Speed tracking control for the gimbal system with harmonic drive

被引：13
|
作者：
Li, Haitao [1 ]
Ning, Xin [1 ]
Han, Bangcheng [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Sch Instrument Sci & Opt Elect Engn, Beijing 100191, Peoples R China
来源：
CONTROL ENGINEERING PRACTICE | 2017年 / 58卷
基金：
中国国家自然科学基金;
关键词：
DGMSCMG; Gimbal system; Harmonic drive; Composite controller; MAGNETIC BEARING; PRECISE CONTROL; ROBUST-CONTROL; DISTURBANCE; CANCELLATION; REJECTION;
D O I：
10.1016/j.conengprac.2016.11.001
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a composite controller based on a disturbance observer for the gimbal system of double gimbal magnetically suspended control moment gyro (DGMSCMG) with harmonic drives. The controller removes the influence by coupling moments and nonlinear transmission torques. The disturbances are estimated by the designed disturbance observer. By introducing a state feedback controller, the disturbances can be eliminated from the output channel of the system. The gain selection principle of the disturbance observer is also analyzed. Both the simulation and experimental results indicate that the proposed control method can reject mismatched disturbances and improve system performance.
引用
收藏
页码：204 / 213
页数：10
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