2.

20 Marine Hydrodynamics, Fall 2014

Lecture 10
c 2014 MIT - Department of Mechanical Engineering, All rights reserved.
Copyright

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 flow velocity v at boundaries.

= Un
n

(d) Dynamic Boundary Conditions - specify force F or pressure p at flow boundary.

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

The boundary conditions in more detail:

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

n =
v
n = |{z}
U
|{z}
fluid velocity

boundary velocity

Un
|{z}

= Given

nornal boundary velocity

v =

n
= Un
(n1

+ n2
+ n3
) = Un
x1
x2
x3

=
n

Un

v
U

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

KBC : (Lecture 19)

Free surface DBC : ( + 1 ( ) 2 + gy ) + C (t ) = GIVEN

t
23

21
non linear

2 = 0
1
2
p = (t + ( ) + gy ) + C (t )
2

Solid boundary KBC :

= U n = GIVEN
n

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

3.8 Linear Superposition for Potential Flow

In the absence of dynamic boundary conditions, the potential flow 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 satisfied, 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 flow with source at xi , i.e.,

 
( )
( )
1
ln x xi 
(in 2D)
i x source x, xi =
2
(  )1
= 4 x xi 
(in 3D),
then find mi such that
=

mi i (x) satisfies KBC on B

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

/ V.
v
x 2
v
x 1

2 = 0 in V
v
v
x 3 x 4

=f
n

Figure 1: Note: xj , j = 1, . . . , 4 are not in the fluid 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

P ( x, y , z )

x
ex

e y

3.9.2 Cylindrical (r,,z)

r2 = 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
z
|r {z r r} r
1
r
r r ( r )
(
)
1

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

2 =

ez
P (r , , z )

x
ex

e y

3.9.3 Spherical (r,,)

r 2 = x2 + y 2 + z 2 ,
= cos1 (z/r) z = r (cos )
= tan1 (y/x)
(
) (
)
1
1

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

(
)
2 2
1

1
2
+
+
sin

=
2
2

r2 sin2 2
|r {z r r} r sin
1
(r2
r )
r 2 r
(
)
(
)

1
1

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

r sin 2
2

ez
P (r , , )

r
O

x
ex

e y

3.10 Simple Potential ows

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

= U x + constant = U y + constant;

2D:

= U x + V y + constant = U y V x + constant;

v = (U, 0, 0)

v = (U, V, 0)

3D: = U x + V y + W z + constant

v = (U, V, W )

2. Source (sink) ow
2D, Polar coordinates
1
=
r r
2

(
)

1 2
r
+ 2 2 , with r = x2 + y 2
r
r

An axisymmetric
solution: = a ln r + b. Verify that it satisfies 2 = 0, except at

r = x2 + y 2 = 0. Therefor, r = 0 must be excluded from the flow.

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

m
ln r
2

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

source
(strength m)

Net outward volume flux is

H

v n
ds =

vds =

v n
ds =

vr r d =
|{z}

vds

m
2r

m
|{z}
source
strength

y
n

C
S
x

S
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

Vr =

=0

10

m
2

3D: Spherical coordinates

1
= 2
r r
2

)
(
) (

2
,
, , where r = x2 + y 2 + z 2
r
+
r

A spherically symmetric solution: =

a
+ b. Verify 2 = 0 except at r = 0.
r

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

=

m
vr =
=
, v = 0, v = 0
4r
r
4r2

Net outward volume flux is

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

11

3. 2D point vortex
1
=
r r
2

(
)

1 2
r
+ 2 2
r
r

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

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

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

Stream function:
=

ln r
2

Circulation:

v dx =

C1

v dx +

v dx =

C1 C2
}
| {z
z dS=0

C2

z = 0

C2
C1

12

rd =
2r

|{z}
vortex
strength

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


2
2
lim =
ln (x ) + y 
a0
2

=0
|{z}
= 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 cos + y sin
cos cos + sin sin
=
2
2
2
x +y
2
r

3D dipole:

1
where = 2ma fixed

a0
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 

= lim

=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

2D: = U x +

m 2
ln x + y 2
2

v
stagnation point v = 0
Dividing
Streamline

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

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

15

m
.
U

3D: = U x

4 x2 + y 2 + z 2

stagnation point
div. streamlines

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

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

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

16

m
.
U

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

+m

-m

dividing streamline
(see this with PFLOW)

To have a closed body, a necessary condition is to have

min body = 0

2D Rankine ovoid:

m
= U x+
2

(
(
)
)

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

3D Rankine ovoid:
= Ux

1
m
1

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

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,
u=U+

m
2a
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 +
2r2

x=r cos

)
cos U r +
2r

The radial velocity is then

ur =

)
= cos U
.
r
2r2

Setting the radial velocity vr = 0 on r = a we obtain a =

for a stationary circle of radius a. Therefore, for
= 2U a2
the potential

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

19

.
2U

This is the K.B.C.

(
= U cos r +
V =

a2
r

(
)
2
= U sin 1 + ar2
{
= 0 at = 0,
stagnation points
= 2U sin
3
= 2U at = 2 , 2 maximum tangential velocity

1
r

V |r=a

2U

2U

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

3D: = U x +

(
cos
)
=
U
r
cos

1
+
4 r2
4r3

The radial velocity is then

vr =

)
= cos U
r
2r3

20

Setting the radial velocity vr = 0 on r = a we obtain a =

for a stationary sphere of radius a. Therefore, choosing

2U

. This is the K.B.C.

= 2U a3
(
)
the potential = U r cos 1 +
is the solution to ideal flow past a sphere of
4r3
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,
sin
v |r=a =
= 3U
at = 2
2
2

3/
2

3/
2

21

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

( 2
)

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

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

ur =

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
y

x
=0

22

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

=0

=0

=2/3, = 0

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

2 4
, ,2
3 3

120o

120o
120

=4/3, = 0

23

=0, = 0
=2, = 0

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 infinite plate, flow around a tip)
=0, = 0
=2, = 0

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

=3/2, = 0

In general the potential for a corner located at (x0 , y0 ) with an angle 0 with
respect to the positive x axis is

y y0
) 0 ]}
= r cos = [ (x x0 )2 + (y y0 )2 ] cos{[tan1 (
x x0
24

Appendix A1: Summary of Simple Potential Flows

Cartesian Coordinate System
Flow

Streamlines

Uniform flow

m
2

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

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

Stream function
(x, y)

U x + V y + W z

U y V x

m
4

3D streamline

ln((x xo )2 + (y yo )2 ) 2

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

Vortex () at (xo , yo )

3D streamline

25

yyo
arctan( xx
)
o

m
2

yyo
arctan( xx
)
o

vector

ln((x x )2 + (y y )2 )
2
o
o

(xxo ) cos +(yyo ) sin

(xxo )2 +(yyo )2

(yyo ) cos +(xxo ) sin

2
(xxo )2 +(yyo )2

(xxo )
((xxo )2 +(yyo )2 +(zzo )2 )3/2

vector

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

3D Dipole (+x) () at (xo , y0 , zo )

Potential
(x, y, z)

Appendix A2: Summary of Simple Potential Flows

Cylindrical Coordinate System
Flow

Streamlines

Uniform flow

Potential
(r, , z)

Stream function
(r, )

U r cos + V r sin + W z

U r sin V r cos

m
2

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

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

3D streamline

Vortex () at (xo , yo )

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

3D Dipole (+x) () at (xo , yo , zo )

3D streamline

ln r

m
4r

vector

ln r
2

cos cos +sin sin

2
r

sin cos +cos sin

2
r

cos
4
2

vector

26

m
2

Appendix A3: Combination of Simple Potential Flows

m
xs = 2U

(2D)

= U x +

m
2

ln r

Rankine Half Body

(3D)

= U x

m
4

Stream + Source + Sink

(2D)

= U x +

m
2

[
]
ln((x + a)2 + y 2 ) ln((x a)2 + y 2 )

Rankine Closed Body

(3D)

= U x +

m
1
4 ( (x+a)2 +y 2 +z 2

Stream + Dipole

(2D)

= U x +

x
2r 2

if = 2a2 U

= U cos (r +

a2
r )

Circle (Sphere) R = a

(3D)

= U x +

cos
4r 2

if = 2a3 U

= U cos (r +

a3
2r 2 )

2D Corner Flow

(2D)

= Cr cos()

= Cr sin()

0 = 0, n

Stream + Source
=

x2 +y 2 +z 2

xs =

m
4U

D=

m
U

A=

m
U

1
)
(xa)2 +y 2 +z 2

27

Appendix B: Far Field Behavior of Simple Potential Flows

Far field behavior
r >> 1

(2D) ln r

v =

1
r

Source
(3D)

1
r

1
r2

(2D)

1
r

1
r2

(3D)

1
r2

1
r3

Vortex

(2D)

1
r

Corner Flow

(2D)

Dipole

28

r1