Study on the system disturbance rejection method used in the gimbal servo system of double gimbal magnetically suspended control moment gyro

In order to suppress the influence on the stability of velocity of gimbal servo system, a acceleration feedback method was presented. This paper analyses the kinematic error of the harmonic drive, the model of the gimbal with a harmonic drive was built. The algorithm of acceleration feedback was formed via the design of the nonlinear tracking differentiator to get the acceleration signal, and the fluctuation which caused by the kinematic error was depressed by this method. In this paper a software simulation is designed. The simulation result proved that this algorithm is effective. At last, an experiment was designed using the inner gimbal of the double gimbal magnetically suspended control moment gyro, the fluctuation for speed curve reduces 66% when the inner gimbal rotates at 5°/s.