5 - Governor Mechanisms

Solution of UPSC Papers
Of
Theory of Mechanism and Machines
Governor Mechanisms
Prepared By
Brij Bhooshan
Asst. Professor
B. S. A. College of Engg. And Technology
Mathura, Uttar Pradesh, (India)
Supported By:
Purvi Bhooshan
Please welcome for any correction or misprint in the entire manuscript and your
valuable suggestions kindly mail us brijrbedu@gmail.com.
1987
Problem: A centrifugal governor shown in Fig. 4 has two masses each of weight w
connected by a helical spring. The arms carrying the weights are parallel to the axis of
rotation at the speed of 900 r.p.m. If the speed is increased by 1%, it requires a force of 3
kgf to maintain the sleeve at the same position. Determine—
(i) the weight w of masses;
(ii) the stiffness of spring and its initial extension if the sleeve moves by 1 cm for a
change of speed of 250 r.p.m.
FC1  FC m
mg 7 cm
7.5 cm
5 cm
O
W/2
[Engg. Services – 1987]

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Brij Bhooshan Asst. Professor B.S.A College of Engg. & Technology, Mathura (India)
Copyright by Brij Bhooshan @ 2013 Page 1
2 Solution of UPSC Papers of Governor Mechanisms
Solution: Given that: Speed (N) = 900 rpm, ω = 2N/60 = 2  900/60 = 94.24 rad/s,
Speed increased 1%, W = 3  9.81 = 29.43 N, r = 7 cm = 0.07 m, x = 7.5 cm = 0.75 m, y = 5
cm = 0.05 m.
Weight of masses:
Centrifugal force at equilibrium position
FC = mω2r = m  (94.24)2  0.07 = 621.68m N
Speed is increased by 1%, then
ω1 = ω + 0.01ω = 1.01ω.
Centrifugal force at increased speed
FC1 = m r = m  (95.18)2  0.07 = 634.17m N
Taking moment about point O,
After solving we get m = 0.78 kg.

Then weight W = mg
= 0.78  9.81 = 7.65 N.
Stiffness of spring:
Suppose k is the stiffness of spring.
Centrifugal force at equilibrium speed
FC = 621.68 m = 621.68 × 0.87 = 484.91 N.
Since speed change 250 rpm.
Total speed = 900 + 250 = 1150 rpm.
= 2N/60 = 2  1150/60 = 120.42 rad/s,
The sleeve movement is 1 cm at 250 rpm speed.
h = 1 cm = 0.01 m.
Let r  radius of rotation at 900 rpm = 0.07 m,
r2 = radius of rotation at 1150 rpm
r2 = 0.085 m.
Centrifugal speed at increased speed (2)
= 961.41 N.
Then,
After solving, we get k = 15883.49 N/m.

Initial extension in spring
= Fc/k = 484.91/15883.49
Then, = 0.030 m.
1988

Solution of UPSC Papers of Theory of Mechanism and Machines By Brij Bhooshan 3
Problem: A loaded porter governor has 4 link each 25 cm long, 2 revolving masses each
weighing, to N and a central dead weight weighing 200 N. All the links are attached to
respective sleeves at radial distances of 4cm from the axis of rotation. The masses
revolve at a radius of 15 cm at minimum speed and at a radius of 20 cm at maximum
speed. Determine the range of speed.
0.25 m 0.25 m
h1 h2
0.15 m 0.20 m
W W
0.25 m 0.25 m
W1 W1
Solution: Given that: l = 25 cm = 0.25 m, W1 = 200 N, r = 4 cm = 0.04 m, rmin = 15 cm =

0.15 m, rmax = 20 cm = 0.20 m, W = 10 N.
Now, from geometry
h1 = [0.252  0.152]1/2 = 0.2 m.
h2 = [0.252  0.202]1/2 = 0.15 m.
Now, we know that
Then
Then, N1 = 306.55 rpm.
Then, N2 = 353.97 rpm.
1990
Problem: A watt governor has an arm of uniform section of length L and mass m and a
ball of mass M. Show that when revolving with angular velocity ω, it makes an angle θ
to the vertical, where
 m
g M  
 2
cos 
 m
 2 L M  
 3
Also determine the angle θ for the case when bar is not of uniform cross-section, its
radius of gyration about the point of attachment being k and distance of CG to the point
of attachment being d.
O
l

FC B
A

Solution: Taking moment about point O

FC l cos   Mgl sin   mg(l/2) sin  = 0
Using Eqns. (i) and (ii)
Also given bar is non-uniform radius of gyration is k, d is the distance from C.G.
1992
Problem: Discuss the requirements for satisfactory performance of a centrifugal
governor. Define controlling force, stability, sensitiveness and hunting with reference to
governors.
[IAS – 1992]
Solution: A centrifugal governor should have the following qualities for satisfactory
performance:
1. When its sleeve reaches its lowest position, the engine should develop maximum
power.
2. Its sleeve should at once reach the topmost position when the load on the engine
is suddenly removed.
3. Its sleeve should float at some intermediate position under normal operating
conditions.
4. Its response to a change in speed should be fast.
5. It should have sufficient power so that it can exert the required force at the
sleeve to operate the control mechanism.
The definitions of some terms used for describing these qualities of a governor follow.
Controlling Force
In a centrifugal governor, the resultant of all the external forces which control the
movement of the ball can be regarded as a single inward radial force acting at the centre
of the ball. The variation of this force F with the radius of rotation of the ball can be
studied under static conditions by measuring the outward radial force on the ball which
is necessary to keep the ball in equilibrium at various configurations (i.e., for different
values of r). The force F is known as the controlling force and is a function of a single
variable r. Thus,
F = F(r) [5.1]

F B
C
F
D E G
r
A
r
Diagram 5.4
Diagram 5.4 shows a typical plot of the controlling-force characteristic (curve AB). The
controlling force is derived from purely statical considerations without reference to the
speed of rotation.
Now, let us suppose that the governor ball rotates at a speed ω. The centripetal force
needed for maintaining the radius of rotation r is given by mω2r, where m is the mass of
each ball. The plot of this force against r for a given speed ω will obviously be a straight
line passing through the origin as shown by the line OC in Diagram 5.4. So, the
equilibrium radius for this speed ω will be determined by the intersection of the curve
AB with the line AC (at the point D). For this value of r, controlling force will be equal to
the centripetal force. Mathematically, we can express this equilibrium condition as
F(r) = mω2r [5.2]
Stability
If the governor ball is displaced from its equilibrium position for a particular speed
without any change in the speed of rotation, and thereafter if it tends to return to its
original equilibrium position, then the governor is said to be stable.
A governor is said to be stable when for each speed within the working range there is
only one radius of rotation of the fly 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. A governor is said to be unstable, if the radius of rotation decreases as the
speed increases.
To determine the condition necessary for stability, suppose the speed of the governor be
ω at the equilibrium position given by the point D (Diagram 5.4). If the speed remains
the same, and if the radius changes to r + δr, the increment in the controlling force EF
will be (dF/dr) δr, and the corresponding increment in the centripetal force EG will be
EG = mω2δr. The restoring force FG on the ball is
FG = EF  EG = (dF/dr  mω2)δr
This should be greater than zero for the equilibrium position to be regained. Thus, for
stable operation, we get dF/dr > mω2. Using (5.2), we get
In other words, the condition for the stability of a governor is that the slope of the curve
for the controlling force should be more than that of the line representing the centripetal
force at the speed considered.
Sensitiveness

If a governor operates between the speed limits ω1 and ω2, then sensitiveness is defined
as the ratio of the mean speed to the difference between the maximum and minimum
speeds. Thus,
Hunting
If the frequency of fluctuations in engine speed happens to coincide with the natural
frequency of oscillations of the governor, then, due to resonance, the amplitude of
oscillations becomes very high, with the result that the governor tends to intensify the
speed variation instead of controlling it. Such a situation is known as hunting. The
problem of hunting becomes more acute when the sensitiveness of a governor is high,
i.e., when a change in speed causes a large sleeve movement. For example, an
isochronous governor (i.e., one that is infinitely sensitive) will oscillate between the
highest and the lowest positions if the speed deviates from the isochronous speed.
1994
Problem: Explain the phenomenon of hunting in centrifugal governors. Calculate the
natural period of oscillation of the governor balls considering Hartnell governor.
[IAS – 1994]
Solution: The free-body diagram of the bell-crank lever are shown in Diagram 5.16,
when the radius of rotation of the ball is r. Let
k = stiffness of the spring,
F1 = total force at the sleeve due to the weight of the sleeve and the spring,
m = mass of the ball,
F = controlling force of the ball,
p = distance of the pivot O from the axis of rotation,
b = length of the arm to which the ball is connected,
a = length of the arm connected to the sleeve, and
 = inclination of the arms as indicated in Diagram 5.16.
For the present, we shall neglect the friction at the sleeve.

Taking moments about the pivot O, we have
Further, we see that F1 = F0 + ka sin , where F0 is the value of F1 with  = 0, and

Using this value of F1 in (5.26), we get,
The equilibrium speed ω at any radius r is given by
where  is found from (5.27) and F0 depends on the initial compression of the spring (by
initial compression, we do not necessarily mean the compression for  = 0; it is the
compression of the spring at the lowest position of the sleeve).
To start with, let us neglect the moment of the weight of the ball, i.e., the last term in
(5.28), so that
For a Hartnell governor, to find meq, we use the fact that the kinetic energy of the ball
remains the same. If V is the actual velocity of the ball, then ẋ = V cos  (see Diagram
5.16). Now,
From (5.27), we get
From (5.28), we get
Using (5.43), we find this equation becomes
Substituting the values obtained from (5.42) and (5.44) in (5.41), for a Hartnell governor,
we get
Problem: In the Proel governor shown in Fig. 2 each ball weighs 3 kg and the central
sleeve weight is 25 kg. The arms are of 20 cm length and pivoted about axes displaced
from the central axis of rotation by 37.5 mm, y = 238 mm, x = 303.5 mm, CE = 85 mm,
MD = 142.5 mm. Determine the equilibrium speed.

FC B
w
E
r
y
W/2
I M D L
x
3.75

Solution: Given that: m = 3 kg, M = 25 kg, BE = ED = 20 cm = 0.2 m, y = 238 mm =
0.238 m, x = 303.5 mm = 0.3035 m, MD = 142.5 mm = 0.1425 m, CE = 85 mm = 0.085 m,
Radius of rotation
r = ML = MD + DL = 0.1425 + 0.0375 = 0.18 m.
Centrifugal force FC = mr2
FC = 5.92 × 103 N2
Taking moment about point I
FCy = mg × IM + Mg/2 × ID
5.92 × 103 N2 × 0.238 = 3 × 9.81 × (0.3035  0.18) + 25 × (9.81/2) × (0.3035  0.0375)
Then, we get N = 160.98 rpm.
1995
Problem: Explain the use of controlling force curves in the determination of stability of
a centrifugal governor.
[IAS – 1995]
Solution: In a centrifugal governor, the resultant of all the external forces which
control the movement of the ball can be regarded as a single inward radial force acting
at the centre of the ball. The variation of this force F with the radius of rotation of the
ball can be studied under static conditions by measuring the outward radial force on the
ball which is necessary to keep the ball in equilibrium at various configurations (i.e., for
different values of r). The force F is known as the controlling force and is a function of a
single variable r. Thus,
F = F(r) [5.1]
F B
C
F
D E G
r
A
r
Diagram 5.4

Diagram 5.4 shows a typical plot of the controlling-force characteristic (curve AB). The
controlling force is derived from purely statical considerations without reference to the
speed of rotation.
Now, let us suppose that the governor ball rotates at a speed ω. The centripetal force
needed for maintaining the radius of rotation r is given by mω2r, where m is the mass of
each ball. The plot of this force against r for a given speed ω will obviously be a straight
line passing through the origin as shown by the line OC in Diagram 5.4. So, the
equilibrium radius for this speed ω will be determined by the intersection of the curve
AB with the line AC (at the point D). For this value of r, controlling force will be equal to
the centripetal force. Mathematically, we can express this equilibrium condition as
F(r) = mω2r [5.2]
To determine the condition necessary for stability, suppose the speed of the governor be
ω at the equilibrium position given by the point D (Diagram 5.4). If the speed remains
the same, and if the radius changes to r + δr, the increment in the controlling force EF
will be (dF/dr) δr, and the corresponding increment in the centripetal force EG will be
EG = mω2δr. The restoring force FG on the ball is
FG = EF  EG = (dF/dr  mω2)δr
This should be greater than zero for the equilibrium position to be regained. Thus, for
stable operation, we get dF/dr > mω2. Using (5.2), we get
In other words, the condition for the stability of a governor is that the slope of the curve
for the controlling force should be more than that of the line representing the centripetal
force at the speed considered.
Problem: The arms of a Porter governor are pivoted on the governor axis and are each
250 mm long. Mass of each ball is 0.5kg and mass of sleeve is 2 kg. The arms are
inclined at an angle of 30° to the governor axis in the lowermost position, of the sleeve.
Lift is equal to 50 mm. Determine the force of friction if the speed at the moment the
sleeve starts lifting from the lowermost position is the same as the speed at the moment
it falls from the uppermost position.
C C1
0.25  0.25 
h1 h2
A r1 A1 r2
D D1
mg mg
 
B B1
Mg/2 Mg/2
Solution: Referring to Diagram 5.8, we have h1 = 0.25 cos 30 = 0.216 m, r1 = 0.25 sin
30 = 0.125 m.
If speed is same, then

Put e = 0, then
Similarly,
Put e = 0.05, then
Now, according to problem = , then we get
After solving, we get fr = 7.19 N.
1996
Problem: Define Effort and Power in relation to governors. Obtain the expressions for
these in the case of a Porter Governor.
[IAS – 1996]
Solution: Effort
A governor can exert force at the sleeve of the mechanism which controls the supply of
energy to the engine. This force is referring to effort of governor. When the speed of
rotation is constant then effort is zero as the sleeve does not move at all but if a sudden
variation of speed takes place then sleeve tends to move toils new equilibrium position
and a force is exerted on the sleeve mechanism. This force gradually diminishes to zero
as the sleeve moves to the equilibrium position corresponding to the new speed. The
mean force exerted during the given change of speed is termed the effort. For
convenience to compare different governor is defined as the effort or force that can be
exerted by a 1% change of speed.
Power
The power of a governor is defined as the work done at the sleeve for a given percentage
change of speed. It is the product of the governor effort and the displacement of the
sleeve. The power required depends on the controlling mechanism which the governor
operates. Where large power is required usually compressed air or hydraulic pressure is
used in order to change the position of the valve that controls the supply of energy to the
engine.
Analysis
Evaluation of governor effort and power is illustrated with the help of Porter governor.
The principle can be applied to any other governor in a similar manner.

Diagram 5.23 Governor Effort and Power
Suppose N = Equilibrium speed corresponding to the configuration as shown in Diagram

5.23, and k = Percentage increase in speed.
Increase in speed = kN
and increased speed = N + kN = N (1 + k)
The magnitude of this force may be determined by finding what increase is requited in
the gravitational force on the sleeve in order to cause the governor to revolve in
equilibrium in the full line position at the increased speed.
Let the angles θ and β be equal so that k = 1 and speed be N rpm. Then the height h is
given by Eq. 5.19
If the speed increases to (1 + k) N r.p.m. and the height of the governor remains the
same, the load on the sleeve increases to M1g. Therefore
using equations (i) and (ii), we have
Now mean force Fm,
Then effort is
Suppose x = Lift of the sleeve.

Then governor power (Pg) = Fm × x
If the height of the governor at speed N is h and at an increased speed (1 + k) N is h1,
then
Now we know that
then we have
Then x will be

Then power will be
1997
Problem: Deduce the condition under which a centrifugal governor becomes unstable.
[IAS – 1997]
Solution: In case of spring controlled governors, the controlling force curve will be
straight line, as shown in Diagram 5.6. i.e. they are isochronous. Then
r D2
C2D2 Unstable F = Ar + B
D CD Isochronous F = Ar
C2 D1 C1D1 Stable F = Ar  B
C F
C1
Diagram 5.6
There are following points, for the stability of spring-controlled governors, may be noted:
For the governor to be stable, the controlling force (F) must increase as the radius of
rotation (r) increases, i.e. F/r must increase as r increases. Hence the controlling force
line C1D1 when produced must intersect the –ve rotation axis, as shown in Diagram 5.6.
The relation between the controlling force and the radius of rotation for the stability
of spring controlled governors is given by
F = Ar  B [a]
where A and B are constants.
The value of B in equation (a) may be made either zero or positive by increasing the
initial tension of the spring. If B is zero, the controlling force line CD passes through the
origin and the governor becomes isochronous because F/r will remain constant for all
radii of rotation.
The relation between the controlling force and the radius of rotation, for an isochronous
governor is, therefore,
F = Ar [b]
If B is greater than zero or positive (CC2 – B) > 0, then F/r decreases as r increases, so
that the equilibrium speed of the governor decreases with an increase of the radius of
rotation of balls, which is not possible. So for governor is unstable, then
F = Ar + B [c]
Problem: In a spring controlled governor of the Hartung type, the lengths of the
horizontal and vertical arms of the bell crank levers are 100 mm, and 80 mm
respectively. The fulcrum of the bell-crank lever is at a distance of 120 mm from the axis
of the governor. Each revolving mass is 8 kg. The stiffness of the spring is 20 kN/m. If
the length of each spring is 120 mm, when the radius of rotation is 70 mm and the
equilibrium speed is 380 rpm, find the free length of the spring. If the radius of rotation

increases to 120 mm, what will be the corresponding percentage increase in speed?
Ignore sleeve mass.
m = 8 kg
FC FS
A
0.012 m
0.1 m
Mg
0.08 m
O B
Solution: Given that: r = 0.07 m, N = 380 rpm, l = 0.120 m.

Taking moment about point O
(Mg/2) × 0.08  FS × 0.1 + FC × 0.1 = 0.
Neglect sleeve mass then, FS = FC
mr2 = kx
Then, we get x = 0.044 m.

The free length of spring is
lf = l + x = 0.12 + 0.44 = 0.164 m.
Final position r = 0.12.
Total compression of spring at final position is
x = x + (r  r) = 0.04 + (0.12  0.07)
After solving we get r = 0.094 m.
Now, FC = FS, then
mr = kx
8 × 0.12 × =20 × 103 × 0.094
Then, 1 = 44.25 rad/s.
% increased in speed
Then, % increased in speed is 10.07%.
1998
Problem: The controlling force curve of a spring-controlled governor is a straight line.
The weight of each governor ball is 40 N and the extreme radii of rotation are 10 cm and
17.5 cm. If the values of the controlling force at the above radii are respectively 205 N
and 400 N and the friction of the mechanism is equivalent to 2.5 N at each ball, find:
(i) The extreme equilibrium speeds of the governor; and
(ii) The equilibrium speed and the coefficient of insensitiveness at a radius of 15
cm.
[IAS – 1998]
Solution: Since given controlling force curve of a spring controlled governor is a
straight line, then
FC = Ar + B [1]

Now, weight of ball mg = 40 N, m = 4.08 kg.

At r = 10 cm = 0.1 m, FC = 205 N.
At r = 0.175 m, FC = 400 N.
From Eqn. (1), then
205 = A × 0.1 + B
400 = A × 0.175 + B
After solving, we get A = 2600 N/m, and B = 55 N.
Extreme equilibrium speeds:
At r = 0.1 m, FC = 205 N
FC = mr
205 = 4.08 × × 0.1
Then, we get = 22.412 rad/s.
Now,
Then, we get Nl = 214 rpm.

For highest position
At r = 0.175 m, FC = 400 N
FC = mr
400 = 4.08 × × 0.175
Then, we get = 23.664 rad/s.
Now,
Then, we get Nu = 226 rpm.

Equilibrium speed with k = 0.15 m:
We have
This means that FC  N2, then FC = kN

FC = Ar + B = 2600 × 0.15  55
FC = 335 N.
Suppose N be the equilibrium speed at r = 0.15 m, N, and, N be the speeds when the
sleeve tends to move upwards and downwards respectively.
FC = kN2 [2]
FC + kb = kN 2 [3]
FC  kb = kN 2 [4]
kb is the equivalent force at the ball due to friction at sleeve = 2.5 N.
From Eqns. (3) and (4), we have
2 kb = k(N2  N2) [5]
From Eqns. (5) and (2)
Then we get insensitiveness

Insensitiveness is 0.0075.
1999
Problem: In a Hartnell governor where a central spring under initial compression is
used for control, under what conditions does the governor become unstable? Also explain
the effect of friction between the sleeve and spindle on the performance of the governor.
[IAS – 1999]
Solution: See the solution of IAS 1997.
Effect of friction between the sleeve and spindle on the performance of the governor:
For the analysis with friction, the force at the sleeve should be replaced by (P  f), where
f is the friction force. Positive taken for rising speed, and, negative for falling speed.
Controlling force
2000
Problem: A watt governor has an arm of uniform section of length L and mass m and a
ball of mass M. Show that when revolving with angular velocity ω, it makes an angle θ
to the vertical, where
 m
g M  
 2
cos 
 m
 2 L M  
 3
[IFoS – 2000]
Solution: See the solution of Engg. Services 1990.
Problem: A governor of Proell type has each arm 250 mm. The upper and lower ends of
the arms are pivoted on the axis of the governor sleeve. Each ball has a mass of 15 kg
and attached to the extension of the lower arms which are 100 mm long. The minimum
and maximum radii of the governor are 125 and 175 mm. The central sleeve is of mass
75 kg. Determine the range of equilibrium speeds, assuming that the extensions of the
lower arms are parallel to the governor axis, at the minimum radius.

P P
250
B h B h
FC FC
mg mg
100 100
F 125 G F 175 G
250
D D
I M I M
Mg/2 Mg/2
Solution: Given that: l = 250 mm = 0.25 m, m = 15 kg, r1 = 125 mm = 0.125 m, r2 = 175

mm = 0.175 m, M = 75 kg.
Now, from geometry
h = PG = [PF2  FG2]1/2 = 0.216 m.
FM = GD = PG = 0.216 m
BM = BF + FM = 0.1 + 0.216 = 0.316 m.
Now, we know that

Again from geometry
h = PG = [PF2  FG2]1/2 = 0.178 m.
FM = GD = PG = 0.178 m
BM = BF + FM = 0.1 + 0.178 = 0.278 m.
Now, we know that
Then, we get N = 138.98 rpm.

Now, range is
= N  N = 138.98  130.35
Then range is 8.63 rpm.
2001
Problem: In a spring controlled governor, mass of each governor ball is 7 kg and moves
radially under the action of a controlling force F If the speed range is 420 RPM to 440
RPM with range of ball path radius r equal to 12.4 cm to 13.2 cm, determine the linear
relationship between ball path radius and controlling force. Sketch the graph between F
and r. What is the equilibrium speed at r = 12.8 cm?
[IAS – 2001]
Solution: Given that: m = 7 kg, N1 = 420 rpm, 1 = 2N1/60 = 2 × 420/60 = 43.98
rad/s, N2 = 440 rpm, 2 = 2N2/60 = 2 × 440/60 = 46.07 rad/s, r1 = 12.4 cm = 0.124 m,
r2 = 13.2 cm = 0.132 m.
Now,
F1 = mr1 = 7 × 0.124 × 43.982 = 1678.92 N.

F2 = mr2 = 7 × 0.132 × 46.072 = 1961.13 N.

Given F = A + Br
F1 = A + Br1
1678.92 = A + 0.124B [1]
F2 = A + Br2
1961.13 = A + 0.132B [2]
After solving Eqns. (1) and (2), we get
A = 2695.33, B = 35276.25.
At r = 0.128, then
mr2 = A + Br
7 × 0.128 × 2 = 2695.33 + 35276.25 × 0.128
Then, we get  = 45.06 rad/s.
Now, N = 60 × /2 = [60 × 45.06]/2
2002
Problem: What is meant by haunting of governor? Explain briefly the causes of as
occurrence. Justify with reasons, whether it is more severe in ease of unstable governor
or isochronous governor
[IFoS – 2002]
Solution: See the solution of IAS 1992.
The problem of hunting is more accurate when the sensitiveness of a governor is high
this is when a change in speed causes a large sleeve movement. As isochronous governor
(infinitely sensitive) will oscillate between the highest and the lowest positions, if the
speed deviates from isochronous speed.
Problem: The total sleeve movement in a Hartnell governor is 3 cm. The mass of the
rotating balls is 1.5 kg each. At the mid-position of the sleeve, the sleeve arm, which is
6.5 cm long, is horizontal. The ball arm has a length of 7.5 cm. At the mid-position of the
sleeve, the balls rotate at a radius of 10.5 cm. Due to maladjustment of the spring, the
equilibrium governor speed at the topmost position of the sleeve is 415 r.p.m. and that
corresponding to the lowest position is 430 r.p.m.
Determine (i) the stiffness and initial compression of the spring and (ii) the required
initial compression of the spring to give an equilibrium speed at the topmost position
which is 10 r.p.m. more than that at the lowest position. Neglect the moment due to the
weight of the balls.
r r2 = r1
FC r
r r2
y  
y 3/2 cm
K/2 
 3/2 cm
x x

Solution: Given that: m = 1.5 kg, N1 = 415 rpm, 1 = 2N1/60 = 2 × 415/60 = 43.45
rad/s, N2 = 430 rpm, 2 = 2N2/60 = 2 × 430/60 = 45.02 rad/s, r = 10.5 cm = 0.105 m, x
= 6.5 cm = 0.065 m, y = 7.5 cm = 0.075 m, N = 10 rpm.
Stiffness and initial compression:
Now, from geometry
Then r1 = 0.122 m.
FC1 = mr1 = 1.5 × 0.122 × 43.452 = 345.48 N.
Taken moment about point O
FC1 y = K1x/2
K1 = [345.48 × 2 × 0.075]/0.065 = 797.26 N
Similarly again from geometry
Then r2 = 0.088 m.
FC2 = mr2 = 1.5 × 0.088 × 45.022 = 267.53 N.
FC2 y = K2x/2
K2 = [267.53 × 2 × 0.075]/0.065 = 617.37 N
Then, stiffness of spring is
Stiffness of spring is 5996.33 N/m.

Now initial compression
= K2/K = 617.37/5996.33 = 0.102 m.
According to problem
N1 = N2 + N
1 = 2 + 1.04 [1]
FC2 y = K2x/2
K2 = [2mr2 y]/x = [2 × 1.5 ×  × 0.088 × 0.075]/0.065
K2 = 0.304
Similarly
FC1 y = K1x/2
K1 = [2mr1 y]/x = [2 × 1.5 ×  × 0.122 × 0.075]/0.065
K1 = 0.295
Now, we know that
Total sleeve movement = [K1  K2]/K
K1 = K2 + 0.03K
K1 = K2 + 0.03 × 5996.33 = K2 + 179.88
0.295 = 0.304 + 179.88 [2]
Now, from Eqns. (1) and (2)
2 = 32.77 rad/s.
Then, K2 = 0.304 × 32.772
Then, initial compression
= K2/K = 326.45/5996.33 = 0.0544 m.

2005
Problem: An automobile fitted with a spring loaded Hartnell governor, the flyballs of it
rotate at 500 r.p.m. having radius of rotation of 7 cm with sleeve in mid-position and
balls arms vertical. The length of ball and sleeve arms is same. The maximum sleeve
movement is 2 cm with ± 5% variation in speed. The mass of the sleeve is 5 kg and the
friction may be assumed to be equivalent of an additional load of 30 N at the sleeve. The
effort of governor is sufficient to overcome the friction of the sleeve caused by 1% change
of speed at mid-position. Calculate -
(i) the mass of flyballs;
(ii) the spring rate;
(iii) the initial compression of the spring;
(iv) the governor effort for 1 % change of speed;
(v) the power of governor.
[IAS – 2005]
Solution: Given that: M = 5 kg, Fr = 30 N, x = y, h = 2 cm = 0.02 m, r = 7 cm = 0.07 m, N
= 500 rpm,  = 2N/60 = 2 × 500/60 = 52.35 rad/s.
Mass of flyball: Min speed with friction
1 =   5/100 = 0.95
1 = 0.95 × 52.35 = 49.73 rad/s.
Max speed with friction
2 =  + 5/100 = 1.05
2 = 1.05 × 52.35 = 54.96 rad/s.
The governor effect is to overcome the friction at the sleeve by 1 % change of speed at
mid position.
Min speed at mid position
 =   /100 = 0.99
 = 0.99 × 52.35 = 51.84 rad/s.
Max speed with friction
 =  + /100 = 1.01
 = 1.01 × 52.35 = 52.88 rad/s.
Centrifugal force at min speed
= m r = m × (51.84)2 × 0.07 = 188.11m N.
= m r = m × (52.88)2 × 0.07 = 195.74m N.
We know that
Maximum speed at mid position:
Fs = 391.48m  70.05 [1]

Maximum speed at mid position:

Fs = 379.22 m  19.05 [2]

379.22 m  19.05 = 391.48m  70.05
Then, we get m = 3.34 kg.
Spring Rate (K):
Min radius of rotation considering friction
Max radius of rotation considering friction
Centrifugal force at min speed with considering friction

FC1 = m r1 = 3.34 × (49.74)2 × 0.06 = 495.803 N.
Centrifugal force at max speed with considering friction
FC2 = m r2 = 3.34 × (54.96)2 × 0.08 = 807.10 N.
For maximum speed
For minimum speed

FS2  FS1 = 2(FC2  FC1  Fr)
FS2  FS1 = 2 × (807.10  495.80  30) = 562.6 N.
Now, we know that
K = (FS2  FS1)/h = 562.6/0.02 = 28130 N/m.
Now,
FS1 = 2FC1  W + Fr = 2 × 495.80  5 × 9.81 + 30 = 972.55 N.
Now, we have FS2  FS1 = 562.6 N.
FS2 = 972.55 + 562.6 = 1535.15 N.
Initial compression of the spring (x1):
x1 = FS1/K = 972.55/28130 = 0.034 m.
Governor effort for 1 % change of speed:
Now, we know that effort of governor is
Fm = 13.02 N.
The power of governor:
We know that P = Fm × h
P = 13.02 × 0.02 = 0.260 N-m.
2007

Problem: Explain the concept of controlling force in connection with a centrifugal

governor and state its importance in determining the stability of a centrifugal type
governor.
In a spring loaded governor of Hartnell type, the mass of each ball is 1 kg. The length of
the vertical arm of the bell crank lever is 100 mm and that of horizontal arm is 50 mm.
The distance of the 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 112.5 mm. The
maximum equilibrium speed is 5 per cent greater than the minimum which is 360 rpm.
Find initial compression of the spring and mass of the sleeve neglecting obliquity of the
arms. Also find the equilibrium speed corresponding to the radius of rotation equal to
100 mm.
[IAS – 2007]
Solution: See the Solution of IAS 1992, and 1995.
Given that: m = 1 kg, y = 100 mm = 0.1 m, x = 50 mm = 0.05 m, r = 80 mm = 0.08 m, r1 =
112.5 mm = 0.1125 m, r2 = 75 mm = 0.075 m, N2 = 360 rpm, 2 = 2N2/60 = 2 × 360/60
= 37.69 rad/s.
Maximum equilibrium speed is 5% greater than the minimum equilibrium speed, so
max speed is
1 = 1.052 = 1.05 × 37.69 = 39.57 rad/s.
Centrifugal force at max speed
FC1 = m r1 = 1 × (39.57)2 × 0.1125 = 176.15 N.
FC2 = m r2 = 1 × (37.69)2 × 0.075 = 106.54 N.
For maximum equilibrium position (M = 0)
Then, FS1 = 704.6 N.

For minimum equilibrium position (M = 0)
Then, FS2 = 426.16 N.

Lift of sleeve h is
Then, h = 0.01875 m
Now, we know that stiffness of spring
K = (FS1  FS2)/h = (704.6  426.16)/0.02 = 14850.13 N/m.
Initial compression of the spring (x1):
x1 = FS2/K = 426.16/14850.13 = 0.028 m.
Equilibrium speed at r = 0.10 m

Then FC = 152.94 N.
Now, we know that
FC = mr2 = mr × (2N/60)2
152.94 = 1 × 0.1 × (2N/60)2
After solving, we get N = 373.44 rpm.
2008
Problem: Classify types of governors. State what are methods used to increase
controlling force. Explain stability of Hartnell governor.
[IFoS – 2008]
Solution: Governors may be classified on the basis of their operating principles. The
types most commonly used are (i) centrifugal governors, and (ii) inertia and flywheel
governors.
Pendulum Watt governor
type governor
Centrifugal Dead weight Porter governor
governor governor Porell governor
Loaded type
Governor
governor Hartnell governor
Inertia Spring control Hartung governor
governor governor Wilson governor
Pickering governor
In the centrifugal governor, the change in the centrifugal forces of the rotating masses
due to a change in the speed of the engine is utilized for the movement of the governor
sleeve.
Problem: Differentiate between the functions of the flywheel and the governor.
[IFoS – 2008]
Solution: The function of a governor is to automatically regulate the power input to the
engine as demanded by the variation of load so that the engine speed is maintained at or
near the optimum value.
In otherworld’s, the function of a governor is to regulate the mean speed of an engine,
when there are variations in the load. This means that, 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. The governor automatically controls
the supply of working fluid to the engine with the varying load conditions and keeps the
mean speed within certain limits.
If the efficiency of an engine is plotted against the speed of the engine, a curve similar to
that shown in Diagram 6.1 is obtained. As can be observed, there exists an optimum
speed Nopt for which the efficiency of the engine is maximum. So, for an efficient
operation, it is desirable that, irrespective of the load, the speed of the engine should
remain close to Nopt. To achieve this, engines are provided with a regulatory control or
governor.

N Cyclic speed variation

controlled by flywheel
Governor control
Load Time
Variation
Diagram 5.1 Diagram 5.2 Function of Governor Vs flywheel
We know that, the function of governor is to maintain the speed of an engine with in
prescribed limits for the various altering load conditions. It maintains speed within set
limits right from no load on the engine to full rated load on the engine. The function of
governor is distinct from that of a flywheel. As we have seen in Diagram 5.2, a flywheel
smoothens the cyclic fluctuations of speed which are inevitable because of variations in
the turning moment on the crank shaft. Flywheel does not controlled speed variations
caused by a varying load.
2010
Problem: What is the difference between centrifugal and inertia type of governors?
Which one is more sensitive? Why is the former preferred to the latter?
[IAS – 2010]
Solution: See the Solution of IFoS 2008.
Problem: Show the controlling force vs. radius of rotation graphs for (i) Porter governor
and (ii) Spring-controlled governors, and discuss the stability considerations.
[IFoS – 2010]
Solution: See the Solution of IAS 1997, and 1995.
2011
Problem: The total sleeve movement in a Hartnell type of governor is 3 cm. At mid
position of sleeve, the sleeve arm which is 6 cm long, is horizontal. The length of ball
arm is also 6 cm. The speed at the lowest position is 430 rpm. If the spring stiffness is 50
N/cm, find the speed in rpm at the top position of the sleeve. At mid-span the ball
rotates at 10 cm radius. The mass of the ball is 1.3 kg.
[IFoS – 2011]
Solution: Given that: Sleeve movement = 3 cm =0.03 m, K = 50 N/cm, r = 10 cm = 0.1
m, m = 1.3 kg, a = b = 6 cm = 0.06 m, Nl = 430 rpm, l = 2Nl/60 = 2 × 430/60 = 45.02
rad/s.
Now, we know that
Then, = 8.8 cm = 0.088 m.
Then, = 11.2 cm = 0.112 m.

Centrifugal force at lowest position
Fl = m rl = Pla/2b

Then, we get Pl = 463.73 N.

Centrifugal force at upper position
Fu = m ru = Pua/2b
Then, we get Pu = 0.2912 .

Now, we know that stiffness is
K = (Pu  Pl)/Sleeve movement
Pu  Pl = K × Sleeve movement = 50 × 0.03
Now,
0.2912  463.73 = 1.5
Then, we get u = 39.97 rad/s.
Now, we know that
Nu = (u × 60)/2 = (39.97 × 60)/2
Speed at the top position Nu = 381.68 rpm.


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Solution of UPSC Papers

[Engg. Services – 1987]

After solving we get m = 0.78 kg.

After solving, we get k = 15883.49 N/m.

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Solution: Given that: l = 25 cm = 0.25 m, W1 = 200 N, r = 4 cm = 0.04 m, rmin = 15 cm =

Then, N1 = 306.55 rpm.

Then, N2 = 353.97 rpm.

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Solution: Taking moment about point O

Using Eqns. (i) and (ii)

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For the present, we shall neglect the friction at the sleeve.

Further, we see that F1 = F0 + ka sin , where F0 is the value of F1 with  = 0, and

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Using this value of F1 in (5.26), we get,

The equilibrium speed ω at any radius r is given by

From (5.27), we get

From (5.28), we get

Using (5.43), we find this equation becomes

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[Engg. Services – 1994]

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Put e = 0.05, then

Now, according to problem = , then we get

After solving, we get fr = 7.19 N.

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Diagram 5.23 Governor Effort and Power

Suppose N = Equilibrium speed corresponding to the configuration as shown in Diagram

using equations (i) and (ii), we have

Now mean force Fm,

Suppose x = Lift of the sleeve.

Now we know that

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Then power will be

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Solution: Given that: r = 0.07 m, N = 380 rpm, l = 0.120 m.

Then, we get x = 0.044 m.

Then, % increased in speed is 10.07%.

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Now, weight of ball mg = 40 N, m = 4.08 kg.

Then, we get Nl = 214 rpm.

Then, we get Nu = 226 rpm.

This means that FC  N2, then FC = kN

Then we get insensitiveness

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Solution: Given that: l = 250 mm = 0.25 m, m = 15 kg, r1 = 125 mm = 0.125 m, r2 = 175

Then, we get N = 130.35 rpm.

Then, we get N = 138.98 rpm.

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F2 = mr2 = 7 × 0.132 × 46.072 = 1961.13 N.

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Stiffness of spring is 5996.33 N/m.

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Fs = 391.48m  70.05 [1]

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Fs = 379.22 m  19.05 [2]

Max radius of rotation considering friction

Centrifugal force at min speed with considering friction

For minimum speed