Hindawi Publishing Corporation
Journal of Applied Mathematics
Volume 2012, Article ID 812645, 14 pages
doi:10.1155/2012/812645
Research Article
Electromagnetic Gyroscopic Motion
A. I. Ismail,1, 2 T. S. Amer,2, 3 S. A. El Banna,4 and M. A. El-Ameen1
1
Mathematics Department, Preparatory Year Deanship, Umm Al-Qura University, P.O. Box 5555, Makkah
21955, Saudi Arabia
2
Faculty of Science, Tanta University, P.O. Box 31527, Tanta, Egypt
3
Mathematics Department, Faculty of Girls Education and Science, Taif University, Al-Khurmah Branch,
P.O. Box 888, Taif 21974, Saudi Arabia
4
Electricity Department, Faculty of Engineering, Umm Al-Qura University, P.O. Box 5555, Makkah
21955, Saudi Arabia
Correspondence should be addressed to A. I. Ismail, [email protected]
Received 31 July 2012; Revised 22 October 2012; Accepted 12 November 2012
Academic Editor: Francesco Pellicano
Copyright q 2012 A. I. Ismail et al. This is an open access article distributed under the Creative
Commons Attribution License, which permits unrestricted use, distribution, and reproduction in
any medium, provided the original work is properly cited.
A problem of the gyroscopic motions around a fixed point, under the action of a gyrostatic moment
vector, in presence of electromagnetic field and Newtonian one, is considered. The small parameter
technique is used to investigate the periodic solutions for the derived equations of such motion
problem. A geometric interpretation of motion will be given in terms of Eulers angles , , .
Computer programs are carried out to integrate the attained quasilinear autonomous system using
a fourth-order Runge-Kutta method. A comparison between the obtained analytical solutions and
the numerical ones is investigated to calculate the errors between them.
1. Introduction
The problem of motion of a nonsymmetric rigid body rotating around a fixed point, under the
action of a central Newtonian field of force exerted by one center of attraction, is considered
in 1. The angular momentum principle is applied to deduce the equations of motion of
the body 2. These equations represent an autonomous system of six nonlinear ordinary
dierential equations describing the motion of the body 3. The first integrals for such
system are obtained in 4. Euler, Lagrange and the kinetic symmetry cases are studied in
57. Numerical solutions for this system are obtained using the fourth-order Runge-Kutta
method 8. The influence of the characteristic parameters of the body is obtained in 9 to
describe the motion. Two cases of study are given: the first, when the attracting center lies on
the vertical downward, and the second, when the attracting center lies on the vertical upward
Journal of Applied Mathematics
Z
y
c
O
mg
O1
Figure 1: Description of the motion.
10. In 5, 6 the author showed that the fourth algebraic integral exists only in two special
cases analogous to those of Euler and Lagrange besides the case of kinetic symmetry of the
body. The other cases with single-valued integrals are really not new cases but can be reduced
to the previous two cases. In 11 the authors study necessary and sucient conditions for
the existence of an additional algebraic integral named, the fourth first integral. In 12, Amer
studied the motion of a gyrostat similar to Lagranges gyroscope under the influence of a
gyrostatic moment vector in the uniform gravity field only the weight mg acted on the body.
In the present study, an electromagnetic gyroscopic motion is considered in presence
of uniform force field, Newtonian one, perturbed torques, and restoring ones as one of the
important problems in mechanics. The importance of this problem is due to its important
applications in aeroplanes, space crafts, submarines, and compasses. The aim of this study is
to give analytical solutions and numerical ones for such problem. The averaging technique
13 is used to investigate the first order approximate analytical solutions. On the other
hand, fourth-order Runge-Kutta method 8 is used to investigate the numerical solutions
for the derived system of equations of motion. Errors between both obtained solutions are
considered.
2. Formulation of the Problem
Consider a dynamically symmetrical gyro of weight mg acted on its center of mass c directed
along a fixed point O in space, see Figure 1. Two systems of references are achieved: a
fixed one OXY Z, in such a way that the point O1 lies in the negative part of axis OZ at a
constant distance R OO1 and another mobile one Oxyz fixed in the body, and whose axes
are directed along the principal axes of inertia of the body at O. The gyro was acted upon by
Journal of Applied Mathematics
the gravity mg; the Newtonian force N due to the center O1 when the mutual potential V
is approximated by V 2 where V 2 represents the second approximation term of V , that is,
V V 0 V 1 2 V 2 ; the action of a variable restoring torques kj , j 1, 2 and perturbing
torques i , i 1, 2, 3. Consider a restoring torque due to the gravity g in the form:
k1 mg;
Oc.
2.1
If the gyro rotates around the fixed point in an electromagnetic field of strength B B is
vertical and a point charge Q on the axis of symmetry, the restoring torque k2 comes from
the Newtonian field and the Lorentz force QV B 14, where V is the linear velocity vector
of the gyro, that is, V , 0, 0, , is the angular velocity vector of such gyro,
and is the position of the point charge Q from the fixed point O. Let k2 takes the form
2
k2 QB cos y , x , 0 NIzz Ixx cos ,
2.2
where k2 depends on the components of the angular velocity vector x , y ; the principal
moments of inertia Ixx , Izz ; and on the nutation angle . Equation 2.2 represents torques
coming from Newtonian electromagnetic field of strength B and a point charge Q locating on
the axis of symmetry. Thus the gyro rotates under the force of gravity, the central Newtonian
force, and the restoring moments k k1 k2 .
Suppose the center of mass of the body and the principal moments of inertia are
xG yG 0,
zG ,
Ixx Iyy /
Izz .
2.3
The equations of motion take the form
1
Ixx x Izz Ixx y z k sin cos 1 NIzz Ixx sin 2 cos ,
2
1
Ixx y Ixx Izz x z k sin sin 2 NIzz Ixx sin 2 sin ,
2
i i x , y , z , , , , t , i 1, 2, 3,
Izz z 3 ,
2.4
x cos y sin ,
z x sin y cos cot ,
cosec x sin y cos .
Here 2.4 are two vector equations represented in two groups; the first three equations
represent the components of the first vector equation. The last three equations represent the
components of the second vector equation. The symbols x , y , z and i , i 1, 2, 3 are the
projections of the vectors of angular velocity and perturbing torques onto the principal axes
of inertia of the body passing through O; Ixx and Izz are the equatorial and axial moments of
inertia of the body relative to the fixed point; , , and are the Eulers angles and N 3/R,
where is the gravitational constant.
Journal of Applied Mathematics
The perturbing torques i in 2.4 are assumed to be known functions of their
arguments. For i 0, i 1, 2, 3, 2.4 correspond to the case analogous to that of LagrangePoisson 6, and, for N 0, they give the Lagrange-Poisson case in the uniform gravity
field.
Also 2.4, with N 0, describe the motion of Lagranges top acted upon by
perturbations of various physical origin, as well as motion of a free rigid body relative to the
center of mass when this body is acted upon by a restoring torque generated by aerodynamics
forces and certain perturbing torques.
Consider the following initial assumptions:
x2 y2 z2 ,
z2 k,
|i | k,
i 1, 2, 3 k.
2.5
The assumptions 2.5 mean that the direction of the angular velocity of the gyro is close to
the axis of the dynamic symmetry, and the angular velocity is large, so that the kinetic energy
of the gyro is much greater than the potential energy resulting from the restoring torque
and two projections of the perturbing torque vector onto the principal axes of inertia of the
gyro are small as compared to the restoring torque while the third is of the same order of
magnitude as this torque. The assumptions 2.5 allow us to introduce the small parameter
and to set
y y ,
k K,
x x ,
i 2 i x , y , z , , , , t , i 1, 2,
3 3 x , y , z , , , , t .
2.6
The new variables x and y as well as the variables and constants x , , , , K,
Ixx , Izz , i , i 1, 2, 3 are assumed to be bounded quantities of order unity as tends to zero.
The aim of this research is to investigate the asymptotic behavior of the solutions of system
2.4, for small , when conditions 2.5 and 2.6 are satisfied. This will be done by using the
averaging method which is extensively applied in problems of dynamics of rigid bodies on a
time interval of order 1 . This method was employed to investigate a variety of problems of
dynamics, chiefly for bodies with dynamic symmetry.
The ensemble of simplifying assumptions 2.5 and 2.6 made in this work enables
us to obtain a relatively simple averaging scheme in the general case and to exhaustively
investigate the following cases.
2.1. The Case of Variable Restoring Torque
The resultant of restoring torque, K, taking into account 2.5 and 2.6, can be written in the
form
2
K mg QB cos y , x , 0 NIzz Ixx cos .
2.7
Journal of Applied Mathematics
Equation 2.7 is the total restoring torque that comes out from the motion of the gyro under
the action of uniform force field, Newtonian one, and the perturbed torques. Making use of
2.4, 2.6, and 2.7 and omitting on both sides of the first two equations, one obtains
x Izz Ixx y z K sin cos ,
Ixx
1
y Ixx Izz x z K sin sin 2 ,
Ixx
Izz z 3 ,
x cos y sin ,
z x sin y cos cot ,
x sin y cos cosec .
2.8
The last four equations in 2.8 for the zero approximation give
z z o ,
o ,
o ,
z o t o ,
2.9
where z 0 , 0 , 0 , and 0 are constants equal to the initial values of the corresponding
variables for t 0.
Substituting 2.9 into the first two equations of system 2.8 for 0 yields
x n2o x Ko no z o Ixx 1 sin o sin z o t o ,
y n2o y Ko no z o Ixx 1 sin o cos z o t o .
2.10
Solving system 2.10, one obtains
x a cos 0 b sin 0 K0 Izz Ixx 1 z 1
0 sin 0 sin z 0 t 0 ,
y a sin 0 b cos 0 K0 Izz Ixx 1 z 1
0 sin 0 cos z 0 t 0 ,
2.11
a x 0 K0 Izz Ixx 1 z 1
0 sin 0 sin 0 ,
b y 0 K0 Izz Ixx 1 z 1
0 sin 0 cos 0 ,
n0
0 n0 t, n0 Izz Ixx Ixx 1 z 0
0,
/
1.
z 0
2.12
where
Here x 0 and y 0 are the initial values of the new variables x and y introduced in
accordance with 2.6, while o is the oscillation phase of the generating system.
The last condition of 2.12 shows that the initial fast spin of the gyrostat is assumed
to be given about the minor axis of the ellipsoid of inertia Ixx Iyy < Izz .
Journal of Applied Mathematics
System 2.8 is essentially nonlinear and therefore we introduce the additional variable
defined by the relation
d
n,
dt
0 0.
2.13
For 0, we have o no t in accordance with 2.12. Equations 2.9, 2.11 define the
general solution of system 2.8 and 2.13 for 0. Eliminating the constants with allowance
of 2.9, it is possible to rewrite 2.11 in equivalent form
x a cos b sin K0 Izz Ixx 1 z 1 sin sin ,
y a sin b cos K0 Izz Ixx 1 z 1 sin cos ,
2.14
where a and b are in the form
a x cos y sin KIzz Ixx 1 z 1 sin sin ,
b y sin y cos K0 Izz Ixx 1 z 1 sin cos ,
2.15
which defines a change of variables x and y to variables a and b of Van der Pol type 15
and vice versa. Using 2.8 and 2.13, we convert from the variables x , y , z , , , , to
the new variables a, b, z , , , , , , where
.
2.16
After some manipulations, we obtain a system of seven equations as follows:
a Ixx 1 1o cos 2o sin KIzz z 1 cos b KIzz z 1 sin cos
KIzz z 2 3o sin sin sin f2 f1 ,
b Ixx 1 1o sin 2o cos KIzz z 1 cos a KIzz z 1 sin sin
KIzz z 2 3o sin cos cos f2 f1 ,
z Izz 1 30 ,
2.17
cosec a sin b cos KIzz Ixx 1 z 1 ,
a cos b sin ,
Izz Ixx 1 z cot a sin b cos K cos Izz Ixx 1 z 1 ,
Izz Ixx Ixx 1 z ,
where
f1
1
1
Izz
1 z sin 2a cos b sin ,
Izz z 1 BQ sin Izz 1 3o 3 cos 2
2
2
Ixx
f2 Izz z 1 sin2 NIzz Ixx a cos b sin .
2.18
Journal of Applied Mathematics
io denote functions obtained from i as a result of substitution of 2.14 into 2.17, that is,
io a, b, z , , , , , t i x , y , z , , , , t ,
i 1, 2, 3.
2.19
We introduce a vector X whose components are the slow variables a, b, z , , and of system
2.17. Thus, this system can be written in the form
X X x, , , t ,
Izz Ixx Ixx 1 z ,
Izz Ixx 1 z Y x, ,
x0 xo ,
0 o ,
0 0,
2.20
where the vector-valued function X and the scalar function Y are defined by the right-hand
sides of 2.17. The initial values of X and Y can be obtained in accordance with 2.9
to 2.13 and 2.16. Consider system 2.17 or 2.20 from the stand point of employing
the averaging method. System 2.17 contains the slow variables a, b, z , , and and fast
variables represented by the phases , and time t. This system is essentially nonlinear and
it is extremely dicult to employ the averaging method directly. Let us assume, for the sake
of simplicity, that the perturbing torques i are independent of t. Since i , i 1, 2, 3, are 2periodic in , it follows, in accordance with 2.14 to 2.17, that the functions i from 2.19
will be 2-periodic functions of and . Then system 2.20 contains two rotating phases
and and two corresponding frequencies Izz Ixx 1 z and Izz Ixx Ixx 1 z .
In averaging system 2.17 or 2.20, two cases should be distinguished.
1 A nonresonant case, when frequencies Izz Ixx 1 z and Izz Ixx Ixx 1 z are
noncommensurable.
2 A resonant case, when these frequencies are commensurable.
A very important feature of system 2.20 is the fact that the ratio of the frequencies is
constant Izz Ixx Ixx 1 z /Izz Ixx 1 z 1 Ixx Izz 1 and the resonant case occurs for
Izz
i
,
Ixx j
i
2,
j
2.21
where i and j are relatively prime natural numbers, while in the non-resonant case Izz /Ixx is
an irrational number.
As a result of 2.21, averaging of nonlinear system 2.20, in which X is independent
of t, is equivalent to averaging of a quasilinear system with constant frequencies; this can be
i/j,
achieved by introducing the independent variable . In the non-resonant case Izz /Ixx /
we obtain the first approximation averaged system by averaging the right sides of system
2.17 with respect to the fast variables and . As a result, we obtain the following equations
for the slow variables:
1
a Ixx 1 1 KIzz z 1 b cos KIzz z 2 sin s3 sin k ,
2
1
b Ixx 1 2 KIzz z 1 a cos KIzz z 2 sin o3 sin k1 ,
2
z Izz 1 3 ,
KIzz z 1 ,
0,
2.22
Journal of Applied Mathematics
where
1
2
1
3
4 2
1
4 2
1
4 2
2
0
2
0
2
0
o
1 cos 2o sin dd,
o
1 sin 2o cos dd,
3o dd,
o3
1
4 2
s3
2
0
1
4 2
2
0
3o sin dd,
3o cos dd,
2.23
1
k Izz z 1 NIzz Ixx b sin Izz 2 z 1 BQ 3 cos 2s3
2
1
Ixx 1 Izz 1 BQ b sin 2,
2
1
k1 Izz z 1 NIzz Ixx a sin Izz 2 z 1 BQ 3 cos 2o3
2
1
Ixx 1 Izz 1 BQ a sin 2.
2
Solving averaged system 2.22 for perturbing torques of specific form, we determine the
motion of the gyrostat in the non-resonant case with an error of order on an interval of time
variation of order 1 .
The integration of the last equation of system 2.22 yields 0 const.
System 2.22 is equivalent to a two-frequency system with constant frequencies, since
both frequencies are proportional to the axial component z of the angular velocity vector;
therefore, the applicability of the averaging method can be substantiated in the same way as
for a quasilinear system; the principal assertion involves the following.
Assume that the function X is suciently smooth with respect to and and that it
satisfies a Lipschitz condition with respect to x , with a constant which is independent of
and . Then on the plane of permissible values of the parameters Izz and Ixx there exists a
set L of measure zero such that if Izz , Ixx L, then for the solutions of system 2.20 and
2.22 we have the bound |xt, t, | R , t 0, O1 in which t, is the solution
of system 2.22 averaged with respect to the phases and , where a, b, z , , and
R const. The proof can be carried out by using Gronwalls lemma, on the basis of the
standard change of variable procedure of the averaging method, as well as the arithmetic
lemma used to estimate the small denominators 16.
System 2.20 is a single frequency system in the resonant case 2.21. Indeed, instead
of we introduce a new slow variable, namely, a linear combination of the phases with
coecients
1
i i j ,
i
/ 1,
j
i
2;
j
i, j > 0.
2.24
Journal of Applied Mathematics
System 2.20 gives the following form of a standard system with a rotating phase
1
X X x, i i j
, ,
1
Y x, i i j
,
2.25
Izz Ixx Ixx 1 z ,
and its right sides are 2|i j|, periodic in . We set up first approximation system by
averaging the right sides of system 2.25 with respect to the above period of variation of the
argument . As a result, we obtain the following system of equations for the slow variables:
1
k
a Ixx 1 1 KIzz z 1 b cos KIzz z 2 sin s
3 sin ,
2
1
k1
b Ixx 1 2 KIzz z 1 a cos KIzz z 2 sin o
,
3 sin
2
z Izz 1 3 ,
KIzz z 1 ,
0,
KIzz z 1 cos ,
2.26
where
a, b, z , , ,
2 a, b, z , , ,
1
2 i j
1
2 i j
2|ij|
0
2|ij|
0
o
1 cos 2o sin d,
o
1 sin 2o cos d,
2|ij|
1
3o d,
2 i j 0
2|ij|
1
1
s
d,
3o sin i i j
3 a, b, z , , ,
2 i j 0
2|ij|
1
1
o
d,
3 a, b, z , , ,
3o cos i i j
2 i j 0
1
k a, b, z , , , Izz z 1 NIzz Ixx b sin Izz 2 z 1 BQ 3 cos 2s
3
2
1
Ixx 1 Izz 1 BQ b sin 2,
2
1
k1
a, b, z , , , Izz z 1 NIzz Ixx a sin Izz 2 z 1 BQ 3 cos 2o
3
2
1
Ixx 1 Izz 1 BQ b sin 2.
2
2.27
3 a, b, z , , ,
Therefore, the motion of the gyrostat in the resonant case can be substantiated.
10
Journal of Applied Mathematics
3. The Case of the Sum of Constant and Linear Dissipative
Perturbed Torques
Let us consider a perturbed motion analogous to that of Lagrange case with allowance for
the torques acting on our gyrostat from the environment. We will assume that the perturbing
torques i , i 1, 2, 3, are linear dissipative
1 I1 x ,
2 I1 y ,
3 I3 z 3 ;
I1 , I3 > 0
3.1
where I1 and I3 are constants depending on the properties of the medium and the shape of
the gyro. Let us write the perturbing torques with allowance for expressions 2.6 for x and
y
1 2 I1 x ,
2 2 I1 y ,
3 I3 z 3 ;
I1 , I3 > 0,
3.2
For the fundamental oscillations nonresonant case, we change over to new slow variables
a, b, z , , and , the averaged system 2.22 takes the form
a aI1 Ixx 1 bIzz z 1 K cos
1
1
b sin Izz z 1 N sin Ixx Izz BQ sin 2 Izz 1 Ixx 1 ,
2
2
b bI1 Ixx 1 aIzz z 1 K cos
1
1
a sin Izz z 1 N sin Ixx Izz BQ sin 2 Izz 1 Ixx 1 ,
2
2
z Izz 1 I3 z 3 ,
0.
KIzz z 1 ,
3.3
Integrating the third equation in 3.3, we obtain
z z o 3 I31 exp Izz 1 I3 t 3 I31 .
3.4
Equation 3.3 for can be integrated with allowance for 3.4 to yield
1
1
1 1 z o I3 3 1 exp Izz I3 t
1
o K 3
ln
KI3 Izz 3 t.
1
z o I3 3
3.5
From the last equation of 3.3, it is easy to see that the angle of nutation maintains constant
value, that is,
o .
3.6
Journal of Applied Mathematics
11
Making use of 3.3, 3.4, 3.5 and 3.6, one obtains
1 1
a bIxx I3 K1 Izz I1 3
BQ bI11 Ixx Izz 1 1 sin2 o cos o
2
1 exp I1 Ixx 1 t ,
2 bI3 Izz 1 31 K1 I1 Ixx 1 Izz 1 3 z 1
o
1
1
b I11 BQ 1 Ixx Izz 1 sin2 o cos o Ixx z 1
o aIzz K1
2
2 az 2o Izz 2 z o I3 3 K1 2 exp I1 Ixx 1 t ,
3.7
where
K1 K NIxx Izz sin o cos o ,
1
1
1 x o Ko Izz 1 z 1
o sin o sin o I1 Izz
1
1
2
AI
BQ
y o Ko Izz 1 z 1
sin
cos
cos
I
sin
o
o
3 1 3
xx
zz
o
o ,
o
2
1
1
2 y o Ko Izz 1 z 1
o sin o cos o I1 Izz
1
1
1
1
2
BQ Ixx Izz sin o cos o Ixx z o K1 .
x o Ko Izz z o sin o sin o
2
3.8
4. Discussion of the Solutions
In this section we give a qualitative analysis of the results obtained, several diagrams, and
explanations.
The solutions of the first approximation system for the slow variables in the case
of dissipative torque 3.1 are constructed. If resonance relation 2.21 is satisfied, then
averaging should be performed in accordance with scheme 2.26. In this case, all the integrals
i from 2.26 coincide with the corresponding integrals i of 2.22. Therefore resonance in
eect does not accrue and the resultant solution is suitable for describing motion for any ratio
1. The motion considered in this paper is interpreted by obtaining Eulers angles of
Izz /Ixx /
nutation , precession , and pure rotation . We conclude from 3.6 and 3.5 that the
nutation angle remains constant through the motion, while the precession angle depends
on time t. For zero-order approximation of , we note that
0,
0,
z o ,
4.1
that is, the case of permanent rotation with fast spin ro of the gyro about its axis of symmetry
is obtained see Figure 2.
12
Journal of Applied Mathematics
Z
z
=
y
X
O1
Figure 2: Eulers angles.
112
Angular velocity
110
108
106
104
102
100
98
50
100
150
200
250
300
Time
Analytical solutions (Q = 100)
Numerical solutions (Q = 100)
Figure 3: The angular velocity against time when Q 100.
5. Numerical Results
The fourth-order Runge-Kutta method 8 is used through a computer program to investigate
the numericalsolutions for the derived system 2.4 of equations of motion. The angular
velocity x2 y2 z2 obtained from the numerical solutions is represented graphically, in the form of dashed curves, against the time t with dierent values of the point charge
Q 100 and 200 gauss and dierent initial values of the nutation angle. On the other hand
the angular velocity obtained analytically from the averaging technique is graphed through
continuous curves. Both dashes and continuous curves are given together in Figures 3 and 4.
Journal of Applied Mathematics
13
140
Angular velocity
135
130
125
120
115
110
105
100
0
50
100
150
200
250
300
Time
Analytical solutions (Q = 200)
Numerical solutions (Q = 200)
Figure 4: The angular velocity against time when Q 200.
From these figures we conclude that the angular velocity increases when the point charge Q
increases and vice versa and also that the analytical solutions are very close to the numerical
ones especially when the charge Q is small that is the errors between the analytical and the
numerical solutions are negligible.
Acknowledgment
This project is supported by Institute of Scientific Research and Islamic Heritage Revival,
Umm Al-Qura University, Saudi Arabia.
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Journal of Applied Mathematics
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