Open Channel Flow Monroe L. Weber-Shirk School of Civil and Environmental Engineering Open Channel Flow Liquid (water) flow with a ____ ________ free surface (interface between water and air) relevant for natural channels: rivers, streams engineered channels: canals, sewer lines or culverts (partially full), storm drains of interest to hydraulic engineers location of free surface velocity distribution discharge - stage (______) depth relationships optimal channel design Topics in Open Channel Flow Uniform Flow normal depth Discharge-Depth relationships Channel transitions Control structures (sluice gates, weirs…) Rapid changes in bottom elevation or cross section Critical, Subcritical and Supercritical Flow Hydraulic Jump Gradually Varied Flow Classification of flows Surface profiles Classification of Flows Steady and Unsteady (Temporal) Steady: velocity at a given point does not change with time Uniform, Gradually Varied, and Rapidly Varied (Spatial) Uniform: velocity at a given time does not change within a given length of a channel Gradually varied: gradual changes in velocity with distance Laminar and Turbulent Laminar: flow appears to be as a movement of thin layers on top of each other Turbulent: packets of liquid move in irregular paths Momentum and Energy Equations Conservation of Energy “losses” due to conversion of turbulence to heat useful when energy losses are known or small ____________ Contractions Must account for losses if applied over long distances We need an equation for losses _______________________________________________ Conservation of Momentum “losses” due to shear at the boundaries useful when energy losses are unknown Expansion ____________ Open Channel Flow: Discharge/Depth Relationship Given a long channel of constant slope and cross section find the relationship A between discharge and depth P Assume Steady Uniform Flow - ___ _____________ no acceleration prismatic channel (no change in _________ geometry with distance) Use Energy, Momentum, Empirical or Dimensional Analysis? hl d What controls depth given a discharge? 0 4l Why doesn’t the flow accelerate? Force balance Steady-Uniform Flow: Force Balance V2 oP D x Shear force =________ 2g P Wetted perimeter = __ Energy grade line Hydraulic grade line b Dx sin Gravitational force = A ________ Dx c ADx sin o PDx 0 o A sin P A = Rh a d Shear force Hydraulic radius W cos W P S sin cos Turbulence Relationship between shear and velocity? ___________ t o = g Rh S W sin sin Open Conduits: Dimensional Analysis Geometric parameters Hydraulic radius (Rh) ___________________ Channel length (l) ___________________ Roughness (e) ___________________ Rh A P Write the functional relationship æl e ö C p = f ç , , Re, Fr , M, W÷ èRh Rh ø No! Does Fr affect shear? _________ Fr = V yg Pressure Coefficient for Open Channel Flow? Cp 2Dp V 2 Ch l 2 ghl V2 Pressure Coefficient (Energy Loss Coefficient) Head loss coefficient Dp hl hl = S f l Friction slope CS f = 2 gS f l V2 Friction slope coefficient Slope of EGL Dimensional Analysis CS f æl e ö = f ç , , Re÷ èRh Rh ø CS f ö l æe = f ç , Re÷ Rh èRh ø CS f = 2 gS f l V2 Head loss length of channel Rh æe ö Rh C =l CS f = f ç , Re÷ = l (like f in Darcy-Weisbach) Sf l l èRh ø 2 LV hl f D 2g 2 gS f l Rh 2g l V2 2 gS R f h V = S f Rh Sf = =l V = 2 l Rh 2 g V l l Chezy Equation (1768) Introduced by the French engineer Antoine Chezy in 1768 while designing a canal for the water-supply system of Paris V = C Rh S f compare 2g V= S f Rh l where C = Chezy coefficient 0.0054 > l > 0.00087 m m 60 < C < 150 0.022 > f > 0.0035 s s where 60 is for rough and 150 is for smooth also a function of R (like f in Darcy-Weisbach) For a pipe d 4 Rh Darcy-Weisbach Equation (1840) f = Darcy-Weisbach friction factor l V2 hl = f d 2g l V2 Sfl = f 4 Rh 2 g l V2 hl = f 4 Rh 2 g V2 S f Rh = f 8g d 2 A 4 d Rh P d 4 V= 8g S f Rh f e 1 2.5 2 log Similar to Colebrook f Re f 12 Rh 1 For rock-bedded streams f 2 where d84 = rock size larger than 84% of the Rh 1.2 2.03log rocks in a random sample d84 Manning Equation (1891) Most popular in U.S. for open channels 1 2/3 1/2 (MKS units!) V R h So 1/3 n Dimensions of n? T /L V 1.49 Is n only a function of roughness? NO! 1/2 R 2/3 S h o n Q VA Q 1 n ARh2 / 3 S o1 / 2 (English system) Bottom slope very sensitive to n Values of Manning n Lined Canals Cement plaster Untreated gu nite Wood , planed Wood , u nplaned Concrete, trow led Concrete, w ood forms, u nfinished Ru bble in cement Asphalt, smooth Asphalt, rou gh N atural Channels Gravel bed s, straight Gravel bed s plu s large bou ld ers Earth, straight, w ith some grass Earth, w ind ing, no vegetation Earth , w ind ing w ith vegetation n 0.031d 1 / 6 d in ft n 0.038d 1 / 6 d in m n 0.011 0.016 0.012 0.013 0.012 0.015 0.020 0.013 0.016 n = f(surface roughness, channel irregularity, stage...) 0.025 0.040 0.026 0.030 0.050 d = median size of bed material Trapezoidal Channel Q 1 ARh2 / 3 S o1 / 2 n Derive P = f(y) and A = f(y) for a trapezoidal channel How would you obtain y = f(Q)? A yb y 2 z 2 1/ 2 2 ù +b P = 2é y + yz ( ) ë û 2 1/ 2 P = 2y é ë1 + z ù û +b Use Solver! 1 y z b Flow in Round Conduits = (r sin q )(r cosq ) r y arccos r radians A r 2 sin cos r T 2r sin P 2r Maximum discharge 0.938d when y = ______ A y T Velocity Distribution v y V k » 0.4 1 y gdS0 1 ln d For channels wider than 10d Von Kármán constant depth [m] V = average velocity d = channel depth At what elevation does the velocity equal the average velocity? y - 1 = ln d 1 y= d e 0.8d 2 0.368d 1.5 0.4d 0.2d 1 0.5 0 0 1 2 3 v(y) [m/s] 4 V 5 Open Channel Flow: Energy Relations velocity head 1 V12 hL = S f Dx 2g 2 V22 2g energy ______ grade line hydraulic _______ grade line y1 y2 S o Dx Dx Bottom slope (So) not necessarily equal to EGL slope (Sf) Energy Relationships p1 V12 p2 V22 + z1 + a 1 = + z2 + a 2 + hL g 2g g 2g Pipe flow z - measured from horizontal datum From diagram on previous slide... y1 + So Dx + 2 1 2 2 V V = y2 + + S f Dx 2g 2g Turbulent flow ( 1) y - depth of flow Energy Equation for Open Channel Flow V12 V22 y1 + + So Dx = y2 + + S f Dx 2g 2g Specific Energy The sum of the depth of flow and the velocity head is the specific energy: E y V2 2g E1 So Dx E2 Sf Dx + pressure y - _______ potential energy V2 - _______ kinetic energy 2g If channel bottom is horizontal and no head loss E1 E2 For a change in bottom elevation E1 - Dy = E2 y Specific Energy In a channel with constant discharge, Q Q A1V1 A2V2 V2 Q2 E y E y where A=f(y) 2 2g 2gA Consider rectangular channel (A = By) and Q = qB q is the discharge per unit width of channel q2 E y y 2gy 2 A 3 roots (one is negative) B 2 How many possible depths given a specific energy? _____ Specific Energy: Sluice Gate 10 9 y1 8 7 6 5 4 3 2 1 y2 0 sluice gate E y q2 y 2gy 2 1 q = 5.5 m2/s EGL y2 = 0.45 m V2 = 12.2 m/s E2 = 8 m vena contracta 2 0 1 2 3 4 5 6 7 8 9 10 E1 E2 Given downstream depth and discharge, find upstream depth. alternate depths (same specific energy) y1 and y2 are ___________ E Why not use momentum conservation to find y1? Specific Energy: Raise the Sluice Gate sluice gate 4 3 EGL y y1 2 2 1 y2 1 E1 E2 0 0 1 2 E 3 4 E y q2 2gy 2 as sluice gate is raised y1 approaches y2 and E is minimized: Maximum discharge for given energy. Step Up with Subcritical Flow Short, smooth step with rise Dy in channel Given upstream depth and discharge find y2 4 3 y 4 3 y Energy conserved 2 2 1 1 0 0 1 Dy 2 E 0 0 1 2 E 3 3 4 E1 = E2 + Dy 4 Is alternate depth possible? __________________________ NO! Calculate depth along step. Max Step Up Short, smooth step with maximum rise Dy in channel What happens if the step is y1 increases increased further?___________ 4 3 y 4 3 2 y 1 2 0 1 0 0 0 1 2 E 3 4 1 Dy 2 E 3 4 E1 = E2 + Dy Step Up with Supercritical flow Short, smooth step with rise Dy in channel Given upstream depth and discharge find y2 4 3 y 4 y 3 2 2 1 1 0 0 1 Dy 2 E 0 0 1 2 E 3 3 4 E1 = E2 + Dy 4 What happened to the water depth?______________________________ Increased! Expansion! Energy Loss 4 y 3 yc Critical Flow 2 1 0 0 1 2 3 E Arbitrary cross-section Find critical depth, yc dE 0 dy Q2 E y A=f(y) 2gA2 Q 2 dA dE = 1=0 3 dy gA dy 1 Q 2Tc QT gAc3 gA3 2 Fr T y dy dA A P dA = Tdy T=surface width More general definition of Fr 2 V 2T gA Fr 2 A =D T Hydraulic Depth 4 Critical Flow: Rectangular channel 1 Q 2Tc T T Tc 3 c gA Q qT 1 q 2T 3 3 c gy T q yc g Ac q2 3 gyc3 1/ 3 Only for rectangular channels! gyc3 Given the depth we can find the flow! 2 q Ac ycT yc Critical Flow Relationships: Rectangular Channels q yc g 2 Vc Vc2 yc2 yc3 g 1/ 3 1 inertial force gravity force Froude number yc g yc Vc2 yc g 2 E y V2 2g Vc2 q Vc yc because Kinetic energy Potential energy velocity head = 0.5 (depth) 2g E yc yc 2 yc 2 3 E Critical Depth Minimum energy for a given q dE dy 0 Occurs when =___ Vc2 yc = 2g 2 When kinetic = potential! ________ Fr=1 4 Fr>1 = ______critical Super Fr<1 = ______critical Sub 3 y q T Vc = = Q Fr = 3 3 gA yc g gyc 2 1 0 0 1 2 E 3 4 4 y 3 Critical Flow 2 1 0 0 1 2 E Characteristics Unstable surface Series of standing waves dE 0 dy Difficult to measure depth Occurrence Broad crested weir (and other weirs) Channel Controls (rapid changes in cross-section) Over falls Changes in channel slope from mild to steep Used for flow measurements ___________________________________________ Unique relationship between depth and discharge 3 4 Broad-Crested Weir q yc g 2 q gy 3 c yc yc 1/ 3 H P Q = b gyc3 2 E Hard to measure yc 3 2 Qb g 3 yc Broad-crested weir 3/ 2 E 3/ 2 2 Q Cd b g H 3 E measured from top of weir 3/ 2 Cd corrects for using H rather than E. E Broad-crested Weir: Example Calculate the flow and the depth upstream. The channel is 3 m wide. Is H approximately equal to E? H 0.5 E yc m yc=0.3 Broad-crested weir How do you find flow?____________________ Critical flow relation Energy equation How do you find H?______________________ Solution Could a hydraulic jump be laminar? Hydraulic Jump Used for energy dissipation Occurs when flow transitions from supercritical to subcritical base of spillway Steep slope to mild slope We would like to know depth of water downstream from jump as well as the location of the jump Which equation, Energy or Momentum? Hydraulic Jump M1 M 2 W Fp1 Fp2 Fss Conservation of Momentum hL EGL M 1x M 2 x Fp Fp 1x 2x M 1x V12 A1 y2 y1 M 2 x V A2 2 2 L QV1 QV2 p1 A1 p2 A2 Q 2 A1 Q 2 A2 gy1 A1 2 gy2 A2 2 r gy p= 2 V Q A Hydraulic Jump: Conjugate Depths For a rectangular channel make the following substitutions A By Fr1 = V1 gy1 Much algebra Q By1V1 Froude number y2 y1 1 1 8Fr12 2 y2 - 1 + 1 + 8Fr12 = y1 2 valid for slopes < 0.02 Hydraulic Jump: Energy Loss and Length Energy Loss E y q2 E1 E2 hL algebra hL y2 y1 3 4 y1 y2 2gy 2 significant energy loss (to turbulence) in jump Length of jump No general theoretical solution Experiments show L 6 y2 for 4.5 < Fr1 < 13 Specific Momentum 5 gy1 A1 Q 2 gy2 A2 Q 2 2 A1 2 A2 y1 A1 Q 2 y2 A2 Q 2 2 A1 g 2 A2 g y 2 1 When is M minimum? dM q y 2 dy y g 4 3 y12 q 2 y22 q 2 2 y1 g 2 y2 g 2 1 0 2 q 3 y Critical depth! g 2 E 1:1 slope M DE 3 4 5 E or M 6 7 Hydraulic Jump Location Suppose a sluice gate is located in a long channel with a mild slope. Where will the hydraulic jump be located? Outline your solution scheme reservoir 2m 10 cm Sluice gate Gradually Varied Flow: Find Change in Depth wrt x V12 V22 y1 So Dx y2 S f Dx 2g 2g Energy equation for nonuniform, steady flow V22 V12 So dx y2 y1 S f dx 2g 2g dy y2 y1 Shrink control volume T V dy d S f dx So dx 2g dy d V 2 dx dx Sf So dy dy 2 g dy dy dy 2 y A P T Gradually Varied Flow: Derivative of KE wrt Depth dy y dA A P 2Q 2 dA Q 2T d V 2 d Q 2 Fr 2 2 gA3 dy gA3 dy 2 g dy 2 gA2 Change in KE 2 dA Tdy dy d V dx dx Change in PE Sf So dy dy 2 g dy dy 1 Fr S f 2 dy dx dx dy So So S f 1 Fr 2 dx dy We are holding Q constant! Is V ┴ A? Does V=Q/A?_______________ The water surface slope is a function of: bottom slope, friction slope, Froude number Gradually Varied Flow: Governing equation dy dx So S f 1 Fr 2 Governing equation for gradually varied flow Gives change of water depth with distance along channel Note So and Sf are positive when sloping down in direction of flow y is measured from channel bottom constant dy/dx =0 means water depth is _______ yn is when So = S f Surface Profiles Mild slope (yn>yc) in a long channel subcritical flow will occur Steep slope (yn<yc) in a long channel supercritical flow will occur Critical slope (yn=yc) in a long channel unstable flow will occur Horizontal slope (So=0) yn undefined Adverse slope (So<0) yn undefined Note: These slopes are f(Q)! Surface Profiles Normal depth Obstruction Steep slope (S2) Sluice gate Steep slope dx So S f 1 Fr 2 S0 - Sf 1 - Fr2 dy/dx 4 + - + + + - yn yc 3 y dy Hydraulic Jump 2 1 - - + 0 0 1 2 E 3 4 More Surface Profiles dy S0 - Sf 1 - Fr2 dy/dx 4 + + 2 + - - dx 1 Fr 2 3 y 1 + So S f 2 yc yn 1 3 - - + 0 0 1 2 E 3 4 Direct Step Method y1 V12 So Dx y2 2g V22 energy equation 2g y1 y2 V12 2g Dx V22 2g S f So rectangular channel V1 S f Dx q y1 V2 solve for Dx prismatic channel q y2 V2 Q A2 V1 Q A1 Direct Step Method Friction Slope Manning Darcy-Weisbach n 2V 2 S f = 4/3 Rh V2 Sf = f 8 gRh n 2V 2 Sf = 2.22 Rh4 / 3 SI units English units Direct Step Limitation: channel must be prismatic _________ (channel geometry is independent of x so that velocity is a function of depth only and not a function of x) Method identify type of profile (determines whether Dy is + or -) choose Dy and thus yi+1 calculate hydraulic radius and velocity at yi and yi+1 calculate friction slope given yi and yi+1 calculate average friction slope calculate Dx Direct Step Method =y*b+y^2*z y1 y2 =2*y*(1+z^2)^0.5 +b =A/P V12 2g Dx =Q/A =(n*V)^2/Rh^(4/3) =y+(V^2)/(2*g) V22 2g S f So =(G16-G15)/((F15+F16)/2-So) A B C D E F G H I y A P Rh V Sf E Dx x 0.900 1.799 4.223 0.426 0.139 0.00004 0.901 0 0.870 1.687 4.089 0.412 0.148 0.00005 0.871 0.498 0.5 J K L M T Fr bottom surface 3.799 0.065 0.000 0.900 3.679 0.070 0.030 0.900 Standard Step Given a depth at one location, determine the depth at a second given location Step size (Dx) must be small enough so that changes in water depth aren’t very large. Otherwise estimates of the friction slope and the velocity head are inaccurate Can solve in upstream or downstream direction Usually solved upstream for subcritical Usually solved downstream for supercritical Find a depth that satisfies the energy equation y1 V12 2g So Dx y2 V22 2g S f Dx What curves are available? Steep Slope 1.4 1.2 S1 0.8 S3 0.6 bottom surface yc yn 0.4 0.2 0.0 20 15 10 5 distance upstream (m) Is there a curve between yc and yn that increases in depth in the downstream direction? ______ NO! 0 elevation (m) 1.0 Mild Slope If the slope is mild, the depth is less than the critical depth, and a hydraulic jump occurs, what happens next? 0.6 bottom surface yc yn When dy/dx is large then V isn’t normal to cs 0.4 0.3 0.2 0.1 Hydraulic jump! Check conjugate depths 0.0 40 35 30 25 20 15 distance upstream (m) 10 5 0 elevation (m) 0.5 Rapidly varied flow! Water Surface Profiles: Putting It All Together reservoir Sluice gate 2m 10 cm 1 km downstream from gate there is a broad crested weir with P = 1 m. Draw the water surface profile. Wave Celerity Vw y V V+V y+y unsteady flow M1 + M 2 = W + Fp1 + Fp2 + Fss Per unit width 1 1 2 Fp1 = r gy 2 Fp2 = - r g ( y + d y ) 2 2 1 2 2 ù Fp1 + Fp2 = r g é y y + d y ( ) ë û 2 y V-Vw V+V-Vw y+y steady flow Fp1 Fp2 V-Vw V+V-Vw Wave Celerity: Momentum Conservation M 1 V Vw y 2 M 2 = r (V + dV - Vw )(V - Vw ) y Per unit width M1 + M 2 = r y (V - Vw )[(V + dV - Vw ) - (V - Vw )] 1 2 2 é F + F = r g y y + d y ( ) ùû M1 + M 2 = r y (V - Vw )dV p1 p2 ë 2 Now equate pressure and momentum 1 2 2 2 ù r gé y y 2 y d y d y = r y (V - Vw )dV ë û 2 gy V Vw V y V-Vw V+V-Vw steady flow y+y Wave Celerity yV Vw y y V V Vw Mass conservation yV yVw yV yV yV yV yVw yVw V V Vw y y gy V Vw V gy V Vw 2 Momentum y V-Vw V+V-Vw y steady flow y gy V Vw 2 y+y c V Vw c V gy yg Fr V c Wave Propagation Supercritical flow c<V waves only propagate downstream water doesn’t “know” what is happening downstream upstream control _________ Critical flow c=V Subcritical flow c>V waves propagate both upstream and downstream Discharge Measurements Sharp-Crested Weir 2 Q Cd b 2 g H 3/ 2 3 V-Notch Weir Q Broad-Crested Weir Sluice Gate Explain the exponents of H! 8 Cd 2 g tan H 5/ 2 15 2 2 Q Cd b g H 3 Q Cd byg 2 gy1 V 2 gH 3/ 2 Summary (1) All the complications of pipe flow plus additional parameter... _________________ free surface location Various descriptions of energy loss Chezy, Manning, Darcy-Weisbach 4 Importance of Froude Number 3 y Fr>1 decrease in E gives increase in y Fr<1 decrease in E gives decrease in y Fr=1 standing waves (also min E given Q) 2 1 0 0 1 2 E 3 4 Summary (2) Methods of calculating location of free surface (Gradually varying) Direct step (prismatic channel) Standard step (iterative) dy So S f Differential equation Rapidly varying Hydraulic jump dx 1 Fr 2 Broad-crested Weir: Solution q E gyc3 q (9.8m / s )0.3m 2 3 0.5 q 0.5144m 2 / s Q qL 1.54m3 / s 2 yc E 3 q2 E1 @y1 2 2 gE1 yc m yc=0.3 Broad-crested weir E2 3 yc 0.45m 2 E1 E2 P 0.95m q2 E1 y1 2gy12 y1 0.935 H1 y1 0.5m 0.435 Summary/Overview Energy losses Dimensional Analysis Empirical 8g V= S f Rh f 1 2/3 1/2 V R h So n Energy Equation V12 V22 y1 + + So Dx = y2 + + S f Dx 2g 2g V2 q2 Q2 = y+ E y 2 = y+ 2 2 gy 2 gA 2g Specific Energy Two depths with same energy! y How do we know which depth4 is the right one? 3 Is the path to the new depth 2 possible? 1 0 0 1 2 E 3 4 What next? Water surface profiles Rapidly varied flow A way to move from supercritical to subcritical flow (Hydraulic Jump) Gradually varied flow equations Surface profiles Direct step Standard step Hydraulic Jump! Open Channel Reflections Why isn’t Froude number important for describing the relationship between channel slope, discharge, and depth for uniform flow? Under what conditions are the energy and hydraulic grade lines parallel in open channel flow? Give two examples of how the specific energy could increase in the direction of flow.