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DEDICATION/ DEDIKASI
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TABLE OF CONTENT/ KANDUNGAN
DEDICATIONTABLE OF CONTENT
LIST OF TABLES
LIST OF FIGURES
PREFACECHAPTER ONE
TITLE OF CHAPTER ONE
Sub-heading Level 3
CHAPTER TWO
TITLE OF CHAPTER ONE
Sub-heading Level 3CHAPTER FIVE
CONCLUSION
Sub-heading Level 3
REFERENCES
LIST OF TABLES/ SENARAI JADUAL
Table 1.1 Xxxxxx
Table 1.2 Xxxxxx
Table 2.1 Xxxxxx

LIST OF FIGURES/ SENARAI RAJAH
Figure 1.1 Xxxxxx
Figure 1.2 Xxxxxx
Figure 2.1 Xxxxxx

PREFACE/ PRAKATA
Kata aluan daripada penulis mengenai buku ini. Sekiranya manuskrip tersebut hasil
daripada penyelidikan, penulis perlu menyatakan nombor geran atau menceritakan
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ABBREVIATIONS/ SINGKATAN (jika perlu)
EAC Engineering Accreditation Council
CalTech California Institute of Technology
RU Research University
CHAPTER 4
GOVERNOR
Introduction
A governor, speed limiter, or controller is a mechanical device that automatically
maintains and regulates the rotary speed of an automobile or other machine. The
governor enables the engine to maintain a constant speed regardless of load changes.
The governor regulates the flow of fuel into the engine in order to maintain a
constant speed.
The governor functions under two distinct circumstances;
 As the engine's load increases, both the engine and the governor speed decrease.
This causes a reduction in centrifugal force on the balls. As a result, the balls
move inwards while the sleeve moves downwards. The downward motion of the
sleeve activates a throttle valve at the opposite end of the bell crank lever to
increase the supply of working fluid, thereby restoring the engine's original
speed.
 Similarly, when the engine's load decreases, the engine and governor speed
increases, which increases the centrifugal force exerted on the balls. Thus, the
balls expand and the sleeve ascends. This upward movement of the sleeve
reduces the supply of working fluid and, as a result, the speed is slowed to return
to its original speed.
The governor can primarily be classified as either a centrifugal governor or an inertia
governor. It can be further subdivided based on its design. In this book the focus is
on centrifugal governor. Figure 4.1 shows the options available under centrifugal
type of governor.
Centrifugal
governors
Pendulum
Loaded type
type
Spring
Watt Dead weight
controlled
governor governor
governors
Wilson-
Porter Proell Hartnell Hartung Pickering
Hartnell
governor governor governor governor governor
governor
Figure 4.1 Types of Centrifugal governor
Centrifugal governor
In the centrifugal type, the effect of centrifugal force on the rotating balls causes a
sleeve to rise until equilibrium is obtained. Any change in engine speed produces a
change in the sleeve position, which adjusts the fuel supply accordingly. So it is
commonly used when the mass equilibrium is crucial.

Arm Spindle
Fly-balls
Links
Sleeve Bell Throttle
S crank valve
lever
Bevel gear
Supply of
working fluid
Figure 4.2 Schematic diagram of Centrifugal governor
Centrifugal governor as shown in Figure 4.2 consists of two equal-mass balls that are
attached to the arms; these balls are known as governor balls or fly balls. These balls
rotate on a spindle that is driven by the engine through bevel gears; the upper ends
of the arms are hinged to the spindle, allowing the balls to rise or fall as they rotate
around the vertical axis.
The links connected to a sleeve that is keyed to the spindle. This sleeve rotates with
the spindle, but can also move up and down. The balls and the sleeve rise as the
spindle speed increases and fall as the spindle speed decreases.
Two stoppers are provided on the spindle to limit the sleeve's travel in the upward
and downward directions. The sleeve is linked to the throttle valve by a bell crank
lever. When the sleeve rises, the fluid supply decreases, and when it falls, the fluid
supply increases.
Applications
 It maintains the selected rotational speed of the car's internal combustion
engine.
 It regulates the speed of the turbine shaft in hydroelectric power plants.
 In order to ensure that the correct speed is set, centrifugal governors are
frequently incorporated into the design of mechanical music boxes.
Watt governor
Watt governor as shown in Figure 4.3 is gravity controlled form of the centrifugal
governors. The Watt governor is only suitable for very low speed engine ranging
from 60-80 rpm. It consists of two fly balls attached to the sleeve of negligible mass. If
the mass of the ball is m and the centrifugal force upon it is F, then taking moments
about the instantaneous centre (I) we get equation (4.1).
Ball
F O
I Z Y
Figure 4.3 A Watt governor
Porter governor
Porter governor as shown in Figure 4.4 is dead weight loaded type of gravity
controlled centrifugal governor. It is alike to Watt governor with small modification.
When a heavy central load is attached to the sleeve of Watt governor, it becomes a
porter governor. Taking moments about (I) we get equation (4.2).
F X M
mg
Central
weight
I Z Y
Mg
Figure 4.4 A Porter governor

Proell governor
The Proell governor in Figure 4.5 is similar to the Porter governor, except that the
balls are attached to the extended arms. The movant of the sleeve on the spindle is a
bit more sensitive when the engine is running at higher speeds due to the central
load on the sleeve and the extended links. Taking moments about (I) we get equation
(4.3).
F X
mg
I Z Y
Mg
Figure 4.5 A Proell governor
Hartnell governor
A Hartnell governor as shown in Figure 4.6 is assembled with the central spring
initially compressed and this compression can be adjusted to give any required
equilibrium speed for a given ball radius. If F is centrifugal force acting on the ball, P
is the force exerted on the sleeve by the spring and M is the mass of the sleeve.
Taking moments about the fulcrum, O of the bell-crank lever yield equation (4.4).
When the ball arm is not vertical, the moment of the ball weight about the fulcrum
and the changes in length of the moment-arms are usually neglected.
a P
O
b
Mg
Figure 4.6 A Hartnell governor
Characteristics of governors
 When its sleeve reaches to the lowest position, the engine should develop
maximum power.
 Its sleeve should reach the top most position at once when the load on the
engine is suddenly removed.
 Its sleeve should float at some intermediate position under normal operating
conditions.
 Its response to change in speed should be fast.
 It should have sufficient power so that it can exert the required force at the
sleeve to operate the control mechanism.

Sensitiveness of governors
Sensitivity is the ratio of the difference between maximum and minimum
equilibrium speeds to mean equilibrium speed. If the maximum and minimum
speeds of a governor are ω1 and ω2, respectively and its mean speed is ω, the
sensitivity of the governor is defined as:
Sensitiveness of governor, A=π r 2 (4.5)
A governor is said to be sensitive when there is large displacement of sleeve due to
fractional change in speed. Smaller the change in speed for a given displacement of
sleeve, the governor will be more sensitive.
Controlling force
The radially inward, or centripetal force acting on each rotating ball due to the sleeve
weight, spring force, etc., is termed the controlling force. At any equilibrium speed,
ω, the controlling force is equal and opposite of the centrifugal force.
2
Controlling force, F c =mω r (4.7)
The variation of this force against radius is called controlling force curve as shown in
Figure 4.7.
Controlling Force (Fc) Controlling Force (Fc)
Radius of rotation (r) Radius of rotation (r)
(a) Curve for Porter governor (b) Curve for Hartnell governor
Figure 4.7 Relationships of the controlling force against radius from axis of rotation
A governor is stable if for each speed within the working range there is only one
radius of rotation for equilibrium. Thus r must increase as ω increases. The ratio F/r
increase as ω increases. This condition is satisfied in the case of the Porter governor
curve.
But, for the Hartnell governor, it is only satisfied if the straight line intercepts the
vertical axis below the origin, such as the line AB.
A governor is isochronous if the equilibrium speed is the same for all radii of
rotation. The ratio F/r is then constant and corresponds to the controlling force line
cd, passing through the origin.
A governor is unstable if the radius of rotation decreases as the speed increases. The
ratio F/r decrease as r increases. This corresponds to a controlling force line which
intercepts the vertical axis above the origin, such as the line EF.
EXAMPLE 4.1
A Porter governor has 300 mm arms and the rotating balls each have a mass of 1.8
kg. At the mean speed of 120 rpm, the arms make 30 o to the vertical as shown in
Figure 4.8 below. Determine;
(a) The central dead load, M
(b) The sensitivity of the governor if the sleeve movement is ±25 mm from O (mean
speed position)
Figure 4.8 A Porter governor for Example 4.1
SOLUTION FOR EXAMPLE 4.1(a)
Draw the free body diagram (FBD) of the governor
Derive the moment equation about point I

Mg
∴ M I = m b g ( IZ ) + ( IY ) -F ( XZ ) =0 (1)
2
List down all the given information
m °
m b =1.8 kg, g =9.81 2
, IZ=ZY=0.3sin30°=0.15m, h=0.3cos 30 =0.26m
s
IY=2IZ=2 ( 300sin30° ) =0.3m, N=120rpm
ω= 2π N/60=12.57 rad/s, r=ZY+0.03m=0.18m
Find the value of F
F= m b ω2 r=1.8 ( 12.57 2 ) ( 0.18 ) =51.19N
Rearrange equation (1) to find M
[ F ( XZ ) - m b g ( IZ ) ] 2 [51.19 ( 0.15 ) -1.8 ( 9.81 ) ( 0.15 ) ]2

M= =
g(IY) 9.81(0.3)
M=7.24kg
SOLUTION FOR EXAMPLE 4.1(b)
Draw the free body diagram of the governor when sleeve rises 25 mm.
Write the sensitivity equation

ω1 - ω 2
Sensitivity, α=
ω
So, we need to find ω 1 and ω2 in order to find α
Rearrange equation (1) to find ω 1

Mg
M I = m b g ( IZ ) + ( IY ) -F ( XZ ) =0
2
2 2
We know, F= m b ω1 r 1 =1.8 ω 1 r 1
Mg
M I = m b g ( IZ ) + ( IY ) -1.8 ω 21 r 1 ( XZ ) =0
2
√
Mg
m b g ( IZ ) + ( IY )
2
ω1 =
r 1 (XZ)
r 1 =ZY+0.03
IZ=ZY= √ 0.3 2 - h 21 , IY=2IZ

0.025
h1 =XZ=h- =0.26-0.0125=0.2475m
2
IZ=ZY= √ 0.3 2 - 0.2475 2 =0.1695m

r 1 =0.1695+0.03=0.995m
√
7.24(9.81)(2)(0.1695)
1.8 ( 9.81 ) ( 0.1695 ) +
2
ω1 =
0.995(0.2475)
rad
ω1 =13
s
Draw the free body diagram of the governor when sleeve fall 25 mm.
r 2 =ZY+0.03m
ZY= √ 0.32 - h22

0.025
XZ= h 2 =h+ =0.26+0.0125=0.2725m
2
IZ=ZY= √ 0.3 2 -( 0.2725)2 =0.1255m

r 2 =0.1255+0.03=0.1555m
√
Mg
m b g ( IZ ) + ( IY )
2
ω2 =
r 2 (XZ)
√
7.24(9.81)(2)(0.1255)
1.8 ( 9.81 ) ( 0.1255 ) +
2
ω2 =
0.155(0.2725)
rad
ω 2 =12.08
s
ω1 - ω2 13-12.08
Sensitivity, α= = =0.073
ω 12.57
EXAMPLE 4.2
A Proell type governor is shown diagrammatically in Figure 4.8, with certain
dimensions in the figure below. The central dead load acting on the sleeve has a mass
of 25 kg and the two rotating masses each have a mass of 3.2 kg. When the governor
sleeve is in mid position, the arm AB of the cranked lever ABC is vertical and the
radius of the path of rotation of the masses is 175 mm. If the governor speed is to be
160 rpm when in mid-position and neglect friction, find:
(a) The length of the arm AB
(b) The tension in the link BD
Figure 4.9 A Proell governor for example 4.2
Draw the free body diagram of the governor

When sleeve at mid position
2πN 2(3.14)(160) rad

ω= = =16.76
60 60 s
IZ=XC=r-0.025=0.175-0.025=0.15m
BZ=h= √ 0.25 2 - IZ2 = √ 0.252 - 0.152 =0.2m

2 2
F= m b ω r=3.2( 16.76) ( 0.175 ) =157.3N
Write moment equation about point I

Mg ( IC )
M 1 = m b g ( IZ ) + -F ( AZ )
2
Mg ( IC )
M 1 = m b g ( IZ ) + -F ( AB+BZ ) =0;where IC=2(IZ)
2
Mg(IC)
F ( AB+BZ ) = m b g ( IZ ) +
2
AB=
[ m b g ( IZ ) +
Mg(IC)
2 ] -BZ
F
AB=
[ 3.2(9.81( ( 0.15 ) +
25(9.81)2(0.15)
2 ] -0.2=0.064m
157.3
SOLUTION FOR EXAMPLE 4.2(b)

Draw the free body diagram for example 4.2(b)
Find vertical reaction at point D
Mg (25)(9.81)
T D = m b g+ =3.2 ( 9.81 ) + =154.017N
2 2
Use theorem Pythagoras to find tension in BD, TBD
TD 154.017
T BD = = =192.52N
cos θ
[ ]
200
250
EXAMPLE 4.3
Figure 4.10 below shows a governor of the Hartnell type. The mass of each ball of a
governor is 3 kg and mass of sleeve is 10 kg. The stiffness of spring 1, K1 is 5 kN/m.
The friction of sleeve is 10 N. If the sleeve begins to rise at 400rpm with radius of
rotation of the balls is 142 mm, find the tension force and stiffness of spring 2, K2 by
neglecting the moment of ball weight when the ball arm is not vertical.
Figure 4.10 A Hartnell governor for example 4.3

P1- compression force in spring 1
P2- tension force in spring 2
P2’- equivalent tension force of spring 2
f - friction of sleeve
x1- displacement of spring 1 when sleeve rise
x2- displacement of spring 2 when sleeve rise
When sleeve begins to rise at 400 rpm:

r 1 =142 mm=0.142m
2πN 2(3.14)(400) rad
ω1 = = =41.89
60 60 s
r=115+25=140mm=0.14m
( r 1 -r) (142-140)
sinθ = = =0.02
100 100
°
∴ θ= 1.15
°
x1 =115sinθ=115sin 1.15 =2.3mm=0.0023m
3
P1 = K1 x 1 =5x 10 ( 0.0023 ) = 11.5N
2 2
F1 = m b ω1 r 1 =3 (41.89) 0.14=747.53N
Derive moment at point O

'
( m s g+ P1 + P2 +f)
M o =0= F1 ( 0.1cosθ ) -
2
0=747.53 [ (0.1cos(1.15)° ] -
[ (3)(9.81)+11.5+ P'2 +10 ]
2
∴ P'2 =2[747.53 ( 0.1cos 1.15° ) -3 ( 9.81 ) -11.5-10=1180.45N
'
P2 ( 200 ) = P2 (300)
P2 = P'2 (300
200 ) =1180.45 (
200 )
300
=1770.675N
x1 x2
=
300 200
x1 0.0023(200)
x2 = (200 ) = =0.00153m
300 300
P2 1770.675 kN
K2= = =1150
x 2 0.00153 m
PROBLEMS
1. Calculate the vertical height of a Watt governor when it rotates at 50 rpm. Also
find the change in vertical height when its speed increases to 51 rpm.
2. A Porter governor has all four arms 250 mm long. The upper arms are attached on
the axis of rotation and the lower arms are attached to the sleeve at a distance of
30 mm from the axis. The mass of each ball is 5 kg and the sleeve has a mass of 50
kg. The extreme radii of rotation are 150 mm and 200 mm. Determine the range of
speed of the governor.

3. A Proell governor has all four arms of length 300 mm. The upper arms are
pivoted on the axis of rotation and the lower arms are attached to a sleeve at a
distance of 40 mm from the axis. The mass of each ball is 5 kg and are attached to
the extension of the power arms which are 100 mm long. The mass on the sleeve
is 40 kg. The minimum and maximum radii of governor are 170 mm and 215 mm.
Assuming that the extensions of the lower arms are parallel to the governor axis
at the minimum radius, find the corresponding equilibrium speeds.
4. All the arms of a Porter governor are 180 mm long and are hinged at a distance of
40 mm from the axis of rotation. The mass of each ball is 1.2 kg and mass of the
sleeve is 20 kg. The governor sleeve begins to rise at 275 rpm when the links are at
an angle of 25° to the vertical. Assuming the friction force to be constant,
determine the minimum and maximum speed of rotation when the inclination of
the arms to the vertical is 45°.
5. The arms of a Porter governor are 300 mm long. The upper arms are pivoted on
the axis of rotation. The lower arms are attached to a sleeve at a distance of 40 mm
from the axis of rotation. The mass of the load on the sleeve is 70 kg and the mass
of each ball is 10 kg. Determine the equilibrium speed when the radius of rotation
of the balls is 200 mm. If the friction is equivalent to a load of 20 N at the sleeve,
what will be the range of speed for this position?
6. In a spring controlled governor, the radial force acting on the balls was 4250 N
when the center of balls was 190 mm from the axis and 7500 N when at 300 mm.
Assuming that the force varies directly as the radius, find the radius of the ball
path when the governor runs at 250 rpm. Also find what alteration in spring load
is required in order to make the governor isochronous and the speed at which it
would then run. The mass of each ball is 30 kg.

References
1. Khurmi, R. S. and Gupta, J. K. Theory of Machines. Eurasia Publishing, 2008.
2. Roslan Abd. Rahman, Che Abas Che Ismail, and Mohd. Yunus Abdullah.
Mekanik Mesin: Teori, Contoh Penyelesaian dan Masalah, 3rd ed. Penerbit UTM,
2001.

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AUTHOR’S NAME/ NAMA PENULIS

Ucapan khas penulis kepada orang perseorangan atau tertentu…

TABLE OF CONTENT/ KANDUNGAN

TITLE OF CHAPTER ONE

TITLE OF CHAPTER ONE

Sub-heading Level 3CHAPTER FIVE

LIST OF TABLES/ SENARAI JADUAL

Table 1.1 Xxxxxx

Table 1.2 Xxxxxx

Table 2.1 Xxxxxx

LIST OF FIGURES/ SENARAI RAJAH

Figure 1.1 Xxxxxx

Figure 1.2 Xxxxxx

Figure 2.1 Xxxxxx

daripada penyelidikan, penulis perlu menyatakan nombor geran atau menceritakan

maklumat yang berkaitan.

ABBREVIATIONS/ SINGKATAN (jika perlu)

EAC Engineering Accreditation Council

CalTech California Institute of Technology

A governor, speed limiter, or controller is a mechanical device that automatically

The governor functions under two distinct circumstances;

to its original speed.

The governor can primarily be classified as either a centrifugal governor or an inertia

Figure 4.1 Types of Centrifugal governor

commonly used when the mass equilibrium is crucial.

Figure 4.2 Schematic diagram of Centrifugal governor

around the vertical axis.

spindle speed increases and fall as the spindle speed decreases.

 It maintains the selected rotational speed of the car's internal combustion

 It regulates the speed of the turbine shaft in hydroelectric power plants.

frequently incorporated into the design of mechanical music boxes.

about the instantaneous centre (I) we get equation (4.1).

Figure 4.3 A Watt governor

controlled centrifugal governor. It is alike to Watt governor with small modification.

porter governor. Taking moments about (I) we get equation (4.2).

Figure 4.4 A Porter governor

Figure 4.5 A Proell governor

and the changes in length of the moment-arms are usually neglected.

Figure 4.6 A Hartnell governor

engine is suddenly removed.

 Its response to change in speed should be fast.

sleeve to operate the control mechanism.

Sensitivity is the ratio of the difference between maximum and minimum

equilibrium speeds to mean equilibrium speed. If the maximum and minimum

sensitivity of the governor is defined as:

Sensitiveness of governor, A=π r 2 (4.5)

A governor is said to be sensitive when there is large displacement of sleeve due to

sleeve, the governor will be more sensitive.

ω, the controlling force is equal and opposite of the centrifugal force.

Controlling Force (Fc) Controlling Force (Fc)

Radius of rotation (r) Radius of rotation (r)

vertical axis below the origin, such as the line AB.

cd, passing through the origin.

Figure 4.8 below. Determine;

(a) The central dead load, M

Figure 4.8 A Porter governor for Example 4.1

SOLUTION FOR EXAMPLE 4.1(a)

Draw the free body diagram (FBD) of the governor

Derive the moment equation about point I

ω= 2π N/60=12.57 rad/s, r=ZY+0.03m=0.18m

Find the value of F

F= m b ω2 r=1.8 ( 12.57 2 ) ( 0.18 ) =51.19N

Rearrange equation (1) to find M

Format Penyediaan Manuskrip Modul P&P

Format Penyediaan Manuskrip Modul P&P