4. Dynamics and Control of a Gyroscope

In this chapter theoretical investigations and the results of computer simulations are presented to show that the following factors affect the accuracy of realization of the required motion of a controlled gyroscope axis: 1 Compliance of initial conditions of the gyroscope motion with imposed initial conditions. In order to guide the gyroscope axis to the appropriate initial position one can apply additional time-independent control. 2. Values of the resistant-force coefficients in the bearings of gyroscope frames. Too small values of these coefficients, during external disturbance or kinematic excitation of the base, cause dynamical effects to arise and decrease the accuracy of realization of the preset motion. However, large values make the gyroscope axis drift off the preset position in space. Thus, one needs to minimalize the friction coefficients in the bearings of the gyroscope suspension and, additionally, to apply optimally selected dampers. 3. Influence of non-linearities in the model of gyroscope motion, which manifests especially at large angular deviations of the gyroscope axis. 4. Additional deviations of gyroscope—which, independently of the numerous technological tricks, always emerge during gyroscope operation—need to be reduced by means of the gyroscope’s automatic control system. The proper position of the gyroscope axis is maintained by the automatic control system on the basis of the real position obtained from measurements and the required position of the gyroscope axis worked out by a digital machine.