Fluid Mechanics, SG2214, HT2013

October 14, 2013

Exercise 9: Model of a Submarine

Example 1: Submarine
The flow around a submarine moving at a velocity V can be described by the flow caused by a source and a
sink with strength Q at a distance 2a from each other.
x
V

Submarine

Q -Q
p z
y

L a

Figure 1: Coordinate system for submarine problem

a) If one wants to construct a pressure sensor that will register an approaching submarine at a distance L,
what sensitivity is needed for the sensor? Assume an ideal fluid and that 2a = 80 m, Q = 915 m3 /s,
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U = 8 m/s, L = 200 m and ρ = 1000 kg/m .

Use a potential flow description

∂φ ∂φ
ū = ∇φ, u= , v=
∂x ∂y
The flow is always irrotational due to the definition of the velocity potential

ω = ∇ × ū = ∇ × ∇φ = 0, curl(grad)=0

For incompressibility we get

∂(∇φ)i
∇ · ū = ∇ · ∇φ = = ∆φ = 0
∂xi
The equation is linear and thus superposition can be used. We have freestream plus 3D source plus
sink
−Q Q
φ = |{z}Uz + +
4π r1 4π r2
freestream | {z } | {z }
source sink

The first term is in cylindrical coordinates (R, θ, z) and the two last are in two different spherical
coordinate systems with origin in z − a and z + a, respectively. Transform the two second terms to
cylindrical coordinates
−Q Q
φ = Uz + p + p
4π (z + a)2 + R2 4π (z − a)2 + R2

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 Velocity
∂φ 1 ∂φ ∂φ
ū = ∇φ =ēR + ēθ + ēz =
∂R R ∂θ ∂z
   
QR QR Q(z + a) Q(z − a)
ēR − +ē z U + −
4π((z + a)2 + R2 )3/2 4π((z − a)2 + R2 )3/2 4π((z + a)2 + R2 )3/2 4π((z − a)2 + R2 )3/2
We need to know the distance, b, from the point source to the stagnation point on the submarine nose.
Thus we need to know the length of the submarine.

b) How long is the submarine?

Compute where uz = 0 for R = 0
 
Q 1 1
U+ − =0
4π (z + a)2 (z − a)2

4πU (z − a)2 − (z + a)2 −4az

− = = 2
Q (z − a)2 (z + a)2 (z − a2 )2
Solving this system gives z = ±43.01 m, z = ±36.99 m, where the second solution lies inside the
submarine. The length is then 2 ∗ 43.01 ≈ 86 m and b = 3.01 m.

Now we continue to solve a)

Use Bernoulli equation to determine the pressure fluctuations at z = −L − b − a, R = 0
1 1
p + ρ|ū|2 = p∞ + ρU 2
2 2
Evaluate ū noticing that uR = 0
 
−Q Q
ū(z = −L − b − a, R = 0) = ēz U + 2
+
4π(L + b) 4π((L + b + 2a)2
Inserting the given values gives |ū| = 7.99914 m/s and we get
1 2
p − p∞ = ρ(U 2 − |ū|2 ) ≈ 6.86 N/m ≈ 0.07 mbar
2

c) How wide is the submarine?

To get this we need to compute the shape of the submarine. The stream function is constant along
streamlines and is useful for this. In spherical coordinates the stream function is defined as
1 ∂ψ
ur =
r2 sin θ ∂θ
1 ∂ψ
uθ = −
r sin θ ∂r
Transformation between cylindrical and spherical coordinates

ur = uR sin θ + uz cos θ

R = r sin θ, z = r cos θ
Our velocity field gives
 
1 ∂ψ Q 1 1
= sin θ r sin θ − +
r2 sin θ ∂θ 4π (r2 + a2 + 2ar cos θ)3/2 (r2 + a2 − 2ar cos θ)3/2

2
   
Q r cos θ + a r cos θ − a
cos θ U + −
4π (r2 + a2 + 2ar cos θ)3/2 (r2 + a2 − 2ar cos θ)3/2
 
Q r + a cos θ r − a cos θ
= U cos θ + − 2
4π (r2 + a2 + 2ar cos θ)3/2 (r + a2 − 2ar cos θ)3/2
This is difficult to integrate. Simplify to a Rankine body by neglecting the sink and say that a = 0
Q 1 1 ∂ψ
ur = U cos θ + = 2 ⇒
4π r2 r sin θ ∂θ
1 2 2 Q
Ψ= U r sin θ − cos θ + C
2 4π
Determine C from the stagnation point
Q
ur (θ = π, r0 ) = 0 ⇒ r02 =
4πU
Since Ψ = 0 on the body we get
Q
C=− .
4π
The stream function is then
1 Q
Ψ= U R2 sin2 θ − (cos θ +1)
2 | 4π{z }
source

d
The shape is given by Ψ = 0. As r → ∞, θ → 0 then r sin θ → . This gives
2

10

x 0

−5

−10

−15
−20 −15 −10 −5 0 5 10 15
z
Figure 2: Rankine body for submarine problem

r
1 d2 Q 4Q Q
U −2 =0 ⇒ d2 = ⇒ d=2
2 4 4π Uπ Uπ

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There is a simple way of determining the radius as z → ∞ directly. The flow from the source must
take up an particular area in the flow at infinity. Since no fluid can cross the streamlines this area must
be equal to that of the Rankine body:
r
d2 Q
Q = Uπ ⇒ d=2 = 12.07 m
2 Uπ
We can use the computed stream function for a point source and displace it to z = −a. In cylindrical
coordinates  
−Q z+a
Ψ= p
4π (z − a)2 + R2
Transform to spherical coordinates
   
−Q r cos θ + a −Q r cos θ + a
Ψ= q = √
4π (r cos θ + a)2 + r2 sin2 θ 4π r2 + a2 + 2ar cos θ

The stream function for the submarine is then

 
1 2 2 Q r cos θ + a r cos θ − a
Ψ = U r sin θ + −√ +√
2 4π r2 + a2 + 2ar cos θ r2 + a2 − 2ar cos θ

10

x 0

−10

−80 −60 −40 −20 0 20 40 60 80

z
Figure 3: Submarine body for submarine problem

At r = R and θ = π/2 we get

 
1 Q a −a
Ψ= U R2 + −√ +√
2 4π R2 + a2 R2 + a2
For the body Ψ = 0 and we get
p aQ
R2 R2 + a2 − =0
πU
Multiply by
p aQ
R2 R2 + a2 + ⇒
πU
a2 Q2
(R2 )3 + (R2 )2 a2 − =0
π2 U 2
Computing this
d = 2R = 12.0006 m

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The complex potential
The lines with constant stream function Ψ are the streamlines. They are orthogonal to the lines of constant
velocity potential φ which are equipotential lines. Since both of them satisfy Laplace’s equation we can define
a complex function
F (z) = φ(x, y) + i Ψ(x, y) z = x + iy

18

16

14

12

10

0
−50 −45 −40 −35 −30 −25

Figure 4: Complex potential for submarine problem, solid: Ψ , dotted: φ

This is an analytical function since the Cauchy–Riemann equation holds

∂φ ∂Ψ ∂φ ∂Ψ
= and =−
∂x ∂y ∂y ∂x
The velocity is then
dF ∂φ ∂Ψ
w(z) = = +i = u − iv
dz ∂x ∂x
This enables the use of complex analysis, in particular conformal mapping that can be used to compute the
flow over airfoil shapes.

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Example 2: Half body over a wall
A line source of strength Q is located at (0, a) above a flat plate that coincides with the x-axis. A uniform
stream with velocity U flows along the x-axis. Calculate the irrotational flow field.

Method of images. Put a line source of equal strength at (0, −a) in order to fulfill the condition of no flow
through the plate. Superposition of a uniform flow and the two line sources gives the complex potential
Q Q
F = Uz + ln(z − ia) + ln(z + ia)
2π 2π
Complex velocity  
dF Q 1 1
W =
=U+ + ⇒
dz 2π z − ia z + ia
 
Q 1 1
W =U+ + ⇒
2π x + i(y − a) x + i(y + a)
 
Q x − i(y − a) x − i(y + a)
W =U+ + 2 ⇒
2π x2 + (y − a)2 x + (y + a)2
  
Q x x y−a y+a
W =U+ + − i +
2π x2 + (y − a)2 x2 + (y + a)2 x2 + (y − a)2 x2 + (y + a)2
The velocity field now becomes
 
Q x x
u=U+ + 2
2π x2 + (y − a)2 x + (y + a)2
 
Q y−a y+a
v= + 2
2π x2 + (y − a)2 x + (y + a)2

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Conformal Mapping
Flow past a rotating cylinder centered at z = λ at an angle of attack α

(a + λ)2 iα
 
iΓ
F (z) = U (z + λ)e−iα + e − log(z + λ)
(z + λ) 2π
  12
1 1 2 2
Mapping by z = 2Z + 4Z −a gives an airfoil shape with the potential F(z). A correct flow is not
achieved unless the Kutta–Joukovski condition is satisfied requiring

Γ = −4πU (a + λ) sin α

4 Z=f(z)

1 2

0 0

−1 −2
−2 −5 0 5
−3

−4
−1
−4 −2 0 2 z=f (Z)

Figure 5: Conformal mapping from circle to airfoil shape, (a = 3,λ = 0.5)

Exercise 3: Flow past a Symmetric Airfoil

a) Use conformal mapping to calculate the irrotational flow field around a symmetric airfoil.

Joukowski transformation
c2
ζ(z) = z +
z

1 2

0.5 1

0 0

−0.5 −1

−1 −2

−1.5 −1 −0.5 0 0.5 1 −3 −2 −1 0 1 2

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Equation for the circle
z = −λ + (a + λ)eiθ
Equation for the airfoil
a2
ζ = −λ + (a + λ)eiθ +
−λ + (a + λ)eiθ
Complex potential in the z-plane

(a + λ)2 iα iΓ
F = U (z + λ)e−iα + U e + ln(z + λ)
(z + λ) 2π

Complex velocity in the z-plane

dF (a + λ)2 iα iΓ
W = = U e−iα − U e +
dz (z + λ)2 2π(z + λ)

Complex velocity in the ζ-plane

(a + λ)2 iα a2
  
dF/dz iΓ
ω= = U e−iα − U e + 1 −
dζ/dz (z + λ)2 2π(z + λ) z2
p
The velocity can then be found by introducing the reversed transformation z = ζ/2 + ζ 2 /2 − a2 into

u∗ = Re{ω(z)}, v∗ = −Im{ω(z)}

b) Calculate the Joukowski condition for the airfoil.

The flow field has a singular point at the trailing edge of the airfoil at ζ = 2a. Resolve the singularity by
choosing the circulation Γ so the numerator vanishes at the trailing edge z = a
iΓ
U e−iα − U eiα + =0 ⇒
2π(a + λ)

eiα − e−iα
Γk = 4π(a + λ)U = 4π(a + λ)U sin α
2i