Abstract:

Compared with single gimbal control moment gyro (SGCMG), the variable speed control moment gyro (VSCMG) can be easily implemented. Based on the linear algebra theory,it is proved that the singular points cannot be avoided by weighted pseudo inverse with null motion (WPINM). To address the problem of the singularity avoidance, based on the optimization theory, a new steering law for the VSCMs cluster is proposed, which can avoide the singularity point that the steering law of WPINM cannot deal with it. Finally, the simulation results verifiy that the new steering law can avoide the singularity points.