High precision control based on ADRC used in gimbal system of MSCMG

Aiming at solving the problems that speed precision would be influenced by nonlinear friction and external random disturbance existing in magnetically suspended control moment gyroscope(MSCMG), a high-precision speed control method was proposed based on active disturbance rejection controller(ADRC). The load torque, nonlinear friction torque and the external disturbance torque of the gimbal system were compensated after they were estimated as the "total disturbance" by a third-order extended state observer. Simulation and experimental results show that the control method based on ADRC can improve the velocity precision and stability of the gimbal system by more than 50%, and has the characteristics of strong anti-interference ability and good dynamic behavior.