Aerodynamics

Ideal Fluid

• Fluid has no viscosity, n=0

U ref Lref
- Reynolds number is infinite Re  
n
• Adiabatic flow. Thermal conductivity is assumed to
be sufficiently small to neglect heat transfer
• Entropy per unit mass of any fluid particle must
remain constant. Isentropic flow
Ds s   s s s s
  V  s   U V W 0
Dt t t x y z

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Continuity equation (mass conservation)

 U V W

   0
t x y z
D  U V W  D  
       0    V  0
Dt  x y z  Dt
• Incompressible flow,  = constant
  U V W
 V    0
x y z

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Euler equations
(momentum balance)
 
 
DV V    1  
  V   V   p  F
Dt t 
U U U U 1 p
U V W   Fx
t x y z  x
V V V V 1 p
U V W   Fy
t x y z  y
W W W W 1 p
U V W   Fz
t x y z  z
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Governing equations
• Euler equations
(momentum balance)
• Gravity
  
F   gk   gz 
• Vector identity 
 
2 i j k

    V    
   
     
V . V     V    V com   V  rot V 
 2  x y z
 
U V W
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Governing equations
• Euler equations
(momentum balance)


DV 1  
  p   gz 
Dt 
  2 
V   1    V 
 V  rot V  p    gz   0
t   2 
 

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation (energy balance)

• Variation of a property p along a displacement


defined by, dr
p p p  
dp  dx  dy  dz  p  dr
x y z

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)

• Dot product of the vector dr by the momentum
 
equation for a streamline, dr ||V
 2 
  V
 
   1   
 V  rot V  dr  p  dr    gz   dr  0
  2 
 
 V 2 
  dp
d  gz   0
 2  
 
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)
• Isentropic flow, ds=0
dp dp
dh  Tds   ds  0  dh 
 
 V 2 
 
d  gz  h   0
 2 
 
- Along a streamline
2
V
 gz  h  constante
Masters of Mechanical Engineering
2
 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)
• Incompressible flow, =constant
 p
dh  d  

 V 2 
 p
d  gz    0
 2 
 
- Along a streamline
2
V p
 gz   constante
Masters of Mechanical Engineering
2 
 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)

• Isentropic flow, s  0
 1 
h  p

 2  
 V  
  gz  h   V  rot V
 2 
 

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)
• Incompressible flow, =constant
  p 
h   

 2 
 V p  
  gz    V  rot V
 2 
 

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)
 
• For V  rot V  0
2
V
 gz  h  constant
2
• In incompressible flow, =constant
2
V p
 gz   constant
2 

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Governing equations
• Bernoulli equation in steady flow
(energy balance for a steady flow)
 
• Cases with V  rot V  0

1. V  0 , Hidrostatics
 
2. V || rot V, Beltrami flows

3. rot V  0, Irrotacional or potential flows

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

   
• Vorticity,  i j k
      
  rot V    V 
x y z
y
U
U V W
B B   dt
y • Flow on the x,y plane
dy V
A  dt
• OA and OB – elementary lines
x
O dx Ax
• Axis system and point O have
the same velocity

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid


• Vorticity,  • Analysis of the rotation of
   
  rot V    V lines OA and OB
y – Velocity of points A and B
U
B B   dt
y V U
VA  dx U B  dy
dy V x y
A  dt
x • After dt, OA turned A and
O dx Ax OB turned B
V U
dx A  dxdt dy B   dydt
x y
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid


• Vorticity,  • Mean angular velocity
   
  rot V    V
1   A  B  1  V U  
y       k
2  dt dt  2  x y 
U
B B   dt
y     V U  
    V    k
dy V  x y 
A  dt 
x •  is the double of the mean
O dx Ax angular velocity of the fluid
particle rotation as a rigid
body
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid

• Vortex lines, surfaces and tubes


- Vortex line is tangent to the vorticity vector, 
 
  ds  0
dx dy dz
 
x  y z

- Vortex surface is a surface constituted by vortex

lines at a given time instant

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

• Vortex lines, surfaces and tubes

- A vortex tube is a vortex surface that forms a

closed line

- Vorticity flux for a surface S that bounds a

volume R   

S   ndS  R.dV  0
   
      
.  . rot V  .   V  0
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid

• Velocity circulation for a closed contour, G

 
G   V  dr

d stands for differentation in space at a given

time instant

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

• Variation of G wiht t for a contour defined by

fluid particles

 
DG D   DV   Ddr
Dt Dt   Dt  Dt
 V  d r   dr  V 

     2
 Ddr   Dr     V V  V 
V  V d    V  dV  d   d
 
Dt  Dt   2   2 
 

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

• Variation of G wiht t for a contour defined by

fluid particles

  2
 Ddr V 
 V  Dt   d  2   0
 

DG DV 
  dr
Dt Dt

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

• Space conservation of circulation, G

Vortex tube in region R

bounded by two arbitrary
cross-sections S1 and S2
and the lateral boundary Sw
   
   ndS     dV  0
S1  S 2  S w R

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
• Space conservation of circulation, G
 
- At Sw,   n  ,0so
   
S1  ndS  S2  ndS  0
  
- n is the outer normal to R. Assuming n1 and n2
with the same sign
   
S1   n1dS  S2   n2 dS
   
   ndS  constant   V  ds  GC
S C

- GC is the velocity circulation of any contour C

on the surface Sw that encloses the vortex tube
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid

• Space conservation of circulation, G

   
   ndS  constante   V  ds  GC
S C
- A vortex tube can not end in the middle of the fluid

- The change of intensity a given vortex tube implies

the generation or absorption of other vortex tubes
with a well defined intensity

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
• For a vortex tube of elementary section

- Vortex filament
 
GC    n dS
 
- Assuming n parallel to 
1
GC  dS 
dS
- Concentrated (line) vortex
 
dS  0 G  lim dS 0   n dS
 

- Vortex sheet: Vortex surface formed by line vortices

Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid

• Kelvin’s theorem

DG DV 
  dr
Dt Dt
- For isentropic flow

DV 
 h  gz 
Dt
DG  
   h  gz   dr  0
Dt

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
• Kelvin’s theorem

DG DV 
  dr
Dt Dt
- For incompressible flow

DV  p 
   gz 

Dt  
DG  p  
     gz   dr  0
Dt  
- Velocity circulation for a closed contour moving with
the fluid velocity does not change with time
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid

• Consequences of Kelvin’s theorem

DGC D  
Dt

Dt    ndS  0
- Vorticity flow through a material surface does
not change with time

- Vorticity is convected by the fluid.

If a given surface coincides with a vortex surface at
a time instant, it will remain always a vortex surface.
A vortex tube contains always the same fluid
particles.

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid

• Consequences of Kelvin’s theorem

DGC D  
Dt

Dt    ndS  0

- Vorticity is convected by the fluid

If 0 at a given time instance, =0 always.

Flows of ideal fluids started from rest are

irrotacional flows
 
At t  0,V  0    0

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Irrotacional and Incompressible Flow
• Irrotacional flow
   
    V  rot V  0

• Velocity is obtained from the gradient of a potential

function (scalar)
 
V  

• Continuity equation (mass conservation)

   
  V  0      0
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow

• Two-dimensional flow, 0
z
• Incompressible flow,   constant
 
• Continuity equation with V  
 2  2
 2 0
x 2
y
- Laplace equation

- Linear equation

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
 2  2
 2 0
x 2
y
- Laplace equation

- Any linear combination of particular solutions of

Laplace’s equation also satisfies the Laplace
equation

- Analytical solution are easily obtained with functions

of complex variable

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
• Stream function, y

- Continuity equation
  U V
 V   0
x y
  
V  U i V j
- y(x,y), stream function
dy  Vdx  Udy
y y
 V , U
x y
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
• Stream function, y

  y    y 
    
x  y  y  x 
- Streamlines defined by dy=0

 Vdx  Udy  0
dx dy

U V

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
• Stream function, y
- Physical meaning of y

- y=0 at the wall

- Flow rate between the

wall and the streamline
dy
dQ  Udy  Vdx
dQ  dy
y Q
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow

• Stream function, y
- Dyy1yo is equal to
the flow rate between
the streamlines y1 and yo

- These results were derived from the continuity

equation. Therefore, they are valid for any 2-D
incompressible flow

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
• Velocity potential function, 

- Irrotacional flow,
  V U
 V  0   0
x y

- (x,y), velocity potential function

d  Udx  Vdy
 
U, V
x y
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow

• Velocity potential function, 

       
    
x  y  y  x 
- Equipotential lines definition, d=0

Udx  Vdy  0
dx dy

V U
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow
• Continuity equation applied with 

 2  2
 2 0
x 2
y

• Irrotational condition applied with y

 2y  2y
 2 0
x 2
y

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Two-dimensional, Irrotacional and Incompressible Flow

• The velocity potential function  and the stream

function y satisfy Laplace’s equation

• Streamlines are perpendicular to the equipotencial

lines
     
  U i  V j e y  V i  U j
 
  y  UV  VU  0

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Complex Potential
• Analytical functions

• W, function of complex variable

W   ( x, y )  iy ( x, y )

r  x 2  y 2
z  x  i y   x  r cos 
 i
with   y  and  y  r sen 
 z  re   arctg  
 x

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Complex Potential
• A function of complex variable is an analytical
function when
W  z  Dz   W  z 
lim
Dz 0 Dz
exist and its value is independent of the way that z
goes to zero
DW D  i Dy

Dz Dx  i Dy
• At the limit, Dz  0
  y    y 
 i dx   i dy
dW d  i dy  x x   y y 
 
dz dx  i dy dx  i dy
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Complex Potential
• To have a limit that is independent of the way Dz→0,
this relation must be independent of dy
dx
 y  y
i i
x x  y y
1 i
• Riemann-Cauchy conditions

 y  y
 
x y y x

Masters of Mechanical Engineering

 Aerodynamics

Ideal Fluid
Complex Potential
• Any W(z) function that has z as its independent
variable is an analytical function

• Verification
W    iy z  x i y x  z i y
W
- If the function is analytical 0
y
W  x   y x y 
   i  
y x y y  x y y 
W  y  y  
   i    0
y y x  y x 
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Complex Potential
• Examples of complex functions
1. W  x 2  y 2  i 2 xy  z 2
2. W  x  i 2 y  z  i y
W
- Determination of
y
1. W  2 y  2 y  i2 x  2 x   0
y
Function is analytic
W
2.  0  0  i2  1  i
y
Function is not analytic
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Complex Potential
• The velocity potential function and the stream
function satisfy the following equations
 y  y
 
x y y x
• The complex potential function
W ( x, y )   ( x, y )  iy ( x, y )
is an analytic function with a real part equal to the
velocity potential function and the imaginary part
equal to the stream function of an incompressible,
irrotational plane flow
Masters of Mechanical Engineering
 Aerodynamics

Ideal Fluid
Complex Potential
• For the complex potential W ( x, y )   ( x, y )  iy ( x, y )
dW
dW  dz
dz
• The differential dW may be obtained from
W W
dW  dx  dy
x y
  y    y 
dW    i  dx    i dy
 x x   y y 
dW  U  i V dx  (V  i U )dy
dW  U  i V dx  i(U  i V )dy
Masters of Mechanical Engineering
dW  U  i V dx  i dy 
 Aerodynamics

Ideal Fluid
Complex Potential
• For the complex potential W ( x, y )   ( x, y )  iy ( x, y )
dW  U  i V dz
dW
 U  i V   V
dz
• Complex velocity, V , complex conjugate of
the velocity vector, V y 
  i V  U  iV
V Ve V  U
i  x
V V e -V
V  U  iV

Masters of Mechanical Engineering