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270 (Mar. 5, 5, 1868. John Peter Gassiot, V.P., in The Chair
270 (Mar. 5, 5, 1868. John Peter Gassiot, V.P., in The Chair
5,
March 5, 1868.
V he the normal velocity, estimated for the same axis, and ~~ the actual
velocity, and let M be the moment of inertia of the whole machine reduced'
to the given axis.
Let the governor be so arranged as to increase the resistance or diminish
dt
~ (Mdx)=P_R_F
dt
(dX _V)
dt· (1)
When the machine has obtained its final rate the first ternl vanishes, and
In the second kind of regulator, the force F (~; - V), instead of heing
applied directly to the machine, is applied to an independent moving piece,
B, which continually increases· the resistance, or diminishes the driving-
power, by a quantity depending on the whole motion of B .
.,,~~.,-If Y represents the \vhole lTIotion of B, the equation of motion of
B is
dt
d (d
B dt ) =F (dX
y
dt - V ), · (3)
and that of M
rl (
-""
dt IVI-
dX)
dt =P-R-F'. -""
elt
'(dX)
-v .lGy
I,· (4)
where G is the resistance applied by B'when B n10ves through one unit of
space.
,~ "On Uniforlll Rotation," PhiI. Trans. 1866, p. 657.
1868.] Mr. l. C. Maxwell on Governors. 275
We can integrate the first of these equations at once, and we find
dy
,B -'
dt·=F'(x-Vt);
, . , (5)
so that if the governor B has come to rest ()J = Vt, and not only is the velo-
city of fthe machine equal to the nOfrnal velocity, but the position of the
machine is the same as if no disturbance of the driving-power or resistance
had taken place. .
Jenkin'8 Governor.-In a governor of this kind, invented by Mr.
Fleeming J enkin, and used in electrical experiments, a centrifugal piece
l'evolves on the principal axis, and is kept always at a constant angle by an
appendage which slides on the edge of cl loose wheel, D, which works on
the same axis. 'rhe pressure on the edge of this wheel would be propor-
tional to the square of the velocity; but a constant portion of this pressure
is taken off by a spring which acts on the centrifugal piece. The force
acting on B to turn it round is therefore
Fld~l~ . _ Cl .
dj! '
and if we renleluber that the velocity varies within very narrow limits, we
luay write the expression
F(~~ -VI)'
where F is a ne\v constant, and VIis the lowest limit of velocity within
which the governor will act.
Since this force necessarily acts on B in the positive direction, and since
it is necessary that the break should be taken off as well as put on, a weight
W is applied to B, tending to turn it in the negative direction; and, for
a reason to be after\vards explained, this weight is made to hang in a
viscous liquid, so as to bring it to rest quickly.
The eq nation of motion of B luay then be written
d2y
n 2 =F (fiX _ V ) _ y dy _ 'V (6)
dt dt. 1 dt '
where Y is a coefficient depending on the viscosity of the liquid and
on other resistances varying \vith the velocity, and W is the constant weight.
Integrating this equation with respect to t, we find.
cly
B dt=F (J)-V1t)-Yy-Wt. (7)
If B has C01TIC to rest, we have
'V
W=(VI +p y
) t+ }<,y, (8)
or the position of the machine is affected by that of the governor, hut the
final velocity is constant, and
W
Vli-p=V, (9)
where V is the normal velocity.
276 Mr. J. C. lVlaxwell on Governors. [Mar. 5,
The equation of motion of the machine itself is
d x
2
M-=P-R-F
dt 2
---V
dt 1
-Gy • (dX) • (10)
This must be combined with equation (7) to determine the motion of the
whole apparatus. The solution is of the form
x = A enl t + A 2en2t -1- J.~3en'l + Vt,
1 (11)
where n], 'il 2 , n3 are the roots of the cubic equation
MBn 3 + (MY +FB)n2 +FYn+FG=O. (12)
If n be a pair of roots of this equation of the form a + V-1o, then the
part of x corresponding to these roots will be of the form
eat cos (bt+(3).
If a is a negative quantity, this will indicate an oscillation the anlplitude
of which continually decreases. If a is zero, the amplitude \vill remain
constant, and if a is positive, the urnplitude will continually increase.
One root of the equation (12) is evidently a real negative quantity.
The condition that the real part of the other roots should be negative is
F Y) Y G .. .
( ])i + B B -]3 =a posItIve quantIty.
This is the condition of stability of the motion. If it is not fulfilled
there will be a dancing motion of the governor, which will increase till it
is as great as the limits of nlotion of the governor. To ensure this stability,
the value of Y must be made sufficiently great, as conlpared with G, by
placing the weight VV in a viscous liquid if the viscosity of the lubri-
cating materials at the axle is not sufficient.
To uetermine the value of F, put the break out of gear, and fix the
moveable ,,,heel; then, if V and V' be the velocities when the driving-power
is P and P',
p-p'
F=V_V' ·
To cletern1ine G, let the governor act, and let y anel y' be the positions
of the break when the dl'iving-po\;ver is P alld P', then
p-p'
G=- ,.
y-y
General Theory of Ohronouzetr-ic Centrifugal Piece8.
Sir lY. r.Pho?nson's and Jll. Ji'oucault' 8 Governor8.-Let A be the mo-
Inent of inertia of a revolving apparatus, and {} the angle of revolution.
rfhe equation of motion is
(
d.f
/ L'
(.A d.B)==L
.ti It(,
' (1)
. ! Adej2 + ! B ~r
2dtl 2 dtl'
where B may also be a function of ~, if the centrifugal piece is complex.
If we also assume that P, the potential energy of the apparatus, is a
function of 1>, then the force tending to dhninish 1>, arising from the action
· 1 be -l
of gravity, springs, &c., wIl clP ·
GIP
The whole energy, kinetic and potential, is
dt 2 '
f·
. whence we have, by eliminating L,
(6)
In this case the value of cp cannot remain constant unless the angular
velocity is equal to w.
A shaft with a centrifugal piece arranged on this principle has only one
velocity of rotation without disturbance. If there be a small disturbance,
the equations for the disturbances 8 and cp may be written
dA w d~~ =L
2
A d fJ
dt 2 + dcp dt '
. . (7)
d2~ dA de
B dt"J- drp w dt=O. (8)
(13)
=0,
)
where 8, 1>, t/; are the angles of disturbance of the Inain shaft, the centri-
fugal arm, and the moveable ,,,heel respectively, A, B, C their moments
of inertia, X, Y, Z the viscosity of their connexions, K is \vhat was for-
dA
merly denoted by d<p w, and T and J are the po,yers of Thomson's and
J enkin's breaks respectively •.
The resulting equation in n is of the fornl
An2+Xn Kn+rr J
-K ]3n+ Y 0 =0, . (14)
o -T Cn 2 +Zn
or 5 1 4(X
n ,n A +B+C
Y Z)
+n
3[XYZ (A
.ABU X+y+Z
B C) + AB,K:l] -I
l
KTZ+I\'TJ -0 J(
(15)
2(XYZ + I{TC + I(2 Z)
+n ABC +n ABC ...-\BC- ·
1868.] Mr.J. c. Maxwell on Governors. 279
I have not succeeded in detern1ining completely the conditions of sta-
bility of the motion from this equation; but I have found two necessary
conditions, which are in fact the conditions of stability of the h:vo governors
taken .separately . If we write the equation
n5+pn4+qn3+11n2+sn+t, . . . . (16)
then, in order that the possible parts of all the roots shall be negative, it
is necessary that
. (17)
I am not able to sho\v that these conditions are sufficient. This corn..
pound governor has been constructed and used.
dt
d ) 01]=0; (5)
dt 2
and since o! and 01] are independent, the coefficient of each must be zero.
Ifwe now put
~(mp2) =L, ~(mpq)=M, ~(m~l)=N, (6)
where
2 2
p2=P12 +P2 +P3 , pq=jJ1ql +P2Q2+P3Q3'
the eq nations of motion will be
~ d2~ d 2rJ
A=L dt 2 +M dt 2 ' •
(7)
__ d2~ d 2q )
(8)
II--M-d t--" +N -a
2·
t·
,j
~ .. dt dt •