中文摘要：

将锥体上五个单框架控制力矩陀螺（SGCMG）框架轴与底面的锥角视为姿态机动任务前的调整变量，建立了锥角可调的五棱锥构型SGCMG模型。通过锥角可调SGCMG系统的复杂奇异性分析，推导了陀螺奇异测度对时间的导数与陀螺框架角速度的关系，进而提出考虑奇异躲避的路径规划策略。基于Gauss伪谱法的路径规划结果表明：锥角可调的五棱锥构型SGCMG系统可有效提高特定机动方向的控制能力，显著减少空间站姿态机动所需时间；所提出的考虑奇异躲避的路径规划策略可有效避免陀螺奇异。

英文摘要：

Treating the five skew angles as variables before attitude maneuvers, the adjustable-skew five-pyramid type single gimbal control moment gyros （SGCMG） model is established. The relation between the derivative of singular measurement with respect to time and the angular velocity of gimbals is deduced based on the analysis of complex singular characters. The path planning strategy considering singular escape is then proposed. The planning results using Gauss pseudospectral methods indicate that the time of attitude maneuvers is reduced observably by using the adjustable-skew five pyramid CMGs and demonstrate that the path planning strategy can avoid singularity efficiently.