Shortly on the previous topic:

Overview on the resistance of a ship

Basic terms / definitions: resistance, effective power, thrust
deduction, non-dimensional resistance.
Different ways of dividing the total resistance into components.
Overview of the flow phenomena that relate to resistance.

CT(Fn,Re,Wn)
Total resistance
Depends mainly on Fn Depends mainly on Re

CW(Fn,Re) CS(Fn,Wn) CV(Fn,Re)

Wave resistance Spray Viscous resistance
———
CWM(Fn,Re) CWB(Fn,Re) CVP(Fn,Re) CF(Fn,Re)
Wavemaking Wavebraking Viscous pressure Frictional
resistance resistance resistance resistance

CWP(Fn) CWV(Re) CVPT(Re) CVPW(Fn,Re) CF0(Fn,Re) CF3D(Fn,Re)

Wave, potential Correction due True pressure Additional Friction of the Correction due
to the viscosity resistance wave making flat plate to 3D effects

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 1 / 35

 Kul-24.3200 Introduction of Marine Hydrodynamics

Resistance: Modelling the flow 1/2

Continuity and Navier-Stokes equations

Lecturer: Satu Hänninen, D.Sc. (Tech.)

Senior scientist at VTT
skhannin@gmail.com

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 2 / 35

Content of the course

1 Resistance
I Overview (Sept. 14)
I Modelling the flow 1/2 (Sept. 18)
I Frictional flow and wave making(Sept. 21)
I Evaluation of the resistance (Sept. 25)
2 Propulsion
3 Ship dynamics

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 3 / 35

Topic, learning outcomes and literature

Topic: Modelling of the flow (Continuity and Navier-Stokes equations)

After this part, you can explain

what Continuity equation and Navier-Stokes equations describe.
which factors a complete model of ship resistance includes.
how the changes
I in the surface area of a cross-section and velocity of the flow through it
correlate.
I in pressure and velocity correlate.

You can practice this topic within Exercise 1:

What do the flow equations model?
What quantities and physical variables the equations include?

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 4 / 35

Topic, learning outcomes and literature

Additional reading
Continuity equation and Navier-Stokes equations in the books on the
basics of the fluid mechanics.
I For instance: Nakayama Y. and Boucher R.F. (2000). Introduction to
Fluid Mechanics. Revised. Butterworth Heinemann.
Matusiak, Jerzy (2010). Laivan kulkuvastus, M-289, Section 2.1.
Section 2.2 partly outdated. (Finnish lecture notes in Noppa)

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 5 / 35

Outline: Modelling the flow 1/2
Continuity equation and Navier-Stokes equations

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 6 / 35

Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 7 / 35

General on the modelling of the flow

Relevant in the flow

Wave-making of the hull
Deceleration of the flow due to the frictional effects
Water is an incompressible medium → incompressible flow

Mathematical description of such a flow

Mass conservation equations called Continuity equation
Momentum conservation equations called Navier-Stokes equations

These equations are presented in the following without a derivation

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 8 / 35
Mass and momentum conservation equations

∂u ∂v ∂w
+ + =0
∂x ∂y ∂z
 2
∂ u ∂2u ∂2u 1

∂u ∂u ∂u ∂u 1 ∂p
+u +v +w =− +ν + + 2 + Fx
∂t ∂x ∂y ∂z ρ ∂x ∂x 2 ∂y 2 ∂z ρ
 2
∂2v ∂2v

∂v ∂v ∂v ∂v 1 ∂p ∂ v 1
+u +v +w =− +ν + + + F y
∂t ∂x ∂y ∂z ρ ∂y ∂x 2 ∂y 2 ∂z 2 ρ
 2
∂2w ∂2w

∂w ∂w ∂w ∂w 1 ∂p ∂ w 1
+u +v +w =− +ν + + + Fz
∂t ∂x ∂y ∂z ρ ∂z ∂x 2 ∂y 2 ∂z 2 ρ

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 9 / 35

Symbols

Cartesian coordinates
Assumptions on the fluid
Axis x, y , z
Incompressible
Velocity components u, v , w
Continuous

Properties of the fluid

Density ρ
Pressure p
Viscosity µ
µ Body forces Fx , Fy , Fz
Kinematic viscosity ν = ρ

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 10 / 35

Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 11 / 35

Continuity equation

∂u ∂v ∂w
+ + =0
∂x ∂y ∂z

What does it state about the flow?

Mass is conserved.
In other words: Matter is neither created nor destroyed in the flow.

Why is it useful?
Helps understanding the behaviour of the flow
Can be applied in the mathematics models of the flow

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 12 / 35

Continuity equation: What does it mean in practice?
Example: water flowing along a pipe 1/3

Volume of the water:

V =A·L
Volumetric flow rate (volume passing per second):

Q = V /t = A · L/t = A · v

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 13 / 35

Continuity equation: What does it mean in practice?
Example: water flowing along a pipe 2/3
Aalto University, School of Engineering
Make sure that the definition
of the flow rate makes sense
to you:
Q = V /t = A · L/t = A · v
V : volume of the water
t: time
What does it mean that the
water is neither created nor
destroyed in the case of this
example? Write a mathemat-
ical expression.
Introduction of Marine Hydrodynamics 18 September 2015 14 / 35
Continuity equation: What does it mean in practice?
Example: water flowing along a pipe 3/3

The volumetric flow rate must be the same in the both parts of the pipe,
because we cannot gain or lose any fluid.

Q = A1 · v1 = A2 · v2

This is another expression of the continuity equation. It can be useful

when explaining ship flows, e.g. flow around a ship in a channel.

∂u ∂v ∂w
(Compare to ∂x + ∂y + ∂z = 0)
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 15 / 35
Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 16 / 35

Navier-Stokes equations
Newton’s second law of motion

What does the Newton’s second law states?

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 17 / 35

Navier-Stokes equations
Newton’s second law of motion
What does the Newton’s second law states?

X
F~ =m~a

P~
Net force acting upon an object F
Mass of the object m
Acceleration of the object ~a
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 18 / 35
Navier-Stokes equations
Newton’s second law & Navier-Stokes equations

Navier-Stokes equations are obtained by applying Newton’s second law to

fluid motion.

Newton’s second law X

maz = Fz

Navier-Stokes equations:
 2
∂2w ∂2w
  
∂w ∂w ∂w ∂w ∂p ∂ w
ρ +u +v +w =− +µ + + +Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 19 / 35

Navier-Stokes equations
Newton’s second law & Navier-Stokes equations: mass
Newton’s second law
m az =
X
Fz

Mass of the fluid, whose density is ρ and volume V

Z
m = ρ · V = ρdV
V

Navier-Stokes equations:
 2
∂2w ∂2w
  
∂w ∂w ∂w ∂w ∂p ∂ w
ρ +u +v +w =− +µ + + + Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

Z   Z
∂w ∂w ∂w ∂w
ρ +u +v +w dV = [...] dV
V ∂t ∂x ∂y ∂z V

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 20 / 35

Navier-Stokes equations: acceleration 1/2

(Compare Newton 2: m·az =

P
Fz )

∂w ∂w ∂w ∂w
 2
∂2w ∂2w
  
∂p ∂ w
ρ +u +v +w =− +µ + + +Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

Total acceleration consists of

Local acceleration (or unsteady acceleration)
∂w
∂t

Convective acceleration
∂w ∂w ∂w
u +v +w
∂x ∂y ∂z

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 21 / 35

Navier-Stokes equations: acceleration 2/2

Local acceleration / unsteady acceleration

is zero, if the flow is steady (stationary).

Convective acceleration
indicates how much flow accelerates or slows down when it passes a
fixed point P.

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 22 / 35

Navier-Stokes equations: body force

(Compare Newton 2: m · az = Fz = Fz,pressure + Fz,viscous +Fz ,body )

P

∂2w ∂2w ∂2w

   
∂w ∂w ∂w ∂w ∂p
ρ +u +v +w =− +µ + + +Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

Body forces
are significant in ship hydrodynamics.
represented as a density of a force distributed within the flow domain.
Cartesian co-ordinate system (x,y ,z) and z-axis oriented upwards:

Fz = −ρg and Fx = Fy = 0.

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 23 / 35

Navier-Stokes equations: pressure and viscous terms

(Compare Newton 2: m · az = Fz =Fz ,pressure +Fz ,viscous +Fz,body )

P

∂p ∂ 2w ∂ 2w ∂ 2w
  !
∂w ∂w ∂w ∂w
ρ +u +v +w =− +µ + + +Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 24 / 35

Navier-Stokes equations: pressure and viscous terms

∂p ∂ 2w ∂ 2w ∂ 2w
  !
∂w ∂w ∂w ∂w
ρ +u +v +w =− +µ + + +Fz
∂t ∂x ∂y ∂z ∂z ∂x 2 ∂y 2 ∂z 2

An example on the acceleration / deceleration of the particles:

Pressure increases (dp/dx > 0)

Velocity decreases due to

an increase of pressure and
by the action of friction
Friction decelerates
Pressure drops down as the speed increases and vice versa.
Pressure is affected also by the viscous effects and by the body forces.
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 25 / 35
Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 26 / 35

Bernoulli equation
p v2
+ gz + = Constant
ρ 2

On the equation
Assumptions: inviscid and irrotational flow
The law of conservation of energy: the sum of the kinetic energy,
energy due to pressure and potential energy is always constant.
I Connects v , p and vertical location of the control point.

On its application
Often useful: the connection between the pressure and the velocity.
Understanding the behaviour of the flow around a ship.
In this course, for instance
I Why does the action of a propulsor increases the pressure resistance?
I Flow around a ship in a channel.
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 27 / 35
Bernoulli equation: Example
→ Using the Bernoulli equation, explain why the pressure resistance
increases due to an operating propeller.

Total resistance with

the operating propulsor:
Fx = RT + ∆RP

Total resistance with no

propulsor: RT

→ The frictional resistance increases too. Why? (You don’t need the
Bernoulli equation for this.)

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 28 / 35

Bernoulli equation: Example
The flow velocity increases in the stern area due to the operating propulsor.

Pressure resistance Z
Rpressure = pnx dS.
S

Bernoulli equation → Pressure level decreases in the stern area.

The x-component of the surface normal of the hull points towards the
bow in the stern area.
→ Pressure resistance increases.

Frictional resistance Z
Rfriction = τ dS.
S

Shear stresses τ become larger due to the increased flow velocity.

→ Frictional resistance increases.
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 29 / 35
Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 30 / 35

Modelling of the flow in practice: general

In principle, all marine flows can be modelled using

Continuity and Navier-Stokes equations
Suitably chosen initial and boundary conditions

Challenges when resolving these equations

Convective acceleration is non-linear
Turbulent nature of the hull flows
→ Requires significant computational
power and time

Benefits of this kind of modelling

Very detailed information on the
behaviour of the flow
Predictions both in model and full scale
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 31 / 35
Modelling of the flow in practice: turbulent flow
Turbulence
makes the flow unsteady.
is visible as the formation of
vortices of different sizes.
Vortices
Time-dependent
Diameter usually much smaller
than e.g. ship hull or propeller
In a global sense, the flow is time independent.
→ Simplication of the flow model. (requires still sophisticated numerical
methods.)
The flow is considered as average values of velocities and pressures.
Effect of the turbulence is modelled with a turbulence model.
I The viscous effect caused by the turbulence is introduced as the
turbulent viscosity or eddy viscosity.
Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 32 / 35
Modelling of the flow in practice: free surface
Interface tracking Interface capturing
A boundary of the computational Both water and air domains are
domain follows the deforming free modelled. An additional parameter
surface. indicates whether a computational
volume includes water or air.

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 33 / 35

Outline

1 General on the modelling of the flow

2 Continuity equation

3 Navier-Stokes equations

4 How about Bernoulli equation?

5 How to model the flow using Continuity and Navier-Stokes equations?

6 Summary

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 34 / 35

Summary

What do Continuity equation and Navier-Stokes equations describe?

Which variables and physical quantities do they include?

What did you learn about the correlation between

I the surface area of a cross-section and the velocity of the flow through
it?
I pressure and velocity?

Aalto University, School of Engineering Introduction of Marine Hydrodynamics 18 September 2015 35 / 35