Lecture 2

Moving Reference Frame Theory

14.5 Release

Advanced Rotating Machinery

2012 ANSYS, Inc. June 18, 2013 1 Release 14.5

 Outline

Introduction to Moving Reference Frames

The Velocity Triangle
Frame Acceleration
Governing Equations for a Moving Reference Frame
Relative and Absolution Velocity Formulations
Scalar Transport Equations
Boundary Conditions
Summary

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 Introduction
Many problems which involve moving components can be modeled
using a Moving Reference Frame (MRF).
Motions can be translational, rotational, or both.
Motion of the frame is defined relative to a stationary coordinate system
(stationary frame).
Why use a MRF?
A flow field which is unsteady with respect to the stationary
frame becomes steady with respect to the MRF
Steady-state problems in the moving frame are easier to
solve...
simpler BCs
low computational cost
easier to post-process and analyze
In this lecture, we will examine the theory and governing equations
which apply to moving reference frames.

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 Flow Viewed in Fixed and Moving Frames

u u

t t

Observation point Observation point

fixed in the moves with the
stationary frame rotating blade
(unsteady flow) (steady flow)

Fixed point in absolute frame Fixed point in relative frame

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 Reference Frames
We can define a moving reference frame as a reference frame
which is in motion with a prescribed orientation and speed
with respect to a stationary (or inertial) reference frame.
We can then define our fluid flow with respect to the moving
frame. Doing so gives rise to additional accelerations which
affect the fluid motion in the moving frame.
Non-inertial reference frame
The velocity of the fluid can defined with respect to both the
stationary or moving frames:
Absolute velocity - Fluid velocity with respect to the stationary
(absolute) reference frame
Relative velocity - Fluid velocity with respect to the rotating
reference frame

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 Moving Reference Frame Illustration

Y
axis of y
rotation CFD domain

r
r
r R
frame origin ro r translation
Vt
z moving x
frame

stationary r

rotation
frame
Z X

Note: R is perpendicular
to axis of rotation

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 The Velocity Triangle
The relationship between the absolute and relative velocities is given by
the following: r
V = absolute velocity
r r r r
V = W +U W = relative velocity
r r r r r drro
Vt = = translational velocity
U r + Vt dt

In turbomachinery, this relationship can be illustrated using the laws of

vector addition. This is known as the Velocity Triangle.

r
W r
U
r
V
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 Frame Acceleration
The frame translational and rotational velocities are often defined to
be constant for simplicity.
However, FLUENT permits these velocities to be functions of time.
r r r r
U (t ) r + Vt (t )
The acceleration terms which arise from time dependent rotational
and translational velocities are
r
v d

dt
r
r dVt
a
dt
These accelerations will be included in the general formulation of the
momentum equation for a moving reference frame.

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 Governing Equations for Moving
Reference Frames
Two different governing equation formulations are used in FLUENT
Relative Velocity Formulation (RVF)
Obtained by transforming the stationary frame N-S equations to a rotating reference
frame
Uses the relative velocity as the dependent variable in the momentum equations
Uses the relative total internal energy as the dependent variable in the energy equation
Available for the Pressure-based Solver only!
Absolute Velocity Formulation (AVF)
Derived from the relative velocity formulation
Uses the absolute velocity as the dependent variable in the momentum equations
Uses the absolute total internal energy as the dependent variable in the energy equation
Available for all solvers (Pressure-based and Density-based)
NOTES
RVF and AVF are equivalent forms of the N-S equations!
Identical solutions should be obtained from either formulation with equivalent
boundary conditions
Scalar transport equations have the same form, independent of the velocity formulation
(which affects momentum and energy equations only).

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 How the Equations are Derived
Begin with the conservation of mass, momentum,
energy (and other transport equations) in the
stationary frame.
Using the relationship between stationary frame and
rotating frame velocities, define the acceleration of
the fluid in the moving frame.
Additional acceleration terms arise in this step.
Transform convection terms and source terms
involving velocity for general scalar transport
equations.
Perform other mathematical manipulations to
develop specific formulations.

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 Relative Velocity Formulation

r
+ W = 0 (Continuity)
t
r
W
( )
r r r r r r r
+ W W + (2 W + r ) (Momentum)
t
r r r r
+ ( r + a ) = p + r + Fb

etr
t
r
( )
r r r
(
+ Whtr = kT + r W + Fb W + Q
& ) (Energy)

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 Relative Velocity Formulation (2)

1 2
(
etr = e + W U 2
2
) (Relative total internal energy)

r
( ) ( )
r T 2 r
r = W + W W (Viscous stress)
3
p1 2
htr = e + + W U 2
2
( ) (Rothalpy)

r
Fb = Body Forces
Q& = Heat GenerationSource Term

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 RVF Accelerations Due to Moving Frame

Accelerations are treated as source terms in the

momentum equations.
For constant translational and rotational velocities,
the last two terms drop out.
r r r r r r r r
[2 W + ( r )] + ( r + a )

Coriolis centrifugal rotational translational

acceleration acceleration acceleration acceleration

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 Absolute Velocity Formulation

r
+ W = 0 (Continuity)
t
r
V
( )
r r r r r r
+ W V + ( V Vt )
t (Momentum)
r
= p + + Fb

et
t
r
(
r
)
r r r
(
+ Wht = kT pU + V + Fb V + Q
& ) (Energy)

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 Absolute Velocity Formulation (2)

1 2
et = e + V (Total internal energy)
2

r
( ) ( )
rT 2 r
= V + V V (Viscous stress)
3
p 1 2
ht = e + + V (Total enthalpy)
2
r
Fb = Body Forces
Q& = Heat GenerationSource Term

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 AVF Accelerations Due to Moving Frame

Accelerations reduce to two terms

rr
Note that the frame acceleration terms ( and a ) do
not appear in the AVF!

r r r r r r r r r r r
[ W + ( r ) Vt ] = ( V Vt )

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 Scalar Equations
General scalar transport equation in a moving reference frame:

( )
r
+ W = ( ) + S
t
= scalar
= diffusion coefficient
S = source term

The use of the relative velocity in the convective term implies that,
for steady-state problems, the scalar variable is transported along
relative streamlines
This form is employed for turbulence models, species and phase
transport, user-defined scalars, etc. in a moving frame
The source term may require additional manipulation if it is a
function of the velocity.
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 Boundary and Initial Conditions

In order to complete the mathematical model,

appropriate boundary conditions are required:
Inlets
Outlet
Walls
Periodic
Others
For unsteady problems, valid initial conditions will
also be needed
For time-periodic flows, initial condition is not as important
Boundary and initial conditions will discussed in
more detail later.

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 Summary
Two forms of the Navier-Stokes equations can be applied to
SRF problems (AVF and RVF)
RVF only available for FLUENTs pressure-based solver
Scalar transport equations can be transformed to moving
frame by modified convection term
Source terms may require modification depending on
dependent variables required (e.g. production term in
turbulence model equation may need relative velocity
gradients)
Appropriate boundary conditions complete the problem
specification
Inlet / outlet flow boundaries, walls, periodics, etc.

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