Harmonic Vibration Suppression of MSCSG Based on an Improved Multiple Resonant Controller

Due to rotor mass unbalance and sensor runout, magnetically suspended control sensitive gyroscope (MSCSG) has synchronous and multifrequency vibration. In order to reduce the influence of above harmonic vibration on the accuracy of MSCSG output torque and angular rate measurement, a harmonic vibration method based on improved multiple resonant controller (RSC) is proposed. First, the tilt dynamics model of MSCSG affected by harmonic vibration is established, and the influence of harmonic vibration on the measurement accuracy of attitude angle rate is analyzed. Then, a multiple RSC is designed to suppress synchronous and multifrequency harmonic currents in MSCSG. Compared with the conventional RSC, it can not only adjust the gain at different resonant frequencies independently with the change of rotor speed but also set different phase compensation factors in different speed ranges, so as to ensure the stability of the system in the full speed range and achieve the best convergence speed. Simulation and experimental results show that the proposed method can effectively suppress synchronous and multifrequency harmonic currents and vibration torque in MSCSG and reduce the influence of harmonic vibration on MSCSG performance and measurement accuracy of attitude angular rate.