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中文摘要：
推导出了双框架控制力矩陀螺系统操纵空间飞行器姿态机动的精确数学模型，并在此基础上基于Lyapunov第二法设计了空间飞行器大角度姿态机动非线性控制律，在设计的同时证明了系统的稳定性。设计了双框架陀螺系统奇异鲁棒＋零运动操纵律。给出了双框架控制力矩陀螺系统奇异性定理，对三个双框架陀螺垂直安装及四个双框架陀螺平行安装两种构形方式进行了奇异性分析。分析和仿真验证了三个双框架陀螺垂直安装构形下系统跟踪常值力矩指令和大角度姿态机动的能力。
英文摘要：
An exact mathematical description of spacecraft attitude motion driven by double-gimbal control moment gyroscopes （DGCMGs） is proposed. According to this mathematical description, a nonlinear control law is designed for the spacecraft large angle attitude maneuvers based on the second method of Lyapunov. In the design process, the stability of the attitude control system is proved. A singularity robustness（SR） plus null motion steering law is designed. A theorem about DGCMGs＇ singularity is proposed, singularity analyses of the orthogonally mounted three DGCMGs system and that of the parallel mounted four DGCMGs system are presented. Analysis and simulation results are provied to show the capabilities of constant torque tracking and large angle attitude maneuver of orthogonally mounted three DGCMGs system.
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