DE ZG515 COMPUTATIONAL FLUID

DYNAMICS
Dr. K. Ram Chandra Murthy
Assistant Professor, BITS Pilani, Hyderabad Campus
BITS Pilani rcmurthy@hyderabad.bits-pilani.ac.in
"Pilani | Dubai | Goa | Hyderabad"
Review

 Computational Fluid Dynamics: Why?

 Computational Fluid Dynamics as a Research Tool.
 Computational Fluid Dynamics as a Design Tool
 The Impact of Computational Fluid Dynamics.
 Applications, Computational Fluid Dynamics

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Scope of the lecture

 Introduction Models of the Flow

 Finite Control Volume
 Infinitesimal Fluid Element
 The Substantial Derivative
 The Divergence of the Velocity: Its Physical Meaning
 The Continuity Equation
 The Momentum Equation
 The Energy Equation
 Summary of the Governing Equations for Fluid Dynamics.

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INTRODUCTION
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Introduction

 CFD is based on the fundamental governing equations of fluid dynamics.

 These equations are the mathematical statements of three fundamental physical
principles which are:
1. Mass is conserved
2. Newton’s second law
3. Energy is conserved
 These physical principles are applied to a model of the flow; in turn, this application
results in equations which are mathematical statements of the particular physical
principles involved, namely, the continuity, momentum, and energy equations

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FLOW MODELS
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Finite control volume

 Consider a general flow field as shown in the Fig. 1.

 Let us imagine a closed volume drawn within a finite region of the flow. This volume
defines a control volume V; a control surface S defined as the closed surface which
bounds the volume.
 The control volume may be fixed in space with the fluid moving through it, or the
control volume may be moving with the fluid such that the same fluid particles are
always inside it as shown in the Fig. 2.
 Instead of looking the whole flow field at once we limit our attention to the fluid in
the finite region of the volume.
 The fluid-flow equations that we obtain by applying the fundamental physical
principles to a finite control volume are in integral form.
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Finite control volume

Fig. 1 Fig. 2

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Infinitesimal fluid element

 Let us imagine an infinitesimally small fluid element in the flow with a differential
volume dV.
 The fluid element may be fixed in space with the fluid moving through it, as shown
in the Fig. 3 or it may be moving along a streamline with a velocity vector V equal to
the flow velocity at each point as shown in the Fig.4.
 The fundamental physical principles are applied to just the infinitesimally small fluid
element.
 This application leads to the fundamental equations in partial differential equation
form.

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Infinitesimal fluid element

Fig. 3 Fig. 4

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Conservation and non- conservation forms of
governing equations
 The equations obtained by applying the basic physical laws to the fixed fluid
element or volume are called conservation form of governing equations.
 The equations obtained by applying the basic physical laws to the moving fluid
element or volume are called non-conservation form of governing equations.
 Each of these forms can be interconverted from one to the other.

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SUBSTANTIAL DERIVATIVE AND DIVERGENCE

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Substantial derivative

• Consider the model of a infinitesimally small fluid element moving with the flow as
shown in the figure.

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Substantial derivative

 The flow properties in the domain are a function of space and time.
 The density field can be written as
 𝜌 = 𝜌 (x, y, z, t)
 At time t1, the fluid element is located at point 1. At this point and time, the density
of the fluid element is
 𝜌1 = 𝜌 (𝑥1 , 𝑦1 , 𝑧1 , 𝑡1 )
 At a later time t2, the same fluid element has moved to point 2. Hence, at time t2,
the density of this same fluid element is
 𝜌2 = 𝜌 (𝑥2 , 𝑦2 , 𝑧2 , 𝑡2 )

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Substantial derivative

 By taylor’s series expansion we can write,

𝜕𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌
 𝜌2 = 𝜌1 + (𝑥 - 𝑥1 ) + (𝑦 - 𝑦1 ) + (𝑧 - 𝑧1 ) + (𝑡 - 𝑡1 ) + higher order
𝜕𝑥 1 2 𝜕𝑦 1 2 𝜕𝑧 1 2 𝜕𝑡 1 2
terms…
 Dividing by 𝑡2 - 𝑡1 and by ignoring higher order terms and applying the limit 𝑡2 tending to 𝑡1
we get,
𝐷𝜌 𝜌2 −𝜌1
 = lim
𝐷𝑡 𝑡2 →𝑡1 𝑡2 −𝑡1
𝐷𝜌
 is the symbol of time rate of change of density as it moves through point 1.
𝐷𝑡
𝜕𝜌
 For , we fix our eyes on the stationary point 1 and watch the density change due to
𝜕𝑡 1
𝐷𝜌 𝜕𝜌
transient fluctuations in the flow field. Thus, and are physically and numerically
𝐷𝑡 𝜕𝑡
different quantities.
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Substantial derivative
𝐷𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌 𝜕𝜌
 =u +v +w +
𝐷𝑡 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑡
 The same equation can also be obtained by using the chain rule of calculus.
 For any flow field variable we can write,
𝐷 𝜕
 = + ( V. 𝛻) where V is the velocity vector
𝐷𝑡 𝜕𝑡

 V. 𝛻 is called the convective derivative , which is physically the time rate of change
due to the movement of the fluid element from one location to another in the flow
field where the flow properties are spatially different.

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The divergence of velocity

 Consider a control volume moving with the fluid as shown in the Fig. 1.
 Consider an infinitesimal element of the surface dS moving at the local velocity V, as
shown in Fig. 2.
 The change in the volume of the control volume, ∆ 𝑣, due to just the movement of
dS over a time increment ∆𝑡 is, from Fig. 2, equal to the volume of the long, thin
cylinder with base area dS and altitude (V ∆𝑡 ) · n, where n is a unit vector
perpendicular to the surface at dS. That is,

 ∆ 𝑣 = [(V ∆𝑡 ) · n] dS = (V ∆𝑡 ). dS

Fig. 1
Fig. 2
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The divergence of velocity

 Over the time increment ∆𝑡 , the total change in volume of the whole control
volume is equal to the summation of the above equation over the total control
surface. In the limit as dS → 0, the sum becomes the surface integral
 ‫( ׭‬V ∆𝑡 ). dS
 If this integral is divided by ∆𝑡 , the result is physically the time rate of change of the
𝐷𝑣
control volume, denoted by ; that is,
𝐷𝑡
𝐷𝑣 1
 = ‫( ׭‬V ∆𝑡 ). dS = ‫ ׭‬V. dS
𝐷𝑡 ∆𝑡

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The divergence of velocity

 By applying gauss divergence theorem to the RHS of the above equation,

𝐷𝑣
 = ‫ (׮‬V. 𝛻) d𝑣
𝐷𝑡
 For a small volume of the element 𝛿𝑣 we can write
𝐷(𝛿𝑣)
 = (V. 𝛻) 𝛿𝑣
𝐷𝑡
1 𝐷 (𝛿𝑣)
 𝛻.V =
𝛿𝑣 𝐷𝑡
 𝛻.V is physically the time rate of change of the volume of a moving fluid element,
per unit volume.

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GOVERNING EQUATIONS
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The continuity equation

 Physical principle : Mass is conserved.

 Any governing equation can be derived by applying the physical principle to any one
of the flow model.
 Each of these equations are the same and we can get one equation from the other
by simple modifications.

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Model of finite control volume fixed in space

 Consider the flow model shown in the Fig.1.

 The fluid moves through the fixed control volume, flowing across the control
surface.
 At a point on the control surface in Fig. , the flow velocity is V and the vector
elemental surface area is dS.

Fig. 1
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Model of finite control volume fixed in space

 Net mass flow out of control volume through surface S = time rate of decrease of
mass inside the control volume
 B=C
 Here B = ‫𝜌׭‬V.dS
 C is the time rate of decrease of mass inside volume 𝑣.
𝜕
 C=- ‫𝑣𝑑𝜌 ׮‬
𝜕𝑡
 So the governing equation can be written as
𝜕
 ‫ 𝑣𝑑𝜌 ׮‬+ ‫𝜌׭‬V.dS = 0
𝜕𝑡

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Model of an infinitesimally small fluid element
moving with the flow
 Consider the flow model of an infinitesimally small element moving with the flow.
 The mass of the element can be written as
𝛿𝑚 = 𝜌𝛿𝑣 where 𝑣 is the volume of the element.
 As mass is conserved the time rate of change of mass of the fluid element is zero.
𝐷
𝜌𝛿𝑣 = 0
𝐷𝑡
𝐷𝜌 𝐷
𝛿𝑣. +𝜌 𝛿𝑣 = 0
𝐷𝑡 𝐷𝑡
𝐷𝜌 1 𝐷
+𝜌 𝛿𝑣 = 0
𝐷𝑡 𝛿𝑣 𝐷𝑡
𝐷𝜌
+ 𝜌𝜵. 𝐕 = 0
𝐷𝑡
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Continuity equation

Figure showing various forms of continuity equation

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The momentum equation

 Physical principle : Newton’s second law

 Consider a infinitesimally small moving fluid element as shown in the figure.

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The momentum equation

 The forces which act on the fluid element are

a) Body forces : which act directly on a volumetric mass of fluid element
b) Surface forces: i) pressure distribution acting on the surface ii) the shear and
normal stress distributions
 Let us denote the body force per unit mass acting on the fluid element by f, with 𝑓𝑥
as its x component.
 Body force acting on the element in x direction = 𝜌𝑓𝑥 (dx dy dz)

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The momentum equation

Net surface force in x direction =

𝜕𝑝 𝜕𝜏 𝜕𝜏𝑦𝑥
𝑝 − (𝑝+ 𝑑𝑥) 𝑑𝑦𝑑𝑧 + 𝜏𝑥𝑥 + 𝑥𝑥 𝑑𝑥 − 𝜏𝑥𝑥 𝑑𝑦𝑑𝑧+ ቂ 𝜏𝑦𝑥 + 𝑑𝑦 −
𝜕𝑥 𝜕𝑥 𝜕𝑦

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The momentum equation

 So we can write, for x- direction

𝐷𝑢 𝜕𝑝 𝜕𝜏 𝜕𝜏𝑦𝑥 𝜕𝜏𝑧𝑥
𝜌 = − + 𝑥𝑥 + + + 𝜌𝑓𝑥
𝐷𝑡 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
 The same analysis can be extended to y and z directions.
 For Newtonian-fluids Strokes obtained the following relations
𝜕𝑢
𝜏𝑥𝑥 = λ (𝜵. 𝑽) + 2𝜇
𝜕𝑥
𝜕𝑣
𝜏𝑦𝑦 = λ (𝜵. 𝑽) + 2𝜇
𝜕𝑦
𝜕𝑤
𝜏𝑧𝑧 = λ (𝜵. 𝑽) + 2𝜇
𝜕𝑧

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The momentum equation
𝜕𝑣 𝜕𝑢
𝜏𝑥𝑦 = 𝜏𝑦𝑥 = 𝜇 +
𝜕𝑥 𝜕𝑦
 Here 𝜇 is the molecular viscosity coefficient and λ is the second viscosity coefficient.

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The energy equation

 Physical principle : Energy is conserved

 Consider the flow model of a infinitesimally small fluid element moving with the
flow.
 By first law of thermodynamics we can write that
A=B+C
• A- rate of change of energy inside fluid element
• B- net flux of heat into element
• C- rate of work done on element due to body and surface forces

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The energy equation

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The energy equation

 The rate of work done by the body force acting on the fluid element moving at a
velocity V is
𝜌f. V( dx dy dz)
 The rate of work done by pressure in the x direction is
𝜕(𝑢𝑝) 𝜕(𝑢𝑝)
𝑢𝑝 − up + dx dy dz = - dx dy dz
𝜕𝑥 𝜕𝑥
 Similarly the net rate of work done by the shear stresses in the x – direction on the
faces abcd and efgh is
𝜕(𝑢𝜏𝑦𝑥 ) 𝜕(𝑢𝜏𝑦𝑥 )
u𝜏𝑦𝑥 + d𝑦 − 𝑢𝜏𝑦𝑥 dx dz = dx dy dz
𝜕𝑦 𝜕𝑦

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The energy equation

 The net rate of work done due to these forces is

𝜕 𝑢𝑝 𝜕 𝑢𝜏𝑥𝑥 𝜕 𝑢𝜏𝑦𝑥 𝜕(𝑢𝜏𝑧𝑥 )
− + + + dx dy dz
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑧
 The term C can now be written as
𝜕(𝑢𝑝) 𝜕(𝑣𝑝) 𝜕(𝑤𝑝) 𝜕 𝑢𝜏𝑥𝑥 𝜕 𝑢𝜏𝑦𝑥 𝜕(𝑢𝜏𝑧𝑥 ) 𝜕 𝑣𝜏𝑥𝑦 𝜕 𝑣𝜏𝑦𝑦
C = -൤ + + + + + + + +
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦

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The energy equation

𝜕𝑞𝑥ሶ 𝜕 𝑞𝑦ሶ 𝜕𝑞𝑧ሶ

 Heating of the fluid element by thermal conduction = - + + dxdydz
𝜕𝑥 𝜕𝑦 𝜕𝑧
 Volumetric heating of the element = 𝜌𝑞ሶ dxdydz
 The term B is the sum of the above two terms
𝜕𝑞𝑥ሶ 𝜕𝑞𝑦ሶ 𝜕𝑞𝑧ሶ
B = 𝜌𝑞ሶ − + + dxdydz
𝜕𝑥 𝜕𝑦 𝜕𝑧
 By fourier’s law of heat conduction we can write B as
𝜕 𝜕𝑇 𝜕 𝜕𝑇 𝜕 𝜕𝑇
B = 𝜌𝑞ሶ + 𝑘 + 𝑘 + 𝑘 dxdydz where k is the thermal
𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑧
conductivity

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The energy equation

 The term A consists of two quantities

a) Internal energy due to random molecular motion
b) Kinetic energy due to translational motion of the fluid element
 The term A can now be written as
𝐷 𝑽2
A= 𝜌 (e+ ) dxdydz
𝐷𝑡 2
 The final form of energy equation can be obtained by substiting all the terms in the
energy conservation equation
𝐷 𝑽2 𝜕 𝜕𝑇 𝜕 𝜕𝑇 𝜕 𝜕𝑇 𝜕(𝑢𝑝) 𝜕 𝑣𝑝 𝜕(𝑤𝑝)
𝜌 ( e+ ) = 𝜌𝑞ሶ + 𝑘 + 𝑘 + 𝑘 - − − +
𝐷𝑡 2 𝜕𝑥 𝜕𝑥 𝜕𝑦 𝜕𝑦 𝜕𝑧 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜕 𝑢𝜏𝑥𝑥 𝜕 𝑢𝜏𝑦𝑥 𝜕(𝑢𝜏𝑧𝑥 ) 𝜕 𝑣𝜏𝑥𝑦 𝜕 𝑣𝜏𝑦𝑦 𝜕(𝑣𝜏𝑧𝑦 ) 𝜕 𝑤𝜏𝑥𝑧 𝜕 𝑤𝜏𝑦𝑧 𝜕(𝑤𝜏𝑧𝑧 )
+ + + + + + + + +
𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧 𝜕𝑥 𝜕𝑦 𝜕𝑧
𝜌f. V
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Summary of the governing equations

 They are coupled system of non-linear partial differential equations and hence are
very difficult to solve analytically.
 The conservative form of equations are also called as divergence form.
 We have five equations and six unknown flow-field variables. To make the problem
closure we use the equation of state for ideal gas i.e p = 𝜌RT where R is specific gas
constant.
 A seventh equation to close the entire problem is a thermodynamic relation
between state variables i.e e = e(T,p) or e = 𝑐𝑣 T where 𝑐𝑣 is the specific heat at
constant volume.
 The inviscid flow equations are also called as euler’s equations.

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