Dynamics of Gyroscopes

Matthew Eby
February 10
Questions: Matthew.Eby@Colorado.edu

Gyroscopes
Basic Definition: A gyroscope measures angular orientation
either directly, or through integrating a measured rotational
rate or acceleration.
Uses:
Navigation
Control Systems (i.e. anti-skid in cars)
Combine with accelerometer to form IMU

Desirable Qualities:
High Sensitivity-Minimum detectable rate.
Stability-Over time, or environmental change.
Broad Range-Accuracy at both low and high rates.

Types of Gyroscopes
Classic Spinning Disk
Based on gyroscopic effect of a of rotating object with angular
momentum.

dh
=
dt

Vibratory

Based on Coriolis force on an object in a rotating reference frame.

r r
Fcoriolis = 2m(v )

Laser (Ring, IFOG)

Based on timing the travel of light through a course whose length
varies with the rotation of the course.

Speed of Light = c = Constant

Interferometric Fiber Optic Gyroscope (IFOG)

Coherent (laser) light travels in opposite directions around a fiber optic

coil.

Rotation of the coil creates a path difference between the signals.

Measuring the phase shift between the signals provides a rotation rate
measurement.

Path Difference
Distance Traveled by Clockwise Signal:

2cR
&
ct = 2R R t ct =
c + R&

Distance Traveled by Counterclockwise Signal:

2cR
&
ct+ = 2R + R t+ ct+ =
c R&

Path Difference
Take difference of distance traveled by each signal.

1
1

dL = c(t+ t ) = 2cR
&
&)

+
(
)
(
c
R
c
R

( c + R&)
2 R&
( c R&)
dL = 2cR 2
2
= 2cR 2
2 &2
2 &2
2 &2

(
)
(
)
(
c
R
c
R
c
R

4cR 2&
dL = 2
( c R 2& 2 )
c >> R 2& 2
Path Difference:

4R 2&
dL =
c

Light Interference
The coherent light exiting after traveling different distances
have a phase difference proportional to rotation rate.
4R 2&
dL =
c

d
dL =
2
c
&
= 2 2 d
8 R

IFOG Summary
Advantages

No mechanical parts
Resistant to shock and vibration
Long-lived
Accurate
Commercially Available: First Used in Boeing 777

Disadvantages
Speed of light is fast and thus requires many loops of fiber optic
fiber to create a detectable phase angle.

Coriolis Force Gyroscope

Sense Electrode

Drive
Electrode
Fixed Hub

r r
Fcoriolis = 2m(v )

a.) Excite Primary Mode

b.) Coriolis Force Develops

c.) Excites Secondary

Mode

Coriolis Force Gyroscope

To characterize the dynamics of a vibratory gyroscope we
need to:

Create a simple model to account for the principle features.

Find generalized coordinates.
Calculate system energy as a function of the generalized coordinates.
Develop the equations of motion by the Lagrangian method.
Evaluate the E.O.M. to determine the system response to an input
rotation rate.

Simple Model: One Axis Gyroscope

Vibrating mass with two orthogonal vibration modes (one for forcing
and the other for sensing).
Rotation axis perpendicular to vibration plane.

Generalized Coordinates Review

A set of coordinates (q1, q2,) which:

Fully describes the position and orientation of the system at any time.
Each coordinate is independent from every other coordinate. In other
words each coordinate can be set independently without violating the
physical system.

q1 f (q2 , q3 ,...)

Example: Find Coordinates for a Compound Pendulum (2 D.O.F.)

(0,0)
g

Correct?

Massless Link-Length L1

m1

(x1,y1)

Massless Link-Length L2
(x2,y2)

m2

Generalized Coordinates Review

Fulfills condition 1. but not 2. (Note dependence of coordinates):

L1

y1
x1

m1

y1 = L12 x12

Instead Consider Angles (generalized coordinates are often nonunique)

L1

m1
2

L1

m1

L2

m2

L2

m2

Generalized Coordinates For One Axis

Coriolis Gyroscope
Generalized coordinates , x, y with x,y relative to frame.
Rotation about z-axis, with steady oscillation along x-axis.
Response develops along y-axis.

Frame

Rotating Reference Frame

Inertial frame XYZ and rotating frame xyz.
Position/velocity in rotating reference frame:

v
rxyz = rxi + ry j + rz k
v&
rxyz = r&xi + r&y j + r&z k

The velocity in the fixed frame

can be found by treating the
unit vectors as variable:

v&
&
&
&

rXYZ = r&x i + r&y j + r&z k + rx i + ry j + rz k

Rotating Reference Frame

v&
v&
&
&
&
rXYZ = rxyz + rx i + ry j + rz k
Consider r = constant

v&
&
&
&
rXYZ = rx i + ry j + rz k
Velocity of Pure Angular Motion:

v&
rXYZ = rxyz
v&
v&
r = r + r
XYZ

xyz

v = vrotating + rrotating

xyz

System Energy
K.E. and P.E. as a Function of Generalized Coordinates:

rrotating = x i + y j
vrotating = x& i + y& j
v = vrotating + rrotating

v = ( x& i + y& j ) + & k ( x i + y j )

v = ( x& & y )i + ( y& + & x ) j
2
2
&
&
T = 2 m [( x& y ) + ( y& + x ) ]
1

V=

kx x +
2

ky y

Lagrangian
Three generalized coordinates x, y, .
The angular displacement is imposed on the device, while the x
direction is forced with sinusoidal oscillation amplitude of x0.
We are interested in the response occurring in the y coordinate, so
lets examine the equation of motion for qi=y.

L=

L = T V

2
2
&
&
&
&
[(
)
(
)
]
m
x
y
y
x

+
+

2
1 k y2
k
x
+
2 x
2 y

d L L

= Qi
dt q&i qi

d L L
= Qy

dt y& y

Formulate Equation of Motion

L=

2
2
&
&
&
&
m
x
y
y
x
[(
)
(
)
]

+
+

y coordinate:

L
= m y& + & x
y&

2
1 k y2
k
x
+
2 y
2 x

d L
= m &y& + && x + & x&
dt y&

)( )
(
)

= m x& & y & + k y y

dy
m &y& + && x + & x& + m& x& & y + k y y = Q y

m&y& + 2m& x& m& 2 y + m&& x + k y y = Q y

Formulate Equation of Motion

Add non-conservative damping forces.

Wnon consv . = Fdampery = c y y& y

Q y = c y y&
2
&
&
&
&
&
my + 2m x m y + m&& x + k y y = c y y&
2
&
&
&
&
&
&
my + c y y + 2m x m y + m&& x + k y y = 0

Additional Inertial Forces

Due to Rotating Ref. Frame
Assume for our case the Coriolis force dominates the other
introduced inertial forces. (rotation rate small and steady)
Coriolis Force

Find Response Amplitude

Generally interested in the response amplitude not the full
solution.
Consider the Coriolis force as an external forcing function:

m&y& + c y y& + 2m& x& + k y y = 0

m&y& + c y& + k y = 2m& x&
y

Invoke complex analysis of forced (particular) response.

Control scheme provides a sinusoidal oscillation in x with
amplitude of x0 and frequency d (Drive Frequency).

x = xo sin ( d t ) x& = xo d cos( d t )

e i = cos( ) i sin( )
&x = Re[ xo d eid t ]

Find Response Amplitude

Complex representation of forcing function:

Fcoriolis

i d t
&
= Re 2m xo d e

Particular solution has the form:

y p = Re Ye id t

Insert these equations back into the equation of motion:

y& p = Re iY d eid t

&y&p = Re Y d2 eid t

Leave out Re symbol for now (just remember we want the real part)

) (
Y ( m

( )
) = 2m& x

m Y d2 eid t + c y iY d eid t + k y Ye id t = 2m& xo d eid t

2
d

+ ic y d + k y

Find Response Amplitude

Continued:

Y ( m d2 + ic y d + k y ) = 2m& xo d

c y = 2m n y

Y d2 + i 2 n y d + n2 y = 2& xo d
2& xo d
Y=
d2 + n2 y + i 2 n y d

[(

Multiply top and bottom by:

[(

Y=

2
d

+ n2 y i 2 n y d

2& xo d ( d2 + n y ) i 2 n y d

[(

2
d

) + (2

2
2
n y

n y d )

Find Response Amplitude

We now have complex amplitude Y:

Y = a + ib

y p = Re Ye i d t

Complex Identity:

a + ib = Aei , A = a 2 + b 2

y p = A Re e i d t +

Thus, the real response has an amplitude of A.

2
2

+
2
d
n y
A2 = 2& xo d
2 + 2 2 + (2 )2
d
n y
n y d

[(

(
)
[(

(2 )
+ ) + (2
2

] [(
2

)
)

n y

2
d

2
2
n y

2 + 2 2 + (2 )2
2
d
n y
n y d

A2 = 2& xo d
2
2
2
2 + 2
(
)

+
2
d
n y
n y d

d )

n y

Gyroscopic Response (Accuracy)

Simplification yields the response amplitude for small, steady
rotation input &.

A=

2& xo d
2
n y

) + (2

2 2
d

n y d )

Equation extremely useful in designing a gyroscope with

maximum response amplitude (increased accuracy).
Foremost notice the amplitude decreases if the drive frequency
differs from the natural frequency in the y-direction.
Since one would select the drive frequency roughly equal to
the natural frequency in the x-direction (maximize xo), an
optimal gyroscope has matched modes.

Gyroscopic Response (Accuracy)

Now consider a matched mode gyroscope:

d = n x = n y

& xo
A=
n
Introduce the Quality (Q) Factor
Amplitude Decrement Method

Xe

Frequency Response Method

X
2

Bandwidth

Center
Frequency

Time

1
Q=
2

Frequency

center
Q=
bandwidth

Gyroscopic Response (Accuracy)

Amplitude becomes:

2Qxo&
A=
n
Two Key Observations
Want to maximize the quality factor (MEMS resonators can have Qfactors > 20,000, which makes MEMS gyroscopes interesting)
Want to decrease the fundamental frequency of the device. Usually
set at ~20 kHz to avoid interaction with low frequency environmental
noise.
This last fact leads to some interesting dimensions for MEMS
structures.

Group Work (Two Teams)

MUMPs Gyroscope
Find L,w of beams and Lplate such that the gyroscope has a
fundamental frequency of ~20 kHz.
Useful Facts
E=160 GPa, =2330 kg/m3
Thickness=2m
Assume cantilever spring

keq =

3EI
L3

I=

1
12

wt 3

2kcantilever
m plate

Neglect spring mass

Plate to substrate separation is 1.5m.
Minimum feature size also 2m.

Rigorous Amplitude Derivation

Equations of Motion for x, y Coordinates:
m 0 &x& c x
0 m &y& + 2m&

Complex Representation:

x j = X je
m d2 + ic x d + k x

2m& d

2m& x& k x
+
c y y& 0

f j = Fj e

i d t

0 fx
=

ky 0
i d t

2m& d

X Fx k x x0
= =
2
m d + ic y d + k y Y 0 0
Z11
Z
21

Z12 X F10
=

Z 22 Y 0

X Z11
Y = Z
21

Z12 F10
Z 22 0

Rigorous Amplitude Derivation

Y=
Y=

m [( +

Y=

2
d

Z12 F10
Z11Z 22 Z 21Z12
2m& d Fx

2
n x

+ i 2 x n x d )( +
2
d

2
n y

2
&
+ i 2 y n y d ) + 2 d ]

2& d n2 x x0

[( d2 + n2 x + i 2 x n x d )( d2 + n2 y + i 2 y n y d ) + 2& d ]

Matched Modes Case:

Y=

& x0

&
2 [( x y ) +

How Steady?
Derivation assumed a small and steady rotation rate.
To provide a feel for how steady, find the time required to
reduce the homogenous solution to 10% its original value.
Assumptions:
Q = 10,000
= 20 kHz = 125,000 rad/sec

Xe t
Q=

1
2

Coriolis Gyroscope Summary

Advantages

Scales down with increased accuracy

MEMS implementation (small and light)
MEMS devices can be integrated directly with associated electronics
No relative motion (i.e. no bearings, shafts, gears)
Low wear

Disadvantages
Lower accuracy due to difficulty inherent in measuring motion of
MEMS devices.
Devices often flimsy with length to thickness (slenderness) ratios
often approaching 1000.
Susceptible to shock.
As with most MEMS devices the reliability is low due to stiction.
Still in research phase

Research Project
Recall, for a Coriolis gyro., the accuracy is proportional to
Q-factor.
&

2Qxo
A=
n

The total quality factor combines the losses attributed to friction,

thermoelastic, air, and anchor dissipation mechanisms.

1
1
1
1
1
1
1
=
=
+
+
+
+
Q
Qi QTED QVolumetic QSurface Q Air Q Anchor

Despite the often limiting nature of anchor loss, this source has received
insufficient study.

Analytical Anchor Loss Relationship

Analytical model derived by assuming an equivalent single d.o.f. resonator:
Qanchor = 2

W0 =

W0
W

kr x 2
T

Pa ( ) =

Wdt = W W = TP ( )
0

(k

H s ( ) =

(k

Pa ( ) =

m s 2 ) ic s

m s 2 ) + (cs )

Re iF0* H s ( )F0

cs

Pa ( ) = 2 k x
(k m 2 )2 + (c )2
s
s
s

1
Qanchor =

cs

kr
(k m 2 )2 + (c )2
s
s
s

2
r

Qanchor =

1
k r Im[ H s ( )]

Parametric Examples-Cantilever

A Cantilever example highlights the general trends apparent in many

resonator structures.
E w th 3
k cantilever =
4L3

Qanchor cantilever

1
4 L3
=
Im[ H s ( )] Ew th 3

Relationship reveals an anchor loss dependency upon resonator slenderness,

width, Youngs modulus, and frequency dependent substrate properties.
Alternative substrate materials offer significant rigidity improvement.
Strength (MPa)
1000

Youngs Modulus (GPa)

100

Parametric Examples-Gyroscope

Combing anchor loss model with modal amplitude equation yields

additional insight unique to gyroscopes.

2Qxo&
A=
n
3

1
1
1
L

&

* *
A = xo * *

E w th n Im[ H s ( )]

Five relevent terms to work with in maximizing the sense amplitude;

an input term, a ligament material term, a ligament geometry term, a
frequency term, and a substrate term.

MUMPs Test Chip

1 mm

METAL
POLY2
HOLE2
ANCHOR2
POLY1_POLY2_VIA
POLY1
HOLE1
ANCHOR1
POLY0

MUMPs Test Chip

Series of cantilever structures to test width, frequency, and
slenderness dependence of anchor loss.
Results applicable not only to gyroscopes but to other
applications involving resonators (filters).

Conclusions
Examining the dynamics of two new classes of gyroscopes
provides the design intuition to:
Identify the design parameters which control the sensitivity.
Maximize the sensitivity to input rotation through parametric design.
Identify deficiencies in current understanding and develop new
research projects.
Point out the relative strengths and weakness of each, and what
applications are best suited for each.