MECH2210 Fluid Mechanics

CHAPTER 06*****
Flow Analysis Using Differential Methods
Chapter 06 6.0 Introduction

 Understand the physical meanings of certain mathematical quantities

 Differential format of conservation laws
 Understand the concepts of stream function and velocity potential
 Basic potential flows
 Derivation and applications of the Navier–Stokes equations

Keywords: Element Kinematics

Stream function, Velocity potential
Potential flows, Navier-Stokes Equations
Chapter 06 6.1 Fluid Element Kinematics
6.1.1 Basic Motions of Fluid Elements

DV V V V V   
V  ui  vj  wk a  u v w  i  j k
Dt t x y z x y z
6.1.2 Liner Motion and Deformation u
y y     dxdydzdt
u C
x
B u  du B C C
B
d  u 1 d u
u  x  dxdydz 
dy dz udt dt x  dt x
 u  du  dt
u u  du Similarly, in y and z directions
O dx A x O O A A x
1 d v 1 d w
t t t  t  dt  
 dt y  dt z
OA  OA  AA  dx  udt   u  du  dt  dx  dudt Total volume change rate per unit volume
  dxdydz    dx  dudt  dydz 1 d  u v w
    V
 dt x y z
u
    dudydzdt du  dx
x Volumetric dilatation rate
Chapter 06 6.1 Fluid Element Kinematics
6.1.3 Angular Motion and Deformation
u 1  v u 
dudt  dydt
y y y z    
u  du C B C 2  x y  ω  x i   y j  zk
B u  y B
v  x d 1  w v  1
dy x     ω  V
dz v 2  y z  2
v  dv A dvdt  dxdt
v u x
V :
d 1  u w 
O dx A x O A x y     The curl of velocity
2  z x 
t t t  t  dt

d d i j k
OA  OB 
dt dt     w v   u w   v u 
V    i     j   k
v v x y z  y z   z x   x y 
d  tan  d   dxdt dx  dt
x x u v w
v u
OA  OB  1
x y Vorticity ζ  V ω ζ
2
Right hand rule to define counterclockwise
as positive  
v u If ζ  0 ω0 x   y  z  0 Irrotational Flow
OA  0 if 0 OB  0 if 0
x y
  d  d  Shearing strain
What is  z of the element
 u v
  lim  OA  OB   Rate of shearing strain
 z : The average of OA and OB  t 0  t y x
Chapter 06 6.2 Conservation of Mass
6.2.1 Differential Form

t C.V.
 d     V  ndA  0 Continuity Equation (Chapter 5)
C.S.

Inside the element   const

y dy
u u  du  
t C.V.
 d   dxdydz
   d t
z x
dz
dx
Total net mass flowrate
Mass conservation in x-direction    u    v     w  
    dxdydz  dxdydz  0
mass flowrate into the element  x y z  t
 uA   udydz     u     v     w 
   0 Continuity Equation
mass flowrate out of the element t x y z
udp
   d   u  du  A -Pan ,

  V
   u   du  ud   dud
-  dydz 
   V  0
t
net mass flowrate
  du  ud   dydz  d   u  dydz    dxdydz
 u For steady flows   V  0
x
In y and z-directions For incompressible flows
  v     w u v w
  0
dxdydz dxdydz V  0
y z x y z
Chapter 06 6.2 Conservation of Mass
6.2.2 Cylindrical Polar Coordinates
Cylindrical Polar Coordinates Cartesian Coordinates

ez e V  Vr e r  V e  Vz e z V  ui  vj  wk
er
1  1   u v w
V   rVr   V  Vz V   
x y z
r r r  z
 1  1   
r   r Vr    V    Vz   0    V  0
t r r r  z t

Example
u  x2  y2  z2
v  xy  yz  z
Determine w if the flow is incompressible
u v w
V  0   0
x y z

u v w 1 2
 2x  x z  3 x  z w  3 xz  z  f  x, y 
x y z 2
Chapter 06 6.2 Conservation of Mass
6.2.3 Stream Function What is the meaning of the value of  ?
Continuity Eq. for incompressible flows
u v w
V  0   0
x y z
For 2-D incompressible cases y

u v u   v  x
 0 
x y x y

Is it possible to relate u and v using a function?

 
If   x, y  has continuous second-order derivatives dq  udy  vdx  dy  dx  d
y x
 2  2   2
 u v q   d   2  1
xy yx y x 1

What exactly is   x, y  ?
The magnitude difference in  gives
  the flowrate between the streamlines
d  dx  dy  vdx  udy
x y defined by the  values (2)
On a curve on which  = const
d  vdx  udy  0
dy v
 streamline
 is valid for
dx u 2-D cases
 = const defines a streamline (1) consequence of mass conservation
 : stream function incompressible flows
Chapter 06 6.3 Conservation of Linear Momentum
6.3.1 Forces Acting on Differential Elements
Two types of forces: Body and Surface Forces
Body forces
Gravitational force  FB   m  g Other examples: Magnetic, Electrostatic Forces

Surface force  FS
 Fn
n is arbitrary  n  lim Normal stress
 A0  A

n 1 subscript can not

F
 1  lim 1 
 A 0  A tell the exact direction

 Shearing stresses
F
 2  lim 2 
 A 0  A

Double subscripts for normal and shearing stresses

 xx  xy  xz
y
Normal direction

Components
z x

Positive Directions
Chapter 06 6.3 Conservation of Linear Momentum
6.3.1 Forces Acting on Differential Elements
Total force on the element in the x-direction Stresses in the x-direction
 FS , x   xx  d xx  dydz   xx dydz
 yx  d yx dy
  yx  d yx  dxdz   yx dxdz   zx  d zx  dxdy   zx dxdy  zx
 xx  xx  d xx
 FS , x  d xx dydz  d yx dxdz  d zx dxdy  zx  d zx
0 y
0
 xx  xx  xx  yx  zx
d xx  dx  dy  dz d yx  dy d zx  dz  yx dz
x y z y z z x
dx
 xx  yx 
 FS , x  dxdydz  dxdydz  zx dxdydz
x y z  xx  yx 
dxdydz  dxdydz  zx dxdydz   dxdydz  g x
 xy  yy  zy x y z
 FS , y  dxdydz  dxdydz  dxdydz   dxdydz  ax
x y z
 xz  yz   xx  yx  zx  u u u u 
 FS , z  dxdydz  dxdydz  zz dxdydz x:     gx     u v w 
x y z x y z  t x y z 

 FS   FS , x i   FS , y j   FS , z k  xy  yy  zy  v v v v 
y:    gy     u  v  w 
x y z  t x y z 
 FB   m  g   m  g x i   m  g y j   m  g z k  xz  yz  zz  w w w w 
z:     gz    u v w 
x y z  t x y z 
 F   FS   FB   m  a   dxdydz  a
Equations of Motion
Chapter 06 6.4 Inviscid Flows
6.4.1 Euler’s Equation of Motion
Equations of Motion
0 0
 xx  yx  zx  u u u u  dy
x:     gx     u v w   xx
x y z  t x y z 
0 0
 xy  yy  zy  v v v v  p
y:    gy     u  v  w 
x y z  t x y z  dz
0 0 dx
 xz  yz  zz  w w w w 
z:     gz    u v w 
x y z  t x y z 

For inviscid flows (no shearing stresses) 6.4.2 Irrotational Flows

 xx   yy   zz   p 1 1
ω  ζ  V ζ : Vorticity
2 2
p  u u u u  
x:  g x    u v w  ω  0  x   y   z  0 Irrotational Flow
x  t x y z 

p  v v v v  v u w v
y:  g y    u v  w  u w
y  t x y z    
x y y z z x
p  w w w w 
z:  g z    u v w 
Example Uniform flows: V  const
z  t x y z 
y
u  u0 (const)
 V  u  u0
 g  p      V   V 
 t  v0
x w0
Euler’s Equations of Motion z
Chapter 06 6.4 Inviscid Flows
6.4.3 The Bernoulli Equation for Irrotational Flows
Euler’s Equations of Motion
If V     V   ds  0 assumption
 V 
 g  p      V   V  for inviscid flows dp1 1
 t   dV 2  gdz  0 dp   dV 2   dz  0
 2 2
For steady flows For incompressible fluids
 g  p    V    V 2 1 2 2 2

1
1 dp  2  1 dV   1 dz  0
V   V    V  V   V     V  Handout
2
g   gk   g  z
1
2
 2 2

p2  p1   V2  V1    z2  z1   0

1 1 1
p1  V1   z1  p2  V2   z2
2 2
  gz  p    V  V    V     V 
2 2 2
p 1 1
 V 2  g  z  V     V  p  V 2   z  c Bernoulli Equation
 2 2
p  ds 1 Under what conditions V     V   ds  0
  V 2  d s  g  z  ds  V     V   ds
 2
Along a streamline
streamline
V || ds V    V   V V     V   ds
ds  dxi  dyj  dzk
Other conditions?
For any variable 
   V  0 Irrotational Flows
   ds  dx  dy  dz  d
x y z
For irrotational flows, Bernoulli Equation can be
dp 1
 dV 2  gdz  V     V   ds applied between any two points in the flow field
 2
Chapter 06 6.4 Inviscid Flows
6.4.4 The Velocity Potential Stream Function v.s. Velocity Potential
For 2-D incompressible flows
Stream Function 
u v  
 0 u v  is valid for 2-D cases
x y y x
 consequence of mass conservation
Irrotational flows for incompressible flows
v u w v u w
  
x y y z z x
Velocity Potential f
A scalar function f  x, y, z  exists such that
f f f
 is valid for both 2-D and 3-D cases
u v w
x y z  guaranteed by irrotationality
V  f f : velocity potential
For irrotational and incompressible flows
For incompressible and irrotational flows
Both f and  satisfy Laplace’s Equation
V  0  f  0  f 0
2

 2f  2f  2f
f f f
2 2 2  2  2 0
  0 Laplace’s Equation (L.E.) x 2
y z
x 2 y 2 z 2
 2  2 v u
Flows governed by L.E. are called potential flows  0 
x 2 y 2 x y
Chapter 06 6.5 Basic Plane Potential Flows
For 2-D potential flows
 f   f 1 
 u   V  
x y  r
r r 
 Cartesian coordinates  Cylindrical coordinates
 v  f    V  1 f   
 y x   r  r
Since the flow is irrotational f3
v u  
2 2 f  const
u f  f1 f2
  2 0
x y x 2
y   const
f
v  1
Both f and  satisfy Laplace’s Equation
2
f 
v u 3
dy v 
 = const defines a streamline 
dx u
f = const what happens? Constant  and f lines are orthogonal

f f dy u f  f 
df  dx  dy  udx  vdy  0  f      uv  uv  0
x y dx v x x y y

6.5.1 Uniform Flows V  const

y  f f  const
U U y
u U y x
v0 u U   const
  Uy  C f  Ux  C
w0
x   Ur sin   C f  Ur cos   C
x
Chapter 06 6.5 Basic Plane Potential Flows
6.5.2 Source & Sink m : the volumetric flow rate per unit length perpendicular to the x-y plane
m  2 r  Vr
m Source m0
Vr  V  0
2 r Sink m0
f m m
Vr   f ln r
r 2 r 2
1  m m m : the strength of
Vr     the source/sink
r  2 r 2

6.5.3 Vortex Rotational or Irrotational? Irrotational Rotational

f  K
   K ln r
1 f K
V  
r  r
f
Vr  0
r
free vortex forced vortex
Circulation Line integral of the tangential component of the velocity taken around a closed curve in the flow field
For irrotational flows If there are singularities (free vortex) For free vortices
2 K  
   V  ds    f  ds   df  0    V  ds   rd  2 K f    ln r
C C C C 0 r 2 2
no singularities
Chapter 06 6.5 Basic Plane Potential Flows
6.5.4 Doublet Special combination of a source and a sink

m Source m0
 
2 Sink m0
m
  1  2 
2
a very small
m 1  2ar sin   mar sin 
  tan  2    
2  r a 
2
  r 2  a2 
ma
Doublet is formed by letting a  0 while keeping constant

K sin 
 
r ma
K Strength of the doublet
K cos  
f
r

K sin 
   c c sin   r cr sin   r 2
r

2 2
 c c
cy  x  y
2 2
x  y   
2

 2  2
 Chapter 06 6.6* Flows Around a Circular Cylinder
*This section is not required
Consider a flow generated by combining a Uniform flow and a Doublet
f  Ur cos  K sin  K cos 
Uniform flow:   Ur sin  Doublet:    f
r r
K sin  K cos 
Combined flow:   Ur sin   f  Ur cos  
r r
 R2   R2 
Set K  UR 2
  Ur 1  2  sin  f  Ur  1  2  cos  R: radius of the cylinder
 r   r 
Velocity field
f  R2 
Vr   U 1  2  cos 
r  r  Vr , s  0
If r  R
1 f  R2  V , s  2U sin 
V   U 1  2  sin 
r   r  R

Stagnation points on the surface V , s  0   0, 

How is the pressure & force distributions on the surface? px

1 1
p0  U 2  ps  V , s
2
p0 : p at a point far away upstream py
2 2
2
1 Fx    ps cos   Rd  0
ps  p0  U 2 1  4 sin 2   0

2 2
R

Fy    ps sin   Rd  0
0
Chapter 06 6.7 Viscous Flows
Equations of Motion

x:  xx  yx   zx   g x    u  u u  v u  w u 
x y z  t x y z 
 xy  yy  zy  v v v v 
y:    gy     u  v  w 
x y z  t x y z 

z:  xz  yz   zz   g z    w  u w  v w  w w 
x y z  t x y z 

u  u v 
 xx   p  2  xy   yx     
x  y x 
v  v w 
 yy   p  2   yz   zy      Viscous Fluids
y  z y 
w  w u 
 zz   p  2   zx   xz     
z
 x z 

 u u u u  p   2 u  2 u  2u 
x:    u  v  w      g x    2  2  2 
 t x y z  x  x y z 

 v v v v  p   2v  2 v  2v 
y:    u  v  w      g y    2  2  2  Navier-Stokes (NS) Equations
 t x y z  y  x y z 

 2w 2w 2w 

(Incompressible Flows)
 w w w w  p
z:    u  v  w      g z    2  2  2 
 t x y z  z  x y z 
Chapter 06 6.8 Simple Solutions for Viscous, Incompressible Flows
6.8.1 Flow Between Two Parallel Plates
y
uu v0 w0 or
u v w u
u  u  y
x
Continuity Equation   0 0
(Incompressible) x y z x

0 0 0 0 0 0 0
 u u u u  p  u  u  u 2 2 2
p  2u d 2u 1 p
x:    u  v  w      gx    2  2  2  0  2  -----(a)
 t x y z  x  x y z 
-
x y dy 2  x
0 0 0 0 0
 v v v v  p  v
2
v
2
 v
2
p
y:   t  u x  v y  w z    y   g y    x 2  y 2  z 2  0  gy p    gy  f1  x 
    y
0 0 0 0 0 0
 w w w w  p  w 2
 w 2
 w2
p
z:   t  u x  v y  w z    z   g z    x 2  y 2  z 2  0 p  p  x, y 
    z

Integrate Eq. (a) Boundary conditions (BC)

du 1 p 1 p 2 u  0 at y   h Stick BC 1 p 2

dy  x
y  C1 u
2  x
y  C1 y  C2
1 p 2
u
2 x
 y  h2 
p C1  0; C2   h
( is independent of y) 2  x h 2 p 3
x umax   V
2 x 2
p u p p
? 0  f  x  const
x x x x p
f1  x   x  p0 p0 is the reference p
Volumetric flow rate (per unit length in z-direction) x
h 2h3 p p p 2h3p h 2 p p
q   udy    q  V  2h V  p    gy  x  p0
h
3 x x l 3 l 3 l x
Chapter 06 6.8 Simple Solutions for Viscous, Incompressible Flows
6.8.2 Couette Flow (Shear Flow)
u U
uu v0 w0
u v w u
b Continuity Equation   0 0 u  u  y
y x y z x
(Incompressible)
x

0 0 0 0 0 0 0
 u u u u  p   u  2u  2u  2
p  2u d 2u 1 p
x:    u  v  w      gx    2  2  2  0  2  -----(a)
 t x y z  x  x y z  x y dy 2  x
0 0 0 0 0
 v v v v  p  v
2
v
2
 v
2
p
y:   t  u x  v y  w z    y   g y    x 2  y 2  z 2  0  gy p    gy  f1  x 
    y
0 0 0 0 0 0
 w w w w  p  w  w  w 2 2 2
p
z:   u v  w      gz    2  2  2  0 p  p  x, y 
 t x y z  z  x y z  z

Integrate Eq. (a)

U 1 p
1 p 2 u  0 at y  0 C1   b
u y  C1 y  C2 Stick BC b 2  x
2  x u  U at y  b C2  0

y 1 p 2 b 2 p y  y 
u U 
b 2 x
 y  by  u y
  1  
U b 2 U x b  b 

u y y y b 2 p
  P 1   P
U b b b 2U x
Chapter 06 6.8 Simple Solutions for Viscous, Incompressible Flows
Example Vfilm  ? 0 0 0 0 0 0
 u u u u  p  u 2
u 2
 u2
p
x:    u  v  w      g x    2  2  2  0
 t x y z  x  x y z  x
0 0 0 0 0 0 0
 v v v v  p  v  v  v 2 2 2
d 2v
y:    u  v  w     gy    2  2  2  0    g   2 ---(b)
 t x y z  y  x y z  dx
0 0 0 0 0 0
 w w w w  p  w 2
 w 2
 w2
p
z:    u  v  w      g z    2  2  2  0
 t x y z  z  x y z  z

u v w v
u0 vv w0   0 0 v  v  x
x y z y

1 2 p1  p2
p  p  y On the free surface: p2  p4 p1  p3 p  const
3 4 p3  p4

Integrate Eq. (b) Boundary conditions (BC) Volumetric flow rate

 2 v  V0 at x  0 C2  V0
h  h3
v x  C1 x  C2 q   vdx  V0 h   Vh
2
0 3
v
  0 at x  h  
x  h2
 2 h v  h V  V0 
v x  x  V0  x  C1  0 at x  h C1   3
2  x  
Chapter 06 6.8 Simple Solutions for Viscous, Incompressible Flows
6.8.3 Poiseuille Flow
p
Vr  0 V  0 Vz  Vz r: 0    g sin   ---(a)
r
1  1   1 p
 rVr   V  Vz  0 : 0    g cos   ---(b)
r r r  z r 
 p  1   Vz 
Vz  0 z: 0    ---(c)
z r 
z  r r  r 

 Vr Vr V Vr V2 V  p  1   Vr  Vr 1  Vr 2 V  Vr 

2 2

r:   Vr    Vz r      g r    r  2  2   2 
 t r r  r z  r  r r  r  r r  2 r 2  z 

 V V V V V V V  1 p  1   V  V 1  V 2 Vr  V 
2 2

:     Vr      r   Vz 
r 
  
r 
  g    r  2  2 
r  2 r 2 
 2 
 t r r z   r r  r  r z 

 V V V V V  p  1   Vz  1  Vz  Vz 
2 2

z:   z  Vr z   z  Vz z      gz    r  2  2 
 t r r  z  z  r r  r  r 
2
z 

(a) p    gr sin   f1  , z  Boundary conditions (BC) Flow rate

1 p 2
(b) p    gr sin   f 2  r , z  Vz  0 at r  R C2   R dQ  Vz  2 rdr Q R 2 p
4  z V  
 R2 8 l
R  R 4 p
p    gr sin   f  z  Vz is finite at r = 0 C1  0 Q  2  Vz rdr  
0 8 z Vmax  2V
1 p 2 1 p 2   r 2 
(c) Vz 
4 z
r  C1 ln r  C2 Vz 
4 z
 r  R   Vmax 1   R  
2 p

p
Q
 R 4 p
Poiseuile’s Law
    z l 8 l
Chapter 06 6.9 Complex Flows
Numerical Simulations (not required) Solve Navier-Stokes Equations
Finite element method
Finite difference method
Direct numerical simulation
Large eddy simulation
…
d 2u 1 p

dy 2  x
y x

u u  i, j  1  u  i, j  u u  i, j   u  i, j  1
 
i, j  1 y i , j  y y i , j  y
i  1, j i, j i  1, j forward difference backward difference
i, j  1
u
u  i, j   u  i, j  1  y 
y i , j 

u  i, j  1  u  i, j  u  i, j   u  i, j  1

 2u u y  i, j  1  u y  i, j  y y u  i, j  1  2u  i, j   u  i, j  1
  
y 2 i , j  y y y 2
Chapter 06 6.9 Complex Flows
Numerical Simulations (not required) Solve Navier-Stokes Equations

Computational Fluid Dynamics: 3D mesh of a fighter aircraft

Chapter 06 6.10 Summary
Element Kinematics
V Volumetric dilatation rate Continuity equation
V Curl of velocity 1
Angular velocity ω  V Vorticity ζ  V
2

Continuity Equation
 u v w
   V  0   V  0 V  0   0
t x y z

Stream Function  and velocity potential f

 is valid for 2-D cases  is valid for both 2-D and 3-D cases
 consequence of mass conservation  guaranteed by irrotationality
for incompressible flows

 = const defines a streamline f = const lines are orthogonal to streamlines

Basic Plane Potential Flows

Uniform flows
Source/Sinks
What is a potential flow? Bernoulli equation and Irrotational flows
Vortex
Doublet
Chapter 06 6.10 Summary
Navier-Stokes (NS) Equations

 u u u u  p   2 u  2 u  2u 
x:    u  v  w      g x    2  2  2 
 t x y z  x  x y z 

 v v v v  p   2v  2 v  2v 
y:    u  v  w      g y    2  2  2 
 t x y z  y  x y z 

 w w w w  p  2w 2w 2w 

z:    u  v  w      g z    2  2  2 
 t x y z  z  x y z 

Viscous and Incompressible Flows

Simplification
Boundary conditions
Examples