AE4610 Rotary Gyro
Pre-lab Questions
1. Find the steady-state speed of the flywheel, , given the motor equationωf v =g,m i R +g,m g,m k ωg,m f where is the nominal current, is the nominal voltage, is the motor resistance, and is the back-emf constant.
i =g,m 0.23 A v =g,m 12 V R =g,m 5.3 Ω
k =g,m 0.0235 V ⋅ s/rad
2. Find the value of the gyroscope sensitivity gain, . The flywheel moment of inertia is. The radius and spring stiffness parameters, are respectively and .
Gg
J =f m r =2
1 f f
2 0.00103, Nms /rad2
R = 0.0254 m K =s 1908.9 N/m
3. The closed-loop transfer function was found in equation (2.6). Find the PD control gains, and , in
terms of and . (HINT: Remember the standard second-order system equation).
kp kd ωn ζ
4. Based on the nominal SRV02 model parameters, and given in Section 1.1, calculate the control gains needed to satisfy the time-domain response requirements given in Section 2.2
0. Download the experiment files:
RotaryGyro_Files.zip 27KB
Binary
1. Verify that the amplifier is turned ON and the disc is rotating. Ask TA if there’s an issue.
2. Run the setup_gyro.m script
3. Open the q_gyro simulink diagram.
4. Make sure the Manual Switch is set to downward position to enable the PD control.
5. To build the model, click the down arrow on Monitor & Tune under the Hardware tab and then click Build for monitoring . This generates the controller code.
6. Press Connect button under Monitor & Tune and Press Start .
7. While the system is running, manually rotate the bottom base plate about 45 degrees. The GYRO module should be maintaining its heading. Verify your response by viewing the scopes in your experiment and comparing against the provided scope examples.
8. Stop the controller once you have obtained a representative response.
9. Plot the responses from the theta (deg), alpha (deg), and Vm (V) scopes in a MATLAB figure. The response data is saved in variables data_theta , data_alpha, data_vm.
10. Start the controller again, but this time with the Manual Switch set in the upward position, which turns off the PD controller.
11. Rotate the bottom base plate by the same amount as previously done, in an attempt to reproduce the motion as previously executed.
12. Plot the responses.
13. Examine how the GYRO module responds when you rotate the base plate. Does this make sense?
Explain the result when the PD control is ON and OFF. Based on your observations, explain what the PD control is actually doing and how it relates to gyroscopes.
Directives for Report
1. Briefly describe the main goal of the experiment
2. Briefly describe the experimental procedure in steps 7 and 9 of section 3.
3. Briefly describe the experimental procedure in step 11 and 12 of section 3.
4. Provide results of plots for step 9 and step 12 of section 3.
5. Explain the effect of having the PD control on and off.
6. Briefly explain how does this relate to an actual gyroscope system?
