High-Precision Anti-Disturbance Gimbal Servo Control for Control Moment Gyroscopes via an Extended Harmonic Disturbance Observer | Zendy

Liya Huang | Zendy; Zhong Wu | Zendy; Kan Wang | Zendy

Open Access

High-Precision Anti-Disturbance Gimbal Servo Control for Control Moment Gyroscopes via an Extended Harmonic Disturbance Observer

Author(s) -

Liya Huang,

Zhong Wu,

Kan Wang

Publication year - 2018

Publication title -

ieee access

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.587

H-Index - 127

ISSN - 2169-3536

DOI - 10.1109/access.2018.2878623

Subject(s) - aerospace , bioengineering , communication, networking and broadcast technologies , components, circuits, devices and systems , computing and processing , engineered materials, dielectrics and plasmas , engineering profession , fields, waves and electromagnetics , general topics for engineers , geoscience , nuclear engineering , photonics and electrooptics , power, energy and industry applications , robotics and control systems , signal processing and analysis , transportation

In control moment gyroscopes (CMGs), the gimbal is expected to rotate at a low speed with high precision so that high-precision gyroscopic torque can be generated to realize high-precision spacecraft attitude control. However, there are complex and multiple disturbances in the gimbal servo systems, which may deteriorate the gimbal control performance to a great extent. In this paper, an extended harmonic disturbance observer (EHDO)-based composite controller is proposed to reject the effects of multiple disturbances on the control performance of gimbal servo systems. Firstly, an EHDO is developed for an mth-order model describing disturbance dynamics in which the rotor dynamic imbalance torque along gimbal axis is modeled as a harmonic, and the others are approximated as a polynomial. Compared with conventional extended disturbance observers, EHDO can estimate multiple disturbances with high precision even with a lower bandwidth. Secondly, a backstepping-based composite controller is designed to achieve high-performance gimbal control for CMGs. Finally, simulation and experimental results are presented to demonstrate the effectiveness of the proposed method.

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