Moving-gimbal effect suppression for AMB-rotor systems with improved dynamic response in control moment gyroscopes

The moving-gimbal effect (MGE) is an important factor that limits the torque accuracy provided by magnetically suspended control moment gyroscope. This work addresses the issues concerning the dynamic behavior of active magnetic bearing (AMB) systems under MGE. First, the dynamics modeling of AMB-rotor system is established. Then, a linear extended state observer (LESO) based control is proposed to suppress the MGE. The dynamic response of PID control is significantly improved by replacing the integral term with LESO. The LESO gain tuning procedure is performed by analyzing the pole-zero assignment that determines the dynamic performance. The stability of LESO is proved by the convergence of estimation error dynamics. Finally, the proposed method shows effective suppression on MGE with less power consumptions in experiment.