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Thermofluid
Mechanics I
Navier-Stokes
Equations
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Fluid element at
time t = t1
i x
k
2
V2
z
Fluid element at
time t = t2
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
(t , x, y, z )
(t , x, y, z ) jv (t , x, y, z ) kw
V iu
where
u = u(t, x, y, z)
v = v(t, x, y, z)
w = w(t, x, y, z)
@ time t1:
1 (t1 , x1 , y1 , z1 )
@ time t2:
2 (t2 , x2 , y2 , z2 )
2 1 x2 x1 y2 y 1 z2 z1
...........(2.1)
t2 t1 t 1 x 1 t2 t1 y 1 t2 t1 z 1 t 2 t1
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
x2 x1
lim u
t2 t1 t2 t1
y2 y1
lim v
t2 t1 t2 t1
z2 z1
lim w
t2 t1 t2 t1
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
D
u v w ...........(2.2)
Dt t x y z
D
u v w .........(2.3)
Dt t x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
D
V ...........(2.5)
Dt t
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
DT T T T T T
(V )T u v w ........(2.6)
14 2 43
Dt {t convective
t x y z
local derivative
derivative
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
d dx dy dz
............(2.8)
dt t x dt y dt z dt
d
u v w ..........(2.9)
dt t x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The volume swept by the elemental area dS during time interval t can
be written as
V V t n dS V t dS .........(2.10)
DV 1
lim V t dS V dS ..........(2.11)
Dt t 0 t S S
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The LHS term is written as a total time derivative because the fluid
element is moving with the flow and it would undergo both the local
acceleration and the convective acceleration.
DV
.V dV ........(2.12)
Dt V
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
If we now shrink the moving control volume to an infinitesimal volume,
, , the above equation becomes
V
D( V )
V dV ...............(2.13)
Dt V
VV
When V 0 the volume integral can be replaced by
on the RHS to get the following.
1 D( V )
V .........(2.14)
V Dt
V
The divergence of is the rate of change of volume per unit volume.
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Continuity Equation
Consider the CV fixed in space. Unlike the earlier case the shape and
size of the CV are the same at all times. The conservation of mass can
be stated as:
Vn dS V dS ..........(2.16)
Note that dS by convention is always pointing outward. Therefore V dS
can be (+) or (-) depending on the directions of the velocity and the
surface element.
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
t V
dV ................(2.18)
D
Dt V
dV 0........(2.21)
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
An infinitesimally small element fixed in space
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Net outflow in x-direction
( u ) u
u dx dydz u dydz dxdydz
x x
u v w
Net mass flow = dxdydz..........(2.22)
x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
volume of the element = dx dy dz
mass of the element = (dx dy dz)
Time rate of mass increase = dxdydz ...........(2.23)
t
u v w
dxdydz dxdydz
x y z t
or
u v w
0.......(2.24)
t x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Which
becomes
V 0..........(2.25)
t
Fx = m ax
Since we are considering a fluid element moving with the fluid, its mass, m,
is fixed.
The momentum equation will be obtained by writing expressions for the
externally applied force, Fx, on the fluid element and the acceleration, ax,
of the fluid element.
The externally applied forces can be divided into two types:
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
1. Body forces: Distributed throughout the control volume. Therefore,
this is proportional to the volume. Examples: gravitational forces,
magnetic forces, electrostatic forces.
The shear and normal stresses arise from the deformation of the fluid
element as it flows along. The shape as well as the volume of the fluid
element could change and the associated normal and tangential stresses
give rise to the surface stresses.
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The relation between stress and rate of strain in a fluid is known from the
type of fluid we are dealing with.
Most of our discussion will relate to Newtonian fluids for which
The stresses on the various faces of the fluid element can written as
shown in Figure 2.8. Note the use of Taylor series to write the
stress components.
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The normal stresses also has the pressure term.
p
p p x dx dydz
xx yx
xx dx xx dydz yx dy yx dxdz
x y
zx zx dz zx dxdy.............(2.46)
z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
p xx yx zx
Fx
x x
y
z dxdydz f x dxdydz...........(2.47)
m dxdydz........(2.48)
Du
ax ...........(2.49)
Dt
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Du p
xx yx zx f x .........(2.50a)
Dt x x y z
Dv p xy yy zy
f y .........(2.50b)
Dt y x y z
Dw p yz zz
xz f z .........(2.50c)
Dt z x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
Du u
V u....................(2.51)
Dt t
u u
u
t t t
u u
u .............(2.52)
t t t
V u uV u V ........(2.53)
Du u
u u V uV
Dt t t
u
u V uV .............(2.54)
t t
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The term in the brackets is zero (continuity equation)
The above equation simplifies to
Du u
uV ...........(2.55)
Dt t
Substitute Eq. (2.55) into Eq. (2.50a) shows how the following equations
can be obtained.
u p
uV xx yx zx f x ..........(2.56a)
t x x y z
v p
vV xy yy zy f y ..........(2.56b)
t y x y z
w p yz zz
wV xz f z ..........(2.56c)
t z x y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
The above are the Navier-Stokes equations in conservation form.
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
For Newtonian fluids the stresses can be expressed as follows
u
xx V 2 ...........(2.57 a)
x
v
yy V 2 ...........(2.57b)
y
w
zz V 2 ...........(2.57c)
z
v u
xy yx ...........(2.57 d )
x y
u w
xz zx ...........(2.57e)
z x
w v
yz zy ...........(2.57 f )
y z
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
In the above is the coefficient of dynamic viscosity and is the second
viscosity coefficient.
Stokes hypothesis given below can be used to relate the above two
coefficients
= - 2/3
The above can be used to get the Navier-Stokes equations in the following
familiar form
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
u u 2 uv uw p u
V 2
t x y z x x x
v u u w
f x .........(2.58a)
y x y z z x
v v2 uv vw p v
V 2
t y x z y y y
v u v w
f y .........(2.58b)
x x y z z y
Computational Fluid Dynamics (AE/ME 339) K. M.
Isaac
MAEEM Dept.,
UMR
w w uw vw p
2
w
V 2
t z x y z z z
w v u w
f z .........(2.58c)
y y z x z x