2.

20 - Marine Hydrodynamics, Spring 2005

Lecture 10

2.20 - Marine Hydrodynamics

Lecture 10

3.7 Governing Equations and Boundary Conditions for P-Flow

3.7.1 Governing Equations for P-Flow

(a) Continuity 2 = 0

1 2
(b) Bernoulli for P-Flow (steady or unsteady) p = t + || + gy + C(t)
2

3.7.2 Boundary Conditions for P-Flow

Types of Boundary Conditions:

(c) Kinematic Boundary Conditions - specify the ow velocity v at boundaries. = Un
n
(d) Dynamic Boundary Conditions - specify force F or pressure p at ow boundary.

1 2
p = t + () + gy + C (t) (prescribed)
2

The boundary conditions in more detail:

Kinematic Boundary Condition on an impermeable boundary (no ux condition)

v n =
U n = Un = Given

uid velocity boundary velocity nornal boundary velocity
v =

n = Un

(n1 + n2 + n3 ) = Un
x1 x2 x3

= Un
n

v
U

n = (n1 , n 2 , n 3 )
v
v
( )

Dynamic Boundary Condition: In general, pressure is prescribed

1 2
p = t + () + gy + C (t) = Given
2

3.7.3 Summary: Boundary Value Problem for P-Flow

The aforementioned governing equations with the boundary conditions formulate the

Boundary Value Problem (BVP) for P-Flow.

The general BVP for P-Flow is sketched in the following gure.

KBC : (Lecture 19)

Free surface DBC : ( + 1 ( ) 2 + gy ) + C (t ) = GIVEN
t
21 23
non linear

2 = 0

p = (t + ( ) + gy ) + C (t )
1 2

Solid boundary KBC : = U n = GIVEN
n

It must be pointed out that this BVP is satised instantaneously.

3.8 Linear Superposition for Potential Flow

In the absence of dynamic boundary conditions, the potential ow boundary value
problem is linear.

Potential function .

2 = 0 in V

= U n =f on B
n

Stream function .

2 = 0 in V

=g on B

Linear
Superposition: if 1 , 2 , . . . are harmonic functions, i.e., 2 i = 0, then =
i i , where i are constants, are also harmonic, and is the solution for the boundary
value problem provided the kinematic boundary conditions are satised, i.e.,

= (1 1 + 2 2 + . . .) = Un on B.
n n
The key is to combine known solution of the Laplace equation in such a way as to satisfy

the kinematic boundary conditions (KBC).

The same is true for the stream function . The K.B.C specify the value of on the

boundaries.

3.8.1 Example

Let i x denote a unit-source ow with source at xi , i.e.,

i x source x,
xi
=
ln x
xi
(in 2D)

1
= 4 x xi (in 3D),

then nd mi such that

= mi i (x) satises KBC on B
i

Caution: must be regular for x V , so it is required that x

/ V.

v
x 2

v
x 1
2 = 0 in V

v
x 3 x 4
v

=f
n

Figure 1: Note: xj , j = 1, . . . , 4 are not in the uid domain V .

3.9 - Laplace equation in dierent coordinate systems (cf Hildebrand 6.18)

3.9.1 Cartesian (x,y,z)

i
j
k
v = u, v, w = = , ,
x y z

2 2 2
2 = + + 2
x2 y 2 z

ez
z

P ( x, y , z )

O y e y

x
ex

3.9.2 Cylindrical (r,,z)

r 2 = x2 + y 2 ,
= tan1 (y/x)

e e e 1
r z
v = vr , v , vz = , ,
r r z

2 1 1 2 2
2 = 2
+ + 2 2 + 2
r r r r z
r r ( r )
1
r

2 1 1 2 2
= r + 2 2 + 2
r r r r z

ez
z

P (r , , z )

O y e y
r
x
ex

3.9.3 Spherical (r,,)

r 2 = x2 + y 2 + z 2 ,
= cos1 (z/r) z = r (cos )
= tan1 (y/x)

er e e 1 1
v = = vr , v , v = , ,
r r r(sin )

2 2 2 1 1 2
= + + sin +
2 2
r r r r sin r2 sin2 2
1
r 2 r
(r2
r )

2 1 2 1 1 2
= 2 r + 2 sin + 2 2
r r r r sin r sin 2

ez
z

P (r , , )

O y e y

x
ex

3.10 Simple Potential ows

1. Uniform Stream 2 (ax + by + cz + d) = 0

1D: = U x + constant = U y +
constant;
v = (U, 0, 0)

2D: = U x + V y + constant = U y V x +
constant;
v = (U, V, 0)

3D: = U x + V y + W z +
constant
v = (U, V, W )

2. Source (sink) ow

2D, Polar coordinates

2 1 1 2
= r + 2 2 , with r = x2 + y 2
r r r r
An axisymmetric
solution: = a ln r + b. Verify that it satises 2 = 0, except at
r = x2 + y 2 = 0. Therefor, r = 0 must be excluded from the ow.

Dene 2D source of strength m at r= 0:

m
= ln r
2

m m
= er = er vr = , v = 0
r 2r 2r

source
y
(strength m)

Net outward volume ux is

v nds = vds = vds
C S S

2
v nds = vr r d = m

C 0

m
2r source
strength
y
n C
S
x

If m < 0 sink. Source m at (x0 , y0 ):

m
= ln (x x0 )2 + (y y0 )2
2
m m
= ln r (Potential function) = (Stream function)
2 2

m
=
y 2

m
Vr =
2
x
1
=0

10

3D: Spherical coordinates

2 1 2
= 2 r + , , , where r = x2 + y 2 + z 2
r r r
a
A spherically symmetric solution: = + b. Verify 2 = 0 except at r = 0.
r

Dene a 3D source of strength m at r = 0. Then

m m
= vr = = , v = 0, v = 0
4r r 4r2
Net outward volume ux is

m
vr dS = 4r2 = m (m < 0 for a sink )
4r2

11

3. 2D point vortex

2 1 1 2
= r + 2 2
r r r r
Another particular solution: = a + b. Verify that 2 = 0 except at r = 0.

Dene the potential for a point vortex of circulation at r = 0. Then

1
= vr = = 0, v = = and,
2 r r 2r
1
z = (rv ) = 0 except at r = 0
r r
Stream function:

= ln r
2
Circulation:

2

v dx = v dx + v dx = rd =

2r
C1 C2 C1 C2
R R
0 vortex
z dS=0 strength
S

12

4. Dipole (doublet ow)

A dipole is a superposition of a sink and a source with the same strength.

2D dipole:

m 2 2 2 2
= ln (x a) + y ln (x + a) + y
2


lim = ln (x ) + y
2 2
a0 2
=0
= 2ma
constant
x x
= =
2 x2 + y 2 2 r2

2D dipole (doublet) of moment at the origin oriented in the +x direction.

NOTE: dipole = (unit source)

13

unit
source
x

x cos + y sin cos cos + sin sin

= 2 2
=
2 x +y 2 r
3D dipole:

m

1 1

where = 2ma xed

= lim



a0 4
2 2 2 2 2 2
(x a)
+ y + z (x + a)
+ y + z

1
x x

=
= =
4
4 (x2 + y 2 + z 2 )3/2 4 r3
(x
)2 + y 2 + z 2
=0

3D dipole (doublet) of moment at the origin oriented in the +x direction.

14

5. Stream and source: Rankine half-body

It is the superposition of a uniform stream of constant speed U and a source of

strength m.

U
m

m 2
2D: = U x + ln x + y 2
2

U
m
x D

v
stagnation point v = 0

Dividing
Streamline

m x
u= =U+
x 2 x + y 2
2
m
u|y=0 = U + , v |y=0 = 0
2x
m
V = (u, v) = 0 at x = xs = , y=0
2U

m
For large x, u U , and U D = m by continuity D = .
U

15

 m
3D: = U x
4 x
2 + y 2 + z 2

stagnation point

div. streamlines

m x
u= =U+
x 4 (x + y + z 2 )3/2
2 2
m x
u|y=z=0 = U + , v |y=z=0 = 0, w|y=z=0 = 0
4 |x|3

m
V = (u, v, w) = 0 at x = xs = , y=z=0
4U

m
For large x, u U and U A = m by continuity A = .
U

16

6. Stream + source/sink pair: Rankine closed bodies

U S +m -m S x
a

dividing streamline
(see this with PFLOW)

To have a closed body, a necessary condition is to have min body = 0

2D Rankine ovoid:

m 2 2 2 2
m (x + a)2 + y 2
= U x+ ln (x + a) + y ln (x a) + y = U x+ ln
2 4 (x a)2 + y 2

3D Rankine ovoid:

m 1 1

= Ux
4 2 2
(x + a) + y2 + z2 (x a) + y2 + z2

17

For Rankine Ovoid,

m x+a xa
u= =U+
x 4 (x + a)2 + y 2 + z 2 3/2 (x a)2 + y 2 + z 2 3/2

m 1 1
u|y=z=0 =U +
4 (x + a)2 (x a)
2
m (4ax)

=U +
4 (x2 a2 )2

2 m

u|y=z=0 =0 at x2 a2 = 4ax
4U

At x = 0,

m 2a
u=U+ where R = y 2 + z 2
4 (a2 + R2 )3/2

Determine radius of body R0 :

R0
2 uRdR = m
0

18

7. Stream + Dipole: circles and spheres

r
U

x
2D: = U x + = cos U r +
2r2 2r
x=r cos
The radial velocity is then

ur = = cos U .
r 2r2

Setting the radial velocity vr = 0 on r = a we obtain a = 2U
. This is the K.B.C.
for a stationary circle of radius a. Therefore, for

= 2U a2

the potential
= cos U r +
2r
is the solution to ideal ow past a circle of radius a.
Flow past a circle (U, a).

19


a2
= U cos r + r
2

1
V = r
= U sin 1 + ar2

= 0 at = 0, stagnation points
V |r=a = 2U sin 3
= 2U at = 2 , 2 maximum tangential velocity

2U

2U

Illustration of the points where the ow reaches maximum speed around the circle.

cos
3D: = U x + = U r cos 1 +
4 r2 4r3

y

r
U
x
z

The radial velocity is then

vr = = cos U
r 2r3

20

Setting the radial velocity vr = 0 on r = a we obtain a = 3
2U
. This is the K.B.C.
for a stationary sphere of radius a. Therefore, choosing

= 2U a3

the potential
= cos U r +
2r
is the solution to ideal ow past a sphere of radius a.
Flow past a sphere (U, a).

a3
= Ur cos 1 + 3
2r

1 a3
v = = U sin 1 + 3
r 2r

3U = 0 at = 0,
v |r=a = sin
2 = 3U
2
at = 2

3/ U
2

3/ U
2

21

8. 2D corner ow Velocity potential = r cos ; Stream function = r sin

2
1 1 2
(a) 2 = r 2 + r r
+ r2 2
=0
(b)

ur = = r1 cos
r

u = = r1 sin
r
u = 0 { or = 0} on = n, n = 0, 1, 2, . . .

i.e., on = 0 = 0, , 2

, . . . (0 2)

i. Interior corner ow stagnation point origin: > 1. For example,

= 1, 0 = 0, , 2, u = 1, v = 0

=0

22

 3
= 2, 0 = 0, , , ,2 u = 2x, v = 2 y
o 2 2
(90 corner)

=0

=0

=2/3, = 0

2 4 =0, = 0
= 3 2 , 0 = 0, , ,2 120o 120o
3 3 =2, = 0
o
120
(120o corner)

=4/3, = 0

23

ii. Exterior corner ow, |v| at origin:

<1

0 = 0, only


Since we need 0 2, we therefore require
2, i.e., 1/2 only.

1/2 < 1

0 = 0,

For example,

= 1/2, 0 = 0, 2 (1/2 innite plate, ow around a tip)

=0, = 0

=2, = 0

= 2/3, 0 = 0, 3
2
(90o exterior corner)

=0, = 0

=3/2, = 0

24

Appendix A1: Summary of Simple Potential Flows

Cartesian Coordinate System

Flow Streamlines Potential Stream function
(x, y, z) (x, y)

Uniform ow U x + V y + W z U y V x

yyo
2D Source/Sink (m) at (xo , yo ) m
2
ln((x xo )2 + (y yo )2 ) m
2
arctan( xx )
o

3D Source/Sink (m) at (xo , yo , zo ) m q

4 1 NA
(xxo )2 +(yyo )2 +(zzo )2

yyo ln((x x )2 + (y y )2 )
Vortex () at (xo , yo ) 2
arctan( xx ) 2 o o
o

(xxo ) cos +(yyo ) sin (yyo ) cos +(xxo ) sin

2D Dipole () at (xo , yo ) at an angle 2
(xxo )2 +(yyo )2 2 (xxo )2 +(yyo )2

(xxo )
3D Dipole (+x) () at (xo , y0 , zo ) 4 NA
((xxo )2 +(yyo )2 +(zzo )2 )3/2

25

Appendix A2: Summary of Simple Potential Flows

Cylindrical Coordinate System

Flow Streamlines Potential Stream function
(r, , z) (r, )

Uniform ow U r cos + V r sin + W z U r sin V r cos

2D Source/Sink (m) at (xo , yo ) m ln r m

2 2

3D Source/Sink (m) at (xo , yo , zo ) m

4r NA

Vortex () at (xo , yo ) ln r
2
2

cos cos +sin sin sin cos +cos sin

2D Dipole () at (xo , yo ) at an angle 2 r 2 r

cos
3D Dipole (+x) () at (xo , yo , zo ) 4 2 NA
r

26

Appendix A3: Combination of Simple Potential Flows

m m m
Stream + Source (2D) = U x + 2 ln r xs = 2U
D= U

=

m 1 m m
Rankine Half Body (3D) = U x 4 xs = 4U A= U
x2 +y 2 +z 2

m

Stream + Source + Sink (2D) = U x + 2 ln((x + a)2 + y 2 ) ln((x a)2 + y 2 )

=
m 1 1
Rankine Closed Body (3D) = U x + 4 ( (x+a)2 +y 2 +z 2 )
(xa)2 +y 2 +z 2

x a2
Stream + Dipole (2D) = U x + 2r 2 if = 2a2 U = U cos (r + r )

=
cos a3
Circle (Sphere) R = a (3D) = U x + 4r 2 if = 2a3 U = U cos (r + 2r 2 )

2D Corner Flow (2D) = Cr cos() = Cr sin() 0 = 0, n

27

Appendix B: Far Field Behavior of Simple Potential Flows

Far eld behavior

v =
r >> 1

1
(2D) ln r
r
Source
1 1
(3D)
r r2

1 1
(2D)
r r2
Dipole
1 1
(3D)
r2 r3

1
Vortex (2D) 1
r

28