Adaptive periodic-disturbance observer based composite control for SGCMG gimbal servo system with rotor vibration

• Published in: Control engineering practice 2023-03, Vol.132, p.105407, Article 105407
• Main Authors: Yang, Yongjian, Cui, Yangyang, Qiao, Jianzhong, Zhu, Yukai
• Format: Article
• Language: English
• Subjects: Adaptive periodic disturbance observer; Disturbance observer-based control; Frequency estimation; Rotor vibration; SGCMG gimbal servo system
• ISSN: 0967-0661; 1873-6939
• DOI: 10.1016/j.conengprac.2022.105407

This paper presents an adaptive periodic-disturbance observer (APDO)-based composite control scheme to attain accurate velocity-tracking control for the single gimbal control moment gyro (SGCMG). Firstly, a modified periodic-disturbance observer (PDO) is proposed to estimate both the fundamental wave and harmonics of the rotor vibration. Secondly, to ensure the estimation accuracy under variable rotor speed, an APDO is proposed by combining an adaptive frequency estimator with the modified PDO. Integrating with the PI controller, the proposed APDO-based composite control scheme can effectively reduce the influence of rotor vibration, friction, and parameter uncertainties, thereby improving control accuracy. Furthermore, performance and stability analyses show that the observer can achieve accurate estimation under arbitrary initial conditions. Finally, numerical and hardware-in-the-loop simulation results are given to demonstrate the robustness and effectiveness of the proposed scheme. •Velocity control for SGCMG gimbal servo with multiple disturbances is considered.•An adaptive periodic-disturbance observer-based composite controller is proposed.•Known information of the rotor vibration is utilized to achieve accurate estimation.•An adaptive frequency estimator is applied to accommodate the frequency change.•Numerical and hardware-in-the-loop simulations show the robustness and effectiveness.