Title: Chapter 8 IDEAL-FLUID FLOW
1Chapter 8IDEAL-FLUID FLOW
2- In the preceding chapters most of the relations
have been developed for one-dimensional flow,
i.e., flow in which the average velocity at each
cross section is used and variations across the
section are neglected. - Many design problems in fluid flow, however,
require more exact knowledge of velocity and
pressure distributions, such as in flow over
curved boundaries along an airplane wing, through
the passages of a pump or compressor, or over the
crest of a dam. - An understanding of two- and three-dimensional
flow of a nonviscous, incompressible fluid
provides the student with a much broader approach
to many real fluid-flow situations. There are
also analogies that permit the same methods to
apply to flow through porous media. - In this chapter the principles of irrotational
flow of an ideal fluid are developed and applied
to elementary flow cases. After the flow
requirements are established, Euler's equation is
derived and the velocity potential is defined.
38.1 REQUIREMENTS FOR IDEAL-FLUID FLOW
- The Prandtl hypothesis states that for fluids of
low viscosity the effects of viscosity are
appreciable only in a narrow region surrounding
the fluid boundaries. - For incompressible flow situations in which the
boundary layer remains thin, ideal-fluid results
may be applied to flow of a real fluid to a
satisfactory degree of approximation. - An ideal fluid must satisfy the following
requirements - 1. The continuity equation div q 0, or
-
- 2. Newton's second law of motion at every point
at every instant - 3. Neither penetration of fluid into, nor gaps
between, fluid and boundary at any solid
boundary
4- If, in addition to requirements 1, 2, and 3, the
assumption of irrotational flow is made, the
resulting fluid motion closely resembles
real-fluid motion for fluids of low viscosity,
outside boundary layers. - Using the above conditions, the application of
Newton's second law to a fluid particle leads to
the Euler equation, which, together with the
assumption of irrotational flow, can be
integrated to obtain the Bernoulli equation. The
unknowns in a fluid-flow situation with given
boundaries are velocity and pressure at every
point. - Unfortunately, in most cases it is impossible to
proceed directly to equations for velocity and
pressure distribution from the boundary
conditions.
58.2 EULER'S EQUATION OF MOTION
- Euler's equation of motion along a streamline
(one-dimensional) was developed in Sec. 3.5 by
use of the momentum and continuity equations and
Eq. (2.2.5). - In this section it is developed from Eq. (2.2.5)
for the xyz-coordinate system in any orientation,
with the assumption that gravity is the only body
force acting. Since Euler's equation is based on
a frictionless fluid, the vector equation (2.2.5)
-
- (2.2.5)
- may be reorganized into the proper form. The unit
vector j' is directed vertically upward in the
coordinate direction h. - These are the direction cosines of h with respect
to the xyz system of coordinates, and they may be
written
6Figure 8.1 Arbitrary orientation of xyz
coordinate system
7- For example, ?h/?x is the change in h for unit
change in x when y, z, and t are constant. In
equation form, -
- The operation applied to the scalar h
yields the gradient of h, as in Eq. (2.2.2). - Eq. (2.2.5) now becomes
- (8.2.1)
- The component equations of Eq.(8.2.1) are
- (8.2.2)
8- u, v, w are velocity components in the x, y, z
directions, respectively, at any point du/dt is
the x component of acceleration of the fluid
particle at (x, y, z). - Since u is a function of x, y, z, and t and x, y,
and z are coordinates of the moving fluid
particle, they become functions of t hence, -
- However, dx/dt, dy/dt, and dz/dt are the velocity
components of the particle, so that ax, the x
component of the particle acceleration, is
9- By treating dv/dt and dw/dt in a similar manner,
the Euler equations in three dimensions for a
frictionless fluid are -
- (8.2.3)
- (8.2.4)
- (8.2.5)
- The first three terms on the right-hand sides of
the equations are convective-acceleration terms,
depending upon changes of velocity with space. - The last term is local acceleration, depending
upon velocity change with time at a point.
10Natural Coordinates in Two-Dimensional Flow
- Euler's equations in two dimensions are obtained
from the general-component equations by setting w
0 and ?/?z0 thus -
- (8.2.6)
- (8.2.7)
- By taking particular directions for the x and y
axes, they can be reduced to a form that makes
them easier to understand. - The velocity component u is vs, and the component
v is vn. As vn is zero at the point, Eq. (8.2.6)
becomes - (8.2.8)
-
- Although vn is zero at the point (s, n), its
rates of change with respect to s and t are not
necessarily zero. Equation (8.2.7) becomes - (8.2.9)
11Figure 8.2 Notation for natural coordinates
12- With r the radius of curvature of the streamline
at s, from similar triangles (Fig. 8.2), -
-
- Substituting into Eq. (8.2.9) gives
- (8.2.10)
-
- For steady flow of an incompressible fluid Eqs.
(8.2.6) and (8.2.10) can be written -
-
(8.2.11) - and
- (8.2.12)
-
- Equation (8.2.11) can be integrated with respect
to s to produce Eq. (3.6.1), with the constant of
integration varying with n, that is, from one
streamline to another. - Equation (8.2.12) shows how pressure head varies
across streamlines. With vs and r known functions
of n, Eq. (8.2.12) can be integrated.
13- Example 8.1
- A container of liquid is rotated with angular
velocity ? about a vertical axis as a solid.
Determine the variation of pressure in the
liquid. - Solution
- n is the radial distance, measured inwardly, dn
-dr, and vs ?r . Integrating Eq. (8.2.12) gives
-
- or
- To evaluate the constant, if p p0 when r 0
and h 0, -
- which shows that the pressure is hydrostatic
along a vertical line and increases as the square
of the radius. - Integration of Eq. (8.2.11) shows that the
pressure is constant for a given h and vs, that
is, along a streamline.
148.3 IRROTATIONAL FLOW VELOCITY POTENTIAL
- In this section it is shown that the assumption
of irrotational flow leads to the existence of a
velocity potential. By use of these relations and
the assumption of a conservative body force, the
Euler equations can be integrated. - The individual particles of a frictionless
incompressible fluid initially at rest cannot be
caused to rotate. This can be visualized by
considering a small free body of fluid in the
shape of a sphere. Surface forces act normal to
its surface, since the fluid is frictionless, and
therefore act through the center of the sphere. - Similarly, the body force acts at the mass
center. Hence, no torque can be exerted on the
sphere, and it remains without rotation.
Likewise, once an ideal fluid has rotation, there
is no way of altering it, as no torque can be
exerted on an elementary sphere of the fluid.
15- An analytical expression for fluid rotation of a
particle about an axis parallel to the z axis is
developed. The rotation component may be defined
as the average angular velocity of two
infinitesimal linear elements that are mutually
perpendicular to each other and to the axis of
rotation. - The two line elements may conveniently be taken
as x and y in Fig. 8.3, although any other two
perpendicular elements in the plane through the
point would yield the same result. The particle
is at P(x, y), and it has velocity components u,
v in the xy plane. The angular velocities of dx
and dy are sought. - The angular velocity of dx is
- and the angular velocity of dy is
-
-
- if counterclockwise is positive. Hence, by
definition, the rotation component ?z of a fluid
particle at (x,y) is - (8.3.1)
16Figure 8.3 Rotation in a fluid
17- Similarly, the two other rotation components, ?x
and ?y, about axes parallel to x and to y are - (8.3.2)
-
- The rotation vector ? is
-
- (8.3.3)
-
- The vorticity vector, curl q q, is
defined as twice the rotation vector. It is given
by 2?. - By assuming that the fluid has no rotation, i.e.,
it is irrotational, curl q 0, or from Eqs.
(8.3.1) and (8.3.2) - (8.3.4)
- These restrictions on the velocity must hold at
every point (except special singular points or
lines).
18- The first equation is the irrotational condition
for two dimensional flow. It is the condition
that the differential expression -
-
- is exact, say
- (8.3.5)
- The minus sign is arbitrary it is a convention
that causes the value of f to decrease in the
direction of the velocity. By comparing terms in
Eq. (8.3.5), - In vector form,
- (8.3.6)
-
- is equivalent to
- (8.3.7)
19- The assumption of a velocity potential is
equivalent to the assumption of irrotational
flow, as -
- (8.3.8)
-
- because . This is shown from Eq.
(8.3.7) by cross-differentiation -
- proving etc.
-
- Substitution of Eqs. (8.3.7) into the continuity
equation -
- yields
- (8.3.9)
20- In vector form this is
-
- (8.3.10)
- and is written
- Equation (8.3.9) or (8.3.10) is the Laplace
equation. Any function that satisfies the Laplace
equation is a possible irrotational fluid-flow
case. As there are an infinite number of
solutions to the Laplace equation, each of which
satisfies certain flow boundaries, the main
problem is the selection of the proper function
for the particular flow case. - Because appears to the first power in each term,
Eq. (8.3.9), is a linear equation, and the sum of
two solutions also is a solution e.g., if f1 and
f2 are solutions of Eq. (8.3.9), then f1 f2 is
a solution thus -
- then
-
- Similarly, if f1 is a solution, Cf1 is a solution
if C is constant.
218.4 INTEGRATION OF EULERS EQUATIONS BERNOULLI
EQUATION
- Equation (8.2.3) can be rearranged so that every
term contains a partial derivative with respect
to x. From Eq. (8.3.4) -
-
- and from Eg. (8.3.7)
-
- Making these substitution into Eq. (8.2.3) and
rearranging give -
- As the square of the speed,
- (8.4.1)
22- Similarly, for the y and z direction,
-
- (8.4.2)
- (8.4.3)
- The quantities within the parentheses are the
same in Eqs. (8.4.1) to (8.4.3). Equation (8.4.1)
states that the quantity is not a function of x,
since the derivative with respect to x is zero. - Similarly, the other equations show that the
quantity is not a function of y or z. Therefore,
it can be a function of t only, say F(t) -
- (8.4.4)
-
- In steady flow ?f/?t0 and F(t) becomes a
constant E - (8.4.5)
-
- The available energy is everywhere constant
throughout the fluid. This is Bernoulli's
equation for an irrotational fluid.
23- The pressure term can be separated into two
parts, the hydrostatic pressure ps, and the
dynamic pressure pd, so that ps pd. Inserting
in Eq. (8.4.5) gives -
- The first two terms can be written
-
- with h measured vertically upward. The expression
is a constant, since it expresses the hydrostatic
law of variation of pressure. These two terms may
be included in the constant E. After dropping the
subscript on the dynamic pressure, there remains - (8.4.6)
-
- This simple equation permits the variation in
pressure to be determined if the speed is known
or vice versa. Assuming both the speed q0 and the
dynamic pressure p0 to be known at one point, - (8.4.7)
24- Example 8.2
- A submarine moves through water at a speed of 10
m/s. At a point A on the submarine 1.5 m above
the nose, the velocity of the submarine relative
to the water is 15 m/s. Determine the dynamic
pressure difference between this point and the
nose, and determine the difference in total
pressure between the two points. - Solution
- If the submarine is stationary and the water is
moving past it, the velocity at the nose is zero
and the velocity at A is 15 m/s. By selecting the
dynamic pressure at infinity as zero, from Eq.
(8.4.6) -
-
- For the nose
-
-
-
- For point A
25- Therefore, the difference in dynamic pressure is
-
-
- The difference in total pressure can be obtained
by applying Eq. (8.4.5) to point A and to the
nose n, -
-
- Hence
-
- It can also be reasoned that the actual pressure
difference varies by 1.5? from the dynamic
pressure difference since A is 1.5 m above the
nose, or
268.5 STREAM FUNCTIONS BOUNDARY CONDITIONS
- Two-Dimensional Stream Function
- If A, P represent two points in one of the flow
planes, e.g., the xy plane (Fig. 8.4), and if the
plane has unit thickness, the rate of flow across
any two lines ACP, ABP must be the same if the
density is constant and no fluid is created or
destroyed within the region, as a consequence of
continuity. - If A is a fixed point and P a movable point, the
flow rate across any line connecting the two
points is a function of the position of P. - If this function is ?, and if it is taken as a
sign convention that it denotes the flow rate
from right to left as the observer views the line
from A looking toward P, then is defined as the
stream function.
27Figure 8.4 Fluid region showing the positive flow
direction used in the definition of a stream
function
Figure 8.5 Flow between two points in a fluid
region
28- If ?1 and ?2 represent the values of stream
function at points Pl and P2 (Fig. 8.5),
respectively, then ?2 - ?1 is the flow across
PlP2 and is independent of the location of A. - Taking another point 0 in the place of A changes
the values of ?1 and ?2 by the same amount,
namely, the flow across OA. Then ? is
indeterminate to the extent of an arbitrary
constant. - The velocity components u, v in the x, y
directions can be obtained from the stream
function. In Fig. 8.6a, the flow d? across APdy,
from right to left, is -udy, or - (8.5.1)
- (8.5.2)
29- In plane polar coordinates from Fig. 8.6b.
- Comparing Egs. (8.3.3) with Eqs. (8.5.1) and
(8.5.2) leads to - (8.5.3)
- These are the Cauchy-Riemann equations.
-
- By Eqs. (8.5.3), a stream function can be found
for each velocity potential. If the velocity
potential satisfies the Laplace equation, the
stream function also satisfies it. Hence, the
stream function may be considered as velocity
potential for another flow case.
30Figure 8.6 Selection of path to show relation of
velocity components to stream function
31- Stokes's Stream Function for Axially Symmetric
Flow - In any one of the planes through the axis of
symmetry select two points A, P such that A is
fixed and P is variable. Draw a line connecting
AP. - The flow through the surface generated by
rotating AP about the axis of symmetry is a
function of the position of P. Let his function
be 2P?, and let the x axis of symmetry be the
axis of a cartesian system of reference. Then ?
is a function of x and ?, where - is the distance from P to the x axis. The
surfaces ? const are stream surfaces. - The resulting relations between stream function
and velocity are given by
32- Solving for u and v gives
- (8.5.4)
- The same sign convention is used as in the
two-dimensional case. - The relations between stream function and
potential function are - (8.5.5)
- The stream function is used for flow about bodies
of revolution that are frequently expressed most
readily in spherical polar coordinates. From Fig.
8.7a and b,
33- from which
-
(8.5.6) - and
- (8.5.7)
- These expressions are useful in dealing with flow
about spheres, ellipsoids, and disks and through
apertures.
34Figure 8.7 Displacement of to show the relation
between velocity components and Stokes' stream
function.
35- Boundary Conditions
- At a fixed boundary the velocity component normal
to the boundary must be zero at every point on
the boundary (Fig. 8.8) -
(8.5.8) - n1 is a unit vector normal to the boundary. In
scalar notation this is easily expressed in terms
of the velocity potential -
(8.5.9) - at all points on the boundary. For a moving
boundary (Fig. 8.9), where the boundary point has
the velocity V, the fluid velocity component
normal to the boundary must equal the velocity of
the boundary normal to boundary thus -
(8.5.10) - or
- (8.5.11)
36Figure 8.8 Notation for boundary condition at a
fixed boundary
Figure 8.9 Notation for boundary condition at a
moving boundary
378.6 THE FLOW NET
- In two-dimensional flow the flow net is of great
benefit it is taken up in this section. - The line given by f(x, y)const is called an
equipotential line. It is a line along which the
value of f (the velocity potential) does not
change. Since velocity vs in any direction s is
given by - The line f(x, y)const is a streamline and is
everywhere tangent to the velocity vector.
Streamlines and equipotential lines are therefore
orthogonal i.e., they intersect at right angles,
except at singular points. - In Fig. 8.10, if the distance between streamlines
is ?n and the distance between equipotential
lines is ?s at some small region in the flow net,
the approximate velocity vs is the given in terms
of the spacing of the equipotential lines Eq.
(8.3.7), - or in terms of the spacing of streamlines Eqs.
(8.5.1) and (8.5.2).
38Figure 8.10 Elements of a flow net
39- In steady flow when the boundaries are
stationary, the boundaries themselves become part
of the flow net, as they are streamlines. The
problem of finding the flow net to satisfy given
fixed boundaries may be considered purely as a
graphical exercise - This is one of the practical methods employed in
two-dimensional-flow analysis, although it
usually requires many attempts and much erasing. - Another practical method of obtaining a flow net
for a particular set of fixed boundaries is the
electrical analogy. The boundaries in a model are
formed out of strips of nonconducting material
mounted on a flat nonconducting surface, and the
end equipotential lines are formed out of a
conducting strip, e.g., brass or copper. - The relaxation method numerically determines the
value of potential function at points throughout
the flow, usually located at the intersections of
a square grid. The laplace equation is written as
a difference equation, and it is shown that the
value of the potential function at a grid point
is the average of the four values at the
neighboring grid points.
40- Use of the Flow Net
- After a flow net for a given boundary
configuration has been obtained, it may be used
for all irrotational flows with geometrically
similar boundaries. - Application of the Bernoulli equation Eq.
(8.4.7) produces the dynamic pressure. If the
velocity is known, e.g., at A (Fig. 8.10). - With the constant ?c determined for the whole
grid in this manner, measurement of ?s or ?n at
any other point permits the velocity to be
computed there, -
- The concepts underlying the flow net have been
developed for irrotational flow of an ideal
fluid.
418.7 TWO-DIMENSIONAL FLOW
- Flow around a Corner
- The potential function
-
-
- has as its stream function
-
- in which r and ? are polar coordinates. It is
plotted for equal-increment changes in f and ? in
Fig. 8.11. Conditions at the origin are not
defined, as it is a stagnation point. - The streamlines are rectangular hyperbolas having
yx as axes and the coordinate axes as
asymptotes. From the polar form of the stream
function it is noted that the two lines ?0 and
?p/2 are the streamline ?0.
42Figure 8.11 Flow net for flow around a 90o
bend
Figure 8.12 Flow net for flow along two inclined
surfaces
43- Source
- A line normal to the xy plane, from which fluid
is imagined to flow uniformly in all directions
at right angles to it, is a source. It appears as
a point in the customary two-dimensional flow
diagram. The total flow per unit time per unit
length of line is called the strength of the
source. - Since by Eq. (8.3.7) the velocity in any
direction is given by the negative derivative of
the velocity potential with respect to the
direction, - is the velocity potential, in which r is the
distance from the source. This value of f
satisfies the Laplace equation in two dimensions.
44- The streamlines are radial lines from the source,
i.e., -
- From the second equation
-
- Lines of constant f (equipotential lines) and
constant ? are shown in Fig. 8.13. A sink is a
negative source, a line into which fluid is
flowing.
Figure 8.13 Flow net for source or vortex
45- Vortex
- In examining the flow case given by selecting the
stream function for the source as a velocity
potential, -
- which also satisfies the Laplace equation, it is
seen that the equipotential lines are radial
lines and the streamlines are circles. - The velocity is in a tangential direction only,
since ?f/?r0 . It is -
- since r ?f is the length element in the
tangential direction. - In referring to Fig. 8.14, the flow along a
closed curve is called the circulation. The
circulation G around a closed path C is
46- The value of the circulation is the strength of
the vortex. By selecting any circular path of
radius r to determine the circulation,
hence,
Figure 8.14 Notation for definition of
circulation
47- Doublet
- The two-dimensional doublet is defined as the
limiting case as a source and sink of equal
strength approach each other so that the product
of their strength and the distance between them
remains a constant 2pµ. µ is called the strength
of the doublet. - In Fig. 8.15 a source is located at (a, 0) and a
sink of equal strength at (-a, 0). The velocity
potential for both, at some point P, is - with r1, r2 measured from source and sink,
respectively, to the point P.
48Figure 8.15 Notation for derivation of a
two-dimensional doublet
49- The terms r1, and r2 may be expressed in terms of
the polar coordinates r, ? by the cosine law, as
follows - Rewriting the expression for f with these
relations gives
50- The series expression
-
- leads to
-
-
-
- After simplifying,
51- If 2amµ, and if the limit is taken as a
approaches zero, -
- which is the velocity potential for a
two-dimensional doublet at the origin, with axis
in the x direction. - Using the relations
-
-
- gives for the doublet
-
-
- After integrating,
52- The equations in cartesian coordinates are
-
- Rearranging gives
-
- The lines of constant f are circles through the
origin with centers on the x axis, and the
streamlines are circles through the origin with
centers on the y axis, as shown in Fig. 8.16. - The origin is a singular point where the velocity
goes to infinity.
53Figure 8.16 Equipotantial lines and streamlines
for the two-dimensional doublet
54- Uniform Flow
- Uniform flow in the -x direction, u -U, is
expressed by -
- In polar coordinates,
55- Flow around a Circular Cylinder
- The addition of the flow due to a doublet and a
uniform flow results in flow around a circular
cylinder thus -
- As a streamline in steady flow is a possible
boundary, the streamline ?0 is given by -
- which is satisfied by ?0, p, or by the value of
r that makes -
- If this value is ra, which is a circular
cylinder, then
56- The potential and stream functions for uniform
flow around a circular cylinder of radius a are,
by substitution of the value of µ -
-
- for the uniform flow in the -x direction. The
equipotential lines and streamlines for this case
are shown in Fig. 8.17 - On the surface of the cylinder the velocity is
necessarily tangential and is expressed by
??/?r0 for ra thus - For the dynamic pressure zero at infinity, with
Eq. (8.4.7)
57Figure 8.17 Equipotential lines and streamlines
for flow around a circular cylinder
58- For points on the cylinder,
- A cylindrical pilot-static tube is made by
providing three openings in a cylinder, at 0 and
30, as the difference in pressure between 0
and 30 is the dynamic pressure ?U2/2. - The drag on the cylinder is shown to be zero by
integration of the x component of the pressure
force over the cylinder thus - Similarly, the lift force on the cylinder is
zero.
59- Flow around a Circular Cylinder with Circulation
- The addition of a vortex to the doublet and the
uniform flow results in flow around a circular
cylinder with circulation, -
-
- The streamline is the circular cylinder r
a. At great distances from the origin, the
velocity remains u - U, showing that flow
around a circular cylinder is maintained with
addition of the vortex. Some of the streamlines
are shown in Fig. 8.18.
60Figure 8.18 Streamlines for flow around a
circular cylinder with circulation
61- The velocity at the surface of the cylinder,
necessarily tangent to the cylinder, is -
- Stagnation points occur when q0 that is,
- The pressure at the surface of the cylinder is
-
- The drag again is zero. The lift, however,
becomes
62- The theoretical flow around a circular cylinder
with circulation can be transformed into flow
around an airfoil with the same circulation and
the same lift. - The airfoil develops its lift by producing
circulation around it due to its shape. It can be
shown that the lift is for any cylinder in
two-dimensional flow. The angle or inclination of
the airfoil relative to the approach velocity
(angle of attack) greatly affects the
circulation. For large angels or attack, the flow
does not follow the wing profile, and the theory
breaks down. - It should be mentioned that all two-dimensional
ideal-fluid-flow cases may be conveniently
handled by complex-variable theory and by a
system of conformal mapping, which transforms a
flow net from one configuration to another by a
suitable complex-variable mapping function.
63- Example 8.3
- A source with strength 0.2 m3/sm and a vortex
with strength 1 m2/s are located at the origin.
Determine the equations for velocity potential
and stream function. What are the velocity
components at x 1 m, y 0.5 m? - Solution
- The velocity potential for the source is
-
- and the corresponding stream function is
64- The velocity potential for the vortex is
-
- and the corresponding stream function is
-
-
- Adding the respective functions gives
-
-
- The radial and tangential velocity components are
-
-
- At (1, 0.5), , vr 0.0285 m/s, v?
0.143 m/s
65- Example 8.4
- A circular cylinder 2 m in diameter and 20 m long
is rotating at 120 rpm in the positive direction
(counterclockwise) about its axis. Its center is
at the origin of a cartesian coordinate system.
Wind at 10 m/s blows over the cylinder in the
positive x direction t200C and p100 kPa abs.
Determine the lift on the cylinder and the
location in the fourth quadrant of the streamline
through the stagnation point. - Solution
- The stagnation point has ?0 . By selecting
increments of R, ? can be determined from -
- The lift is given by ?UGL.