Content

• Integral and Differential Approaches

• Reynolds Transport Theorem
• Conservation Equations in Differential Approach
• Navier-Stokes Equation

07-03-2024 IIT MADRAS 1

Integral and Differential Approach
Integral Analysis Differential Analysis
Basic laws applied to finite size control volume Basic laws applied to infinitesimal control volume
Output Flow Field like
Output Overall quantities like > Velocity field
> Force (Drag, Lift etc) > Pressure field etc
> Torque etc

Force on the Lift on the

Turbine wheel Thrust acting on Aeroplane wing
the rocket
07-03-2024 IIT MADRAS 2
Reynolds Transport Theorem
B
B: Any physical quantity 
Generalized CV m

 dB   
  
     dv     V  dS    V  dS
 dt  sys t  CV
 
 CS 3 CS 1
3
2
1 Systemt+ẟt
 dB   
Systemt 
 dt  sys t  CV

     dv     V  dS 
 CS

 
   dv  = Rate of change of B in the CV
t  CV 

  V  dS 
CS
= Net rate at which B exits the CV through the CS

07-03-2024 IIT MADRAS 3

Mass and momentum conservation in the CV
Steady, incompressible flow
 dB    Mass conservation:



 sys


  dv 
    V  dS  0
dt t  CV  CS
 
 dm    dv    V dS  0
t  CV  CS
For mass conservation:   0
 dt  sys  
 dm 
B  m,   1 


 sys


  dv    V dS  0  V dS  0 or V  S  0
dt t  CV  CS CS

CS


 dmV 
or  V   V  0
CS  out
out
CS  in
in

For momentum conservation:     F   FS   FB Momentum conservation:

 dt  sys 0
 
B  mV ,   V 
t  CV
Vdv  
   V V dS   F
 CS
 dmV   
    V  dv  
   V V dS   F
 dt  sys t  CV  CS V  V  S    F
  V  V dS   F or  CS
CS

 
Vector Equation
or 
CS  out
mout V   min V   F
CS in

IIT MADRAS 4
Mass and momentum conservation: Application
S3 V3
Steady, incompressible flow 3
1 2
Momentum conservation: V1 V2  0
S1 S2
2r  V V  S    F
U1
CS

Momentum conservation in X-direction:

    
 VX V  S    VX V  S    VX V  S    FX
 1  2  3 
p atm p atm
What is the force exerted by the flow on the plate? V X 1  U 1 Within the jet

 
VX 2  VX 3  0
 mV   min V   FXS
CS  out CS in V  S  1
 U1 ( r 2 ) FP FP RX

0  U1r 2 (U1 )   FXS

0
 U1 (U1r )   FXS  FXB
2

 U12 (r 2 )   FXS  patm AP  patm AP  RX

Forces on the CV Free Body Diagram of the Plate
RX  U12r 2  FXS  patm AP  FP FP  patm AP  RX

IIT MADRAS 5
Infinitesimal fluid element: Mass Conservation
V Y
V 2-D Flow
Y 2
 
t  CV

   dv     V1  dS  0 A D
 CS AD = BC = X
AB = DC = Y
V
  
   dv   (X Y )
t  CV  t U X
U U X
U U
X 2 X 2
X ,Y 

  V  dS  
CS
1 net rate of mass exiting the CV

Rate of mass exiting in X-direction B

C
V Y
  X  U X    X  U X  U V
   U  Y     U  Y  XY Y 2
 X 2  X 2   X 2  X 2  X

Rate of mass exiting in Y-direction

  Y  V Y    Y  V Y      U   V 
   V  X     V  X  XY    XY    XY   0
 Y 2  Y 2   Y 2  Y 2   t   X   Y 
V
Incompressible flow

Y
XY
U V
 U

  V
XY   

XY 
 U V
  0  0
Net rate of mass exiting the CV =
 X   Y  t X Y X Y
IIT MADRAS 6
Infinitesimal fluid element: Momentum Conservation
V
V Y 2-D, Incompressible flow
Y 2
 
t  CV
 
  V1  dv    V1 V1 dS   F A
U Y
D
AD = BC = X
 CS U
Y 2
AB = DC = Y
V
Momentum conservation in X-direction:
U X
U U X
U U
  U X 2 X 2
  U  dv    (X Y ) X ,Y 
t  CV  t
Total Acceleration
  U  V dS 
CS
1 net rate of X-momentum exiting the CV
U Y
Local Acceleration
U
Y 2 Convective Acceleration
Rate of X-Momentum transported by U velocity = (X-Momentum)Area,DC – (X-Momentum)Area,AB B
C
V Y
U X  U X 
2 2
  U V D(*) 
  U   Y   U   Y  2 U XY Y 2   *  V    *
 X 2   X 2  X
Dt t

 U U U 
 XY   FX
Rate of X-Momentum transported by V velocity = (X-Momentum)Area,AD –(X-Momentum)Area,BC
U V
 t X Y 
 U Y  V Y   U Y  V Y 
  U  V  X   U  V  X
 Y 2  Y 2   Y 2  Y 2  DU
XY   FX
DU

  U
V  
Y X   V
U 
Y X
0 Dt

Dt
 Y   Y 
 U   V   U    U V   U U   U U 
Net rate of X-Momentum exiting the CV = 2U XY    U Y X   V Y X   U     X Y   U  V  X Y   U X  V Y XY
 X   Y   Y    X Y   X Y 

IIT MADRAS 7
Infinitesimal fluid element: Momentum Conservation
 YY Y P Y
 YY  P
  2-D, Incompressible flow
  Y 2 Y 2
 1 V  dv    V1 V1 dS   F
t  CV  CS A D
 Y AD = BC = X
 YX  YX
X_Component 
DU
XY Y 2 AB = DC = Y
Dt V

P X U P X
Force balance in X-direction: P P
X 2 X ,Y  X 2
 XX X
g
  Y    Y   XX X
 FX   YX  YYX 2 X   YX  YYX 2 X  XX 
X 2
 XX 
X 2
  X    X   YX Y
  XX  XX Y   XX  XX Y  YX 
 X 2   X 2  Y 2
 P X   P X 
B
P  Y   P  Y  YY Y C
 YY  P Y
 X 2   X 2  Y 2 P
Y 2

       P 
  YX XY    XX XY    XY  Y_Momentum Equation
 Y   X   X 
DV P  XY  YY
DU P  YX  XX      g
X_Momentum Equation     Dt Y X Y
Dt X Y X
 V V V  P  XY  YY
 U U U  P  YX  XX  U V     g
 U V     t X Y  Y X Y
 t X Y  X Y X

IIT MADRAS 8
X and Y Momentum Equations for the CV
X-Momentum Equation Y-Momentum Equation
 V V V  P  XY  YY
 U U U  P  YX  XX  U V     g
 U V     t X Y  Y X Y
 t X Y  X Y X
𝜕𝑣 𝜕𝑢 DV P  XY  YY
     g
DU P  YX  XX 𝜏𝑦𝑥 = 𝜇( + ) Dt Y X Y
    𝜕𝑥 𝜕𝑦
Dt X Y X 𝜕𝑢 𝜕𝑢
𝜎𝑥𝑥 = 𝜇( + )
𝜕𝑥 𝜕𝑥 DV P   2V  2V 
DU P   2U  2U  𝜕𝑣 𝜕𝑣      2  2   g
     2  2  𝜎𝑦𝑦 = 𝜇( + ) Dt Y  X Y 
Dt X  X Y  𝜕𝑦 𝜕𝑦

Navier-Stokes Equation For 3-D Incompressible Flow

  ˆ 
DV   iˆ  ˆj k
  P   2V  g X Y Z
Dt
2 2 2
   
2
 2 2
X 2
Y Z

IIT MADRAS 9
Energy Equation for the CV
3D Heat Conduction Equation In deriving energy equation we need to determine change of
energy inside the control volume due to:

• Heat flux through the faces

• Volumetric heat generation (will be represented as heat

generation per unit mass in the CV)

• Energy transfer linked with mass flow in and out of the CV

• Work done by different surface and body forces

IIT MADRAS 10
Energy Equation for the CV 
 V 
V Y  
 
, e 
e Y 

 Y 2   Y 2 
 W Z   e Z 
 
Y  Z 2   Z 2 
 dB    W , e


     dv     V  dS
 sys t  CV
  B  E,   e
dt  CS

2
ei 1 U 2
V 2 W 2 
    e Y
  edv  (X Y Z )
t  CV  t X
U X   e X 
X

 e V  dS  U 

, e 
X 2   X 2 

CS
 U X   e X 
 U   
, e  
  e X  U X   e X  U X    X 2   X 2 
    e   U     e   U   Y Z
  X 2  X 2   X 2  X 2  
  e Y  V Y   e Y  V Y  
    e   V     e   V    Z X
  Y 2  Y 2    Y 2  Y 2 
 W Z   Z e Z 
 
    e 
e Z  W Z   e Z   W Z   W  , e  
 W     e   W    X Y  Z 2   Z 2   V Y   e Y 
  Z 2  X 2   Z 2   Z 2    V   
, e  
 Y 2   Y 2 
 e e e 
  U V W  X Y Z
 X Y Z     dv
 e e e  e
 
De
  U  X Y Z  
07-03-2024 R.H.S.= CV

t
 
CS
 V  dS   t
IIT MADRAS X
V
Y
W
Z  Dt
X Y Z
11
Energy Equation for the CV  Y 
qy  @ 
From first law of Thermodynamics for a system,  2 
 Z 
qz  @ 
Esys  Qsys  Wsys
Y  2 
For t0 dEsys
  WCV
 QCV 
dEsys dt
Hence,   Wsys
 Qsys 
dt

QCV = Rate of heat transfer from surfaces + rate of heat

generation inside the fluid element  X  X
qx  @  G′
Heat transfer from surfaces:  2 

 qx qy qz   X 

qx  @ 
     X Y Z  2 
 X Y Z 
  2T  2T  2T 
 k  2  2  2  X Y Z
 X Y Z 
Z  Z 
Heat generation within the element: qz  @   Y 
 2  qy  @ 
 2 
  GX Y Z (here, G′ is heat generation per unit mass)
   2T  2T  2T  
   k  2  2  2    G X Y Z
QCV
  X Y Z 
07-03-2024 IIT MADRAS 12

  W Z   P Z 
Energy Equation for the CV 

V Y 



P 
P Y 
Y 2 


Y  Z 2 
W 

P 
Z 2 

 V 
WCV = Rate of work done by different surface and  Y 2 
body forces acting on the fluid element

W  F  dS
 P X 
W   F V  P   X
 X 2 
Forces are due to pressure, normal and
 U X   P X 
tangential stresses and body forces U    P  
 X 2   X 2 
 P X  U X   P X  U X  
   P 
W pres  U  P   U    Y Z
 X 2  X 2    X 2   X 2 
 U X 
 P Y  V Y   P Y  V Y    P Z   U  
  P   V  P   V    Z X  P    X 2 
  Y 2  Y 2   Y 2  Y 2  Z  Z 2 
 P Z  W Z   P Z   W Z    W Z 
  P   W  
  P   W    X Y   P Y 
 Z 2  Z 2   Z 2   Z 2    W   P  
 Z 2  Y 2 

 V Y 
 V  
 Y 2 
   PU    PV    PW  
  
W pres    X Y Z
 X Y Z 
07-03-2024 IIT MADRAS 13
  W Z 
Energy Equation for the CV 

V Y  yy

Y  Z 2 
W
 V 
 Y 2 
Showing only terms related with U-velocity (and expecting you
to complete remaining terms for other velocities): yx xy
   X  
 ,U      xx  xx
U X    xx X   U X   yz
Wstress  U      xx   U    Y Z
  X 2   X 2   X 2  X 2  X
   Y   U Y    yx Y   U Y  
zy
    yx  yx



U 
 

  yx 



U 

  Z X

xx
  Y 2  Y 2  Y 2  Y 2
 U X 
   zx Z   U Z    zx Z   U Z   

U
X 2


xz
    zx   U     zx   U    X Y
  Z 2   Z 2   Z 2   Z 2  
zx 
 U 
U X 

 X 2 
zz
Z
  U  xx   U yx   U zx    W Z 
 ,U
Wstress     X Y Z  W  
 X Y Z   Z 2 
 V Y 
 V  
 Y 2 

   U    U yx   U     V xy   V  yy   V zy     W   W yz   W    


Wstress   xx
  zx
    
xz
  zz
  X Y Z
  X Y Z   X  Y Z X Y Z  
07-03-2024 IIT MADRAS    14
Energy Equation for the CV
    g V 
Rate of work done by body force Wbody
   g xU  g yV  g zW 

Putting all terms together and dividing throughout by XYZ, we get generalized energy equation

De    T  T  T      PU    PV    PW  
2 2 2

   2
k   2 
  G      
Dt   X Y 2
Z    X Y  Z 
   U    U yx   U     V xy   V  yy   V zy     W   W yz   W    
  xx
  zx
     
xz
  zz

  X Y Z   X
 
Y Z   X
 
Y Z  

   g xU  g yV  g zW 

But we are interested in conservation of thermal energy. Hence, we need to introduce the following
1 2 𝑝
𝑒=𝑖+ 𝑈 + 𝑉2 + 𝑊2 ; ℎ = 𝑖 + ; ℎ = 𝐶𝑝 𝑇
2 𝜌
07-03-2024 IIT MADRAS 15
Energy Equation for the CV
After doing some algebraic manipulation, we finally get the Thermal Energy Conservation equation for an
incompressible flow with constant properties.

DT
C p  k  2T   G  ,
Dt
  viscous dissipation term
  U  2  V  2  W  2   U V  2  V W  2  W U  2 
   2                  
  X   Y   Z    Y X   Z Y   X Z  

For steady, incompressible flow in two-dimensions with volumetric heat generation

 T T    2T  2T 
C p U V   k  2  2   g  ,
 X Y   X Y 
  U  2  V  2   U V  2 
    2        
  X   Y    Y X  

07-03-2024 IIT MADRAS 16

Summary of relations
 dB   
• Reynolds Transport Theorem    
 dt  sys t  CV
 dv 
    V  dS 
 CS

U V
• Continuity/Mass Conservation Equation in differential form for incompressible 2-D flow  0
X Y

• Momentum Conservation Equation in differential form for incompressible 2-D flow

DU P   2U  2U  DV P   2V  2V 
     2  2       2  2   g
Dt X  X Y  Dt Y  X Y 

• Energy Conservation Equation in differential form for incompressible 2-D flow

 T T    2T  2T 
C p U V   k  2  2   g  ,
 X Y   X Y 
  U  2  V  2   U V  2 
    2        
           
 IIT MADRAS 
X Y Y X
07-03-2024 17