Introduction to Fluid Mechanics

Frederick Stern, Maysam Mousaviraad, Hyunse Yoon, Zhaoyuan

Wang, Timur K. Dogan

8/25/2016

AFD EFD CFD

U  0
DU 1 2
 p   U    ui u j
Dt Re

Acknowledgment: Tao Xing, Jun Shao, Surajeet Ghosh, Shanti Bhushan

57:020 Fluid Mechanics 1
 Fluid Mechanics
• Fluids essential to life
• Human body 65% water
• Earth’s surface is 2/3 water
• Atmosphere extends 17km above the earth’s surface
• History shaped by fluid mechanics
• Geomorphology
• Human migration and civilization
• Modern scientific and mathematical theories and methods
• Warfare
• Affects every part of our lives

57:020 Fluid Mechanics 2

 History
Faces of Fluid Mechanics

Archimedes Newton Leibniz Bernoulli Euler

(C. 287-212 BC) (1642-1727) (1646-1716) (1667-1748) (1707-1783)

Navier Stokes Reynolds Prandtl Taylor Kolmogorov

(1785-1836) (1819-1903) (1842-1912) (1875-1953) (1886-1975) (1903-1987)

57:020 Fluid Mechanics 3

 Significance
• Fluids omnipresent
• Weather & climate
• Vehicles: automobiles, trains, ships, and
planes, etc.
• Environment
• Physiology and medicine
• Sports & recreation
• Many other examples!

57:020 Fluid Mechanics 4

 Weather & Climate
Tornadoes Thunderstorm

Global Climate Hurricanes

57:020 Fluid Mechanics 5

 Vehicles
Aircraft Surface ships

High-speed rail Submarines

57:020 Fluid Mechanics 6

 Environment

Air pollution River hydraulics

57:020 Fluid Mechanics 7

 Physiology and Medicine

Blood pump Ventricular assist device

57:020 Fluid Mechanics 8

 Sports & Recreation

Water sports Cycling Offshore racing

Auto racing Surfing

57:020 Fluid Mechanics 9

Fluids Engineering

57:020 Fluid Mechanics 10

 Analytical Fluid Dynamics
• The theory of mathematical physics
problem formulation
• Control volume & differential analysis
• Exact solutions only exist for simple
geometry and conditions
• Approximate solutions for practical
applications
• Linear
• Empirical relations using EFD data

57:020 Fluid Mechanics 11

 Analytical Fluid Dynamics
• Lecture Part of Fluid Class
• Definition and fluids properties
• Fluid statics
• Fluids in motion
• Continuity, momentum, and energy principles
• Dimensional analysis and similitude
• Surface resistance
• Flow in conduits
• Drag and lift

57:020 Fluid Mechanics 12

 Analytical Fluid Dynamics
• Example: laminar pipe flow
UD
Assumptions: Fully developed, Low Re   2000

Approach: Simplify momentum equation,
integrate, apply boundary conditions to Schematic
determine integration constants and use
energy equation to calculate head loss
0
Du 0 p   u  2u 
2 0
    2  2   gx
Dt x  x y 
Exact solution :
u(r)  1 ( p )(R2  r 2)
4 x
8 du
f  8 w  dy w  64
Friction factor:
V 2 V 2 Re
p1 p2 L V 2 32  LV
Head loss:   z1    z2  h f hf  f 
D 2g  D2
57:020 Fluid Mechanics 13
 Analytical Fluid Dynamics
• Example: turbulent flow in smooth pipe( Re  3000)
Three layer concept (using dimensional analysis)

u u u *
y  yu 
 * u*   w 
1. Laminar sub-layer (viscous shear dominates)
u  y 0  y  5
2. Overlap layer (viscous and turbulent shear important)
1
u  ln y   B 20  y   105 (=0.41, B=5.5)

U u  r  y   105
3. Outer layer (turbulent shear dominates)  f  1  
u*  r0 
u r 1  r  r u
*
Assume log-law is valid across entire pipe:  ln 0 B
u*  

Integration for average velocity and using EFD data to adjust constants:
1
 2log  Re f 1 2   .8
f
57:020 Fluid Mechanics 14
 Analytical Fluid Dynamics
• Example: turbulent flow in rough pipe
Both laminar sublayer and overlap
layer
Inner
are affected 
 u  y k 
layer:by uroughness

Outer layer: unaffected

1 y
Overlap layer: u  ln  constant
 k
Three regimes of flow depending on k+
1. K+<5, hydraulically smooth (no effect of roughness)
2. 5 < K+< 70, transitional roughness (Re dependent)
3. K+> 70, fully rough (independent Re)
For 3, using EFD data to adjust constants:
1 y 1 k D
u  ln  8.5  f  Re  Friction factor:  2log
 k f 3.7

57:020 Fluid Mechanics 15

 Analytical Fluid Dynamics
• Example: Moody diagram for turbulent pipe flow
Composite Log-Law for smooth and rough pipes is given by the Moody diagram:

1 k D 2.51 
1
 2log   12
f 2  3.7 Re f 

57:020 Fluid Mechanics 16

Experimental Fluid Dynamics (EFD)

Definition:
Use of experimental methodology and procedures for solving fluids
engineering systems, including full and model scales, large and table
top facilities, measurement systems (instrumentation, data acquisition
and data reduction), uncertainty analysis, and dimensional analysis and
similarity.

EFD philosophy:
• Decisions on conducting experiments are governed by the ability of the
expected test outcome, to achieve the test objectives within allowable
uncertainties.
• Integration of UA into all test phases should be a key part of entire
experimental program
• test design
• determination of error sources
• estimation of uncertainty
• documentation of the results

57:020 Fluid Mechanics 17

 Purpose

• Science & Technology: understand and investigate a

phenomenon/process, substantiate and validate a theory
(hypothesis)
• Research & Development: document a process/system,
provide benchmark data (standard procedures,
validations), calibrate instruments, equipment, and
facilities
• Industry: design optimization and analysis, provide data
for direct use, product liability, and acceptance
• Teaching: instruction/demonstration

57:020 Fluid Mechanics 18

 Applications of EFD

Application in science & technology Application in research & development

Picture of Karman vortex shedding Tropic Wind Tunnel has the ability to create
temperatures ranging from 0 to 165 degrees
Fahrenheit and simulate rain

Movies:
Experiment of plunging wave breaking over a submerged bump
DNS of plunging wave breaking using CFDShip-Iowa V6.2 with 12 billion grid points

57:020 Fluid Mechanics 19

 Applications of EFD (cont’d)

Example of industrial application

NASA's cryogenic wind tunnel simulates flight

conditions for scale models--a critical tool in
designing airplanes.

Movies of statistical validation of Delft catamaran Application in teaching

in irregular waves:
Experiment Simulation Fluid dynamics laboratory
57:020 Fluid Mechanics 20
 Full and model scale

• Scales: model, and full-scale

• Selection of the model scale: governed by dimensional analysis and similarity

Movies:
Full scale experimental test of Numerette Planing/Slamming/FSI

Simulation of Numerette in irregular following waves using CFDShip-Iowa V4.5

57:020 Fluid Mechanics 21
 Measurement systems
• Instrumentation
• Load cell to measure forces and moments
• Pressure transducers
• Pitot tubes
• Hotwire anemometry
• PIV, LDV
• Data acquisition
• Serial port devices
• Desktop PC’s
• Plug-in data acquisition boards
• Data Acquisition software - Labview
• Data analysis and data reduction
• Data reduction equations
• Spectral analysis

57:020 Fluid Mechanics 22

 Instrumentation

Pitot tube

Load cell

Hotwire 3D - PIV
57:020 Fluid Mechanics 23
 Data acquisition system

Hardware

Software - Labview

57:020 Fluid Mechanics 24

 Data reduction methods
TEM PERATURE
W ATER
TEM PERATURE
A IR
P IP E
PRESSURE
VENTURI
PRESSURE
IN D IV ID U
M EASUREM
SYSTEM

• Data reductionT equations T z z M EASUREM

w a SM DM
B , Pz B , Pz O F IN D IV ID
B T , PT
• Spectral analysis B , PT zSM zDM
w w
T a
a SM DM V A R IA B L

 = F (T )
w w
a = F (T a )
D ATA R E D U C
Q = F ( z D M ) E Q U A T IO
2
g   D
5 w
f = F ( ,  , z
w a SM
,Q ) = 2
(z - z
a SM i SM j
)
8LQ

 2  g w
u (r )    
 z SM Stag  r   z SM Stat  
 a 
f E X P E R IM E N
B f , P fequations
Example of data reduction R E S U LT

57:020 Fluid Mechanics 25

 Spectral analysis
Aim: To analyze the natural FFT: Converts a function from amplitude as function
unsteadiness of the separated flow, of time to amplitude as function of frequency
around a surface piercing
strut, using FFT.

Fast Fourier Transform

Free-surface wave Time history of wave

elevation contours elevation

Surface piercing strut FFT of wave elevation Power spectral density

of wave elevation
57:020 Fluid Mechanics 26
 Uncertainty analysis

Rigorous methodology for uncertainty assessment

using statistical and engineering concepts

E LE M EN TA L
ERRO R SO UR CES

IN D IV ID U A L
1 2 J M EASUREM ENT
SYSTEM S

X X X M EASUREM ENT
1 2 J O F IN D IV ID U A L
B , P B , P B , P V A R IA B L E S
1 1 2 2 J J

D A T A R E D U C T IO N
r = r ( X , X ,......, X ) E Q U A T IO N
1 2 J

r E X P E R IM E N T A L
B , P R E S U LT
r r

57:020 Fluid Mechanics 27

 Dimensional analysis
• Definition : Dimensional analysis is a process of formulating fluid mechanics problems in
in terms of non-dimensional variables and parameters.
• Why is it used :
• Reduction in variables ( If F(A1, A2, … , An) = 0, then f(P1, P2, … Pr < n) = 0,
where, F = functional form, Ai = dimensional variables, Pj = non-dimensional
parameters, m = number of important dimensions, n = number of dimensional variables, r
= n – m ). Thereby the number of experiments required to determine f vs. F is reduced.
• Helps in understanding physics
• Useful in data analysis and modeling
• Enables scaling of different physical dimensions and fluid properties
Example Drag = f(V, L, r, m, c, t, e, T, etc.)
From dimensional analysis,

Examples of dimensionless quantities : Reynolds number, Froude

Vortex shedding behind cylinder
Number, Strouhal number, Euler number, etc.

57:020 Fluid Mechanics 28

 Similarity and model testing
• Definition : Flow conditions for a model test are completely similar if all relevant
dimensionless parameters have the same corresponding values for model and prototype.
• Pi model = Pi prototype i = 1
• Enables extrapolation from model to full scale
• However, complete similarity usually not possible. Therefore, often it is necessary to
use Re, or Fr, or Ma scaling, i.e., select most important P and accommodate others
as best possible.
• Types of similarity:
• Geometric Similarity : all body dimensions in all three coordinates have the same
linear-scale ratios.
• Kinematic Similarity : homologous (same relative position) particles lie at homologous
points at homologous times.
• Dynamic Similarity : in addition to the requirements for kinematic similarity the model
and prototype forces must be in a constant ratio.

57:020 Fluid Mechanics 29

 Particle Image Velocimetry (PIV)
• Definition : PIV measures whole velocity fields by taking two images shortly after each other
and calculating the distance individual particles travelled within this time. From the known time
difference and the measured displacement the velocity is calculated.

• Seeding: The flow medium must be seeded with particles.

• Double Pulsed Laser: Two laser pulses illuminate these particles with short time difference.
• Light Sheet Optics: Laser light is formed into a thin light plane guided into the flow medium.
• CCD Camera: A fast frame-transfer CCD captures two frames exposed by laser pulses.
• Timing Controller: Highly accurate electronics control the laser and camera(s).
• Software: Particle image capture, evaluation and display.

57:020 Fluid Mechanics 30

 EFD at UI: IIHR Flume, Towing Tank, Wave Basin Facilities
Idealized/Practical Geometries; Small/Large Facilities:
• Development of measurement systems for small/large facilities (K. Hokusai, 1832)
• Global/local flow measurements including physics/modeling;
• EFD benchmark data with UA for CFD validation

1) FLUME (30 m  0.91 m  0.45 m)

• Free surface instability (Free surface, 2D-PIV, Borescopic-PIV)
• Plunging wave breaking span-wise structures

2) TOWING TANK (100 m  3 m  3 m)

• Ship propulsion/maneuvering/sea-keeping/environmental tests (
CFD whole field, Tomographic-PIV) Free surface instability in flume
• Flat plate; NACA0024
• Circular cylinder
3) WAVE BASIN (40 m  20 m  4.2 m)
• Non-contacting photo-tracking system
• Trajectory/6DOF motions/local flow field
• Free-running ONR Tumblehome model
IIHR Towing Tank
(T35-calm, Z20-wave)
• Maneuvering/sea-keeping tests
• System Identification (SI) approach

IIHR Wave Basin

57:020 Fluid Mechanics 31
 EFD process
• “EFD process” is the steps to set up an experiment and
take data
Test Data Data Uncertainty Data
Set-up Acquisition Reduction Analysis Analysis

Prepare Compare results

Facility & experimental Statistical Estimate bias with benchmark
conditions procedures analysis limits data, CFD, and
/or AFD

Initialize data
Install model acquisition Data reduction Estimate Evaluate fluid
software equations precision limits physics

Calibration Run tests & Estimate total Prepare report

acquire data uncertainty

Prepare
measurement Store data
systems

57:020 Fluid Mechanics 32

 EFD – “hands on” experience

Lab1: Measurement of density and kinematic Lab2: Measurement of flow rate, friction
viscosity of a fluid and visualization of flow factor and velocity profiles in smooth and
rough pipes, and measurement of flow rate
around a cylinder.
through a nozzle using PIV technique.

C h o r d -w is e L L o a d C e ll
P re s s u re
Ta p s
Tyg o n
T u b in g D

To L o a d C e ll
S c a n iv a lv e

Lab3: Measurement of surface pressure Lab 1, 2, 3: PIV based flow measurement and
distribution, lift and drag coefficient for an airfoil, visualization
and measurement of flow velocity field around an
airfoil using PIV technique.
57:020 Fluid Mechanics 33
 Computational Fluid Dynamics
• CFD is use of computational methods for
solving fluid engineering systems, including
modeling (mathematical & Physics) and
numerical methods (solvers, finite differences,
and grid generations, etc.).
• Rapid growth in CFD technology since advent
of computer

ENIAC 1, 1946 IBM WorkStation

57:020 Fluid Mechanics 34

 Purpose
• The objective of CFD is to model the continuous fluids
with Partial Differential Equations (PDEs) and
discretize PDEs into an algebra problem, solve it,
validate it and achieve simulation based design
instead of “build & test”

• Simulation of physical fluid phenomena that are

difficult to be measured by experiments: scale
simulations (full-scale ships, airplanes), hazards
(explosions,radiations,pollution), physics (weather
prediction, planetary boundary layer, stellar
evolution).

57:020 Fluid Mechanics 35

 Modeling
• Mathematical physics problem formulation of fluid
engineering system
• Governing equations: Navier-Stokes equations (momentum),
continuity equation, pressure Poisson equation, energy
equation, ideal gas law, combustions (chemical reaction
equation), multi-phase flows(e.g. Rayleigh equation), and
turbulent models (RANS, LES, DES).
• Coordinates: Cartesian, cylindrical and spherical coordinates
result in different form of governing equations
• Initial conditions(initial guess of the solution) and Boundary
Conditions (no-slip wall, free-surface, zero-gradient,
symmetry, velocity/pressure inlet/outlet)
• Flow conditions: Geometry approximation, domain, Reynolds
Number, and Mach Number, etc.

57:020 Fluid Mechanics 36

 Numerical Methods
• Finite difference methods: y
x
using numerical scheme to jmax
approximate the exact derivatives
in the PDEs j+1
 2 P Pi 1  2 Pi  Pi 1 j
 y
x 2
x 2 j-1
2 P Pj 1  2 Pj  Pj 1

y 2 y 2 o i-1 i i+1 imax x
• Finite volume methods
• Grid generation: conformal
mapping, algebraic methods and
differential equation methods
• Grid types: structured,
unstructured
• Solvers: direct methods (Cramer’s
rule, Gauss elimination, LU
decomposition) and iterative
methods (Jacobi, Gauss-Seidel,
SOR)
Slice of 3D mesh of a fighter aircraft
57:020 Fluid Mechanics 37
 CFD at UI: CFDShip-Iowa

1) CFDSHIP-IOWA V4.5
• 5415M course keeping in irregular waves
• Athena turning vortex structures
• High speed planing hull
• Fridsma planing hull slamming in irregular head waves

2) CFDSHIP-IOWA V5.5
• Numerette planing hull at free dynamic condition

2) CFDSHIP-IOWA V6
• Wave breaking around a wedge-shaped bow (1 billion grid points)
• Plunging wave breaking over a bump (2.2 billion grid points)
• Stokes wave breaking (12 billion grid points)

57:020 Fluid Mechanics 38

 CFD Process
Geometry Physics Mesh Solution Results

Geometry Flow properties Unstructured Steady/ Forces Report

Parameters (ANSYS Fluent- (ANSYS Mesh) Unsteady (ANSYS Fluent-
(ANSYS Design Setup) (ANSYS Fluent- Results)
Modeler) Setup)

Domain Shape Viscous Model Structured Iterations/ XY Plot

and Size (ANSYS Fluent- (ANSYS Mesh) Steps (ANSYS Fluent-
(ANSYS Design Setup) (ANSYS Fluent- Results)
Modeler) Solution)

Boundary Convergent Limit Verification &

Conditions (ANSYS Fluent- Validation
(ANSYS Fluent- Solution) (ANSYS Fluent-
Setup) Results)

Initial Conditions Precisions Contours, Vectors,

(ANSYS Fluent- (ANSYS Fluent- and Streamlines
Solution) Solution) (ANSYS Fluent-
Results)

Numerical
Scheme
(ANSYS Fluent-
Solution)

Green regions indicate ANSYS modules

57:020 Fluid Mechanics 39

 Commercial Software
• CFD software
1. ANSYS: http://www.ansys.com
2. CFDRC: http://www.cfdrc.com
3. STAR-CD: http://www.cd-adapco.com
• Grid Generation software
1. Gridgen: http://www.pointwise.com
2. GridPro: http://www.gridpro.com
• Visualization software
1. Tecplot: http://www.amtec.com
2. Fieldview: http://www.ilight.com
3. EnSight: http://www.ceisoftware.com/

57:020 Fluid Mechanics 40

 ANSYS Workbench
• Design project schematics with ANSYS Workbench

57:020 Fluid Mechanics 41

 ANSYS Design Modeler
• Create geometry using ANSYS Design Modeler

57:020 Fluid Mechanics 42

 ANSYS Mesh
• Create mesh using ANSYS Mesh

57:020 Fluid Mechanics 43

 ANSYS Fluent
• Setup and solve problem, and analyze results using
ANSYS Fluent

57:020 Fluid Mechanics 44

 57:020 Fluid Mechanics
• Lectures cover basic concepts in fluid statics,
kinematics, and dynamics, control-volume, and
differential-equation analysis methods. Homework
assignments, tests, and complementary EFD/CFD
labs
• This class provides an introduction to all three tools:
AFD through lecture and CFD and EFD through labs
• ISTUE Teaching Modules (
http://www.iihr.uiowa.edu/~istue) (next two slides)

57:020 Fluid Mechanics 45

 TM Descriptions
Table 1: ISTUE Teaching Modules for Introductory Level Fluid Mechanics at Iowa
Teaching Modules TM for Fluid TM for Pipe Flow TM for Airfoil Flow
Property

Overall Purpose Hands-on student Hands-on student experience Hands-on student experience with
experience with table-top with complementary EFD, CFD, complementary EFD, CFD, and UA
facility and simple MS for and UA for Introductory Pipe for Introductory Airfoil Flow,
fluid property Flow, including friction factor including lift and drag, surface
measurement, including and mean velocity measurements pressure, and mean and turbulent
comparison manufacturer and comparisons benchmark wake velocity profile measurements
values and rigorous data, laminar and turbulent flow and comparisons benchmark data,
implementation standard CFD simulations, modeling and inviscid and turbulent flow
EFD UA verification studies, and simulations, modeling and verification
validation using AFD and EFD. studies, and validation using AFD and
EFD.

Educational Materials FM and EFD lecture; lab FM, EFD and CFD lectures; lab FM, EFD and CFD lectures; lab
report instructions; pre lab report instructions; pre lab report instructions; pre lab questions,
questions, and EFD questions, and EFD and CFD and EFD and CFD exercise notes.
exercise notes. exercise notes.

ISTUE ASEE papers Paper 1 Paper2 Paper 3

FM Lecture Introduction to Fluid Mechanics
Lab Report Instructions EFD lab report Instructions CFD lab report Instructions

Continued in next slide…

http://css.engineering.uiowa.edu/~fluids
57:020 Fluid Mechanics 46
 TM Descriptions, cont’d
Teaching Modules TM for Fluid Property TM for Pipe Flow TM for Airfoil Flow

CFD Lecture Introduction to CFD

Exercise Notes None CFD Prelab1 CFD Prelab2
PreLab1 Questions PreLab 2 Questions
CFD CFD Lab 1 CFD Lab2
Lab1 Concepts Lab2 Concepts
CFDLab1-template.doc CFDLab2-template.doc

EFD Data EFD Data

EFD EFD and UA
Lecture
Exercise Notes PreLab1 Questions PreLab2 Questions PreLab3 Questions
Lab1 Lecture Lab2 Lecture Lab3 Lecture
EFD
Lab 1 exercise notes Lab 2 exercise notes Lab 3 exercise notes
Lab 1 data reduction sheet Lab2 data reduction sheet Lab 3 data reduction sheet
Lab1 concepts (smooth & rough) Lab3 concepts
EFDlab2-template.doc
Lab2 concepts

UA(EFD) References: EFD UA Report; EFD UA Summary; EFD UA Example

UA(CFD)

57:020 Fluid Mechanics 47