SRV02 Gyroscope User Manual
the amplifier to provide the required voltage for the DC motor of the rotation disk.
3. System Parameters
Table 2 lists and characterizes the main parameters associated with the SRV02 plus gyroscope system.
Some of these parameters can be used for mathematical modeling of the plant as well as to obtain
system equations of motion.
Description
Variable
Value
Unit
Motor torque constant
K
t
0.02
N.m/Amp
Motor armature resistance
R
m
5.3
Ohms
Armature inductance
L
m
0.580
mHenry
Nominal voltage
V
nominal
12
Volts
Armature inertia
J
m
1.4e-6
Kg.m²
Operating current
I
nominal
0.23
Amps
Flywheel radius
R
disk
0.0508
Meters
Flywheel mass
M
disk
0.8
Kg
Flywheel inertia about spin axis
J
disk
1.0323
Kg.m²
Gyro module inertia about input axis
J
g
0.002
Kg.m²
Spring stiffness
K
s
1.9089e3
N/m
Gear mechanism ratio
K
g
¼
m/m
Encoder resolution (in quadrature mode)
K
enc
4096
counts/rev
Table 2: SRV02 and gyroscope system specifications
4. System Setup
You can use the instructions provided in section 5.1 to wire the system together with the amplifier and
the terminal board. The following steps should be performed before wiring the system:
1. Setup the SRV02 in the high-gear configuration as explained in [5].
2. Place the gyroscope module on top of the SRV02 plant such that the servo output shaft inserts
the hole on the bottom platform of the gyroscope module and it can freely rotate about the shaft.
3. Place the base plate with the 4 plastic support legs on a flat surface. Place the other support
plate with the 4 blue clamps on top the first plate such that the clamps are facing upward and the
Document Number 908
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Revision 1.1
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Page 5
