Suppression of Moving Gimbal Effects of the AMB-rotor System Considering Multi-channel Coupling Current

The magnetically suspended control moment gyro-scope (MSCMG) can change the output moment by adjusting the angular rate of the gimbal. The displacement between the gyro rotor and the gyro room occurs when the angular rate changes, which is called moving gimbal effects, and it may lead to system instability if the displacement is large enough. In addition, the coupling of the multi-channel currents of the magnetic bearings brings new difficulty in suppressing moving gimbal effects. In order to suppress the moving gimbal effects, the process mechanism of the moving gimbal effects and the adjustment mechanism of the active magnetic bearing rotor (AMB-rotor) system are analyzed particularly. Then, the angular rate feedforward compensation method considering coupling of the multi-channel currents is proposed. Finally, the proposed method is validated on the MSCMG experimental platform, and the experimental results show that the moving gimbal displacement can be reduced by 66.1 % when the gimbal angular rate steps 15°/s.