LAUSR

The strong gimbal persistent disturbance torque and the plant perturbations, which threaten the stability of the active magnetic bearings (AMBs) system, is a challenging topic in the research area of magnetically suspended control moment gyros (MSCMGs). This article explores a new control scheme, combined with a robust controller and an adaptive feedforward controller, to deal with the internal multiparameter perturbations of the AMB-rotor system and the external strong persistent disturbances of the moving gimbal effects. First, the moving gimbal effects consisting of the displacement/current coefficient perturbation and the moving gimbal persistent torque are analyzed and discussed. A robust controller is exploited to handle both the rotor-speed perturbation and the displacement/current coefficient perturbation. A model reference adaptive feedforward compensation controller is presented to compensate the gimbal persistent torque disturbances in an AMB-rotor system of MSCMG. Then, the stability of the proposed control scheme is verified by analysis to ensure stability. Finally, the simulations and experiments of the proposed control scheme are validated by an MSCMG prototype.