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ME 747 Introduction to computational
fluid dynamics
By Chainarong Chaktranond
Lecture 3
Overviews of governing equations for fluid
flow and heat transfer
2Chainarong Chaktranond, Thammasat University
Lecture schedule
5. Introduction to solve engineering problems with finite-different method
- Taylor series expansion, Approximation of the second derivative, Initial condition and
Boundary conditions
6 – 7
4. Introduction to numerical methods
- Finite different method, Finite volume method, Finite element method, etc.
5
3. Overviews of governing equations for flow and heat transfer
-Elliptic, Parabolic and Hyperbolic equations
4
2. Introduction to Fortran programming
- Basic commands in Fortran programming
2 - 3
1.Overviews of computational fluid dynamics
- Overviews and importance of heat transfer in real applications1
TopicsSession
3Chainarong Chaktranond, Thammasat University
Contents
Ordinary differential equations (ODEs)
Partial differential equations (PDEs)
4Chainarong Chaktranond, Thammasat University
Ordinary differential equations (ODEs)
Classification for ordinary differential equations
Boundary valueInitial value
NonlinearLinear
System equationSingle equations
Higher orderFirst order
5Chainarong Chaktranond, Thammasat University
สมการอันดับ (n th order equation)
( )1, , ,...,n ny f x y y y −′=
สามารถลดอยูในระบบของสมการอันดับหนึ่ง โดยนิยาม
1y y=
1jjy y −= 1, 2,..., 1j n= −ซึ่ง
ดงันั้น1j jy y +′ = 1, 2,..., 1j n= −ซึ่ง
( )1 2, , ,...,n ny f x y y y′ =
6Chainarong Chaktranond, Thammasat University
Initial value problems
First-order ordinary differential equation
( ),dy f y tdt
= ( ) 00y y=
เราตองการหาคา ( )y t สําหรับ 0 ft t< ≤
สําหรับ numerical method ที่เวลา 1n nt t t+ = + Δ สําหรับ 0 nt t≤ ≤
( )1 1n ny y t+ +=คา y ณ เวลาถดัไปหาไดจาก
7Chainarong Chaktranond, Thammasat University
Taylors series methods
2 3
1 ...2 6n n n n nh hy y hy y y+ ′ ′′ ′′′= + + + +
ที่ซึ่ง h t= Δ
( ),n n ny f y t′ =( ),dy f y tdt
=จากสมการ
หาคําตอบที่เวลา 1nt + รอบคําตอบทีเ่วลา nt
ดงันั้นคาํตอบสมการอันดับหนึ่ง
( )1 ,n n n ny y hf y t+ = +
8Chainarong Chaktranond, Thammasat University
Equation forms
Hyperbolic problems (waves):
Quantum mechanics: Wave-function(position,time)
Elliptic (steady state) problems:
Electrostatic or Gravitational Potential: Potential(position)
Parabolic (time-dependent) problems:
Heat flow: Temperature(position, time)
Diffusion: Concentration(position, time)
Many problems combine features of above
Fluid flow: Velocity,Pressure,Density(position,time)
Elasticity: Stress,Strain(position,time)
9Chainarong Chaktranond, Thammasat University
Elliptic Type
Parabolic Type
Hyperbolic Type
different mathematical and physical behaviors
Fluid flow equations
Time : first-derivative (second-derivative for wave eqn)
Space: first- and second-derivatives
System of coupled equations for several variables
Classification of PDEs
10Chainarong Chaktranond, Thammasat University
0xuc
tu
=∂∂
+∂∂
0xuu
tu
=∂∂
+∂∂
Classification of PDEs
First-order linear wave equation (advection eq.)
Propagation of wave with speed c
Advection of passive scalar with speed c
First-order nonlinear wave equation (inviscid Burgers’s equation)
11Chainarong Chaktranond, Thammasat University
2
2
xu
xuu
tu
∂∂
=∂∂
+∂∂ α
2
2
xT
xTu
tT
∂∂
=∂∂
+∂∂ α
Classification of PDEs
Advection-diffusion equation (linear)
Burger’s equation (nonlinear)
12Chainarong Chaktranond, Thammasat University
0x
uxuu
tu
3
3
=∂∂
+∂∂
+∂∂ Nonlinear
dispersive wave
⎪⎩
⎪⎨⎧
≠
==
∂∂
+∂∂
=∇Poisson :
Laplace : ),(
0f
0fyxf
yu
xuu 2
2
2
22
Korteweg-de Vries (KdV) equation
Laplace and Poisson’s equations
Other Common PDEs
13Chainarong Chaktranond, Thammasat University
Time-dependent harmonic waves
Propagation of acoustic waves
0ukyu
xu 2
2
2
2
2
=+∂∂
+∂∂
⎪⎩
⎪⎨⎧
<
>=
∂∂
+∂∂
hyperbolic :
elliptic :
0y
0y0
yu
xuy 2
2
2
2Mixed-type
Other Common PDEs
Helmholtz equation
Tricomi equation
14Chainarong Chaktranond, Thammasat University
0x
uctu
2
22
2
2
=∂∂
−∂∂
2
2
xT
tT
∂∂
=∂∂ α
Other Common PDEs
Wave equation
Fourier equation (Heat equation)
15Chainarong Chaktranond, Thammasat University
⎪⎪⎪⎪
⎩
⎪⎪⎪⎪
⎨
⎧
⎟⎟⎠
⎞⎜⎜⎝
⎛∂∂
+∂∂
+∂∂
−=∂∂
+∂∂
+∂∂
⎟⎟⎠
⎞⎜⎜⎝
⎛∂∂
+∂∂
+∂∂
−=∂∂
+∂∂
+∂∂
=∂∂
+∂∂
2
2
2
2
2
2
2
2
yv
xv
yp1
yvv
xvu
tv
yu
xu
xp1
yuv
xuu
tu
0yv
xu
νρ
νρ
Navier-Stokes Equations
Navier-Stokes equation
Primitive variables
16Chainarong Chaktranond, Thammasat University
⎪⎪⎩
⎪⎪⎨
⎧
⎟⎟⎠
⎞⎜⎜⎝
⎛∂∂
+∂∂
=∂∂
+∂∂
+∂∂
−=∇
2
2
2
2
2
yxyv
xu
tωωνωωω
ωψ
Navier-Stokes equation
Vorticity / stream function formulation
Navier-Stokes Equations
17Chainarong Chaktranond, Thammasat University
One real (double) root, one characteristic direction (typically t = const)
The solution is marching in time (or spatially) with given initial
conditions
The solution will be modified by the boundary conditions (time-dependent,
in general) during the propagation
Any change in boundary conditions at t1 will not affect solution at t < t1,
but will change the solution after t = t1
Parabolic PDEs
18Chainarong Chaktranond, Thammasat University
0GFuyuE
xuD
yuC
yxuB
xuA 2
22
2
2
=++∂∂
+∂∂
+∂∂
+∂∂
∂+
∂∂
⎪⎩
⎪⎨
⎧
>−=−<−
hyperbolic:parabolic:elliptic:
tionClassifica0AC4B0AC4B0AC4B
2
2
2
Linear second-order PDE in two independent variables (x,y), (x,t), etc.
A, B, C, …, G are constant coefficients (may be generalized)
General 2nd order partial differential equations
19Chainarong Chaktranond, Thammasat University
The classification depends only on the highest-order derivatives (independent of D, E, F, G)
For nonlinear problems [A,B,C = f(x,y,u)],
Physical processes are independent of coordinates
Introduction of simpler flow categories (approximations) may change the equation type
0GFuEuDuCuBuAu yxyyxyxx =++++++
Steady-state : parabolic → elliptic
Boundary-layer : elliptic → parabolic
Classification of PDEs
20Chainarong Chaktranond, Thammasat University
0GFuEuDuCuBuAu yxyyxyxx =++++++
⎪⎪⎩
⎪⎪⎨
⎧
−=∂∂
−∂∂
=∂∂
+∂∂
order)(second
order)-(first 22
0x
ct
0x
ut
22
2
φφ
φφAdvection equation
Wave equation
Classification of PDEs
General form of second-order PDEs (2 variables)
(1) Hyperbolic PDEs (Propagation)
21Chainarong Chaktranond, Thammasat University
0GFuEuDuCuBuAu yxyyxyxx =++++++
⎪⎪⎩
⎪⎪⎨
⎧
∂∂
=∂∂
∂∂
=∂∂
+∂∂
2
2
2
2
xt
x
νx
ut
φαφ
φφφBurger’s equation
Fourier equation
Diffusion /
dispersion
Classification of PDEs
(2) Parabolic PDEs (Time- or space-marching)
General form of second-order PDEs (2 variables)
22Chainarong Chaktranond, Thammasat University
0GFuEuDuCuBuAu yxyyxyxx =++++++
⎪⎪⎪⎪
⎩
⎪⎪⎪⎪
⎨
⎧
=+∂∂
+∂∂
=∂∂
+∂∂
=∂∂
+∂∂
0cyx
yxfyx
0yx
22
2
2
2
2
2
2
2
2
2
2
2
φφφ
φφ
φφ
),(
Laplace equation
Possion’s equation
Helmholtz equation
(3) Elliptic PDEs (Diffusion, equilibrium problems)
General form of second-order PDEs (2 variables)
Classification of PDEs
23Chainarong Chaktranond, Thammasat University
0GFuEuDuCuBuAu yxyyxyxx =++++++
⎩⎨⎧
><
=∂∂
+∂∂
−supersonic :subsonic :
)(1M1M
0ns
M1 2
2
2
22 φφ
Steady, compressible potential flow
Classification of PDEs
(4) Mixed-type PDEs
General form of second-order PDEs (2 variables)
24Chainarong Chaktranond, Thammasat University
0GFuEuDuCuBuAu yxyyxyxx =++++++
Navier-Stokes Equations
⎪⎪⎪⎪
⎩
⎪⎪⎪⎪
⎨
⎧
⎟⎟⎠
⎞⎜⎜⎝
⎛∂∂
+∂∂
+∂∂
−=∂∂
+∂∂
+∂∂
⎟⎟⎠
⎞⎜⎜⎝
⎛∂∂
+∂∂
+∂∂
−=∂∂
+∂∂
+∂∂
=∂∂
+∂∂
2
2
2
2
2
2
2
2
yv
xv
yp1
yvv
xvu
tv
yu
xu
xp1
yuv
xuu
tu
0yv
xu
νρ
νρ
(5) System of Coupled PDEs
Classification of PDEs
General form of second-order PDEs (2 variables)
25Chainarong Chaktranond, Thammasat University
Boundary Value Problems
Elliptic PDE
“Jury” Problem (every juror must agree on the same verdict)
The entire solution is passed on a jury requiring satisfaction of all boundary conditions and all internal requirements
Usually “steady-state”
Equilibrium Problems
26Chainarong Chaktranond, Thammasat University
Initial Value Problems
Hyperbolic or Parabolic
“Marching” problems
Unsteady, transient, steady shock, boundary-layer (space-marching), …
The solution marched out from the initial state guided and modified in transient by the side boundary conditions
Parabolic – marching in certain direction, equilibrium in the other directions
Propagation Problems
27Chainarong Chaktranond, Thammasat University
R
∂R
s
n
Boundary and Initial Conditions
Initial conditions: starting point for propagation problems
Boundary conditions: specified on domain boundaries to provide the interior
solution in computational domain
(i) Dirichlet condition: on u f R= ∂
(ii) Neumann condition: or on u uf g Rn s∂ ∂
= = ∂∂ ∂
28Chainarong Chaktranond, Thammasat University
⎪⎩
⎪⎨⎧
===
====
⎩⎨⎧
=
=
=+++
)(
)( ),(
0
SuQP
TuQRuPthen
uQuP
let
HCuBuAu
xyxy
yyyxxx
y
x
yyxyxx
dydxu
dydQu
dxdyu
dxdPu
dyudxudyQdxQdQ
dyudxudyPdxPdP
xyyyxyxx
yyxyyx
xyxxyx
−=−=⇒
⎪⎩
⎪⎨⎧
+=+=
+=+=
;
Second-Order PDEs
Second-order PDE in two variables
Express every derivative in terms of uxy
29Chainarong Chaktranond, Thammasat University
0=⎥⎦
⎤⎢⎣
⎡−+⎟
⎠⎞
⎜⎝⎛−++⎟⎟
⎠
⎞⎜⎜⎝
⎛+⎟
⎠⎞
⎜⎝⎛=
+++
dydxCB
dxdyAuH
dydQC
dxdPA
HCuBuAu
xy
yyxyxx
0 then
00 Choose2
=+⎟⎟⎠
⎞⎜⎜⎝
⎛+⎟
⎠⎞
⎜⎝⎛
=+⎟⎠⎞
⎜⎝⎛−⎟
⎠⎞
⎜⎝⎛⇔=−+⎟
⎠⎞
⎜⎝⎛−
HdydQC
dxdPA
CdxdyB
dxdyA
dydxCB
dxdyA
involves only total
differentials
Second-Order PDEs
Eliminate the dependence on partial derivatives
30Chainarong Chaktranond, Thammasat University
A2AC4BB
dxdy 0C
dxdyB
dxdyA
22−±
=⇒=+⎟⎠⎞
⎜⎝⎛−⎟
⎠⎞
⎜⎝⎛
⎪⎪
⎩
⎪⎪
⎨
⎧
<−
=−
>−
)directions npropagatio the identify(cannot rootscomplex two ,04 :Elliptic
istics)(characterroot real one ,04 :Parabolic istics)(character roots real two ,04 :Hyperbolic
2
2
2
ACBACBACB
Characteristic Equation
Characteristic equation for second-order PDE
Classification of second-order PDEs
31Chainarong Chaktranond, Thammasat University
Two real roots, two characteristic directions
Two propagation (marching) directions
Domain of dependence
Domain of influence
(ux,uy,vx,vy) are not uniquely defined along the characteristic lines, discontinuity may occur
Boundary conditions must be specified according to the characteristics
Hyperbolic PDEs
32Chainarong Chaktranond, Thammasat University
The derivatives (ux,uy,vx,vy) can always be uniquely determined at every point in the solution domain
No marching or propagation direction !
Boundary conditions needed on all boundaries
The solution will be continuous (smooth) in the entire solution domain
Jury problem - all boundary conditions must be satisfied simultaneously
Elliptic PDEs