Hartnell Governor

678 l Theory of Machines
123.883
∴ ( N 2 )2 = = 28 810 or N 2 = 170 r.p.m. Ans.
0.0043
Note : The value of N 2 may also be obtained by drawing the governor configuration to some suitable scale and
measuring the distances B 1M 1, I1M 1 and I1D1.
18.8. Hartnell Governor

A Hartnell governor is a spring loaded governor as shown in Fig. 18.18. It consists of two
bell crank levers pivoted at the points O,O to the frame. The 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 and a roller at
the end of the horizontal arm OR. A helical spring in compression provides equal downward forces
on the two rollers through a 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 in kg,
M = Mass of sleeve in kg,
r1 = Minimum radius of rotation in
metres,
r2 = Maximum radius of rotation in
metres,
ω1 = Angular speed of the governor at
minimum radius in rad/s,
ω2 = Angular speed of the governor at
maximum radius in rad/s,
S1 = Spring force exerted on the sleeve
at ω1 in newtons,
S2 = Spring force exerted on the sleeve
at ω2 in newtons, Fig. 18.18. Hartnell governor.
FC1 = Centrifugal force at ω1 in newtons = m (ω1)2 r1,
FC2 = Centrifugal force at ω2 in newtons = m (ω2)2 r2,
s = Stiffness of the spring or the force required to compress the spring by one mm,
x = Length of the vertical or ball arm of the lever in metres,
y = Length of the horizontal or sleeve arm of the lever in metres, and
r = Distance of fulcrum O from the governor axis or the radius of rotation when the
governor is in mid-position, in metres.
Consider the forces acting at one bell crank lever. The minimum and maximum position is
shown in Fig. 18.19. Let h be the compression of the spring when the radius of rotation changes from
r1 to r2.
For the minimum position i.e. when the radius of rotation changes from r to r1, as shown in
Fig. 18.19 (a), the compression of the spring or the lift of sleeve h1 is given by
h1 a1 r – r1
= = . . . (i)
y x x
Similarly, for the maximum position i.e. when the radius of rotation changes from r to r2, as
shown in Fig. 18.19 (b), the compression of the spring or lift of sleeve h2 is given by
h2 a2 r2 – r
= = . . . (ii)
y x x
Chapter 18 : Governors l 679
Adding equations (i) and (ii),
h1 + h2 r2 – r1 h r2 – r1
= or = . . . (3 h = h1 + h2)
y x y x
y
∴ h = ( r2 – r1 ) . . . (iii)
x
Fig. 18.19
Now for minimum position, taking moments about point O, we get
M . g + S1
× y1 = FC1 × x1 − m . g × a1
2
2
or M . g + S1 = ( FC1 × x1 – m . g × a1 ) . . . (iv)
y1
Again for maximum position, taking moments about point O, we get
M . g + S2
× y2 = FC2 × x2 + m . g × a2
2
2
or M . g + S2 = ( FC2 × x2 + m . g × a2 ) . . . (v)
y2
Subtracting equation (iv) from equation (v),
2 2
S2 – S1 = ( FC2 × x2 + m . g × a2 ) – (FC1 × x1 – m . g × a1 )
y2 y1
We know that
y
S 2 – S 1 = h.s, and h = ( r2 – r1 )
x
S2 – S1  S2 – S1  x
∴ s= = 
h  r2 – r1  y
Neglecting the obliquity effect of the arms (i.e. x 1 = x 2 = x, and y 1 = y 2 = y) and the moment
due to weight of the balls (i.e. m.g), we have for minimum position,
M . g + S1 x
× y = FC1 × x or M . g + S1 = 2 FC1 × . . . (vi)
2 y
680 l Theory of Machines
Similarly for maximum position,
M . g + S2 x
× y = FC2 × x or M . g + S 2 = 2 FC2 × . . . (vii)
2 y
Subtracting equation (vi) from equation (vii),
x
S2 – S1 = 2 ( FC2 – FC1 ) ...(viii)
y
We know that
y
S 2 – S 1 = h.s, and h = ( r2 – r1 )
x
2
S – S1  F – FC1   x 
∴ s= 2 = 2  C2   . . . (ix)
h  r2 – r1   y 
Notes : 1. Unless otherwise stated, the obliquity effect of the arms and the moment due to the weight of the balls
is neglected, in actual practice.
2. When friction is taken into account, the weight of the sleeve (M.g) may be replaced by (M.g. ± F).
3. The centrifugal force (FC) for any intermediate position (i.e. between the minimum and maximum
position) at a radius of rotation (r) may be obtained as discussed below :
Since the stiffness for a given spring is constant for all positions, therefore for minimum and interme-
diate position,
2
 F – FC1   x 
s=2 C   . . . (x)
 r – r1   y 
and for intermediate and maximum position,
2
 F – FC   x 
s = 2  C2   . . . (xi)
 r2 – r   y 
∴ From equations (ix), (x) and (xi),
FC2 – FC1 FC – FC1 FC2 – FC

= =
r2 – r1 r – r1 r2 – r
 r – r1   r2 – r 
or FC = FC1 + ( FC2 – FC1 )   = FC2 – ( FC2 – FC1 )  
 r2 – r1   r2 – r1 
Example 18.13. A Hartnell governor having a central sleeve spring and two right-angled
bell crank levers moves between 290 r.p.m. and 310 r.p.m. for a sleeve lift of 15 m m. The sleeve arms
and the ball arms are 80 mm and 120 mm respectively. The levers are pivoted at 120 mm from the
governor axis and mass of each ball is 2.5 kg. The ball arms are parallel to the governor axis at the
lowest equilibrium speed. Determine : 1. loads on the spring at the lowest and the highest equilib-
rium speeds, and 2. stiffness of the spring.
Solution. Given : N 1 = 290 r.p.m. or ω1 = 2 π × 290/60 = 30.4 rad/s ; N 2 = 310 r.p.m. or
ω2 = 2 π × 310/60 = 32.5 rad/s ; h = 15 mm = 0.015 m ; y = 80 mm = 0.08 m ; x = 120 mm =
0.12 m ; r = 120 mm = 0.12 m ; m = 2.5 kg
1. Loads on the spring at the lowest and highest equilibrium speeds
Let S = Spring load at lowest equilibrium speed, and
S 2 = Spring load at highest equilibrium speed.
Since the ball arms are parallel to governor axis at the lowest equilibrium speed (i.e. at
N 1 = 290 r.p.m.), as shown in Fig. 18.20 (a), therefore
r = r1 = 120 mm = 0.12 m
Chapter 18 : Governors l 681
We know that centrifugal force at the minimum speed,
FC1 = m (ω1)2 r1 = 2.5 (30.4)2 0.12 = 277 N
Now let us find the radius of rotation at the highest equilibrium speed, i.e. at N 2 = 310 r.p.m.
The position of ball arm and sleeve arm at the highest equilibrium speed is shown in Fig. 18.20 (b).
Let r2 = Radius of rotation at N 2 = 310 r.p.m.
y
We know that h = ( r2 – r1 )
x
x  0.12 
or r2 = r1 + h   = 0.12 + 0.015   = 0.1425 m
 
y  0.08 
∴ Centrifugal force at the maximum speed,
FC2 = m (ω2)2 r2 = 2.5 × (32.5)2 × 0.1425 = 376 N
Fig. 18.20
Neglecting the obliquity effect of arms and the moment due to the weight of the balls, we
have for lowest position,
x 0.12
M . g + S1 = 2FC1 × = 2 × 277 × = 831 N
y 0.08
∴ S2 = 831 N Ans. (3 M = 0)
and for highest position,
x 0.12
M . g + S2 = 2FC2 × = 2 × 376 × = 1128 N
y 0.08
∴ S1 = 1128 N Ans. (3 M = 0)
2. Stiffness of the spring
We know that stiffness of the spring,
S 2 – S1 1128 – 831
s= = = 19.8 N/mm Ans.
h 15
Example 18.14. In a spring loaded Hartnell type governor, the extreme radii of rotation of
the balls are 80 mm and 120 m m. The ball arm and the sleeve arm of the bell crank lever are equal
in length. The mass of each ball is 2 kg. If the speeds at the two extreme positions are 400 and
420 r.p.m., find : 1. the initial compression of the central spring, and 2. the spring constant.

Hartnell Governor

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678 l Theory of Machines

18.8. Hartnell Governor

FC2 – FC1 FC – FC1 FC2 – FC

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