For a novel Vernier-gimballing magnetically suspended flywheel (Vernier-gimballing MSFW) with conical magnetic
bearing (MB) and Lorentz MB, the rotor’s dynamic model is constructed based on the characteristics of
both coupling torque generated by conical MB and nonlinear titling torques generated by Lorentz MB. To
make the high-speeding rotor tilt precisely and fast to output large moment, the Vernier-gimballing control
method based on the extended state observer (ESO) combined with feedback linearization is presented originally
considering torques’ complex nonlinearities, and the sliding mode control (SMC) with ESO is designed to
improve the robustness of the closed-loop system. Simulations and experimental tests to verify the rightness and
validity of SMC with ESO have been done and all research results indicate that the rotor can track the tilting
signal faster and more accurately than classic SMC to output high precision moment.