Continuum Mechanics Lecture 7 Theory of 2D potential flows

Prof. Romain Teyssier http://www.itp.uzh.ch/~teyssier

Continuum Mechanics 2011

07/05/11

Outline

- velocity potential and stream function - complex potential - elementary solutions - flow past a cylinder - lift force: Blasius formulae - Joukowsky transform: flow past a wing - Kutta condition - Kutta-Joukowski theorem

Continuum Mechanics 2011

07/05/11

2D potential flows
From the Helmholtz decomposition, we have = + A v

2D flows are defined by z () = 0 and vz = 0 . e We have therefore A = z

We consider in this chapter incompressible and irrotational flows. = 0 v = 0 + B. C. = 0 v n = 0 v = 0 We have two alternative but equivalent approaches.
vx = x vy = y where the velocity potential satisfies the Laplace equation.

vx = y vy = x where the stream function satisfies the Laplace equation.

In the potential case, the irrotational condition is satisfied automatically. In the stream function approach, this is the divergence free condition. Since both conditions are satisfied, both velocity fields are equal.
Continuum Mechanics 2011

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Isopotential curves and stream lines

The velocity field is defined equivalently by two scalar fields
vx = x = y vy = y = x

They are conjugate functions that satisfy the Cauchy-Riemann relations. They are also harmonic functions (Laplace equation), with however different B. C. = 0 in S with = 0 on the boundary L n = 0 in S with = 0 on the boundary L or = constant along L t Isopotential curves are defined by d = dxx + dyy = 0 or Stream lines are defined by
d = dxx + dyy = 0 or dy vx = dx vy dy vy = dx vx

Isopotential curves and stream lines are orthogonal to each other.

x x + y y = (vy )vx + (+vx )vy = 0
Continuum Mechanics 2011

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Complex potential and complex derivative

We define the complex potential where
z = x + iy and F (z) = (x, y) + i(x, y) i2 = 1 .

From complex derivation theory, we know that any complex function F is differentiable if and only if the two functions and satisfy the Cauchy-Riemann relations. Such complex functions are called analytic. Luckily, since the velocity potential and the stream function are conjugate, the complex velocity potential is differentiable.
dF dz where the complex derivative is defined as dF = F = 1 F dz x i y

We define the complex velocity w(z) =

We obtain w(z) = x + ix = y iy = vx ivy

1 1 v = = r r r and the complex velocity writes w(z) = vx ivy = (vr iv ) exp i

In cylindrical coordinates, we have

vr = r =

Continuum Mechanics 2011

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Uniform flow
Complex potential
F (z) = U expi z

Velocity field
vx = U cos() vy = U sin()

Complex velocity
w(z) = U expi

Potential lines Streamlines Velocity potential Stream function

= U cos()x + U sin()y = U cos()y U sin()x

Continuum Mechanics 2011

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Stagnation flow

F (z) = Cz 2

Streamlines are hyperbolae.

= C(x2 y 2 ) = 2Cxy vx = 2Cx vy = 2Cy

In polar coordinates

= Cr2 cos(2) = Cr2 sin(2)

This potential can also be used to describe a flow past a corner.

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Continuum Mechanics 2011

Flow past an edge

Complex potential F (z) = c z = cr1/2 expi/2 Velocity potential = c r cos 2 Stream function = c r sin 2 Velocity field c 1 vr = cos 2 r 2 c 1 v = sin 2 r 2 The velocity field becomes infinite at the tip of the edge.

Continuum Mechanics 2011

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Flow around a source or a sink

Complex potential m F (z) = log (z z0 ) 2 Complex velocity m 1 w(z) = 2 z z0
m = log r 2 = m 2

Velocity field m x x0 vx = 2 r2
vy = m y y0 2 r2

In polar coordinates m vr = 2r

vr = r vr + v = 0 for r>0. r We apply the divergence theorem to a circle centered on the singularity: dl = vr 2r = m v n Rmax 2 L 2 1 2 m dr m Rmax v dxdy = = log The kinetic energy in the flow is 4 r 4 Rmin S 2 Rmin

The velocity divergence is zero everywhere

In a real flow, the singularity is usually embedded inside the boundary condition.

Continuum Mechanics 2011

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Flow around a point vortex

Complex potential F (z) = i log (z z0 ) 2 Complex velocity 1 w(z) = i 2 z z0
= 2 = log r 2

Velocity field y y0 vx = 2 r2 x x0 vy = 2 r2 In polar coordinates v = 2r

v v z = 0 for r>0. e The velocity curl is zero everywhere = r v + r We apply the curl theorem on a circle centered on the singularity: dl = v 2r = v t Rmax 2 L 2 1 2 m dr m Rmax v dxdy = = log The kinetic energy in the flow is 4 r 4 Rmin S 2 Rmin

There is a direct analogy with the energy of dislocations in a solid.

Continuum Mechanics 2011

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Superposition principle and boundary conditions

Like for the Navier equation for thermoelastic equilibrium problems, the Laplace equation for the potential and/or the stream function is a linear boundary value problem. When proper boundary conditions are imposed (no vorticity), the solution always exists and is unique.Two different solutions can be added linearly and the sum represent also a solution with the corresponding boundary conditions. The previous elementary solutions form a library that you can combine to build up more complex curl-free and divergence-free flows. Streamlines are perpendicular to potential curves. The velocity component normal to a streamline is always zero. Therefore, each streamline can be used to define a posteriori the boundary condition. You can therefore add up randomly complex potential to get any kind of analytical complex function. Then, you compute the streamlines. Then, you define the embedded body by picking any streamline. You finally get yourself a valid potential flow !
Continuum Mechanics 2011

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Flow around a doublet

We superpose a source and a sink m F (z) = (log (z z0 ) log (z + z0 )) 2 i very close to each other z0 = exp Taylor expanding, we find m expi expi F (z) = z z Parameter is called the doublet strength. For = 0 , we find x cos = 2 = r r y sin = 2 = r r The velocity field is given by r It is a dipole field = 3 v r
vr = r =

Potential and streamlines are circles.

cos 1 sin and v = = r2 r r2

expi The general form around an arbitrary center z0 is: F (z) = z z0

Continuum Mechanics 2011

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Flow past a cylinder

We superpose a uniform flow and a doublet. F (z) = U z + xz y = U y 2 We find = U x + 2 r r = 0 is the circle r = The streamline U We reverse engineer the process.
2 For a cylinder a radius a, if we define = U a

then the potential flow around the cylinder is a2 F (z) = U z + z a2 a2 The velocity field is given by vr = U 1 2 cos v = U 1 + 2 sin r r The flow has 2 stagnation points S and S given by r=a and =0 and . The doublet is inside the embedded body, so there is no singularity in the flow.

Continuum Mechanics 2011

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Force acting on the cylinder

Using the second Bernoulli theorem (curl-free, incompressible, no gravity), P 1 + v 2 is uniform. we know that the quantity H = 1 2 1 2 2 We thus have p + v = p + U 2 2 The force acting on the cylinder is given by F = p dl n On the cylinder, we have vr = 0 and v = 2U sin 1 2 2 The pressure field on the cylinder is thus p = p + U 1 4 sin 2
L

n Using = (cos , sin ) we find: 2 2 1 2 4 Fx = U a 1 4 sin2 cos d sin sin3 =0 2 3 0 0 2 2 1 2 4 Fy = U a 1 4 sin2 sin d 3 cos cos3 =0 2 3 0 0

Exercise: compute the torque on the cylinder (use the cylinder axis). It is also zero !
Continuum Mechanics 2011

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Flow past a cylinder with vorticity

We superpose a uniform flow, a doublet and a vortex. z a2 i F (z) = U z + log z 2 a Streamlines are given by r 2 a = U 1 2 y log r 2 a The cylinder r=a is still a proper boundary condition. a2 vr = U 1 2 cos r 2 a v = U 1 + 2 sin + r 2r

On the cylinder, we have to stagnation point given by sin s = or one stagnation point away from the cylinder if < 4U a At the boundary, we have v = 2U (sin sin s ) we can compute the force on the cylinder (exercise)

4U a

Using the Bernoulli theorem and integrating the pressure field on the boundary,
Fx = 0 Fy = U
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Continuum Mechanics 2011

The Magnus effect

Topspin tennis ball trajectory curves down.

Rotating pipes induce a force perpendicular to the wind direction

Warning: viscosity effects cant be ignored !

Continuum Mechanics 2011

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The complex force: Blasius formulae

F = p dl n
L

Fx t

We use curvilinear coordinates along the body = (cos , sin ) = (sin , cos ) n t The force components are p cos dl Fx = p sin dl Fy = In Cartesian coordinates, we have dy = sin dl dx = cos dl The complex force is defined as Bernoulli theorem: Boundary condition:
L L

Fy

Fx iFy =

p (dy + idx) = i v 2 = w(z)w(z)

pdz
L

1 2 1 p = p + U v 2 with 2 2 = 0 v n

vx dy vy dx = 0 and w dz = wdz i Fx iFy = 2 w2 (z)dz

L

We finally get the force for an arbitrary shaped body:

Continuum Mechanics 2011

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The complex circulation

We consider an arbitrary closed contour in the complex plane. We define the complex circulation as C =
w(z)dz
L

Using the same definition as before along the contour, we have

C= (vx dx + vy dy) + i
L L

(vx dy vy dx)

where the Cartesian coordinates are related to the curvilinear ones by dx = dl cos dy = dl sin We finally get C = dl + i dl = + iQ v t v n
L L

is the physical circulation and Q is the physical mass flux. On the contour defining the body shape, the mass flux is zero and we have C== dl v t
L
Continuum Mechanics 2011

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Conformal mapping
We need to build more complex profile than just a cylinder. We use for that a mathematical trick called conformal mapping. A conformal mapping is a differentiable complex function M that maps the complex plane z into another complex plane Z. We have
Z = M (z) and z = m(Z)

with

m = M 1

If a flow is defined by a potential function f (z) in the z plane, then the function
F (Z) = f (m(Z))

is also analytic (it satisfies the Cauchy-Riemann relations). It is therefore a valid vector potential. The new streamlines and potential curves are the transform of the old one. dF df dm The new complex velocity writes W (Z) = = = w(z)m (Z) dZ dz dZ The complex circulation is conserved by conformal mapping C= W (Z)dZ = w(z)m (Z)dZ = w(z)dz
L L l
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The Joukowski transform

Definition:
c2 z=Z+ Z c Z 2c 2c z

The circle of radius c becomes the line segment [-2c, 2c]

Z = c expi z = 2c cos

The circle of radius a>c becomes an ellipse.

Z = a expi c2 c2 z = (a + ) cos + i(a ) sin a a z 2 z The inverse transform is Z = + c2 2 2

The derivative M (z) =

Continuum Mechanics 2011

1 z has 2 singular points at z = 2c + 2 z 2 2 c2 2

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Acyclic flow past an ellipse

We use the Joukowski transform from a flow past a circular cylinder. The flow is acyclic: no circulation and no vortex component. We assume that the flow at infinity is at an angle with the x-axis. The complex potential and velocity of the original flow are expi a2 i 2 F (Z) = U Z exp +a W (Z) = U expi 1 2 expi2 Z Z Using the Joukowski mapping Z = M (z) with a>c, we get the potential around an ellipsoidal cylinder.
a2 a2 c i i 2 expi Using = z Z , we get f (z) = U z 2 exp +M (z) exp c c Z 2 c i i The original stagnation points Zs = a expi become zs = a exp + exp a
2

Continuum Mechanics 2011

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Acyclic flow past a plate

Leading edge

Zs

Trailing edge

zs

We use the previous results, taking c a 2 z z f (z) = U z expi 2i sin + a2 2 2 The stagnation points are on the x-axis zs = 2a cos The complex velocity is given by w(z) = W (Z)M (z) The velocity at the leading and trailing edges is: Z = a W (a) = 2iU sin w(2a) (see flow past an edge). This is unphysical !
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Flow past a plate with circulation

from P. Huerres lectures

Continuum Mechanics 2011

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Flow past a plate with circulation

On the original circular cylinder, we have: expi i Z F (Z) = U Z expi +a2 log Z 2 a a2 i i W (Z) = U exp 1 2 expi2 Z 2Z The stagnation points are now defined by sin (s ) = 4U a We still have an infinite number of solution, depending on the value of the point vorticity. For a particular value of the circulation, the stagnation point will coincide with the trailing edge, therefore removing the singularity.
c = sin 4U a

For a given body shape, we always choose the critical circulation as defining the unique physical solution.

Continuum Mechanics 2011

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The Kutta condition

Initially, we have zero circulation

Starting vortex produces vorticity

Kelvins theorem

A body with a sharp trailing edge which is moving through a fluid will create about itself a circulation of sufficient strength to hold the rear stagnation point at the trailing edge.

Continuum Mechanics 2011

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The Joukowski profiles

We consider now the more general case of a circular cylinder for which the center has been offset from the origin. expi i Z b F (Z) = U (Z b) expi +a2 log Z b 2 a a2 i i W (Z) = U exp 1 expi2 (Z b)2 2(Z b)

Recipe: using the Kutta condition, we impose the singular trailing edge to be a stagnation point. By adjusting b, we remove the singularity at the leading edge.

Continuum Mechanics 2011

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Critical circulation for Joukowski profiles

The trailing edge Z = +c is imposed to be a stagnation point. a2 i U expi 1 expi2 =0 (c b)2 2(c b) Since b is the center of the cylinder, we can define the angle c b = a expi
c = 4U a sin ( + )

Continuum Mechanics 2011

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Flow past an arbitrarily shaped cylinder

We now consider the inverse problem: we know the shape of the cylinder and we would like to find the conformal mapping to a circular cylinder. Any analytic complex function can be expanded in its Laurent series around the origin. We restrict ourselves to mapping for which points at infinity are invariants. an 1 M (z) = z + where an = M (z)z n+1 dz n z 2i l n=0 The general flow around the circular cylinder is given by the potential expi i Z F (Z) = U Z expi +a2 log Z 2 a Injecting the mapping for Z and Taylor expanding around infinity, we get: z b i n f (z) = U z expi log + and 2 a zn n=0 nbn i w(z) = U expi 2z n=1 z n+1 The general flow is uniform to leading order, then a vortex flow to next order, then a doublet flow to higher order, and so on... The circulation on the new body is C =
w(z)dz = W (Z)dZ =
l L

Continuum Mechanics 2011

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The Kutta-Joukowski theorem

We now compute the force acting on the arbitrarily shaped body. i We have the Clausius formula Fx iFy = w2 (z)dz 2 l
2 The kinetic energy is expanded as w2 (z) = U exp2i U expi

We have (residue theorem) The force is for any profile General results: - no drag
Fx = 0

dz = 2i and z

i cn + z n=2 z n

dz = 0 for n 2 zn

We recover the force acting on the circular cylinder.

Fx iFy = iU expi

- without circulation Fy = 0 (dAlemberts paradox). The force on a general Joukowski profile is

2 Fy = 4U a sin ( + )

Continuum Mechanics 2011

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Lift coefficient
The lift coefficient is a dimensionless number that measures the performance of a wing profile (L is the length of the wing section). Fy Cy = 1 2 2 U L For a Joukowski profile with small attack angle and small bending angle,
Cy = 8 a sin ( + ) 2( + ) L

The theory disagrees more and more with the experiment: we have neglected viscous effects. It breaks down completely above 10 degrees. This is because the zero streamline is detaching from the wing.

Continuum Mechanics 2011

07/05/11