ME 8594 DYNAMICS OF

MACHINES
Unit – 5
Governors
Types of Governors
1. Centrifugal governors, and
2. Inertia governors.
The balls are arranged in a manner that the inertia forces caused by
angular acceleration or retardation of the governor shaft tend to
change their position
Centrifugal Governors
• The centrifugal governors are based
on the balancing of centrifugal force
on the rotating balls by an equal and
opposite radial force, known as the
controlling force.
Centrifugal governor
Terms Used in Governors
• Height of a governor(h) - Vertical distance from the centre of the ball to a
point where the axes of the arms (or arms produced) intersect on the
spindle axis.
Equilibrium speed - speed at which the governor balls, arms etc., are in
complete equilibrium and the sleeve does not tend to move upwards or
downwards.
Mean equilibrium speed. It is the speed at the mean position of the balls or
the sleeve.
• Maximum and minimum equilibrium speeds - The speeds at the maximum
and minimum radius of rotation of the balls, without tending to move
either way
• Sleeve lift - vertical distance which the sleeve travels due to change in
equilibrium speed.
• Calculate the vertical height of a Watt governor when it rotates at 60
r.p.m. Also find the change in vertical height when its speed increases
to 61 r.p.m.
Porter Governor
1. Method of resolution of forces ; and
2. Instantaneous centre method.
1. Method of resolution of forces
2. Instantaneous centre method
• A Porter governor has equal arms each 250 mm
long and pivoted on the axis of rotation. Each
ball has a mass of 5 kg and the mass of the
central load on the sleeve is 25 kg. The radius of
rotation of the ball is 150 mm when the
governor begins to lift and 200 mm when the
governor is at maximum speed. Find the
minimum and maximum speeds and range of
speed of the governor.
Given :
• BP = BD = 250 mm = 0.25 m ; m = 5 kg ; M = 15 kg ;
• r1 = 150 mm= 0.15m;
• r2 = 200 mm = 0.2 m
Reqd: N1, N2, N1-N2
• The arms of a Porter governor are each 250 mm
long and pivoted on the governor axis. The mass
of each ball is 5 kg and the mass of the central
sleeve is 30 kg. The radius of rotation of the balls
is 150 mm when the sleeve begins to rise and
reaches a value of 200 mm for maximum speed.
Determine the speed range of the governor. If
the friction at the sleeve is equivalent of 20 N of
load at the sleeve, determine how the speed
range is modified.
Given : BP = BD = 250 mm ; m = 5 kg ; M = 30 kg ;
• r1 = 150 mm ; r2 = 200 mm; F = 20 N
Reqd.: Range of speed (N1 – N2)
Without friction and with friction
• In an engine governor of the Porter type, the
upper and lower arms are 200 mm and 250 mm
respectively and pivoted on the axis of rotation.
The mass of the central load is 15 kg, the mass of
each ball is 2 kg and friction of the sleeve
together with the resistance of the operating
gear is equal to a load of 25 N at the sleeve. If
the limiting inclinations of the upper arms to the
vertical are 30° and 40°, find, taking friction into
account, range of speed of the governor.
• Given : BP = 200 mm = 0.2 m ; BD = 250 mm = 0.25 m ; M =
15 kg ; m = 2 kg ;F = 25 N ; α1 = 30°; α2 = 40°
•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.
• Given : BP = BD = 250 mm ; DH = 30 mm ; m = 5 kg ; M = 50 kg ;
r1 = 150 mm ; r2 = 200 mm
• 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.
• Given : BP = BD = 250 mm ; DH = 30 mm ; m = 5 kg ; M = 50 kg ;
• r1 = 150 mm ; r2 = 200 mm
• 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 ?
• Given : BP = BD = 300 mm ; DH = 40 mm ; M = 70 kg ;
m = 10 kg ; r = BG = 200 mm
1.Equilibrium speed when the
radius of rotation r = BG = 200 mm
2. Range of speed when friction is equivalent
to load of 20 N at the sleeve
( i.e. when F = 20 N)
• A loaded Porter governor has four links each 250
mm long, two revolving masses each of 3 kg and
a central dead weight of mass 20 kg. All the links
are attached to respective sleeves at radial
distances of 40 mm from the axis of rotation.
The masses revolve at a radius of 150 mm at
minimum speed and at a radius of 200 mm at
maximum speed. Determine the range of speed.
• Given :BP = BD = 250 mm ; m = 3 kg ; M = 20 kg ; PQ = DH =
40 mm ; r1 = 150 mm ; r2 = 200 mm
Instantaneous centre method – Porter
governor
Proell governor
• A Proell governor has equal arms of length 300
mm. The upper and lower ends of the arms are
pivoted on the axis of the governor. The
extension arms of the lower links are each 80
mm long and parallel to the axis when the radii
of rotation of the balls are 150 mm and 200 mm.
The mass of each ball is 10 kg and the mass of
the central load is 100 kg. Determine the range
of speed of the governor.
• Given : PF = DF = 300 mm ; BF = 80 mm ; m = 10 kg ; M = 100 kg ;
r1 = 150 mm; r2 = 200 mm
2 marks
1.Sensitiveness of Governors ratio of the difference between the
maximum and minimum equilibrium speeds to the mean equilibrium
speed.
2. Stability of Governors
• 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.
3. Isochronous Governors
• A governor is said to be isochronous when the equilibrium speed is
constant (i.e. range of speed is zero) for all radii of rotation of the
balls within the working range, neglecting friction.
Porter governor cannot be isochronous.
• 4. Hunting if the speed of the engine fluctuates continuously above
and below the mean speed.
5. Vibration isolation
Gyroscopic Couple
Terms Used in a Naval Ship
1. Steering,
2. Pitching, and
3. Rolling.
1. The turbine rotor of a ship has a mass of 3500 kg. It
has a radius of gyration of 0.45 m and a speed of 3000
r.p.m. clockwise when looking from stern. Determine
the gyroscopic couple and its effect upon the ship:
1. when the ship is steering to the left on a curve of 100
m radius at a speed of 36 km/h.
2. when the ship is pitching in a simple harmonic
motion, the bow falling with its maximum velocity. The
period of pitching is 40 seconds and the total angular
displacement between the two extreme positions of
pitching is 12 degrees.
2. The mass of the turbine rotor of a ship is 20 tonnes
and has a radius of gyration of 0.60 m. Its speed is 2000
r.p.m. The ship pitches 6° above and 6° below the
horizontal position. A complete oscillation takes 30
seconds and the motion is simple harmonic. Determine
the following:
1. Maximum gyroscopic couple,
2. Maximum angular acceleration of the ship during
pitching, and
3. The direction in which the bow will tend to turn
when rising, if the rotation of the rotor is clockwise
when looking from the left.
3. A ship propelled by a turbine rotor which has a mass of 5 tonnes
and a speed of 2100 r.p.m. The rotor has a radius of gyration of 0.5
m and rotates in a clockwise direction when viewed from the
stern. Find the gyroscopic effects in the following conditions:
1. The ship sails at a speed of 30 km/h and steers to the left in a
curve having 60 m radius.
2. The ship pitches 6 degree above and 6 degree below the
horizontal position. The bow is descending with its maximum
velocity. The motion due to pitching is simple harmonic and the
periodic time is 20 seconds.
3. The ship rolls and at a certain instant it has an angular velocity
of 0.03 rad/s clockwise when viewed from stern.
Determine also the maximum angular acceleration during pitching.
Explain how the direction of motion due to gyroscopic effect is
determined in each case.
Stability of a Four Wheel Drive Moving in a
Curved Path
4. A four-wheeled trolley car of mass 2500 kg runs on rails,
which are 1.5 m apart and travels around a curve of 30 m
radius at 24 km / hr. The rails are at the same level. Each
wheel of the trolley is 0.75 m in diameter and each of the two
axles is driven by a motor running in a direction opposite to
that of the wheels at a speed of five times the speed of
rotation of the wheels. The moment of inertia of each axle
with gear and wheels is 18 kg-m2. Each motor with shaft and
gear pinion has a moment of inertia of 12 kg-m2. The centre
of gravity of the car is 0.9 m above the rail level. Determine
the vertical force exerted by each wheel on the rails taking
into consideration the centrifugal and gyroscopic effects. State
the centrifugal and gyroscopic effects on the trolley.