Vamfun's Blog

Robot musings

Dynamics of the centrifugal governor : Lagrange method with Vex

simulation example

This post derives the equations of motion for a motor driving a variable centrifugal load similar to what one would see on the classical steam engine
centrifugal speed governor rst invented by James Wa . (Fig 1)
Source(h ps://upload.wikimedia.org/wikipedia/commons/c/c7/Boulton_and_Wa _centrifugal_governor-MJ.jpg
(h ps://upload.wikimedia.org/wikipedia/commons/c/c7/Boulton_and_Wa _centrifugal_governor-MJ.jpg))

Non-Feedback Dynamics

We are only concerned here with the response of the engine/centrifugal load without any feedback to the engine from the governor. The analytical
diagram for the governor without feedback is:

(h ps://vamfun.les.wordpress.com/2015/06/centrifugal-governor-analysis-
diagram3.jpg)
(h ps://vamfun.les.wordpress.com/2015/06/centrifugal-governor-analysis-
diagram.jpg)

Typically a motor with a large inertial load has a rst order exponential response with
a time constant

tau = w_free*I_load/torq_max*gr^2

where w_free is the motor free speed , torq_max is the stall torque of the motor and gr
= gear ratio of output sha speed / motor speed.

The centrifugal weights change the moment of inertia I_load with output sha speed
hence giving the motor a variable time constant. One can bound the motor response between two exponential responses one with a tau_min and the
other with tau_max where min and max tau are respectively associated with the min and max inertial load which are generally set by the mechanical limits

of the governor. The motor current response is nonlinear and more gradual than if operating with the full inertia load. This in turn can keep the motor
of the governor. The motor current response is nonlinear and more gradual than if operating with the full inertia load. This in turn can keep the motor
protection PTC fuses from tripping without explicitly controlling the current through the motor controller.

I will post a simulated response later for a Vex system but rst we need the equations of motion.

To nd the equations of motion I decided for my review to use the Method of Lagrange. For a given system one needs to compute the Lagrangian, L, from
the kinetic energy, T and the potential energy V.

L =TV

We then obtain a system of dierential equations from the following computation for each generalized variable q_i.

d(L/q_i_d)/dt = L/q_i + Q_i

where q_i_d = d(q_i)/dt and Q_i are the generalized non conservative forces doing work on the system along the q_i direction. This is a cook book
formula that is o en times simpler to use than Newtons force equation F = ma. The resulting equations will be the same with either method. Many good
references on Lagrange method can be found with a simple Google search.[reference Wikipedia Euler Lagrange Method
(h ps://en.wikipedia.org/wiki/Euler%E2%80%93Lagrange_equation)]

The generalized variables of interest are :

q1 = psi , the angle that the motor is turning through.

q1_d = w_axel = dpsi/dt , the speed at which the motor is turning the governor axles.

q2 = alpha, the angle of the arm from vertical.

q2_d = w_arm = dalpha/dt , the speed that the arms are moving up and down relative to the vertical.

The mass of the weight on one arm is m and the length of the arm is l. Moments of inertia relative the pivots are I_axel and I_arm. I_arm is constant and
I_axle varies due to the movement of the arms.

T = 1/2 * I_axel * (w_axel)^2 + 1/2 * I_arm * (w_arm)^2

V = m*g*l*(1-cos(alpha))

I_axel = m*(l*sin(alpha))^2

I_arm = m*l^2

Substituting for the generalized variables

L = T-V = 1/2*m*(l*sin(q2))^2 *q1_d^2 + 1/2*I_arm*(q2_d)^2 m*g*l*(1-cos(q2))

L/q1 = 0;

L/q1_d = m*l^2*sin(q2)^2*q1_d

L/q2 = m*l^2*sin(q2)*cos(q2)*q1_d^2 m*g*l*sin(q2)

L/q2_d= I_arm*q2_d

Now compute d( L/q_d)/dt and set equal to dL/dq + Q where Q are the generalized forces that are non conservative associated with each q.

For q1:

d(m*l^2*sin(q2)^2*q1_d)/dt = m*l^2*(2*sin(q2)*cos(q2)*q2_d*q1_dot + sin(q2)^2*q1_dd) = torq

1) q1_dd = -2*cos(q2)*q2_dot*q1_d/sin(q2) + torq/(m*l^2*sin(q2)^2)

For q2:

I_arm*q2_dd = m*l^2*sin(q2)*cos(q2)*q1_d^2 m*g*l*sin(q2)

or

2) q2_dd = ( cos(q2)*q1_d^2 g/l)*sin(q2)

Steady State requirements

In the steady state, q1_dd = q2_dd = q2_dot = o. This then gives the q2 as a function of q1_d or alfa as a function of the axle speed , w_axle.

From equation 2 cos(alfa) = g/(l*w_axle^2)

Since cos(alfa) < =1 the minimum axle speed w_axle_min >=sqrt(g/l) Notice that this requirement is independent of the centrifugal mass very much
like a pendulum period is independent of mass and only a function of the pendulum length , l . w_axle_min is the minimum speed before the arms move.

Vex Example

In the Vex centrifugal experimental device shown here (h ps://www.youtube.com/watch?v=aNaxVT_mJB4&feature=youtu.be) , the arms are about 2.5
inches in length so we would expect w_axle_min = sqrt(32.3*12/2.5)= 12.4 rad/s or 118.5 rpm. There appears to be a gearing between the motor and axle of
7 : 1 so the minimum speed of the motor is 118.8/7 =17 rpm which means that the motor driving can be a Vex 393 with standard gearing (100 rpm

max). However, there is a mechanical minimum of around 45 degs which means the minimum speed to move is 17 rpm/sqrt(cos(45 deg)) = 20.2