Governors

UNIT 12 GOVERNORS
Structure
12.1 Introduction
Objectives

12.2 Classification of Governors

12.3 Gravity Controlled Centrifugal Governors
12.3.1 Watt Governor
12.3.2 Porter Governor
12.3.3 Proell Governor

12.4 Spring Controlled Centrifugal Governors

12.4.1 Hartnell Governor
12.4.2 Wilson-Hartnell Governor
12.4.3 Hartung Governor

12.5 Governor Effort and Power

12.6 Characteristics of Governors
12.7 Controlling Force and Stability of Spring Controlled Governors
12.8 Insensitiveness in the Governors
12.9 Summary
12.10 Key Words
12.11 Answers to SAQs

12.1 INTRODUCTION
In the last unit, you studied flywheel which minimises fluctuations of speed within the
cycle but it cannot minimise fluctuations due to load variation. This means flywheel does
not exercise any control over mean speed of the engine. To minimise fluctuations in the
mean speed which may occur due to load variation, governor is used. The governor has
no influence over cyclic speed fluctuations but it controls the mean speed over a long
period during which load on the engine may vary.
When there is change in load, variation in speed also takes place then governor operates a
regulatory control and adjusts the fuel supply to maintain the mean speed nearly constant.
Therefore, the governor automatically regulates through linkages, the energy supply to
the engine as demanded by variation of load so that the engine speed is maintained nearly
constant.
Figure 12.1 shows an illustrative sketch of a governor along with linkages which
regulates the supply to the engine. The governor shaft is rotated by the engine. If load on
the engine increases the engine speed tends to reduce, as a result of which governor balls
move inwards. This causes sleeve to move downwards and this movement is transmitted
to the valve through linkages to increase the opening and, thereby, to increase the supply.
On the other hand, reduction in the load increases engine speed. As a result of which the
governor balls try to fly outwards. This causes an upward movement of the sleeve and it
reduces the supply. Thus, the energy input (fuel supply in IC engines, steam in steam
turbines, water in hydraulic turbines) is adjusted to the new load on the engine. Thus the
governor senses the change in speed and then regulates the supply. Due to this type of
action it is simple example of a mechanical feedback control system which senses the
output and regulates input accordingly.
105
Power Transmission
Devices and Controls

FC FC

mg

Supply pipe
mg

Bell Crank
Lener

Engine
Pulley
Figure 12.1 : Governor and Linkages

Objectives
After studying this unit, you should be able to
• classify governors,
• analyse different type of governors,
• know characteristics of governors,
• know stability of spring controlled governors, and
• compare different type of governors.

12.2 CLASSIFICATION OF GOVERNORS

The board classification of governor can be made depending on their operation.
(a) Centrifugal governors
(b) Inertia and flywheel governors
(c) Pickering governors.
Centrifugal Governors
In these governors, the change in centrifugal forces of the rotating masses due to
change in the speed of the engine is utilised for movement of the governor sleeve.
One of this type of governors is shown in Figure 12.1. These governors are
commonly used because of simplicity in operation.
Inertia and Flywheel Governors
In these governors, the inertia forces caused by the angular acceleration of the
engine shaft or flywheel by change in speed are utilised for the movement of the
balls. The movement of the balls is due to the rate of change of speed in stead of
change in speed itself as in case of centrifugal governors. Thus, these governors
are more sensitive than centrifugal governors.
Pickering Governors
This type of governor is used for driving a gramophone. As compared to the
centrifugal governors, the sleeve movement is very small. It controls the speed by
dissipating the excess kinetic energy. It is very simple in construction and can be
used for a small machine.
106
12.2.1 Types of Centrifugal Governors Governors

Depending on the construction these governors are of two types :

(a) Gravity controlled centrifugal governors, and
(b) Spring controlled centrifugal governors.
Gravity Controlled Centrifugal Governors
In this type of governors there is gravity force due to weight on the sleeve or
weight of sleeve itself which controls movement of the sleeve. These governors are
comparatively larger in size.
Spring Controlled Centrifugal Governors
In these governors, a helical spring or several springs are utilised to control the
movement of sleeve or balls. These governors are comparatively smaller in size.
SAQ 1
(a) Compare flywheel with governor.
(b) Which type of control the governor system is?
(c) Compare centrifugal governors with inertia governors.

12.3 GRAVITY CONTROLLED CENTRIFUGAL

GOVERNORS
There are three commonly used gravity controlled centrifugal governors :
(a) Watt governor
(b) Porter governor
(c) Proell governor
Watt governor does not carry dead weight at the sleeve. Porter governor and proell
governor have heavy dead weight at the sleeve. In porter governor balls are placed at the
junction of upper and lower arms. In case of proell governor the balls are placed at the
extension of lower arms. The sensitiveness of watt governor is poor at high speed and
this limits its field of application. Porter governor is more sensitive than watt governor.
The proell governor is most sensitive and of these three.
12.3.1 Watt Governor
This governor was used by James Watt in his steam engine. The spindle is driven by the
output shaft of the prime mover. The balls are mounted at the junction of the two arms.
The upper are connected to the spindle and lower arms are connected to the sleeve as
shown in Figure 12.2(a).

Ball Ball

θ
Sleeve
h

γ FC
mg

(a) (b)
Figure 12.2 : Watt Governor 107
Power Transmission We ignore mass of the sleeve, upper and lower arms for simplicity of analysis. We can
Devices and Controls ignore the friction also. The ball is subjected to the three forces which are centrifugal
force (Fc), weight (mg) and tension by upper arm (T). Taking moment about point O
(intersection of arm and spindle axis), we get
FC h − mg r = 0

Since, FC = mr ω2

∴ mr ω2 h − mg r = 0

g
or ω2 = . . . (12.1)
h
2π N
ω=
60
g × 3600 894.56
∴ h= = . . . (12.2)
4π N 2 2
N2
where ‘N’ is in rpm.
Figure 12.3 shows a graph between height ‘h’ and speed ‘N’ in rpm. At high speed the
change in height h is very small which indicates that the sensitiveness of the governor is
very poor at high speeds because flatness of the curve at higher speeds.

0.8

0.6

h
0.6

0.4

0.2

300 400 500 600 700

N
Figure 12.3

SAQ 2
Why watt governor is very rarely used? Give reasons.

12.3.2 Porter Governor

A schematic diagram of the porter governor is shown in Figure 12.4(a). There are two
sets of arms. The top arms OA and OB connect balls to the hinge O. The hinge may be on
the spindle or slightly away. The lower arms support dead weight and connect balls also.
All of them rotate with the spindle. We can consider one-half of governor for
equilibrium.
108
Let w be the weight of the ball, Governors

T1 and T2 be tension in upper and lower arms, respectively,

Fc be the centrifugal force,
r be the radius of rotation of the ball from axis, and
I is the instantaneous centre of the lower arm.
Taking moment of all forces acting on the ball and neglecting friction at the sleeve, we
get
W
FC × AD − w × ID − IC = 0
2
w ID W ⎛ ID + DC ⎞
or FC = + ⎜ ⎟
AD 2 ⎝ AD ⎠
W
or FC = w tan α + (tan α + tan β)
2
w 2
FC = ω r
g

W 2 ⎧⎪ W ⎛ tan β ⎞ ⎫⎪
∴ ω r = w tan α ⎨1 + ⎜1 + ⎟⎬
g ⎪⎩ 2w ⎝ tan α ⎠ ⎪⎭

g ⎧ W ⎫
or ω2 = tan α ⎨1 + (1 + K ) ⎬ . . . (12.3)
r ⎩ 2w ⎭
tan β
where K=
tan α

r
∵ tan α =
h
g ⎧ W ⎫
∴ ω2 = ⎨1 + (1 + K ) ⎬ . . . (12.4)
h ⎩ 2w ⎭
O
Arms
T1
Spindle α

h
Ball T1

A T
A B FC
A
β T2
α
Links Central
Load (w) w T2 β
C
Sleeve
I
D
W
2 C
(a) (b)
Figure 12.4 : Porter Governor

If friction at the sleeve is f, the force at the sleeve should be replaced by W + f for rising
and by (W – f) for falling speed as friction apposes the motion of sleeve. Therefore, if the
friction at the sleeve is to be considered W should be replaced by (W ± f). The expression
in Eq. (12.4) becomes
109
Power Transmission g ⎧ (W ± f ) ⎫
Devices and Controls ω2 = ⎨1 + (1 + K ) ⎬ . . . (12.5)
h ⎩ 2 w ⎭
12.3.3 Proell Governor
A typical Proell governor is shown in Figure 12.5(a) which presents its line diagram. The
balls are mounted on the extension of lower arms. The action of this governor is also
similar to the porter governor where increase in speed raises sleeve and decrease in speed
results in movement of sleeve down. When sleeve moves up opening of valve is reduced
and when sleeve moves down opening of it is increased. Taking moment about
instantaneous centre I in Figure 12.5(b) for AG being vertical
W
FC × GD − w × ID − × IC = 0
2
AD ⎧ ID W ( ID + CD) ⎫
or FC = ⎨w + ⎬
GD ⎩ AD 2 AD ⎭
AD ⎧ W ⎫
= ⎨ w tan α + (tan α + tan β) ⎬
GD ⎩ 2 ⎭
w 2 AD ⎧ W ⎫
or ω r= tan α × w ⎨1 + (1 + K ) ⎬
g GD ⎩ 2 w ⎭
g AD ⎧ W ⎫
or ω2 = × ⎨1 + (1 + K ) ⎬ . . . (12.6)
h GD ⎩ 2w ⎭
r
O O

G α
Ball Ball FC
h
G G
w
r
A
A B
α β
Central Instaneous β
Load centre

C
I
Sleeve D W
2
(a) (b)

Figure 12.5
If AG is not vertical
ID W IC
FC = w +
GD 2 GD
w 2 ⎧ ID W IC ⎫
or ω r=w⎨ + ⎬
g ⎩ GD 2 w GD ⎭

g ⎧ ID W IC ⎫
or ω2 = ⎨ + ⎬ . . . (12.7)
r ⎩ GD 2w GD ⎭
AD
The ratio is always less than 1. Comparing the Eq. (12.6) with Eq. (12.4) it is
GD
observed that the equilibrium speed is less for Proell governor is less than porter
governor for same mass of ball and sleeve. Therefore, for the same equilibrium speed
proell governor requires balls of a smaller mass than that for porter governor. For same
masses, this governor requires smaller change in speed for same lift of sleeve.
110
If friction at the sleeve is ‘fN’, Eq. (12.6) becomes, Governors

g AD ⎧ W ± f ⎫
ω2 = ⎨1 + (1 + K ) ⎬ . . . (12.8)
h GD ⎩ 2w ⎭

SAQ 3
In which respect Proell governor is better than Porter governor.

12.4 SPRING CONTROLLED CENTRIFUGAL

GOVERNORS
In these governors springs are used to counteract the centrifugal force. They can be
designed to operate at high speeds. They are comparatively smaller in size. Their speed
range can be changed by changing the initial setting of the spring. They can work with
inclined axis of rotation also. These governors may be very suitable for IC engines, etc.
The most commonly used spring controlled centrifugal governors are :
(a) Hartnell governor
(b) Wilson-Hartnell governor
(c) Hartung governor
12.4.1 Hartnell Governor
The Hartnell governor is shown in Figure 12.6. The two bell crank leners have been
provided which can have rotating motion about fulcrums O and O′. One end of each bell
crank lever carries a ball at one end of one arm 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.

Frame

Spring

Ball Ball
Collar
A
Bell crank
a
Lever

c O’
O
b
Fulcrum Roller

Sleeve
Spindle

Figure 12.6 : Hartnell Governor

111
Power Transmission Let r1 = Minimum radius of rotation of ball centre from spindle axis, in m,
Devices and Controls
r2 = Maximum radius of rotation of ball centre 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,
ω1 and ω2 = Corresponding minimum and maximum angular velocities, in r/s,

(FC)1 = Centrifugal force corresponding to minimum speed = m × ω12 × r1 ,

(FC)2 = Centrifugal force corresponding to maximum speed = m × ω22 × r2 ,

s = Stiffness of spring or the force required to compress the spring by one 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.
Considering the position of the ball at radius ‘r1’, as shown in Figure 12.7(a) and taking
moments of all the forces about O
( Mg + S1 )
M 0 = ( FC )1 a cos θ1 − mg a sin θ1 − b cos θ1 = 0
2
( Mg + S1 ) ⎛b⎞
or ( FC )1 = mg tan θ1 + ⎜ ⎟ . . . (12.9)
2 ⎝a⎠

r1 r2

A2
A’1 A1
A’2
(FC)1 (FC)2
mg
mg

a
r
(Mg + S2)
2
C2
θ1 θ2
C’1 x2
O O’ θ2
θ1 x1 (Mg + S1) C’2
b
2
Reaction C1
at fulcrum
(a) (b)
Figure 12.7

Considering the position of the ball at radius ‘r2’ as shown in Figure 12.7(b) and taking
the moments of all the forces about O′
( Mg + S2 )
M 0′ = ( FC )2 a cos θ2 + mg a sin θ2 − b cos θ2
2

( Mg + S2 ) ⎛ b ⎞
or ( FC )2 = ⎜ ⎟ − mg tan θ2 . . . (12.10)
2 ⎝a⎠
112
If θ1 and θ2 are very small and mass of the ball is negligible as compared to the spring Governors
force, the terms mg tan θ1 and mg tan θ2 may be ignored.
( Mg + S1 ) ⎛ b ⎞
( FC )1 = ⎜ ⎟ . . . (12.11)
2 ⎝a⎠
( Mg + S2 ) ⎛b⎞
and ( FC )2 = ⎜ ⎟ . . . (12.12)
2 ⎝a⎠
( S2 − S1 ) ⎛ b ⎞
∴ ( FC )2 − ( FC )1 = ⎜ ⎟
2 ⎝a⎠
Total lift = ( x1 + x2 ) (b θ1 + b θ 2 )
= b (θ1 + θ 2 )

⎛ (r − r1 ) (r2 − r ) ⎞ b
=b⎜ + = (r2 − r1 )
⎝ a a ⎟⎠ a
b
S2 − S1 = Total lift × s = (r2 − r1 ) s
a
2
⎛ b ⎞ (r − r )
∴ ( FC )2 − ( FC )1 = ⎜ ⎟ 2 1 s
⎝a⎠ 2
2
⎛ a ⎞ ( FC ) 2 − ( FC )1
or stiffness of spring ‘s’ = 2 ⎜ ⎟ . . . (12.13)
⎝b⎠ ( r2 − r1 )
For ball radius ‘r’

⎛ a ⎞ ⎧ ( F ) − ( FC )1 ⎫
2 2
⎛ a ⎞ F − ( FC )1
s=2⎜ ⎟ C =2⎜ ⎟ ⎨ C 2 ⎬
⎝b⎠ r − r1 ⎝ b ⎠ ⎩ (r2 − r1 ) ⎭
(r − r1 )
FC = ( FC )1 + {( FC ) 2 − ( FC )1} . . . (12.14)
(r2 − r1 )

SAQ 4
For IC engines, which type of governor you will prefer whether dead weight type
or spring controlled type? Give reasons.

12.4.2 Wilson-Hartnell Governor

A Wilson-Hartnell governor is shown in Figure 12.8. In this governor, the balls are
connected by two springs which are known as main springs. The main springs are
arranged symmetrically on either side of the sleeve. The balls are attached to the vertical
arms of the two bell-crank levers. The horizontal arms of the bell-crank levers carry two
rollers at their ends. The rollers at the horizontal arm press against the sleeve. The
bell-cranks rotate with the spindle. When speed increases the ball-radius increases, the
springs exert an inward pull P on the balls and the rollers press against the sleeve which
is raised.
An adjustable auxiliary spring (S) is attached to the sleeve through a lever. The lever is
pivoted at a fulcrum B. One end of the lever is connected to the auxiliary spring whereas
the other end of the lever fits into the groove in the sleeve. The auxiliary spring tends to
keep the sleeve down. 113
Power Transmission
rγ Main springs (Two)
Devices and Controls
FC P P
FC

Auxillary
aa spring

O
O
b S
Bell crank Lever
B
lever A C
Pivot
Fulcrum
x y

Figure 12.8 : Wilson-Hartnell Governor

Let m = Mass of each ball in kg,

M = Mass of sleeve in kg,
W = Weight of sleeve = M × g in N,
P = Tension (or Pull) in the main spring in N,
S = Tension in the auxiliary spring in N,
FC = Centrifugal force of each ball in N,
r = Radius of rotation of balls in m,
s = Stiffness of auxiliary spring in N/m, and
sa = Stiffness of auxiliary spring, in N/m.
The total downward force on the sleeve
= Weight of sleeve + force at lever end A due to tension S in auxiliary spring
(i.e. at point C)
S×y ⎛ S × y⎞
=W + = ⎜M × g + ⎟N
x ⎝ s ⎠
Taking the moments about the point ‘O’ of the bell-crank lever and neglecting the effect
of the pull of gravity on the balls, we have
⎛ S×y⎞
⎜W + x ⎟
( FC − P) × a = ⎜ ⎟×b
⎜ 2 ⎟
⎝ ⎠
At the minimum speed ‘ω1’, let
FC1 (Centrifugal force) = m × ω12 × r1

P1 = Tension in main spring, S1 = Tension in auxiliary spring and FC2 P2 and S2 are
corresponding values of centrifugal force, tension in main spring and tension in auxiliary
spring corresponding to maximum speed, respectively.
Substituting these values in above equation, we have for minimum speed, ‘w1’.
⎛ S1 × y ⎞
⎜M × g + x ⎟ × b
( FC1 − P1 ) × a = ⎝ ⎠ . . . (12.15)
2
Similarly for maximum speed ‘ω2’, we have
⎛ S2 × y ⎞
⎜M × g + x ⎟ × b
( FC2 − P2 ) × a = ⎝ ⎠ . . . (12.16)
2
114
Subtracting Eq. (12.15) from Eq. (12.16), we have Governors

y b
[( FC2 − FC1 ) − ( P1 − P2 )] × a = ( S2 − S1 ) × × . . . (12.17)
x 2
When the radius increases from r1 to r2, the ball springs will be extended by the amount
(d2 – d1) of 2 (r2 – r1) and auxiliary spring will be extended by the amount
b y
(r2 − r1 ) × . The main spring consists of two springs.
a x
∴ P2 – P1 = Net pull (or tension) in two main springs when radius increases
from r1 to r2,
= 2 × Force exerted by each main spring,
= 2 × [stiffness of main spring × extension of ball springs],
= 2 × [ s × 2 ( r2 − r1 )] , and

= 4 × s × ( r2 − r2 ) = 4 s . ( r2 − r1 ) .

Similarly, extension in the auxiliary spring can also be determined. The movement of the
sleeve as radius changes r1 to r2
b
= (r2 − r1 )
a
∴ Extension in the auxiliary spring
b y
= × × (r2 − r1 )
a x
Let the stiffness of the auxiliary spring be sa.
b× y
( S2 − S1 ) = sa (r2 − r1 )
a×x

Substituting for (P2 – P1) and (S2 – S1) in Eq. (12.17)

b × y2
FC2 − FC1 = 4s (r2 − r1 ) + (r2 − r1 ) sa
2a × x 2

⎧⎪ b × y 2 ⎫⎪ FC2 − FC1
or ⎨ 4 s + sa × ⎬= . . . (12.18)
⎪⎩ 2a × x 2 ⎪⎭ ( r2 − r1 )

12.4.3 Hartung Governor

This governor also has two bell-crank levers which have fulcrum at O and O′. The
springs oppose centrifugal force acting at the balls.
Figure 12.9(b) shows the free-body diagram of a bell-crank lever of Hartung governor
shown in Figure 12.9(a) ball centre is r.
Let s = Stiffness of the spring in N/m,
P = Spring force at radius ‘r’ in N,
M = Mass at the sleeve in kg,
m = Mass of the ball in kg,
FC = Centrifugal force (at the centre of the ball) in N,
115
Power Transmission c = Radius at which the spring force is zero, i.e. when the spring attains its
Devices and Controls free length,
a = Length of the arm to which the ball is connected,
b = Length of the arm connected to the sleeve, and
θ = Inclination of the arms shown in Figure 12.9(b).

FC P

Mg
2
θ
O’
O O’

(a) (b)
Figure 12.9

We shall neglect the friction and the moment of the weight mg about the pivot point O.
Taking moments of ball the external forces about O, we have

⎛ Mg ⎞
FC . b cos θ = P . a cos θ + ⎜ ⎟ b cos θ
⎝ 2 ⎠
Mg b
or F=P+
(2a)

Further, we see that P = k (r − c) as (r − c) is the compression of the spring.

Mg a ⎡ ⎛ Mg a ⎞ ⎤
Thus, FC = s (r − c) + = s ⎢r − ⎜ c − ⎟ . . . (12.19)
2b ⎣ ⎝ 2bs ⎠ ⎥⎦

12.5 GOVERNOR EFFORT AND POWER

Governor effort and power can be used to compare the effectiveness of different type of
governors.
Governor Effort
It is defined as the mean force exerted on the sleeve during a given change in
speed.
When governor speed is constant the net force at the sleeve is zero. When
governor speed increases, there will be a net force on the sleeve to move it
upwards and sleeve starts moving to the new equilibrium position where net force
becomes zero.
Governor Power
It is defined as the work done at the sleeve for a given change in speed. Therefore,
Power of governor = Governor effort × Displacement of sleeve
12.5.1 Determination of Governor Effort and Power
The effort and power of a Porter governor has been determined. The same principle can
be used for any other type of governor also.
116
 O O Governors

α
h h1

mg
w
β

(a) (b)
Figure 12.10

Figure 12.10 shows the two positions of a Porter governor.

Let N = Equilibrium speed corresponding to configuration shows in Figure 12.10(a),
W = Weight of sleeve in N,
h = Height of governor corresponding to speed N, and
c = A factor which when multiplied to equilibrium speed, gives the increase
in speed.
∴ Increased speed = Equilibrium speed + Increase of speed,
= N + c . N = (1 + c) N, and . . . (12.20)
h1 = Height of governor corresponding to increased speed (1 + c ) N.
The equilibrium position of the governor for the increased speed is shown in
Figure 12.10(b). In order to prevent the sleeve from rising when the increase of speed
takes place, a downward force will have to be exerted on the sleeve.
Let W1 = New weight of sleeve so that the rising of sleeve is prevented when the speed is
(1 + c) N. This means that W1 is the weight of sleeve when height of governor
is h.
∴ Downward force to be applied when the rising of sleeve is to be prevented when
speed increases from N to (1 + c) N = W1 – W.
When speed is N rpm and let the angles α and β are equal so that k = 1, the height h is
given by equation

⎛w+W ⎞ g
h=⎜ ⎟× . . . (12.21)
⎝ w ⎠ ⎛ 2π N ⎞ 2
⎜ ⎟
⎝ 60 ⎠
If the speed increases to (1 + c) N and height remains the same

⎛ w + W1 ⎞ g
h=⎜ ⎟ × . . . (12.22)
⎝ w ⎠ ⎧ 2π (1 + c) N ⎫2
⎨ ⎬
⎩ 60 ⎭
Equating the two values of h given by above equations, we get
{( w + W1 )}
w+W =
(1 + c) 2

( w + W ) (1 + c) 2 = w + W1

W1 = ( w + W ) (1 + c) 2 − w
117
Power Transmission
(W1 − W ) = ( w + W ) (1 + c) 2 − ( w + W )
Devices and Controls

= ( w + W ) {(1 + c) 2 − 1}

2c ( w + W ) If c is very small . . . (12.23)

But W1 – W is the downward force which must be applied in order to prevent the sleeve
from rising when the increase of speed takes place. This is also the force exerted by the
governor on the sleeve when the speed changes from N to (1 + c) N. As the sleeve rises to
the new equilibrium position as shown in Figure 12.10(b), this force gradually diminishes
to zero. The mean force P exerted on the sleeve during the change of speed from N to (1
+ c) N is therefore given by
W1 − W
P= c (w + W ) . . . (12.24)
2
This is the governor effort.
If weight on the sleeve is not increased

⎛w+W ⎞ g
h1 = ⎜ ⎟ . . . (12.25)
⎝ w ⎠ ⎧ 2π (1 + c) N ⎫2
⎨ ⎬
⎩ 60 ⎭

h − h1 = 2 x

h
= (1 + c) 2
h1

h
∴ − 1 = (1 + c)2 − 1 2c
h1

h − h1
or = 2c
h1

2x
or = 2c
h1

or x = c h1

∴ Governor power = Px = c 2 h1 ( w + W ) . . . . (12.26)

12.6 CHARACTERISTICS OF GOVERNORS

Different governors can be compared on the basis of following characteristics :
Stability
A governor is said to be stable when there is one radius of rotation of the balls for
each speed which is within the speed range of the governor.
Sensitiveness
The sensitiveness can be defined under the two situations :
(a) When the governor is considered as a single entity.
(b) When the governor is fitted in the prime mover and it is treated as part
of prime mover.
118
 (a) A governor is said to be sensitive when there is larger displacement of the Governors
sleeve due to a fractional change in speed. Smaller the change in speed of
the governor for a given displacement of the sleeve, the governor will be
more sensitive.
N
∴ Sensitiveness = . . . (12.27)
N1 − N 2
(b) The smaller the change in speed from no load to the full load, the more
sensitive the governor will be. According to this definition, the sensitiveness
of the governor shall be determined by the ratio of speed range to the mean
speed. The smaller the ratio more sensitive the governor will be
N 2 − N1 2( N 2 − N1 )
∴ Sensitiveness = = . . . (12.28)
N ( N 2 + N1 )
where N2 – N1 = Speed range from no load to full load.
Isochronism
A governor is said to be isochronous if equilibrium speed is constant for all the
radii of rotation in the working range. Therefore, for an isochronous governor the
speed range is zero and this type of governor shall maintain constant speed.
Hunting
Whenever there is change in speed due to the change in load on the engine, the
sleeve moves towards the new position but because of inertia if overshoots the
desired position. Sleeve then moves back but again overshoots the desired position
due to inertia. This results in setting up of oscillations in engine speed. If the
frequency of fluctuations in engine speed coincides with the natural frequency of
oscillations of the governor, this results in increase of amplitude of oscillations due
to resonance. The governor, then, tends to intensity the speed variation instead of
controlling it. This phenomenon is known as hunting of the governor. Higher the
sensitiveness of the governor, the problem of hunting becomes more acute.

12.7 CONTROLLING FORCE AND STABILITY OF

SPRING CONTROLLED GOVERNORS
The resultant external force which controls the movement of the ball and acts along the
radial line towards the axis is called controlling force. This force acts at the centre of the
ball. It is equal and acts opposite to the direction of centrifugal force.
The controlling force ‘F’ = m ω2 r.
2
F ⎛ 2π N ⎞
Or =m⎜ ⎟
r ⎝ 60 ⎠
F
For controlling force diagram in which ‘F’ is plotted against radius ‘r’, represents
r
slope of the curve.
F
i.e. = tan φ ∝ N 2 . . . (12.29)
r
Therefore, for a stable governor slope in controlling force diagram should increase with
the increase in speed.
Stability of Spring-controlled Governors
Figure 12.11 shows the controlling force curves for stable, isochronous and
unstable spring controlled governors. The controlling force curve is approximately
straight line for spring controlled governors. As controlling force curve represents 119
Power Transmission the variation of controlling force ‘F’ with radius of rotation ‘r’. Hence, straight
Devices and Controls line equation can be,
F = ar + b; F = ar or F = ar − b . . . (12.30)
where a and b are constants. In the above equation b may be +ve, or –ve or zero.

B
Unstable F = ar + b

Controlling Force
C
Isochronous F = ar
E

Stable F = ar – b

O
D Radius of Rotation

Figure 12.11

These three cases are as follows :

F
(a) We know that for a stable governor, the ratio must increase as t
r
increases. Hence the controlling force curve DE for a stable governor
must intersect the controlling force axis (i.e. y-axis) below the origin,
when produced. Then the equation of the curve will be of the form
F b
F = a . r − b or =a− . . . (12.31)
r r
As r increases tan φ increases.
(b) If b in the above equation is zero then the controlling force curve OC
F
will pass through the origin. The ratio will be constant for all
r
radius of rotation and hence the governor will become isochronous.
Hence for isochronous, the equation will be
F
F = ar or = a = constant . . . (12.32)
r
(c) If b is positive, then controlling force curve AB will intersect the
controlling force axis (i.e. y-axis) above the origin. The equation of
the curve will be
F b
F = ar + b or =a+ . . . (12.33)
r r
F
As r increases, speed increases, or tan φ reduces. Hence this
r
equation cannot represent stable governor but unstable governor.

12.8 INSENSITIVENESS IN THE GOVERNORS

The friction force at the sleeve gives rise to the insensitiveness in the governor. At any
given radius there will be two different speeds one being when sleeve moves up and
other when sleeve moves down. Figure 12.12 shows the controlling force diagram for
such a governor.
120
 Governors
N’

Speed Increasing
N

Controlling Force

Speed Scale
N”
c

Speed Decreasing
D
A
O
Radius of Rotation

Figure 12.12

The corresponding three values of speeds for the same radius OA are :
(a) The speed N when there is no friction.
(b) The speed N′ when speed is increasing or sleeve is on the verge of moving
up, and
(c) The speed N″ when speed is decreasing or sleeve on the verge of moving
down.
This means that, when radius is OA, the speed of rotation may vary between the limits N″
and N′, without causing any displacement of the governor sleeve. The governor is said to
be insensitiveness over this range of speed. Therefore,
⎛ N ′ − N ′′ ⎞
∴ Coefficient of insensitiveness = ⎜ ⎟ . . . (12.34)
⎝ N ⎠
Example 12.1
The arms of a Porter governor are 25 cm long and pivoted on the governor axis.
The mass of each ball is 5 kg and mass on central load of the sleeve is 30 kg. The
radius of rotation of balls is 15 cm when the sleeve begins to rise and reaches a
value of 20 cm for the maximum speed. Determine speed range.
Solution
Given data : Ball weight ‘w’ = 5 g N
Central load ‘W’ = 30 g N
Arm length ‘l’ = 25 cm = 0.25 m
Minimum radius ‘r1’ = 15 cm = 0.15 m
Maximum radius ‘r2’ = 20 cm = 0.2 m

Height ' h1 ' = l 2 − r12 = 0.252 − 0.152 = 0.2 m

For k = 1.

l h

Fc
r

W
l
w
2

Figure 12.13
121
Power Transmission Substituting values in Eq. (12.4)
Devices and Controls
g ⎧ W ⎫
ω12 = ⎨1 + (1 + 1) ⎬
0.2 ⎩ 2w ⎭

9.81 ⎧ 30 g ⎫
= ⎨1 + ⎬
0.2 ⎩ 5g ⎭

ω1 = 18.5297 r/s or N1 = 176.9 rpm

Height h2 = 0.252 − 0.22 = 0.15 m

9.81 ⎧ 30 g ⎫
∴ ω22 = ⎨1 + ⎬
0.15 ⎩ 5g ⎭

∴ w2 = 29.396 r/s or N 2 = 204.32 rpm

Speed range = N2 – N1 = 27.42 rpm.
Example 12.2
In a Proel governor the mass of each ball and load are 5 kg and 60 kg, respectively.
The length of each upper arms and lower arms are 240 mm. The upper arms are
connected at the axis of the spindle and lower arms are connected at a distance of
30 mm from the axis of spindle. The length of links to which balls are connected
are 80 mm long and they are parallel to the axis when radius is
130 mm. Find equilibrium speeds at radii 130 mm and 190 mm.
Solution
w=5gN and W = 60 g N (Refer Figure 12.14)
AB = BD = 240 mm; BC = B1 C1 = 80 mm
W = 60 g, w=5g
130
sin α = = 0.541 or α = 32.75o
240
130 − 30
sin β = = 0.416 or β = 24.62o
240
100 100
tan β = 0.4582 = ∴ AB′ = = 218.25
AB′ 0.4582
100
∴ tan θ = or θ = 18.54o
218.25 + 80

∴ γ = β − θ = 24.62 − 18.54 = 6.084o

For Radius ‘r’ = 130 mm

From Eq. (12.6),
g AB′ ⎧ W ⎫
ω2 = × ⎨1 + (1 + k ) ⎬
h AC ′′ ⎩ 2w ⎭
tan β
k= = 0.712
tan α

AC ′′ = AB′ + BC = 218.25 + 80 = 298.25 mm

h = 240 cos 32.75o = 201.85 mm = 0.20185 m

122
 9.81 218.25 ⎧ 60 g ⎫ Governors
ω2 = × ⎨1 + (1 + 0.712) ⎬ = 400.97
0.20185 298.25 ⎩ 2 × 5g ⎭
or ω = 20.02 or N1 = 191.22 rpm

D D1
240 mm
α
C C” C1 190 mm
240 mm
W 130 mm F 80 mm
w
B’ B’ B”
B1
B γ
γ
240 mm α1
θ 240 mm
θ1
30 mm
β1

E β A I, E1 A,
30 mm
W
= 30g
2
W Mg 60g
= = = 30g
2 2 2
(a) (b)
Figure 12.14

For Radius ‘r’ = 190 mm

CC ′′ 100
AC = A1 C1 = = = 314.5 m
sin θ sin 18.54

190 − 30 160
sin θ1 = = = 0.51
314.5 314.5

∴ θ1 = 30.58o

∴ β1 = θ1 + γ = 30.58 + 6.084 = 36.664o

B1 B1′ = 240 sin 36.664o = 143.31 mm

B1 B1′′ 143.31 + 30 173.31

sin α1 = = = ∴ α1 = 46.23o
B1 D1 240 240

Taking moment about I1

W
F × C1 E1 − w I1 E1 − I1 A1 = 0
2
I1 E1 W I1 A1
or F = w× + ×
C1 E1 2 C1 E1

C1 E1 = A1 C1 × cos θ1 = 314.5 cos 30.58o = 270.76 mm

A1′ D1 = 240 cos β1 + 240 cos α1

= 240 (cos 36.664 + cos 46.23) = 358.54 mm

∴ I1 A1′ = D1 A1′ tan α1 = 358.54 tan 46.23 = 374.27 mm

∴ I1 E1 = I1 A1′ − A1′ E1 = 374.27 − 190 = 184.27 mm

I1 A1 = I1 A1′ − 30 = 374.27 − 30 = 344.27 mm

123
Power Transmission
∴ F = m ω2 r = 5 ω2 × 0.19 N
Devices and Controls
184.27 60 g 344.27
∴ 5 × ω2 × 0.19 = 5 g × + ×
270.76 2 270.76
g
Or ω2 = {41.55} = 429
5 × 0.19

Or ω = 20.7 or N2 = 197.8 rpm

Example 12.3
In a Hartnell governor the radius of rotation is 7 cm when speed is 500 rpm. At this
speed, ball arm is normal and sleeve is at mid position. The sleeve movement is 2
cm with ± 5% of change in speed. The mass of sleeve is 6 kg and friction is
equivalent to 25 N at the sleeve. The mass of the ball is 2 kg. If ball arm and sleeve
arms are equal, find,
(a) Spring rate,
(b) Initial compression in the spring, and
(c) Governor effort and power for 1% change in the speed if there is no
friction.
Solution
Sleeve mass ‘M’ = 6 kg
Friction force ‘f’ = 25 N
Ball mass ‘m’ = 2 kg
∵ a=b

Minimum radius r1 = 7 cm – 1 = 6 cm
Maximum radius r2 = 7 cm + 1 = 8 cm
2π × 500
ω= = 52.36 r/s
60
Maximum speed = 10.05 ω = 1.05 × 52.36 = 54.98 r/s
Minimum speed = 0.95 ω = 0.95 × 52.36 = 49.74 r/s
Neglecting the effect of obliquity of arms.
6 cm

FC,

θ 8 cm
mg Mg + S2
O Fc
2 2
θ1

1 cm
mg θ2
1 cm
Mg + S1 θ2
2 O

(a) (b)
Figure 12.15

124
At Minimum Radius Governors

⎛ Mg + S1 − f ⎞
FC1 = a = b ⎜ ⎟ or 2 FC1 = Mg + S1 − f
⎝ 2 ⎠

Or 2 × (49.74) 2 × 0.06 × 2 = 6 g + S1 − 25

593.78 = 58.86 + S1 − 25

Or S1 = 559.92 N
At Maximum Radius
2 FC2 = Mg + S2 + f

Or 2 × (54.98) 2 × 0.08 × 2 = 6 g + S 2 + 25
Or S 2 = 883.44 N

S2 − S1
∴ Stiffness ‘s’ =
x
883.44 − 559.92
=
0.02
Or S = 16175.81 N/m

559.92
Initial compression = S1 =
16175.81
= 0.035 m or 3.5 cm
Governor Effort and Power
Mg + S2 ± f
FC =
2
Increased speed = 1.01 ω = 1.01 × 52.36 = 52.88 r/s
At r = 0.07; 2 × 2 × (52.36)2 × 0.07 = 6 g + S
At increased speed, 2 × 2 ×(52.88)2 × 0.07 = 6 g + 2 P + S
where P is governor effort.

∴ 2 P = 2 × 2 × 0.07 {(52.88) 2 − (52.36) 2 }

Or P = 7.66 N
Let the spring force corresponding to speed 52.88 r/s be S′.

∴ 2 × 2 × (52.88) 2 × 0.07 = 6g + S ′

∴ ( S ′ − S ) = 2 × 2 × 0.07 × {(52.88) 2 − (52.36) 2 }

= 15.32 N
15.32
Sleeve lift for 1% change =
s
15.32
= = 9.47 × 10− 4 m
16175.81

∴ Governor power = 7.66 × 9.47 × 10− 4

= 7.25 × 10− 3 Nm
125
Power Transmission Example 12.4
Devices and Controls
In a spring loaded governor of Wilson-Hartnell type :
Mass of each ball = 6 kg
Speed at mean position = 600 rpm
Tension in each main spring (total two in number) = 1300 N
Radius of governor ball at mean position = 15 cm
Find :
(a) Stiffness of the auxiliary spring if sleeve lift is 2 cm at speed
630 rpm.
(b) Tension in auxiliary spring for the mean position.
Stiffness of each main spring is 100 N/cm.
Solution
When N1 = 600 rpm
2π (600)
ω= = 62.83 r/s
60

FC1 = 6 × (62.83) 2 × 0.15 = 3553.1 N

Tension due to main springs S A = 2 × 1300 = 2600 N

15 cm

11cm 11cm

O 11cm
O'
11cm
Mg mg
2 2
20cm 20cm 10
10 cm

Fa
2
Auxiliary Auxiliary
Spring Spring
(a) (b)
Figure 12.16

Taking moments about O

⎛ y⎞
⎜ W + Sa1 ⎟
− Sm ) 0.11 = ⎝
x⎠
( FC1 × 0.11
2
20
Or ( FC1 − Sm )2 = Mg + Sa1 × [∵ W = Mg ]
30
Neglecting effect of Mg
2
Or (355.31 − 2600) × 2 = Sa1 ×
3
Or Sa1 = 2 × 1429.65 N = 2859.30
126
 Sleeve lift = 2 cm at N2 = 630 rpm Governors

2π N 2 2π × 630
ω2 = = = 65.97 r/s
60 60
11
Radius of balls = 15 + 2 × = 17 cm
11

FC2 = 6 × (65.97)2 × 0.17 = 4439.5 N

Extension of each main spring = 4 cm

∴ Force due to two main springs = 2 × 0.04 × 100 × 100 + 2600

= 800 + 2600 = 3400 N

⎧ 20 ⎫
⎨ Mg + Sa2 × ⎬
− 3400) × 0.11 = ⎩
30 ⎭
( FC2 0.11
2
20
Or (4439.5 − 3400) × 2 = Mg + Sa2 ×
30
Neglecting Mg
20
1039.5 × 2 = Sa2 or Sa2 = 3118.5 N
30
20 4
Extension of auxiliary spring = 2 × = cm
30 3
Sa2 − Sa1 3118.5 − 2859.3
Stiffness of auxiliary spring = = = 194.4 N/cm
4 4
3 3
Example 12.5
In a Hartung governor the mass of each ball is 5 kg and the stiffness of the spring
which is with each ball is 20 N/cm. The sleeve arm is 15 cm and ball arm is
13.5 cm. The compression in each spring when ball arm is vertical is 6.25 cm. The
load at the sleeve is 210 N. Determine :
(a) Speed of the governor for ball arm in vertical position, and
(b) The speed for sleeve tending to move up if friction at the sleeve is
20 N.
Solution
Mass of each ball ‘m’ = 5 kg
Stiffness of spring = 120 N/cm
Load at sleeve = 210 N

Mg
13.5 cm 2

15cm

Figure 12.17 127

Power Transmission Compression in the Spring
Devices and Controls
P = 120 × 6.25 = 750 N
(a) Taking moment about pivot 0
210
( FC − 750) × 13.5 = × 15
2
15
∴ FC = 750 + 105 × = 866.7 N
13.5
2
⎛ 2π N ⎞
Or FC = 5 ⎜ ⎟ × 0.15 = 866.7
⎝ 60 ⎠
Or N = 324.6 rpm
(b) The friction at the sleeve = 20 N
⎛ 210 + 20 ⎞
( FC′ − 750) × 13.5 = ⎜ ⎟ × 15
⎝ 2 ⎠
15
Or FC′ = 750 + 115 × = 877.8 N
13.5

⎛ 2π N ′ ⎞
2
5⎜ ⎟ × 0.15 = 877.8
⎝ 60 ⎠
Or N′ = 326.7
Example 12.6
The controlling force diagram of a spring controlled governor is a straight line.
The weight of each governor ball is 40 N. The extreme radii of rotation of balls are
10 cm and 17.5 cm. The corresponding controlling forces at these radii are
205 N and 400 N. Determine :
(a) the extreme equilibrium speeds of the governor, and
(b) the equilibrium speed and the coefficient of insensitivenss at a radius
of 15 cm. The friction of the mechanism is equivalent of 2.5 N at each
ball.
Solution
Weight of each ball ‘w’ = 40 N
r1 = 10 cm and r2 = 17.5 cm
FC1 = 205 N and FC2 = 400 N

Let FC = ar + b

when r1 = 10 cm = 0.1 m and FC1 = 205 N

205 = b + 0.1 a
when r2 = 17.5 cm = 0.175 m and FC2 = 400 N

500 = b + 0.175 a
∴ 195 = 0.075 a ⇒ a = 2600

∴ b = 205 − 0.1 × 2600 = − 55

∴ FC = − 55 + 2600 r
128
 2 Governors
40 ⎛ 2π N ⎞
(a) For FC = 205; ⎜ ⎟ × 0.1 = 205
g ⎝ 60 ⎠

Or N1 = 214.1 rpm
For FC = 400; r = 0.175 m
2
40 ⎛ 2π N 2 ⎞
∴ × 0.175 = 400
g ⎜⎝ 60 ⎟⎠

Or N 2 = 226.1 rpm
(b) FC = k N2
At radius r = 15 cm

FC + fb = k N ′2

FC − f b = k N ′′2

( FC + fb ) − ( FC − fb ) = k ( N ′2 − N ′′2 )

Or 2 fb = k ( N ′ − N ′′) ( N ′ + N ′′)

= 2k ( N ′ − N ′′) N

2 fb 2k ( N ′ − N ′′) N 2 ( N ′ − N ′′)
= =
FC k N2 N

( N ′ − N ′′) 1 2 fb f
∴ Coefficient of insensitiveness = = × = b
N 2 FC FC
At r = 0.15 m
FC = − 55 + 2600 × 0.15 = 335 N

2.5
∴ Coefficient of insensitiveness = = 7.46 × 10− 3 Or 0.746%.
335

12.9 SUMMARY
The governors are control mechanisms and they work on the principle of feedback
control. Their basic function is to control the speed within limits when the load on the
prime mover changes. They have no control over the change is speed within the cycle.
The speed control within the cycle is done by the flywheel.
The governors are classified in three main categories that is centrifugal governors,
inertial governor and pickering governor. The use of the two later governors is very
limited and in most of the cases centrifugal governors are used. The centrifugal governors
are classified into two main categories, gravity controlled type and spring loaded type.
The gravity controlled type of governors are larger in size and require more space as
compared to the spring controlled governors. This type of governors are two, i.e. Porter
governor and Proell governor. The spring controlled governors are : Hartnel governor,
Wilson-Hartnell governor and Hartung governor.
For comparing different type of governors, effort and power is used. They determine
whether a particular type of governor is suitable for a given situation or not. To
categorise a governor the characteristics can be used. It can be determined whether a
governor is stable or isochronous or it is prone to hunting. The friction at the sleeve gives
rise to the insensitiveness in the governor. At any particular radius, there shall be two
speeds due to the friction. Therefore, it is most desirable that the friction should be as low
129
as possible.
Power Transmission The stability of a spring controlled governor can be determined by drawing controlling
Devices and Controls force diagram which should have intercept on the negative side of Y-axis.

12.10 KEY WORDS

Watt Governor : It is a type of governor which does not have load
on the sleeve.
Porter Governor : This is a type of governor which has dead weight
at the sleeve and ball are mounted at the hinge.
Proell Governor : This is a type of governor which has dead weight
at the sleeve and balls are mounted on the
extension of lower arm.
Hartnell Governor : It is a spring controlled governor in which balls
are mounted on the bell crank lever and sleeve is
loaded by spring force.
Wilson-Hartnell Governor : It is a type of governor in which balls are mounted
on the bell crank levers and springs are connected
with the balls.
Hartung Governor : It is also a type of spring controlled governor in
which balls are mounted on bell crank lever and
springs are connected to ball and casing.
Governor Effort : It is the mean force exerted on the sleeve during a
given change of speed.
Governor Power : It is defined as the work done at the sleeve for a
given change in speed.
Hunting of Governor : It can occur in governor when the fluctuations in
engine speed coincides the natural frequency of
oscillations of the governor. In that case governor
intensifies the speed variation instead of
controlling it.
Controlling Force : It is the resultant external force which controls the
movement of the ball and acts along the radial line
towards the axis.

12.11 ANSWERS TO SAQs

Refer the preceding text for all the Answers to SAQs.

130
 Governors
FURTHER READING
Amitabha Gosh and Ashok Kumar Mallik, Theory of Mechanisms and Machines,
Affiliated East-West Press Pvt. Ltd., New Delhi.
J. S. Rao and R. V. Dukkipati, Mechanisms and Machine Theory, New Age International
(P) Limited Publications, New Delhi.
V. P. Singh, Theory of Machines, Dhanpat Rai and Company (Pvt.) Ltd., Delhi.

131
Power Transmission
Devices and Controls

132
 Governors
POWER TRANSMISSION DEVICES AND
CONTROLS
In Block 2, analysis and synthesis of cam and follower mechanism and other mechanisms
was discussed. In this block, power transmission devices and control systems have been
explained. Power transmission devices are used very commonly in the mechanisms and
industries. Power is supplied at one point in the machine and it is transmitted to other
places by using these devices. In motor cars and buses, engine generates power at one
place and it is transmitted to the wheels by using these devices. In the industries also
supply of the power is at one place and it is transmitted to other places wherever it is
required by means of line shafts, belts, etc. Control devices are required in power plants
for their stable operation. Sometimes these devices become necessary for a power plant
to operate. If a flywheel is not provided in the IC engine, it cannot run.
In Unit 8, belt drive has been explained which are very commonly used in industries.
Apart from this, the chain drive has been explained briefly. Gears have also been
explained.
In Unit 9, gear geometry has been described. You will not find any mechanical machine
in which gears are not used. The type of profiles which follow law of gearing have been
discussed. The different type of gears which are used in practice and how they transmit
power have been explained in this unit.
In Unit 10, gear trains have been explained. You may be aware that gear box is provided
in almost all the vehicles. These gear boxes consist of gear train. The differential which is
also used in automobiles has been explained in this unit.
In Unit 11, flywheel has been explained. It is a control device. It makes running of an IC
engine possible. Its design and the working has also been explained.
In Unit 12, governors have been explained. They are also control devices. The governors
are used in constant speed engines and turbines. They adjust supply to the power plant
when load on the power plant changes. The different type of governors and the
characteristics have been explained in this unit.
At the end, you will find a list of books which are helpful to understand more about the
above mentioned topics.

133