Hapter: 1 1.1 What Is Hydraulics?
Hapter: 1 1.1 What Is Hydraulics?
Hapter: 1 1.1 What Is Hydraulics?
Chapter 1
1.0. INTRODUCTION
ydraulics is derived from a Greek Word " Hydraulikos" which means water. It is
the study of water and some engineering fluids, which a hydraulic/civil engineer
is called upon to store, convey or pump. Engineering fluid includes wastewater in
waste disposal and oils in hydraulic control gear.
Mechanics
Rigid body
body Deformable body Fluid
mechanics
Mechanics Mechanics
mechanics Mechanics
Incompressible Compressible
(Liquids like water) (Gases like air)
Hydromechanics Aeromechanics
Aerostatics Aerodynamics
Hydrostatics Hydro kinematics Hydrodynamics
Hydraulics is often confused with the allied science of fluid mechanics because a
considerable overlap occurs between the two studies. However, fluid mechanics deals
with gases, as well as the common liquids, and to most hydraulic/civil engineers a study
of gas behavior is irrelevant to their professional needs.
The basic aim of hydraulics is to understand and control the occurrence, movement and
use of water for the benefit of society whether it is in lakes, rivers, pipes, drains,
percolating through soils or pounding the coastline as destructive waves. Therefore, the
fundamentals in hydraulic engineering systems involve the application of engineering
principles and methods to the planning, control, transportation, conservation, and
utilization of water.
All organized societies need adequate water supplies, drainage to dispose of waste or
excess water, as well as protection from uncontrolled water. Thus an obvious necessity
for a study of hydraulics exists.
Design of a wide range of hydraulic structures (dams, canals, weirs etc.) and
machinery (pumps, turbines and fluid couplings)
Design of a complex network of pumping and pipelines for transporting liquids.
Power generation
Flood protection
Surface and ground water studies
Flow metering like orifice meter
Pressure measurement
Archeological discoveries have shown that canals, dams, reservoirs and devices for
lifting water existed in Egypt, China and Babylon for irrigation and defense purposes.
(That is, irrigation is the earliest form of hydraulics.) The design of these works was
based on experience and simple trial and error. As a result major hydraulic projects were
something of a gamble, successful/fail.
The Greeks understood some elementary theories and collected enough information to
divide hydraulics into hydrostatics and hydrodynamics. They were imaginative
innovators.
3. Roman empire (The empire covered much of Europe, Asia, & Northern Africa)
Numerous public water supply schemes drainage works and bridges were undertaken
many of which still stand today. The Romans advanced the practice of the art, but they
did little or nothing to promote the fundamental fluid behavior. They lacked deep
understanding of the science. Ex Method of water charging for private water supplies
were based on the pipe size. They were skillful adaptors/competent appliers of
hydraulics.
4. The Dark Age (A.D. 500-1500) during the dark age (middle age) little real progress
occurred.
5. Renaissance -16th century
For the first time it became common for intelligent men to improve their understanding
by conducting experiments (experimental approach).
Ex Leonardo do Vinci (Italian genius) sketched and commented upon many hydraulic
phenomena. (Profile of free jet, hydraulic jump etc)
7. 20th Century
At the beginning of the twentieth century both the fields of theoretical hydrodynamics
and experimental hydraulics were highly developed, and attempts were made to unify the
two. Prandtl’s (German professor) convincing theory, published in 1904, for the behavior
of turbulent flow past a solid boundary laid the foundation for the present unified
approach known as fluid mechanics.
Our fleeting journey through the history of hydraulics deliberately stops short at this
point, because a discussion of the present rightly belongs to the course, which follows.
Chapter – 2
2.0. Fluid Properties
2.1 General Description
atter can be distinguished by the physical form of its existence (phases) as
solid, liquid and gases, for example water appears in liquid, solid (Snow and
ice), or gaseous (moisture or water vapor) form depending on the extent of
hydrogen bonding. Liquid and gaseous phases are usually combined and given a common
name of fluid.
Exercise: Distinguish solid, liquid and gas.
Definitions
Fluids: Fluids are substances, which deform continuously under the application of a
shear force, no matter how small the force might be. They are characterized by their
ability to flow.
(Shear force = force component tangent to a surface. This force divided by the area =
average shear stress).
Every fluid has certain characteristics by which its physical condition may be described.
We call such characteristics properties of the fluid. These properties can be divided in to
two broad categories: Extensive properties, which depend on the size of a sample of
matter; and intensive properties, which are independent of the sample size. Of the two
intensive properties are the more useful because a fluid will exhibit the same intensive
property regardless of how much of it we examine. Examples of extensive property are
mass and volume as the amount of a substance increases; its mass and volume also
increase. Intensive properties include density, pressure and temperature.
In speaking of the properties of fluids, we also distinguish between physical and chemical
properties. A physical property can be specified with out reference to any other fluid.
Density, mass volume, colour etc are all examples of physical properties. A chemical
property on the other hand states some interaction between chemical substances.
The way fluid (water) behaves under various conditions encountered in practice depends
primarily on its fundamental and physical properties, which are briefed as follows.
1. Density
SI unit Kg/ m3
Dimensionally ML-3
For an incompressible fluid, ‘’ is constant
For water, is 1000 kg/ m3 at 40 c and standard pressure (760 –mm Hg)
(There is a slight decrease in density with increasing temperature, but for
normal practical purposes the value is constant)
Generally, the density of liquids is only slightly dependent on either
temperature or pressure and the variation can be ignored but for gases, it
significantly varies with both temperature and pressure.
b. Specific weight / unit weight / unit gravity force /, designated by (Gk, gamma)
It is defined as the weight per unit volume.
W mg
g
V v W = weight = mass x gravitational acceleration (g)
g
mass of fluid
Re lative density
mass of equal volume of water
density of fluid
density of water
It is the volume occupied by a unit mass of fluid or simply the reciprocal of density.
v 1
Vs
m
For most practical purposes liquids may be regarded as incompressible. However, there
are certain cases, such as water hammer, where the compressibility should be taken into
account. If water were not compressible, then closing a valve on a pipeline could be a
dangerous task. Imagine trying to stop suddenly a solid column of water several
kilometers long. The force involved would be immense. Fortunately water is
compressible and compresses like a spring to absorb the energy of the impact as the valve
is closed. Water hammer pressures are quite large. Therefore, engineers must design
piping systems to keep the pressure within acceptable limits. This is done by
Installing an accumulator near the valve and/or operating the valve in such a
way that rapid closure is prevented. Accumulators may be in the form of air
chambers for relatively small systems, or surge tanks.
Installing pressure-relief valves at critical points in the pipe system.
Analysis of water hammer is beyond the scope of this course.
If the pressure of a volume of fluid is increased by dp, it will cause a volume decrease dv,
then the bulk modulus of elasticity is defined as
dp
K = - v = original fluid volume
dv / v
The negative sign indicates a decrease in volume with the increase in pressure.
= m/v
m 1 dv m dv dv
d d md m 2
v v v v v v
d dv
v
dp
Substituting: k
d /
The concept of the bulk modulus is mainly applied to liquids, since for gases
the compressibility is so great that the value of K is not a constant
For water, k is approximately 2150 N/ mm2 at normal temperatures and
pressures.
For steel k = 215000 N/ mm2 (i.e. water is 100 times more compressible
than steel)
The resistance to flow because of internal friction is called viscous resistance and the
property, which enables the fluid to offer resistance to relative motion between adjacent
layers, is called the viscosity of liquid. It is a measure of resistance to tangential or shear
stress and arises from the interaction and cohesion of fluid molecules.
The liquid molecules are closely spaced, with strong cohesive forces between molecules,
and the resistance to relative motion between adjacent layers of fluid is related to these
intermolecular forces. As the temperature increases, the cohesive forces are reduced with
a corresponding reduction in resistance to motion, since viscosity is an index of this
resistance, it follows that the viscosity is reduced by an increase in temperature.
A gas, on the other hand, has very small cohesive forces. Most of its resistance to shear
stress is the result of molecular interaction. As the temperature of the gas increases, the
random molecular activity increases hence viscosity increases with temperature.
The effect of temperature on viscosity is approximated by
for gases
CT 3/ 2
C and S empirical constant
T S
(Sutherland equation)
for liquids
Consider a fluid confined between two plates which are situated a very short distance y-
apart. The lower plate is stationary whilst the upper plate is moving at a velocity v.
Hence; the fluid in immediate contact with the moving plate has a velocity v and with the
stationary plate has zero velocity. (The experimental observation that the fluid “sticks” to
the solid boundary is very important one in fluid mechanics and is usually referred to as
the no slip condition. All fluids satisfy this condition.)
V
F F
A
Y y
Fixed plate
F is the force required to move the surface at constant velocity.
If distance y and velocity V are not great, the velocity variation (gradient) will be a
straight line. Experiments show that, F is directly proportional to A and V and inversely
proportional to thickness Y.
- Similarity of triangles
AV dv v dv
F A
Y dy y dy
- A = area of upper plate
F dv F
or (tau) = shear stress
A dy A
dv
dy
dv
or
dy dv
dy
This expression was first postulated by Newton and is known as Newton’s equation of
viscosity.
Heavy oils have greater viscosity than water and water is more viscous than
air.
All real fluids posses' viscosity, though to varying degrees.
There can be no shear stress in a fluid, which is at rest
The SI unit of is N.s /m2or Pa.s (kg/ m.s),
gm
Or in cgs system termed as poise
cm.s
One poise = 0.1 kg m-1 s-1 = 0.1 Pa.s
Dimensionally = (ML-1 T-1) (FL-2 T)
In many problems concerning fluid motion the viscosity appears in the form of /p and it
is convenient to employ a single term (nu), known as kinematic viscosity, and so called
because the units mm2/s (L2T-1) is independent of force.
A fluid, which obeys Newton’s law of viscosity, is known as a Newtonian fluid and they
will have a certain constant viscosity. For these fluids the plotting of shear stress against
velocity gradient is a straight line passing through the origin. The slope of the line gives
viscosity.
Ex Newtonian fluid = water, air, gasoline and light oils. (Under normal condition)
In a non- Newtonian fluid there is a non -linear relation between the magnitude of applied
shear stress and the rate of angular deformation.
Ex: non - Newtonian fluid: human blood, butter, printers ink etc….
Gases and most common liquids tend to be Newtonian.
Newtonian and Non - Newtonian fluids are real fluid.
Ideal fluid
For purposes of analysis, the assumption is frequently made that a fluid is non -viscous
(frictionless) and incompressible (inelastic). Such an imaginary fluid is called ideal or
perfect fluid.
Ideal fluids with zero viscosity always have zero stress and hence the plotting coincides
with the x -axis.
No real fluid fully comply with this concept, but some liquids, including water, are near
to an ideal fluid and the assumption is useful and justified.
Ideal solid
No deformation will occur under any loading condition, and the plotting coincides with
the y -axis. Real solids have some deformation; with in the proportional limit (Hooke’s
law) the plotting is straight line, which is almost vertical.
Ideal plastic
Sustain a certain amount of shearing stress with out deformation and there after it would
deform in proportion to the shearing stress. If not proportion they are called thyxotropic
fluid. Ideal plastic
Ideal solid
Non-Newtonian
Newtonian
Shear stress,
Slope=
dv/dy
Ideal fluid
Considering the behavior of molecules at the interior & along the surface of a fluid mass
can give us a clear understanding of surface phenomena. Take molecules in the interior of
a fluid mass. They are under attractive forces in all directions and the vector sum of these
forces is zero. However, at the surface between liquid and air or two immiscible liquids
the upward and downward attraction are unbalanced (acted on by a net in ward cohesive
force that is perpendicular to the surface) which causes the surface to behave as if it were
a ‘skin’ or elastic membrane stretched over the fluid mass giving rise to the phenomenon
of surface tension. Actually such a skin doesn’t present, but this conceptual analogy
allows as to explain several commonly observed phenomenon. This is demonstrated
schematically in the following figure for water with a free surface.
Air
Water
When a tube of small diameter called capillary tube is inserted in to a container of liquid,
the level will rise or fall within the tube depending up on the relative magnitudes of the
cohesion of the liquid and the adhesion of the liquid to the wall of the containing vessel.
Liquids rise in tubes they wet (adhesion > cohesion) and fall in tubes they do not wet
(cohesion > adhesion) see the following figure.
The phenomenon of rise and fall of liquid in a capillary tube is known as capillarity.
Capillarity is important in capillary tubes, monometer or open pores in the soil. (Tubes
10 mm diameter).
B C
A D h
Fig. A) Rise of column of liquid for wetting liquid b) depression of column for non-
wetting liquid.
The magnitude of the capillary rise (or depression), h, is determined by the balance of
adhesive force between the liquid and solid surface and the weight of the liquid column
above (or below) the liquid free surface.
For Fig a The gravitational force on the column of liquid elevated must be supported by
surface tension acting around the periphery of the tube.
Fy 0
and that for 90 1800 h is negative (convex meniscus and capillary depression).
In case of liquid drop or inside a jet, the action of surface tension is to increase the
internal pressure
Exercise:
Similarly show that p=2/d and 8/d for jet of water and soap bubble respectively.
6. Vapor pressure
The vapor pressure of a liquid is the (generally small) pressure at which the liquid
vaporizes or boils as it changes from the liquid to the gaseous or vapor state. The vapor
pressure is strongly dependent on temperature. Water boils at atmospheric pressure when
the temperature is 1000c and at higher elevations the atmospheric pressure is less; hence,
water evaporates at temperatures lower than 1000C. This property usually has no effect
on a fluid flow; however, if a flowing liquid experiences a pressure at any point, which
lowers the pressure locally to the vapor pressure for that temperature, then this
vaporization, will take place. In problems involving siphoning, the result of pressure
reduction to the vapor point will be to break the siphon and interrupt the flow. In other
cases the flow will continue, altered in form, as the phenomenon of cavitation occurs.
Cavitation is the rapid formation and collapse of small vapor bubbles, which are not only
disruptive, but are also frequently destructive as well. This subject will be treated more
fully in other courses.
Illustrative Examples
2. Two liquids of specific gravities 1.25 and 0.75 and volumes of 0.01 and 0.006m 3
respectively are mixed. If the bulk of the liquid shrinks by 1% on mixing, calculate
the density and specific gravity of the mixture.
11. The diameter of two glass limbs of a differential U tube manometer was found to be
2mm and 3mm respectively. The tube is kept vertically and partially filled with water
of surface tension 0.0735N/m and zero contact angle. Calculate the difference in
levels of water in the two limbs caused by surface tension effect.
1. Three different types of liquids having volumesV1,V2 andV3 and specific gravities S1,S2
and S3 respectively are mixed. If the bulk of the liquid shrinks by 1% on mixing,
express the specific gravity of the mixture in terms of volumes and relative densities.
Use these data to determine an empirical equation of the form =C1+C2T+C3T2 which can
be used to predict the density over the range indicated. Compare the predicted values with
the data given. What is the density of water at 37.5C? Hint: Use Q- Regression.
4. A 196.2N cubical block, having 20 cm edge, slides down an inclined plane making an
angle of 200 with the horizontal on which there is a thin film of oil having a viscosity of
2.16*103Ns/m2. What terminal velocity the block will attain, if the film thickness is
estimated to be 0.025mm?
5. A very large thin plate is centered in a gap of width 6cm with different oils of unknown
viscosities above and below, the viscosity of one being twice that of the other. When
the plate is pulled at a velocity of 30cm/sec, the resulting force on one square meter of
plate due to viscous shear on both sides is 29.4N. Assuming viscous flow and
neglecting all end effects, calculate viscosities of the oils in poise.
6. The side and bottom space of two concentric cylinders is filled with fluid. The outer
cylinder is rotated at a speed of 200 rpm and a torque of 2.5N-m is required to maintain
this speed. The inner cylinder, which is suspended by a torsion wire, will remain
stationary. Neglecting end effects, determine the fluid viscosity. (See the figure).
5mm
20cm
20 cm 25cm
5mm
=200 r.p.m
Fluid
7. In the figure, oil of viscosity fills the small gap of thickness y. Determine an
expression for the torque T required to rotate the truncated cone at a constant speed .
Neglect fluid stress exerted on the circular bottom.
b
y
a
8. Classify the following substances, and find the viscosities and yield stresses if they
have.
dv/dy,s-1 0 1 2 3 dv/dy,s-1 0 1 2 4
, kpa 0 2 3 5 ,Kpa 10 15 20 30
(a) (b)
dv/dy,s-1 0 1 2 3 dv/dy,s -1
0 2 3 5
, Kpa 0 0 0 0 , Kpa 0 4 6 10
(c) (d)
9. Calculate the maximum capillary rise of water to be expected
a. In a vertical glass tube 1mm in diameter.
b. In between two concentric glass tubes of radii 4 and 5mm.
Take 6=0.0735N/m
c. In between two vertical, parallel, clean glass plates spaced a distance of 2mm
apart.
10. What force is necessary to lift a thin wire ring 2.5cm in diameter from a water surface
at 200c? Surface tension at 200c is 0.0718 N/m. Neglect the weight of ring.