17-Jan-17

MME:4009
Computational Fluid Dynamics
Governing Equations

Gowrava Shenoy B.
Assistant Professor
Dept of Mech, MIT.
gowravshenoyb@gmail.com

Overview
Models of Flow

Substantial Derivative

Divergence of Velocity field- physical

meaning

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Fundamental Physical Principles of

Fluid Dynamics

Mass is conserved
Newtons second law (F=m a)
Energy is conserved

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Mathematical Statement of these three

fundamental physical principles are
Continuity Equation
Momentum Equation
Energy Equation

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Mathematical Statements

Continuity Momentum Energy

Mass is Newtons Energy is
Conserved Second Law Conserved

Physics

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To Obtain basic equation of fluid motion

Step-1- Choose appropriate fundamental
physical principles from the law of physics
Eg: Mass is Conserved,
Step-2- Apply these physical principles to
a suitable model of the flow.
Step-3- Extract the mathematical
equation, which embody such physical
principles
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Solid Body- Easy to see and define.

Fluid Squishy substance that is hard to
grab hold of.
Solid body is in translation motion velocity
of each part of the body is the same,
If a fluid is in motion the velocity may be
different at each location in the fluid

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How to visualize moving fluid,

so as to apply the
fundamental physical
properties to it ???
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Models of Flow

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Finite Control Volume

Consider a general flow field as represented
by streamlines.
Let us imagine a closed volume drawn within
a finite region of the flow.
This volume V defines a control volume
Control surface S is defined as the closed
surface which bounds the volume.

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Model 1
Finite control volume fixed in space with the
fluid moving through it

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Model 2
Finite control volume moving with the fluid
such that the same fluid particles are
always in the same control volume

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Finite Control Volume

Models
The control volume is a reasonably large,
finite region of the flow.
The fundamental physical principles are
applied to the fluid inside the control
volume and to the fluid crossing the control
surface (if model 1).
Instead of looking at the whole flow field,
look at the fluid in the finite region of the
volume .
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Flow equations obtained by applying the

fundamental physical principles to a finite
control volume are in integral form.
These integral forms of the governing
equations can be manipulated to indirectly
obtain partial differential equations.

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Finite control volume fixed in space(model-

1) in either integral or partial differential
form, are called the conservation form of
the governing equations.
Finite control volume moving with the
fluid(model-2) in either integral or partial
differential form, are called the non-
conservation form of the governing
equations.
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Infinitesimal Fluid Element

Consider a general flow field as represented
by the streamlines.
Let us imagine an infinitesimally small fluid
element in the flow with a differential
volume dV.
The fluid element is infinitesimal. however, it
is large enough to contain a huge number of
molecules so that it can be viewed as a
continuous medium.
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Model-3
Infinitesimal fluid element fixed in space
with the fluid moving through it

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Model-4
Infinitesimal fluid element moving along a
streamline with the velocity V equal to the
local flow velocity at each point

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Again, instead of looking at the whole flow

field at once, the fundamental physical
principles are applied to just the
infinitesimally small fluid element itself.
This application leads directly to the
fundamental equations in partial differential
equation form.

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The particular partial differential equations

obtained directly from the fluid element fixed
in space (Model-3) are again the
conservation form of the equations.
The partial differential equations obtained
directly from the moving fluid element
(Model-4) are again called the non-
conservation form of the equations.

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Substantial Derivative

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The Substantial Derivative

Time rate of change of following a moving fluid element

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Consider an infinitesimally small fluid element

moving with the flow through Cartesian space.
The unit vectors along the x, y, and z
axes are i, j, and k, respectively.

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The vector velocity field in this Cartesian

space is given by

Where the x, y, and z components of the

velocity are given by
, , ,
, , ,
, , ,

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In general an unsteady flow, where u,

v, and w are functions of both space
and time t.
In addition, scalar density field is given
by
, , ,
At time , fluid is located at point 1.
At this point density of the fluid element
, , ,
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At later time , fluid is located at point 2.

At this point density of the same fluid element
, , ,
Since , , , expansion of this in
Taylor series about point 1

Neglect these

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Dividing by and ignoring the higher order

terms

Average time rate of change of density of fluid element from

point 1 to 2

In limit as Substantial
Derivative
lim

Instantaneous time rate of change of density

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is a symbol for the instantaneous time

rate of change of density of the fluid
element, called the substantial derivative .
Here, we look at the fluid element as it is
moving, and we observe the density change
of the element as it moves through point 1.
This is different from which is physically
the time rate of change of density at the
fixed point 1.

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Note:-

For we look at the stationary point 1

and watch the density change due to
transient fluctuations in the flow field.
Thus, and are physically and
numerically different quantities.
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Also
lim

lim

lim

As

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Expression for substantial derivative in Cartesian

coordinates

Further, vector operator (del/nabla) in

Cartesian coordinates

.
Substantial derivative operator in vector notation, for any coordinate system
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is the substantial derivative, which is physically

that time rate of change following a moving fluid
element
is called the local derivative, which is physically
the time rate of change at a fixed point
. is called the convective derivative, which is
physically the time rate of change due to the
movement of the fluid element from one location
to another in the flow field where the flow
properties are spatially different.
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The substantial derivative applies to any

flow-field variable, for example, , etc.,
where T and p are the temperature and
static pressure respectively.
For example
.
Local Convective
derivative derivative

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Physically the temperature is changing as the fluid

element sweeps past a point in the flow because
at that point the flow-field temperature itself may
be fluctuating with time (local derivative) and
because the fluid element is simply on its way to
another point in the flow field where the
temperature is different (convective derivative).

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Example: Imagine that you are hiking in the mountains,

and you are about to enter a cave. The temperature inside
Examples
the cave is cooler than outside.
Thus, as you walk through the mouth of the cave, you feel a
temperature decreasethis is analogous to the convective
derivative
However, at the same time, a friend throws a snowball,
snowball hits you just at the same instant you pass through
the mouth of the cave. You will feel an additional, but
momentary, temperature drop when the snowball hits you
this is analogous to the local derivative.
The net temperature drop you feel as you walk through the
mouth of the cave is therefore a combination of both the act
of moving into the cave, where it is cooler, and being struck
by the snowball at the same instantthis net temperature
drop is analogous to the substantial derivative
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Divergence of Velocity
And its physical meaning

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Consider a control volume moving with the fluid

(model-2). Made up of the same fluid particles of the
flow, invariant of time its mass is fixed.
However, its volume and control surface S are
changing with time as it moves to different regions of
the flow where different values of exist.
This moving control volume of fixed mass is
constantly increasing or decreasing its volume and is
changing its shape, depending on the characteristics
of the flow.

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The control volume at some instant in time is shown.

Consider an infinitesimal element of the surface dS
moving at the local velocity V
The change in the volume due to just the
movement of dS, over a time increment is equal
to the volume of the long, thin cylinder with base
area dS and altitude (V ) n, where n is a unit
vector perpendicular to the surface at dS.

where the vector dS is defined simply as dS = n dS.

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Over the time increment , the total change

in volume of the whole control volume is equal
to the summation of equation over the total
control surface.
In the limit as , the sum becomes the
surface integral

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If this integral is divided by , the result is

physically the time rate of change of the
control volume, denoted by / ;
1

Substantial derivative of on LHS since we

are dealing with the time rate of change of
the control volume as the volume moves with
the flow.
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Applying the divergence theorem from vector

calculus to the right side of Eq. we obtain

Now, let us imagine that the moving control

volume(model2) is shrunk to a very small
volume , essentially becoming an
infinitesimal moving fluid element(model4).
Then Eq. can be written as

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Assume that is small enough such that

is essentially the same value throughout .
Then the integral in Eq. in the limit as
shrinks to zero, is given by ( ) .
From Eq. ,we have

1

is physically the time rate of change of the volume of a

moving fluid element, per unit volume.

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(Out of Syllabus)

Extra Reading Divergence Theorem

The divergence theorem states that the

outward flux of a vector field through a
closed surface is equal to the volume
integral of the divergence over the region
inside the surface.
Intuitively, it states that the sum of all
sources minus the sum of all sinks gives the
net flow out of a region

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(Out of Syllabus)

If a fluid is flowing in some area, then the rate at

which fluid flows out of a certain region within that
area can be calculated by adding up the sources
inside the region and subtracting the sinks.
The fluid flow is represented by a vector field, and
the vector field's divergence at a given point
describes the strength of the source or sink there.
So, integrating the field's divergence over the
interior of the region should equal the integral of
the vector field over the region's boundary. The
divergence theorem says that this is true
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