Presented

by
Dr Ceri
Computational Methods –
Morris Week 7

Conservation Laws

2020
Conservation Laws

• Conservation of Mass
o Net Mass of Fluid Entering an Element in a Time
Interval Δt Equals Amount by Which Mass of Element
Changes During Time Δt
o Mathematical Representation is known as the
Continuity Equation
Conservation Laws

• Conservation of Momentum
o Newton’s Second Law
o Sum of the External Forces Acting on a Unit Mass
Must Equal the Rate of Change of Linear Momentum
o F=ma
o Mathematical Representation is known as the
Momentum Equation
Conservation Laws

• Conservation of Energy
o First Law of Thermodynamics
o Rate of Change of Energy within Element Equals Net
Rate of Heat Entering an Element plus Rate of Work
Done on Element
o Mathematical Representation is known as the
Energy Equation
Mathematical equations

Don’t need to derive equations but need to understand

what each term means, where it comes from and which
terms can be neglected for different types of flow
Control Volumes
Finite Control Volume
Finite Control Volume
L Moving with the Fluid
Fixed in Space
E A
INTEGRAL
U INTEGRAL G EQUATIONS IN
L EQUATIONS IN
R NONCONSERVATION
CONSERVATION
E FORM A FORM
R N
I G
A Infinitesimal I Infinitesimal Fluid
N Fluid Element A Element Moving
Fixed in Space with the Fluid
N
DIFFERENTIAL
EQUATIONS IN DIFFERENTIAL
CONSERVATION EQUATIONS IN
FORM NONCONSERVATION
FORM
(Image source: Computational Fluid Dynamics by John Anderson)
Mathematical Equations
• For CFD we need them in Eulerian form
• Momentum & Energy Equations easier to derive in
Lagrangian Form
• All forms of equations are equal
• Can be transformed to give other forms
• First we’ll derive Continuity Equation in Eulerian form
• Other forms beyond scope of course, for derivation see
Computational Fluid Dynamics by John Anderson
Presented
by
Dr Ceri
Computational Methods –
Morris Week 7

Continuity Equation

2020
 Mathematical Equations
Continuity Equation 𝜌𝑢 𝑑𝑦 𝑑𝑧
dy

Net mass flow = Time rate of decrease y

x
out of element of mass inside element 𝜌𝑢 +
𝜕 𝜌𝑢
𝑑𝑥 𝑑𝑦 𝑑𝑧
z 𝜕𝑥

dz
In 𝒙 direction: dx
Mass flow into element = Mass flux through left face × area of left face
= 𝜌𝑢 𝑑𝑦 𝑑𝑧

Mass flow out of Mass flux into element + (change in flux with 𝑥 × 𝑑𝑥) × area of
=
element right face
𝜕 𝜌𝑢
= 𝜌𝑢 + 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥
Net mass outflow 𝜕 𝜌𝑢 𝜕 𝜌𝑢
in 𝑥 direction = 𝜌𝑢 + 𝑑𝑥 𝑑𝑦 𝑑𝑧 − 𝜌𝑢 𝑑𝑦 𝑑𝑧 = 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥 𝜕𝑥
Continuity Equation
In 𝒚 direction: In 𝒛 direction:
𝜕 𝜌𝑣 𝜕 𝜌𝑤
= 𝑑𝑥 𝑑𝑦 𝑑𝑧 = 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑦 𝜕𝑧
• Net mass flow
𝜕 𝜌𝑢 𝜕 𝜌𝑣 𝜕 𝜌𝑤
= + + 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧

Mass = 𝜌 𝑑𝑥 𝑑𝑦 𝑑𝑧
• Time rate of mass change = 𝜕𝜌
𝜕𝑡
𝑑𝑥 𝑑𝑦 𝑑𝑧

• Denoting mass decrease as negative

𝜕 𝜌𝑢 𝜕 𝜌𝑣 𝜕 𝜌𝑤 𝜕𝜌
+ + 𝑑𝑥 𝑑𝑦 𝑑𝑧 = − 𝑑𝑥 𝑑𝑦 𝑑𝑧
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
Continuity Equation
• We then obtain,
𝜕𝜌 𝜕 𝜌𝑢 𝜕 𝜌𝑣 𝜕 𝜌𝑤
𝑑𝑥 𝑑𝑦 𝑑𝑧 + + + 𝑑𝑥 𝑑𝑦 𝑑𝑧 = 0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕𝜌 𝜕 𝜌𝑢 𝜕 𝜌𝑣 𝜕 𝜌𝑤
+ + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
• In order to tidy up, we can introduce a velocity vector,
𝐮 = 𝑢𝐢 + 𝑣𝐣 + 𝑤𝐤
• And a del operator,
𝜕 𝜕 𝜕
𝛻= + +
𝜕𝑥 𝜕𝑦 𝜕𝑧
• Hence the conservation of mass becomes, 𝜕𝜌
+ 𝛻 ∙ 𝜌𝐮 = 𝟎
𝜕𝑡
 Continuity Equation
𝜕𝜌 𝜕𝜌𝑢 𝜕𝜌𝑣 𝜕𝜌𝑤
+ + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

Time rate of mass change Net mass flow

(per unit volume) (per unit volume)

𝜕𝜌
+ 𝛻 ∙ 𝜌𝐮 = 𝟎
𝜕𝑡
Continuity Equation

• Simplifications
o Steady Flows (nothing changes with
time)
𝜕𝜌 𝜕𝜌𝑢 𝜕𝜌𝑣 𝜕𝜌𝑤
=0 ∴ + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧

o Incompressible Flows (constant density)

𝜕𝜌 𝜕𝑢 𝜕𝑣 𝜕𝑤
=0 ∴ + + =0
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧
Presented
by
Dr Ceri
Computational Methods –
Morris Week 7

Momentum Equation

2020
Momentum Equation

• F = ma
• Forces
o Body
̶ Gravity
̶ Electromagnetic
o Surface
̶ Pressure
̶ Viscous Forces
– Normal Stress
– Shear Stress
 Notation

• Right and Left faces

= x plane
• Top and bottom
faces = y plane 𝒅𝒚

• Front and back faces

= z plane
y

𝒅𝒛
x
z 𝒅𝒙
Body Force

• Body force = f (force per unit mass)

• Components = 𝑓𝑥 , 𝑓𝑦 , 𝑓𝑧

𝒇𝒚

𝒇𝒙

𝒇𝒛
Surface Forces - Pressure
𝝏𝒑
𝒑+ 𝒅𝒚
𝝏𝒚

𝒑
𝝏𝒑
𝒑+ 𝒅𝒙
𝒑 𝝏𝒙

𝝏𝒑
𝒑+ 𝒅𝒛
𝝏𝒛
y

𝒑 x
z
Surface Forces - Normal Stress
𝝏𝝈𝒚𝒚
𝝈𝒚𝒚 + 𝒅𝒚
𝝏𝒚

𝝈𝒛𝒛
𝝏𝝈𝒙𝒙
𝝈𝒙𝒙 + 𝒅𝒙
𝝈𝒙𝒙 𝝏𝒙

𝝏𝝈𝒛𝒛
𝝈𝒛𝒛 + 𝒅𝒛
𝝏𝒛 y

x
𝝈𝒚𝒚 z
Surface Forces - Shear Stress
𝝏𝝉𝒚𝒛 𝝏𝝉𝒚𝒙
𝝉𝒚𝒛 + 𝒅𝒚 𝝉𝒚𝒙 + 𝒅𝒚
𝝏𝒚 𝝏𝒚

𝝏𝝉𝒙𝒚
𝝉𝒙𝒚 + 𝒅𝒙
𝝏𝒙
𝝉𝒛𝒙
𝝉𝒙𝒛
𝝉𝒛𝒚

𝝏𝝉𝒙𝒛
𝝉𝒙𝒚 𝝉𝒙𝒛 + 𝒅𝒙
𝝏𝒙

𝝉𝒚𝒙
𝝉𝒚𝒛 y

𝝏𝝉𝒛𝒚 𝝏𝝉𝒛𝒙
𝝉𝒛𝒚 + 𝒅𝒛 𝝉𝒛𝒙 + 𝒅𝒛 x
𝝏𝒛 𝝏𝒛 z
Surface Forces in x direction𝝏𝝉
𝒚𝒙
𝝉𝒚𝒙 + 𝒅𝒚 𝒅𝒙 𝒅𝒛
𝝏𝒚

𝝉𝒛𝒙 𝒅𝒙 𝒅𝒚 𝝏𝝈𝒙𝒙
𝝈𝒙𝒙 + 𝒅𝒙 𝒅𝒚 𝒅𝒛
𝝏𝒙
𝝈𝒙𝒙 𝒅𝒚 𝒅𝒛

𝒑𝒙 𝒅𝒚 𝒅𝒛 𝝏𝒑𝒙
𝒑𝒙 + 𝒅𝒙 𝒅𝒚 𝒅𝒛
𝝏𝒙

𝝉𝒚𝒙 𝒅𝒙 𝒅𝒛
y

𝝏𝝉𝒛𝒙 x
𝝉𝒛𝒙 +
𝝏𝒛
𝒅𝒛 𝒅𝒙𝒅𝒚 z
Total Forces in x direction
𝑭𝒙
𝝏𝒑 𝝏𝝈𝒙𝒙
= 𝝆𝒇𝒙 𝒅𝒙𝒅𝒚𝒅𝒛 + 𝒑𝒙 − 𝒑𝒙 + 𝒅𝒙 𝒅𝒚𝒅𝒛 + 𝝈𝒙𝒙 + 𝒅𝒙 − 𝝈𝒙𝒙 𝒅𝒚𝒅𝒛
𝝏𝒙 𝝏𝒙
𝝏𝝉𝒚𝒙 𝝏𝝉𝒛𝒙
+ 𝝉𝒚𝒙 + 𝒅𝒚 − 𝝉𝒚𝒙 𝒅𝒙𝒅𝒛 + 𝝉𝒛𝒙 + 𝒅𝒛 − 𝝉𝒛𝒙 𝒅𝒙𝒅𝒚
𝝏𝒚 𝝏𝒛

𝝏𝒑 𝝏𝝈𝒙𝒙 𝝏𝝉𝒚𝒙 𝝏𝝉𝒛𝒙

𝑭𝒙 = 𝝆𝒇𝒙 𝒅𝒙𝒅𝒚𝒅𝒛 + − + + + 𝒅𝒙𝒅𝒚𝒅𝒛
𝝏𝒙 𝝏𝒙 𝝏𝒚 𝝏𝒛
Body Pressure Stresses
Force Gradient
 Momentum Equation in x direction
• F=ma
• Mass = 𝜌 𝑑𝑥 𝑑𝑦 𝑑𝑧 Fixed as deriving from moving element

𝐷𝑢
• Acceleration in x direction = Substantive Derivative
𝐷𝑡
𝐷𝑢 𝜕𝑝 𝜕𝜎𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
𝜌 𝑑𝑥𝑑𝑦𝑑𝑧 = 𝜌𝑓𝑥 𝑑𝑥𝑑𝑦𝑑𝑧 + − + + + 𝑑𝑥𝑑𝑦𝑑𝑧
𝐷𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
• Momentum Equation in x direction:
𝐷𝑢 𝜕𝑝 𝜕𝜎𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
𝜌 = 𝜌𝑓𝑥 + − + + +
𝐷𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧

In nonconservation (Lagrangian) form

 Momentum Equation in x direction
To transform from
𝜕(𝜌𝑢) 𝐷𝑢 nonconservation
+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌 (Lagrangian) form to
𝜕𝑡 𝐷𝑡 conservation (Eulerian)
form

𝜕(𝜌𝑢) 𝜕𝑝 𝜕𝜎𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥

+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 + − + + +
𝜕𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
Local Advective Body Pressure
acceleration acceleration Force Gradient Stresses
Local Vs Advective Acceleration

• Example 1 – Pipe Bend

o Local acceleration
̶ Opening valve / tap

o Advective Acceleration
̶ Change in flow direction
̶ Change in pipe diameter
Local Vs Advective Acceleration
• Example 2 – Tidal Estuary
o Local Acceleration
̶ Change in flow due to tidal cycle

o Advective Acceleration
̶ Flow around headland
̶ Narrowing of estuary
 Momentum Equation in y & z directions

• In y direction:
𝜕(𝜌𝑣) 𝜕𝑝 𝜕𝜎𝑦𝑦 𝜕𝜏𝑥𝑦 𝜕𝜏𝑧𝑦
+ 𝛻 ∙ 𝜌𝑣𝐮 = 𝜌𝑓𝑦 + − + + +
𝜕𝑡 𝜕𝑦 𝜕𝑦 𝜕𝑥 𝜕𝑧
Local Advective Body Pressure
acceleration acceleration Force Gradient Stresses

• In z direction:
𝜕(𝜌𝑤) 𝜕𝑝 𝜕𝜎𝑧𝑧 𝜕𝜏𝑥𝑧 𝜕𝜏𝑦𝑧
+ 𝛻 ∙ 𝜌𝑤𝐮 = 𝜌𝑓𝑧 + − + + +
𝜕𝑡 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑦
Local Advective Body Pressure
acceleration acceleration Force Gradient Stresses
 Questions so far?
• Derived Continuity equation based on a stationary fluid element

• Derived Momentum equation based on a moving fluid element

• Transformed Momentum equation from nonconservation to

conservation form

• Discussed what each term is

• Next we will replace stress terms with expressions for them to

give the Navier-Stokes equations
Presented
by
Dr Ceri
Computational Methods –
Morris Week 7

Navier-Stokes Equations

2020
 Normal Stresses (Newtonian Fluids)
• Stresses proportional to velocity gradients

𝜕𝑢 2 𝜕𝑢 𝜕𝑣 𝜕𝑤 𝜕𝑢 2
𝜎𝑥𝑥 =𝜇 2 − + + =𝜇 2 − 𝛻∙𝐮
𝜕𝑥 3 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 3

𝜕𝑣 2 𝜕𝑢 𝜕𝑣 𝜕𝑤 𝜕𝑣 2
𝜎𝑦𝑦 =𝜇 2 − + + =𝜇 2 − 𝛻∙𝐮
𝜕𝑦 3 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑦 3

𝜕𝑤 2 𝜕𝑢 𝜕𝑣 𝜕𝑤 𝜕𝑤 2
𝜎𝑧𝑧 =𝜇 2 − + + =𝜇 2 − 𝛻∙𝐮
𝜕𝑧 3 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑧 3
Shear Stresses (Newtonian Fluids)
• Stresses proportional to velocity gradients

𝜕𝑢 𝜕𝑣
𝜏𝑥𝑦 = 𝜏𝑦𝑥 =𝜇 +
𝜕𝑦 𝜕𝑥

𝜕𝑢 𝜕𝑤
𝜏𝑥𝑧 = 𝜏𝑧𝑥 =𝜇 +
𝜕𝑧 𝜕𝑥

𝜕𝑣 𝜕𝑤
𝜏𝑦𝑧 = 𝜏𝑧𝑦 =𝜇 +
𝜕𝑧 𝜕𝑦
 Navier-Stokes equation in x direction
𝜕(𝜌𝑢) 𝜕𝑝 𝜕𝜎𝑥𝑥 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 + − + + +
𝜕𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧

Substitute 𝝈𝒙𝒙 , 𝝉𝒚𝒙 , 𝝉𝒛𝒙 into RHS =

𝜕𝑝 𝜕 𝝏𝒖 𝟐 𝜕 𝝏𝒖 𝝏𝒗 𝜕 𝝏𝒖 𝝏𝒘
𝜌𝑓𝑥 + − + 𝜇 𝟐 − 𝛁∙𝐮 + 𝝁 + + 𝝁 +
𝜕𝑥 𝜕𝑥 𝝏𝒙 𝟑 𝜕𝑦 𝝏𝒚 𝝏𝒙 𝜕𝑧 𝝏𝒛 𝝏𝒙

𝜕𝑝 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢 2 𝜕 𝜕 𝜕𝑢 𝜕𝑣 𝜕𝑤

𝜌𝑓𝑥 − +𝜇 2
+ 2+ 2 − 𝜇 𝛻∙𝐮 +𝜇 + +
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧 3 𝜕𝑥 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧

𝛻∙𝐮
 Navier-Stokes equation in x direction
𝜕𝑝 𝜕2 𝑢 𝜕2 𝑣 𝜕2 𝑤 2 𝜕 𝜕
RHS = 𝜌𝑓𝑥 − +𝜇 + + − 𝜇 𝛻∙𝐮 + 𝜇 𝛻∙𝐮
𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 3 𝜕𝑥 𝜕𝑥

𝜕(𝜌𝑢) 𝜕𝑝 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢 1 𝜕

+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 − +𝜇 + + + 𝜇 𝛻∙𝐮
𝜕𝑡 𝜕𝑥 𝜕𝑥 2 𝜕𝑦 2 𝜕𝑧 2 3 𝜕𝑥

(𝜌= constant),
From Continuity Equation: If incompressible (𝜌= constant) ,𝛻𝛻 ∙∙ 𝐮
𝐮== 𝟎,
𝟎,

𝜕𝑢 1 𝜕𝑝 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢

+ 𝛻 ∙ 𝑢𝐮 = 𝑓𝑥 − +ν 2 + 2+ 2 where ν is kinematic
𝜕𝑡 𝜌 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜇
viscosity = 𝜌
Local Advective Body Pressure Stresses
acceleration acceleration Force Gradient
𝜕𝑢 𝜕𝑢2 𝜕𝑢𝑣 𝜕𝑢𝑤 1 𝜕𝑝 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢
+ + + = 𝑓𝑥 − +ν 2
+ 2+ 2
𝜕𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜌 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
 Questions so far?

• Derived Continuity Equation based on a stationary fluid element

• Derived Momentum Equation based on a moving fluid element

• Transformed equation from nonconservation to conservation form

• Discussed what each term is

• Replaced stress terms with expressions relating them to velocity

gradients giving the Navier-Stokes equations

• Noted that some terms ignored for steady or incompressible flow

• Next we will note the simplification for inviscid flow and the use of the
energy equation
Euler Equations
• For inviscid flow (no
no viscosity ) all of the stress terms can be ignored:

𝜕(𝜌𝑢) 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 −
𝜕𝑡 𝜕𝑥

𝜕(𝜌𝑣) 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑣𝐮 = 𝜌𝑓𝑦 −
𝜕𝑡 𝜕𝑦

𝜕(𝜌𝑤) 𝜕𝑝
+ 𝛻 ∙ 𝜌𝑤𝐮 = 𝜌𝑓𝑧 −
𝜕𝑡 𝜕𝑧

• P.S: Inviscid flow is a theoretical concept since any fluid has some level of
viscosity no matter how small its value might be.

• However, there are situations where solving the inviscid Euler equations
gives good results such as the flow away from a body surface (outside of
the boundary layer)
Energy Equation
In cases when one is interested in temperature
distribution, the energy conservation equation is
also used

𝜕𝑦
𝜌 + 𝐮 ∙ 𝛻𝐮 = −𝛻𝑝 + 𝜇𝛻 2 𝐮 + 𝐟
𝜕𝑥
Mathematical Equations
• Continuity Equation Don’t need to derive equations
but need to understand what
• Momentum Equation each term means, where it
comes from and which terms
can be neglected for different
• Energy Equation types of flow
 Recap
• How are the Navier-Stokes equations derived from the
momentum equations?

𝜕(𝜌𝑢) 𝜕𝑝 𝜕2𝑢 𝜕2𝑢 𝜕2𝑢 1 𝜕

+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 − +𝜇 2
+ 2+ 2 + 𝜇 𝛻∙𝐮
𝜕𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧 3 𝜕𝑥

𝜕𝑝 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢 1 𝜕
• Steady 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 − 𝜕𝑥
+𝜇
𝜕𝑥 2
+
𝜕𝑦 2
+
𝜕𝑧 2
+ 𝜇
3 𝜕𝑥
𝛻∙𝐮
𝜕𝑢 1 𝜕𝑝 𝜕2 𝑢 𝜕2 𝑢 𝜕2 𝑢
• Incompressible 𝜕𝑡
+ 𝛻 ∙ 𝑢𝐮 = 𝑓𝑥 −
𝜌 𝜕𝑥
+ν
𝜕𝑥 2
+
𝜕𝑦 2
+
𝜕𝑧 2
𝜕(𝜌𝑢) 𝜕𝑝
• Inviscid 𝜕𝑡
+ 𝛻 ∙ 𝜌𝑢𝐮 = 𝜌𝑓𝑥 −
𝜕𝑥
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