JOUKOWSKI TRANSFORM AND FLOW AROUND AEROFOILS

Mitja Ursic Mentor: prof. dr. Rudi Podgornik

Fakulteta za matematiko in ziko Oddelek za ziko Tehnicna smer

5th January, 2000

Abstract
The rst thing that we will discuss in this seminar is the stream function and velocity potential for perfect uids. We will then investigate characteristics of a mapping function Z (z), that maps the circle onto the ellipse. The second part of the seminar will show us how the lift is created over a cylinder. The third part will lead us to the characteristics of the aerofoils. We will see which shapes avoid the escape of the uid from the boundary layer. At the end, we will look at the Joukowski aerofoil. We will see how it is created and what kind of Joukowski aerofoils exist.

Figure 1: The development of steady ow with time (just after start, at intermediate time
and as steady ow).

Contents
1 Preface 2 Analytic functions and conformal mapping
2.1 Stream function and velocity potential . . . . . . . . . . . . . . . . . . 2.2 Conformal mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Elementary ows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 2
2 3 4

3 Lifting ow over a cylinder 4 Characteristics of aerofoils 5 The Joukowski aerofoil 6 Conclusion 7 References
4.1 Elliptic cylinder and at plate . . . . . . . . . . . . . . . . . . . . . . .

4 6
7

5.1 Types of the Joukowski aerofoils . . . . . . . . . . . . . . . . . . . . . . 11

12 12

1 Preface
In this seminar, we will deal with inviscid and incompressible ow. From an aerodynamic point of view, the air density betwen 0 and 130m/s, remains almost constant that is why we can say that we deal with incompressible ow. If we ignore the e ects of friction, thermal conduction and di usion, then we say that we deal with inviscid ow. On the other hand, we must take viscid uids at boundary layer. There we can have a very strong retardation which causes the shedding of vorticity from the aerofoils. We know by the Kelvin's theorem that the shedding of vorticity causes circulation around the aerofoils. From the Kutta-Joukowski theorem, we know that the lift is directly proportional to circulation. For a complete description of the shedding of vorticity refer to 1]. The Joukowski aerofoil is a type of aerofoil that can be analyticaly solved. Real aerofoils are numerically calculated, but they have similar characteristics as the Joukowski aerofoil.

2 Analytic functions and conformal mapping

2.1 Stream function and velocity potential
r2 = 0
We also know that (u v) then, and Any irrotational and incompressible ow has the velocity potential ( ) and stream function ( ) that satisfy the Laplace's equation.

r2 = 0

(1)

satisfy Cauchy-Riemann equation. And if we write V = (2)

We know that any analytic function satisfying the Cauchy-Riemann equation satis es the Laplace's equation. So we can write an analytic function for velocity potential:

@ and u = @ = @ v = ;@ = @x @y @y @x f (z) = + i w = @f @x = u ; iv

(3)

Because we are in the complex, we write z = x + iy = rei . Now, since we have the complex potential velocity, we could write complex velocity: (4) If we want to investigate ows around bodies, we should consider boundary conditions. We have two boundary conditions. The rst one says that the ow approaches to 2

uniform ow far away from the body and the second one is wall boundary condition. The normal component of velocity on the surface is zero if we have inviscid uid. But we deal with viscid uid at the surface. This causes the creation of thick boundary layer, where the velocity of uid on the surface is zero.

2.2 Conformal mapping

Conformal mapping is a technique where we map an analytic function from one domain onto another. A mapping function Z (z) is also an analytic function.We will investigate a mapping function, and see which properties it should possess if we want to consider it a mapping function. If we map a circle r = R, we get an ellipse with semi-axes A and B, where R > a, When R = a we get the strip: If we change
2 A=R+ a R > 2a 2 B =R; a R >0

Z (z) = z + a z

2 Z = rei + ar e;i

(5)

(6) (7)

X = 2a cos

Y =0

with ; , we get the same values. This is a problem, because if Z is a

Figure 2: The circle of radius R > a in the z plane is mapped onto the ellipse in the Z plane. mapping function, there should be no two points, where the values taken by Z are the same. But if we imagine the strip as a thin plate, then 0 < < represents ow on the upper surface and ; < < 0 ow on the lower surface. We come across another a2 problem when we observe Z 0 = dZ dz = 1 ; z 2 which should not be zero if Z is mapping function. We can see that if we satisfy the condition that there are no two points where the values taken by Z are the same, then Z 0 6= 0 for any point. All we have to do is to make the Taylor series around that point, in our case around a. Mapping function produces a doubling angles around those two points. 3

2.3 Elementary ows

Now we will look at some elementary ows. This will help us to understand the next section. 1. Uniform ow is a ow with velocity V1 oriented in the positive x direction.

f = V1rei = V1z

w = V1

(8)

2. Source and sink are ows where all the streamlines are straight lines emanating from the central point. The ow is incompressible everywhere except at the origin, where it is in nite. We see that the origin is a singular point with a given strenght ( ). 3. Dublet ow is degenerate case of a source and sink pair with equal strenght. We let the distance betwen sink and source approach zero, but we keep the product of distance and strenght constant. We de ne the strenght of the doublet l . sin ) = f = 2 ( cos ; i w = ; 2 z2 (10) r r 2 z 4. Vortex ow has circular streamlines. The vortex ow is incompressible at every point and irrotational at every point, except at the origin where the vorticity is in nite. (11) f = ; 2; ( ; i ln r) = i 2; ln z w = i 2;z

f = 2 (ln r + i ) = 2 ln z

w=2 z

(9)

3 Lifting ow over a cylinder

In the last section we were preparing tools which will help us to understand how we can create lift ow over a cylinder with synthesizing elementary ows. When we multiply mapping function (5) with V1, we recognize in it a combination of the uniform (8) and doublet ow (10), 2 f (z) = V1(z + a a2 = 2 V (12) z)
1

This is an analytic function for nonlifting ow over a cylinder, where a is radius of a cylinder. The Kutta-Joukowski theorem states that lift on a two-dimensional body is directly proportional to the circulation around the body. We get an analytic function for lifting ow if we synthesize nonlifting ow over the cylinder and vortex ow (11). 2 ; ln z ) + i (13) f (z) = V1(z + a z 2 4

Figure 3: Superposition of an uniform ow and a doublet give us nonlifting ow over a cylinder, where R = a.

Figure 4: Superposition of nonlifting ow over a cylinder and vortex of strength ; gives us lifting ow over a cylinder (R = a). We are interested in the dividing streamline, which contains the stagnation point (where the velocity w = 0 ) and separates the ow of uid from the cylinder interior. Dividing streamline represents to us the surface of a solid body and it is perpendicular to the streamline at each stagnation point. We rst write the complex velocity, df = V (1 ; a2 ) + i ; w = dz (14) 1 z2 2 z Now we concentrate on the surface of the cylinder where z = aei and: ; ) w = i2e;i V1(sin + 4 aV (15) 1 We have two stagnation points on the lower surface, at (a ; ) and (a + ) with: ; (16) sin = 4 aV 1 In the case of nonlifting ow (; = 0), we have two stagnation points at (a 0) and (a ). ; ; When 4 aV 1 = 1, we get only one stagnation point at (a 2 ). And if 4 aV1 > 1, there are no stagnation points on the surface but there is one below the cylinder (experiments have demonstrated the existence of ows similar to this, with huge lifts but also with substantial drags). This situation is shown on Figure 5. 5

Figure 5: The position of stagnation points on the cylinder depends on ; (R = a). If we

consider the Bernoulli's equation, we see that above the cylinder the streamlines are more bunched together.

4 Characteristics of aerofoils

Figure 6: Nomenclature of the areofoils. The chord line is between the trailing ( = 0) and
the leading edge ( = ).

Now we will investigate the ow around aerofoil in oncoming stream at the angle of attack (the angle that the uniform ow forms with the chord line, as shown on Figure 6). Therefore, the comlex variable z is repalced by ze;i (velocity of the ow is in x direction as shown on Figure 6). We can now rewrite the complex potential (12), 2 i f (z) = V1(ze;i + a (17) ze ) In the same way we write the complex velocity, We will try to create such aerofoil shape whose velocity at any point will be small enough to avoid the uid to escape form the boundary layer into the bulk. Boundary layers show no tendency to escape into the bulk where there is an accelerating ow. Where the external ow is strongly retarded, the ow escapes form the boundary layer into the bulk. This happens at large value of the Reynolds number (R = V L > 104, 6

df = V (e;i ; a2 ei ) w = dz 1 z2

(18)

where is density, is viscidity, V is uid speed and L is dimension of the body). For a complete description of that process refer to 1]. To avoid the uid to escape from the boundary layer into the bulk, we will rst investigate the ow around elliptic cylinder and the ow around at plate and nally, we will create the Joukowski aerofoil.

4.1 Elliptic cylinder and at plate

Now we will investigate the ow around the elliptic cylinder. We get an elliptic cylinder if we map a cylinder z = Rei with mapping function Z (5), where R > a. We can now write the complex potential for cylinder: To get a ow around elliptic cylinder, we map that complex potential with mapping function (5), and set z = Rei :
2 i f (z) = V1(ze;i + R ze )

(19)

df = V e;i + e;i2 ei w = dZ 1 a2 e;i2 1; R 2

(20)

As we did in subsection 2.2, we set A and B for semi-axes: i sin( ; ) (21) w = V1(A + B ) iA sin + B cos We nd the stagnation points at, = and = + . At the leading and trailing

Figure 7: The dividing streamline for ow around an elliptic cylinder, with ; = 0. The
diagram plots the distribution of uid speed on the surface.

edge complex velocity has a nite value, At the leading edge, jwj is not much bigger than V1 for small , so the ow su ers no strong retardation. However between the trailing edge and the stagnation point = , 7

A + 1) sin jw j = V 1 ( B

(22)

we have a strong retardation which causes the uid to escape from the boundary layer into the bulk. To avoid strong retardation at the trailing edge we will investigate the ow around a at plate. A at plate is a limit case of the elliptic cylinder. In that case R = a and the semi-axes are B = 0 and A = 2a. We get form (21), ; ) w = V1 sin( (23) sin From the last equation we nd out: 1. stagnation points are still at = and = + . 2. also, w = 1 at the leading edge ( = ) and the trailing edge ( = 0). Those are sharp edges which make steady irrotational ow impossible, because there is an in nite strong retardation, thus causing the uid to escape from the boundary layer into the bulk with a positive vorticity. Any process which causes a positive shedding of vorticity from a body must generate a

Figure 8: Streamlines for ow around a at plate, with ; = 0. circulation in the negative sense around the body (Kelvin's theorem). The generation of circulation changes the whole external ow in ways that can eliminate shedding of vorticity. After this, the circulation remains constant. That is why, it is necessary to include the vortex ow into the complex potential (17), 2 ; ln(ze;i ) i f (z) = V1(ze;i + a e ) + i (24) z 2 In nite velocity occurs at the point where the mapping function Z (5) has zero derivative, unless that point is a stagnation point. That is why we will rst observe derivative of the complex potential (24): 2 i e )+i ; (25) w = V1(e;i ; a 2 z 2 z Because we are observing the surface of cylinder we set z = aei : ; ) w = i2e;i V1(sin( ; ) + 4 aV (26) 1 8

; We de ne sin = 4 aV 1 . From this complex velocity pro le, we have two stagnation points at = ; + and = + + . We see that if we make = , then at the trailing edge the stagnation point and the point of zero derivate of the mapping function Z (5) are the same, thus avoiding the in nites. Thus we write:

; (27) sin = 4 aV 1 ; Let we see if we really get a nite uid speed at the trailing edge when 4 aV 1 = sin .

Figure 9: Streamlines for the ow around at plate, when the circulation around the plate
takes the value, which yields a nite velocity at the trailling edge.

To do that, we map the complex potential (24) with mapping function Z (5). To observe a at plate we take z = aei . The complex velocity pro le is given by: ) + sin = V cos( ; 2 ) w = V1 sin( ; 1 sin cos
2

(28)

Now we have a nite ow speed which is small enough not to cause the uid to escape from the boundary layer into the bulk at the trailing edge, w = V1 cos . That was our intention.

5 The Joukowski aerofoil

An aeorfoil shape has rounded leading edge and sharp trailing edge to avoid separation, for su ciently small angles of attack (up to 8 ), at the leading and trailing edges after the circulation has become adjusted to the value for which the velocity at the trailing edge is nite. One of the aerofoils with such characteristic is the Joukowski aerofoil. With the conclusions from previous section, we can now create the Joukowski aerofoil. We take a cylinder, which goes at the rear end through the point z = a, where Z 0 (a) = 0 9

Figure 10: Generation of circulation in the ow around aerofoil at positive angle of attack.

(a.) the trailing edge sheds more positive than negative vorticity (b.) having a positive circulation around the Cw makes negative circulation around the body Cb , so that circulation around the large closed curve C = 0 (Kelvin's theorem). The positive vorticity is shedding until we get a nite speed of ow at the trailing edge.

in order to generate the sharp trailing edge. At the front end, the cilinder goes through the point which is bigger than a in order to generate the rounded leading edge. Radius (b) and center ( ) of the cilinder (as seen on Figure 11) we made is, s ! 1 b 2 b = 2 (a + R) = a cos + ( )2 ; sin ei (29) a General equation for the cylinder is,
Im 1.5 R 1 b 0.5 d g -1.5 -1 -0.5 -0.5 0.5 1a 1.5

Re

-1

-1.5

Figure 11: The cylinder whose transformation will give us the Joukowski aerofoil ( =g and =d). tell us the position of the center.

z = + bei
10

(30)

We can now write the complex potential around a cylinder, 2 ; ln((z ; )e;i ) i f (z) = V1((z ; )e;i + z b e ) + i (31) ; 2 If we want to have nite uid speed at the trailing edge, then the circulation on the cylinder z ; = bei must be adjusted in such way that the point where the mapping function Z (5) has zero derivative and the stagnation point will be the same. df = i2V e;i (sin( ; ) + ; ) (32) w = dz 1 4 bV1 The complex velocity at the trailing edge will not be zero if ; sin = 4 bV (33) 1 The complex velocity is now, and gives us two stagnation points at = 0 and = + 2 . We transform this ow around the cylinder into the Joukowski aerofoil with the mapping function Z (5): df = i4V e;i sin 2 cos( 2 ; ) w = dZ (35) 1 2 1; a z2 or else, df = i4V e;i sin 2 cos( 2 ; ) (36) w = dZ 1 1 ; (be a2+ )2 From that, we can write components of velocity and when we get them, we can write the equation for streamlines and create a ow around the aerofoil.
i

w = i4V1e;i sin 2 cos( 2 ; )

(34)

5.1 Types of the Joukowski aerofoils

It depends on the position of what kind of aerofoil we will get. There are four possible solutions: 1. if = 0 we get the elliptic cilinder 2. if lies on the real axis we get the symmetrical Joukowski aerofoil 3. if lies on the imaginary axis we get a curved segment 4. if is not on any axis we get an asymmetric Joukowski airfoil Shortly, moving the center of the cilinder along the real axis, gives thickness to the aerofoil and moving the center of the cylinder along the imaginary axis, gives camber to the aerofoil. 11

6 Conclusion
We have found from investigation of the ow around the elliptic aerofoil and the ow around at plate, what kind of shape should the aerofoil have. The Joukowski aerofoil has rounded leading edge and sharp trailling edge to avoid shedding of vorticity from the boundary layer for su ciently small angles of attack. Before this happens the shedding of positive vorticity creates negative circulation around aerofoil. Once the right strenght of circulation is created, the shedding of vorticity stops.

7 References
1. James Lighthill: An informal introduction to theoretical uid mechanics, The Institute of mathematics and its applications, Oxford, 1996. 2. John D. Anderson, Jr.: Fundamentals of aerodynamics, McGraw-Hill Book Company, New York, 1985. 3. L.M. Milne-Thomson: Theoretical aerodynamics, MacMillan and Co., Limited St. Martin's, London 1952. 4. Mehanika kontinuov, lecture notes, 1999. 5. http://www.ae.su.oz.au/aero/jouk/jouk.html 6. http://jwilson.coe.uga.edu/olive/Joukowski.Web/Joukowski.Paper.html 7. http://www.monmouth.com/~sd/irro/conformi e.html 8. http://www.caam.rice.edu/~caam335/336.98/lecture/114/node1.html 9. http://www.diam.unige.it/~irro/pro lo e.html

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