Conservation! Of! Mass!: The Equations Governing Fluid Motion!

Computational Fluid Dynamics
http://www.nd.edu/~gtryggva/CFD-Course/!
The
Equations
Governing
Fluid Motion!

Outline!
Derivation of the equations governing fluid flow in
integral form!
!Conservation of Mass!
!Conservation of Momentum!
!Conservation of Energy!
Differential form!
Summary!
Incompressible flows!
Inviscid compressible flows!
Grtar Tryggvason!
Spring 2011!


Conservation of Mass!
In general, mass can be added or removed:!
Conservation!
of!
Mass!
time t+t!
time t!
The conservation law must be stated as:!

Final!
Original!
Mass! Mass!
=!
+!
-!
Mass!
Mass!
Added! Removed!

Rate of
Net influx
increase of =!
of mass!
mass!
We now apply this statement to

an arbitrary control volume in an
arbitrary flow field!

Control
volume V!
The rate of
change of
total mass in
the control
volume is
given by:!
Control
surface S!
dv
t V
Rate of
change!
Total
mass!

Control
volume V!

Select a small rectangle outside the boundary
such that during time t it flows into the CV:!
Control
surface S!
Ut!
Density !
Velocity Ux!
A!
time t! time t+t!
To find the mass flux through!

the control surface, lets examine!
a small part of the surface where
the velocity is normal to the surface!
where Ux = -un!

The sign of the normal component of the velocity

determines whether the fluid flows in or out of the
control volume. We will take the outflow to be positive:!
un<0
Inflow!
The net in-flow through the boundary of the control

volume is therefore:!
Negative since
this is net inflow!
Integral over
the boundary!
Mass flow
through the
boundary
A during t
is: !
U x tA
u n ds
S
Mass flow normal

to boundary!


Conservation of Mass Equation in Integral Form!
dv = S u n ds
t V
Rate of change
of mass!

Conservation of momentum!
Momentum per volume: !
Conservation!
of!
momentum!
Net inflow of mass!
Momentum in control volume: !
u dv
Rate of
Net influx of
+! Body +! Surface
increase of =!
momentum!
forces!
forces!
momentum!

Rate of change of momentum!

In/out flow of momentum!
Control
volume V!
Control
surface S!
The rate of
change of
momentum
in the control
volume is
given by:!
Select a small rectangle outside the boundary

such that during time t it flows into the CV:!
Density !
Uxt!
Velocity u!
A!
time t! time t+t!
u dv
t V
Rate of
change!
( u )U x tA
Ux"
Ux = -un so the net influx of momentum
per unit time (divided by t ) is:!
Total
momentum!

Body force!
Body forces,
such as
gravity act on
the fluid in the
control
volume.!
Control
volume V!
The viscous
force is given
by the dot
product of the
normal with
the stress
tensor T!
f!
f dv
Control
surface S!
ds

Tn!
T n dS
S
Total body force!
Total stress force!

Viscous flux of momentum!
Stress Tensor!
T = ( p + u )I + 2 D
Deformation Tensor!
1
D = (u + uT )
2
Whose components are:!
1 u u
Dij = i + j
2 x j xi
uu n ds

Viscous force!
Control
volume V!
dv

Momentum
flow through
the boundary
A during t is:!

Pressure force!
For
incompressible
flows!
u=0
And the stress
tensor is!
T = pI + 2D
Control
volume V!
The pressure
produces a
normal force
on the control
surface. The
total force is:!
Control
surface S!
ds

pn!
pn dS
Total pressure force!

Conservation of Momentum!

Gathering the terms!
u dv = uu n ds Tn ds + f dv
t
Conservation!
of!
energy!
T = pI + 2D
Substitute for the stress tensor!
u dv = uu n ds pn ds + 2 D n ds + f dv
t
Net inflow of
Rate of
momentum!
change of
momentum!
Total
pressure!
Total
viscous
force!
Total
body
force!

Conservation of energy!

The energy equation in integral form!

Net inflow of
kinetic+internal
energy!
Rate of change of
kinetic+internal
energy!
1
1
e + u 2 dv = e + u 2 u n ds
t
2
2
+ u f dv +
n (uT)ds n q ds
V
Net work
done by
the stress
tensor!
Work
done by
body
forces!
Differential Form!
of!
the Governing Equations!
Net heat
flow!

Differential form!

Differential form!
Start with the integral form of the mass conservation equation!
The Divergence or Gauss Theorem can be used to

convert surface integrals to volume integrals!
a dv = a n ds
V
dv = S u n ds
t V
Using Gausss theorem!
u n ds = ( u)dv
S
The mass conservation equations becomes!
dv = V ( u)dv
t V

Differential form!

Differential form!
Rearranging!
dv + V (u)dv = 0
t V
Since the control volume is fixed, the derivative can be

moved under the integral sign!
dv + V ( u)dv = 0
t

+ (u) dv = 0
t
This equation must hold for ANY control volume, no

matte what shape and size. Therefore the integrand
must be equal to zero!
+ ( u) = 0
t
Rearranging!

+ (u) dv = 0
t

Differential form!
The differential form of the momentum equation is

derived in the same way:!
Start with!
Expanding the divergence term:!
(u) = u + u
The mass conservation equation becomes:!
+ (u) =
+ u + u
t
t
or!
where!
D
+ u = 0
Dt
D() ()
=
+ u ()
Dt t

Differential form!
Rewrite as:!
u dv = f dv + (T uu )dv
To get:!
u
= f + (T uu)
t
Convective
derivative!

Differential form!
Using the mass conservation equation the
advection part can be rewritten:!
u
+ uu =
t
u
u
+ u u +
+ u u =
t
t

Du
Du
u + u +
=
t
Dt
Dt
=0, by mass
conservation!
u dv = f dv + (nT u(u n))ds

Differential form!
The momentum equation equation!
u
= f + (T uu)
t
Can therefore be rewritten as!
where!
Du
= f + T
Dt
Du
= + u u
t
Dt

Differential form!

Differential form!
The mechanical energy equation is obtained by taking
the dot product of the momentum equation and the
velocity:!
The energy equation equation can

be converted to a differential form in
the same way. It is usually simplified
by subtracting the mechanical
energy !
u
u
+ u u = f + T
t
The result is:!
u2
u 2
= u + u fb + u ( T)
t 2
2
The mechanical energy equation!

Differential form!

Differential form!
The final result is!
Subtract the mechanical energy equation from the

energy equation!
The final result is!
De
T u + q = 0
Dt
where!
Using the constitutive relation presented earlier for

the stress tensor and Fouries law for the heat
conduction:!
De
+ p u = + kT
Dt
= ( u) 2 + 2D D
is the dissipation function and is the rate at which

work is converted into heat.!
T = ( p + u )I + 2 D
Generally we also need:!

p = p(e, ); T = T (e, );
q = kT
and equations for ! ,

, k

Integral Form!
Summary!
of!
governing equations!
dv = u n ds
S
u dv = f dv + (nT u(u n))ds

t
1
1
(e + u 2 )dv = u f dv + n (uT (e + u 2 ) q)ds
t
2
2


Conservative Form!
Convective Form!
+ ( u) = 0
t
D
+ u = 0
Dt
u
= f + (T uu)
t
1
(e + u 2 )=
t
2
Du
= f + T
Dt
De
= T u q
Dt
Special Cases!
Compressible inviscid flows!
!Stokes flow!
Not in this course!!
!Potential flows!
1
(e + u 2 )u uT + q


Inviscid, compressible flows!
= 0 and = 0
T = ( p + u )I + 2 D
Inviscid compressible
flows!
T = pI
D
+ u = 0
Dt
Du
= f p
Dt
De
= p u
Dt


U E F G
+
+
+
=0
t x y z
U=
u
v
w
E
E=
u
u 2 + p
uv
uw
( E + p ) u
F=
v
uv
v 2 + p
vw
( E + p ) v
G=
p = RT; e = c v T; h = c p T; = c p /c v
cv =
R
( 1)e
; p = ( 1)e; T =
;
1
R
vw
w 2 + p
( E + p ) u
u
uw
Incompressible flow!

Incompressible flows:!
D
+ u = 0
Dt

Objectives:!
The 2D Navier-Stokes Equations for incompressible, !
homogeneous flow:!
D
=0
Dt
u=0
Navier-Stokes equations (conservation of momentum)!
u = uu- P + fb + (u + T u)
t
For constant viscosity!
u + u u = -P + fb + 2u
t
u
u
u
1 P 2 u 2 u
+u +v =
+
+
t
x
y
x x 2 y 2
v
v
v
1 P 2 v 2 v
+u +v =
+
+
t
x
y
y x 2 y 2
u v
+
=0
x y


Pressure and Advection!

Incompressibility (conservation of mass)!
u n ds = 0
Advection:!
!Newtons law of motion: In the absence of forces,
a fluid particle will move in a straight line!
Navier-Stokes equations (conservation of momentum)!
udV = uu ndS + u ndS 1 pn x dS

S
S
S
t V
vdV = Svu ndS + Sv ndS 1 S pny dS

t V
The role of pressure:!

Needed to accelerate/decelerate a fluid particle:
Easy to use if viscous forces are small!
Needed to prevent accumulation/depletion of fluid
particles: Use if there are strong viscous forces!


Pressure!
Pressure!
The pressure opposes local accumulation of fluid. For

compressible flow, the pressure increases if the
density increases. For incompressible flows, the
pressure takes on whatever value necessary to
prevent local accumulation:!
Increasing pressure slows the fluid down and

decreasing pressure accelerates it!
Pressure
increases!
High Pressure!
u < 0
Low Pressure!
u > 0
Slowing down!
Pressure
decreases!
Speeding up!


Viscosity!
Diffusion of fluid momentum is the result of friction
between fluid particles moving at uneven speed. The
velocity of fluid particles initially moving with different
velocities will gradually become the same. Due to
friction, more and more of the fluid next to a solid wall
will move with the wall velocity.!

Nondimensional Numbers!
u
u
u
1 P 2 u 2 u
+u +v =
+
+
t
x
y
x x 2 y 2
u,v
x, y Ut
u,v =
; x, y =
; t=
U
L
L
U 2 u
u
u
1 P U 2 u 2 u
+ u + v
=
+
+
L t
x
y
L x L2 x 2 y 2
u
u
u
L 1 P L U 2 u 2 u
+ u + v = 2
+
+
t
x
y
U L x U 2 L2 x 2 y 2

The momentum equations are:!
u
u
u
P 1 2 u 2 u
+ u + v =
+
+
t
x
y
x Re x 2 y 2
v
v
v
P 1 2 v 2v
+ u + v =
+
+
t
x
y
y Re x 2 y 2
The continuity equation is unchanged!
u v
+
=0
x y
Nondimensional
Numbersthe Reynolds
number!

u
u
u
L 1 P L U 2 u 2 u
+ u + v = 2
+
+
t
x
y
U L x U 2 L2 x 2 y 2
L 1 P
1 P P
=
=
2
U L x U 2 x x
L U
1
=
=
2 2
U L UL Re
where!
where!
P
P =
U 2
Re =
UL

Outline!
Derivation of the equations governing fluid flow in
integral form!
!Conservation of Mass!
!Conservation of Momentum!
!Conservation of Energy!
Differential form!
Summary!
Inviscid compressible flows!

Conservation! Of! Mass!: The Equations Governing Fluid Motion!

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Computational Fluid Dynamics

Computational Fluid Dynamics

Computational Fluid Dynamics

Computational Fluid Dynamics

The conservation law must be stated as:!

Computational Fluid Dynamics

We now apply this statement to

Computational Fluid Dynamics

Computational Fluid Dynamics

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To find the mass flux through!

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The sign of the normal component of the velocity

The net in-flow through the boundary of the control

Mass flow normal

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Conservation of Mass Equation in Integral Form!

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Momentum per volume: !

Net inflow of mass!

Momentum in control volume: !

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Select a small rectangle outside the boundary

time t! time t+t!

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Total body force!

Total stress force!

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Gathering the terms!

Substitute for the stress tensor!

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The energy equation in integral form!

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The Divergence or Gauss Theorem can be used to

The mass conservation equations becomes!

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Computational Fluid Dynamics

Since the control volume is fixed, the derivative can be

This equation must hold for ANY control volume, no

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The differential form of the momentum equation is

Expanding the divergence term:!

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u dv = f dv + (nT u(u n))ds

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The energy equation equation can

The result is:!

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Subtract the mechanical energy equation from the

The final result is!

Using the constitutive relation presented earlier for