Abstract
The high precision speed control of gimbal servo system in magnetically suspended control moment gyro (MSCMG) suffers from periodic torque disturbances, which lead to periodic fluctuations in speed control. This paper proposes a novel multiple phase-shift resonant controller (MPRC) for a gimbal servo system to suppress the periodic torque ripples whose frequencies vary with the operational speed of the gimbal servo motor and high-speed motor. First, the periodic torque ripples caused by cogging torque, flux harmonics and the dynamic unbalance of the high speed rotor are analyzed. Second, the principle and structure of MPRC parallel with proportional integral (PI) controllers are discussed. The design and stability analysis of the proposed MPRC plus PI control scheme are given both for the current loop and speed loop. The closed-loop stability is ensured by adjusting the phase in the entire operational speed range. Finally, the effectiveness of the proposed control method is verified through simulation and experimental results.
Highlights
Suspended control moment gyro (MSCMG) has been considered as an indispensable inertial actuator for the attitude control of agile maneuver satellites due to its high-precision, long life and large output torque generation [1,2,3,4]
The output torque can be expressed as M = H × ω, where ω is the angular speed of the gimbal servo motor
It is obvious that high-precision angular speed-tracking performance of the gimbal servo system must be achieved to ensure the accuracy of the Magnetically suspended control moment gyro (MSCMG) output torque
Summary
Suspended control moment gyro (MSCMG) has been considered as an indispensable inertial actuator for the attitude control of agile maneuver satellites due to its high-precision, long life and large output torque generation [1,2,3,4]. The rotor system, which is suspended by magnetic bearing, generally operates at a high constant speed to supply the demanded angular momentum H. The gyro torque is the output to adjust the spacecraft attitude when the direction of the angular momentum is changed by the rotation of the gimbal servo system. It is obvious that high-precision angular speed-tracking performance of the gimbal servo system must be achieved to ensure the accuracy of the MSCMG output torque
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