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The gimbal angle of a magnetically suspended control moment gyro system deviates from nominal values due to disturbances. This causes control constraints during attitude manoeuvres and increases the risk of encountering singularities. Presented is a new method to eliminate this disturbance of the gimbal servo-system using adaptive inverse control and the effectiveness of this method is shown. This compensates for gimbal angle offset and increases the precision of attitude manoeuvres during nonlinear friction disturbed torque and coupling torque caused by the high-speed magnetic suspended rotor.