使用MATLAB模拟陀螺的运动上（牛顿欧拉方法的理论分析）

Section 1: Introduction

System background and Objectives

In this experiment, toy gyroscope is applied to allow us to make a deeper understanding of dynamics. By observing the actual motion of gyroscope and comparing with the calculated results of theoretical model, we can determine whether our model is accurate and effective.

In this experiment, the toy gyroscope consists of three parts. The first part is the rotor, which can rotate around a fixed axis. The second part is the frame, which connects the rotor and provides the moment and force limitation for the rotor. The third part is the platform, which provides force constraints for the frame.

The objective of the lab

(1) Get the numerical result of equation of motion of gyroscope using MATLAB.

(2) Write a MATLAB code for animating the motion based on the numerical result.

(3) Compare the animation and actual motion, evaluate the difference.

The parameters of the gyroscope are shown below.

Figure 1.1. Side view of gyroscope

Table 1.1. Parameter of gyroscope

Geometry	Value
Mass of rotor	mr=45g
Mass of frame	mf=24g
Thickness of rotor	h=6.3mm
Height of frame	H=86mm
Radius of rotor	Ri=54/2mm
Radius of frame torus	Ro=64/2mm
Internal diameter of rod	ri=1.2mm

Predict the direction of precession

According to figure 1.2, the precession of the gyroscope can be predicted by the rotation of the rotor. If the rotor rotates anti-clockwise viewed on the top, the precession trail will be also anti-clockwise from the top view. (Left picture of 1.2) If the rotor rotates clockwise, the precession trail will be clockwise as well.

Figure 1.2. Precession of gyroscope

Section 2: Modelling

Assign coordinate system

The gyro frame is attached to the ground frame {0} at point O with a ball joint, and the rotor is aligned along OC with a revolute joint. This configuration gives the system 4 degrees of freedom. The gyro frame has 3 from the boll joint and the rotor has 1 from the revolute joint. Frame {1}, {2} describe the tilting of OC, and frame {3},{4} describes the rotation of the gyro frame and the rotor respectively along the OC axis. The resulting coordinate system can be seen in the diagram below:

Find rotation matrix

From the diagram above, one can write the rotation matrix between each frame:

Find angular velocity

The relative angular velocity is:

with the equations above, one can express the absolute angular velocity of each frame:

Find inertia tensor

Rotor
The rotor can be consider as a pie, which can be modelled as a cylinder. The pie has radius Ri, height h and mass m_r. The pole has radius r, height H and mass m_r1. The overlapping volume is taken away from the pole. The inertia tensor about point G in frame {4} is given by

Gyro frame
The frame consists of three parts. Part a is modeled as a cylinder rod of radius r_i along the OC axis. This gives the inertia tenser of the pole around point G in frame {3}:

Part b and c are modeled as a torus of minor radius r_i, major radius r_o and mass m_a, m_b. the axis of part a is colinear to OC and the axis of part b is colinear to the y axis of frame {3}. Their inertia tensor in {3} around G are:


The total combined inertia tenser of the frame in {3} around G is:

Use parallel axis theorem to find the inertia tensor around point O