Output torque modeling of control moment gyros considering rolling element bearing induced disturbances

The purpose of this paper is investigating the characteristics of dynamic contact and dynamic stiffness of the single nut ball screw pair (SNBSP). Then a new sensorless method is proposed to extract the SNBSP dynamic contact stiffness of a mass production CNC machine tool feed system. First of all, the transformation relationship between each coordinate system of SNBSP is established. Secondly, the dynamic model of all ball–raceway contact pairs is established. Based on this, a dynamic contact stiffness model is established. The dynamic contact parameters are obtained by the numerical method. It is found that the influence of screw speed on screw and nut raceway normal force distribution are opposite. This will affect the variations of dynamic contact stiffness. It is also clear that the effect of axial load on dynamic stiffness is significant. Then, an effective method is proposed to estimate the dynamic contact stiffness of a mass production CNC machine tool feed system without any external sensors. The axial force of feed system is estimated by using torque current of servo motor. Current signals can be obtained through FANUC Open CNC API Specifications (FOCAS) library functions, and then dynamic contact stiffness can be calculated through the stiffness model without external sensors. Finally, a feed system dynamic model is built, and the contact model and sensorless stiffness estimating method are verified by experiments in this dynamic system.

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“…Then, according to the Hertz contact theory, there is a relationship between the deformation and the contact force [14,15]:…”

Section: E and N Ementioning

confidence: 99%

Analysis on Dynamic Contact Characteristics and Dynamic Stiffness Estimating Method of Single Nut Ball Screw Pair Based on the Whole Rolling Elements Model

Chen

Zhao

et al. 2020

Applied Sciences

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“…x . According to (16) and (17), the radial and axial air gaps g sr and g sa are given by, (18) Based on (9) and (18), the resultant force f…”

Section: Decoupling Among 3-dof Translationsmentioning

confidence: 99%

“…However, the rapid maneuvering requirement for the spacecraft is hard to meet. By means of control moment gyroscopes with the advantage of large output torque, it is easy to achieve the fast attitude maneuver for the largescale spacecraft [6]- [8], but difficult to guarantee the control precision [9], [10]. The limitations above can be remedied when the gimballing flywheels integrating advantages of the flywheels with high precision torque and the control moment gyroscopes with large torque is used [11], [12].…”

Section: Introductionmentioning

confidence: 99%

Analysis and Experiment of 5-DOF Decoupled Spherical Vernier-Gimballing Magnetically Suspended Flywheel (VGMSFW)

Liu

Wang

et al. 2020

IEEE Access

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Due to the capacity of outputting both the high precision torque and the instantaneous large torque, the vernier-gimballing magnetically suspended flywheel (VGMSFW) is regarded as the key actuator for spacecraft. In this paper, a 5-DOF active VGMSFW is presented. The 3-DOF translation and 2-DOF deflection motions of the rotor are respectively realized by the spherical magnetic resistance magnetic bearings and the Lorentz magnetic bearing. The mathematical model of the deflection torque is established, and the decoupling between the 2-DOF deflections is demonstrated by the numerical analysis method. Compared with the conventional cylindrical magnetic bearings-rotor system, the spherical system is proven to eliminate the coupling between the rotor translation and deflection. In addition, a set of spherical magnetic resistance magnetic bearings with six-channel decoupling magnetic circuit are adopted to achieve the 3-DOF translation decoupling. The rotor dynamic model is derived, and the control system is established. The decoupling experiments and the torque experiments of the prototype are carried out. The results show that the decoupling among 5-DOF motions is realized and the instantaneous large torque can be obtained, which indicates that the requirements of the spacecraft can be highly satisfied by the spherical VGMSFW.

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“…As illustrated in Figure 1, SGCMG typically consists of a rotor system mounted in a structure with one motorized gimbal system capable of tilting the direction of angular momentum. The performance of the SGCMG relies on the velocity-tracking properties of the gimbal system (Bhat and Tiwari, 2009; Li et al, 2017; Wang et al, 2019). Therefore, it is important for the SGCMG to realize accurate and fast velocity-tracking control of the gimbal system.…”

Section: Introductionmentioning

confidence: 99%

Finite-time composite control for gimbal system in SGCMG under high-frequency disturbance

Cui

Yang

Qiao

et al. 2022

Transactions of the Institute of Measurement and Control

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This paper investigates the velocity-tracking problem of the gimbal system in a single gimbal control moment gyro (SGCMG) suffering from high-frequency disturbance. In order to accurately and quickly reject the high-frequency disturbance resulted from nonuniform mass distribution and manufacturing imperfection, a finite-time harmonic disturbance observer (FTHDO) is constructed according to the available information about the high-frequency disturbance. Then, a composite controller is developed to achieve simultaneous disturbance rejection and attenuation. The nominal control performance can be recovered under the high-frequency disturbance. It has been demonstrated that the velocity-tracking error can be stabilized by the proposed composite controller within finite time. Finally, numerical simulation results are presented to verify the superiority of the proposed method.

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Output torque modeling of control moment gyros considering rolling element bearing induced disturbances

Cited by 32 publications

References 40 publications

Analysis on Dynamic Contact Characteristics and Dynamic Stiffness Estimating Method of Single Nut Ball Screw Pair Based on the Whole Rolling Elements Model

Analysis on Dynamic Contact Characteristics and Dynamic Stiffness Estimating Method of Single Nut Ball Screw Pair Based on the Whole Rolling Elements Model

Analysis and Experiment of 5-DOF Decoupled Spherical Vernier-Gimballing Magnetically Suspended Flywheel (VGMSFW)

Finite-time composite control for gimbal system in SGCMG under high-frequency disturbance

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