Fundamental Equations

and
Dimensionless Numbers

This lecture:
Physical
Modeling
Mathematical
Modeling
Numerical
Modeling

Parameters and
dimensionless numbers
Conservation laws
Turbulence models
Boundary conditions

Interpretation

Solution algorithms
Programming
Running a simulation
Visualization
Analysis and validation

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-> Definition file

Discrete operators
Computational grid

Solution

CFX Pre

ICEM CFD
-> Grid file

CFX Solver
-> Results file

CFX Post
-> Pictures and
knowledge
2

Properties of fluids
Fluids deform under the influence of shear forces.
The deformation with respect to the initial state is unbounded
and the deformation velocity is a function of the shear forces
This is an important difference to solids, where the deformation
itself is a function of the shear force:
Solid:

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Fluid:

Properties of fluids
We usually consider a very large number of molecules
The direct integration of the equation of motion for individual
molecules is too costly
The fluid is modeled as continuum, where each fluid element
represents a very large number of molecules
Macroscopic properties are obtained by coarse graining
(averaging) over an ensemble of fluid molecules
The mathematical model describes the evolution of
continuum field properties, such as pressure, density,
temperature and velocity
Knudsen number
Kn << 1
Kn > 10

Kn = /L

( mean free path)

-> Continuum Mechanics

-> Molecular Dynamics

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Frame of reference: Lagrange or Euler

Lagrangian approach:
Observer frame of reference
moves with one fluid element
material description as function
of fluid element and time
Rarely used in fluid dynamics
Exception: particle methods and
multi phase flows

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Eulerian approach:
Observer remains at a fixed
position
Field description as function
of space and time

Reynolds transport theorem

Conservation laws are usually formulated as the temporal
derivative of material volume integral with a dynamic
boundary, e.g., conservation of mass:

V (t0 )
V (t1 )

dm
=0
dt

d
dt

(x,t) dV = 0

V!

The Reynolds transport theorem can be used to express the

temporal change of a material volume integral as the temporal
change of the integral of a quantity over a fixed domain V
and the flux over the boundary SV of this domain:

d
dt
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dV =
V! (t )

dV +
t

u n dS
i i

SV

Conservation of mass
Physical law:
The mass of a fluid element is constant
Mathematical formulation:

dm
d
= 0 und
dt
dt

(x,t) dV = 0

V!

With the Reynolds transport theorem we obtain the

conservation law for a fixed volume V (control volume):

dV + u n dS = 0
t
SV

Applying Gauss divergence theorem we obtain the

continuity equation in differential form:

+ u = 0.
t
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Conservation of mass
Continuity equation explained in a more visual way:

From

dV + u n dS = 0
t
SV

dV =
t
t

follows

dV = t mV
V

mV = u n dS
t
SV
The temporal change of the mass mV within the control volume V
equals the difference of the incoming and outgoing mass flow
over the boundary SV of the control volume.
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Conservation of momentum
Physical law:
The temporal change of the linear momentum of a (material)
fluid element equals the sum of the forces that act on it.
Mathematical formulation:
linear
momentum

P=

conservation
law

dP d
=
u dV = F n

dt dt V! (t )
n

differential form
after substitution of
continuity equation
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u dV

V! (t )

u j
u j 1
+ ui
= Fn, j
t
xi n
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Conservation of momentum
Forces on fluid element
surface forces

F=

SV

T n dS

volume forces

(pressure,
viscous friction,
surface tension,)
(gravity,)

The stress tensor T for a Newtonian fluid is:

2
T = (p + u)I + 2 s
3
= pI +
With:
dynamic viscosity:
I

unit tensor:
p
static pressure:
T%
1"
shear rate tensor: s = $ u + u '
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2#

( )

&

10

Conservation of momentum
Differential form of the momentum equation for a Newtonian fluid
in Cartesian coordinates:

u j
u j
1 p 1 ij
+ ui
=
+
+ fj
t
xi
x j xi
Alternatives:
Conservation form (flux written in divergence form)

( ) + ( u u ) = p +

u j

xi

x j

ij

xi

+ fj

Integral form

u dV +

SV

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uu n dS = S p dS +
V

SV

n dS +

FV dV
11

Simplified conservation laws

Inviscid flows:

=0

Euler equations.

- Viscous effects can be often neglected at high Mach numbers.

Incompressible fluid: pressure is independent of density

- Mass conservation implies volume conservation
u = 0
- Energy conservation follows directly from momentum conservation

Barotropic fluids: pressure depends only on density

- Energy equation is not needed

Potential flows: inviscid and rotation free

- Velocity field can be expressed as
gradient of scalar potential field
- Incompressible potential flows
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u =
= 0
13

Incompressible Navier-Stokes equations

u
1
+ (uu) + p ( u) = 0
t

u = 0

incompressible fluid
with constant density

can be discretized and solved with many methods:

Finite Differences
Finite Elements
Finite Volumes

point values
coefficients of basis functions
volume integrals

CFX is based on a finite volume method

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14

Dimensional analysis
Dimensional reference quantities
velocity

U0

length

density

temperature

T0
0

viscosity
pressure

p0 = 0U 02

time

0 = L U0

conductivity

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0
15

Dimensional analysis
Dimensionless numbers
Reynolds
number
Mach
number
Strouhal
number
Froude
number
Weber
number
Prandtl
number

Re = 0U 0 L 0

Inertial forces
Viscous forces

Ma = U 0 c0 = U 0

Advection velocity
Speed of sound

RT0

St = f t0 = f L U 0

Unsteady forces
Steady forces

Fr = U 0

Lg

Inertial forces
Gravity

2
0

Inertial forces
Surface forces

We = 0 LU

Pr = c p 0 0

Viscosity
Conductivity

Other important numbers:

Rayleigh-, Grashof-, Nusselt-, Schmidt-, Damkhler-,
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16

Weber number

We = 0 LU 02 0

small Weber number

large Weber number

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17

Strouhal number

St = f t0 = f L U 0

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18

Mach number
Ma = U 0 c0 = U 0

RT0

Transonic flow over circular cylinder at different Mach numbers

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19

Froude number
Fr = U 0

Lg

Two pictures of hydraulic jumps in Munich

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20

Reynolds number
Reynolds
number

Re = 0U 0 L 0

inertial forces
viscous forces(friction)

Navier-Stokes equations in dimensionless form

u
1
1
+ (uu) + p
u = 0
t

Re
u = 0

incompressible fluid
with constant density
and constant viscosity

Re << 1: creeping flow

Viscous forces are dominant.

The linear Stokes equation is valid for flows in porous media, in microfluidic devices, for coating processes, etc.

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21

Reynolds number
Reynolds
number

Re = 0U 0 L 0

inertial forces
viscous forces(friction)

Navier-Stokes equations in dimensionless form

u
1
1
+ (uu) + p
u = 0
t

Re
u = 0

incompressible fluid
with constant density
and constant viscosity

Re = O(1): laminar flow

Re >> 1: turbulent flow

Inertial forces are dominant

Nonlinearity leads to production of small scales (vortex stretching)

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22

Reynolds number
Reynolds
number

inertial forces
viscous forces(friction)

Re = 0U 0 L 0

Navier-Stokes equations in dimensionless form

u
1
1
+ (uu) + p
u = 0
t

Re
u = 0

incompressible fluid
with constant density
and constant viscosity

Creeping flow

- Re << 1: Viscous forces dominate

Laminar flow

- Re = O(1)

Turbulent flow

- Re >> 1: Inertial forces are dominant

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23

Reynolds number
Reynolds
number

inertial forces
viscous forces(friction)

Re = 0U 0 L 0

Astrophysics
1020
Re

Aerospace
Engineering

Meteorology
Ozeanology

Chemical Engineering /
Process Engineering
Biology

10-20
10-6
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Geology
1

106

1012
24