以框架角受限的金字塔构型控制力矩陀螺(CMG)为执行机构,研究了航天器欧拉姿态机动控制问题。考虑控制力矩及航天器角速度约束等因素,对已有的姿态机动控制律进行了改进,使其能实现绕欧拉轴的大角度姿态机动。同时考虑力矩陀螺框架角受限情况,通过适当加入空转指令对框架角进行重构,设计了复合控制形式的控制力矩陀螺操纵律,并通过过渡域对切换过程进行削抖。数值仿真表明,所设计的复合控制操纵律能有效通过框架角重构发挥控制力矩陀螺控制能力,且姿态机动控制律能保证系统的欧拉旋转。 Based on the pyramid configuration controlled moment gyroscope (CMG) with limited frame angle, the Euler attitude maneuver control of the spacecraft was studied. Considering the control moment and spacecraft angular velocity constraint, the existing attitude maneuver control law is improved to make it possible to maneuver in a wide angle attitude around the Euler axis. At the same time, considering the limitation of the frame moment of the moment gyroscope, the frame angle is reconstructed by adding the idling command properly. The control law of the gyroscope is designed and the shaking process is shuffled through the transition region. The numerical simulation shows that the designed control law of composite control can effectively control the moment gyro with frame angle reconstruction, and the attitude maneuver control law can ensure the Euler rotation of the system.