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Eric G. Paterson
Department of Mechanical and Nuclear Engineering The Pennsylvania State University
Spring 2005
Note to Instructors
These slides were developed1 during the spring semester 2005, as a teaching aid for the undergraduate Fluid Mechanics course (ME33: Fluid Flow) in the Department of Mechanical and Nuclear Engineering at Penn State University. This course had two sections, one taught by myself and one taught by Prof. John Cimbala. While we gave common homework and exams, we independently developed lecture notes. This was also the first semester that Fluid Mechanics: Fundamentals and Applications was used at PSU. My section had 93 students and was held in a classroom with a computer, projector, and blackboard. While slides have been developed for each chapter of Fluid Mechanics: Fundamentals and Applications, I used a combination of blackboard and electronic presentation. In the student evaluations of my course, there were both positive and negative comments on the use of electronic presentation. Therefore, these slides should only be integrated into your lectures with careful consideration of your teaching style and course objectives. Eric Paterson Penn State, University Park August 2005
1 These
slides were originally prepared using the LaTeX typesetting system (http://www.tug.org/) and the beamer class (http://latex-beamer.sourceforge.net/), but were translated to PowerPoint for wider dissemination by McGraw-Hill.
Overview
Fluid Kinematics deals with the motion of fluids without considering the forces and moments which create the motion. Items discussed in this Chapter.
Material derivative and its relationship to Lagrangian and Eulerian descriptions of fluid flow. Flow visualization. Plotting flow data. Fundamental kinematic properties of fluid motion and deformation. Reynolds Transport Theorem
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Lagrangian Description
Lagrangian description of fluid flow tracks the position and velocity of individual particles. Based upon Newton's laws of motion. Difficult to use for practical flow analysis.
Fluids are composed of billions of molecules. Interaction between molecules hard to describe/model.
Eulerian Description
Eulerian description of fluid flow: a flow domain or control volume is defined by which fluid flows in and out. We define field variables which are functions of space and time.
Pressure field, P=P(x,y,z,t) & & Velocity field, V ! V x, y, z, t
& & & & V ! u x, y , z , t
i v x, y , z , t
j w x, y , z , t
k & & Acceleration field, a ! a x, y, z, t
& & & & a ! ax x, y, z , t
i a y x, y, z , t
j az x, y, z , t
k
Well suited for formulation of initial boundary-value problems (PDE's). Named after Swiss mathematician Leonhard Euler (1707-1783).
http://www.ensco.com/products/atmospheric/gem/gem_ovr.htm
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Forensic analysis of Columbia accident: simulation of shuttle debris trajectory using Eulerian CFD for flow field and Lagrangian method for the debris.
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Acceleration Field
Consider a fluid particle and Newton's second law, & & Fparticle ! m particle a particle The acceleration of the particle is the time derivative of & the particle's velocity. dV particle & a particle ! dt However, particle velocity at a point is the same as the & & fluid velocity, V particle ! V x particle t
, y particle t
, z particle t
To take the time derivative of, chain rule must be used. & & & & & xV dt xV dx particle xV dy particle xV dz particle a particle ! dt xt dt xx dt xy dt xz
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Acceleration Field
Since
dx particle dt
! u,
dy particle dt
! v,
dz particle dt
!w
& a particle
First term is called the local acceleration and is nonzero only for unsteady flows. Second term is called the advective acceleration and accounts for the effect of the fluid particle moving to a new location in the flow, where the velocity is different.
Chapter 4: Fluid Kinematics
Material Derivative
The total derivative operator d/dt is call the material derivative and is often given special notation, D/Dt.
Advective acceleration is nonlinear: source of many phenomenon and primary challenge in solving fluid flow problems. Provides ``transformation'' between Lagrangian and Eulerian frames. Other names for the material derivative include: total, particle, Lagrangian, Eulerian, and substantial derivative.
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Flow Visualization
Flow visualization is the visual examination of flow-field features. Important for both physical experiments and numerical (CFD) solutions. Numerous methods
Streamlines and streamtubes Pathlines Streaklines Timelines Refractive techniques Surface flow techniques
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Streamlines
A Streamline is a curve that is everywhere tangent to the instantaneous local velocity vector. Consider an arc length
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Streamlines
NASCAR surface pressure contours and streamlines Airplane surface pressure contours, volume streamlines, and surface streamlines
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Pathlines
A Pathline is the actual path traveled by an individual fluid particle over some time period. Same as the fluid particle's material position vector
particle
t , y particle t , z particle t
tstart
& Vdt
Particle Image Velocimetry (PIV) is a modern experimental technique to measure velocity field over a plane in the flow field.
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Streaklines
A Streakline is the locus of fluid particles that have passed sequentially through a prescribed point in the flow. Easy to generate in experiments: dye in a water flow, or smoke in an airflow.
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Comparisons
For steady flow, streamlines, pathlines, and streaklines are identical. For unsteady flow, they can be very different.
Streamlines are an instantaneous picture of the flow field Pathlines and Streaklines are flow patterns that have a time history associated with them. Streakline: instantaneous snapshot of a timeintegrated flow pattern. Pathline: time-exposed flow path of an individual particle.
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Timelines
A Timeline is the locus of fluid particles that have passed sequentially through a prescribed point in the flow. Timelines can be generated using a hydrogen bubble wire.
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Plots of Data
A Profile plot indicates how the value of a scalar property varies along some desired direction in the flow field. A Vector plot is an array of arrows indicating the magnitude and direction of a vector property at an instant in time. A Contour plot shows curves of constant values of a scalar property for magnitude of a vector property at an instant in time.
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Kinematic Description
In fluid mechanics, an element may undergo four fundamental types of motion.
a) b) c) d) Translation Rotation Linear strain Shear strain
Because fluids are in constant motion, motion and deformation is best described in terms of rates
a) velocity: rate of translation b) angular velocity: rate of rotation c) linear strain rate: rate of linear strain d) shear strain rate: rate of shear strain
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Rate of rotation at a point is defined as the average rotation rate of two initially perpendicular lines that intersect at that point. The rate of rotation vector in Cartesian coordinates: & 1 xw xv & 1 xu xw & 1 xv xu & i [! j k 2 xy xz 2 xz xx 2 xx xy
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xu xv xw I xx ! , I yy ! , I zz ! xx xy xz
Volumetric strain rate in Cartesian coordinates
1 DV xu xv xw ! I xx I yy I zz ! V Dt xx xy xz
Since the volume of a fluid element is constant for an incompressible flow, the volumetric strain rate must be zero.
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1 xu xv 1 xw xu 1 xv xw I xy ! , I zx ! , I yz ! 2 xy xx 2 xx xz 2 xz xy
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I xx I ij ! I yx I zx
I xy I yy I zy
1 xu xv xy xx 2 xv xy 1 xw xv xy xz 2
1 xu xw 2 xz xx 1 xv xw xz xy 2 xw xz
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Cylindrical coordinates
& 1 xu z xuU & xur xu z & x ruU
xur ^ ! er eU xz xr xU r xU xz xr & ez
In regions where ^ = 0, the flow is called irrotational. Elsewhere, the flow is called rotational.
Chapter 4: Fluid Kinematics
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There is a direct analogy between the transformation from Lagrangian to Eulerian descriptions (for differential analysis using infinitesimally small fluid elements) and the transformation from systems to control volumes (for integral analysis using large, finite flow fields).
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& & Db xb ! V b Dt xt
dBsys
m 1
& mV & V
In Chaps 5 and 6, we will apply RTT to conservation of mass, energy, linear momentum, and angular momentum.
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dBsys
ME33 : Fluid Flow
dBsys
Where the absolute velocity V in the second term is replaced by the relative velocity Vr = V -VCS Vr is the fluid velocity expressed relative to a coordinate system moving with the control volume.
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dBsys
For control volumes with well-defined inlets and outlets dBsys d ! V bdV V avg bavgVr ,avg A V avg bavgVr ,avg A dt dt CV out in
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