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\Governor:-
Q1.State the different types of governors. What is the difference between centrifugal and inertia governors?
Why is the former preferred to the later?
M-15-Q5 (b)-08m

Types of governor
Centrifugal governor Inertia governor

Pendulum type e.g. Watt governor Loaded type

Dead weight governor Loaded type Spring controlled governor

Porter proell Hartnell Wilson hartnell Hartung Pickering

Governor governor governor governor governor governor

Centrifugal Governors:

In centrifugal governors, multiple masses know as governor 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.

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.

The inertia governors have an advantage over the centrifugal governor because they give more rapid
response to the change of speed of the engine shaft.

However, it is not possible to achieve the complete balance of revolving parts of the inertia governors. Due
to this disadvantage of the inertia governors, these are not used usually compared to centrifugal governors.

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Q2. Prove that sensitiveness of a proell governor is greater than that of porter governor.

Ans:
M-15-Q1 (b)-05m
Sensitivity of governor

A governor is said to be sensitive when for a small change in immediately there is a change in radius of fly ball.

Sensitivity of governor is defined as the ratio of the difference between the maximum and minimum speeds to the
mean equilibrium speeds to the mean equilibrium speed.

Let N1 = minimum equilibrium speed corresponding to full load condition

N2= maximum equilibrium speed corresponding to zero load condition

N = Mean equilibrium speed

Sensitiveness of governor =

N −N
=
N

As we know that height of proell governor is less than porter governor.

And height is a function of speed, therefore sensitiveness of a proell governor is greater than that of porter
governor.

Q3.Explain the controlling force diagram for a spring controlled governor.

Ans: D-14-Q1 (b)-05m

Controlling force (FC)

When the governor is rotating at an equilibrium speed, the fly balls tend to moves out radially due to centrifugal force.
This force is balanced by an equal and opposite centripetal force acting radially inwards. This inward pull is known as
controlling force.
This force is provided by the mass of the sleeve and the fly ball, dead weight (central load) in porter and proell
governor while by the spring force and mass of fly balls and sleeve in Hatnell governor, also by dead weight in dead
governor.

Plot of controlling force v/s radius of rotation of governor is as shown below.

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Fig. Controlling force for a spring loaded governor

From a graph of Hartnell governor following three conditions can be explained.

Condition 1
If increases with respect to increase in speed of governor then governor is said to be stable governor. And the equation
of controlling force is given by
FC = a. r – b
Where
a and b = constants
r = radius of rotation
Condition 2
If decreases with respect to increase in speed of governor then governor is said to be unstable governor. And the
equation of controlling force is given by
FC = a. r + b
Condition 3
If remains constant with the increase in speed of governor then governor is said to be isochronous governor. And the
equation of controlling force is given by
FC = a. r

Q4.A Porter governor has equal arms each 250 mm long and pivoted on the axis of the rotation. Each ball has a
mass of 5 kg and the mass of the central load on the sleeve is 25 kg. The radius of rotation of the ball is 150 mm
when the governor begins to lift and 200 mm when the governor is at maximum speed. Find the range of the
speed, sleeve lift, governor effort and power of the governor in the following cases

i) when the friction at the sleeve is neglected, and

D-14-Q6 (a)-10m
ii) when the friction at the sleeve is equivalent to 10N.

SOLUTION

GIVEN :

l= mm
250
m = kg
150
M= kg

F= N

Case1 :When radius of rotation of ball is 150 mm. 250

h = √ − = mm

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+ +
ω = [ ]

ω = . rad/sec

N = . rpm

h = √ − = mm
+ +
ω = [ ]

ω = . rad/sec

N = . rpm

q=
−
c=

C= .

Effort, P = C m + M g = . X + X . = . N

Lift, x = h −h = mm

Range = N − N = rpm

CASE 2: When radius of rotation of ball is 150 mm.

− 250
ω = [ + +q ]

200
ω = . rad/sec

N = . rpm
+
ω = [ + +q ] 250

ω = . rad/sec

N = . rpm
−
c=

C= .

Effort = c mg + Mg + F

= . N

Power of governor = p ∙ x

= . X .

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= . KW

Q5.For a spring controlled Hartnell type governor, following data is provided;-

Mass of the governor ball= 1.80 kg
Length of the vertical arm of the bell crank lever = 8.75 cm
Length of the other arm of bell crank lever =10 cm
The speeds corresponding to radii of rotations of 12 cm and 13 cm are 296 and 304 rpm respectively.
Determine the stiffness of the spring.
D-14-Q3 (a)-7m
Ans; Spring Controlled hartnell governor.

For minimum position.

Fc = mω . r = .
+
FC × X = .y

. × . = × .

s = . N

For maximum position position.

Fc = mω . r = . N
+
FC × X = .y

. × . = .y

S = . N
−
Stiffness s =

And

h= r −r

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.
h= . − . ×
.

. − .
s = = . N/mm
.

Q6.The arms of Hartnell governor are of equal length. When the sleeve is in the mid position, the masses rotate in a
circle with diameter of 150mm (the arms are vertical in the mid position). Neglecting friction, the equilibrium speed
for this position is 360rpm. Maximum variation of speed taking friction into account, is to be 6% of the mid position
speed for a maximum sleeve movement of 30mm. The sleeve mass is 5 Kg and the friction of sleeve is 35N.
Assuming that the power of the governor is sufficient to overcome the friction by 1% change of speed on each side of
mean position. Find (neglecting obliquity effects of the arms), the (i) mass of each rotating of ball, ii) spring stiffness,
iii) initial compression of the spring.

SOLUTION M-15-Q5 (a)-12m

Given:

d= mm, r = mm

N= rpm, ω = . rad/sec

h= mm

M= kg

x=y

because the change of speed at mid position to overcome friction is percent either way i. e. ∓ .

min speed ω = ω− . ω= . rad/sec

Fc = m ∙ ω ∙ r

= 104.40m N

and max speed ω = ω+ . ω= . rad/sec

Fc = m ∙ ω ∙ r

= 108.64m N

Minimum position
− +
Fc ∙ x = [ ]∙y=
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S/ + . = . m …………

Maximum position

+ +
Fc ∙ x = [ ]∙y=

S/ + . = . m …………

Equating (1)and(2)

m= . kg

Spring stiffness:-

Because maximum variation of speed, considering friction is ±6 of the mid position speed.

Minimum speed considering friction

ω′ = ω − . ω= . rad/sec

ω′ = ω + . ω= . rad/sec
y
h= r −r
x
y
h = r−r
x
y
h = r −r
x
h y
h = = (r − r ′ )
x

r′ = mm

h y
h = = (r ′ − r)
x

r′ = mm

Fc ′ = m ω′ r′

= . N

And Fc ′ = m ω′ r′

= . N

Moment for minimum

Mg − F + S
Fc ′ ∙ x = [ ]∙y

S = N

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Mg + F + S
Fc ′ ∙ x = [ ]∙y

S = . N

S −S
Stifness =
h

S= . N/mm

Initial compression of spring

= = . mm

Gyroscope:

Q7.With the help of neat sketch explain the following terms with respect to gyroscope i) Spin plane ii)
Precession axis iii) Gyroscopic plane.

D-14-Q3©-6m

Referring from figure of principle of Gyroscopic Action.

i. Spin Plane: The plane which shows the direction of spinning is called as the spin plane.
The spin axis is seen as a point in this plane.
ii. Precession axis: The axis about which the axis of spin is to turn is called as axis of precession.
For a system to exhibit gyroscopic action, the rotor must be spinning and the spin axis must be made to
precess.
iii. Gyroscopic plane: The plane mutually perpendicular to the spin plane and the precession plane is called as
the gyroscopic plane.
The gyroscopic action is observed in this plane.

Q8.Derive the expression to determine gyroscopic couple.

Ans: M-15-Q1 (e)-05m

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Assumption:

i. The spin angular velocity ω remains constant.

ii. All three axis are mutually perpendicular.
iii. The friction of shaft in bearing is neglected.
iv. Mass movement of inertia of spinning body remains constant.

Let a disc of moment of inertia′I′, be spinning with angular velocity ′ω′ about axis OX in clock-wise direction when
viewed from front and applying right hand rule.

Let axis of spin or disc rotates through small angle ′δθ′ about an axis OY from oa to ob and applying right-hand rule.

We know that couple produced is given by,

C = I. α

Where, I = mass − moment of inertai = m. k

m = mass of spinning body, kg

k = radius of gyration, m

α = angular acceleration.

change in angular velocity oa − ob

α= =
time dt

ba bc + ca
α= =
dt dt

bo. sindθ + ω + dω − ω
α=
dt

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In most of practical cases the variation of angular velocity of spinning body is neglected,

dω
=
dt
ω. θ
Also term is very small, so neglecting it.
ω. dθ
α=
dt
α = ω. ω
ω = precession angular velocity.
ω = spin axis.
Gyroscopic Couple, C = I. ω. ω

Q9.Derive the equation for the gyroscopic couple on a naval ship during pitching
Ans: D-14-Q1©-05m
Gyroscopic Effect Due to Pitching

Figure 1(a) shows the front view of a ship in three positions during pitching. With the rotor rotating clockwise, as seen
from stem side, vector a1b1 in 1(b) shows the gyro-couple for position A\OB\ of ship. Similarly, vector a2b2 in Fig- 1(c)
shows gyro-couple for position A2OB2 of the ship.

Fig. 1 Gyroscopic effects due to pitching motion.

Thus, when bow goes up, the reaction couple is given by sense b1a1 and exerts a couple in horizontal plane in
clockwise sense as seen from top. Similarly, when the bow goes down gyro- reaction couple is given by vector b2a2 and
by right-hand screw rule, the reaction couple acts counterclockwise in horizontal plane as seen from the top.

Let us assume that the pitching motion takes place with simple harmonic motion. Thus let the axis of spin be
subjected to precessional motion given by

θ = ∅sin ω t ………………….(i)

where ∅= Amplitude of angular oscillations in rad.

π
= (maximum value of ∅) × rad.

π
=
. . .

θ
thus , = Rate at which axis of spin changes position w. r. to time

θ
thus , = angular velocity of precessional motion ω

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or ω = ∅ω cosω t …………………(2)

Thus angular velocity of precessional motion is not constant.

From design considerations, we are more interested in maximum value of gyroscopic couple and hence, maximum
value of precessional velocity = ∅ω

thus (ω ) = ∅ω

π
(ω ) = ∅

t = time period of pitching in S. H. M.

The maximum gyroscopic couple is given in magnitude by

C = Iω(ω )

I = mass moment of inertia in kg-m2

and ω= angular velocity of rotor in rad/s

Thus, as the bow of ship moves up the reaction couple acts c.w.,as seen from top. and when the bow goes down,
the reaction couple acts c.c.w. as seen from top. It follows that
(i) the gyro-reaction couple acts in horizontal plane which is normal to the bolts that hold down the bearings to the
hull, and
(ii) the couple goes on changing sense from c.w. to c.c.w. and again c.w. at the frequency of pitching.

The reaction couple, therefore, tends to shear the holding down bolts.

Q10.Derive an expression for finding ‘angle of heel’ of a two wheeler negotiating a turn.

Ans: M-15-Q3( b)-08m

Consider the case of a two wheeler negotiating a curve. The major inertia contributors in a two wheeler are the wheels
and the rotary parts of the engine. When the two wheeler takes a turn, it is observed that the spin axis of the wheels
and the rotary parts of the engine process about the centre of curvature. This results in a gyroscopic couple, which
tends to throw the two wheeler outwards as shown in Fig. 1. 1. Besides this, a centrifugal force is also set up and this
also needs to be considered.

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Fig.1.1

Under the action of these forces, the rider would otherwise be thrown outwards. To overcome this, the rider tilts the
two wheeler inwards. This results in generating a couple due to the weight of the rider and the two wheeler. The
direction of this couple is opposite to that which tends to throw the rider outwards. Thus the vehicle must be tilted by
an exact angle for given conditions to negotiate the curve without falling either ways. This angle is called as the angle
of lilt or angle of heel (0). Refer Fig. 1.2.

Let,

V = Linear velocity of Wheels in'm/s'

r = Radius of Wheel in'm'

R = Radius of Curvature in'm'

IW =Mass Moment of Inertia of each Wheel in 'kg m2'

I = Mass Moment of Inertia of Engine Parts in 'kg m2' a)w = Angular Velocity of Wheels in 'rad/s'

ω = Angular Velocity of Engine parts in 'rad/s'

G = Gear Ratio

h = Height of CG of the Vehicle and the Rider from ground in'm'

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Fig.1.2

Due to the angle of heel ’0’, the wheels as well as the engine parts are inclined at an angle '0'. Hence the spin axis is
also inclined at an angle '0' as shown in Fig. 1..2. The precession axis however is vertical and hence the resolved
vector oa should be taken as the magnitude of angular momentum. Therefore, magnitude of Gyroscopic Couple will be
given by :

M = . I ω ± I ω ωP cosθ … … … … … … … … … . i

(If engine and wheel rotate in same sense then take + ve else – ve).

Taking moment about A,

m. R . ω P × h cosθ + M = m. g. h sinθ

[m. R. ω P ×h+ I ω ± I ω ω ] cosθ = mgh sinθ

mRω P h + I ω ±I ω ω
tan θ = … … … … … … … … … … . ii
mgh

The above equation is equation of angle of heel.

Q11.A solid circular steel disc 250 mm diameter and 50 mm thick is mounted with its polar axis on the line OX,
of the three Cartesian axes OX, OY and OZ. If at a particular instant the disc is spinning about OX at 12 rad/sec in
anticlockwise direction when viewed from right hand side and the frame is rotated at 5 rad/sec about OY in
anticlockwise direction when viewed from top, determine the magnitude and sense of the gyroscopic couple.
Density of the steel may be taken as 7.8. gm/cc.
D-14-Q3 (b)-07m
Solution d= mm = . m

t= mm = . m

ω= rad/s

ω = rad/s

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P = . g/cc = kg/m

m = p × volume +
π
=p× d t

π
= × × . × .

= . kg

I= mr

= × . × .

= . kgm

magnitude of gyroscopie couple

M A = ωω

= . × ×

= . Nm … . Ans.

1.1

1.1

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Q12.Each wheel of four wheeled rear engine automobile has a moment of inertia 2.4 Kg m2 and an effective diameter
of 660mm. The rotating parts of the engine have a moment of inertia of 1.2Kg m2. The gear ratio of engine to the back
wheel is 3 to 1. The engine axis is parallel to the rear axle and the crankshaft rotates in the same sense as the road
wheels. The mass of vehicle I: 2200Kg and the centre of the mass is 550mm above the road level. The track width of
the vehicle is 1.5m. Determine the limiting speed of tire vehicle around a curve with 80m radius so that all the four
wheels maintain contact with the road surface.

Solution

I = . kg. m m= kg M-15-Q6 (a)-10m

r= . m h= . m

I = . kg. m w= . m
ω
G=ω = R= m

i Reaction due to weight

× .
RW = = = . N upwards

ii reaction due to gyroscopic couple

C = I R = × . × . ×
= . v

v
C = I Gω W = . × × = . v
. ×

C =C +C = . v + . v = . v

Reaction on each outer wheel,

C . V
R = = = . V upwards
W × .

Reaction on each inner wheel.

RG = . V downwards

iii Reaction due to centrifugal couple

mV ×V
C = h= × . = . V
R

Reaction on each outer wheel,

C . V
R = = = . V upwards
× .

reaction on each inner wheel,

R = . V downwards

For maximum safe speed, the condition is

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R = RG + R

. × . km
. = . + . V or v = =
h

V = .

v= . m/s

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