Ram Ramanan

9/14/2011
Introduction 1
ME 5337/7337
Notes-2005-001
Introduction to Computational Fluid
Dynamics
Lecture 1: Review
Ram Ramanan
9/14/2011
Introduction 2
ME 5337/7337
Notes-2005-001
Introductions
Instructor Bio
Ph.D in ME (CFD applications in Materials Processing)
Post Doctoral Fellowship at Stanford (Hydrodynamic instabilities in
cavity flows)
7 years of cfd development at FDI, Fluent
6 years as Member of Technical Staff and R&D Manager at FSI Intl.
2 years as a Principal Consultant at Applied Thermal Technologies
Student introductions
Ram Ramanan
9/14/2011
Introduction 3
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Notes-2005-001
Outline
1. Review of basic numerical analysis [1 week]
2. System-level solution of cfd problems [2 weeks]
3. CFD analysis using commercial codes, applicability and
relevance [1 week] (Handout Project 1)
4. Grid generation [2 weeks] (Handout Projects 2, 3)
5. Incompressible flows with heat transfer [4 weeks] (Final
project selection)
6. Importance of boundary conditions [2 weeks]
7. (Based on student feedback, some of these topics will be discussed)
Special topics: Turbulent flows, Free surfaces, Melt interfaces, Porous
Media, User functions [2 weeks]
Ram Ramanan
9/14/2011
Introduction 4
ME 5337/7337
Notes-2005-001
Disclaimer
Though the presentations and notes includes references or materials
from some CFD vendors, the instructor is not a representative or an
advocate of these companies products or services.
These materials are used only for educational purposes and it should be
clear that the choice of suitable CFD software is entirely up to the user.
For the purposes of instruction and evaluation of projects macroflow
and fluent softwares will be used.
Ram Ramanan
9/14/2011
Introduction 5
ME 5337/7337
Notes-2005-001
Web-sites for CFD
www.cfd-online.com
www.fluent.com
www.exa.com
www.starcd.com
www.cfdrc.com
www.ansys.com
www.inres.com
Etc..
Ram Ramanan
9/14/2011
Introduction 6
ME 5337/7337
Notes-2005-001
References
Computational fluid dynamics by Roache, P.J.
Classic book, arguably the earliest text book, still referred to by many
Computational fluid mechanics and heat transfer by Anderson, Tannehill and
Pletcher
Good general descriptions for finite difference methods
Numerical heat transfer and fluid mechanics by Patankar
Written by the Professor who came up with SIMPLE algorithms
Introduction to finite element method by Zienkiewicz
THE text book for FEM (stress analysis, heat transfer)
Fluent online resources
Downloadable examples and tutorial problems
Computational methods for fluid dynamics by Ferziger & Peric
Good explanation of cfd codes, Text book for this class
Cfd-online.com resources
Ram Ramanan
9/14/2011
Introduction 7
ME 5337/7337
Notes-2005-001
History
1910 Richardson, 50 page paper to Royal Society,
Laplaces eqn, Biharmonic eqn
Numerical boundary conditions at sharp corners, at infinity
Finite difference equations, iterative solution
Grid convergence, extrapolation to zero grid size
(Hand calculations, n/18 of pence for each pt (n digits), used
human computers)
Discounts for wrong answers, 2000 operations per week !)
1918 Liebermann (Continuous substitution)
1928 Courant, Friedrichs and Levy (Existence and uniqueness
for elliptic, parabolic and hyperbolic systems, CFL stability limit)
1933 Thom (first viscous fluid dynamics problem)
1946 Southwell (residual relaxation method)
Ram Ramanan
9/14/2011
Introduction 8
ME 5337/7337
Notes-2005-001
History
1955 Allen & Southwell (Coordinate transformation, Flow past
a cylinder)
1950, 54 Frankel, Young (Successive over-relaxation method,
Optimum relaxation factor)
1950 Von Neuman (Stability of parabolic difference equations)
1955, 56 Peaceman & Rachford, Douglas & Rachford (ADI,
larger time steps)
1965 Scientific American article on CFD, Harlow & Fromm
In fluid mechanics, we obtain exact solutions of approximate equations
or approximate solutions of exact equations
Ram Ramanan
9/14/2011
Introduction 9
ME 5337/7337
Notes-2005-001
Transport Equations
Mass conservation
The integral form of mass conservation equation is
where is the density in domain , v the velocity of the fluid and n the
unit normal to the boundary, S.
} }
= - + O
c
c
O S
dS d
t
0 ) ( n v
Ram Ramanan
9/14/2011
Introduction 10
ME 5337/7337
Notes-2005-001
History
Marker and Cell methods Harlow & Welch (> 1965)
Finite difference methods for Navier Stokes (> 1970)
Finite element methods for stress analysis (> 1970)
Finite volume methods (>1980)
Finite element and Spectral element methods for CFD (>1980)
Lattice-gas methods (> 1990)
Ram Ramanan
9/14/2011
Introduction 11
ME 5337/7337
Notes-2005-001
Transport Equations
Momentum Conservation
T = Stress tensor, n = normal to the boundary
b = body force (gravity, centrifugal, Coriolis, Lorentz etc..)
}

}
= - + O
c
c
O S
dS d
t
f n v v v ) (

} }
O
O + - =
S
d dS n b T f ) (
Ram Ramanan
9/14/2011
Introduction 12
ME 5337/7337
Notes-2005-001
Transport Equations
Energy transport
T = temperature, k = thermal conductivity, c = specific heat at constant
pressure, Q = heat flux
(Species transport is similar no specific heat term)
} } } }
O O
O + - V = - + O
c
c
S S
Qd dS n T k dS cT cTd
t
) ( ) ( n v
Ram Ramanan
9/14/2011
Introduction 13
ME 5337/7337
Notes-2005-001
Navier-Stokes Equations
0 = V +
c
c
V
t

z
y
x
B
y
w
z
v
y z
u
x
w
x
V
z
w
z z
p
z
w
w
y
w
v
x
w
u
t
w
B
y
w
z
v
z x
v
y
u
x
V
y
v
y y
p
z
v
w
y
v
v
x
v
u
t
v
B
x
w
z
u
z x
v
y
u
y
V
x
u
x x
p
z
u
w
y
u
v
x
u
u
t
u
+
(

|
|
.
|

\
|
c
c
+
c
c
c
c
+
(

|
.
|

\
|
c
c
+
c
c
c
c
+
(

|
.
|

\
|
V
c
c
c
c
+
c
c
=
|
|
.
|

\
|
c
c
+
c
c
+
c
c
+
c
c
+
(

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.
|

\
|
c
c
+
c
c
c
c
+
(

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c
c
+
c
c
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c
+
(

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\
|
V
c
c
c
c
+
c
c
=
|
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.
|

\
|
c
c
+
c
c
+
c
c
+
c
c
+
(

|
.
|

\
|
c
c
+
c
c
c
c
+
(

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\
|
c
c
+
c
c
c
c
+
(

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|

\
|
V
c
c
c
c
+
c
c
=
|
|
.
|

\
|
c
c
+
c
c
+
c
c
+
c
c

3
2
2
3
2
2
3
2
2
Conservation of Mass
Conservation of Momentum
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 14
ME 5337/7337
Notes-2005-001
Navier-Stokes Equations (2)
Conservation of Energy
( )
g v
Q Q V p T k
z
E
w
y
E
v
x
E
u
t
E

+ + V V V =
|
|
.
|

\
|
c
c
+
c
c
+
c
c
+
c
c

Equation of State
) , ( T P =
( )
( ) T C C
T k k
T
p p
=
=
= ) (
Property Relations
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 15
ME 5337/7337
Notes-2005-001
Simplifications
Incompressibility - Ma < 0.3
Boussinesq approximation Linear variation of density with
temperature =
0
(1 - (T-T
0
))
Turbulence models (k-e, RNG, LES etc.)
Viscoelasticity (generalized second-order fluid model)
Ram Ramanan
9/14/2011
Introduction 16
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Notes-2005-001
Turbulence Modeling
Turbulence is a state of flow characterized by chaotic, tangled fluid
motion.
Turbulence is an inherently unsteady phenomenon.
The Navier-Stokes equations can be used to predict turbulent flows
but
the time and space scales of turbulence are very tiny as compared to the
flow domain!
scale of smallest turbulent eddies are about a thousand times smaller than
the scale of the flow domain.
if 10 points are needed to resolve a turbulent eddy, then about 100,000
points are need to resolve just one cubic centimeter of space!
solving unsteady flows with large numbers of grid points is a time-
consuming task
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 17
ME 5337/7337
Notes-2005-001
Turbulence Modeling (2)
Conclusion: Direct simulation of turbulence using the Navier-Stokes
equations is impractical at the present time.
Q: How do we deal with turbulence in CFD?
A: Turbulence Modeling
Time-average the Navier-Stokes equations to remove the high-frequency
unsteady component of the turbulent fluid motion.
Model the extra terms resulting from the time-averaging process using
empirically-based turbulence models.
The topic of turbulence modeling will be dealt with in a subsequent
lecture.
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 18
ME 5337/7337
Notes-2005-001
Incompressible Navier-Stokes Equations
z
y
x
B w
z
p
w V
t
w
B v
y
p
v V
t
v
B u
x
p
u V
t
u
+ V +
c
c
=
|
.
|

\
|
V +
c
c
+ V +
c
c
=
|
.
|

\
|
V +
c
c
+ V +
c
c
=
|
.
|

\
|
V +
c
c
2
2
2

0 = V V

Conservation of Mass
Conservation of Momentum
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 19
ME 5337/7337
Notes-2005-001
Incompressible Navier-Stokes Equations (2)
Simplied form of the Navier-Stokes equations which assume
incompressible flow
constant properties
For isothermal flows, we have four unknowns: p, u, v, w.
Energy equation is decoupled from the flow equations in this case.
Can be solved separately from the flow equations.
Can be used for flows of liquids and gases at low Mach number.
Still require a turbulence model for turbulent flows.
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 20
ME 5337/7337
Notes-2005-001
Buoyancy-Driven Flows
A useful model of buoyancy-driven (natural convection) flows
employs the incompressible Navier-Stokes equations with the
following body force term added to the y momentum equation:
This is known as the Boussinesq model.
It assumes that the temperature variations are only significant in the
buoyancy term in the momentum equation (density is essentially
constant).
( )
0 0 0
) ( T T g B
y
~ =
| = thermal expansion coefficient

o
T
o
= reference density and temperature
g = gravitational acceleration (assumed pointing in -y direction)
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 21
ME 5337/7337
Notes-2005-001
Euler Equations
Neglecting all viscous terms in the Navier-Stokes equations yields the
Euler equations:
0
0
=
|
|
.
|

\
|
+ V +
c
c
+
c
c
= V +
c
c
+
c
c
= V +
c
c
+
c
c
= V +
c
c
= V +
c
c

p
E V
t
E
B
z
p
w V
t
w
B
y
p
v V
t
v
B
x
p
u V
t
u
V
t
z
y
x

Courtesy: Fluent, Inc.

Ram Ramanan
9/14/2011
Introduction 22
ME 5337/7337
Notes-2005-001
Euler Equations (2)
No transport properties (viscosity or thermal conductivity) are needed.
Momentum and energy equations are greatly simplified.
But we still have five unknowns: , p, u, v, w.
The Euler equations provide a reasonable model of compressible fluid
flows at high speeds (where viscous effects are confined to narrow
zones near wall boundaries).
Courtesy: Fluent, Inc.
Ram Ramanan
9/14/2011
Introduction 23
ME 5337/7337
Notes-2005-001
Constitutive Equations
Newtonian, non-Newtonian fluids (stress-strain relationship)
Fourier Law (flux vs. temperature gradient)
Ficks law (species flux vs. species gradient)
Material properties density, viscosity, thermal conductivity, species
diffusivity, coefficient of thermal expansion etc.
Equations of State (ex. ideal gas law)
Ram Ramanan
9/14/2011
Introduction 24
ME 5337/7337
Notes-2005-001
Boundary Conditions
Dirichlet constant or function of time
Neuman gradient = constant or function of time
Robin mixed type
) (t f
dn
d
b a = +

Ram Ramanan
9/14/2011
Introduction 25
ME 5337/7337
Notes-2005-001
Non-dimensionalization
Re = (u
0
L
0
)/
Ra = Gr Pr = gTL
0
3
/ (natural convection)
Ma = u
0
/a (compressibility)
Ca = u
0
/ (free-surfaces)
Fr = u
0
/sqrt(gL
0
) (hydrodynamic flows)
St = L
0
/(u
0
t
0
) (shedding frequency)
Proper length scales
Importance of various terms
Wider applicability of solutions
Numerically stable solutions
Ram Ramanan
9/14/2011
Introduction 26
ME 5337/7337
Notes-2005-001
Gauss Divergence Theorem
Convert a volume integral to a surface integral and reduce the order of
equations by one
Used extensively in finite element and finite volume methods
} }
- = O - V dS n d ) ( ) ( v v
} }
- = O - V dS n d ) ( ) ( T T
[Volume]
(all surfaces)
T = Stress tensor
V = vector (velocity ex.)
Ram Ramanan
9/14/2011
Introduction 27
ME 5337/7337
Notes-2005-001
Classification of Flows
Hyperbolic flows Unsteady, inviscid compressible flow (b^2-4ac>0)
Parabolic flows Boundary-layer equations, unsteady conduction eqn
Elliptic flows steady, incompressible flows (b^2-4ac<0)
Unsteady, incompressible flows elliptic in space, parabolic in time
) , ( y x g f e d c b a
y x yy xy xx
= + + + + +