Sie sind auf Seite 1von 6

School of Mechanical Aerospace and Civil Engineering

3rd Year Fluid Mechanics


The Navier Stokes Equations
T. J. Craft
George Begg Building, C41
Contents:
Navier-Stokes equations
Inviscid ows
Boundary layers
Transition, Reynolds averaging
Mixing-length models of turbulence
Turbulent kinetic energy equation
One- and Two-equation models
Flow management
Reading:
F.M. White, Fluid Mechanics
J. Mathieu, J. Scott, An Introduction to Turbulent Flow
P.A. Libby, Introduction to Turbulence
P. Bernard, J. Wallace, Turbulent Flow: Analysis Mea-
surement & Prediction
S.B. Pope, Turbulent Flows
D. Wilcox, Turbulence Modelling for CFD
Notes: http://cfd.mace.manchester.ac.uk/tmcfd
- People - T. Craft - Online Teaching Material
Derivation of The Navier Stokes Equations
Here, we outline an approach for obtaining the Navier Stokes equations
that builds on the methods used in earlier years of applying mass
conservation and force-momentum principles to a control volume.
The approach involves:

Dening a small control volume within the ow.

Applying the mass conservation and force-momentum principle to


the control volume.

Considering what happens in the limit as the control volume


becomes innitesimally small.
Although the derivation can be done using any arbitrarily shaped control
volume, for simplicity we consider here a rectangular control volume.
We will rst derive the equations for two-dimensional, unsteady, ow
conditions, and it should then be apparent how these extend to
three-dimensional ows.
The Navier Stokes Equations 2008/9 2 / 22
Mass Conservation (Continuity)
The mass conservation principle is
_
Rate of mass accu-
mulation within CV
_
=
_
Rate of mass
ow into CV
_

_
Rate of mass
ow out of CV
_
For a two-dimensional control volume
of dimensions x and y as shown:
Mass accumulation rate = (xy)/t
Mass inow = (U)
x
y +(V)
y
x
Mass outow = (U)
x+x
y +(V)
y+y
x
( V)
y
( V)
y+ y

( U)
x+ x
x
( U)
y
x

The mass conservation equation thus gives


(xy)
t
= (U)
x
y +(V)
y
x (U)
x+x
y (V)
y+y
x (1)
Division by xy and rearrangement leads to

t
=
(U)
x
(U)
x+x
x
+
(V)
y
(V)
y+y
y
(2)
The Navier Stokes Equations 2008/9 3 / 22
In the limit as x, y 0, the control volume becomes innitesimally
small, and using Taylor series expansions we have
(U)
x+x
(U)
x
+x
(U)
x
(V)
y+y
(V)
y
+y
(V)
y
Substituting these into equation (2) gives

t
=
(U)
x

(V)
y
or

t
+
(U)
x
+
(V)
y
=0 (3)
In three-dimensional ows this is easily extended to

t
+
(U)
x
+
(V)
y
+
(W)
z
=0 (4)
In steady-state ows, /t =0, so
(U)
x
+
(V)
y
+
(W)
z
=0 (5)
In incompressible ows the density is constant, so we obtain
U
x
+
V
y
+
W
z
=0 (6)
The Navier Stokes Equations 2008/9 4 / 22
Force-Momentum Principle
The force-momentum principle is
_
Accumulation of mo-
mentum within CV
_
=
_
Rate of momen-
tum ow into CV
_

_
Rate of momen-
tum ow out of CV
_
+
_
Forces acting
on CV faces
_
+
_
Body forces
within CV
_
Consider the U momentum equation, on a
control volume of dimensions x and y:
Accumulation rate = xy [(U)/t]
Mom. ux in = y(UU)
x
+x(VU)
y
Mom. ux out = y(UU)
x+x
+x(VU)
y+y
y
x
Fx ( UU)
( )
( VU)
( )
( VU)
( UU)
( )
xx xx

xy
xy ( )

y
y
P
x
x
x
P
x+ x
x+ x
x+ x

y+ y
y+ y

Surface forces arise from the pressure and viscous stresses:


Net surface force = [(P+
xx
)
x
(P+
xx
)
x+x
] y +
_
(
xy
)
y
(
xy
)
y+y

x
Body force = F
x
xy
The Navier Stokes Equations 2008/9 5 / 22
The U-momentum balance then gives
xy [(U)/t] = [(UU)
x
(UU)
x+x
] y +
_
(VU)
y
(VU)
y+y

x
+[(P +
xx
)
x
(P +
xx
)
x+x
] y +
_
(
xy
)
y
(
xy
)
y+y

x
+F
x
xy (7)
Dividing by xy gives:
(U)
t
=
(UU)
x
(UU)
x+x
x
+
(VU)
y
(VU)
y+y
y
+
P
x
P
x+x
x
+
(
xx
)
x
(
xx
)
x+x
x
+
(
xy
)
y
(
xy
)
y+y
y
+F
x
(8)
As before, as x and y 0, for any quantity we have:

x+x

x
+x

x
and
y+y

y
+y

y
Applying these to equation (8) the U-momentum balance becomes
(U)
t
=
(UU)
x

(VU)
y

P
x

xx
x

xy
y
+F
x
(9)
The Navier Stokes Equations 2008/9 6 / 22
Rearranging gives the usual form of the U-momentum equation:
(U)
t
+
(U
2
)
x
+
(VU)
y
=
P
x

xx
x

xy
y
+F
x
(10)
As with the continuity equation, the U momentum equation is also a
differential equation.
The corresponding V-momentum equation is
(V)
t
+
(UV)
x
+
(V
2
)
y
=
P
y

xy
x

yy
y
+F
y
(11)
In their above forms, however, the U and V-momentum equations still
contain additional unknown variables, namely the viscous stresses,
xx
,

yy
and
xy
.
The Navier Stokes Equations 2008/9 7 / 22
The Viscous Stresses
In a simple shear ow, Stokes law states that
the viscous shear stress,
xy
, is obtained from

xy
=
U
y
y
U
xy
xy
This equation can be obtained by considering how, in a simple case, the
rate at which a uid element is deformed is opposed by the uid viscosity.
tan(
x
) =
(U/y)yt
y
For small
x
, tan(
x
)
x
, so

x
t

U
y
x
(dU/dy) y t
t+ t
x

y
t

For many common uids we have


x
/t.
The Navier Stokes Equations 2008/9 8 / 22
In the more general case, expressions for the viscous stresses can again
be derived by considering the deformation caused by the ow eld to an
initially rectangular uid element.
For Newtonian uids these general stress-strain relations can be
expressed as the viscous stresses being linearly related to the strain
rates, with the constant of proportionality being the viscosity .
Hence, in 2-D, we obtain the viscous stresses as

xx
=2
U
x

yy
=2
V
y

xy
=
_
U
y
+
V
x
_
Substituting the expressions for
xx
and
xy
into the U momentum
equation gives:
(U)
t
+
(U
2
)
x
+
(VU)
y
=
P
x
+

x
_
2
U
x
_
+

y
_

_
U
y
+
V
x
__
+F
x
(12)
A similar equation can be derived for the V momentum component.
The Navier Stokes Equations 2008/9 9 / 22
The Navier Stokes Equations
The above set of equations that describe a real uid motion are
collectively known as the Navier Stokes equations. In 2-D they can be
written as:
The continuity equation:

t
+
(U)
x
+
(V)
y
=0 (13)
The U-momentum equation:
(U)
t
+
(U
2
)
x
+
(VU)
y
=
P
x
+

x
_
2
U
x
_
+

y
_

_
U
y
+
V
x
__
+F
x
(14)
The V-momentum equation:
(V)
t
+
(UV)
x
+
(V
2
)
y
=
P
y
+

x
_

_
V
x
+
U
y
__
+

y
_
2
V
y
_
+F
y
(15)
The Navier Stokes Equations 2008/9 10 / 22
In three-dimensional ows the equations are expanded to:
Continuity:
t
+
(U)
x
+
(V)
y
+
(W)
z
=0 (16)
U-Momentum:
(U)
t
+
(UU)
x
+
(VU)
y
+
(WU)
z
=
P
x
+F
x
+2

x
_

U
x
_
+

y
_

_
U
y
+
V
x
__
+

z
_

_
U
z
+
W
x
__
(17)
V-Momentum:
(V)
t
+
(UV)
x
+
(VV)
y
+
(WV)
z
=
P
y
+F
y
+

x
_

_
V
x
+
U
y
__
+2

y
_

V
y
_
+

z
_

_
V
z
+
W
y
__
(18)
W-Momentum:
(W)
t
+
(UW)
x
+
(VW)
y
+
(WW)
z
=
P
z
+F
z
+

x
_

_
W
x
+
U
z
__
+

y
_

_
W
y
+
V
z
__
+2

z
_

W
z
_
(19)
The Navier Stokes Equations 2008/9 11 / 22
Convection and Diffusion Terms
The term
(U)
x
+
(V)
y
+
(W)
z
where stands for any of the velocity components (U, V or W)
represents convection of by the uid.
The terms on the right hand sides of the equations involving the viscosity
represent viscous diffusion.
The general form of the momentum transport equations is thus seen to be
Time derivative+Convection terms =Forcing terms+Diffusion terms
The combination of time derivative and convection terms represents the
total rate of change of a quantity following a uid path line. It is often
written in shorthand notation as D/Dt:
D
Dt


t
+
(U)
x
+
(V)
y
+
(W)
z
(20)
The Navier Stokes Equations 2008/9 12 / 22
The time derivative and convection terms are sometimes written as above
(with , U, V, W inside the derivatives), and sometimes in the form

t
+U

x
+V

y
+W

z
These are, in fact, entirely equivalent, since differentiating by parts gives

t
+
U
x
+
V
y
+
W
z
=

t
+

t
+U

x
+
U
x
+V

y
+
V
y
+W

z
+
W
z
=

t
+U

x
+V

y
+W

z
+
_

t
+
U
x
+
V
y
+
W
z
_
and the term in brackets multiplied by is zero from the continuity
equation.
The Navier Stokes Equations 2008/9 13 / 22
If the viscosity is constant the diffusion terms can be simplied by taking
outside the derivatives. In 2-D, for example:
2

x
_

U
x
_
+

y
_

_
U
y
+
V
x
__
=

x
_
U
x
_
+

y
_
U
y
_
+

x
_
U
x
_
+

y
_
V
x
_
=

2
U
x
2
+

2
U
y
2
+

x
_
U
x
+
V
y
_
=

2
U
x
2
+

2
U
y
2
The Navier Stokes Equations 2008/9 14 / 22
Further Simplications
In many ows that we will consider certain additional simplications can
be introduced.
In steady ows the time derivatives become zero:
(U)/t = (V)/t = (W)/t =0
The body force terms, F
x
, F
y
, F
z
, are, in many cases, negligible.
These simplications lead to the momentum equations for a 2-D steady,
incompressible, constant viscosity, ow without body forces being given
by

(U
2
)
x
+
(VU)
y
=
P
x
+

2
U
x
2
+

2
U
y
2

(UV)
x
+
(V
2
)
y
=
P
y
+

2
V
x
2
+

2
V
y
2
The Navier Stokes Equations 2008/9 15 / 22
Other Transport Equations
The governing equations for other quantities transported by a ow often
take the same general form of transport equation to the above
momentum equations.
For example, the transport equation for the evolution of temperature in a
uid ow can often be written (in 2-D for simplicity) as
T
t
+
(UT)
x
+
(VT)
y
=

x
_

T
x
_
+

y
_

T
y
_
where is the molecular thermal diffusivity.
Notice the general form of
Time derivative+Convection terms =Diffusion terms+Source terms
(in this case, the source, or forcing, terms are zero).
We will meet transport equations for other, turbulence-related, quantities
later in the course.
The Navier Stokes Equations 2008/9 16 / 22
Solving the Navier Stokes Equations
The Navier Stokes equations form a system of differential equations:

In two-dimensional ows there are three variables (U, V, P) and


three differential equations (Continuity, U and V-momentum).

In three-dimensional ows there are four variables and four


differential equations.
Although the equations have been presented for a Cartesian coordinate
system (x, y, z), they can also be transformed mathematically to other
coordinate systems, (eg. cylindrical, or spherical, polars).
In principle, therefore, the Navier Stokes
equations can be integrated over a ow
domain of interest, with appropriate
boundary conditions, to produce detailed
velocity and pressure elds.
dV/dx=0
in U=U
in
P=P
V=0
dP/dx=Const
dU/dx=0
U=V=0 dP/dy=0
U=V=0 dP/dy=0
Although analytical solutions can be obtained for a few cases, in practice
the equations must usually be solved using numerical methods.
The Navier Stokes Equations 2008/9 17 / 22
Tensor/Summation Notation
Although it is sometimes appropriate to write the Navier Stokes equations
out in their expanded Cartesian form as above, in general it becomes
rather cumbersome.
Tensor notation and, in particular, the Einstein summation convention is
often used to write the equations in a more compact, shorthand, form.
One can use subscripts to denote the elements of a vector or tensor.
The summation convention means that if a subscript letter is repeated in
an expression, there is an implied summation over it.
So, for example,
U
i
x
i


i =1,3
U
i
x
i
=
U
1
x
1
+
U
2
x
2
+
U
3
x
3
The continuity equation for incompressible ow can then simply be
written as
U
i
/x
i
=0 (21)
Note that the i in the above expression could have been replaced by j
or k (or anything else). It is purely a dummy index indicating summation.
The Navier Stokes Equations 2008/9 18 / 22
Using the same notation, the three momentum equations from the Navier
Stokes system can be written compactly as
U
i
t
+
U
i
U
j
x
j
=
P
x
i
+

x
j
_

U
i
x
j
_
+F
i
(22)
Here, the 2nd and 4th terms contain a repeated j , so one sums from j
equals 1 to 3 in them. For example, the convection term expands to
U
i
U
j
x
j

U
i
U
1
x
1
+
U
i
U
2
x
2
+
U
i
U
3
x
3
The subscript i is not repeated, and is being used to denote a component
of the velocity vector (one gets the U
1
momentum equations by setting
i =1, the U
2
one by setting i =2, etc).
Equations (21) and (22) are far more compact and convenient than using
the expansions of equations (16) to (19) for the Navier Stokes system.
For much of this course we can relatively easily write equations out in
terms of x, y components etc., and will not have to use summation
notation. It is widely used in textbooks and papers on uid mechanics
and turbulence, and we will use it in a few places, for convenience.
The Navier Stokes Equations 2008/9 19 / 22
Analytical Solutions of The Navier Stokes Equations
There are a few, very simple, laminar ows for which the Navier Stokes
equations can be solved analytically.
For example, for steady, incompressible, fully
developed ow in a plane channel as shown, we
have V =0 and U does not depend on x.
Continuity (U/x +V/y =0) is satised.
x
y
y=h
y=h
U(y)
The V momentum equation reduces to P/y =0, so P is constant
across the channel.
The U momentum equation becomes
0 =
P
x
+

y
_

U
y
_
(23)
with boundary conditions U =0 at y =h.
The Navier Stokes Equations 2008/9 20 / 22
Since P is not a function of y, we can easily integrate this:

U
y
=y
P
x
+A (24)
for some constant of integration A. Integrating a second time gives
U =
y
2
2
P
x
+Ay +B (25)
To determine the constants A and B, we apply the boundary conditions
that U =0 at y =h:
0 =
h
2
2
P
x
+Ah+B and 0 =
h
2
2
P
x
Ah+B (26)
This gives
A =0 and B =
h
2
2
P
x
(27)
The velocity prole is therefore given by the parabola
U =
1
2
P
x
(h
2
y
2
) (28)
The Navier Stokes Equations 2008/9 21 / 22
The pressure gradient can be related to the bulk (average) velocity, since
U
b
=
1
2h
_
h
h
U(y)dy =
1
4h
P
x
_
h
h
(h
2
y
2
)dy
=
1
4h
P
x
_
h
2
y y
3
/3
_
h
h
=
h
2
3
P
x
Hence P/x =3U
b
/h
2
, and the velocity
prole can be written as
U = (3/2)U
b
(1y
2
/h
2
) (29)
U
b
y=h
y=h
U(y)
A similar analysis can be applied to some other simple 1-D ows, such as
fully-developed pipe ow, ow between moving innite at plates, etc.
The Navier Stokes Equations 2008/9 22 / 22

Das könnte Ihnen auch gefallen