Scientific Technical Review, 2010,Vol.60,No.3-4, pp.

101-111 101
UDK: 531.38:514.742.4,62-253:514.742.4
COSATI: 17-07

History and Present of Gyroscope Models and Vector Rotators

Ljiljana Veljović1)

The objective of this paper is to give a short historical overview of models and constructions of gyroscopes and
present models as well as their component motions. All mechanical gyroscopes are based on coupled rotations around
more axes with one point of intersection.
Therefore, this paper contains two related parts. The first part presents the kinetic parameters of the rigid body rotations
around two axes without intersection when the rigid body is skew and eccentrically positioned to the spin axis.
In addition, the paper presents some of the original results in the area of nonlinear dynamics of gyro rotors applicable in the
explanation of some nonlinear phenomena in gyroscope dynamics, obtained by Hedrih and Veljovic. Hedrih’s mass moment
vectors and vector rotators are used to present some characteristic members of vector expressions in the linear momentum
and the angular momentum and their derivatives for the gyro rotor rotation around two axes without intersection. The
paper also gives a graphical presentation of the phase portrait and the kinematical vector rotator for different normal
distances between the axes and the skew position of the axes. Imprecision and errors in the function of gyroscopes are caused
by eccentricity and unbalance of gyro rotors as well by the distance between the rotation axes. The given graphs are thus
important for the explanation and necessary corrections of the gyroscope functioning.
In the second part, the paper presents an overview of the history and the present of gyroscope models and their
construction realizations used to manage and stabilize the movement of ships, aircraft, vehicles and torpedoes. With
the development of micro and nano technology, a new class of gyroscopes emerges.

Key words: gyroscope, gyro stabilizer, gyrocompass, gyroscope rotor, gyro-stabilized platform, inertial platform,
rotator, momentum, angular momentum, vector analysis.

Introduction principle of a spinning top that plays an important role in

stabilizing the movement. The characteristic of the
T HE properties of gyroscopes can be found in heavenly
bodies in motion, artillery projectiles in motion, turbine
rotors, different mobile installations on ships, aircraft
gyroscope to keep the direction was used in many fields of
mechanical engineering, mining, aviation, navigation,
propeller rotating, etc. The modern technique of gyroscopes military industry and celestial mechanics. Gyroscopes are
is an essential element of powerful gyroscopic devices and very important parts of instruments for aircraft, rockets,
accessories used for the automatic control of the movement missiles, transport vehicles and many weapons. This gives
of aircraft, missiles, ships, torpedoes, etc. They are used in them a significant role and needs to be under the strict
navigation to stabilize the movement of ships in a seaway, control of the design and inner functioning because in case
to change their direction or the direction of angular and of damage it could lead to catastrophic consequences. A
translatory velocity projectiles, and for many other special gyroscope (gyro, top) is a homogeneous, axis-symmetric
purposes. There are many devices applied in the military, rotating body that rotates at high angular velocity about its
and their design is based on the principles of gyroscopes [2, axis of symmetry. Today, it is one of the most important
4, 13, 14, 15 and 17]. Technical applications of gyros today inertial sensors measuring angular velocities and small
are so manifold and diverse that there is a need to get out of angular disturbances or angular displacement around the
the general theory of gyroscopes and to allocate a separate reference axis.
discipline called "applied theory of gyroscopes." Gyroscopes for measuring angular velocity аrе called
A gyroscope is a part of many scientific and rate gyroscopes, and when they measure small angular
transportation-related instruments including compasses, disturbances they are called rate integrating gyroscopes. In
mechanisms that steer torpedoes toward their targets, English literature, the word gyro is used. The name
equipment that keeps large ships such as aircraft carriers gyroscope comes from the Greek words γυρο (turn) and
from rolling on the waves, automatic pilots on airplanes and σκοπεω (observed) and is related to the experiments carried
ships as well as systems that guide missiles and spacecraft out by Jean Bernard Leon Foucault in 1852. The principle
relative to the Earth (i.e., inertial guidance systems). of the gyroscope is based on the principle of a pseudo-
A well-known spinning top is a simple toy with an regular precession. In physics this principle is known as
unusual property. When it rotates at sufficiently high gyroscopic inertia or rigidity of space. The device consists
angular velocity about its axis of symmetry it keeps in the of a disk or a wheel the axis of which is free to rotate and
state of stationary rotation around this axis. This feature has take up any position in space. When the rotation rate of the
attracted scientists around the world and as a result of years gyroscope about its axis is much higher than the velocity of
of research many devices and instruments are created, from rotation of the gyroscope axis, this gyroscope keeps an
simple to very complex structures, which operate on the unchanged direction of the axis of its rotation when the

1)
University of Kragujevac, Faculty of Mechanical Engineering, Sestre Janjić 6, 34000 Kragujevac, SERBIA
102 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS

r
external forces are absent. When the gyroscope operates expressions, ρC is the mass center vector position of the
under an external torque, there is a tendency for the
gyro rotor with respect to the pole O2 on the spin axis.
gyroscope axis to move in the direction of the torque action.
The gyroscope opposes to the action of an external coupling It is not difficult to obtain the first derivative of the
with the coupling of the same intensity and direction and of angular momentum. Then, using the first derivatives of the
opposite sense (gyroscopic torque, deviational torque). The linear momentum (2) and the angular momentum (3) and
coupling is proportional to its own, high angular velocity of applying the principle of dynamic equilibrium of the
the gyroscope. When the device is mounted in a Cardan considered system dynamics, taking into account kinetic
ring, its position remains almost fixed, regardless of any pressures on the rotor shaft bearings and active as well as
motion of the platform it is mounted on. other reactive forces, we obtain two vector equations based
Modern navigational aircraft equipment would be on vector equation (1). From these dynamic equilibrium
impossible without gyroscope devices. There are many vector conditions, it is easy to obtain vector expressions for
civilian and military applications. Here are just devices for kinetic parameters of the considered system dynamics. The
automatic control of different robots, excavators, drilling or obtained equations are possible to be used for a general
other working machines. The application of the gyroscope case when a considered system has two degrees of freedom.
technology is very wide. Today, gyrocompasses fully In the vector expressions for the derivatives for the linear
replace magnetic compasses in aircraft, ship and momentum and for the angular momentum with respect to
automobile industry. The tank drive stabilization and time, between other members, the following characteristic
r rO r rO
guidance as well as the guidance of submarines, ships and members appear: R01 Snr(1 2 ) and R02 Snr(2 2 ) in the
various projectiles along a specified path are some r rO
examples of the military usage requiring gyrocompasses. In expression for the linear momentum; R011 Dnr(1 2 ) and
ballistics, gyroscopes are basic measuring elements in the r rO
missile control. They show the missile flight deviation from R022 Dnr(2 2 ) in the expression for the angular momentum.
the desired flight conditions. These characteristic members present a product between the
r r r r
pure kinematic vectors R01 , R02 , R011 , R022 [for details
Analysis of the coupled rotation properties see references by Hedrih [6]] and the absolute value of the
rO
A gyroscope in general performs rotation about a fixed deviation part of the linear mass moment vector Snr(1 2 ) and
point so that it can be described by the vector equations of rO
r
rigid body dynamics: changing the linear K and the Snr(2 2 ) as well as the deviation part of the mass inertial
r rO rO
angular L 0 momentum for a fixed point around which the moment vector Dnr(1 2 ) and Dnr( 2 2 ) for the pole and the
body performs the rotation, for example.
r corresponding axis parallel to the component and the axes
r r dL r oriented by the direction of the component of angular
dK =
dt ∑ Fi , 0 = M 0
dt
(1) velocities. The intensities of the kinematic vectors are:
r R01 = R011 = ω&12 + ω14 for the axis oriented by the unit
where
r
∑ Fi are resultant active and reactive forces and r
vector n1 and R02 = R02 = ω& 22 + ω24 for the axis oriented
M 0 is the vector sum moment of the active and reactive r
by the unit vector n2 . These vectors are orthogonal to the
forces for the point O.
axes of rotation and rotate at angular velocities different
Let us consider a heavy rigid body rotation around two
axes without intersection and with a normal distance from the angular velocity of the corresponding axis.
r uuuuur Here we are going to analyze some properties of the
defined by the vector r0 = O1O2 . A heavy rigid body is vector rotators using a simple example of a gyro rotor with
eccentrically and skewly positioned on the spin axis (none one degree of freedom.
of three main inertia axes of the body is parallel to the spin For example, we take into consideration an eccentric
axis, as presented in Fig.1.). For this case, we denote with disc (eccentricity is e ), with the mass m and the radius r ,
r r r r
ω1 = ω1n1 and ω2 = ω2 n2 two angular velocities around inclined to the axes of its spinning by the angle β (see
r r
two axes oriented by the unit vectors n1 and n2 . Using the Fig.1).
mass moment vectors - the linear mass moment vectors In the special case the support shaft is vertical and the
r r gyro-rotor shaft is horizontal and that shaft axes are without
Snr(1O2 ) and Snr(2O2 ) , as well as the mass inertia moment
r r r r r r intersection. The normal distance between the axes is l .
vectors J nr(1O2 ) , J nr(2O2 ) , J nr(1O2 )*C , J nr(1O1 )* , J nr(2O1 )* and J nr(1O2 ) for The angle of spinning around the moveable horizontal axis
r
oriented by the unit vector n1 is φ1 and the angular velocity
the pole and for the axis, the expressions for the linear
momentum and the angular momentum can be expressed in is ω1 . The angle of rotation around the vertical shaft
r
he following vector forms (see Refs.[5] and [6]): support axis oriented by the unit vector n2 is φ2 and the
r r r r r angular velocity is ω2 . The angular velocity of the rotor is
K = [ω1 , r0 ] M + ω1 Snr(1O2 ) + ω2 Snr(2O2 ) (2)
r r r r r
ω1 = ω1n1 + ω2 n2 = φ&1n1 + φ&2 n2 . The angles φ1 and φ2 are
for the linear momentum and generalized coordinates in the case when we investigate a
r r r r r r r system with two degrees of freedom. In this case φ1 is an
L01 = ω1 [ r0 , [ n1 , r0 ]] M + ω1 [ ρC , [ n1 , r0 ]] M
r r r r r r (3) independent generalized coordinate, and the coordinate φ2
+ω1 ⎡⎣ r0 , Snr(1O2 ) ⎤⎦ ω2 ⎡⎣ r0 , Snr(2O2 ) ⎤⎦ + ω1 J nr(1O2 ) + ω2 J nr(2O2 )
is the rheonomic coordinate with kinematic excitation,
for the angular momentum. In the previous vector programmed by the forced support rotation by constant
 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS 103

angular velocity. When the angular velocity of the shaft different initial conditions: (a*) φ0 = π [ rad ] ;
support axis is constant, we have φ2 = ω2 t + φ20 ,
φ&0 = π [ rad / sec] and (b*) φ0 = π [ rad ] ,
φ&0 = 0 . Fig.3
φ&2 = ω2 = const , ω& 2 = 0 (see Refs. [11, 12]).
presents the transformation of a phase trajectory
presentation of the heavy gyro-rotor with the rotating axis
without intersection for different values of the normal
distance between the axes and for the corresponding initial
condition [11, 12].

a* φ0 = π [ rad ] ; φ&0 = π [ rad / sec] b* φ0 = π [ rad ] ; φ&0 = 0

6
− π π

ϕ&
4

ϕ
2

6
8 6 4 2 0 2 4 6 8

a* φ0 = π [ rad ] ; φ&0 = π [ rad / sec]

ϕ&
7

Figure1. Model of a gyro rotor with two-component rotation around the 5

orthogonal axes without intersections 4

For that example, the differential equation of motion of 2

the gyro rotor spinning reviewed model with two 1

ϕ
orthogonal axes of rotation without intersection (see Fig.1) 0

is in the form: 2

φ&&1 + Ω (λ − cos φ1 ) sin φ1 + Ω ψ cos φ1 = 0

2 2
(4) 4

Where
6

7
6 4 2 0 2 4 6

Ω 2 = ω22
(ε sin β − 1)
2
b* φ0 = π [ rad ] ; φ&0 = 0

(ε sin 2 β + 1) Figure 2. Transformation of the phase trajectory of the heavy gyro-rotor

with the rotating axis without intersection for different values of the disk
inclination angle β to the spin axis and for two different initial conditions:

(r) (a*) φ = π [ rad ] ; φ& = π [ rad / sec] and (b*) φ = π [ rad ] ; φ& = 0
2
ε = 1+ 4 e
0 0 0 0

(5)
8

φt ( φ ) ϕ& 2π

g ( ε − 1) sin β
− φ t( φ) 6

λ=
φ1 t ( φ ) 4.35

eω ( ε sin β − 1)
− φ1 t ( φ ) 4

2 2 φ2 t ( φ )

2 − φ2 t ( φ )
2

ϕ
φ3 t ( φ )

− φ3 t ( φ )
0
φ4 t ( φ )

2mel sin β
− φ4 t ( φ )

ψ =
φ5 t ( φ ) 2

Ju − Jv
− φ5 t ( φ )

φ6 t ( φ )
4
− φ6 t ( φ )

φ7 t ( φ )
6

where: e - eccentricity of the skewly positioned disc, r-

− φ7 t ( φ )

radius of the disc, β - angle of inclination, l - normal

8
6 5 4 3 2 1 0 1 2 3 4 5 6 7 8 9 10
φ

distance between two rotating axes

8

φt ( φ) ϕ&
This equation is nonlinear and it was considered in − φt ( φ) 6

φ1 t ( φ) 4.35

references [6 - 12]. − φ1 t ( φ)

φ2 t ( φ)
4

By using the differential equation and the Math Cad

− φ2 t ( φ)
2

ϕ
φ3 t ( φ)

program and corresponding equations for phase trajectories,

− φ3 t ( φ)
0
φ4 t ( φ)

a numerical analysis is carried out. The numerical results

− φ4 t ( φ)

φ5 t ( φ) 2

− φ5 t ( φ)

are used for the following presentation of the phase φ6 t ( φ)

− φ6 t ( φ)
4

trajectory transformation as a result of changing the normal φ7 t ( φ)

− φ7 t ( φ)
6

distance between the axes and also the angle of the skew 8
2 1 0 1 2 3 4

position of the spin axis. Fig.2. shows the transformation of φ

the phase trajectory of the heavy gyro-rotor with the Figure 3. Transformation of the phase trajectory presentation of the heavy
gyro-rotor with the rotating axis without intersection for different values of
rotating axis without intersection for different values of the the normal distance between the axes and for the corresponding initial
disk inclination angle β to the spin axis and for two condition.
104 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS

35 40

30

25 30

20

20
15

10

10
5

0
4 3 2 1 0 1 2 3 4

R(φ) 0
4 2 0 2 4

a)

20 40

15
30

10
20

5
10

0
0

10

10
8 6 4 2 0 2 4 6 8

χ (φ ) ) 20
10 5 0 5 10

b)

Figure 4. Vector rotator of the heavy gyro rotor: a) the intensity portrait; b) the hodograph; c) the angular velocity for different values of the angle β and for
different initial conditions

Fig.4a) shows the dependence on the vector rotator

intensity in the function of the elongation and for different Gyrocompass
values of the initial parameters h of the energy. The rotator The review of gyroscopes can start with historical
is different from zero so the dynamic pressures on the models.
bearings are different from zero as well. The lowest values
of the rotator correspond to the position of the unstable A gyrocompass (see Figs.5, 6, 7) is an instrument that
static equilibrium position, while the highest values of the appears at the beginning of the twentieth century in order to
rotator correspond to the position of the stable static be used in polar expeditions for identifying the meridians.
equilibrium position. When a gyroscope is used as a signal indicator, then the
Fig.4b) shows the rotator trajectories. The shapes of axis around which it spins must always be horizontal and
trajectories depend on the parameters of the system. must show the same north-south direction on the Earth. Due
In practice, it is possible to use the approximation of the to the curvature of the Earth and the friction, the gyroscope
derived expressions so that the mathematical description axis deviates from the horizontal plane. In order to preserve
does not change the physicality of the problem. a constant direction, a free gyroscope is controlled to
The approximate theories of the gyroscope dynamics perform the correction of its deviations in height and side
very often analyze problems occurring in practice. Thus, so that its axis returns to the main north-south position. This
the angular momentum can be expressed by an approximate correction is permanent or occasional so that short-term
value, the product of moment of inertia and angular deviations (during rotation, for example) are not significant.
velocity of spinning, which is much higher than the angular It is a consequence of the effects of gyroscopic pressures
velocity of precession. caused by the existence of electro-magnetic or electric
r rO motors that are integral parts of the device. Compasses are
LO ≈ ω1 J nr(1 ) , ω2 << ω1 (6) used primarily on aircraft and on smaller fast-moving ships.
German inventor H. Anschutz-Kaempfe constructed a
This vectorial expression of the angular momentum for gyrocompass that was applied in an underwater missile.
the fixed point is approximate and it is acceptable only The Sperry gyrocompass, Fig.5, appeared in 1911, was a
when the current angular velocity of spinning coincides gyro rotor with a three-phase asynchronous motor with
with the gyro rotors main body axis of inertia, i.e. when the 10000 rpm, placed in a vacuum enclosure, with two
angular velocity of the transmission precession of the connected containers in which mercury (ballistic element)
movement is zero. served as a vibration damper and also limited the possibility
The change of momentum can be attributed to the top of the of rotor movement.
velocity vector that is proportional to the applied force. Due to A gyrocompass produced in the form of Anschütz
the applied force, the vector momentum peak moves in a plane gyrorotor, Fig.6, has two three-phase induction motors. It
perpendicular to the force plane. Due to the tendency of the weighs 2.2 kg and has rotating angular velocities of
gyroscope own axis to deviate, a couple appears leading the opposite senses of more than 20,000 rpm. The sensitive
axis to overlap with the spinning axis, which is known as the element floats freely in the liquid that is a mixture of
gyroscopic effect. This effect occurs in turbines, vehicles, distilled water, glycerin and acid.
aircraft, compasses and even children's toys.
 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS 105

freedom indicates the direction of the continent. To make

this possible, the rotation axis must be permanently
horizontal. Friction in the shaft bearings and the curvature
of the Earth make the axis constantly rise. The axis is
returned to the horizontal north-south position by forces
caused by an electromagnet or electric motor. The direction
is corrected by a magnetic compass. Corrections are made
regularly or occasionally by short-term impulses.

Gyro stabilization of the projectile motion –

Torpedo
A torpedo (see Figs.8, 9) is an underwater missile used
for shooting at ships at long distances. A missile is ejected
from the torpedo towards the target. Having flown some
distance in the air, the missile dives into the water. From
that point it is necessary for the torpedo axis to be
constantly directed towards the goal. Therefore, the stern-
mounted torpedo stabilizers are coupled with the
gyroscopic device. Since the gyroscope axis keeps its
direction in space, the gyroscope frame retains the direction
and remains focused on the target when the torpedo
deviates from the given direction. The frame is connected
to a pneumatic device that regulates compressed air intake
into the cylinder. The air in the cylinder puts pressure on
the piston and make it move thus activating vertical
stabilizers that return the torpedo to a specified path. The
Figure 5. Sperry gyrocompass
resistance of air affects the movement of the projectile.
Drag force is proportional to the speed of the missile and
lies in the plane of motion in the direction of the tangent
line at the center of the missile trajectory and in the
opposite sense of velocity. This force creates a torque that
tends to rotate the missile around the horizontal axis. On the
other hand, while in the gun barrel, the projectile acquires
high angular velocity, becoming a gyroscope, and deviates
from the firing plane. The angular momentum of the
projectile falls in the direction of the axis of symmetry of
the projectile, which does not coincide with the direction of
the tangent of the projectile center trajectory.

Figure 6. Anschütz gyrocompass

Figure 8. Torpedo

During firing, the projectile acquires high angular

velocity in the gun barrel. The projectile motion is a type of
a gyroscopic motion. It leaves the target plane with some
deviation of the programmed path motion. The angular
Figure 7. Typical gyrocompass
momentum as a vector is in the direction of the projectile
Gyro repeaters are tools that work in conjunction with axis of symmetry that is not in the tangent direction to the
gyrocompasses. They are often used when measuring the programmed projectile trajectory. The deviational
azimuth in order to determine the position or the control. A momentum of the projectile motion is in the opposite
gyro magnetic compass is a combination of a gyroscope direction to the dumping forces induced by the air to the
and a magnetic compass. A gyroscope with three degrees of projectile motion. These dumping forces induced by air are
106 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS

the forces of projectile motion stabilization of rotation

around the transversal axis but a precession motion of the
axis of projectile symmetry occurs around the tangent of the
projectile center trajectory. Precession is the same direction
as the rotation of the projectile [3].

Figure 10. The system for the automatic control of ship motion [4]

The actual direction of the ship is measured by a

gyrocompass (or a magnetic compass on small vessels) and
compared with the desired direction of the autopilot entries,
“skipper "of the ship. The autopilot account requires a
steering angle and sends a control signal to the steering
mechanism. By monitoring the steering angle and its
comparison with the desired angle a control loop can be
formed. The rudder provides the steering torque on the ship
hull to point to the actual direction of the vessel in
Figure 9. Gyroscope for torpedo stabilization, produced in Germany accordance with the desired rate, while the winds, waves or
currents provide moments that can help or hinder such
The gyroscope for this torpedo stabilization (Fig. 9) is
actions.
modeled on the principle of the coupled rotation around the
corresponding number of axes with intersection in one
point. In the analysis of the kinetic parameters of its motion Gyro stabilization motion of the aircraft
it is possible to use the vector equations presented in Part 2
Aircraft propellers rotate at high angular velocity values
when the distance between the axes is equal to zero.
about the longitudinal axis of the aircraft. When the plane
turns, for example to the left, the pilot has to act to rudders
Gyro stabilization motion of the ship for directions to provide a torque that is perpendicular to
the longitudinal axis of the aircraft. The aircraft axis turn
The ship can oscillate about the longitudinal axis
creates a couple which a deviation couple is opposed to,
(rolling), about the transverse axis (swing, pitching) and the
causing the front part of fuselage to lift and the rear part to
vertical axis (turn, yawing). The gyroscopic effects can
drop. During the right turn, the aircraft tend to dive. These
occur in all the working parts of the vessel and the steam
motions are compensated for by rudders. Fig.12 presents an
turbine rotor with high angular velocity (speed turbines)
aircraft on a curvilinear trajectory.
which causes additional pressure on the turbine bearings.
Propellers of large ships are brought into motion by
turbines placed along the length of the ship and spin with n
rpm in the clockwise direction. The angular momentum
vector of the turbine motion is in the Oz axis direction and
the angular velocity of rotation is in the direction of their
axis of rotation. When the vessel is pitching in length
(about the axis Oy1), then the law of rotation can be,
φ = φ0 sin(2π t / T ) , where T is the period of rocking of the
boat and the maximum deviation. Thus defined, the law of
rotation correspondents to the angular velocity, which is
φ& = ( 2πφ0 / T ) cos(2π t / T ) . It is orthogonal to the axis of
rotation of their axis of rotation. Due to the rocking of the
ship there is a gyroscopic torque that is focused on the Figure 11. Aircraft with gyro stabilization
negative axis Oz, which causes a high gyroscopic pressure
on the turbine bearings.
The appearance of gyroscopic moments is used for the
stabilization of mobile structures. Namely, a movable
bearing can be moved, due to the action of gyroscopic
forces, in the direction along which the vessel axis moves
by the shortest route to the Oy1 axis.
The effects of wind, waves, and water currents can cause
additional movement of the ship, rolling, climbing and
turning the ship off the given course. On the ship there are
devices whose purpose is to maintain the ship at a given
speed. These devices are known as autopilots. Autopilots
can be used when changing the course to a new direction
(changing course). The basic elements of autopilot systems Figure 12. Aircraft on a curvilinear trajectory
are shown in Fig.10.
 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS 107

Inertial navigation platform scheme of the Titan missile gyro stabilized platform is
Information on the position, speed and altitude of aircraft given in Fig.14 [3]. Gyroscope (1) and motor (2) stabilize
or vehicles is very important. When these data are known, the platform in relation to the rolling axis (x - axis),
the autopilot can keep the plane on a given course or a gyroscope (3) and motor (12) stabilize the platform in
guided missile system can launch missiles into a particular relation to the pitch axis (z- axis) and gyroscope (4) and
orbit. Such data are provided by inertial navigation systems motor (2) stabilize the platform in relation to the turning
that comprise the inertial measurement unit and the control axis (y - axis). When the platform (11) is affected by a
mechanism. Inertial navigation systems (see Fig.13) disturbance aiming at deviating the platform from the given
measure the position of aircraft controlled by appropriate direction, the precession occurs. The signal goes from the
mechanisms. These systems are primarily developed for precession transducer angle through the amplifier to the
navigation and missiles and are known as inertial platforms stabilization motor. The motor torque is transferred to the
(see Ref. [16]). platform that is contrary to the disturbance torque and thus
Inertial navigation systems have angular and linear the platform retains its position.
accelerometers. Angular accelerometers measure the
rotation of the spacecraft in the space around all three axes:
pitch (nose up or down), yaw (nose left and right) and roll
(in the direction or opposite clockwise direction). Linear
accelerometers measure the vehicle moving in the direction
of all three axes. Computers process the received data to
determine the current position of the aircraft.
Some systems place the linear accelerometers on PTO
gyro stabilized platforms, which allows the platform to
rotate around all three axes of rotation. In order to
neutralize the gyroscopic precession, two gyroscopes with
axes intersected at the right angle are mounted (a
gyroscopic couple: two gyroscopes of the same inertial
properties and of angular velocities of the same intensity).
Two gyroscope pairs that support and strengthen the
platform remain solid even when the props turn in any Figure 14. Gyro stabilized platform [3]
direction. For each gyroscope of this gyro stabilized platform
This is the basis of inertial navigation systems. The (Fig.14) it is possible, using the principle of coupled
platform turning results in the action of the appropriate rotations around a corresponding number of axes with the
sensors on the axis support. If there are three intersection in one point, to analyse the kinetic parameters
accelerometers on the platform, it is possible to determine of their motion presented by vector equations in Part 2
where the vehicle is going and how to change the direction when the distance between the axes is equal to zero.
of its motion.
An Apollo spacecraft had a gyro stabilized platform with
three axes with a particular attention paid to moving Artificial horizon
mechanical parts that are very sensitive to wear and can When weather conditions are such that flight pilots lose
stop motion which may cause a delay of propellers. To the horizon, visual flight conditions suitable for replacing
avoid this, a fluid bed chamber or a float mounting the real horizon should be created. There is an instrument
gyrostabilizer platform can be used. Such systems have that shows the aircraft position in relation to the natural
high accuracy. horizon, no matter whether the aircraft is tilted around its
Fluid bearings are very slippery because oil or inert gas longitudinal or transverse axis. The main element of this
is let through holes for spherical platforms to rotate freely. instrument is a gyroscope with three degrees of freedom
Solar cells or transformers are used to move the (three axes of rotation). The axis of rotation of the
platforms. gyroscope tends to keep the direction perpendicular to the
surface of the Earth. On the front part of the instrument, an
aircraft is represented by a stylized silhouette in front of the
moving line of the artificial horizon. Thus the pilot may
have information on the transverse and longitudinal
position of the aircraft. In order to prevent tilting its
gyroscope axis, special rectifier devices generate an
appropriate moment. In the aircraft designed to perform the
evolution, artificial horizons (see Fig.15) have additional
devices for gyroscope blocking. This is necessary because
at higher pitch some parts of the gyroscope hit into special
limiters, which leads to their damage.

Figure 13. Inertial navigational platform

Gyro stabilized platforms are applied in long-range

missiles because of the need that some devices are in a
fixed position relative to the absolute coordinate system. A
108 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS

Figure 17. The Hubble Space Telescope

Being a part of important instruments, a gyroscope is

a) subjected to research and innovation. The gyroscope
instruments work in a variety of conditions. Many research
projects study them, especially the behavior of the rotor in
some conditions such as magneto-hydrodynamic fields [2].
It is shown that under certain conditions the chaotic motion
of the rotor can occur. Mechanical gyroscope parts are
exposed to wear. Nowadays many studies pay attention to a
new generation of gyroscopes and dynamical properties [1].
The first gyroscopes were gyroscopes of large dimensions.
Now, it is possible to have very small gyroscopes, micro
and nano ones.
In inertial systems and suspension systems in cars,
mainly optical gyroscopes of high performances are built in
but they are big and expensive. Gyroscopes functioning on
b) the basis of Coriolis force are cheaper and of lower
performance. Therefore, among these two categories of
Figure 15. а) Artificial horizon, b) Physical model of the artificial horizon gyroscopes there is space for a new type of gyroscopes. It is
designed with a magnetic levitating gyroscope rotor without
a bearing that rotates very fast (see Fig.18). The high-speed
Turn indicators rotation of the rotor has such a thin angular momentum to
Turn indicators are gyroscopic instruments that show the behave like a gyroscope. With its simple design, the device
changing of aircraft direction in a straight line. The basic can be mass-produced based on microelectronics.
operating element is a gyroscope with two degrees of
freedom. Fig.16 shows the gyroscope (1) rotating at high
angular velocity around its main axis x-x, while its frame
(2) can rotate around the axis y-y perpendicularly to the
main axis. Both axes lie in the horizontal plane, but the
main one is normal to the longitudinal axis of the aircraft.
In turn, the axis X-X forcibly change its position in space,
its consequence being a force that tends to turn the frame
around the axis Y-Y. The embedded springs (4) resist to the
free movement of the frame so that the strain produces the Figure 18. Disc of 400 μm in diameter during levitation
torque about the axis Y-Y. At a particular frame tilt, the
torques are equal and the hand (3), tightly connected to the
frame, resumes its balanced position that determines the
shift size. A larger shift corresponds to a higher torque and Micro gyroscopes and nano gyroscopes
a greater spring deformation. At the Tel Aviv University (TAU) researchers have
promoted a gyroscope device that can fit on the top of a pin.
This will lead to revolutionary changes in smart phones and
New trends in construction devices in medicine and lead to new solutions in software
Today, the gyroscope can be found in a number of and hardware technology. Professor Koby Schener from
devices: mobile phones, navigation systems and other this University carried out research with intention to scale
portable devices. The Hubble Space Telescope (see Fig.17) down optical gyroscopes. Schener's gyroscope consists of
is in the orbit around the Earth and monitors cosmic bodies thin semiconductor lasers with a diameter of several tens of
and other phenomena in the universe. It circles around the micrometers, which rotate around three axes forming an
Earth under an inclination of 28.5 degrees and the average angle of 90 degrees. The changes in the wavelength are
visit is 96 minutes at a speed of 28,000 km / h. Hubble has measured depending on coherent light produced by the
gyroscopes that enable very precise measurements. rotation. This information is then translated into GPS
Modern gyroscopes have high performances. Not only coordinates. Such a device can be used not only for
do they feature high accuracy, but they are of small size and positioning without a GPS signal (important for regions
low cost. with no signals) but, very importantly, for medical
 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS 109

applications, installation in pill cameras that do not need and mechanics was made in optical mechanic gyroscopes
artificial radio-tracking. Schener has developed a laboratory [1, 2]. Instead of rotating disks, new types of gyroscopes
device that is under investigation. It is believed that in a have a very thin plate (see ref. [15] by. Martynenko and all,
few years the device will find its purpose outside (2008)) (solid state) and computer chips replace mechanical
laboratories (Optic Express). components. A machined hollow ball of piezo-electric
Conventional gyroscopes weigh around 1 - 2 kg and as materials such as quartz is an essential element of the Brandy
such can be installed in airplanes. If necessary, they can be Sniffer gyroscope. This gyroscope almost has no moving
installed in small objects, products of modern technology parts; it is very accurate but expensive.
such as telephones. The installation of such gyroscopes New and cheaper high-performance gyroscopes will be
would be strictly limited. far more significant in car, submarine and aircraft
navigation. Scientists all over the world are already
working in this field.
Concluding Remarks A U.S. team of the scientists from the Oak Ridge
In the end, we conclude that our intention to present a National Laboratory has constructed a highly sensitive
short historical review of models and constructions of silicon gyroscope. This team believes that this new
gyroscopes and present models, as well as their component generation of gyroscopes will be very important for
motions, is realized. Since functioning of all mechanical navigation and geolocation where global positioning
gyroscopes is based on coupled rotations around more axes systems cannot be used.
with one point of intersection, we present the basic vector Acknowledgment. All my special and sincere thanks to
equations of the dynamic equilibrium of the rigid body with Professor Katica (Stevanović) Hedrih, supervisor of my
coupled rotations around two axes without intersection as a Doctoral thesis, the part of which is this paper, for all the
generalized case. comments and motivation she gave to me. Parts of this
Since imprecision and errors in the functioning of research were supported by the Ministry of Sciences and
gyroscopes occur due to unbalancing, eccentricity and lack Environmental Protection of the Republic of Serbia through
of intersection of the axes in one point, it is very useful to the Mathematical Institute SANU, Belgrade, Grant
investigate nonlinear phenomena in the dynamics of the ON144002, and the Faculty of Mechanical Engineering,
rigid body coupled rotations around two axes without University of Kragujevac.
intersection, as presented in Chapter 2 of this paper. The
graphical presentation of phase trajectory transformation Literatura
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the angular momentum and their derivatives for describing Московского университета, 1976, 400
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10.1088/1742-6596/96/1/012221, IOP Publishing Control of Nonlinear Vibrations of Vibrating Ring Micro gyroscope,
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[14] KIM,S.K., TILBURY,D.M.: Mathematical Modeling and Received: 01.10.2010.
Experimental Identification of a Model Helicopter, in Journal of
Guidance, Control and Dynamics, August 31, 2000

Istorija i sadašnjost modela žiroskopa i vektori rotatori

Cilj ovog rada je da se da kratak pregled modela i konstrukcija žiroskopa kao i njihovih komponentnih kretanja. Svi
mehanički žiroskopi baziraju na spregnutim rotacijama oko nekoliko osa koje se seku u jednoj tački.
Upravo je to razlog što se ovaj rad sastoji od dva dela. U prvom delu dati su kinetički parametri rotacije krutog tela
oko dve mimoilazne ose u slučaju kada je telo ekscentrično i koso postavljeno u odnosu na osu sopstvene rotacije.
Takođe su dati i neki rezultati [Link] i LJ. Veljović u oblasti nelinearne dinamike koji se mogu primeniti za
objašnjenje pojedinih nelinearnih fenomena u dinamici žiroskopa. Na osnovu vektora momenata mase i vektora
rotatora, uvedenih od strane K. Hedrih, dati su neki karakteristični članovi u izrazima za vektor količine kretanja i
vektor momenta količine kretanja kao i u njihovim izvodima u slučaju kada se girorotor obrće oko dve mimoilazne
ose. Takođe su date grafičke prezantacije faznih portreta i kinematičkog vektora rotatora za različite vrednosti
rastojanja između mimoilaznih osa kao i ugla nagiba. Nepreciznosti i greške u radu žiroskopa nastaju zbog
ekscentričnosti i debalansa girorotora u odnosu na osu sopstvene rotacije, kao i usled razmaka između obrtnih osa, pa
su dati grafici važni za objašnjenje i donošenje korektivnih rešenja neophodnih za pravilan rad žiroskopa.
U drugom delu rada dat je istorijski pregled modela žiroskopa i njihovih konstrukcionih realizacija kao i prikaz
savremenih modela, a koji se primenjuju za upravljanje i stabilizaciju kretanja brodova, letilica, vozila i torpeda. Sa
razvojem mikro i nano tehnologije javile su se i nove vrsta žiroskopa.

Ključne reči: žiroskop, žirostabilizator, žirokompas, rotor žiroskopa, žirostabilisana platforma, inercijalna platforma,
rotator, količina kretanja, moment količine kretanja, vektorska analiza.

История и настоящее модели гироскопа и векторы – вращающие

устройства
Цель этой работы – дать короткий обзор моделей и конструкций гироскопов, а в том числе и движений их
составных частей. Все механические гироскопы основывают на вращении пары сил вокруг нескольких осей,
пересекающихся в одной точке.
Именно это является причиной, почему настоящая работа состоит из двух частей. В первой части приведены
кинетические параметры вращения жёсткого тела вокруг двух непересекающихся осей в случае когда тело
установлено эксцентрично и косо по отношению к осе собственного вращения. Здесь тоже приведены и
некоторые результаты К. Хедрих и Л. Велёвич в области нелинейной динамики, применимые для пояснений
отдельных нелинейных феноменов в динамике гироскопа. На основании вектора момента массы и вектора
вращающего устройства, введеных со стороны К. Хедрих, здесь тоже приведены некоторые характерные
элементы (члены) в выражениях для вектора количества движения и для вектора момента количества
движения, а в том числе и в их выводах в случае когда гироскоп вращается вокруг двух непересекающихся
осей. Тоже приведены графические представления фазовых изображений и кинетического вектора
вращающего устройства для различных величин растояний между непересекающимися осями, а в том числе
и углом наклона.
Неточности и ошибки в работе гироскопа возникают из-за эксцентричности и незабаллансированности
гидроротора по отношению к осе собственного вращения, а в том числе и из-за промежутка между
вращающимися осями, из-за чего приведённые графики очень важны для пояснений и принимания
коррективных решений, необходимых для правильной и постоянной функции и работы гироскопа.
Во второй части настоящей работы показан исторический обзор моделей гироскопов и их структурных
осуществлений, а в том числе показаны и современные модели, употребляющиеся для управления и
стабилизации движения кораблей, летающих аппаратов, перевозочных средств и торпед. Наряду с развитием
микро и нано технологий появились и новые виды гироскопов.

Kly~evwe slova: гироскоп, гиростабилизатор, гирокомпас, ротор гироскопа, гироустановившаяся площадка,

инерционная площадка, вращающее устройство, количество движения, момент количества движения,
векторный анализ.
 VELJOVIĆ,LJ.: HISTORY AND PRESENT OF GYROSCOPE MODELS AND VECTOR ROTATORS 111

Histoire et présent des modèles du gyroscopes et les vecteurs

rotateurs
Le but de ce travail est de donner un court tableau des modèles et des constructions des gyroscopes ainsi que leurs
mouvements composants. Tous les gyroscopes mécaniques sont fondés sur les rotations couplées autour de plusieurs
axes qui ont un point d’intersection commun. C’est pourquoi ce travail se compose de deux parties. La première
partie présente les paramètres cinétiques pour la rotation du corps rigide autour de deux axes sans intersection
lorsque le corps excentrique est posé en biais par rapport à l’axe de sa propre rotation. On a donné aussi quelques
résultats obtenus par [Link] et [Link]ć dans le domaine de la dynamique non linéaire qui peuvent s’appliquer
dans l’explication de certains problèmes dans la dynamique de gyroscope. Basés sur les vecteurs du moment de masse
et des vecteurs de rotation, introduit par [Link], on a présenté des articles caractéristiques dans les expressions
pour le vecteur de la quantité du mouvement ainsi que dans leurs dérivées pour le cas ou le gyroscope tourne autour
de deux axes sans intersection. On a donné aussi les présentations graphiques des portraits de phase et le vecteur
cinématique de rotateur pour les différentes valeurs des distances entre les axes sans intersection ainsi que l’angle
d’inclinaison. Les non précisions et les erreurs dans le fonctionnement du gyroscope sont dus aux excentricités et
déséquilibre des rotateurs du gyroscope par rapport à l’axe de rotation et à l’écart entre les axes tournant. Pour cela
les graphiques donnés sont importants pour l’explication et l’élaboration des solutions correctives nécessaires pour le
bon fonctionnement du gyroscope. Dans la seconde partie du travail on a donné le tableau historique des modèles de
gyroscope et leurs réalisations constructives ainsi que le tableau des modèles actuels utilisés pour la commande et la
stabilisation du mouvement des bateaux, avions, véhicules et torpilles. Avec le développement des macro et nano
technologies les nouveaux types de gyroscopes ont apparu.

Mots clés: gyroscope, stabilisateur gyroscopique, gyrocompas, rotor de gyroscope, plateforme gyroscopique stabilisée,
plateforme inertielle, rotateur, quantité de mouvement, moment de la quantité de mouvement, analyse vectorielle.