In order to realize high-precision attitude angular velocity measurement of magnetically suspended control and sensitive gyroscope (MSCSG), the torque coefficient of attitude measurement equation must be measured accurately. In view of the error of traditional measurement method, this paper proposes a torque separation method to measure the torque coefficient of MSCSG accurately. Firstly, the attitude angular velocity measurement model of MSCSG is established, and the importance of torque coefficient is analyzed. Then, a novel measurement method of torque coefficient for torque separation is proposed. The proposed method can separate the precession moment and gyroscopic moment of the magnetically suspended rotor, eliminate the coupling between the moments, and improve the measurement accuracy of torque coefficient. Simulation results show that the mean square deviation of the proposed method is 0.023, which is 52.1% higher than that of the traditional method. Finally, the experimental steps of measuring the torque coefficient are given. The torque coefficient measured by precession moment and gyro moment is 2.87 $\text{N}\cdot \text{m}$ /A. By comparing the experimental results show that the two measurement methods have good agreement.

When the rotor is rotating at high speed, magnetic suspension control sensitive gyroscope (MSCSG) will generate synchronous and multifrequency vibration due to rotor mass unbalance and sensor runout, which will affect the measurement accuracy of output torque and attitude angular velocity. In order to suppress the above unbalanced vibration, firstly, the dynamic model of MSCSG with unbalance vibration torque is established, and the influence of unbalance vibration on the measurement accuracy of attitude angular velocity is analyzed. Then, combined with the strong coupling characteristics of two tilt channels, an unbalance vibration suppression method based on arsinh function of normalized variable step size LMS(arsinh-NLMS) algorithm is proposed, which can adjust the step size according to different frequency components to improve the convergence rate. The arsinh function is used to ensure that there is a small error in the steady-state and the normalization process reduces the sensitivity of the algorithm to the input signal and tracks the harmonic components of the control current better. Finally,Simulation and experimental results show that the proposed method can effectively suppress the synchronous and multifrequency disturbance currents and vibration torques in MSCSG, and reduce the influence of unbalance vibration on MSCSG performance and angular velocity measurement accuracy .

This paper puts forward realizing the synchronous control of spacecraft attitude and micro-vibration by taking advantage of magnetic suspension rotor deflection of magnetically suspended control and sensitive gyro. A disturbance-observer is designed to estimate the complex micro vibration which is hard to measure, and an adaptive robust sliding mode controller is designed as an integrated controller and its stability is proven by Lyapunov stability criterion. The band-pass filters are introduced to separate low frequency and high frequency control signals and takes them as input commands of gyro frame and magnetic suspension rotor, respectively. The semi-physical simulation results testify that the proposed method has good vibration suppression effect as well as improves the attitude convergence rate.