Advanced Hydrodynamics

Lecture – Inviscid Fluid

Dr Mahdi Khorasanchi
Governing Eq.

 Navier-Stokes (general form)

• If body force consists of only gravitational force Fi = (0,-ρg,0)

 Governing Eqs. in inviscid (ideal) fluid

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Irrotational flows

 Circulation Γ
• Integral of tangential velocity around a closed contour C

 Kelvin’s theorem of conservation of circulation

• In an ideal fluid with conservative body forces, circulation is
constant about any closed material contour moving with fluid

• Proof (Ref.[1], p103)

• Any motion started from a state of rest at some initial time
 Γ 0 for all subsequent time
 Remain irrotational

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 Stokes' theorem

 Irrotational flow

• Curl of velocity (vorticity) is zero throughout the fluid.

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 Helmholtz’ theorem
• Any continuous & finite vector field can be expressed as sum
of gradient of a scalar function Φ plus the curl of a zero-
divergence vector A

 Irrotational flow
• Vector A vanishes as the original velocity vector is irrotational.
• Thus, velocity vector can be represented by gradient of a
scalar function Φ (velocity potential)

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Velocity potential

 A true representation of velocity vector?

• (13) independent of path (irrotational flow)

• For a path approaches x along a straight line parallel to x1-axis
• ui dxi = u1 dx1

• Continuity Eq
L .
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Bernoulli's equation

 Integrate Euler’s eq. to give pressure (Bernoulli's integral/Eq)

• Steady flow without assumption about vorticity

• Constant C may vary for streamlines

• Proof (Ref.[1], p107)

• Unsteady irrotational flow

• Constant C(t) independent of space coordinates but maybe time

• C(t) can be absorbed in Φ

• Proof (Ref.[1], p108)

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Boundary Conditions

 Kinematic BC
• Velocity of fluid on boundary
• No penetration into boundary (V.n = U.n)

• Uniqueness of solution for a given BC

• If Φ1 & Φ2 satisfies (28), then Φ3 = Φ1 – Φ2 a solution but ∂Φ3/∂n=0
0

0 Laplace

• Positive definite integrand + any volume  integrand=0  Φ3=const.

• (28) enough info. unless BC position or velocity are unknown (wave)
 Dynamic BC
• Force (pressure) on boundary
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Simple potential flows

 Uniform stream
• Uniform flow U in x direction Φ = Ux
• In general, Φ = Ux + Vy + Wz

 Source / Sink

• r: radial distance from source

• m: source strength
• integral of radial velocity over a sphere centred at origin (source)
• Radial velocity (streamline)

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 Semi-infinite half-body
• Superpose free stream + source potential

/
• Stagnation point at /4

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 Closed body
• Superpose free stream + source + sink

• Stagnation points

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• Max radius (b) of Rankin ovoid

• Or

• Pressure distribution using Bernoulli's eq.

• More axisymmetric bodies by distributing sources & sinks

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• If zero distance ( ) between source & sink
• Assumption 2

dipole/doublet

• In spherical coordinate system

/
 ,

/
 Uniform stream past sphere of radius /2
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• In 2D (x-y plane)
 Source potential

 Dipole potential

/
 Flow past a circle of /2

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Stream Function

 Incompressible fluid
• Continuity: div(V) = 0
• Vector analysis for a divergence free vector

Ψ
• Ψ, vector stream function
 Reduce to a scalar for 2D plane flow or axisymmetric flow

• 2D flow in x-y plane

 w=0, Ψ 0,0,  / y v / (41)

• Axisymmetric flow
 Independent of θ in cyl. coordinate (R,θ,x), Ψ 0, / , 0
 / /

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 Plane flow, flux across contour C
• Convention for positive flux
• moving across C to the right while observer
moves along C

• independent of path & depends only on two end points (xo & x)
• continuity eq.
• Differentiation with respect to end point x  eq. (41)
• Stream function is a constant along fluid streamline
• Tangent to local velocity vector

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Complex potential

 Plane 2D flow
• Complex variable
• Complex potential
• velocity potential, stream function

 F(z) satisfies Cauchy-Riemann eq.

• Thus, complex F an analytic function of complex variable z

 Any analytic function defines a complex potential

• & its derivative is a velocity field

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  Some analytic functions

Complex potential Velocity field

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 Corner flow
• Flow interior to a sector of included angle π/n
• Verification in polar coordinates ,
• Img = 0 on θ=0 & θ=π/n  these are streamlines
• n = 2, flow interior to a right angle
• A stagnation point if included angle < 180o (i.e. n>1)
• n = 1/2, edge of semi-infinite flat plate
• Infinite velocity at sharp edge of exterior flow (1/2<n<1)

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Conformal mapping

 Objective: map complicated geometry onto a simpler one

• Replace flow & body profile (BC) in physical z-plane by
fictitious flow past a hypothetical profile in ξ-plane

 Example 1 – corner flow (with included angle θ)

• Mapped onto a straight line
/
• Transformation
• Straight line  uniform stream
/
• Inverting mapping procedure

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 Example 2 – circle
• Transformation

• Family of confocal ellipses in ξ-plane

 major semi-axis Ur + A/r along real axis
 minor semi-axis Ur – A/r along imaginary axis
/ /
• Circle / in z-plane  segment 2 in ξ-plane

• Circle of unit radius (A=U=1/2)  straight line (-1,1), i.e. flat plate

• Solving quadratic eq. for z

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• Case 1: uniform stream in ξ-plane parallel to flat plate
• Complex potential F(ξ) = ξ
• Transform back to z-plane using (53)

 z→∞, stream velocity parallel to x-axis of magnitude 1/2

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• Case 2: uniform stream in ξ-plane normal to flat plate
• Situation unchanged in z-plane except flow vertical
• z is replaced by iz

• Transform to ξ-plane substituting (53) in (55)

• For stream velocity U, past flat plate of width 2

 Differentiating to find complex velocity

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 Characteristics of conformal mapping
• One-to-One,
• Each point in physical domain corresponds to one & only one
point in mapped domain
• Closed curves map to closed curves
• Angles are preserved between intersection of two lines

 Riemann mapping theorem

• Any closed profile can be mapped onto unit circle

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Separation of variables

 Laplace’s eq. separable in 13 coordinate systems

• rectangular, circular cylindrical, elliptic cylindrical, parabolic
cylindrical, spherical, conical, parabolic, …
• select the one that boundary geometry coincides with a
coordinate surface
 Assume a solution for velocity potential
• as the product of three functions
• each depending separately on one of the coordinates
, ,
, , Θ

 Example – uniform stream past sphere

• Spherical coordinate system
• Solution (Ref.[1], p123)
• Identical to solution from superposition of dipole & uniform flow (38)
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Fixed bodies & Moving bodies

Fixed body in flow with uniform constant velocity

is identical to
Moving body with constant velocity in undisturbed fluid
provided that

• Change of reference frame

• Relative velocity between body & fluid at infinity is the same
• Change of BC  different free-stream potential

 Note: unsteady body motion

• Same kinematic to velocity of body with U(t) function of time
• Different dynamic in each reference frame

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 Comparison of fixed & moving circle & sphere

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Green’s Theorem

 If Φ & ψ two solutions of Laplace eq. in volume V (surface C)

• Using divergence theorem

0 0

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Distribution of singularities

 If ψ a source of unit strength (m=1)

• at position ξ=(ξ,ƞ,ς) in coordinates x=(x,y,z)

• Value of ψ unchanged if source point & field point interchanged

• Thus ψ a solution of Laplace with respect to ξ as well as x
• Can integrate Green’s eq. (71) with respect to either coordinates

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 Integrate (71) with respect to ξ
• Caution: source doesn’t satisfy Laplace at source point
• Solution: exclude source point by small sphere of radius ε

• Or

• In the limit ε→0, right-hand side of above eq.

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• If x inside S

• If x on S

• If ∂Φ/∂n is known on body (ship hull)  integral eq for unknown Φ

• For a body moving in unbounded fluid, (77) integral over body only
 Proof (Ref.[1], p131)

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• For body moving in bounded fluid (e.g. free surface, canal, …)
• Green’s function

 Substitute for source potential (76-77)

 H any function satisfies Laplace eq & suits BC

 For x outside, on or inside S

• If H chosen in a way that ∂G/∂n = 0 on fluid boundary

 (79) explicit solution for Φ in term of prescribed ∂Φ/∂n
 This source potential only known for very simple geometry
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Hydrodynamic pressure forces

 Six forces & moments

• Substitute pressure from Bernoulli’s eq

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 For a fixed control volume (Sc)
• exterior to body surface (SB) [or singularities within body]

• Proof (Ref.[1], p134)

• Special cases
• Lagally Theorem
 F & M in terms of products of singularity strength & gradients of
velocity potential at the points of singularities
• Simplify integral over Sc by removing to far field
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Force on a moving body in an unbounded fluid

 Integrals over infinite radius control surface (Sc) vanish

 D’Alembert’s paradox
• No hydrodynamic force on body moving with constant
translational velocity in an infinite, inviscid & irrotational fluid
• A moment may exist perpendicular to velocity
 Zero moment if symmetric w.r.t two directions normal to velocity

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 General case – unsteady motion U & Ω with 6 DoF

• where
• Added mass

• Φi, velocity potential due to body motion of unit velocity in ith mode
• εijk, alternating tensor
 +1 if indices in cyclic order (123, 231, …)
 –1 if indices in acyclic order (132, 213, …)
 0 if any pair of indices are equal
• Proof (Ref.[1], p136)
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Properties of Added-Mass Coefficients

 Weighted integration of fluid particles acceleration

1. Symmetric mij = mji

• 21 independent coefficients
• Reduced if symmetric geometry
• Proof using Green’s theorem (Ref.[1], p141)

2. Kinematic energy of fluid

• Proof (Ref.[1], p142)

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3. Far field motion due to body translation
• A dipole (details of body shape are unimportant)

• ∀ body volume
• δij: Kroenecker delta function
• Proof (Ref.[1], p143)
• Aij = Aji (from symmetry of mij)

• For 2D motion

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Added mass of simple forms

 Circular cylinder
• Dipole moment from (39)

• Comparison with (129)

• From (130)

 Sphere
• Dipole moment from (38)

• From (128)

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40
 Spheroid

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Body-Mass Force

 Inertia force & moment

 Decomposition of body velocity

• Equating the factors

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 Coefficients of body-mass matrix

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Force on body in non-uniform stream

 Assumption
• Slowly varying non-uniformity, relative to length scale of body

 Force on body with velocity U1(t) in non-uniform stream U(x,t)

• If zero off-diagonal added-mass elements
• Proof (Ref.[1], p150)

• In a coordinate system translating with body velocity U1

• ∂p/∂x: pressure gradient of non-uniform stream in absence of body

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 Equation of motion

• Force Fx = (body mass) x (acceleration dU1/dt)

• If neutrally buoyant ∀ , equilibrium occurs if U1 = U

 Body will be carried along as if a fluid particle

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Method of Images

 When body moves in proximity to a plane rigid boundary

• Approach 1: BC ∂Φ/∂n = 0 on wall

• Approach 2: replace wall by an image body

• Symmetrically on opposite side of wall with a symmetric motion

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 Example
• 2D source at (0,b) & image source at (0,-b)

• Differentiation

• Flow past a pair of cylinders of radius

 Example
• Source between two parallel walls
• An infinite row of images at , 2 , 3 , … to satisfy BC
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End of Presentation