中文摘要：

单框架控制力矩陀螺是我国进行外层空间探索的关键技术,由于它输出力矩范围大,控制精度高,经常应用于大型机动卫星以及空间站的姿态调整中,单框架控制力矩陀螺对低速性能要求很高,研究了框架伺服系统的低速特性,主要包括摩擦力矩对伺服系统的影响.并且针对单框架控制力矩陀螺系统在位置环中进行了设计和仿真.实践证明该文讨论的设计方法的正确和有效.

英文摘要：

Single gimbal control moment gyroscope（ SGCMG） is the key technique of exploring the deep space. Due to the large output torque and high control precision,SGCMG is widely used in the attitude control on large maneuvering satellite and apace station. Low velocity characteristic is the key demand of SGCMG. In this paper,low velocity characteristic analysis was investigated,consisting of influence of friction moment to servo system. The improved PID control method was also provided and simulated in position loop. It could be demonstrated by engineering practice that the method provided in this paper was correct and effective.