5.

Finite Control Volume Analysis

Conservation of Mass: Continuity Equation
for Fixed Control Volume
Prof. Christina W. Tsai (Lecturer); Dr. Jankovic (Source of lecture notes); Stanley W. Shen (TA)

Mass is neither created nor destroyed:

DmSYS
=0
Dt

Reynolds transport theorem:

R
d ρbd∀ →
−−
Z
DBSYS
= CV + bρ V →
n dA
Dt dt
CS

with b=1, B = m yields continuity equation for fixed control vol-

ume:

R
d ρd∀ →
−−
Z
CV
+ ρV →
n dA = 0
dt
CS

1
 1D Flux-Term Approximation

One dimensional approximation of the flux term:

Z
→
−− outlets
N
inlets
N

ρV →
X X
n dA = ρiAiVi − ρiAiVi
CS
i=1 i=1

can be used to write continuity equation as:

R
d CV ρd∀
N
outlets
X
N
inlets
X
+ ρiAiVi − ρi A i V i = 0
dt i=1 i=1

or
R
d ρd∀
CV
+ ṁout − ṁin = 0
dt
where ṁ is the mass flowrate (mass flux)

and R → −→
V −
n dAi
Ai
Vi =
Ai

2
 Steady or Incompressible Flow
Steady-Flow Approximation

First term in the continuity equation is zero because there is no

change in density with time. The continuity equation can now be
written as:
→
−−
Z
ρV →n dA = 0
CS

or (for 1-d flow approximation):

N
outlets
X inlets
N
X
ρiAiVi = ρi A i V i
i=1 i=1

Incompressible-Flow Approximation

First term in the continuity equation is zero because velocity is

constant in both space and time. The continuity equation can now
be written as:
→
−−
Z
ρV →n dA = 0
CS

or (for 1-d flow approximation):

N
outlets
X inlets
N
X
ρiAiVi = ρiAiVi
i=1 i=1

3
 Conservation of Mass: Continuity Equation
for a Non-Deforming Control Volume Moving
With a Constant Speed

Only the flux term is affected: to compute mass flux accross the
−
→
control surface, relative velocity W must be used:

R
d ρd∀ −
→−
Z
CV
+ ρW →
n dA = 0
dt
CS

−
→ → − −−→
W = V − VCV = relative velocity
→
−
V = absolute velocity of the fluid
−−→
VCV = absolute velocity of the control volume

4
 Example: Conical Nozzle

section 1
(pump discharge) D2=40 mm
V2=20 m/s
pump

section 2
(nozzle exit)

Steady flow with 1-d flux-term approximation:

ρ2A2V2 = ρ1A1V1
Since density is constant:
A 2 V2 = A 1 V1
or
D22π
Q1 = Q2 = V2 = 0.0251m3/s
4

5
 Example: Flow in a Pipe

section 1
control volume

section 2
R
r

Since the flow is steady:

→
−−
Z
ρV →
n dA = 0
CS

Velocity at section 1 is constant:

→
−−
Z
−ρ1A1U + ρ2 V → n dA2 = 0
A2

Introducing the expression for area:

ZR
−ρ1A1U + ρ2 u22πrdr = 0
0
For a constant denisty and parabolic velocity profile:
ZR
2
 r 2
−R πU + umax 1 − ( ) 2πrdr = 0
R
0
Solving the integral yields:
R
r2 r4

−R2πU + umax2π − =0
2 4R2 0

6
 2 4
 
R R
−R2πU + umax2π − =0
2 4R2
 2 2

R R
−R2πU + umax2π − =0
2 4
Finally, the maximum and the average velocities are related via:
umax = 2U

7
 Example: BathTub

Aj
control
volume 1.5 ft

Vj

2 ft

5 ft

mass balance equation for the water:

R
d CV ρwater d∀water →
−−
Z
+ ρwater V →
n dA = 0
dt
CS

where:
∀water = h · 10f t2 + (1.5f t − h)Aj
mass balance equation may be written as:
∂h
ρwater (10f t2 − Aj )= ṁwater
∂t
Since Aj is small relative to the area of the tub:
∂h
ρwater (10f t2)
= ṁwater
∂t
we can compute the rate of change of depth h:
∂h Qwater ṁwater
= Qwater =
∂t (10f t2) ρwater

8
 Example: Sprinkler

contol volume

section 2
section 2 section 1

Average speed of the water leaving the nozzles = ?

Q = 1000ml/s A2 = 30mm2
Since the flow is incompressible:
−→−
Z
ρW → n dA = 0
CS

1-d flux-term approximation yields:

ρA2W2 + ρA2W2 − ρQ = 0

2A2W2 − Q = 0
Relative velocity (same for all rotation speeds)
Q
W2 = = 16.7m/s
2A2
9
Absolute velocity
V2 = W2 − ωR
where ω is the angular velocity

10
 Linear Momentum Equation
for Fixed Control Volume

Momentum = mass times the velocity (of a particle)

Newton’s second law: rate of change of momentum equals force:

d(mv)
= ma = F
dt

→
−
For volume d∀ the momentum is V ρd∀

Now the system: Time rate of change of the linear momentum of the
system = sum of external forces acting on the system ("F = ma"
for the system):

→
−
Z
D X
V ρd∀ = FSYS
Dt
SYS

11
Now: Reynolds transport theorem:
R
d ρbd∀ →
−−
Z
DBSYS
= CV + bρ V →
n dA
Dt dt
CS

→
−
with b = V , BSYS = system momentum

R → −
→
− d CV V ρd∀ →
− →
−−
Z Z
D
V ρd∀ = + V ρV →
n dA
Dt dt
SYS CS

combined with "F = ma" for the system yields the linear momen-
tum equation:
R → −
d CV V ρd∀ →
− →
−−
Z
+ V ρV →
X
FCV = n dA
dt
CS

12
 1D Flux-Term Approximation

R → − N
outlets N
inlets
X d CV V ρd∀ X →
− X → −
FCV = + Vi ρ i A i Vi − V i ρi A i V i
dt i=1 i=1

Steady-Flow Approximation

First term in the linear momentum equation is zero because there

is no change of either density or velocity with time. The linear
momentum equation can now be written as:
→
− → −−
Z
V ρV →
X
FCV = n dA
CS

or (for 1-d flow approximation):

X outlets
N
X → −
N
inlets
X → −
FCV = Vi ρ i A i Vi − Vi ρ i A i Vi
i=1 i=1

X outlets
N
X → −
N
inlets
X → −
FCV − Vi ρiQi + Vi ρiQi = 0
i=1 i=1

13
 Example: Bend in a Pipe

p1 A 1 ρ1 Q1V1
p2 A2

p2 A2 θ ρ2Q2V2

FV
ρ2Q 2V2
W θ
FH

p1A1 FH
W
ρ1Q1V1

FV

Q1 = Q2

FV = (p2A2 + ρ2QV2) sin θ + W

FH = p1A1 + ρ1QV1 − (p2A2 + ρ2QV2) cos θ

14
 Example 5.5: Vane

ρQ V

θ ρQ V

FV ρQ V

FH θ

FH

ρQ V

FV

FV = (ρQV ) sin θ

FH = ρQV − ρQV cos θ

15
 Example 5.6: Nozzle

D1= 16 mm

V1

section 1

h= 30 mm
control volume

section 2

D2= 5 mm

V2

16
Nozzle: Reaction of the anchor F a

p1 A1 ρ Q V1

Wn Ww

Fa

p2 A2 ρ Q V2

Fa = p1A1 + ρQV1 + Ww + Wn − p2A2 − ρQV2

17
 Nozzle: Reaction of the nozzle R

nozzle water

Fa
(p1+p atm)A1 ρ Q V1
p atm

Wn
Ww

(p2+p atm)A2
ρ Q V2

Fa = p1A1 + ρQV1 + Ww + Wn − p2A2 − ρQV2

R = (p1 + patm)A1 + ρQV1 + Ww − (p2 + patm)A2 − ρQV2
Fa = Wn + R − patm(A1 − A2)

18
 Example 5.9: Sluice Gate

sluice gate

V1 h1

CONTROL VOLUME

V2 h2

2 Ff 2
0.5 γ h1 b 0.5 γ h2 b

R
2 2
ρ h1b V1 ρ h2b V2
1 1
R = h1γA1 + ρQV1 − h2γA2 − ρQV2 − Ff
2 2
1 1
R = h21γb + ρQV1 − h22γb − ρh2bV22 − Ff
2 2

19
 Example 5.7: Bend in a Pipe
p2 A2

ρ Q V2

force on the anchor

Fa

p1 A1

ρ Q V1

(p2+p atm)A2

ρ Q V2

pipe reaction
R

(p1+p atm)A1

ρ Q V1
Fa = p1A1 + ρQV1 + p2A2 + ρQV2

R = (p1 + patm)A1 + ρQV1 + (p2 + patm)A2 + ρQV2

20
 Angular Momentum (Moment-of-Momentum)
Equation for Fixed Control Volume

A rigid body system (bad approximation for fluids!):

−
→ → − d→
−ω
M= I
dt
→
−
ω = angular velocity
→
−
I = mass moment of inertia
−
→
M = moment that acts on the system

→
−
Fluids: for volume d∀ the angular momentum is (→
−
r x V )ρd∀

Fluid system: Time rate of change of the angular momentum of the

system = sum of external moments (torques) acting on the system:

→
− →
−
Z
D →
− (→
−
X
( r x V )ρd∀ = r x F )SYS
Dt
SYS

21
Now: Reynolds transport theorem:
R
d ρbd∀ →
−−
Z
DBSYS
= CV + bρ V →
n dA
Dt dt
CS

→
−
with b = →
−
r x V , BSYS = system angular momentum

R →− →
−
→
− d ( r x V )ρd∀ →
− → −−
Z Z
D
(→
−
r x V )ρd∀ = CV
+ (→
−
r x V )ρ V →
n dA
Dt dt
SYS CS

yields angular momentum equation:

R → − →
−
→
− d ( r x V )ρd∀ →
− → −−
Z
(→
− + (→
−
r x V )ρ V →
X
r x F )CV = CV n dA
dt
CS

22
 Typical Approximations

1. Velocity is constant over an inlet or an outlet and oriented nor-

mal to the area of the inlet or the outlet
2. Flow is either steady and steady on the average
3. We only work with the component of the angular momentum
along the axis of rotation

23
 Example: Sprinkler

ez
eθ
er
ω

contol volume

section 2
section 1 Tshaft
section 2

V2

U2
r2
ω W2
U2 = r2 ω
V 2= V2 θ
Tshaft

24
 Sprinkler

The only acting torque is the shaft torque:

→
−
(→
−
X
r x F )CV = Tshaft

On the average: R →− →
−
d ( r x V )ρd∀
CV
=0
dt

Flux term:
→
− → −−
Z
(→
−
r x V )ρ V →
n dA
CS

→
−−
can only be non-zero along an inlet or an outlet since V →
n is zero
elsewhere

→
−→
V−n is negative for inlet, positive for outlets.

→
−
at section 1 (→
−
r x V ) is horizontal; zero along the axis of rotation

→
−
at section 2 (→
−
r x V ) is vertical (oriented along the axis of rotation),
its magnitude is (r2xV2) (scalar), and negative (right-hand rule!)

Hence
→
− → −−
Z
(→
−
r x V )ρ V →
n dA = −r2V2ρQ/2−r2V2ρQ/2 = −r2V2ρQ = −r2V2ṁ
CS

25
along the axis of rotation (positive z axis)

Angular momentum equation yields:

−r2V2ṁ = Tshaft

Shaft power
Ẇ = Tshaftω

Ẇ = −r2V2ṁω

Ẇ = −U2V2ṁ

Shaft work per unit mass

Ẇ
w= = −U2V2
ṁ

26
 Example 5.10

r2 = 200mm Q = 1000ml/s A2 = 30mm2

• Torque necessary to hold the sprinkler steady=?

• Resisting torque for ω = 500 rev/min=?
• ω for zero resisting torque=?

angular momentum equation:

Tshaft = −r2V2ṁ = −r2V2ρQ

for ω = 0 V2 = 16.7(m/s)
Tshaft = −3.34N m

27
for ω = 500 rev/min
200mm 500 rev/min · 2π rad/rev
V2 = W2 − U2 = 16.7m/s −
1000mm/m 60s/min
V2 = 6.2m/s
Tshaft = −1.24N m
(mass flux was the same!)

for Tshaft = 0
0 = −r2(W2 − U2)ṁ
W2 = r2ω
W2
ω= = 797rpm
r2

28
 Example: Bend in a Pipe

p2 A2

ρ Q V2
anchor D2

D1 Ma
p1 A1

ρ Q V1

Ma = (p1A1 + ρQv1)D1 + (p2A2 + ρQv2)D2

29
 Torque of Rotating Machinery

Tshaft = −ṁin(±rinVθin) + ṁout(±routVθout)

• Torque is positive if it is oriented in the same direction as ω

(pump)
• Torque is negative if it is oriented in the opposite direction of
ω (turbine)
• (±rVθ ) is positive (both for in and out) if Vθ and U are oriented
in the same direction
• (±rVθ ) is negative (both for in and out) if Vθ and U are oriented
in the opposite direction

30
 Power of Rotating Machinery

Shaft power
Ẇshaft = Tshaftω

Ẇshaft = −ṁin(±rinωVθin) + ṁout(±routωVθout)

Ẇshaft = −ṁin(±UinVθin) + ṁout(±UoutVθout)

• (±U Vθ ) is positive (both for in and out) if Vθ and U are oriented

in the same direction
• (±U Vθ ) is negative (both for in and out) if Vθ and U are oriented
in the opposite direction

Shaft work per unit mass = Ẇshaft/ṁ:

wshaft = −(±UinVθin) + (±UoutVθout)

(since ṁin = ṁout = ṁ)

31
 Example 5.11
D2=12 in

D1=10 in

section 2
fixed
control
volume section 1

Tshaft

o
30
ω
W2

h =1 in

U2

Wr 2 Vr 2
W2 V2
o
30
V θ2

32
 Example 5.11

Q = 230f t3/min ω = 1725rpm Ẇshaft =?

mass flux:
ṁ = ρQ = 0.00912slug/s

blade velocity:
U = r2ω = 90.3f t/s

mass flux in terms of Vr2:

ṁ = ρA2Vr2 A2 = 2πr2h

ṁ = ρ2πr2hVr2 Vr2 = W2 sin 30

radial component of V2 and W2:

ṁ
W2 = = 29.3f t/s
ρ2πr2h sin 30

tangential component of V2:

Vθ2 = U2 − W2 cos 30 = 69.4f t/s

Necessary power:
Ẇshaft = ṁoutU2Vθ2 = 0.0972hp
since V1 is radial (Vθ1 = 0) - air enters the blade radially.

33
 The Energy Equation
for Fixed Control Volume

First law of thermodynamics: increase in stored energy = energy

addition by heat transfer + energy addition by work transfer (all
expressed as time rates):
Z
D X X X X
eρd∀ = ( Q̇IN − Q̇OUT)SYS + ( ẆIN − ẆOUT)SYS
Dt
SYS

2
e=energy per unit mass=ũ + V2 + gz
ũ=internal energy per unit mass
Q̇=rate of heat transfer into the system
Ẇ =rate of work transfer into the system

Z
D
eρd∀ = (Q̇NET IN + ẆNET IN)SYS
Dt
SYS

Now: Reynolds transport theorem:

R
DBSYS d CV ρbd∀ →
−−
Z
= + bρ V →
n dA
Dt dt
CS

with b = e, BSYS = system energy

R
d eρd∀ →
−−
Z Z
D
eρd∀ = CV
+ eρ V →
n dA
Dt dt
SYS CS

34
combined with first law of termodynamics yields:
R
d CV eρd∀ →
−−
Z
+ eρ V → n dA = (Q̇NET IN + ẆNET IN)CV
dt
CS

adiabatic process if Q̇ = 0
power ẆNET IN is positive if work is added to con. vol. (e.g. pump)

Power transfer due to pressure:

→
−−
Z
(−p) V →
n dA
CS

Hence, the energy equation is finally written as:

R
d CV eρd∀ p V2 →
−−
Z
+ (ũ + + + gz)ρ V →n dA = (Q̇NET IN + ẆSHAFT NET IN)CV
dt ρ 2
CS

35
 1D Flux-Term Approximation for Steady Flow

Steady flow (or steady in the average) with one-dimensional flux-

term approximation and a single inlet and outlet:
p V2 p V2
(ũ + + + gz)OUTṁOUT − (ũ + + + gz)INṁIN =
ρ 2 ρ 2
(Q̇NET IN + ẆSHAFT NET IN)CV

Since mass flux is constant:

2
− VIN2
 
p p VOUT
ṁ ũOUT − ũIN + ( )OUT − ( )IN + + g(zOUT − zIN) =
ρ ρ 2
(Q̇NET IN + ẆSHAFT NET IN)CV

In terms of enthalpy h̃ = ũ + ρp :
2
− VIN2
 
VOUT
ṁ h̃OUT − h̃IN + + g(zOUT − zIN) =
2
(Q̇NET IN + ẆSHAFT NET IN)CV

36
 Comparison With Bernoulli Equation

INCOMPRESSIBLE steady flow energy equation with ZERO

SHAFT WORK is applied along a streamline:

2
− VIN2
 
pOUT pIN VOUT
ṁ ũOUT − ũIN + − + + g(zOUT − zIN) =
ρ ρ 2
Q̇NET IN

Dividing with ṁ:

2
pOUT VOUT pIN VIN2
+ + gzOUT = + + gzIN − (ũOUT − ũIN − qNET IN)
ρ 2 ρ 2

2
where qNET IN = Q̇NET
ṁ
IN
is the heat transfer per unit mass, p V
ρ + 2 + gz
is the available energy per unit mass and (ũOUT − ũIN − qNET IN) is
energy loss per unit mass (always positive)

Energy equation:
2
pOUT VOUT pIN VIN2
+ + gzOUT = + + gzIN − energy loss per unit mass
ρ 2 ρ 2

Bernoulli equation (in terms of energy per unit mass):

2
pOUT VOUT pIN VIN2
+ + gzOUT = + + gzIN (no energy loss!)
ρ 2 ρ 2

37
 Incompressible steady flow
(for turbines, pumps, blowers, fans)

Density is constant, shaft work is added:

2
− VIN2
 
pOUT pIN VOUT
ṁ ũOUT − ũIN + − + + g(zOUT − zIN) =
ρ ρ 2
(Q̇NET IN + ẆSHAFT NET IN)CV

Dividing with ṁ yields

2
pOUT VOUT pIN VIN2
+ + gzOUT = + + gzIN − loss + wSHAFT NET IN
ρ 2 ρ 2
where wSHAFT NET IN is the shaft work per unit mass. This equation
is referred to as the "mechanical energy equation" or "modified
Bernoulli equation".

Dividing with g yields an equation in terms of head (energy per

unit weight = head[L]):
2
pOUT VOUT pIN VIN2
+ + zOUT = + + zIN − hL + hs
γ 2g γ 2g
where hs is the hPUMP (pump head) or −hTURBINE (turbine head) and
hL is the head loss

38
 Nonuniform flow at the inlet and the outlet

Velocity varies in the cross section, density is constant:

2 2
pOUT αOUTV OUT pIN αINV IN
+ + gzOUT = + + gzIN − loss + wSHAFT NET IN
ρ 2 ρ 2

where α is the kinetic energy coefficient (α ≥ 1) and V is the

average velocity.

39
 Example 5.12

D1=3.5in PUMP
D2=1.0in
p1=18psi p2=60psi
W SHAFT =?

2
− VIN2
 
p p VOUT
ṁ ũOUT − ũIN + ( )OUT − ( )IN + + g(zOUT − zIN) =
ρ ρ 2
(Q̇NET IN + ẆSHAFT NET IN)CV

ũOUT − ũIN=3000 ft lb /slug

Q=300 gal/min
Q̇NET IN = 0 (adiabatic flow)
z1=z2

2
− VIN2
 
p p VOUT
ṁ ũOUT − ũIN + ( )OUT − ( )IN + = ẆSHAFT NET IN
ρ ρ 2

40
 (1.94slugs/f t3)(300gal/min)
ṁ = ρQ = = 1.30slugs/s
(7.48gal/f t3)(60s/min)

Q (300gal/min)4(12in/f t)2
V1 = = = 10.0f t/s
A1 (7.48gal/f t3)(60s/min)π(3.5in)2

Q (300gal/min)4(12in/f t)2
V2 = = = 123f t/s
A2 (7.48gal/f t3)(60s/min)π(1.0in)2

(60psi)(144in2/f t2)

ẆPUMP = (1.30slugs/sec) 3000f t · lb/slug +
1.94slugs/f t3
(18psi)(144in2/f t2) (123f t/s)2 − (10.0f t/s)2)

1
− +
1.94slugs/f t3 2(1(slug · f t)/(lb · s2)) 550(f t · lb/s)/hp
= 32.2hp

41
 Example 5.13

STEAM TURBINE
V1=30 m/S

h1=3348 kJ/kg w TURBINE =? V2=60 m/S

h2=2550 kJ/kg

2
− VIN2
 
VOUT
ṁ h̃OUT − h̃IN + + g(zOUT − zIN) =
2
(Q̇NET IN + ẆSHAFT NET IN)CV

Q̇NET IN = 0 (adiabatic flow)

z1=z2

2
− VIN2
 
VOUT
ṁ h̃OUT − h̃IN + = −ẆTURBINE
2

2
VOUT − VIN2
h̃OUT − h̃IN + = −ẆTURBINE/ṁ = −wTURBINE = −797kJ/kg
2

42
 Example 5.14

D2=120mm
V2

V1=0
p1=1 kPa

D2=120mm
V2

p2 V22 p1 V12
+ + gz2 = + + gz1 − loss p2 = 0
ρ 2 ρ 2
s  
p 1 − p2
V2 = 2 ( ) − loss
ρ
V22
loss = KL
2
r
p1 − p2
V2 =
ρ[(1 + KL)/2]
D22π
r
p1 − p2
Q2 =
4 ρ[(1 + KL)/2]

43
Round entrance KL = 0.05
Q2 = 0.445m3/s

Square entrance KL = 0.5

Q2 = 0.372m3/s

44
 Example 5.15

control volume

FAN

V1=0 V2= 12m/s

D2 =0.6m

section 1 section 2

Fan draws power ẆSHAFT NET IN = 0.4kW . Fan efficiency=?

p2 V22 p1 V12
   
wSHAFT NET IN − loss = + + gz2 − + + gz1
ρ 2 ρ 2

Since z1 = z2, V1 = 0, p1 = p2 = 0:
 2
V2
wSHAFT NET IN − loss = = 72N m/kg
2

45
Efficiency:
wSHAFT NET IN − loss
η=
wSHAFT NET IN
where wSHAFT NET IN − loss is the amount of work that needs to be
added to achieve the desired velocity V2.

Work supplied by the fan:

ẆSHAFT NET IN
wSHAFT NET IN =
ṁ
where mass flux is computed through:
πD22
ṁ = ρQ = ρ V2
4
Hence:
ẆSHAFT NET IN
wSHAFT NET IN = = 95.8N m/kg
πD22
ρ 4 V2
Efficiency:
η = 0.752

46
 Example 5.16

30 ft

1
pump

Pump power ẆSHAFT NET IN =10hp, Q = 2f t3/s

p2 V22 p1 V12
+ + z2 = + + z1 + hS − hL
γ 2g γ 2g

Since p1 = p2 = 0 and V1 = V2 = 0:
hL = hS + z1 − z2

The pump head:

ẆSHAFT NET IN
= (10hp)(550f t·lb/s/hp)/ (62.4lb/f t3)(2f t3/s)


hS =
γQ
hS = 44.1f t

hL = 14.1f t

The lost power ẆLOSS:

ẆLOSS = γQhL = 3.20hp
47