Non-dimensionalisation of the Navier-Stokes equations

Michal Kopera
Centre for Scientic Computing

24 January 2008

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Outline
Previously on Research Seminar ...
Navier-Stokes equations (vector and tensor notation)

Dierent forms of Navier-Stokes equations

Divergent Dissipative Skew-symmetric Rotational

Non-dimensionalization
Dimensionless variables Derivations of dimensionless equations Choosing the reference values
Michal Kopera Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation
(u ) (v ) (w ) + + + =0 t x y z

Assumptions
Innitesimal control volume, but big enough to treat the uid as a continuum = const .

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation
(u ) (v ) (w ) + + + =0 t x y z

Assumptions
Innitesimal control volume, but big enough to treat the uid as a continuum = const .

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation
(u ) (v ) (w ) + + + =0 t x y z

Assumptions
Innitesimal control volume, but big enough to treat the uid as a continuum = const .

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation for incompressible uid

w u v + + =0 x y z V = 0 ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation for incompressible uid

w u v + + =0 x y z V = 0 ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Continuity equation for incompressible uid

w u v + + =0 x y z V = 0 ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Linear momentum equation

V + (V )V = g p + ij t ij ui p ui + uj = gi + t xj xi xj

Assumptions
Newtonian uid: ij =
ui xj

uj xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Linear momentum equation

V + (V )V = g p + ij t ij ui ui p + uj = gi + t xj xi xj

Assumptions
Newtonian uid: ij =
ui xj

uj xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Linear momentum equation

V + (V )V = g p + ij t ij ui ui p + uj = gi + t xj xi xj

Assumptions
Newtonian uid: ij =
ui xj

uj xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Linear momentum equation for Newtonian uid

V 1 + ( V )V = g p + V t ui ui 1 p 2 ui + uj = gi + t xj xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Linear momentum equation for Newtonian uid

V 1 + ( V )V = g p + V t ui ui 1 p 2 ui + uj = gi + t xj xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation
du + p ( V ) = (k T ) + dt

Assumptions
Fourier law: q = k T du cv dT cp dT cv , cp , , k , const . =0

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation
du + p ( V ) = (k T ) + dt

Assumptions
Fourier law: q = k T du cv dT cp dT cv , cp , , k , const . =0

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation
du + p ( V ) = (k T ) + dt

Assumptions
Fourier law: q = k T du cv dT cp dT cv , cp , , k , const . =0

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation
du + p ( V ) = (k T ) + dt

Assumptions
Fourier law: q = k T du cv dT cp dT cv , cp , , k , const . =0

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation for an incompressible ow without viscous dissipation

T k + ( V )T = t cp T

T k 2T T + uj = t xj cv xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Previously on Research Seminar...

Energy equation for an incompressible ow without viscous dissipation

T k + ( V )T = t cp T

T k 2T T + uj = t xj cv xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

convective form ui ui 1 p 2 ui + uj = gi + t xj xi xj xj divergent form (ui uj ) ui 1 p 2 ui + = gi + t xj xi xj xj skew-symmetric form ui 1 ui 1 (ui uj ) 1 p 2 ui + uj + = gi + t 2 xj 2 xj xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

convective form ui ui 1 p 2 ui + uj = gi + t xj xi xj xj divergent form (ui uj ) ui 1 p 2 ui + = gi + t xj xi xj xj skew-symmetric form ui 1 ui 1 (ui uj ) 1 p 2 ui + uj + = gi + t 2 xj 2 xj xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

convective form ui ui 1 p 2 ui + uj = gi + t xj xi xj xj divergent form (ui uj ) ui 1 p 2 ui + = gi + t xj xi xj xj skew-symmetric form ui 1 ui 1 (ui uj ) 1 p 2 ui + uj + = gi + t 2 xj 2 xj xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

rotational form V + ( V ) V + t 1 2 |V | 2 1 = g p + V

=V 1 P = p + |V |2 2 V 1 + V = g P + V t

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

rotational form V + ( V ) V + t 1 2 |V | 2 1 = g p + V

=V 1 P = p + |V |2 2 V 1 + V = g P + V t

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

rotational form V + ( V ) V + t 1 2 |V | 2 1 = g p + V

=V 1 P = p + |V |2 2 V 1 + V = g P + V t

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

convective term in tensor notation ( V ) V + 1 2 |V | 2 uj uj ui xj xi + xi 1 uj uj 2

rotational form in tensor notation ui + uj t uj ui xj xi = gi 1 P 2 ui + xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

convective term in tensor notation ( V ) V + 1 2 |V | 2 uj uj ui xj xi + xi 1 uj uj 2

rotational form in tensor notation ui + uj t uj ui xj xi = gi 1 P 2 ui + xi xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Dierent forms of the Navier-Stokes equation

Summary of the Navier-Stokes equation formulations

convective divergent skew-symmetric rotational
ui t ui t ui t ui + uj xj = gi 1 p xi 1 p xi ui + xj xj ui + xj xj 1 p xi ui + xj xj
2 2 2 2

(ui uj ) xj

= gi

ui +1 2 uj xj +

1 (ui uj ) 2 xj uj xi

= gi

ui t

+ uj

ui xj

= gi

1 P xi

ui + xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Dimensionless variables

Dimensionless variables
a - variable which has a dimension (unit) (length, velocity) A - reference constant (eg. length of a football pitch, free stream velocity) a =
a A

- dimensionless variable

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Dimensionless variables

Dimensionless variables
a - variable which has a dimension (unit) (length, velocity) A - reference constant (eg. length of a football pitch, free stream velocity) a =
a A

- dimensionless variable

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Dimensionless variables

Dimensionless variables
a - variable which has a dimension (unit) (length, velocity) A - reference constant (eg. length of a football pitch, free stream velocity) a =
a A

- dimensionless variable

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Continuity equation

Continuity equation
ui =0 xi

Dimensionless variables
ui =
ui U

xi =

xi L

Non-dimensional continuity equation

ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Continuity equation

Continuity equation
ui =0 xi

Dimensionless variables
ui =
ui U

xi =

xi L

Non-dimensional continuity equation

ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Continuity equation

Continuity equation
ui =0 xi

Dimensionless variables
ui =
ui U

xi =

xi L

Non-dimensional continuity equation

ui =0 xi

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Momentum equation

Linear momentum equation

ui ui 1 p 2 ui + uj = gi + t xj xi xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t U L

p =

p U 2

Non-dimensional momentum equation

ui L 2 ui p ui = g + + u i 2 j t xj U xi UL xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Momentum equation

Linear momentum equation

ui ui 1 p 2 ui + uj = gi + t xj xi xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t U L

p =

p U 2

Non-dimensional momentum equation

ui L 2 ui p ui = g + + u i 2 j t xj U xi UL xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Momentum equation

Linear momentum equation

ui ui 1 p 2 ui + uj = gi + t xj xi xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t U L

p =

p U 2

Non-dimensional momentum equation

ui L 2 ui p ui = g + + u i 2 j t xj U xi UL xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Momentum equation

ui L 2 ui p ui = g + + u i 2 j t xj U xi UL xj xj

Dimensionless parameters
Reynolds number: Re = Froude number: Fr =
U2 gL UL

(always important)

(only if there is a free surface)

Non-dimensional momentum equation with dimensionless parameters

u ui 1 p 1 2 ui + uj i = + t xj Fr xi Re xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Energy equation

Energy equation
T T k 2T + uj = t xj cp xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t t0

T =

T T0 T1 T0

Non-dimensional energy equation

T1 T0 T U k T1 T0 T T + ( T T ) u = 1 0 j t0 t L xj cp L2 xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Energy equation

Energy equation
T T k 2T + uj = t xj cp xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t t0

T =

T T0 T1 T0

Non-dimensional energy equation

T1 T0 T U k T1 T0 T T + ( T T ) u = 1 0 j t0 t L xj cp L2 xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Energy equation

Energy equation
T T k 2T + uj = t xj cp xj xj

Dimensionless variables
ui =
ui U

xi =

xi L

t = t t0

T =

T T0 T1 T0

Non-dimensional energy equation

T1 T0 T U k T1 T0 T T + ( T T ) u = 1 0 j t0 t L xj cp L2 xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Energy equation

T1 T0 T U k T1 T0 T T + ( T T ) u = 1 0 j t0 t L xj cp L2 xj xj

Dimensionless parameters
UL c Prandtl number: Pr = k p L Strouhal number: St = Ut 0

Reynolds number: Re =

Non-dimensional energy equation with dimensionless parameters

St
T 1 T T + u = j t xj RePr xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Energy equation

T1 T0 T U k T1 T0 T T + ( T T ) u = 1 0 j t0 t L xj cp L2 xj xj

Dimensionless parameters
UL c Prandtl number: Pr = k p L Strouhal number: St = Ut 0

Reynolds number: Re =

Non-dimensional energy equation with dimensionless parameters

St
T 1 T T + u = j t xj RePr xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - Summary

Summary of dimensionless Navier-Stokes equations

continuity momentum energy
ui t u
j

ui xi

=0

+ uj x i =

1 Fr

p xi

2 1 ui Re xj xj

T T St t + uj x =
j

1 T RePr xj xj

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations

Non-dimensionalization - choosing the parameters

Now how to choose the U, L etc. ?

Michal Kopera

Non-dimensionalisation of the Navier-Stokes equations