Vibration Feedforward Compensation for Magnetically Suspended Control and Sensitive Gyroscope with Spherical Rotor

Table 1

The main parameters of the control system.

Parameters	Value
m (kg)	5.7
ω (r·min^−1)	8000
Jx (kg·m^2)	0.0097
Jy (kg·m^2)	0.0097
Jz (kg·m^2)	0.0167
Ki (N·A^−1)	220
Kh (N·m^−1)	900
Ks	75
	0.22
KP	16
KI	130
KD	65