Another form of steam engine governor
Another form of steam engine governor. Instead of the arms being connected with a slide working on a spindle, they cross each other and are elongated upward beyond the top thereof and connected with the valve-rod by two short links.
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
- The spindle (the one driven joint, 100 rpm) carries two 14 cm arms with 0.4 kg balls, pivoted on opposite sides of its top so that they cross. Each arm is carried 7 cm up beyond its pivot, and a 7 cm link, pinned at both ends, joins that upper end to the valve-rod, which slides on the spindle above. Gravity on. gen170.py.
- Measured
- The balls fly out to 51 degrees from the spindle (0.454..0.473 rad from the start, 0.46 rad); the valve-rod comes down 4.1 cm; it follows the arm at -0.0982 m/rad (kinematic -0.0994, r2 0.997); the two arms agree (ratio 1.000). Penetration 0.
- Notes
- A valve-rod of 0.15 kg ran the arms out to their stops, because its weight drags the upper ends in; at 0.01 kg the balls settle. The arms and links are in different planes so that they can cross; nothing collides.
Film (MP4) · GIF · Still (PNG) · Spec (YAML) · Model (MJCF)
