中文摘要：

一(IC ) 与使变形的金字塔配置(DPC ) 为单个万向节控制时刻旋转罗盘(SGCMG ) 驾驶法律改进抑制被建议。首先，有其二个邻近的旋转罗盘处于失败状态的五种金字塔配置(FPC ) 的原来的系统与 DPC 作为一个降级的系统被重新设置。然后，单个尖动量原版的亢奋的表面和降级的系统经由 SGCMG 的单个尖动量方程被阴谋。基于单个表面，在奇特和动量信封的 FPC 和 DPC 之间的差别直接被获得，它为驾驶 DPC 的法律设计提供一本重要参考书。最后，驾驶法律的 IC 被设计并且适用于 DPC。模拟结果证明驾驶法律的 IC 在计算的简洁有优点，奇特的回避和精确输出转矩，它在一个限制工作区赋予降级的系统以好可控制性。

英文摘要：

An improved constrained （IC） steering law for single gimbal control moment gyros （SGCMGs） with deformed pyramid configuration （DPC） is proposed, First of all, the original system with five pyramid configuration （FPC） whose two adjacent gyros are in failure state is reconfigured as a degraded system with DPC. Then, the singular angular momentum hypersurfaces of the original and the degraded systems are plotted via the singular angular momentum equa- tion of SGCMGs. Based on singular surfaces, the differences between FPC and DPC in singularity and momentum envelope are obtained directly, which provide an important reference for steering law design of DPC. Finally, an IC steering law is designed and applied to DPC. The simulation results demonstrate that the IC steering law has advantages in simplicity of calculation, avoidance of singularity and exactness of output torque, which endow the degraded system with fine controllability in a restricted workspace.