Gyroscope theory

Free Gyroscope
A free gyroscope consists of a rotor which is
attached to an axle and the rotor is free to
rotate about the axle
The rotor is set in a gimbal ring with the
axle of the rotor attached to the gimbal
ring.
This inner gimbal ring is attached to a
larger outer gimbal ring with the connection
being at 90 degrees to where the axle is
fixed to the inner gimbal so that the inner
gimbal can rotate in a vertical plane
The outer gimbal ring is attached to a yolk
which enables it rotate in a horizontal plane.

Free Gyroscope

A Free Gyroscope
is simply a rotor
on an axle which
is arranged in
gimbals which
will allow the
rotor axle to pint
in any direction

Free Gyroscope

The rotor is free to rotate about

the axle
The rotor is free to tilt about the
horizontal in a vertical plane
The rotor is free to drift about the
vertical in a horizontal plane
It is therefore said to have 3
degrees of freedom

Free Gyroscope

A free gyroscope has two

important properties

1. Gyroscopic Inertia

2. Gyroscopic Precession

Free Gyroscope

Gyroscopic Inertia:
This is a property common to all rotating
bodies. Basically if you rotate the gyro rotor at
very high speed then the axle will remain
pointing at a fixed point in space.
The amount of inertia a gyro has is dependant
on;
1. the mass of the rotor
2. the distribution of mass within the rotor
3. the speed of rotation of the rotor

Free Gyroscope

Since a free gyro will continue to point

at a fixed point in space (Unless a force
is applied to the spin axis) lets look at
what would happen to the spin axis of
the gyro over time.
We can consider a star to be a fixed
point in space so if we aligned the spin
axis of a free gyro with a star on the
celestial sphere it would remain
aligned with the star.

Free Gyroscope

NP

EQ
If we have a free gyro at the earths equator with its spin axis horizontal and lined
up N-S then it would be pointing at the North Celestial pole. As the earth rotates
on it own axis the NCP remains fixed in the sky , therefore the gyro axis will
appear to remain stationary

NCP

Free Gyroscope

In the previous diagram the gyro was placed at

the N pole with its spin axis horizontal. As we
can see it is pointing at a star on the observers
horizon.
Such a star will do a complete circle around the
pole every 24 hours. Therefore the spin axis will
follow the star.
To the observer the spin axis will appear to
rotate in a horizontal lane. The spin axis is said
to exhibit drift, i.e. motion in a horizontal plane.
Due to the rotation of the earth the spin axis will
drift at a rate of 15o / hr.
Note when the gyro was initially horizontal at the
equator there was no apparent drift at all.

Free Gyroscope

For any gyroscope the rate of drift

depends on the latitude the gyro is in.

The rate of drift for a gyro when the

spin axis is horizontal is given by the
following formula.

Drift = 15o / hr x Sin Latitude

Free Gyroscope

Consider a gyro in Glasgow with its spin

axis horizontal and lined up in the
meridian. The spin axis will be pointing at
the North point on the horizon.
If we imagine a star at that point in
consider what the star would do in the
next 24 hours.
It would appear to rotate anti-clockwise
round the North celestial pole.
Therefore we would expect to see the spin
axis follow the star (see next diagram)

Path traced out by a Free Gyroscope

N End is horizontal and in the meridian. Motion consists only of

drift to the East, no tilt motion.
2
N End has moved East of the meridian and tilted up. Motion is
drift to the East and tilt upwards.
3
N End reaches maximum azimuth to the East, drift is zero and
tilt is upwards and is a maximum.
4
Once above the Pole N End now drifts West and continues to tilt
upwards but the rate of tilt is decreasing.
5
N End reaches maximum altitude above the horizon and is back
on the meridian, rate of tilt is now zero and westerly drift
reaches a maximum.
6
N end now to the West of the meridian, drifting West but at a
slower rate and tilting downwards.
7
N End reaches maximum azimuth to the West, drift is zero and
tilt reaches a maximum value downwards.
8
N End now drifts eastwards as it is below the pole, tilt still
downwards but decreasing.

The Controlled Gyro

From the previous diagram we can see that

the gyro will only point north twice during a
24 hour period.

This is no use if we wish to use it as a

compass as its direction will be constantly
changing.

To make use of the gyro we need to control

its motion to make it stay on or near the
meridian at all times.

The Controlled Gyro

To achieve this control we are going to use

the other property of the gyro namely
Gyroscopic Precession.

The principle of Gyroscopic Precession

states that if a force is applied to the spin
axis of a gyroscope then the spin axis will
move in a direction at 90 to the applied
force the direction being determined by the
direction of rotation of the rotor.

Gyroscopic Precession
F

WEST

EAST

S
P

Consider a gyro rotating clockwise when viewed from the South end.
If a downwards force is applied to the S end then the S end of the spin
axis will precess to the West

Gyroscopic Precession
F

WEST

EAST

If the direction of rotation is reversed i.e. anti-clockwise when viewed

from the South end.
Now if a downwards force is applied to the S end then the S end of the
spin axis will precess to the East

Gyroscopic Precession

In the previous slide it goes

without saying that if the South
end is precessed to the East then
the North end must be precessed
to the West

Gyroscopic Precession
P

WEST

EAST

S
F

By the same reasoning if a horizontal force is applied, from the East, the
South end will precess downwards and correspondingly the North end
will precess upwards.