HYDRAULIC ENGINEERING

Subject Code-CE 43003

Section 5-Navier-Stokes Equations
Syllabus
The students should be introduced to the following concepts/principles to understand and
learn-by-doing Navier-Stokes equations in Hydraulic Engineering:
1) Continuity equations for 3-D flow
2) Navier-Stokes equations for 3-D flow
3) Introduction to numerical schemes

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1.0 Introduction
Resource constraints (e.g., financial constraints) and the continuous nature of physical
variables have imposed the limitations of not being able to measure a desired physical
variable, for example, velocity, pressure, etc., for every possible physical condition. These
limitations, among others, have promoted the application of mathematical models in many
fields of studies including hydraulic engineering. The underlying principle in a mathematical
model is the formulation of reality with appropriate simplification in search of solution for a
given physical problem. In hydraulic engineering, to solve and analyze problems that
involve fluid flows in multi-dimensional and time dependent domain, often in complex
geometries, the fundamental principles or physics that describe fluid flows are transformed
into governing equations that are solved using various numerical methods and algorithms
subject to boundary conditions. Generally, the governing equations of fluid flows are solved
using the principle of gridding or discretization which is the process of subdividing the
region/domain of interest into a set of small control volumes that are associated with one or
more of dependent flow variables. Therefore, as explained above, the functionality of a
mathematical model, at first, relies on governing equations that describe the physics of the
fluid flows. In general, physics of the fluid flows are defined through the conservation laws
such as conservation laws of mass, momentum, and energy. In hydraulic engineering, with
the help of these conservation laws, many supplementary equations have been researched,
formulated, and practiced to solve real world problems. The Navier-Stokes equations,
named after Claude-Louis Navier and George Gabriel Stokes
(http://en.wikipedia.org/wiki/Navier%E2%80%93Stokes_equations), is one of those
supplementary equations formed by applying Newtons second law under the assumption
that the stress is related and proportional to the gradient of the velocity of viscous fluid.
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Thus, the objective of this section of the syllabus is to guide the students, who may be
engineered to solve problems in hydraulic engineering that involves Navier-Stokes
equations, understand and to learn-by-doing Navier-Stokes equations in hydraulic
engineering.

2.0 Continuity Equations for 3-D Flow

Consider the below shown control volume ABCDEFGH. The velocity components in the x,
y, and z directions are u, v, and w, respectively.

Y
C

u +

u y z
D

u
x y z
x

A
E
Z

The mass inflow through face ABCD is u y z. The mass outflow through face EFGH is
u +

x y z. Therefore, the net outflow in unit time in the direction of x-axis is

u +

x y z u y z =

the directions of y-axis and z-axis are

x y z.Similarly, the net outflows in unit time in

x y z and

x y z, respectively.

Thus, the total net outflow through the control volume in unit time is

y z. On the other hand, the change of mass in the given control volume in unit time is

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x y z.Therefore, for every point in a fluid flow, whether the flow is steady or
unsteady or compressible or incompressible, the following continuity condition should be
+

met:

x y z =

x y z.The negative sign indicates that a net

outflow occurs.

Learning-by-doing
+

=0
! " #$

$ # %$"

& '(

$"

)
(

3.0 Newtons Law of Viscosity

Newtons law of viscosity states that the shear stress () on a given fluid element layer is
proportional to the rate of shear strain. If u is the velocity of the fluid in the x direction at a
distance of y from the boundary (i.e., element layer), this law is mathematically defined by
#

= # where and # are the constant of proportionality (dynamic viscosity) and velocity
gradient, respectively.

4.0 Navier-Stokes Equations

The Navier-Stokes equations, named after Claude-Louis Navier and George Gabriel Stokes
(http://en.wikipedia.org/wiki/Navier%E2%80%93Stokes_equations), is formed by applying
Newtons second law under the assumption that the stress is related and proportional to the
gradient of the velocity of viscous fluid. To derive the Navier-Stokes equations from first
principles, consider the below shown element ABCDEFGH. The velocity components in the
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x, y, and z directions are u, v, and w, respectively. This element is under the influence of the
following forces:
a)
b)
c)
d)

Pressure forces
Body forces(e.g., gravity)
Inertia forces
Shear forces

4.1 Pressure Forces

The pressure force acting on face ABCD is P y z. As shown below, the pressure force
acting on face EFGH is P +

of x-axis is P +

&

&

x y z. Therefore, the net pressure force in the direction

&

x y z + P y z =

x y z. Similarly, the net pressure

&

force in the directions of y-axis and z-axis are

x y z and

&

x y z,

respectively.
Y
C
Y

P+
D

P
x y z
x

A
E
Z

4.2 Body Forces

The mass of the above given element is '

. If Gx, Gy, and Gz are the components

of the body force per unit mass in the direction of X, Y, and Z-axis, respectively, the body
force in the direction of X-axis is () '
of Y-axis and Z-axis are (* '
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. Similarly, the body forces in the directions

and (+ '
5

, respectively.
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4.3 Inertia Forces

The inertia force that is defined as mass*acceleration in the direction of x-axis is '
,,.

. Similarly, the inertia forces in the directions of Y-axis and Z-axis are '

,/
,.

,0

and '

,.

, respectively.

Learning-by-doing
,,.

2-

2-

2-

2-

= 1 2) + 1 2* + 1 2+ + 2.

4.4 Shear Forces

As per Newtons law of viscosity, the shear force acting on face ABCD is 3
shown below, the shear force acting on face EFGH is 3

net shear force in the direction of x-axis is 3

z x .

2)

u+

2)

22)

y z. As

x y z. Therefore, the

u+

x y z 3

22)

y z = 3

25 2) 5

Y
C

B
6)) = 3

71
7

F
6)) +
D

A
E

76))
7

Note
In 6)) ,
1st subscript: direction of
the normal to the surface

2nd subscript: direction of

the stress.

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Similarly, the net shear force acting on the faces BCGF and ADHE in the direction of x-axis,
is 3

25 2* 5

y z x .

Y
C
78*)
8*) +
7

8*)
A
E
Z

The net shear force acting on the faces ABFE and CGHD in the direction of x-axis, is
3

25 2+ 5

y z x .
Y
C
8+)

8+) +

78+)
7

G
F

A
Z

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Therefore, the total net shear force in the direction of x-axis is 3

z x + 3

25 2+ 5

25 0
2* 5

2) 5

y z x + 3

25 2* 5

y z x . Similarly, the total net shear forces in the directions of Y-axis

and Z-axis are 3

x + 3

25 -

25 /

2) 5

y z x + 3

y z x + 3

25 0
2+ 5

25 /

2* 5

y z x + 3

25 /

2+ 5

y z x and 3

y z x , respectively.

25 0
2) 5

y z

4.5 Newtons Second Law of Motion

As per Newtons second law of motion, in any direction, pressure forces+ body forces (e.g.,
gravity) + shear forces= inertia forces. In other words, in the direction of x-axis, as per
Newtons second law of motion,

P
x y z + () '
x

+3

25 2) 5

25 -

25 -

y z x + 3 2*5 y z x + 3 2+5 y z x
,-

='

,.

With further simplification, ()

&

,,.

: 25 ;

2) 5

25 -

2* 5

25 2+ 5

. Similarly, in the directions

of y-axis and z-axis, as per Newtons second law of motion, (*

25 /

2* 5

25 /

2+ 5

and (+

&

,0
,.

: 25 0
;

2) 5

25 0
2* 5

25 0
2+ 5

&

,/
,.

: 25 /

; 2) 5

, respectively. These three equations

are called Navier-Stokes equations. In Navier-Stokes equations, for an incompressible

flow, there are four unknowns (u, v, w, and P). Therefore, an additional equation is required
to determine the flow characteristics. This additional equation is formed using
continuity equations for 3-D Flow.
Furthermore, in laminar flow, the shear stress is proportional to the viscosity and the rate of
shear strain. This was considered

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Navier-Stokes equations. The turbulent

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stresses are too complex. Therefore, there is no satisfactory model exists to be used in
deriving the Navier-Stokes equations in turbulent flow.

Learning-by-doing
Navier-Stokes equations.

3
?@
1
B @
> =
'
?A

Where B CD AF GHIGHJF KIFLHAKL

Simplify the Navier-Stokes equations if gravity force is the only body force acting
on a given infinitely small element.
For the below shown shear stresses, derive an expression in terms of 3 HM? 1.
Y
C
78*)
8*) +
7

H
8*)

A
E
Z
+

Verify that the Navier-Stokes equation is a second order non-linear differential

equation.

5) The stream function which is denoted by is defined as a function of space and

time such that its partial derivative with respect to any direction gives the velocity
component at right angles to this direction. In case of two dimensional flow, if u,
and v are the components of velocity in x and y, respectively, as per the definition
of stream function (), u =
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, and v =
9

.Write down the Navier-Stokes

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equations for a 2D flow. Subsequently, write down the Navier-Stokes equations

in terms of .
,-

,.

=1

22)

+1

22*

+1

22+

22.

Navier-Stokes equations is given by

-

2-

2/

2-

20

2/

22.

20

+ 1. 1 = ( > + ; B @
.

2-

2-

2/

8)* = 3 U + V/ 8)+ = 3 U + V/ 8*+ = 3 U + V ; 6)) = 23 + 3 U + +

2*
2)
2+
2)
2+
2*
2)
Y
2)
2*
6** = 23

71 2 71 7\ 7]
71 2 71 7\ 7]
+ 3[ +
+
+ 3[ +
+
^ ; 6++ = 23
^
7
3 7
7
7
7
3 7
7
7

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20
2+

V;

Navier-Stokes equations.

10

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5.0 Introduction to Numerical Schemes

The advancement in computer technology has facilitated the implementation of numerical
schemes to understand the complicated flow conditions that are oftentimes described by
partial differential equations. Computational Fluid Dynamics (CFD), one of the branches of
specialization that touches the implementation of numerical schemes has, among others,
the following numerical schemes:
a) Finite difference scheme
b) Finite element scheme
c) Finite volume scheme

5.1 Finite Difference Scheme

The finite difference scheme works on a truncated Taylor Series to determine an unknown
variable at a node based on the conditions at adjacent nodes at a given time.

Consider the water depth in the below given river flow. The water depth(y) of this river may
vary along the longitudinal direction(x).Therefore, mathematically, the water depth could be
represented by y(x). Based on the truncated Taylor series, the forward difference scheme
#

for the first order differentiation ( ) at a point x0 is given by the following equation:
#

_
?
=
?

+ ) _ `)
+ FLLKL AFLbD

y(x0)-x
y(x0)
y(x0)+x
x0-x
x0

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Flow

x0+x

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If the water depth(y) of the river flow varies with time (t), the forward difference scheme for
#

the first order differentiation ( ) at a point x0 is given by the following equation:

#

?
c
=
?
*

_ ` , A)

`,.d. e

`,.d. e

+ FLLKL AFLbD
A + A

#1

Based on the truncated Taylor series, the backward difference scheme for the first order
#

differentiation ( ) at a point x0 is given by the following equation:

#

_ `) _
?
=
?

+ FLLKL AFLbD

y(x0)-x
y(x0)
y(x0)+x
x0-x
x0

Flow

x0+x

Based on the truncated Taylor series, the central difference scheme for the first order
#

differentiation (# ) at a point x0 is given by the following equation:

_
?
=
?

+ ) _
2

+ FLLKL AFLbD

y(x0)-x
y(x0)
y(x0)+x
x0-x
x0
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Flow

x0+x
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Learning-by-doing
2-

2f

2f

1) For a rectangular channel, the continuity equation is given by 2) + 2. + 1 2) = 0

where u and h are the velocity and the water depth, respectively.
a) Considering the central difference scheme for spatial discritization, write down the
finite difference approximation for the above given continuity equation.
b) With the finite difference approximation in (a), determine the unknown values of
velocities and water depths at each node. You are given the below conditions:
I.

At time(t)=0,the velocity is 2m/s at all the nodes

II.

At time(t)=0, the water depth is 1.85m at all the nodes

III.

At x=0, the water depth is 1.85m; at x=4m, the water depth is 1.85m

IV.

U(t+t)=u(t)+0.01 at all the nodes

Water depth or
velocity at x=3m
and t=30s

Time (t)
Water depth or
velocity at x=2m
and t=10s

Boundary condition
At x=0, the water
depth is 1.85m

Boundary condition
At x=4, the water
depth is 1.85m

A=10s
D
=1m

A
= 2b

B
x

At point A, the finite difference approximation is as follows:

7
71 7
+
+1
=0
7A
7
7

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hh
i

1_

+ ) 1_
2

0,A+A e

_ 0 , A)

+ 1i

1j 1k l i
j k
+
+ 1i
=0
2
A
2

+ ) _
2

=0

In the above equation, substitute the known values to get the unknown value of l .
Continue
2-

2f

2f

2) For a rectangular channel, the continuity equation is given by 2) + 2. + 1 2) = 0

where u and h are the velocity and the water depth, respectively. Considering the
forward difference scheme for spatial discritization, write down the finite difference
approximation for the above given continuity equation.

Navier-Stokes equations is given by

:

B @.If the second order

;
_ 0 + )2 _ 0 ) _ 0 )
) 5

22.

+ 1. 1 = ( > +

differentiation ( ) at a point x0 is given by

#

, write down the finite difference approximation for the

Navier-Stokes equations.

4) In the below given discritization, a physical variable (U) at point A is represented by

no p . Following the same notation, write down the physical variable at all the nodes.
Subsequently, considering a particular node, write down the forward difference
scheme for the first order differentiation.
pd9

noq9
Time (t)

no

x
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