LAUSR

To improve the high-precision directivity of the GyroWheel (GW) during torque output, a composite-structured adaptive compensating method is proposed in this article, which achieves high frequency tilting flutter suppression of GW rotor. The composite structure includes adaptive seeking compensator and feedforward compensator. First, the tilting flutter of the fundamental frequency and twice frequency are equivalent to the periodic disturbance torques. The adaptive seeking algorithm is adopted to generate compensation signals of the same frequency and phase to reduce the flutter. Variable step size seeking method with threshold function can improve the convergence rate of the algorithm. Then, in the range of small tilting angle, an auxiliary feedforward compensator is designed according to GW disturbance torque model, which can improve the suppression rate of the twice frequency and avoid the influence of sensor noise. Finally, both numerical simulations and experiments have verified the effectiveness of the active tilting flutter suppression scheme, improving the stable torque output performance of GW as an actuator.