Allievis equations

Equation of motion ("F = m a")

∂H ∂Q dl

+ + kQ Q = 0
∂ ( pA )
pA +
Ag Q=cA pA ∂l
dl

∂x ∂t

Continuity:
(mass in - mass in = accumulated mass)
∆L ∆p
Hooks law: =
∂H a ∂Q 2

∂t
+
Ag ∂ x
=0 { L

a=
K

K
}
Propagation speed: ρ
Torbjørn K. Nielsen
2005

Water hammer ∆H
a

L
2L t [sec]
a
Joukowsky:
a∆V 2L
∆H = [mVs ] If valve closing time: TL ≤
g a

2L
a∆V a L Q 2L
∆H = =2 if TL >
g TL gA TL a
Torbjørn K. Nielsen
2005

1
 Rigid theory:

H1 H2
L A Q0

1 dQ
Newtons 2. Law gives: ρ gA ( H 2 − H 1 ) = − ρ AL
A dt
dQ ≈ − ∆ Q = 0 − Q 0 = − Q 0 og dt ≈ T L

L ∆Q 2L
∆H = if TL >>
gA TL a
Torbjørn K. Nielsen
2005

Methode of Characteristics

• Methode for solving differential equations

•The wave equation is "hyperbolic“. Difference methods gives

singular matrixes

• MOC – solves the wave equation along the characteristics

i.e. along the singular points

Torbjørn K. Nielsen
2005

2
 Determining the characteristic equations

∂H 1 ∂Q
L1 = g + + kQ Q = 0
∂x A ∂t

∂H a 2 ∂Q
L2 = + =0
∂t Ag ∂ x

L1 + λ L 2 = 0

∂H 1 ∂Q ⎛ ∂H a 2 ∂Q ⎞
g + + kQ Q + λ ⎜⎜ + ⎟⎟ = 0
∂x A ∂t ⎝ ∂ t gA ∂ x ⎠
Torbjørn K. Nielsen
2005

Rearranging the equations:

⎛ ∂H g ∂H ⎞ 1 ⎛ ∂Q λ a ∂Q ⎞
2
λ⎜ + ⎟ + ⎜⎜ + ⎟ + kQ Q = 0
⎝ ∂x λ ∂t ⎠ A ⎝ ∂x g ∂ t ⎟⎠
Chain rule:

dH ∂ H dx ∂ H dQ ∂ Q dx ∂ Q
= + = +
dt ∂ x dt ∂t dt ∂ x dt ∂t

dx g λ a 2 g
= = ⇒ λ=±
dt λ g a

dx
= ±a
dt
Torbjørn K. Nielsen
2005

3
 Results - two ordinary differential equations:

g dH 1 dQ
+ + kQ Q = 0

dx
a dt

= +a
A dt
} C+

dt

g dH 1 dQ
− + + kQ Q = 0
a dt A dt
dx
= −a
} C-

dt
Torbjørn K. Nielsen
2005

Two sets of equations, one for pressure propagation

In the flow direction and one for the opposite direction

t P
to+∆t
A B
Q
to
+a x
-a
adt dx
Multiply with = and integrates:
g g
P P P
a k
∫A dH + gA ∫A dQ + g ∫A Q Q dx = 0
Torbjørn K. Nielsen
2005

4
 Done for both C+ and C- , gives two eq. with two unknowns:

a f∆ x
HP − HA + (Q p − Q A ) + QA QA = 0
gA 2 gDA 2
a f∆ x
HP − HB − (Q p − Q B ) − QB QB = 0
gA 2 gDA 2
t

to+∆ t
P
to+∆ t
C+ C-
to x
A B
Torbjørn K. Nielsen ∆x
2005

• The condition in time t is known, find the condition in t + ∆ t

• For all pipes: ∆t = ∆x / a

• “Internal points”: Two equations, 2 unknowns: HP og QP

t
P
to+∆ t
C+ C-
to x
A B

• In the end points: One equation ( C+ eller C- ) + a border

condition

5
Border conditions:
Reservoir: H
P = H reservoir

P P
to+∆t
C+ C-
to
A B
Valve: Q P = åA 0ζ 2 gH P

Good book: Wylie&Streeter: Fluid Transient