基于模型前馈控制的谐波减速器云台系统速度波动抑制

Harmonic drive is usually installed in the gimbal system of single gimbal magnetic suspended control moment gyroscope (SGMSCMG) not only to meet the requirements on the volume and weight but also output large torque. However, its nonlinear transmission characteristics are also introduced into the gimbal system and make the output speed fluctuate, which will seriously affect the output torque accur...