Dynamics of Machinery

04. GOVERNORS

Introduction

A governor is a device to maintain, as closely as possible, a constant mean speed of rotation of

the crankshaft over long periods during which the load on the engine may vary. The governor
meets the varying demand for power by regulating the supply of working fluid .

Types Of Governors
There are basically two types of governors.
1. Centrifugal governors
2. Inertia governor.

In centrifugal governors the centrifugal force is balanced by the controlling force. These types of
governors are used extensively. In inertia type of governors, the inertia force is balanced by the
controlling force. They are not used popularly.

The centrifugal governors can be further classified as follows:

1. Pendulum type—Watt governor
2. Loaded type

Terminology

1. Height of governor (h): It is the vertical distance from the center of the ball to a point on
the spindle axis where the axes of upper arms intersect.
2. Centrifugal force(F c) : It is the radially outward force acting on the balls due to the
rotational speed. F c = m r  2, where r = radius of rotation of balls. m = nuns of ball,  =
angular speed.
3. Controlling force: An equal and opposite force to the centrifugal force.
4. Equilibrium speed: It is the speed of the governor at which the sleeve does not move
upward or downward on the spindle.
5. Radius of rotation: It is the horizontal distance between center of ball and the axis of
rotation.
6. Mean equilibrium speed: It is the average of the maximum and minimum speeds of
rotation.
7. Sleeve lift: It is the vertical distance travelled by the sleeve on the s pindle due to change in
equilibrium speed.

CENTRIFUGAL GOVERNORS

This is the more common type. Its action depends on the change of speed. It has a pair of masses,
known as governor balls, which rotate at with a spindle. The spindle is driven by engine through
bevel gears (Fig. 1). The action of the governor depends upon the centrifugal effects produced by
the masses of the two balls. With the increase in the speed, the balls tend to rotate at a greater
radius from the axis. This causes the sleeve to slide up on the spindle and this movement of the
sleeve is communicated to the throttle through a bell crank lever. This closes the throttle valve to
the required extent. When the speed decreases, the balls rotate at a smaller radius and the valve
is opened according to the requirement.
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Fig. 1 : Centrifugal governor

INERTIA GOVERNOR

In this type, the positions of the balls are affected by the forces set up by an angular acceleration
or deceleration of the given spindle in addition to centrifugal forces on the balls. Using suitable
linkages and springs, the change in position of the balls is made to open or close the throttle
valve. Thus, whereas the balls are operated by the actual change of engine speed in the case of
centrifugal governors, it is by the rate of change of speed in case of inertia governors. Therefo re,
the response of inertia governors is faster than that of centrifugal types.

WATT GOVERNOR

Fig. 2 shows three forms of a simple centrifugal or a Watt governor. In this, a pair of balls
(masses) is attached to a spindle with the help of links. In Fig. 2(a), the upper links are pinned at
point O in Fig. 2(b), the upper links are connected by a horizontal link and the governor is known
as the open-arm type Watt governor. On extending the upper arms, they still meet at O in Fig.
2(c), the upper links cross the spindle and are connected by a horizontal l ink and is known as a
crossed-arm Watt governor. In this type also, the two links intersect at O. The lower links in every
case are fixed to a sleeve free to move on the vertical spindle.

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Fig. 2

As the spindle rotates, the balls take up a position depending upon the speed of the
spindle. If it lowers, they move near to the axis due to reduction in the centrifugal force on the
balls and the ability of the sleeve to slide on the spindle. The movement of the sleeve is further
taken to the throttle of the engine by means of a suitable linkage to decrease or increase the fuel
supply.
The vertical distance from the plane (horizontal) of rotation of the balls to the point of
intersection of the upper arms along the axis of the spindle is called the height of governor (h).
The height of the governor decreases with increase in speed, and increases with decrease in
speed.
Let m = mass of each ball
w = weight of each ball (= mg)
= angular velocity of the balls, arms and the sleeve
T = tension in the arm
r = radial distance of ball-centre from spindle-axis.
Assuming the links to be massless and neglecting the friction of the sleeve, the mass m at
A is in static equilibrium under the action of
• Weight w (= mg)
• Centrifugal force mr 2
• Tension T in the upper link
If the sleeve is massless and also friction is neglected, the lower links will be tension free.
The equilibrium of the mass provides

Thus, the height of a Watt governor is inversely proportional to the square of the speed. A close
look at this equation would reveal that the variation in h is a ppreciable for low values of speed N.

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 Dynamics of Machinery
As the speed N becomes larger, the variation in h becomes very small. The following table shows
the height h with the variation in speed

This shows that in this type of governor, the movement of the sleeve is very less at high speeds
and thus, is unsuitable for these speeds. However, this drawback has been overcome by loading
the governor with a dead weight or by means of a spring.

PORTER GOVERNOR

If the sleeve of a Watt governor is loaded with a

heavy mass, it becomes a Porter governor [Fig.3a]
Let M= mass of the sleeve
m = mass of each ball
f = force of friction at the sleeve
The force of friction always acts in a direction
opposite to that of the motion. Thus when the sleeve
moves up, the force of friction acts in the downward
direction and the downward force acting on the
sleeve is (Mg + f). Similarly, when the sleeve moves
Fig. 3
down, the force on the sleeve will be (Mg - f ). In
general, the net force acting on the sleeve is (Mg ± f) depending upon whether the sleeve moves
upwards or downwards. Forces acting on the sleeve and on each ball have been shown in
Fig.3(b).
Let h = height of the governor
r = distance of the center of each ball from axis of rotation
The instantaneous center of rotation of the link AB is at I for the given configuration of the
governor. It is because the motion of its two points A and B relative to the link is known. The
point A oscillates about the point O and B moves in a vertical direction parallel to the axis. Lines
perpendicular to the direction of these motions locates the point I.
Considering the equilibrium of the left-hand half of the governor and taking moments
about I,

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Taking g = 9.81 m/s2

This equation would provide two values of N for the same height of the governor. The
phenomenon can be explained as below.
First assume that the sleeve has just moved down. This means that the force acting on the
sleeve is (Mg — f) downwards. Now, if the speed of the engine increases, the balls would tend to
move away from the axis, but now as the friction has to act in the downward direction, the
resistance to the motion would be (Mg + f). Thus until the speed rises to such a value as to
overcome this resistance, the sleeve will not move. In the same way, when the sleeve has moved
up and the speed decreases, the resistance to the sleeve movement would be only (Mg — f).
Thus, until the speed reduces to such a value as to give a force equal to (Mg — f), the sleeve will
not move. Thus, for a given value of h, the governor is insensitive between two values of  given
by Equation

HARTNELL GOVERNOR

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In this type of governor, the balls are controlled by a spring as shown in Fig. 4(a). Initially, the
spring is fitted in compression so that a force is applied to the sleeve. Two bell -crank levers, each
carrying a mass at one end and a roller at the other, are pivoted to a pair of arms which rotate
with the spindle. The rollers fit into a groove in the sleeve.

Fig.4
4:

As the speed increases and the balls move away from the spindle axis, the bell -crank levers move
on the pivot and lift the sleeve against the spring force. If the speed decreases, the sleeve moves
downwards. The movement of the sleeve is communicated to the throttle of the engine. The
spring force can be adjusted with the help of a screw cap. Figure 4(b) shows the forces acting on
the bell-crank lever in two positions (assuming that the sleeve moves up so that f is taken
positive).
Let F = centrifugal force = mr2
Fs= spring force
Taking moments about the fulcrum A,

In the working range of the governor,  is usually small and so the obliquity effects of the arms of
the bell crank levers may be neglected. In that case,

𝟏
𝑭𝟏 𝒂 = ∗ (𝑴𝒈 + 𝑭𝒔𝟏 + 𝒇) 𝒃 (i)
𝟐

𝟏
𝑭𝟐 𝒂 = ∗ (𝑴𝒈 + 𝑭𝒔𝟐 + 𝒇)𝒃 (ii)
𝟐
Subtracting (i) from (ii)
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𝟏
(𝑭𝟐 − 𝑭𝟏 )𝒂 = (𝑭𝒔𝟐 − 𝑭𝒔𝟏 )𝒃
𝟐
𝟐𝒂
or (𝑭𝒔𝟐 − 𝑭𝒔𝟏 ) = (𝑭𝟐 − 𝑭𝟏 )
𝒃
Let s = stiffness of the spring
h1 =movement of the sleeve

SENSITIVENESS OF A GOVERNOR
A governor is said to be sensitive when it readily responds to a small change of speed. The
movement of the sleeve for a fractional change of speed is the measure of sensitivity.
As a governor is used to limit the change of speed of the engine between minimum to full -load
conditions, the sensitiveness of a governor is also defined as the ratio of the difference between
the maximum and the minimum speeds (range of speed) to the mea n equilibrium speed. Thus,

When N = mean speed

N1= minimum speed corresponding to full load conditions
N2 = maximum speed corresponding to no-load conditions

HUNTING
Sensitiveness of a governor is a desirable quality. However, if a governor is too sensitive, it may
fluctuate continuously, because when the load on the engine falls, the sleeve rises rapidly to a
maximum position. This shuts off the fuel supply to the extent to affect a sudden fall in the
speed. As the speed falls to below the mean value, the sleeve again moves rapidly and falls to a
minimum position to increase the fuel supply. The speed subsequently rises and becomes more
than the average with the result that the sleeve again rises to reduce the fuel supp ly. This process
continues and is known as hunting

ISOCHRONISM
A governor with a range of speed zero is known as an isochronous governor. This means that for
all positions of the sleeve or the balls, the governor has the same equilibrium speed. Any chan ge
of speed results in moving the balls and the sleeve to their extreme positions. However, an
isochronous governor is not practical due to friction at the sleeve.

STABILITY
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A governor is said to be stable if it brings the speed of the engine to the required value and there
is not much hunting. The ball masses occupy a definite position for each speed of the engine
within the working range. Obviously, the stability and the sensitivity are two opposite
characteristics.

EFFORT OF A GOVERNOR

The effort of the governor is the mean force acting on the sleeve to raise or lower it for a given
change of speed. At constant speed, the governor is in equilibrium and the resultant forc e acting
on the sleeve is zero. However, when the speed of the governor increases or decreases, a force is
exerted on the sleeve which tends to move it. When the sleeve occupies a new steady position,
the resultant force acting on it again becomes zero. If the force acting at the sleeve changes
gradually from zero (when the governor is in the equilibrium position) to a value E for an
increased speed of the governor, the mean force or the effort is E/2.

for a Porter governor, the height is given by

(i)

Let  be increased by c times  where c is a factor and E be the force applied on the sleeve to
prevent it from moving. Thus, the force on the sleeve is increased to (Mg +E). Then

Let E be the force applied on the sleeve to prevent its movement when the speed changes from 
to c.
(iv)
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𝟏
)𝟐 𝟐
𝐦𝐫 (𝟏 + 𝐜  𝐚 = 𝟐 (𝑴𝒈 + 𝑬 + 𝑭𝒔 )𝒃
Dividing (iii) by (iv)

𝟏 𝑴𝒈 + 𝑭𝒔
=
(𝟏 + 𝒄) 𝟐 𝑴𝒈 + 𝑬 + 𝑭𝒔
𝑬
or Effort = 𝒄(𝑴𝒈 + 𝑭𝒔 )
𝟐

POWER OF A GOVERNOR
The power of a governor is the work done at the sleeve for a given percentage change of speed,
i.e., it is the product of the effort and the displacement of the sleeve.
For a Porter governor, having all equal arms which intersect on the axis or pivoted at
points equidistant from the spindle axis,
𝐄
𝐩𝐨𝐰𝐞𝐫 = 𝐱 (𝟐 𝐱 𝐡𝐞𝐢𝐠𝐡𝐭 𝐨𝐟 𝐠𝐨𝐯𝐞𝐫𝐧𝐨𝐫)
𝟐
If the height of the governor changes from h to h1 when the speed changes from  to (1+c) ,

Or

CONTROLLING FORCE

When the balls of a governor rotate in their circular path, the centrifugal force on each ball tends
to move it outwards. This is resisted by an equal and opposite force acting radially inwards and is
known as the controlling force.
The controlling force is supplied by the weight of the rotating mass in a Watt
governor, the weight of the mass and that of the sleeve in a Porter governor
and by the compressed spring in the case of a Hartnell governor.

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Fig.Q1
 Dynamics of Machinery
Problems
1. In an open-arm type governor [fig Q1] , AE = 400 mm, EF = 50 mm and angle =35°.
Determine the percentage change in speed when  decreases to 30°.

2. Each arm of a Porter governor is 200 mm long and is pivoted on the axis of the governor.
The radii of rotation of the balls at the minimum and the maximum speeds are 120 mm
and 160 mm respectively. The mass of the sleeve is 24 kg and each ball is 4 kg. Find the
range of speed of the governor. Also determine the range of speed if the friction at the
sleeve is 18N.

3. In a Porter governor, each of the four arms is 400 mm long. The upper arms are pivoted on
the axis of the sleeve whereas the lower arms are attached to the sleeve at a distance of
45 mm from the axis of rotation. Each ball has a mass of 8 kg and the load on the sleeve is
60 kg. What will be the equilibrium speeds for the two extreme radii of 250 mm and 300
mm of rotation of the governor balls?

4. Each arm of a Porter governor is 250 mm long. The upper and lower arms are pivoted to
links of 40 mm and 50 mm respectively from the axis of rotation. Each ball has a mass of 5
kg and the sleeve mass is 50 kg. The force of friction on the sleeve of the mechanism is 40
N. Determine the range of speed of the governor for extreme radii of rotation of 125 mm
and 150 mm.

5. Each arm of a Porter governor is 200 mm long and is hinged at a distance of 40 mm from
the axis of rotation. The mass of each ball is 1.5 kg and the sleeve is 25 kg. When the links
are at 300 to the vertical, the sleeve begins to rise at 260 rpm. Assuming that the friction
force is constant, find the maximum and the minimum speeds of rotation when the
inclination of the arms to the vertical is 45 0.

6. Each arm of a Proell governor is 240 mm long and each rotating ball has a mass of 3 kg.
The central load acting on the sleeve is 30 kg. The pivots of all the arms are 30 mm from
the axis of rotation. The vertical height of the governor is 190 mm. The extension links of
the lower arms are vertical and the governor speed is 180 rpm when the sleeve is in the
mid-position. Determine the lengths of the extension links and the tension in the upper
arms.

7. In a Hartnell governor, the extreme radii of rotation of the balls are 40 mm and 60 m m,
and the corresponding speeds are 210 rpm and 230 rpm. The mass of each ball is 3 kg. The
lengths of the ball and the sleeve arms are equal. Determine the initial compression and
the constant of the central spring

8. In a spring-loaded governor of the Hartnell type. The lengths of the horizontal and the
vertical arms of the bell-crank lever are 40 mm and 80 mm respectively. The mass of each
ball is 1.2 kg. The extreme radii of rotation of the balls are 70 mm and 105 mm. The
distance of the fulcrum of each bell-crank lever is 75 mm from the axis of rotation of the
governor. The minimum equilibrium speed is 420 rpm and the maximum equilibrium speed
is 4% higher than this. Neglecting the obliquity of the arms, determine the (i) spring
stiffness, (ii) initial compression, and (iii) equilibrium speed corresponding to radius of
rotation of 95 mm.
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