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85 views16 pagesGovernors
Kinematics of machines
Uploaded by
steinhareinsteineCopyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
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/ 16
: 16
GOVERNORS
16.1 INTRODUCTION
1e speed of an engine within
output torque of the engine di
ble flywheel
upon the engineai
of a flywheel is
intermittent. A flyw
Alictuation of the energy ot
engines as it adjusts the
Itthe load on the shaft i
the supply of fuel is increa
the valve sufficiently to slow th
Ive is operated by the gover
16.2 TYPES OF GOVERNORS
Governors can breadly be elas:
!) Centrifugal Governor
nthe change of speed. It
estent. When the speed
decreases, the bal
according to
rotate at a smaller radius and the valve is opened
sment.
(ii) Inertia Governor
‘type, the positions of the balls are affocted by the forees set up by an
angular acceleration or deceleration of the given spindle in addition to
centrifugal forces on tho balls, Using suitable linkages and springs, the change
in position of the balls is made to open or elose the throttle valve,
‘Thus, whereas the valve is operated by the actual change of engine speed
in the ease of centrifugal governors, itis by the rate of change of speod in case
of inertia governors, Therefore, the response of inertia governors is faster
than that of centrifugal types.
16.3 WATT GOVERNOR (SIMPLE CONICAL GOVERNOR)
Figure 16.1 shows three forms of a simple centrifugal or a Watt goverrior. In
this, a pair of ba es) are attached to a spindle with the help of links.
In Fig. 16.1a, the upper links are pinned at point O. In Fig. 16.1b, 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 armé, they still meet.
at O. in Fig. 16.16, the upper links eross the spindle and are connected by a
horizontal link 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 spi
As the spindle rotates, the balls take up a position depending upon the
speed of the spindle, Ifit lowers, they move near to the axis due to reduction
Fig. 18:1 7 apridial distance of ball-center from spindle-axis,
i he massless and neglecting the fection ofthe slove,
static equilibrium under the action of
= Weight w(= mg)
~ Centrifugal force meas?
= Tension T in the upper link
athe sleeve is massless and also fiction is neglectod, the ower links will
be tension free.
‘The equilibrium of the mass provides
Teos@ = mg and T sin @ = mre?
ap
meg
=; rw
nog
_ ate: 60)? 9.81
: * a" Parag” (fe) Fe
60 *
ae a6.
or 895 000
h=——nm
‘Thus, the height of a Watt governor is inversely proportional to the square
Pi the speed. A close look at this equation would rent that the vatiation in
‘is appreciable for iow values of speed N. Aethe speed N becomes larger, the
‘The following table shows the hoight h with the Variation in speed:
Mcpm) 69 100150 200 300409
~ Mom) 98 895 m8 m4 95 at
mis shows that this type of governor is unsuitable for high speeds.
However, this drawback has been overcome by loading the governor with a
dead weight or by means of a spring. Such governors have been discussed in
the sections that follow.
AE = 400 mm,
EF 50mm and engi» SF, Urorainn the patogs angen ped
‘when 8 decreases to 30°.
pee h = GO = GI + HO = AE cos 0 + EH cot
1 = 400 cos 35° + 25 cot 35°
963.4 mm
‘ht = 400 cos 30° + 25 cot 30°
389.7 mm
© tate 2
Now he Sama
SAVE 2 VE «0908 7
‘Decrease in speed = (1 ~ 0.966) x 100 = 8.44%
Alternatively,
+’ 895000 = V 295000 = 49.63 rpm
ve ho 868.4
Na ¥ 22000 _ gine rpm
389.7
N
16.4 PORTER GOVERNOR
If the sleeve of a Watt governor is loaded with a heavy mass, it becomes a
Porter governor (Fig. 16.2a)
Let M = mass of the sleeve
‘m = mass of each ball:
= force of fiction at the sloove 7 ae
‘The fore ftiio almjvans ia resin opposite otha ot nom
dlneionanl siete tes scleg aaneaerrs eee Romi
when the sleeve moves down, the force on the sleeve will be ( ) 4 general, the net force actin,
Whether the sleeve moves upriar
Forces acting o *oveand on each ball have been shown in Fig. 16:2h,
Leth = height of the governor
r= distance of the cent
ch ball from axis of rotation
slider-crank mechanism with B as
"us centre of rotation of the link AF.
»nfiguration of the governor,
mtannges ML ey
od)
or 2 é
rot = mg 5 + SESE
= Mgt
mgtan 0 + ——* (tan 8+ tan f)
Tota
stand ng + ‘a+n] asa)
where ee
The height of the governo
rat = [me + EL +]
8, Wef)d+®) ties
& oe Ina 7
‘This equation would provide two values of w for the same height of the
governor. The phenomenon can be explained as below.
First assume that i
foree acting on th
engine increases, the
as the friction has 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 ~/). 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
ofe given by Eq. (16.3).
Example 162 Ina 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. 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?
‘Solution:
m= kg BG = 45mm
M=60kg OA = 400mm
‘We have,
mira? =tane [ng + ME +) (=9
When = 250mm
ee r a 250 i
Ok * TOR ae ~ Tata = Cay ~°*
Asb = 250 7
a= Vay OF = Voy
205/3484
ar)
(205F = 843.4 mm
k = 0.746 2
20" = 0.8 (78.48 + 513.85)
of = 237
9
9x 025 x0 =08 [ex asi + 0% “a+ 07]
2xN
om = 1939 i;
N= 147 pm
(ii) When r = 300 mm,
tand = on = 1.134
Va00y = oop
= 300 - 45 = 255 mm
a= 400)" — @55F = 908.2 mm
256 /308.2
tan“ tan6 ~~ Liga
1
+ 8x 03% 0 = 1134 [exsar + axon a +oa)]
= 0.78
2A" = 1.134 (78.48 + 509.14)
o* = 2776
N= 159.1 rpm
Also, range of speed = 159.1 147 = 12.1 1pm
Example 16.2 Each arm of a Porter governor is 250 mam Jong. The upper
and lower arms are pivoted to links of 40 mm and 50 mar respectively from
Toor eed of the governor for extreme radii of rotation of 125 eas
150 mm.
Solution: Refer Fig. 1633.
m= Ske AB = AR = 250 mm
M= 50kg BG = 50mm
£=40N EH = 40mm
@® Wher = 125 mm,
(rm)
Fig. 16.3
125 - 40 :
a = 034 0 = 1088
sine = 355
tan @ = tan 19.88° = 0.962
125 ~ 50 =
singe 0s p= 1146
tan f = tan 17.46" = 0.316
tanp
b= BE = 087
‘As the radii decrease, the sleeve moves down and the force of friction facts
upwards.
Me-f
rat = ane ng + ila +h)
50 x 9.81 40
8x 022504 = 0302 [5xaat + 2*°0— Sa +87]
a= 2724
2xN
= 72% 5166
an)
Noi = 187.6 rpm.
(i) When = 180 mm,
150 - 40
ae =044 9=26.1"
sind = 542, Theory of Machines
tan@= 0.49
. 150 — 50
sinp = 04 p= 2358
tan f = 0.436
pn 485
cag O80
+
ror = tan [me + e (1+ 0) eo mores up
5x 0.1507 = 0.49 [s x91 + DRO +40 0800)
a? = 359.8
o2eN
See
Nog = 181.1 rpm
Range of speed = 157.6 rpm to 181.1 xpm = 28.5 rpm
16.5 PROELL GOVERNOR,
A Porter governor is known as a Proell it
known governor if the two balls (mass:
{ied on the upward extensions of the lower links which are inthe mare
bent links BAE and CDF (Fig. 16.4a), er
Considering the equilibrium ofthe link BAK which is under the ation of
SR AT pai
Fig. 16.4
— the weight of the ball, mg
—the centrifugal force, mr’?
— the tension in the link AO
— the horizontal reaction of the sleeve.
— the weight of sleeve and friction, 3 (Mg */).
‘As before, Is the instantaneous centre ofthe link BAK.
Taking moments about [,
Mg+
mnrot em me erry + EEL (e+ 5)
‘where, ed and r ate the dimensions as indicated in the diagram.
miata [re (+r-ry+ meee © +9 «as.)
a
In the postion when AE is vertiea, fe. neglecting its obliquity,
rt =2 Inge + EL e+]
a fos 2 (.5))
a
=£ neta + ME ano + 00s]
= ane [ng MEL + 0] (ss)
Example 16.4 The mass ofeach ball of a Proell governor is 7.5 kg.and the
load on the sleeve is 80 kg. Each of the arms is 800 mm long. The upper
arms are pivoted on the axis of rotation whereas the lower arms are pivoted
to links of 40 mm from the axis of rotation, The extensions of the lower
arms to which the balls are attached are 100 mm long and are parallel to
the governor axis at the minimum radius. Determine the equilibrium
speeds corresponding to extreme radii of 180 mm and 240 mam
Solution: When AB is vertical, r' = r = 180 mm (Fig. 16.5).
moo? = Stand [nea + »] (frietion neglected)
We have, a= ¥/(300) — (180 — 40)* = 265:3 mm
¢= 265.8 + 100 = 365.3 mm
180
sind = Ty 06 = 9887 car
0.2653
75 x 0.18 x a? = ae 80 x 9.81
Xa = ay X05 [rsx 81 +a 0209]
o? = 290.5
ae. 2aN
“a7 17.805
N= 1653 rpm
ee = V@653F + (a0 = 991.2 mm
e366;
ae Deep eanee
ery
Sinp = T= nose pecnee
= 27.82 — 2097 = 6.35
inf = = OM oct peat ar
y= Ba = 41.81° — 6.85° = 34.96" (Refer Fig. 16.5b)
e' = BLE, cosy’ = BE cosy’ = 891.2 cos 34.96° = 320.6 mm
e = ByE; siny’ + 40 = 391.2 sin 84.96" + 40 = 264.2 mm
"= 200 mm
4’ = A,B, cos f’ = 300 cos 41.81° = 223.6 mm
in 6 = 40
sing’ = O08 oa 53397
c’ =a’ tan @ = 2236 tan 53.13° = 298.1mm
‘Taking moments about J,
rae! = mae! +r — ry + ME (e+ 67
+ 0.24 + 0.2642)
1
(0,2981 + 0.2)
7.5 x 0.2642 x a x 0.8206 = 7.5 x 9.81 (0.24
N= 175.9 1pm
16.6 HARTNELL GOVERNOR
speed increases and the balls move away from the spindle axis, the
pel-crank levers move onthe pivot and ifthe sleeve against the spring force,
ed decreases, the sleeve moves downwards, The movement of the
the help of a serew cap,
Figue 16.6» shows the forces acting on the bell-crankleverin two positions
(assuming that the sleeve moves up so that fis taken positive),
Let F = centrifugal fores = rat
Fs = spring froce
‘Taking moments about
fulcrum A, Masts tt
Motte
ft Bell-crank lever
i ok
cmon
ta
“Lael t
ss
Mgt re +4
@ a
my
Fig. 186
Fig =F Ole Fy $b, + mee, 8.6)
Fat 3 Me + Fu +b, —mgey (16.60)
In the working range ofthe governor, dig ‘scaly small and so the obliquity
ffcts ofthe arms ofthe bel-crank levers may be neglected. In that case,
M=%=0, by =b=b, = =0
Fandilg+ + pe @
1
and Fra = 5 (Me + Fos +f)b
Subtracting (i) from i)
@2-Fa=3 ey Ryd
or Fa~ Py =F @,— 7)
Let s = stiffness of the spring
‘y= movement of the sleeve
Fa — Fay shea 2-7)
or @xdye= Ze
non 2a
or yo xbsa Samy,
6
Assuming that the power of the governor is suificiont to.overeome the
le crareehange ofspecd on each side ofthe mid-position meg (neglect-
bliquity effect of arms),
the mass of each rotating ball
the spring stiffness
i) the initial compression of the epring.
Solution:
2 x 960
on = 277 dls
© Considering the fiction at the mid-postion,
mrata= > (Mg +R +f)b
0.150)
I
mx
) XGLTX LO = 26% 08147,495 an
mroja=2 Oe +h fyb
(87.7 x 0.99) = ; (5 x 9.81 + F, ~ 35) Gi)
m x 0.075 x (87,
.01)? ~ (0.99)7) =} x (85 + 35) or (m= 8.21 kg)
GO "In the extreme positions,
mrscam dg + Fas fyb
21x (aos + Ben X 106" = 3 6 x 081 + Fg + 35)
Fe = 2275.8N
mriota= 2 Me + iy yy
0.03
821x (00% = peur x 0.94)? = 36 X 981+ Fy, — a5)
Fy, = 1223.N
My 8 = Fa = Fy,
0.08 x s = 2275.8 — 19999
1 #7 90058.N/m or 35.088 N/mm
1223.2
iy aa ion = Fa
Gil) "Initial compression = F" appag = 486mm
pe of governor, the mass of each
Degins to float at.
the friction at
the mid-position,
Solution:
m wakg N, = 200 pm
A, = 40mm 7, = 90mm
4 =100mm r= 115mm
> =80mm
Meen speed, Vv = ae
s Y= 16@%,-N)
ami nin eens 10 be equivalent toa free of 16 N,
determine the total alteration in ‘Speed before the sleeve bogins to move from,
i
i
=
or
N+M,
y= -M)
200 +N,
. = 16 (N; ~ 200)
Nz = 212.9 pm
‘Angle turned by bellcrank lever between two extreme Positions
lity) cite
abe aee
a 100
or
But =r —m = 115-90 = 25mm
& = 50 — 25 = 25mm
reer oy= 115 +25 = 140mm
b= y= VFA = VenF a Gay = 7146 mm
1 = as = V0} = G5 = 96.82 mm
2a x 200
oe 00 = 20.94 rad/s
wpa PELE asa
In the extreme Positions,
mr, of a, =F Faby + mge, (= 0,7=0)
4% 009 (94) x a06 82 = 17, X 0.077 46 + 4 x 9.81 x 0,025
Fo = 992.5
mn = 1 Fabs — meg
AX O14 (2129) x 009688 = 2 Fy x 0.077 46 — 4 0.81 x 0.025
Fan = 698N
hy 3 = Pa ~ Fy,
40x s = 698 — 392.5
$= 7.64N/mm
me jon = F925 ay
Inia compression = —* = O25 37 mm Fy at mid-position = Fy, +205 = 292.5 + 7.64 x 20 = 545.
M+N, 2129—
tenes MEM, MO
At the mid-position, taking friction into account,
moran Lyte
4X O15 x0? x 01 = 2 645. + 16) x 0.08
of = 4872 Fr
avxiary
nm, & 3] Song
0 = = 2207 f
: Xbb Y, aivesre Ye
Lever
Also mrofa= 3s -Nb o ©
9. 187
4% 0126 x 0f x01 = 2 (6455 ~ 15) x 0.08 ca
I 4, = stiffness of the auxiliary a
of = 461.13 Fy = force applied by the auxiliary spring
2aN Assuring that the slats ‘moves up, take moments about the fulerum A in
== BLT two positions (Fig. 16.7b),
Ne = 206.1 rpm Fra Faas=3 (ie + Fa +f) 6,4 mae, asa)
Alteration in speed = 210.8 - 205.1 = 5.7 pm
Fer Fati=3(Me+Fa2 +1) mee (16.82)
Ifobliquity effects are neglected,
aQ=0 bab=b od g=q=0
‘16.7 WILSON-HARTNELL GOVERNOR (RADIAL-SPRING GOVERNOR)
1 S iD
C-Raend (Mes ra2+/) 0 @
Or Faa=s (e+ a2 f) 6 ay
Subtracting @) form
a(R, -F,)-a@n - Fa) = Fe he
‘The main spring consists of two springs. Therefore, the force oxerted is
ae
Gree ie, cote by each spring
ness of cach of the main springs = 2 Stiffness of each spring x Elongation of each spring
S2X5xK2x (—7)
=45(r,— 7)
Let fty = movement of the sleeve
and fi, = deflection of the auxili
‘Then
spring
Fa Fu = hy 8,
“(09.
by
mean eta,
Thus (iii) becomes,
by, 9b
Pa F,) ~ das (ry ~ 7) = (ry ~ 7) 22 5
OF) tener) m= ry 82,
& (oy?
i (P= F,) = 4s (r2— 7, eee)
Mtn) +e 2)
AWA pen?
or ne 5# te (52) (16.9)
To find the stiffness of the main springs while using this equation, the
stiffness of the auxiliary spring may be fixed rat,
Prample 16.7 Ina Wilson-Hartnell type of governor, the mass of each ball
is 5kg Tholengths ofthe ball arm and the sleevecen, ofeach bell-crank lever
are 100 mum and 80 mm respectively. The stiffnese of each of the two springs
hed directly to the balls is 0.4 N/mm. The levee for the auxiliary spring
the auxiliary spring.
Solution,
m= 5kg $= 0.4 N/mm = 400 N/m
r= 100mm a= 100mm
N, = 200:pm 6 = 80mm
We=t
We have,
Fy =mraf= 5x 0.1 x (20.94)*= 2192N
For 6% rise of speed,
05 = 20.94 x 1.06 = 22.2 rad/s
For sleeve rise of mm,
100
Inereasoin ball radius = 8 x > = 10 mm
r= 100+ 10 = 110mm
Fre mrzo} = 5 x 0.11 x (22.2)* = 271.1N
2am.a - 219.2 (0.08 )
= fae (at
“qarsoy 74 * 400+ (or Meter Eq. (16.9))
4,=11219N/m or 11.219N/mm
16.8 SPRING-CONTROLLED GRAVITY GOVERNOR
In -controlled gravity governor, two bell-crank levers are pivoted on
Oe as Gig. 16.8), The rollers at the ends ofthe horizontal arms
of the levers press against a cap fixed to the governor shaft. Thus the motion
of the pivots will be vertically upwards whereas the rollerswill be able to move
horizontally over the cap. As the speed increases, the balls move away, the pivots are raised and the sj
Pe ring is compressed between the sleeve and the
m=16kg Ni, = 200 rpm
Mr85kg a=a,= 120mm
= 60mm b= 5, = 50 mm
ew, = 22% 200
1 = Sa = 20.94 rad/s
@ For initia) (neutral
D posit i
Cig. 1680), Position, taking moments about B, the Leentre,
Ma + Fy
z
where F,, is the sprin
i load on the sleeve. The totals
cts on the lovers through thefulerums A a ot
maya, = mgby + ‘ i
20.949 x 0.12 = [ie 85 x 981+ Fy;
x 9.814 : i Se
| thrust, Fs; = 107 N
“erlsesthrough 9mm, radiusisincreased by e ig. 16
ane,
= 9x = 216mm
i) Whensle:
or 72= 60 +216 = 816mm
, = 20.94 x 1.05 = 21.99 rad/s
a= Vata = VOROF = GigF = 118 mm
be = V60F OF = 49.2 mm
Since point A e » move verti
le Ae home? my. hea
Mg + Fen
z
is = ME (by + en) +
‘by
16 x 0.0816 x (21.99}* x 0,118 = 1.6 x 9,81 (0.0492 + 0.0216) +
6.5x9.81+Fa
x 0.0805
2
Fen = 1988 N
Fa- Fo _ 1988-107
Saitness of spring = = = ——— = 9.6 N/mm
16.9 INERTIA GOVERNOR
‘As described earlier, an inertia governor is based on the principle of inertie
of matter and is operated by the acceleration or deceleration of the rotating
‘masses in addition to centrifugal forces,
In this type of governor, a mass m, having its centre at G, is fixed to an arm
QG which is pivoted toa rotating disc on the engine shaft at
Gand the centre of rotation O are not to be collinear (Fig. 1
is connected to an eccentric that operates the fuel supply valve.
arm moves relatively to the dise, it shifts the position of the eccentric which
changes the fuel supply. ;
Let r = radial distance OG
angular velocity of the disc
v = tangential velocity of G ( = @ 7)
Centrifugal force of the rotating mass, F = mr a* (radially outwards)
Ifthe engine shaft is accelerated due to increase in speed, the ball mass
does not get accelerated at the same amount on account of its inortia, the
inertia force being equal to
a
Femfame
‘Moment of F about Q = ae (counter-clockwise)
Moment of F, about Q = m a (counter-clockwise)
‘Thus it is seen that the moments due to the two forees add together to
make the governor action rapid. Noto that, as the mass moves outwards, the
‘moments due to F and F; act in the opposite directions to make the governor
action sluggish. This arrangement is, therefore, avoided.
‘tis also possible to use two ball masses fixed to the arm as shown in Fig.
16.9, The arm is pivoted at its midpoint C. A change in the angular speed of
‘the dise makes the ball masses to have an angular movement about C. If.
‘the moment of inertia of the arm and the masses about an axis through C,
then
Torque on the arm =I, do»/dt
‘Note that in an inertia governor, when the acceleration (or deceleration) 16.12 ISOCHRONISM
‘A governor with a range of speod zero is known as an isochronous governor.
Sensitivenes = puree Pm w ie. such a governors infinitely sen-
ae
sitive. This means that for all positions of the sleeve or the balls, the governor
has the same speed. Any change of speed results in moving the balls and the
Fig. 16.9
is very small or the change in clcity is very slow, the aldtiona inertia foree
gorerancally zero and an inertia governos i effect, becomes a centrifugal
governor.
For a Porter governor, with all arms equal in length and intersecting on
the axis (neglecting friction,
re a a2 (14
a5 (1+2) wd oS (14
For isochronism, o, = a and thus h, = iy. However, from the eon-
figuration ofa Porter governor, it can be judged that :
‘woposidonsefthobalsstihecenced ‘Thus a pendulum typeof governos
cannot possibly be isochronous,
16-10 SENSITIVENESS OF A GOVERNOR
4 fovemoris said to be sensitive when it ‘eadily responds to a small change
ef speed. The movement of the sleeve fre 8 fractional change of speed is the
measure of sensitivity.
i of a Hartnell governor (neglecting friction),
tie tint the chang of eed ok ago betes, ee
“Zero fo fullload conditions, the sensiivenewoe governor is also defined as “ 1
. Mean speed miotans Me + Faye
sitiveness = —Mean speed
Sensitiveness Tango ofesead
Aton,
N 1
2S mmr aa = > (Mg + Fx) b
1M, +N, For isochronism, « = w»,
ae af (16.10)
2N,=N, Mg+Fs or
where = mean speed is 5 oe)
Riz Mininvum speed corresponding tofu Toad conditions mee
N, = maxin
‘Peed corresponding to no-load conditions Which is the required condition of isochronism,
16.11 HUNTING | 16.13 STABILITY
or is @ desirable quality. However, ita governor is
A governor is said to be stable if it brings the speed of the ‘engine to the
‘ate continuously, because when the ed earns Govemors 55
degre’ value and there is not much hunting. The ball masses
‘elinite position for each speed of fe sakine Within the working range
Obviously, the stability, ‘and the sensitivity are two ‘OPPosite charac
Effort, Fos ple tame 6.13)
For a Watt governor, M = 0,
eek a6a4)
Effort, ay 4
‘of a Watt governor is less than ‘that ofa Porter ‘governor.
Neos effort is defined as the force: ‘required to be applied for 1%
change in speed, ie.
16.14 EFFORT OF A GOVERNOR
ihe effort of the governor is the mean force acting onthe sleeve tora
ln ete te ae ti
equilibrium and the 1 inorant force acting onthe sleeve se But when th
‘Peed ofthe governor increases oe
on the sleeve which tonds tomy
Position, the resultant force aeti
ronne fe acting atthe steers ennses gradually from zero (when the
ium
oy
Effort = Phin sang
= 0.01(n+M)g
in a Hartnell governor,
mro®a = 2 (Mg + Fb Gi)
Let E be the force applied on the sleeve to prevent its movement when the
speed changes from a toc. ‘
na SZ MEO+H amet Mec +
FO ante
Let w be increased toe limesw, and Ede the force ‘applied on the sleeve to
: : : fant co)
Oe a moving. Thus, the force on the sleeve is increased to mrcaya= > (Mg +E + F)b
Dividing Gi P
= 1_ Mg+Ps
o” Mg+E+F,
PEt M+ EA+y 8 Me+B+R
the Mga = - NEFF,
a or Meee e-D
+h
SSCL O9N) Ore supatay_e-; Bean ae
ng + Mg (+ > arial & toe, 2 = 52 ate + ry.
or eeu
EAE
16.15 POWER OF A GOVERNOR
is tho work done atthe sleeve fora given percentage
theproduct ofthe effort and the displacement of the
ong + Mea =~ 1
or
‘The power of a gove
change of speed, i. it
eve,
a Porter governor, having all equal arms which intersect on the axis
or pivoted at points equidistant from the spindle axis,
Power = : X (2 X height of governor)
(16.12) [height ofthe governor changes from h toh,
etocw.
2m + Mg (1+ bj
aoe Va Ayn tM +
a 2m Cay
or yi
Re a
* Displacement of sleeve = 2 (i — p,)
“s-)
1 When the speed changes f;
Controlling force
Gontroling Farce
Controlling force
° Radius ° Radius °
i oy
=a f.-3) am
=2h (S) such as OC, OC, OC» etc, may be drawn on the same diagram provid-
A values of the controlling fore for different radii at parteular speeds,
Power = £1 =] itersection of the speed curves with the controlling force eurve Provides:
. 2 + Mex 2% (S) the speeds of the governor corresponding to the radi,
‘Suppose that the point P represents the mean speed of the governor. ris
the corresponding radius of the balls. Now, ifthe speed increases to P, the
radius ofthe balls increases tor, thus moving the sleeve up and closing the
throttle valve to the required extent. Similarly, ithe speed decreases to point
Pe the radius of the balls decreases tor, resulting inthe lowering ofthe sleeve
and opening the throttle valve further. This would increase the speed. This
‘type of governor is said to be stable, a
Now consider a controlling foree curve of the type shown in Fig. 16.10,
1m this caso, the point P again represents the mean speed of the governor. If
the speed increases to P,, the radius of the balls decreases to r,. This mean
: en? i
m+ ane e } (06.16)
16-16 CONTROLLING FORCE
Speed, the sleeve is moved up, closing the valve and thus further reducing the
speed. Such a governor is therefore unstable,
‘Thus, for a governor to be stable the slope of the controlling force curve
‘must be greater than that of the speed curve,
Figure 16-10 c shows a controlling foree eurve AB which sometimes may
‘be obtained in some spring-loaded governors by suitable adjustments, It cay
be observed that, at the speed represented by the line OC, the balls can tale
‘up any radius, Under such conditions, the governor is said to be isochronons,
If friction is taken into account, two more curves of the controlling force
sreobtained asshown in Fig. 16.11. Thus, inall,threecurvesofthe controlling
force are obtained as follows:
For steady run (neglecting friction)
the sleeve moves up (f positive)
0 sleave moves down (f negative)
tical intercept gh signifies that between the speeds corresponding
the radius of the balls does not change while the direction of movement
Controlling force = tan 9 [ne Meer
zt +0] for & Porter governor 6 ine0ry ot Machines
insensitive. At all radi
no change of the radius
Coefficient of insensitiveness: Ni ~ Na
OF Insensitiveness: LN aon 05 the Coefficient of insen-
'ssPonding speed neglecting friction,
Solution: (i) The controling force curve ofa
‘ stright lin and thus ean be expressed © PU6-