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Gyroscope
Gyroscope
As the ship steers to the left, the active gyroscopic couple will change the
angular momentum vector from ox to ox′. The vector xx′ now represents
the active gyroscopic couple and is perpendicular to ox.
Thus the plane of active gyroscopic couple is perpendicular to xx′ and its
direction in the axis OZ for left hand turn is clockwise.
The reactive gyroscopic couple of the same magnitude will act in the
opposite direction (i.e. in anticlockwise direction).
The effect of this reactive gyroscopic couple is to raise the bow and lower
the stern.
When the ship steers to the right under similar conditions as discussed,
the effect of the reactive gyroscopic couple will be to raise the stern and
lower the bow.
Pitching is the movement of a complete ship up and down in a vertical
plane about transverse axis. In this case, the transverse axis is the axis of
precession.
The pitching of the ship is assumed to take place with simple harmonic
motion i.e. the motion of the axis of spin about transverse axis is simple
harmonic.
When the pitching is upward, the effect of the reactive gyroscopic
couple, as shown in Fig.(b) will try to move the ship toward star-board.
On the other hand, if the pitching is downward, the effect of the reactive
gyroscopic couple, as shown in Fig.(c), is to turn the ship towards port side.
For the effect of gyroscopic couple to occur, the axis of precession
should always be perpendicular to the axis of spin.
In case of rolling of a ship, the axis of precession (i.e. longitudinal axis) is
always parallel to the axis of spin for all positions. Hence, there is no
effect of the gyroscopic couple acting on the body of a ship.
Consider the four wheels A, B, C and D of an
automobile locomotive taking a turn towards left as
shown in the figure. The wheels A and C are the inner
wheels whereas B and D are the outer wheels. The
C.O.G. of the vehicle lies vertically above the road
surface.
Let,
M = mass of the vehicle in kg
W = weight of the vehicle in N = mg
R = radius of curvature in meters (R > r w )
X = width of track in meters
h = distance of C.O.G vertically above the road surface in meters
I W = mass of moment of inertia of one wheel in kgm2
ω W = angular velocity of the wheels or velocity of the spin in rad/s
I E = mass moment of inertia of the rotating parts of the engine in kgm^2
ω E = angular velocity of the rotating parts of the engine in rad/s
G = Gear ratio = ωE / ωw
v = linear velocity of the vehicle in m/s = ω W . r w
r w = radius of the wheel in meters
The weight of the vehicle (W) will be equally distributed over the four
wheels which will act downwards.
The reaction between each wheel and the road surface of the same
magnitude will act upwards.
Effect of the gyroscopic couple:
Due to the gyroscopic couple, vertical reaction on the road surface will be
produced.
Let the magnitude of this reaction at the two outer or inner wheels be ‘P’ N. Then
P × x = C or P = C/x
∴ Vertical reaction at each of the outer or inner wheels,
P /2 = C/ 2x
Effect of the centrifugal couple:
Centrifugal force,
FC =mv2 /R
∴ The couple tending to overturn the vehicle,
CO = FC × h= mv2 /R × h
This overturning couple is balanced by vertical reactions, which are vertically
upwards on the outer wheels and vertically downwards on the inner wheels.
Let the magnitude of this reaction at the two outer or inner wheels be Q.
Then
Q × x = CO or Q= CO /x= mv2 h/(Rx)
∴ Vertical reaction at each of the outer or inner wheels, Q/2= mv2 h/(2Rx)
∴ Total vertical reaction at each of the outer wheel, PO =W/4 +P/2 +Q/2
Total vertical reaction at each of the inner wheel, P1 =W/4 -P/2 -Q/2
Consider a two wheel vehicle (say a scooter or motor cycle) taking a right
turn.
Let
m = Mass of the vehicle and its rider in kg,
W = Weight of the vehicle and its rider in newtons = m.g
h = Height of the centre of gravity of the vehicle and rider,
r W = Radius of the wheels,
R = Radius of track or curvature,
I W =Mass moment of inertia of one of the wheels
ω W =Angular velocity of the wheels or velocity of spin in rad/s,
I E =Mass moment of inertia of the rotating parts of the engine
ω E= Angular velocity of the rotating parts of the engine in rad/s,
G = Gear ratio = ω E / ω W
Effect of gyroscopic couple:
v = ω W × r W or ωW=v/rW
ω E =G.ω W = G × v/ r W
∴ Total (I × ω) = 2 IW × ωW ± IE× ωE
=2 IW × v / r W ± IE × G × v/ r W = v/ r W (2 IW ±G. IE )
velocity of precession, ω P = v /R
When the wheels move over the curved path, the vehicle is always inclined
at an angle θ with the vertical plane as shown in Fig.(b). This angle is known
as angle of heel.
Gyroscopic couple,
C1 =I. ω cosθ × ω P = v/ r W (2 IW ±G. IE ) cosθ × v /R
=v2 /R. r W (2 IW ±G. IE ) cosθ
Effect of centrifugal couple:
Centrifugal force,
FC =mv2 /R
Centrifugal couple, C2 = FC × h cos θ = (mv2 /R)× h cos θ
centrifugal couple has a tendency to overturn the vehicle,
Total overturning couple,
C0 = Gyroscopic couple + Centrifugal couple
= v2 /R.r W (2 IW + G. IE ) cosθ + mv2 /R × h cosθ
= v2 /R [(2 IW + G. IE )/ r W + m.h] cosθ
Balancing couple = m.g.h sin θ
The balancing couple acts in clockwise direction when seen from the front of the
vehicle. Therefore for stability, the overturning couple must be equal to the
balancing couple, i.e.
v2 /R [(2 IW + G. IE )/ r W + m.h] cos θ = m.g.h sin θ