2.

20 - Marine Hydrodynamics, Spring 2005

Lecture 16

2.20 - Marine Hydrodynamics

Lecture 16

4.1.4 Vortex Shedding and Vortex Induced Vibrations

Consider a steady ow Uo over a blu body with diameter D.

Fy (lift)

U0
D Fx (drag)

We would expect the average forces to be: However, the measured oscillatory forces are:

F
F
Fx
Average

Fx
Average

Fy t
Fy
t

The measured drag Fx is found to oscillate about a non-zero mean value with
frequency 2f .

The measured lift Fy is found to oscillate about a zero mean value with frequency
f.

f = /2 is the frequency of vortex shedding or Strouhal frequency.

1
Reason: Flow separation leads to vortex shedding. The vortices are shed in a staggered
array, within an unsteady non-symmetric wake called von Karman Street. The frequency
of vortex shedding is the Strouhal frequency and is a function of Uo , D, and .

Fy Von
Karman
Street
Uo Fx
D

Strouhal frequency

f D
i) Strouhal Number We dene the (dimensionless) Strouhal number S .
U0

The Strouhal number S has a regime dependence on the Re number S = S(Re ).

For a cylinder:

Laminar ow S 0.22

S(Re)

Turbulent ow S 0.3

0.3
0.22

105 106 107 Re

ii) Drag and Lift The drag and lift coecients CD and CL are functions of the correlation
length.
For correlation length:

If the cylinder is xed, CL O(1) comparable to CD .

If the cylinder is free to move, as the Strouhal frequency fS approaches one of
the cylinders natural frequencies fn , lock-in occurs. Therefore, if one natural
frequency is close to the Strouhal Frequency fn fS , we have large amplitude
motions Vortex Induced Vibration (VIV).

2
4.2 Drag on a Very Streamlined Body

UL
R eL
Uo D
D b
Cf 1
U 2 (Lb)
2 L
S=wetted area
one side of plate

Cf = Cf (ReL , L/b)

Unlike a blu body, Cf is a strong function of ReL since D is proportional to = u
y
.
See an example of Cf versus ReL for a at plate in the gure below.

Cf

Laminar
0.01
Turbulent

0.001

Re
105 106

Skin friction coecient as a function of the Re for a at plate

ReL depends on plate smoothness, ambient turbulence, . . .

In general, Cf s are much smaller than CD s (Cf /CD O(0.1) to O(0.01)). Therefore,
designing streamlined bodies allows minimal separation and smaller form drag at the
expense of friction drag.

In general, for streamlined bodies CTotal Drag is a combination of CD (Re ) and Cf (ReL ),

1 2
and the total drag is D = 2 U CD S + C f Aw , where CD has a regime
frontal area wetted area
dependence on Re and Cf is a continuous function ReL .

3
4.3 Known Solutions of the Navier-Stokes Equations
4.3.1 Boundary Value Problem

Navier-Stokes:

v 1 1
+ (v ) v = p + 2v + f
t

Conservation of mass:

v = 0

Boundary conditions on solid boundaries no-slip:

v = U

Equations very dicult to solve, analytic solution only for a few very special cases (usually
when v v = 0. . . )

 4.3.2 Steady Laminar Flow Between 2 Long Parallel Plates: Plane Couette Flow

Steady, viscous, incompressible ow between two innite plates. The ow is driven by a

pressure gradient in x and/or motion of the upper plate with velocity U parallel to the
x-axis. Neglect gravity.

Assumptions Governing Equations Boundary Conditions

u v w
i. Steady Flow: t =0 Continuity: x + y + z =0 v = (0, 0, 0) on y = 0
v v v
ii. (x, z) >> h: x = z =0 NS: t + v v = 1 p + 2v v = (0, 0, 0) on y = h

iii. Pressure: independent of z

Continuity
u v w v
+ + =0 = 0 v = v(x, z) v = 0 (1)
x y
z y
BC: v(x,0,z)=0
=0, from assumption ii

Momentum x
2
u u u u 1 p u 2u 2u
+u +
v +w = + + + 2
t
x
y z
x x2 y 2
z
=0, (1)
=0, i =0, ii =0, ii =0, ii =0, ii
2
u 1 p
2
= (2)
y x

Momentum y
v 1 p
+v
v = + 2
v

t
y
=0, (1) =0, (1)
=0, i

p p dp
=0 p = p(x) and = (3)
y x dx
assumption iii

Momentum z
2
w w u w 1 p w 2w 2w
+u +
v +w = + + +
t
x
y z

z x2 y 2 z

2

=0, (1)
=0, i =0, ii =0, ii =0, iii =0, ii =0, ii
2
w
= 0 w = ay + b w=0 (4)
y 2
w(x,0,z)=0
w(x,h,z)=0

From Equations (1), (4)

u du
v = (u, 0, 0). Also u = u(y) and = (5)
y dy
assumption ii

From Equations (2), (3, and (5)

d2 u 1 d2 p 1 dp 2 1 dp y
= u= y +C1 y+C2 u= (h y)y + U
dy 2 dx2 2 dx 2 dx h
= u(x,0,z)=0

w(x,h,z)=U

 Special cases for Couette ow

dp Px Px+L
1
u(y) = 2 (h y)y( dx ) + U hy , where ( dx
dp
)= L

dp
dp

I. U = 0, dx
>0 II. U = 0, dx
=0

y y

dp dp
( )>0 ( )=0
dx u ( h) = U = 0 dx u ( h) = U U

h p p
h

u ( y) u ( y)
u ( 0) = 0 u ( 0) = 0

Parabolic profile Linear profile

Velocity
dp
u(y) = 1
2
(h y)y( dx ) u(y) = U hy
Max velocity
h2 dp
umax = u(h/2) = 8
( dx ) umax = U
Volume ow rate
h h3 dp
Q = 0 u(y)dy = 8 ( dx ) Q = h2 U
Average velocity
Q h2 dp U
u = h
= 6
( dx ) u = 2

Viscous stress on bottom plate (skin friction)

dp
du du
w = dy = h2 dx >0 w = dy
= Uh
y=0 y=0

 dp

III. U = 0, dx
= 0

u ( h) = U U u ( h) = U U
back flow
h
w w

dp dp
U > 0, ( ) > 0, G > 0 U > 0, ( ) < 0, G < 0
dx dx

dp
dp

dx
>0 dx
<0
Viscous stress on bottom plate (skin friction)
dp
w = h2 dx + Uh

< dp < 2U attached
w =0 when ( )= 2 , in which case the ow is insipient
> dx > h separated

 dp

For the general case of U = 0 and dx
= 0,
h dp U
+ w =
2 dx h
We dene a Dimensionless Pressure Gradient G

h2 dp
G
2U dx
such that

G > 0 denotes a favorable pressure gradient

G < 0 denotes an adverse pressure gradient
G = 1 denotes an incipient ow
G < 1 denotes a separated or back-ow

u ( h) = U U u ( h) = U U u ( h) = U U

h
back flow

dp dp dp
U > 0, ( ) > 0, G > 0 U > 0, ( ) < 0, G < 0 U > 0, ( ) < 0, G = 1 w = 0
dx dx dx

Lessons learned in 4.3.2:

1. Reviewed how to simplify the Navier-Stokes equations.

2. Obtained one solution to the Navier-Stokes equations.

3. Realized that once the Navier-Stokes are solved we know

everything.

In the next paragraph we are going to study one more solution to the Navier-Stokes equa
tion, in polar coordinates.

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 4.3.3 Steady Laminar Flow in a Pipe: Poiseuille Flow
x
y

a
x

z
r=a
L
Vx(r)
Steady, laminar pipe ow. KBC: vx (a) = 0 (no slip) and
dvx
(r2 = y 2 + z 2 , v = (vx , vr , v )) dr (0) = 0 (symmetry).

Assumptions Governing Equations Boundary Conditions

1 rvr 1 v vx
i. Steady Flow: t =0 Continuity: r r + r + x =0 vx (r = a) = 0 no-slip
v v dvx
ii. (x, z) >> h: x = =0 NS: In polar coordinates (see SAH pp.74) dr |r=0 = 0 symmetry

v = v (r)

iii. Pressure: independent of

Following a procedure similar to that for plane Couette ow (left as an exercise) we can
show that

1 dp 1 d dvx
vr = v = 0, vx = vx (r), p = p(x), and = r
dx r dr dr

r component of 2
in cylindrical coordinates

After applying the boundary conditions we nd:

1 dp 2
vx (r) = a r2
4 dx
Therefore the volume ow rate is given by

2 a
4 dp
Q= d rdrvx (r) = a
0 0 8 dx
and the skin friction evaluates to

vr vx vx a dp
w = x (r) = xy = ( + ) = w =
x r r=a r r=a 2 dx

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4.4 Boundary Layer Growth Over an Innite Flat Plate for

Unsteady Flow
Boundary layer thickness is related to the area where the viscosity and vorticity eects are
diused.

For a ow over an innite at plate, the boundary layer thickness increases unless it is
constrained in the y direction and/or by time (unsteady ow).

1. Steady ow, constrained in y

For a steady ow past a at plate, the boundary layer thickness increases with x.
If the ow is constrained in y, eventually the viscous eects are diused along the
entire cross section and the ow becomes invariant in the streamwise direction.
In paragraphs 4.3.2 and 4.3.3, we studied two cases of steady laminar viscous ows,
where the viscous eects had diused along the entire cross section.

y
h
U0
x
boundary layer Couette flow for x >> h
thickness increases with x

Couette h
Steady ow, we assumed that viscous eects diused through entire .
Poiseuille a

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2. Unsteady ow, unconstrained in y

Consider the simplest example of an innite plate in unsteady motion.

U(t)
x

v v
Assumptions p = 0, x
= z
= 0 v = v (y, t)

Can show v = w = 0 and u = u(y, t).

Finally, from u momentum (Navier-Stokes in x) we obtain

2 2 2
u u u u 1 p u u u
+u +
v +w = + 2 + 2 + 2
t x
y
z
x x
y z

=0
=0 =0 =0 =0 =0

u 2u
= 2 momentum
diusion equation (6)
t y velocity
(heat)

Equation (6) is:

rst order PDE in time requires 1 Initial Condition

second order PDE in y requires 2 Boundary Conditions
- u(y, t) = U (t) at y = 0, for t > 0
- u(y, t)
0 as y

From Equation (6), we observe that the ow over a moving at plate is due to viscous
dissipation only.

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4.5.1 Sinusoidally Oscillating Plate

i. Evaluation of the Velocity Prole for Stokes Boundary Layer

The ow over an oscillating at plate is referred to as Stokes Boundary Layer.

Recall that ei = cos + i sin where is real.

Assume that the plate is oscillating with U (t) = Uo cos t = Real {Uo eit }. From linear
theory, it is known that the uid velocity must have the form

u (y, t) = Real f (y) eit , (7)

where f(y) is the unknown complex (magnitude & phase) amplitude of oscillation.

To obtain an expression for f (y), simply substitute (7) in (6). This leads to:

d2 f
if = 2 (8)
dy

Equation (8) is a 2nd order ODE for f (y). The general solution is
   
(1+i) /2 y (1+i) /2 y
f (y) = C1 e + C2 e (9)

The velocity prole is obtained from Equations (7), (9) after we apply the Boundary
Conditions.

u(y, t) must be bounded as y C1 = 0
u (y, t) = Uo (ey 2 ) cos y + t
u(y = 0, t) = U (t) f (y = 0) = Uo C2 = Uo 2
Stokes Boundary Layer

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ii. Some Calculations for the Stokes Boundary Layer

Once the velocity prole is evaluated, we know everything about the ow.

y
2
e
= 2

1/ e
u( y)
1 1/ e 1 Uo
u(y )
Stokes Boundary Layer. Velocity ratio Uo as a function of the distance from the plate y .

Observe:
u(y, t)

y
= (e 2 )

cos y + t (10)
Uo 2

Exponentially decaying
envelope Oscillating component

SBL thickness
The ratio Uuo is composed of an exponentially decaying part thickness of SBL decays
exponentially with y. We dene various parameters that can be used as measures of
the SBL thickness:
u( )
We dene 1/e as the distance y from the plate where U1o/e = 1e . Substituting

into (10), we nd that 1/e = 2

The oscillating component has wave length = 2 2 = 2. At , u() 0.002.
Uo =
u(1% )
We dene 1% as the distance y from the plate, where = 1%. Substituting
Uo
u(1% )
into (10), we nd that 1% = ln( Uo ) 2 4.6.
=

14

 Numerical examples:
For oscillating plate in water ( = 106 m2 /s= 1mm2 /s) we have
4.6
1% = T = 2.6
T

in mm in sec

2
T =
1%

1s 3mm

10s 1cm

Excursion length and SBL

The plate undergoes a motion of amplitude A.
Uo
X = A sin(t) U = X =
A cos(t) =
A
Uo

Comparing the SBL thickness with A, we nd

/ A/Uo 1
= =
A A A Uo A ReA
Uo
= A

Skin friction
The skin friction on the plate is given by

u
w = = . . . = Uo sin t cos t
y y=0 2

The maximum skin friction on the wall is

|w |max = Uo

3 7
and occurs at t = 4
, 4 ,

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4.5.2 Impulsively Started Plate

U(t)

Uo

Recall Equation (6) that describes the the ow u(y, t) over an innite at plate undergoing
unsteady motion.
u 2u
= 2
t y
For an impulsively started plate, the Boundary Conditions are:

u(o, t) = Uo
for t > 0, i.e. u(y, 0) = 0
u(, t) = 0

Notice that the problem stated by Equation (6) with the above Boundary Conditions has no
explicit time scale. In this case it is standard procedure to (a) use Dimensional Analysis
to nd the similarity parameters of the problem, and (b) look for solution in terms of the
similarity parameters:

u y u
u = f (Uo , y, t, ) =f = f () Self similar solution
Uo 2 t Uo
DA

similarity parameter

The velocity prole is thus given by :

u 2 2
= erfc () = 1 erf () = 1 e d
Uo
Complementary
0
error function

16


Hints on obtaining the solution:

= 2yt




u 2
= u d(u/Uo ) d2 (u/Uo )
y t y 2
t
= t
=
4t t = . . .

d d 2


2
2 2
1 2 2nd order ODE
y 2
= y 2 = 4t 2

Boundary layer thickness

In the same manner as for the SBL, we dene various parameters that can be used to
measure the boundary layer thickness:

2 t. At y = uU(o)

= 0.16.
1%

= 1.82.

Excursion length and boundary layer thickness

At time t, the plate has travelled a distance L = Uo t t = ULo .
Comparing the boundary layer thickness with L, we nd

t L/Uo 1

=
=


L L L Uo L ReL

Skin friction
The skin friction on the plate is given by

u
Uo
w = = . . . =
y y=0 t

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