CFD I

CFD I
Universidad de A Corua
Escuela Tcnica Superior de Ingenieros de Caminos, Canales y Puertos
Computational Fluid Dynamics I
Pablo Rodrguez-Vellando Fernndez-Carvajal
CFD I
Hochschule Magdeburg-Stendal
Fachbereich Wasser und Kreislaufwirtschaft
First term, MSc International Master in Water Engineering, 6 ECTS
Lectures timetable: Tuesday and Thursday 12:45-14:35
Grades: Attendance + Courseworks
Lecturers
Pablo Rguez-Vellando
Hctor Garca Rbade
J aime Fe Marqus
CFD I
Main Bibliography
G. Carey, J. Oden, Finite Elements, Prentice-Hall,1984
A. Chadwick, Hydraulics in Civil Engineering, Allen&Unwin, 1986
J. Donea, Finite Element Methods for Flow Problems Wiley, 2003
J. Ferziger, M. Peric, Computational methods for Fluid Dynamics
P. Gresho, R Sani, Incompressible flow and the finite element method, Wiley, 2000
O. Pironneau, Finite Element Methods for Fluids, Wiley, 1989
J. Puertas Agudo, Apuntes de Hidrulica de Canales, Nino, 2000
Singiresu Rao, The Finite Element Method in Engineering, Elsevier 2005
O. C. Zienkiewicz, R.L. Taylor, The Finite Element Method. Vol 3, Fluid dynamics, Mc
GrawHill
CFD I
0. Introduction to CFD. Revision of concepts (6h)
1. Open channel flow. A revision
2. Saint-Venant equations. CW1
2. Introduction to CFD
3. Mathematical preliminaries
1. Governing equations (6h)
1. Navier-Stokes
2. Potential, stream function, stokes flow
3. Shallow Water equations
4. Convection-diffusion eq
2. Finite elements and fluids hydrodynamics (24 h)
1. Finite elements and fluids
2. Variational and weighted residuals methods CW2
3. Discretization
4. Potential flow CW3 ,CW4
5. Stokes flow
6. Stable velocity-pressure pairs
7. Unsteady convective flow
8. Penalty methods
9. Shallow water equations
10. Stabilizing techniques
11. Flow in porous media
12. Conservative transport
13. Non-isothermal transport of reactives
3. Introduction to Finite Volumes (8h)
4. End user programmes (20h)
1. MATLAB (8h)
2. HEC-RAS (4h) CW5
3. SMS//RMA2 (8h) CW6
CFD I
CFD I
( )
( ) y Fr
y I i
y
2
1
=
'
0
1
2
3
4
5
-12000 -10000 -8000 -6000 -4000 -2000 0
y
x
Example 1
0
2
2
2
2
2
=
c
c
+
c
c
= V = A
y x
| |
| |
CFD I
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
w
y
w
x
w
z
p
f
z
w
w
y
w
v
x
w
u
t
w
z
v
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
v
y
v
x
v
y
p
f
z
v
w
y
v
v
x
v
u
t
v
y
v
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
u
y
u
x
u
x
p
f
z
u
w
y
u
v
x
u
u
t
u
x
v
0 =
c
c
+
c
c
+
c
c
z
w
y
v
x
u
CFD I
CFD
I
CFD I
In previous subjects we have regarded the Open Channel and Pipe flows
In the pipe flow the geometry is given and the unknowns are the pressure p(x,t)
and the velocity v(x,t). Some computational approaches have been regarded (e.g.
EPANET)
In the open channel flow there is a hydrostatic distribution of pressures, the
unknowns are the shape (depth y(x,t)) and the velocity. Some computational
approaches have been regarded (e.g. HEC-RAS)
CFD I
p
p(z)
z y
As we can recall, the one dimensional flow in channels depends on space
(x) and time (t) and can be characterized as
CFD I
Open channel
Gradually varied flow
Flow profiles (Curvas de remanso)
Non-uniform
Uniform (i=I)
Steady flow
Rapidly varied
Gradually varied
Unsteady
Rapidly varied flow
Broadcrested weir, hydraulic
jump, sudden discharge
variations,
0 = c c t /
0 / = c c x
The open channel flow takes place into natural channels and also in irrigation,
navegation, spillways, sewers, culverts and drainage ditches
Prismatic channels are assumed (all the cross sections are equal)
Basic notation
Depth (y), Stage (h) height from datum, Area (A), Wetted perimeter (P), Surface
width (B), Ground height from datum (z)
Hydraulic radius (R), (R=A/P)
Hydraulic mean depth (Dm), (D=A/B)
CFD I
x
y(x,t)
v(x,t)
A
P
B
h
z
Saint-Venant equations allow for a resolution of the one dimensional flow
The continuity equation is given by the conservation of mass as
The dynamic equation is given by the conservation of momentum as
In these differential equations the unknowns are the velocity v and the depth y for a given horizontal
direction x
i is the geometric slope (i=-dz/dx)
I is the friction slope (I=- dE/dx)
E is the Energy per unit weight given by Bernoullis eq as, E=z+y+v
2
/2g=z+p/g+v
2
/2g
0 =
c
c
+
c
c
+
c
c
x
v
B
A
x
y
v
t
y
( ) 0 = +
c
c
+
c
c
+
c
c
i I g
x
y
g
x
v
v
t
v
CFD I
Saint-Venant equations assume :
The slope is small i<0.1
Flow straight and paralel. Hydrostatic distribution of pressures
Turbulent flow fully developed
Uniform velocity within the section (Coriolis factor, o=1)
Non-erodible boundaries
Prismatic channel
Finding the value of dv/dx in the stationary continuity equation and substituting it in
the stationary dynamic equation we obtain
That can also be written as
Slow regime (Fr<1), fast regime (Fr>1)
CFD I
gy v
I i
gA Bv
I i
dx
dy
/ 1 / 1
2 2

=
( )
( ) y Fr
y I i
y
2
1
=
'
The friction slope can be obtained from the Manning coefficient as
The equation
has no analytic solution and has to be solved by a numerical method
The solution of which will be an expression of the form ( ) x y y =
y
n
y
M1
M2
M3 x
y
c
CFD I

2
4 3

( )
( ) y Fr
y I i
y
2
1
=
'
CFD I
The solution to the equation
can be solved on a finite element basis, to obtain
where
and
The finite difference problem can be completed by using an initial condition
CFD I
( )
( ) y Fr
y I i
y
2
1
=
'
k k
x
I i
Fr
y x +
A =
+
*
*
2
1
1
( ) 2
1
/ *
k k
Fr Fr Fr + =
+ ( ) 2
1
/ *
k k
I I I + =
+
k k
k
gy B y
Q
Fr =
( )
( )
3 10
3 4
2 2
2
/
/
k
k
k
By
B y
Q n I
+
=
x
f f
k k
A
+1
( )
=
dx
x df
( )
0 0
x y x =
y
n
=y
10
y
0
x x
10
x
9
x
8
x
7
x
6
x
5
x
4
x
3
x
2
x
1
x
0
=0
y
9
y
n
First proposed in XIX c. by Boudine (1861) and further developed by Bakhmeteff (1932)
Assuming that the initial condition is given downstream (y
0
) and that he stretch is long
enough for the normal depth to be reached, the iterative expression can be used N times
varying the value of y from y
0
up to yn at vertical equidistant intervals, and finally obtaining
the x for which the depth is the normal one
CFD I
0,7
0,9
1,1
1,3
1,5
1,7
1,9
2,1
2,3
2,5
2,7
-2500 -2000 -1500 -1000 -500 0
C
a
l
a
d
o
Distancia
Tramo 4
Tra
2009_10 Tramo 3
k y fr I fr* I*
0 1,54 1,0023876 0,00364198 0
1 1,632 0,9188329 0,00309299 0,9606102 0,003367485 -3,00106646
2 1,724 0,8462737 0,00265301 0,88255329 0,002873 -13,8612733
3 1,816 0,7827859 0,00229591 0,8145298 0,002474459 -34,8600141
4 1,908 0,7268574 0,00200275 0,75482162 0,002149326 -69,2997436
5 2 0,6772855 0,0017596 0,70207141 0,001881175 -122,243592
6 2,092 0,6331028 0,00155607 0,65519413 0,001657836 -202,060268
7 2,184 0,5935233 0,00138424 0,61331306 0,001470155 -324,134734
8 2,276 0,5579026 0,00123806 0,57571295 0,001311153 -521,80908
9 2,368 0,5257075 0,00111282 0,54180505 0,001175445 -892,257412
10 2,46 0,4964941 0,00100482 0,51110081 0,001058825 -2047,68149
Even the one-dimensional Saint-Venant equations are difficult to resolve and
some numerical procedure is to be needed. Step, characteristics, finite
differences, finite volumes and finite elements are some of those
The extension of the Saint-Venant equations to the three dimensions are called
the Navier-Stokes. They are also made up of continuity and dynamic equation
the unknowns in these equations will be the velocities u(t,x,y,z), v(t,x,y,z), w(t,x,y,z)
and the presure p(t,x,y,z)
0 =
c
c
+
c
c
+
c
c
z
w
y
v
x
u
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
u
y
u
x
u
x
p
f
z
u
w
y
u
v
x
u
u
t
u
x
v
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
v
y
v
x
v
y
p
f
z
v
w
y
v
v
x
v
u
t
v
y
v
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
w
y
w
x
w
z
p
f
z
w
w
y
w
v
x
w
u
t
w
z
v
CFD I
That is
with boundary conditions: Dirichlet in I
1
(prescribed velocity)
Newman in I
2
(prescribed normal stress )
with initial conditions (unsteady flow)
0 =
c
c
+
c
c
+
c
c
z
w
y
v
x
u
x
f
z
u
y
u
x
u
x
p
z
u
w
y
u
v
x
u
u
t
u
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
y
f
z
v
y
v
x
v
y
p
z
v
w
y
v
v
x
v
u
t
v
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
z
f
z
w
y
w
x
w
z
p
z
w
w
y
w
v
x
w
u
t
w
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
i i
b u =
i j ij
t n = o
( ) ( )
j i j i
x u x u
0
0 = ,
jj i i i j i j t i
u p f u u u
, , , ,
v
+ = +
1
0 =
i i
u
,
CFD I
Anyway, in most of the cases some other equations are used to provide a
simplified but meaningful solution to the flow problems. Among these we can
quote as some of the most important
Potential and stream function equations
Stokes flow eqs.
Shallow water flow eqs. (SSWW)
CFD I
The potential flow equation is a simplification that uses the potential variable | to
solve the continuity equation
In the stream/vorticity formulation the u and p variables are written in terms of
the variables ande, obtaining in this way simplified N-S equations
In the Stokes equations the convective term is dropped
The Shallow Water equations are the result of the integration in depth of the
three dimensional equations, therefore a two dimensional model is obtained
CFD I
The flow in a porous media simplifies Navier-Stokes eq. and is also to be
considered
Once the velocity field is obtained, we can use it as an input value to resolve the
transport equation that gives the concentration of a given species in the flow
The transport equation can be also considered for non-isothermal reactives
The equations of the transport of sediments are also needed for the case in
which non-soluble substances are included in the flow
For convective enough flows, a turbulent model is to be required
CFD I
With respect to the dynamic macroscopic behaviour, flows can be regarded
as laminar or turbulent
The laminar flowis ordered and it takes place in layers
In the turbulent flow, particles move on an irregular, fluctuant and erratic
way ->turbulents models are required
This situation takes place for a Reynolds number Re(=UL/v) >2000
The Reynolds number indicates the weight of the convection with respect to
the viscous losses
CFD I
When the Reynolds number is large enough, the velocity unknown is split
into a mean velocity U and a fluctuating termthat depends on time u(t),
leading to u(t)=U+u(t)
The most common models are the algebraic, de one equation models
(Prandtl's, Baldwin-Barth, etc...) and the two eq. (kc, kO,...)
CFD I
The FEM was developed in the 50s to be applied to the aeronautic
engineering
Advantages:
Suitable to model complex geometries
Consistent treatment of b.c.
Possibility of being programmed in a flexible and general way
Fluid materials change their shape and that leads to a important
complexity
Structural or heat problems lead to a diffusive equation that turns into a
symmetric stiffness matrices
For those cases, Galerkin formulation leads to convergent iterative
solutions in an easy way
CFD I
The presence of a convective acceleration in the fluids formulation leads to the
obtaining of non-symmetric stiffness matrices
That is the reason of the Galerkin formulation not being appropriate anymore.
When using it, spurious wiggles showup in the solution
CFD I
In order to do avoid these oscillations, some techniques have been developed since the
70s whichare known as stabilizationtechniques. The most important of whichare
SUPG (Streamline Upwind Petrov-Galerkin)
GLS (GalerkinLeast Squares)
FIC (Finite Increment Calculus),...
A correct coupling in the selection of the pressure and velocity variables is required for
convergence
The heterogeneity of the unknowns require the use of the so-called mixed and penalized
methods
The mesh refinement also leads to the stabilization (but means high computational
costs)
CFD I
f (x,t) is a 1D scalar field
f (x,t) is a 3Dvector field
=scalar product
Index notation
Gradient , divergence
Laplacian
introduction to CFD
derivative operators
computational fluid dynamics I
|
|
.
|
\
|
c
c
c
c
c
c
= V
z y x
, ,
|
|
.
|
\
|
c
c
c
c
c
c
= A
2
2
2
2
2
2
z y x
, ,
j
i
j i
x
u
u
c
c
=
,
3 3 2 2 1 1
b a b a b a b a
j j
+ + = = a b
Lagrangian coordinates (the net follows the particle)
Not able to model big deflections (even in structures)
Allows to followthe interface between different materials
Eulerian coordinates (the net is fixed and the fluid moves
with respect to it)
Allows for a characterization of big deflections (fluids)
Difficulties to evaluate interfaces and free surfaces
ALE coordinates (mixture of both)
The net moves with an independent velocity from that of the
particles
introduction to CFD
Reference System
In the Lagrangian coordinates there are no convective effects and the material
derivative is just a temporal derivative
In the Eulerian coordinates there is a relative movement of the material
coordinates with respect to the spatial ones, and the material derivative of an
scalar fieldf is given by
t
x
x
f
t
f
dt
df
j
j
c
c
c
c
+
c
c
= f
t
f
dt
df
V +
c
c
= u
introduction to CFD
eulerian coordinates
j
j
i
x
f
u
t
f
dt
dz
z
f
dt
dy
y
f
dt
dx
x
f
t
f
dt
t x df
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
) , (
The total derivative of a vector field is given by
t
x
x
f
t
f
dt
df
j
j
i i i
c
c
c
c
+
c
c
= ( )f u
f f
V +
c
c
=
t dt
d
introduction to CFD
j
j
i
x
f
u
t
f
dt
dz
z
f
dt
dy
y
f
dt
dx
x
f
t
f
dt
t x df
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
2 2 2 2 2 2 2
) , (
j
j
i
x
f
u
t
f
dt
dz
z
f
dt
dy
y
f
dt
dx
x
f
t
f
dt
t x df
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
3 3 3 3 3 3 3
) , (
j
j
i
x
f
u
t
f
dt
dz
z
f
dt
dy
y
f
dt
dx
x
f
t
f
dt
t x df
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
=
1 1 1 1 1 1 1
) , (
The compact integral forms are:
where
introduction to CFD
O V V =
}
O
d a v : u ) v u, (
O V =
}
O
d q q b v ) u, (
O V =
}
O
d c u ) v ( w ) u , w ; v (
| |
j
i
ij
x
u
c
c
= V u
j
i
j
i
x
v
x
u
c
c
c
c
= V V v : u
( )
j
i
j i
x
u
v w
c
c
= V u v w
O V V =
}
O
d v u u,v a ) (
O =
}
O
d q w q w ) , (
| |
i
i
x
u
u
c
c
= V
i i
x
v
x
u
v u
c
c
c
c
= V V
O V =
}
O
d u w u w c ) v ( ) , ; v (
I =
}
I
I
d h w h w
N
N
) , (
0. Introduction to CFD. Revision of concepts (6h)
1. Open channel flow. A revision
2. Saint-Venant equations.
3. Mathematical preliminaries
1. Governing equations (6h)
1. Navier-Stokes
2. Potential, stream function, stokes flow
3. Shallow Water equations
4. Convection-diffusion eq
2. Finite elements and fluids hydrodynamics (24 h)
1. Finite elements and fluids
2. Variational and weighted residuals methods
3. Discretization
4. Potential flow
5. Stokes flow
6. Stable velocity-pressure pairs
7. Unsteady convective flow
8. Penalty methods
9. Shallow water equations
10. Stabilizing techniques
11. Flow in porous media
12. Conservative transport
13. Non-isothermal transport of reactives
3. Introduction to Finite Volumes (8h)
4. End user programmes (20h)
1. MATLAB (8h)
2. HEC-RAS (4h)
3. SMS//RMA2 (8h)
CFD I
CFD
I
governing equations
2. Governing Equations
For solids, Hookess lawstates
For Newtonian fluids (air and water are included) Newtons viscosity law
states
where is the dynamic viscosity
and is the cinematic viscosity
For non-newtonian fluids (plastics, coloidal suspensions, emulsions,...) the
viscosity is not a constant
For the non-frictional flow or non-viscous flow (inviscid) viscosity is
negligible
In what follows, the Navier-Stokes eq., governing the viscous flow, are
described for compressible fluids (gases is not a constant
)
and for non-
compressible fluids (liquids, = c)
governing equations
stress(o) and strain(c) of fluids
c o E =
dn
du
t =
|
|
.
|
\
|
=
s
m
2
v
|
.
|
\
|
s m
kg
The principle of conservation of mass states that in any time interval and for any
control volume the volume of mass entering must equal the volume of mass
leaving, i.e.
As velocity and density depend on time and space, the equilibrium of mass in a
differential volume dxdydz can be stated from
governing equations
continuity equation
( ) dydz dx u
x
u
(
c
c
+
udydz
x
z
y
out out in in
Q Q =
out out out in in in
A u A u =
The flux of mass per second, this is , is equal to (subtract in figure)
Since the control volume is independent of time
For incompressible fluids is a constant and the continuity equation results into
governing equations
continuity equation
( ) dxdydz
t

c
c
( ) ( ) ( ) ( )dxdydz w
z
dxdydz v
y
dxdydz u
x
dxdydz
t

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

c
c
+
c
c
+
c
c
=
c
c
0 = = V =
c
c
+
c
c
+
c
c
i i
u
z
w
y
v
x
u
,
u
Newtons second law states that
In the control volume there is no variation in mass, and therefore
The equilibrium of forces gives
governing equations
dynamic equation
( )
ma v
dt
dm
dt
mv d
F + = =
i i
dxdydza dF =
dydz dx
x
xx
xx
(
c
c
+
o
o
x
z
y
dydz
xx
o
dxdy
zx
o
dxdy dz
z
zx
zx
|
.
|
\
|
c
c
+
o
o
dxdz dy
y
yx
yx
|
|
.
|
\
|
c
c
+
o
o
dxdz
yx
o
Newtons second law can be written for the x direction as
where B
x
are the body forces in the x direction
Dividing by the control volume and making the same operations for the three
dimensions in space it is obtained
governing equations
dynamic equation
dydz dx
x
dydz dxdydzB dF
xx
xx xx x x
(
c
c
+ + =
o
o o
dxdz dy
x
dxdz
yx
yx yx (
c
c
+ +
o
o o
dxdy dz
x
dxdy
zx
zx zx
(
c
c
+ +
o
o o
z y x
B a
zx
yx
xx
x x
c
c
+
c
c
+
c
c
+ =
o
o
o

z y x
B a
zy yy xy
y y
c
c
+
c
c
+
c
c
+ =
o o o

z y x
B a
zz
yz
xz
z z
c
c
+
c
c
+
c
c
+ =
o
o
o

Which is the value of o
ij
? Let us see first how solids behave
In solids the strains are related to the stresses as
where E is the Young Modulus or Elasticity Modulus, u is the Poisson Ratio and G
is the Modulus of Rigidity or Shear Modulus
governing equations
stresses in solids
( ) | |,...
zz yy xx xx
E
o o v o c + =
1
,...
G
xy
xy
o
c =
The volume of expansion e can be defined as follows
where is the mean of the three normal stresses
The first strain can therefore be expressed as
governing equations
stresses in solids
( )( )( )
dxdydz
dxdydz dxdydz
V
V
e
zz yy xx
+ + +
=
A
=
c c c 1 1 1
( ) | | ( ) | | | |
xx xx xx zz yy xx xx zz yy xx xx
E E E
vo o v o vo o o o v o o o v o c + = + + + = + = 3
1 1 1
o
v
v
c
v
o
+
+
+
=
1
3
1
xx xx
E
( ) o
v
o o o
v
c c c 3
2 1 2 1
E E
e
zz yy xx zz yy xx
= + +
= + + =
o
Therefore, writing in terms of e
Noting that Youngs and shear modulus and Poissons ratio are related as
it is obtained
governing equations
stresses in solids
( )( ) v v
v
c
v
o
v
v
c
v
o
2 1 1 1 1
3
1 +
+
+
=
+
+
+
=
Ee E E
xx xx xx
( ) v +
=
1 2
E
G
e
G
G
xx xx
v
v
c o
2 1
2
2
+ =
o
Subtracting o from both sides of the former equation we obtain
Or
Similarly
For the shear stresses it is already known that
governing equations
stresses in solids
( )
e
E G
G e
G
G
xx xx xx
|
|
.
|
\
|
+ =
+ =
v v
v
c o
v
v
c o o
2 1 3 2 1
2
2
2 1
2
2
|
.
|
\
|
=
3
2
e
G
xx xx
c o o
( )
( )
e
G
G e
G
G e
G G
G
xx xx xx xx
|
.
|
\
|

+ =
|
.
|
\
| +
+ =
|
|
.
|
\
|
+ =
3
1
3
2
2 1
2
2
3
1
2 1
2
2
2 1 3
1 2
2 1
2
2
v
v
c
v
v
v
c
v
v
v
v
c o o
|
.
|
\
|
=
3
2
e
G
yy yy
c o o
|
.
|
\
|
=
3
2
e
G
zz zz
c o o
xy xy
Gc o =
yz yz
Gc o =
zx zx
Gc o =
governing equations
stresses in fluids
Up to this point we have been concerned with solids. It has been shown
empirically that stresses in fluids are related not to strain but to time rate of strain
We have just shown that
Replacing the rigidity modulus by a quantity in terms of its dimensions (kg/s
2
m), the
stresses in fluids would be of the form
Where the proportionality constant is known as the dynamic viscosity , and has
the dimensions (kg/(s m))
The equations result into
|
.
|
\
|
=
3
2
e
G
xx xx
c o o
( )
|
.
|
\
|

c
c
=
3
m) kg/(s 2
e
t
xx xx
c o o
,...
t
e
t
xx
xx
c
c
c
c
=
c
o o
3
2
2
,...
t
xy
xy
c
c
=
c
o
governing equations
stresses in fluids
Taking the mean pressure as p, the equations are
Let us now find out the value of the time derivatives of c
xy
and e in terms of
u,v andw
t
e
t
p
xx
xx
c
c
c
c
+ =
c
o
3
2
2
t
xy
xy
c
c
=
c
o
t
e
t
p
yy
yy
c
c
c
c
+ =
c
o
3
2
2
t
e
t
p
zz
zz
c
c
c
c
+ =
c
o
3
2
2
t
yz
yz
c
c
=
c
o
t
zx
zx
c
c
=
c
o
governing equations
stresses in fluids
If the coordinates of a point before deformation are x,y,z and after
deformations are x+, y+q, z+,, the strains are given by
The rate of strain and volume of expansion would be therefore
x
xx
c
c
=

c
y
yy
c
c
=
q
c
z
zz
c
c
=
,
c
x y
xy
c
c
+
c
c
=
q
c
y z
yz
c
c
+
c
c
=
, q
c
z x
zx
c
c
+
c
c
=
,
c
,...
x
u
t x x t t
xx
c
c
=
|
.
|
\
|
c
c
c
c
=
|
.
|
\
|
c
c
c
c
=
c
c c
( ) u V =
c
c
+
c
c
+
c
c
= + +
c
c
=
c
c
z
w
y
v
x
u
t t
e
zz yy xx
c c c
,...
x
v
y
u
t x t y x y t t
xy
c
c
+
c
c
=
|
.
|
\
|
c
c
c
c
+
|
.
|
\
|
c
c
c
c
=
|
|
.
|
\
|
c
c
+
c
c
c
c
=
c
c
q q
c
And consequently the stresses result into
It is obtained for the first dimension
governing equations
dynamic equation
u V
c
c
+ =
c
c
c
c
+ =
c
o
3
2
2
3
2
2
x
u
p
t
e
t
p
xx
xx
u V
c
c
+ = o
3
2
2
y
v
p
yy
u V
c
c
+ = o
3
2
2
z
w
p
zz
|
|
.
|
\
|
c
c
+
c
c
=
c
c
=
y
u
x
v
t
xy
xy

c
o
|
|
.
|
\
|
c
c
+
c
c
=
z
v
y
w
yz
o
|
.
|
\
|
c
c
+
c
c
=
x
w
z
u
zx
o
z y x
B
z
u
w
y
u
v
x
u
u
t
u
a
zx
yx
xx
x x
c
c
+
c
c
+
c
c
+ =
c
c
+
c
c
+
c
c
+
c
c
=
o
1 1 1
|
|
.
|
\
|
|
.
|
\
|
c
c
+
c
c
c
c
+
|
|
.
|
\
|
|
|
.
|
\
|
c
c
+
c
c
c
c
+
|
.
|
\
|
c
c
+
c
c
+ =
c
c
+
c
c
+
c
c
+
c
c
x
w
z
u
z y
u
x
v
y x
u
p
x
B
z
u
w
y
u
v
x
u
u
t
u
x

1 1
2
1
The first dynamic equation is transformed into
Proceeding in the same way for for y and z, the 3D Navier equations are finally
governing equations
dynamic equation
x z
w
z
u
y
u
x y
v
x
u
x
p
B
z
u
w
y
u
v
x
u
u
t
u
x
c c
c
+
c
c
+
c
c
+
c c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2 2
2
2
2
1
v v v v v
|
|
.
|
\
|
c
c
+
c
c
+
c
c
c
c
+
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
z
w
y
v
x
u
x z
u
y
u
x
u
x
p
B
z
u
w
y
u
v
x
u
u
t
u
x
v v v v
2
2
2
2
2
2
1
jj i i i j i j t i
u p f u u u
, , , ,
v
+ = +
1
( ) f u u u
u
+ A + V = V +
c
c
v
p
t
1
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
z
u
y
u
x
u
x
p
B
z
u
w
y
u
v
x
u
u
t
u
x
v
|
|
.
|
\
|
|
.
|
\
|
c
c
+
c
c
c
c
+
|
|
.
|
\
|
|
|
.
|
\
|
c
c
+
c
c
c
c
+
|
.
|
\
|
c
c
+
c
c
+ =
c
c
+
c
c
+
c
c
+
c
c
x
w
z
u
z y
u
x
v
y x
u
p
x
B
z
u
w
y
u
v
x
u
u
t
u
x

1 1
2
1
That is
with boundary conditions: Dirichlet in I
1
(prescribed velocity)
Newman in I
2
(prescribed normal stress )
with initial conditions (unsteady flow)
When the flow is non-isothermal, the temperature of the fluid has to be solved making use of
the energy equation, which represents the conservation of energy
governing equations
dynamic equation
0 =
c
c
+
c
c
+
c
c
z
w
y
v
x
u
x
f
z
u
y
u
x
u
x
p
z
u
w
y
u
v
x
u
u
t
u
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
y
f
z
v
y
v
x
v
y
p
z
v
w
y
v
v
x
v
u
t
v
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
z
f
z
w
y
w
x
w
z
p
z
w
w
y
w
v
x
w
u
t
w
+
|
|
.
|
\
|
c
c
+
c
c
+
c
c
+
c
c
=
c
c
+
c
c
+
c
c
+
c
c
2
2
2
2
2
2
1
v
i i
b u =
i j ij
t n = o
( ) ( )
j i j i
x u x u
0
0 = ,
The Stokes flow simplification is obtained when the flow is taken as steady and
the convective term is dropped. For the two dimensional case leads to
The equation can be solved in terms of the variables as
Stream function formulation
Stream-vorticity function formulation
Potential function formulation
Velocity-pressure formulation
governing equations
stokes flow
0
1
= A +
c
c
x
f u
x
p
v
0
1
= A +
c
c
y
f v
y
p
v
0 =
c
c
+
c
c
y
v
x
u
A flow is said to be inviscid (or non-viscous) when the effect of viscosity is small
compared to the other forces (convection). This can be assumed for instance in flow
through orifices, over weirs or in channels
A flow is said to be irrotational when its particles do not rotate and maintain the same
orientation wherever along the streamline
governing equations
potential flow
irrotational
rotational
In irrotational flows the rotational of the velocity vector is zero
Therefore in irrotational flows it is verified that
Far from the boundaries, most of the flows of fluids with low viscosity (such as air and
water) behave as irrotational and these simplification can be assumed, that is why the
inviscid flow can be considered in certain occasions as irrotational
governing equations
potential flow
0 k j i
k j i
u rot =
|
|
.
|
\
|
c
c
c
c
+
|
.
|
\
|
c
c
c
c
+
|
|
.
|
\
|
c
c
c
c
=
c
c
c
c
c
c
=
y
u
x
v
x
w
z
u
z
v
y
w
w v u
z y x
0 =
c
c
c
c
z
v
y
w
0 =
c
c
c
c
x
w
z
u
0 =
c
c
c
c
y
u
x
v
The potential flow equations are a simplified version of the N-S equations in which the
potential function | is used to solve the continuity equation
We define | in such a way that its partial derivatives with respect to the space, give the
velocity in that direction
Substituting this expression into the 2-D continuity equation it is obtained
It is also verified that
and the assumption of a velocity potential requires the flow to be irrotational
0
2
2
2
2
2
=
c
c
+
c
c
= V = A
y x
| |
| |
u
x
=
c
c|
v
y
v =
c
c
=
|
governing equations
potential flow
0 =
c
c
+
c
c
y
v
x
u
x
v
y
u
c
c
=
c
c
|
|
.
|
\
|
c
c
c
c
=
|
.
|
\
|
c
c
c
c
y x x y
| |
With this formulation we can solve problems such as flow around a cylinder, flow out of an
orifice or around an airfoil
The flow through a saturated homogeneous porous media results as well in a
Laplacian, as the Darcys law is given by , where h is the water level, can be
written as
where k is the hydraulic conductivity
Taking this equation to the continuity equation it is obtained
assuming k as a constant
governing equations
potential flow
| V = k u
dx dh k u =
( ) f k k = A = V V | |
The governing equations of the two dimensional potential flow are therefore given by
in O
where the velocity components are given by
with the boundary conditions
Dirichlet in I
1
Newman in I
2
were l
x
and l
y
are the direction cosines of the outward unit vector n to I
2
0
2
2
2
2
2
=
c
c
+
c
c
= V = A
y x
| |
| |
x
u
c
c
=
|
y
v
c
c
=
|
0
| | =
0
V l
y
l
x n
V
y x n
=
c
c
+
c
c
=
c
c
=
| | |
governing equations
potential flow
computational fluid dynamics 1
The streamfunction () formulation is an alternative way of describing the motion of
the fluid that has some important advantages compared to the velocity-pressure
formulation
The streamline is a line that connects points at a given instant whose velocity
vectors are tangent to the line
The path line connects points through which a fluid particle of fixed identity passes
as it moves in space
In steady flowboth lines are the same
Since the velocity vector meets the streamlines tangentially no fluid can cross the
streamline
In the stream-function formulation the unknown is defined as. Proof follows
governing equations
stream function
computational fluid dynamics 1
u
y
=
c
c
v
x
=
c
c
If a unit thickness of the fluid is considered,
2
1
is defined as the volume rate
(volume per unit distance/time) (discharge) of fluid between streamlines AB and
CD. Let CD be a streamline very close to CD. Let the flow between CD and CD
be d
At a point P (with velocities u and v), the distance between CD and CD is
denoted by dx and dy
Since no fluid crosses the streamlines, the volume rate of flow across dy is u and
the volume rate across dx is v, therefore
governing equations
stream function
C
C
D
A
B
dx
dy
v
u
D
P
vdx udy d = =
Therefore
And the continuity equation is automatically satisfied by the stream function
If the flow is irrotational, the equation to be satisfied is
Substituting u and v by its values in terms of it is obtained
And therefore
governing equations
stream function
u
y
=
c
c
v
x
=
c
c
0 =
|
.
|
\
|
c
c
c
c
|
|
.
|
\
|
c
c
c
c
=
c
c
+
c
c
x y y x y
v
x
u
0 =
c
c
c
c
y
u
x
v
0 =
|
.
|
\
|
c
c
c
c
|
.
|
\
|
c
c
c
c
x y
u
x x

0
2
2
2
2
2
=
c
c
+
c
c
= V = A
y x

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