2.

Fluid-Flow Equations

Governing Equations

Conservation:
mass momentum energy (other constituents)

Alternative forms:
integral (control-volume) equations differential equations

Integral (Control-Volume) Approach

Consider the budget of any physical property in a control volume

RATE OF CHANGE inside V

NET FLUX out of boundary

SOURCE inside V

RATE OF CHANGE + ADVECTION + DIFFUSION = SOURCE through boundary of V inside V inside V

Finite-volume method for CFD

Mass Conservation (Continuity)

Physical principle: mass is neither created nor destroyed
d ( mass) = net inward mass flux dt d ( mass) + net outward mass flux = 0 dt
V

V A

un

Mass in cell:

Mass flux through a face: C = un A = u A

d ( V) + dt

u A
faces

= 0

d dV + u dA = 0 dt V V

Mass Conservation - Differential Form

t

d ( mass) + net outward mass flux = 0 dt

w
y

n s b
x

d ( V ) + (uA) e (uA) w dt

+ (vA) n (vA) s

+ (wA) t (wA) b

=0

d ( x y z ) + [(u )e (u ) w ] y z + [(v) n (v) s ] z x + [(w) t (w)b ] x y = 0 dt

d dt + (u ) e (u ) w x + (v ) n (v ) s y + (w) t (w) b z = 0

(
u ) (
v) (
w) + + + =0 t x y z

+ ( u) = 0 t

Differential Form (Faster Derivation)

d

dV + u dA = 0 V dt V 4 24 3 1 4 24 3 1
mass in cell net mass flux

fixed control volume

divergence theorem

+ ( u) dV = 0 V t

volume V is arbitrary

+ (
u) = 0 t

Mass Conservation (Summary)

d ( mass) + net outward mass flux = 0 dt

Integral:
d dV + u dA = 0 dt V V

Differential:
+ ( u) = 0 t

Finite-volume form:
d ( V) + dt

u A
faces

= 0

Momentum Equation
Momentum Principle: force = rate of change of momentum

If steady: force = (momentum flux)out (momentum flux)in

If unsteady: force = d/dt(momentum inside control volume) + (momentum flux)out (momentum flux)in

Momentum Equation
Physical principle: rate of change of momentum = force

d ( momentum) + net momentum flux = force dt

V A
Momentum in cell = mass u
= ( V )u = ( u A)u

un

Momentum flux through a face = mass flux u

d ( mass u) + dt

(mass flux u)
faces

= F

Fluid Forces
Surface forces (proportional to area): pressure viscous force:
y

stress =

force area

= u
y

Body forces (proportional to volume):

z

force density =

force volume

gravity:

(0,0, g )

g
axis R

2 R

centrifugal force:

2R
2

Coriolis force:

In inertial frame

In rotating frame

Momentum Equation
d ( momentum) + net momentum flux = force dt
z

w
y

n s b
x

d ( Vu ) + (uA) e u e (uA) w u w + (vA) n u n (vA) s u s + (wA) t u t (wA) b u b dt = p w Aw p e Ae + viscous and other forces

d ( x y z u ) + [(u ) e ue (u ) w u w ] y z + [(v) n un (v) s u s ] z x + [(w)t ut (w)b ub ] x y dt = ( pw pe ) y z + viscous and other forces

d(u) dt + (uu )e (uu ) w (vu) n (vu) s (wu )t (wu )b + + x y z (p p ) = e w + viscous and other forces x

( u ) ( uu ) (vu ) ( wu ) p + + + = + 2 u + other forces t x y z x

Momentum Equation (Summary)

d ( momentum) + net momentum flux = force dt

Integral:
d  u u dA =
dA + f dV i ij ui dV + j V i dt V V V
ij ( ui ) + ( uiu) = + fi t x j

Differential:

Finite-volume form:
d ( mass ui ) + dt

(mass flux u )
i faces

= Fi

General Scalar
u
Rate of change + net outward flux = source = concentration (amount per unit mass) Amount in cell: Flux through a face: advection: diffusion: Source:
d  ( V ) + dt
V

V A

un

(mass concentration)

( uA)

(mass flux concentration) (diffusivity gradient area)

S = sV

(uA
faces

A) = s V

d   dV + ( u ) dA = s dV dt V V V

Momentum Components as General Scalars

General scalar-transport equation: d  ( V) + (C A) = S n dt faces Momentum equation: d ( Vu) + Cu = dt faces
d  ( Vu ) + dt
u ( A) + other forc es n faces 1 4 24 3
viscous forces

(Cu
faces

u A) = other forces n

u, v, w satisfy individual scalar-transport equations: concentration, velocity diffusivity, viscosity source, S other forces Differences: non-linear coupled also have to be mass-consistent

Differential Equations For Fluid Flow

Forms of the equations in primitive variables are: Conservative:
can be integrated directly to give a control-volume equation

Non-conservative:
material derivative following the flow

Other forms of the equations include those for: Derived variables:

e.g. velocity potential; stream function.

Example

d 2 ( y ) = g ( x) dx

conservative

2y

dy = g ( x) dx

non-conservative

Same equation! but only the first can be integrated directly

Rate of Change Following the Flow

(Non-conservative or Lagrangian equations)
(t , x )
d dxi + dt t xi dt D + ui Dt t xi

Total derivative (following any path x(t) Material derivative (following the flow):

(x(t), y(t), z(t))

conservative form
( ) + ( u) + ( v) + ( w) z t x y

non-conservative form
(mass conservation)
D Dt

e.g. momentum equation:

mass accelerati on

Du = p + 2u t3 1 x 43 D4 1 4 2 42
forces

Example
In 2-d flow the continuity and x-momentum equations can be written in conservative form as p 2 ( u ) + (uu ) + (vu ) = + u + ( u ) + (v) = 0 t x y x t x y respectively. (a) Show that these can be written in the equivalent non-conservative forms: D u v Du = p + 2 u + ( + )=0 x y Dt x Dt (b) Define what is meant by the statement that a flow is incompressible. To what does the continuity equation reduce in incompressible flow? (c) Write down conservative forms of the 3-d equations for mass and x-momentum. (d) Write down the z-momentum equation, including gravitational forces and show that, for constant-density flows, pressure and gravity can be combined in the momentum equations as axis the piezometric pressure p + gz.
R

2 R

(e) In a rotating reference frame there are additional apparent forces (per unit volume): 
2R r centrifugal force:  ( r ) or 2 u Coriolis force: where is the angular velocity of the reference frame, u is the fluid velocity in that frame, r is the position vector and R is its projection perpendicular to the axis of rotation. By writing the centrifugal force as the gradient of some quantity show that it can be subsumed into a modified pressure. Also, find the components of the Coriolis force if rotation is about the z axis.

Non-Dimensionalisation
Form non-dimensional variables using length (L0), velocity (U0) and density ( 0) scales: p pref t x u * = , t* = p* = 2 , etc. x* = , , u* = , L0 L0 /U 0 U0 0 0U 0
x = L0 x * , t= L0 * t , U0 u = U 0u* ,

= *,
0

p = p ref + 0U 02 p * ,

etc.

Substitute into the governing equations:

Du = p + 2 u x Dt

U 2 Du * 0 0 *
L0 Dt *

U 2 p* U 0 0 0
L0 x* + L2 0

* u *

*2 * * Du * = p * + U L u Dt * x * 0 0 0 * D u * = p * + 1 * 2 u *
Dt * x * Re
U L 0 0 0

Identify important dimensionless groups:

Re =

Advantages of Non-Dimensionalisation

All dynamically-similar problems (same Re etc.) can be solved with a single computation The number of parameters is reduced It indicates the relative size of different terms in the governing equations; in particular, which might be neglected Computational variables are similar size, yielding better numerical accuracy

Example
The momentum equation for a viscous fluid in a rotating reference frame is Du = p + 2u 2 u (*) Dt where is density, u = (u,v,w) is velocity, p is pressure, is dynamic viscosity and is the angular-velocity vector of the reference frame. (a) If = (0,0, ) write down the x and y components of the Coriolis force (2 u). (b) Hence write the x- and y-components of equation (*).

(c) Show how equation (*) can be written in non-dimensional form in terms of a Reynolds number Re and Rossby number Ro.

Summary (1)
The fluid-flow equations are conservation equations for: mass momentum energy (additional constituents) The equations can be written in equivalent integral (control-volume) or differential forms The finite-volume method is a direct discretisation of the control-volume equations Differential forms of the flow equations may be conservative or nonconservative and may be in primitive or derived variables For any conserved property and arbitrary control volume: rate of change + net outward flux = source

Summary (2)
There are really just two canonical equations to solve: mass conservation (continuity) a generic scalar-transport equation Each momentum component satisfies its own scalar-transport equation However, the momentum equations are: non-linear coupled also required to be mass-consistent Non-dimensionalisation: solves dynamically-similar (Re, Fr, Ro, ) flows with a single computation reduces number of relevant parameters identifies relative importance of terms in governing equations maintains numerical variables of similar size