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<strong>경상대학교</strong> 물리학과 김현수<br />
9-23<br />
9.9 자이로 나침판<br />
z <strong>ω</strong> e <strong>ω</strong> e y’<br />
N<br />
S<br />
r e λ<br />
λ<br />
λ<br />
<strong>ω</strong><br />
λ<br />
<strong>ω</strong><br />
sin<br />
) :<br />
'<br />
(<br />
cos<br />
) :<br />
(<br />
e<br />
e<br />
y<br />
성분<br />
축<br />
수직성분<br />
수평성분 북쪽방향성분<br />
i’<br />
φ<br />
N χ k’<br />
E<br />
S<br />
W<br />
자이로스코프의<br />
회전축<br />
0<br />
,<br />
90 =<br />
= l<br />
o<br />
θ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
λ<br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
sin<br />
cos<br />
'<br />
sin<br />
'<br />
cos<br />
cos<br />
'<br />
'<br />
'<br />
'<br />
e<br />
e<br />
e<br />
e<br />
z<br />
y<br />
x<br />
k<br />
j<br />
i<br />
<strong>ω</strong> +<br />
+<br />
=<br />
• 계에서<br />
s<br />
e<br />
e<br />
e<br />
e<br />
e<br />
I<br />
I<br />
I<br />
I<br />
I<br />
z<br />
y<br />
x<br />
=<br />
=<br />
=<br />
+<br />
+<br />
+<br />
+<br />
=<br />
+<br />
+<br />
=<br />
+<br />
=<br />
+<br />
=<br />
•<br />
3<br />
2<br />
1 ,<br />
)<br />
sin<br />
cos<br />
'(<br />
)<br />
sin<br />
'(<br />
cos<br />
cos<br />
'<br />
'<br />
'<br />
'<br />
'<br />
'<br />
'<br />
'<br />
'<br />
'<br />
자이로스코프의주 관성모멘트<br />
자이로스코프의각속도<br />
계에서<br />
의비율로 돌고있으므로<br />
수직축을 중심으로<br />
φ<br />
λ<br />
<strong>ω</strong><br />
ψ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
ψ<br />
φ<br />
ψ<br />
φ<br />
φ<br />
&<br />
&<br />
&<br />
&<br />
&<br />
&<br />
&<br />
k<br />
j<br />
i<br />
k<br />
j<br />
<strong>ω</strong><br />
k<br />
<strong>ω</strong><br />
<strong>ω</strong><br />
j<br />
<strong>ω</strong><br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
ψ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
sin<br />
cos<br />
,<br />
'<br />
)<br />
sin<br />
(<br />
'<br />
cos<br />
cos<br />
'<br />
e<br />
s<br />
e<br />
e<br />
S<br />
where<br />
S<br />
I<br />
I<br />
I<br />
+<br />
=<br />
+<br />
+<br />
+<br />
=<br />
&<br />
&<br />
k<br />
j<br />
i<br />
L<br />
S<br />
I<br />
I<br />
I<br />
dt<br />
d<br />
s<br />
e<br />
e<br />
e<br />
e<br />
e<br />
rot<br />
)<br />
sin<br />
(<br />
cos<br />
cos<br />
sin<br />
cos<br />
sin<br />
cos<br />
cos<br />
'<br />
'<br />
'<br />
'<br />
λ<br />
<strong>ω</strong><br />
φ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
+<br />
+<br />
×<br />
+<br />
⎟<br />
⎠<br />
⎞<br />
⎜<br />
⎝<br />
⎛<br />
=<br />
•<br />
&<br />
&<br />
k<br />
j<br />
i<br />
L<br />
<strong>ω</strong><br />
L<br />
N<br />
회전좌표계에대한 운동방정식<br />
( ) ( )<br />
( ) ( )<br />
( )<br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
λ<br />
<strong>ω</strong><br />
φ<br />
φ<br />
λ<br />
<strong>ω</strong><br />
cos<br />
cos<br />
sin<br />
cos<br />
cos<br />
0<br />
.<br />
0,<br />
'<br />
0<br />
'<br />
sin<br />
0<br />
'<br />
cos<br />
cos<br />
2<br />
2<br />
'<br />
'<br />
'<br />
e<br />
s<br />
e<br />
z<br />
s<br />
y<br />
e<br />
x<br />
e<br />
S<br />
I<br />
I<br />
I<br />
const<br />
S<br />
dt<br />
dS<br />
dt<br />
dS<br />
I<br />
dt<br />
d<br />
I<br />
dt<br />
d<br />
I<br />
N<br />
−<br />
+<br />
=<br />
=<br />
∴<br />
=<br />
→<br />
×<br />
+<br />
=<br />
×<br />
+<br />
+<br />
=<br />
×<br />
+<br />
=<br />
•<br />
&&<br />
&<br />
L<br />
<strong>ω</strong><br />
L<br />
<strong>ω</strong><br />
L<br />
<strong>ω</strong><br />
성분별로<br />
⎟<br />
⎟<br />
⎠<br />
⎞<br />
⎜<br />
⎜<br />
⎝<br />
⎛<br />
=<br />
=<br />
=<br />
=<br />
+<br />
= −<br />
= −<br />
=<br />
→<br />
−<br />
=<br />
λ<br />
<strong>ω</strong><br />
π<br />
<strong>ω</strong><br />
π<br />
χ<br />
χ<br />
λ<br />
<strong>ω</strong><br />
χ<br />
χ<br />
φ<br />
χ<br />
φ<br />
χ<br />
φ<br />
χ<br />
φ<br />
χ<br />
φ<br />
cos<br />
2<br />
2<br />
0<br />
:<br />
0<br />
sin<br />
cos<br />
,<br />
,<br />
sin<br />
cos<br />
90<br />
0<br />
e<br />
s<br />
e<br />
s<br />
S<br />
I<br />
I<br />
T<br />
I<br />
S<br />
I<br />
주위로진동<br />
로 표현하면 편리<br />
의 여각인<br />
&&<br />
&&<br />
&&<br />
&<br />
&<br />
o