What is Mathematical Modelling?

MAT 514/4 Mathematical Modelling

THE BASIC OF MATHEMATICAL MODELLING The process of formulating an abstract model in terms of
& mathematical language to describe the complex behaviour of
FLUID MECHANICS a real system.

NOTE 1 Most models simplify reality.

Generally, models can only approximate real-world behaviour or

engineering process.

Why do we need mathematical modelling??

School of Mathematical Sciences

Semester 1, 2015/2016

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Why Do We Need Mathematical Modelling? Modelling in Engineering

The description of most scientific problems involve equations that

An engineering device or process can be studied experimentally.
relate the changes in some key variables to each other.
However, it is expensive, time-consuming and often
Usually the smaller the increment chosen in changing variables, the
impractical.
more general and accurate the description.
For example, the entire heating and plumbing systems of the
In the limiting case of infinitesimal or differential changes in
building must usually be sized before the building is actually built.
variables, we obtain differential equations that provide precise
So, why mathematical modelling? mathematical formulations for the physical principles and laws by
representing the rates of change as derivatives.
1. Develop scientific understanding (through quantitative
expression of current knowledge of a system). Therefore, differential equations are used to investigate a wide
2. Test the effect of changes in a system. variety of problems in sciences and engineering.
3. Aid decision making.
Example??

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Modelling in Engineering Example: Flow in a pipe
Basically, the study of physical phenomena involves two steps:
The laminar flow of a viscous fluid through a pipe of radius r = a
and length L is under a constant pressure gradient
1. All the variables that affect the
phenomena are identified, reasonable ∇p = ∆P/L = (Po − Pi )/L,
assumptions and approximations are made,
and the interdependence of those variables is where Po and Pi (< Po ) are the pressures at the outlet and the
studied. The relevant physical laws and inlet, repectively.
principles are invoked, and the problem is
formulated mathematically. The equation The drag force is balanced by pressure change, and this leads to
itself is very instructive as it shows the degree  
∆P 1 d dv (r )
of dependence of some variables on others, =η r ,
and the relative importance of various terms. L r dr dr

where v (r ) is the velocity of the fluid, and η is the viscosity of the

2. The problem is solved using an appropriate
fluid.
approach, and the results are interpreted.

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Example: Flow in a pipe Example: Flow in a pipe

Solutions:
1. What is v (r ) if
1. The velocity is
I the velocity must be finite at r = 0, and
∆p 2
v = 0 at r = a? a − r2 .


I v (r ) = −
4ηL
2. What is the total flow rate, Q given that 2. The flow rate is
π∆P 4
Z a Q=− a .
Q= 2πrv (r ) dr ? 8ηL
0
The flow rate is proportional to the pressure gradient and inversely
3. What happen to Q if you double the radius of the pipe? proportional to the viscosity.

3. Double the radius of the pipe, the flow rate will increase to 16
times.

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Modelling in Engineering To summarise...

Real-world Simplification
Model
problem
However...
many problems encountered in practice can be solved without
resorting to differential equations and the complications associated Verification Analysis
with them.

Mathematical models can also be statistical models, fuzzy logic

models and empirical relationships. Predictions/ Mathematical
explanations Interpretation conclusions

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Problem-solving Techniques Step 1: Problem statement

Seven steps to follow!

Step 1 Problem statement

I In your own words, briefly state the problem, the key
Step 2 Schematic diagram information given and the quantities to be found.
Step 3 Assumptions & approximations
I This is to make sure that you understand the problem and the
Step 4 Physical laws
objectives before you attempt to solve the problem.
Step 5 Properties
Step 6 Calculations
Step 7 Reasoning, verification & discussion

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Step 2: Schematic diagram Step 3: Assumptions & Approximations

I Draw a realistic sketch of the physical system involved and list

the relevant information on the figure.
I The sketch does not have to be something elaborate, but it I State any appropriate assumptions and approximations
should resemble the actual system and show the key made to simplify the problem to make it possible to obtain a
features. solution.

I Indicate any energy and mass interactions with the I Justify the questionable assumptions.
surroundings.
I Listing the given information on the sketch helps one to see I Assume reasonable values for missing quantities that are
entire problem at once. necessary.

I Also check for properties that remain constant during a

process (such as temperature during an isothermal process)
and indicate them on the sketch.

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Step 4: Physical Laws Step 5: Properties

I Apply all the relevant basic physical laws and principles

(such as the conservation of mass), and reduce them to their
I Determine the unknown properties at known states necessary
simplest form by utilizing the assumptions made.
to solve the problem from property relations or tables.
I However the region to which a physical law is applied must be
I List the properties separately and indicate their source, if
clearly identified first. For example, the increase in speed of
applicable.
water flowing through a nozzle is analyzed by applying
conservation of mass between the inlet and outlet of the
nozzle.

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Step 6: Calculations
I Substitute the known quantities into the simplified relations
and perform the calculations to determine the unknowns.
I Pay particular attention to the units and unit cancellations,
and remember that a dimensional quantity without a unit is
meaningless.
I Also, do not give a false implication of high precision by
copying all the digits from the screen of the calculator - round
the results to an appropriate number of significant digits.
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What is Fluid Mechanics?
Mechanics The oldest physical science that deals with both
stationary and moving bodies under the influence of
forces.
Statics A branch of mechanics that deals with bodies at
rest.
Dynamics A branch of mechanics that deals with bodies in
motion.
Fluid mechanics
A science that deals with the behaviour of fluids
I at rest (fluid statics)
I in motion (fluid dynamics)
and the interaction of fluids with solids or other fluids at the
boundaries.
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Step 7: Reasoning, Verification & Discussion
I Check to make sure that the results obtained are reasonable and
intuitive and verify the validity of the questionable assumptions.
I Repeat the calculations that resulted in unreasonable values.
I Point out the significance of the results and discuss their
implications.
I State the conclusions that can be drawn from the results and any
recommendations that can be made from them.
I Emphasize the limitations under which the results are applicable
and caution against any possible misunderstandings and using the
results in situations where the underlying assumptions do not apply.
I Keep in mind that the analysis and solutions you present to others,
is a form of communication. Therefore neatness, organization,
completeness and visual appearance are of utmost importance for
maximum effectiveness.
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Categories of Fluid Mechanics
Hydrodynamics
A study of the motion of fluids that are practically incompressible
(such as liquids especially water and gases at low speed).
Examples: The flows of liquid in pipes and open channels
(hydraulics).
Gas dynamics
A flow of fluid that undergo significant density changes.
Examples: The flow of gases through nozzle at high speed.
Aerodynamics
A flow of gases (especially air) over bodies.
Examples: Aircraft, rockets and automobiles at high or low speed.
Meteorology, Oceanography, Hydrology
Naturally occurring flows.
Example: Lava flow.
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What is Fluid? Fluid vs. Solid

Distinction between a solid and a fluid is made on the basis of the

substance’s ability to resist an applied shear (or tangential)
From physics, a substance exists in three primary phases: stress that tends to change its shape.
I solid
I liquid A solid can resist an applied shear stress by deforming, whereas a
I gas fluid deforms continuously under the influence of shear stress, no
matter how small.
Fluid is a substance in liquid or gas phase. When a constant shear force is applied, a solid eventually stops
deforming, at some fixed strain angle, whereas a fluid never stops
deforming and approaches a certain rate of strain.

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Fluid vs. Solid Stress

The normal component of the force acting on a surface per unit
area is called the normal stress.
Recall from statics that stress is defined as force per unit area. It
is determined by dividing the force by the area upon it acts. The tangential component of a force acting on a surface per unit
area is called shear stress.
Solid Fluid

In a fluid at rest, the normal stress is called pressure.

F F V
A A h

In solid, stress is proportional to In fluid, stress is proportional to

strain. strain rate.

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Shear Stress Areas of Application

I Astrophysics/galactic dynamics
The supporting walls of a fluid eliminate shear stress, and thus a I Meteorology & oceanography
fluid at rest is at a state of zero shear stress.
I Environmental fluid dynamics
When the walls are removed or a liquid container is tilted, a shear
develops and the liquid splashes or moves to attain a horizontal I Aeronautics
free surface. I Industrial fluid dynamics
I Biological fluid dynamics

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Classification of Fluid Flows Viscous vs. Inviscid Regions of Flow

Viscous regions of flow is quantified by the fluid property viscosity,
which is a measure of internal stickiness of the fluid.
I Viscous vs. inviscid regions of flow
VIscous region: Regions
I Internal vs. external flow
where frictional effects
I Incompressible vs. compressible flow are significant. Usually
close to solid surface.
I Laminar vs. turbulent flow
Inviscid region: Regions
I Natural (free) vs. forced flow
where frictional forces
I Steady vs. unsteady flow are small compared to
inertial or pressure force.
I 1,2 and 3-dimensional flows
Neglecting the viscous terms turn to inviscid regions of flow, which
simplifies the analysis.

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Internal vs. External Flow Incompressible vs. Compressible Flow
Incompressible flow: Density remain nearly constant throughout
the flow. Liquid flows are typically incompressible.
Internal flow: Bounded flow. Compressible flow: Vice versa of incompressible flow. Gas flows are
Dominated by the influence of often compressible, especially for high speeds.
viscosity throughout the flow field.
Mach number, Ma = V /c, where V I Ma < 0.3 (Incompressible)
I Ma < 1 (Subsonic)
is the flow velocity and c is the speed
External flow: Unbounded flow. of sound, is a good indicator of I Ma = 1 (Transonic/Sonic)
Viscous effects are limited to whether or not compressibility effects
I Ma > 1 (Supersonic)
boundary layer and wake. I Ma  1 (Hypersonic)
are important.

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Laminar vs. Turbulent Flow Natural vs. Forced Flow

inertial force
Reynolds number, Re = is the key parameter to
viscous force
determine the flow.

Laminar flow: Highly ordered fluid motion with

Natural (free) flow: Fluid motion is due to natural means such as
smooth streamlines. Occurs at low Re.
the bouyancy effect.

Transitional flow: A flow that contains both Forced flow: A fluid is forced to flow by external means such as a
laminar and turbulent regions. pump or a fan.

Turbulent flow: Highly disordered fluid motion

characterized by velocity fluctuations and
eddies. Flows are rather chaotic. Occurs at
high Re.

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Steady vs. Unsteady Flow 1,2 and 3-Dimensional Flows
A flow field is best characterized by the velocity distribution.
Thus, a flow is said to be 1, 2 or 3-dimensional if the flow velocity
Steady flow: Flow does not change at any varies in 1, 2 or 3 primary dimensions, respectively.
point with time. The transient terms are zero Navier-Stokes equations are 3D vector equations. Velocity vectors:
(∂V/∂t = ∂p/∂t = 0). V(x, y , z, t) = hVx (x, y , z, t), Vy (x, y , z, t), Vz (x, y , z, t)i.
Lower dimensional flows reduce the complexity of analytical and
numerical solutions.!
Unsteady flow: Opposite of steady flow. Change in the coordinate system (cylindrical, spherical, etc.) may
May appear steady if ’time-averaged’. facilitate the reduction of order. Example: For fully developed
I Transient flow: Usually describes a pipe flow, velocity V (r ) is a function of radius r and pressure p(z)
starting or developing flow. is a function of distance z along the pipe.
I Periodic flow: Flow which oscillates
about a mean.

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The No-slip Condition The No-slip Condition

!

Fluid flow is often confined by solid surfaces and it is important to

understand how the presence of solid surfaces affects fluid flow.
We know that water in a river cannot flow through large rocks and
goes around them. That is the water velocity normal to the rock
surface most be zero, and water approaching the surface normally
comes to a complete stop at the surface.
What is not so obvious is that water approaching the rock at any
angle also comes to a complete stop at the rock surface, and thus
the tangential velocity of water at the surface is also zero.
Consider the flow of a fluid in a stationary pipe or over a solid
surface that is nonporous (i.e. impermeable to the fluid).
All experimental observations indicate that a fluid in motion comes
to a complete stop at the surface and assumes a zero velocity
relative to the surface. That is, a fluid in direct contact with a solid
”stick” to the surface due to viscous effects, and there is no slip.
This is known as the no-slip condition.

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The No-slip Condition The No-slip Condition
A fluid layer adjacent to a moving surface has the same velocity as
The layer that sticks to the surface slows
the surface.
the adjacent fluid layer because of
viscous forces between the fluid layers, A fluid flowing over a
which slows the next layer, and so on. stationary surface comes
Therefore, the no-slip condition is to a complete stop at the
responsible for the development of the surface because of the
velocity profile. no-slip condition.

The flow region adjacent to the wall in

which the viscous effects (and thus the
velocity gradients) are significant is called as a result of the fluid sticking to the
the boundary layer.
The fluid property responsible for the
no-slip condition and the development of
the boundary layer is viscosity.
The evolution of a velocity gradient
surface of a blunt nose.
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Consequences of the no-slip condition:
1. All velocity profiles must have zero values with respect to
the surface at the points of contact between a fluid and a solid
surface.
2. Surface drag: the force a fluid exerts on a surface in the flow
direction.
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The No-slip Condition To summarise...

When a fluid is forced to flow over a curved surface, such as the
back side of a cylinder at sufficiently high velocity, the boundary
layer can no longer remain attached to the surface, and at some
No-slip condition: A fluid in direct contact with a solid “sticks”
point it separates from the surface, which is a process called flow
to the surface due to viscous effects.
separation.
Responsible for generation of wall shear stress τw , surface drag
The no-slip condition applies everywhere along the surface, even R
D = τw dA, and the development of the boundary layer.
downstream of the separation point.
Important boundary condition in formulating initial boundary value
problem (IBVP) for analytical and computational fluid dynamics
analysis.

Flow separation during flow over a curved surface.

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The No-temperature-jump Condition

A similar phenomenon occurs for temperature.

When two bodies at different temperatures are brought into

contact, heat transfer occurs until both bodies assume the same
temperature at the points of contact (thermal equilibrium).
Therefore, a fluid and a solid surface have the same temperature at
the points of contact.

This is known as no-temperature-jump condition.

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