Lecture 3 - Conservation Equations

Applied Computational Fluid Dynamics

Instructor: Andr Bakker

Andr Bakker (2002-2006)

Governing equations
The governing equations include the following conservation laws
of physics:
Conservation of mass.
Newtons second law: the change of momentum equals the sum of
forces on a fluid particle.
First law of thermodynamics (conservation of energy): rate of change
of energy equals the sum of rate of heat addition to and work done
on fluid particle.

The fluid is treated as a continuum. For length scales of, say, 1m

and larger, the molecular structure and motions may be ignored.

Lagrangian vs. Eulerian description

A fluid flow field can be thought
of as being comprised of a large
number of finite sized fluid
particles which have mass,
momentum, internal energy, and
other properties. Mathematical
laws can then be written for each
fluid particle. This is the
Lagrangian description of fluid
motion.

Another view of fluid motion is

the Eulerian description. In the
Eulerian description of fluid
motion, we consider how flow
properties change at a fluid
element that is fixed in space
and time (x,y,z,t), rather than
following individual fluid
particles.

Governing equations can be derived using each

method and converted to the other form.

Fluid element and properties

Fluid element for

conservation laws

The behavior of the fluid is described in

terms of macroscopic properties:

Velocity u.
Pressure p.
Density
Temperature T.
Energy E.

(x,y,z)
y

x
z

y
Typically ignore (x,y,z,t) in the notation.
x
Properties are averages of a sufficiently
large number of molecules.
Faces are labeled
North, East, West,
A fluid element can be thought of as the
South, Top and Bottom
smallest volume for which the continuum
assumption is valid.
Properties at faces are expressed as first

two terms of a Taylor series expansion,

p 1
p 1
e.g. for p : pW p
x and pE p
x
x 2
x 2

Mass balance
Rate of increase of mass in fluid element equals the net rate of
flow of mass into element.
xyz
Rate of increase is: ( xyz)
t
t
The inflows (positive) and outflows (negative) are shown here:

( w) 1
. z x y
z
2

( v) 1
. y x z
y
2

( u) 1

. x y z

x
2

( u ) 1
. x yz
u
x 2

z
x

( w) 1
. z xy
z
2

( v) 1
. y xz
y 2

Continuity equation
Summing all terms in the previous slide and dividing by the
volume xyz results in:
( u) ( v) ( w) 0
t
x
y
z

In vector notation:
Change in density

div ( u) 0
t
Net flow of mass across boundaries
Convective term

For incompressible fluids /t = 0, and the equation becomes:

div u = 0.
ui
u v w 0
Alternative ways to write this: x y z
and x 0
i

Different forms of the continuity equation

Finite control volume
fixed in space

dV U dS 0
t V
S
Integral form
Conservation form

Finite control volume fixed

mass moving with flow

D
dV 0
Dt V
Integral form
Non conservation form
U

Infinitesimally small
element fixed in space

( U) 0
t
Differenti al form
Conservation form

Infinitesimally small fluid element of fixed

mass (fluid particle) moving with the flow

D
U 0
Dt
Differenti al form
Non conservation form

Rate of change for a fluid particle

Terminology: fluid element is a volume stationary in space, and a
fluid particle is a volume of fluid moving with the flow.
A moving fluid particle experiences two rates of changes:
Change due to changes in the fluid as a function of time.
Change due to the fact that it moves to a different location in the fluid
with different conditions.

The sum of these two rates of changes for a property per unit
mass is called the total or substantive derivative D /Dt:

D dx dy dz

Dt t x dt y dt z dt
With dx/dt=u, dy/dt=v, dz/dt=w, this results in:

u.grad
Dt
t

Rate of change for a stationary fluid element

In most cases we are interested in the changes of a flow property
for a fluid element, or fluid volume, that is stationary in space.
However, some equations are easier derived for fluid particles.
For a moving fluid particle, the total derivative per unit volume of
this property is given by:
(for moving fluid particle)

u.grad
Dt
t

(for given location in space)

For a fluid element, for an arbitrary conserved property :

div ( u) 0
t
Continuity equation

( )
div ( u) 0
t
Arbitrary property

Fluid particle and fluid element

We can derive the relationship between the equations for a fluid
particle (Lagrangian) and a fluid element (Eulerian) as follows:
( )
D

div( u)
u.grad
div( u)
t
Dt
t

zero because of continuity

( )
D
div ( u)
t
Dt
Rate of increase of
of fluid element

Net rate of flow of

out of fluid element

Rate of increase of
for a fluid particle

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To remember so far
We need to derive conservation equations that we can solve to
calculate fluid velocities and other properties.
These equations can be derived either for a fluid particle that is
moving with the flow (Lagrangian) or for a fluid element that is
stationary in space (Eulerian).
For CFD purposes we need them in Eulerian form, but (according
to the book) they are somewhat easier to derive in Lagrangian
form.
Luckily, when we derive equations for a property in one form,
we can convert them to the other form using the relationship
shown on the bottom in the previous slide.

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Relevant entries for

x-momentum

Du

Dt

( u )
div ( uu)
t

y-momentum

Dv
Dt

( v )
div ( vu)
t

z-momentum

Dw

Dt

( w)
div( wu)
t

Energy

DE
Dt

( E )
div ( Eu)
t

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Momentum equation in three dimensions

We will first derive conservation equations for momentum and
energy for fluid particles. Next we will use the above relationships
to transform those to an Eulerian frame (for fluid elements).
We start with deriving the momentum equations.
Newtons second law: rate of change of momentum equals sum of
forces.
Rate of increase of x-, y-, and z-momentum:
Du
Dv
Dw

Dt
Dt
Dt
Forces on fluid particles are:
Surface forces such as pressure and viscous forces.
Body forces, which act on a volume, such as gravity, centrifugal,
Coriolis, and electromagnetic forces.

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Viscous stresses
Stresses are forces per area. Unit
is N/m2 or Pa.
Viscous stresses denoted by
Suffix notation ij is used to
indicate direction.
Nine stress components.
xx, yy, zz are normal stresses.
E.g. zz is the stress in the zdirection on a z-plane.
Other stresses are shear
stresses. E.g. zy is the stress in
the y-direction on a z-plane.

Forces aligned with the direction

of a coordinate axis are positive.
Opposite direction is negative.

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Forces in the x-direction

( yx

yx 1
. y )xz
y 2

zx 1
( zx
. z )yz
yx 1
z 2
( yx
. y )xz
y 2

p 1
( p . x)yz
x 2

p 1
( p . x )yz
x 2

xx 1
( xx
. x )yz
x 2

z
y
x

( xx

xx 1
. x)yz
x 2

zx 1
( zx
. z )xy
z 2

Net force in the x-direction is the sum of all the force components in that direction.

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Momentum equation
Set the rate of change of x-momentum for a fluid particle Du/Dt
equal to:
the sum of the forces due to surface stresses shown in the previous
slide, plus
the body forces. These are usually lumped together into a source
term SM:

Du ( p xx ) yx zx

S Mx
Dt
x
y
z

p is a compressive stress and xx is a tensile stress.

Similarly for y- and z-momentum:

Dv xy ( p yy ) zy

S My
Dt
x
y
z
Dw xz yz ( p zz )

S Mz
Dt
x
y
z

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Energy equation
First law of thermodynamics: rate of change of energy of a fluid
particle is equal to the rate of heat addition plus the rate of work
done.
Rate of increase of energy is DE/Dt.
Energy E = i + (u2+v2+w2).
Here, i is the internal (thermal energy).
(u2+v2+w2) is the kinetic energy.
Potential energy (gravitation) is usually treated separately and
included as a source term.
We will derive the energy equation by setting the total derivative
equal to the change in energy as a result of work done by viscous
stresses and the net heat conduction.
Next we will subtract the kinetic energy equation to arrive at a
conservation equation for the internal energy.

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Work done by surface stresses in x-direction

(u zx ) 1
(u zx
. z )yz
(u yx ) 1
(u yx ) 1
z 2
(u yx
. y )xz
(u yx
. y )xz
y 2
y 2
(up ) 1
(up
. x)yz
x 2

(up

(u xx ) 1
(u xx
. x )yz
x 2

(u xx

(up ) 1
. x)yz
x 2

(u xx ) 1
. x)yz
x 2

z
y
x

(u zx

(u zx ) 1
. z )xy
z 2

Work done is force times velocity.

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Work done by surface stresses

The total rate of work done by surface stresses is calculated as
follows:
For work done by x-components of stresses add all terms in the
previous slide.
Do the same for the y- and z-components.

Add all and divide by xyz to get the work done per unit volume
by the surface stresses:
(u xx ) (u yx ) (u zx ) (v xy )
div( pu)

x
y
z
x
(v yy ) (v zy ) ( w xz ) ( w yz ) (u zz )

y
z
x
y
z

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Energy flux due to heat conduction

q y 1
(q y
. y )xz
y 2

q x 1
(q x
. x)yz
x 2

(q z

q z 1
. z )xy
z 2

q x 1
(q x
. x)yz
x 2

z
y
x

q z 1
(q z
. z )xy
z 2

q y 1
(q y
. y )xz
y 2

The heat flux vector q has three components, qx, qy, and qz.

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Energy flux due to heat conduction

Summing all terms and dividing by xyz gives the net rate of heat
transfer to the fluid particle per unit volume:
q x q y q z

div q
x y
z
Fouriers law of heat conduction relates the heat flux to the local
temperature gradient:
qx k

T
x

qy k

T
y

qz k

T
z

In vector form: q k grad T

Thus, energy flux due to conduction: div q div( k grad T )
This is the final form used in the energy equation.

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Energy equation
Setting the total derivative for the energy in a fluid particle equal
to the previously derived work and energy flux terms, results in
the following energy equation:
(u xx ) (u yx ) (u zx ) (v xy )
DE

div ( pu)

Dt
y
z
x
x

(v yy )
y

(v zy )
z

( w xz ) ( w yz ) (u zz )

x
y
z

div (k grad T ) S E
Note that we also added a source term SE that includes sources
(potential energy, sources due to heat production from chemical
reactions, etc.).

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Kinetic energy equation

Separately, we can derive a conservation equation for the kinetic
energy of the fluid.
In order to do this, we multiply the u-momentum equation by u,
the v-momentum equation by v, and the w-momentum equation
by w. We then add the results together.
This results in the following equation for the kinetic energy:
D[ 12 (u 2 v 2 w 2 )]
xx yx zx

u.grad p u

Dt
y
z
x
xy yy zy
xz yz zz
v

w
u. S M
y
z
y
z
x
x

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Internal energy equation

Subtract the kinetic energy equation from the energy equation.
Define a new source term for the internal energy as
Si = SE - u.SM. This results in:

Di
u
u
u
v

p div u xx
yx
zx
xy
Dt
x
y
z
x

yy

v
v
w
w
u
zy xz
yz
zz
y
z
x
y
z

div (k grad T ) S i

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Enthalpy equation
An often used alternative form of the energy equation is the total
enthalpy equation.
Specific enthalpy h = i + p/
Total enthalpy h0 = h + (u2+v2+w2) = E + p/

( h0 )
div( h0u) div(k grad T )
t
(u yx )
(v xy )
(u xx )
(u zx )

y
z
x
x

(v yy )
y

(v zy )
z

( w yz )
( w xz )
(u zz )

x
y
z

Sh

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Equations of state
Fluid motion is described by five partial differential equations for
mass, momentum, and energy.
Amongst the unknowns are four thermodynamic variables: , p, i,
and T.
We will assume thermodynamic equilibrium, i.e. that the time it
takes for a fluid particle to adjust to new conditions is short
relative to the timescale of the flow.
We add two equations of state using the two state variables and
T: p=p(,T) and i=i(,T).
For a perfect gas, these become: p= RT and i=CvT.
At low speeds (e.g. Ma < 0.2), the fluids can be considered
incompressible. There is no linkage between the energy equation,
and the mass and momentum equation. We then only need to
solve for energy if the problem involves heat transfer.

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Viscous stresses
A model for the viscous stresses ij is required.
We will express the viscous stresses as functions of the local
deformation rate (strain rate) tensor.
There are two types of deformation:
Linear deformation rates due to velocity gradients.
Elongating stress components (stretching).
Shearing stress components.

Volumetric deformation rates due to expansion or compression.

All gases and most fluids are isotropic: viscosity is a scalar.

Some fluids have anisotropic viscous stress properties, such as
certain polymers and dough. We will not discuss those here.

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Viscous stress tensor

Using an isotropic (first) dynamic viscosity for the linear
deformations and a second viscosity =-2/3 for the volumetric
deformations results in:
xx xy xz

yx yy yz

zx
zy
zz

u 2
u v
u w
2 div u

x 3
z x
y x

v 2
u v
v w

2 div u

y
3

w 2
v w

u w

2
div u

z 3
z x
z y

Note: div u = 0 for incompressible fluids.

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Navier-Stokes equations
Including the viscous stress terms in the momentum balance and
rearranging, results in the Navier-Stokes equations:
x momentum :

( u )
p
div( uu) div ( grad u ) S Mx
t
x

y momentum :

( v)
p
div ( vu) div ( grad v) S My
t
y

z momentum :

( w)
p
div ( wu) div( grad w) S Mz
t
z

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Viscous dissipation
Similarly, substituting the stresses in the internal energy equation
and rearranging results in:
( i )
div ( iu) p div u div (k grad T ) S i
t

Internal energy :

Here is the viscous dissipation term. This term is always

positive and describes the conversion of mechanical energy to
heat.

u
2

u w

z x

v w

z y

u v

y x

2
2

(
div
u
)

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Summary of equations in conservation form

x momentum :
y momentum :
z momentum :
Internal energy :

Mass :
div( u) 0
t
( u )
p
div ( uu) div ( grad u ) S Mx
t
x
( v )
p
div( vu) div( grad v) S My
t
y
( w)
p
div ( wu) div( grad w) S Mz
t
z
( i )
div( iu) p div u div (k grad T ) S i
t

Equations of state : p p ( , T ) and i i ( , T )

e.g . for perfect gas : p RT and i CvT

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General transport equations

The system of equations is now closed, with seven equations for seven
variables: pressure, three velocity components, enthalpy, temperature,
and density.
There are significant commonalities between the various equations.
Using a general variable , the conservative form of all fluid flow
equations can usefully be written in the following form:

div u div grad S
t

Or, in words:
Rate of increase
of of fluid
+
element

Net rate of flow

of out of
fluid element
(convection)

Rate of increase
of due to
+
diffusion

Rate of increase
of due to
sources

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Integral form
The key step of the finite volume method is to integrate the differential equation
shown in the previous slide, and then to apply Gauss divergence theorem,
which for a vector a states:

div a dV n a dA

CV

This then leads to the following general conservation equation in integral form:

dV n ( u) dA n ( grad ) dA S dV
t CV

A
A
CV

Net rate of
Net rate of
Rate of
Net rate of
decrease of due
increase of due
increase
+ to
= equations
+ finitecreation
to diffusion
This is the actual form
ofconvection
the conservation
solved by
volume
of
of
across
boundaries
across
boundaries
based CFD programs to calculate the flow pattern and associated scalar fields.

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