Composite Adaptive Control of Single Gimbal Control Moment Gyroscope Supported by Active Magnetic Bearings

Abstract

In this work, a control moment gyroscope (CMG) supported by active magnetic bearing (AMB) is considered with a gimbal angular movement. Gimbal angular movement in a CMG imposes extra load on magnetic bearings. A complete model of the CMG system with flywheel, AMBs, and gimbal dynamics is derived for control design. Lyapunov based composite adaptive output feedback control is proposed for fast uncertainty compensation in the CMG system, and some simulation results are presented. For a gimbal angular velocity input, a flywheel rotor magnetic bearing system is simulated at constant rotational speed of the flywheel rotor. (C) 2016 American Society of Civil Engineers.