BITS Pilani Course Contents
Pilani Campus
Module Lecture Topic Reference
1 1 Introduction and Philosophy of Computational Fluid Dynamics TB Ch 1
2 2-3 Governing Equations of Fluid Dynamics TB Ch 2
3 4-5 Mathematical Behavior of Partial Differential Equations TB Ch 3
4 6-7 Basic Aspects of Discretization TB Ch 4
5 8 Grids with Appropriate Transformations TB Ch 5
6 9-10 Some Simple CFD Techniques: TB Ch 6
7 11-12 Numerical Solutions of Quasi-One-Dimensional Nozzle Flows TB Ch 7
Computational Fluid Dynamics 8 13-14 Incompressible Couette Flow: Numerical Solutions by an Implicit TB Ch 9
Method and Pressure Correction Method
Module 2: Governing Equations 9 15-16 Supersonic Flow over a Flat Plate: Numerical TB Ch 10
Solution by Solving the Complete Navier-Stokes Equations
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 3
Lecture Plan for Module 2 Governing Equations
Models of the flow CFD is based on fundamental
equations of Physics
Substantial derivatives
Mathematical statements of
Divergence of velocity fundamental physics-based
Continuity equation principles which are basis of Fluid
mechanics and Heat transfer
Momentum equation Lecture-2
Fundamental Principles are
Energy equation
Mass is conserved
Boundary conditions
Conservative v/s Non-conservative
( )
form of equation Lecture-3
Energy is conserved
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 4 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 5
Governing Equations Roadmap of this Module
Explore Concepts of
Important to understand
Conservation principles
the fundamental equations
and how they are derived Fixed and moving control
Volumes
Understand possible
implications on CFD Fixed and moving infinitesimally
solution and their accuracy Small Control volume
Conservative form and non-
conservative form
Boundary and initial conditions
Source: CFD Basics and Application by J.D. Anderson
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 6 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 7
Finite Control Volume Infinitesimal Fluid Element
Control volume fixed in space
Infinitesimal fluid element fixed in space
Fluid flows through it
Fluid flows through it
Conservation principles applied to fluid Conservation principles applied to fluid inside
Volume
inside CV and fluid crossing surface of the fluid element and fluid crossing surface of
the CV the fluid element
Governing equations obtained are in Governing equations obtained are in
Integral Form Infinitesimal Fluid Element Differential form (usually a Partial Differential
Equations obtained from a stationary Fixed in Space with Fluid Equation)
Finite Control Volume Fixed in Moving Through It
Conservative Equations obtained from a stationary
Space and Fluid Moving
Form of Governing Equations
Through It infinitesimal fluid element are called
Conservative Form of Governing Equations
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 8 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 9
Non-stationary Control Volume/Fluid Element Non-stationary Control Volume/Fluid Element
Non-stationary and moves with the
fluid Fluid element moves along the
stream line at a velocity
Same fluid molecules are always in
which is the local velocity at
the same control volume/fluid
that point ( )
element
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 10 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 11
Non-stationary Control Volume/Fluid Element Conservative v/s Non-Conservative Equations
Governing
Equations
Conservative Non-Conservative
Form Form
Equivalent forms
Integral form (for finite control One form can be transformed
volume) or in Differential form (for to another form or vice versa
infinitesimally small fluid element) Some numerical schemes
Non-Conservative Form of works better in one form
Governing Equations versus another form
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 12 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 13
Substantial Derivative Substantial Derivative
At time = , it is at location 1
Consider a transient flow At time = , it is at location 2
Fluid element moves from 1 to 2 Density
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 14 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 15
Substantial Derivative Substantial Derivative
Expanding using Taylor series
At time =
At time =
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 16 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 17
Substantial Derivative Substantial Derivative
What does Substantial Derivative
means
Time rate of change of density
as fluid element moves from
location 1 to location 2
Substantial derivative is looking
at the change in density with
respect to time as it moves from
location 1 to location 2
Substantial Derivative of is
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 18 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 19
Substantial Derivative Substantial Derivative
Substantial derivative ( )
is different from Ordinary
derivative ( )
Divide by ( ) and neglect HOT
Ordinary derivative is looking
at change in density when the
fluid element is stationary in
space
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 20 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 21
Substantial Derivative Substantial Derivative
Substantial Derivative of defined as Substantial Derivative is
In vector notation, Substantial Derivative of any variable
is defined as
In vector notation
where
Local derivative Convective derivative
Time rate of change Time rate of change due to
at a fixed location movement of fluid element from Local derivative
one location to another location
Time rate of change
at a fixed location
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 22 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 23
Substantial Derivative Divergence of Velocity Physical Meaning
Substantial Derivative is
Divergence measures how much
a vector field spreads out or
diverges from a given point.
In vector notation
Mathematical Definition:
Convective derivative
Time rate of change due to
movement of fluid element from
one location to another location
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 24 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 25
Divergence of Velocity Physical Meaning Divergence of Velocity Physical Meaning
Divergence is as the
Divergence is as the
vectors are spreading out
vectors are neither spreading
out nor are they coming closer
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 26 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 27
Divergence of Velocity Another
Divergence of Velocity Physical Meaning Interpretation
Control volume moving with the fluid
Control volume has same fluid
Divergence is as the particles as it moves through space
vectors are not spreading
out but coming closer Mass of fluid element is constant but
volume keeps on changing as it moves
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 28 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 29
Divergence of Velocity Another Divergence of Velocity Another
Interpretation Interpretation
Change in volume due to
movement of over t
Time rate of change of
fluid element volume
Divergence theorem
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 30 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 31
Divergence of Velocity Another Conservation of Mass Continuity Equation
Interpretation (Stationary Control Volume
Control volume stationary in space
Mass is conserved means
Net mass flow Time rate of
Divergence of velocity is time rate of out of control change of mass
change (Substantial Derivative) of volume through inside the
volume of a moving fluid element per surface S control volume
unit volume
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 32 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 33
Conservation of Mass (Stationary Control Conservation of Mass (Stationary
Volume) Infinitesimally Small Fluid Element)
+ =0
Time rate of Net mass flow
change of mass out of control
inside control volume through
volume surface For 3-dimensional flow
Net mass
Continuity equation flow
Integral form
Time rate of
Conservative form mass increase
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 34 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 35
Conservation of Mass (Stationary Conservation of Mass (Infinitesimally
Infinitesimally Small Fluid Element) Small Fluid Element Moving with Flow)
Net mass flow out of the
fluid element must equal the
time rate of mass change
Continuity equation
Partial differential equation form
Conservative form
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 36 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 37
Conservation of Mass (Infinitesimally Summary Conservation of Mass
Small Fluid Element Moving with Flow) (Continuity Equation)
Integral
Form
+ =0 =0
Divergence
of Velocity
Differential
Form
Continuity equation
Differential form
Non-conservative form
Conservative Form Non-Conservative Form
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 38 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 39
Conservative and Non-Conservative Forms Conservation of Momentum
are Equivalent
Non-Conservative
Moving Fluid Element
Conservative
Fundamental principle applied
is Newton's 2nd Law ( )
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 40 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 41
Conservation of Momentum Conservation of Momentum
(Along x-Direction)
Forces are classified as
Forces
Body force x
Surface forces
Net surface force along x-direction is
Gravity Electro- Pressure Viscous Force due to
(weight) Magnetic forces forces pressure
Force due to
normal stress
Normal Shear
stress stress Force due to shear
stress stress
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 42 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 43
Conservation of Momentum Conservation of Momentum
(Along x-Direction) (Along x-Direction)
y
y
x
x
As we are following a moving fluid
Net body force acting along-x-direction element, acceleration equals time rate
of change in the velocity
where is body force along x-direction Mass of the fluid element is
per unit mass
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 44 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 45
Conservation of Momentum Momentum Conservation Equations
(Along x-Direction) (Non-Conservative Form)
y
y
x
Net force acting along x-direction is
z
We have derived these equations
Newton's 2nd Law
by following a moving fluid
element. Hence, these equations
are in Non-Conservative form
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 46 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 47
Momentum Conservation Equations Newtonian v/s Non-Newtonian Fluid
(Conservative Form)
Fluid
x
Newtonian Non-Newtonian
y
Viscous stress Viscous stress
linearly varies non-linearly varies
z with shear strain with shear strain
Conservative form is derived using Water Blood
Gases Corn starch
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 48 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 49
Momentum Conservation Equations Momentum Conservation Equations
(Conservative Form) (Conservative Form)
Newtonian Fluid: Viscous Stokes Hypothesis
Stress is proportional to Strain is viscosity and is second viscosity
x-Momentum Equation
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 50 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 51
Momentum Conservation Equations Momentum Conservation Equations
(Conservative Form) (Conservative Form)
y-Momentum Equation z-Momentum Equation
Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 52 Computational Fluid Dynamics, DE ZG515, BITS Pilani Slide 53