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High-Precision and Strong-Robustness Control for an MSCMG Based on Modal Separation and Rotation Motion Decoupling Strategy

To resolve the common contradictions between the decoupling precision and robustness to model the errors of a magnetically suspended control moment gyro and to avoid high control effort, a high-precision and strong-robustness control strategy is presented in this paper. The described method is based on the modal separation control and rotation motion decoupling strategy. The simplified modal controller and modified feedback linearization algorithm are employed to realize the two objectives, respectively. Simultaneously, a new phase compensation approach is proposed, and its design method is presented to improve the decoupling performance and system stability. A robust servo regulator is adopted for the decoupled plants to guarantee the control performances and robustness. Comparative simulations and experiments have been developed to evaluate the effectiveness and superiority of the proposed control method.