Governor Apparatus

INTRODUCTION

The EES® Governor Apparatus Model No. EES-EM-132 is intended for educational and
experimentation purposes. It is used to demonstrate the principle of various centrifugal governors.

Due to its compact and clearly laid-out design, the apparatus is suitable both for demonstration and
for student experimentation purposes. The digital rotational speed display and the simple calculation
of flyweight and shell masses permit easy and precise evaluation of the experiments.

The purpose of centrifugal governors is to activate the actuator in a control loop, based on their
rotational speed. In a steam engine, for example, the seam inlet is throttled by way of a valve when
the engine’s rotational speed becomes excessive; as the speed fails the steam inlet is re-opened.

The centrifugal force systems can be used to plot characteristic curves and calculate setting curves.
With the wide range of accessories the various governors can be differently configured. The fly-
weights and the shell forces can be varied.

The supply package includes three of the best-known centrifugal force systems:
- Porter Governor
- Proell Governor
- Hartnell Governor

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Governor Apparatus

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APPARATUS DESCRIPTION

The base unit contains the drive unit with an electronically controlled motor. The motor is switched
on and off with the motor button. The apparatus must only be started up when the protective hood is
located in its retaining seat. The motor speed is set steplessly with a 10-speed potentiometer. A
digital tachometer indicates the rotational speed in rpm.

3 2 4 6 5

The centrifugal force systems are inserted from above into a clamping spindle (1). When the motor
has been switched on and has reached lift-off speed, the shell (2) is lifted by the centrifugal force
acting on the flyweights (3). The travel is limited at the top and bottom by pins (4), and can be read
from the puncture marks (5) on the governor shaft (6). The gap between the punctures is 5mm.

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STARTUP PROCEDURE

1. Place the apparatus on a straight, flat bench.

2. Connect the power supply.
3. Switch on the apparatus with the main switch.
4. Insert the centrifugal force system.
5. Place the protective hood in the retaining seat.
6. Turn the 10-speed potentiometer counter clockwise to its limit.
7. Slowly increase the rotational speed by turning the 10-speed potentiometer clockwise.

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CHANGING CENTRIFUGAL FORCE SYSTEMS

To mount and remove the centrifugal force systems, loosen the union nut (1). Push the centrifugal
governor to the limit into the collect chuck (2) of the spindle (3). Using a wrench, carefully tighten
the union nut on the collet chuck.

Important
After complete removal of the union nut (1) and the collet chuck (2), the collet chuck must first be
inserted in the union nut, and then the union nut screwed back into the spindle together with the
collet chuck.

Important!
Make sure the centrifugal governor is fitted firmly in the clamping spindle. The centrifugal
governors could come loose and be thrown out.

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 Governor Apparatus

CONFIGURING THE CENTRIFUGAL FORCE SYSTEMS

The centrifugal force systems can be configured in differing ways, allowing heir properties to be
altered.

If a new valve was fitted when the actuating force of a valve in a steam power plant was changed,
for example, the centrifugal forces on the governor must change in order to retain the same rotational
speed.

To investigate and demonstrate such changes of state, the Porter and Proell governors allow the
flyweights to be exchanged and the shell weight to be varied by means of mass disks.

On the Hartnell governor the shell spring can be replaced or pre-tensioned. The gaps between the
flyweights can also be changed, leading to a change in centrifugal force.

Porter and Proell Governors

The Porter Governor is supplied with steel fly-weighs and the Proell governor with aluminium
flyweights. The masses are interchangeable between the governors. The flyweights comprise a mass
with journal (1) and a mass with a hole(2); the two together form the flyweights for one side.

The masses (1+2) are bolted together with the shims (3) and the arms (4) of the governors. It must
always be ensured that the same weight is mounted on each side of the governor. The mass disks (5)
for the shell are simply placed on the shell (6) from above.

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 Governor Apparatus

Hartnell Governor

To replace the shell spring (1), the rotary plate (2) is unscrewed from the governor shaft (3). When
inserting the springs it must be ensured that the spring ends are pushed over the relevant shoulder
94) of the upper and lower plate respectively. The shell spring is pre-tensioned by rotating down the
upper plate. The spring travel x should then always be measured for subsequent evaluation of
experiments.

The flyweight (5) can be adjusted on their lever arm (6) to produce a different centrifugal force. For
this, the upper and lower knurled nuts (7) must be loosened. After moving the masses, lock the
knurled nuts against the mass to prevent it from slipping. On both sides the distance of the
flyweights from their pivot point (P) should always be the same.

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 Governor Apparatus

THEORY

Orbital Motion of a Body

A technically important special case in terms of motion of bodies is orbital motion. This is motion on
a curved path with constant radius of curvature or path radius r.

To derive the accelerations occurring for one point on an orbital path, the position of the point P is
defined by its radius vector r. In Cartesian path coordinates the radius vector can be written as
follows.

In this, r is the radius of the orbital path and φ the angle of rotation at the point in time t. The
velocity vector v is obtained by differentiation by time t

The vector
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 Governor Apparatus

has the direction of a tangent on the orbital path and is termed the tangential unit vector. Its amount
is 1.

If for φ the angular velocity ω is inserted, the path velocity or circumferential velocity

vt = r ω is obtained.

The acceleration vector is obtained by again differentiating.

The acceleration vector can be written as the sum of two vectors.

The vector in the first summand is again the tangential unit vector in tangential direction. The vector
points to the mind point of the orbital path and is termed normal unit vector.

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 Governor Apparatus

Thus, two acceleration components act on one point on an orbital path:

- A path acceleration in tangential direction

- A normal or radial acceleration in the direction of the mid point of the orbital path

The angular velocity ω in rad/s is calculated from the rotational speed n in rpm

In a motion with constant angular velocity ω = const (constant rotational speed) the tangential
acceleration is equal to zero. Only the normal acceleration an remains.

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KINETICS OF A BODY ON AN ORBITAL PATH

A body on an orbital path is thus accelerated even at constant velocity (rotational speed). The
acceleration is directed towards the mid point of the orbital path.

The bring about this acceleration of the body an external force is required. This force must act in the
direction of acceleration, that is towards the mid point of the orbital path. The basic law of dynamics
(Newton’s 2nd exiom) applied to the centre of gravity produces.

m an = ΣFi = F

The only active external force here is the centrifugal force F.

With the angular velocity ω the centrifugal force is

F = m r ω2

It is seen that the centrifugal force increases linear to the mass m and the path radius r.

The angular velocity ω is incorporated in square form, that is, at double the rotational speed four
times the force is necessary to keep the body on the orbital path.

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 Governor Apparatus

KINETICS AND KINEMATICS OF THE CENTRIFUGAL FORCE SYSTEMS

PORTER GOVERNOR

From the geometry and the isolated segments of the system, and taking account of the general
kinetic and kinematic relations, equations can be drawn up with which the governor can be designed.

The adjacent diagram shows the geometry of the Porter governor. In the present case, the arm
lengths and the distances a of their pivot points to the rotational axis are equal.

l1 = l2 consequently α = β

System I

Balance of horizontal forces:

ΣF = 0 = F1 sinα + F2 sinα – mG . an

Balance of vertical forces:

ΣF = 0 = F1 cosα - F2 cosα – mG . g

System II

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 Governor Apparatus

Balance of vertical forces:

ΣF = 0 = F2 cosα – mH/2 . g

Resolution and transformation with r = I . sinα + a produces the following main equation:

With ω = 2.π.n, an equation can then be found to enable the governor to be designed:

Resistances of air and material friction in the shell and the fixings are ignored in these equations, as
are the masses of the arms.

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 Governor Apparatus

Dimensions and masses:

a = 25mm
l = 85mm
α low = 28.1o
α high = 45.1o
r low = 65mm
r high = 85.2mm
mH = Sleeve mass + Added Mass = 118g+ (6 x 100g)
mG = 266g Aluminium, 630g Steel

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 Governor Apparatus

PROELL GOVERNOR

From the geometry and the isolated segments of the system, and taking account of the general
kinetic and kinematic relations, equations can be draw up with which the governor can be designed.

The adjacent diagram shows the geometry of the Proell governor. In the present case, the distances
of the arms to the bend point K and the distances a of their pivot points to the rotational axis are
equal.

l1 = l2 consequently α = β

System I

Balance of horizontal forces:

ΣF = 0 = F1 . sinα + F2H – mG . an

Balance of vertical forces:

ΣF = 0 = F1 . cosα + F2V – mG . g

Balance of moments around point S:

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 Governor Apparatus

Σ M = 0 = F1 . cosα . l3 . sinβ + F1 . sinα . l3 . cosβ + F2H . L . cosβ – F2V . L . sinα

System II

Balance of vertical forces:

ΣF = 0 = F2V – mH/2 . g

Resolution and transformation with r = L . sinα + a produces the following main equation:

With ω = 2.π.n, an equation can then be found to enable the governor to be designed:

Resistances of air and material friction in the shell and the fixings are ignored in thee equations, as
are the masses of the arms.

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 Governor Apparatus

Dimensions and masses:

a = 25mm
l = 85mm
l3 = 40mm
L = 125mm
α low = 28.1o
α high = 45.1o
r low = 83.8mm
r high = 113.5mm
h low = 88.2mm
h high = 110.3mm
mH = Sleeve mass + Added Mass = 118g+ (6 x 100g)
mG = 266g Aluminium, 630g Steel

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 Governor Apparatus

HARTNELL GOVERNOR

From the geometry and the isolated segments of the system, and taking account of the general
kinetic and kinematic relations, equations can be drawn up with which the governor can be designed.

The adjacent diagram shows the geometry of the Hartnell Governor.

System I

Balance of moments around point S:

ΣM = 0 = mG . g . l1 . sinα + mG . ω2 . R . l1 cosα – F1 . l2 . cosα

Resolution ad transformation procedures:

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The shell spring is pre-tensioned by rotating down the upper plate. The spring travel should then
always be measured for subsequent evaluation of experiments. The spring travel changes as the
flyweight excursion mG increases. This correlation results in:

With R = a + l1.sinα the following main equation is produced:

Because of the complexity of the Hartnell Governor, no design equation is drawn up here.

With ω = 2.π.n here too, however, governor settings can be found by way of the rotational speed n.

Resistances of air and material friction in the shell and the fixings are ignored in these equations, as
are the masses of the arms.

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 Governor Apparatus

Dimensions and masses:

a = 60mm
l1 = 40-90mm
l2 = 45mm
α low = 0o
α high = 39.5o
R low = 60mm
R high = 117.2mm
mH = 63g
mG = 333g (incl. 2 knurled nuts)

Spring C1:
c1 = 2.1414N/mm
mF1 = 32.5g

Spring C2:
c2 = 1.261N/mm
mF2 = 40.2g

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TEACHER’S GUIDE

Porter Governor

Theoretically RPM:

Note:
All values should be in S.I units (kg and m)

α= 45.1o
Added mass = 400g
mH = 118g+400g
mG = 266g

ω2 = [1+ (518x10-3kg/266x10-3kg)] x 9.81m/s2 x [tan45.1/(85x10-3m . Sin45.1 + 25x10-3m)]

ω2= 2.95 x 9.81 x 11.7769
ω2= 340.51
ω= 18.45 rad/sec

N = ω.60 / 2.π
= 176.21 rpm

Experimentally observed RPM on digital Tachometer:

N = 185 rpm

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 Governor Apparatus

Proell Governor

Theoretically RPM:

Note:
All values should be in S.I units (kg and m)

α= 45.1o
mH = 118g+400g
mG = 630g

ω2= 79.734
ω= 8.93 rad/sec

N = ω.60 / 2.π
= 85.3 rpm

Experimentally observed RPM on digital Tachometer:

N = 95 rpm

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 Governor Apparatus

Hartnell Governor

Theoretically RPM:

Spring pretension = 15mm

Spring Sample = Large Spring

ω2= 289.74
ω= 17.02 rad/sec

N = ω.60 / 2.π
= 162.54 rpm

Experimentally observed RPM on digital Tachometer:

N = 182 rpm

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