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Analysis of the Attitude of a Gyroscope Controlled With Joint Actuation

[+] Author Affiliations
Marcelo Pereira, Hans I. Weber

PUC-Rio, Rio de Janeiro, Brazil

Danny Hernán Z. Carrera

INPE, São José dos Campos, Brazil

Paper No. IMECE2016-65757, pp. V04BT05A014; 9 pages
  • ASME 2016 International Mechanical Engineering Congress and Exposition
  • Volume 4B: Dynamics, Vibration, and Control
  • Phoenix, Arizona, USA, November 11–17, 2016
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5055-8
  • Copyright © 2016 by ASME


This paper presents the study of a 3 degree of freedom gyroscope system. The mechanical structure is composed of a pair of gimbals with low inertia and a non-axisymmetric spinning rotor. By using sequential Euler rotations the system is modeled with Matlab and Simulink and, by using specific initial conditions, the chaotic movement of the gyroscope is animated, firstly with no friction and no actuation. Next, we implement a control actuation between the gimbals that reduces that chaotic movement and stops the gyro at a certain position, trying to minimize the acting on the spinning rotor. Finally, we use the same control under the presence of friction between the gimbals and the rotor. The simulation results are shown and analyzed, by interpreting the movement according to the parameters used, and the conclusions are presented, along with some comments on future work.

Copyright © 2016 by ASME



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