The Design of a Reaction Flywheel Speed Control System Based on ADRC
Round 1
Reviewer 1 Report
In this manuscript, the authors propose a self-anti-disturbance control method to suppress the effect of uncertain disturbances on the accuracy of reaction flywheel speed control. And a comparative experiment is conducted, and the experimental results are in good agreement with the simulation results..However，the current paper needs to be revised before it is considered for publication. The main comments are as follows:
1. On page 3 line 107，it is suggest that the author analyze whether the noise torque test curve fits the model established in this experiment.
2. On page 4 line 119，it is suggest that the author explain what do the three areas divided in Figure 3 represent.
3. On page 4 line 150, it is suggest that the author should explain what does the Rs in Equation 4 mean?
4. Please check the full text, it is suggest that the author check formatting issues in this paper so that further polish the article.
For example:
Please the author unify “Table 1 or Tableâ… ”.
Please the author typeset the title of Figure 10 so that avoid bolding them all.
The author should unify the format of the three levels of headings.
5.In this paper, it is suggest that the author should give a detailed explanation of the characters that appear in the formula to make it easier for the reader to read.
need revised
Author Response
RESPONSES TO THE REVIEWERS’ COMMENTS
Reviewer #1 (Remarks to the Author):
General summary
In this manuscript, the authors propose a self-anti-disturbance control method to suppress the effect of uncertain disturbances on the accuracy of reaction flywheel speed control. And a comparative experiment is conducted, and the experimental results are in good agreement with the simulation results. However, the current paper needs to be revised before it is considered for publication.
The main comments:
- On page 3 line 107，it is suggest that the author analyze whether the noise torque test curve fits the model established in this experiment.
Response: Thanks for pointing out this. We have analyzed the characteristics of different types of bearing noise torque and its influence on the accuracy of flywheel speed control in the revised manuscript (Under Fig. 2). The revised text were highlighted in red font.
- On page 4 line 119，it is suggest that the author explain what do the three areas divided in Figure 3 represent.
Response: Thank you for the comment. We have explained the three areas divided according to the reaction flywheel speed, and friction will show different characteristics in the three areas (Under Fig. 3). The revised text were highlighted in red font.
- On page 4 line 150, it is suggest that the author should explain what does the Rs in Equation 4 mean?
Response: Thanks for pointing out this. As the reviewer 2# also suggested to revise this point, we have explained what does the Rs in Equation 4 mean (Under Equation 4).
- Please check the full text, it is suggest that the author check formatting issues in this paper so that further polish the article.
For example:
Please the author unify “Table 1 or Tableâ… ”.
Please the author typeset the title of Figure 10 so that avoid bolding them all.
The author should unify the format of the three levels of headings.
Response: We appreciate your constructive comment. According to the revised opinions, we have checked the full article and revised the format errors.
5.In this paper, it is suggest that the author should give a detailed explanation of the characters that appear in the formula to make it easier for the reader to read.
Response: Thank you for the comment. We have checked all the formulas and explained the unexplained characters in the formulas to make it easier to read.
Reviewer 2 Report
Dear authors,
I accepted to review the paper Design of Reaction Flywheel Speed Control System Based on ADRC, and my opinions are listed below.
1. Abstract:
This manuscript has an interesting topic which focuses on the reaction flywheel of the satellite attitude control system. The authors compared the active disturbance rejection control (ADRC) with the PID in a theoretical analysis, using MATLAB/SIMULINK. Also, they loaded ADRC on a reaction flywheel control circuit, in order to accomplish the speed tracking and the disturbance suppression.
The abstract is relevant and well written, with minor editing and English issues.
2. Keywords: They are not in the alphabetical order, and I consider relevant to add the satellite attitude control system.
3. Introduction is well structured and relevant for the field, but it is a little bit too short and tangled.
4. Lines 72-73: The reaction flywheel dynamic equation is expressed as in (1): (This is repeated in eq. (2) etc)
5. Line 75: Wherein -> where. Also, J should be given, as well.
6. Line 94: 2.2.2. bearing noise torque -> 2.2.2. Bearing noise torque, Also, 2.2.3. and fig. 6 (please check all paper for this kind of mistakes!).
7. Line 105: Reference[8] -> Reference [8]. Also, the word torque from Fig. 2 should be abbreviated tau τ [Nm], T is generally used for time constants.
8. Eq. (4): Rs, L, kp and ki should be introduced here in explanation.
9. What means the “pu” unit from fig. 5?
10. In chapter 4. SIMULATION RESULTS AND ANALYSIS, figs 6, 7, 8 , 9 and 10 you comared and discuss abut PID and ADRC. Really, I don’t know what should happen if you try to tune carefully the PID, and it is hard to debate. But, the values of PID’s terms dhould be given somewhere, please.
11. Fig. 11 shows the experimental scenario and components. Where is the driver of the flywheel, the microcontroller, and what the “special test equipment” includes/consists of? The picture reveals almost nothing.
12. Conclusion consists of a text with mistakes, and seems to be just dropped in a hurry. You should include the main parameters and their values that could be the reference / base of you affirmation.
13. Overall: the paper is not bad, but the last part seems to be neglected by the authors. Also, many editing and English mistakes. So, please review the entire paper for these.
I wrote about them in the above window.
Author Response
RESPONSES TO THE REVIEWERS’ COMMENTS
Reviewer: #2 (Remarks to the Author):
Specific Comments.
- Abstract:
This manuscript has an interesting topic which focuses on the reaction flywheel of the satellite attitude control system. The authors compared the active disturbance rejection control (ADRC) with the PID in a theoretical analysis, using MATLAB/SIMULINK. Also, they loaded ADRC on a reaction flywheel control circuit, in order to accomplish the speed tracking and the disturbance suppression.
The abstract is relevant and well written, with minor editing and English issues.
Response: Thanks for your excellent suggestion. We have adjusted the formatting and grammar errors in the abstract.
- Keywords: They are not in the alphabetical order, and I consider relevant to add the satellite attitude control system.
Response: Thanks for pointing out this. We have added satellite attitude control system to the keyword and adjusted keywords in the alphabetical order.
- Introduction is well structured and relevant for the field, but it is a little bit too short and tangled.
Response: We appreciate your constructive comment. We have greatly adjusted the introduction, added some contents and adjusted the structure. The revised text are highlighted in red font.
- Lines 72-73: The reaction flywheel dynamic equation is expressed as in (1): (This is repeated in eq. (2) etc)
Response: Thank you for the comment. We have checked the reaction flywheel dynamic equation is expressed as in (1), but this is not repeated in eq. (2) etc.
- Line 75: Wherein -> where. Also, J should be given, as well.
Response: Thanks for pointing out this. We have explained what does the J mean (Under Equation 1) in the revised version.
- Line 94: 2.2.2. bearing noise torque -> 2.2.2. Bearing noise torque, Also, 2.2.3. and fig. 6 (please check all paper for this kind of mistakes!).
Response: Thanks for pointing out this. We have checked the whole article and revised them.
- Line 105: Reference[8] -> Reference [8]. Also, the word torque from Fig. 2 should be abbreviated tau τ [Nm], T is generally used for time constants.
Response: Thank you for the comment. We have adjusted Reference[8] -> Reference [8], and checked whole article for this kind of mistakes. The word torque from Fig. 2 have be abbreviated τ [Nm].
- Eq. (4): Rs, L, kp and ki should be introduced here in explanation.
Response: Thanks for pointing out this. As the reviewer 1# also suggested to revise this point, we have explained what do the Rs, L, kp and ki in Equation 4 mean (Under Equation 4).
- What means the “pu” unit from fig. 5?
Response: Thanks for pointing out this. In Figure 5, the step response of ADRC controller is simulated. The amplitude has no unit, and pu has been deleted.
- In chapter 4. SIMULATION RESULTS AND ANALYSIS, figs 6, 7, 8 , 9 and 10 you comared and discuss abut PID and ADRC. Really, I don’t know what should happen if you try to tune carefully the PID, and it is hard to debate. But, the values of PID’s terms dhould be given somewhere, please.
Response: We appreciate your constructive comment. We have added values of PID’s terms, in the ADRC controller Kp, Ki, Kd are same to the control parameters in the PID controller. By using the same control parameters, the ADRC controller is capable of suppressing overshoot and ensuring response speed by compensating for various disturbances, whereas the PID controller often compromises on overshoot suppression and response speed, even we have tried to tune carefully the PID.
- Fig. 11 shows the experimental scenario and components. Where is the driver of the flywheel, the microcontroller, and what the “special test equipment” includes/consists of? The picture reveals almost nothing.
Response: Thanks for pointing out this. We have added a picture of the flywheel driver circuit and explained the composition of the test equipment. The technical index of reaction flywheel has been added under the photo of test equipment.
- Conclusion consists of a text with mistakes, and seems to be just dropped in a hurry. You should include the main parameters and their values that could be the reference / base of you affirmation.
Response: Thank you for the comment. We adjusted the inaccurate expressions and increased the specific technical indicators achieved by improving the control system that could be the reference/base of my affirmation.
- Overall: the paper is not bad, but the last part seems to be neglected by the authors. Also, many editing and English mistakes. So, please review the entire paper for these.
Response: We appreciate your constructive comment. have reviewed the entire article, many formatting and grammar errors have been amended.
Round 2
Reviewer 2 Report
Dear authors,
I thank you for the answer. My recommendations for the second version are outlined as follows.
1. The title sounds better in this form:
The Design of a Reaction Flywheel Speed Control System Based on ADRC
2. After the title of chapter 2. SYSTEM DISTURBANCE AND NOISE some text should be introduced to provide an insight of the chapter.
3. Line 293 shows an eq. that should be accordingly noted by (23).
4. The title of the fig. 12 should be shorted to: The experimental setup.
5. The text under the fig. 12 is improperly edited.
6. The first sentence of the conclusion, line 438, should be “The paper presents/describes the design of a speed controller for a reaction flywheel based on ADRC”. Also, please review the text of the entire conclusion, it is hard to read and understand.
I wrote my observation above.
Author Response
Reviewer: #2 (Remarks to the Author):
Specific Comments.
- The title sounds better in this form:
The Design of a Reaction Flywheel Speed Control System Based on ADRC
Response: Thanks for your excellent suggestion. We have adjusted the topic to” The Design of a Reaction Flywheel Speed Control System Based on ADRC”.
- After the title of chapter 2. SYSTEM DISTURBANCE AND NOISE some text should be introduced to provide an insight of the chapter.
Response: Thanks for pointing out this. We have added introduced text after the title of chapter 2. SYSTEM DISTURBANCE AND NOISE, to provide an insight of the chapter.
- Line 293 shows an eq. that should be accordingly noted by (23).
Response: Thanks for pointing out this. This eq. has been noted by (23).
- The title of the fig. 12 should be shorted to: The experimental setup.
Response: Thanks for pointing out this. The title of fig. 12 has been shorted to: The experimental setup.
- The text under the fig. 12 is improperly edited.
Response: Thank you for the comment. The text under the fig. 12 has been re-edited.
- The first sentence of the conclusion, line 438, should be “The paper presents/describes the design of a speed controller for a reaction flywheel based on ADRC”. Also, please review the text of the entire conclusion, it is hard to read and understand.
Response: We appreciate your constructive comment. We have adjusted The first sentence of the conclusion to “The paper describes the design of a speed controller for a reaction flywheel based on ADRC” and revised the text of the entire conclusion.
