The research on flywheel acceleration assessment with null motion escaping singularity for variable speed control moment gyros

Compare with single gimbal control moment gyroscope, the variable flywheel speed of variable speed control moment gyroscope can be changed and easily realized, which have the ability of singular escaping. The flywheel acceleration and singularity problem are close connect with each other. In this paper, the flywheel acceleration index evaluation problem is solved with null motion to escaping the singular point. The mechanism of singular escaping is analyzed, and the process of singular escaping is revealed. The new null motion steering method is proposed, which is perpendicular to the gradient direction of null motion. The reasonable trajectory of gimbal position is planned. The optimal method is given to distribute the flywheel acceleration index with maximum escaping ability. The flywheel acceleration index assessment method is solved. The theory analysis result is foundation for the VSCMGs system optimization design.