In the variable speed control momentum gyroscopes (VSCMG), the output torque of the VSCMG can be supported by the gyroscopic torque by a large margin with low resolution. The output torque of the VSCMG can be only supported by the reaction torque of the flywheels with high resolution when the gimbals are locking. Consequently, the torque error that is determined by the low spin rate fluctuation or servo tracking error of the gimbals can be vanished, and the VSCMG can be suitable for large maneuver and high accuracy attitude pointing as the actuator. Unfortunately, the singularity of the flywheel torque co-plane may be encountered. In this paper, the singularity of the flywheel torque co-plane is visualized based on geometry method. The singularity can be effectively avoided by locking gimbals. The locking gimbals positions are optimized with the maximum angular momentum. The steering laws with two phases are proposed to operate the task of the large angle maneuver and high accuracy control for a spacecraft. In the phase 1, a large margin torque can be achieved by the new designed steering law, and the gimbals can be steered to the optimization gimbals positions at the final stage of the phase 1. In the phase 2, the high precision torque can be achieved by only steering the flywheels and the locking the gimbals. Consequently, the torque error that is caused by the spin rate fluctuation or servo tracking error of the gimbals can be effectively eliminated.

在变速控制动量陀螺仪（VSCMG）中，陀螺仪扭矩能够以较低的分辨率大幅度地支持VSCMG的输出扭矩。当万向节锁定时，VSCMG的输出扭矩只能由高分辨率的飞轮的反作用扭矩来支持。因此，由万向节的低旋转速率波动或伺服跟踪误差所确定的转矩误差可以消失，并且VSCMG可以适用于以致动器为目标的大机动性和高精度姿态。不幸的是，可能会遇到飞轮扭矩共面的奇异性。本文采用几何方法将飞轮转矩共面的奇异性可视化。通过锁定万向节可以有效避免奇异性。锁定万向节的位置已通过最大角动量进行了优化。提出了具有两个阶段的转向定律，以操作航天器的大角度机动和高精度控制的任务。在阶段1中，通过新设计的转向定律可以实现较大的裕量转矩，并且可以在阶段1的最后阶段将万向架转向至最佳万向架位置。在阶段2中，可以实现高精度转矩。仅通过操纵飞轮并锁定万向节就可以实现。因此，可以有效地消除由万向架的旋转速度波动或伺服跟踪误差引起的转矩误差。通过新设计的转向定律可以实现较大的裕量扭矩，并且可以在阶段1的最后阶段将万向架转向至最佳万向架位置。在阶段2中，仅通过操纵转向架就可以实现高精度扭矩。飞轮和锁定万向节。因此，可以有效地消除由万向架的旋转速度波动或伺服跟踪误差引起的转矩误差。通过新设计的转向定律可以实现较大的裕量扭矩，并且可以在阶段1的最后阶段将万向架转向至最佳万向架位置。在阶段2中，仅通过操纵转向架就可以实现高精度扭矩。飞轮和锁定万向节。因此，可以有效地消除由万向架的旋转速度波动或伺服跟踪误差引起的转矩误差。