A Disturbance Estimation Approach to Self-Calibration of Gimbal Resolver-to-Digital Conversion System

High-precision position measurement of the gimbal servo system is indispensable to accurate torque output of the control moment gyroscope (CMG). This article addresses the systematic error of the resolver caused by the nonideal output signals of the resolver in the gimbal resolver-to-digital (R/D) conversion system. Due to the limitation of the structure and installation space of the CMG, it is impractical to install additional high-precision sensors to calibrate the raw angular position. Thus, this article proposes a new self-calibration method based on the discrete extended state observer (DESO) to compensate the systematic error of the resolver. The systematic error of the resolver is observed through iterating the resolver systematic estimation error and the compensation table is generated by the output of the DESO. Then, the steady-state error and dynamic performance of the DESO is analyzed and simulated. Finally, the proposed self-calibration method is verified by experiments, which show that the angular position control accuracy is significantly improved, which enhances the speed precision of the gimbal servo system.