Sanjivani K.B.P. Polytechnic, Kopargaon.

Department of Mechatronics Industrial Fluid Power

Unit– I Basics of Fluid Power 08

1.1 Classification of fluids, properties of fluids.

1.2 Types of fluid flow steady, unsteady, laminar, turbulent-, one, two- and three-dimensional flow, uniform and non-
uniform flow.

1.3 Pascal’s law. Continuity equation. Bernoulli’s Theorem.

1.4 Basic elements of fluid power system.

1.5 Comparison of various system- Hydraulic, Pneumatic, Electric, Mechanical.

1.1 Classification of fluids:

Fluid mechanics is a branch of engineering science which deals with the behaviours fluids
(liquid or gases) at rest as well as in motion.

Classification of fluid
The fluid may be classified into the following five types:
1. Ideal fluid 4. Non-Newtonian fluid
2. Real fluid 5. Ideal plastic fluid.
3. Newtonian fluid

Fig.1.1 Types of fluid

F
Shear stress ( )
A
Shear Modulus of fluids = δL
Shear strain/Velocity Gradient( )
L
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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
1. Ideal Fluid
A fluid, which is incompressible and is having no viscosity, is known as ideal fluid. Ideal fluid
is only an imaginary fluid because all the fluids, which exit, have someviscosity.
 Real Fluid
A fluid which possesses viscosity is known as real fluid. All the fluids in practice are real
fluids.
 Newtonian fluid
A real fluid, in which the shear stress is directly proportional to the rate of shear
strain (or velocity gradient), is known as the Newtonian fluid. Example: Water,
Air, Thin motor oil
4. Non-Newtonian Fluid
A real fluid, in which the shear stress is not proportional to the rate of shear
strain (or velocity gradient), is known as the non-Newtonian fluid. Example:
Tooth Paste
 Ideal-Plastic Fluid
A fluid, in which shear stress is more than the yield value and shear stress are
proportional to the rate of shear strain (or velocity gradient), is known as ideal
plastic fluid.
Example: Sewage sludge

Properties of Fluids:

1. Density or Mass Density

Density or mass density of fluid is defined as the ratio of the mass of the fluid to
its volume.
Mass per unit volume of a fluid is called density.
It is denoted by the symbol ‘’ (rho).
The unit of mass density is kg per cubic meter i.e., kg/m3.
Mathematically,
Mass of fluid
=
Volume of fluid

The value of density of water is 1000 kg/m3.

2. Specific Weight or Weight Density

Specific weight or weight density of a fluid is defined as the ratio of weight of a
fluid to its volume.
Thus, weight per unit volume of a fluid is called weight density.
It is denoted by the symbol ‘w’.
Mathematically,
Weight of fluid
w=
Volume of fluid
(Mass of fluid)(Acceleration due to gravity)
=
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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
Volume of fluid
(Mass of fluid)g
=
Volume of fluid
= g
w= g

The value of specific weight of water is 9.81 X 1000 N/m3 in SI unit.

3. Specific Volume:
Specific volume of a fluid is defined as the volume of a fluid occupied by a unitmass of fluid.
Thus, specific volume is volume per unit mass of fluid. It is expressed as m3/kg.
− Mathematically,
Volume of fluid
Specific volume =
Mass of fluid

1
=
Mass of fluid
Volume of fluid

1
=


− Thus, specific volume is the reciprocal of mass density.

4. Specific Gravity or Relative Density:

Specific gravity is defined as the ratio of the density (or weight density) of a fluid to the density
(or weight density) of a standard fluid. For liquids, standard fluid is taken water and for gases,
standard fluid is taken air.
Specific gravity is also called relative density.
It is dimensionless quantity and is denoted by symbol S.
Mathematically,
Weight density (Density)of liquid
S (for liquid) =
Weight density (Density)of water
Weight density (Density)of gas
S (for gases) =
Weight density (Density)of air

Specific gravity of mercury is 13.6.

5. Viscosity:
There are two types of viscosity i) Dynamic viscosity ii) Kinematic viscosity

i) Dynamic or Absolute viscosity:

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
Dynamic viscosity is defined as the property of fluid which offers resistance to the
movement of one layer of fluid over another adjacent layer of fluid.
Figure shows, when two layers of a fluid distance ‘dy’ apart, move one over the
another at different velocities, say u and u + du, the viscosity together with
relative velocity causes a shear stress acting between the fluid layers.

Fig.1.2 Velocity variation near a solid boundary

The top layer causes a shear stress on the adjacent lower layer while the lower
layer causes shear stress on the adjacent top layer. This shear stress is proportional to the
rate of change of velocity with respect to y.
It is denoted by symbol  (Tau).
du

dy
du
 = 
dy

Where µ (called mu) is the constant, is known as the co-efficient of dynamic

viscosity.
du
dy represents the rate of shear strain or velocitygradient.

=
 du 
 
 dy 

− Dynamic viscosity is also defined as the shear stress required to produce unit rate
of shearstrain.
− The unit of viscosity is N*s/m2
− In short sticky liquid having high viscosity and water having low viscosity.
ii. Kinematic viscosity
− It is defined as the ratio between the dynamic viscosity and density of fluid.
− It is denoted by the Greek symbol (called ‘nu’).
− Thus mathematically,

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
Viscosity
=
Density

 =


− SI the unit of kinematic viscosity is m2/s.

1.2 Types of fluid flow:

The fluid flow is classified as below:

1. Steady and unsteady flow
2. Uniform and non-uniform flow
3. Laminar and turbulent flow
4. Compressible flow and incompressible flow
5. Rotational and irrotational flow
6. One-, two- and three-dimensional flow.

1. Steady and Unsteady Flow

Steady flow is defined as that type of flow in which the fluid characteristics at a point do
not change with time.
Mathematically,
𝜕𝑉 𝜕𝑃 𝜕𝜌
( ) x0, y0, z0 =0 ( ) x0, y0, z0=0, ( ) x0, y0, z0 =0
𝜕𝑡 𝜕𝑡 𝜕𝑡

Where x0, y0, z0 is the fixed point in fluid field

Unsteady flow
Unsteady flow is defined as that type of flow in which the fluid characteristics at a
point change with respect to with time.
Mathematically,

𝜕𝑉 𝜕𝑃 𝜕𝜌
( ) x0, y0, z0 ≠0 ( ) x0, y0, z0 ≠0, ( ) x0, y0, z0 ≠0
𝜕𝑡 𝜕𝑡 𝜕𝑡

2. Uniform and Non-uniform Flow

− Uniform flow is defined as that type of flow in which the velocity at any given time
does notchange with space (length of direction of flow).
Mathematically,
 V  =0
 s st = constant

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
− Non-uniform flow is defined as that type of flow in which the velocity at any given
timechanges with space (length of direction of flow).
Mathematically,
 V 
  s 0

 s t = constant

3. Laminar and Turbulent Flow:

− Laminar flow is defined as that type of flow in which the fluid particles move along well-
defined paths or stream line and all the streamlines are straight and parallel. This type of
flow is also called stream line flow or viscous flow.
− Turbulent flow is defined as that type of flow in which the fluid particles move in zig-zag
way. For pipe flow, the type of flow can be determined by Reynolds number (Re)
− Reynolds number is given by,
VD
Re =

where  = Density of fluid
V = Velocity of fluid
D = Diameter of pipe
 = Dynamic viscosity of fluid
If the Reynolds number is less than 2000, the flow is called laminar.
If the Reynolds number is more than 2000, the flow is called turbulent.
If the Reynolds number lies between 2000 and 4000 the flow is called transition flow.

4. Compressible and Incompressible fluid flow:

Compressible fluid flow is defined as the flow in which the density is not constant which means the
density of the fluid changes from point to point. Ex. flow of gases through openings like nozzles.

Incompressible fluid flow is defined as the flow in which the density is constant which means the
density of the fluid does not change from point to point. Ex. Flow of air in a ventilating system.

Gases are compressible fluid flow but whereas the liquid is incompressible fluid flow.

5. Rotational and Irrotational Flow

− Rotational flow is defined as that type of flow in which the fluid particles while flowing
alongstream lines, also rotates about their own axis.
− Irrotational flow is defined as that type of flow in which the fluid particles while flowing
alongstream lines, but do not rotates about their own axis.

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
6. One-, Two- and Three-Dimensional Flow
One dimensional flow is defined as that type of f l o w in which the fluid parameter
such as velocity is function of time and one space co-ordinate only say x. For steady
one-dimensional flow, the velocity is a function of one space co-ordinate only. The variation
of velocities in other two mutually perpendicular directions is assumed negligible.
Mathematically,
u = f ( x ) , v = 0 and w = 0

− Two-dimensional flow is defined as that type of flow in which the fluid parameter such as
velocity is function of time and two rectangular space co-ordinate only say x and y. For
steady two-dimensional flow, the velocity is a function of two space co-ordinate only. The
variation of velocity in third direction is negligible.
Mathematically,
u = f1 ( x, y ) , v = f2 (x, y) and w = 0

− Three-dimensional flow is defined as that type of in which the fluid parameter such as
velocity is function of time and three mutually perpendicular directions say
x, y and z.
For steady three-dimensional flow, the velocity is a function of three
space co-ordinate.Mathematically,
u = f1 ( x, y, z ) , v = f2 (x, y, z ), w = f3 (x, y, z )

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
1.3 Pascal’s law. Continuity equation. Bernoulli’s Theorem.

Pascal’s law:
“Pressure or Intensity of pressure at a point in a static mass of fluid is equal in all
directions.”

px = py =pz
px = Pressure intensity on x direction

py = Pressure intensity on y direction

pz = Pressure intensity on z direction

Explanation:

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power
Here,

P1=P2 and A2= A1*10

𝐹1 𝐹2
=
𝐴1 𝐴2

F1 * A2 = F2 * A1

F1 * A1*10 = F2 * A1

F1 *10 = F2

Continuity equation:
The product of cross-sectional area of the pipe and the fluid speed at any point along the pipe is constant.

Mathematically it is represented as

Av = Constant

Where,

A = area of a pipe m2

v= fluid speed m/s

Explanation:

Where, Q = Flow rate in m3/sec

V = Volume in m3

T = time in sec

A = cross sectional Area of pipe a in m2

L = Length of section in m

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power

Bernoulli’s Theorem:

Bernoulli’s Statement:

It states that in a steady flow of an incompressible fluid, the total energy at any point of the fluid is
constant. The total energy consists of pressure energy, kinetic energy and potential energy or datum
energy.

Mathematically,

The Bernoulli’s equation for the fluid passing through the section 1 and 2 are given by,

Explanation:

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power

1.4 Basic elements of fluid power system.

1. Energy Storage elements:

These elements store the energy by storing the fluid itself. A hydraulic system, it includes
accumulators & in a pneumatic system, it includes an air storage tank.

2. Energy Conversion elements:

These elements convert mechanical energy received from prime movers into fluid
pressure energy. A hydraulic system, it includes pump & in a pneumatic system, it
includes an air compressor.

3.Energy Control elements:

These elements controlling various parameters like pressure, flow, and direction, etc. A
hydraulic as well as pneumatic system includes a pressure control valve, flow control
valve, and direction control valve.

4. Energy Conducting elements:

These elements conducting energy from one place to another place. A hydraulic, as well
as the pneumatic system, includes pipes, connectors, couplings, hoses, etc.

5.Energy re-conversion elements:

These elements re-convert the fluid pressure energy again into useful mechanical energy.
A hydraulic, as well as pneumatic system, includes linear actuators (pistons and cylinders)
and rotary actuators. (motors)

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Sanjivani K.B.P. Polytechnic, Kopargaon. Department of Mechatronics Industrial Fluid Power

1.5 Comparison of the various system- Hydraulic, Pneumatic, Electric, Mechanical.

Criteria Hydraulic Pneumatic Electrical Mechanical

Energy carrier Oil Air Electrons Solid material
like shafts,
levers, chains,
etc.
Energy Hydraulic Air Generator Engine.
conversion pump compressor
from
mechanical
Energy Pipes, hoses, Pipes, hoses, Electrical Belts, gear,
transmission tubes, etc tubes, etc cable, wire. wheel, etc.
Energy control valves valves Relays Gearbox
Re-conversion Actuators Actuators Electric Wheels, chains,
of energy motors rams, etc.
Energy storage Accumulator Air Batteries Flywheel
tank/receivers

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