Abstract
To effectively reject the influence of moving gimbal effect and parameter variation on the control performance of the rotor-active magnetic bearings (AMBs) system in a double gimbal magnetically suspended control moment gyro (MSCMG), this paper proposes a feedback linearization and extended state observer (ESO) based control (FLESOBC) strategy, which can attenuate the matched and mismatched system uncertainties simultaneously. First, considering the voltage-type power amplifier used in the MSCMG for space applications, the rotor dynamics is modeled completely and then rearranged into translation and tilt motion subsystems according to modal separation control, where the lumped system uncertainties are adopted to represent the external disturbances and the parameter variations. Then, feedback linearization based on differential geometry theory is performed to transform the original system into the integral chain pseudo-linear system, making the mismatched uncertainties in the same channel as the new virtual input. Afterwards, the ESO is designed to estimate the lumped uncertainties. To combine the merits of compensation control and robust control, a PIDD controller (PID with second order differential) is designed to guarantee the closed loop stability and avoid the power amplifier saturation. Finally, simulations and experiments are carried out to demonstrate the effectiveness of the proposed method.
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