Navier-Stokes Equations

1 Continuity equation

The continuity equation is based on conservation of mass. Lets look at a volume with surface S , which is xed in space. The mass ow out of this volume B is equal to the decrease of mass inside the volume C . The mass ow through a certain area dS is V dS. Since dS points outward, were looking at the mass owing outward. To nd the total mass owing outward, we just integrate over the surface S , to nd that B= V dS. (1.1)
S

Now lets nd C . The mass in a small volume d is d . The total mass in the volume can be found by a triple integral. But were not looking for the total mass, but for the rate of mass decrease. So we simply take a time derivative of the mass. This gives C= t d.

(1.2)

Note that the minus is there, because were looking for the rate of mass decrease. (Not increase!) Using B = C we can nd the continuity equation t d +
t S

V dS = 0.

(1.3)

Since the control volume is xed, we can pull theorem, we can rewrite this to d + t

within the integral. And by using Gauss divergence + (V) t

(V) d =

d = 0.

(1.4)

Now it may be assumed that, for every small volume d in the volume , the integrand is zero: + (V) = 0. t (1.5)

Note that in the case of a steady ow t = 0, so also (V) = 0. And if the ow is also incompressible, then V = 0. The value V occurs relatively often in equations and will be discussed later.

Momentum equation

The momentum equation is based on the principle Sum of forces = Time rate of change of momentum. Lets look once more at a xed volume in space with boundary surface S . First well examine the forces acting on it. Then well examine the change in momentum. Two types of forces can act on our volume . Body forces, such as gravity, and surface forces, such as pressure and shear stress. First lets look at the body forces. Suppose f represents the net body force per unit mass exerted on the uid inside . On a small volume d , the body force is f d . So the total body force is f d.

(2.1)

Now lets examine the surface forces. On a small surface dS acts a pressure p, directed inward. But dS is directed outward, so the actual force vector caused by the pressure is p dS. The total pressure force therefore is p dS. (2.2)
S

The shear stresses on the volume, caused by viscous forces, may be complicated. So lets just dene Fviscous as the sum of all the viscous stresses. This makes the total force acting on our volume F=

f d
S

p dS + Fviscous

(2.3)

Now lets look at the rate of change of momentum in . This consists of two parts. First, particles leave , taking momentum with them. From the previous paragraph, we know that the mass ow leaving through dS is V dS. So the ow of momentum that leaves through dS is (V dS)V. The total momentum leaving therefore is (V dS)V
S

(2.4)

Second, unsteady uctuations of ow properties inside can also cause a change in momentum. The momentum of a small volume d is the mass times the velocity, being ( d )V. The total momentum of can be obtained by integrating. But we dont want the total momentum, but the time rate of change in front of it to get of momentum. So just like in the last paragraph, we put t t V d

(2.5)

We now have calculated both the sum of the forces, and the change in momentum. Time to put it all together in one equation f d
S

p dS + Fviscous =
S

(V dS)V +

V d

(2.6)

Just like we did in the previous paragraph, we can use the gradient theorem to bring the entire equation under one integral. Lets dene viscous as the part of Fviscous acting on a small volume d . If we simplify the equation and split it up in components, we nd fx fy fz p + x p + y p + z
xviscous

= = =

(u) + (uV), t (v ) + (v V), t (w) + (wV). t

(2.7) (2.8) (2.9)

yviscous

zviscous

If the ow is steady ( t = 0), inviscid (Fviscous = 0) and if there are no body forces (f = 0), these equations reduce to p = (uV) (2.10) x p = (v V) (2.11) y

p = (wV) (2.12) z If the ow is incompressible ( is constant), we have four equations (the momentum equation has three components) and four unknowns, being p, u, v and w. It can be solved. But if is not constant, we need an additional equation. 2

Energy equation

The energy equation is based on the principle that energy can be neither created nor destroyed. Lets once more take a xed volume with boundary surface S . We will be looking at the time rate of change of energy. But rst we make a few denitions. B1 is the rate of heat added to . B2 is the rate of work done on . B3 is the rate of change of energy in . So all values are rates of changes and therefore have unit J/s. Putting it all together gives something similar to the rst law of thermodynamics. The relation between B1 , B2 and B3 is B1 + B2 = B3 . (3.1) First lets look at B1 . The heat can increase by volumetric heating (for example due to radiation). Lets denote the volumetric rate of heat addition per unit mass be denoted by q [J/kg s]. The heating of a small volume d is q d . In addition, if the ow is viscous, heat can be transferred across the surface, for example by thermal conduction. This is a complicated thing, so lets just denote the rate of heat addition due to viscous viscous . Now we know that B1 is eects by Q B1 =

viscous . q d + Q

(3.2)

Now lets look at B2 . The rate of work done on a body is F V. Just like in the previous paragraph, three forces are acting on a small volume d . Body forces (F d ), pressure forces (p dS) and viscous viscous . Putting it all forces. Lets denote the contribution of the friction forces to the work done by W together gives viscous B2 = (f V) d pV dS + W (3.3)
S

To nd B3 , we look at the energy in . The internal energy in is denoted by e, while the kinetic energy 2 2 per unit mass if V2 . The total energy per unit mass is simply E = e + V2 . The particles leaving through the surface S take energy with them. The mass ow leaving through a surface dS is still V dS. Multiply this by the energy per unit mass gives E (V dS), being the rate of energy leaving through dS. To nd the total rate of energy leaving, simply integrate over the surface S. In addition, if the ow is unsteady, the energy inside can also change due toe transient uctuations. The energy of a small volume d is E d . The total energy can be obtained by integrating over the volume . But we dont want the total energy, we want the time rate of change of energy. So, just like in the last two paragraphs, we use t . Now we have enough data to nd B3 , which is B3 =
S

e+

V2 2

V dS +

e+

V2 2

d.

(3.4)

Putting everything together gives us the energy equation V2 d. 2 S S (3.5) Just like in the previous paragraphs, we can follow steps to remove the triple integral. Doing this results in viscous + q d +Q (f V) d viscous = pVdS+W e+ V2 2 VdS+ t e+ viscous + W viscous = e + q + (f V) (pV) + Q V2 2 V + t e+ V2 2 , (3.6)

where Q viscous and Wviscous represent the proper forms of the viscous terms after being put inside the triple integral. 3

 viscous = 0 and W viscous = 0), adiabatic (no heat addition, If the ow is steady ( t = 0), inviscid (Q q = 0) and without body forces (f = 0), the energy equation reduces to

e+

V2 2

= (pV).

(3.7)

Equation of state

Now we have ve equations, but six unknowns, being p, , u, v , w and e. To solve it, we need more equations. If the gas is perfect, then e = cv T, (4.1) where cv is the specic gas constant for constant volume and T is the temperature. But this gives us yet another unknown variable, being the temperature. To complete the system, we can make use of the equation of state p = RT. (4.2) We now have seven unknowns and seven equations, which means the system can be solved.

Substantial derivative

Suppose we look at a very small point in space (from a stationary reference frame). The density changes according to t . But now lets look at a very small volume in space (from a co-moving reference frame). The time rate of change of this volume is dened as the substantial derivative D Dt . It can be shown that this derivative is given by D = + (V ) Dt t D = + (V ) . Dt t
t

(5.1)

Of course the can be replaced by other variables. The rst second part (V ) is called the convective derivative.

is called the local derivative and the

The substantial derivative can be used to write the Navier-Stokes equations in a simpler form. To do that, we make use of a vector relation, which is rather similar to the chain rule, being (V) = ( V) + () V = V + V . (5.2)

Applying this relation and the substantial derivative to the continuity equation (equation 1.5) gives D + V = 0. Dt Using the same tricks, the momentum equation (equation 2.7 to 2.9) can be rewritten as fx fy fz p + x p + y p + z
xviscous

(5.3)

= = =

Du Dt Dv Dt

(5.4) (5.5) (5.6)

yviscous

zviscous

Dw Dt

If the ow is steady ( t = 0) and inviscid (Fviscous = 0), these equations can be simplied even more.

Now lets look at the energy equation (equation 3.6). In the same way as the above equations, it can be rewritten. The outcome is viscous + W viscous = q + (f V) (pV) + Q D e+ Dt
V2 2

(5.7)

It is conventional to call the earlier forms of the equations (equations 1.5, 2.7 to 2.9 and 3.6) the conservation form (or sometimes the divergence form), while the equations of this paragraph are called the non-conservation form. In most cases, there is no particular reason to choose one form over the other.

Divergence of velocity

The quantity V occurs frequently in equations. Lets consider an amount of air from a co-moving reference frame. As the air moves, the volume of can change. We will take a look at that change now. Lets consider a small bit of surface dS of . This surface moves. The change in volume that this piece of surface causes is V dS. So the total change in volume per unit time can be found, using an integral over the surface, giving D = V dS = ( V)d. (6.1) Dt S The latter part is known due to the divergence theorem. Note that we have used the substantial derivative d D dt instead of dt since we are considering a moving volume of air, instead of air passing through a xed volume in space. If the volume is small enough, such that V is the same everywhere in , then we can nd that V = 1 D . Dt (6.2)

This equation states that V is the time rate of change of the volume of a moving uid element per unit volume. This sounds complicated, but an example will illustrate this fact. If V = 0.8s1 , then the volume will decrease by 80% every second (the minus sign indicates a decrease). If V = 1s1 , then the volume will double in size every second (that is, as long V remains 1s1 ).