Geometric Analysis of Singularity for Single- Gimbal Control Moment Gyro Systems

This research is focused on the singularity analysis for single gimbal control moment gyros systems (SCMGs) which include two types, with constant speed (CSCMG) or variable speed (VSCMG) rotors. Through angular momentum hypersurfaces of singular states, the passable and impassable singular points are discriminated easily, meanwhile the information about how much the angular momentum workspace as well as the steering capability available is provided directly. It is obvious that the null motions of steering laws are more effective for the five pyramid configuration(FPC) than for the pyramid configuration(PC) from the singular plots. The possible degenerate hyperbolic singular points of the preceding configurations are calculated and the distinctness of them is denoted by the Gaussian curvature. Furthermore, failure problems to steer integrated power and attitude control system (IPACS) are also analyzed. A sufficient condition of choosing configurations of VSCMGs to guarantee the IPACS steering is given. The angular momentum envelops of VSCMGs, in a given energy and a limited range of rotor speeds, are plotted. The connection and distinctness between CSCMGs and VSCMGs are obtained from the point of view of envelops.