Gyroscopes

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 Gyroscopes
Intended Learning Outcomes (ILOs) in this
presentation:
Identify the gyroscopic effect for different engineering
applications.

What you will know after this presentation:

Why gyroscope is used in measuring rotational speed?
Why gyroscopic effect may lead to a failure in a mechanism?
Why gyroscopes can be used in navigation?
Main reference used: Vector Mechanics for Engineers:
Dynamics, F.P. Beer, E.R. Johnston and P. Cornwell, McGraw-Hill,
9th edition, 2009.
Gyroscopes 2
 Governing Equation
v vt rt
If a particle rotating in circular path.
The momentum of the particle is L mv . t
If the speed is constant, n
m
dv
then it is expected that F m 0 .
dt
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
Ft mr 0
cos
0 v v n 2
rn
sin m
dv
Fn m m 2 rn Fn
dt
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 Governing Equation
If a disc is rotating (spinning) around its CG
The angular momentum of the particle is H I s
p
If the rotational speed is constant,
then it is expected that
dH s d s
M dt I dt 0
s
However, if the spinning axis of T
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 H s t t
T lim
Gyroscopes
t 0 t 4
 Governing Equation
The rate of change of angular momentum will be
cos
d s du d s

Y
M I I I sin
dt
s s
dt dt T
0

sin X
I s cos I sk u
0
p
T I p s

Note: i j k sin
k u 0 0 1 cos
cos sin 0 0
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 Governing Equation
In general if the angle between spinning axis and precession
axis is then
T I zz p s sin p I zz I xx sin cos
2

The gyroscopic torque is in the direction of p s

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.

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 Example
If the mass of the wheel is 5 kg and moment of inertia is 0.2
k.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.

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 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, Boats and commercial ships.

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