Department of Mechanical Materials & Manufacturing Engineering Compilation of Lecture notes on MMM 336 (Stage 3 Year 2001-2002) Delivered by Dr D C Swatles Computational Fluid Dynamics Syllabus Finite diference treatment of Laplace's equation Discretsation equation & boundary condition ‘Systems of linear equation Upwinding and mumerical diffusion ‘Trajectories, streamlines, ineompresibilty, continunity equation Stream fictions for 2-D incompressible flow, rotational flow Navier’s Stoke equation, Pressure Poisson Plane Poisculle flow, inviscid flow Turbulence modeling 0. 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Some Bava It ag sy Ae de et wrt Z- aes [on GE Belek EB) ke ae) (uted 2 = Lez Flots tantebind 12.5.0. tatgushure innsod fs 9% (VP) 22 ln pleted teen on opi le ke lee eT | Pofentat foneks apy LepageMMM336: COMPUTATIONAL FLUID DYNAMICS FORMULA SHEET © The Operator V grade ve = (# dpu = Vu = $e + Se + fs ji jk | cuwlu = Vxu = wats godu = Vu = ge Dua 58 Vx(¥9) = 0 (any), V-(Vxu) = 0 (anyu) * The Operator V?« Taylor Series flet+h) = f(z) + ade) + PPA) + f(xth) = f(x) + beVFe) + F(h-V)P FE) * The Divergence Theorem Region R with surface S and outwardly directed unit normal n. Vector-valued function F(x) = (Fil) , Fal) , Fa(x)) f° Fav = fn PaA n-F = component of F in the direction of n * The Convection-Diffusion Equation Scalar quantity ¢ (amount per unit volume) in flow with velocity u satisfies a6 ; @ = 7va qa) where q is the flux vector for ¢, A typical model for q (no sources/sinks) is q = ud — DVS Equation (1) then becomes a6 Boe + DV% i Ve (us) + DVS « Finite-Difference Approximations fz) = + O(k) — forward-difference Sila) = + O(h) — dackward-difference Bf) = Blfle+h) - Fe-A)] + O(h®) — central-difference sral-difference Efe) = B[Ae+A) -2/) + fle—A)] + 01%")¢ Thomas’ Algorithm dw a by hh dy up 2 by fs dy uy 5 bs Iyer dye Une faa baat Ih dy hs by a= dy B= by ” n= Baldy sev + L-U Decomposition Ag = Ll-Uen=b (A=L-U) =Lly b (forward substitution for y) where Un =y (backward substitution for 2) «© Successive-Over-Relaxation (SOR) 8) wen) 2) = -w)) + wil where #{"*) is the Gauss-Seidel estimate.« Material (Lagrangian) Derivative D a myo R TRY « Rate Of Strain And Vorticity vu + u(sth) =u + he =u t+ he(D+W) + + D = 4(Vu + Wu") heW = foxh + Continuity Equation 7 + Ve(pu) = 0 or * Stream Function & Potential Function ¢ ( 86 Be, =Vxu_ vorticity ay _ a8 dy or do ag 822° Bes.* Navier-Stokes Equation a 2, ges) + Ve(amn) = —Vp + wV'n + pg conservative form © Reynolds Number (v= w/e) * Pressure Poisson Equation Taking the divergence of the Navier-Stokes Equation (p = go constant) gives bu; Bus V?p = -pVu:VuT = ~0 Die * Laplace’s Equation: Finite-Difference Boundary Conditions (2D) Side Nodes OOO = 2628 o ® ” @ @-@ 2+ ab <28 o @ as hated + 2038 ® = -26238 - ase =26xat - 2620 @ ” @-@ = xy+ The SIMPLE Algorithm Let pl) and ul) denote the pressure and velocity at time t,. The pressure plt#2) and velocity u*) at the next time-point ty: = ty + 6t should satisfy veut) = 9 and i 1 + Jot —w@] + v- (uterus) = 2 pt pv vu bg (3 Let p* be an approximation top), and use this in the momentum equation to compute an approximation u* to ul**!), Specifically let u* satisfy =u] + ¥- (ou) = Ee evVu eg (3) Subtracting (3) from (2) gives Ly 4 v-(atentel ant) = Loy sv © 3 where wet pH) pt and jeglecting the V- and V? terms in (4) we obtain veut SV mo?« The Reynolds Averaged Navier-Stokes Equation D PD: = -VB + wr + pg + V- (=p) * Boussinesq Model —pu = -3pkI + pr(Va+ va") * Turbulent Kinetic Energy Equation D 6 Sk = =z +t = = — 2 + v¥ ne (3 ve Pp D + Vek where P= weed 3 (Va = Vu) D= = weCormpetefnal Flat Pi serrer om 24/4/01» S atslurd> Beirea ter, stl. De 1 Pte. | Dr Suan ¢ fe Fapr ) fey oD Honakey (2 B= velo Presb <5 Patty Pore chysle > Beers dire - = Fic a Tet 2 An wterlietice tb CFO enh Ua. 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°= 0) (2) nomena stumazemy oo Zee > f2- apa ty be Zhe es 9 5 pays 989 51, Tay PREIS aE (24 4)an on Jo uy] v ng SrepnIg FRY # oR FF Om a wand ooenayg mweagog won ioprey co wo on 5} ah OMS = m-gqq~ = Ub samy an aoepms pa oojosop ei] oye kpeos Te are adv poe ga9e SSOVTUTS ‘soowpane ony, “(3 = 1) oi YE BARD] pm ‘ayy sav €Bs0u9 FeO = 1b oemp sega on ee LaesLLiLLLLLLL Ae LALLA uk w — o a oop wea oa (oq ‘pipe or mes offen si eee alo oh tabla tan an Sone crost _ ve + = prs pass) xan — son ms gy a aT as moma peeps nog Sa, PA Rm ey ew sis i sh “od pfu v ae oa, GEA for = 4 $2, woypesf amysindsoya prineuy a2 sem = soy fqpeeemou tow yng exe agp 0} greed suo eng FeO = pier :yn0 ery Fo Zxanympues oats) me 10 = eg = 8p = 29 oe geo 1 "a Jo woneatiap a opdurexs 1) 1 jose poox FO yo (oon) (0H ‘suoyreo Stuypaodsorio © y>msH09 0} payeoyp se eons ae locont NOWWAGH SAOWIAVT 10 INUNEVEUL TONTTTATG ALIN pos v0 TIME Tnre Lilystadion OF Boundary Conditions (t.. quack 5-10 Ae! ) yes Mii eet iT bee Z MT “leet i | | TTT r [ptt To VIITITE ITTF ” ~ | Temperature of wall BCDE = 0% Temperaivee oP wall AF =20"C Flux along AB pedallel jo y-axis and omshaxt’ Flux along FE patalel 2 yranis bul net neceuarihy onsherd [3 ytuy) =] 9 J a log )* Ey te a> (qu4:)- -b( 22. 2) = -2vd AB constant Sue gs = -R2d (oy) = © (x constant) nizgyole with cespect te y (oy) # =S yee (ec ‘aihmcy’ enchot) | > does © = 20 dlod) = -%areng k= 20k —= a so gop 20.4 + 20 (Biktervery FE, vertical Shue: qso 2 se dlx y) = 0 (NEDMANN) E Sb b= -toxn Z a "Baososyauen Apessonou you ang sxe 249 0} ed 9.7 Buope aM 24 ~ oviroon pos pa any 0 prred “gy Suoqe xny yay OUP =$ *agaI¥ Wem ~ 5 37008 = 9 :De Tem ~ % stot saw % = >| cesoyom sqesaoou spe-z a0 4 penllpeh 25 Spel et aap coor we woo = Ay ptejeny ove es = aE TMM TY WE ey we Wm om my eyeon Apsessaone soe 9904 prin areas ae spe = to 994 ss0-= au 5190 OL = 4 jb tap noge te waoje sone 9 — up = Mg = sp 8 you ®2 ¥, J Tul Ill | | | speysuo> Areas you ng spee- 0f ree Fg Buoys amy 794 sueysuco pu spre oon omered ery Hoye xng yeoy — NOs = $ CSV He - oot = # 208 TN — mgyo= Ap = 29 ame so OT { ena | i il ‘wey ue sexe ann 0} pred “gy Buoy 0g 24 ~ yoor=9 ona 57008 = # 08, go = Ap = 29 991 2 @ ovreues qpessoou YoU Ing sxe ayy OF red gry Buoy xg 304, peed ogy Buoys xng e309 — 300 = 9 SZDHY Tew sro0e = # Fao tem = mgyg = Ap = sp sae you - 9g i o °° aa “ io a red gy Buoy xy 3004 red gy Buoys xn 9934 N00 = $ IV tem reat = 8 ‘a.@ Te ~ tugyg = Ap zg rene yom = sueysuon poe spe a 09Meng Chern Peg Sean ges” fas cmont |= cry wees lew Sy epprspick —_lomstele condition ye ode ececere, oS ge | LU 7 C x Bouniry Boo a = Zax] “eed. “2x ee Vs fayay = yt ER PG Nowy = Kae -b Gg ae 2 listed bwin) } Me n= -kKVS N20 SS ‘ <. “ ss niery ceniheh woe 09 chai i tam temp we fore ud Varietins temp cues y (te 3g Plosy) 2) = Undiren “tomp. v if VWarston of Plager hharitontely ote adel tone! Lorene DTT Pog) ere ope yes = ag (v3.4) 2 lm te) dx =| thys \ _ (ose) mete { @)b | Conctawcting syitun vp Mine agen fine Bee This value 0 Sey Matin otlucd hist * E H 4 3 erte| tye [PP | epacten 1 [ee | 10 | Agy 2h 24 te. 2 [ade | 20 | tao to — foo ~ a4. ° 3 lene | ot | dy, — 2 ~2byy =2&G Cee ee ee ee ° 5 ik | 21 | Adu fu Oy — pao ~ Hee = 0 9 t fee! 2 | tyr 2ge — 2p 2-ame FD 28 1 foe [ia | Adan Gorm bn ~ 26h mos 36 7o fate oe | 4g. e-em = apes a 2 ty : (Moterx fore — Sashes of Lede Bustin va ae a, 2 | (cate =ES+09 siee2ro R HB y4 a wt, fluent ora Kericction actece Nutr ete { ‘000.02 comour et Ste Tengeraio (4 no. 01 ven 58 (24 capeGross Side mitthoel_ Tabulation fh covrsd I é x7 | iL ty =406.+ 26) 7 [Rennie he _acty whepelion ) a] big = bl du t bet 2p ) de = 2 3| do = Yl 2py +2%4- 24) 9 Zo = Za 4 = 4 del a vs) + te + ys!) s| py = YC b) + on + oh seh) b] Goo = FUGA + 2ter — 2G) © fx = 2s rh pin = #C oo + gs + 287) fox Zi t| da > FC OL + fe ot 2g gin *1y fezetye—loert of -elone—ap re po > Be a ky + azt) > Casts ZS) eee az) ) sent \ oe Zs Bae af - eG) eT F © Teeny Zs 4a tz 42, ) earch pyr) | lake opposite, my tee + 2 (ae + 28 + 2s) Lge) formule. 7 Zs Ka 4 ze = x G) : Zs A a 2s + ae) if 20 A Cae + 2z ) Subst to Geeet Pome wo se | ¥ Gratinae 7 A] 1S Deck Iouthorms extn ir z o x ° > | us Se 7 ia Trdl_e-g_galy use eh fo 9 fF Be isothan tines, 7 > 7 : > 7 tA, é| Estinele tyho wrtlhin re ternal Spoink infalen st faster, ge ff Fug estinatid besed ofbict am_ablonny acbrteny _tonstont of (0.344) = 0” 7) 1 f re fo ingulefeel toll ae aren inc/entes x spitaced ty / isuthwm tows 4 petaths t,t brandy 8 persia outkt _bmuncler, f ' ° bovsnela Jase! redva _pasels a wef unceewrcte deseriation’ of Covapsred fo mn by ep geadient guts Inder, ths Iuat flux 7 heat flux 1% “pecall! fo insult ent T f cous of / celeulited value with qives iso thapel lines és descrctnd moctel genaetedl by cess fluent 1 GaaraRe otlempt peje denotes caleulead yoloe Jerthers intepoleteel value i note! interpreted yqlbes dl Sketch cfemp isotherm Het flag. ere oueh, and chet g vot te inh consrdtrctiou the best flux yectorcal oivection) denies Keto iSothorm » g “Fluent gerureled eode| solution exe on 3 eile Per onto diseeehre tion . nents [so thee = fsotherm fines eve hb. fp As area for heat flux diffusion Wet: _boundern A BC hect tovhex ) inch cefene wperdieder heat Plow wnsulefecl boundart ts foyer ineseeses 130 thea lu line cache v ore. eeatle | of constent prod nite ws fou. co gethe XY is hou che Whee close kt This on the out lux seefice ) isotherm lines op! fugher le spatecl indice he arc __ move & Surfese the speed _ bottone one on -ey fourestimate, temp geacheet Vip ct ome snteenal port pa (ES BG wsng tocol dufferanee -kehngue Ccevbat Ay uy pubes, baller) 7 se : Het Kl Bleth )-2 &)] 4 0G) 7$ foryo.t) fk lParn- 20) TE +) A (Pyeng) Ph cfu Comm TTR + fal won Hk + Se de Poloror)= 2140 4 = Fo gp Lcd deren GeekName; WANG COMPONENT MARK | OUT OF Formulation of Boundary Conditions 6 10 Construction of Linear Equations 7 10 Solution 25 30 Contours and Comments 2y 40 Estimated Gradient 7 10 TOTAL | “73 100Important Points 1. Diagrams should indicate co-ordinate axes, and origin of co-ordinate system. 2 The report should include a statement. of the differential equation to be solved, ie, Laplace's equation, 9 47° UF mt dt =o pips LephtS AO> 8 The discretized version of Laplace’s equation 4dig — Picag — Pity ~ Fig — should be quoted, with a note that this is valid because de = dy. 4 Tf equations are written in matrix form then ordering to reduced bandwidth should be considered (or at least mentioned). 5 The Gauss-Seidel scheme for the given problem should be stated precisely; including superscripts (k +1), (). 6 State explicitly the initial values 6. 7 The method for ‘constructing’ contours (linear interpolation) should be men- tione Contours must intersect solid boundaries perpendicularly. {pees 1-5) & 9 Comments should include observations that (a) Solution not converged after 5 iterations (b) Numerical results are not very accurate due to coarse grid. (c) Numerical solution does not satisfy’ the physical boundary condition at the inlet. (48) ‘This is not simply because of the grid size, and the number of iterations. It is also due to the fact that the mathematical boundary condition does not enforce the physical boundary condition (me only specify one com- ponent ofthe fux), and that the geometry influences the solution af the inlet. ‘To achieve the physical boundary condition it is probably necessary to set the inlet further ‘upstream’ of the contraction/bend in the flow. 10 Explain fully the method for approximating the temperature gradient at the internal point. Central differences (and possible averaging of temperature values at boundary nodes)BASIC FLUID DYNAMICS ‘This course is mainly concerned with how to solve numerically various equations used to model fluid dynamics. However it is important to have some feel for the physics behind these equations, and this section outlines some of the fundamental ideas as well as the basic equations needed. ‘There is a lot of material here, Do not expect to understand it all at once! We shall refer to this material throughout the course, and familiarity with the ideas, notation and equations should follow with time. CONTENTS Trajectories and Streamlines ‘The Material (or Lagrangian) Derivative Incompressibility ‘The Continuity Equation Stream Functions for Two-Dimensional Incompressible Flow Irrotational Flow Boundary Conditions The Navier-Stokes Equation ‘The Reynolds Number ‘The Pressure Poisson Equation Plane Poiseuille Flow Inviscid Flow Euler’s Equation Boundary Conditions Bernoulli’s Theorem FURTHER READING Lighthill J: An Informal Introduction To Theoretical Fluid Dynamics, Ch. 1, 2, 8 (Oxford University Press 1986). ‘Tannehill JC, Anderson DA, Pletcher RH: Computational Fluid Dynamics and Heat Transfer, Ch. 5 (Taylor & Francis 1997, Hemisphere Publishing 1984) Versteeg HK, Malalasekera W: An Introduction To Computational Fluid Dynamics, Ch. 2 (Longman 1995).TRAJECTORIES AND STREAMLINES Imagine an “infinitely small” blob of fluid ~ a fluid-point. The trajectory of this fluid-point is the path that it traces out as it moves in the fow. xe) Xt) teajectory ‘The velocity of the fluid-point at the point x at time ¢ is, by definition, u(x,t). So, if we let X(t) = (Xi, Xe Xs) denote the co-ordinates of a fluid-point at time ¢ then Gx = u(X(¢),t) A streamline is a line in the flow to which u is a tangent at each point. lst) ulas,t) streamline. ult: In general streamlines and trajectories are not she same. However if the flow is steady, that is u = u(x), then they do coincide. If p(x,t) denotes the density of the fluid at the point x at time t then pu defines the mass flux, This describes the rate at which mass is being transported by the flow. Since this flux vector is tangential to streamlines it follows that there is no mass transport across streamlines. Aegan fs fox soviys whe''y 2 rake uhals mee A sper by BsTHE MATERIAL (or LAGRANGIAN) DERIVATIVE Let (x,t) denote the density of the fluid at the point x at time t. Then a g denotes the rate of change of p(x,t) with respect to ¢ (x fixed) 4p/At describes the rate at which we see the density changing if we “stend in the flow” at the fixed point x, and watch the fluid flow past us, We now ask the question, what would be rate of change of density that we would see if, instead of standing still, we were travelling with the fluid as a luid-point? ‘To answer this question, let X(t) = (%G , Xo, Xo) denote the trajectory of the fluid- point that we are following. Remember then that ox) = u(X(), 0) (a) At time { the density of our fluid-point is (X(¢), ) and, using the chain rule, the time rate of change of this is d _ 4 aX 9 dX, aX, a GAR 2) = FiA0Kst) + SP ole) + S2 oR i) + FP 5 (Kt) Using (1) to replace dX,/dt with u,(X, t) this thon becomes (dropping the arguments X and ton the right-hand side) a By Bg yy Bg yy HX), = + “Fey + "Oe, + “8 Oe5 This can be written using vector notation ad _ a : Bl = Be FIPS Legros dicate pla ton 1 It is conventional to write Dp/ Dt instead of dp/dt. So = a + u-Ve [Pais is called the material derivative, (or Lagrangian devivative) ofp. Tt gives [the rate of change of p along the trajectory of a fluid-point,We can write this as so that we have the interpretation D_a@ \ moet on pletion: called the material derivative operator. We can coastuct the material derivative of any quantity associated with the flow. For example, if p denotes the pressure then D ap me = Re te denotes the rate of change of pressure along a fluid-point trajectory. Similarly Du/ Dt denotes the rate of change of the velocity as we move with the flow; this is just the acceleration of the fluid-point. Note that this is a vector quantity; D/Dt acts on each component of u. ae = (Gee aes Be)INCOMPRESSIBILITY A flow is said to be incompressible if the volume of any fluid-element (blob of fluid) remains constant as it moves in the flow: Volume = V Pe. -v time = time = te By definition, a finid-element always contains the same fluid and so must have a constant mass. Therefore the average density of a fluid-element in an incompress- ible flow is constant. A fluid-point is an infinitely small fluid-element. So in an incompressible flow the density of a fluid-point remains constant. In other words the rate of change of the density along a fiuid-point trajectory is zero: DD. _ op _ pe = HT ve = 0 for an incompressible flowTHE CONTINUITY EQUATION The continuity equation is a statement of conservation of mass, Consider a fixed but arbitrary region of space R with surface S within a fluid flow. The rate of change of the mass in R is ale = [ew and this must equal the rate at which mass is flowing into across the surface S. ‘The mass flux is given by,pu and so the mass flow rate into is given by f where n is the outwardly directed unit normal at each point on the surface & (hence the negative siga) as pu dA Fated 4 aloesfes om tale sung “the ee mp Using the Divergence Theorem bonne t -Jn-puda = 4 fv-tpujav & 3 heer erfene be wae oY So the mass balance in R becomes a“ { bys fay Ee, eoGly Joo” Bow Therefore, since R is arbitrary ge teouel) = 4 t eo on or the contin equation | Using the fact that (exercise) | Ve (pu) = u-Ve + pV-u (product rule) wwe can write the continuity equation as | » gue P wide + pv 0 ~ ~ ~~ D Biron fOv = 9 imps If the flow is incompressible then Dp/Dt = 0 and so Veu=0 for an incompressible flow not eguntions Ho sales ate HogeSTREAM FUNCTIONS FOR TWO-DIMENSIONAL FLOWS In this section we consider « steacly, incompressible, two-dimensional fluid flow. Let u(x) denote the velocity at the point x in the flow. We will use the notation x = (&,y) (instead of (1,22). and u = (u,v) (instead of (1. ta). Tf the flow is incompressible Sj? = s&qt for (almost) any function U(x, y) and therefore ae) _ 2.(28) Ox \ dy dy \ Oz Cece rong thy eudhe Comparing this with the incompressibility condition we anticipate the existence of a function J such that ae ap ua nd ve -2 dy Oe ‘The function ¥ is called a stream function, if we know # then we know w and v. To appreciate the connection between stream functions and streamlines we con- sider the gradient function of us: _ (a8 ae v= (2.3) ‘This vector points in the divection of the maximum rate of increase of y, and is perpendicular to the lines on which ¥ is constant (the stream function contours). Stree Aarere ” ¥ ” bles laa’ yen ao yj wy . v va wy “1 pres (35) woreamte sivas tos I 4 4 ge ule) pause Noting that | | _ (ab Oe { vou = (65) ( we see that Vy is also perpendicular to u. We conclude that the contours of w are the streamlines of uIRROTATIONAL FLOW A flow is said to be irrotational if the vorticity w is zero everywhere. That is Vxeu =0 Viscous forces tend to generate vorticity at ow boundaries (vortex shedding) and so irrotational flows aze usually also inviscid. Now for any function (x) we havg the result [exercise 1.11] OO hat Vx(Ve) = 0 wien suggests the existence of a function ¢ such that u = Vo The function ¢ is called a potential function, if we know ¢ then we know u. The surfaces 4 = constant, (lines in 2-D) are called equipotential surfaces (ines) Since V¢ and therefore u is perpendicular to these surfaces it follows that streamlines and_equipotential surlaces Cross each oller at Tight angles. Ir the case of two- dimensio: ompressible, izrotational How the stzeam function contours and the equipotential lines cross at right-angles oy ap constant $e constant streamtine. Now for an incompressible flow 0 if the flow is also irrotational and we write u = V¢ then we see that v-(¥d) = We = 0 ‘This shows that the potential function 9 must satisfy Laplace’s equation. We will use Laplace's equation for potential functions later in the course to illustrate the numerical solution of pde’s using fnite-difference methods (section 6) Having determined ¢ from this equation (and appropriate boundary conditions) we then Know u and from this the pressure p can be determined from the pressure Poisson equation (see later).BOUNDARY CONDITIONS The boundary conditions that we attach to our @uid transport equations can usually. be classified into three types (1) Physical (2) Inlet and Outlet (3) Symmetry In addition to these there are often other contraints that must be met, and that provide a check on the accuracy of numerical solutions. In pipe flow. for example, there must be an overall mass balance between the inflow and the outflow. During the course we shall study examples that illustrate each type of condition Physical Boundary Conditions ‘These give conditions at physical boundaries of the flo 5 pipe walls, turbine blades, aerofoil surfaces ete. The most fundamental condition concerns the fluid velocity at such a surface. We argue that, due to the effect of viscosity, the fluid in contact with the surface must be moving with the velocity w of the surface. laurface = OW the no-slip condition Some codes (FLUENT for example) also specify a zero pressure gradient at physical surfaces. Inlet And Outlet Boundary Conditions ‘The correct specification of inlet and outlet boundary conditions is crucial to the formulation of models for fluid dynamics. It is not possible to be too specific about these conditions as they depend upon the problem under consideration, but they are usually based upon some physically plausible assumptions. However we must be careful that these boundary conditions are sufficient to produce a well-posed mathematical /numerical problem. Consider the following example At the inlet we usually specify the fluid velocity profile. Some codes (FLUENT for example) allow the pressure to be prescribed instead. It is incorrect to impose both the velocity and the pressure. The outlet is usually assumed to be sufficiently down-stream of disturbances (con- tractions etc) that the flow at this point is fully developed. So there is a zero velocity gradient in the axial direction, Ju/dx = 0. at this point. 10Symmetry Boundary Conditions I the geometry of the flow possesses natural symmetry thea we can make use of this to reduce the computational domain and the aumber calculations that are needed. Consider the following example y ‘We expect the flow to be symmetric about the centerline, the Oy axis, and so we only need to solve for the flow on one side of this dividing line, which then becomes asymmetry boundary. We must attach corresponding boundary conditions to this line which reflect the symmetrical nature of the flow: [f we write u = (u,v) then, for = 0, we have u We will also have a symmetry condition for the pressure, namely & aeTHE NAVIER-STOKES EQUATIO’ C.L.M.H. Navier ca. 1822 G.G. Stokes 1819-1903 The continuity equation is a mathematical statement of the physical law of conservation of mass; the equation was derived by considering mass balance in an arbitrary region R. In a similar way, by considering a momentum balance, we can derive an equation which represents Newton's Second Law. Although the details of the derivation of this momentum equation are not necessary for this course, they are given as supplementary material at the end of this section. SS If the flow is incompressible (V-u = 0), and the fluid Newtonian (this is an “ordinary” fluid in which the shear stresses depend linearly on the rate of strain tensor D) then the momentum equation takes the form a glu) + VY -(euu) -Vp + hVu + pg the Navier-Stokes equation (conservative form) Note that there are three equations here; one for each component of the momentum. (Por this reason some texts refer to the Navier-Stokes equations). “Conservative” xfer to the fact that thsi the form of the equation obtained using only the idea of conservation of momentum. An alternative form can be obtaine by making use of the continuity equation as well, to show that the left-hand side of the Navier-Stokes equation can be written as pDu/Dt. So another way of writing the Navier-Stokes equation is ion Bubs aperke D 2, et = Vp + xVa + pg Each term in this equation has a precise physical interpretation: ‘The left-hand side describes th rate of change of momentum per unit volume along a fuid-point trajectory. This is balanced by the three terms on the right-hand side. —Vp represents the force per unit volume due to the pressure gradient. #V?u describes the rate of exchange of momentum per unit volume due to viscous effects, Note that this term involves the Laplacian operator V?. The effect of viscosity is to “diffuse” momentum. Pg represents the gravitational force per unit volume, ‘lf me interpret the pressure p as the excess pressure then we can omit the grav [tational term from the equation. Dividing through the Navier-Stokes equation by p we get 1 = 5 Vp + vVu + aP g where v = p/p is called the kinematic viscosity. 2THE REYNOLDS NUMBE) By scaling the variables in the Navier-Stokes equation we are able to identify a non-dimensional parameter which plays an important role in the study of fluid dynamics. In the Navier-Stokes equation a a gen) + V- (pau) -Vp + pV7u + pg we introduce-charasteristic_length-“and velocity scales Z and U, and then a. corre- sponding time scale T = L/U. We also introduce a characteristic density po, and then define non-dimensional independent variables and dependent: variables 1 = ne? f ‘We also define a non-dimensional gravitational acceleration & = of g. Jn terms of these variables the Navier-Stokes equation takes the non-dimensional form, (for simplicity we omit the ~ a Zou) + V-(pun) = —Vp + ps where po L UL Re = = Ub wat ee Ee (ea) is called the Reynolds number (0. Reynolds 1842-1912) ‘This non-dimensional parameter quantifies the relative significance of convective and diffusive features of the flow: As the Reynolds number increases convective effects dominate, and the stabilizing nature of the diffusive term -:V?u decreases. This observation is often used to account for the onset of turbulence when Re reaches acertain critical value. ates Nat t Vite L Pele oat desta, 13using dengan of Memnabun an THE PRESSURE POISSON EQUATION 4,7 ./ In an incompressible flow the velocity u must satisfy Vu =0 wee tisbally cout lin simply, while the momentum equation is the Navier-Stokes equation a = (3x bu va) = -Vp + uVu + og If the density is constant, then these four equations involve four unknowa functions, the components of u and the pressure p. In practice, when trying to solve these equations numerically, t is often convenient to Introduce another equation that relates the pressure to the velocity. ‘This is the Pressure Poisson equation which is gbtsined by taking the divergence of the momentum (Navier-Stokes) equation, and then using the incompressibility condition to simplify the result. Taking the divergence of the Navier-Stokes equation we get aru v- [o($u + es) =v rr + pu + oe| With p = po constant this can be written as o(tae + Ve (u vs) = -V- (Vp) + uV-(Wu) + mV-g Pts Making use of the incompressibility condition, we obtain a a Vege = GlFa) = 0 ¥-(u-Vu) Clee vu: vat Ba; Bz; v-(Ve) = V’p v-(Vu) = V(9-u) veg =o and substituting these results into (2) gives go gue Vip = -poVu: Tul the pressure Poisson equation rTThis is a Poisson type pde for the pressure (at least it would be if the right-hand side, i.e. u, were known). Like the steady-state heat equation (Laplace’s equation) this equation is elliptic, and a corresponding boundary condition for p must be imposed at each boundary point of the computational domain. Note the “double doi” notation, which indicates a double sum, over both i and j: ‘We multiply each component of Vu with the corresponding component of Vu" and then add up the results (a, sort of dot product for matrices). So, for example, for a two-dimensional flow, x = (x,y), u = (u,v) au Be ae ae as 3s + ae ay vu = vu = Bu oe ae ge ay 8 as 8y and we get Vu: VuT = 5PL. POISEUILLE FLOW Consider a two-dimensional, steady flow between two infinite flat plates as shown. 2 MITITITTTTTT ITT AIT ITT Assuming that u = (u,0), and that the flow is incompressible we then have Ou Veusod a =o Therefore u is independent of x and we may write u = u(y). The time independent Navier-Stokes equation u-Vu = -Vp + 4V*u where p is the excess pressure then gives Pw op a te and 0 a ‘The second of these implies that p is independent of y, and the first of these can then be written, ey qj a. & ly’ dz ‘The left-hand side of this equation is independent of z and the right-hand side is independent of y. We conclude that both sides must equal the same constant value. Denoting the constant pressure gradient dp/dz by p' we can integrate this equation for u, and using the no-slip boundary conditions u(:th) = 0, this gives Bone 2 card (#-y) (parabolic profile) ‘To establish the value of p’ we assume that we know the volume (area) flow rate Q defined by nn a Q = fut = -Efty- ae] = so that a 3 = 2B, Sh ves dx 2h indicating how the pressure decreases linearly with 2 16flees egestin of ation COD 701103) Sets retain 2 eg Ye Let (vv) INVISCID FLOW Euler’s Equation (L. Euler 1707-1783) In some flows, notably gas flows, viscous effects are often negligble and we can, to a, good approximation, set w= 0. We refer to such flows as inviscid. With w= 0 the Navier-Stokes equation reduces to a an) + V-(puu) = —Vp + pg Buler’s equation Flows that are inviscid are often compressible. In this course, however, we will consider only incompressible flow. Boundary Conditions Since we have neglected viscous effects we can no longer impose no-slip ondary conditions on the flow at a physical boundary. However, if the physical boundary ig impervious to the fluid, so that there is no low across the boundary, then clearly the finid velocity at the boundary must be tangential to the surface, so u-n = 0, where n is normal to the surface, It follows that the surface represents streamlines of the flow. In two-dimensional flows, where we can introduce stream functions, a physical boundary must be a stream function contour. "The second-order viscous term ,V?u in the Navier-Stokes equation makes that equation parabolic (time dependent form) or elliptic (time independent form). ‘The removal of this term in the Euler equation makes that equation, hyperbolic This has a radical effect on the correct form of boundary conditions. ‘The situation is complicated; consideration must be given to the characteristics of the equation.Bernoulli’s Theorem (D. Bernoulli 1700-1782) For a steady, constant density (p = po); inviscid flow Euless equation can be written u-Vu = -Vpt + g where p* = p/po (kinematic pressure). Using the identity u-[u-Vu} = u-V (Zu?) we then have wV(w) =u - Ve" +8] Now let us assume that gravitational acceleration is constant, and that it is acting in the negative za (or 2) direction so that g = (0,0, —g). We can then write Eales eye -V(92) ) og-eps piv —O 2) hare tual grnky goog 72 80 that D (WIV= Zolvv)-vecony) O&O e + ga) “PHEW = Z9(uv)-eveCony) Oa ko(e)egrz = Vx(guv) OMe usek ale )ids tgte- Hs eG (ph + duh + gz) = 0 7 Lvstren)de Mt Getoay} 82 Defining AB awalyr) ageeso or, rearranging, e WV gn © cntliat Ho= pi + hw? + gz Jegee ‘ wwe see that VH is perpendicular to u. Therefore VH must be perpendicular to the Micmalites, We folldwe that i! is constant along streamalins, (watch are the same as the fluid-point trajectories since the flow is steady). This result, which is known as Bernoulli’s Theorem, can be considered an energy balance, relating the kinetic and potential energies (per unit mass) to the work done on a fluid point. ‘We can omit the gravity term in HT if we interpret p as the excess pressure. 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(©) Show shat uu = UWF aad een by averaging the jokes equation, derive the Reynolds averaged Navier- (ANS) ea! Identify the Reynolds stress term in this equation, and give a brief physical interpretation of this term. (8 marks] (b) Figure 5 depicts a constant density, ow in a two-dimensional duct. ly developed, turbulent figure 5 We assume that the mean pressure P is a function of both and y, whilst the mean velocity W is axially directed and depends only on y, that is =(uy),0,0) @=w=0) We further assume that where each component of this matrix (tensor) varies with y Show that, under these assumptions, the y-component of the RANS equation reduces to oda Zvegve = 0. ® oy 6 faavt336/386] essible velocity feld hat satisos Laplace's equation provided the flow is irvotational. Explain the connection between the streamlines of wand the contours of [2 marks} (b) Figure 2 depicts an incompressible irrotational low through figure 2 Both the inflow and outflow velocity profiles are uniform and to the w-axis with w= (0,0). late appropriate boundary con: [23 marks} [Turn overs3n0 wing] ‘ajcrepeae st yaoqs InELAT OSH 2, “aqnpomt sr 205 quamissasse peyo} arf Jo 940E stasoudar uoRyeCuTEx SI ‘euonsanb YynO4t OF paummbas ax ssamsuy smo ft ~ panorte ate, SOINWNAG GINTd IVNOLLWLNAWOO 20/T002 ‘2 WALSAWAS ANAL NON QTLSVOMAN JO ALISUIAINA lose/seennurs)[MMm336/386] 1. (a) Use the Divergence Theorem to derive the convection-diffusion = -Vub + DV 1) gy (as measured by the fiold u, State any [10 marks} (b) Figure 1 shows part of gas-solid interface in 2 heat ex- changer: ‘The solid is maintained at-a constant temperature, the gas flows over the s |, > 0, and temperature 4 ue gas ‘solid figure 1 Diseretize the convection-diffusion equation for ¢; using a orward-difference for 04/4, first-order upwinding for the convection term, and a second-order central: for the fasion term (take dx = dy). So obtain an x diference scheme giving ff) = d(zi.yjtesi) in terms of nodal values of ¢ at 1 te. At y=0 the following boundary condition is proposed an = B(o-8) where q is the heat flux face y = 0 (directed into Use this boundary condition to modify your ex difference scheme in a form suitable for boundary nodes. (15 marks} By integrating equation (4) and using the boundary condition Ve =0 at y= 0 show that Op/Gz is independent of y. the s-component of the RANS equation is om, a (att 2s £(a a) = 0. Hence deduce that the effective shear stress varies linearly wi [17 marks} END OF PAPER 1