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Volume 42 Issue 4
Apr.  2016
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Journal of Beijing University of Aeronautics and Astronautics  > 2016  >  42(4): 703-710.
LI Haitao, YAN Bin. Adaptive backstepping control method used in DGMSCMG gimbal servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282(in Chinese)
Citation: LI Haitao, YAN Bin. Adaptive backstepping control method used in DGMSCMG gimbal servo system[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(4): 703-710. doi: 10.13700/j.bh.1001-5965.2015.0282(in Chinese)
shu

Adaptive backstepping control method used in DGMSCMG gimbal servo system

doi: 10.13700/j.bh.1001-5965.2015.0282
  • 1.

    School of Instrumentation Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • 2. Fundamental Science on Novel Inertial Instrument and Navigation System Technology Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

Funds:  National Natural Science Foundation of China (61203112)
  • Received Date: 06 May 2015
  • Rev Recd Date: 06 Aug 2015
  • Publish Date: 20 Apr 2016
    Abstract
  • To overcome the problem of the precision of gimbal angular speed control brought by the coupling torque between inner and outer gimbal of double gimbal magnetically suspended control moment gyroscope (DGMSCMG) and the nonlinear transmission characteristics of the transmission gear, a nonlinear robust controller based on adaptive backstepping control method is proposed. Firstly, the effects of the double gimbal coupling torque and the nonlinear transmission characteristics of the transmission gear on the stability of the system and the precision of gimbal angular speed are analyzed. Secondly, based on backstepping theory, the control law is recursively deduced by constructing the suitable Lyapunov function, which ensures convergence of parameter estimation and global stability of the adaptive system. Finally, simulation analysis and experiment with small DGMSCMG show that the disturbance restraint ability of double gimbal servo system and the precision of gimbal angular speed are significantly improved by the proposed method, compared with current feed-forward control.

     

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