In the low speed servo system of single gimbal magnetically suspended control moment gyro (SGMSCMG), the accuracy of rotor position is an important factor which influences the speed accuracy. Linear hall sensors with small volume and high precision are usually adopted to the compact equipment and suitable for SGMSCMG. However, the signals detected by hall sensors contain lots of harmonics and noise which influence the accuracy significantly. For this reason, a novel precise position detection method based on 2-step cascaded Kalman filter with phase compensation scheme is proposed to extract the precise position information from ‘dirty’ signals. The proposed method is advantageous since it is very simple and practical, and the phase compensation scheme can primely compensate the phase delay caused by cascaded Kalman filter. Finally, the experiments are carried out in a 50Nm SGMSCMG, and the results show that the method can effectively estimate the angular position of the ultra-low speed servo motor, and the position accuracy can be improved by 85.7%.

中文翻译：

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基于线性霍尔传感器的SGMSCMG超低速云台伺服系统位置估计

在单云台磁悬浮控制力矩陀螺（SGMSCMG）低速伺服系统中，转子位置精度是影响速度精度的重要因素。紧凑型设备通常采用体积小、精度高的线性霍尔传感器，适用于SGMSCMG。然而，霍尔传感器检测到的信号含有大量谐波和噪声，对精度影响很大。为此，提出了一种基于具有相位补偿方案的两步级联卡尔曼滤波器的新型精确位置检测方法，以从“脏”信号中提取精确位置信息。所提出的方法具有优势，因为它非常简单实用，并且相位补偿方案可以很好地补偿由级联卡尔曼滤波器引起的相位延迟。最后，