Scribd
Upload
14 views7 pages

Lec 10 - Gyroscope

The document discusses the principles of gyroscopes, including governing equations related to angular momentum and precession. It outlines the conditions for constant rotational speed and the effects of changing axes on angular momentum. Additionally, it highlights applications of gyroscopes in navigation and stabilization systems.

Uploaded by

nourpanda194
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
14 views7 pages

Lec 10 - Gyroscope

The document discusses the principles of gyroscopes, including governing equations related to angular momentum and precession. It outlines the conditions for constant rotational speed and the effects of changing axes on angular momentum. Additionally, it highlights applications of gyroscopes in navigation and stabilization systems.

Uploaded by

nourpanda194
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 7

Gyroscopes

Main reference used: Vector Mechanics for Engineers:


Dynamics, F.P. Beer, E.R. Johnston and P. Cornwell, McGraw-
Hill, 9th edition, 2009.
1
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Governing Equation
• If a particle rotating in circular path. v = vt = rt
• The momentum of the particle is L = mv . t
• If the speed is constant, m
dv
then it is expected that  F = m
dt
=0 .
n


• However, the correct answer is
− sin  
v = vt where t =  
 cos  
dv dv dt d d − sin  
= t + v = tr +v 
dt dt dt dt dt  cos   r

− cos   Ft = mr = 0

= 0 + v  =  =  2
 v n rn
 − sin   m
dv
Fn = m = m 2 rn Fn
dt
2
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Governing Equation
• If a disc is rotating (spinning) around its CG
• The angular momentum of the particle is ωp

• If the rotational speed is constant,


then it is expected that
dH s dω s
M = dt
=I
dt
=0 ωs
T
• However, if the spinning axis of
the disc is rotating around an axis
perpendicular to it, which is called H s (t )
precession axis, then the direction
of angular momentum is changing H s
p
with time H s (t + t )
H s
T = lim
t →0 t

3
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Governing Equation
• The rate of change of angular momentum will be

cos   Y ωs
dω s du d  
 M = I
dt
= I s
dt
= I  s
dt 
sin   T
 0  
X
− sin  
= I s cos   = I s(k  u )
 0 
 p = 

T = Iω p  ω s
• Note:
 i j k  − sin  
k  u =  0 0 1  =  cos  
cos  sin  0   0 
4
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Governing Equation
• In general if the angle between spinning axis and precession axis is θ
then
T = I zz p s sin  +  p (I zz − I xx )sin  cos 
2

• The gyroscopic torque is in the direction of


• Note that: This general case is not part of this course. The special case
of perpendicular spinning and precession axes only is part of this
course.

5
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Example
• If the mass of the wheel is 5 kg and moment of inertia is 0.2 kg.m2 .
The distance between the wire tip and wheel CG is 0.15 m. The
precession is 6 rpm. Find the spinning of the wheel.

6
Cairo University - MDP2420: Dynamics of Machines - Spring 2023
Applications
• Measure the rotational speed.
• Inertial navigation systems where magnetic compasses would not
work (as in the Hubble telescope).
• Stabilization of flying vehicles like radio-controlled helicopters.

7
Cairo University - MDP2420: Dynamics of Machines - Spring 2023

You might also like