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CHAPTER 3 Single Degree-of-Freedom Systems

EXAMPLE 3.18

Vibration of a centrifugal governor18

A centrifugal governor is a device that automatically controls the speed of an engine and prevents engines from exceeding certain speeds or prevents damage from sudden changes in torque loading. We shall derive the equation of motion of such a governor by using Lagranges equation. A model of this device is shown in Figure 3.17. The velocity vector relative to point o of the left hand mass is given by Vm # Lw cos w i # Lw sin w j 1r L sin w 2vk (a)

From Eq. (1.22) and Eq. (a), the kinetic energy is # T 1w, w 2 2c 1 m1Vm # Vm 2 d 2 # 1Lw sin w2 2 # mw2L2 11r L sin w2v 2 2 d (b)

# m c 1 Lw cos w2 2 mv2 1r L sin w2 2

i r o & L L L (r Lsin ) [ to page] m k m

Controlled arm

FIGURE 3.17
Centrifugal governor.
18

J. P. Den Hartog, Mechanical Vibrations, Dover, p. 309, 1985; and Z.-M. Ge and C.-I Lee, Nonlinear Dynamics and Control of Chaos for a Rotational Machine with a Hexagonal Centrifugal Governor with a Spring, J. Sound Vibration, 262, pp. 845864, 2003.