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Conservation Equations
T = T (a, b, c, t)
Eulerian Field
In the Eulerian description of fluids in motion we describe the distribution of a macroscopic property as
a function of space and time which we refer to as an Eulerian field of that property. Thus the complete
representation of a property for a general three-dimensional, unsteady field is given by:
= (q1 , q2 , q3 , t)
~ , p, T, etc.
where can be any property such as V
Examples
T = T (~r, t) Temperature
p = p(~r, t) Pressure
= (~r, t) Density
s = s(~r, t) Entropy
~ =V
V ~ (~r, t) Velocity
~
M =M ~ (~r, t) Momentum
21
In Eulerian description we watch a fixed point (x, y, z) in space as time t proceeds. The independent variables
are the spatial coordinates x, y, z, and time t.
At a given time t, T = T (x, y, z, t) gives the spatial variation of T . In other words, for any fluid
quantity Q, we can write Q = Q(~r, t)- a scalar or a vector field.
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~ = ui + vj + wk therefore
We know V
du u u u u
ax = = (ui + vj + wk) i+ j+ k +
dt x y z t
= ~ u) + u
(V
t
d ~ (u)
(u) = +V
dt t
dv v v v v
ay = = u +v +w +
dt x y z t
~ v ~
= (V v) + = + V (v)
t t
dw w w w w
az = = u +v +w +
dt x y z t
~ w) + w ~ (w)
= (V = +V
t t
1. The fluid media is capable of continuous distortion and deformation, since it is often extremely difficult
to identify and follow the same mass of fluid at all times as must be done in Lagrangian reference frame.
2. Also, our primary interest often is not in the motion of a given mass of fluid, but rather in the effect
of the overall fluid motion on some device or structure.
Thus the basic laws applied to a fixed mass in Lagrangian reference frame must be transformed to equivalent
expressions in Eulerian reference frame. The theorem which permits this transformation is called Reynolds
transport theorem.
Let N be any extensive property of the identifiable fixed mass (system) such as total mass, momentum, or
energy. The corresponding intensive property (extensive property per unit mass) will be designated as .
Then if : Z Z
N )S = dm = dV
mass V olume
D
Dt (NS ) The total rate of change of any arbitrary extensive property of the system.
D
R
The total rate of change of any arbitrary extensive property of the system.
dV
Dt
V olume
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R
The time rate of change of the arbitrary extensive property N within the control volume
dV
t
CV
evaluated by an observer fixed in the moving control volume.
~ dA
V ~ The net rate of efflux of the extensive property N through the control surface where V
~ is the
velocity measured relative to the control volume.
The intensive property corresponding to N can be used for different quantities as follows:
Quantity
Mass 1
Linear Momentum ~
V
Angular Momentum ~
~r V
Energy e
Entropy s
where = 1.
Physically:
Rate of change of mass inside N et rate of mass ef f lux (outf low)
+ =0
the control volume through the control surf ace
Since the control volume is fixed with respect to a coordinate system attached to it, the limits of integration
are also fixed. Hence, the time derivative can be placed inside the volume integral, and the equation can be
written as: Z Z
~ dA~ =0
dV + V
t
CV CS
or Z
~
+ V dV = 0
t
CV
But since the control volume, V was arbitrarily chosen, the only way this equation can be satisfied is for the
integrand to be zero at all points within the control volume. Thus by setting the integrand to zero we have
the partial equation of conservation law:
~ =0
+ V
t
If the integrand in the above equation was not equal to zero, it would be possible to redefine the control
volume, V in such a way that the integrand was not equal to zero.
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A mathematical variation of the above law:
~ ~ +V~
+ V = + V
t t
D ~ =0
= () + V
Dt
This mixed form of the continuity equation in which one term is Lagrangian and the other is Eulerian
derivative is not useful for flow solution. However, it is frequently used in manipulation.
Simplifications:
~ +V ~ = 0
+ V
t
Incompressible:
= constant
t = 0; = 0
V~ =0
P~
Fext is all the forces exerted on the fluid as it flows through the control volume.
F~Surf ace - surface forces such as normal pressure and tangential shear (due to viscous phenomena).
Tangential shear stress can be predicted only using viscous theory. Normal pressure can be predicted using
inviscid theory also. The body force term can be easily expressed as:
ZZZ
~
FBody f~dV
V
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The surface forces can be expressed in terms of the stress tensor as follows:
ZZ
~ ~
FSurf ace = O p dS
S
p = pI +
where I is an identity tensor and is a shear stress tensor. becomes zero when viscosity is neglected. After
neglecting viscosity F~Surf ace becomes: ZZ
~
FSurf ace = O p d~s
S
Note: Use the R ~ term only when solving control volume type problems.
~ can be conveniently left out.
In differential form or while formulating other forms the reaction term R
Using Gauss divergence theorem on term A and Gradient theorem on term B we can write the conservation
of momentum after dropping the R~ term as:
ZZZ ZZZ ZZZ ZZZ
~ +
V dV ~ ~ =
(V V )dV +
p dV f~ dV
t
V
V
V
V
For any arbitrary control volume the above equation is satisfied if and only if [ ]=0. Hence, the differential
form of the conservation of an inviscid fluid is:
~ ~V
(V ) + (V ~ )+ p f~ 0
t
| {z } | {z } N ormal |{z} |{z}
Convection pressure Body f orce
U nsteady
~ is a general vector.
where is any vector or scalar and A
Consider the differential form:
26
~ ~ V ~ ) + p f~ 0
(V ) + ( V
t |{z} |{z}
~
A
~ ~ (V
~ ) + (V~ V~ ) + p f~ 0
(V ) + V
t
~
V
+V ~ + V~ (V
~ ) + V
~ V ~ + p f~ 0
t t
~
V ~ ~ ~ + p f~ 0
~ V
+V + V +V
t t
| {z }
Conservation of mass0
" #
~
V
~ V
+ +V ~ + p f~ 0
t
DV~
+ p f~ 0 [Inviscid momentum equation]
Dt
DV~
= p + f~
Dt
DV~ p ~
= + f [Euler equation]
Dt
There are six equations and six dependent variables Equations can be solved.
The sum of the order of the differential equations is equal to nine and we need nine boundary conditions.
27
The conservation equations are nonlinear, that is coefficients of some of the derivatives are dependent
variables. Need an interactive solution.
All equations are coupled and hence must be solved for simultaneously.
In general, exact solutions to the conservation equations are unknown because they are nonlinear and no
general method is presently known for solving nonlinear differential equations. However when restrictions
are placed on the flow geometry and the fluid properties, several exact solution to the conservation equations
are possible.
~ ~V
(V ) + (V pext f~ = 0
~ )
t
where
pext = pI +
Rewriting the equation after substitution leads to:
~ ~V~ + pI ) f~ = 0
(V ) + (V
t
pI = (I )p + p( I)
similar to ( A) ~ = (A~ ) + ( A) ~
I = 0 for orthogonal coordinate system and (I ) =
~ ~V~ ) + p f~ = 0
Therefore (V ) + (V
t
where = [V ~ + (V~ )T 2 ( V
~ )I]
3
~ ~V~ ) + p f~ = 0
(V ) + (V
t
~
~ + V + (V
V ~ )V~ +V ~ ) + p f~ = 0
~ ( V
t t
~
~ + V
V ~ ) + V + (V
~ ( V ~ )V~ + p f~ = 0
t " t #
DV~
~
V [ Continuity ] + + p f~ = 0
| {z } Dt
=0
" #
DV~
+ p f~ = 0
Dt
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Expansion of Navier-Stokes Equations in cylindrical coordinates
~ ~V~ ) pext f~ = 0
(V ) + (V
t
~ = vr er + v e + vz ez
V
V~ vr v vz
= er + e + ez
t t t t
p 1 p p
pext =
er + e + ez
r r z
~ = fr er + f e + fz ez
f
1
= er + e + ez
r r
| {z } | {z } | {z } z
A1 A2 A3
~V
V ~ = (vr er + v e + vz ez )(vr er + v e + vz ez )
= vr vr er er + vr v er e + vr vz er ez
| {z } | {z } | {z }
B1 B2 B3
+ v vr e er + v v e e + v vz e ez
| {z } | {z } | {z }
B4 B5 B6
+ vz vr ez er + vz v ez e + vz vz ez ez
| {z } | {z } | {z }
B7 B8 B9
~V
(V ~ ) = (A1 + A2 + A3 ) (B1 + B2 + + B9 )
vr vr v v
= er
r (v r vr ) + (v vr ) + (vz vr ) +
| {z } r | {z } z | {z } r}
| {z r }
| {z
A1 B1 A2 B4 A3 B7
A2 B1 A2 B5
vr v v vr
r (v
+ e r v ) + (v v ) + (vz v ) + +
| {z } r | {z } z | {z } r}
| {z r }
| {z
A1 B2 A2 B5 A3 B8
A2 B2 A2 B4
vr vz
r (v
+ ez r vz ) + (v vz ) + (vz vz ) +
| {z } r | {z } z | {z } r }
| {z
A1 B3 A2 B6 A3 B9
A2 B3
For example
e e
A2 B2 = (vr v er e ) = (vr v er e )
r r
e
er e
= (vr v )
er e + (vr v ) e + (vr v )er
r
e e er e
= (vr v ) er e + (vr v ) e + (vr v ) er e
|r {z }
r |{z}
|r {z }
=0 e
= =0
e vr v
= (vr v ) e e = e
r r
1
Inviscid N-S equations in cylindrical coordinates
r-direction
1 1 v2 p
(vr ) + (rvr vr ) + (v vr ) + (vz vr ) = + fr
t r r r z r r
-direction
1 1 vr v p
(v ) + (rvr v ) + (v v ) + (vz v ) + = + f
t r r r z r r
z-direction
1 1 p
(vz ) + (rvr vz ) + (v vz ) + (vz vz ) = + fz
t r r r z z
c
Copyright
2001, All rights reserved under Dr. Ganesh Rajagopalan