Theory of Machine

Governors

Somnath Somadder
Lecturer
Department of Mechanical Engineering,
Khulna University of Engineering & Technology
 Governors

HARTNELL GOVERNOR

PORTER GOVERNOR
 Governors
• The function of a governor is to regulate the mean speed of an
engine, when there are variations in the load.

• When the load on an engine increases, its speed decreases,

therefore it becomes necessary to increase the supply of working
fluid. On the other hand, when the load on the engine decreases,
its speed increases and thus less working fluid is required.
 Governors
• The function of a flywheel in an engine is
entirely different from that of a governor.
• It controls the speed variation caused by the
fluctuations of the engine turning moment during
each cycle of operation. It does not control the
speed variations caused by a varying load.
• The varying demand for power is met by the
governor regulating the supply of working fluid.
 Flywheel Vs Governors
Flywheel Governor
1) To Control the speed variation 1) To regulate the mean speed of
caused by the fluctuation of engine engine when there is variation of load.
turning moment during a cycle.

2)Mathematically it controls N
t

3) Flywheel acts as a reservoir, it 3) A governor controls the mean

stores energy due to its mass moment speed by regulating the supply of
of inertia and releases its energy when charge of the prime mover.
required.
4) Flywheel has no control over 4) Governor takes care of quantity of
charge. fluid.
5) It is not an essential part of every 5) It is an essential element of prime
prime mover. It is used when there is mover since varying demand of
undesirable fluctuation of speed. power is met by it.
 Types of Governors
The governors may broadly be classified as;
1. Centrifugal governors 2. Inertia governors.
Centrifugal Governor

Pendulum type Dead weight type

Watt Governor Loaded type

Dead weight Governors Spring controlled Governors

Porter Governor Proell Governor

Hartnell Hartung Wilson-Hartnell Pickering

Governor Governor Governor Governor
Governors
 Centrifugal Governor
• The centrifugal governors are based on the balancing of
centrifugal force on the rotating balls by an equal and opposite
radial force, known as the controlling force.
• It consists of two equal masses, which are attached to the arms
as shown in fig. These masses are known as governor masses
or fly balls.
• The masses revolve with a spindle, which is driven by the
engine through bevel gears. The upper ends of the arms are
pivoted to the spindle, so that the balls may rise up or fall
down as they revolve about the vertical axis.
• The arms are connected by the links to a sleeve, which is
keyed to the spindle. This sleeve revolves with the spindle ;
but can slide up and down. The balls and the sleeve rises when
the spindle speed increases, and falls when the speed
decreases.
 Centrifugal Governor
• When the load on the engine increases, the engine and the
governor speed decreases. This results in the decrease of
centrifugal force on the balls. Hence the balls move inwards
and the sleeve moves downwards.
• The downward movement of the sleeve operates a throttle
valve at the other end of the bell crank lever to increase the
supply of working fluid and thus the engine speed is
increased. In this case, the extra power output is provided to
balance the increased load.
• When the load on the engine decreases, the engine and the
governor speed increases, which results in the increase of
centrifugal force on the balls. Thus the balls move outwards
and the sleeve rises upwards. This upward movement of the
sleeve reduces the supply of the working fluid and hence the
speed is decreased. In this case, the power output is reduced.
 Terms Used in Governors
The following terms are used in governors;
1. Height of a governor. It is the vertical distance from the center
of the ball to a point where the axes of the arms (or arms
produced) intersect on the spindle axis. It is usually denoted by h.
 Terms Used in Governors
2. Equilibrium speed. It is the speed at which the
governor balls, arms ,etc., are in complete equilibrium
and the sleeve does not tend to move upwards or
downwards.
3. Mean equilibrium speed. It is the speed at the mean
position of the balls or the sleeve.
4. Maximum and minimum equilibrium speeds. The
speeds at the maximum and minimum radius of rotation
of the balls, without tending to move either way are
known as maximum and minimum equilibrium speeds
respectively.
5. Sleeve lift. It is the vertical distance which the sleeve
travels due to change in equilibrium speed.
 Watt Governor

• The simplest form of a centrifugal governor is a Watt

governor, as shown in Fig. It is basically a conical pendulum
with links attached to a sleeve of negligible mass. Taking
moment about O,

This governor may only work satisfactorily at relatively low

speeds i.e. from 60 to 80 r.p.m
Porter Governor
 Equilibrium Speed of a Porter Governor
Let m = Mass of each ball in kg,
w = Weight of each ball in newton = mg
M = Mass of the central load in kg
W = Weight of the central load in newton = Mg
r = Radius of rotation in meters
h = Height of governor in meters
N = Speed of the spindle in rpm
ω = Angular speed of the balls in rad/s = 2πN/60 rad/s
FC = Centrifugal force acting on the ball in newton = mω2r
α = Angle of inclination upper links to the vertical
β = Angle of inclination of the lower links to the vertical.
 Equilibrium Speed of a Porter Governor
(by Instantaneous center method)
The instantaneous center I lies at the point of intersection of PB
produced and a line through D perpendicular to the spindle axis, as
shown in fig. Taking moments about the point I,
P W 
Fc  BM  ( w  IM )    ID 

 2 
h
 Mg 
FC B
r
 (mg  IM )    ID 
 2 
 IM  Mg  ID 
    Fc  mg    
w  BM  2  BM 
D  IM  Mg  IM MD 
I M
 mg     
 BM  2  BM BM 
W/2
Mg
 mg (tan  )   tan   tan  
2
 Equilibrium Speed of a Porter Governor
Dividing throughout by tan ,
Fc Mg  tan  
 mg  1  
P tan  2  tan  
 Mg  tan  
r
h
 mg   1  q   q  
FC B 2  tan  
r
   But Fc  m r and tan  
2

W h
D h Mg
I
M  m r     mg 
2
1 q
W/2 r 2
 Mg 
 mg   1 q 
 2   2

 mh 
 
 Equilibrium Speed of a Porter Governor
2 N
Substituting   ,
60
M
2 m +   (1 + q)
 2 N   2  g
  = ×
 60  m h
M M
m +   (1 + q) 2 m +   (1 + q)
2  2  g  60   2  895
N = ×   = ×
m h  2π  m h
Note :
If all links are equal & pivoted on the axis of rotation,
tan   tan   q  1. Hence the equation becomes;
2m+ M  895
N = ×
 m  h
Effect of friction at sleeve:
• When the loaded sleeve moves up and down the spindle,
the frictional force acts on it in a direction opposite to
that of the motion of sleeve.
• If F = Frictional force acting on the sleeve in newton,
then the equations for equilibrium speed may be written
as;
 Mg ± F 
mg +   (1 + q) 895
 2 
N2 = ×
mg h
If all links are equal & pivoted on the axis of rotation,
tan   tan   q  1. Hence the equation becomes;
2 mg + (Mg ± F) 895
N = ×
mg h
 Problem 1
A Porter governor has equal arms each 250 mm
long and pivoted on the axis of rotation. Each ball
has a mass of 5 kg and the mass of the central
load on the sleeve is 25 kg. The radius of rotation
of the ball is 150 mm when the governor begins
to lift and 200 mm when the governor is at
maximum speed. Find the minimum and
maximum speeds and range of speed of the
governor.
; Given : length of upper links = length of lower links =250 mm = 0.25 m
m = 5 kg ; M = 15 kg ; r1 = 150 mm = 0.15m; r2 = 200 mm = 0.2 m

The minimum and maximum positions of the governor are shown in Figs (a) and (b)
.respectively
Minimum speed position :
Let N 1 be the minimum speed.
From fig (a), height of the governor
h1  0.252  0.152  0.2m
Since all links are equal & pivoted on
the axis of rotation, tan   tan   q  1.
Hence the equation becomes;
2  m + M  895
N =
1 ×
 m  h
 5 + 15  895
2
N1 =  ×  N 1 = 133.8 rpm
 5  0.2
 Maximum speed position :
Let N 2 be the maximum speed.
From fig (b), height of the governor
h2  0.252  0.22  0.15m
 m + M  895
N = 
2
2 ×
 m  h
2  5 + 15  895
N2 =  ×
 5  0.15
 N 2 = 154.5 rpm

Hence the range of speed  ( N 2  N1 )  (154.5  133.8) = 20.7 rpm

 Problem 2
The arms of a Porter governor are each 250 mm
long and pivoted on the governor axis. The mass
of each ball is 5 kg and the mass of the central
sleeve is 30 kg. The radius of rotation of the balls
is 150 mm when the sleeve begins to rise and
reaches a value of 200 mm for maximum speed.
Determine the speed range of the governor.
If the friction at the sleeve is equivalent of 20 N
of load at the sleeve, determine how the speed
range is modified.
; Given : length of upper links = length of lower links =250 mm = 0.25 m
m = 5 kg ; M = 30 kg ; r1 = 150 mm = 0.15m; r2 = 200 mm = 0.2 m

The minimum and maximum positions of the governor are shown in Figs (a) and (b)
.respectively
Minimum speed position :
Let N 1 be the minimum speed.
From fig (a), height of the governor
h1  0.252  0.152  0.2m
Since all links are equal & pivoted on
the axis of rotation, tan   tan   q  1.
Hence the equation becomes;
2  m + M  895
N =
1 ×
 m  h
 5 + 30  895
2
N1 =  ×  N 1 = 177 rpm
 5  0.2
 Maximum speed position :
Let N 2 be the maximum speed.
From fig (b), height of the governor
h2  0.252  0.22  0.15m
 m + M  895
N = 2
2 ×
 m  h
2  5 + 30  895
N2 =  ×
 5  0.15
 N 2 = 204.4 rpm

Hence the range of speed  ( N 2  N1 )  (204.4  177) = 27.4 rpm

 Speed range when friction at the sleeve is equivalent of 20 N of load
(i.e. when F = 20 N)
We know that when the sleeve moves downwards, the friction force (F) acts
upwards and the minimum speed is given by
mg  ( Mg - F ) 895
N  1
2

mg h1
(5  9.81)  (30  9.81- 20) 895
   N 1 = 172 rpm
5  9.81 0.2
Also when the sleeve moves upwards, the friction force (F) acts downwards and the
maximum speed is given by

mg  ( Mg  F ) 895
N 
2
2 
mg h2
(5  9.81)  (30  9.81  20) 895
   N 2 = 210 rpm
5  9.81 0.15
Hence the range of speed  ( N 2  N1 )  (210  172) = 38 rpm
 Problem 3
The arms of a porter governor are each 30 cm
long and are pivoted on the governor axis. Mass
of each ball is 2 kg. At the mean speed of 150
rpm, the arm makes 300 with the vertical.
Determine the central load and the sensitivity of
the governor if the sleeve movement is ±2.5 cm.
Given : length of upper links = length of lower links =300 mm=0.25 m
m = 2 kg ; M = ? a = 300 ; N = 150 rpm

0.3 m
0.3 m 30° h2
h1 0.3 m h

mg
mg mg
0.3 m
0.3 m 0.3 m

2.5 cm
Mg/2 2.5 cm Mg/2 Mg/2

Minimum speed Position Mean Position Maximum speed Position

 Mean speed position :
Here, N  150 rpm .
30°
0.3 m h From fig, height of the governor
h  0.3cos 300  0.2598m
mg
Here, friction is neglected &  =  q=1
0.3 m  m + M  895
 N =
2
×
 m  h
Mg/2
2  2 + M  895
150 =  ×
Mean Position  2  0.2598
 M = 11.06 kg
 Minimum speed position :
(After a drop of 2.5cm of sleeve)
 x
0.3 m h1 Due to symmetry, height of governor h1  h   
2
x  2.5 103 
 h1  h     0.2598     0.2723m
2  2 
mg
 m + M  895
0.3 m  N =
2
1 ×
 m  h1
 2 + 11.06  895
Mg/2
2
N1 =  ×  N 1 = 146.44 rpm
 2  0.2723
Minimum Speed Position
 Maximum speed position :
(After a raise of 2.5cm of sleeve)
0.3 m  x
h2 Due to symmetry, height of governor h2  h   
2
x  2.5  103 
 h2  h     0.2598     0.2473m
mg 2  2 
0.3 m
 m + M  895
 N =
2
2 ×
 m  h2
 2 + 11.06  895
Mg/2
2
N2 =  ×  N 2 = 153.68 rpm
 2  0.2473
Maximum Speed Position

Range of speed 2( N 2  N1 ) 2(153.68  146.44)

 Sensitivity     4.83%
Mean speed ( N 2  N1 ) (153.68  146.44)
 Proell Governor

W/2

Porter Governor Proell Governor

 
 P


h
r
FC B

  
w

D
I M
W/2

... Proell Governor

.. . Porter Governor

Proell Sensitivity > Porter Sensitivity

 Proell Sensitivity > Porter Sensitivity

• Consider two governors A and B running at the same speed.

When this speed increases or decreases by a certain amount, the
lift of the sleeve of governor A is greater than the lift of the
sleeve of governor B. It is then said that the governor A is more
sensitive than the governor B.
• It may be also stated that for a given lift of sleeve, the
sensitiveness of the governor increases with decrease in speed
range. This definition is quite satisfactory when the governor is
considered as independent mechanism.
 Proell governor(Problem 4)
Problem: A Proell governor has equal arms of
length 300 mm. The upper and lower ends of
the arms are pivoted on the axis of the
governor. The extension arms of the lower links
are each 80 mm long and parallel to the axis
when the radii of rotation of the balls are 150
mm and 200 mm. The mass of each ball is 10
kg and the mass of the central load is 100 kg.
Determine the range of speed of the governor.
Minimum Position Maximum Position
Hartnell Governor
 Hartnell Governor
• The Hartnell governor is shown in Figure.
• The two bell crank levers have been provided which can have
rotating motion about fulcrums O and O’.
• One end of each bell crank lever carries a ball and a roller at
the end of other arm. The rollers make contact with the sleeve.
• The frame is connected to the spindle. A helical spring is
mounted around the spindle between frame and sleeve. With
the rotation of the spindle, all these parts rotate.
• With the increase of speed, the radius of rotation of the balls
increases and the rollers lift the sleeve against the spring force.
With the decrease in speed, the sleeve moves downwards.
• The movement of the sleeve are transferred to the throttle of
the engine through linkages.
 Expression for stiffness of spring of a Hartnell Governor

Let r1 = Minimum radius of rotation of ball from spindle axis, in m,

r2 = Maximum radius of rotation of ball from spindle axis, in m,
S1 = Spring force exerted on sleeve at minimum radius, in N,
S2 = Spring force exerted on sleeve at maximum radius, in N,
m = Mass of each ball, in kg,
M = Mass of sleeve, in kg,
N1 = Minimum speed of governor at minimum radius, in rpm,
N2 = Maximum speed of governor at maximum radius, in rpm,
1 and 2 = Corresponding minimum and maximum angular velocities, in r/s,
F1 = Centrifugal force corresponding to minimum speed= m12r1 ,
F2 = Centrifugal force corresponding to maximum speed = m22r2
s = Stiffness of spring or rate of spring (N/m)
r = Distance of fulcrum O from the governor axis or radius of rotation,
a = Length of ball arm of bell-crank lever, i.e. distance OA, and
b = Length of sleeve arm of bell-crank lever, i.e. distance OC.
 Expression for stiffness of spring of a Hartnell Governor
r1
Considering the position of the ball at radius ‘r 1’,
F1
as shown in Figure (a) and taking moments of all
r
forces about ‘O’ (neglecting moment due to
a
weight of balls as it is negligible compared to

spring forces & neglecting friction & obliquity of

Mg+S1
2 arms)
O b x1
 Mg  S1 
F1  a     b  (i )
Fig (a)  2 
where F1  m12 r1 (r1 must be in meters)
2 N1
& 1 
60
 Expression for stiffness of spring of a Hartnell Governor
r2
Similarly, considering the
F2
position of the ball at radius ‘r2’,
r
a
as shown in Figure (b) and
Mg+S2 taking moments of all forces
2
about ‘O’
b x2
O
Fig (b)
 Mg  S2 
F2  a     b  (ii )
 2 
where F2  m22 r2 (r2 must be in meters)
2 N 2
& 2 
60
 Expression for stiffness of spring of a Hartnell Governor

Subtracting (i) from (ii),

 S2  S1 
( F2  F1 )  a   b
 2 
 S 2  S1  b
 ( F2  F1 )     (iii )
 2 a
From similar triangles (neglecting obliquity of arms)
x1 r  r1  r  r1  x2 r2  r  r2  r 
  x1   b &   x2   b
b a  a  b a  a 
But Total sleeve lift x  ( x1  x2 )  Deformation of spring
 r  r1   r2  r  b
x b    b  x = (r2 - r1 )
 a   a  a
 Expression for stiffness of spring of a Hartnell Governor

Stiffness of spring :
Change in spring force  S 2  S1 
s  
deformation of spring  x 
b
 ( S 2  S1 )  s  x  s  (r2 - r1 ) ,Substituting for (S 2  S1 ) in (iii),
a
 s  (r2 - r1 )  b
2
a 2 (F2 - F1 )
( F2  F1 )    2 s=2 2
 2 a b (r2 - r1 )
Note :
For any intermediate radius of rotation 'r' between max & min values,
the centrifual force FC may be found by interpolation.
 F2  F1   F2  F1 
i.e. F  F1     (r  r1 ) OR F  F2     (r2  r )
 r2  r1   r2  r1 
 Problem 5
A Hartnell governor having a central sleeve spring
and two right-angled bell crank levers moves between
290 rpm and 310 rpm for a sleeve lift of 15mm. The
sleeve arms and the ball arms are 80 mm and 120 mm
respectively. The levers are pivoted at 120 mm from
the governor axis and mass of each ball is 2.5 kg. The
ball arms are parallel to the governor axis at the
lowest equilibrium speed.
Determine :
1. loads on the spring at the lowest and the highest
equilibrium speeds, and
2. Stiffness of the spring.
3. Initial compression of spring.
Given : N1 = 290 rpm or ω1 = 2 π × 290/60 = 30.4 rad/s ; N2 = 310 rpm or
ω2 = 2 π × 310/60 = 32.5 rad/s ; x = 15 mm = 0.015 m ; ball arm, a = 80 mm = 0.80 m ;
Sleeve arm , b = 120 mm =0.12 m ; r1 = 120 mm = 0.12 m ; m = 2.5 kg
.The minimum and maximum positions of the governor are shown in Figs below

r1 r2
F1 F2
Governor Governor
axis axis
a
a
S2
S1 2
2
b b x
O O
Minimum Speed Position Maximum Speed Position

Here,
1. Sleeve mass is negelcted, i.e. M = 0, and
2. The minimum speed position is same as mean position, i.e. r1 = r
 r1
Considering the position of the ball at
F1
radius ‘r1’, as shown in Figure (a) and taking
Governor
axis
moments of all forces about ‘O’
a

S1 S 
2 F1  a   1   b  (i )
2
b
O where F1  m12 r1  2.5  30.4 2  0.12  277N
Minimum Speed Position
Fig (a)

 S1 
Substituting in (i), 277  0.12     0.08
2
 Spring force in minimum speed position S1 = 831N
 r2 Considering the position of the ball at
F2
Governor
radius ‘r2’, as shown in Figure (b) and
axis
a taking moments of all forces about ‘O’
S2
2

x S 
O
b
F2  a   2   b  (ii ) where F2  m22 r2
 2 
Maximum Speed Position
b
Fig (b) But sleeve lift x  ( r2  r1 )
a
80
i.e.15  ( r2  120)   r2  142.5mm  0.1425m
120
 F2  2.5  32.52  0.1425  376.3N

S 
Substituting in (ii), 376  0.12   2   0.08
 2 
 Spring force in maximum speed position S 2 = 1128N
Stiffness of spring :
 S 2  S1   1128  831 
s    19.8N / mm
 x   15 
Initial compression of spring :
S1 831
Initial compression of spring =   42mm
s 19.8
 Problem 6
In a spring loaded governor of the Hartnell type,
the mass of each ball is 1kg, length of vertical arm
of the bell crank lever is 100 mm and that of the
horizontal arm is 50 mm. The distance of fulcrum
of each bell crank lever is 80 mm from the axis of
rotation of the governor. The extreme radii of
rotation of the balls are 75 mm and 112.5mm. The
maximum equilibrium speed is 5 per cent greater
than the minimum equilibrium speed which is 360
rpm. Find, neglecting obliquity of arms, initial
compression of the spring and equilibrium speed
corresponding to the radius of rotation of 100 mm.
Given : m = 1 kg ; a = 100 mm = 0.1 m ; b = 50 mm = 0.05 m ; r = 80 mm
m ; r1 = 75 mm = 0.075 m ; r2 = 112.5 mm = 0.1125 m ; N1 = 360 r.p.m. or 0.08 =
ω1 = 2 π × 360/60 = 37.7 rad/s
.The minimum and maximum positions of the governor are shown in Figs below

112.5 mm 75 mm

F2 F1

80 mm 80 mm

a=100 mm a=100 mm
S2
2

S1
x2
2
O b=50 mm O
x1
b=50 mm
Maximum Speed Position Minimum Speed Position
 75 mm

F1
Considering the position of the ball at

80 mm radius ‘r1’, as shown in Figure (a) and taking

a=100 mm
moments of all forces about ‘O’

S1
 S1 
2 F1  a     b  (i )
O
x1 2
b=50 mm
where F1  m12 r1  1 37.7 2  0.075  106.6 N
Minimum Speed Position

Fig (a)

 S1 
Substituting in (i), 106.6  0.1     0.05
2
 Spring force in minimum speed position S1 = 426.4N
 112.5 mm
F2 Considering the position of the ball at
80 mm radius ‘r2’, as shown in Figure (b) and
a=100 mm
S2 taking moments of all forces about ‘O’
2
 S2 
x2 F2  a     b  (ii ) where F2  m22 r2
O b=50 mm  2
Maximum Speed Position
Given the increase in speed =5%,
2  1.05  1  1.05  37.7  39.6 rad / sec
Fig (b)
 F2  1 39.62  0.1125  176.4 N

S 
Substituting in (ii), 176.4  0.1   2   0.05
 2 
 Spring force in maximum speed position S2 = 705.6 N
Stiffness of spring :
S S  b
s   2 1  where x   r2  r1 
 x  a
0.05
 x   0.1125  0.075   0.01875m
0.1
 705.6  426.4 
s     14890.67N / m = 14.89N / mm
 0.01875 
Initial compression of spring :
S 426.4
Initial compression of spring = 1   28.65mm
s 14.89
Equilibrium speed at a radius of 100 mm :
 F2  F1   176.4  106.6 
F  F1     ( r  r1 )  106.6     (0.1  0.075)
r 
 2 1 r  0.1125 2  0.075 
 Centrifugal force at 100 mm radius F = 153N
2
 2  N 
Also, F=m 2 r  153  1    0.1
 60 
 Equilibrium speed at a radius of 100 mm N=373 rpm
 Properties of governors
Sensitiveness:
Consider two governors A and B running at the same speed. When this
speed increases or decreases by a certain amount, the lift of the sleeve
of governor A is greater than the lift of the sleeve of governor B. It is
then said that the governor A is more sensitive than the governor B.
In general, the greater the lift of the sleeve corresponding to a given
fractional change in speed, the greater is the sensitiveness of the
governor.
The sensitiveness is defined as the ratio of the difference between the
maximum and minimum equilibrium speeds to the mean equilibrium
speed.
( N 2  N1 ) N  N2
Sensitiveness  where N  Mean speed  1
N 2
2( N 2  N1 )
 Sensitiveness 
( N1  N 2 )
 Properties of governors
Stability:
A governor is said to be stable when for every speed within the
working range there is a definite configuration i.e. there is only one
radius of rotation of the governor balls at which the governor is in
equilibrium.
For a stable governor, if the equilibrium speed increases, the radius of
governor balls must also increase.
Note: A governor is said to be unstable, if the radius of rotation
decreases as the speed increases.
 Properties of governors
Isochronism:
A governor is said to be isochronous when the equilibrium
speed is constant (i.e. range of speed is zero) for all radii of
rotation of the balls within the working range, neglecting
friction.
A Porter governor can not be isochronous since the height
of the governor will not be same for all radii of rotation.
However, a spring controlled governor of Hartnell type can
be made isochronous by adjusting the spring tension.
 Properties of governors
Hunting:
A governor is said to be hunt if the speed of the engine fluctuates
continuously above and below the mean speed. This is caused by a too
sensitive governor which changes the fuel supply by a large amount
when a small change in the speed of rotation takes place.
For example, when the load on the engine increases, the engine speed
decreases and, if the governor is very sensitive, the governor sleeve
immediately falls to its lowest position.
This will result in the opening of the control valve wide which will
supply the fuel to the engine in excess of its requirement so that the
engine speed rapidly increases again and the governor sleeve rises to its
highest position.
Due to this movement of the sleeve, the control valve will cut off the
fuel supply to the engine and thus the engine speed begins to fall once
again. This cycle is repeated indefinitely.
 Properties of governors
Effort and Power of a Governor:
The effort of a governor is the mean force exerted at the sleeve for a
given percentage change of speed.
It may be noted that when the governor is running steadily, there is
no force at the sleeve. But, when the speed changes, there is a
resistance at the sleeve which opposes its motion.
It is assumed that this resistance which is equal to the effort, varies
uniformly from a maximum value to zero while the governor moves
into its new position of equilibrium.
The power of a governor is the work done at the sleeve for a given
percentage change of speed.
It is the product of the mean value of the effort and the distance
through which the sleeve moves.
Mathematically,
Power = Mean effort × lift of sleeve
 Controlling Force

In case of a governor running at a steady speed, the inward force

acting on the rotating balls is known as controlling force. It is equal
and opposite to the centrifugal reaction.
∴ Controlling force, FC = m.ω2.r
 Controlling Force
The controlling force is provided by the weight of the sleeve
and balls as in Porter governor and by the spring and weight
as in Hartnell governor (or spring controlled governor).

When the graph between the controlling force (FC) as

ordinate and radius of rotation of the balls (r) as abscissa is
drawn, then the graph obtained is known as controlling
force diagram. This diagram enables the stability and
sensitiveness of the governor to be examined and also shows
clearly the effect of friction.
Controlling Force Diagram for Hartnell Governors

Controlling Force Diagram for Hartnell Governor

 Problem 7
In a spring loaded governor, the controlling force
diagram is a straight line. The balls are 400 mm
apart when the controlling force is 1500 N & 240
mm when it is 800 N. The mass of each ball is 10
kg. Determine controlling force at which the
governor operates when the balls are 300 mm
apart. By how much should the initial tension be
increased to make the governor isochronous? Also
find the isochronous speed.
 240 mm

F1 F1

O O

400 mm

F2 F2

O O
 The equation of a straight line is F=ar+b.
Controlling force (F)

when r  0.2m, 1500  0.2 a  b  (i)

F= +b
r
=a

ar
eF
when r  0.12m, 800  0.12 a  b  (ii)
bl

us
sta

-b
no
Un

r
a Solving (i) & (ii), a  8750 N / m, b  250
ro

=
ch

eF
Iso

l
St ab  F = 8750r - 250  It is a stable governor.

Radius of rotation (r)

When r = 150 mm = 0.15m, F=(8750  0.15)  250  1062.5 N

We have F  8750r - 250
When F = ar, the governor is isochronous(i.e. to make the governor isochronous,
the spring tension should be increased by 250 N)
2
 2  N 
m r  8750  r  10 
2
 r  8750  r  Isochronous speed = 282.5 rpm
 60 