Modeling incompressible uids, FE-approximation for steady Stokes and unsteady Navier-Stokes problem

F. Guilln-Gonzlez e a

Abstract This rst 4 hours of this course is divide into three parts: 1. Modeling incompressible uids 2. FE-approximation for Stokes problem 3. FD and decoupling time schemes for the Navier-Stokes problem

Modeling incompressible uids

Fluids = liquids and gases. Fluids Mechanics Continuum Mechanics. We consider a macroscopic scale. Independent variables: t (0, T ) time interval x = (x1 , x2 , x3 ) I 3 spatial domain R

Departamento de Ecuaciones Diferenciales y Anlisis Numrico, Universidad de Sevilla, Aptdo. 1160, a e

41080 Sevilla, Spain. guillen@us.es

Identication: x with a particle (average particle density) Lagrangian description: tracking position and velocity of individual particles. Its dicult to model relations between individual particles. Eulerian description: xed a control volume (CV), we have to study which uid ows in and out. Normally, this description is preferred. Dependent variables (eld variables): density = mass / volume. (t, x) I s.t. R
O

dx = mass(O) for any O .

velocity vector = space variation / time. u(t, x) = (u1 , u2 , u3 ) I 3 R pressure = normal force exerted by a uid per unit area. p(t, x) I (Its a scalar R quantity, because the pressure is the same in all directions) energy: thermal (temperature), mechanical, kinetic, potential, electrical, magnetic, chemical, nuclear.

Streamline versus Characteristic.

Streamline: curve tangent to the velocity eld. For instance in 2D incompressible uids ( u = 0 where Then =

u = i ui ), then u =

= (2 , 1 )t ( is the stream function).

) =

u in

| = 0 | = constant. For instance | = 0.

Then, one arrives at the following (BVP) =

u in ,

| = 0.

Characteristic: path traveled by uid particles over some time period (lagrangian point of view) Change of variable between Eulerian and Lagrangian descriptions:

Let t0 , t [0, T ], then X(t; t0 , x0 ) solution of the (IVP): dX = u(t, X) t [0, T ], dt For steady ows, Streamline = Characteristic. For unsteady ows: Streamline: instantaneous picture of the ow Characteristic: ow patters with respect to the time X(t0 ) = x0 .

System versus Control Volume.

The basic conservation laws of continuum mechanics (conservation of mass, conservation of linear momentum, and conservation of energy) apply directly to systems (moving with the ow). This occurs in classical mechanics and thermodynamics where the system approach is normally followed. But, in uid mechanics (and large-deformation solid mechanics), it is often more convenient to work with control volumes because it is dicult to identify and follow a system of uid particles. Thus, there is a need to relate the system equations and corresponding control volume equations. The link between the two is given by the Reynolds transport theorem (RTT). Imagine a system and a coinciding control volume (CV) with a control surface (CS). Reynolds transport theorem states that: the rate of change of an extensive property N , for the system is equal to the time rate of change of N within the CV and the net rate of ux (plus input rate minus output rate) of the property N through the CS: dN |CV = dt t () dx +
CV CS

(u n) ds

where is the intensive property related to extensive property N , (N per unit mass), n is the outward pointing normal vector on the CS. 3

Law of conservation of mass

It states that rate of change of the property M , mass, is equal to the sum of the rate of accumulation of mass within a CV and the net rate of ow of mass across the CS. In this case = 1, then 0= dM |CV = dt t dx +
CV CS

(u n) ds

By using the Divergence Theorem (u n) d =

CS CS

(u) ds

Consequently, since this property is true for any CV in , one arrives at the dierential formulation: t + (u) = 0 in (0, T ) . (1)

Conservation of linear momentum

Its like the Newtons second law or equilibrium of forces: dM = dt By using RTT and integration by parts: dM = dt t (u) dx +
CV CS

F = Fbody + Fsurf ace

u (u n) ds =
CV

t (u) +

(u u)

where (u u)ij = ui uj (tensorial product). Body forces: acting throughout the entire CV (such as gravity, electric, magnetic, ...) Fgravity =
CV

g dx (= M assCV g),

g = gk,

k = (0, 0, 1)t ,

g gravity acceleration

Surface forces: acting on the CS (pressure, viscosity, reaction forces). Fsurf ace =
CS

n ds,

= (ij )ij

second order stress tensor (symmetric)

where 4

 11 , 22 , 33 : normal stresses, due to pressure and viscosity, 12 , 13 , 23 : shear stresses, due to viscosity. Viscosity: internal resistance of a uid motion rate. is decomposed as: = p Id + , with the viscous stress tensor. Accordingly, a linear momentum dierential system reads: t (u) + (u u) + p = g. (2)

Conservation of energy
One PDE related to the temperature equation, with (t, x) I the temperature (unR known).

Number equations versus number unknowns

Number equations = 1(mass) + 3(momentum) + 1(energy) = 5 Number unknowns = 1() + 3(u) + 1(p) + 6( ) + 1() = 12

Incompressible versus Compressible ows

Applying RTT for the Volume V ( = 1, = 1): dV |CV = dt t 1 dx +
CV CS

u n ds =
CV

u ds

hence for incompressible uids one has the dierential form: u = 0. (3)

In particular, homogeneous uids where = 0 > 0 a constant, the mass equation reduces to incompressible equation. For compressible ows, an state equation is imposed for the pressure p = p(, ). For instance, for ideal gases: p = . 5

Constitutive laws
Task: to describe the viscous stress tensor in function of deformation tensor (or rate of strain tensor). Kinematic description: Since uids are in constant motion, motion and deformation is best described in terms of rates. liner velocity u, rate of traslation angular velocity: rate of rotation 2D: w = (1 u2 2 u1 )/2 I R 3D: w = 2 uI 3 R (vorticity vector)

linear strain rate 11 = u1 , 22 = u2 , 33 = u3 shear strain rate 12 = (1 u2 + 2 u1 )/2, etc. Then, D = (ij )ij = u + ( u)t 2 deformation tensor

Relating shear stress and deformation tensor D: Stokes law ( Hookes law for elastic solids): = 2 D, Its valid for air, water, ... Normally, = () taking into account that: viscosity of liquids decreases with temperature and viscosity of gases increases with temperature. For isothermal ows = 0 I a constant, also > 0 is a constant, and then R = (2D) = u + ( u), > 0 dynamic viscosity coe.

Other (nonlinear) laws: 1. Nonlinear viscosity explicitly dependent of D Bingham (toothpaste) Shear thinning (paint) Shear thickening (quicksand) 2. Fluids with memory (visco-elastic uids as polymers, liquid crystals, ...)

Density-dependent Navier-Stokes Navier-Stokes Bousinesq approximation Initial and boundary conditions. Non-slip versus slip condition.

2
2.1 2.2 2.3

FE-approximation for Stokes problem

Mixed formulation and continuous inf-sup condition Stable FE pairs. Fortins trick; P1 bubble/P0 Stabilization schemes; SUPG and GLS. Bubble condensation.

3
3.1 3.2

Time approximation for Navier-Stokes

First and second order FD schemes Decoupling schemes; pressure-correction, velocity-correction and consistent splitting