中文摘要：

变速控制力矩陀螺（variable speed control moment gyro,VSCMG）簇相对于单框架控制力矩陀螺簇仅增加了飞轮转速可调自由度,实现难度不大,但能够缓解奇异问题。基于线性代数理论,从机理上分析了已有的添加零运动的加权伪逆操纵律不能规避VSCMG簇内所有奇异点。针对添加零运动的加权伪逆操纵律不能规避奇异点的问题,采用优化方法,设计出一种新型的VSCMG簇操纵律,能够规避采用传统添加零运动的加权伪逆操纵律不能规避的奇异点。最后搭建整个航天器姿态控制系统,仿真验证了所设计的新型操纵律奇异规避的有效性。

英文摘要：

Compared with single gimbal control moment gyro（SGCMG）,the variable speed control moment gyro（VSCMG）can be easily implemented.Based on the linear algebra theory,it is proved that the singular points cannot be avoided by weighted pseudo inverse with null motion（WPINM）.To address the problem of the singularity avoidance,based on the optimization theory,a new steering law for the VSCMs cluster is proposed,which can avoide the singularity point that the steering law of WPINM cannot deal with it.Finally,the simulation results verifiy that the new steering law can avoide the singularity points.