Based on the singularity index of the CMG,the control law of the VSCMG is discussed by studying the CMG mode and the reacted wheel (RW) mode respectively.

• 以控制力矩陀螺群的构型奇异量度为依据 ,分别考虑了 VSCMG的控制力矩陀螺 (CMG)工作模式和反作用飞轮 (RW)工作模式。