Accurate Compensation of Moving-Gimbal Effects in Magnetically Suspended Control Moment Gyroscope

In magnetically suspended control moment gyroscope (MSCMG), the magnetic suspension rotor system is disturbed by the moving-gimbal effect when the gimbal rotates. Existing adaptive compensation methods only use angular rate feedforward to compensate. When the gimbal accelerates, the disturbed force on the rotor cannot be compensated accurately. In order to accurately compensate for the disturbance of the moving-gimbal effect, an adaptive feedforward method of angular rate and acceleration rate based on simplified FXLMS algorithm is proposed. Gradient estimation and steepest descent strategy are used to derive feedforward weight updating algorithm. The simulation result show that the adaptive compensation control system has fast tracking speed, good convergence and ideal accuracy.