40 Analysis and Design of the Gyroscope for Interial Guidance

where T = Coriolis torque

H, = linear momentum = —
2/4
Ico = 2MRAco
R
J = polar moment of inertia of total mass
D = viscous damping
C = torsional spring constant

Coriolis
torque lnertia

l
"H S2+u2
s >(9^
DP
e
s
.

D amping anc 1
to rsion sprin I
DS+C«

TRANSFER FUNCTION (MECHANICAL) IN LAPLACE DOMAIN

(S)
"te 1/JS2
</>

+ (DS + Ql/JS2
.1

H c2

(S' + co^U' jS
j]
+

=
H S2

+ + 2|co0S +
J

(S2 a>2)(S2 co2,)

^H
-
S2

+ + co2(l
+
J

(S2 co2)[(S fco0)2 f2)]

<o0
= sC/J, undamped natural frequency in torsion

= —= damping ratio
f

2VCJ
co = tine-drive frequency

Let = for step input <p(S) = -

<p

co
a

co0

H
0(S) =
+
+

+
J

[S2 «2][(S a)2 /?2]