Tme085 L15 PDF

Compressible Flow - TME085
Lecture 15
Niklas Andersson
Chalmers University of Technology

Department of Mechanics and Maritime Sciences
Division of Fluid Mechanics
Gothenburg, Sweden
niklas.andersson@chalmers.se
Overview shock
reflection
expansion
fans
shock
noncon-
servation
form
substantial
derivative
expansion entropy
theory equation
governing conser-
oblique equations vation
shocks form
governing
2D Flow
friction nozzles equations
Crocco’s
equation
heat
addition Quasi
1D Flow moving
diffusers shocks
1D Flow Conservation
normal
shocks laws PDE:s shock
reflection
integral form
traveling
isentropic waves
flow
acoustic
waves
governing
equations method finite
of char- non-linear
energy
acteristics waves
Compressible flow
Boundary
mo- conditions
mentum continuity
flow
regimes
Com- Shock
speed of pressibility handling
sound
Basic
CFD
Concepts
Spatial
dis-
thermally
perfect cretization
gas
Thermo- Time
High tem- equilibrium
dynamics gas integration
calorically perature Numerical
perfect effects
gas schemes
Boltzmann
entropy 1:st and distribution
2:nd law molecular
motion
internal
energy
Chapter 6
Differential Conservation
Equations for Inviscid Flows
Niklas Andersson - Chalmers 3 / 57

Overview
noncon- substantial
servation derivative
form
n entropy
equation
governing conser-
equations vation
form
governing
nozzles equations
Crocco’s
equation
Quasi
1D Flow moving
diffusers shocks
PDE:s shock
reflection
traveling
waves
acoustic
waves
Addressed Learning Outcomes
4 Present at least two different formulations of the governing

equations for compressible flows and explain what basic
conservation principles they are based on
the governing equations for compressible flows on

differential form - finally ...

Roadmap - Differential Equations for Inviscid Flows
Control volume formulations:
conservation of mass PDE:s on conservation form

conservation of momentum
conservation of energy
The substantial derivative:

PDE:s on non-conservation form
D ∂
= +v·∇
Dt ∂t
The entropy equation
Crocco’s theorem

Chapter 6.2
Differential Equations in
Conservation Form

Differential Equations in Conservation Form
Basic principle to derive PDE:s in conservation form:

I Start with control volume formulation
I Convert to volume integral via Gauss Theorem
I Arbitrary control volume implies that integrand equals to zero
everywhere

Continuity Equation
Mass conservation:
Control volume formulation
d y {
ρdV + ρv · ndS = 0
dt
Ω ∂Ω
where Ω is a fixed control volume
Applying Gauss Theorem gives

{ y
ρv · ndS = ∇ · (ρv)dV
∂Ω Ω
Also,
d y y ∂ρ
ρdV = dV
dt ∂t
Ω Ω
Continuity Equation
Therefore
y ∂ρ
+ ∇ · (ρv) dV = 0
∂t
Ω
Ω is an arbitrary control volume, can be made infinitesimally small

and thus
∂ρ
+ ∇ · (ρv) = 0
∂t
which is the continuity equation

Momentum Equation
Momentum conservation:
d y { y
ρvdV + [ρ(v · n)v + pn] dS = ρfdV
dt
Ω ∂Ω Ω
{ y { y
ρ(v · n)vdS = ∇ · (ρvv)dV ; pndS = ∇pdV
∂Ω Ω ∂Ω Ω
Also,
d y y ∂
ρvdV = (ρv)dV
dt ∂t
Ω Ω
Momentum Equation
Therefore
y ∂
(ρv) + ∇ · (ρvv) + ∇p − ρf dV = 0
∂t
Ω

and thus
∂
(ρv) + ∇ · (ρvv) + ∇p = ρf
∂t
which is the momentum equation

Momentum Equation
In cartesian form (v = uex + vey + wez ):
∂ ∂p
(ρu) + ∇ · (ρuv) + = ρfx
∂t ∂x
∂ ∂p
(ρv) + ∇ · (ρvv) + = ρfy
∂t ∂y
∂ ∂p
(ρw) + ∇ · (ρwv) + = ρfz
∂t ∂z

Momentum Equation
or expanded:
∂ ∂ ∂ ∂ ∂p
(ρu) + (ρuu) + (ρuv) + (ρuw) + = ρfx
∂t ∂x ∂y ∂z ∂x
∂ ∂ ∂ ∂ ∂p
(ρv) + (ρvu) + (ρvv) + (ρvw) + = ρfy
∂t ∂x ∂y ∂z ∂y
∂ ∂ ∂ ∂ ∂p
(ρw) + (ρwu) + (ρwv) + (ρww) + = ρfz
∂t ∂x ∂y ∂z ∂z

Momentum Equation
∂
(ρv) + ∇ · (ρvv) + ∇p = ρf
∂t
 
(ρuu + p) ρuv ρuw
 ρvu (ρvv + p) ρvw  = ρvv + pI
ρwu ρwv (ρww + p)
∂
(ρv) + ∇ · (ρvv + pI) = ρf
∂t

Energy Equation
Energy conservation:
d y { y
ρeo dV + ρho (v · n)dS = ρf · vdV
dt
Ω ∂Ω Ω

{ y
ρho (v · n)dS = ∇ · (ρho v)dV
∂Ω Ω
Also,
d y y ∂
ρeo dV = (ρeo )dV
dt ∂t
Ω Ω
Energy Equation
Therefore
y ∂
(ρeo ) + ∇ · (ρho v) − ρ(f · v) dV = 0
∂t
Ω

and thus
∂
(ρeo ) + ∇ · (ρho v) = ρ(f · v)
∂t
which is the energy equation

Partial Differential Equations in Conservation Form
∂ρ
+ ∇ · (ρv) = 0
∂t
∂
(ρv) + ∇ · (ρvv) + ∇p = ρf
∂t
∂
(ρeo ) + ∇ · (ρho v) = ρ(f · v)
∂t
These equations are referred to as PDE:s on conservation form

since they stem directly from the integral conservation equations
applied to a fixed control volume

conservation of mass

PDE:s on conservation form

D ∂
= +v·∇
Dt ∂t
Crocco’s theorem

Chapter 6.4
Differential Equations in
Non-Conservation Form

The Substantial Derivative
Introducing the substantial derivative operator
D ∂
= +v·∇
Dt ∂t
”... the time rate of change of any quantity associated with a particular moving fluid element is given by
the substantial derivative ...”
”... the properties of the fluid element are changing as it moves past a point in a flow because the
flowfield itself may be fluctuating with time (the local derivative) and because the fluid element is simply
on its way to another point in the flowfield where the properties are different (the convective derivative)
...”

Non-Conservation Form of Continuity Equation
Applying the substantial derivative operator to density gives
Dρ ∂ρ
= + v · ∇ρ
Dt ∂t
Continuity equation:
∂ρ ∂ρ
+ ∇ · (ρv) = + v · ∇ρ + ρ(∇ · v) = 0 ⇒
∂t ∂t
Dρ
+ ρ(∇ · v) = 0
Dt

Non-Conservation Form of Continuity Equation
Dρ
+ ρ(∇ · v) = 0
Dt
”... the mass of a fluid element made up of a fixed set of

particles (molecules or atoms) is constant as the fluid
element moves through space ...”

Non-Conservation Form of Momentum Equation
∂
(ρv) + ∇ · (ρvv + pI) = ρf ⇒
∂t
∂v ∂ρ
ρ +v + ρv · ∇v + v(∇ · ρv) + ∇p = ρf ⇒
∂t ∂t

∂v ∂ρ
ρ + v · ∇v +v + ∇ · ρv +∇p = ρf
∂t ∂t
| {z } | {z }
= Dv =0
Dt
Dv 1
+ ∇p = f
Dt ρ

Non-Conservation Form of Energy Equation
∂
(ρeo ) + ∇ · (ρho v) = ρ(f · v) + ρq̇
∂t
p
h o = eo + ⇒
ρ
∂
(ρeo ) + ∇ · (ρeo v) + ∇ · (pv) = ρ(f · v) + ρq̇ ⇒
∂t
∂eo ∂ρ
ρ + eo + ρv · ∇eo + eo ∇ · (ρv) + ∇ · (pv) = ρ(f · v) + ρq̇ ⇒
∂t ∂t

∂eo ∂ρ
ρ + v · ∇eo +eo + ∇ · (ρv) +∇ · (pv) = ρ(f · v) + ρq̇
∂t ∂t
| {z } | {z }
= Deo =0
Dt

Deo
ρ + ∇ · (p + v) = ρf · v + ρq̇
Dt
1
eo = e + v · v ⇒
2
De Dv
ρ + ρv · + ∇ · (pv) = ρf · v + ρq̇
Dt Dt

Dv 1
Using the momentum equation, + ∇p = f , gives
Dt ρ
De
ρ − v · ∇p + ρf · v + v · ∇p + p(∇ · v) = ρf · v + ρq̇ ⇒
Dt
De p
+ (∇ · v) = q̇
Dt ρ
De p
+ (∇ · v) = q̇
Dt ρ
From the continuity equation we get
Dρ 1 Dρ
+ ρ(∇ · v) = 0 ⇒ ∇ · v = − ⇒
Dt ρ Dt

De p Dρ De D 1
− 2 = q̇ ⇒ +p = q̇
Dt ρ Dt Dt Dt ρ
De Dν
= q̇ − p
Dt Dt
where ν = 1/ρ
Compare with first law of thermodynamics: de = δq − δW
If we instead express the energy equation in terms of enthalpy:

De D 1 De D 1
= q̇ − p ⇒ +p = q̇
Dt Dt ρ Dt Dt ρ

p Dh De 1 Dp D 1
h=e+ ⇒ = + +p ⇒
ρ Dt Dt ρ Dt Dt ρ
Dh 1 Dp
= q̇ +
Dt ρ Dt

and total enthalpy ...
1 Dho Dh Dv
ho = h + v · v ⇒ = +v·
2 Dt Dt Dt
From the momentum equation we get
Dv Dv 1
ρ + ∇p = f ⇒ = − ∇p + f ⇒
Dt Dt ρ
Dho Dh 1
= − v · ∇p + f · v ⇒
Dt Dt
|{z} ρ
Dp
q̇+ ρ1 Dt

Dho 1 Dp
= q̇ + − v · ∇p + f · v
Dt ρ Dt

Dho 1 Dp
= q̇ + − v · ∇p + f · v
Dt ρ Dt
Dp
Expanding the substantial derivative gives
Dt
Dp ∂p
= + v · ∇p ⇒
Dt ∂t
Dho 1 ∂p
= + q̇ + f · v
Dt ρ ∂t
Let’s examine the above relation ...

Dho 1 ∂p
= + q̇ + f · v
Dt ρ ∂t
The total enthalpy of a moving fluid element in an inviscid flow

can change due to
I unsteady flow: ∂p/∂t 6= 0
I heat transfer: q̇ 6= 0
I body forces: f · v 6= 0

Adiabatic flow and without body forces ⇒
Dho 1 ∂p
=
Dt ρ ∂t
Steady-state adiabatic flow without body forces ⇒
Dho
=0
Dt
ho is constant along streamlines!

Additional Form of Energy Equation
Start from

De D 1
= q̇ − p
Dt Dt ρ
Calorically perfect gas:
R
e = Cv T ; Cv = ; p = ρRT ; γ, R = const
γ−1

De DT R D p 1 D p
= Cv = = ⇒
Dt Dt γ − 1 Dt ρR γ − 1 Dt ρ

1 D p D 1
= q̇ − p ⇒
γ − 1 Dt ρ Dt ρ

1 D 1 1 Dp D 1
p + = q̇ − p
γ − 1 Dt ρ ρ Dt Dt ρ

D 1 1 Dp D 1
p + = (γ − 1)q̇ − (γ − 1)p
Dt ρ ρ Dt Dt ρ

D 1 1 Dp
γp + = (γ − 1)q̇
Dt ρ ρ Dt

Continuity:

Dρ D 1 1 Dρ 1
= −ρ(∇ · v) ⇒ =− 2 = (∇ · v) ⇒
Dt Dt ρ ρ Dt ρ

γp 1 Dp
(∇ · v) + = (γ − 1)q̇
ρ ρ Dt

Dp
+ γp(∇ · v) = (γ − 1)ρq̇
Dt
Adiabatic flow (no added heat):
Dp
+ γp(∇ · v) = 0
Dt
Non-conservation form (calorically perfect gas)

Conservation Form
∂Q ∂E ∂F ∂G
+ + + =0
∂t ∂x ∂y ∂z
where Q(x, y, z, t), E(x, y, z, t), ... may be scalar or vector fields
Example: the continuity equation
∂ρ ∂ ∂ ∂
+ (ρu) + (ρv) + (ρw) = 0
∂t ∂x ∂y ∂z
If an equation cannot be written in this form, it is said to be in

non-conservation form

Euler Equations - Conservation Form
Continuity, momentum and energy equations in Cartesian coordinates, velocity components u, v, w (no body forces, no
added heat)
∂ρ ∂ ∂ ∂
+ (ρu) + (ρv) + (ρw) = 0
∂t ∂x ∂y ∂z
∂ ∂ ∂ ∂
(ρu) + (ρuu + p) + (ρuv) + (ρuw) = 0
∂t ∂x ∂y ∂z
∂ ∂ ∂ ∂
(ρv) + (ρvu) + (ρvv + p) + (ρvw) = 0
∂t ∂x ∂y ∂z
∂ ∂ ∂ ∂
(ρw) + (ρwu) + (ρwv) + (ρww + p) = 0
∂t ∂x ∂y ∂z
∂ ∂ ∂ ∂
(ρeo ) + (ρho u) + (ρho v) + (ρho w) = 0
∂t ∂x ∂y ∂z

Euler Equations - Non-Conservation Form
Continuity, momentum and energy equations in Cartesian coordinates, velocity components u, v, w (no body forces, no
added heat), calorically perfect gas

∂ρ ∂ρ ∂ρ ∂ρ ∂u ∂v ∂w
+u +v +w +ρ + + =0
∂t ∂x ∂y ∂z ∂x ∂y ∂z
∂u ∂u ∂u ∂u 1 ∂p
+u +v +w + =0
∂t ∂x ∂y ∂z ρ ∂x
∂v ∂v ∂v ∂v 1 ∂p
+u +v +w + =0
∂t ∂x ∂y ∂z ρ ∂y
∂w ∂w ∂w ∂w 1 ∂p
+u +v +w + =0
∂t ∂x ∂y ∂z ρ ∂z

∂p ∂p ∂p ∂p ∂u ∂v ∂w
+u +v +w + γp + + =0
∂t ∂x ∂y ∂z ∂x ∂y ∂z

Conservation and Non-Conservation Form
The governing equations on non-conservation form are not,

although the name might give that impression, less physically
accurate than the equations on conservation form. The
nomenclature comes from CFD where the equations on
conservation form are preferred.

Conservation and Non-Conservation Form
Conservation forms are useful for:

1. Numerical methods for compressible flow
2. Theoretical understanding of non-linear waves (shocks etc)
3. Provide link between integral forms (control volume
formulations) and PDE:s
Non-conservation forms are useful for:

1. Theoretical understanding of behavior of numerical methods
2. Theoretical understanding of boundary conditions
3. Analysis of linear waves (aero-acoustics)


D
Dt
=

∂
∂t
+v·∇

Crocco’s theorem

Chapter 6.5
The Entropy Equation

From the first and second law of thermodynamics we have

De Ds D 1
=T −p
Dt Dt Dt ρ
which is called the entropy equation

Compare the entropy equation

De Ds D 1
=T −p
Dt Dt Dt ρ
with the energy equation (inviscid flow):

De D 1
= q̇ − p
Dt Dt ρ
we see that
Ds
T = q̇
Dt

If q̇ = 0 (adiabatic flow) then
Ds
=0
Dt
i.e., entropy is constant for moving fluid element
Furthermore, if the flow is steady we have
Ds ∂s
= + (v · ∇)s = (v · ∇)s = 0
Dt ∂t
i.e., entropy is constant along streamlines


D
Dt
=

∂
∂t
+v·∇


Crocco’s theorem

Chapter 6.6
Crocco’s Theorem

Crocco’s Theorem
”... a relation between gradients of total enthalpy,

gradients of entropy, and flow rotation ...”

Crocco’s Theorem
Momentum equation (no body forces)
Dv
ρ = −∇p
Dt
Writing out the substantial derivative gives
∂v ∂v 1
ρ + ρv · ∇v = −∇p ⇒ + v · ∇v = − ∇p
∂t ∂t ρ
First and second law of thermodynamics (energy equation)
1
dh = Tds + dp
ρ
Replace differentials with a gradient operator
1 1
∇h = T ∇s + ∇p ⇒ T ∇s = ∇h − ∇p
ρ ρ
Crocco’s Theorem
With pressure derivative from the momentum equation inserted in
the energy equation we get
∂v
T ∇s = ∇h + + v · ∇v
∂t
1 1
h = ho − v · v ⇒ ∇h = ∇ho − ∇( v · v)
2 2
1
∇( v · v) = v × (∇ × v) + v · ∇v
2
∇(A · B) = (A · ∇)B + (B · ∇)A + A × (∇ × B) + B × (∇ × A)
A=B=v⇒
∇(v · v) = 2[v · ∇v + v × (∇ × v)]

Crocco’s Theorem
∂v
T ∇s = ∇ho − v × (∇ × v) − v · ∇v + + v · ∇v
∂t
∂v
T ∇s = ∇ho + − v × (∇ × v)
∂t
Note: ∇ × v is the vorticity of the fluid

1
the rotational motion of the fluid is described by the angular velocity ω = (∇ × v)
2

Crocco’s Theorem
∂v
T ∇s = ∇ho + − v × (∇ × v)
∂t
”... when a steady flow field has gradients of total

enthalpy and/or entropy Crocco’s theorem dramatically
shows that it is rotational ...”

Crocco’s Theorem - Example
Curved stationary shock (steady-state flow)
shock
M∞ constant
ho constant
s constant
I s is constant upstream of shock

I jump in s across shock depends on local shock angle
I s will vary from streamline to streamline downstream of shock
I ∇s 6= 0 downstream of shock

Curved stationary shock (steady-state flow)
shock
M∞ constant
ho constant
s constant
I Total enthalpy upstream of shock

I ho is constant along streamlines
I ho is uniform
I Total enthalpy downstream of shock
I ho is uniform
∇ho = 0

Crocco’s equation for steady-state flow:
T ∇s = ∇ho − v × (∇ × v)
I v × (∇ × v) 6= 0 downstream of a curved shock

I the rotation ∇ × v 6= 0 downstream of a curved shock
Explains why it is difficult to solve such problems by analytic

means!


D
Dt
=

∂
∂t
+v·∇



Crocco’s theorem

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Compressible Flow - TME085

Chalmers University of Technology

Niklas Andersson - Chalmers 3 / 57

4 Present at least two different formulations of the governing

the governing equations for compressible flows on

Niklas Andersson - Chalmers 5 / 57

Control volume formulations:

conservation of mass PDE:s on conservation form

The substantial derivative:

Niklas Andersson - Chalmers 6 / 57

Niklas Andersson - Chalmers 7 / 57

Basic principle to derive PDE:s in conservation form:

Niklas Andersson - Chalmers 8 / 57

Control volume formulation

where Ω is a fixed control volume

Applying Gauss Theorem gives

Ω is an arbitrary control volume, can be made infinitesimally small

which is the continuity equation

Niklas Andersson - Chalmers 10 / 57

Control volume formulation

Applying Gauss Theorem gives

Ω is an arbitrary control volume, can be made infinitesimally small

which is the momentum equation

Niklas Andersson - Chalmers 12 / 57

In cartesian form (v = uex + vey + wez ):

Niklas Andersson - Chalmers 13 / 57

Niklas Andersson - Chalmers 14 / 57

Niklas Andersson - Chalmers 15 / 57

Control volume formulation

where Ω is a fixed control volume

Applying Gauss Theorem gives

Ω is an arbitrary control volume, can be made infinitesimally small

which is the energy equation

Niklas Andersson - Chalmers 17 / 57

These equations are referred to as PDE:s on conservation form

Niklas Andersson - Chalmers 18 / 57

Control volume formulations:

The substantial derivative:

Niklas Andersson - Chalmers 19 / 57

Niklas Andersson - Chalmers 20 / 57

Introducing the substantial derivative operator

Niklas Andersson - Chalmers 21 / 57

Applying the substantial derivative operator to density gives

Niklas Andersson - Chalmers 22 / 57

”... the mass of a fluid element made up of a fixed set of

Niklas Andersson - Chalmers 23 / 57

Niklas Andersson - Chalmers 24 / 57

Niklas Andersson - Chalmers 25 / 57

If we instead express the energy equation in terms of enthalpy:

Niklas Andersson - Chalmers 28 / 57

From the momentum equation we get

Let’s examine the above relation ...

The total enthalpy of a moving fluid element in an inviscid flow

Niklas Andersson - Chalmers 31 / 57

Adiabatic flow and without body forces ⇒

Steady-state adiabatic flow without body forces ⇒

ho is constant along streamlines!

Niklas Andersson - Chalmers 32 / 57

Calorically perfect gas:

Niklas Andersson - Chalmers 34 / 57

Niklas Andersson - Chalmers 35 / 57

Adiabatic flow (no added heat):

Non-conservation form (calorically perfect gas)