Department of Mechanical Engineering Technology

Faculty of Engineering Technology, Universiti Tun Hussein Onn

Malaysia
84600 Pagoh, Johor Darul Ta’zim

LABORATORY REPORT
CONTROL LABORATORY
Subject Name and Code ENGINEERING
BNJ 37301
LABORATORY IV
Title of Experiment
Magnitude of Gyroscope Couple

Course Code BNJ 37301

Section 1

Semester and session 20212022/2

Lecturer/Instructor/Tutor’s 1. Ts. Dr. Izuan Amin Bin Ishak

Name 2. Mohd Fuad Bin Yasak
Group Members Matric
Assessment
No.
1. SUM JING YU AN190189 Theory (C2) 10 %
Observation (P3)
2. LAI SWEE YONG CN190006 15 %
Results (P2)
3. ALLYSSA AMANDA AN190165 20 %
Calculation (P4)
4. MUHAMMAD SYAZANI
BIN SHAHRUL ZAMAN
AN190089 10 %
Discussions (C4)
5. 25 %
Date of Experiment Conclusion (C2)
15 %
References (C1)
4 APRIL 2022 5%
Date of Submission
TOTAL 100%

11 APRIL 2022 TOTAL COGNITIVE 55%

Approved stamp
TOTAL 45%
PHYSCOMOTOR
 TABLE OF CONTENTS

TITLE PAGE

TABLE OF CONTENTS I
LIST OF APPENDICES

1.0 THEORY 1

2.0 RESULTS 2

3.0 CALCULATION 4

4.0 OBSERVATION 6

5.0 DISCUSSIONS 9

6.0 CONCLUSION 10

REFERENCE 11

ATTACHMENT 12

I
1.0 THEORY

Generally, the term gyroscopic can be referred as disc-shaped, or wheel-shaped,

or spherical bodies which are mounted such that it can spin rapidly, and freely in any
direction (Team YoungWonks, n.d.). As the tilting of the mounting has zero effect on
axis’ orientation, hence the gyroscope able to effectively utilized to detect and quantify
an object’s deviation from its ideal alignment, as well as maintaining that orientation
and angular velocity. In addition, the gyroscope containing two major characteristics,
which are rigidity and precession. The gyroscope's rigidity is manifested in the
gyroscope's tendency to always point in the same direction or to keep its spin plane
parallel to itself. This is based on Newton's First Law of Motion, where unless
compelled by external forces to change its state, a body will continue in its state of rest
or uniform motion in a straight line. As a result, a gyroscope will constantly resist forces
that attempt to shift its rotation axis (Marshall Brain, n.d.). On the other hand, the
gyroscope’s precession is a feature that can be shown by providing a force to the
gyroscope that causes the spinning wheel's plane of rotation to change. When a force is
applied to one location on the gyroscope, the force's effect will be at a point 90 degrees
distant from its real line of action along the fly wheel in the rotational direction (TIM
MCADAMS, 2012).

Basically, a gyroscopic force (couple) is often connected with any spinning

object. Any changing in the angle of an object will produce the gyroscopic effect, where
it will resist the change, but at a 90-degree angle to the force. Gyroscopic effect can be
also defined as the tendency of the rotating body to maintain a steady direction of its
axis of rotation (Náhlík & Smetanová, n.d.). When considering the effect of any couple
on a rotating body, it should be with respect to the reactive couple. The gyroscopic
couple can also be defined as the turning moment that against any change in the
inclination of the axis of rotation of a gyroscope (Sachin Thorat, n.d.). The right-hand
rule is used to determine the direction of the reactive gyroscopic couple. This is
accomplished by covering the spin axis with the right hand. The curved fingers
represent the direction of the disc's rotation, while the thumb represents the spin,
precession, and couple. Lastly, the equation of gyroscopic couple is given as 𝑇𝑇 =
𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 , where 𝐼𝐼 is the nominal moment at inertia of rotor, 𝜔𝜔𝑟𝑟 is the rotor velocity and
𝜔𝜔𝑝𝑝 is the precession velocity.

1
2.0 RESULTS

a) Experiment 1 - Gyroscopic Couple Direction

Table 1: Predicted and measured couple direction based on the situation provided

Rotor Direction Precession Predicted Couple Measured Couple

Velocity = 250 Direction Direction Direction
(rad/s) Velocity = 30 (clockwise [C] or (clockwise [C] or
(rad/s) anticlockwise anticlockwise
[AC]) [AC])

Clockwise No Velocity 0 0

No Velocity Clockwise 0 0

Clockwise Clockwise 1.04 [C] 1.13 [C]

Anticlockwise Anticlockwise 1.04 [C] 1.13 [C]

Clockwise Anticlockwise -1.04 [AC] -1.17 [AC]

Anticlockwise Clockwise -1.04 [AC] -1.17 [AC]

b) Experiment 2 - Magnitude of Gyroscopic Couple (Fixed Precession, Varied Rotor

Velocity)

Table 2: Predicted and measured couple magnitude against rotor velocity

Rotor Velocity 𝝎𝝎𝒓𝒓 Predicted Couple Measured Couple

(rad/s) Magnitude T Magnitude T
(Nm) (Nm)

250 1.04 1.13

200 0.83 0.91

150 0.62 0.70

100 0.41 0.47

50 0.21 0.25

2
c) Experiment 2: Magnitude of Gyroscopic Couple (Fixed Rotor, Varied Precession
Velocity)

Table 3: Predicted and measured couple magnitude against precession velocity

Precession Predicted Couple Measured Couple

Velocity 𝝎𝝎𝒑𝒑 Magnitude T Magnitude T
(rad/s) (Nm) (Nm)

30 1.04 1.12

25 0.86 0.95

20 0.69 0.78

15 0.52 0.58

10 0.35 0.40

5 0.17 0.24

3
3.0 CALCULATION

Given that formula for Gyroscopic Couple is,

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝
Where 𝐼𝐼 is the nominal moment at inertia of rotor in 0.000138 𝑘𝑘𝑘𝑘/𝑚𝑚2, 𝜔𝜔𝑟𝑟 is
the rotor velocity in rad/s, and 𝜔𝜔𝑝𝑝 is the precession velocity in rad/s.

a) Experiment 1 - Gyroscopic Couple Direction

1. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 0;

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(0) = 0 𝑁𝑁𝑁𝑁

2. At 𝜔𝜔𝑟𝑟 = 0, 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(0)(30) = 0 𝑁𝑁𝑁𝑁

3. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(30) = 1.04 𝑁𝑁𝑁𝑁

4. At 𝜔𝜔𝑟𝑟 = -250 rad/s [AC], 𝜔𝜔𝑝𝑝 = -30 rad/s [AC];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(−250)(−30) = 1.04 𝑁𝑁𝑁𝑁

5. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = -30 rad/s [AC];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(−30) = −1.04 𝑁𝑁𝑁𝑁

6. At 𝜔𝜔𝑟𝑟 = -250 rad/s [AC], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(−250)(30) = −1.04 𝑁𝑁𝑁𝑁

b) Experiment 2 – Magnitude of Gyroscopic Couple (Fixed Precession, Varied Rotor

Velocity)

1. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(30) = 1.04 𝑁𝑁𝑁𝑁

2. At 𝜔𝜔𝑟𝑟 = 200 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(200)(30) = 0.83 𝑁𝑁𝑁𝑁

3. At 𝜔𝜔𝑟𝑟 = 150 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

4
 𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(150)(30) = 0.62 𝑁𝑁𝑁𝑁

4. At 𝜔𝜔𝑟𝑟 = 100 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(100)(30) = 0.41 𝑁𝑁𝑁𝑁

5. At 𝜔𝜔𝑟𝑟 = 50 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(50)(30) = 0.21 𝑁𝑁𝑁𝑁

c) Experiment 2 – Magnitude of Gyroscopic Couple (Fixed Rotor, Varied Precession

Velocity)

1. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 30 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(30) = 1.04 𝑁𝑁𝑁𝑁

2. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 25 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(25) = 0.86 𝑁𝑁𝑁𝑁

3. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 20 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(20) = 0.69 𝑁𝑁𝑁𝑁

4. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 15 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(15) = 0.52 𝑁𝑁𝑁𝑁

5. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 10 rad/s [C];

𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(10) = 0.35 𝑁𝑁𝑁𝑁
6. At 𝜔𝜔𝑟𝑟 = 250 rad/s [C], 𝜔𝜔𝑝𝑝 = 5 rad/s [C];
𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 = (0.000138)(250)(5) = 0.17 𝑁𝑁𝑁𝑁

5
4.0 OBSERVATION

In Table 1, for Gyroscopic Couple Direction Experiment, we collected the

predicted and measured couple direction data for the rotor direction velocity of 250
rad/s and precession direction velocity of 30 rad/s. For the first situation, rotor direction
is clockwise with no precession direction. Both predicted and measured couple
direction were 0, which means do not have couple direction. For second situation, rotor
direction with no velocity and clockwise precession direction. Data collected for both
predicted and measured coupled direction were 0, which means do not have couple
direction. For third situation, both rotor direction and precession direction are
clockwise. So, the predicted couple direction and measured couple direction is 1.04 𝑁𝑁𝑁𝑁
and 1.13 𝑁𝑁𝑁𝑁 in clockwise direction respectively. For fourth situation, both rotor
direction and precession direction are anti-clockwise. The predicted couple direction
and measured couple direction is 1.04 𝑁𝑁𝑁𝑁 and 1.13 𝑁𝑁𝑁𝑁 in clockwise direction
respectively. For fifth situation, predicted couple direction clockwise while precession
direction anti-clockwise. Predicted couple direction is -1.04 𝑁𝑁𝑁𝑁 in anti-clockwise
direction where as measured couple direction is -1.17 𝑁𝑁𝑁𝑁 in anti-clockwise direction.
For the last situation, for anti-clockwise rotor direction and clockwise precession
direction, the predicted couple direction is -1.04 𝑁𝑁𝑁𝑁 in anti-clockwise direction while
measured couple direction is -1.17 𝑁𝑁𝑁𝑁 in anti-clockwise direction. For measured
results is exactly the same with the predictions means, they compare correctly.

In Table 2, Magnitude of Gyroscopic Couple (Fixed Precession, Varied Rotor

Velocity) Experiment, we observed the predicted and measured couple magnitude
against rotor velocity. The precision is fixed with velocity at 30 rad/s. Moment of Inertia
of Gyroscope, I equal to 0.000138 kgm^2. For every 50 rad/2, we collect the data for
predicted and measured couple magnitude. Starting from rotor velocity, 250 rad/s
decrease to 50 rad/s. As the rotor velocity increases the predicted and measured couple
magnitude also increases. For minimum rotor velocity 50 rad/s, comes with minimal
predicted and measured couple magnitude which are 0.21 Nm and 0.25 Nm
respectively. For maximum rotor velocity 250 rad/s, we noticed maximal predicted and
measured couple magnitude which are 1.04 Nm and 1.13 Nm respectively.

In Table 3, Magnitude of Gyroscopic Couple (Fixed Rotor, Varied Precession

Velocity), we observed the predicted and measured couple magnitude against

6
precession velocity. The rotor velocity is fixed at 250 rad/s. We start collecting data for
precession velocity for every 5 rad/s from 30 rad/s decrease to 5 rad/s. As the precision
velocity increases, the predicted and measured couple magnitude also increase. For the
lowest precision velocity 5 rad/s, predicted and measured couple magnitude was
minimal at 0.17 Nm and 0.24 Nm respectively. As for the highest precision velocity 30
rad/s, predicted and measured couple magnitude was at maximum which are 1.04 Nm
and 1.12 Nm respectively.

For comparison Table 2 and 3, the measured results are slightly different with
the predicted results. The cause of error between the predictions with the measured
results may be due to the misjudgment while taking the reading of the couple magnitude
as the display of the gyroscope reading is not constant sometimes.

Predicted And Measured Couple Magnitude Against Rotor Velocity

1.2
Couple Magnitude T, Nm

1
Predicted Couple
Magnitude T (Nm)
0.8

0.6 Measured Couple

Magnitude T (Nm)
0.4

0.2

0
0 50 100 150 200 250 300
Rotor Velocity, rad/s

Figure 1: Graph of predicted and measured couple magnitude against rotor velocity

7
 Predicted And Measured Couple Magnitude Against Precession
Velocity
1.2

1
Couple Magnitude T, Nm

0.8

0.6 Predicted Couple

Magnitude T (Nm)
Measured Couple
0.4
Magnitude T (Nm)

0.2

0
0 5 10 15 20 25 30 35
Precession Velocity, rad/s
Figure 2: Graph of predicted and measured couple magnitude against precession
velocity

Linearity result provides experiment result that are directly proportional to the
quantity to be measured which are the couple magnitude and velocity. Linearity studies
are important because they define the range of the method within which the results are
obtained accurately and precisely.

8
5.0 DISCUSSIONS

Based on the results obtained from the Experiment 1, it showed that there is no
gyroscopic couple produced when there are either rotor or precession velocity is absent.
This is due to the axis of precession or rotor is always parallel to the axis of spinning
for all positions. Hence, there is no effect of the gyroscopic couple acting on the
gyroscope. Other than that, this can be proven by applying the gyroscopic equation,
𝑇𝑇 = 𝐼𝐼𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 , where when either the angular velocity of the rotor or precession become
zero, the gyroscopic couple or torque will also become zero as well. On the other hand,
when the rotor and precession is rotating in same direction (either clockwise or
anticlockwise direction), the gyroscopic couple showed a positive torque output, which
indicate that it rotating in clockwise direction. This can be proved by using right-hand
rule, however this method is difficult to be interpret. So, this can be also proved by
using the gyroscopic couple’s equation, and clockwise direction indicates positive
value while anticlockwise direction indicates negative value. Therefore, when the rotor
and precession having same spinning direction, the gyroscopic couple is in clockwise
direction, while in different spinning direction, the gyroscopic couple is in
anticlockwise direction.

Other than that, for Experiment 2, it significantly showed that the angular
velocity of rotor and precession is directly proportional to the magnitude of gyroscopic
couple. For instance, the higher the angular velocity of rotor, 𝜔𝜔𝑟𝑟 or precession 𝜔𝜔𝑝𝑝 , the
higher the magnitude of gyroscopic couple, T. This can be simply proven through the
gyroscopic equation, at where is showed that T ∝ 𝜔𝜔𝑟𝑟 𝜔𝜔𝑝𝑝 , which the magnitude of
gyroscopic couple has a linear relationship with the angular velocity of the rotor and
precession.

Generally, the experimental results and calculated results have an average

percentage error of 13.7% in this experiment, where the highest percentage error
recorded is about 41.2%, which the minimum is 7.7%. This percentage error might be
due to the miscalibration or no calibration conducted on the gyroscope before
experiment, and thereby resulting to low accuracy results.

9
6.0 CONCLUSION

In this experiment, the three experiments regarding to the gyroscope has been
conducted. First of the experiment is testing the gyroscopic couple direction, the second
experiment is testing the magnitude of gyroscopic couple with the condition of fixed
precession and varied rotor velocity, and the third experiment is testing the magnitude
of gyroscopic couple with the condition of fixed rotor and varied precession velocity.
For the first experiment, the results showed have proved that the gyroscopic couple will
only exist when the gyroscope has both precession and rotation and the change of
direction of gyroscopic couple is related to the direction of rotor and precession. For
the second and third experiment, the measured magnitude of gyroscopic couple that
obtain during the experiment is similar with the predicted magnitude of gyroscopic
couple that calculated with the gyroscopic couple equation. So, it can be concluded that
the theoretical and actual values of gyroscopic couples are similar with each other in
this experiment.

However, there still have some precaution that can be done to increase the
accuracy of the results in this experiment. For example, the operator has to make sure
the calibration of gyroscope has been done before doing the experiment and make sure
doing the maintenance for the gyroscope equipment sometimes.

10
REFERENCE

Marshall Brain. (n.d.). How Gyroscopes Work | HowStuffWorks. Retrieved April 10,
2022, from https://science.howstuffworks.com/gyroscope.htm

Náhlík, T., & Smetanová, D. (n.d.). Applications of Gyroscopic Effect in

Transportation. 293–296. https://doi.org/10.17818/NM/2018/4SI.24

Sachin Thorat. (n.d.). Gyroscopic Couple Basic | Principle | Examples. Retrieved

April 10, 2022, from https://learnmech.com/gyroscopic-couple-basic-principle-
examples/

Team YoungWonks. (n.d.). What is a Gyroscope and How Does It Work? Retrieved
April 10, 2022, from https://www.youngwonks.com/blog/What-is-a-Gyroscope-
and-How-Does-It-Work

TIM MCADAMS. (2012, January 29). Gyroscopic Precession |.

https://blog.aopa.org/aopa/2012/01/29/gyroscopic-precession/

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ATTACHMENT

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