The coupling analysis for the gimbal servo system of a control moment gyroscope considering the influence of a flexible vibration isolator

Song Pan; Zhangfan Xu; Ming Lu; Lei Chen; Zhulin Liang; Jiyang Zhang

doi:10.1016/j.isatra.2023.01.035

The coupling analysis for the gimbal servo system of a control moment gyroscope considering the influence of a flexible vibration isolator

ISA Trans. 2023 Jun:137:601-614. doi: 10.1016/j.isatra.2023.01.035. Epub 2023 Feb 4.

Authors

Song Pan¹, Zhangfan Xu², Ming Lu³, Lei Chen⁴, Zhulin Liang³, Jiyang Zhang³

Affiliations

¹ State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China; National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China. Electronic address: pansong@nuaa.edu.cn.
² State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China; Shanghai Aerospace Control Technology Institute, Shanghai 201100, People's Republic of China.
³ Beijing Institute of Control Engineering, Beijing 100000, People's Republic of China.
⁴ State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China; National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, People's Republic of China.

PMID: 36803890
DOI: 10.1016/j.isatra.2023.01.035

Abstract

To reduce the influence of vibrations generated by the control moment gyroscopes (CMGs), the researchers have put a lot of effort into isolating the vibration between the CMG and the satellite in order to lessen the impact of vibrations produced by the CMGs. The flexibility of the isolator causes the extra degrees of motion for the CMG, which is coupled with the CMG's dynamic behavior and the control performance of the gimbal servo system is therefore changed. However, how the flexible isolator influences the performance of the gimbal controller is uncertain. In this research, the coupling effect on the gimbal closed-loop system is analyzed. Firstly, the dynamic equation of the flexible isolator supported CMG system is established, and a classic controller is used to keep the gimbal speed stable. Secondly, the energy method (the Lagrange equation) is adopted to calculate the deformation of the flexible isolator and the rotation of the gimbal. Based on the dynamic model, the simulation is conducted in the Matlab/Simulink, the frequency and the step response of the gimbal system is employed to better explore the inherent characteristics of the system. Finally, we conduct the experiments on a CMG prototype. The experimental results show that the isolator reduces the response speed of the system. Moreover, the closed-loop system could be unstable due to the coupling relationship between the flywheel and the closed-loop gimbal system. The obtained results would be helpful for the design of the isolator and the optimization of the control system of a CMG.

Keywords: Control moment gyro; Gimbal servo system; Outer coupling relationship; Vibration isolation.