Control Moment Gyroscopes Gimbal Angle Motion Planning Method Based on Stable Interval Search

In the process of attitude maneuver, whether Single Gimbal Control Moment Gyroscopes (SGCMGs) can provide control torque accurately is the key of spacecraft attitude maneuver mission. In order to solve the problem that the system easily fall into singularity and saturation state caused by the complex configuration of SGCMGs, the gimbal angle motion based on stable interval search (GMSS) planning method is proposed. The SGCMGs gimbal angle motion planning model is established to transform the SGCMGs path solving problem into constraint satisfaction problem. Combined with the defined singular measure and saturation measure, the motion strategy of SGCMGs in gimbal angle space is designed and the singular constraint and saturation constraint are transformed into path constraint in gimbal angle space. By using the stable interval search strategy, the angular momentum solution space of SGCMGs system is expanded, and the angular motion path of SGCMGs gimbal needed for attitude maneuver can be predicted. Finally, the simulation results show that the proposed method can generate the angular motion path of SGCMGs satisfying the constraints.