中文摘要：

为实现控制力矩陀螺框架伺服系统的高精度周期随动控制,采用比例积分微分（PID,Proportion Integration Differentiation）控制器结合重复控制器的控制方式,PID控制器实现框架伺服系统静态和匀速运动的高精度控制,插入式重复控制器实现对周期性输入信号的精确跟踪.对控制力矩陀螺框架系统进行了建模,设计了PID控制器与插入式重复控制器,并分析了重复控制器的稳定性条件、稳态跟踪性能和对扰动的抑制能力.仿真结果和实验结果表明：采用插入式重复控制器使控制力矩陀螺跟踪1Hz给定速度信号时的稳态跟踪误差大幅减少.PID控制器结合插入式重复控制器结构简单,两者可分开独立设计,参数设计容易.

英文摘要：

In order to realize high periodic precision control of control moment gyro （CMG） gimbal system, a controller consisted of proportiona integration differention （PID） controller and plug-in repetitive controller was adopted. PID controller can realize high precision control of static state and uniform speed state, while plug-in repetitive controller can realize accurate tracking of periodic given signal. CMG gimbal system modeling was performed, and the PID controller and plug-in repetitive controller were designed, then stability conditions, steady tracking properties and ability of suppressing disturbance were analyzed. Simulation and ex- periment results show plug-in repetitive controller can effectively reduce steady tracking error when CMG gim- bal system tracks a 1 Hz periodic given velocity signal. The structure of the controller is simple and the plug-in repetitive controller can be designed separated from system＇ s PID controller, so it is easy to design parameters.