Speed Control System

Figure ( 1 ) shows a typical speed control system for gas turbines, steam turbines or diesel
engines. The position of the throttle lever sets the desired speed of the engine. The center
of gravity of the flyweight is at a distance of (R = R i + r) from the center of rotation. The
fly weight is geared directly to the output shaft, so that the speed (𝜔) of the fly weight is
proportional to the output speed. If the speed of the engine should drop below its reference
value, then the centrifugal force of the fly weight decreases, thus decreasing the force
exerted on the bottom of spring.

Figure 1: Speed Control System

Thus, the variation of the top of the spring (z) from its reference position is:

𝑧 = 𝐶2 𝑛𝑖𝑛 …………………………………. (1)

Where: 𝑛𝑖𝑛 = 𝑁𝑖𝑛 − 𝑁𝑖 , is the change in desired speed, and 𝐶2 = 𝜕𝑍⁄𝜕𝑁𝑖𝑛 |𝑖 is the slope
of the curve of (Z) versus (Nin) evaluated at the reference point.

The centrifugal force (Fc) acting on the fly weight is:

𝐹𝑐 = 2𝑀𝑅𝜔2 ………………………………. (2)

Where: M is the mass of each of the two fly weights.

R is the distance from center of rotation to center of gravity of each fly weight.

𝜔 is the angular velocity of fly weights.

Figure 2: Fly weight lever

Usually, a governor is geared directly to the output shaft that (𝜔) is equal to the gear ratio
times the output speed:
2𝜋
𝜔 = 𝐶𝑔 𝑁𝑜 …………………………………. (3)
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Where: 𝐶𝑔 is the gear ratio and the constant (2𝜋⁄60) converts the output speed (No) from
(rpm) to (radians per second). Substitution of this value for (𝜔) [equation 3] in to the
preceding expression of (Fc) [equation 2] gives:
2𝜋𝐶𝑔 2
𝐹𝑐 = 2 (
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) 𝑀𝑅𝑁𝑜 2 = 𝐶𝑓 𝑀𝑅𝑁𝑜 2 …………… (4)

2𝜋𝐶𝑔 2
Where: 𝐶𝑓 =( ) is a force conversion constant.
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From figure (2), the distance from the pivot to the center of gravity of the fly weight is (b)
and the distance from the pivot to the spring seat is (a). the angle of inclination of link (b)
is designated as (𝛼). Taking moments about the pivot gives:
𝐹𝑐 𝐹
𝑏 sin 𝛼 = 𝑠 𝑎 𝑠𝑖𝑛𝛼 ………………………….. (5)
2 2

𝑏
𝐹𝑠 = 𝐹𝑐 = 𝐶𝑟 𝐹𝑐 ……………………….. (6)
𝑎
Where: (𝐶𝑟 = 𝑏⁄𝑎) is a lever ratio constant. Substitution of (Fc) [equation4] in the
preceding expression [equation 6] gives:

𝐹𝑠 = 𝐶𝑓 𝐶𝑟 𝑀𝑅𝑁𝑜 2 ……………………… (7)

The two independent variables in above equation are (R) and (No), so that linearization
gives:

𝑓𝑠 = 𝐶3 𝑟 + 𝐶4 𝑛𝑜
𝜕𝐹𝑠
Where: 𝐶3 = | = 𝐶𝑓 𝐶𝑟 𝑀𝑁𝑜 2
𝜕𝑅 𝑖

𝜕𝐹𝑠
𝐶4 = | = 2𝐶𝑓 𝐶𝑟 𝑀𝑅𝑖 𝑁𝑜
𝜕𝑁𝑜 𝑖

The compression of the spring from its reference length is (z-x). Thus, the force exerted
by the spring is:

𝑓𝑠 = 𝐾𝑠 (𝑧 − 𝑥) ……………………… (8)

Where: Ks is the spring constant. By equating the two equations [7,8] of (𝑓𝑠 ) gives:

𝐾𝑠 (𝑧 − 𝑥) = 𝐶3 𝑟 + 𝐶4 𝑛𝑜 …………….. (9)

Figure (2) shows that the motion of (r) and (x) are related by a lever so that (𝑟 = −𝐶𝑟 𝑥),
the reason of minus sign is that, as (r) increases, (x) decreases. Eliminating (r) from
preceding equation yields:

𝐾𝑠 𝑧 − 𝐾𝑠 𝑥 = −𝐶𝑟 𝐶3 𝑥 + 𝐶4 𝑛𝑜
𝐾𝑠 𝑧−𝐶4 𝑛𝑜
………………. (10)
OR 𝑥=
𝐾𝑠 −𝐶𝑟 𝐶3

The flow through the flow control valve is a function of the position (Y) that is:

𝑄 = 𝐹(𝑌), by linearization:
𝜕𝑄
𝑞= | 𝑦 = 𝐶5 𝑦 ……………………….. (11)
𝜕𝑌 𝑖

Where: C5 is the slope of the curve of Q versus Y evaluated at reference condition.

In general, the operating speed (No) of an engine is a function of the fuel flow supplied to
the engine and the torque (T) exerted on the engine, thus:

𝑁𝑜 = 𝐹(𝑄, 𝑇), the linearization of this expression gives:

𝑛𝑜 = 𝐶6 𝑞 − 𝐶7 𝑡 ………………………… (12)

Where: 𝐶6 = 𝜕𝑁𝑜 ⁄𝜕𝑄, is the change in speed per change in fuel and,

𝐶7 = − 𝜕𝑁𝑜 ⁄𝜕𝑇, is the change in speed per change in the torque.

The variation in the torque is:

2𝜋
𝑇 = 𝑇𝐿 − 𝑇𝐿𝑖 + 𝐽𝛼 = 𝑡𝐿 + 𝐽𝑝𝑛𝑜 ………………….. (13)
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The variation (t) of the torque exerted on the engine is composed of the change in torque
(tL) due to change in load plus the inertia torque required to accelerate or decelerate the
engine.

Substitution equation (13) in equation (12) gives:

2𝜋
𝑛𝑜 = 𝐶6 𝑞 − 𝐶7 𝑡𝐿 − 𝐶7 𝐽𝑝𝑛𝑜
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𝐶6 𝑞−𝐶7 𝑡𝐿 𝐶6
OR 𝑛𝑜 = 2𝜋 = (𝑞 − 𝐶8 𝑡𝐿 )
1+𝐶7 𝐽𝑝 1+𝜏2 𝑝
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2𝜋
Where: 𝜏2 = 𝐶7 𝐽 and 𝐶8 = 𝐶7 ⁄𝐶6
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The overall block diagram representation for this speed control system is: