The moving-gimbal effect (MGE) is an important factor that limits the torque accuracy provided by magnetically suspended control moment gyroscope. This work addresses the issues concerning the dynamic behavior of active magnetic bearing (AMB) systems under MGE. First, the dynamics modeling of AMB-rotor system is established. Then, a linear extended state observer (LESO) based control is proposed to suppress the MGE. The dynamic response of PID control is significantly improved by replacing the integral term with LESO. The LESO gain tuning procedure is performed by analyzing the pole-zero assignment that determines the dynamic performance. The stability of LESO is proved by the convergence of estimation error dynamics. Finally, the proposed method shows effective suppression on MGE with less power consumptions in experiment.

移动万向节效应（MGE）是限制磁悬浮控制力矩陀螺提供扭矩精度的重要因素。这项工作解决了有关 MGE 下主动磁轴承 (AMB) 系统的动态行为的问题。首先，建立了AMB-转子系统的动力学模型。然后，提出了一种基于线性扩展状态观测器（LESO）的控制来抑制MGE。通过用 LESO 代替积分项，PID 控制的动态响应得到显着改善。LESO 增益调整程序是通过分析决定动态性能的零极点分配来执行的。LESO的稳定性由估计误差动态的收敛性证明。最后，所提出的方法在实验中显示了对 MGE 的有效抑制，并且功耗更低。