝜕𝑦
𝜕(𝜌𝑢)
𝜌𝑢 + 𝑑𝑥
𝜕𝑥
𝜌𝑢
𝜌𝑣
𝜌𝑤
𝜕𝜌 𝜕(𝜌𝑢)
𝑑𝑥𝑑𝑦𝑑𝑧 = 𝜌𝑢𝑑𝑦𝑑𝑧 − 𝜌𝑢 + 𝑑𝑥 𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥
𝜕(𝜌𝑣)
+ 𝜌𝑣𝑑𝑥𝑑𝑧 − 𝜌𝑣 + 𝑑𝑦 𝑑𝑥𝑑𝑧
𝜕𝑦
𝜕(𝜌𝑤)
+ 𝜌𝑤𝑑𝑥𝑑𝑦 − 𝜌𝑤 + 𝑑𝑧 𝑑𝑥𝑑𝑦
𝜕𝑧
𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤)
∴ + + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝜌
Or + 𝛻 ∙ (𝜌𝒖) = 0
𝜕𝑡
Given that 𝒖 = 𝑢𝒊 + 𝑣𝒋 + 𝑤𝒌
If the flow is incompressible, i.e. 𝜌= constant
𝜕𝑢 𝜕𝑣 𝜕𝑤
∴ + + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧
The above equation can be expressed as

𝛻∙𝒖 =0
Conservation of momentum
Rate of increase of Net rate of
= Sum of forces for a
momentum in a + momentum flow in a
control volume
control volume control volume
𝐷𝑈
𝑚 = ෍ 𝐹Ԧ
𝐷𝑡
𝑒𝑥𝑡𝑒𝑟𝑛𝑎𝑙
𝑑(𝑚𝑢)
+ ෍ 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑜𝑢𝑡 − 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑖𝑛 = ෍ 𝐹Ԧ
𝑑𝑡

𝑑(𝑚𝑢)
+ ෍ 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑜𝑢𝑡 − 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑖𝑛 = ෍ 𝐹Ԧ
𝑑𝑡
𝜕𝜌𝑢𝑤
𝜌𝑢𝑤 + 𝑑𝑧 𝑑𝑥𝑑𝑦
𝜕𝑧
𝜕𝜌𝑢𝑣
𝜌𝑢𝑣 + 𝑑y 𝑑𝑦𝑑𝑧
𝜕𝑦
𝜌𝑢𝑢 𝑑𝑦𝑑𝑧 𝜕𝜌𝑢𝑢

𝜌𝑢𝑢 + 𝑑x 𝑑𝑦𝑑𝑧
𝜕𝑥
𝜌𝑢𝑣 𝑑𝑦𝑑𝑧
𝜌𝑢𝑤 𝑑𝑥𝑑𝑦
𝑑(𝑚𝑢)
+ ෍ 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑜𝑢𝑡 − 𝑟𝑎𝑡𝑒 𝑜𝑓 𝑚𝑜𝑚𝑒𝑛𝑡𝑢𝑚𝑖𝑛
𝑑𝑡
𝜕(𝜌𝑢) 𝜕(𝜌𝑢𝑢) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑢𝑤)
= + + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
Using the definition of Divergence (𝛻), we can rewrite the continuity and
convective terms in the Navier-Stokes equation in the following way:
Velocity vector: 𝒖 = 𝑢𝒊 + 𝑣𝒋 + 𝑤𝒌
(u )  (v ) (w)
+ + 𝛻 ∙ (𝜌𝒖)
x y z
𝜕(𝜌𝑢) 𝜕(𝜌𝑢𝑢) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑢𝑤) 𝜕(𝜌𝑢)
+ + + 𝑑𝑥𝑑𝑦𝑑𝑧 = + 𝛻 ∙ 𝜌𝑢𝒖 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
𝜕(𝜌𝑢) 𝜕(𝜌𝑢𝑢) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑢𝑤) 𝜕(𝜌𝑢)

x-momentum + + + + 𝛻 ∙ (𝜌𝑢𝒖)
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
𝜕(𝜌𝑣) 𝜕(𝜌𝑣𝑢) 𝜕(𝜌𝑣𝑣) 𝜕(𝜌𝑣𝑤) 𝜕(𝜌𝑣)
y-momentum + + + + 𝛻 ∙ (𝜌𝑣𝒖)
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
𝜕(𝜌𝑤) 𝜕(𝜌𝑤𝑢) 𝜕(𝜌𝑤𝑣) 𝜕(𝜌𝑤𝑤) 𝜕(𝜌𝑤)
z-momentum + + + + 𝛻 ∙ (𝜌𝑤𝒖)
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
Sum of forces for a
momentum in a + momentum flow in a = control volume
2 types of forces
Surface force Body force

• Force acting on the • External force acting on
surface of the CV i.e. the entire mass within the
hydrostatic pressure, element i.e. gravity,
viscous stresses centrifugal force
• Separate terms in the • Source term in the
momentum equation momentum equation
As an example, the net force in the x-direction is the sum of the
force components on every surface acting in that direction.
𝜕τ𝑧𝑥 Pressure (or normal stress)

τ𝑧𝑥 + 𝑑𝑧
𝜕τ𝑦𝑥 𝜕𝑧
τ𝑦𝑥 + 𝑑𝑦 τ𝑦𝑥 and viscous stresses are
𝜕𝑦 denoted by p and 𝝉𝒊𝒋 ,
𝜕𝑝 respectively
𝑝 𝑝+ 𝑑𝑥
𝜕𝑥
τ𝑥𝑥 Suffices i and j in τij
𝜕τ𝑥𝑥
τ𝑥𝑥 + 𝑑𝑥 indicate stress component
𝜕𝑥
acts in the j-direction
τ𝑧𝑥 normal to the i-direction.
𝜕(−𝑝+τ𝑥𝑥 ) 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥

∴ Net force in x-direction: 𝜕𝑥
+ 𝜕𝑦 + 𝜕𝑧

Equating this equation to the rate of increase of momentum in
the x-direction derived earlier
Sum of forces for a
momentum in a + momentum flow in a =
control volume

+ + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕(−𝑝) 𝜕(𝜏𝑥𝑥 ) 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥

= + + + + 𝑆𝑥 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
Where 𝑆𝑥 is source term of x-momentum for body forces

(per unit volume per unit time)
Navier-Stokes equations
For Newtonian fluids, viscous stresses are proportional to the
both linear deformation rate and volumetric deformation rate.
𝜕𝑢 𝜕𝑢 𝜕𝑢
𝜏𝑥𝑥 = 𝜇 + + λ 𝛻 ∙ 𝒖 = 2𝜇 +λ𝛻∙𝒖 𝜕𝑢 𝜕𝑣
𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜏𝑥𝑦 = 𝜏𝑦𝑥 = 𝜇 +
𝜕𝑦 𝜕𝑥
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑢 𝜕𝑤
𝜏𝑦𝑦 =𝜇 + + λ 𝛻 ∙ 𝒖 = 2𝜇 +λ𝛻∙𝒖 𝜏𝑥𝑧 = 𝜏𝑧𝑥 = 𝜇 +
𝜕𝑧 𝜕𝑥
𝜕𝑦 𝜕𝑦 𝜕𝑦
𝜕𝑣 𝜕𝑤
𝜕𝑤 𝜕𝑤 𝜕𝑤 𝜏𝑦𝑧 = 𝜏𝑧𝑦 = 𝜇 +
𝜕𝑧 𝜕𝑦
𝜏𝑧𝑧 = 𝜇 + + λ 𝛻 ∙ 𝒖 = 2𝜇 +λ𝛻∙𝒖
𝜕𝑧 𝜕𝑧 𝜕𝑧
The net forces in the momentum acting in the x-direction becomes
𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥 𝜕2𝑢 𝜕2𝑢 𝜕2𝑣 𝜕2𝑢 𝜕2𝑤 𝜕

+ + =𝜇 2 2+ 2+ + 2+ + (λ 𝛻 ∙ 𝒖 )
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑥𝜕𝑦 𝜕𝑧 𝜕𝑥𝜕𝑧 𝜕𝑥

For compressible Newtonian flow
𝜕𝜌 𝜕(𝜌𝑢) 𝜕(𝜌𝑣) 𝜕(𝜌𝑤)
Continuity equation: + + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
Navier-Stokes equations:
𝜕𝑡
+
𝜕𝑥
+
𝜕𝑦
+
𝜕𝑧
=
𝜕𝑝 𝜕2𝑢 𝜕2 𝑢 𝜕2𝑢 𝜕 𝜕𝑢 𝜕𝑣 𝜕𝑤
− +𝜇 + + + + + + 𝑆𝑀𝑥
𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕(𝜌𝑣) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑣𝑣) 𝜕(𝜌𝑣𝑤)
𝜕𝑡
+
𝜕𝑥
+
𝜕𝑦
+
𝜕𝑧
=
𝜕𝑝 𝜕 2 𝑣 𝜕 2 𝑣 𝜕 2 𝑣 𝜕 𝜕𝑢 𝜕𝑣 𝜕𝑤
− +𝜇 + + + + + + 𝑆𝑀𝑦
𝜕𝑦 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑦 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕(𝜌𝑤) 𝜕(𝜌𝑢𝑤) 𝜕(𝜌𝑣𝑤) 𝜕(𝜌𝑤𝑤)
+ + + =
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝑝 𝜕 2 𝑤 𝜕 2 𝑤 𝜕 2 𝑤 𝜕 𝜕𝑢 𝜕𝑣 𝜕𝑤
− +𝜇 + + + + + + 𝑆𝑀𝑧
𝜕𝑧 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
For incompressible flow
𝜕𝑢 𝜕𝑣 𝜕𝑤
Continuity equation: + + =0
𝜕𝑥 𝜕𝑦 𝜕𝑧
For incompressible Newtonian fluid
𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢

+ + =𝜇 2
+ 2+ 2
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜇 ∙ 𝛻2𝑢
𝜕τ𝑥𝑦 𝜕τ𝑦𝑦 𝜕τ𝑧𝑦 𝜕2𝑣 𝜕2𝑣 𝜕2𝑣
+ + =𝜇 + + ൞ 𝜇 ∙ 𝛻2𝑣
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2
𝜇 ∙ 𝛻2𝑤
𝜕τ𝑥𝑧 𝜕τ𝑦𝑧 𝜕τ𝑧𝑧 𝜕2𝑤 𝜕2𝑤 𝜕2𝑤
+ + =𝜇 2
+ 2
+ 2
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

Energy equation
•The Navier-Stokes energy equation can be derived
using similar concept to that of momentum equation.
•It is based on the First of Law of Thermodynamics
(Conservation of Energy).
Rate of increase Net rate of heat Net rate of work

of energy of fluid = added to fluid + done on fluid
particle particle particle

Energy equation
𝐷𝐸
𝜌 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝐷𝑡
The energy of a fluid is the sum of internal (thermal) energy, kinetic

energy and potential energy.
1 2
𝐸 = 𝑖 + 𝑢 + 𝑣 2 + 𝑤 2 + 𝑔𝑧
2

Work done by surface forces

It is the product of force as derived earlier and velocity component in

the direction of the force.
For example, the x-direction
𝜕(τ𝑧𝑥 𝑢)
τ𝑧𝑥 𝑢 + 𝑑𝑧
𝜕(τ𝑦𝑥 𝑢) 𝜕𝑧
τ𝑦𝑥 𝑢 + 𝑑𝑦 τ𝑦𝑥 𝑢
𝜕𝑦
𝑝𝑢 𝜕(𝑝𝑢)
𝑝𝑢 + 𝑑𝑥
τ𝑥𝑥 𝑢 𝜕𝑥
𝜕(τ𝑥𝑥 𝑢)
τ𝑥𝑥 𝑢 + 𝑑𝑥
𝜕𝑥
τ𝑧𝑥 𝑢

∴ Net work done in the x-direction
𝜕𝑢(−𝑝 + τ𝑥𝑥 ) 𝜕(𝑢τ𝑦𝑥 ) 𝜕(𝑢τ𝑧𝑥 )

+ + 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧
Similarly, net work done in the y-direction is

𝜕𝑣(τ𝑥𝑦 ) 𝜕𝑣(−𝑝 + τ𝑦𝑦 ) 𝜕(𝑣τ𝑧𝑦 )
𝜕𝑦 𝜕𝑦 𝜕𝑧
Net work done in the z-direction is
𝜕𝑤(τ𝑥𝑧 ) 𝜕(𝑤τ𝑦𝑧 ) 𝜕𝑤(−𝑝 + τ𝑧𝑧 )

𝜕𝑥 𝜕𝑦 𝜕𝑧


Summing all the work resulted by surface forces yields the total work
done per unit volume acting on the fluid element.
𝜕𝑢(τ𝑥𝑥 ) 𝜕(𝑢τ𝑦𝑥 ) 𝜕(𝑢τ𝑧𝑥 )

−𝑑𝑖𝑣 (𝜌𝒖) + [ 𝜕𝑥
+ 𝜕𝑦
+ 𝜕𝑧
𝜕(𝑣τ𝑥𝑦 ) 𝜕(𝑣τ𝑦𝑦 ) 𝜕(𝑣τ𝑧𝑦 ) 𝜕(𝑤τ𝑥𝑧 ) 𝜕(𝑤τ𝑦𝑧 ) 𝜕(𝑤τ𝑧𝑧 )

+ + + + + + ]
𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
Where
𝜕(𝑢𝑝) 𝜕(𝑣𝑝) 𝜕(𝑤𝑝)
−𝑑𝑖𝑣 (𝜌𝒖) = − − −
𝜕𝑥 𝜕𝑦 𝜕𝑧

Energy flux due to heat conduction

Net rate of heat transfer to the fluid particle due to heat flow in the x-
direction is given by
𝜕(𝑞𝑧 )
𝑞𝑧 + 𝑑𝑧
𝜕𝑧
𝜕(𝑞𝑦 )
𝑞𝑦 + 𝑑y
𝜕𝑦
𝑞𝑥 𝜕(𝑞𝑥 )
𝑞𝑥 + 𝑑𝑥
𝜕𝑥
𝑞𝑦
𝑞𝑧 31

Therefore, the net rate of heat transfer in the x-direction becomes
𝜕(𝑞𝑥 ) 𝜕(𝑞𝑥 )
𝑞𝑥 − 𝑞𝑥 + 𝑑𝑥 𝑑𝑦 𝑑𝑧 = − 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑥 𝜕𝑥
Similarly, in the y-direction and z-direction

𝜕(𝑞𝑦 ) 𝜕(𝑞𝑧 )
− 𝑑𝑥𝑑𝑦𝑑𝑧 − 𝑑𝑥𝑑𝑦𝑑𝑧
𝜕𝑦 𝜕𝑧
Sum of these per unit volume gives the total rate of heat added to
the fluid particle.
𝜕(𝑞𝑥 ) 𝜕(𝑞𝑦 ) 𝜕(𝑞𝑧 )

− − − = -div q
𝜕𝑥 𝜕𝑦 𝜕𝑧


Applying Fourier’s law of heat conduction,
q = - k grad T
Thus, the rate of heat addition to the fluid particle per unit volume
due to heat conduction across element boundaries becomes
- div q = div (k grad T)

Energy equation
The energy equation per unit volume thus becomes
𝐷𝐸 𝜕𝑢 τ𝑥𝑥 𝜕(𝑢𝜏𝑦𝑥 ) 𝜕(𝑢𝜏𝑧𝑥 )
𝜌 = − 𝑑𝑖𝑣 𝑝𝒖 + [ + +
𝐷𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕(𝑣τ𝑥𝑦 ) 𝜕(𝑣τ𝑦𝑦 ) 𝜕(𝑣τ𝑧𝑦 ) 𝜕𝑤(τ𝑥𝑧 ) 𝜕(𝑤τ𝑦𝑧 ) 𝜕(𝑤τ𝑧𝑧 )
+ + + + + + ]
𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
+ div (k grad T) + 𝑆𝐸
The kinetic energy equation per unit volume is the multiplication of

momentum equation and velocity component.
𝐷𝐾 𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥

𝜌 = − 𝒖 . 𝑔𝑟𝑎𝑑 𝑝 + u + +
𝜕 τ𝑥𝑦 𝜕τ𝑦𝑦 𝜕τ𝑧𝑦 𝜕τ𝑥𝑧 𝜕τ𝑦𝑧 𝜕τ𝑧𝑧
+𝑣 + + +𝑤 + + + 𝒖 . 𝑺𝑴
𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
Energy equation
The change between energy equation and kinetic energy equation
yields the equation for internal energy.
𝐷𝑖 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝜌 = − 𝑝 𝑑𝑖𝑣 𝒖+ div (k grad T) + 𝜏𝑥𝑥 + 𝜏𝑦𝑥 + 𝜏𝑧𝑥
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑤 𝜕𝑤 𝜕𝑤
+ 𝜏𝑥𝑦 + 𝜏𝑦𝑦 + 𝜏𝑧𝑦 + 𝜏𝑥𝑧 + 𝜏𝑦𝑧 + 𝜏𝑧𝑧 + 𝑆𝑖
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
For incompressible fluid, where 𝑖 = 𝑐𝑇, 𝑐 is the specific heat and

𝑑𝑖𝑣 𝒖 = 0
𝐷𝑇 𝜕𝑢 𝜕𝑢 𝜕𝑢
𝜌𝑐 = div (k grad T)+ 𝜏𝑥𝑥 + 𝜏𝑦𝑥 + 𝜏𝑧𝑥
𝜕𝑣 𝜕𝑣 𝜕𝑣 𝜕𝑤 𝜕𝑤 𝜕𝑤
+ 𝜏𝑥𝑦 + 𝜏𝑦𝑦 + 𝜏𝑧𝑦 + 𝜏𝑥𝑧 + 𝜏𝑦𝑧 + 𝜏𝑧𝑧 + 𝑆𝑖
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧

Governing equations
Mass
𝜕𝜌
+ 𝛻 ∙ 𝜌𝒖 = 0
𝜕𝑡
Momentum (x, y, z directions)

𝜕𝜌𝑢 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑢𝒖 = − + 𝛻 ∙ 𝜇𝛻𝑢 + 𝑆𝑀𝑥
𝜕𝑡 𝜕𝑥
𝜕𝜌𝑣 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑣𝒖 = − + 𝛻 ∙ 𝜇𝛻𝑣 + 𝑆𝑀𝑦
𝜕𝑡 𝜕𝑦
𝜕𝜌𝑤 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑤𝒖 = − + 𝛻 ∙ 𝜇𝛻𝑤 + 𝑆𝑀𝑧
𝜕𝑡 𝜕𝑧

Governing equations
Energy
𝜕𝜌𝑖
+ 𝛻 ∙ 𝜌𝑖𝒖 = −𝑝𝛻𝑢 + 𝛻 ∙ 𝑘𝛻𝑇 + Φ + 𝑆𝑖
𝜕𝑡
Equation of state
𝑝 = 𝑝 𝜌, 𝑇 𝑎𝑛𝑑 𝑖 = 𝑖 𝜌, 𝑇
We have 5 flow equations, 2 further algebraic equations and

Newtonian viscosity model. In total, 7 unknowns need to be
determined.
The system is mathematically closed, provided that auxiliary, initial
and boundary conditions are given.

General scalar
The conservation laws can be represented in a uniform
format.
Rate change Convective
𝜕(𝜌𝜑)
+ 𝛻 ∙ 𝜌𝜑𝒖 = 𝛻∙ 𝛤𝛻𝜑 + 𝑆𝜑
𝜕𝑡
Diffusive Source term

Conclusions
This section covers the following aspects of numerical
modelling technique:
• General procedure of numerical modelling
• Derivation of transport equations
• Meshing and related properties
• Spatial discretisation with examples

References
• Lecture notes from UK Campus
• Versteeg, H.K. and Malalasekera W. An introduction to
computation fluid dynamics: the finite volume method.
Pearson, 2007

MMME3093 Computer Modelling Techniques: Introduction To CFD and Navier-Stokes Equations

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

MMME3093 Computer Modelling Techniques: Introduction To CFD and Navier-Stokes Equations

Uploaded by

Copyright:

Available Formats

MMME3093

MMME3093 Computer Modelling Techniques 3

Recall fluid mechanics

Initial properties Final properties

MMME3093 Computer Modelling Techniques 4

MMME3093 Computer Modelling Techniques 6

MMME3093 Computer Modelling Techniques 7

MMME3093 Computer Modelling Techniques 8

MMME3093 Computer Modelling Techniques 9

MMME3093 Computer Modelling Techniques 10

• The conservation laws produce a group of partial differential

MMME3093 Computer Modelling Techniques 11

Divergence (𝛻): Measures how the vectors are converging

MMME3093 Computer Modelling Techniques 12

MMME3093 Computer Modelling Techniques 13

Rate of increase of mass = Net rate of flow of mass into

The above equation can be expressed as

MMME3093 Computer Modelling Techniques 17

𝜌𝑢𝑢 𝑑𝑦𝑑𝑧 𝜕𝜌𝑢𝑢

𝜕(𝜌𝑢) 𝜕(𝜌𝑢𝑢) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑢𝑤) 𝜕(𝜌𝑢)

Surface force Body force

𝜕τ𝑧𝑥 Pressure (or normal stress)

𝜕(−𝑝+τ𝑥𝑥 ) 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥

MMME3093 Computer Modelling Techniques 21

𝜕(𝜌𝑢) 𝜕(𝜌𝑢𝑢) 𝜕(𝜌𝑢𝑣) 𝜕(𝜌𝑢𝑤)

𝜕(−𝑝) 𝜕(𝜏𝑥𝑥 ) 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥

Where 𝑆𝑥 is source term of x-momentum for body forces

The net forces in the momentum acting in the x-direction becomes

𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥 𝜕2𝑢 𝜕2𝑢 𝜕2𝑣 𝜕2𝑢 𝜕2𝑤 𝜕

MMME3093 Computer Modelling Techniques 23

For incompressible Newtonian fluid

𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢

MMME3093 Computer Modelling Techniques 25

Rate of increase Net rate of heat Net rate of work

MMME3093 Computer Modelling Techniques 26

The energy of a fluid is the sum of internal (thermal) energy, kinetic

MMME3093 Computer Modelling Techniques 27

Work done by surface forces

It is the product of force as derived earlier and velocity component in

Work done by surface forces

𝜕𝑢(−𝑝 + τ𝑥𝑥 ) 𝜕(𝑢τ𝑦𝑥 ) 𝜕(𝑢τ𝑧𝑥 )

Similarly, net work done in the y-direction is

Net work done in the z-direction is

𝜕𝑤(τ𝑥𝑧 ) 𝜕(𝑤τ𝑦𝑧 ) 𝜕𝑤(−𝑝 + τ𝑧𝑧 )

MMME3093 Computer Modelling Techniques 29

Work done by surface forces

𝜕𝑢(τ𝑥𝑥 ) 𝜕(𝑢τ𝑦𝑥 ) 𝜕(𝑢τ𝑧𝑥 )

𝜕(𝑣τ𝑥𝑦 ) 𝜕(𝑣τ𝑦𝑦 ) 𝜕(𝑣τ𝑧𝑦 ) 𝜕(𝑤τ𝑥𝑧 ) 𝜕(𝑤τ𝑦𝑧 ) 𝜕(𝑤τ𝑧𝑧 )

MMME3093 Computer Modelling Techniques 30

Energy flux due to heat conduction

Energy flux due to heat conduction

Similarly, in the y-direction and z-direction

𝜕(𝑞𝑥 ) 𝜕(𝑞𝑦 ) 𝜕(𝑞𝑧 )

MMME3093 Computer Modelling Techniques 32

Energy flux due to heat conduction

- div q = div (k grad T)

MMME3093 Computer Modelling Techniques 33

The kinetic energy equation per unit volume is the multiplication of

𝐷𝐾 𝜕τ𝑥𝑥 𝜕τ𝑦𝑥 𝜕τ𝑧𝑥

For incompressible fluid, where 𝑖 = 𝑐𝑇, 𝑐 is the specific heat and

MMME3093 Computer Modelling Techniques 35

Momentum (x, y, z directions)