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Dynamics
of Machinery

MODULE 4: GYROSCOPE

KTU MECHANICAL ENGINEERING

 GYROSCOPE

¢ The word gyre is a Greek word means circular

motion.
¢ A gyroscope is a spinning body which 1s free to
move in other directions under the action of
external forces.
¢ A gyroscope is a device for measuring or
maintaining orientation, based on the principles of
conservation of angular momentum.
 EXAMPLES OF GYROSCOPE

e Earth
¢ Spinning top
¢ Boomerang
* yo-yos
¢ Frisbees
 BASICS

Linear momentum (mv)

Conservation of linear momentum
Angular momentum (lw)
Conservation of angular momentum
Force
Torque
 PROPERTIES OF GYROSCOPE

¢ RIGIDITY :The axis of rotation (spin axis) of

the gyro wheel tends to remain in a fixed
direction in space if no external force 1s
applied to it.
¢ PRECESSION : The axis of rotation has a
tendency to turn at a right angle to the
direction of an applied force.
 APPLICATIONS OF GYROSCOPE

¢ Inertial guidance : gyro compass (utilises

rigidity property of gyroscope)
¢ Rate gyro: it will measure angular velocity .
¢ Stabiliser —antiroll stabiliser
ANGULAR MOTION AND CONVENTIONAL
VECTOR REPRESENTATION
¢ In problems involving gyroscopic effects, it 1s
very important to determine correctly the sense
of gyro couples and gyro reaction couples.
¢ This is possible only if one understands the
convention used in representing angular
motion characteristics like displacement,
velocity and acceleration.
 Angular velocity is a vector quantity
and requires following parameters to
be specified

¢ magnitude of angular velocity

¢ direction of axis of spin( being normal to plane
of spin)
¢ the sense of angular velocity ie clockwise or
counterclockwise
ILLUSTRATION OF RIGHT HAND
THUMB RULE

ILLUSTRATION OF RIGHT HAND THUMB RULE

 Why this subject is important?

¢ While designing machines and machine

components, forces and couples due to gyroscopic
effects must be taken in to account.
¢ A designer must account of these forces and
couples in selection of bearings and rotating parts.
¢ With the present trend of increasing machine
speeds and decreasing factor of safety, designers
must consider gyroscopic forces and couples in
machine design calculations.
 DERIVATION OF ANGULAR
ACCELERATION OF A SPINNING
DISC UNDERGOING PRECESSION
PRECESSIONAL MOTION AND
ANGULAR ACCELERATION

Debi | x" = b

EEO * oF
Or d@ ae ~~ ® a.
A ee
@ a No

/ ee

—— z < (b)

(a)
Plane of
couple
Y prec of Plane

precession x O of .

Plane of spin
precession)
Axis of
m X
Spin

~ Axis of
active gyro. couple
 —
, oa - initial angular velocity vector
x’

w+ 60 —_— . . wae
~“
cy ew ob — angular velocity vector in new position
x } 9 Veg —_

c : @ a Se ab - change in angular velocity vector

(b)

The vector ab can be resolved in to Change

of angular velocity, ac
= (w+ 6w)cos 66—-w

two components. ((w+ Sw)cos &0- w)

Rate of change of angular velocity=lims;_,o Bt
LJ ac representing angular velocity
change in a plane normal to x axis. ((co+ 8w)cos 60- ©)
Therefore angular acceleration=limg;_.9 St
Licb representing angular velocity
change in a plane normal to y axis. &s6t 0, 680, cos 581, sin 69> 59

Therefore angular acceleration due to change in magnitude of angular

: (w+ 65@)-—w) ,. bw
velocity of rotor = lims;_.9 (or sero) =limsio oor. dw/dt
 —_

| a+ 50 DM
b
oa -> initial angular velocity vector

=
ob > angular velocity vector In new position
-"
@+ 80 eo
~ ee)
— ~ —"
ab — change in angular velocity vector
a

(a)

Change of angular velocity, cb= (w+ 5a) sin 68

The vector ab can be resolved in ((w+ Sw)sin &8)
to two components. Rate of change of angular velocity= lims;_.9 x

LJ ac representing angular Therefore angular acceleration=lims;_,9

((w+ Sw)sin 56)
x
velocity change in a plane normal
to X axis. As 6t 300, 60-0, sin 68> 58

U) cb representing angular Therefore angular acceleration due to change in direction of

velocity change in a plane normal angular velocity of rotor (axis of spin)
to y axis.
((wt 5w)50)_ [= °°) =
w dO/dt= © wp
= limstso St = Timstoo [GE t
TOTAL ANGULAR ACCELERATION OF A SPINNING
BODY UNDERGOING PRECESSIONAL MOTION
» Total angular acceleration, « = dw/dt + ow,
> This shows that the total angular acceleration of the
rotor is the sum of
> dw/dt,representing change in the magnitude of
angular velocity of rotor.
* @.W, representing change in the direction of axis of
spin, direction of cb is from c to b in the vector
diagram (being a component of ab), the acceleration
acts clockwise in the vertical plane XZ ( when viewed
from front along the y axis).
» Note: w,=d0/dt,angular velocity of precession
DERIVATION OF GYROSCOPIC COUPLE
 GYROSCOPIC COUPLE
ab—» Applied couple
Z b’a'—» Reaction couple
 Rate of change of angular
momentum = 4it(Al)/ et
jim (1 w 50)/ dt

Rate of change of angular

momentum = | w d6/dt
=lwWw,

¢ Rate of change of angular

We know angular momentum of momentum is a couple and in
spinning disc, L =I w this case it is gyroscopic
Thus vector oa = initial angular couple.
momentum
¢ So gyroscopic couple =| w W,
Similarly vector ob = angular
momentum of spinning disc after time
dt
A change in angular momentum of the
disc occurs because of the change in
the direction of momentum.
Then vector ab = change of angular
momentum vector in time d5t(AL)
 Active Gyroscopic couple and
Reactive Gyroscopic couple
¢ Gyrocouple , which is also known as active couple ,must be
applied to a rotating disc for obtaining desirable
precessional motion of the axis of the spin. This couple is
usually applied to the shaft.
¢ The shaft inturn exerts an equal and opposite (reaction)
couple on the bearings. This is perfectly in accordance with
newtons third law of motion. Thus the precessional motion
of the axis of spin causes a gyroscopic reaction couple to
act on the frame to which bearings are fixed. Being equal
and opposite to gyrocouple,magnitude of gyroreaction
couple is given by T=I|w w,.
¢ The effect produced by the reactive gyroscopic couple ona
rotating body is called gyroscopic effect.
 Example 1 A disc with radius of gyration of 60 mm and a mass of4 kg is mounted centrally on a
ee Shorizontal axle of 80 mm length between the bearings. It spins about the axle at 800 rpm
counterclockwise when viewed from the right-hand side bearing. The axle precesses about a ver axis at 50
rpm in the clockwise direction when viewed from above. Determine the resultant reaction at each bearing due
to the mass and the gyroscopic effect.

m=4kg N=800rpm k=0.06m N,=S50rpm_ J =mk*=4

x (0.06) = 0.0144 kg. m*
/=80 mm=0.08 m
Gyro-reaction couple w= aa = 83.78 rad/s

— ™ oO,= 26x30 = 5.24 rad/s

ee P60
Gyro- couple “ C =] ww,= 0.0144 x 83.78 x 5.24 = 6.32 N.m

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