Adaptive backstepping control method used in DGMSCMG gimbal servo system

To overcome the problem of the precision of gimbal angular speed control brought by the coupling torque between inner and outer gimbal of double gimbal magnetically suspended control moment gyroscope (DGMSCMG) and the nonlinear transmission characteristics of the transmission gear, a nonlinear robust controller based on adaptive backstepping control method is proposed. Firstly, the effects of the double gimbal coupling torque and the nonlinear transmission characteristics of the transmission gear on the stability of the system and the precision of gimbal angular speed are analyzed. Secondly, based on backstepping theory, the control law is recursively deduced by constructing the suitable Lyapunov function, which ensures convergence of parameter estimation and global stability of the adaptive system. Finally, simulation analysis and experiment with small DGMSCMG show that the disturbance restraint ability of double gimbal servo system and the precision of gimbal angular speed are significantly improved by the proposed method, compared with current feed-forward control.