Another arrangement for a water-wheel governor
Another arrangement for a water-wheel governor. In this the governor controls the shuttle or gate by means of the cranked lever, which acts on the strap or belt in the following manner:—The belt runs on one of three pulleys, the middle one of which is loose on the governor spindle and the upper and lower ones fast. When the governor is running at the proper speed the belt is on the loose pulley, as shown; but when the speed increases the belt is thrown on the lower pulley, and thereby caused to act upon suitable gearing for raising the gate or shuttle and decreasing the supply of water. A reduction of the speed of the governor brings the belt on the upper pulley, which acts upon gearing for producing an opposite effect on the shuttle or gate.
Only the input is driven; every other part of this model moves by physics (MuJoCo), and its ratios are measured. Run it live, change its parameters, or switch the friction off to see the output stop.
- Modelled as
- Brown's stack on the governor spindle (lower and upper fast, loose between) with a flat band (70 rungs) to the gate's two shafts (lower: raises the gate; upper: the opposite), led by the edge-guarded fork (belt-shifting primitive, openspec/changes/add-belt-shifting). A ball governor (balls 2.4 kg, r 4.2 cm, 12 cm arms and links) lifts a sleeve whose collar carries the pin of the cranked lever (pivot on the frame, 1.45 ratio); its long arm hangs a rod to the fork, ~10-17 N on the throw. The water-wheel is the one driven joint: the spindle's speed follows a ramp (new driver `ramp`, the water let on and off): 60 rpm, the band on the upper fast pulley drives the upper shaft (0.9 of the spindle); 88 rpm, the governor holds it on the loose pulley and both shafts stand; 120 rpm, the balls fly out and throw it on to the lower pulley (lower shaft 0.82 of the spindle); 55 rpm, the balls fall and lift it back off the lower pulley, so the gate gearing stands.
- Measured
- tests/physics.py checks per speed (ratio_range, still, position, ratio, penetration); negative control: the hanger unpinned from the fork, the fork stays up and the lower shaft never turns
- Notes
- Grade B: as Brown's text and figure (governor, collar, cranked lever, rod to the fork at the pulleys, three pulleys, belt off to the gate), but an L-frame for his box frame, and on the speed falling the idle band is lifted only to the loose pulley (it crawls on toward the upper face, ~0.2 cm/s, as an idle band cannot be led across a face quickly; see the earlier note). The band runs ~45-90 s wall per simulated second (timestep 0.1 ms). Generator: batch18/gen163i.py.
Film (MP4) · Still (PNG) · Spec (YAML) · Model (MJCF)
