CEP MEEN19111045 Theory of machine

Complex Engineering Problem

Governor:
A governor is to regulate the mean speed of an engine, when there are variations in the load e.g.,
when the load on an engine increase, 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.

Types of governors

Centrifugal
Inertia governor governor

Pendulum type Loaded type

Watt
governor
Dead weight Spring controlled
governor governor

Porter Proell
governor governor

Hartnell Hartung Wilson-Hartnell Pickering

governor governor governor governor

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CEP MEEN19111045 Theory of machine

Inertia governor:
In this type of governor, in addition to centrifugal forces on the governor balls, the force due to
the angular acceleration and deceleration of the spindle affects the position of the ball. i.e., the
inertia governor depends on the rate of change of the speed of the engine. In an inertia governor
both centrifugal force and inertia force are in action. This type of governors is connected to the
crankshaft or flywheels of an engine. The Governor balls are arranged in such a way that the
angular acceleration and deceleration of this shaft tend to move their position.

Figure 1; inertia governor

Centrifugal governor:
This type of governors works on the principle of centrifugal action. They have two balls that
rotate along with the sleeve. As the centrifugal force is directly proportional to the radius of
rotation of the mass, therefore, when the speed of a device increases, the balls rotate at a larger
radius.

Figure 2; centrifugal governor

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Note: In this complex engineering problem we will discuss the porter governor and its working.

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 pre-determined level.

Construction:
The two balls are pivoted at the top so that it can move up and down on a vertical spindle as the
speed of revolution of the spindle vary. The lower links are connected to the central sleeve.
Vertical sleeve can move up and down along with the ball movements. Two stoppers are
provided in spindle to limit the movement of the sleeve. The sleeve is carrying a heavy central
load. A mechanism is connected to the sleeve of the governor to actuate the throttle valve.
w = Weight of each ball in newtons
W = Weight of the central load in newtons
r = Radius of rotation in meters
h = Height of governor in meters
F C= Centrifugal force acting on the ball in newtons

T 1= Force in the arm in newtons

T 2 = Force in the link in newtons

α = Angle of inclination of the arm to the vertical

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CEP MEEN19111045 Theory of machine

β = Angle of inclination of the link to the vertical.

Depth of knowledge behind the governor working:

The engine is connected to the central spindle of governor through gear trains. When the load on
an engine decrease, there will be a sudden increase in speed of the engine. Governor spindle
speed also increases. The centrifugal effect tends ball pair to move outward direction. The upper
arms of ball pivoted at the top. Hence the lower arm pushes the sleeve upward as ball move
outward. It actuates the throttle valve through the mechanism connected to the sleeve to decrease
the fuel supply to the engine. The decreased availability of fuel decreases the speed. Hence speed
is maintained.
There are two cases to study the working
Case- I: - When load on engine increases
When load on engine increases, the speed of engine decreases. Because of decrease in rotational
speed, the centrifugal force on flyballs decreases and flyballs moves inwards. Hence radius of
rotation of flyballs decreases & sleeve will move in downward direction. This movement of
sleeve operates the opening of throttle valve by means of bell crank lever. As the sleeve moves
downwards, the opening of the throttle valve increases hence the excess fuel will be supplied to
the engine.

Case- I: - When load on engine decreases

When the load on engine decreases, the speed of engine increases. Because of increase in
rotational speed, the centrifugal force on flyball increases & flyballs are pushed outwards Hence
radius of rotation of flyball increases & sleeve will move in upward direction. As the sleeve
moves upwards, the throttle valve opening is decreases and the supply of excess fuel is lowered.

Depth of Analysis:

Determining the relation between the height (h) of the governor and the angular speed ( ω ¿ of the
ball for this there many methods but here we discus only two methods to determine the relation;

1. Method of resolution of forces

2. Instantaneous Centre method

Method of resolution of forces

Considering the equilibrium of the forces acting at D, we have

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CEP MEEN19111045 Theory of machine

…... (1)

Resolving the forces vertically,

…… (2)

Resolving the forces horizontally,

……. (3)

Figure 3;half section of porter governor

After solving equation (1), (2) and (3) we get the results;

……. (4)

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CEP MEEN19111045 Theory of machine

Case 1: When the length of arms is equal to the length of links and the points P and D lie on the
same vertical line, then tan α = tan β or q = tan α / tan β = 1

therefore, the equation (4) becomes;

…… (5)

Case 2: When the loaded sleeve moves up and down the spindle, the frictional force acts on it in
a direction opposite to that of the motion of sleeve. If F = Frictional force acting on the sleeve in
newtons, then the equations (4) and (5) may be written as

when (q=1) ……. (6)

Instantaneous Centre method

In this method, equilibrium of the forces acting on the link BD are considered. The instantaneous
Centre I lie at the point of intersection of PB produced and a line through D perpendicular to the
spindle axis. Taking moments about the point I,

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CEP MEEN19111045 Theory of machine

Figure 4;instantaneous Centre method

…….. (1)

Replacing w=m. g and dividing BM on the other side of equation

Then the equation becomes

………. (2)

and put it in the equation

……. (3)

We know that

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CEP MEEN19111045 Theory of machine

, or q=1 and

The final equation after evaluating the terms

and

Problem statement: A steam power plant is installed at the campus. In summers when the
load is increased the voltages are low and in winters it’s vice versa. Design a Mechanical
Regulating Device to address the given problem.

Parameters:
 The length of each arm is 300 mm and all the arms are pivoted on the axis of rotation
 The mass of each ball is 7.5 kg and the mass of the sleeve is 45 kg.
 The extreme radii of rotation are 150 mm and 225 mm.
Required:
 Draw the controlling force curve and set-off a speed scale along the ordinate
corresponding to a radius (assume any value b/w 200mm to 300mm)
 Complete engineering design
 2D and 3D CAD models of your design

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CEP MEEN19111045 Theory of machine

Familiarity of issues
Controlling force:
When a body rotates in a circular path, there is an inward radial force or centripetal force acting
on it. In case of a governor running at a steady speed, the inward force acting on the rotating
balls is known as controlling force. It is equal and opposite of the centrifugal reaction.

The controlling force is provided by the weight of the sleeve and balls as in porter governor and
by the spring and weight as in Hartnell governor (or spring-controlled governor)

Controlling force curve:

When the graph between the controlling force as ordinate and radius of rotation of the balls (r) as
abscissa is drawn, then the graph obtained is known as controlling force diagram. This
diagram enables the stability and sensitiveness of the governor to be examined and also shows
clearly the effect of friction.

Figure 5; controlling force curve for porter governor

 If governor is more sensitive than the change of value of Ф over the change of value of
radius r should be small.
 If governor satisfies the condition for stability, then angle Ф increases with an increase of
radius of rotation (or the equilibrium speed with the increase of radius of rotation).
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CEP MEEN19111045 Theory of machine

 For isochronous governor, controlling force curve will be a straight line passing through
the origin. i.e., angle Ф will be constant for all values of radius of rotation.

Given values
l = 300 mm = 0.3 m
m = 7.5 kg
M=45 kg

= 150 mm = 0.15 m

= 225 mm = 0.225m
Now I assumed the radius of 230mm for calculating the controlling force.
r= 230mm=0.23m

Find

Controlling force= =?

Solution:

The following table shows the values of for different values of r.

From the porter governor topic, we have concluded the following result;

F C=( M2. g +m . g) tanα+ M2. g ×tanβ

F =(
tanβ )
M .g M . g tanα
c +m. g+ × tanα
2 2
tanβ
substituting =q, and tanα =r/h, we get
tanα
M .g r
F c =[ ( 1+q )+ m. g]×
2 h
sinceα =β , therefore q=1

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CEP MEEN19111045 Theory of machine

r (in meters)
(in Newtons)

0.023 0.2991 39.60

0.046 0.2965 79.90
0.069 0.2920 121.70

0.092 0.2855 165.96

0.115 0.2771 213.74
0.138 0.2664 266.79
0.161 0.2531 327.61
0.184 0.2369 400.02
0.207 0.2171 491.06
0.23 0.1926 615.03

These values are plotted to draw the controlling force curve. In order to set-off the speed scale
along the ordinate through r = 230 mm = 0.23 m, we have

N (RPM) 100 125 150 160 170 180 190 200

189 295.31 425.25 483.84 546.21 612.36 682.29 756

(in
Newton)

The speed scale is now marked on the graph

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Figure 6;graph

The range of equilibrium speeds for the governor is obtained by drawing lines from the origin dotted
through the two points A (when r = 0.15 m) and B (when r = 0.225 m) on the controlling force curve.
From the graph, we see that these lines intersect the speed scale at approximately 155 r.p.m. and 175
r.p.m.

2D design:

Front view:

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Figure 7; Front view

Top view:

Figure 8;top view

Right side view:

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Figure 9;right side view

3D design of governor

Front view:

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Figure 10; front view

Side view:

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Figure 11;side view

Top view:

Figure 12;top view

Isometric view:
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Figure 13; isometric view

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