Symbols

A, B, C priticipal moments of inertia of the rotor

about rotor x, y, z axes, respectively
Theory of Operation of An, Bn, Cn principal moments of inertia of the nth
gimbal about the xn, Yn, Zn axes,
an Elastically Supported respectively
DR damping coefficient associated with
Tuned Gyroscope rotor-to-case damping along an axis per-
pendicular to the rotor spin axis
ROBERT J. G. CRAIG Dxn Dyn, D damping coefficients associated with the
Teledyne Systems Company torsional flexures of the nth gimbal about
Northridge, Calif. 91314 the xn, Yn axes
Kxn, Kyn torsional stiffness of flexures for the nth
gimbal about the gimbal xn and Yn axes,
respectively
Abstract Mx,My, M, externally applied moment to the rotor
resolved along the shaft-fixed coordinate
Detailed derivation of the transfer function for a multigimbal, set
elastically supported, tuned gyro is presented and comparison made Mx, My, Mz externally applied moment to the rotor
between its characteristics and those of a classical 'two-axis, resolved along the case-fixed coordinate
free-rotor gyro. set
Knowledge of the gyro transfer function is necessary for the N speed of shaft rotation relative to the case
purpose of servo analysis of the system in which the gyro is used; s Laplacian operator
also, the transfer function is a basis of evaluation of errors caused by t time
angular inputs that occur at twice spin frequency. TD rotor-to-case drag torque
Txn moment applied to the nth gimbal by the
rotor about the gimbal xn axis
Tyn moment applied to the nth gimbal by the
rotor about the gimbalyn axis
TXS shaft reaction moment exerted on the nth
gimbal about the gimbal xn axis
Ty, shaft reaction moment exerted on the nth
gimbal about the gimbalyn axis
cn angle between the xn axis of the nth gim-
bal and the x' axis of the rotor
ox, Oy angular velocity of the rotor relative to
the shaft resolved along the rotor-fixed
coordinate set
Ox, Ey angular velocity of the rotor relative to
the case resolved along the case-fixed
coordinate set
qx, Py absolute angular rates of the gyro case
resolved along the case-fixed coordinate
set
Cox, cy, c'Dz absolute angular rates of the shaft re-
solved along the shaft-fixed coordinate
set
COx', WY', .,,' absolute angular rates of the rotor re-
solved along the rotor-fixed coordinate
set
xn, wyn, Wzn absolute angular rate of the nth gimbal
resolved along the coordinate set fixed to
the nth gimbal.
Introduction
During the last decade considerable technological prog-
ress has been made in the understanding and development
Manuscript received December 1, 1971. of high-precision, two degrees of freedom, dry, tuned gyros.

290 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL AES-8, NO. 3 MAY 1972
Based on the comparison of practical results obtained in
this area with the present state of the art in the floated
instrument area, one cannot escape the strong temptation
to prophesize a slow but certain changeover in favor of the
dry, tuned gyros. More specifically, the practical results
indicate that for the same overall performance, volume, and
weight the cost of the dry instrument is less than that of a RiNG
floated one, In addition, a well-designed dry instrument
offers the following distinict advantages.
1) Due to a smaller number of functional parts, abseince
of flotation fluid, pigtails, aind generally looser tolerances,
the dry, tuned inst-rument is more reliable than its floated
counterpart. Fig. 1. Universal joint concept.
2) As opposed to a floated gyro, whichi requires a
precise temperature control and lengthy warmup period, in
the dry instrument full performance can be realized over a
wide temperature range immediately after operational When this universal joint is spun at higlh speed about the
speed is reached. This is typically less thani 30 seconds aftershaft axis, the rotor attains angular momentum and resists
turn-on. chainges in its attituide. With the rotor spinning let us
3) The power input required to operate a dry instru- displace the case through an angle 0 relative to a non-
ment is limited to that necessary for the drive motor, rotating reference frame. We note that since the rotor tends
torquers, and pickoffs, and under normal operating condi- to maintain the attitude it had prior to displacemnent, the
tions the total power input is aiound 1 watt. gbal must oscillate through an angle 0. As there is relative
In a floated instrument the quality of performance can motion between gimbal and shaft, and gimbal and rotor,
be directly related tu the quality of the rotational support energy is being dissipated in the ball bearings due to viscous
provided by the bearings. Due to very smooth operation and frictional effects. The torques associated with this
and long life at spini speeds involved, practically all the energy dissipation are so oriented as to reduice the
high-quality floated gyros utilize hydrodynamically lubri- amplitude of gimbal oscillation and eventually align, the
cated gas bearinigs. The dry-lype instrument, onl the othei rotor relative to case position, as it had prior to the case
hand, is quite tolerant of the quality of the rotational displacement. Further, if one analyzes the form of rotor
support because of torsional decoupling that exists between angular motion relative to the nonrotating reference frame,
the senesitive elenient and the shaft supporting bearings. as a result of case displacement, it is noticed that this
Fur example, the anisoelastic coefficient of a floated response is a low-frequency (lower than spin frequency)
instrument is mainly a function of the ratio of translational damped sinusoid.
stiffnesses of the rotational supports, whiile in the dry gyro The presence of th-is low tIrequency suggests that there is
this parameter is entirely independent of this ratio. an effective torsional restraint between rotor and the
In view of the foregoing considerations, and also nonrotating reference. We find that this torsional restraint
due to the fact that instrument fill pressure is low, ball has a negative coefficient of spring rate and is a function of
bearings are a natural candlidate for the dry instruments. gimbal inertias and speed of rotation. This torsional
The life of ball bearings appears to be the main considera- restraint is known as dynamically induced spring rate. The
tion and thuis such factors as operatiornal speed, inner versusfact that such a dynainically induced spring rate exists is
outer race rotation, thermal matching, choice of beariing- utilized in the actual gyro design where the ball bearings
generated frequencies versus structural resonant frequetn- and half-axles are replaced by torsionial elements which
cies, etc., have to be closely scrutinized in order to assufre have a positive coefficient of spring rate. This arrangement
long and reliable operation. is shown in Fig. 2. Again it is noted that the rotor has two
degrees of freedom, but the damping torques are much
smaller and by suitable selection and adjustment of gimbal
Description of a Gimballed, Dynamically Tuned Gyro inertias the dynamically induced spring rate cancels that of
Consider the universal joinlt structure shown in Fig. 1. the physical torsional springs at the selected speed of
The gimbal ring thouses two balli bearings. The inner races of rotation. The rotor ring now is a free body supported
these bearirngs are attached to the inner half-axles which in translationally with the resultant torsional restraints be-
turn attach to the shaft. The axes of the two half-axles are tween rotor and case equal to zero. This condition is
coincident and perpendicular to the shaft axis. Two represented by
additional bearings are housed in the rotor. The inner races N A+= '/ 4K--
of this bearing set are attached to the outer half-axles fixed A B C
to the gimbal ring. The inner and ouiter halt'axles are where N is the speed of rotation, K is the torsional stiffness
orthogonal. Relative to the shaft the rotor has two degrees of an individual torsional element, and A, B, C are the
of freedom. principal moments of inertia of the gimbal.

CRAIG: ELASCALLY SUPPORTED, TUNED GYROSCOPE2 281

 4

XC-'.,
/ < -CC >

Al

t -". 2I- o rd(Ara ti, *% TtN'Pxe( i,." 'a e a nd s hah4'

~-
1% [ C~1 Ii C' a ~et B'hah yrsoII ele 'Iho xxl 'i v. oe t-t se crhah'v
1CCIt," 0 d Juipo"kI( 3 1.7cd i \C ' ( I
ca'se fteed P01. ot 1iCC e x V Ii The 'Cc Cfljii se'
intre,duetion to the Derivation of thre Gyr~ eelI FICu''iii 1 Nt13 I~
Tnnsfler PiAnctjo v 'nt'ixrng il . he Jset liastCa-inguU
ictiatisA"
otCict'n -4xKd~soL'F ilnsf[itneu eO I

\nguhnar v'Oitv 0 .,0 'soiveo along the OlNhfuu

SC~ ~~~lf 4f'x c(I SeC

tiC ~~jI 4 CCC ~

J al K'a' t' C9

1IDl}TU I C 1
I
0 N'CI3 i C i Im fKr a C t-

-K C
Si't50 3j9 il' ~ -1 S x eI
' Cl wI
AuCeth wt iIntX ~ hA r i
' SelSC moot li' C h~C
KV ,t{Ci bv i
riii
gC4
ap ttj;e ghN
I- ia,Ss 'ru;
q.i .
J1n41lEa o ~SCt 1''~i

II '711ir<'a
?,0C.iIIIJIP I~~~~~~~~~~~~~~~~~Clh
)11 I L7~~~~~~~
112;

fl I'l .,.j

.."
s
A. ali
iC i c aX
'i- -,
1-1,.-Ill-
,.. I I
II 3II Is

'IIEIC 'CC 11 :11

,

~. II
It 1017 lCC
I Celv 7CIC 'C'C t) gll Ol C

i -U~
I.
k: ,-,;.I
,c
f'1 m-r\C-C' 117d the C'v,C.3' P9g C,,,.
'
etor~stIo a a xi;

Cl II) ".
I. t,C''C (C. Aell'qC t a 'C

Cl
QC 3 '~~XCi 'JI1 ii K V .1
V1~''
IL Oi'l
Ci CA
Clt i LC itt 't-C I
',~angularlyx' ispiae 'nJ IC 'ai anfgl.e(A-
o rl't-atioI
o wt ~/."
CbiJ aXIs) ri( iuo 17 I"%O'e '. -'VILce
C~~~C. IC Cl I' UCN~~~~~sIICl
JJVdlilatl SCe h(1gl91, 4b ai wiC'Ii ll ciIde
0Ifl

-~~~~~"IC,CZ WY1 i Cl'Ix' J 3.lI fi hi. s girubal aC

f. i -C C 'i- 'C, ,, ci e g -! c- ",
17?Figs. 4Jflii '. we? Obtainl the amguki-. 5i
e Qt1 4f tJh(
CifCIbai resolvced (1101lvhe gioibjt-ixiNC!
D.efinition of Coordirnate- Referenc-e Frarnes, Used anct? CC C'l " C11 -CCC
1Sii
CC7 ~ ~~ ~ ~ ~ ~ ~ ~ ~ ~ ', Y
Oerwvatiois, -;I Expressions for the Angular Velocity of 1wh
Shaft, Roto' and Gimnba
C CCC~ V
CI'C ~

CI
-71)

iA~~ N AS'lNSAtIC)lN$O N Ai till,) C.I A71 N )'I2s0'

CI i'. -T S{SI, m
iN(tl MA'- 1<9
 N

GIMBAL
M 8, t

Fig. 4. Shaft and the nth gimbal coordi-

nate sets. __
- @
y
O
-y t-- /
Moments Acting on Gimbal, Shaft, and Rotor
Noting the principle of the equilibrium of moments
applied to the gimbal demands that the resultant of all the ID1
external moments applied to the gimbal must be equal to
the inertia moment of the gimbal, we can write
lot", a -
I

Tx n -Tx s A n xn + (Cn Bn )Cwyn oz n (4) c,

"
b. 6

Tyn- Tys-Bncyn -(Cn An)wxnwzn (5) 'Y

where T1, and Ty, are the moments applied to the gimbal Fig. 5. Shaft, rotor, and gimbal coordinate sets.
by the rotor along the gimbal xn andyn axes, respectively,
and Txs and Tys are the shaft reaction moments exerted on
the gimbal along the same axes. MX -(Tx,, cos a,, -- Ty,, sin a,,) - TDOy
Referring to Figs. 4 and 5 we note
=Ac I+(C -B)A'wA)
T - K(Kxn(Oxcos an+QOY sin an) /,y- (Tx, sin a,, + Ty, cos a,) + TDOX
+ Dxn(jX Coscn + OY Sin an) (6)
-BC,,,' (C A )cox c'zw
Tyn Kyn( Ox sin a,n + Oy Cos a,n)
=
M+ TD 0. (10)
+ Dynrl(--V x sin an + 6y cos an ) (7) Case-fixed moments applied to the rotor yield
Substituting (6) into (4) and (7) into (5) we obtain M= M'x cos Nt + y sin Nt
M=--Mx sin Nt M'Y cos Nt (I 1)
Txn- Kxn(x Cos 09y sin an)
an +
where
+ Dxnj0x cos an +
y sin a,n) M x= Mx- DRO x (12)
+ Anc5xn + (Cn, Bn)a,yn,zn (8) MY-My-DROY. (13)
Tys K-y,n(-x 0sin a,, +
OY cOS an,)
Characteristic Equation of a Multigimbal Gyro in Complex
Dy n ( Ox sin an +Oy an,) Form in Rotating Coordinates
- Bn cyn + (Cn, -n )x nzn (9) Substituting (2), (3), (7), and (8) into (10) we obtain
We may now apply the principle of equiibrium of Mx= Ox [A +An cos2 an,]
moments applied to the rotor and consider Tx,, and FTy, as
the reaction moments with M,, My, and M, as externally 0x [Dxn COS2 an + Dyn sin2 an]
applied moments resolved along the rotor coordinate set. In Ox[(C -B)N + (Cn Bn)N2 cos2 a,,
addition, rotor damping will be taken into account. The
resultanit damping torque acting on the rotor consists of +Kxn cOs22an KKy n sinr2 ac]
rotor-to-case rotational drag torque TD, whose magnitude is
proportional to spin speed and whose vector lies along the Oy [An sinal a cos an

zI axis, and rotor-to-case damping torques represented by 4y [-AN + (C - B)N

DR 9X and DR Gy acting along the rotor xV and y' axes,
respectively, + Dxn sin a,n cOs a,- Dyn sin an cOs a,,]

CRAIG: ELASCALLY SUPPORED, TUNED GYROSCOPE 283

 + Oy [(Cn -Bn)N2 sinacn cos otn n.
.. B + An, sin2 Can + fy [nD]
+ Kxn SmOin cOs an -
Kyn sin can cos cn+ TD]
+ (OX [A +An COS2 Cin
+ Cx [-(Cn -Bn)N sin an cOsan + 0y [(C-A)N2+ N2 (Cn-Bn) Sin2 an
+.cyAn sin ctn cosan
n -n
+c y [(C-B)N+ (Cn -Bn)NCoS2 ann] (14) + Kxn Sin2 ain + Kyn cOs2 tn
My =Oy [B + An sin2 Otn 1
1a

+ Oy (DX sin2 an + Dyn COS a,]

+ Oy [(C-A)N2 + (Cn _Bn)N2 Sin2 aln +ox T An sin 2an] +txXHC-A -B)N]

+Kxn sin2aon +Kyn cos2 Otn

+ Ox [An sin cosn
COS a] + ox +N2 (Cn -Bn) sin 2an
+. xI-(C-A)N+BN
+ Dxn sin On cOsan -Dyn sin- tn COs Can n

+4 ~K sin 2a, Kyn sin 2Can

1n Jn
TD1
+ Ox [(Cn -Bn)N2 sin an cos an
+ Kxn sin asn cos an - Kyn sin an cos an- TD] = G(t) (17)
+. y [B + An Sin2 ain] where GX(t) and Gy(t) are the driving functions and are
+ wy[(Cn -Bn)N sin an cOs an given by
+ &3x [An sin can COS an I
+ Cox [-(C -A)N-(Cn-Bn)Nsin2 an ].
GX(t) = -x [A + An cOs2 Cn]
(15)
Now let us consider n gimbals. Let the x axis of each of
these gimbals be displaced from the rotor reference x' axis
by angles cal, a2, ao3 a* , n. Further, assume that the -)x [-2N (Cn-Bn) sin 2an]
damping coefficient associated with each torsional element
is the same; thus
Dxn =Dyn =D. -y [+4 An sin 2an]
The moment equations (14) and (15) become

Ox [A +Ancos n] + 6x [nD] (C B)N+N5 (Cn -Bn) cos an]

(C

+ Ox N2(C B) +N2
n
(Cn -Bn) cos2 an
+ MX (18)

n -Co [B + An 2 an]
+ Kxn cos2 an + Kyn Sin2 an] L An
1 1

Oy An sin 2an]
Oy [(C-A w
[+ NE (Cn -Bn) sin 2an]

+ Oy [ N2 (Cn -Bn) sin 2an

~ An sin
2an]

n
+ 1 I n
T4K2
KxnSin
sin-2 2 Kynsin 2an+TD -CCx4C-A)N-NE (Cn -Bn) Sin2 an]
1 1J
= Gx(t) (16) +my. (19)
(19)
284 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS MAY 1972
 Next the driving functions are evaluated by substitution of -Gx(t) = [I+ AI] [qx cosNt + "5y sin Ntl
(1) 6"A%& (13)
ka I and into
I L ,I AJLA %,w (18) "&A%& (19):
vk a WI and.
%, L .' I
+ [-Iq - IRj N[kx cosNt + f y sinNt]
-Gx(t) = [A + An cos2 an] Ox cosNt + Oy sinNt] + [IRI [-qx sin Nt + qy cosNtj
+ [C+Is+AIs+I+AiJ
+ 2N (Cn Bn + An) sin 2an]
- N [-4x sin Nt +(y cos Nt]
*
-M'X cosNt - M'Y sin Nt (24)
* [0x cosNt +fY sin Nt]
-Gy(t= [' Al] [xsin Nt + Oy cosNtJ
+ [I An sin 2an] + [Iq + IR IN[-4X sin Nt + qy cosNt]
+ [IR] [Ox cosNt + by sin Nt]
* 1-Fx sin Nt + qy cosNtj + [-C-Is+AIs-I+AI1.
* N[X cos Nt+qy sin Ntl
+ (C-B+A)N+N (C -1Bn + An) coe CXn
1 -B A)cs -
+ sin Nt- M'y cos Nt. (25)
Multiply (23) by j = / and add 'to (22), noting.
*[-4xsinNt +ycosNt] defimitions
- M'x cosNt - M'y sin Nt (20) oxy =Ox +joy I
oxy =Ox - ioy
-Gy(t)= [B+ An S2 C]
Gxy(t) = Gx(t) + jGy(t).
IOxy + nDOxy + [K - jTD + N2(C + IS)] OXY
[Ox sinNt + Hy cos Ntl
-j(C - A - B)NGxy + AI&xy + [AK + N2AI Xy
+ [+N (CnBn+An) sin 2an] +jIROxy +jKpxy = GXy(t). (26)
The left-hand side of (26) forms a basis of the
[ -x sin Nt + y cosNt] characteristic equation of the open-loop transfer function
expressed in rotating coordinates. A modified form of this
equation would be used to describe the performance of a
+ [+2 EAn sin 2%] gyro in which pickoffs, sensing either rotor or gimbal
angular position, and torquers were rotating with the shaft.
In most practical cases, however, case-flxed pickoffs and
[Ox cos Nt + ysinNt] torquers are used and thus it is necessary to transform (26)
into a form such that rotor angular position relative to the
+ [-(C-A+B)N-N (Cn-Bn +An) sin2 an] gyro case is directly available.
Gyro Open-Loop Transfer Function in Case-Fixed
* [kx cos Nt + qy sin Nt] Coordinates
+ M'x sinNt M'y cosNt.
-
(21) The relationship between angular motion of the rotor
relative to the rotating coordinates and rotor angular
Substitute (46) through (54) into (16), (17), (20), and (21): motion relative to case-fixed coordinates is derived in the
appendix and is given by
6a(I+ Al) + Ox(nD) + 0, [A2(C+ 4 + AIs) + K + AK]
+ OyIR + Oy(C-AA-B)N+ Oy(Kp + TD)= Gx(t) (22)
= )xye-Nt (27)
oxy =-xyeir t- (28)
0Y(I - Al) + Oy(nD)+ [yN2 (C + I, - AIs) + K- AK] Differentiation of (27) and (28) and substitution into
+ OXIR Ox(C-A-B)N+ 0x(Kp-TD)= Gy(t) (23) (26) results in
-

CRAJG: USsTLY SU D, TUNED GYKtOSCO?E 28S

 l(xy - 2Nexy - N2E) y) + nD(Xy - INEXy) Ti(s)=IS2 + [nD+DR +jN(A +B-C- 2f)Js
[K- jTD +N2(C+Is)] OXy + [K - jTD - jnND - N2J] (38)
+ j(A + B -C)N(exy - jNOxY)
72(s) = (AI + jIR )S2 -2jN(AI + IR)s
+ (Ai + iIR)(EXY + 2NOXey N2exy)e+2iNt -
+ [AK + jAk +N2AJJ (39)
+ (AK + N AIs + iKp)ExJye+2iNt = Gxy(t)e+iNt.
T1(s-2jN) =
Is2 + [nD -jN(A + B - C + 2I)] s
(29)
+ K - jTD - jnND-N2 [2(A + B - C) + J]
Taking the Laplace of (29), noting that Lf(t)eat = F(s-a),
where a is any constant real or complex, we obtain (40)
T2 (s- 2jN) = (A-ISR)S -21N(AI- IR (0
T1 (s)E)XY(s) + T2(s)eXY(s-2IN) = GXY(SIN). (30)
+AK-jAk+N2AJ (41)
Definitions of rT (s), T2 (s) are given by (38) and (39).
Take the conjugate of (30), F1 (S) =Is2 -jN(C +Is +I)s (42)
T1(s)e4XY(s) + 2(s) E)XY(s+2iN) = GXY(S+IN). (31) F2(s) = (AI + jIR)S2 + [(3IR - Ig)
Substitute s - 2jN for s in (31), -j(3AI-AWs)] Ns - AJN2 (43)
T1 (s^2jN)eXY(s-2jN) + T2(s-2 N) E8XY(s) Gxy (s-INf)
F1 (s-2jN)= IS2 + jN(C + I - 3)s + 2N2(C + Is-I)
(32) (44)
From (32), F2(S2jN) = (AI+ jIR)S2 - [(Iq +IR) - S(A + AI)]Ns
(45)
E-XY(s82IN) Gxy(s-jN)T1 T2(s2 IN)
=
- XY(s) (33)
(s-2 jN)
Ij= 2 [A +B +An] (46)
Substitute (33) into (31), obtaining

<H Trl (S-(s-2N)Gxy(s-jlN)-()xsjN

tl 2N)XS )- T(s) Gxy(s5N) (34) A=-[A - B +An cos 2a] (47)
Tj (s)TI (s-2jN)- 2T(s2jN)

n
Evaluation of the driving functions from (24) and (25)
yields (48)
GXY(S-jN)--F1 (s) OyXY(S)-F2 (S) OXY(S-2jN) 1
+ Mxy/s) - DRSe XY(s) (35)
2Kn
AK = + (Kxn-Kyn) cos (49)

Gxy(s N) = -F1 (s-2 jN) kXY(s-2 jN) -F2 (s-2 jN) 'XY(s)
As = [A-
K + (Cn-Bn) (50)
MXY(s-2jN) DR(S -2iNN)XY(S-2jN) -
-

(36) S 2-A -B + (Cnn-Bn)Bos2nj (51)

Substituting (35) and (36) into (34) and rearranging and
neglecting the term containing the product DRT2(S), we
obtain the open-loop transfer function in case-fixed coordi-
nates for a nonsymmetric, multiple-gimbal gyro:
=
= + nA sin 2an (52)
0XY(s) =- 4-XY(s) [F1(s)T1 (s-2 jN) -F2(S-2 jN) T2(s)I
-OXY(S-2jN) (F2(s)T1 (s-2 IN) -F1 (s-2 jN)T2(S)1 Iq= +(Cn BO)sin 2at - (53)
n
+ MXY(S) T1 (s-2 jN) - MXY(S-2 jN) T2(s)
Kp = 2 N (Cn-Bn) sin 2ain
/ [TI (s)r (s-2jN) -T2(s)f2(s-2jN)]. (37)
1

1n n
Gyro constants used in (37) are defined by (38) through + 2 KXn sin 2n - Ky Sin (25n
(57): 1 1 (54)
:286 IEEE TRANSACIIONS ON AEROSPACE AND ELECTRdNIC SYSTEMS MAY 1972
 Next let us assume the gyro is operated at a speed given
Ak = 2 E (Kxn -Kyn) sin 2an (55) by (63). Equation (62) then becomes

OXY(s) =-fXY(s) + xy(3), (64)

J= +(An +Bn - C) (56) As [s- ]
1
Substitute
AJ = T(An
+ Bn CO) e)2n - (57) OXY(s) = 4X(s) + ijY(s)
1
OXY(s) = OX(s) +IjEY(s)
Analysis of the Open-Loop Transfer Function for a MXY(S) = MX(S) + iMy(s)
Symmetric, Perfectly Tuned, Undamped Gyro into (64), normalize it, and equate the coefficients of real
Equation (37) describes the dynamics of the gyro rotor and imaginary quantities
relative to the case-fixed coordinate system. Due to its very
general nature it is useful in the analysis of performance E)X(s) = -oX(s) + sMA~ (65)
(error analysis) of an asymmetric gyro in response to any As 2 + (NC/]
form of angular or moment inputs. -A symmetrical, gim-
balled, tuned gyro is defined as one in which rotor inertias, NC
gimbal inertias, and its associated torsional restraints are so 4 M
selected as to yield T2(s) = 0 and F2(,) = 0. A gyro +Mx(s)-
[S A + sM) (66)
designed with mu-ltiple gimbals may be asymmetric due to As [s2 (i)2]
manufacturing and assembly imperfections. Considering a
symmetric desigrn, (37) reduces to Equations (65) and (66) represent the open-loop transfer
function of a classical two-axis, symmetrical, free-rotor
e
eXY(3)-(s)
= OXyFl(s)
+Mxy(s) (58) gyro.

Neglecting damping effects, (38) becomes Appendix

Notes on Complex Transformation
I2 + jN(2A - C - 21s + K-N2J] (59)
Defime the x, y axes fixed in the rotating body and the
X, Y axes fixed in the gyro case noting that rotation vector
In a normal design the rotor inertias are much larger N is perpendicular to the x, y and X, Y axes.
than gimbal inertias and thus with good approximation Let 0 be a vector whose components along the rotating
(42), (46), and (59) become coordinates are 0 and 0, and its components along the
I=A case-fixed set are Ox and Oy. Referring to Fig. 6 we obtain
NC Ox=Ox cosNt- Oy sin Nt
F, (s) --.As s- A (60)
OY = Ox sin Nt + Oy cos Nt .
'Ti(s=A)Ar S+_
-
2 jNC K-N
(61) Define
A A Oxy =Ox +joy
Substitute (60) and (61) into (59), obtaining the transfer Ox = Ox +jy -
function for a symmetric, undamped, untuned gyro:
Thus

Ox2 @XY(s)AsS ~iN!

XY(S)-~ ~(-jA
_-FY(S4 ) +Mxy8
~ ~~ XY(S) ~ . Oxy = Ox(cos Nt + j sinNt) + Oy(j cos Nt - sin Nt)
(62)
A S2 jNC s + K-N2J = Ox eiNt + joy eiNt
= Oxy eiNt (67)
In the perfect gyro, when external moments are absent, the
output angle Oxy is equal to the negative of the input Fundamental Equations
angle (xy. Equation (62) satisfies this condition provided
K - N2J.= 0. Thus, when the gyro spin speed is given by Assume the xyz frame fixed in the body with origin at
the center of mass of the body. Let X be the angular
velocity vector of the body passing through the center of its
N =KJ'(63) mass. Also, let p be the position vector, measured from the
it behaves as a perfect gyro. center of the mass, to the elemental mass within the body,

CRAIG: ELASlAALY 5WPOalED, TUNED GYROSCOWPE 287

 Substitute v = XU X p into (68)

I9y 7=E;5X mZYX)5. (72)

Assuming components of p resolved along body-fixed axes
to be x, y, and z, then using (72) we obtain components of
x
the angular momenta resolved along body-fixed axes
Fig. 6. Rotating and fixed H, = Awx - Foy - Exo
coordinate sets.
Hy = B.y - FwX - Dco
Hz = CQz - Eo.o, - Dwy (73)
and let v be the instantaneous velocity of the elemental
mass.
where
By definition, the angular momentum of the body is A =Zm(y2 + 22)

H7= >p X mvr. (68) B=Em(x2 +Z2)

Differentiating (68) relative to inertial space,
C=m(X2 +y2)

BH=F{JpX mv +pX mv} D =Emyz

since v = p, p X p= 0, and FZ=mv; therefore,
E =jamxz
H11=M (69)
where M is the applied moment vector to the body. F=Znmxy.
Equation (69) also can be written
Assuming D = E = F = 0, substituting (73) into (71) we
HII=HIB +(O)XH obtain for the moments applied along body-fixed axes
=M (70) Mx = Acx + (C- B)coy cz
where subscripts I and B denote differentiation relative to My = B3y - (C - A)wx co_
inertial space and rotating reference, respectively.
If Hx, Hy,, Hz and xx, wy, _,z are the angular momenta M_ = COz .
(74)
and angular velocities of the body resolved along body-
fixed axes, then using (70) we obtain moments applied to References
the body resolved along body-fixed axes [I] J.S. Lipman, "Application of the complex method to transform
analysis of spinning systems with rotating nonsymmetries,"
presented at the Joint Automatic Control Conf. of the
Mx = Hx + w^,H_ - Hy American Automatic Control Council, University of Michigan,
Ann Arbor, June 26-28,1968.
My = H,y + co.Hx- wxfH [2] P.H. Savet, "Dynamic of ideal suspensions applied to rotating
bodies in space," presented at the A.I.A.A. 2nd Annual
M. = Hz, + cjxHy - oyHx (71) Meeting, paper 65-435, July 1965.

Robert Jerzy Gryglaszewski Craig was bom in Warsaw, Poland, on January 22, 1928. He
received the B.Sc. degree in electrical engineering with honors in 1953, and the M.Sc.
degree in mechanical engineering in 1964, both from Queen's University, Belfast,
Northern Ireland.
He has worked as a Research Engineer for Litton Industries, Los Angeles, Calif., Where
he participated in the design and development of elastically supported, tuned gyros. He
also worked as a Development Engineer on analysis and design of rotating machinery for
Westinghouse Electric Corporation, East Pittsburgh, Pa. He is presently a Research
Scientist at Teledyne Systemns Corporation, Los Angeles, engaged in the analysis, design,
and development of advanced inertial sensors.

288 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS MAY 1972