EME2204 –

Mechanics of Machinery

Sri Lanka Technological Campus

Padukka.

Dr. K.E.D. Sumanasiri

1
GOVERNORS
 INTRODUCTION

Governor is a device used to maintain

the speed of an engine within specified
limits when the engine works in varying
of different loads.
 Functions of a governor
 To automatically maintain the uniform speed of the
engine within the specified limits, whenever there is
a variation of the load.
 To regulate the fuel supply to the engine as per load
requirements.
 To regulate the mean speed of the engines.
 It works intermittently i.e., only when there is
modification within the load
 Mathematically, it can express as ΔN, Nmax and Nmin
Mechanical Governors Versus Digital Governors
The purpose of the mechanical governor is to regulate the maximum
speed of the motor, in order to protect the equipment associated.
• ensures that all parts are fully functional and work properly,
without failure.
• use rotating fly weights in order to control movement
• use centrifugal force to push out the weights.
• whenever the load is removed from the motor, the speed
automatically increases.

On the other hand, digital governors are based on a single hardware

platform, which makes them far more convenient. Basically, these
are speed control units that provide accurate and efficient speed
control, with very fast response to load changes. These governors
have several advantages over the traditional mechanical governors:

E.g. Electronically controlled diesel fuel injection system

UP
Diesel engine Governor

steam engine
speed governor.
 Flywheel Governor
Flywheel reduces the fluctuation of speed during Governor is a device to control the speed variation
the thermodynamic cycles, but it does not maintain caused by the varying load.
a constant speed.
The working of a flywheel does not depend upon Governor operation depends upon the variation of
the change in load or output required. load.
The operation of flywheels is continuous from cycle The operation of a governor is intermittent.
to cycle.
Speed control in a single cycle Speed control over a period of time
The function of a flywheel is to store energy when The function of a governor is to regulate the fuel
mechanical energy is more than required for the supply according to the load requirement and run
operation and release the same when the available the machine at a constant speed irrespective of
energy is less than required. Its inertia helps to run the output required.
machines at a dead center.
Do not have any control over the supply of charge Control the supply of fuel to the engine
or fuel.
It is relatively heavy and has large inertia force. It's a light machine part
It is used in engines and fabricating machines such Governors are provided on engines and turbines.
as punching machines, rolling mill, etc.
It is desired where the fluctuation in input torque. Desired where the constant speed required
e.g.: four stroke engine e.g. Generator
 Types of Governors
Based on the source of controlling force, the
governors can be classified into two types.

• Inertia governors
• Centrifugal governors
Inertia Governor
In inertia governors, the balls are arranged in manner
that the inertia forces caused by angular acceleration
or retardation of the governor shaft tend to change
their position. The obvious advantage of inertia
governor lies in its rapid response to the effect of a
change of load.
This advantage is small, however by the practical
difficulty of arranging for the complete balance of
the revolving parts of the governor. For this reason
Centrifugal governors are preferred over the inertia
governors.
Centrifugal Governors
 Centrifugal Governors
In centrifugal governors, multiple
masses known as Governor balls or
Fly balls, are responsible to revolve
about the axis of a shaft, which is
driven through suitable gearing from
the engine crankshaft. Each ball is
acted upon by a force which acts in
the radially inward direction and is
provided by dead weight, a spring or a
combination of two.

This force is commonly called as the controlling force and it will increase as the
distance of the ball from the axis of rotation increases. The inward or outward
movement of the ball is transmitted by the governor mechanism to the valve
which controls the amount of energy supplied to the engine.
The centrifugal governors may be classified as follows:
 Watt, Porter and Proell governors

Fig 2.1.1 Watt Governor Fig 2.1.2 Porter Governor Fig 2.1.3 Proell Governor
Spring controlled governors

F
Fig 2.1.4 Hartnell Governor Fig 2.1.5 Wilson Hartnell Governor
 Spring controlled governors

7 Hartung
Fig Governor
2.1.7 Hartung Governor Fig 2.1.8 PickeringFig
Governor
2.1.8 Picke
 Terms used in Governors
Height of a governor (h): The vertical distance from the
centre of the ball to a point where the axes of the
arms intersect on the spindle axis is called height of a
governor.
Radius of rotation (r):Radius of rotation is defined as the
centre of the governor balls and the axis of rotation
in the spindle. The radius of rotation is denoted by ‘r’
Equilibrium speed: This is the 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: This is the speed at the mean
position of the balls or the sleeve.
Maximum and minimum equilibrium speeds: The speeds
corresponding to the maximum and minimum radii of
rotation of the balls.
Sleeve lift: This is the vertical distance which the sleeve
travels due to change in equilibrium speed.
 Tecquipment Laboratory
Watt Governor
 Watt Governor

It is the simplest form of centrifugal governor. It is basically a conical

pendulum with links attached to a sleeve of negligible mass. The arms
of governors may be connected to the spindle in following three ways;
1. The pivot P, may be on the spindle axis
2. The pivot P, may be offset from spindle axis & the arms when produced
intersect at O.
3. The pivot P, may be offset, at the arms crosses the axis at O.
Let,
m = Mass of the Ball in kg
w = Weight of the ball in Newton (=m.g)
T = Tension in the arm in N
= Angular velocity of arm and ball
about the spindle axis in rad/sec.
r = Radius of path of rotation of ball in
mtrs.
Fc = Centrifugal force acting on the balls
in Newtons (m 2r)
h = Height of governor in mtrs.
 Analysis:
Taking moment about O
Fc x h = w x r
m r 2 x h = m.g.r
h = g / 2
When g is in m/s2 and  is in rad/s, then h is in
metres. If N is the speed in rev/min. then
 = 2N / 60
h = 9.81 / (2N / 60)
= 895 / N2 metres.
• One can see from the above expression that the height of a governor h is
inversely proportional to N2. Therefore at high speeds, the value of h is small.
• At such speeds, the change in the value of h corresponding to a small change in
speed is insufficient to enable a governor of this type to operate the mechanism to
give the necessary change in the fuel supply.
• This type governor may only work satisfactorily at relatively low speeds i.e. from
60 to 80 rev/min.
Porter governor
The porter governor is a
modification of a Watt’s
governor, with central load
attached to the sleeve. The
load moves up and down the
central spindle.

This additional downward

force increases the speed of
revolution required to enable
the balls to rise to any
predetermined level.
Let,
m = mass of each ball
w = Wt. of each ball
M = mass of central load
W = Wt. of central load
r = Radius of rotation
h = Height of governor
N = Speed of ball in r.p.m.
 = Angular speed of balls
Fc = centrifugal force
T1 = Force on the arm
T2 = Force in the links
 = Angle of inclination of arm to vertical
 = Angle of inclination of link to vertical
Considering equilibrium at D

Resolving forces vertically for B.

Resolving forces horizontally for B.

 2𝜋𝑁
𝐹𝑐 = 𝑚𝜔2 𝑟 𝑎𝑛𝑑 𝜔 =
60
𝑟
if , tan 𝛼 = tan 𝛽 and since 𝑡𝑎𝑛 𝛼 =
ℎ

(m + M) g
1) h = x
m 2

(m + M) 895
2) N2 = x
m h

If friction force F at the sleeve is considered,

N2
Proell Governor
The Proell governor has
the balls fixed at B & C
to the extension of the
links DF & EG, as
shown. The arms FP &
GQ are pivoted at p & Q
respectively.
By this change, it
requires fly balls of less
mass for same action.
Consider the equilibrium of the
forces on one half of the
governor.
The instantaneous centre (I) lies
on the intersection of the line PF
produced and the line from the D
drawn perpendicular to the
spindle axis. The perpendicular
BM is drawn on ID.

FM (m + M) 895
1) N2 = x
BM m h
Hartnell Governor
It is a spring loaded governor,
consists of two bell crank levers
pivoted at the pts. O, O to the
frame.
Frame is attached to the governor
spindle and therefore rotates with
it. Each lever carries a ball at the
end of the vertical arm OB & a
roller at the end of horizontal arm
OR.
A helical spring in compression
provides equal downward forces on
two rollers through collar on the
sleeve.
The spring force may be adjusted
by screwing a nut up or down on
the sleeve.
Let,
m = mass of each ball
M = Mass of sleeve in kg.
r1 = Minimum radius of
rotation
r2 = maximum radius of S2
rotation
r = Distance of fulcrum O
from gov. axis.
1 = Angular speed of
governor at r1
2 = Angular speed of
governor at r2
S1 = Spring force exerted
on the sleeve at 1
S2 = Spring force exerted
on the sleeve at 2
Fc1 = centrifugal force at 1
Fc2 = centrifugal force at 2
S = Stiffness of the spring
X = Length of vertical or ball arm
Y = length of horizontal or sleeve arm
Hartung Governor
A spring controlled governor.
The vertical arms of the bell crank levers are fitted with
spring balls which compress against the frame of the
governor when the rollers at the horizontal arm press
against the sleeve.
Let,

S = Spring force

Fc = Centrifugal force

M = Mass of sleeve in kg.

xx & yy = length of vertical and horizontal arm of the bell crank lever

Final Equations:

Fc x x = S x x +
M.g
x yy
2
Wilson - Hartnell
Governor
B

A
It is a governor in which the
balls are connected by a
spring in tension as shown.
An auxiliary spring is
attached to the sleeve B
mechanism, through lever
by means of which
A
equilibrium speed for a
given radius may be
adjusted.
The main spring may be
considered of two equal
parts each belonging to
both the balls.
Let,
P = Tension in the main spring or ball spring B
S = Tension in the auxiliary spring A
m = mass of each ball
M = Mass of sleeve in kg.
r = Radius of rotation of each ball
Sa = Stiffness of Auxiliary spring
Sb = Stiffness of each Ball spring

A
Pickering Governor
It is mostly used for driving gramophone. It
consists of three straight leaf springs arranged at
equal angular intervals round the spindle. Each
spring carries a weight at the centre. The weights
move outwards and the springs bend as they
rotate about the spindle axis with increasing
speed.
Let,
m = Mass attached at the centre of the leaf spring
a = Dist. From the spindle axis to the centre of gravity of the mass, when
governor is at rest
 = Angular speed of the governor spindle
 = Deflection of centre of leaf spring at angular speed w1
A +  = Dist. from the spindle axis to the centre of gravity of the mass,
when governor is rotating
 = Lift of the sleeve corresponding to the deflection 

 = m 2 (a + ) L3
192 E.I.
Sensitivity of Governors
In practice, the greater the lift of the sleeve corresponding to
a given fractional change in speed, the greater is the sensitivity
of the governor. Therefore, for a given lift of the sleeve, the
sensitivity of the governor increases as the speed range
decreases.
The sensitivity of a governor is defined as the ratio of the
difference between the maximum and the minimum
equilibrium speeds to the mean equilibrium speed.

N 2 − N 1 2( N 2 − N 1 )
Sensitivity = =
N N 2 + N1
Where
N1 – minimum speed
N2 - maximum speed
N – mean speed
Stability of Governors
A governor is said to be stable when for every speed within the
working range there is a definite configuration. That means for
a stable governor, if the equilibrium speed increases, radius of
the governor balls must also be increased .

Isochronous Governors
A governor is said to be isochronous when the equilibrium
speed is constant (range of speed is zero) for all radii of
rotation of the balls within the range, neglecting friction, this
happens mostly with spring-controlled governors.

Governor Hunting
A governor is said to be hunt if the speed of the engine
fluctuates continuously above and below the mean speed. This
is caused by too sensitive governors which changes the fuel
supply by a large amount when a small change in the speed of
rotation takes place.
Effort and Power of a Governor

The effort of a governor is defined as the mean force exerted

at the sleeve for a given percentage change of speed (or lift of
the sleeve) . It is important to note that when the governor is
running steadily, there is no force at the sleeve. But when the
speed changes there is a resistance which opposes its motion.
The power of a governor is defined as the work done at the
sleeve for a given percentage change of speed.

Power = mean effort x lift of the speed

Controlling force
The controlling force is nothing but an equal and
opposite force to the centrifugal force, acting radially
(i.e., centripetal force) is termed as controlling force of
a governor. In other words, the force acting radially
upon the rotating balls to counteract its centrifugal
force is called the controlling force.

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