Simulation and Verification Platform for Three-Axis Air Bearing Table with CMG

This paper proposes a method to build a full physical simulation test platform, which can be used as a simulation and verification platform for three-axis air bearing table with the control moment gyro (CMG). To overcome the deficiency of being trapped in the momentum saturation singularities, a new steering logic based on a mixed weighted two-norm and least squares optimization solution is presented. To reduce the torque output pressure of CMG system, a switching logic is designed for the hybrid actuators, and the cold air thruster system is proposed for the requirements of large torque to reduce the probability of singularity and CMG is selected for high-precision smooth. To obtain fast and high-precision control effect, ADRC is presented to control the three-axis air bearing table. The results show that the system can reach stabilization rapidly, the error and the attitude stability can reach a good level, effectively protecting the single gimbal control moment gyro (SGCMG) system from singular state, making full use of the system's capabilities, and verifying the validity of the hybrid actuators switching logic.