High-Precision Suppression of Harmonic Vibration Force by Repetitive Controller With Triple-Loop Structure

The harmonic vibration force generated by multisource disturbances through the magnetic bearing closed-loop control system seriously affects the improvement of the performance of the magnetically suspended control moment gyroscope (MSCMG). The harmonic noise introduced by the displacement sensor generates harmonic components through a closed-loop control system, and the compensation accuracy of synchronous displacement stiffness force is reduced by the low-pass characteristics of the power amplifier. In this letter, the rotor displacement signal and current signal are used as inputs to the repetitive controller and notch filter, and the power amplifier and repetitive controller are constructed into three closed-loop systems to achieve high-precision suppression of harmonic vibration forces. Finally, the effectiveness of the method is demonstrated by using a 200-N $\cdot$ m$\cdot$s MSCMG and a microvibration test system.