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Thermofluid
Mechanics I
Navier-Stokes
Equations
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Substantial derivative
y
Fluid element at
time t = t1
i x
k
2
z V2
Fluid element at
time t = t2
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
ˆ (t , x, y, z )
ˆ (t , x, y, z ) ˆjv(t , x, y, z ) kw
V iu
where
u = u(t, x, y, z)
v = v(t, x, y, z)
w = w(t, x, y, z)
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
@ time t1:
1 (t1, x1, y1, z1 )
@ time t2:
2 (t2 , x2 , y2 , z2 )
Using Taylor series
2 1 (t2 t1 ) ( x2 x1 ) ( y2 y1 ) ( z2 z1 )
t 1 x 1 y 1 z 1
2 1 x x y y z z
2 1 2 1 2 1 ...........(2.1)
t2 t1 t 1 x 1 t2 t1 y 1 t2 t1 z 1 t2 t1
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
x2 x1
lim u
t2 t1 t2 t1
y2 y1
lim v
t2 t1 t2 t1
z2 z1
lim w
t2 t1 t2 t1
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
D
u v w ...........(2.2)
Dt t x y z
D
u v w .........(2.3)
Dt t x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
iˆ ˆj kˆ ...........(2.4)
x y z
D
V ...........(2.5)
Dt t
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
DT T T T T T
(V )T u v w ........(2.6)
Dt t convective
t x y z
local derivative
derivative
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
d dx dy dz
............(2.8)
dt t x dt y dt z dt
d
u v w ..........(2.9)
dt t x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
The volume swept by the elemental area dS during time interval Dt can
be written as
DV V Dt nˆ dS V Dt dS .........(2.10)
lim V Dt dS V dS ..........(2.11)
DV 1
Dt Dt 0 Dt S S
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
The LHS term is written as a total time derivative because the fluid
element is moving with the flow and it would undergo both the local
acceleration and the convective acceleration.
V dV ...............(2.13)
D( V )
Dt δV
VδV
When δV 0 the volume integral can be replaced by
on the RHS to get the following.
1 D( V )
V .........(2.14)
d V Dt
V
The divergence of is the rate of change of volume per unit volume.
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Continuity Equation
Consider the CV fixed in space. Unlike the earlier case the shape and
size of the CV are the same at all times. The conservation of mass can
be stated as:
Vn dS V dS ..........(2.16)
Note that dS by convention is always pointing outward. Therefore V dS
can be (+) or (-) depending on the directions of the velocity and the
surface element.
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
t V
dV ................(2.18)
D
Dt V
dV 0........(2.21)
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
u v w
Net mass flow = dxdydz..........(2.22)
x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Time rate of mass increase = dxdydz ...........(2.23)
t
u v w
dxdydz dxdydz
x y z t
or
u v w
0.......(2.24)
t x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Which becomes
V 0..........(2.25)
t
Momentum equation
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Fx = m ax
Since we are considering a fluid element moving with the fluid, its mass, m,
is fixed.
The momentum equation will be obtained by writing expressions for the
externally applied force, Fx, on the fluid element and the acceleration, ax,
of the fluid element.
The externally applied forces can be divided into two types:
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
The shear and normal stresses arise from the deformation of the fluid
element as it flows along. The shape as well as the volume of the fluid
element could change and the associated normal and tangential stresses
give rise to the surface stresses.
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
The relation between stress and rate of strain in a fluid is known from the
type of fluid we are dealing with.
Most of our discussion will relate to Newtonian fluids for which
The stresses on the various faces of the fluid element can written as
shown in Figure 2.8. Note the use of Taylor series to write the
stress components.
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
p
p p x dx dydz
t t
t xx xx dx t xx dydz t yx yx dy t yx dxdz
x y
t
t zx zx dz t zx dxdy.............(2.46)
z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
p t xx t yx t zx
Fx dxdydz f x dxdydz...........(2.47)
x x y z
m dxdydz........(2.48)
Du
ax ...........(2.49)
Dt
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Du p t t t
xx yx zx f x .........(2.50a)
Dt x x y z
Dv p t t t
xy yy zy f y .........(2.50b)
Dt y x y z
Dw p t t t
xz yz zz f z .........(2.50c)
Dt z x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Du u
V u....................(2.51)
Dt t
u u
u
t t t
u u
u .............(2.52)
t t t
V u uV u V ........(2.53)
Du u
u u V uV
Dt t t
u
u V uV .............(2.54)
t t
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
Du u
uV ...........(2.55)
Dt t
Substitute Eq. (2.55) into Eq. (2.50a) shows how the following equations
can be obtained.
u p t t t
uV xx yx zx f x ..........(2.56a)
t x x y z
v p t t t
vV xy yy zy f y ..........(2.56b)
t y x y z
w p t t t
wV xz yz zz f z ..........(2.56c)
t z x y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
v
t yy V 2 ...........(2.57b)
y
w
t zz V 2 ...........(2.57c)
z
v u
t xy t yx ...........(2.57d )
x y
u w
t xz t zx ...........(2.57e)
z x
w v
t yz t zy ...........(2.57 f )
y z
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
= - 2/3
The above can be used to get the Navier-Stokes equations in the following
familiar form
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
u u uv uw
2
p u
V 2
t x y z x x x
v u u w
f x .........(2.58a)
y x y z z x
v v uv vw p V 2 v
2
t y x z y y y
v u v w
f y .........(2.58b)
x x y z z y
Computational Fluid Dynamics (AE/ME 339) K. M. Isaac
MAEEM Dept., UMR
w w uw vw
2
p w
V 2
t z x y z z z
w v u w
f z .........(2.58c)
y y z x z x