Abstract
Harmonic drive is usually installed in the gimbal system of single gimbal magnetic suspended control moment gyroscope (SGMSCMG) not only to meet the requirements on the volume and weight but also output large torque. However, its nonlinear transmission characteristics are also introduced into the gimbal system and make the output speed fluctuate, which will seriously affect the output torque accuracy of SGMSCMG. Torque feedback control is an effective technique for achieving high-performance control for the above-mentioned problem. Nevertheless, it is difficult to add torque sensors in the gimbal system. In order to obtain nonlinear transmission torque without torque sensors, a novel online modeling method based on the Lagrange equation is put forward. Besides, to restrain the main torque disturbance, the gear-wave torque model is extracted. According to the above-mentioned models, a model-based feed-forward control method with phase advance is presented. Plentiful simulation and experiments on an SGMSCMG are performed, and the results show that the load speed fluctuation can be effectively suppressed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
