Active vibration control for GyroWheel based on sliding mode observer and adaptive feedforward compensator

Abstract

This article proposes an active vibration control method for the GyroWheel to ensure the attitude stability precision of the spacecraft. The method includes sliding mode disturbance observer and adaptive feedforward compensator. First, considering the disturbance torque caused by rotor imbalance, the dynamic equation adopting complex coefficients is derived with synchronous disturbances. To reduce the influence of model parameter perturbation, a finite time sliding mode observer is designed to estimate the rotor imbalance owing to its robustness. An integrator for the switching term is introduced in the sliding manifold, which attenuates the chattering phenomenon. Then, the observed unbalanced torque is utilized to generate the reference compensation tilting angle, which is fedforward to the command value to offset the synchronous frequency current. A variable step size seeking algorithm is adopted to tune the feedforward compensator gain adaptively. Finally, both numerical simulations and experiments have verified the effectiveness of the active vibration control scheme, achieving clean vibration torque.