MECHANICS OF MACHINE

DMCM 3723

FACULTY OF MECHANICAL ENGINEERING

UTeM
SEM 1-2017/2018
DR RAINAH ISMAIL

CHAPTER 2
SPEED CONTROLLER
1
CHAPTER 2.1
GOVERNOR
2
LEARNING OUTCOME

Apply free body diagram to solve problems in governor

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CONTENTS
Function of Governor
Centrifugal Governor
Watt Governor
Porter Governor
Proell Governor
Hartnell Governor
Sensitivity and Friction
Controlling Force

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FUNCTION OF GOVERNOR
The function of governor is to control the mean speed of engine, as
distinct from that of flywheel, which controls only cyclic fluctuations in
speed.

If the mean speed varies due to a variation in the load, the governor
adjusts the fuel supply to the engine and restores the speed to its former
value.

Governor can be divided into two types: Centrifugal governor and Inertial
governor. Our focus is only on the centrifugal types of governor.

In the centrifugal types of governor, the effect of centrifugal force on the

rotating balls causes a sleeve to rise until equilibrium is obtained. Any
change in engine speed produces a change in the sleeve position, which
adjusts the fuel supply accordingly.

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6
CENTRIFUGAL GOVERNOR

CENTRIFUGAL GOVERNOR

DEAD WEIGHT SPRING LOADED

GOVERNOR GOVERNOR

Watt Governor Hartnell Governor

Porter Governor

Proell Governor

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WATT GOVERNOR

ball

The watt governor is basically a conical pendulum with the lower links
attached to a sleeve of negligible mass. If the mass of the ball is m and the
centrifugal force upon it is F, then taking moments about the instantaneous
centre for the lower link, I:

 M I : F  XZ   mg IZ   0
 F  XZ   mg IZ 
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 PORTER GOVERNOR

Central weight

The watt governor is only suitable for a speed range of about 60-80rpm, and for
higher speeds it is necessary to add a mass, M to the sleeve to increase the speed.
Taking moments about I:
Mg
  M I : F  XZ   mg IZ   2
IY   0; where IY  2 IZ
Mg
 F  XZ   mg IZ   2 IZ   m  M g IZ 
2
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 PROELL GOVERNOR

The proell governor is similar to the porter governor, except that the balls are
attached to extensions to the lower arms. This has the effect of reducing the
change of speed necessary for a given sleeve. Taking moments about I:

Mg
  M I : F  XZ   mg IZ   2
IY   0; where IY  2 IZ
Mg
 F  XZ   mg IZ   2 IZ   m  M g IZ 
2
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 HARTNELL GOVERNOR
The governor is assembled with the central spring
initially compressed and this compression can be
adjusted to give any required equilibrium speed for a
given ball radius. If F is centrifugal force acting on the
ball, P is the force exerted on the sleeve by the spring
and M is the mass of the sleeve. Taking moments
about the fulcrum, O of the bell-crank lever.

P  Mg
  M I : F a   2
b   0
P  Mg
 F a   b 
2

When the ball arm is not vertical, the moment of the ball weight about the
fulcrum and the changes in length of the moment-arms are usually neglected.

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CHARACTERISTICS OF A
GOVERNOR
i. When its sleeve reaches to the lowest position, the engine
should develop maximum power.
ii. Its sleeve should reach the topmost position at once when
the load on the engine is suddenly removed.
iii. Its sleeve should float at some intermediate position
under normal operating conditions.
iv. Its response to change in speed should be fast.
v. It should have sufficient power so that it can exert the
required force at the sleeve to operate the control
mechanism.

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SENSITIVITY AND FRICTION
If the maximum and minimum speeds of a governor are ω1 and
ω2 respectively and its mean speed is ω, the sensitivity of the
governor is defined as:

Sensitivity,  
1  2

The governor is sensitive if the difference in speeds is small for any

position of sleeve.

If there is a friction force, f between the sleeve and the spindle, the
effective sleeve load becomes:
Mg  f  when sleeve is rising
Mg  f  when sleeve is falling

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CONTROLLING FORCE

The radially inward, or centripetal force acting on each

rotating ball due to the sleeve weight, spring force, etc., is
termed the controlling force. At any equilibrium speed, ω,
the controlling force is equal and opposite to the centrifugal
force.

Controlling force, F  m 2 r
F
 2 
mr

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CONTROLLING FORCE
The variation of this force against radius is called controlling force
curve.

F F
f
d
le b
ts a
b
ous
n
un hro
c
iso ble
sta
e

c
r a r

For porter governor

(a) For hartnell governor

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CONTROLLING FORCE
A governor is stable if for each speed within the working range there is
only one radius of rotation for equilibrium. Thus r must increase as ω
increases. The ratio F/r increase as ω increases. This condition is
satisfied in the case of the porter governor curve.

But, for the hartnell governor, it is only satisfied if the straight line
intercepts the vertical axis below the origin, such as the line ab.

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CONTROLLING FORCE
A governor is isochronous if the equilibrium speed is the same for all
radii of rotation. The ratio F/r is then constant and corresponds to the
controlling force line cd, passing through the origin.

A governor is unstable if the radius of rotation decreases as the speed

increases. The ratio F/r decrease as r increases. This corresponds to a
controlling force line which intercepts the vertical axis above the origin,
such as the line ef.

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EXAMPLE 2.0
A porter governor has 300 mm arms
and the rotating balls each have a
mass of 1.8kg. At the mean speed of
120rpm, the arms make 30o to the
vertical as shown in Figure 3.4.
Determine:
(a)the central dead load, M
(b)the sensitivity of the governor if the
sleeve movement is ±25mm from O
(mean speed position).

Figure 3.4

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 EXAMPLE 2.1
A governor of the proell type is shown
diagrammatically, with certain dimensions
in Figure 3.5. The central dead load acting
on the sleeve has a mass of 25kg and the
two rotating masses each have a mass of
3.2kg. When the governor sleeve is in mid
position, the arm AB of the cranked lever
ABC is vertical and the radius of the path
of rotation of the masses is 175mm. If the
governor speed is to be 160rpm when in
mid-position and neglect friction, find:
(a) the length of the arm AB
(b) the tension in the link BD Figure 3.5

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EXAMPLE 2.3
Figure 3.6 shows a governor of the Hartnell type. The mass of each ball of a
governor is 3kg and mass of sleeve is 10 kg. The stiffness of spring 1, K1 is
5kN/m. The friction of sleeve is 10N. If the sleeve begins to rise at 400rpm
with radius of rotation of the balls is 142mm, find the tension force and
stiffness of spring 2, K2 by neglecting the moment of ball weight when the
ball arm is not vertical.

Figure 3.6

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