-31] 



POSSIBLE SYSTEM CONFIGURATIONS 



455 



motion. Of course, this principle of operation is common to any stabili- 

 zation loop. 



Integrating Gyro Stabilization. The integrating rate gyroscope is 

 a self-contained unit which produces an electrical signal, usually a voltage, 

 proportional to the time integral of the torques applied around the gyro 

 gimbal axis. A schematic representation of the integrating gyro and the 

 simplified equations expressing its behavior are shown in Fig. 8-38. Such 



Command 

 Torque \/p 

 Rate ^^ '^ 



Command 



Torque 

 Motor 



Fig. 8-38 Integrating Rate Gyro Relationships. 

 do = gimbal angular displacement about output axis relative to gyro case 

 Bi — input angular displacement about input axis 



Ig = moment of inertia of gimbal assembly about the output (gimbal) axis 

 C = viscous damping constant 

 T = Koic = rate command torque 

 H = IrOir = rotor angular momentum 

 Ir = rotor inertia 

 ojr = rotor angular rate 



DIFFERENTIAL EQUATION 





or for K = H 



= Ko 



(coi 



S{1 + T, 



Ko 



for T« 1 



a device may be used as an integral part of the antenna control loop as 

 shown in Fig. 8-37b. The rate command, in the form of variable current, 

 is used to produce a torque on the gimbal holding the gyro wheel, with an 

 electromagnet or torque coil in the gyro. This torque is opposed by the 

 gyroscopic torque of the spinning gyro wheel which is induced primarily 

 by antenna space motion about a particular axis. If these torques are not 



