323

QUARTERLY
Vol. XXXIV

OF

APPLIED
JANUARY 1977

MATHEMATICS
No.
4

VARIATIONAL THERMODYNAMICS OF VISCOUS COMPRESSIBLE HEAT-CONDUCTING FLUIDS*

M. A. BIOT Royal Academy of Belgium, Brussela

Abstract. A new variational principle of virtual dissipation generalizing dAlemberts principle to nonlinear irreversible thermodynamics is applied to compressible heatconducting fluids with Newtonian and non-Newtonian viscosity. The principle is applied in the context of Eulerian formalism where the flow is described with reference to a fixed coordinate system. New concepts of entropy displacement and mass displacement are used as well as a new definition of the chemical potential which avoids the usual ambiguities of the classical thermodynamic approach. The variational principle is used to derive a novel, form of field differential equations for the coupled fluid dynamics and convective heat transfer. principle which we have referred to as the has been shown to govern dissipative thermodynamic systems both linear and nonlinear [ 11.It was applied to a new fundamental approach to the thermorheology of continua including Newtonian and non-Newtonian viscous, compressible, heat-conducting fluids [2]. However, the treatment was based on a material description where the coordinates of the fluid particle fi are considered as functions of their initial coordinates xi :
principle of virtual dissipation of wide generality
Ei = $i(xk 7 Q* (1)

1. Introduction.

A new variational

In such a material description the density p per unit initial volume depends on the initial coordinates xi , so that the treatment is applicable to a fluid which is nonhomogeneous at rest. In the present treatment we shall consider a fluid which is homogeneous at rest with a uniform value of the density pO, the pressure p, and the temperature T, . For such a case it is possible to express the principle of virtual dissipation in Eulerian form, where the space coordinates & and the time are the independent variables.
2, 1975. Thii research was sponsored by the Air Force Office of Scientific Research through the European Office of Aerospace Research and Development AFSC, Uniled States Air Force, wder contract F 44620-71-C-0092. (N.A.M.)

* Received June

324

M. A. BIOT

The unknowns are now new variables Si & , t) and Mi(& , t) introduced below ((23), (24)) and representing fields of entropy and mass displacements. New definitions are obtained for the chemical potential and the fluid pressure which avoid the usual ambiguities of the classical treatment. Field differential equations in novel form are derived from the variational principle for the coupled dynamics and convective heat transfer. This is in contrast to current
procedures of deriving variational principles from the di$erential equations.

2. Principle of virtual dissipation in Eulerian form. ciple of virtual dissipation is expressed by

In its Eulerian form the prin-

J (6x6 n

fii

6Ui + pai

hi

&s*)

da = 0

(2)

where the integration is over a domain Q of space defined by the fixed coordinates & with the element of volume dL? = d& d& d& and no variations at the boundary. At a given time t and at the fixed point z$i, @i is the body force, p the fluid density, T the absolute temperature and 6ui a virtual material displacement. Per unit volume at point 5; and time t, 6 is the cell potential as defined previously ([l, 21) and s* is the entropy produced. The symbol 8R denotes a restricted variation for which 6.9 = 0. With the velocity ai the fluid acceleration is

It should be noted that, in contrast with the previous treatment, the unit element is not a material cell but a fised cell of unit dimension in space with matter flowing through its boundaries. From the viewpoint of thermodynamics it is an open cell. In order to formulate explicitly the variational principle in its Eulerian form we must introduce the concepts of mass and entropy displacement as well as a new approach to the definition of chemical potential which avoids some of the difficulties and ambiguities involved in classical thermodynanics. 3. Chemical potential volume may be written and entropy displacement. 6 = p6 where 5 = iz - T,s and where s, ti and s are respectively the cell potential, entropy per unit mass. The variation is 66 = s 6p + p ss. According to a previous result ([l, 21) we write (5) the internal energy, and the
(6)

The cell potential

of the unit (4)

where p is the fluid pressure as a known function of p and s under static conditions. Note

VARIATIONAL

THERMODYNAMICS

325

that this definition is purely thermodynamic and does not involve the viscous stresses, while 0 = T - T, is the excess temperature over the initial equilibrium temperature T, . Combining (5), (6) and (7) yields 66 = /l lip + e 6s where S = pS is the entropy per unit volume and p&Ts+; (9)
(8)

is the chemical potential which is a known function p(pS) of p and S. It is completely defined and does not contain any arbitrary constant since it is assumed that G = s = 0 in the initial equilibrium state. From (8) we derive aSlap = P,

as/se= s,

00)

thus providing a new definition of P. We shall also need the concept of entropy displacement already introduced earlier in a more restricted form [3]. Consider the material time derivative of s multiplied by p:

Taking into account the conservation

of mass condition

(12)
(11) becomes (13) On the other hand, the same material derivative times p may be written
Pz=

DS

-;rjjy+S

1 aJ,

.*_a-

z2
ati 0T

$5 Ji

a:

Se*

(14)

where Ji is the rate of heat flow by conduction per unit area and S,* is the rate of entropy production per unit volume due to viscosity, Equating expressions (13) and (14) yields (15) We define the entropy displacement
vector as

8; = A!!$ Sir + where the time derivatives & = pv,.?, are respectively Furthermore, the rates of entropy
6s = Ji/T

(16)

(17) and conduction.

displacements

by convection

326

M. A. BIOT

is the rate of entropy production per unit volume due to thermal conduction. integrating (15) with respect to time with zero initial conditions, we obtain

Hence,

(19)
where a* =
ST * + s.* (20)

is the total entropy produced per unit volume. Eq. (19) may be considered as an entropy conservation equation in terms of the entropy S per unit volume and the total entropy displacement field Si . The term s =

-as,/af,

(21)

will be called the entropy supplied per unit volume. Relation (21) constitutes a fundamental holomonic conservation constraint between s and Xi . We may also write (19) as s = s + s*, i.e. the total entropy of the unit volume is the sum of the entropy entropy supplied by convection and conduction. (22) produced and the

The field will be defined by seven 4. Variational derivation of the field equations. variables. Six of the variables are represented by two vectors, one being the entropy
displacement
Si = Si(f!s 7 t);

(23)

the other is the mass displacement

defined by the relation iPj = pvi . It satisfies the mass conservation equation (12) which may be written p = (25)

-aMi/ati

(26)

The seventh variable is the scalar s* representing the entropy produced per unit volume. When applying the variational principle (2) we vary the vectors Si and Mi . The various terms in the integrand of (2) are obtained as follows. Accoridng to (8) and (22) we write 66 = /.J6p + e 66 = p 6p + e qs + s*>. In order to obtain the restricted variation LiR put 6s* = 0. Hence we
(28)

(27)

6B6 = /.l 6p + 0 6s. The virtual displacemrnt 6ui of a fluid particle may be written 6ui = 6MJp.

(2%

VARIATIONAL

THERMODYNAMICS

327

The thermal conduction of the fluid is expressed by

(30)

where k is the thermal conductivity

of the fluid at point & and time t. Hence (18) becomes

A!$&.
p

The thermal conductivity

lc is a function of the local density

and local entropy

S:

(32)

The virtual dissipation due to thermal conduction is

(33)

The virtual dissipation due to viscosity is (34) where vii is the viscous stress dependent on the strain rate tensor ei,. For a Newtonian fluid gii may be expressed as gii = aDo./aeii where the dissipation function is CO,= $(Xe + 2veiieji) (36) (35)

with viscosity coefficients Xand q and the volumetric strain rate e = e;i . The viscosity coefficients are functions of the local density p and local entropy S:
X = X(p, S), 71 = dP, S).

(37)

The strain rate is (33) For a non-Newtonian fluid we have shown by a very simple derivation that the viscous stress is expressed by
(39)

where F, = I
I
F~(P, s, I,, Ia I,>,

(40)

are functions of

p, S

and the three invariants I, = eiieii, I, = C?iieikeki. (41)

I, = eii 6ij ,

The total virtual dissipation is

,js* =

T(6sT*

&s,*) = ;

& GsiT + uii

-$
I

(42)

328

&I. A.

BIOT

With expressions (28) (29) and (42) for the variations, the variational principle (2) becomes

p S[
n

6p + fl 6s -

(~33~ aJ 6M, + E siT 6SiT + (Tii * -

ati

= 0. )Idn

(43)

1.

An essential step is due to the relations (44) derived from the holonomic conservation constraints (21) and (26). We introduce these values in the integrand of Eq. (43) and assume arbitrary variations 6Mi and SSi different from zero inside CLIntegration by parts then yields

s[(
n
ati

&i _ 1 au,,
P a.5

EL + ai

>

SMi + $$ 6Si + F & I

6SiT

dQ = 0.

(45)

It remains to evaluate KS, in terms of 6M< and SSi . Eq. (17),

sic= pvis
implies

sit&

(46)

SS, = s 6M, . Hence from Eq. (16) we obtain 6SjT = SSi s 6M, .

(47)

(48)

Introducing the values (47) and (48) into (45), we obtain

sR
n

ap 1 au..' zg/---~-~;+~i+S~)6M,+(~+~ST)6Si]d~. P ati

(49)

The variations 6M, and 6Si being arbitrary and independent, this result implies the field equations

(50)

These equations may be further transformed as follows. From Eqs. (5) and (9) we derive dp = d: + d ; 0 d(fE). (51)

Introducing the value (7) of s, we obtain dp = dr, - B do.

(52)

Hence
I

ap lap -=----s-s
ab

ae

P a.5

ati

(53)

VARIATIONAL

THERMODYNAMICS

329

Furthermore,

from (48) we write

SiT = & - &j

(54)

Is%.!
P a.&

auii ati >

(Bi + aj = 0,

(55)
0.

kg

T(S, - Sil!li) =

These six equations contain the seven unknowns t&M, and .a*. The additional equation may be obtained from (42) and expresses the local dissipation
~~* =

5 (Sj -

S~j)($j - gj@) +

gii

$ 7 .

(2

(56)

The acceleration ai is expreseed by means of (3) with vi = tii/p, while p is given by (26) and p, k, T and 8 are known functions of p and S. The field equations (55) provide a novel form governing the coupled dynamics and convective heat transfer of a viscous compressible heat conducting fluid for Newtonian as well as non-Newtonian viscosity. The corresponding variational principle is expressed by Eq. (2). This generalizes the variational principle obtained earlier [4, 5, 61 for uncoupled convective heat transfer.
REFERENCES [l] M. A. Biot, A virtual dissipation principle and Lagrangian equations in nonlinear irreversiblethermudynamics, Bull. Roy. Acad. Belgium 5th Ser., 61, 5-30 (1975) [2] M. A. Biot, VariationaLLagrangian irreversible thermodynamics of nonlinear thermorheology, Quart.

Appl. Math. (in press) [3] M. A. Biot, Thermoelasticity and irreversible thermodynamics, J. Appl. Phys. 27, 240-253 (1956) [4] M. A. Biot,, Lagrangian thermodynamics of heat transfer in systems including&id motion, J. Aerospace Sci. 29, 568-577 (1962) [5] M. A. Biot, Generalized variational principles for convective heat transfer and irreversible thermodynamics, J. Math. Mech. 15, 177-186 (1966) [SJ M. A. 13iol, Variational principles in heat transfer, Oxford Univ. Press, 1970