Optimization design steering law for VSCMGs with the function of attitude control and energy storage

Control Momentum Gyros (CMGs) have many advantages over other actuators for attitude control of a spacecraft. Compared with Single Gimbal Control Moment Gyroscopes (SGCMGs), the Variable Speed Control Moment Gyros (VSCMGs) can be easily implemented. The VSCMGs have great advantages in performing complex mission of attitude control and easing power shortage of the entire spacecraft. In this paper, the singularity avoidance characteristic of the steering law of Weighted Pseudo-inverse with Null Motion (WPINM) is firstly analyzed by the method of the inner product. A new steering law is designed based on optimization theory, which can satisfy the requirement of attitude control and energy storage. At last, the singular point can be avoided by the new design steering law based on the simulation result.