中文摘要：

研究使用变速控制力矩陀螺群（VSCMGs）的能量／姿态一体化控制系统（IPACS）的奇异性分析与操纵律设计问题。提出了VSCMGS的CMG奇异与IPACS奇异两种概念。对于给定的CMG奇异方向，采用优化理论得到了在该方向上VSCMGs的转子达到角动量饱和时的转速表达式，并给出了IPACS奇异的充要条件及其证明。分析了考虑星体角速度影响时的实际IPACS的奇异性质。在此基础上为实现合理的动量管理，采用加权矩阵的方法设计了IPACS的操纵律。最后通过算例验证了所得到的IPACS奇异判据的正确性，并通过数值仿真，验证了所设计的操纵律的正确性及其良好的动量管理性能。

英文摘要：

This paper deals with the singularity problem and steering law design of integrated power/attitude control system （IPACS） with variable-speed control moment gyros （VSCMGs）. Two singularity concepts, i. e., CMG singularity and IPACS singularity are proposed. For a given CMG singular direction, the saturate speeds of VSCMGs rotors along with the direction are calculated via optimization theory. Furthermore, the necessary and sufficient conditions and the corresponding proof for a IPACS suffering from singularity are achieved. The singularity of an actual IPACS affected by the angular velocity of spacecraft is analyzed. In order to realize reasonable momentum management, the steering law with weighting matrices is designed. An example is given to validate the effectiveness of the IPACS singularity criterion, also the numerical simulation resuits show that the steering law is effectual and has well momentum management characteristics.