Abstract：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.
徐向波, 李海涛, 薛立娟, 杨莲慧. 控制力矩陀螺框架高精度周期随动控制[J]. 北京航空航天大学学报, 2012, 38(8): 1017-1021.
Xu Xiangbo, Li Haitao, Xue Lijuan, Yang Lianhui. High precision periodic control method of control moment gyro gimbal system. JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2012, 38(8): 1017-1021.
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2012, Vol. 38 
