THE CONTINUITY EQUATION - Derivation from Different Models & Comparison
The four models of fluid flow are
Finite control volume (FCV) fixed in space
Finite control volume moving with the flow
Infinitesimal fluid element (IFE) fixed in space
Infinitesimal fluid element moving with the flow
How to derive a continuity equation
Consider a fundamental physical principle
Apply it to a suitable model of fluid flow
Obtain an equation that represents the fundamental physical principle
When applying the above procedure to any of the flow models, the resulting representative equation obtained
is known as the Continuity Equation. By applying the procedure we can obtain four different forms of
continuity equation
FCV fixed in space 7 Integral conservation form
FCV moving with flow 7 Integral non-conservation form
IFE fixed in space 7 PDE conservation form
IFE moving with flow 7 PDE non-conservation form
The fundamental physical principles: we will use the very basic fundamental principles of physics and thermodynamics
Law of conservation of mass
Newtons second law: F = ma
Law of conservation of energy
Physical Principle: Mass in conserved
Model: Finite Control Volume Fixed in Space
The model is imagined as an arbitary shaped finite sized control volume fixed in space. The surface bounding the
control volume is called the control surface. The flow moves through this control volume and across the control
surface. At an arbitrary point on the control surface, we assume the flow velocity to be V and the vector elemental
surface area to be dS. Also, let dV be an elemental volume insite the control volume. For such a model, the above
fundamental principle translates to
Net mass flow out
of control volume
through surface S
Time rate of decrease
of mass inside the
control volume
(1)
Solving for B The mass flow of fluid through any fixed surface orifice is equal to the product of (density)
(surface area) (perpendicular component of velocity). Hence the elemental mass flow across the surface area dS
is
Vn dS = V dS
(2)
According to convention adopted, when V points outwards it is considered positive and an outflux (mass is leaving
the control volume). Similarly when V points inwards it is negative and an influx (mass is entering the control
volume). The net mass flow out of the entire control volume through the entire control surface S is the summation
of all the mass flow throw all the dSs that make the control surface S. In the limit, this becomes a surface integral,
given by
V dS
B=
(3)
Solving for C Considering the elemental volume, the mass contained within is given by (density) (volume),
i.e., dV. The total mas inside the control volume, then, must be the summation of the masses of all the dVs. In
the limit, this becomes a volume integral, given by
mV =
dV
(4)
V
Therefore, the time rate of increase or decrease of mass inside V is then
dV
m
=
t V
(5)
in our case, since the fluid is flowing outwards, the net mass decreases with time and hence negative (not to be
confused with the above mentioned convention). Substuting B and C into our equation, we obtain
dV +
V dS = 0
(6)
t V
S
Thus we obtained the continuity equation in Integral Form and of conservation form. Integral form due to taking a
finite control volume as our model; the finite form leads us to obtain our equation directly in integral form. The
conservation form due to using a model fixed in space.
Model: Finite Control Volume moving with flow
In this case, the model is a finite control volume moving with the flow. This implies that the control volume is
always composed of the same particles, i.e., its mass in constant. However, as the volume moves in space, its shape
and hence its volume and density (which depends on volume) changes with respect with the local condition of the
flow.
If we consider an infinitesimal small element dV inside this control volume, the mass of the element will be
dV. Since the finite control volume is made up of an infinite number of these elemental particles, in the limiting
case, the total mass of the control volume can be summed in an integral
mV =
dV
(7)
V
For this model, the physical principle: mass is conserved, would imply that the substantial derivative of mass of the
control volume must be zero, i.e., the mass must be constant, this we can write as
D
dV
(8)
Dt V
This is an integral form of the continuity equation of non-conservation type. Integral form due to our choice of FCV
model and non-conservation due to the model moving with the flow.
Model: Infinitesimal Small Element Fixed in Space
The model considered is an infinitesimal small element fixed in space with the fluid moving through it. We adopt a
cartesian coordinate system, where the velocities and density are functions of (x, y, z, t). Let us imagine the model
to be an infinitesimal small element with sides dx, dy and dz, as shown in the figure below. Also, let us name its
sides as f = front, b = back, r = right, l = left, t = top and b = bottom.
2
{v+ (v)/y}dxdz
{w+( w)/z}dxdy
dy
y
j
k
z
dx
( u)dydz
( w)dxdy
{u+ ( u)/x}dydz
dz
( v)dxdz
u, v, w, = u, v, w, (x, y, z, t)
V=ui + vj + wk
Figure 1: An infinitesimal small element with flows across its surfaces
Considering the left and right face, they are both perpendicular to the x-axis and have a surface area of dydz.
The mass flow through the left face must be u dydz
Since, the density and velocity are both spatial functions, the mass flux through the right face must be different
(u)
dx
than the left face. The difference is
x
(u)
Therefore, the mass flux through the right face must be u +
dx dydz
x
Now, if we consider the net outflow of mass as a positive quantity, then at the x-direction net outflow is
(u)
u +
dx dy dz u dydz
x
(9)
(u)
dxdydz
x
Similarly, at the other two pair of faces, i.e., (f, b) and (t, b), the net mass outflow is
=
(v)
dxdydz
x
and
(w)
dxdydz
x
(10)
Now, the total mass of fluid inside the infinitesimal small element is given by dV = dxdydz. Then, the rate of
change of mass of the fluid element, as fluid is flowing out of (or into) the element is given by
dxdydz
(11)
t
Appying the physical principle mass is conserved to this problem would mean: The net mass flow out of (or into)
the infinitesimal fluid element must be equal to the time rate of change of decrease (or increase) of mass of the fluid
element
(u) (v) (w)
+
+
dxdydz =
dxdydz The term in the brackets
x
x
x
t
(12)
is the divergence of velocity
scaled by the density
(V) +
= 0
t
The equation above is the continuity equation in Partial Differencial form and of conservation type. PDE due to
choice of IFE model and conservation since the model is fixed in space.
m
dV =
Model: Infinitesimally Small Element Moving with the Flow
The model considered is an infinitesimally small element moving with the flow. The fluid element has a fixed
mass and composed of the same particles, however, its shape and volume can change depending on the local flow
conditions. Let the infinitesimally small mass and volume of this element be denoted by m and V respectively.
Then
m = V
(13)
Applying the principle: mass is conserved implies that the rate of change of mass of the fluid element is zero (since
it is composed of the same particles) as the element moves along the flow. This means
D(m)
=0
Dt
(14)
Substituting the value for m and dividing both sides by V we have
D( V)
Dt
D(V)
D
+ V
Dt
Dt
1 D(V)
D
+
Dt
V Dt
|
{z
}
(15)
Recognizing that the terms in the brackets is the physical meaning of V we obtain
D
+ V = 0
Dt
(16)
Thus we obtain the continuity equation in partial differential equation form, which is of nonconservation type. It is
obtained in PDE form due to our choice of IFE model and nonconservation type due to the model moving with
the flow.
