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Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive

Author

Listed:
  • Bangcheng Han
  • Yanpeng Chen
  • Haitao Li
  • Lianhui Yang

Abstract

The double-gimbal control moment gyro (DGCMG) demands that the gimbal servosystem should have fast response and small overshoot. But due to the low and nonlinear torsional stiffness of harmonic drive, the gimbal servo-system has poor dynamic performance with large overshoot and low bandwidth. In order to improve the dynamic performance of gimbal servo-system, a model reference adaptive control (MRAC) law is introduced in this paper. The model of DGCMG gimbal servo-system with harmonic drive is established, and the adaptive control law based on POPOV super stable theory is designed. The MATLAB simulation results are provided to verify the effectiveness of the proposed control algorithm. The experimental results indicate that the MRAC could increase the bandwidth of gimbal servo-system to 3 Hz and improve the dynamic performance with small overshoot.

Suggested Citation

  • Bangcheng Han & Yanpeng Chen & Haitao Li & Lianhui Yang, 2013. "Discrete Model Reference Adaptive Control for Gimbal Servosystem of Control Moment Gyro with Harmonic Drive," Mathematical Problems in Engineering, Hindawi, vol. 2013, pages 1-10, April.
    • Handle: RePEc:hin:jnlmpe:897579
    DOI: 10.1155/2013/897579
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