High precision periodic control method of control moment gyro gimbal system

In order to realize high periodic precision control of control moment gyro (CMG) gimbal system, a controller consisted of proportiona integration differention (PID) controller and plug-in repetitive controller was adopted. PID controller can realize high precision control of static state and uniform speed state, while plug-in repetitive controller can realize accurate tracking of periodic given signal. CMG gimbal system modeling was performed, and the PID controller and plug-in repetitive controller were designed, then stability conditions, steady tracking properties and ability of suppressing disturbance were analyzed. Simulation and experiment results show plug-in repetitive controller can effectively reduce steady tracking error when CMG gimbal system tracks a 1Hz periodic given velocity signal. The structure of the controller is simple and the plug-in repetitive controller can be designed separated from system's PID controller, so it is easy to design parameters.