一类单框架控制力矩陀螺系统奇点的有限性

单框架控制力矩陀螺（ＳＧＣＭＧ）是应用在航天器上的一类惯性执行机构，但当多个ＳＧＣＭＧ协调工作时，由多个ＳＧＣＭＧ组成的ＳＧＣＭ５Ｇ系统会出现奇异现象，不能产生所期望的控制力矩。为回避系统奇异、必须对ＳＧＣＭＧ系统的奇点在框架角空间中的分布作一定的了解。文章则针对框架轴非共面锥形对称安装的ＳＧＣＭＧ系统，证明了对于角动量空间中的任意一点，其对应的框架角空间中的奇点是有限的。

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

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.