Navier-Stokes Equation in

Moving Reference Frame (MRF)

- by Rajat Walia
Here is everything about it.

 Content
• Introduction

• Motivation

• Fixed Vector in a Rotating Frame

• Moving Vector in Rotating Frame – Chasle’s Theorem

• Acceleration in Rotating Frame

• Momentum Conservation

• Navier-Stokes Equation in Moving Reference Frame – Derivation

• Summary
Introduction
• Most of the cfd applications consist of stationary objects around/inside which fluid will be
flowing. So meshes are stationary.

• If the flow is incompressible, Incompressible Steady Navier-Stokes equations are solved.

• Very common applications are – Flow around Aerofoil, Flow inside Pipe. In both cases
aerofoil and pipe are stationary hence meshes are stationary & solved using
Incompressible Steady Navier-Stokes equations.

• But there are certain applications involving motion of the geometry for example turbo
machines.

• In that case mesh motion is required. It could be rotation or translation.

• Now our problem is unsteady because of the motion of the mesh. At each and every time
step mesh is being moved. Now we will be solving Incompressible Unsteady Navier-
Stokes equations which are more computationally expensive to solve of course.
Motivation
• Problem comes when we have to deal with very high speed rotation/translation. We need to
keep “time step size” very small such that any flow variable does not jump more than one mesh
cell in one time step.

• For example if there is a turbine rotating at 36000 rpm and one would want to solve for 10
revolutions. So in this case 600 revolutions are happening in 1 seconds. 1 revolution will happen in
0.0016 second. For 10 revolutions, We have to solve totally for 0.0167 seconds. This is our total
solution time, 0.0167 second.

• Here we have focus on this - 1 revolution is happening in 0.0016 seconds. In order to capture full
transient flow physics we have to keep time step extremely small. For example let say it is only
allowed to mesh move 10 degree per time step based on the accuracy requirements. So in this
case time step will be 0.000044 seconds which is extremely small. So we can see how
computational expensive situations can become.

• What about initial condition. If the given initial conditions are poor. We have to further increase
total solution time so that error in initial solution can be eliminated. Some time poor initial
condition can lead to divergence also.

• Other issue is when there is mesh in motion. Interface between moving and stationary region will
generally going to be non-conformal. In order to transfer solution from moving region to the
stationary region, CFD solver have to do some extra interpolation which makes computation more
expensive and unstable.
Alternative Approach – Moving Reference Frame (MRF)
• This is the concept of MRF, Governing equations are solved in a reference frame that is
rotating or translating with the same speed of the rotating/translating geometry.
Physically it means we are sitting on the moving body and seeing the flow field around it.
This makes the flow field steady relative to the geometry.

• If there is a turbine rotating and we are standing on the floor then flow field around
turbine would be transient from our perspective.

• Instead of watching rotating turbine from a distance, If we sit on turbine blade and rotate
with the blade then the flow field around us or turbine would be steady from our
perspective.

• Another well known example is River & Boat. Boat is moving with fixed velocity. There is a
bridge above river. If you stand on bridge and observe flow of river water, First water
below bridge is stand still then boat comes and create disturbance. Then boat goes and
disturbance of water goes down. Observer standing on the bridge, flow appears to him
will be unsteady because at a given location below the bridge, river water speed in
changing.

• If a person sitting in boat, moving with the boat itself. Now with respect to that person,
River water will not change and He will see river water as steady flow field.
Flow viewed in Fixed vs Moving Frame

Steady state problems in the moving frame are easier to solve then transient problem with moving
mesh.

This approach significantly reduce computational cost.

Now, Equation of Fluid Dynamics are defined with respect to Moving
Reference Frame (MRF). We must account for additional
accelerations terms which models the affect of fluid motion in the
moving frame.

In upcoming slides we will going to see derivation of acceleration

terms added in Navier-Stokes Equation due to MRF Approach.
 Fixed Vector in a Rotating Frame
→ e^ Ф
∆A e^ r

→ ∆Ф →
A(t+∆t) A(t)

• A is a fixed vector in a rotating reference frame.

• We are observing the Vector A from a stationary frame.

• Hence, we will see that vector A changing it’s position.

• It may not change it’s magnitude but it will change it’s direction therefore that will have a derivative.

• Our goal is to calculate that derivative.

→
• A(t) is initial position of the vector.
→
• A(t+∆t) is position of vector after time interval “t+∆t”.
 Fixed Vector in a Rotating Frame
→ e^ Ф
∆A e^ r

→ ∆Ф →
A(t+∆t) A(t)
→ →
• A(t) is along er & ∆A is along e Ф .

• ∆Ф is very small. Sum of the three angles of a triangle is 180o. Since ∆Ф is very small then the

sum of other two angles must be close to 180o.

• If vector A(t) & A(t+∆t) is a equal then angle between A(t) & ∆A, A(t+∆t) & ∆A is 90o.
• Now we can write derivative as :-
Fixed Vector in a Rotating Frame
→ e^ Ф
∆A e^ r

→ ∆Ф →
A(t+∆t) A(t)

Here, we have considered

a fixed Vector in moving
frame.

So, This is the change in

direction of vector due to
the movement of the
frame.
Moving Vector in a Rotating Frame
→ e^ Ф
∆A e^ r

→ ∆Ф →
A(t+∆t) A(t)

What if vector itself is moving in the Rotating Frame?

Then the total dA/dT is the dA/dT as we see from the stationary frame + due to
the change in the direction of vector A which is Omega X vector(A).
Moving Vector in a Rotating Frame

Chasle’s Theorem

Change in direction of vector A due to the rotating frame.

Change in position of vector A due to it’s own movement.

 For Momentum Conservation (Navier-Stokes Equation),
Our interest is Acceleration, Which is double derivative of
displacement.
 Acceleration in a Rotating Frame

• Second Derivative of Vector R will give absolute acceleration of the particle P.

• But we are observing it from moving reference frame which is xyz frame not XYZ frame.
Acceleration in a Rotating Frame
Acceleration in a Rotating Frame

Acceleration of particle P with respect to moving frame

Acceleration of moving reference frame or control volume(cv)

Acceleration of particle P with respect to stationary frame.

 Momentum Conservation
• Now we can write momentum conservation with respect
to moving reference frame using Reynolds Transport Theorem.

This is resultant force acting on the system, As this is control mass

system and we can apply 2ND Law of Newton on this.

As Reynolds Transport Theorem is derived in the limit delta(t) tending

to 0, This will result in force on Control Volume.

Forces on Control Volume.

 Momentum Conservation

As we have taken d/Dt inside the integration, We can use RTT for an arbitrary moving control volume
for momentum conservation but including an correction term.

The force is replaced by force minus integration of dm multiplied by relative acceleration.

This is an additional effective/pseudo force which you will experience when you are located on an
arbitrary moving frame.

Pseudo Forces =
Momentum Conservation
Acceleration are treated as “source term” in momentum equation.
For constant translation & rotational velocities last two terms goes to zero.

Coriolis Acceleration – If we are translating in rotating frame, we will experience a lateral force.
Centrifugal Acceleration – Experience when sitting on rotating frame.
Translation Acceleration - If we are sitting in translating reference frame.
Rotational Acceleration/Euler Force – This is due to angular acceleration of reference frame.

Strength of source term centrifugal acceleration will increase as we go

away from the origin of MRF
Navier Stokes in Moving Reference Frame
First we start with NV-Stokes equation in the inertial frame with absolute velocity.

LHS can be written in this form also :-

Using vector identity we can expend convection term.

Navier Stokes in Moving Reference Frame
Finally NV-Stokes equation in the inertial frame with absolute velocity.

Now, we can write NV-Stokes equation in the relative frame with relative velocity.

Above expression is nothing but we derived in slide no. 16. (Acceleration with respect to
stationary/absolute frame).
Navier Stokes in Moving Reference Frame

Let's look at the left-hand side of the momentum equation of Eqn [2], by taking into
account Eqn [1] for the acceleration term:

First term on RHS can be expanded and written as :-

Navier Stokes in Moving Reference Frame

WHY?

Also, By applying Vector identity :-

Finally :-

Incompressible Navier-Stokes equations in the

rotating frame, in terms of relative velocities
Navier Stokes in Moving Reference Frame

Ur is the relative velocity which is seen if we were sitting in moving reference frame.

Absolute velocity can be calculated using formula mentioned below.

Navier Stokes in Moving Reference Frame
We want to solve single set of navier stokes equation in entire domain but with extra source
term in rotating region only.
As we can see image below we define separate region and assign it as MRF.

By applying vector identities and doing rearrangements we can arrive to the Navier-Stokes
equations in the relative frame with absolute velocity.

This “source term” is only applied to the region of MRF only.

Navier Stokes in Moving Reference Frame

In the convection term we have absolute as well as relative velocity.

In CFD codes of Finite volume method. We discretize the Convection term in usual way which is
integrating the terms and applying Gauss’s divergence theorem & we arrive to face volume
fluxes which is shown below.

Now we substitute this expression shown below into the face volume fluxes.
Navier Stokes in Moving Reference Frame

Finally we arrive at :-

First term on RHS is same as we would have as in general NV-Stokes Equation.

Second term “Flux Correction”, Physically when we are jumping from absolute frame to rotating
frame we have to correct the fluxes in order to account for relative velocity as we would see if
we were in rotating with the MRF.
Summary

• In MRF zone approach, The Navier Stokes equation are solved as global/inertial velocities.

• In Rotating zones we have to account for extra source term .

• Volume Flux on the faces of cells in MRF has to be corrected.