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Mathematical Problems in Engineering
Volume 2015, Article ID 278145, 11 pages
Research Article

The Coupling Characteristic Investigation of Double-Gimbal Magnetically Suspended Control Moment Gyro Used on Agile Maneuver Spacecraft

1School of Instrumentation Science and Optoelectronics Engineering, Beihang University, Beijing 100191, China
2Science and Technology on Inertial Laboratory, Beijing 100191, China

Received 4 November 2014; Revised 27 January 2015; Accepted 10 February 2015

Academic Editor: Paulo Batista Gonçalves

Copyright © 2015 Peiling Cui et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Double-gimbal magnetically suspended CMG is a novel attitude control actuator for the agile maneuver spacecraft. Taking the double-gimbal magnetically suspended control moment gyro used on agile maneuver spacecraft as the research object, the dynamic model of the magnetically suspended rotor, the inner gimbal, and the outer gimbal of double-gimbal magnetically suspended control moment gyro is built. The nonlinear coupling characteristic between the rotor, the gimbal, and the spacecraft is given. It can be seen that the motion of magnetically suspended rotor does not only rely on magnetic bearing force but also suffer from the influence of gimbal servo system and spacecraft motion. The coupling torque includes the gyro coupling torque and the inertial coupling torque. The work in this paper provides the foundation for further studies.