Abstract
Limited by supply voltage on board, control accuracy of low velocity and available torque of Control Moment Gyros (CMGs) gimbal driving motor are limited. Adding Harmonic Drive (HD) between driving motor and CMGs gimbal can improve CMGs control system performance. The paper establishes a practical HD model considering transmission, bearing friction, tooth meshing friction and compliance of flexspline. The model is properly simplified for analysing the control performance of whole closed loop system. Transfer functions are analysed and the flexspline output velocity is chosen to be the velocity feedback for controller according to the characteristics of CMGs gimbal velocity command. All of the numerical simulation results validate the theory analysis.
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