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C. P. T. Groth
2015
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C. P. T. Groth
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Vector Notation
Tensor Notation
scalars
, c
, c
(zeroth-order tensor)
operations
(+, , , /)
e.g., c,
c,
~a, ~x
vectors
ai , xi
(3D space)
(first-order tensor,
it is taken that i {1, 2, 3})
~b = ~a + ~x
addition
vector products
inner product
~a ~x =
P
(scalar result)
bi = ai + xi = aj + xk
i ai xi = c
ai xi = a1 x1 + a2 x2 + a3 x3
ai xi = c
(Einstein notation: sum implied)
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C. P. T. Groth
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3
X
ai xi = a1 x1 + a2 x2 + a3 x3
i=1
the sum is implied and need not be explicitly expressed. Note that
using matrix-vector mathematical notation, the inner product of
two 3 1 column vectors, a and x, can be experssed as
x1
aT x = [a1 a2 a3 ] x2 = a1 x1 + a2 x2 + a3 x3
x3
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cross product
Vector Notation
~a ~x = ~r =
(vector result)
~r =
~i
a1
x1
~j
a2
x2
Tensor Notation
~k
a3
x3
ijk aj xk = ri
(a2 x3 a3 x2 )~i
(a1 x3 a3 x1 )~j
+(a1 x2 a2 x1 )~k
outer product
~a~x = ~a
~
~x = ~J
a x = J
(dyadic result,
(second-order tensor,
vector of vectors)
9 elements,
6 elements for symmetric tensor)
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u1
u1 v1 u1 v2 u1 v3
uvT = u2 [v1 v2 v3 ] = u2 v1 u2 v2 u2 v3
u3
u3 v1 u3 v2 u3 v3
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Vector Notation
Tensor Notation
dyads
~~
d = ~u~v
dij = ui uj
dyad-vector products
~~
A
~x = ~b
A x = b
equivalent to Ax = b
(vector result)
high-order tensors
~~
~
Q
Qijk
(third-order tensor,
27 elements, 10 symmetric)
~~
~~
R
Rijkl
(fourth-order tensor,
81 elements, 15 symmetric)
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Vector Notation
Tensor Notation
contracted quantities
~h
hi = qijj
(contacted 3rd-order tensor,
vector)
~~
P
Pij = Rijkk
(contacted 4th-order tensor,
second-order tensor, dyad)
p = Riikk
(double contacted tensor,
scalar quantity)
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1 0 0
I= 0 1 0
0 0 1
Note also that
ii = trace(I) = 3
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2.1.5 Indentity
The following identity relates the permutation and Kronecker delta
tensors:
ijk ist = js kt jt ks
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Vector Notation
Tensor Notation
gradient
~ =
~
V
divergence
~ ~a
c =
xi
ai
c=
xi
ui
xi
ak
gi = ijk
xj
Bi
Pij =
xj
2
c=
xi i
2 Ai
ai =
xj j
differential operators
~
~u
curl
~ ~a
~g =
vector derivative
~~
~
~B
P
=
Laplacian
~
~
c = 2 =
~ =
~
~
~A
~a = 2 A
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Vi =
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~ ~u = ui = ui,i
xi
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+
(ui ) = 0
t
xi
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For the control volume and control surface above, the integral
form of the continuity equation can be obtained by integrating the
original PDE over the control volume and making using of the
divergence theorem. The following integral equation is obtained:
Z
I
d
dV = ~u ~n dA
dt
V
which relates the time rate of change of the total mass within the
control volume to the mass flux through the control surface.
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~
~ ~u~u + p~I ~~ = ~f
(~u ) +
t
where p and ~
~ are the gas pressure and fluid stress dyad or tensor,
respectively, and ~f is the acceleration of the gas due to body forces
(i.e., gravitation, electro-magnetic forces). In tensor notation, the
momentum equation can be written as
(ui ) +
(ui uj + pij ij ) = fi
t
xj
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~ ~u E +
(E ) +
~~ ~u + ~q = ~f ~u
t
p
(E ) +
ui E +
ij uj + qi = fi ui
t
xi
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For the control volume, the integral form of the energy equation is
given by
Z
I
Z
d
p
E dV =
~u E +
~~ ~u + ~q ~n dA+ ~f ~u dV
dt
which relates the time rate of change of the total energy within the
control volume to transport of energy, heat transfer, and work
done by the gas.
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p
( 1)
and h = e +
p
p
= cp T =
( 1)
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u
u
=
a
RT
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T
xi
~
or ~q = T
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cp
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and
T = Twall ,
or
~ ~n = 0 ,
T
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For low flow Mach numbers (i.e., low subsonic flow, M < 1/4), the
assumption that the gas behaves as an incompressible fluid is
generally a good approximation. By assuming that
the density, , is constant;
temperature variations are small and unimportant such that
the energy equation can be neglected; and
the viscosity, , is constant;
one can arrive at the Navier-Stokes equations describing the flow
of incompressible fluids.
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or
i = ijk
uk
xj
~ = 2
~
~ ~u
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~ =
~ ~
~ the vorticity transport
~ ~u
~ u ~u
~ ,
Using
equation can be re-expressed as
~
~
~ ~
~
~
~ u = 2
+ ~u
t
Using tensor notation, this equation can be written as
i
ui
i
2 i
+ uj
j
=
t
xj
xj
xj xj
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or
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1
a(xi , t) = A(xi ) = lim
T T
t+T /2
(xi , t 0 ) dt 0
tT /2
t+T /2
a(xi , t 0 ) dt 0
tT /2
t+T /2
Ui (x ) dt 0 = Ui (x )
tT /2
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t+T /2
ui (x , t 0 ) Ui (x ) dt 0 = 0
tT /2
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u(x,t)
T1
T2
T1 T T2
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1
a(xi , t) = A(xi , t) =
T
t+T /2
(xi , t 0 ) dt 0
tT /2
t+T /2
a(xi , t 0 ) dt 0
tT /2
with T1 T T2 .
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t+T /2
a(xi , t 0 ) dt 0 = cA
tT /2
Spatial differentiation:
a
1
=
xi
T
t+T /2
tT /2
a 0
dt =
xi
xi
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1
T
t+T /2
tT /2
!
a dt 0
A
xi
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C. P. T. Groth
2015
~ and T T2 .
The latter is obtained by assuming that |~u 0 | |U|
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(1)
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Ui
=0
xi
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2.5.1 Derivation
Sij
1 ij
1 ij
2 Sij
=
=
= 2
xj
xj
xj
xj
where the mean strain, Sij , is defined as
U
1
U
j
i
Sij =
+
2 xj
xi
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=
=
=
=
uj
0
0
(ui uj ) ui
=
Ui Uj + ui uj
xj
xj
xj
0 0
(Ui Uj ) +
ui uj
xj
xj
Uj
Ui
0 0
Uj
+ Ui
+
ui uj
xj
xj
xj
Ui
0 0
Uj
+
ui uj
xj
xj
Thus we have
1 P
1
Ui
Ui
0
0
+ Uj
+
=
2Sij ui uj
t
xj
xi
xj
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2 ui
=
+
=
+
=
xj
xj xj
xi
xj xj
xi xj
xj xj
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=0
t
xk
xi
xk xk
(1)
uj
2 uj
uj
1 p
+ uk
+
=0
t
xk
xj
xk xk
(2)
Similarily,
i
i
i
0 = uj0
+ uk
+
t
xk
xi
xk xk
2u
u
u
1
p
j
j
j
+ui0
+ uk
+
t
xk
xj
xk xk
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uj
ui0
t
=
=
=
=
=
0
0
0
Ui + ui + ui
Uj + uj
t
t
uj0
ui0 Uj 0
Ui 0
0
0
u + uj
+
u + ui
t j
t
t i
t
0
uj
ui0
0
0
uj
+ ui
t
t
ui0 uj0
t
1 ij
t
uj0
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uj0 p
ui0 p
+
xi
xj
=
=
=
uj0
ui0
0
(P + p ) +
(P + p 0 )
xi
xj
P 0 1 0 p 0
P 0 1 0 p 0
uj + uj
+
u + u
xi
xi
xj i i xi
0
1 0 p 0
p
uj
+ ui0
xi
xi
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uj0
2 ui
2 uj
+ ui0
xk xk
xk xk
=
=
=
=
=
uj0
2
2
(Ui + ui0 ) + ui0
(Ui + ui0 )
xk xk
xk xk
2 uj0
2 ui0
2 Uj 0
2 Ui 0
0
0
+
u + uj
u + ui
xk xk j
xk xk
xk xk i
xk xk
0
2
uj
2 ui0
uj0
+ ui0
xk xk
xk xk
2
ui0 uj0
0 0
ui uj 2
xk xk
xk xk
2
ui0 uj0
ij
2
xk xk
xk xk
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uj0 uk
ui
uj
+ ui0 uk
xk
xk
=
=
Uk
ui0 uj0 + uj0 uk0
+ ui0 uk0
xk
xk
xk
Ui 0
Uj 0
+Uk
ui0 uj0
uj + Uk
ui + uk0
xk
xk
xk
Uk ij
jk Ui
ik Uj
xk
xk
xk
u 0
+
ui0 uj0 uk0 ui0 uj0 k
xk
xk
Uk ij
jk Ui
ik Uj
0 0 0
+
ui uj uk
xk
xk
xk
xk
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ij
p 0
0
+ ui
xi
ui0 uj0
xk xk
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ui0 ui0
k
1 0 0 1 0 0 0
p ui ui uk uk
xi
2
xj xj
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k
: convection transport of k
xi
Production:
ij Ui
: production of k by mean flow
xj
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Diffusion:
k
: molecular diffusion of k
xi
1 0 0
p u : pressure diffusion of k
i
1 0 0 0
u u u : turbulent transport of k
2 i k k
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Dissipation:
ui0 ui0
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E()
Slope -5/3
Energy-containing range
Inertial subrange
EI
Dissipation
range
DI
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and =
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3
1/4
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Ret
`0
( /)
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or
E () 5/3
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= Ui
t
xi
This relationship assumes that |ui0 | |Ui | and predicts that the
turbulence essentially passes through points in space as a whole,
transported by the mean flow (i.e., assumption of frozen
turbulence).
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+
(ui ) = 0
t
xi
i
h
0
0
0
+ +
(
+ ) Ui + ui = 0
t
xi
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h
0
0
Ui + ui = 0
(
) +
t
xi
The introduction of high-order correlations involving the density
fluctuations, such as 0 ui0 , can complicate the turbulence modelling
and closure. Some of the complications can be circumvented by
introducing an alternative time averaging procedure: Favre time
averaging, which is a mass weighted time averaging procedure.
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t+T /2
(xi , t 0 )(xi , t 0 ) dt 0 = + 00 =
tT /2
where
i , t) 1
(x
T
t+T /2
(xi , t 0 )(xi , t 0 ) dt 0 ,
tT /2
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Decomposition
Reynolds : = + 0 ,
Time Averaging
Reynolds : = + 0 = ,
Favre : = + 00
Favre : = ( + 00 ) =
Fluctuations
Reynolds : 0 = 0 ,
Favre : 00 = 0
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0 0
= +
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==
00
0 0
0 0
0 0
=
=
=
6= 0
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(
) +
(
ui ) = 0
t
xi
It is quite evident that the Favre-averaging procedure has
recovered the original form of the continuity equation without
introducing additional high-order correlations.
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(
) +
(
ui ) = 0
t
xi
Momentum Equation:
00
00
(
ui ) +
(
ui uj + pij ) =
ij ui uj
t
xj
xj
Favre-Averaged Reynolds Stress Tensor:
= ui00 uj00
Turbulent Kinetic Energy:
1 00 00
1
ui ui = ii = k
2
2
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1 00 00
1
j
e + ui ui + ui ui +
uj h + ui ui + ui00 ui00
t
2
2
xj
2
2
h
i
=
ij ui00 uj00 ui qj
xj
1
+
uj00 h00 uj00 ui00 ui00 + ui00 ij
xj
2
Turbulent Transport of Heat and Molecular Diffusion of Turbulent
Energy:
qtj = uj00 h00 , ui00 ij
Turbulent Transport of Kinetic Energy:
1 00 00 00
u u u
2 j i i
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