High-Precision Control of Control Moment Gyroscope Gimbal Servo Systems via a Proportional–Integral–Resonant Controller and Noise Reduction Extended Disturbance Observer

Speed control accuracy of gimbal servo systems for control moment gyroscopes (CMGs) is crucial for spacecraft attitude control. However, multiple disturbances from internal and external factors severely degrade the speed control accuracy of gimbal servo systems. To suppress the effects of these complex disturbances on speed control accuracy, a control method based on a proportional–integral–resonant (PIR) controller and a noise reduction extended disturbance observer (NREDO) is proposed in this paper. First, the disturbance dynamic model of an <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mo>(</mo><mi>n</mi><mo>+</mo><mn>1</mn><mo>)</mo></mrow></semantics></math></inline-formula>th-order NREDO is derived. The integral of the virtual measurement of the lumped disturbance is an augmented state in the model. NREDO states are updated by using the estimation error of the augmented state. The NREDO significantly enhances the measurement noise suppression performance compared with an EDO. Second, a resonant controller is introduced to suppress the high-frequency rotor dynamic imbalance torque. The PIR controller is composed of a resonant controller in parallel with a PI controller. Numerical simulation and experimental results demonstrate the effectiveness of the proposed method.