Study on the System Disturbance Rejection Method Used in the Gimbal Servo System of Magnetically Suspended Control Moment Gyro

摘要

In order to suppress the impact of the friction torque and the magnetic levitation high-speed rotor system on the stability of gimbal servo system output angular rate, a self-adaption compensation method with no modeling for disturbance torque is presented. The interference suppressor calculates the disturbance compensation based on the torque motor current and the angular rate measured real-time by the current detection circuit and the frame angular detection circuit in the gimbal servo system, then feedbacks to the frame servo system controller to regulating the torque motor output current. 500Hz and 50Hz sinusoidal disturbance torque are introduced into the system to test the role of the interference suppressor. The result proves the interference suppressor has the same significant inhibition of effect for disturbance torque of different frequencies by MATLAB simulating framework output angular rate waveform.