Active Disturbance Rejection Control for the gimbal servo system of Magnetically Suspended Single Gimbal Control Momentum Gyroscope

摘要

To improve the accuracy of the output torque, maintain high precision attitude control and ensure the safe operation of the magnetically suspended bearing, the gimbal servo system of Magnetically Suspended Single Gimbal Control Momentum Gyroscope(MS-SGCMG) must have high control performance and reject the disturbance well. A novel Active Disturbance Rejection Control(ADRC) controller is designed to meet these requirements. The controller can cancel the disturbance by observing the output and relax the impulse brought by the sharp change of the gimbal command. A new method, based on observer, for resolving the resolver is introduced. The resolving process can be merged in the observing of the state of the servo system, which simplifies the controller. The experiment results show than the controller obtains high accuracy without overshoot and compensates the disturbance distinctly.