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QUESTION 14

cr
Seen from sideways

ca
10o ca
10
 
180
Fig 14 a cr
Fig 14 b

Vectors cr and ca
From Fig 14 b, the gyroscopic couple tents to: Lie in horizontal plane in accordance
(i) turn the front part of the boat up while rising with the RHR Screw rule
(ii) turn the front part of the boat down while falling

m  20  103 kg ; rg  0.6[m ];
3  103
  2 [ rads / s ];
60
T  12 s [ SHM ]
2
; J  m  rg  [kg .m 2 ]
2
p
12
For SHM;  ( t )= sin pt
( a )  max   p [rads/s],  Obtain  from figure 14a above 
(b)  max   p 2 [rads/s 2 ]
( c ) Cmax  J  p [N .m ]

Prof A A Alugongo 07 August 2015


2

a' c
r
ca
z a


x
Figure of ship showing yaw [rotation about vertical axis]

a  a 'lies in the vertical plane.


Vectors cr and ca tent to rotate the boat about a  a ' .
The turning will take place such that,
there is rotation in the horizontal plane
[Yaw]

Prof A A Alugongo 07 August 2015


3

QUESTION 12


80mm

During rise
Seen in a vertical plane, looking
at the vehicle from the rear
o
b
2

CR
CA

a
O

During fall
Seen in a vertical plane, looking
at the vehicle from the rear

a
CR

CA

b
O

C A and CR stands active and reactive gyroscopic couples respectively.

CR tents to turn the vehicle to the left as seen in the figure above.

Prof A A Alugongo 07 August 2015


4

  0.45; The wavelength of the sine wave



T  (1)
velocity
160000
v m/s (2)
3600
 0.04 
Angular Amp  =arcsin   rads (3)
 track 
2 v
The generating vector of SHM, p  ; and   (4)
T r
 The equation of the SHM is,  (t)   sin pt (5)

d
The gyroscopic couple C=I (6)
dt

d
The maximum value of C will occur when is maximum
dt

d
But  p cos pt (7)
dt

The maximum value of 7, occurs at p

Hence the maximum gyroscopic couple is

Cmax  I p

This value occurs when

  0o   n
where n=0,1,2,3

Prof A A Alugongo 07 August 2015


5

QUESTION 17

Po
crge , crax  reactive gyroscopic

siti
on
2
couples of generator-engine, & axles

2
1

Position 1
ax 1
c a
crax
crge

cage
Fig.17 a. Motion of locomotive in curved path
Fig.17 b. Gyroscopic couple due
and gyroscopic couple due to axle rotation
to generator-engine rotation

crax crge
mv 2 / Rc
Front
Rear
part
part

Rlax ,1,2 Rrax ,1,2 Rrge ,1,2


Lt Lw R ge
f
,1,2

17c. Looking from rear, locomotive under action of


Fig. 17. d: Side view of locomotive under action of
axle-gyroscopic couple
engine-generator torque [looking from right]

Prof A A Alugongo 07 August 2015


6

J w12  140 kg .m 2 ; Lw  4m; Lt  1.5m; r  0.6m; J ge  60 kg .m 2


Rc  150m;
40  103 v v
v m / s;   ;  
3600 r Rc
crax  J w12 see fig. 1 7 c
Take moments about an axis through the LHS wheels, and determine
Rrax ,1,2 ; the total change in reaction on outer wheels of the two axles
[due to crax only ]
Rrax ,1,2  Lt  crax  0;  Rrax ,1,2  crax / Lt  128.0293N
Take moments about an axis through the rear axle
and determine
R ge
f
,1,2
; the total change in reaction on two front wheels [due to crge only ]
crge  J gege see fig. 1 7 d 
R ge
f
,1,2
 Lw  crge  0;  R ge
f
,1,2
 crge / Lw
 255.9816 N

Superpose the reactions per wheel to obtain


the net reactions change per wheel

Prof A A Alugongo 07 August 2015


7

(i) change due to c ax (ii) change due to crge


r

f t

fro
fro
t
Le
f Le

nt
nt
crax crge
 
2 Lt
+ 2 Lw

re

re
ar crge

ar
crax 

2 Lt 2 Lw

t
t

gh
gh

crax crge

Ri

Ri


2 Lt 2 Lw

crax crax crge


  
2 Lt 2 Lt 2 Lw

fro
nt
r ]
c ax nne
 r t[ i crax
f 
2 Lt Le 2 Lt
crge

2 Lw

crax
 e r] crax
ut 
re

2 Lt
[o 2 Lt
ar

t
c ge igh
 r R
2 Lw

crge

2 Lw

(iii) Net is the algebraic vector sum of change in reaction

Prof A A Alugongo 07 August 2015