An Analysis of a Two-Degree-of-Freedom Gyroscope.
NAVAL AVIONICS FACILITY INDIANAPOLIS IN
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This report analyzes a two degree-of-freedom gyro. The outer gimbal rotates in the pitch plane, while the inner gimbal rotates in the yaw plane. Equations of motion are derived including torques such as frictional torques, viscous and coulomb spring restraint torques and a commanded torque due to an error voltage in the tracking system. These are two second order, non-linear coupled differential equations in terms of the gimbal angles. A digital program was developed to implement the equations. Various methods are outlined to combine these equations with different inputs in order to study such effects as gimbal cross-coupling, mass unbalance, nutation and vibration. Author
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