Compressible Navier-Stokes formulation for a perfect gas Page 1 of 5

1. M 

Here we derive the mathematical model describing the behavior of a compressible, perfect gas. Special
attention is paid to the origins of all conservation laws and constitutive relations employed. Direct notation
is employed to ease conversion to an arbitrary coordinate system. The model will nondimensionalized after
derivation is complete.

1.1. Conservation laws.

1.1.1. Reynolds transport theorem. Consider a time-varying control volume Ω with surface ∂Ω and unit
outward normal n̂. For any scalar, vector, or tensor field quantity T , Leibniz’ theorem states
∂ ∂
Z Z Z Z
d
T (x, t) dV = T dV + n̂ · wT dA = T + ∇ · wT dV
dt Ω(t) Ω ∂t ∂Ω Ω ∂t
where w is the velocity of ∂Ω. When Ω follows a fixed set of fluid particles, w becomes the fluid velocity u.

1.1.2. Mass continuity. Since mass M = ρ dV and mass conservation requires = 0,

R d
Ω dt M
∂
Z Z
d d
0= M= ρ dV = ρ + ∇ · uρ dV.
dt dt Ω Ω ∂t
Because the result must hold for any control volume, we obtain
∂
ρ + ∇ · ρu = 0.
∂t

1.1.3. Momentum equation. Separating total force into surface forces and a body force density
X Z Z Z Z Z
F= f s dA + ρ fb dV = σn̂ dA + ρ fb dV = ∇ · σ + ρ fb dV
∂Ω Ω ∂Ω Ω Ω
where σ is the Cauchy stress tensor. Examining momentum I = Ω ρu dV and its conservation dtd I = F,
R P

∂
Z Z
ρu + ∇ · (u ⊗ ρu) dV = ∇ · σ + ρ fb dV.
Ω ∂t Ω
Because the control volume may be arbitrary,
∂
ρu + ∇ · (u ⊗ ρu) = ∇ · σ + ρ fb .
∂t
We further separate pressure p and viscous contributions τ to the Cauchy stress tensor so that σ = −pI + τ,
∂
ρu + ∇ · (u ⊗ ρu) = −∇p + ∇ · τ + ρ fb .
∂t
Lastly, observing that u ⊗ ρu = ρ1 ρu ⊗ ρu is symmetric,
∂ 1
ρu + ∇ · (u ⊗ ρu + ρu ⊗ u) = −∇p + ∇ · τ + ρ fb .
∂t 2

1.1.4. Energy equation. Lumping internal and kinetic energy into an intrinsic density e, the energy E is
Z
E= ρe dV.
Ω
Compressible Navier-Stokes formulation for a perfect gas Page 2 of 5

Treating heat input Q as both a surface phenomenon described by an outward heat flux q s and as a volumetric
phenomenon governed by a body heating density qb ,
Z Z Z
Q= ρqb dV − n̂ · q s dA = ρqb − ∇ · q s dV.
Ω ∂Ω Ω
Power input P = F · v accounts for surface stress work and body force work to give
Z Z Z
P= σn̂ · u dA + ρ fb · u dV = ∇ · σu + ρ fb · u dV.
∂Ω Ω Ω
Demanding energy conservation d
dt E= Q + P,
∂
Z Z Z
ρe + ∇ · uρe dV = ρqb − ∇ · q s dV + ∇ · σu + ρ fb · u dV.
Ω ∂t Ω Ω
Again, since the control volume was arbitrary,
∂
ρe + ∇ · ρeu = −∇ · q s + ∇ · σu + ρ fb · u + ρqb .
∂t
After splitting σ’s pressure and viscous stress contributions we have
∂
ρe + ∇ · ρeu = −∇ · q s − ∇ · pu + ∇ · τu + ρ fb · u + ρqb .
∂t

1.2. Constitutive relations and other assumptions.

1.2.1. Perfect gas. We assume our fluid is a thermally and calorically perfect gas governed by
p = ρRT
where R is the gas constant. The constant volume Cv specific heat, constant pressure specific heat C p , and
acoustic velocity a relationships follow:
Cp R γR
γ= Cv = Cp = R = C p − Cv a2 = γRT
Cv γ−1 γ−1
We assume γ and therefore Cv and C p are constant. The total (internal and kinetic) energy density is
u·u RT u·u
e = Cv T + = + .
2 γ−1 2
See a gas dynamics reference, e.g. Liepmann & Roshko 1957, for more details.

1.2.2. Newtonian fluid. If we seek a constitutive law for the viscous stress tensor τ using only velocity in-
formation, the principle of material frame indifference implies that uniform translation
 (given
 by velocity
u) and solid-body rotation (given by the skew-symmetric rotation tensor ω = 2 ∇u − ∇u ) may not in-
1 T

fluence τ. Considering contributions only up to the gradient of velocity, extensional strain

 (dilatation)
 and
shear strain effects may depend on only the symmetric rate-of-deformation tensor ε = 2 ∇u + ∇u and its
1 T

principal invariants.
Assuming τ is isotropic and depends linearly upon only ε, we can express it as
τi j = ci jmn εmn
 
= Aδi j δmn + Bδim δ jn + Cδin δ jm εmn for some A, B, C ∈ R
= Aδi j εmm + Bεi j + Cε ji
= Aδi j εmm + (B + C) ε ji
= 2µεi j + λδi j ∇ · u
Compressible Navier-Stokes formulation for a perfect gas Page 3 of 5

where µ = 1
2 (B + C) is the viscosity and λ = A is the second viscosity. Reverting to direct notation we have
τ = 2µε + λ (∇ · u) I
 
= µ ∇u + ∇uT + λ (∇ · u) I

1.2.3. Stokes hypothesis. We generally assume the second viscosity λ = − 32 µ. However, because we antic-
ipate separately maintaining λ being useful, we will not combine µ and λ terms in the model.

1.2.4. Power law viscosity. We assume that viscosity varies only with temperature according to
!β
µ T
=
µ0 T0
where µ0 and T 0 are suitable reference values. This relationship models air well for temperatures up to
several thousand degrees K. See Svehla’s 1962 NASA technical report R-132.

1.2.5. Fourier’s equation. We neglect the transport of energy by molecular diffusion and radiative heat
transfer. We seek a relation between the surface heat flux q s and the temperature T . The principle of frame
indifference implies we may only use the temperature gradient so that
q s = κ · ∇T
where κ is a thermal conductivity tensor. Consistent with our assumption that τ is isotropic, we assume κ is
isotropic to obtain
q s = −κ∇T
where κ is the scalar thermal conductivity. We introduce the negative sign so that heat flows from hot to cold
when κ > 0.

µC
1.2.6. Constant Prandtl number. We assume the Prandtl number Pr = κ p is constant. Because C p is
constant the ratio µκ must be constant. The viscosity and thermal conductivity must either grow at identical
rates or they must grow according to an inverse relationship. The latter is not observed in practice for our
class of fluids, and so we assume
µ κ
= .
µ0 κ0

1.2.7. Body force density. We generally assume fb = 0. However, in the formulation, we allow the fb
to vary in all spatial directions and across time. Retaining body force will simplify using the method of
manufactured solutions for implementation verification.

1.2.8. Body heating density. We assume a space- and time-varying body heating density qb .

1.3. Nondimensionalization.
Compressible Navier-Stokes formulation for a perfect gas Page 4 of 5

1.3.1. Dimensional equations. By combining the conservation laws with our constitutive relations and as-
sumptions, we arrive at the dimensional equations
∂
ρ = −∇ · ρu
∂t
∂ 1
ρu = − ∇ · (u ⊗ ρu + ρu ⊗ u) − ∇p + ∇ · τ + ρ fb
∂t 2
∂ κ0
ρe = −∇ · ρeu + ∇ · µ∇T − ∇ · pu + ∇ · τu + ρ fb · u + ρqb
∂t µ0
where terms in the right hand side make use of
γ−1 
!
u · u
T= e−
R 2
p = ρRT
!β
T
µ = µ0
T0
 
τ = µ ∇u + ∇uT + λ (∇ · u) I.

1.3.2. Introduction of nondimensional variables. We rewrite the dimensional equations using nondimen-
sional variables combined with arbitrary reference quantities. For each dimensional quantity in the dimen-
sional model we introduce a nondimensional variable or operator denoted by a superscript star, e.g. ∇∗ .
We introduce t∗ = t0 and x = l0
t ∗ x
for some reference t0 and l0 . This induces the following relationships:
∂ ∂ ∂t∗ 1 ∂ ∂ ∂ ∂x∗ 1 ∂ ∂ 1 ∂ 1
= = = ∗ = ∇ = êi = êi = ∇∗
∂t ∂t∗ ∂t t0 ∂t∗ ∂x ∂x ∂x l0 ∂x∗ ∂xi l0 ∂xi∗ l0
ρ
We introduce more nondimensional quantities (e.g. ρ∗ = ρ0 ) and use them to reexpress the model
ρ0 ∂ ∗ ρ0 u 0 ∗ ∗ ∗
ρ =− ∇ ·ρ u
t0 ∂t ∗ l0
ρ0 u0 ∂ ∗ ∗ 1 ρ0 u20 ∗ p0 τ0
ρ u = − ∇ · (u∗ ⊗ ρ∗ u∗ + ρ∗ u∗ ⊗ u∗ ) − ∇∗ p∗ + ∇∗ · τ∗ + ρ0 f0 ρ∗ fb∗
t0 ∂t ∗ 2 l0 l0 l0
ρ0 e 0 ∂ ∗ ∗ ρ0 e0 u0 ∗ ∗ ∗ ∗ κ0 T 0 ∗ ∗ ∗ ∗ p0 u0 ∗ ∗ ∗
ρ e =− ∇ ·ρ e u + 2 ∇ ·µ ∇ T − ∇ ·p u
t0 ∂t∗ l0 l0 l0
τ0 u 0 ∗ ∗ ∗
+ ∇ · τ u + ρ0 f0 u0 ρ∗ fb∗ · u∗ + ρ0 q0 ρ∗ q∗b
l0
where terms in the right hand side are computed using
1 γ−1 ∗ ∗
! !
2u · u
T =
∗ ∗
e0 e − u0
T0 R 2
ρ 0 RT 0 ∗ ∗
p∗ = ρT
p0
µ∗ = T ∗ β


µ0 u0 h ∗  ∗ ∗ 
i
τ∗ = µ ∇ u + ∇∗ u∗ T + λ∗ ∇∗ · u∗ I .
l0 τ0
Notice that λ has been nondimensionalized using µ0 . At this stage, we have many more reference quantities
than the underlying dimensions warrant.
Compressible Navier-Stokes formulation for a perfect gas Page 5 of 5

1.3.3. Reference quantity selections. We choose a reference length l0 , temperature T 0 , and density ρ0 . These
selections fix all other dimensional reference quantities:
l0 µ0 a0 a2 a3
a0 = γRT 0 u0 = a0 e0 = a20 t0 =p0 = ρ0 a20 τ0 = f0 = 0 q0 = 0
p
a0 l0 l0 l0
Because we assume viscosity varies only with temperature, µ0 = µ(T 0 ) is fixed by T 0 . Because we assume
a constant Prandtl number, κ0 = κ(µ(T 0 )) is also fixed by T 0 .

1.3.4. Nondimensional equations. We employ the reference quantity relationships after multiplying the
continuity, momentum, and energy equations by ρt00 , ρ l0a2 , and ρ0t0e0 respectively. Henceforth we suppress
0 0
the superscript star notation because all terms are dimensionless. We arrive at the following nondimensional
equations:
∂
ρ = −∇ · ρu
∂t
∂ 1 1
ρu = − ∇ · (u ⊗ ρu + ρu ⊗ u) − ∇p + ∇ · τ + ρ fb
∂t 2 Re
∂ 1 1
ρe = −∇ · ρeu + ∇ · µ∇T − ∇ · pu + ∇ · τu + ρ fb · u + ρqb
∂t Re Pr (γ − 1) Re
ρ0 u 0 l 0 µ0 C p
where Re = µ0 and Pr = κ0 .
The nondimensional quantities appearing above are given by:
 u · u
T = γ − 1) e −
(γ
2
1
p = ρT
γ
µ = Tβ
 
τ = µ ∇u + ∇uT + λ (∇ · u) I