Kinematics and Theory of Machines

203109207
Dr. Bhakti Patel, Assistant Professor
Mr. Manoj Nehe, Assistant Professor
Mechanical Engineering Department, PIET
 CHAPTER-5
GOVERNOR AND GYROSCOPE
I. Governor

 Governor controls the mean speed over a long period during which load on the
engine may vary but it has no influence over cyclic speed fluctuations.

 Governor works on the principle of feedback control. When load decreases,

engine speed increases, governor decreases fuel supply through linkage
mechanism and conversely when load increases, speed decreases it increases
fuel supply. So the optimum speed is maintained.

 Function of governor is to regulate the operating design speed of the engine at

which engine is most efficient that is economic speed
A. Types of Governor
1.Working Principle of Centrifugal Governor
 The centrifugal governors are based on the balancing of centrifugal force on the
rotating balls by an equal and opposite radial force, known as the controlling
force .
 It consists of following ‘
elements
o Fly ball
o Spindle
o Upper and lower arm
o Sleeve
o Bell Crank Lever
o Bevel gear
o Throttle valve
o Stopper
https://extrudesign.com/centrifugal-governor-types-of-governors /
1.Working Principle of Centrifugal Governor
 When the load on the engine increases, the engine and the governor speed
decreases. This results in the decrease of centrifugal force on the balls. Hence the
balls move inwards and the sleeve moves downwards.
 The downward movement of the sleeve operates a throttle valve at the other end
of the bell crank lever to increase the supply of working fluid and thus the engine
speed is increased.
 Hence, the extra power output is provided to balance the increased load. When
the load on the engine decreases, the engine and the governor speed increases,
which results in the increase of centrifugal force on the balls.
2.Watt Governor
 This governor was used by James Watt in his steam engine.
 It is a type of governor which does not have load on the sleeve.
 The ball is subjected to the three forces which are centrifugal force (FC), weight
(mg) and tension by upper arm (T).
 Taking moment about point O
(intersection of arm and spindle
axis), we get
FC h  mgr  0
As , FC  mr 2
 mr 2 h  mgr  0

2 
g 2N
or
h

60
Theory of Machine – S.S. Rattan
2.Watt Governor
g  3600 895
h  2
4 2 N 2 N

Where,
h= height of Governor ( It is vertical distance between the centre of fly ball to the
point where two upper arm intersect on the spindle axis) in meter
N= Equilibrium speed ( the speed at which sleeve will not move upward or
downward i.e all the forces are balanced)
r = radius of rotation ( it is the horizontal distance between centre of fly ball from
the spindle axis)
2.Watt Governor
 Figure shows a graph between height ‘h’ and speed ‘N’ in rpm. At high speed the
change in height h is very small which indicates that the sensitiveness of the
governor is very poor at high speeds because of flatness of the curve at higher
speeds.

Theory of Machine – S.S. Rattan

3. Porter Governor
 This is a dead weight type of centrifugal governor.
 There are two sets of arms. The top arms OA and OB connect balls to the hinge O.
The hinge may be on the spindle or slightly away. The lower arms support dead
weight and connect balls also.
Let , m = mass of fly ball in (kg)
M= mass placed on the sleeve in
w =mg be the weight of the ball
W= Mg = weight of central load
on the sleeve in (N)
T1 and T2 be tension in upper and
lower arms, respectively,

Theory of Machine – S.S. Rattan

3. Porter Governor
FC = be the centrifugal force, r be the radius of rotation of the ball from axis, and
‘I’ = is the instantaneous centre of the lower arm.
 Taking moment of all forces acting on the ball about ‘ I ‘and neglecting friction at
the sleeve, we get
W
FC  AD  w  ID  IC  0
2
or wID W ID  DC 
FC    
AD 2  AD 
From the figure we have
ID DC
tan   and tan  
AD AD
3. Porter Governor
Now , we get FC  w tan  
W
tan   tan  
2

As we have w 2
FC   g
g

g  W  tan  
  tan  1  1 
2

r  2  tan  

 W 
tan  1  1  K 
or g
2 
r  2 
tan 
Where K
tan 
3. Porter Governor
r
From Figure (b) tan  
h
g W
Finally 2  1  1  K 
h  2w 
 If friction at the sleeve is f, the force at the sleeve should be replaced by W + f for
rising and by (W – f) for falling speed as friction apposes the motion of sleeve.
Therefore, if the friction at the sleeve is to be considered, W should be replaced
by (W  f). The expression become

g  W  f  
2  1  1  K 
h 2w 
4. Hartnell Governor
 Hartnell governor is the spring loaded type centrifugal governor

 The Hartnell governor is shown in

Figure .
 The two bell crank levers have
been provided which can have
rotating motion about fulcrums O
and O.
 One end of each bell crank lever
carries a ball and a roller at the
end of other arm.
 The frame is connected to the
spindle.
Theory of Machine – S.S. Rattan
4. Hartnell Governor
 A helical spring is mounted around the spindle between frame and sleeve. With
the rotation of the spindle, all these parts rotate.
 With the increase of speed, the radius of rotation of the balls increases and the
rollers lift the sleeve against the spring force. With the decrease in speed, the
sleeve moves downwards
 The movement of the sleeve are transferred to the throttle of the engine through
linkages.

 Advantages of Hartnell governor

a) It can be operated at very high speed
b) Smaller in size
c) Very close regulation
B. Characteristics of Governor
 Different governors can be compared on the basis of following characteristics :

 Stability: A governor is said to be stable when there is one radius of rotation of

the balls for each speed which is within the speed range of the governor

 Sensitiveness: A governor is said to be sensitive when there is larger

displacement of the sleeve due to a fractional change in speed. Smaller the
change in speed of the governor for a given displacement of the sleeve, the
governor will be more sensitive.
N
Sensitiven ess 
N1  N 2
B. Characteristics of Governor

 Isochronism: A governor is said to be isochronous if equilibrium speed is constant

for all the radii of rotation in the working range.

 Hunting: A governor is said to be hunt if the speed of the engine fluctuates

continuously above and below the mean speed. This is caused by a too
sensitive governor which changes the fuel supply by a large amount when a small
change in the speed of rotation takes place
C. Case studies on Governor

 In steam turbines, the steam turbine

governing is the procedure of
monitoring and controlling the flow
rate of steam into the turbine with the
objective of maintaining its speed of
rotation as constant.
 The flow rate of steam is monitored
and controlled by interposing valves
between the boiler and the turbine.

https://en.wikipedia.org/wiki/Governor_(device
D. Application of Governor

 Governor used in following engineering mechanical deviecs/engine/machine

 Water turbine
 Steam engine
 diesel engine
 submarine
 Elevator
II. Gyroscope
 Gyre’ is a Greek word, meaning ‘circular motion’ and Gyration means the whirling
motion.
 A gyroscope is a spatial mechanism which is generally employed for the study of
precessional motion of a rotary body.

When the rotor spins about X-axis with angular

velocity ω rad/s and the inner gimbal precesses
(rotates) about Y-axis, the spatial mechanism is
forced to turn about Z-axis other than its own axis
of rotation, and the gyroscopic effect is thus setup.
The resistance to this motion is called gyroscopic
effect.

https://www.britannica.com/technology/gyroscope
A. Angular motion
 A rigid body spinning at a constant angular velocity ω rad/s about a spin axis
through the mass centre.
 The angular momentum ‘H’ of the spinning body is represented by a vector whose
magnitude is ‘Iω’. ‘I’ represents the mass amount of inertia of the rotor about the
axis of spin.
 The direction of the angular momentum can be found from the right hand screw
rule or the right hand thumb rule. Accordingly, if the fingers of the right hand are
bent in the direction of rotation of rotor, then the thumb indicates the direction
of momentum.

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
B. Gyrosopic couple
 Consider a rotary body of mass m having radius of gyration k mounted on the
shaft supported at two bearings.
 The angular momentum of the rotating mass is given by, H = mk2  = I

 Now, suppose the shaft

axis (X-axis) precesses
through a small angle 
about Y-axis in the plane
XOZ, then the angular
momentum varies from H
to H + H, where H is the
change in the angular
momentum, represented
by vector ‘ab’

Theory of Machine – S.S. Rattan

B. Gyrosopic couple
For the small value of angle of rotation 50 , we can write
ab  oa  
H  H  
 I  
However, the rate of change of angular momentum is C  dH  lim  I 
dt t 0  t 
where C = gyroscopic couple (N-m) d
 I
 = angular velocity of rotary body (rad/s) dt
p = angular velocity of precession (rad/s) C  I  p
C. Direction of Spin vector, Precession vector and Couple/Torque vector with forced
precession

 To determine the direction of spin, precession and torque/couple vector, right

hand screw rule or right hand rule is used. The fingers represent the rotation of
the disc and the thumb shows the direction of the spin, precession and torque
vector

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
C. Direction of Spin vector, Precession vector and Couple/Torque vector with forced
precession

 Consider a rotor rotating in anticlockwise direction when seen from the right
(Fig.5.11 and Fig. 5.12), and to precess the spin axis about precession axis in
clockwise and anticlockwise direction when seen from top.

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
C. Direction of Spin vector, Precession vector and Couple/Torque vector with forced
precession

 Consider a rotor rotating in clockwise direction when seen from the right (Fig5.13
and Fig.5.14), and to precess the spin axis about precession axis in clockwise and
anticlockwise direction when seen from top.

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
C. Direction of Spin vector, Precession vector and Couple/Torque vector with forced
precession

 The resisting couple/ reactive couple will act in the direction opposite to that of
the gyroscopic couple. This means that, whenever the axis of spin changes its
direction, a gyroscopic couple is applied to it through the bearing which supports
the spinning axis.

 Please note that, for analyzing the gyroscopic effect of the body, always reactive
gyroscopic couple is considered.
D. Application of Gyrosope
 In Aeronautics and Aviation:-
 Gyroscope are used in ships to maintain stability
 In automobiles
 In electronics and gadgets
E. Types of Gyroscope
 Spinning Mass Gyro : Mass spins steadily within the gyro with free movables axis
(gimbals).

 Optical Gyroscope: Laser rays reflect many times within an enclosure, any
changes in orientation will be registered as changes between the moment of the
laser emittance to eventual reception.

 Vibrating Gyroscope: Determines rate of turn by a vibrating resonator and its

change in vibrations from the original vibrating direction.

 Mechanical Gyroscope: A mechanical gyroscope is essentially a spinning wheel or

disk whose axle is free to take any orientation.
F. Case Study
 Aeroplanes are subjected to gyroscopic effect when it taking off, landing and
negotiating left or right turn in the air.
Let ω = Angular velocity of the engine rotating parts in rad/s,
m = Mass of the engine and propeller in kg,
k = Radius of gyration in m,
I = m.k 2 = Mass moment of inertia of engine and propeller in kg.m2,
V = Linear velocity of the aeroplane in m/s,
R = Radius of curvature in m,
ωp =Angular velocity of precession = V /R rad/s

Gyroscopic couple acting on the aero plane = C = I ω ωp (N.m)

F. Case Study
 Propeller rotates in clockwise direction when sheen from rear end and
aeroplane turns toward left
 Following are the Steps involved in order to get the gyroscopic effect in the
aeroplane
 Step 1 – Fix the observer position (1st position)

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
F. Case Study
Step 2- Get the direction of spin vector (as per the right hand thumb rule)

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
F. Case Study
Step 3 – Identify the precession Plane and Precession vector ( use 2nd position of observer)

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
F. Case Study
Step 4– Rotate the spin vector by 900 in the direction precession In precession plane
to get active gyroscopic couple and its vector then turn the active gyroscopic vector
by 1800 to obtain the Reaction gyroscopic couple and its Vector.

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
F. Case Study
Step 5 – Reactive gyroscopic couple gives the gyroscopic effect.

According to the analysis, the reactive gyroscopic couple tends to dip the tail
and raise the nose of aeroplane.

https://getmyuni.azureedge.net/assets/main/study-material/notes/mechanical_engineering_dynamics-of-machines_gyroscope_notes.pdf
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