Fluids and Solids Transport

Course Code: ENCH3FS

Credit Hours: 160

Lecture 2a Navier-Stokes Equations

Lecturer: Dr. S. Fashu

1
Outline
Introduction

 Derivation of Governing Equations for Fluid Flow

- Continuity equation (conservation of mass)
- Navier-Stokes equations (conservation of momentum)
- Energy equation (not now)

 Some Classical Exact Solutions

- Couette flow
- Poiseuille flow
- Hagen-Poiseuille flow

 Computational Fluid Dynamics (CFD):Applications of N-S Equations

- Brief introduction
- Engineering applications
Introduction
 Sometimes we want to know velocities, pressure drops and frictional loses in pipe
flows.

 The differential-momentum-balance equation is based on Newton’s 2nd Law and

this allows us to determine how velocity varies with position and time.

 It is often easier and quick to solve problems by starting with the general forms of
the differential equation for the conservation of mass (equation of continuity) and
the conservation of momentum rather than performing a shell balance on every
problem.

 The same equations of momentum balance can be used for turbulent flow but with
some modifications.
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The Shell Momentum Balance Example
 During continuous casting of steel, powdered slag is used to cover the surface of
the liquid steel to prevent heat loss, oxidation of steel, to form a melt to absorb
non-metallic inclusions from the steel and act as a lubricant to prevent steel from
sticking to the mould surface.

 We want to use the shell balance method to formulate the continuity and
momentum balance equations.

Continuous casting of steel

Continuity Equation

𝒛 𝒛 𝒛 𝒛 ∆𝒛 Divide all by

𝒛
And at steady state
Momentum Equation

𝜕𝑃 𝜕𝑚𝑢
𝜌𝑢 𝑢 . 𝐿∆𝑦 − 𝜌𝑢 𝑢 . 𝐿∆𝑦 ∆ + 𝜏 . 𝐿∆𝑧 − 𝜏 . 𝐿∆𝑧 + 𝜌𝑔 ∆𝑦∆𝑧𝐿 + ∆𝑦∆𝑧𝐿 =
∆ 𝜕𝑧 𝜕𝑡

Assuming steady state and dividing everything by

𝒚𝒛 𝒛
But:

And 𝒚𝒛 Thus,

At the top surface the pressure is 1atm and at the bottom it is close to 1atm, thus:
Velocity Profile

Boundary Conditions

at at

Solution after integrating twice and applying boundary conditions

Drag Gravity Velocity Profile

Average Velocity

,
Volumetric Flowrate ,
Example
Find the rate of addition of the powder during continuous casting of steel under the
following conditions:

Solution

Volumetric Flowrate: ,

/ × . ×
Mass Flowrate:
× .
Differential Equations of Continuity and Momentum

Fig. 1 Differential Volume Element

 Let us consider a fluid flowing through a stationary volume element as
shown in Fig 1 above.

 Let be the fluid density and 𝒙, 𝒚 and 𝒛 be the velocity components in x, y and
z directions, respectively.
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Differential Equation of Continuity
The mass balance for the fluid with a density (mass concentration) of is,

… (1)

𝒙 𝒙 𝒙 𝒙 ∆𝒙 𝒚 𝒚 𝒚 𝒚 ∆𝒚 𝒛 𝒛 𝒛 𝒛 ∆𝒛

… (2)

Dividing both sides by

𝒙 𝒙 𝒙 𝒙 ∆𝒙 𝒚 𝒚 𝒚 𝒚 ∆𝒚 𝒛 𝒛 𝒛 𝒛 ∆𝒛
… (3)
10
Taking the limit as approaches zero, we obtain the equation of
continuity or conservation of mass for a pure fluid,

… (4)

The vector notation on the right side of above Eq.4 is due to the fact that is a vector.

Eq. 4 states that the changes in density with time at a fixed point results from the
changes in the mass velocity vector .

Eq. 4 can be converted into another form by carrying out the actual partial
differentiation,

… (5)
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Re-arranging the equation,

… (6)

The left-hand side of Eq. (6) is the same as the substantial derivative and Eq. (6)
becomes,

… (7)

𝑫𝝆
In incompressible fluids, the density is almost constant or Hence, Eq. (7)
𝑫𝒕
for becomes,

… (8)
Example 1: Flow over a Flat Plate
An incompressible fluid flows past one side of a flat plate. The flow in the x
direction is parallel to the flat plate. At the leading edge of the plate, the flow is
uniform at the free stream velocity . There is no velocity in the z direction. The y
direction is the perpendicular distance from the plate. Simplify the equation of
continuity for the situation.

Solution:

For this case where is constant, Eq. (8) holds,

… (a)
 Since, there is no velocity in the z direction, we obtain,

….. (b)

At a given small value of y close to the plate, the value of 𝒙 must decrease from its
free stream velocity, 𝒙𝟎 as it passes the leading edge in the x direction because of
fluid friction.

𝝏𝒗𝒙 𝝏𝒗𝒚
Hence, is negative. Then from Eq. (b), is positive and thus, there is a
𝝏𝒙 𝝏𝒚
component of velocity away from the plate.
Continuity and Momentum Equations in
Cylindrical and Spherical Coordinates
 It is often convenient to use cylindrical coordinates to solve the equation of
continuity if a fluid is flowing in a cylinder (or a similar geometric system).

 The coordinate system as related to rectangular coordinates is shown in Fig. 2a.

Fig. 2. Curvilinear coordinate systems: (a) cylindrical coordinates, (b) spherical

coordinates.
The relations between rectangular x, y, z and cylindrical r, coordinates are
expressed as,
y

… (9)

Comparing the relations from Eq. (9) with Eq. (4):

The equation of continuity in cylindrical coordinates is,

… (10)
For spherical coordinates, the variables r, , and are related to x , y and z by the
following,

… (11)

The equation of continuity in spherical coordinates becomes,

… (12)
Equations of Momentum Transfer

 Motion of fluids is caused by various forces according to Newton’s second law:

 Like energy and mass, momentum is a conserved quantity. The momentum

equation should satisfy the continuity equation. The governing equation can be
written in words as:

… (13)
General Equations of Momentum Transfer
We will make a balance on an element shown in Fig. 1.

Fig. 1 Volume Element

 Momentum flows in and out of the volume element by the mechanisms of

convection/bulk flow and by molecular transfer (by virtue of the velocity
gradients in laminar flow).

 The quantity ( 𝒙 is the mass flux, and it is multiplied by 𝒙 to give the

momentum flux.
Forces on the Differential Fluid Element
There are two types of forces on the This gives rise to nine components of stress:
differential fluid element:

(i) Body Forces

 Body forces are uniformly distributed

through the element.
 For the purpose of this course, the only
body force we will consider is gravity.
(Others are possible, e.g. magnetic forces,
MHD)
(ii) Surface Forces

 The surface forces per unit area (stresses)

on the fluid are due to:
-viscous stress
-pressure
X Direction Momentum Balance
The net convective x momentum flow into the volume element is,

∆ ∆
∆ … (14)

The net x component of momentum by molecular transfer is,

… (15)

is the
difference between the forces acting at x and x +

… (16)
∆
The gravitational force, 𝒙 acting on a unit mass in the x direction is multiplied by
the mass of the element to give,

… (17)

The rate of accumulation of x momentum in the element is,

… (18)

Substituting the terms into the momentum conservation equation (word form) and
dividing by and taking the limit as approach zero, we
obtain the x component of the differential equation of motion,

… (19)

Convective Shear stress

The y and z components of the differential equation of motion are,

… (20)

… (21)
Thus, we can use Equation (4), which is the continuity equation, and Eq. (19) to
obtain an equation of motion for the x component and also do the same for y and z
components as follows,

… (22)

… (23)

… (24)

With adding vectorially, the following equation of motion is obtained for a pure fluid,

𝒗
… (25)
Equations of Motion for Newtonian Fluids with
Varying Density and Viscosity

 In order to apply momentum equations to determine velocity distributions,

expressions must be used for the various stresses in terms of velocity gradients
and fluid properties.

 For Newtonian fluids, the expressions for the stresses , , and other
similar stresses have been related to the velocity gradients and the fluid
viscosity, and are as follows,
a). Shear-stress components for Newtonian fluids in rectangular coordinates:

… (26) … (30)

… (27) … (31)

… (28) … (32)

… (29)
b). Shear-stress components for Newtonian fluids in cylindrical coordinates

… (33) … (37)

… (34) … (38)

… (35) … (39)

… (36)

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c). Equation of Motion for Newtonian fluids with varying density and
viscosity

After Eqs. for shear-stress components are substituted into Eq. (22) for the x
component of momentum, we obtain the general equation of motion for a Newtonian
fluid with varying density and viscosity.

… (40)

Find out y and z components of momentum?

Equation of Motion for Newtonian fluids with constant
density and viscosity

 When the density and the viscosity are constant, then, .

 Thus, the equation are simplified and we obtain the equation of motion for
Newtonian Fluids. These equations are also called the “Navier-Stokes
Equations”.

a). Equation of Motion in Rectangular Coordinates

For Newtonian fluids for constant and for the x component, y component, and z
component, we obtain, respectively,

… (41)
 … (42)

… (43)

Combining the three equation for the three components, we obtain

… (44)
b). Equation of Motion in cylindrical Coordinates

These equations are as follows for Newtonian fluids for constant and for the r,
and z components respectively.

… (44)

… (45)
Example 1
Consider steady incompressible flow of a Newtonian fluid with the velocity field:

Neglect gravitational effects. Does this velocity field satisfy the conservation of
momentum i.e., the Navier-Stokes equations?

Solution
This is a two-dimensional flow. We need to consider the conservation of momentum
in the x-and y-directions.

x-momentum:
Making the substitutions:

y-momentum:

Making the substitutions:

So far we have shown that: and

The pressure field ( , )is a single function. To determine if the gradients in the x and
y directions are compatible, we evaluate the mixed derivative

For a single function, these two mixed derivatives must be the equal:

Thus, the velocity field satisfies the Navier-Stokes equations.

Example 2
An engineer claims to have found a solution for a particular incompressible flow.
In Cartesian coordinates, the proposed solution is:

Determine:

(a) Is the flow steady or unsteady?

(b) Does this velocity field satisfy conservation of mass?

Solution
(a): Flow is steady, because time does not appear in any of the velocity components.

We have:

General continuity equation:

For incompressible steady:

Evaluate the derivatives:

Applying the continuity equations: This flow does not conserve mass.
Solving N-S Equations
• Continuity Equation (Conservation of Mass):

• Navier-Stokes Equations (Conservation of Momentum):

x-momentum:

y-momentum:

z-momentum:

• Solutions to these equations of fluid motion give point-by-point details of the flow.

• Navier-Stokes are a set of 2nd order non-linear partial differential equations.

Which terms are non-linear?
• 4 unknowns (u, v, w, p) & 4 equations . Thus, we have mathematical “closure”.
Solving N-S Equations

• Exact solutions only exist for a few simple (but important) laminar flows.

parabolic velocity
profile linear velocity profile

Laminar incompressible fully developed Laminar incompressible flow between

flow between parallel plates: Poiseuille a moving and fixed plate: Couette Flow
Flow.
In a round pipe: Hagen-Poiseuille Flow
Computational Fluid Dynamics (CFD)
• For real-world flows in complex geometries, solutions to the Navier-Stokes and Continuity
are obtained numerically. These equations are similar in all fields, except geometric,
boundary and fluid properties conditions.

• In CFD we discretize the volume of interest into fine control volumes, called a grid or
mesh. Mass and momentum is conserved for each small volume.

• The solution gives the velocity V (u, v, w) and pressure in each control volume. This is a
discontinuous solution.

• But the discretized problem approaches the continuous solution for a fine enough grid.

• Partial differential equations are

converted into algebraic equations.
e.g. 500,000 control volumes with unknowns
u, v, w, p yields 2,000,000 equations in
2,000,000 unknowns!
• Matrix of simultaneous equations
solved iteratively requiring large
computer power and storage.
Computational Fluid Dynamics (CFD)
Applications

-Numerical solution of the equations for fluid flow (Navier-Stokes Solvers)

-Commercial software for engineering design (e.g. COMSOL, ANSYS FLUENT)

-Weather and Climate modelling (NASA)

-Computer Generated Imagery (CGI) in movies and advertising