点击次数：
影响因子：7.4
DOI码：10.1109/TIE.2025.3594435
所属单位：仪器科学与光电工程学院
教研室：大科学装置研究院
发表刊物：IEEE Transactions on Industrial Electronics
关键字：Mathematical models; Torque; Accuracy; sliding mode control (SMC); Angular velocity; Harmonic analysis; Motors; Control moment gyroscope (CMG); disturbance observer (DOB); Drives; exogenous system; Generators; harmonic drive; kinematic error; Kinematics; Servomotors
摘要：The torque accuracy of a control moment gyro (CMG) relies heavily on the speed accuracy of the gimbal servo system, where kinematic error from harmonic drive cause significant speed fluctuations. To address this problem, a sliding mode control (SMC) feedback controller based on the disturbance observer (DOB) containing the \mathbfW matrix (WDOB) was proposed. It not only meets the response requirements of the system, but also suppresses the chattering phenomenon of the SMC. Since kinematic error has periodic changes and varies with angular velocity, existing DOBs are ineffective for accurate e
合写作者：Ruidi Chen, Haifeng Zhang, Ximing Liu
第一作者：Haitao Li
论文类型：期刊论文
学科门类：工学
一级学科：仪器科学与技术
文献类型：期刊
卷号：73
期号：1
页面范围：1313-1321
ISSN号：1557-9948
是否译文：否
发表时间：2026-01-01