Robust controller design of SGCMG driven by hollow USM

Abstract

This work proposes a design for robust control system of a single-gimbal control moment gyro (SGCMG) driven by a hollow ultrasonic motor. Considering the nonlinear characteristic of the whole system, the fuzzy Takage-Sugeno control theory was introduced to achieve a robust control over wide range stability. Based on the proposed control theory, the parameters of feedback control of close loop were determined, and a whole system model has been build for system simulation and robust controller research. The simulation results have shown the effectiveness of the proposed control algorithm. The proposed controller was implemented on an embedded microcontroller unit through C language. On the actual system of SGCMG driven by ultrasonic motor, a sinusoidal signal speed tracking has shown that the speed error less 0.5°/s and the close loop system express a good stability over a referenced speed range of 0.2---72°/s. Step response experiments shown that the system fast response time without overshot. The experiments have verified the proposed robust control algorithm in speed, robustness and stability.