THEORY
Gyroscope is a spatial mechanism as shown in Figure 1 and generally employed for the control
of angular motion of a body.
Figure 1. Gyroscope
If we attempt to move some of its parts, it does not only resist this motion but even evades it.
This resistance to change in the direction of rotational axis is called the gyroscopic effect.
(a) Cantilever (b) Simply supported
Figure 2. Processional motion of the disc
Gyroscopic Couple
It can be easily studied using the principle of angular momentum. Angular velocity is a vector
quantity. Change in magnitude and direction of angular velocity results in angular acceleration:
Let in
Figure 3, OA and OB are in x-z plane, ∆θ is the angular displacement of OA and OC is the
angular displacement vector. Similarly, angular velocity, angular acceleration and angular
momentum are also vector quantity.
Figure 3. Angular displacement vector
Linear momentum: It is defined as
Linear momentum = mass × velocity = mv
The direction and sense of the linear momentum are same as linear
velocity. m v
Figure 4. A particle in motion (Linear momentum)
Angular momentum: It is defined as the moment of linear momentum.
Angular momentum = H = (mv)r = (mr2)ω= I ω
where I is the mass of inertia about it’s axis of rotation and ω is the angular velocity.
Mass is concentrated
k =r at radius of gyration
axis of rotation
(a) A point mass in rotation
(b) A flywheel in rotation
Figure 5. Angular momentum
Direction of angular momentum will be same as angular velocity.
H = mvk = m kkω = mk2ω ω= I where I = mk2
The gyroscopic couple is given as T = Iωpω, where ωpω is the acceleration components.
Procedure 1-Fixed Precession, Varied Rotor Velocity
Gyroscope was switched on.
The button was pressed to zero the force reading.
Precession velocity was set at a fixed direction(clockwise) and fixed value of 30 rad.s-1.
Rotor velocity was then adjusted from 250 rad.s-1 clockwise down to 50 rad.s-1 in steps of 50
rad.s-1.
At each step precession velocity was adjusted (to make sure that it was 30 rad.s-1 ).
Velocities were allowed to stabilize and then the value of the couple was recorded in Table 1.
Table 1
Moment of inertia of gyroscope I: 0.000158kg.m2
Precession Direction and Velocity ꞷp Clockwise 30 rad.s-1
Rotor velocity ꞷr (rad.s-1) Predicted Couple magnitude Measured
T (Nm) Force (N) Couple
magnitude T
(Nm)
250 1.185 12.56 1.13
200 0.948 10.22 0.92
150 0.711 7.78 0.70
100 0.474 5.33 0.48
50 0.237 2.78 0.25
Procedure 2-Fixed Rotor, Varied Precession Velocity
Gyroscope was switched on.
The button was pressed to zero the force reading.
The rotor velocity was set to the fixed direction (clockwise) and value (250 rad.s-1).
Precession velocity was then adjusted from 30 rad.s-1 clockwise down to 5 rad.s-1 in steps of 5
rad.s-1.
At each step rotor velocity was adjusted (to make sure that it was 250 rad.s-1 ).
The velocities were allowed to stabilize and then the values of the couple we recorded in Table 2.
Table 2
Moment of inertia of gyroscope I: 0.000158 kg.m2
Rotor direction and velocity ꞷr Clockwise (250 rad.s-1)
Precession velocity ꞷr (rad.s- Predicted Couple magnitude Measured
1
) T (Nm)
Force Couple
(N) magnitude T
(Nm)
30 1.185 12.44 1.13
25 0.988 10.67 0.96
20 0.790 8.56 0.77
15 0.593 6.33 0.57
10 0.396 4.22 0.38
5 0.198 2.11 0.19
DATA ANALYSIS
To find predicted couple magnitude we use: T = Iωpω
For table one above:
Value 1
T =000158*30*250=1.185
Value 2
T=0.000158*30*200=0.948
Value 3
T=0.000158*30*150=0.711
Value 4
T=0.000158*30*100=0.474
Value 5
T=0.000158*30*50=0.237
couple magnitude vs rotor velocity
1.4
1.2
Couple magnitude T (Nm)
0.8
0.6
0.4
0.2
0
0 50 100 150 200 250 300
Rotor velocity ꞷr (rad.s-1)
couple magnitude vs rotor velocity predicted couple magnitude vs Rotor velocity
For table two above:
To find predicted couple magnitude we use: T = Iωpω
Value 1
T=0.000158*30*250=1.185
Value 2
T=0.000158*25*250=0.988
Value 3
T=0.000158*20*250=0.790
Value 4
T=0.000158*15*250=0.593
Value 5
T=0.000158*10*250=0.396
Value 6
T=0.000158*5*250=0.198
couple magnitude vs rotor velocity
2.5
1.5
0.5
0
5 10 15 20 25
Predicted Couple Magnitude Couple Magnitude
