Ch4-Fluid PDF

Chapter 4: Fluid Kinematics
4-1 Lagrangian
g
g
and Eulerian Descriptions
p
4-2 Fundamentals of Flow Visualization
4-3 Kinematic Description
p
4-4 Reynolds Transport Theorem (RTT)
Fluid Mechanics
Y.C. Shih February 2011
4-1 Lagrangian and Eulerian Descriptions (1)

Lagrangian description of fluid flow tracks the
position
i i andd velocity
l i off individual
i di id l particles.
i l
Based upon Newton's laws of motion.
Diffi l to use for
Difficult
f practical
i l flow
fl analysis.
l i
Fluids are composed of billions of molecules.
Interaction between molecules hard to describe/model.
describe/model
However, useful for specialized applications

Sprays particles,
particles bubble dynamics,
dynamics rarefied gases.
gases
Sprays,
Coupled Eulerian-Lagrangian methods.
Named after Italian mathematician Joseph

p Louis
Lagrange (1736-1813).
4-1
Fluid Mechanics

Eulerian description of fluid flow: a flow domain or control volume is
defined by
b which
hich fluid
fl id flows
flo s in and out.
o t
We define field variables which are functions of space and time.
Pressure field, P=P(x,y,z,t)
r r
Velocity field, V = V ( x, y, z, t )
r
r
r
r
V = u ( x, y , z , t ) i + v ( x, y , z , t ) j + w ( x, y , z , t ) k
r r
a = a ( x, y , z , t )
r
r
r
r
a = a x ( x , y , z , t ) i + a y ( x, y , z , t ) j + a z ( x, y , z , t ) k
Acceleration field,
These (and other) field variables define the flow field.
Well suited for formulation of initial boundary-value problems (PDE's).

Named after Swiss mathematician Leonhard Euler (1707-1783).
(1707 1783)
4-2
Fluid Mechanics

Acceleration Field
Consider a fluid particle
and Newton
Newton'ss second law
law,
r
r
Fparticle = m particle a particle
The acceleration of the particler is the time derivative of the
dV particlel
particle'ss velocity
particle
velocity. r
a particle =
dt
However particle
However,
r velocity
r at a point is the same as the fluid
V particle = V ( x particle ( t ) , y particle ( t ) , z particle ( t ) )
velocity,
To take the time
of, chainr rule must ber used.
r derivative
r
V dt V dx particle V dy particle V dz particle
r
a particle =
+
+
+
t dt x dt
y dt
z
dt
4-3
Fluid Mechanics

Since
dx particle
dt
= u,
r
a pparticle
dy particle
dt
= v,
dz particle
dt
=w
r
r
r
r
V
V
V
V
=
+u
+v
+w
t
x
y
z
In vector form, the acceleration can be written as
r
r
r r r
dV V
r
a ( x, y , z , t ) =
=
+ V V
dt
t
First term is called the local acceleration and is nonzero only for unsteady
flows.
Second term is called the advective acceleration and accounts for the
effect of the fluid particle moving to a new location in the flow, where the
velocity is different.
4-4
Fluid Mechanics

The total derivative operator d/dt is call the material derivative
p
notation,, D/Dt.
and is often ggiven special
r
r
r
r r r
DV dV V
=
=
+ V V
Dt
dt
t
Advective acceleration is nonlinear: source of many

phenomenon
h
andd primary
i
challenge
h ll
in
i solving
l i fluid
fl id flow
fl
problems.
Provides ``transformation''
transformation between Lagrangian and Eulerian
frames.
Other names for the material derivative include: total,, p
particle,,
Lagrangian, Eulerian, and substantial derivative.
Steady:
v
V
=0
t
Fluid Mechanics
4-5
4-2 Fundamentals of Flow Visualization (1)

Flow visualization is the visual examination of flowfield features.
Important for both physical
y
experiments and
numerical (CFD) solutions.
Numerous methods
Streamlines and streamtubes
Pathlines
Streaklines
Timelines
Refractive techniques
Surface flow techniques
4-6
Fluid Mechanics

A Streamline is a curve that is
everywhere tangent to the
instantaneous local velocity
vector.
C
Consider
id an arc llength
th
r
r
r
r
dr = dxi + dyj + dzk
r
dr must be parallel to the local
velocity vector
r
r
r r
V = ui + vj + wk
Geometric arguments results

in the equation for a streamline
dr dx dy dz
=
=
=
V
u
v
w
Fluid Mechanics
4-7

NASCAR surface pressure contours and
streamlines
li
Airplane surface pressure contours,

volume streamlines,, and surface
streamlines
4-8
Fluid Mechanics

A Pathline is the actual path
traveled by an individual fluid
particle over some time period.
Same as the fluid particle's
position vector
material p
(x
particle
( t ) , y particle ( t ) , z particle ( t ) )
Particle location at time t:

dx
= u ( x, y , z , t )
dt particle
dy
= ( x, y , z , t )
dt particle
dz
= w( x, y, z , t )
dt particle
r r
x = xstart +
r
Vdt
t start
Particle Image Velocimetry (PIV)

is a modern experimental
technique to measure velocity
field over a plane in the flow field.
4-9
Fluid Mechanics
4-10
Fluid Mechanics

A Streakline is the
locus of fluid particles
that have passed
p
sequentially through a
pprescribed ppoint in the
flow.
Easy to generate in
experiments: dye in a
water flow,
flow or smoke in
an airflow.
4-11
Fluid Mechanics
4-12
Fluid Mechanics

Comparison
For steady flow, streamlines, pathlines, and
streaklines are identical
identical.
For unsteady flow, they can be very different.
Streamlines
St
li
are an instantaneous
i t t
picture
i t
off the
th flow
fl field
fi ld
Pathlines and Streaklines are flow patterns that have a time
them
history associated with them.
Streakline: instantaneous snapshot of a time-integrated
flow pattern.
pattern
Pathline: time-exposed flow path of an individual particle.
4-13
Fluid Mechanics

EXAMPLE2.1 Streamlines and Pathlines in TwoDimensional Flow
A velocity field is given by ; the units of velocity are m/s; x
and y are given in meters; .
(a) Obtain an equation for the streamlines in the xy plane.
(b) Plot the Streamlines passing through the point
(c) Determine the velocity of particle at the point (2, 8).
((d)) If the pparticle passing
p
g through
g the ppoint ( is marked at time t
= 0, determine the location of the particle at time t = 6 s .
(e) What is the velocity of this particle at time t = 6 s ?
(f) Show that the equation of the particle path (the pathline) is
the same as the equation of the Streamline.
4-14
Fluid Mechanics
4-15
Fluid Mechanics
4-3 Kinematic Description (1)

In fluid mechanics, an element
may undergo four fundamental
types of motion.
a) Translation
b) Rotation
c) Linear strain
d) Shear strain
Because fluids are in constant
motion, motion and deformation
is best described in terms of rates
a) velocity: rate of translation
b) angular velocity: rate of
rotation
c) linear strain rate: rate of
linear strain
d) shear strain rate: rate of
shear strain
Fluid Mechanics
4-16

To be useful, these rates must be expressed in terms of velocity
and derivatives of velocity
The rate of translation vector is described as the velocity
vector. In Cartesian coordinates:
r
r
r r
V = ui + vj + wk
Rate of rotation at a point is defined as the average rotation rate

i i i ll perpendicular
di l lines
li
h intersect
i
h point.
i
off two initially
that
at that
The rate of rotation vector in Cartesian coordinates:
1 w v r 1 u w r 1 v u r
i +
=
j + k
2 y z
2 z x
2 x y
r
Fluid Mechanics
4-17

Linear Strain Rate is defined as the rate of increase in length per unit length.
In Cartesian coordinates
u
v
w
xx = , yy = , zz =
x
y
z
Volumetric strain rate in Cartesian coordinates
1 DV
u v w
= xx + yy + zz =
+ +
x y z
V Dt
Since the volume of a fluid element is constant for an incompressible flow,
the volumetric strain rate must be zero.
4-18
Fluid Mechanics

Shear Strain Rate at a ppoint is defined as halff off the
rate of decrease of the angle between two initially
pperpendicular
p
lines that intersect at a ppoint.
Shear strain rate can be expressed in Cartesian
coordinates as:
1 u v
1 w u
1 v w
xy = + , zx =
+ , yz = +
2 y x
2 x z
2 z y
4-19
Fluid Mechanics

We can combine linear strain rate and shear strain rate
into one symmetric second-order tensor called the
strain-rate tensor.
xx
ij = yx
zx
xy
yy
zy
xz
1 v u
yz = +
2 x y
zz
1 w + u
2 x z
1 u v
+
2 y x
v
y
1 w v
+
2 y z
1 u w
+
2 z x
1 v w
2 z y
4-20
Fluid Mechanics

Purpose
p
of our discussion of fluid element kinematics:
Better appreciation of the inherent complexity of fluid
dynamics
Mathematical sophistication required to fully describe fluid
motion
Strain-rate
Strain
rate tensor is important for numerous reasons.
reasons
For example,
rate
Develop relationships between fluid stress and strain rate.
Feature extraction and flow visualization in CFD
simulations.
4-21
Fluid Mechanics

The vorticity
is defined as the curl of the velocity
r r vector
r
vector = V
Vorticity is
to twice the angular velocity of a fluid
r equal
r
particle = 2
particle.
Cartesian coordinates
r w v r u w r v u r
=
i +
j + k
y z z x
x y
Cylindrical coordinates
r 1 u z u r ur u z r ( ru ) ur
=
e +
er +
z
r
z
r
r
r
ez
In regions where z = 0,
0 the flow is called irrotational.
irrotational
Elsewhere, the flow is called rotational.
4-22
Fluid Mechanics
4-23
Fluid Mechanics

Special case: consider two flows with circular streamlines
ur = 0, u = r
1 ( ru ) ur
r r
r
2
r
r 1 ( r )
r
0 ez = 2ez
ez =
r
r
K
r
r 1 ( ru ) ur
=
r r
ur = 0, u =
r 1 (K )
r
r
e
=
0
z
e z = 0 ez
r r
4-24
Fluid Mechanics
4-4 Reynolds Transport Theorem (RTT) (1)

A system is a quantity of matter of fixed
y No mass can cross a system
y
identity.
boundary.
A control volume is a region in space
chosen for study. Mass can cross a control
surface.
f
The fundamental conservation laws
(conservation of mass, energy, and
momentum) apply directly to systems.
systems
However, in most fluid mechanics problems,
control volume analysis is preferred over
system analysis (for the same reason that
the Eulerian description is usually preferred
over the Lagrangian description).
Therefore,, we need to transform the
conservation laws from a system to a
control volume. This is accomplished with
the Reynolds transport theorem (RTT).
4-25
Fluid Mechanics
Let B represent any extensive property (such as mass,

energy, or momentum), and let b=B/m represent the
corresponding
di intensive
i t i property.
t Noting
N ti that
th t extensive
t i
properties are additive, the extensive property B of the
system at times t and t t can be expressed as
4-26
Fluid Mechanics
4-27
Fluid Mechanics
4-28
Fluid Mechanics
4-29
Fluid Mechanics

Interpretation of the RTT:
Time rate of change of the property B of the
system is equal to (Term 1) + (Term 2)
Term 1: the time rate of change of B of the
control
t l volume
l
Term 2: the net flux of B out of the control
volume by mass crossing the control surface
r r
=
b ) dV + bV ndA
(
CV t
CS
dt
dBsys
Fluid Mechanics
4-30

Special Case 1: Steady Flow
Steady flow :
dBsys
dt
= b(V n)dA
CS
Special Case 2: One

One-Dimensional
Dimensional Flow
One - dimensional flow :

dBsys
dt
d
b dV + ebeVe Ae - i biVi Ai
1
424
3 in 1
424
3
dt CV
out
for each exit
for each exit
d
=
m e be - m i bi
b dV +
dt
dt CV
out
in
dBsys
Fluid Mechanics
4-31

Material derivative (differential analysis):
r r
Db b
=
+ V b
Dt t
General RTT
RTT, nonfixed CV (integral analysis):
r r
b ) dV + bV ndA
=
(
CV t
CS
dt
dBsys
Mass Momentum
B, Extensive properties
b Intensive properties
b,
r
mV
r
V
Energy
E
e
Angular
momentum
r
H
r r
r V
In Chaps 5 and 6, we will apply RTT to conservation of mass, energy, linear

momentum, and angular momentum.
4-32
Fluid Mechanics
4-33
Fluid Mechanics
4-34
Fluid Mechanics
4-35
Fluid Mechanics
There is a direct analogy between the transformation from

Lagrangian to Eulerian descriptions (for differential analysis
using
i infinitesimally
i fi i i ll small
ll fluid
fl id elements)
l
) andd the
h transformation
f
i
from systems to control volumes (for integral analysis using large,
finite flow fields).
4-36
Fluid Mechanics

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Chapter 4: Fluid Kinematics

Chapter 4: Fluid Kinematics

4-1 Lagrangian and Eulerian Descriptions (1)

However, useful for specialized applications

Named after Italian mathematician Joseph

Chapter 4: Fluid Kinematics

4-1 Lagrangian and Eulerian Descriptions (2)

These (and other) field variables define the flow field.

Well suited for formulation of initial boundary-value problems (PDE's).

Chapter 4: Fluid Kinematics

4-1 Lagrangian and Eulerian Descriptions (3)

Chapter 4: Fluid Kinematics

4-1 Lagrangian and Eulerian Descriptions (4)

In vector form, the acceleration can be written as

Chapter 4: Fluid Kinematics

4-1 Lagrangian and Eulerian Descriptions (5)

Advective acceleration is nonlinear: source of many

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (1)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (2)

Geometric arguments results

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (3)

Airplane surface pressure contours,

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (4)

Particle location at time t:

Particle Image Velocimetry (PIV)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (5)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (6)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (7)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (8)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (9)

Chapter 4: Fluid Kinematics

4-2 Fundamentals of Flow Visualization (10)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (1)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (2)

Rate of rotation at a point is defined as the average rotation rate

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (3)

Volumetric strain rate in Cartesian coordinates

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (4)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (5)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (6)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (7)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (8)

Chapter 4: Fluid Kinematics

4-3 Kinematic Description (9)

Chapter 4: Fluid Kinematics