CHAPTER 9: EXTERNAL* INCOMPRESSIBLE VISCOUS FLOWS *(unbounded) CHAPTER 9: EXTERNAL INCOMPRESSIBLE VISCOUS FLOWS = separated bdy layer thicker adverse pressure gradient leads to separation difficult to use theory •Re = Ux/; Re = Uc/; … •laminar and turbulent boundary layers • displaced inviscid outer flow • adverse pressure gradient and separation Boundary Layer Provides Missing Link Between Theory and Practice Boundary layer, , where viscous stresses (i.e. velocity gradient) are important we’ll define as where u(x,y) = 0 to 0.99 U above boundary. In August of 1904 Ludwig Prandtl, a 29-year old professor presented a remarkable paper at the 3rd International Mathematical Congress in Heidelberg. Although initially largely ignored, by the 1920s and 1930s the powerful ideas of that paper helped create modern fluid dynamics out of ancient hydraulics and 19th-century hydrodynamics. (only 8 pages long, but arguably one of the most important fluid-dynamics papers ever written) • Prandtl assumed no slip condition • Prandtl assumed thin boundary layer region where shear forces are important because of large velocity gradient • Prandtl assumed inviscid external flow • Prandtl assumed boundary so thin that within it p/y 0; v << u and /x << /y • Prandtl outer flow drives boundary layer boundary layer can greatly effect outer outer “inviscid” flow if separates BOUNDARY LAYER HISTORY - 1904 Prandtl Fluid Motion with Very Small Friction 2-D boundary layer equations - 1908 Blasius The Boundary Layers in Fluids with Little Friction Solution for laminar, 0-pressure gradient flow - 1921 von Karman Integral form of boundary layer equations - 1924 Sir Horace Lamb Hydrodynamics ~ one paragraph on bdy layers - 1932 Sir Horace Lamb Hydrodynamics ~ entire section on bdy layers Theodore von Karman INTERNAL EXTERNAL CAN BE NEVER NEVER USUALLY - PLATE IS EXCEPTION THEORY LAMINAR PIPES, DUCTS,.. FLAT PLATE & ZERO PRESSURE GRADIENT GROWING BOUNDARY LAYER? NOT WHEN FULLY DEVELOPED PIPE/DUCT=N0 DIFFUSER=YES ALWAYS PIPE (EXAMPLE) u(r)/Uc/l = (y/R)1/n PLATE (EXAMPLE) u(y)/Uo = (y/)1/n FULLY DEVELOPED? WAKE? ADVERSE PRESSURE GRADIENT TURBULENT EXPERIMENT PLATE=MAYBE BODIES=USUALLY Note – throughout figures the boundary layer thickness*,, is greatly exaggerated! (disturbance layer*) Airline industry had to develop flat face rivets. Re = 20,000 Angle of attack = 6o Symmetric Airfoil 16% thick Flat Plate (no pressure gradient) ~ what is velocity profile? ~ wall shear stress/drag? ~ displacement of free stream? ~ laminar vs turbulent flow? Immersed Bodies ~ wall shear stress/drag? ~ lift? ~ minimize wake breath FLAT PLATE – ZERO PRESSURE GRADIENT Laminar Flow /x ~ 5.0/Rex1/2 THEORY Turbulent Flow Rextransition > 500,000 u(y)/U = (y/)1/7 /x ~ 0.382/Rex1/5 EXPERIMENTAL No simple theory for Re < 1000; (can’t assume is thin) “At these Rex numbers bdy layers so thin that displacement effect on outer inviscid layer is small” FLAT PLATE – ZERO PRESSURE GRADIENT outside (x), U is constant so P is constant u(x,y) is not constant, (x) is thin so assume P inside (x) is impressed from the outside ReL = 10,000 Visualization is by air bubbles see that boundary+ layer, , is thin and that outer free stream is displaced, *, very little. + Disturbance Thickness, (x) (pg 412); boundary layer thickness, (x) (pg 415) FLAT PLATE – ZERO PRESSURE GRADIENT Rex = Ux/ Assume Rextransition ~ 500,000 x L ReL = Ux/ ReL = 10,000 Visualization is by air bubbles see that boundary+ layer, , is thin and that outer free stream is displaced, *, very little. + Disturbance Thickness, (x) (pg 412); boundary layer thickness, (x) (pg 415) SIMPLIFYING ASSUMPTIONS OFTEN MADE FOR ENGINERING ANALYSIS OF BOUNDARY LAYER FLOWS Development of laminar boundary layer (0.01% salt water, free stream velocity 0.6 cm/s, thickness of the plate 0.5 mm, hydrogen bubble method). * * * * * Rex 1000 breath FLAT PLATE – ZERO PRESSURE GRADIENT: (x) BOUNDARY OR DISTURBANCE LAYER (x) * BOUNDARY OR DISTURBANCE LAYER + Boundary Layer Thickness (x) Definition: u(x,) = 0.99 of U=U=Ue (within 1 % of U) +Disturbance is at y location where u(x,y) = 0.99 U Because the change in u in the boundary layer takes place asymptotically, there is some indefiniteness in determining exactly. NOTE: boundary layer is much thicker in turbulent flow. Blasius showed theoretically for laminar flow that /x = 5/(Rex)1/2 (Rex = Ux/) x1/2 Experimentally found* for turbulent flow that x4/5 NOTE: velocity gradient at wall (w = du/dy) is significantly greater. At same x: U/L > U /T At same x: wL < wT Note, boundary layer is not a streamline! From theory (Blasius 1908, student of Prandtl): = 5x/(Rex1/2) = 5x/(U/[x])1/2 = 51/2x1/2/U1/2 d/dx = 5 (/U)1/2 (½) x-1/2 = 2.5/(Rex)1/2 V/U = dy/dxstreamline = 0.84/(Rex1/2) dy/dxstreamline d/dx so not streamline U = U = Ue Behavior of a fluid particle traveling along a streamline through a boundary layer along a flat plate. ASIDE ~ LAMINAR TO TURBULENT TRANSITION LAMINAR TO TURBULENT TRANSITION NOTE: Turbulence is not initiated at Retr all along the width of the plate Emmons spot ~ Rex = 200,000 Spots grow approximately linearly downstream at downstream speed that is a fraction of the free stream velocity. Emmons spot, Rex = 400,000 smoke in wind tunnel x=0 Turbulent boundary layer is thicker and grows faster. Transition not fixed but usually around Rex ~ 500,000 (2x105-3x106, MYO) For air at standard conditions and U = 30 m/s, xtr ~ 0.24 m Nevertheless: Treat transition as it happens all along Rex = 500,000 Experimentally transition occurs around Rex ~ 5 x 105 Water moving around 4 m/s past a ship, transitions after about 0.14 m from the bow, representing only about 0.1 % of total length of 143 m long ship. breath FLAT PLATE – ZERO PRESSURE GRADIENT: *(x) DISPLACEMENT THICKNESS * (x) DISPLACEMENT THICKNESS Displacement Thickness * (x) Definition: * = 0 (1 – u/U)dy * is displacement of outer streamlines due to boundary layer Displacement thickness * x=L By definition, no flow passes through streamline, so mass through 0 to h at x = 0 is the same as through 0 to h + * at x = L. Uh = 0h+* udy = 0h+* (U + u - U)dy Uh = 0h+* Udy + 0h+* (u - U)dy Uh = U(h + *) + 0h+*(u - U)dy -U* = 0h+*(u -U)dy * = 0 h+*(– u/U + 1)dy 0 (1 – u/U)dy displacement of outer streamlines due to (x) * 0 (1 – u/U)dy 0 (1 – u/U)dy function of x! breath Displacement Thickness * Definition: * = 0 (1 – u/U)dy U*w = 0 (U – u)dyw 0 (U – u)dyw the deficit in mass flux through area w due to the presence of the boundary layer. = mass flux passing through an area [*w] in the absence of a boundary layer Displacement Thickness * Definition: * = 0 (1 – u/U)dy U* = 0 (U – u)dy 0 (U – u[y])dy * problem Displacement Thickness, *, Problem Suppose given velocity profile: u = 0 from y = 0 to u = Ue for y > . Show that * = = Displacement Thickness * Suppose u = 0 from y = 0 to and u = Ue for y > . Show that * = * = 0 (1 – u/Ue)dy = 0 (1 – 0/Ue)dy + (1 – Ue/Ue)dy * =0 dy = = Laminar flow on flat plate in uniform free stream Blasius = 5x/(Rex1/2) Blasius* = 1.721x/(Rex)1/2 *(x) ~ 1/3 (x) * = Distance that an equivalent inviscid flow is displaced from a solid boundary as a consequence of slow moving fluid in the boundary layer. Displacement Thickness * Definition: * = 0 (1 – u/Ue)dy From the point of view of the flow outside the boundary layer, * can be interpreted as the distance that the presence of the boundary layer appears to “displace” the flow outward (hence its name). To the external flow, this streamline displacement also looks like a slight thickening of the body shape. *(x) (x) and *are greatly magnified breath EXAMPLE * (x) PROBLEM: Find Ue as a function * of U, D and 2-D DUCT Ue(x) Ue(x) = ? U f(y) u(y) Ue(x) Continuity equation (per W): {UD = -D2D/2 udy + -D2D/2 Uedy - -D2D/2 Uedy} UD = -D2D/2 Uedy – {-D2D/2 (Ue-u)dy} INLET OF DUCT Continuity equation (per W): UD = -D2D/2 Uedy – {-D2D/2 (Ue-u)dy} UD = D/2 U dy–{ (-D/2+) (U -u)dy+ D/2 (U -u)dy} -D2 e (-D/2) e (D/2- ) e (used approximation that outside boundary layer u =Ue) (note that Ue = function of x but not y) INLET OF DUCT * * Continuity equation (per W): UD = D/2 U dy – { (-D/2+) (U -u)dy + D/2 (U -u)dy} -D2 e (-D/2) e (D/2- ) e UD = -D2D/2 Uedy – Ue{(-D/2) (-D/2+) (1-u/Ue)dy} + Ue{(D/2- ) D/2 (1-u/Ue)dy} * = 0 (1 –u/Ue)dy 0 (1 – u/Ue)dy INLET OF DUCT * * Continuity equation (per W): UD = D/2 U dy–U { (-D/2+) (1-u/U )dy+ D/2 (1-u/U )dy} -D2 e e (-D/2) e (D/2- ) e -{ * + UD= UeD – 2Ue* = Ue[D – 2*] Ue(x) = UD/[D – 2*(x)] QED *} from Continuity Equation UD = Ue [D – * 2 ] We see that the free stream velocity in the duct is given by the effective decrease in the cross sectional area due to the growth of the boundary layers, and this decrease in area is measured by the displacement thickness!!! FLAT PLATE – ZERO PRESSURE GRADIENT: (x) MOMENTUM THICKNESS Momentum Thickness * (x) MOMENTUM THICKNESS Momentum Thickness (x) Definition: = 0 u/U(1 – u/U)dy How define drag due to boundary layer? Momentum Thickness Definition: = 0 u/Ue(1 – u/Ue)dy Ue2 w = 0 u(Ue – u)dyw The momentum thickness, , is defined as the thickness of a layer of fluid, with velocity Ue, for which the momentum flux is equal to the deficit of momentum flux through the boundary layer. (Mass flux through = 0 udyw) U [Flux of momentum deficit] [(u)([U-u])]xdy u UU w Summary: = 0.99U (within 1 %) * = 0(1 – u/Ue)dy 0(1 – u/Ue)dy =0 u/Ue(1 – u/Ue)dy 0 u/Ue(1 – u/Ue)dy * & Easier to calculate form data and more physical significance but “can be” dependent on breath Relate to drag Relate to Drag Control volume analysis of drag force on a flat plate due to boundary shear Relate to Drag PRESSURE IS UNIFORM - NO NET PRESSURE FORCE! - NO DU/DX! D (NO BODY FORCES) (STEADY) 0 Fx = -Don CV = (d/dt) udVol + u(V•n)dA 1. 2. 3. 4. From (0,0) to (0,h): V•n = -Uo = -Ue; V = Ue From (0,h) to (L,): streamline, V•n = 0 (no shear) From (L, ) to (L,0): V•n = u(x=L,y) From (L, 0) to (0,0): V•n = 0 (shear) Fx = -D = u(V•n)dA u(V•n)dy(w) = 0h Uo(-Uo)wdy + 0 u(L,y) u(L,y)wdy 1. 2. 3. 4. From (0,0) to (0,h): V•n = -Uo = -Ue; V = Ue From (0,h) to (L,): no shear, V•n = 0 From (L, ) to (L,0): V•n = u(x=L,y); V = u(x,y) From (L, 0) to (0,0): V•n = 0 -D = - Uo2wh + 0 u(L,y)2wdy Not so useful because don’t know h as a function of (x) -D = - Uo2wh + 0 u(x,y)2wdy Get rid of h by using conservation of mass. (V•n)dA= 0 h - 0Uowdy + 0u(x,y)wdy = 0 Uoh = 0u(x,y)dy -D = - Uow 0u(x,y)dy + 0 u(x,y)2wdy -D = - Uow 0(x)u(y)dy + 0(x) u(x,y)2wdy D = w [0(x)Uou(x,y)dy - u(x,y)2dy] D = w [0(x) u(x,y) [Uo - u(x,y)]dy D w [0 u(x,y) [Uo - u(x,y)]dy Uo2w [0 [u(x,y)/Uo][1o – [u(x,y)/Uo]]dy D(x) = Uo 2w (x) (First derived by Von Karman in 1921) breath Relate to wall shear stress D(x) = Uo 2w (x) D(x) = 0x wwdx = Uo2 w (x) w(x) = d/dx {Uo2 (x)} No pressure gradient; dU/dx = 0 w(x)/ = Uo2 d/dx {(x)} The shear stress at the wall is proportional to the rate of change of momentum thickness with distance. (Cf =w(x)/[(1/2) Uo2)]) NOTE Class ~ derivation for constant pressure case w(x)/ = Uo2 d/dx {(x)} Book ~ derivation includes pressure gradient case w(x)/ = d/dx { Uo(x) 2 (x)} *Uo(x)dUo(x)/dx Uo constant dP/dx 0 book w(x)/ = d/dx { Uo(x) 2 (x)} *Uo(x)dUo(x)/dx Uo = constant; dP/dx = 0 me w(x)/ = Uo2 d/dx {(x)} Estimating (x), *(x), (x), Drag breath For laminar / turbulent / and pressure gradient flows book w(x)/ = d/dx { Ue(x) 2 (x)} *Ue(x)dUe(x)/dx me w(x)/ = Uo2 d/dx {(x)} w(x)/ = d/dx {(x)} No pressure gradient; dU/dx = 0 2 Uo w(x)/ = Uo2 d/dx {0 u/Ue(1 – u/Ue)dy u(x)/U is assumed to be similar for all x and is normally specified as a function of y/(x) Defining = y/ w(x)/=Uo2d/dx{ 01 u/Ue(1– u/Ue)d} 2 1 w(x)/=Uo d/dx{0 u/Ue(1– u/Ue)d} y/ Dimensionless velocity profile for a laminar boundary layer: comparison with experiments by Liepmann, NACA Rept. 890, 1943. Adapted from F.M. White, Viscous Flow, McGraw-Hill, 1991 Turbulent bdy layer* ~ u/Ue = (y/)1/7; Ue = 1000 cm/s y (cm) turbulent bdy layer velocity profile U = 10 m/s; x1=10cm 0.16 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 600 1.2 1 0.8 y/(x) 650 700 750 800 850 900 950 1000 1050 0.6 u (cm/sec) 0.4 turbulent bdy layer velocity profile U = 10 m/s; x1=100cm 0.2 1 y (cm) 0.8 0 0.6 0.4 0.6 turbule nt bdy laye r v e locity profile U = 10 m/s; x1=10cm y (cm) 0.2 0.16 0.14 0.12 0.1 0.08 0.06 0.04 0.02 0 600 0 600 650 700 750 800 u 650 700 750 800 850 900 950 1000 0.65 900 950 1000 0.75 0.8 0.85 0.9 1050 (cm /se c) 850 0.7 1050 u (cm/sec) * du/dy|wall = u(x)/U 0.95 1 1.05 Blasius developed an exact solution (but numerical integration was necessary) for laminar flow with no pressure variation. Blasius could theoretically predict boundary layer thickness (x), velocity profile u(x,y)/U vs y/, and wall shear stress w(x). Von Karman and Poulhausen derived momentum integral equation (approximation) which can be used for both laminar (with and without pressure gradient) and turbulent flow Von Karman and Polhausen method (MOMENTUM INTEGRAL EQ. Section 9-4) devised a simplified method by satisfying only the boundary conditions of the boundary layer flow rather than satisfying Prandtl’s differential equations for each and every particle within the boundary layer. breath QUESTIONS ? In laminar flow along a plate, (x), (x), *(x) andw(x): (a) Continually decreases (b) Continually increases (c) Stays the same ? In turbulent flow along a plate, (x), (x), *(x) andw(x): (a) Continually decreases (b) Continually increases (c) Stays the same ?At transition from laminar to turbulent flow, (x), (x), *(x) andw(x): (a) Abruptly decreases (b) Abruptly increases (c) Stays the same 6:1 ellipsoid wall Turbulent Laminar forced natural Turbulent Laminar What is wrong with this figure? What is wrong with this figure? Are Antarctic Icebergs Towable Arctic News Record – Summer 1984; 36 Cf = 0.074/Re1/5 (Fox:Cf = 0.0594/Re1/5); Area = 1 km long x 0.5 km wide sea water = 1030 kg/m3; sea water = 1.5 x 10-6 m2/sec Power available = 10 kW; Maximum speed = ? P = UD 104 = U Cf½ U2A = U [0.074 1/5/(U1/5L1/5)]( ½ U2A) 104 = U14/5 [0.074(1.5x10-6)1/5/10001/5] x [½ (1030)(1000)(500)] U14/5 = 0.03054 U = 0.288 m/s Rex ~ 3x108 80% of fresh water found in world – Antarctic ice Biggest problem not melting but is = ? THE END extra “stuff” breath Derivation Blasius developed an exact solution (but numerical integration was necessary) for laminar flow with no pressure variation. Blasius could theoretically predict boundary layer thickness (x), velocity profile u(x,y)/U vs y/, and wall shear stress w(x). Von Karman and Poulhausen derived momentum integral equation (approximation) which can be used for both laminar (with and without pressure gradient) and turbulent flow MOMENTUM INTEGRAL EQUATION dP/dx is not a constant! Deriving: MOMENTUM INTEGRAL EQ so can calculate (x), w. u(x,y) w Surface Mass Flux Through Side ab Surface Mass Flux Through Side cd Surface Mass Flux Through Side bc Surface Mass Flux Through Side bc Apply x-component of momentum eq. to differential control volume abcd Assumption : (1) steady (3) no body forces u mf represents x-component of momentum flux Fsx will be composed of shear force on boundary and pressure forces on other sides of c.v. Surface Momentum Flux Through Side ab X-momentum Flux = cvuVdA u w Surface Momentum Flux Through Side cd X-momentum Flux = cvuVdA u Surface Momentum Flux Through Side bc U=Ue=U X-momentum Flux = cvuVdA u X-Momentum Flux Through Control Surface a-b c-d c-d b-c IN SUMMARY X-Momentum Equation X-Force on Control Surface Surface x-Force On Side bc Note that p f(y) inside bdy layer p(x) w w is unit width into page Surface x-Force On Side cd p(x+dx) w w is unit width into page Surface x-Force On Side bc p + ½ (dp/dx)dx Note that since the velocity gradient goes to zero at the top of the boundary layer, then viscous shears go to zero there (bc). pressure Why w and not w (bc)? Surface x-Force On Side bc p + ½ dp/dx along bc In x-direction: [p + ½ (dp/dx)] wd Surface x-Force On Side ad -(w + ½ dw/dx]xdx)wdx p(x) Fx = Fab + Fcd + Fbc + Fad Fx = pw -(p + [dp/dx]x dx) w( + d) + (p + ½ [dp/dx]xdx)wd - (w + ½ (dw/dx)xdx)wdx # * * + Fx = pw -(p w + p wd + [dp/dx]x dx) w + [dp/dx]x dx w d) # + + (p wd + ½ [dp/dx] dxwd) - ( + ½ (d /dx) dx)wdx x w w x = d << dw << w = U ad = 0 ab -cd bc Divide by wdx dp/dx = -UdU/dx for inviscid flow outside bdy layer = from 0 to of dy -(dp/dx) = -(0dy) (-UdU/dx) = (dU/dx)(0Udy) p + ½ U2 + gz = constant outside boundary layer (“inviscid”) dp/dx + UdU/dx = 0 outside bdy layer (dz = 0) dp/dx = -UdU/dx for inviscid flow outside bdy layer = from 0 to of dy Integration by parts Multiply by U2/U2 Multiply by U/U QED FLAT PLATE – ZERO PRESSURE GRADIENT LAMINAR FLOW Blasius Theoretical Solution Background for u(x,y), (x), *(x), (x) Blasius* (1908) developed an exact solution for laminar flow over a flat plate with no pressure variation. Blasius could theoretically predict: (x), *(x), (x), velocity profile u(x,y)/U vs y/, and wall shear stress w(x). *(first graduate student of Prandtl) Blasius* (1908) developed an exact solution but required numerical integration, not good if there is a pressure gradient and not good for turbulent flow hence we develop the momentum integral equation. Blasius Solution for Laminar, dP/dx=dUe/dx=0 Flow 2-D Governing Equations Newton’s Law: F = ma u(u/x) + v(u/y) = -(1/) p/x + (2u/x2 + 2u/y2) u(v/x) + v(v/y) = -(1/) p/y + (2v/x2 + 2v/y2) Cons. of Mass u/x + v/y = 0 Boundary Conditions: u = v = 0 at y = 0 Ue outside boundary layer Blasius Solution for Laminar, dP/dx=dUe/dx=0 Flow Prandtl made some simplifying assumptions, based on the premise that the boundary layer is very thin (v and small compared to U and L) so 2-D equations over flat plate more tractable: v << u; d/dx << d/dy Conservation of Mass u/x + v/y = 0 Blasius Solution for Laminar, dP/dx=dUe/dx=0 Flow Prandtl made some simplifying assumptions, based on the premise that the boundary layer is very thin (v and small compared to U and L) so 2-D equations over flat plate more tractable: v << u; d/dx << d/dy Conservation of Y-Momentum u(v/x) + v(v/y) = -(1/) p/y + (2v/x2 + 2v/y2) p/y 0 Pressure can vary only along boundary layer not through it! Blasius Solution for Laminar, dP/dx=dUe/dx=0 Flow Prandtl made some simplifying assumptions, based on the premise that the boundary layer is very thin (v and small compared to U and L) so 2-D equations over flat plate more tractable: v << u; d/dx << d/dy Conservation of X-Momentum u(u/x) + v(u/y) = -(1/) p/x + (2u/x2 + 2u/y2) p/y 0 u(u/x) + v(u/y) = -(1/) dp/dx + (2u/x2 + 2u/y2) B.Eq. u(u/x) + v(u/y) UdU/dx + (1/)(/y) Blasius Solution for Laminar, dP/dx=dUe/dx=0 Flow With Prandtl’s simplifying assumptions plus no pressure gradient for laminar flow, left the 2-D mass and momentum equations over flat plate “ripe” for Blasius: u(u/x) + v(u/y) = (2u/y2) u/x + v/y = 0 u = v = 0 at y = 0 u = Ue at y = (outside boundary layer) BOUNDARY LAYER EQUATIONS Dimensional analysis = u(x,y)/Ue = f (Uex/, y/x) By an ingenious coordinate transformation of the boundary layer equation Blasius showed that the dimensionless velocity distribution, u(x,y)/Ue, was only a function of one composite dimensionless variable, [y/x][Uex/]1/2. u(x,y)/Ue = f([y/x][Uex/]1/2) = f() = y/ y/(x) Dimensionless velocity profile for a laminar boundary layer: comparison with experiments by Liepmann, NACA Rept. 890, 1943. Adapted from F.M. White, Viscous Flow, McGraw-Hill, 1991 From Blasius solution it is found that: = 5 (x/U)1/2 or /x = 5(Rex)-1/2 * = (x/U)1/2 or */x = 1.72(Rex)-1/2 = (x/U)1/2 or /x = 0.664(Rex)-1/2 w = 0.332 U3/2 (/x) u(x,y)/Ue =1 at y(Ue/[x])1/2 = u(x,y)/Ue = 0.99 at y(Ue/[x])1/2 5.0 u(x,y)