Abstract
The double-gimbal control moment gyro (DGCMG) demands that the gimbal servosystem should have fast response and small overshoot. But due to the low and nonlinear torsional stiffness of harmonic drive, the gimbal servo-system has poor dynamic performance with large overshoot and low bandwidth. In order to improve the dynamic performance of gimbal servo-system, a model reference adaptive control (MRAC) law is introduced in this paper. The model of DGCMG gimbal servo-system with harmonic drive is established, and the adaptive control law based on POPOV super stable theory is designed. The MATLAB simulation results are provided to verify the effectiveness of the proposed control algorithm. The experimental results indicate that the MRAC could increase the bandwidth of gimbal servo-system to 3 Hz and improve the dynamic performance with small overshoot.
Highlights
With the superior characteristics of large torque amplification and high precision, the control moment gyros (CMGs) are the key actuators for the attitude control system of space stations, satellites, and other crafts [1, 2]
According to the number of the gimbal DOF, the CMG can be divided into single-gimbal CMG (SGCMG) and double-gimbal CMG (DGCMG) [3, 4]
The results indicate that model reference adaptive control (MRAC) has the features of smaller current fluctuation and faster regulated speed than the systems using PI controller
Summary
With the superior characteristics of large torque amplification and high precision, the control moment gyros (CMGs) are the key actuators for the attitude control system of space stations, satellites, and other crafts [1, 2]. Compared to other speed reducers, harmonic drives have many useful properties including near-zero backlash, high gear ratio, light weight, and compact size They have high velocity reduction in a relatively small package permitting and high torque amplification with only small motors. A model reference adaptive control strategy is introduced to improve the dynamic performance of DGCMG gimbal servosystem with harmonic drive.
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