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### Finiteness of Singular Points in a Certain Kind of Single Gimbal Control Moment Gyroscope Systems

Wu Zhong Wu Hongxin (Beijing Institute of Control Engineering,Beijing 100080) Chou Wusheng (Beijing University of Aeronautics and Astronautics,Beijing 100083)

• Published:2000-08-25
• Supported by:
国家自然科学基金! (6 95 840 0 8);; 航天工业总公司预研课题资助

Abstract: Single Gimbal Control Moment Gyroscopes (SGCMGs) are torque produ cing devices which are internal to a spacecraft and operate based on principles of momentum exchange.Normally,three or more SGCMGs are used in the spacecraft in order to realize 3 axis control.However,SGCMG systems do suffer from a serious drawback-singularity sometimes,and can not produce desired control torque when many SGCMGs work coordinately.In order to avoid system singularity,distribution of singular points must be studied in gimbal space for SGCMG systems.In this paper,it is proved that the correspondent singular points in gimbal space are finite to any point in angular momentum space for redundant systems which axes are mounted non coplanarly,pyramidally and symmetrily.