Abstract:

Consisted of an inner and outer gimbal system and a high variable speed rotor system, double-gimbaled variable-speed control moment gyroscope (DGVSCMG), which can work at flywheel mode and CMG mode, serves as a primary actuator for attitude control of spacecraft. In both working modes, the gimbal system suffers from mismatched disturbances, affecting its speed servo performance and the output torque of DGVSCMG. In order to increase system robustness against disturbances as well as improve gimbal system speed tracking accuracy, a decoupling control of gimbal system based on state feedback control and disturbance observer (DO) is proposed. The mismatched disturbances of gimbal system are first analyzed and the controller parameters are designed using robust control theory with the stability of overall system proved. Both the simulation and experimental results demonstrate the effectiveness of the proposed method.

Key words: decoupling control, disturbance observer, gimbal servo system, mismatched disturbance rejection, DGVSCMG