The Dynamics of a Multigimbal Hooke's-Joint Gyroscope

Abstract

The paper considers the dynamics of a gyroscope where the gyro rotor is supported and driven through a gimbal suspension, which takes the form of a parallel assembly of universal couplings. The linearized equations of motion are derived and the free response, and the response to a constant applied rate of turn, are determined. It is shown that the form of each response is greatly influenced by the geometry, inertia and stiffness characteristics of the suspension and the rotor speed. Tuning conditions are identified and the performance of the gyroscope as either an angular rate or an angular displacement sensor is evaluated.