Dynamic Inversion based Control of DGMSCMGs. Part 1: Obtaining the Nonlinear Dynamic Model

This paper series presents a complete dynamic model associated to a magnetically suspended double gimbal control moment gyro by considering the rotor-gimbal interactions, as well as the design and software validation of a dynamic inversion and Lyapunov theory based controller for DGMSCMG high-precision control. We start with the obtaining of the nonlinear dynamics of the gyroscopic system, the aims of the controller being: 1) to ensure both the robustness and the high accuracy convergence of the system; 2) to handle the interferences between channels. Part 1 of this paper series provides the necessary theoretical developments associated to the complete dynamics of the DGMSCMGs, while Part 2 contains the design and software validation of the dynamic inversion based control architecture.