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P.R. VENKATESWARAN
Faculty, Instrumentation and Control Engineering,
Manipal Institute of Technology, Manipal
Karnataka 576 104 INDIA
Ph: 0820 2925154, 2925152
Fax: 0820 2571071
Email: pr.venkat@manipal.edu, prv_i@yahoo.com
Web address: http://www.esnips.com/web/SystemModelingClassNotes
WARNING!
• Description of Gyroscope
• Principles and Types of gyroscope
• Modeling of gyroscope
H s
high angular momentum Hs is required to reduce the drift
• Two types
– Free and restrained gyro
• Restrained gyro
– rate gyro or integrating gyro.
– The restrained gyros are employed to provide either derivative or
integral feedback from roll, pitch or yaw to damp out vehicle
oscillations about these axes.
• In rate gyro, a helical spring is connected between outer
gimbal and the frame and a synchro is fitted on the outer
frame such that the shaft of the synchro transmitter is
coupled to the z-axis of the outer gimbal. Now, if the gyro
wheel turns by an angle Φ about z axis then the signal
developed in the synchro mounted on the gyro will be
proportional to dΦ/dt. Hence this called rate gyro.
• Similarly for y axis components, the angular velocity dθ/dt (due to the
motion of all subsystems attached to inner gimbals or inner frame) and
moment of inertia Iy of the subsystems attached to the inner gimbals are
responsible for angular momentum in addition to the angular momentum of
spinning wheel. dθ d dθ
Ty − B = (− H s cos θ sin Φ + I y )
dt dt dt
• Where B is the frictional coefficient in the bearing. When θ and Φ are very
small then cosθ =1, cosΦ=1, sinθ = θ and sinΦ=Φ. Therefore the equation
becomes
• Similarly, Ty becomes