1

7. GOVERNORS
Governors are used to regulate fluctuation of speed.
7.1. Classification of Governors
Governors broadly classified into two categories, depending on the
controlling force acting on the governor.
Centrifugal governors, and
Inertia governors.
7.1.1 . Centrifugal Governors (Loaded Governors)
Are based on the balancing centrifugal force acting on rotating
balls by an equal and opposite radial force known as the controlling
force.
The centrifugal force acting on the rotating balls cause a sleeve to
rise or fall until equilibrium is maintained.
fuel supply in engines is adjusted by linkages connected to the sleeve.
Centrifugal governors are of two type:
Dead weight governors, and
Spring loaded governors. (see figure below)
2








7.1.2. Governor Characteristics
To regulate speed, a governor must posses certain qualities.
A governor has to maintain the mean speed of rotating member by
floating in the mean position b/n extreme positions.
At the same time it must readily respond to changes of speed.
The characteristics that are related to the proper functioning of a
governor are
Stability, and
Sensitivity, which affect the controlling force of the governor.

3
7.1.2.1 Controlling Force
Is the equivalent inward radial force that controls ball movement
It is due to sleeve weight, spring force, etc,
Constraining force acting on the balls.
Depends on the horizontal radial position of the balls and it may be
expressed as


Assume the governor to be rotating at a constant angular velocity
e rad/s, and let r be the radius of the circle in which the balls
rotate.
Neglecting the effect of friction and inertia forces of the links, the
centripetal force acting on the balls is


At constant speed e, the centripetal force is plotted against r as
shown below.

) 1 ( ) (r f F =
) 2 (
2
e mr F
c
=
4
The graph of F
c
cuts the graph of the controlling force at P, for
which

for a constant radial distance r and steady angular velocity e.
) 3 ( ) (
2
e mr r f F = =
5
7.1.2.2 Stability
If a governor is stable and the balls are slightly displaced from the
equilibrium position, e being constant, the balls have the tendency
to return to the equilibrium position.
Let the balls be displaced from the equilibrium position by an
amount or .
The corresponding increment in the centripetal force F
c
is



the corresponding increment in the controlling force F is



dF/dr is the slop of the controlling force at point P and me
2
is the
slop of the centripetal force F
c
.
) 4 (
2
r m r
r
F
F
c
c
o e o o =
c
c
=
) 5 ( r
dr
dF
F o o =
6
The restoring force on each ball is given by




For stability of the governor, the restoring force has to satisfy the
condition F
r
> 0, i.e.
) 7 (
,
) 6 (
2 2
r m
dr
dF
r m r
dr
dF
F
or
F F F
r
c r
o e o e o
o o
|
.
|

\
|
= =
=
) 10 (
,
) 9 (
) 8 ( 0
2
2
r
F
dr
dF
or
m
dr
dF
r m
dr
dF
c
>
>

>
|
.
|

\
|

e
o e
7
But, at a radial distance r, F
c
=F as shown in figure above.
the condition for stability is obtained to be



i.e. slope of the controlling force must be greater than the slope of
the centripetal force as can be observed from the figure below.
) 11 (
r
F
dr
dF
>
8
For complete stability of the governor, the above condition must be
satisfied at all speeds within the operating range of the governor.
At equilibrium speed,


From which we obtain



A governor is stable if r increases as e increases; i.e. F/r must
increase for increasing r.

) 12 (
2
e mr F F
c
= =
) 13 (
mr
F
= e
9
7.1.2.3 Sensitivity
Sensitivity of a governor is defined as the change in level of the
revolving balls corresponding to a change of speed.
For maximum and minimum governor speeds, e
1
and e
2
,
respectively, the coefficient of sensitivity of a governor is defined
as




Similarly, coefficient of insensitivity, is defined as


where = range of governor speed in which the control
member remains stationary due to friction in
the system
and
) 14 (
) ( 2
2 1
2 1
2 1
e e
e e
e e
e
o

+
=

=
mean
g
) 15 (
m
g
c
e
e e
'
' '

'
=
e e ' ' '
) (
2
1
e e e
' '
+
'
=
'
m
10
7.1.2.4 Isochronous Governor
A governor is said to be isochronous when it is infinitely sensitive.
This condition is obtained when

For this case, the controlling force curve becomes a straight line
coinciding with the centripetal force.
the governor becomes isochronous when



For this condition, the balls immediately fly outward for a slight
increase of speed and move inward for a slight decrease of speed.
It is worth noting that sensitivity is obtained at the expense of
stability.


2 1
e e =
) 16 (
r
F
dr
dF
=
11






7.1.2.5 Power of a Governor
Power of a governor is work done at the sleeve for a given change
in speed.
power = total energy capacity





power = mean effort x sleeve movement (18)
) 17 ( ) ( 2
2
2
1
2
1
Nm dr r f
Fdr Power
r
r
r
r
}
}
=
=
12
7.1.2.6 Effort of a Governor
Effort of a governor is defined as the
force exerted at the sleeve for a given
fractional change in speed of the
governor.
The effort is exerted on the sleeve to
overcome the resistance at the sleeve
which opposes the sleeve motion.

7.1.3 The Porter Governor
The porter governor is a dead weight
governor.
As the speed of the shaft increases,
the balls move outward raising the
sleeve height, and vise versa.
Let m
1
be the mass of the sleeve and
m
2
be the mass of each ball.

13
Considering the equilibrium of the forces acting at C, we have


Considering vertical equilibrium at the balls




Considering horizontal equilibrium at the balls



) 19 (
2
cos
1
3
g m
T = u
) 20 (
2
cos cos
2
1
2 3 2
g m
g m
g m T T
+ =
+ = u |
) 21 ( tan
2
sin
cos
sin
2
sin
sin sin
1
2
1
2
3 2
u |
u
u
|
u |
g m
F T
F
g m
T
F T T
=
= +
= +
14
Dividing equation (21) by (20)








Let


And using
) 22 (
tan tan
tan
2 2
2
tan
2
tan
1
2
1
2
1
1
| |
u
u
|
F g m
g m
g m
or
g m
g m
g m
F
= +
|
.
|

\
|
+
+

=
,
tan
tan
q =
|
u
r m F and
h
r
2
2
, tan e | = =
) 23 (
2 2
2
2 1
2
1
h
r
r m
q
g m
g m
g m e
= + +
15
Solving equation (23) for h,



For q = 1, where the pendulum arms and suspension links are
equal and axes of the joints at B and C intersect at
the main axes, or at equal distance from the axis,



The change in level of the revolving balls is the same as the
change in the height of the governor. From equation (25), it can be
written


Where, C is a constant that depends on the type of governor and the various
weights, and
n is the speed of the governor in revolutions per second.
) 24 (
1
) 1 (
2
2
2
2
1
e

+ +
=
m
g m q
g m
h
) 25 (
1
2
2
2 1
e

+
=
m
g m g m
h
) 26 (
2
n
C
h =
16
Increasing the speed from n to x.n, for x > 1, the height of the
governor for this speed is


the change in height of the governor is




The change in the level of the revolving parts is a measure of the
sensitivity of the governor, thus the sensitivity is directly
proportional to the height h.
For porter governor



) 27 (
2 2 2
1
x
h
x n
C
h = =
) 28 (
1
2
2
2
1
|
|
.
|

\
|
= A
= = A
x
x
h h
x
h
h h h h
) 29 (
4
1
2
2
2
2 1
2
2
2 1
n
g
m
m m
m
g m g m
h
t
e

|
|
.
|

\
|
+
=

+
=
17
7.1.3.1 Controlling Force of Porter Governor
Consider a Porter governor with all four links of equal length and
pivoted at the axis of the shaft rotating at some angular velocity e
with the lower and upper limits of e
1
and e
2
.
From equation (23) above, the controlling force is given as


Substituting for h, F is obtained to be


The curve of the controlling force is obtained from this equation
it cuts the r-axis at the origin as shown.
A vertical line is now drawn through any arbitrary radius r
r
greater
than the radius corresponding to the maximum sleeve height or
maximum speed of the shaft.
On this line (speed ordinate) values of the centripetal force
F
c
=m r
r
e
2
for various e values, including e
1
and e
2
, are
marked.
( ) ) 30 (
2 1
h
r
g m g m F + =
( ) ) 31 (
2 2
2 1
r l
r
g m g m F

+ =
18










Lines are then drawn joining the origin O and the various values of
F
c
for the different values of es marked on the speed ordinate.
These lines are known as speed lines.
The radius of the balls for intermediate values of e, where
e
1
<e<e
2
are obtained from the intersection of the appropriate
speed lines with the controlling force curve.
This diagram is known as the characteristic diagram of the Porter
governor.
19
If the effect of friction is considered in the above analysis, then the
governor needs to overcome the frictional resistance.
Thus, the controlling force becomes

for rising speed


for falling speed

N.B.


The values of e for r
r
is obtained from
( ) ,
2 2
2 1
r l
r
f g m g m F

+ + =
( )
2 2
2 1
r l
r
f g m g m F

+ =
( ) ) 32 (
2 2
2 1
2
2
r l
r
f g m g m r m F

+ = = e
) 33 (
1
) (
2 2
2
2 1
2
r l
m
f g m g m

|
|
.
|

\
|
+
=
'
e
20
From equation (33), for rising speed of the governor, we obtain



And for falling speed



The curves corresponding to e
2
and e
1
are indicated by ab and
cd respectively.
It follows that the governor speed will rise to a maximum e
2
> e
2

and will fall to

e
1
< e
1
for the extreme positions of the sleeve
travel.
) 34 (
1
) (
2 2
2
2 1
2
2
r l
m
f g m g m

|
|
.
|

\
|
+ +
=
'
e
) 35 (
1
) (
2 2
2
2 1
2
1
r l
m
f g m g m

|
|
.
|

\
|
+
=
'
e
21
) 36 (
2
2 1
2
h
g
m
m m

|
|
.
|

\
|
+
= e
( ) ) 38 ( 2 2
, 1
) 37 (
1
2 2
2 2
2 1
2
2
1
2
1
2
2
h
r
g m g m r m F
q f or or
h
qr
g m
r g m
g m
r m F
+ = =
=
)
`

+
|
.
|

\
|
+ = =
e
e
7.1.3.2 Effort of Porter Governor
is the force which it is capable of exerting at the sleeve for a given
percentage or fractional change of speed.
From equation (25) we have



Let the speed be increased from e to xe and let a force V be
applied at the sleeve in a downward direction, V being just
sufficient to prevent the sleeve from rising.
This will increase the centripetal load from m
1
g to m
1
g + V.
The centrifugal force on the two balls is
22
At the increased speed xe,


Subtracting F from F
1
we obtain


From which V can be evaluated as

If V is made to diminish gradually to zero, the sleeve will rise until
the height h is obtained to be


And the average value of the effort on the sleeve during the rise
will be V/2, i.e.

( ) ) 39 ( 2 2
2 1
2 2
2 1
h
r
g m V g m r x m F + + = = e
) 40 ( 2 ) 1 ( 2
2 2
2 1
h
r
V x r m F F = = e
) 41 ( ) 1 (
2 2
2
= x h m V e
( )
) 42 (
1
2 2
2
2 1
e x m
g m m
h
+
=
) 43 ( ) 1 (
2
1
2
1
2 2
2
= = x h m P V e
23
Substituting for e
2
,



P is the resistance of the sleeve which the governor is capable of
overcoming with the increase of speed from e to xe.
For decrease of speed from e to xe, for x<1, P is given by



which is acting in the opposite direction.
( )
( )
) 44 (
1
2
1
2
2
2 1
x
x
g m g m P

+ =
( )
( )
) 45 (
1
2
1
2
2
2 1
x
x
g m g m P

+ =
24
7.1.3.3 Power of Porter Governor
Power of governor is the amount of work which the governor is
capable of doing at the sleeve for a given fractional change of
speed


Where

And


power of Porter governor is given by



) 46 (
) ( ) (
s P U
lift sleeve effort mean power
=
=
( )
( )
2
2
2 1
1
2
1
x
x
g m g m P

+ =
|
|
.
|

\
|
= A =
=
2
2
1
2 2
x
x
h h s
movement sleeve s
( )
( ) ) 48 (
1
) 47 (
1
2
1
2
1
2
2
2
2 1
2
2
2
2
2 1
h
x
x
g m g m U
h
x
x
x
x
g m g m U

|
|
.
|

\
|

+ =

|
|
.
|

\
|

|
|
.
|

\
|

+ =
25
7.1.3.4 Effect of Friction on the Porter Governor
At a definite sleeve height, the speed may vary from an upper limit
e
2
to a lower limit e
1
without any change of sleeve height due to
the presence of friction in the system.
Let the friction force be f .







From this we obtain the difference in the square of the speeds as:
) 50 (
1
) 49 (
1
2
2 1
2
1
2
2 1
2
2
h m
f g m g m
and
h m
f g m g m

|
|
.
|

\
|
+
=

|
|
.
|

\
|
+ +
=
e
e
) 51 (
1 2
2
2
1
2
2
h m
f
= e e
26
Nothing that


For any speed e
1
<e<e
2



Letting e
1
+ e
2
= 2e for a small variation of speed, from the above
equation we obtain



From which the friction force f can be evaluated to be



The above equation gives the friction force that keeps the sleeve
height constant for the change of speed from e
2
to e
1
or vise-versa
The ratio should normally be b/n 0.005 and 0.04.

h
g
m
m m
|
|
.
|

\
|
+
=
2
2 1
2
e
( )
) 52 (
2
2 1
2
2
1
2
2
g m m
f
+
=

e
e e
( )
) 53 (
2 1
1 2
g m m
f
+
=

e
e e
( ) ) 54 (
2 1
1 2
g m m f +

=
e
e e
e
e e
1 2

27
7.1.4. Hartnel Governor
A Hartnel governor is a spring loaded governor as shown below.
The balls B are mounted on the vertical arms of the bell-crank
levers which are pivoted at O.
The pivots are fixed on a frame keyed to the shaft.
The helical spring in compression provides downward forces on
the rollers through the collar of the sleeve
28
Let m
1
be the mass of the sleeve and m
2
be the mass of each ball.
The maximum and minimum positions of the governor
corresponding to the maximum and minimum speeds are shown in
fig (a) and (b) respectively.
29
For the maximum position



and for the minimum position



Adding equations (55) and (56) and simplifying




) 55 (
1 1
x
r r
y
h
=
) 56 (
2 2
x
r r
y
h
=
) 58 ( ) (
) 57 (
2 1
2 1
2 1 2 1
x
y
r r h
h h h letting
x
r r
y
h h
=
+ =

=
+
30
For maximum position and taking moments about O,





For minimum position, again taking moments about O,





Subtracting equation (60) from equation (59)
( ) ( )
( ) ( ) ) 59 (
2
2
1
1 1 1 2
1
1 1
1 1 1 2 1 1 1
x F r r g m
y
P g m
x F r r g m y P g m
+ = +
+ = +
( ) ( )
( ) ( ) ) 60 (
2
2
1
2 2 2 2
2
2 1
2 2 2 2 2 2 1
x F r r g m
y
P g m
x F r r g m y P g m
+ = +
+ = +
( ) ( ) ( ) ( ) ) 61 (
2 2
2 2 2 2
2
1 1 1 2
1
2 1
x F r r g m
y
x F r r g m
y
P P + + =
31
But

where k = spring constant and

Thus the spring constant k is obtained from



Neglecting the effect of obliquity of the arms for small angles, we
have

) 62 (
2 1
hk P P =
x
y
r r h ) (
2 1
=
) 63 (
2 1
2 1
y
x
r r
P P
k
|
|
.
|

\
|

=
( )
) 65 ( 2
) 64 ( 2
,
2
2 1
2 1
2 1 2 1
2 1 2 1
|
|
.
|

\
|
|
|
.
|

\
|

=
=
= = = =
y
x
r r
F F
k
y
x
F F P P
y y y x x x
32
7.1.4.1 Controlling Force of the Hartnel Governor
Assume the position of arm OR to be inclined at an angle of u to
the horizontal as shown below corresponding to the speed e.










33
Taking moments about O,




Let k be the stiffness of the spring and P
o
be the values of P for
u=0,

Neglecting sleeve weight



For small angle u, tanu ~ sinu , therefore,

( )
( ) ) 66 ( tan
2
cos
2
1
sin cos
2 1
1 2
u
u u u
g m
x
y
g m P F
y g m P x g m x F
+ =
+ = +
) 67 ( sinu y k P P
o
+ =
) 68 ( tan sin
2 2
2
2
u u g m
x
ky
x
y P
F
o
+ =
) 69 ( sin
2 2
2
2
u
|
|
.
|

\
|
+ = g m
x
ky
x
y P
F
o
34
Noting that



,
x
c r
sin

=
( ) ) 70 (
2 2
2
2
2
c r
x
g m
x
ky
x
y P
F
o

|
|
.
|

\
|
+ =
35
The slope of the controlling force F = f(r) is, therefore,



and passes through the point for which


If points P and Q represent the limits of action,





the increment in the controlling force is


|
|
.
|

\
|

x
g m
x
ky
2
2
2
2
c r when
x
y P
F = =
2
0
( )
( ) ) 72 (
2 2
) 71 (
2 2
2
2
2
2
0
2
1
2
2
2
0
1
c r
x
g m
x
ky
x
y P
F
c r
x
g m
x
ky
x
y P
F

|
|
.
|

\
|
+ =

|
|
.
|

\
|
+ =
( ) ) 73 (
2
1 2
2
2
2
1 2
r r
x
g m
x
ky
F F
|
|
.
|

\
|
=
36
7.2 SHAFT GOVERNORS
Shaft governors are directly fitted on the main shaft of the engine
and the masses revolve at right angles to the shaft axis which in
general is horizontal.
Shaft governors are classified into two
Centrifugal flywheel governors, and
Inertia governors.
Both shaft governors operate by a combination of radial and
transverse accelerating forces.
7.2.1. Centrifugal Shaft Governor (Flywheel Type)
The effect of transverse accelerating force is neglected.
Heavy links carrying masses are pivoted on the disc which is
keyed
to the engine shaft as shown in the figure below.
Let the tension in each control spring be P and the resistance due
to the control mechanism be R for a constant angular speed e.


37










The moment about the pivot A of the external force on link AC is
defined as the controlling couple and is denoted by L.

For constant e, the acceleration of the mass center G is directed
toward O and

) 76 ( Pa Rb L + =
) 77 (
2
OG a
G
= e
38
The moment about A due to the inertia force is equal to the
controlling couple; i.e.

Noting that

The controlling couple is obtained to be


At minimum speed e
1
the controlling couple is


and at maximum speed e
2
,



N.B. that the component of the controlling couple due to the
resistance of the control mechanism remains unchanged with the
change in speed.
) 78 ( cos
2
e AG OG m L =
) 79 ( sin OA OH cos OG = =
) 80 (
2
sin AG OA m Rb Pa L = + = e
) 81 (
1
2
1 1
sin AG OA m Rb a P = + e
) 82 (
2
2
2 2
sin AG OA m Rb a P = + e
39
Hence, from the above two equations the following relation is
obtained.


For small angular displacement u
2
- u
1
, the increment in the spring
force is


7.2.1.1. Condition of Isochronism
Differentiating equation (80) with respect to u, we have


From equation (84), noting that dP = P
2
- P
1
for small angular
displacement u
2
- u
1
,

( ) ( ) ) 83 (
1 2 1
2
1 2
2
2
sin sin AG OA m a P P =
( ) ) 84 (
1 2 1 2
u u = ka P P
) 85 ( cos
2
u e
u
= AG OA m
d
dP
a
) 86 ( ka
d
dP
=
u
40
Hence, from the above two equations the following relation is
obtained.


Substituting OA cosu = AH, the spring constant k is given by



For successful regulation, the spring constant in an actual governor
must be greater than the stiffness k given in the above equation.
) 87 (
2 2
cos AG OA m ka = e
) 88 (
2
2
a
AH AG
m k

= e
41
7.2.1.2 Effect of Angular Acceleration
Suppose the governor is subjected to an angular acceleration o in
addition to the angular speed e as shown below.






Let O be the angular velocity and be the angular acceleration of
link AC.
The acceleration of the mass center G is


( ) ( ) ( ) ( ) ( ) ( ) ) 90 (
) 89 (
t
A G
n
A G t A n A
y
G
x
G
A G A G
a a a a a a
or
a a a
+ + + = +
+ =
O

42
where





In their respective directions as shown in the figure below.
( )
( )
( )
( ) AG a
AG a
OA a
OA a
t
A G
n
A G
t A
n A
O =
O =
=
=

2
2
o
e
43
From the acceleration polygon


The acceleration of G is, therefore, given by

External forces acting on link AC are
the tension in the control spring P,
the resistance due to the control mechanism R, and
the reaction force at A, A
x
and A
y
.
The free-body-diagram of link AC is shown including the inertia force
and inertia torque.
( )
( ) ) 92 (
) 91 (
AG OAcos OAsin a
AG OAsin OAcos a
2
y G
2 2
x G
=
+ =

( ) ( ) ) 93 (
y G x G G
a a a + =
44
From conditions of dynamic equilibrium:








where k
G
is the radius of gyration of link AC about the mass center
G
Substituting for A
y
= (ma
G
)
y
R P, the moment equation can be
written as


From which we obtain
| | ( )
( )
| | ( )
( )
| |
) 96 ( ) ( ) (
0 ) ( ) ( 0
) 95 (
0 0
) 94 (
0 0
2
2
a AG P AG b R AG A mk
AG A a AG P mk AG b R M
A a m
A a m F
A P R a m
A P ma R F
y G
y G G
x x G
x x G x
y y G
y y G y
+ = O
= O + =
=
= =
+ + =
= + =

| | ) 97 ( ) ( ) ( ) (
2
a AG P AG b R AG P R a m mk
y G G
+ = O

) 98 ( ) (
2
O = +

G y G
mk AG a m Rb Pa
45
Again, substituting for (a
G
)
y
, the controlling couple L becomes




where k
A
is the radius of gyration of link AC about A and is given by


At a steady e where both are zero, and the controlling couple
becomes


which is the same as equation (80) obtained for steady angular velocity e.
If the angular acceleration o is suddenly imparted to the shaft while
rotating at a steady angular velocity e, equation (100) is used to
determine , the acceleration at which the arms begin to move
outwards.
(100) mk cos) sin AG( mOA Rb Pa L
or
(99) ) k m(AG cos) sin AG( mOA Rb Pa L
2
A
2
2
G
2 2

= + =
+ = + =
) 101 (
2 2 2
AG k k
G A
+ =
O

and o
) 102 ( sin AG mOA L
2
=
u

46
At this instant, both equation (80) and (100) are satisfied
simultaneously. Therefore,


From which the following relation is obtained;





is positive in the direction of u increasing.
From relative acceleration relations
) 103 ( mk cos) sin AG( mOA sin AG OA m L
2
A
2 2

= =
) 105 (
) 104 (
2
cos
k
AG OA

and
mk cos AG mOA
A
2
A
o
o

=
=

) 107 (
) 106 (
o u
o u
+ O =
= O


or
47
7.2.1.1 Action of flywheel governor under changing speed.
During speed change from e
1
to e
2
, equation (100) holds. When
the speed e
2
is reached,


But link AC has an angular velocity relative to the governor
frame which keeps u increasing beyond the equilibrium position u
2
.
The equation which governs this motion is



Assuming small movements and further assuming that e
2
= e at
the same instant when u
2
= u , the term in brackets in equation
(109) becomes zero; i.e.


) 108 ( 0 , 0 = O =

o
u

( ) ) 109 ( 0 sin
2
2
2
2
2
= + AG mOA L
dt
d
mk
A
e
u
( ) ) 110 ( 0 sin
2
2
= u e AG mOA L
48
At an angle u

slightly greater than u
2
, the term in brackets is given
by


where | is the small angular movement measured from the equilibrium
position u
2
.
Thus equation (109) becomes


Equation (112) is a differential equation in | and can be written as



) 111 ( ) cos (
2 2
| u e | AG OA m ka
increament couple l centripeta the force g controllin the

=
) 112 ( 0 ) cos (
2
2
2
2
2
2
2
= + | u e
|
AG mOA ka
dt
d
mk
A
( )
) 114 (
cos
) 113 ( 0
2
2
2
2
2
2
2
2
2
A
mk
AG mOA ka
p
where
p
dt
d
u e
|
|

=
= +
49
This equation represents a simple harmonic motion about the
equilibrium position u
2
of period






For the case where
) 115 (
cos
2
2
2 1
2
2
2
2
2
|
|
.
|

\
|

=
=
u e
t
t
AG OA m ka
mk
T
or
p
T
A
) 116 ( cos
cos
2
2
2
2
2
2
2
2
u e
u e

=
=
a
AG OA
m k
or
AG OA m ka
50
A condition of resonance is obtained for which case the governor
becomes isochronous.
For stability of the governor, the spring must satisfy the condition
) 117 ( cos
2
2
2
u e
a
AG OA
m k

>
51
7.2.2 Inertia Governors
Inertia governors are operated by the rate of speed instead of the
finite change of speed.
As shown in the figure below point A is a pivot near the shaft axis.
For some rate of change of the speed, the link carrying the two
balls will start to move causing the spring to deflect.






For convenience, lets consider the displacement of the swinging
link to be measured from the inertial u
1
where the speed is e
1
.
Thus the link is just floating at the speed e
1
and the angle
ZOAG=90
o
is assumed.
52
After time t from the start of the angular acceleration o, referring
to the figure below,

and the angular velocity and controlling couple are



where | is regarded as a small angle and o is constant.




( ) ) 118 ( 90
o
| u + =
) 120 (
) 119 (
2
1
1
|
o e e
ka L L
t
+ =
+ =
53
Equation (100) shows that the controlling couple is maximum when
u = 90
o
and it may be written as







The equation of motion can now be written as


For small angle |, the equation of motion becomes


| |
o u
o u o u e
u
= O
=
=
= +

,
,
) 121 ( ) cos sin (
2
2
2
2
AG mOA J
mk I
where
I J L
dt
d
I
A A
A A
) 122 ( )
2
cos( ) (
2
1
2
1
o |
t
o o e | |
A A
I J t J ka L I =
(

+ + + +

| | ) 123 ( ) (
2
1
2
1
o | o o e | |
A A
I J t J ka L I = + + +

54
For the initial position at a steady speed e
1
, the control couple is


Hence, the equation of motion is






Equation (126) may be written as
) 124 (
2
1
2
1 1
e e J AG OA m L = =
) 126 (
2
) 125 ( 2 ] [
1
2 2 2
1
2 2 2
A
A
A
A A
I
I t J t J
I
J ka
or
I t J t J J ka I
o e o o
|
o
|
o e o o | o |
+ +
=
|
|
.
|

\
|

+
+ + = +


) 127 (
2 2
q rt nt p + + = + | |

55
The general solution of the above equation is



The first term in the solution is the solution of the homogeneous
equation and the second term is the particular solution.
The particular integral gives the position of the swinging link at
time t.
To determine the constant B, we introduce the initial condition |=0
when t=0 which yields
) 128 (
2
cos
4 2
2
(

+ +
+ =
p
n
p
q rt nt
pt B |
) 129 (
2
0
0
2
4 2
4 2
(

=
= +
p
n
p
q
B
r
p
n
p
q
B
56

o |
o
o e
o
|
|
|
= = =
=
=
=
+
(

=
(

+
+
(

=
(

+ +
+
(

=
q t when
q
I
J
r
I
J
n
where
p
n
pt
p
n
q
p
r nt
pt
p
n
p
q
p
n
p
q rt nt
pt
p
n
p
q
A
A

, 0
.
, 2
,
) 132 (
2
cos
2
) 131 (
2
sin
2
) 130 (
2
cos
2
1
2
2 2
2 3
4 2
2
4 2