GYROSCOPE

What is a Gyroscope?
Gyroscope Diagram
A gyroscope is defined as
The device has a spinning disc
that is mounted on the base
such that it can move freely in
more than one direction so
that the orientation is
maintained irrespective of the
movement in the base.
Parts of Gyroscope
A gyroscope consists of the following parts:
• Spin axis
• Gimbal
• Rotor
• Gyroscope frame
Design of Gyroscope
A gyroscope can be considered as a massive rotor that is fixed on the
supporting rings known as the gimbals. The central rotor is isolated from the
external torques with the help of frictionless bearings that are present in the
gimbals. The spin axis is defined by the axle of the spinning wheel.
The rotor has exceptional stability at high speeds as it maintains the high-speed
rotation axis at the central rotor. The rotor has three degrees of rotational
freedom.
 Gyroscope Working Principle

• The working principle of gyroscope is based on gravity and is

explained as the product of angular momentum which is experienced
by the torque on a disc to produce a gyroscopic precession in the
spinning wheel.
• This process is termed gyroscopic motion or gyroscopic force and is
defined as the tendency of a rotating object to maintain the orientation
of its rotation.
• We know that the rotating object possesses angular momentum and
this needs to be conserved. This is done because when there is any
change in the axis of rotation, there will be a change in the orientation
which changes the angular momentum. Therefore, it can be said the
working principle of gyroscope is based on the conservation of
angular momentum.
Mechanical Gyroscope
The working principle is based on the conservation of angular momentum. This is also one of
the most commonly known gyroscopes. The mechanical gyroscope is dependent on the ball
bearing to spin. These gyroscopes are replaced with modern forms of gyroscopes as they are
noisier. They find applications in the navigation of large aircraft and missile guidance.
Optical Gyroscopes
These gyroscopes are dependent on the ball bearing or the rotating wheel. They are also not
based on the conservation of angular momentum. Optical gyroscopes use two coils of optic fibre
that are spun in different orientations. Since there is no movement in the optical gyroscopes,
these are considered to be durable and find applications in modern spacecraft and rockets.
Gas-Bearing Gyroscopes
In a gas-bearing gyroscope, the amount of friction between the moving parts is reduced by suspending
the rotor with the help of pressurized gas. NASA used a gas-bearing gyroscope in the development of the
Hubble telescope. When compared to the other types of gyroscopes, gas-bearing is quieter and more
accurate
 Applications of Gyroscope

• Gyroscopes find applications in the compasses of boats, spacecraft,

and aeroplanes. The orientation and the pitch of the aeroplane are
determined against the steady spin of the gyroscope.
• In spacecraft, the navigation of the desired target is done with the help
of a gyroscope. The spinning centre of the gyroscope is used as the
orientation point.
• The stabilization of the large boats and satellites is done with the help
of massive gyroscopes.
• Gyroscopes are used in gyro theodolites for the maintenance of the
direction in tunnel mining.
• Gyroscopes along with accelerometers are used in the design of
smartphones providing excellent motion sensing.
What is the difference between Accelerometer and Gyroscope?

An accelerometer is defined as an instrument used for measuring acceleration

and for detecting vibrations. The other way of defining an accelerometer is an
electromechanical device that measures forces due to acceleration.

Accelerometer Gyroscope
It is used for measuring the linear It is used for the measurement of all types
movement and for the detection of tilt of rotation but fails in the identification of
movement
The signal-to-noise ratio is lower The signal-to-noise ratio is higher
This cannot be used for the This can be used for the measurement of
measurement of angular velocity angular velocity
It is used for sensing axis orientation It is used for sensing angular orientation
What is gyroscopic couple?
A gyroscopic couple is defined as the turning moment in which the changes
are opposed by the inclination of the axis of rotation of the gyroscope.
What is the expression for gyroscopic couple?
The expression for gyroscopic couple is given as:
C = I.⍵.⍵p
Where,
C is the gyroscopic couple
I is the moment of inertia
⍵ is the angular velocity
⍵p is the angular velocity of precession
What is gyroscopic torque?
The gyroscopic torque is defined as the torque that is applied to the rotating
body such that there is a change in the axis of rotation of the rotating body.
•In S.I. units, the units of C is N-m when I is in kg-m2.
•The couple I.ω.ωp, in the direction of the vector xx′ (representing the
change in angular momentum) is the active gyroscopic couple, which
has to be applied over the disc when the axis of spin is made to rotate
with angular velocity ωP about the axis of precession. The vector xx′ lies
in the plane XOZ or the horizontal plane. In case of a very small
displacement δθ, the vector xx′ will be perpendicular to the vertical plane
XOY. Therefore the couple causing this change in the angular momentum
will lie in the plane XOY. The vector xx′, represents an anticlockwise
couple in the plane XOY. Therefore, the plane XOY is called the plane
of active gyroscopic couple and the axis OZ perpendicular to the plane
XOY, about which the couple acts, is called the axis of active gyroscopic
couple
2.When the axis of spin itself moves with angular velocity ωp, the
disc is subjected to reactive couple whose magnitude is same (i.e.
I.ω.ωp) but opposite in direction to that of active couple. This reactive
couple to which the disc is subjected when the axis of spin rotates about
the axis of precession is known as reactive gyroscopic couple. The axis
of the reactive gyroscopic couple is represented by OZ′

3.The gyroscopic couple is usually applied through the bearings which

support the shaft. The bearings will resist equal and opposite couple.

4.The gyroscopic principle is used in an instrument known as gyroscope.

The gyroscopes are installed in ships in order to minimize the rolling and
pitching effects of waves. They are also used in aeroplanes, monorail cars,
gyrocompasses etc.
Effect of the Gyroscopic Couple on an Aeroplane
Effect of the Gyroscopic Couple on an Aeroplane
 Effect of the Gyroscopic Couple on an Aeroplane
•Notes : 1. When the aeroplane takes a right turn under similar conditions as discussed above, the
effect of the reactive gyroscopic couple will be to dip the nose and raise the tail of the aeroplane.
2.When the engine or propeller rotates in anticlockwise direction when viewed from the rear or
tail end and the aeroplane takes a left turn, then the effect of reactive gyroscopic couple will be
to dip the nose and raise the tail of the aeroplane.
3.When the aeroplane takes a right turn under similar conditions as mentioned in note 2 above, the
effect of reactive gyroscopic couple will be to raise the nose and dip the tail of the aeroplane.
4.When the engine or propeller rotates in clockwise direction when viewed from the front and the
aeroplane takes a left turn, then the effect of reactive gyroscopic couple will be to raise the tail and
dip the nose of the aeroplane.
5.When the aeroplane takes a right turn under similar conditions as mentioned in note 4-above,
the effect of reactive gyroscopic couple will be to raise the nose and dip the tail of the aeroplane.
An aeroplane makes a complete half circle of 50 metres radius, towards left, when
flying at 200 km per hr. The rotary engine and the propeller of the plane has a mass of
400 kg and a radius of gyration of 0.3 m. The engine rotates at 2400 r.p.m. clockwise
when viewed from the rear. Find the gyroscopic couple on the aircraft and state its
effect on it.
Solution. Given : R = 50 m ; v = 200 km/hr = 55.6 m/s ; m = 400 kg ; k = 0.3 m ;
N = 2400 r.p.m. or ω = 2π × 2400/60 = 251 rad/s
We know that mass moment of inertia of the engine and the propeller,
I = m.k2 = 400(0.3)2 = 36 kg-m2 and angular velocity of precession,
ωp = v/R = 55.6/50 = 1.11 rad/s
We know that gyroscopic couple acting on the aircraft,
C = I. ω. ωp = 36 × 251.4 × 1.11 = 100 46 N-m = 10.046 kN-m Ans.
when the aeroplane turns towards left, the effect of the gyroscopic couple is to lift the nose
upwards and tail downwards. Ans.
A uniform disk of diameter 300 mm and mass 5 kg is mounted on one end
of arm of length 600 mm. The other end of the arm is free to rotate in a
universal bearing. If the disc rotates about the arm with the speed of 300
rpm clockwise, looking from the front, calculate its precession about the
vertical axis?
Solution. Given Data: d = 300 mm or r = 150 mm = 0.15 m; m = 5 kg; l = 600 mm =
0.6 m; Mass moment of inertia of the disc about an axis through its center of gravity
and perpendicular to the plane of disc, I = 𝑚 𝑟 2/ 2 = 5 (0.15) 2 2 = 0.056 kg-m 2
Couple due to mass of disc, C = m. g. l = 5 x 9.81 x 0.6 = 29.43 N-m
Let 𝜔𝑝 = speed of precession
We know that C = 29.43 = I.ω.𝜔p = 0.056 x 31.42 x 𝜔p = 1.76 𝜔p
𝜔p = 29.43 1.76 = 16.7 rad/s
N = 300 rpm. or ω = 2𝜋 𝑥 300/60 = 31.42 rad/s
The turbine rotor of a ship has a mass of 2000 kg and rotates at a speed of 3000 rpm clockwise when viewed from stern. The rotor has

radius of gyration of 0.5 m. (a) Determine the gyroscopic couple and its effect when the ship steers to the right in a curve of 100 m

radius at a speed of 16.1 knots (1 knot = 1855 m/h). (b) Calculate the torque and its effects when ship pitches simple harmonic motion,

the bow falling with its maximum velocity, the period of pitching is 50 seconds and the total angular displacement between two extreme

positions of pitching is 12 degrees. Find the maximum acceleration during the pitching motion.
Solution. Given Data: m = 2000 kg; N = 3000 rpm or ω = 2𝜋 𝑥 3000/60 = 314.2 rad/s;
k = 0.5 m; R = 100 m; v = 16.1 knots = 16.1 x 1855/3600 = 8.3 m/s
Gyroscopic Couple: Mass moment of inertia of the rotor, I = m 𝑘 2 = 2000 (0.5) 2 = 500 kg-m 2
Angular velocity of precession, 𝜔𝑝 = 𝑣/𝑅 = 8.3/100 = 0.083 rad/s
Gyroscopic couple, C = I ω 𝜔p = 500 x 312.4 x 0.083 = 13040 N-m = 13.04 kN-m
Gyroscopic effect: Stern – Raise, Bow – Lower.
Torque during pitching: tp = 50 s; 2ϕ = 12° or ϕ = 6° x 𝜋 180 = 0.105 rad
Angular velocity of simple harmonic motion, 𝜔1 = 2𝜋 𝑡𝑝 = 2𝜋 50 = 0.1257 rad/s
Maximum angular velocity of precession, 𝜔𝑝𝑚𝑎𝑥 = ϕ. 𝜔1 = 0.105 x 0.1257 = 0.0132 rad/s
Torque or maximum gyroscopic couple during pitching, 𝐶𝑚𝑎𝑥 = I ω 𝜔𝑃𝑚𝑎𝑥 = 500 x 314.2 x 0.0132 = 2074 N-m
Gyroscopic effect: When the pitching is downward, the effect of the reactive gyroscopic couple is to turn the ship towards port side.
Maximum acceleration during pitching: Maximum acceleration during pitching, 𝛼𝑚𝑎𝑥 = ϕ (𝜔1) 2 = 0.105 (0.1257)2 = 0.00166 rad/s2
An aero-plane makes a half circle of 100 m radius towards left when
flying at 400 kmph. The engine and propeller of plane weigh 500 kg,
and have a radius of gyration of 30 cm. The engine rotates at 3000
rpm ccw, when viewed from the front end. Find the gyroscopic couple.
Solution: Given Data: R = 100 m; v = 400 kmph = 111.2 m/s; m = 500 kg;
k = 30 cm = 0.3 m; N = 3000 rpm or ω = 2π x 3000/60 = 314 rad/s
Mass moment of inertia of the engine and the propeller, I = m 𝑘 2 = 500
(0.3) 2 = 45 kg-m 2
Angular velocity of precession, 𝜔𝑝 = 𝑣/𝑅 = 111.2 100 = 1.112 rad/s
The gyroscopic couple acting on the aero-plane, C = I ω 𝜔p = 45 x 314 x
1.112 = 15712 N-m = 15.712 kN-m Ans.
Gyroscopic effect: Nose – depress, tail – raise
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